+ python -m lidar_slam --no-model /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 Lidar SLAM 0.0.6 ===================================================== The recording path: /working/e10599d4-6ad0-43a3-9c30-60b4ca5b8dc4 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 Using the pointcloud ICP: False The Lidar frames will be flattened: False The centerline will be flattened: False The Lidar 2D slices will be flipped: True Correction angle of Lidar frames: 0.0 Show the detected centerline?: False Display the final 3D model?: False Making 2D slices out of SLAM model?: False Drop angle of 2D slices: 45.0 The number of points in 2D slices: 360 ===================================================== Adjusted start_distance from 0.0 to 0.006559995 Adjusted end_distance from 9.223372036854776e+18 to 1382.796559995 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.006559995 meters 0.18203876225775414 Centerline is valid? [0, False] SLAMing on 0.066559995 meters 0.18669628330180288 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99998983e-01 -1.12409131e-03 -8.77444209e-04 3.05797577e-03] [ 1.12325072e-03 9.99998910e-01 -9.57899653e-04 1.81009725e-03] [ 8.78520019e-04 9.56913089e-04 9.99999156e-01 -1.37107714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.126559995 meters 0.1898888507907542 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99998242e-01 -1.36009449e-03 -1.29053920e-03 4.20979562e-03] [ 1.35889730e-03 9.99998646e-01 -9.28088830e-04 1.47687237e-03] [ 1.29179974e-03 9.26333488e-04 9.99998737e-01 -1.61934748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.186559995 meters 0.20631570849390343 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99995934e-01 7.36305203e-04 -2.75511101e-03 8.58638620e-03] [-7.31781784e-04 9.99998383e-01 1.64247619e-03 6.24387062e-03] [ 2.75631592e-03 -1.64045337e-03 9.99994856e-01 -2.13678246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.246559995 meters 0.21550325030805415 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99992492e-01 -1.65121696e-03 -3.50560314e-03 1.22174704e-02] [ 1.65370923e-03 9.99998382e-01 7.08159274e-04 6.00677591e-03] [ 3.50442814e-03 -7.13951206e-04 9.99993605e-01 -3.25075891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.306559995 meters 0.2176487012796324 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 0.99999016 -0.00182251 -0.00404563 0.01351418] [ 0.00182749 0.99999758 0.00122869 0.00419356] [ 0.00404338 -0.00123607 0.99999106 -0.00313275] [ 0. 0. 0. 1. ]] SLAMing on 0.36655999499999997 meters 0.21854769028081988 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 0.99998774 -0.00214522 -0.00446366 0.01459316] [ 0.00215116 0.99999681 0.00132605 0.00363906] [ 0.0044608 -0.00133564 0.99998916 -0.00302068] [ 0. 0. 0. 1. ]] SLAMing on 0.42655999499999997 meters 0.15977276798638473 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 0.99996303 0.00673333 -0.0053489 0.01457116] [-0.00668827 0.99994237 0.00839734 0.01103645] [ 0.00540514 -0.00836125 0.99995044 -0.00154228] [ 0. 0. 0. 1. ]] SLAMing on 0.48655999499999997 meters 0.15977276798638473 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 9.99981821e-01 3.46674409e-03 -4.93341647e-03 1.23521368e-02] [-3.44393841e-03 9.99983380e-01 4.62370651e-03 1.25816955e-02] [ 4.94936369e-03 -4.60663207e-03 9.99977141e-01 2.56792830e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5465599950000001 meters 0.15977276798638473 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 9.99981821e-01 3.46674409e-03 -4.93341647e-03 1.23521368e-02] [-3.44393841e-03 9.99983380e-01 4.62370651e-03 1.25816955e-02] [ 4.94936369e-03 -4.60663207e-03 9.99977141e-01 2.56792830e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.606559995 meters 0.15977276798638473 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 9.99981821e-01 3.46674409e-03 -4.93341647e-03 1.23521368e-02] [-3.44393841e-03 9.99983380e-01 4.62370651e-03 1.25816955e-02] [ 4.94936369e-03 -4.60663207e-03 9.99977141e-01 2.56792830e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.666559995 meters 0.15977276798638473 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 9.99981821e-01 3.46674409e-03 -4.93341647e-03 1.23521368e-02] [-3.44393841e-03 9.99983380e-01 4.62370651e-03 1.25816955e-02] [ 4.94936369e-03 -4.60663207e-03 9.99977141e-01 2.56792830e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.726559995 meters 0.15516040678841522 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99989466e-01 -7.13892330e-04 -4.53416046e-03 1.15680886e-02] [ 7.11850879e-04 9.99999645e-01 -4.51835792e-04 1.51888669e-02] [ 4.53448141e-03 4.48603386e-04 9.99989619e-01 2.21117895e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7865599950000001 meters 0.1466038508406845 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:0.00 [[ 9.99989660e-01 -5.21258599e-04 -4.51754454e-03 1.13972479e-02] [ 5.21167465e-04 9.99999864e-01 -2.13504578e-05 1.43415893e-02] [ 4.51755506e-03 1.89958398e-05 9.99989796e-01 3.48748071e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.846559995 meters 0.1371313013810061 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99989384e-01 2.06398429e-04 -4.60321199e-03 1.07702600e-02] [-2.10163168e-04 9.99999644e-01 -8.17381650e-04 1.81168078e-02] [ 4.60304164e-03 8.18340398e-04 9.99989071e-01 2.55676350e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.906559995 meters 0.12880371647561617 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:0.00 [[ 9.99989633e-01 7.40215878e-04 -4.49291439e-03 1.00026920e-02] [-7.46378317e-04 9.99998783e-01 -1.37006876e-03 2.07811496e-02] [ 4.49189477e-03 1.37340797e-03 9.99988968e-01 3.43656237e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.966559995 meters 0.12582693339951334 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 9.99989988e-01 4.35306086e-04 -4.45367294e-03 1.00957816e-02] [-4.45872286e-04 9.99997088e-01 -2.37175101e-03 2.31215478e-02] [ 4.45262754e-03 2.37371303e-03 9.99987270e-01 -1.80460119e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.026559995 meters 0.12332467166993692 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 0.99998755 0.00153413 -0.00474757 0.01285767] [-0.00154068 0.99999786 -0.00137728 0.02355331] [ 0.00474545 0.00138458 0.99998778 -0.00297148] [ 0. 0. 0. 1. ]] SLAMing on 1.086559995 meters 0.1060256157850746 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.99998937 0.00193393 -0.00418487 0.01104797] [-0.0019398 0.99999714 -0.00139778 0.02552747] [ 0.00418216 0.00140588 0.99999027 -0.00188182] [ 0. 0. 0. 1. ]] SLAMing on 1.1465599949999998 meters 0.09752688641001708 Centerline is valid? [False, True] Translation: X:0.01, Y:0.02, Z:-0.00 [[ 9.99989470e-01 2.12257265e-03 -4.06873350e-03 1.07400109e-02] [-2.12646067e-03 9.99997286e-01 -9.51498023e-04 2.46157974e-02] [ 4.06670284e-03 9.60140005e-04 9.99991270e-01 -1.63955968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2065599949999999 meters 0.0810040849096986 Centerline is valid? [True, True] Translation: X:0.07, Y:0.02, Z:-0.00 [[ 9.99972908e-01 -1.23988506e-03 -7.25576165e-03 7.05326358e-02] [ 1.23993924e-03 9.99999231e-01 2.96817790e-06 1.92608044e-02] [ 7.25575239e-03 -1.19648010e-05 9.99973677e-01 -4.46950385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.266559995 meters 0.07801679270044388 Centerline is valid? [True, True] Translation: X:0.13, Y:0.02, Z:-0.01 [[ 9.99956258e-01 -3.61270474e-03 -8.62735001e-03 1.29310665e-01] [ 3.61286105e-03 9.99993474e-01 2.53227236e-06 1.62150203e-02] [ 8.62728456e-03 -3.37015784e-05 9.99962784e-01 -6.04790438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3265599949999998 meters 0.05844062104635499 Centerline is valid? [True, True] Translation: X:0.19, Y:0.01, Z:-0.00 [[ 9.99938809e-01 -5.07280410e-03 -9.83085003e-03 1.87667914e-01] [ 5.07306747e-03 9.99987132e-01 1.85403876e-06 1.44428553e-02] [ 9.83071412e-03 -5.17264908e-05 9.99951676e-01 -4.93204855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3865599949999998 meters 0.05379425634493993 Centerline is valid? [True, True] Translation: X:0.25, Y:0.02, Z:-0.01 [[ 9.99927652e-01 -2.11308121e-03 -1.18416761e-02 2.46328460e-01] [ 2.11319603e-03 9.99997767e-01 -2.81607490e-06 1.83388706e-02] [ 1.18416556e-02 -2.22079116e-05 9.99929885e-01 -6.35746347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4465599949999999 meters 0.053083712834614986 Centerline is valid? [True, True] Translation: X:0.30, Y:0.02, Z:-0.01 [[ 9.99931500e-01 -1.56148128e-03 -1.15998839e-02 3.04791745e-01] [ 1.56150852e-03 9.99998781e-01 -6.70817718e-06 1.93703069e-02] [ 1.15998802e-02 -1.14055998e-05 9.99932719e-01 -6.22671675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.506559995 meters 0.05202114999987451 Centerline is valid? [True, True] Translation: X:0.36, Y:0.02, Z:-0.01 [[ 9.99907591e-01 -3.05614458e-03 -1.32464684e-02 3.63821352e-01] [ 3.05635194e-03 9.99995329e-01 -4.58990896e-06 1.79703541e-02] [ 1.32464206e-02 -3.58963847e-05 9.99912262e-01 -9.54270231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.566559995 meters 0.04600451922165907 Centerline is valid? [True, True] Translation: X:0.42, Y:0.02, Z:-0.01 [[ 9.99908164e-01 -5.05725114e-03 -1.25732567e-02 4.22565249e-01] [ 5.05758423e-03 9.99987210e-01 -5.30469103e-06 1.63001113e-02] [ 1.25731227e-02 -5.82861007e-05 9.99920953e-01 -9.86396779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6265599949999998 meters 0.0437562922514532 Centerline is valid? [True, True] Translation: X:0.48, Y:0.01, Z:-0.01 [[ 9.99895052e-01 -7.66314772e-03 -1.22947457e-02 4.81391515e-01] [ 7.66365232e-03 9.99970634e-01 -6.07092912e-06 1.45823159e-02] [ 1.22944312e-02 -8.81523646e-05 9.99924417e-01 -1.12033865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6865599949999999 meters 0.040819501471948655 Centerline is valid? [True, True] Translation: X:0.54, Y:0.02, Z:-0.01 [[ 9.99924475e-01 -8.68711082e-03 -8.69362360e-03 5.40098542e-01] [ 8.68739354e-03 9.99962264e-01 -5.24370505e-06 1.64703316e-02] [ 8.69334109e-03 -7.02816204e-05 9.99962210e-01 -9.66667341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.746559995 meters 0.040069496643679765 Centerline is valid? [True, True] Translation: X:0.60, Y:0.02, Z:-0.01 [[ 9.99927273e-01 -8.35597141e-03 -8.69634755e-03 5.96681177e-01] [ 8.35622553e-03 9.99965086e-01 -7.11306895e-06 1.76011833e-02] [ 8.69610336e-03 -6.55560898e-05 9.99962186e-01 -1.05793911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8065599949999998 meters 0.03923404069121873 Centerline is valid? [True, True] Translation: X:0.66, Y:0.02, Z:-0.01 [[ 9.99934183e-01 -9.43392585e-03 -6.52927089e-03 6.55814230e-01] [ 9.43406567e-03 9.99955498e-01 -9.38472676e-06 1.75868730e-02] [ 6.52906886e-03 -5.22134613e-05 9.99978684e-01 -1.12457376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8665599949999998 meters 0.03528347394404539 Centerline is valid? [True, True] Translation: X:0.71, Y:0.01, Z:-0.01 [[ 9.99910418e-01 -1.22815302e-02 -5.32157643e-03 7.12416878e-01] [ 1.22816666e-02 9.99924577e-01 -7.03304432e-06 1.36051769e-02] [ 5.32126144e-03 -5.83254134e-05 9.99985840e-01 -1.35040313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9265599949999999 meters 0.035019467676272904 Centerline is valid? [True, True] Translation: X:0.77, Y:0.01, Z:-0.01 [[ 9.99933288e-01 -1.07798392e-02 -4.14904296e-03 7.71006747e-01] [ 1.07798956e-02 9.99941895e-01 -8.75539137e-06 1.44041162e-02] [ 4.14889626e-03 -3.59714427e-05 9.99991393e-01 -1.39701337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.986559995 meters 0.027937707692347692 Centerline is valid? [True, True] Translation: X:0.83, Y:0.01, Z:-0.01 [[ 9.99951609e-01 -9.81675060e-03 6.40622473e-04 8.29762326e-01] [ 9.81675279e-03 9.99951815e-01 -2.73126810e-07 1.36058270e-02] [-6.40588923e-04 6.56194604e-06 9.99999795e-01 -1.33988910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.046559995 meters 0.026504274029114414 Centerline is valid? [True, True] Translation: X:0.89, Y:0.01, Z:-0.01 [[ 9.99955242e-01 -9.35077516e-03 1.44133665e-03 8.88959585e-01] [ 9.35078717e-03 9.99956280e-01 -1.59030913e-06 1.14884818e-02] [-1.44125877e-03 1.50678702e-05 9.99998961e-01 -1.45923724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.106559995 meters 0.023324531608974585 Centerline is valid? [True, True] Translation: X:0.95, Y:0.01, Z:-0.01 [[ 9.99967485e-01 -6.04480482e-03 5.33756021e-03 9.46649866e-01] [ 6.04485270e-03 9.99981730e-01 7.16168742e-06 1.28054787e-02] [-5.33750598e-03 2.51033107e-05 9.99985755e-01 -1.35829357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.166559995 meters 0.023168183533869485 Centerline is valid? [True, True] Translation: X:1.01, Y:0.01, Z:-0.01 [[ 9.99957127e-01 -4.57166283e-03 8.05253766e-03 1.00696102e+00] [ 4.57170799e-03 9.99989550e-01 1.27987094e-05 1.37064562e-02] [-8.05251202e-03 2.40156901e-05 9.99967578e-01 -1.38171271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2265599949999997 meters 0.02045953644657518 Centerline is valid? [True, True] Translation: X:1.07, Y:0.01, Z:-0.01 [[ 9.99932138e-01 -3.34464316e-03 1.11594089e-02 1.06791475e+00] [ 3.34465094e-03 9.99994406e-01 1.79657973e-05 1.35823961e-02] [-1.11594066e-02 1.93597495e-05 9.99937732e-01 -1.34143342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2865599949999997 meters 0.01866738459728205 Centerline is valid? [True, True] Translation: X:1.13, Y:0.01, Z:-0.01 [[ 9.99915931e-01 -1.78680725e-03 1.28428594e-02 1.12979637e+00] [ 1.78669801e-03 9.99998404e-01 1.99789265e-05 1.38812437e-02] [-1.28428746e-02 2.96906445e-06 9.99917527e-01 -1.38442351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.346559995 meters 0.018337957432583856 Centerline is valid? [True, True] Translation: X:1.19, Y:0.02, Z:-0.02 [[ 9.99924825e-01 3.44978054e-03 1.17662241e-02 1.19052874e+00] [-3.45022609e-03 9.99994048e-01 1.75681243e-05 1.69271991e-02] [-1.17660934e-02 -5.81629368e-05 9.99930775e-01 -1.50906772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.406559995 meters 0.018104435542779105 Centerline is valid? [True, True] Translation: X:1.25, Y:0.02, Z:-0.02 [[ 9.99913636e-01 6.24688765e-03 1.15626960e-02 1.25248751e+00] [-6.24749947e-03 9.99980484e-01 1.67932863e-05 1.84239566e-02] [-1.15623654e-02 -8.90297729e-05 9.99933150e-01 -1.63931797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.466559995 meters 0.01918256528704428 Centerline is valid? [True, True] Translation: X:1.31, Y:0.02, Z:-0.02 [[ 9.99939682e-01 6.85652654e-03 8.58025828e-03 1.31310752e+00] [-6.85689203e-03 9.99976491e-01 1.31794033e-05 1.69892882e-02] [-8.57996620e-03 -7.20125129e-05 9.99963189e-01 -2.16355577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.526559995 meters 0.017167651369889656 Centerline is valid? [True, True] Translation: X:1.37, Y:0.01, Z:-0.02 [[ 9.99958405e-01 4.62993079e-03 7.85824561e-03 1.37480107e+00] [-4.63015914e-03 9.99989281e-01 1.08661635e-05 1.32702129e-02] [-7.85811106e-03 -4.72506393e-05 9.99969123e-01 -2.24605821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.586559995 meters 0.018812338885544372 Centerline is valid? [True, True] Translation: X:1.44, Y:0.01, Z:-0.02 [[ 9.99937495e-01 5.23708169e-03 9.87819174e-03 1.43720162e+00] [-5.23744282e-03 9.99986284e-01 1.06903717e-05 1.32967095e-02] [-9.87800027e-03 -6.24261679e-05 9.99951209e-01 -2.19676297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6465599949999996 meters 0.016489555457691086 Centerline is valid? [True, True] Translation: X:1.50, Y:0.01, Z:-0.02 [[ 9.99927783e-01 4.71692991e-03 1.10534488e-02 1.49908519e+00] [-4.71732012e-03 9.99988873e-01 9.23035456e-06 1.29003740e-02] [-1.10532822e-02 -6.13723442e-05 9.99938909e-01 -1.90594840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7065599949999997 meters 0.017097222140215095 Centerline is valid? [True, True] Translation: X:1.56, Y:0.01, Z:-0.02 [[ 9.99904380e-01 4.41345184e-03 1.31054603e-02 1.56148595e+00] [-4.41393058e-03 9.99990259e-01 7.60507384e-06 1.22292648e-02] [-1.31052990e-02 -6.54509385e-05 9.99914120e-01 -1.96630007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7665599949999997 meters 0.01657062621461568 Centerline is valid? [True, True] Translation: X:1.62, Y:0.01, Z:-0.02 [[ 9.99910851e-01 2.47311728e-03 1.31214765e-02 1.62413061e+00] [-2.47338995e-03 9.99996941e-01 4.55224514e-06 7.30748256e-03] [-1.31214251e-02 -3.70063674e-05 9.99913910e-01 -2.02803850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8265599949999998 meters 0.01590721730599688 Centerline is valid? [True, True] Translation: X:1.69, Y:0.01, Z:-0.02 [[ 9.99924729e-01 3.39482148e-03 1.17903359e-02 1.68608513e+00] [-3.39510364e-03 9.99994237e-01 3.91625165e-06 7.73712225e-03] [-1.17902547e-02 -4.39453693e-05 9.99930492e-01 -2.21313361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.886559995 meters 0.018273664709398868 Centerline is valid? [True, True] Translation: X:1.75, Y:0.01, Z:-0.03 [[ 9.99908319e-01 4.51500504e-03 1.27659294e-02 1.74900542e+00] [-4.51538592e-03 9.99989806e-01 1.01295519e-06 9.13254344e-03] [-1.27657947e-02 -5.86559602e-05 9.99918512e-01 -2.53489416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.946559995 meters 0.018634939962309447 Centerline is valid? [True, True] Translation: X:1.81, Y:0.01, Z:-0.03 [[ 9.99928560e-01 4.88738816e-03 1.09082148e-02 1.81225448e+00] [-4.88766532e-03 9.99988055e-01 -1.25056886e-06 8.37209712e-03] [-1.09080906e-02 -5.20652235e-05 9.99940504e-01 -2.83441146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.006559995 meters 0.02028946991276895 Centerline is valid? [True, True] Translation: X:1.87, Y:0.01, Z:-0.03 [[ 9.99884770e-01 9.98080318e-03 1.14380872e-02 1.87348217e+00] [-9.98140074e-03 9.99950185e-01 -4.84270881e-06 1.46285510e-02] [-1.14375657e-02 -1.09325981e-04 9.99934583e-01 -2.82079910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.066559995 meters 0.01918480943259084 Centerline is valid? [True, True] Translation: X:1.94, Y:0.01, Z:-0.03 [[ 9.99895808e-01 1.03197139e-02 1.00934188e-02 1.93503635e+00] [-1.03201935e-02 9.99946745e-01 -4.57065465e-06 1.38173735e-02] [-1.00929285e-02 -9.95958566e-05 9.99949060e-01 -2.96238775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.126559995 meters 0.019472601069202025 Centerline is valid? [True, True] Translation: X:2.00, Y:0.01, Z:-0.03 [[ 9.99922711e-01 7.24406730e-03 1.01042193e-02 1.99761801e+00] [-7.24436004e-03 9.99973759e-01 -7.62850821e-06 8.04259033e-03] [-1.01040094e-02 -6.55706837e-05 9.99948951e-01 -3.07794170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1865599949999996 meters 0.0190460211693721 Centerline is valid? [True, True] Translation: X:2.06, Y:0.01, Z:-0.03 [[ 9.99921131e-01 6.72504990e-03 1.06068337e-02 2.05837198e+00] [-6.72534067e-03 9.99977385e-01 -8.25478051e-06 7.87358252e-03] [-1.06066493e-02 -6.30804404e-05 9.99943746e-01 -2.97010884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2465599949999997 meters 0.019122746260284252 Centerline is valid? [True, True] Translation: X:2.12, Y:0.01, Z:-0.03 [[ 9.99937817e-01 7.00827523e-03 8.67446791e-03 2.11971987e+00] [-7.00847027e-03 9.99975440e-01 -7.91390615e-06 8.86239485e-03] [-8.67431033e-03 -5.28813364e-05 9.99962376e-01 -3.13654767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3065599949999998 meters 0.019279783940896106 Centerline is valid? [True, True] Translation: X:2.18, Y:0.01, Z:-0.03 [[ 9.99942241e-01 8.58954339e-03 6.46026648e-03 2.18139001e+00] [-8.58968230e-03 9.99963108e-01 -6.24424344e-06 1.09307828e-02] [-6.46008178e-03 -4.92477539e-05 9.99979132e-01 -3.44577423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.366559995 meters 0.019332807744620165 Centerline is valid? [True, True] Translation: X:2.24, Y:0.01, Z:-0.04 [[ 9.99950772e-01 9.46221462e-03 2.98664284e-03 2.24190730e+00] [-9.46224484e-03 9.99955232e-01 -4.01207287e-06 1.37788897e-02] [-2.98654709e-03 -2.42484704e-05 9.99995540e-01 -3.91834748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.426559995 meters 0.0196094061589759 Centerline is valid? [True, True] Translation: X:2.30, Y:0.01, Z:-0.04 [[ 9.99971905e-01 7.36095690e-03 1.41597976e-03 2.30354731e+00] [-7.36096419e-03 9.99972908e-01 -6.54497588e-08 1.40962624e-02] [-1.41594188e-03 -1.03575284e-05 9.99998998e-01 -4.33891781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.486559995 meters 0.018755511434550058 Centerline is valid? [True, True] Translation: X:2.36, Y:0.01, Z:-0.04 [[ 9.99994601e-01 2.79520997e-03 1.72774372e-03 2.36479114e+00] [-2.79521367e-03 9.99996093e-01 -2.74219551e-07 1.04380864e-02] [-1.72773774e-03 -4.55519479e-06 9.99998507e-01 -4.29522302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.546559995 meters 0.019593355201168058 Centerline is valid? [True, True] Translation: X:2.43, Y:0.01, Z:-0.04 [[ 9.99994537e-01 1.67485465e-03 2.84964319e-03 2.42709792e+00] [-1.67485386e-03 9.99998597e-01 -2.66486587e-06 1.07451028e-02] [-2.84964366e-03 -2.10788458e-06 9.99995940e-01 -4.31875595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6065599949999996 meters 0.02044524560890598 Centerline is valid? [True, True] Translation: X:2.49, Y:0.01, Z:-0.04 [[ 9.99992661e-01 -2.13492414e-03 3.18120336e-03 2.48899521e+00] [ 2.13494706e-03 9.99997721e-01 -3.80625074e-06 8.67754924e-03] [-3.18118798e-03 1.05979235e-05 9.99994940e-01 -4.38089033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6665599949999996 meters 0.018947424594975653 Centerline is valid? [True, True] Translation: X:2.55, Y:0.01, Z:-0.04 [[ 9.99964127e-01 -8.26454269e-03 1.85504203e-03 2.55076847e+00] [ 8.26456363e-03 9.99965848e-01 -3.62369393e-06 7.02816014e-03] [-1.85494873e-03 1.89546768e-05 9.99998279e-01 -3.93609002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7265599949999997 meters 0.02707715822618469 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.01, Z:-0.05 [[ 9.99762678e-01 -2.17348051e-02 1.47832785e-03 2.60946418e+00] [ 2.17348345e-02 9.99763771e-01 -3.81396528e-06 -1.07127451e-02] [-1.47789573e-03 3.59442713e-05 9.99998907e-01 -4.66482055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7865599949999997 meters 0.0226806083941418 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.00, Z:-0.04 [[ 9.99569169e-01 -2.91641075e-02 3.30637528e-03 2.66932362e+00] [ 2.91642920e-02 9.99574632e-01 -7.56957088e-06 -4.02361353e-03] [-3.30474809e-03 1.03994404e-04 9.99994534e-01 -4.11832189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.846559995 meters 0.022330561108256448 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.01, Z:-0.04 [[ 9.99351888e-01 -3.56006842e-02 5.32880164e-03 2.72967639e+00] [ 3.56012533e-02 9.99366074e-01 -1.19385971e-05 -8.86646680e-03] [-5.32499855e-03 2.01642876e-04 9.99985802e-01 -3.96232911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.906559995 meters 0.02275878004709787 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.01, Z:-0.04 [[ 9.99386634e-01 -3.45722992e-02 5.57788599e-03 2.78913514e+00] [ 3.45729182e-02 9.99402178e-01 -1.45591969e-05 -9.75037585e-03] [-5.57404806e-03 2.07394063e-04 9.99984443e-01 -4.10160797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.966559995 meters 0.023808810954359362 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.01, Z:-0.04 [[ 9.99387474e-01 -3.45116473e-02 5.79846995e-03 2.84647681e+00] [ 3.45122983e-02 9.99404273e-01 -1.22260017e-05 -1.06933617e-02] [-5.79459371e-03 2.12337038e-04 9.99983189e-01 -4.40720513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0265599949999995 meters 0.022594048121301922 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.01, Z:-0.05 [[ 9.99367832e-01 -3.48424200e-02 7.06701040e-03 2.90503900e+00] [ 3.48434001e-02 9.99392784e-01 -1.55699026e-05 -1.02031278e-02] [-7.06217670e-03 2.61798731e-04 9.99975028e-01 -4.58328263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.086559995 meters 0.021128425543104772 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.01, Z:-0.05 [[ 9.99465068e-01 -3.13648804e-02 9.26406497e-03 2.96522677e+00] [ 3.13663651e-02 9.99507954e-01 -1.49772167e-05 -8.88795261e-03] [-9.25903686e-03 3.05549249e-04 9.99957088e-01 -4.50125574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.146559995 meters 0.01969635180167766 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.01, Z:-0.05 [[ 9.99596900e-01 -2.65117953e-02 1.01568704e-02 3.02502987e+00] [ 2.65133286e-02 9.99648460e-01 -1.63137194e-05 -8.99773701e-03] [-1.01528674e-02 2.85599587e-04 9.99948418e-01 -4.55333265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.206559995 meters 0.018571582918845163 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.00, Z:-0.05 [[ 9.99734194e-01 -2.00882890e-02 1.13138222e-02 3.08521353e+00] [ 2.00897755e-02 9.99798180e-01 -1.77422675e-05 -4.74608769e-03] [-1.13111824e-02 2.45029700e-04 9.99935997e-01 -4.71606064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.266559995 meters 0.01695954957212632 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.00, Z:-0.05 [[ 9.99794067e-01 -1.67296880e-02 1.14865277e-02 3.14385686e+00] [ 1.67310031e-02 9.99860027e-01 -1.84025466e-05 -1.87357618e-03] [-1.14846121e-02 2.10579888e-04 9.99934027e-01 -4.96594213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.326559995 meters 0.017140718650174917 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.00, Z:-0.05 [[ 9.99810172e-01 -1.68444342e-02 9.79204046e-03 3.20314362e+00] [ 1.68453649e-02 9.99858107e-01 -1.25800406e-05 -2.26496784e-03] [-9.79043913e-03 1.77528148e-04 9.99952057e-01 -5.23521835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.386559995 meters 0.016988670810858073 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.00, Z:-0.05 [[ 9.99839566e-01 -1.48855165e-02 9.96309318e-03 3.26292969e+00] [ 1.48863791e-02 9.99889192e-01 -1.24285995e-05 -1.03466896e-03] [-9.96180418e-03 1.60740988e-04 9.99950367e-01 -5.40480749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.446559994999999 meters 0.01647520491464293 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.00, Z:-0.06 [[ 9.99870403e-01 -1.34296948e-02 8.87809049e-03 3.32264780e+00] [ 1.34303202e-02 9.99909809e-01 -1.08241997e-05 -5.24076795e-04] [-8.87714440e-03 1.30058395e-04 9.99960589e-01 -5.53291810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.506559995 meters 0.015986251858422226 Centerline is valid? [True, True] Translation: X:3.38, Y:0.00, Z:-0.06 [[ 9.99869793e-01 -1.28481991e-02 9.76327311e-03 3.38197639e+00] [ 1.28489212e-02 9.99917449e-01 -1.12435906e-05 1.11002875e-03] [-9.76232268e-03 1.36689654e-04 9.99952338e-01 -5.63426083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5665599949999995 meters 0.016759830020821573 Centerline is valid? [True, True] Translation: X:3.44, Y:0.00, Z:-0.06 [[ 9.99879443e-01 -1.21064807e-02 9.72278394e-03 3.44229192e+00] [ 1.21071628e-02 9.99926706e-01 -1.12962218e-05 9.51607508e-04] [-9.72193456e-03 1.29010188e-04 9.99952733e-01 -5.66304287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.626559995 meters 0.016592631069859073 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.00, Z:-0.06 [[ 9.99868354e-01 -1.38692019e-02 8.42143030e-03 3.50269232e+00] [ 1.38697751e-02 9.99903810e-01 -9.65670734e-06 -3.91787254e-03] [-8.42048631e-03 1.26458780e-04 9.99964539e-01 -5.83429718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.686559995 meters 0.01682695748040644 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.01, Z:-0.06 [[ 9.99836453e-01 -1.56987499e-02 8.97867101e-03 3.56272366e+00] [ 1.56994799e-02 9.99876756e-01 -1.08212677e-05 -5.94275559e-03] [-8.97739456e-03 1.51779963e-04 9.99959691e-01 -5.79412363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.746559995 meters 0.015954870307618264 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.01, Z:-0.06 [[ 9.99838371e-01 -1.54600441e-02 9.17711262e-03 3.62198558e+00] [ 1.54608065e-02 9.99880475e-01 -1.21360815e-05 -5.38772808e-03] [-9.17582810e-03 1.54019682e-04 9.99957889e-01 -5.78349226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.806559995 meters 0.016716649707921083 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.01, Z:-0.06 [[ 9.99840403e-01 -1.53596785e-02 9.12411213e-03 3.68129694e+00] [ 1.53603950e-02 9.99882022e-01 -8.44864394e-06 -5.40422351e-03] [-9.12290591e-03 1.48597262e-04 9.99958374e-01 -5.93934908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.866559994999999 meters 0.01689790865610826 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.00, Z:-0.06 [[ 9.99882639e-01 -1.26943675e-02 8.57679830e-03 3.74062689e+00] [ 1.26949122e-02 9.99919416e-01 -9.06944652e-06 -2.41361979e-03] [-8.57599202e-03 1.17950084e-04 9.99963219e-01 -6.16345245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.926559995 meters 0.017135140497227648 Centerline is valid? [True, True] Translation: X:3.80, Y:0.00, Z:-0.06 [[ 9.99908266e-01 -9.80819466e-03 9.34126284e-03 3.80122846e+00] [ 9.80867851e-03 9.99951894e-01 -5.98447244e-06 1.85451868e-03] [-9.34075477e-03 9.76093675e-05 9.99956369e-01 -6.22722701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9865599949999995 meters 0.016234097783329553 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.00, Z:-0.06 [[ 9.99920966e-01 -9.66880263e-03 8.03591087e-03 3.86195222e+00] [ 9.66915512e-03 9.99953253e-01 -5.01336968e-06 -5.83574066e-04] [-8.03548674e-03 8.27134422e-05 9.99967712e-01 -6.40363326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.046559995 meters 0.016537156474951704 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.00, Z:-0.06 [[ 9.99917357e-01 -1.00350764e-02 8.03592878e-03 3.92228612e+00] [ 1.00354429e-02 9.99949644e-01 -5.28678156e-06 -1.49206852e-03] [-8.03547106e-03 8.59304490e-05 9.99967711e-01 -6.37077145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.106559995 meters 0.01635672234110634 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.00, Z:-0.06 [[ 9.99923138e-01 -9.42340193e-03 8.05719967e-03 3.98285805e+00] [ 9.42375053e-03 9.99955595e-01 -5.30077554e-06 -1.02222089e-04] [-8.05679195e-03 8.12294078e-05 9.99967540e-01 -6.41614395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.166559995 meters 0.016459627287043425 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.00, Z:-0.07 [[ 9.99904346e-01 -1.23381195e-02 6.25061289e-03 4.04335414e+00] [ 1.23383821e-02 9.99923879e-01 -3.45018266e-06 -3.36428842e-03] [-6.25009452e-03 8.05723027e-05 9.99980465e-01 -6.77865937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.226559995 meters 0.018461720430594245 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.01, Z:-0.07 [[ 9.99846470e-01 -1.59664232e-02 7.21867536e-03 4.10213446e+00] [ 1.59668920e-02 9.99872521e-01 -7.31377613e-06 -6.41661859e-03] [-7.21763836e-03 1.22572463e-04 9.99973945e-01 -6.85466463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.286559994999999 meters 0.017567716385956698 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.01, Z:-0.07 [[ 9.99794112e-01 -1.83543705e-02 8.65167491e-03 4.16100608e+00] [ 1.83551089e-02 9.99831531e-01 -5.94991851e-06 -8.85092387e-03] [-8.65010816e-03 1.64751129e-04 9.99962574e-01 -6.79715204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.346559995 meters 0.01868068476272259 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.01, Z:-0.07 [[ 9.99740794e-01 -2.05110170e-02 9.88145610e-03 4.22007982e+00] [ 2.05120567e-02 9.99789606e-01 -3.86875025e-06 -9.96778923e-03] [-9.87929774e-03 2.06556735e-04 9.99951177e-01 -6.84246619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.406559994999999 meters 0.017491391797789115 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.01, Z:-0.07 [[ 9.99746123e-01 -1.94943314e-02 1.12987331e-02 4.27866983e+00] [ 1.94955894e-02 9.99809943e-01 -1.19128371e-06 -7.95377047e-03] [-1.12965625e-02 2.21466443e-04 9.99936167e-01 -6.84859468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.466559995 meters 0.017679063726519176 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.01, Z:-0.07 [[ 9.99727294e-01 -2.05105766e-02 1.11648732e-02 4.33722919e+00] [ 2.05118387e-02 9.99789610e-01 1.46604659e-06 -8.45157420e-03] [-1.11625543e-02 2.27546431e-04 9.99937671e-01 -7.00174170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5265599949999995 meters 0.017743851756743683 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.00, Z:-0.07 [[ 9.99742045e-01 -1.91994112e-02 1.21336621e-02 4.39476064e+00] [ 1.92007582e-02 9.99815648e-01 5.48490360e-06 -4.54707327e-03] [-1.21315306e-02 2.27492023e-04 9.99926384e-01 -7.31458236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.586559995 meters 0.018451015197202093 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.01, Z:-0.07 [[ 9.99725917e-01 -2.06664753e-02 1.09994714e-02 4.45441534e+00] [ 2.06676592e-02 9.99786401e-01 6.03951282e-06 -6.25075042e-03] [-1.09972467e-02 2.21295468e-04 9.99939504e-01 -7.48078989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.646559995 meters 0.01896743408978889 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.01, Z:-0.08 [[ 9.99738208e-01 -2.14968087e-02 7.83592254e-03 4.51374268e+00] [ 2.14974470e-02 9.99768903e-01 2.76662834e-06 -1.02588075e-02] [-7.83417115e-03 1.65686426e-04 9.99969299e-01 -7.67101101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.706559995 meters 0.018291524095754044 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.01, Z:-0.08 [[ 9.99745229e-01 -2.08485051e-02 8.64972156e-03 4.57249431e+00] [ 2.08492373e-02 9.99782631e-01 5.52305931e-06 -7.55009863e-03] [-8.64795653e-03 1.74818446e-04 9.99962590e-01 -7.75097123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.766559995 meters 0.018077957760061727 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.01, Z:-0.08 [[ 9.99704906e-01 -2.20993855e-02 1.00854972e-02 4.63143764e+00] [ 2.21004142e-02 9.99755756e-01 9.45989679e-06 -6.28793787e-03] [-1.00832429e-02 2.13436559e-04 9.99949140e-01 -7.88685209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.826559994999999 meters 0.01773391674776216 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.00, Z:-0.08 [[ 9.99712828e-01 -2.06178108e-02 1.22134246e-02 4.68986099e+00] [ 2.06191618e-02 9.99787402e-01 1.53076187e-05 -4.62453163e-03] [-1.22111436e-02 2.36527355e-04 9.99925413e-01 -7.94298516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.886559995 meters 0.017853911542971324 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.00, Z:-0.08 [[ 9.99746828e-01 -1.85643378e-02 1.27139643e-02 4.74871634e+00] [ 1.85655947e-02 9.99827644e-01 1.91638222e-05 -4.03178614e-04] [-1.27121287e-02 2.16883338e-04 9.99919174e-01 -8.07954579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.946559994999999 meters 0.017484162224916003 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.00, Z:-0.08 [[ 9.99792242e-01 -1.68496513e-02 1.14700793e-02 4.80797799e+00] [ 1.68505205e-02 9.99858020e-01 2.08628450e-05 -2.63361901e-04] [-1.14688023e-02 1.72418295e-04 9.99934216e-01 -8.26435298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.006559995 meters 0.017884079864188378 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.00, Z:-0.08 [[ 9.99797518e-01 -1.67699949e-02 1.11215790e-02 4.86716871e+00] [ 1.67708104e-02 9.99859360e-01 1.99431636e-05 -3.07306303e-03] [-1.11203493e-02 1.66578766e-04 9.99938153e-01 -8.45663610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0665599949999995 meters 0.018025040399261442 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.00, Z:-0.09 [[ 9.99809221e-01 -1.61901784e-02 1.09270114e-02 4.92672950e+00] [ 1.61909269e-02 9.99868918e-01 1.99664582e-05 -2.06158542e-03] [-1.09259023e-02 1.56955794e-04 9.99940298e-01 -8.66956242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.126559995 meters 0.016537932828223446 Centerline is valid? [True, True] Translation: X:4.99, Y:0.00, Z:-0.09 [[ 9.99810646e-01 -1.39866407e-02 1.35294862e-02 4.98691674e+00] [ 1.39875795e-02 9.99902169e-01 2.52434665e-05 8.77794447e-04] [-1.35285157e-02 1.64006077e-04 9.99908472e-01 -8.74155303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.186559995 meters 0.01703351380574452 Centerline is valid? [True, True] Translation: X:5.05, Y:0.00, Z:-0.09 [[ 9.99842752e-01 -1.13062770e-02 1.36616285e-02 5.04802517e+00] [ 1.13069657e-02 9.99936074e-01 2.68289256e-05 3.42238972e-04] [-1.36610585e-02 1.27646858e-04 9.99906675e-01 -8.81129020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.246559995 meters 0.016675341738475926 Centerline is valid? [True, True] Translation: X:5.11, Y:0.00, Z:-0.09 [[ 9.99878550e-01 -5.87699656e-03 1.44341752e-02 5.10947094e+00] [ 5.87720729e-03 9.99982729e-01 2.78195513e-05 3.07816467e-03] [-1.44340894e-02 5.70164671e-05 9.99895821e-01 -8.88861263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.306559995 meters 0.017787508465883225 Centerline is valid? [True, True] Translation: X:5.17, Y:0.01, Z:-0.09 [[ 9.99894392e-01 -1.36247122e-03 1.44688680e-02 5.17174407e+00] [ 1.36222120e-03 9.99999072e-01 2.71354424e-05 7.87389119e-03] [-1.44688916e-02 -7.42277786e-06 9.99895320e-01 -9.15600298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.366559994999999 meters 0.015609734771268983 Centerline is valid? [True, True] Translation: X:5.23, Y:0.01, Z:-0.09 [[ 9.99878150e-01 2.81704002e-03 1.53541453e-02 5.23253487e+00] [-2.81779646e-03 9.99996030e-01 2.76328899e-05 1.15066105e-02] [-1.53540065e-02 -7.08943792e-05 9.99882118e-01 -9.32057387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.426559995 meters 0.017393869106955173 Centerline is valid? [True, True] Translation: X:5.29, Y:0.01, Z:-0.10 [[ 9.99870777e-01 4.12893730e-03 1.55364604e-02 5.29452404e+00] [-4.12985751e-03 9.99991472e-01 2.71452732e-05 1.16150021e-02] [-1.55362158e-02 -9.13051330e-05 9.99879302e-01 -9.52233050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4865599949999995 meters 0.016140611505488803 Centerline is valid? [True, True] Translation: X:5.36, Y:0.01, Z:-0.10 [[ 9.99865281e-01 5.13576892e-03 1.55898425e-02 5.35739517e+00] [-5.13680141e-03 9.99986806e-01 2.61851190e-05 1.13581047e-02] [-1.55895023e-02 -1.06263516e-04 9.99878471e-01 -9.70285395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.546559995 meters 0.01600340741957597 Centerline is valid? [True, True] Translation: X:5.42, Y:0.01, Z:-0.10 [[ 9.99851235e-01 7.47397554e-03 1.55450044e-02 5.41969261e+00] [-7.47521405e-03 9.99972060e-01 2.15690229e-05 1.38171780e-02] [-1.55444089e-02 -1.37768050e-04 9.99879169e-01 -9.97533650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.606559995 meters 0.01653710529096848 Centerline is valid? [True, True] Translation: X:5.48, Y:0.02, Z:-0.10 [[ 9.99839664e-01 1.14343334e-02 1.37805102e-02 5.48021869e+00] [-1.14356743e-02 9.99934610e-01 1.85053809e-05 1.70733261e-02] [-1.37793975e-02 -1.76091840e-04 9.99905044e-01 -1.02081484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.666559995 meters 0.01676970793751914 Centerline is valid? [True, True] Translation: X:5.54, Y:0.02, Z:-0.10 [[ 9.99838504e-01 1.20870891e-02 1.32991676e-02 5.54302498e+00] [-1.20883653e-02 9.99926933e-01 1.55708819e-05 1.66473601e-02] [-1.32980076e-02 -1.76333563e-04 9.99911562e-01 -1.03533690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.726559995 meters 0.017522732002555337 Centerline is valid? [True, True] Translation: X:5.61, Y:0.02, Z:-0.10 [[ 9.99848489e-01 1.21513411e-02 1.24637068e-02 5.60607366e+00] [-1.21524256e-02 9.99926156e-01 1.12734605e-05 1.60366495e-02] [-1.24626495e-02 -1.62736022e-04 9.99922325e-01 -1.04975783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.786559994999999 meters 0.016433635200315443 Centerline is valid? [True, True] Translation: X:5.67, Y:0.02, Z:-0.10 [[ 9.99836235e-01 1.20423802e-02 1.35086438e-02 5.66736874e+00] [-1.20435810e-02 9.99927473e-01 7.54574917e-06 1.69317184e-02] [-1.35075732e-02 -1.70236959e-04 9.99908754e-01 -1.04731190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.846559995 meters 0.01716944709660042 Centerline is valid? [True, True] Translation: X:5.73, Y:0.02, Z:-0.10 [[ 9.99833511e-01 1.10321675e-02 1.45341607e-02 5.73000871e+00] [-1.10334177e-02 9.99939130e-01 5.82881706e-06 1.53785104e-02] [-1.45332117e-02 -1.66189311e-04 9.99894373e-01 -1.04849546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.906559994999999 meters 0.01696127522952046 Centerline is valid? [True, True] Translation: X:5.79, Y:0.01, Z:-0.11 [[ 9.99815929e-01 1.16011965e-02 1.52813442e-02 5.79273264e+00] [-1.16026246e-02 9.99932687e-01 4.79604266e-06 1.47141997e-02] [-1.52802599e-02 -1.82098859e-04 9.99883233e-01 -1.05192039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.966559995 meters 0.017238481703996236 Centerline is valid? [True, True] Translation: X:5.85, Y:0.01, Z:-0.11 [[ 9.99844350e-01 1.11935208e-02 1.36374578e-02 5.85474474e+00] [-1.11945703e-02 9.99937339e-01 6.16253875e-07 1.44127329e-02] [-1.36365964e-02 -1.53281638e-04 9.99907006e-01 -1.07408835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0265599949999995 meters 0.017290990215161416 Centerline is valid? [True, True] Translation: X:5.92, Y:0.01, Z:-0.11 [[ 9.99867582e-01 9.91749141e-03 1.29019873e-02 5.91719144e+00] [-9.91829982e-03 9.99950812e-01 -1.32815897e-06 1.25918703e-02] [-1.29013658e-02 -1.26637795e-04 9.99916766e-01 -1.09077211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.086559995 meters 0.01649353529849644 Centerline is valid? [True, True] Translation: X:5.98, Y:0.01, Z:-0.11 [[ 9.99873311e-01 8.48360304e-03 1.34681270e-02 5.97875035e+00] [-8.48430620e-03 9.99964008e-01 -4.92719525e-06 1.25363421e-02] [-1.34676840e-02 -1.09341142e-04 9.99909301e-01 -1.09795091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.146559995 meters 0.017012437230112025 Centerline is valid? [True, True] Translation: X:6.04, Y:0.01, Z:-0.11 [[ 9.99858227e-01 9.28908551e-03 1.40441867e-02 6.04159410e+00] [-9.28987972e-03 9.99956848e-01 -8.68754164e-06 1.37507339e-02] [-1.40436614e-02 -1.21782495e-04 9.99901376e-01 -1.10847156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.206559994999999 meters 0.015805339273035374 Centerline is valid? [True, True] Translation: X:6.10, Y:0.01, Z:-0.11 [[ 9.99846696e-01 9.43267165e-03 1.47515571e-02 6.10424214e+00] [-9.43349950e-03 9.99955503e-01 -1.34642314e-05 1.28201709e-02] [-1.47510277e-02 -1.25696639e-04 9.99891190e-01 -1.11201481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.266559995 meters 0.016600858915050566 Centerline is valid? [True, True] Translation: X:6.17, Y:0.01, Z:-0.11 [[ 9.99855075e-01 8.79592464e-03 1.45760529e-02 6.16719626e+00] [-8.79660541e-03 9.99961309e-01 -1.74095547e-05 1.25082371e-02] [-1.45756421e-02 -1.10812754e-04 9.99893764e-01 -1.11905006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.326559994999999 meters 0.017235015834053125 Centerline is valid? [True, True] Translation: X:6.23, Y:0.02, Z:-0.11 [[ 9.99846290e-01 1.03611985e-02 1.41436064e-02 6.22880696e+00] [-1.03619398e-02 9.99946313e-01 -2.08681321e-05 1.51293265e-02] [-1.41430633e-02 -1.25690274e-04 9.99899974e-01 -1.13765581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.386559995 meters 0.01824948363666712 Centerline is valid? [True, True] Translation: X:6.29, Y:0.02, Z:-0.12 [[ 9.99846259e-01 1.12363398e-02 1.34611873e-02 6.29125447e+00] [-1.12370457e-02 9.99936862e-01 -2.31936804e-05 1.62271769e-02] [-1.34605980e-02 -1.28073863e-04 9.99909394e-01 -1.15012082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.446559994999999 meters 0.01839632052930965 Centerline is valid? [True, True] Translation: X:6.35, Y:0.02, Z:-0.12 [[ 9.99837420e-01 1.26485020e-02 1.28510447e-02 6.35357355e+00] [-1.26492159e-02 9.99919995e-01 -2.57292734e-05 1.71769240e-02] [-1.28503420e-02 -1.36830548e-04 9.99917422e-01 -1.16071327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.506559995 meters 0.018308572252084862 Centerline is valid? [True, True] Translation: X:6.42, Y:0.02, Z:-0.12 [[ 9.99825043e-01 1.38550470e-02 1.25667037e-02 6.41624397e+00] [-1.38557882e-02 9.99904004e-01 -2.80827736e-05 1.76104672e-02] [-1.25658864e-02 -1.46043725e-04 9.99921035e-01 -1.17255360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5665599949999995 meters 0.019165672041292714 Centerline is valid? [True, True] Translation: X:6.48, Y:0.02, Z:-0.12 [[ 9.99815897e-01 1.46768207e-02 1.23597407e-02 6.47952895e+00] [-1.46775581e-02 9.99892278e-01 -3.10493446e-05 1.87430144e-02] [-1.23588650e-02 -1.50367185e-04 9.99923615e-01 -1.19291761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.626559995 meters 0.018269052461092155 Centerline is valid? [True, True] Translation: X:6.54, Y:0.02, Z:-0.12 [[ 9.99813823e-01 1.52347559e-02 1.18415480e-02 6.54257211e+00] [-1.52354350e-02 9.99883933e-01 -3.28633118e-05 1.91233200e-02] [-1.18406743e-02 -1.47553942e-04 9.99929886e-01 -1.20919564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.686559995 meters 0.018738635165257117 Centerline is valid? [True, True] Translation: X:6.60, Y:0.02, Z:-0.12 [[ 9.99804088e-01 1.62960596e-02 1.12349828e-02 6.60497385e+00] [-1.62967029e-02 9.99867199e-01 -3.42901327e-05 2.04136519e-02] [-1.12340495e-02 -1.48809762e-04 9.99936885e-01 -1.22176703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.746559994999999 meters 0.01920116861519131 Centerline is valid? [True, True] Translation: X:6.67, Y:0.02, Z:-0.12 [[ 9.99776644e-01 1.86697707e-02 9.90462137e-03 6.66689292e+00] [-1.86703673e-02 9.99825693e-01 -3.22399820e-05 2.23398239e-02] [-9.90349684e-03 -1.52690138e-04 9.99950948e-01 -1.23562759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.806559995 meters 0.019997902279741075 Centerline is valid? [True, True] Translation: X:6.73, Y:0.02, Z:-0.12 [[ 9.99751075e-01 2.00266078e-02 9.83479023e-03 6.72889111e+00] [-2.00272380e-02 9.99799434e-01 -3.44172191e-05 2.27611859e-02] [-9.83350696e-03 -1.62555032e-04 9.99951637e-01 -1.24867709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.866559994999999 meters 0.02029252812710914 Centerline is valid? [True, True] Translation: X:6.79, Y:0.02, Z:-0.13 [[ 9.99750725e-01 2.07613988e-02 8.21295407e-03 6.79141549e+00] [-2.07618512e-02 9.99784449e-01 -3.01817293e-05 2.44201101e-02] [-8.21181038e-03 -1.40341924e-04 9.99966273e-01 -1.25443781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.926559995 meters 0.01959867202383216 Centerline is valid? [True, True] Translation: X:6.85, Y:0.02, Z:-0.13 [[ 9.99776118e-01 2.03788791e-02 5.69341956e-03 6.85412116e+00] [-2.03790909e-02 9.99792325e-01 -2.08058850e-05 2.43740048e-02] [-5.69266117e-03 -9.52254878e-05 9.99983792e-01 -1.26202581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9865599949999995 meters 0.02282236683710314 Centerline is valid? [True, True] Translation: X:6.92, Y:0.03, Z:-0.13 [[ 9.99680546e-01 2.49867596e-02 3.80377499e-03 6.91608410e+00] [-2.49868794e-02 9.99687779e-01 -1.60330634e-05 2.98980275e-02] [-3.80298798e-03 -7.90165252e-05 9.99992765e-01 -1.28796667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.046559994999999 meters 0.021735587396617212 Centerline is valid? [True, True] Translation: X:6.98, Y:0.03, Z:-0.13 [[ 9.99738339e-01 2.28355130e-02 1.33899893e-03 6.97786192e+00] [-2.28355302e-02 9.99739235e-01 -2.49280732e-06 2.74868240e-02] [-1.33870669e-03 -2.80845953e-05 9.99999104e-01 -1.30034967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.106559995 meters 0.021212261390292225 Centerline is valid? [True, True] Translation: X:7.04, Y:0.03, Z:-0.13 [[ 9.99787219e-01 2.06277551e-02 -1.13452547e-04 7.04018583e+00] [-2.06277547e-02 9.99787225e-01 4.48358114e-06 2.58852300e-02] [ 1.13520893e-04 -2.14235581e-06 9.99999994e-01 -1.29637812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.166559995 meters 0.021554126734406646 Centerline is valid? [True, True] Translation: X:7.10, Y:0.03, Z:-0.13 [[ 9.99845261e-01 1.74078795e-02 -2.53372351e-03 7.10276261e+00] [-1.74078901e-02 9.99848471e-01 1.78558780e-05 2.50496240e-02] [ 2.53365041e-03 2.62536654e-05 9.99996790e-01 -1.30040077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.226559994999999 meters 0.020698447476015812 Centerline is valid? [True, True] Translation: X:7.16, Y:0.01, Z:-0.13 [[ 9.99966614e-01 6.24791740e-03 -5.26638322e-03 7.16477530e+00] [-6.24783055e-03 9.99980482e-01 3.29424829e-05 1.24039997e-02] [ 5.26648625e-03 -3.79130565e-08 9.99986132e-01 -1.29656981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.286559995 meters 0.020733768751626233 Centerline is valid? [True, True] Translation: X:7.22, Y:0.01, Z:-0.13 [[ 9.99989158e-01 -2.71438846e-03 -3.78362488e-03 7.22477727e+00] [ 2.71448693e-03 9.99996316e-01 2.08904377e-05 6.19102042e-03] [ 3.78355424e-03 -3.11608115e-05 9.99992842e-01 -1.29001619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.346559995 meters 0.021768859221785536 Centerline is valid? [True, True] Translation: X:7.28, Y:0.00, Z:-0.13 [[ 9.99960301e-01 -8.47102309e-03 -2.76360718e-03 7.28406411e+00] [ 8.47109400e-03 9.99964120e-01 1.39525519e-05 3.51100291e-03] [ 2.76338983e-03 -3.73627742e-05 9.99996181e-01 -1.27677323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.406559995 meters 0.023194529481323226 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.00, Z:-0.13 [[ 9.99913839e-01 -1.29829066e-02 -1.93879608e-03 7.34240011e+00] [ 1.29829485e-02 9.99915718e-01 9.02411056e-06 -3.35958496e-04] [ 1.93851552e-03 -3.41946226e-05 9.99998120e-01 -1.26725746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.466559994999999 meters 0.023836968639396678 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.00, Z:-0.13 [[ 9.99809462e-01 -1.93427416e-02 -2.62645712e-03 7.40139658e+00] [ 1.93428417e-02 9.99812910e-01 1.27164977e-05 -4.06763124e-03] [ 2.62571976e-03 -6.35172190e-05 9.99996551e-01 -1.25332369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.526559995 meters 0.026997537975654646 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.01, Z:-0.13 [[ 9.99682885e-01 -2.49959377e-02 -3.05508113e-03 7.46025354e+00] [ 2.49961018e-02 9.99687549e-01 1.55130007e-05 -9.90809645e-03] [ 3.05373880e-03 -9.18732001e-05 9.99995333e-01 -1.27852868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.586559995 meters 0.026569558693727492 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.01, Z:-0.13 [[ 9.99460602e-01 -3.27943938e-02 -1.74165587e-03 7.52077856e+00] [ 3.27944591e-02 9.99462117e-01 8.96831248e-06 -1.24126595e-02] [ 1.74042495e-03 -6.60801372e-05 9.99998483e-01 -1.25372023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.646559995 meters 0.027394668489525164 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.01, Z:-0.13 [[ 9.99448402e-01 -3.32030930e-02 -6.68409824e-04 7.57858242e+00] [ 3.32031018e-02 9.99448625e-01 2.09798168e-06 -1.36397602e-02] [ 6.67971620e-04 -2.42901039e-05 9.99999777e-01 -1.26195944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.706559995 meters 0.02771993640205205 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.02, Z:-0.13 [[ 9.99285935e-01 -3.77749458e-02 -8.20559350e-04 7.63848900e+00] [ 3.77749618e-02 9.99286271e-01 3.94651980e-06 -1.66335266e-02] [ 8.19824614e-04 -3.49402998e-05 9.99999663e-01 -1.25674821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.766559995 meters 0.029471757118836588 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.02, Z:-0.13 [[ 9.98992773e-01 -4.48497350e-02 -1.39343928e-03 7.69856045e+00] [ 4.48497884e-02 9.98993742e-01 7.09492659e-06 -2.02921168e-02] [ 1.39171892e-03 -6.95832374e-05 9.99999029e-01 -1.28046215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.826559995 meters 0.031808850680128356 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.02, Z:-0.13 [[ 9.98777551e-01 -4.94305976e-02 1.38094837e-04 7.75888297e+00] [ 4.94305982e-02 9.98777561e-01 -1.07185368e-06 -2.31123509e-02] [-1.37873042e-04 7.89665380e-06 9.99999990e-01 -1.28481583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.886559994999999 meters 0.030934701279076954 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.03, Z:-0.13 [[ 9.98408799e-01 -5.63248330e-02 2.71739229e-03 7.81913721e+00] [ 5.63250789e-02 9.98412483e-01 -1.39897418e-05 -2.51440929e-02] [-2.71229041e-03 1.67024816e-04 9.99996308e-01 -1.27467796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.946559995 meters 0.03476696121581514 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.03, Z:-0.13 [[ 9.98162771e-01 -6.04306681e-02 4.38380210e-03 7.87842338e+00] [ 6.04313482e-02 9.98172356e-01 -2.27150364e-05 -2.84897797e-02] [-4.37441739e-03 2.87592375e-04 9.99990391e-01 -1.29437740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.006559995 meters 0.03349369072482755 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.03, Z:-0.13 [[ 9.98078837e-01 -6.18044777e-02 4.34061408e-03 7.93771082e+00] [ 6.18051580e-02 9.98088234e-01 -2.26460853e-05 -2.97326654e-02] [-4.33091621e-03 2.90874918e-04 9.99990579e-01 -1.29641352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.066559995 meters 0.033321389411554915 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.03, Z:-0.13 [[ 9.98073756e-01 -6.18504643e-02 4.82679696e-03 7.99692538e+00] [ 6.18513145e-02 9.98085374e-01 -2.69191831e-05 -3.06169488e-02] [-4.81589048e-03 3.25411067e-04 9.99988351e-01 -1.29994086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.126559995 meters 0.03498037113934953 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.03, Z:-0.13 [[ 9.98225834e-01 -5.92667012e-02 5.71336389e-03 8.05568314e+00] [ 5.92678265e-02 9.98242117e-01 -2.77080195e-05 -3.13137800e-02] [-5.70167831e-03 3.66277521e-04 9.99983678e-01 -1.31949251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.186559995 meters 0.030390829400948553 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.03, Z:-0.13 [[ 9.98374913e-01 -5.67271274e-02 5.43745913e-03 8.11558886e+00] [ 5.67281073e-02 9.98389664e-01 -2.60433093e-05 -2.65054503e-02] [-5.42722563e-03 3.34457752e-04 9.99985217e-01 -1.33020089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.246559995 meters 0.03057419597274119 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.03, Z:-0.13 [[ 9.98555765e-01 -5.33784279e-02 6.09322323e-03 8.17517989e+00] [ 5.33795965e-02 9.98574293e-01 -2.92103029e-05 -2.58338484e-02] [-6.08297688e-03 3.54421914e-04 9.99981436e-01 -1.34572663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.306559994999999 meters 0.02832338812498865 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.02, Z:-0.14 [[ 9.99011508e-01 -4.38677143e-02 7.18537946e-03 8.23598796e+00] [ 4.38690899e-02 9.99037287e-01 -3.38620633e-05 -2.04260260e-02] [-7.17697655e-03 3.49044648e-04 9.99974184e-01 -1.35929644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.366559995 meters 0.027640234739287728 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.02, Z:-0.14 [[ 9.99270747e-01 -3.75908453e-02 6.70096837e-03 8.29561980e+00] [ 3.75919013e-02 9.99293174e-01 -3.16645779e-05 -2.16245283e-02] [-6.69504166e-03 2.83543628e-04 9.99977548e-01 -1.37626616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.426559995 meters 0.024409406316620433 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.02, Z:-0.14 [[ 9.99420829e-01 -3.33092398e-02 6.96424284e-03 8.35556475e+00] [ 3.33102768e-02 9.99445058e-01 -3.29383559e-05 -1.60367848e-02] [-6.95928094e-03 2.64900136e-04 9.99975749e-01 -1.38253749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.486559995 meters 0.024625765870134812 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.02, Z:-0.14 [[ 9.99533521e-01 -2.98573679e-02 6.42472368e-03 8.41544979e+00] [ 2.98581765e-02 9.99554145e-01 -2.99569350e-05 -1.64120276e-02] [-6.42096475e-03 2.21773494e-04 9.99979361e-01 -1.40570757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.546559994999999 meters 0.022226866069416634 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.01, Z:-0.14 [[ 9.99608482e-01 -2.68752789e-02 7.78477340e-03 8.47411579e+00] [ 2.68763775e-02 9.99638764e-01 -3.65276774e-05 -1.40598623e-02] [-7.78097957e-03 2.45739885e-04 9.99969698e-01 -1.40146729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.606559995 meters 0.0220255614605994 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.01, Z:-0.14 [[ 9.99681662e-01 -2.36809186e-02 8.70571441e-03 8.53361198e+00] [ 2.36821748e-02 9.99719537e-01 -4.12319401e-05 -1.21429303e-02] [-8.70229637e-03 2.47389065e-04 9.99962104e-01 -1.41519058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.666559995 meters 0.020995422196041166 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.01, Z:-0.14 [[ 9.99688667e-01 -2.33466162e-02 8.80370252e-03 8.59258938e+00] [ 2.33478712e-02 9.99727401e-01 -3.97874051e-05 -1.32037471e-02] [-8.80037374e-03 2.45322731e-04 9.99961246e-01 -1.42436325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.726559994999999 meters 0.02207750482013534 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.01, Z:-0.14 [[ 9.99658352e-01 -2.46303412e-02 8.74791904e-03 8.65145594e+00] [ 2.46316115e-02 9.99696595e-01 -3.74895172e-05 -1.40688572e-02] [-8.74434150e-03 2.52952052e-04 9.99961736e-01 -1.43779916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.786559995 meters 0.021662391776601144 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.02, Z:-0.15 [[ 9.99610963e-01 -2.66547679e-02 8.21259510e-03 8.71051102e+00] [ 2.66559414e-02 9.99644667e-01 -3.34462223e-05 -1.67520952e-02] [-8.20878539e-03 2.52347664e-04 9.99966276e-01 -1.45357061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.846559995 meters 0.021670184006860733 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.02, Z:-0.15 [[ 9.99619803e-01 -2.62080541e-02 8.56668671e-03 8.76946471e+00] [ 2.62092955e-02 9.99656477e-01 -3.26606958e-05 -1.63152250e-02] [-8.56288788e-03 2.57175102e-04 9.99963305e-01 -1.45570819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.906559995 meters 0.02079299172099777 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.02, Z:-0.15 [[ 9.99669162e-01 -2.41812564e-02 8.76542546e-03 8.82767271e+00] [ 2.41824492e-02 9.99707561e-01 -3.00997495e-05 -1.55426932e-02] [-8.76213426e-03 2.42059247e-04 9.99961582e-01 -1.47025545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.966559994999999 meters 0.020749733209017584 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.01, Z:-0.15 [[ 9.99647244e-01 -2.48101626e-02 9.47858829e-03 8.88561273e+00] [ 2.48115884e-02 9.99692145e-01 -3.28480318e-05 -1.43797570e-02] [-9.47485529e-03 2.68015276e-04 9.99955077e-01 -1.48406055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.026559995 meters 0.021177284249774397 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.01, Z:-0.15 [[ 9.99646173e-01 -2.49340464e-02 9.26407527e-03 8.94298256e+00] [ 2.49353815e-02 9.99689065e-01 -2.86209066e-05 -1.45097161e-02] [-9.26048111e-03 2.59614031e-04 9.99957087e-01 -1.50697317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.086559995 meters 0.022347149525340435 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.02, Z:-0.15 [[ 9.99514943e-01 -2.98528744e-02 8.87044242e-03 9.00250001e+00] [ 2.98542780e-02 9.99554261e-01 -2.58387111e-05 -1.85620275e-02] [-8.86571716e-03 2.90646832e-04 9.99960657e-01 -1.51658504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.146559994999999 meters 0.02202201502173047 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.02, Z:-0.15 [[ 9.99318588e-01 -3.52500442e-02 1.09450425e-02 9.06270146e+00] [ 3.52524983e-02 9.99378437e-01 -3.13172909e-05 -1.85941700e-02] [-1.09371355e-02 4.17136043e-04 9.99940101e-01 -1.50728086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.206559995 meters 0.023409389667440862 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.02, Z:-0.15 [[ 9.99143866e-01 -3.96103828e-02 1.19395695e-02 9.12306893e+00] [ 3.96136104e-02 9.99215072e-01 -3.38620290e-05 -1.98233515e-02] [-1.19288565e-02 5.06802493e-04 9.99928720e-01 -1.52167542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.266559995 meters 0.026372481057344594 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.02, Z:-0.15 [[ 9.99103879e-01 -4.04296079e-02 1.25254301e-02 9.18054509e+00] [ 4.04332278e-02 9.99182242e-01 -3.58072468e-05 -2.43113832e-02] [-1.25137396e-02 5.42218726e-04 9.99921553e-01 -1.53225273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.326559995 meters 0.023633902747460623 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.02, Z:-0.16 [[ 9.99118431e-01 -4.03039699e-02 1.17452545e-02 9.23958835e+00] [ 4.03071410e-02 9.99187336e-01 -3.33021185e-05 -1.97187765e-02] [-1.17343673e-02 5.06690389e-04 9.99931022e-01 -1.56259762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.386559994999999 meters 0.022429581922547414 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.02, Z:-0.16 [[ 9.99240398e-01 -3.66208368e-02 1.33244797e-02 9.29911119e+00] [ 3.66245345e-02 9.99329096e-01 -3.35273851e-05 -1.53170278e-02] [-1.33143125e-02 5.21504786e-04 9.99911225e-01 -1.59112573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.446559995 meters 0.023231969075224995 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.01, Z:-0.16 [[ 9.99268503e-01 -3.60913133e-02 1.26442243e-02 9.35813553e+00] [ 3.60946041e-02 9.99348377e-01 -3.20769319e-05 -1.48015113e-02] [-1.26348274e-02 4.88441739e-04 9.99920058e-01 -1.61105627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.506559995 meters 0.022664922011139378 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.02, Z:-0.16 [[ 9.99256870e-01 -3.63150477e-02 1.29199656e-02 9.41646931e+00] [ 3.63184617e-02 9.99340267e-01 -2.96379750e-05 -1.52213042e-02] [-1.29103655e-02 4.98849226e-04 9.99916533e-01 -1.61882340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.566559994999999 meters 0.02250782863090355 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.02, Z:-0.16 [[ 9.99223424e-01 -3.70305726e-02 1.34642072e-02 9.47525349e+00] [ 3.70342916e-02 9.99313995e-01 -2.69011435e-05 -1.69681475e-02] [-1.34539745e-02 5.25517627e-04 9.99909353e-01 -1.64473351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.626559995 meters 0.020500974466837296 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.01, Z:-0.17 [[ 9.99198511e-01 -3.75738142e-02 1.38037640e-02 9.53377455e+00] [ 3.75777278e-02 9.99293707e-01 -2.41685555e-05 -1.35215689e-02] [-1.37931064e-02 5.42863272e-04 9.99904723e-01 -1.66609802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.686559995 meters 0.023036670252754507 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.02, Z:-0.17 [[ 9.99090501e-01 -4.03481029e-02 1.37913732e-02 9.59205594e+00] [ 4.03522206e-02 9.99185517e-01 -2.03220757e-05 -2.01531782e-02] [-1.37793204e-02 5.76816127e-04 9.99904894e-01 -1.68405653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.746559995 meters 0.022219426023174685 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.02, Z:-0.17 [[ 9.99086027e-01 -4.00710606e-02 1.48802371e-02 9.65061145e+00] [ 4.00758088e-02 9.99196642e-01 -2.09284124e-05 -1.80308578e-02] [-1.48674443e-02 6.17246821e-04 9.99889283e-01 -1.69144915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.806559994999999 meters 0.022608654507766834 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.02, Z:-0.17 [[ 9.99069706e-01 -4.05378766e-02 1.47106598e-02 9.70922933e+00] [ 4.05425153e-02 9.99177814e-01 -1.71265566e-05 -1.93838855e-02] [-1.46978706e-02 6.13517773e-04 9.99891792e-01 -1.70356485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.866559995 meters 0.022709716278939144 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.02, Z:-0.17 [[ 9.99092038e-01 -4.01008610e-02 1.43882397e-02 9.76842800e+00] [ 4.01052041e-02 9.99195463e-01 -1.33203667e-05 -1.84079026e-02] [-1.43761297e-02 5.90351562e-04 9.99896484e-01 -1.72607275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.926559995 meters 0.021356173763867257 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.01, Z:-0.17 [[ 9.99272768e-01 -3.51751623e-02 1.47187922e-02 9.82862606e+00] [ 3.51791163e-02 9.99381023e-01 -9.73369147e-06 -1.15351025e-02] [-1.47093392e-02 5.27520716e-04 9.99891673e-01 -1.74894268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.986559995 meters 0.021632554843943316 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.01, Z:-0.18 [[ 9.99276341e-01 -3.55444042e-02 1.35421787e-02 9.88650383e+00] [ 3.55477864e-02 9.99367978e-01 -9.05125880e-06 -1.38287489e-02] [-1.35332981e-02 4.90439186e-04 9.99908300e-01 -1.76731415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.046559994999999 meters 0.02174610476037771 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.02, Z:-0.18 [[ 9.99232447e-01 -3.70813651e-02 1.26288685e-02 9.94536892e+00] [ 3.70843871e-02 9.99312138e-01 -5.12272516e-06 -1.69405981e-02] [-1.26199916e-02 4.73452641e-04 9.99920253e-01 -1.77859090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.106559995 meters 0.022270891701817678 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.01, Z:-0.18 [[ 9.99290269e-01 -3.53204168e-02 1.30929867e-02 1.00042108e+01] [ 3.53234703e-02 9.99375931e-01 -1.96527955e-06 -1.35555710e-02] [-1.30847464e-02 4.64453611e-04 9.99914283e-01 -1.79291739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.166559995 meters 0.019993021792909873 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.01, Z:-0.18 [[ 9.99316676e-01 -3.47503296e-02 1.25935087e-02 1.00630760e+01] [ 3.47530749e-02 9.99395929e-01 8.51921819e-07 -1.13182382e-02] [-1.25859309e-02 4.36811812e-04 9.99920699e-01 -1.79930135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.226559994999999 meters 0.020565522228922845 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.01, Z:-0.18 [[ 9.99408127e-01 -3.12257057e-02 1.44343748e-02 1.01233657e+01] [ 3.12288806e-02 9.99512260e-01 5.44153037e-06 -8.34978201e-03] [-1.44275045e-02 4.45331059e-04 9.99895819e-01 -1.80658020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.286559995 meters 0.020238742853157316 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.01, Z:-0.18 [[ 9.99430882e-01 -3.04055326e-02 1.46087321e-02 1.01815788e+01] [ 3.04086865e-02 9.99537549e-01 6.23747857e-06 -8.58838132e-03] [-1.46021659e-02 4.37998425e-04 9.99893287e-01 -1.81814863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.346559995 meters 0.02104972188288133 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.01, Z:-0.18 [[ 9.99391670e-01 -3.19270087e-02 1.40340725e-02 1.02406741e+01] [ 3.19300568e-02 9.99490106e-01 6.88264089e-06 -1.01599271e-02] [-1.40271364e-02 4.41230278e-04 9.99901518e-01 -1.83807652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.406559995 meters 0.020793579336948333 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.01, Z:-0.19 [[ 9.99350258e-01 -3.36064848e-02 1.30256169e-02 1.02993863e+01] [ 3.36092162e-02 9.99435051e-01 9.21593894e-06 -1.07292214e-02] [-1.30185678e-02 4.28570824e-04 9.99915163e-01 -1.85287849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.466559994999999 meters 0.021169939084971567 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.01, Z:-0.19 [[ 9.99338526e-01 -3.41125428e-02 1.26033423e-02 1.03575196e+01] [ 3.41150954e-02 9.99417911e-01 1.24674275e-05 -1.33545104e-02] [-1.25964313e-02 4.17505042e-04 9.99920575e-01 -1.87098516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.526559995 meters 0.02011045199987832 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.01, Z:-0.19 [[ 9.99456868e-01 -3.01479392e-02 1.33067604e-02 1.04170935e+01] [ 3.01504153e-02 9.99545373e-01 1.45429350e-05 -1.00273804e-02] [-1.33011492e-02 3.86669314e-04 9.99911461e-01 -1.87175175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.586559995 meters 0.019323731717036805 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.01, Z:-0.19 [[ 9.99538419e-01 -2.76999431e-02 1.24764499e-02 1.04748851e+01] [ 2.77019263e-02 9.99616228e-01 1.38636485e-05 -1.00009584e-02] [-1.24720458e-02 3.31764447e-04 9.99922166e-01 -1.88659394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.646559994999999 meters 0.018421120615731545 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.00, Z:-0.19 [[ 9.99665331e-01 -2.29077827e-02 1.20191031e-02 1.05341847e+01] [ 2.29092718e-02 9.99737548e-01 1.37933353e-05 -4.31224843e-03] [-1.20162647e-02 2.61560181e-04 9.99927768e-01 -1.90700196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.706559995 meters 0.01788061179799883 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.00, Z:-0.19 [[ 9.99729221e-01 -2.01910177e-02 1.15675503e-02 1.05931218e+01] [ 2.01921869e-02 9.99796117e-01 1.57132713e-05 -2.16491290e-03] [-1.15655091e-02 2.17865121e-04 9.99933094e-01 -1.92244753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.766559995 meters 0.016976381953606137 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.01, Z:-0.19 [[ 9.99703578e-01 -2.12521084e-02 1.18787041e-02 1.06518744e+01] [ 2.12533715e-02 9.99774121e-01 1.99104791e-05 -5.93450501e-03] [-1.18764441e-02 2.32557934e-04 9.99929446e-01 -1.93026672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.826559995 meters 0.018317657325288908 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.00, Z:-0.19 [[ 9.99737266e-01 -1.96608604e-02 1.17834601e-02 1.07108783e+01] [ 1.96619946e-02 9.99806684e-01 1.95997003e-05 -4.52697841e-03] [-1.17815675e-02 2.12091778e-04 9.99930572e-01 -1.94721821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.886559994999999 meters 0.017690879068400722 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.00, Z:-0.20 [[ 9.99774491e-01 -1.81590471e-02 1.10098410e-02 1.07702690e+01] [ 1.81599201e-02 9.99835095e-01 2.06793560e-05 -7.93916072e-04] [-1.10084010e-02 1.79263141e-04 9.99939390e-01 -1.96546006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.946559995 meters 0.01854629730131729 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.00, Z:-0.20 [[ 9.99813404e-01 -1.69955063e-02 9.18203356e-03 1.08299468e+01] [ 1.69960384e-02 9.99855557e-01 2.00921485e-05 -2.15079606e-03] [-9.18104876e-03 1.35969795e-04 9.99957844e-01 -1.99276914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.006559995 meters 0.017142770322948964 Centerline is valid? [True, True] Translation: X:10.89, Y:0.00, Z:-0.20 [[ 9.99859149e-01 -1.37382882e-02 9.64057786e-03 1.08893350e+01] [ 1.37387313e-02 9.99905619e-01 2.02668605e-05 5.35164122e-04] [-9.63994641e-03 1.12185303e-04 9.99953528e-01 -2.00347202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.066559994999999 meters 0.016711466187534177 Centerline is valid? [True, True] Translation: X:10.95, Y:0.00, Z:-0.20 [[ 9.99907535e-01 -1.06209780e-02 8.49212177e-03 1.09497975e+01] [ 1.06211823e-02 9.99943593e-01 2.10466697e-05 4.15723099e-03] [-8.49186630e-03 6.91516499e-05 9.99963941e-01 -2.02361594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.126559995 meters 0.015673843429286738 Centerline is valid? [True, True] Translation: X:11.01, Y:0.00, Z:-0.20 [[ 9.99920500e-01 -9.04836362e-03 8.78178967e-03 1.10104965e+01] [ 9.04852033e-03 9.99959061e-01 2.18875164e-05 4.57666659e-03] [-8.78162820e-03 5.75764260e-05 9.99961439e-01 -2.03661092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.186559995 meters 0.016533580040890884 Centerline is valid? [True, True] Translation: X:11.07, Y:0.00, Z:-0.21 [[ 9.99937464e-01 -8.02373271e-03 7.79024372e-03 1.10720112e+01] [ 8.02382462e-03 9.99967808e-01 1.94567947e-05 4.73466960e-03] [-7.79014906e-03 4.30519714e-05 9.99969655e-01 -2.05349114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.246559995 meters 0.015245144143648368 Centerline is valid? [True, True] Translation: X:11.13, Y:0.00, Z:-0.21 [[ 9.99934566e-01 -7.75084715e-03 8.41360032e-03 1.11332940e+01] [ 7.75094761e-03 9.99969961e-01 2.06676095e-05 4.91711729e-03] [-8.41350777e-03 4.45471182e-05 9.99964605e-01 -2.07016272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.306559994999999 meters 0.014669011737800398 Centerline is valid? [True, True] Translation: X:11.20, Y:0.01, Z:-0.21 [[ 9.99936224e-01 -5.77601580e-03 9.70497378e-03 1.11950886e+01] [ 5.77606040e-03 9.99983318e-01 2.34341572e-05 8.10245075e-03] [-9.70494724e-03 3.26238521e-05 9.99952905e-01 -2.07826575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.366559995 meters 0.015548136198858696 Centerline is valid? [True, True] Translation: X:11.26, Y:0.01, Z:-0.21 [[ 9.99948166e-01 -3.87825345e-03 9.41410839e-03 1.12574325e+01] [ 3.87821259e-03 9.99992479e-01 2.25952896e-05 9.15951390e-03] [-9.41412522e-03 1.39157953e-05 9.99955686e-01 -2.09270752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.426559995 meters 0.014685927577737899 Centerline is valid? [True, True] Translation: X:11.32, Y:0.01, Z:-0.21 [[ 9.99942514e-01 -3.97002904e-03 9.96026171e-03 1.13191051e+01] [ 3.96999509e-03 9.99992119e-01 2.31802664e-05 9.16796839e-03] [-9.96027524e-03 1.63632562e-05 9.99950395e-01 -2.09729584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.486559995 meters 0.01429412225521308 Centerline is valid? [True, True] Translation: X:11.38, Y:0.01, Z:-0.21 [[ 9.99946327e-01 -4.59573881e-03 9.28562510e-03 1.13804551e+01] [ 4.59573817e-03 9.99989439e-01 2.14074837e-05 8.93904329e-03] [-9.28562542e-03 2.12679669e-05 9.99956887e-01 -2.12629985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.546559994999999 meters 0.012286648188196048 Centerline is valid? [True, True] Translation: X:11.44, Y:0.01, Z:-0.21 [[ 9.99931570e-01 -4.70967578e-03 1.07086519e-02 1.14429299e+01] [ 4.70970326e-03 9.99988909e-01 2.26512852e-05 1.04537588e-02] [-1.07086398e-02 2.77848375e-05 9.99942660e-01 -2.14417612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.606559995 meters 0.01309572577157806 Centerline is valid? [True, True] Translation: X:11.51, Y:0.01, Z:-0.22 [[ 9.99943018e-01 -3.69415415e-03 1.00156425e-02 1.15055052e+01] [ 3.69413368e-03 9.99993176e-01 2.05445898e-05 1.16063348e-02] [-1.00156501e-02 1.64557032e-05 9.99949842e-01 -2.15406358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.666559995 meters 0.01224969598281077 Centerline is valid? [True, True] Translation: X:11.57, Y:0.01, Z:-0.22 [[ 9.99937446e-01 -4.05799605e-03 1.04229243e-02 1.15685898e+01] [ 4.05799973e-03 9.99991766e-01 2.07951840e-05 1.19550203e-02] [-1.04229229e-02 2.15023410e-05 9.99945680e-01 -2.16442016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.726559994999999 meters 0.01433632078704867 Centerline is valid? [True, True] Translation: X:11.63, Y:0.01, Z:-0.22 [[ 9.99959255e-01 -4.64688417e-03 7.73920473e-03 1.16292795e+01] [ 4.64691026e-03 9.99989203e-01 1.46107721e-05 1.12615074e-02] [-7.73918907e-03 2.13532131e-05 9.99970052e-01 -2.18499893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.786559995 meters 0.01459148917836657 Centerline is valid? [True, True] Translation: X:11.69, Y:0.01, Z:-0.22 [[ 9.99967494e-01 -3.71145416e-03 7.15793016e-03 1.16911667e+01] [ 3.71145358e-03 9.99993112e-01 1.33639435e-05 1.26874919e-02] [-7.15793046e-03 1.32028164e-05 9.99974382e-01 -2.19021816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.846559995 meters 0.012807639518480865 Centerline is valid? [True, True] Translation: X:11.75, Y:0.02, Z:-0.22 [[ 9.99965511e-01 -2.09771181e-03 8.03594280e-03 1.17523616e+01] [ 2.09766165e-03 9.99997800e-01 1.46711264e-05 1.61261380e-02] [-8.03595590e-03 2.18606857e-06 9.99967711e-01 -2.21364158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.906559995 meters 0.012770796320843748 Centerline is valid? [True, True] Translation: X:11.81, Y:0.02, Z:-0.22 [[ 9.99968190e-01 -1.04676679e-03 7.90718968e-03 1.18147878e+01] [ 1.04669555e-03 9.99999452e-01 1.31480586e-05 1.81611334e-02] [-7.90719912e-03 -4.87122005e-06 9.99968738e-01 -2.21449137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.966559994999999 meters 0.013386158257452402 Centerline is valid? [True, True] Translation: X:11.88, Y:0.02, Z:-0.22 [[ 9.99970618e-01 6.68250987e-04 7.63647167e-03 1.18758885e+01] [-6.68362334e-04 9.99999777e-01 1.20290116e-05 2.00619526e-02] [-7.63646192e-03 -1.71325882e-05 9.99970842e-01 -2.22659762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.026559995 meters 0.0148237126031536 Centerline is valid? [True, True] Translation: X:11.94, Y:0.02, Z:-0.22 [[ 9.99975227e-01 1.86355958e-03 6.78769911e-03 1.19377925e+01] [-1.86367436e-03 9.99998263e-01 1.05851207e-05 2.20174709e-02] [-6.78766759e-03 -2.32349192e-05 9.99976963e-01 -2.23471343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.086559995 meters 0.01522457254856994 Centerline is valid? [True, True] Translation: X:12.00, Y:0.02, Z:-0.22 [[ 9.99976407e-01 1.84905747e-03 6.61561899e-03 1.20005203e+01] [-1.84917665e-03 9.99998290e-01 1.18984039e-05 2.41460602e-02] [-6.61558567e-03 -2.41315713e-05 9.99978116e-01 -2.24770768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.146559994999999 meters 0.01394045682991579 Centerline is valid? [True, True] Translation: X:12.06, Y:0.03, Z:-0.23 [[ 9.99972982e-01 1.91721970e-03 7.09647161e-03 1.20638166e+01] [-1.91734140e-03 9.99998162e-01 1.03459646e-05 2.52163876e-02] [-7.09643873e-03 -2.39520439e-05 9.99974820e-01 -2.25979277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.206559995 meters 0.0173022919961028 Centerline is valid? [True, True] Translation: X:12.13, Y:0.03, Z:-0.23 [[ 9.99985052e-01 2.02545793e-03 5.07875832e-03 1.21261984e+01] [-2.02551883e-03 9.99997949e-01 6.84780069e-06 2.52857451e-02] [-5.07873403e-03 -1.71348189e-05 9.99987103e-01 -2.27628176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.266559995 meters 0.01697794347976995 Centerline is valid? [True, True] Translation: X:12.19, Y:0.03, Z:-0.23 [[ 9.99987151e-01 2.75163082e-03 4.25755006e-03 1.21881242e+01] [-2.75166954e-03 9.99996214e-01 3.23509728e-06 2.73653305e-02] [-4.25752504e-03 -1.49504265e-05 9.99990937e-01 -2.30075878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.326559995 meters 0.01573649788075381 Centerline is valid? [True, True] Translation: X:12.25, Y:0.03, Z:-0.23 [[ 9.99981743e-01 4.70972123e-03 3.78578695e-03 1.22500998e+01] [-4.70976531e-03 9.99988909e-01 2.72776696e-06 2.95514763e-02] [-3.78573211e-03 -2.05578852e-05 9.99992834e-01 -2.31731915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.386559994999999 meters 0.017509266870703685 Centerline is valid? [True, True] Translation: X:12.31, Y:0.03, Z:-0.23 [[ 9.99969417e-01 7.14908232e-03 3.17118251e-03 1.23123201e+01] [-7.14912533e-03 9.99974445e-01 2.22809479e-06 3.21826650e-02] [-3.17108554e-03 -2.48992078e-05 9.99994972e-01 -2.33707957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.446559995 meters 0.017353827448144014 Centerline is valid? [True, True] Translation: X:12.37, Y:0.03, Z:-0.23 [[ 9.99967522e-01 7.13701484e-03 3.74395288e-03 1.23737818e+01] [-7.13708004e-03 9.99974531e-01 4.05336471e-06 3.35170817e-02] [-3.74382860e-03 -3.07741244e-05 9.99992991e-01 -2.34940313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.506559995 meters 0.01814995915165437 Centerline is valid? [True, True] Translation: X:12.44, Y:0.03, Z:-0.24 [[ 9.99967080e-01 6.65815241e-03 4.63761367e-03 1.24363944e+01] [-6.65823334e-03 9.99977834e-01 2.01114907e-06 3.33240589e-02] [-4.63749748e-03 -3.28893968e-05 9.99989246e-01 -2.35935300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.566559994999999 meters 0.01807954040002668 Centerline is valid? [True, True] Translation: X:12.50, Y:0.03, Z:-0.24 [[ 9.99970847e-01 5.68637003e-03 5.09620100e-03 1.24988039e+01] [-5.68645722e-03 9.99983832e-01 2.61998024e-06 3.21874550e-02] [-5.09610370e-03 -3.15992328e-05 9.99987014e-01 -2.36349811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.626559995 meters 0.016687401302627965 Centerline is valid? [True, True] Translation: X:12.56, Y:0.03, Z:-0.24 [[ 9.99979275e-01 1.24064613e-03 6.31742890e-03 1.25603497e+01] [-1.24067521e-03 9.99999230e-01 6.83277975e-07 2.86955713e-02] [-6.31742319e-03 -8.52114122e-06 9.99980045e-01 -2.38079111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.686559995 meters 0.018014108941241197 Centerline is valid? [True, True] Translation: X:12.62, Y:0.03, Z:-0.24 [[ 9.99976383e-01 -2.58880887e-03 6.36643002e-03 1.26233506e+01] [ 2.58886517e-03 9.99996649e-01 -6.01077982e-07 2.51221858e-02] [-6.36640712e-03 1.70828927e-05 9.99979734e-01 -2.38989796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.746559995 meters 0.016737545410608172 Centerline is valid? [True, True] Translation: X:12.69, Y:0.02, Z:-0.24 [[ 9.99959807e-01 -6.91670582e-03 5.70460974e-03 1.26853769e+01] [ 6.91683010e-03 9.99976078e-01 -2.05658015e-06 2.00358792e-02] [-5.70445905e-03 4.15143138e-05 9.99983729e-01 -2.39272452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.806559994999999 meters 0.018107664552555747 Centerline is valid? [True, True] Translation: X:12.75, Y:0.02, Z:-0.24 [[ 9.99941635e-01 -9.34908654e-03 5.41486991e-03 1.27461023e+01] [ 9.34925274e-03 9.99956295e-01 -5.38120258e-06 1.70855886e-02] [-5.41458294e-03 5.60058759e-05 9.99985339e-01 -2.40328349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.866559995 meters 0.018168382544725848 Centerline is valid? [True, True] Translation: X:12.81, Y:0.01, Z:-0.24 [[ 9.99884974e-01 -1.33921209e-02 7.11965743e-03 1.28057266e+01] [ 1.33925142e-02 9.99910316e-01 -7.57126967e-06 1.22644642e-02] [-7.11891752e-03 1.02920512e-04 9.99974655e-01 -2.40952649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.926559995 meters 0.019280676909287652 Centerline is valid? [True, True] Translation: X:12.87, Y:0.01, Z:-0.24 [[ 9.99848531e-01 -1.59572389e-02 6.94844265e-03 1.28655437e+01] [ 1.59576757e-02 9.99872668e-01 -7.42246326e-06 7.83958656e-03] [-6.94743945e-03 1.18302333e-04 9.99975859e-01 -2.42002331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.986559994999999 meters 0.01911209418849407 Centerline is valid? [True, True] Translation: X:12.92, Y:0.01, Z:-0.24 [[ 9.99803673e-01 -1.85169550e-02 7.05251222e-03 1.29241679e+01] [ 1.85174803e-02 9.99828537e-01 -9.19647619e-06 8.30857804e-03] [-7.05113268e-03 1.39789427e-04 9.99975131e-01 -2.41554426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.046559994999999 meters 0.018933492522900528 Centerline is valid? [True, True] Translation: X:12.98, Y:0.01, Z:-0.24 [[ 9.99758743e-01 -2.06081468e-02 7.60003011e-03 1.29823675e+01] [ 2.06087905e-02 9.99787616e-01 -6.38555800e-06 6.43901793e-03] [-7.59828439e-03 1.63011446e-04 9.99971119e-01 -2.43687602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.106559995 meters 0.020713934693413136 Centerline is valid? [True, True] Translation: X:13.04, Y:0.00, Z:-0.24 [[ 9.99666846e-01 -2.44819732e-02 8.17500994e-03 1.30411126e+01] [ 2.44828506e-02 9.99700250e-01 -7.25366094e-06 3.46082742e-03] [-8.17238190e-03 2.07398791e-04 9.99966584e-01 -2.44564424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.166559995 meters 0.02086337396042531 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.00, Z:-0.24 [[ 9.99460433e-01 -3.12976044e-02 9.96508160e-03 1.31011108e+01] [ 3.12992007e-02 9.99510060e-01 -4.23568839e-06 -1.74255228e-03] [-9.96006674e-03 3.16132492e-04 9.99950347e-01 -2.44968940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.226559994999999 meters 0.021907514040170172 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.01, Z:-0.25 [[ 9.99328524e-01 -3.50309992e-02 1.07391989e-02 1.31595777e+01] [ 3.50330681e-02 9.99386154e-01 -4.52936988e-06 -5.81525523e-03] [-1.07324480e-02 3.80753414e-04 9.99942333e-01 -2.46426985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.286559995 meters 0.022029697600768082 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.01, Z:-0.25 [[ 9.99151587e-01 -3.93020033e-02 1.23068407e-02 1.32188214e+01] [ 3.93050344e-02 9.99227259e-01 -4.42658763e-06 -8.96115974e-03] [-1.22971567e-02 4.88143627e-04 9.99924268e-01 -2.47432969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.346559995 meters 0.022634854593170658 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.01, Z:-0.25 [[ 9.99096084e-01 -4.07555368e-02 1.20830669e-02 1.32776654e+01] [ 4.07585663e-02 9.99169024e-01 -4.47042195e-06 -8.97733593e-03] [-1.20728440e-02 4.96954866e-04 9.99926997e-01 -2.48082102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.406559994999999 meters 0.024131996083846707 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.01, Z:-0.25 [[ 9.98917703e-01 -4.47029766e-02 1.28478469e-02 1.33368038e+01] [ 4.47066734e-02 9.99000157e-01 -5.33629259e-07 -1.43380152e-02] [-1.28349772e-02 5.74917547e-04 9.99917463e-01 -2.49691335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.466559994999999 meters 0.024123991640022158 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.01, Z:-0.25 [[ 9.98892273e-01 -4.46697156e-02 1.47933809e-02 1.33954358e+01] [ 4.46746148e-02 9.99001591e-01 -7.14668605e-07 -1.41220963e-02] [-1.47785791e-02 6.61602468e-04 9.99890572e-01 -2.51871251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.526559995 meters 0.023466902480994686 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.01, Z:-0.25 [[ 9.98921728e-01 -4.42932489e-02 1.39100516e-02 1.34545954e+01] [ 4.42975001e-02 9.99018384e-01 2.48486060e-06 -1.49553659e-02] [-1.38965073e-02 6.13698329e-04 9.99903251e-01 -2.54317439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.586559995 meters 0.0242233615274232 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.02, Z:-0.26 [[ 9.98902734e-01 -4.52116555e-02 1.22161545e-02 1.35134064e+01] [ 4.52149724e-02 9.98977280e-01 4.67049727e-06 -1.54297331e-02] [-1.22038720e-02 5.47687716e-04 9.99925380e-01 -2.56032072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.646559994999999 meters 0.022188012719483636 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.01, Z:-0.26 [[ 9.98832463e-01 -4.58658595e-02 1.51668636e-02 1.35725436e+01] [ 4.58709769e-02 9.98947373e-01 1.04856398e-05 -1.40367410e-02] [-1.51513795e-02 6.85245453e-04 9.99884976e-01 -2.57115409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.706559995 meters 0.023603762603594577 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.02, Z:-0.26 [[ 9.98813599e-01 -4.57981488e-02 1.65506669e-02 1.36303364e+01] [ 4.58041608e-02 9.98950439e-01 1.58410605e-05 -1.70266044e-02] [-1.65340214e-02 7.42267141e-04 9.99863028e-01 -2.58143210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.766559995 meters 0.023390557167063692 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.02, Z:-0.26 [[ 9.98958767e-01 -4.32450517e-02 1.45343165e-02 1.36898134e+01] [ 4.32494045e-02 9.99064307e-01 1.48410195e-05 -1.67789191e-02] [-1.45213587e-02 6.13774969e-04 9.99894371e-01 -2.61330744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.826559995 meters 0.021921772200483566 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.01, Z:-0.26 [[ 9.99296014e-01 -3.57198835e-02 1.14702358e-02 1.37506891e+01] [ 3.57220681e-02 9.99361763e-01 1.44299129e-05 -8.89268422e-03] [-1.14634305e-02 3.95320791e-04 9.99934215e-01 -2.63623141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.886559994999999 meters 0.019870165809111353 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.01, Z:-0.27 [[ 9.99441917e-01 -3.13498874e-02 1.15342232e-02 1.38093041e+01] [ 3.13518053e-02 9.99508411e-01 1.45413999e-05 -8.94460193e-03] [-1.15290090e-02 3.47085435e-04 9.99933479e-01 -2.65177810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.946559995 meters 0.018454231245157385 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.01, Z:-0.27 [[ 9.99545646e-01 -2.79745057e-02 1.12217900e-02 1.38684147e+01] [ 2.79761030e-02 9.99608592e-01 1.46362272e-05 -7.43066025e-03] [-1.12178071e-02 2.99312376e-04 9.99937034e-01 -2.65112015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.006559995 meters 0.018881110574891332 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.01, Z:-0.27 [[ 9.99614489e-01 -2.54859211e-02 1.10154580e-02 1.39266889e+01] [ 2.54873101e-02 9.99675146e-01 1.42858219e-05 -7.59575094e-03] [-1.10122436e-02 2.66474079e-04 9.99939328e-01 -2.65582472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.066559994999999 meters 0.016951424190457417 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.00, Z:-0.27 [[ 9.99717242e-01 -2.12626328e-02 1.06459610e-02 1.39856637e+01] [ 2.12636550e-02 9.99773903e-01 1.71792528e-05 -3.83728266e-03] [-1.06439192e-02 2.09197646e-04 9.99943330e-01 -2.65392561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.126559995 meters 0.016608017704527207 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.00, Z:-0.27 [[ 9.99774240e-01 -1.83442956e-02 1.07217314e-02 1.40433790e+01] [ 1.83451572e-02 9.99831713e-01 1.79868680e-05 -3.03107456e-03] [-1.07202570e-02 1.78709041e-04 9.99942520e-01 -2.65854991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.186559995 meters 0.018192265239466262 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.00, Z:-0.27 [[ 9.99837402e-01 -1.49248955e-02 1.01201699e-02 1.41034292e+01] [ 1.49254768e-02 9.99888609e-01 1.80838117e-05 -7.28147542e-04] [-1.01193125e-02 1.32967490e-04 9.99948790e-01 -2.66063124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.246559995 meters 0.016723360239042293 Centerline is valid? [True, True] Translation: X:14.16, Y:0.00, Z:-0.27 [[ 9.99875455e-01 -1.23592057e-02 9.81451585e-03 1.41635783e+01] [ 1.23596246e-02 9.99923617e-01 1.79714802e-05 1.10622058e-03] [-9.81398829e-03 1.03334489e-04 9.99951836e-01 -2.65829797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.306559994999999 meters 0.018191728847915364 Centerline is valid? [True, True] Translation: X:14.22, Y:0.00, Z:-0.27 [[ 9.99918111e-01 -9.80962644e-03 8.21847776e-03 1.42246372e+01] [ 9.80982993e-03 9.99951882e-01 1.55513415e-05 2.34537034e-03] [-8.21823486e-03 6.50718012e-05 9.99966228e-01 -2.67179358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.366559995 meters 0.01739955233778681 Centerline is valid? [True, True] Translation: X:14.29, Y:0.00, Z:-0.27 [[ 9.99943634e-01 -8.57968312e-03 6.25443366e-03 1.42856698e+01] [ 8.57977744e-03 9.99963193e-01 1.17503266e-05 3.03947136e-03] [-6.25430427e-03 4.19119845e-05 9.99980441e-01 -2.69068710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.426559995 meters 0.01753851965775874 Centerline is valid? [True, True] Translation: X:14.35, Y:0.00, Z:-0.27 [[ 9.99941544e-01 -8.93765962e-03 6.08497512e-03 1.43458828e+01] [ 8.93775883e-03 9.99960057e-01 1.08889548e-05 3.08688868e-03] [-6.08482939e-03 4.34977219e-05 9.99981486e-01 -2.70248563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.486559994999999 meters 0.017286622250095602 Centerline is valid? [True, True] Translation: X:14.41, Y:0.00, Z:-0.27 [[ 9.99913927e-01 -1.12059829e-02 6.82380047e-03 1.44064024e+01] [ 1.12061605e-02 9.99937209e-01 1.22110696e-05 3.10606264e-04] [-6.82350883e-03 6.42585849e-05 9.99976718e-01 -2.68797847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.546559994999999 meters 0.015350149099221066 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.00, Z:-0.27 [[ 9.99898467e-01 -1.20107757e-02 7.66794730e-03 1.44668360e+01] [ 1.20110236e-02 9.99927865e-01 1.37216553e-05 -1.02749776e-03] [-7.66755898e-03 7.83796338e-05 9.99970601e-01 -2.68234522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.606559995 meters 0.01689675610910128 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.00, Z:-0.27 [[ 9.99839013e-01 -1.67260579e-02 6.49516060e-03 1.45271005e+01] [ 1.67263353e-02 9.99860105e-01 1.16229744e-05 -4.94383092e-03] [-6.49444637e-03 9.70191305e-05 9.99978906e-01 -2.69807025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.666559995 meters 0.020711702362631056 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.01, Z:-0.27 [[ 9.99640978e-01 -2.60664444e-02 6.20130461e-03 1.45875936e+01] [ 2.60668769e-02 9.99660201e-01 1.10971243e-05 -1.31802054e-02] [-6.19948668e-03 1.50555503e-04 9.99980772e-01 -2.71681034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.726559994999999 meters 0.021156303018580944 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.02, Z:-0.27 [[ 9.99402655e-01 -3.40987055e-02 5.62238760e-03 1.46479025e+01] [ 3.40991890e-02 9.99418454e-01 9.87827688e-06 -1.82815881e-02] [-5.61945476e-03 1.81846481e-04 9.99984194e-01 -2.71744790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.786559995 meters 0.02263874907754826 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.02, Z:-0.27 [[ 9.99299345e-01 -3.70916243e-02 5.00309798e-03 1.47073304e+01] [ 3.70920453e-02 9.99311853e-01 8.65817902e-06 -2.10834791e-02] [-4.99997627e-03 1.76923024e-04 9.99987484e-01 -2.72769976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.846559995 meters 0.020820570296801365 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.02, Z:-0.27 [[ 9.99163692e-01 -4.04921711e-02 5.68335604e-03 1.47671650e+01] [ 4.04927677e-02 9.99179831e-01 1.01099696e-05 -2.28417807e-02] [-5.67910411e-03 2.20033301e-04 9.99983850e-01 -2.71672096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.906559994999999 meters 0.0230659689180592 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.02, Z:-0.27 [[ 9.99162857e-01 -4.04725009e-02 5.96339910e-03 1.48260861e+01] [ 4.04731684e-02 9.99180626e-01 8.75245383e-06 -2.44780952e-02] [-5.95886708e-03 2.32612529e-04 9.99982219e-01 -2.72787724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.966559994999999 meters 0.02125826826749339 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.02, Z:-0.27 [[ 9.99255155e-01 -3.79244632e-02 7.13234363e-03 1.48847230e+01] [ 3.79253241e-02 9.99280576e-01 1.45569056e-05 -2.37300013e-02] [-7.12776452e-03 2.55950381e-04 9.99974564e-01 -2.72563084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.026559995 meters 0.022181852007279998 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.02, Z:-0.27 [[ 9.99357587e-01 -3.51159326e-02 7.16130694e-03 1.49433582e+01] [ 3.51167248e-02 9.99383217e-01 1.51240448e-05 -2.06528450e-02] [-7.15742107e-03 2.36367316e-04 9.99974357e-01 -2.73145563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.086559995 meters 0.019428164548163148 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.01, Z:-0.27 [[ 9.99538219e-01 -2.99125669e-02 5.34665781e-03 1.50034373e+01] [ 2.99129324e-02 9.99552508e-01 1.16115041e-05 -1.44002716e-02] [-5.34461255e-03 1.48328071e-04 9.99985706e-01 -2.74502283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.146559995 meters 0.01940762300006779 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.01, Z:-0.28 [[ 9.99541577e-01 -2.99190091e-02 4.63553613e-03 1.50611078e+01] [ 2.99192957e-02 9.99552318e-01 7.52420588e-06 -1.37190593e-02] [-4.63368600e-03 1.31171220e-04 9.99989256e-01 -2.76168743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.206559995 meters 0.020304157329313132 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.01, Z:-0.28 [[ 9.99534354e-01 -3.01548301e-02 4.66501004e-03 1.51196187e+01] [ 3.01551165e-02 9.99545231e-01 8.94911767e-06 -1.35856689e-02] [-4.66315840e-03 1.31728971e-04 9.99989119e-01 -2.77795222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.266559994999998 meters 0.01889829596942447 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.01, Z:-0.28 [[ 9.99526640e-01 -3.03338928e-02 5.13328652e-03 1.51778325e+01] [ 3.03342321e-02 9.99539811e-01 1.17603003e-05 -1.28529435e-02] [-5.13128097e-03 1.43959571e-04 9.99986825e-01 -2.77932560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.326559995 meters 0.021545997745415327 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.02, Z:-0.28 [[ 9.99491248e-01 -3.16289563e-02 4.10544126e-03 1.52368649e+01] [ 3.16291813e-02 9.99499672e-01 1.01301167e-05 -1.59566260e-02] [-4.10370760e-03 1.19726783e-04 9.99991573e-01 -2.79622018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.386559995 meters 0.02011519716789991 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.01, Z:-0.28 [[ 9.99580781e-01 -2.86664994e-02 4.06131245e-03 1.52959409e+01] [ 2.86666831e-02 9.99589026e-01 1.29956626e-05 -1.24619163e-02] [-4.06001590e-03 1.03434142e-04 9.99991753e-01 -2.79631428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.446559994999998 meters 0.01910826125137782 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.01, Z:-0.28 [[ 9.99703459e-01 -2.42227882e-02 2.50016126e-03 1.53536693e+01] [ 2.42228464e-02 9.99706584e-01 6.99789658e-06 -1.20450053e-02] [-2.49959718e-03 5.35652008e-05 9.99996875e-01 -2.81218645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.506559995 meters 0.019045488029371477 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.01, Z:-0.28 [[ 9.99753245e-01 -2.21175672e-02 2.06449954e-03 1.54126341e+01] [ 2.21176059e-02 9.99755376e-01 4.09408677e-06 -1.04781272e-02] [-2.06408507e-03 4.15687107e-05 9.99997869e-01 -2.82198736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.566559995 meters 0.017244681763499754 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.01, Z:-0.28 [[ 9.99825652e-01 -1.85887534e-02 1.76751004e-03 1.54718333e+01] [ 1.85887766e-02 9.99827214e-01 3.33826561e-06 -8.43975300e-03] [-1.76726669e-03 2.95181656e-05 9.99998438e-01 -2.81754981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.626559995 meters 0.016372117451935363 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.01, Z:-0.28 [[ 9.99903692e-01 -1.38119809e-02 1.35468135e-03 1.55300404e+01] [ 1.38119878e-02 9.99904610e-01 4.28950252e-06 -8.19671688e-03] [-1.35461137e-03 1.44217528e-05 9.99999082e-01 -2.83625649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.686559995 meters 0.015156958987261045 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.01, Z:-0.28 [[ 9.99937485e-01 -1.11324783e-02 1.04598999e-03 1.55890842e+01] [ 1.11324835e-02 9.99938032e-01 8.30567053e-07 -6.49473105e-03] [-1.04593441e-03 1.08139511e-05 9.99999453e-01 -2.82770489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.746559995 meters 0.014462442125693177 Centerline is valid? [True, True] Translation: X:15.65, Y:0.00, Z:-0.28 [[ 9.99988955e-01 -4.19110110e-03 2.12698540e-03 1.56483554e+01] [ 4.19109781e-03 9.99991217e-01 6.00843672e-06 8.87404324e-04] [-2.12699190e-03 2.90603347e-06 9.99997738e-01 -2.80722571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.806559995 meters 0.016109091481577836 Centerline is valid? [True, True] Translation: X:15.71, Y:0.00, Z:-0.28 [[ 9.99996200e-01 -2.49355134e-03 1.17588124e-03 1.57087146e+01] [ 2.49354662e-03 9.99996891e-01 5.47867856e-06 1.96049193e-03] [-1.17589124e-03 -2.54654306e-06 9.99999309e-01 -2.82945061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.866559995 meters 0.014501599343501844 Centerline is valid? [True, True] Translation: X:15.77, Y:0.00, Z:-0.28 [[ 9.99998983e-01 -1.41802101e-03 1.53243219e-04 1.57689529e+01] [ 1.41802092e-03 9.99998995e-01 7.13992463e-07 1.19709100e-03] [-1.53244078e-04 -4.96689645e-07 9.99999988e-01 -2.82621586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.926559994999998 meters 0.016536057726101203 Centerline is valid? [True, True] Translation: X:15.83, Y:0.00, Z:-0.28 [[ 9.99999382e-01 -3.43055308e-04 1.05721310e-03 1.58291302e+01] [ 3.43050292e-04 9.99999941e-01 4.92577870e-06 3.71140050e-03] [-1.05721473e-03 -4.56309839e-06 9.99999441e-01 -2.83484956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.986559995 meters 0.014913773969924474 Centerline is valid? [True, True] Translation: X:15.89, Y:0.00, Z:-0.28 [[ 9.99999352e-01 8.13584131e-04 7.96765034e-04 1.58897150e+01] [-8.13587557e-04 9.99999669e-01 3.97597122e-06 4.24717735e-03] [-7.96761536e-04 -4.62420676e-06 9.99999683e-01 -2.83319189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.046559995 meters 0.01477729831123796 Centerline is valid? [True, True] Translation: X:15.95, Y:0.00, Z:-0.28 [[ 9.99999671e-01 -2.43493719e-04 7.73289418e-04 1.59505705e+01] [ 2.43490611e-04 9.99999970e-01 4.11368741e-06 2.89478327e-03] [-7.73290397e-04 -3.92539734e-06 9.99999701e-01 -2.83480453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.106559994999998 meters 0.014303629516597444 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.00, Z:-0.29 [[ 9.99994552e-01 -3.28260910e-03 -3.46804842e-04 1.60110958e+01] [ 3.28260874e-03 9.99994612e-01 -1.59770571e-06 -1.98243285e-04] [ 3.46808218e-04 4.59272400e-07 9.99999940e-01 -2.85180199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.166559995 meters 0.015476481269147595 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.00, Z:-0.29 [[ 9.99988004e-01 -4.89145698e-03 -2.55202940e-04 1.60704904e+01] [ 4.89145669e-03 9.99988037e-01 -1.74022593e-06 -7.01228774e-04] [ 2.55208399e-04 4.91890924e-07 9.99999967e-01 -2.86137081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.226559995 meters 0.014084556677613621 Centerline is valid? [True, True] Translation: X:16.13, Y:0.00, Z:-0.28 [[ 9.99991874e-01 -3.98312974e-03 6.21458844e-04 1.61292475e+01] [ 3.98313105e-03 9.99992067e-01 -8.64650247e-07 6.03064771e-05] [-6.21450470e-04 3.33999524e-06 9.99999807e-01 -2.84638070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.286559995 meters 0.013968243122377374 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.00, Z:-0.28 [[ 9.99990517e-01 -4.27655767e-03 8.22212858e-04 1.61882933e+01] [ 4.27655645e-03 9.99990855e-01 3.23929492e-06 -1.44189916e-03] [-8.22219192e-04 2.76975495e-07 9.99999662e-01 -2.84465533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.346559995 meters 0.014809237451365857 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.00, Z:-0.29 [[ 9.99988897e-01 -4.43496553e-03 1.59294149e-03 1.62476768e+01] [ 4.43495941e-03 9.99990165e-01 7.37381434e-06 -1.30538929e-03] [-1.59295853e-03 -3.09101586e-07 9.99998731e-01 -2.85176979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.406559995 meters 0.013735887520708407 Centerline is valid? [True, True] Translation: X:16.31, Y:0.00, Z:-0.29 [[ 9.99993332e-01 -2.47275290e-03 2.68713888e-03 1.63077751e+01] [ 2.47272714e-03 9.99996943e-01 1.29058272e-05 2.06116154e-03] [-2.68716258e-03 -6.26117988e-06 9.99996390e-01 -2.85056500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.466559995 meters 0.013735542355197625 Centerline is valid? [True, True] Translation: X:16.37, Y:0.00, Z:-0.29 [[ 9.99995124e-01 -2.83611905e-03 1.30682326e-03 1.63682332e+01] [ 2.83611292e-03 9.99995978e-01 6.54696852e-06 5.29743936e-04] [-1.30683657e-03 -2.84063828e-06 9.99999146e-01 -2.85397645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.526559995 meters 0.015953012671423867 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.00, Z:-0.29 [[ 9.99987755e-01 -4.92482588e-03 4.86097599e-04 1.64286702e+01] [ 4.92482528e-03 9.99987873e-01 2.43526863e-06 -8.61436671e-04] [-4.86103698e-04 -4.12930634e-08 9.99999882e-01 -2.86095569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.586559995 meters 0.015539401334389146 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.00, Z:-0.29 [[ 9.99981592e-01 -5.80356049e-03 1.77017935e-03 1.64874825e+01] [ 5.80355549e-03 9.99983159e-01 7.95941680e-06 -2.11628980e-04] [-1.77019573e-03 2.31406381e-06 9.99998433e-01 -2.86190353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.646559995 meters 0.013855037217511424 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.00, Z:-0.28 [[ 9.99953820e-01 -9.13210119e-03 2.99379092e-03 1.65472613e+01] [ 9.13209798e-03 9.99958301e-01 1.47429041e-05 -2.51774416e-03] [-2.99380072e-03 1.25973687e-05 9.99995518e-01 -2.84469839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.706559995 meters 0.014235559432929657 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.01, Z:-0.28 [[ 9.99914989e-01 -1.28206658e-02 2.37584201e-03 1.66065531e+01] [ 1.28206753e-02 9.99917812e-01 1.11995886e-05 -5.83930503e-03] [-2.37579033e-03 1.92612625e-05 9.99997178e-01 -2.84859363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.766559994999998 meters 0.014699024280579771 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.01, Z:-0.29 [[ 9.99857493e-01 -1.67812833e-02 1.83927941e-03 1.66650426e+01] [ 1.67812960e-02 9.99859184e-01 8.53350324e-06 -6.86444884e-03] [-1.83916362e-03 2.23332051e-05 9.99998308e-01 -2.85742070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.826559995 meters 0.01780112472501677 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.00, Z:-0.29 [[ 9.99837820e-01 -1.79730700e-02 1.14161183e-03 1.67241810e+01] [ 1.79730790e-02 9.99838471e-01 2.35949390e-06 -4.88586045e-03] [-1.14146983e-03 1.81591683e-05 9.99999348e-01 -2.87568005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.886559995 meters 0.014932693179706613 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.01, Z:-0.29 [[ 9.99836341e-01 -1.79702988e-02 2.08806969e-03 1.67826675e+01] [ 1.79703210e-02 9.99838521e-01 8.13318929e-06 -6.58693097e-03] [-2.08787867e-03 2.93914244e-05 9.99997820e-01 -2.85753884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.946559994999998 meters 0.014797066391857211 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.01, Z:-0.29 [[ 9.99813958e-01 -1.92211312e-02 1.61138164e-03 1.68419393e+01] [ 1.92211469e-02 9.99815257e-01 5.69603211e-06 -6.39926321e-03] [-1.61119344e-03 2.52776310e-05 9.99998702e-01 -2.86259981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.006559995 meters 0.014790249605853376 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.00, Z:-0.29 [[ 9.99831587e-01 -1.82170718e-02 2.22152648e-03 1.68995590e+01] [ 1.82170899e-02 9.99834055e-01 1.21111070e-05 -4.73739851e-03] [-2.22137846e-03 2.83606803e-05 9.99997532e-01 -2.87578545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.066559995 meters 0.014243155827550879 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.00, Z:-0.29 [[ 9.99864165e-01 -1.62494364e-02 2.75832142e-03 1.69589398e+01] [ 1.62494569e-02 9.99867969e-01 1.49784339e-05 -3.25229047e-03] [-2.75820062e-03 2.98448258e-05 9.99996196e-01 -2.87231079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.126559995 meters 0.014843603699318544 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.00, Z:-0.29 [[ 9.99863884e-01 -1.63176736e-02 2.43854892e-03 1.70164306e+01] [ 1.63176880e-02 9.99866858e-01 1.39770577e-05 -3.56437995e-03] [-2.43845232e-03 2.58163253e-05 9.99997027e-01 -2.88939926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.186559995 meters 0.01434083698900303 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.00, Z:-0.29 [[ 9.99883468e-01 -1.49945157e-02 2.86601357e-03 1.70740926e+01] [ 1.49945287e-02 9.99887576e-01 1.69527821e-05 -3.90158440e-03] [-2.86594556e-03 2.60237161e-05 9.99995893e-01 -2.89863911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.246559995 meters 0.014231489382992202 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.00, Z:-0.29 [[ 9.99886136e-01 -1.47501475e-02 3.18575539e-03 1.71319014e+01] [ 1.47501687e-02 9.99891210e-01 1.68299200e-05 -3.01624597e-03] [-3.18565705e-03 3.01624259e-05 9.99994925e-01 -2.91025317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.306559995 meters 0.014060232998111134 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.00, Z:-0.29 [[ 9.99843114e-01 -1.72401710e-02 4.06490143e-03 1.71905311e+01] [ 1.72402155e-02 9.99851376e-01 2.41006518e-05 -4.39158828e-03] [-4.06471279e-03 4.59829059e-05 9.99991738e-01 -2.89960519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.366559995 meters 0.01547183917581014 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.00, Z:-0.29 [[ 9.99819754e-01 -1.84073467e-02 4.65075405e-03 1.72488739e+01] [ 1.84074111e-02 9.99830569e-01 2.89616323e-05 -4.70274802e-03] [-4.65049917e-03 5.66519293e-05 9.99989185e-01 -2.91277702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.426559994999998 meters 0.015440481274777635 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.00, Z:-0.29 [[ 9.99836871e-01 -1.72885301e-02 5.22866740e-03 1.73082115e+01] [ 1.72885770e-02 9.99850541e-01 3.62279081e-05 -4.05205196e-03] [-5.22851225e-03 5.41742206e-05 9.99986330e-01 -2.91975522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.486559995 meters 0.013960118551757125 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.00, Z:-0.29 [[ 9.99862153e-01 -1.56164598e-02 5.63917592e-03 1.73674903e+01] [ 1.56164889e-02 9.99878054e-01 3.88693769e-05 -2.55609740e-03] [-5.63909525e-03 4.92001095e-05 9.99984099e-01 -2.92802158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.546559995 meters 0.013783891979236018 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.00, Z:-0.29 [[ 9.99874628e-01 -1.49811667e-02 5.12767259e-03 1.74258259e+01] [ 1.49811799e-02 9.99887775e-01 3.58430249e-05 -1.74855379e-03] [-5.12763411e-03 4.09800544e-05 9.99986853e-01 -2.93474411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.606559994999998 meters 0.014282928893636198 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.00, Z:-0.29 [[ 9.99854250e-01 -1.66151743e-02 3.92615592e-03 1.74848179e+01] [ 1.66151929e-02 9.99861958e-01 2.78700426e-05 -9.48410596e-04] [-3.92607701e-03 3.73678575e-05 9.99992292e-01 -2.94879721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.666559995 meters 0.014159639958914545 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.00, Z:-0.30 [[ 9.99821078e-01 -1.86363352e-02 3.24014052e-03 1.75441755e+01] [ 1.86363580e-02 9.99826328e-01 2.31442457e-05 -1.68905255e-03] [-3.24000912e-03 3.72443141e-05 9.99994750e-01 -2.95723346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.726559995 meters 0.015456869602472653 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.00, Z:-0.30 [[ 9.99774144e-01 -2.11341918e-02 2.23744469e-03 1.76026157e+01] [ 2.11342055e-02 9.99776648e-01 1.74873566e-05 -2.96595315e-03] [-2.23731453e-03 2.98032089e-05 9.99997497e-01 -2.95165816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.786559994999998 meters 0.017197050208482563 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.00, Z:-0.29 [[ 9.99753960e-01 -2.20774807e-02 2.14581520e-03 1.76602827e+01] [ 2.20774952e-02 9.99756262e-01 1.69280585e-05 -2.95092895e-03] [-2.14566591e-03 3.04503313e-05 9.99997698e-01 -2.94210980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.846559995 meters 0.015728333751208575 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.00, Z:-0.29 [[ 9.99765867e-01 -2.12046266e-02 4.30983545e-03 1.77194740e+01] [ 2.12046773e-02 9.99775155e-01 3.39290475e-05 -8.03616292e-04] [-4.30958586e-03 5.74675664e-05 9.99990712e-01 -2.93838122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.906559995 meters 0.013703507786442507 Centerline is valid? [True, True] Translation: X:17.78, Y:0.00, Z:-0.30 [[ 9.99897917e-01 -1.41389025e-02 2.06094799e-03 1.77774811e+01] [ 1.41388977e-02 9.99900041e-01 1.69065598e-05 4.76606669e-03] [-2.06098102e-03 1.22346990e-05 9.99997876e-01 -2.96424326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.966559995 meters 0.013574527895847985 Centerline is valid? [True, True] Translation: X:17.84, Y:0.01, Z:-0.30 [[ 9.99939891e-01 -1.09633179e-02 -1.38271662e-04 1.78367610e+01] [ 1.09633172e-02 9.99939901e-01 -5.14895352e-06 9.15064604e-03] [ 1.38319801e-04 3.63272793e-06 9.99999990e-01 -2.97634419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.026559995 meters 0.015166260076243708 Centerline is valid? [True, True] Translation: X:17.90, Y:0.01, Z:-0.30 [[ 9.99967582e-01 -7.30452705e-03 -3.38797298e-03 1.78953622e+01] [ 7.30444818e-03 9.99973322e-01 -3.56539294e-05 1.44323749e-02] [ 3.38814303e-03 1.09055004e-05 9.99994260e-01 -2.97470358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.086559995 meters 0.013534923319712169 Centerline is valid? [True, True] Translation: X:17.95, Y:0.02, Z:-0.30 [[ 9.99987439e-01 -4.95943000e-03 -7.25434967e-04 1.79542375e+01] [ 4.95942343e-03 9.99987702e-01 -1.08600235e-05 1.75858429e-02] [ 7.25479905e-04 7.26214795e-06 9.99999737e-01 -2.95829705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.146559995 meters 0.014121653082464778 Centerline is valid? [True, True] Translation: X:18.01, Y:0.02, Z:-0.29 [[ 9.99989078e-01 -4.59016973e-03 -8.80193992e-04 1.80131344e+01] [ 4.59016039e-03 9.99989465e-01 -1.26361620e-05 2.01061124e-02] [ 8.80242722e-04 8.59579235e-06 9.99999613e-01 -2.94303700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.206559995 meters 0.013568273125441429 Centerline is valid? [True, True] Translation: X:18.07, Y:0.02, Z:-0.29 [[ 9.99996943e-01 -2.44746621e-03 -3.51186974e-04 1.80708925e+01] [ 2.44746465e-03 9.99997005e-01 -4.88052827e-06 2.39266154e-02] [ 3.51197867e-04 4.02099565e-06 9.99999938e-01 -2.94882136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.266559994999998 meters 0.015211783810177014 Centerline is valid? [True, True] Translation: X:18.13, Y:0.03, Z:-0.30 [[ 9.99993143e-01 4.55644551e-07 -3.70328966e-03 1.81305629e+01] [-5.94688901e-07 9.99999999e-01 -3.75450712e-05 2.78781815e-02] [ 3.70328964e-03 3.75470160e-05 9.99993142e-01 -2.95360534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.326559995 meters 0.014037237931193412 Centerline is valid? [True, True] Translation: X:18.19, Y:0.03, Z:-0.30 [[ 9.99980904e-01 3.01149654e-03 -5.39656611e-03 1.81896851e+01] [-3.01183744e-03 9.99995463e-01 -5.50426789e-05 3.34184229e-02] [ 5.39637587e-03 7.12952077e-05 9.99985437e-01 -2.96227143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.386559995 meters 0.014778053201397008 Centerline is valid? [True, True] Translation: X:18.25, Y:0.04, Z:-0.30 [[ 9.99962166e-01 3.88327003e-03 -7.78378196e-03 1.82481356e+01] [-3.88400738e-03 9.99992454e-01 -7.96147034e-05 3.87777122e-02] [ 7.78341406e-03 1.09843958e-04 9.99969703e-01 -2.98767829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.446559994999998 meters 0.014172718429759826 Centerline is valid? [True, True] Translation: X:18.31, Y:0.04, Z:-0.30 [[ 9.99962641e-01 2.58277416e-03 -8.24898316e-03 1.83068530e+01] [-2.58356357e-03 9.99996659e-01 -8.50430158e-05 4.07340526e-02] [ 8.24873596e-03 1.06351611e-04 9.99965973e-01 -2.96553708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.506559995 meters 0.0159550052487634 Centerline is valid? [True, True] Translation: X:18.37, Y:0.04, Z:-0.30 [[ 9.99954918e-01 -6.73196105e-05 -9.49510188e-03 1.83659683e+01] [ 6.63882679e-05 9.99999993e-01 -9.84017894e-05 4.20211340e-02] [ 9.49510844e-03 9.77669899e-05 9.99954916e-01 -2.96720059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.566559995 meters 0.013287854199196402 Centerline is valid? [True, True] Translation: X:18.42, Y:0.04, Z:-0.30 [[ 9.99964885e-01 -5.04882347e-03 -6.68861139e-03 1.84246322e+01] [ 5.04846743e-03 9.99987254e-01 -7.01139505e-05 4.11330191e-02] [ 6.68888013e-03 3.63442517e-05 9.99977629e-01 -2.95029295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.626559995 meters 0.013148917999347894 Centerline is valid? [True, True] Translation: X:18.48, Y:0.04, Z:-0.29 [[ 9.99925279e-01 -1.11862461e-02 -4.92985466e-03 1.84838615e+01] [ 1.11861242e-02 9.99937432e-01 -5.23066982e-05 3.94012080e-02] [ 4.93013133e-03 -2.84317654e-06 9.99987847e-01 -2.94510726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.686559995 meters 0.013190515920910292 Centerline is valid? [True, True] Translation: X:18.54, Y:0.04, Z:-0.29 [[ 9.99898145e-01 -1.31135747e-02 -5.63320573e-03 1.85430057e+01] [ 1.31134229e-02 9.99914013e-01 -6.38758699e-05 4.12298621e-02] [ 5.63355899e-03 -1.00012453e-05 9.99984131e-01 -2.94521101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.746559995 meters 0.013634314208799566 Centerline is valid? [True, True] Translation: X:18.60, Y:0.04, Z:-0.30 [[ 9.99837635e-01 -1.66304680e-02 -6.93759195e-03 1.86014411e+01] [ 1.66303451e-02 9.99861703e-01 -7.54058780e-05 4.27976763e-02] [ 6.93788654e-03 -3.99809139e-05 9.99975932e-01 -2.97240444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.806559995 meters 0.017500734486257278 Centerline is valid? [True, True] Translation: X:18.66, Y:0.04, Z:-0.30 [[ 9.99742415e-01 -2.10613127e-02 -8.45726097e-03 1.86600144e+01] [ 2.10612497e-02 9.99778183e-01 -9.65287853e-05 4.29420006e-02] [ 8.45741803e-03 -8.16165640e-05 9.99964232e-01 -2.99215587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.866559995 meters 0.016737282957715295 Centerline is valid? [True, True] Translation: X:18.72, Y:0.04, Z:-0.30 [[ 9.99663945e-01 -2.49458440e-02 -7.05000116e-03 1.87183972e+01] [ 2.49459055e-02 9.99688799e-01 -7.92266838e-05 4.19380761e-02] [ 7.04978357e-03 -9.66686036e-05 9.99975145e-01 -2.99233347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.926559994999998 meters 0.015770961405520457 Centerline is valid? [True, True] Translation: X:18.78, Y:0.04, Z:-0.30 [[ 9.99489817e-01 -3.18219248e-02 -2.73340141e-03 1.87778027e+01] [ 3.18219485e-02 9.99493553e-01 -3.48185667e-05 3.91370993e-02] [ 2.73312509e-03 -5.21813561e-05 9.99996264e-01 -2.97544776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.986559995 meters 0.017885739537103065 Centerline is valid? [True, True] Translation: X:18.84, Y:0.04, Z:-0.30 [[ 9.99327461e-01 -3.66459560e-02 -1.30338259e-03 1.88369715e+01] [ 3.66459623e-02 9.99328311e-01 -1.90532787e-05 3.81276551e-02] [ 1.30320534e-03 -2.87232444e-05 9.99999150e-01 -2.97040353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.046559995 meters 0.017445393903602217 Centerline is valid? [True, True] Translation: X:18.90, Y:0.04, Z:-0.30 [[ 9.99313292e-01 -3.70532487e-02 -2.26838811e-05 1.88953638e+01] [ 3.70532486e-02 9.99313293e-01 -4.20981522e-06 3.75182018e-02] [ 2.28242912e-05 3.36641282e-06 1.00000000e+00 -2.98959074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.106559994999998 meters 0.019605097473150857 Centerline is valid? [True, True] Translation: X:18.95, Y:0.04, Z:-0.30 [[ 9.99233594e-01 -3.91359813e-02 -7.74649948e-04 1.89545947e+01] [ 3.91359829e-02 9.99233894e-01 -1.31556674e-05 3.86778136e-02] [ 7.74571344e-04 -1.71711023e-05 9.99999700e-01 -3.02084528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.166559995 meters 0.019671405746216755 Centerline is valid? [True, True] Translation: X:19.01, Y:0.04, Z:-0.30 [[ 9.99154580e-01 -4.11041465e-02 -7.58460200e-04 1.90134113e+01] [ 4.11041483e-02 9.99154867e-01 -1.32171428e-05 3.97737297e-02] [ 7.58362480e-04 -1.79698917e-05 9.99999712e-01 -3.03199695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.226559995 meters 0.020230196189392327 Centerline is valid? [True, True] Translation: X:19.07, Y:0.04, Z:-0.30 [[ 9.99067487e-01 -4.31695631e-02 -7.38438817e-04 1.90726027e+01] [ 4.31695652e-02 9.99067760e-01 -1.31965892e-05 3.88045284e-02] [ 7.38320105e-04 -1.86937994e-05 9.99999727e-01 -3.02823444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.286559994999998 meters 0.021718146585457867 Centerline is valid? [True, True] Translation: X:19.13, Y:0.04, Z:-0.30 [[ 9.99026725e-01 -4.41067786e-02 -4.41871298e-04 1.91304950e+01] [ 4.41067799e-02 9.99026822e-01 -6.96000211e-06 3.66474870e-02] [ 4.41748262e-04 -1.25362920e-05 9.99999902e-01 -3.04307656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.346559995 meters 0.018864865271984513 Centerline is valid? [True, True] Translation: X:19.19, Y:0.04, Z:-0.30 [[ 9.99092270e-01 -4.25510157e-02 2.01169844e-03 1.91890836e+01] [ 4.25510528e-02 9.99094294e-01 2.43831145e-05 4.02135121e-02] [-2.01091396e-03 6.12389054e-05 9.99997976e-01 -3.02635613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.406559995 meters 0.01758326543824249 Centerline is valid? [True, True] Translation: X:19.25, Y:0.04, Z:-0.30 [[ 9.99288160e-01 -3.76628725e-02 2.16376926e-03 1.92480430e+01] [ 3.76629023e-02 9.99290501e-01 2.69691376e-05 4.07945493e-02] [-2.16324980e-03 5.45438904e-05 9.99997659e-01 -3.02822903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.466559995 meters 0.019430712738719765 Centerline is valid? [True, True] Translation: X:19.31, Y:0.04, Z:-0.30 [[ 9.99408695e-01 -3.43801628e-02 5.13715804e-04 1.93063958e+01] [ 3.43801659e-02 9.99408827e-01 2.78766426e-06 4.15175340e-02] [-5.13507950e-04 1.48756187e-05 9.99999868e-01 -3.04717087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.526559995 meters 0.017969791783744745 Centerline is valid? [True, True] Translation: X:19.37, Y:0.04, Z:-0.31 [[ 9.99557016e-01 -2.97359540e-02 -1.24279943e-03 1.93655437e+01] [ 2.97359517e-02 9.99557789e-01 -2.02959270e-05 4.31960985e-02] [ 1.24285337e-03 -1.66688876e-05 9.99999228e-01 -3.06272250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.586559995 meters 0.01812391032586832 Centerline is valid? [True, True] Translation: X:19.42, Y:0.04, Z:-0.31 [[ 9.99681174e-01 -2.52230069e-02 -1.16226715e-03 1.94244344e+01] [ 2.52230012e-02 9.99681849e-01 -1.95675900e-05 4.38655321e-02] [ 1.16239093e-03 -9.75451436e-06 9.99999324e-01 -3.07214903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.646559995 meters 0.015877995009039345 Centerline is valid? [True, True] Translation: X:19.48, Y:0.04, Z:-0.31 [[ 9.99763658e-01 -2.16720283e-02 -1.71794449e-03 1.94835979e+01] [ 2.16720131e-02 9.99765134e-01 -2.74594337e-05 4.23404411e-02] [ 1.71813610e-03 -9.77837142e-06 9.99998524e-01 -3.08233631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.706559995 meters 0.016708690029027827 Centerline is valid? [True, True] Translation: X:19.54, Y:0.04, Z:-0.31 [[ 9.99767080e-01 -2.15092000e-02 -1.77185235e-03 1.95412996e+01] [ 2.15091817e-02 9.99768650e-01 -2.93332211e-05 4.02670925e-02] [ 1.77207337e-03 -8.78470538e-06 9.99998430e-01 -3.09377243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.766559994999998 meters 0.016170829190671088 Centerline is valid? [True, True] Translation: X:19.60, Y:0.03, Z:-0.31 [[ 9.99775689e-01 -2.11649374e-02 -7.85925121e-04 1.95991023e+01] [ 2.11649342e-02 9.99775998e-01 -1.24594688e-05 3.45155681e-02] [ 7.86012775e-04 -4.17737943e-06 9.99999691e-01 -3.10639224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.826559995 meters 0.015649638382244088 Centerline is valid? [True, True] Translation: X:19.66, Y:0.03, Z:-0.31 [[ 9.99780145e-01 -2.09621562e-02 5.00580904e-04 1.96577596e+01] [ 2.09621572e-02 9.99780270e-01 3.26401372e-06 3.09092594e-02] [-5.00539332e-04 7.22995946e-06 9.99999875e-01 -3.09605808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.886559995 meters 0.015807303644560015 Centerline is valid? [True, True] Translation: X:19.72, Y:0.03, Z:-0.31 [[ 9.99896841e-01 -1.43207241e-02 1.10633596e-03 1.97165396e+01] [ 1.43207194e-02 9.99897453e-01 1.21910051e-05 3.28743205e-02] [-1.10639709e-03 3.65377934e-06 9.99999388e-01 -3.09509396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.946559994999998 meters 0.0166595484564415 Centerline is valid? [True, True] Translation: X:19.78, Y:0.04, Z:-0.31 [[ 9.99991311e-01 -4.14786481e-03 -4.15798830e-04 1.97753771e+01] [ 4.14786099e-03 9.99991398e-01 -1.00424689e-05 3.93333962e-02] [ 4.15836908e-04 8.31770586e-06 9.99999914e-01 -3.12979739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.006559995 meters 0.015591301172447536 Centerline is valid? [True, True] Translation: X:19.83, Y:0.04, Z:-0.31 [[ 9.99999218e-01 1.19649378e-03 3.64995889e-04 1.98342327e+01] [-1.19649439e-03 9.99999284e-01 1.44836655e-06 4.04644572e-02] [-3.64993894e-04 -1.88508095e-06 9.99999933e-01 -3.11219418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.066559995 meters 0.016832955006276486 Centerline is valid? [True, True] Translation: X:19.89, Y:0.05, Z:-0.31 [[ 9.99993092e-01 3.59323774e-03 9.50651549e-04 1.98949851e+01] [-3.59325324e-03 9.99993544e-01 1.46004745e-05 4.69885332e-02] [-9.50592949e-04 -1.80163054e-05 9.99999548e-01 -3.12119311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.126559994999997 meters 0.016520044483941572 Centerline is valid? [True, True] Translation: X:19.96, Y:0.05, Z:-0.31 [[ 9.99995290e-01 2.95974483e-03 8.12704513e-04 1.99566797e+01] [-2.95975886e-03 9.99995620e-01 1.60715133e-05 4.85959214e-02] [-8.12653386e-04 -1.84768470e-05 9.99999670e-01 -3.13464295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.186559995 meters 0.01709893398396133 Centerline is valid? [True, True] Translation: X:20.02, Y:0.05, Z:-0.31 [[ 9.99990234e-01 4.03473624e-03 1.80335583e-03 2.00183422e+01] [-4.03479185e-03 9.99991860e-01 2.71985568e-05 5.05755586e-02] [-1.80323141e-03 -3.44744565e-05 9.99998374e-01 -3.12906738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.246559995 meters 0.018362079943247296 Centerline is valid? [True, True] Translation: X:20.08, Y:0.06, Z:-0.32 [[ 9.99977853e-01 6.17448832e-03 2.48379758e-03 2.00796826e+01] [-6.17460023e-03 9.99980936e-01 3.73899909e-05 5.70007088e-02] [-2.48351936e-03 -5.27256199e-05 9.99996915e-01 -3.15154010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.306559995 meters 0.017987140694264003 Centerline is valid? [True, True] Translation: X:20.14, Y:0.06, Z:-0.32 [[ 9.99970722e-01 7.23488018e-03 2.49221641e-03 2.01416406e+01] [-7.23500218e-03 9.99973826e-01 3.99418576e-05 6.09018616e-02] [-2.49186220e-03 -5.79718794e-05 9.99996894e-01 -3.15919106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.366559995 meters 0.016167692675159134 Centerline is valid? [True, True] Translation: X:20.20, Y:0.06, Z:-0.31 [[ 9.99956333e-01 8.94030005e-03 2.72104588e-03 2.02034053e+01] [-8.94044904e-03 9.99960032e-01 4.25967981e-05 6.23504830e-02] [-2.72055630e-03 -6.69223100e-05 9.99996297e-01 -3.14280738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.426559994999998 meters 0.01975594241504733 Centerline is valid? [True, True] Translation: X:20.26, Y:0.07, Z:-0.32 [[ 9.99929756e-01 1.14977150e-02 2.87830457e-03 2.02649479e+01] [-1.14978824e-02 9.99933896e-01 4.16307471e-05 6.84709889e-02] [-2.87763565e-03 -7.47222304e-05 9.99995857e-01 -3.15821804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.486559995 meters 0.019394949689040337 Centerline is valid? [True, True] Translation: X:20.33, Y:0.07, Z:-0.32 [[ 9.99895805e-01 1.41569343e-02 2.82139672e-03 2.03265041e+01] [-1.41571081e-02 9.99899782e-01 4.16341638e-05 7.43880950e-02] [-2.82052456e-03 -8.15726442e-05 9.99996019e-01 -3.17872178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.546559995 meters 0.01881464901244923 Centerline is valid? [True, True] Translation: X:20.39, Y:0.08, Z:-0.32 [[ 9.99871099e-01 1.59588554e-02 1.76072881e-03 2.03886970e+01] [-1.59589299e-02 9.99872648e-01 2.82396542e-05 7.84736907e-02] [-1.76005391e-03 -5.63353618e-05 9.99998450e-01 -3.19624827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.606559994999998 meters 0.019445186601098955 Centerline is valid? [True, True] Translation: X:20.45, Y:0.08, Z:-0.32 [[ 9.99884461e-01 1.51127711e-02 1.63384554e-03 2.04507307e+01] [-1.51128341e-02 9.99885794e-01 2.61948079e-05 7.86635236e-02] [-1.63326307e-03 -5.08838179e-05 9.99998665e-01 -3.19529766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.666559995 meters 0.018531395516896927 Centerline is valid? [True, True] Translation: X:20.51, Y:0.09, Z:-0.32 [[ 9.99865425e-01 1.61617066e-02 2.81633620e-03 2.05129805e+01] [-1.61618880e-02 9.99869387e-01 4.16672467e-05 8.53605226e-02] [-2.81529494e-03 -8.71789497e-05 9.99996033e-01 -3.19639913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.726559995 meters 0.020772112286148045 Centerline is valid? [True, True] Translation: X:20.58, Y:0.09, Z:-0.32 [[ 9.99840107e-01 1.77316890e-02 2.31269340e-03 2.05751609e+01] [-1.77318151e-02 9.99842778e-01 3.40681948e-05 8.86435031e-02] [-2.31172571e-03 -7.50709995e-05 9.99997325e-01 -3.21754596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.786559994999998 meters 0.02316761222882407 Centerline is valid? [True, True] Translation: X:20.64, Y:0.10, Z:-0.33 [[ 9.99785055e-01 2.07270987e-02 4.79901356e-04 2.06360092e+01] [-2.07271057e-02 9.99785170e-01 9.76179409e-06 9.79020014e-02] [-4.79595926e-04 -1.97066620e-05 9.99999885e-01 -3.26192997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.846559995 meters 0.022786018960463488 Centerline is valid? [True, True] Translation: X:20.70, Y:0.10, Z:-0.33 [[ 9.99767492e-01 2.15586463e-02 4.33177663e-04 2.06978892e+01] [-2.15586524e-02 9.99767585e-01 9.35944594e-06 9.93778447e-02] [-4.32875209e-04 -1.86959965e-05 9.99999906e-01 -3.26954408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.906559995 meters 0.023805371386145743 Centerline is valid? [True, True] Translation: X:20.76, Y:0.10, Z:-0.33 [[ 9.99752732e-01 2.22297726e-02 5.58928612e-04 2.07604316e+01] [-2.22297823e-02 9.99752888e-01 1.12956578e-05 1.01901036e-01] [-5.58539394e-04 -2.37177261e-05 9.99999844e-01 -3.28349473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.966559995 meters 0.023601428338127034 Centerline is valid? [True, True] Translation: X:20.82, Y:0.10, Z:-0.33 [[ 9.99740616e-01 2.27704526e-02 4.55955287e-04 2.08236934e+01] [-2.27704595e-02 9.99740719e-01 9.98950322e-06 1.02127879e-01] [-4.55609601e-04 -2.03692235e-05 9.99999896e-01 -3.28567539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.026559995 meters 0.02426947902077353 Centerline is valid? [True, True] Translation: X:20.89, Y:0.11, Z:-0.33 [[ 9.99738885e-01 2.28291737e-02 9.95777063e-04 2.08857788e+01] [-2.28292006e-02 9.99739380e-01 1.56301734e-05 1.05606953e-01] [-9.95160719e-04 -3.83588864e-05 9.99999504e-01 -3.29336100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.086559995 meters 0.024153852475264234 Centerline is valid? [True, True] Translation: X:20.95, Y:0.11, Z:-0.33 [[ 9.99745474e-01 2.25290898e-02 1.19506572e-03 2.09480586e+01] [-2.25291270e-02 9.99746187e-01 1.76215557e-05 1.09914509e-01] [-1.19436540e-03 -4.45408579e-05 9.99999286e-01 -3.30884498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.146559995 meters 0.022879621330175383 Centerline is valid? [True, True] Translation: X:21.01, Y:0.11, Z:-0.33 [[ 9.99775290e-01 2.11028792e-02 2.00954935e-03 2.10098593e+01] [-2.11029751e-02 9.99777307e-01 2.65160557e-05 1.12533838e-01] [-2.00854228e-03 -6.89175671e-05 9.99997981e-01 -3.32201873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.206559995 meters 0.021101801059744865 Centerline is valid? [True, True] Translation: X:21.07, Y:0.12, Z:-0.33 [[ 9.99795478e-01 2.00445218e-02 2.68692386e-03 2.10717042e+01] [-2.00446839e-02 9.99799085e-01 3.34224496e-05 1.17202954e-01] [-2.68571408e-03 -8.72741535e-05 9.99996390e-01 -3.32756004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.266559994999998 meters 0.023913665208638562 Centerline is valid? [True, True] Translation: X:21.13, Y:0.12, Z:-0.33 [[ 9.99827169e-01 1.82087328e-02 3.75143831e-03 2.11334663e+01] [-1.82090265e-02 9.99834201e-01 4.41618501e-05 1.19976100e-01] [-3.75001219e-03 -1.12464257e-04 9.99992962e-01 -3.34830888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.326559995 meters 0.021901882776172627 Centerline is valid? [True, True] Translation: X:21.19, Y:0.12, Z:-0.33 [[ 9.99890145e-01 1.39000325e-02 5.14651001e-03 2.11935926e+01] [-1.39005066e-02 9.99903382e-01 5.63574670e-05 1.21774632e-01] [-5.14522939e-03 -1.27890372e-04 9.99986755e-01 -3.34366174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.386559995 meters 0.021424750599902103 Centerline is valid? [True, True] Translation: X:21.26, Y:0.12, Z:-0.33 [[ 9.99918543e-01 1.17021794e-02 5.09567451e-03 2.12553785e+01] [-1.17026207e-02 9.99931520e-01 5.67868484e-05 1.24492631e-01] [-5.09466103e-03 -1.16414968e-04 9.99987015e-01 -3.34569687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.446559994999998 meters 0.021193443970800623 Centerline is valid? [True, True] Translation: X:21.32, Y:0.13, Z:-0.34 [[ 9.99916548e-01 1.18741899e-02 5.08926475e-03 2.13181363e+01] [-1.18746282e-02 9.99929493e-01 5.59188684e-05 1.28895570e-01] [-5.08824193e-03 -1.16347329e-04 9.99987048e-01 -3.35450790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.506559995 meters 0.021290031292126647 Centerline is valid? [True, True] Translation: X:21.38, Y:0.14, Z:-0.34 [[ 9.99914064e-01 1.15611219e-02 6.18103446e-03 2.13799322e+01] [-1.15617437e-02 9.99933159e-01 6.48709961e-05 1.35639019e-01] [-6.17987133e-03 -1.36328958e-04 9.99980895e-01 -3.36101126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.566559995 meters 0.020824156431583335 Centerline is valid? [True, True] Translation: X:21.44, Y:0.14, Z:-0.34 [[ 9.99905874e-01 1.17906599e-02 7.01589377e-03 2.14429905e+01] [-1.17914528e-02 9.99930476e-01 7.16640848e-05 1.39956647e-01] [-7.01456103e-03 -1.54384920e-04 9.99975386e-01 -3.35997617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.626559994999997 meters 0.02269766962313637 Centerline is valid? [True, True] Translation: X:21.50, Y:0.15, Z:-0.34 [[ 9.99901147e-01 1.29909027e-02 5.37886978e-03 2.15040478e+01] [-1.29913749e-02 9.99915607e-01 5.28575828e-05 1.49172091e-01] [-5.37772917e-03 -1.22731271e-04 9.99985532e-01 -3.38696215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.686559995 meters 0.021488517776932413 Centerline is valid? [True, True] Translation: X:21.57, Y:0.15, Z:-0.34 [[ 9.99899453e-01 1.33888454e-02 4.67158333e-03 2.15667790e+01] [-1.33892122e-02 9.99910359e-01 4.72354196e-05 1.54173360e-01] [-4.67053214e-03 -1.09779491e-04 9.99989087e-01 -3.40039482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.746559995 meters 0.021460390608836963 Centerline is valid? [True, True] Translation: X:21.63, Y:0.16, Z:-0.34 [[ 9.99912922e-01 1.23233281e-02 4.72059496e-03 2.16286768e+01] [-1.23236826e-02 9.99924059e-01 4.60183686e-05 1.58208984e-01] [-4.71966938e-03 -1.04189475e-04 9.99988857e-01 -3.40988654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.806559995 meters 0.021863197943240157 Centerline is valid? [True, True] Translation: X:21.69, Y:0.16, Z:-0.34 [[ 9.99912455e-01 1.19568740e-02 5.66711226e-03 2.16910353e+01] [-1.19573666e-02 9.99928507e-01 5.30368955e-05 1.63602314e-01] [-5.66607294e-03 -1.20795991e-04 9.99983940e-01 -3.41186101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.866559995 meters 0.02147901918528953 Centerline is valid? [True, True] Translation: X:21.75, Y:0.17, Z:-0.34 [[ 9.99909651e-01 1.18843136e-02 6.28113065e-03 2.17531219e+01] [-1.18849046e-02 9.99929370e-01 5.67803116e-05 1.68519228e-01] [-6.28001222e-03 -1.31425820e-04 9.99980272e-01 -3.42385598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.926559994999998 meters 0.022207735427941477 Centerline is valid? [True, True] Translation: X:21.81, Y:0.17, Z:-0.34 [[ 9.99906381e-01 1.22582115e-02 6.07995110e-03 2.18149036e+01] [-1.22587646e-02 9.99924857e-01 5.37121169e-05 1.74404465e-01] [-6.07883582e-03 -1.28239777e-04 9.99981515e-01 -3.44589366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.986559995 meters 0.021829029188755115 Centerline is valid? [True, True] Translation: X:21.88, Y:0.18, Z:-0.35 [[ 9.99894899e-01 1.31349172e-02 6.13721650e-03 2.18778340e+01] [-1.31354887e-02 9.99913724e-01 5.28174714e-05 1.76374251e-01] [-6.13599325e-03 -1.33427258e-04 9.99981166e-01 -3.45180058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.046559995 meters 0.021327988878303575 Centerline is valid? [True, True] Translation: X:21.94, Y:0.18, Z:-0.35 [[ 9.99893189e-01 1.33491410e-02 5.95067309e-03 2.19402565e+01] [-1.33496726e-02 9.99910888e-01 4.96187408e-05 1.81604816e-01] [-5.94948045e-03 -1.29052979e-04 9.99982293e-01 -3.46503745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.106559994999998 meters 0.02117408004667438 Centerline is valid? [True, True] Translation: X:22.00, Y:0.18, Z:-0.35 [[ 9.99901246e-01 1.26871985e-02 6.04433354e-03 2.20025502e+01] [-1.26877217e-02 9.99919506e-01 4.82168323e-05 1.83137901e-01] [-6.04323528e-03 -1.24900892e-04 9.99981732e-01 -3.47869051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.166559995 meters 0.019233983710954392 Centerline is valid? [True, True] Translation: X:22.06, Y:0.18, Z:-0.35 [[ 9.99927487e-01 1.06096082e-02 5.69716163e-03 2.20640681e+01] [-1.06100312e-02 9.99943711e-01 4.40286774e-05 1.83595859e-01] [-5.69637381e-03 -1.04472547e-04 9.99983770e-01 -3.48268751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.226559995 meters 0.020332367406663086 Centerline is valid? [True, True] Translation: X:22.13, Y:0.18, Z:-0.35 [[ 9.99935747e-01 9.73646096e-03 5.80548311e-03 2.21262573e+01] [-9.73687828e-03 9.99952595e-01 4.36228414e-05 1.84979364e-01] [-5.80478317e-03 -1.00147321e-04 9.99983147e-01 -3.49704662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.286559994999998 meters 0.02163556709723506 Centerline is valid? [True, True] Translation: X:22.19, Y:0.19, Z:-0.35 [[ 9.99932760e-01 9.84480166e-03 6.12820877e-03 2.21895237e+01] [-9.84526038e-03 9.99951533e-01 4.46891178e-05 1.87514141e-01] [-6.12747180e-03 -1.05019924e-04 9.99981221e-01 -3.50997652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.346559995 meters 0.020408209267949604 Centerline is valid? [True, True] Translation: X:22.25, Y:0.19, Z:-0.35 [[ 9.99936724e-01 9.01150782e-03 6.73349635e-03 2.22515036e+01] [-9.01202500e-03 9.99959390e-01 4.64681435e-05 1.86824211e-01] [-6.73280416e-03 -1.07147641e-04 9.99977329e-01 -3.51041399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.406559995 meters 0.019854023596703203 Centerline is valid? [True, True] Translation: X:22.31, Y:0.19, Z:-0.35 [[ 9.99936196e-01 9.05705662e-03 6.75082714e-03 2.23134325e+01] [-9.05756699e-03 9.99958978e-01 4.50302772e-05 1.88046139e-01] [-6.75014237e-03 -1.06173473e-04 9.99977212e-01 -3.51810148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.466559995 meters 0.02008436187452215 Centerline is valid? [True, True] Translation: X:22.38, Y:0.19, Z:-0.35 [[ 9.99938658e-01 8.91223678e-03 6.57657645e-03 2.23766302e+01] [-8.91270898e-03 9.99960280e-01 4.24955611e-05 1.88566944e-01] [-6.57593650e-03 -1.01108066e-04 9.99978373e-01 -3.52984249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.526559995 meters 0.020639718809622776 Centerline is valid? [True, True] Translation: X:22.44, Y:0.19, Z:-0.36 [[ 9.99933490e-01 9.24199248e-03 6.89934802e-03 2.24381584e+01] [-9.24249801e-03 9.99957286e-01 4.13913088e-05 1.89571088e-01] [-6.89867078e-03 -1.05155766e-04 9.99976198e-01 -3.55014317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.586559995 meters 0.020451397087987683 Centerline is valid? [True, True] Translation: X:22.50, Y:0.19, Z:-0.36 [[ 9.99940693e-01 8.99977822e-03 6.13301312e-03 2.25014424e+01] [-9.00017476e-03 9.99959497e-01 3.70593697e-05 1.87251259e-01] [-6.13243118e-03 -9.22553616e-05 9.99981192e-01 -3.56103095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.646559995 meters 0.019771862450029775 Centerline is valid? [True, True] Translation: X:22.56, Y:0.18, Z:-0.36 [[ 9.99954244e-01 6.29898711e-03 7.19942500e-03 2.25626636e+01] [-6.29943966e-03 9.99980158e-01 4.01831130e-05 1.84384009e-01] [-7.19902903e-03 -8.55336177e-05 9.99974083e-01 -3.56547441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.706559995 meters 0.019006373211499734 Centerline is valid? [True, True] Translation: X:22.63, Y:0.18, Z:-0.36 [[ 9.99959921e-01 3.63328164e-03 8.18268572e-03 2.26253415e+01] [-3.63374906e-03 9.99993397e-01 4.22576535e-05 1.80516201e-01] [-8.18247816e-03 -7.19897865e-05 9.99966520e-01 -3.56554435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.766559994999998 meters 0.018543940299074253 Centerline is valid? [True, True] Translation: X:22.69, Y:0.17, Z:-0.36 [[ 9.99968374e-01 -1.53856715e-03 7.80277152e-03 2.26878410e+01] [ 1.53829465e-03 9.99998816e-01 4.09249475e-05 1.72985182e-01] [-7.80282525e-03 -2.89206915e-05 9.99969557e-01 -3.57267901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.826559995 meters 0.01942250399854834 Centerline is valid? [True, True] Translation: X:22.75, Y:0.17, Z:-0.36 [[ 9.99954669e-01 -4.60878559e-03 8.33180147e-03 2.27502517e+01] [ 4.60860075e-03 9.99989379e-01 4.13846274e-05 1.69005806e-01] [-8.33190372e-03 -2.98480493e-06 9.99965289e-01 -3.59352512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.886559995 meters 0.01864864130768014 Centerline is valid? [True, True] Translation: X:22.81, Y:0.17, Z:-0.36 [[ 9.99937647e-01 -6.79854823e-03 8.85894902e-03 2.28136886e+01] [ 6.79844375e-03 9.99976889e-01 4.19084105e-05 1.65581515e-01] [-8.85902921e-03 1.83212692e-05 9.99960758e-01 -3.60094066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.946559994999998 meters 0.01892517731403648 Centerline is valid? [True, True] Translation: X:22.88, Y:0.16, Z:-0.36 [[ 9.99926186e-01 -8.08164921e-03 9.07246267e-03 2.28755115e+01] [ 8.08162905e-03 9.99967342e-01 3.88840580e-05 1.61581714e-01] [-9.07248063e-03 3.44390901e-05 9.99958844e-01 -3.60696407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.006559995 meters 0.018664948519954507 Centerline is valid? [True, True] Translation: X:22.94, Y:0.16, Z:-0.36 [[ 9.99934752e-01 -8.17048265e-03 7.98337954e-03 2.29374486e+01] [ 8.17047307e-03 9.99966621e-01 3.38154420e-05 1.56314345e-01] [-7.98338934e-03 3.14147519e-05 9.99968132e-01 -3.61113715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.066559995 meters 0.018425006040176103 Centerline is valid? [True, True] Translation: X:23.00, Y:0.15, Z:-0.36 [[ 9.99948158e-01 -7.76837795e-03 6.58280177e-03 2.29981709e+01] [ 7.76836569e-03 9.99969825e-01 2.74320060e-05 1.53714762e-01] [-6.58281623e-03 2.37070275e-05 9.99978333e-01 -3.63253201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.126559994999997 meters 0.018535116541111948 Centerline is valid? [True, True] Translation: X:23.06, Y:0.15, Z:-0.36 [[ 9.99958708e-01 -7.33015344e-03 5.37126244e-03 2.30599479e+01] [ 7.33014066e-03 9.99973134e-01 2.20663355e-05 1.49976499e-01] [-5.37127988e-03 1.73066848e-05 9.99985574e-01 -3.64571446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.186559995 meters 0.018938542808134378 Centerline is valid? [True, True] Translation: X:23.12, Y:0.15, Z:-0.36 [[ 9.99961056e-01 -6.65882362e-03 5.79196890e-03 2.31215742e+01] [ 6.65879898e-03 9.99977830e-01 2.35386408e-05 1.46229308e-01] [-5.79199723e-03 1.50298325e-05 9.99983226e-01 -3.64997346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.246559995 meters 0.018809623519344974 Centerline is valid? [True, True] Translation: X:23.18, Y:0.14, Z:-0.37 [[ 9.99959606e-01 -5.86869261e-03 6.80763564e-03 2.31832853e+01] [ 5.86864259e-03 9.99982779e-01 2.73227370e-05 1.41770401e-01] [-6.80767876e-03 1.26299471e-05 9.99976827e-01 -3.65346064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.306559995 meters 0.019060718157955715 Centerline is valid? [True, True] Translation: X:23.25, Y:0.14, Z:-0.37 [[ 9.99963611e-01 -5.50906199e-03 6.51359557e-03 2.32450470e+01] [ 5.50900775e-03 9.99984825e-01 2.62684079e-05 1.38228315e-01] [-6.51364144e-03 9.61599649e-06 9.99978786e-01 -3.66382413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.366559995 meters 0.018588863960515345 Centerline is valid? [True, True] Translation: X:23.31, Y:0.13, Z:-0.37 [[ 9.99971942e-01 -5.41789549e-03 5.17320127e-03 2.33069402e+01] [ 5.41786074e-03 9.99985323e-01 2.07305873e-05 1.31350568e-01] [-5.17323766e-03 7.29767847e-06 9.99986619e-01 -3.67441108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.426559994999998 meters 0.019198530587037244 Centerline is valid? [True, True] Translation: X:23.37, Y:0.13, Z:-0.37 [[ 9.99978660e-01 -5.26943539e-03 3.86165294e-03 2.33671623e+01] [ 5.26941736e-03 9.99986116e-01 1.48440431e-05 1.25308885e-01] [-3.86167755e-03 5.50493465e-06 9.99992544e-01 -3.70718430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.486559995 meters 0.018428885279179564 Centerline is valid? [True, True] Translation: X:23.43, Y:0.12, Z:-0.37 [[ 9.99979618e-01 -5.01028154e-03 3.95735400e-03 2.34278989e+01] [ 5.01026170e-03 9.99987448e-01 1.49291425e-05 1.21166473e-01] [-3.95737913e-03 4.89854098e-06 9.99992170e-01 -3.71487357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.546559995 meters 0.018305622847246517 Centerline is valid? [True, True] Translation: X:23.49, Y:0.12, Z:-0.37 [[ 9.99978935e-01 -4.59023064e-03 4.58903479e-03 2.34886697e+01] [ 4.59019953e-03 9.99989465e-01 1.73121622e-05 1.16031990e-01] [-4.58906592e-03 3.75278786e-06 9.99989470e-01 -3.72428943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.606559994999998 meters 0.01767283923956824 Centerline is valid? [True, True] Translation: X:23.55, Y:0.11, Z:-0.37 [[ 9.99980690e-01 -3.26270655e-03 5.28898762e-03 2.35491678e+01] [ 3.26264566e-03 9.99994677e-01 2.01412910e-05 1.08458658e-01] [-5.28902518e-03 -2.88480961e-06 9.99986013e-01 -3.74768845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.666559995 meters 0.01739910913001506 Centerline is valid? [True, True] Translation: X:23.61, Y:0.10, Z:-0.38 [[ 9.99980578e-01 -2.21998573e-03 5.82360774e-03 2.36109087e+01] [ 2.21989181e-03 9.99997536e-01 2.25919538e-05 1.03373684e-01] [-5.82364355e-03 -9.66373586e-06 9.99983042e-01 -3.75425028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.726559995 meters 0.016867653206632027 Centerline is valid? [True, True] Translation: X:23.67, Y:0.10, Z:-0.38 [[ 9.99975773e-01 -4.51334592e-05 6.96069348e-03 2.36718819e+01] [ 4.49528252e-05 9.99999999e-01 2.61070175e-05 9.55527541e-02] [-6.96069465e-03 -2.57934821e-05 9.99975774e-01 -3.76708375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.786559994999998 meters 0.015726997565836752 Centerline is valid? [True, True] Translation: X:23.73, Y:0.09, Z:-0.38 [[ 9.99970663e-01 1.76104099e-03 7.45461168e-03 2.37344473e+01] [-1.76129603e-03 9.99998449e-01 2.76474252e-05 9.06853127e-02] [-7.45455143e-03 -4.07763920e-05 9.99972214e-01 -3.78147884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.846559995 meters 0.01723241999920543 Centerline is valid? [True, True] Translation: X:23.80, Y:0.08, Z:-0.38 [[ 9.99971193e-01 5.86909691e-03 4.81329653e-03 2.37969639e+01] [-5.86925106e-03 9.99982776e-01 1.79004813e-05 8.40387586e-02] [-4.81310856e-03 -4.61504113e-05 9.99988416e-01 -3.81792906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.906559995 meters 0.017352773012481823 Centerline is valid? [True, True] Translation: X:23.86, Y:0.08, Z:-0.38 [[ 9.99943812e-01 9.56126128e-03 4.57758518e-03 2.38589742e+01] [-9.56143822e-03 9.99954288e-01 1.67693064e-05 8.02078919e-02] [-4.57721560e-03 -6.05366620e-05 9.99989523e-01 -3.83045885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.966559995 meters 0.0176815991227911 Centerline is valid? [True, True] Translation: X:23.92, Y:0.08, Z:-0.38 [[ 9.99846571e-01 1.68675693e-02 4.72444560e-03 2.39207260e+01] [-1.68678366e-02 9.99857728e-01 1.67364263e-05 8.01458328e-02] [-4.72349114e-03 -9.64250347e-05 9.99988840e-01 -3.83170927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.026559995 meters 0.018797388704280125 Centerline is valid? [True, True] Translation: X:23.98, Y:0.08, Z:-0.39 [[ 9.99807140e-01 1.82691095e-02 7.20570398e-03 2.39835012e+01] [-1.82697763e-02 9.99833093e-01 2.67282925e-05 8.47229012e-02] [-7.20401300e-03 -1.58369738e-04 9.99974038e-01 -3.85026136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.086559995 meters 0.018266953988907726 Centerline is valid? [True, True] Translation: X:24.04, Y:0.09, Z:-0.38 [[ 9.99781543e-01 1.86658139e-02 9.40498583e-03 2.40446905e+01] [-1.86669253e-02 9.99825757e-01 3.03960862e-05 8.56374655e-02] [-9.40277972e-03 -2.05951614e-04 9.99955772e-01 -3.84145062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.146559995 meters 0.016488315455745663 Centerline is valid? [True, True] Translation: X:24.11, Y:0.08, Z:-0.38 [[ 9.99811126e-01 1.68475197e-02 9.68882731e-03 2.41068221e+01] [-1.68485924e-02 9.99858052e-01 2.90956701e-05 8.20940762e-02] [-9.68696181e-03 -1.92333277e-04 9.99953062e-01 -3.84737230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.206559995 meters 0.016544189213807105 Centerline is valid? [True, True] Translation: X:24.17, Y:0.09, Z:-0.39 [[ 9.99782246e-01 1.87997242e-02 9.05706520e-03 2.41690343e+01] [-1.88007231e-02 9.99823250e-01 2.51539232e-05 8.55284903e-02] [-9.05499148e-03 -1.95427821e-04 9.99958984e-01 -3.87585268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.266559994999998 meters 0.01920267355132708 Centerline is valid? [True, True] Translation: X:24.23, Y:0.09, Z:-0.39 [[ 9.99739520e-01 2.17435028e-02 6.93623269e-03 2.42312442e+01] [-2.17441428e-02 9.99763568e-01 1.68520953e-05 8.93063636e-02] [-6.93422632e-03 -1.67670140e-04 9.99975944e-01 -3.90518591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.326559995 meters 0.016129926033124298 Centerline is valid? [True, True] Translation: X:24.29, Y:0.09, Z:-0.39 [[ 9.99735832e-01 2.07819622e-02 9.81714579e-03 2.42933219e+01] [-2.07831969e-02 9.99784006e-01 2.37573916e-05 9.01580683e-02] [-9.81453162e-03 -2.27782790e-04 9.99951810e-01 -3.89463806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.386559995 meters 0.015847745816374034 Centerline is valid? [True, True] Translation: X:24.36, Y:0.09, Z:-0.39 [[ 9.99715200e-01 2.03521473e-02 1.24623295e-02 2.43560317e+01] [-2.03540439e-02 9.99792835e-01 2.53581018e-05 9.00531471e-02] [-1.24592316e-02 -2.79009680e-04 9.99922342e-01 -3.87922992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.446559994999998 meters 0.017550752361732307 Centerline is valid? [True, True] Translation: X:24.42, Y:0.09, Z:-0.39 [[ 9.99699933e-01 2.07176631e-02 1.30699216e-02 2.44191809e+01] [-2.07197715e-02 9.99785322e-01 2.59151785e-05 9.06156535e-02] [-1.30665789e-02 -2.96713191e-04 9.99914585e-01 -3.89363060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.506559995 meters 0.01781499421675157 Centerline is valid? [True, True] Translation: X:24.48, Y:0.09, Z:-0.39 [[ 9.99690691e-01 2.15950143e-02 1.23360105e-02 2.44807759e+01] [-2.15969165e-02 9.99766759e-01 2.09893913e-05 9.32232859e-02] [-1.23326800e-02 -2.87402688e-04 9.99923908e-01 -3.92242097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.566559995 meters 0.01606898515887546 Centerline is valid? [True, True] Translation: X:24.54, Y:0.10, Z:-0.39 [[ 9.99696253e-01 2.21965022e-02 1.07106142e-02 2.45423739e+01] [-2.21979474e-02 9.99753595e-01 1.60543797e-05 9.62749672e-02] [-1.07076187e-02 -2.53803153e-04 9.99942640e-01 -3.94991182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.626559994999997 meters 0.016100098315593774 Centerline is valid? [True, True] Translation: X:24.61, Y:0.10, Z:-0.39 [[ 9.99697252e-01 2.21382672e-02 1.07378308e-02 2.46055146e+01] [-2.21396891e-02 9.99754887e-01 1.35536151e-05 9.63786328e-02] [-1.07348988e-02 -2.51281747e-04 9.99942348e-01 -3.94681651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.686559995 meters 0.01832544503825474 Centerline is valid? [True, True] Translation: X:24.67, Y:0.10, Z:-0.40 [[ 9.99656845e-01 2.42146516e-02 9.99217295e-03 2.46665643e+01] [-2.42159574e-02 9.99706751e-01 9.70196720e-06 9.87290576e-02] [-9.98900782e-03 -2.51668673e-04 9.99950077e-01 -3.96398022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.746559995 meters 0.018115619131909403 Centerline is valid? [True, True] Translation: X:24.73, Y:0.10, Z:-0.40 [[ 9.99621759e-01 2.55178087e-02 1.02557778e-02 2.47285405e+01] [-2.55192290e-02 9.99674331e-01 7.62864870e-06 9.88371674e-02] [-1.02522431e-02 -2.69345305e-04 9.99947408e-01 -3.97220202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.806559995 meters 0.01862080106022952 Centerline is valid? [True, True] Translation: X:24.79, Y:0.10, Z:-0.40 [[ 9.99601218e-01 2.58802433e-02 1.12968343e-02 2.47901036e+01] [-2.58819488e-02 9.99665006e-01 4.77414247e-06 1.02978728e-01] [-1.12929264e-02 -2.97156325e-04 9.99936189e-01 -3.99078821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.866559995 meters 0.02031683121009591 Centerline is valid? [True, True] Translation: X:24.85, Y:0.10, Z:-0.40 [[ 9.99587458e-01 2.63187799e-02 1.14993763e-02 2.48518905e+01] [-2.63205557e-02 9.99653554e-01 3.09354619e-06 1.04957843e-01] [-1.14953110e-02 -3.05762246e-04 9.99933880e-01 -4.01038439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.926559994999998 meters 0.019720358845870926 Centerline is valid? [True, True] Translation: X:24.91, Y:0.11, Z:-0.40 [[ 9.99602335e-01 2.58573053e-02 1.12503805e-02 2.49136654e+01] [-2.58589429e-02 9.99665602e-01 8.64987469e-08 1.05927119e-01] [-1.12466161e-02 -2.91009410e-04 9.99936712e-01 -4.02166409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.986559995 meters 0.01908360451152002 Centerline is valid? [True, True] Translation: X:24.98, Y:0.10, Z:-0.40 [[ 9.99633897e-01 2.49542047e-02 1.04575356e-02 2.49762679e+01] [-2.49555380e-02 9.99688562e-01 -2.99127316e-06 1.03878759e-01] [-1.04543534e-02 -2.57983249e-04 9.99945318e-01 -4.03259002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.046559995 meters 0.018536504789210574 Centerline is valid? [True, True] Translation: X:25.04, Y:0.10, Z:-0.40 [[ 9.99676366e-01 2.34984768e-02 9.74599000e-03 2.50385656e+01] [-2.34995679e-02 9.99723847e-01 -2.56777296e-06 1.02837367e-01] [-9.74335895e-03 -2.26459612e-04 9.99952507e-01 -4.04552256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.106559994999998 meters 0.015966336834851668 Centerline is valid? [True, True] Translation: X:25.10, Y:0.10, Z:-0.40 [[ 9.99719422e-01 2.08345362e-02 1.12694347e-02 2.51004195e+01] [-2.08357868e-02 9.99782911e-01 -6.42990322e-06 1.02236586e-01] [-1.12671222e-02 -2.28379440e-04 9.99936498e-01 -4.04856140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.166559995 meters 0.015587829030040589 Centerline is valid? [True, True] Translation: X:25.16, Y:0.10, Z:-0.41 [[ 9.99831716e-01 1.36668455e-02 1.22374930e-02 2.51623371e+01] [-1.36677336e-02 9.99906592e-01 -1.10633938e-05 9.88090989e-02] [-1.22365012e-02 -1.56197263e-04 9.99925119e-01 -4.07299028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.226559995 meters 0.01588889943152929 Centerline is valid? [True, True] Translation: X:25.22, Y:0.10, Z:-0.41 [[ 9.99885017e-01 9.03284293e-03 1.21803371e-02 2.52247678e+01] [-9.03337990e-03 9.99959198e-01 -1.09322960e-05 9.54490993e-02] [-1.21799388e-02 -9.90985732e-05 9.99925817e-01 -4.08750726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.286559994999998 meters 0.016029670147750162 Centerline is valid? [True, True] Translation: X:25.29, Y:0.09, Z:-0.41 [[ 9.99939199e-01 2.24240331e-03 1.07967595e-02 2.52869519e+01] [-2.24240524e-03 9.99997486e-01 -1.19265638e-05 9.08839790e-02] [-1.07967591e-02 -1.22848714e-05 9.99941713e-01 -4.11240273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.346559995 meters 0.013870395630269617 Centerline is valid? [True, True] Translation: X:25.35, Y:0.09, Z:-0.41 [[ 9.99944579e-01 -1.59433481e-03 1.04066172e-02 2.53496675e+01] [ 1.59456466e-03 9.99998729e-01 -1.37890684e-05 8.88208459e-02] [-1.04065819e-02 3.03823281e-05 9.99945850e-01 -4.12475614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.406559995 meters 0.013872213123602836 Centerline is valid? [True, True] Translation: X:25.41, Y:0.09, Z:-0.41 [[ 9.99919833e-01 -7.76773775e-03 9.99952206e-03 2.54119947e+01] [ 7.76828681e-03 9.99969826e-01 -1.60685822e-05 8.69086450e-02] [-9.99909552e-03 9.37464494e-05 9.99950003e-01 -4.14601515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.466559994999997 meters 0.015016300724379195 Centerline is valid? [True, True] Translation: X:25.47, Y:0.08, Z:-0.42 [[ 9.99844300e-01 -1.41065838e-02 1.06009909e-02 2.54728021e+01] [ 1.41075895e-02 9.99900483e-01 -2.00832520e-05 8.40296991e-02] [-1.05996527e-02 1.69634553e-04 9.99943808e-01 -4.16425806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.526559995 meters 0.015847900077778376 Centerline is valid? [True, True] Translation: X:25.53, Y:0.08, Z:-0.42 [[ 9.99772200e-01 -1.81575441e-02 1.12183353e-02 2.55337760e+01] [ 1.81589677e-02 9.99835112e-01 -2.50482378e-05 8.14552699e-02] [-1.12160308e-02 2.28755921e-04 9.99937072e-01 -4.16917222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.586559995 meters 0.018296505730572624 Centerline is valid? [True, True] Translation: X:25.59, Y:0.08, Z:-0.42 [[ 9.99625695e-01 -2.44891376e-02 1.21964029e-02 2.55928806e+01] [ 2.44912964e-02 9.99700043e-01 -2.76600631e-05 7.54851380e-02] [-1.21920672e-02 3.26355430e-04 9.99925621e-01 -4.17423971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.646559995 meters 0.021080545626521337 Centerline is valid? [True, True] Translation: X:25.65, Y:0.08, Z:-0.42 [[ 9.99613491e-01 -2.55178062e-02 1.10322644e-02 2.56508537e+01] [ 2.55196342e-02 9.99674321e-01 -2.49287945e-05 7.58286872e-02] [-1.10280353e-02 3.06458510e-04 9.99939142e-01 -4.22558391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.706559995 meters 0.01999614527140273 Centerline is valid? [True, True] Translation: X:25.71, Y:0.08, Z:-0.42 [[ 9.99628265e-01 -2.51951684e-02 1.04180622e-02 2.57100060e+01] [ 2.51967820e-02 9.99682510e-01 -2.36417032e-05 8.04864153e-02] [-1.04141589e-02 2.86134557e-04 9.99945730e-01 -4.23856118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.766559994999998 meters 0.02012342904198337 Centerline is valid? [True, True] Translation: X:25.77, Y:0.08, Z:-0.43 [[ 9.99664238e-01 -2.38262603e-02 1.01843479e-02 2.57684981e+01] [ 2.38277063e-02 9.99716080e-01 -2.06496076e-05 8.09125565e-02] [-1.01809644e-02 2.63312326e-04 9.99948138e-01 -4.25619651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.826559995 meters 0.019307737848602468 Centerline is valid? [True, True] Translation: X:25.83, Y:0.08, Z:-0.43 [[ 9.99707069e-01 -2.19189832e-02 1.02632407e-02 2.58279219e+01] [ 2.19203184e-02 9.99759721e-01 -1.76073031e-05 8.16652420e-02] [-1.02603887e-02 2.42575650e-04 9.99947331e-01 -4.26533485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.886559995 meters 0.017532752807487513 Centerline is valid? [True, True] Translation: X:25.89, Y:0.08, Z:-0.43 [[ 9.99771964e-01 -1.76372892e-02 1.20393567e-02 2.58874201e+01] [ 1.76387975e-02 9.99844424e-01 -1.90983320e-05 8.42300443e-02] [-1.20371468e-02 2.31453751e-04 9.99927524e-01 -4.26589319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.946559994999998 meters 0.01789698679723948 Centerline is valid? [True, True] Translation: X:25.95, Y:0.09, Z:-0.43 [[ 9.99824958e-01 -1.35650973e-02 1.28856984e-02 2.59470524e+01] [ 1.35664381e-02 9.99907972e-01 -1.66419383e-05 8.71378423e-02] [-1.28842868e-02 1.91452055e-04 9.99916976e-01 -4.27828591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.006559995 meters 0.01356233296142666 Centerline is valid? [True, True] Translation: X:26.01, Y:0.10, Z:-0.43 [[ 9.99901105e-01 -4.13795591e-03 1.34409041e-02 2.60078402e+01] [ 4.13855815e-03 9.99991436e-01 -1.69926977e-05 9.53510002e-02] [-1.34407187e-02 7.26169805e-05 9.99909667e-01 -4.29653441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.066559995 meters 0.01721699065985887 Centerline is valid? [True, True] Translation: X:26.07, Y:0.10, Z:-0.43 [[ 9.99932640e-01 -1.22960390e-03 1.15413710e-02 2.60702616e+01] [ 1.22985596e-03 9.99999244e-01 -1.47423557e-05 9.83118257e-02] [-1.15413441e-02 2.89355866e-05 9.99933396e-01 -4.33321113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.126559994999997 meters 0.01683348535197925 Centerline is valid? [True, True] Translation: X:26.13, Y:0.10, Z:-0.43 [[ 9.99924262e-01 1.40078991e-03 1.22273419e-02 2.61328902e+01] [-1.40069198e-03 9.99999019e-01 -1.65728955e-05 9.98525031e-02] [-1.22273531e-02 -5.55099331e-07 9.99925243e-01 -4.34039086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.186559995 meters 0.016750856720353476 Centerline is valid? [True, True] Translation: X:26.20, Y:0.10, Z:-0.43 [[ 9.99895434e-01 5.05845067e-03 1.35474540e-02 2.61953713e+01] [-5.05865252e-03 9.99987205e-01 -1.93684660e-05 1.01885964e-01] [-1.35473786e-02 -4.91654216e-05 9.99908229e-01 -4.34564010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.246559995 meters 0.017830785056652088 Centerline is valid? [True, True] Translation: X:26.26, Y:0.10, Z:-0.44 [[ 9.99884991e-01 7.01634368e-03 1.34453095e-02 2.62582121e+01] [-7.01670597e-03 9.99975382e-01 -2.02279599e-05 1.02847433e-01] [-1.34451204e-02 -7.41161501e-05 9.99909608e-01 -4.36222445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.306559995 meters 0.01645759859008635 Centerline is valid? [True, True] Translation: X:26.32, Y:0.10, Z:-0.44 [[ 9.99856418e-01 9.97413461e-03 1.36989381e-02 2.63196515e+01] [-9.97472921e-03 9.99950251e-01 -2.49212788e-05 1.04965202e-01] [-1.36985052e-02 -1.11725498e-04 9.99906165e-01 -4.37951275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.366559995 meters 0.017515808070458824 Centerline is valid? [True, True] Translation: X:26.38, Y:0.11, Z:-0.44 [[ 9.99848333e-01 1.17348583e-02 1.28686969e-02 2.63812592e+01] [-1.17355124e-02 9.99931136e-01 -2.46828069e-05 1.05647409e-01] [-1.28681004e-02 -1.26341689e-04 9.99917195e-01 -4.40227560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.426559994999998 meters 0.016583771538375695 Centerline is valid? [True, True] Translation: X:26.44, Y:0.11, Z:-0.44 [[ 9.99821073e-01 1.37891304e-02 1.29492085e-02 2.64432701e+01] [-1.37899235e-02 9.99904914e-01 -2.80427535e-05 1.06492024e-01] [-1.29483639e-02 -1.50530858e-04 9.99916155e-01 -4.41138730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.486559995 meters 0.017070981458300324 Centerline is valid? [True, True] Translation: X:26.50, Y:0.11, Z:-0.44 [[ 9.99792688e-01 1.54858785e-02 1.32199874e-02 2.65048853e+01] [-1.54868098e-02 9.99880072e-01 -3.19294156e-05 1.06568362e-01] [-1.32188964e-02 -1.72812634e-04 9.99912612e-01 -4.41782281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.546559995 meters 0.016038853247934276 Centerline is valid? [True, True] Translation: X:26.57, Y:0.11, Z:-0.44 [[ 9.99706389e-01 2.00884579e-02 1.35495315e-02 2.65661772e+01] [-2.00898146e-02 9.99798179e-01 -3.59925029e-05 1.10469495e-01] [-1.35475199e-02 -2.36225639e-04 9.99908200e-01 -4.42290841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.606559994999998 meters 0.01816294003290705 Centerline is valid? [True, True] Translation: X:26.63, Y:0.11, Z:-0.45 [[ 9.99647502e-01 2.36371277e-02 1.20895709e-02 2.66273298e+01] [-2.36384382e-02 9.99720572e-01 -3.45055387e-05 1.14645721e-01] [-1.20870084e-02 -2.51285199e-04 9.99926918e-01 -4.45617736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.666559995 meters 0.02008509723113426 Centerline is valid? [True, True] Translation: X:26.69, Y:0.12, Z:-0.45 [[ 9.99607035e-01 2.57937091e-02 1.09753959e-02 2.66896900e+01] [-2.57948966e-02 9.99667256e-01 -3.33744424e-05 1.15390627e-01] [-1.09726047e-02 -2.49747875e-04 9.99939768e-01 -4.48163061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.726559995 meters 0.018949341821858975 Centerline is valid? [True, True] Translation: X:26.75, Y:0.12, Z:-0.45 [[ 9.99475998e-01 3.08287633e-02 9.86488400e-03 2.67512709e+01] [-3.08299354e-02 9.99524644e-01 -3.32644800e-05 1.17615309e-01] [-9.86122018e-03 -2.70886687e-04 9.99951340e-01 -4.49497073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.786559994999998 meters 0.021403420385369545 Centerline is valid? [True, True] Translation: X:26.81, Y:0.12, Z:-0.45 [[ 9.99379209e-01 3.40423335e-02 9.07277438e-03 2.68122709e+01] [-3.40434667e-02 9.99420353e-01 -2.95540318e-05 1.20179684e-01] [-9.06852146e-03 -2.79333008e-04 9.99958841e-01 -4.51203785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.846559995 meters 0.02253304157541768 Centerline is valid? [True, True] Translation: X:26.87, Y:0.12, Z:-0.45 [[ 9.99276499e-01 3.69334920e-02 9.07716323e-03 2.68740572e+01] [-3.69347265e-02 9.99317680e-01 -3.16588681e-05 1.21159309e-01] [-9.07213897e-03 -3.03626578e-04 9.99958801e-01 -4.51894184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.906559995 meters 0.02178813406627789 Centerline is valid? [True, True] Translation: X:26.94, Y:0.12, Z:-0.45 [[ 9.99236067e-01 3.78081891e-02 9.89052255e-03 2.69362948e+01] [-3.78096728e-02 9.99284958e-01 -3.69926679e-05 1.20206506e-01] [-9.88484904e-03 -3.36993014e-04 9.99951087e-01 -4.52446953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.966559994999997 meters 0.022484561646818255 Centerline is valid? [True, True] Translation: X:27.00, Y:0.12, Z:-0.45 [[ 9.99188630e-01 3.89310175e-02 1.03178279e-02 2.69979511e+01] [-3.89326625e-02 9.99241836e-01 -4.14575885e-05 1.20293886e-01] [-1.03116193e-02 -3.60276560e-04 9.99946769e-01 -4.53228592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.026559995 meters 0.022411662607045232 Centerline is valid? [True, True] Translation: X:27.06, Y:0.12, Z:-0.45 [[ 9.99120300e-01 4.04303452e-02 1.11361644e-02 2.70598914e+01] [-4.04323228e-02 9.99182278e-01 -4.75829689e-05 1.21577309e-01] [-1.11289819e-02 -4.02719882e-04 9.99937990e-01 -4.53900712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.086559995 meters 0.023576682813078512 Centerline is valid? [True, True] Translation: X:27.12, Y:0.12, Z:-0.46 [[ 9.99062531e-01 4.23681955e-02 8.88794385e-03 2.71219125e+01] [-4.23695083e-02 9.99102008e-01 -4.06167017e-05 1.21431341e-01] [-8.88168341e-03 -3.35999186e-04 9.99960501e-01 -4.56110097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.146559995 meters 0.02484772727587633 Centerline is valid? [True, True] Translation: X:27.18, Y:0.12, Z:-0.46 [[ 9.98999171e-01 4.40471748e-02 7.77839466e-03 2.71828210e+01] [-4.40482378e-02 9.99029405e-01 -3.46882197e-05 1.24139867e-01] [-7.77237290e-03 -3.07971075e-04 9.99969747e-01 -4.59127307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.206559995 meters 0.02552349070419934 Centerline is valid? [True, True] Translation: X:27.24, Y:0.13, Z:-0.46 [[ 9.98930329e-01 4.56094972e-02 7.61393172e-03 2.72444460e+01] [-4.56105479e-02 9.98959297e-01 -3.56647295e-05 1.25222157e-01] [-7.60763453e-03 -3.11649018e-04 9.99971013e-01 -4.60708640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.266559994999998 meters 0.026172754414961735 Centerline is valid? [True, True] Translation: X:27.31, Y:0.13, Z:-0.46 [[ 9.98864732e-01 4.69360380e-02 8.13972694e-03 2.73063324e+01] [-4.69372669e-02 9.98897838e-01 -4.01005450e-05 1.25977885e-01] [-8.13263780e-03 -3.42001516e-04 9.99966871e-01 -4.61656762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.326559995 meters 0.02607240647750437 Centerline is valid? [True, True] Translation: X:27.37, Y:0.13, Z:-0.46 [[ 9.98771817e-01 4.88949368e-02 8.00896646e-03 2.73682470e+01] [-4.88961634e-02 9.98803866e-01 -4.26945388e-05 1.26217176e-01] [-8.00147421e-03 -3.48965631e-04 9.99967927e-01 -4.62800262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.386559995 meters 0.02602139212848618 Centerline is valid? [True, True] Translation: X:27.43, Y:0.13, Z:-0.46 [[ 9.98633873e-01 5.15494778e-02 8.54627730e-03 2.74298908e+01] [-5.15509759e-02 9.98670363e-01 -4.50572160e-05 1.26645779e-01] [-8.53723653e-03 -3.95573272e-04 9.99963479e-01 -4.63962972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.446559994999998 meters 0.030414586078031283 Centerline is valid? [True, True] Translation: X:27.49, Y:0.13, Z:-0.47 [[ 9.98347392e-01 5.68208401e-02 8.59517522e-03 2.74894398e+01] [-5.68225176e-02 9.98384294e-01 -4.91084398e-05 1.33745839e-01] [-8.58407833e-03 -4.39372212e-04 9.99963060e-01 -4.65657736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.506559995 meters 0.031888200078692724 Centerline is valid? [True, True] Translation: X:27.55, Y:0.14, Z:-0.47 [[ 9.98066853e-01 6.15048627e-02 8.92792646e-03 2.75497582e+01] [-6.15068617e-02 9.98106659e-01 -5.07575473e-05 1.39309153e-01] [-8.91414469e-03 -4.98469312e-04 9.99960144e-01 -4.67468042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.566559995 meters 0.028570950000011842 Centerline is valid? [True, True] Translation: X:27.61, Y:0.14, Z:-0.47 [[ 9.97927990e-01 6.35561189e-02 1.00173154e-02 2.76113765e+01] [-6.35587445e-02 9.97978097e-01 -5.63469326e-05 1.37119158e-01] [-1.00006425e-02 -5.80457808e-04 9.99949824e-01 -4.68206657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.626559994999997 meters 0.03167122299567651 Centerline is valid? [True, True] Translation: X:27.67, Y:0.14, Z:-0.47 [[ 9.97927663e-01 6.36683685e-02 9.31222559e-03 2.76732573e+01] [-6.36706421e-02 9.97970965e-01 -5.24159549e-05 1.40724189e-01] [-9.29666799e-03 -5.40608051e-04 9.99956639e-01 -4.70841656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.686559995 meters 0.030957000772987468 Centerline is valid? [True, True] Translation: X:27.73, Y:0.14, Z:-0.47 [[ 9.98082784e-01 6.12533679e-02 8.87585230e-03 2.77343818e+01] [-6.12553043e-02 9.98122129e-01 -5.37856885e-05 1.39223004e-01] [-8.86247916e-03 -4.90010464e-04 9.99960607e-01 -4.72086175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.746559995 meters 0.02693225255267439 Centerline is valid? [True, True] Translation: X:27.79, Y:0.13, Z:-0.47 [[ 9.98508399e-01 5.38333815e-02 9.10737241e-03 2.77949799e+01] [-5.38351075e-02 9.98549838e-01 -5.57056435e-05 1.32573948e-01] [-9.09716407e-03 -4.34673820e-04 9.99958525e-01 -4.73386088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.806559994999997 meters 0.02514690340008456 Centerline is valid? [True, True] Translation: X:27.86, Y:0.13, Z:-0.47 [[ 9.98769524e-01 4.88563138e-02 8.51461085e-03 2.78559466e+01] [-4.88576424e-02 9.98805751e-01 -5.20321928e-05 1.27095848e-01] [-8.50698439e-03 -3.64035643e-04 9.99963749e-01 -4.74354653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.866559995 meters 0.023738222718349116 Centerline is valid? [True, True] Translation: X:27.92, Y:0.12, Z:-0.48 [[ 9.99050667e-01 4.27951420e-02 8.14494790e-03 2.79166170e+01] [-4.27961551e-02 9.99083824e-01 -4.99506252e-05 1.24384029e-01] [-8.13962334e-03 -2.98669248e-04 9.99966828e-01 -4.76657233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.926559994999998 meters 0.021634295668561263 Centerline is valid? [True, True] Translation: X:27.98, Y:0.12, Z:-0.48 [[ 9.99209111e-01 3.91784208e-02 6.79739682e-03 2.79775989e+01] [-3.91790428e-02 9.99232206e-01 -4.16819493e-05 1.20003217e-01] [-6.79381085e-03 -2.24666517e-04 9.99976897e-01 -4.78019128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.986559995 meters 0.019676094126562408 Centerline is valid? [True, True] Translation: X:28.04, Y:0.12, Z:-0.48 [[ 9.99470155e-01 3.17902728e-02 6.98483038e-03 2.80377492e+01] [-3.17907450e-02 9.99494546e-01 -4.34333541e-05 1.17057357e-01] [-6.98268062e-03 -1.78642621e-04 9.99975605e-01 -4.80506055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.046559995 meters 0.016758634035475478 Centerline is valid? [True, True] Translation: X:28.10, Y:0.11, Z:-0.48 [[ 9.99645024e-01 2.52162240e-02 8.60042629e-03 2.80995434e+01] [-2.52167001e-02 9.99682007e-01 -5.30965515e-05 1.12789419e-01] [-8.59903031e-03 -1.63796667e-04 9.99963014e-01 -4.82016028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.106559994999998 meters 0.01778168683944615 Centerline is valid? [True, True] Translation: X:28.16, Y:0.11, Z:-0.48 [[ 9.99727262e-01 2.18375135e-02 8.27792249e-03 2.81611824e+01] [-2.18378474e-02 9.99761525e-01 -5.00680869e-05 1.11468067e-01] [-8.27704178e-03 -1.30717577e-04 9.99965736e-01 -4.82787902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.166559995 meters 0.016596183879978244 Centerline is valid? [True, True] Translation: X:28.22, Y:0.11, Z:-0.48 [[ 9.99745802e-01 2.03362306e-02 9.73499097e-03 2.82229582e+01] [-2.03365920e-02 9.99793188e-01 -6.18753733e-05 1.11193267e-01] [-9.73423597e-03 -1.36116895e-04 9.99952612e-01 -4.83059650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.226559995 meters 0.017175126416663487 Centerline is valid? [True, True] Translation: X:28.28, Y:0.11, Z:-0.49 [[ 9.99736599e-01 2.06731589e-02 9.96762129e-03 2.82848445e+01] [-2.06735294e-02 9.99786278e-01 -6.58759938e-05 1.14671679e-01] [-9.96685285e-03 -1.40207270e-04 9.99950320e-01 -4.85514142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.286559994999998 meters 0.01546606325923264 Centerline is valid? [True, True] Translation: X:28.35, Y:0.11, Z:-0.49 [[ 9.99714757e-01 2.10192194e-02 1.13401056e-02 2.83475045e+01] [-2.10196811e-02 9.99779059e-01 -7.84868645e-05 1.14592196e-01] [-1.13392499e-02 -1.59900927e-04 9.99935696e-01 -4.86646560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.346559995 meters 0.013881313482315812 Centerline is valid? [True, True] Translation: X:28.41, Y:0.12, Z:-0.49 [[ 9.99651159e-01 2.32724093e-02 1.24881958e-02 2.84093055e+01] [-2.32730950e-02 9.99729141e-01 -9.04345690e-05 1.16452715e-01] [-1.24869179e-02 -2.00235947e-04 9.99922015e-01 -4.88270643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.406559995 meters 0.017443880216980314 Centerline is valid? [True, True] Translation: X:28.47, Y:0.12, Z:-0.49 [[ 9.99659793e-01 2.42138224e-02 9.69474983e-03 2.84707469e+01] [-2.42142632e-02 9.99706789e-01 -7.19234760e-05 1.19266181e-01] [-9.69364877e-03 -1.62852217e-04 9.99953002e-01 -4.89793869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.466559994999997 meters 0.01739414453629804 Centerline is valid? [True, True] Translation: X:28.53, Y:0.12, Z:-0.49 [[ 9.99589146e-01 2.66516902e-02 1.05464346e-02 2.85329279e+01] [-2.66523189e-02 9.99644761e-01 -8.09525302e-05 1.23101184e-01] [-1.05448456e-02 -2.00167667e-04 9.99944382e-01 -4.90765809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.526559995 meters 0.01796323101708185 Centerline is valid? [True, True] Translation: X:28.59, Y:0.13, Z:-0.49 [[ 9.99510279e-01 2.93255793e-02 1.09184659e-02 2.85943134e+01] [-2.93263799e-02 9.99569885e-01 -8.68071765e-05 1.28715468e-01] [-1.09163154e-02 -2.33434415e-04 9.99940388e-01 -4.92728159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.586559995 meters 0.01769710340793615 Centerline is valid? [True, True] Translation: X:28.66, Y:0.13, Z:-0.49 [[ 9.99503777e-01 2.96472150e-02 1.06415409e-02 2.86571470e+01] [-2.96479722e-02 9.99560398e-01 -8.66251865e-05 1.27089692e-01] [-1.06394310e-02 -2.28917907e-04 9.99943373e-01 -4.93632837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.646559995 meters 0.016134487563107744 Centerline is valid? [True, True] Translation: X:28.72, Y:0.13, Z:-0.50 [[ 9.99476900e-01 2.96349987e-02 1.29496725e-02 2.87182258e+01] [-2.96360544e-02 9.99560750e-01 -1.10403710e-04 1.30378937e-01] [-1.29472562e-02 -2.73431240e-04 9.99916143e-01 -4.96047694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.706559995 meters 0.01704994002995026 Centerline is valid? [True, True] Translation: X:28.78, Y:0.13, Z:-0.50 [[ 9.99521811e-01 2.87374554e-02 1.14152946e-02 2.87803048e+01] [-2.87381923e-02 9.99586968e-01 -9.95047140e-05 1.30133163e-01] [-1.14134393e-02 -2.28597800e-04 9.99934838e-01 -4.97260967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.766559994999998 meters 0.017905078527317063 Centerline is valid? [True, True] Translation: X:28.84, Y:0.13, Z:-0.50 [[ 9.99510728e-01 2.94576501e-02 1.05143074e-02 2.88419947e+01] [-2.94582917e-02 9.99566006e-01 -9.38830043e-05 1.30031852e-01] [-1.05125098e-02 -2.15896465e-04 9.99944719e-01 -4.97980912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.826559995 meters 0.01842128563090735 Centerline is valid? [True, True] Translation: X:28.90, Y:0.13, Z:-0.50 [[ 9.99443794e-01 3.14102226e-02 1.12027462e-02 2.89030496e+01] [-3.14110372e-02 9.99506546e-01 -1.03274199e-04 1.34924229e-01] [-1.12004621e-02 -2.48673122e-04 9.99937242e-01 -5.00546413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.886559995 meters 0.019008107739510758 Centerline is valid? [True, True] Translation: X:28.97, Y:0.14, Z:-0.50 [[ 9.99363187e-01 3.39180662e-02 1.10808348e-02 2.89652758e+01] [-3.39189894e-02 9.99424580e-01 -1.04655434e-04 1.38359384e-01] [-1.10780084e-02 -2.71261929e-04 9.99938600e-01 -5.03006627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.946559994999998 meters 0.017155871775115766 Centerline is valid? [True, True] Translation: X:29.03, Y:0.14, Z:-0.50 [[ 9.99276563e-01 3.58222310e-02 1.27717697e-02 2.90272985e+01] [-3.58235654e-02 9.99358122e-01 -1.24350973e-04 1.40016425e-01] [-1.27680263e-02 -3.33269315e-04 9.99918430e-01 -5.04817123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.006559995 meters 0.01919674182625586 Centerline is valid? [True, True] Translation: X:29.09, Y:0.14, Z:-0.51 [[ 9.99214416e-01 3.79848618e-02 1.13004728e-02 2.90886082e+01] [-3.79860166e-02 9.99278264e-01 -1.12499480e-04 1.43960983e-01] [-1.12965902e-02 -3.16848848e-04 9.99936141e-01 -5.07211520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.066559995 meters 0.019297242937746626 Centerline is valid? [True, True] Translation: X:29.15, Y:0.15, Z:-0.51 [[ 9.99192051e-01 3.82614860e-02 1.23005498e-02 2.91513310e+01] [-3.82628387e-02 9.99267702e-01 -1.25429283e-04 1.45430440e-01] [-1.22963412e-02 -3.45326010e-04 9.99924338e-01 -5.08605656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.126559994999997 meters 0.01887491051605918 Centerline is valid? [True, True] Translation: X:29.21, Y:0.14, Z:-0.51 [[ 9.99197356e-01 3.80996105e-02 1.23718441e-02 2.92130024e+01] [-3.81009227e-02 9.99273888e-01 -1.29698622e-04 1.44256992e-01] [-1.23678022e-02 -3.41784155e-04 9.99923457e-01 -5.09615032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.186559995 meters 0.019311891222301397 Centerline is valid? [True, True] Translation: X:29.27, Y:0.15, Z:-0.51 [[ 9.99187303e-01 3.83312245e-02 1.24679543e-02 2.92748251e+01] [-3.83325367e-02 9.99265029e-01 -1.33792004e-04 1.45700140e-01] [-1.24639192e-02 -3.44245046e-04 9.99922263e-01 -5.10781630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.246559995 meters 0.01755215317185097 Centerline is valid? [True, True] Translation: X:29.34, Y:0.15, Z:-0.51 [[ 9.99121678e-01 4.02095189e-02 1.17927095e-02 2.93368010e+01] [-4.02107894e-02 9.99191211e-01 -1.29445586e-04 1.45337660e-01] [-1.17883766e-02 -3.44862266e-04 9.99930455e-01 -5.11945671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.306559994999997 meters 0.02078542365857269 Centerline is valid? [True, True] Translation: X:29.40, Y:0.15, Z:-0.51 [[ 9.99030997e-01 4.30047415e-02 9.36265216e-03 2.93976237e+01] [-4.30056424e-02 9.99074824e-01 -1.05175925e-04 1.48818407e-01] [-9.35851312e-03 -2.97572862e-04 9.99956164e-01 -5.13119659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.366559995 meters 0.020335814272948043 Centerline is valid? [True, True] Translation: X:29.46, Y:0.15, Z:-0.51 [[ 9.98866972e-01 4.64153282e-02 1.05066024e-02 2.94597402e+01] [-4.64166315e-02 9.98922160e-01 -1.19897941e-04 1.52065118e-01] [-1.05008431e-02 -3.67919000e-04 9.99944797e-01 -5.13717600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.426559994999998 meters 0.022357914437512023 Centerline is valid? [True, True] Translation: X:29.52, Y:0.16, Z:-0.52 [[ 9.98718095e-01 4.96020723e-02 1.00896308e-02 2.95208260e+01] [-4.96034388e-02 9.98768985e-01 -1.14913874e-04 1.56653603e-01] [-1.00829103e-02 -3.85713821e-04 9.99949092e-01 -5.15017046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.486559995 meters 0.025719393331509414 Centerline is valid? [True, True] Translation: X:29.58, Y:0.16, Z:-0.52 [[ 9.98512264e-01 5.41983009e-02 5.98349213e-03 2.95822710e+01] [-5.41988531e-02 9.98530160e-01 -6.99462732e-05 1.60725335e-01] [-5.97848832e-03 -2.54456199e-04 9.99982096e-01 -5.16643641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.546559995 meters 0.023924596613761215 Centerline is valid? [True, True] Translation: X:29.64, Y:0.16, Z:-0.52 [[ 9.98401882e-01 5.61826222e-02 6.09882484e-03 2.96441484e+01] [-5.61832443e-02 9.98420472e-01 -6.94142151e-05 1.58982029e-01] [-6.09309145e-03 -2.73348483e-04 9.99981400e-01 -5.16893270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.606559994999998 meters 0.026072948793944624 Centerline is valid? [True, True] Translation: X:29.71, Y:0.16, Z:-0.52 [[ 9.98277967e-01 5.84372484e-02 5.11748057e-03 2.97054608e+01] [-5.84377117e-02 9.98291055e-01 -5.90887066e-05 1.61390420e-01] [-5.11218806e-03 -2.40066900e-04 9.99986904e-01 -5.16558608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.666559995 meters 0.023716284832531676 Centerline is valid? [True, True] Translation: X:29.77, Y:0.16, Z:-0.52 [[ 9.98219435e-01 5.93229599e-02 6.22461445e-03 2.97677499e+01] [-5.93236499e-02 9.98238799e-01 -7.38805830e-05 1.60460159e-01] [-6.21803446e-03 -2.95517814e-04 9.99980624e-01 -5.17686889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.726559995 meters 0.02670183397062614 Centerline is valid? [True, True] Translation: X:29.83, Y:0.16, Z:-0.52 [[ 9.98167221e-01 6.04662686e-02 2.45535922e-03 2.98285431e+01] [-6.04663796e-02 9.98170234e-01 -2.90560743e-05 1.61535334e-01] [-2.45262340e-03 -1.19463862e-04 9.99996985e-01 -5.18913562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.786559994999998 meters 0.025981761090861984 Centerline is valid? [True, True] Translation: X:29.89, Y:0.16, Z:-0.52 [[ 9.98078799e-01 6.19386922e-02 1.51976276e-03 2.98907637e+01] [-6.19387401e-02 9.98079953e-01 -1.55733426e-05 1.59376441e-01] [-1.51780933e-03 -7.85887673e-05 9.99998845e-01 -5.19407430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.846559995 meters 0.02578776590617582 Centerline is valid? [True, True] Translation: X:29.95, Y:0.16, Z:-0.52 [[ 9.97882843e-01 6.50369886e-02 1.45821007e-04 2.99515688e+01] [-6.50369891e-02 9.97882854e-01 -1.59371188e-06 1.61913212e-01] [-1.45615933e-04 -7.89342149e-06 9.99999989e-01 -5.20320829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.906559995 meters 0.031118859469313278 Centerline is valid? [True, True] Translation: X:30.01, Y:0.17, Z:-0.52 [[ 9.97693206e-01 6.78814898e-02 -6.08614209e-04 3.00115857e+01] [-6.78814976e-02 9.97693391e-01 7.85842303e-06 1.69241825e-01] [ 6.07743816e-04 3.34733487e-05 9.99999815e-01 -5.21417390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.966559994999997 meters 0.028221798908325164 Centerline is valid? [True, True] Translation: X:30.07, Y:0.17, Z:-0.52 [[ 9.97609425e-01 6.90945777e-02 -1.17235761e-03 3.00738744e+01] [-6.90946024e-02 9.97610112e-01 1.94688707e-05 1.65077319e-01] [ 1.17090100e-03 6.15812543e-05 9.99999313e-01 -5.19919573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.026559995 meters 0.029729451463311365 Centerline is valid? [True, True] Translation: X:30.14, Y:0.17, Z:-0.52 [[ 9.97585719e-01 6.94226109e-02 -1.79861863e-03 3.01351464e+01] [-6.94226733e-02 9.97587335e-01 2.77815262e-05 1.67506997e-01] [ 1.79620783e-03 9.71504598e-05 9.99998382e-01 -5.21123977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.086559995 meters 0.02792874275302788 Centerline is valid? [True, True] Translation: X:30.20, Y:0.17, Z:-0.52 [[ 9.97627971e-01 6.88212710e-02 -1.43674450e-03 3.01970572e+01] [-6.88213081e-02 9.97629003e-01 2.36594303e-05 1.65451888e-01] [ 1.43496626e-03 7.52753266e-05 9.99998968e-01 -5.20378695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.146559995 meters 0.02875592180382797 Centerline is valid? [True, True] Translation: X:30.26, Y:0.17, Z:-0.52 [[ 9.97642051e-01 6.86160794e-02 -1.47341481e-03 3.02585194e+01] [-6.86161207e-02 9.97643136e-01 2.26013109e-05 1.66847369e-01] [ 1.47149298e-03 7.85519899e-05 9.99998914e-01 -5.21339123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.206559995 meters 0.029954817035391747 Centerline is valid? [True, True] Translation: X:30.32, Y:0.17, Z:-0.52 [[ 9.97482080e-01 7.08539207e-02 -3.03663667e-03 3.03195278e+01] [-7.08541194e-02 9.97486688e-01 4.22342490e-05 1.69755898e-01] [ 3.03199712e-03 1.73030311e-04 9.99995389e-01 -5.22457939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.266559994999998 meters 0.03224281599662901 Centerline is valid? [True, True] Translation: X:30.38, Y:0.18, Z:-0.52 [[ 9.97124286e-01 7.56937931e-02 -3.68892735e-03 3.03802053e+01] [-7.56941204e-02 9.97131083e-01 5.10049016e-05 1.77929090e-01] [ 3.68220488e-03 2.28371885e-04 9.99993195e-01 -5.24279200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.326559995 meters 0.03458870855976238 Centerline is valid? [True, True] Translation: X:30.44, Y:0.18, Z:-0.53 [[ 9.96920923e-01 7.83376439e-02 -3.44761465e-03 3.04413593e+01] [-7.83379445e-02 9.96926860e-01 4.79716560e-05 1.82845831e-01] [ 3.44077763e-03 2.22255098e-04 9.99994056e-01 -5.25535770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.386559995 meters 0.03328506964633918 Centerline is valid? [True, True] Translation: X:30.50, Y:0.18, Z:-0.52 [[ 9.96779583e-01 8.01213619e-02 -3.32110110e-03 3.05031577e+01] [-8.01216368e-02 9.96785093e-01 5.03842836e-05 1.82244373e-01] [ 3.31446093e-03 2.15870031e-04 9.99994484e-01 -5.24796533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.446559994999998 meters 0.035971603234403425 Centerline is valid? [True, True] Translation: X:30.56, Y:0.19, Z:-0.53 [[ 9.96624718e-01 8.20097384e-02 -3.68436350e-03 3.05635574e+01] [-8.20101033e-02 9.96631497e-01 5.21670034e-05 1.87992304e-01] [ 3.67623091e-03 2.50164106e-04 9.99993211e-01 -5.25775175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.506559995 meters 0.034877750647334144 Centerline is valid? [True, True] Translation: X:30.63, Y:0.19, Z:-0.53 [[ 9.96531407e-01 8.31815310e-02 -2.44702742e-03 3.06258812e+01] [-8.31816849e-02 9.96534398e-01 3.89969285e-05 1.87934615e-01] [ 2.44179082e-03 1.64686200e-04 9.99997005e-01 -5.26235696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.566559995 meters 0.03602568576286493 Centerline is valid? [True, True] Translation: X:30.69, Y:0.19, Z:-0.53 [[ 9.96450145e-01 8.41094092e-02 -3.56604200e-03 3.06878623e+01] [-8.41097453e-02 9.96456496e-01 5.58862511e-05 1.90210751e-01] [ 3.55810627e-03 2.44251021e-04 9.99993640e-01 -5.26173199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.626559994999997 meters 0.037005187621629 Centerline is valid? [True, True] Translation: X:30.75, Y:0.19, Z:-0.53 [[ 9.96336909e-01 8.54763641e-02 -2.56030224e-03 3.07497066e+01] [-8.54765431e-02 9.96340182e-01 3.96238244e-05 1.94276992e-01] [ 2.55431891e-03 1.79367106e-04 9.99996722e-01 -5.25884871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.686559995 meters 0.034796147612525946 Centerline is valid? [True, True] Translation: X:30.81, Y:0.19, Z:-0.53 [[ 9.96303269e-01 8.58821514e-02 -2.01287153e-03 3.08127549e+01] [-8.58822557e-02 9.96305293e-01 3.47050382e-05 1.92677254e-01] [ 2.00841510e-03 1.38293204e-04 9.99997974e-01 -5.25558236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.746559995 meters 0.03352827340278347 Centerline is valid? [True, True] Translation: X:30.87, Y:0.19, Z:-0.53 [[ 9.96345384e-01 8.53819040e-02 -2.40959144e-03 3.08749954e+01] [-8.53820541e-02 9.96348284e-01 4.07095540e-05 1.92317095e-01] [ 2.40426816e-03 1.65175091e-04 9.99997096e-01 -5.26573749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.806559994999997 meters 0.03165996267327901 Centerline is valid? [True, True] Translation: X:30.94, Y:0.19, Z:-0.53 [[ 9.96577453e-01 8.25805106e-02 -3.72008287e-03 3.09357940e+01] [-8.25808702e-02 9.96584365e-01 5.70922023e-05 1.90693683e-01] [ 3.71209113e-03 2.50310879e-04 9.99993079e-01 -5.27086582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.866559995 meters 0.03111984779472054 Centerline is valid? [True, True] Translation: X:31.00, Y:0.19, Z:-0.53 [[ 9.96797627e-01 7.98883044e-02 -3.51425826e-03 3.09970450e+01] [-7.98886084e-02 9.96803796e-01 5.40285357e-05 1.89821051e-01] [ 3.50734222e-03 2.26893686e-04 9.99993824e-01 -5.27339539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.926559994999998 meters 0.03200285664135744 Centerline is valid? [True, True] Translation: X:31.06, Y:0.19, Z:-0.53 [[ 9.97107753e-01 7.58810014e-02 -4.26652928e-03 3.10570206e+01] [-7.58814146e-02 9.97116847e-01 6.51853576e-05 1.90135904e-01] [ 4.25917455e-03 2.58753452e-04 9.99990896e-01 -5.28430226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.986559995 meters 0.031333017329031425 Centerline is valid? [True, True] Translation: X:31.12, Y:0.19, Z:-0.53 [[ 9.97195518e-01 7.47490902e-02 -3.69761614e-03 3.11186706e+01] [-7.47493890e-02 9.97202349e-01 5.75241547e-05 1.90832761e-01] [ 3.69157138e-03 2.19031718e-04 9.99993162e-01 -5.30033202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.046559995 meters 0.032273215580963584 Centerline is valid? [True, True] Translation: X:31.18, Y:0.19, Z:-0.53 [[ 9.97284472e-01 7.35163390e-02 -4.36225634e-03 3.11795490e+01] [-7.35167353e-02 9.97293981e-01 6.96648676e-05 1.92217185e-01] [ 4.35557350e-03 2.51223154e-04 9.99990483e-01 -5.31102789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.106559995000005 meters 0.029944501840207634 Centerline is valid? [True, True] Translation: X:31.24, Y:0.19, Z:-0.53 [[ 9.97365862e-01 7.24068854e-02 -4.31042455e-03 3.12413602e+01] [-7.24072498e-02 9.97375148e-01 7.16513941e-05 1.87796241e-01] [ 4.30429837e-03 2.40643332e-04 9.99990708e-01 -5.29971653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.166559995 meters 0.029383233183606063 Centerline is valid? [True, True] Translation: X:31.30, Y:0.19, Z:-0.53 [[ 9.97396966e-01 7.20423141e-02 -3.03253865e-03 3.13031323e+01] [-7.20424870e-02 9.97401563e-01 5.23208446e-05 1.87923026e-01] [ 3.02842810e-03 1.66286975e-04 9.99995400e-01 -5.29158482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.226559995 meters 0.029090933832391315 Centerline is valid? [True, True] Translation: X:31.36, Y:0.19, Z:-0.53 [[ 9.97331235e-01 7.29145233e-02 -3.72570358e-03 3.13649779e+01] [-7.29147898e-02 9.97338172e-01 6.44401925e-05 1.85279542e-01] [ 3.72048503e-03 2.07390677e-04 9.99993057e-01 -5.28495089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.286559995000005 meters 0.028883146669255087 Centerline is valid? [True, True] Translation: X:31.43, Y:0.19, Z:-0.53 [[ 9.97167871e-01 7.51260154e-02 -3.50975190e-03 3.14272875e+01] [-7.51262739e-02 9.97174027e-01 5.83179067e-05 1.87721015e-01] [ 3.50421463e-03 2.05521840e-04 9.99993839e-01 -5.29028881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.346559995 meters 0.032483198972028234 Centerline is valid? [True, True] Translation: X:31.49, Y:0.20, Z:-0.53 [[ 9.97083102e-01 7.62886189e-02 -2.30959913e-03 3.14887589e+01] [-7.62887259e-02 9.97085768e-01 4.18651035e-05 1.95395225e-01] [ 2.30606225e-03 1.34453388e-04 9.99997332e-01 -5.31525644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.406559995 meters 0.03442407626434891 Centerline is valid? [True, True] Translation: X:31.55, Y:0.20, Z:-0.53 [[ 9.97096880e-01 7.60370259e-02 -4.02282784e-03 3.15518241e+01] [-7.60373524e-02 9.97104967e-01 7.19190750e-05 1.96118568e-01] [ 4.01665014e-03 2.34174893e-04 9.99991906e-01 -5.32319973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.466559995000004 meters 0.029406978456345902 Centerline is valid? [True, True] Translation: X:31.61, Y:0.19, Z:-0.53 [[ 9.97133214e-01 7.56148162e-02 -2.78426989e-03 3.16137591e+01] [-7.56149665e-02 9.97137089e-01 5.14216293e-05 1.90857225e-01] [ 2.78018701e-03 1.59258260e-04 9.99996123e-01 -5.31154863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.526559995 meters 0.029659080751146438 Centerline is valid? [True, True] Translation: X:31.68, Y:0.19, Z:-0.53 [[ 9.97245637e-01 7.40788139e-02 -3.67007243e-03 3.16758273e+01] [-7.40790658e-02 9.97252369e-01 6.74361808e-05 1.89578855e-01] [ 3.66498402e-03 2.04625100e-04 9.99993263e-01 -5.31713267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.586559995 meters 0.02942816855772249 Centerline is valid? [True, True] Translation: X:31.74, Y:0.19, Z:-0.53 [[ 9.97366847e-01 7.24459281e-02 -3.31057172e-03 3.17375646e+01] [-7.24461326e-02 9.97372325e-01 5.82824399e-05 1.88696105e-01] [ 3.30609494e-03 1.81709144e-04 9.99994518e-01 -5.32608358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.646559995000004 meters 0.028706148840063762 Centerline is valid? [True, True] Translation: X:31.80, Y:0.19, Z:-0.53 [[ 9.97573920e-01 6.95736518e-02 -2.40441588e-03 3.17975011e+01] [-6.95737528e-02 9.97576810e-01 4.17163514e-05 1.88427113e-01] [ 2.40149188e-03 1.25669092e-04 9.99997109e-01 -5.32935741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.706559995 meters 0.029826007192022785 Centerline is valid? [True, True] Translation: X:31.86, Y:0.19, Z:-0.53 [[ 9.97723409e-01 6.73623844e-02 -3.21052434e-03 3.18587622e+01] [-6.73625509e-02 9.97728562e-01 5.63658118e-05 1.85886633e-01] [ 3.20702877e-03 1.60031619e-04 9.99994845e-01 -5.34134829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.766559995 meters 0.028932144007150724 Centerline is valid? [True, True] Translation: X:31.92, Y:0.18, Z:-0.53 [[ 9.97861034e-01 6.52669152e-02 -3.68586738e-03 3.19203312e+01] [-6.52671202e-02 9.97867826e-01 6.47576236e-05 1.82785224e-01] [ 3.68223500e-03 1.75946840e-04 9.99993205e-01 -5.34676589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.826559995000004 meters 0.027942562186937813 Centerline is valid? [True, True] Translation: X:31.98, Y:0.18, Z:-0.53 [[ 9.97879612e-01 6.49789294e-02 -3.74406740e-03 3.19820978e+01] [-6.49791232e-02 9.97886621e-01 6.99958349e-05 1.80726587e-01] [ 3.74070302e-03 1.73438800e-04 9.99992989e-01 -5.34623275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.886559995 meters 0.026951951141869046 Centerline is valid? [True, True] Translation: X:32.04, Y:0.18, Z:-0.53 [[ 9.98033811e-01 6.26030152e-02 -3.06188863e-03 3.20440394e+01] [-6.26031402e-02 9.98038498e-01 5.50844825e-05 1.77434165e-01] [ 3.05933119e-03 1.36707667e-04 9.99995311e-01 -5.33484019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.946559995 meters 0.028039588870309568 Centerline is valid? [True, True] Translation: X:32.10, Y:0.18, Z:-0.53 [[ 9.98169827e-01 6.03887719e-02 -3.19252782e-03 3.21044291e+01] [-6.03888983e-02 9.98174923e-01 5.68885503e-05 1.78094382e-01] [ 3.19013664e-03 1.36008803e-04 9.99994902e-01 -5.34888705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.006559995 meters 0.024881346848999824 Centerline is valid? [True, True] Translation: X:32.17, Y:0.17, Z:-0.53 [[ 9.98270115e-01 5.87183975e-02 -2.98770311e-03 3.21669449e+01] [-5.87184937e-02 9.98274579e-01 5.55759131e-05 1.71680192e-01] [ 2.98581139e-03 1.19953653e-04 9.99995535e-01 -5.33177464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.066559995000006 meters 0.0236230509925066 Centerline is valid? [True, True] Translation: X:32.23, Y:0.17, Z:-0.53 [[ 9.98223376e-01 5.95306157e-02 -2.48942738e-03 3.22285884e+01] [-5.95306788e-02 9.98226475e-01 4.88116607e-05 1.68918179e-01] [ 2.48791810e-03 9.94723609e-05 9.99996900e-01 -5.31718978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.126559995 meters 0.025015758477056765 Centerline is valid? [True, True] Translation: X:32.29, Y:0.17, Z:-0.53 [[ 9.98155352e-01 6.06455813e-02 -2.82974290e-03 3.22897265e+01] [-6.06456670e-02 9.98159356e-01 5.55746356e-05 1.71421243e-01] [ 2.82790471e-03 1.16139526e-04 9.99995995e-01 -5.33592964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.186559995 meters 0.02434874017550127 Centerline is valid? [True, True] Translation: X:32.35, Y:0.17, Z:-0.53 [[ 9.98233333e-01 5.93143985e-02 -3.46636635e-03 3.23523111e+01] [-5.93145288e-02 9.98239341e-01 6.53025644e-05 1.66091303e-01] [ 3.46413665e-03 1.40418690e-04 9.99993990e-01 -5.33449125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.246559995000005 meters 0.023955571474541627 Centerline is valid? [True, True] Translation: X:32.41, Y:0.16, Z:-0.53 [[ 9.98398891e-01 5.64334391e-02 -3.86286659e-03 3.24133061e+01] [-5.64335827e-02 9.98406353e-01 7.18909807e-05 1.62036086e-01] [ 3.86076760e-03 1.46219526e-04 9.99992537e-01 -5.34017317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.306559995 meters 0.019928903413640342 Centerline is valid? [True, True] Translation: X:32.47, Y:0.16, Z:-0.53 [[ 9.98641312e-01 5.20209334e-02 -3.05808478e-03 3.24742509e+01] [-5.20210032e-02 9.98645989e-01 5.67969007e-05 1.55183564e-01] [ 3.05689873e-03 1.02364907e-04 9.99995322e-01 -5.31372947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.366559995 meters 0.021170199377002936 Centerline is valid? [True, True] Translation: X:32.54, Y:0.15, Z:-0.53 [[ 9.98751411e-01 4.98917503e-02 -2.53628677e-03 3.25367825e+01] [-4.98917879e-02 9.98754628e-01 4.84777548e-05 1.50578645e-01] [ 2.53554678e-03 7.81226554e-05 9.99996782e-01 -5.31674646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.426559995000005 meters 0.022825326734076983 Centerline is valid? [True, True] Translation: X:32.60, Y:0.15, Z:-0.53 [[ 9.98781202e-01 4.92756862e-02 -2.83163937e-03 3.25992265e+01] [-4.92757221e-02 9.98785212e-01 5.71206258e-05 1.48359708e-01] [ 2.83101419e-03 8.24800676e-05 9.99995989e-01 -5.32948383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.486559995 meters 0.020392586744261365 Centerline is valid? [True, True] Translation: X:32.66, Y:0.14, Z:-0.53 [[ 9.98860875e-01 4.76578033e-02 -2.38468066e-03 3.26611216e+01] [-4.76578212e-02 9.98863719e-01 4.93535025e-05 1.41610868e-01] [ 2.38432308e-03 6.43514020e-05 9.99997155e-01 -5.31312991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.546559995 meters 0.021216943219075204 Centerline is valid? [True, True] Translation: X:32.72, Y:0.14, Z:-0.53 [[ 9.98850899e-01 4.77864434e-02 -3.65202551e-03 3.27235679e+01] [-4.77864906e-02 9.98857570e-01 7.43779857e-05 1.38628605e-01] [ 3.65140759e-03 1.00224965e-04 9.99993329e-01 -5.32696767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.606559995000005 meters 0.021745817912033776 Centerline is valid? [True, True] Translation: X:32.79, Y:0.14, Z:-0.53 [[ 9.98749043e-01 4.98094075e-02 -4.40147425e-03 3.27860033e+01] [-4.98094943e-02 9.98758733e-01 8.99763549e-05 1.36052007e-01] [ 4.40049252e-03 1.29371408e-04 9.99990309e-01 -5.32630589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.666559995 meters 0.022706342967910242 Centerline is valid? [True, True] Translation: X:32.85, Y:0.13, Z:-0.53 [[ 9.98663122e-01 5.14645355e-02 -4.83436925e-03 3.28477296e+01] [-5.14646554e-02 9.98674812e-01 9.96901753e-05 1.33573577e-01] [ 4.83309331e-03 1.49242246e-04 9.99988309e-01 -5.32898979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.726559995 meters 0.020441606285410453 Centerline is valid? [True, True] Translation: X:32.91, Y:0.13, Z:-0.53 [[ 9.98572562e-01 5.33189101e-02 -3.15170402e-03 3.29090762e+01] [-5.33189647e-02 9.98577530e-01 6.67567574e-05 1.32349622e-01] [ 3.15078022e-03 1.01384129e-04 9.99995031e-01 -5.31747359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.786559995000005 meters 0.022280460869208485 Centerline is valid? [True, True] Translation: X:32.97, Y:0.13, Z:-0.53 [[ 9.98550177e-01 5.37324506e-02 -3.21990249e-03 3.29724184e+01] [-5.37325046e-02 9.98555363e-01 6.97894553e-05 1.29586769e-01] [ 3.21900086e-03 1.03325153e-04 9.99994814e-01 -5.33037773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.846559995 meters 0.023529963011274822 Centerline is valid? [True, True] Translation: X:33.03, Y:0.13, Z:-0.53 [[ 9.98438515e-01 5.57722920e-02 -3.15963789e-03 3.30346472e+01] [-5.57723529e-02 9.98443509e-01 6.89155749e-05 1.25996484e-01] [ 3.15856352e-03 1.07412475e-04 9.99995006e-01 -5.32671788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.906559995 meters 0.023778100027057422 Centerline is valid? [True, True] Translation: X:33.10, Y:0.12, Z:-0.53 [[ 9.98325501e-01 5.77467330e-02 -3.39234639e-03 3.30962333e+01] [-5.77468137e-02 9.98331258e-01 7.42472211e-05 1.24294765e-01] [ 3.39097297e-03 1.21774300e-04 9.99994243e-01 -5.33075276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.966559995000004 meters 0.028464322712523405 Centerline is valid? [True, True] Translation: X:33.16, Y:0.13, Z:-0.54 [[ 9.98144049e-01 6.07887100e-02 -3.63195369e-03 3.31576616e+01] [-6.07888207e-02 9.98150646e-01 8.00079061e-05 1.30379445e-01] [ 3.63010050e-03 1.40922767e-04 9.99993401e-01 -5.37315748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.026559995 meters 0.025707884063711692 Centerline is valid? [True, True] Translation: X:33.22, Y:0.12, Z:-0.53 [[ 9.98004537e-01 6.30059027e-02 -4.14742619e-03 3.32199490e+01] [-6.30060776e-02 9.98013139e-01 8.86064634e-05 1.24539170e-01] [ 4.14476857e-03 1.72883404e-04 9.99991395e-01 -5.34993013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.086559995 meters 0.028493184356425887 Centerline is valid? [True, True] Translation: X:33.28, Y:0.13, Z:-0.54 [[ 9.97796331e-01 6.62517008e-02 -3.63228538e-03 3.32797811e+01] [-6.62518538e-02 9.97802929e-01 7.83013568e-05 1.26447447e-01] [ 3.62949260e-03 1.62516834e-04 9.99993400e-01 -5.35602185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.146559995000004 meters 0.029559396760744754 Centerline is valid? [True, True] Translation: X:33.34, Y:0.13, Z:-0.54 [[ 9.97691412e-01 6.78694830e-02 -2.36216086e-03 3.33423250e+01] [-6.78695441e-02 9.97694203e-01 5.43801849e-05 1.26701502e-01] [ 2.36040495e-03 1.06064137e-04 9.99997209e-01 -5.35167010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.206559995 meters 0.029349648127662456 Centerline is valid? [True, True] Translation: X:33.40, Y:0.12, Z:-0.53 [[ 9.97660964e-01 6.83393523e-02 -1.52780220e-03 3.34048739e+01] [-6.83393748e-02 9.97662131e-01 3.75257301e-05 1.23925267e-01] [ 1.52679488e-03 6.69710911e-05 9.99998832e-01 -5.34952694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.266559995 meters 0.030948736462709205 Centerline is valid? [True, True] Translation: X:33.47, Y:0.13, Z:-0.54 [[ 9.97621000e-01 6.89257937e-02 -1.25500437e-03 3.34659708e+01] [-6.89258091e-02 9.97621788e-01 3.10010717e-05 1.26056819e-01] [ 1.25415647e-03 5.55748713e-05 9.99999212e-01 -5.36073317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.326559995000004 meters 0.028076337496616238 Centerline is valid? [True, True] Translation: X:33.53, Y:0.12, Z:-0.53 [[ 9.97543589e-01 7.00465475e-02 -5.19820005e-04 3.35280766e+01] [-7.00465490e-02 9.97543724e-01 1.53855570e-05 1.21492057e-01] [ 5.19620888e-04 2.10638336e-05 9.99999865e-01 -5.34588909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.386559995 meters 0.02642692917449667 Centerline is valid? [True, True] Translation: X:33.59, Y:0.12, Z:-0.53 [[ 9.97501125e-01 7.06479411e-02 -6.12118283e-04 3.35898642e+01] [-7.06479435e-02 9.97501312e-01 1.77098299e-05 1.18624008e-01] [ 6.11839953e-04 2.55793226e-05 9.99999812e-01 -5.34189842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.446559995 meters 0.02761404552935044 Centerline is valid? [True, True] Translation: X:33.65, Y:0.12, Z:-0.53 [[ 9.97550994e-01 6.99402912e-02 -6.08845808e-04 3.36519031e+01] [-6.99402934e-02 9.97551179e-01 1.77336869e-05 1.18083219e-01] [ 6.08595153e-04 2.48925975e-05 9.99999814e-01 -5.34843485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.506559995 meters 0.02643553014512684 Centerline is valid? [True, True] Translation: X:33.71, Y:0.11, Z:-0.54 [[ 9.97628114e-01 6.88315842e-02 -5.99732289e-04 3.37143710e+01] [-6.88315871e-02 9.97628294e-01 1.58576289e-05 1.14484318e-01] [ 5.99401406e-04 2.54605088e-05 9.99999820e-01 -5.35026588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.566559995000006 meters 0.02602537235595616 Centerline is valid? [True, True] Translation: X:33.78, Y:0.11, Z:-0.54 [[ 9.97722923e-01 6.74445352e-02 -4.51687899e-04 3.37768894e+01] [-6.74445368e-02 9.97723025e-01 1.17721044e-05 1.12387679e-01] [ 4.51453381e-04 1.87185827e-05 9.99999898e-01 -5.35272242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.626559995 meters 0.02240411468097004 Centerline is valid? [True, True] Translation: X:33.84, Y:0.11, Z:-0.53 [[ 9.97795661e-01 6.63492909e-02 1.26129903e-03 3.38393483e+01] [-6.63493120e-02 9.97796456e-01 -2.51713269e-05 1.10296116e-01] [-1.26018980e-03 -5.85704820e-05 9.99999204e-01 -5.32011332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.686559995 meters 0.025634155716936072 Centerline is valid? [True, True] Translation: X:33.90, Y:0.11, Z:-0.53 [[ 9.97869934e-01 6.52017328e-02 2.08050063e-03 3.39011335e+01] [-6.52017811e-02 9.97872099e-01 -4.46754979e-05 1.10148892e-01] [-2.07898645e-03 -9.10720106e-05 9.99997835e-01 -5.34511930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.746559995000005 meters 0.02694515941879771 Centerline is valid? [True, True] Translation: X:33.96, Y:0.11, Z:-0.54 [[ 9.97841679e-01 6.56214772e-02 2.40948320e-03 3.39634948e+01] [-6.56215407e-02 9.97844582e-01 -5.27904992e-05 1.13221427e-01] [-2.40775394e-03 -1.05437439e-04 9.99997096e-01 -5.35926944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.806559995 meters 0.026105781364689513 Centerline is valid? [True, True] Translation: X:34.03, Y:0.11, Z:-0.54 [[ 9.97853508e-01 6.54141625e-02 3.05994012e-03 3.40257090e+01] [-6.54142569e-02 9.97858191e-01 -6.93075762e-05 1.12593905e-01] [-3.05792001e-03 -1.31004901e-04 9.99995316e-01 -5.36439792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.866559995 meters 0.026363522214869102 Centerline is valid? [True, True] Translation: X:34.09, Y:0.11, Z:-0.54 [[ 9.97863973e-01 6.52130606e-02 3.84042833e-03 3.40882159e+01] [-6.52132006e-02 9.97871350e-01 -8.88665027e-05 1.10731245e-01] [-3.83804865e-03 -1.61769942e-04 9.99992622e-01 -5.37143735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.926559995000005 meters 0.0273300127442186 Centerline is valid? [True, True] Translation: X:34.15, Y:0.11, Z:-0.54 [[ 9.97828519e-01 6.56459490e-02 5.37183899e-03 3.41505596e+01] [-6.56462141e-02 9.97842953e-01 -1.27152169e-04 1.11079458e-01] [-5.36859870e-03 -2.25764832e-04 9.99985563e-01 -5.37752992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.986559995 meters 0.028841156873619777 Centerline is valid? [True, True] Translation: X:34.21, Y:0.12, Z:-0.54 [[ 9.97627765e-01 6.85936542e-02 5.80974297e-03 3.42119633e+01] [-6.85940029e-02 9.97644648e-01 -1.39454799e-04 1.15160982e-01] [-5.80562469e-03 -2.59389547e-04 9.99983114e-01 -5.39466067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.046559995 meters 0.02901186383983945 Centerline is valid? [True, True] Translation: X:34.27, Y:0.11, Z:-0.54 [[ 9.97419599e-01 7.15119462e-02 6.33924425e-03 3.42727186e+01] [-7.15123968e-02 9.97439699e-01 -1.55850900e-04 1.14551917e-01] [-6.33415908e-03 -2.97885808e-04 9.99979895e-01 -5.40093527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.106559995000005 meters 0.027777952319640302 Centerline is valid? [True, True] Translation: X:34.33, Y:0.12, Z:-0.54 [[ 9.97151758e-01 7.51330979e-02 6.58703357e-03 3.43340201e+01] [-7.51336634e-02 9.97173459e-01 -1.61905590e-04 1.15972860e-01] [-6.58057952e-03 -3.33463520e-04 9.99978292e-01 -5.38927770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.166559995 meters 0.0283882020352533 Centerline is valid? [True, True] Translation: X:34.40, Y:0.12, Z:-0.54 [[ 9.96970923e-01 7.74359297e-02 7.25637140e-03 3.43962897e+01] [-7.74366769e-02 9.96997256e-01 -1.78348720e-04 1.16089511e-01] [-7.24839298e-03 -3.84100800e-04 9.99973656e-01 -5.41807811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.226559995 meters 0.02691123828841623 Centerline is valid? [True, True] Translation: X:34.46, Y:0.11, Z:-0.54 [[ 9.96970828e-01 7.74408621e-02 7.21675441e-03 3.44586418e+01] [-7.74416090e-02 9.96996874e-01 -1.76303587e-04 1.12542810e-01] [-7.20873469e-03 -3.83107541e-04 9.99973943e-01 -5.42131315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.286559995000005 meters 0.026063473452130337 Centerline is valid? [True, True] Translation: X:34.52, Y:0.11, Z:-0.54 [[ 9.97035419e-01 7.66252773e-02 6.99566628e-03 3.45194875e+01] [-7.66259461e-02 9.97059895e-01 -1.72765022e-04 1.09823739e-01] [-6.98833646e-03 -3.63796701e-04 9.99975515e-01 -5.40497258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.346559995 meters 0.025751877236603573 Centerline is valid? [True, True] Translation: X:34.58, Y:0.11, Z:-0.54 [[ 9.97083936e-01 7.59582415e-02 7.34646674e-03 3.45814397e+01] [-7.59589483e-02 9.97110929e-01 -1.83167820e-04 1.06535087e-01] [-7.33915538e-03 -3.75396197e-04 9.99972998e-01 -5.42294359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.406559995 meters 0.025254307007941474 Centerline is valid? [True, True] Translation: X:34.64, Y:0.10, Z:-0.54 [[ 9.97155669e-01 7.50788044e-02 6.61393978e-03 3.46440640e+01] [-7.50793395e-02 9.97177549e-01 -1.67699571e-04 1.03821534e-01] [-6.60786295e-03 -3.29347652e-04 9.99978114e-01 -5.41824178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.466559995000004 meters 0.02596125453132992 Centerline is valid? [True, True] Translation: X:34.71, Y:0.10, Z:-0.54 [[ 9.97333159e-01 7.27154005e-02 6.24822206e-03 3.47057716e+01] [-7.27158265e-02 9.97352687e-01 -1.59261365e-04 9.91564525e-02] [-6.24326182e-03 -2.95507991e-04 9.99980467e-01 -5.44545102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.526559995 meters 0.026340401955263798 Centerline is valid? [True, True] Translation: X:34.77, Y:0.09, Z:-0.55 [[ 9.97527155e-01 7.00533791e-02 5.66563609e-03 3.47672820e+01] [-7.00536852e-02 9.97543212e-01 -1.44638393e-04 9.27730243e-02] [-5.66184923e-03 -2.52617962e-04 9.99983940e-01 -5.46191185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.586559995 meters 0.025043220474933132 Centerline is valid? [True, True] Translation: X:34.83, Y:0.09, Z:-0.54 [[ 9.97532028e-01 7.00251292e-02 5.13165393e-03 3.48300677e+01] [-7.00253916e-02 9.97545201e-01 -1.28738832e-04 8.87170815e-02] [-5.12807170e-03 -2.30924968e-04 9.99986825e-01 -5.44925834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.646559995000004 meters 0.026129826227754813 Centerline is valid? [True, True] Translation: X:34.89, Y:0.09, Z:-0.54 [[ 9.97462724e-01 7.10299505e-02 4.78129755e-03 3.48910279e+01] [-7.10301818e-02 9.97474159e-01 -1.21628397e-04 8.75629838e-02] [-4.77786001e-03 -2.18296642e-04 9.99988562e-01 -5.44688816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.706559995 meters 0.026753256064648484 Centerline is valid? [True, True] Translation: X:34.95, Y:0.08, Z:-0.54 [[ 9.97282764e-01 7.35173943e-02 4.72037738e-03 3.49525385e+01] [-7.35176368e-02 9.97293910e-01 -1.22360776e-04 8.41406585e-02] [-4.71659926e-03 -2.25002697e-04 9.99988851e-01 -5.44629363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.766559995 meters 0.027481430035352937 Centerline is valid? [True, True] Translation: X:35.01, Y:0.08, Z:-0.55 [[ 9.97086814e-01 7.61598116e-02 4.19148623e-03 3.50132482e+01] [-7.61600202e-02 9.97095602e-01 -1.10040959e-04 8.21519332e-02] [-4.18769318e-03 -2.09503287e-04 9.99991210e-01 -5.45264568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.826559995000004 meters 0.02885996253585801 Centerline is valid? [True, True] Translation: X:35.07, Y:0.08, Z:-0.54 [[ 9.96625873e-01 8.19988967e-02 3.61256476e-03 3.50741427e+01] [-8.19990892e-02 9.96632400e-01 -9.50289473e-05 8.10416438e-02] [-3.60819136e-03 -2.01518713e-04 9.99993470e-01 -5.44999433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.886559995 meters 0.03483749043988286 Centerline is valid? [True, True] Translation: X:35.13, Y:0.09, Z:-0.55 [[ 9.96318197e-01 8.56369463e-02 4.04521882e-03 3.51346670e+01] [-8.56372190e-02 9.96326380e-01 -1.06056625e-04 8.65209926e-02] [-4.03944059e-03 -2.40755145e-04 9.99991812e-01 -5.46374568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.946559995 meters 0.03204771691919904 Centerline is valid? [True, True] Translation: X:35.20, Y:0.08, Z:-0.55 [[ 9.95906302e-01 9.02836374e-02 4.41626727e-03 3.51953294e+01] [-9.02840055e-02 9.95916053e-01 -1.16349320e-04 7.98134668e-02] [-4.40873590e-03 -2.82845277e-04 9.99990241e-01 -5.45208516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.006559995 meters 0.03184599256078973 Centerline is valid? [True, True] Translation: X:35.26, Y:0.08, Z:-0.55 [[ 9.95651647e-01 9.30373199e-02 4.67482240e-03 3.52560183e+01] [-9.30377630e-02 9.95662573e-01 -1.23051278e-04 7.73545757e-02] [-4.66599406e-03 -3.12418811e-04 9.99989065e-01 -5.45757135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.066559995 meters 0.034523912191980526 Centerline is valid? [True, True] Translation: X:35.32, Y:0.08, Z:-0.55 [[ 9.95394471e-01 9.57468521e-02 4.73161280e-03 3.53171030e+01] [-9.57473361e-02 9.95405662e-01 -1.24638581e-04 7.80583022e-02] [-4.72180792e-03 -3.28974767e-04 9.99988798e-01 -5.47164757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.126559995 meters 0.03451314964046696 Centerline is valid? [True, True] Translation: X:35.38, Y:0.07, Z:-0.55 [[ 9.95296543e-01 9.67058722e-02 5.72420873e-03 3.53786534e+01] [-9.67066080e-02 9.95312921e-01 -1.48754556e-04 7.46798727e-02] [-5.71176435e-03 -4.05513915e-04 9.99983606e-01 -5.47966183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.186559995 meters 0.035403069765228605 Centerline is valid? [True, True] Translation: X:35.44, Y:0.07, Z:-0.55 [[ 9.95250457e-01 9.71813724e-02 5.68400040e-03 3.54402469e+01] [-9.71820992e-02 9.95266606e-01 -1.48831997e-04 7.23044013e-02] [-5.67155948e-03 -4.04257978e-04 9.99983835e-01 -5.51034974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.246559995000005 meters 0.03562281852174184 Centerline is valid? [True, True] Translation: X:35.50, Y:0.07, Z:-0.55 [[ 9.95118943e-01 9.84545650e-02 6.70723378e-03 3.55018643e+01] [-9.84555885e-02 9.95141430e-01 -1.78220965e-04 7.15314959e-02] [-6.69219288e-03 -4.83013591e-04 9.99977490e-01 -5.50045309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.306559995 meters 0.03879276732477564 Centerline is valid? [True, True] Translation: X:35.56, Y:0.07, Z:-0.55 [[ 9.95107661e-01 9.86615329e-02 5.16195692e-03 3.55631334e+01] [-9.86621399e-02 9.95120979e-01 -1.37550374e-04 7.18302253e-02] [-5.15034255e-03 -3.72412284e-04 9.99986668e-01 -5.54774540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.366559995 meters 0.04033930944689003 Centerline is valid? [True, True] Translation: X:35.62, Y:0.07, Z:-0.56 [[ 9.95033908e-01 9.93140133e-02 6.65201794e-03 3.56242479e+01] [-9.93150128e-02 9.95056026e-01 -1.80725126e-04 7.21299504e-02] [-6.63707908e-03 -4.80817619e-04 9.99977859e-01 -5.55085730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.426559995000005 meters 0.03731895629823104 Centerline is valid? [True, True] Translation: X:35.69, Y:0.07, Z:-0.56 [[ 9.94907048e-01 1.00526426e-01 7.37593156e-03 3.56857802e+01] [-1.00527685e-01 9.94934241e-01 -2.00739579e-04 6.68628690e-02] [-7.35874650e-03 -5.41768104e-04 9.99972777e-01 -5.56012462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.486559995 meters 0.035590450935667865 Centerline is valid? [True, True] Translation: X:35.75, Y:0.06, Z:-0.56 [[ 9.94764277e-01 1.01812044e-01 8.85104447e-03 3.57482304e+01] [-1.01813874e-01 9.94803435e-01 -2.44801761e-04 6.35868788e-02] [-8.82997322e-03 -6.57639077e-04 9.99960799e-01 -5.55487199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.546559995 meters 0.035818356649730126 Centerline is valid? [True, True] Translation: X:35.81, Y:0.06, Z:-0.55 [[ 9.94607526e-01 1.03099938e-01 1.12370369e-02 3.58104905e+01] [-1.03102956e-01 9.94670641e-01 -3.11930755e-04 6.40210124e-02] [-1.12093108e-02 -8.48323053e-04 9.99936814e-01 -5.54204324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.606559995000005 meters 0.03721245238975115 Centerline is valid? [True, True] Translation: X:35.87, Y:0.07, Z:-0.56 [[ 9.94548326e-01 1.03699216e-01 1.09590517e-02 3.58729494e+01] [-1.03702124e-01 9.94608354e-01 -3.04113065e-04 6.55233147e-02] [-1.09315006e-02 -8.34021793e-04 9.99939902e-01 -5.56531834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.666559995 meters 0.03736081336030156 Centerline is valid? [True, True] Translation: X:35.93, Y:0.07, Z:-0.56 [[ 9.94515563e-01 1.04057611e-01 1.05265288e-02 3.59346246e+01] [-1.04060282e-01 9.94570948e-01 -2.95194695e-04 6.52540421e-02] [-1.05000970e-02 -8.01817832e-04 9.99944551e-01 -5.58789243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.726559995 meters 0.03748121698072648 Centerline is valid? [True, True] Translation: X:36.00, Y:0.06, Z:-0.56 [[ 9.94480094e-01 1.04486284e-01 9.58949829e-03 3.59971184e+01] [-1.04488516e-01 9.94526057e-01 -2.69328538e-04 6.35797146e-02] [-9.56514706e-03 -7.34150573e-04 9.99953983e-01 -5.61333839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.786559995000005 meters 0.03678979174252331 Centerline is valid? [True, True] Translation: X:36.06, Y:0.06, Z:-0.56 [[ 9.94739920e-01 1.01778806e-01 1.15571053e-02 3.60583977e+01] [-1.01781812e-01 9.94806692e-01 -3.29315705e-04 6.22016208e-02] [-1.15306031e-02 -8.48719639e-04 9.99933160e-01 -5.61783532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.846559995 meters 0.03681412593853428 Centerline is valid? [True, True] Translation: X:36.12, Y:0.06, Z:-0.56 [[ 9.94911607e-01 9.99758351e-02 1.24790704e-02 3.61197158e+01] [-9.99791964e-02 9.94989464e-01 -3.55771446e-04 6.05230661e-02] [-1.24521121e-02 -8.93686287e-04 9.99922070e-01 -5.62936704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.906559995 meters 0.03526874587112833 Centerline is valid? [True, True] Translation: X:36.18, Y:0.06, Z:-0.56 [[ 9.94944263e-01 9.95597779e-02 1.31819691e-02 3.61823300e+01] [-9.95634875e-02 9.95031140e-01 -3.76166972e-04 5.75977197e-02] [-1.31539208e-02 -9.38177645e-04 9.99913043e-01 -5.64098855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.966559995000004 meters 0.03739205298150147 Centerline is valid? [True, True] Translation: X:36.24, Y:0.06, Z:-0.57 [[ 9.94847101e-01 1.00503081e-01 1.33557739e-02 3.62435906e+01] [-1.00506962e-01 9.94936282e-01 -3.81993122e-04 6.03688106e-02] [-1.33265355e-02 -9.62323510e-04 9.99910735e-01 -5.65885002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.026559995 meters 0.03882877700163726 Centerline is valid? [True, True] Translation: X:36.30, Y:0.06, Z:-0.57 [[ 9.94638635e-01 1.02556368e-01 1.32731391e-02 3.63047915e+01] [-1.02560336e-01 9.94726712e-01 -3.83173968e-04 6.37845710e-02] [-1.32424429e-02 -9.80177971e-04 9.99911835e-01 -5.68450477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.086559995 meters 0.037470211606332536 Centerline is valid? [True, True] Translation: X:36.37, Y:0.06, Z:-0.57 [[ 9.94370957e-01 1.05176019e-01 1.28220592e-02 3.63658973e+01] [-1.05179936e-01 9.94453138e-01 -3.70365411e-04 6.34586817e-02] [-1.27898906e-02 -9.80342759e-04 9.99917725e-01 -5.70401140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.146559995000004 meters 0.044762008691683626 Centerline is valid? [True, True] Translation: X:36.43, Y:0.07, Z:-0.57 [[ 9.94104063e-01 1.07747778e-01 1.21461303e-02 3.64259294e+01] [-1.07751483e-01 9.94177798e-01 -3.50861091e-04 7.36946072e-02] [-1.21132176e-02 -9.59971119e-04 9.99926171e-01 -5.71839974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.206559995 meters 0.040557992340713694 Centerline is valid? [True, True] Translation: X:36.49, Y:0.07, Z:-0.57 [[ 9.93797374e-01 1.10538740e-01 1.21641768e-02 3.64868388e+01] [-1.10542652e-01 9.93871319e-01 -3.52386118e-04 7.01024432e-02] [-1.21285788e-02 -9.94459963e-04 9.99925952e-01 -5.72633836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.266559995 meters 0.04338315146062723 Centerline is valid? [True, True] Translation: X:36.55, Y:0.08, Z:-0.57 [[ 9.93443330e-01 1.13617679e-01 1.27032860e-02 3.65473552e+01] [-1.13622192e-01 9.93523961e-01 -3.68271820e-04 7.55048618e-02] [-1.26628613e-02 -1.07751802e-03 9.99919242e-01 -5.73325775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.326559995000004 meters 0.04695003165487999 Centerline is valid? [True, True] Translation: X:36.61, Y:0.08, Z:-0.57 [[ 9.93070486e-01 1.16805210e-01 1.29442196e-02 3.66082066e+01] [-1.16810163e-01 9.93154190e-01 -3.75345658e-04 8.40137595e-02] [-1.28994483e-02 -1.13927171e-03 9.99916150e-01 -5.74278122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.386559995 meters 0.04454604180504316 Centerline is valid? [True, True] Translation: X:36.67, Y:0.08, Z:-0.58 [[ 9.92889617e-01 1.18320233e-01 1.30587785e-02 3.66700382e+01] [-1.18325411e-01 9.92974800e-01 -3.78093505e-04 8.40078962e-02] [-1.30117741e-02 -1.16978022e-03 9.99914659e-01 -5.75444498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.446559995 meters 0.04290296792593938 Centerline is valid? [True, True] Translation: X:36.73, Y:0.08, Z:-0.58 [[ 9.92862011e-01 1.18591001e-01 1.26965024e-02 3.67330708e+01] [-1.18595884e-01 9.92942536e-01 -3.70272247e-04 8.33321937e-02] [-1.26508082e-02 -1.13812367e-03 9.99919328e-01 -5.76885482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.506559995 meters 0.04296285832751814 Centerline is valid? [True, True] Translation: X:36.79, Y:0.08, Z:-0.58 [[ 9.92999515e-01 1.17526994e-01 1.18054870e-02 3.67943654e+01] [-1.17531093e-01 9.93069142e-01 -3.48414661e-04 8.43347388e-02] [-1.17646130e-02 -1.04153620e-03 9.99930252e-01 -5.78610096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.566559995 meters 0.04302755094514965 Centerline is valid? [True, True] Translation: X:36.85, Y:0.09, Z:-0.58 [[ 9.93367636e-01 1.14392158e-01 1.16264289e-02 3.68547167e+01] [-1.14395913e-01 9.93435180e-01 -3.43675832e-04 8.58165633e-02] [-1.15894173e-02 -9.88619500e-04 9.99932352e-01 -5.80004615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.626559995 meters 0.044128083921464833 Centerline is valid? [True, True] Translation: X:36.92, Y:0.09, Z:-0.58 [[ 9.93816186e-01 1.10669324e-01 9.03825305e-03 3.69154086e+01] [-1.10671440e-01 9.93857012e-01 -2.67218656e-04 8.70855138e-02] [-9.01230408e-03 -7.34710255e-04 9.99959118e-01 -5.83017942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.686559995 meters 0.039343467772835136 Centerline is valid? [True, True] Translation: X:36.98, Y:0.08, Z:-0.58 [[ 9.94015379e-01 1.08811063e-01 9.67363142e-03 3.69764925e+01] [-1.08813401e-01 9.94062152e-01 -2.85801720e-04 8.25500401e-02] [-9.64728926e-03 -7.68529433e-04 9.99953168e-01 -5.83195955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.746559995000005 meters 0.035754562706947275 Centerline is valid? [True, True] Translation: X:37.04, Y:0.08, Z:-0.58 [[ 9.94224932e-01 1.06753572e-01 1.09754474e-02 3.70376281e+01] [-1.06756452e-01 9.94285147e-01 -3.24822268e-04 8.07484148e-02] [-1.09474003e-02 -8.48753421e-04 9.99939715e-01 -5.83912387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.806559995 meters 0.036984509201621184 Centerline is valid? [True, True] Translation: X:37.10, Y:0.08, Z:-0.59 [[ 9.94326832e-01 1.06099967e-01 7.54642497e-03 3.70998613e+01] [-1.06101324e-01 9.94355299e-01 -2.21407492e-04 8.16955179e-02] [-7.52731899e-03 -5.80534270e-04 9.99971501e-01 -5.86631420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.866559995 meters 0.039783131706605114 Centerline is valid? [True, True] Translation: X:37.16, Y:0.09, Z:-0.59 [[ 9.94153373e-01 1.07513789e-01 9.99284193e-03 3.71611248e+01] [-1.07516193e-01 9.94203289e-01 -2.97851050e-04 8.93388897e-02] [-9.96693941e-03 -7.78282699e-04 9.99950026e-01 -5.86610859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.926559995000005 meters 0.03850809845809981 Centerline is valid? [True, True] Translation: X:37.22, Y:0.09, Z:-0.59 [[ 9.94042981e-01 1.08791375e-01 6.55662231e-03 3.72225577e+01] [-1.08792431e-01 9.94064469e-01 -1.96365024e-04 8.67664800e-02] [-6.53906810e-03 -5.18115607e-04 9.99978486e-01 -5.89743045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.986559995 meters 0.04059321186210624 Centerline is valid? [True, True] Translation: X:37.28, Y:0.09, Z:-0.59 [[ 9.93892076e-01 1.10077833e-01 7.83660776e-03 3.72838002e+01] [-1.10079391e-01 9.93922770e-01 -2.33517411e-04 9.31211538e-02] [-7.81468798e-03 -6.30557904e-04 9.99969266e-01 -5.89982552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.046559995 meters 0.04028426947090795 Centerline is valid? [True, True] Translation: X:37.35, Y:0.09, Z:-0.59 [[ 9.93943475e-01 1.09623417e-01 7.68597703e-03 3.73462517e+01] [-1.09624890e-01 9.93973003e-01 -2.30611585e-04 9.22509998e-02] [-7.66493410e-03 -6.13359509e-04 9.99970436e-01 -5.90487725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.106559995000005 meters 0.04029755611558718 Centerline is valid? [True, True] Translation: X:37.41, Y:0.09, Z:-0.59 [[ 9.93951804e-01 1.09513825e-01 8.15683356e-03 3.74086503e+01] [-1.09515462e-01 9.93985062e-01 -2.47033537e-04 9.32939067e-02] [-8.13482430e-03 -6.47759965e-04 9.99966702e-01 -5.90796422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.166559995 meters 0.04369329177190227 Centerline is valid? [True, True] Translation: X:37.47, Y:0.10, Z:-0.59 [[ 9.93908564e-01 1.09951831e-01 7.50741814e-03 3.74702714e+01] [-1.09953217e-01 9.93936737e-01 -2.29127075e-04 9.83879192e-02] [-7.48709163e-03 -5.97733412e-04 9.99971793e-01 -5.92202688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.226559995 meters 0.040155284870832204 Centerline is valid? [True, True] Translation: X:37.53, Y:0.10, Z:-0.59 [[ 9.93968068e-01 1.09488640e-01 6.30219735e-03 3.75326317e+01] [-1.09489603e-01 9.93987922e-01 -1.93019151e-04 9.61165316e-02] [-6.28544145e-03 -4.98170213e-04 9.99980122e-01 -5.93971362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.286559995000005 meters 0.04199027968468567 Centerline is valid? [True, True] Translation: X:37.60, Y:0.10, Z:-0.60 [[ 9.93955010e-01 1.09623373e-01 6.01279690e-03 3.75950480e+01] [-1.09624245e-01 9.93973083e-01 -1.85341369e-04 9.84152015e-02] [-5.99687602e-03 -4.74927337e-04 9.99981906e-01 -5.95228444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.346559995 meters 0.040363045742112046 Centerline is valid? [True, True] Translation: X:37.66, Y:0.09, Z:-0.60 [[ 9.93947688e-01 1.09722303e-01 5.38601366e-03 3.76582006e+01] [-1.09723000e-01 9.93962190e-01 -1.66767913e-04 9.48101744e-02] [-5.37179209e-03 -4.25210997e-04 9.99985481e-01 -5.96119823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.406559995 meters 0.03693444287426775 Centerline is valid? [True, True] Translation: X:37.72, Y:0.09, Z:-0.60 [[ 9.94135870e-01 1.08009769e-01 5.26899963e-03 3.77196527e+01] [-1.08010393e-01 9.94149751e-01 -1.66767356e-04 9.09547254e-02] [-5.25618717e-03 -4.03317313e-04 9.99986105e-01 -5.96859589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.466559995000004 meters 0.035930922078956186 Centerline is valid? [True, True] Translation: X:37.78, Y:0.09, Z:-0.60 [[ 9.94619482e-01 1.03401741e-01 6.33766362e-03 3.77799823e+01] [-1.03402542e-01 9.94639570e-01 -2.02042667e-04 8.87303599e-02] [-6.32458258e-03 -4.54374954e-04 9.99979896e-01 -5.97048426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.526559995 meters 0.035493453340326865 Centerline is valid? [True, True] Translation: X:37.84, Y:0.09, Z:-0.60 [[ 9.95012768e-01 9.95485496e-02 6.29898762e-03 3.78401056e+01] [-9.95492635e-02 9.95032614e-01 -2.00882104e-04 8.56636462e-02] [-6.28769565e-03 -4.27179321e-04 9.99980141e-01 -5.97899410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.586559995 meters 0.03293837000511672 Centerline is valid? [True, True] Translation: X:37.90, Y:0.08, Z:-0.60 [[ 9.95648874e-01 9.29822086e-02 6.13426177e-03 3.79003822e+01] [-9.29827617e-02 9.95667699e-01 -1.95579412e-04 7.94142603e-02] [-6.12587171e-03 -3.75652180e-04 9.99981166e-01 -5.98907558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.646559995000004 meters 0.03278929677043419 Centerline is valid? [True, True] Translation: X:37.96, Y:0.07, Z:-0.60 [[ 9.96268618e-01 8.62229114e-02 3.80139541e-03 3.79609423e+01] [-8.62230751e-02 9.96275849e-01 -1.21112732e-04 7.35705674e-02] [-3.79768113e-03 -2.07107188e-04 9.99992767e-01 -6.01750738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.706559995 meters 0.028464484206306716 Centerline is valid? [True, True] Translation: X:38.02, Y:0.07, Z:-0.60 [[ 9.96746658e-01 8.05205412e-02 3.54150247e-03 3.80217663e+01] [-8.05206473e-02 9.96752935e-01 -1.12851370e-04 6.60867242e-02] [-3.53908983e-03 -1.72679845e-04 9.99993722e-01 -6.02677557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.766559995 meters 0.023374989890141043 Centerline is valid? [True, True] Translation: X:38.08, Y:0.05, Z:-0.60 [[ 9.97568376e-01 6.95520548e-02 4.45496866e-03 3.80823291e+01] [-6.95521125e-02 9.97578309e-01 -1.42160106e-04 5.10559292e-02] [-4.45406763e-03 -1.68038056e-04 9.99990066e-01 -6.01678196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.826559995000004 meters 0.021067292229012404 Centerline is valid? [True, True] Translation: X:38.14, Y:0.04, Z:-0.60 [[ 9.97999387e-01 6.30874636e-02 4.14664425e-03 3.81424202e+01] [-6.30874570e-02 9.98007994e-01 -1.32530157e-04 3.90435500e-02] [-4.14674510e-03 -1.29336226e-04 9.99991394e-01 -6.00619334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.886559995 meters 0.021236194580472958 Centerline is valid? [True, True] Translation: X:38.20, Y:0.03, Z:-0.60 [[ 9.98139262e-01 6.09239742e-02 2.50679023e-03 3.82046097e+01] [-6.09239734e-02 9.98142406e-01 -7.67504014e-05 3.35241597e-02] [-2.50680957e-03 -7.61160321e-05 9.99996855e-01 -6.02215230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.946559995 meters 0.01819318863980367 Centerline is valid? [True, True] Translation: X:38.27, Y:0.03, Z:-0.60 [[ 9.98269053e-01 5.87259796e-02 3.18706690e-03 3.82671902e+01] [-5.87259545e-02 9.98274137e-01 -1.01529938e-04 2.82652860e-02] [-3.18752890e-03 -8.58093504e-05 9.99994916e-01 -6.02194205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.006559995 meters 0.019381055003935038 Centerline is valid? [True, True] Translation: X:38.33, Y:0.02, Z:-0.60 [[ 9.98294614e-01 5.83004213e-02 2.98729855e-03 3.83294770e+01] [-5.83004031e-02 9.98299081e-01 -9.32561578e-05 2.38333102e-02] [-2.98765427e-03 -8.10635897e-05 9.99995534e-01 -6.02060584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.066559995 meters 0.01996264604765851 Centerline is valid? [True, True] Translation: X:38.39, Y:0.02, Z:-0.60 [[ 9.98149424e-01 6.06919171e-02 3.77069378e-03 3.83918875e+01] [-6.06918975e-02 9.98156540e-01 -1.19715637e-04 2.21705161e-02] [-3.77100843e-03 -1.09356467e-04 9.99992884e-01 -6.01407592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.126559995 meters 0.017788318192062117 Centerline is valid? [True, True] Translation: X:38.45, Y:0.02, Z:-0.60 [[ 9.98062729e-01 6.20239993e-02 4.87984610e-03 3.84543280e+01] [-6.20239705e-02 9.98074648e-01 -1.57370429e-04 2.11935388e-02] [-4.88021142e-03 -1.45601871e-04 9.99988081e-01 -6.00762450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.186559995 meters 0.018658915522583745 Centerline is valid? [True, True] Translation: X:38.52, Y:0.02, Z:-0.60 [[ 9.97769535e-01 6.66152039e-02 4.28589556e-03 3.85156464e+01] [-6.66152110e-02 9.97778730e-01 -1.41255734e-04 2.06336607e-02] [-4.28578521e-03 -1.44565169e-04 9.99990806e-01 -6.01147120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.246559995000005 meters 0.02061998522397889 Centerline is valid? [True, True] Translation: X:38.58, Y:0.02, Z:-0.60 [[ 9.97513325e-01 7.03901035e-02 3.52139573e-03 3.85765256e+01] [-7.03901309e-02 9.97519532e-01 -1.16309482e-04 2.19401603e-02] [-3.52084806e-03 -1.31851249e-04 9.99993793e-01 -6.02981477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.306559995 meters 0.02503507054947433 Centerline is valid? [True, True] Translation: X:38.64, Y:0.02, Z:-0.61 [[ 9.97167743e-01 7.51806688e-02 2.08809609e-03 3.86380064e+01] [-7.51806896e-02 9.97169925e-01 -6.86379972e-05 2.18436385e-02] [-2.08734687e-03 -8.85409071e-05 9.99997818e-01 -6.05718128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.366559995 meters 0.02525632791212986 Centerline is valid? [True, True] Translation: X:38.70, Y:0.02, Z:-0.61 [[ 9.97205883e-01 7.46014580e-02 3.87930562e-03 3.86991260e+01] [-7.46015321e-02 9.97213415e-01 -1.25810169e-04 2.08600232e-02] [-3.87788122e-03 -1.63943502e-04 9.99992468e-01 -6.05721910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.426559995000005 meters 0.023839125687569667 Centerline is valid? [True, True] Translation: X:38.76, Y:0.01, Z:-0.61 [[ 9.97262673e-01 7.38231016e-02 4.16064932e-03 3.87613310e+01] [-7.38231759e-02 9.97271337e-01 -1.35920746e-04 1.34280615e-02] [-4.15933040e-03 -1.71603660e-04 9.99991335e-01 -6.05528407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.486559995 meters 0.020046051345136033 Centerline is valid? [True, True] Translation: X:38.82, Y:0.01, Z:-0.61 [[ 9.97550017e-01 6.98003023e-02 4.67778050e-03 3.88229906e+01] [-6.98003339e-02 9.97560970e-01 -1.56692652e-04 6.53094802e-03] [-4.67730845e-03 -1.70201884e-04 9.99989047e-01 -6.05081760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.546559995 meters 0.02145060918961882 Centerline is valid? [True, True] Translation: X:38.88, Y:0.00, Z:-0.61 [[ 9.97929403e-01 6.41091784e-02 5.18841490e-03 3.88823062e+01] [-6.41091344e-02 9.97942878e-01 -1.74962869e-04 1.14836624e-03] [-5.18895843e-03 -1.58024197e-04 9.99986525e-01 -6.06733588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.606559995000005 meters 0.017610342147473215 Centerline is valid? [True, True] Translation: X:38.94, Y:-0.01, Z:-0.61 [[ 9.98216376e-01 5.94061169e-02 5.91430913e-03 3.89434585e+01] [-5.94059813e-02 9.98233885e-01 -1.98754589e-04 -6.94279273e-03] [-5.91567102e-03 -1.52945252e-04 9.99982491e-01 -6.05316522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.666559995 meters 0.016860339042174814 Centerline is valid? [True, True] Translation: X:39.00, Y:-0.01, Z:-0.61 [[ 9.98386435e-01 5.65467958e-02 5.19487314e-03 3.90044943e+01] [-5.65466626e-02 9.98399942e-01 -1.72628449e-04 -1.16121330e-02] [-5.19632263e-03 -1.21402837e-04 9.99986492e-01 -6.05851834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.726559995 meters 0.01798350997819843 Centerline is valid? [True, True] Translation: X:39.07, Y:-0.02, Z:-0.61 [[ 9.98266265e-01 5.85495248e-02 6.03471589e-03 3.90662888e+01] [-5.85493703e-02 9.98284494e-01 -2.02406965e-04 -1.52687022e-02] [-6.03621413e-03 -1.51272770e-04 9.99981770e-01 -6.05073137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.786559995000005 meters 0.01768096372273004 Centerline is valid? [True, True] Translation: X:39.13, Y:-0.02, Z:-0.60 [[ 9.98167795e-01 6.01701899e-02 6.37188291e-03 3.91279263e+01] [-6.01700384e-02 9.98188119e-01 -2.15642962e-04 -1.68386564e-02] [-6.37331309e-03 -1.68148579e-04 9.99979676e-01 -6.04877676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.846559995 meters 0.018622963887475752 Centerline is valid? [True, True] Translation: X:39.19, Y:-0.02, Z:-0.61 [[ 9.98115873e-01 6.10451857e-02 6.17975181e-03 3.91903280e+01] [-6.10450530e-02 9.98134990e-01 -2.10273391e-04 -1.81458315e-02] [-6.18106269e-03 -1.67366068e-04 9.99980883e-01 -6.06462575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.906559995 meters 0.018622963887475752 Centerline is valid? [True, True] Translation: X:39.25, Y:-0.02, Z:-0.61 [[ 9.98099215e-01 6.13169408e-02 6.17971283e-03 3.92527685e+01] [-6.13168063e-02 9.98118332e-01 -2.11409295e-04 -2.04011487e-02] [-6.18104763e-03 -1.67912803e-04 9.99980883e-01 -6.07454102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.966559995000004 meters 0.018216167884767605 Centerline is valid? [True, True] Translation: X:39.31, Y:-0.02, Z:-0.61 [[ 9.97905818e-01 6.44119918e-02 5.92225540e-03 3.93147393e+01] [-6.44119023e-02 9.97923376e-01 -2.06041109e-04 -2.44951077e-02] [-5.92322862e-03 -1.75854114e-04 9.99982442e-01 -6.07023074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.026559995 meters 0.020564741932072243 Centerline is valid? [True, True] Translation: X:39.38, Y:-0.02, Z:-0.61 [[ 9.97847274e-01 6.53110552e-02 5.94002403e-03 3.93756777e+01] [-6.53109877e-02 9.97864937e-01 -2.05548735e-04 -2.47089807e-02] [-5.94076631e-03 -1.82842592e-04 9.99982337e-01 -6.09020920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.086559995 meters 0.01707972617455716 Centerline is valid? [True, True] Translation: X:39.44, Y:-0.03, Z:-0.61 [[ 9.97844943e-01 6.53606660e-02 5.78394781e-03 3.94384905e+01] [-6.53605998e-02 9.97861690e-01 -2.00661886e-04 -3.45929650e-02] [-5.78469533e-03 -1.77812850e-04 9.99983253e-01 -6.08139543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.146559995000004 meters 0.01889241318022364 Centerline is valid? [True, True] Translation: X:39.50, Y:-0.04, Z:-0.61 [[ 9.97874299e-01 6.50131627e-02 4.49134997e-03 3.95016237e+01] [-6.50131180e-02 9.97884397e-01 -1.56126561e-04 -4.04203378e-02] [-4.49199834e-03 -1.36201983e-04 9.99989902e-01 -6.10909642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.206559995 meters 0.017336398377082108 Centerline is valid? [True, True] Translation: X:39.56, Y:-0.05, Z:-0.61 [[ 9.97915602e-01 6.43288710e-02 5.12322425e-03 3.95632646e+01] [-6.43287905e-02 9.97928742e-01 -1.80667623e-04 -4.73255072e-02] [-5.12423487e-03 -1.49279779e-04 9.99986860e-01 -6.09364407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.266559995 meters 0.019922183909583127 Centerline is valid? [True, True] Translation: X:39.62, Y:-0.05, Z:-0.61 [[ 9.98059168e-01 6.21146649e-02 4.43458378e-03 3.96249825e+01] [-6.21145799e-02 9.98069013e-01 -1.57005575e-04 -5.46168584e-02] [-4.43577300e-03 -1.18751455e-04 9.99990155e-01 -6.12189339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.326559995000004 meters 0.01612825807572514 Centerline is valid? [True, True] Translation: X:39.69, Y:-0.07, Z:-0.61 [[ 9.98176709e-01 6.01954411e-02 4.44585761e-03 3.96864590e+01] [-6.01953321e-02 9.98186604e-01 -1.58461230e-04 -6.56933494e-02] [-4.44733415e-03 -1.09447566e-04 9.99990105e-01 -6.10257746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.386559995 meters 0.016120898596301926 Centerline is valid? [True, True] Translation: X:39.75, Y:-0.07, Z:-0.61 [[ 9.98203525e-01 5.97333611e-02 4.65285713e-03 3.97479597e+01] [-5.97332302e-02 9.98214362e-01 -1.67217052e-04 -7.29279735e-02] [-4.65453725e-03 -1.11013536e-04 9.99989161e-01 -6.10198331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.446559995 meters 0.01698134020370671 Centerline is valid? [True, True] Translation: X:39.81, Y:-0.08, Z:-0.61 [[ 9.98169222e-01 6.02725079e-02 5.04280025e-03 3.98103396e+01] [-6.02723546e-02 9.98181952e-01 -1.82492544e-04 -7.60406857e-02] [-5.04463148e-03 -1.21783004e-04 9.99987268e-01 -6.11858604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.506559995 meters 0.017549213867110884 Centerline is valid? [True, True] Translation: X:39.87, Y:-0.08, Z:-0.61 [[ 9.98091326e-01 6.15167743e-02 5.42145266e-03 3.98717844e+01] [-6.15166024e-02 9.98106041e-01 -1.98625746e-04 -8.30066967e-02] [-5.42340347e-03 -1.35262714e-04 9.99985284e-01 -6.12219997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.566559995 meters 0.019085777955268998 Centerline is valid? [True, True] Translation: X:39.93, Y:-0.09, Z:-0.61 [[ 9.97961939e-01 6.35656411e-02 5.60149061e-03 3.99323100e+01] [-6.35654707e-02 9.97977649e-01 -2.08633269e-04 -8.58440859e-02] [-5.60342433e-03 -1.47853325e-04 9.99984290e-01 -6.13767640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.626559995 meters 0.019698560780862937 Centerline is valid? [True, True] Translation: X:39.99, Y:-0.09, Z:-0.61 [[ 9.97660356e-01 6.80272796e-02 6.78992356e-03 3.99933971e+01] [-6.80271299e-02 9.97683440e-01 -2.53264323e-04 -8.80875518e-02] [-6.79142318e-03 -2.09227238e-04 9.99976916e-01 -6.13755267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.686559995 meters 0.018810138090508334 Centerline is valid? [True, True] Translation: X:40.05, Y:-0.09, Z:-0.61 [[ 9.97380025e-01 7.19961110e-02 7.04597089e-03 4.00549307e+01] [-7.19960593e-02 9.97404882e-01 -2.61306945e-04 -9.40047048e-02] [-7.04649885e-03 -2.46659812e-04 9.99975143e-01 -6.13793578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.746559995000005 meters 0.023741263211745484 Centerline is valid? [True, True] Translation: X:40.12, Y:-0.09, Z:-0.62 [[ 9.96958199e-01 7.76094728e-02 7.14977603e-03 4.01153909e+01] [-7.76095378e-02 9.96983795e-01 -2.68779665e-04 -9.42801371e-02] [-7.14907069e-03 -2.86928722e-04 9.99974404e-01 -6.15791201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.806559995 meters 0.023463816392534517 Centerline is valid? [True, True] Translation: X:40.18, Y:-0.10, Z:-0.62 [[ 9.96422932e-01 8.41187505e-02 8.08555051e-03 4.01764011e+01] [-8.41190453e-02 9.96455666e-01 -3.04221527e-04 -9.62762595e-02] [-8.08248335e-03 -3.77015483e-04 9.99967265e-01 -6.15419705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.866559995 meters 0.027022941706185334 Centerline is valid? [True, True] Translation: X:40.24, Y:-0.10, Z:-0.62 [[ 9.96033195e-01 8.86726325e-02 7.41885933e-03 4.02369945e+01] [-8.86730070e-02 9.96060751e-01 -2.79096496e-04 -9.72004745e-02] [-7.41438282e-03 -3.79863190e-04 9.99972441e-01 -6.17649632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.926559995000005 meters 0.02732798399934476 Centerline is valid? [True, True] Translation: X:40.30, Y:-0.10, Z:-0.62 [[ 9.95789651e-01 9.12395031e-02 8.85007821e-03 4.02984424e+01] [-9.12401363e-02 9.95828864e-01 -3.33015484e-04 -9.90580832e-02] [-8.84354750e-03 -4.75868969e-04 9.99960782e-01 -6.17319850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.986559995 meters 0.02767667709669579 Centerline is valid? [True, True] Translation: X:40.36, Y:-0.10, Z:-0.62 [[ 9.95671095e-01 9.25243426e-02 8.84963663e-03 4.03603173e+01] [-9.25250367e-02 9.95710303e-01 -3.31822916e-04 -1.01636281e-01] [-8.84237606e-03 -4.88426468e-04 9.99960786e-01 -6.18192876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.046559995 meters 0.0294241172420538 Centerline is valid? [True, True] Translation: X:40.42, Y:-0.10, Z:-0.62 [[ 9.95469567e-01 9.46867591e-02 8.64632707e-03 4.04214465e+01] [-9.46874720e-02 9.95506994e-01 -3.27791607e-04 -1.02608696e-01] [-8.63851660e-03 -4.92392283e-04 9.99962566e-01 -6.19733316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.106559995000005 meters 0.02722357721601143 Centerline is valid? [True, True] Translation: X:40.48, Y:-0.11, Z:-0.62 [[ 9.95395917e-01 9.55034587e-02 8.12756594e-03 4.04828620e+01] [-9.55041263e-02 9.95428987e-01 -3.06830847e-04 -1.08912654e-01] [-8.11971813e-03 -4.70797911e-04 9.99966924e-01 -6.20337351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.166559995 meters 0.029254971435007215 Centerline is valid? [True, True] Translation: X:40.54, Y:-0.11, Z:-0.62 [[ 9.95324908e-01 9.63025465e-02 7.35849144e-03 4.05439975e+01] [-9.63031050e-02 9.95352015e-01 -2.79206050e-04 -1.09958694e-01] [-7.35117754e-03 -4.30744839e-04 9.99972887e-01 -6.21452247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.226559995 meters 0.030568460415086273 Centerline is valid? [True, True] Translation: X:40.61, Y:-0.11, Z:-0.62 [[ 9.95149469e-01 9.81311902e-02 6.91397079e-03 4.06060481e+01] [-9.81317078e-02 9.95173401e-01 -2.65159574e-04 -1.11120644e-01] [-6.90662025e-03 -4.14606352e-04 9.99976063e-01 -6.22265910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.286559995000005 meters 0.030999918178235285 Centerline is valid? [True, True] Translation: X:40.67, Y:-0.11, Z:-0.62 [[ 9.94943252e-01 1.00205333e-01 6.84226081e-03 4.06669723e+01] [-1.00205884e-01 9.94966689e-01 -2.63063842e-04 -1.12422720e-01] [-6.83418198e-03 -4.23901199e-04 9.99976557e-01 -6.22995833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.346559995 meters 0.03262643938319347 Centerline is valid? [True, True] Translation: X:40.73, Y:-0.11, Z:-0.62 [[ 9.94682667e-01 1.02799775e-01 6.21282133e-03 4.07278223e+01] [-1.02800278e-01 9.94701988e-01 -2.39159568e-04 -1.12275796e-01] [-6.20449128e-03 -4.00791882e-04 9.99980672e-01 -6.23514945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.406559995 meters 0.03371578948942212 Centerline is valid? [True, True] Translation: X:40.79, Y:-0.11, Z:-0.62 [[ 9.94606945e-01 1.03521652e-01 6.34769135e-03 4.07896891e+01] [-1.03522202e-01 9.94627113e-01 -2.42744207e-04 -1.13053712e-01] [-6.33871521e-03 -4.15691913e-04 9.99979824e-01 -6.24460229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.466559995000004 meters 0.03627336314266602 Centerline is valid? [True, True] Translation: X:40.85, Y:-0.11, Z:-0.63 [[ 9.94674682e-01 1.02967862e-01 4.46046321e-03 4.08504633e+01] [-1.02968127e-01 9.94684641e-01 -1.70751257e-04 -1.13470759e-01] [-4.45433614e-03 -2.89443592e-04 9.99990038e-01 -6.26476918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.526559995 meters 0.031043457583814434 Centerline is valid? [True, True] Translation: X:40.91, Y:-0.12, Z:-0.62 [[ 9.94709123e-01 1.02532137e-01 6.39696830e-03 4.09124067e+01] [-1.02532656e-01 9.94729608e-01 -2.47596036e-04 -1.22419923e-01] [-6.38864032e-03 -4.09612115e-04 9.99979509e-01 -6.24075169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.586559995 meters 0.03156172685437477 Centerline is valid? [True, True] Translation: X:40.97, Y:-0.13, Z:-0.63 [[ 9.94828005e-01 1.01448122e-01 5.05167463e-03 4.09749743e+01] [-1.01448421e-01 9.94840781e-01 -1.97681930e-04 -1.25106688e-01] [-5.04566639e-03 -3.15824894e-04 9.99987221e-01 -6.25837233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.646559995000004 meters 0.029781098433773617 Centerline is valid? [True, True] Translation: X:41.04, Y:-0.13, Z:-0.63 [[ 9.94751954e-01 1.02166311e-01 5.53119626e-03 4.10368584e+01] [-1.02166686e-01 9.94767270e-01 -2.15397412e-04 -1.28840525e-01] [-5.52425936e-03 -3.50836996e-04 9.99984680e-01 -6.25555892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.706559995 meters 0.034103955841430805 Centerline is valid? [True, True] Translation: X:41.10, Y:-0.13, Z:-0.63 [[ 9.94673440e-01 1.02960433e-01 4.88841782e-03 4.10983894e+01] [-1.02960731e-01 9.94685403e-01 -1.91371628e-04 -1.25075631e-01] [-4.88214156e-03 -3.12962797e-04 9.99988033e-01 -6.27923151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.766559995 meters 0.03495471535201475 Centerline is valid? [True, True] Translation: X:41.16, Y:-0.13, Z:-0.63 [[ 9.94420047e-01 1.05439213e-01 3.36777383e-03 4.11595759e+01] [-1.05439360e-01 9.94425725e-01 -1.34129578e-04 -1.26501873e-01] [-3.36314345e-03 -2.21714777e-04 9.99994320e-01 -6.29599375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.826559995000004 meters 0.03310553997043683 Centerline is valid? [True, True] Translation: X:41.22, Y:-0.13, Z:-0.63 [[ 9.94094936e-01 1.08426330e-01 4.35776187e-03 4.12208420e+01] [-1.08426607e-01 9.94104442e-01 -1.73506690e-04 -1.28730102e-01] [-4.35088312e-03 -3.00015210e-04 9.99990490e-01 -6.28730973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.886559995 meters 0.03987203322299666 Centerline is valid? [True, True] Translation: X:41.28, Y:-0.12, Z:-0.63 [[ 9.93668056e-01 1.12287198e-01 3.92157120e-03 4.12810661e+01] [-1.12287449e-01 9.93675754e-01 -1.56801501e-04 -1.20883252e-01] [-3.91437702e-03 -2.84534582e-04 9.99992298e-01 -6.30517694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.946559995 meters 0.04084833301574628 Centerline is valid? [True, True] Translation: X:41.34, Y:-0.12, Z:-0.63 [[ 9.93433953e-01 1.14300468e-01 4.93811002e-03 4.13418228e+01] [-1.14300893e-01 9.93446157e-01 -1.97004824e-04 -1.20403194e-01] [-4.92826417e-03 -3.68719103e-04 9.99987788e-01 -6.30072367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.006559995 meters 0.04182950338501049 Centerline is valid? [True, True] Translation: X:41.40, Y:-0.12, Z:-0.63 [[ 9.93239269e-01 1.16037884e-01 3.31117350e-03 4.14026877e+01] [-1.16038084e-01 9.93244756e-01 -1.32063205e-04 -1.20492876e-01] [-3.30413005e-03 -2.53051869e-04 9.99994509e-01 -6.32172544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.066559995 meters 0.043159665990593406 Centerline is valid? [True, True] Translation: X:41.46, Y:-0.12, Z:-0.63 [[ 9.93036471e-01 1.17747466e-01 3.75527766e-03 4.14639987e+01] [-1.17747745e-01 9.93043527e-01 -1.47407008e-04 -1.18221484e-01] [-3.74651098e-03 -2.95794943e-04 9.99992938e-01 -6.32131871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.126559995 meters 0.04164590824742872 Centerline is valid? [True, True] Translation: X:41.53, Y:-0.12, Z:-0.63 [[ 9.93091800e-01 1.17306873e-01 2.78833156e-03 4.15258216e+01] [-1.17307027e-01 9.93095690e-01 -1.08890431e-04 -1.20406719e-01] [-2.78185365e-03 -2.18952691e-04 9.99996107e-01 -6.33831627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.186559995 meters 0.039932213729046415 Centerline is valid? [True, True] Translation: X:41.59, Y:-0.12, Z:-0.63 [[ 9.93457682e-01 1.14156175e-01 3.19392707e-03 4.15861686e+01] [-1.14156347e-01 9.93462788e-01 -1.29027438e-04 -1.23190125e-01] [-3.18777697e-03 -2.36423748e-04 9.99994891e-01 -6.33653752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.246559995 meters 0.031668709485659835 Centerline is valid? [True, True] Translation: X:41.65, Y:-0.14, Z:-0.63 [[ 9.94496564e-01 1.04735278e-01 2.66573468e-03 4.16458527e+01] [-1.04735364e-01 9.94500122e-01 -1.07710415e-04 -1.37357646e-01] [-2.66235455e-03 -1.72079054e-04 9.99996441e-01 -6.34452965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.306559995 meters 0.02684325006867297 Centerline is valid? [True, True] Translation: X:41.71, Y:-0.15, Z:-0.63 [[ 9.95656351e-01 9.30512547e-02 3.14560168e-03 4.17057886e+01] [-9.30513162e-02 9.95661306e-01 -1.27102507e-04 -1.47970777e-01] [-3.14378093e-03 -1.66151958e-04 9.99995045e-01 -6.34266597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.366559995 meters 0.0291821696750875 Centerline is valid? [True, True] Translation: X:41.77, Y:-0.15, Z:-0.64 [[ 9.96192366e-01 8.71234633e-02 3.20506162e-03 4.17657917e+01] [-8.71234961e-02 9.96197510e-01 -1.29654129e-04 -1.48413346e-01] [-3.20417032e-03 -1.50075720e-04 9.99994855e-01 -6.36494451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.426559995000005 meters 0.028435900002917985 Centerline is valid? [True, True] Translation: X:41.83, Y:-0.15, Z:-0.64 [[ 9.96546097e-01 8.29636819e-02 3.59224945e-03 4.18255462e+01] [-8.29636961e-02 9.96552560e-01 -1.45335361e-04 -1.51419496e-01] [-3.59192294e-03 -1.53192905e-04 9.99993537e-01 -6.37463688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.486559995 meters 0.02125458661971842 Centerline is valid? [True, True] Translation: X:41.89, Y:-0.16, Z:-0.64 [[ 9.96593105e-01 8.23586497e-02 4.38581519e-03 4.18874350e+01] [-8.23586774e-02 9.96602738e-01 -1.74590512e-04 -1.62833305e-01] [-4.38529447e-03 -1.87214239e-04 9.99990367e-01 -6.35524658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.546559995 meters 0.021029491262313637 Centerline is valid? [True, True] Translation: X:41.95, Y:-0.16, Z:-0.64 [[ 9.96590453e-01 8.24242062e-02 3.70389453e-03 4.19500684e+01] [-8.24242270e-02 9.96597323e-01 -1.47304940e-04 -1.63545296e-01] [-3.70343287e-03 -1.58487946e-04 9.99993130e-01 -6.37268430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.606559995000005 meters 0.020778767406931825 Centerline is valid? [True, True] Translation: X:42.01, Y:-0.17, Z:-0.64 [[ 9.96588942e-01 8.24484349e-02 3.56882822e-03 4.20133451e+01] [-8.24484512e-02 9.96595320e-01 -1.42783180e-04 -1.65431459e-01] [-3.56844976e-03 -1.51948221e-04 9.99993622e-01 -6.37567165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.666559995 meters 0.022039067251135996 Centerline is valid? [True, True] Translation: X:42.07, Y:-0.17, Z:-0.64 [[ 9.96536201e-01 8.30396048e-02 4.47473264e-03 4.20749450e+01] [-8.30396245e-02 9.96546230e-01 -1.81708880e-04 -1.65304165e-01] [-4.47436697e-03 -1.90500641e-04 9.99989972e-01 -6.38032801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.726559995 meters 0.025002955950783404 Centerline is valid? [True, True] Translation: X:42.13, Y:-0.16, Z:-0.64 [[ 9.96244396e-01 8.64826932e-02 4.22454103e-03 4.21348391e+01] [-8.64827290e-02 9.96253335e-01 -1.74558724e-04 -1.60578664e-01] [-4.22380940e-03 -1.91446687e-04 9.99991061e-01 -6.39458249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.786559995000005 meters 0.025202972049982137 Centerline is valid? [True, True] Translation: X:42.20, Y:-0.16, Z:-0.64 [[ 9.95994793e-01 8.93252440e-02 3.92087325e-03 4.21964974e+01] [-8.93252937e-02 9.96002493e-01 -1.62788667e-04 -1.60456308e-01] [-3.91974067e-03 -1.88096490e-04 9.99992300e-01 -6.40544603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.846559995 meters 0.028529801603377154 Centerline is valid? [True, True] Translation: X:42.26, Y:-0.16, Z:-0.64 [[ 9.95727064e-01 9.22842058e-02 3.35252053e-03 4.22565044e+01] [-9.22842607e-02 9.95732693e-01 -1.38653818e-04 -1.56013275e-01] [-3.35100985e-03 -1.71323519e-04 9.99994371e-01 -6.43211891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.906559995 meters 0.030057565782629622 Centerline is valid? [True, True] Translation: X:42.32, Y:-0.15, Z:-0.64 [[ 9.95491965e-01 9.47836800e-02 3.43528768e-03 4.23180944e+01] [-9.47837494e-02 9.95497876e-01 -1.42969753e-04 -1.52135565e-01] [-3.43337279e-03 -1.83284206e-04 9.99994089e-01 -6.42390279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.966559995000004 meters 0.03035474635061325 Centerline is valid? [True, True] Translation: X:42.38, Y:-0.15, Z:-0.64 [[ 9.95396791e-01 9.57862768e-02 3.19656021e-03 4.23806552e+01] [-9.57863500e-02 9.95401908e-01 -1.30533504e-04 -1.53167002e-01] [-3.19436545e-03 -1.76254204e-04 9.99994882e-01 -6.42988464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.026559995 meters 0.030092112790709523 Centerline is valid? [True, True] Translation: X:42.44, Y:-0.15, Z:-0.64 [[ 9.95267200e-01 9.71353825e-02 2.81392081e-03 4.24425913e+01] [-9.71354379e-02 9.95271166e-01 -1.17309233e-04 -1.54167828e-01] [-2.81200913e-03 -1.56577398e-04 9.99996034e-01 -6.44550098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.086559995 meters 0.029385392154814758 Centerline is valid? [True, True] Translation: X:42.50, Y:-0.15, Z:-0.64 [[ 9.95326270e-01 9.65288817e-02 2.79112026e-03 4.25044333e+01] [-9.65289396e-02 9.95330172e-01 -1.14285290e-04 -1.54781141e-01] [-2.78911804e-03 -1.55672727e-04 9.99996098e-01 -6.43660369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.146559995000004 meters 0.027252191891239372 Centerline is valid? [True, True] Translation: X:42.57, Y:-0.16, Z:-0.64 [[ 9.95347444e-01 9.63271410e-02 2.13266940e-03 4.25666766e+01] [-9.63271755e-02 9.95349721e-01 -8.67904433e-05 -1.60472955e-01] [-2.13111217e-03 -1.19047374e-04 9.99997722e-01 -6.44384783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.206559995 meters 0.028922636385931476 Centerline is valid? [True, True] Translation: X:42.63, Y:-0.16, Z:-0.65 [[ 9.95330561e-01 9.65149178e-02 1.39438520e-03 4.26301114e+01] [-9.65149348e-02 9.95331535e-01 -5.52357694e-05 -1.59791633e-01] [-1.39320664e-03 -7.96011472e-05 9.99999026e-01 -6.45552795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.266559995 meters 0.027966587010091103 Centerline is valid? [True, True] Translation: X:42.69, Y:-0.16, Z:-0.64 [[ 9.95207344e-01 9.77735024e-02 1.63874817e-03 4.26926799e+01] [-9.77735246e-02 9.95208688e-01 -6.67342408e-05 -1.56717419e-01] [-1.63742126e-03 -9.38117780e-05 9.99998655e-01 -6.42466067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.326559995000004 meters 0.027995402057601045 Centerline is valid? [True, True] Translation: X:42.76, Y:-0.16, Z:-0.64 [[ 9.95105011e-01 9.88120673e-02 1.48063639e-03 4.27550417e+01] [-9.88120867e-02 9.95106109e-01 -6.02556803e-05 -1.56956856e-01] [-1.47934431e-03 -8.63440419e-05 9.99998902e-01 -6.43397666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.386559995 meters 0.028088563506985444 Centerline is valid? [True, True] Translation: X:42.82, Y:-0.16, Z:-0.64 [[ 9.95108158e-01 9.87839036e-02 1.22213646e-03 4.28171064e+01] [-9.87839172e-02 9.95108906e-01 -4.93729105e-05 -1.58499430e-01] [-1.22103612e-03 -7.15960406e-05 9.99999252e-01 -6.43696728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.446559995 meters 0.030254066619129 Centerline is valid? [True, True] Translation: X:42.88, Y:-0.16, Z:-0.65 [[ 9.95129295e-01 9.85782432e-02 -1.26266916e-04 4.28803083e+01] [-9.85782427e-02 9.95129303e-01 9.99415280e-06 -1.59499152e-01] [ 1.26637115e-04 2.50169651e-06 9.99999992e-01 -6.48152948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.506559995 meters 0.028592717523881563 Centerline is valid? [True, True] Translation: X:42.94, Y:-0.16, Z:-0.65 [[ 9.94971109e-01 1.00162275e-01 1.01311050e-04 4.29428685e+01] [-1.00162275e-01 9.94971114e-01 -5.30432164e-07 -1.60746150e-01] [-1.00854698e-04 -9.61978057e-06 9.99999995e-01 -6.45768443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.566559995 meters 0.03307058761246453 Centerline is valid? [True, True] Translation: X:43.00, Y:-0.16, Z:-0.65 [[ 9.94782420e-01 1.02018615e-01 3.73649234e-04 4.30045906e+01] [-1.02018618e-01 9.94782490e-01 -1.29720694e-05 -1.56236198e-01] [-3.73023108e-04 -2.52147917e-05 9.99999930e-01 -6.48724811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.626559995 meters 0.03189357386633324 Centerline is valid? [True, True] Translation: X:43.07, Y:-0.16, Z:-0.65 [[ 9.94675338e-01 1.03055954e-01 6.64495413e-04 4.30665493e+01] [-1.03055960e-01 9.94675559e-01 -2.56830988e-05 -1.60677561e-01] [-6.63604143e-04 -4.29338675e-05 9.99999779e-01 -6.48928520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.686559995 meters 0.031068885491247377 Centerline is valid? [True, True] Translation: X:43.13, Y:-0.16, Z:-0.65 [[ 9.94994322e-01 9.99313725e-02 1.38940073e-04 4.31264306e+01] [-9.99313726e-02 9.94994332e-01 -6.19866057e-06 -1.63014772e-01] [-1.38864026e-04 -7.71684013e-06 9.99999990e-01 -6.49714157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.746559995 meters 0.029810096638596083 Centerline is valid? [True, True] Translation: X:43.19, Y:-0.17, Z:-0.65 [[ 9.95291064e-01 9.69313654e-02 9.48729266e-05 4.31867577e+01] [-9.69313654e-02 9.95291068e-01 -4.23265266e-06 -1.69308018e-01] [-9.48364533e-05 -4.98344095e-06 9.99999995e-01 -6.50338787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.806559995 meters 0.03060507451548905 Centerline is valid? [True, True] Translation: X:43.25, Y:-0.17, Z:-0.65 [[ 9.95559805e-01 9.41311564e-02 4.33607692e-06 4.32478234e+01] [-9.41311564e-02 9.95559805e-01 3.69925008e-07 -1.73178395e-01] [-4.28200243e-06 -7.76442401e-07 1.00000000e+00 -6.51136703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.866559995 meters 0.024643249200022668 Centerline is valid? [True, True] Translation: X:43.31, Y:-0.18, Z:-0.65 [[ 9.95936694e-01 9.00401288e-02 1.69624253e-03 4.33088972e+01] [-9.00401306e-02 9.95938135e-01 -7.54877597e-05 -1.78328802e-01] [-1.69614955e-03 -7.75488687e-05 9.99998559e-01 -6.46274521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.926559995000005 meters 0.025976908119762422 Centerline is valid? [True, True] Translation: X:43.37, Y:-0.18, Z:-0.65 [[ 9.96100640e-01 8.82221652e-02 6.03851015e-04 4.33709594e+01] [-8.82221673e-02 9.96100823e-01 -2.31554547e-05 -1.84108614e-01] [-6.03539317e-04 -3.02078821e-05 9.99999817e-01 -6.50275112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.986559995 meters 0.025292340343104385 Centerline is valid? [True, True] Translation: X:43.43, Y:-0.19, Z:-0.65 [[ 9.96473024e-01 8.39128630e-02 -3.78534700e-04 4.34320873e+01] [-8.39128625e-02 9.96473096e-01 1.72880835e-05 -1.86825055e-01] [ 3.78650337e-04 1.45368214e-05 9.99999928e-01 -6.52472132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.046559995 meters 0.023763134409974324 Centerline is valid? [True, True] Translation: X:43.49, Y:-0.19, Z:-0.65 [[ 9.96823872e-01 7.96370990e-02 -3.18571043e-04 4.34935273e+01] [-7.96370982e-02 9.96823922e-01 1.51768279e-05 -1.92919046e-01] [ 3.18767875e-04 1.02414491e-05 9.99999949e-01 -6.52356762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.106559995000005 meters 0.022942893940204923 Centerline is valid? [True, True] Translation: X:43.55, Y:-0.20, Z:-0.65 [[ 9.97349581e-01 7.27461927e-02 1.34351258e-03 4.35536392e+01] [-7.27461772e-02 9.97350485e-01 -6.05166696e-05 -1.97435973e-01] [-1.34435528e-03 -3.73791290e-05 9.99999096e-01 -6.51948986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.166559995 meters 0.020320974244164253 Centerline is valid? [True, True] Translation: X:43.61, Y:-0.21, Z:-0.65 [[ 9.98049308e-01 6.23761579e-02 2.60633312e-03 4.36141200e+01] [-6.23760646e-02 9.98052710e-01 -1.17136892e-04 -2.07398639e-01] [-2.60856438e-03 -4.56644095e-05 9.99996597e-01 -6.51567708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.226559995 meters 0.017272038837621247 Centerline is valid? [True, True] Translation: X:43.67, Y:-0.21, Z:-0.65 [[ 9.98479290e-01 5.50449462e-02 3.02671220e-03 4.36745300e+01] [-5.50447877e-02 9.98483877e-01 -1.35725137e-04 -2.14582729e-01] [-3.02959432e-03 -3.10859922e-05 9.99995410e-01 -6.51471105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.286559995000005 meters 0.019057943443862288 Centerline is valid? [True, True] Translation: X:43.74, Y:-0.23, Z:-0.65 [[ 9.99082396e-01 4.27129091e-02 3.15797513e-03 4.37360738e+01] [-4.27126832e-02 9.99087387e-01 -1.38975519e-04 -2.25669543e-01] [-3.16102917e-03 3.96240312e-06 9.99995004e-01 -6.51237378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.346559995 meters 0.018396434550178694 Centerline is valid? [True, True] Translation: X:43.80, Y:-0.23, Z:-0.65 [[ 9.99392626e-01 3.46243740e-02 3.94105099e-03 4.37964866e+01] [-3.46239453e-02 9.99400396e-01 -1.76967490e-04 -2.33499823e-01] [-3.94481531e-03 4.04052709e-05 9.99992218e-01 -6.51514029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.406559995 meters 0.020983915121369982 Centerline is valid? [True, True] Translation: X:43.86, Y:-0.24, Z:-0.65 [[ 9.99692800e-01 2.45219905e-02 3.60234704e-03 4.38573596e+01] [-2.45215618e-02 9.99699288e-01 -1.63133229e-04 -2.43323081e-01] [-3.60526413e-03 7.47479388e-05 9.99993498e-01 -6.52603816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.466559995000004 meters 0.019689467870892437 Centerline is valid? [True, True] Translation: X:43.92, Y:-0.25, Z:-0.65 [[ 9.99829290e-01 1.78293510e-02 4.84812849e-03 4.39182250e+01] [-1.78284931e-02 9.99841036e-01 -2.20106484e-04 -2.50178096e-01] [-4.85128216e-03 1.33634084e-04 9.99988224e-01 -6.51061326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.526559995 meters 0.021575640016510206 Centerline is valid? [True, True] Translation: X:43.98, Y:-0.25, Z:-0.65 [[ 9.99868837e-01 1.51674620e-02 5.67953920e-03 4.39799343e+01] [-1.51662537e-02 9.99884953e-01 -2.55756049e-04 -2.53921721e-01] [-5.68276495e-03 1.69585171e-04 9.99983839e-01 -6.52334622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.586559995 meters 0.02212303487598996 Centerline is valid? [True, True] Translation: X:44.04, Y:-0.26, Z:-0.65 [[ 9.99841985e-01 1.65079572e-02 6.59490638e-03 4.40419350e+01] [-1.65063432e-02 9.99863716e-01 -2.99088901e-04 -2.56157976e-01] [-6.59894495e-03 1.90183852e-04 9.99978209e-01 -6.52088387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.646559995000004 meters 0.019599488685716673 Centerline is valid? [True, True] Translation: X:44.10, Y:-0.25, Z:-0.65 [[ 9.99750076e-01 2.10769545e-02 7.45303599e-03 4.41038087e+01] [-2.10749920e-02 9.99777839e-01 -3.41763340e-04 -2.54944483e-01] [-7.45858355e-03 1.84605251e-04 9.99972167e-01 -6.51302075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.706559995 meters 0.016980163198246634 Centerline is valid? [True, True] Translation: X:44.16, Y:-0.25, Z:-0.65 [[ 9.99522559e-01 3.00939255e-02 7.00067815e-03 4.41649345e+01] [-3.00924081e-02 9.99547069e-01 -3.22019688e-04 -2.50464383e-01] [-7.00719816e-03 1.11198679e-04 9.99975443e-01 -6.52023697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.766559995 meters 0.017122528323506605 Centerline is valid? [True, True] Translation: X:44.23, Y:-0.25, Z:-0.65 [[ 9.99246774e-01 3.83000203e-02 6.24441385e-03 4.42252993e+01] [-3.82989726e-02 9.99266284e-01 -2.87315446e-04 -2.47702930e-01] [-6.25083641e-03 4.79443977e-05 9.99980462e-01 -6.54720794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.826559995000004 meters 0.01745969316271734 Centerline is valid? [True, True] Translation: X:44.29, Y:-0.25, Z:-0.66 [[ 9.99152888e-01 4.06799932e-02 6.21642466e-03 4.42871919e+01] [-4.06790135e-02 9.99172226e-01 -2.84016437e-04 -2.49410897e-01] [-6.22283265e-03 3.08978211e-05 9.99980638e-01 -6.56245349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.886559995 meters 0.015067855938969484 Centerline is valid? [True, True] Translation: X:44.35, Y:-0.25, Z:-0.65 [[ 9.99001649e-01 4.41424623e-02 6.86648946e-03 4.43499120e+01] [-4.41413285e-02 9.99025246e-01 -3.16656342e-04 -2.50047902e-01] [-6.87377431e-03 1.32442412e-05 9.99976375e-01 -6.54431219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.946559995 meters 0.01872507337071069 Centerline is valid? [True, True] Translation: X:44.41, Y:-0.25, Z:-0.66 [[ 9.98868559e-01 4.72752375e-02 5.16268456e-03 4.44124544e+01] [-4.72746439e-02 9.98881901e-01 -2.37008455e-04 -2.51200947e-01] [-5.16811680e-03 -7.32378078e-06 9.99986645e-01 -6.57378924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.006559995 meters 0.018108710029879547 Centerline is valid? [True, True] Translation: X:44.48, Y:-0.25, Z:-0.66 [[ 9.98775903e-01 4.91378314e-02 5.67180540e-03 4.44753069e+01] [-4.91371367e-02 9.98792007e-01 -2.61849102e-04 -2.53721159e-01] [-5.67782060e-03 -1.71677043e-05 9.99983881e-01 -6.58095033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.066559995 meters 0.016987372346636945 Centerline is valid? [True, True] Translation: X:44.54, Y:-0.26, Z:-0.66 [[ 9.98671926e-01 5.10849887e-02 6.68647269e-03 4.45369096e+01] [-5.10840472e-02 9.98694309e-01 -3.11631377e-04 -2.57307094e-01] [-6.69366191e-03 -3.03545795e-05 9.99977597e-01 -6.57648498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.126559995 meters 0.019165780074193513 Centerline is valid? [True, True] Translation: X:44.60, Y:-0.26, Z:-0.66 [[ 9.98615370e-01 5.22407614e-02 6.18438194e-03 4.45993063e+01] [-5.22399709e-02 9.98634519e-01 -2.89391987e-04 -2.60658042e-01] [-6.19105534e-03 -3.40806467e-05 9.99980835e-01 -6.59559076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.186559995 meters 0.018062354739115754 Centerline is valid? [True, True] Translation: X:44.66, Y:-0.26, Z:-0.66 [[ 9.98533980e-01 5.37616292e-02 6.29114774e-03 4.46620448e+01] [-5.37608300e-02 9.98553797e-01 -2.96210920e-04 -2.64829887e-01] [-6.29797424e-03 -4.24406548e-05 9.99980167e-01 -6.59771109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.246559995 meters 0.018772358922965377 Centerline is valid? [True, True] Translation: X:44.72, Y:-0.27, Z:-0.66 [[ 9.98385564e-01 5.65501066e-02 5.32459094e-03 4.47241528e+01] [-5.65495675e-02 9.98399761e-01 -2.51873988e-04 -2.69072617e-01] [-5.33031382e-03 -4.96359609e-05 9.99985793e-01 -6.60015816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.306559995 meters 0.018866024397557787 Centerline is valid? [True, True] Translation: X:44.79, Y:-0.27, Z:-0.66 [[ 9.98176562e-01 6.01314855e-02 5.26829373e-03 4.47850102e+01] [-6.01309996e-02 9.98190463e-01 -2.50734253e-04 -2.70356704e-01] [-5.27383758e-03 -6.65107131e-05 9.99986091e-01 -6.61050442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.366559995 meters 0.015425010973851565 Centerline is valid? [True, True] Translation: X:44.85, Y:-0.27, Z:-0.66 [[ 9.97693190e-01 6.74905689e-02 7.30212952e-03 4.48475618e+01] [-6.74897995e-02 9.97719902e-01 -3.52007991e-04 -2.69687354e-01] [-7.30923717e-03 -1.41623281e-04 9.99973277e-01 -6.57537793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.426559995000005 meters 0.0214447608947832 Centerline is valid? [True, True] Translation: X:44.91, Y:-0.27, Z:-0.66 [[ 9.97420875e-01 7.15730965e-02 5.37486998e-03 4.49091565e+01] [-7.15727476e-02 9.97435349e-01 -2.57480901e-04 -2.71923119e-01] [-5.37951402e-03 -1.27877387e-04 9.99985522e-01 -6.62754946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.486559995 meters 0.018963537777420523 Centerline is valid? [True, True] Translation: X:44.97, Y:-0.27, Z:-0.66 [[ 9.96916801e-01 7.82025198e-02 6.42319106e-03 4.49697755e+01] [-7.82021333e-02 9.96937475e-01 -3.11700020e-04 -2.73345371e-01] [-6.42789560e-03 -1.91568256e-04 9.99979323e-01 -6.60974240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.546559995 meters 0.02362398440392706 Centerline is valid? [True, True] Translation: X:45.03, Y:-0.28, Z:-0.66 [[ 9.96550123e-01 8.27950145e-02 5.73039658e-03 4.50313101e+01] [-8.27947810e-02 9.96566579e-01 -2.78370242e-04 -2.75016727e-01] [-5.73376939e-03 -1.97037031e-04 9.99983542e-01 -6.63971735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.606559995000005 meters 0.021264703802728428 Centerline is valid? [True, True] Translation: X:45.09, Y:-0.28, Z:-0.66 [[ 9.96335191e-01 8.52388671e-02 7.10797046e-03 4.50931949e+01] [-8.52385807e-02 9.96360510e-01 -3.43775868e-04 -2.79982872e-01] [-7.11140414e-03 -2.63357319e-04 9.99974679e-01 -6.61863228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.666559995 meters 0.025143435060124657 Centerline is valid? [True, True] Translation: X:45.15, Y:-0.28, Z:-0.66 [[ 9.96076233e-01 8.82845098e-02 6.16306710e-03 4.51537120e+01] [-8.82843387e-02 9.96095269e-01 -3.00355566e-04 -2.82560440e-01] [-6.16551872e-03 -2.44925262e-04 9.99980963e-01 -6.64201097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.726559995 meters 0.022968881810411564 Centerline is valid? [True, True] Translation: X:45.22, Y:-0.29, Z:-0.66 [[ 9.95748668e-01 9.18515561e-02 6.91960249e-03 4.52150477e+01] [-9.18514131e-02 9.95772666e-01 -3.39118357e-04 -2.86371836e-01] [-6.92149957e-03 -2.97898614e-04 9.99976002e-01 -6.61845748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.786559995000005 meters 0.027739471406675948 Centerline is valid? [True, True] Translation: X:45.28, Y:-0.29, Z:-0.67 [[ 9.95482469e-01 9.48090690e-02 5.08869715e-03 4.52759073e+01] [-9.48090307e-02 9.95495447e-01 -2.49307913e-04 -2.89705130e-01] [-5.08941149e-03 -2.34272787e-04 9.99987021e-01 -6.67101114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.846559995 meters 0.028688750350121753 Centerline is valid? [True, True] Translation: X:45.34, Y:-0.30, Z:-0.67 [[ 9.95358212e-01 9.61139597e-02 4.91280256e-03 4.53375284e+01] [-9.61139496e-02 9.95370309e-01 -2.38694161e-04 -2.95292456e-01] [-4.91299964e-03 -2.34602664e-04 9.99987904e-01 -6.68212507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.906559995 meters 0.02729083452461553 Centerline is valid? [True, True] Translation: X:45.40, Y:-0.30, Z:-0.67 [[ 9.95335438e-01 9.62887890e-02 5.98618176e-03 4.53992911e+01] [-9.62887632e-02 9.95353399e-01 -2.93187154e-04 -3.02483485e-01] [-5.98659700e-03 -2.84582474e-04 9.99982040e-01 -6.67426808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.966559995000004 meters 0.027409231925439564 Centerline is valid? [True, True] Translation: X:45.46, Y:-0.31, Z:-0.67 [[ 9.95395608e-01 9.56416481e-02 6.34500911e-03 4.54609750e+01] [-9.56415945e-02 9.95415786e-01 -3.12571999e-04 -3.08976754e-01] [-6.34581714e-03 -2.95713994e-04 9.99979821e-01 -6.68096500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.026559995 meters 0.027762478814622113 Centerline is valid? [True, True] Translation: X:45.52, Y:-0.32, Z:-0.67 [[ 9.95462210e-01 9.49278117e-02 6.61046931e-03 4.55230067e+01] [-9.49277257e-02 9.95484113e-01 -3.27475513e-04 -3.16415073e-01] [-6.61170371e-03 -3.01527320e-04 9.99978097e-01 -6.69110559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.086559995 meters 0.026028411600587643 Centerline is valid? [True, True] Translation: X:45.59, Y:-0.33, Z:-0.67 [[ 9.95499893e-01 9.45820324e-02 5.84831655e-03 4.55852437e+01] [-9.45819446e-02 9.95517037e-01 -2.92212859e-04 -3.26479824e-01] [-5.84973685e-03 -2.62247282e-04 9.99982856e-01 -6.69887481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.146559995000004 meters 0.025365632385708565 Centerline is valid? [True, True] Translation: X:45.65, Y:-0.33, Z:-0.67 [[ 9.95384127e-01 9.57850598e-02 5.97169103e-03 4.56467657e+01] [-9.57849961e-02 9.95402002e-01 -2.97317008e-04 -3.32951579e-01] [-5.97271174e-03 -2.76053771e-04 9.99982125e-01 -6.70396031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.206559995 meters 0.024384577625963924 Centerline is valid? [True, True] Translation: X:45.71, Y:-0.34, Z:-0.67 [[ 9.95095314e-01 9.85912829e-02 8.06691753e-03 4.57084590e+01] [-9.85912292e-02 9.95127934e-01 -4.05303878e-04 -3.36939951e-01] [-8.06757440e-03 -3.92011325e-04 9.99967380e-01 -6.67713658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.266559995 meters 0.027651226608286148 Centerline is valid? [True, True] Translation: X:45.77, Y:-0.34, Z:-0.67 [[ 9.94880849e-01 1.00779088e-01 7.46139686e-03 4.57702235e+01] [-1.00779082e-01 9.94908757e-01 -3.77736758e-04 -3.40204963e-01] [-7.46147704e-03 -3.76149659e-04 9.99972092e-01 -6.70947041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.326559995000004 meters 0.02790939851865647 Centerline is valid? [True, True] Translation: X:45.83, Y:-0.34, Z:-0.67 [[ 9.94548014e-01 1.03973467e-01 7.98541490e-03 4.58314646e+01] [-1.03973555e-01 9.94579980e-01 -4.05215170e-04 -3.42678737e-01] [-7.98426541e-03 -4.27266033e-04 9.99968034e-01 -6.70391324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.386559995 meters 0.03301115977323772 Centerline is valid? [True, True] Translation: X:45.89, Y:-0.34, Z:-0.68 [[ 9.94425030e-01 1.05229571e-01 6.75249349e-03 4.58923658e+01] [-1.05229674e-01 9.94447887e-01 -3.41049596e-04 -3.44164285e-01] [-6.75089138e-03 -3.71414432e-04 9.99977143e-01 -6.75280536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.446559995 meters 0.03172044014968983 Centerline is valid? [True, True] Translation: X:45.95, Y:-0.35, Z:-0.68 [[ 9.94221596e-01 1.07107718e-01 7.16616913e-03 4.59544177e+01] [-1.07107859e-01 9.94247340e-01 -3.65175112e-04 -3.51081004e-01] [-7.16405767e-03 -4.04488049e-04 9.99974256e-01 -6.75316538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.506559995 meters 0.03406996613078987 Centerline is valid? [True, True] Translation: X:46.02, Y:-0.35, Z:-0.68 [[ 9.93913125e-01 1.09831316e-01 8.58966787e-03 4.60154775e+01] [-1.09831612e-01 9.93950112e-01 -4.38727765e-04 -3.52173434e-01] [-8.58588739e-03 -5.07359786e-04 9.99963012e-01 -6.75378622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.566559995 meters 0.03162214718245754 Centerline is valid? [True, True] Translation: X:46.08, Y:-0.36, Z:-0.67 [[ 9.93692476e-01 1.11693726e-01 9.98870697e-03 4.60777061e+01] [-1.11694215e-01 9.93742493e-01 -5.10622583e-04 -3.58769991e-01] [-9.98323590e-03 -6.08278968e-04 9.99949981e-01 -6.74853832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.626559995 meters 0.03333095847787895 Centerline is valid? [True, True] Translation: X:46.14, Y:-0.36, Z:-0.68 [[ 9.93368545e-01 1.14513020e-01 1.02811662e-02 4.61378058e+01] [-1.14513676e-01 9.93421532e-01 -5.26761664e-04 -3.59641899e-01] [-1.02738529e-02 -6.54065668e-04 9.99947009e-01 -6.75039732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.686559995 meters 0.03425523769339491 Centerline is valid? [True, True] Translation: X:46.20, Y:-0.36, Z:-0.68 [[ 9.93096692e-01 1.16919570e-01 9.42201302e-03 4.61985868e+01] [-1.16920230e-01 9.93141192e-01 -4.82626443e-04 -3.62839692e-01] [-9.41381772e-03 -6.22329210e-04 9.99955495e-01 -6.77373593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.746559995 meters 0.03780714443205287 Centerline is valid? [True, True] Translation: X:46.26, Y:-0.36, Z:-0.68 [[ 9.92947087e-01 1.18193028e-01 9.29997776e-03 4.62594221e+01] [-1.18193726e-01 9.92990441e-01 -4.76424009e-04 -3.61416339e-01] [-9.29109902e-03 -6.26135195e-04 9.99956641e-01 -6.79486677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.806559995 meters 0.03755138517866792 Centerline is valid? [True, True] Translation: X:46.32, Y:-0.37, Z:-0.68 [[ 9.92703048e-01 1.20194406e-01 9.69347749e-03 4.63201884e+01] [-1.20195255e-01 9.92750147e-01 -4.97064288e-04 -3.65102369e-01] [-9.68294554e-03 -6.71672766e-04 9.99952894e-01 -6.79603503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.866559995 meters 0.0374794748233425 Centerline is valid? [True, True] Translation: X:46.38, Y:-0.37, Z:-0.68 [[ 9.92736692e-01 1.19784798e-01 1.12010353e-02 4.63809992e+01] [-1.19785914e-01 9.92799580e-01 -5.73638042e-04 -3.67471085e-01] [-1.11890962e-02 -7.72254710e-04 9.99937102e-01 -6.76403193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.926559995000005 meters 0.03475154514064127 Centerline is valid? [True, True] Translation: X:46.44, Y:-0.38, Z:-0.68 [[ 9.92919083e-01 1.18258149e-01 1.12562868e-02 4.64421599e+01] [-1.18259140e-01 9.92982598e-01 -5.79932421e-04 -3.76288367e-01] [-1.12458786e-02 -7.55332820e-04 9.99936478e-01 -6.78391364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.986559995 meters 0.03580353597175942 Centerline is valid? [True, True] Translation: X:46.50, Y:-0.38, Z:-0.68 [[ 9.92989653e-01 1.17751311e-01 1.03042283e-02 4.65037462e+01] [-1.17752123e-01 9.93042878e-01 -5.30014435e-04 -3.80471665e-01] [-1.02949505e-02 -6.87045914e-04 9.99946770e-01 -6.79939463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.046559995 meters 0.038034808450132476 Centerline is valid? [True, True] Translation: X:46.57, Y:-0.38, Z:-0.68 [[ 9.92870449e-01 1.18812346e-01 9.58638139e-03 4.65651337e+01] [-1.18813075e-01 9.92916516e-01 -4.95367038e-04 -3.79544287e-01] [-9.57733213e-03 -6.47152162e-04 9.99953927e-01 -6.80232667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.106559995000005 meters 0.0369315540794081 Centerline is valid? [True, True] Translation: X:46.63, Y:-0.38, Z:-0.68 [[ 9.92727842e-01 1.20057469e-01 8.81109432e-03 4.66265571e+01] [-1.20058119e-01 9.92766760e-01 -4.57030683e-04 -3.83378915e-01] [-8.80223151e-03 -6.04136327e-04 9.99961077e-01 -6.80444351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.166559995 meters 0.03578742196722934 Centerline is valid? [True, True] Translation: X:46.69, Y:-0.39, Z:-0.68 [[ 9.92756278e-01 1.19865013e-01 8.20673319e-03 4.66883814e+01] [-1.19865558e-01 9.92790041e-01 -4.27172879e-04 -3.88517686e-01] [-8.19876606e-03 -5.59626097e-04 9.99966233e-01 -6.81279482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.226559995 meters 0.03420378067228192 Centerline is valid? [True, True] Translation: X:46.75, Y:-0.40, Z:-0.68 [[ 9.92854514e-01 1.19100885e-01 7.40898362e-03 4.67498222e+01] [-1.19101298e-01 9.92882033e-01 -3.87059808e-04 -3.97557720e-01] [-7.40234588e-03 -4.98125489e-04 9.99972478e-01 -6.81980499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.286559995000005 meters 0.037633928312614466 Centerline is valid? [True, True] Translation: X:46.81, Y:-0.39, Z:-0.68 [[ 9.93043709e-01 1.17527620e-01 7.17291234e-03 4.68103318e+01] [-1.17527939e-01 9.93069504e-01 -3.78552780e-04 -3.94736611e-01] [-7.16769091e-03 -4.67098145e-04 9.99974203e-01 -6.83508685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.346559995 meters 0.033823020009360286 Centerline is valid? [True, True] Translation: X:46.87, Y:-0.40, Z:-0.68 [[ 9.93222899e-01 1.16034928e-01 6.64588028e-03 4.68709748e+01] [-1.16035168e-01 9.93245044e-01 -3.50669492e-04 -4.04210763e-01] [-6.64167756e-03 -4.22862868e-04 9.99977854e-01 -6.83917894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.406559995 meters 0.034226406460453836 Centerline is valid? [True, True] Translation: X:46.93, Y:-0.41, Z:-0.69 [[ 9.93779275e-01 1.11205974e-01 5.99867087e-03 4.69303184e+01] [-1.11206078e-01 9.93797317e-01 -3.17179413e-04 -4.09845687e-01] [-5.99673526e-03 -3.51882336e-04 9.99981958e-01 -6.85707071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.466559995000004 meters 0.03200308767004717 Centerline is valid? [True, True] Translation: X:46.99, Y:-0.42, Z:-0.68 [[ 9.94276816e-01 1.06633443e-01 6.55150670e-03 4.69900693e+01] [-1.06633469e-01 9.94298337e-01 -3.46266541e-04 -4.20317417e-01] [-6.55107581e-03 -3.54325093e-04 9.99978479e-01 -6.83639224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.526559995 meters 0.03028092068361926 Centerline is valid? [True, True] Translation: X:47.05, Y:-0.42, Z:-0.68 [[ 9.94237759e-01 1.07014909e-01 6.25195905e-03 4.70526791e+01] [-1.07014958e-01 9.94257357e-01 -3.27550338e-04 -4.24982598e-01] [-6.25110904e-03 -3.43390222e-04 9.99980403e-01 -6.81722708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.586559995 meters 0.03411701171802518 Centerline is valid? [True, True] Translation: X:47.11, Y:-0.42, Z:-0.69 [[ 9.93653254e-01 1.12445361e-01 3.04153816e-03 4.71133407e+01] [-1.12445393e-01 9.93657893e-01 -1.61041254e-04 -4.24478419e-01] [-3.04035674e-03 -1.81987786e-04 9.99995362e-01 -6.86647383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.646559995000004 meters 0.03690886330832062 Centerline is valid? [True, True] Translation: X:47.17, Y:-0.42, Z:-0.69 [[ 9.93080390e-01 1.17404966e-01 2.72266996e-03 4.71742130e+01] [-1.17405009e-01 9.93084107e-01 -1.44607182e-04 -4.22298024e-01] [-2.72081787e-03 -1.76048536e-04 9.99996283e-01 -6.87278253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.706559995 meters 0.04197275566486212 Centerline is valid? [True, True] Translation: X:47.23, Y:-0.42, Z:-0.69 [[ 9.92085322e-01 1.25536784e-01 2.68865542e-03 4.72339436e+01] [-1.25536856e-01 9.92088946e-01 -1.42722429e-04 -4.16598960e-01] [-2.68530224e-03 -1.95932521e-04 9.99996375e-01 -6.87153503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.766559995 meters 0.04125098298484814 Centerline is valid? [True, True] Translation: X:47.29, Y:-0.42, Z:-0.69 [[ 9.91520370e-01 1.29925227e-01 2.60590001e-03 4.72941995e+01] [-1.29925310e-01 9.91523774e-01 -1.38250539e-04 -4.20030901e-01] [-2.60177405e-03 -2.01494140e-04 9.99996595e-01 -6.86997363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.826559995000004 meters 0.047720559073147935 Centerline is valid? [True, True] Translation: X:47.35, Y:-0.41, Z:-0.69 [[ 9.90987361e-01 1.33920396e-01 3.06218897e-03 4.73543692e+01] [-1.33920527e-01 9.90992061e-01 -1.63037517e-04 -4.13053949e-01] [-3.05643901e-03 -2.48521842e-04 9.99995298e-01 -6.87245924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.886559995 meters 0.045231117162786265 Centerline is valid? [True, True] Translation: X:47.42, Y:-0.42, Z:-0.69 [[ 9.90282012e-01 1.39029461e-01 3.51370228e-03 4.74155494e+01] [-1.39029668e-01 9.90288199e-01 -1.86525995e-04 -4.16627456e-01] [-3.50551051e-03 -3.03795524e-04 9.99993810e-01 -6.85476689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.946559995 meters 0.048532812547670647 Centerline is valid? [True, True] Translation: X:47.48, Y:-0.41, Z:-0.69 [[ 9.89926684e-01 1.41534399e-01 3.62953734e-03 4.74769565e+01] [-1.41534636e-01 9.89933285e-01 -1.92956373e-04 -4.13817497e-01] [-3.62030979e-03 -3.22692583e-04 9.99993395e-01 -6.88556649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.006559995 meters 0.04691270743637268 Centerline is valid? [True, True] Translation: X:47.54, Y:-0.42, Z:-0.69 [[ 9.89856605e-01 1.41994759e-01 4.62493318e-03 4.75400810e+01] [-1.41995161e-01 9.89867322e-01 -2.43021090e-04 -4.17410924e-01] [-4.61257794e-03 -4.16162101e-04 9.99989275e-01 -6.88155164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.066559995 meters 0.04205865012807394 Centerline is valid? [True, True] Translation: X:47.60, Y:-0.42, Z:-0.69 [[ 9.89981044e-01 1.41022749e-01 7.07930467e-03 4.76017631e+01] [-1.41023621e-01 9.90006159e-01 -3.78435306e-04 -4.24688596e-01] [-7.06192321e-03 -6.23705397e-04 9.99974870e-01 -6.85465158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.126559995 meters 0.04425742582728078 Centerline is valid? [True, True] Translation: X:47.66, Y:-0.42, Z:-0.69 [[ 9.90128957e-01 1.39932737e-01 7.96733417e-03 4.76620676e+01] [-1.39933799e-01 9.90160770e-01 -4.26751718e-04 -4.22561219e-01] [-7.94865827e-03 -6.92360107e-04 9.99968169e-01 -6.87334494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.186559995 meters 0.0449513694059281 Centerline is valid? [True, True] Translation: X:47.72, Y:-0.42, Z:-0.69 [[ 9.90110745e-01 1.39923286e-01 1.01087517e-02 4.77245517e+01] [-1.39925006e-01 9.90161957e-01 -5.40387434e-04 -4.21420334e-01] [-1.00849142e-02 -8.79423746e-04 9.99948759e-01 -6.86762045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.246559995 meters 0.04350275434123202 Centerline is valid? [True, True] Translation: X:47.79, Y:-0.42, Z:-0.69 [[ 9.90175902e-01 1.39386039e-01 1.11002737e-02 4.77865992e+01] [-1.39388044e-01 9.90237657e-01 -5.96538430e-04 -4.22835962e-01] [-1.10750582e-02 -9.56567468e-04 9.99938212e-01 -6.87420066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.306559995 meters 0.04347068932423035 Centerline is valid? [True, True] Translation: X:47.85, Y:-0.42, Z:-0.69 [[ 9.90440285e-01 1.37272237e-01 1.35784507e-02 4.78477026e+01] [-1.37274976e-01 9.90532706e-01 -7.34548550e-04 -4.15739309e-01] [-1.35507327e-02 -1.13645502e-03 9.99907539e-01 -6.88828324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.366559995 meters 0.04379137365928985 Centerline is valid? [True, True] Translation: X:47.91, Y:-0.41, Z:-0.69 [[ 9.90345432e-01 1.37818421e-01 1.48999544e-02 4.79104518e+01] [-1.37821779e-01 9.90456717e-01 -8.06117534e-04 -4.14530592e-01] [-1.48688577e-02 -1.25520341e-03 9.99888665e-01 -6.86924386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.426559995000005 meters 0.04379137365928985 Centerline is valid? [True, True] Translation: X:47.97, Y:-0.42, Z:-0.69 [[ 9.90306383e-01 1.38098748e-01 1.48997559e-02 4.79730305e+01] [-1.38102083e-01 9.90417669e-01 -8.09768805e-04 -4.18025230e-01] [-1.48688096e-02 -1.25576811e-03 9.99888665e-01 -6.87919025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.486559995 meters 0.04453763054270903 Centerline is valid? [True, True] Translation: X:48.04, Y:-0.42, Z:-0.69 [[ 9.90263332e-01 1.38381191e-01 1.51386455e-02 4.80365036e+01] [-1.38384601e-01 9.90378220e-01 -8.27122832e-04 -4.19217684e-01] [-1.51074430e-02 -1.27588601e-03 9.99885062e-01 -6.88672436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.546559995 meters 0.045352176734074406 Centerline is valid? [True, True] Translation: X:48.10, Y:-0.42, Z:-0.69 [[ 9.90242847e-01 1.38460070e-01 1.57452355e-02 4.80982461e+01] [-1.38463696e-01 9.90367132e-01 -8.64890319e-04 -4.20116290e-01] [-1.57133165e-02 -1.32369205e-03 9.99875662e-01 -6.89449524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.606559995000005 meters 0.046482713829094024 Centerline is valid? [True, True] Translation: X:48.16, Y:-0.42, Z:-0.69 [[ 9.90213749e-01 1.38720785e-01 1.52733162e-02 4.81616834e+01] [-1.38724173e-01 9.90330699e-01 -8.42572099e-04 -4.19610321e-01] [-1.52425161e-02 -1.28445167e-03 9.99883001e-01 -6.90258581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.666559995 meters 0.047401525595163335 Centerline is valid? [True, True] Translation: X:48.22, Y:-0.42, Z:-0.69 [[ 9.90225399e-01 1.38632000e-01 1.53240578e-02 4.82237130e+01] [-1.38635334e-01 9.90343134e-01 -8.49657562e-04 -4.20754402e-01] [-1.52938652e-02 -1.28310338e-03 9.99882219e-01 -6.92554329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.726559995 meters 0.04441817763047041 Centerline is valid? [True, True] Translation: X:48.29, Y:-0.42, Z:-0.69 [[ 9.90165350e-01 1.39135600e-01 1.46240979e-02 4.82860184e+01] [-1.39138642e-01 9.90272576e-01 -8.14187233e-04 -4.23612067e-01] [-1.45951255e-02 -1.22859714e-03 9.99892731e-01 -6.92850316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.786559995000005 meters 0.04472990090934493 Centerline is valid? [True, True] Translation: X:48.35, Y:-0.42, Z:-0.69 [[ 9.89898550e-01 1.41090870e-01 1.39365515e-02 4.83475104e+01] [-1.41093774e-01 9.89995929e-01 -7.79561308e-04 -4.21725110e-01] [-1.39071182e-02 -1.19467404e-03 9.99902578e-01 -6.92397298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.846559995 meters 0.04299358793222295 Centerline is valid? [True, True] Translation: X:48.41, Y:-0.42, Z:-0.69 [[ 9.89519051e-01 1.43808063e-01 1.30877520e-02 4.84083622e+01] [-1.43810854e-01 9.89604922e-01 -7.32579345e-04 -4.19958654e-01] [-1.30570546e-02 -1.15725957e-03 9.99914083e-01 -6.92997252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.906559995 meters 0.044711046353946356 Centerline is valid? [True, True] Translation: X:48.47, Y:-0.42, Z:-0.69 [[ 9.89604003e-01 1.43249133e-01 1.27907416e-02 4.84700037e+01] [-1.43251755e-01 9.89686022e-01 -7.15680563e-04 -4.16107179e-01] [-1.27613388e-02 -1.12405583e-03 9.99917939e-01 -6.93606639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.966559995000004 meters 0.044838592454825056 Centerline is valid? [True, True] Translation: X:48.53, Y:-0.42, Z:-0.70 [[ 9.89764490e-01 1.42198406e-01 1.20775701e-02 4.85313740e+01] [-1.42200642e-01 9.89837622e-01 -6.77792039e-04 -4.19510513e-01] [-1.20512143e-02 -1.04658373e-03 9.99926834e-01 -6.98668190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.026559995 meters 0.04529999966530343 Centerline is valid? [True, True] Translation: X:48.59, Y:-0.42, Z:-0.70 [[ 9.89975456e-01 1.40640416e-01 1.29949957e-02 4.85917547e+01] [-1.40642864e-01 9.90060126e-01 -7.29844513e-04 -4.18024398e-01] [-1.29684727e-02 -1.10512525e-03 9.99915295e-01 -6.96647298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.086559995 meters 0.03905499785509024 Centerline is valid? [True, True] Translation: X:48.65, Y:-0.43, Z:-0.70 [[ 9.90389452e-01 1.37666063e-01 1.32961646e-02 4.86516434e+01] [-1.37668356e-01 9.90478100e-01 -7.47058803e-04 -4.27368797e-01] [-1.32724045e-02 -1.09058196e-03 9.99911323e-01 -6.98499524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.146559995000004 meters 0.03702032844918721 Centerline is valid? [True, True] Translation: X:48.71, Y:-0.43, Z:-0.70 [[ 9.90823400e-01 1.34497262e-01 1.33968684e-02 4.87122237e+01] [-1.34499303e-01 9.90913402e-01 -7.52637922e-04 -4.27968481e-01] [-1.33763642e-02 -1.05613820e-03 9.99909975e-01 -6.95540487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.206559995 meters 0.03946523292771013 Centerline is valid? [True, True] Translation: X:48.77, Y:-0.43, Z:-0.70 [[ 9.91144353e-01 1.32103170e-01 1.34767908e-02 4.87724768e+01] [-1.32105013e-01 9.91235437e-01 -7.57306672e-04 -4.25838667e-01] [-1.34587153e-02 -1.02975140e-03 9.99908897e-01 -6.99541525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.266559995 meters 0.038766622791780184 Centerline is valid? [True, True] Translation: X:48.83, Y:-0.43, Z:-0.70 [[ 9.91543312e-01 1.29184229e-01 1.23812246e-02 4.88328889e+01] [-1.29185558e-01 9.91620193e-01 -6.95743082e-04 -4.26304094e-01] [-1.23673513e-02 -9.09616002e-04 9.99923108e-01 -7.01904550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.326559995000004 meters 0.03898025095518043 Centerline is valid? [True, True] Translation: X:48.89, Y:-0.43, Z:-0.70 [[ 9.92001652e-01 1.25683504e-01 1.16781614e-02 4.88938067e+01] [-1.25684445e-01 9.92070053e-01 -6.56196669e-04 -4.25871949e-01] [-1.16680273e-02 -8.16815056e-04 9.99931593e-01 -7.03519383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.386559995 meters 0.033375927253628215 Centerline is valid? [True, True] Translation: X:48.95, Y:-0.43, Z:-0.70 [[ 9.92341804e-01 1.22951609e-01 1.18594043e-02 4.89548974e+01] [-1.22952384e-01 9.92412347e-01 -6.66458694e-04 -4.30770495e-01] [-1.18513614e-02 -7.96787210e-04 9.99929453e-01 -7.01176731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.446559995 meters 0.033329212119720515 Centerline is valid? [True, True] Translation: X:49.02, Y:-0.43, Z:-0.70 [[ 9.92552928e-01 1.21274921e-01 1.14489820e-02 4.90162865e+01] [-1.21275531e-01 9.92618674e-01 -6.43513291e-04 -4.31626064e-01] [-1.14425153e-02 -7.49760370e-04 9.99934251e-01 -7.02292566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.506559995 meters 0.03795478522125332 Centerline is valid? [True, True] Translation: X:49.08, Y:-0.42, Z:-0.70 [[ 9.92642715e-01 1.20572997e-01 1.10721369e-02 4.90783016e+01] [-1.20573532e-01 9.92704204e-01 -6.21699617e-04 -4.24622421e-01] [-1.10663171e-02 -7.17881054e-04 9.99938509e-01 -7.04606187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.566559995 meters 0.03691435435865183 Centerline is valid? [True, True] Translation: X:49.14, Y:-0.42, Z:-0.70 [[ 9.92554740e-01 1.21347850e-01 1.04779400e-02 4.91405936e+01] [-1.21348346e-01 9.92609808e-01 -5.90782912e-04 -4.24689906e-01] [-1.04721962e-02 -6.85096306e-04 9.99944930e-01 -7.04895431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.626559995 meters 0.0351045818498985 Centerline is valid? [True, True] Translation: X:49.20, Y:-0.43, Z:-0.71 [[ 9.92402382e-01 1.22655924e-01 9.64554851e-03 4.92032005e+01] [-1.22656375e-01 9.92449049e-01 -5.46974681e-04 -4.25102902e-01] [-9.63980512e-03 -6.40269041e-04 9.99953331e-01 -7.05216777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.686559995 meters 0.034990111230946426 Centerline is valid? [True, True] Translation: X:49.27, Y:-0.43, Z:-0.71 [[ 9.92392453e-01 1.22835266e-01 8.28956305e-03 4.92663379e+01] [-1.22835615e-01 9.92426920e-01 -4.68877443e-04 -4.27055667e-01] [-8.28438022e-03 -5.52943142e-04 9.99965531e-01 -7.06013620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.746559995 meters 0.03546013826073944 Centerline is valid? [True, True] Translation: X:49.33, Y:-0.43, Z:-0.71 [[ 9.92415298e-01 1.22719222e-01 7.20200841e-03 4.93281780e+01] [-1.22719470e-01 9.92441315e-01 -4.09170656e-04 -4.26097743e-01] [-7.19778380e-03 -4.77759435e-04 9.99973981e-01 -7.07169224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.806559995 meters 0.03432883134255637 Centerline is valid? [True, True] Translation: X:49.39, Y:-0.43, Z:-0.71 [[ 9.92521913e-01 1.21874889e-01 6.83836906e-03 4.93903928e+01] [-1.21875082e-01 9.92545370e-01 -3.90037135e-04 -4.26519052e-01] [-6.83492728e-03 -4.46306389e-04 9.99976542e-01 -7.06784962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.866559995 meters 0.03236129277582658 Centerline is valid? [True, True] Translation: X:49.45, Y:-0.43, Z:-0.71 [[ 9.92889167e-01 1.18894034e-01 5.94230041e-03 4.94508083e+01] [-1.18894106e-01 9.92906881e-01 -3.42384581e-04 -4.31422562e-01] [-5.94085845e-03 -3.66554554e-04 9.99982286e-01 -7.08351519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.926559995000005 meters 0.03363093965684285 Centerline is valid? [True, True] Translation: X:49.51, Y:-0.43, Z:-0.71 [[ 9.93180655e-01 1.16436392e-01 5.89509075e-03 4.95109618e+01] [-1.16436426e-01 9.93198089e-01 -3.38590497e-04 -4.31596141e-01] [-5.89441712e-03 -3.50121769e-04 9.99982566e-01 -7.09532656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.986559995 meters 0.028661823739706105 Centerline is valid? [True, True] Translation: X:49.57, Y:-0.44, Z:-0.71 [[ 9.93496971e-01 1.13634560e-01 7.13833602e-03 4.95718207e+01] [-1.13634524e-01 9.93522534e-01 -4.11911203e-04 -4.38224851e-01] [-7.13890504e-03 -4.01928887e-04 9.99974437e-01 -7.06982540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.046559995 meters 0.028745923527339432 Centerline is valid? [True, True] Translation: X:49.63, Y:-0.44, Z:-0.71 [[ 9.93664195e-01 1.12198581e-01 6.55337896e-03 4.96342483e+01] [-1.12198524e-01 9.93685739e-01 -3.77580544e-04 -4.41003677e-01] [-6.55436322e-03 -3.60091177e-04 9.99978455e-01 -7.08820269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.106559995000005 meters 0.02774680017770821 Centerline is valid? [True, True] Translation: X:49.70, Y:-0.44, Z:-0.71 [[ 9.93749811e-01 1.11442159e-01 6.47744415e-03 4.96958975e+01] [-1.11442093e-01 9.93770860e-01 -3.72221970e-04 -4.44906207e-01] [-6.47857646e-03 -3.51964424e-04 9.99978952e-01 -7.10150155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.166559995 meters 0.029586069718883896 Centerline is valid? [True, True] Translation: X:49.76, Y:-0.45, Z:-0.71 [[ 9.93817257e-01 1.10877470e-01 5.78335245e-03 4.97566609e+01] [-1.10877401e-01 9.93834036e-01 -3.33609962e-04 -4.45954996e-01] [-5.78468234e-03 -3.09695750e-04 9.99983221e-01 -7.12832183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.226559995 meters 0.02660313624142469 Centerline is valid? [True, True] Translation: X:49.82, Y:-0.45, Z:-0.71 [[ 9.93733612e-01 1.11557973e-01 6.95179164e-03 4.98191791e+01] [-1.11557876e-01 9.93757857e-01 -4.02900496e-04 -4.49652970e-01] [-6.95334432e-03 -3.75151344e-04 9.99975755e-01 -7.08687862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.286559995000005 meters 0.03224791963215685 Centerline is valid? [True, True] Translation: X:49.88, Y:-0.45, Z:-0.71 [[ 9.93585917e-01 1.12940889e-01 5.60185742e-03 4.98807296e+01] [-1.12940840e-01 9.93601661e-01 -3.25997111e-04 -4.47926351e-01] [-5.60283324e-03 -3.08772346e-04 9.99984256e-01 -7.14052649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.346559995 meters 0.02953933115912324 Centerline is valid? [True, True] Translation: X:49.94, Y:-0.45, Z:-0.71 [[ 9.93448962e-01 1.14053197e-01 7.14336719e-03 4.99426193e+01] [-1.14053128e-01 9.93474564e-01 -4.18234042e-04 -4.51654123e-01] [-7.14445453e-03 -3.99229200e-04 9.99974398e-01 -7.11083425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.406559995 meters 0.032429965372451824 Centerline is valid? [True, True] Translation: X:50.00, Y:-0.45, Z:-0.71 [[ 9.93247163e-01 1.15850957e-01 6.21517337e-03 5.00035445e+01] [-1.15850927e-01 9.93266545e-01 -3.66120917e-04 -4.52203481e-01] [-6.21573923e-03 -3.56385033e-04 9.99980619e-01 -7.13808361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.466559995000004 meters 0.03236606706791378 Centerline is valid? [True, True] Translation: X:50.07, Y:-0.46, Z:-0.71 [[ 9.93150550e-01 1.16625734e-01 7.10090487e-03 5.00652090e+01] [-1.16625713e-01 9.93175849e-01 -4.18401017e-04 -4.55599516e-01] [-7.10124355e-03 -4.12612893e-04 9.99974701e-01 -7.11718697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.526559995 meters 0.032761805260586196 Centerline is valid? [True, True] Translation: X:50.13, Y:-0.46, Z:-0.71 [[ 9.93104621e-01 1.17023614e-01 6.97746527e-03 5.01280082e+01] [-1.17023595e-01 9.93129049e-01 -4.12443932e-04 -4.59163301e-01] [-6.97778913e-03 -4.06928094e-04 9.99975572e-01 -7.12381976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.586559995 meters 0.03626616178288649 Centerline is valid? [True, True] Translation: X:50.19, Y:-0.46, Z:-0.72 [[ 9.93044920e-01 1.17596430e-01 5.73288036e-03 5.01896048e+01] [-1.17596419e-01 9.93061411e-01 -3.40223280e-04 -4.61428055e-01] [-5.73311131e-03 -3.36309202e-04 9.99983509e-01 -7.17797433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.646559995000004 meters 0.027694713325998058 Centerline is valid? [True, True] Translation: X:50.25, Y:-0.48, Z:-0.71 [[ 9.93046752e-01 1.17464625e-01 7.75951380e-03 5.02511584e+01] [-1.17464580e-01 9.93076965e-01 -4.63136323e-04 -4.76346564e-01] [-7.76019654e-03 -4.51552005e-04 9.99969787e-01 -7.12601133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.706559995 meters 0.028814671950696327 Centerline is valid? [True, True] Translation: X:50.31, Y:-0.48, Z:-0.71 [[ 9.93015825e-01 1.17697109e-01 8.18304174e-03 5.03142850e+01] [-1.17697050e-01 9.93049427e-01 -4.90473771e-04 -4.81463603e-01] [-8.18389226e-03 -4.76071655e-04 9.99966398e-01 -7.14121644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.766559995 meters 0.03188867841489802 Centerline is valid? [True, True] Translation: X:50.38, Y:-0.48, Z:-0.72 [[ 9.92920428e-01 1.18530627e-01 7.71455399e-03 5.03755994e+01] [-1.18530581e-01 9.92950294e-01 -4.64821621e-04 -4.84126265e-01] [-7.71526425e-03 -4.52879681e-04 9.99970134e-01 -7.18413618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.826559995000004 meters 0.029924527722371266 Centerline is valid? [True, True] Translation: X:50.44, Y:-0.49, Z:-0.72 [[ 9.92808819e-01 1.19421265e-01 8.31928267e-03 5.04368790e+01] [-1.19421225e-01 9.92843551e-01 -5.03419402e-04 -4.92010721e-01] [-8.31986513e-03 -4.93699704e-04 9.99965267e-01 -7.18513396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.886559995 meters 0.03021399232402593 Centerline is valid? [True, True] Translation: X:50.50, Y:-0.50, Z:-0.72 [[ 9.92619263e-01 1.20945773e-01 8.89485259e-03 5.04985294e+01] [-1.20945757e-01 9.92658970e-01 -5.41709745e-04 -5.00132319e-01] [-8.89507271e-03 -5.38083153e-04 9.99960293e-01 -7.19799281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.946559995 meters 0.030523775745124493 Centerline is valid? [True, True] Translation: X:50.56, Y:-0.50, Z:-0.72 [[ 9.92164803e-01 1.24458289e-01 1.09150058e-02 5.05595635e+01] [-1.24458462e-01 9.92224595e-01 -6.66068333e-04 -5.04975504e-01] [-1.09130350e-02 -6.97615286e-04 9.99940208e-01 -7.17187510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.006559995 meters 0.031671244134112694 Centerline is valid? [True, True] Translation: X:50.62, Y:-0.51, Z:-0.72 [[ 9.91854499e-01 1.26954298e-01 1.03565540e-02 5.06209376e+01] [-1.26954588e-01 9.91908329e-01 -6.32063630e-04 -5.09006317e-01] [-1.03529954e-02 -6.87896896e-04 9.99946170e-01 -7.18918414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.066559995 meters 0.03359247550619069 Centerline is valid? [True, True] Translation: X:50.68, Y:-0.52, Z:-0.72 [[ 9.91495314e-01 1.29789288e-01 9.58031831e-03 5.06818541e+01] [-1.29789665e-01 9.91541376e-01 -5.84991742e-04 -5.15824488e-01] [-9.57520767e-03 -6.63409732e-04 9.99953937e-01 -7.23383053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.126559995 meters 0.035564773494589565 Centerline is valid? [True, True] Translation: X:50.74, Y:-0.52, Z:-0.72 [[ 9.91133476e-01 1.32467678e-01 1.03318960e-02 5.07424272e+01] [-1.32468256e-01 9.91187047e-01 -6.31408539e-04 -5.21168041e-01] [-1.03244827e-02 -7.42838103e-04 9.99946425e-01 -7.24099752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.186559995 meters 0.03507419959966195 Centerline is valid? [True, True] Translation: X:50.80, Y:-0.53, Z:-0.72 [[ 9.90908941e-01 1.33954828e-01 1.24729783e-02 5.08039959e+01] [-1.33955793e-01 9.90987016e-01 -7.61815836e-04 -5.26537237e-01] [-1.24626085e-02 -9.15937578e-04 9.99921919e-01 -7.20746962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.246559995 meters 0.03740822089523943 Centerline is valid? [True, True] Translation: X:50.87, Y:-0.53, Z:-0.72 [[ 9.90800738e-01 1.34830320e-01 1.16052428e-02 5.08660473e+01] [-1.34831187e-01 9.90868329e-01 -7.11220826e-04 -5.30791187e-01] [-1.15951617e-02 -8.60070542e-04 9.99932404e-01 -7.24524164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.306559995 meters 0.037515950023076436 Centerline is valid? [True, True] Translation: X:50.93, Y:-0.54, Z:-0.72 [[ 9.90788883e-01 1.34834531e-01 1.25315243e-02 5.09276916e+01] [-1.34835500e-01 9.90867697e-01 -7.71442532e-04 -5.36455004e-01] [-1.25210997e-02 -9.25357658e-04 9.99921180e-01 -7.23275922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.366559995 meters 0.03927582972193838 Centerline is valid? [True, True] Translation: X:50.99, Y:-0.54, Z:-0.73 [[ 9.91070762e-01 1.32763078e-01 1.23576222e-02 5.09881662e+01] [-1.32763813e-01 9.91147409e-01 -7.64480515e-04 -5.42620855e-01] [-1.23497200e-02 -8.82990758e-04 9.99923349e-01 -7.26115658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.426559995 meters 0.036533282334354086 Centerline is valid? [True, True] Translation: X:51.05, Y:-0.56, Z:-0.73 [[ 9.91285412e-01 1.31267164e-01 1.10527675e-02 5.10492151e+01] [-1.31267657e-01 9.91346728e-01 -6.83992180e-04 -5.56081107e-01] [-1.10469106e-02 -7.72839419e-04 9.99938682e-01 -7.29190518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.486559995 meters 0.036502402341045105 Centerline is valid? [True, True] Translation: X:51.11, Y:-0.56, Z:-0.73 [[ 9.91385147e-01 1.30462300e-01 1.16223228e-02 5.11105171e+01] [-1.30462792e-01 9.91452945e-01 -7.19099551e-04 -5.62962956e-01] [-1.16168015e-02 -8.03376064e-04 9.99932200e-01 -7.29387847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.546559995 meters 0.03508504542457013 Centerline is valid? [True, True] Translation: X:51.17, Y:-0.57, Z:-0.73 [[ 9.91270911e-01 1.31174704e-01 1.32354533e-02 5.11725835e+01] [-1.31175355e-01 9.91358840e-01 -8.22738361e-04 -5.69708411e-01] [-1.32290061e-02 -9.20608678e-04 9.99912069e-01 -7.26926478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.606559995000005 meters 0.035050074719618025 Centerline is valid? [True, True] Translation: X:51.24, Y:-0.58, Z:-0.73 [[ 9.91220462e-01 1.31559379e-01 1.31956287e-02 5.12350281e+01] [-1.31560018e-01 9.91307865e-01 -8.23437182e-04 -5.76833321e-01] [-1.31892614e-02 -9.19809364e-04 9.99912595e-01 -7.28123971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.666559995 meters 0.033500936451817634 Centerline is valid? [True, True] Translation: X:51.30, Y:-0.59, Z:-0.73 [[ 9.91213004e-01 1.31551524e-01 1.38194272e-02 5.12969575e+01] [-1.31552165e-01 9.91308871e-01 -8.66580762e-04 -5.86315518e-01] [-1.38133208e-02 -9.59009457e-04 9.99904132e-01 -7.28525336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.726559995 meters 0.03308602726968652 Centerline is valid? [True, True] Translation: X:51.36, Y:-0.59, Z:-0.73 [[ 9.91150298e-01 1.32020043e-01 1.38490269e-02 5.13586305e+01] [-1.32020684e-01 9.91246578e-01 -8.71945264e-04 -5.91967823e-01] [-1.38429148e-02 -9.64129199e-04 9.99903717e-01 -7.28959146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.786559995000005 meters 0.03296429534830138 Centerline is valid? [True, True] Translation: X:51.42, Y:-0.60, Z:-0.73 [[ 9.90987957e-01 1.33200198e-01 1.41624874e-02 5.14208241e+01] [-1.33200936e-01 9.91088648e-01 -8.95374319e-04 -5.98646661e-01] [-1.41555446e-02 -9.99151417e-04 9.99899306e-01 -7.30025601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.846559995 meters 0.03415217982724186 Centerline is valid? [True, True] Translation: X:51.48, Y:-0.60, Z:-0.73 [[ 9.91035815e-01 1.32861387e-01 1.39951843e-02 5.14828127e+01] [-1.32862025e-01 9.91134145e-01 -8.88339276e-04 -6.04908297e-01] [-1.39891310e-02 -9.79052487e-04 9.99901668e-01 -7.31315599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.906559995 meters 0.033564779473186056 Centerline is valid? [True, True] Translation: X:51.54, Y:-0.61, Z:-0.73 [[ 9.91220061e-01 1.31410796e-01 1.46285000e-02 5.15438973e+01] [-1.31411275e-01 9.91327497e-01 -9.32664912e-04 -6.14116557e-01] [-1.46241965e-02 -9.97873666e-04 9.99892563e-01 -7.31509542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.966559995000004 meters 0.03420957334129204 Centerline is valid? [True, True] Translation: X:51.61, Y:-0.62, Z:-0.73 [[ 9.91141740e-01 1.31924939e-01 1.52925252e-02 5.16060172e+01] [-1.31925516e-01 9.91259152e-01 -9.75467529e-04 -6.19649038e-01] [-1.52875440e-02 -1.05064770e-03 9.99882587e-01 -7.31851642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.026559995 meters 0.037227711530078075 Centerline is valid? [True, True] Translation: X:51.67, Y:-0.62, Z:-0.73 [[ 9.91049349e-01 1.32716366e-01 1.44067100e-02 5.16665716e+01] [-1.32716908e-01 9.91153556e-01 -9.22645234e-04 -6.22364018e-01] [-1.44017120e-02 -9.97627049e-04 9.99895792e-01 -7.34700938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.086559995 meters 0.038335308479820425 Centerline is valid? [True, True] Translation: X:51.73, Y:-0.63, Z:-0.74 [[ 9.90961088e-01 1.33318185e-01 1.49125528e-02 5.17286402e+01] [-1.33318829e-01 9.91072741e-01 -9.55400754e-04 -6.26968105e-01] [-1.49067969e-02 -1.04135911e-03 9.99888345e-01 -7.35103233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.146559995000004 meters 0.034184834341622956 Centerline is valid? [True, True] Translation: X:51.79, Y:-0.64, Z:-0.74 [[ 9.90975122e-01 1.33362826e-01 1.35153160e-02 5.17899677e+01] [-1.33363320e-01 9.91066834e-01 -8.68764527e-04 -6.40985966e-01] [-1.35104424e-02 -9.41523383e-04 9.99908287e-01 -7.37196386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.206559995 meters 0.033741182362307096 Centerline is valid? [True, True] Translation: X:51.85, Y:-0.65, Z:-0.74 [[ 9.90907163e-01 1.33681872e-01 1.52364932e-02 5.18531855e+01] [-1.33682471e-01 9.91023728e-01 -9.83770163e-04 -6.46523098e-01] [-1.52312386e-02 -1.06202716e-03 9.99883434e-01 -7.35813047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.266559995 meters 0.03323645104976007 Centerline is valid? [True, True] Translation: X:51.91, Y:-0.66, Z:-0.74 [[ 9.90912175e-01 1.33646562e-01 1.52203167e-02 5.19149465e+01] [-1.33647088e-01 9.91028497e-01 -9.87138064e-04 -6.55161932e-01] [-1.52156951e-02 -1.05598387e-03 9.99883677e-01 -7.36570052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.326559995000004 meters 0.033344873796013724 Centerline is valid? [True, True] Translation: X:51.98, Y:-0.66, Z:-0.74 [[ 9.91061660e-01 1.32877293e-01 1.18495203e-02 5.19771101e+01] [-1.32877524e-01 9.91132165e-01 -7.71274826e-04 -6.64113447e-01] [-1.18469256e-02 -8.10154018e-04 9.99929495e-01 -7.40756105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.386559995 meters 0.03620174781737984 Centerline is valid? [True, True] Translation: X:52.04, Y:-0.67, Z:-0.74 [[ 9.91158836e-01 1.32175226e-01 1.15702640e-02 5.20383618e+01] [-1.32175394e-01 9.91226058e-01 -7.53519836e-04 -6.67631641e-01] [-1.15683438e-02 -7.82446358e-04 9.99932778e-01 -7.42593352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.446559995 meters 0.03319001186104042 Centerline is valid? [True, True] Translation: X:52.10, Y:-0.68, Z:-0.74 [[ 9.91113535e-01 1.32412115e-01 1.26882901e-02 5.21009146e+01] [-1.32412296e-01 9.91194378e-01 -8.29492158e-04 -6.76143927e-01] [-1.26863966e-02 -8.57964719e-04 9.99919156e-01 -7.40995798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.506559995 meters 0.03438970866958408 Centerline is valid? [True, True] Translation: X:52.16, Y:-0.68, Z:-0.74 [[ 9.91199483e-01 1.31836303e-01 1.19488270e-02 5.21621990e+01] [-1.31836383e-01 9.91271180e-01 -7.84471776e-04 -6.83244822e-01] [-1.19479497e-02 -7.97722115e-04 9.99928302e-01 -7.41454432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.566559995 meters 0.03067494579349741 Centerline is valid? [True, True] Translation: X:52.22, Y:-0.69, Z:-0.74 [[ 9.91125817e-01 1.32390535e-01 1.19315318e-02 5.22241637e+01] [-1.32390620e-01 9.91197309e-01 -7.86235602e-04 -6.94920279e-01] [-1.19305924e-02 -8.00364485e-04 9.99928508e-01 -7.41436333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.626559995 meters 0.03183625055459445 Centerline is valid? [True, True] Translation: X:52.29, Y:-0.70, Z:-0.74 [[ 9.90923970e-01 1.33927304e-01 1.15396383e-02 5.22861654e+01] [-1.33927445e-01 9.90990845e-01 -7.64038003e-04 -6.99880445e-01] [-1.15380015e-02 -7.88370711e-04 9.99933124e-01 -7.42645376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.686559995 meters 0.034091729425291255 Centerline is valid? [True, True] Translation: X:52.35, Y:-0.70, Z:-0.74 [[ 9.90820083e-01 1.34724139e-01 1.11789357e-02 5.23473208e+01] [-1.34724322e-01 9.90882843e-01 -7.40194857e-04 -7.03854424e-01] [-1.11767377e-02 -7.72674602e-04 9.99937240e-01 -7.44027340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.746559995 meters 0.03500532916160967 Centerline is valid? [True, True] Translation: X:52.41, Y:-0.71, Z:-0.74 [[ 9.90824713e-01 1.34703721e-01 1.10134577e-02 5.24097468e+01] [-1.34703864e-01 9.90885631e-01 -7.32236516e-04 -7.09172597e-01] [-1.10117120e-02 -7.58037276e-04 9.99939082e-01 -7.44955562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.806559995 meters 0.03639822122974796 Centerline is valid? [True, True] Translation: X:52.47, Y:-0.72, Z:-0.75 [[ 9.90826222e-01 1.34718071e-01 1.06976220e-02 5.24720790e+01] [-1.34718197e-01 9.90883697e-01 -7.12050048e-04 -7.15029946e-01] [-1.06960252e-02 -7.35646487e-04 9.99942525e-01 -7.45552228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.866559995 meters 0.03556996542014014 Centerline is valid? [True, True] Translation: X:52.53, Y:-0.72, Z:-0.75 [[ 9.90941793e-01 1.33890129e-01 1.03825086e-02 5.25336214e+01] [-1.33890178e-01 9.90995933e-01 -6.93485712e-04 -7.24221406e-01] [-1.03818747e-02 -7.02911953e-04 9.99945860e-01 -7.47436226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.926559995 meters 0.03778348035012788 Centerline is valid? [True, True] Translation: X:52.60, Y:-0.73, Z:-0.75 [[ 9.90887204e-01 1.34387264e-01 9.08908528e-03 5.25955005e+01] [-1.34387306e-01 9.90928696e-01 -6.08840670e-04 -7.30304264e-01] [-9.08845586e-03 -6.18165256e-04 9.99958508e-01 -7.52196972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.986559995 meters 0.0366802648046278 Centerline is valid? [True, True] Translation: X:52.66, Y:-0.73, Z:-0.75 [[ 9.90723815e-01 1.35568968e-01 9.34753205e-03 5.26574888e+01] [-1.35569032e-01 9.90767703e-01 -6.29695245e-04 -7.34149356e-01] [-9.34659999e-03 -6.43381797e-04 9.99956113e-01 -7.50005505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.046559995 meters 0.03475018758511294 Centerline is valid? [True, True] Translation: X:52.72, Y:-0.74, Z:-0.75 [[ 9.90500174e-01 1.37214866e-01 9.02700049e-03 5.27187583e+01] [-1.37214999e-01 9.90541102e-01 -6.07590333e-04 -7.41546016e-01] [-9.02498544e-03 -6.36821532e-04 9.99959071e-01 -7.51092051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.106559995000005 meters 0.03513910918808176 Centerline is valid? [True, True] Translation: X:52.78, Y:-0.75, Z:-0.75 [[ 9.90251534e-01 1.38983964e-01 9.23893291e-03 5.27800393e+01] [-1.38984159e-01 9.90294408e-01 -6.24083131e-04 -7.46888549e-01] [-9.23600114e-03 -6.66066039e-04 9.99957125e-01 -7.51673675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.166559995 meters 0.0357917133785115 Centerline is valid? [True, True] Translation: X:52.84, Y:-0.75, Z:-0.75 [[ 9.90442004e-01 1.37602135e-01 9.50201255e-03 5.28414701e+01] [-1.37602245e-01 9.90487358e-01 -6.45309627e-04 -7.52690060e-01] [-9.50041929e-03 -6.68356501e-04 9.99954647e-01 -7.53918132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.226559995 meters 0.033134485954567965 Centerline is valid? [True, True] Translation: X:52.90, Y:-0.76, Z:-0.75 [[ 9.90825404e-01 1.34811003e-01 9.54002074e-03 5.29014011e+01] [-1.34810977e-01 9.90871122e-01 -6.48739802e-04 -7.61920168e-01] [-9.54038832e-03 -6.43311638e-04 9.99954283e-01 -7.53733114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.286559995000005 meters 0.03184461186561873 Centerline is valid? [True, True] Translation: X:52.96, Y:-0.77, Z:-0.76 [[ 9.91376448e-01 1.30704619e-01 9.43617717e-03 5.29613486e+01] [-1.30704409e-01 9.91421175e-01 -6.41622014e-04 -7.71866317e-01] [-9.43908881e-03 -5.97261009e-04 9.99955272e-01 -7.58051557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.346559995 meters 0.028993009985115586 Centerline is valid? [True, True] Translation: X:53.02, Y:-0.78, Z:-0.76 [[ 9.91784633e-01 1.27578306e-01 9.32835079e-03 5.30216094e+01] [-1.27577962e-01 9.91828343e-01 -6.34278210e-04 -7.79985374e-01] [-9.33304285e-03 -5.61024605e-04 9.99956289e-01 -7.55153620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.406559995 meters 0.02991912319835424 Centerline is valid? [True, True] Translation: X:53.08, Y:-0.79, Z:-0.76 [[ 9.92304875e-01 1.23484249e-01 9.09257409e-03 5.30810467e+01] [-1.23483749e-01 9.92346402e-01 -6.18606168e-04 -7.86666234e-01] [-9.09937130e-03 -5.08939216e-04 9.99958470e-01 -7.59081973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.466559995000004 meters 0.030349894116354303 Centerline is valid? [True, True] Translation: X:53.14, Y:-0.79, Z:-0.76 [[ 9.92582884e-01 1.21218826e-01 9.23115786e-03 5.31411591e+01] [-1.21218218e-01 9.92625685e-01 -6.27334663e-04 -7.91154428e-01] [-9.23912916e-03 -4.96302861e-04 9.99957195e-01 -7.60012086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.526559995 meters 0.029658832872214526 Centerline is valid? [True, True] Translation: X:53.20, Y:-0.80, Z:-0.76 [[ 9.92590393e-01 1.21108003e-01 9.85711013e-03 5.32032284e+01] [-1.21107301e-01 9.92639195e-01 -6.70210239e-04 -7.95644523e-01] [-9.86572169e-03 -5.28523762e-04 9.99951193e-01 -7.58582525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.586559995 meters 0.030071396435003294 Centerline is valid? [True, True] Translation: X:53.27, Y:-0.80, Z:-0.76 [[ 9.92705523e-01 1.20230067e-01 8.97083889e-03 5.32655189e+01] [-1.20229427e-01 9.92745944e-01 -6.12516940e-04 -8.01190259e-01] [-8.97940688e-03 -4.70509875e-04 9.99959574e-01 -7.62565809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.646559995000004 meters 0.02825246500419629 Centerline is valid? [True, True] Translation: X:53.33, Y:-0.81, Z:-0.76 [[ 9.92743235e-01 1.19889608e-01 9.34613180e-03 5.33268504e+01] [-1.19888894e-01 9.92787110e-01 -6.38702808e-04 -8.08559409e-01] [-9.35529301e-03 -4.86429511e-04 9.99956120e-01 -7.63972283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.706559995 meters 0.0259913606859285 Centerline is valid? [True, True] Translation: X:53.39, Y:-0.81, Z:-0.76 [[ 9.92585458e-01 1.21203871e-01 9.15040749e-03 5.33886159e+01] [-1.21203222e-01 9.92627516e-01 -6.27486270e-04 -8.14431308e-01] [-9.15900002e-03 -4.86225127e-04 9.99957937e-01 -7.62899821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.766559995 meters 0.02704468028591893 Centerline is valid? [True, True] Translation: X:53.45, Y:-0.82, Z:-0.77 [[ 9.92353939e-01 1.23068248e-01 9.37367572e-03 5.34505478e+01] [-1.23067616e-01 9.92398077e-01 -6.46424885e-04 -8.17391092e-01] [-9.38197214e-03 -5.12113645e-04 9.99955857e-01 -7.65893389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.826559995000004 meters 0.030611733415595727 Centerline is valid? [True, True] Translation: X:53.51, Y:-0.82, Z:-0.77 [[ 9.92105281e-01 1.24971588e-01 1.04504877e-02 5.35119812e+01] [-1.24970907e-01 9.92160145e-01 -7.20721573e-04 -8.18293525e-01] [-1.04586271e-02 -5.90975245e-04 9.99945132e-01 -7.68150698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.886559995 meters 0.028032343952548812 Centerline is valid? [True, True] Translation: X:53.57, Y:-0.82, Z:-0.77 [[ 9.91909793e-01 1.26506990e-01 1.05330238e-02 5.35741518e+01] [-1.26506349e-01 9.91965529e-01 -7.29737743e-04 -8.23984358e-01] [-1.05407134e-02 -6.08660369e-04 9.99944260e-01 -7.66137429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.946559995 meters 0.03003906183812446 Centerline is valid? [True, True] Translation: X:53.63, Y:-0.83, Z:-0.77 [[ 9.91989764e-01 1.25952392e-01 9.60747874e-03 5.36347378e+01] [-1.25951832e-01 9.92036135e-01 -6.65773595e-04 -8.27476924e-01] [-9.61482185e-03 -5.49638956e-04 9.99953625e-01 -7.70918336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.006559995 meters 0.03047105999187591 Centerline is valid? [True, True] Translation: X:53.69, Y:-0.84, Z:-0.77 [[ 9.92579038e-01 1.21307101e-01 8.45220333e-03 5.36940318e+01] [-1.21306482e-01 9.92614926e-01 -5.87753908e-04 -8.36783277e-01] [-8.46108191e-03 -4.41914839e-04 9.99964107e-01 -7.74473190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.066559995 meters 0.027982363276432543 Centerline is valid? [True, True] Translation: X:53.76, Y:-0.85, Z:-0.77 [[ 9.92827835e-01 1.19112534e-01 1.02515751e-02 5.37552431e+01] [-1.19111512e-01 9.92880627e-01 -7.12459121e-04 -8.46123048e-01] [-1.02634532e-02 -5.13731364e-04 9.99947197e-01 -7.72108161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.126559995 meters 0.03062403451933415 Centerline is valid? [True, True] Translation: X:53.82, Y:-0.85, Z:-0.78 [[ 9.92950700e-01 1.18170440e-01 9.20083399e-03 5.38164368e+01] [-1.18169584e-01 9.92993223e-01 -6.38600393e-04 -8.52256108e-01] [-9.21182949e-03 -4.53160015e-04 9.99957468e-01 -7.76108118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.186559995 meters 0.03306914343516267 Centerline is valid? [True, True] Translation: X:53.88, Y:-0.86, Z:-0.78 [[ 9.92820324e-01 1.19182788e-01 1.01620653e-02 5.38777564e+01] [-1.19181761e-01 9.92872200e-01 -7.08761184e-04 -8.56484176e-01] [-1.01741042e-02 -5.07460330e-04 9.99948114e-01 -7.77501771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.246559995 meters 0.027480303267761918 Centerline is valid? [True, True] Translation: X:53.94, Y:-0.87, Z:-0.77 [[ 9.92179670e-01 1.24141519e-01 1.29763644e-02 5.39384606e+01] [-1.24140235e-01 9.92264268e-01 -9.07509139e-04 -8.65648441e-01] [-1.29886422e-02 -7.10476801e-04 9.99915392e-01 -7.74487748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.306559995 meters 0.03185538018295923 Centerline is valid? [True, True] Translation: X:54.00, Y:-0.86, Z:-0.78 [[ 9.91432385e-01 1.29892324e-01 1.37771253e-02 5.39990440e+01] [-1.29891426e-01 9.91527755e-01 -9.63794750e-04 -8.63078555e-01] [-1.37855917e-02 -8.33993127e-04 9.99904626e-01 -7.76344813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.366559995 meters 0.031980815121493415 Centerline is valid? [True, True] Translation: X:54.06, Y:-0.87, Z:-0.78 [[ 9.91129362e-01 1.32108160e-01 1.44921113e-02 5.40604624e+01] [-1.32107406e-01 9.91234889e-01 -1.01353853e-03 -8.66619281e-01] [-1.44989831e-02 -9.09967442e-04 9.99894470e-01 -7.77036618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.426559995 meters 0.03442510446141435 Centerline is valid? [True, True] Translation: X:54.12, Y:-0.87, Z:-0.78 [[ 9.90476397e-01 1.37040195e-01 1.32850303e-02 5.41208376e+01] [-1.37039958e-01 9.90565081e-01 -9.32444091e-04 -8.68627899e-01] [-1.32874695e-02 -8.97016134e-04 9.99911315e-01 -7.79720937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.486559995 meters 0.04101944242379262 Centerline is valid? [True, True] Translation: X:54.18, Y:-0.87, Z:-0.78 [[ 9.90156726e-01 1.39448526e-01 1.19902444e-02 5.41812450e+01] [-1.39448513e-01 9.90228966e-01 -8.41235615e-04 -8.65002515e-01] [-1.19903964e-02 -8.39066651e-04 9.99927761e-01 -7.83217359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.546559995 meters 0.036821320321613824 Centerline is valid? [True, True] Translation: X:54.24, Y:-0.87, Z:-0.78 [[ 9.90076699e-01 1.39937840e-01 1.28659083e-02 5.42435640e+01] [-1.39937859e-01 9.90159876e-01 -9.03199212e-04 -8.73836376e-01] [-1.28656979e-02 -9.06191167e-04 9.99916823e-01 -7.84094862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.606559995000005 meters 0.03965020975353612 Centerline is valid? [True, True] Translation: X:54.31, Y:-0.88, Z:-0.79 [[ 9.90049682e-01 1.40127659e-01 1.28788788e-02 5.43057248e+01] [-1.40127647e-01 9.90133031e-01 -9.07837209e-04 -8.75471944e-01] [-1.28790164e-02 -9.05883029e-04 9.99916652e-01 -7.85382162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.666559995 meters 0.03752754624786927 Centerline is valid? [True, True] Translation: X:54.37, Y:-0.88, Z:-0.78 [[ 9.89958879e-01 1.40576496e-01 1.48211484e-02 5.43671871e+01] [-1.40576461e-01 9.90069269e-01 -1.04938474e-03 -8.81225284e-01] [-1.48214824e-02 -1.04465686e-03 9.99889610e-01 -7.83623844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.726559995 meters 0.03452409591847332 Centerline is valid? [True, True] Translation: X:54.43, Y:-0.89, Z:-0.78 [[ 9.89789267e-01 1.41718021e-01 1.52712129e-02 5.44292610e+01] [-1.41718087e-01 9.89906465e-01 -1.08329051e-03 -8.88290845e-01] [-1.52705942e-02 -1.09197777e-03 9.99882801e-01 -7.84731437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.786559995000005 meters 0.03434626139432865 Centerline is valid? [True, True] Translation: X:54.49, Y:-0.89, Z:-0.79 [[ 9.89727400e-01 1.42197562e-01 1.48164116e-02 5.44911629e+01] [-1.42197625e-01 9.89837726e-01 -1.05464451e-03 -8.92849540e-01] [-1.48158110e-02 -1.06304797e-03 9.99889675e-01 -7.86284618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.846559995 meters 0.03759742950679575 Centerline is valid? [True, True] Translation: X:54.55, Y:-0.89, Z:-0.79 [[ 9.89760473e-01 1.42115462e-01 1.33192364e-02 5.45522669e+01] [-1.42115465e-01 9.89849630e-01 -9.51090662e-04 -8.93402682e-01] [-1.33192059e-02 -9.51517532e-04 9.99910843e-01 -7.90718610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.906559995 meters 0.03671416325543425 Centerline is valid? [True, True] Translation: X:54.61, Y:-0.90, Z:-0.79 [[ 9.89642752e-01 1.42838925e-01 1.42921061e-02 5.46144641e+01] [-1.42838953e-01 9.89745414e-01 -1.02410287e-03 -8.97795062e-01] [-1.42918283e-02 -1.02797350e-03 9.99897338e-01 -7.89704434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.966559995000004 meters 0.03549627593447148 Centerline is valid? [True, True] Translation: X:54.68, Y:-0.90, Z:-0.79 [[ 9.89483272e-01 1.43919510e-01 1.44923732e-02 5.46761163e+01] [-1.43919601e-01 9.89588835e-01 -1.04208816e-03 -9.02512497e-01] [-1.44914675e-02 -1.05460776e-03 9.99894437e-01 -7.90721070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.026559995 meters 0.037127266657138044 Centerline is valid? [True, True] Translation: X:54.74, Y:-0.90, Z:-0.79 [[ 9.89385454e-01 1.44597669e-01 1.44200382e-02 5.47384334e+01] [-1.44597779e-01 9.89489970e-01 -1.04049561e-03 -9.03682334e-01] [-1.44189364e-02 -1.05565427e-03 9.99895484e-01 -7.91892639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.086559995 meters 0.036135453563106226 Centerline is valid? [True, True] Translation: X:54.80, Y:-0.91, Z:-0.80 [[ 9.89125459e-01 1.46437561e-01 1.36699031e-02 5.48000349e+01] [-1.46437791e-01 9.89219386e-01 -9.89575920e-04 -9.07463430e-01] [-1.36674442e-02 -1.02297567e-03 9.99906073e-01 -7.95770731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.146559995000004 meters 0.03679501759198173 Centerline is valid? [True, True] Translation: X:54.86, Y:-0.91, Z:-0.80 [[ 9.88906098e-01 1.47978323e-01 1.29284396e-02 5.48619099e+01] [-1.47978622e-01 9.88990114e-01 -9.38749064e-04 -9.08283234e-01] [-1.29250134e-02 -9.84797996e-04 9.99915984e-01 -7.98730213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.206559995 meters 0.03591591595539056 Centerline is valid? [True, True] Translation: X:54.92, Y:-0.91, Z:-0.80 [[ 9.88896738e-01 1.47982115e-01 1.35843791e-02 5.49243986e+01] [-1.47982400e-01 9.88989499e-01 -9.89766733e-04 -9.11057564e-01] [-1.35812760e-02 -1.03147192e-03 9.99907238e-01 -7.99084930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.266559995 meters 0.03779853528621115 Centerline is valid? [True, True] Translation: X:54.98, Y:-0.91, Z:-0.80 [[ 9.89152780e-01 1.46257894e-01 1.36164136e-02 5.49847269e+01] [-1.46257963e-01 9.89245984e-01 -9.96125575e-04 -9.11835613e-01] [-1.36156737e-02 -1.00618854e-03 9.99906796e-01 -8.00371789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.326559995000004 meters 0.035439260428457776 Centerline is valid? [True, True] Translation: X:55.05, Y:-0.92, Z:-0.80 [[ 9.89432692e-01 1.44211324e-01 1.50347264e-02 5.50461828e+01] [-1.44211169e-01 9.89546325e-01 -1.10017494e-03 -9.15101650e-01] [-1.50362159e-02 -1.07962641e-03 9.99886367e-01 -7.98262887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.386559995 meters 0.03573882396682068 Centerline is valid? [True, True] Translation: X:55.11, Y:-0.92, Z:-0.80 [[ 9.89911853e-01 1.40992064e-01 1.39914649e-02 5.51058919e+01] [-1.40991602e-01 9.90010262e-01 -1.02436457e-03 -9.17844570e-01] [-1.39961211e-02 -9.58648418e-04 9.99901590e-01 -7.99942957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.446559995 meters 0.0341971391048808 Centerline is valid? [True, True] Translation: X:55.17, Y:-0.93, Z:-0.80 [[ 9.90324848e-01 1.38162633e-01 1.29531114e-02 5.51667518e+01] [-1.38161996e-01 9.90409190e-01 -9.48292399e-04 -9.25040422e-01] [-1.29598991e-02 -8.50510201e-04 9.99915655e-01 -8.02418517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.506559995 meters 0.03291997591145955 Centerline is valid? [True, True] Translation: X:55.23, Y:-0.93, Z:-0.80 [[ 9.90693092e-01 1.35413354e-01 1.37993200e-02 5.52269492e+01] [-1.35412362e-01 9.90788813e-01 -1.01054137e-03 -9.29917508e-01] [-1.38090527e-02 -8.67462169e-04 9.99904274e-01 -8.01652623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.566559995 meters 0.029588593076583056 Centerline is valid? [True, True] Translation: X:55.29, Y:-0.94, Z:-0.80 [[ 9.90964483e-01 1.33405991e-01 1.38649085e-02 5.52878832e+01] [-1.33404795e-01 9.91061113e-01 -1.01527380e-03 -9.38621923e-01] [-1.38764153e-02 -8.43545004e-04 9.99903362e-01 -8.02058853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.626559995 meters 0.029797790143325124 Centerline is valid? [True, True] Translation: X:55.35, Y:-0.94, Z:-0.80 [[ 9.91238743e-01 1.31391203e-01 1.34946909e-02 5.53488661e+01] [-1.31389877e-01 9.91330279e-01 -9.88638956e-04 -9.43166289e-01] [-1.35075941e-02 -7.93088540e-04 9.99908454e-01 -8.04498091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.686559995 meters 0.027950171019481513 Centerline is valid? [True, True] Translation: X:55.41, Y:-0.95, Z:-0.80 [[ 9.91502445e-01 1.29384438e-01 1.35118208e-02 5.54103399e+01] [-1.29382917e-01 9.91594211e-01 -9.90341801e-04 -9.48182758e-01] [-1.35263781e-02 -7.66272472e-04 9.99908221e-01 -8.03823358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.746559995 meters 0.02689314327727076 Centerline is valid? [True, True] Translation: X:55.47, Y:-0.95, Z:-0.81 [[ 9.91628218e-01 1.28438050e-01 1.33095791e-02 5.54720484e+01] [-1.28436486e-01 9.91717257e-01 -9.75727360e-04 -9.53594665e-01] [-1.33246598e-02 -7.41876796e-04 9.99910948e-01 -8.05480830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.806559995 meters 0.027212123441394148 Centerline is valid? [True, True] Translation: X:55.53, Y:-0.96, Z:-0.81 [[ 9.91847792e-01 1.26754249e-01 1.30888254e-02 5.55333570e+01] [-1.26752540e-01 9.91933902e-01 -9.63382415e-04 -9.57881549e-01] [-1.31053625e-02 -7.03513144e-04 9.99913874e-01 -8.05596732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.866559995 meters 0.029448218756167488 Centerline is valid? [True, True] Translation: X:55.60, Y:-0.96, Z:-0.81 [[ 9.91919563e-01 1.26269535e-01 1.23119719e-02 5.55958197e+01] [-1.26267985e-01 9.91995753e-01 -9.06268553e-04 -9.62210692e-01] [-1.23278579e-02 -6.55662375e-04 9.99923794e-01 -8.08375323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.926559995 meters 0.025532662615621177 Centerline is valid? [True, True] Translation: X:55.66, Y:-0.97, Z:-0.81 [[ 9.91818947e-01 1.27048846e-01 1.24002993e-02 5.56576077e+01] [-1.27047318e-01 9.91896236e-01 -9.14030488e-04 -9.68906769e-01] [-1.24159367e-02 -6.68872016e-04 9.99922696e-01 -8.07290942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.986559995 meters 0.028827642972082044 Centerline is valid? [True, True] Translation: X:55.72, Y:-0.97, Z:-0.81 [[ 9.91702028e-01 1.28008901e-01 1.18662984e-02 5.57184026e+01] [-1.28007536e-01 9.91772807e-01 -8.77605164e-04 -9.69969045e-01] [-1.18810134e-02 -6.48652802e-04 9.99929208e-01 -8.11080518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.046559995 meters 0.030274874139753542 Centerline is valid? [True, True] Translation: X:55.78, Y:-0.97, Z:-0.81 [[ 9.91452937e-01 1.29859782e-01 1.25503460e-02 5.57794782e+01] [-1.29858356e-01 9.91532117e-01 -9.31971551e-04 -9.69914286e-01] [-1.25650968e-02 -7.05761369e-04 9.99920807e-01 -8.09352230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.106559995000005 meters 0.028259167010400855 Centerline is valid? [True, True] Translation: X:55.84, Y:-0.98, Z:-0.81 [[ 9.91250456e-01 1.31388480e-01 1.26333440e-02 5.58415528e+01] [-1.31387154e-01 9.91330689e-01 -9.38469204e-04 -9.76147007e-01] [-1.26471257e-02 -7.29601089e-04 9.99919756e-01 -8.09698891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.166559995 meters 0.029597592441406938 Centerline is valid? [True, True] Translation: X:55.90, Y:-0.98, Z:-0.81 [[ 9.90951655e-01 1.33623327e-01 1.26342169e-02 5.59023436e+01] [-1.33622168e-01 9.91031903e-01 -9.39618244e-04 -9.77549336e-01] [-1.26464670e-02 -7.57095204e-04 9.99919744e-01 -8.10238997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.226559995 meters 0.030836836281711986 Centerline is valid? [True, True] Translation: X:55.96, Y:-0.98, Z:-0.81 [[ 9.90452918e-01 1.37273137e-01 1.26136065e-02 5.59633315e+01] [-1.37272275e-01 9.90532908e-01 -9.38254647e-04 -9.77484292e-01] [-1.26229895e-02 -8.02201409e-04 9.99920005e-01 -8.11383490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.286559995000005 meters 0.033350563129084375 Centerline is valid? [True, True] Translation: X:56.03, Y:-0.98, Z:-0.81 [[ 9.90312461e-01 1.38333509e-01 1.20444532e-02 5.60253183e+01] [-1.38332806e-01 9.90385396e-01 -8.95517179e-04 -9.79190028e-01] [-1.20525306e-02 -7.79301186e-04 9.99927062e-01 -8.14470668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.346559995 meters 0.03455323092894735 Centerline is valid? [True, True] Translation: X:56.09, Y:-0.98, Z:-0.81 [[ 9.90012972e-01 1.40365975e-01 1.31037179e-02 5.60864148e+01] [-1.40365264e-01 9.90099306e-01 -9.78513179e-04 -9.78753075e-01] [-1.31113320e-02 -8.70566081e-04 9.99913664e-01 -8.12450901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.406559995 meters 0.03622368626491966 Centerline is valid? [True, True] Translation: X:56.15, Y:-0.98, Z:-0.81 [[ 9.89848044e-01 1.41569302e-01 1.26088442e-02 5.61481159e+01] [-1.41568747e-01 9.89927979e-01 -9.41102802e-04 -9.80102084e-01] [-1.26150789e-02 -8.53469499e-04 9.99920062e-01 -8.13195440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.466559995000004 meters 0.035156599128960304 Centerline is valid? [True, True] Translation: X:56.21, Y:-0.98, Z:-0.81 [[ 9.89681363e-01 1.42741926e-01 1.24716384e-02 5.62100963e+01] [-1.42741434e-01 9.89759572e-01 -9.34158600e-04 -9.84105353e-01] [-1.24772671e-02 -8.55700200e-04 9.99921790e-01 -8.13686186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.526559995 meters 0.036333525931290904 Centerline is valid? [True, True] Translation: X:56.27, Y:-0.99, Z:-0.81 [[ 9.89527746e-01 1.43845759e-01 1.19682034e-02 5.62717669e+01] [-1.43845384e-01 9.89599768e-01 -8.96648386e-04 -9.85168798e-01] [-1.19727104e-02 -8.34312363e-04 9.99927976e-01 -8.14915700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.586559995 meters 0.031027497786052134 Centerline is valid? [True, True] Translation: X:56.33, Y:-0.99, Z:-0.82 [[ 9.89443172e-01 1.44469068e-01 1.14410573e-02 5.63336462e+01] [-1.44468740e-01 9.89508992e-01 -8.59461535e-04 -9.94177932e-01] [-1.14451947e-02 -8.02486789e-04 9.99934180e-01 -8.15674328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.646559995000004 meters 0.03587311947175957 Centerline is valid? [True, True] Translation: X:56.40, Y:-0.99, Z:-0.82 [[ 9.89557194e-01 1.43738463e-01 1.07616552e-02 5.63950550e+01] [-1.43738101e-01 9.89615431e-01 -8.11091714e-04 -9.93543461e-01] [-1.07664851e-02 -7.44238241e-04 9.99941763e-01 -8.20462273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.706559995 meters 0.0342911690355055 Centerline is valid? [True, True] Translation: X:56.46, Y:-1.00, Z:-0.82 [[ 9.89973525e-01 1.40828199e-01 1.09471076e-02 5.64555458e+01] [-1.40827607e-01 9.90033786e-01 -8.28800441e-04 -9.98853528e-01] [-1.09547248e-02 -7.21164462e-04 9.99939735e-01 -8.20386991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.766559995 meters 0.03290699499393666 Centerline is valid? [True, True] Translation: X:56.52, Y:-1.01, Z:-0.82 [[ 9.90825265e-01 1.34697796e-01 1.10362585e-02 5.65151792e+01] [-1.34696811e-01 9.90886507e-01 -8.35843562e-04 -1.00501934e+00] [-1.10482659e-02 -6.58373911e-04 9.99938749e-01 -8.19830629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.826559995000004 meters 0.031493614807688676 Centerline is valid? [True, True] Translation: X:56.58, Y:-1.01, Z:-0.82 [[ 9.90946917e-01 1.33797863e-01 1.10607584e-02 5.65768215e+01] [-1.33796832e-01 9.91008430e-01 -8.36520301e-04 -1.01019565e+00] [-1.10732295e-02 -6.50947222e-04 9.99938478e-01 -8.17218359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.886559995 meters 0.032996729079243184 Centerline is valid? [True, True] Translation: X:56.64, Y:-1.02, Z:-0.82 [[ 9.91234699e-01 1.31684343e-01 1.06304081e-02 5.66377371e+01] [-1.31683232e-01 9.91291518e-01 -8.07502814e-04 -1.01542441e+00] [-1.06441688e-02 -5.99421683e-04 9.99943170e-01 -8.22620295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.946559995 meters 0.03315099107137015 Centerline is valid? [True, True] Translation: X:56.70, Y:-1.02, Z:-0.82 [[ 9.91580869e-01 1.29068751e-01 1.04229262e-02 5.66987565e+01] [-1.29067535e-01 9.91635489e-01 -7.92098689e-04 -1.02068730e+00] [-1.04379787e-02 -5.59831485e-04 9.99945366e-01 -8.23937947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.006559995 meters 0.030149549714309856 Centerline is valid? [True, True] Translation: X:56.76, Y:-1.03, Z:-0.82 [[ 9.91930048e-01 1.26358364e-01 1.04088324e-02 5.67593304e+01] [-1.26356998e-01 9.91984517e-01 -7.91377680e-04 -1.03129620e+00] [-1.04253977e-02 -5.30237508e-04 9.99945513e-01 -8.24196669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.066559995 meters 0.03324919031376335 Centerline is valid? [True, True] Translation: X:56.82, Y:-1.03, Z:-0.82 [[ 9.91986216e-01 1.25878316e-01 1.08625971e-02 5.68210598e+01] [-1.25876806e-01 9.92045538e-01 -8.25344957e-04 -1.02957719e+00] [-1.08800840e-02 -5.48618197e-04 9.99940660e-01 -8.23721712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.126559995 meters 0.029544541740884396 Centerline is valid? [True, True] Translation: X:56.88, Y:-1.04, Z:-0.82 [[ 9.91783470e-01 1.27461481e-01 1.09142310e-02 5.68829592e+01] [-1.27460025e-01 9.91843360e-01 -8.31676525e-04 -1.03862528e+00] [-1.09312143e-02 -5.66285128e-04 9.99940092e-01 -8.22888934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.186559995 meters 0.03076285565462407 Centerline is valid? [True, True] Translation: X:56.94, Y:-1.04, Z:-0.82 [[ 9.91631661e-01 1.28637643e-01 1.09089868e-02 5.69443160e+01] [-1.28636230e-01 9.91691497e-01 -8.34027922e-04 -1.04046106e+00] [-1.09256368e-02 -5.76242441e-04 9.99940147e-01 -8.22852018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.246559995 meters 0.02640145909332631 Centerline is valid? [True, True] Translation: X:57.01, Y:-1.05, Z:-0.82 [[ 9.91535979e-01 1.29306298e-01 1.16740644e-02 5.70059544e+01] [-1.29304695e-01 9.91604505e-01 -8.95205502e-04 -1.05333593e+00] [-1.16918105e-02 -6.21882869e-04 9.99931455e-01 -8.24824954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.306559995 meters 0.030159972658873796 Centerline is valid? [True, True] Translation: X:57.07, Y:-1.05, Z:-0.83 [[ 9.91417304e-01 1.30257011e-01 1.11732129e-02 5.70670612e+01] [-1.30255571e-01 9.91480079e-01 -8.59630739e-04 -1.05491797e+00] [-1.11899909e-02 -6.03120431e-04 9.99937208e-01 -8.27448104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.366559995 meters 0.030142834401953797 Centerline is valid? [True, True] Translation: X:57.13, Y:-1.06, Z:-0.83 [[ 9.91091440e-01 1.32710370e-01 1.12122848e-02 5.71287899e+01] [-1.32709046e-01 9.91154660e-01 -8.65322984e-04 -1.05818092e+00] [-1.12279457e-02 -6.30357418e-04 9.99936766e-01 -8.27720099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.426559995 meters 0.031988394611467644 Centerline is valid? [True, True] Translation: X:57.19, Y:-1.06, Z:-0.83 [[ 9.90864487e-01 1.34417396e-01 1.09331110e-02 5.71908067e+01] [-1.34416205e-01 9.90924602e-01 -8.47030865e-04 -1.06206004e+00] [-1.09477443e-02 -6.30294483e-04 9.99939873e-01 -8.29500755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.486559995 meters 0.0305714042071474 Centerline is valid? [True, True] Translation: X:57.25, Y:-1.07, Z:-0.83 [[ 9.90568515e-01 1.36629043e-01 1.03209540e-02 5.72514456e+01] [-1.36628091e-01 9.90622089e-01 -8.00573945e-04 -1.06737309e+00] [-1.03335467e-02 -6.17108897e-04 9.99946417e-01 -8.26731873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.546559995 meters 0.03279938062151805 Centerline is valid? [True, True] Translation: X:57.31, Y:-1.07, Z:-0.83 [[ 9.90588714e-01 1.36488401e-01 1.02428775e-02 5.73131185e+01] [-1.36487468e-01 9.90641480e-01 -7.93414904e-04 -1.07251494e+00] [-1.02553113e-02 -6.12076564e-04 9.99947226e-01 -8.32097614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.606559995 meters 0.03165922162212195 Centerline is valid? [True, True] Translation: X:57.37, Y:-1.08, Z:-0.83 [[ 9.90854752e-01 1.34503411e-01 1.07560831e-02 5.73735813e+01] [-1.34502222e-01 9.90912938e-01 -8.37111587e-04 -1.08253065e+00] [-1.07709363e-02 -6.17261084e-04 9.99941801e-01 -8.33030296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.666559995 meters 0.02867588107271077 Centerline is valid? [True, True] Translation: X:57.43, Y:-1.10, Z:-0.83 [[ 9.91547505e-01 1.29284165e-01 1.09155878e-02 5.74332807e+01] [-1.29282619e-01 9.91607423e-01 -8.50077120e-04 -1.09579306e+00] [-1.09338794e-02 -5.68303932e-04 9.99940062e-01 -8.32939978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.726559995 meters 0.026676155549497742 Centerline is valid? [True, True] Translation: X:57.49, Y:-1.11, Z:-0.83 [[ 9.92337006e-01 1.23005166e-01 1.17045058e-02 5.74926824e+01] [-1.23002952e-01 9.92405886e-01 -9.11587358e-04 -1.11121867e+00] [-1.17277504e-02 -5.35086886e-04 9.99931084e-01 -8.34050951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.786559995000005 meters 0.02342484049583454 Centerline is valid? [True, True] Translation: X:57.55, Y:-1.13, Z:-0.83 [[ 9.92713932e-01 1.19699548e-01 1.38227026e-02 5.75528347e+01] [-1.19696141e-01 9.92809989e-01 -1.07654397e-03 -1.12785535e+00] [-1.38521791e-02 -5.85823969e-04 9.99903882e-01 -8.30952875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.846559995 meters 0.027336709848097766 Centerline is valid? [True, True] Translation: X:57.61, Y:-1.13, Z:-0.83 [[ 9.92358171e-01 1.22840853e-01 1.16355210e-02 5.76123235e+01] [-1.22838653e-01 9.92426241e-01 -9.06325869e-04 -1.13236622e+00] [-1.16587302e-02 -5.29891837e-04 9.99931894e-01 -8.34287345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.906559995 meters 0.03138038741068431 Centerline is valid? [True, True] Translation: X:57.67, Y:-1.13, Z:-0.84 [[ 9.91721927e-01 1.27981381e-01 1.04108094e-02 5.76725178e+01] [-1.27979889e-01 9.91776431e-01 -8.12117095e-04 -1.13431630e+00] [-1.04291312e-02 -5.26979898e-04 9.99945476e-01 -8.37622158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.966559995000004 meters 0.029704065078397488 Centerline is valid? [True, True] Translation: X:57.73, Y:-1.14, Z:-0.84 [[ 9.90559910e-01 1.36611672e-01 1.13276427e-02 5.77325211e+01] [-1.36610467e-01 9.90624449e-01 -8.83726028e-04 -1.14335026e+00] [-1.13421671e-02 -6.72090982e-04 9.99935450e-01 -8.36324021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.026559995 meters 0.03483325958764796 Centerline is valid? [True, True] Translation: X:57.79, Y:-1.14, Z:-0.84 [[ 9.89325127e-01 1.45359937e-01 1.03092554e-02 5.77926954e+01] [-1.45359412e-01 9.89378590e-01 -8.04268482e-04 -1.14174804e+00] [-1.03166650e-02 -7.02864286e-04 9.99946535e-01 -8.37667278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.086559995 meters 0.038828527642100055 Centerline is valid? [True, True] Translation: X:57.85, Y:-1.14, Z:-0.84 [[ 9.88557965e-01 1.50510095e-01 9.99308735e-03 5.78524605e+01] [-1.50509864e-01 9.88608200e-01 -7.79524137e-04 -1.14166435e+00] [-9.99657435e-03 -7.33453419e-04 9.99949764e-01 -8.39065499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.146559995000004 meters 0.04340006781621044 Centerline is valid? [True, True] Translation: X:57.91, Y:-1.14, Z:-0.84 [[ 9.87680854e-01 1.56188049e-01 9.58249884e-03 5.79124845e+01] [-1.56188094e-01 9.87727047e-01 -7.48364273e-04 -1.14249088e+00] [-9.58177883e-03 -7.57527161e-04 9.99953807e-01 -8.40458844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.206559995 meters 0.04492922988057077 Centerline is valid? [True, True] Translation: X:57.98, Y:-1.15, Z:-0.84 [[ 9.87627191e-01 1.56537540e-01 9.40903345e-03 5.79755676e+01] [-1.56537606e-01 9.87671726e-01 -7.33928889e-04 -1.14704823e+00] [-9.40792373e-03 -7.48019447e-04 9.99955465e-01 -8.42474887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.266559995 meters 0.042141215668966524 Centerline is valid? [True, True] Translation: X:58.04, Y:-1.16, Z:-0.84 [[ 9.87958846e-01 1.54426032e-01 9.48253509e-03 5.80355237e+01] [-1.54425961e-01 9.88004083e-01 -7.44102751e-04 -1.15720909e+00] [-9.48369223e-03 -7.29206699e-04 9.99954763e-01 -8.42964501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.326559995000004 meters 0.03491348770381933 Centerline is valid? [True, True] Translation: X:58.10, Y:-1.17, Z:-0.84 [[ 9.89214292e-01 1.45949423e-01 1.24036394e-02 5.80950521e+01] [-1.45948638e-01 9.89291690e-01 -9.73319995e-04 -1.17493630e+00] [-1.24128729e-02 -8.47472231e-04 9.99922598e-01 -8.40562550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.386559995 meters 0.031035698743606108 Centerline is valid? [True, True] Translation: X:58.15, Y:-1.19, Z:-0.84 [[ 9.90844295e-01 1.34498395e-01 1.17373358e-02 5.81546417e+01] [-1.34496891e-01 9.90913588e-01 -9.20990933e-04 -1.19398757e+00] [-1.17545574e-02 -6.66076564e-04 9.99930691e-01 -8.43637941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.446559995 meters 0.030721676809964252 Centerline is valid? [True, True] Translation: X:58.21, Y:-1.21, Z:-0.84 [[ 9.91742907e-01 1.27680559e-01 1.19867137e-02 5.82135360e+01] [-1.27678489e-01 9.91815163e-01 -9.40874804e-04 -1.20677470e+00] [-1.20087359e-02 -5.97339587e-04 9.99927714e-01 -8.42653309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.506559995 meters 0.026891273871346297 Centerline is valid? [True, True] Translation: X:58.27, Y:-1.22, Z:-0.84 [[ 9.91156834e-01 1.32319783e-01 9.98026988e-03 5.82737486e+01] [-1.32318585e-01 9.91206930e-01 -7.83086790e-04 -1.21932024e+00] [-9.99613054e-03 -5.44413368e-04 9.99949889e-01 -8.43654452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.566559995 meters 0.04376359471615773 Centerline is valid? [True, True] Translation: X:58.34, Y:-1.20, Z:-0.85 [[ 9.87377001e-01 1.58009193e-01 1.09431837e-02 5.83350697e+01] [-1.58009317e-01 9.87437248e-01 -8.58753165e-04 -1.20367549e+00] [-1.09413981e-02 -8.81211857e-04 9.99939753e-01 -8.46720802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.626559995 meters 0.044311238353455636 Centerline is valid? [True, True] Translation: X:58.40, Y:-1.21, Z:-0.85 [[ 9.87134952e-01 1.59460171e-01 1.17064050e-02 5.83971781e+01] [-1.59460414e-01 9.87203896e-01 -9.18667677e-04 -1.20740877e+00] [-1.17030995e-02 -9.59859208e-04 9.99931056e-01 -8.47344800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.686559995 meters 0.046589383100452415 Centerline is valid? [True, True] Translation: X:58.46, Y:-1.21, Z:-0.85 [[ 9.86985694e-01 1.60403222e-01 1.14037854e-02 5.84594428e+01] [-1.60403515e-01 9.87051119e-01 -8.94935061e-04 -1.20962036e+00] [-1.13996697e-02 -9.45919162e-04 9.99934574e-01 -8.49542048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.746559995 meters 0.04055803100433907 Centerline is valid? [True, True] Translation: X:58.52, Y:-1.22, Z:-0.85 [[ 9.86898489e-01 1.60903150e-01 1.18974535e-02 5.85213155e+01] [-1.60903468e-01 9.86969704e-01 -9.36700322e-04 -1.22116091e+00] [-1.18931442e-02 -9.89913404e-04 9.99928784e-01 -8.49656308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.806559995 meters 0.04055803100433907 Centerline is valid? [True, True] Translation: X:58.58, Y:-1.23, Z:-0.85 [[ 9.86851682e-01 1.61189995e-01 1.18972263e-02 5.85837591e+01] [-1.61190300e-01 9.86922897e-01 -9.39575787e-04 -1.22617994e+00] [-1.18930953e-02 -9.90495536e-04 9.99928784e-01 -8.50650795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.866559995 meters 0.039958446811531774 Centerline is valid? [True, True] Translation: X:58.65, Y:-1.23, Z:-0.85 [[ 9.87113294e-01 1.59578864e-01 1.19134646e-02 5.86454824e+01] [-1.59579001e-01 9.87184709e-01 -9.45272966e-04 -1.23228754e+00] [-1.19116356e-02 -9.68047264e-04 9.99928585e-01 -8.52581118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.926559995 meters 0.03982423286543764 Centerline is valid? [True, True] Translation: X:58.71, Y:-1.24, Z:-0.85 [[ 9.87591603e-01 1.56638332e-01 1.12808602e-02 5.87060283e+01] [-1.56638256e-01 9.87655636e-01 -8.95787014e-04 -1.23979116e+00] [-1.12819197e-02 -8.82342525e-04 9.99935968e-01 -8.54915144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.986559995 meters 0.038042649092388504 Centerline is valid? [True, True] Translation: X:58.77, Y:-1.25, Z:-0.86 [[ 9.88400037e-01 1.51418840e-01 1.17346468e-02 5.87656034e+01] [-1.51418387e-01 9.88469323e-01 -9.32193541e-04 -1.24578226e+00] [-1.17404900e-02 -8.55461157e-04 9.99930712e-01 -8.55629283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.046559995 meters 0.03411270105234437 Centerline is valid? [True, True] Translation: X:58.83, Y:-1.26, Z:-0.86 [[ 9.89538570e-01 1.43634959e-01 1.35061714e-02 5.88254862e+01] [-1.43633634e-01 9.89630349e-01 -1.07312120e-03 -1.25572314e+00] [-1.35202548e-02 -8.78045666e-04 9.99908212e-01 -8.55449919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.106559995 meters 0.0329584578874367 Centerline is valid? [True, True] Translation: X:58.89, Y:-1.27, Z:-0.86 [[ 9.90735074e-01 1.35308279e-01 1.16482792e-02 5.88850455e+01] [-1.35306718e-01 9.90803328e-01 -9.25644563e-04 -1.26632047e+00] [-1.16664012e-02 -6.59021892e-04 9.99931728e-01 -8.60122505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.166559995 meters 0.03482530568240487 Centerline is valid? [True, True] Translation: X:58.95, Y:-1.26, Z:-0.86 [[ 9.91041062e-01 1.33084703e-01 1.12283529e-02 5.89463562e+01] [-1.33083113e-01 9.91104480e-01 -8.92052375e-04 -1.26440892e+00] [-1.12471894e-02 -6.10243625e-04 9.99936562e-01 -8.62948936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.226559995 meters 0.030525739371149857 Centerline is valid? [True, True] Translation: X:59.01, Y:-1.27, Z:-0.86 [[ 9.91030448e-01 1.32868240e-01 1.43067298e-02 5.90080867e+01] [-1.32865630e-01 9.91133408e-01 -1.13695142e-03 -1.26867839e+00] [-1.43309426e-02 -7.74119202e-04 9.99897007e-01 -8.61283126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.286559995000005 meters 0.031046191768997356 Centerline is valid? [True, True] Translation: X:59.07, Y:-1.27, Z:-0.86 [[ 9.91028834e-01 1.32842700e-01 1.46515037e-02 5.90703568e+01] [-1.32839906e-01 9.91136820e-01 -1.16804470e-03 -1.27218492e+00] [-1.46768110e-02 -7.88738400e-04 9.99891979e-01 -8.62419983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.346559995 meters 0.03142702514248703 Centerline is valid? [True, True] Translation: X:59.13, Y:-1.28, Z:-0.86 [[ 9.91050754e-01 1.32719501e-01 1.42806671e-02 5.91319697e+01] [-1.32716786e-01 9.91153344e-01 -1.14185467e-03 -1.27637497e+00] [-1.43058773e-02 -7.63648306e-04 9.99897374e-01 -8.64017284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.406559995 meters 0.03142702514248703 Centerline is valid? [True, True] Translation: X:59.19, Y:-1.28, Z:-0.87 [[ 9.91014132e-01 1.32992709e-01 1.42803956e-02 5.91942827e+01] [-1.32989974e-01 9.91116721e-01 -1.14523848e-03 -1.28146746e+00] [-1.43058473e-02 -7.64201922e-04 9.99897374e-01 -8.65009767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.466559995000004 meters 0.031274399060129306 Centerline is valid? [True, True] Translation: X:59.26, Y:-1.29, Z:-0.87 [[ 9.91039501e-01 1.32839190e-01 1.39447614e-02 5.92561079e+01] [-1.32836513e-01 9.91137327e-01 -1.12214739e-03 -1.28700458e+00] [-1.39702387e-02 -7.40281090e-04 9.99902137e-01 -8.67196453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.526559995 meters 0.03013374604795189 Centerline is valid? [True, True] Translation: X:59.32, Y:-1.29, Z:-0.87 [[ 9.91113208e-01 1.32303641e-01 1.37969559e-02 5.93183626e+01] [-1.32300923e-01 9.91208972e-01 -1.11359679e-03 -1.29126956e+00] [-1.38229994e-02 -7.21649508e-04 9.99904197e-01 -8.68632451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.586559995 meters 0.026779430643730947 Centerline is valid? [True, True] Translation: X:59.38, Y:-1.30, Z:-0.87 [[ 9.92088987e-01 1.24825753e-01 1.33406288e-02 5.93784878e+01] [-1.24822487e-01 9.92178502e-01 -1.08046824e-03 -1.30228241e+00] [-1.33711554e-02 -5.93289818e-04 9.99910426e-01 -8.71285059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.646559995000004 meters 0.021681671647875538 Centerline is valid? [True, True] Translation: X:59.44, Y:-1.31, Z:-0.87 [[ 9.92648158e-01 1.19884302e-01 1.66549892e-02 5.94383651e+01] [-1.19878510e-01 9.92787652e-01 -1.34927374e-03 -1.31089994e+00] [-1.66966244e-02 -6.57221198e-04 9.99860386e-01 -8.69662031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.706559995 meters 0.021103367267373205 Centerline is valid? [True, True] Translation: X:59.50, Y:-1.32, Z:-0.87 [[ 9.93642319e-01 1.11588109e-01 1.49344072e-02 5.94984363e+01] [-1.11582516e-01 9.93754436e-01 -1.20987784e-03 -1.32206296e+00] [-1.49761414e-02 -4.64232906e-04 9.99887744e-01 -8.73408064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.766559995 meters 0.02094322661441471 Centerline is valid? [True, True] Translation: X:59.56, Y:-1.33, Z:-0.87 [[ 9.94193175e-01 1.06675012e-01 1.41553017e-02 5.95595621e+01] [-1.06669489e-01 9.94293873e-01 -1.14677664e-03 -1.33277457e+00] [-1.41968622e-02 -3.69821294e-04 9.99899151e-01 -8.74916224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.826559995000004 meters 0.020386320370856584 Centerline is valid? [True, True] Translation: X:59.62, Y:-1.34, Z:-0.88 [[ 9.93894033e-01 1.09460860e-01 1.38914280e-02 5.96217759e+01] [-1.09455808e-01 9.93991026e-01 -1.12574960e-03 -1.33610755e+00] [-1.39311803e-02 -4.01621665e-04 9.99902876e-01 -8.76266179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.886559995 meters 0.022533471077157124 Centerline is valid? [True, True] Translation: X:59.68, Y:-1.34, Z:-0.88 [[ 9.93533293e-01 1.12723423e-01 1.36024177e-02 5.96833261e+01] [-1.12718838e-01 9.93626308e-01 -1.10571664e-03 -1.33745243e+00] [-1.36403603e-02 -4.34682430e-04 9.99906871e-01 -8.78067765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.946559995 meters 0.024399054185338727 Centerline is valid? [True, True] Translation: X:59.74, Y:-1.34, Z:-0.88 [[ 9.93013623e-01 1.17268768e-01 1.31141387e-02 5.97446079e+01] [-1.17264856e-01 9.93100101e-01 -1.06949207e-03 -1.33774342e+00] [-1.31490705e-02 -4.75807389e-04 9.99913434e-01 -8.79385605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.006559995 meters 0.02708473908982208 Centerline is valid? [True, True] Translation: X:59.80, Y:-1.33, Z:-0.88 [[ 9.92130159e-01 1.24274925e-01 1.52803849e-02 5.98047353e+01] [-1.24270439e-01 9.92247602e-01 -1.24646688e-03 -1.33238013e+00] [-1.53168298e-02 -6.62242746e-04 9.99882471e-01 -8.78585319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.066559995 meters 0.02595349306993033 Centerline is valid? [True, True] Translation: X:59.87, Y:-1.34, Z:-0.88 [[ 9.91898034e-01 1.26176168e-01 1.47602380e-02 5.98662430e+01] [-1.26172187e-01 9.92007625e-01 -1.20433583e-03 -1.33980469e+00] [-1.47942271e-02 -6.67753162e-04 9.99890336e-01 -8.80202305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.126559995 meters 0.029100329611472308 Centerline is valid? [True, True] Translation: X:59.93, Y:-1.34, Z:-0.88 [[ 9.91160087e-01 1.31764833e-01 1.54826176e-02 5.99268886e+01] [-1.31761115e-01 9.91280692e-01 -1.26446372e-03 -1.33884609e+00] [-1.55142317e-02 -7.86720979e-04 9.99879338e-01 -8.81185408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.186559995 meters 0.029167851350773318 Centerline is valid? [True, True] Translation: X:59.99, Y:-1.34, Z:-0.88 [[ 9.90764922e-01 1.34652670e-01 1.59225544e-02 5.99883640e+01] [-1.34649107e-01 9.90892490e-01 -1.30054325e-03 -1.33951401e+00] [-1.59526612e-02 -8.55425098e-04 9.99872382e-01 -8.82138507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.246559995 meters 0.030668650290935264 Centerline is valid? [True, True] Translation: X:60.05, Y:-1.34, Z:-0.89 [[ 9.90565238e-01 1.36231063e-01 1.48864575e-02 6.00507770e+01] [-1.36228118e-01 9.90676749e-01 -1.21638046e-03 -1.33971850e+00] [-1.49133761e-02 -8.23049890e-04 9.99888451e-01 -8.85822280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.306559995 meters 0.030563143089948057 Centerline is valid? [True, True] Translation: X:60.11, Y:-1.34, Z:-0.89 [[ 9.90955397e-01 1.33361027e-01 1.49076629e-02 6.01126683e+01] [-1.33357734e-01 9.91067217e-01 -1.21918090e-03 -1.34388895e+00] [-1.49370872e-02 -7.79898255e-04 9.99888131e-01 -8.87165193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.366559995 meters 0.028889698860298515 Centerline is valid? [True, True] Translation: X:60.17, Y:-1.35, Z:-0.89 [[ 9.91416447e-01 1.29859026e-01 1.51677723e-02 6.01735158e+01] [-1.29855189e-01 9.91532192e-01 -1.24169964e-03 -1.35111125e+00] [-1.52005805e-02 -7.38572505e-04 9.99884192e-01 -8.88232625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.426559995 meters 0.027039175295218595 Centerline is valid? [True, True] Translation: X:60.23, Y:-1.36, Z:-0.89 [[ 9.92166087e-01 1.23862466e-01 1.62648203e-02 6.02338238e+01] [-1.23857246e-01 9.92299153e-01 -1.33181656e-03 -1.35800094e+00] [-1.63045295e-02 -6.93132610e-04 9.99866832e-01 -8.88585901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.486559995 meters 0.024730031975916875 Centerline is valid? [True, True] Translation: X:60.29, Y:-1.36, Z:-0.89 [[ 9.92666769e-01 1.20022387e-01 1.43983081e-02 6.02947454e+01] [-1.20017892e-01 9.92771029e-01 -1.17904185e-03 -1.36458679e+00] [-1.44357346e-02 -5.57658926e-04 9.99895644e-01 -8.92456210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.546559995 meters 0.022541814703819774 Centerline is valid? [True, True] Translation: X:60.35, Y:-1.37, Z:-0.89 [[ 9.93217636e-01 1.15381865e-01 1.43440866e-02 6.03541125e+01] [-1.15376911e-01 9.93321090e-01 -1.17521236e-03 -1.36682043e+00] [-1.43838819e-02 -4.87734767e-04 9.99896428e-01 -8.94782196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.606559995 meters 0.02176784401974035 Centerline is valid? [True, True] Translation: X:60.41, Y:-1.38, Z:-0.90 [[ 9.93960284e-01 1.08809877e-01 1.42605576e-02 6.04147308e+01] [-1.08804309e-01 9.94062502e-01 -1.16805670e-03 -1.37631803e+00] [-1.43029817e-02 -3.90608147e-04 9.99897631e-01 -8.96683448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.666559995 meters 0.023148748492809942 Centerline is valid? [True, True] Translation: X:60.48, Y:-1.38, Z:-0.90 [[ 9.94017268e-01 1.08307002e-01 1.41160670e-02 6.04756367e+01] [-1.08301497e-01 9.94117422e-01 -1.15611502e-03 -1.38088986e+00] [-1.41582435e-02 -3.79592892e-04 9.99899695e-01 -8.97875307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.726559995 meters 0.023382377340631685 Centerline is valid? [True, True] Translation: X:60.54, Y:-1.39, Z:-0.90 [[ 9.94019075e-01 1.08279106e-01 1.42025948e-02 6.05375586e+01] [-1.08273484e-01 9.94120462e-01 -1.16644738e-03 -1.38510918e+00] [-1.42453920e-02 -3.78293474e-04 9.99898458e-01 -8.98745212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.786559995000005 meters 0.022538807307173968 Centerline is valid? [True, True] Translation: X:60.60, Y:-1.39, Z:-0.90 [[ 9.94035353e-01 1.08087329e-01 1.45205649e-02 6.05997557e+01] [-1.08081375e-01 9.94141330e-01 -1.19646255e-03 -1.39049720e+00] [-1.45648162e-02 -3.80076542e-04 9.99893855e-01 -9.00149261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.846559995 meters 0.02224373692031712 Centerline is valid? [True, True] Translation: X:60.66, Y:-1.40, Z:-0.90 [[ 9.94037008e-01 1.08049595e-01 1.46871020e-02 6.06624403e+01] [-1.08043447e-01 9.94145432e-01 -1.21374571e-03 -1.39692871e+00] [-1.47322601e-02 -3.80336975e-04 9.99891402e-01 -9.02079001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.906559995 meters 0.023878511953119328 Centerline is valid? [True, True] Translation: X:60.72, Y:-1.40, Z:-0.90 [[ 9.93874481e-01 1.09624413e-01 1.40001748e-02 6.07231494e+01] [-1.09618925e-01 9.93973009e-01 -1.16109016e-03 -1.39907680e+00] [-1.40430797e-02 -3.80706228e-04 9.99901319e-01 -9.04493735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.966559995000004 meters 0.022682239680360605 Centerline is valid? [True, True] Translation: X:60.79, Y:-1.41, Z:-0.91 [[ 9.93597028e-01 1.12158456e-01 1.36171424e-02 6.07850875e+01] [-1.12153483e-01 9.93690252e-01 -1.13067911e-03 -1.40538297e+00] [-1.36580369e-02 -4.03770550e-04 9.99906643e-01 -9.06151798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.026559995 meters 0.022540576728977232 Centerline is valid? [True, True] Translation: X:60.85, Y:-1.41, Z:-0.91 [[ 9.93122961e-01 1.16288524e-01 1.35559261e-02 6.08458756e+01] [-1.16283926e-01 9.93215371e-01 -1.12952407e-03 -1.40826639e+00] [-1.35953049e-02 -4.54580029e-04 9.99907476e-01 -9.08577888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.086559995 meters 0.022284845439652225 Centerline is valid? [True, True] Translation: X:60.91, Y:-1.41, Z:-0.91 [[ 9.92762061e-01 1.19104803e-01 1.54121996e-02 6.09077872e+01] [-1.19099195e-01 9.92881530e-01 -1.28449141e-03 -1.41316162e+00] [-1.54554774e-02 -5.60386222e-04 9.99880400e-01 -9.08605623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.146559995000004 meters 0.025026977050268132 Centerline is valid? [True, True] Translation: X:60.97, Y:-1.42, Z:-0.91 [[ 9.92617633e-01 1.20361705e-01 1.49430596e-02 6.09691485e+01] [-1.20356562e-01 9.92729946e-01 -1.24627695e-03 -1.41994069e+00] [-1.49844267e-02 -5.61418795e-04 9.99887570e-01 -9.10605163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.206559995 meters 0.024983615194419218 Centerline is valid? [True, True] Translation: X:61.03, Y:-1.42, Z:-0.91 [[ 9.92493450e-01 1.21226641e-01 1.61509778e-02 6.10295989e+01] [-1.21220676e-01 9.92624663e-01 -1.35137525e-03 -1.42420472e+00] [-1.61956816e-02 -6.16601369e-04 9.99868651e-01 -9.11050644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.266559995 meters 0.02488813363577666 Centerline is valid? [True, True] Translation: X:61.09, Y:-1.44, Z:-0.91 [[ 9.92288762e-01 1.22952310e-01 1.56761925e-02 6.10906512e+01] [-1.22946860e-01 9.92412385e-01 -1.31461150e-03 -1.43501856e+00] [-1.57188821e-02 -6.22864414e-04 9.99876257e-01 -9.13198087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.326559995000004 meters 0.027183088398424607 Centerline is valid? [True, True] Translation: X:61.15, Y:-1.44, Z:-0.91 [[ 9.91805911e-01 1.26838988e-01 1.52612640e-02 6.11516932e+01] [-1.26834223e-01 9.91923098e-01 -1.28368095e-03 -1.44026596e+00] [-1.53008210e-02 -6.62488194e-04 9.99882716e-01 -9.14854560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.386559995 meters 0.026667328990406365 Centerline is valid? [True, True] Translation: X:61.21, Y:-1.45, Z:-0.92 [[ 9.91648026e-01 1.28038116e-01 1.55058982e-02 6.12131708e+01] [-1.28033335e-01 9.91769007e-01 -1.30476310e-03 -1.44501459e+00] [-1.55453286e-02 -6.91406100e-04 9.99878925e-01 -9.15997807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.446559995 meters 0.025497589418278652 Centerline is valid? [True, True] Translation: X:61.28, Y:-1.45, Z:-0.92 [[ 9.91369471e-01 1.30141506e-01 1.58037871e-02 6.12752257e+01] [-1.30136747e-01 9.91495158e-01 -1.33355796e-03 -1.45115036e+00] [-1.58429296e-02 -7.34604782e-04 9.99874223e-01 -9.17222984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.506559995 meters 0.029050859774016738 Centerline is valid? [True, True] Translation: X:61.34, Y:-1.46, Z:-0.92 [[ 9.91120703e-01 1.32238346e-01 1.38842338e-02 6.13359781e+01] [-1.32234870e-01 9.91217718e-01 -1.17214303e-03 -1.45609696e+00] [-1.39173008e-02 -6.74244633e-04 9.99902922e-01 -9.20105694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.566559995 meters 0.027485493295043493 Centerline is valid? [True, True] Translation: X:61.40, Y:-1.47, Z:-0.92 [[ 9.91002392e-01 1.33100083e-01 1.40934773e-02 6.13978317e+01] [-1.33096542e-01 9.91102360e-01 -1.19306894e-03 -1.46576782e+00] [-1.41268762e-02 -6.93458920e-04 9.99899970e-01 -9.20900826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.626559995 meters 0.029607262466936395 Centerline is valid? [True, True] Translation: X:61.46, Y:-1.47, Z:-0.92 [[ 9.90655222e-01 1.35718968e-01 1.35127099e-02 6.14581528e+01] [-1.35715905e-01 9.90747130e-01 -1.14768971e-03 -1.47225819e+00] [-1.35434418e-02 -6.96924848e-04 9.99908041e-01 -9.22283588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.686559995 meters 0.029689957215924344 Centerline is valid? [True, True] Translation: X:61.52, Y:-1.48, Z:-0.92 [[ 9.89868234e-01 1.41340792e-01 1.35520987e-02 6.15183914e+01] [-1.41338233e-01 9.89960695e-01 -1.15128371e-03 -1.47794180e+00] [-1.35787684e-02 -7.75810503e-04 9.99907503e-01 -9.23518810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.746559995 meters 0.03248639551564333 Centerline is valid? [True, True] Translation: X:61.58, Y:-1.48, Z:-0.93 [[ 9.89353083e-01 1.44861295e-01 1.39886502e-02 6.15783734e+01] [-1.44858916e-01 9.89451607e-01 -1.18851058e-03 -1.47948791e+00] [-1.40132616e-02 -8.50524103e-04 9.99901448e-01 -9.25055778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.806559995 meters 0.033911966813909566 Centerline is valid? [True, True] Translation: X:61.64, Y:-1.48, Z:-0.92 [[ 9.88737324e-01 1.48737633e-01 1.66018259e-02 6.16392005e+01] [-1.48734805e-01 9.88876112e-01 -1.41183050e-03 -1.48032214e+00] [-1.66271413e-02 -1.07333983e-03 9.99861183e-01 -9.24718978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.866559995 meters 0.03748732374038523 Centerline is valid? [True, True] Translation: X:61.70, Y:-1.48, Z:-0.93 [[ 9.88149850e-01 1.52709832e-01 1.54784280e-02 6.16996457e+01] [-1.52707856e-01 9.88270498e-01 -1.31646876e-03 -1.48319017e+00] [-1.54979115e-02 -1.06280914e-03 9.99879335e-01 -9.26420984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.926559995 meters 0.03918808912344647 Centerline is valid? [True, True] Translation: X:61.76, Y:-1.49, Z:-0.93 [[ 9.87475110e-01 1.57031080e-01 1.53018856e-02 6.17604756e+01] [-1.57029662e-01 9.87593029e-01 -1.30160383e-03 -1.48671076e+00] [-1.53164278e-02 -1.11754855e-03 9.99882072e-01 -9.28236465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.986559995 meters 0.03731329095717385 Centerline is valid? [True, True] Translation: X:61.82, Y:-1.49, Z:-0.93 [[ 9.86980061e-01 1.59984270e-01 1.65949337e-02 6.18207890e+01] [-1.59983014e-01 9.87118758e-01 -1.41185432e-03 -1.49158571e+00] [-1.66070448e-02 -1.26143544e-03 9.99861298e-01 -9.28608780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.046559995 meters 0.036915078537082424 Centerline is valid? [True, True] Translation: X:61.88, Y:-1.50, Z:-0.93 [[ 9.86724682e-01 1.61688744e-01 1.52036542e-02 6.18821941e+01] [-1.61687883e-01 9.86841099e-01 -1.29394060e-03 -1.49797204e+00] [-1.52128064e-02 -1.18148354e-03 9.99883581e-01 -9.32577696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.106559995 meters 0.038267848425125144 Centerline is valid? [True, True] Translation: X:61.94, Y:-1.50, Z:-0.93 [[ 9.86734975e-01 1.61610362e-01 1.53681622e-02 6.19428674e+01] [-1.61609445e-01 9.86853926e-01 -1.30974998e-03 -1.50114410e+00] [-1.53778004e-02 -1.19126406e-03 9.99881045e-01 -9.33583758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.166559995 meters 0.04010163549069705 Centerline is valid? [True, True] Translation: X:62.00, Y:-1.51, Z:-0.94 [[ 9.86831531e-01 1.61120890e-01 1.42684556e-02 6.20048540e+01] [-1.61120005e-01 9.86934070e-01 -1.21912708e-03 -1.50629156e+00] [-1.42784518e-02 -1.09586059e-03 9.99897457e-01 -9.35831244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.226559995 meters 0.03837477098908249 Centerline is valid? [True, True] Translation: X:62.07, Y:-1.51, Z:-0.94 [[ 9.87151051e-01 1.58982067e-01 1.60469390e-02 6.20654092e+01] [-1.58980594e-01 9.87280750e-01 -1.37556299e-03 -1.51284740e+00] [-1.60615239e-02 -1.19326344e-03 9.99870293e-01 -9.36005771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.286559995000005 meters 0.04031727578822616 Centerline is valid? [True, True] Translation: X:62.13, Y:-1.52, Z:-0.94 [[ 9.87363719e-01 1.57544279e-01 1.71080645e-02 6.21255564e+01] [-1.57542383e-01 9.87511137e-01 -1.46696512e-03 -1.51685998e+00] [-1.71255162e-02 -1.24681711e-03 9.99852570e-01 -9.37020719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.346559995 meters 0.03907867327672847 Centerline is valid? [True, True] Translation: X:62.19, Y:-1.53, Z:-0.94 [[ 9.87818015e-01 1.54587293e-01 1.78420480e-02 6.21854055e+01] [-1.54584720e-01 9.87978349e-01 -1.53164965e-03 -1.52506987e+00] [-1.78643307e-02 -1.24511688e-03 9.99839645e-01 -9.39251740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.406559995 meters 0.035453910961579876 Centerline is valid? [True, True] Translation: X:62.25, Y:-1.53, Z:-0.94 [[ 9.88025181e-01 1.53242523e-01 1.79714022e-02 6.22468242e+01] [-1.53239689e-01 9.88187845e-01 -1.54287140e-03 -1.53372938e+00] [-1.79955548e-02 -1.22953629e-03 9.99837311e-01 -9.40121683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.466559995000004 meters 0.036889600631252156 Centerline is valid? [True, True] Translation: X:62.31, Y:-1.54, Z:-0.94 [[ 9.88007499e-01 1.53536233e-01 1.63647886e-02 6.23098966e+01] [-1.53533907e-01 9.88142380e-01 -1.40587943e-03 -1.53845009e+00] [-1.63865946e-02 -1.12353052e-03 9.99865099e-01 -9.43728130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.526559995 meters 0.036685792200900395 Centerline is valid? [True, True] Translation: X:62.37, Y:-1.54, Z:-0.95 [[ 9.87996127e-01 1.53629021e-01 1.61795435e-02 6.23716881e+01] [-1.53626686e-01 9.88127976e-01 -1.39451406e-03 -1.54374773e+00] [-1.62016974e-02 -1.10783516e-03 9.99868130e-01 -9.46592260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.586559995 meters 0.0368111276589749 Centerline is valid? [True, True] Translation: X:62.43, Y:-1.55, Z:-0.95 [[ 9.87770157e-01 1.55081803e-01 1.61167712e-02 6.24337846e+01] [-1.55079615e-01 9.87900993e-01 -1.39305019e-03 -1.54776516e+00] [-1.61378110e-02 -1.12336927e-03 9.99869146e-01 -9.47784262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.646559995000004 meters 0.03683225585762177 Centerline is valid? [True, True] Translation: X:62.50, Y:-1.55, Z:-0.95 [[ 9.87586642e-01 1.56190525e-01 1.66476536e-02 6.24960113e+01] [-1.56188325e-01 9.87726244e-01 -1.44030745e-03 -1.55349720e+00] [-1.66682868e-02 -1.17774073e-03 9.99860381e-01 -9.49841221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.706559995 meters 0.035741822030439296 Centerline is valid? [True, True] Translation: X:62.56, Y:-1.56, Z:-0.95 [[ 9.87503904e-01 1.56642658e-01 1.72950172e-02 6.25578342e+01] [-1.56640274e-01 9.87654581e-01 -1.50079036e-03 -1.56142109e+00] [-1.73165908e-02 -1.22705991e-03 9.99849304e-01 -9.50726496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.766559995 meters 0.03771675265671314 Centerline is valid? [True, True] Translation: X:62.62, Y:-1.56, Z:-0.95 [[ 9.87064673e-01 1.59199388e-01 1.89442739e-02 6.26180115e+01] [-1.59196913e-01 9.87245474e-01 -1.64832128e-03 -1.56179314e+00] [-1.89650604e-02 -1.38887022e-03 9.99819182e-01 -9.50012633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.826559995000004 meters 0.038020018498978694 Centerline is valid? [True, True] Translation: X:62.68, Y:-1.57, Z:-0.95 [[ 9.86992653e-01 1.59627249e-01 1.90956673e-02 6.26798507e+01] [-1.59624798e-01 9.87176357e-01 -1.66231859e-03 -1.56586278e+00] [-1.91161426e-02 -1.40744580e-03 9.99816279e-01 -9.51345261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.886559995 meters 0.037899929878877185 Centerline is valid? [True, True] Translation: X:62.74, Y:-1.57, Z:-0.95 [[ 9.87226107e-01 1.58262007e-01 1.83780074e-02 6.27411113e+01] [-1.58259430e-01 9.87396263e-01 -1.60373571e-03 -1.57102951e+00] [-1.84001862e-02 -1.32524321e-03 9.99829824e-01 -9.53502545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.946559995 meters 0.03401232349165121 Centerline is valid? [True, True] Translation: X:62.80, Y:-1.58, Z:-0.96 [[ 9.88205440e-01 1.52255577e-01 1.63782617e-02 6.28007672e+01] [-1.52252700e-01 9.88340564e-01 -1.42973145e-03 -1.58394722e+00] [-1.64049850e-02 -1.08076617e-03 9.99864845e-01 -9.56438066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.006559995 meters 0.029349609529524173 Centerline is valid? [True, True] Translation: X:62.86, Y:-1.60, Z:-0.96 [[ 9.89634960e-01 1.42670628e-01 1.63627131e-02 6.28600187e+01] [-1.42666449e-01 9.89769793e-01 -1.42837718e-03 -1.59965289e+00] [-1.63991067e-02 -9.20838186e-04 9.99865102e-01 -9.58120270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.066559995 meters 0.024347249373251525 Centerline is valid? [True, True] Translation: X:62.92, Y:-1.61, Z:-0.96 [[ 9.91100353e-01 1.32113644e-01 1.63118003e-02 6.29198712e+01] [-1.32108059e-01 9.91234297e-01 -1.42420640e-03 -1.61344076e+00] [-1.63569730e-02 -7.43388816e-04 9.99865939e-01 -9.58555028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.126559995 meters 0.022868547755357165 Centerline is valid? [True, True] Translation: X:62.98, Y:-1.62, Z:-0.96 [[ 9.92053533e-01 1.24864865e-01 1.54451440e-02 6.29788489e+01] [-1.24858977e-01 9.92173582e-01 -1.34871125e-03 -1.62328191e+00] [-1.54926705e-02 -5.90471120e-04 9.99879807e-01 -9.60249997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.186559995 meters 0.017520970165556853 Centerline is valid? [True, True] Translation: X:63.04, Y:-1.64, Z:-0.96 [[ 9.93318665e-01 1.14492853e-01 1.44712500e-02 6.30382381e+01] [-1.14486586e-01 9.93423991e-01 -1.26349202e-03 -1.64120292e+00] [-1.45207477e-02 -4.01713796e-04 9.99894488e-01 -9.62325298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.246559995 meters 0.015370373333105822 Centerline is valid? [True, True] Translation: X:63.10, Y:-1.65, Z:-0.96 [[ 9.94262062e-01 1.05966712e-01 1.46290241e-02 6.30983923e+01] [-1.05959384e-01 9.94369638e-01 -1.27731016e-03 -1.65474820e+00] [-1.46820097e-02 -2.80101352e-04 9.99892174e-01 -9.63674161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.306559995 meters 0.015457288193084078 Centerline is valid? [True, True] Translation: X:63.16, Y:-1.66, Z:-0.96 [[ 9.94751459e-01 1.01280964e-01 1.45499780e-02 6.31592132e+01] [-1.01273212e-01 9.94857840e-01 -1.27045988e-03 -1.66475087e+00] [-1.46038331e-02 -2.09731194e-04 9.99893336e-01 -9.64884321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.366559995 meters 0.01412888888435833 Centerline is valid? [True, True] Translation: X:63.22, Y:-1.68, Z:-0.97 [[ 9.95120532e-01 9.76004251e-02 1.44666695e-02 6.32199625e+01] [-9.75923205e-02 9.95225670e-01 -1.26681409e-03 -1.67771469e+00] [-1.45212425e-02 -1.51203135e-04 9.99894550e-01 -9.65259269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.426559995 meters 0.015085715364628096 Centerline is valid? [True, True] Translation: X:63.28, Y:-1.69, Z:-0.97 [[ 9.94452240e-01 1.04496659e-01 1.20494823e-02 6.32815410e+01] [-1.04491507e-01 9.94525216e-01 -1.05807869e-03 -1.68567239e+00] [-1.20940797e-02 -2.06859845e-04 9.99926843e-01 -9.67910264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.486559995 meters 0.015759577375116594 Centerline is valid? [True, True] Translation: X:63.34, Y:-1.69, Z:-0.97 [[ 9.94075814e-01 1.08146746e-01 1.08423803e-02 6.33438051e+01] [-1.08142794e-01 9.94134915e-01 -9.51850349e-04 -1.69020025e+00] [-1.08817283e-02 -2.26313887e-04 9.99940767e-01 -9.69792144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.546559995 meters 0.01643126220193758 Centerline is valid? [True, True] Translation: X:63.41, Y:-1.69, Z:-0.97 [[ 9.93722635e-01 1.11422703e-01 1.00152620e-02 6.34053322e+01] [-1.11419468e-01 9.93773075e-01 -8.82173606e-04 -1.69475976e+00] [-1.00511919e-02 -2.39259282e-04 9.99949457e-01 -9.71367821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.606559995 meters 0.018639709473870166 Centerline is valid? [True, True] Translation: X:63.47, Y:-1.70, Z:-0.97 [[ 9.92884842e-01 1.18654086e-01 1.00448130e-02 6.34665737e+01] [-1.18651182e-01 9.92935603e-01 -8.86613862e-04 -1.69798453e+00] [-1.00790528e-02 -3.11523474e-04 9.99949157e-01 -9.72554699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.666559995 meters 0.020953453664186866 Centerline is valid? [True, True] Translation: X:63.53, Y:-1.70, Z:-0.97 [[ 9.91983966e-01 1.25896860e-01 1.08532453e-02 6.35276944e+01] [-1.25893896e-01 9.92043249e-01 -9.58524284e-04 -1.70209074e+00] [-1.08875639e-02 -4.15516615e-04 9.99940642e-01 -9.71219248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.726559995 meters 0.022628842755433743 Centerline is valid? [True, True] Translation: X:63.59, Y:-1.71, Z:-0.97 [[ 9.91469740e-01 1.29789075e-01 1.19394719e-02 6.35882107e+01] [-1.29785769e-01 9.91541498e-01 -1.05459424e-03 -1.70673970e+00] [-1.19753567e-02 -5.03975266e-04 9.99928166e-01 -9.71319487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.786559995000005 meters 0.023759619056563878 Centerline is valid? [True, True] Translation: X:63.65, Y:-1.71, Z:-0.97 [[ 9.91133373e-01 1.32243642e-01 1.28940511e-02 6.36504513e+01] [-1.32239992e-01 9.91217074e-01 -1.13900851e-03 -1.71218380e+00] [-1.29314303e-02 -5.76199874e-04 9.99916220e-01 -9.70987262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.846559995 meters 0.02378901852082734 Centerline is valid? [True, True] Translation: X:63.71, Y:-1.72, Z:-0.97 [[ 9.90745655e-01 1.35095768e-01 1.31217263e-02 6.37112703e+01] [-1.35092224e-01 9.90832350e-01 -1.16017528e-03 -1.71898402e+00] [-1.31581656e-02 -6.23204569e-04 9.99913233e-01 -9.71058176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.906559995 meters 0.024913395627293746 Centerline is valid? [True, True] Translation: X:63.77, Y:-1.72, Z:-0.97 [[ 9.90491097e-01 1.37049030e-01 1.20395623e-02 6.37730244e+01] [-1.37046187e-01 9.90564086e-01 -1.06474725e-03 -1.72475740e+00] [-1.20718806e-02 -5.95353426e-04 9.99926955e-01 -9.73008698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.966559995000004 meters 0.02489131938615074 Centerline is valid? [True, True] Translation: X:63.83, Y:-1.73, Z:-0.97 [[ 9.90390188e-01 1.37820281e-01 1.15258823e-02 6.38344765e+01] [-1.37817727e-01 9.90457084e-01 -1.01934259e-03 -1.73093000e+00] [-1.15563778e-02 -5.78923999e-04 9.99933055e-01 -9.73607147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.026559995 meters 0.026529929700884542 Centerline is valid? [True, True] Translation: X:63.90, Y:-1.74, Z:-0.97 [[ 9.90294400e-01 1.38634585e-01 9.87183508e-03 6.38951751e+01] [-1.38632732e-01 9.90343476e-01 -8.75115825e-04 -1.73770790e+00] [-9.89782878e-03 -5.01937163e-04 9.99950889e-01 -9.74761110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.086559995 meters 0.025056801961596546 Centerline is valid? [True, True] Translation: X:63.96, Y:-1.75, Z:-0.98 [[ 9.90863763e-01 1.34567045e-01 8.98403373e-03 6.39554330e+01] [-1.34565314e-01 9.90904403e-01 -7.99623288e-04 -1.74773021e+00] [-9.00992153e-03 -4.16621582e-04 9.99959323e-01 -9.76476595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.146559995 meters 0.021768466793922654 Centerline is valid? [True, True] Translation: X:64.02, Y:-1.76, Z:-0.98 [[ 9.91655932e-01 1.28477558e-01 1.05843996e-02 6.40154978e+01] [-1.28474806e-01 9.91712325e-01 -9.42334586e-04 -1.76244930e+00] [-1.06177484e-02 -4.25357007e-04 9.99943540e-01 -9.75761955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.206559995 meters 0.01947124638530419 Centerline is valid? [True, True] Translation: X:64.07, Y:-1.78, Z:-0.98 [[ 9.92416429e-01 1.22439462e-01 1.08724606e-02 6.40748915e+01] [-1.22436195e-01 9.92475915e-01 -9.68157509e-04 -1.77736078e+00] [-1.09091960e-02 -3.70367287e-04 9.99940424e-01 -9.75805220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.266559995 meters 0.018595757652051775 Centerline is valid? [True, True] Translation: X:64.13, Y:-1.79, Z:-0.98 [[ 9.92972233e-01 1.18021679e-01 8.77649402e-03 6.41342950e+01] [-1.18019384e-01 9.93010985e-01 -7.80754333e-04 -1.78985786e+00] [-8.80730091e-03 -2.60529046e-04 9.99961181e-01 -9.78208362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.326559995 meters 0.01724120103412658 Centerline is valid? [True, True] Translation: X:64.20, Y:-1.80, Z:-0.98 [[ 9.92906882e-01 1.18593694e-01 8.45331228e-03 6.41963427e+01] [-1.18591590e-01 9.92942833e-01 -7.51496914e-04 -1.79717816e+00] [-8.48277864e-03 -2.56325286e-04 9.99963988e-01 -9.78688082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.386559995 meters 0.01889536978211647 Centerline is valid? [True, True] Translation: X:64.26, Y:-1.80, Z:-0.98 [[ 9.92937065e-01 1.18354801e-01 8.25382108e-03 6.42568051e+01] [-1.18352764e-01 9.92971339e-01 -7.36533958e-04 -1.80174827e+00] [-8.28298011e-03 -2.45530669e-04 9.99965665e-01 -9.80645494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.446559995 meters 0.0190511466697261 Centerline is valid? [True, True] Translation: X:64.32, Y:-1.81, Z:-0.98 [[ 9.92914326e-01 1.18564595e-01 7.97359059e-03 6.43197117e+01] [-1.18562690e-01 9.92946313e-01 -7.12853543e-04 -1.80822795e+00] [-8.00186657e-03 -2.37567856e-04 9.99967956e-01 -9.81771620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.506559995 meters 0.019346265421450952 Centerline is valid? [True, True] Translation: X:64.38, Y:-1.81, Z:-0.98 [[ 9.92858825e-01 1.19034041e-01 7.88994441e-03 6.43821526e+01] [-1.19032173e-01 9.92890146e-01 -7.07637802e-04 -1.81361335e+00] [-7.91808104e-03 -2.36572791e-04 9.99968624e-01 -9.82834268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.566559995 meters 0.01783867289479419 Centerline is valid? [True, True] Translation: X:64.44, Y:-1.82, Z:-0.98 [[ 9.92755843e-01 1.19875639e-01 8.10353083e-03 6.44436366e+01] [-1.19873674e-01 9.92788885e-01 -7.29503859e-04 -1.81953022e+00] [-8.13254508e-03 -2.47180791e-04 9.99966900e-01 -9.82340571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62655999500001 meters 0.019163874166520902 Centerline is valid? [True, True] Translation: X:64.51, Y:-1.82, Z:-0.99 [[ 9.92687113e-01 1.20498816e-01 7.23405536e-03 6.45052837e+01] [-1.20497257e-01 9.92713446e-01 -6.52662112e-04 -1.82209138e+00] [-7.25998904e-03 -2.23794558e-04 9.99973621e-01 -9.85367403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.686559995 meters 0.020052229779641422 Centerline is valid? [True, True] Translation: X:64.57, Y:-1.83, Z:-0.99 [[ 9.92582198e-01 1.21318794e-01 7.89489565e-03 6.45676095e+01] [-1.21316945e-01 9.92613564e-01 -7.14501096e-04 -1.82514236e+00] [-7.92326292e-03 -2.48583553e-04 9.99968580e-01 -9.87114379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.746559995 meters 0.0195378805385677 Centerline is valid? [True, True] Translation: X:64.63, Y:-1.83, Z:-0.99 [[ 9.92361558e-01 1.23125773e-01 7.65394745e-03 6.46296940e+01] [-1.23124073e-01 9.92391042e-01 -6.94705937e-04 -1.82893891e+00] [-7.68124509e-03 -2.52985716e-04 9.99970467e-01 -9.87869688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.806559995 meters 0.01998614922026212 Centerline is valid? [True, True] Translation: X:64.69, Y:-1.83, Z:-0.99 [[ 9.92287335e-01 1.23733622e-01 7.47228704e-03 6.46915282e+01] [-1.23732005e-01 9.92315438e-01 -6.79985418e-04 -1.83268543e+00] [-7.49900285e-03 -2.49820142e-04 9.99971851e-01 -9.89761519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.866559995 meters 0.018511068846813437 Centerline is valid? [True, True] Translation: X:64.75, Y:-1.84, Z:-0.99 [[ 9.92267719e-01 1.23806118e-01 8.76462064e-03 6.47530150e+01] [-1.23803873e-01 9.92306384e-01 -8.00360425e-04 -1.84015107e+00] [-8.79627853e-03 -2.90922165e-04 9.99961270e-01 -9.89447644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.926559995 meters 0.02004983647140943 Centerline is valid? [True, True] Translation: X:64.81, Y:-1.84, Z:-0.99 [[ 9.92137330e-01 1.24808124e-01 9.29786688e-03 6.48138460e+01] [-1.24805616e-01 9.92180847e-01 -8.51832964e-04 -1.84220388e+00] [-9.33148111e-03 -3.15290717e-04 9.99956411e-01 -9.89917707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98655999500001 meters 0.01995774448082582 Centerline is valid? [True, True] Translation: X:64.88, Y:-1.85, Z:-0.99 [[ 9.92147956e-01 1.24790969e-01 8.34553918e-03 6.48765531e+01] [-1.24788937e-01 9.92183015e-01 -7.65721225e-04 -1.84825638e+00] [-8.37585731e-03 -2.81722218e-04 9.99964882e-01 -9.92477909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.046559995 meters 0.025025498812955054 Centerline is valid? [True, True] Translation: X:64.94, Y:-1.85, Z:-1.00 [[ 9.92115200e-01 1.25106441e-01 7.47054986e-03 6.49383741e+01] [-1.25104807e-01 9.92143293e-01 -6.87462911e-04 -1.84655455e+00] [-7.49786198e-03 -2.52559292e-04 9.99971859e-01 -9.95594028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.106559995 meters 0.022774947760809315 Centerline is valid? [True, True] Translation: X:65.00, Y:-1.86, Z:-1.00 [[ 9.92187906e-01 1.24584566e-01 6.46873668e-03 6.49995457e+01] [-1.24583322e-01 9.92208970e-01 -5.96343372e-04 -1.85875441e+00] [-6.49263374e-03 -2.14212026e-04 9.99978900e-01 -9.95510231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.166559995 meters 0.02333390947839669 Centerline is valid? [True, True] Translation: X:65.06, Y:-1.86, Z:-1.00 [[ 9.92319160e-01 1.23523993e-01 6.67139146e-03 6.50617105e+01] [-1.23522635e-01 9.92341563e-01 -6.16874649e-04 -1.86435022e+00] [-6.69649785e-03 -2.11931316e-04 9.99977556e-01 -9.96852733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.226559995 meters 0.02429647118797804 Centerline is valid? [True, True] Translation: X:65.12, Y:-1.87, Z:-1.00 [[ 9.92249537e-01 1.24081235e-01 6.68613387e-03 6.51240957e+01] [-1.24079874e-01 9.92272040e-01 -6.19608356e-04 -1.86933595e+00] [-6.71134547e-03 -2.14808544e-04 9.99977456e-01 -9.98234466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.286559995 meters 0.023770060524773883 Centerline is valid? [True, True] Translation: X:65.19, Y:-1.88, Z:-1.00 [[ 9.92304229e-01 1.23612535e-01 7.22893752e-03 6.51855715e+01] [-1.23610912e-01 9.92330535e-01 -6.72594540e-04 -1.87630671e+00] [-7.25663655e-03 -2.26157156e-04 9.99973645e-01 -9.99604823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.346559995 meters 0.02498671237129093 Centerline is valid? [True, True] Translation: X:65.25, Y:-1.88, Z:-1.00 [[ 9.92264558e-01 1.23939869e-01 7.06800791e-03 6.52479129e+01] [-1.23938315e-01 9.92289705e-01 -6.59038676e-04 -1.88168602e+00] [-7.09519266e-03 -2.22056274e-04 9.99974804e-01 -1.00118422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.406559995 meters 0.026342942493456808 Centerline is valid? [True, True] Translation: X:65.31, Y:-1.89, Z:-1.00 [[ 9.92379499e-01 1.22980588e-01 7.66191456e-03 6.53085675e+01] [-1.22978711e-01 9.92409050e-01 -7.17458748e-04 -1.88559091e+00] [-7.69198684e-03 -2.30261020e-04 9.99970390e-01 -1.00322754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.466559995 meters 0.025363109041554296 Centerline is valid? [True, True] Translation: X:65.37, Y:-1.90, Z:-1.00 [[ 9.92583808e-01 1.21307028e-01 7.87329195e-03 6.53702986e+01] [-1.21304980e-01 9.92615009e-01 -7.39001568e-04 -1.89610481e+00] [-7.90479384e-03 -2.21548530e-04 9.99968732e-01 -1.00382903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.526559995 meters 0.024966304481327514 Centerline is valid? [True, True] Translation: X:65.43, Y:-1.91, Z:-1.01 [[ 9.92871500e-01 1.18946010e-01 7.61786333e-03 6.54323055e+01] [-1.18944002e-01 9.92900705e-01 -7.17691919e-04 -1.90594630e+00] [-7.64914845e-03 -1.93523301e-04 9.99970726e-01 -1.00500464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.586559995 meters 0.024626291149974465 Centerline is valid? [True, True] Translation: X:65.49, Y:-1.92, Z:-1.01 [[ 9.93297690e-01 1.15342220e-01 7.47475821e-03 6.54932758e+01] [-1.15340184e-01 9.93325800e-01 -7.04245693e-04 -1.91718320e+00] [-7.50609944e-03 -1.62614371e-04 9.99971816e-01 -1.00680667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.646559995 meters 0.023933893482694008 Centerline is valid? [True, True] Translation: X:65.55, Y:-1.93, Z:-1.01 [[ 9.93684063e-01 1.11825744e-01 9.32663073e-03 6.55533464e+01] [-1.11822388e-01 9.93727818e-01 -8.82199390e-04 -1.92748227e+00] [-9.36678500e-03 -1.66298645e-04 9.99956117e-01 -1.00736670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.706559995 meters 0.024393960520932272 Centerline is valid? [True, True] Translation: X:65.62, Y:-1.94, Z:-1.01 [[ 9.93897826e-01 1.09697944e-01 1.15530581e-02 6.56151579e+01] [-1.09692604e-01 9.93964954e-01 -1.09671163e-03 -1.93908127e+00] [-1.16036418e-02 -1.77265722e-04 9.99932660e-01 -1.00689922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.766559995 meters 0.024393960520932272 Centerline is valid? [True, True] Translation: X:65.68, Y:-1.95, Z:-1.01 [[ 9.93866325e-01 1.09982985e-01 1.15529692e-02 6.56772796e+01] [-1.09977654e-01 9.93933454e-01 -1.09764732e-03 -1.94506192e+00] [-1.16036051e-02 -1.79653751e-04 9.99932660e-01 -1.00788967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.826559995 meters 0.024688321402152026 Centerline is valid? [True, True] Translation: X:65.74, Y:-1.96, Z:-1.01 [[ 9.94106225e-01 1.07915961e-01 1.03420435e-02 6.57385658e+01] [-1.07911549e-01 9.94160011e-01 -9.85322301e-04 -1.95614297e+00] [-1.03879781e-02 -1.36510906e-04 9.99946034e-01 -1.00964855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.886559995 meters 0.024789001489042718 Centerline is valid? [True, True] Translation: X:65.80, Y:-1.96, Z:-1.01 [[ 9.93959729e-01 1.09458968e-01 7.92409220e-03 6.57999285e+01] [-1.09456411e-01 9.93991308e-01 -7.56913340e-04 -1.96106898e+00] [-7.95932972e-03 -1.15001312e-04 9.99968317e-01 -1.01324162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.946559995 meters 0.024950465189206468 Centerline is valid? [True, True] Translation: X:65.86, Y:-1.96, Z:-1.02 [[ 9.93858529e-01 1.10434169e-01 7.03696274e-03 6.58611108e+01] [-1.10432178e-01 9.93883435e-01 -6.72065656e-04 -1.96470916e+00] [-7.06813971e-03 -1.09168941e-04 9.99975014e-01 -1.01616781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.006559995 meters 0.025350131125888735 Centerline is valid? [True, True] Translation: X:65.92, Y:-1.97, Z:-1.02 [[ 9.93695340e-01 1.11825767e-01 8.03549183e-03 6.59239317e+01] [-1.11823201e-01 9.93727820e-01 -7.69385173e-04 -1.96930425e+00] [-8.07112886e-03 -1.34019956e-04 9.99967419e-01 -1.01592658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.066559995 meters 0.025638159424119726 Centerline is valid? [True, True] Translation: X:65.99, Y:-1.97, Z:-1.02 [[ 9.93733962e-01 1.11461377e-01 8.31710519e-03 6.59854269e+01] [-1.11458591e-01 9.93768758e-01 -7.99167949e-04 -1.97323109e+00] [-8.35435565e-03 -1.32852494e-04 9.99965093e-01 -1.01792734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12655999500001 meters 0.025901026811054825 Centerline is valid? [True, True] Translation: X:66.05, Y:-1.98, Z:-1.02 [[ 9.93887182e-01 1.09707428e-01 1.23510602e-02 6.60475911e+01] [-1.09701088e-01 9.93963908e-01 -1.19174392e-03 -1.97878382e+00] [-1.24072512e-02 -1.70465723e-04 9.99923013e-01 -1.01675275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.186559995 meters 0.025083451464409406 Centerline is valid? [True, True] Translation: X:66.11, Y:-1.98, Z:-1.02 [[ 9.93869231e-01 1.09561530e-01 1.48399312e-02 6.61096202e+01] [-1.09552292e-01 9.93979996e-01 -1.43646965e-03 -1.98307997e+00] [-1.49079766e-02 -1.98085492e-04 9.99888850e-01 -1.01729108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.246559995 meters 0.02750630032335784 Centerline is valid? [True, True] Translation: X:66.17, Y:-1.99, Z:-1.02 [[ 9.93832960e-01 1.09460162e-01 1.77347444e-02 6.61719538e+01] [-1.09446858e-01 9.93991157e-01 -1.72197438e-03 -1.98735507e+00] [-1.78166667e-02 -2.29657151e-04 9.99841244e-01 -1.01828210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.306559995 meters 0.02939535240384842 Centerline is valid? [True, True] Translation: X:66.23, Y:-1.99, Z:-1.02 [[ 9.93722759e-01 1.09808375e-01 2.13822125e-02 6.62338146e+01] [-1.09788970e-01 9.93952737e-01 -2.08292913e-03 -1.99110791e+00] [-2.14816317e-02 -2.77676990e-04 9.99769205e-01 -1.02071808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.366559995 meters 0.029965766533002456 Centerline is valid? [True, True] Translation: X:66.30, Y:-2.00, Z:-1.02 [[ 9.93638561e-01 1.10260779e-01 2.29122180e-02 6.62960030e+01] [-1.10238473e-01 9.93902646e-01 -2.23822771e-03 -1.99659287e+00] [-2.30193029e-02 -3.01818564e-04 9.99734975e-01 -1.02342851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.426559995 meters 0.032114025454977706 Centerline is valid? [True, True] Translation: X:66.36, Y:-2.00, Z:-1.03 [[ 9.93561717e-01 1.10497411e-01 2.50087355e-02 6.63575428e+01] [-1.10470725e-01 9.93876358e-01 -2.45038508e-03 -2.00119194e+00] [-2.51263522e-02 -3.28124333e-04 9.99684230e-01 -1.02612881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48655999500001 meters 0.0344335027580526 Centerline is valid? [True, True] Translation: X:66.42, Y:-2.01, Z:-1.03 [[ 9.93408813e-01 1.11155281e-01 2.79898923e-02 6.64196959e+01] [-1.11121902e-01 9.93802979e-01 -2.75001610e-03 -2.00586948e+00] [-2.81221172e-02 -3.78399852e-04 9.99604423e-01 -1.02946162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.546559995 meters 0.03636659074850854 Centerline is valid? [True, True] Translation: X:66.48, Y:-2.01, Z:-1.03 [[ 9.93339191e-01 1.11887032e-01 2.75416776e-02 6.64828684e+01] [-1.11854794e-01 9.93720858e-01 -2.71322700e-03 -2.01035919e+00] [-2.76723144e-02 -3.85513956e-04 9.99616974e-01 -1.03497332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.606559995 meters 0.036977458913537556 Centerline is valid? [True, True] Translation: X:66.55, Y:-2.01, Z:-1.04 [[ 9.92674399e-01 1.18404483e-01 2.40398908e-02 6.65452951e+01] [-1.18381686e-01 9.92965326e-01 -2.37424216e-03 -2.01060442e+00] [-2.41518990e-02 -4.89033407e-04 9.99708181e-01 -1.04167053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.666559995 meters 0.03685615061908453 Centerline is valid? [True, True] Translation: X:66.61, Y:-2.02, Z:-1.04 [[ 9.92543686e-01 1.19546266e-01 2.37849110e-02 6.66074174e+01] [-1.19524136e-01 9.92828502e-01 -2.35499651e-03 -2.01583982e+00] [-2.38958686e-02 -5.05434023e-04 9.99714325e-01 -1.04341400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.726559995 meters 0.03712796662180673 Centerline is valid? [True, True] Translation: X:66.67, Y:-2.02, Z:-1.04 [[ 9.92451347e-01 1.20464643e-01 2.29911492e-02 6.66701719e+01] [-1.20444076e-01 9.92717490e-01 -2.28229738e-03 -2.02152541e+00] [-2.30986520e-02 -5.04078610e-04 9.99733063e-01 -1.04498862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.786559995 meters 0.03712796662180673 Centerline is valid? [True, True] Translation: X:66.73, Y:-2.03, Z:-1.05 [[ 9.92417301e-01 1.20744931e-01 2.29905032e-02 6.67322832e+01] [-1.20724289e-01 9.92683438e-01 -2.28878876e-03 -2.02777957e+00] [-2.30986514e-02 -5.04078596e-04 9.99733063e-01 -1.04598012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.846559995 meters 0.03707233169826977 Centerline is valid? [True, True] Translation: X:66.79, Y:-2.03, Z:-1.05 [[ 9.92339904e-01 1.21524236e-01 2.22120453e-02 6.67949897e+01] [-1.21505025e-01 9.92588340e-01 -2.21746915e-03 -2.03367130e+00] [-2.23168934e-02 -4.98391991e-04 9.99750823e-01 -1.04698067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.906559995 meters 0.036549291848811234 Centerline is valid? [True, True] Translation: X:66.86, Y:-2.04, Z:-1.05 [[ 9.92183236e-01 1.23052542e-01 2.07484451e-02 6.68572039e+01] [-1.23036001e-01 9.92400035e-01 -2.07677646e-03 -2.03903207e+00] [-2.08463103e-02 -4.92262929e-04 9.99782571e-01 -1.04851160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.966559995 meters 0.03557103689773838 Centerline is valid? [True, True] Translation: X:66.92, Y:-2.05, Z:-1.05 [[ 9.92098977e-01 1.23981472e-01 1.91888963e-02 6.69194979e+01] [-1.23967409e-01 9.92284422e-01 -1.92525101e-03 -2.04739721e+00] [-1.92795383e-02 -4.68758191e-04 9.99814023e-01 -1.04767837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.026559995 meters 0.03418026190278177 Centerline is valid? [True, True] Translation: X:66.98, Y:-2.06, Z:-1.05 [[ 9.92271014e-01 1.22916134e-01 1.70252153e-02 6.69799882e+01] [-1.22904833e-01 9.92416984e-01 -1.71246576e-03 -2.05540630e+00] [-1.71066025e-02 -3.93251109e-04 9.99853594e-01 -1.04593564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.086559995 meters 0.03305261435470588 Centerline is valid? [True, True] Translation: X:67.04, Y:-2.07, Z:-1.05 [[ 9.92493367e-01 1.21315117e-01 1.54776952e-02 6.70411095e+01] [-1.21305533e-01 9.92613990e-01 -1.56001317e-03 -2.06530832e+00] [-1.55526299e-02 -3.29227338e-04 9.99878996e-01 -1.04586665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.146559995 meters 0.03132880848451248 Centerline is valid? [True, True] Translation: X:67.10, Y:-2.08, Z:-1.05 [[ 9.92712457e-01 1.19947414e-01 1.16015081e-02 6.71023817e+01] [-1.19941914e-01 9.92780220e-01 -1.17119446e-03 -2.07599752e+00] [-1.16582296e-02 -2.28847765e-04 9.99932014e-01 -1.04556826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.206559995 meters 0.030482972790322783 Centerline is valid? [True, True] Translation: X:67.16, Y:-2.08, Z:-1.05 [[ 9.92563902e-01 1.21401698e-01 8.86160645e-03 6.71630898e+01] [-1.21398534e-01 9.92603442e-01 -8.96078763e-04 -2.08182335e+00] [-8.90484655e-03 -1.86370596e-04 9.99960334e-01 -1.04715727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.266559995 meters 0.030251303362047396 Centerline is valid? [True, True] Translation: X:67.22, Y:-2.09, Z:-1.05 [[ 9.92101839e-01 1.25305059e-01 5.70815087e-03 6.72229736e+01] [-1.25303797e-01 9.92118250e-01 -5.79598317e-04 -2.08530667e+00] [-5.73578726e-03 -1.40232423e-04 9.99983540e-01 -1.04904945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.326559995 meters 0.029846339986920198 Centerline is valid? [True, True] Translation: X:67.28, Y:-2.09, Z:-1.05 [[ 9.91766035e-01 1.28040347e-01 2.40843675e-03 6.72846598e+01] [-1.28040132e-01 9.91768958e-01 -2.43598275e-04 -2.09064972e+00] [-2.41980321e-03 -6.67840643e-05 9.99997070e-01 -1.05085201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.386559995 meters 0.029011516175496545 Centerline is valid? [True, True] Translation: X:67.35, Y:-2.10, Z:-1.05 [[ 9.91653324e-01 1.28932856e-01 -5.85674585e-05 6.73454827e+01] [-1.28932856e-01 9.91653326e-01 9.55282971e-06 -2.09643347e+00] [ 5.93102886e-05 -1.92182564e-06 9.99999998e-01 -1.05363401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.446559995 meters 0.028064982959246466 Centerline is valid? [True, True] Translation: X:67.41, Y:-2.10, Z:-1.06 [[ 9.91879045e-01 1.27180661e-01 -1.01970201e-03 6.74056950e+01] [-1.27180618e-01 9.91879569e-01 1.07576947e-04 -2.10399385e+00] [ 1.02510330e-03 2.29830130e-05 9.99999474e-01 -1.05545604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.506559995 meters 0.02708676282478299 Centerline is valid? [True, True] Translation: X:67.47, Y:-2.11, Z:-1.06 [[ 9.92148895e-01 1.25059764e-01 -7.90535120e-04 6.74675041e+01] [-1.25059737e-01 9.92149210e-01 8.46343422e-05 -2.11286083e+00] [ 7.94913145e-04 1.48942446e-05 9.99999684e-01 -1.05534494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.566559995 meters 0.02614369795645679 Centerline is valid? [True, True] Translation: X:67.53, Y:-2.12, Z:-1.06 [[ 9.92410211e-01 1.22971428e-01 1.59986209e-05 6.75291485e+01] [-1.22971428e-01 9.92410212e-01 2.08596097e-06 -2.12044242e+00] [-1.56206811e-05 -4.03750222e-06 1.00000000e+00 -1.05538899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62655999500001 meters 0.025025815997676802 Centerline is valid? [True, True] Translation: X:67.59, Y:-2.13, Z:-1.06 [[ 9.92877763e-01 1.19134880e-01 7.93069526e-04 6.75889093e+01] [-1.19134854e-01 9.92878079e-01 -8.10684000e-05 -2.13014298e+00] [-7.97079421e-04 -1.39912102e-05 9.99999682e-01 -1.05552260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.686559995 meters 0.02413721576264214 Centerline is valid? [True, True] Translation: X:67.65, Y:-2.14, Z:-1.05 [[ 9.93016667e-01 1.17972786e-01 5.67024193e-04 6.76500898e+01] [-1.17972775e-01 9.93016828e-01 -5.43835906e-05 -2.14060906e+00] [-5.69480350e-04 -1.28896055e-05 9.99999838e-01 -1.05420283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.746559995 meters 0.02398345017385678 Centerline is valid? [True, True] Translation: X:67.71, Y:-2.14, Z:-1.06 [[ 9.93200056e-01 1.16402258e-01 2.04016240e-03 6.77111974e+01] [-1.16402079e-01 9.93202151e-01 -2.06618322e-04 -2.14477334e+00] [-2.05034452e-03 -3.22658149e-05 9.99997898e-01 -1.05692178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.806559995 meters 0.023081365346395356 Centerline is valid? [True, True] Translation: X:67.77, Y:-2.15, Z:-1.06 [[ 9.93156383e-01 1.16782228e-01 1.52009107e-03 6.77740285e+01] [-1.16782131e-01 9.93157546e-01 -1.52663913e-04 -2.15336199e+00] [-1.52751835e-03 -2.59003346e-05 9.99998833e-01 -1.05731019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.866559995 meters 0.023575078845938496 Centerline is valid? [True, True] Translation: X:67.83, Y:-2.16, Z:-1.06 [[ 9.92953180e-01 1.18501394e-01 1.18397904e-03 6.78346062e+01] [-1.18501335e-01 9.92953886e-01 -1.20568752e-04 -2.15689382e+00] [-1.18992415e-03 -2.05839709e-05 9.99999292e-01 -1.06112725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.926559995 meters 0.02417993775360515 Centerline is valid? [True, True] Translation: X:67.90, Y:-2.16, Z:-1.06 [[ 9.92606967e-01 1.21372927e-01 -1.46719762e-04 6.78959892e+01] [-1.21372926e-01 9.92606978e-01 1.85055035e-05 -2.16134619e+00] [ 1.47881127e-04 -5.60884941e-07 9.99999989e-01 -1.06406389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98655999500001 meters 0.024085745183131 Centerline is valid? [True, True] Translation: X:67.96, Y:-2.17, Z:-1.06 [[ 9.92013010e-01 1.26120481e-01 -1.95250413e-03 6.79566384e+01] [-1.26120326e-01 9.92014930e-01 2.02640990e-04 -2.16843498e+00] [ 1.96247043e-03 4.52279588e-05 9.99998073e-01 -1.06322616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.046559995 meters 0.02522448964496206 Centerline is valid? [True, True] Translation: X:68.02, Y:-2.17, Z:-1.07 [[ 9.91357235e-01 1.31087372e-01 -5.18975500e-03 6.80178717e+01] [-1.31086349e-01 9.91370808e-01 5.38260292e-04 -2.17105988e+00] [ 5.21553073e-03 1.46697801e-04 9.99986388e-01 -1.06683749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.106559995 meters 0.026449440639050102 Centerline is valid? [True, True] Translation: X:68.08, Y:-2.17, Z:-1.07 [[ 9.90832077e-01 1.34932102e-01 -6.71741732e-03 6.80785286e+01] [-1.34930476e-01 9.90854823e-01 6.96732855e-04 -2.17269609e+00] [ 6.74999698e-03 2.16039056e-04 9.99977195e-01 -1.07026663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.166559995 meters 0.027888455893049995 Centerline is valid? [True, True] Translation: X:68.14, Y:-2.17, Z:-1.07 [[ 9.90355293e-01 1.38436138e-01 -5.64173112e-03 6.81391755e+01] [-1.38435045e-01 9.90371342e-01 5.85648714e-04 -2.17492772e+00] [ 5.66848377e-03 2.01013001e-04 9.99983914e-01 -1.07038282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.226559995 meters 0.027838344992137918 Centerline is valid? [True, True] Translation: X:68.20, Y:-2.18, Z:-1.07 [[ 9.90360248e-01 1.38497587e-01 -2.23567471e-03 6.82010672e+01] [-1.38497407e-01 9.90362768e-01 2.35909302e-04 -2.18120336e+00] [ 2.24680186e-03 7.59999544e-05 9.99997473e-01 -1.06713178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.286559995 meters 0.027853905696763524 Centerline is valid? [True, True] Translation: X:68.26, Y:-2.18, Z:-1.06 [[ 9.90471032e-01 1.37682064e-01 3.28383442e-03 6.82613063e+01] [-1.37681689e-01 9.90476469e-01 -3.41117136e-04 -2.18425821e+00] [-3.29952643e-03 -1.14257226e-04 9.99994550e-01 -1.06329543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.346559995 meters 0.02690155251634666 Centerline is valid? [True, True] Translation: X:68.32, Y:-2.19, Z:-1.06 [[ 9.90787758e-01 1.35142348e-01 8.72726948e-03 6.83214631e+01] [-1.35139600e-01 9.90826154e-01 -9.06590546e-04 -2.18863187e+00] [-8.76972563e-03 -2.81160893e-04 9.99961506e-01 -1.05914404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.406559995 meters 0.01951321807547427 Centerline is valid? [True, True] Translation: X:68.38, Y:-2.21, Z:-1.06 [[ 9.91215795e-01 1.31842434e-01 1.04316794e-02 6.83818472e+01] [-1.31838310e-01 9.91270640e-01 -1.08509084e-03 -2.20536143e+00] [-1.04836785e-02 -2.99735799e-04 9.99945000e-01 -1.05778016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.466559995 meters 0.017657074012339014 Centerline is valid? [True, True] Translation: X:68.44, Y:-2.21, Z:-1.06 [[ 9.92047853e-01 1.25480628e-01 9.78102882e-03 6.84419894e+01] [-1.25476687e-01 9.92096046e-01 -1.01800873e-03 -2.21410768e+00] [-9.83146039e-03 -2.17377721e-04 9.99951646e-01 -1.06072207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.526559995 meters 0.015717409034994582 Centerline is valid? [True, True] Translation: X:68.50, Y:-2.22, Z:-1.06 [[ 9.92930747e-01 1.18313578e-01 9.50937709e-03 6.85012706e+01] [-1.18309519e-01 9.92976272e-01 -9.90157995e-04 -2.22417410e+00] [-9.55973495e-03 -1.41891516e-04 9.99954295e-01 -1.06360001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.586559995 meters 0.013375509466326017 Centerline is valid? [True, True] Translation: X:68.56, Y:-2.24, Z:-1.07 [[ 9.94680481e-01 1.02422332e-01 1.09729677e-02 6.85598314e+01] [-1.02415957e-01 9.94741004e-01 -1.14279222e-03 -2.24172223e+00] [-1.10323084e-02 1.29061178e-05 9.99939142e-01 -1.06665758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.646559995 meters 0.012126735044745917 Centerline is valid? [True, True] Translation: X:68.62, Y:-2.24, Z:-1.08 [[ 9.93994923e-01 1.09364232e-01 3.68220018e-03 6.86209846e+01] [-1.09363563e-01 9.94001743e-01 -3.83174998e-04 -2.23778039e+00] [-3.70201903e-03 -2.18245279e-05 9.99993147e-01 -1.08051015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.706559995 meters 0.012126735044745917 Centerline is valid? [True, True] Translation: X:68.68, Y:-2.24, Z:-1.08 [[ 9.93966277e-01 1.09624268e-01 3.68247586e-03 6.86830558e+01] [-1.09623611e-01 9.93973098e-01 -3.80533478e-04 -2.24435175e+00] [-3.70199764e-03 -2.54488558e-05 9.99993147e-01 -1.08150011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.766559995 meters 0.012720003187055396 Centerline is valid? [True, True] Translation: X:68.74, Y:-2.25, Z:-1.08 [[ 9.93782921e-01 1.11285046e-01 3.33828834e-03 6.87441205e+01] [-1.11284511e-01 9.93788528e-01 -3.46118082e-04 -2.24898636e+00] [-3.35607042e-03 -2.75335462e-05 9.99994368e-01 -1.08453690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.826559995 meters 0.012720003187055396 Centerline is valid? [True, True] Translation: X:68.81, Y:-2.26, Z:-1.09 [[ 9.93755405e-01 1.11530493e-01 3.33826470e-03 6.88061938e+01] [-1.11529959e-01 9.93761012e-01 -3.46347594e-04 -2.25560546e+00] [-3.35606562e-03 -2.81317317e-05 9.99994368e-01 -1.08552801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.886559995 meters 0.013118698256491144 Centerline is valid? [True, True] Translation: X:68.87, Y:-2.26, Z:-1.09 [[ 9.93611073e-01 1.12814060e-01 3.16608793e-03 6.88689512e+01] [-1.12813584e-01 9.93616117e-01 -3.29084792e-04 -2.26189257e+00] [-3.18300139e-03 -3.01954322e-05 9.99994934e-01 -1.08673248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.946559995 meters 0.013118698256491144 Centerline is valid? [True, True] Translation: X:68.93, Y:-2.27, Z:-1.09 [[ 9.93583277e-01 1.13058609e-01 3.16600664e-03 6.89310221e+01] [-1.13058132e-01 9.93588320e-01 -3.29861369e-04 -2.26854387e+00] [-3.18300088e-03 -3.01980552e-05 9.99994934e-01 -1.08772383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.006559995 meters 0.01288885020767316 Centerline is valid? [True, True] Translation: X:68.99, Y:-2.28, Z:-1.09 [[ 9.93477705e-01 1.13977111e-01 3.35684205e-03 6.89930099e+01] [-1.13976577e-01 9.93483375e-01 -3.50682097e-04 -2.27639319e+00] [-3.37493651e-03 -3.42065213e-05 9.99994304e-01 -1.08689443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.066559995 meters 0.01288885020767316 Centerline is valid? [True, True] Translation: X:69.06, Y:-2.28, Z:-1.09 [[ 9.93448426e-01 1.14232032e-01 3.35675111e-03 6.90550747e+01] [-1.14231496e-01 9.93454096e-01 -3.51546527e-04 -2.28306091e+00] [-3.37493601e-03 -3.42033573e-05 9.99994304e-01 -1.08788578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12655999500001 meters 0.014335043919673515 Centerline is valid? [True, True] Translation: X:69.12, Y:-2.29, Z:-1.09 [[ 9.93309913e-01 1.15325256e-01 5.95832202e-03 6.91164674e+01] [-1.15323557e-01 9.93327781e-01 -6.29072040e-04 -2.29073418e+00] [-5.99111469e-03 -6.22713989e-05 9.99982051e-01 -1.08657458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.186559995 meters 0.012753641785166232 Centerline is valid? [True, True] Translation: X:69.18, Y:-2.30, Z:-1.08 [[ 9.93016893e-01 1.17625648e-01 9.03643870e-03 6.91791395e+01] [-1.17621804e-01 9.93058002e-01 -9.57517280e-04 -2.29818823e+00] [-9.08633635e-03 -1.12051385e-04 9.99958712e-01 -1.08273732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.246559995 meters 0.013651281927869905 Centerline is valid? [True, True] Translation: X:69.24, Y:-2.30, Z:-1.08 [[ 9.92316678e-01 1.23318960e-01 1.00022292e-02 6.92406530e+01] [-1.23314503e-01 9.92367070e-01 -1.06339958e-03 -2.30160823e+00] [-1.00570202e-02 -1.78190790e-04 9.99949411e-01 -1.08314543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.306559995 meters 0.017413240953917566 Centerline is valid? [True, True] Translation: X:69.30, Y:-2.30, Z:-1.09 [[ 9.91749792e-01 1.27921843e-01 8.26754702e-03 6.93026572e+01] [-1.27918938e-01 9.91784235e-01 -8.81481019e-04 -2.30394760e+00] [-8.31238347e-03 -1.83367215e-04 9.99965435e-01 -1.08824039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.366559995 meters 0.016288649870975596 Centerline is valid? [True, True] Translation: X:69.36, Y:-2.31, Z:-1.09 [[ 9.90737496e-01 1.35683757e-01 5.39748950e-03 6.93636358e+01] [-1.35682631e-01 9.90752185e-01 -5.76027160e-04 -2.30754010e+00] [-5.42573205e-03 -1.61653870e-04 9.99985268e-01 -1.08968974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.426559995 meters 0.018907365879952953 Centerline is valid? [True, True] Translation: X:69.42, Y:-2.31, Z:-1.09 [[ 9.90396711e-01 1.38229372e-01 2.64508918e-03 6.94244127e+01] [-1.38229111e-01 9.90400239e-01 -2.81947069e-04 -2.31096857e+00] [-2.65867032e-03 -8.63888769e-05 9.99996462e-01 -1.09433878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48655999500001 meters 0.01731425449550012 Centerline is valid? [True, True] Translation: X:69.49, Y:-2.32, Z:-1.09 [[ 9.90609337e-01 1.36703935e-01 2.27483235e-03 6.94855456e+01] [-1.36703745e-01 9.90611947e-01 -2.39546417e-04 -2.32477018e+00] [-2.28622304e-03 -7.36811842e-05 9.99997384e-01 -1.09327659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.546559995 meters 0.01765521862436607 Centerline is valid? [True, True] Translation: X:69.55, Y:-2.33, Z:-1.10 [[ 9.91181201e-01 1.32489546e-01 2.51924153e-03 6.95454537e+01] [-1.32489292e-01 9.91184400e-01 -2.68299768e-04 -2.33259096e+00] [-2.53257982e-03 -6.78388406e-05 9.99996791e-01 -1.09545848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.606559995 meters 0.016059740935334476 Centerline is valid? [True, True] Translation: X:69.61, Y:-2.35, Z:-1.09 [[ 9.91561119e-01 1.29568474e-01 4.30779691e-03 6.96062529e+01] [-1.29567694e-01 9.91570472e-01 -4.60866033e-04 -2.34528142e+00] [-4.33119793e-03 -1.01174470e-04 9.99990615e-01 -1.09368936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.666559995 meters 0.01504415325107714 Centerline is valid? [True, True] Translation: X:69.67, Y:-2.36, Z:-1.09 [[ 9.92046470e-01 1.25699947e-01 6.58211061e-03 6.96670390e+01] [-1.25698032e-01 9.92068298e-01 -7.05412385e-04 -2.35622551e+00] [-6.61857357e-03 -1.27556485e-04 9.99978089e-01 -1.09271620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.726559995 meters 0.015037581570002047 Centerline is valid? [True, True] Translation: X:69.73, Y:-2.37, Z:-1.09 [[ 9.92519459e-01 1.21827870e-01 7.94318885e-03 6.97283829e+01] [-1.21824965e-01 9.92551235e-01 -8.50332029e-04 -2.36725239e+00] [-7.98761605e-03 -1.23707622e-04 9.99968091e-01 -1.09162753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.786559995 meters 0.013594604241951328 Centerline is valid? [True, True] Translation: X:69.79, Y:-2.37, Z:-1.09 [[ 9.92527655e-01 1.21621937e-01 9.84673691e-03 6.97900973e+01] [-1.21617430e-01 9.92576487e-01 -1.05748127e-03 -2.37343811e+00] [-9.90225245e-03 -1.47955432e-04 9.99950961e-01 -1.09017123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.846559995 meters 0.013544690282333873 Centerline is valid? [True, True] Translation: X:69.85, Y:-2.38, Z:-1.09 [[ 9.92253650e-01 1.23792005e-01 1.04035434e-02 6.98522716e+01] [-1.23787063e-01 9.92308172e-01 -1.12005327e-03 -2.37698377e+00] [-1.04621747e-02 -1.76447130e-04 9.99945254e-01 -1.08985282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.906559995 meters 0.01545211209371264 Centerline is valid? [True, True] Translation: X:69.91, Y:-2.37, Z:-1.09 [[ 9.91512339e-01 1.29774617e-01 7.86319035e-03 6.99129010e+01] [-1.29771958e-01 9.91543502e-01 -8.49664098e-04 -2.37416848e+00] [-7.90696013e-03 -1.77969167e-04 9.99968724e-01 -1.09368421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.966559995 meters 0.017209411539506676 Centerline is valid? [True, True] Translation: X:69.97, Y:-2.37, Z:-1.10 [[ 9.90993500e-01 1.33835639e-01 4.46145644e-03 6.99741957e+01] [-1.33834825e-01 9.91003536e-01 -4.81883101e-04 -2.37473806e+00] [-4.48581224e-03 -1.19555221e-04 9.99989932e-01 -1.09832516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.026559995 meters 0.017005141856479836 Centerline is valid? [True, True] Translation: X:70.04, Y:-2.38, Z:-1.10 [[ 9.90813597e-01 1.35169924e-01 4.18424230e-03 7.00362104e+01] [-1.35169231e-01 9.90822425e-01 -4.49281158e-04 -2.38023967e+00] [-4.20657040e-03 -1.20426933e-04 9.99991145e-01 -1.09910340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.086559995 meters 0.016531199276941428 Centerline is valid? [True, True] Translation: X:70.10, Y:-2.39, Z:-1.10 [[ 9.90648222e-01 1.36367199e-01 4.48184875e-03 7.00977228e+01] [-1.36366410e-01 9.90658351e-01 -4.82611158e-04 -2.38515793e+00] [-4.50579322e-03 -1.33075739e-04 9.99989840e-01 -1.09855903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.146559995 meters 0.01666490338111863 Centerline is valid? [True, True] Translation: X:70.16, Y:-2.39, Z:-1.10 [[ 9.91028466e-01 1.33516588e-01 5.99174875e-03 7.01584162e+01] [-1.33515095e-01 9.91046566e-01 -6.50238508e-04 -2.39300614e+00] [-6.02491965e-03 -1.55584034e-04 9.99981838e-01 -1.09830788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.206559995 meters 0.016806104598833027 Centerline is valid? [True, True] Translation: X:70.22, Y:-2.40, Z:-1.10 [[ 9.91189311e-01 1.32252909e-01 7.27440626e-03 7.02198169e+01] [-1.32250685e-01 9.91215988e-01 -7.87974999e-04 -2.39924576e+00] [-7.31471978e-03 -1.81012815e-04 9.99973231e-01 -1.09841277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.266559995 meters 0.016471895037474142 Centerline is valid? [True, True] Translation: X:70.28, Y:-2.40, Z:-1.10 [[ 9.91413354e-01 1.30522228e-01 7.96927097e-03 7.02817227e+01] [-1.30519485e-01 9.91445367e-01 -8.65636132e-04 -2.40490947e+00] [-8.01408154e-03 -1.81941920e-04 9.99967870e-01 -1.09981377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.326559995 meters 0.014965018415308309 Centerline is valid? [True, True] Translation: X:70.34, Y:-2.41, Z:-1.10 [[ 9.91542051e-01 1.29489097e-01 8.77124462e-03 7.03431119e+01] [-1.29485707e-01 9.91580828e-01 -9.55607943e-04 -2.40924377e+00] [-8.82113881e-03 -1.88225353e-04 9.99961075e-01 -1.09884436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.386559995 meters 0.016399681239138236 Centerline is valid? [True, True] Translation: X:70.41, Y:-2.42, Z:-1.10 [[ 9.91565902e-01 1.29371128e-01 7.75712765e-03 7.04055721e+01] [-1.29368466e-01 9.91596230e-01 -8.46064663e-04 -2.41615537e+00] [-7.80139487e-03 -1.64598838e-04 9.99969555e-01 -1.10110991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.446559995 meters 0.014410322672217023 Centerline is valid? [True, True] Translation: X:70.47, Y:-2.42, Z:-1.10 [[ 9.91630929e-01 1.28848827e-01 8.12900441e-03 7.04678546e+01] [-1.28845862e-01 9.91664234e-01 -8.89561821e-04 -2.42073920e+00] [-8.17586192e-03 -1.65271564e-04 9.99966563e-01 -1.10064836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.506559995 meters 0.014173505076437888 Centerline is valid? [True, True] Translation: X:70.53, Y:-2.43, Z:-1.10 [[ 9.91663192e-01 1.28655657e-01 7.19963867e-03 7.05308149e+01] [-1.28653318e-01 9.91689317e-01 -7.88894322e-04 -2.42668972e+00] [-7.24130048e-03 -1.43939944e-04 9.99973771e-01 -1.10199547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.566559995 meters 0.014444250340931199 Centerline is valid? [True, True] Translation: X:70.59, Y:-2.43, Z:-1.10 [[ 9.91732519e-01 1.28158093e-01 6.48959941e-03 7.05925882e+01] [-1.28156171e-01 9.91753743e-01 -7.12758914e-04 -2.43194990e+00] [-6.52743034e-03 -1.24816023e-04 9.99978688e-01 -1.10396628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.626559995 meters 0.014013168701727724 Centerline is valid? [True, True] Translation: X:70.65, Y:-2.44, Z:-1.10 [[ 9.91880684e-01 1.27006662e-01 6.48195512e-03 7.06538322e+01] [-1.27004708e-01 9.91901857e-01 -7.13848048e-04 -2.43895298e+00] [-6.52012678e-03 -1.15186725e-04 9.99978737e-01 -1.10480383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.686559995 meters 0.014842127638309483 Centerline is valid? [True, True] Translation: X:70.72, Y:-2.44, Z:-1.11 [[ 9.91896450e-01 1.26864105e-01 6.85064063e-03 7.07160094e+01] [-1.26861906e-01 9.91920100e-01 -7.56394916e-04 -2.44389749e+00] [-6.89124750e-03 -1.18819893e-04 9.99976248e-01 -1.10641442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.746559995 meters 0.015801959868333798 Centerline is valid? [True, True] Translation: X:70.78, Y:-2.45, Z:-1.11 [[ 9.91749540e-01 1.28034911e-01 6.31757892e-03 7.07779457e+01] [-1.28033056e-01 9.91769655e-01 -6.98823286e-04 -2.44693827e+00] [-6.35505684e-03 -1.15801262e-04 9.99979800e-01 -1.10910777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.806559995 meters 0.015129232131251719 Centerline is valid? [True, True] Translation: X:70.84, Y:-2.45, Z:-1.11 [[ 9.91637053e-01 1.28905006e-01 6.28121388e-03 7.08396843e+01] [-1.28903181e-01 9.91656939e-01 -6.96261551e-04 -2.45095299e+00] [-6.31856094e-03 -1.19229698e-04 9.99980031e-01 -1.10977138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.866559995 meters 0.014591150463570719 Centerline is valid? [True, True] Translation: X:70.90, Y:-2.46, Z:-1.11 [[ 9.91534722e-01 1.29698711e-01 6.09422166e-03 7.09024855e+01] [-1.29697000e-01 9.91553443e-01 -6.76824114e-04 -2.45644616e+00] [-6.13052969e-03 -1.19307656e-04 9.99981201e-01 -1.10997298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.926559995 meters 0.014879443008630942 Centerline is valid? [True, True] Translation: X:70.97, Y:-2.46, Z:-1.11 [[ 9.91464865e-01 1.30258733e-01 5.48495040e-03 7.09653728e+01] [-1.30257349e-01 9.91480030e-01 -6.10341085e-04 -2.46112606e+00] [-5.51772104e-03 -1.09323355e-04 9.99984771e-01 -1.11220498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98655999500001 meters 0.015134663335635633 Centerline is valid? [True, True] Translation: X:71.03, Y:-2.47, Z:-1.11 [[ 9.91538574e-01 1.29710765e-01 5.13544541e-03 7.10271266e+01] [-1.29709536e-01 9.91551868e-01 -5.73083534e-04 -2.46698149e+00] [-5.16639559e-03 -9.78818109e-05 9.99986649e-01 -1.11414055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.046559995 meters 0.015115600329618287 Centerline is valid? [True, True] Translation: X:71.09, Y:-2.47, Z:-1.11 [[ 9.91585606e-01 1.29297017e-01 6.34561381e-03 7.10889319e+01] [-1.29295116e-01 9.91605904e-01 -7.10659443e-04 -2.47441700e+00] [-6.38423426e-03 -1.15777196e-04 9.99979614e-01 -1.11425826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.106559995 meters 0.014717652697291667 Centerline is valid? [True, True] Translation: X:71.15, Y:-2.48, Z:-1.11 [[ 9.91731486e-01 1.28093622e-01 7.79002595e-03 7.11502140e+01] [-1.28090698e-01 9.91762072e-01 -8.75251851e-04 -2.48385083e+00] [-7.83796645e-03 -1.29815040e-04 9.99969274e-01 -1.11331816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.166559995 meters 0.014603700873131844 Centerline is valid? [True, True] Translation: X:71.21, Y:-2.49, Z:-1.11 [[ 9.91686786e-01 1.28338362e-01 9.30499023e-03 7.12113760e+01] [-1.28334171e-01 9.91730428e-01 -1.04854842e-03 -2.49347699e+00] [-9.36261093e-03 -1.54316593e-04 9.99956158e-01 -1.11241774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.226559995 meters 0.01588140473324831 Centerline is valid? [True, True] Translation: X:71.27, Y:-2.50, Z:-1.11 [[ 9.91039541e-01 1.33364094e-01 7.39230666e-03 7.12726993e+01] [-1.33361572e-01 9.91067098e-01 -8.35199186e-04 -2.49812052e+00] [-7.43765749e-03 -1.58134221e-04 9.99972328e-01 -1.11467510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.286559995 meters 0.01610095347541042 Centerline is valid? [True, True] Translation: X:71.33, Y:-2.50, Z:-1.12 [[ 9.90576001e-01 1.36830033e-01 6.06034273e-03 7.13341461e+01] [-1.36828408e-01 9.90594528e-01 -6.83908101e-04 -2.50436783e+00] [-6.09692151e-03 -1.51764097e-04 9.99981402e-01 -1.11639484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.346559995 meters 0.01825526468003628 Centerline is valid? [True, True] Translation: X:71.39, Y:-2.51, Z:-1.12 [[ 9.89686771e-01 1.43159238e-01 5.05243541e-03 7.13946862e+01] [-1.43158176e-01 9.89699656e-01 -5.73119364e-04 -2.50572820e+00] [-5.08244092e-03 -1.56088785e-04 9.99987072e-01 -1.11807576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.406559995 meters 0.021580717030428142 Centerline is valid? [True, True] Translation: X:71.46, Y:-2.51, Z:-1.12 [[ 9.89224275e-01 1.46345430e-01 4.28344885e-03 7.14556587e+01] [-1.46344702e-01 9.89233538e-01 -4.84695656e-04 -2.50770912e+00] [-4.30826426e-03 -1.47387337e-04 9.99990709e-01 -1.12202914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.466559995 meters 0.020106230642797197 Centerline is valid? [True, True] Translation: X:71.52, Y:-2.51, Z:-1.12 [[ 9.88822925e-01 1.49041363e-01 3.98683303e-03 7.15177147e+01] [-1.49040750e-01 9.88830951e-01 -4.52112242e-04 -2.51434206e+00] [-4.00968732e-03 -1.47141633e-04 9.99991950e-01 -1.12069343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.526559995 meters 0.02152519891728078 Centerline is valid? [True, True] Translation: X:71.58, Y:-2.52, Z:-1.12 [[ 9.88534987e-01 1.50949704e-01 3.57300661e-03 7.15785297e+01] [-1.50949230e-01 9.88541434e-01 -4.03383600e-04 -2.51818954e+00] [-3.59295571e-03 -1.40583794e-04 9.99993535e-01 -1.12199831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.586559995 meters 0.02075977935268132 Centerline is valid? [True, True] Translation: X:71.64, Y:-2.53, Z:-1.12 [[ 9.88758483e-01 1.49466715e-01 4.04518089e-03 7.16400936e+01] [-1.49466091e-01 9.88766746e-01 -4.57889818e-04 -2.52656938e+00] [-4.06817964e-03 -1.51874933e-04 9.99991713e-01 -1.12236147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.646559995 meters 0.020248728348694407 Centerline is valid? [True, True] Translation: X:71.70, Y:-2.54, Z:-1.12 [[ 9.89213308e-01 1.46401438e-01 4.86317146e-03 7.17006514e+01] [-1.46400477e-01 9.89225249e-01 -5.54852230e-04 -2.53585318e+00] [-4.89200316e-03 -1.63103414e-04 9.99988021e-01 -1.12189304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.706559995 meters 0.017849070761166687 Centerline is valid? [True, True] Translation: X:71.76, Y:-2.55, Z:-1.12 [[ 9.89469824e-01 1.44621320e-01 5.84296529e-03 7.17620114e+01] [-1.44619914e-01 9.89487058e-01 -6.64729897e-04 -2.54726381e+00] [-5.87767265e-03 -1.87278961e-04 9.99982709e-01 -1.12152313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.766559995 meters 0.01794858173063756 Centerline is valid? [True, True] Translation: X:71.82, Y:-2.55, Z:-1.12 [[ 9.89801125e-01 1.42289129e-01 6.89467102e-03 7.18227429e+01] [-1.42287096e-01 9.89825117e-01 -7.87108142e-04 -2.55444762e+00] [-6.93651549e-03 -2.01942192e-04 9.99975922e-01 -1.12339285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.826559995 meters 0.0168162003016334 Centerline is valid? [True, True] Translation: X:71.88, Y:-2.56, Z:-1.12 [[ 9.90092605e-01 1.40139849e-01 8.80087465e-03 7.18838758e+01] [-1.40136423e-01 9.90131692e-01 -1.00773896e-03 -2.56478898e+00] [-8.85524929e-03 -2.35568202e-04 9.99960764e-01 -1.12471424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.886559995 meters 0.01659115335635449 Centerline is valid? [True, True] Translation: X:71.94, Y:-2.57, Z:-1.13 [[ 9.90348431e-01 1.38159581e-01 1.10415326e-02 7.19445795e+01] [-1.38154022e-01 9.90409944e-01 -1.26827072e-03 -2.57263746e+00] [-1.11108674e-02 -2.69402212e-04 9.99938236e-01 -1.12534884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.946559995 meters 0.016756023029470317 Centerline is valid? [True, True] Translation: X:72.01, Y:-2.58, Z:-1.13 [[ 9.90349763e-01 1.37871214e-01 1.41023305e-02 7.20061522e+01] [-1.37862056e-01 9.90450108e-01 -1.62415643e-03 -2.57863921e+00] [-1.41915791e-02 -3.35693336e-04 9.99899238e-01 -1.12616453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.006559995 meters 0.016213559759139618 Centerline is valid? [True, True] Translation: X:72.07, Y:-2.59, Z:-1.13 [[ 9.90249975e-01 1.38439478e-01 1.54756992e-02 7.20689520e+01] [-1.38428454e-01 9.90370825e-01 -1.78651183e-03 -2.58632376e+00] [-1.55740047e-02 -3.73183808e-04 9.99878648e-01 -1.12729975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.066559995 meters 0.01728524023632195 Centerline is valid? [True, True] Translation: X:72.13, Y:-2.59, Z:-1.13 [[ 9.89964617e-01 1.40442203e-01 1.56858224e-02 7.21295605e+01] [-1.40431055e-01 9.90088796e-01 -1.81539343e-03 -2.59006458e+00] [-1.57853148e-02 -4.05601329e-04 9.99875322e-01 -1.12976680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.126559995 meters 0.020050458768105274 Centerline is valid? [True, True] Translation: X:72.19, Y:-2.59, Z:-1.13 [[ 9.88628394e-01 1.49675083e-01 1.45350656e-02 7.21910338e+01] [-1.49666499e-01 9.88735105e-01 -1.68271949e-03 -2.58886676e+00] [-1.46231908e-02 -5.11828116e-04 9.99892944e-01 -1.13337942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.186559995 meters 0.020935855555608437 Centerline is valid? [True, True] Translation: X:72.25, Y:-2.59, Z:-1.14 [[ 9.88354914e-01 1.51544448e-01 1.37420502e-02 7.22527908e+01] [-1.51536960e-01 9.88450312e-01 -1.59059534e-03 -2.59423183e+00] [-1.38243797e-02 -5.10355792e-04 9.99904308e-01 -1.13523180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.246559995 meters 0.02190024414250999 Centerline is valid? [True, True] Translation: X:72.31, Y:-2.60, Z:-1.14 [[ 9.88124517e-01 1.53068651e-01 1.34137170e-02 7.23148311e+01] [-1.53061613e-01 9.88215423e-01 -1.55583103e-03 -2.59917832e+00] [-1.34937909e-02 -5.15770366e-04 9.99908822e-01 -1.13669849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.306559995 meters 0.023036473628812736 Centerline is valid? [True, True] Translation: X:72.38, Y:-2.60, Z:-1.14 [[ 9.87860445e-01 1.54738682e-01 1.36996756e-02 7.23768707e+01] [-1.54731453e-01 9.87955283e-01 -1.59245041e-03 -2.60348563e+00] [-1.37810805e-02 -5.46651932e-04 9.99904887e-01 -1.13925886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.366559995 meters 0.020494761334319767 Centerline is valid? [True, True] Translation: X:72.44, Y:-2.61, Z:-1.14 [[ 9.87910455e-01 1.54322484e-01 1.47480020e-02 7.24380312e+01] [-1.54314003e-01 9.88020362e-01 -1.71816697e-03 -2.61455806e+00] [-1.48364781e-02 -5.78428113e-04 9.99889766e-01 -1.13954961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.426559995 meters 0.019513546235204897 Centerline is valid? [True, True] Translation: X:72.50, Y:-2.62, Z:-1.14 [[ 9.88251799e-01 1.51907792e-01 1.68049018e-02 7.24984830e+01] [-1.51896354e-01 9.88394479e-01 -1.96239964e-03 -2.62345727e+00] [-1.69079760e-02 -6.13258339e-04 9.99856862e-01 -1.13872554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48655999500001 meters 0.01840940033592462 Centerline is valid? [True, True] Translation: X:72.56, Y:-2.63, Z:-1.14 [[ 9.88669952e-01 1.48927798e-01 1.87679952e-02 7.25592061e+01] [-1.48912981e-01 9.88847874e-01 -2.19239661e-03 -2.63252418e+00] [-1.88852010e-02 -6.27241467e-04 9.99821462e-01 -1.13872982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.546559995 meters 0.019322258238302074 Centerline is valid? [True, True] Translation: X:72.62, Y:-2.64, Z:-1.14 [[ 9.88871375e-01 1.47489008e-01 1.95037624e-02 7.26199902e+01] [-1.47472697e-01 9.89063499e-01 -2.27982024e-03 -2.63764714e+00] [-1.96267079e-02 -6.21823464e-04 9.99807184e-01 -1.13995253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.606559995 meters 0.017166440125432638 Centerline is valid? [True, True] Translation: X:72.68, Y:-2.65, Z:-1.14 [[ 9.88876086e-01 1.47626208e-01 1.81821264e-02 7.26822964e+01] [-1.47611981e-01 9.89043057e-01 -2.12946474e-03 -2.64616056e+00] [-1.82972706e-02 -5.78122942e-04 9.99832424e-01 -1.14354857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.666559995 meters 0.017125828127228595 Centerline is valid? [True, True] Translation: X:72.74, Y:-2.65, Z:-1.15 [[ 9.88964153e-01 1.47240718e-01 1.64339856e-02 7.27441281e+01] [-1.47228969e-01 9.89100556e-01 -1.92908806e-03 -2.65289957e+00] [-1.65389046e-02 -5.11759831e-04 9.99863092e-01 -1.14598961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.726559995 meters 0.017895069024028452 Centerline is valid? [True, True] Translation: X:72.81, Y:-2.66, Z:-1.15 [[ 9.88976493e-01 1.47269411e-01 1.54018301e-02 7.28062025e+01] [-1.47259039e-01 9.89096301e-01 -1.81159840e-03 -2.65859390e+00] [-1.55006862e-02 -4.76430460e-04 9.99879744e-01 -1.14819474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.786559995 meters 0.016906280841475572 Centerline is valid? [True, True] Translation: X:72.87, Y:-2.67, Z:-1.15 [[ 9.89104060e-01 1.46566551e-01 1.38349278e-02 7.28672929e+01] [-1.46558067e-01 9.89200725e-01 -1.63062029e-03 -2.66731562e+00] [-1.39245150e-02 -4.14767143e-04 9.99902963e-01 -1.15035273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.846559995 meters 0.01636010742142091 Centerline is valid? [True, True] Translation: X:72.93, Y:-2.68, Z:-1.15 [[ 9.89317933e-01 1.45103429e-01 1.39650676e-02 7.29286742e+01] [-1.45094589e-01 9.89416414e-01 -1.64950455e-03 -2.67675184e+00] [-1.40566158e-02 -3.94371307e-04 9.99901123e-01 -1.15113613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.906559995 meters 0.01704800828187094 Centerline is valid? [True, True] Translation: X:72.99, Y:-2.68, Z:-1.15 [[ 9.89123122e-01 1.46486454e-01 1.33104705e-02 7.29906252e+01] [-1.46478506e-01 9.89212599e-01 -1.57534741e-03 -2.68367123e+00] [-1.33976522e-02 -3.91485296e-04 9.99910171e-01 -1.15183697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.966559995 meters 0.016777252625645087 Centerline is valid? [True, True] Translation: X:73.05, Y:-2.69, Z:-1.15 [[ 9.88892524e-01 1.47983664e-01 1.38712419e-02 7.30524117e+01] [-1.47975129e-01 9.88989714e-01 -1.64531407e-03 -2.69098879e+00] [-1.39619952e-02 -4.25560029e-04 9.99902436e-01 -1.15191198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.026559995 meters 0.019595599040573373 Centerline is valid? [True, True] Translation: X:73.11, Y:-2.69, Z:-1.15 [[ 9.88285410e-01 1.51897646e-01 1.48004653e-02 7.31129265e+01] [-1.51888304e-01 9.88396098e-01 -1.75977060e-03 -2.69242262e+00] [-1.48960272e-02 -5.08861965e-04 9.99888919e-01 -1.15164056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.086559995 meters 0.02078489813475841 Centerline is valid? [True, True] Translation: X:73.17, Y:-2.70, Z:-1.15 [[ 9.87688437e-01 1.55795171e-01 1.41215075e-02 7.31738217e+01] [-1.55787061e-01 9.87789234e-01 -1.67928141e-03 -2.69690382e+00] [-1.42106970e-02 -5.41341316e-04 9.99898876e-01 -1.15201274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.146559995 meters 0.02393201446642103 Centerline is valid? [True, True] Translation: X:73.23, Y:-2.70, Z:-1.15 [[ 9.87021256e-01 1.60117046e-01 1.23114451e-02 7.32346335e+01] [-1.60111215e-01 9.87097895e-01 -1.46421808e-03 -2.69729180e+00] [-1.23870478e-02 -5.25986063e-04 9.99923139e-01 -1.15387853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.206559995 meters 0.02393038672069819 Centerline is valid? [True, True] Translation: X:73.30, Y:-2.70, Z:-1.15 [[ 9.86713828e-01 1.62055783e-01 1.15648136e-02 7.32961676e+01] [-1.62050771e-01 9.86781463e-01 -1.37538296e-03 -2.70352034e+00] [-1.16348324e-02 -5.16977574e-04 9.99932179e-01 -1.15483055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.266559995 meters 0.02419824440871731 Centerline is valid? [True, True] Translation: X:73.36, Y:-2.71, Z:-1.16 [[ 9.86892671e-01 1.60986552e-01 1.12332642e-02 7.33577108e+01] [-1.60981755e-01 9.86956478e-01 -1.33593847e-03 -2.70931444e+00] [-1.13018110e-02 -4.89922702e-04 9.99936012e-01 -1.15522793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.326559995 meters 0.021463268331274824 Centerline is valid? [True, True] Translation: X:73.42, Y:-2.72, Z:-1.16 [[ 9.87935030e-01 1.54464324e-01 1.11869813e-02 7.34171318e+01] [-1.54459105e-01 9.87998282e-01 -1.33418016e-03 -2.72092693e+00] [-1.12588015e-02 -4.09847805e-04 9.99936534e-01 -1.15536123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.386559995 meters 0.02023683803733763 Centerline is valid? [True, True] Translation: X:73.48, Y:-2.73, Z:-1.16 [[ 9.88377497e-01 1.51627095e-01 1.09154604e-02 7.34775673e+01] [-1.51621954e-01 9.88437701e-01 -1.30180404e-03 -2.73076966e+00] [-1.09866413e-02 -3.68349611e-04 9.99939577e-01 -1.15600627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.446559995 meters 0.015533539939163718 Centerline is valid? [True, True] Translation: X:73.54, Y:-2.75, Z:-1.16 [[ 9.89746748e-01 1.42482866e-01 1.00004268e-02 7.35373249e+01] [-1.42478080e-01 9.89797238e-01 -1.19305987e-03 -2.74714993e+00] [-1.00683854e-02 -2.44014478e-04 9.99949283e-01 -1.15592649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.506559995 meters 0.012875655098282429 Centerline is valid? [True, True] Translation: X:73.60, Y:-2.76, Z:-1.16 [[ 9.91168700e-01 1.32312439e-01 8.83322077e-03 7.35971511e+01] [-1.32308299e-01 9.91208052e-01 -1.05396633e-03 -2.76101464e+00] [-8.89501241e-03 -1.24049981e-04 9.99960431e-01 -1.15719070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.566559995 meters 0.011957765740450325 Centerline is valid? [True, True] Translation: X:73.66, Y:-2.77, Z:-1.16 [[ 9.91981687e-01 1.26112397e-01 8.24600506e-03 7.36584169e+01] [-1.26108588e-01 9.92015957e-01 -9.82311042e-04 -2.77365919e+00] [-8.30405020e-03 -6.54574903e-05 9.99965519e-01 -1.15819123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.626559995 meters 0.011778385432856826 Centerline is valid? [True, True] Translation: X:73.72, Y:-2.79, Z:-1.16 [[ 9.93000175e-01 1.17933803e-01 6.50153556e-03 7.37183165e+01] [-1.17931253e-01 9.93021459e-01 -7.75479056e-04 -2.78872970e+00] [-6.54761952e-03 3.31660326e-06 9.99978564e-01 -1.15932818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.686559995 meters 0.012415086300154272 Centerline is valid? [True, True] Translation: X:73.78, Y:-2.80, Z:-1.16 [[ 9.93692705e-01 1.12070113e-01 3.88554694e-03 7.37792378e+01] [-1.12069161e-01 9.93700302e-01 -4.62621261e-04 -2.80161112e+00] [-3.91291519e-03 2.42533874e-05 9.99992344e-01 -1.16100456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.746559995 meters 0.013314243328898743 Centerline is valid? [True, True] Translation: X:73.84, Y:-2.81, Z:-1.16 [[ 9.94115609e-01 1.08290179e-01 2.71884897e-03 7.38403013e+01] [-1.08289700e-01 9.94119327e-01 -3.23253433e-04 -2.81419213e+00] [-2.73786548e-03 2.69279439e-05 9.99996252e-01 -1.16199243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.806559995 meters 0.013921279358838898 Centerline is valid? [True, True] Translation: X:73.90, Y:-2.83, Z:-1.16 [[ 9.94546641e-01 1.04200604e-01 4.38321610e-03 7.39016548e+01] [-1.04199304e-01 9.94556298e-01 -5.24555931e-04 -2.82691561e+00] [-4.41401422e-03 6.49672733e-05 9.99990256e-01 -1.15946820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.866559995 meters 0.014184648694485439 Centerline is valid? [True, True] Translation: X:73.96, Y:-2.84, Z:-1.16 [[ 9.94639016e-01 1.03252825e-01 5.66413841e-03 7.39637358e+01] [-1.03250626e-01 9.94655139e-01 -6.80054519e-04 -2.83651929e+00] [-5.70408192e-03 9.15829202e-05 9.99983727e-01 -1.15948281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.926559995 meters 0.014513670292822202 Centerline is valid? [True, True] Translation: X:74.03, Y:-2.85, Z:-1.16 [[ 9.94644566e-01 1.03196009e-01 5.72456142e-03 7.40258346e+01] [-1.03193752e-01 9.94661035e-01 -6.89016684e-04 -2.84560786e+00] [-5.76510196e-03 9.45877291e-05 9.99983377e-01 -1.16020601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98655999500001 meters 0.014529492768785408 Centerline is valid? [True, True] Translation: X:74.09, Y:-2.85, Z:-1.16 [[ 9.94579251e-01 1.03791021e-01 6.28792897e-03 7.40870544e+01] [-1.03788294e-01 9.94599122e-01 -7.59369059e-04 -2.85420289e+00] [-6.33278432e-03 1.02639289e-04 9.99979942e-01 -1.16041032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.046559995 meters 0.014013688832931281 Centerline is valid? [True, True] Translation: X:74.15, Y:-2.86, Z:-1.16 [[ 9.94259294e-01 1.06815846e-01 6.23154696e-03 7.41490824e+01] [-1.06813217e-01 9.94278818e-01 -7.54050738e-04 -2.86014083e+00] [-6.27643971e-03 8.41103757e-05 9.99980299e-01 -1.16148684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.106559995 meters 0.013390410155471572 Centerline is valid? [True, True] Translation: X:74.21, Y:-2.87, Z:-1.16 [[ 9.94052320e-01 1.08717123e-01 6.36968504e-03 7.42107738e+01] [-1.08714406e-01 9.94072724e-01 -7.72324050e-04 -2.86547544e+00] [-6.41589501e-03 7.52539878e-05 9.99979415e-01 -1.16258669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.166559995 meters 0.013281732380199453 Centerline is valid? [True, True] Translation: X:74.27, Y:-2.87, Z:-1.16 [[ 9.93922960e-01 1.09861958e-01 6.89196216e-03 7.42720005e+01] [-1.09858790e-01 9.93946852e-01 -8.37694949e-04 -2.87331691e+00] [-6.94227490e-03 7.54616180e-05 9.99975899e-01 -1.16405305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.226559995 meters 0.012805501562065837 Centerline is valid? [True, True] Translation: X:74.33, Y:-2.88, Z:-1.17 [[ 9.93862606e-01 1.10428778e-01 6.52725272e-03 7.43343995e+01] [-1.10425943e-01 9.93884038e-01 -7.94339224e-04 -2.88010946e+00] [-6.57505020e-03 6.86860157e-05 9.99978382e-01 -1.16507447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.286559995 meters 0.012833191363160742 Centerline is valid? [True, True] Translation: X:74.40, Y:-2.89, Z:-1.17 [[ 9.93804389e-01 1.10964131e-01 6.30857290e-03 7.43966546e+01] [-1.10961482e-01 9.93824410e-01 -7.69396049e-04 -2.88732182e+00] [-6.35498911e-03 6.46205728e-05 9.99979805e-01 -1.16733431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.346559995 meters 0.0128567596527516 Centerline is valid? [True, True] Translation: X:74.46, Y:-2.90, Z:-1.17 [[ 9.93743483e-01 1.11528842e-01 5.93355483e-03 7.44593724e+01] [-1.11526500e-01 9.93761196e-01 -7.25120336e-04 -2.89505902e+00] [-5.97740837e-03 5.88350038e-05 9.99982133e-01 -1.16936505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.406559995 meters 0.012592420658220808 Centerline is valid? [True, True] Translation: X:74.52, Y:-2.90, Z:-1.17 [[ 9.93598285e-01 1.12795013e-01 6.30341151e-03 7.45213559e+01] [-1.12792381e-01 9.93618278e-01 -7.72713262e-04 -2.90318680e+00] [-6.35034309e-03 5.67897819e-05 9.99979835e-01 -1.17002921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.466559995 meters 0.012034718720569477 Centerline is valid? [True, True] Translation: X:74.58, Y:-2.91, Z:-1.17 [[ 9.93397600e-01 1.14501748e-01 7.11039074e-03 7.45826879e+01] [-1.14498427e-01 9.93423045e-01 -8.73792950e-04 -2.90986347e+00] [-7.16367684e-03 5.38952649e-05 9.99974339e-01 -1.16937916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.526559995 meters 0.011729949766939597 Centerline is valid? [True, True] Translation: X:74.64, Y:-2.92, Z:-1.17 [[ 9.93157656e-01 1.16485911e-01 8.30074428e-03 7.46448753e+01] [-1.16481424e-01 9.93192343e-01 -1.02366632e-03 -2.91747368e+00] [-8.36347836e-03 4.97795284e-05 9.99965024e-01 -1.17046615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.586559995 meters 0.011368321234416195 Centerline is valid? [True, True] Translation: X:74.71, Y:-2.93, Z:-1.17 [[ 9.92933650e-01 1.18270737e-01 9.73647676e-03 7.47060576e+01] [-1.18264640e-01 9.92981385e-01 -1.20169843e-03 -2.92585566e+00] [-9.81026594e-03 4.17258955e-05 9.99951877e-01 -1.17060062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.646559995 meters 0.011220513190595027 Centerline is valid? [True, True] Translation: X:74.77, Y:-2.93, Z:-1.17 [[ 9.92690115e-01 1.20297244e-01 9.74211163e-03 7.47680615e+01] [-1.20291215e-01 9.92737917e-01 -1.20465012e-03 -2.93403625e+00] [-9.81627970e-03 2.39538251e-05 9.99951819e-01 -1.17106219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.706559995 meters 0.011047584231293187 Centerline is valid? [True, True] Translation: X:74.83, Y:-2.94, Z:-1.17 [[ 9.92335517e-01 1.23251696e-01 8.90171867e-03 7.48303104e+01] [-1.23246762e-01 9.92375443e-01 -1.10285343e-03 -2.94088169e+00] [-8.96977556e-03 -2.70736791e-06 9.99959771e-01 -1.17247831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.766559995 meters 0.011157712641809606 Centerline is valid? [True, True] Translation: X:74.89, Y:-2.95, Z:-1.18 [[ 9.92067244e-01 1.25507363e-01 7.10526151e-03 7.48912553e+01] [-1.25504266e-01 9.92092688e-01 -8.81938755e-04 -2.94826013e+00] [-7.15976780e-03 -1.67980764e-05 9.99974368e-01 -1.17539383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.826559995 meters 0.011100263845301323 Centerline is valid? [True, True] Translation: X:74.95, Y:-2.96, Z:-1.18 [[ 9.92062024e-01 1.25576784e-01 6.58872710e-03 7.49522508e+01] [-1.25574115e-01 9.92083903e-01 -8.18809833e-04 -2.95947121e+00] [-6.63939360e-03 -1.50634344e-05 9.99977959e-01 -1.17687166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.886559995 meters 0.010971072109441255 Centerline is valid? [True, True] Translation: X:75.01, Y:-2.97, Z:-1.18 [[ 9.92465852e-01 1.22283797e-01 7.62929378e-03 7.50142866e+01] [-1.22280102e-01 9.92495175e-01 -9.50631619e-04 -2.97239665e+00] [-7.68828411e-03 1.05585990e-05 9.99970445e-01 -1.17686740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.946559995 meters 0.010968627011817477 Centerline is valid? [True, True] Translation: X:75.08, Y:-2.98, Z:-1.18 [[ 9.92716971e-01 1.20150376e-01 8.76937767e-03 7.50768660e+01] [-1.20145384e-01 9.92755703e-01 -1.09586015e-03 -2.98281489e+00] [-8.83751770e-03 3.42787270e-05 9.99960948e-01 -1.17746421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.006559995 meters 0.01090176542891839 Centerline is valid? [True, True] Translation: X:75.14, Y:-2.99, Z:-1.18 [[ 9.92751477e-01 1.19791311e-01 9.72351750e-03 7.51389872e+01] [-1.19785124e-01 9.92799093e-01 -1.21834405e-03 -2.99260419e+00] [-9.79944639e-03 4.47801079e-05 9.99951983e-01 -1.17803092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.066559995 meters 0.010712161962983338 Centerline is valid? [True, True] Translation: X:75.20, Y:-3.00, Z:-1.18 [[ 9.92465000e-01 1.22203663e-01 8.91559958e-03 7.52019600e+01] [-1.22198540e-01 9.92505045e-01 -1.11922615e-03 -2.99971392e+00] [-8.98555110e-03 2.13195350e-05 9.99959629e-01 -1.17920106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.126559995 meters 0.01057398076809629 Centerline is valid? [True, True] Translation: X:75.26, Y:-3.00, Z:-1.18 [[ 9.91719308e-01 1.28135808e-01 8.60404647e-03 7.52649680e+01] [-1.28131240e-01 9.91756630e-01 -1.08235581e-03 -3.00418455e+00] [-8.67180867e-03 -2.90539827e-05 9.99962399e-01 -1.18037716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.186559995 meters 0.010891206185485508 Centerline is valid? [True, True] Translation: X:75.33, Y:-3.01, Z:-1.18 [[ 9.91051020e-01 1.33148486e-01 9.45279817e-03 7.53266656e+01] [-1.33143168e-01 9.91096098e-01 -1.19246503e-03 -3.00840538e+00] [-9.52740629e-03 -7.67818155e-05 9.99954610e-01 -1.18008674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.246559995 meters 0.012103147003287048 Centerline is valid? [True, True] Translation: X:75.39, Y:-3.01, Z:-1.18 [[ 9.90045601e-01 1.40398624e-01 9.89622184e-03 7.53885444e+01] [-1.40393129e-01 9.90095048e-01 -1.25121056e-03 -3.00987662e+00] [-9.97386848e-03 -1.50606042e-04 9.99950248e-01 -1.18154742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.306559995 meters 0.012794261542985741 Centerline is valid? [True, True] Translation: X:75.45, Y:-3.01, Z:-1.18 [[ 9.89537961e-01 1.44007925e-01 8.73731045e-03 7.54503974e+01] [-1.44003770e-01 9.89576521e-01 -1.10615270e-03 -3.01474694e+00] [-8.80553203e-03 -1.63625552e-04 9.99961217e-01 -1.18341930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.366559995 meters 0.012981423612084845 Centerline is valid? [True, True] Translation: X:75.51, Y:-3.02, Z:-1.18 [[ 9.89359581e-01 1.45275847e-01 7.90868670e-03 7.55116056e+01] [-1.45272463e-01 9.89391178e-01 -1.00376719e-03 -3.02214251e+00] [-7.97060798e-03 -1.55827710e-04 9.99968222e-01 -1.18478769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.426559995 meters 0.012870116371787614 Centerline is valid? [True, True] Translation: X:75.57, Y:-3.03, Z:-1.19 [[ 9.89650815e-01 1.43365666e-01 6.12785517e-03 7.55717620e+01] [-1.43363596e-01 9.89669780e-01 -7.78059487e-04 -3.03079069e+00] [-6.17610009e-03 -1.08504147e-04 9.99980922e-01 -1.18691243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48655999500001 meters 0.012089442026842555 Centerline is valid? [True, True] Translation: X:75.63, Y:-3.04, Z:-1.19 [[ 9.90043137e-01 1.40643224e-01 5.83691543e-03 7.56328130e+01] [-1.40641300e-01 9.90060340e-01 -7.40814029e-04 -3.04154983e+00] [-5.88308895e-03 -8.74735285e-05 9.99982691e-01 -1.18783976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.546559995 meters 0.010945021560358984 Centerline is valid? [True, True] Translation: X:75.69, Y:-3.05, Z:-1.19 [[ 9.90853477e-01 1.34782312e-01 6.56626050e-03 7.56938592e+01] [-1.34779734e-01 9.90875232e-01 -8.35486758e-04 -3.05480633e+00] [-6.61895373e-03 -5.71538860e-05 9.99978093e-01 -1.18841849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.606559995 meters 0.010435884473974177 Centerline is valid? [True, True] Translation: X:75.75, Y:-3.07, Z:-1.19 [[ 9.91584886e-01 1.29266045e-01 7.05004888e-03 7.57548738e+01] [-1.29262920e-01 9.91609948e-01 -8.99085790e-04 -3.06746379e+00] [-7.10711987e-03 -1.97900238e-05 9.99974744e-01 -1.19005492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.666559995 meters 0.010646106367661903 Centerline is valid? [True, True] Translation: X:75.82, Y:-3.08, Z:-1.19 [[ 9.92447090e-01 1.22396785e-01 8.23415795e-03 7.58167397e+01] [-1.22392266e-01 9.92481247e-01 -1.05246792e-03 -3.08002725e+00] [-8.30106604e-03 3.67214734e-05 9.99965545e-01 -1.19005751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.726559995 meters 0.010874772199726287 Centerline is valid? [True, True] Translation: X:75.88, Y:-3.09, Z:-1.19 [[ 9.92678753e-01 1.20487253e-01 8.46850844e-03 7.58792671e+01] [-1.20482382e-01 9.92714873e-01 -1.08492383e-03 -3.08949545e+00] [-8.53753377e-03 5.66747648e-05 9.99963553e-01 -1.19000240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.786559995 meters 0.0106178592983108 Centerline is valid? [True, True] Translation: X:75.94, Y:-3.09, Z:-1.19 [[ 9.92429147e-01 1.22535186e-01 8.33769570e-03 7.59411217e+01] [-1.22530515e-01 9.92464169e-01 -1.07070739e-03 -3.09449614e+00] [-8.40606356e-03 4.09790743e-05 9.99964668e-01 -1.19040087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.846559995 meters 0.010508874379077061 Centerline is valid? [True, True] Translation: X:76.00, Y:-3.10, Z:-1.19 [[ 9.92081717e-01 1.25367448e-01 7.54120361e-03 7.60025411e+01] [-1.25363698e-01 9.92110378e-01 -9.69864779e-04 -3.09841789e+00] [-7.60329584e-03 1.67919457e-05 9.99971094e-01 -1.19245630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.906559995 meters 0.010361748374260783 Centerline is valid? [True, True] Translation: X:76.07, Y:-3.10, Z:-1.19 [[ 9.91651268e-01 1.28689630e-01 8.16958286e-03 7.60658694e+01] [-1.28685321e-01 9.91684919e-01 -1.05314379e-03 -3.10251703e+00] [-8.23718080e-03 -6.95402209e-06 9.99966074e-01 -1.19256871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.966559995 meters 0.010481003879424132 Centerline is valid? [True, True] Translation: X:76.13, Y:-3.11, Z:-1.19 [[ 9.91284242e-01 1.31516162e-01 7.68443328e-03 7.61286052e+01] [-1.31512419e-01 9.91314026e-01 -9.92545509e-04 -3.10815896e+00] [-7.74822227e-03 -2.67036881e-05 9.99969982e-01 -1.19343027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.026559995 meters 0.010624804284313276 Centerline is valid? [True, True] Translation: X:76.19, Y:-3.11, Z:-1.19 [[ 9.90856638e-01 1.34733015e-01 7.08077079e-03 7.61904162e+01] [-1.34729905e-01 9.90881937e-01 -9.16589133e-04 -3.11267701e+00] [-7.13970269e-03 -4.57831503e-05 9.99974511e-01 -1.19482976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.086559995 meters 0.011559789146202249 Centerline is valid? [True, True] Translation: X:76.25, Y:-3.11, Z:-1.20 [[ 9.90012258e-01 1.40809402e-01 6.95993781e-03 7.62524310e+01] [-1.40806535e-01 9.90036719e-01 -9.02765215e-04 -3.11352237e+00] [-7.01771182e-03 -8.62560932e-05 9.99975372e-01 -1.19585506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.146559995 meters 0.011870092394267574 Centerline is valid? [True, True] Translation: X:76.31, Y:-3.12, Z:-1.20 [[ 9.89800837e-01 1.42318930e-01 6.29489818e-03 7.63145764e+01] [-1.42316608e-01 9.89820850e-01 -8.17433185e-04 -3.12009229e+00] [-6.34715768e-03 -8.67725089e-05 9.99979853e-01 -1.19675932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.206559995 meters 0.012082866418890456 Centerline is valid? [True, True] Translation: X:76.38, Y:-3.12, Z:-1.20 [[ 9.89661587e-01 1.43347458e-01 4.63144531e-03 7.63760459e+01] [-1.43346212e-01 9.89672421e-01 -6.01740346e-04 -3.12481505e+00] [-4.66987165e-03 -6.83808338e-05 9.99989094e-01 -1.19846958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.266559995 meters 0.011389431090274927 Centerline is valid? [True, True] Translation: X:76.44, Y:-3.13, Z:-1.20 [[ 9.89995321e-01 1.41028645e-01 4.49293035e-03 7.64377460e+01] [-1.41027445e-01 9.90005514e-01 -5.84410183e-04 -3.13362635e+00] [-4.53044440e-03 -5.50631421e-05 9.99989736e-01 -1.19923586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.326559995 meters 0.01072927397028436 Centerline is valid? [True, True] Translation: X:76.50, Y:-3.14, Z:-1.20 [[ 9.90445802e-01 1.37791145e-01 5.54193698e-03 7.64992235e+01] [-1.37789255e-01 9.90461306e-01 -7.23149669e-04 -3.14349799e+00] [-5.58871776e-03 -4.73788135e-05 9.99984382e-01 -1.19891725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.386559995 meters 0.010323401702491441 Centerline is valid? [True, True] Translation: X:76.56, Y:-3.15, Z:-1.20 [[ 9.91159108e-01 1.32510856e-01 6.67050309e-03 7.65602869e+01] [-1.32507983e-01 9.91181554e-01 -8.72851809e-04 -3.15460426e+00] [-6.72734196e-03 -1.87598875e-05 9.99977371e-01 -1.19830000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.446559995 meters 0.010434686402873497 Centerline is valid? [True, True] Translation: X:76.62, Y:-3.16, Z:-1.20 [[ 9.91350808e-01 1.31066925e-01 6.71100668e-03 7.66217637e+01] [-1.31063972e-01 9.91373523e-01 -8.79762938e-04 -3.16323959e+00] [-6.76842215e-03 -7.41749537e-06 9.99977094e-01 -1.19902553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.506559995 meters 0.01037069550671096 Centerline is valid? [True, True] Translation: X:76.68, Y:-3.17, Z:-1.20 [[ 9.91124742e-01 1.32716238e-01 7.62540840e-03 7.66848327e+01] [-1.32712456e-01 9.91154075e-01 -1.00214186e-03 -3.16821102e+00] [-7.69095510e-03 -1.87390816e-05 9.99970424e-01 -1.19946321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.566559995 meters 0.010499002083355488 Centerline is valid? [True, True] Translation: X:76.75, Y:-3.17, Z:-1.20 [[ 9.90792649e-01 1.35175597e-01 7.58187744e-03 7.67471857e+01] [-1.35171912e-01 9.90821657e-01 -9.98676316e-04 -3.17285260e+00] [-7.64728504e-03 -3.53757192e-05 9.99970758e-01 -1.20072719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.626559995 meters 0.010731644063500185 Centerline is valid? [True, True] Translation: X:76.81, Y:-3.18, Z:-1.20 [[ 9.90349303e-01 1.38483353e-01 5.53339673e-03 7.68092322e+01] [-1.38481440e-01 9.90364761e-01 -7.29330839e-04 -3.17725657e+00] [-5.58108131e-03 -4.39804572e-05 9.99984425e-01 -1.20295006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.686559995 meters 0.010967103759054016 Centerline is valid? [True, True] Translation: X:76.87, Y:-3.18, Z:-1.21 [[ 9.90156753e-01 1.39908325e-01 3.90715281e-03 7.68712088e+01] [-1.39907382e-01 9.90164461e-01 -5.14835655e-04 -3.18281368e+00] [-3.94075365e-03 -3.68715215e-05 9.99992235e-01 -1.20566256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.746559995 meters 0.01082913978032189 Centerline is valid? [True, True] Translation: X:76.93, Y:-3.19, Z:-1.21 [[ 9.90292181e-01 1.38926604e-01 4.56012368e-03 7.69332617e+01] [-1.38925302e-01 9.90302680e-01 -6.02723520e-04 -3.18975537e+00] [-4.59963703e-03 -3.66441686e-05 9.99989421e-01 -1.20676102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.806559995 meters 0.01058999415571198 Centerline is valid? [True, True] Translation: X:77.00, Y:-3.20, Z:-1.21 [[ 9.90382263e-01 1.38237528e-01 5.77567507e-03 7.69950445e+01] [-1.38235412e-01 9.90399104e-01 -7.65865951e-04 -3.19776483e+00] [-5.82609483e-03 -3.99027701e-05 9.99983027e-01 -1.20668483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.866559995 meters 0.010617482771408629 Centerline is valid? [True, True] Translation: X:77.06, Y:-3.21, Z:-1.21 [[ 9.90361878e-01 1.38366576e-01 6.16781024e-03 7.70577168e+01] [-1.38364156e-01 9.90381083e-01 -8.19341603e-04 -3.20626188e+00] [-6.22185208e-03 -4.19591729e-05 9.99980643e-01 -1.20721290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.926559995 meters 0.010777691822448324 Centerline is valid? [True, True] Translation: X:77.12, Y:-3.21, Z:-1.21 [[ 9.90077162e-01 1.40379275e-01 6.39319719e-03 7.71207404e+01] [-1.40376705e-01 9.90097801e-01 -8.51188304e-04 -3.21270207e+00] [-6.44937968e-03 -5.47138583e-05 9.99979201e-01 -1.20731561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98655999500001 meters 0.011752829522099946 Centerline is valid? [True, True] Translation: X:77.18, Y:-3.22, Z:-1.21 [[ 9.89450561e-01 1.44743819e-01 6.06750018e-03 7.71821656e+01] [-1.44741573e-01 9.89469161e-01 -8.09923051e-04 -3.21544374e+00] [-6.12083567e-03 -7.68407029e-05 9.99981265e-01 -1.20967350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.046559995 meters 0.012263543824328827 Centerline is valid? [True, True] Translation: X:77.24, Y:-3.22, Z:-1.21 [[ 9.88837035e-01 1.48893929e-01 5.64936837e-03 7.72435295e+01] [-1.48892044e-01 9.88853169e-01 -7.55168371e-04 -3.22138502e+00] [-5.69883580e-03 -9.44075499e-05 9.99983757e-01 -1.21016940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.106559995 meters 0.013342676246296403 Centerline is valid? [True, True] Translation: X:77.31, Y:-3.23, Z:-1.21 [[ 9.88234325e-01 1.52856533e-01 5.27252225e-03 7.73058227e+01] [-1.52854943e-01 9.88248384e-01 -7.05606889e-04 -3.22607693e+00] [-5.31841822e-03 -1.08626140e-04 9.99985851e-01 -1.21247509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.166559995 meters 0.013697026591999104 Centerline is valid? [True, True] Translation: X:77.37, Y:-3.23, Z:-1.21 [[ 9.88050049e-01 1.53975208e-01 6.98117378e-03 7.73688536e+01] [-1.53972429e-01 9.88074700e-01 -9.36966396e-04 -3.23291246e+00] [-7.04219079e-03 -1.49138592e-04 9.99975192e-01 -1.21323832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.226559995 meters 0.013167239956016465 Centerline is valid? [True, True] Translation: X:77.43, Y:-3.24, Z:-1.21 [[ 9.88095507e-01 1.53653919e-01 7.59879465e-03 7.74300191e+01] [-1.53650596e-01 9.88124713e-01 -1.02266556e-03 -3.24245829e+00] [-7.66569335e-03 -1.57068083e-04 9.99970606e-01 -1.21336500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.286559995 meters 0.012879252136168896 Centerline is valid? [True, True] Translation: X:77.49, Y:-3.25, Z:-1.21 [[ 9.88337025e-01 1.52008894e-01 9.12256388e-03 7.74911557e+01] [-1.52004006e-01 9.88379111e-01 -1.23085287e-03 -3.25175811e+00] [-9.20365216e-03 -1.70168787e-04 9.99957631e-01 -1.21316723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.346559995 meters 0.012032634961465595 Centerline is valid? [True, True] Translation: X:77.55, Y:-3.26, Z:-1.21 [[ 9.88810515e-01 1.48855990e-01 9.78061964e-03 7.75526225e+01] [-1.48850190e-01 9.88858874e-01 -1.32234821e-03 -3.26314225e+00] [-9.86849197e-03 -1.48295275e-04 9.99951294e-01 -1.21430808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.406559995 meters 0.011555595279935722 Centerline is valid? [True, True] Translation: X:77.61, Y:-3.27, Z:-1.22 [[ 9.89071654e-01 1.47160105e-01 9.00925128e-03 7.76136685e+01] [-1.47155096e-01 9.89112678e-01 -1.21999666e-03 -3.27312519e+00] [-9.09069949e-03 -1.19093121e-04 9.99958672e-01 -1.21672661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.466559995 meters 0.011212240480370277 Centerline is valid? [True, True] Translation: X:77.67, Y:-3.28, Z:-1.22 [[ 9.89594699e-01 1.43673845e-01 7.75611700e-03 7.76741222e+01] [-1.43670013e-01 9.89625091e-01 -1.05189222e-03 -3.28400163e+00] [-7.82677739e-03 -7.33744664e-05 9.99969368e-01 -1.22078316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.526559995 meters 0.010791733756550646 Centerline is valid? [True, True] Translation: X:77.74, Y:-3.30, Z:-1.22 [[ 9.90202101e-01 1.39464072e-01 7.04072251e-03 7.77353362e+01] [-1.39460790e-01 9.90227131e-01 -9.57406020e-04 -3.29846088e+00] [-7.10543819e-03 -3.38792679e-05 9.99974755e-01 -1.22189531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.586559995 meters 0.010639353156714092 Centerline is valid? [True, True] Translation: X:77.80, Y:-3.31, Z:-1.22 [[ 9.90579090e-01 1.36758446e-01 7.08481734e-03 7.77967382e+01] [-1.36755059e-01 9.90604425e-01 -9.62665087e-04 -3.31051964e+00] [-7.14990399e-03 -1.52887081e-05 9.99974439e-01 -1.22290597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.646559995 meters 0.010789651178348165 Centerline is valid? [True, True] Translation: X:77.86, Y:-3.32, Z:-1.22 [[ 9.91199674e-01 1.32065753e-01 9.04668201e-03 7.78574039e+01] [-1.32060004e-01 9.91240958e-01 -1.23254801e-03 -3.32403215e+00] [-9.13021912e-03 2.69963219e-05 9.99958318e-01 -1.22319915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.706559995 meters 0.011226014217305427 Centerline is valid? [True, True] Translation: X:77.92, Y:-3.34, Z:-1.22 [[ 9.91642953e-01 1.28557521e-01 1.08266881e-02 7.79176934e+01] [-1.28549040e-01 9.91702051e-01 -1.47848460e-03 -3.33677903e+00] [-1.09269191e-02 7.43684692e-05 9.99940297e-01 -1.22348145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.766559995 meters 0.01151859378564254 Centerline is valid? [True, True] Translation: X:77.98, Y:-3.35, Z:-1.22 [[ 9.91983850e-01 1.25723263e-01 1.27162035e-02 7.79789255e+01] [-1.25711278e-01 9.92065343e-01 -1.74064958e-03 -3.35060938e+00] [-1.28341449e-02 1.28126084e-04 9.99917631e-01 -1.22267493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.826559995 meters 0.011170161556579378 Centerline is valid? [True, True] Translation: X:78.04, Y:-3.36, Z:-1.22 [[ 9.91637842e-01 1.28293084e-01 1.39740511e-02 7.80405296e+01] [-1.28278811e-01 9.91736292e-01 -1.91670826e-03 -3.35853253e+00] [-1.41044741e-02 1.08105783e-04 9.99900521e-01 -1.22341618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.886559995 meters 0.01074734222850902 Centerline is valid? [True, True] Translation: X:78.10, Y:-3.36, Z:-1.23 [[ 9.90964424e-01 1.33378395e-01 1.41320149e-02 7.81022263e+01] [-1.33364264e-01 9.91065186e-01 -1.94191743e-03 -3.36363193e+00] [-1.42647578e-02 3.96653253e-05 9.99898252e-01 -1.22533762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.946559995 meters 0.01109414140302439 Centerline is valid? [True, True] Translation: X:78.16, Y:-3.37, Z:-1.23 [[ 9.89533578e-01 1.43723042e-01 1.29223124e-02 7.81644196e+01] [-1.43712070e-01 9.89617945e-01 -1.77855280e-03 -3.36632251e+00] [-1.30437712e-02 -9.71545366e-05 9.99914922e-01 -1.22729882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.006559995 meters 0.011912211984664429 Centerline is valid? [True, True] Translation: X:78.23, Y:-3.37, Z:-1.23 [[ 9.88652730e-01 1.49675588e-01 1.27670311e-02 7.82267654e+01] [-1.49665333e-01 9.88735146e-01 -1.76033068e-03 -3.37144816e+00] [-1.28866909e-02 -1.70426238e-04 9.99916949e-01 -1.22867866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.066559995 meters 0.013102038968896454 Centerline is valid? [True, True] Translation: X:78.29, Y:-3.38, Z:-1.23 [[ 9.87834437e-01 1.54922379e-01 1.34974522e-02 7.82886746e+01] [-1.54911351e-01 9.87926614e-01 -1.86512149e-03 -3.37651242e+00] [-1.36234413e-02 -2.48477309e-04 9.99907166e-01 -1.23009885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.126559995 meters 0.013448470978021381 Centerline is valid? [True, True] Translation: X:78.35, Y:-3.39, Z:-1.23 [[ 9.87580456e-01 1.56476629e-01 1.41388779e-02 7.83506526e+01] [-1.56464675e-01 9.87681621e-01 -1.95456466e-03 -3.38502378e+00] [-1.42705535e-02 -2.81945067e-04 9.99898131e-01 -1.23061713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.186559995 meters 0.013722353237726631 Centerline is valid? [True, True] Translation: X:78.41, Y:-3.39, Z:-1.23 [[ 9.87651606e-01 1.56036583e-01 1.40317682e-02 7.84112274e+01] [-1.56024714e-01 9.87751240e-01 -1.94333684e-03 -3.39484238e+00] [-1.41631281e-02 -2.69962876e-04 9.99899661e-01 -1.23223919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.246559995 meters 0.012938861518951145 Centerline is valid? [True, True] Translation: X:78.47, Y:-3.41, Z:-1.23 [[ 9.88052414e-01 1.53521503e-01 1.35489567e-02 7.84725809e+01] [-1.53510160e-01 9.88145282e-01 -1.87946035e-03 -3.40643715e+00] [-1.36768752e-02 -2.22897185e-04 9.99906442e-01 -1.23402057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.306559995 meters 0.012067500502396553 Centerline is valid? [True, True] Translation: X:78.53, Y:-3.42, Z:-1.24 [[ 9.88386806e-01 1.51307949e-01 1.40508191e-02 7.85335556e+01] [-1.51295474e-01 9.88486655e-01 -1.95271539e-03 -3.41901098e+00] [-1.41845085e-02 -1.95787210e-04 9.99899376e-01 -1.23503904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.366559995 meters 0.011597905752848438 Centerline is valid? [True, True] Translation: X:78.59, Y:-3.43, Z:-1.24 [[ 9.88924066e-01 1.47862269e-01 1.28817822e-02 7.85930545e+01] [-1.47851449e-01 9.89007954e-01 -1.79354997e-03 -3.43404986e+00] [-1.30053834e-02 -1.30905433e-04 9.99915418e-01 -1.23572576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.426559995 meters 0.011349329550596022 Centerline is valid? [True, True] Translation: X:78.65, Y:-3.45, Z:-1.24 [[ 9.89144081e-01 1.46592761e-01 1.02249443e-02 7.86548604e+01] [-1.46585874e-01 9.89196924e-01 -1.42385191e-03 -3.44640649e+00] [-1.03232098e-02 -9.04377161e-05 9.99946710e-01 -1.23935769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48655999500001 meters 0.011303689089704104 Centerline is valid? [True, True] Translation: X:78.72, Y:-3.46, Z:-1.24 [[ 9.89228804e-01 1.46097762e-01 9.04530914e-03 7.87161714e+01] [-1.46092332e-01 9.89270155e-01 -1.26167490e-03 -3.45987078e+00] [-9.13258225e-03 -7.33651583e-05 9.99958294e-01 -1.24117484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.546559995 meters 0.011718788987446938 Centerline is valid? [True, True] Translation: X:78.78, Y:-3.47, Z:-1.24 [[ 9.88857716e-01 1.48548873e-01 9.67729293e-03 7.87763708e+01] [-1.48542739e-01 9.88905062e-01 -1.35357404e-03 -3.46702964e+00] [-9.77099587e-03 -9.89994717e-05 9.99952258e-01 -1.24111683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.606559995 meters 0.012314620061905417 Centerline is valid? [True, True] Translation: X:78.84, Y:-3.48, Z:-1.24 [[ 9.88190271e-01 1.52912063e-01 9.89393258e-03 7.88381826e+01] [-1.52905853e-01 9.88239789e-01 -1.38561167e-03 -3.47555194e+00] [-9.98945458e-03 -1.43592224e-04 9.99950094e-01 -1.23970077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.666559995 meters 0.01320249017929853 Centerline is valid? [True, True] Translation: X:78.90, Y:-3.48, Z:-1.24 [[ 9.87471090e-01 1.57488555e-01 9.90967083e-03 7.88996840e+01] [-1.57482523e-01 9.87520795e-01 -1.39106402e-03 -3.48108857e+00] [-1.00050827e-02 -1.86964460e-04 9.99949930e-01 -1.24055570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.726559995 meters 0.013575458202926285 Centerline is valid? [True, True] Translation: X:78.96, Y:-3.49, Z:-1.24 [[ 9.87297785e-01 1.58536847e-01 1.04475356e-02 7.89607757e+01] [-1.58530192e-01 9.87353040e-01 -1.46738054e-03 -3.48930285e+00] [-1.05480400e-02 -2.07508270e-04 9.99944346e-01 -1.24106207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.786559995 meters 0.01418599077895496 Centerline is valid? [True, True] Translation: X:79.02, Y:-3.50, Z:-1.24 [[ 9.86876973e-01 1.61200564e-01 9.39243081e-03 7.90226974e+01] [-1.61195287e-01 9.86921645e-01 -1.32116144e-03 -3.49637914e+00] [-9.48256523e-03 -2.10191775e-04 9.99955017e-01 -1.24196627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.846559995 meters 0.014375603535750727 Centerline is valid? [True, True] Translation: X:79.08, Y:-3.50, Z:-1.25 [[ 9.86971479e-01 1.60724938e-01 7.40234508e-03 7.90837710e+01] [-1.60721640e-01 9.86999224e-01 -1.04214837e-03 -3.50402791e+00] [-7.47360808e-03 -1.61146326e-04 9.99972059e-01 -1.24527285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.906559995 meters 0.014444290491732278 Centerline is valid? [True, True] Translation: X:79.15, Y:-3.51, Z:-1.25 [[ 9.87063556e-01 1.60184196e-01 6.82348743e-03 7.91452829e+01] [-1.60181369e-01 9.87087130e-01 -9.62345025e-04 -3.51335769e+00] [-6.88952909e-03 -1.43099854e-04 9.99976257e-01 -1.24600021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.966559995 meters 0.013344265411924027 Centerline is valid? [True, True] Translation: X:79.21, Y:-3.53, Z:-1.25 [[ 9.87738298e-01 1.55915377e-01 7.96552093e-03 7.92052135e+01] [-1.55911352e-01 9.87770408e-01 -1.12767644e-03 -3.52545256e+00] [-8.04392796e-03 -1.28065929e-04 9.99967639e-01 -1.24534378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.026559995 meters 0.012046395479600118 Centerline is valid? [True, True] Translation: X:79.27, Y:-3.54, Z:-1.25 [[ 9.88569495e-01 1.50516744e-01 8.66387150e-03 7.92661722e+01] [-1.50511784e-01 9.88607456e-01 -1.22536469e-03 -3.53901312e+00] [-8.74960586e-03 -9.26566074e-05 9.99961717e-01 -1.24542809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.086559995 meters 0.011427715698427888 Centerline is valid? [True, True] Translation: X:79.33, Y:-3.55, Z:-1.25 [[ 9.89568574e-01 1.43736220e-01 9.69202564e-03 7.93268279e+01] [-1.43729660e-01 9.89616036e-01 -1.37371093e-03 -3.55295395e+00] [-9.78883601e-03 -3.36503845e-05 9.99952088e-01 -1.24546067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.146559995 meters 0.011480396254593237 Centerline is valid? [True, True] Translation: X:79.39, Y:-3.57, Z:-1.25 [[ 9.90459329e-01 1.37425124e-01 1.02299542e-02 7.93871039e+01] [-1.37417445e-01 9.90512158e-01 -1.45317188e-03 -3.56666832e+00] [-1.03325964e-02 3.35334728e-05 9.99946617e-01 -1.24568173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.206559995 meters 0.012062520002579262 Centerline is valid? [True, True] Translation: X:79.45, Y:-3.58, Z:-1.25 [[ 9.91326729e-01 1.30968673e-01 1.08868553e-02 7.94482872e+01] [-1.30959567e-01 9.91386501e-01 -1.54826251e-03 -3.57722590e+00] [-1.09958552e-02 1.09096153e-04 9.99939538e-01 -1.24651627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.266559995 meters 0.012243044896697829 Centerline is valid? [True, True] Translation: X:79.51, Y:-3.58, Z:-1.25 [[ 9.91415568e-01 1.30519425e-01 7.73633420e-03 7.95103881e+01] [-1.30514807e-01 9.91445749e-01 -1.10099744e-03 -3.58364086e+00] [-7.81385721e-03 8.18398354e-05 9.99969468e-01 -1.25089183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.326559995 meters 0.012691140702314892 Centerline is valid? [True, True] Translation: X:79.57, Y:-3.59, Z:-1.25 [[ 9.91697062e-01 1.28419404e-01 6.73747370e-03 7.95726439e+01] [-1.28415845e-01 9.91719945e-01 -9.60043191e-04 -3.58979356e+00] [-6.80497522e-03 8.68736361e-05 9.99976842e-01 -1.25290798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.386559995 meters 0.012691140702314892 Centerline is valid? [True, True] Translation: X:79.63, Y:-3.60, Z:-1.25 [[ 9.91661017e-01 1.28697458e-01 6.73728171e-03 7.96344185e+01] [-1.28693897e-01 9.91683900e-01 -9.61387601e-04 -3.59870567e+00] [-6.80498194e-03 8.63235713e-05 9.99976842e-01 -1.25389914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.446559995 meters 0.012869750833510097 Centerline is valid? [True, True] Translation: X:79.70, Y:-3.61, Z:-1.25 [[ 9.91737106e-01 1.28057264e-01 7.67138354e-03 7.96968466e+01] [-1.28052605e-01 9.91766770e-01 -1.09752365e-03 -3.60625890e+00] [-7.74876915e-03 1.06114279e-04 9.99969972e-01 -1.25428376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.506559995 meters 0.012490291554127857 Centerline is valid? [True, True] Translation: X:79.76, Y:-3.61, Z:-1.25 [[ 9.91549124e-01 1.29248037e-01 1.11928723e-02 7.97589460e+01] [-1.29238134e-01 9.91612285e-01 -1.60670418e-03 -3.60988555e+00] [-1.13066530e-02 1.46580200e-04 9.99936067e-01 -1.25249921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.566559995 meters 0.012043542933800397 Centerline is valid? [True, True] Translation: X:79.82, Y:-3.61, Z:-1.25 [[ 9.91210975e-01 1.31855367e-01 1.07222202e-02 7.98214908e+01] [-1.31846404e-01 9.91268959e-01 -1.54161789e-03 -3.61387669e+00] [-1.08318747e-02 1.14382394e-04 9.99941327e-01 -1.25437162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.626559995 meters 0.011840369438434636 Centerline is valid? [True, True] Translation: X:79.88, Y:-3.62, Z:-1.26 [[ 9.91108195e-01 1.32655703e-01 1.03445347e-02 7.98836746e+01] [-1.32647381e-01 9.91162173e-01 -1.48953577e-03 -3.62079728e+00] [-1.04507069e-02 1.04115682e-04 9.99945384e-01 -1.25586334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.686559995 meters 0.011817916628182844 Centerline is valid? [True, True] Translation: X:79.95, Y:-3.63, Z:-1.26 [[ 9.90982383e-01 1.33621341e-01 9.96259812e-03 7.99459224e+01] [-1.33613643e-01 9.91032456e-01 -1.43724692e-03 -3.62832778e+00] [-1.00653049e-02 9.31473450e-05 9.99949339e-01 -1.25771113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.746559995 meters 0.011793624214158171 Centerline is valid? [True, True] Translation: X:80.01, Y:-3.63, Z:-1.26 [[ 9.90737420e-01 1.35504434e-01 8.82689283e-03 8.00085200e+01] [-1.35498448e-01 9.90776738e-01 -1.27544016e-03 -3.63423125e+00] [-8.91830787e-03 6.75960177e-05 9.99960229e-01 -1.25974200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.806559995 meters 0.011649626556612726 Centerline is valid? [True, True] Translation: X:80.07, Y:-3.64, Z:-1.26 [[ 9.90604146e-01 1.36534101e-01 7.86550144e-03 8.00711004e+01] [-1.36529367e-01 9.90635370e-01 -1.13825885e-03 -3.64141882e+00] [-7.94725508e-03 5.36920080e-05 9.99968419e-01 -1.26134605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.866559995 meters 0.01156177838830435 Centerline is valid? [True, True] Translation: X:80.13, Y:-3.65, Z:-1.26 [[ 9.90534114e-01 1.37063362e-01 7.47020680e-03 8.01339851e+01] [-1.37059093e-01 9.90562281e-01 -1.08286789e-03 -3.64906473e+00] [-7.54812660e-03 4.87578146e-05 9.99971511e-01 -1.26261364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.926559995 meters 0.011640038285628413 Centerline is valid? [True, True] Translation: X:80.20, Y:-3.66, Z:-1.26 [[ 9.90522577e-01 1.37119730e-01 7.95014021e-03 8.01964289e+01] [-1.37114875e-01 9.90554479e-01 -1.15504062e-03 -3.65757556e+00] [-8.03342586e-03 5.40113262e-05 9.99967730e-01 -1.26413605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98655999500001 meters 0.011746482459917345 Centerline is valid? [True, True] Translation: X:80.26, Y:-3.67, Z:-1.27 [[ 9.90527065e-01 1.37121822e-01 7.33073037e-03 8.02591029e+01] [-1.37117682e-01 9.90554190e-01 -1.06674047e-03 -3.66671496e+00] [-7.40775908e-03 5.14625488e-05 9.99972561e-01 -1.26524313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.046559995 meters 0.011775797512594475 Centerline is valid? [True, True] Translation: X:80.32, Y:-3.68, Z:-1.27 [[ 9.90486567e-01 1.37445793e-01 6.70930417e-03 8.03215184e+01] [-1.37442322e-01 9.90509289e-01 -9.77897364e-04 -3.67590189e+00] [-6.78003598e-03 4.64518583e-05 9.99977014e-01 -1.26679959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.106559995 meters 0.011915504466885553 Centerline is valid? [True, True] Translation: X:80.38, Y:-3.68, Z:-1.27 [[ 9.90454169e-01 1.37672143e-01 6.84983067e-03 8.03834358e+01] [-1.37668516e-01 9.90477854e-01 -1.00046542e-03 -3.68457915e+00] [-6.92234180e-03 4.79091232e-05 9.99976039e-01 -1.26820223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.166559995 meters 0.012374100745041096 Centerline is valid? [True, True] Translation: X:80.44, Y:-3.70, Z:-1.27 [[ 9.90803511e-01 1.35141271e-01 6.72598173e-03 8.04444882e+01] [-1.35137701e-01 9.90826338e-01 -9.84527490e-04 -3.69507408e+00] [-6.79733015e-03 6.65395830e-05 9.99976896e-01 -1.26913773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.226559995 meters 0.013614813419094254 Centerline is valid? [True, True] Translation: X:80.51, Y:-3.71, Z:-1.27 [[ 9.91533663e-01 1.29635460e-01 7.45942647e-03 8.05055254e+01] [-1.29630896e-01 9.91561714e-01 -1.09421936e-03 -3.70883121e+00] [-7.53833133e-03 1.17983197e-04 9.99971579e-01 -1.26971906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.286559995 meters 0.014449667482958868 Centerline is valid? [True, True] Translation: X:80.57, Y:-3.72, Z:-1.27 [[ 9.92093151e-01 1.25230326e-01 8.27923099e-03 8.05664198e+01] [-1.25224519e-01 9.92127681e-01 -1.21818994e-03 -3.72048587e+00] [-8.36660857e-03 1.71795179e-04 9.99964985e-01 -1.26981731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.346559995 meters 0.015289271835640227 Centerline is valid? [True, True] Translation: X:80.63, Y:-3.73, Z:-1.27 [[ 9.92549178e-01 1.21542220e-01 8.58006501e-03 8.06273403e+01] [-1.21535840e-01 9.92586240e-01 -1.26310172e-03 -3.73149069e+00] [-8.66997466e-03 2.10905172e-04 9.99962393e-01 -1.27059178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.406559995 meters 0.017693314496254962 Centerline is valid? [True, True] Translation: X:80.69, Y:-3.74, Z:-1.27 [[ 9.92939935e-01 1.18331640e-01 8.24062247e-03 8.06867802e+01] [-1.18325637e-01 9.92974103e-01 -1.21394597e-03 -3.74449543e+00] [-8.32637293e-03 2.30298526e-04 9.99965309e-01 -1.27289191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.466559995 meters 0.018150406688401958 Centerline is valid? [True, True] Translation: X:80.75, Y:-3.75, Z:-1.27 [[ 9.92928324e-01 1.18446808e-01 7.98105894e-03 8.07492106e+01] [-1.18441194e-01 9.92960374e-01 -1.17415931e-03 -3.75408775e+00] [-8.06395069e-03 2.20569885e-04 9.99967461e-01 -1.27454976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.526559995 meters 0.015222674526440532 Centerline is valid? [True, True] Translation: X:80.81, Y:-3.76, Z:-1.28 [[ 9.92615426e-01 1.21009750e-01 8.44137124e-03 8.08115733e+01] [-1.21003539e-01 9.92651296e-01 -1.24453603e-03 -3.75702497e+00] [-8.52993909e-03 2.13909869e-04 9.99963597e-01 -1.27517017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.586559995 meters 0.015065502952557996 Centerline is valid? [True, True] Translation: X:80.87, Y:-3.76, Z:-1.28 [[ 9.92222020e-01 1.24158804e-01 8.94733701e-03 8.08727470e+01] [-1.24151931e-01 9.92262340e-01 -1.32166730e-03 -3.76470772e+00] [-9.04220219e-03 2.00558224e-04 9.99959098e-01 -1.27656877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.646559995 meters 0.013857211118744068 Centerline is valid? [True, True] Translation: X:80.93, Y:-3.77, Z:-1.28 [[ 9.91758024e-01 1.27731163e-01 1.00384854e-02 8.09347956e+01] [-1.27722664e-01 9.91808809e-01 -1.48583077e-03 -3.77090063e+00] [-1.01460452e-02 1.91442490e-04 9.99948509e-01 -1.27686447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.706559995 meters 0.012675703603284976 Centerline is valid? [True, True] Translation: X:81.00, Y:-3.78, Z:-1.28 [[ 9.91037303e-01 1.33216303e-01 9.92373913e-03 8.09963106e+01] [-1.33208235e-01 9.91086978e-01 -1.47251790e-03 -3.77514070e+00] [-1.00314520e-02 1.37396395e-04 9.99949674e-01 -1.27825964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.766559995 meters 0.011797666794773964 Centerline is valid? [True, True] Translation: X:81.06, Y:-3.78, Z:-1.28 [[ 9.90327190e-01 1.38432536e-01 9.40691607e-03 8.10580326e+01] [-1.38425532e-01 9.90371863e-01 -1.39475341e-03 -3.77951246e+00] [-9.50942424e-03 7.91048598e-05 9.99954781e-01 -1.28027765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.826559995 meters 0.011710632794885607 Centerline is valid? [True, True] Translation: X:81.12, Y:-3.79, Z:-1.28 [[ 9.90036692e-01 1.40432944e-01 1.02925627e-02 8.11198444e+01] [-1.40424635e-01 9.90090190e-01 -1.52910242e-03 -3.78723376e+00] [-1.04053017e-02 6.85381433e-05 9.99945861e-01 -1.28121055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.886559995 meters 0.011765341700553126 Centerline is valid? [True, True] Translation: X:81.18, Y:-3.80, Z:-1.28 [[ 9.89990356e-01 1.40748421e-01 1.04391591e-02 8.11818002e+01] [-1.40739865e-01 9.90045391e-01 -1.55343420e-03 -3.79623844e+00] [-1.05538848e-02 6.86790344e-05 9.99944304e-01 -1.28233621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.946559995 meters 0.01218538028537938 Centerline is valid? [True, True] Translation: X:81.24, Y:-3.81, Z:-1.28 [[ 9.90433754e-01 1.37546452e-01 1.10432150e-02 8.12425056e+01] [-1.37536638e-01 9.90495311e-01 -1.64693937e-03 -3.80730395e+00] [-1.11647833e-02 1.12337683e-04 9.99937666e-01 -1.28358862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.006559995 meters 0.012635693584966724 Centerline is valid? [True, True] Translation: X:81.30, Y:-3.82, Z:-1.28 [[ 9.90862566e-01 1.34386186e-01 1.14772852e-02 8.13038383e+01] [-1.34375338e-01 9.90929023e-01 -1.71467608e-03 -3.81847817e+00] [-1.16036038e-02 1.56744262e-04 9.99932664e-01 -1.28466566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.066559995 meters 0.01369659211917006 Centerline is valid? [True, True] Translation: X:81.37, Y:-3.83, Z:-1.29 [[ 9.91394403e-01 1.30339016e-01 1.22015810e-02 8.13652182e+01] [-1.30326408e-01 9.91469461e-01 -1.82623932e-03 -3.83039653e+00] [-1.23355252e-02 2.20335215e-04 9.99923890e-01 -1.28548732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.126559995 meters 0.015038482189685638 Centerline is valid? [True, True] Translation: X:81.43, Y:-3.84, Z:-1.29 [[ 9.91962477e-01 1.25838346e-01 1.32346149e-02 8.14262894e+01] [-1.25823057e-01 9.92050714e-01 -1.98494382e-03 -3.84227803e+00] [-1.33791912e-02 3.03770092e-04 9.99910448e-01 -1.28621080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.186559995 meters 0.01580787151035686 Centerline is valid? [True, True] Translation: X:81.49, Y:-3.85, Z:-1.29 [[ 9.92638279e-01 1.20357712e-01 1.35376508e-02 8.14864196e+01] [-1.20341190e-01 9.92730513e-01 -2.03149655e-03 -3.85241755e+00] [-1.36837453e-02 3.87404234e-04 9.99906298e-01 -1.28749456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.246559995 meters 0.01693430141773758 Centerline is valid? [True, True] Translation: X:81.55, Y:-3.86, Z:-1.29 [[ 9.92939611e-01 1.17932244e-01 1.27637955e-02 8.15477369e+01] [-1.17917355e-01 9.93021565e-01 -1.91542907e-03 -3.86255380e+00] [-1.29006150e-02 3.96832386e-04 9.99916705e-01 -1.28929961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.306559995 meters 0.01737643432922735 Centerline is valid? [True, True] Translation: X:81.61, Y:-3.87, Z:-1.29 [[ 9.93103862e-01 1.16582115e-01 1.23826413e-02 8.16093041e+01] [-1.16567995e-01 9.93180975e-01 -1.85849542e-03 -3.87050856e+00] [-1.25148711e-02 4.02259311e-04 9.99921605e-01 -1.29151864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.366559995 meters 0.017581538508375606 Centerline is valid? [True, True] Translation: X:81.67, Y:-3.88, Z:-1.29 [[ 9.93101343e-01 1.16555483e-01 1.28273917e-02 8.16713255e+01] [-1.16540286e-01 9.93184093e-01 -1.92850981e-03 -3.87816680e+00] [-1.29647397e-02 4.20297795e-04 9.99915866e-01 -1.29269172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.426559995 meters 0.016709153462044993 Centerline is valid? [True, True] Translation: X:81.73, Y:-3.88, Z:-1.29 [[ 9.92924874e-01 1.17845384e-01 1.45828398e-02 8.17334240e+01] [-1.17825810e-01 9.93031848e-01 -2.19725014e-03 -3.88343888e+00] [-1.47401601e-02 4.63469412e-04 9.99891251e-01 -1.29223639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48655999500001 meters 0.016416058275400512 Centerline is valid? [True, True] Translation: X:81.80, Y:-3.89, Z:-1.29 [[ 9.92660491e-01 1.20024913e-01 1.48043897e-02 8.17955336e+01] [-1.20004925e-01 9.92770782e-01 -2.23444943e-03 -3.88942552e+00] [-1.49655551e-02 4.41449997e-04 9.99887912e-01 -1.29340331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.546559995 meters 0.015335716690820607 Centerline is valid? [True, True] Translation: X:81.86, Y:-3.89, Z:-1.30 [[ 9.91955638e-01 1.25749930e-01 1.45246866e-02 8.18572615e+01] [-1.25731247e-01 9.92061909e-01 -2.19601466e-03 -3.89299108e+00] [-1.46855370e-02 3.52142180e-04 9.99892100e-01 -1.29565339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.606559995 meters 0.013620871958180918 Centerline is valid? [True, True] Translation: X:81.92, Y:-3.89, Z:-1.30 [[ 9.91032169e-01 1.32923070e-01 1.36637107e-02 8.19191966e+01] [-1.32907202e-01 9.91126331e-01 -2.06688734e-03 -3.89470011e+00] [-1.38172005e-02 2.32346274e-04 9.99904511e-01 -1.29807195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.666559995 meters 0.012573303805010488 Centerline is valid? [True, True] Translation: X:81.98, Y:-3.90, Z:-1.30 [[ 9.90388814e-01 1.37782024e-01 1.20876278e-02 8.19816546e+01] [-1.37769970e-01 9.90462565e-01 -1.82830507e-03 -3.89871839e+00] [-1.22242504e-02 1.45420784e-04 9.99925270e-01 -1.29994222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.726559995 meters 0.012201317456074924 Centerline is valid? [True, True] Translation: X:82.04, Y:-3.90, Z:-1.30 [[ 9.89732209e-01 1.42423930e-01 1.20655645e-02 8.20430067e+01] [-1.42412226e-01 9.89805747e-01 -1.82810121e-03 -3.90422765e+00] [-1.22029305e-02 9.10467453e-05 9.99925537e-01 -1.30148331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.786559995 meters 0.01217922428680098 Centerline is valid? [True, True] Translation: X:82.11, Y:-3.91, Z:-1.30 [[ 9.89574352e-01 1.43513536e-01 1.21023611e-02 8.21051568e+01] [-1.43501809e-01 9.89648351e-01 -1.83636202e-03 -3.91252466e+00] [-1.22406245e-02 8.05060382e-05 9.99925078e-01 -1.30206489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.846559995 meters 0.012212068342145537 Centerline is valid? [True, True] Translation: X:82.17, Y:-3.92, Z:-1.30 [[ 9.89944913e-01 1.40963182e-01 1.17665225e-02 8.21663055e+01] [-1.40951880e-01 9.90014833e-01 -1.78851624e-03 -3.92164589e+00] [-1.19011467e-02 1.12019095e-04 9.99929173e-01 -1.30285892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.906559995 meters 0.012805906343610795 Centerline is valid? [True, True] Translation: X:82.23, Y:-3.93, Z:-1.30 [[ 9.90420909e-01 1.37622647e-01 1.12441421e-02 8.22275912e+01] [-1.37612081e-01 9.90484722e-01 -1.71174124e-03 -3.93279175e+00] [-1.13727253e-02 1.48014524e-04 9.99935318e-01 -1.30340744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.966559995 meters 0.01438153337190357 Centerline is valid? [True, True] Translation: X:82.29, Y:-3.95, Z:-1.30 [[ 9.91223508e-01 1.31756842e-01 1.07746011e-02 8.22884098e+01] [-1.31746756e-01 9.91282044e-01 -1.64366926e-03 -3.94541733e+00] [-1.08972333e-02 2.09724861e-04 9.99940601e-01 -1.30415834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.026559995 meters 0.014610420205957386 Centerline is valid? [True, True] Translation: X:82.35, Y:-3.95, Z:-1.31 [[ 9.91519582e-01 1.29593634e-01 9.71638406e-03 8.23501620e+01] [-1.29585333e-01 9.91567167e-01 -1.48172966e-03 -3.95461787e+00] [-9.82647014e-03 2.10063103e-04 9.99951697e-01 -1.30564040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.086559995 meters 0.015447336188423552 Centerline is valid? [True, True] Translation: X:82.41, Y:-3.96, Z:-1.31 [[ 9.91673712e-01 1.28493930e-01 8.51810118e-03 8.24104018e+01] [-1.28487494e-01 9.91710276e-01 -1.30081771e-03 -3.96371973e+00] [-8.61463565e-03 1.95517256e-04 9.99962874e-01 -1.30804304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.146559995 meters 0.014827746393447886 Centerline is valid? [True, True] Translation: X:82.47, Y:-3.97, Z:-1.31 [[ 9.91612788e-01 1.29018208e-01 7.64069934e-03 8.24734084e+01] [-1.29013038e-01 9.91642210e-01 -1.16775233e-03 -3.97082410e+00] [-7.72750129e-03 1.72208305e-04 9.99970128e-01 -1.30916918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.206559995 meters 0.015285446362034442 Centerline is valid? [True, True] Translation: X:82.53, Y:-3.98, Z:-1.31 [[ 9.91516487e-01 1.29751656e-01 7.71773179e-03 8.25338941e+01] [-1.29746383e-01 9.91546508e-01 -1.18227554e-03 -3.98049581e+00] [-7.80589222e-03 1.70897906e-04 9.99969519e-01 -1.31039334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.266559995 meters 0.014427988798007364 Centerline is valid? [True, True] Translation: X:82.60, Y:-3.99, Z:-1.31 [[ 9.91251866e-01 1.31661140e-01 9.22398768e-03 8.25953878e+01] [-1.31653664e-01 9.91294764e-01 -1.41573877e-03 -3.98822256e+00] [-9.33008847e-03 1.88981922e-04 9.99956456e-01 -1.30985794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.326559995 meters 0.013938247112866972 Centerline is valid? [True, True] Translation: X:82.66, Y:-4.00, Z:-1.31 [[ 9.90864532e-01 1.34479611e-01 1.01347624e-02 8.26572512e+01] [-1.34470702e-01 9.90916344e-01 -1.55847410e-03 -3.99623578e+00] [-1.02522847e-02 1.81408094e-04 9.99947427e-01 -1.31046149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.386559995 meters 0.012801103965546663 Centerline is valid? [True, True] Translation: X:82.72, Y:-4.00, Z:-1.31 [[ 9.90034518e-01 1.40413575e-01 1.07554938e-02 8.27182927e+01] [-1.40403848e-01 9.90092930e-01 -1.65789882e-03 -4.00125453e+00] [-1.08817299e-02 1.31264338e-04 9.99940784e-01 -1.31162289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.446559995 meters 0.01176813439123186 Centerline is valid? [True, True] Translation: X:82.78, Y:-4.00, Z:-1.31 [[ 9.88943639e-01 1.47869000e-01 1.11909857e-02 8.27812029e+01] [-1.47858945e-01 9.89006955e-01 -1.72519870e-03 -4.00429139e+00] [-1.13230661e-02 5.14369478e-05 9.99935891e-01 -1.31238026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.506559995 meters 0.011702863238033672 Centerline is valid? [True, True] Translation: X:82.84, Y:-4.01, Z:-1.31 [[ 9.88210237e-01 1.52726180e-01 1.07350767e-02 8.28424365e+01] [-1.52717211e-01 9.88268543e-01 -1.65513452e-03 -4.01035103e+00] [-1.08619210e-02 -3.81009861e-06 9.99941008e-01 -1.31415479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.566559995 meters 0.01177706155397072 Centerline is valid? [True, True] Translation: X:82.90, Y:-4.02, Z:-1.32 [[ 9.87524101e-01 1.57173148e-01 9.63071379e-03 8.29039046e+01] [-1.57166124e-01 9.87571060e-01 -1.48658386e-03 -4.01707894e+00] [-9.74466529e-03 -4.55845708e-05 9.99952519e-01 -1.31549634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.626559995 meters 0.011855191330984206 Centerline is valid? [True, True] Translation: X:82.96, Y:-4.03, Z:-1.32 [[ 9.87461808e-01 1.57537032e-01 1.00628592e-02 8.29646681e+01] [-1.57529355e-01 9.87513079e-01 -1.55595384e-03 -4.02682548e+00] [-1.01823254e-02 -4.87507310e-05 9.99948158e-01 -1.31706430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.686559995 meters 0.01172864375535998 Centerline is valid? [True, True] Translation: X:83.03, Y:-4.04, Z:-1.32 [[ 9.87951395e-01 1.54410594e-01 1.04598605e-02 8.30259103e+01] [-1.54402083e-01 9.88006765e-01 -1.62125811e-03 -4.04080566e+00] [-1.05847523e-02 -1.33000386e-05 9.99943980e-01 -1.31693498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.746559995 meters 0.01167075340207204 Centerline is valid? [True, True] Translation: X:83.09, Y:-4.05, Z:-1.32 [[ 9.88358869e-01 1.51785755e-01 1.03841396e-02 8.30873029e+01] [-1.51777223e-01 9.88413418e-01 -1.60942242e-03 -4.05420915e+00] [-1.05081103e-02 1.46110490e-05 9.99944788e-01 -1.31766807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.806559995 meters 0.011908709662021417 Centerline is valid? [True, True] Translation: X:83.15, Y:-4.07, Z:-1.32 [[ 9.88888652e-01 1.48330706e-01 9.86080087e-03 8.31478004e+01] [-1.48322813e-01 9.88937813e-01 -1.53111349e-03 -4.06843433e+00] [-9.97883000e-03 5.15190311e-05 9.99950209e-01 -1.31911327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.866559995 meters 0.012155199384555244 Centerline is valid? [True, True] Translation: X:83.21, Y:-4.08, Z:-1.32 [[ 9.89063666e-01 1.47188042e-01 9.42043858e-03 8.32092186e+01] [-1.47180767e-01 9.89108526e-01 -1.46472659e-03 -4.08109823e+00] [-9.53342636e-03 6.22004775e-05 9.99954554e-01 -1.32063017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.926559995 meters 0.012130245757723925 Centerline is valid? [True, True] Translation: X:83.27, Y:-4.09, Z:-1.32 [[ 9.89052652e-01 1.47290333e-01 8.96716608e-03 8.32717181e+01] [-1.47283724e-01 9.89093299e-01 -1.39655917e-03 -4.09182806e+00] [-9.07506354e-03 6.05529376e-05 9.99958819e-01 -1.32168298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98655999500001 meters 0.012036229698411104 Centerline is valid? [True, True] Translation: X:83.33, Y:-4.10, Z:-1.32 [[ 9.88896639e-01 1.48413540e-01 7.54044320e-03 8.33330877e+01] [-1.48408888e-01 9.88925386e-01 -1.17582859e-03 -4.10406884e+00] [-7.63144459e-03 4.37041535e-05 9.99970879e-01 -1.32257526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.046559995 meters 0.012084256535091079 Centerline is valid? [True, True] Translation: X:83.39, Y:-4.11, Z:-1.32 [[ 9.88475984e-01 1.51244648e-01 6.34716128e-03 8.33940035e+01] [-1.51241397e-01 9.88496361e-01 -9.91923422e-04 -4.11464254e+00] [-6.42416894e-03 2.05389448e-05 9.99979365e-01 -1.32499479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.106559995 meters 0.011729155424078716 Centerline is valid? [True, True] Translation: X:83.46, Y:-4.12, Z:-1.33 [[ 9.88131148e-01 1.53483062e-01 6.30754499e-03 8.34564231e+01] [-1.53479896e-01 9.88151279e-01 -9.85795777e-04 -4.12454759e+00] [-6.38411160e-03 6.01416389e-06 9.99979621e-01 -1.32599557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.166559995 meters 0.011631616303349539 Centerline is valid? [True, True] Translation: X:83.52, Y:-4.14, Z:-1.33 [[ 9.87319089e-01 1.58594434e-01 6.98727000e-03 8.35183307e+01] [-1.58590659e-01 9.87343813e-01 -1.09456054e-03 -4.13544296e+00] [-7.07242901e-03 -2.74352397e-05 9.99974990e-01 -1.32600776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.226559995 meters 0.011935456581093285 Centerline is valid? [True, True] Translation: X:83.58, Y:-4.14, Z:-1.33 [[ 9.87085839e-01 1.60035391e-01 7.08659909e-03 8.35795312e+01] [-1.60031529e-01 9.87111277e-01 -1.11244798e-03 -4.14496983e+00] [-7.17329292e-03 -3.59976376e-05 9.99974271e-01 -1.32746906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.286559995 meters 0.01194858920247929 Centerline is valid? [True, True] Translation: X:83.64, Y:-4.16, Z:-1.33 [[ 9.86545748e-01 1.63283655e-01 8.12007402e-03 8.36416961e+01] [-1.63278672e-01 9.86579162e-01 -1.27731009e-03 -4.15648685e+00] [-8.21965968e-03 -6.57100634e-05 9.99966216e-01 -1.32719593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.346559995 meters 0.012095795489971322 Centerline is valid? [True, True] Translation: X:83.70, Y:-4.17, Z:-1.33 [[ 9.86127045e-01 1.65742669e-01 9.10048172e-03 8.37038123e+01] [-1.65736485e-01 9.86169032e-01 -1.43474203e-03 -4.16932964e+00] [-9.21241121e-03 -9.34439365e-05 9.99957560e-01 -1.32756576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.406559995 meters 0.012535444203460977 Centerline is valid? [True, True] Translation: X:83.76, Y:-4.18, Z:-1.33 [[ 9.85843542e-01 1.67457661e-01 8.39302936e-03 8.37638563e+01] [-1.67452442e-01 9.85879263e-01 -1.32577944e-03 -4.18002693e+00] [-8.49652553e-03 -9.84221650e-05 9.99963899e-01 -1.32953939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.466559995 meters 0.01307405802275334 Centerline is valid? [True, True] Translation: X:83.83, Y:-4.19, Z:-1.33 [[ 9.85246488e-01 1.70998607e-01 6.98820773e-03 8.38250645e+01] [-1.70995072e-01 9.85271265e-01 -1.10476823e-03 -4.19145306e+00] [-7.07419410e-03 -1.06480062e-04 9.99974972e-01 -1.33229347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.526559995 meters 0.013648203079118735 Centerline is valid? [True, True] Translation: X:83.89, Y:-4.20, Z:-1.33 [[ 9.84795231e-01 1.73578172e-01 6.99796995e-03 8.38864127e+01] [-1.73574679e-01 9.84820087e-01 -1.10810184e-03 -4.20207940e+00] [-7.08408366e-03 -1.23416979e-04 9.99974900e-01 -1.33384114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.586559995 meters 0.01412011550997438 Centerline is valid? [True, True] Translation: X:83.95, Y:-4.22, Z:-1.34 [[ 9.84321369e-01 1.76225338e-01 7.48816349e-03 8.39474262e+01] [-1.76221399e-01 9.84349840e-01 -1.18785842e-03 -4.21527907e+00] [-7.58030329e-03 -1.50340221e-04 9.99971258e-01 -1.33514332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.646559995 meters 0.01436960858636952 Centerline is valid? [True, True] Translation: X:84.01, Y:-4.23, Z:-1.34 [[ 9.84152595e-01 1.77168107e-01 7.42509152e-03 8.40079898e+01] [-1.77164247e-01 9.84180592e-01 -1.17974215e-03 -4.22783972e+00] [-7.51664365e-03 -1.54414448e-04 9.99971738e-01 -1.33640786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.706559995 meters 0.014497747416114546 Centerline is valid? [True, True] Translation: X:84.07, Y:-4.24, Z:-1.34 [[ 9.83964535e-01 1.78168445e-01 8.35462287e-03 8.40694727e+01] [-1.78163574e-01 9.83999986e-01 -1.32976244e-03 -4.24285362e+00] [-8.45787049e-03 -1.80050390e-04 9.99964215e-01 -1.33728076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.766559995 meters 0.014481064402998426 Centerline is valid? [True, True] Translation: X:84.13, Y:-4.26, Z:-1.34 [[ 9.83892219e-01 1.78534446e-01 9.03065404e-03 8.41313072e+01] [-1.78528742e-01 9.83933643e-01 -1.44036747e-03 -4.25612951e+00] [-9.14271954e-03 -1.95064959e-04 9.99958185e-01 -1.33805375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.826559995 meters 0.014217623135608681 Centerline is valid? [True, True] Translation: X:84.19, Y:-4.27, Z:-1.34 [[ 9.84041637e-01 1.77667328e-01 9.81720623e-03 8.41918650e+01] [-1.77660510e-01 9.84090586e-01 -1.56932038e-03 -4.27101919e+00] [-9.93983719e-03 -1.99853263e-04 9.99950579e-01 -1.33839896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.886559995 meters 0.01423230877131095 Centerline is valid? [True, True] Translation: X:84.25, Y:-4.29, Z:-1.34 [[ 9.84357281e-01 1.75904575e-01 9.91580987e-03 8.42517711e+01] [-1.75897502e-01 9.84407206e-01 -1.58780835e-03 -4.28536372e+00] [-1.00404974e-02 -1.81195474e-04 9.99949577e-01 -1.33870579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.946559995 meters 0.013876537534483627 Centerline is valid? [True, True] Translation: X:84.31, Y:-4.30, Z:-1.34 [[ 9.84524998e-01 1.74953115e-01 1.00963568e-02 8.43131547e+01] [-1.74945707e-01 9.84576751e-01 -1.61908162e-03 -4.29695932e+00] [-1.02239015e-02 -1.72287945e-04 9.99947720e-01 -1.33944845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.006559995 meters 0.013734281940897493 Centerline is valid? [True, True] Translation: X:84.38, Y:-4.30, Z:-1.34 [[ 9.84549473e-01 1.74833426e-01 9.77796614e-03 8.43752278e+01] [-1.74826452e-01 9.84598013e-01 -1.57013724e-03 -4.30481116e+00] [-9.90187850e-03 -1.63569338e-04 9.99950962e-01 -1.34086294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.066559995 meters 0.013544315535907661 Centerline is valid? [True, True] Translation: X:84.44, Y:-4.31, Z:-1.34 [[ 9.84681010e-01 1.74103624e-01 9.55180510e-03 8.44367424e+01] [-1.74096906e-01 9.84727326e-01 -1.53670373e-03 -4.31379826e+00] [-9.67346917e-03 -1.49776733e-04 9.99953200e-01 -1.34197429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.126559995 meters 0.013276233490254445 Centerline is valid? [True, True] Translation: X:84.50, Y:-4.32, Z:-1.34 [[ 9.85110699e-01 1.71646372e-01 9.71771494e-03 8.44971795e+01] [-1.71639273e-01 9.85158620e-01 -1.56606885e-03 -4.32424484e+00] [-9.84230068e-03 -1.25190355e-04 9.99951556e-01 -1.34276765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.186559995 meters 0.012306404578037737 Centerline is valid? [True, True] Translation: X:84.56, Y:-4.34, Z:-1.34 [[ 9.86101938e-01 1.65859351e-01 9.67693655e-03 8.45573222e+01] [-1.65852012e-01 9.86149416e-01 -1.56163301e-03 -4.33880132e+00] [-9.80191677e-03 -6.50100542e-05 9.99951958e-01 -1.34306430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.246559995 meters 0.012120743610935656 Centerline is valid? [True, True] Translation: X:84.62, Y:-4.35, Z:-1.34 [[ 9.87211744e-01 1.59160181e-01 9.00050535e-03 8.46184116e+01] [-1.59153536e-01 9.87252772e-01 -1.45438995e-03 -4.35214630e+00] [-9.11725483e-03 3.32858871e-06 9.99958437e-01 -1.34476455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.306559995 meters 0.01254317235490484 Centerline is valid? [True, True] Translation: X:84.68, Y:-4.36, Z:-1.35 [[ 9.87969559e-01 1.54454317e-01 7.74689574e-03 8.46782885e+01] [-1.54449237e-01 9.87999930e-01 -1.25343258e-03 -4.36455296e+00] [-7.84753052e-03 4.18511027e-05 9.99969207e-01 -1.34718223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.366559995 meters 0.013532574554655627 Centerline is valid? [True, True] Translation: X:84.74, Y:-4.38, Z:-1.35 [[ 9.89129687e-01 1.46834014e-01 7.88884361e-03 8.47384912e+01] [-1.46828488e-01 9.89161140e-01 -1.27832938e-03 -4.37914617e+00] [-7.99103978e-03 1.06126563e-04 9.99968066e-01 -1.34617293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.426559995 meters 0.014364384759829358 Centerline is valid? [True, True] Translation: X:84.80, Y:-4.39, Z:-1.35 [[ 9.89642504e-01 1.43304161e-01 8.46360170e-03 8.47993832e+01] [-1.43297653e-01 9.89678683e-01 -1.37360176e-03 -4.39130481e+00] [-8.57308903e-03 1.46560425e-04 9.99963240e-01 -1.34541885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.486559995 meters 0.014789337143468261 Centerline is valid? [True, True] Translation: X:84.86, Y:-4.40, Z:-1.34 [[ 9.90047845e-01 1.40382883e-01 9.89498186e-03 8.48604770e+01] [-1.40373810e-01 9.90097270e-01 -1.60901935e-03 -4.40116945e+00] [-1.00228733e-02 2.04009843e-04 9.99949749e-01 -1.34480414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.546559995 meters 0.014827039757710101 Centerline is valid? [True, True] Translation: X:84.92, Y:-4.41, Z:-1.35 [[ 9.90144683e-01 1.39734083e-01 9.37514406e-03 8.49216110e+01] [-1.39725888e-01 9.90189045e-01 -1.52664989e-03 -4.41019095e+00] [-9.49648997e-03 2.01653941e-04 9.99954887e-01 -1.34559032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.606559995 meters 0.015138785052523368 Centerline is valid? [True, True] Translation: X:84.98, Y:-4.42, Z:-1.35 [[ 9.90003049e-01 1.40803082e-01 8.27374093e-03 8.49822604e+01] [-1.40796722e-01 9.90037607e-01 -1.34910356e-03 -4.41839111e+00] [-8.38127261e-03 1.70701036e-04 9.99964862e-01 -1.34743712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.666559995 meters 0.014612425226806957 Centerline is valid? [True, True] Translation: X:85.04, Y:-4.43, Z:-1.35 [[ 9.89751692e-01 1.42544725e-01 8.51992734e-03 8.50441525e+01] [-1.42538028e-01 9.89788349e-01 -1.39123126e-03 -4.42658829e+00] [-8.63123749e-03 1.62559846e-04 9.99962737e-01 -1.34781392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.726559995 meters 0.014284595179441613 Centerline is valid? [True, True] Translation: X:85.11, Y:-4.43, Z:-1.35 [[ 9.89248693e-01 1.45978292e-01 8.79556645e-03 8.51050564e+01] [-1.45971269e-01 9.89287784e-01 -1.43870628e-03 -4.43440827e+00] [-8.91136633e-03 1.39338307e-04 9.99960283e-01 -1.34860789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.786559995 meters 0.013283865658681041 Centerline is valid? [True, True] Translation: X:85.17, Y:-4.44, Z:-1.35 [[ 9.88771391e-01 1.49201435e-01 8.37065594e-03 8.51673081e+01] [-1.49195176e-01 9.88806817e-01 -1.37078955e-03 -4.44094068e+00] [-8.48148542e-03 1.06536005e-04 9.99964026e-01 -1.34986478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.846559995 meters 0.012555752170643952 Centerline is valid? [True, True] Translation: X:85.23, Y:-4.45, Z:-1.35 [[ 9.88274376e-01 1.52494982e-01 7.68366688e-03 8.52292248e+01] [-1.52489795e-01 9.88304242e-01 -1.25984085e-03 -4.44791080e+00] [-7.78591998e-03 7.33876374e-05 9.99969687e-01 -1.35169219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.906559995 meters 0.012283283536081418 Centerline is valid? [True, True] Translation: X:85.29, Y:-4.46, Z:-1.35 [[ 9.87707149e-01 1.56177607e-01 6.56831456e-03 8.52901082e+01] [-1.56173889e-01 9.87728988e-01 -1.07825437e-03 -4.45595696e+00] [-6.65611387e-03 3.92003148e-05 9.99977847e-01 -1.35360766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.966559995 meters 0.01186898879399273 Centerline is valid? [True, True] Translation: X:85.35, Y:-4.46, Z:-1.36 [[ 9.86794968e-01 1.61855766e-01 6.19686902e-03 8.53516212e+01] [-1.61852563e-01 9.86814426e-01 -1.01832974e-03 -4.46207367e+00] [-6.27998228e-03 1.90352833e-06 9.99980281e-01 -1.35537316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.026559995 meters 0.011953618541434854 Centerline is valid? [True, True] Translation: X:85.41, Y:-4.47, Z:-1.36 [[ 9.86214601e-01 1.65379568e-01 5.50988783e-03 8.54120976e+01] [-1.65377079e-01 9.86229993e-01 -9.07543529e-04 -4.47059828e+00] [-5.58410579e-03 -1.61764717e-05 9.99984409e-01 -1.35690332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.086559995 meters 0.012338105575497652 Centerline is valid? [True, True] Translation: X:85.47, Y:-4.48, Z:-1.36 [[ 9.85570085e-01 1.69179787e-01 5.45964674e-03 8.54730944e+01] [-1.69177402e-01 9.85585206e-01 -8.99096976e-04 -4.47836153e+00] [-5.53305610e-03 -3.75257698e-05 9.99984692e-01 -1.35954437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.146559995 meters 0.01225250907368889 Centerline is valid? [True, True] Translation: X:85.54, Y:-4.49, Z:-1.36 [[ 9.85323314e-01 1.70612704e-01 5.41040113e-03 8.55350692e+01] [-1.70610380e-01 9.85338167e-01 -8.91556016e-04 -4.48974650e+00] [-5.48318551e-03 -4.45996658e-05 9.99984966e-01 -1.35952261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.206559995 meters 0.012061577234559551 Centerline is valid? [True, True] Translation: X:85.60, Y:-4.50, Z:-1.36 [[ 9.85482628e-01 1.69678509e-01 5.76139888e-03 8.55962908e+01] [-1.69675845e-01 9.85499468e-01 -9.51688107e-04 -4.50228938e+00] [-5.83933655e-03 -3.96981239e-05 9.99982950e-01 -1.35966073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.266559995 meters 0.011775838308344253 Centerline is valid? [True, True] Translation: X:85.66, Y:-4.52, Z:-1.36 [[ 9.86511191e-01 1.63573315e-01 6.28014785e-03 8.56560198e+01] [-1.63570014e-01 9.86531181e-01 -1.03928278e-03 -4.51986989e+00] [-6.36556060e-03 -1.97977868e-06 9.99979740e-01 -1.35962659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.326559995 meters 0.012321288792169304 Centerline is valid? [True, True] Translation: X:85.72, Y:-4.54, Z:-1.36 [[ 9.87538655e-01 1.57289840e-01 5.22602072e-03 8.57158397e+01] [-1.57287462e-01 9.87552482e-01 -8.65530293e-04 -4.53641948e+00] [-5.29710886e-03 3.27570858e-05 9.99985970e-01 -1.36046308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.386559995 meters 0.012903291674089518 Centerline is valid? [True, True] Translation: X:85.78, Y:-4.55, Z:-1.36 [[ 9.88101018e-01 1.53692200e-01 5.92326556e-03 8.57766405e+01] [-1.53689068e-01 9.88118770e-01 -9.83051653e-04 -4.54705190e+00] [-6.00397725e-03 6.10131764e-05 9.99981974e-01 -1.36128480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.446559995 meters 0.013537377498885181 Centerline is valid? [True, True] Translation: X:85.84, Y:-4.56, Z:-1.36 [[ 9.88656059e-01 1.50089342e-01 5.69085279e-03 8.58378987e+01] [-1.50086384e-01 9.88672435e-01 -9.45725724e-04 -4.55893931e+00] [-5.76833263e-03 8.08779516e-05 9.99983360e-01 -1.36203880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.506559995 meters 0.014173553639760934 Centerline is valid? [True, True] Translation: X:85.90, Y:-4.57, Z:-1.36 [[ 9.89115046e-01 1.47066475e-01 4.78306566e-03 8.58988945e+01] [-1.47064347e-01 9.89126607e-01 -7.95417891e-04 -4.57168194e+00] [-4.84803681e-03 8.33413734e-05 9.99988245e-01 -1.36290976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.566559995 meters 0.015294650509619031 Centerline is valid? [True, True] Translation: X:85.96, Y:-4.58, Z:-1.36 [[ 9.89618865e-01 1.43651214e-01 4.33946643e-03 8.59597701e+01] [-1.43649417e-01 9.89628375e-01 -7.24420473e-04 -4.58299636e+00] [-4.39852299e-03 9.35383419e-05 9.99990322e-01 -1.36427911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.626559995 meters 0.01580928157460631 Centerline is valid? [True, True] Translation: X:86.02, Y:-4.59, Z:-1.37 [[ 9.90050717e-01 1.40632661e-01 4.69386219e-03 8.60207680e+01] [-1.40630531e-01 9.90061837e-01 -7.82233888e-04 -4.59199016e+00] [-4.75722146e-03 1.14350887e-04 9.99988678e-01 -1.36501865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.686559995 meters 0.01546888679724893 Centerline is valid? [True, True] Translation: X:86.08, Y:-4.60, Z:-1.36 [[ 9.90268520e-01 1.39073938e-01 5.16710139e-03 8.60822727e+01] [-1.39071329e-01 9.90281991e-01 -8.62425850e-04 -4.60201494e+00] [-5.23682842e-03 1.35437510e-04 9.99986279e-01 -1.36444038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.746559995 meters 0.016082788831606448 Centerline is valid? [True, True] Translation: X:86.14, Y:-4.61, Z:-1.36 [[ 9.90471480e-01 1.37574382e-01 6.28781952e-03 8.61427834e+01] [-1.37570473e-01 9.90491423e-01 -1.05199686e-03 -4.61433390e+00] [-6.37275912e-03 1.76954579e-04 9.99979678e-01 -1.36393338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.806559995 meters 0.016539986773558234 Centerline is valid? [True, True] Translation: X:86.20, Y:-4.62, Z:-1.37 [[ 9.90518467e-01 1.37209792e-01 6.82933346e-03 8.62040232e+01] [-1.37205158e-01 9.90541990e-01 -1.14470355e-03 -4.62375108e+00] [-6.92180609e-03 1.96830229e-04 9.99976025e-01 -1.36528650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.866559995 meters 0.016151020382440952 Centerline is valid? [True, True] Translation: X:86.27, Y:-4.63, Z:-1.37 [[ 9.90459904e-01 1.37534851e-01 8.56409984e-03 8.62654272e+01] [-1.37527549e-01 9.90496897e-01 -1.43861239e-03 -4.63222378e+00] [-8.68057366e-03 2.47088226e-04 9.99962293e-01 -1.36565019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.926559995 meters 0.015347429162216089 Centerline is valid? [True, True] Translation: X:86.33, Y:-4.64, Z:-1.37 [[ 9.90341264e-01 1.38326419e-01 9.48590381e-03 8.63268685e+01] [-1.38317470e-01 9.90386657e-01 -1.59625623e-03 -4.64119012e+00] [-9.61551697e-03 2.68772201e-04 9.99953734e-01 -1.36547706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.986559995 meters 0.015411851610543155 Centerline is valid? [True, True] Translation: X:86.39, Y:-4.65, Z:-1.37 [[ 9.90030991e-01 1.40550825e-01 9.17072122e-03 8.63869387e+01] [-1.40542533e-01 9.90073435e-01 -1.54559035e-03 -4.65040883e+00] [-9.29692146e-03 2.41305952e-04 9.99956754e-01 -1.36682901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.046559995 meters 0.01541719723642899 Centerline is valid? [True, True] Translation: X:86.45, Y:-4.66, Z:-1.37 [[ 9.89828853e-01 1.41943171e-01 9.53819562e-03 8.64483925e+01] [-1.41934244e-01 9.89874779e-01 -1.60982764e-03 -4.65997590e+00] [-9.67012332e-03 2.39657267e-04 9.99953215e-01 -1.36848117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.106559995 meters 0.015573453360053328 Centerline is valid? [True, True] Translation: X:86.51, Y:-4.67, Z:-1.37 [[ 9.89755669e-01 1.42431909e-01 9.84207340e-03 8.65105924e+01] [-1.42422405e-01 9.89804572e-01 -1.66350217e-03 -4.66996763e+00] [-9.97866504e-03 2.44728940e-04 9.99950182e-01 -1.36976656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.166559995 meters 0.016426872941667555 Centerline is valid? [True, True] Translation: X:86.57, Y:-4.68, Z:-1.37 [[ 9.89990100e-01 1.40883347e-01 8.45479632e-03 8.65717286e+01] [-1.40876260e-01 9.90026177e-01 -1.43106903e-03 -4.68130021e+00] [-8.57208347e-03 2.25664086e-04 9.99963234e-01 -1.37132755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.226559995 meters 0.017287528585957487 Centerline is valid? [True, True] Translation: X:86.63, Y:-4.69, Z:-1.37 [[ 9.90757835e-01 1.35357884e-01 8.78384809e-03 8.66321251e+01] [-1.35349984e-01 9.90796730e-01 -1.49050621e-03 -4.69286866e+00] [-8.90475974e-03 2.87837011e-04 9.99960310e-01 -1.37154079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.286559995 meters 0.017638950131816742 Centerline is valid? [True, True] Translation: X:86.69, Y:-4.70, Z:-1.37 [[ 9.91394996e-01 1.30573621e-01 9.30009674e-03 8.66927060e+01] [-1.30564551e-01 9.91438554e-01 -1.57846829e-03 -4.70376504e+00] [-9.42658079e-03 3.50622611e-04 9.99955507e-01 -1.37110148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.346559995 meters 0.01984549366292483 Centerline is valid? [True, True] Translation: X:86.75, Y:-4.72, Z:-1.37 [[ 9.91632866e-01 1.28774585e-01 9.02030976e-03 8.67521111e+01] [-1.28765981e-01 9.91673827e-01 -1.53070038e-03 -4.71565878e+00] [-9.14232040e-03 3.56383772e-04 9.99958145e-01 -1.37273282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.406559995 meters 0.01874791628313167 Centerline is valid? [True, True] Translation: X:86.81, Y:-4.72, Z:-1.37 [[ 9.91609470e-01 1.28976068e-01 8.70826184e-03 8.68143426e+01] [-1.28968057e-01 9.91647648e-01 -1.47764430e-03 -4.72307893e+00] [-8.82610812e-03 3.42158477e-04 9.99960991e-01 -1.37350627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.466559995 meters 0.01877809284104129 Centerline is valid? [True, True] Translation: X:86.88, Y:-4.73, Z:-1.38 [[ 9.91361860e-01 1.30885423e-01 8.40651352e-03 8.68764501e+01] [-1.30877995e-01 9.91397451e-01 -1.43018534e-03 -4.73179058e+00] [-8.52138648e-03 3.17603568e-04 9.99963642e-01 -1.37504763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.526559995 meters 0.018244341393461393 Centerline is valid? [True, True] Translation: X:86.94, Y:-4.74, Z:-1.38 [[ 9.90864288e-01 1.34635138e-01 7.83213262e-03 8.69373888e+01] [-1.34628798e-01 9.90895206e-01 -1.33349978e-03 -4.73784519e+00] [-7.94035859e-03 2.66886711e-04 9.99968439e-01 -1.37611520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.586559995 meters 0.016874696891207897 Centerline is valid? [True, True] Translation: X:87.00, Y:-4.74, Z:-1.38 [[ 9.90230542e-01 1.39172738e-01 8.62688879e-03 8.69987172e+01] [-1.39165216e-01 9.90268087e-01 -1.46917914e-03 -4.74157376e+00] [-8.74740234e-03 2.54263219e-04 9.99961708e-01 -1.37623628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.646559995 meters 0.015495616837647136 Centerline is valid? [True, True] Translation: X:87.06, Y:-4.75, Z:-1.38 [[ 9.89822348e-01 1.42002142e-01 9.33333089e-03 8.70607002e+01] [-1.41993472e-01 9.89866320e-01 -1.58850179e-03 -4.74732690e+00] [-9.46432055e-03 2.47062521e-04 9.99955182e-01 -1.37571361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.706559995 meters 0.014785053837563083 Centerline is valid? [True, True] Translation: X:87.12, Y:-4.75, Z:-1.38 [[ 9.89350588e-01 1.45265506e-01 9.12944254e-03 8.71234133e+01] [-1.45257319e-01 9.89392686e-01 -1.55707222e-03 -4.75185200e+00] [-9.25879256e-03 2.14371963e-04 9.99957113e-01 -1.37688580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.766559995 meters 0.014809219650629528 Centerline is valid? [True, True] Translation: X:87.18, Y:-4.76, Z:-1.38 [[ 9.89214519e-01 1.46234452e-01 8.37373244e-03 8.71844710e+01] [-1.46227604e-01 9.89249943e-01 -1.42766338e-03 -4.76062083e+00] [-8.49248792e-03 1.87794514e-04 9.99963921e-01 -1.37820046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.826559995 meters 0.014686508633360991 Centerline is valid? [True, True] Translation: X:87.25, Y:-4.77, Z:-1.38 [[ 9.89058521e-01 1.47337603e-01 7.40755672e-03 8.72466156e+01] [-1.47332264e-01 9.89086248e-01 -1.26434366e-03 -4.76762416e+00] [-7.51299784e-03 1.59137768e-04 9.99971764e-01 -1.38047594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.886559995 meters 0.014619297004529552 Centerline is valid? [True, True] Translation: X:87.31, Y:-4.77, Z:-1.38 [[ 9.89309750e-01 1.45753622e-01 4.70103139e-03 8.73083154e+01] [-1.45751456e-01 9.89320913e-01 -8.02050799e-04 -4.77442248e+00] [-4.76773048e-03 1.08294507e-04 9.99988628e-01 -1.38228491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.946559995 meters 0.01662814546349001 Centerline is valid? [True, True] Translation: X:87.37, Y:-4.79, Z:-1.38 [[ 9.89858085e-01 1.42017946e-01 3.44592827e-03 8.73679066e+01] [-1.42016751e-01 9.89864078e-01 -5.90414239e-04 -4.78558977e+00] [-3.49485003e-03 9.50467717e-05 9.99993888e-01 -1.38393546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.006559995 meters 0.018439602091226755 Centerline is valid? [True, True] Translation: X:87.43, Y:-4.80, Z:-1.38 [[ 9.91013535e-01 1.33721779e-01 3.26473837e-03 8.74273153e+01] [-1.33720660e-01 9.91018906e-01 -5.59757068e-04 -4.79645403e+00] [-3.31026916e-03 1.18163862e-04 9.99994514e-01 -1.38387114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.066559995 meters 0.021632311686845172 Centerline is valid? [True, True] Translation: X:87.49, Y:-4.81, Z:-1.38 [[ 9.91841727e-01 1.27400169e-01 4.38004018e-03 8.74857980e+01] [-1.27398092e-01 9.91851381e-01 -7.51274291e-04 -4.81020344e+00] [-4.44006137e-03 1.87136430e-04 9.99990125e-01 -1.38447718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.126559995 meters 0.023325650550226833 Centerline is valid? [True, True] Translation: X:87.55, Y:-4.82, Z:-1.38 [[ 9.92634410e-01 1.21043693e-01 5.03513371e-03 8.75455720e+01] [-1.21040867e-01 9.92647149e-01 -8.63422948e-04 -4.82133193e+00] [-5.10262302e-03 2.47606379e-04 9.99986951e-01 -1.38420442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.186559995 meters 0.020805272625090226 Centerline is valid? [True, True] Translation: X:87.61, Y:-4.83, Z:-1.38 [[ 9.92580788e-01 1.21508488e-01 4.36660387e-03 8.76084349e+01] [-1.21506381e-01 9.92590370e-01 -7.45616398e-04 -4.82518868e+00] [-4.42484767e-03 2.09514279e-04 9.99990188e-01 -1.38481723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.246559995 meters 0.02120917530335938 Centerline is valid? [True, True] Translation: X:87.67, Y:-4.83, Z:-1.39 [[ 9.92129471e-01 1.25154157e-01 3.94336716e-03 8.76674065e+01] [-1.25152450e-01 9.92137291e-01 -6.77711237e-04 -4.83250936e+00] [-3.99717999e-03 1.78855231e-04 9.99991995e-01 -1.38642567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.306559995 meters 0.02060559533165874 Centerline is valid? [True, True] Translation: X:87.73, Y:-4.84, Z:-1.39 [[ 9.91400648e-01 1.30799666e-01 4.02514114e-03 8.77266983e+01] [-1.30797935e-01 9.91408807e-01 -6.91527328e-04 -4.83801919e+00] [-4.08101192e-03 1.59100493e-04 9.99991660e-01 -1.38739938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.366559995 meters 0.016928943888051627 Centerline is valid? [True, True] Translation: X:87.79, Y:-4.84, Z:-1.39 [[ 9.89993150e-01 1.41057496e-01 4.04308016e-03 8.77883891e+01] [-1.41055834e-01 9.90001399e-01 -6.94533415e-04 -4.83690081e+00] [-4.10062416e-03 1.17283277e-04 9.99991586e-01 -1.38810205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.426559995 meters 0.01540337951607224 Centerline is valid? [True, True] Translation: X:87.85, Y:-4.84, Z:-1.39 [[ 9.89001377e-01 1.47872865e-01 3.14523252e-03 8.78482966e+01] [-1.47871894e-01 9.89006376e-01 -5.40305888e-04 -4.84034409e+00] [-3.19055160e-03 6.92717752e-05 9.99994908e-01 -1.39024904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.486559995 meters 0.012550595719004243 Centerline is valid? [True, True] Translation: X:87.91, Y:-4.84, Z:-1.39 [[ 9.87637351e-01 1.56715585e-01 3.56215126e-03 8.79108585e+01] [-1.56714399e-01 9.87643774e-01 -6.11287892e-04 -4.84147133e+00] [-3.61393486e-03 4.54903596e-05 9.99993469e-01 -1.38916299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.546559995 meters 0.01114026813225824 Centerline is valid? [True, True] Translation: X:87.97, Y:-4.85, Z:-1.39 [[ 9.86436751e-01 1.64051587e-01 5.44171271e-03 8.79734057e+01] [-1.64048939e-01 9.86451761e-01 -9.32484579e-04 -4.84504631e+00] [-5.52096266e-03 2.71298608e-05 9.99984759e-01 -1.38770703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.606559995 meters 0.010874137763631825 Centerline is valid? [True, True] Translation: X:88.04, Y:-4.85, Z:-1.39 [[ 9.85778978e-01 1.67932618e-01 6.20025903e-03 8.80353296e+01] [-1.67929244e-01 9.85798476e-01 -1.06462418e-03 -4.85287108e+00] [-6.29099103e-03 8.27932656e-06 9.99980211e-01 -1.38852961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.666559995 meters 0.010724568025139316 Centerline is valid? [True, True] Translation: X:88.10, Y:-4.86, Z:-1.39 [[ 9.85133850e-01 1.71667851e-01 6.43794158e-03 8.80979313e+01] [-1.71664283e-01 9.85154886e-01 -1.10692243e-03 -4.86220852e+00] [-6.53239260e-03 -1.46978672e-05 9.99978664e-01 -1.38979508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.726559995 meters 0.010659006856969412 Centerline is valid? [True, True] Translation: X:88.16, Y:-4.87, Z:-1.39 [[ 9.84897339e-01 1.73019948e-01 6.42872973e-03 8.81594887e+01] [-1.73016407e-01 9.84918320e-01 -1.10718853e-03 -4.87261655e+00] [-6.52333939e-03 -2.18086808e-05 9.99978723e-01 -1.39138095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.786559995 meters 0.010597980203642896 Centerline is valid? [True, True] Translation: X:88.22, Y:-4.88, Z:-1.39 [[ 9.84882826e-01 1.73102272e-01 6.43603619e-03 8.82198356e+01] [-1.73098711e-01 9.84903855e-01 -1.11052542e-03 -4.88487511e+00] [-6.53111133e-03 -2.03321583e-05 9.99978672e-01 -1.39375470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.846559995 meters 0.010595014324250605 Centerline is valid? [True, True] Translation: X:88.28, Y:-4.90, Z:-1.40 [[ 9.85471934e-01 1.69716867e-01 6.42282608e-03 8.82809535e+01] [-1.69713238e-01 9.85492864e-01 -1.10981039e-03 -4.90122737e+00] [-6.51800281e-03 3.64838257e-06 9.99978758e-01 -1.39554195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.906559995 meters 0.010870890477906006 Centerline is valid? [True, True] Translation: X:88.34, Y:-4.92, Z:-1.40 [[ 9.86169535e-01 1.65586900e-01 7.11525369e-03 8.83416360e+01] [-1.65582321e-01 9.86195202e-01 -1.23194154e-03 -4.91763058e+00] [-7.22102243e-03 3.67429957e-05 9.99973927e-01 -1.39626700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.966559995 meters 0.011679679501894314 Centerline is valid? [True, True] Translation: X:88.40, Y:-4.93, Z:-1.40 [[ 9.86993335e-01 1.60621703e-01 6.69522828e-03 8.84013044e+01] [-1.60617519e-01 9.87016040e-01 -1.16136766e-03 -4.93421800e+00] [-6.79483855e-03 7.08911824e-05 9.99976912e-01 -1.39772214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.026559995 meters 0.013395362681764078 Centerline is valid? [True, True] Translation: X:88.46, Y:-4.95, Z:-1.40 [[ 9.88431615e-01 1.51549039e-01 5.98591971e-03 8.84595660e+01] [-1.51545510e-01 9.88449733e-01 -1.04139802e-03 -4.95363502e+00] [-6.07460361e-03 1.22211469e-04 9.99981542e-01 -1.39927135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.086559995 meters 0.015002621101451752 Centerline is valid? [True, True] Translation: X:88.52, Y:-4.97, Z:-1.40 [[ 9.89351118e-01 1.45437479e-01 5.68380020e-03 8.85185843e+01] [-1.45434197e-01 9.89367433e-01 -9.88746265e-04 -4.97112595e+00] [-5.76716757e-03 1.51598304e-04 9.99983358e-01 -1.40065903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.146559995 meters 0.018643702483831907 Centerline is valid? [True, True] Translation: X:88.58, Y:-4.99, Z:-1.40 [[ 9.90402924e-01 1.38101314e-01 5.48402254e-03 8.85758592e+01] [-1.38098143e-01 9.90418089e-01 -9.54575608e-04 -4.99287260e+00] [-5.56330327e-03 1.88081146e-04 9.99984507e-01 -1.40186746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.206559995 meters 0.020558160547406296 Centerline is valid? [True, True] Translation: X:88.64, Y:-5.01, Z:-1.40 [[ 9.90848335e-01 1.34815957e-01 6.65093944e-03 8.86350399e+01] [-1.34811233e-01 9.90870625e-01 -1.15561574e-03 -5.01121599e+00] [-6.74601596e-03 2.48418584e-04 9.99977215e-01 -1.40236633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.266559995 meters 0.018809709244527885 Centerline is valid? [True, True] Translation: X:88.70, Y:-5.02, Z:-1.40 [[ 9.90792050e-01 1.35131262e-01 8.40569198e-03 8.86960224e+01] [-1.35123705e-01 9.90827656e-01 -1.46314315e-03 -5.02336650e+00] [-8.52630846e-03 3.13862355e-04 9.99963601e-01 -1.40125200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.326559995 meters 0.01760634418951738 Centerline is valid? [True, True] Translation: X:88.76, Y:-5.04, Z:-1.40 [[ 9.90101908e-01 1.40011623e-01 9.74456155e-03 8.87552390e+01] [-1.40001659e-01 9.90149808e-01 -1.70071289e-03 -5.03603065e+00] [-9.88669533e-03 3.19624296e-04 9.99951074e-01 -1.40124713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.386559995 meters 0.014364201922922941 Centerline is valid? [True, True] Translation: X:88.82, Y:-5.04, Z:-1.40 [[ 9.88701682e-01 1.49607251e-01 9.30882122e-03 8.88152967e+01] [-1.49598582e-01 9.88745480e-01 -1.62459706e-03 -5.04317844e+00] [-9.44710641e-03 2.13655391e-04 9.99955352e-01 -1.40284559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.446559995 meters 0.012358610541364624 Centerline is valid? [True, True] Translation: X:88.88, Y:-5.05, Z:-1.40 [[ 9.87524469e-01 1.57204383e-01 9.06666934e-03 8.88760548e+01] [-1.57196480e-01 9.87566080e-01 -1.58226522e-03 -5.05064855e+00] [-9.20267413e-03 1.37277120e-04 9.99957645e-01 -1.40458780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.506559995 meters 0.01042087108995766 Centerline is valid? [True, True] Translation: X:88.94, Y:-5.06, Z:-1.41 [[ 9.85822578e-01 1.67550426e-01 8.98329007e-03 8.89360274e+01] [-1.67543093e-01 9.85863506e-01 -1.56814337e-03 -5.05723828e+00] [-9.11904094e-03 4.08229318e-05 9.99958420e-01 -1.40593824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.566559995 meters 0.010049727974380016 Centerline is valid? [True, True] Translation: X:89.00, Y:-5.07, Z:-1.41 [[ 9.84841486e-01 1.73208927e-01 9.26900322e-03 8.89975426e+01] [-1.73201382e-01 9.84885104e-01 -1.61667686e-03 -5.06558504e+00] [-9.40892606e-03 -1.32337321e-05 9.99955735e-01 -1.40666067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.626559995 meters 0.01012725199335126 Centerline is valid? [True, True] Translation: X:89.06, Y:-5.08, Z:-1.41 [[ 9.84399668e-01 1.75711830e-01 9.09097652e-03 8.90582313e+01] [-1.75704659e-01 9.84441645e-01 -1.58777651e-03 -5.07528583e+00] [-9.22852699e-03 -3.43202642e-05 9.99957416e-01 -1.40879510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.686559995 meters 0.010393574938216486 Centerline is valid? [True, True] Translation: X:89.12, Y:-5.09, Z:-1.41 [[ 9.83615042e-01 1.80053766e-01 9.06040874e-03 8.91189739e+01] [-1.80046804e-01 9.83656767e-01 -1.58497310e-03 -5.08730117e+00] [-9.19771275e-03 -7.22942564e-05 9.99957698e-01 -1.40964997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.746559995 meters 0.010460585235560987 Centerline is valid? [True, True] Translation: X:89.18, Y:-5.10, Z:-1.41 [[ 9.83520490e-01 1.80566773e-01 9.11512387e-03 8.91805389e+01] [-1.80559729e-01 9.83562725e-01 -1.59665536e-03 -5.10176892e+00] [-9.25359898e-03 -7.54810361e-05 9.99957182e-01 -1.41095653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.806559995 meters 0.010317616621767365 Centerline is valid? [True, True] Translation: X:89.24, Y:-5.12, Z:-1.41 [[ 9.83790934e-01 1.79091576e-01 9.03361028e-03 8.92397103e+01] [-1.79084569e-01 9.83832406e-01 -1.58537085e-03 -5.11898334e+00] [-9.17148510e-03 -5.81067293e-05 9.99957939e-01 -1.41245050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.866559995 meters 0.010094690493597815 Centerline is valid? [True, True] Translation: X:89.30, Y:-5.14, Z:-1.41 [[ 9.84222922e-01 1.76734800e-01 8.36960301e-03 8.93001879e+01] [-1.76728689e-01 9.84258507e-01 -1.47007589e-03 -5.13778826e+00] [-8.49766654e-03 -3.22665835e-05 9.99963894e-01 -1.41364741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.926559995 meters 0.010174085949895184 Centerline is valid? [True, True] Translation: X:89.36, Y:-5.16, Z:-1.42 [[ 9.84583151e-01 1.74748251e-01 7.68555408e-03 8.93611587e+01] [-1.74743022e-01 9.84613147e-01 -1.35185391e-03 -5.15504987e+00] [-7.80353170e-03 -1.19843660e-05 9.99969552e-01 -1.41516413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.986559995 meters 0.01036575491256894 Centerline is valid? [True, True] Translation: X:89.42, Y:-5.18, Z:-1.42 [[ 9.85298318e-01 1.70751100e-01 5.59337259e-03 8.94205843e+01] [-1.70748262e-01 9.85314194e-01 -9.84600789e-04 -5.17567804e+00] [-5.67935107e-03 1.50668556e-05 9.99983872e-01 -1.41776005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.046559995 meters 0.010428802156525606 Centerline is valid? [True, True] Translation: X:89.48, Y:-5.19, Z:-1.42 [[ 9.85507655e-01 1.69514044e-01 6.29686806e-03 8.94818513e+01] [-1.69510410e-01 9.85527771e-01 -1.11020865e-03 -5.19022813e+00] [-6.39393430e-03 2.67344405e-05 9.99979558e-01 -1.41800137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.106559995 meters 0.01042167095680028 Centerline is valid? [True, True] Translation: X:89.54, Y:-5.20, Z:-1.42 [[ 9.85414390e-01 1.70014847e-01 7.30972767e-03 8.95426039e+01] [-1.70009941e-01 9.85441500e-01 -1.29198263e-03 -5.20331740e+00] [-7.42296523e-03 3.04119021e-05 9.99972449e-01 -1.41746140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.166559995 meters 0.01042173104619331 Centerline is valid? [True, True] Translation: X:89.60, Y:-5.22, Z:-1.42 [[ 9.85533840e-01 1.69299448e-01 7.79410608e-03 8.96039621e+01] [-1.69293832e-01 9.85564658e-01 -1.37954685e-03 -5.21608185e+00] [-7.91515201e-03 4.00960205e-05 9.99968674e-01 -1.41745422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.226559995 meters 0.010531489510369495 Centerline is valid? [True, True] Translation: X:89.67, Y:-5.23, Z:-1.42 [[ 9.85786307e-01 1.67771921e-01 8.82831489e-03 8.96659397e+01] [-1.67764627e-01 9.85825836e-01 -1.56567306e-03 -5.22796410e+00] [-8.96585688e-03 6.23401129e-05 9.99959804e-01 -1.41732771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.286559995 meters 0.010883324012892203 Centerline is valid? [True, True] Translation: X:89.73, Y:-5.24, Z:-1.42 [[ 9.86060370e-01 1.66191283e-01 8.08725085e-03 8.97273953e+01] [-1.66185091e-01 9.86093531e-01 -1.43649394e-03 -5.23843985e+00] [-8.21351852e-03 7.24892353e-05 9.99966266e-01 -1.41962672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.346559995 meters 0.011455134766574542 Centerline is valid? [True, True] Translation: X:89.79, Y:-5.25, Z:-1.42 [[ 9.86643188e-01 1.62772300e-01 6.35595642e-03 8.97888410e+01] [-1.62768399e-01 9.86663657e-01 -1.12968356e-03 -5.24972404e+00] [-6.45507240e-03 8.00457378e-05 9.99979163e-01 -1.42177012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.406559995 meters 0.012557267671312539 Centerline is valid? [True, True] Translation: X:89.85, Y:-5.26, Z:-1.42 [[ 9.87243387e-01 1.59104737e-01 6.01476159e-03 8.98498727e+01] [-1.59101167e-01 9.87261704e-01 -1.07038311e-03 -5.26087727e+00] [-6.10844680e-03 9.97730557e-05 9.99981338e-01 -1.42328062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.466559995 meters 0.013544748356170568 Centerline is valid? [True, True] Translation: X:89.91, Y:-5.27, Z:-1.42 [[ 9.87726247e-01 1.56064803e-01 6.37475006e-03 8.99104619e+01] [-1.56060719e-01 9.87746810e-01 -1.13629714e-03 -5.27363428e+00] [-6.47397503e-03 1.27502440e-04 9.99979035e-01 -1.42354738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.526559995 meters 0.014863926959677738 Centerline is valid? [True, True] Translation: X:89.97, Y:-5.29, Z:-1.42 [[ 9.88449647e-01 1.51388747e-01 6.98160730e-03 8.99713902e+01] [-1.51383705e-01 9.88474287e-01 -1.24813745e-03 -5.28656525e+00] [-7.09009326e-03 1.76819444e-04 9.99974849e-01 -1.42390630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.586559995 meters 0.016303561116834474 Centerline is valid? [True, True] Translation: X:90.03, Y:-5.30, Z:-1.42 [[ 9.88666415e-01 1.49944949e-01 7.43176993e-03 9.00312540e+01] [-1.49939200e-01 9.88694327e-01 -1.32793527e-03 -5.29996926e+00] [-7.54686596e-03 1.98571359e-04 9.99971502e-01 -1.42486292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.646559995 meters 0.014645022753628148 Centerline is valid? [True, True] Translation: X:90.09, Y:-5.31, Z:-1.43 [[ 9.88430288e-01 1.51518159e-01 6.91465326e-03 9.00932292e+01] [-1.51513213e-01 9.88454459e-01 -1.23666167e-03 -5.30676798e+00] [-7.02219654e-03 1.74692517e-04 9.99975329e-01 -1.42585948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.706559995 meters 0.013984769218973587 Centerline is valid? [True, True] Translation: X:90.16, Y:-5.32, Z:-1.43 [[ 9.87947941e-01 1.54635826e-01 6.82845530e-03 9.01551329e+01] [-1.54631055e-01 9.87971527e-01 -1.22435771e-03 -5.31547561e+00] [-6.93564897e-03 1.53710429e-04 9.99975936e-01 -1.42748510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.766559995 meters 0.012546292427918769 Centerline is valid? [True, True] Translation: X:90.22, Y:-5.32, Z:-1.43 [[ 9.86839578e-01 1.61558519e-01 6.81851803e-03 9.02163034e+01] [-1.61553920e-01 9.86863128e-01 -1.22366622e-03 -5.32187041e+00] [-6.92663774e-03 1.06003945e-04 9.99976005e-01 -1.42961716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.826559995 meters 0.010991080896482054 Centerline is valid? [True, True] Translation: X:90.28, Y:-5.33, Z:-1.43 [[ 9.85598755e-01 1.68971511e-01 6.61233243e-03 9.02781305e+01] [-1.68967351e-01 9.85620934e-01 -1.18672545e-03 -5.32735379e+00] [-6.71777606e-03 5.23668285e-05 9.99977434e-01 -1.43172672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.886559995 meters 0.010542432030551096 Centerline is valid? [True, True] Translation: X:90.34, Y:-5.33, Z:-1.43 [[ 9.84869093e-01 1.73188689e-01 6.20865348e-03 9.03403493e+01] [-1.73185106e-01 9.84888663e-01 -1.11422461e-03 -5.33497738e+00] [-6.30780352e-03 2.21190704e-05 9.99980105e-01 -1.43384479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.946559995 meters 0.010270151888350605 Centerline is valid? [True, True] Translation: X:90.40, Y:-5.34, Z:-1.44 [[ 9.84062770e-01 1.77694627e-01 6.71441399e-03 9.04016010e+01] [-1.77690547e-01 9.84085677e-01 -1.20422765e-03 -5.34339966e+00] [-6.82154342e-03 -8.05229828e-06 9.99976733e-01 -1.43527261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.006559995 meters 0.010286235623528407 Centerline is valid? [True, True] Translation: X:90.46, Y:-5.36, Z:-1.44 [[ 9.83793173e-01 1.79163801e-01 7.16416561e-03 9.04633708e+01] [-1.79159181e-01 9.83819258e-01 -1.28670015e-03 -5.35512997e+00] [-7.27877419e-03 -1.76792183e-05 9.99973509e-01 -1.43679461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.066559995 meters 0.010344347429746575 Centerline is valid? [True, True] Translation: X:90.52, Y:-5.37, Z:-1.44 [[ 9.83765793e-01 1.79315910e-01 7.11814204e-03 9.05248768e+01] [-1.79311339e-01 9.83791545e-01 -1.28046856e-03 -5.36920961e+00] [-7.23237634e-03 -1.66824083e-05 9.99973846e-01 -1.43834871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.126559995 meters 0.01039068663283952 Centerline is valid? [True, True] Translation: X:90.59, Y:-5.38, Z:-1.44 [[ 9.83721894e-01 1.79548363e-01 7.32258231e-03 9.05866401e+01] [-1.79543516e-01 9.83749147e-01 -1.31938292e-03 -5.38225441e+00] [-7.44047715e-03 -1.68163161e-05 9.99972319e-01 -1.43950991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.186559995 meters 0.010489703213726597 Centerline is valid? [True, True] Translation: X:90.65, Y:-5.40, Z:-1.44 [[ 9.83667362e-01 1.79830379e-01 7.71721300e-03 9.06482544e+01] [-1.79824985e-01 9.83697634e-01 -1.39295041e-03 -5.39604940e+00] [-7.84189897e-03 -1.75478538e-05 9.99969252e-01 -1.44014579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.246559995 meters 0.010601601330486116 Centerline is valid? [True, True] Translation: X:90.71, Y:-5.41, Z:-1.44 [[ 9.83708434e-01 1.79571404e-01 8.47513587e-03 9.07084740e+01] [-1.79564862e-01 9.83744942e-01 -1.53283847e-03 -5.41049124e+00] [-8.61262600e-03 -1.39704805e-05 9.99962911e-01 -1.44171792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.306559995 meters 0.010797811831886531 Centerline is valid? [True, True] Translation: X:90.77, Y:-5.42, Z:-1.44 [[ 9.83177399e-01 1.82400599e-01 9.60335113e-03 9.07708553e+01] [-1.82392304e-01 9.83224298e-01 -1.74005074e-03 -5.42036372e+00] [-9.75963447e-03 -4.07987819e-05 9.99952373e-01 -1.44335614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.366559995 meters 0.010922426508950327 Centerline is valid? [True, True] Translation: X:90.83, Y:-5.43, Z:-1.44 [[ 9.82771466e-01 1.84580796e-01 9.49606666e-03 9.08332838e+01] [-1.84572764e-01 9.82817341e-01 -1.72298887e-03 -5.43112782e+00] [-9.65092964e-03 -5.94109643e-05 9.99953427e-01 -1.44406686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.426559995 meters 0.011257719326581438 Centerline is valid? [True, True] Translation: X:90.90, Y:-5.44, Z:-1.45 [[ 9.82455850e-01 1.86266403e-01 9.23739487e-03 9.08954417e+01] [-1.86258853e-01 9.82499273e-01 -1.67860358e-03 -5.44163290e+00] [-9.38840119e-03 -7.13926675e-05 9.99955925e-01 -1.44599422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.486559995 meters 0.011130429774883125 Centerline is valid? [True, True] Translation: X:90.96, Y:-5.45, Z:-1.45 [[ 9.82625479e-01 1.85347036e-01 9.67699953e-03 9.09562565e+01] [-1.85338675e-01 9.82673126e-01 -1.76159929e-03 -5.45399862e+00] [-9.83583459e-03 -6.25299293e-05 9.99951625e-01 -1.44672979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.546559995 meters 0.011031106313115728 Centerline is valid? [True, True] Translation: X:91.02, Y:-5.47, Z:-1.45 [[ 9.83212840e-01 1.82124339e-01 1.11011895e-02 9.10169706e+01] [-1.82113091e-01 9.83275508e-01 -2.02429455e-03 -5.46685035e+00] [-1.12842011e-02 -3.13595445e-05 9.99936331e-01 -1.44737516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.606559995 meters 0.011160243795138698 Centerline is valid? [True, True] Translation: X:91.08, Y:-5.48, Z:-1.45 [[ 9.84065699e-01 1.77397720e-01 1.20311676e-02 9.10788078e+01] [-1.77384115e-01 9.84139242e-01 -2.19716550e-03 -5.48058130e+00] [-1.22301164e-02 2.80171767e-05 9.99925209e-01 -1.44768182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.666559995 meters 0.012205657422768745 Centerline is valid? [True, True] Translation: X:91.14, Y:-5.50, Z:-1.45 [[ 9.85513920e-01 1.69122957e-01 1.26388068e-02 9.11393393e+01] [-1.69107210e-01 9.85594950e-01 -2.31216407e-03 -5.49642867e+00] [-1.28477842e-02 1.41356528e-04 9.99917454e-01 -1.44916236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.726559995 meters 0.013037245100622976 Centerline is valid? [True, True] Translation: X:91.20, Y:-5.51, Z:-1.45 [[ 9.86308898e-01 1.64381253e-01 1.31742612e-02 9.12003288e+01] [-1.64363673e-01 9.86396856e-01 -2.41360138e-03 -5.50983598e+00] [-1.33918006e-02 2.15186555e-04 9.99910303e-01 -1.45007112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.786559995 meters 0.014600117832438845 Centerline is valid? [True, True] Translation: X:91.26, Y:-5.52, Z:-1.45 [[ 9.87090225e-01 1.59544544e-01 1.40863590e-02 9.12601483e+01] [-1.59523897e-01 9.87190684e-01 -2.58461551e-03 -5.52337270e+00] [-1.43182837e-02 3.04137814e-04 9.99897442e-01 -1.45064565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.846559995 meters 0.015402984840582497 Centerline is valid? [True, True] Translation: X:91.32, Y:-5.53, Z:-1.45 [[ 9.87350796e-01 1.57875948e-01 1.46147130e-02 9.13211068e+01] [-1.57853488e-01 9.87458894e-01 -2.68510080e-03 -5.53498201e+00] [-1.48553412e-02 3.44152982e-04 9.99889594e-01 -1.45157189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.906559995 meters 0.014624404205898181 Centerline is valid? [True, True] Translation: X:91.38, Y:-5.54, Z:-1.45 [[ 9.87235343e-01 1.58571241e-01 1.48841836e-02 9.13826252e+01] [-1.58547967e-01 9.87347479e-01 -2.73835292e-03 -5.54240291e+00] [-1.51300851e-02 3.43541741e-04 9.99885475e-01 -1.45216284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.966559995 meters 0.01412739113527618 Centerline is valid? [True, True] Translation: X:91.45, Y:-5.55, Z:-1.45 [[ 9.86770745e-01 1.61386237e-01 1.54265786e-02 9.14450001e+01] [-1.61361515e-01 9.86891272e-01 -2.84222797e-03 -5.54914255e+00] [-1.56830523e-02 3.15371315e-04 9.99876964e-01 -1.45313968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.026559995 meters 0.013976048328787226 Centerline is valid? [True, True] Translation: X:91.51, Y:-5.56, Z:-1.45 [[ 9.86359245e-01 1.63893840e-01 1.53051877e-02 9.15061219e+01] [-1.63869787e-01 9.86477944e-01 -2.82118915e-03 -5.55764373e+00] [-1.55606057e-02 2.74648147e-04 9.99878889e-01 -1.45424742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.086559995 meters 0.013033927660277396 Centerline is valid? [True, True] Translation: X:91.57, Y:-5.56, Z:-1.46 [[ 9.85944765e-01 1.66381669e-01 1.51677472e-02 9.15683166e+01] [-1.66358282e-01 9.86061400e-01 -2.79959246e-03 -5.56445955e+00] [-1.54221309e-02 2.36963166e-04 9.99881044e-01 -1.45566701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.146559995 meters 0.012763372527891137 Centerline is valid? [True, True] Translation: X:91.63, Y:-5.57, Z:-1.46 [[ 9.85544249e-01 1.68697218e-01 1.56134982e-02 9.16305886e+01] [-1.68672663e-01 9.85667897e-01 -2.88596343e-03 -5.57189122e+00] [-1.58765779e-02 2.10674352e-04 9.99873937e-01 -1.45665701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.206559995 meters 0.012264343224515311 Centerline is valid? [True, True] Translation: X:91.69, Y:-5.58, Z:-1.46 [[ 9.85198753e-01 1.70738843e-01 1.52205000e-02 9.16922801e+01] [-1.70715732e-01 9.85316303e-01 -2.81459867e-03 -5.57876341e+00] [-1.54775682e-02 1.74560296e-04 9.99880200e-01 -1.45784362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.266559995 meters 0.01219570411350988 Centerline is valid? [True, True] Translation: X:91.75, Y:-5.59, Z:-1.46 [[ 9.84920147e-01 1.72323592e-01 1.53910544e-02 9.17539020e+01] [-1.72300091e-01 9.85040383e-01 -2.85008934e-03 -5.58754320e+00] [-1.56519478e-02 1.55230327e-04 9.99877489e-01 -1.45887600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.326559995 meters 0.01204332677683638 Centerline is valid? [True, True] Translation: X:91.81, Y:-5.60, Z:-1.46 [[ 9.84716428e-01 1.73583479e-01 1.42243489e-02 9.18145918e+01] [-1.73563490e-01 9.84819151e-01 -2.63735344e-03 -5.59581874e+00] [-1.44662122e-02 1.28217621e-04 9.99895351e-01 -1.46038263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.386559995 meters 0.011876488854338233 Centerline is valid? [True, True] Translation: X:91.88, Y:-5.60, Z:-1.46 [[ 9.84648354e-01 1.74055017e-01 1.31327606e-02 9.18767265e+01] [-1.74037985e-01 9.84735923e-01 -2.43755768e-03 -5.60493027e+00] [-1.33565703e-02 1.14537955e-04 9.99910790e-01 -1.46215682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.446559995 meters 0.012166408084867209 Centerline is valid? [True, True] Translation: X:91.94, Y:-5.62, Z:-1.46 [[ 9.84755703e-01 1.73523204e-01 1.20790674e-02 9.19391768e+01] [-1.73508716e-01 9.84829774e-01 -2.24518628e-03 -5.61537226e+00] [-1.22854171e-02 1.15136519e-04 9.99924525e-01 -1.46353373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.506559995 meters 0.01257930560763173 Centerline is valid? [True, True] Translation: X:92.00, Y:-5.63, Z:-1.46 [[ 9.85112226e-01 1.71484291e-01 1.21259737e-02 9.20001043e+01] [-1.71469491e-01 9.85186844e-01 -2.25756632e-03 -5.62717298e+00] [-1.23334869e-02 1.44721646e-04 9.99923929e-01 -1.46323442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.566559995 meters 0.01276330121487897 Centerline is valid? [True, True] Translation: X:92.06, Y:-5.64, Z:-1.46 [[ 9.85391317e-01 1.69918919e-01 1.14679582e-02 9.20607634e+01] [-1.69905544e-01 9.85458034e-01 -2.13778821e-03 -5.63793880e+00] [-1.16644422e-02 1.58088266e-04 9.99931956e-01 -1.46436735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.626559995 meters 0.013384893450914875 Centerline is valid? [True, True] Translation: X:92.12, Y:-5.65, Z:-1.47 [[ 9.85768426e-01 1.67762490e-01 1.07868693e-02 9.21211741e+01] [-1.67750501e-01 9.85827427e-01 -2.01317981e-03 -5.64970318e+00] [-1.09717277e-02 1.75026355e-04 9.99939793e-01 -1.46561761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.686559995 meters 0.01412807872547221 Centerline is valid? [True, True] Translation: X:92.18, Y:-5.66, Z:-1.47 [[ 9.86149836e-01 1.65582032e-01 9.54419114e-03 9.21824931e+01] [-1.65572528e-01 9.86196004e-01 -1.78297886e-03 -5.66173000e+00] [-9.70767243e-03 1.78028451e-04 9.99952864e-01 -1.46744151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.746559995 meters 0.015111887820767996 Centerline is valid? [True, True] Translation: X:92.24, Y:-5.68, Z:-1.47 [[ 9.86945812e-01 1.60845739e-01 8.16169559e-03 9.22430256e+01] [-1.60838603e-01 9.86979539e-01 -1.52752994e-03 -5.67503371e+00] [-8.30112323e-03 1.94873555e-04 9.99965526e-01 -1.46882335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.806559995 meters 0.015697865112148626 Centerline is valid? [True, True] Translation: X:92.30, Y:-5.69, Z:-1.47 [[ 9.87393441e-01 1.58045118e-01 8.71398524e-03 9.23032114e+01] [-1.58036873e-01 9.87431864e-01 -1.63121198e-03 -5.68838386e+00] [-8.86227178e-03 2.33517034e-04 9.99960702e-01 -1.46857563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.866559995 meters 0.01620659273698768 Centerline is valid? [True, True] Translation: X:92.36, Y:-5.70, Z:-1.47 [[ 9.87831548e-01 1.55243169e-01 9.40168523e-03 9.23644176e+01] [-1.55233427e-01 9.87876247e-01 -1.76168069e-03 -5.70099202e+00] [-9.56119042e-03 2.80787939e-04 9.99954251e-01 -1.46873633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.926559995 meters 0.01690530583533077 Centerline is valid? [True, True] Translation: X:92.43, Y:-5.71, Z:-1.47 [[ 9.87892358e-01 1.54839320e-01 9.66819160e-03 9.24252066e+01] [-1.54829002e-01 9.87939623e-01 -1.81130353e-03 -5.71307712e+00] [-9.83205058e-03 2.92456456e-04 9.99951621e-01 -1.46972651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.986559995 meters 0.01722342570895595 Centerline is valid? [True, True] Translation: X:92.49, Y:-5.73, Z:-1.47 [[ 9.87742457e-01 1.55787715e-01 9.74816590e-03 9.24861241e+01] [-1.55777247e-01 9.87790517e-01 -1.82880728e-03 -5.72531010e+00] [-9.91405154e-03 2.87848149e-04 9.99950813e-01 -1.47098847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.046559995 meters 0.01710754647121647 Centerline is valid? [True, True] Translation: X:92.55, Y:-5.74, Z:-1.47 [[ 9.87436365e-01 1.57781896e-01 8.61970987e-03 9.25471194e+01] [-1.57773771e-01 9.87473957e-01 -1.61882626e-03 -5.73681242e+00] [-8.76716050e-03 2.38523784e-04 9.99961539e-01 -1.47275349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.106559995 meters 0.015996129265068007 Centerline is valid? [True, True] Translation: X:92.61, Y:-5.75, Z:-1.47 [[ 9.87239197e-01 1.59032134e-01 8.21881529e-03 9.26087936e+01] [-1.59024776e-01 9.87273383e-01 -1.54533632e-03 -5.74693567e+00] [-8.35997571e-03 2.18621322e-04 9.99965031e-01 -1.47384001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.166559995 meters 0.01570115454857961 Centerline is valid? [True, True] Translation: X:92.67, Y:-5.76, Z:-1.48 [[ 9.86942564e-01 1.60898870e-01 7.47851558e-03 9.26703215e+01] [-1.60892810e-01 9.86970880e-01 -1.40900288e-03 -5.75845620e+00] [-7.60778408e-03 1.87365525e-04 9.99971043e-01 -1.47525103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.226559995 meters 0.01501918052369736 Centerline is valid? [True, True] Translation: X:92.73, Y:-5.77, Z:-1.48 [[ 9.86756292e-01 1.62047132e-01 7.26272806e-03 9.27319930e+01] [-1.62041453e-01 9.86783004e-01 -1.36757017e-03 -5.76848908e+00] [-7.38834743e-03 1.72595461e-04 9.99972691e-01 -1.47620212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.286559995 meters 0.01537744781803824 Centerline is valid? [True, True] Translation: X:92.79, Y:-5.78, Z:-1.48 [[ 9.86702871e-01 1.62364348e-01 7.43385576e-03 9.27937973e+01] [-1.62358395e-01 9.86730859e-01 -1.40153218e-03 -5.78063883e+00] [-7.56277374e-03 1.75946942e-04 9.99971386e-01 -1.47720876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.346559995 meters 0.015838206576283143 Centerline is valid? [True, True] Translation: X:92.85, Y:-5.79, Z:-1.48 [[ 9.86933137e-01 1.60926788e-01 8.09644481e-03 9.28543062e+01] [-1.60919652e-01 9.86966325e-01 -1.52947296e-03 -5.79364042e+00] [-8.23705155e-03 2.06610462e-04 9.99966054e-01 -1.47695092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.406559995 meters 0.016892829625873858 Centerline is valid? [True, True] Translation: X:92.91, Y:-5.81, Z:-1.48 [[ 9.87546708e-01 1.57131325e-01 7.82599860e-03 9.29142234e+01] [-1.57124523e-01 9.87577690e-01 -1.48036468e-03 -5.80749269e+00] [-7.96139328e-03 2.32272967e-04 9.99968281e-01 -1.47662352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.466559995 meters 0.018141575802672644 Centerline is valid? [True, True] Translation: X:92.97, Y:-5.82, Z:-1.48 [[ 9.87787720e-01 1.55594300e-01 8.11386807e-03 9.29735134e+01] [-1.55586908e-01 9.87821010e-01 -1.53836402e-03 -5.82086556e+00] [-8.25441003e-03 2.57165447e-04 9.99965899e-01 -1.47782427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.526559995 meters 0.01781332115477354 Centerline is valid? [True, True] Translation: X:93.03, Y:-5.83, Z:-1.48 [[ 9.88266079e-01 1.52540791e-01 7.83987252e-03 9.30344850e+01] [-1.52533794e-01 9.88297138e-01 -1.48638744e-03 -5.83152207e+00] [-7.97485829e-03 2.73100794e-04 9.99968163e-01 -1.47824175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.586559995 meters 0.019326323279086715 Centerline is valid? [True, True] Translation: X:93.09, Y:-5.85, Z:-1.48 [[ 9.88847903e-01 1.48787547e-01 6.48766402e-03 9.30945807e+01] [-1.48782670e-01 9.88869153e-01 -1.23063640e-03 -5.84503239e+00] [-6.59855420e-03 2.51660247e-04 9.99978198e-01 -1.47959293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.646559995 meters 0.02047208552964515 Centerline is valid? [True, True] Translation: X:93.15, Y:-5.86, Z:-1.48 [[ 9.89266557e-01 1.45986924e-01 6.28469044e-03 9.31544277e+01] [-1.45982290e-01 9.89286485e-01 -1.19234749e-03 -5.85766912e+00] [-6.39142645e-03 2.62095998e-04 9.99979540e-01 -1.48011734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.706559995 meters 0.019789625941712897 Centerline is valid? [True, True] Translation: X:93.22, Y:-5.87, Z:-1.48 [[ 9.89333737e-01 1.45480774e-01 7.35536381e-03 9.32160168e+01] [-1.45474424e-01 9.89361031e-01 -1.39402305e-03 -5.86761935e+00] [-7.47991387e-03 3.09136721e-04 9.99971977e-01 -1.48010401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.766559995 meters 0.020707274790524175 Centerline is valid? [True, True] Translation: X:93.28, Y:-5.88, Z:-1.48 [[ 9.88990174e-01 1.47819548e-01 6.91502980e-03 9.32758519e+01] [-1.47813980e-01 9.89014310e-01 -1.31229931e-03 -5.87877816e+00] [-7.03304692e-03 2.75713052e-04 9.99975230e-01 -1.48188586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.826559995 meters 0.01781493864260079 Centerline is valid? [True, True] Translation: X:93.34, Y:-5.88, Z:-1.48 [[ 9.88281440e-01 1.52479257e-01 7.06196086e-03 9.33368198e+01] [-1.52473543e-01 9.88306639e-01 -1.34376301e-03 -5.88451950e+00] [-7.18427879e-03 2.51253852e-04 9.99974161e-01 -1.48289501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.886559995 meters 0.015245688534982803 Centerline is valid? [True, True] Translation: X:93.40, Y:-5.89, Z:-1.48 [[ 9.86789730e-01 1.61858609e-01 6.91516757e-03 9.33979479e+01] [-1.61853359e-01 9.86813943e-01 -1.31594554e-03 -5.88930072e+00] [-7.03698089e-03 1.79318441e-04 9.99975224e-01 -1.48421863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.946559995 meters 0.013403848623493097 Centerline is valid? [True, True] Translation: X:93.46, Y:-5.89, Z:-1.49 [[ 9.85141950e-01 1.71580483e-01 7.44824201e-03 9.34577711e+01] [-1.71574667e-01 9.85170099e-01 -1.41770918e-03 -5.89429892e+00] [-7.58103654e-03 1.18715143e-04 9.99971256e-01 -1.48596319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.006559995 meters 0.012320451705194977 Centerline is valid? [True, True] Translation: X:93.52, Y:-5.90, Z:-1.49 [[ 9.84090359e-01 1.77489098e-01 7.98652769e-03 9.35198059e+01] [-1.77482611e-01 9.84122764e-01 -1.51948748e-03 -5.90303863e+00] [-8.12941617e-03 7.78431970e-05 9.99966953e-01 -1.48704803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.066559995 meters 0.011690789674421736 Centerline is valid? [True, True] Translation: X:93.58, Y:-5.91, Z:-1.49 [[ 9.83166568e-01 1.82521651e-01 8.32750195e-03 9.35817832e+01] [-1.82514771e-01 9.83201834e-01 -1.58516567e-03 -5.91202287e+00] [-8.47694224e-03 3.85897737e-05 9.99964069e-01 -1.48806222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.126559995 meters 0.011298023792147205 Centerline is valid? [True, True] Translation: X:93.64, Y:-5.92, Z:-1.49 [[ 9.81971075e-01 1.88828825e-01 8.74539498e-03 9.36435759e+01] [-1.88821490e-01 9.82010018e-01 -1.66443711e-03 -5.92063744e+00] [-8.90235918e-03 -1.68894155e-05 9.99960373e-01 -1.48916660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.186559995 meters 0.011551332044668629 Centerline is valid? [True, True] Translation: X:93.70, Y:-5.93, Z:-1.49 [[ 9.81136579e-01 1.93116378e-01 8.77942893e-03 9.37035876e+01] [-1.93109130e-01 9.81175857e-01 -1.67395912e-03 -5.93107585e+00] [-8.93743262e-03 -5.30053640e-05 9.99960059e-01 -1.49162000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.246559995 meters 0.011764742540828394 Centerline is valid? [True, True] Translation: X:93.76, Y:-5.94, Z:-1.49 [[ 9.80731656e-01 1.95172073e-01 8.56045498e-03 9.37646084e+01] [-1.95165258e-01 9.80769013e-01 -1.63256251e-03 -5.94439718e+00] [-8.71445959e-03 -6.95976727e-05 9.99962026e-01 -1.49248246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.306559995 meters 0.012128138428948646 Centerline is valid? [True, True] Translation: X:93.83, Y:-5.96, Z:-1.49 [[ 9.80385628e-01 1.96907331e-01 8.45711432e-03 9.38253043e+01] [-1.96900725e-01 9.80422101e-01 -1.61494080e-03 -5.95899484e+00] [-8.60953547e-03 -8.19471899e-05 9.99962934e-01 -1.49467034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.366559995 meters 0.012224961313019245 Centerline is valid? [True, True] Translation: X:93.89, Y:-5.97, Z:-1.50 [[ 9.80317704e-01 1.97281164e-01 7.57239385e-03 9.38866414e+01] [-1.97275870e-01 9.80346947e-01 -1.44720002e-03 -5.97401439e+00] [-7.70907850e-03 -7.51347807e-05 9.99970282e-01 -1.49681168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.426559995 meters 0.011870263454598975 Centerline is valid? [True, True] Translation: X:93.95, Y:-5.99, Z:-1.50 [[ 9.80725583e-01 1.95243962e-01 7.55821294e-03 9.39455716e+01] [-1.95238609e-01 9.80754705e-01 -1.44688406e-03 -5.99402837e+00] [-7.69524829e-03 -5.66587705e-05 9.99970390e-01 -1.49829196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.486559995 meters 0.011580910541767655 Centerline is valid? [True, True] Translation: X:94.01, Y:-6.01, Z:-1.50 [[ 9.81244717e-01 1.92594600e-01 8.13177108e-03 9.40051631e+01] [-1.92588293e-01 9.81278410e-01 -1.55894689e-03 -6.01240235e+00] [-8.27977615e-03 -3.63755138e-05 9.99965721e-01 -1.49910803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.546559995 meters 0.01147084791872372 Centerline is valid? [True, True] Translation: X:94.07, Y:-6.04, Z:-1.50 [[ 9.82267768e-01 1.87291702e-01 8.47645231e-03 9.40652233e+01] [-1.87284638e-01 9.82304341e-01 -1.62676840e-03 -6.03511856e+00] [-8.63113612e-03 1.04128661e-05 9.99962751e-01 -1.49879033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.606559995 meters 0.011881861998180426 Centerline is valid? [True, True] Translation: X:94.12, Y:-6.05, Z:-1.50 [[ 9.82861055e-01 1.84128342e-01 8.99449322e-03 9.41245120e+01] [-1.84120221e-01 9.82902209e-01 -1.72989018e-03 -6.05383798e+00] [-9.15922906e-03 4.41736047e-05 9.99958052e-01 -1.49973786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.666559995 meters 0.01154632219833744 Centerline is valid? [True, True] Translation: X:94.19, Y:-6.07, Z:-1.50 [[ 9.82461110e-01 1.86125388e-01 1.12918852e-02 9.41857420e+01] [-1.86112692e-01 9.82525999e-01 -2.17422235e-03 -6.06501530e+00] [-1.14992487e-02 3.45257608e-05 9.99933881e-01 -1.49831464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.726559995 meters 0.01166906994977674 Centerline is valid? [True, True] Translation: X:94.25, Y:-6.08, Z:-1.50 [[ 9.82365601e-01 1.86677799e-01 1.04510679e-02 9.42472297e+01] [-1.86666932e-01 9.82421192e-01 -2.01450317e-03 -6.07758962e+00] [-1.06434136e-02 2.81098450e-05 9.99943357e-01 -1.49977158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.786559995 meters 0.011773999286093951 Centerline is valid? [True, True] Translation: X:94.31, Y:-6.09, Z:-1.50 [[ 9.82606065e-01 1.85430637e-01 1.00399014e-02 9.43088045e+01] [-1.85420514e-01 9.82657355e-01 -1.93803082e-03 -6.09055847e+00] [-1.02251533e-02 4.27171572e-05 9.99947721e-01 -1.50118400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.846559995 meters 0.012021237886297532 Centerline is valid? [True, True] Translation: X:94.37, Y:-6.10, Z:-1.50 [[ 9.82975045e-01 1.83474455e-01 9.85828511e-03 9.43683558e+01] [-1.83464560e-01 9.83024476e-01 -1.90664257e-03 -6.10246199e+00] [-1.00407558e-02 6.55361318e-05 9.99949588e-01 -1.50291354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.906559995 meters 0.012816542606166279 Centerline is valid? [True, True] Translation: X:94.43, Y:-6.12, Z:-1.50 [[ 9.84014514e-01 1.77789054e-01 1.03193241e-02 9.44287592e+01] [-1.77777889e-01 9.84068613e-01 -1.99674132e-03 -6.11653290e+00] [-1.05099217e-02 1.30274781e-04 9.99944761e-01 -1.50307151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.966559995 meters 0.0134834570391107 Centerline is valid? [True, True] Translation: X:94.49, Y:-6.13, Z:-1.50 [[ 9.84615459e-01 1.74359026e-01 1.14598508e-02 9.44891971e+01] [-1.74344985e-01 9.84682129e-01 -2.22075037e-03 -6.12928916e+00] [-1.16715181e-02 1.88617630e-04 9.99931868e-01 -1.50328524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.026559995 meters 0.01463032114137244 Centerline is valid? [True, True] Translation: X:94.55, Y:-6.14, Z:-1.50 [[ 9.85312136e-01 1.70307046e-01 1.24701398e-02 9.45502936e+01] [-1.70290044e-01 9.85391009e-01 -2.42061449e-03 -6.14210402e+00] [-1.27002113e-02 2.61520187e-04 9.99919315e-01 -1.50419369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.086559995 meters 0.015225696315296376 Centerline is valid? [True, True] Translation: X:94.61, Y:-6.15, Z:-1.51 [[ 9.85433901e-01 1.69640016e-01 1.19285974e-02 9.46110538e+01] [-1.69624407e-01 9.85506062e-01 -2.31566691e-03 -6.15382073e+00] [-1.21485349e-02 2.58555409e-04 9.99926170e-01 -1.50662202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.146559995 meters 0.015267905377321277 Centerline is valid? [True, True] Translation: X:94.67, Y:-6.16, Z:-1.51 [[ 9.85402335e-01 1.69912532e-01 1.05815266e-02 9.46727059e+01] [-1.69900244e-01 9.85459121e-01 -2.05616033e-03 -6.16423987e+00] [-1.07770293e-02 2.28341235e-04 9.99941900e-01 -1.50930375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.206559995 meters 0.01421020884546635 Centerline is valid? [True, True] Translation: X:94.73, Y:-6.17, Z:-1.51 [[ 9.85084684e-01 1.71789990e-01 9.81660197e-03 9.47338727e+01] [-1.71779481e-01 9.85133575e-01 -1.91013907e-03 -6.17281903e+00] [-9.99880697e-03 1.95357952e-04 9.99949992e-01 -1.51057414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.266559995 meters 0.014189229421326652 Centerline is valid? [True, True] Translation: X:94.79, Y:-6.18, Z:-1.51 [[ 9.84789870e-01 1.73509937e-01 9.12220834e-03 9.47941379e+01] [-1.73500916e-01 9.84832104e-01 -1.77721865e-03 -6.18342048e+00] [-9.29220873e-03 1.67475419e-04 9.99956812e-01 -1.51191891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.326559995 meters 0.013834547642071567 Centerline is valid? [True, True] Translation: X:94.85, Y:-6.19, Z:-1.51 [[ 9.84485314e-01 1.75206234e-01 9.56256022e-03 9.48549887e+01] [-1.75196378e-01 9.84531741e-01 -1.86531284e-03 -6.19355558e+00] [-9.74145850e-03 1.61047188e-04 9.99952538e-01 -1.51275606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.386559995 meters 0.013492137667030472 Centerline is valid? [True, True] Translation: X:94.92, Y:-6.20, Z:-1.51 [[ 9.84273193e-01 1.76355405e-01 1.02494900e-02 9.49162954e+01] [-1.76344115e-01 9.84326544e-01 -2.00216409e-03 -6.20457321e+00] [-1.04419375e-02 1.63239197e-04 9.99945468e-01 -1.51316526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.446559995 meters 0.013556803106604535 Centerline is valid? [True, True] Translation: X:94.98, Y:-6.22, Z:-1.51 [[ 9.84406176e-01 1.75577628e-01 1.08156043e-02 9.49771678e+01] [-1.75564977e-01 9.84465572e-01 -2.11569258e-03 -6.21737142e+00] [-1.10190583e-02 1.83859532e-04 9.99939271e-01 -1.51405700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.506559995 meters 0.014102491832392823 Centerline is valid? [True, True] Translation: X:95.04, Y:-6.23, Z:-1.52 [[ 9.84687997e-01 1.74053778e-01 9.73812691e-03 9.50373153e+01] [-1.74043426e-01 9.84736132e-01 -1.90703790e-03 -6.23159217e+00] [-9.92141257e-03 1.82980356e-04 9.99950765e-01 -1.51552222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.566559995 meters 0.015077450790728277 Centerline is valid? [True, True] Translation: X:95.10, Y:-6.25, Z:-1.52 [[ 9.85251767e-01 1.70917086e-01 8.14284597e-03 9.50976450e+01] [-1.70909718e-01 9.85285399e-01 -1.59738920e-03 -6.24751237e+00] [-8.29604835e-03 1.82139021e-04 9.99965571e-01 -1.51770148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.626559995 meters 0.015483303688349622 Centerline is valid? [True, True] Translation: X:95.16, Y:-6.26, Z:-1.52 [[ 9.85408235e-01 1.70073694e-01 6.74903753e-03 9.51582710e+01] [-1.70068622e-01 9.85431334e-01 -1.32267870e-03 -6.26031056e+00] [-6.87566591e-03 1.55578968e-04 9.99976350e-01 -1.51930427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.686559995 meters 0.016516343548788268 Centerline is valid? [True, True] Translation: X:95.22, Y:-6.27, Z:-1.52 [[ 9.85352745e-01 1.70434122e-01 5.67261823e-03 9.52189771e+01] [-1.70430541e-01 9.85369064e-01 -1.11238503e-03 -6.27356518e+00] [-5.77921088e-03 1.29304251e-04 9.99983292e-01 -1.52168941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.746559995 meters 0.01566403574735468 Centerline is valid? [True, True] Translation: X:95.28, Y:-6.28, Z:-1.52 [[ 9.85262808e-01 1.70971209e-01 5.10346073e-03 9.52806946e+01] [-1.70968314e-01 9.85276018e-01 -1.00149661e-03 -6.28363354e+00] [-5.19954456e-03 1.14207283e-04 9.99986476e-01 -1.52228902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.806559995 meters 0.016017847528056996 Centerline is valid? [True, True] Translation: X:95.34, Y:-6.30, Z:-1.52 [[ 9.85344682e-01 1.70498460e-01 5.11212445e-03 9.53416438e+01] [-1.70495539e-01 9.85357936e-01 -1.00507283e-03 -6.29591640e+00] [-5.20863576e-03 1.18748761e-04 9.99986428e-01 -1.52279166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.866559995 meters 0.01667782224762491 Centerline is valid? [True, True] Translation: X:95.40, Y:-6.31, Z:-1.52 [[ 9.85809622e-01 1.67750417e-01 6.25987772e-03 9.54025386e+01] [-1.67745966e-01 9.85829483e-01 -1.23314489e-03 -6.30932270e+00] [-6.37803259e-03 1.65576864e-04 9.99979646e-01 -1.52226148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.926559995 meters 0.01750120020710397 Centerline is valid? [True, True] Translation: X:95.46, Y:-6.32, Z:-1.52 [[ 9.86112364e-01 1.65924287e-01 7.17884400e-03 9.54633877e+01] [-1.65918368e-01 9.86138473e-01 -1.41655490e-03 -6.32103151e+00] [-7.31437512e-03 2.05780225e-04 9.99973228e-01 -1.52250205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.986559995 meters 0.016996991901445376 Centerline is valid? [True, True] Translation: X:95.53, Y:-6.33, Z:-1.52 [[ 9.86131499e-01 1.65831502e-01 6.67685216e-03 9.55250498e+01] [-1.65826370e-01 9.86154083e-01 -1.31885207e-03 -6.33124675e+00] [-6.80311224e-03 1.93363415e-04 9.99976840e-01 -1.52352373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.046559995 meters 0.017449452505681275 Centerline is valid? [True, True] Translation: X:95.58, Y:-6.34, Z:-1.53 [[ 9.86028412e-01 1.66455866e-01 6.35727895e-03 9.55845952e+01] [-1.66451217e-01 9.86048889e-01 -1.25735254e-03 -6.34306486e+00] [-6.47788155e-03 1.81608518e-04 9.99979002e-01 -1.52504799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.106559995 meters 0.01790513460862068 Centerline is valid? [True, True] Translation: X:95.65, Y:-6.35, Z:-1.53 [[ 9.85956914e-01 1.66884472e-01 6.20785285e-03 9.56451590e+01] [-1.66880040e-01 9.85976441e-01 -1.22885130e-03 -6.35409643e+00] [-6.32587286e-03 1.75627709e-04 9.99979976e-01 -1.52679079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.166559995 meters 0.01720301054992838 Centerline is valid? [True, True] Translation: X:95.71, Y:-6.36, Z:-1.53 [[ 9.86132757e-01 1.65872040e-01 5.35284705e-03 9.57062719e+01] [-1.65868723e-01 9.86147272e-01 -1.06073901e-03 -6.36298378e+00] [-5.45464246e-03 1.58159576e-04 9.99985111e-01 -1.52788090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.226559995 meters 0.01790682071778476 Centerline is valid? [True, True] Translation: X:95.77, Y:-6.38, Z:-1.53 [[ 9.86457677e-01 1.63927779e-01 5.37904947e-03 9.57670522e+01] [-1.63924395e-01 9.86472328e-01 -1.06702922e-03 -6.37523801e+00] [-5.48119918e-03 1.70821731e-04 9.99984964e-01 -1.52884936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.286559995 meters 0.019721073784113707 Centerline is valid? [True, True] Translation: X:95.83, Y:-6.39, Z:-1.53 [[ 9.86899947e-01 1.61250799e-01 5.16477324e-03 9.58262757e+01] [-1.61247625e-01 9.86913444e-01 -1.02792663e-03 -6.38876919e+00] [-5.26293814e-03 1.81653313e-04 9.99986134e-01 -1.53006024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.346559995 meters 0.020769795495102692 Centerline is valid? [True, True] Translation: X:95.89, Y:-6.40, Z:-1.53 [[ 9.87431325e-01 1.57900535e-01 6.84098546e-03 9.58865149e+01] [-1.57894895e-01 9.87454987e-01 -1.36026951e-03 -6.40167296e+00] [-6.96995249e-03 2.63016048e-04 9.99975675e-01 -1.52927209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.406559995 meters 0.01980189664688207 Centerline is valid? [True, True] Translation: X:95.95, Y:-6.41, Z:-1.53 [[ 9.87564537e-01 1.57015901e-01 7.89254782e-03 9.59477133e+01] [-1.57008348e-01 9.87596025e-01 -1.57154720e-03 -6.41154225e+00] [-8.04140676e-03 3.12808393e-04 9.99967618e-01 -1.52836271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.466559995 meters 0.019625085677254142 Centerline is valid? [True, True] Translation: X:96.01, Y:-6.42, Z:-1.53 [[ 9.87359420e-01 1.58310310e-01 7.69555533e-03 9.60090203e+01] [-1.58303153e-01 9.87389365e-01 -1.53418854e-03 -6.42211399e+00] [-7.84138736e-03 2.96564835e-04 9.99969212e-01 -1.53005126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.526559995 meters 0.019316697619696947 Centerline is valid? [True, True] Translation: X:96.07, Y:-6.43, Z:-1.53 [[ 9.87028469e-01 1.60423868e-01 6.24376954e-03 9.60700845e+01] [-1.60419194e-01 9.87048191e-01 -1.24561104e-03 -6.43273217e+00] [-6.36272717e-03 2.27833082e-04 9.99979732e-01 -1.53186751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.586559995 meters 0.019350141442711178 Centerline is valid? [True, True] Translation: X:96.13, Y:-6.44, Z:-1.53 [[ 9.86253187e-01 1.65147432e-01 5.56576943e-03 9.61294358e+01] [-1.65143774e-01 9.86268875e-01 -1.11362420e-03 -6.44301791e+00] [-5.67325733e-03 1.79163243e-04 9.99983891e-01 -1.53304629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.646559995 meters 0.01616055237692408 Centerline is valid? [True, True] Translation: X:96.19, Y:-6.45, Z:-1.53 [[ 9.85523618e-01 1.69421950e-01 6.27699744e-03 9.61911742e+01] [-1.69417385e-01 9.85543592e-01 -1.25580537e-03 -6.44916153e+00] [-6.39901560e-03 1.74193358e-04 9.99979511e-01 -1.53191741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.706559995 meters 0.014659284982588556 Centerline is valid? [True, True] Translation: X:96.25, Y:-6.46, Z:-1.53 [[ 9.84308029e-01 1.76293921e-01 7.62603360e-03 9.62517076e+01] [-1.76287383e-01 9.84337558e-01 -1.52659804e-03 -6.45691353e+00] [-7.77572125e-03 1.58269208e-04 9.99969756e-01 -1.53201464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.766559995 meters 0.01344038110127595 Centerline is valid? [True, True] Translation: X:96.31, Y:-6.47, Z:-1.53 [[ 9.83389200e-01 1.81296049e-01 8.79903933e-03 9.63125960e+01] [-1.81287543e-01 9.83428556e-01 -1.76148970e-03 -6.46623291e+00] [-8.97257767e-03 1.37073727e-04 9.99959736e-01 -1.53185775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.826559995 meters 0.012006674836812486 Centerline is valid? [True, True] Translation: X:96.37, Y:-6.47, Z:-1.53 [[ 9.81704714e-01 1.90197463e-01 8.98777491e-03 9.63738094e+01] [-1.90188958e-01 9.81745854e-01 -1.79961292e-03 -6.47238452e+00] [-9.16599256e-03 5.73129425e-05 9.99957990e-01 -1.53241488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.886559995 meters 0.011860302548152088 Centerline is valid? [True, True] Translation: X:96.44, Y:-6.48, Z:-1.53 [[ 9.79540969e-01 2.01088772e-01 7.92443987e-03 9.64358909e+01] [-2.01082528e-01 9.79573021e-01 -1.58513095e-03 -6.47717183e+00] [-8.08131954e-03 -4.07656943e-05 9.99967345e-01 -1.53464683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.946559995 meters 0.012601850699250629 Centerline is valid? [True, True] Translation: X:96.50, Y:-6.49, Z:-1.54 [[ 9.77993719e-01 2.08524662e-01 6.76392767e-03 9.64976162e+01] [-2.08520282e-01 9.78017105e-01 -1.35433642e-03 -6.48501401e+00] [-6.89764950e-03 -8.58835950e-05 9.99976207e-01 -1.53631209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.006559995 meters 0.013604604313873671 Centerline is valid? [True, True] Translation: X:96.56, Y:-6.49, Z:-1.54 [[ 9.76774829e-01 2.14198730e-01 5.46234151e-03 9.65587181e+01] [-2.14195957e-01 9.76790097e-01 -1.09453274e-03 -6.49429210e+00] [-5.57000862e-03 -1.00899437e-04 9.99984482e-01 -1.53807759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.066559995 meters 0.014732989085600268 Centerline is valid? [True, True] Translation: X:96.62, Y:-6.51, Z:-1.54 [[ 9.75888230e-01 2.18207199e-01 5.27079956e-03 9.66194532e+01] [-2.18204669e-01 9.75902456e-01 -1.05733389e-03 -6.50510571e+00] [-5.37450411e-03 -1.18273377e-04 9.99985550e-01 -1.53944059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.126559995 meters 0.014783761827220682 Centerline is valid? [True, True] Translation: X:96.68, Y:-6.52, Z:-1.54 [[ 9.75979298e-01 2.17783724e-01 5.88722895e-03 9.66803191e+01] [-2.17780550e-01 9.75997046e-01 -1.18268122e-03 -6.51974586e+00] [-6.00348678e-03 -1.27851577e-04 9.99981971e-01 -1.53981966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.186559995 meters 0.013469930124803863 Centerline is valid? [True, True] Translation: X:96.74, Y:-6.54, Z:-1.54 [[ 9.76820811e-01 2.13950819e-01 6.79336977e-03 9.67397565e+01] [-2.13946484e-01 9.76844426e-01 -1.36702087e-03 -6.53933838e+00] [-6.92854063e-03 -1.18083140e-04 9.99975990e-01 -1.53952412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.246559995 meters 0.013236826624874935 Centerline is valid? [True, True] Translation: X:96.80, Y:-6.55, Z:-1.54 [[ 9.77091342e-01 2.12705223e-01 6.99984624e-03 9.67999868e+01] [-2.12700575e-01 9.77116409e-01 -1.41051186e-03 -6.55418588e+00] [-7.13968786e-03 -1.10672394e-04 9.99974506e-01 -1.54029011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.306559995 meters 0.012809274151406065 Centerline is valid? [True, True] Translation: X:96.86, Y:-6.57, Z:-1.54 [[ 9.77668834e-01 2.10031613e-01 7.09735850e-03 9.68596832e+01] [-2.10026750e-01 9.77694591e-01 -1.43205548e-03 -6.57186289e+00] [-7.23982594e-03 -9.05591263e-05 9.99973788e-01 -1.54078910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.366559995 meters 0.012374949710378549 Centerline is valid? [True, True] Translation: X:96.92, Y:-6.59, Z:-1.54 [[ 9.78262274e-01 2.07266855e-01 6.58586514e-03 9.69184147e+01] [-2.07262594e-01 9.78284441e-01 -1.33043643e-03 -6.59037603e+00] [-6.71860477e-03 -6.34877304e-05 9.99977428e-01 -1.54267070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.426559995 meters 0.01207358374134362 Centerline is valid? [True, True] Translation: X:96.98, Y:-6.61, Z:-1.54 [[ 9.78403195e-01 2.06602396e-01 6.52985177e-03 9.69786003e+01] [-2.06598187e-01 9.78424983e-01 -1.32003962e-03 -6.60916548e+00] [-6.66169345e-03 -5.75245578e-05 9.99977809e-01 -1.54288133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.486559995 meters 0.01229843336926579 Centerline is valid? [True, True] Translation: X:97.04, Y:-6.62, Z:-1.54 [[ 9.78289701e-01 2.07167950e-01 5.54089278e-03 9.70376832e+01] [-2.07164920e-01 9.78305391e-01 -1.12165547e-03 -6.62350458e+00] [-5.65305634e-03 -5.05746135e-05 9.99984020e-01 -1.54455878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.546559995 meters 0.012877715297327036 Centerline is valid? [True, True] Translation: X:97.10, Y:-6.64, Z:-1.55 [[ 9.77962644e-01 2.08727125e-01 4.69627958e-03 9.70971003e+01] [-2.08724963e-01 9.77973918e-01 -9.51276910e-04 -6.63755023e+00] [-4.79139623e-03 -4.99174993e-05 9.99988520e-01 -1.54749606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.606559995 meters 0.012534073767450497 Centerline is valid? [True, True] Translation: X:97.16, Y:-6.65, Z:-1.55 [[ 9.77784519e-01 2.09570898e-01 4.18007643e-03 9.71584218e+01] [-2.09569194e-01 9.77793453e-01 -8.46544650e-04 -6.65325757e+00] [-4.26466249e-03 -4.82769956e-05 9.99990905e-01 -1.54687737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.666559995 meters 0.012544968019961003 Centerline is valid? [True, True] Translation: X:97.22, Y:-6.67, Z:-1.55 [[ 9.77752923e-01 2.09711668e-01 4.49873937e-03 9.72193961e+01] [-2.09709688e-01 9.77763271e-01 -9.12810635e-04 -6.66729773e+00] [-4.59012916e-03 -5.09259636e-05 9.99989464e-01 -1.54782472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.726559995 meters 0.012435756943928959 Centerline is valid? [True, True] Translation: X:97.28, Y:-6.68, Z:-1.55 [[ 9.77913297e-01 2.08949525e-01 5.06744509e-03 9.72797000e+01] [-2.08946989e-01 9.77926425e-01 -1.03062595e-03 -6.68115306e+00] [-5.17093727e-03 -5.09645691e-05 9.99986629e-01 -1.54779914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.786559995 meters 0.0120310925778074 Centerline is valid? [True, True] Translation: X:97.34, Y:-6.70, Z:-1.55 [[ 9.78575366e-01 2.05792246e-01 6.30906327e-03 9.73406939e+01] [-2.05788223e-01 9.78595703e-01 -1.28732166e-03 -6.69574246e+00] [-6.43894302e-03 -3.85896536e-05 9.99979269e-01 -1.54761982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.846559995 meters 0.011968171362544668 Centerline is valid? [True, True] Translation: X:97.40, Y:-6.71, Z:-1.55 [[ 9.79384853e-01 2.01906207e-01 6.26048595e-03 9.74013817e+01] [-2.01902172e-01 9.79404862e-01 -1.27644400e-03 -6.71108284e+00] [-6.38927235e-03 -1.38757954e-05 9.99979588e-01 -1.54829321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.906559995 meters 0.011994685628602869 Centerline is valid? [True, True] Translation: X:97.46, Y:-6.73, Z:-1.55 [[ 9.80453618e-01 1.96622415e-01 7.09425859e-03 9.74623554e+01] [-1.96617081e-01 9.80479284e-01 -1.44852820e-03 -6.72665602e+00] [-7.24058669e-03 2.53623027e-05 9.99973786e-01 -1.54945800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.966559995 meters 0.013300079212178927 Centerline is valid? [True, True] Translation: X:97.52, Y:-6.74, Z:-1.55 [[ 9.82379070e-01 1.86732813e-01 7.88790594e-03 9.75220868e+01] [-1.86725873e-01 9.82410731e-01 -1.61379075e-03 -6.74251718e+00] [-8.05051113e-03 1.12478129e-04 9.99967588e-01 -1.54990411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.026559995 meters 0.01632448815061005 Centerline is valid? [True, True] Translation: X:97.58, Y:-6.76, Z:-1.55 [[ 9.84591814e-01 1.74699476e-01 7.68458036e-03 9.75808609e+01] [-1.74692495e-01 9.84621780e-01 -1.57568011e-03 -6.76064002e+00] [-7.84167568e-03 2.08963219e-04 9.99969232e-01 -1.55149230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.086559995 meters 0.018818248437149847 Centerline is valid? [True, True] Translation: X:97.64, Y:-6.78, Z:-1.55 [[ 9.85935604e-01 1.66931322e-01 8.05719009e-03 9.76401993e+01] [-1.66923387e-01 9.85968485e-01 -1.65221981e-03 -6.77631636e+00] [-8.21994275e-03 2.84048878e-04 9.99966175e-01 -1.55232950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.146559995 meters 0.020732785755611084 Centerline is valid? [True, True] Translation: X:97.70, Y:-6.79, Z:-1.55 [[ 9.87089484e-01 1.59927007e-01 8.81493223e-03 9.76993902e+01] [-1.59917229e-01 9.87128772e-01 -1.80777806e-03 -6.78829131e+00] [-8.99058576e-03 3.74779178e-04 9.99959514e-01 -1.55275604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.206559995 meters 0.019043699855131522 Centerline is valid? [True, True] Translation: X:97.76, Y:-6.80, Z:-1.55 [[ 9.87400945e-01 1.57974816e-01 9.12856628e-03 9.77613784e+01] [-1.57964248e-01 9.87443058e-01 -1.87186147e-03 -6.79622183e+00] [-9.30964638e-03 4.06290676e-04 9.99956582e-01 -1.55294320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.266559995 meters 0.020142233587990905 Centerline is valid? [True, True] Translation: X:97.82, Y:-6.81, Z:-1.55 [[ 9.86706294e-01 1.62248304e-01 9.28318445e-03 9.78208216e+01] [-1.62237553e-01 9.86749891e-01 -1.90476895e-03 -6.80504683e+00] [-9.46922678e-03 3.73366380e-04 9.99955096e-01 -1.55475107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.326559995 meters 0.018065704183902558 Centerline is valid? [True, True] Translation: X:97.88, Y:-6.81, Z:-1.56 [[ 9.85493166e-01 1.69478625e-01 8.95628230e-03 9.78819240e+01] [-1.69468916e-01 9.85533820e-01 -1.83759892e-03 -6.80955222e+00] [-9.13815284e-03 2.93129720e-04 9.99958203e-01 -1.55634037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.386559995 meters 0.014178872528605639 Centerline is valid? [True, True] Translation: X:97.94, Y:-6.81, Z:-1.56 [[ 9.83102200e-01 1.82856628e-01 8.57429939e-03 9.79443371e+01] [-1.82848235e-01 9.83139577e-01 -1.75938358e-03 -6.80746849e+00] [-8.75144802e-03 1.61858354e-04 9.99961692e-01 -1.55829105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.446559995 meters 0.01243304490225711 Centerline is valid? [True, True] Translation: X:98.01, Y:-6.81, Z:-1.56 [[ 9.81350362e-01 1.92043435e-01 8.41349984e-03 9.80062583e+01] [-1.92035692e-01 9.81386424e-01 -1.72625163e-03 -6.81158424e+00] [-8.58840981e-03 7.83653951e-05 9.99963116e-01 -1.55918899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.506559995 meters 0.011844668442896434 Centerline is valid? [True, True] Translation: X:98.07, Y:-6.81, Z:-1.56 [[ 9.78778842e-01 2.04727644e-01 8.86392852e-03 9.80683062e+01] [-2.04719572e-01 9.78818977e-01 -1.81830758e-03 -6.81115159e+00] [-9.04843928e-03 -3.48986657e-05 9.99959061e-01 -1.56202690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.566559995 meters 0.0126018373878429 Centerline is valid? [True, True] Translation: X:98.13, Y:-6.82, Z:-1.56 [[ 9.77150955e-01 2.12359068e-01 8.92399994e-03 9.81306146e+01] [-2.12351199e-01 9.77191698e-01 -1.83117108e-03 -6.81689627e+00] [-9.10932444e-03 -1.05691527e-04 9.99958504e-01 -1.56321617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.626559995 meters 0.014368958324361367 Centerline is valid? [True, True] Translation: X:98.19, Y:-6.82, Z:-1.57 [[ 9.75525185e-01 2.19706998e-01 8.91338645e-03 9.81914985e+01] [-2.19699419e-01 9.75565890e-01 -1.83277345e-03 -6.82154807e+00] [-9.09826894e-03 -1.70349172e-04 9.99958595e-01 -1.56507714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.686559995 meters 0.01488686684966494 Centerline is valid? [True, True] Translation: X:98.25, Y:-6.83, Z:-1.57 [[ 9.74849121e-01 2.22696910e-01 8.67627708e-03 9.82524191e+01] [-2.22689859e-01 9.74887711e-01 -1.78278940e-03 -6.83232254e+00] [-8.85541759e-03 -1.94168239e-04 9.99960771e-01 -1.56622065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.746559995 meters 0.016247974282809264 Centerline is valid? [True, True] Translation: X:98.31, Y:-6.84, Z:-1.57 [[ 9.74596724e-01 2.23825887e-01 7.94966569e-03 9.83130560e+01] [-2.23819989e-01 9.74629128e-01 -1.63537430e-03 -6.84158579e+00] [-8.11401484e-03 -1.85463650e-04 9.99967064e-01 -1.56896519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.806559995 meters 0.015512896327808074 Centerline is valid? [True, True] Translation: X:98.37, Y:-6.86, Z:-1.57 [[ 9.74776381e-01 2.23072193e-01 7.05713674e-03 9.83733183e+01] [-2.23067517e-01 9.74801914e-01 -1.45289386e-03 -6.85515893e+00] [-7.20341062e-03 -1.57971349e-04 9.99974043e-01 -1.57115461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.866559995 meters 0.014299819568014164 Centerline is valid? [True, True] Translation: X:98.43, Y:-6.87, Z:-1.57 [[ 9.75488040e-01 2.19985568e-01 5.42534507e-03 9.84337293e+01] [-2.19982745e-01 9.75503121e-01 -1.11902568e-03 -6.87204403e+00] [-5.53861055e-03 -1.01886134e-04 9.99984657e-01 -1.57302694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.926559995 meters 0.013616711891581515 Centerline is valid? [True, True] Translation: X:98.49, Y:-6.89, Z:-1.57 [[ 9.76145561e-01 2.17065800e-01 4.72040252e-03 9.84935800e+01] [-2.17063636e-01 9.76156971e-01 -9.72109479e-04 -6.88832654e+00] [-4.81886555e-03 -7.57073829e-05 9.99988386e-01 -1.57455092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.986559995 meters 0.012521615759296875 Centerline is valid? [True, True] Translation: X:98.55, Y:-6.91, Z:-1.57 [[ 9.77483743e-01 2.10932210e-01 5.75631459e-03 9.85527836e+01] [-2.10928873e-01 9.77500690e-01 -1.18775996e-03 -6.90865754e+00] [-5.87733832e-03 -5.31568989e-05 9.99982727e-01 -1.57449404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.046559995 meters 0.012114470599007771 Centerline is valid? [True, True] Translation: X:98.61, Y:-6.93, Z:-1.57 [[ 9.78405735e-01 2.06597642e-01 6.29545952e-03 9.86128460e+01] [-2.06593548e-01 9.78425988e-01 -1.30099730e-03 -6.92697400e+00] [-6.42842418e-03 -2.76981022e-05 9.99979337e-01 -1.57434573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.106559995 meters 0.01209843862156049 Centerline is valid? [True, True] Translation: X:98.67, Y:-6.95, Z:-1.57 [[ 9.79612180e-01 2.00789913e-01 6.58694151e-03 9.86725038e+01] [-2.00785289e-01 9.79634325e-01 -1.36279761e-03 -6.94849924e+00] [-6.72643001e-03 1.24521882e-05 9.99977377e-01 -1.57445514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.166559995 meters 0.012224361143442318 Centerline is valid? [True, True] Translation: X:98.73, Y:-6.96, Z:-1.58 [[ 9.79875330e-01 1.99503705e-01 6.52752496e-03 9.87333208e+01] [-1.99499123e-01 9.79897072e-01 -1.35235965e-03 -6.96353134e+00] [-6.66610335e-03 2.29083538e-05 9.99977781e-01 -1.57521901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.226559995 meters 0.01233826282027211 Centerline is valid? [True, True] Translation: X:98.79, Y:-6.98, Z:-1.58 [[ 9.80426838e-01 1.96764257e-01 6.85871962e-03 9.87934904e+01] [-1.96759113e-01 9.80450827e-01 -1.42352506e-03 -6.97984668e+00] [-7.00473618e-03 4.61465794e-05 9.99975465e-01 -1.57617013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.286559995 meters 0.012766380777507887 Centerline is valid? [True, True] Translation: X:98.85, Y:-7.00, Z:-1.58 [[ 9.81002887e-01 1.93834302e-01 7.84854433e-03 9.88537099e+01] [-1.93827452e-01 9.81034279e-01 -1.63158425e-03 -6.99738439e+00] [-8.01594802e-03 7.93255082e-05 9.99967869e-01 -1.57599472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.346559995 meters 0.01302868132094048 Centerline is valid? [True, True] Translation: X:98.91, Y:-7.01, Z:-1.58 [[ 9.81271925e-01 1.92437109e-01 8.56554247e-03 9.89140717e+01] [-1.92428873e-01 9.81309303e-01 -1.78323502e-03 -7.01299732e+00] [-8.74860710e-03 1.01580778e-04 9.99961725e-01 -1.57581840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.406559995 meters 0.013791343658458377 Centerline is valid? [True, True] Translation: X:98.97, Y:-7.03, Z:-1.58 [[ 9.81830363e-01 1.89580760e-01 8.26275369e-03 9.89739612e+01] [-1.89572978e-01 9.81865123e-01 -1.72220462e-03 -7.03062292e+00] [-8.43940653e-03 1.24517969e-04 9.99964380e-01 -1.57670163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.466559995 meters 0.013798228969023107 Centerline is valid? [True, True] Translation: X:99.03, Y:-7.04, Z:-1.58 [[ 9.82266546e-01 1.87300105e-01 8.43231043e-03 9.90341694e+01] [-1.87291898e-01 9.82302727e-01 -1.75970749e-03 -7.04482372e+00] [-8.61267493e-03 1.49198368e-04 9.99962899e-01 -1.57709990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.526559995 meters 0.015198296603934887 Centerline is valid? [True, True] Translation: X:99.09, Y:-7.06, Z:-1.58 [[ 9.83236527e-01 1.82108791e-01 9.07305027e-03 9.90939699e+01] [-1.82099033e-01 9.83278365e-01 -1.89730206e-03 -7.06230480e+00] [-9.26684942e-03 2.13303012e-04 9.99957039e-01 -1.57754525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.586559995 meters 0.017258570681178323 Centerline is valid? [True, True] Translation: X:99.15, Y:-7.08, Z:-1.58 [[ 9.84091586e-01 1.77448759e-01 8.69991715e-03 9.91517269e+01] [-1.77439596e-01 9.84130010e-01 -1.82025220e-03 -7.07993242e+00] [-8.88485105e-03 2.47585091e-04 9.99960498e-01 -1.57985765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.646559995 meters 0.017787246013898375 Centerline is valid? [True, True] Translation: X:99.21, Y:-7.09, Z:-1.58 [[ 9.84489656e-01 1.75226915e-01 8.69742085e-03 9.92125079e+01] [-1.75217683e-01 9.84528038e-01 -1.81832414e-03 -7.09441196e+00] [-8.88147402e-03 2.66179381e-04 9.99960524e-01 -1.58153943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.706559995 meters 0.019782487030356278 Centerline is valid? [True, True] Translation: X:99.27, Y:-7.11, Z:-1.58 [[ 9.84845070e-01 1.73242663e-01 8.19561326e-03 9.92715451e+01] [-1.73234381e-01 9.84879133e-01 -1.71533627e-03 -7.11003263e+00] [-8.36885791e-03 2.69578485e-04 9.99964944e-01 -1.58346017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.766559995 meters 0.020036405836638148 Centerline is valid? [True, True] Translation: X:99.33, Y:-7.12, Z:-1.58 [[ 9.84911983e-01 1.72822357e-01 8.98987577e-03 9.93323776e+01] [-1.72812353e-01 9.84952964e-01 -1.88391702e-03 -7.12298983e+00] [-9.18018777e-03 3.01930865e-04 9.99957816e-01 -1.58417582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.826559995 meters 0.018431574284735255 Centerline is valid? [True, True] Translation: X:99.39, Y:-7.13, Z:-1.58 [[ 9.84785950e-01 1.73449610e-01 1.05766997e-02 9.93938119e+01] [-1.73435762e-01 9.84842683e-01 -2.21966690e-03 -7.13289143e+00] [-1.08013857e-02 3.51518802e-04 9.99941602e-01 -1.58342061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.886559995 meters 0.017171185371487065 Centerline is valid? [True, True] Translation: X:99.46, Y:-7.14, Z:-1.58 [[ 9.84319613e-01 1.76096572e-01 1.02418758e-02 9.94557486e+01] [-1.76083696e-01 9.84372845e-01 -2.15272020e-03 -7.14231896e+00] [-1.04609111e-02 3.15537378e-04 9.99945233e-01 -1.58424042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.946559995 meters 0.01567235035717906 Centerline is valid? [True, True] Translation: X:99.52, Y:-7.15, Z:-1.59 [[ 9.83106101e-01 1.82803982e-01 9.22485846e-03 9.95163179e+01] [-1.82793820e-01 9.83149356e-01 -1.94012437e-03 -7.14877823e+00] [-9.42407611e-03 2.21100996e-04 9.99955568e-01 -1.58608045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.006559995 meters 0.014408651577027238 Centerline is valid? [True, True] Translation: X:99.58, Y:-7.16, Z:-1.59 [[ 9.82054354e-01 1.88419555e-01 8.20475741e-03 9.95771905e+01] [-1.88411712e-01 9.82088616e-01 -1.72556576e-03 -7.15655528e+00] [-8.38292918e-03 1.48726979e-04 9.99964852e-01 -1.58806277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.066559995 meters 0.013432849906871627 Centerline is valid? [True, True] Translation: X:99.64, Y:-7.17, Z:-1.59 [[ 9.81022908e-01 1.93760824e-01 7.12722898e-03 9.96390148e+01] [-1.93755059e-01 9.81048794e-01 -1.49730360e-03 -7.16506172e+00] [-7.28227817e-03 8.79524592e-05 9.99973480e-01 -1.58960706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.126559995 meters 0.012378489278306086 Centerline is valid? [True, True] Translation: X:99.70, Y:-7.17, Z:-1.59 [[ 9.79570007e-01 2.01012997e-01 6.03124028e-03 9.97009888e+01] [-2.01009000e-01 9.79588574e-01 -1.26793075e-03 -7.17192167e+00] [-6.16300463e-03 2.96933558e-05 9.99981008e-01 -1.59133026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.186559995 meters 0.012349186634547487 Centerline is valid? [True, True] Translation: X:99.76, Y:-7.18, Z:-1.59 [[ 9.78664665e-01 2.05385571e-01 5.67813863e-03 9.97618010e+01] [-2.05382094e-01 9.78681137e-01 -1.19515818e-03 -7.18108353e+00] [-5.80255541e-03 3.47107569e-06 9.99983165e-01 -1.59372458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.246559995 meters 0.012094325279002713 Centerline is valid? [True, True] Translation: X:99.82, Y:-7.19, Z:-1.59 [[ 9.77913630e-01 2.08927958e-01 5.83451095e-03 9.98239101e+01] [-2.08924344e-01 9.77931034e-01 -1.22899987e-03 -7.19213186e+00] [-5.96252176e-03 -1.71156511e-05 9.99982224e-01 -1.59402858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.306559995 meters 0.012132127798724739 Centerline is valid? [True, True] Translation: X:99.88, Y:-7.20, Z:-1.59 [[ 9.77275062e-01 2.11880206e-01 6.34280423e-03 9.98845543e+01] [-2.11875980e-01 9.77295645e-01 -1.33856421e-03 -7.20347956e+00] [-6.48241021e-03 -3.57424476e-05 9.99978988e-01 -1.59484190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.366559995 meters 0.012233004649563957 Centerline is valid? [True, True] Translation: X:99.95, Y:-7.22, Z:-1.60 [[ 9.76932927e-01 2.13417512e-01 7.41768928e-03 9.99460745e+01] [-2.13411757e-01 9.76961086e-01 -1.56802045e-03 -7.21588566e+00] [-7.58143679e-03 -5.11713006e-05 9.99971259e-01 -1.59534275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.426559995 meters 0.012352748236886521 Centerline is valid? [True, True] Translation: X:100.01, Y:-7.23, Z:-1.60 [[ 9.76479614e-01 2.15457301e-01 8.10641144e-03 1.00007821e+02] [-2.15450476e-01 9.76513260e-01 -1.71635607e-03 -7.22798126e+00] [-8.28581971e-03 -7.05434895e-05 9.99965670e-01 -1.59575307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.486559995 meters 0.012622900478202045 Centerline is valid? [True, True] Translation: X:100.07, Y:-7.24, Z:-1.60 [[ 9.76222836e-01 2.16626175e-01 7.87877790e-03 1.00068432e+02] [-2.16619747e-01 9.76254626e-01 -1.67055049e-03 -7.24037248e+00] [-8.05357833e-03 -7.58693432e-05 9.99967567e-01 -1.59694988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.546559995 meters 0.012643279307128804 Centerline is valid? [True, True] Translation: X:100.13, Y:-7.25, Z:-1.60 [[ 9.76289892e-01 2.16351496e-01 7.07650016e-03 1.00128443e+02] [-2.16346292e-01 9.76315536e-01 -1.50201214e-03 -7.25389131e+00] [-7.23385962e-03 -6.45752936e-05 9.99973833e-01 -1.59897619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.606559995 meters 0.012386373756272693 Centerline is valid? [True, True] Translation: X:100.19, Y:-7.27, Z:-1.60 [[ 9.76421053e-01 2.15785047e-01 6.22428454e-03 1.00189113e+02] [-2.15781003e-01 9.76440890e-01 -1.32203602e-03 -7.26914851e+00] [-6.36292154e-03 -5.22185639e-05 9.99979755e-01 -1.59973677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.666559995 meters 0.012270614477925108 Centerline is valid? [True, True] Translation: X:100.25, Y:-7.29, Z:-1.60 [[ 9.76879910e-01 2.13719970e-01 5.42365776e-03 1.00250109e+02] [-2.13716862e-01 9.76894965e-01 -1.15304365e-03 -7.28532627e+00] [-5.54477241e-03 -3.27419385e-05 9.99984627e-01 -1.60112748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.726559995 meters 0.012189566461786839 Centerline is valid? [True, True] Translation: X:100.31, Y:-7.30, Z:-1.60 [[ 9.77390054e-01 2.11377829e-01 5.30056408e-03 1.00311003e+02] [-2.11374818e-01 9.77404427e-01 -1.12836403e-03 -7.30190295e+00] [-5.41930593e-03 -1.75539863e-05 9.99985315e-01 -1.60206491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.786559995 meters 0.012359852189764675 Centerline is valid? [True, True] Translation: X:100.37, Y:-7.32, Z:-1.60 [[ 9.78707872e-01 2.05171645e-01 5.95794286e-03 1.00371257e+02] [-2.05167712e-01 9.78726006e-01 -1.27060028e-03 -7.32261742e+00] [-6.09188477e-03 2.11689889e-05 9.99981444e-01 -1.60164169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.846559995 meters 0.012896785042849973 Centerline is valid? [True, True] Translation: X:100.43, Y:-7.34, Z:-1.60 [[ 9.79937044e-01 1.99175358e-01 7.25031003e-03 1.00431173e+02] [-1.99169345e-01 9.79963862e-01 -1.54947105e-03 -7.34085867e+00] [-7.41365827e-03 7.43445796e-05 9.99972516e-01 -1.60104830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.906559995 meters 0.015206415109224209 Centerline is valid? [True, True] Translation: X:100.49, Y:-7.36, Z:-1.60 [[ 9.82031609e-01 1.88507283e-01 8.88389521e-03 1.00489207e+02] [-1.88497775e-01 9.82071772e-01 -1.90325888e-03 -7.36317712e+00] [-9.08340088e-03 1.94465899e-04 9.99958726e-01 -1.59981650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.966559995 meters 0.016571963534055222 Centerline is valid? [True, True] Translation: X:100.55, Y:-7.38, Z:-1.60 [[ 9.83335040e-01 1.81618650e-01 8.17714889e-03 1.00547810e+02] [-1.81610353e-01 9.83369010e-01 -1.75223058e-03 -7.38099226e+00] [-8.35939256e-03 2.37974828e-04 9.99965031e-01 -1.60022884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.026559995 meters 0.01997052200128939 Centerline is valid? [True, True] Translation: X:100.61, Y:-7.40, Z:-1.60 [[ 9.84999838e-01 1.72424010e-01 6.72900829e-03 1.00605102e+02] [-1.72418178e-01 9.85022788e-01 -1.44175063e-03 -7.40099223e+00] [-6.87681893e-03 2.59920781e-04 9.99976321e-01 -1.60230381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.086559995 meters 0.020766600247614387 Centerline is valid? [True, True] Translation: X:100.66, Y:-7.42, Z:-1.60 [[ 9.85531422e-01 1.69372085e-01 6.39637978e-03 1.00664045e+02] [-1.69366748e-01 9.85552142e-01 -1.37099253e-03 -7.41564527e+00] [-6.53617366e-03 2.67822176e-04 9.99978603e-01 -1.60251709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.146559995 meters 0.02228768992543272 Centerline is valid? [True, True] Translation: X:100.72, Y:-7.43, Z:-1.60 [[ 9.86057138e-01 1.66239220e-01 7.47275671e-03 1.00723243e+02] [-1.66231844e-01 9.86085396e-01 -1.60188653e-03 -7.42911932e+00] [-7.63507263e-03 3.37341519e-04 9.99970796e-01 -1.60243204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.206559995 meters 0.02279750537176404 Centerline is valid? [True, True] Translation: X:100.78, Y:-7.44, Z:-1.60 [[ 9.86338832e-01 1.64573844e-01 7.15253565e-03 1.00784367e+02] [-1.64567045e-01 9.86364708e-01 -1.53290666e-03 -7.44084599e+00] [-7.30728508e-03 3.34893704e-04 9.99973245e-01 -1.60238095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.266559995 meters 0.024018892876953316 Centerline is valid? [True, True] Translation: X:100.84, Y:-7.45, Z:-1.60 [[ 9.86151278e-01 1.65713432e-01 6.68697143e-03 1.00844218e+02] [-1.65707523e-01 9.86173902e-01 -1.43214395e-03 -7.45312033e+00] [-6.83184220e-03 3.04229115e-04 9.99976616e-01 -1.60398675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.326559995 meters 0.019562385759866126 Centerline is valid? [True, True] Translation: X:100.91, Y:-7.45, Z:-1.60 [[ 9.85080405e-01 1.71973743e-01 6.45187252e-03 1.00906070e+02] [-1.71968354e-01 9.85101501e-01 -1.38510331e-03 -7.45357958e+00] [-6.59395071e-03 2.54920235e-04 9.99978227e-01 -1.60405098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.386559995 meters 0.016587473038040843 Centerline is valid? [True, True] Translation: X:100.97, Y:-7.45, Z:-1.60 [[ 9.82963809e-01 1.83627715e-01 7.93800933e-03 1.00968270e+02] [-1.83619935e-01 9.82995837e-01 -1.70428748e-03 -7.45348987e+00] [-8.11598454e-03 2.17676157e-04 9.99967041e-01 -1.60375364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.446559995 meters 0.014432084748183345 Centerline is valid? [True, True] Translation: X:101.03, Y:-7.46, Z:-1.60 [[ 9.81234844e-01 1.92614142e-01 8.83028438e-03 1.01029660e+02] [-1.92604876e-01 9.81274562e-01 -1.89608720e-03 -7.45781283e+00] [-9.03014665e-03 1.59750996e-04 9.99959215e-01 -1.60388433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.506559995 meters 0.012107407012232658 Centerline is valid? [True, True] Translation: X:101.09, Y:-7.46, Z:-1.60 [[ 9.78623856e-01 2.05451740e-01 9.21581233e-03 1.01092532e+02] [-2.05442214e-01 9.78667247e-01 -1.97892950e-03 -7.45628455e+00] [-9.42578819e-03 4.33107303e-05 9.99955575e-01 -1.60455140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.566559995 meters 0.011838452760380523 Centerline is valid? [True, True] Translation: X:101.16, Y:-7.46, Z:-1.61 [[ 9.76851882e-01 2.13718353e-01 9.21226838e-03 1.01156596e+02] [-2.13709213e-01 9.76895319e-01 -1.97687680e-03 -7.45966368e+00] [-9.42191671e-03 -3.76308011e-05 9.99955612e-01 -1.60652406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.626559995 meters 0.012552023617448208 Centerline is valid? [True, True] Translation: X:101.22, Y:-7.46, Z:-1.61 [[ 9.75218767e-01 2.21038484e-01 9.50498920e-03 1.01219162e+02] [-2.21029070e-01 9.75265080e-01 -2.04288137e-03 -7.46402472e+00] [-9.72143946e-03 -1.08622677e-04 9.99952740e-01 -1.60849396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.686559995 meters 0.013769785412646651 Centerline is valid? [True, True] Translation: X:101.28, Y:-7.47, Z:-1.61 [[ 9.73724791e-01 2.27550655e-01 8.98507762e-03 1.01281324e+02] [-2.27542490e-01 9.73766231e-01 -1.93443824e-03 -7.46962056e+00] [-9.18954786e-03 -1.60876456e-04 9.99957762e-01 -1.60983356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.746559995 meters 0.014999243794076625 Centerline is valid? [True, True] Translation: X:101.34, Y:-7.48, Z:-1.61 [[ 9.73171557e-01 2.29908026e-01 8.91183815e-03 1.01341812e+02] [-2.29900095e-01 9.73212344e-01 -1.91824859e-03 -7.47788446e+00] [-9.11413164e-03 -1.82047474e-04 9.99958449e-01 -1.61153438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.806559995 meters 0.01508437158165577 Centerline is valid? [True, True] Translation: X:101.40, Y:-7.49, Z:-1.61 [[ 9.72790583e-01 2.31550015e-01 7.94173690e-03 1.01402575e+02] [-2.31543754e-01 9.72822985e-01 -1.71168125e-03 -7.48822989e+00] [-8.12224401e-03 -1.73752173e-04 9.99966999e-01 -1.61344557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.866559995 meters 0.014075278154789372 Centerline is valid? [True, True] Translation: X:101.46, Y:-7.50, Z:-1.62 [[ 9.73372068e-01 2.29152606e-01 5.99172381e-03 1.01462789e+02] [-2.29149002e-01 9.73390502e-01 -1.29052834e-03 -7.50346911e+00] [-6.12801498e-03 -1.16833292e-04 9.99981217e-01 -1.61602590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.926559995 meters 0.012935170877058819 Centerline is valid? [True, True] Translation: X:101.52, Y:-7.52, Z:-1.62 [[ 9.74662216e-01 2.23640835e-01 4.28274927e-03 1.01522190e+02] [-2.23638941e-01 9.74671623e-01 -9.22404290e-04 -7.52210429e+00] [-4.38056145e-03 -5.87568992e-05 9.99990404e-01 -1.61819957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.986559995 meters 0.012512674270417797 Centerline is valid? [True, True] Translation: X:101.58, Y:-7.54, Z:-1.62 [[ 9.75166771e-01 2.21449038e-01 3.17671816e-03 1.01582195e+02] [-2.21447985e-01 9.75171945e-01 -6.83973310e-04 -7.53850596e+00] [-3.24931166e-03 -3.64897888e-05 9.99994720e-01 -1.61938391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.046559995 meters 0.012510099657099226 Centerline is valid? [True, True] Translation: X:101.64, Y:-7.55, Z:-1.62 [[ 9.75214339e-01 2.21241083e-01 3.06196751e-03 1.01643298e+02] [-2.21240103e-01 9.75219146e-01 -6.59462423e-04 -7.55316098e+00] [-3.13198952e-03 -3.43127960e-05 9.99995095e-01 -1.62033601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.106559995 meters 0.012431473865962672 Centerline is valid? [True, True] Translation: X:101.70, Y:-7.57, Z:-1.62 [[ 9.75221734e-01 2.21206989e-01 3.16813791e-03 1.01704635e+02] [-2.21205936e-01 9.75226880e-01 -6.83351222e-04 -7.56871262e+00] [-3.24081532e-03 -3.43919480e-05 9.99994748e-01 -1.61979138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.166559995 meters 0.012478582832995702 Centerline is valid? [True, True] Translation: X:101.76, Y:-7.58, Z:-1.62 [[ 9.75097711e-01 2.21741991e-01 3.86572218e-03 1.01764621e+02] [-2.21740418e-01 9.75105373e-01 -8.36284184e-04 -7.58214466e+00] [-3.95492579e-03 -4.17280575e-05 9.99992178e-01 -1.62041519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.226559995 meters 0.012524108659388324 Centerline is valid? [True, True] Translation: X:101.83, Y:-7.60, Z:-1.62 [[ 9.75026572e-01 2.22064646e-01 3.23669508e-03 1.01825754e+02] [-2.22063545e-01 9.75031944e-01 -7.00192638e-04 -7.59825018e+00] [-3.31136913e-03 -3.60455579e-05 9.99994517e-01 -1.62108286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.286559995 meters 0.012360840360247382 Centerline is valid? [True, True] Translation: X:101.89, Y:-7.61, Z:-1.62 [[ 9.75469220e-01 2.20109906e-01 3.38087022e-03 1.01885387e+02] [-2.20108687e-01 9.75475078e-01 -7.33091927e-04 -7.61496153e+00] [-3.45931543e-03 -2.90502946e-05 9.99994016e-01 -1.62204844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34655999499999 meters 0.012127691307550321 Centerline is valid? [True, True] Translation: X:101.94, Y:-7.63, Z:-1.62 [[ 9.76279220e-01 2.16486571e-01 3.52827177e-03 1.01944548e+02] [-2.16485216e-01 9.76285596e-01 -7.66122950e-04 -7.63425260e+00] [-3.61045624e-03 -1.58687624e-05 9.99993482e-01 -1.62246674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.406559995 meters 0.012128525673159992 Centerline is valid? [True, True] Translation: X:102.01, Y:-7.65, Z:-1.62 [[ 9.76744753e-01 2.14376876e-01 3.49894245e-03 1.02005432e+02] [-2.14375529e-01 9.76751020e-01 -7.60038723e-04 -7.65129357e+00] [-3.58053033e-03 -7.72380187e-06 9.99993590e-01 -1.62226622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.466559995 meters 0.012241545851651367 Centerline is valid? [True, True] Translation: X:102.07, Y:-7.67, Z:-1.62 [[ 9.77397644e-01 2.11387774e-01 3.00897148e-03 1.02066027e+02] [-2.11386762e-01 9.77402276e-01 -6.53916497e-04 -7.66982766e+00] [-3.07920553e-03 3.07970464e-06 9.99995259e-01 -1.62348033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.526559995 meters 0.012512604603621247 Centerline is valid? [True, True] Translation: X:102.12, Y:-7.69, Z:-1.63 [[ 9.77861761e-01 2.09237585e-01 2.45135719e-03 1.02124560e+02] [-2.09236906e-01 9.77864834e-01 -5.33396172e-04 -7.68625621e+00] [-2.50870252e-03 8.67332811e-06 9.99996853e-01 -1.62521320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.586559995 meters 0.012820529718382783 Centerline is valid? [True, True] Translation: X:102.18, Y:-7.70, Z:-1.63 [[ 9.78552869e-01 2.05979763e-01 2.57290557e-03 1.02183681e+02] [-2.05978998e-01 9.78556251e-01 -5.61911735e-04 -7.70445962e+00] [-2.63347528e-03 1.98958293e-05 9.99996532e-01 -1.62518678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.646559995 meters 0.013204333647379298 Centerline is valid? [True, True] Translation: X:102.24, Y:-7.72, Z:-1.63 [[ 9.78924525e-01 2.04203688e-01 2.76174649e-03 1.02243813e+02] [-2.04202802e-01 9.78928421e-01 -6.02257162e-04 -7.72117002e+00] [-2.82653526e-03 2.56079367e-05 9.99996005e-01 -1.62622942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.706559995 meters 0.013622724431341103 Centerline is valid? [True, True] Translation: X:102.30, Y:-7.74, Z:-1.63 [[ 9.79104421e-01 2.03328815e-01 3.45340529e-03 1.02303473e+02] [-2.03327417e-01 9.79110510e-01 -7.54773829e-04 -7.73991440e+00] [-3.53473269e-03 3.68304147e-05 9.99993752e-01 -1.62561308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.766559995 meters 0.013910891652918771 Centerline is valid? [True, True] Translation: X:102.36, Y:-7.76, Z:-1.63 [[ 9.78960975e-01 2.04023134e-01 3.15761157e-03 1.02363286e+02] [-2.04021968e-01 9.78966067e-01 -6.90684884e-04 -7.75609259e+00] [-3.23211028e-03 3.19314215e-05 9.99994776e-01 -1.62723529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.826559995 meters 0.01308879316848174 Centerline is valid? [True, True] Translation: X:102.42, Y:-7.77, Z:-1.63 [[ 9.78669118e-01 2.05419692e-01 3.08345186e-03 1.02424492e+02] [-2.05418578e-01 9.78673975e-01 -6.77308368e-04 -7.76948273e+00] [-3.15682657e-03 2.94624874e-05 9.99995017e-01 -1.62650444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.886559995 meters 0.012866448751361484 Centerline is valid? [True, True] Translation: X:102.49, Y:-7.78, Z:-1.63 [[ 9.78324859e-01 2.07038874e-01 3.92119339e-03 1.02485447e+02] [-2.07037089e-01 9.78332716e-01 -8.60178505e-04 -7.78348430e+00] [-4.01432217e-03 2.97015488e-05 9.99991942e-01 -1.62695419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.946559995 meters 0.01256676588407053 Centerline is valid? [True, True] Translation: X:102.55, Y:-7.80, Z:-1.63 [[ 9.78073491e-01 2.08214617e-01 4.34971718e-03 1.02546094e+02] [-2.08212426e-01 9.78083162e-01 -9.55673281e-04 -7.79779373e+00] [-4.45337028e-03 2.90535361e-05 9.99990083e-01 -1.62693196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.006559995 meters 0.012337578695044272 Centerline is valid? [True, True] Translation: X:102.61, Y:-7.81, Z:-1.63 [[ 9.77727142e-01 2.09836380e-01 4.28133551e-03 1.02607312e+02] [-2.09834271e-01 9.77736515e-01 -9.41244338e-04 -7.81183837e+00] [-4.38352536e-03 2.19092235e-05 9.99990392e-01 -1.62715919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.066559995 meters 0.012195000568637197 Centerline is valid? [True, True] Translation: X:102.67, Y:-7.82, Z:-1.63 [[ 9.76883186e-01 2.13749841e-01 3.20108738e-03 1.02669056e+02] [-2.13748683e-01 9.76888430e-01 -7.03577643e-04 -7.82446494e+00] [-3.27749483e-03 3.08495914e-06 9.99994629e-01 -1.62898280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.126559995 meters 0.012162550881486473 Centerline is valid? [True, True] Translation: X:102.73, Y:-7.84, Z:-1.63 [[ 9.76166069e-01 2.17013940e-01 2.18061557e-03 1.02731236e+02] [-2.17013413e-01 9.76168505e-01 -4.78513435e-04 -7.83654079e+00] [-2.23249232e-03 -6.11424748e-06 9.99997508e-01 -1.63128507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.186559995 meters 0.012222503738782791 Centerline is valid? [True, True] Translation: X:102.79, Y:-7.85, Z:-1.63 [[ 9.75172565e-01 2.21441931e-01 1.39300976e-03 1.02792321e+02] [-2.21441721e-01 9.75173560e-01 -3.04915971e-04 -7.84865553e+00] [-1.42594747e-03 -1.11247893e-05 9.99998983e-01 -1.63228724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.246559995 meters 0.012578524496249546 Centerline is valid? [True, True] Translation: X:102.85, Y:-7.86, Z:-1.63 [[ 9.74763033e-01 2.23235199e-01 1.75384003e-03 1.02852316e+02] [-2.23234866e-01 9.74764610e-01 -3.85443475e-04 -7.86178541e+00] [-1.79562574e-03 -1.58021935e-05 9.99998388e-01 -1.63384023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.306559995 meters 0.012863374380326842 Centerline is valid? [True, True] Translation: X:102.91, Y:-7.88, Z:-1.63 [[ 9.74537744e-01 2.24215705e-01 1.87188491e-03 1.02912911e+02] [-2.24215327e-01 9.74539541e-01 -4.12047256e-04 -7.87664602e+00] [-1.91661333e-03 -1.81496841e-05 9.99998163e-01 -1.63490916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.366559995 meters 0.012929504440531809 Centerline is valid? [True, True] Translation: X:102.97, Y:-7.89, Z:-1.64 [[ 9.74452367e-01 2.24587088e-01 1.79544487e-03 1.02974411e+02] [-2.24586741e-01 9.74454021e-01 -3.95324162e-04 -7.89140738e+00] [-1.83836318e-03 -1.80085467e-05 9.99998310e-01 -1.63615304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.426559995 meters 0.013058357701665298 Centerline is valid? [True, True] Translation: X:103.03, Y:-7.91, Z:-1.64 [[ 9.74456067e-01 2.24572652e-01 1.58002422e-03 1.03034759e+02] [-2.24572383e-01 9.74457348e-01 -3.48113210e-04 -7.90634063e+00] [-1.61784292e-03 -1.56087740e-05 9.99998691e-01 -1.63844245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.486559995 meters 0.012513860816733455 Centerline is valid? [True, True] Translation: X:103.10, Y:-7.92, Z:-1.64 [[ 9.74725527e-01 2.23401358e-01 1.40723553e-03 1.03095156e+02] [-2.23401144e-01 9.74726543e-01 -3.09366397e-04 -7.92359930e+00] [-1.44078270e-03 -1.28307047e-05 9.99998962e-01 -1.63684470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.546559995 meters 0.012448765116657262 Centerline is valid? [True, True] Translation: X:103.15, Y:-7.94, Z:-1.64 [[ 9.75483627e-01 2.20058327e-01 2.45487800e-03 1.03154657e+02] [-2.20057654e-01 9.75486716e-01 -5.44366220e-04 -7.94156991e+00] [-2.51449320e-03 -9.19435893e-06 9.99996839e-01 -1.63712039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.606559995 meters 0.012400007143523588 Centerline is valid? [True, True] Translation: X:103.22, Y:-7.96, Z:-1.64 [[ 9.75980739e-01 2.17843908e-01 2.37270219e-03 1.03215272e+02] [-2.17843273e-01 9.75983623e-01 -5.26129883e-04 -7.95804842e+00] [-2.43033267e-03 -3.38457811e-06 9.99997047e-01 -1.63790519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.666559995 meters 0.01246329149524229 Centerline is valid? [True, True] Translation: X:103.28, Y:-7.97, Z:-1.64 [[ 9.76282688e-01 2.16476271e-01 3.18396496e-03 1.03276529e+02] [-2.16475111e-01 9.76287880e-01 -7.08583459e-04 -7.97278142e+00] [-3.26185790e-03 2.52859528e-06 9.99994680e-01 -1.63866625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.726559995 meters 0.012439418249992366 Centerline is valid? [True, True] Translation: X:103.34, Y:-7.99, Z:-1.64 [[ 9.76541872e-01 2.15295080e-01 3.74164511e-03 1.03338174e+02] [-2.15293462e-01 9.76549041e-01 -8.34592778e-04 -7.98644430e+00] [-3.83358367e-03 9.46306300e-06 9.99992652e-01 -1.63980085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.786559995 meters 0.012724909824540196 Centerline is valid? [True, True] Translation: X:103.40, Y:-8.00, Z:-1.64 [[ 9.77294422e-01 2.11835148e-01 4.63495798e-03 1.03399319e+02] [-2.11832615e-01 9.77305412e-01 -1.03630085e-03 -8.00201601e+00] [-4.74929446e-03 3.09357684e-05 9.99988722e-01 -1.64019902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84655999499999 meters 0.013355704636951932 Centerline is valid? [True, True] Translation: X:103.46, Y:-8.02, Z:-1.64 [[ 9.78195162e-01 2.07625901e-01 5.07043968e-03 1.03459245e+02] [-2.07622802e-01 9.78208302e-01 -1.13596383e-03 -8.01696848e+00] [-5.19580170e-03 5.84554257e-05 9.99986500e-01 -1.64115611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.906559995 meters 0.013886129414904979 Centerline is valid? [True, True] Translation: X:103.52, Y:-8.03, Z:-1.64 [[ 9.78803437e-01 2.04737327e-01 5.14382846e-03 1.03519484e+02] [-2.04734090e-01 9.78816950e-01 -1.15378277e-03 -8.03035311e+00] [-5.27108889e-03 7.62094977e-05 9.99986105e-01 -1.64201504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.966559995 meters 0.01464790236682292 Centerline is valid? [True, True] Translation: X:103.58, Y:-8.04, Z:-1.64 [[ 9.79788041e-01 1.99992569e-01 4.28575045e-03 1.03580413e+02] [-1.99990265e-01 9.79797410e-01 -9.63777509e-04 -8.04313786e+00] [-4.39191553e-03 8.71893081e-05 9.99990352e-01 -1.64270287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.026559995 meters 0.01551405736719856 Centerline is valid? [True, True] Translation: X:103.64, Y:-8.06, Z:-1.64 [[ 9.80247684e-01 1.97724038e-01 4.43661410e-03 1.03641399e+02] [-1.97721554e-01 9.80257719e-01 -9.96070820e-04 -8.05635847e+00] [-4.54597236e-03 9.91818788e-05 9.99989662e-01 -1.64364666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.086559995 meters 0.015720375462968082 Centerline is valid? [True, True] Translation: X:103.70, Y:-8.07, Z:-1.64 [[ 9.80712160e-01 1.95391031e-01 5.09941942e-03 1.03702395e+02] [-1.95387708e-01 9.80725409e-01 -1.14673033e-03 -8.06824163e+00] [-5.22519102e-03 1.28248502e-04 9.99986340e-01 -1.64389113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.146559995 meters 0.016375337273282546 Centerline is valid? [True, True] Translation: X:103.76, Y:-8.08, Z:-1.64 [[ 9.81189806e-01 1.92966123e-01 5.53531437e-03 1.03763278e+02] [-1.92962159e-01 9.81205407e-01 -1.24653933e-03 -8.07920898e+00] [-5.67182026e-03 1.54985465e-04 9.99983903e-01 -1.64474594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.206559995 meters 0.016859855361536835 Centerline is valid? [True, True] Translation: X:103.83, Y:-8.09, Z:-1.65 [[ 9.81133531e-01 1.93241891e-01 5.87924246e-03 1.03825458e+02] [-1.93237415e-01 9.81151132e-01 -1.32544993e-03 -8.09118321e+00] [-6.02455785e-03 1.64353759e-04 9.99981839e-01 -1.64600655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.266559995 meters 0.016270679383530575 Centerline is valid? [True, True] Translation: X:103.89, Y:-8.10, Z:-1.65 [[ 9.80474540e-01 1.96534360e-01 6.62729922e-03 1.03885875e+02] [-1.96528716e-01 9.80496924e-01 -1.49888807e-03 -8.09946607e+00] [-6.79262951e-03 1.67166985e-04 9.99976916e-01 -1.64675556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.326559995 meters 0.01514878836180453 Centerline is valid? [True, True] Translation: X:103.95, Y:-8.11, Z:-1.65 [[ 9.79614723e-01 2.00749923e-01 7.37985632e-03 1.03947441e+02] [-2.00743042e-01 9.79642509e-01 -1.66928167e-03 -8.10789224e+00] [-7.56472913e-03 1.53798099e-04 9.99971375e-01 -1.64754251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.386559995 meters 0.013078768324299075 Centerline is valid? [True, True] Translation: X:104.01, Y:-8.11, Z:-1.65 [[ 9.78062605e-01 2.08173940e-01 7.55979106e-03 1.04009217e+02] [-2.08166936e-01 9.78091816e-01 -1.71054481e-03 -8.11182612e+00] [-7.75026062e-03 9.93213697e-05 9.99969961e-01 -1.64898387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.446559995 meters 0.012363653112747706 Centerline is valid? [True, True] Translation: X:104.07, Y:-8.12, Z:-1.65 [[ 9.77003785e-01 2.13115432e-01 6.73923446e-03 1.04071417e+02] [-2.13109989e-01 9.77027026e-01 -1.52417404e-03 -8.12032089e+00] [-6.90923921e-03 5.29256315e-05 9.99976130e-01 -1.65101279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.506559995 meters 0.01185397363525091 Centerline is valid? [True, True] Translation: X:104.13, Y:-8.13, Z:-1.65 [[ 9.75630484e-01 2.19325551e-01 6.43897192e-03 1.04133174e+02] [-2.19320718e-01 9.75651732e-01 -1.45602882e-03 -8.12667726e+00] [-6.60153843e-03 8.34615592e-06 9.99978210e-01 -1.65298920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.566559995 meters 0.011806949556419978 Centerline is valid? [True, True] Translation: X:104.19, Y:-8.14, Z:-1.65 [[ 9.74776748e-01 2.23053710e-01 7.57198611e-03 1.04194828e+02] [-2.23047118e-01 9.74806156e-01 -1.71484049e-03 -8.13570898e+00] [-7.76372021e-03 -1.73230459e-05 9.99969862e-01 -1.65281852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.626559995 meters 0.011773601290256333 Centerline is valid? [True, True] Translation: X:104.26, Y:-8.15, Z:-1.65 [[ 9.74417242e-01 2.24588116e-01 8.43900025e-03 1.04257071e+02] [-2.24579966e-01 9.74453784e-01 -1.91353953e-03 -8.14744780e+00] [-8.65317397e-03 -3.06444808e-05 9.99962560e-01 -1.65314456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.686559995 meters 0.011776794704844497 Centerline is valid? [True, True] Translation: X:104.32, Y:-8.16, Z:-1.65 [[ 9.74184493e-01 2.25570627e-01 9.08110317e-03 1.04319160e+02] [-2.25561205e-01 9.74226817e-01 -2.06209423e-03 -8.15953136e+00] [-9.31220212e-03 -3.94843480e-05 9.99956640e-01 -1.65387773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.746559995 meters 0.011882282153069185 Centerline is valid? [True, True] Translation: X:104.38, Y:-8.17, Z:-1.66 [[ 9.74093715e-01 2.26004991e-01 7.94850136e-03 1.04379535e+02] [-2.25997771e-01 9.74126143e-01 -1.80687934e-03 -8.17167996e+00] [-8.15120672e-03 -3.62737800e-05 9.99966778e-01 -1.65603328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.806559995 meters 0.011826906687516292 Centerline is valid? [True, True] Translation: X:104.44, Y:-8.18, Z:-1.66 [[ 9.74115678e-01 2.25940611e-01 7.03468410e-03 1.04440740e+02] [-2.25934945e-01 9.74141078e-01 -1.60043000e-03 -8.18494248e+00] [-7.21437688e-03 -3.03770090e-05 9.99973976e-01 -1.65749320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.866559995 meters 0.012041523184807034 Centerline is valid? [True, True] Translation: X:104.50, Y:-8.20, Z:-1.66 [[ 9.74070566e-01 2.26136329e-01 6.99239041e-03 1.04501587e+02] [-2.26130719e-01 9.74095663e-01 -1.59304211e-03 -8.19787139e+00] [-7.17150187e-03 -2.94588406e-05 9.99974284e-01 -1.65970195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.926559995 meters 0.011860095217379766 Centerline is valid? [True, True] Translation: X:104.56, Y:-8.21, Z:-1.66 [[ 9.74124417e-01 2.25891902e-01 7.38030081e-03 1.04563076e+02] [-2.25885630e-01 9.74152374e-01 -1.68349097e-03 -8.21245968e+00] [-7.56982453e-03 -2.71742399e-05 9.99971348e-01 -1.65858838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.986559995 meters 0.011921052150368035 Centerline is valid? [True, True] Translation: X:104.62, Y:-8.23, Z:-1.66 [[ 9.74329900e-01 2.24993208e-01 7.70077759e-03 1.04623319e+02] [-2.24986331e-01 9.74360332e-01 -1.75923210e-03 -8.22655027e+00] [-7.89914748e-03 -1.84972615e-05 9.99968801e-01 -1.65932770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.046559995 meters 0.011890809650225596 Centerline is valid? [True, True] Translation: X:104.68, Y:-8.24, Z:-1.66 [[ 9.75002536e-01 2.22054379e-01 7.86810382e-03 1.04683836e+02] [-2.22047088e-01 9.75034283e-01 -1.79953617e-03 -8.24283453e+00] [-8.07126585e-03 7.46279164e-06 9.99967427e-01 -1.65942514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.106559995 meters 0.012034406841730232 Centerline is valid? [True, True] Translation: X:104.74, Y:-8.26, Z:-1.66 [[ 9.75648228e-01 2.19212150e-01 7.52117525e-03 1.04743730e+02] [-2.19205386e-01 9.75677217e-01 -1.72242934e-03 -8.25885213e+00] [-7.71581678e-03 3.18030094e-05 9.99970232e-01 -1.65986556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.166559995 meters 0.012564050730442474 Centerline is valid? [True, True] Translation: X:104.80, Y:-8.28, Z:-1.66 [[ 9.76429531e-01 2.15706967e-01 7.47500844e-03 1.04803330e+02] [-2.15700168e-01 9.76458141e-01 -1.71378735e-03 -8.27536429e+00] [-7.66870872e-03 6.10320062e-05 9.99970593e-01 -1.66044434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.226559995 meters 0.013680840649278487 Centerline is valid? [True, True] Translation: X:104.86, Y:-8.29, Z:-1.66 [[ 9.77862644e-01 2.09130611e-01 7.00260938e-03 1.04863220e+02] [-2.09124453e-01 9.77887711e-01 -1.60861720e-03 -8.29302177e+00] [-7.18417676e-03 1.08589808e-04 9.99974188e-01 -1.66105610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.286559995 meters 0.015399899543584917 Centerline is valid? [True, True] Translation: X:104.92, Y:-8.31, Z:-1.66 [[ 9.79195481e-01 2.02812552e-01 6.57873719e-03 1.04921731e+02] [-2.02806967e-01 9.79217569e-01 -1.51215803e-03 -8.30972807e+00] [-6.74869967e-03 1.46484570e-04 9.99977217e-01 -1.66176318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34655999499999 meters 0.016716839968648967 Centerline is valid? [True, True] Translation: X:104.98, Y:-8.33, Z:-1.66 [[ 9.79953334e-01 1.99097280e-01 7.19275219e-03 1.04981249e+02] [-1.99090516e-01 9.79979713e-01 -1.65166297e-03 -8.32547453e+00] [-7.37759283e-03 1.86543886e-04 9.99972768e-01 -1.66261811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.406559995 meters 0.018776100032369278 Centerline is valid? [True, True] Translation: X:105.04, Y:-8.34, Z:-1.66 [[ 9.80813926e-01 1.94821742e-01 6.96638218e-03 1.05039466e+02] [-1.94815266e-01 9.80838642e-01 -1.60304306e-03 -8.34099006e+00] [-7.14520448e-03 2.15129365e-04 9.99974450e-01 -1.66359394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.466559995 meters 0.019732212721148334 Centerline is valid? [True, True] Translation: X:105.10, Y:-8.36, Z:-1.67 [[ 9.81028673e-01 1.93755900e-01 6.43376064e-03 1.05100078e+02] [-1.93750366e-01 9.81049749e-01 -1.47853007e-03 -8.35506963e+00] [-6.59831318e-03 2.03936910e-04 9.99978210e-01 -1.66512868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.526559995 meters 0.01744550636823648 Centerline is valid? [True, True] Translation: X:105.16, Y:-8.36, Z:-1.67 [[ 9.80778760e-01 1.95032597e-01 5.94222746e-03 1.05161527e+02] [-1.95027894e-01 9.80796744e-01 -1.36662368e-03 -8.36303098e+00] [-6.09465351e-03 1.81455370e-04 9.99981411e-01 -1.66520607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.586559995 meters 0.01702709277762655 Centerline is valid? [True, True] Translation: X:105.22, Y:-8.37, Z:-1.67 [[ 9.80155537e-01 1.98128022e-01 6.35684101e-03 1.05222356e+02] [-1.98122679e-01 9.80176135e-01 -1.46588439e-03 -8.37287627e+00] [-6.52125662e-03 1.77360330e-04 9.99978721e-01 -1.66640633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.646559995 meters 0.014696964914211436 Centerline is valid? [True, True] Translation: X:105.28, Y:-8.38, Z:-1.67 [[ 9.78668255e-01 2.05337808e-01 6.69556091e-03 1.05283909e+02] [-2.05332045e-01 9.78691149e-01 -1.54442494e-03 -8.37757923e+00] [-6.87001503e-03 1.36666444e-04 9.99976392e-01 -1.66718776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.706559995 meters 0.012964156784410145 Centerline is valid? [True, True] Translation: X:105.35, Y:-8.38, Z:-1.67 [[ 9.77369852e-01 2.11429803e-01 6.75363844e-03 1.05345856e+02] [-2.11424086e-01 9.77393181e-01 -1.55761787e-03 -8.38386365e+00] [-6.93028699e-03 9.44869081e-05 9.99975981e-01 -1.66808401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.766559995 meters 0.011669333003495925 Centerline is valid? [True, True] Translation: X:105.41, Y:-8.39, Z:-1.67 [[ 9.75289490e-01 2.20832750e-01 6.58080804e-03 1.05408472e+02] [-2.20827546e-01 9.75311692e-01 -1.51628696e-03 -8.38782146e+00] [-6.75318484e-03 2.55950513e-05 9.99977197e-01 -1.66955734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.826559995 meters 0.011415263063795944 Centerline is valid? [True, True] Translation: X:105.47, Y:-8.40, Z:-1.67 [[ 9.74063618e-01 2.26165752e-01 7.00865355e-03 1.05469844e+02] [-2.26159972e-01 9.74088832e-01 -1.61696004e-03 -8.39630876e+00] [-7.19275213e-03 -1.00549456e-05 9.99974132e-01 -1.67021623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.886559995 meters 0.011934778762043593 Centerline is valid? [True, True] Translation: X:105.53, Y:-8.40, Z:-1.67 [[ 9.72372654e-01 2.33302353e-01 7.83797322e-03 1.05531297e+02] [-2.33295328e-01 9.72404241e-01 -1.81172369e-03 -8.40252275e+00] [-8.04435780e-03 -6.68919577e-05 9.99967641e-01 -1.67125673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.946559995 meters 0.01269982322672893 Centerline is valid? [True, True] Translation: X:105.59, Y:-8.41, Z:-1.67 [[ 9.71310106e-01 2.37688415e-01 7.80354739e-03 1.05593193e+02] [-2.37681591e-01 9.71341447e-01 -1.80397547e-03 -8.41182058e+00] [-8.00869308e-03 -1.02539956e-04 9.99967925e-01 -1.67316618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.006559995 meters 0.013566299389819413 Centerline is valid? [True, True] Translation: X:105.65, Y:-8.42, Z:-1.67 [[ 9.70014101e-01 2.42946340e-01 7.05128312e-03 1.05654603e+02] [-2.42940886e-01 9.70039720e-01 -1.63298160e-03 -8.42216941e+00] [-7.23675161e-03 -1.29029786e-04 9.99973806e-01 -1.67486023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.066559995 meters 0.01522693599138555 Centerline is valid? [True, True] Translation: X:105.71, Y:-8.43, Z:-1.68 [[ 9.69328082e-01 2.45684911e-01 6.48023622e-03 1.05714943e+02] [-2.45680373e-01 9.69349733e-01 -1.49965246e-03 -8.43276723e+00] [-6.65005723e-03 -1.38411613e-04 9.99977879e-01 -1.67726315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.126559995 meters 0.015402505474627027 Centerline is valid? [True, True] Translation: X:105.77, Y:-8.45, Z:-1.68 [[ 9.68724319e-01 2.48062153e-01 6.19366575e-03 1.05774952e+02] [-2.48058049e-01 9.68744108e-01 -1.43450734e-03 -8.44813159e+00] [-6.35592418e-03 -1.46746499e-04 9.99979790e-01 -1.67800562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.186559995 meters 0.015603968711300644 Centerline is valid? [True, True] Translation: X:105.83, Y:-8.46, Z:-1.68 [[ 9.68477835e-01 2.49015051e-01 6.49522196e-03 1.05834632e+02] [-2.49010546e-01 9.68499602e-01 -1.50619857e-03 -8.46420427e+00] [-6.66568600e-03 -1.58658838e-04 9.99977771e-01 -1.67813631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.246559995 meters 0.015568312884368156 Centerline is valid? [True, True] Translation: X:105.89, Y:-8.48, Z:-1.68 [[ 9.68095986e-01 2.50460860e-01 7.71492060e-03 1.05894345e+02] [-2.50454530e-01 9.68126706e-01 -1.79172210e-03 -8.48142853e+00] [-7.91777692e-03 -1.97677838e-04 9.99968634e-01 -1.67829489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.306559995 meters 0.01549224982875477 Centerline is valid? [True, True] Translation: X:105.95, Y:-8.50, Z:-1.68 [[ 9.67772840e-01 2.51695744e-01 8.06120811e-03 1.05953444e+02] [-2.51688857e-01 9.67806389e-01 -1.87437921e-03 -8.49990854e+00] [-8.27346198e-03 -2.14942964e-04 9.99965751e-01 -1.67856624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.366559995 meters 0.015678675184619816 Centerline is valid? [True, True] Translation: X:106.01, Y:-8.52, Z:-1.68 [[ 9.67500880e-01 2.52713550e-01 8.82660034e-03 1.06013700e+02] [-2.52705310e-01 9.67541112e-01 -2.05504217e-03 -8.51683025e+00] [-9.05943571e-03 -2.42273672e-04 9.99958933e-01 -1.67895765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.426559995 meters 0.016750375440314543 Centerline is valid? [True, True] Translation: X:106.07, Y:-8.53, Z:-1.68 [[ 9.67143097e-01 2.54064459e-01 9.24556820e-03 1.06072106e+02] [-2.54055452e-01 9.67187252e-01 -2.15559100e-03 -8.53343442e+00] [-9.48985477e-03 -2.64122048e-04 9.99954935e-01 -1.67951119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.486559995 meters 0.017208036076539583 Centerline is valid? [True, True] Translation: X:106.13, Y:-8.55, Z:-1.68 [[ 9.66941544e-01 2.54835055e-01 9.11841274e-03 1.06132067e+02] [-2.54826314e-01 9.66984500e-01 -2.12746180e-03 -8.55002459e+00] [-9.35951563e-03 -2.66480307e-04 9.99956163e-01 -1.68099353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.546559995 meters 0.01708970871551252 Centerline is valid? [True, True] Translation: X:106.19, Y:-8.57, Z:-1.68 [[ 9.67067290e-01 2.54358510e-01 9.08877267e-03 1.06190941e+02] [-2.54349783e-01 9.67109963e-01 -2.12286658e-03 -8.57024366e+00] [-9.32981178e-03 -2.58772526e-04 9.99956443e-01 -1.68203793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.606559995 meters 0.01684052139830299 Centerline is valid? [True, True] Translation: X:106.25, Y:-8.59, Z:-1.68 [[ 9.67585298e-01 2.52373048e-01 9.30250114e-03 1.06249956e+02] [-2.52363790e-01 9.67629984e-01 -2.17527922e-03 -8.58824356e+00] [-9.55036088e-03 -2.42846249e-04 9.99954365e-01 -1.68358334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.666559995 meters 0.014002221439064112 Centerline is valid? [True, True] Translation: X:106.31, Y:-8.61, Z:-1.68 [[ 9.69205114e-01 2.46065840e-01 9.64618179e-03 1.06307485e+02] [-2.46055537e-01 9.69253098e-01 -2.25919330e-03 -8.61349131e+00] [-9.90550188e-03 -1.83874746e-04 9.99950922e-01 -1.68460744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.726559995 meters 0.01234747147637568 Centerline is valid? [True, True] Translation: X:106.37, Y:-8.64, Z:-1.69 [[ 9.70730523e-01 2.39977909e-01 9.63611407e-03 1.06365045e+02] [-2.39967317e-01 9.70778342e-01 -2.25786682e-03 -8.63611349e+00] [-9.89636899e-03 -1.20572209e-04 9.99951022e-01 -1.68546351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.786559995 meters 0.011759201827051506 Centerline is valid? [True, True] Translation: X:106.42, Y:-8.66, Z:-1.69 [[ 9.72402765e-01 2.33084620e-01 1.02187547e-02 1.06422354e+02] [-2.33072334e-01 9.72456455e-01 -2.39374452e-03 -8.65795204e+00] [-1.04952390e-02 -5.40252160e-05 9.99944922e-01 -1.68643292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84655999499999 meters 0.011635634648247207 Centerline is valid? [True, True] Translation: X:106.48, Y:-8.68, Z:-1.69 [[ 9.74247061e-01 2.25204444e-01 1.12081489e-02 1.06480655e+02] [-2.25189107e-01 9.74311530e-01 -2.62852510e-03 -8.68141175e+00] [-1.15121842e-02 3.68798211e-05 9.99933732e-01 -1.68643311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.906559995 meters 0.013620166060518793 Centerline is valid? [True, True] Translation: X:106.54, Y:-8.71, Z:-1.69 [[ 9.77084779e-01 2.12564561e-01 1.10291946e-02 1.06536910e+02] [-2.12548858e-01 9.77147007e-01 -2.59045156e-03 -8.70868070e+00] [-1.13277827e-02 1.86848076e-04 9.99935821e-01 -1.68820649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.966559995 meters 0.015694983567196254 Centerline is valid? [True, True] Translation: X:106.59, Y:-8.73, Z:-1.69 [[ 9.78706800e-01 2.04966413e-01 1.10349175e-02 1.06593999e+02] [-2.04950208e-01 9.78768969e-01 -2.59199932e-03 -8.73108464e+00] [-1.13319076e-02 2.75198730e-04 9.99935754e-01 -1.68957444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.026559995 meters 0.019032410959929327 Centerline is valid? [True, True] Translation: X:106.65, Y:-8.76, Z:-1.69 [[ 9.80743462e-01 1.95002187e-01 1.07892913e-02 1.06651204e+02] [-1.94986090e-01 9.80802733e-01 -2.53446400e-03 -8.75616491e+00] [-1.10763925e-02 3.81897266e-04 9.99938582e-01 -1.69112380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.086559995 meters 0.02080902573526531 Centerline is valid? [True, True] Translation: X:106.71, Y:-8.78, Z:-1.69 [[ 9.81711700e-01 1.90049618e-01 1.11032054e-02 1.06709431e+02] [-1.90032251e-01 9.81774383e-01 -2.60844304e-03 -8.77624369e+00] [-1.13965762e-02 4.50771935e-04 9.99934955e-01 -1.69216325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.146559995 meters 0.02175075273126427 Centerline is valid? [True, True] Translation: X:106.77, Y:-8.80, Z:-1.69 [[ 9.82426747e-01 1.86272768e-01 1.18381743e-02 1.06768022e+02] [-1.86252747e-01 9.82497927e-01 -2.78157045e-03 -8.79539492e+00] [-1.21491126e-02 5.27796731e-04 9.99926058e-01 -1.69211760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.206559995 meters 0.02105774877822904 Centerline is valid? [True, True] Translation: X:106.83, Y:-8.81, Z:-1.69 [[ 9.82421482e-01 1.86261455e-01 1.24379520e-02 1.06829526e+02] [-1.86239356e-01 9.82500057e-01 -2.92220372e-03 -8.80964669e+00] [-1.27645825e-02 5.54399541e-04 9.99918376e-01 -1.69312576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.266559995 meters 0.020067554215116835 Centerline is valid? [True, True] Translation: X:106.89, Y:-8.82, Z:-1.69 [[ 9.81921470e-01 1.88825632e-01 1.32328165e-02 1.06889550e+02] [-1.88800785e-01 9.82010473e-01 -3.11370374e-03 -8.82179101e+00] [-1.35827115e-02 5.59046402e-04 9.99907594e-01 -1.69446842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.326559995 meters 0.01916455681752478 Centerline is valid? [True, True] Translation: X:106.95, Y:-8.83, Z:-1.70 [[ 9.81279780e-01 1.92142732e-01 1.30829951e-02 1.06949563e+02] [-1.92118733e-01 9.81366859e-01 -3.07892896e-03 -8.83402143e+00] [-1.34308116e-02 5.07802293e-04 9.99909674e-01 -1.69572784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.386559995 meters 0.01681303430520355 Centerline is valid? [True, True] Translation: X:107.01, Y:-8.84, Z:-1.70 [[ 9.80044351e-01 1.98404314e-01 1.21983238e-02 1.07009845e+02] [-1.98383929e-01 9.80120183e-01 -2.87120477e-03 -8.84246869e+00] [-1.25254828e-02 3.93956613e-04 9.99921475e-01 -1.69748294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.446559995 meters 0.015701237311831533 Centerline is valid? [True, True] Translation: X:107.07, Y:-8.85, Z:-1.70 [[ 9.78933638e-01 2.03836864e-01 1.18095117e-02 1.07070826e+02] [-2.03818152e-01 9.79004818e-01 -2.77967155e-03 -8.85363806e+00] [-1.21281684e-02 3.14121139e-04 9.99926402e-01 -1.69861713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.506559995 meters 0.013605574068420891 Centerline is valid? [True, True] Translation: X:107.13, Y:-8.86, Z:-1.70 [[ 9.76928384e-01 2.13272070e-01 1.12230860e-02 1.07131143e+02] [-2.13255778e-01 9.76992829e-01 -2.64283623e-03 -8.86115184e+00] [-1.15285177e-02 1.88473794e-04 9.99933527e-01 -1.70056071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.566559995 meters 0.012461943868005705 Centerline is valid? [True, True] Translation: X:107.19, Y:-8.87, Z:-1.70 [[ 9.75624566e-01 2.19190390e-01 1.05962280e-02 1.07192480e+02] [-2.19176229e-01 9.75682100e-01 -2.49398394e-03 -8.87111047e+00] [-1.08852073e-02 1.10750706e-04 9.99940748e-01 -1.70230760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.626559995 meters 0.011795700071500853 Centerline is valid? [True, True] Translation: X:107.25, Y:-8.88, Z:-1.70 [[ 9.74387833e-01 2.24629748e-01 1.04798916e-02 1.07253880e+02] [-2.24616182e-01 9.74444187e-01 -2.46921781e-03 -8.88281784e+00] [-1.07667292e-02 5.20225562e-05 9.99942036e-01 -1.70354895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.686559995 meters 0.011637981346162287 Centerline is valid? [True, True] Translation: X:107.31, Y:-8.90, Z:-1.70 [[ 9.73968309e-01 2.26437622e-01 1.05705577e-02 1.07314449e+02] [-2.26423897e-01 9.74025668e-01 -2.49330176e-03 -8.89749571e+00] [-1.08605718e-02 3.49700361e-05 9.99941022e-01 -1.70471594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.746559995 meters 0.011612362065638367 Centerline is valid? [True, True] Translation: X:107.38, Y:-8.91, Z:-1.71 [[ 9.73460421e-01 2.28622703e-01 1.03184080e-02 1.07375490e+02] [-2.28609720e-01 9.73515105e-01 -2.43645939e-03 -8.91176846e+00] [-1.06021560e-02 1.29084108e-05 9.99943795e-01 -1.70633832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.806559995 meters 0.011579417558914755 Centerline is valid? [True, True] Translation: X:107.44, Y:-8.93, Z:-1.71 [[ 9.73148893e-01 2.29945422e-01 1.03118888e-02 1.07436050e+02] [-2.29932497e-01 9.73203526e-01 -2.43800972e-03 -8.92692025e+00] [-1.05961757e-02 1.50811727e-06 9.99943859e-01 -1.70767914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.866559995 meters 0.011593188477509108 Centerline is valid? [True, True] Translation: X:107.50, Y:-8.94, Z:-1.71 [[ 9.73047425e-01 2.30416755e-01 9.31815620e-03 1.07496658e+02] [-2.30406201e-01 9.73092040e-01 -2.20539408e-03 -8.94356503e+00] [-9.57558338e-03 -1.00793984e-06 9.99954153e-01 -1.70900610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.926559995 meters 0.011728596920022595 Centerline is valid? [True, True] Translation: X:107.56, Y:-8.96, Z:-1.71 [[ 9.73245680e-01 2.29599428e-01 8.77211011e-03 1.07557177e+02] [-2.29590020e-01 9.73285211e-01 -2.07850124e-03 -8.96033221e+00] [-9.01498773e-03 8.90341900e-06 9.99959364e-01 -1.71025493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.986559995 meters 0.012131192213414882 Centerline is valid? [True, True] Translation: X:107.62, Y:-8.98, Z:-1.71 [[ 9.73852265e-01 2.27033720e-01 8.21320587e-03 1.07615739e+02] [-2.27025360e-01 9.73886897e-01 -1.94863215e-03 -8.97970289e+00] [-8.44113879e-03 3.30738162e-05 9.99964372e-01 -1.71081767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.046559995 meters 0.012463210167749391 Centerline is valid? [True, True] Translation: X:107.68, Y:-9.00, Z:-1.71 [[ 9.74420983e-01 2.24593484e-01 7.84318681e-03 1.07675042e+02] [-2.24585768e-01 9.74452546e-01 -1.86235950e-03 -8.99776956e+00] [-8.06108716e-03 5.32540422e-05 9.99967507e-01 -1.71049801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.106559995 meters 0.01300269484182342 Centerline is valid? [True, True] Translation: X:107.74, Y:-9.02, Z:-1.71 [[ 9.74945063e-01 2.22306423e-01 7.87264039e-03 1.07735050e+02] [-2.22298558e-01 9.74976845e-01 -1.87143244e-03 -9.01527114e+00] [-8.09167354e-03 7.44672090e-05 9.99967259e-01 -1.71040929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.166559995 meters 0.012927174895537559 Centerline is valid? [True, True] Translation: X:107.80, Y:-9.03, Z:-1.71 [[ 9.75065127e-01 2.21785934e-01 7.68100572e-03 1.07796491e+02] [-2.21778419e-01 9.75095377e-01 -1.82738789e-03 -9.02997290e+00] [-7.89500209e-03 7.83409011e-05 9.99968831e-01 -1.71101319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.226559995 meters 0.013295548969313165 Centerline is valid? [True, True] Translation: X:107.86, Y:-9.04, Z:-1.71 [[ 9.75278769e-01 2.20866042e-01 7.03665873e-03 1.07857156e+02] [-2.20859696e-01 9.75304150e-01 -1.67612369e-03 -9.04445056e+00] [-7.23308126e-03 8.05735411e-05 9.99973838e-01 -1.71165123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.286559995 meters 0.014006887652515095 Centerline is valid? [True, True] Translation: X:107.92, Y:-9.06, Z:-1.71 [[ 9.75760007e-01 2.18727111e-01 7.13161712e-03 1.07917201e+02] [-2.18720522e-01 9.75786063e-01 -1.70069114e-03 -9.06112442e+00] [-7.33091985e-03 9.96353754e-05 9.99973123e-01 -1.71247557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34655999499999 meters 0.015172686846246054 Centerline is valid? [True, True] Translation: X:107.98, Y:-9.08, Z:-1.71 [[ 9.76830710e-01 2.13861500e-01 8.06369421e-03 1.07977435e+02] [-2.13852878e-01 9.76863979e-01 -1.92689859e-03 -9.07685624e+00] [-8.28922184e-03 1.57809509e-04 9.99965631e-01 -1.71267735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.406559995 meters 0.01588822488342767 Centerline is valid? [True, True] Translation: X:108.04, Y:-9.09, Z:-1.71 [[ 9.77663854e-01 2.09994185e-01 8.70814954e-03 1.08038508e+02] [-2.09983969e-01 9.77702613e-01 -2.08162376e-03 -9.08999412e+00] [-8.95110944e-03 2.06556508e-04 9.99959917e-01 -1.71321645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.466559995 meters 0.016322940270150032 Centerline is valid? [True, True] Translation: X:108.10, Y:-9.10, Z:-1.71 [[ 9.77935207e-01 2.08716359e-01 8.95612453e-03 1.08099133e+02] [-2.08705503e-01 9.77976192e-01 -2.14040923e-03 -9.10410578e+00] [-9.20561499e-03 2.23989066e-04 9.99957602e-01 -1.71359626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.526559995 meters 0.01697773554390979 Centerline is valid? [True, True] Translation: X:108.16, Y:-9.12, Z:-1.71 [[ 9.77982812e-01 2.08487325e-01 9.09150880e-03 1.08159494e+02] [-2.08476108e-01 9.78025041e-01 -2.17509056e-03 -9.11663756e+00] [-9.34520208e-03 2.31838813e-04 9.99956306e-01 -1.71400795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.586559995 meters 0.016297137177306506 Centerline is valid? [True, True] Translation: X:108.22, Y:-9.13, Z:-1.71 [[ 9.77725300e-01 2.09705787e-01 8.75906257e-03 1.08220957e+02] [-2.09695403e-01 9.77764510e-01 -2.09789839e-03 -9.12707689e+00] [-9.00424195e-03 2.14433180e-04 9.99959438e-01 -1.71468173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.646559995 meters 0.015935217730468326 Centerline is valid? [True, True] Translation: X:108.28, Y:-9.14, Z:-1.72 [[ 9.77168047e-01 2.12302493e-01 8.38207287e-03 1.08282611e+02] [-2.12293062e-01 9.77203979e-01 -2.00962064e-03 -9.13658086e+00] [-8.61764243e-03 1.84281162e-04 9.99962850e-01 -1.71541800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.706559995 meters 0.015291914438369001 Centerline is valid? [True, True] Translation: X:108.34, Y:-9.15, Z:-1.72 [[ 9.76858096e-01 2.13731726e-01 8.18591056e-03 1.08343923e+02] [-2.13722765e-01 9.76892379e-01 -1.96454692e-03 -9.14812949e+00] [-8.41663964e-03 1.69568125e-04 9.99964565e-01 -1.71636405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.766559995 meters 0.014400618072136377 Centerline is valid? [True, True] Translation: X:108.40, Y:-9.16, Z:-1.72 [[ 9.75584797e-01 2.19527549e-01 6.47762529e-03 1.08404030e+02] [-2.19522050e-01 9.75606297e-01 -1.55680097e-03 -9.15544781e+00] [-6.66137272e-03 9.68097783e-05 9.99977808e-01 -1.71788630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.826559995 meters 0.01367121307225502 Centerline is valid? [True, True] Translation: X:108.47, Y:-9.16, Z:-1.72 [[ 9.74501041e-01 2.24315100e-01 5.51875765e-03 1.08465574e+02] [-2.24311192e-01 9.74516666e-01 -1.32521864e-03 -9.16336227e+00] [-5.67538786e-03 5.35078432e-05 9.99983893e-01 -1.71978646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.886559995 meters 0.013205023389708062 Centerline is valid? [True, True] Translation: X:108.53, Y:-9.17, Z:-1.72 [[ 9.73322809e-01 2.29398508e-01 4.36288280e-03 1.08526253e+02] [-2.29396114e-01 9.73332587e-01 -1.04819070e-03 -9.17046283e+00] [-4.48698938e-03 1.93995594e-05 9.99989933e-01 -1.72256413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.946559995 meters 0.013138408691627648 Centerline is valid? [True, True] Translation: X:108.59, Y:-9.18, Z:-1.72 [[ 9.72960906e-01 2.30944262e-01 3.43860913e-03 1.08588304e+02] [-2.30942786e-01 9.72966982e-01 -8.25536214e-04 -9.18149483e+00] [-3.53630599e-03 9.09248944e-06 9.99993747e-01 -1.72401849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.006559995 meters 0.013170071289952354 Centerline is valid? [True, True] Translation: X:108.65, Y:-9.19, Z:-1.72 [[ 9.72989355e-01 2.30828842e-01 3.12409932e-03 1.08650597e+02] [-2.30827622e-01 9.72994371e-01 -7.50536780e-04 -9.19279680e+00] [-3.21297659e-03 9.13588179e-06 9.99994838e-01 -1.72453549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.066559995 meters 0.013213103944651236 Centerline is valid? [True, True] Translation: X:108.71, Y:-9.21, Z:-1.72 [[ 9.73810696e-01 2.27343601e-01 2.75944763e-03 1.08710858e+02] [-2.27342634e-01 9.73814606e-01 -6.63542619e-04 -9.20652383e+00] [-2.83804258e-03 1.88248076e-05 9.99995973e-01 -1.72431848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.126559995 meters 0.013845983743052575 Centerline is valid? [True, True] Translation: X:108.77, Y:-9.22, Z:-1.72 [[ 9.74673699e-01 2.23617023e-01 2.57069547e-03 1.08770735e+02] [-2.23616169e-01 9.74677088e-01 -6.18561578e-04 -9.22240144e+00] [-2.64391887e-03 2.80466295e-05 9.99996504e-01 -1.72480181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.186559995 meters 0.015506560311206877 Centerline is valid? [True, True] Translation: X:108.83, Y:-9.24, Z:-1.73 [[ 9.76307825e-01 2.16381161e-01 1.49104125e-03 1.08828160e+02] [-2.16380862e-01 9.76308964e-01 -3.61122400e-04 -9.23992712e+00] [-1.53385702e-03 2.99338351e-05 9.99998823e-01 -1.72555304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.246559995 meters 0.016060117503951848 Centerline is valid? [True, True] Translation: X:108.89, Y:-9.25, Z:-1.73 [[ 9.77327411e-01 2.11733085e-01 4.82378294e-04 1.08887573e+02] [-2.11733054e-01 9.77327530e-01 -1.16266929e-04 -9.25495117e+00] [-4.96059142e-04 1.14954277e-05 9.99999877e-01 -1.72585419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.306559995 meters 0.018259077526678144 Centerline is valid? [True, True] Translation: X:108.94, Y:-9.27, Z:-1.73 [[ 9.78203501e-01 2.07648405e-01 -2.24577573e-04 1.08944725e+02] [-2.07648397e-01 9.78203527e-01 5.58494140e-05 -9.27250078e+00] [ 2.31279616e-04 -7.99891912e-06 9.99999973e-01 -1.72739418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.366559995 meters 0.01892010617787118 Centerline is valid? [True, True] Translation: X:109.00, Y:-9.29, Z:-1.73 [[ 9.79166150e-01 2.03060255e-01 4.28828018e-04 1.09003666e+02] [-2.03060229e-01 9.79166244e-01 -1.03147613e-04 -9.28721434e+00] [-4.40839100e-04 1.39207351e-05 9.99999903e-01 -1.72608042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.426559995 meters 0.01972167453509647 Centerline is valid? [True, True] Translation: X:109.06, Y:-9.30, Z:-1.73 [[ 9.79582464e-01 2.01038787e-01 1.26620998e-03 1.09063642e+02] [-2.01038562e-01 9.79583281e-01 -3.03265581e-04 -9.30193535e+00] [-1.30132627e-03 4.25166110e-05 9.99999152e-01 -1.72641609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.486559995 meters 0.019945064905507397 Centerline is valid? [True, True] Translation: X:109.12, Y:-9.32, Z:-1.73 [[ 9.79958091e-01 1.99195615e-01 1.80202824e-03 1.09123580e+02] [-1.99195153e-01 9.79959745e-01 -4.33960916e-04 -9.31571496e+00] [-1.85235825e-03 6.63082191e-05 9.99998282e-01 -1.72691943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.546559995 meters 0.02120677571269467 Centerline is valid? [True, True] Translation: X:109.18, Y:-9.33, Z:-1.73 [[ 9.79860630e-01 1.99673873e-01 1.86806214e-03 1.09183106e+02] [-1.99673374e-01 9.79862409e-01 -4.51744618e-04 -9.33009309e+00] [-1.92064547e-03 6.96444956e-05 9.99998153e-01 -1.72869942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.606559995 meters 0.01908253582713937 Centerline is valid? [True, True] Translation: X:109.24, Y:-9.34, Z:-1.73 [[ 9.79378073e-01 2.02022336e-01 2.35942735e-03 1.09243647e+02] [-2.02021541e-01 9.79380911e-01 -5.72898555e-04 -9.33973282e+00] [-2.42651641e-03 8.44291331e-05 9.99997052e-01 -1.72861141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.666559995 meters 0.018224974418471006 Centerline is valid? [True, True] Translation: X:109.30, Y:-9.35, Z:-1.73 [[ 9.78277397e-01 2.07287789e-01 2.26006427e-03 1.09302728e+02] [-2.07287073e-01 9.78280005e-01 -5.49321988e-04 -9.34901284e+00] [-2.32484343e-03 6.89071782e-05 9.99997295e-01 -1.73019774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.726559995 meters 0.017880550069154604 Centerline is valid? [True, True] Translation: X:109.36, Y:-9.36, Z:-1.73 [[ 9.77523637e-01 2.10816391e-01 1.99721362e-03 1.09361766e+02] [-2.10815840e-01 9.77525676e-01 -4.85194778e-04 -9.36052429e+00] [-2.05461460e-03 5.32450981e-05 9.99997888e-01 -1.73216128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.786559995 meters 0.01549474129373248 Centerline is valid? [True, True] Translation: X:109.42, Y:-9.37, Z:-1.73 [[ 9.76766552e-01 2.14293371e-01 2.33522695e-03 1.09423201e+02] [-2.14292627e-01 9.76769342e-01 -5.67142678e-04 -9.36851114e+00] [-2.40251301e-03 5.35440802e-05 9.99997113e-01 -1.73272164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84655999499999 meters 0.015474400220703044 Centerline is valid? [True, True] Translation: X:109.48, Y:-9.38, Z:-1.73 [[ 9.76507549e-01 2.15463070e-01 2.94489266e-03 1.09483459e+02] [-2.15461900e-01 9.76511987e-01 -7.12720784e-04 -9.38185398e+00] [-3.02928799e-03 6.14650571e-05 9.99995410e-01 -1.73360740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.906559995 meters 0.015587674396536 Centerline is valid? [True, True] Translation: X:109.54, Y:-9.40, Z:-1.73 [[ 9.76520987e-01 2.15393579e-01 3.51675999e-03 1.09544789e+02] [-2.15391906e-01 9.76527317e-01 -8.52389642e-04 -9.39589278e+00] [-3.61781146e-03 7.48947380e-05 9.99993453e-01 -1.73421561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.966559995 meters 0.015569421499009682 Centerline is valid? [True, True] Translation: X:109.61, Y:-9.41, Z:-1.73 [[ 9.76608362e-01 2.14987756e-01 4.04627808e-03 1.09606314e+02] [-2.14985529e-01 9.76616740e-01 -9.82577810e-04 -9.41075560e+00] [-4.16290510e-03 8.97024703e-05 9.99991331e-01 -1.73461608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.026559995 meters 0.015681295585625147 Centerline is valid? [True, True] Translation: X:109.67, Y:-9.43, Z:-1.74 [[ 9.76883180e-01 2.13739851e-01 3.81161726e-03 1.09666898e+02] [-2.13737860e-01 9.76890612e-01 -9.26854269e-04 -9.42501526e+00] [-3.92163881e-03 9.07414281e-05 9.99992306e-01 -1.73559355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.086559995 meters 0.01616822870536772 Centerline is valid? [True, True] Translation: X:109.73, Y:-9.44, Z:-1.74 [[ 9.77077881e-01 2.12859049e-01 3.13681663e-03 1.09726656e+02] [-2.12857695e-01 9.77082913e-01 -7.63129301e-04 -9.43966603e+00] [-3.22736891e-03 7.79412014e-05 9.99994789e-01 -1.73760129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.146559995 meters 0.016707817919506575 Centerline is valid? [True, True] Translation: X:109.79, Y:-9.46, Z:-1.74 [[ 9.77297329e-01 2.11845766e-01 3.36171752e-03 1.09786603e+02] [-2.11844202e-01 9.77303107e-01 -8.18713365e-04 -9.45548561e+00] [-3.45885794e-03 8.79660180e-05 9.99994014e-01 -1.73817905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.206559995 meters 0.017177863074191464 Centerline is valid? [True, True] Translation: X:109.85, Y:-9.47, Z:-1.74 [[ 9.77329341e-01 2.11686688e-01 4.01304652e-03 1.09847840e+02] [-2.11684453e-01 9.77337575e-01 -9.78745743e-04 -9.47187106e+00] [-4.12928859e-03 1.07057377e-04 9.99991469e-01 -1.73877918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.266559995 meters 0.017494241744363585 Centerline is valid? [True, True] Translation: X:109.91, Y:-9.49, Z:-1.74 [[ 9.77257922e-01 2.12020666e-01 3.76700336e-03 1.09908322e+02] [-2.12018695e-01 9.77265178e-01 -9.19597965e-04 -9.48758033e+00] [-3.87633498e-03 1.00009262e-04 9.99992482e-01 -1.73976894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.326559995 meters 0.016588885718673375 Centerline is valid? [True, True] Translation: X:109.97, Y:-9.50, Z:-1.74 [[ 9.76971176e-01 2.13328659e-01 4.26670822e-03 1.09968649e+02] [-2.13326134e-01 9.76980487e-01 -1.04374506e-03 -9.50068164e+00] [-4.39115141e-03 1.09508468e-04 9.99990353e-01 -1.73970966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.386559995 meters 0.015549279571774988 Centerline is valid? [True, True] Translation: X:110.03, Y:-9.51, Z:-1.74 [[ 9.76757420e-01 2.14290662e-01 4.94520786e-03 1.10029290e+02] [-2.14287273e-01 9.76769930e-01 -1.21153830e-03 -9.51338803e+00] [-5.08995168e-03 1.23683915e-04 9.99987038e-01 -1.73967163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.446559995 meters 0.015206962047967879 Centerline is valid? [True, True] Translation: X:110.09, Y:-9.53, Z:-1.74 [[ 9.76639954e-01 2.14819866e-01 5.17940708e-03 1.10089513e+02] [-2.14816148e-01 9.76653679e-01 -1.27043335e-03 -9.52684629e+00] [-5.33140130e-03 1.28135695e-04 9.99985780e-01 -1.73985008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.506559995 meters 0.015074780936939357 Centerline is valid? [True, True] Translation: X:110.15, Y:-9.54, Z:-1.74 [[ 9.76347496e-01 2.16145100e-01 5.18301120e-03 1.10150174e+02] [-2.16141387e-01 9.76361245e-01 -1.27268264e-03 -9.54048735e+00] [-5.33557538e-03 1.22317276e-04 9.99985758e-01 -1.74133190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.566559995 meters 0.01610140096397932 Centerline is valid? [True, True] Translation: X:110.21, Y:-9.56, Z:-1.74 [[ 9.75968094e-01 2.17853596e-01 5.10776930e-03 1.10209334e+02] [-2.17850007e-01 9.75981454e-01 -1.25571599e-03 -9.55577290e+00] [-5.25865035e-03 1.12811165e-04 9.99986167e-01 -1.74327259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.626559995 meters 0.014611025824550969 Centerline is valid? [True, True] Translation: X:110.27, Y:-9.57, Z:-1.74 [[ 9.75717789e-01 2.18971133e-01 5.14189031e-03 1.10270261e+02] [-2.18967505e-01 9.75731331e-01 -1.26513171e-03 -9.56740679e+00] [-5.29413080e-03 1.08504624e-04 9.99985980e-01 -1.74321097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.686559995 meters 0.014491599780391145 Centerline is valid? [True, True] Translation: X:110.33, Y:-9.58, Z:-1.74 [[ 9.75216126e-01 2.21184977e-01 5.54190912e-03 1.10330235e+02] [-2.21180782e-01 9.75231867e-01 -1.36643695e-03 -9.58096990e+00] [-5.70688170e-03 1.06807558e-04 9.99983710e-01 -1.74453245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.746559995 meters 0.014166294360304322 Centerline is valid? [True, True] Translation: X:110.39, Y:-9.60, Z:-1.74 [[ 9.75083072e-01 2.21735703e-01 6.80304392e-03 1.10390553e+02] [-2.21729390e-01 9.75106795e-01 -1.67796198e-03 -9.59534785e+00] [-7.00575843e-03 1.27717543e-04 9.99975451e-01 -1.74443895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.806559995 meters 0.014557004879857349 Centerline is valid? [True, True] Translation: X:110.45, Y:-9.61, Z:-1.75 [[ 9.75095728e-01 2.21693019e-01 6.36611301e-03 1.10450370e+02] [-2.21687482e-01 9.75116501e-01 -1.57144984e-03 -9.61182102e+00] [-6.55608130e-03 1.21026465e-04 9.99978501e-01 -1.74717718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.866559995 meters 0.014162098552882045 Centerline is valid? [True, True] Translation: X:110.51, Y:-9.63, Z:-1.75 [[ 9.75375782e-01 2.20418058e-01 7.61340608e-03 1.10510788e+02] [-2.20410077e-01 9.75405482e-01 -1.88232188e-03 -9.62724844e+00] [-7.84105577e-03 1.57899759e-04 9.99969246e-01 -1.74800698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.926559995 meters 0.014850142387123332 Centerline is valid? [True, True] Translation: X:110.57, Y:-9.64, Z:-1.75 [[ 9.75727230e-01 2.18800179e-01 9.10240035e-03 1.10570189e+02] [-2.18788670e-01 9.75769665e-01 -2.25365741e-03 -9.64477557e+00] [-9.37494678e-03 2.07452838e-04 9.99956033e-01 -1.74832480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.986559995 meters 0.016224221865009374 Centerline is valid? [True, True] Translation: X:110.63, Y:-9.66, Z:-1.75 [[ 9.76673238e-01 2.14497153e-01 1.00179052e-02 1.10629722e+02] [-2.14482946e-01 9.76724574e-01 -2.48432468e-03 -9.66389434e+00] [-1.03176148e-02 2.77703615e-04 9.99946733e-01 -1.75000823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.046559995 meters 0.017440618821690693 Centerline is valid? [True, True] Translation: X:110.69, Y:-9.68, Z:-1.75 [[ 9.77325680e-01 2.11467099e-01 1.07787415e-02 1.10688880e+02] [-2.11450457e-01 9.77385059e-01 -2.67389027e-03 -9.68293977e+00] [-1.11004207e-02 3.34091804e-04 9.99938333e-01 -1.75133280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.106559995 meters 0.018263714310299283 Centerline is valid? [True, True] Translation: X:110.75, Y:-9.70, Z:-1.75 [[ 9.78293327e-01 2.06851094e-01 1.24415380e-02 1.10746835e+02] [-2.06828533e-01 9.78372335e-01 -3.08754119e-03 -9.70098736e+00] [-1.28111178e-02 4.47255899e-04 9.99917834e-01 -1.75220203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.166559995 meters 0.01971069011043647 Centerline is valid? [True, True] Translation: X:110.81, Y:-9.72, Z:-1.75 [[ 9.78774731e-01 2.04493611e-01 1.35051781e-02 1.10805766e+02] [-2.04466798e-01 9.78867761e-01 -3.35186120e-03 -9.71899192e+00] [-1.39052177e-02 5.19356516e-04 9.99903183e-01 -1.75370635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.226559995 meters 0.0196549062171759 Centerline is valid? [True, True] Translation: X:110.87, Y:-9.74, Z:-1.76 [[ 9.78967272e-01 2.03482517e-01 1.47630087e-02 1.10866018e+02] [-2.03450304e-01 9.79078404e-01 -3.66787399e-03 -9.73553061e+00] [-1.52004912e-02 5.87189983e-04 9.99884293e-01 -1.75551478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.286559995 meters 0.01958077154926658 Centerline is valid? [True, True] Translation: X:110.93, Y:-9.75, Z:-1.76 [[ 9.78575071e-01 2.05268464e-01 1.59902607e-02 1.10926528e+02] [-2.05230837e-01 9.78705515e-01 -3.97723246e-03 -9.75052960e+00] [-1.64661567e-02 6.10325950e-04 9.99864237e-01 -1.75688851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34655999499999 meters 0.017718333840011063 Centerline is valid? [True, True] Translation: X:110.99, Y:-9.76, Z:-1.76 [[ 9.77573546e-01 2.09900248e-01 1.70835673e-02 1.10986758e+02] [-2.09857930e-01 9.77722638e-01 -4.25341205e-03 -9.76140978e+00] [-1.75957827e-02 5.72901037e-04 9.99845018e-01 -1.75913712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.406559995 meters 0.015378521885302011 Centerline is valid? [True, True] Translation: X:111.05, Y:-9.77, Z:-1.76 [[ 9.76265635e-01 2.15735434e-01 1.90691463e-02 1.11046930e+02] [-2.15683807e-01 9.76451714e-01 -4.74825966e-03 -9.77034185e+00] [-1.96444685e-02 5.22656651e-04 9.99806892e-01 -1.76102125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.466559995 meters 0.014278673246080138 Centerline is valid? [True, True] Translation: X:111.11, Y:-9.78, Z:-1.76 [[ 9.75360711e-01 2.19648719e-01 2.06379237e-02 1.11107208e+02] [-2.19589115e-01 9.75578910e-01 -5.13920554e-03 -9.78171062e+00] [-2.12627431e-02 4.80715770e-04 9.99773807e-01 -1.76201072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.526559995 meters 0.013502042963278182 Centerline is valid? [True, True] Translation: X:111.17, Y:-9.79, Z:-1.76 [[ 9.74106702e-01 2.24948370e-01 2.26795751e-02 1.11166699e+02] [-2.24877803e-01 9.74370602e-01 -5.64839399e-03 -9.79209477e+00] [-2.33689082e-02 4.02005420e-04 9.99726829e-01 -1.76273160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.586559995 meters 0.012868485832245646 Centerline is valid? [True, True] Translation: X:111.23, Y:-9.80, Z:-1.76 [[ 9.73334180e-01 2.28292751e-01 2.24275162e-02 1.11228340e+02] [-2.28224601e-01 9.73592480e-01 -5.58690208e-03 -9.80373394e+00] [-2.31107104e-02 3.19411817e-04 9.99732861e-01 -1.76466039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.646559995 meters 0.012149159232560646 Centerline is valid? [True, True] Translation: X:111.29, Y:-9.81, Z:-1.77 [[ 9.72009551e-01 2.33923067e-01 2.18502239e-02 1.11290240e+02] [-2.33859740e-01 9.72255093e-01 -5.44582161e-03 -9.81409247e+00] [-2.25178948e-02 1.83502937e-04 9.99746423e-01 -1.76744426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.706559995 meters 0.011722607715972848 Centerline is valid? [True, True] Translation: X:111.35, Y:-9.83, Z:-1.77 [[ 9.71130089e-01 2.37549946e-01 2.18259839e-02 1.11351748e+02] [-2.37487604e-01 9.71375320e-01 -5.44290119e-03 -9.82523898e+00] [-2.24941829e-02 1.02364506e-04 9.99746969e-01 -1.76964122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.766559995 meters 0.011828376328162115 Centerline is valid? [True, True] Translation: X:111.41, Y:-9.84, Z:-1.77 [[ 9.71140186e-01 2.37550653e-01 2.13641419e-02 1.11413270e+02] [-2.37490795e-01 9.71375147e-01 -5.33347740e-03 -9.84035772e+00] [-2.20195675e-02 1.05767173e-04 9.99757534e-01 -1.77179448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.826559995 meters 0.012150088623615888 Centerline is valid? [True, True] Translation: X:111.47, Y:-9.86, Z:-1.77 [[ 9.71802527e-01 2.34886228e-01 2.06956280e-02 1.11472939e+02] [-2.34829329e-01 9.72022856e-01 -5.17241107e-03 -9.85795553e+00] [-2.13315515e-02 1.66621718e-04 9.99772443e-01 -1.77418745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.886559995 meters 0.012794805883627632 Centerline is valid? [True, True] Translation: X:111.53, Y:-9.88, Z:-1.78 [[ 9.72934283e-01 2.30190968e-01 2.02731047e-02 1.11532458e+02] [-2.30135241e-01 9.73145439e-01 -5.07196654e-03 -9.87663717e+00] [-2.08962002e-02 2.69134298e-04 9.99781614e-01 -1.77611318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.946559995 meters 0.015210593797105251 Centerline is valid? [True, True] Translation: X:111.59, Y:-9.90, Z:-1.78 [[ 9.75049979e-01 2.21078072e-01 2.00505507e-02 1.11589923e+02] [-2.21021547e-01 9.75256003e-01 -5.02040480e-03 -9.89909166e+00] [-2.06643214e-02 4.63541846e-04 9.99786363e-01 -1.77803117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.006559995 meters 0.016267611572339594 Centerline is valid? [True, True] Translation: X:111.65, Y:-9.92, Z:-1.78 [[ 9.76362631e-01 2.15243497e-01 1.96532377e-02 1.11648132e+02] [-2.15187995e-01 9.76560242e-01 -4.92155259e-03 -9.91792464e+00] [-2.02519027e-02 5.76079224e-04 9.99794743e-01 -1.77965799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.066559995 meters 0.018332050810823685 Centerline is valid? [True, True] Translation: X:111.71, Y:-9.94, Z:-1.78 [[ 9.77778188e-01 2.08815433e-01 1.85991818e-02 1.11705470e+02] [-2.08764556e-01 9.77954837e-01 -4.65792799e-03 -9.93801941e+00] [-1.91618070e-02 6.71570468e-04 9.99816170e-01 -1.78119875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.126559995 meters 0.01896633718359742 Centerline is valid? [True, True] Translation: X:111.77, Y:-9.96, Z:-1.78 [[ 9.78337841e-01 2.06244203e-01 1.78437229e-02 1.11765245e+02] [-2.06196939e-01 9.78500306e-01 -4.46919089e-03 -9.95502652e+00] [-1.83818330e-02 6.93057523e-04 9.99830800e-01 -1.78241298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.186559995 meters 0.019870475818023516 Centerline is valid? [True, True] Translation: X:111.82, Y:-9.97, Z:-1.78 [[ 9.78341138e-01 2.06313411e-01 1.68343327e-02 1.11824881e+02] [-2.06271329e-01 9.78485743e-01 -4.21786005e-03 -9.97109739e+00] [-1.73423556e-02 6.54065831e-04 9.99849396e-01 -1.78332465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.246559995 meters 0.019611684093050846 Centerline is valid? [True, True] Translation: X:111.88, Y:-9.98, Z:-1.78 [[ 9.77840757e-01 2.08727170e-01 1.61375808e-02 1.11884722e+02] [-2.08688760e-01 9.77973732e-01 -4.04737499e-03 -9.98456395e+00] [-1.66269272e-02 5.89956515e-04 9.99861589e-01 -1.78423857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.306559995 meters 0.018267694699481644 Centerline is valid? [True, True] Translation: X:111.94, Y:-9.99, Z:-1.78 [[ 9.76605736e-01 2.14445362e-01 1.59506773e-02 1.11943679e+02] [-2.14408588e-01 9.76735865e-01 -4.00105184e-03 -9.99441625e+00] [-1.64376056e-02 4.87487977e-04 9.99864775e-01 -1.78454386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.366559995 meters 0.015924399450599747 Centerline is valid? [True, True] Translation: X:112.00, Y:-10.00, Z:-1.79 [[ 9.75687414e-01 2.18609133e-01 1.56242731e-02 1.12004978e+02] [-2.18574381e-01 9.75812420e-01 -3.91919062e-03 -1.00038777e+01] [-1.61031306e-02 4.08839128e-04 9.99870253e-01 -1.78510743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.426559995 meters 0.014397169378771325 Centerline is valid? [True, True] Translation: X:112.07, Y:-10.01, Z:-1.79 [[ 9.74400800e-01 2.24294551e-01 1.53308707e-02 1.12066088e+02] [-2.24261781e-01 9.74521348e-01 -3.84643159e-03 -1.00129605e+01] [-1.58029945e-02 3.09837638e-04 9.99875077e-01 -1.78550509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.486559995 meters 0.014009194279433075 Centerline is valid? [True, True] Translation: X:112.13, Y:-10.03, Z:-1.79 [[ 9.73964748e-01 2.26151457e-01 1.57540078e-02 1.12126531e+02] [-2.26117085e-01 9.74092108e-01 -3.95328366e-03 -1.00257319e+01] [-1.62398955e-02 2.88108593e-04 9.99868083e-01 -1.78635261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.546559995 meters 0.013567923688927055 Centerline is valid? [True, True] Translation: X:112.19, Y:-10.04, Z:-1.79 [[ 9.73264871e-01 2.29093138e-01 1.64871153e-02 1.12187428e+02] [-2.29055837e-01 9.73404474e-01 -4.14175749e-03 -1.00376134e+01] [-1.69974800e-02 2.54557073e-04 9.99855500e-01 -1.78636032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.606559995 meters 0.013361259121734014 Centerline is valid? [True, True] Translation: X:112.25, Y:-10.05, Z:-1.79 [[ 9.72893626e-01 2.30688195e-01 1.61539059e-02 1.12248280e+02] [-2.30652538e-01 9.73027700e-01 -4.06217246e-03 -1.00497692e+01] [-1.66552931e-02 2.26122297e-04 9.99861265e-01 -1.78759609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.666559995 meters 0.013420683491394702 Centerline is valid? [True, True] Translation: X:112.31, Y:-10.06, Z:-1.79 [[ 9.73145838e-01 2.29698636e-01 1.50238395e-02 1.12309020e+02] [-2.29667619e-01 9.73261776e-01 -3.78159298e-03 -1.00641083e+01] [-1.54907554e-02 2.29552021e-04 9.99879985e-01 -1.78881637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.726559995 meters 0.014498550650681572 Centerline is valid? [True, True] Translation: X:112.37, Y:-10.08, Z:-1.79 [[ 9.74139992e-01 2.25524248e-01 1.37873185e-02 1.12369376e+02] [-2.25497658e-01 9.74237516e-01 -3.47394694e-03 -1.00802256e+01] [-1.42155822e-02 2.75102611e-04 9.99898916e-01 -1.79060848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.786559995 meters 0.016312353485547257 Centerline is valid? [True, True] Translation: X:112.43, Y:-10.10, Z:-1.79 [[ 9.75173860e-01 2.21098090e-01 1.23116429e-02 1.12428151e+02] [-2.21076531e-01 9.75251528e-01 -3.10242146e-03 -1.00974583e+01] [-1.26928880e-02 3.03585013e-04 9.99919396e-01 -1.79235159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84655999499999 meters 0.01748186148414756 Centerline is valid? [True, True] Translation: X:112.49, Y:-10.11, Z:-1.79 [[ 9.75704306e-01 2.18801527e-01 1.12693583e-02 1.12488227e+02] [-2.18783284e-01 9.75769336e-01 -2.84209896e-03 -1.01147160e+01] [-1.16181499e-02 3.07500977e-04 9.99932460e-01 -1.79326157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.906559995 meters 0.01874903450872255 Centerline is valid? [True, True] Translation: X:112.55, Y:-10.13, Z:-1.80 [[ 9.76212116e-01 2.16574970e-01 1.02560471e-02 1.12547618e+02] [-2.16559713e-01 9.76265941e-01 -2.58883950e-03 -1.01307281e+01] [-1.05733073e-02 3.06209875e-04 9.99944054e-01 -1.79522701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.966559995 meters 0.018006489472593392 Centerline is valid? [True, True] Translation: X:112.61, Y:-10.14, Z:-1.80 [[ 9.76311410e-01 2.16173264e-01 9.22772456e-03 1.12608553e+02] [-2.16160880e-01 9.76354977e-01 -2.33089737e-03 -1.01440694e+01] [-9.51341249e-03 2.81008639e-04 9.99954707e-01 -1.79632338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.026559995 meters 0.01719505735461736 Centerline is valid? [True, True] Translation: X:112.67, Y:-10.16, Z:-1.80 [[ 9.76178730e-01 2.16797641e-01 8.59477727e-03 1.12670507e+02] [-2.16786907e-01 9.76216532e-01 -2.17266054e-03 -1.01574367e+01] [-8.86139133e-03 2.57669825e-04 9.99960704e-01 -1.79721281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.086559995 meters 0.016835642678573702 Centerline is valid? [True, True] Translation: X:112.73, Y:-10.17, Z:-1.80 [[ 9.75358863e-01 2.20501180e-01 7.37001449e-03 1.12729920e+02] [-2.20493366e-01 9.75386688e-01 -1.86669061e-03 -1.01707338e+01] [-7.60022151e-03 1.95653931e-04 9.99971099e-01 -1.79861544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.146559995 meters 0.015489144848937555 Centerline is valid? [True, True] Translation: X:112.79, Y:-10.18, Z:-1.80 [[ 9.74371473e-01 2.24804253e-01 7.95486059e-03 1.12790239e+02] [-2.24795289e-01 9.74403929e-01 -2.01515938e-03 -1.01820207e+01] [-8.20426381e-03 1.75298634e-04 9.99966329e-01 -1.79907831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.206559995 meters 0.014395694450873518 Centerline is valid? [True, True] Translation: X:112.85, Y:-10.19, Z:-1.80 [[ 9.72928949e-01 2.30945402e-01 8.57210608e-03 1.12849599e+02] [-2.30935226e-01 9.72966702e-01 -2.17200988e-03 -1.01925211e+01] [-8.84198947e-03 1.33610037e-04 9.99960900e-01 -1.79988103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.266559995 meters 0.013763215607388595 Centerline is valid? [True, True] Translation: X:112.91, Y:-10.21, Z:-1.80 [[ 9.72283100e-01 2.33665214e-01 8.13273375e-03 1.12910632e+02] [-2.33656153e-01 9.72317107e-01 -2.06031037e-03 -1.02066247e+01] [-8.38901902e-03 1.02941670e-04 9.99964806e-01 -1.80119958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.326559995 meters 0.013269764150591272 Centerline is valid? [True, True] Translation: X:112.97, Y:-10.22, Z:-1.80 [[ 9.71564730e-01 2.36649617e-01 7.67692088e-03 1.12971044e+02] [-2.36641641e-01 9.71595056e-01 -1.94422157e-03 -1.02220927e+01] [-7.91895767e-03 7.22579432e-05 9.99968642e-01 -1.80223601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.386559995 meters 0.012624536296581787 Centerline is valid? [True, True] Translation: X:113.03, Y:-10.24, Z:-1.80 [[ 9.71012117e-01 2.38927047e-01 7.02392169e-03 1.13031053e+02] [-2.38920421e-01 9.71037519e-01 -1.78013798e-03 -1.02362939e+01] [-7.24581460e-03 5.03772273e-05 9.99973747e-01 -1.80263550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.446559995 meters 0.012164063009984459 Centerline is valid? [True, True] Translation: X:113.09, Y:-10.25, Z:-1.80 [[ 9.69893718e-01 2.43432558e-01 6.83850169e-03 1.13091575e+02] [-2.43426377e-01 9.69917826e-01 -1.73482870e-03 -1.02516595e+01] [-7.05509848e-03 1.79277653e-05 9.99975112e-01 -1.80451366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.506559995 meters 0.012054332300972567 Centerline is valid? [True, True] Translation: X:113.15, Y:-10.27, Z:-1.81 [[ 9.68817112e-01 2.47696019e-01 6.33136551e-03 1.13151158e+02] [-2.47690804e-01 9.68837800e-01 -1.60738749e-03 -1.02681487e+01] [-6.53220971e-03 -1.09565039e-05 9.99978665e-01 -1.80655240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.566559995 meters 0.012016127879499797 Centerline is valid? [True, True] Translation: X:113.21, Y:-10.29, Z:-1.81 [[ 9.68238252e-01 2.49947137e-01 6.41219623e-03 1.13211535e+02] [-2.49941827e-01 9.68259484e-01 -1.62946446e-03 -1.02856839e+01] [-6.61594979e-03 -2.49662169e-05 9.99978114e-01 -1.80645651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.626559995 meters 0.012105832073428477 Centerline is valid? [True, True] Translation: X:113.27, Y:-10.30, Z:-1.81 [[ 9.67797772e-01 2.51637009e-01 6.80356806e-03 1.13270872e+02] [-2.51631055e-01 9.67821685e-01 -1.73145932e-03 -1.03037627e+01] [-7.02033995e-03 -3.62865363e-05 9.99975356e-01 -1.80822553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.686559995 meters 0.012070019324528062 Centerline is valid? [True, True] Translation: X:113.33, Y:-10.32, Z:-1.81 [[ 9.67758028e-01 2.51787057e-01 6.90493042e-03 1.13330379e+02] [-2.51780914e-01 9.67782660e-01 -1.75911175e-03 -1.03239649e+01] [-7.12539350e-03 -3.61351740e-05 9.99974613e-01 -1.80813780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.746559995 meters 0.011986644345456729 Centerline is valid? [True, True] Translation: X:113.39, Y:-10.35, Z:-1.81 [[ 9.68287226e-01 2.49754237e-01 6.53221531e-03 1.13389392e+02] [-2.49748682e-01 9.68309259e-01 -1.66587879e-03 -1.03465340e+01] [-6.74126486e-03 -1.83630145e-05 9.99977277e-01 -1.80897695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.806559995 meters 0.011978201905146505 Centerline is valid? [True, True] Translation: X:113.45, Y:-10.37, Z:-1.81 [[ 9.68928465e-01 2.47240991e-01 7.03718734e-03 1.13449312e+02] [-2.47234459e-01 9.68954020e-01 -1.79708821e-03 -1.03671253e+01] [-7.26302483e-03 1.41471087e-06 9.99973624e-01 -1.81009025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.866559995 meters 0.012775871814527206 Centerline is valid? [True, True] Translation: X:113.51, Y:-10.39, Z:-1.81 [[ 9.70732850e-01 2.40049772e-01 7.33762193e-03 1.13505941e+02] [-2.40042439e-01 9.70760580e-01 -1.87735611e-03 -1.03933929e+01] [-7.57373302e-03 6.10705830e-05 9.99971317e-01 -1.81094886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.926559995 meters 0.013720716448785503 Centerline is valid? [True, True] Translation: X:113.56, Y:-10.42, Z:-1.81 [[ 9.72265114e-01 2.33763551e-01 7.42631510e-03 1.13564070e+02] [-2.33755844e-01 9.72293469e-01 -1.90154688e-03 -1.04166382e+01] [-7.66507002e-03 1.12863141e-04 9.99970617e-01 -1.81005955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.986559995 meters 0.01593690694262151 Centerline is valid? [True, True] Translation: X:113.62, Y:-10.44, Z:-1.81 [[ 9.74399890e-01 2.24702939e-01 7.31055122e-03 1.13620535e+02] [-2.24695208e-01 9.74427296e-01 -1.87287138e-03 -1.04422787e+01] [-7.54444036e-03 1.82279842e-04 9.99971524e-01 -1.80979602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.046559995 meters 0.016320850251732247 Centerline is valid? [True, True] Translation: X:113.68, Y:-10.46, Z:-1.81 [[ 9.75382010e-01 2.20421840e-01 6.64434814e-03 1.13678923e+02] [-2.20415355e-01 9.75404621e-01 -1.70212603e-03 -1.04615492e+01] [-6.85611363e-03 1.95706760e-04 9.99976477e-01 -1.81059989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.106559995 meters 0.01717088590867001 Centerline is valid? [True, True] Translation: X:113.74, Y:-10.48, Z:-1.81 [[ 9.75964201e-01 2.17852556e-01 5.84315120e-03 1.13737840e+02] [-2.17847496e-01 9.75981674e-01 -1.49667008e-03 -1.04813137e+01] [-6.02886189e-03 1.87780562e-04 9.99981809e-01 -1.81199551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.166559995 meters 0.01770362543525918 Centerline is valid? [True, True] Translation: X:113.80, Y:-10.50, Z:-1.81 [[ 9.75959820e-01 2.17898989e-01 4.73918912e-03 1.13796628e+02] [-2.17895670e-01 9.75971315e-01 -1.21207022e-03 -1.05005630e+01] [-4.88942151e-03 1.50283045e-04 9.99988035e-01 -1.81361660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.226559995 meters 0.01705538113033899 Centerline is valid? [True, True] Translation: X:113.86, Y:-10.52, Z:-1.81 [[ 9.75109819e-01 2.21667307e-01 4.94434645e-03 1.13856362e+02] [-2.21663725e-01 9.75122344e-01 -1.26789883e-03 -1.05161393e+01] [-5.10239442e-03 1.40358348e-04 9.99986973e-01 -1.81454658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.286559995 meters 0.01597768802349102 Centerline is valid? [True, True] Translation: X:113.92, Y:-10.53, Z:-1.81 [[ 9.74161302e-01 2.25773215e-01 6.01766971e-03 1.13916415e+02] [-2.25767981e-01 9.74179878e-01 -1.54410504e-03 -1.05304933e+01] [-6.21091030e-03 1.45610230e-04 9.99980702e-01 -1.81451333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34655999499999 meters 0.014158858136622302 Centerline is valid? [True, True] Translation: X:113.98, Y:-10.54, Z:-1.81 [[ 9.72460198e-01 2.32958607e-01 7.17296331e-03 1.13976397e+02] [-2.32951360e-01 9.72486644e-01 -1.84136175e-03 -1.05424702e+01] [-7.40457208e-03 1.19699453e-04 9.99972579e-01 -1.81409331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.406559995 meters 0.013472429165157822 Centerline is valid? [True, True] Translation: X:114.04, Y:-10.56, Z:-1.81 [[ 9.71889563e-01 2.35325530e-01 7.25065278e-03 1.14037231e+02] [-2.35318204e-01 9.71916604e-01 -1.85957264e-03 -1.05563221e+01] [-7.48463474e-03 1.01088652e-04 9.99971985e-01 -1.81473270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.466559995 meters 0.0125579222796712 Centerline is valid? [True, True] Translation: X:114.10, Y:-10.57, Z:-1.82 [[ 9.70428727e-01 2.41278794e-01 7.25457101e-03 1.14098277e+02] [-2.41271612e-01 9.70455841e-01 -1.86247057e-03 -1.05675249e+01] [-7.48961546e-03 5.70729032e-05 9.99971951e-01 -1.81641754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.526559995 meters 0.01220956931953452 Centerline is valid? [True, True] Translation: X:114.16, Y:-10.58, Z:-1.82 [[ 9.69578214e-01 2.44686654e-01 6.82119494e-03 1.14159283e+02] [-2.44680379e-01 9.69602207e-01 -1.75270813e-03 -1.05809080e+01] [-7.04270996e-03 3.03750596e-05 9.99975199e-01 -1.81745605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.586559995 meters 0.012054236846802376 Centerline is valid? [True, True] Translation: X:114.22, Y:-10.60, Z:-1.82 [[ 9.69035277e-01 2.46864759e-01 5.33131585e-03 1.14220541e+02] [-2.46860958e-01 9.69049942e-01 -1.37001454e-03 -1.05958811e+01] [-5.50451962e-03 1.14986806e-05 9.99984850e-01 -1.81978520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.646559995 meters 0.01221566660289303 Centerline is valid? [True, True] Translation: X:114.28, Y:-10.61, Z:-1.82 [[ 9.69467014e-01 2.45179766e-01 4.53774123e-03 1.14280319e+02] [-2.45176988e-01 9.69477634e-01 -1.16720686e-03 -1.06132087e+01] [-4.68541414e-03 1.90188195e-05 9.99989023e-01 -1.82155394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.706559995 meters 0.013358109933083404 Centerline is valid? [True, True] Translation: X:114.34, Y:-10.64, Z:-1.82 [[ 9.71474506e-01 2.37104780e-01 4.31358809e-03 1.14338825e+02] [-2.37102177e-01 9.71484081e-01 -1.11252897e-03 -1.06353941e+01] [-4.45436810e-03 5.80324089e-05 9.99990078e-01 -1.82214776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.766559995 meters 0.016666044403246157 Centerline is valid? [True, True] Translation: X:114.40, Y:-10.66, Z:-1.82 [[ 9.74450704e-01 2.24548138e-01 4.89479036e-03 1.14395448e+02] [-2.24544622e-01 9.74462989e-01 -1.26353929e-03 -1.06609391e+01] [-5.05351744e-03 1.32157904e-04 9.99987222e-01 -1.82242643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.826559995 meters 0.018804480256316154 Centerline is valid? [True, True] Translation: X:114.45, Y:-10.68, Z:-1.82 [[ 9.76238629e-01 2.16642015e-01 4.93721353e-03 1.14452831e+02] [-2.16638336e-01 9.76251098e-01 -1.27444272e-03 -1.06813636e+01] [-5.09605797e-03 1.74570493e-04 9.99987000e-01 -1.82321738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.886559995 meters 0.020961761178948417 Centerline is valid? [True, True] Translation: X:114.51, Y:-10.70, Z:-1.82 [[ 9.77253866e-01 2.12024731e-01 4.51606573e-03 1.14511785e+02] [-2.12021604e-01 9.77264284e-01 -1.16578566e-03 -1.06988999e+01] [-4.66056513e-03 1.81765045e-04 9.99989123e-01 -1.82493242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.946559995 meters 0.02123370691958709 Centerline is valid? [True, True] Translation: X:114.57, Y:-10.71, Z:-1.83 [[ 9.76941287e-01 2.13489200e-01 2.84296422e-03 1.14571778e+02] [-2.13487975e-01 9.76945418e-01 -7.31083670e-04 -1.07139742e+01] [-2.93349934e-03 1.07287147e-04 9.99995692e-01 -1.82722596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.006559995 meters 0.020809593128579468 Centerline is valid? [True, True] Translation: X:114.63, Y:-10.73, Z:-1.83 [[ 9.76088735e-01 2.17366604e-01 1.59382192e-03 1.14630910e+02] [-2.17366221e-01 9.76090035e-01 -4.11540619e-04 -1.07274072e+01] [-1.64516888e-03 5.52571149e-05 9.99998645e-01 -1.82885564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.066559995 meters 0.018176309836890753 Centerline is valid? [True, True] Translation: X:114.69, Y:-10.74, Z:-1.83 [[ 9.75372131e-01 2.20557598e-01 1.88479771e-03 1.14692524e+02] [-2.20557069e-01 9.75373950e-01 -4.86576589e-04 -1.07366950e+01] [-1.94570075e-03 5.88877864e-05 9.99998105e-01 -1.82857619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.126559995 meters 0.016086403951841733 Centerline is valid? [True, True] Translation: X:114.75, Y:-10.74, Z:-1.83 [[ 9.74544404e-01 2.24172470e-01 3.14776834e-03 1.14753879e+02] [-2.24171011e-01 9.74549484e-01 -8.13578460e-04 -1.07442725e+01] [-3.25003791e-03 8.72299243e-05 9.99994715e-01 -1.82815441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.186559995 meters 0.017155693769986522 Centerline is valid? [True, True] Translation: X:114.81, Y:-10.76, Z:-1.83 [[ 9.74266603e-01 2.25357820e-01 4.29402165e-03 1.14812857e+02] [-2.25355124e-01 9.74276060e-01 -1.10796022e-03 -1.07601927e+01] [-4.43324999e-03 1.11768858e-04 9.99990167e-01 -1.82926069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.246559995 meters 0.016329200395454394 Centerline is valid? [True, True] Translation: X:114.87, Y:-10.77, Z:-1.83 [[ 9.74437695e-01 2.24581477e-01 5.85992222e-03 1.14874644e+02] [-2.24576428e-01 9.74455302e-01 -1.51422342e-03 -1.07728622e+01] [-6.05029880e-03 1.59515976e-04 9.99981684e-01 -1.82835050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.306559995 meters 0.01719846286597333 Centerline is valid? [True, True] Translation: X:114.94, Y:-10.79, Z:-1.83 [[ 9.74768905e-01 2.23110555e-01 6.87479381e-03 1.14935407e+02] [-2.23103547e-01 9.74793127e-01 -1.77968583e-03 -1.07872222e+01] [-7.09856845e-03 2.00991523e-04 9.99974785e-01 -1.83009340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.366559995 meters 0.018658495820702316 Centerline is valid? [True, True] Translation: X:114.99, Y:-10.80, Z:-1.83 [[ 9.75247317e-01 2.21015653e-01 6.68967434e-03 1.14994219e+02] [-2.21008944e-01 9.75270237e-01 -1.73531601e-03 -1.08018760e+01] [-6.90777228e-03 2.13884421e-04 9.99976118e-01 -1.83257189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.426559995 meters 0.01739606519005101 Centerline is valid? [True, True] Translation: X:115.06, Y:-10.81, Z:-1.83 [[ 9.75671145e-01 2.19152296e-01 6.17154826e-03 1.15055157e+02] [-2.19146561e-01 9.75690642e-01 -1.59898954e-03 -1.08132328e+01] [-6.37194411e-03 2.07614380e-04 9.99979677e-01 -1.83359154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.486559995 meters 0.019312605164907213 Centerline is valid? [True, True] Translation: X:115.11, Y:-10.83, Z:-1.84 [[ 9.75942317e-01 2.17958742e-01 5.53004933e-03 1.15113831e+02] [-2.17954110e-01 9.75957965e-01 -1.43405562e-03 -1.08288210e+01] [-5.70966065e-03 1.94258587e-04 9.99983681e-01 -1.83642192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.546559995 meters 0.018577616929055605 Centerline is valid? [True, True] Translation: X:115.17, Y:-10.84, Z:-1.84 [[ 9.76212669e-01 2.16753133e-01 5.18691059e-03 1.15174603e+02] [-2.16749037e-01 9.76226430e-01 -1.34589368e-03 -1.08409629e+01] [-5.35532588e-03 1.89620591e-04 9.99985642e-01 -1.83742849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.606559995 meters 0.020804619049392025 Centerline is valid? [True, True] Translation: X:115.23, Y:-10.86, Z:-1.84 [[ 9.75975157e-01 2.17807625e-01 5.68608692e-03 1.15233514e+02] [-2.17802709e-01 9.75991699e-01 -1.47753274e-03 -1.08585286e+01] [-5.87139153e-03 2.03590117e-04 9.99982743e-01 -1.83935144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.666559995 meters 0.0185500245732626 Centerline is valid? [True, True] Translation: X:115.29, Y:-10.87, Z:-1.84 [[ 9.75169170e-01 2.21400698e-01 5.17890498e-03 1.15294593e+02] [-2.21396656e-01 9.75182907e-01 -1.34855494e-03 -1.08688831e+01] [-5.34895062e-03 1.68476961e-04 9.99985680e-01 -1.84048376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.726559995 meters 0.01718348756997911 Centerline is valid? [True, True] Translation: X:115.35, Y:-10.88, Z:-1.84 [[ 9.73784720e-01 2.27404225e-01 5.53518459e-03 1.15354685e+02] [-2.27399699e-01 9.73800440e-01 -1.44205130e-03 -1.08797704e+01] [-5.71809375e-03 1.45548214e-04 9.99983641e-01 -1.84183392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.786559995 meters 0.014329498638364163 Centerline is valid? [True, True] Translation: X:115.42, Y:-10.89, Z:-1.84 [[ 9.72605073e-01 2.32364402e-01 6.79389776e-03 1.15415383e+02] [-2.32357705e-01 9.72628791e-01 -1.76998753e-03 -1.08893971e+01] [-7.01922266e-03 1.42884359e-04 9.99975355e-01 -1.84109320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84655999499999 meters 0.01311428394863987 Centerline is valid? [True, True] Translation: X:115.48, Y:-10.90, Z:-1.84 [[ 9.71078106e-01 2.38637539e-01 7.70958143e-03 1.15476100e+02] [-2.38629110e-01 9.71108703e-01 -2.00877901e-03 -1.09006838e+01] [-7.96621170e-03 1.10950759e-04 9.99968263e-01 -1.84138155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.906559995 meters 0.012673040220495741 Centerline is valid? [True, True] Translation: X:115.54, Y:-10.92, Z:-1.84 [[ 9.70460726e-01 2.41105477e-01 8.60983047e-03 1.15536587e+02] [-2.41095068e-01 9.70498912e-01 -2.24255117e-03 -1.09152240e+01] [-8.89652248e-03 1.00520170e-04 9.99960420e-01 -1.84181479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.966559995 meters 0.012586163753334698 Centerline is valid? [True, True] Translation: X:115.60, Y:-10.93, Z:-1.84 [[ 9.70270518e-01 2.41837070e-01 9.48440113e-03 1.15596008e+02] [-2.41824446e-01 9.70316866e-01 -2.47326991e-03 -1.09320100e+01] [-9.80100273e-03 1.06180831e-04 9.99951963e-01 -1.84256795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.026559995 meters 0.012803512439893274 Centerline is valid? [True, True] Translation: X:115.66, Y:-10.95, Z:-1.84 [[ 9.70879283e-01 2.39407097e-01 8.81242917e-03 1.15655664e+02] [-2.39396081e-01 9.70919269e-01 -2.30001041e-03 -1.09504500e+01] [-9.10679611e-03 1.23371449e-04 9.99958525e-01 -1.84350121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.086559995 meters 0.013610130482200064 Centerline is valid? [True, True] Translation: X:115.71, Y:-10.97, Z:-1.84 [[ 9.71579009e-01 2.36554482e-01 8.72961049e-03 1.15714346e+02] [-2.36543534e-01 9.71618214e-01 -2.28082120e-03 -1.09698402e+01] [-9.02138703e-03 1.51065082e-04 9.99959295e-01 -1.84447337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.146559995 meters 0.015162825866084362 Centerline is valid? [True, True] Translation: X:115.77, Y:-10.99, Z:-1.84 [[ 9.72912702e-01 2.31012664e-01 8.60371413e-03 1.15772121e+02] [-2.31001795e-01 9.72950722e-01 -2.24999318e-03 -1.09918377e+01] [-8.89076680e-03 2.01573538e-04 9.99960456e-01 -1.84462454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20655999499999 meters 0.016064085975847305 Centerline is valid? [True, True] Translation: X:115.83, Y:-11.01, Z:-1.85 [[ 9.73786904e-01 2.27302106e-01 8.53332929e-03 1.15831211e+02] [-2.27291243e-01 9.73824264e-01 -2.23474073e-03 -1.10112940e+01] [-8.81792439e-03 2.36610237e-04 9.99961093e-01 -1.84553562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.266559995 meters 0.016961614533843792 Centerline is valid? [True, True] Translation: X:115.89, Y:-11.03, Z:-1.85 [[ 9.74869400e-01 2.22659107e-01 7.25089513e-03 1.15889634e+02] [-2.22651130e-01 9.74896336e-01 -1.89956102e-03 -1.10302911e+01] [-7.49182566e-03 2.37403914e-04 9.99971908e-01 -1.84737449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.326559995 meters 0.01751068094205409 Centerline is valid? [True, True] Translation: X:115.95, Y:-11.05, Z:-1.85 [[ 9.75018090e-01 2.22023844e-01 6.71841324e-03 1.15949174e+02] [-2.22016993e-01 9.75041211e-01 -1.75833737e-03 -1.10474909e+01] [-6.94112260e-03 2.22808838e-04 9.99975885e-01 -1.84869182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.386559995 meters 0.017681331241242656 Centerline is valid? [True, True] Translation: X:116.01, Y:-11.06, Z:-1.85 [[ 9.74882235e-01 2.22648216e-01 5.69212496e-03 1.16010107e+02] [-2.22643306e-01 9.74898834e-01 -1.49027377e-03 -1.10642177e+01] [-5.88105278e-03 1.85527906e-04 9.99982689e-01 -1.85004386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.446559995 meters 0.017623260705873257 Centerline is valid? [True, True] Translation: X:116.07, Y:-11.08, Z:-1.85 [[ 9.74248367e-01 2.25385743e-01 6.43322195e-03 1.16068188e+02] [-2.25379502e-01 9.74269587e-01 -1.68850395e-03 -1.10797594e+01] [-6.64825721e-03 1.95105857e-04 9.99977881e-01 -1.85090890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.506559995 meters 0.015299437582729268 Centerline is valid? [True, True] Translation: X:116.13, Y:-11.09, Z:-1.85 [[ 9.72669497e-01 2.32062907e-01 7.80106748e-03 1.16127781e+02] [-2.32053928e-01 9.72700763e-01 -2.04953715e-03 -1.10904948e+01] [-8.06372584e-03 1.83253918e-04 9.99967471e-01 -1.85082421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.566559995 meters 0.01403004920104784 Centerline is valid? [True, True] Translation: X:116.19, Y:-11.10, Z:-1.85 [[ 9.71102313e-01 2.38527567e-01 8.05593772e-03 1.16187266e+02] [-2.38518217e-01 9.71135717e-01 -2.11623385e-03 -1.11026795e+01] [-8.32818897e-03 1.33591684e-04 9.99965311e-01 -1.85221477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.626559995 meters 0.011214629882801462 Centerline is valid? [True, True] Translation: X:116.25, Y:-11.11, Z:-1.85 [[ 9.68078823e-01 2.50490606e-01 8.82322409e-03 1.16249446e+02] [-2.50479884e-01 9.68119029e-01 -2.31787381e-03 -1.11085450e+01] [-9.12253676e-03 3.38444028e-05 9.99958388e-01 -1.85217673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.686559995 meters 0.011178714330480432 Centerline is valid? [True, True] Translation: X:116.31, Y:-11.12, Z:-1.85 [[ 9.65739887e-01 2.59359904e-01 8.88311414e-03 1.16311538e+02] [-2.59349417e-01 9.65780740e-01 -2.33289812e-03 -1.11190843e+01] [-9.18420078e-03 -5.08577077e-05 9.99957823e-01 -1.85301329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.746559995 meters 0.014245640389942906 Centerline is valid? [True, True] Translation: X:116.37, Y:-11.12, Z:-1.86 [[ 9.62435997e-01 2.71381250e-01 8.31675454e-03 1.16372469e+02] [-2.71372468e-01 9.62471919e-01 -2.18840220e-03 -1.11239038e+01] [-8.59853402e-03 -1.50741154e-04 9.99963021e-01 -1.85555862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.806559995 meters 0.01477478085604743 Centerline is valid? [True, True] Translation: X:116.43, Y:-11.14, Z:-1.86 [[ 9.60448569e-01 2.78353726e-01 7.59932921e-03 1.16431993e+02] [-2.78346613e-01 9.60478613e-01 -1.99950535e-03 -1.11370278e+01] [-7.85556294e-03 -1.94825495e-04 9.99969126e-01 -1.85609799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.866559995 meters 0.018069364321811637 Centerline is valid? [True, True] Translation: X:116.49, Y:-11.15, Z:-1.86 [[ 9.58235676e-01 2.85876891e-01 7.66757898e-03 1.16491504e+02] [-2.85869887e-01 9.58266318e-01 -2.01773429e-03 -1.11466820e+01] [-7.92440629e-03 -2.58464957e-04 9.99968568e-01 -1.85752231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.926559995 meters 0.018395379313076145 Centerline is valid? [True, True] Translation: X:116.55, Y:-11.16, Z:-1.86 [[ 9.57468974e-01 2.88448969e-01 7.09627623e-03 1.16551282e+02] [-2.88443038e-01 9.57495235e-01 -1.86767851e-03 -1.11631427e+01] [-7.33338062e-03 -2.58627252e-04 9.99973077e-01 -1.85828554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.986559995 meters 0.019556378057761854 Centerline is valid? [True, True] Translation: X:116.61, Y:-11.18, Z:-1.86 [[ 9.57208973e-01 2.89330598e-01 6.22791161e-03 1.16610428e+02] [-2.89326056e-01 9.57229205e-01 -1.63793921e-03 -1.11799174e+01] [-6.43544481e-03 -2.34046997e-04 9.99979265e-01 -1.85942170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.046559995 meters 0.018969790607820544 Centerline is valid? [True, True] Translation: X:116.67, Y:-11.20, Z:-1.86 [[ 9.57407676e-01 2.88703663e-01 4.55383335e-03 1.16669798e+02] [-2.88701219e-01 9.57418491e-01 -1.19938191e-03 -1.12004003e+01] [-4.70619021e-03 -1.66399792e-04 9.99988912e-01 -1.86129380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.106559995 meters 0.01902162028935224 Centerline is valid? [True, True] Translation: X:116.73, Y:-11.22, Z:-1.86 [[ 9.57599914e-01 2.88082865e-01 3.26609522e-03 1.16729103e+02] [-2.88081611e-01 9.57605477e-01 -8.58119698e-04 -1.12194603e+01] [-3.37484025e-03 -1.19166624e-04 9.99994298e-01 -1.86337386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.166559995 meters 0.01770077889504551 Centerline is valid? [True, True] Translation: X:116.79, Y:-11.24, Z:-1.87 [[ 9.58388103e-01 2.85460830e-01 2.08760863e-03 1.16787710e+02] [-2.85460309e-01 9.58390375e-01 -5.49799499e-04 -1.12427774e+01] [-2.15769024e-03 -6.90081048e-05 9.99997670e-01 -1.86510496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.226559995 meters 0.016288972253723433 Centerline is valid? [True, True] Translation: X:116.85, Y:-11.27, Z:-1.87 [[ 9.59074811e-01 2.83147098e-01 1.79653736e-03 1.16845792e+02] [-2.83146712e-01 9.59076492e-01 -4.70804427e-04 -1.12653792e+01] [-1.85632366e-03 -5.71469808e-05 9.99998275e-01 -1.86511047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.286559995 meters 0.014870241304929938 Centerline is valid? [True, True] Translation: X:116.90, Y:-11.29, Z:-1.86 [[ 9.60332131e-01 2.78851984e-01 1.94125765e-03 1.16902631e+02] [-2.78851517e-01 9.60334092e-01 -5.12589809e-04 -1.12899489e+01] [-2.00719259e-03 -4.90661770e-05 9.99997984e-01 -1.86492158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34655999499999 meters 0.014106558969969195 Centerline is valid? [True, True] Translation: X:116.96, Y:-11.31, Z:-1.86 [[ 9.61195289e-01 2.75857805e-01 2.46723116e-03 1.16961164e+02] [-2.75857048e-01 9.61198454e-01 -6.48868792e-04 -1.13116043e+01] [-2.55049430e-03 -5.69134789e-05 9.99996746e-01 -1.86458585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.406559995 meters 0.012738356835019832 Centerline is valid? [True, True] Translation: X:117.02, Y:-11.34, Z:-1.86 [[ 9.62738237e-01 2.70420819e-01 2.76918452e-03 1.17018331e+02] [-2.70419831e-01 9.62742218e-01 -7.32287303e-04 -1.13353459e+01] [-2.86403657e-03 -4.38414224e-05 9.99995898e-01 -1.86467906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.466559995 meters 0.011234542643203971 Centerline is valid? [True, True] Translation: X:117.08, Y:-11.36, Z:-1.86 [[ 9.64571171e-01 2.63810348e-01 2.56062284e-03 1.17076357e+02] [-2.63809482e-01 9.64574569e-01 -6.76459264e-04 -1.13612287e+01] [-2.64836862e-03 -2.30234789e-05 9.99996493e-01 -1.86423906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.526559995 meters 0.010853943989718125 Centerline is valid? [True, True] Translation: X:117.14, Y:-11.38, Z:-1.86 [[ 9.65703333e-01 2.59626625e-01 3.32993865e-03 1.17136023e+02] [-2.59625140e-01 9.65709074e-01 -8.78328802e-04 -1.13799398e+01] [-3.44378951e-03 -1.63307373e-05 9.99994070e-01 -1.86343261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.586559995 meters 0.010845204564911072 Centerline is valid? [True, True] Translation: X:117.20, Y:-11.40, Z:-1.86 [[ 9.66171319e-01 2.57878123e-01 3.44316415e-03 1.17196445e+02] [-2.57876522e-01 9.66177454e-01 -9.08838907e-04 -1.13957089e+01] [-3.56107724e-03 -9.81710907e-06 9.99993659e-01 -1.86395333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.646559995 meters 0.011157033523886096 Centerline is valid? [True, True] Translation: X:117.26, Y:-11.41, Z:-1.86 [[ 9.67735750e-01 2.51953854e-01 2.60268977e-03 1.17255847e+02] [-2.51952917e-01 9.67739250e-01 -6.87126917e-04 -1.14139051e+01] [-2.69184932e-03 9.20200245e-06 9.99996377e-01 -1.86428763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70655999499999 meters 0.012153565729803669 Centerline is valid? [True, True] Translation: X:117.31, Y:-11.43, Z:-1.87 [[ 9.69169502e-01 2.46386218e-01 2.07562361e-03 1.17314853e+02] [-2.46385610e-01 9.69171724e-01 -5.47759908e-04 -1.14327059e+01] [-2.14659620e-03 1.94684086e-05 9.99997696e-01 -1.86509259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.766559995 meters 0.015038914101601316 Centerline is valid? [True, True] Translation: X:117.37, Y:-11.45, Z:-1.87 [[ 9.72025256e-01 2.34871598e-01 1.49446275e-03 1.17372404e+02] [-2.34871265e-01 9.72026405e-01 -3.97039002e-04 -1.14523147e+01] [-1.54591044e-03 3.49255807e-05 9.99998804e-01 -1.86617396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.826559995 meters 0.018435540239593828 Centerline is valid? [True, True] Translation: X:117.43, Y:-11.47, Z:-1.87 [[ 9.73696139e-01 2.27846135e-01 1.40283548e-03 1.17429234e+02] [-2.27845835e-01 9.73697149e-01 -3.71987620e-04 -1.14710432e+01] [-1.45069285e-03 4.25726874e-05 9.99998947e-01 -1.86763725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.886559995 meters 0.020913949102192894 Centerline is valid? [True, True] Translation: X:117.49, Y:-11.49, Z:-1.87 [[ 9.75511195e-01 2.19936025e-01 2.46022613e-03 1.17488133e+02] [-2.19935074e-01 9.75514293e-01 -6.54004556e-04 -1.14883317e+01] [-2.54382492e-03 9.68987504e-05 9.99996760e-01 -1.86637491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.946559995 meters 0.02074220905095201 Centerline is valid? [True, True] Translation: X:117.55, Y:-11.50, Z:-1.87 [[ 9.76107233e-01 2.17247663e-01 4.25693741e-03 1.17549158e+02] [-2.17244792e-01 9.76116499e-01 -1.13133317e-03 -1.15001644e+01] [-4.40104633e-03 1.79505010e-04 9.99990299e-01 -1.86581249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.006559995 meters 0.018759233642111163 Centerline is valid? [True, True] Translation: X:117.61, Y:-11.51, Z:-1.87 [[ 9.75680305e-01 2.19133493e-01 5.33420322e-03 1.17610840e+02] [-2.19129008e-01 9.75694863e-01 -1.41848762e-03 -1.15088399e+01] [-5.51539283e-03 2.15111779e-04 9.99984767e-01 -1.86670378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.066559995 meters 0.018425820788599247 Centerline is valid? [True, True] Translation: X:117.67, Y:-11.52, Z:-1.87 [[ 9.73697599e-01 2.27782017e-01 5.32333893e-03 1.17670604e+02] [-2.27777674e-01 9.73712137e-01 -1.41647413e-03 -1.15163604e+01] [-5.50604706e-03 1.66679706e-04 9.99984828e-01 -1.87011694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.126559995 meters 0.012987663974895019 Centerline is valid? [True, True] Translation: X:117.73, Y:-11.52, Z:-1.87 [[ 9.70334082e-01 2.41717075e-01 4.96228716e-03 1.17733958e+02] [-2.41713484e-01 9.70346767e-01 -1.32022528e-03 -1.15153672e+01] [-5.13426030e-03 8.16078740e-05 9.99986816e-01 -1.87107861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.186559995 meters 0.011996166916235507 Centerline is valid? [True, True] Translation: X:117.79, Y:-11.53, Z:-1.87 [[ 9.68950660e-01 2.47205417e-01 4.90927716e-03 1.17794988e+02] [-2.47201985e-01 9.68963095e-01 -1.30361571e-03 -1.15259673e+01] [-5.07916926e-03 4.95562403e-05 9.99987100e-01 -1.87237458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.246559995 meters 0.011422095141751307 Centerline is valid? [True, True] Translation: X:117.86, Y:-11.53, Z:-1.88 [[ 9.64794333e-01 2.62971407e-01 4.23474956e-03 1.17858649e+02] [-2.62969001e-01 9.64803627e-01 -1.12531409e-03 -1.15257985e+01] [-4.38162716e-03 -2.79111993e-05 9.99990400e-01 -1.87593244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.306559995 meters 0.012468237399747947 Centerline is valid? [True, True] Translation: X:117.92, Y:-11.53, Z:-1.88 [[ 9.62503039e-01 2.71252264e-01 3.17953240e-03 1.17921142e+02] [-2.71250946e-01 9.62508289e-01 -8.46784197e-04 -1.15337811e+01] [-3.29001843e-03 -4.74188107e-05 9.99994587e-01 -1.87701751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.366559995 meters 0.01429609713721454 Centerline is valid? [True, True] Translation: X:117.98, Y:-11.54, Z:-1.88 [[ 9.60446115e-01 2.78456175e-01 2.32765745e-03 1.17982295e+02] [-2.78455490e-01 9.60448934e-01 -6.20262551e-04 -1.15426381e+01] [-2.40831206e-03 -5.24202382e-05 9.99997099e-01 -1.87851172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.426559995 meters 0.015513910031774998 Centerline is valid? [True, True] Translation: X:118.04, Y:-11.55, Z:-1.88 [[ 9.59726487e-01 2.80923811e-01 2.62358696e-03 1.18042034e+02] [-2.80922955e-01 9.59730070e-01 -6.96694262e-04 -1.15549579e+01] [-2.71365330e-03 -6.83898638e-05 9.99996316e-01 -1.87932057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.486559995 meters 0.014964144424603669 Centerline is valid? [True, True] Translation: X:118.10, Y:-11.57, Z:-1.88 [[ 9.59711851e-01 2.80968196e-01 3.16788609e-03 1.18102068e+02] [-2.80966944e-01 9.59717076e-01 -8.42516529e-04 -1.15726287e+01] [-3.27699472e-03 -8.14981753e-05 9.99994627e-01 -1.87911293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.546559995 meters 0.014696135889470366 Centerline is valid? [True, True] Translation: X:118.16, Y:-11.59, Z:-1.88 [[ 9.60127527e-01 2.79540691e-01 3.48328907e-03 1.18161937e+02] [-2.79539156e-01 9.60133843e-01 -9.29735671e-04 -1.15910589e+01] [-3.60432267e-03 -8.10508760e-05 9.99993501e-01 -1.88075510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.606559995 meters 0.014863893307258439 Centerline is valid? [True, True] Translation: X:118.22, Y:-11.61, Z:-1.88 [[ 9.60303654e-01 2.78940187e-01 3.04363161e-03 1.18220357e+02] [-2.78939018e-01 9.60308475e-01 -8.10705850e-04 -1.16083047e+01] [-3.14896367e-03 -7.04638216e-05 9.99995040e-01 -1.88302993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.666559995 meters 0.015485126574034313 Centerline is valid? [True, True] Translation: X:118.28, Y:-11.63, Z:-1.89 [[ 9.60028602e-01 2.79891702e-01 2.39126904e-03 1.18278632e+02] [-2.79890984e-01 9.60031579e-01 -6.36782241e-04 -1.16266974e+01] [-2.47392386e-03 -5.79654789e-05 9.99996938e-01 -1.88538632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.726559995 meters 0.0159844868504028 Centerline is valid? [True, True] Translation: X:118.34, Y:-11.64, Z:-1.89 [[ 9.59583690e-01 2.81411704e-01 2.56796103e-03 1.18338451e+02] [-2.81410879e-01 9.59587124e-01 -6.84477613e-04 -1.16447528e+01] [-2.65680235e-03 -6.58386159e-05 9.99996469e-01 -1.88637962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.786559995 meters 0.014776130152173314 Centerline is valid? [True, True] Translation: X:118.40, Y:-11.67, Z:-1.89 [[ 9.59116611e-01 2.82987148e-01 3.68795898e-03 1.18396448e+02] [-2.82985450e-01 9.59123696e-01 -9.85442895e-04 -1.16674200e+01] [-3.81607652e-03 -9.84840809e-05 9.99992714e-01 -1.88569754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84655999499999 meters 0.014983503300866403 Centerline is valid? [True, True] Translation: X:118.45, Y:-11.69, Z:-1.89 [[ 9.59245539e-01 2.82531264e-01 4.90729253e-03 1.18454338e+02] [-2.82528230e-01 9.59258083e-01 -1.31513315e-03 -1.16869546e+01] [-5.07892625e-03 -1.24913064e-04 9.99987094e-01 -1.88602526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.906559995 meters 0.013718660951457571 Centerline is valid? [True, True] Translation: X:118.51, Y:-11.71, Z:-1.89 [[ 9.60295607e-01 2.78914045e-01 6.26915687e-03 1.18511290e+02] [-2.78909001e-01 9.60316061e-01 -1.68272038e-03 -1.17116122e+01] [-6.48970638e-03 -1.32615286e-04 9.99978933e-01 -1.88699120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.966559995 meters 0.012213878810338035 Centerline is valid? [True, True] Translation: X:118.57, Y:-11.74, Z:-1.89 [[ 9.62021176e-01 2.72886181e-01 6.95627650e-03 1.18567999e+02] [-2.72879811e-01 9.62046320e-01 -1.86732644e-03 -1.17387772e+01] [-7.20182779e-03 -1.01819835e-04 9.99974061e-01 -1.88773504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.026559995 meters 0.0111032883510482 Centerline is valid? [True, True] Translation: X:118.62, Y:-11.77, Z:-1.89 [[ 9.63639535e-01 2.67129722e-01 6.36848524e-03 1.18624853e+02] [-2.67124267e-01 9.63660578e-01 -1.70797436e-03 -1.17661416e+01] [-6.59330888e-03 -5.53053353e-05 9.99978262e-01 -1.88888476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.086559995 meters 0.010627635230732336 Centerline is valid? [True, True] Translation: X:118.68, Y:-11.79, Z:-1.89 [[ 9.64535396e-01 2.63848525e-01 7.44486778e-03 1.18683214e+02] [-2.63840953e-01 9.64564127e-01 -1.99926764e-03 -1.17890707e+01] [-7.70855621e-03 -3.58966027e-05 9.99970288e-01 -1.88904311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.146559995 meters 0.010617052953043753 Centerline is valid? [True, True] Translation: X:118.74, Y:-11.81, Z:-1.89 [[ 9.65742008e-01 2.59389116e-01 7.72401618e-03 1.18739396e+02] [-2.59380803e-01 9.65772896e-01 -2.07661969e-03 -1.18139229e+01] [-7.99829802e-03 2.01735159e-06 9.99968013e-01 -1.88928272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20655999499999 meters 0.010522558798287576 Centerline is valid? [True, True] Translation: X:118.80, Y:-11.83, Z:-1.89 [[ 9.65728999e-01 2.59379231e-01 9.48236431e-03 1.18799415e+02] [-2.59366673e-01 9.65775551e-01 -2.55240786e-03 -1.18311365e+01] [-9.81987720e-03 5.52500373e-06 9.99951784e-01 -1.88918805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.266559995 meters 0.010354296147878432 Centerline is valid? [True, True] Translation: X:118.86, Y:-11.85, Z:-1.89 [[ 9.65338334e-01 2.60776449e-01 1.08417882e-02 1.18859712e+02] [-2.60760083e-01 9.65399215e-01 -2.92157981e-03 -1.18478473e+01] [-1.12285330e-02 -6.79259821e-06 9.99936958e-01 -1.88888709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.326559995 meters 0.010203071393914888 Centerline is valid? [True, True] Translation: X:118.92, Y:-11.87, Z:-1.89 [[ 9.65467524e-01 2.60274388e-01 1.13886969e-02 1.18920375e+02] [-2.60256252e-01 9.65534693e-01 -3.07253714e-03 -1.18664017e+01] [-1.17958847e-02 2.45523973e-06 9.99930426e-01 -1.88898455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.386559995 meters 0.010297104192881865 Centerline is valid? [True, True] Translation: X:118.98, Y:-11.88, Z:-1.89 [[ 9.65615705e-01 2.59724830e-01 1.13720198e-02 1.18980180e+02] [-2.59706666e-01 9.65682667e-01 -3.07165436e-03 -1.18829459e+01] [-1.17795473e-02 1.26483435e-05 9.99930619e-01 -1.89022588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.446559995 meters 0.010346018479926064 Centerline is valid? [True, True] Translation: X:119.04, Y:-11.90, Z:-1.89 [[ 9.65666968e-01 2.59591635e-01 9.97449865e-03 1.19041565e+02] [-2.59577631e-01 9.65718480e-01 -2.69640076e-03 -1.18970950e+01] [-1.03325208e-02 1.46684122e-05 9.99946618e-01 -1.89291713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.506559995 meters 0.010226223193826827 Centerline is valid? [True, True] Translation: X:119.10, Y:-11.91, Z:-1.89 [[ 9.65851257e-01 2.58947554e-01 8.80423385e-03 1.19103014e+02] [-2.58936597e-01 9.65891383e-01 -2.38215509e-03 -1.19122941e+01] [-9.12078684e-03 2.10691316e-05 9.99958405e-01 -1.89470557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.566559995 meters 0.01028718534916539 Centerline is valid? [True, True] Translation: X:119.16, Y:-11.93, Z:-1.90 [[ 9.66014543e-01 2.58330051e-01 9.02702228e-03 1.19163816e+02] [-2.58318479e-01 9.66056719e-01 -2.44534566e-03 -1.19285616e+01] [-9.35232180e-03 3.03928068e-05 9.99956266e-01 -1.89554565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.626559995 meters 0.010590513387519453 Centerline is valid? [True, True] Translation: X:119.22, Y:-11.94, Z:-1.90 [[ 9.66683505e-01 2.55786898e-01 9.80125580e-03 1.19224896e+02] [-2.55773091e-01 9.66733189e-01 -2.65841978e-03 -1.19444193e+01] [-1.01551882e-02 6.29530571e-05 9.99948433e-01 -1.89645177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.686559995 meters 0.011235976531294435 Centerline is valid? [True, True] Translation: X:119.28, Y:-11.96, Z:-1.90 [[ 9.67745032e-01 2.51730659e-01 1.00611853e-02 1.19284002e+02] [-2.51715855e-01 9.67797325e-01 -2.73237077e-03 -1.19616003e+01] [-1.04250097e-02 1.11678386e-04 9.99945652e-01 -1.89767644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.746559995 meters 0.012643428769494274 Centerline is valid? [True, True] Translation: X:119.34, Y:-11.98, Z:-1.90 [[ 9.68573053e-01 2.48550240e-01 9.43496093e-03 1.19341867e+02] [-2.48537050e-01 9.68618996e-01 -2.56437987e-03 -1.19806795e+01] [-9.77625961e-03 1.38851892e-04 9.99952202e-01 -1.89961734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.806559995 meters 0.01328290639061159 Centerline is valid? [True, True] Translation: X:119.40, Y:-12.00, Z:-1.90 [[ 9.69812391e-01 2.43710502e-01 8.31371530e-03 1.19400700e+02] [-2.43700063e-01 9.69848010e-01 -2.26196583e-03 -1.19986518e+01] [-8.61430507e-03 1.67629552e-04 9.99962882e-01 -1.90116785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.866559995 meters 0.013958513797315714 Centerline is valid? [True, True] Translation: X:119.46, Y:-12.02, Z:-1.90 [[ 9.70831136e-01 2.39645319e-01 7.55157680e-03 1.19460720e+02] [-2.39636574e-01 9.70860488e-01 -2.05576538e-03 -1.20156709e+01] [-7.82418208e-03 1.86167045e-04 9.99969373e-01 -1.90258281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.926559995 meters 0.014868629696880943 Centerline is valid? [True, True] Translation: X:119.52, Y:-12.03, Z:-1.90 [[ 9.71591147e-01 2.36579382e-01 6.39050163e-03 1.19520577e+02] [-2.36573050e-01 9.71612147e-01 -1.73999532e-03 -1.20332909e+01] [-6.62073602e-03 1.78743582e-04 9.99978067e-01 -1.90377044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.986559995 meters 0.015299706896772814 Centerline is valid? [True, True] Translation: X:119.58, Y:-12.05, Z:-1.91 [[ 9.71854991e-01 2.35520542e-01 5.28692780e-03 1.19580782e+02] [-2.35516202e-01 9.71869359e-01 -1.43781648e-03 -1.20497132e+01] [-5.47683845e-03 1.52191961e-04 9.99984990e-01 -1.90539431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.046559995 meters 0.01616924548154006 Centerline is valid? [True, True] Translation: X:119.64, Y:-12.07, Z:-1.91 [[ 9.71979813e-01 2.35029063e-01 4.07209363e-03 1.19640738e+02] [-2.35026483e-01 9.71988336e-01 -1.10762475e-03 -1.20658712e+01] [-4.21835152e-03 1.19539051e-04 9.99991096e-01 -1.90641129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.106559995 meters 0.01530353712925417 Centerline is valid? [True, True] Translation: X:119.70, Y:-12.08, Z:-1.91 [[ 9.71960987e-01 2.35106376e-01 4.10265497e-03 1.19702272e+02] [-2.35103756e-01 9.71969638e-01 -1.11654084e-03 -1.20806161e+01] [-4.25016194e-03 1.20684547e-04 9.99990961e-01 -1.90666422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.166559995 meters 0.015209054406183288 Centerline is valid? [True, True] Translation: X:119.76, Y:-12.09, Z:-1.91 [[ 9.71696546e-01 2.36192165e-01 4.36853610e-03 1.19762966e+02] [-2.36189195e-01 9.71706358e-01 -1.19098345e-03 -1.20946244e+01] [-4.52623526e-03 1.25473476e-04 9.99989749e-01 -1.90630849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.226559995 meters 0.015344228447581754 Centerline is valid? [True, True] Translation: X:119.82, Y:-12.11, Z:-1.91 [[ 9.71265849e-01 2.37955022e-01 4.47863070e-03 1.19823822e+02] [-2.37951905e-01 9.71276167e-01 -1.22417758e-03 -1.21097982e+01] [-4.64128646e-03 1.23303168e-04 9.99989222e-01 -1.90708609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.286559995 meters 0.014713739341638424 Centerline is valid? [True, True] Translation: X:119.88, Y:-12.12, Z:-1.91 [[ 9.70883522e-01 2.39501889e-01 4.90228769e-03 1.19884715e+02] [-2.39498171e-01 9.70895890e-01 -1.34057277e-03 -1.21244804e+01] [-5.08068068e-03 1.27451074e-04 9.99987085e-01 -1.90728925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34655999499999 meters 0.015341816104611904 Centerline is valid? [True, True] Translation: X:119.94, Y:-12.14, Z:-1.91 [[ 9.70411729e-01 2.41402745e-01 5.07845735e-03 1.19944037e+02] [-2.41398786e-01 9.70425010e-01 -1.38777547e-03 -1.21397425e+01] [-5.26327483e-03 1.20780154e-04 9.99986142e-01 -1.90854747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.406559995 meters 0.013921731963542296 Centerline is valid? [True, True] Translation: X:120.00, Y:-12.15, Z:-1.91 [[ 9.69779985e-01 2.43942672e-01 4.33059467e-03 1.20004952e+02] [-2.43939818e-01 9.69789649e-01 -1.18367857e-03 -1.21518117e+01] [-4.48851560e-03 9.15033128e-05 9.99989922e-01 -1.90905918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.466559995 meters 0.013436679500612121 Centerline is valid? [True, True] Translation: X:120.07, Y:-12.17, Z:-1.91 [[ 9.69503960e-01 2.45033756e-01 4.53099417e-03 1.20065886e+02] [-2.45030628e-01 9.69514543e-01 -1.24164631e-03 -1.21664999e+01] [-4.69711001e-03 9.35486672e-05 9.99988964e-01 -1.90896114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.526559995 meters 0.013918531553594382 Centerline is valid? [True, True] Translation: X:120.13, Y:-12.18, Z:-1.91 [[ 9.69555343e-01 2.44825484e-01 4.78738489e-03 1.20126997e+02] [-2.44821998e-01 9.69567157e-01 -1.31028600e-03 -1.21831687e+01] [-4.96248257e-03 9.83376642e-05 9.99987682e-01 -1.90990310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.586559995 meters 0.014267335987592474 Centerline is valid? [True, True] Translation: X:120.19, Y:-12.20, Z:-1.91 [[ 9.70307465e-01 2.41823663e-01 4.97392721e-03 1.20186492e+02] [-2.41819849e-01 9.70320206e-01 -1.36354629e-03 -1.21989613e+01] [-5.15603984e-03 1.20264820e-04 9.99986700e-01 -1.91028707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.646559995 meters 0.016127814717386477 Centerline is valid? [True, True] Translation: X:120.24, Y:-12.22, Z:-1.91 [[ 9.71715944e-01 2.36061958e-01 6.54800818e-03 1.20244296e+02] [-2.36055183e-01 9.71737985e-01 -1.79991873e-03 -1.22176737e+01] [-6.78784061e-03 2.03318453e-04 9.99976942e-01 -1.91052023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70655999499999 meters 0.018924758741014333 Centerline is valid? [True, True] Translation: X:120.30, Y:-12.24, Z:-1.91 [[ 9.72868972e-01 2.31251674e-01 6.97329379e-03 1.20300818e+02] [-2.31243865e-01 9.72893930e-01 -1.91713024e-03 -1.22377857e+01] [-7.22761478e-03 2.52585115e-04 9.99973849e-01 -1.91224716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.766559995 meters 0.01906476575482081 Centerline is valid? [True, True] Translation: X:120.36, Y:-12.25, Z:-1.91 [[ 9.74373677e-01 2.24829647e-01 6.89692753e-03 1.20359276e+02] [-2.24821849e-01 9.74398041e-01 -1.89585070e-03 -1.22540746e+01] [-7.14659611e-03 2.96687016e-04 9.99974419e-01 -1.91242364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.826559995 meters 0.021713927871847442 Centerline is valid? [True, True] Translation: X:120.42, Y:-12.27, Z:-1.91 [[ 9.75196453e-01 2.21245608e-01 6.50072590e-03 1.20417085e+02] [-2.21238598e-01 9.75218072e-01 -1.78726519e-03 -1.22714500e+01] [-6.73504995e-03 3.04723190e-04 9.99977273e-01 -1.91418726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.886559995 meters 0.02164115821913674 Centerline is valid? [True, True] Translation: X:120.48, Y:-12.29, Z:-1.92 [[ 9.75316031e-01 2.20718880e-01 6.46653385e-03 1.20477229e+02] [-2.20711946e-01 9.75337420e-01 -1.77584083e-03 -1.22862065e+01] [-6.69901404e-03 3.04764758e-04 9.99977515e-01 -1.91546981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.946559995 meters 0.022007482399432288 Centerline is valid? [True, True] Translation: X:120.54, Y:-12.30, Z:-1.92 [[ 9.75056894e-01 2.21840096e-01 7.14317427e-03 1.20538326e+02] [-2.21831638e-01 9.75083003e-01 -1.96532745e-03 -1.23000311e+01] [-7.40117624e-03 3.31724028e-04 9.99972556e-01 -1.91664183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.006559995 meters 0.020216449241192876 Centerline is valid? [True, True] Translation: X:120.60, Y:-12.31, Z:-1.92 [[ 9.74198562e-01 2.25525784e-01 8.67650217e-03 1.20599204e+02] [-2.25513437e-01 9.74237129e-01 -2.38879333e-03 -1.23079056e+01] [-8.99170505e-03 3.70491206e-04 9.99959505e-01 -1.91662990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.066559995 meters 0.020726047493738034 Centerline is valid? [True, True] Translation: X:120.66, Y:-12.32, Z:-1.92 [[ 9.73320567e-01 2.29219511e-01 1.02707970e-02 1.20657969e+02] [-2.29202411e-01 9.73374674e-01 -2.82805388e-03 -1.23201926e+01] [-1.06455788e-02 3.98511572e-04 9.99943255e-01 -1.91671553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.126559995 meters 0.01730118756914877 Centerline is valid? [True, True] Translation: X:120.72, Y:-12.32, Z:-1.92 [[ 9.71782625e-01 2.35601549e-01 1.14210508e-02 1.20719528e+02] [-2.35580843e-01 9.71849668e-01 -3.14482152e-03 -1.23244154e+01] [-1.18404692e-02 3.65502132e-04 9.99929832e-01 -1.91632142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.186559995 meters 0.014136846962520166 Centerline is valid? [True, True] Translation: X:120.78, Y:-12.33, Z:-1.92 [[ 9.70223205e-01 2.41939942e-01 1.14890240e-02 1.20781983e+02] [-2.41919433e-01 9.70291183e-01 -3.16346549e-03 -1.23264012e+01] [-1.19130674e-02 2.89849443e-04 9.99928995e-01 -1.91779606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.246559995 meters 0.013862640185644143 Centerline is valid? [True, True] Translation: X:120.84, Y:-12.34, Z:-1.92 [[ 9.69187961e-01 2.46054754e-01 1.14784699e-02 1.20841617e+02] [-2.46034568e-01 9.69255901e-01 -3.16077997e-03 -1.23360363e+01] [-1.19032996e-02 2.39289518e-04 9.99929125e-01 -1.91926646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.306559995 meters 0.012185256370298917 Centerline is valid? [True, True] Translation: X:120.90, Y:-12.34, Z:-1.92 [[ 9.68207195e-01 2.49912946e-01 1.08787527e-02 1.20904931e+02] [-2.49895059e-01 9.68268293e-01 -2.99548483e-03 -1.23423421e+01] [-1.12821617e-02 1.81703420e-04 9.99936338e-01 -1.92107312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.366559995 meters 0.012319665221761708 Centerline is valid? [True, True] Translation: X:120.97, Y:-12.35, Z:-1.92 [[ 9.68124641e-01 2.50294732e-01 9.33947891e-03 1.20966688e+02] [-2.50281573e-01 9.68169677e-01 -2.57108497e-03 -1.23544152e+01] [-9.68572930e-03 1.51631248e-04 9.99953081e-01 -1.92403311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.426559995 meters 0.013132765767999204 Centerline is valid? [True, True] Translation: X:121.03, Y:-12.37, Z:-1.93 [[ 9.68600471e-01 2.48455510e-01 9.10973776e-03 1.21026991e+02] [-2.48442881e-01 9.68643294e-01 -2.51078833e-03 -1.23698425e+01] [-9.44790559e-03 1.68701264e-04 9.99955353e-01 -1.92579442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.486559995 meters 0.01489894559804734 Centerline is valid? [True, True] Translation: X:121.09, Y:-12.39, Z:-1.93 [[ 9.69724028e-01 2.44078761e-01 7.80175764e-03 1.21085340e+02] [-2.44069331e-01 9.69755394e-01 -2.15347311e-03 -1.23865071e+01] [-8.09141361e-03 1.84104857e-04 9.99967247e-01 -1.92773148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.546559995 meters 0.01499003182758961 Centerline is valid? [True, True] Translation: X:121.15, Y:-12.40, Z:-1.93 [[ 9.70549065e-01 2.40770087e-01 8.01735428e-03 1.21145398e+02] [-2.40760015e-01 9.70582154e-01 -2.21301460e-03 -1.24016040e+01] [-8.31432870e-03 2.17580915e-04 9.99965412e-01 -1.92793565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.606559995 meters 0.017225819032578756 Centerline is valid? [True, True] Translation: X:121.20, Y:-12.42, Z:-1.93 [[ 9.71884131e-01 2.35288074e-01 8.98651494e-03 1.21202951e+02] [-2.35275178e-01 9.71925632e-01 -2.48129825e-03 -1.24190752e+01] [-9.31804410e-03 2.97230499e-04 9.99956542e-01 -1.92840074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.666559995 meters 0.01978487042035761 Centerline is valid? [True, True] Translation: X:121.26, Y:-12.44, Z:-1.93 [[ 9.72988779e-01 2.30664948e-01 9.30146136e-03 1.21260739e+02] [-2.30650909e-01 9.73033173e-01 -2.56952074e-03 -1.24365901e+01] [-9.64332883e-03 3.54724335e-04 9.99953439e-01 -1.92951240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.726559995 meters 0.019958644784009345 Centerline is valid? [True, True] Translation: X:121.32, Y:-12.45, Z:-1.93 [[ 9.73235312e-01 2.29642778e-01 8.78757670e-03 1.21321116e+02] [-2.29630218e-01 9.73274924e-01 -2.42614773e-03 -1.24518347e+01] [-9.10987534e-03 3.43319494e-04 9.99958445e-01 -1.93064437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.786559995 meters 0.01843383192726201 Centerline is valid? [True, True] Translation: X:121.38, Y:-12.46, Z:-1.93 [[ 9.73135952e-01 2.30091785e-01 8.01189458e-03 1.21382867e+02] [-2.30081348e-01 9.73168883e-01 -2.21338161e-03 -1.24631656e+01] [-8.30620742e-03 3.10533711e-04 9.99965455e-01 -1.93142552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84655999499999 meters 0.01796374220513498 Centerline is valid? [True, True] Translation: X:121.44, Y:-12.48, Z:-1.93 [[ 9.72561593e-01 2.32534385e-01 7.19083854e-03 1.21443758e+02] [-2.32526029e-01 9.72588141e-01 -1.98858538e-03 -1.24759501e+01] [-7.45613877e-03 2.61964634e-04 9.99972168e-01 -1.93356438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.906559995 meters 0.0177637766976522 Centerline is valid? [True, True] Translation: X:121.50, Y:-12.49, Z:-1.93 [[ 9.72339182e-01 2.33460086e-01 7.27346942e-03 1.21504604e+02] [-2.33451538e-01 9.72366351e-01 -2.01477260e-03 -1.24910837e+01] [-7.54284590e-03 2.61039716e-04 9.99971518e-01 -1.93486657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.966559995 meters 0.017332419059188392 Centerline is valid? [True, True] Translation: X:121.57, Y:-12.51, Z:-1.94 [[ 9.71980084e-01 2.34902533e-01 8.69002664e-03 1.21565724e+02] [-2.34890379e-01 9.72018884e-01 -2.40826827e-03 -1.25051337e+01] [-9.01257831e-03 2.99585140e-04 9.99959341e-01 -1.93520972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.026559995 meters 0.016919594275823485 Centerline is valid? [True, True] Translation: X:121.63, Y:-12.52, Z:-1.94 [[ 9.71825324e-01 2.35525954e-01 9.11393844e-03 1.21625908e+02] [-2.35512614e-01 9.71868011e-01 -2.52562044e-03 -1.25204080e+01] [-9.45239438e-03 3.08014445e-04 9.99955278e-01 -1.93608396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.086559995 meters 0.016463804263825564 Centerline is valid? [True, True] Translation: X:121.69, Y:-12.54, Z:-1.94 [[ 9.71350649e-01 2.37437524e-01 1.00666670e-02 1.21686158e+02] [-2.37421319e-01 9.71402758e-01 -2.79274946e-03 -1.25351221e+01] [-1.04418916e-02 3.22697645e-04 9.99945430e-01 -1.93667142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.146559995 meters 0.015528477248679128 Centerline is valid? [True, True] Translation: X:121.75, Y:-12.55, Z:-1.94 [[ 9.70243236e-01 2.41847858e-01 1.17335355e-02 1.21746333e+02] [-2.41826108e-01 9.70314128e-01 -3.25974969e-03 -1.25483820e+01] [-1.21735788e-02 3.25274874e-04 9.99925846e-01 -1.93703051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20655999499999 meters 0.0147732679350561 Centerline is valid? [True, True] Translation: X:121.81, Y:-12.56, Z:-1.94 [[ 9.69058862e-01 2.46509070e-01 1.25777894e-02 1.21805363e+02] [-2.46484457e-01 9.69140442e-01 -3.49518031e-03 -1.25614171e+01] [-1.30512380e-02 2.86805878e-04 9.99914788e-01 -1.93812052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.266559995 meters 0.012203200011348489 Centerline is valid? [True, True] Translation: X:121.87, Y:-12.57, Z:-1.94 [[ 9.66109979e-01 2.57792779e-01 1.32057160e-02 1.21866246e+02] [-2.57766694e-01 9.66200219e-01 -3.66992679e-03 -1.25690087e+01] [-1.37054464e-02 1.41559136e-04 9.99906066e-01 -1.93985260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.326559995 meters 0.011520368697706373 Centerline is valid? [True, True] Translation: X:121.93, Y:-12.58, Z:-1.94 [[ 9.64758057e-01 2.62825076e-01 1.28402273e-02 1.21926904e+02] [-2.62800864e-01 9.64843498e-01 -3.56808305e-03 -1.25820767e+01] [-1.33265915e-02 6.79140470e-05 9.99911195e-01 -1.94155604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.386559995 meters 0.011237538925341023 Centerline is valid? [True, True] Translation: X:121.99, Y:-12.60, Z:-1.94 [[ 9.63671457e-01 2.66814592e-01 1.21365888e-02 1.21987402e+02] [-2.66793241e-01 9.63747879e-01 -3.37541522e-03 -1.25961747e+01] [-1.25972217e-02 1.48314524e-05 9.99920652e-01 -1.94351382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.446559995 meters 0.011222429712648531 Centerline is valid? [True, True] Translation: X:122.05, Y:-12.61, Z:-1.95 [[ 9.62782340e-01 2.69992657e-01 1.24149482e-02 1.22046878e+02] [-2.69970535e-01 9.62862381e-01 -3.45618114e-03 -1.26119424e+01] [-1.28870301e-02 -2.41200473e-05 9.99916958e-01 -1.94560139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.506559995 meters 0.01123195560870068 Centerline is valid? [True, True] Translation: X:122.11, Y:-12.63, Z:-1.95 [[ 9.62773019e-01 2.70022779e-01 1.24824740e-02 1.22106187e+02] [-2.70000373e-01 9.62853934e-01 -3.47852640e-03 -1.26295939e+01] [-1.29580806e-02 -2.12412820e-05 9.99916040e-01 -1.94695226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.566559995 meters 0.01136506567140816 Centerline is valid? [True, True] Translation: X:122.17, Y:-12.65, Z:-1.95 [[ 9.63565694e-01 2.67206373e-01 1.19124633e-02 1.22165728e+02] [-2.67185714e-01 9.63639328e-01 -3.32269008e-03 -1.26519228e+01] [-1.23671621e-02 1.87901627e-05 9.99923524e-01 -1.94813654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.626559995 meters 0.01185794371478808 Centerline is valid? [True, True] Translation: X:122.22, Y:-12.67, Z:-1.95 [[ 9.64893017e-01 2.62380094e-01 1.17537820e-02 1.22223259e+02] [-2.62359579e-01 9.64964600e-01 -3.28205657e-03 -1.26748517e+01] [-1.22031299e-02 8.31161568e-05 9.99925536e-01 -1.94941033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.686559995 meters 0.012456496409798266 Centerline is valid? [True, True] Translation: X:122.28, Y:-12.70, Z:-1.95 [[ 9.65684661e-01 2.59453336e-01 1.17090140e-02 1.22281157e+02] [-2.59432727e-01 9.65755638e-01 -3.27241931e-03 -1.26957400e+01] [-1.21570864e-02 1.22423709e-04 9.99926092e-01 -1.95048763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.746559995 meters 0.013027278660402005 Centerline is valid? [True, True] Translation: X:122.34, Y:-12.72, Z:-1.95 [[ 9.66713075e-01 2.55577518e-01 1.20815250e-02 1.22339177e+02] [-2.55555237e-01 9.66788550e-01 -3.37946926e-03 -1.27178895e+01] [-1.25439964e-02 1.79480127e-04 9.99921305e-01 -1.95156682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.806559995 meters 0.01537361533688041 Centerline is valid? [True, True] Translation: X:122.40, Y:-12.74, Z:-1.95 [[ 9.67780692e-01 2.51493439e-01 1.23118374e-02 1.22395689e+02] [-2.51469922e-01 9.67858973e-01 -3.44763125e-03 -1.27435731e+01] [-1.27831790e-02 2.40494157e-04 9.99918263e-01 -1.95251595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.866559995 meters 0.014623106080140946 Centerline is valid? [True, True] Translation: X:122.45, Y:-12.76, Z:-1.95 [[ 9.68487561e-01 2.48750525e-01 1.24506940e-02 1.22454628e+02] [-2.48726231e-01 9.68567549e-01 -3.48780956e-03 -1.27633762e+01] [-1.29269326e-02 2.81085998e-04 9.99916404e-01 -1.95260873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.926559995 meters 0.014859443775881777 Centerline is valid? [True, True] Translation: X:122.51, Y:-12.78, Z:-1.95 [[ 9.68521190e-01 2.48630568e-01 1.22288992e-02 1.22514781e+02] [-2.48607083e-01 9.68598349e-01 -3.42874408e-03 -1.27834650e+01] [-1.26973822e-02 2.80620317e-04 9.99919346e-01 -1.95375425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.986559995 meters 0.014608457786171517 Centerline is valid? [True, True] Translation: X:122.57, Y:-12.80, Z:-1.95 [[ 9.68228720e-01 2.49785311e-01 1.18508934e-02 1.22573457e+02] [-2.49763298e-01 9.68301209e-01 -3.32633422e-03 -1.28040639e+01] [-1.23061039e-02 2.60734093e-04 9.99924243e-01 -1.95475172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.046559995 meters 0.014439558777433718 Centerline is valid? [True, True] Translation: X:122.63, Y:-12.82, Z:-1.96 [[ 9.67787530e-01 2.51507177e-01 1.14646078e-02 1.22632219e+02] [-2.51486661e-01 9.67855405e-01 -3.22083207e-03 -1.28231448e+01] [-1.19061450e-02 2.33885185e-04 9.99929092e-01 -1.95585783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.106559995 meters 0.013700064266446477 Centerline is valid? [True, True] Translation: X:122.69, Y:-12.84, Z:-1.96 [[ 9.67020632e-01 2.54446303e-01 1.13215073e-02 1.22691618e+02] [-2.54426455e-01 9.67086883e-01 -3.18423577e-03 -1.28430883e+01] [-1.17590983e-02 1.98730707e-04 9.99930840e-01 -1.95605711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.166559995 meters 0.014048083295327413 Centerline is valid? [True, True] Translation: X:122.75, Y:-12.86, Z:-1.96 [[ 9.66141193e-01 2.57780593e-01 1.09708718e-02 1.22749403e+02] [-2.57762167e-01 9.66203468e-01 -3.08598112e-03 -1.28641826e+01] [-1.13956005e-02 1.53617782e-04 9.99935056e-01 -1.95754941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.226559995 meters 0.012687476504559923 Centerline is valid? [True, True] Translation: X:122.81, Y:-12.88, Z:-1.96 [[ 9.65353458e-01 2.60723875e-01 1.07593333e-02 1.22809684e+02] [-2.60706307e-01 9.65413407e-01 -3.02892511e-03 -1.28804612e+01] [-1.11769178e-02 1.18957269e-04 9.99937529e-01 -1.95763398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.286559995 meters 0.01230025386492156 Centerline is valid? [True, True] Translation: X:122.87, Y:-12.90, Z:-1.96 [[ 9.63841075e-01 2.66282981e-01 1.01861289e-02 1.22867753e+02] [-2.66267517e-01 9.63894896e-01 -2.87018338e-03 -1.28987168e+01] [-1.05826386e-02 5.41653865e-05 9.99944001e-01 -1.95963586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34655999499999 meters 0.011916485920511012 Centerline is valid? [True, True] Translation: X:122.93, Y:-12.92, Z:-1.96 [[ 9.62860817e-01 2.69816778e-01 9.89710083e-03 1.22926834e+02] [-2.69802344e-01 9.62911681e-01 -2.79093685e-03 -1.29166224e+01] [-1.02830756e-02 1.70227306e-05 9.99947128e-01 -1.96045716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.406559995 meters 0.012095869592073254 Centerline is valid? [True, True] Translation: X:122.99, Y:-12.94, Z:-1.96 [[ 9.62630561e-01 2.70652911e-01 9.45544761e-03 1.22985192e+02] [-2.70639755e-01 9.62676997e-01 -2.66865490e-03 -1.29364245e+01] [-9.82482113e-03 9.90874389e-06 9.99951735e-01 -1.96233380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.466559995 meters 0.012212370362420965 Centerline is valid? [True, True] Translation: X:123.04, Y:-12.96, Z:-1.96 [[ 9.63175469e-01 2.68725024e-01 8.93745979e-03 1.23043872e+02] [-2.68713166e-01 9.63216933e-01 -2.52466049e-03 -1.29614442e+01] [-9.28715206e-03 3.00779392e-05 9.99956873e-01 -1.96328181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.526559995 meters 0.012486142924637175 Centerline is valid? [True, True] Translation: X:123.10, Y:-12.98, Z:-1.96 [[ 9.63960232e-01 2.65911066e-01 8.48392236e-03 1.23101830e+02] [-2.65900250e-01 9.63997563e-01 -2.39904623e-03 -1.29842979e+01] [-8.81641343e-03 5.67080858e-05 9.99961133e-01 -1.96396024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.586559995 meters 0.013449460347548176 Centerline is valid? [True, True] Translation: X:123.16, Y:-13.01, Z:-1.96 [[ 9.65663290e-01 2.59643490e-01 8.92571903e-03 1.23158423e+02] [-2.59631225e-01 9.65704532e-01 -2.52658382e-03 -1.30118496e+01] [-9.27561836e-03 1.22433881e-04 9.99956973e-01 -1.96463732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.646559995 meters 0.015259792382459478 Centerline is valid? [True, True] Translation: X:123.21, Y:-13.04, Z:-1.97 [[ 9.67275539e-01 2.53568392e-01 9.00569045e-03 1.23213751e+02] [-2.53555619e-01 9.67317443e-01 -2.55184152e-03 -1.30406171e+01] [-9.35842782e-03 1.84890469e-04 9.99956192e-01 -1.96551360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70655999499999 meters 0.016283648008841963 Centerline is valid? [True, True] Translation: X:123.27, Y:-13.06, Z:-1.97 [[ 9.68017151e-01 2.50777812e-01 7.29961883e-03 1.23271984e+02] [-2.50769322e-01 9.68044657e-01 -2.07087096e-03 -1.30642187e+01] [-7.58568550e-03 1.74118137e-04 9.99971213e-01 -1.96818568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.766559995 meters 0.016022850861854628 Centerline is valid? [True, True] Translation: X:123.33, Y:-13.09, Z:-1.97 [[ 9.68505317e-01 2.48895000e-01 6.98067013e-03 1.23330120e+02] [-2.48887195e-01 9.68530457e-01 -1.97923907e-03 -1.30874404e+01] [-7.25361434e-03 1.79504149e-04 9.99973676e-01 -1.96878019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.826559995 meters 0.01660951905545221 Centerline is valid? [True, True] Translation: X:123.39, Y:-13.11, Z:-1.97 [[ 9.68394455e-01 2.49313294e-01 7.42027761e-03 1.23387404e+02] [-2.49304468e-01 9.68422865e-01 -2.10633034e-03 -1.31105221e+01] [-7.71110266e-03 1.89850261e-04 9.99970251e-01 -1.96988906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.886559995 meters 0.015535197241342242 Centerline is valid? [True, True] Translation: X:123.45, Y:-13.13, Z:-1.97 [[ 9.67087034e-01 2.54303869e-01 8.49768742e-03 1.23447054e+02] [-2.54292452e-01 9.67124352e-01 -2.41610037e-03 -1.31270219e+01] [-8.83274411e-03 1.75681574e-04 9.99960975e-01 -1.97013096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.946559995 meters 0.014907848506844356 Centerline is valid? [True, True] Translation: X:123.51, Y:-13.14, Z:-1.97 [[ 9.66500547e-01 2.56515995e-01 8.73139011e-03 1.23507281e+02] [-2.56504039e-01 9.66539973e-01 -2.48170935e-03 -1.31434519e+01] [-9.07583570e-03 1.58936618e-04 9.99958801e-01 -1.97074587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.006559995 meters 0.01424564606243626 Centerline is valid? [True, True] Translation: X:123.57, Y:-13.16, Z:-1.97 [[ 9.65268759e-01 2.61082512e-01 9.59921401e-03 1.23566170e+02] [-2.61068251e-01 9.65316479e-01 -2.73194388e-03 -1.31601850e+01] [-9.97954224e-03 1.31010062e-04 9.99950195e-01 -1.97013099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.066559995 meters 0.01351556658757485 Centerline is valid? [True, True] Translation: X:123.63, Y:-13.17, Z:-1.97 [[ 9.64207145e-01 2.64988808e-01 9.24736647e-03 1.23627145e+02] [-2.64975747e-01 9.64251484e-01 -2.63238969e-03 -1.31736248e+01] [-9.61434065e-03 8.78411046e-05 9.99953777e-01 -1.97032224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.126559995 meters 0.013121364394081483 Centerline is valid? [True, True] Translation: X:123.69, Y:-13.19, Z:-1.97 [[ 9.63078423e-01 2.69098696e-01 8.11435784e-03 1.23687939e+02] [-2.69088771e-01 9.63112605e-01 -2.31152951e-03 -1.31874948e+01] [-8.43706989e-03 4.27016173e-05 9.99964406e-01 -1.97091619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.186559995 meters 0.013030604359188413 Centerline is valid? [True, True] Translation: X:123.75, Y:-13.20, Z:-1.97 [[ 9.62420605e-01 2.71467730e-01 7.20071016e-03 1.23748827e+02] [-2.71459972e-01 9.62447542e-01 -2.05242108e-03 -1.32029829e+01] [-7.48747189e-03 2.05877603e-05 9.99971968e-01 -1.97205200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.246559995 meters 0.013144106357404125 Centerline is valid? [True, True] Translation: X:123.81, Y:-13.22, Z:-1.97 [[ 9.61901725e-01 2.73325029e-01 6.20490159e-03 1.23809631e+02] [-2.73319298e-01 9.61921737e-01 -1.76986487e-03 -1.32187258e+01] [-6.45237809e-03 6.51672302e-06 9.99979183e-01 -1.97374811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.306559995 meters 0.013377565437039796 Centerline is valid? [True, True] Translation: X:123.87, Y:-13.24, Z:-1.98 [[ 9.61916012e-01 2.73301654e-01 4.87768841e-03 1.23869612e+02] [-2.73298108e-01 9.61928379e-01 -1.39221076e-03 -1.32360808e+01] [-5.07248040e-03 6.12680824e-06 9.99987135e-01 -1.97521113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.366559995 meters 0.013581401146098418 Centerline is valid? [True, True] Translation: X:123.93, Y:-13.25, Z:-1.98 [[ 9.62208325e-01 2.72281358e-01 4.24289560e-03 1.23929121e+02] [-2.72278663e-01 9.62217679e-01 -1.21145907e-03 -1.32549178e+01] [-4.41244687e-03 1.04260661e-05 9.99990265e-01 -1.97610928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.426559995 meters 0.013498051441575646 Centerline is valid? [True, True] Translation: X:123.99, Y:-13.27, Z:-1.98 [[ 9.62611556e-01 2.70856715e-01 3.95378085e-03 1.23988953e+02] [-2.70854361e-01 9.62619676e-01 -1.12937601e-03 -1.32730822e+01] [-4.11188631e-03 1.62516188e-05 9.99991546e-01 -1.97545521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.486559995 meters 0.013669459501324087 Centerline is valid? [True, True] Translation: X:124.05, Y:-13.29, Z:-1.98 [[ 9.62936508e-01 2.69706464e-01 3.42120326e-03 1.24048020e+02] [-2.69704691e-01 9.62942585e-01 -9.78183123e-04 -1.32917775e+01] [-3.55824462e-03 1.92136723e-05 9.99993669e-01 -1.97706058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.546559995 meters 0.014316169012069698 Centerline is valid? [True, True] Translation: X:124.11, Y:-13.31, Z:-1.98 [[ 9.64165315e-01 2.65278292e-01 3.55995085e-03 1.24105408e+02] [-2.65276333e-01 9.64171886e-01 -1.02045167e-03 -1.33139921e+01] [-3.70310820e-03 3.95133968e-05 9.99993143e-01 -1.97747826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.606559995 meters 0.015061733934588078 Centerline is valid? [True, True] Translation: X:124.16, Y:-13.33, Z:-1.98 [[ 9.65367125e-01 2.60882815e-01 2.54379851e-03 1.24164057e+02] [-2.60881803e-01 9.65370476e-01 -7.27609787e-04 -1.33333493e+01] [-2.64552887e-03 3.87798255e-05 9.99996500e-01 -1.97844169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.666559995 meters 0.015061733934588078 Centerline is valid? [True, True] Translation: X:124.22, Y:-13.35, Z:-1.98 [[ 9.65294682e-01 2.61150734e-01 2.54382374e-03 1.24224024e+02] [-2.61149724e-01 9.65298033e-01 -7.27523862e-04 -1.33506689e+01] [-2.64554145e-03 3.79560469e-05 9.99996500e-01 -1.97943281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.726559995 meters 0.015134442121276046 Centerline is valid? [True, True] Translation: X:124.28, Y:-13.37, Z:-1.98 [[ 9.65413743e-01 2.60710842e-01 2.48212282e-03 1.24283881e+02] [-2.60709875e-01 9.65416933e-01 -7.11017776e-04 -1.33671026e+01] [-2.58165344e-03 3.93124023e-05 9.99996667e-01 -1.98023172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.786559995 meters 0.015607256826190775 Centerline is valid? [True, True] Translation: X:124.34, Y:-13.38, Z:-1.98 [[ 9.65851503e-01 2.59093221e-01 1.25606876e-03 1.24343510e+02] [-2.59092974e-01 9.65852319e-01 -3.58180606e-04 -1.33849467e+01] [-1.30597909e-03 2.05106857e-05 9.99999147e-01 -1.98203685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84655999499999 meters 0.01634581076796592 Centerline is valid? [True, True] Translation: X:124.40, Y:-13.40, Z:-1.98 [[ 9.66530837e-01 2.56550171e-01 -3.89199316e-04 1.24403205e+02] [-2.56550146e-01 9.66530915e-01 1.13379951e-04 -1.34016659e+01] [ 4.05260817e-04 -9.73607731e-06 9.99999918e-01 -1.98432885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.906559995 meters 0.01694789979229296 Centerline is valid? [True, True] Translation: X:124.46, Y:-13.42, Z:-1.99 [[ 9.66902326e-01 2.55146802e-01 -4.38547411e-05 1.24462889e+02] [-2.55146801e-01 9.66902327e-01 1.65964440e-05 -1.34183194e+01] [ 4.66377808e-05 -4.85774345e-06 9.99999999e-01 -1.98609964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.966559995 meters 0.017489332284157715 Centerline is valid? [True, True] Translation: X:124.52, Y:-13.44, Z:-1.99 [[ 9.66981589e-01 2.54843881e-01 1.09634901e-03 1.24522164e+02] [-2.54843691e-01 9.66982211e-01 -3.12598400e-04 -1.34362791e+01] [-1.13981378e-03 2.28792706e-05 9.99999350e-01 -1.98625873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.026559995 meters 0.015516756205770798 Centerline is valid? [True, True] Translation: X:124.58, Y:-13.45, Z:-1.99 [[ 9.66423127e-01 2.56950730e-01 1.63141017e-03 1.24582929e+02] [-2.56950307e-01 9.66424504e-01 -4.67733199e-04 -1.34500826e+01] [-1.69681915e-03 3.28368385e-05 9.99998560e-01 -1.98541869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.086559995 meters 0.014187595570316739 Centerline is valid? [True, True] Translation: X:124.64, Y:-13.46, Z:-1.99 [[ 9.64889860e-01 2.62646325e-01 2.11329128e-03 1.24642928e+02] [-2.62645618e-01 9.64892174e-01 -6.10641725e-04 -1.34624376e+01] [-2.19948102e-03 3.41553153e-05 9.99997581e-01 -1.98704308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.146559995 meters 0.013195501696870178 Centerline is valid? [True, True] Translation: X:124.70, Y:-13.48, Z:-1.99 [[ 9.63343085e-01 2.68257628e-01 2.81863288e-03 1.24703853e+02] [-2.68256401e-01 9.63347209e-01 -8.11940330e-04 -1.34762179e+01] [-2.93313130e-03 2.60607920e-05 9.99995698e-01 -1.98859678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20655999499999 meters 0.012705780589170311 Centerline is valid? [True, True] Translation: X:124.76, Y:-13.49, Z:-1.99 [[ 9.62648819e-01 2.70730554e-01 3.49546224e-03 1.24763769e+02] [-2.70728676e-01 9.62655165e-01 -1.00875114e-03 -1.34929648e+01] [-3.63802454e-03 2.47512341e-05 9.99993382e-01 -1.98836290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.266559995 meters 0.012419344657827822 Centerline is valid? [True, True] Translation: X:124.82, Y:-13.51, Z:-1.99 [[ 9.61680345e-01 2.74129352e-01 4.90030399e-03 1.24822638e+02] [-2.74125689e-01 9.61692829e-01 -1.41738031e-03 -1.35101251e+01] [-5.10113276e-03 1.97675766e-05 9.99986989e-01 -1.98961391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.326559995 meters 0.012187561804136247 Centerline is valid? [True, True] Translation: X:124.88, Y:-13.53, Z:-1.99 [[ 9.60658005e-01 2.77679562e-01 5.50071241e-03 1.24881742e+02] [-2.77674995e-01 9.60673753e-01 -1.59270770e-03 -1.35278527e+01] [-5.72665241e-03 2.63710836e-06 9.99983603e-01 -1.99104024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.386559995 meters 0.01215313497943237 Centerline is valid? [True, True] Translation: X:124.94, Y:-13.55, Z:-1.99 [[ 9.60062622e-01 2.79726424e-01 5.73497819e-03 1.24941433e+02] [-2.79721488e-01 9.60079751e-01 -1.66181160e-03 -1.35461265e+01] [-5.97088904e-03 -8.75342761e-06 9.99982174e-01 -1.99243059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.446559995 meters 0.012074892739203267 Centerline is valid? [True, True] Translation: X:125.00, Y:-13.57, Z:-1.99 [[ 9.59389929e-01 2.82006464e-01 6.58168304e-03 1.25001271e+02] [-2.81999998e-01 9.59412504e-01 -1.90983059e-03 -1.35657833e+01] [-6.85313358e-03 -2.37623741e-05 9.99976517e-01 -1.99379159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.506559995 meters 0.01219755979869197 Centerline is valid? [True, True] Translation: X:125.06, Y:-13.58, Z:-1.99 [[ 9.58501307e-01 2.84987848e-01 7.56110148e-03 1.25060828e+02] [-2.84979376e-01 9.58531128e-01 -2.19794427e-03 -1.35831003e+01] [-7.87393854e-03 -4.80255268e-05 9.99968999e-01 -1.99477092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.566559995 meters 0.012473383605259342 Centerline is valid? [True, True] Translation: X:125.12, Y:-13.60, Z:-2.00 [[ 9.57726912e-01 2.87556115e-01 8.40496092e-03 1.25121805e+02] [-2.87545736e-01 9.57763789e-01 -2.44433787e-03 -1.35994447e+01] [-8.75285151e-03 -7.58025153e-05 9.99961690e-01 -1.99559948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.626559995 meters 0.012427223950121441 Centerline is valid? [True, True] Translation: X:125.18, Y:-13.62, Z:-2.00 [[ 9.57702973e-01 2.87651588e-01 7.84726786e-03 1.25182622e+02] [-2.87642527e-01 9.57735120e-01 -2.28424368e-03 -1.36172613e+01] [-8.17267034e-03 -6.95809918e-05 9.99966601e-01 -1.99738547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.686559995 meters 0.012200134798148684 Centerline is valid? [True, True] Translation: X:125.24, Y:-13.64, Z:-2.00 [[ 9.58762392e-01 2.84088487e-01 8.27087815e-03 1.25240615e+02] [-2.84078260e-01 9.58798065e-01 -2.41081600e-03 -1.36357676e+01] [-8.61498704e-03 -3.81769670e-05 9.99962890e-01 -1.99962990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.746559995 meters 0.012118302044261677 Centerline is valid? [True, True] Translation: X:125.30, Y:-13.66, Z:-2.00 [[ 9.60690915e-01 2.77437726e-01 1.00635052e-02 1.25298895e+02] [-2.77422186e-01 9.60743622e-01 -2.93657592e-03 -1.36577067e+01] [-1.04831654e-02 2.93021906e-05 9.99945050e-01 -1.99837005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.806559995 meters 0.01229416499049542 Centerline is valid? [True, True] Translation: X:125.36, Y:-13.68, Z:-2.00 [[ 9.61376743e-01 2.75033356e-01 1.05551215e-02 1.25359222e+02] [-2.75016084e-01 9.61434683e-01 -3.08285040e-03 -1.36765219e+01] [-1.09959466e-02 6.09524980e-05 9.99939541e-01 -1.99943870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.866559995 meters 0.013891437234684842 Centerline is valid? [True, True] Translation: X:125.42, Y:-13.70, Z:-2.00 [[ 9.63682323e-01 2.66773982e-01 1.21664868e-02 1.25416827e+02] [-2.66750318e-01 9.63759103e-01 -3.55800140e-03 -1.36981047e+01] [-1.26747446e-02 1.83368833e-04 9.99919655e-01 -2.00066439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.926559995 meters 0.015324064010544581 Centerline is valid? [True, True] Translation: X:125.48, Y:-13.72, Z:-2.00 [[ 9.65028821e-01 2.61852993e-01 1.23444597e-02 1.25475433e+02] [-2.61828189e-01 9.65107738e-01 -3.61305415e-03 -1.37177355e+01] [-1.28598226e-02 2.54573869e-04 9.99917277e-01 -2.00213419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.986559995 meters 0.0160529523169738 Centerline is valid? [True, True] Translation: X:125.53, Y:-13.73, Z:-2.00 [[ 9.66110722e-01 2.57817098e-01 1.26655492e-02 1.25534693e+02] [-2.57790599e-01 9.66193688e-01 -3.71012220e-03 -1.37346271e+01] [-1.31939066e-02 3.19329333e-04 9.99912906e-01 -2.00310989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.046559995 meters 0.015961131602888808 Centerline is valid? [True, True] Translation: X:125.60, Y:-13.75, Z:-2.00 [[ 9.66394081e-01 2.56732184e-01 1.30792449e-02 1.25595451e+02] [-2.56703782e-01 9.66482522e-01 -3.83454071e-03 -1.37480681e+01] [-1.36253116e-02 3.48185816e-04 9.99907111e-01 -2.00411001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.106559995 meters 0.01589122331073681 Centerline is valid? [True, True] Translation: X:125.66, Y:-13.76, Z:-2.01 [[ 9.66372004e-01 2.56853923e-01 1.22968296e-02 1.25656608e+02] [-2.56828791e-01 9.66450182e-01 -3.60805021e-03 -1.37638903e+01] [-1.28110151e-02 3.28538832e-04 9.99917882e-01 -2.00608792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.166559995 meters 0.01565232689941321 Centerline is valid? [True, True] Translation: X:125.72, Y:-13.78, Z:-2.01 [[ 9.66204522e-01 2.57512220e-01 1.16738660e-02 1.25717668e+02] [-2.57489578e-01 9.66274993e-01 -3.42855931e-03 -1.37793668e+01] [-1.21630607e-02 3.06790672e-04 9.99925980e-01 -2.00764341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.226559995 meters 0.015506565000439489 Centerline is valid? [True, True] Translation: X:125.78, Y:-13.79, Z:-2.01 [[ 9.65820043e-01 2.58965321e-01 1.13404786e-02 1.25777562e+02] [-2.58944012e-01 9.65886578e-01 -3.33412064e-03 -1.37943281e+01] [-1.18170377e-02 2.83611516e-04 9.99930136e-01 -2.00930919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.286559995 meters 0.014952178343264044 Centerline is valid? [True, True] Translation: X:125.84, Y:-13.81, Z:-2.01 [[ 9.65024219e-01 2.61916388e-01 1.13164710e-02 1.25837937e+02] [-2.61895337e-01 9.65090536e-01 -3.33005510e-03 -1.38082409e+01] [-1.17936150e-02 2.49852855e-04 9.99930422e-01 -2.01123650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34655999499999 meters 0.013440476184267757 Centerline is valid? [True, True] Translation: X:125.90, Y:-13.82, Z:-2.01 [[ 9.64018521e-01 2.65604221e-01 1.10764804e-02 1.25898350e+02] [-2.65584265e-01 9.64082132e-01 -3.26219715e-03 -1.38225387e+01] [-1.15450902e-02 2.03079574e-04 9.99933333e-01 -2.01172037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.406559995 meters 0.012818245641474811 Centerline is valid? [True, True] Translation: X:125.96, Y:-13.84, Z:-2.01 [[ 9.63164529e-01 2.68677640e-01 1.12434553e-02 1.25958522e+02] [-2.68657250e-01 9.63230137e-01 -3.31447593e-03 -1.38378226e+01] [-1.17205605e-02 1.71749865e-04 9.99931297e-01 -2.01234882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.466559995 meters 0.01203096499076083 Centerline is valid? [True, True] Translation: X:126.02, Y:-13.85, Z:-2.01 [[ 9.61623761e-01 2.74163546e-01 1.06813958e-02 1.26019933e+02] [-2.74145443e-01 9.61683076e-01 -3.15228813e-03 -1.38511620e+01] [-1.11363601e-02 1.03059186e-04 9.99937984e-01 -2.01416076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.526559995 meters 0.011616034737728374 Centerline is valid? [True, True] Translation: X:126.08, Y:-13.87, Z:-2.02 [[ 9.60295771e-01 2.78774015e-01 1.08204199e-02 1.26078868e+02] [-2.78755725e-01 9.60356728e-01 -3.19372175e-03 -1.38667268e+01] [-1.12817897e-02 5.06635068e-05 9.99936357e-01 -2.01516780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.586559995 meters 0.011445024740715676 Centerline is valid? [True, True] Translation: X:126.14, Y:-13.88, Z:-2.02 [[ 9.59939877e-01 2.79996416e-01 1.08369479e-02 1.26139372e+02] [-2.79978121e-01 9.60001044e-01 -3.20102436e-03 -1.38847139e+01] [-1.12997567e-02 3.86826141e-05 9.99936155e-01 -2.01558399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.646559995 meters 0.011475798997131683 Centerline is valid? [True, True] Translation: X:126.20, Y:-13.90, Z:-2.02 [[ 9.59923519e-01 2.80027578e-01 1.14626817e-02 1.26198446e+02] [-2.80007064e-01 9.59991955e-01 -3.38973950e-03 -1.39032219e+01] [-1.19533027e-02 4.42588254e-05 9.99928556e-01 -2.01642191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70655999499999 meters 0.01180294065860596 Centerline is valid? [True, True] Translation: X:126.26, Y:-13.92, Z:-2.02 [[ 9.60459379e-01 2.78193236e-01 1.12385393e-02 1.26258142e+02] [-2.78173355e-01 9.60525127e-01 -3.32646789e-03 -1.39233184e+01] [-1.17203003e-02 6.86750970e-05 9.99931313e-01 -2.01705045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.766559995 meters 0.012656836399487953 Centerline is valid? [True, True] Translation: X:126.32, Y:-13.95, Z:-2.02 [[ 9.61798494e-01 2.73569802e-01 1.01597484e-02 1.26315105e+02] [-2.73553265e-01 9.61852146e-01 -3.01017458e-03 -1.39453156e+01] [-1.05956686e-02 1.15949032e-04 9.99943858e-01 -2.01914148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.826559995 meters 0.013485848548126384 Centerline is valid? [True, True] Translation: X:126.37, Y:-13.97, Z:-2.02 [[ 9.63211581e-01 2.68597393e-01 8.88208173e-03 1.26374051e+02] [-2.68584516e-01 9.63252520e-01 -2.63442879e-03 -1.39659830e+01] [-9.26328831e-03 1.51922693e-04 9.99957083e-01 -2.02098709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.886559995 meters 0.015621700400013023 Centerline is valid? [True, True] Translation: X:126.43, Y:-13.99, Z:-2.02 [[ 9.65385072e-01 2.60695237e-01 8.34599563e-03 1.26430727e+02] [-2.60683565e-01 9.65421124e-01 -2.47626294e-03 -1.39906443e+01] [-8.70295044e-03 2.14883381e-04 9.99962106e-01 -2.02180303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.946559995 meters 0.018820828288253204 Centerline is valid? [True, True] Translation: X:126.49, Y:-14.02, Z:-2.02 [[ 9.68019091e-01 2.50684030e-01 9.82631826e-03 1.26487231e+02] [-2.50667328e-01 9.68068896e-01 -2.91600459e-03 -1.40156421e+01] [-1.02435489e-02 3.59611167e-04 9.99947469e-01 -2.02206097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.006559995 meters 0.01944586077183614 Centerline is valid? [True, True] Translation: X:126.55, Y:-14.03, Z:-2.02 [[ 9.69033376e-01 2.46705234e-01 1.05282652e-02 1.26545104e+02] [-2.46685821e-01 9.69090472e-01 -3.12468228e-03 -1.40340861e+01] [-1.09737169e-02 4.30747677e-04 9.99939694e-01 -2.02268819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.066559995 meters 0.019936555291086688 Centerline is valid? [True, True] Translation: X:126.60, Y:-14.05, Z:-2.02 [[ 9.69634206e-01 2.44355392e-01 9.99749102e-03 1.26604235e+02] [-2.44337764e-01 9.69685647e-01 -2.96703010e-03 -1.40528170e+01] [-1.04194334e-02 4.34169272e-04 9.99945622e-01 -2.02365025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.126559995 meters 0.020626739619539005 Centerline is valid? [True, True] Translation: X:126.67, Y:-14.07, Z:-2.03 [[ 9.69560719e-01 2.44681523e-01 9.10845147e-03 1.26665144e+02] [-2.44666912e-01 9.69603424e-01 -2.70239936e-03 -1.40699955e+01] [-9.49281292e-03 3.91603568e-04 9.99954866e-01 -2.02588765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.186559995 meters 0.01978105439173308 Centerline is valid? [True, True] Translation: X:126.73, Y:-14.08, Z:-2.03 [[ 9.68856562e-01 2.47452197e-01 9.18547584e-03 1.26725172e+02] [-2.47437420e-01 9.68900032e-01 -2.72967085e-03 -1.40840009e+01] [-9.57527088e-03 3.71829078e-04 9.99954087e-01 -2.02696435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.246559995 meters 0.01791672577410181 Centerline is valid? [True, True] Translation: X:126.79, Y:-14.09, Z:-2.03 [[ 9.66912415e-01 2.54900847e-01 1.02927343e-02 1.26785506e+02] [-2.54882708e-01 9.66967138e-01 -3.05925866e-03 -1.40938622e+01] [-1.07325435e-02 3.34595175e-04 9.99942349e-01 -2.02742791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.306559995 meters 0.016366740967014945 Centerline is valid? [True, True] Translation: X:126.85, Y:-14.11, Z:-2.03 [[ 9.65328533e-01 2.60816113e-01 1.07600404e-02 1.26845341e+02] [-2.60796653e-01 9.65388458e-01 -3.19847458e-03 -1.41053990e+01] [-1.12218325e-02 2.81396253e-04 9.99936994e-01 -2.02863811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.366559995 meters 0.01397178344593357 Centerline is valid? [True, True] Translation: X:126.91, Y:-14.11, Z:-2.03 [[ 9.63088957e-01 2.68934283e-01 1.15764003e-02 1.26907076e+02] [-2.68912341e-01 9.63158508e-01 -3.44116644e-03 -1.41127620e+01] [-1.20753561e-02 2.01112487e-04 9.99927070e-01 -2.03004693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.426559995 meters 0.012954709619403265 Centerline is valid? [True, True] Translation: X:126.97, Y:-14.12, Z:-2.03 [[ 9.61473862e-01 2.74652537e-01 1.15756965e-02 1.26967899e+02] [-2.74631019e-01 9.61543534e-01 -3.44041520e-03 -1.41231210e+01] [-1.20754549e-02 1.28823957e-04 9.99927081e-01 -2.03155400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.486559995 meters 0.012435256818001547 Centerline is valid? [True, True] Translation: X:127.03, Y:-14.14, Z:-2.03 [[ 9.60918221e-01 2.76600748e-01 1.13225087e-02 1.27028960e+02] [-2.76580266e-01 9.60984919e-01 -3.36766611e-03 -1.41369402e+01] [-1.18122591e-02 1.04469257e-04 9.99930227e-01 -2.03270896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.546559995 meters 0.012477910507584749 Centerline is valid? [True, True] Translation: X:127.09, Y:-14.15, Z:-2.03 [[ 9.61189438e-01 2.75673501e-01 1.09080502e-02 1.27088256e+02] [-2.75654400e-01 9.61251324e-01 -3.24715248e-03 -1.41539969e+01] [-1.13805316e-02 1.14276650e-04 9.99935233e-01 -2.03465240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.606559995 meters 0.013185867473168586 Centerline is valid? [True, True] Translation: X:127.15, Y:-14.17, Z:-2.04 [[ 9.62042085e-01 2.72748763e-01 9.11808849e-03 1.27145807e+02] [-2.72735260e-01 9.62085285e-01 -2.71695730e-03 -1.41729070e+01] [-9.51342551e-03 1.27003023e-04 9.99954738e-01 -2.03796660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.666559995 meters 0.014009379086130624 Centerline is valid? [True, True] Translation: X:127.20, Y:-14.19, Z:-2.04 [[ 9.62636841e-01 2.70708684e-01 6.86447451e-03 1.27204490e+02] [-2.70700983e-01 9.62661309e-01 -2.04477750e-03 -1.41938990e+01] [-7.16170305e-03 1.10158152e-04 9.99974349e-01 -2.04011229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.726559995 meters 0.01482785854208923 Centerline is valid? [True, True] Translation: X:127.26, Y:-14.22, Z:-2.04 [[ 9.63675127e-01 2.67054720e-01 3.46771855e-03 1.27262565e+02] [-2.67052728e-01 9.63681364e-01 -1.03408058e-03 -1.42156365e+01] [-3.61793185e-03 7.04540333e-05 9.99993453e-01 -2.04242904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.786559995 meters 0.016232860879730863 Centerline is valid? [True, True] Translation: X:127.32, Y:-14.24, Z:-2.05 [[ 9.64543631e-01 2.63923017e-01 -4.74931504e-04 1.27320051e+02] [-2.63922978e-01 9.64543748e-01 1.42378586e-04 -1.42369813e+01] [ 4.95669199e-04 -1.19850212e-05 9.99999877e-01 -2.04646559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84655999499999 meters 0.017613474896939735 Centerline is valid? [True, True] Translation: X:127.38, Y:-14.26, Z:-2.05 [[ 9.65853829e-01 2.59086444e-01 -7.72225980e-04 1.27376746e+02] [-2.59086342e-01 9.65854137e-01 2.30871439e-04 -1.42592488e+01] [ 8.05673318e-04 -2.29148588e-05 9.99999675e-01 -2.04661162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.906559995 meters 0.019529617974632648 Centerline is valid? [True, True] Translation: X:127.43, Y:-14.28, Z:-2.04 [[ 9.67175132e-01 2.54102147e-01 2.08860573e-03 1.27434254e+02] [-2.54101399e-01 9.67177385e-01 -6.20488524e-04 -1.42822841e+01] [-2.17771969e-03 6.94034338e-05 9.99997626e-01 -2.04389735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.966559995 meters 0.02014758949777396 Centerline is valid? [True, True] Translation: X:127.49, Y:-14.30, Z:-2.04 [[ 9.67239501e-01 2.53833231e-01 4.05439592e-03 1.27494585e+02] [-2.53830394e-01 9.67247988e-01 -1.20832639e-03 -1.43017048e+01] [-4.22831969e-03 1.39612103e-04 9.99991051e-01 -2.04273233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.026559995 meters 0.01894556314759913 Centerline is valid? [True, True] Translation: X:127.55, Y:-14.32, Z:-2.04 [[ 9.66627079e-01 2.56055607e-01 8.22286704e-03 1.27554049e+02] [-2.56043939e-01 9.66662016e-01 -2.45946568e-03 -1.43166112e+01] [-8.57849320e-03 2.71970858e-04 9.99963167e-01 -2.03900135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.086559995 meters 0.015426812930506842 Centerline is valid? [True, True] Translation: X:127.61, Y:-14.33, Z:-2.04 [[ 9.64772554e-01 2.62878460e-01 1.04323715e-02 1.27614937e+02] [-2.62860070e-01 9.64828919e-01 -3.12095051e-03 -1.43256380e+01] [-1.08858844e-02 2.68753477e-04 9.99940711e-01 -2.03671166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.146559995 meters 0.013843871045737251 Centerline is valid? [True, True] Translation: X:127.68, Y:-14.34, Z:-2.04 [[ 9.63131342e-01 2.68843104e-01 1.00699391e-02 1.27675773e+02] [-2.68826296e-01 9.63183963e-01 -3.01252222e-03 -1.43379502e+01] [-1.05090997e-02 1.94390132e-04 9.99944759e-01 -2.03770813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20655999499999 meters 0.012778069501547909 Centerline is valid? [True, True] Translation: X:127.74, Y:-14.35, Z:-2.04 [[ 9.61146462e-01 2.75900735e-01 8.73286073e-03 1.27735088e+02] [-2.75888379e-01 9.61186129e-01 -2.61317411e-03 -1.43494819e+01] [-9.11488126e-03 1.02348257e-04 9.99958453e-01 -2.04032823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.266559995 meters 0.012459240844188313 Centerline is valid? [True, True] Translation: X:127.79, Y:-14.36, Z:-2.04 [[ 9.60478433e-01 2.78183056e-01 9.76564077e-03 1.27794419e+02] [-2.78167732e-01 9.60528073e-01 -2.92120683e-03 -1.43639888e+01] [-1.01928024e-02 8.92700105e-05 9.99948048e-01 -2.04271285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.326559995 meters 0.013013804526090975 Centerline is valid? [True, True] Translation: X:127.85, Y:-14.38, Z:-2.05 [[ 9.61683485e-01 2.73908149e-01 1.17983520e-02 1.27854181e+02] [-2.73885415e-01 9.61755841e-01 -3.53287121e-03 -1.43806835e+01] [-1.23148161e-02 1.66107374e-04 9.99924156e-01 -2.04555483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.386559995 meters 0.013719354555721578 Centerline is valid? [True, True] Translation: X:127.91, Y:-14.40, Z:-2.06 [[ 9.61696476e-01 2.74095303e-01 3.41374222e-03 1.27913641e+02] [-2.74093402e-01 9.61702533e-01 -1.02180400e-03 -1.43955004e+01] [-3.56307622e-03 4.69810855e-05 9.99993651e-01 -2.05609213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.446559995 meters 0.013724819714778382 Centerline is valid? [True, True] Translation: X:127.97, Y:-14.41, Z:-2.06 [[ 9.62477901e-01 2.71331254e-01 3.95473322e-03 1.27972142e+02] [-2.71328682e-01 9.62486024e-01 -1.18324305e-03 -1.44148026e+01] [-4.12742627e-03 6.58127389e-05 9.99991480e-01 -2.05582062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.506559995 meters 0.013724819714778382 Centerline is valid? [True, True] Translation: X:128.03, Y:-14.43, Z:-2.06 [[ 9.62400044e-01 2.71607284e-01 3.95463905e-03 1.28031913e+02] [-2.71604713e-01 9.62408166e-01 -1.18355846e-03 -1.44328113e+01] [-4.12744001e-03 6.49581073e-05 9.99991480e-01 -2.05681175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.566559995 meters 0.01465960481002127 Centerline is valid? [True, True] Translation: X:128.09, Y:-14.45, Z:-2.06 [[ 9.63364699e-01 2.68163325e-01 4.10954087e-03 1.28090099e+02] [-2.68160508e-01 9.63373460e-01 -1.23186873e-03 -1.44545231e+01] [-4.28936462e-03 8.47222777e-05 9.99990797e-01 -2.05716926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.626559995 meters 0.01465960481002127 Centerline is valid? [True, True] Translation: X:128.15, Y:-14.47, Z:-2.06 [[ 9.63288891e-01 2.68435514e-01 4.10935422e-03 1.28149864e+02] [-2.68432698e-01 9.63297653e-01 -1.23249094e-03 -1.44725696e+01] [-4.28937561e-03 8.41597865e-05 9.99990797e-01 -2.05816055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.686559995 meters 0.01633949678898151 Centerline is valid? [True, True] Translation: X:128.21, Y:-14.49, Z:-2.06 [[ 9.64424574e-01 2.64312613e-01 4.90744799e-03 1.28206801e+02] [-2.64308521e-01 9.64437052e-01 -1.47612906e-03 -1.44948968e+01] [-5.12308420e-03 1.26534814e-04 9.99986869e-01 -2.05904437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.746559995 meters 0.017241876216619337 Centerline is valid? [True, True] Translation: X:128.26, Y:-14.52, Z:-2.06 [[ 9.65654141e-01 2.59778017e-01 5.24043860e-03 1.28264405e+02] [-2.59773275e-01 9.65668347e-01 -1.57798829e-03 -1.45158731e+01] [-5.47045235e-03 1.62465034e-04 9.99985024e-01 -2.05938012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.806559995 meters 0.018644860871551153 Centerline is valid? [True, True] Translation: X:128.32, Y:-14.54, Z:-2.06 [[ 9.66851715e-01 2.55279327e-01 5.49777593e-03 1.28321377e+02] [-2.55274033e-01 9.66867326e-01 -1.65589893e-03 -1.45373451e+01] [-5.73833668e-03 1.97569287e-04 9.99983516e-01 -2.05996588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.866559995 meters 0.023091532053707266 Centerline is valid? [True, True] Translation: X:128.38, Y:-14.56, Z:-2.06 [[ 9.69557276e-01 2.44780436e-01 6.42082363e-03 1.28375722e+02] [-2.44772987e-01 9.69578489e-01 -1.93358139e-03 -1.45647679e+01] [-6.69879537e-03 3.03073731e-04 9.99977517e-01 -2.06048870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.926559995 meters 0.022871846617828772 Centerline is valid? [True, True] Translation: X:128.43, Y:-14.58, Z:-2.06 [[ 9.70003516e-01 2.42990965e-01 6.96925556e-03 1.28434933e+02] [-2.42982138e-01 9.70028491e-01 -2.09937942e-03 -1.45844870e+01] [-7.27050669e-03 3.43000807e-04 9.99973511e-01 -2.06010100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.986559995 meters 0.021586313058580872 Centerline is valid? [True, True] Translation: X:128.49, Y:-14.60, Z:-2.06 [[ 9.68361672e-01 2.49469364e-01 6.38036843e-03 1.28494595e+02] [-2.49462100e-01 9.68382653e-01 -1.92285311e-03 -1.45992174e+01] [-6.65833105e-03 2.70357152e-04 9.99977797e-01 -2.06165675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.046559995 meters 0.019179514489206406 Centerline is valid? [True, True] Translation: X:128.55, Y:-14.61, Z:-2.06 [[ 9.66656782e-01 2.56006445e-01 5.94690317e-03 1.28554187e+02] [-2.56000257e-01 9.66675052e-01 -1.79234052e-03 -1.46109587e+01] [-6.20757366e-03 2.10169378e-04 9.99980711e-01 -2.06362508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.106559995 meters 0.015563424028632714 Centerline is valid? [True, True] Translation: X:128.62, Y:-14.62, Z:-2.06 [[ 9.64243551e-01 2.64962404e-01 5.41287658e-03 1.28615324e+02] [-2.64957418e-01 9.64258734e-01 -1.63145266e-03 -1.46203523e+01] [-5.65168713e-03 1.38935906e-04 9.99984019e-01 -2.06481569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.166559995 meters 0.014778856187496917 Centerline is valid? [True, True] Translation: X:128.67, Y:-14.64, Z:-2.07 [[ 9.63122595e-01 2.69015221e-01 5.06733711e-03 1.28674830e+02] [-2.69010907e-01 9.63135920e-01 -1.52720538e-03 -1.46362459e+01] [-5.29137588e-03 1.07717053e-04 9.99985995e-01 -2.06590228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.226559995 meters 0.013918302802635792 Centerline is valid? [True, True] Translation: X:128.73, Y:-14.65, Z:-2.07 [[ 9.62191130e-01 2.72311695e-01 5.87971883e-03 1.28734802e+02] [-2.72305960e-01 9.62209089e-01 -1.77020532e-03 -1.46523531e+01] [-6.13956651e-03 1.02193380e-04 9.99981147e-01 -2.06563958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.286559995 meters 0.01371560178281465 Centerline is valid? [True, True] Translation: X:128.79, Y:-14.67, Z:-2.07 [[ 9.62009350e-01 2.72919851e-01 7.26399696e-03 1.28794345e+02] [-2.72911093e-01 9.62036766e-01 -2.18989673e-03 -1.46709214e+01] [-7.58589844e-03 1.24275777e-04 9.99971219e-01 -2.06580708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.346559995 meters 0.014093764652674904 Centerline is valid? [True, True] Translation: X:128.85, Y:-14.69, Z:-2.07 [[ 9.62236049e-01 2.72122087e-01 7.16629879e-03 1.28852814e+02] [-2.72113526e-01 9.62262725e-01 -2.16249850e-03 -1.46903565e+01] [-7.48432581e-03 1.30787183e-04 9.99971983e-01 -2.06666702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.406559995 meters 0.014031625824964011 Centerline is valid? [True, True] Translation: X:128.91, Y:-14.71, Z:-2.07 [[ 9.62736948e-01 2.70337171e-01 7.44204040e-03 1.28912040e+02] [-2.70327871e-01 9.62765699e-01 -2.24749244e-03 -1.47091831e+01] [-7.77252197e-03 1.51953075e-04 9.99969782e-01 -2.06711624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.466559995 meters 0.016135698368346513 Centerline is valid? [True, True] Translation: X:128.97, Y:-14.73, Z:-2.07 [[ 9.64037954e-01 2.65671154e-01 7.04713574e-03 1.28968782e+02] [-2.65662676e-01 9.64063693e-01 -2.13015254e-03 -1.47319591e+01] [-7.35980780e-03 1.81386959e-04 9.99972900e-01 -2.06863977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52655999499999 meters 0.017389544003629347 Centerline is valid? [True, True] Translation: X:129.03, Y:-14.75, Z:-2.07 [[ 9.65552593e-01 2.60100719e-01 7.47033324e-03 1.29025786e+02] [-2.60090996e-01 9.65581461e-01 -2.26176884e-03 -1.47529479e+01] [-7.80150299e-03 2.40890354e-04 9.99969539e-01 -2.06867001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.586559995 meters 0.018463333534766417 Centerline is valid? [True, True] Translation: X:129.08, Y:-14.77, Z:-2.07 [[ 9.66703903e-01 2.55809332e-01 6.71936287e-03 1.29083251e+02] [-2.55801358e-01 9.66727223e-01 -2.03490624e-03 -1.47729030e+01] [-7.01633901e-03 2.48329652e-04 9.99975354e-01 -2.07019640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.646559995 meters 0.019410524569233104 Centerline is valid? [True, True] Translation: X:129.14, Y:-14.79, Z:-2.07 [[ 9.66905207e-01 2.55064898e-01 6.01826458e-03 1.29142262e+02] [-2.55058501e-01 9.66923910e-01 -1.82042243e-03 -1.47926462e+01] [-6.28352978e-03 2.25166381e-04 9.99980233e-01 -2.07203014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.706559995 meters 0.01972906916294843 Centerline is valid? [True, True] Translation: X:129.20, Y:-14.81, Z:-2.07 [[ 9.67072149e-01 2.54447767e-01 5.27179257e-03 1.29201475e+02] [-2.54442844e-01 9.67086497e-01 -1.59552382e-03 -1.48114490e+01] [-5.50425689e-03 2.01616749e-04 9.99984831e-01 -2.07381661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.766559995 meters 0.01850321881407074 Centerline is valid? [True, True] Translation: X:129.26, Y:-14.83, Z:-2.07 [[ 9.66724460e-01 2.55762593e-01 5.41430914e-03 1.29261422e+02] [-2.55757412e-01 9.66739601e-01 -1.64015179e-03 -1.48271901e+01] [-5.65371653e-03 2.00825157e-04 9.99983997e-01 -2.07407448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.826559995 meters 0.0171457294461772 Centerline is valid? [True, True] Translation: X:129.32, Y:-14.84, Z:-2.07 [[ 9.65913586e-01 2.58805098e-01 5.55573844e-03 1.29321182e+02] [-2.58799672e-01 9.65929544e-01 -1.68662711e-03 -1.48430401e+01] [-5.80295960e-03 1.91312747e-04 9.99983144e-01 -2.07386779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.886559995 meters 0.016906764292477283 Centerline is valid? [True, True] Translation: X:129.38, Y:-14.86, Z:-2.07 [[ 9.65178232e-01 2.61518078e-01 6.26704674e-03 1.29380452e+02] [-2.61511229e-01 9.65198558e-01 -1.90305675e-03 -1.48603453e+01] [-6.54662822e-03 1.97885861e-04 9.99978551e-01 -2.07466975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.946559995 meters 0.015809842902830214 Centerline is valid? [True, True] Translation: X:129.44, Y:-14.87, Z:-2.07 [[ 9.63725840e-01 2.66749366e-01 8.79093921e-03 1.29439256e+02] [-2.66736095e-01 9.63765907e-01 -2.67061846e-03 -1.48739812e+01] [-9.18479329e-03 2.28883227e-04 9.99957793e-01 -2.07420827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.006559995 meters 0.014199635221160916 Centerline is valid? [True, True] Translation: X:129.50, Y:-14.89, Z:-2.07 [[ 9.61953509e-01 2.72993140e-01 1.09631890e-02 1.29499741e+02] [-2.72972904e-01 9.62015957e-01 -3.33060758e-03 -1.48860148e+01] [-1.14559958e-02 2.11236107e-04 9.99934356e-01 -2.07392016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.066559995 meters 0.012857066120202513 Centerline is valid? [True, True] Translation: X:129.56, Y:-14.90, Z:-2.08 [[ 9.60473046e-01 2.78161763e-01 1.08425257e-02 1.29560935e+02] [-2.78142306e-01 9.60534232e-01 -3.29334133e-03 -1.48988672e+01] [-1.13306987e-02 1.47400477e-04 9.99935795e-01 -2.07526510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.126559995 meters 0.012639943499346598 Centerline is valid? [True, True] Translation: X:129.62, Y:-14.91, Z:-2.08 [[ 9.59843493e-01 2.80367341e-01 9.72740986e-03 1.29620801e+02] [-2.80351770e-01 9.59892776e-01 -2.95686356e-03 -1.49148323e+01] [-1.01662784e-02 1.11029677e-04 9.99948316e-01 -2.07708572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.186559995 meters 0.012790608540059468 Centerline is valid? [True, True] Translation: X:129.68, Y:-14.93, Z:-2.08 [[ 9.59837799e-01 2.80412300e-01 8.96338012e-03 1.29681322e+02] [-2.80399064e-01 9.59879644e-01 -2.72649426e-03 -1.49322145e+01] [-9.36830865e-03 1.03668858e-04 9.99956111e-01 -2.07850773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.246559995 meters 0.013071957600667912 Centerline is valid? [True, True] Translation: X:129.74, Y:-14.95, Z:-2.08 [[ 9.60552837e-01 2.77975046e-01 8.25354119e-03 1.29740667e+02] [-2.77963713e-01 9.60588288e-01 -2.51296587e-03 -1.49510677e+01] [-8.62679680e-03 1.19651545e-04 9.99962781e-01 -2.07933336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.306559995 meters 0.014368343898138762 Centerline is valid? [True, True] Translation: X:129.80, Y:-14.97, Z:-2.08 [[ 9.62436333e-01 2.71392493e-01 7.90062482e-03 1.29797788e+02] [-2.71381856e-01 9.62468745e-01 -2.40917269e-03 -1.49732119e+01] [-8.25793583e-03 1.74589105e-04 9.99965887e-01 -2.07951235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.366559995 meters 0.01566987641243639 Centerline is valid? [True, True] Translation: X:129.86, Y:-14.99, Z:-2.08 [[ 9.64054395e-01 2.65602894e-01 7.36387137e-03 1.29855445e+02] [-2.65593482e-01 9.64082496e-01 -2.24574802e-03 -1.49948423e+01] [-7.69585666e-03 2.09227004e-04 9.99970365e-01 -2.08002513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.426559995 meters 0.019007113035715766 Centerline is valid? [True, True] Translation: X:129.91, Y:-15.02, Z:-2.08 [[ 9.65756185e-01 2.59340385e-01 7.58654027e-03 1.29910465e+02] [-2.59330201e-01 9.65785946e-01 -2.31371179e-03 -1.50184525e+01] [-7.92701288e-03 2.67062459e-04 9.99968545e-01 -2.08069338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.486559995 meters 0.018556278369180352 Centerline is valid? [True, True] Translation: X:129.97, Y:-15.04, Z:-2.08 [[ 9.66373444e-01 2.57020160e-01 7.93753376e-03 1.29969903e+02] [-2.57008929e-01 9.66405995e-01 -2.42136054e-03 -1.50360530e+01] [-8.29321869e-03 2.99921478e-04 9.99965566e-01 -2.07994543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.546559995 meters 0.01836438855814858 Centerline is valid? [True, True] Translation: X:130.03, Y:-15.05, Z:-2.08 [[ 9.66030168e-01 2.58300089e-01 8.17186276e-03 1.30030034e+02] [-2.58288229e-01 9.66064685e-01 -2.49303030e-03 -1.50534633e+01] [-8.53849797e-03 2.97646512e-04 9.99963502e-01 -2.08051011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.606559995 meters 0.017390737239747312 Centerline is valid? [True, True] Translation: X:130.09, Y:-15.07, Z:-2.08 [[ 9.64615905e-01 2.63558264e-01 7.29370989e-03 1.30089867e+02] [-2.63548953e-01 9.64643453e-01 -2.22685862e-03 -1.50665276e+01] [-7.62273648e-03 2.25813641e-04 9.99970921e-01 -2.08242126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.666559995 meters 0.015349379432841027 Centerline is valid? [True, True] Translation: X:130.15, Y:-15.08, Z:-2.08 [[ 9.63042750e-01 2.69252005e-01 7.21242939e-03 1.30150720e+02] [-2.69243059e-01 9.63069741e-01 -2.20203272e-03 -1.50788349e+01] [-7.53897423e-03 1.78755088e-04 9.99971566e-01 -2.08389416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.726559995 meters 0.013003142896540682 Centerline is valid? [True, True] Translation: X:130.21, Y:-15.09, Z:-2.08 [[ 9.60255799e-01 2.79026558e-01 7.27876313e-03 1.30210836e+02] [-2.79017721e-01 9.60283380e-01 -2.22314709e-03 -1.50886255e+01] [-7.60999234e-03 1.03885989e-04 9.99971038e-01 -2.08472087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.786559995 meters 0.01204596338878862 Centerline is valid? [True, True] Translation: X:130.27, Y:-15.10, Z:-2.09 [[ 9.58538141e-01 2.84850972e-01 8.03472985e-03 1.30271513e+02] [-2.84840424e-01 9.58571813e-01 -2.45214873e-03 -1.51024882e+01] [-8.40036251e-03 6.18622283e-05 9.99964714e-01 -2.08557704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.846559995 meters 0.011536689010393926 Centerline is valid? [True, True] Translation: X:130.33, Y:-15.12, Z:-2.09 [[ 9.56642238e-01 2.91114442e-01 9.38135917e-03 1.30331847e+02] [-2.91100331e-01 9.56688236e-01 -2.86636336e-03 -1.51159117e+01] [-9.80947573e-03 1.11674980e-05 9.99951886e-01 -2.08606129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.906559995 meters 0.011419471466107094 Centerline is valid? [True, True] Translation: X:130.39, Y:-15.13, Z:-2.09 [[ 9.55888047e-01 2.93576118e-01 9.54485983e-03 1.30392545e+02] [-2.93561609e-01 9.55935700e-01 -2.91864753e-03 -1.51335269e+01] [-9.98111747e-03 -1.21041197e-05 9.99950187e-01 -2.08635979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.966559995 meters 0.011350243954747097 Centerline is valid? [True, True] Translation: X:130.45, Y:-15.15, Z:-2.09 [[ 9.55968495e-01 2.93307892e-01 9.73227458e-03 1.30452763e+02] [-2.93292763e-01 9.56018033e-01 -2.97908328e-03 -1.51532698e+01] [-1.01780186e-02 -6.49594201e-06 9.99948203e-01 -2.08737953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02655999499999 meters 0.011446409827489077 Centerline is valid? [True, True] Translation: X:130.51, Y:-15.17, Z:-2.09 [[ 9.56635072e-01 2.91117287e-01 1.00031766e-02 1.30510888e+02] [-2.91101142e-01 9.56687371e-01 -3.06593872e-03 -1.51737271e+01] [-1.04624605e-02 2.10483809e-05 9.99945267e-01 -2.08827139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.086559995 meters 0.011879399024463428 Centerline is valid? [True, True] Translation: X:130.57, Y:-15.20, Z:-2.09 [[ 9.57920900e-01 2.86894941e-01 8.87932587e-03 1.30568341e+02] [-2.86882029e-01 9.57962050e-01 -2.72253423e-03 -1.51963206e+01] [-9.28713851e-03 6.06534197e-05 9.99956872e-01 -2.09030910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.146559995 meters 0.012315683892391656 Centerline is valid? [True, True] Translation: X:130.63, Y:-15.22, Z:-2.09 [[ 9.58884684e-01 2.83693593e-01 7.62283219e-03 1.30626499e+02] [-2.83683966e-01 9.58914980e-01 -2.33852160e-03 -1.52182667e+01] [-7.97307157e-03 7.98972849e-05 9.99968211e-01 -2.09207671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.206559995 meters 0.01332583740023826 Centerline is valid? [True, True] Translation: X:130.68, Y:-15.24, Z:-2.09 [[ 9.60309500e-01 2.78877194e-01 5.75975772e-03 1.30683835e+02] [-2.78871606e-01 9.60326769e-01 -1.76768965e-03 -1.52408973e+01] [-6.02421785e-03 9.12962771e-05 9.99981850e-01 -2.09447120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.266559995 meters 0.014335432936258531 Centerline is valid? [True, True] Translation: X:130.74, Y:-15.26, Z:-2.10 [[ 9.61295644e-01 2.75470095e-01 5.18771486e-03 1.30742002e+02] [-2.75465508e-01 9.61309636e-01 -1.59293495e-03 -1.52629265e+01] [-5.42580623e-03 1.02244921e-04 9.99985275e-01 -2.09634026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.326559995 meters 0.015965005756991387 Centerline is valid? [True, True] Translation: X:130.80, Y:-15.29, Z:-2.10 [[ 9.63105479e-01 2.69086539e-01 4.50232039e-03 1.30798171e+02] [-2.69082999e-01 9.63115995e-01 -1.38572950e-03 -1.52878122e+01] [-4.70913794e-03 1.23105805e-04 9.99988904e-01 -2.09715043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.386559995 meters 0.017509797912528578 Centerline is valid? [True, True] Translation: X:130.86, Y:-15.31, Z:-2.10 [[ 9.64088428e-01 2.65542189e-01 4.56612598e-03 1.30855878e+02] [-2.65538511e-01 9.64099230e-01 -1.40486104e-03 -1.53108277e+01] [-4.77524842e-03 1.41927974e-04 9.99988588e-01 -2.09792869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.446559995 meters 0.01760217815139634 Centerline is valid? [True, True] Translation: X:130.91, Y:-15.33, Z:-2.10 [[ 9.64946709e-01 2.62408057e-01 4.45655753e-03 1.30913542e+02] [-2.62404527e-01 9.64956988e-01 -1.36958911e-03 -1.53329854e+01] [-4.65977754e-03 1.52159633e-04 9.99989132e-01 -2.09737170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.506559995 meters 0.017884468737819827 Centerline is valid? [True, True] Translation: X:130.97, Y:-15.36, Z:-2.10 [[ 9.64405622e-01 2.64385980e-01 4.67428635e-03 1.30971143e+02] [-2.64382114e-01 9.64416938e-01 -1.43770546e-03 -1.53551053e+01] [-4.88807010e-03 1.50733519e-04 9.99988042e-01 -2.09746760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.566559995 meters 0.01716184261767078 Centerline is valid? [True, True] Translation: X:131.03, Y:-15.37, Z:-2.10 [[ 9.63855699e-01 2.66377945e-01 4.99815443e-03 1.31030502e+02] [-2.66373543e-01 9.63868646e-01 -1.53892338e-03 -1.53728511e+01] [-5.22749959e-03 1.51923968e-04 9.99986325e-01 -2.09795486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.626559995 meters 0.015324373849837324 Centerline is valid? [True, True] Translation: X:131.09, Y:-15.39, Z:-2.10 [[ 9.61992950e-01 2.73026347e-01 5.11650220e-03 1.31089374e+02] [-2.73021807e-01 9.62006548e-01 -1.57927288e-03 -1.53882223e+01] [-5.35329172e-03 1.22332707e-04 9.99985664e-01 -2.09850300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.686559995 meters 0.01433570450977311 Centerline is valid? [True, True] Translation: X:131.15, Y:-15.40, Z:-2.10 [[ 9.60673529e-01 2.77649163e-01 4.16092798e-03 1.31147448e+02] [-2.77646203e-01 9.60682537e-01 -1.28436739e-03 -1.54046756e+01] [-4.35393438e-03 7.85919020e-05 9.99990518e-01 -2.10117119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.746559995 meters 0.01269277238571177 Centerline is valid? [True, True] Translation: X:131.21, Y:-15.42, Z:-2.10 [[ 9.59352172e-01 2.82184486e-01 3.91482701e-03 1.31206720e+02] [-2.82181915e-01 9.59360158e-01 -1.20567806e-03 -1.54231996e+01] [-4.09595270e-03 5.19764801e-05 9.99991610e-01 -2.10096292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.806559995 meters 0.012397942796723942 Centerline is valid? [True, True] Translation: X:131.27, Y:-15.44, Z:-2.10 [[ 9.59150391e-01 2.82864179e-01 4.28762578e-03 1.31265480e+02] [-2.82861095e-01 9.59159973e-01 -1.32198039e-03 -1.54428675e+01] [-4.48645992e-03 5.51754841e-05 9.99989934e-01 -2.10132208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.866559995 meters 0.0126835034337417 Centerline is valid? [True, True] Translation: X:131.32, Y:-15.46, Z:-2.10 [[ 9.59815655e-01 2.80581512e-01 5.28429843e-03 1.31323550e+02] [-2.80576780e-01 9.59830198e-01 -1.63163988e-03 -1.54645437e+01] [-5.52983719e-03 8.34220645e-05 9.99984707e-01 -2.10163782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.926559995 meters 0.012688845600067453 Centerline is valid? [True, True] Translation: X:131.38, Y:-15.48, Z:-2.10 [[ 9.59924579e-01 2.80162166e-01 7.34594224e-03 1.31383521e+02] [-2.80152985e-01 9.59952679e-01 -2.27149034e-03 -1.54832351e+01] [-7.68814258e-03 1.22471764e-04 9.99970438e-01 -2.10094740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.986559995 meters 0.012850385574112467 Centerline is valid? [True, True] Translation: X:131.44, Y:-15.50, Z:-2.10 [[ 9.60259624e-01 2.79007872e-01 7.48750329e-03 1.31442416e+02] [-2.78998277e-01 9.60288805e-01 -2.31797262e-03 -1.55032017e+01] [-7.83689819e-03 1.36854998e-04 9.99969282e-01 -2.10192829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.046559995 meters 0.013475328371609668 Centerline is valid? [True, True] Translation: X:131.50, Y:-15.52, Z:-2.10 [[ 9.60560546e-01 2.77983211e-01 6.98364894e-03 1.31499968e+02] [-2.77974821e-01 9.60585923e-01 -2.16410711e-03 -1.55223186e+01] [-7.30998030e-03 1.37477345e-04 9.99973272e-01 -2.10361788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.106559995 meters 0.01410489305439652 Centerline is valid? [True, True] Translation: X:131.56, Y:-15.54, Z:-2.11 [[ 9.60801170e-01 2.77166015e-01 6.33344502e-03 1.31559211e+02] [-2.77159093e-01 9.60822035e-01 -1.96320471e-03 -1.55400522e+01] [-6.62944716e-03 1.30877500e-04 9.99978016e-01 -2.10540172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.166559995 meters 0.014355088241053152 Centerline is valid? [True, True] Translation: X:131.62, Y:-15.56, Z:-2.11 [[ 9.61131048e-01 2.76040289e-01 5.37275302e-03 1.31619588e+02] [-2.76035286e-01 9.61146058e-01 -1.66619833e-03 -1.55561752e+01] [-5.62393825e-03 1.18365528e-04 9.99984179e-01 -2.10679191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.226559995 meters 0.014449483546273954 Centerline is valid? [True, True] Translation: X:131.68, Y:-15.57, Z:-2.11 [[ 9.61417723e-01 2.75053655e-01 4.63121211e-03 1.31679174e+02] [-2.75049923e-01 9.61428872e-01 -1.43688431e-03 -1.55735866e+01] [-4.84780132e-03 1.07631510e-04 9.99988244e-01 -2.10775634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.286559995 meters 0.014649181153669304 Centerline is valid? [True, True] Translation: X:131.74, Y:-15.59, Z:-2.11 [[ 9.61586386e-01 2.74462793e-01 4.66873581e-03 1.31738402e+02] [-2.74458987e-01 9.61597713e-01 -1.44981375e-03 -1.55907365e+01] [-4.88736561e-03 1.12744663e-04 9.99988050e-01 -2.10881325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.346559995 meters 0.014437033666051154 Centerline is valid? [True, True] Translation: X:131.80, Y:-15.61, Z:-2.11 [[ 9.61740261e-01 2.73906416e-01 5.56282080e-03 1.31799328e+02] [-2.73900992e-01 9.61756339e-01 -1.72931927e-03 -1.56073627e+01] [-5.82374981e-03 1.39493827e-04 9.99983032e-01 -2.10899188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.406559995 meters 0.014858321854338717 Centerline is valid? [True, True] Translation: X:131.86, Y:-15.63, Z:-2.11 [[ 9.61982577e-01 2.73051562e-01 5.68915846e-03 1.31859057e+02] [-2.73045861e-01 9.61999388e-01 -1.77086058e-03 -1.56258028e+01] [-5.95650320e-03 1.50135854e-04 9.99982249e-01 -2.10970759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.466559995 meters 0.015924061785355312 Centerline is valid? [True, True] Translation: X:131.92, Y:-15.65, Z:-2.11 [[ 9.62794038e-01 2.70159829e-01 6.42707591e-03 1.31918122e+02] [-2.70152462e-01 9.62815470e-01 -2.00450254e-03 -1.56456802e+01] [-6.72962418e-03 1.93632715e-04 9.99977337e-01 -2.11084761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52655999499999 meters 0.016881663372078644 Centerline is valid? [True, True] Translation: X:131.98, Y:-15.67, Z:-2.11 [[ 9.63529078e-01 2.67503598e-01 7.31709722e-03 1.31976575e+02] [-2.67493977e-01 9.63556831e-01 -2.28146868e-03 -1.56654401e+01] [-7.66074009e-03 2.40981981e-04 9.99970627e-01 -2.11091389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.586559995 meters 0.017161844997644254 Centerline is valid? [True, True] Translation: X:132.04, Y:-15.68, Z:-2.11 [[ 9.63635378e-01 2.67120072e-01 7.32972767e-03 1.32036251e+02] [-2.67110394e-01 9.63663223e-01 -2.28709450e-03 -1.56834941e+01] [-7.67431784e-03 2.46078723e-04 9.99970522e-01 -2.11242505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.646559995 meters 0.01715957936434687 Centerline is valid? [True, True] Translation: X:132.10, Y:-15.70, Z:-2.12 [[ 9.63051235e-01 2.69246189e-01 6.22961856e-03 1.32095446e+02] [-2.69239235e-01 9.63071364e-01 -1.94491928e-03 -1.57013113e+01] [-6.52322935e-03 1.95799175e-04 9.99978704e-01 -2.11515604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.706559995 meters 0.016691244357058457 Centerline is valid? [True, True] Translation: X:132.15, Y:-15.72, Z:-2.12 [[ 9.62781744e-01 2.70215761e-01 5.89548782e-03 1.32154853e+02] [-2.70209543e-01 9.62799777e-01 -1.84192043e-03 -1.57189737e+01] [-6.17389029e-03 1.80350294e-04 9.99980925e-01 -2.11629890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.766559995 meters 0.016301690800386463 Centerline is valid? [True, True] Translation: X:132.21, Y:-15.74, Z:-2.12 [[ 9.62567788e-01 2.70987108e-01 5.40747080e-03 1.32214443e+02] [-2.70981883e-01 9.62582963e-01 -1.69054134e-03 -1.57372314e+01] [-5.66325418e-03 1.61934017e-04 9.99983951e-01 -2.11719446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.826559995 meters 0.01609940532292044 Centerline is valid? [True, True] Translation: X:132.27, Y:-15.76, Z:-2.12 [[ 9.62698862e-01 2.70518913e-01 5.51534633e-03 1.32274069e+02] [-2.70513461e-01 9.62714646e-01 -1.72578677e-03 -1.57557999e+01] [-5.77656265e-03 1.69437532e-04 9.99983301e-01 -2.11788286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.886559995 meters 0.017547969653430445 Centerline is valid? [True, True] Translation: X:132.33, Y:-15.78, Z:-2.12 [[ 9.63400469e-01 2.68003002e-01 5.82473041e-03 1.32331360e+02] [-2.67996863e-01 9.63418057e-01 -1.82461490e-03 -1.57768527e+01] [-6.10065272e-03 1.96825377e-04 9.99981371e-01 -2.11852073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.946559995 meters 0.018475212038629604 Centerline is valid? [True, True] Translation: X:132.39, Y:-15.80, Z:-2.12 [[ 9.64088548e-01 2.65516431e-01 5.85635828e-03 1.32389801e+02] [-2.65510170e-01 9.64106311e-01 -1.83599450e-03 -1.57965794e+01] [-6.13363869e-03 2.15138588e-04 9.99981166e-01 -2.11942139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.006559995 meters 0.020313675421263003 Centerline is valid? [True, True] Translation: X:132.45, Y:-15.82, Z:-2.12 [[ 9.64713795e-01 2.63225091e-01 6.31231100e-03 1.32447226e+02] [-2.63217756e-01 9.64734414e-01 -1.98082028e-03 -1.58168163e+01] [-6.61110525e-03 2.49412314e-04 9.99978115e-01 -2.12078086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.066559995 meters 0.01844234583662468 Centerline is valid? [True, True] Translation: X:132.51, Y:-15.83, Z:-2.12 [[ 9.64684111e-01 2.63329470e-01 6.49273681e-03 1.32508659e+02] [-2.63321705e-01 9.64705926e-01 -2.03854354e-03 -1.58325825e+01] [-6.80039027e-03 2.56872037e-04 9.99976844e-01 -2.12088148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.126559995 meters 0.01851068648574621 Centerline is valid? [True, True] Translation: X:132.57, Y:-15.85, Z:-2.12 [[ 9.64351885e-01 2.64545859e-01 6.39768604e-03 1.32568142e+02] [-2.64538331e-01 9.64373075e-01 -2.01096560e-03 -1.58505493e+01] [-6.70174878e-03 2.46845279e-04 9.99977513e-01 -2.12244324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.186559995 meters 0.017418645543193396 Centerline is valid? [True, True] Translation: X:132.63, Y:-15.87, Z:-2.12 [[ 9.63529335e-01 2.67510305e-01 7.03265060e-03 1.32628118e+02] [-2.67501258e-01 9.63554966e-01 -2.21454183e-03 -1.58660393e+01] [-7.36875817e-03 2.52533139e-04 9.99972818e-01 -2.12350821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.246559995 meters 0.015680541648940772 Centerline is valid? [True, True] Translation: X:132.69, Y:-15.88, Z:-2.12 [[ 9.62647485e-01 2.70664329e-01 7.11615478e-03 1.32688140e+02] [-2.70655149e-01 9.62673760e-01 -2.24124811e-03 -1.58811741e+01] [-7.45716139e-03 2.31507930e-04 9.99972168e-01 -2.12435531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.306559995 meters 0.015027215564244112 Centerline is valid? [True, True] Translation: X:132.75, Y:-15.90, Z:-2.13 [[ 9.61030602e-01 2.76322795e-01 8.11762430e-03 1.32745908e+02] [-2.76311041e-01 9.61064861e-01 -2.55775319e-03 -1.58962208e+01] [-8.50832898e-03 2.15089867e-04 9.99963780e-01 -2.12596680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.366559995 meters 0.013099313380581526 Centerline is valid? [True, True] Translation: X:132.81, Y:-15.91, Z:-2.13 [[ 9.59811898e-01 2.80494642e-01 9.15835078e-03 1.32805804e+02] [-2.80479874e-01 9.59855570e-01 -2.88525730e-03 -1.59100991e+01] [-9.59999322e-03 2.00571208e-04 9.99953899e-01 -2.12611244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.426559995 meters 0.012165117797264261 Centerline is valid? [True, True] Translation: X:132.87, Y:-15.92, Z:-2.13 [[ 9.58542632e-01 2.84773053e-01 1.00165145e-02 1.32865148e+02] [-2.84755616e-01 9.58594950e-01 -3.15606074e-03 -1.59249113e+01] [-1.05005412e-02 1.72960024e-04 9.99944853e-01 -2.12751818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.486559995 meters 0.0110562979175351 Centerline is valid? [True, True] Translation: X:132.93, Y:-15.94, Z:-2.13 [[ 9.57380328e-01 2.88653531e-01 1.01018428e-02 1.32925463e+02] [-2.88636020e-01 9.57433612e-01 -3.18216365e-03 -1.59402029e+01] [-1.05903866e-02 1.30785178e-04 9.99943912e-01 -2.12899911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.546559995 meters 0.010397203489464267 Centerline is valid? [True, True] Translation: X:132.98, Y:-15.96, Z:-2.13 [[ 9.55812417e-01 2.93810131e-01 9.91111741e-03 1.32984418e+02] [-2.93793522e-01 9.55863799e-01 -3.12484460e-03 -1.59551181e+01] [-1.03917893e-02 7.49431802e-05 9.99946001e-01 -2.13059067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.606559995 meters 0.010024039769066321 Centerline is valid? [True, True] Translation: X:133.04, Y:-15.97, Z:-2.13 [[ 9.54944063e-01 2.96611889e-01 1.01599256e-02 1.33044498e+02] [-2.96594567e-01 9.54998107e-01 -3.20584817e-03 -1.59720966e+01] [-1.06536024e-02 4.80269422e-05 9.99943248e-01 -2.13150557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.666559995 meters 0.009866801961582234 Centerline is valid? [True, True] Translation: X:133.10, Y:-15.99, Z:-2.13 [[ 9.54267397e-01 2.98811051e-01 9.25696741e-03 1.33104965e+02] [-2.98796757e-01 9.54312294e-01 -2.92282057e-03 -1.59890864e+01] [-9.70740890e-03 2.32005366e-05 9.99952882e-01 -2.13389915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.726559995 meters 0.009823441290283372 Centerline is valid? [True, True] Translation: X:133.16, Y:-16.01, Z:-2.14 [[ 9.54227780e-01 2.98956458e-01 8.62442795e-03 1.33163803e+02] [-2.98944028e-01 9.54266753e-01 -2.72618740e-03 -1.60090300e+01] [-9.04501618e-03 2.31825174e-05 9.99959093e-01 -2.13567670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.786559995 meters 0.010133919435585186 Centerline is valid? [True, True] Translation: X:133.22, Y:-16.03, Z:-2.14 [[ 9.54785610e-01 2.97177803e-01 8.35415291e-03 1.33222643e+02] [-2.97166066e-01 9.54822157e-01 -2.64149181e-03 -1.60311537e+01] [-8.76172304e-03 3.94876191e-05 9.99961615e-01 -2.13666884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.846559995 meters 0.01031731959946909 Centerline is valid? [True, True] Translation: X:133.28, Y:-16.05, Z:-2.14 [[ 9.55639864e-01 2.94410424e-01 8.65748681e-03 1.33281198e+02] [-2.94397679e-01 9.55679077e-01 -2.74030302e-03 -1.60532043e+01] [-9.08055277e-03 6.99987858e-05 9.99958768e-01 -2.13657041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.906559995 meters 0.010837498261180975 Centerline is valid? [True, True] Translation: X:133.34, Y:-16.07, Z:-2.14 [[ 9.56087664e-01 2.92960859e-01 8.38534059e-03 1.33338274e+02] [-2.92948821e-01 9.56124431e-01 -2.65721837e-03 -1.60748180e+01] [-8.79588998e-03 8.40580710e-05 9.99961312e-01 -2.13820990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.966559995 meters 0.01105511646550454 Centerline is valid? [True, True] Translation: X:133.40, Y:-16.10, Z:-2.14 [[ 9.56413315e-01 2.91929828e-01 7.10963057e-03 1.33396488e+02] [-2.91921147e-01 9.56439736e-01 -2.25272427e-03 -1.60972250e+01] [-7.45757059e-03 7.90839751e-05 9.99972189e-01 -2.13940448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02655999499999 meters 0.011192801670563704 Centerline is valid? [True, True] Translation: X:133.45, Y:-16.12, Z:-2.14 [[ 9.56582371e-01 2.91383332e-01 6.77646501e-03 1.33454666e+02] [-2.91375420e-01 9.56606370e-01 -2.14880030e-03 -1.61185383e+01] [-7.10853419e-03 8.10091438e-05 9.99974731e-01 -2.14061563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.086559995 meters 0.011969299407852473 Centerline is valid? [True, True] Translation: X:133.51, Y:-16.14, Z:-2.14 [[ 9.57222562e-01 2.89272788e-01 6.79864916e-03 1.33512131e+02] [-2.89264758e-01 9.57246700e-01 -2.15771497e-03 -1.61421327e+01] [-7.13215270e-03 9.88038420e-05 9.99974561e-01 -2.14176313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.146559995 meters 0.012338084932868535 Centerline is valid? [True, True] Translation: X:133.57, Y:-16.16, Z:-2.14 [[ 9.57833271e-01 2.87246353e-01 6.70510500e-03 1.33570665e+02] [-2.87238480e-01 9.57856732e-01 -2.12971734e-03 -1.61642078e+01] [-7.03428351e-03 1.13949951e-04 9.99975253e-01 -2.14220818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.206559995 meters 0.012663069177902145 Centerline is valid? [True, True] Translation: X:133.63, Y:-16.19, Z:-2.14 [[ 9.58446559e-01 2.85189230e-01 6.87719231e-03 1.33627974e+02] [-2.85180874e-01 9.58471223e-01 -2.18735352e-03 -1.61871906e+01] [-7.21540059e-03 1.35217740e-04 9.99973960e-01 -2.14277345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.266559995 meters 0.013697685960146401 Centerline is valid? [True, True] Translation: X:133.69, Y:-16.21, Z:-2.14 [[ 9.58554553e-01 2.84806389e-01 7.64786019e-03 1.33685447e+02] [-2.84796040e-01 9.58585049e-01 -2.43278064e-03 -1.62097804e+01] [-8.02399591e-03 1.53872658e-04 9.99967795e-01 -2.14343779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.326559995 meters 0.013318973663671399 Centerline is valid? [True, True] Translation: X:133.74, Y:-16.23, Z:-2.14 [[ 9.58293722e-01 2.85684665e-01 7.57721948e-03 1.33743700e+02] [-2.85674515e-01 9.58323667e-01 -2.41265920e-03 -1.62299723e+01] [-7.95068849e-03 1.47417659e-04 9.99968382e-01 -2.14395031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.386559995 meters 0.012536423145739472 Centerline is valid? [True, True] Translation: X:133.80, Y:-16.25, Z:-2.14 [[ 9.57631756e-01 2.87894233e-01 7.63740490e-03 1.33802919e+02] [-2.87883975e-01 9.57662202e-01 -2.43385329e-03 -1.62480341e+01] [-8.01474632e-03 1.32048717e-04 9.99967873e-01 -2.14476900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.446559995 meters 0.011432186567787002 Centerline is valid? [True, True] Translation: X:133.86, Y:-16.26, Z:-2.15 [[ 9.55992221e-01 2.93301688e-01 7.27964207e-03 1.33862642e+02] [-2.93292511e-01 9.56019933e-01 -2.32163976e-03 -1.62641712e+01] [-7.64042379e-03 8.44050491e-05 9.99970808e-01 -2.14621302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.506559995 meters 0.010342365469246554 Centerline is valid? [True, True] Translation: X:133.92, Y:-16.28, Z:-2.15 [[ 9.54014134e-01 2.99689052e-01 6.59576976e-03 1.33923846e+02] [-2.99681655e-01 9.54036934e-01 -2.10593908e-03 -1.62784655e+01] [-6.92373485e-03 3.24644536e-05 9.99976030e-01 -2.14801983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.566559995 meters 0.010130273119307776 Centerline is valid? [True, True] Translation: X:133.98, Y:-16.30, Z:-2.15 [[ 9.53017032e-01 3.02848418e-01 6.43213463e-03 1.33984064e+02] [-3.02841456e-01 9.53038738e-01 -2.05350435e-03 -1.62951958e+01] [-6.75197402e-03 9.10760552e-06 9.99977205e-01 -2.14944028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.626559995 meters 0.010138410174370133 Centerline is valid? [True, True] Translation: X:134.04, Y:-16.31, Z:-2.15 [[ 9.52406165e-01 3.04777194e-01 5.77575931e-03 1.34043284e+02] [-3.04771604e-01 9.52423678e-01 -1.84583346e-03 -1.63124301e+01] [-6.06353787e-03 -2.30426568e-06 9.99981617e-01 -2.15120872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.686559995 meters 0.010151079140243829 Centerline is valid? [True, True] Translation: X:134.10, Y:-16.33, Z:-2.15 [[ 9.52428186e-01 3.04711038e-01 5.63335131e-03 1.34103026e+02] [-3.04705721e-01 9.52444845e-01 -1.80015612e-03 -1.63322983e+01] [-5.91398386e-03 -1.99494361e-06 9.99982512e-01 -2.15130529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.746559995 meters 0.01030029132490239 Centerline is valid? [True, True] Translation: X:134.16, Y:-16.35, Z:-2.15 [[ 9.52875201e-01 3.03317206e-01 5.24633984e-03 1.34162294e+02] [-3.03312565e-01 9.52889643e-01 -1.67784200e-03 -1.63532120e+01] [-5.50810125e-03 7.49323675e-06 9.99984830e-01 -2.15257151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.806559995 meters 0.010606104706755617 Centerline is valid? [True, True] Translation: X:134.22, Y:-16.37, Z:-2.15 [[ 9.53434968e-01 3.01562478e-01 4.67273090e-03 1.34220860e+02] [-3.01558768e-01 9.53446418e-01 -1.49578123e-03 -1.63738691e+01] [-4.90627003e-03 1.70271479e-05 9.99987964e-01 -2.15408434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.866559995 meters 0.010980479388177955 Centerline is valid? [True, True] Translation: X:134.28, Y:-16.40, Z:-2.15 [[ 9.54634145e-01 2.97746436e-01 4.55082166e-03 1.34279051e+02] [-2.97742869e-01 9.54644991e-01 -1.45776278e-03 -1.63957787e+01] [-4.77846277e-03 3.66554255e-05 9.99988582e-01 -2.15454430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.926559995 meters 0.011711192251490485 Centerline is valid? [True, True] Translation: X:134.34, Y:-16.42, Z:-2.16 [[ 9.55460502e-01 2.95078892e-01 4.86587902e-03 1.34336119e+02] [-2.95074770e-01 9.55472890e-01 -1.56056332e-03 -1.64175806e+01] [-5.10970479e-03 5.52584782e-05 9.99986944e-01 -2.15548563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.986559995 meters 0.012719607171521562 Centerline is valid? [True, True] Translation: X:134.39, Y:-16.44, Z:-2.16 [[ 9.56700472e-01 2.91035581e-01 4.74309124e-03 1.34394194e+02] [-2.91031610e-01 9.56712227e-01 -1.52212126e-03 -1.64403488e+01] [-4.98076483e-03 7.58246495e-05 9.99987593e-01 -2.15581776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.046559995 meters 0.012971796999685299 Centerline is valid? [True, True] Translation: X:134.45, Y:-16.46, Z:-2.16 [[ 9.57117619e-01 2.89664256e-01 4.52574247e-03 1.34452692e+02] [-2.89660621e-01 9.57128316e-01 -1.45337331e-03 -1.64605804e+01] [-4.75270656e-03 8.01198295e-05 9.99988703e-01 -2.15677911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.106559995 meters 0.012899666021716077 Centerline is valid? [True, True] Translation: X:134.51, Y:-16.48, Z:-2.16 [[ 9.57147774e-01 2.89538836e-01 5.94978777e-03 1.34512363e+02] [-2.89532536e-01 9.57166261e-01 -1.91320665e-03 -1.64802085e+01] [-6.24888373e-03 1.08564347e-04 9.99980470e-01 -2.15632271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.166559995 meters 0.012719893387310244 Centerline is valid? [True, True] Translation: X:134.57, Y:-16.50, Z:-2.16 [[ 9.56977716e-01 2.90083437e-01 6.72679903e-03 1.34571633e+02] [-2.90075375e-01 9.57001350e-01 -2.16610674e-03 -1.64980709e+01] [-7.06590745e-03 1.21637132e-04 9.99975029e-01 -2.15685807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.226559995 meters 0.012848700405886922 Centerline is valid? [True, True] Translation: X:134.63, Y:-16.52, Z:-2.16 [[ 9.56440666e-01 2.91822059e-01 7.81904992e-03 1.34629549e+02] [-2.91811200e-01 9.56472618e-01 -2.52079080e-03 -1.65161247e+01] [-8.21432951e-03 1.29300498e-04 9.99966253e-01 -2.15822119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.286559995 meters 0.012711347065113282 Centerline is valid? [True, True] Translation: X:134.69, Y:-16.53, Z:-2.16 [[ 9.56168037e-01 2.92710176e-01 7.96473440e-03 1.34689128e+02] [-2.92698924e-01 9.56201201e-01 -2.56968152e-03 -1.65341197e+01] [-8.36806053e-03 1.25778150e-04 9.99964979e-01 -2.16013359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.346559995 meters 0.012693439534112975 Centerline is valid? [True, True] Translation: X:134.75, Y:-16.55, Z:-2.16 [[ 9.55890003e-01 2.93593031e-01 8.79967470e-03 1.34748538e+02] [-2.93579307e-01 9.55930497e-01 -2.84183160e-03 -1.65510048e+01] [-9.24621936e-03 1.33076013e-04 9.99957244e-01 -2.16258111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.406559995 meters 0.012861523984964828 Centerline is valid? [True, True] Translation: X:134.81, Y:-16.57, Z:-2.16 [[ 9.55869376e-01 2.93638993e-01 9.48038458e-03 1.34808786e+02] [-2.93623039e-01 9.55916377e-01 -3.06432948e-03 -1.65704920e+01] [-9.96226151e-03 1.45439375e-04 9.99950365e-01 -2.16407400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.466559995 meters 0.012815916482016689 Centerline is valid? [True, True] Translation: X:134.87, Y:-16.59, Z:-2.16 [[ 9.56144806e-01 2.92686941e-01 1.10210582e-02 1.34868216e+02] [-2.92665271e-01 9.56208304e-01 -3.56637234e-03 -1.65898418e+01] [-1.15822580e-02 1.84487412e-04 9.99932906e-01 -2.16441579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52655999499999 meters 0.013704729386885335 Centerline is valid? [True, True] Translation: X:134.93, Y:-16.61, Z:-2.16 [[ 9.56681395e-01 2.90828476e-01 1.33979929e-02 1.34925331e+02] [-2.90796192e-01 9.56775173e-01 -4.34084942e-03 -1.66112772e+01] [-1.40813096e-02 2.56724564e-04 9.99900820e-01 -2.16455161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.586559995 meters 0.01360554881120051 Centerline is valid? [True, True] Translation: X:134.99, Y:-16.63, Z:-2.17 [[ 9.56559501e-01 2.91159923e-01 1.48263372e-02 1.34985401e+02] [-2.91120364e-01 9.56674354e-01 -4.80770919e-03 -1.66302152e+01] [-1.55837888e-02 2.82611211e-04 9.99878525e-01 -2.16548532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.646559995 meters 0.012781029360398127 Centerline is valid? [True, True] Translation: X:135.05, Y:-16.65, Z:-2.17 [[ 9.55877147e-01 2.93311411e-01 1.63491790e-02 1.35045631e+02] [-2.93263532e-01 9.56016914e-01 -5.30675816e-03 -1.66472422e+01] [-1.71866243e-02 2.77990879e-04 9.99852260e-01 -2.16717036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.706559995 meters 0.012304750976827459 Centerline is valid? [True, True] Translation: X:135.10, Y:-16.66, Z:-2.17 [[ 9.54897406e-01 2.96419434e-01 1.75060887e-02 1.35104790e+02] [-2.96365019e-01 9.55057832e-01 -5.68453158e-03 -1.66647472e+01] [-1.84043327e-02 2.39952153e-04 9.99830597e-01 -2.16867448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.766559995 meters 0.012219136785912781 Centerline is valid? [True, True] Translation: X:135.16, Y:-16.68, Z:-2.17 [[ 9.54399501e-01 2.98054924e-01 1.68776332e-02 1.35163309e+02] [-2.98004523e-01 9.54548700e-01 -5.48491975e-03 -1.66834000e+01] [-1.77453302e-02 2.05193647e-04 9.99842518e-01 -2.17080638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.826559995 meters 0.012226917841715618 Centerline is valid? [True, True] Translation: X:135.22, Y:-16.70, Z:-2.17 [[ 9.54316345e-01 2.98347535e-01 1.64031289e-02 1.35223089e+02] [-2.98299900e-01 9.54457285e-01 -5.33481707e-03 -1.67023630e+01] [-1.72477154e-02 1.98051417e-04 9.99851227e-01 -2.17328319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.886559995 meters 0.013041671671732428 Centerline is valid? [True, True] Translation: X:135.28, Y:-16.72, Z:-2.18 [[ 9.55106616e-01 2.95813018e-01 1.63098047e-02 1.35281445e+02] [-2.95765470e-01 9.55245831e-01 -5.30941569e-03 -1.67246841e+01] [-1.71504672e-02 2.47180999e-04 9.99852889e-01 -2.17560281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.946559995 meters 0.015008168526090451 Centerline is valid? [True, True] Translation: X:135.34, Y:-16.75, Z:-2.18 [[ 9.56814738e-01 2.90253793e-01 1.60714968e-02 1.35337522e+02] [-2.90206767e-01 9.56949641e-01 -5.23601548e-03 -1.67497008e+01] [-1.68993865e-02 3.45839639e-04 9.99857135e-01 -2.17801178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.006559995 meters 0.015475345394778597 Centerline is valid? [True, True] Translation: X:135.40, Y:-16.77, Z:-2.18 [[ 9.57904404e-01 2.86602175e-01 1.66836954e-02 1.35395879e+02] [-2.86550876e-01 9.58049586e-01 -5.43938309e-03 -1.67703799e+01] [-1.75427465e-02 4.29681483e-04 9.99846022e-01 -2.17940218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.066559995 meters 0.015980799427933075 Centerline is valid? [True, True] Translation: X:135.46, Y:-16.79, Z:-2.18 [[ 9.58458830e-01 2.84687265e-01 1.76020479e-02 1.35455177e+02] [-2.84629805e-01 9.58620320e-01 -5.74069065e-03 -1.67898428e+01] [-1.85079823e-02 4.92148182e-04 9.99828591e-01 -2.18024482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.126559995 meters 0.01602292831098659 Centerline is valid? [True, True] Translation: X:135.51, Y:-16.81, Z:-2.18 [[ 9.58602473e-01 2.84196040e-01 1.77175221e-02 1.35514077e+02] [-2.84137649e-01 9.58766057e-01 -5.78314036e-03 -1.68098782e+01] [-1.86305044e-02 5.09517571e-04 9.99826307e-01 -2.18109762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.186559995 meters 0.016154085115157153 Centerline is valid? [True, True] Translation: X:135.57, Y:-16.83, Z:-2.18 [[ 9.58423751e-01 2.84839375e-01 1.70424230e-02 1.35573653e+02] [-2.84785373e-01 9.58575139e-01 -5.56722933e-03 -1.68275230e+01] [-1.79222092e-02 4.82332028e-04 9.99839268e-01 -2.18384102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.246559995 meters 0.014786646800481255 Centerline is valid? [True, True] Translation: X:135.63, Y:-16.84, Z:-2.19 [[ 9.57169780e-01 2.89094579e-01 1.58220302e-02 1.35634089e+02] [-2.89048551e-01 9.57300466e-01 -5.17234608e-03 -1.68404758e+01] [-1.66417341e-02 3.77478450e-04 9.99861445e-01 -2.18636285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.306559995 meters 0.01396836016299468 Centerline is valid? [True, True] Translation: X:135.69, Y:-16.86, Z:-2.19 [[ 9.55821482e-01 2.93540858e-01 1.54615683e-02 1.35692271e+02] [-2.93497475e-01 9.55946483e-01 -5.05508762e-03 -1.68562528e+01] [-1.62643066e-02 2.93830096e-04 9.99867684e-01 -2.18716742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.366559995 meters 0.012808254648352665 Centerline is valid? [True, True] Translation: X:135.75, Y:-16.87, Z:-2.19 [[ 9.54024460e-01 2.99324659e-01 1.55588464e-02 1.35751068e+02] [-2.99281491e-01 9.54151303e-01 -5.08718946e-03 -1.68699824e+01] [-1.63682148e-02 1.96828429e-04 9.99866012e-01 -2.18740821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.426559995 meters 0.012190444594752287 Centerline is valid? [True, True] Translation: X:135.81, Y:-16.89, Z:-2.19 [[ 9.53103804e-01 3.02270455e-01 1.50236934e-02 1.35811472e+02] [-3.02230567e-01 9.53222194e-01 -4.91247341e-03 -1.68862154e+01] [-1.58058136e-02 1.41477714e-04 9.99875070e-01 -2.18876377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.486559995 meters 0.011968836193176588 Centerline is valid? [True, True] Translation: X:135.87, Y:-16.90, Z:-2.19 [[ 9.52180551e-01 3.05222575e-01 1.38339595e-02 1.35871811e+02] [-3.05189012e-01 9.52281036e-01 -4.52708633e-03 -1.69031850e+01] [-1.45555862e-02 8.86311155e-05 9.99894058e-01 -2.19116217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.546559995 meters 0.011914236061121276 Centerline is valid? [True, True] Translation: X:135.93, Y:-16.92, Z:-2.19 [[ 9.51720694e-01 3.06689701e-01 1.30056735e-02 1.35931830e+02] [-3.06660165e-01 9.51809552e-01 -4.25676610e-03 -1.69226160e+01] [-1.36844306e-02 6.29303987e-05 9.99906362e-01 -2.19273097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.606559995 meters 0.011845581651576577 Centerline is valid? [True, True] Translation: X:135.99, Y:-16.94, Z:-2.19 [[ 9.51259878e-01 3.08132840e-01 1.26014885e-02 1.35991866e+02] [-3.08105186e-01 9.51343340e-01 -4.12832118e-03 -1.69429028e+01] [-1.32604135e-02 4.45223446e-05 9.99912076e-01 -2.19395202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.666559995 meters 0.011848468645192229 Centerline is valid? [True, True] Translation: X:136.05, Y:-16.96, Z:-2.19 [[ 9.50320602e-01 3.11011805e-01 1.27440626e-02 1.36049993e+02] [-3.10983726e-01 9.50406048e-01 -4.17911973e-03 -1.69630871e+01] [-1.34117897e-02 8.30750379e-06 9.99910058e-01 -2.19403227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.726559995 meters 0.0119327299474518 Centerline is valid? [True, True] Translation: X:136.11, Y:-16.98, Z:-2.20 [[ 9.49593873e-01 3.13272451e-01 1.14824836e-02 1.36109032e+02] [-3.13249788e-01 9.49663293e-01 -3.76823542e-03 -1.69840756e+01] [-1.20849775e-02 -1.85922741e-05 9.99926974e-01 -2.19535796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.786559995 meters 0.011982096831354089 Centerline is valid? [True, True] Translation: X:136.17, Y:-17.00, Z:-2.20 [[ 9.49249390e-01 3.14362265e-01 1.00976146e-02 1.36168565e+02] [-3.14344773e-01 9.49303095e-01 -3.31625502e-03 -1.70048677e+01] [-1.06282022e-02 -2.61793242e-05 9.99943519e-01 -2.19680595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.846559995 meters 0.011954720266308238 Centerline is valid? [True, True] Translation: X:136.23, Y:-17.03, Z:-2.20 [[ 9.49363119e-01 3.14069607e-01 8.36362817e-03 1.36227933e+02] [-3.14057580e-01 9.49399959e-01 -2.74860231e-03 -1.70259995e+01] [-8.80368068e-03 -1.72391665e-05 9.99961247e-01 -2.19951133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.906559995 meters 0.012193238280557852 Centerline is valid? [True, True] Translation: X:136.28, Y:-17.05, Z:-2.20 [[ 9.51013993e-01 3.09065975e-01 7.11398360e-03 1.36283920e+02] [-3.09057118e-01 9.51040600e-01 -2.33995067e-03 -1.70513961e+01] [-7.48888637e-03 2.66985588e-05 9.99971958e-01 -2.20148799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.966559995 meters 0.012925702489308542 Centerline is valid? [True, True] Translation: X:136.34, Y:-17.08, Z:-2.20 [[ 9.53089606e-01 3.02584829e-01 7.91354182e-03 1.36341588e+02] [-3.02573627e-01 9.53122454e-01 -2.60520473e-03 -1.70753101e+01] [-8.33086983e-03 8.85645007e-05 9.99965294e-01 -2.20021755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02655999499999 meters 0.013726778459885418 Centerline is valid? [True, True] Translation: X:136.40, Y:-17.10, Z:-2.20 [[ 9.54417194e-01 2.98392876e-01 7.03645489e-03 1.36399864e+02] [-2.98383894e-01 9.54443125e-01 -2.31790509e-03 -1.70973199e+01] [-7.40754236e-03 1.12683663e-04 9.99972557e-01 -2.20060468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.086559995 meters 0.014512172205709316 Centerline is valid? [True, True] Translation: X:136.46, Y:-17.12, Z:-2.20 [[ 9.55566419e-01 2.94693290e-01 6.97731062e-03 1.36458264e+02] [-2.94684347e-01 9.55591882e-01 -2.30032501e-03 -1.71186714e+01] [-7.34535173e-03 1.42009109e-04 9.99973012e-01 -2.20108097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.146559995 meters 0.01644725900934268 Centerline is valid? [True, True] Translation: X:136.51, Y:-17.14, Z:-2.20 [[ 9.57342318e-01 2.88881813e-01 6.55621339e-03 1.36514433e+02] [-2.88873753e-01 9.57364751e-01 -2.16529662e-03 -1.71397796e+01] [-6.90220241e-03 1.79012113e-04 9.99976163e-01 -2.20186110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.206559995 meters 0.01743230053227488 Centerline is valid? [True, True] Translation: X:136.57, Y:-17.16, Z:-2.20 [[ 9.58700121e-01 2.84352660e-01 6.13536682e-03 1.36572020e+02] [-2.84345510e-01 9.58719733e-01 -2.02613254e-03 -1.71587737e+01] [-6.45823341e-03 1.97889506e-04 9.99979126e-01 -2.20275081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.266559995 meters 0.018017701981698497 Centerline is valid? [True, True] Translation: X:136.63, Y:-17.18, Z:-2.20 [[ 9.59795931e-01 2.80625531e-01 6.40945963e-03 1.36630802e+02] [-2.80617646e-01 9.59817304e-01 -2.11661409e-03 -1.71770992e+01] [-6.74588621e-03 2.32910124e-04 9.99977219e-01 -2.20300631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.326559995 meters 0.018438510925827257 Centerline is valid? [True, True] Translation: X:136.69, Y:-17.20, Z:-2.20 [[ 9.60297545e-01 2.78879543e-01 7.40442207e-03 1.36689862e+02] [-2.78868979e-01 9.60326049e-01 -2.44376229e-03 -1.71952398e+01] [-7.79217471e-03 2.81875309e-04 9.99969601e-01 -2.20255969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.386559995 meters 0.019027748803537747 Centerline is valid? [True, True] Translation: X:136.75, Y:-17.21, Z:-2.20 [[ 9.60082791e-01 2.79593887e-01 8.26398952e-03 1.36748605e+02] [-2.79580728e-01 9.60118306e-01 -2.73036731e-03 -1.72117296e+01] [-8.69780163e-03 3.10926461e-04 9.99962125e-01 -2.20243796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.446559995 meters 0.01737191858459116 Centerline is valid? [True, True] Translation: X:136.81, Y:-17.22, Z:-2.20 [[ 9.59303284e-01 2.82246737e-01 8.60162551e-03 1.36809189e+02] [-2.82232554e-01 9.59341799e-01 -2.84560002e-03 -1.72246919e+01] [-9.05506021e-03 3.02134707e-04 9.99958956e-01 -2.20283083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.506559995 meters 0.016632975964867947 Centerline is valid? [True, True] Translation: X:136.87, Y:-17.23, Z:-2.20 [[ 9.57660013e-01 2.87740551e-01 9.62672134e-03 1.36869419e+02] [-2.87723057e-01 9.57708357e-01 -3.18531509e-03 -1.72344743e+01] [-1.01361358e-02 2.80619200e-04 9.99948589e-01 -2.20495666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.566559995 meters 0.015694578609142154 Centerline is valid? [True, True] Translation: X:136.93, Y:-17.25, Z:-2.21 [[ 9.56494379e-01 2.91601487e-01 9.33145927e-03 1.36929671e+02] [-2.91585233e-01 9.56539868e-01 -3.08760306e-03 -1.72472041e+01] [-9.82626246e-03 2.32359244e-04 9.99951694e-01 -2.20643733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.626559995 meters 0.014437997144777993 Centerline is valid? [True, True] Translation: X:136.99, Y:-17.26, Z:-2.21 [[ 9.55499481e-01 2.94863627e-01 8.72834703e-03 1.36991018e+02] [-2.94849552e-01 9.55539328e-01 -2.88684938e-03 -1.72592894e+01] [-9.19150573e-03 1.84833865e-04 9.99957740e-01 -2.20693762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.686559995 meters 0.014805359628887071 Centerline is valid? [True, True] Translation: X:137.05, Y:-17.28, Z:-2.21 [[ 9.55495045e-01 2.94894941e-01 8.13593218e-03 1.37052069e+02] [-2.94882699e-01 9.55529667e-01 -2.69261930e-03 -1.72761484e+01] [-8.56816437e-03 1.73638761e-04 9.99963278e-01 -2.20897255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.746559995 meters 0.015569998315877244 Centerline is valid? [True, True] Translation: X:137.11, Y:-17.29, Z:-2.21 [[ 9.56338701e-01 2.92169176e-01 7.31169533e-03 1.37111656e+02] [-2.92159192e-01 9.56366635e-01 -2.42208105e-03 -1.72917889e+01] [-7.70031888e-03 1.80150846e-04 9.99970336e-01 -2.21091507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.806559995 meters 0.0170770168004927 Centerline is valid? [True, True] Translation: X:137.17, Y:-17.31, Z:-2.21 [[ 9.57737767e-01 2.87544123e-01 7.53304858e-03 1.37170069e+02] [-2.87533353e-01 9.57767365e-01 -2.49904606e-03 -1.73106727e+01] [-7.93349410e-03 2.27428077e-04 9.99968503e-01 -2.21236235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.866559995 meters 0.018575345364365413 Centerline is valid? [True, True] Translation: X:137.23, Y:-17.33, Z:-2.21 [[ 9.58781815e-01 2.84054950e-01 7.08637562e-03 1.37228151e+02] [-2.84045323e-01 9.58807972e-01 -2.35110819e-03 -1.73310001e+01] [-7.46231736e-03 2.41347933e-04 9.99972127e-01 -2.21371810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.926559995 meters 0.020200559414642348 Centerline is valid? [True, True] Translation: X:137.29, Y:-17.35, Z:-2.22 [[ 9.59595029e-01 2.81306597e-01 6.63164666e-03 1.37286352e+02] [-2.81298111e-01 9.59617913e-01 -2.19871381e-03 -1.73510770e+01] [-6.98235963e-03 2.44405169e-04 9.99975593e-01 -2.21547386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.986559995 meters 0.021823337464511823 Centerline is valid? [True, True] Translation: X:137.34, Y:-17.37, Z:-2.22 [[ 9.59851216e-01 2.80460268e-01 5.26135471e-03 1.37344609e+02] [-2.80454910e-01 9.59865615e-01 -1.74495825e-03 -1.73700563e+01] [-5.53958493e-03 1.99327531e-04 9.99984637e-01 -2.21779087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.046559995 meters 0.021162842862596953 Centerline is valid? [True, True] Translation: X:137.41, Y:-17.39, Z:-2.22 [[ 9.59121185e-01 2.82967813e-01 3.97095412e-03 1.37405023e+02] [-2.82964776e-01 9.59129395e-01 -1.31871907e-03 -1.73870297e+01] [-4.18181388e-03 1.41171254e-04 9.99991246e-01 -2.21892538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.106559995 meters 0.01803732577673411 Centerline is valid? [True, True] Translation: X:137.47, Y:-17.40, Z:-2.22 [[ 9.57143087e-01 2.89595704e-01 3.38208724e-03 1.37465458e+02] [-2.89593538e-01 9.57149058e-01 -1.12411811e-03 -1.73974686e+01] [-3.56270139e-03 9.65112629e-05 9.99993649e-01 -2.21990828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.166559995 meters 0.017350822569079424 Centerline is valid? [True, True] Translation: X:137.52, Y:-17.41, Z:-2.22 [[ 9.55443167e-01 2.95159577e-01 3.02959414e-03 1.37523887e+02] [-2.95157867e-01 9.55447968e-01 -1.00698553e-03 -1.74124321e+01] [-3.19184099e-03 6.79088988e-05 9.99994904e-01 -2.22228994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.226559995 meters 0.014052715205065465 Centerline is valid? [True, True] Translation: X:137.59, Y:-17.42, Z:-2.22 [[ 9.53515580e-01 3.01329481e-01 2.92971326e-03 1.37585217e+02] [-3.01327913e-01 9.53520079e-01 -9.73367174e-04 -1.74244274e+01] [-3.08684465e-03 4.53163828e-05 9.99995235e-01 -2.22115835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.286559995 meters 0.014104643038044273 Centerline is valid? [True, True] Translation: X:137.64, Y:-17.44, Z:-2.22 [[ 9.52555380e-01 3.04345700e-01 3.45579874e-03 1.37643667e+02] [-3.04343539e-01 9.52561648e-01 -1.14742891e-03 -1.74429451e+01] [-3.64107640e-03 4.12395613e-05 9.99993370e-01 -2.22234544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.346559995 meters 0.01323646237729792 Centerline is valid? [True, True] Translation: X:137.70, Y:-17.46, Z:-2.22 [[ 9.51302872e-01 3.08238708e-01 3.42709071e-03 1.37704314e+02] [-3.08236604e-01 9.51309045e-01 -1.13910200e-03 -1.74589515e+01] [-3.61133772e-03 2.72762027e-05 9.99993479e-01 -2.22352183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.406559995 meters 0.012804552522160399 Centerline is valid? [True, True] Translation: X:137.76, Y:-17.48, Z:-2.22 [[ 9.50321192e-01 3.11251705e-01 3.46537366e-03 1.37763620e+02] [-3.11249579e-01 9.50327510e-01 -1.15033439e-03 -1.74766525e+01] [-3.65128347e-03 1.45910564e-05 9.99993334e-01 -2.22428981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.466559995 meters 0.012460299400215072 Centerline is valid? [True, True] Translation: X:137.82, Y:-17.49, Z:-2.23 [[ 9.49268443e-01 3.14449163e-01 3.33871387e-03 1.37822895e+02] [-3.14447207e-01 9.49274314e-01 -1.10921153e-03 -1.74929413e+01] [-3.51814596e-03 3.09025254e-06 9.99993811e-01 -2.22614481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52655999499999 meters 0.012246420133925278 Centerline is valid? [True, True] Translation: X:137.88, Y:-17.51, Z:-2.23 [[ 9.49259269e-01 3.14486400e-01 2.26837380e-03 1.37882129e+02] [-3.14485499e-01 9.49261979e-01 -7.52503661e-04 -1.75128387e+01] [-2.38993317e-03 9.50407746e-07 9.99997144e-01 -2.22530138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.586559995 meters 0.012900383572557954 Centerline is valid? [True, True] Translation: X:137.94, Y:-17.54, Z:-2.23 [[ 9.50514461e-01 3.10679563e-01 6.83985206e-04 1.37939168e+02] [-3.10679482e-01 9.50514707e-01 -2.24608577e-04 -1.75360246e+01] [-7.19919293e-04 9.93531251e-07 9.99999741e-01 -2.22788924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.646559995 meters 0.014448047280748439 Centerline is valid? [True, True] Translation: X:138.00, Y:-17.56, Z:-2.23 [[ 9.52677537e-01 3.03982747e-01 1.33261198e-05 1.37995283e+02] [-3.03982747e-01 9.52677537e-01 -8.43109238e-07 -1.75622578e+01] [-1.29517856e-05 -3.24769926e-06 1.00000000e+00 -2.22776293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.706559995 meters 0.01678231928890368 Centerline is valid? [True, True] Translation: X:138.05, Y:-17.59, Z:-2.23 [[ 9.54296610e-01 2.98860879e-01 -3.93319429e-04 1.38051550e+02] [-2.98860849e-01 9.54296691e-01 1.35006974e-04 -1.75870222e+01] [ 4.15691732e-04 -1.12889191e-05 9.99999914e-01 -2.22884382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.766559995 meters 0.016202822642445925 Centerline is valid? [True, True] Translation: X:138.11, Y:-17.61, Z:-2.23 [[ 9.55788245e-01 2.94055136e-01 -6.38318782e-04 1.38110177e+02] [-2.94055058e-01 9.55788458e-01 2.14540118e-04 -1.76080276e+01] [ 6.73184347e-04 -1.73540561e-05 9.99999773e-01 -2.22645710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.826559995 meters 0.01912393693138698 Centerline is valid? [True, True] Translation: X:138.17, Y:-17.63, Z:-2.23 [[ 9.57452466e-01 2.88585981e-01 -1.70494881e-03 1.38165266e+02] [-2.88585422e-01 9.57453983e-01 5.70288960e-04 -1.76340329e+01] [ 1.79698743e-03 -5.40011979e-05 9.99998384e-01 -2.22764744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.886559995 meters 0.0182167581610368 Centerline is valid? [True, True] Translation: X:138.22, Y:-17.65, Z:-2.23 [[ 9.57952330e-01 2.86917478e-01 -2.38634157e-03 1.38224144e+02] [-2.86916368e-01 9.57955298e-01 8.02397390e-04 -1.76541070e+01] [ 2.51623038e-03 -8.39779936e-05 9.99996831e-01 -2.22604945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.946559995 meters 0.017518765262001235 Centerline is valid? [True, True] Translation: X:138.28, Y:-17.67, Z:-2.23 [[ 9.57482834e-01 2.88479958e-01 -2.43639561e-03 1.38283537e+02] [-2.88478805e-01 9.57485930e-01 8.19950314e-04 -1.76725635e+01] [ 2.56935375e-03 -8.22398576e-05 9.99996696e-01 -2.22618595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.006559995 meters 0.016412180490671408 Centerline is valid? [True, True] Translation: X:138.34, Y:-17.69, Z:-2.23 [[ 9.55965118e-01 2.93463081e-01 -3.18010132e-03 1.38342174e+02] [-2.93461159e-01 9.55970404e-01 1.06559333e-03 -1.76899659e+01] [ 3.35279504e-03 -8.54338345e-05 9.99994376e-01 -2.22747880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.066559995 meters 0.01476806313033717 Centerline is valid? [True, True] Translation: X:138.40, Y:-17.71, Z:-2.23 [[ 9.54532884e-01 2.98089478e-01 -3.10410986e-03 1.38401310e+02] [-2.98087671e-01 9.54537929e-01 1.04027750e-03 -1.77057916e+01] [ 3.27308637e-03 -6.76822009e-05 9.99994641e-01 -2.22791493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.126559995 meters 0.013330076539958257 Centerline is valid? [True, True] Translation: X:138.46, Y:-17.72, Z:-2.23 [[ 9.52280329e-01 3.05219221e-01 -1.84460885e-03 1.38460884e+02] [-3.05218596e-01 9.52282115e-01 6.18486428e-04 -1.77211577e+01] [ 1.94536196e-03 -2.59635372e-05 9.99998107e-01 -2.22876961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.186559995 meters 0.012903302776598168 Centerline is valid? [True, True] Translation: X:138.52, Y:-17.74, Z:-2.23 [[ 9.51512786e-01 3.07606484e-01 -1.29152398e-03 1.38520340e+02] [-3.07606174e-01 9.51513663e-01 4.37045603e-04 -1.77398694e+01] [ 1.36334077e-03 -1.85737296e-05 9.99999070e-01 -2.22999797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.246559995 meters 0.012363704672335883 Centerline is valid? [True, True] Translation: X:138.58, Y:-17.76, Z:-2.23 [[ 9.50063294e-01 3.12056128e-01 -8.43259692e-04 1.38578879e+02] [-3.12055997e-01 9.50063668e-01 2.86631777e-04 -1.77571152e+01] [ 8.90595599e-04 -9.17408626e-06 9.99999603e-01 -2.23191387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.306559995 meters 0.012022282138893486 Centerline is valid? [True, True] Translation: X:138.64, Y:-17.78, Z:-2.23 [[ 9.48705479e-01 3.16159602e-01 -1.00986537e-03 1.38638342e+02] [-3.16159416e-01 9.48706017e-01 3.43019501e-04 -1.77750794e+01] [ 1.06651426e-03 -6.14603281e-06 9.99999431e-01 -2.23386726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.366559995 meters 0.011628498386624529 Centerline is valid? [True, True] Translation: X:138.70, Y:-17.79, Z:-2.23 [[ 9.47245191e-01 3.20509136e-01 -6.64309501e-04 1.38698642e+02] [-3.20509055e-01 9.47245424e-01 2.27932696e-04 -1.77929813e+01] [ 7.02318647e-04 -2.99093928e-06 9.99999753e-01 -2.23388945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.426559995 meters 0.011499727799198898 Centerline is valid? [True, True] Translation: X:138.76, Y:-17.81, Z:-2.23 [[ 9.47572295e-01 3.19541411e-01 -1.77970448e-04 1.38757169e+02] [-3.19541405e-01 9.47572312e-01 6.39213735e-05 -1.78148064e+01] [ 1.89065395e-04 -3.70119560e-06 9.99999982e-01 -2.23448358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.486559995 meters 0.01193346257194085 Centerline is valid? [True, True] Translation: X:138.81, Y:-17.84, Z:-2.24 [[ 9.48902233e-01 3.15569082e-01 -8.40674398e-04 1.38814018e+02] [-3.15568952e-01 9.48902605e-01 2.86673708e-04 -1.78385828e+01] [ 8.88183485e-04 -6.73458300e-06 9.99999606e-01 -2.23668514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.546559995 meters 0.013186574874122432 Centerline is valid? [True, True] Translation: X:138.87, Y:-17.87, Z:-2.24 [[ 9.52084519e-01 3.05832697e-01 -1.19583337e-03 1.38870155e+02] [-3.05832431e-01 9.52085270e-01 4.03779132e-04 -1.78671276e+01] [ 1.26202420e-03 -1.87072341e-05 9.99999203e-01 -2.23737312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.606559995 meters 0.016516421437978213 Centerline is valid? [True, True] Translation: X:138.92, Y:-17.90, Z:-2.24 [[ 9.54350753e-01 2.98685108e-01 -1.35885427e-03 1.38924034e+02] [-2.98684760e-01 9.54351720e-01 4.57478958e-04 -1.78950243e+01] [ 1.43346706e-03 -3.07263284e-05 9.99998972e-01 -2.24004164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.666559995 meters 0.018191199699295273 Centerline is valid? [True, True] Translation: X:138.98, Y:-17.92, Z:-2.24 [[ 9.57235510e-01 2.89309174e-01 -6.15955825e-04 1.38979094e+02] [-2.89309101e-01 9.57235708e-01 2.07670492e-04 -1.79212921e+01] [ 6.49695889e-04 -2.05879441e-05 9.99999789e-01 -2.23848596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.726559995 meters 0.018480996165768582 Centerline is valid? [True, True] Translation: X:139.04, Y:-17.94, Z:-2.24 [[ 9.58387531e-01 2.85470131e-01 -3.80965212e-04 1.39036088e+02] [-2.85470102e-01 9.58387606e-01 1.28866381e-04 -1.79436256e+01] [ 4.01899841e-04 -1.47497550e-05 9.99999919e-01 -2.23825571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.786559995 meters 0.01921666541091226 Centerline is valid? [True, True] Translation: X:139.09, Y:-17.97, Z:-2.24 [[ 9.58638400e-01 2.84626780e-01 -1.19545492e-04 1.39093995e+02] [-2.84626777e-01 9.58638407e-01 4.43534694e-05 -1.79656620e+01] [ 1.27225085e-04 -8.49309074e-06 9.99999992e-01 -2.23937448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.846559995 meters 0.017851480295614203 Centerline is valid? [True, True] Translation: X:139.15, Y:-17.98, Z:-2.24 [[ 9.57763857e-01 2.87554118e-01 -1.01199041e-03 1.39152383e+02] [-2.87553918e-01 9.57764390e-01 3.41665477e-04 -1.79843155e+01] [ 1.06749570e-03 -3.62330368e-05 9.99999430e-01 -2.23987150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.906559995 meters 0.016306619052474696 Centerline is valid? [True, True] Translation: X:139.21, Y:-18.00, Z:-2.24 [[ 9.55508952e-01 2.94961453e-01 -6.19296706e-04 1.39210854e+02] [-2.94961379e-01 9.55509153e-01 2.09024243e-04 -1.80020048e+01] [ 6.53397766e-04 -1.70559245e-05 9.99999786e-01 -2.24155720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.966559995 meters 0.014279008412127425 Centerline is valid? [True, True] Translation: X:139.27, Y:-18.02, Z:-2.24 [[ 9.53391833e-01 3.01734725e-01 4.10508649e-04 1.39269705e+02] [-3.01734693e-01 9.53391921e-01 -1.37979369e-04 -1.80186921e+01] [-4.33008797e-04 7.68370174e-06 9.99999906e-01 -2.24187347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02655999499999 meters 0.01183242078599264 Centerline is valid? [True, True] Translation: X:139.33, Y:-18.03, Z:-2.24 [[ 9.50198215e-01 3.11636303e-01 2.48335922e-03 1.39329134e+02] [-3.11635179e-01 9.50201460e-01 -8.36909368e-04 -1.80331581e+01] [-2.62050290e-03 2.13276912e-05 9.99996566e-01 -2.24129086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.086559995 meters 0.011298836383405326 Centerline is valid? [True, True] Translation: X:139.39, Y:-18.05, Z:-2.24 [[ 9.48423105e-01 3.16989571e-01 3.35055633e-03 1.39388284e+02] [-3.16987570e-01 9.48429023e-01 -1.12630150e-03 -1.80509374e+01] [-3.53479069e-03 6.12565765e-06 9.99993753e-01 -2.24204277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.146559995 meters 0.01116669418356999 Centerline is valid? [True, True] Translation: X:139.45, Y:-18.07, Z:-2.24 [[ 9.47373169e-01 3.20103182e-01 4.24628137e-03 1.39446960e+02] [-3.20099990e-01 9.47382685e-01 -1.42967325e-03 -1.80697093e+01] [-4.48049641e-03 -4.80054498e-06 9.99989963e-01 -2.24374577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.206559995 meters 0.01098739414410807 Centerline is valid? [True, True] Translation: X:139.51, Y:-18.09, Z:-2.24 [[ 9.47005972e-01 3.21176235e-01 5.05115109e-03 1.39505784e+02] [-3.21171724e-01 9.47019443e-01 -1.70230694e-03 -1.80916386e+01] [-5.33027883e-03 -1.01920679e-05 9.99985794e-01 -2.24324766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.266559995 meters 0.01098930033862423 Centerline is valid? [True, True] Translation: X:139.56, Y:-18.12, Z:-2.24 [[ 9.47808436e-01 3.18790136e-01 5.65838035e-03 1.39564562e+02] [-3.18784419e-01 9.47825326e-01 -1.90929145e-03 -1.81154932e+01] [-5.97181948e-03 5.83904940e-06 9.99982169e-01 -2.24473304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.326559995 meters 0.011743351209982409 Centerline is valid? [True, True] Translation: X:139.62, Y:-18.14, Z:-2.25 [[ 9.50221552e-01 3.11530418e-01 5.27262697e-03 1.39620715e+02] [-3.11525332e-01 9.50236179e-01 -1.78078538e-03 -1.81441290e+01] [-5.56500972e-03 4.95837756e-05 9.99984514e-01 -2.24642407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.386559995 meters 0.013267616212967188 Centerline is valid? [True, True] Translation: X:139.68, Y:-18.17, Z:-2.25 [[ 9.52265039e-01 3.05213255e-01 6.01364750e-03 1.39676319e+02] [-3.05206497e-01 9.52284022e-01 -2.03351102e-03 -1.81708883e+01] [-6.34735495e-03 1.01037158e-04 9.99979850e-01 -2.24807914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.446559995 meters 0.0162981780855423 Centerline is valid? [True, True] Translation: X:139.73, Y:-18.20, Z:-2.25 [[ 9.55242831e-01 2.95753442e-01 6.40594241e-03 1.39730463e+02] [-2.95745535e-01 9.55264293e-01 -2.17002387e-03 -1.82012339e+01] [-6.76116008e-03 1.78370882e-04 9.99977127e-01 -2.24939297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.506559995 meters 0.01705084453833527 Centerline is valid? [True, True] Translation: X:139.79, Y:-18.23, Z:-2.25 [[ 9.57176700e-01 2.89449612e-01 5.62909504e-03 1.39786538e+02] [-2.89443398e-01 9.57193232e-01 -1.90674760e-03 -1.82268417e+01] [-5.94003903e-03 1.95789977e-04 9.99982339e-01 -2.25009421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.566559995 meters 0.01739649939724383 Centerline is valid? [True, True] Translation: X:139.84, Y:-18.25, Z:-2.25 [[ 9.57636073e-01 2.87934134e-01 5.20442276e-03 1.39844484e+02] [-2.87928812e-01 9.57650197e-01 -1.76072103e-03 -1.82495266e+01] [-5.49098817e-03 1.87626712e-04 9.99984907e-01 -2.25171825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.626559995 meters 0.01772087867226396 Centerline is valid? [True, True] Translation: X:139.90, Y:-18.27, Z:-2.25 [[ 9.57189448e-01 2.89402157e-01 5.89505476e-03 1.39901959e+02] [-2.89395341e-01 9.57207579e-01 -1.99677778e-03 -1.82695063e+01] [-6.22066289e-03 2.05293243e-04 9.99980630e-01 -2.25271701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.686559995 meters 0.017315033832804513 Centerline is valid? [True, True] Translation: X:139.96, Y:-18.29, Z:-2.25 [[ 9.55629090e-01 2.94512504e-01 5.95215126e-03 1.39959403e+02] [-2.94505632e-01 9.55647610e-01 -2.01974784e-03 -1.82882469e+01] [-6.28300011e-03 1.77187721e-04 9.99980246e-01 -2.25409504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74655999499998 meters 0.014619439041152012 Centerline is valid? [True, True] Translation: X:140.02, Y:-18.30, Z:-2.25 [[ 9.53579095e-01 3.01063941e-01 6.88572293e-03 1.40019188e+02] [-3.01054913e-01 9.53603943e-01 -2.33669344e-03 -1.83030931e+01] [-7.26974667e-03 1.55241299e-04 9.99973563e-01 -2.25406934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.806559995 meters 0.01309345390260903 Centerline is valid? [True, True] Translation: X:140.08, Y:-18.32, Z:-2.25 [[ 9.51843107e-01 3.06467335e-01 8.51310498e-03 1.40079322e+02] [-3.06453750e-01 9.51881165e-01 -2.88900954e-03 -1.83185961e+01] [-8.98885134e-03 1.41010867e-04 9.99959590e-01 -2.25405390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.866559995 meters 0.011994703261589995 Centerline is valid? [True, True] Translation: X:140.14, Y:-18.33, Z:-2.25 [[ 9.50070821e-01 3.11868182e-01 1.01819353e-02 1.40140042e+02] [-3.11849056e-01 9.50125374e-01 -3.45553135e-03 -1.83337040e+01] [-1.07517854e-02 1.07772596e-04 9.99942192e-01 -2.25415172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.926559995 meters 0.011329316722893112 Centerline is valid? [True, True] Translation: X:140.20, Y:-18.35, Z:-2.25 [[ 9.47925662e-01 3.18315490e-01 1.05918373e-02 1.40200709e+02] [-3.18295161e-01 9.47984835e-01 -3.59771380e-03 -1.83485666e+01] [-1.11861092e-02 3.90346669e-05 9.99937433e-01 -2.25474361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.986559995 meters 0.011231830671201322 Centerline is valid? [True, True] Translation: X:140.26, Y:-18.37, Z:-2.26 [[ 9.46678998e-01 3.22050166e-01 9.08659267e-03 1.40261400e+02] [-3.22035360e-01 9.46722605e-01 -3.08805711e-03 -1.83653247e+01] [-9.59699199e-03 -2.80533217e-06 9.99953948e-01 -2.25713933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.046559995 meters 0.011237004143227898 Centerline is valid? [True, True] Translation: X:140.32, Y:-18.38, Z:-2.26 [[ 9.46411842e-01 3.22845552e-01 8.68189559e-03 1.40320981e+02] [-3.22832046e-01 9.46451663e-01 -2.95304681e-03 -1.83846842e+01] [-9.17037254e-03 -7.99564486e-06 9.99957951e-01 -2.25875252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.106559995 meters 0.011347149109493908 Centerline is valid? [True, True] Translation: X:140.38, Y:-18.40, Z:-2.26 [[ 9.46367851e-01 3.23002268e-01 7.57802700e-03 1.40380838e+02] [-3.22991968e-01 9.46398190e-01 -2.57941537e-03 -1.84036679e+01] [-8.00498806e-03 -6.56607721e-06 9.99967960e-01 -2.26114018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.166559995 meters 0.011586481829709519 Centerline is valid? [True, True] Translation: X:140.44, Y:-18.42, Z:-2.26 [[ 9.47655824e-01 3.19227196e-01 6.51439239e-03 1.40437602e+02] [-3.19219480e-01 9.47678214e-01 -2.21962182e-03 -1.84248765e+01] [-6.88211139e-03 2.39165908e-05 9.99976318e-01 -2.26277073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.226559995 meters 0.012196482375907777 Centerline is valid? [True, True] Translation: X:140.49, Y:-18.45, Z:-2.26 [[ 9.49114500e-01 3.14869694e-01 6.22435620e-03 1.40494930e+02] [-3.14862551e-01 9.49134908e-01 -2.12150711e-03 -1.84482655e+01] [-6.57575204e-03 5.37364850e-05 9.99978378e-01 -2.26315734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.286559995 meters 0.013428287782434496 Centerline is valid? [True, True] Translation: X:140.55, Y:-18.47, Z:-2.26 [[ 9.51554969e-01 3.07412556e-01 6.37662373e-03 1.40551627e+02] [-3.07404879e-01 9.51576328e-01 -2.17530977e-03 -1.84725560e+01] [-6.73656173e-03 1.09721574e-04 9.99977303e-01 -2.26255261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.346559995 meters 0.014286652075389988 Centerline is valid? [True, True] Translation: X:140.61, Y:-18.49, Z:-2.26 [[ 9.52638983e-01 3.04045274e-01 5.95315278e-03 1.40609173e+02] [-3.04038509e-01 9.52657575e-01 -2.03213144e-03 -1.84947739e+01] [-6.28917605e-03 1.25899934e-04 9.99980215e-01 -2.26429764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.406559995 meters 0.015221379976305236 Centerline is valid? [True, True] Translation: X:140.67, Y:-18.52, Z:-2.27 [[ 9.53345920e-01 3.01831396e-01 5.41898820e-03 1.40667072e+02] [-3.01825750e-01 9.53361312e-01 -1.85067831e-03 -1.85174439e+01] [-5.72484652e-03 1.28746443e-04 9.99983605e-01 -2.26630070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.466559995 meters 0.015890889302662626 Centerline is valid? [True, True] Translation: X:140.72, Y:-18.54, Z:-2.27 [[ 9.53843725e-01 3.00269062e-01 4.54290620e-03 1.40724335e+02] [-3.00265073e-01 9.53854537e-01 -1.55207565e-03 -1.85407412e+01] [-4.79931198e-03 1.16361554e-04 9.99988476e-01 -2.26780807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52655999499999 meters 0.015275716040349397 Centerline is valid? [True, True] Translation: X:140.78, Y:-18.56, Z:-2.27 [[ 9.53294371e-01 3.01988793e-01 5.71059191e-03 1.40782767e+02] [-3.01982505e-01 9.53311465e-01 -1.95361720e-03 -1.85610245e+01] [-6.03394324e-03 1.37873427e-04 9.99981786e-01 -2.26791788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.586559995 meters 0.015326897008058714 Centerline is valid? [True, True] Translation: X:140.84, Y:-18.58, Z:-2.27 [[ 9.52274635e-01 3.05176569e-01 6.34680105e-03 1.40840503e+02] [-3.05168857e-01 9.52295776e-01 -2.17369006e-03 -1.85815071e+01] [-6.70739111e-03 1.33103891e-04 9.99977496e-01 -2.26934581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.646559995 meters 0.013378114475360194 Centerline is valid? [True, True] Translation: X:140.90, Y:-18.60, Z:-2.27 [[ 9.50205273e-01 3.11548342e-01 6.89715325e-03 1.40899958e+02] [-3.11539375e-01 9.50230299e-01 -2.36581710e-03 -1.85986406e+01] [-7.29095039e-03 9.92770735e-05 9.99973416e-01 -2.26961020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.706559995 meters 0.012656785310618564 Centerline is valid? [True, True] Translation: X:140.96, Y:-18.62, Z:-2.27 [[ 9.48428603e-01 3.16911498e-01 7.09137901e-03 1.40959761e+02] [-3.16902178e-01 9.48455112e-01 -2.43120845e-03 -1.86162675e+01] [-7.49633258e-03 5.85541854e-05 9.99971900e-01 -2.27132241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.766559995 meters 0.012079174691971799 Centerline is valid? [True, True] Translation: X:141.02, Y:-18.63, Z:-2.27 [[ 9.46263938e-01 3.23331737e-01 6.41463606e-03 1.41019929e+02] [-3.23324249e-01 9.46285680e-01 -2.20050280e-03 -1.86332951e+01] [-6.78157064e-03 8.24905994e-06 9.99977005e-01 -2.27254781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.826559995 meters 0.012024499191277833 Centerline is valid? [True, True] Translation: X:141.08, Y:-18.65, Z:-2.27 [[ 9.45210737e-01 3.26393724e-01 6.61813216e-03 1.41079421e+02] [-3.26385818e-01 9.45233906e-01 -2.27190034e-03 -1.86531209e+01] [-6.99721692e-03 -1.26398866e-05 9.99975519e-01 -2.27325531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.886559995 meters 0.012336247773747144 Centerline is valid? [True, True] Translation: X:141.14, Y:-18.67, Z:-2.27 [[ 9.44683617e-01 3.27914566e-01 6.70080213e-03 1.41137845e+02] [-3.27906476e-01 9.44707382e-01 -2.30347852e-03 -1.86734322e+01] [-7.08564140e-03 -2.11779940e-05 9.99974896e-01 -2.27435733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.946559995 meters 0.012250512769242886 Centerline is valid? [True, True] Translation: X:141.20, Y:-18.69, Z:-2.27 [[ 9.44829009e-01 3.27490216e-01 6.95003978e-03 1.41196709e+02] [-3.27481497e-01 9.44854570e-01 -2.38965515e-03 -1.86942794e+01] [-7.34936553e-03 -1.81939333e-05 9.99972993e-01 -2.27474788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.006559995 meters 0.012220027433778981 Centerline is valid? [True, True] Translation: X:141.26, Y:-18.72, Z:-2.28 [[ 9.45432895e-01 3.25736267e-01 7.24740207e-03 1.41255539e+02] [-3.25726716e-01 9.45460673e-01 -2.49442223e-03 -1.87164761e+01] [-7.66465742e-03 -2.36364706e-06 9.99970626e-01 -2.27618700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.066559995 meters 0.012655470728288728 Centerline is valid? [True, True] Translation: X:141.31, Y:-18.74, Z:-2.28 [[ 9.47429568e-01 3.19888661e-01 6.96117322e-03 1.41312339e+02] [-3.19879675e-01 9.47455140e-01 -2.39825103e-03 -1.87423806e+01] [-7.36257266e-03 4.54361146e-05 9.99972895e-01 -2.27789113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.126559995 meters 0.01388484923482813 Centerline is valid? [True, True] Translation: X:141.37, Y:-18.77, Z:-2.28 [[ 9.50121398e-01 3.11797531e-01 7.18532492e-03 1.41368345e+02] [-3.11787707e-01 9.50148560e-01 -2.47770257e-03 -1.87691905e+01] [-7.59966768e-03 1.13822254e-04 9.99971116e-01 -2.27881875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.186559995 meters 0.01526332637418683 Centerline is valid? [True, True] Translation: X:141.43, Y:-18.79, Z:-2.28 [[ 9.51747327e-01 3.06807827e-01 6.78108216e-03 1.41425929e+02] [-3.06798929e-01 9.51771472e-01 -2.34130878e-03 -1.87937240e+01] [-7.17237241e-03 1.47905624e-04 9.99974267e-01 -2.27996252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24655999499998 meters 0.01594650428174791 Centerline is valid? [True, True] Translation: X:141.48, Y:-18.82, Z:-2.28 [[ 9.53087225e-01 3.02603177e-01 7.48721699e-03 1.41483822e+02] [-3.02592194e-01 9.53116613e-01 -2.58581714e-03 -1.88161211e+01] [-7.91866738e-03 1.98935872e-04 9.99968627e-01 -2.28029926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.306559995 meters 0.016405411105333008 Centerline is valid? [True, True] Translation: X:141.54, Y:-18.84, Z:-2.28 [[ 9.53303709e-01 3.01909000e-01 7.93685751e-03 1.41541963e+02] [-3.01896639e-01 9.53336724e-01 -2.74057581e-03 -1.88365060e+01] [-8.39390224e-03 2.16490483e-04 9.99964747e-01 -2.28108039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.366559995 meters 0.016674958313419617 Centerline is valid? [True, True] Translation: X:141.60, Y:-18.85, Z:-2.28 [[ 9.52988431e-01 3.02878015e-01 8.82940826e-03 1.41600048e+02] [-3.02862733e-01 9.53029304e-01 -3.05147595e-03 -1.88544318e+01] [-9.33890978e-03 2.33922568e-04 9.99956364e-01 -2.28202638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.426559995 meters 0.015853128418792224 Centerline is valid? [True, True] Translation: X:141.66, Y:-18.87, Z:-2.28 [[ 9.52496464e-01 3.04424412e-01 8.73285915e-03 1.41659961e+02] [-3.04409509e-01 9.52536472e-01 -3.02011487e-03 -1.88716213e+01] [-9.23776353e-03 2.18283368e-04 9.99957307e-01 -2.28264215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.486559995 meters 0.015202637520035943 Centerline is valid? [True, True] Translation: X:141.72, Y:-18.89, Z:-2.28 [[ 9.51606098e-01 3.07199579e-01 8.61698711e-03 1.41720191e+02] [-3.07185161e-01 9.51645093e-01 -2.98235126e-03 -1.88875602e+01] [-9.11649055e-03 1.91013076e-04 9.99958426e-01 -2.28361622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.546559995 meters 0.014690024315050712 Centerline is valid? [True, True] Translation: X:141.78, Y:-18.90, Z:-2.29 [[ 9.50703189e-01 3.10019163e-01 7.18088028e-03 1.41780903e+02] [-3.10009222e-01 9.50730298e-01 -2.48659628e-03 -1.89027697e+01] [-7.59797295e-03 1.37875908e-04 9.99971125e-01 -2.28600272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.606559995 meters 0.013903561158711705 Centerline is valid? [True, True] Translation: X:141.84, Y:-18.92, Z:-2.29 [[ 9.50054389e-01 3.12012758e-01 6.68562726e-03 1.41841544e+02] [-3.12004169e-01 9.50077905e-01 -2.31807184e-03 -1.89189014e+01] [-7.07513473e-03 1.16350747e-04 9.99974964e-01 -2.28727429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.666559995 meters 0.01402210207396587 Centerline is valid? [True, True] Translation: X:141.90, Y:-18.94, Z:-2.29 [[ 9.49620253e-01 3.13317254e-01 7.32627257e-03 1.41900190e+02] [-3.13306975e-01 9.49648506e-01 -2.54063438e-03 -1.89372461e+01] [-7.75340838e-03 1.17265561e-04 9.99969935e-01 -2.28876148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.726559995 meters 0.013368351764049217 Centerline is valid? [True, True] Translation: X:141.96, Y:-18.95, Z:-2.29 [[ 9.49291874e-01 3.14281688e-01 8.48279473e-03 1.41960570e+02] [-3.14267938e-01 9.49329766e-01 -2.94260402e-03 -1.89537775e+01] [-8.97777610e-03 1.27519675e-04 9.99959691e-01 -2.28850073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.786559995 meters 0.013245459938727938 Centerline is valid? [True, True] Translation: X:142.02, Y:-18.97, Z:-2.29 [[ 9.49134888e-01 3.14745307e-01 8.85185780e-03 1.42021046e+02] [-3.14730332e-01 9.49176156e-01 -3.07301884e-03 -1.89726193e+01] [-9.36919061e-03 1.30761250e-04 9.99956100e-01 -2.28904971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.846559995 meters 0.013437213974280817 Centerline is valid? [True, True] Translation: X:142.08, Y:-18.99, Z:-2.29 [[ 9.49064070e-01 3.14961379e-01 8.75905709e-03 1.42079597e+02] [-3.14946693e-01 9.49104479e-01 -3.04434106e-03 -1.89924748e+01] [-9.27211017e-03 1.30638658e-04 9.99957005e-01 -2.28985506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.906559995 meters 0.013788257770678712 Centerline is valid? [True, True] Translation: X:142.14, Y:-19.01, Z:-2.29 [[ 9.49260955e-01 3.14397292e-01 7.61455307e-03 1.42138267e+02] [-3.14386170e-01 9.49291488e-01 -2.64711381e-03 -1.90114312e+01] [-8.06067582e-03 1.18891609e-04 9.99967505e-01 -2.29176705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.966559995 meters 0.014311366864496609 Centerline is valid? [True, True] Translation: X:142.20, Y:-19.03, Z:-2.29 [[ 9.49801495e-01 3.12794975e-01 6.03520426e-03 1.42197206e+02] [-3.12787951e-01 9.49820663e-01 -2.09889628e-03 -1.90318454e+01] [-6.38888592e-03 1.05795645e-04 9.99979585e-01 -2.29382125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02655999499999 meters 0.014164588950187011 Centerline is valid? [True, True] Translation: X:142.26, Y:-19.05, Z:-2.29 [[ 9.50095587e-01 3.11913817e-01 5.30535938e-03 1.42255727e+02] [-3.11908370e-01 9.50110394e-01 -1.84595800e-03 -1.90517462e+01] [-5.61645690e-03 9.90505513e-05 9.99984223e-01 -2.29467916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.086559995 meters 0.015498197386373196 Centerline is valid? [True, True] Translation: X:142.31, Y:-19.07, Z:-2.30 [[ 9.51979052e-01 3.06123472e-01 4.93000206e-03 1.42312080e+02] [-3.06118672e-01 9.51991809e-01 -1.71903648e-03 -1.90742545e+01] [-5.21955900e-03 1.27321040e-04 9.99986370e-01 -2.29557694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.146559995 meters 0.017564234183804473 Centerline is valid? [True, True] Translation: X:142.37, Y:-19.10, Z:-2.30 [[ 9.53441663e-01 3.01538933e-01 4.82362757e-03 1.42367427e+02] [-3.01534283e-01 9.53453853e-01 -1.68125843e-03 -1.90972156e+01] [-5.10607116e-03 1.48492760e-04 9.99986953e-01 -2.29611010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.206559995 meters 0.019476986823365922 Centerline is valid? [True, True] Translation: X:142.42, Y:-19.12, Z:-2.30 [[ 9.55710151e-01 2.94268765e-01 4.89907701e-03 1.42423948e+02] [-2.94263866e-01 9.55722688e-01 -1.70879651e-03 -1.91195237e+01] [-5.18500449e-03 1.91492828e-04 9.99986539e-01 -2.29661709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.266559995 meters 0.022406018403455356 Centerline is valid? [True, True] Translation: X:142.48, Y:-19.14, Z:-2.30 [[ 9.57560696e-01 2.88190393e-01 4.87961734e-03 1.42479251e+02] [-2.88185452e-01 9.57573103e-01 -1.70231722e-03 -1.91431897e+01] [-5.16318179e-03 2.23837338e-04 9.99986646e-01 -2.29721355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.326559995 meters 0.023029204884745323 Centerline is valid? [True, True] Translation: X:142.54, Y:-19.16, Z:-2.30 [[ 9.58310462e-01 2.85688648e-01 4.80158296e-03 1.42537223e+02] [-2.85683834e-01 9.58322462e-01 -1.67475479e-03 -1.91625957e+01] [-5.07992323e-03 2.33200406e-04 9.99987070e-01 -2.29779897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.386559995 meters 0.025437927304184857 Centerline is valid? [True, True] Translation: X:142.59, Y:-19.18, Z:-2.30 [[ 9.58545722e-01 2.84888186e-01 5.36855908e-03 1.42594822e+02] [-2.84882165e-01 9.58560719e-01 -1.87078562e-03 -1.91840905e+01] [-5.67905457e-03 2.63826814e-04 9.99983839e-01 -2.29768547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.446559995 meters 0.024933188350429975 Centerline is valid? [True, True] Translation: X:142.65, Y:-19.20, Z:-2.30 [[ 9.58302495e-01 2.85698738e-01 5.70613517e-03 1.42654737e+02] [-2.85691935e-01 9.58319442e-01 -1.99103402e-03 -1.92026887e+01] [-6.03713618e-03 2.77816067e-04 9.99981738e-01 -2.29731145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.506559995 meters 0.020724378413769465 Centerline is valid? [True, True] Translation: X:142.72, Y:-19.21, Z:-2.30 [[ 9.57729378e-01 2.87595768e-01 6.56602203e-03 1.42716340e+02] [-2.87586793e-01 9.57751836e-01 -2.29284781e-03 -1.92139865e+01] [-6.94803298e-03 3.07626490e-04 9.99975815e-01 -2.29576656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.566559995 meters 0.02005681093002425 Centerline is valid? [True, True] Translation: X:142.78, Y:-19.23, Z:-2.30 [[ 9.56974661e-01 2.90069079e-01 7.70896116e-03 1.42776834e+02] [-2.90056779e-01 9.57005649e-01 -2.69294533e-03 -1.92283026e+01] [-8.15865956e-03 3.41044004e-04 9.99966659e-01 -2.29580303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.626559995 meters 0.020240186246090742 Centerline is valid? [True, True] Translation: X:142.84, Y:-19.25, Z:-2.30 [[ 9.56586749e-01 2.91359065e-01 7.18931391e-03 1.42836784e+02] [-2.91348413e-01 9.56613716e-01 -2.51011412e-03 -1.92451216e+01] [-7.60874079e-03 3.06546704e-04 9.99971006e-01 -2.29682149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.686559995 meters 0.02129107444623273 Centerline is valid? [True, True] Translation: X:142.90, Y:-19.26, Z:-2.30 [[ 9.56414092e-01 2.91936318e-01 6.72838277e-03 1.42896132e+02] [-2.91926985e-01 9.56437716e-01 -2.35176266e-03 -1.92613507e+01] [-7.12184398e-03 2.85062456e-04 9.99974599e-01 -2.29784517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74655999499998 meters 0.02134165318008096 Centerline is valid? [True, True] Translation: X:142.96, Y:-19.28, Z:-2.30 [[ 9.56329977e-01 2.92243859e-01 5.14793593e-03 1.42957203e+02] [-2.92238405e-01 9.56343809e-01 -1.79847469e-03 -1.92755944e+01] [-5.44878984e-03 2.15510672e-04 9.99985132e-01 -2.29889018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.806559995 meters 0.02110818979630698 Centerline is valid? [True, True] Translation: X:143.02, Y:-19.29, Z:-2.30 [[ 9.56102402e-01 2.92999595e-01 4.40834740e-03 1.43017421e+02] [-2.92995600e-01 9.56112548e-01 -1.54069555e-03 -1.92906073e+01] [-4.66629944e-03 1.81436319e-04 9.99989096e-01 -2.29985869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.866559995 meters 0.019449723003650263 Centerline is valid? [True, True] Translation: X:143.08, Y:-19.30, Z:-2.30 [[ 9.55911334e-01 2.93624489e-01 4.26393931e-03 1.43079303e+02] [-2.93620754e-01 9.55920828e-01 -1.49115347e-03 -1.93016398e+01] [-4.51382758e-03 1.73429431e-04 9.99989798e-01 -2.29986760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.926559995 meters 0.020114974127356983 Centerline is valid? [True, True] Translation: X:143.14, Y:-19.32, Z:-2.30 [[ 9.55722358e-01 2.94246378e-01 3.72078261e-03 1.43138877e+02] [-2.94243536e-01 9.55729589e-01 -1.30175988e-03 -1.93189688e+01] [-3.93910016e-03 1.49304792e-04 9.99992231e-01 -2.30109366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.986559995 meters 0.0188688278104851 Centerline is valid? [True, True] Translation: X:143.20, Y:-19.33, Z:-2.30 [[ 9.55193205e-01 2.95975089e-01 2.16531511e-03 1.43200239e+02] [-2.95974134e-01 9.55195655e-01 -7.56385276e-04 -1.93307277e+01] [-2.29217078e-03 8.16168135e-05 9.99997370e-01 -2.30226505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.046559995 meters 0.018982466421710368 Centerline is valid? [True, True] Translation: X:143.26, Y:-19.35, Z:-2.30 [[ 9.54346302e-01 2.98696450e-01 1.88869779e-03 1.43258963e+02] [-2.98695722e-01 9.54348168e-01 -6.63128351e-04 -1.93457255e+01] [-2.00054937e-03 6.87081378e-05 9.99997997e-01 -2.30382215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.106559995 meters 0.017402192433865475 Centerline is valid? [True, True] Translation: X:143.32, Y:-19.36, Z:-2.30 [[ 9.52570100e-01 3.04300490e-01 3.37887983e-03 1.43319939e+02] [-3.04298194e-01 9.52576087e-01 -1.18663579e-03 -1.93563993e+01] [-3.57973398e-03 1.02166746e-04 9.99993588e-01 -2.30326865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.166559995 meters 0.01598857085243709 Centerline is valid? [True, True] Translation: X:143.38, Y:-19.37, Z:-2.30 [[ 9.51139967e-01 3.08739590e-01 3.55380284e-03 1.43380033e+02] [-3.08737081e-01 9.51146602e-01 -1.24792649e-03 -1.93702266e+01] [-3.76547180e-03 8.97620475e-05 9.99992907e-01 -2.30360010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.226559995 meters 0.014276743790026332 Centerline is valid? [True, True] Translation: X:143.44, Y:-19.38, Z:-2.31 [[ 9.48730176e-01 3.16072453e-01 3.04276488e-03 1.43440708e+02] [-3.16070650e-01 9.48735054e-01 -1.06874267e-03 -1.93795298e+01] [-3.22457782e-03 5.22197499e-05 9.99994800e-01 -2.30582325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.286559995 meters 0.012520344587819622 Centerline is valid? [True, True] Translation: X:143.50, Y:-19.39, Z:-2.31 [[ 9.45990885e-01 3.24179509e-01 2.98196126e-03 1.43502317e+02] [-3.24177819e-01 9.45995584e-01 -1.04720892e-03 -1.93884196e+01] [-3.16040586e-03 2.39643930e-05 9.99995006e-01 -2.30745396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.346559995 meters 0.012025088664285163 Centerline is valid? [True, True] Translation: X:143.56, Y:-19.40, Z:-2.31 [[ 9.44324283e-01 3.29004775e-01 2.73987320e-03 1.43563519e+02] [-3.29003372e-01 9.44328257e-01 -9.60954614e-04 -1.94030560e+01] [-2.90349834e-03 6.02525435e-06 9.99995785e-01 -2.30900354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.406559995 meters 0.011877140514457433 Centerline is valid? [True, True] Translation: X:143.62, Y:-19.42, Z:-2.31 [[ 9.43072628e-01 3.32578177e-01 2.40296337e-03 1.43624252e+02] [-3.32577114e-01 9.43075689e-01 -8.40821105e-04 -1.94187493e+01] [-2.54581509e-03 -6.21525451e-06 9.99996759e-01 -2.31001666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.466559995 meters 0.01189125996842416 Centerline is valid? [True, True] Translation: X:143.68, Y:-19.44, Z:-2.31 [[ 9.42249801e-01 3.34899611e-01 2.75010718e-03 1.43684863e+02] [-3.34898225e-01 9.42253814e-01 -9.63798155e-04 -1.94356936e+01] [-2.91407461e-03 -1.28673921e-05 9.99995754e-01 -2.31105276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52655999499999 meters 0.011661528839557848 Centerline is valid? [True, True] Translation: X:143.74, Y:-19.46, Z:-2.31 [[ 9.42849531e-01 3.33197538e-01 3.76344685e-03 1.43742874e+02] [-3.33194915e-01 9.42857041e-01 -1.32220223e-03 -1.94569170e+01] [-3.98894689e-03 -7.32360048e-06 9.99992044e-01 -2.31118069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.586559995 meters 0.011941889216113537 Centerline is valid? [True, True] Translation: X:143.80, Y:-19.48, Z:-2.31 [[ 9.44084557e-01 3.29676975e-01 4.17629792e-03 1.43800129e+02] [-3.29673704e-01 9.44093794e-01 -1.46866250e-03 -1.94807676e+01] [-4.42700116e-03 9.72597894e-06 9.99990201e-01 -2.31270126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.646559995 meters 0.012948898891083586 Centerline is valid? [True, True] Translation: X:143.86, Y:-19.51, Z:-2.31 [[ 9.46555026e-01 3.22514764e-01 4.22017139e-03 1.43856159e+02] [-3.22511346e-01 9.46564432e-01 -1.48555149e-03 -1.95077733e+01] [-4.47377642e-03 4.51030727e-05 9.99989992e-01 -2.31342010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.706559995 meters 0.014134637312449539 Centerline is valid? [True, True] Translation: X:143.91, Y:-19.53, Z:-2.31 [[ 9.48027817e-01 3.18161032e-01 4.10074833e-03 1.43912649e+02] [-3.18157759e-01 9.48036684e-01 -1.44471876e-03 -1.95328909e+01] [-4.34731306e-03 6.49486697e-05 9.99990548e-01 -2.31456871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.766559995 meters 0.015137808069336607 Centerline is valid? [True, True] Translation: X:143.97, Y:-19.56, Z:-2.31 [[ 9.49595957e-01 3.13447197e-01 4.28631354e-03 1.43969268e+02] [-3.13443567e-01 9.49605627e-01 -1.51127668e-03 -1.95582186e+01] [-4.54401289e-03 9.15848243e-05 9.99989672e-01 -2.31450504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.826559995 meters 0.015488033629963661 Centerline is valid? [True, True] Translation: X:144.03, Y:-19.58, Z:-2.31 [[ 9.50596000e-01 3.10383900e-01 5.39256883e-03 1.44027187e+02] [-3.10378093e-01 9.50611286e-01 -1.90341833e-03 -1.95816376e+01] [-5.71702720e-03 1.35646619e-04 9.99983648e-01 -2.31451514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.886559995 meters 0.015973121773130518 Centerline is valid? [True, True] Translation: X:144.08, Y:-19.60, Z:-2.32 [[ 9.50871751e-01 3.09536148e-01 5.50328548e-03 1.44084721e+02] [-3.09530070e-01 9.50887665e-01 -1.94531296e-03 -1.96037504e+01] [-5.83515097e-03 1.46310799e-04 9.99982965e-01 -2.31535434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.946559995 meters 0.016094447781626532 Centerline is valid? [True, True] Translation: X:144.14, Y:-19.63, Z:-2.32 [[ 9.51157113e-01 3.08647945e-01 6.04912536e-03 1.44142809e+02] [-3.08640583e-01 9.51176334e-01 -2.13826091e-03 -1.96270207e+01] [-6.41375472e-03 1.66816494e-04 9.99979418e-01 -2.31568041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.006559995 meters 0.01597957215904293 Centerline is valid? [True, True] Translation: X:144.20, Y:-19.65, Z:-2.32 [[ 9.51056309e-01 3.08942814e-01 6.79964125e-03 1.44201790e+02] [-3.08933505e-01 9.51080597e-01 -2.40561873e-03 -1.96494348e+01] [-7.21020548e-03 1.87241869e-04 9.99973989e-01 -2.31589703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.066559995 meters 0.015405012829515488 Centerline is valid? [True, True] Translation: X:144.26, Y:-19.67, Z:-2.32 [[ 9.50115379e-01 3.11817656e-01 7.10744931e-03 1.44260177e+02] [-3.11807544e-01 9.50141947e-01 -2.51731751e-03 -1.96700344e+01] [-7.53802977e-03 1.75585766e-04 9.99971573e-01 -2.31648841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.126559995 meters 0.014813271431626543 Centerline is valid? [True, True] Translation: X:144.32, Y:-19.69, Z:-2.32 [[ 9.48992893e-01 3.15202434e-01 7.74044100e-03 1.44318787e+02] [-3.15190533e-01 9.49024446e-01 -2.74402179e-03 -1.96908915e+01] [-8.21079008e-03 1.64343449e-04 9.99966277e-01 -2.31723438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.186559995 meters 0.013138241998692235 Centerline is valid? [True, True] Translation: X:144.38, Y:-19.71, Z:-2.32 [[ 9.46966971e-01 3.21250347e-01 7.19520672e-03 1.44377498e+02] [-3.21240211e-01 9.46994299e-01 -2.55419879e-03 -1.97091105e+01] [-7.63435699e-03 1.07352167e-04 9.99970852e-01 -2.31865829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24655999499998 meters 0.012316047088725614 Centerline is valid? [True, True] Translation: X:144.44, Y:-19.73, Z:-2.32 [[ 9.45757839e-01 3.24796359e-01 7.03098425e-03 1.44436311e+02] [-3.24786791e-01 9.45783971e-01 -2.49428088e-03 -1.97282942e+01] [-7.45992556e-03 7.54148894e-05 9.99972172e-01 -2.31942154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.306559995 meters 0.012024136330388253 Centerline is valid? [True, True] Translation: X:144.49, Y:-19.75, Z:-2.32 [[ 9.44668328e-01 3.27935804e-01 7.73685354e-03 1.44494032e+02] [-3.27924301e-01 9.44700008e-01 -2.74728935e-03 -1.97499623e+01] [-8.20994015e-03 5.81749452e-05 9.99966296e-01 -2.32072197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.366559995 meters 0.012029757572623282 Centerline is valid? [True, True] Translation: X:144.55, Y:-19.77, Z:-2.32 [[ 9.45002070e-01 3.26959015e-01 8.30006760e-03 1.44552072e+02] [-3.26945718e-01 9.45038516e-01 -2.94959394e-03 -1.97744292e+01] [-8.80827990e-03 7.37008213e-05 9.99961204e-01 -2.32112081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.426559995 meters 0.012406223407857736 Centerline is valid? [True, True] Translation: X:144.61, Y:-19.80, Z:-2.32 [[ 9.45769203e-01 3.24711428e-01 9.11609456e-03 1.44609489e+02] [-3.24695250e-01 9.45813130e-01 -3.24312375e-03 -1.97987259e+01] [-9.67520128e-03 1.07293962e-04 9.99953188e-01 -2.32168102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.486559995 meters 0.01290061392613525 Centerline is valid? [True, True] Translation: X:144.67, Y:-19.82, Z:-2.32 [[ 9.46611324e-01 3.22229673e-01 9.74877048e-03 1.44666219e+02] [-3.22211009e-01 9.46661511e-01 -3.47112354e-03 -1.98233708e+01] [-1.03472848e-02 1.44643682e-04 9.99946455e-01 -2.32232540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.546559995 meters 0.01390269693732465 Centerline is valid? [True, True] Translation: X:144.72, Y:-19.85, Z:-2.32 [[ 9.47762907e-01 3.18856038e-01 8.73495012e-03 1.44722087e+02] [-3.18840892e-01 9.47803144e-01 -3.11223499e-03 -1.98503744e+01] [-9.27136810e-03 1.64601594e-04 9.99957006e-01 -2.32403393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.606559995 meters 0.013961606282797284 Centerline is valid? [True, True] Translation: X:144.78, Y:-19.87, Z:-2.33 [[ 9.48193160e-01 3.17645044e-01 5.59971805e-03 1.44779604e+02] [-3.17638799e-01 9.48209689e-01 -1.99498571e-03 -1.98740018e+01] [-5.94340423e-03 1.12944083e-04 9.99982331e-01 -2.32729476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.666559995 meters 0.014719048165295928 Centerline is valid? [True, True] Translation: X:144.84, Y:-19.90, Z:-2.33 [[ 9.48274609e-01 3.17421706e-01 4.32743555e-03 1.44836034e+02] [-3.17417972e-01 9.48284479e-01 -1.54223207e-03 -1.98976716e+01] [-4.59317790e-03 8.88536980e-05 9.99989447e-01 -2.32928892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.726559995 meters 0.014888524413557251 Centerline is valid? [True, True] Translation: X:144.89, Y:-19.92, Z:-2.33 [[ 9.49015338e-01 3.15198445e-01 4.45299700e-03 1.44892550e+02] [-3.15194461e-01 9.49025779e-01 -1.58819058e-03 -1.99228095e+01] [-4.72660414e-03 1.03657229e-04 9.99988824e-01 -2.32841150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.786559995 meters 0.016071900473024068 Centerline is valid? [True, True] Translation: X:144.95, Y:-19.95, Z:-2.33 [[ 9.50074709e-01 3.11990547e-01 4.46614182e-03 1.44949557e+02] [-3.11986489e-01 9.50085198e-01 -1.59590636e-03 -1.99483254e+01] [-4.74112294e-03 1.22854368e-04 9.99988753e-01 -2.32923116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.846559995 meters 0.01879276954064968 Centerline is valid? [True, True] Translation: X:145.00, Y:-19.98, Z:-2.33 [[ 9.51817392e-01 3.06641583e-01 3.81990402e-03 1.45003812e+02] [-3.06638569e-01 9.51825049e-01 -1.36577215e-03 -1.99760811e+01] [-4.05468286e-03 1.28635784e-04 9.99991771e-01 -2.32949461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.906559995 meters 0.017349460432284 Centerline is valid? [True, True] Translation: X:145.06, Y:-20.00, Z:-2.33 [[ 9.52122356e-01 3.05689099e-01 4.14648415e-03 1.45062301e+02] [-3.05685550e-01 9.52131375e-01 -1.47984064e-03 -1.99966143e+01] [-4.40036880e-03 1.41469075e-04 9.99990308e-01 -2.32837749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.966559995 meters 0.016407638532850186 Centerline is valid? [True, True] Translation: X:145.12, Y:-20.02, Z:-2.33 [[ 9.51105318e-01 3.08840812e-01 4.00342311e-03 1.45120711e+02] [-3.08837517e-01 9.51113735e-01 -1.43215092e-03 -2.00173079e+01] [-4.25001736e-03 1.25719110e-04 9.99990961e-01 -2.32797194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02655999499999 meters 0.015376540881007872 Centerline is valid? [True, True] Translation: X:145.18, Y:-20.04, Z:-2.33 [[ 9.49631239e-01 3.13349784e-01 3.52472782e-03 1.45179914e+02] [-3.13347262e-01 9.49637775e-01 -1.26072293e-03 -2.00358669e+01] [-3.74226194e-03 9.27580716e-05 9.99992993e-01 -2.32882129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.086559995 meters 0.013531386246436954 Centerline is valid? [True, True] Translation: X:145.24, Y:-20.05, Z:-2.33 [[ 9.47450119e-01 3.19892891e-01 2.60957890e-03 1.45239103e+02] [-3.19891532e-01 9.47453712e-01 -9.33840822e-04 -2.00516756e+01] [-2.77118425e-03 4.99854074e-05 9.99996159e-01 -2.33008395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.146559995 meters 0.012957616450967938 Centerline is valid? [True, True] Translation: X:145.30, Y:-20.07, Z:-2.33 [[ 9.46538710e-01 3.22586440e-01 1.56819059e-03 1.45298198e+02] [-3.22585959e-01 9.46540009e-01 -5.57799475e-04 -2.00711877e+01] [-1.66429368e-03 2.21025290e-05 9.99998615e-01 -2.33191543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.206559995 meters 0.013179937737893378 Centerline is valid? [True, True] Translation: X:145.36, Y:-20.09, Z:-2.33 [[ 9.46652694e-01 3.22248464e-01 2.14597528e-03 1.45356747e+02] [-3.22247558e-01 9.46655125e-01 -7.64954330e-04 -2.00930621e+01] [-2.27800385e-03 3.26107856e-05 9.99997405e-01 -2.33237025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.266559995 meters 0.013794924232889597 Centerline is valid? [True, True] Translation: X:145.41, Y:-20.12, Z:-2.33 [[ 9.47336292e-01 3.20220797e-01 3.54832909e-03 1.45414179e+02] [-3.20218287e-01 9.47342935e-01 -1.26956464e-03 -2.01162363e+01] [-3.76802550e-03 6.64647990e-05 9.99992899e-01 -2.33226209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.326559995 meters 0.014270298435787978 Centerline is valid? [True, True] Translation: X:145.47, Y:-20.14, Z:-2.33 [[ 9.47729170e-01 3.19047845e-01 4.23007304e-03 1.45471567e+02] [-3.19044258e-01 9.47738606e-01 -1.51548346e-03 -2.01390627e+01] [-4.49251526e-03 8.66873705e-05 9.99989905e-01 -2.33271921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.386559995 meters 0.014339411738563346 Centerline is valid? [True, True] Translation: X:145.53, Y:-20.16, Z:-2.33 [[ 9.47539199e-01 3.19607265e-01 4.54555300e-03 1.45530108e+02] [-3.19603122e-01 9.47550098e-01 -1.63007457e-03 -2.01611147e+01] [-4.82812286e-03 9.17866218e-05 9.99988340e-01 -2.33393275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.446559995 meters 0.014243609511128923 Centerline is valid? [True, True] Translation: X:145.59, Y:-20.18, Z:-2.34 [[ 9.46780507e-01 3.21857205e-01 3.82239781e-03 1.45587720e+02] [-3.21854291e-01 9.46788221e-01 -1.37139957e-03 -2.01804978e+01] [-4.06039606e-03 6.81592461e-05 9.99991754e-01 -2.33642381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.506559995 meters 0.01250848600297928 Centerline is valid? [True, True] Translation: X:145.65, Y:-20.20, Z:-2.34 [[ 9.45314442e-01 3.26145622e-01 3.10461036e-03 1.45648149e+02] [-3.26143716e-01 9.45319539e-01 -1.11571434e-03 -2.01975112e+01] [-3.29873419e-03 4.21517190e-05 9.99994558e-01 -2.33740762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.566559995 meters 0.012455821936408113 Centerline is valid? [True, True] Translation: X:145.71, Y:-20.22, Z:-2.34 [[ 9.44935499e-01 3.27241539e-01 3.14296995e-03 1.45706765e+02] [-3.27239598e-01 9.44940725e-01 -1.12774395e-03 -2.02184817e+01] [-3.33896497e-03 3.71410705e-05 9.99994425e-01 -2.33913936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.626559995 meters 0.013071105848314335 Centerline is valid? [True, True] Translation: X:145.76, Y:-20.24, Z:-2.34 [[ 9.45806597e-01 3.24711804e-01 3.48209718e-03 1.45764275e+02] [-3.24709399e-01 9.45813006e-01 -1.25084091e-03 -2.02419832e+01] [-3.69957560e-03 5.23839020e-05 9.99993155e-01 -2.34029087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.686559995 meters 0.015015710087420578 Centerline is valid? [True, True] Translation: X:145.82, Y:-20.27, Z:-2.34 [[ 9.48486016e-01 3.16778108e-01 5.08991207e-03 1.45818673e+02] [-3.16772823e-01 9.48499665e-01 -1.83424722e-03 -2.02699461e+01] [-5.40882925e-03 1.27412020e-04 9.99985364e-01 -2.33997886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74655999499998 meters 0.016373777688757106 Centerline is valid? [True, True] Translation: X:145.87, Y:-20.29, Z:-2.34 [[ 9.50351226e-01 3.11113882e-01 6.37962444e-03 1.45874705e+02] [-3.11105452e-01 9.50372618e-01 -2.29904885e-03 -2.02949285e+01] [-6.77828639e-03 2.00167948e-04 9.99977007e-01 -2.33989858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.806559995 meters 0.019416287790038365 Centerline is valid? [True, True] Translation: X:145.93, Y:-20.32, Z:-2.34 [[ 9.51770281e-01 3.06725385e-01 7.27124095e-03 1.45929363e+02] [-3.06714301e-01 9.51798019e-01 -2.62089064e-03 -2.03214423e+01] [-7.72464642e-03 2.64292229e-04 9.99970130e-01 -2.34097987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.866559995 meters 0.019723124230026 Centerline is valid? [True, True] Translation: X:145.99, Y:-20.34, Z:-2.34 [[ 9.52464864e-01 3.04568532e-01 6.97801445e-03 1.45986967e+02] [-3.04558268e-01 9.52490387e-01 -2.51486328e-03 -2.03441072e+01] [-7.41243990e-03 2.70106913e-04 9.99972491e-01 -2.34220479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.926559995 meters 0.01889647472656708 Centerline is valid? [True, True] Translation: X:146.05, Y:-20.36, Z:-2.34 [[ 9.52131319e-01 3.05633829e-01 5.82359513e-03 1.46045862e+02] [-3.05626710e-01 9.52149104e-01 -2.09729264e-03 -2.03647595e+01] [-6.18593446e-03 2.17051783e-04 9.99980843e-01 -2.34414496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.986559995 meters 0.016917366454869524 Centerline is valid? [True, True] Translation: X:146.10, Y:-20.38, Z:-2.35 [[ 9.51195045e-01 3.08529279e-01 6.13756794e-03 1.46104560e+02] [-3.08521406e-01 9.51214823e-01 -2.21430844e-03 -2.03818232e+01] [-6.52132459e-03 2.12668122e-04 9.99978713e-01 -2.34528702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.046559995 meters 0.015613884663594646 Centerline is valid? [True, True] Translation: X:146.16, Y:-20.40, Z:-2.35 [[ 9.49212717e-01 3.14556570e-01 7.02726920e-03 1.46162993e+02] [-3.14546410e-01 9.49238708e-01 -2.53582666e-03 -2.03998327e+01] [-7.46821688e-03 1.96636611e-04 9.99972093e-01 -2.34585870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.106559995 meters 0.014309003211033292 Centerline is valid? [True, True] Translation: X:146.22, Y:-20.42, Z:-2.35 [[ 9.48202871e-01 3.17588288e-01 6.99967213e-03 1.46222375e+02] [-3.17578304e-01 9.48228691e-01 -2.52392723e-03 -2.04188853e+01] [-7.43885967e-03 1.70251043e-04 9.99972317e-01 -2.34647599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.166559995 meters 0.013749700738610069 Centerline is valid? [True, True] Translation: X:146.28, Y:-20.44, Z:-2.35 [[ 9.47510133e-01 3.19601895e-01 8.89808029e-03 1.46281131e+02] [-3.19585816e-01 9.47551892e-01 -3.21210256e-03 -2.04392506e+01] [-9.45798688e-03 1.99799480e-04 9.99955252e-01 -2.34584429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.226559995 meters 0.013624875349040432 Centerline is valid? [True, True] Translation: X:146.34, Y:-20.46, Z:-2.35 [[ 9.47170021e-01 3.20574455e-01 1.00484298e-02 1.46339760e+02] [-3.20553968e-01 9.47223295e-01 -3.63075898e-03 -2.04599627e+01] [-1.06820354e-02 2.17882012e-04 9.99942922e-01 -2.34641455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.286559995 meters 0.013561817493014754 Centerline is valid? [True, True] Translation: X:146.40, Y:-20.48, Z:-2.35 [[ 9.46625554e-01 3.22190655e-01 9.65615708e-03 1.46398382e+02] [-3.22171794e-01 9.46674783e-01 -3.49159617e-03 -2.04809853e+01] [-1.02662001e-02 1.94292713e-04 9.99947282e-01 -2.34772603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.346559995 meters 0.013109421160308884 Centerline is valid? [True, True] Translation: X:146.46, Y:-20.50, Z:-2.35 [[ 9.45862873e-01 3.24436932e-01 9.17069511e-03 1.46456809e+02] [-3.24420003e-01 9.45907316e-01 -3.31839246e-03 -2.05010008e+01] [-9.75123667e-03 1.63587297e-04 9.99952442e-01 -2.34946739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.406559995 meters 0.012092657702291716 Centerline is valid? [True, True] Translation: X:146.52, Y:-20.52, Z:-2.35 [[ 9.44371945e-01 3.28786178e-01 7.82810643e-03 1.46516011e+02] [-3.28773979e-01 9.44404383e-01 -2.83410771e-03 -2.05190708e+01] [-8.32471346e-03 1.02774104e-04 9.99965344e-01 -2.35186762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.466559995 meters 0.01236561710502564 Centerline is valid? [True, True] Translation: X:146.57, Y:-20.54, Z:-2.35 [[ 9.43781812e-01 3.30501831e-01 6.66559168e-03 1.46573281e+02] [-3.30493019e-01 9.43805347e-01 -2.41468996e-03 -2.05407473e+01] [-7.08908053e-03 7.60089498e-05 9.99974869e-01 -2.35469336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52655999499999 meters 0.012261109354048318 Centerline is valid? [True, True] Translation: X:146.63, Y:-20.56, Z:-2.36 [[ 9.43836824e-01 3.30337191e-01 7.02778195e-03 1.46631718e+02] [-3.30327379e-01 9.43862984e-01 -2.54749587e-03 -2.05634196e+01] [-7.47479588e-03 8.29516158e-05 9.99972060e-01 -2.35525490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.586559995 meters 0.012990541778871552 Centerline is valid? [True, True] Translation: X:146.69, Y:-20.59, Z:-2.35 [[ 9.44835504e-01 3.27426109e-01 8.83255466e-03 1.46688245e+02] [-3.27410442e-01 9.44876777e-01 -3.20596294e-03 -2.05889748e+01] [-9.39539175e-03 1.37236987e-04 9.99955853e-01 -2.35464833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.646559995 meters 0.012972106637342995 Centerline is valid? [True, True] Translation: X:146.75, Y:-20.61, Z:-2.35 [[ 9.45496114e-01 3.25497317e-01 9.41253420e-03 1.46746268e+02] [-3.25479401e-01 9.45542949e-01 -3.41928694e-03 -2.06120586e+01] [-1.00129241e-02 1.69336514e-04 9.99949855e-01 -2.35484920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.706559995 meters 0.013515954283994044 Centerline is valid? [True, True] Translation: X:146.80, Y:-20.64, Z:-2.36 [[ 9.45734250e-01 3.24824318e-01 8.71152886e-03 1.46803522e+02] [-3.24808922e-01 9.45774357e-01 -3.16680309e-03 -2.06360637e+01] [-9.26779526e-03 1.65371844e-04 9.99957039e-01 -2.35626985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.766559995 meters 0.013263628117480514 Centerline is valid? [True, True] Translation: X:146.86, Y:-20.66, Z:-2.36 [[ 9.45099497e-01 3.26673456e-01 8.44951307e-03 1.46861755e+02] [-3.26659026e-01 9.45137256e-01 -3.07379747e-03 -2.06570463e+01] [-8.99007763e-03 1.44934727e-04 9.99959578e-01 -2.35740650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.826559995 meters 0.012165152877623575 Centerline is valid? [True, True] Translation: X:146.92, Y:-20.68, Z:-2.36 [[ 9.43464013e-01 3.31408698e-01 6.62808567e-03 1.46920659e+02] [-3.31399930e-01 9.43487291e-01 -2.41206354e-03 -2.06757698e+01] [-7.05289344e-03 7.91480241e-05 9.99975125e-01 -2.35914576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.886559995 meters 0.011840322304368586 Centerline is valid? [True, True] Translation: X:146.98, Y:-20.70, Z:-2.36 [[ 9.42017438e-01 3.35509632e-01 6.03601503e-03 1.46979111e+02] [-3.35502435e-01 9.42036775e-01 -2.19796112e-03 -2.06968273e+01] [-6.42358525e-03 4.54199631e-05 9.99979368e-01 -2.36089235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.946559995 meters 0.011639839078276475 Centerline is valid? [True, True] Translation: X:147.04, Y:-20.72, Z:-2.36 [[ 9.41590993e-01 3.36701615e-01 6.19868648e-03 1.47036218e+02] [-3.36694038e-01 9.41611396e-01 -2.25927319e-03 -2.07186556e+01] [-6.59745476e-03 4.02505075e-05 9.99978236e-01 -2.36163022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.006559995 meters 0.01197959362368247 Centerline is valid? [True, True] Translation: X:147.09, Y:-20.74, Z:-2.36 [[ 9.42071325e-01 3.35338543e-01 7.04841615e-03 1.47093692e+02] [-3.35328693e-01 9.42097690e-01 -2.57086725e-03 -2.07448919e+01] [-7.50240746e-03 5.84041401e-05 9.99971855e-01 -2.36175692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.066559995 meters 0.012254483888342221 Centerline is valid? [True, True] Translation: X:147.15, Y:-20.77, Z:-2.36 [[ 9.42841039e-01 3.33163979e-01 7.24836604e-03 1.47150781e+02] [-3.33153477e-01 9.42868897e-01 -2.64651069e-03 -2.07703238e+01] [-7.71598093e-03 8.04205390e-05 9.99970228e-01 -2.36227448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.126559995 meters 0.013164887896011416 Centerline is valid? [True, True] Translation: X:147.21, Y:-20.80, Z:-2.36 [[ 9.44151737e-01 3.29450453e-01 6.31636856e-03 1.47206529e+02] [-3.29442386e-01 9.44172860e-01 -2.30748886e-03 -2.07981123e+01] [-6.72394702e-03 9.77400863e-05 9.99977389e-01 -2.36412210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.186559995 meters 0.013484622984719979 Centerline is valid? [True, True] Translation: X:147.26, Y:-20.82, Z:-2.37 [[ 9.44682271e-01 3.27930833e-01 6.06426638e-03 1.47263342e+02] [-3.27923357e-01 9.44701729e-01 -2.21688682e-03 -2.08223169e+01] [-6.45590848e-03 1.05639084e-04 9.99979155e-01 -2.36555816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24655999499998 meters 0.014141353912605632 Centerline is valid? [True, True] Translation: X:147.32, Y:-20.85, Z:-2.37 [[ 9.45416995e-01 3.25821523e-01 5.20003928e-03 1.47319908e+02] [-3.25815989e-01 9.45431290e-01 -1.90181363e-03 -2.08492095e+01] [-5.53593166e-03 1.03750988e-04 9.99984671e-01 -2.36609699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.306559995 meters 0.014815413969986002 Centerline is valid? [True, True] Translation: X:147.38, Y:-20.88, Z:-2.37 [[ 9.46696636e-01 3.22094217e-01 4.56007599e-03 1.47376481e+02] [-3.22089904e-01 9.46707612e-01 -1.67057253e-03 -2.08756179e+01] [-4.85514040e-03 1.12770951e-04 9.99988207e-01 -2.36663120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.366559995 meters 0.01583520434800714 Centerline is valid? [True, True] Translation: X:147.43, Y:-20.90, Z:-2.37 [[ 9.47817315e-01 3.18775318e-01 4.96329349e-03 1.47433641e+02] [-3.18770161e-01 9.47830299e-01 -1.81880583e-03 -2.09013338e+01] [-5.28415036e-03 1.41745795e-04 9.99986029e-01 -2.36671978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.426559995 meters 0.016980601663067602 Centerline is valid? [True, True] Translation: X:147.49, Y:-20.93, Z:-2.37 [[ 9.48763933e-01 3.15940503e-01 5.34764694e-03 1.47489770e+02] [-3.15934478e-01 9.48778989e-01 -1.95847689e-03 -2.09270381e+01] [-5.69249724e-03 1.68626193e-04 9.99983783e-01 -2.36680843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.486559995 meters 0.017747937712247926 Centerline is valid? [True, True] Translation: X:147.55, Y:-20.95, Z:-2.37 [[ 9.49344831e-01 3.14192401e-01 5.24668739e-03 1.47546592e+02] [-3.14186568e-01 9.49359312e-01 -1.92260895e-03 -2.09533095e+01] [-5.58506066e-03 1.76780163e-04 9.99984388e-01 -2.36643266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.546559995 meters 0.017116448914736414 Centerline is valid? [True, True] Translation: X:147.60, Y:-20.97, Z:-2.37 [[ 9.48225786e-01 3.17575332e-01 3.71057777e-03 1.47604366e+02] [-3.17572431e-01 9.48233039e-01 -1.36197310e-03 -2.09747095e+01] [-3.95102149e-03 1.13080812e-04 9.99992188e-01 -2.36838150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.606559995 meters 0.015495930768085947 Centerline is valid? [True, True] Translation: X:147.66, Y:-20.99, Z:-2.37 [[ 9.46835615e-01 3.21706170e-01 2.73102864e-03 1.47663147e+02] [-3.21704616e-01 9.46839551e-01 -1.00234576e-03 -2.09938821e+01] [-2.90830675e-03 7.04721388e-05 9.99995768e-01 -2.36927918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.666559995 meters 0.014840375150596812 Centerline is valid? [True, True] Translation: X:147.72, Y:-21.01, Z:-2.37 [[ 9.45228592e-01 3.26404765e-01 1.68451770e-03 1.47719947e+02] [-3.26404181e-01 9.45230093e-01 -6.18546860e-04 -2.10134209e+01] [-1.79415347e-03 3.48345568e-05 9.99998390e-01 -2.37091062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.726559995 meters 0.01392337963396383 Centerline is valid? [True, True] Translation: X:147.78, Y:-21.03, Z:-2.37 [[ 9.43769446e-01 3.30601871e-01 1.27889018e-03 1.47778963e+02] [-3.30601543e-01 9.43770312e-01 -4.66105634e-04 -2.10335771e+01] [-1.36107398e-03 1.70931908e-05 9.99999074e-01 -2.37218319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.786559995 meters 0.013337559379121759 Centerline is valid? [True, True] Translation: X:147.84, Y:-21.05, Z:-2.37 [[ 9.42699649e-01 3.33634757e-01 2.28468400e-03 1.47837810e+02] [-3.33633710e-01 9.42702418e-01 -8.36522203e-04 -2.10545568e+01] [-2.43287001e-03 2.63415886e-05 9.99997040e-01 -2.37254556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.846559995 meters 0.012508305986317058 Centerline is valid? [True, True] Translation: X:147.90, Y:-21.08, Z:-2.37 [[ 9.41709711e-01 3.36403119e-01 3.97000231e-03 1.47896265e+02] [-3.36399964e-01 9.41718079e-01 -1.45758858e-03 -2.10761174e+01] [-4.22896029e-03 3.71166887e-05 9.99991057e-01 -2.37152530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.906559995 meters 0.012424752315177229 Centerline is valid? [True, True] Translation: X:147.95, Y:-21.10, Z:-2.37 [[ 9.41223308e-01 3.37753253e-01 4.62874387e-03 1.47954155e+02] [-3.37748970e-01 9.41234688e-01 -1.70144928e-03 -2.10993932e+01] [-4.93140432e-03 3.80902423e-05 9.99987840e-01 -2.37259666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.966559995 meters 0.012431844736862584 Centerline is valid? [True, True] Translation: X:148.01, Y:-21.12, Z:-2.37 [[ 9.41097289e-01 3.38102286e-01 4.76833598e-03 1.48012855e+02] [-3.38097740e-01 9.41109368e-01 -1.75382210e-03 -2.11229549e+01] [-5.08049693e-03 3.83536017e-05 9.99987093e-01 -2.37400834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02655999499999 meters 0.012382578120426545 Centerline is valid? [True, True] Translation: X:148.07, Y:-21.15, Z:-2.37 [[ 9.40829125e-01 3.38848924e-01 4.68664206e-03 1.48071199e+02] [-3.38844535e-01 9.40840797e-01 -1.72508747e-03 -2.11465084e+01] [-4.99392808e-03 3.49694915e-05 9.99987530e-01 -2.37467219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.086559995 meters 0.012468100887248474 Centerline is valid? [True, True] Translation: X:148.13, Y:-21.17, Z:-2.38 [[ 9.40882375e-01 3.38717713e-01 3.26613802e-03 1.48129156e+02] [-3.38715580e-01 9.40888044e-01 -1.20223844e-03 -2.11695430e+01] [-3.48028967e-03 2.48731246e-05 9.99993943e-01 -2.37697295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.146559995 meters 0.013255129394926712 Centerline is valid? [True, True] Translation: X:148.18, Y:-21.20, Z:-2.38 [[ 9.41964894e-01 3.35702882e-01 2.39044959e-03 1.48184040e+02] [-3.35701727e-01 9.41967926e-01 -8.81146544e-04 -2.11967132e+01] [-2.54753027e-03 2.75310571e-05 9.99996755e-01 -2.37945761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.206559995 meters 0.014390749115134879 Centerline is valid? [True, True] Translation: X:148.24, Y:-21.23, Z:-2.38 [[ 9.43856768e-01 3.30342852e-01 2.82855646e-03 1.48239258e+02] [-3.30341212e-01 9.43861005e-01 -1.04212235e-03 -2.12253426e+01] [-3.01402181e-03 4.92254597e-05 9.99995457e-01 -2.38025605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.266559995 meters 0.015905832432796883 Centerline is valid? [True, True] Translation: X:148.30, Y:-21.25, Z:-2.38 [[ 9.45443511e-01 3.25772601e-01 2.96306512e-03 1.48295230e+02] [-3.25770769e-01 9.45448152e-01 -1.09477374e-03 -2.12529127e+01] [-3.15807173e-03 6.97667308e-05 9.99995011e-01 -2.38099099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.326559995 meters 0.016855562054114728 Centerline is valid? [True, True] Translation: X:148.35, Y:-21.28, Z:-2.38 [[ 9.47977670e-01 3.18322475e-01 3.02313470e-03 1.48350112e+02] [-3.18320527e-01 9.47982485e-01 -1.11779369e-03 -2.12804646e+01] [-3.22169760e-03 9.73176297e-05 9.99994806e-01 -2.38096455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.386559995 meters 0.0172226694141037 Centerline is valid? [True, True] Translation: X:148.41, Y:-21.31, Z:-2.38 [[ 9.49083590e-01 3.14999388e-01 3.96536559e-03 1.48407274e+02] [-3.14996009e-01 9.49091864e-01 -1.46588280e-03 -2.13054477e+01] [-4.22524841e-03 1.42170973e-04 9.99991063e-01 -2.38109077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.446559995 meters 0.019213068160410542 Centerline is valid? [True, True] Translation: X:148.46, Y:-21.33, Z:-2.38 [[ 9.49394585e-01 3.14063363e-01 3.75850259e-03 1.48462464e+02] [-3.14060327e-01 9.49402015e-01 -1.38764929e-03 -2.13312273e+01] [-4.00413973e-03 1.37030173e-04 9.99991974e-01 -2.38265502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.506559995 meters 0.018106439916506813 Centerline is valid? [True, True] Translation: X:148.52, Y:-21.35, Z:-2.38 [[ 9.48489946e-01 3.16786637e-01 3.61248949e-03 1.48519981e+02] [-3.16783839e-01 9.48496817e-01 -1.33705505e-03 -2.13515453e+01] [-3.84999596e-03 1.23804978e-04 9.99992581e-01 -2.38417906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.566559995 meters 0.016927811020839758 Centerline is valid? [True, True] Translation: X:148.58, Y:-21.37, Z:-2.39 [[ 9.47400484e-01 3.20033405e-01 3.30784651e-03 1.48577664e+02] [-3.20031079e-01 9.47406254e-01 -1.22437781e-03 -2.13713443e+01] [-3.52571627e-03 1.01362446e-04 9.99993780e-01 -2.38536748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.626559995 meters 0.015851356690797132 Centerline is valid? [True, True] Translation: X:148.64, Y:-21.39, Z:-2.39 [[ 9.46292118e-01 3.23292940e-01 3.59211158e-03 1.48635902e+02] [-3.23290219e-01 9.46298930e-01 -1.32978980e-03 -2.13906607e+01] [-3.82912300e-03 9.70750686e-05 9.99992664e-01 -2.38619732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.686559995 meters 0.014909764525968405 Centerline is valid? [True, True] Translation: X:148.69, Y:-21.41, Z:-2.39 [[ 9.44660801e-01 3.28004444e-01 5.39040187e-03 1.48694383e+02] [-3.27998391e-01 9.44676173e-01 -1.99603908e-03 -2.14097147e+01] [-5.74689389e-03 1.17536737e-04 9.99983480e-01 -2.38690034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74655999499998 meters 0.014025862006206358 Centerline is valid? [True, True] Translation: X:148.75, Y:-21.43, Z:-2.39 [[ 9.43586417e-01 3.31049653e-01 7.12747966e-03 1.48753054e+02] [-3.31039168e-01 9.43613327e-01 -2.63789423e-03 -2.14292442e+01] [-7.59885876e-03 1.29606233e-04 9.99971120e-01 -2.38688891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.806559995 meters 0.013383637495117548 Centerline is valid? [True, True] Translation: X:148.81, Y:-21.45, Z:-2.39 [[ 9.42514107e-01 3.34014818e-01 1.00628071e-02 1.48812421e+02] [-3.33994030e-01 9.42567811e-01 -3.72965928e-03 -2.14496050e+01] [-1.07306396e-02 1.54338981e-04 9.99942413e-01 -2.38600252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.866559995 meters 0.013301044182299365 Centerline is valid? [True, True] Translation: X:148.87, Y:-21.47, Z:-2.39 [[ 9.41945424e-01 3.35569184e-01 1.14952578e-02 1.48869634e+02] [-3.35542161e-01 9.42015551e-01 -4.26140346e-03 -2.14700025e+01] [-1.22587073e-02 1.56865844e-04 9.99924847e-01 -2.38658129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.926559995 meters 0.012573361155315538 Centerline is valid? [True, True] Translation: X:148.93, Y:-21.49, Z:-2.39 [[ 9.41355281e-01 3.37198861e-01 1.21310436e-02 1.48928793e+02] [-3.37168861e-01 9.41433432e-01 -4.50029051e-03 -2.14893002e+01] [-1.29380628e-02 1.46162101e-04 9.99916289e-01 -2.38790555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.986559995 meters 0.012222151091249939 Centerline is valid? [True, True] Translation: X:148.99, Y:-21.51, Z:-2.39 [[ 9.41043941e-01 3.38072915e-01 1.19585037e-02 1.48988434e+02] [-3.38043792e-01 9.41119911e-01 -4.43940107e-03 -2.15101674e+01] [-1.27552272e-02 1.35173535e-04 9.99918640e-01 -2.38933572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.046559995 meters 0.01214922916798902 Centerline is valid? [True, True] Translation: X:149.05, Y:-21.53, Z:-2.39 [[ 9.40528481e-01 3.39527071e-01 1.12935989e-02 1.49045927e+02] [-3.39501158e-01 9.40596277e-01 -4.19619174e-03 -2.15309135e+01] [-1.20474377e-02 1.12447953e-04 9.99927421e-01 -2.39187239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.106559995 meters 0.012032188939462488 Centerline is valid? [True, True] Translation: X:149.10, Y:-21.55, Z:-2.39 [[ 9.40182906e-01 3.40484671e-01 1.12380095e-02 1.49104539e+02] [-3.40459049e-01 9.40250062e-01 -4.17822179e-03 -2.15526655e+01] [-1.19891596e-02 1.02210685e-04 9.99928122e-01 -2.39376591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.166559995 meters 0.011916551652104096 Centerline is valid? [True, True] Translation: X:149.16, Y:-21.58, Z:-2.39 [[ 9.40408737e-01 3.39857762e-01 1.13184801e-02 1.49163238e+02] [-3.39831683e-01 9.40476841e-01 -4.21173269e-03 -2.15754949e+01] [-1.20761584e-02 1.14372096e-04 9.99927074e-01 -2.39447106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.226559995 meters 0.012200248591191657 Centerline is valid? [True, True] Translation: X:149.22, Y:-21.60, Z:-2.39 [[ 9.41018267e-01 3.38095278e-01 1.32741580e-02 1.49220453e+02] [-3.38059159e-01 9.41111872e-01 -4.94466398e-03 -2.15992248e+01] [-1.41642352e-02 1.65568442e-04 9.99899668e-01 -2.39435379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.286559995 meters 0.012483597794684352 Centerline is valid? [True, True] Translation: X:149.28, Y:-21.62, Z:-2.39 [[ 9.41494344e-01 3.36744681e-01 1.38354648e-02 1.49278443e+02] [-3.36705235e-01 9.41595975e-01 -5.15785893e-03 -2.16225954e+01] [-1.47642995e-02 1.97621585e-04 9.99890982e-01 -2.39462112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.346559995 meters 0.012978703106987833 Centerline is valid? [True, True] Translation: X:149.34, Y:-21.65, Z:-2.40 [[ 9.42153746e-01 3.34910531e-01 1.34631263e-02 1.49336025e+02] [-3.34872939e-01 9.42249907e-01 -5.02274826e-03 -2.16465692e+01] [-1.43678008e-02 2.23764412e-04 9.99896753e-01 -2.39554208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.406559995 meters 0.013464557998661978 Centerline is valid? [True, True] Translation: X:149.39, Y:-21.67, Z:-2.40 [[ 9.42525403e-01 3.33909672e-01 1.22554537e-02 1.49393437e+02] [-3.33878398e-01 9.42605051e-01 -4.57525626e-03 -2.16693949e+01] [-1.30797749e-02 2.20463978e-04 9.99914432e-01 -2.39704363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.466559995 meters 0.013376699055895412 Centerline is valid? [True, True] Translation: X:149.45, Y:-21.69, Z:-2.40 [[ 9.43287731e-01 3.31788550e-01 1.11631165e-02 1.49451432e+02] [-3.31762423e-01 9.43353754e-01 -4.17014292e-03 -2.16922428e+01] [-1.19143736e-02 2.30142071e-04 9.99928995e-01 -2.39868828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52655999499999 meters 0.014532112299732855 Centerline is valid? [True, True] Translation: X:149.51, Y:-21.72, Z:-2.40 [[ 9.43759745e-01 3.30474825e-01 1.01948334e-02 1.49507124e+02] [-3.30452925e-01 9.43814780e-01 -3.81129589e-03 -2.17163686e+01] [-1.08815718e-02 2.28035117e-04 9.99940768e-01 -2.40095844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.586559995 meters 0.01466706336856704 Centerline is valid? [True, True] Translation: X:149.56, Y:-21.74, Z:-2.40 [[ 9.43889057e-01 3.30123551e-01 9.58589343e-03 1.49564512e+02] [-3.30104155e-01 9.43937706e-01 -3.58531392e-03 -2.17389019e+01] [-1.02320828e-02 2.19795329e-04 9.99947627e-01 -2.40292356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.646559995 meters 0.014590255865555454 Centerline is valid? [True, True] Translation: X:149.62, Y:-21.76, Z:-2.40 [[ 9.43618919e-01 3.30921243e-01 8.62943915e-03 1.49622924e+02] [-3.30905542e-01 9.43658357e-01 -3.22931970e-03 -2.17621003e+01] [-9.21189286e-03 1.91717926e-04 9.99957551e-01 -2.40392879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.706559995 meters 0.013804332065996586 Centerline is valid? [True, True] Translation: X:149.68, Y:-21.78, Z:-2.40 [[ 9.42432498e-01 3.34296285e-01 8.18417761e-03 1.49680783e+02] [-3.34282266e-01 9.42468021e-01 -3.06532625e-03 -2.17836657e+01] [-8.73805285e-03 1.53037639e-04 9.99961811e-01 -2.40493138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.766559995 meters 0.012435959157488621 Centerline is valid? [True, True] Translation: X:149.74, Y:-21.80, Z:-2.40 [[ 9.40468868e-01 3.39780664e-01 8.21025407e-03 1.49739609e+02] [-3.39766744e-01 9.40504699e-01 -3.07737299e-03 -2.18028895e+01] [-8.76741437e-03 1.04602202e-04 9.99961560e-01 -2.40449690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.826559995 meters 0.01177265191163703 Centerline is valid? [True, True] Translation: X:149.80, Y:-21.82, Z:-2.40 [[ 9.39056677e-01 3.43657561e-01 8.48755002e-03 1.49798220e+02] [-3.43642820e-01 9.39095030e-01 -3.18381808e-03 -2.18226515e+01] [-9.06475919e-03 7.31000018e-05 9.99958912e-01 -2.40489378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.886559995 meters 0.011333495674575027 Centerline is valid? [True, True] Translation: X:149.86, Y:-21.84, Z:-2.41 [[ 9.37141338e-01 3.48841070e-01 8.71896456e-03 1.49857902e+02] [-3.48825704e-01 9.37181896e-01 -3.27435036e-03 -2.18419908e+01] [-9.31348363e-03 2.71301257e-05 9.99956628e-01 -2.40543844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.946559995 meters 0.011157932890662236 Centerline is valid? [True, True] Translation: X:149.92, Y:-21.86, Z:-2.41 [[ 9.35832472e-01 3.52340143e-01 8.60275241e-03 1.49917312e+02] [-3.52325335e-01 9.35872013e-01 -3.23019527e-03 -2.18615371e+01] [-9.18920267e-03 -8.04600341e-06 9.99957778e-01 -2.40670556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.006559995 meters 0.011175345853843515 Centerline is valid? [True, True] Translation: X:149.98, Y:-21.88, Z:-2.41 [[ 9.35532700e-01 3.53159487e-01 7.54612805e-03 1.49976355e+02] [-3.53148106e-01 9.35563133e-01 -2.83525737e-03 -2.18833129e+01] [-8.06117724e-03 -1.24248473e-05 9.99967508e-01 -2.40854608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.066559995 meters 0.011254394477803601 Centerline is valid? [True, True] Translation: X:150.03, Y:-21.91, Z:-2.41 [[ 9.35964795e-01 3.52059054e-01 4.93205421e-03 1.50033559e+02] [-3.52054176e-01 9.35977789e-01 -1.85340153e-03 -2.19062390e+01] [-5.26879999e-03 -1.63169466e-06 9.99986120e-01 -2.41113686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.126559995 meters 0.011369163313346664 Centerline is valid? [True, True] Translation: X:150.09, Y:-21.93, Z:-2.41 [[ 9.36743689e-01 3.49988811e-01 4.36951218e-03 1.50091871e+02] [-3.49984958e-01 9.36753880e-01 -1.64235554e-03 -2.19305896e+01] [-4.66796355e-03 9.20265019e-06 9.99989105e-01 -2.41285873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.186559995 meters 0.011760086589998353 Centerline is valid? [True, True] Translation: X:150.15, Y:-21.95, Z:-2.41 [[ 9.38133683e-01 3.46230128e-01 5.46729391e-03 1.50150114e+02] [-3.46224014e-01 9.38149613e-01 -2.05794320e-03 -2.19538934e+01] [-5.84166161e-03 3.77173905e-05 9.99982937e-01 -2.41309322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24655999499998 meters 0.013046369955777522 Centerline is valid? [True, True] Translation: X:150.21, Y:-21.98, Z:-2.41 [[ 9.40200767e-01 3.40573648e-01 5.66641697e-03 1.50205974e+02] [-3.40566962e-01 9.40217839e-01 -2.13544614e-03 -2.19782347e+01] [-6.05494300e-03 7.79536865e-05 9.99981666e-01 -2.41404306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.306559995 meters 0.01452438681325909 Centerline is valid? [True, True] Translation: X:150.26, Y:-22.00, Z:-2.41 [[ 9.42013261e-01 3.35527328e-01 5.69454161e-03 1.50262571e+02] [-3.35520465e-01 9.42030466e-01 -2.14910128e-03 -2.20038709e+01] [-6.08551390e-03 1.13846659e-04 9.99981477e-01 -2.41444542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.366559995 meters 0.01504046670368608 Centerline is valid? [True, True] Translation: X:150.32, Y:-22.03, Z:-2.41 [[ 9.44359928e-01 3.28862294e-01 5.82390792e-03 1.50319435e+02] [-3.28854990e-01 9.44377872e-01 -2.19763964e-03 -2.20255741e+01] [-6.22269059e-03 1.60141630e-04 9.99980626e-01 -2.41410678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.426559995 meters 0.017079268467421294 Centerline is valid? [True, True] Translation: X:150.38, Y:-22.05, Z:-2.42 [[ 9.45906498e-01 3.24398020e-01 5.17904476e-03 1.50376264e+02] [-3.24392173e-01 9.45920660e-01 -1.95508087e-03 -2.20463009e+01] [-5.53318980e-03 1.69282114e-04 9.99984677e-01 -2.41663961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.486559995 meters 0.017110364872202077 Centerline is valid? [True, True] Translation: X:150.44, Y:-22.07, Z:-2.42 [[ 9.46468192e-01 3.22761533e-01 4.79107437e-03 1.50435588e+02] [-3.22756513e-01 9.46480304e-01 -1.80770261e-03 -2.20655224e+01] [-5.11811439e-03 1.64582563e-04 9.99986889e-01 -2.41691742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.546559995 meters 0.017823077677462988 Centerline is valid? [True, True] Translation: X:150.49, Y:-22.09, Z:-2.42 [[ 9.46313751e-01 3.23208988e-01 5.12195277e-03 1.50492419e+02] [-3.23203246e-01 9.46327596e-01 -1.93451206e-03 -2.20867638e+01] [-5.47229694e-03 1.75223598e-04 9.99985012e-01 -2.41785303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.606559995 meters 0.016043181055322018 Centerline is valid? [True, True] Translation: X:150.55, Y:-22.10, Z:-2.42 [[ 9.45481740e-01 3.25615975e-01 6.20611460e-03 1.50551779e+02] [-3.25607568e-01 9.45502087e-01 -2.34825938e-03 -2.21023076e+01] [-6.63252507e-03 1.99478485e-04 9.99977985e-01 -2.41681799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.666559995 meters 0.014296703362316985 Centerline is valid? [True, True] Translation: X:150.61, Y:-22.12, Z:-2.42 [[ 9.43752739e-01 3.30565752e-01 7.55321204e-03 1.50611571e+02] [-3.30553454e-01 9.43782943e-01 -2.85840755e-03 -2.21174615e+01] [-8.07348433e-03 2.00889628e-04 9.99967389e-01 -2.41645923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.726559995 meters 0.013351741908504083 Centerline is valid? [True, True] Translation: X:150.67, Y:-22.13, Z:-2.42 [[ 9.42083043e-01 3.35282096e-01 8.09043412e-03 1.50670997e+02] [-3.35268160e-01 9.42117767e-01 -3.06177842e-03 -2.21348738e+01] [-8.64870121e-03 1.71984568e-04 9.99962584e-01 -2.41703248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.786559995 meters 0.011430082225774922 Centerline is valid? [True, True] Translation: X:150.73, Y:-22.15, Z:-2.42 [[ 9.39237953e-01 3.43164386e-01 8.38284110e-03 1.50732397e+02] [-3.43149730e-01 9.39275356e-01 -3.17320214e-03 -2.21472979e+01] [-8.96272602e-03 1.03822217e-04 9.99959829e-01 -2.41876907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.846559995 meters 0.010693382239891669 Centerline is valid? [True, True] Translation: X:150.79, Y:-22.16, Z:-2.42 [[ 9.37311947e-01 3.48397373e-01 8.09845423e-03 1.50792256e+02] [-3.48383895e-01 9.37346930e-01 -3.06489153e-03 -2.21634665e+01] [-8.65886137e-03 5.13884169e-05 9.99962510e-01 -2.42032176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.906559995 meters 0.01034159264970632 Centerline is valid? [True, True] Translation: X:150.85, Y:-22.18, Z:-2.42 [[ 9.35245727e-01 3.53920237e-01 7.47637696e-03 1.50851961e+02] [-3.53908911e-01 9.35275610e-01 -2.83144574e-03 -2.21788977e+01] [-7.99457897e-03 2.14110613e-06 9.99968043e-01 -2.42290587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.966559995 meters 0.010308048057809573 Centerline is valid? [True, True] Translation: X:150.91, Y:-22.20, Z:-2.42 [[ 9.34451721e-01 3.56030441e-01 6.50425755e-03 1.50911509e+02] [-3.56021916e-01 9.34474357e-01 -2.46395598e-03 -2.21981803e+01] [-6.95530523e-03 -1.32103282e-05 9.99975811e-01 -2.42455604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02655999499999 meters 0.010289934591447107 Centerline is valid? [True, True] Translation: X:150.97, Y:-22.22, Z:-2.43 [[ 9.34503127e-01 3.55882350e-01 7.18735414e-03 1.50969119e+02] [-3.55871904e-01 9.34530766e-01 -2.72682237e-03 -2.22177392e+01] [-7.68723152e-03 -9.55336402e-06 9.99970453e-01 -2.42678370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.086559995 meters 0.010371795456610187 Centerline is valid? [True, True] Translation: X:151.03, Y:-22.24, Z:-2.43 [[ 9.35498586e-01 3.53237458e-01 8.10519376e-03 1.51026924e+02] [-3.53224069e-01 9.35533697e-01 -3.07549950e-03 -2.22419045e+01] [-8.66906351e-03 1.41759044e-05 9.99962423e-01 -2.42694077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.146559995 meters 0.010658128797563431 Centerline is valid? [True, True] Translation: X:151.08, Y:-22.27, Z:-2.43 [[ 9.36839298e-01 3.49644839e-01 8.97868700e-03 1.51084348e+02] [-3.49628212e-01 9.36882321e-01 -3.41033613e-03 -2.22668435e+01] [-9.60437954e-03 5.57346213e-05 9.99953875e-01 -2.42784101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.206559995 meters 0.010844626911442237 Centerline is valid? [True, True] Translation: X:151.14, Y:-22.29, Z:-2.43 [[ 9.37372948e-01 3.48192343e-01 9.69790465e-03 1.51142452e+02] [-3.48172830e-01 9.37423109e-01 -3.68704580e-03 -2.22899296e+01] [-1.03748411e-02 7.95900801e-05 9.99946177e-01 -2.42865786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.266559995 meters 0.011254169316960987 Centerline is valid? [True, True] Translation: X:151.20, Y:-22.31, Z:-2.43 [[ 9.37899747e-01 3.46775563e-01 9.52746552e-03 1.51198565e+02] [-3.46756623e-01 9.37948133e-01 -3.62564218e-03 -2.23132702e+01] [-1.01935526e-02 9.67771171e-05 9.99948040e-01 -2.43048086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.326559995 meters 0.011444015579619023 Centerline is valid? [True, True] Translation: X:151.26, Y:-22.34, Z:-2.43 [[ 9.38233099e-01 3.45892348e-01 8.78263878e-03 1.51255863e+02] [-3.45876196e-01 9.38274200e-01 -3.34421402e-03 -2.23357917e+01] [-9.39726141e-03 9.99465910e-05 9.99955840e-01 -2.43227148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.386559995 meters 0.011794750410887256 Centerline is valid? [True, True] Translation: X:151.31, Y:-22.36, Z:-2.43 [[ 9.38807492e-01 3.44350428e-01 7.95465823e-03 1.51313342e+02] [-3.44337108e-01 9.38841186e-01 -3.03051757e-03 -2.23592133e+01] [-8.51172079e-03 1.05988586e-04 9.99963769e-01 -2.43416317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.446559995 meters 0.012227750638099194 Centerline is valid? [True, True] Translation: X:151.37, Y:-22.38, Z:-2.43 [[ 9.39530835e-01 3.42383490e-01 7.44009071e-03 1.51370061e+02] [-3.42371761e-01 9.39560286e-01 -2.83644377e-03 -2.23835731e+01] [-7.96156528e-03 1.17649423e-04 9.99968299e-01 -2.43489738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.506559995 meters 0.012491817289213461 Centerline is valid? [True, True] Translation: X:151.43, Y:-22.41, Z:-2.44 [[ 9.40005714e-01 3.41075402e-01 7.53844803e-03 1.51427564e+02] [-3.41063304e-01 9.40035932e-01 -2.87580142e-03 -2.24069567e+01] [-8.06727714e-03 1.32181776e-04 9.99967450e-01 -2.43589949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.566559995 meters 0.01351185149771646 Centerline is valid? [True, True] Translation: X:151.48, Y:-22.43, Z:-2.44 [[ 9.42026150e-01 3.35440232e-01 8.15985368e-03 1.51483780e+02] [-3.35425811e-01 9.42061469e-01 -3.11681237e-03 -2.24335117e+01] [-8.73258801e-03 1.99093218e-04 9.99961850e-01 -2.43609530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.626559995 meters 0.015265359556983141 Centerline is valid? [True, True] Translation: X:151.54, Y:-22.46, Z:-2.44 [[ 9.44025539e-01 3.29704212e-01 1.05316067e-02 1.51538498e+02] [-3.29679816e-01 9.44084226e-01 -4.02407298e-03 -2.24612486e+01] [-1.12694775e-02 3.26769516e-04 9.99936444e-01 -2.43540476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.686559995 meters 0.01616486430089166 Centerline is valid? [True, True] Translation: X:151.60, Y:-22.49, Z:-2.44 [[ 9.44996878e-01 3.26876676e-01 1.15125544e-02 1.51595152e+02] [-3.26847306e-01 9.45066920e-01 -4.39949598e-03 -2.24867007e+01] [-1.23182269e-02 3.94662594e-04 9.99924050e-01 -2.43527794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74655999499998 meters 0.017198236774653326 Centerline is valid? [True, True] Translation: X:151.65, Y:-22.51, Z:-2.44 [[ 9.45046971e-01 3.26758802e-01 1.07195389e-02 1.51651472e+02] [-3.26733331e-01 9.45107692e-01 -4.09650885e-03 -2.25115856e+01] [-1.14696890e-02 3.68962626e-04 9.99934153e-01 -2.43794423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.806559995 meters 0.01565854788267557 Centerline is valid? [True, True] Translation: X:151.71, Y:-22.53, Z:-2.44 [[ 9.43631460e-01 3.30776686e-01 1.21017226e-02 1.51708931e+02] [-3.30744497e-01 9.43708986e-01 -4.62891841e-03 -2.25324866e+01] [-1.29516426e-02 3.65414886e-04 9.99916057e-01 -2.43761273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.866559995 meters 0.015244947383410245 Centerline is valid? [True, True] Translation: X:151.77, Y:-22.55, Z:-2.44 [[ 9.42747257e-01 3.33283823e-01 1.22271133e-02 1.51767208e+02] [-3.33251176e-01 9.42826485e-01 -4.67676834e-03 -2.25539835e+01] [-1.30867375e-02 3.34310651e-04 9.99914309e-01 -2.43854053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.926559995 meters 0.012010393710930187 Centerline is valid? [True, True] Translation: X:151.83, Y:-22.57, Z:-2.44 [[ 9.39472018e-01 3.42465180e-01 1.04846562e-02 1.51826894e+02] [-3.42441707e-01 9.39530504e-01 -4.01364420e-03 -2.25688873e+01] [-1.12251877e-02 1.80322849e-04 9.99936979e-01 -2.44207078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.986559995 meters 0.010060785017925058 Centerline is valid? [True, True] Translation: X:151.89, Y:-22.59, Z:-2.44 [[ 9.35753120e-01 3.52523731e-01 9.64975985e-03 1.51886303e+02] [-3.52504378e-01 9.35802872e-01 -3.69421042e-03 -2.25854335e+01] [-1.03325698e-02 5.52863303e-05 9.99946616e-01 -2.44422750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.046559995 meters 0.009779677651358102 Centerline is valid? [True, True] Translation: X:151.95, Y:-22.60, Z:-2.45 [[ 9.32930182e-01 3.59911072e-01 1.02613475e-02 1.51946327e+02] [-3.59889641e-01 9.32986613e-01 -3.92770864e-03 -2.26033233e+01] [-1.09873256e-02 -2.86747282e-05 9.99939637e-01 -2.44512006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.106559995 meters 0.00998676564701459 Centerline is valid? [True, True] Translation: X:152.01, Y:-22.62, Z:-2.45 [[ 9.31776503e-01 3.62870428e-01 1.08444194e-02 1.52005047e+02] [-3.62846656e-01 9.31839605e-01 -4.15398238e-03 -2.26247676e+01] [-1.16126169e-02 -6.42781443e-05 9.99932569e-01 -2.44606528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.166559995 meters 0.010337748360260563 Centerline is valid? [True, True] Translation: X:152.06, Y:-22.65, Z:-2.45 [[ 9.30899797e-01 3.65059842e-01 1.25251497e-02 1.52063604e+02] [-3.65028265e-01 9.30984050e-01 -4.80253027e-03 -2.26489979e+01] [-1.34139255e-02 -1.01359212e-04 9.99910024e-01 -2.44580620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.226559995 meters 0.010679741925651878 Centerline is valid? [True, True] Translation: X:152.12, Y:-22.67, Z:-2.45 [[ 9.30345128e-01 3.66459541e-01 1.28587341e-02 1.52120605e+02] [-3.66426329e-01 9.30433980e-01 -4.93508818e-03 -2.26713833e+01] [-1.37727133e-02 -1.20443498e-04 9.99905144e-01 -2.44726294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.286559995 meters 0.010832956434106717 Centerline is valid? [True, True] Translation: X:152.18, Y:-22.69, Z:-2.45 [[ 9.29812613e-01 3.67838286e-01 1.19791092e-02 1.52178672e+02] [-3.67809560e-01 9.29889767e-01 -4.59884067e-03 -2.26944690e+01] [-1.28308807e-02 -1.29970819e-04 9.99917672e-01 -2.44929087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.346559995 meters 0.01160285530106449 Centerline is valid? [True, True] Translation: X:152.24, Y:-22.72, Z:-2.45 [[ 9.28661018e-01 3.70773009e-01 1.07744749e-02 1.52236349e+02] [-3.70749936e-01 9.28723507e-01 -4.13900478e-03 -2.27180803e+01] [-1.15411394e-02 -1.50903494e-04 9.99933387e-01 -2.45190230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.406559995 meters 0.0115244544972093 Centerline is valid? [True, True] Translation: X:152.29, Y:-22.74, Z:-2.45 [[ 9.27955571e-01 3.72589059e-01 8.70927114e-03 1.52292972e+02] [-3.72574049e-01 9.27996430e-01 -3.34721622e-03 -2.27437846e+01] [-9.32930867e-03 -1.38780476e-04 9.99956471e-01 -2.45375180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.466559995 meters 0.011775521004660065 Centerline is valid? [True, True] Translation: X:152.35, Y:-22.77, Z:-2.46 [[ 9.28160879e-01 3.72103830e-01 7.49143622e-03 1.52348875e+02] [-3.72092691e-01 9.28191105e-01 -2.88137968e-03 -2.27695385e+01] [-8.02565687e-03 -1.13124763e-04 9.99967787e-01 -2.45658403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52655999499999 meters 0.01103577143334448 Centerline is valid? [True, True] Translation: X:152.41, Y:-22.80, Z:-2.46 [[ 9.29179335e-01 3.69550240e-01 7.64093587e-03 1.52405195e+02] [-3.69538557e-01 9.29210747e-01 -2.93992361e-03 -2.27972060e+01] [-8.18648920e-03 -9.19041499e-05 9.99966486e-01 -2.45689488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.586559995 meters 0.010337642949433271 Centerline is valid? [True, True] Translation: X:152.46, Y:-22.83, Z:-2.46 [[ 9.31713573e-01 3.63075960e-01 9.25552406e-03 1.52459109e+02] [-3.63058461e-01 9.31759543e-01 -3.56484883e-03 -2.28262685e+01] [-9.91823378e-03 -3.88782802e-05 9.99950812e-01 -2.45637428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.646559995 meters 0.010251161332659419 Centerline is valid? [True, True] Translation: X:152.52, Y:-22.85, Z:-2.46 [[ 9.33452233e-01 3.58526715e-01 1.12037545e-02 1.52516226e+02] [-3.58500701e-01 9.33519467e-01 -4.31891067e-03 -2.28498746e+01] [-1.20073678e-02 1.49429463e-05 9.99927909e-01 -2.45599425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.706559995 meters 0.0106902139191518 Centerline is valid? [True, True] Translation: X:152.57, Y:-22.87, Z:-2.46 [[ 9.34965747e-01 3.54593439e-01 1.01264776e-02 1.52573346e+02] [-3.54571929e-01 9.35020582e-01 -3.90611706e-03 -2.28741574e+01] [-1.08535484e-02 6.15209689e-05 9.99941097e-01 -2.45739069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.766559995 meters 0.01129056346283672 Centerline is valid? [True, True] Translation: X:152.63, Y:-22.90, Z:-2.46 [[ 9.35945605e-01 3.52006802e-01 9.85066830e-03 1.52629889e+02] [-3.51986274e-01 9.35997438e-01 -3.80256154e-03 -2.28970420e+01] [-1.05587278e-02 9.16907282e-05 9.99944251e-01 -2.45886009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.826559995 meters 0.012027727380118007 Centerline is valid? [True, True] Translation: X:152.69, Y:-22.92, Z:-2.46 [[ 9.37545639e-01 3.47740622e-01 9.19969307e-03 1.52687865e+02] [-3.47722493e-01 9.37590765e-01 -3.55329196e-03 -2.29193498e+01] [-9.86117122e-03 1.32433167e-04 9.99951369e-01 -2.45993883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.886559995 meters 0.013117657175623314 Centerline is valid? [True, True] Translation: X:152.75, Y:-22.94, Z:-2.46 [[ 9.39239006e-01 3.43160238e-01 8.43453633e-03 1.52745767e+02] [-3.43144784e-01 9.39276862e-01 -3.26107882e-03 -2.29428736e+01] [-9.04143739e-03 1.68665283e-04 9.99959111e-01 -2.46118044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.946559995 meters 0.015137391448683618 Centerline is valid? [True, True] Translation: X:152.80, Y:-22.96, Z:-2.46 [[ 9.41591786e-01 3.36674000e-01 7.45159947e-03 1.52802253e+02] [-3.36661736e-01 9.41621249e-01 -2.88092014e-03 -2.29649640e+01] [-7.98651530e-03 2.03982328e-04 9.99968086e-01 -2.46358990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.006559995 meters 0.016797369302177137 Centerline is valid? [True, True] Translation: X:152.86, Y:-22.99, Z:-2.46 [[ 9.43922815e-01 3.30084547e-01 7.34246933e-03 1.52858816e+02] [-3.30072423e-01 9.43951336e-01 -2.84087215e-03 -2.29879943e+01] [-7.86866173e-03 2.58017396e-04 9.99969008e-01 -2.46442399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.066559995 meters 0.018971337945700467 Centerline is valid? [True, True] Translation: X:152.91, Y:-23.01, Z:-2.47 [[ 9.45027903e-01 3.26911085e-01 7.16974835e-03 1.52914766e+02] [-3.26899442e-01 9.45055060e-01 -2.77278501e-03 -2.30116453e+01] [-7.68226111e-03 2.76572468e-04 9.99970453e-01 -2.46537845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.126559995 meters 0.021743784544697123 Centerline is valid? [True, True] Translation: X:152.97, Y:-23.03, Z:-2.47 [[ 9.45554991e-01 3.25363954e-01 8.00358019e-03 1.52972040e+02] [-3.25349374e-01 9.45588807e-01 -3.09718333e-03 -2.30337725e+01] [-8.57580766e-03 3.24597348e-04 9.99963174e-01 -2.46682612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.186559995 meters 0.018206347466763848 Centerline is valid? [True, True] Translation: X:153.03, Y:-23.05, Z:-2.47 [[ 9.45052779e-01 3.26823072e-01 7.86922998e-03 1.53032958e+02] [-3.26809014e-01 9.45085491e-01 -3.04692317e-03 -2.30492012e+01] [-8.43289987e-03 3.07767920e-04 9.99964395e-01 -2.46695835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24655999499998 meters 0.01804437940320168 Centerline is valid? [True, True] Translation: X:153.09, Y:-23.07, Z:-2.47 [[ 9.43579227e-01 3.31057522e-01 7.69155922e-03 1.53091058e+02] [-3.31044200e-01 9.43610537e-01 -2.98193633e-03 -2.30679395e+01] [-8.24502878e-03 2.67447102e-04 9.99965973e-01 -2.46847820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.306559995 meters 0.016589705815727277 Centerline is valid? [True, True] Translation: X:153.15, Y:-23.09, Z:-2.47 [[ 9.42359022e-01 3.34521317e-01 7.41359720e-03 1.53150279e+02] [-3.34509048e-01 9.42388156e-01 -2.87411135e-03 -2.30861703e+01] [-7.94793770e-03 2.28529424e-04 9.99968389e-01 -2.46934167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.366559995 meters 0.014814907154627365 Centerline is valid? [True, True] Translation: X:153.21, Y:-23.10, Z:-2.47 [[ 9.40556153e-01 3.39523369e-01 8.83206776e-03 1.53209701e+02] [-3.39506164e-01 9.40597593e-01 -3.42529096e-03 -2.31021888e+01] [-9.47038800e-03 2.23137044e-04 9.99955130e-01 -2.46947719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.426559995 meters 0.01472737803325892 Centerline is valid? [True, True] Translation: X:153.27, Y:-23.12, Z:-2.47 [[ 9.39878395e-01 3.41381434e-01 9.34443046e-03 1.53267623e+02] [-3.41362275e-01 9.39924822e-01 -3.62312341e-03 -2.31235817e+01] [-1.00199292e-02 2.15459379e-04 9.99949776e-01 -2.47077537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.486559995 meters 0.013947199222257737 Centerline is valid? [True, True] Translation: X:153.33, Y:-23.14, Z:-2.47 [[ 9.38543609e-01 3.45045025e-01 8.93444208e-03 1.53326867e+02] [-3.45027654e-01 9.38586118e-01 -3.46646513e-03 -2.31432866e+01] [-9.58182986e-03 1.70799108e-04 9.99954079e-01 -2.47233526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.546559995 meters 0.013008026594333059 Centerline is valid? [True, True] Translation: X:153.39, Y:-23.16, Z:-2.47 [[ 9.37769008e-01 3.47154635e-01 8.54088751e-03 1.53385940e+02] [-3.47138829e-01 9.37807890e-01 -3.31589030e-03 -2.31631466e+01] [-9.16083838e-03 1.44665472e-04 9.99958028e-01 -2.47372565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.606559995 meters 0.01274356096625555 Centerline is valid? [True, True] Translation: X:153.44, Y:-23.18, Z:-2.47 [[ 9.37239289e-01 3.48590696e-01 8.18786832e-03 1.53444080e+02] [-3.48576205e-01 9.37275045e-01 -3.18095616e-03 -2.31839010e+01] [-8.78313638e-03 1.27221023e-04 9.99961419e-01 -2.47483190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.666559995 meters 0.013263667259555665 Centerline is valid? [True, True] Translation: X:153.50, Y:-23.21, Z:-2.48 [[ 9.37750759e-01 3.47238003e-01 7.02018072e-03 1.53501256e+02] [-3.47227301e-01 9.37777028e-01 -2.72889542e-03 -2.32069012e+01] [-7.53094041e-03 1.21425347e-04 9.99971635e-01 -2.47705907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.726559995 meters 0.013978992909096391 Centerline is valid? [True, True] Translation: X:153.56, Y:-23.23, Z:-2.48 [[ 9.38492962e-01 3.45230222e-01 6.85962282e-03 1.53558011e+02] [-3.45219938e-01 9.38518021e-01 -2.66820832e-03 -2.32310817e+01] [-7.35902578e-03 1.36016166e-04 9.99972913e-01 -2.47798344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.786559995 meters 0.015437524741750447 Centerline is valid? [True, True] Translation: X:153.61, Y:-23.26, Z:-2.48 [[ 9.40797400e-01 3.38885221e-01 7.55369330e-03 1.53613905e+02] [-3.38872513e-01 9.40827701e-01 -2.94213261e-03 -2.32565729e+01] [-8.10376916e-03 2.08211678e-04 9.99967142e-01 -2.47804794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.846559995 meters 0.018358593880778158 Centerline is valid? [True, True] Translation: X:153.67, Y:-23.28, Z:-2.48 [[ 9.43722681e-01 3.30646759e-01 7.76028868e-03 1.53668380e+02] [-3.30633064e-01 9.43754544e-01 -3.02301062e-03 -2.32838772e+01] [-8.32335636e-03 2.87075662e-04 9.99965319e-01 -2.47889483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.906559995 meters 0.02031946113075939 Centerline is valid? [True, True] Translation: X:153.72, Y:-23.31, Z:-2.48 [[ 9.46122408e-01 3.23688531e-01 8.83881830e-03 1.53724052e+02] [-3.23670458e-01 9.46163610e-01 -3.44346357e-03 -2.33090863e+01] [-9.47757790e-03 3.97073672e-04 9.99955008e-01 -2.47892272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.966559995 meters 0.02235298810803274 Centerline is valid? [True, True] Translation: X:153.78, Y:-23.33, Z:-2.48 [[ 9.47137038e-01 3.20672873e-01 1.00169427e-02 1.53779631e+02] [-3.20649488e-01 9.47189883e-01 -3.90284625e-03 -2.33328315e+01] [-1.07394837e-02 4.84602695e-04 9.99942213e-01 -2.47954680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02655999499999 meters 0.020784294324328212 Centerline is valid? [True, True] Translation: X:153.84, Y:-23.35, Z:-2.48 [[ 9.47358973e-01 3.19978246e-01 1.11758269e-02 1.53839548e+02] [-3.19949097e-01 9.47424731e-01 -4.35367923e-03 -2.33503117e+01] [-1.19813374e-02 5.48801358e-04 9.99928071e-01 -2.47973428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.086559995 meters 0.022589703671498516 Centerline is valid? [True, True] Translation: X:153.90, Y:-23.37, Z:-2.48 [[ 9.46705452e-01 3.21895262e-01 1.14990066e-02 1.53896272e+02] [-3.21864492e-01 9.46775129e-01 -4.48376643e-03 -2.33718022e+01] [-1.23302766e-02 5.43684210e-04 9.99923831e-01 -2.48098127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.146559995 meters 0.02023891339255989 Centerline is valid? [True, True] Translation: X:153.96, Y:-23.39, Z:-2.48 [[ 9.45114593e-01 3.26496598e-01 1.25848328e-02 1.53956093e+02] [-3.26460140e-01 9.45198228e-01 -4.90772420e-03 -2.33853681e+01] [-1.34975170e-02 5.29915465e-04 9.99908764e-01 -2.48191120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.206559995 meters 0.01851800090720276 Centerline is valid? [True, True] Translation: X:154.02, Y:-23.40, Z:-2.48 [[ 9.44250584e-01 3.28969703e-01 1.30295558e-02 1.54015648e+02] [-3.28930851e-01 9.44340337e-01 -5.08167459e-03 -2.34013587e+01] [-1.39760521e-02 5.12551334e-04 9.99902199e-01 -2.48269035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.266559995 meters 0.01733505281798292 Centerline is valid? [True, True] Translation: X:154.08, Y:-23.42, Z:-2.49 [[ 9.43352799e-01 3.31535896e-01 1.30171979e-02 1.54076101e+02] [-3.31497360e-01 9.43442486e-01 -5.07695378e-03 -2.34162243e+01] [-1.39641700e-02 4.74191811e-04 9.99902384e-01 -2.48520057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.326559995 meters 0.017864950724061593 Centerline is valid? [True, True] Translation: X:154.13, Y:-23.43, Z:-2.49 [[ 9.43189606e-01 3.31948166e-01 1.42752420e-02 1.54134642e+02] [-3.31901799e-01 9.43297486e-01 -5.57212608e-03 -2.34343920e+01] [-1.53154569e-02 5.17592898e-04 9.99882578e-01 -2.48587478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.386559995 meters 0.017756360616076942 Centerline is valid? [True, True] Translation: X:154.19, Y:-23.45, Z:-2.49 [[ 9.43059578e-01 3.32343312e-01 1.36584962e-02 1.54194727e+02] [-3.32300879e-01 9.43158355e-01 -5.33327692e-03 -2.34535898e+01] [-1.46546037e-02 4.90867591e-04 9.99892495e-01 -2.48767933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.446559995 meters 0.01873393469139359 Centerline is valid? [True, True] Translation: X:154.25, Y:-23.47, Z:-2.49 [[ 9.42804031e-01 3.33108675e-01 1.26162726e-02 1.54253648e+02] [-3.33072485e-01 9.42888334e-01 -4.93036009e-03 -2.34719023e+01] [-1.35380820e-02 4.46230100e-04 9.99908256e-01 -2.49065828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.506559995 meters 0.016610729648338596 Centerline is valid? [True, True] Translation: X:154.31, Y:-23.49, Z:-2.49 [[ 9.42444978e-01 3.34110884e-01 1.29375317e-02 1.54313920e+02] [-3.34072896e-01 9.42533670e-01 -5.05777766e-03 -2.34886571e+01] [-1.38839178e-02 4.44598473e-04 9.99903515e-01 -2.49129259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.566559995 meters 0.01589872730736586 Centerline is valid? [True, True] Translation: X:154.37, Y:-23.51, Z:-2.49 [[ 9.41650810e-01 3.36348827e-01 1.27756958e-02 1.54374159e+02] [-3.36311939e-01 9.41737383e-01 -4.99811028e-03 -2.35055073e+01] [-1.37124588e-02 4.09855581e-04 9.99905896e-01 -2.49160096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.626559995 meters 0.01643845740980019 Centerline is valid? [True, True] Translation: X:154.43, Y:-23.52, Z:-2.49 [[ 9.40877351e-01 3.38514399e-01 1.25622811e-02 1.54432736e+02] [-3.38478878e-01 9.40961137e-01 -4.91817007e-03 -2.35245026e+01] [-1.34854897e-02 3.75328029e-04 9.99908996e-01 -2.49321507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.686559995 meters 0.01576610428348051 Centerline is valid? [True, True] Translation: X:154.49, Y:-23.54, Z:-2.50 [[ 9.40409378e-01 3.39818755e-01 1.23860870e-02 1.54492452e+02] [-3.39784291e-01 9.40490876e-01 -4.85263945e-03 -2.35422870e+01] [-1.32980197e-02 3.54869847e-04 9.99911514e-01 -2.49521736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74655999499998 meters 0.01528646944222914 Centerline is valid? [True, True] Translation: X:154.55, Y:-23.56, Z:-2.50 [[ 9.40430347e-01 3.39776194e-01 1.19541003e-02 1.54552481e+02] [-3.39744049e-01 9.40506256e-01 -4.68649369e-03 -2.35621828e+01] [-1.28352651e-02 3.45986467e-04 9.99917565e-01 -2.49706856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.806559995 meters 0.016057356174439763 Centerline is valid? [True, True] Translation: X:154.61, Y:-23.58, Z:-2.50 [[ 9.40793905e-01 3.38786431e-01 1.14272709e-02 1.54610647e+02] [-3.38756938e-01 9.40863239e-01 -4.48364777e-03 -2.35830701e+01] [-1.22704981e-02 3.47121212e-04 9.99924654e-01 -2.49932750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.866559995 meters 0.016799890463484703 Centerline is valid? [True, True] Translation: X:154.67, Y:-23.61, Z:-2.50 [[ 9.41104163e-01 3.37919895e-01 1.15368328e-02 1.54668880e+02] [-3.37889727e-01 9.41174804e-01 -4.52996113e-03 -2.36053192e+01] [-1.23889404e-02 3.64987982e-04 9.99923188e-01 -2.50084723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.926559995 meters 0.01742364499064573 Centerline is valid? [True, True] Translation: X:154.73, Y:-23.63, Z:-2.50 [[ 9.41620772e-01 3.36467894e-01 1.18185456e-02 1.54727221e+02] [-3.36436077e-01 9.41694855e-01 -4.64399047e-03 -2.36269064e+01] [-1.26920173e-02 3.96692771e-04 9.99919374e-01 -2.50164926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.986559995 meters 0.018654360838701024 Centerline is valid? [True, True] Translation: X:154.79, Y:-23.65, Z:-2.50 [[ 9.42491207e-01 3.34047057e-01 1.10854900e-02 1.54785240e+02] [-3.34018863e-01 9.42556311e-01 -4.35887336e-03 -2.36476173e+01] [-1.19047674e-02 4.05437036e-04 9.99929054e-01 -2.50363399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.046559995 meters 0.018397301793202706 Centerline is valid? [True, True] Translation: X:154.84, Y:-23.67, Z:-2.50 [[ 9.43862201e-01 3.30166569e-01 1.06856063e-02 1.54842703e+02] [-3.30140084e-01 9.43922583e-01 -4.20509421e-03 -2.36678481e+01] [-1.14747666e-02 4.41282515e-04 9.99934065e-01 -2.50487512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.106559995 meters 0.020380723880143392 Centerline is valid? [True, True] Translation: X:154.90, Y:-23.69, Z:-2.51 [[ 9.44560464e-01 3.28182617e-01 1.00846324e-02 1.54899009e+02] [-3.28158919e-01 9.44614195e-01 -3.96811090e-03 -2.36920473e+01] [-1.08283519e-02 4.38758615e-04 9.99941275e-01 -2.50632746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.166559995 meters 0.02189461546136167 Centerline is valid? [True, True] Translation: X:154.96, Y:-23.71, Z:-2.51 [[ 9.45547839e-01 3.25240857e-01 1.25566193e-02 1.54956124e+02] [-3.25203795e-01 9.45631024e-01 -4.94557813e-03 -2.37129647e+01] [-1.34824328e-02 5.92820476e-04 9.99908932e-01 -2.50544057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.226559995 meters 0.02139419319282473 Centerline is valid? [True, True] Translation: X:155.01, Y:-23.73, Z:-2.51 [[ 9.45221737e-01 3.26162876e-01 1.31774667e-02 1.55014955e+02] [-3.26122149e-01 9.45313392e-01 -5.18997519e-03 -2.37337945e+01] [-1.41496130e-02 6.08213606e-04 9.99899704e-01 -2.50539088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.286559995 meters 0.018712573954326794 Centerline is valid? [True, True] Translation: X:155.07, Y:-23.75, Z:-2.51 [[ 9.44457126e-01 3.28347063e-01 1.37456717e-02 1.55074288e+02] [-3.28302916e-01 9.44556955e-01 -5.41800838e-03 -2.37501707e+01] [-1.47625569e-02 6.04332527e-04 9.99890845e-01 -2.50619237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.346559995 meters 0.02014261607413083 Centerline is valid? [True, True] Translation: X:155.13, Y:-23.77, Z:-2.51 [[ 9.43952562e-01 3.29764795e-01 1.44478494e-02 1.55131071e+02] [-3.29716178e-01 9.44062924e-01 -5.69534421e-03 -2.37733620e+01] [-1.55178029e-02 6.12445079e-04 9.99879404e-01 -2.50674896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.406559995 meters 0.01735457970079387 Centerline is valid? [True, True] Translation: X:155.19, Y:-23.79, Z:-2.51 [[ 9.41457015e-01 3.36902282e-01 1.24716347e-02 1.55191925e+02] [-3.36866635e-01 9.41539520e-01 -4.91961609e-03 -2.37850659e+01] [-1.33999668e-02 4.30329476e-04 9.99910124e-01 -2.50994117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.466559995 meters 0.016341845536170903 Centerline is valid? [True, True] Translation: X:155.25, Y:-23.80, Z:-2.51 [[ 9.40347456e-01 3.40023416e-01 1.14340764e-02 1.55250397e+02] [-3.39993681e-01 9.40416903e-01 -4.51062791e-03 -2.38038764e+01] [-1.22865178e-02 3.54043771e-04 9.99924455e-01 -2.51164942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52655999499999 meters 0.015653045610412683 Centerline is valid? [True, True] Translation: X:155.31, Y:-23.82, Z:-2.51 [[ 9.39283936e-01 3.42980929e-01 1.04771221e-02 1.55309829e+02] [-3.42956154e-01 9.39342323e-01 -4.13245527e-03 -2.38225419e+01] [-1.12589575e-02 2.88355367e-04 9.99936574e-01 -2.51317611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.586559995 meters 0.01601399439625328 Centerline is valid? [True, True] Translation: X:155.37, Y:-23.84, Z:-2.51 [[ 9.38921608e-01 3.43963117e-01 1.07512064e-02 1.55366934e+02] [-3.43937055e-01 9.38983116e-01 -4.24383177e-03 -2.38436609e+01] [-1.15549229e-02 2.86887077e-04 9.99933198e-01 -2.51448782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.646559995 meters 0.015578804262128003 Centerline is valid? [True, True] Translation: X:155.43, Y:-23.87, Z:-2.51 [[ 9.39269741e-01 3.42991471e-01 1.13668334e-02 1.55425720e+02] [-3.42962230e-01 9.39338463e-01 -4.48993918e-03 -2.38650163e+01] [-1.22173147e-02 3.18869462e-04 9.99925315e-01 -2.51455416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.706559995 meters 0.016212545915124176 Centerline is valid? [True, True] Translation: X:155.48, Y:-23.89, Z:-2.51 [[ 9.39910443e-01 3.41219302e-01 1.17365903e-02 1.55483502e+02] [-3.41187945e-01 9.39983649e-01 -4.63950986e-03 -2.38887515e+01] [-1.26152933e-02 3.56340637e-04 9.99920361e-01 -2.51486824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.766559995 meters 0.017542094836869828 Centerline is valid? [True, True] Translation: X:155.54, Y:-23.91, Z:-2.52 [[ 9.40717660e-01 3.38998122e-01 1.14261880e-02 1.55539987e+02] [-3.38968198e-01 9.40786974e-01 -4.52005400e-03 -2.39123301e+01] [-1.22818987e-02 3.78980250e-04 9.99924503e-01 -2.51618457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.826559995 meters 0.017974778388702116 Centerline is valid? [True, True] Translation: X:155.60, Y:-23.93, Z:-2.52 [[ 9.40792952e-01 3.38809248e-01 1.08127126e-02 1.55597982e+02] [-3.38782409e-01 9.40855016e-01 -4.27992842e-03 -2.39334043e+01] [-1.16232742e-02 3.63369671e-04 9.99932381e-01 -2.51775965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.886559995 meters 0.017357716313497105 Centerline is valid? [True, True] Translation: X:155.66, Y:-23.95, Z:-2.52 [[ 9.40362169e-01 3.40021773e-01 1.02071564e-02 1.55656396e+02] [-3.39997899e-01 9.40417505e-01 -4.04284527e-03 -2.39541724e+01] [-1.09736440e-02 3.31327015e-04 9.99939733e-01 -2.51873289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.946559995 meters 0.016913752466055466 Centerline is valid? [True, True] Translation: X:155.72, Y:-23.97, Z:-2.52 [[ 9.39805307e-01 3.41565858e-01 9.93725896e-03 1.55715800e+02] [-3.41543287e-01 9.39857792e-01 -3.93863741e-03 -2.39737340e+01] [-1.06849143e-02 3.07548249e-04 9.99942867e-01 -2.51989320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.006559995 meters 0.016437152482878976 Centerline is valid? [True, True] Translation: X:155.78, Y:-23.99, Z:-2.52 [[ 9.39762156e-01 3.41717776e-01 8.72081422e-03 1.55775693e+02] [-3.41700383e-01 9.39802580e-01 -3.45817300e-03 -2.39943252e+01] [-9.37756289e-03 2.69954550e-04 9.99955993e-01 -2.52167284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.066559995 meters 0.017380285918870392 Centerline is valid? [True, True] Translation: X:155.83, Y:-24.02, Z:-2.52 [[ 9.39744149e-01 3.41774057e-01 8.45155396e-03 1.55832719e+02] [-3.41757699e-01 9.39782115e-01 -3.35418792e-03 -2.40174993e+01] [-9.08899367e-03 2.63694843e-04 9.99958659e-01 -2.52313914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.126559995 meters 0.016743630458447074 Centerline is valid? [True, True] Translation: X:155.89, Y:-24.04, Z:-2.52 [[ 9.38715328e-01 3.44595125e-01 8.23002744e-03 1.55891813e+02] [-3.44579699e-01 9.38751376e-01 -3.26881813e-03 -2.40371047e+01] [-8.85236838e-03 2.32589301e-04 9.99960790e-01 -2.52393435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.186559995 meters 0.015552996942864513 Centerline is valid? [True, True] Translation: X:155.95, Y:-24.06, Z:-2.53 [[ 9.37000528e-01 3.49239363e-01 7.86624262e-03 1.55950763e+02] [-3.49225404e-01 9.37033529e-01 -3.12784204e-03 -2.40563079e+01] [-8.46329864e-03 1.83697882e-04 9.99964169e-01 -2.52584445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24655999499998 meters 0.01253669887067803 Centerline is valid? [True, True] Translation: X:156.01, Y:-24.07, Z:-2.53 [[ 9.32715628e-01 3.60509806e-01 8.61604239e-03 1.56011027e+02] [-3.60493530e-01 9.32755419e-01 -3.42681682e-03 -2.40704534e+01] [-9.27206130e-03 9.02180696e-05 9.99957009e-01 -2.52541700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.306559995 meters 0.0117958794916493 Centerline is valid? [True, True] Translation: X:156.07, Y:-24.09, Z:-2.53 [[ 9.30060338e-01 3.67302765e-01 8.74332519e-03 1.56069409e+02] [-3.67286316e-01 9.30101434e-01 -3.47618349e-03 -2.40897064e+01] [-9.40899111e-03 2.17566969e-05 9.99955734e-01 -2.52619810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.366559995 meters 0.011704414228381714 Centerline is valid? [True, True] Translation: X:156.13, Y:-24.11, Z:-2.53 [[ 9.28705844e-01 3.70705055e-01 9.12237910e-03 1.56127325e+02] [-3.70687289e-01 9.28750646e-01 -3.62928052e-03 -2.41119667e+01] [-9.81780811e-03 -1.10159532e-05 9.99951804e-01 -2.52718378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.426559995 meters 0.011821550632843401 Centerline is valid? [True, True] Translation: X:156.19, Y:-24.14, Z:-2.53 [[ 9.27694339e-01 3.73216374e-01 9.63078701e-03 1.56185410e+02] [-3.73196677e-01 9.27744327e-01 -3.83449758e-03 -2.41350351e+01] [-1.03660053e-02 -3.69360103e-05 9.99946271e-01 -2.52769078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.486559995 meters 0.011882640414899802 Centerline is valid? [True, True] Translation: X:156.24, Y:-24.16, Z:-2.53 [[ 9.26613133e-01 3.75918537e-01 8.56479212e-03 1.56242998e+02] [-3.75903054e-01 9.26652713e-01 -3.41226885e-03 -2.41591773e+01] [-9.21932297e-03 -5.76783848e-05 9.99957499e-01 -2.52901795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.546559995 meters 0.01197524209515445 Centerline is valid? [True, True] Translation: X:156.30, Y:-24.19, Z:-2.53 [[ 9.26184893e-01 3.76964545e-01 8.90370242e-03 1.56300451e+02] [-3.76947838e-01 9.26227686e-01 -3.54971122e-03 -2.41857811e+01] [-9.58497097e-03 -6.85424650e-05 9.99954061e-01 -2.52958078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.606559995 meters 0.011863763192206361 Centerline is valid? [True, True] Translation: X:156.36, Y:-24.21, Z:-2.53 [[ 9.26468758e-01 3.76304719e-01 7.09915265e-03 1.56356454e+02] [-3.76294069e-01 9.26495956e-01 -2.83151597e-03 -2.42141346e+01] [-7.64284904e-03 -4.80579546e-05 9.99970792e-01 -2.53127974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.666559995 meters 0.011667984397495142 Centerline is valid? [True, True] Translation: X:156.41, Y:-24.24, Z:-2.53 [[ 9.27768065e-01 3.73102345e-01 6.40763507e-03 1.56411442e+02] [-3.73093579e-01 9.27790192e-01 -2.55751381e-03 -2.42439504e+01] [-6.89915537e-03 -1.78678686e-05 9.99976200e-01 -2.53358216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.726559995 meters 0.01184747513319991 Centerline is valid? [True, True] Translation: X:156.47, Y:-24.28, Z:-2.53 [[ 9.30089662e-01 3.67283999e-01 5.97361394e-03 1.56465644e+02] [-3.67276250e-01 9.30108845e-01 -2.38590008e-03 -2.42765219e+01] [-6.43241409e-03 2.51344701e-05 9.99979311e-01 -2.53365970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.786559995 meters 0.013149119436611375 Centerline is valid? [True, True] Translation: X:156.52, Y:-24.31, Z:-2.54 [[ 9.32280629e-01 3.61694671e-01 5.45831721e-03 1.56519235e+02] [-3.61688091e-01 9.32296606e-01 -2.18254181e-03 -2.43076149e+01] [-5.87818435e-03 6.05331232e-05 9.99982721e-01 -2.53552850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.846559995 meters 0.013739288472245646 Centerline is valid? [True, True] Translation: X:156.57, Y:-24.34, Z:-2.53 [[ 9.35641525e-01 3.52907727e-01 5.57437991e-03 1.56572468e+02] [-3.52900696e-01 9.35658122e-01 -2.23094037e-03 -2.43391495e+01] [-6.00302994e-03 1.20157902e-04 9.99981974e-01 -2.53394096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.906559995 meters 0.01649702562744933 Centerline is valid? [True, True] Translation: X:156.62, Y:-24.37, Z:-2.53 [[ 9.37933270e-01 3.46765259e-01 5.91913291e-03 1.56624178e+02] [-3.46757212e-01 9.37951932e-01 -2.36838057e-03 -2.43711791e+01] [-6.37313425e-03 1.68880909e-04 9.99979677e-01 -2.53463186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.966559995 meters 0.015966336616383015 Centerline is valid? [True, True] Translation: X:156.68, Y:-24.40, Z:-2.53 [[ 9.38593139e-01 3.44962155e-01 6.63555133e-03 1.56680908e+02] [-3.44952003e-01 9.38616573e-01 -2.65431259e-03 -2.43957842e+01] [-7.14387584e-03 2.02372865e-04 9.99974462e-01 -2.53439384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02655999499999 meters 0.016435826161891532 Centerline is valid? [True, True] Translation: X:156.74, Y:-24.42, Z:-2.53 [[ 9.38335318e-01 3.45643745e-01 7.56519435e-03 1.56736515e+02] [-3.45630547e-01 9.38365787e-01 -3.02915400e-03 -2.44212067e+01] [-8.14592768e-03 2.27599927e-04 9.99966795e-01 -2.53437068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.086559995 meters 0.015780503804375835 Centerline is valid? [True, True] Translation: X:156.80, Y:-24.44, Z:-2.54 [[ 9.37776043e-01 3.47170245e-01 6.99390638e-03 1.56795020e+02] [-3.47158985e-01 9.37802101e-01 -2.80321700e-03 -2.44434609e+01] [-7.53209363e-03 2.00792304e-04 9.99971613e-01 -2.53555875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.146559995 meters 0.016299360585491935 Centerline is valid? [True, True] Translation: X:156.85, Y:-24.47, Z:-2.54 [[ 9.37394831e-01 3.48220310e-01 5.79184549e-03 1.56851590e+02] [-3.48212615e-01 9.37412711e-01 -2.32032918e-03 -2.44664524e+01] [-6.23733533e-03 1.58270917e-04 9.99980535e-01 -2.53841494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.206559995 meters 0.015402474124505468 Centerline is valid? [True, True] Translation: X:156.91, Y:-24.49, Z:-2.54 [[ 9.37182710e-01 3.48784685e-01 6.14901719e-03 1.56909689e+02] [-3.48776014e-01 9.37202868e-01 -2.46505138e-03 -2.44884171e+01] [-6.62264872e-03 1.65573826e-04 9.99978056e-01 -2.53885867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.266559995 meters 0.015429781295925394 Centerline is valid? [True, True] Translation: X:156.97, Y:-24.51, Z:-2.54 [[ 9.36410591e-01 3.50834491e-01 7.09682173e-03 1.56966986e+02] [-3.50822977e-01 9.36437467e-01 -2.84775073e-03 -2.45112314e+01] [-7.64481894e-03 1.76935819e-04 9.99970762e-01 -2.53941613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.326559995 meters 0.014518575261806293 Centerline is valid? [True, True] Translation: X:157.03, Y:-24.53, Z:-2.54 [[ 9.35278654e-01 3.53839366e-01 7.17934739e-03 1.57025820e+02] [-3.53827656e-01 9.35306195e-01 -2.88293824e-03 -2.45310752e+01] [-7.73498513e-03 1.56098938e-04 9.99970072e-01 -2.54118765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.386559995 meters 0.014056814393924992 Centerline is valid? [True, True] Translation: X:157.08, Y:-24.55, Z:-2.54 [[ 9.34210902e-01 3.56658895e-01 6.66512615e-03 1.57083741e+02] [-3.56648862e-01 9.34234669e-01 -2.67806239e-03 -2.45530693e+01] [-7.18194670e-03 1.24765423e-04 9.99974202e-01 -2.54253908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.446559995 meters 0.014433782374910595 Centerline is valid? [True, True] Translation: X:157.14, Y:-24.58, Z:-2.54 [[ 9.34054474e-01 3.57074766e-01 6.31273788e-03 1.57141123e+02] [-3.57065760e-01 9.34075799e-01 -2.53874701e-03 -2.45768595e+01] [-6.80309817e-03 1.17265453e-04 9.99976852e-01 -2.54403465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.506559995 meters 0.015447991279999896 Centerline is valid? [True, True] Translation: X:157.20, Y:-24.60, Z:-2.54 [[ 9.35256055e-01 3.53917180e-01 6.22425410e-03 1.57197380e+02] [-3.53908350e-01 9.35276756e-01 -2.50388434e-03 -2.46019253e+01] [-6.70756786e-03 1.38957488e-04 9.99977494e-01 -2.54447735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.566559995 meters 0.016715709995238772 Centerline is valid? [True, True] Translation: X:157.25, Y:-24.63, Z:-2.55 [[ 9.36816395e-01 3.49776787e-01 5.58928287e-03 1.57253587e+02] [-3.49769587e-01 9.36833056e-01 -2.24949131e-03 -2.46274972e+01] [-6.02304480e-03 1.52399181e-04 9.99981850e-01 -2.54610610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.626559995 meters 0.016755873210675253 Centerline is valid? [True, True] Translation: X:157.31, Y:-24.65, Z:-2.55 [[ 9.37918825e-01 3.46798586e-01 6.24651341e-03 1.57311408e+02] [-3.46789503e-01 9.37939605e-01 -2.51756478e-03 -2.46512238e+01] [-6.73194022e-03 1.95046119e-04 9.99977321e-01 -2.54670219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.686559995 meters 0.01875070173963643 Centerline is valid? [True, True] Translation: X:157.37, Y:-24.68, Z:-2.55 [[ 9.39140944e-01 3.43479963e-01 5.98344863e-03 1.57367062e+02] [-3.43471561e-01 9.39159982e-01 -2.41156803e-03 -2.46765373e+01] [-6.44774081e-03 2.09657832e-04 9.99979191e-01 -2.54836039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74655999499998 meters 0.019305650098585248 Centerline is valid? [True, True] Translation: X:157.42, Y:-24.70, Z:-2.55 [[ 9.39200961e-01 3.43346252e-01 3.86089183e-03 1.57424975e+02] [-3.43342760e-01 9.39208887e-01 -1.55431189e-03 -2.46995613e+01] [-4.15985108e-03 1.34201962e-04 9.99991339e-01 -2.55185411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.806559995 meters 0.019745744258705348 Centerline is valid? [True, True] Translation: X:157.48, Y:-24.72, Z:-2.55 [[ 9.38873285e-01 3.44232915e-01 4.54472153e-03 1.57482316e+02] [-3.44228076e-01 9.38884272e-01 -1.83163477e-03 -2.47224686e+01] [-4.89747654e-03 1.55252205e-04 9.99987995e-01 -2.55235570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.866559995 meters 0.0162708255612953 Centerline is valid? [True, True] Translation: X:157.54, Y:-24.74, Z:-2.55 [[ 9.37945459e-01 3.46760173e-01 3.96211800e-03 1.57543200e+02] [-3.46756508e-01 9.37953819e-01 -1.59920397e-03 -2.47389578e+01] [-4.27082396e-03 1.26075895e-04 9.99990872e-01 -2.55164379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.926559995 meters 0.01572360704124476 Centerline is valid? [True, True] Translation: X:157.60, Y:-24.76, Z:-2.55 [[ 9.36566358e-01 3.50467862e-01 3.96682593e-03 1.57600897e+02] [-3.50464217e-01 9.36574752e-01 -1.60220331e-03 -2.47595193e+01] [-4.27674978e-03 1.10339176e-04 9.99990849e-01 -2.55271718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.986559995 meters 0.014365945955692273 Centerline is valid? [True, True] Translation: X:157.66, Y:-24.78, Z:-2.55 [[ 9.34745199e-01 3.55270462e-01 5.85759773e-03 1.57660152e+02] [-3.55262606e-01 9.34763543e-01 -2.36623801e-03 -2.47784843e+01] [-6.31612328e-03 1.30844186e-04 9.99980045e-01 -2.55200439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.046559995 meters 0.014581726609868798 Centerline is valid? [True, True] Translation: X:157.72, Y:-24.80, Z:-2.55 [[ 9.34603058e-01 3.55643794e-01 5.88356872e-03 1.57717017e+02] [-3.55635886e-01 9.34621568e-01 -2.37494595e-03 -2.48023161e+01] [-6.34354501e-03 1.27223575e-04 9.99979871e-01 -2.55224840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.106559995 meters 0.014538399595000272 Centerline is valid? [True, True] Translation: X:157.78, Y:-24.83, Z:-2.55 [[ 9.34721060e-01 3.55326557e-01 6.29109358e-03 1.57775028e+02] [-3.55317495e-01 9.34742220e-01 -2.54148531e-03 -2.48259057e+01] [-6.78360801e-03 1.40244225e-04 9.99976981e-01 -2.55259513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.166559995 meters 0.015247087273775266 Centerline is valid? [True, True] Translation: X:157.83, Y:-24.85, Z:-2.55 [[ 9.35112481e-01 3.54300041e-01 6.01077604e-03 1.57831295e+02] [-3.54291727e-01 9.35131788e-01 -2.43154939e-03 -2.48504333e+01] [-6.48236579e-03 1.44203961e-04 9.99978979e-01 -2.55422165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.226559995 meters 0.015432338608155119 Centerline is valid? [True, True] Translation: X:157.89, Y:-24.87, Z:-2.56 [[ 9.35514006e-01 3.53214904e-01 7.26466585e-03 1.57888429e+02] [-3.53202721e-01 9.35542194e-01 -2.93941229e-03 -2.48743026e+01] [-7.83464566e-03 1.83961618e-04 9.99969292e-01 -2.55526411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.286559995 meters 0.015538597434313246 Centerline is valid? [True, True] Translation: X:157.95, Y:-24.90, Z:-2.56 [[ 9.35790154e-01 3.52484495e-01 7.17413860e-03 1.57945903e+02] [-3.52472577e-01 9.35817634e-01 -2.90477675e-03 -2.48987445e+01] [-7.73757418e-03 1.89574361e-04 9.99970047e-01 -2.55633716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.346559995 meters 0.016142655909477655 Centerline is valid? [True, True] Translation: X:158.00, Y:-24.92, Z:-2.56 [[ 9.36611942e-01 3.50297539e-01 7.05013916e-03 1.58002421e+02] [-3.50285952e-01 9.36638453e-01 -2.85650313e-03 -2.49241776e+01] [-7.60405745e-03 2.05870234e-04 9.99971068e-01 -2.55802192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.406559995 meters 0.016911412281321467 Centerline is valid? [True, True] Translation: X:158.06, Y:-24.95, Z:-2.56 [[ 9.36843016e-01 3.49682204e-01 6.89339520e-03 1.58059018e+02] [-3.49671096e-01 9.36868354e-01 -2.79491842e-03 -2.49489567e+01] [-7.43553705e-03 2.07978746e-04 9.99972334e-01 -2.55897685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.466559995 meters 0.016168651221167896 Centerline is valid? [True, True] Translation: X:158.12, Y:-24.97, Z:-2.56 [[ 9.36293032e-01 3.51132866e-01 7.81463987e-03 1.58117486e+02] [-3.51118607e-01 9.36325616e-01 -3.17244816e-03 -2.49713437e+01] [-8.43099830e-03 2.26475644e-04 9.99964433e-01 -2.55898608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52655999499999 meters 0.015800227667138875 Centerline is valid? [True, True] Translation: X:158.18, Y:-24.99, Z:-2.56 [[ 9.35380334e-01 3.53557002e-01 7.81520770e-03 1.58175067e+02] [-3.53542830e-01 9.35412959e-01 -3.17223278e-03 -2.49938606e+01] [-8.43201167e-03 2.04233513e-04 9.99964429e-01 -2.55979144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.586559995 meters 0.01457893953946196 Centerline is valid? [True, True] Translation: X:158.23, Y:-25.02, Z:-2.56 [[ 9.34034326e-01 3.57107573e-01 7.35245297e-03 1.58233962e+02] [-3.57095114e-01 9.34063249e-01 -2.98757001e-03 -2.50154947e+01] [-7.93453999e-03 1.64967912e-04 9.99968507e-01 -2.56080525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.646559995 meters 0.012472037534720221 Centerline is valid? [True, True] Translation: X:158.29, Y:-25.03, Z:-2.56 [[ 9.29983440e-01 3.67538652e-01 6.79278009e-03 1.58292157e+02] [-3.67528285e-01 9.30008244e-01 -2.76132961e-03 -2.50338272e+01] [-7.33223685e-03 7.14519931e-05 9.99973116e-01 -2.56274829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.706559995 meters 0.01183319519465518 Centerline is valid? [True, True] Translation: X:158.35, Y:-25.06, Z:-2.56 [[ 9.27667424e-01 3.73333067e-01 7.45464068e-03 1.58351230e+02] [-3.73320772e-01 9.27697375e-01 -3.03009657e-03 -2.50550166e+01] [-8.04688584e-03 2.79496726e-05 9.99967623e-01 -2.56387086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.766559995 meters 0.011672014527153224 Centerline is valid? [True, True] Translation: X:158.41, Y:-25.08, Z:-2.56 [[ 9.25562044e-01 3.78520719e-01 7.54763848e-03 1.58409980e+02] [-3.78508294e-01 9.25592818e-01 -3.06707526e-03 -2.50776331e+01] [-8.14699150e-03 -1.80753170e-05 9.99966813e-01 -2.56481121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.826559995 meters 0.011880462811389029 Centerline is valid? [True, True] Translation: X:158.47, Y:-25.10, Z:-2.56 [[ 9.23625020e-01 3.83200189e-01 8.62775146e-03 1.58467462e+02] [-3.83184123e-01 9.23665313e-01 -3.50954222e-03 -2.51034647e+01] [-9.31401199e-03 -6.45163801e-05 9.99956622e-01 -2.56442139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.886559995 meters 0.012050849376141782 Centerline is valid? [True, True] Translation: X:158.52, Y:-25.13, Z:-2.57 [[ 9.22822897e-01 3.85124021e-01 8.79704429e-03 1.58523451e+02] [-3.85107375e-01 9.22864823e-01 -3.58169998e-03 -2.51314524e+01] [-9.49788142e-03 -8.25318775e-05 9.99954891e-01 -2.56536613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.946559995 meters 0.012032423579126492 Centerline is valid? [True, True] Translation: X:158.58, Y:-25.16, Z:-2.57 [[ 9.22556285e-01 3.85768538e-01 8.51678587e-03 1.58579787e+02] [-3.85752943e-01 9.22595593e-01 -3.46966732e-03 -2.51586744e+01] [-9.19603760e-03 -8.44118228e-05 9.99957712e-01 -2.56667415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.006559995 meters 0.012214399124285359 Centerline is valid? [True, True] Translation: X:158.64, Y:-25.19, Z:-2.57 [[ 9.22367588e-01 3.86244264e-01 7.30756225e-03 1.58635097e+02] [-3.86232785e-01 9.22396532e-01 -2.97877525e-03 -2.51897021e+01] [-7.89100493e-03 -7.48943738e-05 9.99968863e-01 -2.56897849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.066559995 meters 0.011984532858835434 Centerline is valid? [True, True] Translation: X:158.69, Y:-25.22, Z:-2.57 [[ 9.22779319e-01 3.85262964e-01 7.12577804e-03 1.58689492e+02] [-3.85252001e-01 9.22806829e-01 -2.90712970e-03 -2.52213921e+01] [-7.69572605e-03 -6.25810858e-05 9.99970386e-01 -2.57008016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.126559995 meters 0.011799342193463958 Centerline is valid? [True, True] Translation: X:158.75, Y:-25.25, Z:-2.57 [[ 9.23498579e-01 3.83560384e-01 5.63975701e-03 1.58745295e+02] [-3.83553483e-01 9.23515799e-01 -2.30116656e-03 -2.52522064e+01] [-6.09104103e-03 -3.80243916e-05 9.99981449e-01 -2.57173148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.186559995 meters 0.01174605561158605 Centerline is valid? [True, True] Translation: X:158.80, Y:-25.28, Z:-2.57 [[ 9.24775430e-01 3.80482910e-01 4.81243289e-03 1.58800362e+02] [-3.80477838e-01 9.24787951e-01 -1.96452148e-03 -2.52834665e+01] [-5.19794680e-03 -1.42828683e-05 9.99986490e-01 -2.57329215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24655999499998 meters 0.01181128629572148 Centerline is valid? [True, True] Translation: X:158.86, Y:-25.32, Z:-2.57 [[ 9.26494069e-01 3.76283654e-01 4.39910026e-03 1.58855206e+02] [-3.76279364e-01 9.26504512e-01 -1.79677672e-03 -2.53160044e+01] [-4.75188395e-03 9.41232651e-06 9.99988710e-01 -2.57382496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.306559995 meters 0.01283967635498397 Centerline is valid? [True, True] Translation: X:158.91, Y:-25.35, Z:-2.57 [[ 9.29436832e-01 3.68944030e-01 5.24200070e-03 1.58906636e+02] [-3.68937803e-01 9.29451612e-01 -2.14437617e-03 -2.53519691e+01] [-5.66334079e-03 5.90899795e-05 9.99983961e-01 -2.57438615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.366559995 meters 0.013355491985676253 Centerline is valid? [True, True] Translation: X:158.96, Y:-25.38, Z:-2.57 [[ 9.31457614e-01 3.63802912e-01 5.84414290e-03 1.58959975e+02] [-3.63795059e-01 9.31475942e-01 -2.39264723e-03 -2.53844603e+01] [-6.31413054e-03 1.02579176e-04 9.99980060e-01 -2.57334036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.426559995 meters 0.01392871434268283 Centerline is valid? [True, True] Translation: X:159.01, Y:-25.41, Z:-2.57 [[ 9.31631867e-01 3.63347359e-01 6.38438930e-03 1.59014803e+02] [-3.63337957e-01 9.31653735e-01 -2.61649133e-03 -2.54134744e+01] [-6.89873536e-03 1.17915740e-04 9.99976196e-01 -2.57440859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.486559995 meters 0.013156387863099259 Centerline is valid? [True, True] Translation: X:159.07, Y:-25.44, Z:-2.57 [[ 9.30373278e-01 3.66552875e-01 6.67480603e-03 1.59071039e+02] [-3.66542674e-01 9.30397216e-01 -2.73639857e-03 -2.54393955e+01] [-7.21325572e-03 9.92708584e-05 9.99973979e-01 -2.57490617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.546559995 meters 0.01241631108901415 Centerline is valid? [True, True] Translation: X:159.13, Y:-25.46, Z:-2.58 [[ 9.28751098e-01 3.70650794e-01 6.27593207e-03 1.59128102e+02] [-3.70641860e-01 9.28772300e-01 -2.57440726e-03 -2.54645423e+01] [-6.78311796e-03 6.48604377e-05 9.99976992e-01 -2.57632844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.606559995 meters 0.012061975488963443 Centerline is valid? [True, True] Translation: X:159.18, Y:-25.49, Z:-2.58 [[ 9.27731218e-01 3.73191838e-01 6.52988242e-03 1.59184756e+02] [-3.73182214e-01 9.27754197e-01 -2.68065553e-03 -2.54902831e+01] [-7.05852458e-03 5.00918470e-05 9.99975087e-01 -2.57730550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.666559995 meters 0.011855562443539894 Centerline is valid? [True, True] Translation: X:159.24, Y:-25.52, Z:-2.58 [[ 9.26285876e-01 3.76767518e-01 6.38067453e-03 1.59241695e+02] [-3.76758401e-01 9.26307852e-01 -2.62115796e-03 -2.55160378e+01] [-6.89803610e-03 2.39688677e-05 9.99976208e-01 -2.57824990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.726559995 meters 0.011751064799961991 Centerline is valid? [True, True] Translation: X:159.30, Y:-25.54, Z:-2.58 [[ 9.25118789e-01 3.79641966e-01 5.21575287e-03 1.59299207e+02] [-3.79635918e-01 9.25133492e-01 -2.14293668e-03 -2.55415745e+01] [-5.63881636e-03 2.38386058e-06 9.99984102e-01 -2.58040170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.786559995 meters 0.011684032634119176 Centerline is valid? [True, True] Translation: X:159.36, Y:-25.57, Z:-2.58 [[ 9.24411623e-01 3.81363605e-01 4.99514607e-03 1.59356619e+02] [-3.81358075e-01 9.24425119e-01 -2.05368798e-03 -2.55675791e+01] [-5.40084035e-03 -6.48624576e-06 9.99985415e-01 -2.58108656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.846559995 meters 0.011693224291437298 Centerline is valid? [True, True] Translation: X:159.41, Y:-25.59, Z:-2.58 [[ 9.24045598e-01 3.82247056e-01 5.18846217e-03 1.59414649e+02] [-3.82241094e-01 9.24060165e-01 -2.13505786e-03 -2.55918667e+01] [-5.61057079e-03 -1.03526339e-05 9.99984261e-01 -2.58134697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.906559995 meters 0.011608378196226784 Centerline is valid? [True, True] Translation: X:159.47, Y:-25.62, Z:-2.58 [[ 9.24458355e-01 3.81259419e-01 4.24329367e-03 1.59472926e+02] [-3.81255418e-01 9.24468093e-01 -1.74665555e-03 -2.56165673e+01] [-4.58871849e-03 -3.06839101e-06 9.99989472e-01 -2.58336939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.966559995 meters 0.011680591798668318 Centerline is valid? [True, True] Translation: X:159.53, Y:-25.64, Z:-2.58 [[ 9.25836178e-01 3.77899086e-01 4.43308690e-03 1.59530732e+02] [-3.77894673e-01 9.25846791e-01 -1.82642772e-03 -2.56420427e+01] [-4.79456464e-03 1.57329324e-05 9.99988506e-01 -2.58382037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02655999499999 meters 0.012302971013743828 Centerline is valid? [True, True] Translation: X:159.59, Y:-25.67, Z:-2.58 [[ 9.27614049e-01 3.73513788e-01 4.43013250e-03 1.59586888e+02] [-3.73509321e-01 9.27624627e-01 -1.82714875e-03 -2.56677731e+01] [-4.79196525e-03 4.01930646e-05 9.99988518e-01 -2.58471508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.086559995 meters 0.014240351153746503 Centerline is valid? [True, True] Translation: X:159.64, Y:-25.69, Z:-2.59 [[ 9.30334021e-01 3.66682693e-01 4.73419478e-03 1.59642518e+02] [-3.66677487e-01 9.30346062e-01 -1.95571455e-03 -2.56939252e+01] [-5.12156615e-03 8.35451327e-05 9.99986881e-01 -2.58608797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.146559995 meters 0.016080599691780086 Centerline is valid? [True, True] Translation: X:159.70, Y:-25.72, Z:-2.59 [[ 9.32786145e-01 3.60418797e-01 2.88072370e-03 1.59698737e+02] [-3.60416842e-01 9.32790590e-01 -1.18939414e-03 -2.57180976e+01] [-3.11579196e-03 7.11890417e-05 9.99995143e-01 -2.58865510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.206559995 meters 0.017066074874724634 Centerline is valid? [True, True] Translation: X:159.76, Y:-25.74, Z:-2.59 [[ 9.34279612e-01 3.56528898e-01 2.95843404e-03 1.59755688e+02] [-3.56526811e-01 9.34284291e-01 -1.22291622e-03 -2.57426031e+01] [-3.20002342e-03 8.77846334e-05 9.99994876e-01 -2.58894103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.266559995 meters 0.018530268702313717 Centerline is valid? [True, True] Translation: X:159.81, Y:-25.77, Z:-2.59 [[ 9.35560171e-01 3.53156601e-01 2.75348525e-03 1.59811799e+02] [-3.53154785e-01 9.35564219e-01 -1.13620072e-03 -2.57675970e+01] [-2.97731906e-03 9.05776457e-05 9.99995564e-01 -2.58974815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.326559995 meters 0.020263715964700692 Centerline is valid? [True, True] Translation: X:159.87, Y:-25.79, Z:-2.59 [[ 9.36678866e-01 3.50174546e-01 3.23861133e-03 1.59868781e+02] [-3.50172003e-01 9.36684457e-01 -1.33996958e-03 -2.57917538e+01] [-3.50278014e-03 1.21050173e-04 9.99993858e-01 -2.59097327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.386559995 meters 0.01815979848245211 Centerline is valid? [True, True] Translation: X:159.93, Y:-25.81, Z:-2.59 [[ 9.36162247e-01 3.51534426e-01 4.87793204e-03 1.59928314e+02] [-3.51528681e-01 9.36174940e-01 -2.01718436e-03 -2.58112768e+01] [-5.27570748e-03 1.73678831e-04 9.99986068e-01 -2.58936775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.446559995 meters 0.017805355861019227 Centerline is valid? [True, True] Translation: X:159.99, Y:-25.83, Z:-2.59 [[ 9.35219835e-01 3.54024730e-01 5.50910873e-03 1.59985599e+02] [-3.54017420e-01 9.35236043e-01 -2.28256844e-03 -2.58328407e+01] [-5.96040273e-03 1.84382822e-04 9.99982220e-01 -2.58932917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.506559995 meters 0.016341356073246594 Centerline is valid? [True, True] Translation: X:160.04, Y:-25.85, Z:-2.59 [[ 9.33986704e-01 3.57259530e-01 5.87072320e-03 1.60044543e+02] [-3.57251292e-01 9.34005138e-01 -2.43249026e-03 -2.58524864e+01] [-6.35231596e-03 1.74590109e-04 9.99979809e-01 -2.58964768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.566559995 meters 0.01624234509585951 Centerline is valid? [True, True] Translation: X:160.10, Y:-25.88, Z:-2.59 [[ 9.32983826e-01 3.59867209e-01 6.06403794e-03 1.60101832e+02] [-3.59858483e-01 9.33003519e-01 -2.51109778e-03 -2.58751903e+01] [-6.56143049e-03 1.60618120e-04 9.99978461e-01 -2.59092419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.626559995 meters 0.014858912657306106 Centerline is valid? [True, True] Translation: X:160.16, Y:-25.90, Z:-2.59 [[ 9.32305065e-01 3.61625006e-01 5.88391362e-03 1.60160609e+02] [-3.61616817e-01 9.32323621e-01 -2.43797700e-03 -2.58951244e+01] [-6.36734510e-03 1.45216184e-04 9.99979718e-01 -2.59078598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.686559995 meters 0.015469681464137073 Centerline is valid? [True, True] Translation: X:160.22, Y:-25.92, Z:-2.59 [[ 9.32810062e-01 3.60330982e-01 5.19341628e-03 1.60218640e+02] [-3.60324577e-01 9.32824509e-01 -2.15289967e-03 -2.59179155e+01] [-5.62030244e-03 1.36930950e-04 9.99984197e-01 -2.59311833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74655999499998 meters 0.016593736495242716 Centerline is valid? [True, True] Translation: X:160.27, Y:-25.94, Z:-2.59 [[ 9.33682265e-01 3.58069243e-01 4.88311001e-03 1.60274893e+02] [-3.58063541e-01 9.33695024e-01 -2.02565450e-03 -2.59432828e+01] [-5.28466009e-03 1.42854021e-04 9.99986026e-01 -2.59477699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.806559995 meters 0.018832248320774726 Centerline is valid? [True, True] Translation: X:160.33, Y:-25.97, Z:-2.59 [[ 9.35578389e-01 3.53079865e-01 5.26178001e-03 1.60329081e+02] [-3.53073144e-01 9.35593167e-01 -2.18673224e-03 -2.59714586e+01] [-5.69497655e-03 1.88066213e-04 9.99983766e-01 -2.59471040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.866559995 meters 0.01883935077840081 Centerline is valid? [True, True] Translation: X:160.39, Y:-25.99, Z:-2.60 [[ 9.37015454e-01 3.49255768e-01 4.73799963e-03 1.60386084e+02] [-3.49250269e-01 9.37027413e-01 -1.96891504e-03 -2.59947046e+01] [-5.12729047e-03 1.90156175e-04 9.99986837e-01 -2.59568979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.926559995 meters 0.019317426638890158 Centerline is valid? [True, True] Translation: X:160.44, Y:-26.02, Z:-2.60 [[ 9.37238219e-01 3.48657939e-01 4.70763219e-03 1.60442995e+02] [-3.48652515e-01 9.37250023e-01 -1.95404380e-03 -2.60193284e+01] [-5.09352126e-03 1.90076727e-04 9.99987010e-01 -2.59664745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.986559995 meters 0.01876165368832168 Centerline is valid? [True, True] Translation: X:160.50, Y:-26.04, Z:-2.60 [[ 9.36455543e-01 3.50756953e-01 4.53604336e-03 1.60501338e+02] [-3.50751927e-01 9.36466513e-01 -1.88583404e-03 -2.60424256e+01] [-4.90932211e-03 1.74973786e-04 9.99987934e-01 -2.59736634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.046559995 meters 0.018263885430165994 Centerline is valid? [True, True] Translation: X:160.56, Y:-26.07, Z:-2.60 [[ 9.36042838e-01 3.51855163e-01 4.66365441e-03 1.60559277e+02] [-3.51849871e-01 9.36054440e-01 -1.93755834e-03 -2.60653686e+01] [-5.04717432e-03 1.72731411e-04 9.99987248e-01 -2.59841997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.106559995 meters 0.017244606803279588 Centerline is valid? [True, True] Translation: X:160.62, Y:-26.09, Z:-2.60 [[ 9.34631279e-01 3.55590050e-01 4.48202554e-03 1.60617455e+02] [-3.55585187e-01 9.34642014e-01 -1.86573345e-03 -2.60854963e+01] [-4.85252562e-03 1.50030956e-04 9.99988215e-01 -2.60015293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.166559995 meters 0.01697739970226667 Centerline is valid? [True, True] Translation: X:160.68, Y:-26.11, Z:-2.60 [[ 9.33941108e-01 3.57399130e-01 4.45739196e-03 1.60675090e+02] [-3.57394352e-01 9.33951735e-01 -1.85317009e-03 -2.61083408e+01] [-4.82531033e-03 1.37705017e-04 9.99988349e-01 -2.60105444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.226559995 meters 0.01641349361010273 Centerline is valid? [True, True] Translation: X:160.73, Y:-26.13, Z:-2.60 [[ 9.32195139e-01 3.61907695e-01 5.91967427e-03 1.60731432e+02] [-3.61899324e-01 9.32213922e-01 -2.46649736e-03 -2.61293541e+01] [-6.41104715e-03 1.56930738e-04 9.99979437e-01 -2.60160856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.286559995 meters 0.014507878887230853 Centerline is valid? [True, True] Translation: X:160.79, Y:-26.15, Z:-2.60 [[ 9.30370519e-01 3.66555219e-01 6.92595478e-03 1.60789728e+02] [-3.66543888e-01 9.30396287e-01 -2.88581105e-03 -2.61481315e+01] [-7.50169171e-03 1.46207130e-04 9.99971851e-01 -2.60219784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.346559995 meters 0.013335215607491156 Centerline is valid? [True, True] Translation: X:160.85, Y:-26.17, Z:-2.60 [[ 9.28541897e-01 3.71179340e-01 5.98695840e-03 1.60848113e+02] [-3.71170981e-01 9.28561193e-01 -2.49261982e-03 -2.61684857e+01] [-6.48446622e-03 9.23167055e-05 9.99978971e-01 -2.60439217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.406559995 meters 0.01263645586824763 Centerline is valid? [True, True] Translation: X:160.91, Y:-26.19, Z:-2.61 [[ 9.27583388e-01 3.73583041e-01 4.97689455e-03 1.60906530e+02] [-3.73577297e-01 9.27596737e-01 -2.07271360e-03 -2.61906882e+01] [-5.39088180e-03 6.33598941e-05 9.99985467e-01 -2.60564970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.466559995 meters 0.012482903152879877 Centerline is valid? [True, True] Translation: X:160.97, Y:-26.21, Z:-2.61 [[ 9.26870927e-01 3.75359711e-01 3.92080535e-03 1.60965066e+02] [-3.75356162e-01 9.26879218e-01 -1.63268230e-03 -2.62148018e+01] [-4.24695615e-03 4.15873033e-05 9.99990981e-01 -2.60811571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52655999499999 meters 0.012874551900362121 Centerline is valid? [True, True] Translation: X:161.02, Y:-26.24, Z:-2.61 [[ 9.27021120e-01 3.74993159e-01 3.46041265e-03 1.61020766e+02] [-3.74990383e-01 9.27027577e-01 -1.44351202e-03 -2.62401663e+01] [-3.74920508e-03 4.05446612e-05 9.99992971e-01 -2.61054317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.586559995 meters 0.012753008249390118 Centerline is valid? [True, True] Translation: X:161.08, Y:-26.27, Z:-2.61 [[ 9.27662343e-01 3.73394209e-01 4.39791348e-03 1.61076851e+02] [-3.73389707e-01 9.27672766e-01 -1.83454262e-03 -2.62658663e+01] [-4.76483215e-03 5.97004786e-05 9.99988646e-01 -2.60966999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.646559995 meters 0.013828738137435853 Centerline is valid? [True, True] Translation: X:161.13, Y:-26.30, Z:-2.61 [[ 9.29291504e-01 3.69303192e-01 5.69671046e-03 1.61131295e+02] [-3.69295542e-01 9.29308959e-01 -2.37949127e-03 -2.62952351e+01] [-6.17275779e-03 1.07471243e-04 9.99980943e-01 -2.60987403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.706559995 meters 0.015418684650339876 Centerline is valid? [True, True] Translation: X:161.19, Y:-26.33, Z:-2.61 [[ 9.31298946e-01 3.64210882e-01 5.71901524e-03 1.61185318e+02] [-3.64203066e-01 9.31316494e-01 -2.39038590e-03 -2.63251777e+01] [-6.19681778e-03 1.43280978e-04 9.99980789e-01 -2.61160904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.766559995 meters 0.016978148957455433 Centerline is valid? [True, True] Translation: X:161.24, Y:-26.36, Z:-2.61 [[ 9.32921062e-01 3.60041809e-01 5.30917138e-03 1.61239037e+02] [-3.60034997e-01 9.32936155e-01 -2.22068066e-03 -2.63553274e+01] [-5.75265582e-03 1.60232263e-04 9.99983441e-01 -2.61288797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.826559995 meters 0.018468764935916177 Centerline is valid? [True, True] Translation: X:161.29, Y:-26.38, Z:-2.61 [[ 9.33637771e-01 3.58188389e-01 4.64650342e-03 1.61292969e+02] [-3.58183141e-01 9.33649321e-01 -1.94488510e-03 -2.63837511e+01] [-5.03484003e-03 1.51518999e-04 9.99987314e-01 -2.61414692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.886559995 meters 0.018123112170765628 Centerline is valid? [True, True] Translation: X:161.35, Y:-26.41, Z:-2.61 [[ 9.34043020e-01 3.57128553e-01 4.77840373e-03 1.61349134e+02] [-3.57122993e-01 9.34055229e-01 -1.99940524e-03 -2.64111347e+01] [-5.17733769e-03 1.61052664e-04 9.99986585e-01 -2.61441999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.946559995 meters 0.016546796869554698 Centerline is valid? [True, True] Translation: X:161.41, Y:-26.44, Z:-2.61 [[ 9.33784828e-01 3.57795681e-01 5.30525274e-03 1.61406124e+02] [-3.57788826e-01 9.33799882e-01 -2.22172169e-03 -2.64354153e+01] [-5.74896680e-03 1.76449857e-04 9.99983459e-01 -2.61397615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.006559995 meters 0.017618865666711368 Centerline is valid? [True, True] Translation: X:161.46, Y:-26.46, Z:-2.62 [[ 9.33377630e-01 3.58845476e-01 6.01041187e-03 1.61460696e+02] [-3.58836683e-01 9.33396961e-01 -2.51959809e-03 -2.64639886e+01] [-6.51424655e-03 1.94980238e-04 9.99978763e-01 -2.61524661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.066559995 meters 0.01759692746398813 Centerline is valid? [True, True] Translation: X:161.52, Y:-26.49, Z:-2.62 [[ 9.32844315e-01 3.60220758e-01 6.51845361e-03 1.61516707e+02] [-3.60210435e-01 9.32867067e-01 -2.73456905e-03 -2.64900268e+01] [-7.06589924e-03 2.02912182e-04 9.99975016e-01 -2.61584368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.126559995 meters 0.016210840162883454 Centerline is valid? [True, True] Translation: X:161.57, Y:-26.51, Z:-2.62 [[ 9.31232847e-01 3.64351074e-01 7.32658502e-03 1.61573501e+02] [-3.64338127e-01 9.31261648e-01 -3.07778765e-03 -2.65137467e+01] [-7.94436287e-03 1.96782688e-04 9.99968424e-01 -2.61630868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.186559995 meters 0.014061968581602653 Centerline is valid? [True, True] Translation: X:161.63, Y:-26.53, Z:-2.62 [[ 9.28411024e-01 3.71471385e-01 7.87280012e-03 1.61631528e+02] [-3.71456684e-01 9.28444392e-01 -3.30798073e-03 -2.65335158e+01] [-8.53827730e-03 1.46761547e-04 9.99963537e-01 -2.61685350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24655999499998 meters 0.012721711313919023 Centerline is valid? [True, True] Translation: X:161.69, Y:-26.55, Z:-2.62 [[ 9.25663191e-01 3.78290355e-01 6.63808764e-03 1.61690247e+02] [-3.78280079e-01 9.25686990e-01 -2.78909470e-03 -2.65534947e+01] [-7.19987898e-03 7.07059818e-05 9.99974078e-01 -2.61976561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.306559995 meters 0.012200042241048965 Centerline is valid? [True, True] Translation: X:161.75, Y:-26.57, Z:-2.62 [[ 9.24034578e-01 3.82260792e-01 6.06507117e-03 1.61748135e+02] [-3.82252310e-01 9.24054482e-01 -2.54666866e-03 -2.65748296e+01] [-6.57794777e-03 3.48224322e-05 9.99978364e-01 -2.62112894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.366559995 meters 0.011881234411970181 Centerline is valid? [True, True] Translation: X:161.81, Y:-26.60, Z:-2.62 [[ 9.22483031e-01 3.85981955e-01 6.55645705e-03 1.61806461e+02] [-3.85972122e-01 9.22506331e-01 -2.75526591e-03 -2.65954167e+01] [-7.11185606e-03 1.10764122e-05 9.99974710e-01 -2.62254227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.426559995 meters 0.011784679766548406 Centerline is valid? [True, True] Translation: X:161.86, Y:-26.62, Z:-2.62 [[ 9.22089778e-01 3.86918915e-01 6.64782786e-03 1.61864968e+02] [-3.86908817e-01 9.22113742e-01 -2.79531950e-03 -2.66193857e+01] [-7.21161542e-03 5.43231998e-06 9.99973996e-01 -2.62316326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.486559995 meters 0.011895117723848133 Centerline is valid? [True, True] Translation: X:161.92, Y:-26.65, Z:-2.62 [[ 9.22996161e-01 3.84734955e-01 7.55650193e-03 1.61922172e+02] [-3.84721810e-01 9.23027092e-01 -3.18047205e-03 -2.66455053e+01] [-8.19849477e-03 2.84123892e-05 9.99966391e-01 -2.62247836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.546559995 meters 0.012152980144449143 Centerline is valid? [True, True] Translation: X:161.98, Y:-26.67, Z:-2.62 [[ 9.24088948e-01 3.82105878e-01 7.39686787e-03 1.61978431e+02] [-3.82093176e-01 9.24118551e-01 -3.11597945e-03 -2.66709536e+01] [-8.02621688e-03 5.31494367e-05 9.99967788e-01 -2.62359727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.606559995 meters 0.012995498849048185 Centerline is valid? [True, True] Translation: X:162.03, Y:-26.70, Z:-2.63 [[ 9.25798826e-01 3.77961035e-01 6.47993031e-03 1.62034246e+02] [-3.77951174e-01 9.25821500e-01 -2.73129554e-03 -2.66963121e+01] [-7.03158209e-03 7.95329367e-05 9.99975275e-01 -2.62638934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.666559995 meters 0.013683599889037492 Centerline is valid? [True, True] Translation: X:162.09, Y:-26.72, Z:-2.63 [[ 9.27098829e-01 3.74780859e-01 5.20272322e-03 1.62090391e+02] [-3.74774442e-01 9.27113424e-01 -2.19472180e-03 -2.67217680e+01] [-5.64605426e-03 8.48763124e-05 9.99984057e-01 -2.62822587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.726559995 meters 0.014424563643413817 Centerline is valid? [True, True] Translation: X:162.15, Y:-26.75, Z:-2.63 [[ 9.27849097e-01 3.72933039e-01 4.12328907e-03 1.62146699e+02] [-3.72928996e-01 9.27858256e-01 -1.73809820e-03 -2.67472860e+01] [-4.47402205e-03 7.49987893e-05 9.99989989e-01 -2.62997737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.786559995 meters 0.015069251113864392 Centerline is valid? [True, True] Translation: X:162.20, Y:-26.77, Z:-2.63 [[ 9.29178767e-01 3.69615860e-01 3.30672560e-03 1.62203464e+02] [-3.69613230e-01 9.29184648e-01 -1.39629152e-03 -2.67726621e+01] [-3.58865016e-03 7.51948965e-05 9.99993558e-01 -2.63121874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.846559995 meters 0.015673924305836362 Centerline is valid? [True, True] Translation: X:162.26, Y:-26.80, Z:-2.63 [[ 9.29736065e-01 3.68206700e-01 3.83084199e-03 1.62260625e+02] [-3.68203166e-01 9.29743953e-01 -1.61592272e-03 -2.67978970e+01] [-4.15669575e-03 9.18534795e-05 9.99991357e-01 -2.63163782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.906559995 meters 0.01531265438788627 Centerline is valid? [True, True] Translation: X:162.32, Y:-26.82, Z:-2.63 [[ 9.30222077e-01 3.66952197e-01 5.74218310e-03 1.62318506e+02] [-3.66944209e-01 9.30239788e-01 -2.42583414e-03 -2.68215808e+01] [-6.23177235e-03 1.49503631e-04 9.99980571e-01 -2.62983757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.966559995 meters 0.01585833740316004 Centerline is valid? [True, True] Translation: X:162.38, Y:-26.85, Z:-2.63 [[ 9.30177006e-01 3.67061621e-01 6.04179889e-03 1.62375958e+02] [-3.67052769e-01 9.30196614e-01 -2.55408721e-03 -2.68465349e+01] [-6.55756826e-03 1.58094182e-04 9.99978486e-01 -2.63068984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02655999499999 meters 0.01614516748469475 Centerline is valid? [True, True] Translation: X:162.43, Y:-26.87, Z:-2.63 [[ 9.29902432e-01 3.67741806e-01 6.88707338e-03 1.62432514e+02] [-3.67730297e-01 9.29927918e-01 -2.91488221e-03 -2.68703798e+01] [-7.47640585e-03 1.77970519e-04 9.99972035e-01 -2.63099387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.086559995 meters 0.015020899209014865 Centerline is valid? [True, True] Translation: X:162.49, Y:-26.89, Z:-2.63 [[ 9.28756079e-01 3.70609132e-01 7.81133221e-03 1.62491200e+02] [-3.70594407e-01 9.28788910e-01 -3.30849471e-03 -2.68914694e+01] [-8.48123708e-03 1.77948555e-04 9.99964018e-01 -2.63030717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.146559995 meters 0.014196284004442991 Centerline is valid? [True, True] Translation: X:162.55, Y:-26.91, Z:-2.63 [[ 9.27557492e-01 3.73591428e-01 8.15748087e-03 1.62549395e+02] [-3.73575461e-01 9.27593348e-01 -3.45761705e-03 -2.69123358e+01] [-8.85856108e-03 1.59703923e-04 9.99960749e-01 -2.63085285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.206559995 meters 0.013528386486573025 Centerline is valid? [True, True] Translation: X:162.61, Y:-26.93, Z:-2.63 [[ 9.26238869e-01 3.76834903e-01 8.77577960e-03 1.62608009e+02] [-3.76816542e-01 9.26280431e-01 -3.72254562e-03 -2.69322672e+01] [-9.53161803e-03 1.41107521e-04 9.99954563e-01 -2.63170603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.266559995 meters 0.013323159942634643 Centerline is valid? [True, True] Translation: X:162.67, Y:-26.95, Z:-2.63 [[ 9.25896858e-01 3.77666978e-01 9.09184156e-03 1.62666018e+02] [-3.77647284e-01 9.25941485e-01 -3.85936105e-03 -2.69542713e+01] [-9.87606650e-03 1.39861007e-04 9.99951221e-01 -2.63241823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.326559995 meters 0.013479699650708103 Centerline is valid? [True, True] Translation: X:162.73, Y:-26.98, Z:-2.63 [[ 9.26071818e-01 3.77234289e-01 9.23468004e-03 1.62725211e+02] [-3.77213925e-01 9.26117848e-01 -3.92246001e-03 -2.69764309e+01] [-1.00320884e-02 1.49029766e-04 9.99949666e-01 -2.63418883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.386559995 meters 0.01411766489182872 Centerline is valid? [True, True] Translation: X:162.78, Y:-27.00, Z:-2.64 [[ 9.27398214e-01 3.73964177e-01 9.12942175e-03 1.62782553e+02] [-3.73944085e-01 9.27443130e-01 -3.88088697e-03 -2.70007555e+01] [-9.91833219e-03 1.85234385e-04 9.99950795e-01 -2.63502852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.446559995 meters 0.01468410764590092 Centerline is valid? [True, True] Translation: X:162.84, Y:-27.02, Z:-2.63 [[ 9.28890308e-01 3.70220459e-01 9.98032147e-03 1.62839157e+02] [-3.70196194e-01 9.28943889e-01 -4.24595243e-03 -2.70248895e+01] [-1.08430971e-02 2.49347037e-04 9.99941181e-01 -2.63491057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.506559995 meters 0.018119491824057535 Centerline is valid? [True, True] Translation: X:162.89, Y:-27.05, Z:-2.64 [[ 9.31399696e-01 3.63807002e-01 1.17928403e-02 1.62892571e+02] [-3.63772548e-01 9.31474270e-01 -5.02176258e-03 -2.70520497e+01] [-1.28116797e-02 3.87356574e-04 9.99917852e-01 -2.63521445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.566559995 meters 0.019430019090316244 Centerline is valid? [True, True] Translation: X:162.95, Y:-27.08, Z:-2.64 [[ 9.33555341e-01 3.58270797e-01 1.07917366e-02 1.62949131e+02] [-3.58241575e-01 9.33617618e-01 -4.59542024e-03 -2.70753199e+01] [-1.17217602e-02 4.24030411e-04 9.99931208e-01 -2.63766462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.626559995 meters 0.020506164762828176 Centerline is valid? [True, True] Translation: X:163.01, Y:-27.10, Z:-2.64 [[ 9.34371121e-01 3.56146545e-01 1.04998895e-02 1.63006712e+02] [-3.56118747e-01 9.34430011e-01 -4.47120586e-03 -2.70989311e+01] [-1.14038164e-02 4.38558133e-04 9.99934878e-01 -2.63937739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.686559995 meters 0.020535764779310604 Centerline is valid? [True, True] Translation: X:163.07, Y:-27.12, Z:-2.64 [[ 9.34682441e-01 3.55323690e-01 1.06682037e-02 1.63066153e+02] [-3.55294939e-01 9.34743209e-01 -4.54296528e-03 -2.71187296e+01] [-1.15862542e-02 4.55871083e-04 9.99932773e-01 -2.64011338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74655999499998 meters 0.019763937636902422 Centerline is valid? [True, True] Translation: X:163.13, Y:-27.14, Z:-2.64 [[ 9.34027882e-01 3.57024366e-01 1.12034593e-02 1.63126282e+02] [-3.56992731e-01 9.34094958e-01 -4.77490963e-03 -2.71376143e+01] [-1.21698539e-02 4.60345208e-04 9.99925839e-01 -2.63993336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.806559995 meters 0.01871873109308969 Centerline is valid? [True, True] Translation: X:163.19, Y:-27.16, Z:-2.64 [[ 9.32970045e-01 3.59755439e-01 1.19548511e-02 1.63185319e+02] [-3.59719623e-01 9.33046525e-01 -5.09663233e-03 -2.71559827e+01] [-1.29879735e-02 4.54610752e-04 9.99915549e-01 -2.64100249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.866559995 meters 0.016679054057706835 Centerline is valid? [True, True] Translation: X:163.25, Y:-27.17, Z:-2.64 [[ 9.31700382e-01 3.63026067e-01 1.21026151e-02 1.63245110e+02] [-3.62989628e-01 9.31778892e-01 -5.16013077e-03 -2.71727050e+01] [-1.31502232e-02 4.14572073e-04 9.99913446e-01 -2.64153176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.926559995 meters 0.015904667850959186 Centerline is valid? [True, True] Translation: X:163.30, Y:-27.19, Z:-2.64 [[ 9.29960070e-01 3.67464325e-01 1.20099426e-02 1.63303426e+02] [-3.67428804e-01 9.30037552e-01 -5.12117638e-03 -2.71890733e+01] [-1.30515473e-02 3.49690687e-04 9.99914764e-01 -2.64313420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.986559995 meters 0.016071587215645104 Centerline is valid? [True, True] Translation: X:163.36, Y:-27.21, Z:-2.64 [[ 9.29398022e-01 3.68902720e-01 1.14061535e-02 1.63362090e+02] [-3.68870797e-01 9.29467958e-01 -4.86309980e-03 -2.72087079e+01] [-1.23956649e-02 3.12358413e-04 9.99923122e-01 -2.64476651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.046559995 meters 0.01609338228495741 Centerline is valid? [True, True] Translation: X:163.42, Y:-27.23, Z:-2.65 [[ 9.29732644e-01 3.68081883e-01 1.06272143e-02 1.63420371e+02] [-3.68054086e-01 9.29793329e-01 -4.53372058e-03 -2.72304128e+01] [-1.15498933e-02 3.03758392e-04 9.99933252e-01 -2.64663938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.106559995 meters 0.01714707931748996 Centerline is valid? [True, True] Translation: X:163.48, Y:-27.25, Z:-2.65 [[ 9.31272049e-01 3.64173742e-01 1.04812265e-02 1.63477245e+02] [-3.64146411e-01 9.31330963e-01 -4.47541554e-03 -2.72535572e+01] [-1.13913195e-02 3.51128409e-04 9.99935055e-01 -2.64824986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.166559995 meters 0.018524659154761897 Centerline is valid? [True, True] Translation: X:163.53, Y:-27.28, Z:-2.65 [[ 9.32489560e-01 3.61032003e-01 1.09138978e-02 1.63534518e+02] [-3.61002149e-01 9.32553338e-01 -4.66049112e-03 -2.72780352e+01] [-1.18603783e-02 4.05918730e-04 9.99929581e-01 -2.64980326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.226559995 meters 0.019558503487758176 Centerline is valid? [True, True] Translation: X:163.59, Y:-27.30, Z:-2.65 [[ 9.33573865e-01 3.58162104e-01 1.26390573e-02 1.63592242e+02] [-3.58121787e-01 9.33659276e-01 -5.39839720e-03 -2.73009908e+01] [-1.37340744e-02 5.13480739e-04 9.99905551e-01 -2.65017130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.286559995 meters 0.01844564939204549 Centerline is valid? [True, True] Translation: X:163.65, Y:-27.32, Z:-2.65 [[ 9.33424191e-01 3.58567882e-01 1.21800309e-02 1.63652302e+02] [-3.58530470e-01 9.33503527e-01 -5.20268567e-03 -2.73217084e+01] [-1.32356178e-02 4.89400474e-04 9.99912286e-01 -2.65212843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.346559995 meters 0.019207798019830174 Centerline is valid? [True, True] Translation: X:163.71, Y:-27.35, Z:-2.65 [[ 9.32490255e-01 3.61033214e-01 1.08140080e-02 1.63709069e+02] [-3.61003850e-01 9.32552869e-01 -4.62244586e-03 -2.73455243e+01] [-1.17534907e-02 4.06487187e-04 9.99930843e-01 -2.65420907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.406559995 meters 0.015911856546066264 Centerline is valid? [True, True] Translation: X:163.77, Y:-27.36, Z:-2.66 [[ 9.29823587e-01 3.67865403e-01 1.01559367e-02 1.63768950e+02] [-3.67839868e-01 9.29878999e-01 -4.34498073e-03 -2.73607068e+01] [-1.10421604e-02 3.04307143e-04 9.99938987e-01 -2.65607402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.466559995 meters 0.01402111595106391 Centerline is valid? [True, True] Translation: X:163.83, Y:-27.38, Z:-2.66 [[ 9.26707816e-01 3.75652921e-01 9.87452112e-03 1.63827572e+02] [-3.75629219e-01 9.26760401e-01 -4.22485313e-03 -2.73787872e+01] [-1.07383936e-02 2.06045766e-04 9.99942321e-01 -2.65704728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52655999499999 meters 0.012637700646894278 Centerline is valid? [True, True] Translation: X:163.89, Y:-27.40, Z:-2.66 [[ 9.23484752e-01 3.83501328e-01 1.01313763e-02 1.63885467e+02] [-3.83476846e-01 9.23540317e-01 -4.33487769e-03 -2.73983776e+01] [-1.10191658e-02 1.18045215e-04 9.99939280e-01 -2.65745253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.586559995 meters 0.011975176010809439 Centerline is valid? [True, True] Translation: X:163.94, Y:-27.42, Z:-2.66 [[ 9.21162063e-01 3.89037615e-01 1.04970197e-02 1.63944189e+02] [-3.89011699e-01 9.21221869e-01 -4.49078175e-03 -2.74194125e+01] [-1.14171671e-02 5.32743228e-05 9.99934821e-01 -2.65838854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.646559995 meters 0.011626422495444827 Centerline is valid? [True, True] Translation: X:164.00, Y:-27.44, Z:-2.66 [[ 9.18949826e-01 3.94250369e-01 9.89263925e-03 1.64002573e+02] [-3.94227625e-01 9.19003072e-01 -4.23479692e-03 -2.74412976e+01] [-1.07609361e-02 -8.38578082e-06 9.99942099e-01 -2.65969373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.706559995 meters 0.012280357450117137 Centerline is valid? [True, True] Translation: X:164.06, Y:-27.46, Z:-2.66 [[ 9.15644243e-01 4.01864595e-01 1.00233239e-02 1.64059920e+02] [-4.01841662e-01 9.15699098e-01 -4.29431218e-03 -2.74620400e+01] [-1.09040807e-02 -9.57269062e-05 9.99940544e-01 -2.66098053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.766559995 meters 0.01267252460424892 Centerline is valid? [True, True] Translation: X:164.12, Y:-27.49, Z:-2.66 [[ 9.14355144e-01 4.04763789e-01 1.09975476e-02 1.64116950e+02] [-4.04736373e-01 9.14421268e-01 -4.71312169e-03 -2.74869433e+01] [-1.19640924e-02 -1.41640475e-04 9.99928418e-01 -2.66134615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.826559995 meters 0.01274646073475323 Centerline is valid? [True, True] Translation: X:164.17, Y:-27.51, Z:-2.66 [[ 9.13917609e-01 4.05743810e-01 1.12500892e-02 1.64174183e+02] [-4.05715156e-01 9.13986836e-01 -4.82455003e-03 -2.75121880e+01] [-1.22399647e-02 -1.55090456e-04 9.99925077e-01 -2.66224577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.886559995 meters 0.012748552240264612 Centerline is valid? [True, True] Translation: X:164.23, Y:-27.54, Z:-2.66 [[ 9.13966499e-01 4.05655865e-01 1.04190997e-02 1.64230256e+02] [-4.05631247e-01 9.14025875e-01 -4.47128390e-03 -2.75416503e+01] [-1.13371293e-02 -1.39708716e-04 9.99935723e-01 -2.66464502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.946559995 meters 0.01231200657926417 Centerline is valid? [True, True] Translation: X:164.28, Y:-27.57, Z:-2.67 [[ 9.14970165e-01 4.03405059e-01 9.69310081e-03 1.64284588e+02] [-4.03383593e-01 9.15021502e-01 -4.16279292e-03 -2.75715709e+01] [-1.05486874e-02 -1.01206506e-04 9.99944356e-01 -2.66642497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.006559995 meters 0.01175277780216265 Centerline is valid? [True, True] Translation: X:164.34, Y:-27.61, Z:-2.67 [[ 9.17331243e-01 3.98008885e-01 9.60817682e-03 1.64337541e+02] [-3.97987469e-01 9.17381560e-01 -4.12902977e-03 -2.76059652e+01] [-1.04577548e-02 -3.62459586e-05 9.99945316e-01 -2.66714103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.066559995 meters 0.01199382131349913 Centerline is valid? [True, True] Translation: X:164.39, Y:-27.64, Z:-2.67 [[ 9.20119377e-01 3.91533395e-01 9.05168410e-03 1.64390817e+02] [-3.91514051e-01 9.20163898e-01 -3.89205922e-03 -2.76420117e+01] [-9.85290409e-03 3.72975889e-05 9.99951458e-01 -2.66905790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.126559995 meters 0.012870070516050762 Centerline is valid? [True, True] Translation: X:164.44, Y:-27.68, Z:-2.67 [[ 9.22713818e-01 3.85389223e-01 8.62298555e-03 1.64443354e+02] [-3.85371373e-01 9.22754104e-01 -3.71061162e-03 -2.76773875e+01] [-9.38692504e-03 1.00780831e-04 9.99955937e-01 -2.67074479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.186559995 meters 0.013279053176049705 Centerline is valid? [True, True] Translation: X:164.50, Y:-27.71, Z:-2.67 [[ 9.23318935e-01 3.83946739e-01 8.18807876e-03 1.64498567e+02] [-3.83930568e-01 9.23355234e-01 -3.52564960e-03 -2.77050462e+01] [-8.91416705e-03 1.11645310e-04 9.99960262e-01 -2.67202519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24655999499998 meters 0.014802314952315545 Centerline is valid? [True, True] Translation: X:164.55, Y:-27.74, Z:-2.67 [[ 9.25118779e-01 3.79586458e-01 8.32863701e-03 1.64551183e+02] [-3.79569526e-01 9.25156255e-01 -3.58880710e-03 -2.77375705e+01] [-9.06755320e-03 1.58776044e-04 9.99958876e-01 -2.67376881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.306559995 meters 0.015728499105990796 Centerline is valid? [True, True] Translation: X:164.60, Y:-27.77, Z:-2.67 [[ 9.26458130e-01 3.76249789e-01 1.05559946e-02 1.64604824e+02] [-3.76222322e-01 9.26518233e-01 -4.55287498e-03 -2.77692315e+01] [-1.14933397e-02 2.46647254e-04 9.99933919e-01 -2.67248903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.366559995 meters 0.015229276193442942 Centerline is valid? [True, True] Translation: X:164.66, Y:-27.80, Z:-2.67 [[ 9.27169151e-01 3.74461899e-01 1.16469645e-02 1.64660193e+02] [-3.74428302e-01 9.27242254e-01 -5.02488869e-03 -2.77978711e+01] [-1.26811870e-02 2.97968621e-04 9.99919546e-01 -2.67179257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.426559995 meters 0.015956371580666547 Centerline is valid? [True, True] Translation: X:164.72, Y:-27.82, Z:-2.67 [[ 9.26770452e-01 3.75449650e-01 1.15797187e-02 1.64715496e+02] [-3.75416473e-01 9.26842748e-01 -4.99932674e-03 -2.78244295e+01] [-1.26095738e-02 2.86011144e-04 9.99920455e-01 -2.67377406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.486559995 meters 0.015010306229929363 Centerline is valid? [True, True] Translation: X:164.77, Y:-27.85, Z:-2.68 [[ 9.25772895e-01 3.77908782e-01 1.13797963e-02 1.64773140e+02] [-3.77876890e-01 9.25842799e-01 -4.91594562e-03 -2.78482129e+01] [-1.23936815e-02 2.50887178e-04 9.99923164e-01 -2.67519006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.546559995 meters 0.013484899630869407 Centerline is valid? [True, True] Translation: X:164.83, Y:-27.87, Z:-2.68 [[ 9.23473145e-01 3.83480473e-01 1.18354200e-02 1.64830496e+02] [-3.83446377e-01 9.23548966e-01 -5.11698374e-03 -2.78705271e+01] [-1.28928532e-02 1.87148137e-04 9.99916866e-01 -2.67552053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.606559995 meters 0.012812776851115773 Centerline is valid? [True, True] Translation: X:164.89, Y:-27.89, Z:-2.68 [[ 9.21822503e-01 3.87440534e-01 1.15371075e-02 1.64888148e+02] [-3.87408450e-01 9.21894688e-01 -4.98771873e-03 -2.78937853e+01] [-1.25684425e-02 1.28218442e-04 9.99921006e-01 -2.67698984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.666559995 meters 0.012435216008814745 Centerline is valid? [True, True] Translation: X:164.95, Y:-27.92, Z:-2.68 [[ 9.20547237e-01 3.90474065e-01 1.10810043e-02 1.64945842e+02] [-3.90444650e-01 9.20613924e-01 -4.79361084e-03 -2.79171991e+01] [-1.20731075e-02 8.62263856e-05 9.99927114e-01 -2.67880897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.726559995 meters 0.012744004885906261 Centerline is valid? [True, True] Translation: X:165.00, Y:-27.94, Z:-2.68 [[ 9.21172329e-01 3.88981479e-01 1.16167787e-02 1.65001235e+02] [-3.88948985e-01 9.21245568e-01 -5.02903904e-03 -2.79439538e+01] [-1.26581089e-02 1.14277324e-04 9.99919876e-01 -2.68017794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.786559995 meters 0.013127324239429423 Centerline is valid? [True, True] Translation: X:165.06, Y:-27.97, Z:-2.68 [[ 9.22258859e-01 3.86398957e-01 1.15949349e-02 1.65056975e+02] [-3.86366343e-01 9.22331731e-01 -5.02259364e-03 -2.79709477e+01] [-1.26351013e-02 1.52238888e-04 9.99920162e-01 -2.68123309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.846559995 meters 0.013997038977747433 Centerline is valid? [True, True] Translation: X:165.11, Y:-28.00, Z:-2.68 [[ 9.23914000e-01 3.82443357e-01 1.09544774e-02 1.65112373e+02] [-3.82413933e-01 9.23978918e-01 -4.74807011e-03 -2.79990297e+01] [-1.19375741e-02 1.97663649e-04 9.99928725e-01 -2.68337489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.906559995 meters 0.014479475974894875 Centerline is valid? [True, True] Translation: X:165.17, Y:-28.03, Z:-2.68 [[ 9.24909913e-01 3.80045961e-01 1.03305309e-02 1.65168516e+02] [-3.80019613e-01 9.24967578e-01 -4.48038296e-03 -2.80260756e+01] [-1.12581576e-02 2.18146240e-04 9.99936601e-01 -2.68496735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.966559995 meters 0.014923592326291512 Centerline is valid? [True, True] Translation: X:165.22, Y:-28.05, Z:-2.69 [[ 9.26115815e-01 3.77135183e-01 8.86294171e-03 1.65223804e+02] [-3.77115636e-01 9.26158197e-01 -3.84598226e-03 -2.80537634e+01] [-9.65894134e-03 2.19471099e-04 9.99953327e-01 -2.68641580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02655999499999 meters 0.01609172967589094 Centerline is valid? [True, True] Translation: X:165.28, Y:-28.08, Z:-2.69 [[ 9.26807404e-01 3.75452993e-01 7.94263509e-03 1.65278039e+02] [-3.75437210e-01 9.26841413e-01 -3.44922650e-03 -2.80821148e+01] [-8.65658554e-03 2.14807900e-04 9.99962508e-01 -2.68871487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.086559995 meters 0.016395932101905174 Centerline is valid? [True, True] Translation: X:165.33, Y:-28.11, Z:-2.69 [[ 9.27009301e-01 3.74966043e-01 7.36364836e-03 1.65334319e+02] [-3.74952462e-01 9.27038524e-01 -3.19778578e-03 -2.81086336e+01] [-8.02544679e-03 2.03359083e-04 9.99967775e-01 -2.69031594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.146559995 meters 0.0166332743941306 Centerline is valid? [True, True] Translation: X:165.39, Y:-28.14, Z:-2.69 [[ 9.27054387e-01 3.74865117e-01 6.80499656e-03 1.65389915e+02] [-3.74853504e-01 9.27079343e-01 -2.95683842e-03 -2.81356686e+01] [-7.41718732e-03 1.90273223e-04 9.99972474e-01 -2.69192204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.206559995 meters 0.0170095433921233 Centerline is valid? [True, True] Translation: X:165.45, Y:-28.16, Z:-2.69 [[ 9.26834054e-01 3.75399235e-01 7.35191993e-03 1.65445461e+02] [-3.75385675e-01 9.26863190e-01 -3.19711531e-03 -2.81622001e+01] [-8.01441860e-03 2.03389916e-04 9.99967863e-01 -2.69229036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.266559995 meters 0.015782161911023634 Centerline is valid? [True, True] Translation: X:165.50, Y:-28.19, Z:-2.69 [[ 9.26400366e-01 3.76446411e-01 8.39415428e-03 1.65503081e+02] [-3.76428753e-01 9.26438368e-01 -3.65293150e-03 -2.81865083e+01] [-9.15179954e-03 2.24276048e-04 9.99958096e-01 -2.69102955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.326559995 meters 0.016134314288677825 Centerline is valid? [True, True] Translation: X:165.56, Y:-28.21, Z:-2.69 [[ 9.26233733e-01 3.76845869e-01 8.84663382e-03 1.65558238e+02] [-3.76826241e-01 9.26275950e-01 -3.85339264e-03 -2.82128096e+01] [-9.64655925e-03 2.35498485e-04 9.99953443e-01 -2.69164181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.386559995 meters 0.01577506813133391 Centerline is valid? [True, True] Translation: X:165.62, Y:-28.24, Z:-2.69 [[ 9.26183551e-01 3.76979267e-01 8.40610612e-03 1.65616041e+02] [-3.76961549e-01 9.26221670e-01 -3.66171406e-03 -2.82385037e+01] [-9.16630794e-03 2.22640543e-04 9.99957964e-01 -2.69322136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.446559995 meters 0.016074755289557287 Centerline is valid? [True, True] Translation: X:165.67, Y:-28.26, Z:-2.70 [[ 9.26093640e-01 3.77221276e-01 7.39452781e-03 1.65673387e+02] [-3.77207558e-01 9.26123140e-01 -3.22297260e-03 -2.82644497e+01] [-8.06401716e-03 1.95502651e-04 9.99967466e-01 -2.69587545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.506559995 meters 0.01606114508707561 Centerline is valid? [True, True] Translation: X:165.73, Y:-28.29, Z:-2.70 [[ 9.25800254e-01 3.77945072e-01 7.17016879e-03 1.65730365e+02] [-3.77932176e-01 9.25828001e-01 -3.12773213e-03 -2.82899336e+01] [-7.82045398e-03 1.85817713e-04 9.99969403e-01 -2.69714875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.566559995 meters 0.01599179977998384 Centerline is valid? [True, True] Translation: X:165.79, Y:-28.32, Z:-2.70 [[ 9.25242493e-01 3.79326331e-01 6.15339544e-03 1.65787743e+02] [-3.79316847e-01 9.25262942e-01 -2.68650847e-03 -2.83150471e+01] [-6.71257217e-03 1.51585237e-04 9.99977459e-01 -2.69933381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.626559995 meters 0.016260673452094847 Centerline is valid? [True, True] Translation: X:165.84, Y:-28.34, Z:-2.70 [[ 9.24870087e-01 3.80236050e-01 5.98908033e-03 1.65844620e+02] [-3.80227087e-01 9.24889467e-01 -2.61454937e-03 -2.83406088e+01] [-6.53338324e-03 1.40907935e-04 9.99978647e-01 -2.70043906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.686559995 meters 0.015315169796953325 Centerline is valid? [True, True] Translation: X:165.90, Y:-28.36, Z:-2.70 [[ 9.24983877e-01 3.79950138e-01 6.53609339e-03 1.65903266e+02] [-3.79939443e-01 9.25006956e-01 -2.85512713e-03 -2.83643735e+01] [-7.13073780e-03 1.57626879e-04 9.99974564e-01 -2.70028163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74655999499998 meters 0.015600934005518477 Centerline is valid? [True, True] Translation: X:165.96, Y:-28.39, Z:-2.70 [[ 9.25030027e-01 3.79841117e-01 6.33839574e-03 1.65960856e+02] [-3.79831042e-01 9.25051729e-01 -2.77078401e-03 -2.83902400e+01] [-6.91580163e-03 1.55538947e-04 9.99976073e-01 -2.70122962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.806559995 meters 0.015509206605918865 Centerline is valid? [True, True] Translation: X:166.02, Y:-28.41, Z:-2.70 [[ 9.24841232e-01 3.80288159e-01 7.04353879e-03 1.66017657e+02] [-3.80275707e-01 9.24868037e-01 -3.08223673e-03 -2.84146930e+01] [-7.68648203e-03 1.72092925e-04 9.99970444e-01 -2.70147169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.866559995 meters 0.015226798740817811 Centerline is valid? [True, True] Translation: X:166.08, Y:-28.44, Z:-2.70 [[ 9.24282564e-01 3.81639439e-01 7.28563067e-03 1.66075554e+02] [-3.81626140e-01 9.24311263e-01 -3.19045557e-03 -2.84383393e+01] [-7.95179416e-03 1.68495348e-04 9.99968370e-01 -2.70153327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.926559995 meters 0.014967959708152406 Centerline is valid? [True, True] Translation: X:166.13, Y:-28.46, Z:-2.70 [[ 9.23332453e-01 3.83924542e-01 7.68945781e-03 1.66133373e+02] [-3.83909786e-01 9.23364457e-01 -3.36980341e-03 -2.84614200e+01] [-8.39392227e-03 1.59390742e-04 9.99964758e-01 -2.70249243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.986559995 meters 0.014139039202115214 Centerline is valid? [True, True] Translation: X:166.19, Y:-28.48, Z:-2.70 [[ 9.21536731e-01 3.88236037e-01 6.54465424e-03 1.66191884e+02] [-3.88225447e-01 9.21559965e-01 -2.86939013e-03 -2.84828315e+01] [-7.14529198e-03 1.03447077e-04 9.99974467e-01 -2.70473156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.046559995 meters 0.013182092824100326 Centerline is valid? [True, True] Translation: X:166.25, Y:-28.50, Z:-2.71 [[ 9.19843241e-01 3.92230420e-01 6.61127870e-03 1.66250885e+02] [-3.92219702e-01 9.19866997e-01 -2.90049034e-03 -2.85036949e+01] [-7.21915762e-03 7.49226699e-05 9.99973939e-01 -2.70541462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.106559995 meters 0.012983368003928504 Centerline is valid? [True, True] Translation: X:166.31, Y:-28.53, Z:-2.71 [[ 9.19753575e-01 3.92432192e-01 7.09472251e-03 1.66309335e+02] [-3.92419841e-01 9.19780935e-01 -3.11459644e-03 -2.85270594e+01] [-7.74785841e-03 8.05513367e-05 9.99969982e-01 -2.70589171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.166559995 meters 0.01376066833532258 Centerline is valid? [True, True] Translation: X:166.36, Y:-28.55, Z:-2.71 [[ 9.20382351e-01 3.90966213e-01 6.46131816e-03 1.66364011e+02] [-3.90955915e-01 9.20405027e-01 -2.83886746e-03 -2.85537719e+01] [-7.05693097e-03 8.67529498e-05 9.99975096e-01 -2.70760062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.226559995 meters 0.014271511423256267 Centerline is valid? [True, True] Translation: X:166.42, Y:-28.58, Z:-2.71 [[ 9.22058023e-01 3.86993030e-01 6.73771076e-03 1.66420151e+02] [-3.86981713e-01 9.22082632e-01 -2.96217506e-03 -2.85805860e+01] [-7.35906717e-03 1.23926433e-04 9.99972914e-01 -2.70794917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.286559995 meters 0.01581056664714983 Centerline is valid? [True, True] Translation: X:166.47, Y:-28.61, Z:-2.71 [[ 9.24346580e-01 3.81504164e-01 6.16211856e-03 1.66474531e+02] [-3.81494561e-01 9.24367107e-01 -2.71139488e-03 -2.86081221e+01] [-6.73046814e-03 1.55453870e-04 9.99977338e-01 -2.70923458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.346559995 meters 0.017980019301218057 Centerline is valid? [True, True] Translation: X:166.53, Y:-28.64, Z:-2.71 [[ 9.26670837e-01 3.75823437e-01 6.15666944e-03 1.66528706e+02] [-3.75813708e-01 9.26691267e-01 -2.71148599e-03 -2.86371540e+01] [-6.72437179e-03 1.98894222e-04 9.99977371e-01 -2.70979436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.406559995 meters 0.018201615520966295 Centerline is valid? [True, True] Translation: X:166.58, Y:-28.66, Z:-2.71 [[ 9.27927003e-01 3.72703744e-01 6.58765430e-03 1.66584961e+02] [-3.72692527e-01 9.27950356e-01 -2.90128688e-03 -2.86629722e+01] [-7.19433664e-03 2.37012909e-04 9.99974092e-01 -2.70925326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.466559995 meters 0.019198114105689293 Centerline is valid? [True, True] Translation: X:166.64, Y:-28.69, Z:-2.71 [[ 9.28713912e-01 3.70753283e-01 5.69846583e-03 1.66641278e+02] [-3.70744850e-01 9.28731369e-01 -2.50999737e-03 -2.86892378e+01] [-6.22293374e-03 2.18392621e-04 9.99980614e-01 -2.71027553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52655999499999 meters 0.02004044126566494 Centerline is valid? [True, True] Translation: X:166.70, Y:-28.71, Z:-2.71 [[ 9.29111591e-01 3.69780345e-01 3.76147939e-03 1.66698167e+02] [-3.69776672e-01 9.29119193e-01 -1.65450853e-03 -2.87147563e+01] [-4.10666744e-03 1.46315721e-04 9.99991557e-01 -2.71327636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.586559995 meters 0.02111758334593101 Centerline is valid? [True, True] Translation: X:166.75, Y:-28.74, Z:-2.71 [[ 9.29738397e-01 3.68196561e-01 4.21968921e-03 1.66754744e+02] [-3.68191915e-01 9.29747956e-01 -1.85781443e-03 -2.87406310e+01] [-4.60728830e-03 1.73625959e-04 9.99989371e-01 -2.71351106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.646559995 meters 0.020230002926884358 Centerline is valid? [True, True] Translation: X:166.81, Y:-28.76, Z:-2.71 [[ 9.30340671e-01 3.66663531e-01 4.90825029e-03 1.66811917e+02] [-3.66657211e-01 9.30353594e-01 -2.16317247e-03 -2.87640532e+01] [-5.35956475e-03 2.12841960e-04 9.99985615e-01 -2.71235066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.706559995 meters 0.02159706912549387 Centerline is valid? [True, True] Translation: X:166.87, Y:-28.79, Z:-2.71 [[ 9.30448707e-01 3.66376476e-01 5.78627504e-03 1.66867286e+02] [-3.66367673e-01 9.30466664e-01 -2.55246813e-03 -2.87889785e+01] [-6.31910031e-03 2.55036549e-04 9.99980002e-01 -2.71275780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.766559995 meters 0.020476067157658675 Centerline is valid? [True, True] Translation: X:166.93, Y:-28.81, Z:-2.71 [[ 9.29905279e-01 3.67744502e-01 6.33666210e-03 1.66925540e+02] [-3.67733964e-01 9.29926829e-01 -2.79715244e-03 -2.88114774e+01] [-6.92126952e-03 2.70880952e-04 9.99976011e-01 -2.71244389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.826559995 meters 0.018850424765505334 Centerline is valid? [True, True] Translation: X:166.98, Y:-28.83, Z:-2.71 [[ 9.28930816e-01 3.70195538e-01 6.54243073e-03 1.66983575e+02] [-3.70184336e-01 9.28953817e-01 -2.89200578e-03 -2.88316459e+01] [-7.14822363e-03 2.64567912e-04 9.99974416e-01 -2.71261183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.886559995 meters 0.017440450951338626 Centerline is valid? [True, True] Translation: X:167.04, Y:-28.85, Z:-2.71 [[ 9.27179779e-01 3.74555719e-01 6.75800708e-03 1.67042211e+02] [-3.74543879e-01 9.27204377e-01 -2.98763760e-03 -2.88505086e+01] [-7.38509049e-03 2.38906984e-04 9.99972701e-01 -2.71286088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.946559995 meters 0.017285707349473076 Centerline is valid? [True, True] Translation: X:167.10, Y:-28.87, Z:-2.71 [[ 9.26245260e-01 3.76844026e-01 7.63539820e-03 1.67100629e+02] [-3.76828991e-01 9.26276696e-01 -3.37544605e-03 -2.88731492e+01] [-8.34450810e-03 2.49251507e-04 9.99965153e-01 -2.71346519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.006559995 meters 0.016996270830955767 Centerline is valid? [True, True] Translation: X:167.16, Y:-28.89, Z:-2.71 [[ 9.25219205e-01 3.79355310e-01 7.67928425e-03 1.67159491e+02] [-3.79340192e-01 9.25251045e-01 -3.39438738e-03 -2.88943759e+01] [-8.39294466e-03 2.27491232e-04 9.99964753e-01 -2.71438160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.066559995 meters 0.017140657628090812 Centerline is valid? [True, True] Translation: X:167.22, Y:-28.92, Z:-2.72 [[ 9.24867951e-01 3.80211837e-01 7.63106470e-03 1.67217979e+02] [-3.80196918e-01 9.24899406e-01 -3.37528942e-03 -2.89165476e+01] [-8.34129219e-03 2.20389729e-04 9.99965187e-01 -2.71600052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.126559995 meters 0.01648893684001899 Centerline is valid? [True, True] Translation: X:167.28, Y:-28.94, Z:-2.72 [[ 9.24596800e-01 3.80879409e-01 7.18565926e-03 1.67277004e+02] [-3.80866190e-01 9.24624699e-01 -3.17976032e-03 -2.89393896e+01] [-7.85514326e-03 2.03221548e-04 9.99969127e-01 -2.71662802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.186559995 meters 0.016252884271448158 Centerline is valid? [True, True] Translation: X:167.34, Y:-28.96, Z:-2.72 [[ 9.24314395e-01 3.81548916e-01 7.95760191e-03 1.67335632e+02] [-3.81532699e-01 9.24348622e-01 -3.52480098e-03 -2.89609100e+01] [-8.70048236e-03 2.21938952e-04 9.99962125e-01 -2.71731362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24655999499998 meters 0.016387754797372846 Centerline is valid? [True, True] Translation: X:167.39, Y:-28.98, Z:-2.72 [[ 9.23976872e-01 3.82363653e-01 8.04839101e-03 1.67393385e+02] [-3.82347074e-01 9.24011898e-01 -3.56744611e-03 -2.89844117e+01] [-8.80087078e-03 2.18958948e-04 9.99961248e-01 -2.71856941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.306559995 meters 0.01541140810672383 Centerline is valid? [True, True] Translation: X:167.45, Y:-29.01, Z:-2.72 [[ 9.22955325e-01 3.84833775e-01 7.51225425e-03 1.67452248e+02] [-3.84819397e-01 9.22985878e-01 -3.33167267e-03 -2.90053470e+01] [-8.21584475e-03 1.84123877e-04 9.99966232e-01 -2.72026800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.366559995 meters 0.014186845251893912 Centerline is valid? [True, True] Translation: X:167.51, Y:-29.02, Z:-2.72 [[ 9.20963751e-01 3.89583728e-01 7.09142296e-03 1.67510808e+02] [-3.89571027e-01 9.20991042e-01 -3.14873215e-03 -2.90249484e+01] [-7.75783183e-03 1.37255244e-04 9.99969898e-01 -2.72185143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.426559995 meters 0.01296649414228816 Centerline is valid? [True, True] Translation: X:167.57, Y:-29.04, Z:-2.72 [[ 9.18470119e-01 3.95417834e-01 7.57480594e-03 1.67569734e+02] [-3.95403538e-01 9.18501349e-01 -3.36372815e-03 -2.90430964e+01] [-8.28754757e-03 9.43787254e-05 9.99965653e-01 -2.72349279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.486559995 meters 0.012787277390384348 Centerline is valid? [True, True] Translation: X:167.63, Y:-29.07, Z:-2.72 [[ 9.18052084e-01 3.96384126e-01 7.74573026e-03 1.67626654e+02] [-3.96369223e-01 9.18084755e-01 -3.43827551e-03 -2.90669492e+01] [-8.47411470e-03 8.63469147e-05 9.99964090e-01 -2.72459383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.546559995 meters 0.012360276696483223 Centerline is valid? [True, True] Translation: X:167.68, Y:-29.09, Z:-2.73 [[ 9.17193050e-01 3.98361017e-01 8.08759187e-03 1.67684151e+02] [-3.98344824e-01 9.17228703e-01 -3.59255148e-03 -2.90896032e+01] [-8.84930387e-03 7.34128841e-05 9.99960841e-01 -2.72538564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.606559995 meters 0.012284437709217607 Centerline is valid? [True, True] Translation: X:167.74, Y:-29.11, Z:-2.73 [[ 9.16891464e-01 3.99041839e-01 8.69794242e-03 1.67742679e+02] [-3.99023115e-01 9.16932716e-01 -3.86632677e-03 -2.91137816e+01] [-9.51825411e-03 7.43219280e-05 9.99954698e-01 -2.72679078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.666559995 meters 0.012460136664876971 Centerline is valid? [True, True] Translation: X:167.80, Y:-29.14, Z:-2.73 [[ 9.17301951e-01 3.98087588e-01 9.13250017e-03 1.67800370e+02] [-3.98066865e-01 9.17347406e-01 -4.06287984e-03 -2.91400650e+01] [-9.99505738e-03 9.15418903e-05 9.99950044e-01 -2.72789790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.726559995 meters 0.013957397311876353 Centerline is valid? [True, True] Translation: X:167.85, Y:-29.17, Z:-2.73 [[ 9.19936458e-01 3.91959729e-01 9.19156897e-03 1.67854055e+02] [-3.91938395e-01 9.19982361e-01 -4.09264919e-03 -2.91701992e+01] [-1.00602350e-02 1.62448406e-04 9.99949381e-01 -2.72830101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.786559995 meters 0.014701639289610628 Centerline is valid? [True, True] Translation: X:167.91, Y:-29.20, Z:-2.73 [[ 9.22152888e-01 3.86715476e-01 9.22991259e-03 1.67909637e+02] [-3.86693666e-01 9.22199052e-01 -4.11319174e-03 -2.91979924e+01] [-1.01024515e-02 2.23842908e-04 9.99948944e-01 -2.72872840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.846559995 meters 0.016606616140913737 Centerline is valid? [True, True] Translation: X:167.96, Y:-29.23, Z:-2.73 [[ 9.25007368e-01 3.79827709e-01 9.60631662e-03 1.67963680e+02] [-3.79803699e-01 9.25057195e-01 -4.28211248e-03 -2.92265629e+01] [-1.05128573e-02 3.12471005e-04 9.99944690e-01 -2.73066044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.906559995 meters 0.018113819826991246 Centerline is valid? [True, True] Translation: X:168.02, Y:-29.25, Z:-2.73 [[ 9.25978481e-01 3.77470104e-01 8.95397599e-03 1.68018713e+02] [-3.77449146e-01 9.26021718e-01 -3.99011429e-03 -2.92535043e+01] [-9.79772508e-03 3.15089383e-04 9.99951951e-01 -2.73246655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96655999499998 meters 0.018832525216149767 Centerline is valid? [True, True] Translation: X:168.08, Y:-29.28, Z:-2.73 [[ 9.26225333e-01 3.76868685e-01 8.75367034e-03 1.68075456e+02] [-3.76848606e-01 9.26266643e-01 -3.90304231e-03 -2.92789310e+01] [-9.57916727e-03 3.16288201e-04 9.99954069e-01 -2.73399707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02655999499999 meters 0.01790801562854235 Centerline is valid? [True, True] Translation: X:168.13, Y:-29.30, Z:-2.73 [[ 9.25672163e-01 3.78219251e-01 9.01354322e-03 1.68133835e+02] [-3.78198000e-01 9.25715993e-01 -4.02160949e-03 -2.93013192e+01] [-9.86503124e-03 3.13787942e-04 9.99951290e-01 -2.73482223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.086559995 meters 0.01650932738911534 Centerline is valid? [True, True] Translation: X:168.19, Y:-29.32, Z:-2.74 [[ 9.24032715e-01 3.82218708e-01 8.50880860e-03 1.68192764e+02] [-3.82199906e-01 9.24071854e-01 -3.80000687e-03 -2.93209637e+01] [-9.31518426e-03 2.59264822e-04 9.99956579e-01 -2.73578302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.146559995 meters 0.01476413438474051 Centerline is valid? [True, True] Translation: X:168.25, Y:-29.34, Z:-2.74 [[ 9.21389633e-01 3.88549547e-01 8.39014356e-03 1.68251488e+02] [-3.88531520e-01 9.21427812e-01 -3.74775851e-03 -2.93389211e+01] [-9.18710150e-03 1.93310610e-04 9.99957779e-01 -2.73737681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.206559995 meters 0.013914702730933277 Centerline is valid? [True, True] Translation: X:168.31, Y:-29.36, Z:-2.74 [[ 9.19774335e-01 3.92356523e-01 8.45764425e-03 1.68310478e+02] [-3.92338378e-01 9.19813206e-01 -3.77653584e-03 -2.93598821e+01] [-9.26120135e-03 1.55302310e-04 9.99957102e-01 -2.73836409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.266559995 meters 0.013208066683263409 Centerline is valid? [True, True] Translation: X:168.37, Y:-29.38, Z:-2.74 [[ 9.19335419e-01 3.93386040e-01 8.35532047e-03 1.68368995e+02] [-3.93368353e-01 9.19373375e-01 -3.73314444e-03 -2.93809140e+01] [-9.15022608e-03 1.45293254e-04 9.99958125e-01 -2.73932678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.326559995 meters 0.014329285821692446 Centerline is valid? [True, True] Translation: X:168.42, Y:-29.41, Z:-2.74 [[ 9.21055436e-01 3.89362086e-01 7.35183109e-03 1.68424916e+02] [-3.89348249e-01 9.21084762e-01 -3.28661854e-03 -2.94070206e+01] [-8.05134424e-03 1.64735313e-04 9.99967574e-01 -2.74031053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.386559995 meters 0.015733736002248495 Centerline is valid? [True, True] Translation: X:168.48, Y:-29.43, Z:-2.74 [[ 9.22694859e-01 3.85465740e-01 7.09653763e-03 1.68480443e+02] [-3.85452711e-01 9.22722128e-01 -3.17528286e-03 -2.94334503e+01] [-7.77209506e-03 1.94437509e-04 9.99969778e-01 -2.74121678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.446559995 meters 0.017263819074964375 Centerline is valid? [True, True] Translation: X:168.54, Y:-29.46, Z:-2.74 [[ 9.24991753e-01 3.79940435e-01 5.96014319e-03 1.68536066e+02] [-3.79931120e-01 9.25010932e-01 -2.66831600e-03 -2.94586850e+01] [-6.52699875e-03 2.03726413e-04 9.99978678e-01 -2.74249320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.506559995 meters 0.019107387829442875 Centerline is valid? [True, True] Translation: X:168.59, Y:-29.48, Z:-2.74 [[ 9.26234871e-01 3.76900918e-01 5.88739610e-03 1.68590811e+02] [-3.76891768e-01 9.26253555e-01 -2.63570038e-03 -2.94847564e+01] [-6.44661946e-03 2.22366478e-04 9.99979196e-01 -2.74353278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.566559995 meters 0.020257097692950674 Centerline is valid? [True, True] Translation: X:168.65, Y:-29.51, Z:-2.74 [[ 9.27158313e-01 3.74623879e-01 5.86616181e-03 1.68648407e+02] [-3.74614749e-01 9.27176840e-01 -2.62607281e-03 -2.95090408e+01] [-6.42275895e-03 2.37234499e-04 9.99979346e-01 -2.74420457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.626559995 meters 0.018669331578274256 Centerline is valid? [True, True] Translation: X:168.71, Y:-29.53, Z:-2.74 [[ 9.26628027e-01 3.75954319e-01 4.34157819e-03 1.68707337e+02] [-3.75949342e-01 9.26638183e-01 -1.94147402e-03 -2.95297197e+01] [-4.75297767e-03 1.66810776e-04 9.99988691e-01 -2.74459153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.686559995 meters 0.01717459664571386 Centerline is valid? [True, True] Translation: X:168.77, Y:-29.55, Z:-2.75 [[ 9.25153100e-01 3.79578765e-01 3.42089227e-03 1.68765690e+02] [-3.79575690e-01 9.25159417e-01 -1.53263526e-03 -2.95496178e+01] [-3.74662650e-03 1.19434715e-04 9.99992974e-01 -2.74523595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74655999499998 meters 0.01527721401019904 Centerline is valid? [True, True] Translation: X:168.82, Y:-29.57, Z:-2.75 [[ 9.21845344e-01 3.87552965e-01 1.96492903e-03 1.68824821e+02] [-3.87551968e-01 9.21847437e-01 -8.80425436e-04 -2.95661602e+01] [-2.15257628e-03 5.01039761e-05 9.99997682e-01 -2.74605190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.806559995 meters 0.013066060274370376 Centerline is valid? [True, True] Translation: X:168.89, Y:-29.58, Z:-2.75 [[ 9.17840903e-01 3.96944001e-01 1.88075572e-03 1.68885048e+02] [-3.96943107e-01 9.17842829e-01 -8.42739292e-04 -2.95813415e+01] [-2.06075845e-03 2.69475744e-05 9.99997876e-01 -2.74632263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.866559995 meters 0.012021372839172881 Centerline is valid? [True, True] Translation: X:168.94, Y:-29.60, Z:-2.75 [[ 9.15250864e-01 4.02875055e-01 2.74690200e-03 1.68944170e+02] [-4.02873184e-01 9.15254986e-01 -1.22792763e-03 -2.96009949e+01] [-3.00881716e-03 1.72086728e-05 9.99995473e-01 -2.74625963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.926559995 meters 0.011434621884526656 Centerline is valid? [True, True] Translation: X:169.00, Y:-29.62, Z:-2.75 [[ 9.11892418e-01 4.10419564e-01 2.82829586e-03 1.69003544e+02] [-4.10417614e-01 9.11896804e-01 -1.26524872e-03 -2.96196082e+01] [-3.09839679e-03 -7.01172312e-06 9.99995200e-01 -2.74686060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.986559995 meters 0.01154466423838668 Centerline is valid? [True, True] Translation: X:169.06, Y:-29.64, Z:-2.75 [[ 9.09459026e-01 4.15784932e-01 2.67781745e-03 1.69061625e+02] [-4.15783206e-01 9.09462968e-01 -1.19838012e-03 -2.96409529e+01] [-2.93364421e-03 -2.35139058e-05 9.99995697e-01 -2.74748310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.046559995 meters 0.012809441851457147 Centerline is valid? [True, True] Translation: X:169.12, Y:-29.66, Z:-2.75 [[ 9.05662559e-01 4.23987787e-01 3.11232269e-03 1.69120265e+02] [-4.23985497e-01 9.05667905e-01 -1.39462445e-03 -2.96611147e+01] [-3.41003450e-03 -5.65205354e-05 9.99994184e-01 -2.74813869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.106559995 meters 0.014949214470042228 Centerline is valid? [True, True] Translation: X:169.18, Y:-29.68, Z:-2.75 [[ 9.02616352e-01 4.30429735e-01 3.73704455e-03 1.69177883e+02] [-4.30426480e-01 9.02624083e-01 -1.67645592e-03 -2.96822943e+01] [-4.09474289e-03 -9.53264091e-05 9.99991612e-01 -2.74952442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.166559995 meters 0.015356879209981815 Centerline is valid? [True, True] Translation: X:169.23, Y:-29.71, Z:-2.75 [[ 9.01479377e-01 4.32799081e-01 4.45964789e-03 1.69234178e+02] [-4.32794467e-01 9.01490399e-01 -2.00234223e-03 -2.97080571e+01] [-4.88694164e-03 -1.25040706e-04 9.99988051e-01 -2.75016355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.226559995 meters 0.015046011271234389 Centerline is valid? [True, True] Translation: X:169.29, Y:-29.74, Z:-2.75 [[ 9.01385070e-01 4.33002538e-01 3.70906680e-03 1.69289797e+02] [-4.32999349e-01 9.01392695e-01 -1.66521329e-03 -2.97373985e+01] [-4.06436730e-03 -1.05025112e-04 9.99991735e-01 -2.75282873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.286559995 meters 0.014962121393212416 Centerline is valid? [True, True] Translation: X:169.34, Y:-29.77, Z:-2.76 [[ 9.02554979e-01 4.30565817e-01 2.75459101e-03 1.69342695e+02] [-4.30564042e-01 9.02559179e-01 -1.23841013e-03 -2.97686540e+01] [-3.01939847e-03 -6.82946145e-05 9.99995439e-01 -2.75546935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.346559995 meters 0.014242571226278592 Centerline is valid? [True, True] Translation: X:169.40, Y:-29.80, Z:-2.76 [[ 9.03571964e-01 4.28432344e-01 1.85287136e-03 1.69396244e+02] [-4.28431541e-01 9.03573862e-01 -8.30966016e-04 -2.98001502e+01] [-2.03021885e-03 -4.29909374e-05 9.99997938e-01 -2.75686580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.406559995 meters 0.013309752433795917 Centerline is valid? [True, True] Translation: X:169.45, Y:-29.83, Z:-2.76 [[ 9.05287977e-01 4.24796737e-01 1.18753238e-03 1.69449369e+02] [-4.24796402e-01 9.05288756e-01 -5.33908860e-04 -2.98348855e+01] [-1.30186245e-03 -2.11182102e-05 9.99999152e-01 -2.75886313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46655999499998 meters 0.012495255959113239 Centerline is valid? [True, True] Translation: X:169.50, Y:-29.87, Z:-2.76 [[ 9.06974043e-01 4.21186512e-01 -8.17236265e-05 1.69500909e+02] [-4.21186510e-01 9.06974047e-01 4.11906967e-05 -2.98715516e+01] [ 9.14701742e-05 -2.93800368e-06 9.99999996e-01 -2.76005717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52655999499999 meters 0.012367486241706938 Centerline is valid? [True, True] Translation: X:169.56, Y:-29.90, Z:-2.76 [[ 9.07595895e-01 4.19844841e-01 -3.76142202e-05 1.69556033e+02] [-4.19844840e-01 9.07595895e-01 2.12732544e-05 -2.99008567e+01] [ 4.30699779e-05 -3.51538205e-06 9.99999999e-01 -2.76121676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.586559995 meters 0.012054022182546375 Centerline is valid? [True, True] Translation: X:169.61, Y:-29.93, Z:-2.76 [[ 9.09005005e-01 4.16784971e-01 -4.34742315e-04 1.69608668e+02] [-4.16784923e-01 9.09005109e-01 2.00660875e-04 -2.99341256e+01] [ 4.78815423e-04 -1.20769769e-06 9.99999885e-01 -2.76225263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.646559995 meters 0.011922427723951017 Centerline is valid? [True, True] Translation: X:169.66, Y:-29.97, Z:-2.76 [[ 9.11311673e-01 4.11716756e-01 5.89344153e-04 1.69659327e+02] [-4.11716673e-01 9.11311863e-01 -2.62164288e-04 -2.99718563e+01] [-6.45013749e-04 -3.72943750e-06 9.99999792e-01 -2.76202543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.706559995 meters 0.011942088204997973 Centerline is valid? [True, True] Translation: X:169.71, Y:-30.01, Z:-2.76 [[ 9.12501785e-01 4.09070460e-01 1.36059224e-03 1.69712974e+02] [-4.09070000e-01 9.12502799e-01 -6.13665249e-04 -3.00052858e+01] [-1.49257656e-03 3.39316604e-06 9.99998886e-01 -2.76085676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.766559995 meters 0.012418143188407681 Centerline is valid? [True, True] Translation: X:169.77, Y:-30.04, Z:-2.76 [[ 9.13558267e-01 4.06702730e-01 2.04517402e-03 1.69765447e+02] [-4.06701688e-01 9.13560556e-01 -9.20554713e-04 -3.00422329e+01] [-2.24278243e-03 9.20463976e-06 9.99997485e-01 -2.76100329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.826559995 meters 0.012425092065266796 Centerline is valid? [True, True] Translation: X:169.82, Y:-30.08, Z:-2.76 [[ 9.13196615e-01 4.07513440e-01 2.17663850e-03 1.69819158e+02] [-4.07512260e-01 9.13199209e-01 -9.80715245e-04 -3.00754059e+01] [-2.38735920e-03 8.57896967e-06 9.99997150e-01 -2.76205674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.886559995 meters 0.012534695139608162 Centerline is valid? [True, True] Translation: X:169.87, Y:-30.11, Z:-2.76 [[ 9.12561886e-01 4.08933187e-01 2.11034184e-03 1.69874666e+02] [-4.08932080e-01 9.12564326e-01 -9.51479805e-04 -3.01057429e+01] [-2.31491435e-03 5.29772822e-06 9.99997321e-01 -2.76391549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.946559995 meters 0.0124438390738997 Centerline is valid? [True, True] Translation: X:169.93, Y:-30.14, Z:-2.76 [[ 9.11933227e-01 4.10332293e-01 2.28005246e-03 1.69930040e+02] [-4.10331002e-01 9.11936078e-01 -1.02913514e-03 -3.01354063e+01] [-2.50154948e-03 2.92632397e-06 9.99996871e-01 -2.76454851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.006559995 meters 0.012479001094403006 Centerline is valid? [True, True] Translation: X:169.98, Y:-30.17, Z:-2.77 [[ 9.11404828e-01 4.11502227e-01 2.67532795e-03 1.69984783e+02] [-4.11500450e-01 9.11408754e-01 -1.20930234e-03 -3.01673622e+01] [-2.93594792e-03 1.26533747e-06 9.99995690e-01 -2.76588884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.066559995 meters 0.012439269111920134 Centerline is valid? [True, True] Translation: X:170.04, Y:-30.20, Z:-2.77 [[ 9.10658861e-01 4.13142511e-01 3.70184827e-03 1.70039245e+02] [-4.13139108e-01 9.10666385e-01 -1.67699746e-03 -3.01968195e+01] [-4.06398773e-03 -2.20569434e-06 9.99991742e-01 -2.76672462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.126559995 meters 0.012598193410796281 Centerline is valid? [True, True] Translation: X:170.10, Y:-30.22, Z:-2.77 [[ 9.08455942e-01 4.17941403e-01 5.72576382e-03 1.70097978e+02] [-4.17933320e-01 9.08473986e-01 -2.59955273e-03 -3.02189349e+01] [-6.28816819e-03 -3.14083569e-05 9.99980229e-01 -2.76724643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.186559995 meters 0.012675440717592997 Centerline is valid? [True, True] Translation: X:170.16, Y:-30.24, Z:-2.77 [[ 9.07912265e-01 4.19119651e-01 5.83411218e-03 1.70155952e+02] [-4.19111292e-01 9.07931009e-01 -2.64733789e-03 -3.02445155e+01] [-6.40652269e-03 -4.15917474e-05 9.99979477e-01 -2.76855657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24655999499998 meters 0.012827975702370148 Centerline is valid? [True, True] Translation: X:170.21, Y:-30.27, Z:-2.77 [[ 9.07940400e-01 4.19063394e-01 5.48655917e-03 1.70212407e+02] [-4.19055989e-01 9.07956976e-01 -2.49147575e-03 -3.02707355e+01] [-6.02564595e-03 -3.70639926e-05 9.99981845e-01 -2.76984406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.306559995 meters 0.013053287057131659 Centerline is valid? [True, True] Translation: X:170.27, Y:-30.29, Z:-2.77 [[ 9.07899304e-01 4.19157391e-01 5.09274350e-03 1.70270289e+02] [-4.19151006e-01 9.07913587e-01 -2.31377620e-03 -3.02948786e+01] [-5.59360742e-03 -3.39527573e-05 9.99984355e-01 -2.77134063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.366559995 meters 0.013034868290982233 Centerline is valid? [True, True] Translation: X:170.33, Y:-30.32, Z:-2.77 [[ 9.08686774e-01 4.17458039e-01 4.13911664e-03 1.70327820e+02] [-4.17453802e-01 9.08696201e-01 -1.88100350e-03 -3.03214874e+01] [-4.54643960e-03 -1.86469787e-05 9.99989665e-01 -2.77321672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.426559995 meters 0.012920210880277588 Centerline is valid? [True, True] Translation: X:170.38, Y:-30.35, Z:-2.77 [[ 9.09802097e-01 4.15026414e-01 3.63602334e-03 1.70384810e+02] [-4.15023122e-01 9.09809362e-01 -1.65292549e-03 -3.03480655e+01] [-3.99409582e-03 -5.19868739e-06 9.99992024e-01 -2.77409566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.486559995 meters 0.013342632703234094 Centerline is valid? [True, True] Translation: X:170.44, Y:-30.37, Z:-2.78 [[ 9.12632815e-01 4.08770924e-01 2.77051445e-03 1.70440725e+02] [-4.08768983e-01 9.12637021e-01 -1.25976938e-03 -3.03747317e+01] [-3.04343115e-03 1.72065045e-05 9.99995369e-01 -2.77594352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.546559995 meters 0.01513411468922419 Centerline is valid? [True, True] Translation: X:170.49, Y:-30.41, Z:-2.78 [[ 9.17127226e-01 3.98579861e-01 3.42722834e-03 1.70494059e+02] [-3.98576801e-01 9.17133627e-01 -1.56327501e-03 -3.04054195e+01] [-3.76631630e-03 6.77083612e-05 9.99992905e-01 -2.77626559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.606559995 meters 0.018827328116088046 Centerline is valid? [True, True] Translation: X:170.55, Y:-30.44, Z:-2.78 [[ 9.21372518e-01 3.88652422e-01 4.68799218e-03 1.70545192e+02] [-3.88646564e-01 9.21384432e-01 -2.13909380e-03 -3.04375531e+01] [-5.15080700e-03 1.48930189e-04 9.99986723e-01 -2.77650304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.666559995 meters 0.020833815807214443 Centerline is valid? [True, True] Translation: X:170.60, Y:-30.47, Z:-2.78 [[ 9.23342172e-01 3.83940429e-01 5.38338647e-03 1.70599581e+02] [-3.83932632e-01 9.23357843e-01 -2.45510181e-03 -3.04651756e+01] [-5.91340497e-03 2.00041301e-04 9.99982496e-01 -2.77777451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.726559995 meters 0.021276929354886943 Centerline is valid? [True, True] Translation: X:170.66, Y:-30.49, Z:-2.78 [[ 9.24733444e-01 3.80575901e-01 5.48101014e-03 1.70655043e+02] [-3.80567747e-01 9.24749659e-01 -2.50165245e-03 -3.04910648e+01] [-6.02063089e-03 2.27466012e-04 9.99981850e-01 -2.77836353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.786559995 meters 0.02020457163307819 Centerline is valid? [True, True] Translation: X:170.71, Y:-30.51, Z:-2.78 [[ 9.25192809e-01 3.79442260e-01 6.46821801e-03 1.70713043e+02] [-3.79430888e-01 9.25215378e-01 -2.95056785e-03 -3.05142524e+01] [-7.10406490e-03 2.75602457e-04 9.99974728e-01 -2.77797629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.846559995 meters 0.02007379134498371 Centerline is valid? [True, True] Translation: X:170.77, Y:-30.54, Z:-2.78 [[ 9.24643665e-01 3.80755764e-01 7.69028271e-03 1.70770880e+02] [-3.80739697e-01 9.24675590e-01 -3.51242849e-03 -3.05383605e+01] [-8.44839409e-03 3.19748840e-04 9.99964261e-01 -2.77805207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.906559995 meters 0.019505939872415345 Centerline is valid? [True, True] Translation: X:170.83, Y:-30.56, Z:-2.78 [[ 9.24169783e-01 3.81900648e-01 7.88077836e-03 1.70828298e+02] [-3.81883820e-01 9.24203330e-01 -3.59905273e-03 -3.05618224e+01] [-8.65792217e-03 3.16594033e-04 9.99962469e-01 -2.77952051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96655999499998 meters 0.019910404802932633 Centerline is valid? [True, True] Translation: X:170.89, Y:-30.59, Z:-2.78 [[ 9.23946187e-01 3.82448641e-01 7.51540696e-03 1.70885877e+02] [-3.82433341e-01 9.23976703e-01 -3.43395999e-03 -3.05870181e+01] [-8.25737428e-03 2.98652048e-04 9.99965863e-01 -2.78113943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02655999499999 meters 0.02087597821852188 Centerline is valid? [True, True] Translation: X:170.94, Y:-30.61, Z:-2.78 [[ 9.24122808e-01 3.82009487e-01 8.11090485e-03 1.70941407e+02] [-3.81991618e-01 9.24158343e-01 -3.70960543e-03 -3.06129061e+01] [-8.91286485e-03 3.29833322e-04 9.99960225e-01 -2.78264174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.086559995 meters 0.02032012662325504 Centerline is valid? [True, True] Translation: X:171.00, Y:-30.64, Z:-2.78 [[ 9.24595887e-01 3.80860172e-01 8.24467330e-03 1.70998575e+02] [-3.80841644e-01 9.24632580e-01 -3.77291072e-03 -3.06369998e+01] [-9.06024497e-03 3.48502807e-04 9.99958894e-01 -2.78377837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.146559995 meters 0.022615572295217764 Centerline is valid? [True, True] Translation: X:171.05, Y:-30.66, Z:-2.79 [[ 9.25310770e-01 3.79122385e-01 8.13608788e-03 1.71052580e+02] [-3.79104239e-01 9.25346467e-01 -3.72716694e-03 -3.06645720e+01] [-8.94175259e-03 3.64362308e-04 9.99959955e-01 -2.78571685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.206559995 meters 0.020886230862475173 Centerline is valid? [True, True] Translation: X:171.11, Y:-30.69, Z:-2.79 [[ 9.25575849e-01 3.78468526e-01 8.42153737e-03 1.71109656e+02] [-3.78449068e-01 9.25614082e-01 -3.85677721e-03 -3.06881878e+01] [-9.25476237e-03 3.82616872e-04 9.99957101e-01 -2.78586331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.266559995 meters 0.02041876512603064 Centerline is valid? [True, True] Translation: X:171.17, Y:-30.71, Z:-2.79 [[ 9.24592600e-01 3.80857831e-01 8.70839803e-03 1.71166221e+02] [-3.80837090e-01 9.24633534e-01 -3.99233685e-03 -3.07125909e+01] [-9.57258960e-03 3.74804148e-04 9.99954111e-01 -2.78638815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.326559995 meters 0.019054837405828487 Centerline is valid? [True, True] Translation: X:171.22, Y:-30.73, Z:-2.79 [[ 9.22911625e-01 3.84911806e-01 8.77688746e-03 1.71224028e+02] [-3.84890918e-01 9.22953297e-01 -4.02403555e-03 -3.07345949e+01] [-9.64955601e-03 3.35684924e-04 9.99953386e-01 -2.78737392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.386559995 meters 0.017066376272433178 Centerline is valid? [True, True] Translation: X:171.28, Y:-30.75, Z:-2.79 [[ 9.19540223e-01 3.92913376e-01 8.05336111e-03 1.71281740e+02] [-3.92896090e-01 9.19575459e-01 -3.69285723e-03 -3.07546219e+01] [-8.85664624e-03 2.31596671e-04 9.99960752e-01 -2.78956056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.446559995 meters 0.016469816034304467 Centerline is valid? [True, True] Translation: X:171.34, Y:-30.78, Z:-2.79 [[ 9.18441705e-01 3.95486913e-01 7.41186285e-03 1.71338937e+02] [-3.95472368e-01 9.18471592e-01 -3.39705714e-03 -3.07790642e+01] [-8.15107712e-03 1.88812002e-04 9.99966762e-01 -2.79081338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.506559995 meters 0.01558534138450362 Centerline is valid? [True, True] Translation: X:171.40, Y:-30.80, Z:-2.79 [[ 9.16750296e-01 3.99402555e-01 6.81861259e-03 1.71396122e+02] [-3.99390341e-01 9.16775642e-01 -3.12682487e-03 -3.08024717e+01] [-7.49999978e-03 1.43229616e-04 9.99971864e-01 -2.79234693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.566559995 meters 0.015207959426986035 Centerline is valid? [True, True] Translation: X:171.45, Y:-30.83, Z:-2.79 [[ 9.16088342e-01 4.00929520e-01 6.13759785e-03 1.71453311e+02] [-4.00919649e-01 9.16108894e-01 -2.81589465e-03 -3.08266250e+01] [-6.75168327e-03 1.18924685e-04 9.99977200e-01 -2.79321268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.626559995 meters 0.015992157042736033 Centerline is valid? [True, True] Translation: X:171.51, Y:-30.85, Z:-2.79 [[ 9.17342395e-01 3.98053134e-01 6.05248827e-03 1.71509025e+02] [-3.98043460e-01 9.17362351e-01 -2.77860070e-03 -3.08548459e+01] [-6.65835559e-03 1.39774845e-04 9.99977823e-01 -2.79385461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.686559995 meters 0.018980849719183217 Centerline is valid? [True, True] Translation: X:171.56, Y:-30.89, Z:-2.79 [[ 9.20820926e-01 3.89925572e-01 6.84617424e-03 1.71560435e+02] [-3.89912933e-01 9.20846348e-01 -3.14775291e-03 -3.08867882e+01] [-7.53166390e-03 2.29104874e-04 9.99971610e-01 -2.79392200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74655999499998 meters 0.02259998131466607 Centerline is valid? [True, True] Translation: X:171.61, Y:-30.92, Z:-2.79 [[ 9.24661167e-01 3.80722720e-01 7.20671406e-03 1.71612797e+02] [-3.80708437e-01 9.24689195e-01 -3.31326942e-03 -3.09189814e+01] [-7.92540757e-03 3.19994725e-04 9.99968542e-01 -2.79455785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.806559995 meters 0.02180024905407048 Centerline is valid? [True, True] Translation: X:171.67, Y:-30.94, Z:-2.79 [[ 9.26421886e-01 3.76406530e-01 7.78543640e-03 1.71668724e+02] [-3.76389705e-01 9.26454519e-01 -3.57981857e-03 -3.09442352e+01] [-8.56031982e-03 3.86064164e-04 9.99963285e-01 -2.79479921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.866559995 meters 0.02496048975091115 Centerline is valid? [True, True] Translation: X:171.72, Y:-30.97, Z:-2.80 [[ 9.27196198e-01 3.74506394e-01 7.22301092e-03 1.71722446e+02] [-3.74491865e-01 9.27224256e-01 -3.31986344e-03 -3.09743499e+01] [-7.94066101e-03 3.73205929e-04 9.99968403e-01 -2.79644978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.926559995 meters 0.023327863240459677 Centerline is valid? [True, True] Translation: X:171.78, Y:-31.00, Z:-2.80 [[ 9.26717846e-01 3.75725762e-01 4.91790707e-03 1.71780517e+02] [-3.75719044e-01 9.26730862e-01 -2.26028785e-03 -3.09974799e+01] [-5.40682464e-03 2.46897743e-04 9.99985353e-01 -2.79907930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.986559995 meters 0.02211973186643611 Centerline is valid? [True, True] Translation: X:171.84, Y:-31.02, Z:-2.80 [[ 9.25521905e-01 3.78672520e-01 4.04062376e-03 1.71837309e+02] [-3.78667999e-01 9.25530705e-01 -1.86011926e-03 -3.10202805e+01] [-4.44409740e-03 1.91526207e-04 9.99990107e-01 -2.80058593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.046559995 meters 0.02143367894271188 Centerline is valid? [True, True] Translation: X:171.89, Y:-31.04, Z:-2.80 [[ 9.24741617e-01 3.80568413e-01 4.54143820e-03 1.71894392e+02] [-3.80562727e-01 9.24752746e-01 -2.09050422e-03 -3.10443840e+01] [-4.99528731e-03 2.04874148e-04 9.99987502e-01 -2.80163091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.106559995 meters 0.021219002393610638 Centerline is valid? [True, True] Translation: X:171.95, Y:-31.07, Z:-2.80 [[ 9.24279929e-01 3.81670544e-01 5.84880383e-03 1.71951181e+02] [-3.81661140e-01 9.24298399e-01 -2.69139426e-03 -3.10700731e+01] [-6.43326593e-03 2.55340555e-04 9.99979274e-01 -2.80120811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.166559995 meters 0.020621524066599194 Centerline is valid? [True, True] Translation: X:172.01, Y:-31.09, Z:-2.80 [[ 9.23700400e-01 3.83039587e-01 7.63185319e-03 1.72008740e+02] [-3.83023581e-01 9.23731871e-01 -3.51670379e-03 -3.10947403e+01] [-8.39682279e-03 3.25200964e-04 9.99964693e-01 -2.80076727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.226559995 meters 0.021035603540215355 Centerline is valid? [True, True] Translation: X:172.06, Y:-31.12, Z:-2.80 [[ 9.23259920e-01 3.84086715e-01 8.27736346e-03 1.72064835e+02] [-3.84067931e-01 9.23296961e-01 -3.81401775e-03 -3.11207993e+01] [-9.10737808e-03 3.42259868e-04 9.99958468e-01 -2.80150386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.286559995 meters 0.020190272566373135 Centerline is valid? [True, True] Translation: X:172.12, Y:-31.14, Z:-2.80 [[ 9.22078768e-01 3.86899381e-01 8.92274847e-03 1.72122585e+02] [-3.86877643e-01 9.22121875e-01 -4.11556586e-03 -3.11435661e+01] [-9.82017143e-03 3.42864003e-04 9.99951722e-01 -2.80217787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.346559995 meters 0.017274028629150427 Centerline is valid? [True, True] Translation: X:172.18, Y:-31.16, Z:-2.80 [[ 9.20468528e-01 3.90719462e-01 8.71728340e-03 1.72181970e+02] [-3.90698881e-01 9.20509758e-01 -4.02113971e-03 -3.11626302e+01] [-9.59548197e-03 2.95499675e-04 9.99953919e-01 -2.80248323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.406559995 meters 0.016461221155394654 Centerline is valid? [True, True] Translation: X:172.24, Y:-31.19, Z:-2.80 [[ 9.19379379e-01 3.93289388e-01 8.06319838e-03 1.72239988e+02] [-3.93271874e-01 9.19414703e-01 -3.71998059e-03 -3.11862247e+01] [-8.87645203e-03 2.49044312e-04 9.99960573e-01 -2.80357382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46655999499998 meters 0.016108905059949878 Centerline is valid? [True, True] Translation: X:172.30, Y:-31.21, Z:-2.81 [[ 9.18279051e-01 3.95865697e-01 7.34399565e-03 1.72297532e+02] [-3.95851255e-01 9.18308395e-01 -3.38748530e-03 -3.12100321e+01] [-8.08504209e-03 2.03526886e-04 9.99967295e-01 -2.80500024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52655999499999 meters 0.016732520787795982 Centerline is valid? [True, True] Translation: X:172.35, Y:-31.24, Z:-2.81 [[ 9.18054140e-01 3.96393837e-01 6.96569746e-03 1.72354138e+02] [-3.96380847e-01 9.18080546e-01 -3.21472888e-03 -3.12358144e+01] [-7.66937005e-03 1.90226101e-04 9.99970572e-01 -2.80657353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.586559995 meters 0.016913990709367742 Centerline is valid? [True, True] Translation: X:172.41, Y:-31.26, Z:-2.81 [[ 9.18593953e-01 3.95128804e-01 7.64059366e-03 1.72410358e+02] [-3.95113105e-01 9.18625701e-01 -3.52922050e-03 -3.12611985e+01] [-8.41334238e-03 2.23021918e-04 9.99964582e-01 -2.80711005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.646559995 meters 0.01841574003265906 Centerline is valid? [True, True] Translation: X:172.47, Y:-31.29, Z:-2.81 [[ 9.20483962e-01 3.90690968e-01 8.35727806e-03 1.72465279e+02] [-3.90671963e-01 9.20521853e-01 -3.86462816e-03 -3.12885538e+01] [-9.20293240e-03 2.92374017e-04 9.99957609e-01 -2.80723935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.706559995 meters 0.01935403174719247 Centerline is valid? [True, True] Translation: X:172.52, Y:-31.32, Z:-2.81 [[ 9.21760095e-01 3.87668447e-01 8.45588919e-03 1.72521591e+02] [-3.87648863e-01 9.21798822e-01 -3.91034223e-03 -3.13152580e+01] [-9.31054500e-03 3.26481599e-04 9.99956603e-01 -2.80828673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.766559995 meters 0.018832856779463038 Centerline is valid? [True, True] Translation: X:172.58, Y:-31.34, Z:-2.81 [[ 9.22787798e-01 3.85225426e-01 8.00322733e-03 1.72579169e+02] [-3.85207785e-01 9.22822443e-01 -3.70159396e-03 -3.13388289e+01] [-8.81150590e-03 3.32880262e-04 9.99961123e-01 -2.80939216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.826559995 meters 0.019498391504189756 Centerline is valid? [True, True] Translation: X:172.64, Y:-31.36, Z:-2.81 [[ 9.22451899e-01 3.86060542e-01 6.30484818e-03 1.72635893e+02] [-3.86049622e-01 9.22473410e-01 -2.91481996e-03 -3.13620537e+01] [-6.94135177e-03 2.54796955e-04 9.99975876e-01 -2.81176050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.886559995 meters 0.019230761638727684 Centerline is valid? [True, True] Translation: X:172.69, Y:-31.39, Z:-2.81 [[ 9.21666627e-01 3.87934383e-01 6.12725230e-03 1.72693551e+02] [-3.87924101e-01 9.21686964e-01 -2.83414531e-03 -3.13854436e+01] [-6.74687098e-03 2.35228309e-04 9.99977212e-01 -2.81351063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.946559995 meters 0.021624225880327412 Centerline is valid? [True, True] Translation: X:172.75, Y:-31.41, Z:-2.82 [[ 9.20849495e-01 3.89870987e-01 6.06797171e-03 1.72748546e+02] [-3.89860932e-01 9.20869461e-01 -2.80867662e-03 -3.14115084e+01] [-6.68283136e-03 2.20703346e-04 9.99977645e-01 -2.81564309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.006559995 meters 0.017915005033045193 Centerline is valid? [True, True] Translation: X:172.81, Y:-31.43, Z:-2.82 [[ 9.19856166e-01 3.92209238e-01 6.04541596e-03 1.72809294e+02] [-3.92199288e-01 9.19876009e-01 -2.80121926e-03 -3.14295544e+01] [-6.65969717e-03 2.05710970e-04 9.99977803e-01 -2.81522090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.066559995 meters 0.016992737495507965 Centerline is valid? [True, True] Translation: X:172.87, Y:-31.45, Z:-2.82 [[ 9.19079450e-01 3.94017839e-01 6.55037381e-03 1.72867945e+02] [-3.94006208e-01 9.19102769e-01 -3.03451370e-03 -3.14513069e+01] [-7.21611923e-03 2.08071234e-04 9.99973942e-01 -2.81558532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.126559995 meters 0.01731446239403581 Centerline is valid? [True, True] Translation: X:172.93, Y:-31.48, Z:-2.82 [[ 9.19024484e-01 3.94144324e-01 6.65209530e-03 1.72926090e+02] [-3.94132320e-01 9.19048534e-01 -3.08335928e-03 -3.14761136e+01] [-7.32888699e-03 2.11876913e-04 9.99973121e-01 -2.81614361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.186559995 meters 0.017963394851773066 Centerline is valid? [True, True] Translation: X:172.98, Y:-31.50, Z:-2.82 [[ 9.19424128e-01 3.93219848e-01 6.11757939e-03 1.72983402e+02] [-3.93209662e-01 9.19444457e-01 -2.83763325e-03 -3.14999904e+01] [-6.74058818e-03 2.03497151e-04 9.99977261e-01 -2.81742691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24655999499998 meters 0.017619584594498958 Centerline is valid? [True, True] Translation: X:173.04, Y:-31.52, Z:-2.82 [[ 9.20191458e-01 3.91423640e-01 5.93423725e-03 1.73040612e+02] [-3.91414007e-01 9.20210568e-01 -2.75431758e-03 -3.15232184e+01] [-6.53885284e-03 2.11755925e-04 9.99978599e-01 -2.81802886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.306559995 meters 0.02019679529944372 Centerline is valid? [True, True] Translation: X:173.10, Y:-31.55, Z:-2.82 [[ 9.21929136e-01 3.87306058e-01 6.37847605e-03 1.73095490e+02] [-3.87294800e-01 9.21951164e-01 -2.96463298e-03 -3.15483579e+01] [-7.02886373e-03 2.62830917e-04 9.99975263e-01 -2.81943884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.366559995 meters 0.0207939428309402 Centerline is valid? [True, True] Translation: X:173.15, Y:-31.57, Z:-2.82 [[ 9.22475940e-01 3.86005134e-01 6.17875480e-03 1.73151517e+02] [-3.85994547e-01 9.22496595e-01 -2.87087335e-03 -3.15738215e+01] [-6.80805211e-03 2.63345932e-04 9.99976790e-01 -2.82058238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.426559995 meters 0.020472748750688424 Centerline is valid? [True, True] Translation: X:173.21, Y:-31.60, Z:-2.82 [[ 9.23540011e-01 3.83458061e-01 5.81067420e-03 1.73208456e+02] [-3.83448638e-01 9.23558252e-01 -2.70135828e-03 -3.15976613e+01] [-6.40235372e-03 2.66717348e-04 9.99979469e-01 -2.82167493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.486559995 meters 0.020357735227033096 Centerline is valid? [True, True] Translation: X:173.26, Y:-31.62, Z:-2.82 [[ 9.24783505e-01 3.80450916e-01 5.70696594e-03 1.73264835e+02] [-3.80441766e-01 9.24801071e-01 -2.65381091e-03 -3.16202264e+01] [-6.28745300e-03 2.83032356e-04 9.99980194e-01 -2.82217483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.546559995 meters 0.0215011970877958 Centerline is valid? [True, True] Translation: X:173.32, Y:-31.65, Z:-2.82 [[ 9.24996713e-01 3.79930453e-01 5.82511242e-03 1.73322020e+02] [-3.79920924e-01 9.25015009e-01 -2.70651964e-03 -3.16452596e+01] [-6.41660565e-03 2.90439678e-04 9.99979371e-01 -2.82298108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.606559995 meters 0.02097901708108683 Centerline is valid? [True, True] Translation: X:173.38, Y:-31.67, Z:-2.82 [[ 9.24660202e-01 3.80734076e-01 6.71375586e-03 1.73380436e+02] [-3.80721419e-01 9.24684516e-01 -3.12205212e-03 -3.16661662e+01] [-7.39677772e-03 3.30766682e-04 9.99972589e-01 -2.82314268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.666559995 meters 0.020925337224468096 Centerline is valid? [True, True] Translation: X:173.44, Y:-31.69, Z:-2.82 [[ 9.23254409e-01 3.84132815e-01 6.57843622e-03 1.73437078e+02] [-3.84120719e-01 9.23277797e-01 -3.06326620e-03 -3.16867260e+01] [-7.25042517e-03 3.01260371e-04 9.99973670e-01 -2.82436959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.726559995 meters 0.01875407330568069 Centerline is valid? [True, True] Translation: X:173.50, Y:-31.71, Z:-2.83 [[ 9.21611224e-01 3.88071780e-01 5.74858181e-03 1.73496145e+02] [-3.88062624e-01 9.21629122e-01 -2.67616065e-03 -3.17057034e+01] [-6.33660283e-03 2.35569951e-04 9.99979896e-01 -2.82566388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.786559995 meters 0.018317792908666353 Centerline is valid? [True, True] Translation: X:173.55, Y:-31.73, Z:-2.83 [[ 9.19981187e-01 3.91923516e-01 5.52932853e-03 1.73553359e+02] [-3.91915108e-01 9.19997781e-01 -2.57501677e-03 -3.17263739e+01] [-6.09617961e-03 2.01939598e-04 9.99981398e-01 -2.82717332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.846559995 meters 0.016319064957982694 Centerline is valid? [True, True] Translation: X:173.61, Y:-31.74, Z:-2.83 [[ 9.18068480e-01 3.96373820e-01 6.16941855e-03 1.73613306e+02] [-3.96363453e-01 9.18089188e-01 -2.87325913e-03 -3.17435884e+01] [-6.80296116e-03 1.92516605e-04 9.99976841e-01 -2.82725170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.906559995 meters 0.01582245665916186 Centerline is valid? [True, True] Translation: X:173.67, Y:-31.77, Z:-2.83 [[ 9.17639364e-01 3.97371659e-01 5.81049190e-03 1.73671040e+02] [-3.97362494e-01 9.17657744e-01 -2.70438179e-03 -3.17660435e+01] [-6.40668757e-03 1.72775633e-04 9.99979462e-01 -2.82811030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96655999499998 meters 0.017521157401091312 Centerline is valid? [True, True] Translation: X:173.73, Y:-31.79, Z:-2.83 [[ 9.18175312e-01 3.96136123e-01 5.50162687e-03 1.73727434e+02] [-3.96127874e-01 9.18191779e-01 -2.56228959e-03 -3.17897322e+01] [-6.06656402e-03 1.73283293e-04 9.99981583e-01 -2.82969540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02655999499999 meters 0.017538730684160016 Centerline is valid? [True, True] Translation: X:173.79, Y:-31.81, Z:-2.83 [[ 9.19588586e-01 3.92844429e-01 5.48522506e-03 1.73785145e+02] [-3.92836162e-01 9.19604924e-01 -2.55613012e-03 -3.18122460e+01] [-6.04840145e-03 1.95793324e-04 9.99981689e-01 -2.82970350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.086559995 meters 0.018016432403500683 Centerline is valid? [True, True] Translation: X:173.84, Y:-31.84, Z:-2.83 [[ 9.20329103e-01 3.91107676e-01 5.39696439e-03 1.73842050e+02] [-3.91099636e-01 9.20344905e-01 -2.51624437e-03 -3.18373637e+01] [-5.95119116e-03 2.05022116e-04 9.99982270e-01 -2.83027729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.146559995 meters 0.019656887019734386 Centerline is valid? [True, True] Translation: X:173.90, Y:-31.86, Z:-2.83 [[ 9.21020829e-01 3.89477568e-01 5.27786092e-03 1.73897343e+02] [-3.89469835e-01 9.21035927e-01 -2.46360063e-03 -3.18621522e+01] [-5.82061671e-03 2.13459874e-04 9.99983037e-01 -2.83160416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.206559995 meters 0.01967598553733848 Centerline is valid? [True, True] Translation: X:173.96, Y:-31.89, Z:-2.83 [[ 9.20946594e-01 3.89658423e-01 4.86659513e-03 1.73955337e+02] [-3.89651858e-01 9.20959432e-01 -2.27039404e-03 -3.18869100e+01] [-5.36661485e-03 1.94633821e-04 9.99985581e-01 -2.83277389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.266559995 meters 0.020253283927828443 Centerline is valid? [True, True] Translation: X:174.01, Y:-31.91, Z:-2.83 [[ 9.20524579e-01 3.90662511e-01 4.15947135e-03 1.74011905e+02] [-3.90657718e-01 9.20533963e-01 -1.94189241e-03 -3.19092271e+01] [-4.58755920e-03 1.62630106e-04 9.99989464e-01 -2.83407622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.326559995 meters 0.01901543213368993 Centerline is valid? [True, True] Translation: X:174.07, Y:-31.93, Z:-2.83 [[ 9.20050673e-01 3.91773786e-01 4.47879604e-03 1.74069907e+02] [-3.91768236e-01 9.20061559e-01 -2.09222378e-03 -3.19312016e+01] [-4.94044650e-03 1.70301874e-04 9.99987781e-01 -2.83420934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.386559995 meters 0.018222074029910332 Centerline is valid? [True, True] Translation: X:174.13, Y:-31.95, Z:-2.83 [[ 9.19421039e-01 3.93254780e-01 3.95353777e-03 1.74128998e+02] [-3.93250467e-01 9.19429528e-01 -1.84749431e-03 -3.19523435e+01] [-4.36153534e-03 1.43894565e-04 9.99990478e-01 -2.83494231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.446559995 meters 0.018330264735624935 Centerline is valid? [True, True] Translation: X:174.19, Y:-31.98, Z:-2.84 [[ 9.18826335e-01 3.94650734e-01 2.99410261e-03 1.74186197e+02] [-3.94648268e-01 9.18831207e-01 -1.39903962e-03 -3.19761552e+01] [-3.30320693e-03 1.03857040e-04 9.99994539e-01 -2.83644582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.506559995 meters 0.017208465207727987 Centerline is valid? [True, True] Translation: X:174.25, Y:-32.00, Z:-2.84 [[ 9.17945499e-01 3.96688009e-01 3.83203605e-03 1.74245445e+02] [-3.96683978e-01 9.17953489e-01 -1.79285247e-03 -3.19964952e+01] [-4.22883394e-03 1.25633553e-04 9.99991051e-01 -2.83608262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.566559995 meters 0.01736408647827996 Centerline is valid? [True, True] Translation: X:174.30, Y:-32.02, Z:-2.84 [[ 9.17545457e-01 3.97597927e-01 5.12085532e-03 1.74302844e+02] [-3.97590725e-01 9.17559732e-01 -2.39884166e-03 -3.20213643e+01] [-5.65246510e-03 1.65041691e-04 9.99984011e-01 -2.83591932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.626559995 meters 0.017521271950615678 Centerline is valid? [True, True] Translation: X:174.36, Y:-32.05, Z:-2.84 [[ 9.17264338e-01 3.98240395e-01 5.54277328e-03 1.74359807e+02] [-3.98231956e-01 9.17281068e-01 -2.59849699e-03 -3.20456920e+01] [-6.11910746e-03 1.76199177e-04 9.99981263e-01 -2.83632681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.686559995 meters 0.016557136801046347 Centerline is valid? [True, True] Translation: X:174.42, Y:-32.07, Z:-2.84 [[ 9.16823360e-01 3.99264746e-01 4.75283061e-03 1.74417255e+02] [-3.99258551e-01 9.16835668e-01 -2.22889890e-03 -3.20689365e+01] [-5.24748538e-03 1.45898316e-04 9.99986221e-01 -2.83730341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74655999499998 meters 0.016728667054893818 Centerline is valid? [True, True] Translation: X:174.47, Y:-32.09, Z:-2.84 [[ 9.16049592e-01 4.01042864e-01 4.21508492e-03 1.74473736e+02] [-4.01038005e-01 9.16059281e-01 -1.97774998e-03 -3.20926820e+01] [-4.65443018e-03 1.21307816e-04 9.99989161e-01 -2.83891842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.806559995 meters 0.016929062868568868 Centerline is valid? [True, True] Translation: X:174.53, Y:-32.12, Z:-2.84 [[ 9.15753742e-01 4.01722975e-01 3.70605693e-03 1.74530814e+02] [-4.01719226e-01 9.15761235e-01 -1.73882475e-03 -3.21182593e+01] [-4.09238913e-03 1.03540949e-04 9.99991621e-01 -2.84035108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.866559995 meters 0.017468349986538664 Centerline is valid? [True, True] Translation: X:174.59, Y:-32.14, Z:-2.84 [[ 9.15601047e-01 4.02077394e-01 2.91399040e-03 1.74587954e+02] [-4.02075077e-01 9.15605681e-01 -1.36720185e-03 -3.21439776e+01] [-3.21778712e-03 8.01685328e-05 9.99994820e-01 -2.84270300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.926559995 meters 0.018703716141035266 Centerline is valid? [True, True] Translation: X:174.64, Y:-32.17, Z:-2.84 [[ 9.16007446e-01 4.01150839e-01 2.89188299e-03 1.74643152e+02] [-4.01148548e-01 9.16012007e-01 -1.35849086e-03 -3.21705610e+01] [-3.19395929e-03 8.43130812e-05 9.99994896e-01 -2.84445162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.986559995 meters 0.018794595626193587 Centerline is valid? [True, True] Translation: X:174.70, Y:-32.20, Z:-2.84 [[ 9.16126648e-01 4.00869859e-01 3.91422640e-03 1.74700402e+02] [-4.00865651e-01 9.16135002e-01 -1.84047815e-03 -3.21975357e+01] [-4.32375203e-03 1.17032161e-04 9.99990646e-01 -2.84465374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.046559995 meters 0.01653464749133109 Centerline is valid? [True, True] Translation: X:174.76, Y:-32.22, Z:-2.84 [[ 9.15662338e-01 4.01931009e-01 3.73451374e-03 1.74758047e+02] [-4.01927182e-01 9.15669947e-01 -1.75722630e-03 -3.22204292e+01] [-4.12586574e-03 1.08023360e-04 9.99991483e-01 -2.84402826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.106559995 meters 0.018772769546246675 Centerline is valid? [True, True] Translation: X:174.81, Y:-32.25, Z:-2.85 [[ 9.14563288e-01 4.04423710e-01 3.93130563e-03 1.74812400e+02] [-4.04419485e-01 9.14571732e-01 -1.85147220e-03 -3.22481248e+01] [-4.34424025e-03 1.03391904e-04 9.99990558e-01 -2.84702175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.166559995 meters 0.013562045190473418 Centerline is valid? [True, True] Translation: X:174.87, Y:-32.26, Z:-2.85 [[ 9.11519169e-01 4.11239644e-01 3.84182477e-03 1.74872161e+02] [-4.11235656e-01 9.11527262e-01 -1.81266934e-03 -3.22649907e+01] [-4.24736950e-03 7.23875207e-05 9.99990977e-01 -2.84506479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.226559995 meters 0.01280044614474666 Centerline is valid? [True, True] Translation: X:174.93, Y:-32.29, Z:-2.85 [[ 9.08887816e-01 4.17020191e-01 4.13492887e-03 1.74927969e+02] [-4.17015628e-01 9.08897221e-01 -1.95141685e-03 -3.22881010e+01] [-4.57200559e-03 4.92890402e-05 9.99989547e-01 -2.84625406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.286559995 meters 0.012148255477628518 Centerline is valid? [True, True] Translation: X:174.98, Y:-32.31, Z:-2.85 [[ 9.07530869e-01 4.19962923e-01 4.34339761e-03 1.74984681e+02] [-4.19957935e-01 9.07541262e-01 -2.04714034e-03 -3.23129726e+01] [-4.80153559e-03 3.37987611e-05 9.99988472e-01 -2.84646669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.346559995 meters 0.011604370366806302 Centerline is valid? [True, True] Translation: X:175.04, Y:-32.34, Z:-2.85 [[ 9.04364090e-01 4.26733826e-01 4.88212928e-03 1.75042089e+02] [-4.26727611e-01 9.04377268e-01 -2.30305293e-03 -3.23363337e+01] [-5.39807733e-03 -5.41000706e-07 9.99985430e-01 -2.84665296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.406559995 meters 0.011527270999172579 Centerline is valid? [True, True] Translation: X:175.10, Y:-32.36, Z:-2.85 [[ 9.02586509e-01 4.30481721e-01 4.80426988e-03 1.75099061e+02] [-4.30475751e-01 9.02599295e-01 -2.26724185e-03 -3.23631736e+01] [-5.31233678e-03 -2.17397761e-05 9.99985889e-01 -2.84729307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46655999499998 meters 0.01162744719326786 Centerline is valid? [True, True] Translation: X:175.16, Y:-32.39, Z:-2.85 [[ 9.02178085e-01 4.31332176e-01 5.22076641e-03 1.75155157e+02] [-4.31325127e-01 9.02193191e-01 -2.46602673e-03 -3.23916586e+01] [-5.77381657e-03 -2.70524660e-05 9.99983331e-01 -2.84817969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52655999499999 meters 0.011559514638705639 Centerline is valid? [True, True] Translation: X:175.21, Y:-32.42, Z:-2.85 [[ 9.02306996e-01 4.31065155e-01 4.99160246e-03 1.75210366e+02] [-4.31058699e-01 9.02320803e-01 -2.35926547e-03 -3.24216896e+01] [-5.52102388e-03 -2.28919238e-05 9.99984759e-01 -2.84893424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.586559995 meters 0.011508551299012813 Centerline is valid? [True, True] Translation: X:175.26, Y:-32.45, Z:-2.85 [[ 9.02911977e-01 4.29804458e-01 4.25319402e-03 1.75264587e+02] [-4.29799754e-01 9.02921994e-01 -2.01099976e-03 -3.24543259e+01] [-4.70463909e-03 -1.22659727e-05 9.99988933e-01 -2.85078554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.646559995 meters 0.011413811211167723 Centerline is valid? [True, True] Translation: X:175.32, Y:-32.49, Z:-2.85 [[ 9.03872931e-01 4.27783922e-01 3.82623525e-03 1.75318378e+02] [-4.27780093e-01 9.03881030e-01 -1.80986672e-03 -3.24870261e+01] [-4.23269334e-03 -8.97733376e-07 9.99991042e-01 -2.85134738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.706559995 meters 0.012206281817598232 Centerline is valid? [True, True] Translation: X:175.37, Y:-32.52, Z:-2.85 [[ 9.06078013e-01 4.23091317e-01 4.04610151e-03 1.75368308e+02] [-4.23086973e-01 9.06087047e-01 -1.91748047e-03 -3.25237633e+01] [-4.47738951e-03 2.55340519e-05 9.99989976e-01 -2.85405890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.766559995 meters 0.012910809317333334 Centerline is valid? [True, True] Translation: X:175.42, Y:-32.56, Z:-2.85 [[ 9.08600762e-01 4.17642600e-01 4.39476068e-03 1.75419389e+02] [-4.17637406e-01 9.08611388e-01 -2.08377991e-03 -3.25601685e+01] [-4.86340486e-03 5.79075586e-05 9.99988172e-01 -2.85348775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.826559995 meters 0.013264046986113965 Centerline is valid? [True, True] Translation: X:175.47, Y:-32.59, Z:-2.85 [[ 9.10153513e-01 4.14246990e-01 4.47375008e-03 1.75472428e+02] [-4.14241570e-01 9.10164505e-01 -2.12048464e-03 -3.25927111e+01] [-4.95025291e-03 7.67532914e-05 9.99987744e-01 -2.85337254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.886559995 meters 0.014142115185842168 Centerline is valid? [True, True] Translation: X:175.52, Y:-32.63, Z:-2.85 [[ 9.12089006e-01 4.09969730e-01 4.29707245e-03 1.75523988e+02] [-4.09964676e-01 9.12099123e-01 -2.03805183e-03 -3.26282278e+01] [-4.75489558e-03 9.72367562e-05 9.99988691e-01 -2.85376690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.946559995 meters 0.014926700237083772 Centerline is valid? [True, True] Translation: X:175.58, Y:-32.66, Z:-2.86 [[ 9.12764673e-01 4.08471116e-01 3.46395869e-03 1.75577511e+02] [-4.08467821e-01 9.12771242e-01 -1.64291605e-03 -3.26598597e+01] [-3.83288563e-03 8.46800694e-05 9.99992651e-01 -2.85519731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.006559995 meters 0.014977979314227547 Centerline is valid? [True, True] Translation: X:175.63, Y:-32.69, Z:-2.86 [[ 9.12959155e-01 4.08041764e-01 2.73850804e-03 1.75630881e+02] [-4.08039703e-01 9.12963260e-01 -1.29874235e-03 -3.26913321e+01] [-3.03009835e-03 6.82787108e-05 9.99995407e-01 -2.85588786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.066559995 meters 0.014708624995522532 Centerline is valid? [True, True] Translation: X:175.69, Y:-32.72, Z:-2.86 [[ 9.12848895e-01 4.08287107e-01 2.92123434e-03 1.75686891e+02] [-4.08284760e-01 9.12853566e-01 -1.38603508e-03 -3.27206857e+01] [-3.23255943e-03 7.25451297e-05 9.99994773e-01 -2.85561837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.126559995 meters 0.01570874753660101 Centerline is valid? [True, True] Translation: X:175.74, Y:-32.75, Z:-2.86 [[ 9.12891824e-01 4.08188051e-01 3.32159742e-03 1.75741002e+02] [-4.08185009e-01 9.12897863e-01 -1.57814813e-03 -3.27518936e+01] [-3.67646040e-03 8.48522515e-05 9.99993238e-01 -2.85595868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.186559995 meters 0.015441543391997985 Centerline is valid? [True, True] Translation: X:175.80, Y:-32.78, Z:-2.86 [[ 9.12720048e-01 4.08571344e-01 3.40153253e-03 1.75797486e+02] [-4.08568152e-01 9.12726383e-01 -1.61713545e-03 -3.27800901e+01] [-3.76538369e-03 8.62340875e-05 9.99992907e-01 -2.85636084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24655999499998 meters 0.015650998878485037 Centerline is valid? [True, True] Translation: X:175.85, Y:-32.81, Z:-2.86 [[ 9.12251553e-01 4.09621862e-01 2.65240510e-03 1.75851594e+02] [-4.09619924e-01 9.12255406e-01 -1.26162403e-03 -3.28082763e+01] [-2.93645967e-03 6.44405115e-05 9.99995687e-01 -2.85738850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.306559995 meters 0.016027775626294094 Centerline is valid? [True, True] Translation: X:175.91, Y:-32.84, Z:-2.86 [[ 9.11950882e-01 4.10287662e-01 3.10200696e-03 1.75905858e+02] [-4.10285010e-01 9.11956155e-01 -1.47704002e-03 -3.28362547e+01] [-3.43490564e-03 7.42809934e-05 9.99994098e-01 -2.85748602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.366559995 meters 0.016301099938821808 Centerline is valid? [True, True] Translation: X:175.96, Y:-32.86, Z:-2.86 [[ 9.11889042e-01 4.10423234e-01 3.33824912e-03 1.75962709e+02] [-4.10420162e-01 9.11895149e-01 -1.59007872e-03 -3.28643276e+01] [-3.69673843e-03 7.98906210e-05 9.99993164e-01 -2.85871257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.426559995 meters 0.01673629109341743 Centerline is valid? [True, True] Translation: X:176.02, Y:-32.89, Z:-2.86 [[ 9.11632494e-01 4.11000319e-01 2.22116767e-03 1.76018110e+02] [-4.10998959e-01 9.11635198e-01 -1.05866832e-03 -3.28909314e+01] [-2.46000765e-03 5.22188389e-05 9.99996973e-01 -2.86088957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.486559995 meters 0.014521537443044137 Centerline is valid? [True, True] Translation: X:176.08, Y:-32.91, Z:-2.86 [[ 9.11290824e-01 4.11759949e-01 1.66708454e-03 1.76076318e+02] [-4.11759188e-01 9.11292348e-01 -7.92343094e-04 -3.29145750e+01] [-1.84545654e-03 3.56176124e-05 9.99998297e-01 -2.85994004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.546559995 meters 0.015188270459912924 Centerline is valid? [True, True] Translation: X:176.13, Y:-32.94, Z:-2.86 [[ 9.11533864e-01 4.11220848e-01 1.85174685e-03 1.76131084e+02] [-4.11219901e-01 9.11535744e-01 -8.83591233e-04 -3.29410633e+01] [-2.05128458e-03 4.39481739e-05 9.99997895e-01 -2.86167761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.606559995 meters 0.01893879695876844 Centerline is valid? [True, True] Translation: X:176.18, Y:-32.97, Z:-2.86 [[ 9.12460598e-01 4.09156028e-01 2.64618581e-03 1.76184256e+02] [-4.09154081e-01 9.12464432e-01 -1.26424036e-03 -3.29721991e+01] [-2.93182200e-03 7.08717894e-05 9.99995700e-01 -2.86433020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.666559995 meters 0.016977941165951676 Centerline is valid? [True, True] Translation: X:176.24, Y:-33.00, Z:-2.86 [[ 9.13095371e-01 4.07733339e-01 3.22004332e-03 1.76241580e+02] [-4.07730449e-01 9.13101044e-01 -1.53787884e-03 -3.29959609e+01] [-3.56726939e-03 9.13203386e-05 9.99993633e-01 -2.86266471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.726559995 meters 0.017245423858367914 Centerline is valid? [True, True] Translation: X:176.30, Y:-33.02, Z:-2.86 [[ 9.13880000e-01 4.05966788e-01 3.78318695e-03 1.76297803e+02] [-4.05962775e-01 9.13887823e-01 -1.80886386e-03 -3.30212345e+01] [-4.19174714e-03 1.17251433e-04 9.99991208e-01 -2.86251623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.786559995 meters 0.016541446804566144 Centerline is valid? [True, True] Translation: X:176.36, Y:-33.05, Z:-2.86 [[ 9.14372412e-01 4.04848021e-01 4.60142179e-03 1.76355168e+02] [-4.04842061e-01 9.14383977e-01 -2.20191264e-03 -3.30455278e+01] [-5.09890634e-03 1.50519092e-04 9.99986989e-01 -2.86252958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.846559995 meters 0.01697594273788149 Centerline is valid? [True, True] Translation: X:176.41, Y:-33.07, Z:-2.86 [[ 9.14355252e-01 4.04878040e-01 5.31466427e-03 1.76412090e+02] [-4.04870078e-01 9.14370681e-01 -2.54514997e-03 -3.30723181e+01] [-5.89004852e-03 1.75422709e-04 9.99982638e-01 -2.86313138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.906559995 meters 0.016347051494266237 Centerline is valid? [True, True] Translation: X:176.47, Y:-33.10, Z:-2.86 [[ 9.14322590e-01 4.04946185e-01 5.72620507e-03 1.76470088e+02] [-4.04936929e-01 9.14340501e-01 -2.74453395e-03 -3.30960872e+01] [-6.34708976e-03 1.90637493e-04 9.99979839e-01 -2.86390115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96655999499998 meters 0.016788138051835738 Centerline is valid? [True, True] Translation: X:176.53, Y:-33.12, Z:-2.87 [[ 9.14526357e-01 4.04487262e-01 5.62110872e-03 1.76526506e+02] [-4.04478320e-01 9.14543612e-01 -2.69643477e-03 -3.31218108e+01] [-6.23142259e-03 1.92344052e-04 9.99980566e-01 -2.86518136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02655999499999 meters 0.01769601129498886 Centerline is valid? [True, True] Translation: X:176.58, Y:-33.15, Z:-2.87 [[ 9.14910708e-01 4.03613036e-01 5.90871753e-03 1.76582349e+02] [-4.03603123e-01 9.14929764e-01 -2.83663562e-03 -3.31471171e+01] [-6.55096465e-03 2.10491461e-04 9.99978520e-01 -2.86652477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.086559995 meters 0.018498365229306594 Centerline is valid? [True, True] Translation: X:176.64, Y:-33.17, Z:-2.87 [[ 9.15583804e-01 4.02060834e-01 7.30641823e-03 1.76639298e+02] [-4.02045602e-01 9.15612915e-01 -3.51062115e-03 -3.31710194e+01] [-8.10133416e-03 2.76754547e-04 9.99967145e-01 -2.86676469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.146559995 meters 0.018614784454088727 Centerline is valid? [True, True] Translation: X:176.70, Y:-33.20, Z:-2.87 [[ 9.15993519e-01 4.01111487e-01 8.08994132e-03 1.76695853e+02] [-4.01092754e-01 9.16029188e-01 -3.88960327e-03 -3.31962965e+01] [-8.97078693e-03 3.18034548e-04 9.99959711e-01 -2.86740353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.206559995 meters 0.019301019222922166 Centerline is valid? [True, True] Translation: X:176.75, Y:-33.22, Z:-2.87 [[ 9.16944973e-01 3.98907889e-01 9.18758423e-03 1.76752928e+02] [-3.98883572e-01 9.16990918e-01 -4.42174945e-03 -3.32211590e+01] [-1.01888020e-02 3.89724519e-04 9.99948017e-01 -2.86816497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.266559995 meters 0.019981864055614317 Centerline is valid? [True, True] Translation: X:176.81, Y:-33.24, Z:-2.87 [[ 9.17675442e-01 3.97224590e-01 9.18746340e-03 1.76810763e+02] [-3.97200181e-01 9.17721340e-01 -4.42247855e-03 -3.32436459e+01] [-1.01882485e-02 4.09137827e-04 9.99948015e-01 -2.86967929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.326559995 meters 0.019159621765297178 Centerline is valid? [True, True] Translation: X:176.87, Y:-33.26, Z:-2.87 [[ 9.17332538e-01 3.98007252e-01 9.55202167e-03 1.76870897e+02] [-3.97980912e-01 9.17382174e-01 -4.59779994e-03 -3.32623434e+01] [-1.05928121e-02 4.16189196e-04 9.99943808e-01 -2.87097372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.386559995 meters 0.020417317394083746 Centerline is valid? [True, True] Translation: X:176.93, Y:-33.29, Z:-2.87 [[ 9.17116882e-01 3.98491947e-01 1.00395927e-02 1.76927540e+02] [-3.98462841e-01 9.17171728e-01 -4.83585543e-03 -3.32866297e+01] [-1.11350801e-02 4.34640005e-04 9.99937909e-01 -2.87251677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.446559995 meters 0.02040242899993209 Centerline is valid? [True, True] Translation: X:176.99, Y:-33.31, Z:-2.87 [[ 9.17446970e-01 3.97729346e-01 1.01204601e-02 1.76986165e+02] [-3.97699691e-01 9.17502678e-01 -4.87755162e-03 -3.33089482e+01] [-1.12254947e-02 4.49991093e-04 9.99936891e-01 -2.87355584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.506559995 meters 0.021881916492470097 Centerline is valid? [True, True] Translation: X:177.04, Y:-33.33, Z:-2.88 [[ 9.17892101e-01 3.96717107e-01 9.46724000e-03 1.77042616e+02] [-3.96691075e-01 9.17940819e-01 -4.56539225e-03 -3.33318267e+01] [-1.05015352e-02 4.34967866e-04 9.99944763e-01 -2.87611117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.566559995 meters 0.020475372630287016 Centerline is valid? [True, True] Translation: X:177.10, Y:-33.35, Z:-2.88 [[ 9.17632659e-01 3.97310015e-01 9.74964349e-03 1.77101108e+02] [-3.97282412e-01 9.17684344e-01 -4.70421767e-03 -3.33530171e+01] [-1.08161280e-02 4.43381892e-04 9.99941406e-01 -2.87769020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.626559995 meters 0.019876487573480782 Centerline is valid? [True, True] Translation: X:177.16, Y:-33.38, Z:-2.88 [[ 9.16590577e-01 3.99695436e-01 1.02602441e-02 1.77159001e+02] [-3.99664967e-01 9.16647895e-01 -4.95481140e-03 -3.33754393e+01] [-1.13854467e-02 4.40873322e-04 9.99935087e-01 -2.87871822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.686559995 meters 0.016777530961500045 Centerline is valid? [True, True] Translation: X:177.22, Y:-33.39, Z:-2.88 [[ 9.13751254e-01 4.06127764e-01 1.09034331e-02 1.77218546e+02] [-4.06093800e-01 9.13816224e-01 -5.26632617e-03 -3.33923805e+01] [-1.21025353e-02 3.84295567e-04 9.99926688e-01 -2.87888168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74655999499998 meters 0.017046329491648412 Centerline is valid? [True, True] Translation: X:177.28, Y:-33.41, Z:-2.88 [[ 9.11783149e-01 4.10511231e-01 1.14899279e-02 1.77275239e+02] [-4.10473860e-01 9.11855477e-01 -5.54975127e-03 -3.34148591e+01] [-1.27553889e-02 3.43854654e-04 9.99918588e-01 -2.88024442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.806559995 meters 0.01451260049006509 Centerline is valid? [True, True] Translation: X:177.34, Y:-33.43, Z:-2.88 [[ 9.09937931e-01 4.14552449e-01 1.26185652e-02 1.77335706e+02] [-4.14507754e-01 9.10025366e-01 -6.09546216e-03 -3.34320295e+01] [-1.40101032e-02 3.15999126e-04 9.99901804e-01 -2.88084752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.866559995 meters 0.014762183026638292 Centerline is valid? [True, True] Translation: X:177.39, Y:-33.46, Z:-2.88 [[ 9.09760921e-01 4.14933080e-01 1.28688197e-02 1.77393416e+02] [-4.14886626e-01 9.09851877e-01 -6.21681304e-03 -3.34575102e+01] [-1.42882811e-02 3.16712368e-04 9.99897867e-01 -2.88161717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.926559995 meters 0.015700644450150417 Centerline is valid? [True, True] Translation: X:177.45, Y:-33.48, Z:-2.88 [[ 9.11534584e-01 4.11045707e-01 1.20884100e-02 1.77449456e+02] [-4.11004316e-01 9.11614665e-01 -5.84418849e-03 -3.34839101e+01] [-1.34222004e-02 3.58791244e-04 9.99909854e-01 -2.88360253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.986559995 meters 0.017466219103908345 Centerline is valid? [True, True] Translation: X:177.50, Y:-33.51, Z:-2.89 [[ 9.13728766e-01 4.06165428e-01 1.13748714e-02 1.77503981e+02] [-4.06128388e-01 9.13799475e-01 -5.50026107e-03 -3.35119244e+01] [-1.26283674e-02 4.06088582e-04 9.99920177e-01 -2.88559180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.046559995 meters 0.018955922802469063 Centerline is valid? [True, True] Translation: X:177.56, Y:-33.54, Z:-2.89 [[ 9.14831116e-01 4.03684967e-01 1.10669071e-02 1.77558769e+02] [-4.03649727e-01 9.14897953e-01 -5.35105930e-03 -3.35399545e+01] [-1.22852328e-02 4.28161519e-04 9.99924442e-01 -2.88724543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.106559995 meters 0.0207193557556571 Centerline is valid? [True, True] Translation: X:177.61, Y:-33.57, Z:-2.89 [[ 9.15898874e-01 4.01258262e-01 1.10027283e-02 1.77614300e+02] [-4.01223210e-01 9.15964844e-01 -5.32365902e-03 -3.35680981e+01] [-1.22142744e-02 4.61383344e-04 9.99925297e-01 -2.88890170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.166559995 meters 0.021021919958749503 Centerline is valid? [True, True] Translation: X:177.67, Y:-33.59, Z:-2.89 [[ 9.16410119e-01 4.00081207e-01 1.12925434e-02 1.77670244e+02] [-4.00044190e-01 9.16479562e-01 -5.46423815e-03 -3.35948747e+01] [-1.25355242e-02 4.89966749e-04 9.99921307e-01 -2.88977635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.226559995 meters 0.01937144724341264 Centerline is valid? [True, True] Translation: X:177.73, Y:-33.62, Z:-2.89 [[ 9.16230982e-01 4.00471204e-01 1.19834397e-02 1.77728920e+02] [-4.00429504e-01 9.16309198e-01 -5.80218685e-03 -3.36184852e+01] [-1.33041447e-02 5.17620556e-04 9.99911362e-01 -2.88990585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.286559995 meters 0.019704100698055546 Centerline is valid? [True, True] Translation: X:177.78, Y:-33.64, Z:-2.89 [[ 9.15279901e-01 4.02625453e-01 1.24678354e-02 1.77784050e+02] [-4.02580445e-01 9.15364673e-01 -6.04162782e-03 -3.36434107e+01] [-1.38451292e-02 5.10473778e-04 9.99904021e-01 -2.89099681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.346559995 meters 0.01853856634870865 Centerline is valid? [True, True] Translation: X:177.84, Y:-33.66, Z:-2.89 [[ 9.13132118e-01 4.07479364e-01 1.22598050e-02 1.77840651e+02] [-4.07436258e-01 9.13214313e-01 -5.94257664e-03 -3.36649803e+01] [-1.36173068e-02 4.31268515e-04 9.99907187e-01 -2.89225022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.406559995 meters 0.016476499990865156 Centerline is valid? [True, True] Translation: X:177.90, Y:-33.69, Z:-2.89 [[ 9.11762189e-01 4.10514480e-01 1.29449808e-02 1.77898221e+02] [-4.10466727e-01 9.11853988e-01 -6.27461006e-03 -3.36876601e+01] [-1.43797506e-02 4.07468311e-04 9.99896523e-01 -2.89288721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46655999499998 meters 0.016441221107131063 Centerline is valid? [True, True] Translation: X:177.95, Y:-33.71, Z:-2.89 [[ 9.10671881e-01 4.12931321e-01 1.28237788e-02 1.77954049e+02] [-4.12884690e-01 9.10762093e-01 -6.21637706e-03 -3.37128095e+01] [-1.42463484e-02 3.66337860e-04 9.99898449e-01 -2.89432206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52655999499999 meters 0.015912546729239092 Centerline is valid? [True, True] Translation: X:178.01, Y:-33.74, Z:-2.90 [[ 9.10451120e-01 4.13412685e-01 1.29888273e-02 1.78011221e+02] [-4.13364843e-01 9.10543694e-01 -6.29991232e-03 -3.37385420e+01] [-1.44313585e-02 3.66637656e-04 9.99895795e-01 -2.89535801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.586559995 meters 0.0163735178932687 Centerline is valid? [True, True] Translation: X:178.07, Y:-33.77, Z:-2.90 [[ 9.10725390e-01 4.12790585e-01 1.35350573e-02 1.78066311e+02] [-4.12738492e-01 9.10825876e-01 -6.56972454e-03 -3.37661884e+01] [-1.50400008e-02 3.96775799e-04 9.99886814e-01 -2.89546764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.646559995 meters 0.017654734441630012 Centerline is valid? [True, True] Translation: X:178.12, Y:-33.80, Z:-2.90 [[ 9.11716436e-01 4.10583647e-01 1.39358848e-02 1.78120621e+02] [-4.10528104e-01 9.11822826e-01 -6.76823124e-03 -3.37957465e+01] [-1.54859830e-02 4.49635280e-04 9.99879984e-01 -2.89663507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.706559995 meters 0.016869190219675662 Centerline is valid? [True, True] Translation: X:178.18, Y:-33.82, Z:-2.90 [[ 9.12210891e-01 4.09476903e-01 1.41405588e-02 1.78177673e+02] [-4.09419523e-01 9.12320358e-01 -6.87154048e-03 -3.38210405e+01] [-1.57144568e-02 4.78873234e-04 9.99876406e-01 -2.89816241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.766559995 meters 0.017391652735477166 Centerline is valid? [True, True] Translation: X:178.23, Y:-33.85, Z:-2.90 [[ 9.12373306e-01 4.09079846e-01 1.51205162e-02 1.78233078e+02] [-4.09014100e-01 9.12498441e-01 -7.35263033e-03 -3.38483189e+01] [-1.68052604e-02 5.23839302e-04 9.99858644e-01 -2.89849952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.826559995 meters 0.019494202006292236 Centerline is valid? [True, True] Translation: X:178.29, Y:-33.88, Z:-2.90 [[ 9.12790992e-01 4.08228466e-01 1.27327930e-02 1.78287209e+02] [-4.08181718e-01 9.12879680e-01 -6.19473901e-03 -3.38775801e+01] [-1.41523768e-02 4.57208640e-04 9.99899746e-01 -2.90213628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.886559995 meters 0.018967300331664976 Centerline is valid? [True, True] Translation: X:178.34, Y:-33.90, Z:-2.90 [[ 9.13037929e-01 4.07690515e-01 1.22549477e-02 1.78343256e+02] [-4.07647118e-01 9.13120058e-01 -5.96543366e-03 -3.39034550e+01] [-1.36222893e-02 4.50973080e-04 9.99907111e-01 -2.90408772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.946559995 meters 0.02070823798378672 Centerline is valid? [True, True] Translation: X:178.40, Y:-33.93, Z:-2.90 [[ 9.14326233e-01 4.04749568e-01 1.36135000e-02 1.78397141e+02] [-4.04695620e-01 9.14427406e-01 -6.63137898e-03 -3.39327101e+01] [-1.51326053e-02 5.53919941e-04 9.99885342e-01 -2.90346858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.006559995 meters 0.022258222393417508 Centerline is valid? [True, True] Translation: X:178.45, Y:-33.96, Z:-2.90 [[ 9.15507519e-01 4.02074791e-01 1.34849735e-02 1.78451166e+02] [-4.02021558e-01 9.15606635e-01 -6.56932566e-03 -3.39614827e+01] [-1.49882915e-02 5.93016965e-04 9.99887493e-01 -2.90461420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.066559995 meters 0.02126549223741805 Centerline is valid? [True, True] Translation: X:178.51, Y:-33.99, Z:-2.91 [[ 9.17936267e-01 3.96496608e-01 1.35443241e-02 1.78506258e+02] [-3.96442290e-01 9.18035929e-01 -6.59881841e-03 -3.39862857e+01] [-1.50505853e-02 6.87751870e-04 9.99886497e-01 -2.90601881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.126559995 meters 0.025168734200388565 Centerline is valid? [True, True] Translation: X:178.56, Y:-34.02, Z:-2.91 [[ 9.18806313e-01 3.94464389e-01 1.38854191e-02 1.78558270e+02] [-3.94407066e-01 9.18910931e-01 -6.76514035e-03 -3.40180401e+01] [-1.54280703e-02 7.39346259e-04 9.99880707e-01 -2.90673188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.186559995 meters 0.025484566532752072 Centerline is valid? [True, True] Translation: X:178.61, Y:-34.04, Z:-2.91 [[ 9.21883927e-01 3.87191549e-01 1.45852578e-02 1.78613119e+02] [-3.87127355e-01 9.21998851e-01 -7.10836483e-03 -3.40449603e+01] [-1.61998898e-02 9.06734988e-04 9.99868362e-01 -2.90692472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24655999499998 meters 0.027046349514320226 Centerline is valid? [True, True] Translation: X:178.67, Y:-34.07, Z:-2.91 [[ 9.23493958e-01 3.83306740e-01 1.53248741e-02 1.78667255e+02] [-3.83235327e-01 9.23620535e-01 -7.46939702e-03 -3.40724555e+01] [-1.70174386e-02 1.02490990e-03 9.99854668e-01 -2.90763492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.306559995 meters 0.028241327018733726 Centerline is valid? [True, True] Translation: X:178.72, Y:-34.10, Z:-2.91 [[ 9.23895923e-01 3.82278496e-01 1.67175244e-02 1.78723349e+02] [-3.82193327e-01 9.24046456e-01 -8.14908616e-03 -3.40980024e+01] [-1.85629896e-02 1.13958121e-03 9.99827043e-01 -2.90769282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.366559995 meters 0.025021879171526692 Centerline is valid? [True, True] Translation: X:178.78, Y:-34.12, Z:-2.91 [[ 9.22960307e-01 3.84540789e-01 1.65122274e-02 1.78782214e+02] [-3.84457986e-01 9.23107364e-01 -8.05303607e-03 -3.41185492e+01] [-1.83392796e-02 1.08437495e-03 9.99831233e-01 -2.90907680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.426559995 meters 0.024991677248607364 Centerline is valid? [True, True] Translation: X:178.84, Y:-34.14, Z:-2.91 [[ 9.20245913e-01 3.91031498e-01 1.55508070e-02 1.78838848e+02] [-3.90958963e-01 9.20376856e-01 -7.58500379e-03 -3.41380739e+01] [-1.72785782e-02 9.00341374e-04 9.99850309e-01 -2.91133476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.486559995 meters 0.02396293705223308 Centerline is valid? [True, True] Translation: X:178.90, Y:-34.16, Z:-2.91 [[ 9.17443033e-01 3.97567761e-01 1.54322864e-02 1.78895242e+02] [-3.97497253e-01 9.17572493e-01 -7.52684681e-03 -3.41577674e+01] [-1.71526731e-02 7.71161720e-04 9.99852585e-01 -2.91296517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.546559995 meters 0.01837872956708757 Centerline is valid? [True, True] Translation: X:178.96, Y:-34.17, Z:-2.92 [[ 9.12862853e-01 4.07992282e-01 1.49568886e-02 1.78957437e+02] [-4.07927446e-01 9.12985206e-01 -7.29469620e-03 -3.41686810e+01] [-1.66315978e-02 5.57731820e-04 9.99861530e-01 -2.91517578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.606559995 meters 0.01707515789169479 Centerline is valid? [True, True] Translation: X:179.02, Y:-34.19, Z:-2.92 [[ 9.10694803e-01 4.12808633e-01 1.49668982e-02 1.79015217e+02] [-4.12744352e-01 9.10817661e-01 -7.29990079e-03 -3.41889712e+01] [-1.66455773e-02 4.70479030e-04 9.99861342e-01 -2.91634339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.666559995 meters 0.01654361335196632 Centerline is valid? [True, True] Translation: X:179.07, Y:-34.21, Z:-2.92 [[ 9.10152318e-01 4.13998893e-01 1.50888919e-02 1.79073931e+02] [-4.13933714e-01 9.10277272e-01 -7.35995755e-03 -3.42110937e+01] [-1.67820897e-02 4.52881334e-04 9.99859068e-01 -2.91771439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.726559995 meters 0.019814104538946133 Centerline is valid? [True, True] Translation: X:179.13, Y:-34.24, Z:-2.92 [[ 9.12996820e-01 4.07698970e-01 1.47768744e-02 1.79127530e+02] [-4.07635563e-01 9.13116222e-01 -7.21194672e-03 -3.42373554e+01] [-1.64333070e-02 5.60904903e-04 9.99864807e-01 -2.92003720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.786559995 meters 0.022698434998298968 Centerline is valid? [True, True] Translation: X:179.18, Y:-34.26, Z:-2.92 [[ 9.17536467e-01 3.97364159e-01 1.51180731e-02 1.79182613e+02] [-3.97296383e-01 9.17660690e-01 -7.37847293e-03 -3.42632061e+01] [-1.68052021e-02 7.63662230e-04 9.99858491e-01 -2.92106262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.846559995 meters 0.022698434998298968 Centerline is valid? [True, True] Translation: X:179.24, Y:-34.29, Z:-2.92 [[ 9.17427000e-01 3.97616835e-01 1.51179140e-02 1.79238782e+02] [-3.97549088e-01 9.17551239e-01 -7.37879881e-03 -3.42907020e+01] [-1.68053953e-02 7.59396343e-04 9.99858491e-01 -2.92205425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.906559995 meters 0.022084151433087944 Centerline is valid? [True, True] Translation: X:179.30, Y:-34.32, Z:-2.92 [[ 9.18056463e-01 3.96138722e-01 1.56985307e-02 1.79295561e+02] [-3.96065365e-01 9.18190306e-01 -7.66736157e-03 -3.43160623e+01] [-1.74515775e-02 8.21426550e-04 9.99847372e-01 -2.92322050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96655999499998 meters 0.02253574648042686 Centerline is valid? [True, True] Translation: X:179.35, Y:-34.34, Z:-2.92 [[ 9.19152141e-01 3.93576749e-01 1.60213514e-02 1.79352489e+02] [-3.93499931e-01 9.19291331e-01 -7.82638130e-03 -3.43391476e+01] [-1.78085712e-02 8.89234466e-04 9.99841019e-01 -2.92413059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02655999499999 meters 0.02448025032203389 Centerline is valid? [True, True] Translation: X:179.41, Y:-34.37, Z:-2.93 [[ 9.19696437e-01 3.92318082e-01 1.56520098e-02 1.79407603e+02] [-3.92244570e-01 9.19829182e-01 -7.64678286e-03 -3.43654673e+01] [-1.73971465e-02 8.93303113e-04 9.99848259e-01 -2.92545879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.086559995 meters 0.025397634871774415 Centerline is valid? [True, True] Translation: X:179.46, Y:-34.39, Z:-2.93 [[ 9.20536112e-01 3.90333881e-01 1.58974074e-02 1.79463132e+02] [-3.90257709e-01 9.20672886e-01 -7.76897915e-03 -3.43907694e+01] [-1.76688077e-02 9.47540076e-04 9.99843445e-01 -2.92708071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.146559995 meters 0.027396355934864388 Centerline is valid? [True, True] Translation: X:179.52, Y:-34.42, Z:-2.93 [[ 9.22450010e-01 3.85812976e-01 1.53077298e-02 1.79517622e+02] [-3.85741714e-01 9.22576476e-01 -7.48169869e-03 -3.44176006e+01] [-1.70090879e-02 9.96663094e-04 9.99854838e-01 -2.92927691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.206559995 meters 0.028761113022046498 Centerline is valid? [True, True] Translation: X:179.57, Y:-34.44, Z:-2.93 [[ 9.23974361e-01 3.82144230e-01 1.54002576e-02 1.79572669e+02] [-3.82071594e-01 9.24102073e-01 -7.52703090e-03 -3.44441406e+01] [-1.71078214e-02 1.07078259e-03 9.99853077e-01 -2.93033870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.266559995 meters 0.02853657075170037 Centerline is valid? [True, True] Translation: X:179.63, Y:-34.47, Z:-2.93 [[ 9.25543227e-01 3.78322270e-01 1.55562225e-02 1.79629658e+02] [-3.78247609e-01 9.25673231e-01 -7.60368284e-03 -3.44662287e+01] [-1.72766213e-02 1.15343317e-03 9.99850083e-01 -2.93123014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.326559995 meters 0.026748628224926827 Centerline is valid? [True, True] Translation: X:179.69, Y:-34.49, Z:-2.93 [[ 9.25626208e-01 3.78087846e-01 1.63004397e-02 1.79687637e+02] [-3.78005822e-01 9.25768927e-01 -7.96817055e-03 -3.44885428e+01] [-1.81031090e-02 1.21388639e-03 9.99835388e-01 -2.93159851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.386559995 meters 0.02816560069593218 Centerline is valid? [True, True] Translation: X:179.74, Y:-34.51, Z:-2.93 [[ 9.24580576e-01 3.80628904e-01 1.65043979e-02 1.79742675e+02] [-3.80545134e-01 9.24727116e-01 -8.07233305e-03 -3.45125608e+01] [-1.83346276e-02 1.18285403e-03 9.99831207e-01 -2.93228239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.446559995 meters 0.02711031814514221 Centerline is valid? [True, True] Translation: X:179.80, Y:-34.53, Z:-2.93 [[ 9.23292112e-01 3.83759491e-01 1.61346931e-02 1.79799161e+02] [-3.83679907e-01 9.23432430e-01 -7.89155040e-03 -3.45349972e+01] [-1.79277562e-02 1.09564871e-03 9.99838685e-01 -2.93403099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.506559995 meters 0.025655980815610557 Centerline is valid? [True, True] Translation: X:179.86, Y:-34.55, Z:-2.94 [[ 9.21882275e-01 3.87174495e-01 1.51321393e-02 1.79857421e+02] [-3.87104947e-01 9.22005953e-01 -7.40148422e-03 -3.45532211e+01] [-1.68175884e-02 9.65571125e-04 9.99858108e-01 -2.93611288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.566559995 meters 0.026232689872598785 Centerline is valid? [True, True] Translation: X:179.91, Y:-34.58, Z:-2.94 [[ 9.21192857e-01 3.88798109e-01 1.54838764e-02 1.79914712e+02] [-3.88725517e-01 9.21322481e-01 -7.57358039e-03 -3.45758415e+01] [-1.72102371e-02 9.57750312e-04 9.99851434e-01 -2.93685770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.626559995 meters 0.02545017794061258 Centerline is valid? [True, True] Translation: X:179.97, Y:-34.60, Z:-2.94 [[ 9.20824773e-01 3.89654368e-01 1.58496370e-02 1.79972381e+02] [-3.89578413e-01 9.20960663e-01 -7.75359419e-03 -3.45986657e+01] [-1.76181140e-02 9.65025176e-04 9.99844323e-01 -2.93752391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.686559995 meters 0.027748273619696395 Centerline is valid? [True, True] Translation: X:180.03, Y:-34.62, Z:-2.94 [[ 9.20497813e-01 3.90464604e-01 1.48717518e-02 1.80028333e+02] [-3.90397771e-01 9.20617506e-01 -7.27926860e-03 -3.46224886e+01] [-1.65334918e-02 8.94652087e-04 9.99862912e-01 -2.93890884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74655999499998 meters 0.027341711042394874 Centerline is valid? [True, True] Translation: X:180.08, Y:-34.64, Z:-2.94 [[ 9.20113381e-01 3.91390805e-01 1.43039782e-02 1.80083985e+02] [-3.91329081e-01 9.20224170e-01 -7.00193882e-03 -3.46448458e+01] [-1.59033609e-02 8.45014960e-04 9.99873176e-01 -2.94079316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.806559995 meters 0.024407533420755547 Centerline is valid? [True, True] Translation: X:180.14, Y:-34.66, Z:-2.94 [[ 9.19045550e-01 3.93943673e-01 1.27929265e-02 1.80142092e+02] [-3.93894555e-01 9.19134305e-01 -6.26176209e-03 -3.46625060e+01] [-1.42251991e-02 7.15780514e-04 9.99898561e-01 -2.94317931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.866559995 meters 0.02203693837308635 Centerline is valid? [True, True] Translation: X:180.20, Y:-34.68, Z:-2.94 [[ 9.17733279e-01 3.97006105e-01 1.23199534e-02 1.80199401e+02] [-3.96960830e-01 9.17815743e-01 -6.02999942e-03 -3.46819673e+01] [-1.37013938e-02 6.43392195e-04 9.99905925e-01 -2.94407120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.926559995 meters 0.02133184515739342 Centerline is valid? [True, True] Translation: X:180.26, Y:-34.70, Z:-2.95 [[ 9.16158359e-01 4.00658239e-01 1.12621644e-02 1.80255285e+02] [-4.00620682e-01 9.16227420e-01 -5.51210572e-03 -3.47035761e+01] [-1.25271744e-02 5.38105748e-04 9.99921387e-01 -2.94522027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.986559995 meters 0.020474330994507264 Centerline is valid? [True, True] Translation: X:180.31, Y:-34.73, Z:-2.95 [[ 9.14676334e-01 4.04055271e-01 1.03219443e-02 1.80311599e+02] [-4.04023944e-01 9.14734462e-01 -5.05144931e-03 -3.47257095e+01] [-1.14829029e-02 4.50128486e-04 9.99933968e-01 -2.94602187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.046559995 meters 0.020205520809216376 Centerline is valid? [True, True] Translation: X:180.37, Y:-34.75, Z:-2.95 [[ 9.13866058e-01 4.05890480e-01 1.00869373e-02 1.80365285e+02] [-4.05860673e-01 9.13921629e-01 -4.93658756e-03 -3.47479787e+01] [-1.12223840e-02 4.17488670e-04 9.99936940e-01 -2.94628253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.106559995 meters 0.0204393261272651 Centerline is valid? [True, True] Translation: X:180.42, Y:-34.77, Z:-2.95 [[ 9.14232661e-01 4.05062974e-01 1.01305938e-02 1.80419088e+02] [-4.05032871e-01 9.14288687e-01 -4.95675113e-03 -3.47711450e+01] [-1.12700837e-02 4.28400267e-04 9.99936399e-01 -2.94654291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.166559995 meters 0.020254729453231018 Centerline is valid? [True, True] Translation: X:180.47, Y:-34.80, Z:-2.95 [[ 9.14758909e-01 4.03870713e-01 1.02267177e-02 1.80472975e+02] [-4.03839972e-01 9.14815964e-01 -5.00290653e-03 -3.47954473e+01] [-1.13760920e-02 4.46495942e-04 9.99935190e-01 -2.94753705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.226559995 meters 0.020973712470052995 Centerline is valid? [True, True] Translation: X:180.53, Y:-34.82, Z:-2.95 [[ 9.15487140e-01 4.02212309e-01 1.04189801e-02 1.80526934e+02] [-4.02180305e-01 9.15546303e-01 -5.09603006e-03 -3.48198771e+01] [-1.15887447e-02 4.75041385e-04 9.99932735e-01 -2.94818596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.286559995 meters 0.020671618933924676 Centerline is valid? [True, True] Translation: X:180.58, Y:-34.84, Z:-2.95 [[ 9.15753254e-01 4.01623006e-01 9.74361726e-03 1.80581007e+02] [-4.01594992e-01 9.15804978e-01 -4.76492553e-03 -3.48438043e+01] [-1.08369569e-02 4.50508163e-04 9.99941177e-01 -2.94904670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.346559995 meters 0.02068537835958589 Centerline is valid? [True, True] Translation: X:180.63, Y:-34.87, Z:-2.95 [[ 9.15683828e-01 4.01798223e-01 9.01749537e-03 1.80634810e+02] [-4.01774244e-01 9.15728135e-01 -4.40913015e-03 -3.48678603e+01] [-1.00291549e-02 4.14371789e-04 9.99949621e-01 -2.95048691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.406559995 meters 0.019888774975568957 Centerline is valid? [True, True] Translation: X:180.69, Y:-34.89, Z:-2.95 [[ 9.15156301e-01 4.03009722e-01 8.49165868e-03 1.80689046e+02] [-4.02988517e-01 9.15195619e-01 -4.15135845e-03 -3.48902800e+01] [-9.44456664e-03 3.77100912e-04 9.99955328e-01 -2.95116805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46655999499998 meters 0.020046133645678185 Centerline is valid? [True, True] Translation: X:180.74, Y:-34.91, Z:-2.95 [[ 9.14452875e-01 4.04603366e-01 8.48857896e-03 1.80742437e+02] [-4.04582252e-01 9.14492202e-01 -4.14909668e-03 -3.49142587e+01] [-9.44147774e-03 3.59824995e-04 9.99955364e-01 -2.95231313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52655999499999 meters 0.01929650740672323 Centerline is valid? [True, True] Translation: X:180.80, Y:-34.94, Z:-2.95 [[ 9.12834214e-01 4.08248364e-01 8.18351945e-03 1.80796918e+02] [-4.08228895e-01 9.12870844e-01 -3.99905391e-03 -3.49382672e+01] [-9.10310352e-03 3.09724134e-04 9.99958518e-01 -2.95390247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.586559995 meters 0.01743520127634371 Centerline is valid? [True, True] Translation: X:180.85, Y:-34.96, Z:-2.95 [[ 9.11131599e-01 4.12046974e-01 7.51663389e-03 1.80852633e+02] [-4.12030681e-01 9.11162570e-01 -3.67275119e-03 -3.49607134e+01] [-8.36222146e-03 2.49275882e-04 9.99965005e-01 -2.95447783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.646559995 meters 0.016464931558011372 Centerline is valid? [True, True] Translation: X:180.91, Y:-34.98, Z:-2.96 [[ 9.10164074e-01 4.14197145e-01 6.48711649e-03 1.80907019e+02] [-4.14185057e-01 9.10187170e-01 -3.17065689e-03 -3.49842703e+01] [-7.21776723e-03 1.98951275e-04 9.99973932e-01 -2.95552952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.706559995 meters 0.01617454161123323 Centerline is valid? [True, True] Translation: X:180.96, Y:-35.01, Z:-2.96 [[ 9.09910981e-01 4.14755450e-01 6.31847482e-03 1.80959662e+02] [-4.14744006e-01 9.09932900e-01 -3.08675974e-03 -3.50095147e+01] [-7.02963854e-03 1.88127022e-04 9.99975274e-01 -2.95583543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.766559995 meters 0.017336995320588744 Centerline is valid? [True, True] Translation: X:181.01, Y:-35.04, Z:-2.96 [[ 9.10859240e-01 4.12641625e-01 7.89516902e-03 1.81010246e+02] [-4.12623685e-01 9.10893421e-01 -3.85615197e-03 -3.50379495e+01] [-8.78286634e-03 2.54677914e-04 9.99961397e-01 -2.95518470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.826559995 meters 0.017021520893303225 Centerline is valid? [True, True] Translation: X:181.06, Y:-35.06, Z:-2.95 [[ 9.11159787e-01 4.11960623e-01 8.73429581e-03 1.81062678e+02] [-4.11938648e-01 9.11201604e-01 -4.26475180e-03 -3.50637384e+01] [-9.71561416e-03 2.87876342e-04 9.99952761e-01 -2.95455748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.886559995 meters 0.015721684134083005 Centerline is valid? [True, True] Translation: X:181.12, Y:-35.09, Z:-2.95 [[ 9.10152868e-01 4.14172617e-01 9.09950452e-03 1.81116509e+02] [-4.14148884e-01 9.10198313e-01 -4.44223162e-03 -3.50877689e+01] [-1.01222044e-02 2.74560201e-04 9.99948731e-01 -2.95487973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.946559995 meters 0.014847023086655265 Centerline is valid? [True, True] Translation: X:181.17, Y:-35.11, Z:-2.96 [[ 9.08568461e-01 4.17649241e-01 8.51254818e-03 1.81169950e+02] [-4.17628630e-01 9.08608311e-01 -4.15501363e-03 -3.51126648e+01] [-9.46991032e-03 2.20030498e-04 9.99955135e-01 -2.95594746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.006559995 meters 0.013198736020006199 Centerline is valid? [True, True] Translation: X:181.22, Y:-35.14, Z:-2.96 [[ 9.04798659e-01 4.25761306e-01 8.16688788e-03 1.81223402e+02] [-4.25742673e-01 9.04835507e-01 -3.98531016e-03 -3.51368271e+01] [-9.08648099e-03 1.28910608e-04 9.99958709e-01 -2.95712620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.066559995 meters 0.012093233115857542 Centerline is valid? [True, True] Translation: X:181.28, Y:-35.16, Z:-2.96 [[ 9.01629120e-01 4.32422682e-01 8.69212483e-03 1.81277421e+02] [-4.32401885e-01 9.01671015e-01 -4.24154436e-03 -3.51602157e+01] [-9.67157701e-03 6.58087530e-05 9.99953227e-01 -2.95720022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.126559995 meters 0.011858129215732418 Centerline is valid? [True, True] Translation: X:181.33, Y:-35.18, Z:-2.96 [[ 8.96809346e-01 4.42318743e-01 9.33413992e-03 1.81331476e+02] [-4.42295291e-01 8.96857920e-01 -4.55497734e-03 -3.51823477e+01] [-1.03861492e-02 -4.34998812e-05 9.99946062e-01 -2.95796894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.186559995 meters 0.01244912135912153 Centerline is valid? [True, True] Translation: X:181.38, Y:-35.21, Z:-2.96 [[ 8.94262667e-01 4.47448496e-01 9.17198158e-03 1.81383998e+02] [-4.47426148e-01 8.94309696e-01 -4.47318001e-03 -3.52085080e+01] [-1.02041097e-02 -1.03586500e-04 9.99947931e-01 -2.95916569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24655999499998 meters 0.013653171063936558 Centerline is valid? [True, True] Translation: X:181.44, Y:-35.23, Z:-2.96 [[ 8.92268991e-01 4.51421027e-01 8.66625704e-03 1.81435926e+02] [-4.51401297e-01 8.92311064e-01 -4.22301599e-03 -3.52340376e+01] [-9.63935525e-03 -1.43893453e-04 9.99953530e-01 -2.96176722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.306559995 meters 0.014007907693812476 Centerline is valid? [True, True] Translation: X:181.49, Y:-35.27, Z:-2.96 [[ 8.90857340e-01 4.54206670e-01 8.33666620e-03 1.81486160e+02] [-4.54188531e-01 8.90896331e-01 -4.06273245e-03 -3.52658005e+01] [-9.27242551e-03 -1.67103144e-04 9.99956996e-01 -2.96302035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.366559995 meters 0.013558080779845681 Centerline is valid? [True, True] Translation: X:181.53, Y:-35.30, Z:-2.96 [[ 8.91940188e-01 4.52079415e-01 8.17949907e-03 1.81534464e+02] [-4.52061885e-01 8.91977680e-01 -3.98374859e-03 -3.53016814e+01] [-9.09690134e-03 -1.44374306e-04 9.99958612e-01 -2.96332942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.426559995 meters 0.013075152395788004 Centerline is valid? [True, True] Translation: X:181.58, Y:-35.33, Z:-2.96 [[ 8.93613726e-01 4.48749651e-01 8.84639236e-03 1.81582641e+02] [-4.48729021e-01 8.93657505e-01 -4.30470462e-03 -3.53348841e+01] [-9.83737962e-03 -1.22889840e-04 9.99951604e-01 -2.96410577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.486559995 meters 0.012348009133956258 Centerline is valid? [True, True] Translation: X:181.63, Y:-35.37, Z:-2.96 [[ 8.96146938e-01 4.43653953e-01 9.58305446e-03 1.81627302e+02] [-4.43629472e-01 8.96198173e-01 -4.66122999e-03 -3.53748281e+01] [-1.06562890e-02 -7.41784046e-05 9.99943217e-01 -2.96480347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.546559995 meters 0.011949472759282806 Centerline is valid? [True, True] Translation: X:181.68, Y:-35.41, Z:-2.97 [[ 8.97140325e-01 4.41627067e-01 1.02357917e-02 1.81675779e+02] [-4.41599020e-01 8.97198713e-01 -4.97748590e-03 -3.54096754e+01] [-1.13817316e-02 -5.46122493e-05 9.99935225e-01 -2.96514408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.606559995 meters 0.011928560670081724 Centerline is valid? [True, True] Translation: X:181.73, Y:-35.44, Z:-2.97 [[ 8.97317090e-01 4.41253292e-01 1.08430237e-02 1.81725132e+02] [-4.41221803e-01 8.97382599e-01 -5.27175359e-03 -3.54433601e+01] [-1.20565195e-02 -5.37438974e-05 9.99927316e-01 -2.96617017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.666559995 meters 0.012190235159205505 Centerline is valid? [True, True] Translation: X:181.77, Y:-35.48, Z:-2.97 [[ 8.96543569e-01 4.42847498e-01 9.78374654e-03 1.81772230e+02] [-4.42821963e-01 8.96596949e-01 -4.75610928e-03 -3.54795848e+01] [-1.08783084e-02 -6.83986581e-05 9.99940827e-01 -2.96844636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.726559995 meters 0.0123380203503378 Centerline is valid? [True, True] Translation: X:181.82, Y:-35.51, Z:-2.97 [[ 8.95703254e-01 4.44550004e-01 9.53809660e-03 1.81821191e+02] [-4.44525843e-01 8.95754032e-01 -4.63562294e-03 -3.55127945e+01] [-1.06045547e-02 -8.77878816e-05 9.99943766e-01 -2.96890064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.786559995 meters 0.012350947968890297 Centerline is valid? [True, True] Translation: X:181.87, Y:-35.55, Z:-2.97 [[ 8.95140599e-01 4.45647564e-01 1.10252319e-02 1.81871305e+02] [-4.45615394e-01 8.95208486e-01 -5.35598251e-03 -3.55515175e+01] [-1.22567617e-02 -1.18655664e-04 9.99924876e-01 -2.96853259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.846559995 meters 0.012583252746279442 Centerline is valid? [True, True] Translation: X:181.92, Y:-35.59, Z:-2.97 [[ 8.95054764e-01 4.45789243e-01 1.22032449e-02 1.81921872e+02] [-4.45749788e-01 8.95137941e-01 -5.93236705e-03 -3.55913123e+01] [-1.35681729e-02 -1.29800418e-04 9.99907940e-01 -2.96942705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.906559995 meters 0.012469775313965308 Centerline is valid? [True, True] Translation: X:181.98, Y:-35.62, Z:-2.97 [[ 8.95162564e-01 4.45578103e-01 1.20057520e-02 1.81976662e+02] [-4.45539840e-01 8.95243062e-01 -5.84047587e-03 -3.56234053e+01] [-1.33504543e-02 -1.20865448e-04 9.99910871e-01 -2.97089272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96655999499998 meters 0.012428260011332175 Centerline is valid? [True, True] Translation: X:182.03, Y:-35.66, Z:-2.97 [[ 8.95422694e-01 4.45079730e-01 1.10558487e-02 1.82028829e+02] [-4.45047203e-01 8.95490940e-01 -5.38184354e-03 -3.56594730e+01] [-1.22957618e-02 -1.01349699e-04 9.99924399e-01 -2.97340129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02655999499999 meters 0.012345476830170083 Centerline is valid? [True, True] Translation: X:182.08, Y:-35.70, Z:-2.98 [[ 8.95864439e-01 4.44224291e-01 9.57530174e-03 1.82078905e+02] [-4.44199815e-01 8.95915606e-01 -4.66376976e-03 -3.56998794e+01] [-1.06504221e-02 -7.52417860e-05 9.99943280e-01 -2.97625101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.086559995 meters 0.012387986712889694 Centerline is valid? [True, True] Translation: X:182.13, Y:-35.74, Z:-2.98 [[ 8.95455139e-01 4.45051630e-01 9.44142437e-03 1.82131225e+02] [-4.45027846e-01 8.95504908e-01 -4.60176411e-03 -3.57357457e+01] [-1.05028645e-02 -8.10234375e-05 9.99944840e-01 -2.97716513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.146559995 meters 0.01280512092840737 Centerline is valid? [True, True] Translation: X:182.18, Y:-35.77, Z:-2.98 [[ 8.94404783e-01 4.47142851e-01 1.01663284e-02 1.82181372e+02] [-4.47115363e-01 8.94462553e-01 -4.95916041e-03 -3.57736711e+01] [-1.13108532e-02 -1.10024834e-04 9.99936024e-01 -2.97753963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.206559995 meters 0.013187965834119174 Centerline is valid? [True, True] Translation: X:182.23, Y:-35.81, Z:-2.98 [[ 8.93526179e-01 4.48877619e-01 1.09476516e-02 1.82233738e+02] [-4.48845830e-01 8.93593232e-01 -5.34390717e-03 -3.58077218e+01] [-1.21815077e-02 -1.38886802e-04 9.99925793e-01 -2.97818401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.266559995 meters 0.013545502488319854 Centerline is valid? [True, True] Translation: X:182.28, Y:-35.85, Z:-2.98 [[ 8.92559104e-01 4.50776278e-01 1.17895515e-02 1.82283519e+02] [-4.50739526e-01 8.92636946e-01 -5.75867403e-03 -3.58466655e+01] [-1.31196628e-02 -1.74059908e-04 9.99913918e-01 -2.97967689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.326559995 meters 0.01329727212454587 Centerline is valid? [True, True] Translation: X:182.33, Y:-35.88, Z:-2.98 [[ 8.92873231e-01 4.50154162e-01 1.17738681e-02 1.82334495e+02] [-4.50117408e-01 8.92950841e-01 -5.75453579e-03 -3.58827899e+01] [-1.31039137e-02 -1.61552036e-04 9.99914127e-01 -2.98074741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.386559995 meters 0.012844516703442175 Centerline is valid? [True, True] Translation: X:182.38, Y:-35.92, Z:-2.98 [[ 8.94242167e-01 4.47447229e-01 1.10419406e-02 1.82384018e+02] [-4.47414658e-01 8.94310329e-01 -5.39989668e-03 -3.59232444e+01] [-1.22910904e-02 -1.11510784e-04 9.99924455e-01 -2.98157130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.446559995 meters 0.01263247304590001 Centerline is valid? [True, True] Translation: X:182.44, Y:-35.96, Z:-2.98 [[ 8.94914682e-01 4.46079696e-01 1.18582235e-02 1.82435284e+02] [-4.46041959e-01 8.94993238e-01 -5.80299799e-03 -3.59591142e+01] [-1.32016295e-02 -9.60771653e-05 9.99912850e-01 -2.98168413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.506559995 meters 0.012351496651990503 Centerline is valid? [True, True] Translation: X:182.48, Y:-36.00, Z:-2.98 [[ 8.97690171e-01 4.40437336e-01 1.29348463e-02 1.82483712e+02] [-4.40391787e-01 8.97783355e-01 -6.33416251e-03 -3.60014152e+01] [-1.44024914e-02 -1.02846509e-05 9.99896279e-01 -2.98139858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.566559995 meters 0.012996004532523881 Centerline is valid? [True, True] Translation: X:182.53, Y:-36.04, Z:-2.98 [[ 9.01414108e-01 4.32792133e-01 1.19822850e-02 1.82533761e+02] [-4.32752323e-01 9.01493737e-01 -5.87105753e-03 -3.60399959e+01] [-1.33429024e-02 1.06892414e-04 9.99910974e-01 -2.98365489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.626559995 meters 0.015883423464537576 Centerline is valid? [True, True] Translation: X:182.58, Y:-36.08, Z:-2.99 [[ 9.06068763e-01 4.22990195e-01 1.08945463e-02 1.82580546e+02] [-4.22956529e-01 9.06134229e-01 -5.34166515e-03 -3.60804664e+01] [-1.21313933e-02 2.31996456e-04 9.99926385e-01 -2.98589710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.686559995 meters 0.019145363687574905 Centerline is valid? [True, True] Translation: X:182.63, Y:-36.12, Z:-2.98 [[ 9.12352680e-01 4.09248545e-01 1.13232226e-02 1.82627064e+02] [-4.09211097e-01 9.12422841e-01 -5.55314416e-03 -3.61236270e+01] [-1.26041831e-02 4.32837610e-04 9.99920470e-01 -2.98453219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74655999499998 meters 0.020426011563466136 Centerline is valid? [True, True] Translation: X:182.68, Y:-36.16, Z:-2.98 [[ 9.15006304e-01 4.03230869e-01 1.29742149e-02 1.82678057e+02] [-4.03181086e-01 9.15098091e-01 -6.36366304e-03 -3.61575423e+01] [-1.44387047e-02 5.91833734e-04 9.99895581e-01 -2.98323819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.806559995 meters 0.02246452024880449 Centerline is valid? [True, True] Translation: X:182.73, Y:-36.19, Z:-2.98 [[ 9.16581420e-01 3.99585339e-01 1.44933599e-02 1.82728105e+02] [-3.99522752e-01 9.16695713e-01 -7.10919650e-03 -3.61917292e+01] [-1.61267316e-02 7.25730385e-04 9.99869692e-01 -2.98275376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.866559995 meters 0.02176890066925498 Centerline is valid? [True, True] Translation: X:182.78, Y:-36.22, Z:-2.98 [[ 9.15951372e-01 4.01027709e-01 1.44865838e-02 1.82783605e+02] [-4.00965337e-01 9.16065655e-01 -7.10730040e-03 -3.62198168e+01] [-1.61208863e-02 7.01323586e-04 9.99869804e-01 -2.98381634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.926559995 meters 0.019440352562238753 Centerline is valid? [True, True] Translation: X:182.84, Y:-36.24, Z:-2.99 [[ 9.12308758e-01 4.09282644e-01 1.34330458e-02 1.82840343e+02] [-4.09229845e-01 9.12407501e-01 -6.59437688e-03 -3.62425241e+01] [-1.49553758e-02 5.18904531e-04 9.99888027e-01 -2.98660153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.986559995 meters 0.014959100731723142 Centerline is valid? [True, True] Translation: X:182.90, Y:-36.26, Z:-2.99 [[ 9.06436599e-01 4.22192926e-01 1.12171593e-02 1.82900308e+02] [-4.22157090e-01 9.06505967e-01 -5.50670889e-03 -3.62591638e+01] [-1.24933153e-02 2.56079169e-04 9.99921923e-01 -2.98950090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.046559995 meters 0.013527738016042484 Centerline is valid? [True, True] Translation: X:182.96, Y:-36.28, Z:-2.99 [[ 9.02728223e-01 4.30098386e-01 9.85562615e-03 1.82958051e+02] [-4.30071187e-01 9.02782012e-01 -4.83869349e-03 -3.62820079e+01] [-1.09785963e-02 1.29404340e-04 9.99939725e-01 -2.99203597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.106559995 meters 0.01287295729468825 Centerline is valid? [True, True] Translation: X:183.02, Y:-36.31, Z:-2.99 [[ 9.00310472e-01 4.35166553e-01 8.43358168e-03 1.83015691e+02] [-4.35146867e-01 9.00349970e-01 -4.13956840e-03 -3.63063204e+01] [-9.39457672e-03 5.70501346e-05 9.99955868e-01 -2.99434288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.166559995 meters 0.012747150772195804 Centerline is valid? [True, True] Translation: X:183.07, Y:-36.33, Z:-3.00 [[ 8.99115720e-01 4.37647706e-01 7.44364474e-03 1.83071411e+02] [-4.37632434e-01 8.99146531e-01 -3.65633857e-03 -3.63313131e+01] [-8.29311554e-03 2.98911254e-05 9.99965611e-01 -2.99663193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.226559995 meters 0.012788486273445632 Centerline is valid? [True, True] Translation: X:183.13, Y:-36.36, Z:-3.00 [[ 8.99434608e-01 4.37000283e-01 6.93815274e-03 1.83126592e+02] [-4.36986997e-01 8.99461367e-01 -3.40777107e-03 -3.63608668e+01] [-7.72979728e-03 3.31847065e-05 9.99970124e-01 -2.99809223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.286559995 meters 0.01327322608587026 Centerline is valid? [True, True] Translation: X:183.18, Y:-36.39, Z:-3.00 [[ 9.00974867e-01 4.33840791e-01 5.14372350e-03 1.83179444e+02] [-4.33833431e-01 9.00989548e-01 -2.52734143e-03 -3.63949023e+01] [-5.73090492e-03 4.55518945e-05 9.99983577e-01 -3.00050122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.346559995 meters 0.013611464822560372 Centerline is valid? [True, True] Translation: X:183.23, Y:-36.43, Z:-3.00 [[ 9.02045113e-01 4.31625755e-01 3.71767301e-03 1.83233043e+02] [-4.31621892e-01 9.02052773e-01 -1.82653760e-03 -3.64265469e+01] [-4.14191792e-03 4.29902597e-05 9.99991421e-01 -3.00210297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.406559995 meters 0.013649940020243154 Centerline is valid? [True, True] Translation: X:183.29, Y:-36.46, Z:-3.00 [[ 9.02365830e-01 4.30958224e-01 3.30411740e-03 1.83286030e+02] [-4.30955167e-01 9.02371879e-01 -1.62383716e-03 -3.64586010e+01] [-3.68134860e-03 4.13687016e-05 9.99993223e-01 -3.00234319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46655999499998 meters 0.013475422273362939 Centerline is valid? [True, True] Translation: X:183.34, Y:-36.49, Z:-3.00 [[ 9.01515091e-01 4.32734592e-01 3.36363594e-03 1.83339573e+02] [-4.32731431e-01 9.01521365e-01 -1.65423704e-03 -3.64901080e+01] [-3.74823526e-03 3.57686604e-05 9.99992975e-01 -3.00229585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52655999499999 meters 0.013408860502677665 Centerline is valid? [True, True] Translation: X:183.39, Y:-36.52, Z:-3.00 [[ 9.01027094e-01 4.33742510e-01 4.19642629e-03 1.83392696e+02] [-4.33737585e-01 9.01036865e-01 -2.06745694e-03 -3.65209108e+01] [-4.67787876e-03 4.26869140e-05 9.99989058e-01 -3.00278520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.586559995 meters 0.012963288259972542 Centerline is valid? [True, True] Translation: X:183.45, Y:-36.55, Z:-3.00 [[ 9.00441975e-01 4.34932341e-01 6.17317382e-03 1.83446860e+02] [-4.34921703e-01 9.00463134e-01 -3.04245971e-03 -3.65515261e+01] [-6.88197957e-03 5.47111613e-05 9.99976317e-01 -3.00157815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.646559995 meters 0.012687911821221129 Centerline is valid? [True, True] Translation: X:183.50, Y:-36.58, Z:-3.00 [[ 8.99221344e-01 4.37410399e-01 8.55086728e-03 1.83499043e+02] [-4.37390052e-01 8.99261997e-01 -4.21932367e-03 -3.65837065e+01] [-9.53504604e-03 5.40416198e-05 9.99954539e-01 -3.00177943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.706559995 meters 0.012300357447964948 Centerline is valid? [True, True] Translation: X:183.55, Y:-36.61, Z:-3.00 [[ 8.98026996e-01 4.39837041e-01 9.53371297e-03 1.83553627e+02] [-4.39811870e-01 8.98077600e-01 -4.70559142e-03 -3.66127157e+01] [-1.06317075e-02 3.27080012e-05 9.99943481e-01 -3.00116361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.766559995 meters 0.01223748646823628 Centerline is valid? [True, True] Translation: X:183.61, Y:-36.64, Z:-3.00 [[ 8.97172282e-01 4.41559684e-01 1.03412957e-02 1.83609721e+02] [-4.41530143e-01 8.97231879e-01 -5.10754416e-03 -3.66417924e+01] [-1.15338257e-02 1.63532896e-05 9.99933483e-01 -3.00163902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.826559995 meters 0.01223126970171109 Centerline is valid? [True, True] Translation: X:183.66, Y:-36.67, Z:-3.00 [[ 8.94011203e-01 4.47914226e-01 1.08080616e-02 1.83664545e+02] [-4.47882372e-01 8.94076530e-01 -5.34218789e-03 -3.66705059e+01] [-1.20560762e-02 -6.47644669e-05 9.99927321e-01 -3.00221402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.886559995 meters 0.01274467217020842 Centerline is valid? [True, True] Translation: X:183.72, Y:-36.70, Z:-3.00 [[ 8.92101533e-01 4.51732440e-01 9.62588573e-03 1.83719582e+02] [-4.51707366e-01 8.92153458e-01 -4.76057083e-03 -3.66991543e+01] [-1.07382715e-02 -1.01170957e-04 9.99942338e-01 -3.00486889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.946559995 meters 0.013183905217337416 Centerline is valid? [True, True] Translation: X:183.77, Y:-36.73, Z:-3.01 [[ 8.90766903e-01 4.54422919e-01 5.84250789e-03 1.83772411e+02] [-4.54413731e-01 8.90786060e-01 -2.89074565e-03 -3.67312500e+01] [-6.51804566e-03 -7.99352603e-05 9.99978754e-01 -3.00987844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.006559995 meters 0.01292589079749746 Centerline is valid? [True, True] Translation: X:183.82, Y:-36.77, Z:-3.01 [[ 8.91696262e-01 4.52620088e-01 3.58218751e-03 1.83824973e+02] [-4.52616629e-01 8.91703456e-01 -1.77005293e-03 -3.67671772e+01] [-3.99541049e-03 -4.30080543e-05 9.99992017e-01 -3.01287916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.066559995 meters 0.012415671966698027 Centerline is valid? [True, True] Translation: X:183.88, Y:-36.80, Z:-3.01 [[ 8.93066433e-01 4.49908945e-01 3.77975583e-03 1.83877374e+02] [-4.49905061e-01 8.93074431e-01 -1.86972782e-03 -3.68021746e+01] [-4.21681056e-03 -3.07401238e-05 9.99991109e-01 -3.01318657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.126559995 meters 0.012178492883803233 Centerline is valid? [True, True] Translation: X:183.93, Y:-36.84, Z:-3.01 [[ 8.94608852e-01 4.46801432e-01 6.59412921e-03 1.83928440e+02] [-4.46789487e-01 8.94633154e-01 -3.26718445e-03 -3.68398962e+01] [-7.35910930e-03 -2.33354810e-05 9.99972921e-01 -3.01105738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.186559995 meters 0.012101169495028232 Centerline is valid? [True, True] Translation: X:183.98, Y:-36.87, Z:-3.01 [[ 8.94709097e-01 4.46574630e-01 8.16893656e-03 1.83981301e+02] [-4.46556256e-01 8.94746388e-01 -4.05102138e-03 -3.68726721e+01] [-9.11820985e-03 -2.34040427e-05 9.99958428e-01 -3.00990559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24655999499998 meters 0.012296655073110474 Centerline is valid? [True, True] Translation: X:184.04, Y:-36.90, Z:-3.01 [[ 8.92802397e-01 4.50335749e-01 1.00793806e-02 1.84038316e+02] [-4.50307970e-01 8.92859288e-01 -5.00238173e-03 -3.69000542e+01] [-1.12522199e-02 -7.26870238e-05 9.99936689e-01 -3.00957555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.306559995 meters 0.013474414159676864 Centerline is valid? [True, True] Translation: X:184.10, Y:-36.92, Z:-3.01 [[ 8.88596716e-01 4.58591950e-01 9.44987410e-03 1.84096544e+02] [-4.58567953e-01 8.88646948e-01 -4.69416841e-03 -3.69221286e+01] [-1.05503096e-02 -1.62186785e-04 9.99944331e-01 -3.01117682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.366559995 meters 0.014379314727957025 Centerline is valid? [True, True] Translation: X:184.15, Y:-36.95, Z:-3.01 [[ 8.86704339e-01 4.62270550e-01 7.83284442e-03 1.84153179e+02] [-4.62254214e-01 8.86738918e-01 -3.89014155e-03 -3.69462814e+01] [-8.74398586e-03 -1.71359945e-04 9.99961756e-01 -3.01422661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.426559995 meters 0.01513739626759368 Centerline is valid? [True, True] Translation: X:184.21, Y:-36.97, Z:-3.02 [[ 8.86293914e-01 4.63092756e-01 5.30999909e-03 1.84208829e+02] [-4.63085250e-01 8.86309813e-01 -2.63944728e-03 -3.69706088e+01] [-5.92861322e-03 -1.19656191e-04 9.99982418e-01 -3.01789318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.486559995 meters 0.014262695369139315 Centerline is valid? [True, True] Translation: X:184.27, Y:-37.00, Z:-3.02 [[ 8.86710863e-01 4.62299890e-01 4.76000762e-03 1.84265304e+02] [-4.62293858e-01 8.86723633e-01 -2.36385559e-03 -3.69974190e+01] [-5.31362143e-03 -1.04465859e-04 9.99985877e-01 -3.01849625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.546559995 meters 0.01413423134893692 Centerline is valid? [True, True] Translation: X:184.32, Y:-37.02, Z:-3.02 [[ 8.87194472e-01 4.61362049e-01 5.57029501e-03 1.84321360e+02] [-4.61353755e-01 8.87211952e-01 -2.76876374e-03 -3.70246025e+01] [-6.21943482e-03 -1.13444630e-04 9.99980653e-01 -3.01845224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.606559995 meters 0.01322501603463042 Centerline is valid? [True, True] Translation: X:184.38, Y:-37.05, Z:-3.02 [[ 8.88406579e-01 4.59022217e-01 5.68807781e-03 1.84375610e+02] [-4.59013509e-01 8.88424783e-01 -2.82907973e-03 -3.70542446e+01] [-6.35203975e-03 -9.75315162e-05 9.99979821e-01 -3.01857952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.666559995 meters 0.012055754080451054 Centerline is valid? [True, True] Translation: X:184.43, Y:-37.09, Z:-3.02 [[ 8.91794695e-01 4.52408525e-01 5.36187412e-03 1.84428755e+02] [-4.52400658e-01 8.91810812e-01 -2.66827916e-03 -3.70867133e+01] [-5.98892955e-03 -4.61581812e-05 9.99982065e-01 -3.02064651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.726559995 meters 0.0118068736151665 Centerline is valid? [True, True] Translation: X:184.48, Y:-37.12, Z:-3.02 [[ 8.93595934e-01 4.48842162e-01 5.19815502e-03 1.84482964e+02] [-4.48834700e-01 8.93611053e-01 -2.58826113e-03 -3.71180002e+01] [-5.80684950e-03 -2.02527280e-05 9.99983140e-01 -3.02208964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.786559995 meters 0.011845143250073234 Centerline is valid? [True, True] Translation: X:184.54, Y:-37.15, Z:-3.02 [[ 8.93493803e-01 4.49056428e-01 4.14108116e-03 1.84538918e+02] [-4.49051695e-01 8.93503399e-01 -2.06184767e-03 -3.71468710e+01] [-4.62595605e-03 -1.73113957e-05 9.99989300e-01 -3.02306709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.846559995 meters 0.012144191495176775 Centerline is valid? [True, True] Translation: X:184.60, Y:-37.17, Z:-3.03 [[ 8.92004422e-01 4.52012721e-01 3.55123263e-03 1.84595108e+02] [-4.52009254e-01 8.92011490e-01 -1.77070895e-03 -3.71723268e+01] [-3.96812328e-03 -2.57097981e-05 9.99992127e-01 -3.02514154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.906559995 meters 0.012858712482437787 Centerline is valid? [True, True] Translation: X:184.65, Y:-37.20, Z:-3.03 [[ 8.89411080e-01 4.57095005e-01 3.47670659e-03 1.84652203e+02] [-4.57091723e-01 8.89417874e-01 -1.73263371e-03 -3.71964590e+01] [-3.88422319e-03 -4.81501850e-05 9.99992455e-01 -3.02703654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96655999499998 meters 0.013745916803342821 Centerline is valid? [True, True] Translation: X:184.71, Y:-37.22, Z:-3.03 [[ 8.88591852e-01 4.58678220e-01 4.33720866e-03 1.84708121e+02] [-4.58673114e-01 8.88602435e-01 -2.16521098e-03 -3.72220783e+01] [-4.84718929e-03 -6.53721696e-05 9.99988250e-01 -3.02834899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02655999499999 meters 0.012833832760033435 Centerline is valid? [True, True] Translation: X:184.76, Y:-37.25, Z:-3.03 [[ 8.88856126e-01 4.58150778e-01 5.71421858e-03 1.84762307e+02] [-4.58141901e-01 8.88874490e-01 -2.85311731e-03 -3.72531021e+01] [-6.38638104e-03 -8.19121644e-05 9.99979604e-01 -3.02671436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.086559995 meters 0.012555896403872151 Centerline is valid? [True, True] Translation: X:184.82, Y:-37.28, Z:-3.03 [[ 8.89622487e-01 4.56657868e-01 5.95172351e-03 1.84816594e+02] [-4.56648191e-01 8.89642393e-01 -2.97371840e-03 -3.72824115e+01] [-6.65287745e-03 -7.23570154e-05 9.99977867e-01 -3.02793780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.146559995 meters 0.01233959524960955 Centerline is valid? [True, True] Translation: X:184.87, Y:-37.31, Z:-3.03 [[ 8.90496266e-01 4.54934544e-01 7.13869694e-03 1.84869668e+02] [-4.54920541e-01 8.90524877e-01 -3.57006660e-03 -3.73120004e+01] [-7.98133383e-03 -6.84089018e-05 9.99968146e-01 -3.02881764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.206559995 meters 0.01235294485785759 Centerline is valid? [True, True] Translation: X:184.93, Y:-37.34, Z:-3.03 [[ 8.90545391e-01 4.54826325e-01 7.86894210e-03 1.84925071e+02] [-4.54809284e-01 8.90580153e-01 -3.93779808e-03 -3.73404606e+01] [-8.79893789e-03 -7.20799884e-05 9.99961286e-01 -3.02952997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.266559995 meters 0.012429849116973328 Centerline is valid? [True, True] Translation: X:184.98, Y:-37.37, Z:-3.03 [[ 8.90448357e-01 4.55011102e-01 8.16218370e-03 1.84981325e+02] [-4.54992752e-01 8.90485762e-01 -4.08706105e-03 -3.73664559e+01] [-9.12796651e-03 -7.44176314e-05 9.99958336e-01 -3.03150368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.326559995 meters 0.012245659812463625 Centerline is valid? [True, True] Translation: X:185.04, Y:-37.39, Z:-3.03 [[ 8.90332343e-01 4.55239949e-01 8.05648326e-03 1.85038383e+02] [-4.55222061e-01 8.90368791e-01 -4.03637135e-03 -3.73937691e+01] [-9.01075875e-03 -7.37769498e-05 9.99959400e-01 -3.03342440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.386559995 meters 0.012217569867271955 Centerline is valid? [True, True] Translation: X:185.09, Y:-37.42, Z:-3.04 [[ 8.90934028e-01 4.54076626e-01 7.13974146e-03 1.85094630e+02] [-4.54062523e-01 8.90962634e-01 -3.57909524e-03 -3.74224080e+01] [-7.98642635e-03 -5.31512831e-05 9.99968107e-01 -3.03566069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.446559995 meters 0.012132156365871066 Centerline is valid? [True, True] Translation: X:185.15, Y:-37.45, Z:-3.04 [[ 8.91757313e-01 4.52461148e-01 6.91408875e-03 1.85149967e+02] [-4.52447855e-01 8.91784115e-01 -3.46836540e-03 -3.74526877e+01] [-7.73517511e-03 -3.53244176e-05 9.99970082e-01 -3.03639394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.506559995 meters 0.012148718637692497 Centerline is valid? [True, True] Translation: X:185.20, Y:-37.48, Z:-3.04 [[ 8.93601425e-01 4.48796410e-01 7.63380196e-03 1.85203608e+02] [-4.48780041e-01 8.93634031e-01 -3.83311484e-03 -3.74816658e+01] [-8.54211340e-03 -6.21070177e-07 9.99963515e-01 -3.03647946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.566559995 meters 0.012261814116630692 Centerline is valid? [True, True] Translation: X:185.26, Y:-37.51, Z:-3.04 [[ 8.95221422e-01 4.45532796e-01 8.89570290e-03 1.85259383e+02] [-4.45510378e-01 8.95265618e-01 -4.46959740e-03 -3.75102538e+01] [-9.95536917e-03 3.81513780e-05 9.99950443e-01 -3.03727771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.626559995 meters 0.01303196438796359 Centerline is valid? [True, True] Translation: X:185.31, Y:-37.54, Z:-3.04 [[ 8.98012010e-01 4.39843943e-01 1.05705626e-02 1.85312945e+02] [-4.39811835e-01 8.98074212e-01 -5.31592587e-03 -3.75413805e+01] [-1.18313274e-02 1.24706753e-04 9.99930000e-01 -3.03658024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.686559995 meters 0.013671313201400153 Centerline is valid? [True, True] Translation: X:185.37, Y:-37.57, Z:-3.04 [[ 8.99477365e-01 4.36833630e-01 1.08097436e-02 1.85366788e+02] [-4.36799794e-01 8.99542301e-01 -5.43956838e-03 -3.75718479e+01] [-1.21000080e-02 1.71074864e-04 9.99926778e-01 -3.03669366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74655999499998 meters 0.01429558845914471 Centerline is valid? [True, True] Translation: X:185.42, Y:-37.60, Z:-3.04 [[ 8.99942102e-01 4.35871888e-01 1.09503871e-02 1.85420547e+02] [-4.35837053e-01 9.00008701e-01 -5.51379617e-03 -3.76007806e+01] [-1.22587524e-02 1.89512862e-04 9.99924841e-01 -3.03752975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.806559995 meters 0.013445497198924253 Centerline is valid? [True, True] Translation: X:185.48, Y:-37.63, Z:-3.04 [[ 8.99253027e-01 4.37312943e-01 1.00689668e-02 1.85477829e+02] [-4.37283554e-01 8.99309382e-01 -5.07232270e-03 -3.76250508e+01] [-1.12733087e-02 1.58307934e-04 9.99936442e-01 -3.03947483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.866559995 meters 0.012704802603466367 Centerline is valid? [True, True] Translation: X:185.54, Y:-37.65, Z:-3.04 [[ 8.96983467e-01 4.41977120e-01 8.76844856e-03 1.85535637e+02] [-4.41955034e-01 8.97026319e-01 -4.41931806e-03 -3.76483944e+01] [-9.81876660e-03 8.87952532e-05 9.99951791e-01 -3.04160560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.926559995 meters 0.012111803403456163 Centerline is valid? [True, True] Translation: X:185.59, Y:-37.67, Z:-3.04 [[ 8.92757086e-01 4.50492454e-01 6.42921053e-03 1.85594772e+02] [-4.50480794e-01 8.92780235e-01 -3.24117731e-03 -3.76692674e+01] [-7.19999801e-03 -2.65185584e-06 9.99974080e-01 -3.04396033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.986559995 meters 0.012338180929225026 Centerline is valid? [True, True] Translation: X:185.65, Y:-37.69, Z:-3.05 [[ 8.90075040e-01 4.55777991e-01 5.73121738e-03 1.85652565e+02] [-4.55768826e-01 8.90093490e-01 -2.89060417e-03 -3.76928966e+01] [-6.41879305e-03 -3.92555919e-05 9.99979399e-01 -3.04609377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.046559995 meters 0.013234754794755865 Centerline is valid? [True, True] Translation: X:185.71, Y:-37.72, Z:-3.05 [[ 8.87358738e-01 4.61034707e-01 6.43967962e-03 1.85709487e+02] [-4.61023249e-01 8.87382100e-01 -3.25151197e-03 -3.77154546e+01] [-7.21351630e-03 -8.35844689e-05 9.99973979e-01 -3.04702900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.106559995 meters 0.013134472509579956 Centerline is valid? [True, True] Translation: X:185.76, Y:-37.74, Z:-3.05 [[ 8.86201417e-01 4.63235073e-01 7.76630025e-03 1.85764789e+02] [-4.63218486e-01 8.86235438e-01 -3.92205136e-03 -3.77428839e+01] [-8.69960225e-03 -1.21766368e-04 9.99962150e-01 -3.04604816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.166559995 meters 0.013456708527586514 Centerline is valid? [True, True] Translation: X:185.82, Y:-37.77, Z:-3.05 [[ 8.85650468e-01 4.64273019e-01 8.59142327e-03 1.85821039e+02] [-4.64252740e-01 8.85692127e-01 -4.34167594e-03 -3.77714121e+01] [-9.62507894e-03 -1.43384463e-04 9.99953668e-01 -3.04573512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.226559995 meters 0.01437497267540445 Centerline is valid? [True, True] Translation: X:185.88, Y:-37.80, Z:-3.05 [[ 8.85577227e-01 4.64411274e-01 8.66857635e-03 1.85877446e+02] [-4.64390604e-01 8.85619641e-01 -4.38392769e-03 -3.77977548e+01] [-9.71300691e-03 -1.43298885e-04 9.99952817e-01 -3.04797950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.286559995 meters 0.013141610388371083 Centerline is valid? [True, True] Translation: X:185.93, Y:-37.83, Z:-3.05 [[ 8.85845773e-01 4.63919221e-01 7.49826128e-03 1.85932079e+02] [-4.63903724e-01 8.85877499e-01 -3.79366134e-03 -3.78298813e+01] [-8.40249336e-03 -1.17872476e-04 9.99964691e-01 -3.04921929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.346559995 meters 0.01287640272776193 Centerline is valid? [True, True] Translation: X:185.99, Y:-37.86, Z:-3.05 [[ 8.86493915e-01 4.62694595e-01 6.49999466e-03 1.85986050e+02] [-4.62682902e-01 8.86517740e-01 -3.29061325e-03 -3.78607978e+01] [-7.28490954e-03 -9.03277737e-05 9.99973461e-01 -3.05016780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.406559995 meters 0.012781598415175097 Centerline is valid? [True, True] Translation: X:186.04, Y:-37.89, Z:-3.05 [[ 8.88237060e-01 4.59374813e-01 3.11544208e-03 1.86039318e+02] [-4.59372112e-01 8.88242523e-01 -1.57564516e-03 -3.78927470e+01] [-3.49107984e-03 -3.16007837e-05 9.99993906e-01 -3.05357791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46655999499998 meters 0.012712057387360013 Centerline is valid? [True, True] Translation: X:186.09, Y:-37.92, Z:-3.06 [[ 8.88768450e-01 4.58355114e-01 1.10978701e-03 1.86094343e+02] [-4.58354773e-01 8.88769143e-01 -5.58918506e-04 -3.79206566e+01] [-1.24252760e-03 -1.19270382e-05 9.99999228e-01 -3.05552411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52655999499999 meters 0.0127942357400862 Centerline is valid? [True, True] Translation: X:186.15, Y:-37.95, Z:-3.06 [[ 8.88840581e-01 4.58216544e-01 1.46288029e-04 1.86150518e+02] [-4.58216538e-01 8.88840593e-01 -6.99297199e-05 -3.79467143e+01] [-1.62069693e-04 -4.87522146e-06 9.99999987e-01 -3.05620059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.586559995 meters 0.012756441143321768 Centerline is valid? [True, True] Translation: X:186.21, Y:-37.97, Z:-3.06 [[ 8.88980097e-01 4.57945576e-01 4.85910450e-04 1.86205093e+02] [-4.57945511e-01 8.88980230e-01 -2.42925040e-04 -3.79737096e+01] [-5.43211231e-04 -6.56498389e-06 9.99999852e-01 -3.05573383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.646559995 meters 0.012549524242845524 Centerline is valid? [True, True] Translation: X:186.26, Y:-38.00, Z:-3.05 [[ 8.90652029e-01 4.54682679e-01 1.62026441e-03 1.86260182e+02] [-4.54681940e-01 8.90653502e-01 -8.19597681e-04 -3.80032671e+01] [-1.81575104e-03 -6.72862706e-06 9.99998351e-01 -3.05433827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.706559995 meters 0.012544222110315643 Centerline is valid? [True, True] Translation: X:186.32, Y:-38.03, Z:-3.05 [[ 8.92230737e-01 4.51578391e-01 1.12673149e-03 1.86315404e+02] [-4.51578034e-01 8.92231448e-01 -5.68274211e-04 -3.80330588e+01] [-1.26192563e-03 -1.77547412e-06 9.99999204e-01 -3.05413594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.766559995 meters 0.013457458721754783 Centerline is valid? [True, True] Translation: X:186.37, Y:-38.06, Z:-3.06 [[ 8.95010355e-01 4.46045334e-01 -1.56987903e-04 1.86368149e+02] [-4.46045326e-01 8.95010369e-01 8.39534970e-05 -3.80638246e+01] [ 1.77952866e-04 -5.11552881e-06 9.99999984e-01 -3.05568351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.826559995 meters 0.013875399611632125 Centerline is valid? [True, True] Translation: X:186.42, Y:-38.09, Z:-3.06 [[ 8.96698448e-01 4.42640301e-01 -1.20756416e-03 1.86423230e+02] [-4.42639868e-01 8.96699260e-01 6.19551877e-04 -3.80929195e+01] [ 1.35706052e-03 -2.10351641e-05 9.99999079e-01 -3.05574381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.886559995 meters 0.014289990679725419 Centerline is valid? [True, True] Translation: X:186.48, Y:-38.12, Z:-3.06 [[ 8.97618899e-01 4.40771667e-01 -8.06448577e-04 1.86479194e+02] [-4.40771472e-01 8.97619261e-01 4.15437886e-04 -3.81195840e+01] [ 9.06997025e-04 -1.74453720e-05 9.99999589e-01 -3.05620877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.946559995 meters 0.015445545068758629 Centerline is valid? [True, True] Translation: X:186.53, Y:-38.15, Z:-3.06 [[ 8.97747471e-01 4.40509047e-01 -1.12194380e-03 1.86532670e+02] [-4.40508671e-01 8.97748171e-01 5.76201152e-04 -3.81484182e+01] [ 1.26104481e-03 -2.30571569e-05 9.99999205e-01 -3.05862459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.006559995 meters 0.01471498717195297 Centerline is valid? [True, True] Translation: X:186.59, Y:-38.18, Z:-3.06 [[ 8.98203255e-01 4.39580262e-01 -3.25760052e-04 1.86589170e+02] [-4.39580229e-01 8.98203314e-01 1.71226226e-04 -3.81760226e+01] [ 3.67866427e-04 -1.05982755e-05 9.99999932e-01 -3.05707107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.066559995 meters 0.014567657735898326 Centerline is valid? [True, True] Translation: X:186.65, Y:-38.20, Z:-3.06 [[ 8.98687928e-01 4.38588075e-01 7.14017239e-04 1.86645858e+02] [-4.38587927e-01 8.98688211e-01 -3.59633715e-04 -3.82031921e+01] [-7.99409934e-04 1.00391373e-05 9.99999680e-01 -3.05724509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.126559995 meters 0.014496512098011857 Centerline is valid? [True, True] Translation: X:186.70, Y:-38.23, Z:-3.06 [[ 8.99507980e-01 4.36892154e-01 3.26197201e-03 1.86702948e+02] [-4.36888998e-01 8.99513891e-01 -1.66208554e-03 -3.82290689e+01] [-3.66034127e-03 6.99395269e-05 9.99993298e-01 -3.05672478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.186559995 meters 0.015130166528669801 Centerline is valid? [True, True] Translation: X:186.76, Y:-38.26, Z:-3.06 [[ 8.99931918e-01 4.36006356e-01 4.58257944e-03 1.86757668e+02] [-4.36000096e-01 8.99943579e-01 -2.33895443e-03 -3.82578433e+01] [-5.14386194e-03 1.06894672e-04 9.99986765e-01 -3.05665288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24655999499998 meters 0.0164851554704498 Centerline is valid? [True, True] Translation: X:186.81, Y:-38.29, Z:-3.06 [[ 9.00839114e-01 4.34124669e-01 4.96603228e-03 1.86811707e+02] [-4.34117274e-01 9.00852793e-01 -2.53717829e-03 -3.82862912e+01] [-5.57511574e-03 1.29749043e-04 9.99984451e-01 -3.05755679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.306559995 meters 0.01709561508779385 Centerline is valid? [True, True] Translation: X:186.87, Y:-38.31, Z:-3.06 [[ 9.02195653e-01 4.31308206e-01 4.02931150e-03 1.86867984e+02] [-4.31303299e-01 9.02204642e-01 -2.06095346e-03 -3.83126613e+01] [-4.52416968e-03 1.21527910e-04 9.99989759e-01 -3.06025194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.366559995 meters 0.017665952588454065 Centerline is valid? [True, True] Translation: X:186.92, Y:-38.34, Z:-3.06 [[ 9.02839567e-01 4.29966177e-01 3.13088116e-03 1.86923125e+02] [-4.29963215e-01 9.02844991e-01 -1.59903861e-03 -3.83403892e+01] [-3.51423289e-03 9.75115938e-05 9.99993820e-01 -3.06211134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.426559995 meters 0.01840549419790503 Centerline is valid? [True, True] Translation: X:186.98, Y:-38.37, Z:-3.06 [[ 9.03381339e-01 4.28830823e-01 2.50608948e-03 1.86978190e+02] [-4.28828921e-01 9.03384812e-01 -1.27986664e-03 -3.83687573e+01] [-2.81280943e-03 8.15239892e-05 9.99996041e-01 -3.06382948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.486559995 meters 0.017596027519475775 Centerline is valid? [True, True] Translation: X:187.03, Y:-38.39, Z:-3.07 [[ 9.03515369e-01 4.28551174e-01 1.96724708e-03 1.87034898e+02] [-4.28550002e-01 9.03517508e-01 -1.00426999e-03 -3.83938185e+01] [-2.20782326e-03 6.43096318e-05 9.99997561e-01 -3.06544374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.546559995 meters 0.017169356385395896 Centerline is valid? [True, True] Translation: X:187.09, Y:-38.42, Z:-3.07 [[ 9.02635822e-01 4.30402983e-01 1.35820809e-03 1.87091710e+02] [-4.30402424e-01 9.02636843e-01 -6.94954549e-04 -3.84200367e+01] [-1.52507918e-03 4.27148158e-05 9.99998836e-01 -3.06737616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.606559995 meters 0.01583647773959064 Centerline is valid? [True, True] Translation: X:187.15, Y:-38.44, Z:-3.07 [[ 9.01065562e-01 4.33679944e-01 1.59980855e-03 1.87148661e+02] [-4.33679172e-01 9.01066981e-01 -8.19567889e-04 -3.84447696e+01] [-1.79696482e-03 4.46807522e-05 9.99998384e-01 -3.06812189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.666559995 meters 0.015563756233781529 Centerline is valid? [True, True] Translation: X:187.20, Y:-38.47, Z:-3.07 [[ 8.99261863e-01 4.37406230e-01 1.97277687e-03 1.87203809e+02] [-4.37405063e-01 8.99264026e-01 -1.01126854e-03 -3.84708196e+01] [-2.21638243e-03 4.64926422e-05 9.99997543e-01 -3.06971011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.726559995 meters 0.013533866357731157 Centerline is valid? [True, True] Translation: X:187.26, Y:-38.49, Z:-3.07 [[ 8.96750202e-01 4.42522245e-01 3.62473978e-03 1.87261143e+02] [-4.42518346e-01 8.96757525e-01 -1.85875954e-03 -3.84937743e+01] [-4.07305511e-03 6.28291436e-05 9.99991703e-01 -3.06860751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.786559995 meters 0.013076697492051757 Centerline is valid? [True, True] Translation: X:187.32, Y:-38.52, Z:-3.07 [[ 8.95269026e-01 4.45500088e-01 4.80017326e-03 1.87316242e+02] [-4.45493303e-01 8.95281893e-01 -2.45969763e-03 -3.85199914e+01] [-5.39330372e-03 6.36460609e-05 9.99985454e-01 -3.06889455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.846559995 meters 0.012199239324087346 Centerline is valid? [True, True] Translation: X:187.37, Y:-38.55, Z:-3.07 [[ 8.93382555e-01 4.49256414e-01 6.02367404e-03 1.87373700e+02] [-4.49245786e-01 8.93402860e-01 -3.09079696e-03 -3.85454231e+01] [-6.77012798e-03 5.51539122e-05 9.99977081e-01 -3.06873222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.906559995 meters 0.011979547794587517 Centerline is valid? [True, True] Translation: X:187.43, Y:-38.57, Z:-3.07 [[ 8.91799251e-01 4.52390865e-01 6.04995321e-03 1.87429302e+02] [-4.52380222e-01 8.91819771e-01 -3.10335809e-03 -3.85725541e+01] [-6.79939874e-03 3.06932419e-05 9.99976883e-01 -3.07021498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96655999499998 meters 0.0116705362617257 Centerline is valid? [True, True] Translation: X:187.48, Y:-38.60, Z:-3.07 [[ 8.89505366e-01 4.56888570e-01 5.74784510e-03 1.87484374e+02] [-4.56879039e-01 8.89523937e-01 -2.95112002e-03 -3.85984591e+01] [-6.46117881e-03 -1.03284734e-06 9.99979126e-01 -3.07258932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02655999499999 meters 0.01171976202378372 Centerline is valid? [True, True] Translation: X:187.54, Y:-38.63, Z:-3.07 [[ 8.88226865e-01 4.59378193e-01 4.97116181e-03 1.87540653e+02] [-4.59371108e-01 8.88240776e-01 -2.55129319e-03 -3.86272257e+01] [-5.58759708e-03 -1.74809621e-05 9.99984389e-01 -3.07437997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.086559995 meters 0.011936611131428423 Centerline is valid? [True, True] Translation: X:187.60, Y:-38.66, Z:-3.08 [[ 8.87064065e-01 4.61634304e-01 3.33377808e-03 1.87595184e+02] [-4.61631134e-01 8.87070329e-01 -1.71094812e-03 -3.86564312e+01] [-3.74712796e-03 -2.12551590e-05 9.99992979e-01 -3.07683506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.146559995 meters 0.01188070610053572 Centerline is valid? [True, True] Translation: X:187.65, Y:-38.69, Z:-3.08 [[ 8.86626371e-01 4.62477356e-01 2.89372824e-03 1.87650231e+02] [-4.62474972e-01 8.86631093e-01 -1.48490289e-03 -3.86869256e+01] [-3.25240339e-03 -2.17228307e-05 9.99994711e-01 -3.07754026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.206559995 meters 0.011807726678030131 Centerline is valid? [True, True] Translation: X:187.70, Y:-38.72, Z:-3.08 [[ 8.87198327e-01 4.61380561e-01 2.66560607e-03 1.87704623e+02] [-4.61378532e-01 8.87202332e-01 -1.36836950e-03 -3.87194873e+01] [-2.99627101e-03 -1.58382840e-05 9.99995511e-01 -3.07887928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.266559995 meters 0.01178328563637194 Centerline is valid? [True, True] Translation: X:187.76, Y:-38.75, Z:-3.08 [[ 8.88443558e-01 4.58978694e-01 2.56938414e-03 1.87758038e+02] [-4.58976797e-01 8.88447274e-01 -1.31970096e-03 -3.87524706e+01] [-2.88847696e-03 -6.80788883e-06 9.99995828e-01 -3.07967497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.326559995 meters 0.011850842849691618 Centerline is valid? [True, True] Translation: X:187.81, Y:-38.79, Z:-3.08 [[ 8.90949621e-01 4.54077537e-01 4.72890453e-03 1.87809600e+02] [-4.54071008e-01 8.90962171e-01 -2.43522304e-03 -3.87888867e+01] [-5.31905512e-03 2.24026039e-05 9.99985853e-01 -3.07875854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.386559995 meters 0.012184369686687943 Centerline is valid? [True, True] Translation: X:187.86, Y:-38.82, Z:-3.08 [[ 8.92451327e-01 4.51112718e-01 5.28632322e-03 1.87861806e+02] [-4.51104494e-01 8.92466982e-01 -2.72438789e-03 -3.88224190e+01] [-5.94687496e-03 4.66994280e-05 9.99982316e-01 -3.07859723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.446559995 meters 0.013035613745869663 Centerline is valid? [True, True] Translation: X:187.91, Y:-38.86, Z:-3.08 [[ 8.94144254e-01 4.47761861e-01 3.92033125e-03 1.87912591e+02] [-4.47757304e-01 8.94152847e-01 -2.02074640e-03 -3.88585775e+01] [-4.41018851e-03 5.14818273e-05 9.99990274e-01 -3.07983536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.506559995 meters 0.013590085758172178 Centerline is valid? [True, True] Translation: X:187.97, Y:-38.89, Z:-3.08 [[ 8.94802536e-01 4.46452423e-01 2.94204900e-03 1.87965510e+02] [-4.46449851e-01 8.94807372e-01 -1.51611065e-03 -3.88918295e+01] [-3.30943841e-03 4.31423200e-05 9.99994523e-01 -3.08130489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.566559995 meters 0.01378476725027006 Centerline is valid? [True, True] Translation: X:188.02, Y:-38.92, Z:-3.08 [[ 8.95552913e-01 4.44947676e-01 2.55838375e-03 1.88018266e+02] [-4.44945724e-01 8.95556566e-01 -1.31856480e-03 -3.89247277e+01] [-2.87786971e-03 4.25026355e-05 9.99995858e-01 -3.08198080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.626559995 meters 0.01334361976953896 Centerline is valid? [True, True] Translation: X:188.07, Y:-38.95, Z:-3.08 [[ 8.94924507e-01 4.46198969e-01 4.07519825e-03 1.88074291e+02] [-4.46194012e-01 8.94933783e-01 -2.10415017e-03 -3.89522383e+01] [-4.58590222e-03 6.47264930e-05 9.99989483e-01 -3.08151540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.686559995 meters 0.01313865680481077 Centerline is valid? [True, True] Translation: X:188.13, Y:-38.98, Z:-3.08 [[ 8.94494634e-01 4.47048417e-01 5.20220240e-03 1.88129472e+02] [-4.47040327e-01 8.94509757e-01 -2.69064358e-03 -3.89819748e+01] [-5.85626876e-03 8.11719838e-05 9.99982849e-01 -3.08125972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74655999499998 meters 0.012920813340571111 Centerline is valid? [True, True] Translation: X:188.18, Y:-39.01, Z:-3.08 [[ 8.93926980e-01 4.48178756e-01 5.50962378e-03 1.88184780e+02] [-4.48169710e-01 8.93943956e-01 -2.84865090e-03 -3.90105127e+01] [-6.20199970e-03 7.72394089e-05 9.99980764e-01 -3.08110460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.806559995 meters 0.012477779284798674 Centerline is valid? [True, True] Translation: X:188.24, Y:-39.04, Z:-3.08 [[ 8.93444579e-01 4.49142682e-01 5.25689524e-03 1.88242207e+02] [-4.49134458e-01 8.93460042e-01 -2.71889486e-03 -3.90364218e+01] [-5.91799757e-03 6.81290757e-05 9.99982486e-01 -3.08213005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.866559995 meters 0.012560612069969857 Centerline is valid? [True, True] Translation: X:188.30, Y:-39.06, Z:-3.08 [[ 8.93134224e-01 4.49769882e-01 4.27914881e-03 1.88298889e+02] [-4.49764437e-01 8.93144473e-01 -2.21382399e-03 -3.90629155e+01] [-4.81760946e-03 5.26330116e-05 9.99988394e-01 -3.08376807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.926559995 meters 0.012499646210889432 Centerline is valid? [True, True] Translation: X:188.36, Y:-39.09, Z:-3.09 [[ 8.92704023e-01 4.50633118e-01 3.05295009e-03 1.88356396e+02] [-4.50630352e-01 8.92709243e-01 -1.57913778e-03 -3.90888985e+01] [-3.43700854e-03 3.39506748e-05 9.99994093e-01 -3.08551551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.986559995 meters 0.012651181894393463 Centerline is valid? [True, True] Translation: X:188.41, Y:-39.12, Z:-3.09 [[ 8.92544031e-01 4.50954526e-01 2.27327333e-03 1.88413459e+02] [-4.50952995e-01 8.92546926e-01 -1.17541397e-03 -3.91160380e+01] [-2.55906137e-03 2.39693097e-05 9.99996725e-01 -3.08679013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.046559995 meters 0.013103098055700941 Centerline is valid? [True, True] Translation: X:188.47, Y:-39.14, Z:-3.09 [[ 8.93106588e-01 4.49840801e-01 1.96882380e-03 1.88468985e+02] [-4.49839649e-01 8.93108758e-01 -1.01860737e-03 -3.91440878e+01] [-2.21658493e-03 2.40699453e-05 9.99997543e-01 -3.08875127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.106559995 meters 0.014212500563750183 Centerline is valid? [True, True] Translation: X:188.52, Y:-39.17, Z:-3.09 [[ 8.95237988e-01 4.45582155e-01 2.34243482e-03 1.88523244e+02] [-4.45580500e-01 8.95241052e-01 -1.21522115e-03 -3.91733570e+01] [-2.63852467e-03 4.41688624e-05 9.99996518e-01 -3.08934603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.166559995 meters 0.015622590070849 Centerline is valid? [True, True] Translation: X:188.58, Y:-39.20, Z:-3.09 [[ 8.96962758e-01 4.42095230e-01 3.10145777e-03 1.88576996e+02] [-4.42092310e-01 8.96968117e-01 -1.60861045e-03 -3.92038572e+01] [-3.49306775e-03 7.17330396e-05 9.99993897e-01 -3.08954716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.226559995 meters 0.017313855997428084 Centerline is valid? [True, True] Translation: X:188.63, Y:-39.23, Z:-3.09 [[ 9.00072304e-01 4.35720331e-01 4.20000667e-03 1.88630499e+02] [-4.35714880e-01 9.00082093e-01 -2.18363725e-03 -3.92341358e+01] [-4.73180594e-03 1.35426009e-04 9.99988796e-01 -3.08864854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.286559995 meters 0.017578490331660843 Centerline is valid? [True, True] Translation: X:188.68, Y:-39.26, Z:-3.09 [[ 9.01934508e-01 4.31848449e-01 4.58907292e-03 1.88684980e+02] [-4.31841898e-01 9.01946167e-01 -2.38479450e-03 -3.92616101e+01] [-5.16896654e-03 1.69174494e-04 9.99986626e-01 -3.08906656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.346559995 meters 0.019312927345129457 Centerline is valid? [True, True] Translation: X:188.74, Y:-39.29, Z:-3.09 [[ 9.03902457e-01 4.27715417e-01 4.45770085e-03 1.88738866e+02] [-4.27709180e-01 9.03913429e-01 -2.31746470e-03 -3.92898815e+01] [-5.02059104e-03 1.88162466e-04 9.99987379e-01 -3.09020862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.406559995 meters 0.019045765800161332 Centerline is valid? [True, True] Translation: X:188.79, Y:-39.32, Z:-3.09 [[ 9.04522580e-01 4.26409238e-01 3.75011128e-03 1.88794882e+02] [-4.26404817e-01 9.04530340e-01 -1.94846556e-03 -3.93161579e+01] [-4.22293314e-03 1.63365585e-04 9.99991070e-01 -3.09129033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46655999499998 meters 0.020116803850587513 Centerline is valid? [True, True] Translation: X:188.85, Y:-39.34, Z:-3.09 [[ 9.04788690e-01 4.25850879e-01 2.90765706e-03 1.88850173e+02] [-4.25848214e-01 9.04793353e-01 -1.51227519e-03 -3.93434953e+01] [-3.27483250e-03 1.30068916e-04 9.99994629e-01 -3.09275753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52655999499999 meters 0.01958646495519426 Centerline is valid? [True, True] Translation: X:188.91, Y:-39.37, Z:-3.09 [[ 9.04501953e-01 4.26456606e-01 3.31370885e-03 1.88906165e+02] [-4.26453151e-01 9.04508011e-01 -1.72275386e-03 -3.93705984e+01] [-3.73195597e-03 1.45092654e-04 9.99993026e-01 -3.09364630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.586559995 meters 0.01897662827896064 Centerline is valid? [True, True] Translation: X:188.96, Y:-39.40, Z:-3.09 [[ 9.03460542e-01 4.28659007e-01 3.24110144e-03 1.88962641e+02] [-4.28655712e-01 9.03466346e-01 -1.68592725e-03 -3.93963065e+01] [-3.65091397e-03 1.33852099e-04 9.99993326e-01 -3.09429390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.646559995 meters 0.018752774693409524 Centerline is valid? [True, True] Translation: X:189.02, Y:-39.42, Z:-3.10 [[ 9.01328896e-01 4.33126933e-01 2.69832885e-03 1.89018500e+02] [-4.33124660e-01 9.01332930e-01 -1.40687264e-03 -3.94195446e+01] [-3.04144708e-03 9.93422023e-05 9.99995370e-01 -3.09563739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.706559995 meters 0.018272794137183135 Centerline is valid? [True, True] Translation: X:189.07, Y:-39.44, Z:-3.10 [[ 8.99263044e-01 4.37402070e-01 2.32522594e-03 1.89074501e+02] [-4.37400396e-01 8.99266047e-01 -1.21249517e-03 -3.94429445e+01] [-2.62134464e-03 7.32973487e-05 9.99996562e-01 -3.09641716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.766559995 meters 0.015621893252202224 Centerline is valid? [True, True] Translation: X:189.13, Y:-39.47, Z:-3.10 [[ 8.98322283e-01 4.39325820e-01 3.14640760e-03 1.89133373e+02] [-4.39322768e-01 8.98327789e-01 -1.63989031e-03 -3.94655259e+01] [-3.54695154e-03 9.08615115e-05 9.99993705e-01 -3.09540966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.826559995 meters 0.01537154468863861 Centerline is valid? [True, True] Translation: X:189.19, Y:-39.49, Z:-3.10 [[ 8.97758236e-01 4.40469278e-01 4.11895229e-03 1.89190720e+02] [-4.40464066e-01 8.97767678e-01 -2.14574111e-03 -3.94894654e+01] [-4.64299527e-03 1.12106281e-04 9.99989215e-01 -3.09524591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.886559995 meters 0.015999273527236603 Centerline is valid? [True, True] Translation: X:189.25, Y:-39.52, Z:-3.10 [[ 8.97882606e-01 4.40210442e-01 4.64683957e-03 1.89247035e+02] [-4.40203796e-01 8.97894621e-01 -2.42237662e-03 -3.95167875e+01] [-5.23872773e-03 1.29453409e-04 9.99986269e-01 -3.09601179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.946559995 meters 0.016857200863199466 Centerline is valid? [True, True] Translation: X:189.30, Y:-39.54, Z:-3.10 [[ 8.98665949e-01 4.38608521e-01 4.69861543e-03 1.89303626e+02] [-4.38601693e-01 8.98678221e-01 -2.45152514e-03 -3.95433187e+01] [-5.29780317e-03 1.42281485e-04 9.99985956e-01 -3.09712040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.006559995 meters 0.01851800301923588 Centerline is valid? [True, True] Translation: X:189.36, Y:-39.57, Z:-3.10 [[ 8.99658570e-01 4.36569480e-01 4.64190559e-03 1.89357823e+02] [-4.36562780e-01 8.99670532e-01 -2.42354609e-03 -3.95712753e+01] [-5.23423193e-03 1.53880800e-04 9.99986289e-01 -3.09837445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.066559995 meters 0.020920788689487994 Centerline is valid? [True, True] Translation: X:189.41, Y:-39.60, Z:-3.10 [[ 9.01535759e-01 4.32692456e-01 3.24234177e-03 1.89412089e+02] [-4.32689153e-01 9.01541581e-01 -1.69533282e-03 -3.95987811e+01] [-3.65666365e-03 1.25477040e-04 9.99993307e-01 -3.10125344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.126559995 meters 0.021433568946013132 Centerline is valid? [True, True] Translation: X:189.47, Y:-39.62, Z:-3.10 [[ 9.03803611e-01 4.27935037e-01 3.26149379e-03 1.89466981e+02] [-4.27931664e-01 9.03809484e-01 -1.70541452e-03 -3.96249053e+01] [-3.67757564e-03 1.45663338e-04 9.99993227e-01 -3.10201850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.186559995 meters 0.020735265563025795 Centerline is valid? [True, True] Translation: X:189.52, Y:-39.65, Z:-3.10 [[ 9.05358854e-01 4.24633581e-01 3.41566743e-03 1.89522658e+02] [-4.24629858e-01 9.05365282e-01 -1.78587422e-03 -3.96507306e+01] [-3.85076888e-03 1.66462664e-04 9.99992572e-01 -3.10227654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24655999499998 meters 0.021987442605497398 Centerline is valid? [True, True] Translation: X:189.58, Y:-39.68, Z:-3.10 [[ 9.06279298e-01 4.22666389e-01 3.31029578e-03 1.89577827e+02] [-4.22662888e-01 9.06285328e-01 -1.72830249e-03 -3.96786105e+01] [-3.73056787e-03 1.67185586e-04 9.99993027e-01 -3.10316021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.306559995 meters 0.02192781389369519 Centerline is valid? [True, True] Translation: X:189.64, Y:-39.70, Z:-3.10 [[ 9.06150391e-01 4.22940266e-01 3.60564559e-03 1.89635456e+02] [-4.22936113e-01 9.06157546e-01 -1.88319683e-03 -3.97044792e+01] [-4.06376273e-03 1.81501818e-04 9.99991726e-01 -3.10301743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.366559995 meters 0.022001243112868295 Centerline is valid? [True, True] Translation: X:189.69, Y:-39.73, Z:-3.10 [[ 9.05019412e-01 4.25343564e-01 4.76626986e-03 1.89690948e+02] [-4.25336305e-01 9.05031933e-01 -2.49556224e-03 -3.97293711e+01] [-5.37509776e-03 2.31264660e-04 9.99985527e-01 -3.10302992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.426559995 meters 0.01907538190087193 Centerline is valid? [True, True] Translation: X:189.75, Y:-39.75, Z:-3.10 [[ 9.02036217e-01 4.31619383e-01 5.94737554e-03 1.89749732e+02] [-4.31608214e-01 9.02055791e-01 -3.11452750e-03 -3.97481359e+01] [-6.70915499e-03 2.42480465e-04 9.99977464e-01 -3.10253398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.486559995 meters 0.017423624881795923 Centerline is valid? [True, True] Translation: X:189.81, Y:-39.77, Z:-3.10 [[ 8.99375822e-01 4.37127466e-01 6.53528264e-03 1.89806753e+02] [-4.37114123e-01 8.99399538e-01 -3.42264487e-03 -3.97699686e+01] [-7.37396227e-03 2.21579705e-04 9.99972787e-01 -3.10265307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.546559995 meters 0.014374292189420925 Centerline is valid? [True, True] Translation: X:189.87, Y:-39.79, Z:-3.10 [[ 8.95191943e-01 4.45625945e-01 6.99304098e-03 1.89866278e+02] [-4.45610923e-01 8.95219242e-01 -3.66256780e-03 -3.97872731e+01] [-7.89244008e-03 1.62525735e-04 9.99968841e-01 -3.10283870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.606559995 meters 0.013159654545798446 Centerline is valid? [True, True] Translation: X:189.92, Y:-39.81, Z:-3.10 [[ 8.92941288e-01 4.50109210e-01 7.58646203e-03 1.89924136e+02] [-4.50091692e-01 8.92973505e-01 -3.97341688e-03 -3.98095923e+01] [-8.56298113e-03 1.33424457e-04 9.99963328e-01 -3.10370977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.666559995 meters 0.012499845662103118 Centerline is valid? [True, True] Translation: X:189.98, Y:-39.83, Z:-3.10 [[ 8.91302797e-01 4.53344837e-01 7.60153549e-03 1.89981825e+02] [-4.53327379e-01 8.91335205e-01 -3.97990811e-03 -3.98333109e+01] [-8.57978699e-03 1.01319067e-04 9.99963188e-01 -3.10448870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.726559995 meters 0.012734209624363217 Centerline is valid? [True, True] Translation: X:190.04, Y:-39.86, Z:-3.11 [[ 8.91688203e-01 4.52586815e-01 7.57115786e-03 1.90037187e+02] [-4.52569448e-01 8.91720339e-01 -3.96638084e-03 -3.98604821e+01] [-8.54648713e-03 1.10300265e-04 9.99963472e-01 -3.10519631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.786559995 meters 0.014199633308121446 Centerline is valid? [True, True] Translation: X:190.09, Y:-39.89, Z:-3.11 [[ 8.94220526e-01 4.47544229e-01 8.59148264e-03 1.90090212e+02] [-4.47521599e-01 8.94261779e-01 -4.50436891e-03 -3.98904879e+01] [-9.69893886e-03 1.83025094e-04 9.99952947e-01 -3.10547382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.846559995 meters 0.01650385930221838 Centerline is valid? [True, True] Translation: X:190.14, Y:-39.92, Z:-3.11 [[ 8.98683274e-01 4.38503021e-01 9.13644468e-03 1.90142424e+02] [-4.38476916e-01 8.98729664e-01 -4.79427995e-03 -3.99230223e+01] [-1.03135001e-02 3.02419112e-04 9.99946769e-01 -3.10532845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.906559995 meters 0.018349784356485203 Centerline is valid? [True, True] Translation: X:190.20, Y:-39.95, Z:-3.11 [[ 9.01487923e-01 4.32723454e-01 8.36284085e-03 1.90195034e+02] [-4.32701332e-01 9.01526649e-01 -4.38849809e-03 -3.99545476e+01] [-9.43832993e-03 3.37565649e-04 9.99955401e-01 -3.10672406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96655999499998 meters 0.019564801978715525 Centerline is valid? [True, True] Translation: X:190.25, Y:-39.98, Z:-3.11 [[ 9.04294445e-01 4.26851286e-01 7.03817331e-03 1.90248100e+02] [-4.26835440e-01 9.04321772e-01 -3.69333088e-03 -3.99843440e+01] [-7.94127639e-03 3.35716796e-04 9.99968411e-01 -3.10835084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02655999499999 meters 0.02161080624836604 Centerline is valid? [True, True] Translation: X:190.30, Y:-40.01, Z:-3.11 [[ 9.04825269e-01 4.25730629e-01 6.68313034e-03 1.90300942e+02] [-4.25716314e-01 9.04849891e-01 -3.50643632e-03 -4.00140177e+01] [-7.54002709e-03 3.27594569e-04 9.99971520e-01 -3.11037375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.086559995 meters 0.02027777630251819 Centerline is valid? [True, True] Translation: X:190.36, Y:-40.04, Z:-3.11 [[ 9.03999305e-01 4.27472698e-01 7.23522986e-03 1.90356862e+02] [-4.27455975e-01 9.04028195e-01 -3.79635175e-03 -4.00407197e+01] [-8.16368852e-03 3.39157112e-04 9.99966619e-01 -3.11084585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.146559995 meters 0.019897195400180156 Centerline is valid? [True, True] Translation: X:190.41, Y:-40.07, Z:-3.11 [[ 9.02822597e-01 4.29942381e-01 7.80428466e-03 1.90412036e+02] [-4.29922977e-01 9.02856262e-01 -4.09926043e-03 -4.00683608e+01] [-8.80859307e-03 3.45663654e-04 9.99961144e-01 -3.11201260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.206559995 meters 0.017846317916456286 Centerline is valid? [True, True] Translation: X:190.47, Y:-40.09, Z:-3.11 [[ 9.00612091e-01 4.34549726e-01 8.02473221e-03 1.90468318e+02] [-4.34529386e-01 9.00647789e-01 -4.21587618e-03 -4.00929814e+01] [-9.05946517e-03 3.09887106e-04 9.99958914e-01 -3.11400321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.266559995 meters 0.015401844334027272 Centerline is valid? [True, True] Translation: X:190.52, Y:-40.12, Z:-3.12 [[ 8.98165120e-01 4.39578072e-01 8.39857873e-03 1.90524429e+02] [-4.39556008e-01 8.98204345e-01 -4.41253432e-03 -4.01168668e+01] [-9.48329324e-03 2.71538674e-04 9.99954996e-01 -3.11515818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.326559995 meters 0.015337190408952319 Centerline is valid? [True, True] Translation: X:190.58, Y:-40.14, Z:-3.12 [[ 8.96263008e-01 4.43415512e-01 9.76233493e-03 1.90578037e+02] [-4.43385927e-01 8.96316134e-01 -5.12919295e-03 -4.01444148e+01] [-1.10245020e-02 2.68623989e-04 9.99939192e-01 -3.11603015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.386559995 meters 0.01522717776338167 Centerline is valid? [True, True] Translation: X:190.63, Y:-40.17, Z:-3.12 [[ 8.95226881e-01 4.45492529e-01 1.02585599e-02 1.90632606e+02] [-4.45460004e-01 8.95285620e-01 -5.38917634e-03 -4.01727726e+01] [-1.15851790e-02 2.54757395e-04 9.99932857e-01 -3.11658782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.446559995 meters 0.013545571084167108 Centerline is valid? [True, True] Translation: X:190.69, Y:-40.20, Z:-3.12 [[ 8.93508521e-01 4.48881074e-01 1.21780327e-02 1.90688904e+02] [-4.48835488e-01 8.93591471e-01 -6.40216831e-03 -4.01984382e+01] [-1.37559983e-02 2.54458694e-04 9.99905349e-01 -3.11696172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.506559995 meters 0.01267582317843533 Centerline is valid? [True, True] Translation: X:190.75, Y:-40.23, Z:-3.12 [[ 8.91419971e-01 4.53007565e-01 1.24331076e-02 1.90745128e+02] [-4.52960443e-01 8.91506651e-01 -6.53673266e-03 -4.02250073e+01] [-1.40453875e-02 1.95268100e-04 9.99901340e-01 -3.11906751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.566559995 meters 0.012654864739489145 Centerline is valid? [True, True] Translation: X:190.80, Y:-40.25, Z:-3.12 [[ 8.90748760e-01 4.54346044e-01 1.16755277e-02 1.90799249e+02] [-4.54304559e-01 8.90825260e-01 -6.14191506e-03 -4.02530617e+01] [-1.31914098e-02 1.66657747e-04 9.99912976e-01 -3.12203624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.626559995 meters 0.012929781751292897 Centerline is valid? [True, True] Translation: X:190.85, Y:-40.28, Z:-3.13 [[ 8.90966925e-01 4.53943419e-01 1.06447837e-02 1.90851792e+02] [-4.53908874e-01 8.91030497e-01 -5.60242595e-03 -4.02837067e+01] [-1.20280113e-02 1.59814448e-04 9.99927648e-01 -3.12512064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.686559995 meters 0.013100038989186944 Centerline is valid? [True, True] Translation: X:190.91, Y:-40.32, Z:-3.13 [[ 8.91816478e-01 4.52265660e-01 1.09152578e-02 1.90905654e+02] [-4.52229173e-01 8.91883253e-01 -5.74789219e-03 -4.03150043e+01] [-1.23347099e-02 1.89866984e-04 9.99923907e-01 -3.12575586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74655999499998 meters 0.013861491066361434 Centerline is valid? [True, True] Translation: X:190.96, Y:-40.35, Z:-3.13 [[ 8.93634748e-01 4.48655230e-01 1.11991839e-02 1.90958731e+02] [-4.48616490e-01 8.93704886e-01 -5.90103775e-03 -4.03474953e+01] [-1.26562968e-02 2.49233812e-04 9.99919875e-01 -3.12727928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.806559995 meters 0.014853624404467119 Centerline is valid? [True, True] Translation: X:191.01, Y:-40.38, Z:-3.13 [[ 8.95362531e-01 4.45196673e-01 1.12187072e-02 1.91011048e+02] [-4.45157478e-01 8.95432762e-01 -5.91519171e-03 -4.03807332e+01] [-1.26790216e-02 3.02149633e-04 9.99919572e-01 -3.12859656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.866559995 meters 0.015302827017271547 Centerline is valid? [True, True] Translation: X:191.06, Y:-40.41, Z:-3.13 [[ 8.96779601e-01 4.42321177e-01 1.17611535e-02 1.91064506e+02] [-4.42277824e-01 8.96856647e-01 -6.20324449e-03 -4.04123817e+01] [-1.32918951e-02 3.61245721e-04 9.99911594e-01 -3.12948415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.926559995 meters 0.017745021053537886 Centerline is valid? [True, True] Translation: X:191.11, Y:-40.45, Z:-3.13 [[ 8.99308040e-01 4.37166897e-01 1.14085065e-02 1.91114149e+02] [-4.37125676e-01 8.99380300e-01 -6.01834849e-03 -4.04474569e+01] [-1.28916087e-02 4.25398057e-04 9.99916809e-01 -3.13061637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.986559995 meters 0.01844455075418043 Centerline is valid? [True, True] Translation: X:191.17, Y:-40.48, Z:-3.13 [[ 9.00598630e-01 4.34507571e-01 1.11927446e-02 1.91167434e+02] [-4.34467683e-01 9.00668065e-01 -5.90502151e-03 -4.04794957e+01] [-1.26467241e-02 4.55168500e-04 9.99919923e-01 -3.13188485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.046559995 meters 0.018359615905567065 Centerline is valid? [True, True] Translation: X:191.22, Y:-40.51, Z:-3.13 [[ 9.01111360e-01 4.33428368e-01 1.17544561e-02 1.91221364e+02] [-4.33384275e-01 9.01187886e-01 -6.20202084e-03 -4.05093978e+01] [-1.32811052e-02 4.94514996e-04 9.99911680e-01 -3.13285935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.106559995 meters 0.01808531399923553 Centerline is valid? [True, True] Translation: X:191.28, Y:-40.54, Z:-3.13 [[ 9.00697814e-01 4.34293586e-01 1.15121555e-02 1.91275854e+02] [-4.34251320e-01 9.00771256e-01 -6.07741735e-03 -4.05384621e+01] [-1.30092022e-02 4.74747790e-04 9.99915264e-01 -3.13401617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.166559995 meters 0.018811653056081797 Centerline is valid? [True, True] Translation: X:191.33, Y:-40.57, Z:-3.14 [[ 8.99217360e-01 4.37385883e-01 1.00860878e-02 1.91328450e+02] [-4.37353592e-01 8.99273843e-01 -5.32829391e-03 -4.05693427e+01] [-1.14006755e-02 3.80107650e-04 9.99934938e-01 -3.13615789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.226559995 meters 0.01699966096979753 Centerline is valid? [True, True] Translation: X:191.38, Y:-40.60, Z:-3.14 [[ 8.97912057e-01 4.40066452e-01 9.77018422e-03 1.91383426e+02] [-4.40036306e-01 8.97965147e-01 -5.16182660e-03 -4.05961126e+01] [-1.10448316e-02 3.35630568e-04 9.99938948e-01 -3.13734928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.286559995 meters 0.015149720340949096 Centerline is valid? [True, True] Translation: X:191.44, Y:-40.62, Z:-3.14 [[ 8.95076860e-01 4.45804408e-01 9.78999995e-03 1.91438885e+02] [-4.45774475e-01 8.95130359e-01 -5.17278808e-03 -4.06219668e+01] [-1.10693779e-02 2.65910826e-04 9.99938697e-01 -3.13808445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.346559995 meters 0.014005497339652768 Centerline is valid? [True, True] Translation: X:191.49, Y:-40.65, Z:-3.14 [[ 8.92979044e-01 4.49972943e-01 1.06196278e-02 1.91494009e+02] [-4.49938014e-01 8.93042158e-01 -5.61140836e-03 -4.06499673e+01] [-1.20087573e-02 2.32695837e-04 9.99927865e-01 -3.13816015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.406559995 meters 0.012753907728258967 Centerline is valid? [True, True] Translation: X:191.55, Y:-40.68, Z:-3.14 [[ 8.90189395e-01 4.55440429e-01 1.16985600e-02 1.91549500e+02] [-4.55398499e-01 8.90266244e-01 -6.18245014e-03 -4.06767520e+01] [-1.32305708e-02 1.76044908e-04 9.99912457e-01 -3.13833000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46655999499998 meters 0.01223760318295176 Centerline is valid? [True, True] Translation: X:191.61, Y:-40.70, Z:-3.14 [[ 8.88504980e-01 4.58701425e-01 1.23248979e-02 1.91605590e+02] [-4.58655191e-01 8.88590448e-01 -6.51393506e-03 -4.07046669e+01] [-1.39397378e-02 1.34785338e-04 9.99902828e-01 -3.13908692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52655999499999 meters 0.01178450463359546 Centerline is valid? [True, True] Translation: X:191.66, Y:-40.73, Z:-3.14 [[ 8.86635753e-01 4.62310242e-01 1.20947276e-02 1.91661537e+02] [-4.62266041e-01 8.86718238e-01 -6.39318960e-03 -4.07315160e+01] [-1.36802526e-02 7.74486188e-05 9.99906418e-01 -3.14019830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.586559995 meters 0.011782044513002056 Centerline is valid? [True, True] Translation: X:191.72, Y:-40.76, Z:-3.14 [[ 8.86447561e-01 4.62690522e-01 1.13226051e-02 1.91715373e+02] [-4.62651774e-01 8.86519868e-01 -5.98836602e-03 -4.07628829e+01] [-1.28084746e-02 6.99491241e-05 9.99917966e-01 -3.14225623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.646559995 meters 0.012074050590952871 Centerline is valid? [True, True] Translation: X:191.77, Y:-40.79, Z:-3.14 [[ 8.87545878e-01 4.60592031e-01 1.08302764e-02 1.91768480e+02] [-4.60556379e-01 8.87611948e-01 -5.73154955e-03 -4.07945802e+01] [-1.22529888e-02 9.90603117e-05 9.99924924e-01 -3.14358169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.706559995 meters 0.013258257793567452 Centerline is valid? [True, True] Translation: X:191.82, Y:-40.83, Z:-3.15 [[ 8.91127494e-01 4.53631620e-01 1.04948732e-02 1.91819555e+02] [-4.53597619e-01 8.91189271e-01 -5.55729770e-03 -4.08294413e+01] [-1.18738843e-02 1.91811285e-04 9.99929485e-01 -3.14513055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.766559995 meters 0.015016104090516975 Centerline is valid? [True, True] Translation: X:191.87, Y:-40.86, Z:-3.15 [[ 8.94360189e-01 4.47223487e-01 1.05358929e-02 1.91869329e+02] [-4.47188724e-01 8.94422201e-01 -5.58322135e-03 -4.08635317e+01] [-1.19204842e-02 2.81878411e-04 9.99928909e-01 -3.14650256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.826559995 meters 0.017075076476014184 Centerline is valid? [True, True] Translation: X:191.92, Y:-40.90, Z:-3.15 [[ 8.98657547e-01 4.38531420e-01 1.02375600e-02 1.91919816e+02] [-4.38498033e-01 8.98715775e-01 -5.42492765e-03 -4.08988154e+01] [-1.15796579e-02 3.86002237e-04 9.99932879e-01 -3.14740051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.886559995 meters 0.01781035828449391 Centerline is valid? [True, True] Translation: X:191.97, Y:-40.93, Z:-3.15 [[ 9.00835418e-01 4.34050513e-01 9.78270794e-03 1.91972962e+02] [-4.34019757e-01 9.00888435e-01 -5.18441426e-03 -4.09299437e+01] [-1.10634261e-02 4.24415469e-04 9.99938708e-01 -3.14866765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.946559995 meters 0.019908419986415918 Centerline is valid? [True, True] Translation: X:192.02, Y:-40.96, Z:-3.15 [[ 9.02043189e-01 4.31551508e-01 9.02110697e-03 1.92024927e+02] [-4.31525226e-01 9.02088199e-01 -4.78119087e-03 -4.09611775e+01] [-1.02011643e-02 4.20005431e-04 9.99947879e-01 -3.15008135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.006559995 meters 0.020335013492466258 Centerline is valid? [True, True] Translation: X:192.08, Y:-40.99, Z:-3.15 [[ 9.01260331e-01 4.33180586e-01 9.18666188e-03 1.92079305e+02] [-4.33153424e-01 9.01307058e-01 -4.86802535e-03 -4.09903529e+01] [-1.03887373e-02 4.08124086e-04 9.99945952e-01 -3.15055787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.066559995 meters 0.02107733206719043 Centerline is valid? [True, True] Translation: X:192.13, Y:-41.02, Z:-3.15 [[ 8.98891069e-01 4.38075777e-01 9.19022168e-03 1.92132722e+02] [-4.38048808e-01 8.98937978e-01 -4.87379997e-03 -4.10169257e+01] [-1.03965330e-02 3.55249608e-04 9.99945891e-01 -3.15174999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.126559995 meters 0.016634550609899698 Centerline is valid? [True, True] Translation: X:192.19, Y:-41.04, Z:-3.15 [[ 8.97148260e-01 4.41634056e-01 9.18482617e-03 1.92191497e+02] [-4.41607294e-01 8.97195219e-01 -4.87193126e-03 -4.10376962e+01] [-1.03921929e-02 3.14758416e-04 9.99945950e-01 -3.15206021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.186559995 meters 0.0150159383076576 Centerline is valid? [True, True] Translation: X:192.25, Y:-41.06, Z:-3.15 [[ 8.94513076e-01 4.46946107e-01 9.24845573e-03 1.92248621e+02] [-4.46919250e-01 8.94560849e-01 -4.90632152e-03 -4.10617353e+01] [-1.04661677e-02 2.55455863e-04 9.99945196e-01 -3.15303944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24655999499998 meters 0.014794598945883766 Centerline is valid? [True, True] Translation: X:192.30, Y:-41.09, Z:-3.15 [[ 8.92984940e-01 4.49990968e-01 9.27503805e-03 1.92303626e+02] [-4.49964124e-01 8.93033079e-01 -4.91999466e-03 -4.10880903e+01] [-1.04968689e-02 2.20046761e-04 9.99944882e-01 -3.15417142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.306559995 meters 0.014896848159148973 Centerline is valid? [True, True] Translation: X:192.36, Y:-41.12, Z:-3.16 [[ 8.92217610e-01 4.51514551e-01 9.07456510e-03 1.92358275e+02] [-4.51488902e-01 8.92263734e-01 -4.81678830e-03 -4.11162679e+01] [-1.02717553e-02 2.00557916e-04 9.99947224e-01 -3.15551570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.366559995 meters 0.013676413012259588 Centerline is valid? [True, True] Translation: X:192.42, Y:-41.14, Z:-3.16 [[ 8.91163125e-01 4.53592084e-01 9.08325341e-03 1.92415185e+02] [-4.53566484e-01 8.91209397e-01 -4.82231152e-03 -4.11413726e+01] [-1.02824431e-02 1.77606893e-04 9.99947119e-01 -3.15590990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.426559995 meters 0.014096923144074616 Centerline is valid? [True, True] Translation: X:192.47, Y:-41.17, Z:-3.16 [[ 8.91255598e-01 4.53407046e-01 9.24716608e-03 1.92469211e+02] [-4.53380467e-01 8.91303549e-01 -4.91278541e-03 -4.11708569e+01] [-1.04695235e-02 1.86063021e-04 9.99945176e-01 -3.15673002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.486559995 meters 0.01400696487396363 Centerline is valid? [True, True] Translation: X:192.52, Y:-41.20, Z:-3.16 [[ 8.92421701e-01 4.51111552e-01 9.04849493e-03 1.92524072e+02] [-4.51085971e-01 8.92467547e-01 -4.80870550e-03 -4.11995500e+01] [-1.02447507e-02 2.09744022e-04 9.99947499e-01 -3.15813976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.546559995 meters 0.014996139585795836 Centerline is valid? [True, True] Translation: X:192.58, Y:-41.23, Z:-3.16 [[ 8.94093914e-01 4.47812253e-01 7.76262301e-03 1.92578180e+02] [-4.47793272e-01 8.94127586e-01 -4.12865030e-03 -4.12302350e+01] [-8.78963557e-03 2.15350749e-04 9.99961347e-01 -3.16115447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.606559995 meters 0.015871253893423688 Centerline is valid? [True, True] Translation: X:192.63, Y:-41.26, Z:-3.16 [[ 8.94931175e-01 4.46140951e-01 7.51296888e-03 1.92631621e+02] [-4.46123119e-01 8.94962682e-01 -3.99506223e-03 -4.12614269e+01] [-8.50618764e-03 2.23596622e-04 9.99963797e-01 -3.16228927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.666559995 meters 0.017191942090115448 Centerline is valid? [True, True] Translation: X:192.68, Y:-41.29, Z:-3.16 [[ 8.95826440e-01 4.44341153e-01 7.47855830e-03 1.92683546e+02] [-4.44323386e-01 8.95857623e-01 -3.98088422e-03 -4.12928311e+01] [-8.46859415e-03 2.43282990e-04 9.99964111e-01 -3.16325371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.726559995 meters 0.01774961076341161 Centerline is valid? [True, True] Translation: X:192.74, Y:-41.32, Z:-3.16 [[ 8.96335825e-01 4.43317203e-01 7.20731552e-03 1.92737874e+02] [-4.43300681e-01 8.96364769e-01 -3.83501389e-03 -4.13233043e+01] [-8.16051134e-03 2.42452465e-04 9.99966673e-01 -3.16459064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.786559995 meters 0.01725629674491096 Centerline is valid? [True, True] Translation: X:192.79, Y:-41.35, Z:-3.16 [[ 8.96967698e-01 4.42029255e-01 7.68677822e-03 1.92791603e+02] [-4.42010391e-01 8.97000592e-01 -4.09288533e-03 -4.13535089e+01] [-8.70421967e-03 2.73550092e-04 9.99962080e-01 -3.16452939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.846559995 meters 0.017421054976373248 Centerline is valid? [True, True] Translation: X:192.85, Y:-41.38, Z:-3.16 [[ 8.96560835e-01 4.42853757e-01 7.69533187e-03 1.92846346e+02] [-4.42834863e-01 8.96593820e-01 -4.09957890e-03 -4.13837742e+01] [-8.71510091e-03 2.67760650e-04 9.99961987e-01 -3.16481355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.906559995 meters 0.016117087800847255 Centerline is valid? [True, True] Translation: X:192.90, Y:-41.41, Z:-3.17 [[ 8.94081549e-01 4.47839274e-01 7.62690184e-03 1.92901943e+02] [-4.47820862e-01 8.94114051e-01 -4.06684245e-03 -4.14102005e+01] [-8.64061187e-03 2.20603037e-04 9.99962645e-01 -3.16563452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96655999499998 meters 0.01450468599916328 Centerline is valid? [True, True] Translation: X:192.96, Y:-41.44, Z:-3.17 [[ 8.91382901e-01 4.53183835e-01 7.80610039e-03 1.92957785e+02] [-4.53164742e-01 8.91417064e-01 -4.16350851e-03 -4.14359523e+01] [-8.84532584e-03 1.73830822e-04 9.99960864e-01 -3.16642229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02655999499999 meters 0.012665250007422049 Centerline is valid? [True, True] Translation: X:193.01, Y:-41.46, Z:-3.17 [[ 8.87482274e-01 4.60787384e-01 7.08527106e-03 1.93013209e+02] [-4.60771892e-01 8.87510552e-01 -3.77945175e-03 -4.14598299e+01] [-8.02977651e-03 8.95026765e-05 9.99967757e-01 -3.16717304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.086559995 meters 0.012148946698966656 Centerline is valid? [True, True] Translation: X:193.07, Y:-41.49, Z:-3.17 [[ 8.85807835e-01 4.64004291e-01 6.67067445e-03 1.93068245e+02] [-4.63990664e-01 8.85832950e-01 -3.55655592e-03 -4.14866441e+01] [-7.55936043e-03 5.52944359e-05 9.99971426e-01 -3.16853818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.146559995 meters 0.012490927251098138 Centerline is valid? [True, True] Translation: X:193.12, Y:-41.52, Z:-3.17 [[ 8.86209694e-01 4.63246418e-01 5.92748109e-03 1.93122837e+02] [-4.63235633e-01 8.86229515e-01 -3.16139173e-03 -4.15168030e+01] [-6.71761209e-03 5.58355430e-05 9.99977435e-01 -3.17001993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.206559995 meters 0.013148139015165523 Centerline is valid? [True, True] Translation: X:193.18, Y:-41.55, Z:-3.17 [[ 8.89474929e-01 4.56952738e-01 5.34281252e-03 1.93175278e+02] [-4.56943845e-01 8.89490970e-01 -2.85247551e-03 -4.15501688e+01] [-6.05582999e-03 9.58401485e-05 9.99981659e-01 -3.16923040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.266559995 meters 0.014733550347332305 Centerline is valid? [True, True] Translation: X:193.23, Y:-41.58, Z:-3.17 [[ 8.91857195e-01 4.52281004e-01 5.71288333e-03 1.93226722e+02] [-4.52270746e-01 8.91875482e-01 -3.04901178e-03 -4.15839194e+01] [-6.47419068e-03 1.35513084e-04 9.99979033e-01 -3.16983336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.326559995 meters 0.016391886748170506 Centerline is valid? [True, True] Translation: X:193.28, Y:-41.62, Z:-3.17 [[ 8.94862604e-01 4.46299068e-01 6.16947129e-03 1.93277951e+02] [-4.46286933e-01 8.94883849e-01 -3.29691078e-03 -4.16171071e+01] [-6.99236843e-03 1.96927743e-04 9.99975534e-01 -3.17017410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.386559995 meters 0.016749037469106137 Centerline is valid? [True, True] Translation: X:193.33, Y:-41.65, Z:-3.17 [[ 8.96077168e-01 4.43864805e-01 5.45381128e-03 1.93331360e+02] [-4.43855280e-01 8.96093744e-01 -2.91397503e-03 -4.16489029e+01] [-6.18053713e-03 1.90443558e-04 9.99980882e-01 -3.17107392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.446559995 meters 0.018780865617317344 Centerline is valid? [True, True] Translation: X:193.38, Y:-41.68, Z:-3.17 [[ 8.97221662e-01 4.41560488e-01 4.19808810e-03 1.93382658e+02] [-4.41554829e-01 8.97231470e-01 -2.24118499e-03 -4.16826256e+01] [-4.75627550e-03 1.57153656e-04 9.99988677e-01 -3.17248021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.506559995 meters 0.017971711108021652 Centerline is valid? [True, True] Translation: X:193.44, Y:-41.71, Z:-3.17 [[ 8.97321289e-01 4.41357499e-01 4.25010881e-03 1.93438190e+02] [-4.41351690e-01 8.97331339e-01 -2.26999248e-03 -4.17112914e+01] [-4.81563403e-03 1.61119866e-04 9.99988392e-01 -3.17239781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.566559995 meters 0.018556910643855708 Centerline is valid? [True, True] Translation: X:193.49, Y:-41.74, Z:-3.17 [[ 8.96502577e-01 4.43011961e-01 4.85090848e-03 1.93492091e+02] [-4.43004406e-01 8.96515684e-01 -2.59327711e-03 -4.17405379e+01] [-5.49776831e-03 1.75905786e-04 9.99984872e-01 -3.17269891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.626559995 meters 0.016527484935244734 Centerline is valid? [True, True] Translation: X:193.55, Y:-41.77, Z:-3.17 [[ 8.95683124e-01 4.44668889e-01 4.61744214e-03 1.93548736e+02] [-4.44662051e-01 8.95695011e-01 -2.47123344e-03 -4.17675619e+01] [-5.23470052e-03 1.60240795e-04 9.99986286e-01 -3.17235184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.686559995 meters 0.017008742431447198 Centerline is valid? [True, True] Translation: X:193.60, Y:-41.80, Z:-3.17 [[ 8.94271373e-01 4.47503107e-01 4.43628229e-03 1.93602840e+02] [-4.47496836e-01 8.94282366e-01 -2.37303848e-03 -4.17955776e+01] [-5.02923112e-03 1.36918091e-04 9.99987344e-01 -3.17395130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74655999499998 meters 0.015641904386435177 Centerline is valid? [True, True] Translation: X:193.66, Y:-41.82, Z:-3.17 [[ 8.93376471e-01 4.49281673e-01 4.94562533e-03 1.93659830e+02] [-4.49273887e-01 8.93390149e-01 -2.64899660e-03 -4.18217320e+01] [-5.60851857e-03 1.44610919e-04 9.99984262e-01 -3.17427113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.806559995 meters 0.014309873193587105 Centerline is valid? [True, True] Translation: X:193.72, Y:-41.85, Z:-3.17 [[ 8.92202755e-01 4.51607962e-01 4.94898873e-03 1.93717060e+02] [-4.51600209e-01 8.92216471e-01 -2.64946845e-03 -4.18472030e+01] [-5.61209031e-03 1.28898707e-04 9.99984244e-01 -3.17455303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.866559995 meters 0.014491966282086217 Centerline is valid? [True, True] Translation: X:193.77, Y:-41.88, Z:-3.18 [[ 8.91166914e-01 4.53642588e-01 5.47113652e-03 1.93771053e+02] [-4.53633135e-01 8.91183699e-01 -2.93146611e-03 -4.18753105e+01] [-6.20562555e-03 1.30536794e-04 9.99980736e-01 -3.17582585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.926559995 meters 0.014050500930095008 Centerline is valid? [True, True] Translation: X:193.83, Y:-41.90, Z:-3.18 [[ 8.90205082e-01 4.55524275e-01 5.70498602e-03 1.93827706e+02] [-4.55514024e-01 8.90223354e-01 -3.05846538e-03 -4.19015507e+01] [-6.47191701e-03 1.23960287e-04 9.99979049e-01 -3.17704916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.986559995 meters 0.01645570810459458 Centerline is valid? [True, True] Translation: X:193.88, Y:-41.93, Z:-3.18 [[ 8.90081543e-01 4.55759757e-01 6.15547778e-03 1.93881373e+02] [-4.55747814e-01 8.90102818e-01 -3.30209962e-03 -4.19332729e+01] [-6.98397223e-03 1.33792379e-04 9.99975603e-01 -3.17995069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.046559995 meters 0.014823490270253228 Centerline is valid? [True, True] Translation: X:193.94, Y:-41.96, Z:-3.18 [[ 8.91543567e-01 4.52883544e-01 6.82371789e-03 1.93936866e+02] [-4.52868760e-01 8.91569663e-01 -3.66359687e-03 -4.19602010e+01] [-7.74300260e-03 1.76007561e-04 9.99970007e-01 -3.17882256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.106559995 meters 0.017331463488824035 Centerline is valid? [True, True] Translation: X:193.99, Y:-41.99, Z:-3.18 [[ 8.94334727e-01 4.47327629e-01 7.96169565e-03 1.93987446e+02] [-4.47307244e-01 8.94370126e-01 -4.27870901e-03 -4.19922714e+01] [-9.03468749e-03 2.65273909e-04 9.99959151e-01 -3.17928243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.166559995 meters 0.018440869193796835 Centerline is valid? [True, True] Translation: X:194.04, Y:-42.02, Z:-3.18 [[ 8.96214029e-01 4.43531384e-01 8.96250000e-03 1.94041275e+02] [-4.43505348e-01 8.96258776e-01 -4.81794230e-03 -4.20220987e+01] [-1.01696279e-02 3.42990806e-04 9.99948229e-01 -3.17957538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.226559995 meters 0.01993051826663954 Centerline is valid? [True, True] Translation: X:194.09, Y:-42.05, Z:-3.18 [[ 8.96960124e-01 4.42022336e-01 8.87640572e-03 1.94094204e+02] [-4.41996720e-01 8.97003972e-01 -4.77204886e-03 -4.20517978e+01] [-1.00715234e-02 3.56995313e-04 9.99949217e-01 -3.18055137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.286559995 meters 0.020575650334354118 Centerline is valid? [True, True] Translation: X:194.15, Y:-42.08, Z:-3.18 [[ 8.97886725e-01 4.40125224e-01 9.44541052e-03 1.94149124e+02] [-4.40096121e-01 8.97936315e-01 -5.07732539e-03 -4.20801229e+01] [-1.07160361e-02 4.01974540e-04 9.99942501e-01 -3.18163581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.346559995 meters 0.022955267888037784 Centerline is valid? [True, True] Translation: X:194.20, Y:-42.11, Z:-3.18 [[ 8.97780347e-01 4.40345318e-01 9.29782723e-03 1.94203148e+02] [-4.40317104e-01 8.97828405e-01 -5.00037759e-03 -4.21097765e+01] [-1.05497463e-02 3.95248367e-04 9.99944272e-01 -3.18376515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.406559995 meters 0.022813333821426165 Centerline is valid? [True, True] Translation: X:194.26, Y:-42.14, Z:-3.19 [[ 8.96966667e-01 4.42004679e-01 9.09189537e-03 1.94258931e+02] [-4.41977755e-01 8.97012668e-01 -4.89261283e-03 -4.21368688e+01] [-1.03181031e-02 3.70095118e-04 9.99946698e-01 -3.18570744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46655999499998 meters 0.01638491250415718 Centerline is valid? [True, True] Translation: X:194.32, Y:-42.15, Z:-3.19 [[ 8.94600401e-01 4.46773979e-01 9.11782333e-03 1.94318913e+02] [-4.46747108e-01 8.94646807e-01 -4.91044945e-03 -4.21543860e+01] [-1.03510926e-02 3.19528846e-04 9.99946375e-01 -3.18630395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52655999499999 meters 0.01553594964950902 Centerline is valid? [True, True] Translation: X:194.37, Y:-42.18, Z:-3.19 [[ 8.92781283e-01 4.50374376e-01 1.02225967e-02 1.94374662e+02] [-4.50340830e-01 8.92839753e-01 -5.50565410e-03 -4.21811545e+01] [-1.16067462e-02 3.11692269e-04 9.99932591e-01 -3.18704888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.586559995 meters 0.014384790783288156 Centerline is valid? [True, True] Translation: X:194.43, Y:-42.21, Z:-3.19 [[ 8.90674147e-01 4.54487171e-01 1.18733444e-02 1.94430933e+02] [-4.54442268e-01 8.90753233e-01 -6.39560647e-03 -4.22073907e+01] [-1.34829410e-02 3.00651797e-04 9.99909056e-01 -3.18729513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.646559995 meters 0.01317620234115205 Centerline is valid? [True, True] Translation: X:194.49, Y:-42.23, Z:-3.19 [[ 8.88898671e-01 4.57928874e-01 1.26609476e-02 1.94486963e+02] [-4.57878150e-01 8.88988794e-01 -6.82087515e-03 -4.22335341e+01] [-1.43789162e-02 2.65895573e-04 9.99896583e-01 -3.18857052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.706559995 meters 0.011692545102055354 Centerline is valid? [True, True] Translation: X:194.54, Y:-42.26, Z:-3.19 [[ 8.85767098e-01 4.63940999e-01 1.32437462e-02 1.94543816e+02] [-4.63886098e-01 8.85866083e-01 -7.13944012e-03 -4.22583557e+01] [-1.50444645e-02 1.80291436e-04 9.99886809e-01 -3.18984708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.766559995 meters 0.01097459942585713 Centerline is valid? [True, True] Translation: X:194.60, Y:-42.28, Z:-3.19 [[ 8.82085524e-01 4.70889620e-01 1.37147165e-02 1.94600697e+02] [-4.70831566e-01 8.82192134e-01 -7.39425664e-03 -4.22830431e+01] [-1.55808937e-02 6.50453016e-05 9.99878608e-01 -3.19184961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.826559995 meters 0.010742133570100131 Centerline is valid? [True, True] Translation: X:194.66, Y:-42.31, Z:-3.19 [[ 8.79903261e-01 4.74959542e-01 1.35530408e-02 1.94655717e+02] [-4.74903263e-01 8.80007633e-01 -7.31139223e-03 -4.23092383e+01] [-1.53993949e-02 -3.06543820e-06 9.99881422e-01 -3.19318610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.886559995 meters 0.010914351210507402 Centerline is valid? [True, True] Translation: X:194.71, Y:-42.34, Z:-3.20 [[ 8.77810776e-01 4.78831506e-01 1.29858240e-02 1.94712099e+02] [-4.78780210e-01 8.77906820e-01 -7.00898417e-03 -4.23370895e+01] [-1.47564659e-02 -6.47937279e-05 9.99891115e-01 -3.19523805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.946559995 meters 0.010815705495856292 Centerline is valid? [True, True] Translation: X:194.77, Y:-42.37, Z:-3.20 [[ 8.78080141e-01 4.78351505e-01 1.24540715e-02 1.94766315e+02] [-4.78304217e-01 8.78168455e-01 -6.72611319e-03 -4.23689597e+01] [-1.41542191e-02 -5.07684940e-05 9.99899823e-01 -3.19749332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.006559995 meters 0.010918124637392425 Centerline is valid? [True, True] Translation: X:194.82, Y:-42.41, Z:-3.20 [[ 8.81366156e-01 4.72285467e-01 1.18379641e-02 1.94816656e+02] [-4.72242136e-01 8.81445651e-01 -6.39759090e-03 -4.24057093e+01] [-1.34560112e-02 4.82346478e-05 9.99909463e-01 -3.19982728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.066559995 meters 0.01190705717925 Centerline is valid? [True, True] Translation: X:194.87, Y:-42.44, Z:-3.20 [[ 8.84856378e-01 4.65726018e-01 1.13343290e-02 1.94866960e+02] [-4.65685708e-01 8.84928955e-01 -6.12918703e-03 -4.24432514e+01] [-1.28845978e-02 1.45215229e-04 9.99916980e-01 -3.20109311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.126559995 meters 0.01416977474230272 Centerline is valid? [True, True] Translation: X:194.91, Y:-42.48, Z:-3.20 [[ 8.90438989e-01 4.54972057e-01 1.09010788e-02 1.94914036e+02] [-4.54933908e-01 8.90505666e-01 -5.89896697e-03 -4.24834494e+01] [-1.23913376e-02 2.93399797e-04 9.99923181e-01 -3.20216784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.186559995 meters 0.015383062817002665 Centerline is valid? [True, True] Translation: X:194.96, Y:-42.52, Z:-3.20 [[ 8.93036555e-01 4.49840074e-01 1.13850127e-02 1.94963966e+02] [-4.49798038e-01 8.93109043e-01 -6.16142064e-03 -4.25187071e+01] [-1.29397117e-02 3.81417510e-04 9.99916206e-01 -3.20278191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24655999499998 meters 0.0173794049935249 Centerline is valid? [True, True] Translation: X:195.01, Y:-42.55, Z:-3.20 [[ 8.94711065e-01 4.46499121e-01 1.14299912e-02 1.95013072e+02] [-4.46456470e-01 8.94783967e-01 -6.18641598e-03 -4.25548957e+01] [-1.29896022e-02 4.32061318e-04 9.99915538e-01 -3.20392886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.306559995 meters 0.016363051511210275 Centerline is valid? [True, True] Translation: X:195.07, Y:-42.59, Z:-3.21 [[ 8.93186232e-01 4.49571948e-01 1.01695104e-02 1.95065958e+02] [-4.49538376e-01 8.93244057e-01 -5.50490176e-03 -4.25867347e+01] [-1.15587042e-02 3.45317254e-04 9.99933136e-01 -3.20568042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.366559995 meters 0.01462785130092468 Centerline is valid? [True, True] Translation: X:195.12, Y:-42.62, Z:-3.21 [[ 8.90448068e-01 4.54988485e-01 9.36568840e-03 1.95120740e+02] [-4.54960305e-01 8.90497285e-01 -5.07019788e-03 -4.26154290e+01] [-1.06470017e-02 2.53731463e-04 9.99943287e-01 -3.20756470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.426559995 meters 0.011928157146319625 Centerline is valid? [True, True] Translation: X:195.18, Y:-42.64, Z:-3.21 [[ 8.84502648e-01 4.66443880e-01 9.22892511e-03 1.95175571e+02] [-4.66417122e-01 8.84550786e-01 -4.99750346e-03 -4.26398068e+01] [-1.04945079e-02 1.15776357e-04 9.99944924e-01 -3.20913824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.486559995 meters 0.010859609971288781 Centerline is valid? [True, True] Translation: X:195.23, Y:-42.67, Z:-3.21 [[ 8.80610882e-01 4.73745264e-01 9.48148578e-03 1.95231873e+02] [-4.73717457e-01 8.80661924e-01 -5.13292499e-03 -4.26666854e+01] [-1.07816824e-02 2.85642699e-05 9.99941876e-01 -3.20983503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.546559995 meters 0.01103230812779157 Centerline is valid? [True, True] Translation: X:195.29, Y:-42.69, Z:-3.21 [[ 8.77055046e-01 4.80293719e-01 9.61198565e-03 1.95287557e+02] [-4.80265500e-01 8.77107714e-01 -5.20660033e-03 -4.26941860e+01] [-1.09314442e-02 -4.98299963e-05 9.99940249e-01 -3.21092068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.606559995 meters 0.012170797286665837 Centerline is valid? [True, True] Translation: X:195.34, Y:-42.72, Z:-3.21 [[ 8.72653728e-01 4.88232209e-01 1.02362776e-02 1.95342399e+02] [-4.88200703e-01 8.72713748e-01 -5.54864444e-03 -4.27221213e+01] [-1.16423671e-02 -1.55312674e-04 9.99932213e-01 -3.21161079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.666559995 meters 0.01319516269544862 Centerline is valid? [True, True] Translation: X:195.40, Y:-42.75, Z:-3.21 [[ 8.69905793e-01 4.93097912e-01 1.08793602e-02 1.95395725e+02] [-4.93062659e-01 8.69973790e-01 -5.90071537e-03 -4.27530675e+01] [-1.23743887e-02 -2.31139793e-04 9.99923408e-01 -3.21283000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.726559995 meters 0.01365196914140992 Centerline is valid? [True, True] Translation: X:195.45, Y:-42.78, Z:-3.21 [[ 8.69407691e-01 4.93962082e-01 1.14772738e-02 1.95448789e+02] [-4.93922876e-01 8.69483408e-01 -6.22860017e-03 -4.27849761e+01] [-1.30559915e-02 -2.53695195e-04 9.99914735e-01 -3.21390626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.786559995 meters 0.0128675992513515 Centerline is valid? [True, True] Translation: X:195.50, Y:-42.82, Z:-3.21 [[ 8.70667165e-01 4.91724455e-01 1.20725808e-02 1.95499474e+02] [-4.91680800e-01 8.70750830e-01 -6.55609973e-03 -4.28215877e+01] [-1.37360043e-02 -2.27675429e-04 9.99905631e-01 -3.21474205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.846559995 meters 0.012142928242964595 Centerline is valid? [True, True] Translation: X:195.55, Y:-42.86, Z:-3.22 [[ 8.72585357e-01 4.88322867e-01 1.16435151e-02 1.95550715e+02] [-4.88281909e-01 8.72663022e-01 -6.32667317e-03 -4.28571678e+01] [-1.32503243e-02 -1.64755429e-04 9.99912197e-01 -3.21627460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.906559995 meters 0.0109764287003251 Centerline is valid? [True, True] Translation: X:195.60, Y:-42.90, Z:-3.22 [[ 8.76377407e-01 4.81513125e-01 1.03803120e-02 1.95599054e+02] [-4.81480060e-01 8.76438878e-01 -5.64309748e-03 -4.28985510e+01] [-1.18149345e-02 -5.24301113e-05 9.99930200e-01 -3.21869512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96655999499998 meters 0.010935585429258076 Centerline is valid? [True, True] Translation: X:195.65, Y:-42.94, Z:-3.22 [[ 8.78648982e-01 4.77384940e-01 8.92108537e-03 1.95649899e+02] [-4.77360284e-01 8.78694270e-01 -4.85180694e-03 -4.29360723e+01] [-1.01550862e-02 4.46338621e-06 9.99948436e-01 -3.22099712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02655999499999 meters 0.011577864224762724 Centerline is valid? [True, True] Translation: X:195.70, Y:-42.98, Z:-3.22 [[ 8.81404799e-01 4.72321571e-01 6.15740491e-03 1.95699450e+02] [-4.72309694e-01 8.81426306e-01 -3.34978578e-03 -4.29755316e+01] [-7.00947474e-03 4.43152368e-05 9.99975432e-01 -3.22474441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.086559995 meters 0.012051330674023012 Centerline is valid? [True, True] Translation: X:195.75, Y:-43.01, Z:-3.23 [[ 8.82656991e-01 4.69994919e-01 4.62743089e-03 1.95750709e+02] [-4.69988177e-01 8.82669119e-01 -2.51781717e-03 -4.30118384e+01] [-5.26785162e-03 4.75311208e-05 9.99986124e-01 -3.22607117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.146559995 meters 0.012741700970020082 Centerline is valid? [True, True] Translation: X:195.80, Y:-43.05, Z:-3.23 [[ 8.83823413e-01 4.67804956e-01 3.83378210e-03 1.95801433e+02] [-4.67800306e-01 8.83831726e-01 -2.08649477e-03 -4.30483863e+01] [-4.36449085e-03 5.06484875e-05 9.99990474e-01 -3.22714067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.206559995 meters 0.013081853681339593 Centerline is valid? [True, True] Translation: X:195.85, Y:-43.08, Z:-3.23 [[ 8.84803647e-01 4.65946564e-01 4.03793805e-03 1.95852851e+02] [-4.65941379e-01 8.84812859e-01 -2.19906757e-03 -4.30834156e+01] [-4.59746749e-03 6.43005822e-05 9.99989430e-01 -3.22729959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.266559995 meters 0.014066186751362553 Centerline is valid? [True, True] Translation: X:195.90, Y:-43.12, Z:-3.23 [[ 8.85828270e-01 4.63977864e-01 5.72868890e-03 1.95901714e+02] [-4.63967354e-01 8.85846787e-01 -3.12485113e-03 -4.31204717e+01] [-6.52460241e-03 1.10156833e-04 9.99978708e-01 -3.22710033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.326559995 meters 0.0133170322003665 Centerline is valid? [True, True] Translation: X:195.96, Y:-43.15, Z:-3.23 [[ 8.85281164e-01 4.64986858e-01 8.03007244e-03 1.95955952e+02] [-4.64966238e-01 8.85317570e-01 -4.38140945e-03 -4.31504444e+01] [-9.14646204e-03 1.45066688e-04 9.99958160e-01 -3.22555699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.386559995 meters 0.012691398182516364 Centerline is valid? [True, True] Translation: X:196.01, Y:-43.18, Z:-3.23 [[ 8.84028804e-01 4.67345887e-01 8.99421961e-03 1.96010679e+02] [-4.67320096e-01 8.84074546e-01 -4.91180139e-03 -4.31807554e+01] [-1.02470708e-02 1.38994337e-04 9.99947488e-01 -3.22508885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.446559995 meters 0.012276343854867875 Centerline is valid? [True, True] Translation: X:196.07, Y:-43.21, Z:-3.23 [[ 8.83237980e-01 4.68846748e-01 8.56730062e-03 1.96065205e+02] [-4.68823419e-01 8.83279522e-01 -4.67844396e-03 -4.32101283e+01] [-9.76079443e-03 1.15628220e-04 9.99952356e-01 -3.22596745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.506559995 meters 0.011906211964249602 Centerline is valid? [True, True] Translation: X:196.12, Y:-43.24, Z:-3.23 [[ 8.81848455e-01 4.71476891e-01 7.26936269e-03 1.96120711e+02] [-4.71460171e-01 8.81878413e-01 -3.97131938e-03 -4.32378771e+01] [-8.28307935e-03 7.48868812e-05 9.99965692e-01 -3.22848342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.566559995 meters 0.012029364986610835 Centerline is valid? [True, True] Translation: X:196.18, Y:-43.27, Z:-3.23 [[ 8.80976118e-01 4.73119788e-01 6.22456677e-03 1.96176296e+02] [-4.73107561e-01 8.80998106e-01 -3.40173751e-03 -4.32651471e+01] [-7.09326086e-03 5.19599026e-05 9.99974841e-01 -3.23170742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.626559995 meters 0.011646642133901344 Centerline is valid? [True, True] Translation: X:196.23, Y:-43.29, Z:-3.23 [[ 8.80371008e-01 4.74250651e-01 5.76260855e-03 1.96232971e+02] [-4.74240187e-01 8.80389867e-01 -3.15063128e-03 -4.32921614e+01] [-6.56753112e-03 4.08638786e-05 9.99978433e-01 -3.23238820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.686559995 meters 0.011673152883410049 Centerline is valid? [True, True] Translation: X:196.29, Y:-43.32, Z:-3.23 [[ 8.80566384e-01 4.73876727e-01 6.60992947e-03 1.96288895e+02] [-4.73862926e-01 8.80591190e-01 -3.61701642e-03 -4.33211991e+01] [-7.53466556e-03 5.28225503e-05 9.99971613e-01 -3.23187421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74655999499998 meters 0.011943899428861912 Centerline is valid? [True, True] Translation: X:196.34, Y:-43.35, Z:-3.23 [[ 8.80837730e-01 4.73364468e-01 7.13952437e-03 1.96343255e+02] [-4.73348317e-01 8.80866662e-01 -3.91085833e-03 -4.33507277e+01] [-8.14023037e-03 6.53497243e-05 9.99966866e-01 -3.23348630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.806559995 meters 0.01202778961720211 Centerline is valid? [True, True] Translation: X:196.40, Y:-43.38, Z:-3.24 [[ 8.80874336e-01 4.73310029e-01 6.16612956e-03 1.96399744e+02] [-4.73297981e-01 8.80895915e-01 -3.37758103e-03 -4.33792354e+01] [-7.03036132e-03 5.68077774e-05 9.99975285e-01 -3.23586547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.866559995 meters 0.011946839128588075 Centerline is valid? [True, True] Translation: X:196.46, Y:-43.41, Z:-3.24 [[ 8.80717532e-01 4.73610045e-01 5.49132305e-03 1.96455597e+02] [-4.73600486e-01 8.80734650e-01 -3.00933210e-03 -4.34089178e+01] [-6.26164839e-03 4.96782760e-05 9.99980394e-01 -3.23759066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.926559995 meters 0.012038219322476952 Centerline is valid? [True, True] Translation: X:196.51, Y:-43.44, Z:-3.24 [[ 8.80933697e-01 4.73209047e-01 5.38693464e-03 1.96510672e+02] [-4.73199829e-01 8.80950166e-01 -2.95407732e-03 -4.34400440e+01] [-6.14351707e-03 5.32497039e-05 9.99981127e-01 -3.23927828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.986559995 meters 0.012175030824914673 Centerline is valid? [True, True] Translation: X:196.57, Y:-43.47, Z:-3.24 [[ 8.81186633e-01 4.72734975e-01 5.63568534e-03 1.96565677e+02] [-4.72724862e-01 8.81204653e-01 -3.09279802e-03 -4.34711009e+01] [-6.42826594e-03 6.12037009e-05 9.99979337e-01 -3.24020570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.046559995 meters 0.012404673676288945 Centerline is valid? [True, True] Translation: X:196.62, Y:-43.50, Z:-3.24 [[ 8.82263814e-01 4.70717227e-01 5.98787176e-03 1.96619191e+02] [-4.70705744e-01 8.82284129e-01 -3.28895566e-03 -4.35029424e+01] [-6.83117231e-03 8.32009278e-05 9.99976664e-01 -3.24049596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.106559995 meters 0.01311681761110431 Centerline is valid? [True, True] Translation: X:196.67, Y:-43.53, Z:-3.24 [[ 8.83305958e-01 4.68756220e-01 6.17978550e-03 1.96671406e+02] [-4.68743925e-01 8.83327570e-01 -3.39677008e-03 -4.35339548e+01] [-7.05103201e-03 1.03650348e-04 9.99975136e-01 -3.24122719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.166559995 meters 0.013746328961796573 Centerline is valid? [True, True] Translation: X:196.72, Y:-43.57, Z:-3.24 [[ 8.84835625e-01 4.65861289e-01 6.25902493e-03 1.96724721e+02] [-4.65848591e-01 8.84857753e-01 -3.44209686e-03 -4.35659639e+01] [-7.14188641e-03 1.29931989e-04 9.99974488e-01 -3.24182487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.226559995 meters 0.015337491149523605 Centerline is valid? [True, True] Translation: X:196.78, Y:-43.60, Z:-3.24 [[ 8.86982216e-01 4.61746174e-01 7.28144053e-03 1.96777138e+02] [-4.61728822e-01 8.87012082e-01 -4.00763463e-03 -4.35980636e+01] [-8.30923568e-03 1.92649689e-04 9.99965459e-01 -3.24303803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.286559995 meters 0.015430312328422532 Centerline is valid? [True, True] Translation: X:196.83, Y:-43.63, Z:-3.24 [[ 8.87770200e-01 4.60230160e-01 7.22996943e-03 1.96832154e+02] [-4.60212985e-01 8.87799615e-01 -3.98138297e-03 -4.36259234e+01] [-8.25111660e-03 2.07227339e-04 9.99965937e-01 -3.24342105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.346559995 meters 0.015493212673771042 Centerline is valid? [True, True] Translation: X:196.89, Y:-43.66, Z:-3.24 [[ 8.87961178e-01 4.59872758e-01 6.48015695e-03 1.96886398e+02] [-4.59858940e-01 8.87984803e-01 -3.56997293e-03 -4.36551257e+01] [-7.39601420e-03 1.90039263e-04 9.99972631e-01 -3.24450866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.406559995 meters 0.016207767617732457 Centerline is valid? [True, True] Translation: X:196.94, Y:-43.68, Z:-3.25 [[ 8.88166081e-01 4.59485767e-01 5.81739855e-03 1.96939620e+02] [-4.59474607e-01 8.88185115e-01 -3.20719916e-03 -4.36845609e+01] [-6.64058916e-03 1.75578596e-04 9.99977936e-01 -3.24538765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46655999499998 meters 0.01605311328910271 Centerline is valid? [True, True] Translation: X:197.00, Y:-43.71, Z:-3.25 [[ 8.87831628e-01 4.60133542e-01 5.66783708e-03 1.96995403e+02] [-4.60122963e-01 8.87849704e-01 -3.12448622e-03 -4.37122030e+01] [-6.46986838e-03 1.66115692e-04 9.99979056e-01 -3.24704098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52655999499999 meters 0.014969856310279911 Centerline is valid? [True, True] Translation: X:197.05, Y:-43.74, Z:-3.25 [[ 8.86755941e-01 4.62199470e-01 5.96253311e-03 1.97052783e+02] [-4.62187796e-01 8.86775972e-01 -3.28901549e-03 -4.37373814e+01] [-6.80761231e-03 1.60743987e-04 9.99976815e-01 -3.24795726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.586559995 meters 0.015147676775723953 Centerline is valid? [True, True] Translation: X:197.11, Y:-43.77, Z:-3.25 [[ 8.85959945e-01 4.63708227e-01 7.04670085e-03 1.97106305e+02] [-4.63691942e-01 8.85987950e-01 -3.89036546e-03 -4.37663408e+01] [-8.04728651e-03 1.79209571e-04 9.99967604e-01 -3.24820315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.646559995 meters 0.014798759011621853 Centerline is valid? [True, True] Translation: X:197.16, Y:-43.79, Z:-3.25 [[ 8.85763477e-01 4.64058603e-01 8.52503734e-03 1.97161948e+02] [-4.64034752e-01 8.85804474e-01 -4.70981891e-03 -4.37947781e+01] [-9.73714820e-03 2.15871986e-04 9.99952570e-01 -3.24771073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.706559995 meters 0.015184004841103339 Centerline is valid? [True, True] Translation: X:197.22, Y:-43.82, Z:-3.25 [[ 8.85875239e-01 4.63843732e-01 8.60540825e-03 1.97217694e+02] [-4.63819394e-01 8.85917007e-01 -4.75678858e-03 -4.38240900e+01] [-9.83008409e-03 2.22565983e-04 9.99951659e-01 -3.24843451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.766559995 meters 0.014933189379318802 Centerline is valid? [True, True] Translation: X:197.27, Y:-43.85, Z:-3.25 [[ 8.85686092e-01 4.64210287e-01 8.30394849e-03 1.97274014e+02] [-4.64187614e-01 8.85724993e-01 -4.59298307e-03 -4.38530776e+01] [-9.48712471e-03 2.13351192e-04 9.99954973e-01 -3.24978553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.826559995 meters 0.01535145505277649 Centerline is valid? [True, True] Translation: X:197.33, Y:-43.88, Z:-3.25 [[ 8.85599420e-01 4.64378295e-01 8.15272748e-03 1.97328438e+02] [-4.64356418e-01 8.85636920e-01 -4.51241233e-03 -4.38818795e+01] [-9.31582280e-03 2.10418404e-04 9.99956585e-01 -3.25108295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.886559995 meters 0.01566342121432352 Centerline is valid? [True, True] Translation: X:197.38, Y:-43.91, Z:-3.25 [[ 8.85478845e-01 4.64605677e-01 8.29332823e-03 1.97383695e+02] [-4.64583023e-01 8.85517656e-01 -4.59302969e-03 -4.39110553e+01] [-9.47783624e-03 2.14091132e-04 9.99955061e-01 -3.25244982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.946559995 meters 0.01579324069094641 Centerline is valid? [True, True] Translation: X:197.44, Y:-43.94, Z:-3.25 [[ 8.85551083e-01 4.64466220e-01 8.39103879e-03 1.97439514e+02] [-4.64442993e-01 8.85590810e-01 -4.65020642e-03 -4.39401230e+01] [-9.59089063e-03 2.20836163e-04 9.99953982e-01 -3.25392311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.006559995 meters 0.015640767280272604 Centerline is valid? [True, True] Translation: X:197.49, Y:-43.97, Z:-3.26 [[ 8.85691505e-01 4.64207344e-01 7.88028754e-03 1.97493834e+02] [-4.64186824e-01 8.85726536e-01 -4.36991880e-03 -4.39694787e+01] [-9.00832819e-03 2.12474312e-04 9.99959402e-01 -3.25545661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.066559995 meters 0.016277719368697572 Centerline is valid? [True, True] Translation: X:197.55, Y:-44.00, Z:-3.26 [[ 8.87334077e-01 4.61095744e-01 5.38055539e-03 1.97546989e+02] [-4.61086117e-01 8.87350374e-01 -2.98418666e-03 -4.40009829e+01] [-6.15043361e-03 1.67071119e-04 9.99981072e-01 -3.25757343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.126559995 meters 0.01892684959884968 Centerline is valid? [True, True] Translation: X:197.60, Y:-44.03, Z:-3.26 [[ 8.89180038e-01 4.57528106e-01 5.18575348e-03 1.97597552e+02] [-4.57519091e-01 8.89195140e-01 -2.87814577e-03 -4.40346108e+01] [-5.92797938e-03 1.86608545e-04 9.99982412e-01 -3.25944303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18655999499998 meters 0.018760911345973113 Centerline is valid? [True, True] Translation: X:197.65, Y:-44.06, Z:-3.26 [[ 8.91667367e-01 4.52642726e-01 6.62333720e-03 1.97650753e+02] [-4.52627869e-01 8.91691922e-01 -3.67816321e-03 -4.40645425e+01] [-7.57087010e-03 2.81791100e-04 9.99971301e-01 -3.25899190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24655999499998 meters 0.01978270790057357 Centerline is valid? [True, True] Translation: X:197.70, Y:-44.10, Z:-3.26 [[ 8.93188660e-01 4.49625117e-01 7.16045746e-03 1.97703385e+02] [-4.49607626e-01 8.93217298e-01 -3.98011558e-03 -4.40957206e+01] [-8.18540440e-03 3.35597821e-04 9.99966443e-01 -3.25949214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.306559995 meters 0.02247744817834574 Centerline is valid? [True, True] Translation: X:197.75, Y:-44.13, Z:-3.26 [[ 8.94955736e-01 4.46086741e-01 7.80067233e-03 1.97754305e+02] [-4.46065856e-01 8.94989642e-01 -4.33508636e-03 -4.41287802e+01] [-8.91534548e-03 4.00096825e-04 9.99960177e-01 -3.26022284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.366559995 meters 0.021110262684524587 Centerline is valid? [True, True] Translation: X:197.81, Y:-44.16, Z:-3.26 [[ 8.95265980e-01 4.45462787e-01 7.85693900e-03 1.97809994e+02] [-4.45441559e-01 8.95300361e-01 -4.36807940e-03 -4.41561099e+01] [-8.98013715e-03 4.10785724e-04 9.99959593e-01 -3.26104389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.426559995 meters 0.021880023997610153 Centerline is valid? [True, True] Translation: X:197.86, Y:-44.18, Z:-3.26 [[ 8.94439185e-01 4.47133642e-01 7.07461276e-03 1.97864547e+02] [-4.47116467e-01 8.94467092e-01 -3.93517870e-03 -4.41830992e+01] [-8.08755909e-03 3.56602165e-04 9.99967232e-01 -3.26277463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.486559995 meters 0.0201164005881056 Centerline is valid? [True, True] Translation: X:197.92, Y:-44.21, Z:-3.26 [[ 8.92502129e-01 4.51010821e-01 5.40271746e-03 1.97922111e+02] [-4.51000859e-01 8.92518447e-01 -3.00785229e-03 -4.42068218e+01] [-6.17859893e-03 2.47884354e-04 9.99980882e-01 -3.26464088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.546559995 meters 0.020420559938424183 Centerline is valid? [True, True] Translation: X:197.98, Y:-44.23, Z:-3.27 [[ 8.90929033e-01 4.54121854e-01 4.33577371e-03 1.97975940e+02] [-4.54115473e-01 8.90939565e-01 -2.41427637e-03 -4.42340159e+01] [-4.95928801e-03 1.82006985e-04 9.99987686e-01 -3.26665362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.606559995 meters 0.01869458228648874 Centerline is valid? [True, True] Translation: X:198.03, Y:-44.26, Z:-3.27 [[ 8.88198757e-01 4.59444702e-01 3.67880883e-03 1.98032837e+02] [-4.59440153e-01 8.88206366e-01 -2.04854259e-03 -4.42564646e+01] [-4.20873346e-03 1.29320491e-04 9.99991135e-01 -3.26860340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.666559995 meters 0.017000728627410592 Centerline is valid? [True, True] Translation: X:198.09, Y:-44.28, Z:-3.27 [[ 8.86195958e-01 4.63298776e-01 3.31181185e-03 1.98088888e+02] [-4.63295118e-01 8.86202140e-01 -1.84393001e-03 -4.42812400e+01] [-3.78922526e-03 9.97370587e-05 9.99992816e-01 -3.26906654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.726559995 meters 0.01487385335211314 Centerline is valid? [True, True] Translation: X:198.15, Y:-44.30, Z:-3.27 [[ 8.83071705e-01 4.69223343e-01 3.71721524e-03 1.98146421e+02] [-4.69218786e-01 8.83079525e-01 -2.06966705e-03 -4.43049266e+01] [-4.25373276e-03 8.34771887e-05 9.99990949e-01 -3.26924373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.786559995 meters 0.013639236327030145 Centerline is valid? [True, True] Translation: X:198.20, Y:-44.33, Z:-3.27 [[ 8.80053291e-01 4.74855517e-01 4.29447584e-03 1.98203487e+02] [-4.74849499e-01 8.80063767e-01 -2.39172533e-03 -4.43289366e+01] [-4.91513655e-03 6.56160484e-05 9.99987918e-01 -3.27053593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.846559995 meters 0.013108927375792617 Centerline is valid? [True, True] Translation: X:198.26, Y:-44.36, Z:-3.27 [[ 8.78275460e-01 4.78138853e-01 3.93103602e-03 1.98259555e+02] [-4.78133854e-01 8.78284257e-01 -2.18675923e-03 -4.43558458e+01] [-4.49814160e-03 4.10155724e-05 9.99989882e-01 -3.27223650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.906559995 meters 0.01258496090584836 Centerline is valid? [True, True] Translation: X:198.32, Y:-44.38, Z:-3.27 [[ 8.76534304e-01 4.81315020e-01 4.84420616e-03 1.98315380e+02] [-4.81307463e-01 8.76547689e-01 -2.69732814e-03 -4.43823832e+01] [-5.54444226e-03 3.27480613e-05 9.99984629e-01 -3.27319071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96655999499998 meters 0.012242693100995622 Centerline is valid? [True, True] Translation: X:198.37, Y:-44.41, Z:-3.27 [[ 8.76179653e-01 4.81957535e-01 5.11377423e-03 1.98370296e+02] [-4.81949117e-01 8.76194575e-01 -2.84874293e-03 -4.44126426e+01] [-5.85363436e-03 3.14316174e-05 9.99982867e-01 -3.27299319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02655999499999 meters 0.01241589652654095 Centerline is valid? [True, True] Translation: X:198.43, Y:-44.44, Z:-3.27 [[ 8.76365848e-01 4.81618324e-01 5.16627357e-03 1.98425042e+02] [-4.81609714e-01 8.76381075e-01 -2.87997585e-03 -4.44444936e+01] [-5.91467353e-03 3.57849380e-05 9.99982508e-01 -3.27393795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.086559995 meters 0.01256067983976545 Centerline is valid? [True, True] Translation: X:198.48, Y:-44.48, Z:-3.28 [[ 8.76522784e-01 4.81330432e-01 5.36892169e-03 1.98479665e+02] [-4.81321115e-01 8.76539225e-01 -2.99515284e-03 -4.44764882e+01] [-6.14772867e-03 4.11443291e-05 9.99981102e-01 -3.27501338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.146559995 meters 0.012663779521689648 Centerline is valid? [True, True] Translation: X:198.53, Y:-44.51, Z:-3.28 [[ 8.76575980e-01 4.81235144e-01 5.22371936e-03 1.98533693e+02] [-4.81226311e-01 8.76591544e-01 -2.91593332e-03 -4.45082554e+01] [-5.98231781e-03 4.22459090e-05 9.99982105e-01 -3.27676009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.206559995 meters 0.013109194513228605 Centerline is valid? [True, True] Translation: X:198.59, Y:-44.54, Z:-3.28 [[ 8.77459083e-01 4.79636414e-01 3.80354095e-03 1.98585669e+02] [-4.79631714e-01 8.77467326e-01 -2.12386646e-03 -4.45414840e+01] [-4.35616660e-03 3.93070491e-05 9.99990511e-01 -3.27896310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.266559995 meters 0.01331308338020917 Centerline is valid? [True, True] Translation: X:198.64, Y:-44.57, Z:-3.28 [[ 8.78300502e-01 4.78095192e-01 3.63533993e-03 1.98638903e+02] [-4.78090882e-01 8.78308024e-01 -2.03059987e-03 -4.45744177e+01] [-4.16376827e-03 4.54540111e-05 9.99991330e-01 -3.27971809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.326559995 meters 0.013186948841314588 Centerline is valid? [True, True] Translation: X:198.69, Y:-44.61, Z:-3.28 [[ 8.79016784e-01 4.76762511e-01 5.19636793e-03 1.98692051e+02] [-4.76753663e-01 8.79032139e-01 -2.90560032e-03 -4.46085902e+01] [-5.95305572e-03 7.66839964e-05 9.99982277e-01 -3.27845694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.386559995 meters 0.013471630076444936 Centerline is valid? [True, True] Translation: X:198.74, Y:-44.64, Z:-3.28 [[ 8.78924109e-01 4.76922417e-01 6.11710130e-03 1.98744196e+02] [-4.76910133e-01 8.78945391e-01 -3.42424880e-03 -4.46409856e+01] [-7.00969900e-03 9.23472336e-05 9.99975427e-01 -3.27919514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.446559995 meters 0.012864878604334945 Centerline is valid? [True, True] Translation: X:198.80, Y:-44.67, Z:-3.28 [[ 8.77542071e-01 4.79446862e-01 7.11471223e-03 1.98798216e+02] [-4.79430306e-01 8.77570908e-01 -3.98532242e-03 -4.46720949e+01] [-8.15441480e-03 8.62794262e-05 9.99966748e-01 -3.27975659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.506559995 meters 0.012135788689148833 Centerline is valid? [True, True] Translation: X:198.85, Y:-44.70, Z:-3.28 [[ 8.74098032e-01 4.85699351e-01 6.98357352e-03 1.98851548e+02] [-4.85683573e-01 8.74125929e-01 -3.91505275e-03 -4.47021336e+01] [-8.00606127e-03 3.03329692e-05 9.99967951e-01 -3.28112530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.566559995 meters 0.012003350272610633 Centerline is valid? [True, True] Translation: X:198.91, Y:-44.73, Z:-3.28 [[ 8.70640386e-01 4.91871906e-01 6.88080967e-03 1.98907338e+02] [-4.91856781e-01 8.70667576e-01 -3.85741840e-03 -4.47317962e+01] [-7.88825362e-03 -2.59486460e-05 9.99968887e-01 -3.28241439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.626559995 meters 0.01301020632388565 Centerline is valid? [True, True] Translation: X:198.96, Y:-44.76, Z:-3.28 [[ 8.65164066e-01 5.01445634e-01 6.58897370e-03 1.98961967e+02] [-5.01432020e-01 8.65189150e-01 -3.69645969e-03 -4.47605133e+01] [-7.55428212e-03 -1.05878297e-04 9.99971460e-01 -3.28353181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68655999499998 meters 0.014001846941967164 Centerline is valid? [True, True] Translation: X:199.02, Y:-44.79, Z:-3.28 [[ 8.62645745e-01 5.05763468e-01 6.75516388e-03 1.99016069e+02] [-5.05749275e-01 8.62672182e-01 -3.79171974e-03 -4.47912474e+01] [-7.74520529e-03 -1.45508333e-04 9.99969995e-01 -3.28489127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74655999499998 meters 0.014615717644159594 Centerline is valid? [True, True] Translation: X:199.07, Y:-44.83, Z:-3.29 [[ 8.60823035e-01 5.08849622e-01 7.46756712e-03 1.99068082e+02] [-5.08832369e-01 8.60855404e-01 -4.19451042e-03 -4.48256450e+01] [-8.56287055e-03 -1.89008680e-04 9.99963320e-01 -3.28531586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.806559995 meters 0.014658429994176285 Centerline is valid? [True, True] Translation: X:199.12, Y:-44.86, Z:-3.29 [[ 8.60356904e-01 5.09635119e-01 7.61862360e-03 1.99120413e+02] [-5.09617169e-01 8.60390612e-01 -4.28195248e-03 -4.48601708e+01] [-8.73722558e-03 -1.98574009e-04 9.99961810e-01 -3.28611337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.866559995 meters 0.014446699644425421 Centerline is valid? [True, True] Translation: X:199.17, Y:-44.90, Z:-3.29 [[ 8.60943024e-01 5.08648866e-01 7.31033771e-03 1.99170748e+02] [-5.08632285e-01 8.60974041e-01 -4.11096464e-03 -4.48972506e+01] [-8.38504850e-03 -1.78967443e-04 9.99964829e-01 -3.28818081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.926559995 meters 0.014261501776299887 Centerline is valid? [True, True] Translation: X:199.22, Y:-44.93, Z:-3.29 [[ 8.61330706e-01 5.08001487e-01 6.62597023e-03 1.99223642e+02] [-5.07987833e-01 8.61356178e-01 -3.72789235e-03 -4.49306616e+01] [-7.60109525e-03 -1.54964104e-04 9.99971099e-01 -3.28973925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.986559995 meters 0.014021837352307841 Centerline is valid? [True, True] Translation: X:199.27, Y:-44.97, Z:-3.29 [[ 8.62026756e-01 5.06823299e-01 6.32583043e-03 1.99274087e+02] [-5.06810808e-01 8.62049955e-01 -3.56094410e-03 -4.49676634e+01] [-7.25795127e-03 -1.36370138e-04 9.99973651e-01 -3.29020894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.046559995 meters 0.014529716169471393 Centerline is valid? [True, True] Translation: X:199.33, Y:-45.00, Z:-3.29 [[ 8.60360835e-01 5.09634538e-01 7.20214437e-03 1.99329261e+02] [-5.09618420e-01 8.60390961e-01 -4.05719991e-03 -4.49958601e+01] [-8.26434912e-03 -1.79689532e-04 9.99965834e-01 -3.29072659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.106559995 meters 0.01506499684223222 Centerline is valid? [True, True] Translation: X:199.38, Y:-45.02, Z:-3.29 [[ 8.59749171e-01 5.10692542e-01 4.94881917e-03 1.99384557e+02] [-5.10684947e-01 8.59763404e-01 -2.78827777e-03 -4.50222918e+01] [-5.67876627e-03 -1.30067955e-04 9.99983867e-01 -3.29435664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.166559995 meters 0.01339205090374644 Centerline is valid? [True, True] Translation: X:199.44, Y:-45.06, Z:-3.30 [[ 8.63062327e-01 5.05080563e-01 4.12854662e-03 1.99436116e+02] [-5.05075198e-01 8.63072198e-01 -2.32917150e-03 -4.50552978e+01] [-4.73965306e-03 -7.50063237e-05 9.99988765e-01 -3.29634352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.226559995 meters 0.012664804511043931 Centerline is valid? [True, True] Translation: X:199.49, Y:-45.09, Z:-3.30 [[ 8.65656848e-01 5.00618926e-01 4.34881252e-03 1.99488094e+02] [-5.00612929e-01 8.65667770e-01 -2.45105287e-03 -4.50897866e+01] [-4.99167029e-03 -5.53010676e-05 9.99987540e-01 -3.29672423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.286559995 meters 0.01199661865163284 Centerline is valid? [True, True] Translation: X:199.54, Y:-45.13, Z:-3.30 [[ 8.69539683e-01 4.93837640e-01 5.01239622e-03 1.99538058e+02] [-4.93829547e-01 8.69554130e-01 -2.82740264e-03 -4.51269769e+01] [-5.75482768e-03 -1.67305553e-05 9.99983441e-01 -3.29655402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.346559995 meters 0.012232301968050356 Centerline is valid? [True, True] Translation: X:199.59, Y:-45.16, Z:-3.30 [[ 8.72138158e-01 4.89240258e-01 4.35936007e-03 1.99592065e+02] [-4.89234076e-01 8.72149053e-01 -2.45942613e-03 -4.51590180e+01] [-5.00526203e-03 1.22118802e-05 9.99987474e-01 -3.29848243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.406559995 meters 0.012417666396354141 Centerline is valid? [True, True] Translation: X:199.65, Y:-45.19, Z:-3.30 [[ 8.73224974e-01 4.87296427e-01 4.50970051e-03 1.99646585e+02] [-4.87289776e-01 8.73236618e-01 -2.54607086e-03 -4.51903455e+01] [-5.17872686e-03 2.57617059e-05 9.99986590e-01 -3.29882456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46655999499998 meters 0.01260793697138967 Centerline is valid? [True, True] Translation: X:199.70, Y:-45.22, Z:-3.30 [[ 8.73770503e-01 4.86316967e-01 4.57334971e-03 1.99700998e+02] [-4.86310104e-01 8.73782471e-01 -2.58379804e-03 -4.52216055e+01] [-5.25265764e-03 3.35803425e-05 9.99986204e-01 -3.29874113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52655999499999 meters 0.01252871848297654 Centerline is valid? [True, True] Translation: X:199.76, Y:-45.25, Z:-3.30 [[ 8.73517423e-01 4.86777250e-01 3.90125396e-03 1.99756236e+02] [-4.86772258e-01 8.73526135e-01 -2.20465987e-03 -4.52520098e+01] [-4.48102556e-03 2.67866111e-05 9.99989960e-01 -3.29909702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.586559995 meters 0.012435490697225864 Centerline is valid? [True, True] Translation: X:199.81, Y:-45.28, Z:-3.30 [[ 8.72266830e-01 4.89024552e-01 2.35891368e-03 1.99813001e+02] [-4.89022738e-01 8.72270020e-01 -1.33190250e-03 -4.52801036e+01] [-2.70894271e-03 8.21194605e-06 9.99996331e-01 -3.30156432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.646559995 meters 0.012304900374728573 Centerline is valid? [True, True] Translation: X:199.87, Y:-45.31, Z:-3.30 [[ 8.70717613e-01 4.91778245e-01 2.23500280e-03 1.99868945e+02] [-4.91776625e-01 8.70720482e-01 -1.26256001e-03 -4.53098264e+01] [-2.56696226e-03 2.11103754e-07 9.99996705e-01 -3.30270708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.706559995 meters 0.012145212040490126 Centerline is valid? [True, True] Translation: X:199.92, Y:-45.34, Z:-3.30 [[ 8.68532639e-01 4.95624446e-01 2.73211351e-03 1.99924855e+02] [-4.95622036e-01 8.68536936e-01 -1.54550703e-03 -4.53378193e+01] [-3.13893256e-03 -1.17723647e-05 9.99995073e-01 -3.30262486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.766559995 meters 0.0120691937942188 Centerline is valid? [True, True] Translation: X:199.98, Y:-45.37, Z:-3.30 [[ 8.67501173e-01 4.97423243e-01 3.43975194e-03 1.99980631e+02] [-4.97419428e-01 8.67507992e-01 -1.94844802e-03 -4.53678783e+01] [-3.95321563e-03 -2.07184970e-05 9.99992186e-01 -3.30276935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.826559995 meters 0.012017847547017912 Centerline is valid? [True, True] Translation: X:200.03, Y:-45.40, Z:-3.30 [[ 8.66833553e-01 4.98574800e-01 4.77072086e-03 2.00034624e+02] [-4.98567454e-01 8.66846681e-01 -2.70677501e-03 -4.53971801e+01] [-5.48501335e-03 -3.22027491e-05 9.99984957e-01 -3.30261554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.886559995 meters 0.011978803936318224 Centerline is valid? [True, True] Translation: X:200.09, Y:-45.43, Z:-3.30 [[ 8.66643260e-01 4.98904289e-01 4.89586454e-03 2.00089216e+02] [-4.98896553e-01 8.66657088e-01 -2.77864288e-03 -4.54290917e+01] [-5.62931256e-03 -3.44378129e-05 9.99984155e-01 -3.30236364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.946559995 meters 0.011937383220936132 Centerline is valid? [True, True] Translation: X:200.14, Y:-45.46, Z:-3.30 [[ 8.66004203e-01 5.00013541e-01 4.81447993e-03 2.00143545e+02] [-5.00006067e-01 8.66017585e-01 -2.73416659e-03 -4.54599124e+01] [-5.53654460e-03 -3.94694211e-05 9.99984672e-01 -3.30230290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.006559995 meters 0.012303387172605987 Centerline is valid? [True, True] Translation: X:200.20, Y:-45.49, Z:-3.31 [[ 8.64793318e-01 5.02115758e-01 3.50455749e-03 2.00198770e+02] [-5.02111813e-01 8.64800419e-01 -1.99068939e-03 -4.54882217e+01] [-4.03029930e-03 -3.81448321e-05 9.99991878e-01 -3.30519692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.066559995 meters 0.012550610690613178 Centerline is valid? [True, True] Translation: X:200.25, Y:-45.52, Z:-3.31 [[ 8.63583591e-01 5.04204448e-01 1.12111817e-03 2.00253552e+02] [-5.04204049e-01 8.63584318e-01 -6.34096457e-04 -4.55177467e+01] [-1.28789433e-03 -1.76770271e-05 9.99999171e-01 -3.30852799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.126559995 meters 0.013353804573560415 Centerline is valid? [True, True] Translation: X:200.31, Y:-45.55, Z:-3.31 [[ 8.62292694e-01 5.06406427e-01 -1.95963007e-03 2.00306687e+02] [-5.06405187e-01 8.62294921e-01 1.12095804e-03 -4.55473393e+01] [ 2.25743941e-03 2.57729050e-05 9.99997452e-01 -3.31318224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18655999499998 meters 0.012992064041108163 Centerline is valid? [True, True] Translation: X:200.36, Y:-45.58, Z:-3.31 [[ 8.62152849e-01 5.06643275e-01 -2.24856994e-03 2.00359730e+02] [-5.06641640e-01 8.62155781e-01 1.28750389e-03 -4.55807011e+01] [ 2.59092276e-03 2.91940142e-05 9.99996643e-01 -3.31314267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24655999499998 meters 0.012357153311627036 Centerline is valid? [True, True] Translation: X:200.41, Y:-45.62, Z:-3.31 [[ 8.63268950e-01 5.04743382e-01 -9.16148290e-04 2.00410747e+02] [-5.04743106e-01 8.63269436e-01 5.27388101e-04 -4.56163551e+01] [ 1.05707847e-03 7.14176218e-06 9.99999441e-01 -3.31108406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.306559995 meters 0.012100455610473774 Centerline is valid? [True, True] Translation: X:200.46, Y:-45.65, Z:-3.31 [[ 8.65475424e-01 5.00947170e-01 2.05503123e-03 2.00460554e+02] [-5.00945799e-01 8.65477864e-01 -1.17182995e-03 -4.56513496e+01] [-2.36560894e-03 -1.52692402e-05 9.99997202e-01 -3.31073401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.366559995 meters 0.011633214636606336 Centerline is valid? [True, True] Translation: X:200.51, Y:-45.69, Z:-3.31 [[ 8.66782855e-01 4.98668575e-01 4.13946671e-03 2.00512553e+02] [-4.98662994e-01 8.66792739e-01 -2.35925356e-03 -4.56852729e+01] [-4.76454530e-03 -1.92383245e-05 9.99988649e-01 -3.30838580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.426559995 meters 0.011580195550116955 Centerline is valid? [True, True] Translation: X:200.57, Y:-45.72, Z:-3.31 [[ 8.67203086e-01 4.97931018e-01 4.84865129e-03 2.00565428e+02] [-4.97923335e-01 8.67216640e-01 -2.76604396e-03 -4.57158248e+01] [-5.58213017e-03 -1.55347586e-05 9.99984420e-01 -3.30960372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.486559995 meters 0.011608993024515872 Centerline is valid? [True, True] Translation: X:200.62, Y:-45.75, Z:-3.31 [[ 8.67290043e-01 4.97790684e-01 3.52377661e-03 2.00619281e+02] [-4.97786626e-01 8.67297201e-01 -2.00989910e-03 -4.57472269e+01] [-4.05667063e-03 -1.09233964e-05 9.99991772e-01 -3.31089638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.546559995 meters 0.011745520067144749 Centerline is valid? [True, True] Translation: X:200.67, Y:-45.78, Z:-3.31 [[ 8.66815109e-01 4.98624201e-01 2.33952394e-03 2.00673946e+02] [-4.98622417e-01 8.66818266e-01 -1.33367107e-03 -4.57774700e+01] [-2.69294276e-03 -1.04928525e-05 9.99996374e-01 -3.31326953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.606559995 meters 0.011806831782709784 Centerline is valid? [True, True] Translation: X:200.73, Y:-45.81, Z:-3.32 [[ 8.66244823e-01 4.99616958e-01 1.67415396e-03 2.00729333e+02] [-4.99616048e-01 8.66246440e-01 -9.53656347e-04 -4.58062520e+01] [-1.92669279e-03 -1.03343113e-05 9.99998144e-01 -3.31529420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.666559995 meters 0.01194386860510645 Centerline is valid? [True, True] Translation: X:200.79, Y:-45.83, Z:-3.32 [[ 8.64681368e-01 5.02319852e-01 -9.47743556e-04 2.00785210e+02] [-5.02319554e-01 8.64681887e-01 5.47222350e-04 -4.58329231e+01] [ 1.09437734e-03 2.89715032e-06 9.99999401e-01 -3.31819847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.726559995 meters 0.01233143981797997 Centerline is valid? [True, True] Translation: X:200.84, Y:-45.86, Z:-3.32 [[ 8.63732895e-01 5.03946072e-01 -1.96005553e-03 2.00839480e+02] [-5.03944812e-01 8.63735119e-01 1.12710168e-03 -4.58614758e+01] [ 2.26096726e-03 1.42450164e-05 9.99997444e-01 -3.32065911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.786559995 meters 0.012372464527954959 Centerline is valid? [True, True] Translation: X:200.89, Y:-45.89, Z:-3.32 [[ 8.63182997e-01 5.04889350e-01 -1.36330137e-03 2.00893907e+02] [-5.04888737e-01 8.63184073e-01 7.86642317e-04 -4.58925369e+01] [ 1.57394736e-03 9.29923514e-06 9.99998761e-01 -3.32117738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.846559995 meters 0.012308098986611702 Centerline is valid? [True, True] Translation: X:200.95, Y:-45.92, Z:-3.32 [[ 8.62913811e-01 5.05350528e-01 -7.73380617e-04 2.00947772e+02] [-5.05350330e-01 8.62914158e-01 4.48060131e-04 -4.59234328e+01] [ 8.93788508e-04 4.19087462e-06 9.99999601e-01 -3.32136028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.906559995 meters 0.011815151906382697 Centerline is valid? [True, True] Translation: X:201.00, Y:-45.96, Z:-3.32 [[ 8.62577534e-01 5.05921907e-01 1.73854604e-03 2.01001088e+02] [-5.05920932e-01 8.62579286e-01 -9.93238223e-04 -4.59560754e+01] [-2.00213478e-03 -2.28218552e-05 9.99997995e-01 -3.31817861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96655999499998 meters 0.011877250302183928 Centerline is valid? [True, True] Translation: X:201.05, Y:-45.99, Z:-3.32 [[ 8.62016339e-01 5.06862589e-01 4.25986893e-03 2.01054877e+02] [-5.06856700e-01 8.62026863e-01 -2.44381490e-03 -4.59882920e+01] [-4.91079980e-03 -5.25347348e-05 9.99987941e-01 -3.31646029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02655999499999 meters 0.011929745806841596 Centerline is valid? [True, True] Translation: X:201.11, Y:-46.02, Z:-3.32 [[ 8.61616355e-01 5.07536192e-01 4.92646029e-03 2.01109551e+02] [-5.07528335e-01 8.61630437e-01 -2.82478618e-03 -4.60200080e+01] [-5.67846935e-03 -6.64362124e-05 9.99983875e-01 -3.31727514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.086559995 meters 0.012125420322458348 Centerline is valid? [True, True] Translation: X:201.16, Y:-46.05, Z:-3.32 [[ 8.60959696e-01 5.08651692e-01 4.67531824e-03 2.01163815e+02] [-5.08644622e-01 8.60972387e-01 -2.68276439e-03 -4.60500508e+01] [-5.38991255e-03 -6.83234627e-05 9.99985472e-01 -3.31931267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.146559995 meters 0.012573195266537563 Centerline is valid? [True, True] Translation: X:201.22, Y:-46.08, Z:-3.32 [[ 8.59464707e-01 5.11185358e-01 3.15384361e-03 2.01218050e+02] [-5.11182159e-01 8.59470492e-01 -1.80925959e-03 -4.60808937e+01] [-3.63550253e-03 -5.71938198e-05 9.99993390e-01 -3.32148597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.206559995 meters 0.013001839648927649 Centerline is valid? [True, True] Translation: X:201.27, Y:-46.11, Z:-3.32 [[ 8.58707116e-01 5.12463698e-01 1.74536894e-03 2.01272447e+02] [-5.12462724e-01 8.58708889e-01 -9.99860023e-04 -4.61116585e+01] [-2.01115579e-03 -3.58496026e-05 9.99997977e-01 -3.32406346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.266559995 meters 0.013507389436089224 Centerline is valid? [True, True] Translation: X:201.33, Y:-46.14, Z:-3.33 [[ 8.57885701e-01 5.13840206e-01 6.05289178e-04 2.01327778e+02] [-5.13840091e-01 8.57885914e-01 -3.44052257e-04 -4.61407603e+01] [-6.96056943e-04 -1.58643346e-05 9.99999758e-01 -3.32634203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.326559995 meters 0.013304926605339638 Centerline is valid? [True, True] Translation: X:201.38, Y:-46.17, Z:-3.33 [[ 8.58198302e-01 5.13316159e-01 1.48178133e-03 2.01382506e+02] [-5.13315457e-01 8.58199581e-01 -8.49213548e-04 -4.61706708e+01] [-1.70757915e-03 -3.18276346e-05 9.99998542e-01 -3.32640600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.386559995 meters 0.011627388214689687 Centerline is valid? [True, True] Translation: X:201.43, Y:-46.21, Z:-3.32 [[ 8.61152102e-01 5.08338431e-01 3.01625973e-03 2.01433405e+02] [-5.08335464e-01 8.61157383e-01 -1.73710337e-03 -4.62051741e+01] [-3.48051073e-03 -3.73615752e-05 9.99993942e-01 -3.32438701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.446559995 meters 0.010905329054452524 Centerline is valid? [True, True] Translation: X:201.48, Y:-46.24, Z:-3.32 [[ 8.64211069e-01 5.03116273e-01 3.63914415e-03 2.01484541e+02] [-5.03111919e-01 8.64218731e-01 -2.09324597e-03 -4.62400984e+01] [-4.19816265e-03 -2.18904607e-05 9.99991187e-01 -3.32412484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.506559995 meters 0.01139603558757351 Centerline is valid? [True, True] Translation: X:201.53, Y:-46.28, Z:-3.33 [[ 8.69403697e-01 4.94090430e-01 3.44367793e-03 2.01533628e+02] [-4.94086455e-01 8.69410517e-01 -1.98201647e-03 -4.62763847e+01] [-3.97326518e-03 2.16978234e-05 9.99992106e-01 -3.32548472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.566559995 meters 0.01277261951797072 Centerline is valid? [True, True] Translation: X:201.59, Y:-46.31, Z:-3.33 [[ 8.72872602e-01 4.87940121e-01 2.80350196e-03 2.01585847e+02] [-4.87937454e-01 8.72877103e-01 -1.61370737e-03 -4.63089759e+01] [-3.23450524e-03 4.06273450e-05 9.99994768e-01 -3.32690641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.626559995 meters 0.014526927247299357 Centerline is valid? [True, True] Translation: X:201.64, Y:-46.34, Z:-3.33 [[ 8.75153405e-01 4.83842151e-01 1.81393659e-03 2.01638077e+02] [-4.83841027e-01 8.75155284e-01 -1.04325989e-03 -4.63412352e+01] [-2.09224930e-03 3.53555040e-05 9.99997811e-01 -3.32888665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68655999499998 meters 0.013851663975137407 Centerline is valid? [True, True] Translation: X:201.69, Y:-46.37, Z:-3.33 [[ 8.75918961e-01 4.82455920e-01 1.50290612e-03 2.01692711e+02] [-4.82455148e-01 8.75920250e-01 -8.63696996e-04 -4.63712159e+01] [-1.73312163e-03 3.14437822e-05 9.99998498e-01 -3.32807579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74655999499998 meters 0.013476697109829109 Centerline is valid? [True, True] Translation: X:201.75, Y:-46.40, Z:-3.33 [[ 8.76047143e-01 4.82221029e-01 2.06964893e-03 2.01748452e+02] [-4.82219560e-01 8.76049586e-01 -1.19112523e-03 -4.64008681e+01] [-2.38750072e-03 4.54566571e-05 9.99997149e-01 -3.32753586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.806559995 meters 0.013773475930382187 Centerline is valid? [True, True] Translation: X:201.80, Y:-46.43, Z:-3.33 [[ 8.75326695e-01 4.83525504e-01 2.50292290e-03 2.01802806e+02] [-4.83523352e-01 8.75330272e-01 -1.44342411e-03 -4.64294730e+01] [-2.88881655e-03 5.32459797e-05 9.99995826e-01 -3.32846246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.866559995 meters 0.013291952218318444 Centerline is valid? [True, True] Translation: X:201.86, Y:-46.46, Z:-3.33 [[ 8.74089387e-01 4.85758231e-01 2.58542975e-03 2.01857657e+02] [-4.85755942e-01 8.74093210e-01 -1.49176623e-03 -4.64590168e+01] [-2.98454431e-03 4.80491698e-05 9.99995545e-01 -3.32900647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.926559995 meters 0.012212929471333346 Centerline is valid? [True, True] Translation: X:201.91, Y:-46.49, Z:-3.33 [[ 8.71525494e-01 4.90342772e-01 2.69801624e-03 2.01914520e+02] [-4.90340299e-01 8.71529669e-01 -1.55780973e-03 -4.64853030e+01] [-3.11526194e-03 3.47247989e-05 9.99995147e-01 -3.32916732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.986559995 meters 0.011335960392705116 Centerline is valid? [True, True] Translation: X:201.97, Y:-46.51, Z:-3.33 [[ 8.69845043e-01 4.93314298e-01 3.25642793e-03 2.01970919e+02] [-4.93310703e-01 8.69851138e-01 -1.88371984e-03 -4.65127549e+01] [-3.76187347e-03 3.21136102e-05 9.99992924e-01 -3.32928728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.046559995 meters 0.010922397826727112 Centerline is valid? [True, True] Translation: X:202.03, Y:-46.54, Z:-3.33 [[ 8.68140961e-01 4.96305333e-01 3.50540616e-03 2.02026557e+02] [-4.96301193e-01 8.68148038e-01 -2.02730530e-03 -4.65392423e+01] [-4.04937391e-03 2.02495136e-05 9.99991801e-01 -3.33054760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.106559995 meters 0.010716157279808146 Centerline is valid? [True, True] Translation: X:202.08, Y:-46.57, Z:-3.33 [[ 8.68265006e-01 4.96090659e-01 3.15242050e-03 2.02081486e+02] [-4.96087310e-01 8.68270728e-01 -1.82286545e-03 -4.65693026e+01] [-3.64146097e-03 1.88544718e-05 9.99993370e-01 -3.33103602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.166559995 meters 0.01129836952880022 Centerline is valid? [True, True] Translation: X:202.14, Y:-46.60, Z:-3.33 [[ 8.70142873e-01 4.92788449e-01 3.30539827e-03 2.02135720e+02] [-4.92784735e-01 8.70149150e-01 -1.91330858e-03 -4.66003134e+01] [-3.81904586e-03 3.60020109e-05 9.99992707e-01 -3.33188897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.226559995 meters 0.012409284734989989 Centerline is valid? [True, True] Translation: X:202.19, Y:-46.63, Z:-3.33 [[ 8.72557914e-01 4.88499824e-01 3.25702365e-03 2.02188965e+02] [-4.88496185e-01 8.72563991e-01 -1.88633389e-03 -4.66320128e+01] [-3.76343533e-03 5.48919393e-05 9.99992917e-01 -3.33306377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.286559995 meters 0.01264250220096148 Centerline is valid? [True, True] Translation: X:202.24, Y:-46.66, Z:-3.33 [[ 8.73818928e-01 4.86245530e-01 2.40136462e-03 2.02242645e+02] [-4.86243545e-01 8.73822226e-01 -1.39029496e-03 -4.66625580e+01] [-2.77439049e-03 4.72180057e-05 9.99996150e-01 -3.33432071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.346559995 meters 0.013211816486291638 Centerline is valid? [True, True] Translation: X:202.30, Y:-46.69, Z:-3.34 [[ 8.74709404e-01 4.84645345e-01 1.53251537e-03 2.02296653e+02] [-4.84644536e-01 8.74710746e-01 -8.86108256e-04 -4.66934257e+01] [-1.76995590e-03 3.23620233e-05 9.99998433e-01 -3.33576875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.406559995 meters 0.013280730594304667 Centerline is valid? [True, True] Translation: X:202.35, Y:-46.72, Z:-3.34 [[ 8.73748488e-01 4.86377824e-01 4.38660921e-04 2.02350509e+02] [-4.86377760e-01 8.73748598e-01 -2.50887795e-04 -4.67225000e+01] [-5.05305624e-04 5.85791614e-06 9.99999872e-01 -3.33773382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46655999499998 meters 0.012810191174686463 Centerline is valid? [True, True] Translation: X:202.41, Y:-46.75, Z:-3.34 [[ 8.72177734e-01 4.89189122e-01 6.09686179e-05 2.02405168e+02] [-4.89189121e-01 8.72177736e-01 -3.09829817e-05 -4.67514334e+01] [-6.83320087e-05 -2.80251783e-06 9.99999998e-01 -3.33895921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52655999499999 meters 0.011742066569715243 Centerline is valid? [True, True] Translation: X:202.46, Y:-46.78, Z:-3.34 [[ 8.69238066e-01 4.94393708e-01 2.16952780e-04 2.02461348e+02] [-4.94393693e-01 8.69238093e-01 -1.21791439e-04 -4.67779383e+01] [-2.48796542e-04 -1.39433099e-06 9.99999969e-01 -3.33992483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.586559995 meters 0.010747140853569277 Centerline is valid? [True, True] Translation: X:202.52, Y:-46.80, Z:-3.34 [[ 8.64940112e-01 5.01870998e-01 2.02579078e-03 2.02518324e+02] [-5.01869621e-01 8.64942485e-01 -1.17550915e-03 -4.68040899e+01] [-2.34214646e-03 6.21634879e-08 9.99997257e-01 -3.33956368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.646559995 meters 0.010753374275173443 Centerline is valid? [True, True] Translation: X:202.57, Y:-46.83, Z:-3.34 [[ 8.61818513e-01 5.07206252e-01 3.26617990e-03 2.02573957e+02] [-5.07202698e-01 8.61824702e-01 -1.89903078e-03 -4.68326104e+01] [-3.77807480e-03 -1.99953747e-05 9.99992863e-01 -3.33891209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.706559995 meters 0.01153884976337934 Centerline is valid? [True, True] Translation: X:202.63, Y:-46.86, Z:-3.34 [[ 8.57946635e-01 5.13722960e-01 4.03624742e-03 2.02629165e+02] [-5.13717591e-01 8.57956127e-01 -2.34948672e-03 -4.68585961e+01] [-4.66990848e-03 -5.77570802e-05 9.99989094e-01 -3.34053427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.766559995 meters 0.011556828764654132 Centerline is valid? [True, True] Translation: X:202.68, Y:-46.89, Z:-3.34 [[ 8.56855906e-01 5.15537744e-01 4.33497455e-03 2.02683498e+02] [-5.15531566e-01 8.56866868e-01 -2.52475612e-03 -4.68894930e+01] [-5.01610314e-03 -7.14640308e-05 9.99987417e-01 -3.34140519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.826559995 meters 0.012290392275540558 Centerline is valid? [True, True] Translation: X:202.74, Y:-46.92, Z:-3.34 [[ 8.54705084e-01 5.19097454e-01 4.12950248e-03 2.02737467e+02] [-5.19091877e-01 8.54715055e-01 -2.40781225e-03 -4.69194499e+01] [-4.77943715e-03 -8.56218232e-05 9.99988575e-01 -3.34315630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.886559995 meters 0.013142094621352187 Centerline is valid? [True, True] Translation: X:202.79, Y:-46.95, Z:-3.35 [[ 8.53505701e-01 5.21069905e-01 3.76456346e-03 2.02790366e+02] [-5.21065293e-01 8.53513999e-01 -2.19412414e-03 -4.69503264e+01] [-4.35639967e-03 -8.88858989e-05 9.99990507e-01 -3.34549099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.946559995 meters 0.013384243847064797 Centerline is valid? [True, True] Translation: X:202.84, Y:-46.98, Z:-3.35 [[ 8.53121126e-01 5.21699412e-01 3.75069099e-03 2.02844307e+02] [-5.21694838e-01 8.53129366e-01 -2.18649891e-03 -4.69832758e+01] [-4.34051983e-03 -9.13677170e-05 9.99990576e-01 -3.34733854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.006559995 meters 0.013345956069725311 Centerline is valid? [True, True] Translation: X:202.90, Y:-47.02, Z:-3.35 [[ 8.53655483e-01 5.20825992e-01 3.54991448e-03 2.02895090e+02] [-5.20821879e-01 8.53662861e-01 -2.07130080e-03 -4.70181177e+01] [-4.10921744e-03 -8.06958473e-05 9.99991554e-01 -3.34909380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.066559995 meters 0.012525909490090146 Centerline is valid? [True, True] Translation: X:202.94, Y:-47.06, Z:-3.35 [[ 8.55114253e-01 5.18421597e-01 4.31999841e-03 2.02944893e+02] [-5.18415456e-01 8.55125161e-01 -2.52459243e-03 -4.70569500e+01] [-5.00294258e-03 -8.07389746e-05 9.99987482e-01 -3.34909846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.126559995 meters 0.011925568778135078 Centerline is valid? [True, True] Translation: X:203.00, Y:-47.09, Z:-3.35 [[ 8.55929334e-01 5.17067419e-01 5.12440297e-03 2.02995370e+02] [-5.17058760e-01 8.55944669e-01 -2.99372963e-03 -4.70929138e+01] [-5.93416546e-03 -8.71964355e-05 9.99982389e-01 -3.34928312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18655999499998 meters 0.01181376614851862 Centerline is valid? [True, True] Translation: X:203.05, Y:-47.13, Z:-3.35 [[ 8.56415346e-01 5.16250909e-01 6.14450031e-03 2.03045470e+02] [-5.16238416e-01 8.56437383e-01 -3.59267842e-03 -4.71292851e+01] [-7.11710326e-03 -9.52021710e-05 9.99974669e-01 -3.34954249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24655999499998 meters 0.011485814130808686 Centerline is valid? [True, True] Translation: X:203.10, Y:-47.17, Z:-3.35 [[ 8.56373058e-01 5.16313431e-01 6.75479589e-03 2.03095995e+02] [-5.16298317e-01 8.56399691e-01 -3.95179357e-03 -4.71668517e+01] [-7.82516921e-03 -1.03280210e-04 9.99969378e-01 -3.34983361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.306559995 meters 0.011684933835968806 Centerline is valid? [True, True] Translation: X:203.15, Y:-47.20, Z:-3.35 [[ 8.56221412e-01 5.16566477e-01 6.63086148e-03 2.03148183e+02] [-5.16551902e-01 8.56247082e-01 -3.88176090e-03 -4.72019174e+01] [-7.68284334e-03 -1.01537308e-04 9.99970481e-01 -3.35143716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.366559995 meters 0.011687497191534597 Centerline is valid? [True, True] Translation: X:203.20, Y:-47.24, Z:-3.35 [[ 8.55561690e-01 5.17656512e-01 6.77722436e-03 2.03198953e+02] [-5.17641299e-01 8.55588525e-01 -3.97010976e-03 -4.72398842e+01] [-7.85366856e-03 -1.11497406e-04 9.99969153e-01 -3.35179390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.426559995 meters 0.012209056251595378 Centerline is valid? [True, True] Translation: X:203.25, Y:-47.27, Z:-3.35 [[ 8.54862267e-01 5.18798773e-01 7.63784698e-03 2.03252026e+02] [-5.18779464e-01 8.54896377e-01 -4.47802450e-03 -4.72722444e+01] [-8.85276133e-03 -1.34263986e-04 9.99960805e-01 -3.35254181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.486559995 meters 0.011867441467114112 Centerline is valid? [True, True] Translation: X:203.30, Y:-47.31, Z:-3.35 [[ 8.54253407e-01 5.19791195e-01 8.26018307e-03 2.03304751e+02] [-5.19768628e-01 8.54293328e-01 -4.84600520e-03 -4.73068178e+01] [-9.57553012e-03 -1.53667573e-04 9.99954142e-01 -3.35239510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.546559995 meters 0.011778478200335587 Centerline is valid? [True, True] Translation: X:203.36, Y:-47.34, Z:-3.35 [[ 8.54439539e-01 5.19472541e-01 9.01962379e-03 2.03356588e+02] [-5.19445571e-01 8.54487129e-01 -5.29579930e-03 -4.73406634e+01] [-1.04581748e-02 -1.60263320e-04 9.99945299e-01 -3.35333849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.606559995 meters 0.01188912116361763 Centerline is valid? [True, True] Translation: X:203.41, Y:-47.37, Z:-3.36 [[ 8.56113187e-01 5.16719049e-01 8.46375014e-03 2.03408379e+02] [-5.16695140e-01 8.56155015e-01 -4.97212640e-03 -4.73723038e+01] [-9.81547456e-03 -1.16475584e-04 9.99951820e-01 -3.35603429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.666559995 meters 0.011059400308702427 Centerline is valid? [True, True] Translation: X:203.46, Y:-47.40, Z:-3.36 [[ 8.56794474e-01 5.15595852e-01 8.00915973e-03 2.03461799e+02] [-5.15574373e-01 8.56831902e-01 -4.70718262e-03 -4.74046540e+01] [-9.28950740e-03 -9.62294456e-05 9.99956847e-01 -3.35747775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.726559995 meters 0.010891771626628063 Centerline is valid? [True, True] Translation: X:203.52, Y:-47.43, Z:-3.36 [[ 8.56574370e-01 5.15959665e-01 8.12235844e-03 2.03518322e+02] [-5.15937569e-01 8.56612873e-01 -4.77612084e-03 -4.74334258e+01] [-9.42200251e-03 -9.95271650e-05 9.99955607e-01 -3.35955141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.786559995 meters 0.010926561727453956 Centerline is valid? [True, True] Translation: X:203.57, Y:-47.46, Z:-3.36 [[ 8.56106926e-01 5.16734587e-01 8.14236248e-03 2.03572945e+02] [-5.16712387e-01 8.56145639e-01 -4.79098561e-03 -4.74640863e+01] [-9.44671610e-03 -1.05663589e-04 9.99955373e-01 -3.36021176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.846559995 meters 0.011027215952621093 Centerline is valid? [True, True] Translation: X:203.63, Y:-47.50, Z:-3.36 [[ 8.56740468e-01 5.15676095e-01 8.59854799e-03 2.03625981e+02] [-5.15651246e-01 8.56783611e-01 -5.06334049e-03 -4.74953242e+01] [-9.97813865e-03 -9.58832853e-05 9.99950213e-01 -3.36250265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.906559995 meters 0.010126796735063032 Centerline is valid? [True, True] Translation: X:203.68, Y:-47.53, Z:-3.36 [[ 8.59054277e-01 5.11809296e-01 8.77458896e-03 2.03676969e+02] [-5.11783185e-01 8.59099088e-01 -5.17002721e-03 -4.75311233e+01] [-1.01843094e-02 -4.93530984e-05 9.99948137e-01 -3.36362019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96655999499998 meters 0.010042175371067844 Centerline is valid? [True, True] Translation: X:203.73, Y:-47.56, Z:-3.36 [[ 8.60975881e-01 5.08566265e-01 8.99364516e-03 2.03727947e+02] [-5.08538617e-01 8.61022853e-01 -5.30295505e-03 -4.75648157e+01] [-1.04406381e-02 -7.89946999e-06 9.99945495e-01 -3.36407530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02655999499999 meters 0.009993881997710417 Centerline is valid? [True, True] Translation: X:203.78, Y:-47.60, Z:-3.36 [[ 8.61467198e-01 5.07723294e-01 9.55637700e-03 2.03781740e+02] [-5.07692012e-01 8.61520201e-01 -5.63591811e-03 -4.75979263e+01] [-1.10944987e-02 3.46230705e-06 9.99938454e-01 -3.36356847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.086559995 meters 0.0099859243269864 Centerline is valid? [True, True] Translation: X:203.84, Y:-47.63, Z:-3.37 [[ 8.61467527e-01 5.07737208e-01 8.75371757e-03 2.03835814e+02] [-5.07710932e-01 8.61512001e-01 -5.16546395e-03 -4.76301311e+01] [-1.01641310e-02 5.52134588e-06 9.99948344e-01 -3.36509644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.146559995 meters 0.010029874086878245 Centerline is valid? [True, True] Translation: X:203.89, Y:-47.66, Z:-3.37 [[ 8.61472298e-01 5.07749067e-01 7.50759531e-03 2.03889516e+02] [-5.07729721e-01 8.61505011e-01 -4.43242974e-03 -4.76618822e+01] [-8.71839305e-03 6.58616931e-06 9.99961994e-01 -3.36720095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.206559995 meters 0.010101503841844179 Centerline is valid? [True, True] Translation: X:203.94, Y:-47.69, Z:-3.37 [[ 8.61986306e-01 5.06897806e-01 5.85000417e-03 2.03942940e+02] [-5.06886032e-01 8.62006157e-01 -3.45499737e-03 -4.76936008e+01] [-6.79407020e-03 1.28750212e-05 9.99976920e-01 -3.36960928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.266559995 meters 0.010077521915213775 Centerline is valid? [True, True] Translation: X:204.00, Y:-47.72, Z:-3.37 [[ 8.62193598e-01 5.06541010e-01 6.19713092e-03 2.03997965e+02] [-5.06527773e-01 8.62215869e-01 -3.66202994e-03 -4.77247815e+01] [-7.19823297e-03 1.83598491e-05 9.99974092e-01 -3.36954005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.326559995 meters 0.01036946063378322 Centerline is valid? [True, True] Translation: X:204.05, Y:-47.76, Z:-3.37 [[ 8.63650335e-01 5.04046665e-01 6.71255004e-03 2.04050893e+02] [-5.04031033e-01 8.63676420e-01 -3.96983895e-03 -4.77577036e+01] [-7.79845527e-03 4.52192115e-05 9.99969591e-01 -3.36944498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.386559995 meters 0.01090021441317178 Centerline is valid? [True, True] Translation: X:204.10, Y:-47.79, Z:-3.37 [[ 8.65163311e-01 5.01448252e-01 6.48819756e-03 2.04103090e+02] [-5.01433555e-01 8.65187636e-01 -3.83967966e-03 -4.77904339e+01] [-7.53890896e-03 6.85500001e-05 9.99971580e-01 -3.37061819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.446559995 meters 0.011343560938949546 Centerline is valid? [True, True] Translation: X:204.16, Y:-47.82, Z:-3.37 [[ 8.66230560e-01 4.99617409e-01 5.20204730e-03 2.04157139e+02] [-4.99607926e-01 8.66246177e-01 -3.07908488e-03 -4.78208932e+01] [-6.04461800e-03 6.82133585e-05 9.99981729e-01 -3.37243342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.506559995 meters 0.01112304087280268 Centerline is valid? [True, True] Translation: X:204.21, Y:-47.85, Z:-3.37 [[ 8.65436755e-01 5.01000383e-01 4.22367658e-03 2.04213447e+02] [-5.00994147e-01 8.65447060e-01 -2.50009120e-03 -4.78501276e+01] [-4.90791513e-03 4.76335729e-05 9.99987955e-01 -3.37416374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.566559995 meters 0.011297725071981572 Centerline is valid? [True, True] Translation: X:204.27, Y:-47.88, Z:-3.38 [[ 8.65222251e-01 5.01380068e-01 2.91265140e-03 2.04267245e+02] [-5.01377104e-01 8.65227153e-01 -1.72411733e-03 -4.78807657e+01] [-3.38454314e-03 3.14079510e-05 9.99994272e-01 -3.37573874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.626559995 meters 0.011345594735010307 Centerline is valid? [True, True] Translation: X:204.32, Y:-47.91, Z:-3.38 [[ 8.65169461e-01 5.01473869e-01 2.40060385e-03 2.04321623e+02] [-5.01471858e-01 8.65172791e-01 -1.42046187e-03 -4.79121506e+01] [-2.78926164e-03 2.51049558e-05 9.99996110e-01 -3.37685490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68655999499998 meters 0.011075092710744036 Centerline is valid? [True, True] Translation: X:204.38, Y:-47.94, Z:-3.38 [[ 8.64812609e-01 5.02088095e-01 2.58767218e-03 2.04376589e+02] [-5.02085756e-01 8.64816480e-01 -1.53250693e-03 -4.79436041e+01] [-3.00731503e-03 2.60979776e-05 9.99995478e-01 -3.37728213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74655999499998 meters 0.010463943038612113 Centerline is valid? [True, True] Translation: X:204.43, Y:-47.97, Z:-3.38 [[ 8.63076006e-01 5.05059468e-01 3.83952669e-03 2.04431573e+02] [-5.05054330e-01 8.63084546e-01 -2.27827285e-03 -4.79722521e+01] [-4.46449942e-03 2.71530483e-05 9.99990034e-01 -3.37643750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.806559995 meters 0.010365562519587711 Centerline is valid? [True, True] Translation: X:204.48, Y:-48.00, Z:-3.38 [[ 8.61418703e-01 5.07876220e-01 4.42298640e-03 2.04484788e+02] [-5.07869421e-01 8.61430058e-01 -2.62801197e-03 -4.80020565e+01] [-5.14479822e-03 1.75191191e-05 9.99986765e-01 -3.37666173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.866559995 meters 0.010062454733319843 Centerline is valid? [True, True] Translation: X:204.54, Y:-48.03, Z:-3.38 [[ 8.58335515e-01 5.13057974e-01 5.62663338e-03 2.04539618e+02] [-5.13047077e-01 8.58353957e-01 -3.34392696e-03 -4.80304140e+01] [-6.54527142e-03 -1.65165410e-05 9.99978579e-01 -3.37606167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.926559995 meters 0.01079725130590748 Centerline is valid? [True, True] Translation: X:204.60, Y:-48.06, Z:-3.38 [[ 8.54747884e-01 5.19008206e-01 6.04453179e-03 2.04595274e+02] [-5.18995763e-01 8.54769254e-01 -3.59443165e-03 -4.80584145e+01] [-7.03221945e-03 -6.47535472e-05 9.99975272e-01 -3.37620625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.986559995 meters 0.011274863507289169 Centerline is valid? [True, True] Translation: X:204.65, Y:-48.09, Z:-3.38 [[ 8.52541168e-01 5.22635560e-01 5.06233442e-03 2.04649216e+02] [-5.22626891e-01 8.52556195e-01 -3.01122006e-03 -4.80885623e+01] [-5.88969525e-03 -7.85230348e-05 9.99982653e-01 -3.37733978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.046559995 meters 0.012403807790780486 Centerline is valid? [True, True] Translation: X:204.70, Y:-48.12, Z:-3.38 [[ 8.50505020e-01 5.25956494e-01 3.31320264e-03 2.04703298e+02] [-5.25952798e-01 8.50511471e-01 -1.97281763e-03 -4.81185241e+01] [-3.85553310e-03 -6.46968988e-05 9.99992565e-01 -3.37950066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.106559995 meters 0.012791055582527116 Centerline is valid? [True, True] Translation: X:204.76, Y:-48.15, Z:-3.38 [[ 8.49445815e-01 5.27672010e-01 2.01429434e-03 2.04756273e+02] [-5.27670656e-01 8.49448202e-01 -1.19624788e-03 -4.81505908e+01] [-2.34226522e-03 -4.67362610e-05 9.99997256e-01 -3.38119391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.166559995 meters 0.012974621323897857 Centerline is valid? [True, True] Translation: X:204.81, Y:-48.18, Z:-3.38 [[ 8.49326094e-01 5.27867084e-01 1.23616538e-03 2.04809710e+02] [-5.27866577e-01 8.49326993e-01 -7.32195642e-04 -4.81839266e+01] [-1.43641060e-03 -3.06575239e-05 9.99998968e-01 -3.38268468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.226559995 meters 0.012911651144142187 Centerline is valid? [True, True] Translation: X:204.86, Y:-48.22, Z:-3.38 [[ 8.49931596e-01 5.26891658e-01 1.20965403e-03 2.04861308e+02] [-5.26891171e-01 8.49932456e-01 -7.17501744e-04 -4.82192548e+01] [-1.40616990e-03 -2.75286245e-05 9.99999011e-01 -3.38331120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.286559995 meters 0.011900693955984592 Centerline is valid? [True, True] Translation: X:204.91, Y:-48.26, Z:-3.38 [[ 8.51448606e-01 5.24435677e-01 1.57838344e-03 2.04911263e+02] [-5.24434839e-01 8.51450069e-01 -9.37993944e-04 -4.82559705e+01] [-1.83583218e-03 -2.91056276e-05 9.99998314e-01 -3.38178305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.346559995 meters 0.01181822819570128 Centerline is valid? [True, True] Translation: X:204.96, Y:-48.29, Z:-3.38 [[ 8.52491077e-01 5.22738744e-01 1.78017782e-03 2.04963383e+02] [-5.22737671e-01 8.52492935e-01 -1.05947239e-03 -4.82879994e+01] [-2.07141628e-03 -2.73752468e-05 9.99997854e-01 -3.38330113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.406559995 meters 0.011432607712108384 Centerline is valid? [True, True] Translation: X:205.02, Y:-48.32, Z:-3.38 [[ 8.53807522e-01 5.20586003e-01 1.71140681e-03 2.05016602e+02] [-5.20585007e-01 8.53809237e-01 -1.01865156e-03 -4.83192665e+01] [-1.99151069e-03 -2.12003590e-05 9.99998017e-01 -3.38434528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46655999499998 meters 0.011392504517281838 Centerline is valid? [True, True] Translation: X:205.07, Y:-48.35, Z:-3.39 [[ 8.54535672e-01 5.19388723e-01 2.03454702e-03 2.05070671e+02] [-5.19387304e-01 8.54538094e-01 -1.21434773e-03 -4.83508127e+01] [-2.36931645e-03 -1.90144376e-05 9.99997193e-01 -3.38598901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52655999499999 meters 0.011136034123040936 Centerline is valid? [True, True] Translation: X:205.12, Y:-48.38, Z:-3.39 [[ 8.55841449e-01 5.17231450e-01 2.65363297e-03 2.05123529e+02] [-5.17229020e-01 8.55845562e-01 -1.58574465e-03 -4.83843800e+01] [-3.09129701e-03 -1.53899766e-05 9.99995222e-01 -3.38657268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.586559995 meters 0.011098081219578245 Centerline is valid? [True, True] Translation: X:205.18, Y:-48.42, Z:-3.39 [[ 8.56856310e-01 5.15550639e-01 2.19144095e-03 2.05175561e+02] [-5.15548984e-01 8.56859112e-01 -1.30654048e-03 -4.84190283e+01] [-2.55134393e-03 -1.02777007e-05 9.99996745e-01 -3.38732653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.646559995 meters 0.011220306976561926 Centerline is valid? [True, True] Translation: X:205.23, Y:-48.45, Z:-3.39 [[ 8.56545351e-01 5.16070565e-01 1.11062835e-03 2.05229785e+02] [-5.16070142e-01 8.56546071e-01 -6.60688716e-04 -4.84492601e+01] [-1.29226635e-03 -7.25228151e-06 9.99999165e-01 -3.39033198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.706559995 meters 0.011213016622052516 Centerline is valid? [True, True] Translation: X:205.28, Y:-48.48, Z:-3.39 [[ 8.55803603e-01 5.17297881e-01 1.75936318e-03 2.05284862e+02] [-5.17296817e-01 8.55805411e-01 -1.04924113e-03 -4.84793542e+01] [-2.04844275e-03 -1.21686322e-05 9.99997902e-01 -3.39044282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.766559995 meters 0.011031288924315513 Centerline is valid? [True, True] Translation: X:205.34, Y:-48.51, Z:-3.39 [[ 8.55676267e-01 5.17500073e-01 3.43530988e-03 2.05338364e+02] [-5.17495991e-01 8.55683162e-01 -2.05535074e-03 -4.85101237e+01] [-4.00318098e-03 -1.90442479e-05 9.99991987e-01 -3.38939902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.826559995 meters 0.011039277167608236 Centerline is valid? [True, True] Translation: X:205.39, Y:-48.54, Z:-3.39 [[ 8.55728920e-01 5.17398834e-01 5.14418680e-03 2.05391178e+02] [-5.17389656e-01 8.55744381e-01 -3.08189862e-03 -4.85413921e+01] [-5.99667970e-03 -2.42792600e-05 9.99982019e-01 -3.38860889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.886559995 meters 0.010885335838210934 Centerline is valid? [True, True] Translation: X:205.44, Y:-48.57, Z:-3.39 [[ 8.56317498e-01 5.16422875e-01 5.26850262e-03 2.05444469e+02] [-5.16413221e-01 8.56333705e-01 -3.15773517e-03 -4.85737584e+01] [-6.14232304e-03 -1.67005295e-05 9.99981136e-01 -3.39028227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.946559995 meters 0.010682856851533879 Centerline is valid? [True, True] Translation: X:205.50, Y:-48.61, Z:-3.39 [[ 8.56741424e-01 5.15720791e-01 5.11845413e-03 2.05497562e+02] [-5.15711659e-01 8.56756713e-01 -3.06905140e-03 -4.86071346e+01] [-5.96804356e-03 -1.02630060e-05 9.99982191e-01 -3.39043779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.006559995 meters 0.010779856502490888 Centerline is valid? [True, True] Translation: X:205.55, Y:-48.64, Z:-3.39 [[ 8.57681164e-01 5.14161888e-01 4.53584838e-03 2.05550713e+02] [-5.14154690e-01 8.57693158e-01 -2.72078501e-03 -4.86400885e+01] [-5.28929007e-03 1.43834120e-06 9.99986012e-01 -3.39217035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.066559995 meters 0.010860589666425842 Centerline is valid? [True, True] Translation: X:205.60, Y:-48.67, Z:-3.39 [[ 8.59034739e-01 5.11891815e-01 5.10752176e-03 2.05603990e+02] [-5.11882632e-01 8.59049922e-01 -3.06626909e-03 -4.86741963e+01] [-5.95721422e-03 1.95799834e-05 9.99982255e-01 -3.39357462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.126559995 meters 0.011149214755853617 Centerline is valid? [True, True] Translation: X:205.66, Y:-48.71, Z:-3.39 [[ 8.60509607e-01 5.09397987e-01 6.07502039e-03 2.05655154e+02] [-5.09384901e-01 8.60531050e-01 -3.65158249e-03 -4.87084470e+01] [-7.08785244e-03 4.76981497e-05 9.99974880e-01 -3.39492877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18655999499998 meters 0.011199052116566209 Centerline is valid? [True, True] Translation: X:205.71, Y:-48.74, Z:-3.40 [[ 8.61045874e-01 5.08485227e-01 6.54044405e-03 2.05708382e+02] [-5.08470026e-01 8.61070712e-01 -3.93214055e-03 -4.87413547e+01] [-7.63122020e-03 6.01336369e-05 9.99970880e-01 -3.39632936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24655999499998 meters 0.011226297825342742 Centerline is valid? [True, True] Translation: X:205.76, Y:-48.77, Z:-3.40 [[ 8.61142207e-01 5.08322026e-01 6.54346581e-03 2.05761579e+02] [-5.08306788e-01 8.61167065e-01 -3.93648542e-03 -4.87742324e+01] [-7.63601949e-03 6.37856523e-05 9.99970843e-01 -3.39788171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.306559995 meters 0.011105319567025079 Centerline is valid? [True, True] Translation: X:205.82, Y:-48.81, Z:-3.40 [[ 8.60782499e-01 5.08936517e-01 6.09193690e-03 2.05815391e+02] [-5.08923311e-01 8.60804053e-01 -3.66674391e-03 -4.88058809e+01] [-7.11010385e-03 5.59402831e-05 9.99974721e-01 -3.39923989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.366559995 meters 0.010912140573210495 Centerline is valid? [True, True] Translation: X:205.87, Y:-48.84, Z:-3.40 [[ 8.60023821e-01 5.10227627e-01 5.17658126e-03 2.05869622e+02] [-5.10218107e-01 8.60039399e-01 -3.11703875e-03 -4.88378710e+01] [-6.04246312e-03 3.95420850e-05 9.99981743e-01 -3.40172576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.426559995 meters 0.01107438897547432 Centerline is valid? [True, True] Translation: X:205.92, Y:-48.87, Z:-3.40 [[ 8.59935221e-01 5.10386035e-01 4.18467630e-03 2.05921464e+02] [-5.10379803e-01 8.59945402e-01 -2.52232182e-03 -4.88697621e+01] [-4.88595097e-03 3.32591077e-05 9.99988063e-01 -3.40333135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.486559995 meters 0.011681764933473076 Centerline is valid? [True, True] Translation: X:205.97, Y:-48.90, Z:-3.40 [[ 8.61203311e-01 5.08246815e-01 3.74588479e-03 2.05974031e+02] [-5.08241806e-01 8.61211457e-01 -2.25682811e-03 -4.89031983e+01] [-4.37302460e-03 3.97725897e-05 9.99990437e-01 -3.40463319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.546559995 meters 0.011924130619570046 Centerline is valid? [True, True] Translation: X:206.03, Y:-48.94, Z:-3.41 [[ 8.61587528e-01 5.07592871e-01 4.05081256e-03 2.06027188e+02] [-5.07586999e-01 8.61597049e-01 -2.44203503e-03 -4.89359498e+01] [-4.72972772e-03 4.78871277e-05 9.99988814e-01 -3.40519623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.606559995 meters 0.012513260416485303 Centerline is valid? [True, True] Translation: X:206.08, Y:-48.97, Z:-3.41 [[ 8.63429817e-01 5.04444040e-01 5.01618792e-03 2.06079643e+02] [-5.04434964e-01 8.63444384e-01 -3.02711499e-03 -4.89694660e+01] [-5.85820941e-03 8.33607687e-05 9.99982837e-01 -3.40515323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.666559995 meters 0.013185654050104597 Centerline is valid? [True, True] Translation: X:206.13, Y:-49.00, Z:-3.41 [[ 8.64783374e-01 5.02117706e-01 5.24647925e-03 2.06132009e+02] [-5.02107722e-01 8.64799282e-01 -3.16805270e-03 -4.90030263e+01] [-6.12788685e-03 1.05381561e-04 9.99981219e-01 -3.40617814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.726559995 meters 0.013987144680126457 Centerline is valid? [True, True] Translation: X:206.18, Y:-49.04, Z:-3.41 [[ 8.65816396e-01 5.00335708e-01 5.11355441e-03 2.06184346e+02] [-5.00326183e-01 8.65831488e-01 -3.08941712e-03 -4.90363769e+01] [-5.97322213e-03 1.16422835e-04 9.99982153e-01 -3.40756388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.786559995 meters 0.013644117931209756 Centerline is valid? [True, True] Translation: X:206.24, Y:-49.07, Z:-3.41 [[ 8.65055217e-01 5.01642882e-01 5.82160043e-03 2.06239108e+02] [-5.01630549e-01 8.65074796e-01 -3.51976310e-03 -4.90660598e+01] [-6.80178391e-03 1.24496811e-04 9.99976860e-01 -3.40803923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.846559995 meters 0.012486288871979234 Centerline is valid? [True, True] Translation: X:206.29, Y:-49.09, Z:-3.41 [[ 8.63365321e-01 5.04544386e-01 5.94017897e-03 2.06294786e+02] [-5.04531600e-01 8.63385749e-01 -3.59345996e-03 -4.90943795e+01] [-6.94172592e-03 1.05460709e-04 9.99975900e-01 -3.40874533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.906559995 meters 0.011464743319863477 Centerline is valid? [True, True] Translation: X:206.35, Y:-49.12, Z:-3.41 [[ 8.59808866e-01 5.10585534e-01 5.57918373e-03 2.06351197e+02] [-5.10574370e-01 8.59826965e-01 -3.37672782e-03 -4.91213870e+01] [-6.52124099e-03 5.47522967e-05 9.99978735e-01 -3.41063778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96655999499998 meters 0.01087944751596866 Centerline is valid? [True, True] Translation: X:206.41, Y:-49.15, Z:-3.41 [[ 8.57368607e-01 5.14672505e-01 5.59319046e-03 2.06406954e+02] [-5.14661349e-01 8.57386851e-01 -3.38880318e-03 -4.91501087e+01] [-6.53965177e-03 2.68545207e-05 9.99978616e-01 -3.41184363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02655999499999 meters 0.010767256207362852 Centerline is valid? [True, True] Translation: X:206.46, Y:-49.18, Z:-3.41 [[ 8.53150606e-01 5.21630962e-01 5.93153592e-03 2.06463324e+02] [-5.21618589e-01 8.53171225e-01 -3.59281123e-03 -4.91759097e+01] [-6.93473735e-03 -2.87903195e-05 9.99975954e-01 -3.41270815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.086559995 meters 0.011985951239621076 Centerline is valid? [True, True] Translation: X:206.52, Y:-49.20, Z:-3.41 [[ 8.48835744e-01 5.28624456e-01 5.83654127e-03 2.06519721e+02] [-5.28612624e-01 8.48855805e-01 -3.53770755e-03 -4.92012892e+01] [-6.82450067e-03 -8.23367776e-05 9.99976709e-01 -3.41435782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.146559995 meters 0.012187307793302456 Centerline is valid? [True, True] Translation: X:206.57, Y:-49.23, Z:-3.42 [[ 8.46766950e-01 5.31940451e-01 5.00890606e-03 2.06573092e+02] [-5.31931790e-01 8.46781759e-01 -3.03685162e-03 -4.92319949e+01] [-5.85687451e-03 -9.28907811e-05 9.99982844e-01 -3.41532517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.206559995 meters 0.012732748369082116 Centerline is valid? [True, True] Translation: X:206.63, Y:-49.26, Z:-3.42 [[ 8.45488719e-01 5.33972937e-01 4.66134022e-03 2.06626696e+02] [-5.33965462e-01 8.45501563e-01 -2.82712402e-03 -4.92626476e+01] [-5.45077816e-03 -9.86932132e-05 9.99985140e-01 -3.41664249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.266559995 meters 0.012500804705067836 Centerline is valid? [True, True] Translation: X:206.68, Y:-49.30, Z:-3.42 [[ 8.45519183e-01 5.33917806e-01 5.39335179e-03 2.06679520e+02] [-5.33907782e-01 8.45536377e-01 -3.27360406e-03 -4.92955313e+01] [-6.30811063e-03 -1.11657463e-04 9.99980097e-01 -3.41669631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.326559995 meters 0.01226817064218521 Centerline is valid? [True, True] Translation: X:206.73, Y:-49.33, Z:-3.42 [[ 8.46221357e-01 5.32812047e-01 4.55382969e-03 2.06731409e+02] [-5.32804880e-01 8.46233605e-01 -2.76490933e-03 -4.93300277e+01] [-5.32678072e-03 -8.65773578e-05 9.99985809e-01 -3.41828251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.386559995 meters 0.011652405635475888 Centerline is valid? [True, True] Translation: X:206.78, Y:-49.37, Z:-3.42 [[ 8.47763964e-01 5.30368722e-01 2.29798877e-03 2.06781905e+02] [-5.30366892e-01 8.47767078e-01 -1.39373013e-03 -4.93658587e+01] [-2.68735009e-03 -3.72229816e-05 9.99996388e-01 -3.42155772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.446559995 meters 0.011061607192008343 Centerline is valid? [True, True] Translation: X:206.83, Y:-49.40, Z:-3.42 [[ 8.49664198e-01 5.27323879e-01 5.27021837e-04 2.06832788e+02] [-5.27323785e-01 8.49664361e-01 -3.16162988e-04 -4.94019741e+01] [-6.14511966e-04 -9.27877771e-06 9.99999811e-01 -3.42323641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.506559995 meters 0.010883379476564705 Centerline is valid? [True, True] Translation: X:206.88, Y:-49.44, Z:-3.42 [[ 8.55001941e-01 5.18624324e-01 -7.01165525e-04 2.06879143e+02] [-5.18624144e-01 8.55002228e-01 4.31451420e-04 -4.94424336e+01] [ 8.23259287e-04 -5.25043161e-06 9.99999661e-01 -3.42436549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.566559995 meters 0.012003654785294204 Centerline is valid? [True, True] Translation: X:206.93, Y:-49.48, Z:-3.42 [[ 8.59477324e-01 5.11173874e-01 -7.04693307e-06 2.06928119e+02] [-5.11173874e-01 8.59477324e-01 8.86158759e-06 -4.94818276e+01] [ 1.05864912e-05 -4.01412550e-06 1.00000000e+00 -3.42366759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.626559995 meters 0.013968049012418347 Centerline is valid? [True, True] Translation: X:206.98, Y:-49.52, Z:-3.42 [[ 8.63791730e-01 5.03844356e-01 2.17067812e-03 2.06979417e+02] [-5.03842624e-01 8.63794456e-01 -1.32199750e-03 -4.95166903e+01] [-2.54110071e-03 4.82503480e-05 9.99996770e-01 -3.42194687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68655999499998 meters 0.017158406171064237 Centerline is valid? [True, True] Translation: X:207.03, Y:-49.55, Z:-3.42 [[ 8.67748606e-01 4.97001784e-01 1.25832452e-03 2.07028659e+02] [-4.97001194e-01 8.67749517e-01 -7.66870094e-04 -4.95518564e+01] [-1.47304630e-03 4.00616647e-05 9.99998914e-01 -3.42259719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74655999499998 meters 0.021291468047558396 Centerline is valid? [True, True] Translation: X:207.08, Y:-49.59, Z:-3.42 [[ 8.71805180e-01 4.89852756e-01 7.93720978e-05 2.07077054e+02] [-4.89852753e-01 8.71805183e-01 -4.83736680e-05 -4.95872313e+01] [-9.28929808e-05 3.29177367e-06 9.99999996e-01 -3.42438920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.806559995 meters 0.019951034008413603 Centerline is valid? [True, True] Translation: X:207.13, Y:-49.62, Z:-3.42 [[ 8.73862855e-01 4.86172343e-01 4.03147591e-04 2.07132365e+02] [-4.86172282e-01 8.73862948e-01 -2.44908933e-04 -4.96151323e+01] [-4.71363692e-04 1.80176354e-05 9.99999889e-01 -3.42378261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.866559995 meters 0.02002165357657148 Centerline is valid? [True, True] Translation: X:207.19, Y:-49.64, Z:-3.42 [[ 8.73659021e-01 4.86532745e-01 2.40889885e-03 2.07188936e+02] [-4.86530552e-01 8.73662335e-01 -1.46501422e-03 -4.96419972e+01] [-2.81734158e-03 1.07920004e-04 9.99996025e-01 -3.42347872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.926559995 meters 0.01779071354478653 Centerline is valid? [True, True] Translation: X:207.25, Y:-49.67, Z:-3.42 [[ 8.69825742e-01 4.93343711e-01 3.89387054e-03 2.07245325e+02] [-4.93338017e-01 8.69834445e-01 -2.37478449e-03 -4.96662607e+01] [-4.55860771e-03 1.44654315e-04 9.99989599e-01 -3.42251325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.986559995 meters 0.015903529149075557 Centerline is valid? [True, True] Translation: X:207.30, Y:-49.69, Z:-3.42 [[ 8.66137974e-01 4.99783100e-01 4.67568711e-03 2.07301265e+02] [-4.99774980e-01 8.66150584e-01 -2.85212663e-03 -4.96914930e+01] [-5.47529382e-03 1.33543751e-04 9.99985002e-01 -3.42358857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.046559995 meters 0.012239607182418653 Centerline is valid? [True, True] Translation: X:207.36, Y:-49.71, Z:-3.42 [[ 8.59817121e-01 5.10559912e-01 6.56458299e-03 2.07362310e+02] [-5.10544211e-01 8.59842176e-01 -4.00517046e-03 -4.97088000e+01] [-7.68938480e-03 9.22042918e-05 9.99970432e-01 -3.42430967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.106559995 meters 0.011363206137416822 Centerline is valid? [True, True] Translation: X:207.42, Y:-49.73, Z:-3.42 [[ 8.52812424e-01 5.22160194e-01 7.72660133e-03 2.07422512e+02] [-5.22138915e-01 8.52847426e-01 -4.71404776e-03 -4.97302130e+01] [-9.05110015e-03 -1.41607325e-05 9.99959038e-01 -3.42482109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.166559995 meters 0.013059265313974555 Centerline is valid? [True, True] Translation: X:207.48, Y:-49.75, Z:-3.43 [[ 8.46060438e-01 5.33012669e-01 8.90108385e-03 2.07481588e+02] [-5.32985013e-01 8.46107246e-01 -5.43172772e-03 -4.97518261e+01] [-1.04264512e-02 -1.48574361e-04 9.99945632e-01 -3.42533909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.226559995 meters 0.015382583614869792 Centerline is valid? [True, True] Translation: X:207.54, Y:-49.77, Z:-3.43 [[ 8.42499139e-01 5.38595593e-01 1.04875137e-02 2.07538472e+02] [-5.38557600e-01 8.42564373e-01 -6.40229343e-03 -4.97749485e+01] [-1.22846524e-02 -2.54203481e-04 9.99924508e-01 -3.42677122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.286559995 meters 0.01606018048991666 Centerline is valid? [True, True] Translation: X:207.59, Y:-49.80, Z:-3.43 [[ 8.40665981e-01 5.41404215e-01 1.27351602e-02 2.07594108e+02] [-5.41348504e-01 8.40762361e-01 -7.77493289e-03 -4.98023375e+01] [-1.49166248e-02 -3.58038339e-04 9.99888677e-01 -3.42723844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.346559995 meters 0.015510883401101534 Centerline is valid? [True, True] Translation: X:207.65, Y:-49.83, Z:-3.43 [[ 8.41920760e-01 5.39422488e-01 1.38857198e-02 2.07647567e+02] [-5.39355902e-01 8.42035189e-01 -8.48246019e-03 -4.98343858e+01] [-1.62678945e-02 -3.47785598e-04 9.99867609e-01 -3.42966859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.406559995 meters 0.014785610453944156 Centerline is valid? [True, True] Translation: X:207.70, Y:-49.87, Z:-3.43 [[ 8.43449223e-01 5.37023429e-01 1.41154091e-02 2.07700223e+02] [-5.36954206e-01 8.43567274e-01 -8.62759764e-03 -4.98671024e+01] [-1.65405193e-02 -3.02387774e-04 9.99863151e-01 -3.43218904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46655999499998 meters 0.01413187953641226 Centerline is valid? [True, True] Translation: X:207.75, Y:-49.90, Z:-3.43 [[ 8.44386123e-01 5.35552554e-01 1.39834352e-02 2.07752987e+02] [-5.35484341e-01 8.44501859e-01 -8.55158716e-03 -4.99000769e+01] [-1.63888613e-02 -2.67069035e-04 9.99865658e-01 -3.43413507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52655999499999 meters 0.012985321918190667 Centerline is valid? [True, True] Translation: X:207.80, Y:-49.94, Z:-3.44 [[ 8.48235179e-01 5.29461592e-01 1.29423069e-02 2.07803296e+02] [-5.29402384e-01 8.48333899e-01 -7.91910391e-03 -4.99356762e+01] [-1.51722590e-02 -1.34425596e-04 9.99884886e-01 -3.43852546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.586559995 meters 0.012511387978672624 Centerline is valid? [True, True] Translation: X:207.85, Y:-49.98, Z:-3.44 [[ 8.54639159e-01 5.19079087e-01 1.21987196e-02 2.07851159e+02] [-5.19025419e-01 8.54726213e-01 -7.46428955e-03 -4.99755936e+01] [-1.43011220e-02 4.78285940e-05 9.99897733e-01 -3.44124115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.646559995 meters 0.014688323796671789 Centerline is valid? [True, True] Translation: X:207.90, Y:-50.02, Z:-3.44 [[ 8.62346459e-01 5.06127771e-01 1.39019612e-02 2.07897172e+02] [-5.06056284e-01 8.62458455e-01 -8.51182278e-03 -5.00176524e+01] [-1.62979339e-02 3.04965403e-04 9.99867133e-01 -3.44265314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.706559995 meters 0.016955142960660304 Centerline is valid? [True, True] Translation: X:207.94, Y:-50.06, Z:-3.44 [[ 8.67205502e-01 4.97718805e-01 1.51857840e-02 2.07944844e+02] [-4.97632157e-01 8.67338303e-01 -9.30072374e-03 -5.00559850e+01] [-1.78003573e-02 5.08704324e-04 9.99841432e-01 -3.44300695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.766559995 meters 0.020904969395220203 Centerline is valid? [True, True] Translation: X:207.99, Y:-50.10, Z:-3.44 [[ 8.72727609e-01 4.87923094e-01 1.66605499e-02 2.07990439e+02] [-4.87816995e-01 8.72886275e-01 -1.02044786e-02 -5.00962107e+01] [-1.95217661e-02 7.78430798e-04 9.99809129e-01 -3.44291276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.826559995 meters 0.021596946805213426 Centerline is valid? [True, True] Translation: X:208.04, Y:-50.13, Z:-3.44 [[ 8.74848929e-01 4.84069934e-01 1.77665770e-02 2.08041357e+02] [-4.83948475e-01 8.75028827e-01 -1.08823087e-02 -5.01295219e+01] [-2.08140655e-02 9.22268306e-04 9.99782938e-01 -3.44333102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.886559995 meters 0.019408392277808894 Centerline is valid? [True, True] Translation: X:208.10, Y:-50.16, Z:-3.44 [[ 8.72692827e-01 4.87925572e-01 1.83266547e-02 2.08096435e+02] [-4.87797147e-01 8.72884815e-01 -1.12268963e-02 -5.01566575e+01] [-2.14749484e-02 8.57941953e-04 9.99769019e-01 -3.44491661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.946559995 meters 0.01816464296311171 Centerline is valid? [True, True] Translation: X:208.15, Y:-50.18, Z:-3.45 [[ 8.69461973e-01 4.93679864e-01 1.77783375e-02 2.08151288e+02] [-4.93560187e-01 8.69643437e-01 -1.08919342e-02 -5.01848236e+01] [-2.08379431e-02 6.95443025e-04 9.99782625e-01 -3.44643237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.006559995 meters 0.014590019850813754 Centerline is valid? [True, True] Translation: X:208.21, Y:-50.21, Z:-3.45 [[ 8.63539848e-01 5.03988049e-01 1.71749083e-02 2.08210076e+02] [-5.03878360e-01 8.63710518e-01 -1.05232958e-02 -5.02066050e+01] [-2.01377642e-02 4.33220631e-04 9.99797121e-01 -3.44855055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.066559995 meters 0.013043399832453966 Centerline is valid? [True, True] Translation: X:208.27, Y:-50.23, Z:-3.45 [[ 8.58171933e-01 5.13078172e-01 1.70799088e-02 2.08265901e+02] [-5.12971463e-01 8.58341856e-01 -1.04660014e-02 -5.02303866e+01] [-2.00302775e-02 2.20122862e-04 9.99799350e-01 -3.44818503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.126559995 meters 0.01219894515391682 Centerline is valid? [True, True] Translation: X:208.32, Y:-50.26, Z:-3.45 [[ 8.53461098e-01 5.20887957e-01 1.67299175e-02 2.08324296e+02] [-5.20787062e-01 8.53625055e-01 -1.02519250e-02 -5.02551439e+01] [-1.96211810e-02 3.68946366e-05 9.99807485e-01 -3.44917990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18655999499998 meters 0.012267694610301605 Centerline is valid? [True, True] Translation: X:208.38, Y:-50.28, Z:-3.45 [[ 8.50934466e-01 5.25025281e-01 1.60931547e-02 2.08380068e+02] [-5.24932609e-01 8.51086630e-01 -9.86429983e-03 -5.02839903e+01] [-1.88756756e-02 -5.39489779e-05 9.99821837e-01 -3.45043281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24655999499998 meters 0.012473292447339475 Centerline is valid? [True, True] Translation: X:208.44, Y:-50.31, Z:-3.45 [[ 8.48873260e-01 5.28378440e-01 1.51793647e-02 2.08435082e+02] [-5.28296434e-01 8.49008958e-01 -9.30950267e-03 -5.03121720e+01] [-1.78063571e-02 -1.16616354e-04 9.99841447e-01 -3.45253733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.306559995 meters 0.012869495094945902 Centerline is valid? [True, True] Translation: X:208.49, Y:-50.34, Z:-3.45 [[ 8.47291026e-01 5.30953952e-01 1.36314992e-02 2.08488761e+02] [-5.30888114e-01 8.47400660e-01 -8.36252781e-03 -5.03415966e+01] [-1.59914586e-02 -1.51306110e-04 9.99872117e-01 -3.45440957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.366559995 meters 0.012996170197163275 Centerline is valid? [True, True] Translation: X:208.54, Y:-50.37, Z:-3.46 [[ 8.46582338e-01 5.32105207e-01 1.27433989e-02 2.08541735e+02] [-5.32047745e-01 8.46678229e-01 -7.82138307e-03 -5.03746086e+01] [-1.49513571e-02 -1.58651894e-04 9.99888210e-01 -3.45576578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.426559995 meters 0.013107955427454547 Centerline is valid? [True, True] Translation: X:208.59, Y:-50.41, Z:-3.46 [[ 8.46174832e-01 5.32775450e-01 1.17674327e-02 2.08594876e+02] [-5.32726464e-01 8.46256637e-01 -7.22626060e-03 -5.04080009e+01] [-1.38082422e-02 -1.54142942e-04 9.99904650e-01 -3.45765413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.486559995 meters 0.012957550248752593 Centerline is valid? [True, True] Translation: X:208.65, Y:-50.44, Z:-3.46 [[ 8.45894217e-01 5.33269803e-01 9.28924279e-03 2.08645655e+02] [-5.33239278e-01 8.45945212e-01 -5.70709319e-03 -5.04431257e+01] [-1.09016109e-02 -1.25791994e-04 9.99940568e-01 -3.46001507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.546559995 meters 0.013284000840635366 Centerline is valid? [True, True] Translation: X:208.70, Y:-50.48, Z:-3.46 [[ 8.45403375e-01 5.34066253e-01 8.14683419e-03 2.08697005e+02] [-5.34042789e-01 8.45442620e-01 -5.00761839e-03 -5.04762712e+01] [-9.56208083e-03 -1.17300558e-04 9.99954275e-01 -3.46249510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.606559995 meters 0.013712162680548928 Centerline is valid? [True, True] Translation: X:208.75, Y:-50.51, Z:-3.47 [[ 8.44425222e-01 5.35650510e-01 4.95738276e-03 2.08747833e+02] [-5.35641851e-01 8.44439770e-01 -3.04686331e-03 -5.05119669e+01] [-5.81826504e-03 -8.25334477e-05 9.99983070e-01 -3.46586606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.666559995 meters 0.01400643775659995 Centerline is valid? [True, True] Translation: X:208.80, Y:-50.55, Z:-3.47 [[ 8.43415507e-01 5.37241269e-01 4.70129630e-03 2.08798058e+02] [-5.37233498e-01 8.43428605e-01 -2.89082127e-03 -5.05485693e+01] [-5.51827626e-03 -8.75303694e-05 9.99984770e-01 -3.46659907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.726559995 meters 0.014133877522078415 Centerline is valid? [True, True] Translation: X:208.85, Y:-50.59, Z:-3.47 [[ 8.43561706e-01 5.37006021e-01 5.30863450e-03 2.08847477e+02] [-5.36996094e-01 8.43578404e-01 -3.26668627e-03 -5.05871157e+01] [-6.23247961e-03 -9.50645481e-05 9.99980573e-01 -3.46578443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.786559995 meters 0.013455415781575577 Centerline is valid? [True, True] Translation: X:208.90, Y:-50.63, Z:-3.46 [[ 8.44608011e-01 5.35354399e-01 5.74241836e-03 2.08896357e+02] [-5.35342730e-01 8.44627527e-01 -3.53581023e-03 -5.06259343e+01] [-6.74311618e-03 -8.77882719e-05 9.99977261e-01 -3.46485423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.846559995 meters 0.012733778405480846 Centerline is valid? [True, True] Translation: X:208.94, Y:-50.67, Z:-3.46 [[ 8.47136441e-01 5.31330192e-01 6.93377117e-03 2.08943924e+02] [-5.31313016e-01 8.47164815e-01 -4.27270847e-03 -5.06677381e+01] [-8.14426597e-03 -6.44358236e-05 9.99966833e-01 -3.46398173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.906559995 meters 0.012613809249578705 Centerline is valid? [True, True] Translation: X:208.99, Y:-50.71, Z:-3.47 [[ 8.49522007e-01 5.27513578e-01 6.46407924e-03 2.08990887e+02] [-5.27498517e-01 8.49546600e-01 -3.98626464e-03 -5.07079089e+01] [-7.59434526e-03 -2.33726685e-05 9.99971162e-01 -3.46542999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96655999499998 meters 0.012565038678082896 Centerline is valid? [True, True] Translation: X:209.04, Y:-50.75, Z:-3.47 [[ 8.51147196e-01 5.24903692e-01 4.95635061e-03 2.09039037e+02] [-5.24894798e-01 8.51161627e-01 -3.05558845e-03 -5.07486773e+01] [-5.82254511e-03 -8.07113125e-07 9.99983049e-01 -3.46639645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02655999499999 meters 0.012581340342910178 Centerline is valid? [True, True] Translation: X:209.09, Y:-50.79, Z:-3.47 [[ 8.51893052e-01 5.23699260e-01 4.16086423e-03 2.09089878e+02] [-5.23692977e-01 8.51903213e-01 -2.56537350e-03 -5.07859945e+01] [-4.88813782e-03 6.40848641e-06 9.99988053e-01 -3.46767400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.086559995 meters 0.012864244961643763 Centerline is valid? [True, True] Translation: X:209.14, Y:-50.82, Z:-3.47 [[ 8.53545497e-01 5.21009076e-01 3.10274276e-03 2.09138100e+02] [-5.21005562e-01 8.53551137e-01 -1.91367775e-03 -5.08247850e+01] [-3.64539308e-03 1.68647915e-05 9.99993355e-01 -3.46927921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.146559995 meters 0.013233491498563047 Centerline is valid? [True, True] Translation: X:209.19, Y:-50.86, Z:-3.47 [[ 8.54974685e-01 5.18659642e-01 3.23484103e-03 2.09188116e+02] [-5.18655802e-01 8.54980804e-01 -1.99605774e-03 -5.08627297e+01] [-3.80100157e-03 2.88097713e-05 9.99992776e-01 -3.46927682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.206559995 meters 0.01373266189261343 Centerline is valid? [True, True] Translation: X:209.24, Y:-50.90, Z:-3.47 [[ 8.56873187e-01 5.15521295e-01 2.47710581e-03 2.09236351e+02] [-5.15519030e-01 8.56876767e-01 -1.52850271e-03 -5.09017162e+01] [-2.91055012e-03 3.27378073e-05 9.99995764e-01 -3.46919112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.266559995 meters 0.01385191858463229 Centerline is valid? [True, True] Translation: X:209.29, Y:-50.94, Z:-3.47 [[ 8.56750755e-01 5.15725074e-01 2.40673026e-03 2.09287487e+02] [-5.15722937e-01 8.56754135e-01 -1.48495380e-03 -5.09379569e+01] [-2.82780401e-03 3.10292937e-05 9.99996001e-01 -3.46993925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.326559995 meters 0.013280728888952346 Centerline is valid? [True, True] Translation: X:209.34, Y:-50.97, Z:-3.47 [[ 8.54202917e-01 5.19935413e-01 2.13147059e-03 2.09340951e+02] [-5.19933742e-01 8.54205576e-01 -1.31838131e-03 -5.09704708e+01] [-2.50618720e-03 1.79416786e-05 9.99996859e-01 -3.47131038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.386559995 meters 0.01298514693504899 Centerline is valid? [True, True] Translation: X:209.39, Y:-51.00, Z:-3.47 [[ 8.52856098e-01 5.22142836e-01 1.82585704e-03 2.09394825e+02] [-5.22141621e-01 8.52858053e-01 -1.12678528e-03 -5.10019164e+01] [-2.14553974e-03 7.62974163e-06 9.99997698e-01 -3.47218878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.446559995 meters 0.0128862640185186 Centerline is valid? [True, True] Translation: X:209.45, Y:-51.03, Z:-3.47 [[ 8.49110686e-01 5.28212799e-01 1.51059527e-03 2.09450065e+02] [-5.28211978e-01 8.49112029e-01 -9.31433087e-04 -5.10324201e+01] [-1.77465949e-03 -7.02472614e-06 9.99998425e-01 -3.47364933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.506559995 meters 0.013102767990454024 Centerline is valid? [True, True] Translation: X:209.50, Y:-51.06, Z:-3.47 [[ 8.46880406e-01 5.31782139e-01 1.15515748e-03 2.09503918e+02] [-5.31781662e-01 8.46881194e-01 -7.12071771e-04 -5.10635503e+01] [-1.35694819e-03 -1.12519324e-05 9.99999079e-01 -3.47458353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.566559995 meters 0.013046633651184856 Centerline is valid? [True, True] Translation: X:209.56, Y:-51.10, Z:-3.47 [[ 8.46355134e-01 5.32616989e-01 1.45910948e-03 2.09556995e+02] [-5.32616229e-01 8.46356392e-01 -9.00430966e-04 -5.10965358e+01] [-1.71451147e-03 -1.50610176e-05 9.99998530e-01 -3.47438408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.626559995 meters 0.013149304851338287 Centerline is valid? [True, True] Translation: X:209.61, Y:-51.13, Z:-3.47 [[ 8.46060622e-01 5.33081534e-01 2.34575047e-03 2.09610103e+02] [-5.33079556e-01 8.46063873e-01 -1.45233383e-03 -5.11279567e+01] [-2.75886707e-03 -2.17091574e-05 9.99996194e-01 -3.47484493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68655999499998 meters 0.01320438238860439 Centerline is valid? [True, True] Translation: X:209.66, Y:-51.16, Z:-3.48 [[ 8.46189564e-01 5.32877146e-01 2.27355409e-03 2.09663130e+02] [-5.32875287e-01 8.46192618e-01 -1.40805389e-03 -5.11602704e+01] [-2.67418443e-03 -2.00402781e-05 9.99996424e-01 -3.47641777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74655999499998 meters 0.013344972844772434 Centerline is valid? [True, True] Translation: X:209.71, Y:-51.19, Z:-3.48 [[ 8.46731524e-01 5.32020215e-01 4.65249485e-04 2.09714711e+02] [-5.32020139e-01 8.46731652e-01 -2.85165713e-04 -5.11922489e+01] [-5.45655389e-04 -6.06329732e-06 9.99999851e-01 -3.47962734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.806559995 meters 0.013478477643546873 Centerline is valid? [True, True] Translation: X:209.77, Y:-51.23, Z:-3.48 [[ 8.47824685e-01 5.30274826e-01 -1.38272003e-03 2.09766525e+02] [-5.30274121e-01 8.47825813e-01 8.64550404e-04 -5.12264058e+01] [ 1.63075505e-03 2.33475134e-07 9.99998670e-01 -3.48204031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.866559995 meters 0.013606652721162382 Centerline is valid? [True, True] Translation: X:209.82, Y:-51.26, Z:-3.48 [[ 8.48389517e-01 5.29368251e-01 -2.11719168e-03 2.09818557e+02] [-5.29366600e-01 8.48392159e-01 1.32214869e-03 -5.12604878e+01] [ 2.49611236e-03 -9.26532428e-07 9.99996885e-01 -3.48308085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.926559995 meters 0.013700609903790533 Centerline is valid? [True, True] Translation: X:209.87, Y:-51.29, Z:-3.48 [[ 8.48836891e-01 5.28648880e-01 -2.50860115e-03 2.09870518e+02] [-5.28646558e-01 8.48840598e-01 1.56685783e-03 -5.12940958e+01] [ 2.95772014e-03 -3.84336404e-06 9.99995626e-01 -3.48444865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.986559995 meters 0.013078707350823846 Centerline is valid? [True, True] Translation: X:209.92, Y:-51.33, Z:-3.48 [[ 8.49217239e-01 5.28041537e-01 -1.48894323e-03 2.09922689e+02] [-5.28040714e-01 8.49218544e-01 9.32341361e-04 -5.13283975e+01] [ 1.75675316e-03 -5.53771103e-06 9.99998457e-01 -3.48121378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.046559995 meters 0.01294428609127477 Centerline is valid? [True, True] Translation: X:209.98, Y:-51.36, Z:-3.48 [[ 8.49448578e-01 5.27671050e-01 -6.13382002e-04 2.09975292e+02] [-5.27670908e-01 8.49448800e-01 3.87051225e-04 -5.13622251e+01] [ 7.25272332e-04 -5.11627449e-06 9.99999737e-01 -3.48020483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.106559995 meters 0.012868412336162066 Centerline is valid? [True, True] Translation: X:210.03, Y:-51.40, Z:-3.48 [[ 8.49235518e-01 5.28014029e-01 -4.69122113e-04 2.10029075e+02] [-5.28013945e-01 8.49235648e-01 2.98041913e-04 -5.13957243e+01] [ 5.55765533e-04 -5.40476137e-06 9.99999846e-01 -3.48043913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.166559995 meters 0.012950705455894275 Centerline is valid? [True, True] Translation: X:210.08, Y:-51.43, Z:-3.48 [[ 8.48419167e-01 5.29324639e-01 -5.86298527e-04 2.10082232e+02] [-5.29324509e-01 8.48419370e-01 3.70943150e-04 -5.14268102e+01] [ 6.93776376e-04 -4.37309823e-06 9.99999759e-01 -3.48206855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.226559995 meters 0.012984738055916639 Centerline is valid? [True, True] Translation: X:210.14, Y:-51.46, Z:-3.48 [[ 8.47184671e-01 5.31298004e-01 -7.51795321e-04 2.10135733e+02] [-5.31297792e-01 8.47185004e-01 4.74401327e-04 -5.14571174e+01] [ 8.88958200e-04 -2.47833834e-06 9.99999605e-01 -3.48355522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.286559995 meters 0.012999684011890418 Centerline is valid? [True, True] Translation: X:210.19, Y:-51.49, Z:-3.48 [[ 8.46193102e-01 5.32875122e-01 -1.15719278e-03 2.10189067e+02] [-5.32874625e-01 8.46193893e-01 7.27754476e-04 -5.14882585e+01] [ 1.36701172e-03 8.17853582e-07 9.99999066e-01 -3.48422961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.346559995 meters 0.01307278845011225 Centerline is valid? [True, True] Translation: X:210.24, Y:-51.52, Z:-3.49 [[ 8.45499671e-01 5.33972624e-01 -1.88233826e-03 2.10242649e+02] [-5.33971317e-01 8.45501766e-01 1.18156818e-03 -5.15200919e+01] [ 2.22244539e-03 6.09913435e-06 9.99997530e-01 -3.48540460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.406559995 meters 0.013050814598644883 Centerline is valid? [True, True] Translation: X:210.30, Y:-51.55, Z:-3.49 [[ 8.45698383e-01 5.33659472e-01 -1.34632207e-03 2.10295672e+02] [-5.33658800e-01 8.45699455e-01 8.46891964e-04 -5.15532389e+01] [ 1.59053576e-03 2.26145520e-06 9.99998735e-01 -3.48600997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46655999499998 meters 0.013058313798031412 Centerline is valid? [True, True] Translation: X:210.35, Y:-51.59, Z:-3.49 [[ 8.47020742e-01 5.31559653e-01 -4.45105072e-04 2.10347455e+02] [-5.31559578e-01 8.47020859e-01 2.83236925e-04 -5.15874754e+01] [ 5.27570602e-04 -3.30768668e-06 9.99999861e-01 -3.48645337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52655999499999 meters 0.013165809610309723 Centerline is valid? [True, True] Translation: X:210.40, Y:-51.62, Z:-3.49 [[ 8.49526226e-01 5.27546340e-01 2.24144751e-04 2.10398805e+02] [-5.27546323e-01 8.49526255e-01 -1.35108942e-04 -5.16239247e+01] [-2.61693079e-04 -3.46814915e-06 9.99999966e-01 -3.48716132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.586559995 meters 0.013687018135034527 Centerline is valid? [True, True] Translation: X:210.45, Y:-51.66, Z:-3.49 [[ 8.51718870e-01 5.23998922e-01 3.11114549e-04 2.10449357e+02] [-5.23998887e-01 8.51718927e-01 -1.90413617e-04 -5.16599708e+01] [-3.64758680e-04 -8.44806508e-07 9.99999933e-01 -3.48755825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.646559995 meters 0.014654057560191629 Centerline is valid? [True, True] Translation: X:210.50, Y:-51.70, Z:-3.49 [[ 8.55408741e-01 5.17951720e-01 1.37898014e-03 2.10499815e+02] [-5.17951007e-01 8.55409852e-01 -8.60054137e-04 -5.16968161e+01] [-1.62505972e-03 2.14536753e-05 9.99998679e-01 -3.48751994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.706559995 meters 0.015718221287855896 Centerline is valid? [True, True] Translation: X:210.55, Y:-51.73, Z:-3.49 [[ 8.57142074e-01 5.15076387e-01 1.94427310e-03 2.10551087e+02] [-5.15074955e-01 8.57144278e-01 -1.21523548e-03 -5.17323382e+01] [-2.29246166e-03 4.01830808e-05 9.99997371e-01 -3.48845870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.766559995 meters 0.01684428517308088 Centerline is valid? [True, True] Translation: X:210.60, Y:-51.77, Z:-3.49 [[ 8.58318620e-01 5.13110756e-01 2.54927515e-03 2.10601782e+02] [-5.13108278e-01 8.58322403e-01 -1.59595347e-03 -5.17667200e+01] [-3.00700087e-03 6.17824033e-05 9.99995477e-01 -3.48983712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.826559995 meters 0.016279651928270564 Centerline is valid? [True, True] Translation: X:210.66, Y:-51.80, Z:-3.49 [[ 8.56584393e-01 5.16000939e-01 2.49165559e-03 2.10655040e+02] [-5.15998581e-01 8.56588016e-01 -1.56062636e-03 -5.17963577e+01] [-2.93960699e-03 5.11174341e-05 9.99995678e-01 -3.49201811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.886559995 meters 0.014205322524168087 Centerline is valid? [True, True] Translation: X:210.71, Y:-51.82, Z:-3.49 [[ 8.54028244e-01 5.20221827e-01 2.23823002e-03 2.10711195e+02] [-5.20219940e-01 8.54031176e-01 -1.40168348e-03 -5.18237380e+01] [-2.64070456e-03 3.27053986e-05 9.99996513e-01 -3.49244578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.946559995 meters 0.013092887921348625 Centerline is valid? [True, True] Translation: X:210.77, Y:-51.85, Z:-3.49 [[ 8.49165061e-01 5.28125555e-01 1.44841057e-03 2.10767351e+02] [-5.28124778e-01 8.49166296e-01 -9.05960998e-04 -5.18508519e+01] [-1.70840259e-03 4.36891434e-06 9.99998541e-01 -3.49429397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.006559995 meters 0.01281264999184064 Centerline is valid? [True, True] Translation: X:210.82, Y:-51.88, Z:-3.50 [[ 8.44204557e-01 5.36016553e-01 2.21843847e-03 2.10824072e+02] [-5.36014749e-01 8.44207471e-01 -1.39078416e-03 -5.18773396e+01] [-2.61830566e-03 -1.50094119e-05 9.99996572e-01 -3.49509431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.066559995 meters 0.013184410401795127 Centerline is valid? [True, True] Translation: X:210.88, Y:-51.91, Z:-3.50 [[ 8.41264388e-01 5.40617185e-01 2.69984308e-03 2.10879524e+02] [-5.40614531e-01 8.41268719e-01 -1.69450666e-03 -5.19066213e+01] [-3.18737295e-03 -3.40462939e-05 9.99994920e-01 -3.49563692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.126559995 meters 0.013750796458546174 Centerline is valid? [True, True] Translation: X:210.93, Y:-51.94, Z:-3.50 [[ 8.38239839e-01 5.45288190e-01 3.84220319e-03 2.10934231e+02] [-5.45282847e-01 8.38248642e-01 -2.41494878e-03 -5.19353737e+01] [-4.53756465e-03 -7.07812160e-05 9.99989703e-01 -3.49586378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18655999499998 meters 0.01421159709898467 Centerline is valid? [True, True] Translation: X:210.99, Y:-51.97, Z:-3.50 [[ 8.37159233e-01 5.46940098e-01 4.57696351e-03 2.10987589e+02] [-5.46932529e-01 8.37171739e-01 -2.87887764e-03 -5.19668359e+01] [-5.40627812e-03 -9.32112322e-05 9.99985382e-01 -3.49627349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24655999499998 meters 0.015456955139363954 Centerline is valid? [True, True] Translation: X:211.04, Y:-52.00, Z:-3.50 [[ 8.36672083e-01 5.47687282e-01 4.29727949e-03 2.11040988e+02] [-5.47680613e-01 8.36683114e-01 -2.70441511e-03 -5.19961284e+01] [-5.07663494e-03 -9.08280338e-05 9.99987110e-01 -3.49874496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.306559995 meters 0.014398152285540053 Centerline is valid? [True, True] Translation: X:211.09, Y:-52.03, Z:-3.50 [[ 8.36769665e-01 5.47542238e-01 3.74497813e-03 2.11093802e+02] [-5.47537172e-01 8.36778042e-01 -2.35675854e-03 -5.20301226e+01] [-4.42414031e-03 -7.84506749e-05 9.99990210e-01 -3.49982024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.366559995 meters 0.01402737976546497 Centerline is valid? [True, True] Translation: X:211.15, Y:-52.06, Z:-3.50 [[ 8.37435112e-01 5.46526791e-01 3.30153993e-03 2.11145853e+02] [-5.46522841e-01 8.37441618e-01 -2.07885643e-03 -5.20637570e+01] [-3.90099767e-03 -6.34596192e-05 9.99992389e-01 -3.50113158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.426559995 meters 0.013252124685902603 Centerline is valid? [True, True] Translation: X:211.20, Y:-52.10, Z:-3.50 [[ 8.39384167e-01 5.43533447e-01 2.36892217e-03 2.11196773e+02] [-5.43531402e-01 8.39387509e-01 -1.49113938e-03 -5.20998752e+01] [-2.79892781e-03 -3.59448064e-05 9.99996082e-01 -3.50177312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.486559995 meters 0.012384101069299176 Centerline is valid? [True, True] Translation: X:211.25, Y:-52.14, Z:-3.50 [[ 8.42138515e-01 5.39259630e-01 1.33143941e-03 2.11246775e+02] [-5.39258982e-01 8.42139567e-01 -8.36365252e-04 -5.21364006e+01] [-1.57227583e-03 -1.36552710e-05 9.99998764e-01 -3.50246981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.546559995 meters 0.012450444847321919 Centerline is valid? [True, True] Translation: X:211.30, Y:-52.17, Z:-3.50 [[ 8.44146668e-01 5.36112263e-01 2.10187928e-04 2.11297407e+02] [-5.36112248e-01 8.44146694e-01 -1.27861222e-04 -5.21719653e+01] [-2.45977413e-04 -4.75069806e-06 9.99999970e-01 -3.50401267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.606559995 meters 0.012774735523299125 Centerline is valid? [True, True] Translation: X:211.35, Y:-52.21, Z:-3.50 [[ 8.48234632e-01 5.29620518e-01 3.39933893e-04 2.11347178e+02] [-5.29620476e-01 8.48234701e-01 -2.09684013e-04 -5.22110347e+01] [-3.99396680e-04 -2.17470885e-06 9.99999920e-01 -3.50375011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.666559995 meters 0.013437513381903934 Centerline is valid? [True, True] Translation: X:211.40, Y:-52.25, Z:-3.50 [[ 8.51342383e-01 5.24607787e-01 1.67844479e-03 2.11396901e+02] [-5.24606721e-01 8.51344037e-01 -1.05754936e-03 -5.22478244e+01] [-1.98373260e-03 1.98131754e-05 9.99998032e-01 -3.50286111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.726559995 meters 0.014647694863726177 Centerline is valid? [True, True] Translation: X:211.45, Y:-52.28, Z:-3.50 [[ 8.54681295e-01 5.19140531e-01 3.60469296e-03 2.11447038e+02] [-5.19135539e-01 8.54688893e-01 -2.27783229e-03 -5.22845372e+01] [-4.26340609e-03 7.54964257e-05 9.99990909e-01 -3.50161153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.786559995 meters 0.014748767983921341 Centerline is valid? [True, True] Translation: X:211.50, Y:-52.32, Z:-3.50 [[ 8.55444523e-01 5.17873825e-01 4.62277115e-03 2.11499387e+02] [-5.17865581e-01 8.55457006e-01 -2.92397547e-03 -5.23180594e+01] [-5.46883233e-03 1.07324728e-04 9.99985040e-01 -3.50173109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.846559995 meters 0.015791692849786248 Centerline is valid? [True, True] Translation: X:211.55, Y:-52.35, Z:-3.50 [[ 8.56645302e-01 5.15884297e-01 4.71369379e-03 2.11550138e+02] [-5.15875685e-01 8.56658261e-01 -2.98347558e-03 -5.23521321e+01] [-5.57715293e-03 1.24100327e-04 9.99984440e-01 -3.50263053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.906559995 meters 0.01647550150547909 Centerline is valid? [True, True] Translation: X:211.60, Y:-52.39, Z:-3.51 [[ 8.57365824e-01 5.14707503e-01 -1.73833860e-04 2.11602118e+02] [-5.14707490e-01 8.57365842e-01 1.14493133e-04 -5.23850203e+01] [ 2.07969688e-04 -8.68890994e-06 9.99999978e-01 -3.50756961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96655999499998 meters 0.01764923836270141 Centerline is valid? [True, True] Translation: X:211.65, Y:-52.42, Z:-3.51 [[ 8.59002621e-01 5.11970397e-01 -8.99668832e-04 2.11653769e+02] [-5.11970077e-01 8.59003092e-01 5.72838887e-04 -5.24188923e+01] [ 1.06609486e-03 -3.14665843e-05 9.99999431e-01 -3.50859775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02655999499999 meters 0.017484210991986084 Centerline is valid? [True, True] Translation: X:211.71, Y:-52.45, Z:-3.51 [[ 8.59153573e-01 5.11717787e-01 2.11167660e-04 2.11707753e+02] [-5.11717771e-01 8.59153599e-01 -1.28804747e-04 -5.24507894e+01] [-2.47337135e-04 2.60481427e-06 9.99999969e-01 -3.50742028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.086559995 meters 0.016702800453476604 Centerline is valid? [True, True] Translation: X:211.76, Y:-52.48, Z:-3.51 [[ 8.58904460e-01 5.12129856e-01 2.47772917e-03 2.11763359e+02] [-5.12127459e-01 8.58908030e-01 -1.56886151e-03 -5.24797837e+01] [-2.93160230e-03 7.85890092e-05 9.99995700e-01 -3.50561654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.146559995 meters 0.01586965093638906 Centerline is valid? [True, True] Translation: X:211.82, Y:-52.51, Z:-3.50 [[ 8.57503286e-01 5.14454219e-01 4.99708687e-03 2.11817899e+02] [-5.14444456e-01 8.57517833e-01 -3.17300751e-03 -5.25084853e+01] [-5.91745820e-03 1.50140733e-04 9.99982480e-01 -3.50315345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.206559995 meters 0.014539594317952645 Centerline is valid? [True, True] Translation: X:211.87, Y:-52.54, Z:-3.50 [[ 8.55311639e-01 5.18077435e-01 6.14589206e-03 2.11873406e+02] [-5.18062756e-01 8.55333705e-01 -3.90291945e-03 -5.25350297e+01] [-7.27880313e-03 1.54254652e-04 9.99973497e-01 -3.50257203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.266559995 meters 0.012458122440784158 Centerline is valid? [True, True] Translation: X:211.93, Y:-52.56, Z:-3.50 [[ 8.49932706e-01 5.26863306e-01 5.42705183e-03 2.11932680e+02] [-5.26852037e-01 8.49950029e-01 -3.44663757e-03 -5.25560788e+01] [-6.42862973e-03 7.01566888e-05 9.99979334e-01 -3.50431942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.326559995 meters 0.011280089375198 Centerline is valid? [True, True] Translation: X:211.99, Y:-52.58, Z:-3.51 [[ 8.43341135e-01 5.37366483e-01 3.60458792e-03 2.11993115e+02] [-5.37361620e-01 8.43348838e-01 -2.28617641e-03 -5.25764867e+01] [-4.26843961e-03 -8.94059711e-06 9.99990890e-01 -3.50589427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.386559995 meters 0.011759058475663152 Centerline is valid? [True, True] Translation: X:212.05, Y:-52.60, Z:-3.51 [[ 8.39443058e-01 5.43440636e-01 2.76169479e-03 2.12049815e+02] [-5.43437814e-01 8.39447601e-01 -1.75176455e-03 -5.26012555e+01] [-3.27027811e-03 -3.03027835e-05 9.99994652e-01 -3.50874565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.446559995 meters 0.01281761405316825 Centerline is valid? [True, True] Translation: X:212.11, Y:-52.63, Z:-3.51 [[ 8.35781584e-01 5.49053833e-01 3.00544490e-03 2.12107352e+02] [-5.49050522e-01 8.35786986e-01 -1.90754070e-03 -5.26263714e+01] [-3.55925427e-03 -5.58537032e-05 9.99993664e-01 -3.50977166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.506559995 meters 0.01283004438303029 Centerline is valid? [True, True] Translation: X:212.16, Y:-52.66, Z:-3.51 [[ 8.34240850e-01 5.51377537e-01 5.00155409e-03 2.12160815e+02] [-5.51368382e-01 8.34255837e-01 -3.17913289e-03 -5.26574777e+01] [-5.92547815e-03 -1.05536260e-04 9.99982439e-01 -3.50749520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.566559995 meters 0.013473880878812843 Centerline is valid? [True, True] Translation: X:212.22, Y:-52.69, Z:-3.51 [[ 8.32943700e-01 5.53341183e-01 4.28109922e-03 2.12216122e+02] [-5.53334497e-01 8.32954695e-01 -2.72205999e-03 -5.26861926e+01] [-5.07218959e-03 -1.01557167e-04 9.99987131e-01 -3.50886834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.626559995 meters 0.016607123271046235 Centerline is valid? [True, True] Translation: X:212.27, Y:-52.71, Z:-3.51 [[ 8.28613545e-01 5.59821024e-01 -1.20765584e-04 2.12272132e+02] [-5.59821019e-01 8.28613554e-01 7.69034641e-05 -5.27100796e+01] [ 1.43120176e-04 3.88386033e-06 9.99999990e-01 -3.51356594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68655999499998 meters 0.016607123271046235 Centerline is valid? [True, True] Translation: X:212.32, Y:-52.74, Z:-3.51 [[ 8.28458302e-01 5.60050736e-01 -1.18375074e-04 2.12324770e+02] [-5.60050730e-01 8.28458311e-01 8.06555119e-05 -5.27437088e+01] [ 1.43239993e-04 -5.23681939e-07 9.99999990e-01 -3.51455636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74655999499998 meters 0.015915098582525423 Centerline is valid? [True, True] Translation: X:212.38, Y:-52.78, Z:-3.51 [[ 8.28483769e-01 5.60013065e-01 1.07400833e-04 2.12376429e+02] [-5.60013062e-01 8.28483776e-01 -6.38405615e-05 -5.27790971e+01] [-1.24731396e-04 -7.25500015e-06 9.99999992e-01 -3.51445828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.806559995 meters 0.015915098582525423 Centerline is valid? [True, True] Translation: X:212.43, Y:-52.81, Z:-3.52 [[ 8.28325291e-01 5.60247447e-01 1.07688094e-04 2.12429051e+02] [-5.60247443e-01 8.28325298e-01 -6.33912423e-05 -5.28127453e+01] [-1.24715554e-04 -7.82341017e-06 9.99999992e-01 -3.51544978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.866559995 meters 0.015774731899301262 Centerline is valid? [True, True] Translation: X:212.48, Y:-52.85, Z:-3.52 [[ 8.28555177e-01 5.59907266e-01 4.15292364e-04 2.12480604e+02] [-5.59907206e-01 8.28555281e-01 -2.60494307e-04 -5.28474021e+01] [-4.89945336e-04 -1.66912807e-05 9.99999880e-01 -3.51583556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.926559995 meters 0.014809281461305716 Centerline is valid? [True, True] Translation: X:212.53, Y:-52.88, Z:-3.52 [[ 8.29326585e-01 5.58764039e-01 4.05431757e-04 2.12530148e+02] [-5.58763981e-01 8.29326684e-01 -2.54257085e-04 -5.28846323e+01] [-4.78305090e-04 -1.56785026e-05 9.99999885e-01 -3.51558444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.986559995 meters 0.01496558388679743 Centerline is valid? [True, True] Translation: X:212.58, Y:-52.92, Z:-3.52 [[ 8.30009963e-01 5.57748398e-01 4.31071966e-04 2.12580934e+02] [-5.57748332e-01 8.30010075e-01 -2.71180874e-04 -5.29184001e+01] [-5.09044773e-04 -1.53468427e-05 9.99999870e-01 -3.51746427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.046559995 meters 0.015066491866232911 Centerline is valid? [True, True] Translation: X:212.63, Y:-52.95, Z:-3.52 [[ 8.30363880e-01 5.57221432e-01 3.22229758e-04 2.12631152e+02] [-5.57221395e-01 8.30363942e-01 -2.01493204e-04 -5.29543752e+01] [-3.79844303e-04 -1.22406367e-05 9.99999928e-01 -3.51836192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.106559995 meters 0.01524668368371049 Centerline is valid? [True, True] Translation: X:212.68, Y:-52.99, Z:-3.52 [[ 8.30190509e-01 5.57479747e-01 -2.23515093e-04 2.12681591e+02] [-5.57479727e-01 8.30190539e-01 1.48178652e-04 -5.29916595e+01] [ 2.68166713e-04 1.58862265e-06 9.99999964e-01 -3.51837977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.166559995 meters 0.015477735341430042 Centerline is valid? [True, True] Translation: X:212.73, Y:-53.03, Z:-3.52 [[ 8.29609542e-01 5.58343976e-01 -1.07643933e-04 2.12733159e+02] [-5.58343971e-01 8.29609549e-01 7.34347481e-05 -5.30265718e+01] [ 1.30304284e-04 -8.19826479e-07 9.99999992e-01 -3.51853487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.226559995 meters 0.014810422581637799 Centerline is valid? [True, True] Translation: X:212.78, Y:-53.06, Z:-3.52 [[ 8.28782081e-01 5.59571449e-01 2.35081175e-04 2.12784130e+02] [-5.59571430e-01 8.28782114e-01 -1.45844275e-04 -5.30619882e+01] [-2.76441366e-04 -1.06715875e-05 9.99999962e-01 -3.51778388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.286559995 meters 0.015713770704392272 Centerline is valid? [True, True] Translation: X:212.84, Y:-53.10, Z:-3.52 [[ 8.28040886e-01 5.60667141e-01 8.05542103e-04 2.12835474e+02] [-5.60666906e-01 8.28041277e-01 -5.13552998e-04 -5.30957396e+01] [-9.54954403e-04 -2.63979191e-05 9.99999544e-01 -3.51868966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.346559995 meters 0.016956927002332794 Centerline is valid? [True, True] Translation: X:212.89, Y:-53.13, Z:-3.52 [[ 8.27339271e-01 5.61700859e-01 1.36914648e-03 2.12887008e+02] [-5.61700182e-01 8.27340403e-01 -8.73406257e-04 -5.31287914e+01] [-1.62334325e-03 -4.64465312e-05 9.99998681e-01 -3.52013923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.406559995 meters 0.01676502605451638 Centerline is valid? [True, True] Translation: X:212.94, Y:-53.17, Z:-3.52 [[ 8.25672457e-01 5.64149577e-01 4.98881899e-04 2.12937285e+02] [-5.64149488e-01 8.25672607e-01 -3.18505957e-04 -5.31651886e+01] [-5.91598119e-04 -1.84623717e-05 9.99999825e-01 -3.52041952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46655999499998 meters 0.018265467423725486 Centerline is valid? [True, True] Translation: X:212.99, Y:-53.20, Z:-3.52 [[ 8.24269533e-01 5.66196749e-01 9.89517393e-04 2.12987822e+02] [-5.66196399e-01 8.24270126e-01 -6.30449992e-04 -5.31988941e+01] [-1.17258836e-03 -4.06004649e-05 9.99999312e-01 -3.52148250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52655999499999 meters 0.018791553416553287 Centerline is valid? [True, True] Translation: X:213.04, Y:-53.23, Z:-3.52 [[ 8.24526956e-01 5.65818423e-01 2.19330679e-03 2.13037793e+02] [-5.65816686e-01 8.24529869e-01 -1.40469722e-03 -5.32342302e+01] [-2.60325053e-03 -8.27988583e-05 9.99996608e-01 -3.52270747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.586559995 meters 0.01614034467366756 Centerline is valid? [True, True] Translation: X:213.09, Y:-53.27, Z:-3.52 [[ 8.26245764e-01 5.63299151e-01 3.46453311e-03 2.13085524e+02] [-5.63294781e-01 8.26253020e-01 -2.22187008e-03 -5.32742028e+01] [-4.11415848e-03 -1.15742673e-04 9.99991530e-01 -3.52214769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.646559995 meters 0.013578128891403397 Centerline is valid? [True, True] Translation: X:213.13, Y:-53.32, Z:-3.52 [[ 8.31420736e-01 5.55615485e-01 5.56700161e-03 2.13130802e+02] [-5.55604017e-01 8.31439365e-01 -3.57203417e-03 -5.33162451e+01] [-6.61330178e-03 -1.23185177e-04 9.99978124e-01 -3.52212827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.706559995 meters 0.01212480881192997 Centerline is valid? [True, True] Translation: X:213.18, Y:-53.36, Z:-3.52 [[ 8.35862979e-01 5.48900722e-01 6.40911627e-03 2.13177924e+02] [-5.48885318e-01 8.35887547e-01 -4.11303165e-03 -5.33565938e+01] [-7.61494652e-03 -7.99389361e-05 9.99971003e-01 -3.52256197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.766559995 meters 0.011474445228730631 Centerline is valid? [True, True] Translation: X:213.22, Y:-53.40, Z:-3.52 [[ 8.41714572e-01 5.39885781e-01 6.31850484e-03 2.13223184e+02] [-5.39870565e-01 8.41738287e-01 -4.05328841e-03 -5.33987588e+01] [-7.50684022e-03 5.37138096e-07 9.99971823e-01 -3.52444424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.826559995 meters 0.011947543571996127 Centerline is valid? [True, True] Translation: X:213.27, Y:-53.44, Z:-3.53 [[ 8.44541179e-01 5.35460676e-01 5.66220822e-03 2.13272464e+02] [-5.35448350e-01 8.44560159e-01 -3.63348566e-03 -5.34374232e+01] [-6.72766417e-03 3.68082128e-05 9.99977368e-01 -3.52655425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.886559995 meters 0.013150565219602948 Centerline is valid? [True, True] Translation: X:213.32, Y:-53.48, Z:-3.53 [[ 8.47909263e-01 5.30114402e-01 5.34816891e-03 2.13319769e+02] [-5.30103287e-01 8.47926126e-01 -3.43378677e-03 -5.34773072e+01] [-6.35515196e-03 7.64576923e-05 9.99979803e-01 -3.52860686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.946559995 meters 0.013678099190066998 Centerline is valid? [True, True] Translation: X:213.37, Y:-53.52, Z:-3.53 [[ 8.50362473e-01 5.26158727e-01 6.37642714e-03 2.13368878e+02] [-5.26142795e-01 8.50386370e-01 -4.09654960e-03 -5.35150968e+01] [-7.57786205e-03 1.28640850e-04 9.99971279e-01 -3.52887139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.006559995 meters 0.013920742742241955 Centerline is valid? [True, True] Translation: X:213.42, Y:-53.55, Z:-3.53 [[ 8.50937965e-01 5.25220055e-01 6.96224470e-03 2.13419496e+02] [-5.25201006e-01 8.50966433e-01 -4.47576206e-03 -5.35507256e+01] [-8.27539654e-03 1.52017939e-04 9.99965747e-01 -3.52960503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.066559995 meters 0.013681612979538136 Centerline is valid? [True, True] Translation: X:213.47, Y:-53.59, Z:-3.53 [[ 8.50231724e-01 5.26357120e-01 7.36190654e-03 2.13470996e+02] [-5.26335839e-01 8.50263582e-01 -4.73552381e-03 -5.35855308e+01] [-8.75213770e-03 1.51457308e-04 9.99961688e-01 -3.53102382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.126559995 meters 0.013059651311612417 Centerline is valid? [True, True] Translation: X:213.52, Y:-53.62, Z:-3.53 [[ 8.48266811e-01 5.29524929e-01 6.83863497e-03 2.13524053e+02] [-5.29506652e-01 8.48294369e-01 -4.40099338e-03 -5.36181028e+01] [-8.13161124e-03 1.12113908e-04 9.99966932e-01 -3.53277986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18655999499998 meters 0.011847876947805454 Centerline is valid? [True, True] Translation: X:213.58, Y:-53.65, Z:-3.54 [[ 8.43747514e-01 5.36704146e-01 6.22839052e-03 2.13579578e+02] [-5.36689155e-01 8.43770501e-01 -4.01159754e-03 -5.36475019e+01] [-7.40837322e-03 4.20658082e-05 9.99972557e-01 -3.53507992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24655999499998 meters 0.011398999289691864 Centerline is valid? [True, True] Translation: X:213.63, Y:-53.68, Z:-3.54 [[ 8.40550116e-01 5.41692133e-01 6.71827314e-03 2.13633830e+02] [-5.41674854e-01 8.40576965e-01 -4.32659327e-03 -5.36778480e+01] [-7.99090718e-03 -2.40114667e-06 9.99968072e-01 -3.53586648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.306559995 meters 0.011625086699815103 Centerline is valid? [True, True] Translation: X:213.69, Y:-53.71, Z:-3.54 [[ 8.37100920e-01 5.46988642e-01 8.09168303e-03 2.13688275e+02] [-5.46963789e-01 8.37140025e-01 -5.21458262e-03 -5.37089925e+01] [-9.62618920e-03 -6.07257063e-05 9.99953665e-01 -3.53601109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.366559995 meters 0.01196372323110601 Centerline is valid? [True, True] Translation: X:213.74, Y:-53.74, Z:-3.54 [[ 8.35392301e-01 5.49571979e-01 9.50496754e-03 2.13741288e+02] [-5.49537799e-01 8.35446366e-01 -6.13008176e-03 -5.37423704e+01] [-1.13098117e-02 -1.02315832e-04 9.99936037e-01 -3.53590037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.426559995 meters 0.012175889432535435 Centerline is valid? [True, True] Translation: X:213.79, Y:-53.78, Z:-3.54 [[ 8.33808601e-01 5.51956385e-01 1.03617798e-02 2.13793973e+02] [-5.51915889e-01 8.33872969e-01 -6.68746840e-03 -5.37755032e+01] [-1.23315989e-02 -1.42762231e-04 9.99923953e-01 -3.53684764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.486559995 meters 0.012492260510860085 Centerline is valid? [True, True] Translation: X:213.84, Y:-53.81, Z:-3.54 [[ 8.33254434e-01 5.52818277e-01 8.88822461e-03 2.13844974e+02] [-5.52788502e-01 8.33301827e-01 -5.73908122e-03 -5.38082652e+01] [-1.05792428e-02 -1.31193491e-04 9.99944030e-01 -3.54022066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.546559995 meters 0.01220131993613101 Centerline is valid? [True, True] Translation: X:213.90, Y:-53.84, Z:-3.54 [[ 8.34049650e-01 5.51636477e-01 7.64054718e-03 2.13895736e+02] [-5.51614409e-01 8.34084640e-01 -4.93521564e-03 -5.38439748e+01] [-9.09530802e-03 -9.84210422e-05 9.99958632e-01 -3.54248300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.606559995 meters 0.011742293579522459 Centerline is valid? [True, True] Translation: X:213.94, Y:-53.88, Z:-3.54 [[ 8.37233640e-01 5.46809653e-01 6.24778426e-03 2.13944307e+02] [-5.46794753e-01 8.37256951e-01 -4.03695633e-03 -5.38831033e+01] [-7.43844749e-03 -3.63800024e-05 9.99972334e-01 -3.54462664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.666559995 meters 0.011714407125657893 Centerline is valid? [True, True] Translation: X:213.99, Y:-53.92, Z:-3.55 [[ 8.39995806e-01 5.42561902e-01 5.79902660e-03 2.13993935e+02] [-5.42548954e-01 8.40015823e-01 -3.74830213e-03 -5.39221060e+01] [-6.90496004e-03 2.30224638e-06 9.99976160e-01 -3.54540727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.726559995 meters 0.012604825286923181 Centerline is valid? [True, True] Translation: X:214.04, Y:-53.96, Z:-3.55 [[ 8.44385517e-01 5.35705177e-01 5.74986269e-03 2.14041280e+02] [-5.35692270e-01 8.44405092e-01 -3.71921343e-03 -5.39630105e+01] [-6.84761522e-03 6.02929569e-05 9.99976553e-01 -3.54564112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.786559995 meters 0.01352938863915327 Centerline is valid? [True, True] Translation: X:214.09, Y:-54.00, Z:-3.54 [[ 8.47275396e-01 5.31115986e-01 6.34143069e-03 2.14089871e+02] [-5.31100137e-01 8.47299119e-01 -4.10450039e-03 -5.40027511e+01] [-7.55305441e-03 1.09707490e-04 9.99971469e-01 -3.54432565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.846559995 meters 0.013570384345207782 Centerline is valid? [True, True] Translation: X:214.14, Y:-54.04, Z:-3.54 [[ 8.48115509e-01 5.29770291e-01 6.59710945e-03 2.14140988e+02] [-5.29753079e-01 8.48141157e-01 -4.27239655e-03 -5.40381566e+01] [-7.85866881e-03 1.28646736e-04 9.99969112e-01 -3.54347182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.906559995 meters 0.013676534645478371 Centerline is valid? [True, True] Translation: X:214.19, Y:-54.07, Z:-3.54 [[ 8.47164762e-01 5.31294234e-01 6.18885149e-03 2.14191954e+02] [-5.31279111e-01 8.47187361e-01 -4.01014180e-03 -5.40718526e+01] [-7.37368197e-03 1.09243306e-04 9.99972808e-01 -3.54441257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96655999499998 meters 0.012960380873816912 Centerline is valid? [True, True] Translation: X:214.25, Y:-54.10, Z:-3.55 [[ 8.44171042e-01 5.36047057e-01 5.36701601e-03 2.14245873e+02] [-5.36035773e-01 8.44188101e-01 -3.47863579e-03 -5.41031671e+01] [-6.39548353e-03 5.96510250e-05 9.99979547e-01 -3.54533831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02655999499999 meters 0.01229129580446007 Centerline is valid? [True, True] Translation: X:214.30, Y:-54.13, Z:-3.55 [[ 8.40090354e-01 5.42424969e-01 4.83227433e-03 2.14301158e+02] [-5.42415919e-01 8.40104251e-01 -3.13329802e-03 -5.41318784e+01] [-5.75919329e-03 1.11509224e-05 9.99983416e-01 -3.54700822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.086559995 meters 0.012171175667963833 Centerline is valid? [True, True] Translation: X:214.36, Y:-54.16, Z:-3.55 [[ 8.38433720e-01 5.44988685e-01 4.02882221e-03 2.14355105e+02] [-5.44982423e-01 8.38443399e-01 -2.61244199e-03 -5.41640437e+01] [-4.80169071e-03 -5.27783894e-06 9.99988472e-01 -3.54809013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.146559995 meters 0.01235634265912025 Centerline is valid? [True, True] Translation: X:214.41, Y:-54.19, Z:-3.55 [[ 8.35826017e-01 5.48985826e-01 3.07112146e-03 2.14408460e+02] [-5.48982212e-01 8.35831659e-01 -1.99221072e-03 -5.41934304e+01] [-3.66063599e-03 -2.08495002e-05 9.99993300e-01 -3.55069917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.206559995 meters 0.01274004690808799 Centerline is valid? [True, True] Translation: X:214.46, Y:-54.22, Z:-3.55 [[ 8.32947007e-01 5.53344296e-01 3.06171500e-03 2.14462483e+02] [-5.53340730e-01 8.32952633e-01 -1.98674580e-03 -5.42238274e+01] [-3.64961803e-03 -3.93176476e-05 9.99993339e-01 -3.55059001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.266559995 meters 0.013140966135310305 Centerline is valid? [True, True] Translation: X:214.52, Y:-54.25, Z:-3.55 [[ 8.31264878e-01 5.55866370e-01 3.35893746e-03 2.14516102e+02] [-5.55862093e-01 8.31271662e-01 -2.18124025e-03 -5.42548113e+01] [-4.00466763e-03 -5.39176022e-05 9.99991980e-01 -3.55063613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.326559995 meters 0.013242316206118621 Centerline is valid? [True, True] Translation: X:214.57, Y:-54.29, Z:-3.55 [[ 8.30463432e-01 5.57064415e-01 3.11871884e-03 2.14569187e+02] [-5.57060733e-01 8.30469286e-01 -2.02596602e-03 -5.42876162e+01] [-3.71859378e-03 -5.48251064e-05 9.99993085e-01 -3.55084063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.386559995 meters 0.013485941177167117 Centerline is valid? [True, True] Translation: X:214.62, Y:-54.32, Z:-3.55 [[ 8.29059392e-01 5.59157780e-01 1.76087492e-03 2.14622708e+02] [-5.59156615e-01 8.29061261e-01 -1.14243358e-03 -5.43198709e+01] [-2.09867381e-03 -3.74595645e-05 9.99997797e-01 -3.55158772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.446559995 meters 0.014155855737179618 Centerline is valid? [True, True] Translation: X:214.68, Y:-54.35, Z:-3.55 [[ 8.27674344e-01 5.61208633e-01 2.24203930e-04 2.14676495e+02] [-5.61208615e-01 8.27674375e-01 -1.41455638e-04 -5.43512204e+01] [-2.64953973e-04 -8.74597473e-06 9.99999965e-01 -3.55397919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.506559995 meters 0.014290759153354924 Centerline is valid? [True, True] Translation: X:214.73, Y:-54.38, Z:-3.55 [[ 8.26623055e-01 5.62755546e-01 -7.21104360e-04 2.14729667e+02] [-5.62755346e-01 8.26623370e-01 4.75052689e-04 -5.43837134e+01] [ 8.63420252e-04 1.31158284e-05 9.99999627e-01 -3.55486592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.566559995 meters 0.014741786721213658 Centerline is valid? [True, True] Translation: X:214.78, Y:-54.42, Z:-3.56 [[ 8.26820120e-01 5.62465904e-01 -7.72456214e-04 2.14781542e+02] [-5.62465674e-01 8.26820480e-01 5.08734484e-04 -5.44168690e+01] [ 9.24828420e-04 1.38481978e-05 9.99999572e-01 -3.55652122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.626559995 meters 0.014111894925587795 Centerline is valid? [True, True] Translation: X:214.83, Y:-54.45, Z:-3.56 [[ 8.27968251e-01 5.60774463e-01 -7.59183748e-04 2.14831851e+02] [-5.60774240e-01 8.27968599e-01 5.00287745e-04 -5.44536888e+01] [ 9.09128896e-04 1.15083199e-05 9.99999587e-01 -3.55592994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68655999499998 meters 0.013956389307583139 Centerline is valid? [True, True] Translation: X:214.88, Y:-54.49, Z:-3.56 [[ 8.28824044e-01 5.59509200e-01 -3.99275078e-04 2.14882421e+02] [-5.59509137e-01 8.28824140e-01 2.65026120e-04 -5.44885699e+01] [ 4.79213375e-04 3.73803346e-06 9.99999885e-01 -3.55679414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74655999499998 meters 0.012980409549058202 Centerline is valid? [True, True] Translation: X:214.93, Y:-54.53, Z:-3.56 [[ 8.30926027e-01 5.56382675e-01 5.06524410e-04 2.14932361e+02] [-5.56382580e-01 8.30926181e-01 -3.26422755e-04 -5.45259279e+01] [-6.02500359e-04 -1.05881952e-05 9.99999818e-01 -3.55617749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.806559995 meters 0.012288375167340885 Centerline is valid? [True, True] Translation: X:214.98, Y:-54.56, Z:-3.56 [[ 8.33224175e-01 5.52931640e-01 2.01889605e-03 2.14982278e+02] [-5.52930076e-01 8.33226620e-01 -1.31550472e-03 -5.45637098e+01] [-2.40958212e-03 -2.01980135e-05 9.99997097e-01 -3.55540627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.866559995 meters 0.012095091305150865 Centerline is valid? [True, True] Translation: X:215.03, Y:-54.60, Z:-3.56 [[ 8.34308165e-01 5.51293034e-01 2.42390501e-03 2.15033053e+02] [-5.51290767e-01 8.34311686e-01 -1.58122104e-03 -5.45989813e+01] [-2.89400842e-03 -1.70508289e-05 9.99995812e-01 -3.55638127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.926559995 meters 0.012206962872363804 Centerline is valid? [True, True] Translation: X:215.09, Y:-54.63, Z:-3.56 [[ 8.34661424e-01 5.50761511e-01 1.43722177e-03 2.15085075e+02] [-5.50760715e-01 8.34662661e-01 -9.36187787e-04 -5.46325274e+01] [-1.71521154e-03 -1.01654558e-05 9.99998529e-01 -3.55932081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.986559995 meters 0.012356920809071064 Centerline is valid? [True, True] Translation: X:215.14, Y:-54.67, Z:-3.56 [[ 8.35038937e-01 5.50190815e-01 2.03489852e-04 2.15137251e+02] [-5.50190799e-01 8.35038962e-01 -1.28616777e-04 -5.46658886e+01] [-2.40685724e-04 -4.55822790e-06 9.99999971e-01 -3.56282349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.046559995 meters 0.01237955071193074 Centerline is valid? [True, True] Translation: X:215.19, Y:-54.70, Z:-3.56 [[ 8.36285363e-01 5.48294208e-01 5.03701387e-04 2.15188839e+02] [-5.48294111e-01 8.36285514e-01 -3.25451178e-04 -5.47009044e+01] [-5.99681169e-04 -4.00644800e-06 9.99999820e-01 -3.56421552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.106559995 meters 0.01256438044686539 Centerline is valid? [True, True] Translation: X:215.24, Y:-54.74, Z:-3.56 [[ 8.38689750e-01 5.44603539e-01 2.54701994e-03 2.15239102e+02] [-5.44600993e-01 8.38693618e-01 -1.66534753e-03 -5.47369407e+01] [-3.04312353e-03 9.60031796e-06 9.99995370e-01 -3.56373173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.166559995 meters 0.012754885707975831 Centerline is valid? [True, True] Translation: X:215.29, Y:-54.77, Z:-3.56 [[ 8.41111662e-01 5.40848296e-01 3.78046396e-03 2.15289679e+02] [-5.40842633e-01 8.41120157e-01 -2.47532686e-03 -5.47726275e+01] [-4.51860076e-03 3.73902083e-05 9.99989790e-01 -3.56317420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.226559995 meters 0.013302779688600863 Centerline is valid? [True, True] Translation: X:215.34, Y:-54.81, Z:-3.56 [[ 8.42809583e-01 5.38188803e-01 4.98188309e-03 2.15340948e+02] [-5.38178902e-01 8.42824304e-01 -3.26529510e-03 -5.48084320e+01] [-5.95619741e-03 7.08776258e-05 9.99982259e-01 -3.56333230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.286559995 meters 0.014021881398749433 Centerline is valid? [True, True] Translation: X:215.39, Y:-54.84, Z:-3.56 [[ 8.43941785e-01 5.36404894e-01 5.66155462e-03 2.15391639e+02] [-5.36392048e-01 8.43960769e-01 -3.71365206e-03 -5.48421246e+01] [-6.77015113e-03 9.72932730e-05 9.99977078e-01 -3.56409370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.346559995 meters 0.014250594341479185 Centerline is valid? [True, True] Translation: X:215.44, Y:-54.88, Z:-3.57 [[ 8.44690460e-01 5.35231425e-01 5.03474649e-03 2.15444350e+02] [-5.35221239e-01 8.44705459e-01 -3.30346213e-03 -5.48753951e+01] [-6.02099459e-03 9.56996973e-05 9.99981869e-01 -3.56536655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.406559995 meters 0.01451805944240862 Centerline is valid? [True, True] Translation: X:215.50, Y:-54.91, Z:-3.57 [[ 8.44858027e-01 5.34969856e-01 4.70820865e-03 2.15496616e+02] [-5.34960936e-01 8.44871141e-01 -3.09056813e-03 -5.49091252e+01] [-5.63119040e-03 9.23835829e-05 9.99984140e-01 -3.56633864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46655999499998 meters 0.014254299412540743 Centerline is valid? [True, True] Translation: X:215.55, Y:-54.94, Z:-3.57 [[ 8.44802415e-01 5.35058011e-01 4.66948795e-03 2.15550877e+02] [-5.35049233e-01 8.44815315e-01 -3.06623572e-03 -5.49412770e+01] [-5.58546892e-03 9.19573968e-05 9.99984397e-01 -3.56696758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52655999499999 meters 0.013978779859682851 Centerline is valid? [True, True] Translation: X:215.60, Y:-54.97, Z:-3.57 [[ 8.43188151e-01 5.37597484e-01 4.76302501e-03 2.15603547e+02] [-5.37588370e-01 8.43201600e-01 -3.13142853e-03 -5.49718211e+01] [-5.69963841e-03 7.98365874e-05 9.99983754e-01 -3.56854766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.586559995 meters 0.01336739700958978 Centerline is valid? [True, True] Translation: X:215.66, Y:-55.00, Z:-3.57 [[ 8.41166089e-01 5.40755948e-01 4.75566329e-03 2.15657133e+02] [-5.40746914e-01 8.41179530e-01 -3.12630809e-03 -5.50029790e+01] [-5.69093630e-03 5.81340968e-05 9.99983805e-01 -3.56922618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.646559995 meters 0.012581057688236176 Centerline is valid? [True, True] Translation: X:215.71, Y:-55.03, Z:-3.57 [[ 8.37972206e-01 5.45685851e-01 5.43459025e-03 2.15712289e+02] [-5.45674140e-01 8.37989828e-01 -3.57511368e-03 -5.50316587e+01] [-6.50502029e-03 3.03305364e-05 9.99978842e-01 -3.56963868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.706559995 meters 0.012235991090835658 Centerline is valid? [True, True] Translation: X:215.77, Y:-55.06, Z:-3.57 [[ 8.35658969e-01 5.49214658e-01 6.11123553e-03 2.15766571e+02] [-5.49199924e-01 8.35681315e-01 -4.02291402e-03 -5.50617361e+01] [-7.31648869e-03 5.49409732e-06 9.99973234e-01 -3.57046289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.766559995 meters 0.012171711703729663 Centerline is valid? [True, True] Translation: X:215.82, Y:-55.09, Z:-3.57 [[ 8.34323418e-01 5.51233989e-01 6.74715006e-03 2.15820505e+02] [-5.51216074e-01 8.34350699e-01 -4.44408564e-03 -5.50944055e+01] [-8.07922043e-03 -1.13328469e-05 9.99967363e-01 -3.57073047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.826559995 meters 0.012169433119225736 Centerline is valid? [True, True] Translation: X:215.87, Y:-55.13, Z:-3.57 [[ 8.33275145e-01 5.52804380e-01 7.73629583e-03 2.15873657e+02] [-5.52780858e-01 8.33311057e-01 -5.09966355e-03 -5.51263096e+01] [-9.26585720e-03 -2.70533624e-05 9.99957071e-01 -3.57157978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.886559995 meters 0.01214634412681767 Centerline is valid? [True, True] Translation: X:215.93, Y:-55.16, Z:-3.57 [[ 8.31579257e-01 5.55341843e-01 8.44850366e-03 2.15928354e+02] [-5.55313886e-01 8.31622170e-01 -5.57256773e-03 -5.51583483e+01] [-1.01206430e-02 -5.75396696e-05 9.99948783e-01 -3.57239089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.946559995 meters 0.012542145630553605 Centerline is valid? [True, True] Translation: X:215.98, Y:-55.19, Z:-3.57 [[ 8.28978612e-01 5.59209275e-01 8.91332935e-03 2.15982527e+02] [-5.59178336e-01 8.29026523e-01 -5.88329323e-03 -5.51893033e+01] [-1.06793786e-02 -1.07016423e-04 9.99942968e-01 -3.57374804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.006559995 meters 0.012706016338161258 Centerline is valid? [True, True] Translation: X:216.03, Y:-55.22, Z:-3.57 [[ 8.27838206e-01 5.60891368e-01 9.20746350e-03 2.16034888e+02] [-5.60858419e-01 8.27889399e-01 -6.08087031e-03 -5.52225128e+01] [-1.10334691e-02 -1.30106653e-04 9.99939121e-01 -3.57477500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.066559995 meters 0.013649789945325504 Centerline is valid? [True, True] Translation: X:216.09, Y:-55.25, Z:-3.58 [[ 8.24749179e-01 5.65428509e-01 8.91027310e-03 2.16089513e+02] [-5.65397883e-01 8.24797289e-01 -5.88775697e-03 -5.52528716e+01] [-1.06782747e-02 -1.81926822e-04 9.99942969e-01 -3.57749662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.126559995 meters 0.014166811219056809 Centerline is valid? [True, True] Translation: X:216.14, Y:-55.29, Z:-3.58 [[ 8.23274657e-01 5.67575616e-01 8.76129082e-03 2.16142059e+02] [-5.67546087e-01 8.23321249e-01 -5.79303878e-03 -5.52851822e+01] [-1.05013445e-02 -2.03174317e-04 9.99944839e-01 -3.57972158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18655999499998 meters 0.01432830573813484 Centerline is valid? [True, True] Translation: X:216.19, Y:-55.32, Z:-3.58 [[ 8.22320435e-01 5.68960469e-01 8.54902436e-03 2.16193652e+02] [-5.68932422e-01 8.22364845e-01 -5.65344791e-03 -5.53197421e+01] [-1.02470055e-02 -2.14871384e-04 9.99947475e-01 -3.58175937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24655999499998 meters 0.014755860153838148 Centerline is valid? [True, True] Translation: X:216.24, Y:-55.35, Z:-3.58 [[ 8.22425255e-01 5.68804557e-01 8.83609439e-03 2.16244642e+02] [-5.68774548e-01 8.22472692e-01 -5.84683144e-03 -5.53534028e+01] [-1.05931507e-02 -2.17163752e-04 9.99943867e-01 -3.58333810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.306559995 meters 0.014334467377824926 Centerline is valid? [True, True] Translation: X:216.29, Y:-55.39, Z:-3.58 [[ 8.23988878e-01 5.66534460e-01 9.00193361e-03 2.16293540e+02] [-5.66503144e-01 8.24038027e-01 -5.95969486e-03 -5.53908588e+01] [-1.07943081e-02 -1.88901415e-04 9.99941722e-01 -3.58460747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.366559995 meters 0.01307501142272758 Centerline is valid? [True, True] Translation: X:216.34, Y:-55.43, Z:-3.58 [[ 8.25959210e-01 5.63653063e-01 9.30630196e-03 2.16341540e+02] [-5.63619376e-01 8.26011623e-01 -6.16424769e-03 -5.54307192e+01] [-1.11616107e-02 -1.53794951e-04 9.99937695e-01 -3.58463697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.426559995 meters 0.012232736929264515 Centerline is valid? [True, True] Translation: X:216.39, Y:-55.47, Z:-3.59 [[ 8.29587822e-01 5.58281693e-01 1.02760358e-02 2.16388205e+02] [-5.58240153e-01 8.29651459e-01 -6.81080733e-03 -5.54725696e+01] [-1.23278771e-02 -8.63329620e-05 9.99924005e-01 -3.58549834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.486559995 meters 0.01194533216749541 Centerline is valid? [True, True] Translation: X:216.44, Y:-55.51, Z:-3.59 [[ 8.31700003e-01 5.55120118e-01 1.08055796e-02 2.16436837e+02] [-5.55073865e-01 8.31770193e-01 -7.16593035e-03 -5.55114671e+01] [-1.29657111e-02 -3.79905591e-05 9.99915941e-01 -3.58635603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.546559995 meters 0.011999000533591049 Centerline is valid? [True, True] Translation: X:216.49, Y:-55.55, Z:-3.59 [[ 8.33836246e-01 5.51898032e-01 1.12106185e-02 2.16485762e+02] [-5.51847900e-01 8.33911603e-01 -7.43857793e-03 -5.55520003e+01] [-1.34540014e-02 1.59996201e-05 9.99909491e-01 -3.58718721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.606559995 meters 0.012067209282499295 Centerline is valid? [True, True] Translation: X:216.53, Y:-55.59, Z:-3.59 [[ 8.35309308e-01 5.49673000e-01 1.08606477e-02 2.16534937e+02] [-5.49625705e-01 8.35379908e-01 -7.21065787e-03 -5.55907738e+01] [-1.30362708e-02 5.38384912e-05 9.99915023e-01 -3.58917578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.666559995 meters 0.012097223665439697 Centerline is valid? [True, True] Translation: X:216.59, Y:-55.63, Z:-3.59 [[ 8.36149205e-01 5.48403759e-01 1.03838392e-02 2.16585735e+02] [-5.48360379e-01 8.36213676e-01 -6.89807234e-03 -5.56282863e+01] [-1.24660371e-02 7.37317242e-05 9.99922293e-01 -3.59046830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.726559995 meters 0.012419563112822926 Centerline is valid? [True, True] Translation: X:216.63, Y:-55.67, Z:-3.59 [[ 8.37364220e-01 5.46557393e-01 9.80716245e-03 2.16634740e+02] [-5.46518524e-01 8.37421642e-01 -6.51890168e-03 -5.56662243e+01] [-1.17756840e-02 9.88990686e-05 9.99930659e-01 -3.59265183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.786559995 meters 0.012402220044710794 Centerline is valid? [True, True] Translation: X:216.68, Y:-55.70, Z:-3.59 [[ 8.37248370e-01 5.46743695e-01 9.30046419e-03 2.16684997e+02] [-5.46708717e-01 8.37300020e-01 -6.18513169e-03 -5.57025171e+01] [-1.11689606e-02 9.38465834e-05 9.99937621e-01 -3.59418831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.846559995 meters 0.012056998833066155 Centerline is valid? [True, True] Translation: X:216.74, Y:-55.74, Z:-3.60 [[ 8.35728640e-01 5.49066448e-01 9.14745894e-03 2.16735474e+02] [-5.49032711e-01 8.35778698e-01 -6.08691206e-03 -5.57381775e+01] [-1.09873705e-02 6.47525522e-05 9.99939635e-01 -3.59501692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.906559995 meters 0.011800520385020736 Centerline is valid? [True, True] Translation: X:216.79, Y:-55.77, Z:-3.60 [[ 8.33708051e-01 5.52119142e-01 9.76414383e-03 2.16787359e+02] [-5.52080868e-01 8.33765226e-01 -6.50096968e-03 -5.57717132e+01] [-1.17303134e-02 2.93137603e-05 9.99931197e-01 -3.59584730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96655999499998 meters 0.011639713736126106 Centerline is valid? [True, True] Translation: X:216.84, Y:-55.81, Z:-3.60 [[ 8.29875214e-01 5.57848281e-01 1.06030113e-02 2.16840030e+02] [-5.57803562e-01 8.29942945e-01 -7.06357613e-03 -5.58055765e+01] [-1.27402982e-02 -5.25106929e-05 9.99918838e-01 -3.59658232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02655999499999 meters 0.012283970835627057 Centerline is valid? [True, True] Translation: X:216.89, Y:-55.84, Z:-3.60 [[ 8.26460343e-01 5.62886034e-01 1.10731253e-02 2.16892118e+02] [-5.62837645e-01 8.26534510e-01 -7.38167470e-03 -5.58386766e+01] [-1.33073618e-02 -1.31710342e-04 9.99911444e-01 -3.59778768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.086559995 meters 0.012929052026162948 Centerline is valid? [True, True] Translation: X:216.94, Y:-55.87, Z:-3.60 [[ 8.24559217e-01 5.65664080e-01 1.12359779e-02 2.16944017e+02] [-5.65614459e-01 8.24635749e-01 -7.49436037e-03 -5.58719114e+01] [-1.35048795e-02 -1.75687647e-04 9.99908790e-01 -3.59885451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.146559995 meters 0.013604010308010618 Centerline is valid? [True, True] Translation: X:217.00, Y:-55.91, Z:-3.60 [[ 8.22279053e-01 5.68954864e-01 1.21458410e-02 2.16995751e+02] [-5.68897176e-01 8.22368715e-01 -8.10554183e-03 -5.59052676e+01] [-1.46000471e-02 -2.44717392e-04 9.99893384e-01 -3.59978480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.206559995 meters 0.013865685960060183 Centerline is valid? [True, True] Translation: X:217.05, Y:-55.94, Z:-3.60 [[ 8.21602351e-01 5.69928675e-01 1.22834393e-02 2.17047556e+02] [-5.69869721e-01 8.21694126e-01 -8.20149464e-03 -5.59395341e+01] [-1.47674969e-02 -2.61592824e-04 9.99890920e-01 -3.60097513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.266559995 meters 0.013608483446408026 Centerline is valid? [True, True] Translation: X:217.10, Y:-55.97, Z:-3.60 [[ 8.21706800e-01 5.69791424e-01 1.16476498e-02 2.17099968e+02] [-5.69738347e-01 8.21789313e-01 -7.78082722e-03 -5.59749994e+01] [-1.40053627e-02 -2.42554083e-04 9.99901891e-01 -3.60269905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.326559995 meters 0.013568936064199906 Centerline is valid? [True, True] Translation: X:217.15, Y:-56.01, Z:-3.60 [[ 8.22124937e-01 5.69198799e-01 1.11047203e-02 2.17151958e+02] [-5.69150441e-01 8.22199903e-01 -7.42261006e-03 -5.60087046e+01] [-1.33552407e-02 -2.17943649e-04 9.99910791e-01 -3.60466006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.386559995 meters 0.013118631352092376 Centerline is valid? [True, True] Translation: X:217.20, Y:-56.04, Z:-3.61 [[ 8.22694678e-01 5.68397490e-01 9.88738810e-03 2.17203005e+02] [-5.68359060e-01 8.22754071e-01 -6.61193877e-03 -5.60434386e+01] [-1.18930982e-02 -1.79979770e-04 9.99929258e-01 -3.60709661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.446559995 meters 0.013046897982562566 Centerline is valid? [True, True] Translation: X:217.25, Y:-56.08, Z:-3.61 [[ 8.23004644e-01 5.67966342e-01 8.80848251e-03 2.17254892e+02] [-5.67935791e-01 8.23051767e-01 -5.89292807e-03 -5.60784210e+01] [-1.05968219e-02 -1.52745312e-04 9.99943840e-01 -3.60923916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.506559995 meters 0.012838408492159892 Centerline is valid? [True, True] Translation: X:217.31, Y:-56.11, Z:-3.61 [[ 8.23690095e-01 5.66987505e-01 7.73282678e-03 2.17306086e+02] [-5.66963890e-01 8.23726383e-01 -5.17612833e-03 -5.61130245e+01] [-9.30453352e-03 -1.20707915e-04 9.99956705e-01 -3.61064052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.566559995 meters 0.012707091378787134 Centerline is valid? [True, True] Translation: X:217.36, Y:-56.15, Z:-3.61 [[ 8.24471182e-01 5.65857013e-01 7.28770469e-03 2.17357778e+02] [-5.65835974e-01 8.24503385e-01 -4.88053231e-03 -5.61474934e+01] [-8.77042062e-03 -9.97872342e-05 9.99961534e-01 -3.61157070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.626559995 meters 0.012163850872041332 Centerline is valid? [True, True] Translation: X:217.41, Y:-56.18, Z:-3.61 [[ 8.26028504e-01 5.63580387e-01 7.35233821e-03 2.17408726e+02] [-5.63558860e-01 8.26061221e-01 -4.92642677e-03 -5.61832967e+01] [-8.84991899e-03 -7.41064079e-05 9.99960836e-01 -3.61121088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68655999499998 meters 0.01184827665536016 Centerline is valid? [True, True] Translation: X:217.46, Y:-56.22, Z:-3.61 [[ 8.27779814e-01 5.60992618e-01 8.23785572e-03 2.17459069e+02] [-5.60965429e-01 8.27820802e-01 -5.52332619e-03 -5.62199702e+01] [-9.91801355e-03 -4.90543354e-05 9.99950814e-01 -3.61107895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74655999499998 meters 0.011788671831809084 Centerline is valid? [True, True] Translation: X:217.51, Y:-56.26, Z:-3.61 [[ 8.28793964e-01 5.59483291e-01 8.88886359e-03 2.17509637e+02] [-5.59451510e-01 8.28841629e-01 -5.96337599e-03 -5.62552842e+01] [-1.07038694e-02 -3.04781251e-05 9.99942711e-01 -3.61127743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.806559995 meters 0.011794813139513975 Centerline is valid? [True, True] Translation: X:217.56, Y:-56.29, Z:-3.61 [[ 8.29901293e-01 5.57832044e-01 9.34104632e-03 2.17561474e+02] [-5.57796804e-01 8.29953861e-01 -6.27015276e-03 -5.62906636e+01] [-1.12503296e-02 -6.79790422e-06 9.99936713e-01 -3.61259844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.866559995 meters 0.011706031455573085 Centerline is valid? [True, True] Translation: X:217.61, Y:-56.33, Z:-3.61 [[ 8.29910383e-01 5.57820601e-01 9.21593488e-03 2.17612723e+02] [-5.57786255e-01 8.29961551e-01 -6.19002618e-03 -5.63255042e+01] [-1.11017957e-02 -3.35481387e-06 9.99938373e-01 -3.61379825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.926559995 meters 0.011685991666969505 Centerline is valid? [True, True] Translation: X:217.66, Y:-56.36, Z:-3.61 [[ 8.29997243e-01 5.57696110e-01 8.92330148e-03 2.17664789e+02] [-5.57663870e-01 8.30045209e-01 -5.99658277e-03 -5.63613449e+01] [-1.07510145e-02 9.44332497e-07 9.99942206e-01 -3.61481891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.986559995 meters 0.011640967667322722 Centerline is valid? [True, True] Translation: X:217.72, Y:-56.40, Z:-3.62 [[ 8.29445458e-01 5.58523591e-01 8.46343944e-03 2.17717033e+02] [-5.58494599e-01 8.29488637e-01 -5.69073326e-03 -5.63965183e+01] [-1.01987356e-02 -6.63235752e-06 9.99947992e-01 -3.61638241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.046559995 meters 0.011705394485762934 Centerline is valid? [True, True] Translation: X:217.77, Y:-56.43, Z:-3.62 [[ 8.28272293e-01 5.60271222e-01 7.82087863e-03 2.17770931e+02] [-5.60246517e-01 8.28309216e-01 -5.26149860e-03 -5.64299035e+01] [-9.42597210e-03 -2.36665003e-05 9.99955574e-01 -3.61917209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.106559995 meters 0.011797907103161106 Centerline is valid? [True, True] Translation: X:217.82, Y:-56.46, Z:-3.62 [[ 8.27571434e-01 5.61317889e-01 6.91007194e-03 2.17823066e+02] [-5.61298621e-01 8.27600282e-01 -4.65089661e-03 -5.64644025e+01] [-8.32940895e-03 -2.96646798e-05 9.99965309e-01 -3.62142437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.166559995 meters 0.011909593615841905 Centerline is valid? [True, True] Translation: X:217.87, Y:-56.50, Z:-3.62 [[ 8.28331773e-01 5.60205248e-01 6.04601478e-03 2.17874359e+02] [-5.60190455e-01 8.28353838e-01 -4.07114598e-03 -5.65006993e+01] [-7.28891689e-03 -1.46602011e-05 9.99973435e-01 -3.62347430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.226559995 meters 0.011857913779777398 Centerline is valid? [True, True] Translation: X:217.92, Y:-56.54, Z:-3.62 [[ 8.29983258e-01 5.57749226e-01 6.60237630e-03 2.17924839e+02] [-5.57731483e-01 8.30009518e-01 -4.44893153e-03 -5.65375943e+01] [-7.96142329e-03 1.01855634e-05 9.99968307e-01 -3.62415130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.286559995 meters 0.012348926267352487 Centerline is valid? [True, True] Translation: X:217.97, Y:-56.58, Z:-3.62 [[ 8.33288779e-01 5.52770839e-01 8.61452498e-03 2.17974593e+02] [-5.52740308e-01 8.33333303e-01 -5.81018521e-03 -5.65754524e+01] [-1.03904715e-02 7.99669441e-05 9.99946014e-01 -3.62336920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.346559995 meters 0.012764913733432514 Centerline is valid? [True, True] Translation: X:218.02, Y:-56.61, Z:-3.62 [[ 8.35316988e-01 5.49673496e-01 1.02263446e-02 2.18024490e+02] [-5.49630183e-01 8.35379571e-01 -6.90182304e-03 -5.66119691e+01] [-1.23366285e-02 1.44502397e-04 9.99923890e-01 -3.62318996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.406559995 meters 0.014373054498310946 Centerline is valid? [True, True] Translation: X:218.07, Y:-56.65, Z:-3.62 [[ 8.38746486e-01 5.44420781e-01 1.05045290e-02 2.18073015e+02] [-5.44374610e-01 8.38812231e-01 -7.09398571e-03 -5.66494712e+01] [-1.26734406e-02 2.31656723e-04 9.99919662e-01 -3.62439742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46655999499998 meters 0.016224824623599383 Centerline is valid? [True, True] Translation: X:218.12, Y:-56.69, Z:-3.63 [[ 8.41587833e-01 5.40044535e-01 9.04538697e-03 2.18121897e+02] [-5.40010033e-01 8.41636402e-01 -6.10984861e-03 -5.66854649e+01] [-1.09125173e-02 2.57374537e-04 9.99940424e-01 -3.62707456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52655999499999 meters 0.01797660723263421 Centerline is valid? [True, True] Translation: X:218.17, Y:-56.72, Z:-3.63 [[ 8.43737736e-01 5.36681547e-01 8.91908089e-03 2.18172168e+02] [-5.36647796e-01 8.43784823e-01 -6.02623296e-03 -5.67216486e+01] [-1.07599531e-02 2.98155061e-04 9.99942066e-01 -3.62896268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.586559995 meters 0.02146794960888028 Centerline is valid? [True, True] Translation: X:218.22, Y:-56.76, Z:-3.63 [[ 8.47356963e-01 5.30950123e-01 8.83995033e-03 2.18220334e+02] [-5.30916647e-01 8.47402992e-01 -5.97352325e-03 -5.67584774e+01] [-1.06626433e-02 3.68429726e-04 9.99943085e-01 -3.63002884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.646559995 meters 0.020494985048414373 Centerline is valid? [True, True] Translation: X:218.27, Y:-56.79, Z:-3.63 [[ 8.50018398e-01 5.26679241e-01 8.81472716e-03 2.18273499e+02] [-5.26645714e-01 8.50063997e-01 -5.95758759e-03 -5.67892351e+01] [-1.06308199e-02 4.21820786e-04 9.99943402e-01 -3.63033243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.706559995 meters 0.020390205520896848 Centerline is valid? [True, True] Translation: X:218.33, Y:-56.82, Z:-3.63 [[ 8.50391816e-01 5.26085219e-01 8.25239922e-03 2.18326336e+02] [-5.26055809e-01 8.50431762e-01 -5.57712203e-03 -5.68217797e+01] [-9.95214387e-03 4.01516378e-04 9.99950396e-01 -3.63145705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.766559995 meters 0.02036230247845635 Centerline is valid? [True, True] Translation: X:218.38, Y:-56.85, Z:-3.63 [[ 8.49657107e-01 5.27276938e-01 7.86327287e-03 2.18379466e+02] [-5.27250263e-01 8.49693411e-01 -5.31672800e-03 -5.68545625e+01] [-9.48475920e-03 3.71483043e-04 9.99954950e-01 -3.63265233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.826559995 meters 0.019052144338482263 Centerline is valid? [True, True] Translation: X:218.43, Y:-56.88, Z:-3.63 [[ 8.47505151e-01 5.30737062e-01 7.29315445e-03 2.18434629e+02] [-5.30714211e-01 8.47536473e-01 -4.93490280e-03 -5.68830094e+01] [-8.80035021e-03 3.11774833e-04 9.99961228e-01 -3.63357867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.886559995 meters 0.017774646311033867 Centerline is valid? [True, True] Translation: X:218.49, Y:-56.91, Z:-3.63 [[ 8.44196417e-01 5.35993966e-01 6.54807515e-03 2.18488823e+02] [-5.35975694e-01 8.44221780e-01 -4.43185643e-03 -5.69110119e+01] [-7.90347597e-03 2.31748194e-04 9.99968740e-01 -3.63493730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.946559995 meters 0.01625042591975139 Centerline is valid? [True, True] Translation: X:218.54, Y:-56.94, Z:-3.64 [[ 8.41226677e-01 5.40646901e-01 6.21346090e-03 2.18543187e+02] [-5.40630574e-01 8.41249604e-01 -4.20541506e-03 -5.69403188e+01] [-7.50071614e-03 1.78520402e-04 9.99971853e-01 -3.63596961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.006559995 meters 0.014253529605869217 Centerline is valid? [True, True] Translation: X:218.60, Y:-56.97, Z:-3.64 [[ 8.36754390e-01 5.47537736e-01 6.67227132e-03 2.18599552e+02] [-5.47519123e-01 8.36780982e-01 -4.51643738e-03 -5.69659006e+01] [-8.05614965e-03 1.25952657e-04 9.99967541e-01 -3.63736381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.066559995 meters 0.012866723702297514 Centerline is valid? [True, True] Translation: X:218.66, Y:-56.99, Z:-3.64 [[ 8.33512718e-01 5.52454674e-01 7.09807094e-03 2.18655686e+02] [-5.52433801e-01 8.33542936e-01 -4.80303164e-03 -5.69941098e+01] [-8.57000417e-03 8.21736455e-05 9.99963273e-01 -3.63882602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.126559995 meters 0.012190205324470838 Centerline is valid? [True, True] Translation: X:218.71, Y:-57.03, Z:-3.64 [[ 8.31420168e-01 5.55598785e-01 7.10593297e-03 2.18709659e+02] [-5.55577960e-01 8.31450532e-01 -4.81073301e-03 -5.70254120e+01] [-8.58106916e-03 5.18407088e-05 9.99963181e-01 -3.63889873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18655999499998 meters 0.011948533514040852 Centerline is valid? [True, True] Translation: X:218.77, Y:-57.05, Z:-3.64 [[ 8.26590162e-01 5.62760137e-01 7.05212370e-03 2.18765499e+02] [-5.62739863e-01 8.26620244e-01 -4.77687027e-03 -5.70536780e+01] [-8.51766038e-03 -1.99971523e-05 9.99963724e-01 -3.63963710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24655999499998 meters 0.012625325749778475 Centerline is valid? [True, True] Translation: X:218.82, Y:-57.08, Z:-3.64 [[ 8.22068802e-01 5.69344228e-01 7.07356123e-03 2.18820624e+02] [-5.69324051e-01 8.22099229e-01 -4.79393622e-03 -5.70825706e+01] [-8.54456915e-03 -8.62031359e-05 9.99963491e-01 -3.64093798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.306559995 meters 0.016517344111300767 Centerline is valid? [True, True] Translation: X:218.88, Y:-57.11, Z:-3.64 [[ 8.15694185e-01 5.78453446e-01 5.88284998e-03 2.18878032e+02] [-5.78439701e-01 8.15715385e-01 -3.99045580e-03 -5.71052619e+01] [-7.10702415e-03 -1.47882391e-04 9.99974734e-01 -3.64452077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.366559995 meters 0.016892083924859854 Centerline is valid? [True, True] Translation: X:218.93, Y:-57.14, Z:-3.64 [[ 8.12698453e-01 5.82663924e-01 4.89650252e-03 2.18929830e+02] [-5.82654476e-01 8.12713189e-01 -3.32164521e-03 -5.71381618e+01] [-5.91485501e-03 -1.53473194e-04 9.99982495e-01 -3.64497242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.426559995 meters 0.018175508301754417 Centerline is valid? [True, True] Translation: X:218.98, Y:-57.17, Z:-3.65 [[ 8.10741967e-01 5.85386555e-01 4.47705073e-03 2.18983522e+02] [-5.85378699e-01 8.10754313e-01 -3.03683474e-03 -5.71701599e+01] [-5.40751042e-03 -1.58680768e-04 9.99985367e-01 -3.64604486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.486559995 meters 0.017780050005247107 Centerline is valid? [True, True] Translation: X:219.04, Y:-57.21, Z:-3.65 [[ 8.10525019e-01 5.85688852e-01 4.21451523e-03 2.19035839e+02] [-5.85681907e-01 8.10535962e-01 -2.85637660e-03 -5.72054556e+01] [-5.08896409e-03 -1.53200618e-04 9.99987039e-01 -3.64659419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.546559995 meters 0.016536546662628868 Centerline is valid? [True, True] Translation: X:219.08, Y:-57.24, Z:-3.65 [[ 8.12615086e-01 5.82777743e-01 5.17926910e-03 2.19084477e+02] [-5.82767156e-01 8.12631575e-01 -3.51638713e-03 -5.72424710e+01] [-6.25810976e-03 -1.60838699e-04 9.99980405e-01 -3.64610497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.606559995 meters 0.014717519506155902 Centerline is valid? [True, True] Translation: X:219.13, Y:-57.28, Z:-3.65 [[ 8.15360496e-01 5.78927443e-01 5.50241252e-03 2.19132629e+02] [-5.78915406e-01 8.15379051e-01 -3.73590308e-03 -5.72814500e+01] [-6.64936871e-03 -1.39323591e-04 9.99977883e-01 -3.64575764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.666559995 meters 0.012789670570819915 Centerline is valid? [True, True] Translation: X:219.18, Y:-57.32, Z:-3.65 [[ 8.20612191e-01 5.71457158e-01 5.68751414e-03 2.19178860e+02] [-5.71444112e-01 8.20631897e-01 -3.86224825e-03 -5.73223022e+01] [-6.87446492e-03 -8.06884628e-05 9.99976367e-01 -3.64640451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.726559995 meters 0.011928492487827992 Centerline is valid? [True, True] Translation: X:219.23, Y:-57.36, Z:-3.65 [[ 8.24543534e-01 5.65774762e-01 5.18442807e-03 2.19226887e+02] [-5.65763823e-01 8.24559833e-01 -3.51835767e-03 -5.73624662e+01] [-6.26546911e-03 -3.21227734e-05 9.99980371e-01 -3.64691136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.786559995 meters 0.012256982979742929 Centerline is valid? [True, True] Translation: X:219.27, Y:-57.41, Z:-3.65 [[ 8.31122723e-01 5.56075355e-01 3.90103193e-03 2.19272468e+02] [-5.56069053e-01 8.31131878e-01 -2.64763999e-03 -5.74056557e+01] [-4.71455935e-03 3.12706282e-05 9.99988886e-01 -3.64828837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.846559995 meters 0.012742682083444014 Centerline is valid? [True, True] Translation: X:219.32, Y:-57.44, Z:-3.65 [[ 8.33399138e-01 5.52660290e-01 3.53266076e-03 2.19322061e+02] [-5.52655088e-01 8.33406624e-01 -2.39838231e-03 -5.74432281e+01] [-4.26963355e-03 4.64668088e-05 9.99990884e-01 -3.64878301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.906559995 meters 0.016594673653133704 Centerline is valid? [True, True] Translation: X:219.37, Y:-57.49, Z:-3.65 [[ 8.40605650e-01 5.41641356e-01 2.60424592e-03 2.19365728e+02] [-5.41638475e-01 8.40609681e-01 -1.76838404e-03 -5.74869812e+01] [-3.14698426e-03 7.59538249e-05 9.99995045e-01 -3.65069389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96655999499998 meters 0.01947544198977122 Centerline is valid? [True, True] Translation: X:219.41, Y:-57.53, Z:-3.65 [[ 8.45348836e-01 5.34207153e-01 2.83948704e-03 2.19412602e+02] [-5.34203673e-01 8.45353597e-01 -1.93177653e-03 -5.75274215e+01] [-3.43233942e-03 1.16160635e-04 9.99994103e-01 -3.65089224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02655999499999 meters 0.021083172383307095 Centerline is valid? [True, True] Translation: X:219.46, Y:-57.57, Z:-3.65 [[ 8.51401920e-01 5.24499507e-01 3.87776774e-03 2.19460116e+02] [-5.24492912e-01 8.51410724e-01 -2.63886856e-03 -5.75669787e+01] [-4.68565830e-03 2.12876072e-04 9.99989000e-01 -3.64885159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.086559995 meters 0.022613985149229177 Centerline is valid? [True, True] Translation: X:219.51, Y:-57.60, Z:-3.65 [[ 8.53938693e-01 5.20353222e-01 4.60795936e-03 2.19508516e+02] [-5.20343857e-01 8.53951080e-01 -3.13430171e-03 -5.76046840e+01] [-5.56591587e-03 2.78778157e-04 9.99984471e-01 -3.64834443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.146559995 meters 0.024546993853737514 Centerline is valid? [True, True] Translation: X:219.56, Y:-57.64, Z:-3.65 [[ 8.55588428e-01 5.17622016e-01 5.99081730e-03 2.19558566e+02] [-5.17606087e-01 8.55609313e-01 -4.07940513e-03 -5.76409701e+01] [-7.23738899e-03 3.89408319e-04 9.99973734e-01 -3.64813277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.206559995 meters 0.024680907000323302 Centerline is valid? [True, True] Translation: X:219.61, Y:-57.67, Z:-3.65 [[ 8.54833206e-01 5.18880304e-01 4.83949883e-03 2.19610873e+02] [-5.18869942e-01 8.54846850e-01 -3.29325001e-03 -5.76739587e+01] [-5.84583290e-03 3.04108988e-04 9.99982867e-01 -3.65071358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.266559995 meters 0.02336874040519191 Centerline is valid? [True, True] Translation: X:219.67, Y:-57.70, Z:-3.65 [[ 8.52088942e-01 5.23379445e-01 4.28858351e-03 2.19665767e+02] [-5.23371347e-01 8.52099699e-01 -2.92179909e-03 -5.77026149e+01] [-5.18351030e-03 2.45110973e-04 9.99986535e-01 -3.65344790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.326559995 meters 0.020734791378970992 Centerline is valid? [True, True] Translation: X:219.72, Y:-57.73, Z:-3.65 [[ 8.50166988e-01 5.26489433e-01 4.99689970e-03 2.19720878e+02] [-5.26478489e-01 8.50181632e-01 -3.40496792e-03 -5.77309160e+01] [-6.04095197e-03 2.64031117e-04 9.99981718e-01 -3.65373581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.386559995 meters 0.020790182819111373 Centerline is valid? [True, True] Translation: X:219.77, Y:-57.76, Z:-3.65 [[ 8.48447955e-01 5.29241888e-01 6.25231690e-03 2.19774927e+02] [-5.29224822e-01 8.48470937e-01 -4.26114586e-03 -5.77595047e+01] [-7.56008606e-03 3.06479194e-04 9.99971375e-01 -3.65483314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.446559995 meters 0.021132062965599815 Centerline is valid? [True, True] Translation: X:219.83, Y:-57.79, Z:-3.66 [[ 8.47649689e-01 5.30511080e-01 6.92816857e-03 2.19828928e+02] [-5.30490178e-01 8.47677939e-01 -4.72050758e-03 -5.77891345e+01] [-8.37713722e-03 3.26011401e-04 9.99964858e-01 -3.65540582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.506559995 meters 0.019014546604114096 Centerline is valid? [True, True] Translation: X:219.89, Y:-57.82, Z:-3.66 [[ 8.47523426e-01 5.30696905e-01 8.05222306e-03 2.19885887e+02] [-5.30668651e-01 8.47561592e-01 -5.48920505e-03 -5.78179398e+01] [-9.73785912e-03 3.79167518e-04 9.99952514e-01 -3.65508368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.566559995 meters 0.01827670965875428 Centerline is valid? [True, True] Translation: X:219.94, Y:-57.84, Z:-3.66 [[ 8.47106693e-01 5.31352425e-01 8.65160996e-03 2.19942800e+02] [-5.31319798e-01 8.47150777e-01 -5.90199751e-03 -5.78448094e+01] [-1.04652588e-02 4.02849936e-04 9.99945157e-01 -3.65595128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.626559995 meters 0.01824952390372072 Centerline is valid? [True, True] Translation: X:220.00, Y:-57.87, Z:-3.66 [[ 8.45387243e-01 5.34074579e-01 9.20618044e-03 2.19997102e+02] [-5.34037741e-01 8.45437275e-01 -6.28529947e-03 -5.78717593e+01] [-1.11400668e-02 3.97064182e-04 9.99937869e-01 -3.65755097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68655999499998 meters 0.016970102368396123 Centerline is valid? [True, True] Translation: X:220.05, Y:-57.90, Z:-3.66 [[ 8.42997609e-01 5.37847589e-01 8.66037470e-03 2.20052238e+02] [-5.37815187e-01 8.43042030e-01 -5.91275575e-03 -5.78998557e+01] [-1.04812213e-02 3.26757922e-04 9.99945017e-01 -3.65917843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74655999499998 meters 0.014508543820076738 Centerline is valid? [True, True] Translation: X:220.11, Y:-57.92, Z:-3.66 [[ 8.38225476e-01 5.45267509e-01 7.83549286e-03 2.20109584e+02] [-5.45241304e-01 8.38262070e-01 -5.34992946e-03 -5.79243984e+01] [-9.48533918e-03 2.12212825e-04 9.99954991e-01 -3.66132272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.806559995 meters 0.013309925974149317 Centerline is valid? [True, True] Translation: X:220.16, Y:-57.95, Z:-3.66 [[ 8.35006704e-01 5.50184460e-01 7.80153718e-03 2.20163598e+02] [-5.50158692e-01 8.35043134e-01 -5.32711979e-03 -5.79533399e+01] [-9.44551858e-03 1.56097247e-04 9.99955378e-01 -3.66284956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.866559995 meters 0.011658527301554476 Centerline is valid? [True, True] Translation: X:220.22, Y:-57.98, Z:-3.66 [[ 8.30981743e-01 5.56242812e-01 7.95465831e-03 2.20219975e+02] [-5.56216296e-01 8.31019811e-01 -5.43196774e-03 -5.79802647e+01] [-9.63197165e-03 8.93554399e-05 9.99953607e-01 -3.66367134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.926559995 meters 0.010798693414574949 Centerline is valid? [True, True] Translation: X:220.27, Y:-58.01, Z:-3.66 [[ 8.28999806e-01 5.59179134e-01 8.83281484e-03 2.20274860e+02] [-5.59146611e-01 8.29046858e-01 -6.03115431e-03 -5.80106046e+01] [-1.06953130e-02 6.09872712e-05 9.99942802e-01 -3.66381260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.986559995 meters 0.010516051611724954 Centerline is valid? [True, True] Translation: X:220.33, Y:-58.04, Z:-3.66 [[ 8.26268906e-01 5.63181990e-01 1.02830061e-02 2.20328638e+02] [-5.63138162e-01 8.26332890e-01 -7.02600997e-03 -5.80404817e+01] [-1.24541084e-02 1.46203977e-05 9.99922444e-01 -3.66385122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.046559995 meters 0.010527278248284474 Centerline is valid? [True, True] Translation: X:220.38, Y:-58.07, Z:-3.67 [[ 8.23120708e-01 5.67779460e-01 9.93904141e-03 2.20383934e+02] [-5.67738813e-01 8.23180711e-01 -6.79394487e-03 -5.80706433e+01] [-1.20390895e-02 -5.05428600e-05 9.99927526e-01 -3.66570375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.106559995 meters 0.011472701527333493 Centerline is valid? [True, True] Translation: X:220.44, Y:-58.10, Z:-3.67 [[ 8.18968405e-01 5.73763846e-01 9.26283186e-03 2.20438944e+02] [-5.73728882e-01 8.19020777e-01 -6.33535238e-03 -5.81009062e+01] [-1.12214479e-02 -1.25900737e-04 9.99937030e-01 -3.66786890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.166559995 meters 0.01263952447734485 Centerline is valid? [True, True] Translation: X:220.49, Y:-58.13, Z:-3.67 [[ 8.15940444e-01 5.78075538e-01 8.35844081e-03 2.20490976e+02] [-5.78047268e-01 8.15983238e-01 -5.71940494e-03 -5.81338152e+01] [-1.01265957e-02 -1.64880063e-04 9.99948711e-01 -3.67026082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.226559995 meters 0.012925134477231932 Centerline is valid? [True, True] Translation: X:220.54, Y:-58.17, Z:-3.67 [[ 8.15260043e-01 5.79043152e-01 7.75182460e-03 2.20541854e+02] [-5.79018860e-01 8.15296879e-01 -5.30645746e-03 -5.81688480e+01] [-9.39270627e-03 -1.62309905e-04 9.99955874e-01 -3.67147544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.286559995 meters 0.013388966719559242 Centerline is valid? [True, True] Translation: X:220.59, Y:-58.21, Z:-3.67 [[ 8.14551204e-01 5.80047491e-01 7.15844329e-03 2.20591404e+02] [-5.80026795e-01 8.14582643e-01 -4.90247707e-03 -5.82060102e+01] [-8.67481318e-03 -1.58770318e-04 9.99962360e-01 -3.67344815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.346559995 meters 0.012523912784216194 Centerline is valid? [True, True] Translation: X:220.64, Y:-58.25, Z:-3.67 [[ 8.14592413e-01 5.79996399e-01 6.58612771e-03 2.20640170e+02] [-5.79978867e-01 8.14619025e-01 -4.51201963e-03 -5.82465784e+01] [-7.98214007e-03 -1.44357922e-04 9.99968132e-01 -3.67364302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.406559995 meters 0.01278998975692736 Centerline is valid? [True, True] Translation: X:220.69, Y:-58.29, Z:-3.67 [[ 8.14551699e-01 5.80047406e-01 7.10888295e-03 2.20688067e+02] [-5.80026950e-01 8.14582705e-01 -4.87381603e-03 -5.82864838e+01] [-8.61781745e-03 -1.53368560e-04 9.99962854e-01 -3.67387469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46655999499998 meters 0.012590831138773878 Centerline is valid? [True, True] Translation: X:220.74, Y:-58.33, Z:-3.67 [[ 8.14183664e-01 5.80551179e-01 8.08022883e-03 2.20737482e+02] [-5.80524739e-01 8.14223739e-01 -5.54348977e-03 -5.83263532e+01] [-9.79739365e-03 -1.77353930e-04 9.99951989e-01 -3.67328379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52655999499999 meters 0.013497921176630543 Centerline is valid? [True, True] Translation: X:220.79, Y:-58.36, Z:-3.67 [[ 8.13294888e-01 5.81770894e-01 9.69804167e-03 2.20785510e+02] [-5.81732828e-01 8.13352676e-01 -6.65891899e-03 -5.83648788e+01] [-1.17618934e-02 -2.26004431e-04 9.99930801e-01 -3.67273707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.586559995 meters 0.013536338778585118 Centerline is valid? [True, True] Translation: X:220.83, Y:-58.40, Z:-3.67 [[ 8.12300403e-01 5.83150767e-01 1.01606205e-02 2.20834113e+02] [-5.83109046e-01 8.12363907e-01 -6.98011848e-03 -5.84037296e+01] [-1.23245829e-02 -2.54796702e-04 9.99924017e-01 -3.67305113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.646559995 meters 0.014563233895724509 Centerline is valid? [True, True] Translation: X:220.88, Y:-58.44, Z:-3.67 [[ 8.10542336e-01 5.85603199e-01 9.48758702e-03 2.20882491e+02] [-5.85566953e-01 8.10597817e-01 -6.52100132e-03 -5.84420324e+01] [-1.15093366e-02 -2.70069775e-04 9.99933729e-01 -3.67483120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.706559995 meters 0.015120719915254913 Centerline is valid? [True, True] Translation: X:220.93, Y:-58.48, Z:-3.68 [[ 8.10039805e-01 5.86306408e-01 8.96166038e-03 2.20932845e+02] [-5.86274082e-01 8.10089333e-01 -6.16220153e-03 -5.84777332e+01] [-1.08726837e-02 -2.62360694e-04 9.99940856e-01 -3.67637450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.766559995 meters 0.014391195903177605 Centerline is valid? [True, True] Translation: X:220.98, Y:-58.52, Z:-3.68 [[ 8.09568489e-01 5.86969413e-01 8.10983255e-03 2.20979699e+02] [-5.86942951e-01 8.09609072e-01 -5.57885930e-03 -5.85194358e+01] [-9.84041377e-03 -2.43540352e-04 9.99951552e-01 -3.67866862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.826559995 meters 0.013205263059590563 Centerline is valid? [True, True] Translation: X:221.02, Y:-58.56, Z:-3.68 [[ 8.11953680e-01 5.83677408e-01 7.20452239e-03 2.21024747e+02] [-5.83656375e-01 8.11985623e-01 -4.95822018e-03 -5.85630401e+01] [-8.74396970e-03 -1.79120305e-04 9.99961755e-01 -3.68037556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.886559995 meters 0.012179092082137959 Centerline is valid? [True, True] Translation: X:221.07, Y:-58.60, Z:-3.68 [[ 8.14733152e-01 5.79792472e-01 7.11202758e-03 2.21071016e+02] [-5.79771791e-01 8.14764182e-01 -4.89881958e-03 -5.86049865e+01] [-8.63492405e-03 -1.32122246e-04 9.99962710e-01 -3.68147086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.946559995 meters 0.010666478573456522 Centerline is valid? [True, True] Translation: X:221.11, Y:-58.65, Z:-3.68 [[ 8.19790876e-01 5.72610361e-01 7.76493385e-03 2.21112963e+02] [-5.72585376e-01 8.19827647e-01 -5.34952482e-03 -5.86502346e+01] [-9.42910079e-03 -6.05959350e-05 9.99955543e-01 -3.68219340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.006559995 meters 0.010302412419620577 Centerline is valid? [True, True] Translation: X:221.16, Y:-58.70, Z:-3.68 [[ 8.23545304e-01 5.67188146e-01 8.41061633e-03 2.21157305e+02] [-5.67158561e-01 8.23588251e-01 -5.79305488e-03 -5.86950725e+01] [-1.02126369e-02 6.90085258e-07 9.99947850e-01 -3.68252468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.066559995 meters 0.010413431889725783 Centerline is valid? [True, True] Translation: X:221.21, Y:-58.74, Z:-3.68 [[ 8.24599153e-01 5.65658907e-01 8.13867202e-03 2.21205976e+02] [-5.65631106e-01 8.24639315e-01 -5.60822694e-03 -5.87353504e+01] [-9.88381245e-03 2.10531316e-05 9.99951154e-01 -3.68333143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.126559995 meters 0.010299452898403198 Centerline is valid? [True, True] Translation: X:221.25, Y:-58.78, Z:-3.68 [[ 8.24062884e-01 5.66444078e-01 7.84029743e-03 2.21254811e+02] [-5.66418284e-01 8.24100180e-01 -5.40565065e-03 -5.87752963e+01] [-9.52318932e-03 1.37082441e-05 9.99954653e-01 -3.68428280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18655999499998 meters 0.010305824898566657 Centerline is valid? [True, True] Translation: X:221.30, Y:-58.81, Z:-3.69 [[ 8.22473089e-01 5.68753752e-01 7.56218274e-03 2.21304729e+02] [-5.68729824e-01 8.22507853e-01 -5.21706698e-03 -5.88120658e+01] [-9.18718111e-03 -9.94166301e-06 9.99957797e-01 -3.68612058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24655999499998 meters 0.010445114033069941 Centerline is valid? [True, True] Translation: X:221.35, Y:-58.85, Z:-3.69 [[ 8.19934149e-01 5.72414902e-01 7.01226238e-03 2.21354753e+02] [-5.72394439e-01 8.19964132e-01 -4.84026490e-03 -5.88483249e+01] [-8.52044339e-03 -4.50815122e-05 9.99963699e-01 -3.68869450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.306559995 meters 0.01064980898507418 Centerline is valid? [True, True] Translation: X:221.40, Y:-58.88, Z:-3.69 [[ 8.18625087e-01 5.74291461e-01 6.50266533e-03 2.21404858e+02] [-5.74273907e-01 8.18650911e-01 -4.49065907e-03 -5.88841644e+01] [-7.90236006e-03 -5.81448556e-05 9.99968774e-01 -3.69057171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.366559995 meters 0.010627447410243403 Centerline is valid? [True, True] Translation: X:221.45, Y:-58.92, Z:-3.69 [[ 8.17735222e-01 5.75552056e-01 6.99556705e-03 2.21453556e+02] [-5.75531768e-01 8.17765141e-01 -4.83305994e-03 -5.89236344e+01] [-8.50240846e-03 -7.40077314e-05 9.99963851e-01 -3.69031491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.426559995 meters 0.010557819956679051 Centerline is valid? [True, True] Translation: X:221.50, Y:-58.96, Z:-3.69 [[ 8.17747051e-01 5.75531781e-01 7.27527961e-03 2.21503633e+02] [-5.75509808e-01 8.17779410e-01 -5.02959005e-03 -5.89620447e+01] [-8.84426278e-03 -7.40623436e-05 9.99960886e-01 -3.69073292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.486559995 meters 0.010513391540286497 Centerline is valid? [True, True] Translation: X:221.55, Y:-59.00, Z:-3.69 [[ 8.18026929e-01 5.75118660e-01 8.39467387e-03 2.21552613e+02] [-5.75089336e-01 8.18069998e-01 -5.80811725e-03 -5.89999108e+01] [-1.02077874e-02 -7.64911022e-05 9.99947896e-01 -3.69090899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.546559995 meters 0.010453079308501085 Centerline is valid? [True, True] Translation: X:221.60, Y:-59.04, Z:-3.69 [[ 8.18341885e-01 5.74674375e-01 8.11920431e-03 2.21602773e+02] [-5.74646898e-01 8.18382159e-01 -5.62008124e-03 -5.90374526e+01] [-9.87432863e-03 -6.65276928e-05 9.99951245e-01 -3.69222887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.606559995 meters 0.010341829393419573 Centerline is valid? [True, True] Translation: X:221.65, Y:-59.08, Z:-3.69 [[ 8.18748363e-01 5.74115876e-01 6.48684743e-03 2.21652898e+02] [-5.74098307e-01 8.18774058e-01 -4.49171923e-03 -5.90761486e+01] [-7.89002971e-03 -4.65003585e-05 9.99968872e-01 -3.69437134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.666559995 meters 0.010132695887241007 Centerline is valid? [True, True] Translation: X:221.70, Y:-59.11, Z:-3.70 [[ 8.18877508e-01 5.73939980e-01 5.70316121e-03 2.21703272e+02] [-5.73926384e-01 8.18897367e-01 -3.95070128e-03 -5.91130443e+01] [-6.93776911e-03 -3.80542672e-05 9.99975933e-01 -3.69574180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.726559995 meters 0.01022066791154257 Centerline is valid? [True, True] Translation: X:221.75, Y:-59.15, Z:-3.70 [[ 8.19312236e-01 5.73330075e-01 4.48174370e-03 2.21753735e+02] [-5.73321664e-01 8.19324493e-01 -3.10560253e-03 -5.91487759e+01] [-5.45253772e-03 -2.50226062e-05 9.99985134e-01 -3.69836031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.786559995 meters 0.010247557070293258 Centerline is valid? [True, True] Translation: X:221.81, Y:-59.18, Z:-3.70 [[ 8.19391564e-01 5.73217010e-01 4.44131027e-03 2.21805551e+02] [-5.73208740e-01 8.19403600e-01 -3.07913308e-03 -5.91842778e+01] [-5.40423708e-03 -2.27822002e-05 9.99985397e-01 -3.69956832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.846559995 meters 0.010101333292779933 Centerline is valid? [True, True] Translation: X:221.86, Y:-59.22, Z:-3.70 [[ 8.20561241e-01 5.71533076e-01 5.40300504e-03 2.21857361e+02] [-5.71520776e-01 8.20579029e-01 -3.74966454e-03 -5.92187784e+01] [-6.57664993e-03 -1.11002460e-05 9.99978374e-01 -3.69992758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.906559995 meters 0.010420628246841764 Centerline is valid? [True, True] Translation: X:221.91, Y:-59.26, Z:-3.70 [[ 8.23948535e-01 5.66628031e-01 6.44094629e-03 2.21907441e+02] [-5.66610378e-01 8.23973709e-01 -4.47290708e-03 -5.92569790e+01] [-7.84164493e-03 3.59382267e-05 9.99969253e-01 -3.69958947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96655999499998 meters 0.011109134240993532 Centerline is valid? [True, True] Translation: X:221.96, Y:-59.29, Z:-3.70 [[ 8.26597824e-01 5.62753324e-01 6.68827888e-03 2.21957386e+02] [-5.62734134e-01 8.26624879e-01 -4.64800893e-03 -5.92940785e+01] [-8.14438019e-03 7.83112482e-05 9.99966831e-01 -3.70006059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02655999499999 meters 0.012179254075612423 Centerline is valid? [True, True] Translation: X:222.01, Y:-59.33, Z:-3.70 [[ 8.28714042e-01 5.59633668e-01 6.57225294e-03 2.22008197e+02] [-5.59615022e-01 8.28740095e-01 -4.56969039e-03 -5.93294683e+01] [-8.00404212e-03 1.09035121e-04 9.99967961e-01 -3.70190482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.086559995 meters 0.012810318833672745 Centerline is valid? [True, True] Translation: X:222.06, Y:-59.36, Z:-3.70 [[ 8.32538506e-01 5.53945273e-01 4.92660237e-03 2.22059611e+02] [-5.53934679e-01 8.32553073e-01 -3.42820764e-03 -5.93642260e+01] [-6.00069736e-03 1.25098960e-04 9.99981988e-01 -3.70361690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.146559995 meters 0.014212866013478634 Centerline is valid? [True, True] Translation: X:222.11, Y:-59.40, Z:-3.70 [[ 8.35285844e-01 5.49796291e-01 4.64721606e-03 2.22110387e+02] [-5.49786799e-01 8.35298759e-01 -3.23403786e-03 -5.93995312e+01] [-5.65987583e-03 1.46368006e-04 9.99983972e-01 -3.70481737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.206559995 meters 0.014644743945739142 Centerline is valid? [True, True] Translation: X:222.16, Y:-59.43, Z:-3.71 [[ 8.35942756e-01 5.48788020e-01 5.60513393e-03 2.22162106e+02] [-5.48774197e-01 8.35961527e-01 -3.89950317e-03 -5.94338471e+01] [-6.82567694e-03 1.83808553e-04 9.99976688e-01 -3.70523288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.266559995 meters 0.015001893634043011 Centerline is valid? [True, True] Translation: X:222.21, Y:-59.47, Z:-3.71 [[ 8.35527799e-01 5.49422107e-01 5.35217778e-03 2.22213545e+02] [-5.49409504e-01 8.35544923e-01 -3.72532868e-03 -5.94678184e+01] [-6.51876291e-03 1.72078335e-04 9.99978738e-01 -3.70637219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.326559995 meters 0.014297689374215666 Centerline is valid? [True, True] Translation: X:222.27, Y:-59.50, Z:-3.71 [[ 8.33860062e-01 5.51959611e-01 4.24101048e-03 2.22266055e+02] [-5.51951727e-01 8.33870838e-01 -2.95247542e-03 -5.95012323e+01] [-5.16610215e-03 1.21118278e-04 9.99986648e-01 -3.70885315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.386559995 meters 0.013066480808756385 Centerline is valid? [True, True] Translation: X:222.32, Y:-59.53, Z:-3.71 [[ 8.29954994e-01 5.57801674e-01 5.65689248e-03 2.22318416e+02] [-5.57787742e-01 8.29974264e-01 -3.94416679e-03 -5.95321319e+01] [-6.89513801e-03 1.18135644e-04 9.99976221e-01 -3.70940486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.446559995 meters 0.011250260063364097 Centerline is valid? [True, True] Translation: X:222.37, Y:-59.56, Z:-3.71 [[ 8.26537125e-01 5.62842271e-01 6.70506292e-03 2.22372183e+02] [-5.62822861e-01 8.26564317e-01 -4.67522557e-03 -5.95628437e+01] [-8.17358033e-03 9.04848016e-05 9.99966592e-01 -3.70862537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.506559995 meters 0.010024593527962575 Centerline is valid? [True, True] Translation: X:222.43, Y:-59.59, Z:-3.71 [[ 8.20015871e-01 5.72294342e-01 7.29089883e-03 2.22427880e+02] [-5.72271771e-01 8.20048283e-01 -5.08273631e-03 -5.95909224e+01] [-8.88771030e-03 -4.45114524e-06 9.99960504e-01 -3.70978030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.566559995 meters 0.011045932590099478 Centerline is valid? [True, True] Translation: X:222.48, Y:-59.62, Z:-3.71 [[ 8.12944614e-01 5.82298388e-01 7.04569883e-03 2.22483234e+02] [-5.82277660e-01 8.12975138e-01 -4.91430183e-03 -5.96192501e+01] [-8.58956802e-03 -1.07497823e-04 9.99963103e-01 -3.71112459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.626559995 meters 0.011917157153865602 Centerline is valid? [True, True] Translation: X:222.54, Y:-59.65, Z:-3.71 [[ 8.10658984e-01 5.85478734e-01 6.83103281e-03 2.22536220e+02] [-5.85459346e-01 8.10687753e-01 -4.76665637e-03 -5.96518710e+01] [-8.32861058e-03 -1.35159191e-04 9.99965307e-01 -3.71263345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68655999499998 meters 0.013911795216849916 Centerline is valid? [True, True] Translation: X:222.59, Y:-59.68, Z:-3.71 [[ 8.07174013e-01 5.90276577e-01 6.60875842e-03 2.22589579e+02] [-5.90258570e-01 8.07201048e-01 -4.61402010e-03 -5.96824354e+01] [-8.05814471e-03 -1.76559173e-04 9.99967517e-01 -3.71465574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74655999499998 meters 0.015039431966294078 Centerline is valid? [True, True] Translation: X:222.64, Y:-59.72, Z:-3.71 [[ 8.04623594e-01 5.93743301e-01 7.05440426e-03 2.22642516e+02] [-5.93722881e-01 8.04654487e-01 -4.92919492e-03 -5.97155880e+01] [-8.60303450e-03 -2.22214693e-04 9.99962969e-01 -3.71489501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.806559995 meters 0.015303004305505952 Centerline is valid? [True, True] Translation: X:222.69, Y:-59.75, Z:-3.72 [[ 8.03917837e-01 5.94701919e-01 6.76307145e-03 2.22693197e+02] [-5.94683194e-01 8.03946253e-01 -4.72464582e-03 -5.97512522e+01] [-8.24690189e-03 -2.23657888e-04 9.99965969e-01 -3.71580566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.866559995 meters 0.014492796855087949 Centerline is valid? [True, True] Translation: X:222.74, Y:-59.79, Z:-3.72 [[ 8.04164555e-01 5.94389919e-01 4.47137023e-03 2.22742687e+02] [-5.94381732e-01 8.04176972e-01 -3.12316802e-03 -5.97898089e+01] [-5.45215256e-03 -1.46159763e-04 9.99985126e-01 -3.71803463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.926559995 meters 0.014250311688443885 Centerline is valid? [True, True] Translation: X:222.79, Y:-59.83, Z:-3.72 [[ 8.05957088e-01 5.91964552e-01 3.33796016e-03 2.22790650e+02] [-5.91959960e-01 8.05963994e-01 -2.33362435e-03 -5.98281400e+01] [-4.07169860e-03 -9.51376820e-05 9.99991706e-01 -3.72068804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.986559995 meters 0.012984462003106328 Centerline is valid? [True, True] Translation: X:222.84, Y:-59.87, Z:-3.72 [[ 8.07576599e-01 5.89747356e-01 4.25359431e-03 2.22837959e+02] [-5.89739867e-01 8.07587794e-01 -2.97403086e-03 -5.98688122e+01] [-5.18907769e-03 -1.06756416e-04 9.99986531e-01 -3.71992419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.046559995 meters 0.011768372175448738 Centerline is valid? [True, True] Translation: X:222.88, Y:-59.91, Z:-3.72 [[ 8.10250472e-01 5.86056470e-01 5.65572930e-03 2.22883224e+02] [-5.86043098e-01 8.10270204e-01 -3.96038678e-03 -5.99105835e+01] [-6.90367922e-03 -1.05595864e-04 9.99976164e-01 -3.71850327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.106559995 meters 0.011223731839111416 Centerline is valid? [True, True] Translation: X:222.93, Y:-59.95, Z:-3.72 [[ 8.11406496e-01 5.84449574e-01 6.18011290e-03 2.22931235e+02] [-5.84433574e-01 8.11430025e-01 -4.32577304e-03 -5.99500055e+01] [-7.54292537e-03 -1.01905124e-04 9.99971547e-01 -3.71886124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.166559995 meters 0.011863997850255284 Centerline is valid? [True, True] Translation: X:222.98, Y:-59.99, Z:-3.72 [[ 8.10501260e-01 5.85707402e-01 5.87769667e-03 2.22980215e+02] [-5.85692947e-01 8.10522565e-01 -4.11630530e-03 -5.99870595e+01] [-7.17495626e-03 -1.06254852e-04 9.99974254e-01 -3.72005343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.226559995 meters 0.012747939221449994 Centerline is valid? [True, True] Translation: X:223.03, Y:-60.02, Z:-3.72 [[ 8.08254748e-01 5.88817302e-01 4.29492774e-03 2.23031093e+02] [-5.88809616e-01 8.08266154e-01 -3.01020593e-03 -6.00223908e+01] [-5.24390607e-03 -9.58815142e-05 9.99986246e-01 -3.72211772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.286559995 meters 0.014019364228272093 Centerline is valid? [True, True] Translation: X:223.08, Y:-60.05, Z:-3.72 [[ 8.05623522e-01 5.92422380e-01 2.54271784e-03 2.23084616e+02] [-5.92419704e-01 8.05627531e-01 -1.78184386e-03 -6.00546794e+01] [-3.10408768e-03 -7.08608295e-05 9.99995180e-01 -3.72384120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.346559995 meters 0.015070723999472109 Centerline is valid? [True, True] Translation: X:223.14, Y:-60.09, Z:-3.73 [[ 8.04562687e-01 5.93862518e-01 2.48828855e-03 2.23136218e+02] [-5.93859965e-01 8.04566532e-01 -1.74299269e-03 -6.00868620e+01] [-3.03709171e-03 -7.53480689e-05 9.99995385e-01 -3.72504925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40655999499998 meters 0.015799421668734364 Centerline is valid? [True, True] Translation: X:223.19, Y:-60.12, Z:-3.73 [[ 8.04197341e-01 5.94357986e-01 2.28498961e-03 2.23187930e+02] [-5.94355838e-01 8.04200584e-01 -1.59935748e-03 -6.01198520e+01] [-2.78818087e-03 -7.18978865e-05 9.99996110e-01 -3.72624386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46655999499998 meters 0.015201145537155241 Centerline is valid? [True, True] Translation: X:223.24, Y:-60.16, Z:-3.73 [[ 8.03894994e-01 5.94767496e-01 2.11296117e-03 2.23239543e+02] [-5.94765663e-01 8.03897768e-01 -1.47839398e-03 -6.01565440e+01] [-2.57790546e-03 -6.82432297e-05 9.99996675e-01 -3.72596531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52655999499999 meters 0.01724302115669221 Centerline is valid? [True, True] Translation: X:223.29, Y:-60.19, Z:-3.73 [[ 8.02940692e-01 5.96053430e-01 2.56008692e-03 2.23291870e+02] [-5.96050735e-01 8.02944769e-01 -1.79433458e-03 -6.01879351e+01] [-3.12512768e-03 -8.51974441e-05 9.99995113e-01 -3.72766882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.586559995 meters 0.017911325555407056 Centerline is valid? [True, True] Translation: X:223.34, Y:-60.22, Z:-3.73 [[ 8.02528261e-01 5.96605204e-01 3.25890574e-03 2.23344054e+02] [-5.96600835e-01 8.02534871e-01 -2.28582766e-03 -6.02222734e+01] [-3.97912218e-03 -1.09824587e-04 9.99992077e-01 -3.72833191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.646559995 meters 0.018057961179960856 Centerline is valid? [True, True] Translation: X:223.40, Y:-60.26, Z:-3.73 [[ 8.02800026e-01 5.96241234e-01 2.91685424e-03 2.23395367e+02] [-5.96237728e-01 8.02805320e-01 -2.04705644e-03 -6.02568346e+01] [-3.56220555e-03 -9.57615820e-05 9.99993651e-01 -3.72970525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.706559995 meters 0.01456825572024397 Centerline is valid? [True, True] Translation: X:223.44, Y:-60.30, Z:-3.73 [[ 8.04057651e-01 5.94546412e-01 2.42032604e-03 2.23443166e+02] [-5.94543984e-01 8.04061290e-01 -1.70083351e-03 -6.02978248e+01] [-2.95731494e-03 -7.14220918e-05 9.99995625e-01 -3.72825962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.766559995 meters 0.013671913862485974 Centerline is valid? [True, True] Translation: X:223.49, Y:-60.33, Z:-3.73 [[ 8.07205738e-01 5.90263837e-01 2.73853017e-03 2.23492001e+02] [-5.90260698e-01 8.07210381e-01 -1.92586572e-03 -6.03340245e+01] [-3.34733887e-03 -6.18768673e-05 9.99994396e-01 -3.72975597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.826559995 meters 0.01181439257137241 Centerline is valid? [True, True] Translation: X:223.54, Y:-60.37, Z:-3.73 [[ 8.12254255e-01 5.83289736e-01 4.01354172e-03 2.23539254e+02] [-5.83282906e-01 8.12264170e-01 -2.82303652e-03 -6.03736980e+01] [-4.90670436e-03 -4.80068555e-05 9.99987961e-01 -3.72928102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.886559995 meters 0.011316042289117824 Centerline is valid? [True, True] Translation: X:223.59, Y:-60.41, Z:-3.73 [[ 8.17033175e-01 5.76572618e-01 4.56155873e-03 2.23587973e+02] [-5.76563692e-01 8.17045908e-01 -3.20818600e-03 -6.04131253e+01] [-5.57675509e-03 -8.83475390e-06 9.99984450e-01 -3.73073692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.946559995 meters 0.013184993855595857 Centerline is valid? [True, True] Translation: X:223.63, Y:-60.46, Z:-3.73 [[ 8.25210468e-01 5.64815926e-01 3.26392681e-03 2.23632053e+02] [-5.64811264e-01 8.25216921e-01 -2.29545478e-03 -6.04556974e+01] [-3.98995705e-03 5.07306863e-05 9.99992039e-01 -3.73354660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.006559995 meters 0.015634932940815544 Centerline is valid? [True, True] Translation: X:223.68, Y:-60.50, Z:-3.74 [[ 8.30299092e-01 5.57310449e-01 2.91237277e-03 2.23679426e+02] [-5.57306687e-01 8.30304196e-01 -2.04907654e-03 -6.04955739e+01] [-3.56012710e-03 7.82615726e-05 9.99993660e-01 -3.73518968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.066559995 meters 0.020637278688216094 Centerline is valid? [True, True] Translation: X:223.72, Y:-60.54, Z:-3.74 [[ 8.36948497e-01 5.47278011e-01 1.99823452e-03 2.23724859e+02] [-5.47276214e-01 8.36950878e-01 -1.40475736e-03 -6.05360791e+01] [-2.44121695e-03 8.21233378e-05 9.99997017e-01 -3.73733486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.126559995 meters 0.02111379873504998 Centerline is valid? [True, True] Translation: X:223.77, Y:-60.57, Z:-3.74 [[ 8.41013374e-01 5.41008123e-01 2.59131235e-03 2.23774524e+02] [-5.41005069e-01 8.41017356e-01 -1.82261933e-03 -6.05713644e+01] [-3.16539052e-03 1.30934115e-04 9.99994982e-01 -3.73680306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18655999499998 meters 0.024344250568408683 Centerline is valid? [True, True] Translation: X:223.82, Y:-60.61, Z:-3.74 [[ 8.46023972e-01 5.33133041e-01 3.54953360e-03 2.23823360e+02] [-5.33127230e-01 8.46031389e-01 -2.49907067e-03 -6.06090692e+01] [-4.33535399e-03 2.21920674e-04 9.99990578e-01 -3.73659617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24655999499998 meters 0.026612260662894637 Centerline is valid? [True, True] Translation: X:223.87, Y:-60.64, Z:-3.74 [[ 8.47908085e-01 5.30120205e-01 4.94453047e-03 2.23874195e+02] [-5.30108875e-01 8.47922437e-01 -3.48163553e-03 -6.06433756e+01] [-6.03826367e-03 3.30967423e-04 9.99981715e-01 -3.73644944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.306559995 meters 0.025163587839210827 Centerline is valid? [True, True] Translation: X:223.93, Y:-60.67, Z:-3.74 [[ 8.46398393e-01 5.32521479e-01 5.53485172e-03 2.23928891e+02] [-5.32507328e-01 8.46416417e-01 -3.89809425e-03 -6.06733966e+01] [-6.76060828e-03 3.51991607e-04 9.99977085e-01 -3.73641993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.366559995 meters 0.020666135872970334 Centerline is valid? [True, True] Translation: X:223.99, Y:-60.70, Z:-3.74 [[ 8.42812672e-01 5.38170086e-01 6.30535549e-03 2.23986670e+02] [-5.38151882e-01 8.42836186e-01 -4.44024166e-03 -6.06975433e+01] [-7.70398701e-03 3.49053016e-04 9.99970263e-01 -3.73701012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.426559995 meters 0.017584417087416326 Centerline is valid? [True, True] Translation: X:224.04, Y:-60.72, Z:-3.74 [[ 8.34852031e-01 5.50429870e-01 7.00313551e-03 2.24044901e+02] [-5.50407811e-01 8.34881361e-01 -4.93504404e-03 -6.07186070e+01] [-8.56318296e-03 2.65451059e-04 9.99963300e-01 -3.73840236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.486559995 meters 0.01415814344982115 Centerline is valid? [True, True] Translation: X:224.10, Y:-60.74, Z:-3.74 [[ 8.29151396e-01 5.58964899e-01 8.13660309e-03 2.24102786e+02] [-5.58935528e-01 8.29191292e-01 -5.73381505e-03 -6.07422861e+01] [-9.95180179e-03 2.06364214e-04 9.99950458e-01 -3.73929702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.546559995 meters 0.01185405714898994 Centerline is valid? [True, True] Translation: X:224.16, Y:-60.77, Z:-3.74 [[ 8.23684160e-01 5.66981089e-01 8.76633597e-03 2.24160857e+02] [-5.66947446e-01 8.23730800e-01 -6.17762375e-03 -6.07671126e+01] [-1.07236968e-02 1.18359037e-04 9.99942493e-01 -3.74002356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.606559995 meters 0.010876449841380356 Centerline is valid? [True, True] Translation: X:224.22, Y:-60.79, Z:-3.74 [[ 8.17340584e-01 5.76077913e-01 9.41316687e-03 2.24220863e+02] [-5.76039716e-01 8.17394788e-01 -6.63374508e-03 -6.07893748e+01] [-1.15158275e-02 -3.28889649e-07 9.99933691e-01 -3.74155907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.666559995 meters 0.011022657767824283 Centerline is valid? [True, True] Translation: X:224.28, Y:-60.82, Z:-3.74 [[ 8.14889895e-01 5.79531499e-01 9.88431082e-03 2.24276417e+02] [-5.79489592e-01 8.14949838e-01 -6.96951101e-03 -6.08192947e+01] [-1.20942687e-02 -4.84711409e-05 9.99926860e-01 -3.74308988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.726559995 meters 0.011256395774731467 Centerline is valid? [True, True] Translation: X:224.33, Y:-60.85, Z:-3.75 [[ 8.13874012e-01 5.80959647e-01 9.74587213e-03 2.24332105e+02] [-5.80918957e-01 8.13932359e-01 -6.87609901e-03 -6.08483887e+01] [-1.19272167e-02 -6.52835870e-05 9.99928866e-01 -3.74637084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.786559995 meters 0.011138759542890042 Centerline is valid? [True, True] Translation: X:224.38, Y:-60.88, Z:-3.75 [[ 8.14826620e-01 5.79620701e-01 9.87031756e-03 2.24384931e+02] [-5.79578820e-01 8.14886398e-01 -6.96780674e-03 -6.08823804e+01] [-1.20818725e-02 -4.30725879e-05 9.99927011e-01 -3.74868331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.846559995 meters 0.011213758597810836 Centerline is valid? [True, True] Translation: X:224.44, Y:-60.92, Z:-3.75 [[ 8.18187577e-01 5.74847037e-01 1.09532165e-02 2.24436743e+02] [-5.74794963e-01 8.18260889e-01 -7.73741308e-03 -6.09188971e+01] [-1.34104177e-02 3.48015558e-05 9.99910076e-01 -3.75033862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90655999499998 meters 0.01164335566401554 Centerline is valid? [True, True] Translation: X:224.49, Y:-60.96, Z:-3.75 [[ 8.20752505e-01 5.71166420e-01 1.15864701e-02 2.24486637e+02] [-5.71107706e-01 8.20834277e-01 -8.19013399e-03 -6.09558943e+01] [-1.41885013e-02 1.04950605e-04 9.99899333e-01 -3.75078800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96655999499998 meters 0.012372500190572228 Centerline is valid? [True, True] Translation: X:224.54, Y:-60.99, Z:-3.75 [[ 8.22995937e-01 5.67929456e-01 1.15681033e-02 2.24535466e+02] [-5.67870542e-01 8.23077217e-01 -8.18176196e-03 -6.09929994e+01] [-1.41681059e-02 1.64371779e-04 9.99899614e-01 -3.75236972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02655999499999 meters 0.0131150913310687 Centerline is valid? [True, True] Translation: X:224.59, Y:-61.03, Z:-3.76 [[ 8.24469881e-01 5.65815145e-01 1.01310561e-02 2.24585920e+02] [-5.65769784e-01 8.24532104e-01 -7.16661842e-03 -6.10297023e+01] [-1.24083623e-02 1.76815599e-04 9.99922998e-01 -3.75540881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.086559995 meters 0.012955582123763307 Centerline is valid? [True, True] Translation: X:224.64, Y:-61.07, Z:-3.76 [[ 8.24095384e-01 5.66360168e-01 1.01468175e-02 2.24638019e+02] [-5.66314664e-01 8.24157831e-01 -7.18129030e-03 -6.10654172e+01] [-1.24297759e-02 1.71776610e-04 9.99922733e-01 -3.75660092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.146559995 meters 0.01226079652641622 Centerline is valid? [True, True] Translation: X:224.69, Y:-61.10, Z:-3.76 [[ 8.22172700e-01 5.69149563e-01 1.00412879e-02 2.24690658e+02] [-5.69105155e-01 8.22234004e-01 -7.11091341e-03 -6.10992623e+01] [-1.23034616e-02 1.31850167e-04 9.99924301e-01 -3.75723567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.206559995 meters 0.011915433775251326 Centerline is valid? [True, True] Translation: X:224.74, Y:-61.13, Z:-3.76 [[ 8.19611819e-01 5.72830548e-01 1.00811846e-02 2.24742355e+02] [-5.72786016e-01 8.19673811e-01 -7.14298680e-03 -6.11331494e+01] [-1.23550041e-02 8.01148226e-05 9.99923671e-01 -3.75816957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.266559995 meters 0.011644769529527981 Centerline is valid? [True, True] Translation: X:224.80, Y:-61.17, Z:-3.76 [[ 8.14500954e-01 5.80064053e-01 1.06719218e-02 2.24795644e+02] [-5.80014711e-01 8.14570865e-01 -7.56578233e-03 -6.11651560e+01] [-1.30816749e-02 -2.75346873e-05 9.99914431e-01 -3.75860172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.326559995 meters 0.012947199396379174 Centerline is valid? [True, True] Translation: X:224.85, Y:-61.19, Z:-3.76 [[ 8.08856945e-01 5.87908019e-01 1.07053036e-02 2.24848774e+02] [-5.87858992e-01 8.08927771e-01 -7.59386295e-03 -6.11949971e+01] [-1.31243103e-02 -1.50860203e-04 9.99913861e-01 -3.76009489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.386559995 meters 0.014491859743937638 Centerline is valid? [True, True] Translation: X:224.90, Y:-61.23, Z:-3.76 [[ 8.04790826e-01 5.93461914e-01 1.07089549e-02 2.24900835e+02] [-5.93413322e-01 8.04862037e-01 -7.59808672e-03 -6.12279497e+01] [-1.31284063e-02 -2.39965983e-04 9.99913790e-01 -3.76081770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.446559995 meters 0.01625267885903208 Centerline is valid? [True, True] Translation: X:224.95, Y:-61.26, Z:-3.76 [[ 7.99863001e-01 6.00081360e-01 1.10245808e-02 2.24951184e+02] [-6.00030426e-01 7.99938895e-01 -7.82639089e-03 -6.12628381e+01] [-1.35154623e-02 -3.55043430e-04 9.99908599e-01 -3.76099037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.506559995 meters 0.018007368221141185 Centerline is valid? [True, True] Translation: X:225.00, Y:-61.30, Z:-3.76 [[ 7.97454059e-01 6.03282407e-01 1.08333588e-02 2.25001627e+02] [-6.03233519e-01 7.97527539e-01 -7.69060287e-03 -6.12975744e+01] [-1.32795074e-02 -4.02142665e-04 9.99911743e-01 -3.76184704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.566559995 meters 0.019736579712061265 Centerline is valid? [True, True] Translation: X:225.05, Y:-61.33, Z:-3.76 [[ 7.95598263e-01 6.05735353e-01 1.03963997e-02 2.25051216e+02] [-6.05690495e-01 7.95666075e-01 -7.38381034e-03 -6.13343176e+01] [-1.27446975e-02 -4.22453772e-04 9.99918694e-01 -3.76325590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.626559995 meters 0.020334281415183213 Centerline is valid? [True, True] Translation: X:225.10, Y:-61.37, Z:-3.76 [[ 7.95544175e-01 6.05810779e-01 1.01373743e-02 2.25099105e+02] [-6.05768095e-01 7.95608655e-01 -7.20303154e-03 -6.13732111e+01] [-1.24290569e-02 -4.10568152e-04 9.99922672e-01 -3.76471494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68655999499998 meters 0.02010318317669398 Centerline is valid? [True, True] Translation: X:225.15, Y:-61.41, Z:-3.77 [[ 7.96232611e-01 6.04919036e-01 9.30531798e-03 2.25146883e+02] [-6.04882973e-01 7.96286901e-01 -6.61510739e-03 -6.14126141e+01] [-1.14113072e-02 -3.61464181e-04 9.99934824e-01 -3.76664122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74655999499998 meters 0.019261971464704503 Centerline is valid? [True, True] Translation: X:225.19, Y:-61.45, Z:-3.77 [[ 7.98241290e-01 6.02291691e-01 7.45397548e-03 2.25190844e+02] [-6.02268403e-01 7.98276051e-01 -5.30253198e-03 -6.14544839e+01] [-9.14400106e-03 -2.56593942e-04 9.99958160e-01 -3.76963414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.806559995 meters 0.017064493163038603 Centerline is valid? [True, True] Translation: X:225.24, Y:-61.50, Z:-3.77 [[ 7.99556790e-01 6.00556272e-01 6.41118760e-03 2.25236453e+02] [-6.00539005e-01 7.99582467e-01 -4.55864223e-03 -6.14977592e+01] [-7.86399439e-03 -2.05274875e-04 9.99969057e-01 -3.77102087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.866559995 meters 0.015670127448644197 Centerline is valid? [True, True] Translation: X:225.28, Y:-61.54, Z:-3.77 [[ 8.01555739e-01 5.97892308e-01 5.76060622e-03 2.25281178e+02] [-5.97878276e-01 8.01576423e-01 -4.09932043e-03 -6.15428968e+01] [-7.06851828e-03 -1.58307503e-04 9.99975005e-01 -3.77188663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.926559995 meters 0.014780238835676935 Centerline is valid? [True, True] Translation: X:225.33, Y:-61.59, Z:-3.77 [[ 8.02849578e-01 5.96146807e-01 6.44505382e-03 2.25326103e+02] [-5.96129190e-01 8.02875431e-01 -4.58588629e-03 -6.15863495e+01] [-7.90843684e-03 -1.60307840e-04 9.99968715e-01 -3.77159353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.986559995 meters 0.014533282578947865 Centerline is valid? [True, True] Translation: X:225.37, Y:-61.63, Z:-3.77 [[ 8.03247755e-01 5.95601073e-01 7.23920905e-03 2.25374086e+02] [-5.95578787e-01 8.03280358e-01 -5.15518189e-03 -6.16269463e+01] [-8.88554630e-03 -1.70631061e-04 9.99960508e-01 -3.77174846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.046559995 meters 0.014999872210917139 Centerline is valid? [True, True] Translation: X:225.42, Y:-61.67, Z:-3.77 [[ 8.02073336e-01 5.97183757e-01 7.06561639e-03 2.25421770e+02] [-5.97162585e-01 8.02104436e-01 -5.03191892e-03 -6.16673099e+01] [-8.67234250e-03 -1.83353752e-04 9.99962378e-01 -3.77305843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.106559995 meters 0.015238279828338338 Centerline is valid? [True, True] Translation: X:225.47, Y:-61.71, Z:-3.77 [[ 8.00271030e-01 5.99602927e-01 6.52744087e-03 2.25470534e+02] [-5.99584922e-01 8.00297627e-01 -4.65063257e-03 -6.17060685e+01] [-8.01242835e-03 -1.91988608e-04 9.99967882e-01 -3.77392755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.166559995 meters 0.017357884690670455 Centerline is valid? [True, True] Translation: X:225.52, Y:-61.74, Z:-3.78 [[ 7.96472759e-01 6.04644705e-01 5.99367125e-03 2.25520430e+02] [-6.04629636e-01 7.96495281e-01 -4.27445163e-03 -6.17415374e+01] [-7.35845541e-03 -2.19466982e-04 9.99972902e-01 -3.77527418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.226559995 meters 0.020318027052190074 Centerline is valid? [True, True] Translation: X:225.57, Y:-61.77, Z:-3.78 [[ 7.93670687e-01 6.08322710e-01 5.50651152e-03 2.25571049e+02] [-6.08310076e-01 7.93689754e-01 -3.92746796e-03 -6.17743361e+01] [-6.75962973e-03 -2.32550249e-04 9.99977126e-01 -3.77747473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.286559995 meters 0.021570492453949323 Centerline is valid? [True, True] Translation: X:225.62, Y:-61.81, Z:-3.78 [[ 7.91013427e-01 6.11781830e-01 4.55533621e-03 2.25620006e+02] [-6.11773241e-01 7.91026514e-01 -3.24889481e-03 -6.18115631e+01] [-5.59100654e-03 -2.16913381e-04 9.99984347e-01 -3.77894672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.346559995 meters 0.02205764993554364 Centerline is valid? [True, True] Translation: X:225.67, Y:-61.85, Z:-3.78 [[ 7.90631615e-01 6.12279259e-01 3.96965002e-03 2.25669161e+02] [-6.12272756e-01 7.90641557e-01 -2.82850661e-03 -6.18500392e+01] [-4.87040620e-03 -1.94201810e-04 9.99988121e-01 -3.77999782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40655999499998 meters 0.020493360261904466 Centerline is valid? [True, True] Translation: X:225.72, Y:-61.89, Z:-3.78 [[ 7.91729149e-01 6.10857993e-01 4.17935463e-03 2.25716691e+02] [-6.10850749e-01 7.91740156e-01 -2.98112128e-03 -6.18910783e+01] [-5.13000466e-03 -1.92721292e-04 9.99986823e-01 -3.78026288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46655999499998 meters 0.02089464332691324 Centerline is valid? [True, True] Translation: X:225.76, Y:-61.93, Z:-3.78 [[ 7.93864268e-01 6.08075775e-01 4.83475259e-03 2.25764665e+02] [-6.08066014e-01 7.93878965e-01 -3.45121615e-03 -6.19284040e+01] [-5.93680932e-03 -2.00051557e-04 9.99982357e-01 -3.78134735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52655999499999 meters 0.01912775110504492 Centerline is valid? [True, True] Translation: X:225.81, Y:-61.97, Z:-3.78 [[ 7.97508124e-01 6.03276619e-01 6.17356578e-03 2.25808978e+02] [-6.03260553e-01 7.97531992e-01 -4.40771581e-03 -6.19693067e+01] [-7.58268810e-03 -2.09079537e-04 9.99971229e-01 -3.78184102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.586559995 meters 0.016055563370614343 Centerline is valid? [True, True] Translation: X:225.85, Y:-62.01, Z:-3.78 [[ 7.99869282e-01 6.00143200e-01 6.10512276e-03 2.25853482e+02] [-6.00127398e-01 7.99892561e-01 -4.35860196e-03 -6.20119703e+01] [-7.49922760e-03 -1.77539621e-04 9.99971865e-01 -3.78185368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.646559995 meters 0.013954240023563942 Centerline is valid? [True, True] Translation: X:225.90, Y:-62.05, Z:-3.78 [[ 8.02857988e-01 5.96144367e-01 5.56285651e-03 2.25898447e+02] [-5.96131150e-01 8.02877249e-01 -3.97168223e-03 -6.20543534e+01] [-6.83398692e-03 -1.27495242e-04 9.99976640e-01 -3.78271007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.706559995 meters 0.013864709424980222 Centerline is valid? [True, True] Translation: X:225.95, Y:-62.09, Z:-3.79 [[ 8.04242927e-01 5.94275505e-01 5.47162409e-03 2.25947111e+02] [-5.94262687e-01 8.04261532e-01 -3.90465874e-03 -6.20912242e+01] [-6.72105981e-03 -1.11287862e-04 9.99977407e-01 -3.78542332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.766559995 meters 0.013646905269062735 Centerline is valid? [True, True] Translation: X:226.00, Y:-62.13, Z:-3.79 [[ 8.04004119e-01 5.94593902e-01 5.95553201e-03 2.25997922e+02] [-5.94578712e-01 8.04026167e-01 -4.25186986e-03 -6.21278700e+01] [-7.31653946e-03 -1.22511677e-04 9.99973226e-01 -3.78573022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.826559995 meters 0.014193930112567385 Centerline is valid? [True, True] Translation: X:226.05, Y:-62.16, Z:-3.79 [[ 8.01995936e-01 5.97321588e-01 3.07240422e-03 2.26049338e+02] [-5.97317568e-01 8.02001817e-01 -2.19289398e-03 -6.21616032e+01] [-3.77393668e-03 -7.65089575e-05 9.99992876e-01 -3.78724151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.886559995 meters 0.019261309488430325 Centerline is valid? [True, True] Translation: X:226.11, Y:-62.19, Z:-3.80 [[ 7.97320596e-01 6.03555214e-01 -9.85739599e-04 2.26105954e+02] [-6.03554802e-01 7.97321205e-01 7.05220277e-04 -6.21859211e+01] [ 1.21159046e-03 3.26612170e-05 9.99999265e-01 -3.79538435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.946559995 meters 0.019289909208405058 Centerline is valid? [True, True] Translation: X:226.16, Y:-62.22, Z:-3.79 [[ 7.94179659e-01 6.07681801e-01 -1.22359522e-03 2.26156532e+02] [-6.07681172e-01 7.94180600e-01 8.75535090e-04 -6.22194965e+01] [ 1.50380233e-03 4.82236180e-05 9.99998868e-01 -3.79470493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.006559995 meters 0.020040122560953725 Centerline is valid? [True, True] Translation: X:226.21, Y:-62.25, Z:-3.79 [[ 7.91626864e-01 6.11004781e-01 2.56426050e-04 2.26208312e+02] [-6.11004754e-01 7.91626905e-01 -1.82070189e-04 -6.22539336e+01] [-3.14239516e-04 -1.25458830e-05 9.99999951e-01 -3.79177671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.066559995 meters 0.019942951208021073 Centerline is valid? [True, True] Translation: X:226.26, Y:-62.29, Z:-3.79 [[ 7.91169199e-01 6.11595824e-01 1.35894594e-03 2.26260474e+02] [-6.11595063e-01 7.91170363e-01 -9.67219629e-04 -6.22895574e+01] [-1.66670524e-03 -6.58902517e-05 9.99998609e-01 -3.79115941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.126559995 meters 0.020016512312593465 Centerline is valid? [True, True] Translation: X:226.31, Y:-62.32, Z:-3.79 [[ 7.91682697e-01 6.10922714e-01 3.45611764e-03 2.26312789e+02] [-6.10917739e-01 7.91690226e-01 -2.47039553e-03 -6.23235888e+01] [-4.24539529e-03 -1.55634179e-04 9.99990976e-01 -3.78980957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18655999499998 meters 0.019802314760790023 Centerline is valid? [True, True] Translation: X:226.36, Y:-62.36, Z:-3.79 [[ 7.91709224e-01 6.10882102e-01 4.42297509e-03 2.26364414e+02] [-6.10873937e-01 7.91721554e-01 -3.16445899e-03 -6.23587331e+01] [-5.43487607e-03 -1.96548836e-04 9.99985212e-01 -3.78855004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24655999499998 meters 0.018665831461151944 Centerline is valid? [True, True] Translation: X:226.42, Y:-62.39, Z:-3.79 [[ 7.92432891e-01 6.09932968e-01 5.64691616e-03 2.26415392e+02] [-6.09919612e-01 7.92452975e-01 -4.04351497e-03 -6.23944977e+01] [-6.94118860e-03 -2.39950656e-04 9.99975881e-01 -3.78751617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.306559995 meters 0.02044137012679036 Centerline is valid? [True, True] Translation: X:226.47, Y:-62.43, Z:-3.79 [[ 7.93031036e-01 6.09147066e-01 6.45197883e-03 2.26467810e+02] [-6.09129578e-01 7.93057238e-01 -4.62330837e-03 -6.24262043e+01] [-7.93306324e-03 -2.63664120e-04 9.99968498e-01 -3.78907526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.366559995 meters 0.019501377099721495 Centerline is valid? [True, True] Translation: X:226.52, Y:-62.46, Z:-3.79 [[ 7.94987552e-01 6.06597234e-01 5.88121228e-03 2.26517781e+02] [-6.06582606e-01 7.95009277e-01 -4.21798595e-03 -6.24609021e+01] [-7.23423693e-03 -2.14194750e-04 9.99973810e-01 -3.79122948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.426559995 meters 0.01568241051275456 Centerline is valid? [True, True] Translation: X:226.56, Y:-62.50, Z:-3.79 [[ 7.97690296e-01 6.03050515e-01 4.50197371e-03 2.26564471e+02] [-6.03041887e-01 7.97702988e-01 -3.22884914e-03 -6.25013735e+01] [-5.53839701e-03 -1.39257095e-04 9.99984653e-01 -3.79231362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.486559995 meters 0.014305818278392536 Centerline is valid? [True, True] Translation: X:226.61, Y:-62.54, Z:-3.79 [[ 8.00601364e-01 5.99179717e-01 4.59592164e-03 2.26612576e+02] [-5.99170659e-01 8.00614548e-01 -3.29649052e-03 -6.25395161e+01] [-5.65475198e-03 -1.14566593e-04 9.99984005e-01 -3.79351330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.546559995 meters 0.013247535851798052 Centerline is valid? [True, True] Translation: X:226.66, Y:-62.58, Z:-3.80 [[ 8.03617502e-01 5.95124704e-01 5.04937511e-03 2.26660342e+02] [-5.95113689e-01 8.03633360e-01 -3.62208225e-03 -6.25777875e+01] [-6.21343692e-03 -9.41835537e-05 9.99980692e-01 -3.79549989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.606559995 meters 0.013476117377214884 Centerline is valid? [True, True] Translation: X:226.71, Y:-62.61, Z:-3.80 [[ 8.02766334e-01 5.96270773e-01 5.23241686e-03 2.26711150e+02] [-5.96258983e-01 8.02783379e-01 -3.75123947e-03 -6.26138026e+01] [-6.43725174e-03 -1.08506798e-04 9.99979275e-01 -3.79658251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.666559995 meters 0.013476117377214884 Centerline is valid? [True, True] Translation: X:226.76, Y:-62.65, Z:-3.80 [[ 8.02597725e-01 5.96497713e-01 5.23168638e-03 2.26761817e+02] [-5.96485921e-01 8.02614769e-01 -3.75225772e-03 -6.26502675e+01] [-6.43724190e-03 -1.09073762e-04 9.99979275e-01 -3.79757366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.726559995 meters 0.01345561202750299 Centerline is valid? [True, True] Translation: X:226.81, Y:-62.69, Z:-3.80 [[ 8.01694029e-01 5.97712129e-01 5.18595882e-03 2.26811882e+02] [-5.97700552e-01 8.01710794e-01 -3.72199263e-03 -6.26868975e+01] [-6.38231930e-03 -1.15751181e-04 9.99979626e-01 -3.79797282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.786559995 meters 0.01345561202750299 Centerline is valid? [True, True] Translation: X:226.86, Y:-62.72, Z:-3.80 [[ 8.01521626e-01 5.97943306e-01 5.18522101e-03 2.26862533e+02] [-5.97931726e-01 8.01538389e-01 -3.72301994e-03 -6.27233828e+01] [-6.38230855e-03 -1.16327155e-04 9.99979626e-01 -3.79896399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.846559995 meters 0.014243107877372442 Centerline is valid? [True, True] Translation: X:226.91, Y:-62.76, Z:-3.80 [[ 8.00685657e-01 5.99061846e-01 5.23293453e-03 2.26912668e+02] [-5.99050050e-01 8.00702747e-01 -3.76139017e-03 -6.27583530e+01] [-6.44333040e-03 -1.23098534e-04 9.99979234e-01 -3.80022552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90655999499998 meters 0.014177994271951613 Centerline is valid? [True, True] Translation: X:226.96, Y:-62.80, Z:-3.80 [[ 7.99873001e-01 6.00146246e-01 5.25980523e-03 2.26962354e+02] [-6.00134353e-01 7.99890284e-01 -3.78049422e-03 -6.27950336e+01] [-6.47611652e-03 -1.32674553e-04 9.99979021e-01 -3.80093976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96655999499998 meters 0.015998088972328576 Centerline is valid? [True, True] Translation: X:227.01, Y:-62.83, Z:-3.80 [[ 7.98463075e-01 6.02021882e-01 5.13524144e-03 2.27013274e+02] [-6.02010572e-01 7.98479576e-01 -3.69303682e-03 -6.28288862e+01] [-6.32367439e-03 -1.42716099e-04 9.99979995e-01 -3.80292168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02655999499999 meters 0.015123047423163187 Centerline is valid? [True, True] Translation: X:227.06, Y:-62.87, Z:-3.80 [[ 7.96822683e-01 6.04187794e-01 5.54265051e-03 2.27062315e+02] [-6.04174657e-01 7.96841942e-01 -3.98798883e-03 -6.28675445e+01] [-6.82611057e-03 -1.71009003e-04 9.99976687e-01 -3.80261007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.086559995 meters 0.016553343943336074 Centerline is valid? [True, True] Translation: X:227.11, Y:-62.90, Z:-3.80 [[ 7.95380084e-01 6.06080599e-01 6.06868639e-03 2.27112667e+02] [-6.06064882e-01 7.95403210e-01 -4.36953377e-03 -6.29023368e+01] [-7.47534228e-03 -2.02577567e-04 9.99972039e-01 -3.80371783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.146559995 meters 0.016636198130749992 Centerline is valid? [True, True] Translation: X:227.16, Y:-62.94, Z:-3.80 [[ 7.94695222e-01 6.06972122e-01 6.65933180e-03 2.27162780e+02] [-6.06953206e-01 7.94723090e-01 -4.79744410e-03 -6.29391524e+01] [-8.20423957e-03 -2.29396879e-04 9.99966318e-01 -3.80428392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.206559995 meters 0.015793246562348335 Centerline is valid? [True, True] Translation: X:227.21, Y:-62.98, Z:-3.81 [[ 7.94070545e-01 6.07787156e-01 6.83685870e-03 2.27212517e+02] [-6.07767226e-01 7.94099940e-01 -4.92794560e-03 -6.29768633e+01] [-8.42429112e-03 -2.42082194e-04 9.99964486e-01 -3.80516184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.266559995 meters 0.016723198328694032 Centerline is valid? [True, True] Translation: X:227.26, Y:-63.01, Z:-3.81 [[ 7.93293714e-01 6.08815492e-01 5.36470990e-03 2.27262812e+02] [-6.08803236e-01 7.93311829e-01 -3.86810856e-03 -6.30115801e+01] [-6.61085224e-03 -1.97506538e-04 9.99978129e-01 -3.80776153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.326559995 meters 0.01667189722469783 Centerline is valid? [True, True] Translation: X:227.31, Y:-63.05, Z:-3.81 [[ 7.93100324e-01 6.09073288e-01 4.64813108e-03 2.27313276e+02] [-6.09064090e-01 7.93113926e-01 -3.35180548e-03 -6.30483422e+01] [-5.72799268e-03 -1.72691715e-04 9.99983580e-01 -3.80915556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.386559995 meters 0.016631391997659395 Centerline is valid? [True, True] Translation: X:227.36, Y:-63.09, Z:-3.81 [[ 7.93293565e-01 6.08824539e-01 4.24271087e-03 2.27363168e+02] [-6.08816862e-01 7.93304895e-01 -3.06130950e-03 -6.30853179e+01] [-5.22956364e-03 -1.54516793e-04 9.99986314e-01 -3.81057737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.446559995 meters 0.016227007921514842 Centerline is valid? [True, True] Translation: X:227.41, Y:-63.12, Z:-3.81 [[ 7.94706262e-01 6.06981168e-01 3.97736979e-03 2.27412252e+02] [-6.06974392e-01 7.94716204e-01 -2.87111313e-03 -6.31228224e+01] [-4.90359182e-03 -1.32470027e-04 9.99987969e-01 -3.81165480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.506559995 meters 0.014349244347277556 Centerline is valid? [True, True] Translation: X:227.46, Y:-63.16, Z:-3.81 [[ 7.98385120e-01 6.02131256e-01 4.37613442e-03 2.27459145e+02] [-6.02122955e-01 7.98397106e-01 -3.16362121e-03 -6.31631894e+01] [-5.39880827e-03 -1.09182893e-04 9.99985420e-01 -3.81221207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.566559995 meters 0.013167403585286893 Centerline is valid? [True, True] Translation: X:227.51, Y:-63.20, Z:-3.81 [[ 8.02281818e-01 5.96921247e-01 5.37673748e-03 2.27505233e+02] [-5.96908592e-01 8.02299829e-01 -3.88807258e-03 -6.32025980e+01] [-6.63462870e-03 -9.00908645e-05 9.99977987e-01 -3.81271538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.626559995 meters 0.011992359397078522 Centerline is valid? [True, True] Translation: X:227.55, Y:-63.25, Z:-3.81 [[ 8.07017150e-01 5.90488342e-01 6.84378886e-03 2.27550522e+02] [-5.90467604e-01 8.07046167e-01 -4.94905629e-03 -6.32450789e+01] [-8.44561361e-03 -4.70623122e-05 9.99964334e-01 -3.81105013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68655999499998 meters 0.011931952148190868 Centerline is valid? [True, True] Translation: X:227.60, Y:-63.29, Z:-3.81 [[ 8.12002211e-01 5.83619919e-01 6.34032471e-03 2.27596927e+02] [-5.83601925e-01 8.12026964e-01 -4.58303178e-03 -6.32871342e+01] [-7.82326326e-03 2.12062350e-05 9.99969398e-01 -3.81224082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74655999499998 meters 0.012397487406000671 Centerline is valid? [True, True] Translation: X:227.65, Y:-63.33, Z:-3.81 [[ 8.15101287e-01 5.79295857e-01 5.11871884e-03 2.27645404e+02] [-5.79284036e-01 8.15117358e-01 -3.70122376e-03 -6.33260061e+01] [-6.31646017e-03 5.16801440e-05 9.99980050e-01 -3.81428680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.806559995 meters 0.013445521745843323 Centerline is valid? [True, True] Translation: X:227.69, Y:-63.37, Z:-3.82 [[ 8.17867975e-01 5.75391653e-01 4.05230551e-03 2.27692583e+02] [-5.75384192e-01 8.17878012e-01 -2.93092822e-03 -6.33659224e+01] [-5.00072321e-03 6.54797973e-05 9.99987494e-01 -3.81651412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.866559995 meters 0.013613477878902928 Centerline is valid? [True, True] Translation: X:227.74, Y:-63.40, Z:-3.82 [[ 8.18862253e-01 5.73975665e-01 4.06782729e-03 2.27741630e+02] [-5.73968116e-01 8.18872353e-01 -2.94481075e-03 -6.34032046e+01] [-5.02128101e-03 7.65911993e-05 9.99987390e-01 -3.81673669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.926559995 meters 0.014062371737132925 Centerline is valid? [True, True] Translation: X:227.79, Y:-63.44, Z:-3.82 [[ 8.19885649e-01 5.72510043e-01 4.44667919e-03 2.27791464e+02] [-5.72501002e-01 8.19897702e-01 -3.21880054e-03 -6.34408276e+01] [-5.48861769e-03 9.33200766e-05 9.99984933e-01 -3.81747895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.986559995 meters 0.013896000803600846 Centerline is valid? [True, True] Translation: X:227.84, Y:-63.48, Z:-3.82 [[ 8.18669747e-01 5.74243418e-01 4.93376779e-03 2.27840917e+02] [-5.74232303e-01 8.18684609e-01 -3.57402352e-03 -6.34761836e+01] [-6.09155923e-03 9.28160935e-05 9.99981442e-01 -3.81845998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.046559995 meters 0.012679229727931153 Centerline is valid? [True, True] Translation: X:227.89, Y:-63.51, Z:-3.82 [[ 8.16395214e-01 5.77473691e-01 4.79481042e-03 2.27893336e+02] [-5.77463234e-01 8.16409292e-01 -3.47596820e-03 -6.35104336e+01] [-5.92180797e-03 6.89370755e-05 9.99982464e-01 -3.81844239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.106559995 meters 0.012077096738525327 Centerline is valid? [True, True] Translation: X:227.95, Y:-63.54, Z:-3.82 [[ 8.13401388e-01 5.81676841e-01 5.49865996e-03 2.27945695e+02] [-5.81663182e-01 8.13419972e-01 -3.98650063e-03 -6.35443812e+01] [-6.79157493e-03 4.42570973e-05 9.99976936e-01 -3.81916517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.166559995 meters 0.011677456987434514 Centerline is valid? [True, True] Translation: X:228.00, Y:-63.57, Z:-3.82 [[ 8.07976837e-01 5.89180211e-01 6.33326651e-03 2.27998901e+02] [-5.89162293e-01 8.08001658e-01 -4.59494516e-03 -6.35745419e+01] [-7.82454059e-03 -1.87125621e-05 9.99969388e-01 -3.82041615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.226559995 meters 0.012200037231785135 Centerline is valid? [True, True] Translation: X:228.05, Y:-63.61, Z:-3.82 [[ 8.03957088e-01 5.94656180e-01 6.08509590e-03 2.28052097e+02] [-5.94639782e-01 8.03980113e-01 -4.41665702e-03 -6.36074835e+01] [-7.51868849e-03 -6.76373888e-05 9.99971732e-01 -3.82151993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.286559995 meters 0.013539218509210187 Centerline is valid? [True, True] Translation: X:228.11, Y:-63.64, Z:-3.82 [[ 7.98539510e-01 6.01910268e-01 6.21927746e-03 2.28105555e+02] [-6.01893329e-01 7.98563717e-01 -4.51778722e-03 -6.36390938e+01] [-7.68579184e-03 -1.35710015e-04 9.99970455e-01 -3.82320696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.346559995 meters 0.015474003009540915 Centerline is valid? [True, True] Translation: X:228.16, Y:-63.67, Z:-3.82 [[ 7.94575807e-01 6.07122972e-01 7.14027963e-03 2.28158334e+02] [-6.07100833e-01 7.94607861e-01 -5.18906226e-03 -6.36712727e+01] [-8.82412123e-03 -2.11766373e-04 9.99961044e-01 -3.82394302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40655999499998 meters 0.01619729663264914 Centerline is valid? [True, True] Translation: X:228.21, Y:-63.71, Z:-3.82 [[ 7.93130409e-01 6.09007184e-01 7.37595676e-03 2.28209129e+02] [-6.08983650e-01 7.93164669e-01 -5.35928263e-03 -6.37061454e+01] [-9.11418992e-03 -2.41227046e-04 9.99958436e-01 -3.82478532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46655999499998 meters 0.017787108058552544 Centerline is valid? [True, True] Translation: X:228.26, Y:-63.74, Z:-3.83 [[ 7.92387600e-01 6.09973707e-01 7.34633478e-03 2.28259848e+02] [-6.09950380e-01 7.92421614e-01 -5.34033434e-03 -6.37403851e+01] [-9.07885800e-03 -2.49284984e-04 9.99958755e-01 -3.82640146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52655999499999 meters 0.01723066421419413 Centerline is valid? [True, True] Translation: X:228.31, Y:-63.78, Z:-3.83 [[ 7.92128614e-01 6.10313876e-01 7.01650700e-03 2.28310360e+02] [-6.10292595e-01 7.92159652e-01 -5.10233778e-03 -6.37785395e+01] [-8.67222129e-03 -2.40414513e-04 9.99962367e-01 -3.82811046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.586559995 meters 0.016130447633610767 Centerline is valid? [True, True] Translation: X:228.36, Y:-63.82, Z:-3.83 [[ 7.93206127e-01 6.08919055e-01 6.45174144e-03 2.28358647e+02] [-6.08900995e-01 7.93232338e-01 -4.69422748e-03 -6.38178759e+01] [-7.97613451e-03 -2.04981789e-04 9.99968169e-01 -3.82939804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.646559995 meters 0.014389140372815449 Centerline is valid? [True, True] Translation: X:228.41, Y:-63.86, Z:-3.83 [[ 7.96083911e-01 6.05138212e-01 7.62572366e-03 2.28405404e+02] [-6.05112758e-01 7.96120410e-01 -5.55362712e-03 -6.38588810e+01] [-9.43170623e-03 -1.93269481e-04 9.99955502e-01 -3.82894039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.706559995 meters 0.013699111495613953 Centerline is valid? [True, True] Translation: X:228.45, Y:-63.90, Z:-3.83 [[ 7.97041872e-01 6.03869653e-01 8.10533978e-03 2.28453909e+02] [-6.03840838e-01 7.97083061e-01 -5.90222473e-03 -6.38978069e+01] [-1.00248034e-02 -1.90014926e-04 9.99949732e-01 -3.82900046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.766559995 meters 0.013055465206281073 Centerline is valid? [True, True] Translation: X:228.50, Y:-63.94, Z:-3.83 [[ 7.99777785e-01 6.00233402e-01 8.68085818e-03 2.28500869e+02] [-6.00200094e-01 7.99824881e-01 -6.32512667e-03 -6.39367119e+01] [-1.07397187e-02 -1.51556095e-04 9.99942316e-01 -3.82917239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.826559995 meters 0.011504878675298027 Centerline is valid? [True, True] Translation: X:228.55, Y:-63.98, Z:-3.83 [[ 8.05460968e-01 5.92582102e-01 8.89282628e-03 2.28545616e+02] [-5.92546643e-01 8.05510056e-01 -6.48267055e-03 -6.39806466e+01] [-1.10047755e-02 -4.78762655e-05 9.99939444e-01 -3.82937955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.886559995 meters 0.011567543539293903 Centerline is valid? [True, True] Translation: X:228.59, Y:-64.02, Z:-3.83 [[ 8.09527081e-01 5.87013239e-01 9.02011100e-03 2.28593094e+02] [-5.86976374e-01 8.09577332e-01 -6.57876267e-03 -6.40220125e+01] [-1.11642982e-02 3.10944991e-05 9.99937677e-01 -3.83058550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.946559995 meters 0.013015971399942223 Centerline is valid? [True, True] Translation: X:228.64, Y:-64.07, Z:-3.83 [[ 8.16532491e-01 5.77236747e-01 8.51052545e-03 2.28638349e+02] [-5.77203345e-01 8.16576825e-01 -6.21185566e-03 -6.40658839e+01] [-1.05352092e-02 1.59878226e-04 9.99944490e-01 -3.83164019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.006559995 meters 0.014455231708721287 Centerline is valid? [True, True] Translation: X:228.68, Y:-64.11, Z:-3.83 [[ 8.20740597e-01 5.71244493e-01 8.03746524e-03 2.28684655e+02] [-5.71214415e-01 8.20779921e-01 -5.86627018e-03 -6.41062808e+01] [-9.94806462e-03 2.23570086e-04 9.99950492e-01 -3.83242397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.066559995 meters 0.016547139273964732 Centerline is valid? [True, True] Translation: X:228.73, Y:-64.15, Z:-3.83 [[ 8.24425036e-01 5.65914108e-01 8.03632307e-03 2.28731328e+02] [-5.65883749e-01 8.24464152e-01 -5.86900202e-03 -6.41450409e+01] [-9.94701132e-03 2.90927573e-04 9.99950485e-01 -3.83245137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.126559995 meters 0.01652195051121134 Centerline is valid? [True, True] Translation: X:228.78, Y:-64.18, Z:-3.83 [[ 8.25064728e-01 5.64981274e-01 8.02220435e-03 2.28782322e+02] [-5.64950974e-01 8.25103672e-01 -5.85900570e-03 -6.41800750e+01] [-9.92937877e-03 3.01906787e-04 9.99950657e-01 -3.83326805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18655999499998 meters 0.017667215934868915 Centerline is valid? [True, True] Translation: X:228.83, Y:-64.22, Z:-3.83 [[ 8.24589750e-01 5.65675956e-01 7.90298607e-03 2.28832447e+02] [-5.65646552e-01 8.24627569e-01 -5.77505218e-03 -6.42151331e+01] [-9.78382836e-03 2.91752014e-04 9.99952095e-01 -3.83437064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24655999499998 meters 0.016634638215238445 Centerline is valid? [True, True] Translation: X:228.88, Y:-64.25, Z:-3.83 [[ 8.23965784e-01 5.66583589e-01 7.96393268e-03 2.28884610e+02] [-5.66553745e-01 8.24004221e-01 -5.82227606e-03 -6.42496084e+01] [-9.86112020e-03 2.85360374e-04 9.99951337e-01 -3.83483013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.306559995 meters 0.015562283424612024 Centerline is valid? [True, True] Translation: X:228.94, Y:-64.28, Z:-3.84 [[ 8.21280531e-01 5.70470069e-01 7.88605121e-03 2.28938943e+02] [-5.70440943e-01 8.21318356e-01 -5.76955867e-03 -6.42802522e+01] [-9.76831915e-03 2.39899716e-04 9.99952260e-01 -3.83572581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.366559995 meters 0.013974855765151553 Centerline is valid? [True, True] Translation: X:228.99, Y:-64.31, Z:-3.84 [[ 8.18336496e-01 5.74690981e-01 7.46025665e-03 2.28993738e+02] [-5.74665081e-01 8.18370481e-01 -5.45900169e-03 -6.43100539e+01] [-9.24249286e-03 1.80151320e-04 9.99957271e-01 -3.83695117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.426559995 meters 0.012353674521356956 Centerline is valid? [True, True] Translation: X:229.05, Y:-64.34, Z:-3.84 [[ 8.12425724e-01 5.83019543e-01 7.25643921e-03 2.29050308e+02] [-5.82995362e-01 8.12458125e-01 -5.31057701e-03 -6.43368387e+01] [-8.99172317e-03 8.39789642e-05 9.99959570e-01 -3.83830953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.486559995 meters 0.011816231649472538 Centerline is valid? [True, True] Translation: X:229.10, Y:-64.37, Z:-3.84 [[ 8.07852375e-01 5.89341160e-01 7.17895459e-03 2.29104410e+02] [-5.89317746e-01 8.07884272e-01 -5.25334994e-03 -6.43660384e+01] [-8.89577985e-03 1.32458872e-05 9.99960432e-01 -3.83967477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.546559995 meters 0.011899577818170222 Centerline is valid? [True, True] Translation: X:229.16, Y:-64.40, Z:-3.84 [[ 8.03261561e-01 5.95585543e-01 6.98033810e-03 2.29159598e+02] [-5.95563637e-01 8.03291888e-01 -5.10852077e-03 -6.43952796e+01] [-8.64981009e-03 -5.37571753e-05 9.99962588e-01 -3.84120253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.606559995 meters 0.013182059411474472 Centerline is valid? [True, True] Translation: X:229.22, Y:-64.42, Z:-3.84 [[ 7.97851634e-01 6.02817125e-01 6.65466589e-03 2.29215349e+02] [-6.02797436e-01 7.97879376e-01 -4.87365000e-03 -6.44235736e+01] [-8.24754035e-03 -1.22965919e-04 9.99965981e-01 -3.84261472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.666559995 meters 0.013909104740735749 Centerline is valid? [True, True] Translation: X:229.27, Y:-64.46, Z:-3.84 [[ 7.95548701e-01 6.05846249e-01 7.25165827e-03 2.29267519e+02] [-6.05822989e-01 7.95581733e-01 -5.31144987e-03 -6.44565477e+01] [-8.98720884e-03 -1.67704238e-04 9.99959600e-01 -3.84325226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.726559995 meters 0.014367215631681219 Centerline is valid? [True, True] Translation: X:229.32, Y:-64.49, Z:-3.84 [[ 7.94465440e-01 6.07257592e-01 7.92977202e-03 2.29320019e+02] [-6.07229818e-01 7.94504989e-01 -5.81124714e-03 -6.44901350e+01] [-9.82916738e-03 -1.98359003e-04 9.99951673e-01 -3.84357231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.786559995 meters 0.014492384718839093 Centerline is valid? [True, True] Translation: X:229.37, Y:-64.52, Z:-3.85 [[ 7.94816650e-01 6.06809698e-01 6.96295122e-03 2.29370834e+02] [-6.06788250e-01 7.94847131e-01 -5.10465291e-03 -6.45248069e+01] [-8.63203469e-03 -1.67773857e-04 9.99962729e-01 -3.84636720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.846559995 meters 0.013786813888677822 Centerline is valid? [True, True] Translation: X:229.42, Y:-64.56, Z:-3.85 [[ 7.95552507e-01 6.05859905e-01 5.47571499e-03 2.29419616e+02] [-6.05846610e-01 7.95571342e-01 -4.01558237e-03 -6.45625310e+01] [-6.78920227e-03 -1.22836745e-04 9.99976946e-01 -3.84902712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90655999499998 meters 0.01353474081114015 Centerline is valid? [True, True] Translation: X:229.47, Y:-64.60, Z:-3.85 [[ 7.96651557e-01 6.04425874e-01 3.95714610e-03 2.29468918e+02] [-6.04418912e-01 7.96661381e-01 -2.90212597e-03 -6.46008165e+01] [-4.90662550e-03 -7.97907666e-05 9.99987959e-01 -3.85159942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96655999499998 meters 0.012815718066929088 Centerline is valid? [True, True] Translation: X:229.52, Y:-64.64, Z:-3.85 [[ 7.98974655e-01 6.01350965e-01 4.06405862e-03 2.29515988e+02] [-6.01343574e-01 7.98984989e-01 -2.98220807e-03 -6.46413501e+01] [-5.04047553e-03 -6.11868639e-05 9.99987295e-01 -3.85201466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02655999499999 meters 0.012316787532085908 Centerline is valid? [True, True] Translation: X:229.56, Y:-64.68, Z:-3.85 [[ 8.00332166e-01 5.99535203e-01 5.09560038e-03 2.29564049e+02] [-5.99523526e-01 8.00348385e-01 -3.74227263e-03 -6.46815185e+01] [-6.32187972e-03 -5.98711478e-05 9.99980015e-01 -3.85101946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.086559995 meters 0.012082178068592145 Centerline is valid? [True, True] Translation: X:229.61, Y:-64.72, Z:-3.85 [[ 8.01895271e-01 5.97417451e-01 7.50764047e-03 2.29610947e+02] [-5.97391961e-01 8.01930412e-01 -5.51896584e-03 -6.47219534e+01] [-9.31773173e-03 -5.93714543e-05 9.99956587e-01 -3.85000702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.146559995 meters 0.011989074170860781 Centerline is valid? [True, True] Translation: X:229.66, Y:-64.76, Z:-3.85 [[ 8.02237672e-01 5.96956705e-01 7.57694903e-03 2.29660120e+02] [-5.96930698e-01 8.02273451e-01 -5.57251976e-03 -6.47619041e+01] [-9.40533808e-03 -5.24281893e-05 9.99955767e-01 -3.85091783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.206559995 meters 0.012125902312895167 Centerline is valid? [True, True] Translation: X:229.71, Y:-64.80, Z:-3.85 [[ 8.01594051e-01 5.97833682e-01 6.47041838e-03 2.29708771e+02] [-5.97814725e-01 8.01620163e-01 -4.76112902e-03 -6.48011367e+01] [-8.03318113e-03 -5.16186858e-05 9.99967732e-01 -3.85315442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.266559995 meters 0.012797454043680623 Centerline is valid? [True, True] Translation: X:229.76, Y:-64.84, Z:-3.85 [[ 7.98935189e-01 6.01387524e-01 5.96736964e-03 2.29757958e+02] [-6.01371484e-01 7.98957470e-01 -4.39312242e-03 -6.48380890e+01] [-7.40964357e-03 -7.87858369e-05 9.99972545e-01 -3.85458758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.326559995 meters 0.013459531980764848 Centerline is valid? [True, True] Translation: X:229.81, Y:-64.87, Z:-3.86 [[ 7.96087687e-01 6.05160471e-01 5.01976828e-03 2.29808156e+02] [-6.05149190e-01 7.96103508e-01 -3.69635362e-03 -6.48741044e+01] [-6.23314224e-03 -9.50871024e-05 9.99980569e-01 -3.85595843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.386559995 meters 0.0152913817337137 Centerline is valid? [True, True] Translation: X:229.86, Y:-64.91, Z:-3.86 [[ 7.91715611e-01 6.10870427e-01 4.86953751e-03 2.29858939e+02] [-6.10859903e-01 7.91730575e-01 -3.58832560e-03 -6.49082131e+01] [-6.04736372e-03 -1.33671817e-04 9.99981706e-01 -3.85796083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.446559995 meters 0.01693296455748189 Centerline is valid? [True, True] Translation: X:229.91, Y:-64.94, Z:-3.86 [[ 7.89299981e-01 6.13986358e-01 5.12771134e-03 2.29908794e+02] [-6.13974739e-01 7.89316620e-01 -3.78076417e-03 -6.49426309e+01] [-6.36872540e-03 -1.64128149e-04 9.99979706e-01 -3.85922911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.506559995 meters 0.01842033909068208 Centerline is valid? [True, True] Translation: X:229.96, Y:-64.98, Z:-3.86 [[ 7.87664792e-01 6.16071994e-01 6.28288590e-03 2.29957779e+02] [-6.16054611e-01 7.87689818e-01 -4.63321901e-03 -6.49793625e+01] [-7.80336172e-03 -2.21177341e-04 9.99969529e-01 -3.85900579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.566559995 meters 0.017423821953128832 Centerline is valid? [True, True] Translation: X:230.01, Y:-65.02, Z:-3.86 [[ 7.87240918e-01 6.16603255e-01 7.22238726e-03 2.30006087e+02] [-6.16580284e-01 7.87274005e-01 -5.32862376e-03 -6.50195357e+01] [-8.97164450e-03 -2.58270931e-04 9.99959721e-01 -3.85816576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.626559995 meters 0.02011886653172977 Centerline is valid? [True, True] Translation: X:230.06, Y:-65.05, Z:-3.86 [[ 7.86152293e-01 6.17981930e-01 7.93141733e-03 2.30056438e+02] [-6.17954247e-01 7.86192245e-01 -5.85684356e-03 -6.50537622e+01] [-9.85504228e-03 -2.96882030e-04 9.99951394e-01 -3.85907147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68655999499998 meters 0.01841186581750225 Centerline is valid? [True, True] Translation: X:230.10, Y:-65.09, Z:-3.86 [[ 7.85053987e-01 6.19384249e-01 7.30678723e-03 2.30103921e+02] [-6.19360813e-01 7.85087937e-01 -5.39584940e-03 -6.50936621e+01] [-9.07857464e-03 -2.89504594e-04 9.99958747e-01 -3.86088487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74655999499998 meters 0.018135792200777153 Centerline is valid? [True, True] Translation: X:230.15, Y:-65.13, Z:-3.86 [[ 7.85057524e-01 6.19384326e-01 6.90946045e-03 2.30154165e+02] [-6.19363352e-01 7.85087882e-01 -5.10446874e-03 -6.51322360e+01] [-8.58616160e-03 -2.72164996e-04 9.99963101e-01 -3.86322414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.806559995 meters 0.018033938787478335 Centerline is valid? [True, True] Translation: X:230.20, Y:-65.17, Z:-3.86 [[ 7.85886210e-01 6.18330606e-01 7.08008384e-03 2.30202926e+02] [-6.18308509e-01 7.85918057e-01 -5.23410666e-03 -6.51712457e+01] [-8.80077408e-03 -2.64263836e-04 9.99961238e-01 -3.86416868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.866559995 meters 0.017218063279469443 Centerline is valid? [True, True] Translation: X:230.25, Y:-65.21, Z:-3.86 [[ 7.86616212e-01 6.17390624e-01 7.98453996e-03 2.30251063e+02] [-6.17362436e-01 7.86656683e-01 -5.90634828e-03 -6.52102166e+01] [-9.92761577e-03 -2.83325726e-04 9.99950680e-01 -3.86426351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.926559995 meters 0.01770773993559168 Centerline is valid? [True, True] Translation: X:230.30, Y:-65.25, Z:-3.87 [[ 7.87482173e-01 6.16277720e-01 8.57897659e-03 2.30300097e+02] [-6.16245073e-01 7.87528850e-01 -6.34984652e-03 -6.52469303e+01] [-1.06694605e-02 -2.86361116e-04 9.99943039e-01 -3.86504145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.986559995 meters 0.01660310146435816 Centerline is valid? [True, True] Translation: X:230.35, Y:-65.29, Z:-3.87 [[ 7.88239408e-01 6.15301535e-01 9.09159592e-03 2.30348713e+02] [-6.15264757e-01 7.88291786e-01 -6.73349366e-03 -6.52865500e+01] [-1.13099594e-02 -2.86133491e-04 9.99935999e-01 -3.86589865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.046559995 meters 0.01571778834385034 Centerline is valid? [True, True] Translation: X:230.40, Y:-65.33, Z:-3.87 [[ 7.88558997e-01 6.14893834e-01 8.95992572e-03 2.30397880e+02] [-6.14858085e-01 7.88609850e-01 -6.63620505e-03 -6.53250682e+01] [-1.11464472e-02 -2.76043570e-04 9.99937838e-01 -3.86728635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.106559995 meters 0.015552398444514831 Centerline is valid? [True, True] Translation: X:230.45, Y:-65.36, Z:-3.87 [[ 7.88897736e-01 6.14459152e-01 8.96172726e-03 2.30447575e+02] [-6.14423321e-01 7.88948591e-01 -6.64102465e-03 -6.53619450e+01] [-1.11509805e-02 -2.67204918e-04 9.99937790e-01 -3.86915658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.166559995 meters 0.01538882445435921 Centerline is valid? [True, True] Translation: X:230.50, Y:-65.40, Z:-3.87 [[ 7.89924946e-01 6.13153442e-01 7.83820138e-03 2.30496926e+02] [-6.13125944e-01 7.89963803e-01 -5.81087612e-03 -6.53990108e+01] [-9.75485406e-03 -2.15648623e-04 9.99952397e-01 -3.87180102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.226559995 meters 0.01409567404098912 Centerline is valid? [True, True] Translation: X:230.54, Y:-65.44, Z:-3.87 [[ 7.93390377e-01 6.08667323e-01 7.46994674e-03 2.30542418e+02] [-6.08642114e-01 7.93425527e-01 -5.54162540e-03 -6.54388722e+01] [-9.29985273e-03 -1.49851915e-04 9.99956744e-01 -3.87309056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.286559995 meters 0.012355848766343096 Centerline is valid? [True, True] Translation: X:230.59, Y:-65.48, Z:-3.87 [[ 7.98358750e-01 6.02121654e-01 8.53343862e-03 2.30586732e+02] [-6.02088363e-01 7.98404350e-01 -6.33223611e-03 -6.54823435e+01] [-1.06259110e-02 -8.24879808e-05 9.99943540e-01 -3.87151830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.346559995 meters 0.011935498093434282 Centerline is valid? [True, True] Translation: X:230.63, Y:-65.52, Z:-3.87 [[ 8.02486510e-01 5.96597507e-01 9.31748883e-03 2.30633324e+02] [-5.96557431e-01 8.02540600e-01 -6.91499714e-03 -6.55234127e+01] [-1.16031331e-02 -9.22527642e-06 9.99932681e-01 -3.87214415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40655999499998 meters 0.012333701884153227 Centerline is valid? [True, True] Translation: X:230.68, Y:-65.56, Z:-3.87 [[ 8.06524731e-01 5.91126390e-01 9.35142603e-03 2.30680936e+02] [-5.91085610e-01 8.06578939e-01 -6.94381714e-03 -6.55633296e+01] [-1.16473369e-02 7.28668867e-05 9.99932165e-01 -3.87310249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46655999499998 meters 0.013421693020890768 Centerline is valid? [True, True] Translation: X:230.73, Y:-65.60, Z:-3.87 [[ 8.10829991e-01 5.85189473e-01 1.03926470e-02 2.30728411e+02] [-5.85138554e-01 8.10896571e-01 -7.72162852e-03 -6.56021485e+01] [-1.29459775e-02 1.79789547e-04 9.99916181e-01 -3.87257201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52655999499999 meters 0.01570867623663998 Centerline is valid? [True, True] Translation: X:230.77, Y:-65.64, Z:-3.88 [[ 8.15409709e-01 5.78822122e-01 8.48277586e-03 2.30774359e+02] [-5.78787828e-01 8.15453799e-01 -6.30489153e-03 -6.56423679e+01] [-1.05667225e-02 2.31342354e-04 9.99944144e-01 -3.87550120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.586559995 meters 0.016775718642830475 Centerline is valid? [True, True] Translation: X:230.82, Y:-65.68, Z:-3.88 [[ 8.18507394e-01 5.74435698e-01 8.32315888e-03 2.30822872e+02] [-5.74402428e-01 8.18549661e-01 -6.18892099e-03 -6.56795860e+01] [-1.03680560e-02 2.84834915e-04 9.99946210e-01 -3.87679126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.646559995 meters 0.018775732645560903 Centerline is valid? [True, True] Translation: X:230.87, Y:-65.72, Z:-3.88 [[ 8.22672212e-01 5.68447595e-01 8.81837618e-03 2.30872225e+02] [-5.68409868e-01 8.22719383e-01 -6.56035598e-03 -6.57160535e+01] [-1.09842676e-02 3.84570520e-04 9.99939597e-01 -3.87786181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.706559995 meters 0.020169199907713844 Centerline is valid? [True, True] Translation: X:230.92, Y:-65.75, Z:-3.88 [[ 8.24014329e-01 5.66495575e-01 9.11863147e-03 2.30922391e+02] [-5.66455071e-01 8.24064670e-01 -6.78768461e-03 -6.57524075e+01] [-1.13595353e-02 4.27854341e-04 9.99935387e-01 -3.87915187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.766559995 meters 0.02073895358908379 Centerline is valid? [True, True] Translation: X:230.97, Y:-65.79, Z:-3.88 [[ 8.24137431e-01 5.66315720e-01 9.16513690e-03 2.30973469e+02] [-5.66274789e-01 8.24188279e-01 -6.82235584e-03 -6.57877851e+01] [-1.14174058e-02 4.32572851e-04 9.99934726e-01 -3.88001265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.826559995 meters 0.017790923470326844 Centerline is valid? [True, True] Translation: X:231.03, Y:-65.82, Z:-3.88 [[ 8.21036398e-01 5.70792243e-01 9.76973939e-03 2.31029047e+02] [-5.70745994e-01 8.21094426e-01 -7.27695156e-03 -6.58151676e+01] [-1.21755061e-02 3.98602472e-04 9.99925796e-01 -3.88062817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.886559995 meters 0.015934388302216728 Centerline is valid? [True, True] Translation: X:231.08, Y:-65.84, Z:-3.88 [[ 8.16901246e-01 5.76698449e-01 9.55269521e-03 2.31083056e+02] [-5.76654611e-01 8.16957040e-01 -7.11715697e-03 -6.58449442e+01] [-1.19085950e-02 3.05408653e-04 9.99929044e-01 -3.88198182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.946559995 meters 0.012942168563481847 Centerline is valid? [True, True] Translation: X:231.14, Y:-65.87, Z:-3.88 [[ 8.08766785e-01 5.88059129e-01 9.09660110e-03 2.31141272e+02] [-5.88020083e-01 8.08817930e-01 -6.77780758e-03 -6.58689731e+01] [-1.13432457e-02 1.32681515e-04 9.99935655e-01 -3.88281790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.006559995 meters 0.011978342179284743 Centerline is valid? [True, True] Translation: X:231.20, Y:-65.90, Z:-3.88 [[ 8.02885790e-01 5.96060282e-01 9.30311783e-03 2.31198302e+02] [-5.96019971e-01 8.02939686e-01 -6.93219007e-03 -6.58972039e+01] [-1.16018457e-02 2.09128870e-05 9.99932696e-01 -3.88346361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.066559995 meters 0.012831667336381924 Centerline is valid? [True, True] Translation: X:231.26, Y:-65.92, Z:-3.89 [[ 7.95067489e-01 6.06451421e-01 9.18486417e-03 2.31257373e+02] [-6.06412808e-01 7.95120531e-01 -6.84455872e-03 -6.59203052e+01] [-1.14539664e-02 -1.27933152e-04 9.99934393e-01 -3.88554896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.126559995 meters 0.013554788698603838 Centerline is valid? [True, True] Translation: X:231.31, Y:-65.95, Z:-3.89 [[ 7.91352063e-01 6.11294738e-01 8.98091699e-03 2.31311050e+02] [-6.11258087e-01 7.91403000e-01 -6.69654178e-03 -6.59520512e+01] [-1.12010854e-02 -1.90335988e-04 9.99937248e-01 -3.88664058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18655999499998 meters 0.01490975476759716 Centerline is valid? [True, True] Translation: X:231.36, Y:-65.98, Z:-3.89 [[ 7.88904193e-01 6.14445351e-01 9.33197623e-03 2.31364411e+02] [-6.14405989e-01 7.88959347e-01 -6.95912919e-03 -6.59830550e+01] [-1.16385545e-02 -2.43535891e-04 9.99932240e-01 -3.88733348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24655999499998 meters 0.01489082382362072 Centerline is valid? [True, True] Translation: X:231.42, Y:-66.02, Z:-3.89 [[ 7.88864833e-01 6.14498872e-01 9.13296369e-03 2.31416118e+02] [-6.14461165e-01 7.88917663e-01 -6.81160639e-03 -6.60193344e+01] [-1.13908808e-02 -2.38414767e-04 9.99935093e-01 -3.88844603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.306559995 meters 0.014005728451563748 Centerline is valid? [True, True] Translation: X:231.47, Y:-66.06, Z:-3.89 [[ 7.90125545e-01 6.12888643e-01 8.31468622e-03 2.31466405e+02] [-6.12857266e-01 7.90169269e-01 -6.20467264e-03 -6.60561779e+01] [-1.03727829e-02 -1.93245512e-04 9.99946183e-01 -3.89093952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.366559995 meters 0.013200729776644295 Centerline is valid? [True, True] Translation: X:231.51, Y:-66.10, Z:-3.89 [[ 7.92307333e-01 6.10084271e-01 6.80239531e-03 2.31514654e+02] [-6.10063151e-01 7.92336524e-01 -5.07788653e-03 -6.60950943e+01] [-8.48772496e-03 -1.26643987e-04 9.99963971e-01 -3.89353150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.426559995 meters 0.012190203836835275 Centerline is valid? [True, True] Translation: X:231.56, Y:-66.14, Z:-3.90 [[ 7.97632461e-01 6.03119015e-01 5.46913744e-03 2.31559558e+02] [-6.03105190e-01 7.97651210e-01 -4.08383040e-03 -6.61376918e+01] [-6.82549986e-03 -4.10694744e-05 9.99976705e-01 -3.89596043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.486559995 meters 0.012100869243786998 Centerline is valid? [True, True] Translation: X:231.60, Y:-66.18, Z:-3.90 [[ 8.03218748e-01 5.95664062e-01 4.89578240e-03 2.31603785e+02] [-5.95652838e-01 8.03233668e-01 -3.65669253e-03 -6.61830056e+01] [-6.11061758e-03 2.09373135e-05 9.99981330e-01 -3.89670571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.546559995 meters 0.012100869243786998 Centerline is valid? [True, True] Translation: X:231.65, Y:-66.22, Z:-3.90 [[ 8.03055593e-01 5.95884012e-01 4.89477567e-03 2.31653723e+02] [-5.95872784e-01 8.03070510e-01 -3.65803901e-03 -6.62204634e+01] [-6.11061696e-03 2.09450811e-05 9.99981330e-01 -3.89769694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.606559995 meters 0.014065922357573365 Centerline is valid? [True, True] Translation: X:231.70, Y:-66.27, Z:-3.90 [[ 8.08941834e-01 5.87869817e-01 4.71038843e-03 2.31695923e+02] [-5.87859267e-01 8.08955544e-01 -3.52273258e-03 -6.62663397e+01] [-5.88140299e-03 8.06402623e-05 9.99982701e-01 -3.89865137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.666559995 meters 0.015004237400767376 Centerline is valid? [True, True] Translation: X:231.74, Y:-66.31, Z:-3.90 [[ 8.12666259e-01 5.82710001e-01 4.75454296e-03 2.31741996e+02] [-5.82699143e-01 8.12680158e-01 -3.55927556e-03 -6.63082327e+01] [-5.93794819e-03 1.22035042e-04 9.99982363e-01 -3.89846401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.726559995 meters 0.016713466801253542 Centerline is valid? [True, True] Translation: X:231.79, Y:-66.35, Z:-3.90 [[ 8.18321821e-01 5.74736253e-01 5.25705851e-03 2.31786198e+02] [-5.74722817e-01 8.18338683e-01 -3.93497552e-03 -6.63510939e+01] [-6.56362742e-03 1.98724859e-04 9.99978439e-01 -3.89791423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.786559995 meters 0.018723234331669374 Centerline is valid? [True, True] Translation: X:231.83, Y:-66.39, Z:-3.90 [[ 8.23327300e-01 5.67536556e-01 5.86640820e-03 2.31830189e+02] [-5.67519616e-01 8.23348149e-01 -4.39448777e-03 -6.63942934e+01] [-7.32412879e-03 2.88800021e-04 9.99973137e-01 -3.89724714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.846559995 meters 0.020916584428915877 Centerline is valid? [True, True] Translation: X:231.88, Y:-66.43, Z:-3.90 [[ 8.25497408e-01 5.64372685e-01 6.12385750e-03 2.31875407e+02] [-5.64354140e-01 8.25520056e-01 -4.58709888e-03 -6.64346583e+01] [-7.64420050e-03 3.30613908e-04 9.99970728e-01 -3.89800564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90655999499998 meters 0.022432735276696363 Centerline is valid? [True, True] Translation: X:231.92, Y:-66.47, Z:-3.90 [[ 8.26201536e-01 5.63341133e-01 6.14732360e-03 2.31922226e+02] [-5.63322412e-01 8.26224334e-01 -4.60540688e-03 -6.64732185e+01] [-7.67348348e-03 3.42069082e-04 9.99970500e-01 -3.89900234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96655999499998 meters 0.021710777237031412 Centerline is valid? [True, True] Translation: X:231.97, Y:-66.51, Z:-3.90 [[ 8.24100175e-01 5.66413166e-01 5.91826241e-03 2.31972702e+02] [-5.66395878e-01 8.24121370e-01 -4.43575389e-03 -6.65081719e+01] [-7.38983593e-03 3.03426123e-04 9.99972649e-01 -3.90004634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02655999499999 meters 0.02064274413131814 Centerline is valid? [True, True] Translation: X:232.02, Y:-66.54, Z:-3.90 [[ 8.22735846e-01 5.68393219e-01 5.90561193e-03 2.32023470e+02] [-5.68376055e-01 8.22756992e-01 -4.42637562e-03 -6.65434244e+01] [-7.37480539e-03 2.85129488e-04 9.99972765e-01 -3.90101348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.086559995 meters 0.016685801496973858 Centerline is valid? [True, True] Translation: X:232.08, Y:-66.57, Z:-3.90 [[ 8.16468940e-01 5.77364663e-01 5.34001221e-03 2.32078695e+02] [-5.77350817e-01 8.16486382e-01 -4.00273708e-03 -6.65721525e+01] [-6.67108619e-03 1.85050084e-04 9.99977731e-01 -3.90204751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.146559995 meters 0.01451043740798062 Centerline is valid? [True, True] Translation: X:232.13, Y:-66.60, Z:-3.90 [[ 8.11279613e-01 5.84640174e-01 4.61058597e-03 2.32132070e+02] [-5.84629967e-01 8.11292706e-01 -3.45634426e-03 -6.66024867e+01] [-5.76125248e-03 1.08574910e-04 9.99983398e-01 -3.90357249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.206559995 meters 0.012778500066975078 Centerline is valid? [True, True] Translation: X:232.19, Y:-66.63, Z:-3.90 [[ 8.05727975e-01 5.92269932e-01 4.33109901e-03 2.32186021e+02] [-5.92261035e-01 8.05739614e-01 -3.24669902e-03 -6.66332387e+01] [-5.41266025e-03 5.08150370e-05 9.99985350e-01 -3.90428021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.266559995 meters 0.01199099443543929 Centerline is valid? [True, True] Translation: X:232.24, Y:-66.66, Z:-3.90 [[ 7.97761048e-01 6.02948504e-01 5.51468011e-03 2.32242993e+02] [-6.02934327e-01 7.97780108e-01 -4.13485458e-03 -6.66615233e+01] [-6.89260648e-03 -2.63640199e-05 9.99976245e-01 -3.90378224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.326559995 meters 0.013267580338127543 Centerline is valid? [True, True] Translation: X:232.30, Y:-66.69, Z:-3.90 [[ 7.91093670e-01 6.11661836e-01 6.37215870e-03 2.32298654e+02] [-6.11643176e-01 7.91119324e-01 -4.77908524e-03 -6.66913062e+01] [-7.96432194e-03 -1.16783308e-04 9.99968277e-01 -3.90429316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.386559995 meters 0.014524560094376903 Centerline is valid? [True, True] Translation: X:232.35, Y:-66.73, Z:-3.91 [[ 7.87620421e-01 6.16124239e-01 6.70780386e-03 2.32351010e+02] [-6.16103716e-01 7.87648966e-01 -5.03163349e-03 -6.67253242e+01] [-8.38350613e-03 -1.69685606e-04 9.99964843e-01 -3.90527130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.446559995 meters 0.01730551735233042 Centerline is valid? [True, True] Translation: X:232.40, Y:-66.76, Z:-3.91 [[ 7.83198214e-01 6.21731403e-01 7.11485479e-03 2.32402885e+02] [-6.21708536e-01 7.83230492e-01 -5.33776994e-03 -6.67563998e+01] [-8.89123041e-03 -2.42834075e-04 9.99960443e-01 -3.90622734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.506559995 meters 0.018796530385910126 Centerline is valid? [True, True] Translation: X:232.45, Y:-66.79, Z:-3.91 [[ 7.81074238e-01 6.24398416e-01 7.04639776e-03 2.32453876e+02] [-6.24376100e-01 7.81105975e-01 -5.28602124e-03 -6.67911038e+01] [-8.80456669e-03 -2.70827333e-04 9.99961202e-01 -3.90742307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.566559995 meters 0.018950328819908487 Centerline is valid? [True, True] Translation: X:232.50, Y:-66.83, Z:-3.91 [[ 7.79953481e-01 6.25801078e-01 6.75119712e-03 2.32503138e+02] [-6.25780628e-01 7.79982651e-01 -5.06653946e-03 -6.68295978e+01] [-8.43646249e-03 -2.73103286e-04 9.99964375e-01 -3.90863001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.626559995 meters 0.019328460734085444 Centerline is valid? [True, True] Translation: X:232.55, Y:-66.87, Z:-3.91 [[ 7.80533723e-01 6.25083786e-01 6.11292793e-03 2.32551097e+02] [-6.25066982e-01 7.80557623e-01 -4.58961889e-03 -6.68672429e+01] [-7.64038885e-03 -2.38637101e-04 9.99970783e-01 -3.91075651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68655999499998 meters 0.016848335431011382 Centerline is valid? [True, True] Translation: X:232.60, Y:-66.91, Z:-3.91 [[ 7.83484330e-01 6.21390473e-01 5.11710115e-03 2.32595643e+02] [-6.21378598e-01 7.83501022e-01 -3.84522954e-03 -6.69097049e+01] [-6.39864299e-03 -1.66980049e-04 9.99979515e-01 -3.91259325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74655999499998 meters 0.015083076854095769 Centerline is valid? [True, True] Translation: X:232.64, Y:-66.95, Z:-3.91 [[ 7.86603164e-01 6.17439864e-01 4.84525392e-03 2.32640593e+02] [-6.17429140e-01 7.86618077e-01 -3.64117697e-03 -6.69516622e+01] [-6.05957213e-03 -1.27439634e-04 9.99981633e-01 -3.91364796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.806559995 meters 0.012727899081924374 Centerline is valid? [True, True] Translation: X:232.68, Y:-67.00, Z:-3.91 [[ 7.92374775e-01 6.10013806e-01 5.03719179e-03 2.32681807e+02] [-6.10002063e-01 7.92390782e-01 -3.78571211e-03 -6.69991525e+01] [-6.30076099e-03 -7.29946027e-05 9.99980147e-01 -3.91296541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.866559995 meters 0.012019408866224754 Centerline is valid? [True, True] Translation: X:232.73, Y:-67.04, Z:-3.91 [[ 7.96297000e-01 6.04881318e-01 5.44776891e-03 2.32726982e+02] [-6.04867464e-01 7.96315634e-01 -4.09405588e-03 -6.70432731e+01] [-6.81456147e-03 -3.50937551e-05 9.99976780e-01 -3.91336838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.926559995 meters 0.011988757631311242 Centerline is valid? [True, True] Translation: X:232.77, Y:-67.09, Z:-3.91 [[ 8.01030172e-01 5.98597578e-01 5.62167219e-03 2.32770252e+02] [-5.98582676e-01 8.01049898e-01 -4.22378670e-03 -6.70894640e+01] [-7.03158843e-03 1.83450004e-05 9.99975278e-01 -3.91340759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.986559995 meters 0.012487086785221665 Centerline is valid? [True, True] Translation: X:232.81, Y:-67.13, Z:-3.91 [[ 8.03672037e-01 5.95044394e-01 5.78150265e-03 2.32814707e+02] [-5.95028522e-01 8.03692831e-01 -4.34651641e-03 -6.71322044e+01] [-7.23292245e-03 5.30147157e-05 9.99973841e-01 -3.91408442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.046559995 meters 0.013571915521957634 Centerline is valid? [True, True] Translation: X:232.86, Y:-67.18, Z:-3.92 [[ 8.07190776e-01 5.90262826e-01 5.73125877e-03 2.32859256e+02] [-5.90247094e-01 8.07211117e-01 -4.31058329e-03 -6.71764196e+01] [-7.17071286e-03 9.66042392e-05 9.99974285e-01 -3.91518584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.106559995 meters 0.014636784151755556 Centerline is valid? [True, True] Translation: X:232.90, Y:-67.22, Z:-3.92 [[ 8.10439199e-01 5.85795214e-01 5.68090257e-03 2.32904676e+02] [-5.85779618e-01 8.10459098e-01 -4.27673733e-03 -6.72195427e+01] [-7.10943142e-03 1.38278640e-04 9.99974718e-01 -3.91562034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.166559995 meters 0.015633316708227388 Centerline is valid? [True, True] Translation: X:232.95, Y:-67.26, Z:-3.92 [[ 8.12193268e-01 5.83358073e-01 5.95437518e-03 2.32951462e+02] [-5.83340882e-01 8.12215077e-01 -4.48152667e-03 -6.72604704e+01] [-7.45056806e-03 1.66435315e-04 9.99972230e-01 -3.91630764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.226559995 meters 0.017164996628138765 Centerline is valid? [True, True] Translation: X:233.00, Y:-67.30, Z:-3.92 [[ 8.15339948e-01 5.78944398e-01 6.64476791e-03 2.32996750e+02] [-5.78922813e-01 8.15366991e-01 -5.00470281e-03 -6.73016942e+01] [-8.31536907e-03 2.33726402e-04 9.99965399e-01 -3.91645746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.286559995 meters 0.018454636094093535 Centerline is valid? [True, True] Translation: X:233.04, Y:-67.34, Z:-3.92 [[ 8.17710321e-01 5.75583761e-01 7.29147310e-03 2.33044046e+02] [-5.75557602e-01 8.17742775e-01 -5.49550101e-03 -6.73416540e+01] [-9.12567058e-03 2.97065121e-04 9.99958316e-01 -3.91659733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.346559995 meters 0.01838249576518418 Centerline is valid? [True, True] Translation: X:233.09, Y:-67.38, Z:-3.92 [[ 8.19647195e-01 5.72820417e-01 7.43278267e-03 2.33093084e+02] [-5.72793115e-01 8.19680827e-01 -5.60256994e-03 -6.73796080e+01] [-9.30177589e-03 3.34683994e-04 9.99956682e-01 -3.91651787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40655999499998 meters 0.02082180931901929 Centerline is valid? [True, True] Translation: X:233.14, Y:-67.42, Z:-3.92 [[ 8.20928989e-01 5.70996547e-01 6.20798821e-03 2.33140004e+02] [-5.70977459e-01 8.20952408e-01 -4.67822749e-03 -6.74188624e+01] [-7.76771461e-03 2.95871228e-04 9.99969787e-01 -3.91911225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46655999499998 meters 0.019911566275223374 Centerline is valid? [True, True] Translation: X:233.19, Y:-67.45, Z:-3.92 [[ 8.20548685e-01 5.71550581e-01 5.45796426e-03 2.33191521e+02] [-5.71535833e-01 8.20566796e-01 -4.11384099e-03 -6.74546007e+01] [-6.82989245e-03 2.56184660e-04 9.99976643e-01 -3.92083362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52655999499999 meters 0.019089439007580332 Centerline is valid? [True, True] Translation: X:233.24, Y:-67.49, Z:-3.92 [[ 8.19361310e-01 5.73251340e-01 5.47216122e-03 2.33243469e+02] [-5.73236534e-01 8.19379546e-01 -4.12731872e-03 -6.74887388e+01] [-6.84976796e-03 2.44922536e-04 9.99976510e-01 -3.92133617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.586559995 meters 0.018464788012410437 Centerline is valid? [True, True] Translation: X:233.29, Y:-67.52, Z:-3.92 [[ 8.18795839e-01 5.74050632e-01 6.26468988e-03 2.33294774e+02] [-5.74031226e-01 8.18819758e-01 -4.72816868e-03 -6.75232557e+01] [-7.84386008e-03 2.75277233e-04 9.99969199e-01 -3.92128134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.646559995 meters 0.018723420250249558 Centerline is valid? [True, True] Translation: X:233.35, Y:-67.56, Z:-3.92 [[ 8.17941321e-01 5.75254595e-01 7.35841691e-03 2.33346129e+02] [-5.75227835e-01 8.17974360e-01 -5.55738181e-03 -6.75580583e+01] [-9.21590578e-03 3.12845991e-04 9.99957484e-01 -3.92192626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.706559995 meters 0.019140641340340634 Centerline is valid? [True, True] Translation: X:233.40, Y:-67.59, Z:-3.92 [[ 8.17163697e-01 5.76358145e-01 7.40145330e-03 2.33396728e+02] [-5.76331088e-01 8.17197159e-01 -5.59291552e-03 -6.75930436e+01] [-9.27196902e-03 3.04639889e-04 9.99956968e-01 -3.92336414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.766559995 meters 0.017899071205241285 Centerline is valid? [True, True] Translation: X:233.45, Y:-67.62, Z:-3.93 [[ 8.15417405e-01 5.78835554e-01 6.62250727e-03 2.33450242e+02] [-5.78813960e-01 8.15444259e-01 -5.00597402e-03 -6.76246941e+01] [-8.29792128e-03 2.48758687e-04 9.99965541e-01 -3.92591932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.826559995 meters 0.016768588387180584 Centerline is valid? [True, True] Translation: X:233.50, Y:-67.66, Z:-3.93 [[ 8.12718178e-01 5.82624844e-01 6.11994187e-03 2.33503502e+02] [-5.82606480e-01 8.12741196e-01 -4.62999497e-03 -6.76568459e+01] [-7.67147897e-03 1.97363291e-04 9.99970554e-01 -3.92797015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.886559995 meters 0.01595583068006996 Centerline is valid? [True, True] Translation: X:233.56, Y:-67.69, Z:-3.93 [[ 8.10958621e-01 5.85078235e-01 5.43821396e-03 2.33555935e+02] [-5.85063802e-01 8.10976841e-01 -4.11241271e-03 -6.76908031e+01] [-6.81634875e-03 1.53294409e-04 9.99976757e-01 -3.92968034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.946559995 meters 0.016103681735396093 Centerline is valid? [True, True] Translation: X:233.61, Y:-67.73, Z:-3.93 [[ 8.10254258e-01 5.86054686e-01 5.28599335e-03 2.33605033e+02] [-5.86041050e-01 8.10271488e-01 -4.00040326e-03 -6.77267331e+01] [-6.62754477e-03 1.43534677e-04 9.99978027e-01 -3.93114157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.006559995 meters 0.014762392701012898 Centerline is valid? [True, True] Translation: X:233.66, Y:-67.76, Z:-3.93 [[ 8.09013419e-01 5.87769141e-01 4.97236641e-03 2.33657587e+02] [-5.87757110e-01 8.09028690e-01 -3.76262795e-03 -6.77598644e+01] [-6.23434368e-03 1.21472792e-04 9.99980559e-01 -3.93178239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.066559995 meters 0.014520615533999812 Centerline is valid? [True, True] Translation: X:233.71, Y:-67.80, Z:-3.93 [[ 8.08446842e-01 5.88541209e-01 5.74015558e-03 2.33708403e+02] [-5.88525174e-01 8.08467208e-01 -4.34657868e-03 -6.77957928e+01] [-7.19886823e-03 1.35751750e-04 9.99974079e-01 -3.93236597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.126559995 meters 0.01394391412922606 Centerline is valid? [True, True] Translation: X:233.76, Y:-67.83, Z:-3.93 [[ 8.07089962e-01 5.90399074e-01 5.89295903e-03 2.33759673e+02] [-5.90382206e-01 8.07111465e-01 -4.46469582e-03 -6.78311953e+01] [-7.39222708e-03 1.24313024e-04 9.99972669e-01 -3.93284970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18655999499998 meters 0.013354312584128015 Centerline is valid? [True, True] Translation: X:233.81, Y:-67.87, Z:-3.93 [[ 8.04230519e-01 5.94294559e-01 5.22016869e-03 2.33810937e+02] [-5.94281394e-01 8.04247457e-01 -3.95650278e-03 -6.78665638e+01] [-6.54963546e-03 7.96911635e-05 9.99978548e-01 -3.93477246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24655999499998 meters 0.012800671663306687 Centerline is valid? [True, True] Translation: X:233.86, Y:-67.90, Z:-3.94 [[ 8.01411047e-01 5.98092351e-01 5.08661253e-03 2.33862669e+02] [-5.98079915e-01 8.01427188e-01 -3.85715265e-03 -6.79015102e+01] [-6.38348307e-03 4.89639507e-05 9.99979624e-01 -3.93565798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.306559995 meters 0.012377502090958841 Centerline is valid? [True, True] Translation: X:233.92, Y:-67.93, Z:-3.94 [[ 7.96212114e-01 6.05000900e-01 4.49215518e-03 2.33915048e+02] [-6.04991304e-01 7.96224786e-01 -3.40757017e-03 -6.79349316e+01] [-5.63834832e-03 -4.56616901e-06 9.99984104e-01 -3.93701039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.366559995 meters 0.012490444868350886 Centerline is valid? [True, True] Translation: X:233.97, Y:-67.97, Z:-3.94 [[ 7.92723090e-01 6.09564503e-01 4.60640731e-03 2.33965815e+02] [-6.09554477e-01 7.92736473e-01 -3.49621187e-03 -6.79706056e+01] [-5.78283373e-03 -3.63283171e-05 9.99983279e-01 -3.93832910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.426559995 meters 0.013508721471918131 Centerline is valid? [True, True] Translation: X:234.02, Y:-68.01, Z:-3.94 [[ 7.88113363e-01 6.15513385e-01 4.53870756e-03 2.34016476e+02] [-6.15503740e-01 7.88126428e-01 -3.44656437e-03 -6.80061490e+01] [-5.69848188e-03 -7.73080398e-05 9.99983761e-01 -3.93924557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.486559995 meters 0.014166133626219782 Centerline is valid? [True, True] Translation: X:234.07, Y:-68.04, Z:-3.94 [[ 7.85479080e-01 6.18859917e-01 5.91765836e-03 2.34066487e+02] [-6.18843588e-01 7.85501360e-01 -4.49744338e-03 -6.80435364e+01] [-7.43161613e-03 -1.29457243e-04 9.99972377e-01 -3.93888445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.546559995 meters 0.01654993152453328 Centerline is valid? [True, True] Translation: X:234.12, Y:-68.08, Z:-3.94 [[ 7.81848985e-01 6.23422293e-01 7.53720927e-03 2.34116347e+02] [-6.23395972e-01 7.81885284e-01 -5.73276006e-03 -6.80785395e+01] [-9.46716344e-03 -2.16513262e-04 9.99955162e-01 -3.93802811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.606559995 meters 0.016028088112317554 Centerline is valid? [True, True] Translation: X:234.16, Y:-68.12, Z:-3.94 [[ 7.79385811e-01 6.26499022e-01 7.53210241e-03 2.34164114e+02] [-6.26472843e-01 7.79422166e-01 -5.73277830e-03 -6.81183546e+01] [-9.46226757e-03 -2.50611541e-04 9.99955200e-01 -3.93862221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.666559995 meters 0.01878826148558583 Centerline is valid? [True, True] Translation: X:234.21, Y:-68.15, Z:-3.94 [[ 7.76044985e-01 6.30652457e-01 5.62659937e-03 2.34213129e+02] [-6.30637950e-01 7.76065350e-01 -4.28355690e-03 -6.81532561e+01] [-7.06804449e-03 -2.24114238e-04 9.99974996e-01 -3.94207661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.726559995 meters 0.019357432053622326 Centerline is valid? [True, True] Translation: X:234.26, Y:-68.19, Z:-3.94 [[ 7.74608907e-01 6.32424363e-01 4.52397965e-03 2.34262190e+02] [-6.32415019e-01 7.74622093e-01 -3.44322538e-03 -6.81916876e+01] [-5.68195421e-03 -1.93879630e-04 9.99983839e-01 -3.94476601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.786559995 meters 0.018805528915207502 Centerline is valid? [True, True] Translation: X:234.31, Y:-68.23, Z:-3.95 [[ 7.74475968e-01 6.32593627e-01 3.50401842e-03 2.34308075e+02] [-6.32588034e-01 7.74483879e-01 -2.66442748e-03 -6.82337420e+01] [-4.39930562e-03 -1.53065071e-04 9.99990311e-01 -3.94640227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.846559995 meters 0.01892147061539207 Centerline is valid? [True, True] Translation: X:234.35, Y:-68.27, Z:-3.95 [[ 7.75665178e-01 6.31136390e-01 3.22320042e-03 2.34353798e+02] [-6.31131640e-01 7.75671864e-01 -2.45208860e-03 -6.82742030e+01] [-4.04774823e-03 -1.32264023e-04 9.99991799e-01 -3.94766029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90655999499998 meters 0.016624052438291088 Centerline is valid? [True, True] Translation: X:234.40, Y:-68.32, Z:-3.95 [[ 7.79165766e-01 6.26799388e-01 4.82045420e-03 2.34395371e+02] [-6.26788643e-01 7.79180661e-01 -3.67356624e-03 -6.83207809e+01] [-6.05859376e-03 -1.59088899e-04 9.99981634e-01 -3.94638359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96655999499998 meters 0.015553737659161009 Centerline is valid? [True, True] Translation: X:234.44, Y:-68.36, Z:-3.95 [[ 7.81356522e-01 6.24056756e-01 5.92888895e-03 2.34439764e+02] [-6.24040418e-01 7.81378997e-01 -4.51878380e-03 -6.83632039e+01] [-7.45268686e-03 -1.69085151e-04 9.99972214e-01 -3.94608402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02655999499999 meters 0.01471304744566642 Centerline is valid? [True, True] Translation: X:234.48, Y:-68.41, Z:-3.95 [[ 7.82601240e-01 6.22476019e-01 7.67488450e-03 2.34483802e+02] [-6.22448576e-01 7.82638847e-01 -5.84848405e-03 -6.84073739e+01] [-9.64720383e-03 -2.00190062e-04 9.99953445e-01 -3.94512034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.086559995 meters 0.014545570900508953 Centerline is valid? [True, True] Translation: X:234.53, Y:-68.45, Z:-3.95 [[ 7.82582269e-01 6.22499211e-01 7.72818478e-03 2.34531443e+02] [-6.22471359e-01 7.82620401e-01 -5.89189322e-03 -6.84481520e+01] [-9.71593396e-03 -1.99682526e-04 9.99952779e-01 -3.94610453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.146559995 meters 0.014411468237276917 Centerline is valid? [True, True] Translation: X:234.58, Y:-68.49, Z:-3.95 [[ 7.82520339e-01 6.22581462e-01 7.36497418e-03 2.34579204e+02] [-6.22556142e-01 7.82554974e-01 -5.61805700e-03 -6.84895126e+01] [-9.26119532e-03 -1.88866043e-04 9.99957096e-01 -3.94832752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.206559995 meters 0.01461211312087834 Centerline is valid? [True, True] Translation: X:234.63, Y:-68.53, Z:-3.95 [[ 7.82807469e-01 6.22225323e-01 6.93638374e-03 2.34627550e+02] [-6.22202822e-01 7.82838181e-01 -5.29431773e-03 -6.85276517e+01] [-8.72432459e-03 -1.71406072e-04 9.99961928e-01 -3.95058466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.266559995 meters 0.014000300253483974 Centerline is valid? [True, True] Translation: X:234.68, Y:-68.57, Z:-3.95 [[ 7.83650589e-01 6.21172010e-01 6.08999311e-03 2.34676298e+02] [-6.21154621e-01 7.83674240e-01 -4.65006421e-03 -6.85656469e+01] [-7.66106045e-03 -1.38801802e-04 9.99970644e-01 -3.95322830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.326559995 meters 0.013529227979550189 Centerline is valid? [True, True] Translation: X:234.73, Y:-68.60, Z:-3.95 [[ 7.85031237e-01 6.19426752e-01 6.03782636e-03 2.34726326e+02] [-6.19409577e-01 7.85054447e-01 -4.61423719e-03 -6.86032041e+01] [-7.59820439e-03 -1.17567138e-04 9.99971126e-01 -3.95479867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.386559995 meters 0.012988860715832135 Centerline is valid? [True, True] Translation: X:234.77, Y:-68.64, Z:-3.95 [[ 7.86531380e-01 6.17502573e-01 7.67851941e-03 2.34774938e+02] [-6.17474688e-01 7.86568850e-01 -5.86964430e-03 -6.86428478e+01] [-9.66420465e-03 -1.24631944e-04 9.99953293e-01 -3.95383026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.446559995 meters 0.012903779116195238 Centerline is valid? [True, True] Translation: X:234.82, Y:-68.68, Z:-3.95 [[ 7.87099443e-01 6.16770915e-01 8.25260755e-03 2.34823124e+02] [-6.16738662e-01 7.87142695e-01 -6.30870873e-03 -6.86813152e+01] [-1.03870078e-02 -1.24121017e-04 9.99946046e-01 -3.95428053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.506559995 meters 0.01260293670938259 Centerline is valid? [True, True] Translation: X:234.87, Y:-68.72, Z:-3.96 [[ 7.87714595e-01 6.15991508e-01 7.75752550e-03 2.34871580e+02] [-6.15962944e-01 7.87752786e-01 -5.93296673e-03 -6.87194618e+01] [-9.76566944e-03 -1.04863765e-04 9.99952309e-01 -3.95706279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.566559995 meters 0.012583583246210093 Centerline is valid? [True, True] Translation: X:234.92, Y:-68.76, Z:-3.96 [[ 7.87320752e-01 6.16506267e-01 6.78642837e-03 2.34921776e+02] [-6.16484412e-01 7.87349994e-01 -5.19197981e-03 -6.87576672e+01] [-8.54418243e-03 -9.59738525e-05 9.99963493e-01 -3.95868975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.626559995 meters 0.012793498365725188 Centerline is valid? [True, True] Translation: X:234.97, Y:-68.80, Z:-3.96 [[ 7.86624293e-01 6.17395273e-01 6.73045972e-03 2.34972153e+02] [-6.17373784e-01 7.86653079e-01 -5.15212245e-03 -6.87954894e+01] [-8.47543290e-03 -1.02424709e-04 9.99964078e-01 -3.95953427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68655999499998 meters 0.013015696133315489 Centerline is valid? [True, True] Translation: X:235.02, Y:-68.83, Z:-3.96 [[ 7.85911592e-01 6.18291441e-01 7.65923269e-03 2.35022392e+02] [-6.18263613e-01 7.85948903e-01 -5.86733968e-03 -6.88326333e+01] [-9.64749144e-03 -1.24214612e-04 9.99953454e-01 -3.95990298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74655999499998 meters 0.013269378521607445 Centerline is valid? [True, True] Translation: X:235.07, Y:-68.87, Z:-3.96 [[ 7.84880813e-01 6.19582235e-01 8.94223320e-03 2.35073145e+02] [-6.19544332e-01 7.84931735e-01 -6.85510983e-03 -6.88691742e+01] [-1.12663469e-02 -1.59665711e-04 9.99936520e-01 -3.96059805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.806559995 meters 0.01315128790111438 Centerline is valid? [True, True] Translation: X:235.12, Y:-68.91, Z:-3.96 [[ 7.84294634e-01 6.20317313e-01 9.39995884e-03 2.35122586e+02] [-6.20275430e-01 7.84350943e-01 -7.21044184e-03 -6.89080444e+01] [-1.18456285e-02 -1.75452666e-04 9.99929823e-01 -3.96073377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.866559995 meters 0.013333926558820345 Centerline is valid? [True, True] Translation: X:235.17, Y:-68.95, Z:-3.96 [[ 7.84119344e-01 6.20540311e-01 9.30465581e-03 2.35172965e+02] [-6.20499239e-01 7.84174529e-01 -7.14155274e-03 -6.89463485e+01] [-1.17280954e-02 -1.73702198e-04 9.99931208e-01 -3.96226979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.926559995 meters 0.013113903624440421 Centerline is valid? [True, True] Translation: X:235.22, Y:-68.98, Z:-3.96 [[ 7.84544230e-01 6.20012473e-01 8.65355672e-03 2.35222070e+02] [-6.19976875e-01 7.84591939e-01 -6.64555733e-03 -6.89838486e+01] [-1.09098393e-02 -1.51271397e-04 9.99940474e-01 -3.96364230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.986559995 meters 0.012920159758475129 Centerline is valid? [True, True] Translation: X:235.27, Y:-69.02, Z:-3.97 [[ 7.85357187e-01 6.18979385e-01 8.86622987e-03 2.35271416e+02] [-6.18941909e-01 7.85407221e-01 -6.81254300e-03 -6.90214888e+01] [-1.11804246e-02 -1.37401633e-04 9.99937488e-01 -3.96546705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.046559995 meters 0.012380049057672598 Centerline is valid? [True, True] Translation: X:235.32, Y:-69.06, Z:-3.97 [[ 7.86939022e-01 6.16977148e-01 8.13482939e-03 2.35319284e+02] [-6.16945464e-01 7.86981061e-01 -6.25333266e-03 -6.90611222e+01] [-1.02601200e-02 -9.77546142e-05 9.99947359e-01 -3.96650547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.106559995 meters 0.01237851390970522 Centerline is valid? [True, True] Translation: X:235.37, Y:-69.10, Z:-3.97 [[ 7.87592686e-01 6.16149765e-01 7.56496744e-03 2.35369007e+02] [-6.16122304e-01 7.87629012e-01 -5.81766780e-03 -6.90999691e+01] [-9.54294248e-03 -7.89925687e-05 9.99954462e-01 -3.96804130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.166559995 meters 0.012219536847421192 Centerline is valid? [True, True] Translation: X:235.42, Y:-69.14, Z:-3.97 [[ 7.88229657e-01 6.15344251e-01 6.74241634e-03 2.35419262e+02] [-6.15322388e-01 7.88258491e-01 -5.18750613e-03 -6.91375966e+01] [-8.50686901e-03 -5.98135439e-05 9.99963814e-01 -3.97051469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.226559995 meters 0.012047814300635253 Centerline is valid? [True, True] Translation: X:235.47, Y:-69.17, Z:-3.97 [[ 7.89071710e-01 6.14263868e-01 6.76290366e-03 2.35468743e+02] [-6.14241803e-01 7.89100690e-01 -5.20662005e-03 -6.91749416e+01] [-8.53485052e-03 -4.56615515e-05 9.99963576e-01 -3.97210955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.286559995 meters 0.012063379148327896 Centerline is valid? [True, True] Translation: X:235.52, Y:-69.21, Z:-3.97 [[ 7.89440525e-01 6.13784334e-01 7.24215209e-03 2.35517829e+02] [-6.13758982e-01 7.89473742e-01 -5.57869824e-03 -6.92130037e+01] [-9.14160650e-03 -4.08854335e-05 9.99958214e-01 -3.97292671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.346559995 meters 0.012095248887672178 Centerline is valid? [True, True] Translation: X:235.57, Y:-69.25, Z:-3.97 [[ 7.89613699e-01 6.13558422e-01 7.50129762e-03 2.35568022e+02] [-6.13531183e-01 7.89649328e-01 -5.78157187e-03 -6.92502719e+01] [-9.47072674e-03 -3.70716548e-05 9.99955151e-01 -3.97302490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40655999499998 meters 0.012115380675175987 Centerline is valid? [True, True] Translation: X:235.62, Y:-69.29, Z:-3.97 [[ 7.89082232e-01 6.14232525e-01 8.22405890e-03 2.35619221e+02] [-6.14199777e-01 7.89125087e-01 -6.34279250e-03 -6.92876161e+01] [-1.03857606e-02 -4.62302788e-05 9.99946065e-01 -3.97338569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46655999499998 meters 0.012133850121698753 Centerline is valid? [True, True] Translation: X:235.67, Y:-69.32, Z:-3.97 [[ 7.88039232e-01 6.15569339e-01 8.27997901e-03 2.35671211e+02] [-6.15536179e-01 7.88082727e-01 -6.38960263e-03 -6.93238503e+01] [-1.04585519e-02 -6.13690967e-05 9.99945306e-01 -3.97430296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52655999499999 meters 0.012135320686361169 Centerline is valid? [True, True] Translation: X:235.72, Y:-69.36, Z:-3.98 [[ 7.87525683e-01 6.16227481e-01 8.18476615e-03 2.35721680e+02] [-6.16195077e-01 7.87568211e-01 -6.31977408e-03 -6.93617328e+01] [-1.03404801e-02 -6.64282139e-05 9.99946534e-01 -3.97545061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.586559995 meters 0.012169380179275201 Centerline is valid? [True, True] Translation: X:235.77, Y:-69.40, Z:-3.98 [[ 7.87204718e-01 6.16642174e-01 7.82058786e-03 2.35772521e+02] [-6.16612578e-01 7.87243561e-01 -6.04184468e-03 -6.93993538e+01] [-9.88236367e-03 -6.61042087e-05 9.99951166e-01 -3.97644203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.646559995 meters 0.01221727759374891 Centerline is valid? [True, True] Translation: X:235.82, Y:-69.44, Z:-3.98 [[ 7.86835834e-01 6.17116301e-01 7.53937965e-03 2.35823128e+02] [-6.17088787e-01 7.86871951e-01 -5.82776780e-03 -6.94371546e+01] [-9.52893688e-03 -6.69701076e-05 9.99954596e-01 -3.97732869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.706559995 meters 0.012376813562035764 Centerline is valid? [True, True] Translation: X:235.87, Y:-69.47, Z:-3.98 [[ 7.85705365e-01 6.18560077e-01 7.10710964e-03 2.35873405e+02] [-6.18535655e-01 7.85737504e-01 -5.49704715e-03 -6.94725695e+01] [-8.98457650e-03 -7.69412828e-05 9.99959635e-01 -3.97906543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.766559995 meters 0.01271376101301006 Centerline is valid? [True, True] Translation: X:235.92, Y:-69.51, Z:-3.98 [[ 7.84164429e-01 6.20510353e-01 7.28348473e-03 2.35924177e+02] [-6.20484765e-01 7.84198247e-01 -5.63610710e-03 -6.95083406e+01] [-9.20895876e-03 -9.96566028e-05 9.99957592e-01 -3.97997867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.826559995 meters 0.012854222478766842 Centerline is valid? [True, True] Translation: X:235.98, Y:-69.55, Z:-3.98 [[ 7.83414485e-01 6.21456675e-01 7.30380205e-03 2.35975151e+02] [-6.21430961e-01 7.83448524e-01 -5.65432856e-03 -6.95453561e+01] [-9.23607316e-03 -1.09125826e-04 9.99957341e-01 -3.98076839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.886559995 meters 0.012967216243243667 Centerline is valid? [True, True] Translation: X:236.02, Y:-69.58, Z:-3.98 [[ 7.83302675e-01 6.21599677e-01 7.12467358e-03 2.36024567e+02] [-6.21575185e-01 7.83335069e-01 -5.51893864e-03 -6.95823142e+01] [-9.01157714e-03 -1.05520898e-04 9.99959389e-01 -3.98199610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.946559995 meters 0.013118437113107709 Centerline is valid? [True, True] Translation: X:236.07, Y:-69.62, Z:-3.98 [[ 7.83652433e-01 6.21151738e-01 7.70609765e-03 2.36072783e+02] [-6.21123025e-01 7.83690314e-01 -5.97330105e-03 -6.96194184e+01] [-9.74952041e-03 -1.05442786e-04 9.99952467e-01 -3.98248536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.006559995 meters 0.012717011416744145 Centerline is valid? [True, True] Translation: X:236.12, Y:-69.66, Z:-3.98 [[ 7.83642361e-01 6.21162718e-01 7.84397096e-03 2.36121659e+02] [-6.21132945e-01 7.83681610e-01 -6.08261801e-03 -6.96591197e+01] [-9.92547133e-03 -1.05551650e-04 9.99950736e-01 -3.98260503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.066559995 meters 0.012753096968404154 Centerline is valid? [True, True] Translation: X:236.17, Y:-69.70, Z:-3.98 [[ 7.83002467e-01 6.21973900e-01 7.45686309e-03 2.36171175e+02] [-6.21947001e-01 7.83037966e-01 -5.78546063e-03 -6.96978461e+01] [-9.43741241e-03 -1.07743690e-04 9.99955461e-01 -3.98427763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.126559995 meters 0.012854077798975906 Centerline is valid? [True, True] Translation: X:236.22, Y:-69.74, Z:-3.99 [[ 7.82671628e-01 6.22391674e-01 7.32985817e-03 2.36221211e+02] [-6.22365671e-01 7.82705943e-01 -5.69023705e-03 -6.97367378e+01] [-9.27867971e-03 -1.08265004e-04 9.99956946e-01 -3.98591695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18655999499998 meters 0.013070393195026822 Centerline is valid? [True, True] Translation: X:236.27, Y:-69.77, Z:-3.99 [[ 7.82281265e-01 6.22888448e-01 6.78260872e-03 2.36269836e+02] [-6.22866177e-01 7.82310661e-01 -5.26825884e-03 -6.97745260e+01] [-8.58764468e-03 -1.03397379e-04 9.99963120e-01 -3.98714257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24655999499998 meters 0.012683437349781203 Centerline is valid? [True, True] Translation: X:236.32, Y:-69.81, Z:-3.99 [[ 7.83036848e-01 6.21937746e-01 6.83634432e-03 2.36317436e+02] [-6.21915058e-01 7.83066684e-01 -5.31301545e-03 -6.98137573e+01] [-8.65767834e-03 -9.13386065e-05 9.99962517e-01 -3.98782758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.306559995 meters 0.012635732459180421 Centerline is valid? [True, True] Translation: X:236.37, Y:-69.85, Z:-3.99 [[ 7.83740282e-01 6.21046327e-01 7.25465319e-03 2.36365903e+02] [-6.21020710e-01 7.83773853e-01 -5.64135994e-03 -6.98531616e+01] [-9.18955335e-03 -8.39288448e-05 9.99957772e-01 -3.98804458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.366559995 meters 0.012622881574131722 Centerline is valid? [True, True] Translation: X:236.42, Y:-69.89, Z:-3.99 [[ 7.83039282e-01 6.21933503e-01 6.94258581e-03 2.36416113e+02] [-6.21910059e-01 7.83070054e-01 -5.40087933e-03 -6.98916921e+01] [-8.79551885e-03 -8.85632782e-05 9.99961315e-01 -3.98852833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.426559995 meters 0.01290062063964383 Centerline is valid? [True, True] Translation: X:236.47, Y:-69.93, Z:-3.99 [[ 7.82480413e-01 6.22639147e-01 6.70041461e-03 2.36465681e+02] [-6.22617299e-01 7.82509096e-01 -5.21670927e-03 -6.99276113e+01] [-8.49126279e-03 -8.98212265e-05 9.99963945e-01 -3.99044776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.486559995 meters 0.013076845585463315 Centerline is valid? [True, True] Translation: X:236.52, Y:-69.97, Z:-3.99 [[ 7.81781293e-01 6.23520203e-01 6.36915127e-03 2.36515104e+02] [-6.23500490e-01 7.81807232e-01 -4.95898654e-03 -6.99650379e+01] [-8.07147682e-03 -9.43260276e-05 9.99967421e-01 -3.99129584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.546559995 meters 0.012913677110259019 Centerline is valid? [True, True] Translation: X:236.56, Y:-70.00, Z:-3.99 [[ 7.81719269e-01 6.23597074e-01 6.45554220e-03 2.36564143e+02] [-6.23576807e-01 7.81745918e-01 -5.02841962e-03 -7.00048307e+01] [-8.18230153e-03 -9.47138887e-05 9.99966520e-01 -3.99101569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.606559995 meters 0.012825348061854732 Centerline is valid? [True, True] Translation: X:236.61, Y:-70.04, Z:-3.99 [[ 7.82806114e-01 6.22230243e-01 6.64180582e-03 2.36611440e+02] [-6.22208709e-01 7.82834286e-01 -5.17723457e-03 -7.00429023e+01] [-8.42086524e-03 -7.98185516e-05 9.99964541e-01 -3.99191368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.666559995 meters 0.012715918973526254 Centerline is valid? [True, True] Translation: X:236.66, Y:-70.08, Z:-3.99 [[ 7.83572885e-01 6.21265926e-01 6.49479986e-03 2.36659819e+02] [-6.21245284e-01 7.83599799e-01 -5.06480658e-03 -7.00814024e+01] [-8.23591562e-03 -6.62186771e-05 9.99966082e-01 -3.99330311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.726559995 meters 0.012427964273531981 Centerline is valid? [True, True] Translation: X:236.71, Y:-70.12, Z:-3.99 [[ 7.83653366e-01 6.21163860e-01 6.54678661e-03 2.36708759e+02] [-6.21142865e-01 7.83680710e-01 -5.10743883e-03 -7.01204790e+01] [-8.30314679e-03 -6.40281594e-05 9.99965526e-01 -3.99378234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.786559995 meters 0.012494610957924309 Centerline is valid? [True, True] Translation: X:236.76, Y:-70.16, Z:-4.00 [[ 7.83920379e-01 6.20829149e-01 6.32517967e-03 2.36757599e+02] [-6.20809517e-01 7.83945894e-01 -4.93745002e-03 -7.01589281e+01] [-8.02391152e-03 -5.61640441e-05 9.99967806e-01 -3.99546960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.846559995 meters 0.012337286973508641 Centerline is valid? [True, True] Translation: X:236.81, Y:-70.20, Z:-4.00 [[ 7.84805991e-01 6.19714573e-01 5.77966118e-03 2.36806723e+02] [-6.19698138e-01 7.84827272e-01 -4.51343688e-03 -7.01988300e+01] [-7.33307832e-03 -3.94729700e-05 9.99973112e-01 -3.99694286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90655999499998 meters 0.012108584536050487 Centerline is valid? [True, True] Translation: X:236.85, Y:-70.24, Z:-4.00 [[ 7.86462713e-01 6.17602116e-01 6.63534552e-03 2.36854071e+02] [-6.17580346e-01 7.86490703e-01 -5.18566977e-03 -7.02392799e+01] [-8.42131819e-03 -1.95230650e-05 9.99964540e-01 -3.99649548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96655999499998 meters 0.012144283797462943 Centerline is valid? [True, True] Translation: X:236.90, Y:-70.28, Z:-4.00 [[ 7.87102413e-01 6.16788997e-01 6.41280796e-03 2.36902963e+02] [-6.16768618e-01 7.87128536e-01 -5.01381186e-03 -7.02787615e+01] [-8.14016813e-03 -8.83529207e-06 9.99966868e-01 -3.99758103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02655999499999 meters 0.012087964425490991 Centerline is valid? [True, True] Translation: X:236.95, Y:-70.32, Z:-4.00 [[ 7.87618687e-01 6.16137380e-01 5.61550685e-03 2.36952242e+02] [-6.16121724e-01 7.87638705e-01 -4.39229552e-03 -7.03181105e+01] [-7.12924800e-03 -3.81730511e-07 9.99974587e-01 -4.00004500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.086559995 meters 0.011980890593470612 Centerline is valid? [True, True] Translation: X:237.00, Y:-70.36, Z:-4.00 [[ 7.87142168e-01 6.16744847e-01 5.74462074e-03 2.37001909e+02] [-6.16728459e-01 7.87163131e-01 -4.49600354e-03 -7.03571539e+01] [-7.29484066e-03 -3.87712065e-06 9.99973392e-01 -4.00105046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.146559995 meters 0.011986566952148083 Centerline is valid? [True, True] Translation: X:237.05, Y:-70.40, Z:-4.00 [[ 7.87015505e-01 6.16901056e-01 6.29946083e-03 2.37051094e+02] [-6.16881327e-01 7.87040715e-01 -4.93368248e-03 -7.03957321e+01] [-8.00152609e-03 -3.13515139e-06 9.99967987e-01 -4.00159375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.206559995 meters 0.012003442208346692 Centerline is valid? [True, True] Translation: X:237.10, Y:-70.43, Z:-4.00 [[ 7.86822038e-01 6.17149511e-01 6.12883454e-03 2.37100081e+02] [-6.17130823e-01 7.86845907e-01 -4.80272008e-03 -7.04349539e+01] [-7.78644472e-03 -3.40670826e-06 9.99969685e-01 -4.00309819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.266559995 meters 0.012033331770867831 Centerline is valid? [True, True] Translation: X:237.15, Y:-70.47, Z:-4.00 [[ 7.86620527e-01 6.17412713e-01 5.44867485e-03 2.37148764e+02] [-6.17397936e-01 7.86639398e-01 -4.27156212e-03 -7.04744852e+01] [-6.92345906e-03 -3.90216003e-06 9.99976033e-01 -4.00475811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.326559995 meters 0.011969860781028617 Centerline is valid? [True, True] Translation: X:237.20, Y:-70.51, Z:-4.01 [[ 7.86194119e-01 6.17958250e-01 5.13889413e-03 2.37197643e+02] [-6.17945105e-01 7.86210914e-01 -4.03059555e-03 -7.05133655e+01] [-6.53099442e-03 -6.72395542e-06 9.99978673e-01 -4.00580901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.386559995 meters 0.011919463211264034 Centerline is valid? [True, True] Translation: X:237.25, Y:-70.55, Z:-4.01 [[ 7.85417307e-01 6.18944892e-01 5.18403598e-03 2.37247000e+02] [-6.18931521e-01 7.85434415e-01 -4.06841625e-03 -7.05524841e+01] [-6.58984572e-03 -1.31587370e-05 9.99978287e-01 -4.00724051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.446559995 meters 0.01206452707864474 Centerline is valid? [True, True] Translation: X:237.30, Y:-70.59, Z:-4.01 [[ 7.83931068e-01 6.20826563e-01 5.14385579e-03 2.37295969e+02] [-6.20813423e-01 7.83947944e-01 -4.03923861e-03 -7.05914815e+01] [-6.54018179e-03 -2.68900770e-05 9.99978612e-01 -4.00817489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.506559995 meters 0.012406496082552418 Centerline is valid? [True, True] Translation: X:237.34, Y:-70.63, Z:-4.01 [[ 7.80823668e-01 6.24730935e-01 5.06541324e-03 2.37343936e+02] [-6.24718257e-01 7.80840096e-01 -3.98055350e-03 -7.06291832e+01] [-6.44205267e-03 -5.63457435e-05 9.99979248e-01 -4.00923179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.566559995 meters 0.0131471840797731 Centerline is valid? [True, True] Translation: X:237.39, Y:-70.67, Z:-4.01 [[ 7.77131373e-01 6.29318067e-01 5.05964077e-03 2.37393134e+02] [-6.29305503e-01 7.77147838e-01 -3.97763082e-03 -7.06666672e+01] [-6.43528382e-03 -9.29180799e-05 9.99979289e-01 -4.00965466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.626559995 meters 0.013555797492849929 Centerline is valid? [True, True] Translation: X:237.44, Y:-70.70, Z:-4.01 [[ 7.74846641e-01 6.32126517e-01 5.36185752e-03 2.37442179e+02] [-6.32112458e-01 7.74865183e-01 -4.21759304e-03 -7.07047165e+01] [-6.82076910e-03 -1.21309136e-04 9.99976731e-01 -4.01028215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68655999499998 meters 0.014542017074407996 Centerline is valid? [True, True] Translation: X:237.49, Y:-70.74, Z:-4.01 [[ 7.71905832e-01 6.35712678e-01 5.54775868e-03 2.37491097e+02] [-6.35697701e-01 7.71925752e-01 -4.36644066e-03 -7.07421029e+01] [-7.05825948e-03 -1.56216421e-04 9.99975078e-01 -4.01108719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74655999499998 meters 0.015241624270728617 Centerline is valid? [True, True] Translation: X:237.54, Y:-70.78, Z:-4.01 [[ 7.70809815e-01 6.37042566e-01 5.38496549e-03 2.37539935e+02] [-6.37028476e-01 7.70828608e-01 -4.24005595e-03 -7.07799639e+01] [-6.85198157e-03 -1.62099620e-04 9.99976512e-01 -4.01264173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.806559995 meters 0.014867973403208916 Centerline is valid? [True, True] Translation: X:237.59, Y:-70.82, Z:-4.01 [[ 7.71160577e-01 6.36626416e-01 4.26275982e-03 2.37588186e+02] [-6.36617580e-01 7.71172348e-01 -3.35660827e-03 -7.08209653e+01] [-5.42422799e-03 -1.25263873e-04 9.99985281e-01 -4.01484885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.866559995 meters 0.014871498355633108 Centerline is valid? [True, True] Translation: X:237.64, Y:-70.86, Z:-4.02 [[ 7.72392068e-01 6.35133105e-01 4.05354948e-03 2.37636090e+02] [-6.35125083e-01 7.72402697e-01 -3.19402464e-03 -7.08597593e+01] [-5.15960334e-03 -1.07471649e-04 9.99986683e-01 -4.01638576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.926559995 meters 0.013604441157360939 Centerline is valid? [True, True] Translation: X:237.68, Y:-70.90, Z:-4.02 [[ 7.74253176e-01 6.32857591e-01 4.82592210e-03 2.37683601e+02] [-6.32846150e-01 7.74268209e-01 -3.80683365e-03 -7.09007345e+01] [-6.14574163e-03 -1.06613170e-04 9.99981109e-01 -4.01560336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.986559995 meters 0.013781365722178382 Centerline is valid? [True, True] Translation: X:237.73, Y:-70.94, Z:-4.02 [[ 7.74531425e-01 6.32512750e-01 5.35656523e-03 2.37731659e+02] [-6.32498644e-01 7.74549939e-01 -4.22585434e-03 -7.09382138e+01] [-6.82183402e-03 -1.14963257e-04 9.99976724e-01 -4.01596833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.046559995 meters 0.015055053974730477 Centerline is valid? [True, True] Translation: X:237.78, Y:-70.97, Z:-4.02 [[ 7.73538224e-01 6.33723932e-01 5.70914849e-03 2.37781402e+02] [-6.33707922e-01 7.73559280e-01 -4.50652237e-03 -7.09739231e+01] [-7.27225587e-03 -1.31965321e-04 9.99973548e-01 -4.01751966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.106559995 meters 0.014458357298596966 Centerline is valid? [True, True] Translation: X:237.83, Y:-71.01, Z:-4.02 [[ 7.72536329e-01 6.34952831e-01 4.74574262e-03 2.37829638e+02] [-6.34941788e-01 7.72550897e-01 -3.74675486e-03 -7.10135145e+01] [-6.04534032e-03 -1.18766059e-04 9.99981720e-01 -4.01799114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.166559995 meters 0.0153628508014657 Centerline is valid? [True, True] Translation: X:237.88, Y:-71.05, Z:-4.02 [[ 7.70934343e-01 6.36905173e-01 3.46990395e-03 2.37880304e+02] [-6.36899288e-01 7.70942145e-01 -2.73957340e-03 -7.10500224e+01] [-4.41994366e-03 -9.79481349e-05 9.99990227e-01 -4.01969089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.226559995 meters 0.015620909546169572 Centerline is valid? [True, True] Translation: X:237.93, Y:-71.09, Z:-4.02 [[ 7.68908268e-01 6.39351615e-01 3.09643215e-03 2.37930815e+02] [-6.39346946e-01 7.68914496e-01 -2.44531169e-03 -7.10863743e+01] [-3.94430555e-03 -9.94740686e-05 9.99992216e-01 -4.01956871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.286559995 meters 0.015857874594180033 Centerline is valid? [True, True] Translation: X:237.98, Y:-71.12, Z:-4.02 [[ 7.66888986e-01 6.41770152e-01 3.51501107e-03 2.37980629e+02] [-6.41764153e-01 7.66897031e-01 -2.77784214e-03 -7.11229838e+01] [-4.47838772e-03 -1.25511560e-04 9.99989964e-01 -4.01947920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.346559995 meters 0.017601666303319125 Centerline is valid? [True, True] Translation: X:238.03, Y:-71.16, Z:-4.02 [[ 7.65033834e-01 6.43984457e-01 2.69289308e-03 2.38031104e+02] [-6.43980942e-01 7.65038567e-01 -2.13009354e-03 -7.11568839e+01] [-3.43191420e-03 -1.04578194e-04 9.99994105e-01 -4.02121727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40655999499998 meters 0.01713941656358492 Centerline is valid? [True, True] Translation: X:238.08, Y:-71.20, Z:-4.02 [[ 7.65239012e-01 6.43742845e-01 2.09863240e-03 2.38079796e+02] [-6.43740717e-01 7.65241885e-01 -1.65722566e-03 -7.11962565e+01] [-2.67278857e-03 -8.28013993e-05 9.99996425e-01 -4.02197237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46655999499998 meters 0.015217363624957807 Centerline is valid? [True, True] Translation: X:238.12, Y:-71.24, Z:-4.02 [[ 7.68334790e-01 6.40045925e-01 1.69230216e-03 2.38124347e+02] [-6.40044524e-01 7.68336652e-01 -1.34036161e-03 -7.12382946e+01] [-2.15815076e-03 -5.33022753e-05 9.99997670e-01 -4.02179468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52655999499999 meters 0.013877187307369636 Centerline is valid? [True, True] Translation: X:238.17, Y:-71.28, Z:-4.02 [[ 7.71952788e-01 6.35676452e-01 2.08356812e-03 2.38169986e+02] [-6.35674312e-01 7.71955599e-01 -1.65025532e-03 -7.12803110e+01] [-2.65745052e-03 -5.05515351e-05 9.99996468e-01 -4.02172218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.586559995 meters 0.012224504819720233 Centerline is valid? [True, True] Translation: X:238.21, Y:-71.32, Z:-4.02 [[ 7.77473560e-01 6.28912169e-01 2.08501749e-03 2.38213833e+02] [-6.28910000e-01 7.77476356e-01 -1.65159407e-03 -7.13243868e+01] [-2.65975941e-03 -2.72176272e-05 9.99996462e-01 -4.02185827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.646559995 meters 0.01204758614119318 Centerline is valid? [True, True] Translation: X:238.26, Y:-71.37, Z:-4.02 [[ 7.79000424e-01 6.27020547e-01 1.89051508e-03 2.38261160e+02] [-6.27018766e-01 7.79002717e-01 -1.49428436e-03 -7.13650012e+01] [-2.40966338e-03 -2.13402807e-05 9.99997097e-01 -4.02236226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.706559995 meters 0.01176363279213894 Centerline is valid? [True, True] Translation: X:238.31, Y:-71.41, Z:-4.02 [[ 7.83131084e-01 6.21855124e-01 1.38222622e-03 2.38305601e+02] [-6.21854165e-01 7.83132304e-01 -1.09175643e-03 -7.14087112e+01] [-1.76138033e-03 -4.55473189e-06 9.99998449e-01 -4.02267318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.766559995 meters 0.011866078570385439 Centerline is valid? [True, True] Translation: X:238.36, Y:-71.45, Z:-4.03 [[ 7.82735897e-01 6.22353708e-01 6.15324723e-04 2.38355047e+02] [-6.22353520e-01 7.82736138e-01 -4.83563166e-04 -7.14456428e+01] [-7.82584227e-04 -4.44725899e-06 9.99999694e-01 -4.02549900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.826559995 meters 0.011836579066629457 Centerline is valid? [True, True] Translation: X:238.41, Y:-71.48, Z:-4.03 [[ 7.82037975e-01 6.23230765e-01 1.40618765e-04 2.38405549e+02] [-6.23230756e-01 7.82037988e-01 -1.06001168e-04 -7.14831102e+01] [-1.76032405e-04 -4.74100036e-06 9.99999984e-01 -4.02615460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.886559995 meters 0.011819400931045243 Centerline is valid? [True, True] Translation: X:238.46, Y:-71.52, Z:-4.03 [[ 7.79984243e-01 6.25799142e-01 -1.21896709e-04 2.38455804e+02] [-6.25799134e-01 7.79984252e-01 1.01899933e-04 -7.15191743e+01] [ 1.58846404e-04 -3.19748710e-06 9.99999987e-01 -4.02660708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.946559995 meters 0.012394270671743484 Centerline is valid? [True, True] Translation: X:238.51, Y:-71.55, Z:-4.03 [[ 7.76961121e-01 6.29547797e-01 -9.93399933e-04 2.38507945e+02] [-6.29547299e-01 7.76961756e-01 7.92260214e-04 -7.15523426e+01] [ 1.27059943e-03 9.83686095e-06 9.99999193e-01 -4.02923799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.006559995 meters 0.013015940205931867 Centerline is valid? [True, True] Translation: X:238.56, Y:-71.59, Z:-4.03 [[ 7.74433114e-01 6.32653736e-01 -1.61351264e-03 2.38559499e+02] [-6.32652425e-01 7.74434794e-01 1.28817979e-03 -7.15869692e+01] [ 2.06453208e-03 2.31835949e-05 9.99997869e-01 -4.03101522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.066559995 meters 0.01376541706660444 Centerline is valid? [True, True] Translation: X:238.61, Y:-71.62, Z:-4.03 [[ 7.71302779e-01 6.36468116e-01 -6.01350089e-04 2.38612187e+02] [-6.36467932e-01 7.71303013e-01 4.83498595e-04 -7.16209543e+01] [ 7.71554575e-04 9.81623789e-06 9.99999702e-01 -4.03117668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.126559995 meters 0.013835403061816494 Centerline is valid? [True, True] Translation: X:238.66, Y:-71.66, Z:-4.03 [[ 7.70294122e-01 6.37688769e-01 -2.02433013e-05 2.38662272e+02] [-6.37688768e-01 7.70294122e-01 2.11436126e-05 -7.16581855e+01] [ 2.90763403e-05 -3.37787459e-06 1.00000000e+00 -4.03160160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18655999499998 meters 0.013931022656759998 Centerline is valid? [True, True] Translation: X:238.71, Y:-71.70, Z:-4.03 [[ 7.70439445e-01 6.37510905e-01 1.70503809e-03 2.38711829e+02] [-6.37509471e-01 7.70441330e-01 -1.35312159e-03 -7.16961058e+01] [-2.17626159e-03 -4.44796874e-05 9.99997631e-01 -4.03183334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24655999499998 meters 0.013064898516142013 Centerline is valid? [True, True] Translation: X:238.76, Y:-71.74, Z:-4.03 [[ 7.71229452e-01 6.36552039e-01 2.57546979e-03 2.38759074e+02] [-6.36548750e-01 7.71233750e-01 -2.04733652e-03 -7.17359878e+01] [-3.28952546e-03 -6.04458503e-05 9.99994588e-01 -4.03107228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.306559995 meters 0.012620181025958778 Centerline is valid? [True, True] Translation: X:238.81, Y:-71.78, Z:-4.03 [[ 7.73093194e-01 6.34282310e-01 3.58668321e-03 2.38807331e+02] [-6.34275889e-01 7.73101511e-01 -2.85473442e-03 -7.17750326e+01] [-4.58357775e-03 -6.79709310e-05 9.99989493e-01 -4.03211334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.366559995 meters 0.012198506365306021 Centerline is valid? [True, True] Translation: X:238.86, Y:-71.81, Z:-4.03 [[ 7.74537512e-01 6.32513440e-01 4.28835167e-03 2.38855084e+02] [-6.32504220e-01 7.74549381e-01 -3.41594110e-03 -7.18147616e+01] [-5.48216879e-03 -6.66260077e-05 9.99984971e-01 -4.03294150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.426559995 meters 0.011761541034171543 Centerline is valid? [True, True] Translation: X:238.90, Y:-71.85, Z:-4.04 [[ 7.77216715e-01 6.29221513e-01 3.80330122e-03 2.38901607e+02] [-6.29214215e-01 7.77226020e-01 -3.03085935e-03 -7.18540084e+01] [-4.86310658e-03 -3.74566431e-05 9.99988174e-01 -4.03571715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.486559995 meters 0.011793222415257645 Centerline is valid? [True, True] Translation: X:238.95, Y:-71.90, Z:-4.04 [[ 7.80091002e-01 6.25660267e-01 2.69406536e-03 2.38949278e+02] [-6.25656588e-01 7.80095654e-01 -2.14579302e-03 -7.18956032e+01] [-3.44416611e-03 -1.16459117e-05 9.99994069e-01 -4.03900208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.546559995 meters 0.01171026199498572 Centerline is valid? [True, True] Translation: X:239.00, Y:-71.94, Z:-4.04 [[ 7.82476428e-01 6.22677792e-01 1.73383419e-03 2.38996539e+02] [-6.22676262e-01 7.82478349e-01 -1.38028882e-03 -7.19361807e+01] [-2.21616291e-03 4.26076086e-07 9.99997544e-01 -4.04039317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.606559995 meters 0.012018425714480365 Centerline is valid? [True, True] Translation: X:239.04, Y:-71.98, Z:-4.04 [[ 7.84500704e-01 6.20122189e-01 2.66752082e-03 2.39043914e+02] [-6.20118542e-01 7.84505240e-01 -2.12681061e-03 -7.19775319e+01] [-3.41156651e-03 1.43053016e-05 9.99994180e-01 -4.04085818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.666559995 meters 0.012034716807040702 Centerline is valid? [True, True] Translation: X:239.09, Y:-72.02, Z:-4.04 [[ 7.84208985e-01 6.20490256e-01 2.84802658e-03 2.39093121e+02] [-6.20486095e-01 7.84214156e-01 -2.27243607e-03 -7.20172869e+01] [-3.64348720e-03 1.49038909e-05 9.99993362e-01 -4.04186796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.726559995 meters 0.01194530431513394 Centerline is valid? [True, True] Translation: X:239.14, Y:-72.06, Z:-4.04 [[ 7.83758391e-01 6.21058030e-01 3.11574457e-03 2.39142646e+02] [-6.21053046e-01 7.83764584e-01 -2.48803443e-03 -7.20567117e+01] [-3.98722401e-03 1.49752040e-05 9.99992051e-01 -4.04284556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.786559995 meters 0.011840559823067021 Centerline is valid? [True, True] Translation: X:239.19, Y:-72.09, Z:-4.04 [[ 7.82344064e-01 6.22838088e-01 3.23747836e-03 2.39191577e+02] [-6.22832713e-01 7.82350763e-01 -2.58744898e-03 -7.20946191e+01] [-4.14440544e-03 7.86791959e-06 9.99991412e-01 -4.04331608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.846559995 meters 0.011833288268455894 Centerline is valid? [True, True] Translation: X:239.24, Y:-72.13, Z:-4.04 [[ 7.80628437e-01 6.24986173e-01 3.39518659e-03 2.39240938e+02] [-6.24980276e-01 7.80635820e-01 -2.71491529e-03 -7.21325480e+01] [-4.34718878e-03 -2.58457573e-06 9.99990551e-01 -4.04441170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90655999499998 meters 0.011988771107977666 Centerline is valid? [True, True] Translation: X:239.29, Y:-72.17, Z:-4.05 [[ 7.77742706e-01 6.28566368e-01 4.53909675e-03 2.39291533e+02] [-6.28555869e-01 7.77755951e-01 -3.63321609e-03 -7.21692287e+01] [-5.81402695e-03 -2.73685894e-05 9.99983098e-01 -4.04532832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96655999499998 meters 0.01236732902510876 Centerline is valid? [True, True] Translation: X:239.34, Y:-72.21, Z:-4.05 [[ 7.75078142e-01 6.31845017e-01 5.07428102e-03 2.39340904e+02] [-6.31831944e-01 7.75094750e-01 -4.06487872e-03 -7.22075209e+01] [-6.50142194e-03 -5.54941957e-05 9.99978864e-01 -4.04528126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02655999499999 meters 0.012694202663897937 Centerline is valid? [True, True] Translation: X:239.39, Y:-72.25, Z:-4.05 [[ 7.73909957e-01 6.33277597e-01 4.78157592e-03 2.39389366e+02] [-6.33266006e-01 7.73924726e-01 -3.83202685e-03 -7.22463689e+01] [-6.12731659e-03 -6.23657586e-05 9.99981226e-01 -4.04632797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.086559995 meters 0.01310275064274458 Centerline is valid? [True, True] Translation: X:239.44, Y:-72.28, Z:-4.05 [[ 7.72425474e-01 6.35087400e-01 4.78353475e-03 2.39437781e+02] [-6.35075822e-01 7.72440282e-01 -3.83547936e-03 -7.22849177e+01] [-6.13085954e-03 -7.52852977e-05 9.99981203e-01 -4.04653804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.146559995 meters 0.013544694465760305 Centerline is valid? [True, True] Translation: X:239.49, Y:-72.32, Z:-4.05 [[ 7.71248240e-01 6.36522489e-01 3.90809519e-03 2.39486465e+02] [-6.36514777e-01 7.71258138e-01 -3.13422432e-03 -7.23234929e+01] [-5.00915449e-03 -7.02953504e-05 9.99987452e-01 -4.04774750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.206559995 meters 0.014928415527477083 Centerline is valid? [True, True] Translation: X:239.54, Y:-72.36, Z:-4.05 [[ 7.70245597e-01 6.37742634e-01 2.46017359e-03 2.39535216e+02] [-6.37739586e-01 7.70249525e-01 -1.97249497e-03 -7.23600818e+01] [-3.15289168e-03 -4.96445223e-05 9.99995028e-01 -4.05195573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.266559995 meters 0.014116201366755923 Centerline is valid? [True, True] Translation: X:239.58, Y:-72.40, Z:-4.05 [[ 7.69993663e-01 6.38049488e-01 1.61545540e-03 2.39581356e+02] [-6.38048177e-01 7.69995357e-01 -1.29386569e-03 -7.24012739e+01] [-2.06944350e-03 -3.44699868e-05 9.99997858e-01 -4.05128302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.326559995 meters 0.014310464000635898 Centerline is valid? [True, True] Translation: X:239.63, Y:-72.44, Z:-4.05 [[ 7.70876343e-01 6.36983002e-01 1.52278788e-03 2.39628319e+02] [-6.36981834e-01 7.70877846e-01 -1.22035694e-03 -7.24408147e+01] [-1.95123007e-03 -2.92439218e-05 9.99998096e-01 -4.05230495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.386559995 meters 0.013517243545345423 Centerline is valid? [True, True] Translation: X:239.67, Y:-72.49, Z:-4.05 [[ 7.73224755e-01 6.34129772e-01 1.70599768e-03 2.39672346e+02] [-6.34128297e-01 7.73226637e-01 -1.36805930e-03 -7.24852503e+01] [-2.18664998e-03 -2.40040861e-05 9.99997609e-01 -4.05016019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.446559995 meters 0.01344709228903571 Centerline is valid? [True, True] Translation: X:239.72, Y:-72.53, Z:-4.05 [[ 7.75558296e-01 6.31270949e-01 2.51369556e-03 2.39717314e+02] [-6.31267719e-01 7.75562369e-01 -2.01948800e-03 -7.25264280e+01] [-3.22437179e-03 -2.05841926e-05 9.99994801e-01 -4.05151168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.506559995 meters 0.013154716297915144 Centerline is valid? [True, True] Translation: X:239.76, Y:-72.57, Z:-4.05 [[ 7.79341157e-01 6.26593263e-01 2.87107412e-03 2.39761558e+02] [-6.26589013e-01 7.79346446e-01 -2.30794779e-03 -7.25710132e+01] [-3.68370595e-03 -3.04798876e-07 9.99993215e-01 -4.04947884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.566559995 meters 0.013633085483875297 Centerline is valid? [True, True] Translation: X:239.81, Y:-72.61, Z:-4.05 [[ 7.80263285e-01 6.25445629e-01 2.64046721e-03 2.39808353e+02] [-6.25442026e-01 7.80267752e-01 -2.12303683e-03 -7.26113192e+01] [-3.38811552e-03 5.06852695e-06 9.99994260e-01 -4.05287834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.626559995 meters 0.013841628758551413 Centerline is valid? [True, True] Translation: X:239.85, Y:-72.65, Z:-4.05 [[ 7.82566044e-01 6.22564999e-01 1.79115759e-03 2.39854569e+02] [-6.22563335e-01 7.82568094e-01 -1.43952665e-03 -7.26528606e+01] [-2.29790169e-03 1.14156373e-05 9.99997360e-01 -4.05226269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68655999499998 meters 0.014567734472684635 Centerline is valid? [True, True] Translation: X:239.90, Y:-72.70, Z:-4.05 [[ 7.85393265e-01 6.18996306e-01 9.96071525e-04 2.39899588e+02] [-6.18995791e-01 7.85393897e-01 -7.98777845e-04 -7.26958462e+01] [-1.27674903e-03 1.07906594e-05 9.99999185e-01 -4.05260669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74655999499998 meters 0.014874091776795995 Centerline is valid? [True, True] Translation: X:239.95, Y:-72.74, Z:-4.05 [[ 7.87253863e-01 6.16626834e-01 1.64422092e-03 2.39946433e+02] [-6.16625416e-01 7.87255579e-01 -1.32263351e-03 -7.27358444e+01] [-2.10999341e-03 2.73799329e-05 9.99997774e-01 -4.05198219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.806559995 meters 0.015482138953204933 Centerline is valid? [True, True] Translation: X:239.99, Y:-72.78, Z:-4.05 [[ 7.88041243e-01 6.15616558e-01 2.69286893e-03 2.39993896e+02] [-6.15612737e-01 7.88045843e-01 -2.16963033e-03 -7.27755780e+01] [-3.45776453e-03 5.19937724e-05 9.99994021e-01 -4.05248112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.866559995 meters 0.01580276999103643 Centerline is valid? [True, True] Translation: X:240.04, Y:-72.81, Z:-4.05 [[ 7.87346697e-01 6.16494038e-01 4.50334215e-03 2.40041314e+02] [-6.16483333e-01 7.87359571e-01 -3.63404858e-03 -7.28148792e+01] [-5.78611883e-03 8.50207713e-05 9.99983257e-01 -4.05242620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.926559995 meters 0.01400509536416256 Centerline is valid? [True, True] Translation: X:240.09, Y:-72.85, Z:-4.05 [[ 7.85809561e-01 6.18452942e-01 4.39227679e-03 2.40093311e+02] [-6.18442781e-01 7.85821834e-01 -3.54582449e-03 -7.28498198e+01] [-5.64447258e-03 6.99709148e-05 9.99984067e-01 -4.05205455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.986559995 meters 0.013224428310954515 Centerline is valid? [True, True] Translation: X:240.15, Y:-72.88, Z:-4.05 [[ 7.81177034e-01 6.24295679e-01 4.16494997e-03 2.40146008e+02] [-6.24286618e-01 7.81188136e-01 -3.36376907e-03 -7.28833261e+01] [-5.35359600e-03 2.75766117e-05 9.99985669e-01 -4.05481033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.046559995 meters 0.012915649064397955 Centerline is valid? [True, True] Translation: X:240.20, Y:-72.92, Z:-4.06 [[ 7.74655084e-01 6.32367009e-01 4.63323329e-03 2.40199273e+02] [-6.32355924e-01 7.74668939e-01 -3.74442439e-03 -7.29155406e+01] [-5.95707236e-03 -2.92151285e-05 9.99982256e-01 -4.05606263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.106559995 meters 0.013630346269993088 Centerline is valid? [True, True] Translation: X:240.25, Y:-72.95, Z:-4.06 [[ 7.69971063e-01 6.38052738e-01 5.76757088e-03 2.40251855e+02] [-6.38035692e-01 7.69992659e-01 -4.66477567e-03 -7.29495521e+01] [-7.41736013e-03 -8.81737988e-05 9.99972487e-01 -4.05716191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.166559995 meters 0.015381943828030653 Centerline is valid? [True, True] Translation: X:240.31, Y:-72.98, Z:-4.06 [[ 7.64300230e-01 6.44806203e-01 8.37366799e-03 2.40305990e+02] [-6.44770600e-01 7.64346069e-01 -6.77943409e-03 -7.29814668e+01] [-1.07718014e-02 -2.17571898e-04 9.99941959e-01 -4.05813987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.226559995 meters 0.01625023943865363 Centerline is valid? [True, True] Translation: X:240.36, Y:-73.02, Z:-4.06 [[ 7.61667551e-01 6.47887164e-01 1.02354269e-02 2.40356433e+02] [-6.47834226e-01 7.61736255e-01 -8.28823023e-03 -7.30178203e+01] [-1.31665337e-02 -3.17983850e-04 9.99913267e-01 -4.05841135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.286559995 meters 0.018298450680257202 Centerline is valid? [True, True] Translation: X:240.41, Y:-73.05, Z:-4.06 [[ 7.58732660e-01 6.51288212e-01 1.21826124e-02 2.40407554e+02] [-6.51213624e-01 7.58830327e-01 -9.86666509e-03 -7.30515637e+01] [-1.56705784e-02 -4.47322148e-04 9.99877109e-01 -4.05909055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.346559995 meters 0.018470335923912888 Centerline is valid? [True, True] Translation: X:240.46, Y:-73.09, Z:-4.06 [[ 7.57288880e-01 6.52958484e-01 1.26004440e-02 2.40456606e+02] [-6.52878842e-01 7.57393540e-01 -1.02099906e-02 -7.30889468e+01] [-1.62101949e-02 -4.94650888e-04 9.99868484e-01 -4.06142994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40655999499998 meters 0.020584724492099873 Centerline is valid? [True, True] Translation: X:240.51, Y:-73.12, Z:-4.07 [[ 7.55996442e-01 6.54475522e-01 1.14530002e-02 2.40506873e+02] [-6.54409841e-01 7.56083041e-01 -9.28420380e-03 -7.31235881e+01] [-1.47357034e-02 -4.76131005e-04 9.99891310e-01 -4.06516154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46655999499998 meters 0.020186411688747352 Centerline is valid? [True, True] Translation: X:240.55, Y:-73.16, Z:-4.07 [[ 7.56206616e-01 6.54247436e-01 1.05757475e-02 2.40554215e+02] [-6.54191360e-01 7.56280441e-01 -8.57667337e-03 -7.31629841e+01] [-1.36094976e-02 -4.32825497e-04 9.99907293e-01 -4.06845454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52655999499999 meters 0.019152125606738755 Centerline is valid? [True, True] Translation: X:240.60, Y:-73.20, Z:-4.07 [[ 7.58912405e-01 6.51117273e-01 9.91252256e-03 2.40598914e+02] [-6.51067685e-01 7.58977058e-01 -8.04332134e-03 -7.32031434e+01] [-1.27605227e-02 -3.49546778e-04 9.99918520e-01 -4.07262592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.586559995 meters 0.01521937654205377 Centerline is valid? [True, True] Translation: X:240.64, Y:-73.25, Z:-4.07 [[ 7.63840698e-01 6.45304551e-01 1.13764713e-02 2.40638998e+02] [-6.45238580e-01 7.63925358e-01 -9.23154683e-03 -7.32517880e+01] [-1.46479341e-02 -2.89107029e-04 9.99892671e-01 -4.07254475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.646559995 meters 0.014219207517915259 Centerline is valid? [True, True] Translation: X:240.68, Y:-73.30, Z:-4.07 [[ 7.66470379e-01 6.42146699e-01 1.30680896e-02 2.40683776e+02] [-6.42059167e-01 7.66581730e-01 -1.06055268e-02 -7.32955584e+01] [-1.68280627e-02 -2.61664585e-04 9.99858364e-01 -4.07242632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.706559995 meters 0.014050951948993647 Centerline is valid? [True, True] Translation: X:240.73, Y:-73.34, Z:-4.07 [[ 7.68102241e-01 6.40169909e-01 1.41927746e-02 2.40728808e+02] [-6.40066210e-01 7.68233320e-01 -1.15244842e-02 -7.33366903e+01] [-1.82809904e-02 -2.32333310e-04 9.99832862e-01 -4.07268070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.766559995 meters 0.013405685190194921 Centerline is valid? [True, True] Translation: X:240.78, Y:-73.38, Z:-4.08 [[ 7.69083823e-01 6.38989660e-01 1.42228215e-02 2.40775268e+02] [-6.38885219e-01 7.69215298e-01 -1.15543121e-02 -7.33782454e+01] [-1.83234978e-02 -2.00515960e-04 9.99832091e-01 -4.07513544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.826559995 meters 0.013080896715746687 Centerline is valid? [True, True] Translation: X:240.82, Y:-73.42, Z:-4.08 [[ 7.70429217e-01 6.37373030e-01 1.39442323e-02 2.40821284e+02] [-6.37272274e-01 7.70555382e-01 -1.13336748e-02 -7.34204472e+01] [-1.79685819e-02 -1.54478449e-04 9.99838540e-01 -4.07710115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.886559995 meters 0.013095892052061537 Centerline is valid? [True, True] Translation: X:240.87, Y:-73.46, Z:-4.08 [[ 7.70795011e-01 6.36939513e-01 1.35317664e-02 2.40867990e+02] [-6.36844472e-01 7.70913768e-01 -1.10036135e-02 -7.34596599e+01] [-1.74404612e-02 -1.36100214e-04 9.99847894e-01 -4.07829648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.946559995 meters 0.012718808249214888 Centerline is valid? [True, True] Translation: X:240.91, Y:-73.50, Z:-4.08 [[ 7.72378787e-01 6.35016089e-01 1.36226177e-02 2.40914833e+02] [-6.34919409e-01 7.72498905e-01 -1.10808511e-02 -7.35010001e+01] [-1.75599760e-02 -9.06500566e-05 9.99845808e-01 -4.07986592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.006559995 meters 0.012482214153530806 Centerline is valid? [True, True] Translation: X:240.96, Y:-73.54, Z:-4.08 [[ 7.75054778e-01 6.31746783e-01 1.36416440e-02 2.40960901e+02] [-6.31649226e-01 7.75174821e-01 -1.11019091e-02 -7.35429165e+01] [-1.75882542e-02 -1.21461995e-05 9.99845315e-01 -4.08137888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.066559995 meters 0.012592889423542242 Centerline is valid? [True, True] Translation: X:241.01, Y:-73.58, Z:-4.08 [[ 7.76980067e-01 6.29378765e-01 1.35774167e-02 2.41006911e+02] [-6.29281664e-01 7.77098686e-01 -1.10553025e-02 -7.35836847e+01] [-1.75089653e-02 4.57302957e-05 9.99846705e-01 -4.08215059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.126559995 meters 0.012833271115142876 Centerline is valid? [True, True] Translation: X:241.05, Y:-73.62, Z:-4.08 [[ 7.79505136e-01 6.26257989e-01 1.31405870e-02 2.41053236e+02] [-6.26166501e-01 7.79615878e-01 -1.07048859e-02 -7.36246450e+01] [-1.69486306e-02 1.16318195e-04 9.99856355e-01 -4.08367175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18655999499998 meters 0.013119089768161245 Centerline is valid? [True, True] Translation: X:241.10, Y:-73.67, Z:-4.08 [[ 7.81034656e-01 6.24352909e-01 1.29734903e-02 2.41100298e+02] [-6.24263383e-01 7.81142381e-01 -1.05739904e-02 -7.36652185e+01] [-1.67360447e-02 1.59777989e-04 9.99859930e-01 -4.08454068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24655999499998 meters 0.013579565617196835 Centerline is valid? [True, True] Translation: X:241.15, Y:-73.71, Z:-4.09 [[ 7.82384833e-01 6.22657654e-01 1.30927019e-02 2.41145971e+02] [-6.22566147e-01 7.82494348e-01 -1.06764781e-02 -7.37051587e+01] [-1.68927560e-02 2.02041578e-04 9.99857287e-01 -4.08525111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.306559995 meters 0.013939390229872931 Centerline is valid? [True, True] Translation: X:241.19, Y:-73.74, Z:-4.09 [[ 7.83318149e-01 6.21497625e-01 1.23846856e-02 2.41193726e+02] [-6.21415543e-01 7.83416017e-01 -1.01028571e-02 -7.37445608e+01] [-1.59812628e-02 2.17715136e-04 9.99872268e-01 -4.08662651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.366559995 meters 0.013784035016376279 Centerline is valid? [True, True] Translation: X:241.24, Y:-73.78, Z:-4.09 [[ 7.82647660e-01 6.22349451e-01 1.19916998e-02 2.41243101e+02] [-6.22272524e-01 7.82739498e-01 -9.78693090e-03 -7.37827092e+01] [-1.54772682e-02 1.97613240e-04 9.99880200e-01 -4.08815703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.426559995 meters 0.013178789460491594 Centerline is valid? [True, True] Translation: X:241.29, Y:-73.82, Z:-4.09 [[ 7.80582241e-01 6.24945557e-01 1.15937698e-02 2.41294249e+02] [-6.24873869e-01 7.80668323e-01 -9.46668204e-03 -7.38185083e+01] [-1.49670497e-02 1.44880078e-04 9.99887977e-01 -4.08894620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.486559995 meters 0.013203636592521674 Centerline is valid? [True, True] Translation: X:241.34, Y:-73.86, Z:-4.09 [[ 7.79547856e-01 6.26245165e-01 1.10514316e-02 2.41341897e+02] [-6.26180095e-01 7.79626179e-01 -9.02824692e-03 -7.38560059e+01] [-1.42698814e-02 1.17764056e-04 9.99898173e-01 -4.08987497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.546559995 meters 0.012782053692309735 Centerline is valid? [True, True] Translation: X:241.39, Y:-73.89, Z:-4.09 [[ 7.76269384e-01 6.30321263e-01 1.00473103e-02 2.41393938e+02] [-6.30267777e-01 7.76334402e-01 -8.21129737e-03 -7.38908914e+01] [-1.29758279e-02 4.16828480e-05 9.99915810e-01 -4.09136864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.606559995 meters 0.012639995103719619 Centerline is valid? [True, True] Translation: X:241.45, Y:-73.93, Z:-4.09 [[ 7.73696291e-01 6.33495198e-01 8.82515050e-03 2.41445216e+02] [-6.33454108e-01 7.73746621e-01 -7.21519192e-03 -7.39271862e+01] [-1.13992198e-02 -7.96061207e-06 9.99935027e-01 -4.09262724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.666559995 meters 0.013057553705402292 Centerline is valid? [True, True] Translation: X:241.50, Y:-73.96, Z:-4.10 [[ 7.70229816e-01 6.37730044e-01 6.81338034e-03 2.41496385e+02] [-6.37705694e-01 7.70259949e-01 -5.57312121e-03 -7.39602763e+01] [-8.80222083e-03 -5.23473102e-05 9.99961258e-01 -4.09517062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.726559995 meters 0.01320138652064883 Centerline is valid? [True, True] Translation: X:241.55, Y:-74.00, Z:-4.10 [[ 7.68383765e-01 6.39968926e-01 5.11493036e-03 2.41546848e+02] [-6.39955253e-01 7.68400787e-01 -4.18381994e-03 -7.39973091e+01] [-6.60783127e-03 -5.85472307e-05 9.99978166e-01 -4.09570040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.786559995 meters 0.013244807868996797 Centerline is valid? [True, True] Translation: X:241.59, Y:-74.04, Z:-4.10 [[ 7.68413296e-01 6.39935845e-01 4.80854503e-03 2.41594753e+02] [-6.39923744e-01 7.68428339e-01 -3.93579331e-03 -7.40361772e+01] [-6.21367749e-03 -5.27862252e-05 9.99980694e-01 -4.09630615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.846559995 meters 0.013158753548039593 Centerline is valid? [True, True] Translation: X:241.64, Y:-74.08, Z:-4.10 [[ 7.69273269e-01 6.38906494e-01 4.13882994e-03 2.41642818e+02] [-6.38897518e-01 7.69284402e-01 -3.38692833e-03 -7.40768146e+01] [-5.34786782e-03 -3.88147414e-05 9.99985699e-01 -4.09676934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90655999499998 meters 0.013057469845583248 Centerline is valid? [True, True] Translation: X:241.69, Y:-74.12, Z:-4.10 [[ 7.70870573e-01 6.36982031e-01 3.52873885e-03 2.41689268e+02] [-6.36975480e-01 7.70878649e-01 -2.88879026e-03 -7.41172726e+01] [-4.56033693e-03 -2.08367246e-05 9.99989601e-01 -4.09800077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96655999499998 meters 0.01305519405671082 Centerline is valid? [True, True] Translation: X:241.74, Y:-74.16, Z:-4.10 [[ 7.71851140e-01 6.35798522e-01 2.46099443e-03 2.41736972e+02] [-6.35795333e-01 7.71855063e-01 -2.01375060e-03 -7.41585509e+01] [-3.17987067e-03 -1.03730847e-05 9.99994944e-01 -4.09769050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02655999499999 meters 0.013050398457520339 Centerline is valid? [True, True] Translation: X:241.79, Y:-74.20, Z:-4.10 [[ 7.71897081e-01 6.35744726e-01 1.88126336e-03 2.41786039e+02] [-6.35742863e-01 7.71899374e-01 -1.53891336e-03 -7.41986784e+01] [-2.43050206e-03 -8.11702606e-06 9.99997046e-01 -4.09893598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.086559995 meters 0.013147915528622413 Centerline is valid? [True, True] Translation: X:241.83, Y:-74.24, Z:-4.10 [[ 7.72004168e-01 6.35616063e-01 1.33610972e-03 2.41833470e+02] [-6.35615125e-01 7.72005324e-01 -1.09232283e-03 -7.42379543e+01] [-1.72578176e-03 -5.97376968e-06 9.99998511e-01 -4.10086807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.146559995 meters 0.013155233203443948 Centerline is valid? [True, True] Translation: X:241.88, Y:-74.28, Z:-4.10 [[ 7.71646950e-01 6.36050722e-01 6.80767054e-04 2.41881185e+02] [-6.36050480e-01 7.71647250e-01 -5.54661623e-04 -7.42778537e+01] [-8.78104951e-04 -4.99926192e-06 9.99999614e-01 -4.10207738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.206559995 meters 0.013329258312096453 Centerline is valid? [True, True] Translation: X:241.93, Y:-74.32, Z:-4.10 [[ 7.70724904e-01 6.37168023e-01 1.79990785e-04 2.41929265e+02] [-6.37168007e-01 7.70724925e-01 -1.43550761e-04 -7.43162533e+01] [-2.30189339e-04 -4.04622303e-06 9.99999973e-01 -4.10326533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.266559995 meters 0.013142833948795243 Centerline is valid? [True, True] Translation: X:241.98, Y:-74.36, Z:-4.10 [[ 7.69466196e-01 6.38687463e-01 -3.12505881e-04 2.41978199e+02] [-6.38687409e-01 7.69466260e-01 2.62185003e-04 -7.43552839e+01] [ 4.07917006e-04 -2.14892551e-06 9.99999917e-01 -4.10212112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.326559995 meters 0.013151829562780382 Centerline is valid? [True, True] Translation: X:242.03, Y:-74.39, Z:-4.10 [[ 7.68390368e-01 6.39981397e-01 2.33000717e-04 2.42027868e+02] [-6.39981370e-01 7.68390403e-01 -1.85977147e-04 -7.43946779e+01] [-2.98057429e-04 -6.21307021e-06 9.99999956e-01 -4.10264532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.386559995 meters 0.01321005901484567 Centerline is valid? [True, True] Translation: X:242.08, Y:-74.43, Z:-4.10 [[ 7.67507304e-01 6.41040037e-01 4.57306220e-04 2.42077592e+02] [-6.41039930e-01 7.67507440e-01 -3.70924533e-04 -7.44336849e+01] [-5.88763403e-04 -8.46425908e-06 9.99999827e-01 -4.10300555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.446559995 meters 0.013134806922753995 Centerline is valid? [True, True] Translation: X:242.13, Y:-74.47, Z:-4.10 [[ 7.67632638e-01 6.40889340e-01 9.93613527e-04 2.42125473e+02] [-6.40888824e-01 7.67633280e-01 -8.13764099e-04 -7.44732259e+01] [-1.28426355e-03 -1.21239227e-05 9.99999175e-01 -4.10309884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.506559995 meters 0.012984015028627385 Centerline is valid? [True, True] Translation: X:242.17, Y:-74.51, Z:-4.10 [[ 7.67885176e-01 6.40585507e-01 1.60113156e-03 2.42172911e+02] [-6.40584158e-01 7.67886845e-01 -1.31493900e-03 -7.45131808e+01] [-2.07181873e-03 -1.59373487e-05 9.99997854e-01 -4.10237671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.566559995 meters 0.013033907467427594 Centerline is valid? [True, True] Translation: X:242.22, Y:-74.55, Z:-4.10 [[ 7.67820513e-01 6.40664301e-01 9.56133787e-04 2.42221533e+02] [-6.40663822e-01 7.67821108e-01 -7.83298273e-04 -7.45520709e+01] [-1.23597094e-03 -1.11278444e-05 9.99999236e-01 -4.10426612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.626559995 meters 0.013409569219567371 Centerline is valid? [True, True] Translation: X:242.27, Y:-74.59, Z:-4.11 [[ 7.66784667e-01 6.41904394e-01 1.52591841e-04 2.42271139e+02] [-6.41904382e-01 7.66784683e-01 -1.20966994e-04 -7.45896911e+01] [-1.94654331e-04 -5.19373466e-06 9.99999981e-01 -4.10689439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68655999499998 meters 0.013548435950807586 Centerline is valid? [True, True] Translation: X:242.32, Y:-74.63, Z:-4.11 [[ 7.66097363e-01 6.42724513e-01 -1.74643836e-04 2.42319597e+02] [-6.42724496e-01 7.66097383e-01 1.49114912e-04 -7.46282628e+01] [ 2.29633995e-04 -1.98866997e-06 9.99999974e-01 -4.10786466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74655999499998 meters 0.013589366009030589 Centerline is valid? [True, True] Translation: X:242.37, Y:-74.67, Z:-4.11 [[ 7.65670379e-01 6.43233137e-01 4.46697186e-05 2.42368606e+02] [-6.43233136e-01 7.65670381e-01 -3.13546668e-05 -7.46677344e+01] [-5.43706411e-05 -4.72570357e-06 9.99999999e-01 -4.10927978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.806559995 meters 0.013648510456422245 Centerline is valid? [True, True] Translation: X:242.42, Y:-74.71, Z:-4.11 [[ 7.65655296e-01 6.43251014e-01 -3.18396541e-04 2.42416084e+02] [-6.43250958e-01 7.65655362e-01 2.68313898e-04 -7.47071797e+01] [ 4.16375205e-04 -6.27077263e-07 9.99999913e-01 -4.11063816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.866559995 meters 0.013485596727299059 Centerline is valid? [True, True] Translation: X:242.46, Y:-74.75, Z:-4.11 [[ 7.65907142e-01 6.42951181e-01 1.72078855e-04 2.42463939e+02] [-6.42951166e-01 7.65907161e-01 -1.37571304e-04 -7.47474711e+01] [-2.20248060e-04 -5.27145608e-06 9.99999976e-01 -4.11181767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.926559995 meters 0.01335236345274204 Centerline is valid? [True, True] Translation: X:242.51, Y:-74.79, Z:-4.11 [[ 7.67044295e-01 6.41593065e-01 1.17841945e-03 2.42509858e+02] [-6.41592328e-01 7.67045200e-01 -9.72103675e-04 -7.47876195e+01] [-1.52759596e-03 -1.04183030e-05 9.99998833e-01 -4.11271286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.986559995 meters 0.013150085488917797 Centerline is valid? [True, True] Translation: X:242.56, Y:-74.83, Z:-4.11 [[ 7.67818572e-01 6.40665540e-01 1.51892091e-03 2.42556983e+02] [-6.40664315e-01 7.67820074e-01 -1.25243341e-03 -7.48278465e+01] [-1.96864889e-03 -1.14767954e-05 9.99998062e-01 -4.11483396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.046559995 meters 0.012786757663676318 Centerline is valid? [True, True] Translation: X:242.60, Y:-74.87, Z:-4.11 [[ 7.68738240e-01 6.39560851e-01 1.85373596e-03 2.42603923e+02] [-6.39559021e-01 7.68740475e-01 -1.52983206e-03 -7.48687173e+01] [-2.40346256e-03 -9.53314892e-06 9.99997112e-01 -4.11391134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.106559995 meters 0.01273149291278501 Centerline is valid? [True, True] Translation: X:242.65, Y:-74.91, Z:-4.12 [[ 7.70444022e-01 6.37506467e-01 1.23063892e-03 2.42650771e+02] [-6.37505661e-01 7.70445004e-01 -1.01384507e-03 -7.49109997e+01] [-1.59447240e-03 -3.42840415e-06 9.99998729e-01 -4.11613987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.166559995 meters 0.012939872321351199 Centerline is valid? [True, True] Translation: X:242.70, Y:-74.95, Z:-4.12 [[ 7.71790028e-01 6.35875550e-01 1.56120225e-03 2.42697446e+02] [-6.35874244e-01 7.71791608e-01 -1.28849498e-03 -7.49532737e+01] [-2.02424525e-03 1.71927331e-06 9.99997951e-01 -4.11693359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.226559995 meters 0.012778799730478314 Centerline is valid? [True, True] Translation: X:242.75, Y:-74.99, Z:-4.12 [[ 7.72786513e-01 6.34661297e-01 2.45855201e-03 2.42745125e+02] [-6.34658040e-01 7.72790423e-01 -2.03324995e-03 -7.49948727e+01] [-3.19037050e-03 1.09283396e-05 9.99994911e-01 -4.11620642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.286559995 meters 0.012716498196533315 Centerline is valid? [True, True] Translation: X:242.79, Y:-75.03, Z:-4.12 [[ 7.72540290e-01 6.34958207e-01 3.09435862e-03 2.42792763e+02] [-6.34953036e-01 7.72546487e-01 -2.56257052e-03 -7.50341583e+01] [-4.01766107e-03 1.49165666e-05 9.99991929e-01 -4.11645677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.346559995 meters 0.012506558512573832 Centerline is valid? [True, True] Translation: X:242.84, Y:-75.07, Z:-4.12 [[ 7.71460939e-01 6.36266818e-01 3.54350312e-03 2.42840596e+02] [-6.36260040e-01 7.71469077e-01 -2.93680446e-03 -7.50730673e+01] [-4.60229431e-03 1.10404902e-05 9.99989409e-01 -4.11702819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40655999499998 meters 0.012443647547736308 Centerline is valid? [True, True] Translation: X:242.89, Y:-75.11, Z:-4.12 [[ 7.70658679e-01 6.37238194e-01 3.56155966e-03 2.42889541e+02] [-6.37231353e-01 7.70666909e-01 -2.95278124e-03 -7.51126670e+01] [-4.62640116e-03 6.04901121e-06 9.99989298e-01 -4.11813406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46655999499998 meters 0.012241025833475062 Centerline is valid? [True, True] Translation: X:242.94, Y:-75.15, Z:-4.12 [[ 7.68283961e-01 6.40098605e-01 3.67844466e-03 2.42940621e+02] [-6.40091331e-01 7.68292767e-01 -3.05159390e-03 -7.51497748e+01] [-4.77944343e-03 -1.00498887e-05 9.99988578e-01 -4.11930462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52655999499999 meters 0.01220585052540183 Centerline is valid? [True, True] Translation: X:242.99, Y:-75.19, Z:-4.12 [[ 7.66654934e-01 6.42044085e-01 4.42784023e-03 2.42991160e+02] [-6.42033559e-01 7.66667720e-01 -3.67657116e-03 -7.51877069e+01] [-5.75520293e-03 -2.41606027e-05 9.99983438e-01 -4.12048287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.586559995 meters 0.012165346521974764 Centerline is valid? [True, True] Translation: X:243.04, Y:-75.23, Z:-4.12 [[ 7.65144227e-01 6.43835345e-01 5.51013362e-03 2.43040939e+02] [-6.43819062e-01 7.65164065e-01 -4.57918494e-03 -7.52260641e+01] [-7.16439736e-03 -4.37921356e-05 9.99974334e-01 -4.11987733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.646559995 meters 0.012022058399461868 Centerline is valid? [True, True] Translation: X:243.09, Y:-75.26, Z:-4.12 [[ 7.65180103e-01 6.43780959e-01 6.74444899e-03 2.43090031e+02] [-6.43756518e-01 7.65209824e-01 -5.60981958e-03 -7.52641159e+01] [-8.77241365e-03 -4.92606764e-05 9.99961520e-01 -4.12062193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.706559995 meters 0.01197945243194018 Centerline is valid? [True, True] Translation: X:243.14, Y:-75.30, Z:-4.12 [[ 7.65262349e-01 6.43674861e-01 7.49736239e-03 2.43139219e+02] [-6.43644621e-01 7.65299073e-01 -6.23952724e-03 -7.53027255e+01] [-9.75395131e-03 -5.07616968e-05 9.99952428e-01 -4.12201225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.766559995 meters 0.012048138862443766 Centerline is valid? [True, True] Translation: X:243.19, Y:-75.34, Z:-4.12 [[ 7.65309158e-01 6.43619020e-01 7.51322857e-03 2.43187778e+02] [-6.43588606e-01 7.65346036e-01 -6.25714515e-03 -7.53415166e+01] [-9.77743733e-03 -4.67778126e-05 9.99952199e-01 -4.12364705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.826559995 meters 0.011931602604858375 Centerline is valid? [True, True] Translation: X:243.24, Y:-75.38, Z:-4.12 [[ 7.65229927e-01 6.43713486e-01 7.49050484e-03 2.43236198e+02] [-6.43683247e-01 7.65266585e-01 -6.23954360e-03 -7.53811801e+01] [-9.74871142e-03 -4.68269818e-05 9.99952479e-01 -4.12471764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.886559995 meters 0.011990709183176079 Centerline is valid? [True, True] Translation: X:243.29, Y:-75.42, Z:-4.13 [[ 7.65308705e-01 6.43627085e-01 6.83823457e-03 2.43285428e+02] [-6.43601856e-01 7.65339254e-01 -5.69893223e-03 -7.54203136e+01] [-8.90155649e-03 -3.96580169e-05 9.99960380e-01 -4.12613892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.946559995 meters 0.011913102298156697 Centerline is valid? [True, True] Translation: X:243.33, Y:-75.46, Z:-4.13 [[ 7.65140236e-01 6.43818871e-01 7.59476384e-03 2.43334206e+02] [-6.43787718e-01 7.65177927e-01 -6.33365023e-03 -7.54594678e+01] [-9.88906919e-03 -4.32850382e-05 9.99951101e-01 -4.12682346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.006559995 meters 0.011768046297301448 Centerline is valid? [True, True] Translation: X:243.38, Y:-75.50, Z:-4.13 [[ 7.64884240e-01 6.44122171e-01 7.66349304e-03 2.43382954e+02] [-6.44090430e-01 7.64922628e-01 -6.39461154e-03 -7.54994473e+01] [-9.98089030e-03 -4.48449408e-05 9.99950189e-01 -4.12649983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.066559995 meters 0.011845067729988432 Centerline is valid? [True, True] Translation: X:243.43, Y:-75.54, Z:-4.13 [[ 7.64567801e-01 6.44508578e-01 6.69106769e-03 2.43431585e+02] [-6.44484373e-01 7.64597078e-01 -5.58592848e-03 -7.55383081e+01] [-8.71614963e-03 -4.14675102e-05 9.99962013e-01 -4.12821082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.126559995 meters 0.011848506719900728 Centerline is valid? [True, True] Translation: X:243.48, Y:-75.58, Z:-4.13 [[ 7.63990605e-01 6.45196449e-01 6.31646050e-03 2.43481029e+02] [-6.45174882e-01 7.64016715e-01 -5.27557174e-03 -7.55779468e+01] [-8.22966155e-03 -4.47344068e-05 9.99966135e-01 -4.12907734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18655999499998 meters 0.011993841784808305 Centerline is valid? [True, True] Translation: X:243.53, Y:-75.62, Z:-4.13 [[ 7.62835057e-01 6.46563658e-01 6.17352663e-03 2.43531361e+02] [-6.46543078e-01 7.62860035e-01 -5.15901452e-03 -7.56164358e+01] [-8.04516805e-03 -5.59737757e-05 9.99967636e-01 -4.12927175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24655999499998 meters 0.012100993028424089 Centerline is valid? [True, True] Translation: X:243.58, Y:-75.66, Z:-4.13 [[ 7.62231420e-01 6.47277042e-01 5.97438414e-03 2.43580610e+02] [-6.47257769e-01 7.62254831e-01 -4.99533745e-03 -7.56554067e+01] [-7.78737042e-03 -5.93633922e-05 9.99969676e-01 -4.13023930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.306559995 meters 0.01208780258095451 Centerline is valid? [True, True] Translation: X:243.63, Y:-75.70, Z:-4.13 [[ 7.62586188e-01 6.46862136e-01 5.62886959e-03 2.43629634e+02] [-6.46844998e-01 7.62606960e-01 -4.70885475e-03 -7.56955702e+01] [-7.33859496e-03 -5.00985440e-05 9.99973071e-01 -4.13036955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.366559995 meters 0.012002632891005765 Centerline is valid? [True, True] Translation: X:243.68, Y:-75.74, Z:-4.13 [[ 7.63594159e-01 6.45673910e-01 5.40026517e-03 2.43678117e+02] [-6.45658090e-01 7.63613254e-01 -4.51999230e-03 -7.57362666e+01] [-7.04215516e-03 -3.52851799e-05 9.99975203e-01 -4.13072358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.426559995 meters 0.012062866743248541 Centerline is valid? [True, True] Translation: X:243.73, Y:-75.78, Z:-4.13 [[ 7.64682521e-01 6.44390029e-01 4.70460569e-03 2.43725100e+02] [-6.44377980e-01 7.64696993e-01 -3.94061581e-03 -7.57768642e+01] [-6.13689136e-03 -1.82242822e-05 9.99981169e-01 -4.13172835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.486559995 meters 0.012149146367546519 Centerline is valid? [True, True] Translation: X:243.77, Y:-75.82, Z:-4.13 [[ 7.66121732e-01 6.42680456e-01 4.39590809e-03 2.43772534e+02] [-6.42669910e-01 7.66134343e-01 -3.68177412e-03 -7.58188397e+01] [-5.73406042e-03 -4.43069167e-06 9.99983560e-01 -4.13217036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.546559995 meters 0.012475984288020702 Centerline is valid? [True, True] Translation: X:243.82, Y:-75.86, Z:-4.13 [[ 7.68553026e-01 6.39774695e-01 3.81922703e-03 2.43818446e+02] [-6.39766691e-01 7.68562515e-01 -3.20026378e-03 -7.58607875e+01] [-4.98276251e-03 1.61581793e-05 9.99987586e-01 -4.13161559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.606559995 meters 0.012762807407647613 Centerline is valid? [True, True] Translation: X:243.87, Y:-75.90, Z:-4.13 [[ 7.69772729e-01 6.38309455e-01 3.31445202e-03 2.43865182e+02] [-6.38303410e-01 7.69779864e-01 -2.77803110e-03 -7.59014555e+01] [-4.32464194e-03 2.28265536e-05 9.99990648e-01 -4.13227642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.666559995 meters 0.012609980011775209 Centerline is valid? [True, True] Translation: X:243.91, Y:-75.94, Z:-4.13 [[ 7.69955814e-01 6.38090179e-01 2.99465519e-03 2.43913622e+02] [-6.38085242e-01 7.69961637e-01 -2.51007698e-03 -7.59420315e+01] [-3.90742509e-03 2.18030819e-05 9.99992366e-01 -4.13162804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.726559995 meters 0.012566679665673597 Centerline is valid? [True, True] Translation: X:243.96, Y:-75.98, Z:-4.13 [[ 7.68351360e-01 6.40023643e-01 2.43412599e-03 2.43961882e+02] [-6.40020389e-01 7.68355215e-01 -2.04069523e-03 -7.59808919e+01] [-3.17636660e-03 1.00806873e-05 9.99994955e-01 -4.13313823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.786559995 meters 0.012725292071895135 Centerline is valid? [True, True] Translation: X:244.01, Y:-76.02, Z:-4.14 [[ 7.66338258e-01 6.42433482e-01 2.21242819e-03 2.44010749e+02] [-6.42430799e-01 7.66341452e-01 -1.85687831e-03 -7.60196740e+01] [-2.88839623e-03 1.66488068e-06 9.99995829e-01 -4.13634809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.846559995 meters 0.01247333817405496 Centerline is valid? [True, True] Translation: X:244.06, Y:-76.06, Z:-4.14 [[ 7.63515239e-01 6.45786843e-01 1.95779287e-03 2.44060690e+02] [-6.45784757e-01 7.63517749e-01 -1.64149347e-03 -7.60577387e+01] [-2.55486449e-03 -1.10075113e-05 9.99996736e-01 -4.13561225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90655999499998 meters 0.012758326713076326 Centerline is valid? [True, True] Translation: X:244.11, Y:-76.09, Z:-4.14 [[ 7.59926167e-01 6.50004700e-01 2.47194217e-03 2.44110084e+02] [-6.50001387e-01 7.59930187e-01 -2.07579946e-03 -7.60949308e+01] [-3.22778288e-03 -2.93115119e-05 9.99994790e-01 -4.13599773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96655999499998 meters 0.013104230994335546 Centerline is valid? [True, True] Translation: X:244.16, Y:-76.13, Z:-4.14 [[ 7.57538360e-01 6.52778156e-01 4.03872791e-03 2.44159436e+02] [-6.52769326e-01 7.57549124e-01 -3.39596818e-03 -7.61336323e+01] [-5.27634864e-03 -6.37815257e-05 9.99986078e-01 -4.13614421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02655999499996 meters 0.013483821799959788 Centerline is valid? [True, True] Translation: X:244.21, Y:-76.17, Z:-4.14 [[ 7.56408162e-01 6.54083632e-01 4.61472080e-03 2.44208062e+02] [-6.54072109e-01 7.56422234e-01 -3.88330388e-03 -7.61737027e+01] [-6.03068292e-03 -8.09974171e-05 9.99981812e-01 -4.13733000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08655999499996 meters 0.013664092810492122 Centerline is valid? [True, True] Translation: X:244.26, Y:-76.21, Z:-4.14 [[ 7.56324748e-01 6.54177632e-01 4.94989848e-03 2.44255842e+02] [-6.54164350e-01 7.56340941e-01 -4.16947863e-03 -7.62137369e+01] [-6.47139052e-03 -8.45672469e-05 9.99979057e-01 -4.13879819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14655999499996 meters 0.013178949337432517 Centerline is valid? [True, True] Translation: X:244.30, Y:-76.26, Z:-4.14 [[ 7.56334358e-01 6.54166706e-01 4.92541555e-03 2.44302804e+02] [-6.54153555e-01 7.56350391e-01 -4.14891392e-03 -7.62557721e+01] [-6.43942133e-03 -8.40119499e-05 9.99979263e-01 -4.13941824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20655999499996 meters 0.013385224722289247 Centerline is valid? [True, True] Translation: X:244.35, Y:-76.30, Z:-4.14 [[ 7.56221663e-01 6.54301239e-01 4.32262441e-03 2.44349988e+02] [-6.54291102e-01 7.56234014e-01 -3.64282987e-03 -7.62954082e+01] [-5.65242370e-03 -7.34678233e-05 9.99984022e-01 -4.14193454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26655999499997 meters 0.013313949384150989 Centerline is valid? [True, True] Translation: X:244.40, Y:-76.34, Z:-4.14 [[ 7.56213488e-01 6.54312094e-01 4.10417890e-03 2.44397948e+02] [-6.54302949e-01 7.56224622e-01 -3.46009189e-03 -7.63360014e+01] [-5.36766111e-03 -6.88082043e-05 9.99985592e-01 -4.14378783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32655999499997 meters 0.013339758786540534 Centerline is valid? [True, True] Translation: X:244.44, Y:-76.38, Z:-4.15 [[ 7.56923687e-01 6.53496116e-01 3.05914641e-03 2.44444830e+02] [-6.53491028e-01 7.56929867e-01 -2.57908738e-03 -7.63780569e+01] [-4.00098287e-03 -4.69524018e-05 9.99991995e-01 -4.14673228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38655999499997 meters 0.013598878595442078 Centerline is valid? [True, True] Translation: X:244.49, Y:-76.42, Z:-4.15 [[ 7.57876616e-01 6.52391194e-01 2.96057928e-03 2.44490673e+02] [-6.52386413e-01 7.57882397e-01 -2.49808694e-03 -7.64190585e+01] [-3.87350084e-03 -3.82000185e-05 9.99992497e-01 -4.15061061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.446559995 meters 0.0132244349144566 Centerline is valid? [True, True] Translation: X:244.54, Y:-76.46, Z:-4.15 [[ 7.58191150e-01 6.52026674e-01 2.71949529e-03 2.44537086e+02] [-6.52022638e-01 7.58196027e-01 -2.29448851e-03 -7.64622347e+01] [-3.55797824e-03 -3.35116103e-05 9.99993670e-01 -4.15058803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.506559995 meters 0.013188697886648284 Centerline is valid? [True, True] Translation: X:244.58, Y:-76.50, Z:-4.15 [[ 7.57647205e-01 6.52653231e-01 3.80429147e-03 2.44582566e+02] [-6.52645318e-01 7.57656754e-01 -3.21420322e-03 -7.65041524e+01] [-4.98010725e-03 -4.76209367e-05 9.99987598e-01 -4.15046903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.566559995 meters 0.013130346178002034 Centerline is valid? [True, True] Translation: X:244.63, Y:-76.55, Z:-4.15 [[ 7.57008866e-01 6.53386634e-01 4.84596304e-03 2.44629908e+02] [-6.53373790e-01 7.57024374e-01 -4.09728168e-03 -7.65458182e+01] [-6.34562122e-03 -6.45466796e-05 9.99979864e-01 -4.15063384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.626559995 meters 0.013670466233156446 Centerline is valid? [True, True] Translation: X:244.68, Y:-76.59, Z:-4.15 [[ 7.54623119e-01 6.56128987e-01 6.22100347e-03 2.44676993e+02] [-6.56107872e-01 7.54648753e-01 -5.26494142e-03 -7.65859510e+01] [-8.14915319e-03 -1.08602830e-04 9.99966789e-01 -4.15089068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.686559995 meters 0.014070300540990363 Centerline is valid? [True, True] Translation: X:244.72, Y:-76.63, Z:-4.15 [[ 7.52155587e-01 6.58957169e-01 6.11744111e-03 2.44724795e+02] [-6.58936825e-01 7.52180451e-01 -5.17970235e-03 -7.66262042e+01] [-8.01462161e-03 -1.35065160e-04 9.99967873e-01 -4.15203329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.746559995 meters 0.015309576921045306 Centerline is valid? [True, True] Translation: X:244.77, Y:-76.67, Z:-4.16 [[ 7.48388595e-01 6.63238288e-01 5.42990111e-03 2.44773492e+02] [-6.63222345e-01 7.48408276e-01 -4.60136995e-03 -7.66650631e+01] [-7.11558766e-03 -1.57618960e-04 9.99974671e-01 -4.15501656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.806559995 meters 0.016249028395617 Centerline is valid? [True, True] Translation: X:244.82, Y:-76.70, Z:-4.16 [[ 7.46453552e-01 6.65418504e-01 5.03090128e-03 2.44821046e+02] [-6.65404878e-01 7.46470487e-01 -4.26162301e-03 -7.67046422e+01] [-6.59118213e-03 -1.66482613e-04 9.99978264e-01 -4.15674794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.866559995 meters 0.01690868562920588 Centerline is valid? [True, True] Translation: X:244.87, Y:-76.75, Z:-4.16 [[ 7.44753648e-01 6.67321651e-01 4.88031645e-03 2.44867667e+02] [-6.67308857e-01 7.44769617e-01 -4.13597229e-03 -7.67454500e+01] [-6.39473527e-03 -1.76397943e-04 9.99979538e-01 -4.15718449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.926559995 meters 0.017300102365587752 Centerline is valid? [True, True] Translation: X:244.91, Y:-76.79, Z:-4.16 [[ 7.43683533e-01 6.68518889e-01 4.15911210e-03 2.44914753e+02] [-6.68509610e-01 7.43695146e-01 -3.52576496e-03 -7.67864744e+01] [-5.45015196e-03 -1.58353067e-04 9.99985135e-01 -4.16028922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.986559995 meters 0.017138898895314315 Centerline is valid? [True, True] Translation: X:244.96, Y:-76.83, Z:-4.16 [[ 7.43487529e-01 6.68737752e-01 4.01412767e-03 2.44961129e+02] [-6.68729107e-01 7.43498349e-01 -3.40387234e-03 -7.68293284e+01] [-5.26079523e-03 -1.53627373e-04 9.99986150e-01 -4.16105515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04655999499994 meters 0.016829520280726765 Centerline is valid? [True, True] Translation: X:245.01, Y:-76.87, Z:-4.16 [[ 7.44185701e-01 6.67956783e-01 4.62371748e-03 2.45006566e+02] [-6.67945275e-01 7.44200046e-01 -3.92444288e-03 -7.68722727e+01] [-6.06232900e-03 -1.67875969e-04 9.99981610e-01 -4.16142053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10655999499994 meters 0.0162721758045184 Centerline is valid? [True, True] Translation: X:245.05, Y:-76.91, Z:-4.16 [[ 7.45040281e-01 6.66998098e-01 5.34010755e-03 2.45051805e+02] [-6.66982702e-01 7.45059396e-01 -4.53553869e-03 -7.69143592e+01] [-7.00389299e-03 -1.82600346e-04 9.99975456e-01 -4.16191360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16655999499994 meters 0.016074855187928682 Centerline is valid? [True, True] Translation: X:245.10, Y:-76.96, Z:-4.16 [[ 7.45822034e-01 6.66110643e-01 6.79000592e-03 2.45097019e+02] [-6.66085677e-01 7.45852910e-01 -5.77128242e-03 -7.69570226e+01] [-8.90865832e-03 -2.18376098e-04 9.99960293e-01 -4.16202110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22655999499995 meters 0.015691859354934088 Centerline is valid? [True, True] Translation: X:245.14, Y:-77.00, Z:-4.16 [[ 7.46767072e-01 6.65051581e-01 6.73306309e-03 2.45142614e+02] [-6.65026964e-01 7.46797398e-01 -5.72570031e-03 -7.69990564e+01] [-8.83612005e-03 -2.01904048e-04 9.99960940e-01 -4.16356349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28655999499995 meters 0.015564779762657794 Centerline is valid? [True, True] Translation: X:245.19, Y:-77.04, Z:-4.17 [[ 7.47403127e-01 6.64338709e-01 6.53032420e-03 2.45189275e+02] [-6.64315502e-01 7.47431632e-01 -5.55590753e-03 -7.70401682e+01] [-8.57197531e-03 -1.85692944e-04 9.99963243e-01 -4.16555914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34655999499995 meters 0.016065875877582562 Centerline is valid? [True, True] Translation: X:245.24, Y:-77.08, Z:-4.17 [[ 7.47640887e-01 6.64064565e-01 7.16640549e-03 2.45236044e+02] [-6.64036572e-01 7.47675206e-01 -6.10055876e-03 -7.70801891e+01] [-9.40930860e-03 -1.97728169e-04 9.99955712e-01 -4.16706770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40655999499995 meters 0.015710643021341182 Centerline is valid? [True, True] Translation: X:245.28, Y:-77.12, Z:-4.17 [[ 7.47816569e-01 6.63853939e-01 8.26603749e-03 2.45281791e+02] [-6.63816637e-01 7.47862219e-01 -7.04079535e-03 -7.71223991e+01] [-1.08559169e-02 -2.21909790e-04 9.99941048e-01 -4.16626492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46655999499995 meters 0.016552154926494138 Centerline is valid? [True, True] Translation: X:245.33, Y:-77.16, Z:-4.17 [[ 7.46666815e-01 6.65146615e-01 8.28539834e-03 2.45329733e+02] [-6.65109182e-01 7.46712745e-01 -7.06066950e-03 -7.71620508e+01] [-1.08831930e-02 -2.38726906e-04 9.99940748e-01 -4.16738419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52655999499996 meters 0.01747821135786145 Centerline is valid? [True, True] Translation: X:245.38, Y:-77.20, Z:-4.17 [[ 7.45645402e-01 6.66292887e-01 8.16847846e-03 2.45377952e+02] [-6.66256537e-01 7.45690101e-01 -6.96424051e-03 -7.72007314e+01] [-1.07313774e-02 -2.49448258e-04 9.99942386e-01 -4.17010358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58655999499996 meters 0.018853724742414393 Centerline is valid? [True, True] Translation: X:245.43, Y:-77.24, Z:-4.17 [[ 7.44092345e-01 6.68028076e-01 8.06675542e-03 2.45426490e+02] [-6.67992694e-01 7.44136021e-01 -6.88064472e-03 -7.72393319e+01] [-1.05992271e-02 -2.68698619e-04 9.99943791e-01 -4.17223975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64655999499996 meters 0.019996036181677907 Centerline is valid? [True, True] Translation: X:245.47, Y:-77.28, Z:-4.17 [[ 7.43000427e-01 6.69246267e-01 7.73301825e-03 2.45474980e+02] [-6.69213789e-01 7.43040618e-01 -6.59880652e-03 -7.72787481e+01] [-1.01621733e-02 -2.72126380e-04 9.99948327e-01 -4.17378370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70655999499996 meters 0.01646996249600667 Centerline is valid? [True, True] Translation: X:245.52, Y:-77.32, Z:-4.17 [[ 7.41999574e-01 6.70363504e-01 7.02877273e-03 2.45517556e+02] [-6.70336704e-01 7.42032819e-01 -5.99985988e-03 -7.73239543e+01] [-9.23766714e-03 -2.59750874e-04 9.99957298e-01 -4.17420557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76655999499997 meters 0.01710078405822981 Centerline is valid? [True, True] Translation: X:245.56, Y:-77.36, Z:-4.18 [[ 7.42237966e-01 6.70095858e-01 7.37181474e-03 2.45564018e+02] [-6.70066329e-01 7.42274525e-01 -6.29632061e-03 -7.73635520e+01] [-9.69104865e-03 -2.66236640e-04 9.99953005e-01 -4.17570707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82655999499997 meters 0.015190377440191333 Centerline is valid? [True, True] Translation: X:245.61, Y:-77.41, Z:-4.17 [[ 7.44711036e-01 6.67332663e-01 8.51993842e-03 2.45606798e+02] [-6.67292980e-01 7.44759725e-01 -7.28225965e-03 -7.74076475e+01] [-1.12049967e-02 -2.62115958e-04 9.99937188e-01 -4.17489333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88655999499997 meters 0.018577164290810144 Centerline is valid? [True, True] Translation: X:245.66, Y:-77.44, Z:-4.18 [[ 7.46816040e-01 6.64965105e-01 9.33866976e-03 2.45656138e+02] [-6.64917246e-01 7.46874385e-01 -7.98180263e-03 -7.74443357e+01] [-1.22824335e-02 -2.48504346e-04 9.99924537e-01 -4.17664796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.946559995 meters 0.014052925877525707 Centerline is valid? [True, True] Translation: X:245.70, Y:-77.49, Z:-4.18 [[ 7.48971210e-01 6.62539648e-01 9.12916245e-03 2.45696994e+02] [-6.62493690e-01 7.49026818e-01 -7.80619998e-03 -7.74925585e+01] [-1.20099045e-02 -2.01393476e-04 9.99927858e-01 -4.17620921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.006559995 meters 0.013308596733931474 Centerline is valid? [True, True] Translation: X:245.74, Y:-77.54, Z:-4.18 [[ 7.50417740e-01 6.60910421e-01 8.40420682e-03 2.45742384e+02] [-6.60871335e-01 7.50464783e-01 -7.18943420e-03 -7.75353492e+01] [-1.10586332e-02 -1.59020416e-04 9.99938839e-01 -4.17785521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.066559995 meters 0.013264508081559594 Centerline is valid? [True, True] Translation: X:245.79, Y:-77.58, Z:-4.18 [[ 7.50994181e-01 6.60279302e-01 6.24375305e-03 2.45788995e+02] [-6.60257697e-01 7.51020127e-01 -5.34249019e-03 -7.75760250e+01] [-8.21671990e-03 -1.10306970e-04 9.99966236e-01 -4.18128035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.126559995 meters 0.013220553112356693 Centerline is valid? [True, True] Translation: X:245.84, Y:-77.62, Z:-4.18 [[ 7.50969475e-01 6.60315048e-01 5.37454099e-03 2.45837006e+02] [-6.60299030e-01 7.50988701e-01 -4.60024596e-03 -7.76172535e+01] [-7.07383119e-03 -9.41599070e-05 9.99974976e-01 -4.18318065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.186559995 meters 0.013155114480151085 Centerline is valid? [True, True] Translation: X:245.88, Y:-77.66, Z:-4.18 [[ 7.50754844e-01 6.60562076e-01 4.99079534e-03 2.45884342e+02] [-6.60548257e-01 7.50771427e-01 -4.27376074e-03 -7.76579749e+01] [-6.57003081e-03 -8.81145883e-05 9.99978413e-01 -4.18419490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.246559995 meters 0.013057288039685156 Centerline is valid? [True, True] Translation: X:245.93, Y:-77.70, Z:-4.18 [[ 7.50962843e-01 6.60323464e-01 5.26614209e-03 2.45931637e+02] [-6.60308048e-01 7.50981302e-01 -4.51290107e-03 -7.76981270e+01] [-6.93474870e-03 -8.82549878e-05 9.99975950e-01 -4.18454493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.306559995 meters 0.012949803542920486 Centerline is valid? [True, True] Translation: X:245.98, Y:-77.74, Z:-4.18 [[ 7.51037899e-01 6.60233735e-01 5.78695459e-03 2.45978967e+02] [-6.60215094e-01 7.51060188e-01 -4.96215934e-03 -7.77389875e+01] [-7.62253620e-03 -9.38650458e-05 9.99970944e-01 -4.18444686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.366559995 meters 0.01298055134286885 Centerline is valid? [True, True] Translation: X:246.03, Y:-77.78, Z:-4.18 [[ 7.51790004e-01 6.59374295e-01 6.10975153e-03 2.46025042e+02] [-6.59353463e-01 7.51814826e-01 -5.24208664e-03 -7.77792983e+01] [-8.04989896e-03 -8.75374875e-05 9.99967595e-01 -4.18440173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.426559995 meters 0.012565989302577319 Centerline is valid? [True, True] Translation: X:246.07, Y:-77.82, Z:-4.19 [[ 7.52159124e-01 6.58952987e-01 6.13288366e-03 2.46072361e+02] [-6.58931968e-01 7.52184122e-01 -5.26379262e-03 -7.78206567e+01] [-8.08164958e-03 -8.19434519e-05 9.99967340e-01 -4.18512325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.486559995 meters 0.012539056019226936 Centerline is valid? [True, True] Translation: X:246.12, Y:-77.86, Z:-4.19 [[ 7.52408745e-01 6.58669983e-01 5.91051579e-03 2.46120320e+02] [-6.58650431e-01 7.52431956e-01 -5.07564795e-03 -7.78614241e+01] [-7.79043791e-03 -7.40018675e-05 9.99969651e-01 -4.18649581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54655999499994 meters 0.012570236170381147 Centerline is valid? [True, True] Translation: X:246.17, Y:-77.90, Z:-4.19 [[ 7.52302916e-01 6.58788777e-01 6.13757739e-03 2.46167485e+02] [-6.58767669e-01 7.52327948e-01 -5.27409972e-03 -7.79016240e+01] [-8.09198871e-03 -7.55169572e-05 9.99967256e-01 -4.18723377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60655999499994 meters 0.012647874833637818 Centerline is valid? [True, True] Translation: X:246.21, Y:-77.94, Z:-4.19 [[ 7.51699855e-01 6.59483121e-01 5.41676825e-03 2.46214896e+02] [-6.59466684e-01 7.51719368e-01 -4.65673828e-03 -7.79411018e+01] [-7.14292990e-03 -7.17087017e-05 9.99974486e-01 -4.18761394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66655999499994 meters 0.012651101680334538 Centerline is valid? [True, True] Translation: X:246.26, Y:-77.98, Z:-4.19 [[ 7.51825333e-01 6.59340605e-01 5.35125594e-03 2.46263890e+02] [-6.59324546e-01 7.51844374e-01 -4.60223155e-03 -7.79812803e+01] [-7.05774980e-03 -6.81401279e-05 9.99975091e-01 -4.18936901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72655999499995 meters 0.01266704721852091 Centerline is valid? [True, True] Translation: X:246.31, Y:-78.02, Z:-4.19 [[ 7.51677089e-01 6.59509029e-01 5.42169610e-03 2.46312151e+02] [-6.59492530e-01 7.51696639e-01 -4.66550664e-03 -7.80221343e+01] [-7.15241449e-03 -6.86136314e-05 9.99974419e-01 -4.19042171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78655999499995 meters 0.012945287946747612 Centerline is valid? [True, True] Translation: X:246.36, Y:-78.06, Z:-4.19 [[ 7.50794656e-01 6.60512420e-01 5.54329988e-03 2.46359981e+02] [-6.60495178e-01 7.50815115e-01 -4.77310945e-03 -7.80622660e+01] [-7.31469141e-03 -7.76977757e-05 9.99973244e-01 -4.19091807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84655999499995 meters 0.013247815847324372 Centerline is valid? [True, True] Translation: X:246.41, Y:-78.10, Z:-4.19 [[ 7.49492689e-01 6.61992033e-01 5.22094682e-03 2.46407900e+02] [-6.61976759e-01 7.49510868e-01 -4.49767428e-03 -7.81016721e+01] [-6.89058093e-03 -8.51714666e-05 9.99976256e-01 -4.19133628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90655999499995 meters 0.013737611054710868 Centerline is valid? [True, True] Translation: X:246.46, Y:-78.14, Z:-4.19 [[ 7.46847160e-01 6.64980190e-01 4.54603220e-03 2.46456193e+02] [-6.64968657e-01 7.46860990e-01 -3.91762263e-03 -7.81399437e+01] [-6.00039555e-03 -9.71035878e-05 9.99981993e-01 -4.19158072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96655999499995 meters 0.014418425387560965 Centerline is valid? [True, True] Translation: X:246.50, Y:-78.18, Z:-4.19 [[ 7.45002977e-01 6.67046780e-01 4.37696888e-03 2.46504146e+02] [-6.67036108e-01 7.45015827e-01 -3.77479046e-03 -7.81786086e+01] [-5.77887290e-03 -1.07366156e-04 9.99983296e-01 -4.19283954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02655999499996 meters 0.016044750359927824 Centerline is valid? [True, True] Translation: X:246.55, Y:-78.22, Z:-4.19 [[ 7.42435621e-01 6.69906561e-01 3.81407342e-03 2.46552635e+02] [-6.69898499e-01 7.42445410e-01 -3.28850361e-03 -7.82157569e+01] [-5.03473145e-03 -1.13539837e-04 9.99987319e-01 -4.19430790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08655999499996 meters 0.015627074776142787 Centerline is valid? [True, True] Translation: X:246.60, Y:-78.26, Z:-4.19 [[ 7.41284821e-01 6.71179232e-01 3.90547616e-03 2.46599126e+02] [-6.71170790e-01 7.41295099e-01 -3.36861404e-03 -7.82566559e+01] [-5.15605412e-03 -1.24139069e-04 9.99986700e-01 -4.19413506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14655999499996 meters 0.017442325664101324 Centerline is valid? [True, True] Translation: X:246.65, Y:-78.29, Z:-4.20 [[ 7.40758489e-01 6.71757048e-01 4.39646538e-03 2.46647841e+02] [-6.71746340e-01 7.40771522e-01 -3.79560027e-03 -7.82946280e+01] [-5.80649758e-03 -1.41686407e-04 9.99983132e-01 -4.19505959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20655999499996 meters 0.015613234133191628 Centerline is valid? [True, True] Translation: X:246.69, Y:-78.34, Z:-4.19 [[ 7.41058118e-01 6.71419282e-01 5.38647184e-03 2.46692754e+02] [-6.71403187e-01 7.41077674e-01 -4.65191078e-03 -7.83381852e+01] [-7.11517662e-03 -1.69158116e-04 9.99974673e-01 -4.19344073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26655999499997 meters 0.01512774030448899 Centerline is valid? [True, True] Translation: X:246.74, Y:-78.38, Z:-4.19 [[ 7.42057004e-01 6.70314389e-01 5.47932536e-03 2.46739106e+02] [-6.70297687e-01 7.42077216e-01 -4.73455837e-03 -7.83795160e+01] [-7.23972511e-03 -1.59466910e-04 9.99973780e-01 -4.19424053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32655999499997 meters 0.013897447880589504 Centerline is valid? [True, True] Translation: X:246.78, Y:-78.42, Z:-4.20 [[ 7.45818965e-01 6.66131592e-01 4.77221636e-03 2.46783790e+02] [-6.66118811e-01 7.45834226e-01 -4.12760503e-03 -7.84219572e+01] [-6.30881040e-03 -1.00416982e-04 9.99980094e-01 -4.19600472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38655999499997 meters 0.012703994115424005 Centerline is valid? [True, True] Translation: X:246.83, Y:-78.47, Z:-4.20 [[ 7.49137708e-01 6.62402813e-01 3.89982879e-03 2.46828668e+02] [-6.62394230e-01 7.49147856e-01 -3.37238276e-03 -7.84658502e+01] [-5.15542420e-03 -5.68450007e-05 9.99986709e-01 -4.19749736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.446559995 meters 0.012076179460346727 Centerline is valid? [True, True] Translation: X:246.87, Y:-78.51, Z:-4.20 [[ 7.55439678e-01 6.55209833e-01 3.31182382e-03 2.46871230e+02] [-6.55203583e-01 7.55446937e-01 -2.86171812e-03 -7.85111190e+01] [-4.37693301e-03 -8.06342190e-06 9.99990421e-01 -4.19812141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.506559995 meters 0.012373156820272974 Centerline is valid? [True, True] Translation: X:246.92, Y:-78.55, Z:-4.20 [[ 7.59382071e-01 6.50637622e-01 3.09121441e-03 2.46915855e+02] [-6.50632135e-01 7.59388362e-01 -2.67210925e-03 -7.85546503e+01] [-4.08600705e-03 1.79084243e-05 9.99991652e-01 -4.19867066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.566559995 meters 0.01373725239589961 Centerline is valid? [True, True] Translation: X:246.96, Y:-78.60, Z:-4.20 [[ 7.64652970e-01 6.44434062e-01 3.25188495e-03 2.46958937e+02] [-6.44427918e-01 7.64659883e-01 -2.81460413e-03 -7.85975394e+01] [-4.30041274e-03 5.65899609e-05 9.99990752e-01 -4.20065831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.626559995 meters 0.014151350978573705 Centerline is valid? [True, True] Translation: X:247.01, Y:-78.64, Z:-4.20 [[ 7.66629058e-01 6.42082402e-01 3.17423916e-03 2.47005107e+02] [-6.42076533e-01 7.66635627e-01 -2.74609285e-03 -7.86393101e+01] [-4.19670272e-03 6.71300944e-05 9.99991192e-01 -4.20099001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.686559995 meters 0.014645966913152248 Centerline is valid? [True, True] Translation: X:247.05, Y:-78.68, Z:-4.20 [[ 7.67093781e-01 6.41526451e-01 3.30825144e-03 2.47050473e+02] [-6.41520062e-01 7.67100911e-01 -2.86399893e-03 -7.86802182e+01] [-4.37509376e-03 7.46460972e-05 9.99990426e-01 -4.20118931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.746559995 meters 0.014360217260954839 Centerline is valid? [True, True] Translation: X:247.10, Y:-78.72, Z:-4.20 [[ 7.65326712e-01 6.43636067e-01 2.76352469e-03 2.47099226e+02] [-6.43631623e-01 7.65331699e-01 -2.39252112e-03 -7.87182517e+01] [-3.65492593e-03 5.23684447e-05 9.99993319e-01 -4.20278664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.806559995 meters 0.012829409790695436 Centerline is valid? [True, True] Translation: X:247.15, Y:-78.75, Z:-4.20 [[ 7.61518993e-01 6.48138436e-01 2.32187073e-03 2.47151505e+02] [-6.48135311e-01 7.61522532e-01 -2.01286904e-03 -7.87535553e+01] [-3.07277467e-03 2.79515914e-05 9.99995279e-01 -4.20355859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.866559995 meters 0.012408309765986345 Centerline is valid? [True, True] Translation: X:247.20, Y:-78.79, Z:-4.20 [[ 7.58168958e-01 6.52052641e-01 2.68041853e-03 2.47200249e+02] [-6.52048506e-01 7.58173696e-01 -2.32215025e-03 -7.87903645e+01] [-3.54638703e-03 1.28193351e-05 9.99993711e-01 -4.20440078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.926559995 meters 0.012216426313634827 Centerline is valid? [True, True] Translation: X:247.25, Y:-78.83, Z:-4.21 [[ 7.54825464e-01 6.55918501e-01 3.07228325e-03 2.47249362e+02] [-6.55913092e-01 7.54831717e-01 -2.66361997e-03 -7.88262844e+01] [-4.06617446e-03 -4.58262057e-06 9.99991733e-01 -4.20543601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.986559995 meters 0.012461515133152168 Centerline is valid? [True, True] Translation: X:247.30, Y:-78.86, Z:-4.21 [[ 7.49271173e-01 6.62249644e-01 4.25647551e-03 2.47301767e+02] [-6.62239347e-01 7.49283262e-01 -3.69346119e-03 -7.88601853e+01] [-5.63529921e-03 -5.14015600e-05 9.99984120e-01 -4.20531163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04655999499994 meters 0.013566461429315864 Centerline is valid? [True, True] Translation: X:247.35, Y:-78.90, Z:-4.21 [[ 7.45077397e-01 6.66967672e-01 3.71446989e-03 2.47351888e+02] [-6.66959882e-01 7.45086652e-01 -3.22439235e-03 -7.88961516e+01] [-4.91816739e-03 -7.49805408e-05 9.99987903e-01 -4.20708980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10655999499994 meters 0.014854409880599915 Centerline is valid? [True, True] Translation: X:247.40, Y:-78.93, Z:-4.21 [[ 7.41268678e-01 6.71202149e-01 2.90230309e-03 2.47401405e+02] [-6.71197425e-01 7.41274355e-01 -2.51948344e-03 -7.89330447e+01] [-3.84248555e-03 -8.04041975e-05 9.99992614e-01 -4.20931631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16655999499994 meters 0.0161819104852039 Centerline is valid? [True, True] Translation: X:247.45, Y:-78.97, Z:-4.21 [[ 7.38026266e-01 6.74765923e-01 2.86000356e-03 2.47451054e+02] [-6.74761349e-01 7.38031802e-01 -2.48633789e-03 -7.89711573e+01] [-3.78846966e-03 -9.48371870e-05 9.99992819e-01 -4.20981709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22655999499995 meters 0.01801454818686154 Centerline is valid? [True, True] Translation: X:247.50, Y:-79.01, Z:-4.21 [[ 7.35270230e-01 6.77765505e-01 3.40715876e-03 2.47500515e+02] [-6.77759053e-01 7.35278112e-01 -2.96039651e-03 -7.90075697e+01] [-4.51166390e-03 -1.32541268e-04 9.99989814e-01 -4.21136179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28655999499995 meters 0.018877920015183645 Centerline is valid? [True, True] Translation: X:247.55, Y:-79.05, Z:-4.21 [[ 7.34516110e-01 6.78584342e-01 3.06170470e-03 2.47548442e+02] [-6.78579137e-01 7.34522481e-01 -2.66076017e-03 -7.90467947e+01] [-4.05444112e-03 -1.23237719e-04 9.99991773e-01 -4.21355569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34655999499995 meters 0.017063950166112098 Centerline is valid? [True, True] Translation: X:247.59, Y:-79.09, Z:-4.21 [[ 7.34785910e-01 6.78291975e-01 3.10857103e-03 2.47592496e+02] [-6.78286592e-01 7.34792475e-01 -2.70516354e-03 -7.90916292e+01] [-4.11904532e-03 -1.20785997e-04 9.99991509e-01 -4.21363206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40655999499995 meters 0.017539952907797706 Centerline is valid? [True, True] Translation: X:247.64, Y:-79.13, Z:-4.22 [[ 7.35627703e-01 6.77378200e-01 3.26456557e-03 2.47638354e+02] [-6.77372254e-01 7.35634936e-01 -2.84073342e-03 -7.91324124e+01] [-4.32577938e-03 -1.21603933e-04 9.99990636e-01 -4.21520578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46655999499995 meters 0.015658502895829943 Centerline is valid? [True, True] Translation: X:247.68, Y:-79.18, Z:-4.22 [[ 7.37408780e-01 6.75438470e-01 3.34114588e-03 2.47681029e+02] [-6.75432226e-01 7.37416341e-01 -2.90659312e-03 -7.91781136e+01] [-4.42704038e-03 -1.13370306e-04 9.99990194e-01 -4.21529186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52655999499996 meters 0.01576366882194598 Centerline is valid? [True, True] Translation: X:247.73, Y:-79.22, Z:-4.22 [[ 7.37839880e-01 6.74965906e-01 3.65202669e-03 2.47725104e+02] [-6.74958422e-01 7.37848908e-01 -3.18073637e-03 -7.92207252e+01] [-4.84153252e-03 -1.18092034e-04 9.99988273e-01 -4.21625383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58655999499996 meters 0.016086865196321323 Centerline is valid? [True, True] Translation: X:247.77, Y:-79.26, Z:-4.22 [[ 7.36890353e-01 6.76000959e-01 3.91300044e-03 2.47770884e+02] [-6.75992383e-01 7.36900730e-01 -3.40772792e-03 -7.92633344e+01] [-5.18712022e-03 -1.34036664e-04 9.99986538e-01 -4.21672712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64655999499996 meters 0.016695293365895883 Centerline is valid? [True, True] Translation: X:247.82, Y:-79.30, Z:-4.22 [[ 7.35275945e-01 6.77754214e-01 4.30226725e-03 2.47817589e+02] [-6.77743863e-01 7.35288515e-01 -3.74910740e-03 -7.93039268e+01] [-5.70438104e-03 -1.59206735e-04 9.99983717e-01 -4.21736253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70655999499996 meters 0.018484869102428147 Centerline is valid? [True, True] Translation: X:247.87, Y:-79.34, Z:-4.22 [[ 7.32313457e-01 6.80955059e-01 4.14828540e-03 2.47865604e+02] [-6.80945476e-01 7.32325185e-01 -3.61684884e-03 -7.93427005e+01] [-5.50080539e-03 -1.76089097e-04 9.99984855e-01 -4.21892881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76655999499997 meters 0.0198565885102262 Centerline is valid? [True, True] Translation: X:247.91, Y:-79.38, Z:-4.22 [[ 7.30655842e-01 6.82734288e-01 3.99163310e-03 2.47913147e+02] [-6.82725426e-01 7.30666723e-01 -3.48320844e-03 -7.93820151e+01] [-5.29465931e-03 -1.80162809e-04 9.99985967e-01 -4.22014726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82655999499997 meters 0.020761421805829225 Centerline is valid? [True, True] Translation: X:247.96, Y:-79.42, Z:-4.22 [[ 7.28225046e-01 6.85322474e-01 4.62493264e-03 2.47960460e+02] [-6.85310616e-01 7.28239696e-01 -4.03795164e-03 -7.94219966e+01] [-6.13535855e-03 -2.28977917e-04 9.99981152e-01 -4.21964333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88655999499997 meters 0.022031443059574045 Centerline is valid? [True, True] Translation: X:248.01, Y:-79.46, Z:-4.22 [[ 7.26630724e-01 6.87010050e-01 4.99810613e-03 2.48008403e+02] [-6.86996239e-01 7.26647866e-01 -4.36420049e-03 -7.94613666e+01] [-6.63011275e-03 -2.62517949e-04 9.99977986e-01 -4.22034317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.946559995 meters 0.023253259419818647 Centerline is valid? [True, True] Translation: X:248.06, Y:-79.50, Z:-4.22 [[ 7.25844118e-01 6.87838752e-01 5.30732155e-03 2.48056506e+02] [-6.87823210e-01 7.25863464e-01 -4.63295068e-03 -7.95013041e+01] [-7.03911382e-03 -2.87698944e-04 9.99975184e-01 -4.22147161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.006559995 meters 0.020053410174230825 Centerline is valid? [True, True] Translation: X:248.10, Y:-79.55, Z:-4.22 [[ 7.26933151e-01 6.86682167e-01 5.98289813e-03 2.48099023e+02] [-6.86662352e-01 7.26957705e-01 -5.22572550e-03 -7.95467656e+01] [-7.93772641e-03 -3.09477806e-04 9.99968448e-01 -4.22144781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.066559995 meters 0.019740905106275405 Centerline is valid? [True, True] Translation: X:248.14, Y:-79.59, Z:-4.22 [[ 7.28143353e-01 6.85402044e-01 5.59429386e-03 2.48144070e+02] [-6.85384666e-01 7.28164791e-01 -4.88847126e-03 -7.95896142e+01] [-7.42413601e-03 -2.74735373e-04 9.99972403e-01 -4.22161303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.126559995 meters 0.019797932456916193 Centerline is valid? [True, True] Translation: X:248.19, Y:-79.63, Z:-4.22 [[ 7.28360179e-01 6.85172432e-01 5.49436578e-03 2.48191038e+02] [-6.85155646e-01 7.28380853e-01 -4.80349730e-03 -7.96306722e+01] [-7.29321476e-03 -2.65819585e-04 9.99973369e-01 -4.22297515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.186559995 meters 0.02041558706533541 Centerline is valid? [True, True] Translation: X:248.24, Y:-79.67, Z:-4.23 [[ 7.29292298e-01 6.84185530e-01 4.78595337e-03 2.48237337e+02] [-6.84172761e-01 7.29307968e-01 -4.18584977e-03 -7.96700433e+01] [-6.35433176e-03 -2.21710931e-04 9.99979786e-01 -4.22535755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.246559995 meters 0.01782394107984565 Centerline is valid? [True, True] Translation: X:248.28, Y:-79.71, Z:-4.23 [[ 7.30359730e-01 6.83050528e-01 4.07933324e-03 2.48280872e+02] [-6.83041230e-01 7.30371100e-01 -3.56839549e-03 -7.97145440e+01] [-5.41682153e-03 -1.80140429e-04 9.99985313e-01 -4.22545834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.306559995 meters 0.016350516775226566 Centerline is valid? [True, True] Translation: X:248.32, Y:-79.76, Z:-4.23 [[ 7.34342010e-01 6.78769222e-01 3.76233684e-03 2.48324621e+02] [-6.78761238e-01 7.34351636e-01 -3.29504655e-03 -7.97579306e+01] [-4.99945440e-03 -1.34037306e-04 9.99987494e-01 -4.22691518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.366559995 meters 0.014343487556714787 Centerline is valid? [True, True] Translation: X:248.37, Y:-79.80, Z:-4.23 [[ 7.38779854e-01 6.73936612e-01 3.71078045e-03 2.48367262e+02] [-6.73928779e-01 7.38789167e-01 -3.25074974e-03 -7.98026003e+01] [-4.93228366e-03 -9.92133225e-05 9.99987831e-01 -4.22672643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.426559995 meters 0.012673952333745034 Centerline is valid? [True, True] Translation: X:248.41, Y:-79.85, Z:-4.23 [[ 7.46179832e-01 6.65731708e-01 4.11712496e-03 2.48407471e+02] [-6.65721943e-01 7.46191189e-01 -3.60616021e-03 -7.98479009e+01] [-5.47289757e-03 -5.00164088e-05 9.99985022e-01 -4.22703558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.486559995 meters 0.012469863249923809 Centerline is valid? [True, True] Translation: X:248.45, Y:-79.89, Z:-4.23 [[ 7.53634677e-01 6.57285789e-01 3.18831434e-03 2.48448243e+02] [-6.57279864e-01 7.53641421e-01 -2.79078618e-03 -7.98938014e+01] [-4.23718985e-03 7.61842715e-06 9.99991023e-01 -4.22997273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54655999499994 meters 0.013216441131703546 Centerline is valid? [True, True] Translation: X:248.49, Y:-79.94, Z:-4.23 [[ 7.58075089e-01 6.52163567e-01 2.20019986e-03 2.48491923e+02] [-6.52160727e-01 7.58078282e-01 -1.92501285e-03 -7.99379562e+01] [-2.92334698e-03 2.44203463e-05 9.99995727e-01 -4.23151507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60655999499994 meters 0.01422726934248391 Centerline is valid? [True, True] Translation: X:248.54, Y:-79.98, Z:-4.23 [[ 7.61815555e-01 6.47791902e-01 1.64685742e-03 2.48536009e+02] [-6.47790301e-01 7.61817334e-01 -1.44055759e-03 -7.99810245e+01] [-2.18778607e-03 3.06209190e-05 9.99997606e-01 -4.23213437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66655999499994 meters 0.015716081833203454 Centerline is valid? [True, True] Translation: X:248.58, Y:-80.02, Z:-4.23 [[ 7.65869363e-01 6.42991566e-01 2.44231121e-03 2.48579863e+02] [-6.42988003e-01 7.65873254e-01 -2.14157504e-03 -8.00246772e+01] [-3.24751553e-03 6.97899057e-05 9.99994724e-01 -4.23138306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72655999499995 meters 0.015882368897401303 Centerline is valid? [True, True] Translation: X:248.63, Y:-80.07, Z:-4.23 [[ 7.66440680e-01 6.42309788e-01 2.61159845e-03 2.48627267e+02] [-6.42305715e-01 7.66445126e-01 -2.28858556e-03 -8.00651835e+01] [-3.47162781e-03 7.66204678e-05 9.99993971e-01 -4.23063139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78655999499995 meters 0.015847290096641407 Centerline is valid? [True, True] Translation: X:248.68, Y:-80.10, Z:-4.23 [[ 7.65367333e-01 6.43589188e-01 2.40906773e-03 2.48675408e+02] [-6.43585726e-01 7.65371121e-01 -2.11175781e-03 -8.01043940e+01] [-3.20293537e-03 6.58288398e-05 9.99994868e-01 -4.23175852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84655999499995 meters 0.015166770291727538 Centerline is valid? [True, True] Translation: X:248.72, Y:-80.14, Z:-4.23 [[ 7.61844399e-01 6.47759352e-01 9.65855265e-04 2.48724937e+02] [-6.47758802e-01 7.61845011e-01 -8.44411152e-04 -8.01405413e+01] [-1.28280724e-03 1.76686570e-05 9.99999177e-01 -4.23402197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90655999499995 meters 0.013438935983947438 Centerline is valid? [True, True] Translation: X:248.78, Y:-80.18, Z:-4.23 [[ 7.58212618e-01 6.52007132e-01 5.70854809e-04 2.48775978e+02] [-6.52006943e-01 7.58212833e-01 -4.96819306e-04 -8.01759669e+01] [-7.56759173e-04 4.49336868e-06 9.99999714e-01 -4.23356203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96655999499995 meters 0.013566467969644882 Centerline is valid? [True, True] Translation: X:248.82, Y:-80.21, Z:-4.24 [[ 7.55954860e-01 6.54623637e-01 3.78830238e-04 2.48822964e+02] [-6.54623555e-01 7.55954955e-01 -3.28524347e-04 -8.02147019e+01] [-5.01438398e-04 3.58379571e-07 9.99999874e-01 -4.23596620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02655999499996 meters 0.012510191519822076 Centerline is valid? [True, True] Translation: X:248.88, Y:-80.25, Z:-4.23 [[ 7.49023417e-01 6.62543279e-01 5.68805175e-04 2.48875448e+02] [-6.62543094e-01 7.49023633e-01 -4.95525510e-04 -8.02492065e+01] [-7.54355615e-04 -5.69773007e-06 9.99999715e-01 -4.23457480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08655999499996 meters 0.013031940422953034 Centerline is valid? [True, True] Translation: X:248.93, Y:-80.28, Z:-4.23 [[ 7.43359654e-01 6.68889529e-01 1.79552118e-03 2.48927466e+02] [-6.68887672e-01 7.43361822e-01 -1.57626778e-03 -8.02847262e+01] [-2.38907090e-03 -2.92681116e-05 9.99997146e-01 -4.23416219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14655999499996 meters 0.013897273428702454 Centerline is valid? [True, True] Translation: X:248.98, Y:-80.32, Z:-4.24 [[ 7.40687394e-01 6.71845433e-01 2.42866174e-03 2.48976584e+02] [-6.71842041e-01 7.40691374e-01 -2.13539801e-03 -8.03220171e+01] [-3.23354620e-03 -5.00146729e-05 9.99994771e-01 -4.23526752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20655999499996 meters 0.014352608354424156 Centerline is valid? [True, True] Translation: X:249.03, Y:-80.36, Z:-4.23 [[ 7.38474777e-01 6.74273399e-01 3.22297604e-03 2.49025620e+02] [-6.74267438e-01 7.38481806e-01 -2.83641624e-03 -8.03604081e+01] [-4.29262919e-03 -7.85259479e-05 9.99990784e-01 -4.23481308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26655999499997 meters 0.014302616773006588 Centerline is valid? [True, True] Translation: X:249.07, Y:-80.40, Z:-4.24 [[ 7.38349090e-01 6.74412068e-01 2.99742976e-03 2.49073132e+02] [-6.74406912e-01 7.38355170e-01 -2.63828846e-03 -8.04011879e+01] [-3.99246133e-03 -7.35094628e-05 9.99992027e-01 -4.23600777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32655999499997 meters 0.013937697527718503 Centerline is valid? [True, True] Translation: X:249.12, Y:-80.44, Z:-4.24 [[ 7.39335649e-01 6.73333346e-01 2.23691450e-03 2.49119645e+02] [-6.73330469e-01 7.39339031e-01 -1.96905337e-03 -8.04426796e+01] [-2.97966750e-03 -5.03913374e-05 9.99995560e-01 -4.23823478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38655999499997 meters 0.013385791703390408 Centerline is valid? [True, True] Translation: X:249.16, Y:-80.49, Z:-4.24 [[ 7.42124176e-01 6.70261142e-01 1.30699355e-03 2.49164021e+02] [-6.70260158e-01 7.42125327e-01 -1.14893170e-03 -8.04858369e+01] [-1.74003728e-03 -2.33757122e-05 9.99998486e-01 -4.23974675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.446559995 meters 0.012968670740541635 Centerline is valid? [True, True] Translation: X:249.21, Y:-80.53, Z:-4.24 [[ 7.45306288e-01 6.66721432e-01 1.03381480e-03 2.49208053e+02] [-6.66720814e-01 7.45307005e-01 -9.08143983e-04 -8.05296116e+01] [-1.37598847e-03 -1.24204240e-05 9.99999053e-01 -4.24051775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.506559995 meters 0.012944099859305322 Centerline is valid? [True, True] Translation: X:249.25, Y:-80.58, Z:-4.24 [[ 7.51032432e-01 6.60263570e-01 1.51793543e-03 2.49250846e+02] [-6.60262212e-01 7.51033966e-01 -1.33868076e-03 -8.05756702e+01] [-2.02390321e-03 3.15726305e-06 9.99997952e-01 -4.24183452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.566559995 meters 0.013515871728555373 Centerline is valid? [True, True] Translation: X:249.29, Y:-80.62, Z:-4.24 [[ 7.54918552e-01 6.55814905e-01 2.18852914e-03 2.49294340e+02] [-6.55812066e-01 7.54921724e-01 -1.92985079e-03 -8.06201828e+01] [-2.91779310e-03 2.16163455e-05 9.99995743e-01 -4.24206832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.626559995 meters 0.015391021775970935 Centerline is valid? [True, True] Translation: X:249.34, Y:-80.67, Z:-4.24 [[ 7.60440472e-01 6.49402358e-01 2.62010708e-03 2.49335058e+02] [-6.49398242e-01 7.60444984e-01 -2.31295894e-03 -8.06659816e+01] [-3.49448827e-03 5.73746553e-05 9.99993893e-01 -4.24231896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.686559995 meters 0.016301148819940433 Centerline is valid? [True, True] Translation: X:249.38, Y:-80.71, Z:-4.24 [[ 7.64733680e-01 6.44338786e-01 3.15081857e-03 2.49378960e+02] [-6.44332779e-01 7.64740165e-01 -2.78401810e-03 -8.07084363e+01] [-4.20340836e-03 9.88567232e-05 9.99991161e-01 -4.24155047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.746559995 meters 0.01668797206698307 Centerline is valid? [True, True] Translation: X:249.43, Y:-80.75, Z:-4.24 [[ 7.66452381e-01 6.42286878e-01 4.27946980e-03 2.49425964e+02] [-6.42275750e-01 7.66464313e-01 -3.78378145e-03 -8.07494134e+01] [-5.71033405e-03 1.51488634e-04 9.99983684e-01 -4.24112198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.806559995 meters 0.017657693226417262 Centerline is valid? [True, True] Translation: X:249.47, Y:-80.79, Z:-4.24 [[ 7.66196760e-01 6.42589676e-01 4.58615009e-03 2.49472020e+02] [-6.42576890e-01 7.66210468e-01 -4.05694989e-03 -8.07915067e+01] [-6.12091032e-03 1.61467798e-04 9.99981254e-01 -4.24267010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.866559995 meters 0.016649762581238285 Centerline is valid? [True, True] Translation: X:249.52, Y:-80.83, Z:-4.24 [[ 7.64286903e-01 6.44859497e-01 4.66471601e-03 2.49522222e+02] [-6.44846293e-01 7.64301123e-01 -4.12936220e-03 -8.08287923e+01] [-6.22810612e-03 1.47992619e-04 9.99980594e-01 -4.24379362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.926559995 meters 0.015045246366340291 Centerline is valid? [True, True] Translation: X:249.57, Y:-80.86, Z:-4.24 [[ 7.61407617e-01 6.48248429e-01 5.69347134e-03 2.49573233e+02] [-6.48228808e-01 7.61428888e-01 -5.04594071e-03 -8.08638139e+01] [-7.60619669e-03 1.51345554e-04 9.99971061e-01 -4.24410633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.986559995 meters 0.014646938611448092 Centerline is valid? [True, True] Translation: X:249.62, Y:-80.90, Z:-4.24 [[ 7.59367632e-01 6.50629317e-01 6.50310807e-03 2.49622443e+02] [-6.50603819e-01 7.59395464e-01 -5.76199564e-03 -8.09020164e+01] [-8.68735406e-03 1.44526044e-04 9.99962254e-01 -4.24449263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04655999499994 meters 0.013861729521901888 Centerline is valid? [True, True] Translation: X:249.67, Y:-80.94, Z:-4.25 [[ 7.56268270e-01 6.54221462e-01 7.25135760e-03 2.49673936e+02] [-6.54189885e-01 7.56303024e-01 -6.42880731e-03 -8.09376932e+01] [-9.69008741e-03 1.18138187e-04 9.99953043e-01 -4.24634779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10655999499994 meters 0.013227390789047389 Centerline is valid? [True, True] Translation: X:249.73, Y:-80.97, Z:-4.25 [[ 7.52450373e-01 6.58609084e-01 7.24641630e-03 2.49726500e+02] [-6.58577722e-01 7.52485262e-01 -6.42761032e-03 -8.09717648e+01] [-9.68610401e-03 6.41294438e-05 9.99953087e-01 -4.24902841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16655999499994 meters 0.012750259282744269 Centerline is valid? [True, True] Translation: X:249.78, Y:-81.01, Z:-4.25 [[ 7.49663906e-01 6.61776426e-01 7.48258966e-03 2.49777245e+02] [-6.61743101e-01 7.49701248e-01 -6.64137068e-03 -8.10089704e+01] [-1.00048094e-02 2.72438011e-05 9.99949950e-01 -4.25030624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22655999499995 meters 0.01266904804930342 Centerline is valid? [True, True] Translation: X:249.83, Y:-81.04, Z:-4.25 [[ 7.45617119e-01 6.66326477e-01 8.00864739e-03 2.49828916e+02] [-6.66288549e-01 7.45660127e-01 -7.10951264e-03 -8.10434854e+01] [-1.07089855e-02 -3.50957205e-05 9.99942657e-01 -4.25193523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28655999499995 meters 0.013050942222622599 Centerline is valid? [True, True] Translation: X:249.88, Y:-81.08, Z:-4.25 [[ 7.42514618e-01 6.69785218e-01 7.73328306e-03 2.49878651e+02] [-6.69750002e-01 7.42554884e-01 -6.86871276e-03 -8.10802052e+01] [-1.03429494e-02 -7.92467198e-05 9.99946507e-01 -4.25368136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34655999499995 meters 0.01377573533169447 Centerline is valid? [True, True] Translation: X:249.93, Y:-81.12, Z:-4.26 [[ 7.38215563e-01 6.74521923e-01 7.61308500e-03 2.49929521e+02] [-6.74488014e-01 7.38254804e-01 -6.76479276e-03 -8.11161380e+01] [-1.01833976e-02 -1.41059291e-04 9.99948138e-01 -4.25572202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40655999499995 meters 0.015243440766708936 Centerline is valid? [True, True] Translation: X:249.98, Y:-81.15, Z:-4.26 [[ 7.35892999e-01 6.77053002e-01 7.79266727e-03 2.49978760e+02] [-6.77017578e-01 7.35934237e-01 -6.92806532e-03 -8.11532271e+01] [-1.04255581e-02 -1.77457960e-04 9.99945637e-01 -4.25753514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46655999499995 meters 0.014958657753800491 Centerline is valid? [True, True] Translation: X:250.02, Y:-81.19, Z:-4.26 [[ 7.34466799e-01 6.78592572e-01 8.40487949e-03 2.50024842e+02] [-6.78551423e-01 7.34514857e-01 -7.47599642e-03 -8.11945408e+01] [-1.12466645e-02 -2.12271783e-04 9.99936732e-01 -4.25721580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52655999499996 meters 0.014734022849526282 Centerline is valid? [True, True] Translation: X:250.07, Y:-81.24, Z:-4.26 [[ 7.33967495e-01 6.79127798e-01 8.78352448e-03 2.50071561e+02] [-6.79082850e-01 7.34020015e-01 -7.81665369e-03 -8.12372092e+01] [-1.17557896e-02 -2.27571108e-04 9.99930872e-01 -4.25749281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58655999499996 meters 0.01536487889990042 Centerline is valid? [True, True] Translation: X:250.12, Y:-81.28, Z:-4.26 [[ 7.32825242e-01 6.80359373e-01 8.84806397e-03 2.50117270e+02] [-6.80313789e-01 7.32878614e-01 -7.87944700e-03 -8.12784980e+01] [-1.18454125e-02 -2.45202272e-04 9.99929811e-01 -4.25907601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64655999499996 meters 0.015901262235597825 Centerline is valid? [True, True] Translation: X:250.16, Y:-81.32, Z:-4.26 [[ 7.31761814e-01 6.81513485e-01 8.00112398e-03 2.50163891e+02] [-6.81476269e-01 7.31805516e-01 -7.12610201e-03 -8.13200137e+01] [-1.07118013e-02 -2.37966787e-04 9.99942599e-01 -4.26130555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70655999499996 meters 0.01643144771830394 Centerline is valid? [True, True] Translation: X:250.21, Y:-81.36, Z:-4.26 [[ 7.30812627e-01 6.82537427e-01 7.45423594e-03 2.50208195e+02] [-6.82505149e-01 7.30850605e-01 -6.64193516e-03 -8.13630910e+01] [-9.98130218e-03 -2.33544335e-04 9.99950158e-01 -4.26261444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76655999499997 meters 0.01616447317074854 Centerline is valid? [True, True] Translation: X:250.25, Y:-81.41, Z:-4.26 [[ 7.30516079e-01 6.82852879e-01 7.62915693e-03 2.50251680e+02] [-6.82819054e-01 7.30555876e-01 -6.80093150e-03 -8.14082767e+01] [-1.02175611e-02 -2.41143909e-04 9.99947770e-01 -4.26239678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82655999499997 meters 0.016535034866284628 Centerline is valid? [True, True] Translation: X:250.30, Y:-81.45, Z:-4.26 [[ 7.30390610e-01 6.82987847e-01 7.56027786e-03 2.50296706e+02] [-6.82954598e-01 7.30429699e-01 -6.74329521e-03 -8.14519403e+01] [-1.01278402e-02 -2.38087026e-04 9.99948684e-01 -4.26266361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88655999499997 meters 0.016095622665898583 Centerline is valid? [True, True] Translation: X:250.34, Y:-81.50, Z:-4.26 [[ 7.30359960e-01 6.83017318e-01 7.85317414e-03 2.50341140e+02] [-6.82981402e-01 7.30402138e-01 -7.00861389e-03 -8.14962140e+01] [-1.05229798e-02 -2.44760920e-04 9.99944602e-01 -4.26332344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.946559995 meters 0.01544595237500332 Centerline is valid? [True, True] Translation: X:250.39, Y:-81.54, Z:-4.26 [[ 7.30142645e-01 6.83250033e-01 7.81731414e-03 2.50385631e+02] [-6.83214417e-01 7.30184452e-01 -6.98044766e-03 -8.15412750e+01] [-1.04774723e-02 -2.44179202e-04 9.99945080e-01 -4.26358722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.006559995 meters 0.01617859936541278 Centerline is valid? [True, True] Translation: X:250.43, Y:-81.58, Z:-4.27 [[ 7.29739392e-01 6.83686781e-01 7.26667794e-03 2.50430624e+02] [-6.83655994e-01 7.29775536e-01 -6.49229301e-03 -8.15835122e+01] [-9.74173870e-03 -2.30225968e-04 9.99952522e-01 -4.26519446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.066559995 meters 0.01603649000168072 Centerline is valid? [True, True] Translation: X:250.48, Y:-81.63, Z:-4.27 [[ 7.29563988e-01 6.83880424e-01 6.62970928e-03 2.50475494e+02] [-6.83854783e-01 7.29594080e-01 -5.92572749e-03 -8.16273502e+01] [-8.88948567e-03 -2.10561013e-04 9.99960466e-01 -4.26668853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.126559995 meters 0.015797011984037428 Centerline is valid? [True, True] Translation: X:250.52, Y:-81.67, Z:-4.27 [[ 7.28959517e-01 6.84532936e-01 5.71691228e-03 2.50518791e+02] [-6.84513861e-01 7.28981910e-01 -5.11355199e-03 -8.16713993e+01] [-7.66792039e-03 -1.85733310e-04 9.99970584e-01 -4.26783403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.186559995 meters 0.016665629459658274 Centerline is valid? [True, True] Translation: X:250.56, Y:-81.71, Z:-4.27 [[ 7.27636099e-01 6.85939734e-01 5.69108215e-03 2.50563367e+02] [-6.85920873e-01 7.27658328e-01 -5.09061584e-03 -8.17149241e+01] [-7.63301900e-03 -1.99516181e-04 9.99970848e-01 -4.26795784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.246559995 meters 0.017157681596680525 Centerline is valid? [True, True] Translation: X:250.61, Y:-81.76, Z:-4.27 [[ 7.26060830e-01 6.87609665e-01 5.34981652e-03 2.50608712e+02] [-6.87593029e-01 7.26080510e-01 -4.78741831e-03 -8.17572918e+01] [-7.17627261e-03 -2.02539639e-04 9.99974230e-01 -4.26933767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.306559995 meters 0.01950921624516958 Centerline is valid? [True, True] Translation: X:250.65, Y:-81.80, Z:-4.27 [[ 7.24386046e-01 6.89372418e-01 5.52498128e-03 2.50653736e+02] [-6.89354704e-01 7.24407081e-01 -4.94706541e-03 -8.17986176e+01] [-7.41270600e-03 -2.25086681e-04 9.99972500e-01 -4.27056764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.366559995 meters 0.019507617460866836 Centerline is valid? [True, True] Translation: X:250.70, Y:-81.84, Z:-4.27 [[ 7.22016925e-01 6.91853016e-01 5.56462321e-03 2.50697185e+02] [-6.91835089e-01 7.22038325e-01 -4.98664587e-03 -8.18429513e+01] [-7.46789720e-03 -2.49358878e-04 9.99972084e-01 -4.26975155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.426559995 meters 0.02116508495810676 Centerline is valid? [True, True] Translation: X:250.74, Y:-81.88, Z:-4.27 [[ 7.21034218e-01 6.92877520e-01 5.51341516e-03 2.50742069e+02] [-6.92859960e-01 7.21055251e-01 -4.93968621e-03 -8.18838157e+01] [-7.39807448e-03 -2.58341824e-04 9.99972601e-01 -4.27067392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.486559995 meters 0.02081920917386068 Centerline is valid? [True, True] Translation: X:250.78, Y:-81.93, Z:-4.27 [[ 7.19826053e-01 6.94134637e-01 5.24964939e-03 2.50784389e+02] [-6.94118737e-01 7.19845150e-01 -4.70524386e-03 -8.19288682e+01] [-7.04500739e-03 -2.56922887e-04 9.99975151e-01 -4.27068723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54655999499994 meters 0.020561533278922114 Centerline is valid? [True, True] Translation: X:250.83, Y:-81.97, Z:-4.27 [[ 7.19421630e-01 6.94552790e-01 5.37972173e-03 2.50828136e+02] [-6.94536091e-01 7.19441694e-01 -4.82352530e-03 -8.19744479e+01] [-7.22058907e-03 -2.66262465e-04 9.99973896e-01 -4.27244219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60655999499994 meters 0.02001127621383906 Centerline is valid? [True, True] Translation: X:250.87, Y:-82.02, Z:-4.28 [[ 7.19973114e-01 6.93988674e-01 4.29350438e-03 2.50872395e+02] [-6.93978020e-01 7.19985887e-01 -3.85106432e-03 -8.20185434e+01] [-5.76385758e-03 -2.06934900e-04 9.99983367e-01 -4.27502826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66655999499994 meters 0.021459742139821637 Centerline is valid? [True, True] Translation: X:250.92, Y:-82.06, Z:-4.28 [[ 7.20284140e-01 6.93665894e-01 4.28774763e-03 2.50918799e+02] [-6.93655250e-01 7.20296874e-01 -3.84811258e-03 -8.20588637e+01] [-5.75775567e-03 -2.02484188e-04 9.99983403e-01 -4.27740044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72655999499995 meters 0.019202067666443858 Centerline is valid? [True, True] Translation: X:250.96, Y:-82.11, Z:-4.28 [[ 7.21134699e-01 6.92787367e-01 3.22651135e-03 2.50959601e+02] [-6.92781332e-01 7.21141902e-01 -2.89547214e-03 -8.21060385e+01] [-4.33271906e-03 -1.47241398e-04 9.99990603e-01 -4.27874162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78655999499995 meters 0.018656072737794377 Centerline is valid? [True, True] Translation: X:251.00, Y:-82.15, Z:-4.28 [[ 7.22587327e-01 6.91272396e-01 3.16708539e-03 2.51003051e+02] [-6.91266560e-01 7.22594255e-01 -2.84350457e-03 -8.21501371e+01] [-4.25415392e-03 -1.34619858e-04 9.99990942e-01 -4.28020573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84655999499995 meters 0.018916557032854747 Centerline is valid? [True, True] Translation: X:251.05, Y:-82.19, Z:-4.28 [[ 7.23346553e-01 6.90477057e-01 3.34631339e-03 2.51048444e+02] [-6.90470526e-01 7.23354281e-01 -3.00626692e-03 -8.21926142e+01] [-4.49632845e-03 -1.35957947e-04 9.99989882e-01 -4.28184534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90655999499995 meters 0.02059876011367769 Centerline is valid? [True, True] Translation: X:251.09, Y:-82.23, Z:-4.28 [[ 7.24908000e-01 6.88833275e-01 4.13649261e-03 2.51094846e+02] [-6.88823252e-01 7.24919785e-01 -3.71922923e-03 -8.22330485e+01] [-5.56055418e-03 -1.53213271e-04 9.99984528e-01 -4.28421302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96655999499995 meters 0.01790288244074983 Centerline is valid? [True, True] Translation: X:251.14, Y:-82.28, Z:-4.28 [[ 7.24887614e-01 6.88855070e-01 4.07912522e-03 2.51137543e+02] [-6.88845316e-01 7.24899076e-01 -3.66887874e-03 -8.22795732e+01] [-5.48427983e-03 -1.50361546e-04 9.99984950e-01 -4.28341500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02655999499996 meters 0.01694924922718473 Centerline is valid? [True, True] Translation: X:251.18, Y:-82.32, Z:-4.28 [[ 7.24859874e-01 6.88886243e-01 3.72926673e-03 2.51183028e+02] [-6.88878085e-01 7.24869454e-01 -3.35542887e-03 -8.23231111e+01] [-5.01474033e-03 -1.36794379e-04 9.99987417e-01 -4.28442039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08655999499996 meters 0.017203619672273532 Centerline is valid? [True, True] Translation: X:251.23, Y:-82.36, Z:-4.29 [[ 7.24513454e-01 6.89254355e-01 2.94773634e-03 2.51230090e+02] [-6.89249258e-01 7.24519442e-01 -2.65310839e-03 -8.23637939e+01] [-3.96435880e-03 -1.09512368e-04 9.99992136e-01 -4.28645789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14655999499996 meters 0.016850904525874847 Centerline is valid? [True, True] Translation: X:251.28, Y:-82.40, Z:-4.29 [[ 7.23384728e-01 6.90433672e-01 3.98496006e-03 2.51276891e+02] [-6.90424355e-01 7.23395688e-01 -3.59019223e-03 -8.24048352e+01] [-5.36149253e-03 -1.54223250e-04 9.99985615e-01 -4.28664343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20655999499996 meters 0.017360949800439025 Centerline is valid? [True, True] Translation: X:251.32, Y:-82.44, Z:-4.29 [[ 7.23884619e-01 6.89901213e-01 5.23218418e-03 2.51323534e+02] [-6.89885106e-01 7.23903501e-01 -4.71821102e-03 -8.24443245e+01] [-7.04269595e-03 -1.94165557e-04 9.99975181e-01 -4.28757233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26655999499997 meters 0.017272094968814527 Centerline is valid? [True, True] Translation: X:251.37, Y:-82.48, Z:-4.29 [[ 7.25280474e-01 6.88422727e-01 6.51021192e-03 2.51368959e+02] [-6.88397696e-01 7.25309659e-01 -5.87470115e-03 -8.24849214e+01] [-8.76619737e-03 -2.20808846e-04 9.99961552e-01 -4.28848478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32655999499997 meters 0.01505792604170937 Centerline is valid? [True, True] Translation: X:251.41, Y:-82.53, Z:-4.29 [[ 7.29126744e-01 6.84334437e-01 7.78263016e-03 2.51410694e+02] [-6.84298374e-01 7.29168250e-01 -7.02836785e-03 -8.25300937e+01] [-1.04846010e-02 -2.01070198e-04 9.99945015e-01 -4.28910681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38655999499997 meters 0.014086310480588792 Centerline is valid? [True, True] Translation: X:251.45, Y:-82.57, Z:-4.29 [[ 7.32623792e-01 6.80592933e-01 7.45916448e-03 2.51453413e+02] [-6.80559607e-01 7.32661750e-01 -6.73656250e-03 -8.25747934e+01] [-1.00499013e-02 -1.41040092e-04 9.99949489e-01 -4.29077032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.446559995 meters 0.013379838405331152 Centerline is valid? [True, True] Translation: X:251.49, Y:-82.62, Z:-4.29 [[ 7.37560089e-01 6.75249978e-01 6.52548888e-03 2.51494539e+02] [-6.75224273e-01 7.37588953e-01 -5.89219261e-03 -8.26205941e+01] [-8.79183144e-03 -6.03223810e-05 9.99961349e-01 -4.29292074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.506559995 meters 0.013174264023777667 Centerline is valid? [True, True] Translation: X:251.54, Y:-82.67, Z:-4.29 [[ 7.41458628e-01 6.70965673e-01 6.64592059e-03 2.51537281e+02] [-6.70938815e-01 7.41488412e-01 -6.00347953e-03 -8.26653148e+01] [-8.95600179e-03 -7.67438407e-06 9.99959894e-01 -4.29423651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.566559995 meters 0.013288891067037623 Centerline is valid? [True, True] Translation: X:251.58, Y:-82.71, Z:-4.29 [[ 7.44698255e-01 6.67349542e-01 8.31254360e-03 2.51581527e+02] [-6.67307242e-01 7.44744645e-01 -7.51388074e-03 -8.27099171e+01] [-1.12051072e-02 4.85533336e-05 9.99937220e-01 -4.29459055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.626559995 meters 0.013574033646894974 Centerline is valid? [True, True] Translation: X:251.63, Y:-82.75, Z:-4.29 [[ 7.46018537e-01 6.65859519e-01 9.35110572e-03 2.51625485e+02] [-6.65805799e-01 7.46077136e-01 -8.45837904e-03 -8.27537139e+01] [-1.26087384e-02 8.40871368e-05 9.99920503e-01 -4.29473190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.686559995 meters 0.013365719112661014 Centerline is valid? [True, True] Translation: X:251.67, Y:-82.79, Z:-4.29 [[ 7.45538855e-01 6.66380688e-01 1.04208809e-02 2.51673420e+02] [-6.66313945e-01 7.45611676e-01 -9.43163408e-03 -8.27948070e+01] [-1.40549893e-02 8.80714124e-05 9.99901220e-01 -4.29450638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.746559995 meters 0.01309914949709109 Centerline is valid? [True, True] Translation: X:251.72, Y:-82.83, Z:-4.30 [[ 7.43838071e-01 6.68277872e-01 1.04694172e-02 2.51721369e+02] [-6.68210617e-01 7.43911743e-01 -9.48095863e-03 -8.28341657e+01] [-1.41242373e-02 5.65222457e-05 9.99900246e-01 -4.29654706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.806559995 meters 0.013044853565680364 Centerline is valid? [True, True] Translation: X:251.77, Y:-82.87, Z:-4.30 [[ 7.42552635e-01 6.69706196e-01 1.04496645e-02 2.51768961e+02] [-6.69639273e-01 7.42626158e-01 -9.46755219e-03 -8.28746108e+01] [-1.41006726e-02 3.26500758e-05 9.99900580e-01 -4.29795478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.866559995 meters 0.01312417304686242 Centerline is valid? [True, True] Translation: X:251.82, Y:-82.91, Z:-4.30 [[ 7.36557362e-01 6.76296515e-01 1.03090200e-02 2.51820200e+02] [-6.76231950e-01 7.36629497e-01 -9.34527690e-03 -8.29100884e+01] [-1.39141064e-02 -8.79562142e-05 9.99903190e-01 -4.29920398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.926559995 meters 0.013774301591999518 Centerline is valid? [True, True] Translation: X:251.87, Y:-82.95, Z:-4.30 [[ 7.31750213e-01 6.81482399e-01 1.11070097e-02 2.51870549e+02] [-6.81407963e-01 7.31834477e-01 -1.00740311e-02 -8.29468460e+01] [-1.49937675e-02 -1.96730429e-04 9.99887568e-01 -4.29897496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.986559995 meters 0.014381661851219198 Centerline is valid? [True, True] Translation: X:251.92, Y:-82.98, Z:-4.30 [[ 7.28850038e-01 6.84573852e-01 1.16732383e-02 2.51919413e+02] [-6.84491938e-01 7.28943461e-01 -1.05932825e-02 -8.29849452e+01] [-1.57610149e-02 -2.69323138e-04 9.99875751e-01 -4.29954695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04655999499994 meters 0.015798961341802836 Centerline is valid? [True, True] Translation: X:251.97, Y:-83.02, Z:-4.30 [[ 7.26343232e-01 6.87222780e-01 1.22621194e-02 2.51968303e+02] [-6.87132670e-01 7.26446650e-01 -1.11336152e-02 -8.30221981e+01] [-1.65590495e-02 -3.38876750e-04 9.99862832e-01 -4.29898189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10655999499994 meters 0.016248673367200123 Centerline is valid? [True, True] Translation: X:252.02, Y:-83.06, Z:-4.30 [[ 7.23914835e-01 6.89779327e-01 1.23203425e-02 2.52016120e+02] [-6.89688641e-01 7.24019560e-01 -1.11917373e-02 -8.30617929e+01] [-1.66399980e-02 -3.95335661e-04 9.99861467e-01 -4.29938424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16655999499994 meters 0.017897960538055726 Centerline is valid? [True, True] Translation: X:252.07, Y:-83.10, Z:-4.30 [[ 7.20843947e-01 6.93006286e-01 1.12379860e-02 2.52066086e+02] [-6.92931152e-01 7.20931416e-01 -1.02132810e-02 -8.30972063e+01] [-1.51796851e-02 -4.24968818e-04 9.99884692e-01 -4.30097114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22655999499995 meters 0.019170582899926725 Centerline is valid? [True, True] Translation: X:252.11, Y:-83.13, Z:-4.30 [[ 7.19306762e-01 6.94621970e-01 9.90464908e-03 2.52114558e+02] [-6.94563739e-01 7.19374837e-01 -9.00309442e-03 -8.31346475e+01] [-1.33789025e-02 -4.03423408e-04 9.99910417e-01 -4.30333557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28655999499995 meters 0.019418169092041988 Centerline is valid? [True, True] Translation: X:252.16, Y:-83.18, Z:-4.31 [[ 7.19573817e-01 6.94358186e-01 8.95716703e-03 2.52161309e+02] [-6.94310506e-01 7.19629475e-01 -8.14498601e-03 -8.31754412e+01] [-1.21013791e-02 -3.58136497e-04 9.99926711e-01 -4.30512454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34655999499995 meters 0.018593633639815692 Centerline is valid? [True, True] Translation: X:252.21, Y:-83.22, Z:-4.31 [[ 7.21336942e-01 6.92541596e-01 7.69114158e-03 2.52206372e+02] [-6.92506303e-01 7.21377890e-01 -6.99717834e-03 -8.32188248e+01] [-1.03940565e-02 -2.78840793e-04 9.99945941e-01 -4.30657667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40655999499995 meters 0.015885493192331117 Centerline is valid? [True, True] Translation: X:252.25, Y:-83.26, Z:-4.31 [[ 7.24262721e-01 6.89484167e-01 7.42258039e-03 2.52247851e+02] [-6.89451111e-01 7.24300720e-01 -6.75521341e-03 -8.32643615e+01] [-1.00337930e-02 -2.24957048e-04 9.99949635e-01 -4.30624623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46655999499995 meters 0.014048743739061354 Centerline is valid? [True, True] Translation: X:252.29, Y:-83.31, Z:-4.31 [[ 7.27917661e-01 6.85618861e-01 7.91556274e-03 2.52289369e+02] [-6.85581033e-01 7.27960675e-01 -7.20442293e-03 -8.33095486e+01] [-1.07017066e-02 -1.82532990e-04 9.99942718e-01 -4.30578647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52655999499996 meters 0.013621144181904148 Centerline is valid? [True, True] Translation: X:252.33, Y:-83.35, Z:-4.31 [[ 7.30395477e-01 6.82983499e-01 7.48253468e-03 2.52332847e+02] [-6.82949561e-01 7.30433790e-01 -6.80992961e-03 -8.33527856e+01] [-1.01165657e-02 -1.36251993e-04 9.99948817e-01 -4.30710639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58655999499996 meters 0.012919751139369481 Centerline is valid? [True, True] Translation: X:252.38, Y:-83.40, Z:-4.31 [[ 7.32415998e-01 6.80823947e-01 6.74977508e-03 2.52376445e+02] [-6.80796235e-01 7.32447093e-01 -6.14351874e-03 -8.33968467e+01] [-9.12650781e-03 -9.56100565e-05 9.99958348e-01 -4.30835130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64655999499996 meters 0.012655203042839607 Centerline is valid? [True, True] Translation: X:252.42, Y:-83.44, Z:-4.31 [[ 7.34787668e-01 6.78271841e-01 5.86446976e-03 2.52420198e+02] [-6.78250824e-01 7.34811069e-01 -5.33972685e-03 -8.34412764e+01] [-7.93106365e-03 -5.40160054e-05 9.99968547e-01 -4.30932922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70655999499996 meters 0.012542638149824403 Centerline is valid? [True, True] Translation: X:252.47, Y:-83.48, Z:-4.31 [[ 7.35723397e-01 6.77260438e-01 5.42052320e-03 2.52465553e+02] [-6.77242443e-01 7.35743364e-01 -4.93717017e-03 -8.34846928e+01] [-7.33186401e-03 -3.86167657e-05 9.99973121e-01 -4.31001647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76655999499997 meters 0.012484723052297144 Centerline is valid? [True, True] Translation: X:252.51, Y:-83.53, Z:-4.31 [[ 7.35825935e-01 6.77153370e-01 4.84837601e-03 2.52511014e+02] [-6.77138959e-01 7.35841908e-01 -4.41784325e-03 -8.35280384e+01] [-6.55919569e-03 -3.22606424e-05 9.99978488e-01 -4.31010590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82655999499997 meters 0.01249916637790548 Centerline is valid? [True, True] Translation: X:252.56, Y:-83.57, Z:-4.31 [[ 7.35479003e-01 6.77534216e-01 4.24533214e-03 2.52557922e+02] [-6.77523165e-01 7.35491255e-01 -3.86984765e-03 -8.35701210e+01] [-5.74435886e-03 -3.01191805e-05 9.99983501e-01 -4.31221633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88655999499997 meters 0.012392434975600344 Centerline is valid? [True, True] Translation: X:252.60, Y:-83.61, Z:-4.31 [[ 7.34925685e-01 6.78134930e-01 4.15393356e-03 2.52604910e+02] [-6.78124348e-01 7.34937423e-01 -3.78853598e-03 -8.36121120e+01] [-5.62201981e-03 -3.25910887e-05 9.99984196e-01 -4.31351506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.946559995 meters 0.01229531562432725 Centerline is valid? [True, True] Translation: X:252.65, Y:-83.65, Z:-4.31 [[ 7.35375599e-01 6.77644643e-01 4.52387226e-03 2.52649622e+02] [-6.77632061e-01 7.35389514e-01 -4.12956021e-03 -8.36544557e+01] [-6.12518257e-03 -2.87430658e-05 9.99981240e-01 -4.31401305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.006559995 meters 0.012180584965167817 Centerline is valid? [True, True] Translation: X:252.70, Y:-83.70, Z:-4.31 [[ 7.35705774e-01 6.77282288e-01 5.07112128e-03 2.52695044e+02] [-6.77266453e-01 7.35723250e-01 -4.63155114e-03 -8.36970003e+01] [-6.86780938e-03 -2.70414030e-05 9.99976416e-01 -4.31414134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.066559995 meters 0.01202657401096927 Centerline is valid? [True, True] Translation: X:252.74, Y:-83.74, Z:-4.31 [[ 7.37138201e-01 6.75709695e-01 6.60917258e-03 2.52740110e+02] [-6.75682691e-01 7.37167829e-01 -6.04089668e-03 -8.37395213e+01] [-8.95396185e-03 -1.27278041e-05 9.99959912e-01 -4.31363135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.126559995 meters 0.012138634732842078 Centerline is valid? [True, True] Translation: X:252.79, Y:-83.78, Z:-4.31 [[ 7.38444675e-01 6.74275834e-01 7.18062223e-03 2.52786488e+02] [-6.74243859e-01 7.38479586e-01 -6.56659503e-03 -8.37822160e+01] [-9.73043927e-03 7.57669014e-06 9.99952658e-01 -4.31458175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.186559995 meters 0.012233414254150454 Centerline is valid? [True, True] Translation: X:252.83, Y:-83.82, Z:-4.32 [[ 7.39665065e-01 6.72934055e-01 7.43976202e-03 2.52832972e+02] [-6.72899621e-01 7.39702479e-01 -6.80755945e-03 -8.38240466e+01] [-1.00842490e-02 2.91008631e-05 9.99949152e-01 -4.31621699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.246559995 meters 0.012129160992891136 Centerline is valid? [True, True] Translation: X:252.88, Y:-83.87, Z:-4.32 [[ 7.39992681e-01 6.72577149e-01 7.12818293e-03 2.52880048e+02] [-6.72545490e-01 7.40027011e-01 -6.52580329e-03 -8.38659285e+01] [-9.66415408e-03 3.50193862e-05 9.99953300e-01 -4.31662305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.306559995 meters 0.012127667824009489 Centerline is valid? [True, True] Translation: X:252.93, Y:-83.91, Z:-4.32 [[ 7.39864828e-01 6.72719766e-01 6.93925800e-03 2.52927777e+02] [-6.72689737e-01 7.39897368e-01 -6.35631814e-03 -8.39071984e+01] [-9.41035958e-03 3.48485912e-05 9.99955721e-01 -4.31772092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.366559995 meters 0.01221855899380734 Centerline is valid? [True, True] Translation: X:252.98, Y:-83.95, Z:-4.32 [[ 7.39296363e-01 6.73348825e-01 6.49990700e-03 2.52975781e+02] [-6.73322473e-01 7.39324935e-01 -5.95711680e-03 -8.39470151e+01] [-8.81676092e-03 2.75413274e-05 9.99961131e-01 -4.31934833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.426559995 meters 0.01224761586900855 Centerline is valid? [True, True] Translation: X:253.02, Y:-83.99, Z:-4.32 [[ 7.38456305e-01 6.74280616e-01 5.28552638e-03 2.53024362e+02] [-6.74263206e-01 7.38475220e-01 -4.84547266e-03 -8.39866303e+01] [-7.17043855e-03 1.43338745e-05 9.99974292e-01 -4.32159406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.486559995 meters 0.0121776810612303 Centerline is valid? [True, True] Translation: X:253.07, Y:-84.03, Z:-4.32 [[ 7.37931255e-01 6.74859575e-01 4.69221676e-03 2.53072222e+02] [-6.74845854e-01 7.37946173e-01 -4.30331223e-03 -8.40279050e+01] [-6.36673486e-03 9.02556681e-06 9.99979732e-01 -4.32267220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54655999499994 meters 0.012064107662163934 Centerline is valid? [True, True] Translation: X:253.12, Y:-84.07, Z:-4.32 [[ 7.37214346e-01 6.75643939e-01 4.50295462e-03 2.53120450e+02] [-6.75631305e-01 7.37228098e-01 -4.13178628e-03 -8.40685450e+01] [-6.11132102e-03 3.67501688e-06 9.99981326e-01 -4.32247337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60655999499994 meters 0.011997813842412625 Centerline is valid? [True, True] Translation: X:253.17, Y:-84.11, Z:-4.32 [[ 7.36199134e-01 6.76748991e-01 4.65171068e-03 2.53168359e+02] [-6.76735515e-01 7.36213829e-01 -4.27084460e-03 -8.41101362e+01] [-6.31494351e-03 -3.78572912e-06 9.99980061e-01 -4.32252043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66655999499994 meters 0.01189372324626179 Centerline is valid? [True, True] Translation: X:253.22, Y:-84.15, Z:-4.32 [[ 7.33891977e-01 6.79247245e-01 5.07406241e-03 2.53217539e+02] [-6.79231247e-01 7.33909518e-01 -4.66180154e-03 -8.41492919e+01] [-6.89041855e-03 -2.52029914e-05 9.99976260e-01 -4.32252803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72655999499995 meters 0.011913548913512984 Centerline is valid? [True, True] Translation: X:253.27, Y:-84.19, Z:-4.32 [[ 7.32906809e-01 6.80308602e-01 5.27405893e-03 2.53265007e+02] [-6.80291325e-01 7.32925784e-01 -4.84849063e-03 -8.41911257e+01] [-7.16396366e-03 -3.44047485e-05 9.99974338e-01 -4.32315114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78655999499995 meters 0.011907996112764678 Centerline is valid? [True, True] Translation: X:253.31, Y:-84.23, Z:-4.33 [[ 7.32428275e-01 6.80829068e-01 4.53889231e-03 2.53312611e+02] [-6.80816273e-01 7.32442338e-01 -4.17422191e-03 -8.42329289e+01] [-6.16640851e-03 -3.28335887e-05 9.99980987e-01 -4.32503443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84655999499995 meters 0.011898029692413301 Centerline is valid? [True, True] Translation: X:253.36, Y:-84.28, Z:-4.33 [[ 7.33707511e-01 6.79453166e-01 4.08464695e-03 2.53357837e+02] [-6.79442773e-01 7.33718880e-01 -3.75794851e-03 -8.42767565e+01] [-5.55033260e-03 -1.80488078e-05 9.99984597e-01 -4.32571970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90655999499995 meters 0.012519443010964115 Centerline is valid? [True, True] Translation: X:253.40, Y:-84.32, Z:-4.33 [[ 7.37772380e-01 6.75042773e-01 3.02812791e-03 2.53400339e+02] [-6.75037021e-01 7.37778595e-01 -2.78654815e-03 -8.43220733e+01] [-4.11512715e-03 1.17398167e-05 9.99991533e-01 -4.32542168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96655999499995 meters 0.013304156826645267 Centerline is valid? [True, True] Translation: X:253.44, Y:-84.37, Z:-4.33 [[ 7.40598915e-01 6.71942975e-01 2.42590881e-03 2.53442513e+02] [-6.71939260e-01 7.40602888e-01 -2.23458579e-03 -8.43657057e+01] [-3.29814929e-03 2.48684424e-05 9.99994561e-01 -4.32616347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02655999499996 meters 0.014391403827550806 Centerline is valid? [True, True] Translation: X:253.49, Y:-84.41, Z:-4.33 [[ 7.44100014e-01 6.68066217e-01 1.64296564e-03 2.53485484e+02] [-6.68064509e-01 7.44101827e-01 -1.51082374e-03 -8.44108842e+01] [-2.23186403e-03 2.65969294e-05 9.99997509e-01 -4.32685925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08655999499996 meters 0.015602656507513293 Centerline is valid? [True, True] Translation: X:253.53, Y:-84.45, Z:-4.33 [[ 7.46374448e-01 6.65525340e-01 1.09781799e-03 2.53527540e+02] [-6.65524573e-01 7.46375255e-01 -1.01058411e-03 -8.44546554e+01] [-1.49195352e-03 2.36493021e-05 9.99998887e-01 -4.32812845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14655999499996 meters 0.015472209020378663 Centerline is valid? [True, True] Translation: X:253.57, Y:-84.50, Z:-4.33 [[ 7.46510717e-01 6.65373103e-01 6.19151640e-04 2.53572661e+02] [-6.65372862e-01 7.46510974e-01 -5.66496421e-04 -8.44971052e+01] [-8.39134975e-04 1.09289506e-05 9.99999648e-01 -4.32918619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20655999499996 meters 0.015200515322875953 Centerline is valid? [True, True] Translation: X:253.62, Y:-84.54, Z:-4.33 [[ 7.44617581e-01 6.67491314e-01 5.86062683e-05 2.53617229e+02] [-6.67491312e-01 7.44617584e-01 -4.94001984e-05 -8.45386550e+01] [-7.66134613e-05 -2.33491869e-06 9.99999997e-01 -4.33039974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26655999499997 meters 0.014612407976919909 Centerline is valid? [True, True] Translation: X:253.66, Y:-84.58, Z:-4.33 [[ 7.42267276e-01 6.70103932e-01 1.02833122e-04 2.53664184e+02] [-6.70103926e-01 7.42267283e-01 -9.00045969e-05 -8.45790956e+01] [-1.36642097e-04 -2.10141211e-06 9.99999991e-01 -4.33209252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32655999499997 meters 0.013242641837097752 Centerline is valid? [True, True] Translation: X:253.71, Y:-84.62, Z:-4.33 [[ 7.37321515e-01 6.75541589e-01 7.38038767e-04 2.53712922e+02] [-6.75541250e-01 7.37321884e-01 -6.77376221e-04 -8.46178569e+01] [-1.00176794e-03 8.68430557e-07 9.99999498e-01 -4.33310619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38655999499997 meters 0.012765244528076664 Centerline is valid? [True, True] Translation: X:253.76, Y:-84.66, Z:-4.33 [[ 7.32260997e-01 6.81023013e-01 1.21974131e-03 2.53761563e+02] [-6.81022087e-01 7.32262013e-01 -1.12321707e-03 -8.46571677e+01] [-1.65810690e-03 -8.18272148e-06 9.99998625e-01 -4.33464437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.446559995 meters 0.01306782483954855 Centerline is valid? [True, True] Translation: X:253.81, Y:-84.70, Z:-4.34 [[ 7.28664886e-01 6.84868128e-01 1.76950651e-03 2.53808284e+02] [-6.84866182e-01 7.28667034e-01 -1.63284762e-03 -8.46973784e+01] [-2.40766635e-03 -2.20764455e-05 9.99997101e-01 -4.33514768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.506559995 meters 0.014364232984502184 Centerline is valid? [True, True] Translation: X:253.86, Y:-84.74, Z:-4.34 [[ 7.22804256e-01 6.91048002e-01 2.58212421e-03 2.53855706e+02] [-6.91043886e-01 7.22808865e-01 -2.38584788e-03 -8.47367905e+01] [-3.51511768e-03 -5.98601476e-05 9.99993820e-01 -4.33584588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.566559995 meters 0.015810479630483 Centerline is valid? [True, True] Translation: X:253.90, Y:-84.78, Z:-4.34 [[ 7.19061819e-01 6.94939279e-01 3.08199195e-03 2.53902253e+02] [-6.94933432e-01 7.19068418e-01 -2.85235973e-03 -8.47779562e+01] [-4.19837989e-03 -9.07562718e-05 9.99991183e-01 -4.33672926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.626559995 meters 0.01772794467889864 Centerline is valid? [True, True] Translation: X:253.95, Y:-84.82, Z:-4.34 [[ 7.13626708e-01 7.00511096e-01 4.59619443e-03 2.53948748e+02] [-7.00498193e-01 7.13641486e-01 -4.25574078e-03 -8.48174075e+01] [-6.26122866e-03 -1.82615608e-04 9.99980382e-01 -4.33842328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.686559995 meters 0.019784687749072768 Centerline is valid? [True, True] Translation: X:254.00, Y:-84.86, Z:-4.34 [[ 7.12059334e-01 7.02102133e-01 4.90919157e-03 2.53995265e+02] [-7.02087465e-01 7.12076225e-01 -4.54315217e-03 -8.48573572e+01] [-6.68547543e-03 -2.11687955e-04 9.99977630e-01 -4.34086847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.746559995 meters 0.018974107823096484 Centerline is valid? [True, True] Translation: X:254.04, Y:-84.90, Z:-4.34 [[ 7.12718519e-01 7.01432655e-01 4.95418597e-03 2.54038194e+02] [-7.01417675e-01 7.12735708e-01 -4.58863689e-03 -8.49031839e+01] [-6.74964500e-03 -2.04547116e-04 9.99977200e-01 -4.34320153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.806559995 meters 0.01808217708639833 Centerline is valid? [True, True] Translation: X:254.08, Y:-84.95, Z:-4.34 [[ 7.15102933e-01 6.98999157e-01 5.28891533e-03 2.54080214e+02] [-6.98982009e-01 7.15122466e-01 -4.90004945e-03 -8.49486270e+01] [-7.20735260e-03 -1.92816926e-04 9.99974008e-01 -4.34428293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.866559995 meters 0.016148577625243167 Centerline is valid? [True, True] Translation: X:254.12, Y:-84.99, Z:-4.35 [[ 7.18981160e-01 6.95008568e-01 5.40199165e-03 2.54120790e+02] [-6.94990560e-01 7.19001437e-01 -5.00554670e-03 -8.49949265e+01] [-7.36293760e-03 -1.55439426e-04 9.99972881e-01 -4.34562240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.926559995 meters 0.013374385609682711 Centerline is valid? [True, True] Translation: X:254.16, Y:-85.05, Z:-4.35 [[ 7.27004480e-01 6.86608910e-01 5.71761837e-03 2.54156189e+02] [-6.86588469e-01 7.27026959e-01 -5.29861058e-03 -8.50460788e+01] [-7.79493593e-03 -7.35372120e-05 9.99969616e-01 -4.34678715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.986559995 meters 0.012639991682139085 Centerline is valid? [True, True] Translation: X:254.19, Y:-85.10, Z:-4.35 [[ 7.33462744e-01 6.79704439e-01 5.85489570e-03 2.54193766e+02] [-6.79682799e-01 7.33486112e-01 -5.42371593e-03 -8.50960380e+01] [-7.98100847e-03 -1.37832666e-06 9.99968151e-01 -4.34845274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04655999499994 meters 0.013847223929195372 Centerline is valid? [True, True] Translation: X:254.23, Y:-85.15, Z:-4.35 [[ 7.40852230e-01 6.71630199e-01 7.13087260e-03 2.54233300e+02] [-6.71597682e-01 7.40886539e-01 -6.60983421e-03 -8.51451082e+01] [-9.72253179e-03 1.07832907e-04 9.99952729e-01 -4.34839000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10655999499994 meters 0.015271923682752936 Centerline is valid? [True, True] Translation: X:254.28, Y:-85.19, Z:-4.35 [[ 7.44661238e-01 6.67393461e-01 8.09989821e-03 2.54277107e+02] [-6.67351195e-01 7.44705265e-01 -7.51337759e-03 -8.51895159e+01] [-1.10464159e-02 1.89444311e-04 9.99938969e-01 -4.34907968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16655999499994 meters 0.01593644025922671 Centerline is valid? [True, True] Translation: X:254.32, Y:-85.23, Z:-4.35 [[ 7.46850788e-01 6.64939483e-01 8.32968846e-03 2.54321645e+02] [-6.64894631e-01 7.46897202e-01 -7.72656387e-03 -8.52328531e+01] [-1.13591184e-02 2.32225182e-04 9.99935456e-01 -4.34973899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22655999499995 meters 0.01800401819205304 Centerline is valid? [True, True] Translation: X:254.37, Y:-85.27, Z:-4.35 [[ 7.49411452e-01 6.62047440e-01 8.69848495e-03 2.54365444e+02] [-6.61998277e-01 7.49461875e-01 -8.07337154e-03 -8.52749044e+01] [-1.18641378e-02 2.91895036e-04 9.99929576e-01 -4.35179722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28655999499995 meters 0.018246794354973863 Centerline is valid? [True, True] Translation: X:254.41, Y:-85.31, Z:-4.35 [[ 7.50727845e-01 6.60553146e-01 8.78882922e-03 2.54414159e+02] [-6.60502838e-01 7.50779221e-01 -8.15855218e-03 -8.53141706e+01] [-1.19876277e-02 3.19805662e-04 9.99928095e-01 -4.35441050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34655999499995 meters 0.016835013077971497 Centerline is valid? [True, True] Translation: X:254.46, Y:-85.35, Z:-4.36 [[ 7.52128910e-01 6.58951413e-01 9.22708179e-03 2.54463914e+02] [-6.58895789e-01 7.52185417e-01 -8.56955829e-03 -8.53520563e+01] [-1.25873989e-02 3.65727199e-04 9.99920709e-01 -4.35542359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40655999499995 meters 0.016895599245130784 Centerline is valid? [True, True] Translation: X:254.51, Y:-85.39, Z:-4.36 [[ 7.51844913e-01 6.59276637e-01 9.14019969e-03 2.54511529e+02] [-6.59222030e-01 7.51900384e-01 -8.49287717e-03 -8.53925190e+01] [-1.24716752e-02 3.59905506e-04 9.99922161e-01 -4.35724114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46655999499995 meters 0.017036303601799783 Centerline is valid? [True, True] Translation: X:254.56, Y:-85.43, Z:-4.36 [[ 7.50458540e-01 6.60852562e-01 9.26671906e-03 2.54558299e+02] [-6.60796487e-01 7.50515673e-01 -8.61555279e-03 -8.54326033e+01] [-1.26484280e-02 3.42199765e-04 9.99919947e-01 -4.35953505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52655999499996 meters 0.015897320633597722 Centerline is valid? [True, True] Translation: X:254.61, Y:-85.47, Z:-4.36 [[ 7.47361403e-01 6.64343478e-01 9.93363851e-03 2.54608120e+02] [-6.64279274e-01 7.47427354e-01 -9.24106124e-03 -8.54699929e+01] [-1.35639119e-02 3.07702316e-04 9.99907959e-01 -4.36143991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58655999499996 meters 0.015464815319756811 Centerline is valid? [True, True] Translation: X:254.65, Y:-85.51, Z:-4.36 [[ 7.46112274e-01 6.65743342e-01 1.01132638e-02 2.54654698e+02] [-6.65676917e-01 7.46180756e-01 -9.40863119e-03 -8.55108450e+01] [-1.38100564e-02 2.87728958e-04 9.99904595e-01 -4.36209173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64655999499996 meters 0.01417027229948821 Centerline is valid? [True, True] Translation: X:254.70, Y:-85.55, Z:-4.36 [[ 7.42532465e-01 6.69721758e-01 1.08768710e-02 2.54704365e+02] [-6.69645265e-01 7.42612088e-01 -1.01245417e-02 -8.55481491e+01] [-1.48579217e-02 2.34155680e-04 9.99889588e-01 -4.36233111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70655999499996 meters 0.012701749463568366 Centerline is valid? [True, True] Translation: X:254.76, Y:-85.58, Z:-4.36 [[ 7.38018192e-01 6.74675048e-01 1.19468919e-02 2.54755816e+02] [-6.74583388e-01 7.38114867e-01 -1.11218119e-02 -8.55836618e+01] [-1.63217875e-02 1.48924721e-04 9.99866780e-01 -4.36337552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76655999499997 meters 0.012164652164186149 Centerline is valid? [True, True] Translation: X:254.81, Y:-85.62, Z:-4.36 [[ 7.34441273e-01 6.78570057e-01 1.17768083e-02 2.54805218e+02] [-6.78481462e-01 7.34535685e-01 -1.09650583e-02 -8.56221050e+01] [-1.60910462e-02 6.28452550e-05 9.99870529e-01 -4.36496248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82655999499997 meters 0.012050153125569273 Centerline is valid? [True, True] Translation: X:254.85, Y:-85.66, Z:-4.37 [[ 7.31209252e-01 6.82067943e-01 1.07866047e-02 2.54854217e+02] [-6.81993934e-01 7.31288808e-01 -1.00475419e-02 -8.56613072e+01] [-1.47412295e-02 -9.54335279e-06 9.99891342e-01 -4.36741127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88655999499997 meters 0.012173319870562301 Centerline is valid? [True, True] Translation: X:254.90, Y:-85.70, Z:-4.37 [[ 7.27960307e-01 6.85557737e-01 9.18584483e-03 2.54902897e+02] [-6.85504291e-01 7.28018258e-01 -8.56047826e-03 -8.56997699e+01] [-1.25561649e-02 -6.52476611e-05 9.99921166e-01 -4.37031989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.946559995 meters 0.012167628045112068 Centerline is valid? [True, True] Translation: X:254.95, Y:-85.74, Z:-4.37 [[ 7.27910901e-01 6.85621759e-01 8.27789107e-03 2.54949487e+02] [-6.85578326e-01 7.27957966e-01 -7.71741813e-03 -8.57423982e+01] [-1.13171865e-02 -5.75499220e-05 9.99935957e-01 -4.37313280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.006559995 meters 0.01197568727498094 Centerline is valid? [True, True] Translation: X:254.99, Y:-85.79, Z:-4.38 [[ 7.31811015e-01 6.81468325e-01 7.31845880e-03 2.54991552e+02] [-6.81434137e-01 7.31847608e-01 -6.82605146e-03 -8.57901557e+01] [-1.00077344e-02 8.33199016e-06 9.99949921e-01 -4.37538535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.066559995 meters 0.012429562791283813 Centerline is valid? [True, True] Translation: X:255.03, Y:-85.84, Z:-4.38 [[ 7.35966374e-01 6.76975209e-01 7.61995159e-03 2.55032734e+02] [-6.76937856e-01 7.36005816e-01 -7.11185129e-03 -8.58373889e+01] [-1.04228757e-02 7.58497201e-05 9.99945677e-01 -4.37591700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.126559995 meters 0.013562934037284357 Centerline is valid? [True, True] Translation: X:255.07, Y:-85.88, Z:-4.38 [[ 7.40363794e-01 6.72161864e-01 7.73832040e-03 2.55073923e+02] [-6.72123038e-01 7.40404218e-01 -7.22606360e-03 -8.58837177e+01] [-1.05865694e-02 1.48812446e-04 9.99943950e-01 -4.37690948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.186559995 meters 0.015605678511065903 Centerline is valid? [True, True] Translation: X:255.11, Y:-85.93, Z:-4.38 [[ 7.46404028e-01 6.65430809e-01 9.10310068e-03 2.55113106e+02] [-6.65376506e-01 7.46459479e-01 -8.50596900e-03 -8.59312063e+01] [-1.24552296e-02 2.91900196e-04 9.99922388e-01 -4.37576655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.246559995 meters 0.016939598177743525 Centerline is valid? [True, True] Translation: X:255.15, Y:-85.98, Z:-4.38 [[ 7.50011473e-01 6.61350999e-01 9.88161602e-03 2.55154266e+02] [-6.61286644e-01 7.50076464e-01 -9.23431166e-03 -8.59766399e+01] [-1.35190889e-02 3.91258994e-04 9.99908536e-01 -4.37547540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.306559995 meters 0.017542580010094733 Centerline is valid? [True, True] Translation: X:255.20, Y:-86.02, Z:-4.38 [[ 7.51051246e-01 6.60183771e-01 8.91146035e-03 2.55198587e+02] [-6.60131317e-01 7.51104020e-01 -8.33039051e-03 -8.60199938e+01] [-1.21930223e-02 3.73816112e-04 9.99925592e-01 -4.37732917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.366559995 meters 0.017216358484794032 Centerline is valid? [True, True] Translation: X:255.25, Y:-86.06, Z:-4.38 [[ 7.49342231e-01 6.62133225e-01 8.11245380e-03 2.55245135e+02] [-6.62089823e-01 7.49386077e-01 -7.58774089e-03 -8.60618345e+01] [-1.11034553e-02 3.14641596e-04 9.99938305e-01 -4.37920522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.426559995 meters 0.016680724982348544 Centerline is valid? [True, True] Translation: X:255.29, Y:-86.10, Z:-4.38 [[ 7.47300774e-01 6.64433270e-01 8.36561972e-03 2.55290938e+02] [-6.64387253e-01 7.47347541e-01 -7.82502837e-03 -8.61035891e+01] [-1.14512345e-02 2.89638644e-04 9.99934391e-01 -4.37962837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.486559995 meters 0.015841255818962584 Centerline is valid? [True, True] Translation: X:255.34, Y:-86.14, Z:-4.38 [[ 7.45019138e-01 6.66986710e-01 8.67249581e-03 2.55337206e+02] [-6.66937367e-01 7.45069567e-01 -8.11717474e-03 -8.61444321e+01] [-1.18756604e-02 2.63439007e-04 9.99929447e-01 -4.38011323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54655999499994 meters 0.013577152613208937 Centerline is valid? [True, True] Translation: X:255.39, Y:-86.18, Z:-4.38 [[ 7.40298971e-01 6.72211071e-01 9.47154860e-03 2.55386025e+02] [-6.72152628e-01 7.40359532e-01 -8.86606780e-03 -8.61824149e+01] [-1.29722202e-02 1.97214583e-04 9.99915838e-01 -4.38004600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60655999499994 meters 0.012402753211681775 Centerline is valid? [True, True] Translation: X:255.43, Y:-86.22, Z:-4.38 [[ 7.33904772e-01 6.79187883e-01 9.35976695e-03 2.55433950e+02] [-6.79131360e-01 7.33964450e-01 -8.76249186e-03 -8.62190349e+01] [-1.28211145e-02 7.43233370e-05 9.99917803e-01 -4.38117863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66655999499994 meters 0.012016331150676695 Centerline is valid? [True, True] Translation: X:255.48, Y:-86.26, Z:-4.38 [[ 7.29038736e-01 6.84409917e-01 9.25132768e-03 2.55482966e+02] [-6.84355122e-01 7.29097432e-01 -8.66030438e-03 -8.62578070e+01] [-1.26723175e-02 -1.74961285e-05 9.99919703e-01 -4.38219281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72655999499995 meters 0.01332793223388571 Centerline is valid? [True, True] Translation: X:255.53, Y:-86.29, Z:-4.38 [[ 7.21970454e-01 6.91858090e-01 9.54183964e-03 2.55533160e+02] [-6.91800385e-01 7.22033490e-01 -8.93676399e-03 -8.62934535e+01] [-1.30725002e-02 -1.48968788e-04 9.99914540e-01 -4.38216580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78655999499995 meters 0.015009469456715312 Centerline is valid? [True, True] Translation: X:255.58, Y:-86.33, Z:-4.38 [[ 7.17333796e-01 6.96663572e-01 9.59650961e-03 2.55581646e+02] [-6.96605579e-01 7.17397946e-01 -8.99193377e-03 -8.63319183e+01] [-1.31488690e-02 -2.34764143e-04 9.99913522e-01 -4.38247969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84655999499995 meters 0.016092842790765158 Centerline is valid? [True, True] Translation: X:255.63, Y:-86.37, Z:-4.38 [[ 7.15171898e-01 6.98884339e-01 9.47828211e-03 2.55628514e+02] [-6.98827906e-01 7.15234653e-01 -8.88533816e-03 -8.63721789e+01] [-1.29890195e-02 -2.69143886e-04 9.99915603e-01 -4.38413228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90655999499995 meters 0.014779457667122686 Centerline is valid? [True, True] Translation: X:255.67, Y:-86.42, Z:-4.39 [[ 7.15462401e-01 6.98596688e-01 8.73036980e-03 2.55672079e+02] [-6.98548776e-01 7.15515624e-01 -8.18531729e-03 -8.64170997e+01] [-1.19649515e-02 -2.42302372e-04 9.99928388e-01 -4.38554111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96655999499995 meters 0.013559804309150283 Centerline is valid? [True, True] Translation: X:255.71, Y:-86.46, Z:-4.39 [[ 7.18626680e-01 6.95359034e-01 7.17694969e-03 2.55713444e+02] [-6.95326471e-01 7.18662501e-01 -6.73124356e-03 -8.64638173e+01] [-9.83843564e-03 -1.53071888e-04 9.99951590e-01 -4.38859722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02655999499996 meters 0.012211463565046843 Centerline is valid? [True, True] Translation: X:255.75, Y:-86.51, Z:-4.39 [[ 7.25330457e-01 6.88374770e-01 5.99202845e-03 2.55749816e+02] [-6.88351796e-01 7.25355205e-01 -5.62420076e-03 -8.65135431e+01] [-8.21790693e-03 -4.52194332e-05 9.99966231e-01 -4.38955202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08655999499996 meters 0.0121586740555934 Centerline is valid? [True, True] Translation: X:255.79, Y:-86.56, Z:-4.39 [[ 7.30459299e-01 6.82933542e-01 5.56684415e-03 2.55789793e+02] [-6.82913574e-01 7.30480511e-01 -5.22235775e-03 -8.65629594e+01] [-7.63299443e-03 1.30463487e-05 9.99970868e-01 -4.39063414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14655999499996 meters 0.013032176746896362 Centerline is valid? [True, True] Translation: X:255.83, Y:-86.61, Z:-4.39 [[ 7.35365228e-01 6.77646227e-01 5.79427548e-03 2.55829309e+02] [-6.77624399e-01 7.35388051e-01 -5.43938863e-03 -8.66115659e+01] [-7.94702213e-03 7.35948156e-05 9.99968419e-01 -4.39093034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20655999499996 meters 0.015626697962586984 Centerline is valid? [True, True] Translation: X:255.87, Y:-86.66, Z:-4.39 [[ 7.42310725e-01 6.70020853e-01 6.84426465e-03 2.55865777e+02] [-6.69990017e-01 7.42342254e-01 -6.43085675e-03 -8.66620908e+01] [-9.38959497e-03 1.88104951e-04 9.99955899e-01 -4.39068738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26655999499997 meters 0.017625770987874285 Centerline is valid? [True, True] Translation: X:255.90, Y:-86.71, Z:-4.39 [[ 7.48210075e-01 6.63424069e-01 7.08429627e-03 2.55904682e+02] [-6.63390745e-01 7.48243560e-01 -6.65538673e-03 -8.67101851e+01] [-9.71612282e-03 2.79970826e-04 9.99952758e-01 -4.39018990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32655999499997 meters 0.02000950873118418 Centerline is valid? [True, True] Translation: X:255.94, Y:-86.76, Z:-4.39 [[ 7.51191966e-01 6.60051069e-01 6.57390216e-03 2.55944268e+02] [-6.60022211e-01 7.51220669e-01 -6.17952586e-03 -8.67562226e+01] [-9.01725383e-03 3.03088740e-04 9.99959298e-01 -4.39192517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38655999499997 meters 0.0206027913416146 Centerline is valid? [True, True] Translation: X:255.99, Y:-86.80, Z:-4.39 [[ 7.50948114e-01 6.60331003e-01 6.31645332e-03 2.55989145e+02] [-6.60304382e-01 7.50974623e-01 -5.93620118e-03 -8.68006492e+01] [-8.66335383e-03 2.86997277e-04 9.99962431e-01 -4.39287583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.446559995 meters 0.01957263447170292 Centerline is valid? [True, True] Translation: X:256.04, Y:-86.84, Z:-4.39 [[ 7.48463850e-01 6.63148163e-01 6.03153530e-03 2.56035962e+02] [-6.63123939e-01 7.48488112e-01 -5.67342967e-03 -8.68409888e+01] [-8.27685693e-03 2.46701565e-04 9.99965716e-01 -4.39397155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.506559995 meters 0.019106765412072027 Centerline is valid? [True, True] Translation: X:256.08, Y:-86.88, Z:-4.39 [[ 7.47109248e-01 6.64669371e-01 6.51140137e-03 2.56082257e+02] [-6.64641194e-01 7.47137581e-01 -6.12519174e-03 -8.68831861e+01] [-8.93614001e-03 2.48441806e-04 9.99960041e-01 -4.39470455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.566559995 meters 0.017666904088566603 Centerline is valid? [True, True] Translation: X:256.13, Y:-86.92, Z:-4.40 [[ 7.43808781e-01 6.68359472e-01 6.64178241e-03 2.56128865e+02] [-6.68330287e-01 7.43838405e-01 -6.24935372e-03 -8.69228070e+01] [-9.11722759e-03 2.09419830e-04 9.99958415e-01 -4.39520785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.626559995 meters 0.014867247801394406 Centerline is valid? [True, True] Translation: X:256.18, Y:-86.96, Z:-4.40 [[ 7.41241968e-01 6.71215588e-01 5.47528015e-03 2.56178423e+02] [-6.71195849e-01 7.41262176e-01 -5.14958064e-03 -8.69612147e+01] [-7.51509688e-03 1.42099987e-04 9.99971751e-01 -4.39700132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.686559995 meters 0.013166857303853545 Centerline is valid? [True, True] Translation: X:256.23, Y:-87.00, Z:-4.40 [[ 7.36724009e-01 6.76166896e-01 6.00524787e-03 2.56227212e+02] [-6.76143271e-01 7.36748477e-01 -5.65325245e-03 -8.69994422e+01] [-8.24689939e-03 1.04478875e-04 9.99965988e-01 -4.39704034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.746559995 meters 0.012799645106695047 Centerline is valid? [True, True] Translation: X:256.27, Y:-87.04, Z:-4.40 [[ 7.33450693e-01 6.79713627e-01 6.28222692e-03 2.56273760e+02] [-6.79687911e-01 7.33477594e-01 -5.91295658e-03 -8.70387994e+01] [-8.62698985e-03 6.69084023e-05 9.99962785e-01 -4.39930123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.806559995 meters 0.012037502698907411 Centerline is valid? [True, True] Translation: X:256.32, Y:-87.08, Z:-4.40 [[ 7.28338592e-01 6.85189893e-01 6.14053106e-03 2.56322834e+02] [-6.85165497e-01 7.28364477e-01 -5.78194463e-03 -8.70767150e+01] [-8.43427472e-03 3.93339546e-06 9.99964431e-01 -4.40099459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.866559995 meters 0.01209001336959921 Centerline is valid? [True, True] Translation: X:256.37, Y:-87.12, Z:-4.40 [[ 7.24701623e-01 6.89031660e-01 6.55206979e-03 2.56370536e+02] [-6.89004013e-01 7.24731240e-01 -6.17249242e-03 -8.71174934e+01] [-9.00153236e-03 -4.11871117e-05 9.99959485e-01 -4.40169263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.926559995 meters 0.012819517442739129 Centerline is valid? [True, True] Translation: X:256.42, Y:-87.15, Z:-4.40 [[ 7.20419013e-01 6.93505002e-01 6.87441851e-03 2.56418743e+02] [-6.93474726e-01 7.20451804e-01 -6.48089547e-03 -8.71547765e+01] [-9.44722064e-03 -9.82751726e-05 9.99955369e-01 -4.40330382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.986559995 meters 0.01358147199208819 Centerline is valid? [True, True] Translation: X:256.47, Y:-87.20, Z:-4.40 [[ 7.16752164e-01 6.97285092e-01 7.73530283e-03 2.56465765e+02] [-6.97246946e-01 7.16793885e-01 -7.29541139e-03 -8.71959147e+01] [-1.06315994e-02 -1.64414372e-04 9.99943469e-01 -4.40372089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04655999499994 meters 0.014602949155820612 Centerline is valid? [True, True] Translation: X:256.51, Y:-87.24, Z:-4.40 [[ 7.12974302e-01 7.01145736e-01 7.89315567e-03 2.56512726e+02] [-7.01106210e-01 7.13017957e-01 -7.44814771e-03 -8.72357508e+01] [-1.08501987e-02 -2.23602544e-04 9.99941110e-01 -4.40473680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10655999499994 meters 0.016103876060914367 Centerline is valid? [True, True] Translation: X:256.56, Y:-87.27, Z:-4.41 [[ 7.09554874e-01 7.04621257e-01 6.38475266e-03 2.56560608e+02] [-7.04595503e-01 7.09583565e-01 -6.02835874e-03 -8.72744625e+01] [-8.77822527e-03 -2.21216685e-04 9.99961446e-01 -4.40880617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16655999499994 meters 0.01617980285033757 Centerline is valid? [True, True] Translation: X:256.61, Y:-87.32, Z:-4.41 [[ 7.08409346e-01 7.05780951e-01 5.42657691e-03 2.56605254e+02] [-7.05762394e-01 7.08430102e-01 -5.12192160e-03 -8.73169046e+01] [-7.45930513e-03 -2.01456775e-04 9.99972159e-01 -4.41130640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22655999499995 meters 0.016236524302205676 Centerline is valid? [True, True] Translation: X:256.65, Y:-87.36, Z:-4.41 [[ 7.09199923e-01 7.04984322e-01 5.70743637e-03 2.56647527e+02] [-7.04963749e-01 7.09222860e-01 -5.38962679e-03 -8.73619624e+01] [-7.84744673e-03 -2.01212837e-04 9.99969188e-01 -4.41190251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28655999499995 meters 0.015008404425963386 Centerline is valid? [True, True] Translation: X:256.69, Y:-87.41, Z:-4.41 [[ 7.12659985e-01 7.01468338e-01 7.61032424e-03 2.56687520e+02] [-7.01431487e-01 7.12700586e-01 -7.19331924e-03 -8.74092815e+01] [-1.04697682e-02 -2.11730262e-04 9.99945168e-01 -4.41064195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34655999499995 meters 0.013723058432334347 Centerline is valid? [True, True] Translation: X:256.73, Y:-87.46, Z:-4.41 [[ 7.14860121e-01 6.99215342e-01 8.53886992e-03 2.56728768e+02] [-6.99168790e-01 7.14911089e-01 -8.07085473e-03 -8.74558200e+01] [-1.17477982e-02 -2.00579155e-04 9.99930972e-01 -4.41057065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40655999499995 meters 0.0131471945337044 Centerline is valid? [True, True] Translation: X:256.77, Y:-87.50, Z:-4.41 [[ 7.16822463e-01 6.97197043e-01 9.04655916e-03 2.56768893e+02] [-6.97144562e-01 7.16879525e-01 -8.55607899e-03 -8.75046680e+01] [-1.24505660e-02 -1.73569910e-04 9.99922474e-01 -4.41022601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46655999499995 meters 0.014284488812655234 Centerline is valid? [True, True] Translation: X:256.82, Y:-87.54, Z:-4.42 [[ 7.14022898e-01 7.00102299e-01 5.29841435e-03 2.56815905e+02] [-7.00084388e-01 7.14042543e-01 -5.00960583e-03 -8.75437778e+01] [-7.29052981e-03 -1.32363892e-04 9.99973415e-01 -4.41662005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52655999499996 meters 0.015010697530767513 Centerline is valid? [True, True] Translation: X:256.86, Y:-87.58, Z:-4.42 [[ 7.12308588e-01 7.01854707e-01 4.05523894e-03 2.56863493e+02] [-7.01844242e-01 7.12320122e-01 -3.83456541e-03 -8.75837698e+01] [-5.57993608e-03 -1.14752230e-04 9.99984425e-01 -4.41980841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58655999499996 meters 0.01473927433768853 Centerline is valid? [True, True] Translation: X:256.91, Y:-87.63, Z:-4.42 [[ 7.11576736e-01 7.02595638e-01 4.23297080e-03 2.56909045e+02] [-7.02584236e-01 7.11589315e-01 -4.00471721e-03 -8.76262038e+01] [-5.82583364e-03 -1.24354953e-04 9.99983022e-01 -4.41968861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64655999499996 meters 0.014527522004494569 Centerline is valid? [True, True] Translation: X:256.96, Y:-87.67, Z:-4.42 [[ 7.10418073e-01 7.03758098e-01 5.54092009e-03 2.56955762e+02] [-7.03738563e-01 7.10439660e-01 -5.24636006e-03 -8.76665666e+01] [-7.62865776e-03 -1.72250144e-04 9.99970887e-01 -4.41879260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70655999499996 meters 0.01539927540427105 Centerline is valid? [True, True] Translation: X:257.00, Y:-87.71, Z:-4.42 [[ 7.10837265e-01 7.03322754e-01 6.89098878e-03 2.57001855e+02] [-7.03292474e-01 7.10870636e-01 -6.52956405e-03 -8.77068192e+01] [-9.49099255e-03 -2.04923090e-04 9.99954939e-01 -4.41974408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76655999499997 meters 0.013985307016958817 Centerline is valid? [True, True] Translation: X:257.04, Y:-87.75, Z:-4.42 [[ 7.12549338e-01 7.01564619e-01 8.97364589e-03 2.57044541e+02] [-7.01513061e-01 7.12605804e-01 -8.50842388e-03 -8.77521136e+01] [-1.23638813e-02 -2.32457987e-04 9.99923537e-01 -4.41807906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82655999499997 meters 0.013526451613667322 Centerline is valid? [True, True] Translation: X:257.09, Y:-87.79, Z:-4.42 [[ 7.15388088e-01 6.98664910e-01 9.33958287e-03 2.57088642e+02] [-6.98608751e-01 7.15449026e-01 -8.86024292e-03 -8.77945229e+01] [-1.28723363e-02 -1.86202081e-04 9.99917131e-01 -4.41847251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88655999499997 meters 0.0128267573740607 Centerline is valid? [True, True] Translation: X:257.13, Y:-87.84, Z:-4.42 [[ 7.17375459e-01 6.96625668e-01 9.22662039e-03 2.57133341e+02] [-6.96570640e-01 7.17434776e-01 -8.75704134e-03 -8.78378367e+01] [-1.27198781e-02 -1.44906325e-04 9.99919089e-01 -4.41950053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.946559995 meters 0.012476262416217871 Centerline is valid? [True, True] Translation: X:257.18, Y:-87.88, Z:-4.42 [[ 7.19108524e-01 6.94850347e-01 8.11952460e-03 2.57177325e+02] [-6.94807582e-01 7.19154355e-01 -7.70963605e-03 -8.78801373e+01] [-1.11962348e-02 -9.74422531e-05 9.99937315e-01 -4.42150957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.006559995 meters 0.012130386024715292 Centerline is valid? [True, True] Translation: X:257.22, Y:-87.92, Z:-4.42 [[ 7.22172027e-01 6.91681188e-01 6.68567166e-03 2.57221294e+02] [-6.91652040e-01 7.22202972e-01 -6.35003385e-03 -8.79243821e+01] [-9.22061090e-03 -3.83416302e-05 9.99957489e-01 -4.42446737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.066559995 meters 0.012119600143061304 Centerline is valid? [True, True] Translation: X:257.26, Y:-87.97, Z:-4.43 [[ 7.26305423e-01 6.87342484e-01 6.38296446e-03 2.57264469e+02] [-6.87315717e-01 7.26333470e-01 -6.06597082e-03 -8.79690997e+01] [-8.80556018e-03 1.86357043e-05 9.99961230e-01 -4.42723512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.126559995 meters 0.013027146050501945 Centerline is valid? [True, True] Translation: X:257.30, Y:-88.02, Z:-4.43 [[ 7.31117431e-01 6.82218699e-01 6.70439632e-03 2.57304096e+02] [-6.82188925e-01 7.31148165e-01 -6.37428115e-03 -8.80157141e+01] [-9.25056086e-03 8.66831434e-05 9.99957209e-01 -4.42760969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.186559995 meters 0.013582183740399543 Centerline is valid? [True, True] Translation: X:257.35, Y:-88.06, Z:-4.43 [[ 7.34876093e-01 6.78162730e-01 7.24149429e-03 2.57346651e+02] [-6.78127786e-01 7.34911756e-01 -6.88590479e-03 -8.80612351e+01] [-9.99162328e-03 1.49628313e-04 9.99950071e-01 -4.42695223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.246559995 meters 0.01368832324408281 Centerline is valid? [True, True] Translation: X:257.39, Y:-88.10, Z:-4.43 [[ 7.35660612e-01 6.77312497e-01 7.15858892e-03 2.57391846e+02] [-6.77278275e-01 7.35695423e-01 -6.81049639e-03 -8.81030283e+01] [-9.87937542e-03 1.61857189e-04 9.99951185e-01 -4.42847452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.306559995 meters 0.013551834840441234 Centerline is valid? [True, True] Translation: X:257.44, Y:-88.14, Z:-4.43 [[ 7.34754981e-01 6.78297967e-01 6.85457648e-03 2.57438937e+02] [-6.78266608e-01 7.34786940e-01 -6.52394103e-03 -8.81433585e+01] [-9.46182922e-03 1.44267836e-04 9.99955225e-01 -4.42974344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.366559995 meters 0.014021023133541553 Centerline is valid? [True, True] Translation: X:257.48, Y:-88.19, Z:-4.43 [[ 7.34733625e-01 6.78319487e-01 7.01235373e-03 2.57483680e+02] [-6.78286636e-01 7.34767072e-01 -6.67742996e-03 -8.81864483e+01] [-9.68187749e-03 1.49746494e-04 9.99953118e-01 -4.43082473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.426559995 meters 0.014021023133541553 Centerline is valid? [True, True] Translation: X:257.53, Y:-88.23, Z:-4.43 [[ 7.34546531e-01 6.78522103e-01 7.01065866e-03 2.57528806e+02] [-6.78489244e-01 7.34579971e-01 -6.67920886e-03 -8.82295673e+01] [-9.68188027e-03 1.49533208e-04 9.99953118e-01 -4.43181595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.486559995 meters 0.013924157416589256 Centerline is valid? [True, True] Translation: X:257.58, Y:-88.27, Z:-4.43 [[ 7.34622292e-01 6.78439934e-01 7.02455159e-03 2.57575078e+02] [-6.78406906e-01 7.34655860e-01 -6.69611389e-03 -8.82720561e+01] [-9.70353905e-03 1.53610220e-04 9.99952908e-01 -4.43246241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54655999499994 meters 0.014388077689846835 Centerline is valid? [True, True] Translation: X:257.62, Y:-88.31, Z:-4.43 [[ 7.36351777e-01 6.76562431e-01 7.02399231e-03 2.57620970e+02] [-6.76529283e-01 7.36385255e-01 -6.69964150e-03 -8.83143808e+01] [-9.70509011e-03 1.81356442e-04 9.99952888e-01 -4.43359718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60655999499994 meters 0.01531488986524392 Centerline is valid? [True, True] Translation: X:257.67, Y:-88.36, Z:-4.43 [[ 7.38524557e-01 6.74192656e-01 6.76320843e-03 2.57665788e+02] [-6.74161796e-01 7.38555495e-01 -6.45395772e-03 -8.83575412e+01] [-9.34621565e-03 2.06909529e-04 9.99956302e-01 -4.43491967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66655999499994 meters 0.015392754864970286 Centerline is valid? [True, True] Translation: X:257.71, Y:-88.40, Z:-4.44 [[ 7.39949406e-01 6.72630435e-01 6.57077117e-03 2.57711918e+02] [-6.72601220e-01 7.39978546e-01 -6.27302254e-03 -8.83989296e+01] [-9.08165557e-03 2.22210595e-04 9.99958736e-01 -4.43621317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72655999499995 meters 0.016378826362971045 Centerline is valid? [True, True] Translation: X:257.76, Y:-88.44, Z:-4.44 [[ 7.40937297e-01 6.71548447e-01 5.88262154e-03 2.57756234e+02] [-6.71524977e-01 7.40960618e-01 -5.61852887e-03 -8.84404416e+01] [-8.13190523e-03 2.12650299e-04 9.99966913e-01 -4.43793920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78655999499995 meters 0.016433525948754128 Centerline is valid? [True, True] Translation: X:257.80, Y:-88.48, Z:-4.44 [[ 7.40152063e-01 6.72418082e-01 5.37082868e-03 2.57803399e+02] [-6.72398518e-01 7.40171526e-01 -5.13276733e-03 -8.84817348e+01] [-7.42670002e-03 1.87691089e-04 9.99972404e-01 -4.43917466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84655999499995 meters 0.015287714677478765 Centerline is valid? [True, True] Translation: X:257.85, Y:-88.52, Z:-4.44 [[ 7.37852237e-01 6.74947047e-01 4.53433250e-03 2.57852545e+02] [-6.74933155e-01 7.37866157e-01 -4.33251914e-03 -8.85202224e+01] [-6.26995149e-03 1.36387603e-04 9.99980334e-01 -4.44070163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90655999499995 meters 0.013888002195388278 Centerline is valid? [True, True] Translation: X:257.90, Y:-88.56, Z:-4.44 [[ 7.33981390e-01 6.79160347e-01 3.54160538e-03 2.57902016e+02] [-6.79151903e-01 7.33989930e-01 -3.38763524e-03 -8.85568829e+01] [-4.90025021e-03 8.11731835e-05 9.99987990e-01 -4.44312747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96655999499995 meters 0.012755049862264028 Centerline is valid? [True, True] Translation: X:257.95, Y:-88.59, Z:-4.44 [[ 7.29359640e-01 6.84115789e-01 4.48366157e-03 2.57951026e+02] [-6.84102345e-01 7.29373418e-01 -4.28925372e-03 -8.85941871e+01] [-6.20460976e-03 6.11251500e-05 9.99980749e-01 -4.44408000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02655999499996 meters 0.012075410556292692 Centerline is valid? [True, True] Translation: X:258.00, Y:-88.63, Z:-4.44 [[ 7.24561156e-01 6.89190268e-01 5.28259661e-03 2.58000189e+02] [-6.89171755e-01 7.24580412e-01 -5.05155314e-03 -8.86323184e+01] [-7.30914729e-03 1.95428028e-05 9.99973288e-01 -4.44400678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08655999499996 meters 0.012009936707705077 Centerline is valid? [True, True] Translation: X:258.05, Y:-88.67, Z:-4.45 [[ 7.21575451e-01 6.92313450e-01 5.56378731e-03 2.58048629e+02] [-6.92292987e-01 7.21596900e-01 -5.32296676e-03 -8.86724859e+01] [-7.69997316e-03 -1.08487996e-05 9.99970355e-01 -4.44530620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14655999499996 meters 0.012063632747377281 Centerline is valid? [True, True] Translation: X:258.10, Y:-88.71, Z:-4.45 [[ 7.19297225e-01 6.94679032e-01 5.70474131e-03 2.58096232e+02] [-6.94657568e-01 7.19319846e-01 -5.46106113e-03 -8.87135526e+01] [-7.89721830e-03 -3.47156016e-05 9.99968816e-01 -4.44629913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20655999499996 meters 0.012119428500954231 Centerline is valid? [True, True] Translation: X:258.14, Y:-88.75, Z:-4.45 [[ 7.17218335e-01 6.96820241e-01 6.27789561e-03 2.58143831e+02] [-6.96794294e-01 7.17245807e-01 -6.01364198e-03 -8.87541609e+01] [-8.69322176e-03 -6.13075572e-05 9.99962211e-01 -4.44680691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26655999499997 meters 0.012350127118551301 Centerline is valid? [True, True] Translation: X:258.19, Y:-88.80, Z:-4.45 [[ 7.16515583e-01 6.97553015e-01 5.02108039e-03 2.58189113e+02] [-6.97536419e-01 7.16533173e-01 -4.81197957e-03 -8.87952725e+01] [-6.95438152e-03 -5.45280891e-05 9.99975817e-01 -4.44982774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32655999499997 meters 0.012594369451973314 Centerline is valid? [True, True] Translation: X:258.23, Y:-88.84, Z:-4.45 [[ 7.16444616e-01 6.97630828e-01 4.28246080e-03 2.58234097e+02] [-6.97618743e-01 7.16457413e-01 -4.10665828e-03 -8.88372785e+01] [-5.93313220e-03 -4.53316998e-05 9.99982398e-01 -4.45250045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38655999499997 meters 0.012390468671534437 Centerline is valid? [True, True] Translation: X:258.28, Y:-88.88, Z:-4.45 [[ 7.16565499e-01 6.97509682e-01 3.75900682e-03 2.58278176e+02] [-6.97500376e-01 7.16575357e-01 -3.60314715e-03 -8.88817928e+01] [-5.20684167e-03 -4.00177362e-05 9.99986444e-01 -4.45234493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.446559995 meters 0.012094691292793053 Centerline is valid? [True, True] Translation: X:258.32, Y:-88.93, Z:-4.45 [[ 7.17563962e-01 6.96476692e-01 4.70926814e-03 2.58321628e+02] [-6.96462036e-01 7.17579414e-01 -4.51846211e-03 -8.89265937e+01] [-6.52627742e-03 -3.75409017e-05 9.99978703e-01 -4.45229725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.506559995 meters 0.011910162841373332 Centerline is valid? [True, True] Translation: X:258.36, Y:-88.97, Z:-4.45 [[ 7.19649288e-01 6.94308221e-01 6.40282398e-03 2.58363713e+02] [-6.94280997e-01 7.19677771e-01 -6.14845725e-03 -8.89723890e+01] [-8.87689450e-03 -2.06261356e-05 9.99960599e-01 -4.45170539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.566559995 meters 0.01199846315253639 Centerline is valid? [True, True] Translation: X:258.41, Y:-89.02, Z:-4.45 [[ 7.21759624e-01 6.92116247e-01 6.17615336e-03 2.58406690e+02] [-6.92090816e-01 7.21786049e-01 -5.93317858e-03 -8.90188610e+01] [-8.56431062e-03 7.86972785e-06 9.99963326e-01 -4.45321557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.626559995 meters 0.012438634044721788 Centerline is valid? [True, True] Translation: X:258.45, Y:-89.07, Z:-4.45 [[ 7.25730637e-01 6.87943729e-01 6.96199320e-03 2.58446694e+02] [-6.87911173e-01 7.25764026e-01 -6.69305122e-03 -8.90671334e+01] [-9.65720682e-03 6.81194137e-05 9.99953366e-01 -4.45367830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.686559995 meters 0.013401545076034967 Centerline is valid? [True, True] Translation: X:258.49, Y:-89.11, Z:-4.45 [[ 7.29187583e-01 6.84283827e-01 6.41194387e-03 2.58487477e+02] [-6.84256046e-01 7.29215765e-01 -6.16688799e-03 -8.91147550e+01] [-8.89559227e-03 1.09406787e-04 9.99960427e-01 -4.45457092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.746559995 meters 0.0143626125190786 Centerline is valid? [True, True] Translation: X:258.53, Y:-89.16, Z:-4.46 [[ 7.31548123e-01 6.81762613e-01 6.08961068e-03 2.58528640e+02] [-6.81737436e-01 7.31573456e-01 -5.86064974e-03 -8.91606578e+01] [-8.45056941e-03 1.35831744e-04 9.99964284e-01 -4.45646385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.806559995 meters 0.013948369363683233 Centerline is valid? [True, True] Translation: X:258.57, Y:-89.20, Z:-4.46 [[ 7.32178434e-01 6.81082075e-01 6.47678316e-03 2.58572456e+02] [-6.81053562e-01 7.32207064e-01 -6.23396117e-03 -8.92039325e+01] [-8.98818559e-03 1.53335690e-04 9.99959594e-01 -4.45691296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.866559995 meters 0.013958451555954375 Centerline is valid? [True, True] Translation: X:258.62, Y:-89.25, Z:-4.46 [[ 7.31464936e-01 6.81842893e-01 7.02259212e-03 2.58616115e+02] [-6.81809372e-01 7.31498629e-01 -6.76287378e-03 -8.92469843e+01] [-9.74823393e-03 1.58735910e-04 9.99952472e-01 -4.45760200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.926559995 meters 0.013393443421853155 Centerline is valid? [True, True] Translation: X:258.66, Y:-89.29, Z:-4.46 [[ 7.29586939e-01 6.83850669e-01 7.15268559e-03 2.58661881e+02] [-6.83815960e-01 7.29621987e-01 -6.89120277e-03 -8.92894896e+01] [-9.93131029e-03 1.36610967e-04 9.99950674e-01 -4.45804575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.986559995 meters 0.012187791353191485 Centerline is valid? [True, True] Translation: X:258.71, Y:-89.33, Z:-4.46 [[ 7.22153763e-01 6.91688727e-01 7.78763697e-03 2.58709854e+02] [-6.91647972e-01 7.22195752e-01 -7.50860330e-03 -8.93277683e+01] [-1.08178146e-02 3.60628122e-05 9.99941485e-01 -4.45837878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04655999499994 meters 0.012069249566512768 Centerline is valid? [True, True] Translation: X:258.76, Y:-89.37, Z:-4.46 [[ 7.17242483e-01 6.96790548e-01 6.79359865e-03 2.58758409e+02] [-6.96759778e-01 7.17274656e-01 -6.54834441e-03 -8.93678730e+01] [-9.43570062e-03 -3.67554812e-05 9.99955482e-01 -4.46060870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10655999499994 meters 0.01283134081656497 Centerline is valid? [True, True] Translation: X:258.81, Y:-89.41, Z:-4.46 [[ 7.12795086e-01 7.01348870e-01 5.73828819e-03 2.58805301e+02] [-7.01327042e-01 7.12818179e-01 -5.53389941e-03 -8.94070283e+01] [-7.97155024e-03 -7.98803705e-05 9.99968223e-01 -4.46356913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16655999499994 meters 0.014165112939505065 Centerline is valid? [True, True] Translation: X:258.85, Y:-89.45, Z:-4.46 [[ 7.07674397e-01 7.06513521e-01 5.96587818e-03 2.58851601e+02] [-7.06490077e-01 7.07699530e-01 -5.75730570e-03 -8.94476849e+01] [-8.28966351e-03 -1.40535892e-04 9.99965630e-01 -4.46391523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22655999499995 meters 0.014610025217736283 Centerline is valid? [True, True] Translation: X:258.90, Y:-89.49, Z:-4.46 [[ 7.04677486e-01 7.09497647e-01 6.53687490e-03 2.58896967e+02] [-7.09469623e-01 7.04707778e-01 -6.30882334e-03 -8.94904268e+01] [-9.08268190e-03 -1.92028401e-04 9.99958733e-01 -4.46387784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28655999499995 meters 0.01515860061504854 Centerline is valid? [True, True] Translation: X:258.94, Y:-89.53, Z:-4.46 [[ 7.04302149e-01 7.09861061e-01 7.46706141e-03 2.58940574e+02] [-7.09824470e-01 7.04341697e-01 -7.21085797e-03 -8.95347080e+01] [-1.03780700e-02 -2.21680141e-04 9.99946122e-01 -4.46454807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34655999499995 meters 0.014825615207148517 Centerline is valid? [True, True] Translation: X:258.98, Y:-89.58, Z:-4.47 [[ 7.04516553e-01 7.09648984e-01 7.39907331e-03 2.58983914e+02] [-7.09613005e-01 7.04555373e-01 -7.14908411e-03 -8.95787821e+01] [-1.02863971e-02 -2.13830560e-04 9.99947071e-01 -4.46523923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40655999499995 meters 0.014591646134132559 Centerline is valid? [True, True] Translation: X:259.03, Y:-89.62, Z:-4.47 [[ 7.05359300e-01 7.08814623e-01 7.07729066e-03 2.59026267e+02] [-7.08781632e-01 7.05394779e-01 -6.84133439e-03 -8.96248229e+01] [-9.84152174e-03 -1.90654780e-04 9.99951553e-01 -4.46761031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46655999499995 meters 0.015077926451953568 Centerline is valid? [True, True] Translation: X:259.07, Y:-89.67, Z:-4.47 [[ 7.05112103e-01 7.09069837e-01 6.07355143e-03 2.59070160e+02] [-7.09045534e-01 7.05138241e-01 -5.87303220e-03 -8.96683441e+01] [-8.44708336e-03 -1.65278432e-04 9.99964309e-01 -4.47064921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52655999499996 meters 0.01469599189270305 Centerline is valid? [True, True] Translation: X:259.11, Y:-89.71, Z:-4.47 [[ 7.04851000e-01 7.09331196e-01 5.85851491e-03 2.59113823e+02] [-7.09308572e-01 7.04875328e-01 -5.66760274e-03 -8.97134179e+01] [-8.14973005e-03 -1.60679382e-04 9.99966777e-01 -4.47183055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58655999499996 meters 0.013946652621740871 Centerline is valid? [True, True] Translation: X:259.15, Y:-89.76, Z:-4.47 [[ 7.06014270e-01 7.08179920e-01 5.00518072e-03 2.59154367e+02] [-7.08163362e-01 7.06032000e-01 -4.84427241e-03 -8.97604263e+01] [-6.96443421e-03 -1.24360161e-04 9.99975740e-01 -4.47348750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64655999499996 meters 0.01348780606272332 Centerline is valid? [True, True] Translation: X:259.20, Y:-89.81, Z:-4.47 [[ 7.08457602e-01 7.05730958e-01 5.62495460e-03 2.59195372e+02] [-7.05709940e-01 7.08479924e-01 -5.44776267e-03 -8.98063879e+01] [-7.82982218e-03 -1.10077497e-04 9.99969340e-01 -4.47449504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70655999499996 meters 0.012173538567348792 Centerline is valid? [True, True] Translation: X:259.23, Y:-89.86, Z:-4.47 [[ 7.15317435e-01 6.98762392e-01 7.21710281e-03 2.59231681e+02] [-6.98727371e-01 7.15353841e-01 -6.99593232e-03 -8.98568768e+01] [-1.00512766e-02 -3.84749143e-05 9.99949484e-01 -4.47299446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76655999499997 meters 0.012688272230632302 Centerline is valid? [True, True] Translation: X:259.27, Y:-89.91, Z:-4.47 [[ 7.23525895e-01 6.90245945e-01 8.41513177e-03 2.59267350e+02] [-6.90197753e-01 7.23574825e-01 -8.15686175e-03 -8.99079956e+01] [-1.17192182e-02 9.35956638e-05 9.99931323e-01 -4.47207759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82655999499997 meters 0.01354311946686756 Centerline is valid? [True, True] Translation: X:259.31, Y:-89.95, Z:-4.48 [[ 7.27004739e-01 6.86593008e-01 7.35872758e-03 2.59311350e+02] [-6.86555942e-01 7.27041968e-01 -7.13550342e-03 -8.99509436e+01] [-1.02492905e-02 1.35366656e-04 9.99947465e-01 -4.47550604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88655999499997 meters 0.014297091049402695 Centerline is valid? [True, True] Translation: X:259.36, Y:-90.00, Z:-4.48 [[ 7.29599596e-01 6.83851876e-01 5.57137005e-03 2.59355269e+02] [-6.83830526e-01 7.29620856e-01 -5.40534304e-03 -8.99954118e+01] [-7.76144176e-03 1.33863191e-04 9.99969871e-01 -4.47670079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.946559995 meters 0.015454577757667483 Centerline is valid? [True, True] Translation: X:259.40, Y:-90.04, Z:-4.48 [[ 7.31683468e-01 6.81634259e-01 3.74685878e-03 2.59398505e+02] [-6.81624586e-01 7.31693054e-01 -3.63291637e-03 -9.00384913e+01] [-5.21787081e-03 1.04193780e-04 9.99986381e-01 -4.47933346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.006559995 meters 0.01691571019352868 Centerline is valid? [True, True] Translation: X:259.44, Y:-90.08, Z:-4.48 [[ 7.37766618e-01 6.75045093e-01 3.81300062e-03 2.59443586e+02] [-6.75034977e-01 7.37776455e-01 -3.69892730e-03 -9.00800350e+01] [-5.31008481e-03 1.55036293e-04 9.99985889e-01 -4.47908549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.066559995 meters 0.01754414176084451 Centerline is valid? [True, True] Translation: X:259.49, Y:-90.12, Z:-4.48 [[ 7.38779034e-01 6.73932219e-01 4.57193474e-03 2.59488086e+02] [-6.73917638e-01 7.38793155e-01 -4.43762380e-03 -9.01234345e+01] [-6.36837175e-03 1.97315963e-04 9.99979702e-01 -4.47918415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.126559995 meters 0.01848742170495303 Centerline is valid? [True, True] Translation: X:259.53, Y:-90.17, Z:-4.48 [[ 7.40170262e-01 6.72399424e-01 5.19585350e-03 2.59533240e+02] [-6.72380530e-01 7.40188460e-01 -5.04648526e-03 -9.01662395e+01] [-7.23916458e-03 2.41667592e-04 9.99973768e-01 -4.47787718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.186559995 meters 0.019322181860616704 Centerline is valid? [True, True] Translation: X:259.58, Y:-90.21, Z:-4.48 [[ 7.38778509e-01 6.73923332e-01 5.80157684e-03 2.59579980e+02] [-6.73899794e-01 7.38801244e-01 -5.63822896e-03 -9.02064484e+01] [-8.08594623e-03 2.55720945e-04 9.99967276e-01 -4.47919950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.246559995 meters 0.01677057335898927 Centerline is valid? [True, True] Translation: X:259.63, Y:-90.24, Z:-4.48 [[ 7.36647414e-01 6.76253545e-01 5.63301758e-03 2.59629990e+02] [-6.76231404e-01 7.36668917e-01 -5.47682979e-03 -9.02443499e+01] [-7.85339452e-03 2.25269116e-04 9.99969136e-01 -4.48010245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.306559995 meters 0.015922691896478828 Centerline is valid? [True, True] Translation: X:259.68, Y:-90.28, Z:-4.48 [[ 7.33274570e-01 6.79906229e-01 5.99367319e-03 2.59677576e+02] [-6.79881239e-01 7.33299037e-01 -5.83291715e-03 -9.02824662e+01] [-8.36099149e-03 2.02143863e-04 9.99965026e-01 -4.48063354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.366559995 meters 0.015172895142865494 Centerline is valid? [True, True] Translation: X:259.73, Y:-90.32, Z:-4.48 [[ 7.30938209e-01 6.82419058e-01 5.79335439e-03 2.59725253e+02] [-6.82395804e-01 7.30961149e-01 -5.63608942e-03 -9.03225123e+01] [-8.08089182e-03 1.66272379e-04 9.99967335e-01 -4.48175914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.426559995 meters 0.013687832994399053 Centerline is valid? [True, True] Translation: X:259.77, Y:-90.36, Z:-4.48 [[ 7.27678429e-01 6.85894333e-01 5.75053743e-03 2.59774927e+02] [-6.85871491e-01 7.27701139e-01 -5.59917947e-03 -9.03599350e+01] [-8.02511810e-03 1.30272435e-04 9.99967790e-01 -4.48260703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.486559995 meters 0.013151058275981384 Centerline is valid? [True, True] Translation: X:259.82, Y:-90.40, Z:-4.48 [[ 7.24854692e-01 6.88872375e-01 6.36599304e-03 2.59821202e+02] [-6.88844504e-01 7.24882638e-01 -6.19753917e-03 -9.03994180e+01] [-8.88391135e-03 1.07136031e-04 9.99960532e-01 -4.48351084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54655999499994 meters 0.012387687013335053 Centerline is valid? [True, True] Translation: X:259.87, Y:-90.44, Z:-4.49 [[ 7.21489447e-01 6.92407154e-01 5.03112448e-03 2.59869378e+02] [-6.92389825e-01 7.21506986e-01 -4.89892075e-03 -9.04384324e+01] [-7.02203923e-03 5.10202236e-05 9.99975344e-01 -4.48710083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60655999499994 meters 0.012097035413891908 Centerline is valid? [True, True] Translation: X:259.92, Y:-90.48, Z:-4.49 [[ 7.18291964e-01 6.95730426e-01 3.97860142e-03 2.59915052e+02] [-6.95719634e-01 7.18302982e-01 -3.87512148e-03 -9.04795223e+01] [-5.55388119e-03 1.54774901e-05 9.99984577e-01 -4.48883511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66655999499994 meters 0.012159823662080245 Centerline is valid? [True, True] Translation: X:259.96, Y:-90.52, Z:-4.49 [[ 7.17682967e-01 6.96361954e-01 3.34480378e-03 2.59960511e+02] [-6.96354335e-01 7.17690761e-01 -3.25758269e-03 -9.05234280e+01] [-4.66899141e-03 8.74299957e-06 9.99989100e-01 -4.49023244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72655999499995 meters 0.012422248762197783 Centerline is valid? [True, True] Translation: X:260.00, Y:-90.57, Z:-4.49 [[ 7.17894788e-01 6.96143126e-01 3.43841093e-03 2.60003766e+02] [-6.96135060e-01 7.17903022e-01 -3.35115587e-03 -9.05674843e+01] [-4.80132972e-03 1.21789347e-05 9.99988473e-01 -4.49325497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78655999499995 meters 0.012332872968935916 Centerline is valid? [True, True] Translation: X:260.05, Y:-90.61, Z:-4.49 [[ 7.19218323e-01 6.94771498e-01 4.19154133e-03 2.60046922e+02] [-6.94759470e-01 7.19230536e-01 -4.08832719e-03 -9.06138923e+01] [-5.85513773e-03 2.82867928e-05 9.99982858e-01 -4.49192863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84655999499995 meters 0.012518995048519012 Centerline is valid? [True, True] Translation: X:260.09, Y:-90.66, Z:-4.49 [[ 7.20854124e-01 6.93065283e-01 5.46301742e-03 2.60089176e+02] [-6.93044765e-01 7.20874822e-01 -5.33330601e-03 -9.06609930e+01] [-7.63448096e-03 5.84200079e-05 9.99970855e-01 -4.49059976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90655999499995 meters 0.012708012080681034 Centerline is valid? [True, True] Translation: X:260.13, Y:-90.71, Z:-4.49 [[ 7.21963048e-01 6.91904253e-01 6.15324368e-03 2.60132551e+02] [-6.91878144e-01 7.21989265e-01 -6.01130464e-03 -9.07073365e+01] [-8.60182313e-03 8.26449999e-05 9.99963000e-01 -4.49062570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96655999499995 meters 0.012782809537026905 Centerline is valid? [True, True] Translation: X:260.18, Y:-90.75, Z:-4.49 [[ 7.21250126e-01 6.92647209e-01 6.17248825e-03 2.60175551e+02] [-6.92620933e-01 7.21276533e-01 -6.03374725e-03 -9.07525076e+01] [-8.63132912e-03 7.66463941e-05 9.99962746e-01 -4.49167657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02655999499996 meters 0.012454789173342572 Centerline is valid? [True, True] Translation: X:260.22, Y:-90.80, Z:-4.49 [[ 7.19453086e-01 6.94515406e-01 5.96716111e-03 2.60219932e+02] [-6.94490887e-01 7.19477830e-01 -5.83606022e-03 -9.07959404e+01] [-8.34647386e-03 5.46325174e-05 9.99965166e-01 -4.49256787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08655999499996 meters 0.011990076096385176 Centerline is valid? [True, True] Translation: X:260.27, Y:-90.84, Z:-4.49 [[ 7.15614671e-01 6.98473285e-01 5.54189354e-03 2.60265617e+02] [-6.98452238e-01 7.15636129e-01 -5.42232073e-03 -9.08386718e+01] [-7.75332541e-03 9.54432206e-06 9.99969942e-01 -4.49349724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14655999499996 meters 0.012165711127324662 Centerline is valid? [True, True] Translation: X:260.31, Y:-90.88, Z:-4.50 [[ 7.10863102e-01 7.03311224e-01 5.19354656e-03 2.60311063e+02] [-7.03292850e-01 7.10882072e-01 -5.08393798e-03 -9.08794117e+01] [-7.26758978e-03 -3.86002425e-05 9.99973590e-01 -4.49592507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20655999499996 meters 0.012344924074693151 Centerline is valid? [True, True] Translation: X:260.36, Y:-90.92, Z:-4.50 [[ 7.09205811e-01 7.04985353e-01 4.77165236e-03 2.60356173e+02] [-7.04969871e-01 7.09221862e-01 -4.67252132e-03 -9.09227525e+01] [-6.67821927e-03 -5.00918734e-05 9.99977699e-01 -4.49699332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26655999499997 meters 0.012567717343362414 Centerline is valid? [True, True] Translation: X:260.40, Y:-90.97, Z:-4.50 [[ 7.06463204e-01 7.07734693e-01 4.62014706e-03 2.60400581e+02] [-7.07720224e-01 7.06478308e-01 -4.52604827e-03 -9.09661586e+01] [-6.46727506e-03 -7.22849452e-05 9.99979084e-01 -4.49731474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32655999499997 meters 0.012991461879721274 Centerline is valid? [True, True] Translation: X:260.44, Y:-91.01, Z:-4.50 [[ 7.04441406e-01 7.09748562e-01 4.39133226e-03 2.60443965e+02] [-7.09735518e-01 7.04455088e-01 -4.30380041e-03 -9.10103107e+01] [-6.14811251e-03 -8.49092646e-05 9.99981097e-01 -4.49852910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38655999499997 meters 0.013361631300354013 Centerline is valid? [True, True] Translation: X:260.49, Y:-91.05, Z:-4.50 [[ 7.04619189e-01 7.09567256e-01 5.10953834e-03 2.60485986e+02] [-7.09549566e-01 7.04637708e-01 -5.01134714e-03 -9.10543536e+01] [-7.15626123e-03 -9.43793542e-05 9.99974389e-01 -4.49922043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.446559995 meters 0.012646875765652913 Centerline is valid? [True, True] Translation: X:260.53, Y:-91.10, Z:-4.50 [[ 7.05757531e-01 7.08425254e-01 6.32185616e-03 2.60527286e+02] [-7.08398093e-01 7.05785838e-01 -6.20421204e-03 -9.11005941e+01] [-8.85709704e-03 -9.97214774e-05 9.99960770e-01 -4.49768632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.506559995 meters 0.012013540203838212 Centerline is valid? [True, True] Translation: X:260.57, Y:-91.15, Z:-4.50 [[ 7.09099969e-01 7.05078047e-01 6.49477090e-03 2.60565690e+02] [-7.05049209e-01 7.09129709e-01 -6.37718935e-03 -9.11500151e+01] [-9.10205121e-03 -5.70683203e-05 9.99958574e-01 -4.49842489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.566559995 meters 0.012008755825475078 Centerline is valid? [True, True] Translation: X:260.61, Y:-91.20, Z:-4.50 [[ 7.10071209e-01 7.04107837e-01 5.57063481e-03 2.60608203e+02] [-7.04086581e-01 7.10093059e-01 -5.47127542e-03 -9.11969109e+01] [-7.80803701e-03 -3.72140661e-05 9.99969516e-01 -4.50023436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.626559995 meters 0.01211120075975488 Centerline is valid? [True, True] Translation: X:260.65, Y:-91.24, Z:-4.50 [[ 7.10267351e-01 7.03918522e-01 4.35944088e-03 2.60650843e+02] [-7.03905491e-01 7.10280729e-01 -4.28324291e-03 -9.12417013e+01] [-6.11148087e-03 -2.63867818e-05 9.99981324e-01 -4.50269604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.686559995 meters 0.012262195731690082 Centerline is valid? [True, True] Translation: X:260.69, Y:-91.29, Z:-4.51 [[ 7.09350757e-01 7.04848975e-01 3.07023018e-03 2.60692788e+02] [-7.04842519e-01 7.09357401e-01 -3.01675724e-03 -9.12859208e+01] [-4.30424875e-03 -2.40897390e-05 9.99990736e-01 -4.50577850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.746559995 meters 0.012164711808324572 Centerline is valid? [True, True] Translation: X:260.74, Y:-91.33, Z:-4.51 [[ 7.08985622e-01 7.05217387e-01 2.79737549e-03 2.60735921e+02] [-7.05212031e-01 7.08991140e-01 -2.74856278e-03 -9.13314240e+01] [-3.92164870e-03 -2.40513570e-05 9.99992310e-01 -4.50555904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.806559995 meters 0.012285703184680394 Centerline is valid? [True, True] Translation: X:260.78, Y:-91.38, Z:-4.51 [[ 7.08684110e-01 7.05521189e-01 2.58536895e-03 2.60779355e+02] [-7.05516606e-01 7.08688826e-01 -2.54304153e-03 -9.13755200e+01] [-3.62639177e-03 -2.18076004e-05 9.99993424e-01 -4.50711412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.866559995 meters 0.01236770930931181 Centerline is valid? [True, True] Translation: X:260.82, Y:-91.42, Z:-4.51 [[ 7.06874475e-01 7.07334383e-01 2.55874288e-03 2.60824241e+02] [-7.07329908e-01 7.06879105e-01 -2.51638688e-03 -9.14179865e+01] [-3.58864884e-03 -3.11057060e-05 9.99993560e-01 -4.50738804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.926559995 meters 0.01287343035613395 Centerline is valid? [True, True] Translation: X:260.87, Y:-91.46, Z:-4.51 [[ 7.04320291e-01 7.09876255e-01 2.93789386e-03 2.60869598e+02] [-7.09870367e-01 7.04326416e-01 -2.89156998e-03 -9.14604980e+01] [-4.12189312e-03 -4.89323870e-05 9.99991504e-01 -4.50868284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98655999499994 meters 0.012909642462393144 Centerline is valid? [True, True] Translation: X:260.91, Y:-91.50, Z:-4.51 [[ 7.03155881e-01 7.11023936e-01 4.09512596e-03 2.60914968e+02] [-7.11012496e-01 7.03167802e-01 -4.03407249e-03 -9.15044203e+01] [-5.74788282e-03 -7.51039354e-05 9.99983478e-01 -4.50787192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04655999499994 meters 0.013002000856533288 Centerline is valid? [True, True] Translation: X:260.96, Y:-91.55, Z:-4.51 [[ 7.03143168e-01 7.11026480e-01 5.57042614e-03 2.60959488e+02] [-7.11005267e-01 7.03165226e-01 -5.49320956e-03 -9.15477092e+01] [-7.82274741e-03 -9.80895500e-05 9.99969397e-01 -4.50830952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10655999499994 meters 0.012501566195429635 Centerline is valid? [True, True] Translation: X:261.00, Y:-91.59, Z:-4.51 [[ 7.04609567e-01 7.09576777e-01 5.11426480e-03 2.61001924e+02] [-7.09558844e-01 7.04628123e-01 -5.04530363e-03 -9.15930905e+01] [-7.18368510e-03 -7.39026136e-05 9.99974194e-01 -4.50951865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16655999499994 meters 0.012382603158110352 Centerline is valid? [True, True] Translation: X:261.05, Y:-91.64, Z:-4.51 [[ 7.05406159e-01 7.08787444e-01 4.74443691e-03 2.61045857e+02] [-7.08771983e-01 7.05422112e-01 -4.68194788e-03 -9.16385396e+01] [-6.66533658e-03 -6.00490821e-05 9.99977785e-01 -4.51037652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22655999499995 meters 0.012321310760119957 Centerline is valid? [True, True] Translation: X:261.09, Y:-91.68, Z:-4.51 [[ 7.06226041e-01 7.07976823e-01 3.68730500e-03 2.61089482e+02] [-7.07967469e-01 7.06235666e-01 -3.63973036e-03 -9.16818394e+01] [-5.18095104e-03 -4.00196285e-05 9.99986578e-01 -4.51237595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28655999499995 meters 0.012417489799968434 Centerline is valid? [True, True] Translation: X:261.13, Y:-91.72, Z:-4.51 [[ 7.06427100e-01 7.07781421e-01 2.49239409e-03 2.61133062e+02] [-7.07777145e-01 7.06431497e-01 -2.46031979e-03 -9.17239667e+01] [-3.50207432e-03 -2.60230019e-05 9.99993867e-01 -4.51465516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34655999499995 meters 0.012317094635859343 Centerline is valid? [True, True] Translation: X:261.18, Y:-91.77, Z:-4.51 [[ 7.06204996e-01 7.08004561e-01 2.01127872e-03 2.61177424e+02] [-7.08001781e-01 7.06207859e-01 -1.98422708e-03 -9.17684031e+01] [-2.82522267e-03 -2.27178423e-05 9.99996009e-01 -4.51364442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40655999499995 meters 0.012379224032324446 Centerline is valid? [True, True] Translation: X:261.22, Y:-91.81, Z:-4.51 [[ 7.05911962e-01 7.08298028e-01 1.48496620e-03 2.61222982e+02] [-7.08296515e-01 7.05913524e-01 -1.46425518e-03 -9.18115343e+01] [-2.08538678e-03 -1.81611329e-05 9.99997825e-01 -4.51451465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46655999499995 meters 0.01245281373085571 Centerline is valid? [True, True] Translation: X:261.27, Y:-91.85, Z:-4.52 [[ 7.05095589e-01 7.09111363e-01 1.13400986e-03 2.61267950e+02] [-7.09110481e-01 7.05096501e-01 -1.11803504e-03 -9.18544341e+01] [-1.59239773e-03 -1.58167072e-05 9.99998732e-01 -4.51543087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52655999499996 meters 0.012550268246719114 Centerline is valid? [True, True] Translation: X:261.31, Y:-91.90, Z:-4.52 [[ 7.04010312e-01 7.10188890e-01 1.10510863e-03 2.61313907e+02] [-7.10188055e-01 7.04011179e-01 -1.08932221e-03 -9.18972117e+01] [-1.55163336e-03 -1.79408837e-05 9.99998796e-01 -4.51618980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58655999499996 meters 0.012570654768114467 Centerline is valid? [True, True] Translation: X:261.36, Y:-91.94, Z:-4.51 [[ 7.02893129e-01 7.11294156e-01 1.36844671e-03 2.61359017e+02] [-7.11292873e-01 7.02894461e-01 -1.35099622e-03 -9.19407486e+01] [-1.92282933e-03 -2.37604322e-05 9.99998151e-01 -4.51494743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64655999499996 meters 0.013406626291943198 Centerline is valid? [True, True] Translation: X:261.40, Y:-91.98, Z:-4.52 [[ 7.01384155e-01 7.12782508e-01 1.16790781e-03 2.61404611e+02] [-7.12781573e-01 7.01385127e-01 -1.15455033e-03 -9.19808224e+01] [-1.64209645e-03 -2.26798532e-05 9.99998652e-01 -4.51696794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70655999499996 meters 0.013042596710590373 Centerline is valid? [True, True] Translation: X:261.45, Y:-92.02, Z:-4.52 [[ 7.00092818e-01 7.14051035e-01 1.07908661e-03 2.61448887e+02] [-7.14050240e-01 7.00093650e-01 -1.06609225e-03 -9.20237002e+01] [-1.51670596e-03 -2.41585215e-05 9.99998850e-01 -4.51581324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76655999499997 meters 0.01301286487917576 Centerline is valid? [True, True] Translation: X:261.49, Y:-92.07, Z:-4.52 [[ 6.99802990e-01 7.14334964e-01 1.15532793e-03 2.61493553e+02] [-7.14334053e-01 6.99803943e-01 -1.14117926e-03 -9.20681101e+01] [-1.62368728e-03 -2.66894240e-05 9.99998681e-01 -4.51612682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82655999499997 meters 0.013217731857706094 Centerline is valid? [True, True] Translation: X:261.54, Y:-92.11, Z:-4.52 [[ 6.98666925e-01 7.15445583e-01 1.46484401e-03 2.61539711e+02] [-7.15444114e-01 6.98668460e-01 -1.45011187e-03 -9.21095335e+01] [-2.06091644e-03 -3.48688262e-05 9.99997876e-01 -4.51713035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88655999499997 meters 0.013819715997566491 Centerline is valid? [True, True] Translation: X:261.58, Y:-92.15, Z:-4.52 [[ 6.97997731e-01 7.16099637e-01 6.90736692e-04 2.61584674e+02] [-7.16099313e-01 6.97998073e-01 -6.81646692e-04 -9.21505355e+01] [-9.70259829e-04 -1.88482259e-05 9.99999529e-01 -4.51974658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.946559995 meters 0.013840442708627809 Centerline is valid? [True, True] Translation: X:261.63, Y:-92.19, Z:-4.52 [[ 6.97272632e-01 7.16806024e-01 -6.66257465e-06 2.61629322e+02] [-7.16806024e-01 6.97272632e-01 1.20970771e-05 -9.21939026e+01] [ 1.33168887e-05 -3.65918711e-06 1.00000000e+00 -4.52109641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.006559995 meters 0.013407810437600741 Centerline is valid? [True, True] Translation: X:261.67, Y:-92.24, Z:-4.52 [[ 6.97954596e-01 7.16141918e-01 -3.67404700e-04 2.61672146e+02] [-7.16141822e-01 6.97954693e-01 3.71225339e-04 -9.22389441e+01] [ 5.22281861e-04 4.01544019e-06 9.99999864e-01 -4.52209744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.066559995 meters 0.013422345043505547 Centerline is valid? [True, True] Translation: X:261.71, Y:-92.28, Z:-4.52 [[ 6.98926396e-01 7.15193600e-01 -8.30298650e-05 2.61714194e+02] [-7.15193595e-01 6.98926401e-01 8.77715678e-05 -9.22829140e+01] [ 1.20805428e-04 -1.96343794e-06 9.99999993e-01 -4.52298359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.126559995 meters 0.013714870747155829 Centerline is valid? [True, True] Translation: X:261.76, Y:-92.33, Z:-4.52 [[ 6.99269166e-01 7.14858468e-01 6.15622065e-05 2.61757397e+02] [-7.14858466e-01 6.99269169e-01 -5.63064619e-05 -9.23260769e+01] [-8.32997041e-05 -4.63489179e-06 9.99999997e-01 -4.52468177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.186559995 meters 0.012834151468343097 Centerline is valid? [True, True] Translation: X:261.80, Y:-92.37, Z:-4.52 [[ 7.01233600e-01 7.12930665e-01 1.14199520e-03 2.61798545e+02] [-7.12929766e-01 7.01234530e-01 -1.13264674e-03 -9.23726297e+01] [-1.60830506e-03 -1.99124200e-05 9.99998706e-01 -4.52351405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.246559995 meters 0.012461960466354493 Centerline is valid? [True, True] Translation: X:261.84, Y:-92.42, Z:-4.52 [[ 7.02822330e-01 7.11362352e-01 2.09206058e-03 2.61840675e+02] [-7.11359302e-01 7.02825443e-01 -2.08321648e-03 -9.24190098e+01] [-2.95227518e-03 -2.40756900e-05 9.99995642e-01 -4.52327648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.306559995 meters 0.012442715822240866 Centerline is valid? [True, True] Translation: X:261.88, Y:-92.46, Z:-4.53 [[ 7.03130351e-01 7.11059082e-01 1.64038371e-03 2.61884355e+02] [-7.11057215e-01 7.03132264e-01 -1.62995395e-03 -9.24629131e+01] [-2.31240027e-03 -2.03365763e-05 9.99997326e-01 -4.52654675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.366559995 meters 0.012418708502146728 Centerline is valid? [True, True] Translation: X:261.93, Y:-92.51, Z:-4.53 [[ 7.05464204e-01 7.08744627e-01 1.14474629e-03 2.61926445e+02] [-7.08743717e-01 7.05465132e-01 -1.13598909e-03 -9.25096083e+01] [-1.61270476e-03 -9.93209796e-06 9.99998700e-01 -4.52868005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.426559995 meters 0.012099701649048217 Centerline is valid? [True, True] Translation: X:261.97, Y:-92.56, Z:-4.53 [[ 7.07738819e-01 7.06468637e-01 2.79795455e-03 2.61968959e+02] [-7.06463126e-01 7.07744350e-01 -2.79037611e-03 -9.25557295e+01] [-3.95154973e-03 -1.79422554e-06 9.99992193e-01 -4.52826101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48655999499994 meters 0.012263908642883932 Centerline is valid? [True, True] Translation: X:262.01, Y:-92.60, Z:-4.53 [[ 7.08108618e-01 7.06093847e-01 3.69667001e-03 2.62012120e+02] [-7.06084228e-01 7.08118267e-01 -3.68560417e-03 -9.26002561e+01] [-5.22006198e-03 -3.52316082e-07 9.99986375e-01 -4.52826529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54655999499994 meters 0.012255644487212707 Centerline is valid? [True, True] Translation: X:262.06, Y:-92.64, Z:-4.53 [[ 7.07236348e-01 7.06968785e-01 3.44734482e-03 2.62056948e+02] [-7.06960427e-01 7.07244750e-01 -3.43781014e-03 -9.26442719e+01] [-4.86854099e-03 -5.79207342e-06 9.99988149e-01 -4.53038593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60655999499994 meters 0.012292275293140757 Centerline is valid? [True, True] Translation: X:262.10, Y:-92.69, Z:-4.53 [[ 7.05586741e-01 7.08611511e-01 4.13246968e-03 2.62102380e+02] [-7.08599507e-01 7.05598843e-01 -4.12455775e-03 -9.26880917e+01] [-5.83857492e-03 -1.80327185e-05 9.99982955e-01 -4.53133245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66655999499994 meters 0.012410451646210881 Centerline is valid? [True, True] Translation: X:262.15, Y:-92.73, Z:-4.53 [[ 7.03998005e-01 7.10187377e-01 4.54953332e-03 2.62148714e+02] [-7.10172841e-01 7.04012705e-01 -4.54395296e-03 -9.27311314e+01] [-6.42998729e-03 -3.20211783e-05 9.99979327e-01 -4.53244084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72655999499995 meters 0.012433167982005234 Centerline is valid? [True, True] Translation: X:262.74, Y:-92.32, Z:-3.56 [[ 7.62941776e-01 -6.46227639e-01 -1.75978999e-02 2.62738070e+02] [-6.46013423e-01 -7.63143478e-01 1.66939919e-02 -9.23166695e+01] [-2.42178415e-02 -1.36806424e-03 -9.99705769e-01 -3.55593303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78655999499995 meters 0.012755754071100621 Centerline is valid? [True, True] Translation: X:262.76, Y:-92.34, Z:-3.56 [[ 8.12584191e-01 -5.82573103e-01 -1.77626660e-02 2.62759669e+02] [-5.82394197e-01 -8.12777025e-01 1.45088608e-02 -9.23420984e+01] [-2.28895588e-02 -1.44479733e-03 -9.99736956e-01 -3.55801226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84655999499995 meters 0.012592301072170393 Centerline is valid? [True, True] Translation: X:262.78, Y:-92.37, Z:-3.56 [[ 8.56463996e-01 -5.15932145e-01 -1.68358165e-02 2.62782039e+02] [-5.15798470e-01 -8.56628226e-01 1.18330529e-02 -9.23674406e+01] [-2.05270880e-02 -1.45069545e-03 -9.99788245e-01 -3.56109990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90655999499995 meters 0.013427015824486535 Centerline is valid? [True, True] Translation: X:262.80, Y:-92.39, Z:-3.56 [[ 8.95002479e-01 -4.45775259e-01 -1.59681266e-02 2.62804987e+02] [-4.45674661e-01 -8.95143726e-01 9.58160590e-03 -9.23932431e+01] [-1.85650112e-02 -1.45897162e-03 -9.99826591e-01 -3.56123523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96655999499995 meters 0.012978711573226494 Centerline is valid? [True, True] Translation: X:262.83, Y:-92.41, Z:-3.56 [[ 9.27436647e-01 -3.73670969e-01 -1.52076411e-02 2.62831789e+02] [-3.73594678e-01 -9.27560191e-01 7.68820812e-03 -9.24145788e+01] [-1.69788627e-02 -1.44883217e-03 -9.99854799e-01 -3.56274984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02655999499996 meters 0.01391762327971015 Centerline is valid? [True, True] Translation: X:262.86, Y:-92.44, Z:-3.56 [[ 9.54489328e-01 -2.97858924e-01 -1.51718511e-02 2.62859377e+02] [-2.97796404e-01 -9.54608762e-01 6.27800491e-03 -9.24358506e+01] [-1.63531417e-02 -1.47416599e-03 -9.99865192e-01 -3.56329587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08655999499996 meters 0.015181294715961052 Centerline is valid? [True, True] Translation: X:262.89, Y:-92.45, Z:-3.56 [[ 9.75650037e-01 -2.18673574e-01 -1.69962532e-02 2.62889753e+02] [-2.18612299e-01 -9.75796822e-01 5.40592741e-03 -9.24531907e+01] [-1.77670233e-02 -1.55870330e-03 -9.99840939e-01 -3.56129889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14655999499996 meters 0.014984663831256791 Centerline is valid? [True, True] Translation: X:262.92, Y:-92.47, Z:-3.56 [[ 9.90135232e-01 -1.38937870e-01 -1.81242841e-02 2.62921511e+02] [-1.38884444e-01 -9.90299772e-01 4.18001811e-03 -9.24690967e+01] [-1.85292373e-02 -1.62160207e-03 -9.99827004e-01 -3.56070116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20655999499996 meters 0.01473940827970281 Centerline is valid? [True, True] Translation: X:262.95, Y:-92.48, Z:-3.56 [[ 9.97933892e-01 -6.19691763e-02 -1.69637089e-02 2.62952776e+02] [-6.19334021e-02 -9.98076828e-01 2.62666231e-03 -9.24800482e+01] [-1.70938569e-02 -1.57061514e-03 -9.99852656e-01 -3.56262483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26655999499997 meters 0.01373325778901178 Centerline is valid? [True, True] Translation: X:262.98, Y:-92.49, Z:-3.57 [[ 9.99801596e-01 1.35353371e-02 -1.46138293e-02 2.62983454e+02] [ 1.35554030e-02 -9.99907309e-01 1.27489336e-03 -9.24880289e+01] [-1.45952186e-02 -1.47273676e-03 -9.99892400e-01 -3.56556288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32655999499997 meters 0.013117910288234837 Centerline is valid? [True, True] Translation: X:263.01, Y:-92.49, Z:-3.57 [[ 9.95975869e-01 8.84273078e-02 -1.45835268e-02 2.63014350e+02] [ 8.84385847e-02 -9.96081623e-01 1.28909892e-04 -9.24939325e+01] [-1.45149839e-02 -1.41813761e-03 -9.99893646e-01 -3.56675261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38655999499997 meters 0.012720630411734718 Centerline is valid? [True, True] Translation: X:263.05, Y:-92.50, Z:-3.57 [[ 9.86232017e-01 1.64632482e-01 -1.55741819e-02 2.63046367e+02] [ 1.64634301e-01 -9.86353977e-01 -1.17407075e-03 -9.24991154e+01] [-1.55549465e-02 -1.40613839e-03 -9.99878026e-01 -3.56524699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.446559995 meters 0.013025737111064991 Centerline is valid? [True, True] Translation: X:263.08, Y:-92.50, Z:-3.57 [[ 9.70205357e-01 2.41788860e-01 -1.54826301e-02 2.63078231e+02] [ 2.41781005e-01 -9.70327862e-01 -2.40533942e-03 -9.25021207e+01] [-1.56048116e-02 -1.40973266e-03 -9.99877244e-01 -3.56673652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.506559995 meters 0.013274884649182932 Centerline is valid? [True, True] Translation: X:263.11, Y:-92.50, Z:-3.57 [[ 9.48072602e-01 3.17651786e-01 -1.59901463e-02 2.63109332e+02] [ 3.17631654e-01 -9.48206361e-01 -3.85085306e-03 -9.25025456e+01] [-1.63851888e-02 -1.42808835e-03 -9.99864734e-01 -3.56711824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.566559995 meters 0.013157422966775249 Centerline is valid? [True, True] Translation: X:263.14, Y:-92.50, Z:-3.57 [[ 9.20133587e-01 3.91260961e-01 -1.64025233e-02 2.63141491e+02] [ 3.91226264e-01 -9.20278643e-01 -5.40647430e-03 -9.25009757e+01] [-1.72102342e-02 -1.44241933e-03 -9.99850853e-01 -3.56643921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.626559995 meters 0.013153398458197327 Centerline is valid? [True, True] Translation: X:263.17, Y:-92.49, Z:-3.57 [[ 8.86777040e-01 4.61913875e-01 -1.61880448e-02 2.63172976e+02] [ 4.61865923e-01 -8.86923617e-01 -6.80929191e-03 -9.24947330e+01] [-1.75028656e-02 -1.43838251e-03 -9.99845778e-01 -3.56725736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.686559995 meters 0.012881583072605444 Centerline is valid? [True, True] Translation: X:263.20, Y:-92.48, Z:-3.57 [[ 8.48875683e-01 5.28358108e-01 -1.57412137e-02 2.63202182e+02] [ 5.28297219e-01 -8.49020459e-01 -8.14298901e-03 -9.24841880e+01] [-1.76670267e-02 -1.40365405e-03 -9.99842941e-01 -3.56790688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.746559995 meters 0.012616053327578782 Centerline is valid? [True, True] Translation: X:263.23, Y:-92.47, Z:-3.57 [[ 8.06087592e-01 5.91634408e-01 -1.38391009e-02 2.63228089e+02] [ 5.91575158e-01 -8.06205249e-01 -8.48112682e-03 -9.24698033e+01] [-1.61748822e-02 -1.35033720e-03 -9.99868266e-01 -3.56951085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.806559995 meters 0.012370757345313493 Centerline is valid? [True, True] Translation: X:263.26, Y:-92.46, Z:-3.57 [[ 7.57591945e-01 6.52619422e-01 -1.19304098e-02 2.63255633e+02] [ 6.52565041e-01 -7.57684721e-01 -8.52830165e-03 -9.24557400e+01] [-1.46052245e-02 -1.32439573e-03 -9.99892461e-01 -3.57171427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.866559995 meters 0.012647110101392698 Centerline is valid? [True, True] Translation: X:263.28, Y:-92.44, Z:-3.57 [[ 7.03410028e-01 7.10690317e-01 -1.15588238e-02 2.63282262e+02] [ 7.10624426e-01 -7.03503713e-01 -9.76994143e-03 -9.24424501e+01] [-1.50750782e-02 -1.34170776e-03 -9.99885464e-01 -3.57217527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.926559995 meters 0.013200638410044863 Centerline is valid? [True, True] Translation: X:263.31, Y:-92.43, Z:-3.57 [[ 6.42630049e-01 7.66083531e-01 -1.19433565e-02 2.63309169e+02] [ 7.65990539e-01 -6.42739447e-01 -1.20206863e-02 -9.24264086e+01] [-1.68853162e-02 -1.42364384e-03 -9.99856419e-01 -3.57056367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98655999499994 meters 0.013678657503154503 Centerline is valid? [True, True] Translation: X:263.33, Y:-92.41, Z:-3.57 [[ 5.78704341e-01 8.15458949e-01 -1.13131697e-02 2.63334383e+02] [ 8.15350226e-01 -5.78813042e-01 -1.33966903e-02 -9.24077378e+01] [-1.74726612e-02 -1.47147264e-03 -9.99846259e-01 -3.57060203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04655999499994 meters 0.01407805868858405 Centerline is valid? [True, True] Translation: X:263.36, Y:-92.39, Z:-3.57 [[ 5.12169453e-01 8.58821538e-01 -1.03931192e-02 2.63356441e+02] [ 8.58700218e-01 -5.12272720e-01 -1.45119349e-02 -9.23866571e+01] [-1.77872737e-02 -1.49200394e-03 -9.99840681e-01 -3.57076424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10655999499994 meters 0.01359541676906758 Centerline is valid? [True, True] Translation: X:263.38, Y:-92.36, Z:-3.57 [[ 4.44012282e-01 8.95973589e-01 -9.18808225e-03 2.63375166e+02] [ 8.95845544e-01 -4.44104892e-01 -1.52186273e-02 -9.23634634e+01] [-1.77159604e-02 -1.47384511e-03 -9.99841974e-01 -3.57180533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16655999499994 meters 0.01368907766679171 Centerline is valid? [True, True] Translation: X:263.39, Y:-92.34, Z:-3.57 [[ 3.73800583e-01 9.27474058e-01 -8.06200375e-03 2.63389920e+02] [ 9.27334996e-01 -3.73884706e-01 -1.61254790e-02 -9.23394611e+01] [-1.79702233e-02 -1.44846479e-03 -9.99837473e-01 -3.57300550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22655999499995 meters 0.013578851578076758 Centerline is valid? [True, True] Translation: X:263.40, Y:-92.31, Z:-3.57 [[ 3.00276041e-01 9.53821531e-01 -7.66726385e-03 2.63400856e+02] [ 9.53625276e-01 -3.00370243e-01 -1.94048823e-02 -9.23130487e+01] [-2.08118124e-02 -1.48487538e-03 -9.99782308e-01 -3.57111532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28655999499995 meters 0.014100266988528481 Centerline is valid? [True, True] Translation: X:263.41, Y:-92.29, Z:-3.57 [[ 2.24555800e-01 9.74440009e-01 -6.43134418e-03 2.63411478e+02] [ 9.74210506e-01 -2.24642840e-01 -2.12010530e-02 -9.22878795e+01] [-2.21039096e-02 -1.50466365e-03 -9.99754546e-01 -3.57057053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34655999499995 meters 0.014100266988528481 Centerline is valid? [True, True] Translation: X:263.42, Y:-92.26, Z:-3.57 [[ 1.47542553e-01 9.89044351e-01 -4.73994240e-03 2.63419082e+02] [ 9.88809683e-01 -1.47611044e-01 -2.15960604e-02 -9.22615610e+01] [-2.20591294e-02 -1.50056306e-03 -9.99755542e-01 -3.57139101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40655999499995 meters 0.013855758225816655 Centerline is valid? [True, True] Translation: X:263.42, Y:-92.23, Z:-3.57 [[ 7.08487767e-02 9.97482273e-01 -3.09287400e-03 2.63420887e+02] [ 9.97226668e-01 -7.09007856e-02 -2.26285567e-02 -9.22343756e+01] [-2.27908713e-02 -1.48109088e-03 -9.99739157e-01 -3.57213841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46655999499995 meters 0.012642297705860967 Centerline is valid? [True, True] Translation: X:263.43, Y:-92.21, Z:-3.57 [[-3.96086460e-03 9.99991311e-01 -1.29980490e-03 2.63425700e+02] [ 9.99754867e-01 3.93160675e-03 -2.17887060e-02 -9.22072928e+01] [-2.17834064e-02 -1.38578839e-03 -9.99761753e-01 -3.57389280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52655999499996 meters 0.012514683261617098 Centerline is valid? [True, True] Translation: X:263.43, Y:-92.18, Z:-3.57 [[-8.08568140e-02 9.96725648e-01 3.96832725e-04 2.63430431e+02] [ 9.96493169e-01 8.08465419e-02 -2.15685047e-02 -9.21812656e+01] [-2.15299644e-02 -1.34851948e-03 -9.99767294e-01 -3.57430544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58655999499996 meters 0.01176216517888296 Centerline is valid? [True, True] Translation: X:263.43, Y:-92.15, Z:-3.58 [[-1.50758868e-01 9.88568809e-01 1.86403010e-03 2.63429492e+02] [ 9.88367601e-01 1.50765855e-01 -1.99785561e-02 -9.21545809e+01] [-2.00312095e-02 -1.16959755e-03 -9.99798671e-01 -3.57754992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64655999499996 meters 0.0118078212702641 Centerline is valid? [True, True] Translation: X:263.43, Y:-92.13, Z:-3.58 [[-2.25195221e-01 9.74308509e-01 3.16887361e-03 2.63430456e+02] [ 9.74130501e-01 2.25214758e-01 -1.86569214e-02 -9.21285232e+01] [-1.88912744e-02 -1.11455311e-03 -9.99820923e-01 -3.57888444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70655999499996 meters 0.012151192036472849 Centerline is valid? [True, True] Translation: X:263.43, Y:-92.10, Z:-3.58 [[-2.96498570e-01 9.55020444e-01 4.95481763e-03 2.63431274e+02] [ 9.54824037e-01 2.96538215e-01 -1.93944660e-02 -9.21004689e+01] [-1.99914043e-02 -1.01945248e-03 -9.99799632e-01 -3.57781144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76655999499997 meters 0.012570026710193034 Centerline is valid? [True, True] Translation: X:263.43, Y:-92.07, Z:-3.58 [[-3.66803675e-01 9.30274049e-01 6.72733318e-03 2.63430114e+02] [ 9.30067999e-01 3.66864175e-01 -1.96008866e-02 -9.20721622e+01] [-2.07022137e-02 -9.32799939e-04 -9.99785251e-01 -3.57776619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82655999499997 meters 0.013906859882063867 Centerline is valid? [True, True] Translation: X:263.43, Y:-92.05, Z:-3.58 [[-4.33143812e-01 9.01287176e-01 8.23804773e-03 2.63426109e+02] [ 9.01087279e-01 4.33221396e-01 -1.89983808e-02 -9.20463020e+01] [-2.06918955e-02 -8.05831070e-04 -9.99785575e-01 -3.57774929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88655999499997 meters 0.015074629676796255 Centerline is valid? [True, True] Translation: X:263.42, Y:-92.02, Z:-3.58 [[-4.99567784e-01 8.66220545e-01 9.69523007e-03 2.63417524e+02] [ 8.66027986e-01 4.99661313e-01 -1.82784096e-02 -9.20222290e+01] [-2.06774653e-02 -7.34963997e-04 -9.99785928e-01 -3.57844862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.946559995 meters 0.015442218790081693 Centerline is valid? [True, True] Translation: X:263.41, Y:-92.00, Z:-3.58 [[-5.63414004e-01 8.26101956e-01 1.09643915e-02 2.63409566e+02] [ 8.25921665e-01 5.63520277e-01 -1.72714165e-02 -9.19960506e+01] [-2.04466079e-02 -6.75229488e-04 -9.99790718e-01 -3.57987085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.006559995 meters 0.016191610446076404 Centerline is valid? [True, True] Translation: X:263.40, Y:-91.97, Z:-3.58 [[-6.25760351e-01 7.79920503e-01 1.21652459e-02 2.63397490e+02] [ 7.79752253e-01 6.25878243e-01 -1.62126351e-02 -9.19724928e+01] [-2.02585292e-02 -6.59346320e-04 -9.99794558e-01 -3.58077292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.066559995 meters 0.01582029404482803 Centerline is valid? [True, True] Translation: X:263.39, Y:-91.95, Z:-3.58 [[-6.84932940e-01 7.28491429e-01 1.29269418e-02 2.63387062e+02] [ 7.28342890e-01 6.85054588e-01 -1.47256898e-02 -9.19457669e+01] [-1.95831996e-02 -6.70863854e-04 -9.99808006e-01 -3.58122334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.126559995 meters 0.015552056963548548 Centerline is valid? [True, True] Translation: X:263.37, Y:-91.92, Z:-3.58 [[-7.41325161e-01 6.71013275e-01 1.33488069e-02 2.63371869e+02] [ 6.70886527e-01 7.41444978e-01 -1.30618845e-02 -9.19213709e+01] [-1.86621038e-02 -7.27568951e-04 -9.99825583e-01 -3.58289503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.186559995 meters 0.014505899494363598 Centerline is valid? [True, True] Translation: X:263.39, Y:-91.89, Z:-3.59 [[-7.89582815e-01 6.13515400e-01 1.25631003e-02 2.63387792e+02] [ 6.13422753e-01 7.89682416e-01 -1.06867863e-02 -9.18933990e+01] [-1.64773674e-02 -7.31611243e-04 -9.99863971e-01 -3.58505887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.246559995 meters 0.013666518968010492 Centerline is valid? [True, True] Translation: X:263.41, Y:-91.87, Z:-3.58 [[-8.33032429e-01 5.53052037e-01 1.37991701e-02 2.63409207e+02] [ 5.52960364e-01 8.33146345e-01 -1.00996953e-02 -9.18705249e+01] [-1.70823852e-02 -7.82979614e-04 -9.99853779e-01 -3.58411636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.306559995 meters 0.012666320697445159 Centerline is valid? [True, True] Translation: X:263.42, Y:-91.84, Z:-3.58 [[-8.72743959e-01 4.87937118e-01 1.53411667e-02 2.63423303e+02] [ 4.87844004e-01 8.72878349e-01 -9.57159489e-03 -9.18395280e+01] [-1.80613087e-02 -8.69455453e-04 -9.99836503e-01 -3.58307563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.366559995 meters 0.012402952221441848 Centerline is valid? [True, True] Translation: X:263.44, Y:-91.81, Z:-3.58 [[-9.06395101e-01 4.22133291e-01 1.58557966e-02 2.63435531e+02] [ 4.22050694e-01 9.06533305e-01 -8.40109984e-03 -9.18119748e+01] [-1.79201916e-02 -9.22765788e-04 -9.99838995e-01 -3.58408968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.426559995 meters 0.012377249461964382 Centerline is valid? [True, True] Translation: X:263.44, Y:-91.78, Z:-3.58 [[-9.35107344e-01 3.53995258e-01 1.61744377e-02 2.63441276e+02] [ 3.53924086e-01 9.35246709e-01 -7.16486693e-03 -9.17797454e+01] [-1.76634185e-02 -9.75396629e-04 -9.99843514e-01 -3.58422220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48655999499994 meters 0.012463612186195978 Centerline is valid? [True, True] Translation: X:263.45, Y:-91.75, Z:-3.58 [[-9.58099716e-01 2.85953676e-01 1.65960531e-02 2.63452478e+02] [ 2.85892743e-01 9.58242931e-01 -5.98533886e-03 -9.17538774e+01] [-1.76145802e-02 -9.89860322e-04 -9.99844361e-01 -3.58381510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54655999499994 meters 0.012386562307345474 Centerline is valid? [True, True] Translation: X:263.45, Y:-91.73, Z:-3.58 [[-9.76059076e-01 2.16849954e-01 1.68753756e-02 2.63454819e+02] [ 2.16799790e-01 9.76204438e-01 -4.76931359e-03 -9.17257261e+01] [-1.75080420e-02 -9.96553910e-04 -9.99846226e-01 -3.58427799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60655999499994 meters 0.012417337349072773 Centerline is valid? [True, True] Translation: X:263.46, Y:-91.70, Z:-3.58 [[-9.89009685e-01 1.46892780e-01 1.68034078e-02 2.63461016e+02] [ 1.46854379e-01 9.89151918e-01 -3.50356765e-03 -9.16990742e+01] [-1.71357718e-02 -9.97408326e-04 -9.99852674e-01 -3.58482758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66655999499994 meters 0.012381556034853091 Centerline is valid? [True, True] Translation: X:263.46, Y:-91.67, Z:-3.59 [[-9.96943651e-01 7.64669136e-02 1.60052662e-02 2.63457774e+02] [ 7.64410536e-02 9.97071626e-01 -2.22219112e-03 -9.16721624e+01] [-1.61283209e-02 -9.91939913e-04 -9.99869438e-01 -3.58631825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72655999499995 meters 0.012378860253424289 Centerline is valid? [True, True] Translation: X:263.53, Y:-91.01, Z:-4.58 [[-9.89211651e-01 -1.46020614e-01 -1.17596802e-02 2.63527061e+02] [ 1.46020350e-01 -9.89281190e-01 8.85662296e-04 -9.10134592e+01] [-1.17629554e-02 -8.41045153e-04 9.99930460e-01 -4.57988100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78655999499995 meters 0.012489129292757424 Centerline is valid? [True, True] Translation: X:263.40, Y:-91.67, Z:-3.58 [[-9.97177447e-01 7.22300202e-02 2.04929900e-02 2.63404928e+02] [ 7.21940654e-02 9.97387496e-01 -2.48988568e-03 -9.16701933e+01] [-2.06192964e-02 -1.00338559e-03 -9.99786896e-01 -3.58344329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84655999499995 meters 0.012536057032102003 Centerline is valid? [True, True] Translation: X:263.47, Y:-91.01, Z:-4.59 [[-9.90441349e-01 -1.37816097e-01 -5.71465071e-03 2.63472774e+02] [ 1.37817394e-01 -9.90457641e-01 1.68053952e-04 -9.10054200e+01] [-5.68327999e-03 -6.21130685e-04 9.99983657e-01 -4.58594000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90655999499995 meters 0.012627847907977907 Centerline is valid? [True, True] Translation: X:263.35, Y:-91.67, Z:-3.58 [[-9.97041521e-01 7.38774288e-02 2.12209937e-02 2.63351909e+02] [ 7.38419413e-02 9.97266943e-01 -2.45210087e-03 -9.16728063e+01] [-2.13441504e-02 -8.77847010e-04 -9.99771802e-01 -3.58491759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96655999499995 meters 0.013226907663630934 Centerline is valid? [True, True] Translation: X:263.42, Y:-91.00, Z:-4.59 [[-9.91960909e-01 -1.26414374e-01 -5.74119733e-03 2.63419863e+02] [ 1.26415732e-01 -9.91977342e-01 1.27196464e-04 -9.09976098e+01] [-5.71121712e-03 -5.99603740e-04 9.99983511e-01 -4.58524889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02655999499996 meters 0.01567633268963403 Centerline is valid? [True, True] Translation: X:263.30, Y:-91.68, Z:-3.59 [[-9.95916338e-01 8.80245310e-02 2.00581508e-02 2.63296309e+02] [ 8.79964292e-02 9.96118178e-01 -2.28106346e-03 -9.16817725e+01] [-2.01810782e-02 -5.06702717e-04 -9.99796213e-01 -3.58805101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08655999499996 meters 0.01881053960648335 Centerline is valid? [True, True] Translation: X:263.31, Y:-91.66, Z:-3.59 [[-9.99425041e-01 2.86568741e-02 1.81209945e-02 2.63306358e+02] [ 2.86461829e-02 9.99589253e-01 -8.49338402e-04 -9.16623290e+01] [-1.81378908e-02 -3.29752743e-04 -9.99835441e-01 -3.59066434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14655999499996 meters 0.020190445530920958 Centerline is valid? [True, True] Translation: X:263.32, Y:-90.95, Z:-4.58 [[-9.99706962e-01 -2.25892844e-02 -8.70143079e-03 2.63320594e+02] [ 2.25918701e-02 -9.99744751e-01 -1.98967495e-04 -9.09478452e+01] [-8.69471523e-03 -3.95490784e-04 9.99962122e-01 -4.58167597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20655999499996 meters 0.020054344574307152 Centerline is valid? [True, True] Translation: X:263.23, Y:-91.66, Z:-3.59 [[-9.99441456e-01 2.74784839e-02 1.90186401e-02 2.63231619e+02] [ 2.74689447e-02 9.99622366e-01 -7.62671570e-04 -9.16597702e+01] [-1.90324151e-02 -2.39823612e-04 -9.99818838e-01 -3.59159238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26655999499997 meters 0.018494389285250948 Centerline is valid? [True, True] Translation: X:263.22, Y:-91.63, Z:-3.59 [[-9.98677952e-01 -4.74322745e-02 1.98123102e-02 2.63224499e+02] [-4.74282093e-02 9.98874421e-01 6.75279026e-04 -9.16286296e+01] [-1.98220399e-02 -2.65276120e-04 -9.99803489e-01 -3.59244191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32655999499997 meters 0.016893531409781108 Centerline is valid? [True, True] Translation: X:263.18, Y:-90.94, Z:-4.58 [[-9.99101369e-01 4.19639095e-02 -5.95689671e-03 2.63178012e+02] [-4.19587252e-02 -9.99118852e-01 -9.92686201e-04 -9.09375043e+01] [-5.99330480e-03 -7.41850351e-04 9.99981765e-01 -4.58338456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38655999499997 meters 0.0147895618465082 Centerline is valid? [True, True] Translation: X:263.13, Y:-91.62, Z:-3.59 [[-9.97315875e-01 -6.92634741e-02 2.37406200e-02 2.63130843e+02] [-6.92566853e-02 9.97598257e-01 1.10904089e-03 -9.16206172e+01] [-2.37604171e-02 -5.38132565e-04 -9.99717537e-01 -3.59044009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.446559995 meters 0.012992328342469517 Centerline is valid? [True, True] Translation: X:263.12, Y:-91.59, Z:-3.59 [[-9.88453621e-01 -1.50059264e-01 2.10156373e-02 2.63115233e+02] [-1.50042032e-01 9.88676698e-01 2.40336064e-03 -9.15886003e+01] [-2.11383174e-02 -7.77618392e-04 -9.99776258e-01 -3.59407162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.506559995 meters 0.012554758319023493 Centerline is valid? [True, True] Translation: X:263.02, Y:-90.95, Z:-4.58 [[-9.96042283e-01 8.86328538e-02 -6.63232739e-03 2.63018963e+02] [-8.86231597e-02 -9.96063703e-01 -1.74211934e-03 -9.09496222e+01] [-6.76062959e-03 -1.14744672e-03 9.99976488e-01 -4.58434504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.566559995 meters 0.014974447462869746 Centerline is valid? [True, True] Translation: X:263.02, Y:-91.58, Z:-3.60 [[-9.82853860e-01 -1.83239935e-01 2.05284040e-02 2.63020959e+02] [-1.83229193e-01 9.83067246e-01 2.41902763e-03 -9.15798597e+01] [-2.06240641e-02 -1.38385227e-03 -9.99786344e-01 -3.59553851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.626559995 meters 0.01628993590736723 Centerline is valid? [True, True] Translation: X:262.93, Y:-90.98, Z:-4.59 [[-9.97480948e-01 7.08516157e-02 -3.43610234e-03 2.62932590e+02] [-7.08482872e-02 -9.97486517e-01 -1.08106313e-03 -9.09832869e+01] [-3.50406083e-03 -8.34897906e-04 9.99993512e-01 -4.58946945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.686559995 meters 0.01628993590736723 Centerline is valid? [True, True] Translation: X:262.94, Y:-91.59, Z:-3.59 [[-9.80948312e-01 -1.92943576e-01 2.26536171e-02 2.62937210e+02] [-1.92928020e-01 9.81208653e-01 2.89098647e-03 -9.15878112e+01] [-2.27857224e-02 -1.53460920e-03 -9.99739194e-01 -3.59358003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.746559995 meters 0.016512508123529494 Centerline is valid? [True, True] Translation: X:262.92, Y:-91.57, Z:-3.59 [[-9.64789149e-01 -2.61993129e-01 2.32701133e-02 2.62916679e+02] [-2.61954799e-01 9.65068529e-01 4.73467889e-03 -9.15653100e+01] [-2.36977073e-02 -1.52775102e-03 -9.99718003e-01 -3.59326365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.806559995 meters 0.015783858273851602 Centerline is valid? [True, True] Translation: X:262.90, Y:-91.55, Z:-3.59 [[-9.43920754e-01 -3.29332041e-01 2.35375639e-02 2.62896373e+02] [-3.29269361e-01 9.44212953e-01 6.60200134e-03 -9.15464886e+01] [-2.43987233e-02 -1.51843256e-03 -9.99701154e-01 -3.59353278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.866559995 meters 0.014731101965936006 Centerline is valid? [True, True] Translation: X:262.86, Y:-91.54, Z:-3.59 [[-9.19561211e-01 -3.92219507e-01 2.38964009e-02 2.62863232e+02] [-3.92126808e-01 9.19870555e-01 8.64452918e-03 -9.15357416e+01] [-2.53721485e-02 -1.42124570e-03 -9.99677065e-01 -3.59361418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.926559995 meters 0.012785215554667802 Centerline is valid? [True, True] Translation: X:262.81, Y:-91.54, Z:-3.59 [[-8.94101498e-01 -4.47197369e-01 2.44340747e-02 2.62809278e+02] [-4.47064056e-01 8.94434614e-01 1.09750016e-02 -9.15438749e+01] [-2.67626740e-02 -1.11083118e-03 -9.99641198e-01 -3.59372008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98655999499994 meters 0.013300586320816528 Centerline is valid? [True, True] Translation: X:262.75, Y:-91.56, Z:-3.60 [[-8.66532539e-01 -4.98666474e-01 2.12862817e-02 2.62752553e+02] [-4.98536275e-01 8.66793650e-01 1.14171767e-02 -9.15615641e+01] [-2.41441771e-02 -7.18628478e-04 -9.99708229e-01 -3.59802330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04655999499994 meters 0.016159293478499755 Centerline is valid? [True, True] Translation: X:262.69, Y:-91.59, Z:-3.60 [[-8.35513811e-01 -5.49158750e-01 1.84753634e-02 2.62686371e+02] [-5.49035249e-01 8.35717955e-01 1.16530969e-02 -9.15886554e+01] [-2.18395931e-02 -4.07302304e-04 -9.99761405e-01 -3.60161939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10655999499994 meters 0.018967303962926094 Centerline is valid? [True, True] Translation: X:262.61, Y:-91.62, Z:-3.60 [[-7.98980179e-01 -6.01089101e-01 1.79601289e-02 2.62610136e+02] [-6.00941027e-01 7.99182004e-01 1.33419196e-02 -9.16227280e+01] [-2.23730943e-02 -1.33048983e-04 -9.99749682e-01 -3.60275578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16655999499994 meters 0.02345564566654183 Centerline is valid? [True, True] Translation: X:262.53, Y:-91.67, Z:-3.60 [[-7.56576193e-01 -6.53662490e-01 1.78272874e-02 2.62529367e+02] [-6.53477844e-01 7.56786190e-01 1.55360876e-02 -9.16688434e+01] [-2.36468026e-02 1.04496687e-04 -9.99720370e-01 -3.60335546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22655999499995 meters 0.025052760897892466 Centerline is valid? [True, True] Translation: X:262.44, Y:-91.72, Z:-3.60 [[-7.09042772e-01 -7.04946250e-01 1.75821719e-02 2.62443316e+02] [-7.04718338e-01 7.09260659e-01 1.79271368e-02 -9.17204234e+01] [-2.51080107e-02 3.20627773e-04 -9.99684693e-01 -3.60432666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28655999499995 meters 0.024150620148111923 Centerline is valid? [True, True] Translation: X:262.35, Y:-91.78, Z:-3.61 [[-6.53488982e-01 -7.56764497e-01 1.61135484e-02 2.62353367e+02] [-7.56522447e-01 6.53687536e-01 1.91413752e-02 -9.17813264e+01] [-2.50187389e-02 3.18416774e-04 -9.99686932e-01 -3.60601328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34655999499995 meters 0.024940026189623484 Centerline is valid? [True, True] Translation: X:262.27, Y:-91.85, Z:-3.61 [[-5.93290368e-01 -8.04853102e-01 1.47656116e-02 2.62269265e+02] [-8.04590688e-01 5.93473997e-01 2.05533289e-02 -9.18520977e+01] [-2.53054171e-02 3.13818532e-04 -9.99679717e-01 -3.60759876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40655999499995 meters 0.021269134133347016 Centerline is valid? [True, True] Translation: X:262.18, Y:-91.93, Z:-3.61 [[-5.26968888e-01 -8.49782917e-01 1.31447585e-02 2.62182437e+02] [-8.49508238e-01 5.27132759e-01 2.16057371e-02 -9.19287175e+01] [-2.52892191e-02 2.18970567e-04 -9.99680153e-01 -3.61008887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46655999499995 meters 0.020394021704163875 Centerline is valid? [True, True] Translation: X:262.10, Y:-92.02, Z:-3.61 [[-4.55309009e-01 -8.90262937e-01 1.12075405e-02 2.62102220e+02] [-8.89990857e-01 4.55446924e-01 2.20085008e-02 -9.20183015e+01] [-2.46977924e-02 4.60601294e-05 -9.99694962e-01 -3.61250925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52655999499996 meters 0.017408054174907754 Centerline is valid? [True, True] Translation: X:262.02, Y:-92.12, Z:-3.62 [[-3.73933485e-01 -9.27413071e-01 8.87380848e-03 2.62022526e+02] [-9.27172274e-01 3.74038621e-01 2.11349218e-02 -9.21152007e+01] [-2.29199499e-02 -3.24494208e-04 -9.99737251e-01 -3.61603259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58655999499996 meters 0.013751731406739824 Centerline is valid? [True, True] Translation: X:261.95, Y:-92.22, Z:-3.62 [[-2.87657681e-01 -9.57710180e-01 6.65347895e-03 2.61945393e+02] [-9.57507168e-01 2.87733779e-01 1.97305612e-02 -9.22214844e+01] [-2.08105899e-02 -6.95106308e-04 -9.99783195e-01 -3.61909333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64655999499996 meters 0.012294085961124327 Centerline is valid? [True, True] Translation: X:261.88, Y:-92.32, Z:-3.62 [[-1.99908018e-01 -9.79802115e-01 4.95978235e-03 2.61878249e+02] [-9.79611075e-01 1.99967105e-01 1.93726207e-02 -9.23219713e+01] [-1.99731280e-02 -9.85915509e-04 -9.99800031e-01 -3.62048654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70655999499996 meters 0.012737559953440532 Centerline is valid? [True, True] Translation: X:261.24, Y:-92.30, Z:-4.61 [[-2.75518864e-01 9.61295443e-01 -6.53397720e-04 2.61243701e+02] [-9.61278183e-01 -2.75517889e-01 -5.84359154e-03 -9.22960389e+01] [-5.79744068e-03 -9.81922729e-04 9.99982713e-01 -4.60982167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76655999499997 meters 0.014332539677906944 Centerline is valid? [True, True] Translation: X:261.80, Y:-92.59, Z:-3.63 [[-1.73975765e-01 -9.84740327e-01 4.34991408e-03 2.61803058e+02] [-9.84590835e-01 1.74025361e-01 1.72064476e-02 -9.25887551e+01] [-1.77008782e-02 -1.28938065e-03 -9.99842496e-01 -3.62518970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82655999499997 meters 0.016138319362329553 Centerline is valid? [True, True] Translation: X:261.75, Y:-92.70, Z:-3.63 [[-9.31981598e-02 -9.95642640e-01 3.13643560e-03 2.61753770e+02] [-9.95471267e-01 9.32404746e-02 1.85248486e-02 -9.26955827e+01] [-1.87365719e-02 -1.39574972e-03 -9.99823481e-01 -3.62575016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88655999499997 meters 0.017740788845001344 Centerline is valid? [True, True] Translation: X:261.71, Y:-92.81, Z:-3.62 [[-1.36711007e-02 -9.99904809e-01 1.86396452e-03 2.61713800e+02] [-9.99653590e-01 1.37095469e-02 2.24666018e-02 -9.28112783e+01] [-2.24900173e-02 -1.55617565e-03 -9.99745856e-01 -3.62306199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.946559995 meters 0.017971771470600705 Centerline is valid? [True, True] Translation: X:261.69, Y:-92.92, Z:-3.62 [[ 6.28589663e-02 -9.98022412e-01 1.22618204e-04 2.61687072e+02] [-9.97757207e-01 -6.28394296e-02 2.30599794e-02 -9.29183595e+01] [-2.30066710e-02 -1.57186966e-03 -9.99734076e-01 -3.62422745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.006559995 meters 0.015686682086624215 Centerline is valid? [True, True] Translation: X:261.67, Y:-93.03, Z:-3.63 [[ 1.35220068e-01 -9.90814130e-01 -1.70102671e-03 2.61674078e+02] [-9.90536289e-01 -1.35222513e-01 2.35102544e-02 -9.30261540e+01] [-2.35243094e-02 -1.49412952e-03 -9.99722149e-01 -3.62556036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.066559995 meters 0.014283801656551062 Centerline is valid? [True, True] Translation: X:261.67, Y:-93.14, Z:-3.63 [[ 2.05978283e-01 -9.78550168e-01 -3.53780397e-03 2.61668992e+02] [-9.78268519e-01 -2.06004020e-01 2.35170018e-02 -9.31390538e+01] [-2.37413679e-02 -1.38306940e-03 -9.99717177e-01 -3.62719111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.126559995 meters 0.012852015124090264 Centerline is valid? [True, True] Translation: X:261.68, Y:-93.25, Z:-3.63 [[ 2.69958173e-01 -9.62858590e-01 -5.09129281e-03 2.61678564e+02] [-9.62601032e-01 -2.70003862e-01 2.22972388e-02 -9.32496466e+01] [-2.28437566e-02 -1.11843812e-03 -9.99738422e-01 -3.62891405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.186559995 meters 0.012286877353019707 Centerline is valid? [True, True] Translation: X:261.70, Y:-93.36, Z:-3.63 [[ 3.34765748e-01 -9.42281683e-01 -6.09290139e-03 2.61695421e+02] [-9.42072072e-01 -3.34819925e-01 1.98954600e-02 -9.33604781e+01] [-2.07871523e-02 -9.20366303e-04 -9.99783500e-01 -3.63402985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.246559995 meters 0.013500712680439009 Centerline is valid? [True, True] Translation: X:261.72, Y:-93.46, Z:-3.64 [[ 3.94805231e-01 -9.18736311e-01 -7.24018824e-03 2.61720554e+02] [-9.18549122e-01 -3.94871035e-01 1.85573661e-02 -9.34639737e+01] [-1.99082667e-02 -6.76076672e-04 -9.99801582e-01 -3.63645854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.306559995 meters 0.015196744827499756 Centerline is valid? [True, True] Translation: X:261.75, Y:-93.57, Z:-3.64 [[ 4.55693718e-01 -8.90107232e-01 -7.23537563e-03 2.61752574e+02] [-8.89975164e-01 -4.55750820e-01 1.53426775e-02 -9.35694100e+01] [-1.69541566e-02 -5.52257140e-04 -9.99856115e-01 -3.64018046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.366559995 meters 0.01666140228035555 Centerline is valid? [True, True] Translation: X:261.79, Y:-93.68, Z:-3.64 [[ 5.18325196e-01 -8.55142195e-01 -8.41534136e-03 2.61790522e+02] [-8.55014616e-01 -5.18393297e-01 1.47782137e-02 -9.36767937e+01] [-1.69999306e-02 -4.64680637e-04 -9.99855383e-01 -3.64182234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.426559995 meters 0.018110410347198482 Centerline is valid? [True, True] Translation: X:261.83, Y:-93.78, Z:-3.64 [[ 5.79298505e-01 -8.15041038e-01 -1.10157857e-02 2.61834809e+02] [-8.14882947e-01 -5.79403142e-01 1.60556198e-02 -9.37796229e+01] [-1.94685699e-02 -3.24420675e-04 -9.99810417e-01 -3.64056963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48655999499994 meters 0.01845248929709066 Centerline is valid? [True, True] Translation: X:261.88, Y:-93.88, Z:-3.64 [[ 6.39124304e-01 -7.68996816e-01 -1.28070679e-02 2.61883905e+02] [-7.68833784e-01 -6.39252549e-01 1.58364095e-02 -9.38788281e+01] [-2.03650992e-02 -2.74927733e-04 -9.99792572e-01 -3.64137117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54655999499994 meters 0.019379362725759814 Centerline is valid? [True, True] Translation: X:261.94, Y:-93.97, Z:-3.64 [[ 6.95732322e-01 -7.18173597e-01 -1.35358958e-02 2.61939502e+02] [-7.18029588e-01 -6.95863924e-01 1.43843828e-02 -9.39729210e+01] [-1.97496255e-02 -2.88506392e-04 -9.99804915e-01 -3.64359221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60655999499994 meters 0.017399142488032454 Centerline is valid? [True, True] Translation: X:261.96, Y:-94.00, Z:-3.65 [[ 7.50083421e-01 -6.61220516e-01 -1.27393074e-02 2.61955930e+02] [-6.61116098e-01 -7.50191490e-01 1.17572628e-02 -9.40049366e+01] [-1.73310634e-02 -3.96766702e-04 -9.99849727e-01 -3.64708244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66655999499994 meters 0.01639877085081817 Centerline is valid? [True, True] Translation: X:261.97, Y:-94.03, Z:-3.65 [[ 8.02435884e-01 -5.96596546e-01 -1.30082132e-02 2.61974435e+02] [-5.96507960e-01 -8.02541158e-01 1.02928719e-02 -9.40348546e+01] [-1.65803184e-02 -4.99867046e-04 -9.99862412e-01 -3.64836097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72655999499995 meters 0.013057087267051392 Centerline is valid? [True, True] Translation: X:261.99, Y:-94.07, Z:-3.65 [[ 8.54034494e-01 -5.19998607e-01 -1.50510028e-02 2.61989325e+02] [-5.19902973e-01 -8.54166810e-01 9.99792454e-03 -9.40736914e+01] [-1.80549739e-02 -7.13511304e-04 -9.99836741e-01 -3.64800496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78655999499995 meters 0.012916039634691663 Centerline is valid? [True, True] Translation: X:262.01, Y:-94.10, Z:-3.65 [[ 8.92967377e-01 -4.49827180e-01 -1.62718021e-02 2.62013695e+02] [-4.49737232e-01 -8.93115311e-01 9.02571930e-03 -9.40983495e+01] [-1.85926095e-02 -7.41637648e-04 -9.99826867e-01 -3.64811838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84655999499995 meters 0.012733431823663377 Centerline is valid? [True, True] Translation: X:262.04, Y:-94.12, Z:-3.65 [[ 9.26020179e-01 -3.77068662e-01 -1.74886249e-02 2.62041248e+02] [-3.76985719e-01 -9.26184992e-01 7.94534364e-03 -9.41212484e+01] [-1.91936421e-02 -7.64586695e-04 -9.99815493e-01 -3.64815831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90655999499995 meters 0.012742294471309229 Centerline is valid? [True, True] Translation: X:262.07, Y:-94.14, Z:-3.65 [[ 9.52938989e-01 -3.02524323e-01 -1.96549470e-02 2.62070856e+02] [-3.02443254e-01 -9.53141355e-01 7.04524871e-03 -9.41414475e+01] [-2.08653019e-02 -7.69186055e-04 -9.99782000e-01 -3.64727136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96655999499995 meters 0.012964742278966924 Centerline is valid? [True, True] Translation: X:262.10, Y:-94.16, Z:-3.65 [[ 9.73212506e-01 -2.28952150e-01 -2.09363527e-02 2.62102567e+02] [-2.28883232e-01 -9.73437412e-01 5.66310804e-03 -9.41567400e+01] [-2.16768097e-02 -7.19427513e-04 -9.99764772e-01 -3.64672573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02655999499996 meters 0.014203277911793858 Centerline is valid? [True, True] Translation: X:262.14, Y:-94.16, Z:-3.65 [[ 9.87208266e-01 -1.57967635e-01 -2.15885719e-02 2.62135248e+02] [-1.57916907e-01 -9.87444117e-01 4.04550189e-03 -9.41649227e+01] [-2.19565667e-02 -5.84552413e-04 -9.99758755e-01 -3.64720787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08655999499996 meters 0.015290053644842412 Centerline is valid? [True, True] Translation: X:262.17, Y:-94.17, Z:-3.65 [[ 9.95933237e-01 -8.73165718e-02 -2.21991675e-02 2.62165224e+02] [-8.72855552e-02 -9.96180527e-01 2.36418662e-03 -9.41732780e+01] [-2.23208110e-02 -4.16905378e-04 -9.99750773e-01 -3.64877211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14655999499996 meters 0.018739616533424278 Centerline is valid? [True, True] Translation: X:262.19, Y:-94.17, Z:-3.65 [[ 9.99583905e-01 -1.80897895e-02 -2.24672249e-02 2.62194495e+02] [-1.80805637e-02 -9.99836345e-01 6.13716267e-04 -9.41746713e+01] [-2.24746500e-02 -2.07240812e-04 -9.99747392e-01 -3.64967851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20655999499996 meters 0.01850718695993579 Centerline is valid? [True, True] Translation: X:262.22, Y:-94.18, Z:-3.65 [[ 9.98050900e-01 5.82384668e-02 -2.24205717e-02 2.62224582e+02] [ 5.82273586e-02 -9.98302687e-01 -1.14851481e-03 -9.41824678e+01] [-2.24494048e-02 -1.59214432e-04 -9.99747968e-01 -3.65079324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26655999499997 meters 0.01956175610257475 Centerline is valid? [True, True] Translation: X:262.26, Y:-94.19, Z:-3.65 [[ 9.90909928e-01 1.32340754e-01 -2.41544802e-02 2.62255252e+02] [ 1.32301363e-01 -9.91204280e-01 -3.22870939e-03 -9.41867462e+01] [-2.43693140e-02 3.68953496e-06 -9.99703024e-01 -3.65048205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32655999499997 meters 0.020112739161733836 Centerline is valid? [True, True] Translation: X:262.29, Y:-94.19, Z:-3.65 [[ 9.77816524e-01 2.08093400e-01 -2.39161549e-02 2.62286874e+02] [ 2.08030052e-01 -9.78108959e-01 -5.13447010e-03 -9.41889665e+01] [-2.44610547e-02 4.52907571e-05 -9.99700783e-01 -3.65215100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38655999499997 meters 0.019528737518540822 Centerline is valid? [True, True] Translation: X:262.32, Y:-94.19, Z:-3.65 [[ 9.58370069e-01 2.84516225e-01 -2.40276431e-02 2.62318653e+02] [ 2.84425303e-01 -9.58671223e-01 -7.19256215e-03 -9.41918168e+01] [-2.50810107e-02 5.90666033e-05 -9.99685420e-01 -3.65252695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.446559995 meters 0.018059557366822385 Centerline is valid? [True, True] Translation: X:262.35, Y:-94.19, Z:-3.65 [[ 9.31894204e-01 3.61902057e-01 -2.44968353e-02 2.62352122e+02] [ 3.61776569e-01 -9.32216124e-01 -9.52957722e-03 -9.41940200e+01] [-2.62851185e-02 1.81767311e-05 -9.99654486e-01 -3.65330050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.506559995 meters 0.01766971776289246 Centerline is valid? [True, True] Translation: X:262.38, Y:-94.19, Z:-3.65 [[ 8.98969817e-01 4.37435895e-01 -2.24300465e-02 2.62383434e+02] [ 4.37303380e-01 -8.99249588e-01 -1.07671913e-02 -9.41915256e+01] [-2.48801661e-02 -1.29355130e-04 -9.99690432e-01 -3.65455520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.566559995 meters 0.016519450844443135 Centerline is valid? [True, True] Translation: X:262.42, Y:-94.19, Z:-3.66 [[ 8.59543118e-01 5.10657510e-01 -2.03601574e-02 2.62415342e+02] [ 5.10522083e-01 -8.59784175e-01 -1.17632941e-02 -9.41857500e+01] [-2.35123556e-02 -2.83251443e-04 -9.99723506e-01 -3.65659162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.626559995 meters 0.013970932849717226 Centerline is valid? [True, True] Translation: X:262.45, Y:-94.18, Z:-3.66 [[ 8.11592702e-01 5.83938757e-01 -1.82431957e-02 2.62449889e+02] [ 5.83805630e-01 -8.11797546e-01 -1.24792228e-02 -9.41817622e+01] [-2.20968833e-02 -5.22434272e-04 -9.99755698e-01 -3.65835994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.686559995 meters 0.01216746711308901 Centerline is valid? [True, True] Translation: X:262.48, Y:-94.17, Z:-3.66 [[ 7.56691662e-01 6.53550165e-01 -1.70267643e-02 2.62484596e+02] [ 6.53406720e-01 -7.56882832e-01 -1.37126834e-02 -9.41749561e+01] [-2.18491921e-02 -7.49128983e-04 -9.99760997e-01 -3.65902149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.746559995 meters 0.011912341732830728 Centerline is valid? [True, True] Translation: X:262.52, Y:-94.16, Z:-3.66 [[ 7.00724373e-01 7.13251426e-01 -1.60547695e-02 2.62515063e+02] [ 7.13090638e-01 -7.00907789e-01 -1.51661870e-02 -9.41610036e+01] [-2.20702175e-02 -8.21188983e-04 -9.99756086e-01 -3.65903698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.806559995 meters 0.012129790427658054 Centerline is valid? [True, True] Translation: X:262.55, Y:-94.15, Z:-3.66 [[ 6.34312416e-01 7.72925063e-01 -1.53168773e-02 2.62549458e+02] [ 7.72739257e-01 -6.34496424e-01 -1.69802136e-02 -9.41491043e+01] [-2.28429365e-02 -1.06519211e-03 -9.99738499e-01 -3.65901774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.866559995 meters 0.014449645489990644 Centerline is valid? [True, True] Translation: X:262.58, Y:-94.13, Z:-3.66 [[ 5.64035898e-01 8.25637653e-01 -1.36371793e-02 2.62581545e+02] [ 8.25448773e-01 -5.64199302e-01 -1.77050931e-02 -9.41331430e+01] [-2.23120786e-02 -1.27048486e-03 -9.99750247e-01 -3.65835193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.926559995 meters 0.014173611466708968 Centerline is valid? [True, True] Translation: X:262.61, Y:-94.11, Z:-3.66 [[ 4.94484024e-01 8.69099315e-01 -1.23260432e-02 2.62607513e+02] [ 8.68894409e-01 -4.94635771e-01 -1.89198380e-02 -9.41102718e+01] [-2.25401202e-02 -1.35447241e-03 -9.99745022e-01 -3.65990279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98655999499994 meters 0.014102303527870985 Centerline is valid? [True, True] Translation: X:262.63, Y:-94.09, Z:-3.66 [[ 4.24191450e-01 9.05503926e-01 -1.11468988e-02 2.62631986e+02] [ 9.05272458e-01 -4.24335618e-01 -2.05197479e-02 -9.40856576e+01] [-2.33107384e-02 -1.38667883e-03 -9.99727306e-01 -3.65992601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04655999499994 meters 0.014899809560016922 Centerline is valid? [True, True] Translation: X:262.65, Y:-94.06, Z:-3.66 [[ 3.53549894e-01 9.35361041e-01 -1.01091555e-02 2.62652047e+02] [ 9.35083139e-01 -3.53691709e-01 -2.28407070e-02 -9.40596629e+01] [-2.49398320e-02 -1.37757131e-03 -9.99688005e-01 -3.65806583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10655999499994 meters 0.01326143306315639 Centerline is valid? [True, True] Translation: X:262.66, Y:-94.03, Z:-3.66 [[ 2.83721231e-01 9.58869636e-01 -8.44305626e-03 2.62662414e+02] [ 9.58568506e-01 -2.83844004e-01 -2.40624282e-02 -9.40291677e+01] [-2.54692426e-02 -1.26622609e-03 -9.99674804e-01 -3.65975776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16655999499994 meters 0.012299754192860656 Centerline is valid? [True, True] Translation: X:262.67, Y:-94.00, Z:-3.66 [[ 2.14111975e-01 9.76789749e-01 -6.15217342e-03 2.62668190e+02] [ 9.76519573e-01 -2.14197603e-01 -2.29980627e-02 -9.39994262e+01] [-2.37820527e-02 -1.08355712e-03 -9.99716580e-01 -3.66184246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22655999499995 meters 0.011845821971722964 Centerline is valid? [True, True] Translation: X:262.67, Y:-93.97, Z:-3.66 [[ 1.45384869e-01 9.89365945e-01 -4.27395956e-03 2.62669597e+02] [ 9.89098149e-01 -1.45445024e-01 -2.30346774e-02 -9.39685035e+01] [-2.34113515e-02 -8.78471951e-04 -9.99725531e-01 -3.66331657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28655999499995 meters 0.01189846274822698 Centerline is valid? [True, True] Translation: X:262.68, Y:-93.94, Z:-3.66 [[ 7.04682304e-02 9.97510932e-01 -2.48376620e-03 2.62677883e+02] [ 9.97228669e-01 -7.05074071e-02 -2.37420946e-02 -9.39393108e+01] [-2.38581228e-02 -8.03819475e-04 -9.99715031e-01 -3.66423577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34655999499995 meters 0.013132461876568633 Centerline is valid? [True, True] Translation: X:262.68, Y:-93.91, Z:-3.66 [[ 2.05314496e-03 9.99997714e-01 -5.97647653e-04 2.62676526e+02] [ 9.99676978e-01 -2.06762554e-03 -2.53310884e-02 -9.39094556e+01] [-2.53322662e-02 -5.45446204e-04 -9.99678938e-01 -3.66389027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40655999499995 meters 0.014821712495004979 Centerline is valid? [True, True] Translation: X:262.68, Y:-93.88, Z:-3.66 [[-6.90449822e-02 9.97612539e-01 1.41831396e-03 2.62675008e+02] [ 9.97284069e-01 6.90586452e-02 -2.56005612e-02 -9.38809449e+01] [-2.56373877e-02 -3.53128375e-04 -9.99671246e-01 -3.66399843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46655999499995 meters 0.01764572157256687 Centerline is valid? [True, True] Translation: X:262.67, Y:-93.85, Z:-3.67 [[-1.36108454e-01 9.90687966e-01 3.44121201e-03 2.62668878e+02] [ 9.90359111e-01 1.36151933e-01 -2.55241408e-02 -9.38539405e+01] [-2.57549868e-02 -6.60156654e-05 -9.99668283e-01 -3.66544550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52655999499996 meters 0.019943562796014856 Centerline is valid? [True, True] Translation: X:262.66, Y:-93.83, Z:-3.67 [[-2.05140127e-01 9.78718370e-01 5.28017044e-03 2.62663842e+02] [ 9.78409962e-01 2.05208031e-01 -2.45684783e-02 -9.38274923e+01] [-2.51291545e-02 1.26190589e-04 -9.99684205e-01 -3.66663733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58655999499996 meters 0.019135873343475485 Centerline is valid? [True, True] Translation: X:262.67, Y:-93.80, Z:-3.67 [[-2.80327676e-01 9.59879753e-01 6.87414742e-03 2.62666585e+02] [ 9.59600923e-01 2.80411925e-01 -2.31348333e-02 -9.37991301e+01] [-2.41342509e-02 1.11104171e-04 -9.99708720e-01 -3.66824292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64655999499996 meters 0.019330214513597666 Centerline is valid? [True, True] Translation: X:262.67, Y:-93.77, Z:-3.67 [[-3.56624676e-01 9.34211322e-01 8.24902846e-03 2.62666089e+02] [ 9.33962983e-01 3.56720066e-01 -2.15392703e-02 -9.37720806e+01] [-2.30648242e-02 2.28519281e-05 -9.99733971e-01 -3.66955420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70655999499996 meters 0.018435428626913195 Centerline is valid? [True, True] Translation: X:262.66, Y:-93.74, Z:-3.67 [[-4.32855614e-01 9.01409406e-01 9.85392513e-03 2.62664400e+02] [ 9.01171450e-01 4.32967754e-01 -2.07109012e-02 -9.37434722e+01] [-2.29354330e-02 -8.47538877e-05 -9.99736945e-01 -3.67075806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76655999499997 meters 0.016568957043720932 Centerline is valid? [True, True] Translation: X:262.66, Y:-93.71, Z:-3.67 [[-5.07855152e-01 8.61359216e-01 1.19768978e-02 2.62663039e+02] [ 8.61110041e-01 5.07996317e-01 -2.07180692e-02 -9.37137626e+01] [-2.39299198e-02 -2.08351204e-04 -9.99713617e-01 -3.66984711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82655999499997 meters 0.015264915911884372 Centerline is valid? [True, True] Translation: X:262.66, Y:-93.69, Z:-3.67 [[-5.79153842e-01 8.15119717e-01 1.26757586e-02 2.62657700e+02] [ 8.14909487e-01 5.79292407e-01 -1.85158113e-02 -9.36860986e+01] [-2.24355735e-02 -3.93907298e-04 -9.99748213e-01 -3.67188455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88655999499997 meters 0.013888398268898716 Centerline is valid? [True, True] Translation: X:262.65, Y:-93.66, Z:-3.67 [[-6.44367090e-01 7.64583380e-01 1.42586297e-02 2.62650861e+02] [ 7.64379562e-01 6.44524650e-01 -1.76596071e-02 -9.36559335e+01] [-2.26922805e-02 -4.80264504e-04 -9.99742382e-01 -3.67209718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.946559995 meters 0.013033381529635676 Centerline is valid? [True, True] Translation: X:262.64, Y:-93.63, Z:-3.67 [[-7.05059992e-01 7.08967654e-01 1.59773005e-02 2.62639530e+02] [ 7.08767453e-01 7.05240776e-01 -1.68566291e-02 -9.36280982e+01] [-2.32186486e-02 -5.60744197e-04 -9.99730254e-01 -3.67234919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.006559995 meters 0.012443181478628069 Centerline is valid? [True, True] Translation: X:262.66, Y:-93.61, Z:-3.67 [[-7.54692965e-01 6.55887897e-01 1.57985954e-02 2.62660503e+02] [ 6.55729125e-01 7.54858117e-01 -1.44408221e-02 -9.36058293e+01] [-2.13972584e-02 -5.38787680e-04 -9.99770907e-01 -3.67466077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.066559995 meters 0.012343405364992921 Centerline is valid? [True, True] Translation: X:262.68, Y:-93.58, Z:-3.68 [[-7.99448988e-01 6.00512009e-01 1.63292217e-02 2.62677991e+02] [ 6.00372570e-01 7.99615548e-01 -1.29519670e-02 -9.35829079e+01] [-2.08349112e-02 -5.50820087e-04 -9.99782778e-01 -3.67519722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.126559995 meters 0.012289888781115893 Centerline is valid? [True, True] Translation: X:262.69, Y:-93.56, Z:-3.68 [[-8.40129705e-01 5.42128179e-01 1.67067670e-02 2.62694916e+02] [ 5.42007607e-01 8.40295616e-01 -1.14468986e-02 -9.35600786e+01] [-2.02443093e-02 -5.61684732e-04 -9.99794905e-01 -3.67541769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.186559995 meters 0.012213454812785426 Centerline is valid? [True, True] Translation: X:262.71, Y:-93.54, Z:-3.68 [[-8.76704654e-01 4.80727249e-01 1.70370621e-02 2.62706550e+02] [ 4.80623612e-01 8.76869990e-01 -9.99822488e-03 -9.35353737e+01] [-1.97457076e-02 -5.77075978e-04 -9.99804868e-01 -3.67683121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.246559995 meters 0.012388322978571996 Centerline is valid? [True, True] Translation: X:262.72, Y:-93.51, Z:-3.67 [[-9.09092680e-01 4.16166009e-01 1.88772855e-02 2.62719334e+02] [ 4.16062673e-01 9.09288458e-01 -9.29256125e-03 -9.35095613e+01] [-2.10321460e-02 -5.93665538e-04 -9.99778624e-01 -3.67464174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.306559995 meters 0.01198742534965073 Centerline is valid? [True, True] Translation: X:262.73, Y:-93.48, Z:-3.68 [[-9.36575990e-01 3.49891088e-01 2.00409835e-02 2.62727671e+02] [ 3.49797076e-01 9.36790189e-01 -8.13313433e-03 -9.34820998e+01] [-2.16199080e-02 -6.07020902e-04 -9.99766078e-01 -3.67527176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.366559995 meters 0.012043390532936843 Centerline is valid? [True, True] Translation: X:262.73, Y:-93.46, Z:-3.68 [[-9.59175739e-01 2.82051347e-01 2.07108627e-02 2.62734696e+02] [ 2.81971670e-01 9.59399112e-01 -6.73207493e-03 -9.34567226e+01] [-2.17687740e-02 -6.17366420e-04 -9.99762842e-01 -3.67650323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.426559995 meters 0.01197633551499562 Centerline is valid? [True, True] Translation: X:262.93, Y:-92.82, Z:-4.66 [[-9.42237016e-01 -3.34946667e-01 -3.68345356e-04 2.62933468e+02] [ 3.34946827e-01 -9.42236883e-01 -5.29442184e-04 -9.28184590e+01] [-1.69733685e-04 -6.22236132e-04 9.99999792e-01 -4.65902432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48655999499994 meters 0.012346152540641303 Centerline is valid? [True, True] Translation: X:262.69, Y:-93.45, Z:-3.68 [[-9.59825051e-01 2.79817550e-01 2.09287170e-02 2.62689877e+02] [ 2.79737756e-01 9.60053019e-01 -6.70739684e-03 -9.34457215e+01] [-2.19695253e-02 -5.83375171e-04 -9.99758471e-01 -3.67579696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54655999499994 meters 0.012517970297574614 Centerline is valid? [True, True] Translation: X:262.70, Y:-93.42, Z:-3.68 [[-9.76541329e-01 2.14310945e-01 2.09249179e-02 2.62695866e+02] [ 2.14250526e-01 9.76765354e-01 -5.11413239e-03 -9.34244173e+01] [-2.15347494e-02 -5.10986959e-04 -9.99767970e-01 -3.67805150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60655999499994 meters 0.012835867905298661 Centerline is valid? [True, True] Translation: X:262.70, Y:-93.40, Z:-3.68 [[-9.89184784e-01 1.45125263e-01 2.12631323e-02 2.62698041e+02] [ 1.45080977e-01 9.89413166e-01 -3.61900713e-03 -9.33986594e+01] [-2.15632324e-02 -4.94990785e-04 -9.99767364e-01 -3.67761591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66655999499994 meters 0.013112420409373056 Centerline is valid? [True, True] Translation: X:262.81, Y:-92.72, Z:-4.66 [[-9.82084320e-01 -1.88440727e-01 6.92786175e-04 2.62806713e+02] [ 1.88440231e-01 -9.82084394e-01 -7.23297393e-04 -9.27242647e+01] [ 8.16673177e-04 -5.79790242e-04 9.99999498e-01 -4.66106177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72655999499995 meters 0.013112420409373056 Centerline is valid? [True, True] Translation: X:262.65, Y:-93.39, Z:-3.68 [[-9.89601768e-01 1.42261984e-01 2.12101029e-02 2.62650068e+02] [ 1.42219039e-01 9.89828926e-01 -3.52730742e-03 -9.33944164e+01] [-2.14961751e-02 -4.74149203e-04 -9.99768818e-01 -3.67791948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78655999499995 meters 0.013388679054158636 Centerline is valid? [True, True] Translation: X:262.75, Y:-92.72, Z:-4.66 [[-9.83227733e-01 -1.82381434e-01 4.86962488e-04 2.62753913e+02] [ 1.82381100e-01 -9.83227694e-01 -6.60915775e-04 -9.27156512e+01] [ 5.99333771e-04 -5.61017965e-04 9.99999663e-01 -4.66103475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84655999499995 meters 0.014009127073628067 Centerline is valid? [True, True] Translation: X:262.60, Y:-93.39, Z:-3.68 [[-9.89245951e-01 1.44705961e-01 2.12751883e-02 2.62598948e+02] [ 1.44665279e-01 9.89474646e-01 -3.44712387e-03 -9.33941891e+01] [-2.15500787e-02 -3.32272286e-04 -9.99767715e-01 -3.67869452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90655999499995 meters 0.014649786527357161 Centerline is valid? [True, True] Translation: X:262.70, Y:-92.70, Z:-4.66 [[-9.85144489e-01 -1.71724806e-01 9.62407195e-04 2.62702352e+02] [ 1.71724158e-01 -9.85144809e-01 -7.20128780e-04 -9.27038492e+01] [ 1.07177443e-03 -5.44162334e-04 9.99999278e-01 -4.66227689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96655999499995 meters 0.01598214624562988 Centerline is valid? [True, True] Translation: X:262.55, Y:-93.39, Z:-3.68 [[-9.89045329e-01 1.46062269e-01 2.13342750e-02 2.62546817e+02] [ 1.46023699e-01 9.89275376e-01 -3.36309621e-03 -9.33947625e+01] [-2.15966944e-02 -2.10944851e-04 -9.99766742e-01 -3.67849901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02655999499996 meters 0.01564977922085864 Centerline is valid? [True, True] Translation: X:262.54, Y:-93.37, Z:-3.68 [[-9.96914596e-01 7.56010008e-02 2.11134334e-02 2.62544886e+02] [ 7.55795615e-02 9.97138127e-01 -1.81270041e-03 -9.33673934e+01] [-2.11900514e-02 -2.11363457e-04 -9.99775443e-01 -3.67963218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08655999499996 meters 0.015119065383366966 Centerline is valid? [True, True] Translation: X:262.54, Y:-93.34, Z:-3.68 [[-9.99795202e-01 1.77511550e-03 2.01594462e-02 2.62542444e+02] [ 1.76888107e-03 9.99998382e-01 -3.27083161e-04 -9.33393786e+01] [-2.01599942e-02 -2.91356512e-04 -9.99796724e-01 -3.68056246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14655999499996 meters 0.013794349025349376 Centerline is valid? [True, True] Translation: X:262.54, Y:-92.64, Z:-4.66 [[-9.99564499e-01 -2.94667651e-02 -1.58810861e-03 2.62537774e+02] [ 2.94678879e-02 -9.99565491e-01 -6.88302585e-04 -9.26359851e+01] [-1.56713651e-03 -7.34801035e-04 9.99998502e-01 -4.66139988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20655999499996 meters 0.013034706907817648 Centerline is valid? [True, True] Translation: X:262.47, Y:-93.34, Z:-3.68 [[-9.99754644e-01 -1.25784149e-02 1.82328343e-02 2.62467692e+02] [-1.25857444e-02 9.99920755e-01 -2.87297304e-04 -9.33357622e+01] [-1.82277757e-02 -5.16700606e-04 -9.99833727e-01 -3.68179347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26655999499997 meters 0.012046222886503373 Centerline is valid? [True, True] Translation: X:262.45, Y:-93.31, Z:-3.68 [[-9.95647815e-01 -9.12359794e-02 1.90111750e-02 2.62452602e+02] [-9.12316334e-02 9.95829094e-01 1.09758145e-03 -9.33061210e+01] [-1.90320201e-02 -6.41615974e-04 -9.99818669e-01 -3.68055489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32655999499997 meters 0.012305554626475214 Centerline is valid? [True, True] Translation: X:262.44, Y:-93.27, Z:-3.68 [[-9.84898025e-01 -1.71974453e-01 2.00166890e-02 2.62439430e+02] [-1.71956247e-01 9.85101050e-01 2.64011494e-03 -9.32747740e+01] [-2.01724936e-02 -8.41750720e-04 -9.99796160e-01 -3.67932059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38655999499997 meters 0.013049824855687273 Centerline is valid? [True, True] Translation: X:262.42, Y:-93.25, Z:-3.68 [[-9.68388997e-01 -2.48691970e-01 1.93663095e-02 2.62422460e+02] [-2.48662345e-01 9.68582131e-01 3.96148445e-03 -9.32473410e+01] [-1.97430507e-02 -9.79414000e-04 -9.99804607e-01 -3.68053731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.446559995 meters 0.015007180513280873 Centerline is valid? [True, True] Translation: X:262.40, Y:-93.22, Z:-3.68 [[-9.45554788e-01 -3.24941656e-01 1.84136517e-02 2.62396890e+02] [-3.24902983e-01 9.45733396e-01 5.13773983e-03 -9.32227246e+01] [-1.90838710e-02 -1.12463587e-03 -9.99817254e-01 -3.68148998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.506559995 meters 0.01541600719361118 Centerline is valid? [True, True] Translation: X:262.37, Y:-93.21, Z:-3.68 [[-9.18803352e-01 -3.94331217e-01 1.74152744e-02 2.62365104e+02] [-3.94283926e-01 9.18967657e-01 6.21530523e-03 -9.32066743e+01] [-1.84549628e-02 -1.15591948e-03 -9.99829024e-01 -3.68279554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.566559995 meters 0.015643785293132314 Centerline is valid? [True, True] Translation: X:262.09, Y:-92.60, Z:-4.67 [[-9.58272012e-01 2.85845491e-01 -2.66578962e-03 2.62092730e+02] [-2.85841941e-01 -9.58275380e-01 -1.63738137e-03 -9.25998144e+01] [-3.02259865e-03 -8.07062264e-04 9.99995106e-01 -4.66501693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.626559995 meters 0.015908483579429953 Centerline is valid? [True, True] Translation: X:262.22, Y:-93.27, Z:-3.68 [[-9.15328970e-01 -4.02334120e-01 1.73243370e-02 2.62219949e+02] [-4.02286614e-01 9.15492112e-01 6.29873326e-03 -9.32667987e+01] [-1.83944892e-02 -1.20393584e-03 -9.99830082e-01 -3.68460007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.686559995 meters 0.015972373629957067 Centerline is valid? [True, True] Translation: X:262.16, Y:-93.27, Z:-3.68 [[-8.83386668e-01 -4.68268852e-01 1.87690172e-02 2.62162001e+02] [-4.68192506e-01 8.83585168e-01 8.54567878e-03 -9.32654252e+01] [-2.05857004e-02 -1.23837450e-03 -9.99787325e-01 -3.68301341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.746559995 meters 0.01561069695806043 Centerline is valid? [True, True] Translation: X:262.10, Y:-93.27, Z:-3.68 [[-8.47062101e-01 -5.31169878e-01 1.85568635e-02 2.62097861e+02] [-5.31073684e-01 8.47264451e-01 1.01829624e-02 -9.32740251e+01] [-2.11314537e-02 -1.22946032e-03 -9.99775950e-01 -3.68313059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.806559995 meters 0.01458277703735513 Centerline is valid? [True, True] Translation: X:262.03, Y:-93.29, Z:-3.69 [[-8.08215817e-01 -5.88668660e-01 1.60125860e-02 2.62030917e+02] [-5.88579291e-01 8.08373692e-01 1.03147198e-02 -9.32944424e+01] [-1.90161056e-02 -1.08815682e-03 -9.99818585e-01 -3.68598481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.866559995 meters 0.012758909724660041 Centerline is valid? [True, True] Translation: X:261.96, Y:-93.33, Z:-3.69 [[-7.67089396e-01 -6.41394730e-01 1.36623650e-02 2.61958410e+02] [-6.41313839e-01 7.67210506e-01 1.02273907e-02 -9.33291151e+01] [-1.70417044e-02 -9.16540836e-04 -9.99854360e-01 -3.69041786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.926559995 meters 0.01251477168437083 Centerline is valid? [True, True] Translation: X:261.88, Y:-93.37, Z:-3.69 [[-7.18873316e-01 -6.95018721e-01 1.30435100e-02 2.61879480e+02] [-6.94925645e-01 7.18991120e-01 1.14068629e-02 -9.33665632e+01] [-1.73061511e-02 -8.64180205e-04 -9.99849864e-01 -3.69183744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98655999499994 meters 0.012662743052522912 Centerline is valid? [True, True] Translation: X:261.79, Y:-93.41, Z:-3.69 [[-6.64012269e-01 -7.47577092e-01 1.47037013e-02 2.61791547e+02] [-7.47423125e-01 6.64174439e-01 1.51982590e-02 -9.34125129e+01] [-2.11276928e-02 -8.98055889e-04 -9.99776382e-01 -3.68929836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04655999499994 meters 0.012746083029239987 Centerline is valid? [True, True] Translation: X:261.71, Y:-93.47, Z:-3.69 [[-6.06837530e-01 -7.94709829e-01 1.35831020e-02 2.61708319e+02] [-7.94541816e-01 6.06988916e-01 1.63633412e-02 -9.34705730e+01] [-2.12489005e-02 -8.62452981e-04 -9.99773845e-01 -3.69104220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10655999499994 meters 0.012448428045265025 Centerline is valid? [True, True] Translation: X:261.63, Y:-93.54, Z:-3.70 [[-5.46300290e-01 -8.37502223e-01 1.20838748e-02 2.61626635e+02] [-8.37329665e-01 5.46433303e-01 1.70199192e-02 -9.35398369e+01] [-2.08572517e-02 -8.20200022e-04 -9.99782127e-01 -3.69507055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16655999499994 meters 0.01234167605118268 Centerline is valid? [True, True] Translation: X:261.55, Y:-93.61, Z:-3.70 [[-4.84482336e-01 -8.74738898e-01 1.04272306e-02 2.61550408e+02] [-8.74567964e-01 4.84593977e-01 1.73076342e-02 -9.36111316e+01] [-2.01926340e-02 -7.34078723e-04 -9.99795838e-01 -3.69692372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22655999499995 meters 0.012318717174043977 Centerline is valid? [True, True] Translation: X:261.47, Y:-93.70, Z:-3.70 [[-4.17319363e-01 -9.08714516e-01 9.08174598e-03 2.61474596e+02] [-9.08535059e-01 4.17417568e-01 1.80726185e-02 -9.36988131e+01] [-2.02137311e-02 -7.09030974e-04 -9.99795430e-01 -3.69991470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28655999499995 meters 0.01240746509166931 Centerline is valid? [True, True] Translation: X:261.41, Y:-93.78, Z:-3.70 [[-3.47864034e-01 -9.37513503e-01 7.68414622e-03 2.61408011e+02] [-9.37326285e-01 3.47948227e-01 1.87474320e-02 -9.37824520e+01] [-2.02496557e-02 -6.80994907e-04 -9.99794723e-01 -3.70280773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34655999499995 meters 0.01239578363036105 Centerline is valid? [True, True] Translation: X:261.35, Y:-93.88, Z:-3.71 [[-2.76650865e-01 -9.60951227e-01 6.08596964e-03 2.61345019e+02] [-9.60767731e-01 2.76717038e-01 1.87895813e-02 -9.38841168e+01] [-1.97399627e-02 -6.49049325e-04 -9.99804937e-01 -3.70506057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40655999499995 meters 0.012601912728956237 Centerline is valid? [True, True] Translation: X:261.29, Y:-93.98, Z:-3.71 [[-2.04149971e-01 -9.78929068e-01 4.54629134e-03 2.61291787e+02] [-9.78748513e-01 2.04199676e-01 1.88106529e-02 -9.39824612e+01] [-1.93426461e-02 -6.09481658e-04 -9.99812728e-01 -3.70668123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46655999499995 meters 0.012680612594159977 Centerline is valid? [True, True] Translation: X:261.24, Y:-94.09, Z:-3.71 [[-1.29048494e-01 -9.91632641e-01 3.34544016e-03 2.61243669e+02] [-9.91406090e-01 1.29090546e-01 2.12036867e-02 -9.40937673e+01] [-2.14581325e-02 -5.80385901e-04 -9.99769579e-01 -3.70723721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52655999499996 meters 0.01279292536532088 Centerline is valid? [True, True] Translation: X:261.21, Y:-94.20, Z:-3.71 [[-5.29889966e-02 -9.98593561e-01 1.75133076e-03 2.61206254e+02] [-9.98345145e-01 5.30148891e-02 2.22798855e-02 -9.42010601e+01] [-2.23413968e-02 -5.67843788e-04 -9.99750239e-01 -3.70817868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58655999499996 meters 0.012878961031959584 Centerline is valid? [True, True] Translation: X:260.52, Y:-94.27, Z:-4.68 [[-1.06038368e-01 9.94361618e-01 9.15298412e-04 2.60518917e+02] [-9.94357655e-01 -1.06040589e-01 2.87190302e-03 -9.42690485e+01] [ 2.95276892e-03 -6.05602074e-04 9.99995457e-01 -4.68022201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64655999499996 meters 0.012755916689155228 Centerline is valid? [True, True] Translation: X:261.19, Y:-94.48, Z:-3.71 [[-4.36172164e-02 -9.99047256e-01 1.45540610e-03 2.61186826e+02] [-9.98849505e-01 4.36375518e-02 1.98854569e-02 -9.44802257e+01] [-1.99300215e-02 -5.86383389e-04 -9.99801205e-01 -3.71464070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70655999499996 meters 0.01258603574904683 Centerline is valid? [True, True] Translation: X:261.15, Y:-94.60, Z:-3.71 [[ 3.54538932e-02 -9.99371295e-01 -1.90732078e-04 2.61153511e+02] [-9.99115141e-01 -3.54491256e-02 2.26339114e-02 -9.45979593e+01] [-2.26264426e-02 -6.11896971e-04 -9.99743802e-01 -3.71394435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76655999499997 meters 0.012540897654819512 Centerline is valid? [True, True] Translation: X:261.13, Y:-94.72, Z:-3.71 [[ 1.19000854e-01 -9.92891176e-01 -2.43107435e-03 2.61126992e+02] [-9.92528873e-01 -1.19023128e-01 2.68315475e-02 -9.47201232e+01] [-2.69301609e-02 -7.80065591e-04 -9.99637013e-01 -3.71127480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82655999499997 meters 0.012540897654819512 Centerline is valid? [True, True] Translation: X:261.12, Y:-94.84, Z:-3.71 [[ 1.94562858e-01 -9.80879848e-01 -4.47410909e-03 2.61117997e+02] [-9.80521059e-01 -1.94612744e-01 2.65392723e-02 -9.48357911e+01] [-2.69025561e-02 -7.76598477e-04 -9.99637759e-01 -3.71259259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88655999499997 meters 0.01259011631504747 Centerline is valid? [True, True] Translation: X:261.12, Y:-94.96, Z:-3.71 [[ 2.69739672e-01 -9.62909739e-01 -6.73378258e-03 2.61120035e+02] [-9.62532054e-01 -2.69822537e-01 2.69785815e-02 -9.49591807e+01] [-2.77948651e-02 -7.95712150e-04 -9.99613331e-01 -3.71390240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.946559995 meters 0.01259011631504747 Centerline is valid? [True, True] Translation: X:261.13, Y:-95.08, Z:-3.72 [[ 3.42656606e-01 -9.39419760e-01 -8.77297903e-03 2.61129126e+02] [-9.39050278e-01 -3.42767976e-01 2.63569687e-02 -9.50753837e+01] [-2.77673535e-02 -7.93121029e-04 -9.99614098e-01 -3.71521820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.006559995 meters 0.012631283432688663 Centerline is valid? [True, True] Translation: X:261.15, Y:-95.19, Z:-3.72 [[ 4.15059842e-01 -9.09722956e-01 -1.13785482e-02 2.61146764e+02] [-9.09323767e-01 -4.15214924e-01 2.69602101e-02 -9.51873915e+01] [-2.92508650e-02 -8.43316269e-04 -9.99571746e-01 -3.71649139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.066559995 meters 0.01321419888045363 Centerline is valid? [True, True] Translation: X:261.18, Y:-95.30, Z:-3.72 [[ 4.84845665e-01 -8.74456178e-01 -1.58453448e-02 2.61175902e+02] [-8.73925963e-01 -4.85103643e-01 3.04608934e-02 -9.52995830e+01] [-3.43233509e-02 -9.21173904e-04 -9.99410356e-01 -3.71542645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.126559995 meters 0.014834810741323248 Centerline is valid? [True, True] Translation: X:261.21, Y:-95.41, Z:-3.71 [[ 5.53001542e-01 -8.32937643e-01 -2.01041805e-02 2.61212158e+02] [-8.32315925e-01 -5.53365826e-01 3.21941549e-02 -9.54117006e+01] [-3.79406899e-02 -1.07038771e-03 -9.99279420e-01 -3.71122730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.186559995 meters 0.015151418900473423 Centerline is valid? [True, True] Translation: X:261.26, Y:-95.52, Z:-3.72 [[ 6.23219217e-01 -7.81791646e-01 -1.99907348e-02 2.61256467e+02] [-7.81316659e-01 -6.23538215e-01 2.72832161e-02 -9.55191601e+01] [-3.37947775e-02 -1.38433044e-03 -9.99427835e-01 -3.72171591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.246559995 meters 0.016338595136524362 Centerline is valid? [True, True] Translation: X:261.30, Y:-95.62, Z:-3.73 [[ 6.85707807e-01 -7.27591329e-01 -2.03877655e-02 2.61303740e+02] [-7.27201547e-01 -6.86009108e-01 2.38623895e-02 -9.56224018e+01] [-3.13482605e-02 -1.53661215e-03 -9.99507341e-01 -3.72646702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.306559995 meters 0.019162643199966595 Centerline is valid? [True, True] Translation: X:261.35, Y:-95.72, Z:-3.73 [[ 7.43084372e-01 -6.68873211e-01 -2.08385132e-02 2.61353798e+02] [-6.68545903e-01 -7.43374640e-01 2.09885825e-02 -9.57202619e+01] [-2.95295229e-02 -1.66478503e-03 -9.99562522e-01 -3.72865645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.366559995 meters 0.021234455922881604 Centerline is valid? [True, True] Translation: X:261.38, Y:-95.75, Z:-3.73 [[ 7.96319996e-01 -6.04534915e-01 -2.02977909e-02 2.61375916e+02] [-6.04281693e-01 -7.96576755e-01 1.75815094e-02 -9.57496120e+01] [-2.67973847e-02 -1.73492407e-03 -9.99639380e-01 -3.73231194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.426559995 meters 0.02318702491053983 Centerline is valid? [True, True] Translation: X:261.40, Y:-95.78, Z:-3.74 [[ 8.44784894e-01 -5.34741944e-01 -1.97366604e-02 2.61397870e+02] [-5.34544780e-01 -8.45013475e-01 1.46323366e-02 -9.57794280e+01] [-2.45022682e-02 -1.81104813e-03 -9.99698134e-01 -3.73614629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48655999499994 meters 0.024044469227013695 Centerline is valid? [True, True] Translation: X:261.42, Y:-95.81, Z:-3.74 [[ 8.84613965e-01 -4.65843509e-01 -2.11650203e-02 2.61424587e+02] [-4.65658899e-01 -8.84865166e-01 1.32449120e-02 -9.58053031e+01] [-2.48982455e-02 -1.86095405e-03 -9.99688259e-01 -3.73503364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54655999499994 meters 0.022644849984257653 Centerline is valid? [True, True] Translation: X:261.46, Y:-95.82, Z:-3.74 [[ 9.16577022e-01 -3.99286805e-01 -2.13684175e-02 2.61456943e+02] [-3.99134083e-01 -9.16824471e-01 1.11746664e-02 -9.58210803e+01] [-2.40529849e-02 -1.71357876e-03 -9.99709217e-01 -3.73616678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60655999499994 meters 0.019680571354616136 Centerline is valid? [True, True] Translation: X:261.49, Y:-95.83, Z:-3.74 [[ 9.42419912e-01 -3.33920057e-01 -1.84960849e-02 2.61491128e+02] [-3.33826544e-01 -9.42600379e-01 8.02273962e-03 -9.58309575e+01] [-2.01133703e-02 -1.38630547e-03 -9.99796745e-01 -3.73939042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66655999499994 meters 0.011802284271577668 Centerline is valid? [True, True] Translation: X:261.53, Y:-95.81, Z:-3.73 [[ 9.55229569e-01 -2.95320394e-01 -1.79536953e-02 2.61533175e+02] [-2.95255761e-01 -9.55398067e-01 6.21045400e-03 -9.58147926e+01] [-1.89869996e-02 -6.31477325e-04 -9.99819531e-01 -3.73124453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72655999499995 meters 0.011792480092420654 Centerline is valid? [True, True] Translation: X:261.56, Y:-95.83, Z:-3.73 [[ 9.75290170e-01 -2.20140153e-01 -1.86386112e-02 2.61562513e+02] [-2.20087780e-01 -9.75468056e-01 4.84148748e-03 -9.58304334e+01] [-1.92471756e-02 -6.19724578e-04 -9.99814564e-01 -3.73158534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78655999499995 meters 0.011792480092420654 Centerline is valid? [True, True] Translation: X:261.59, Y:-95.84, Z:-3.73 [[ 9.89528078e-01 -1.43093369e-01 -1.89332991e-02 2.61590225e+02] [-1.43055199e-01 -9.89709000e-01 3.36230106e-03 -9.58432664e+01] [-1.92195795e-02 -6.18584445e-04 -9.99815095e-01 -3.73211522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84655999499995 meters 0.012016238830233821 Centerline is valid? [True, True] Translation: X:261.62, Y:-95.85, Z:-3.73 [[ 9.97663497e-01 -6.54412974e-02 -1.96209740e-02 2.61617825e+02] [-6.54166396e-02 -9.97856235e-01 1.89660253e-03 -9.58514032e+01] [-1.97030274e-02 -6.08632926e-04 -9.99805691e-01 -3.73107499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90655999499995 meters 0.011755925666900114 Centerline is valid? [True, True] Translation: X:261.65, Y:-95.86, Z:-3.73 [[ 9.99729540e-01 1.27289418e-02 -1.94633267e-02 2.61647033e+02] [ 1.27382901e-02 -9.99918801e-01 3.56398995e-04 -9.58596640e+01] [-1.94572097e-02 -6.04232105e-04 -9.99810508e-01 -3.73169844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96655999499995 meters 0.011755925666900114 Centerline is valid? [True, True] Translation: X:261.68, Y:-95.87, Z:-3.73 [[ 9.95660761e-01 9.10117183e-02 -1.94040168e-02 2.61675656e+02] [ 9.10062094e-02 -9.95849639e-01 -1.16857780e-03 -9.58654136e+01] [-1.94298374e-02 -6.02378960e-04 -9.99811041e-01 -3.73221250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02655999499996 meters 0.011755925666900114 Centerline is valid? [True, True] Translation: X:261.70, Y:-95.87, Z:-3.73 [[ 9.85479465e-01 1.68702691e-01 -1.92256915e-02 2.61704822e+02] [ 1.68682439e-01 -9.85666801e-01 -2.68190227e-03 -9.58688728e+01] [-1.94025700e-02 -6.00076920e-04 -9.99811572e-01 -3.73272667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08655999499996 meters 0.011723976021605829 Centerline is valid? [True, True] Translation: X:261.73, Y:-95.87, Z:-3.73 [[ 9.69273771e-01 2.45267161e-01 -1.87716800e-02 2.61734712e+02] [ 2.45233064e-01 -9.69455343e-01 -4.13299357e-03 -9.58692225e+01] [-1.92119930e-02 -5.97434317e-04 -9.99815254e-01 -3.73286432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14655999499996 meters 0.011646255652505565 Centerline is valid? [True, True] Translation: X:261.76, Y:-95.87, Z:-3.73 [[ 9.46768050e-01 3.21410461e-01 -1.80437053e-02 2.61764356e+02] [ 3.21364454e-01 -9.46939774e-01 -5.47287148e-03 -9.58677452e+01] [-1.88453404e-02 -6.17065650e-04 -9.99822220e-01 -3.73317934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20655999499996 meters 0.011382992510780301 Centerline is valid? [True, True] Translation: X:261.80, Y:-95.87, Z:-3.73 [[ 9.17822720e-01 3.96656245e-01 -1.62873623e-02 2.61795576e+02] [ 3.96606460e-01 -9.17966986e-01 -6.31888488e-03 -9.58670244e+01] [-1.74576860e-02 -6.60056989e-04 -9.99847385e-01 -3.73477211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26655999499997 meters 0.011405422832316752 Centerline is valid? [True, True] Translation: X:261.83, Y:-95.87, Z:-3.74 [[ 8.79997867e-01 4.74846329e-01 -1.11677231e-02 2.61828658e+02] [ 4.74819037e-01 -8.80068388e-01 -5.14912750e-03 -9.58692363e+01] [-1.22734044e-02 -7.71426318e-04 -9.99924381e-01 -3.73770573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32655999499997 meters 0.012278973517754437 Centerline is valid? [True, True] Translation: X:261.86, Y:-95.87, Z:-3.74 [[ 8.37063524e-01 5.47024630e-01 -9.41859973e-03 2.61860197e+02] [ 5.47000753e-01 -8.37116111e-01 -5.17619330e-03 -9.58658772e+01] [-1.07159668e-02 -8.19178542e-04 -9.99942247e-01 -3.73839307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38655999499997 meters 0.013368629987698487 Centerline is valid? [True, True] Translation: X:261.89, Y:-95.86, Z:-3.74 [[ 7.87909510e-01 6.15732178e-01 -8.51410750e-03 2.61891961e+02] [ 6.15707810e-01 -7.87955028e-01 -5.54678432e-03 -9.58592952e+01] [-1.01240674e-02 -8.71838372e-04 -9.99948370e-01 -3.73810191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.446559995 meters 0.014152467098642051 Centerline is valid? [True, True] Translation: X:261.92, Y:-95.85, Z:-3.74 [[ 7.36335657e-01 6.76566448e-01 -8.22447626e-03 2.61920423e+02] [ 6.76537229e-01 -7.36381051e-01 -6.35021920e-03 -9.58477621e+01] [-1.03526937e-02 -8.88271551e-04 -9.99946015e-01 -3.73804366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.506559995 meters 0.014355683622406122 Centerline is valid? [True, True] Translation: X:261.95, Y:-95.83, Z:-3.74 [[ 6.80515783e-01 7.32683774e-01 -8.52980070e-03 2.61946700e+02] [ 7.32642480e-01 -6.80568618e-01 -7.83279759e-03 -9.58323650e+01] [-1.15440784e-02 -9.18951959e-04 -9.99932943e-01 -3.73697721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.566559995 meters 0.013584965845584605 Centerline is valid? [True, True] Translation: X:261.97, Y:-95.81, Z:-3.74 [[ 6.23099940e-01 7.82098149e-01 -8.30360756e-03 2.61968388e+02] [ 7.82047118e-01 -6.23154618e-01 -8.97930341e-03 -9.58125620e+01] [-1.21971280e-02 -8.98808942e-04 -9.99925208e-01 -3.73654685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.626559995 meters 0.011911384000430255 Centerline is valid? [True, True] Translation: X:261.98, Y:-95.79, Z:-3.74 [[ 5.66199990e-01 8.24228121e-01 -8.09789884e-03 2.61984987e+02] [ 8.24163542e-01 -5.66257311e-01 -1.03495726e-02 -9.57883624e+01] [-1.31159032e-02 -8.14065102e-04 -9.99913651e-01 -3.73605393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.686559995 meters 0.011081846171783987 Centerline is valid? [True, True] Translation: X:262.00, Y:-95.77, Z:-3.74 [[ 5.06414277e-01 8.62259581e-01 -7.27978425e-03 2.62000237e+02] [ 8.62189893e-01 -5.06466096e-01 -1.09855158e-02 -9.57651494e+01] [-1.31593302e-02 -7.13334335e-04 -9.99913158e-01 -3.73639869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.746559995 meters 0.011224200945855025 Centerline is valid? [True, True] Translation: X:262.02, Y:-95.74, Z:-3.74 [[ 4.44096216e-01 8.95963329e-01 -5.31640352e-03 2.62017832e+02] [ 8.95915050e-01 -4.44127599e-01 -9.32196070e-03 -9.57435637e+01] [-1.07132965e-02 -6.23198460e-04 -9.99942417e-01 -3.73808090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.806559995 meters 0.011416642793667955 Centerline is valid? [True, True] Translation: X:262.03, Y:-95.72, Z:-3.74 [[ 3.74605877e-01 9.27172931e-01 -4.56003749e-03 2.62033914e+02] [ 9.27122482e-01 -3.74633153e-01 -9.69040994e-03 -9.57217464e+01] [-1.06930270e-02 -5.97628764e-04 -9.99942649e-01 -3.73915552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.866559995 meters 0.011439610082456827 Centerline is valid? [True, True] Translation: X:262.05, Y:-95.70, Z:-3.74 [[ 3.00017190e-01 9.53925607e-01 -3.95255610e-03 2.62049087e+02] [ 9.53867322e-01 -3.00042623e-01 -1.05620573e-02 -9.56983324e+01] [-1.12613522e-02 -6.01415343e-04 -9.99936408e-01 -3.73938881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.926559995 meters 0.011243412287475914 Centerline is valid? [True, True] Translation: X:262.07, Y:-95.67, Z:-3.74 [[ 2.22379865e-01 9.74954458e-01 -3.31678864e-03 2.62065254e+02] [ 9.74883756e-01 -2.22403737e-01 -1.17575627e-02 -9.56740309e+01] [-1.22007543e-02 -6.18838167e-04 -9.99925377e-01 -3.73844812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98655999499994 meters 0.01123701246392731 Centerline is valid? [True, True] Translation: X:262.08, Y:-95.65, Z:-3.74 [[ 1.40571064e-01 9.90067917e-01 -2.30112960e-03 2.62084358e+02] [ 9.90002464e-01 -1.40588276e-01 -1.14042511e-02 -9.56496842e+01] [-1.16144949e-02 -6.75016277e-04 -9.99932322e-01 -3.73842594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04655999499994 meters 0.011263235503783851 Centerline is valid? [True, True] Translation: X:262.10, Y:-95.62, Z:-3.74 [[ 5.99169601e-02 9.98202440e-01 -1.35901402e-03 2.62099524e+02] [ 9.98142851e-01 -5.99282633e-02 -1.09294408e-02 -9.56231257e+01] [-1.09912378e-02 -7.01631258e-04 -9.99939348e-01 -3.73935712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10655999499994 meters 0.011472130616003648 Centerline is valid? [True, True] Translation: X:262.11, Y:-95.60, Z:-3.74 [[-2.11830324e-02 9.99775486e-01 -5.06926177e-04 2.62113558e+02] [ 9.99722558e-01 2.11766819e-02 -1.03128738e-02 -9.55953589e+01] [-1.02998234e-02 -7.25243474e-04 -9.99946692e-01 -3.74034944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16655999499994 meters 0.011807126229614526 Centerline is valid? [True, True] Translation: X:262.12, Y:-95.57, Z:-3.74 [[-1.01496303e-01 9.94835885e-01 2.49088128e-04 2.62123436e+02] [ 9.94788596e-01 1.01493914e-01 -9.72800339e-03 -9.55661675e+01] [-9.70304779e-03 -7.39566348e-04 -9.99952651e-01 -3.74070127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22655999499995 meters 0.012171886262416385 Centerline is valid? [True, True] Translation: X:262.13, Y:-95.54, Z:-3.74 [[-1.80580859e-01 9.83559597e-01 1.03523379e-03 2.62130179e+02] [ 9.83510954e-01 1.80582255e-01 -9.81087893e-03 -9.55370445e+01] [-9.83652898e-03 -7.53493175e-04 -9.99951336e-01 -3.74079719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28655999499995 meters 0.012572443879154157 Centerline is valid? [True, True] Translation: X:262.13, Y:-95.51, Z:-3.74 [[-2.59026047e-01 9.65868551e-01 1.85711346e-03 2.62132797e+02] [ 9.65817985e-01 2.59031547e-01 -9.91347492e-03 -9.55069767e+01] [-1.00561646e-02 -7.74214643e-04 -9.99949136e-01 -3.74153474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34655999499995 meters 0.012799037554077465 Centerline is valid? [True, True] Translation: X:262.13, Y:-95.48, Z:-3.74 [[-3.34646734e-01 9.42340917e-01 2.27142409e-03 2.62131602e+02] [ 9.42301213e-01 3.34653567e-01 -8.68418670e-03 -9.54768202e+01] [-8.94360464e-03 -7.65769041e-04 -9.99959712e-01 -3.74364670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40655999499995 meters 0.013050841364286374 Centerline is valid? [True, True] Translation: X:262.13, Y:-95.45, Z:-3.74 [[-4.08180085e-01 9.12896392e-01 3.03251207e-03 2.62128090e+02] [ 9.12855463e-01 4.08190616e-01 -8.67901999e-03 -9.54470252e+01] [-9.16088900e-03 -7.74357913e-04 -9.99957738e-01 -3.74441390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46655999499995 meters 0.013322125066466767 Centerline is valid? [True, True] Translation: X:262.12, Y:-95.42, Z:-3.74 [[-4.80052848e-01 8.77227762e-01 4.55162250e-03 2.62123552e+02] [ 8.77170913e-01 4.80073730e-01 -1.00201306e-02 -9.54166323e+01] [-1.09750511e-02 -8.17641364e-04 -9.99939438e-01 -3.74328753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52655999499996 meters 0.013733339922560232 Centerline is valid? [True, True] Translation: X:262.12, Y:-95.39, Z:-3.74 [[-5.48624446e-01 8.36045510e-01 6.25477896e-03 2.62115102e+02] [ 8.35972215e-01 5.48659421e-01 -1.11038715e-02 -9.53872994e+01] [-1.27150853e-02 -8.63033943e-04 -9.99918788e-01 -3.74272873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58655999499996 meters 0.014409773103902656 Centerline is valid? [True, True] Translation: X:262.10, Y:-95.36, Z:-3.74 [[-6.14014032e-01 7.89252905e-01 8.16211503e-03 2.62103942e+02] [ 7.89162372e-01 6.14067590e-01 -1.19893869e-02 -9.53599193e+01] [-1.44747487e-02 -9.20417741e-04 -9.99894812e-01 -3.74224791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64655999499996 meters 0.014495411131360198 Centerline is valid? [True, True] Translation: X:262.09, Y:-95.33, Z:-3.74 [[-6.74173829e-01 7.38511386e-01 9.51738306e-03 2.62089125e+02] [ 7.38417502e-01 6.74240355e-01 -1.18125315e-02 -9.53345366e+01] [-1.51406927e-02 -9.35897344e-04 -9.99884935e-01 -3.74261171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70655999499996 meters 0.013336692000258653 Centerline is valid? [True, True] Translation: X:262.07, Y:-95.31, Z:-3.74 [[-7.28013167e-01 6.85477573e-01 1.08316898e-02 2.62070970e+02] [ 6.85382777e-01 7.28093184e-01 -1.14352280e-02 -9.53112092e+01] [-1.57250719e-02 -9.01142982e-04 -9.99875947e-01 -3.74414452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76655999499997 meters 0.012831269471080273 Centerline is valid? [True, True] Translation: X:262.08, Y:-95.30, Z:-3.75 [[-7.71384497e-01 6.36271936e-01 1.11347345e-02 2.62084974e+02] [ 6.36191358e-01 7.71464493e-01 -1.01534569e-02 -9.52979988e+01] [-1.50504120e-02 -7.48397410e-04 -9.99886456e-01 -3.74521251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82655999499997 meters 0.01236631321181167 Centerline is valid? [True, True] Translation: X:262.56, Y:-94.77, Z:-4.72 [[-7.13945259e-01 -7.00201149e-01 -7.19161965e-04 2.62561872e+02] [ 7.00201148e-01 -7.13945562e-01 2.95577833e-04 -9.47685802e+01] [-7.20406431e-04 -2.92531641e-04 9.99999698e-01 -4.71794552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88655999499997 meters 0.01214261212706053 Centerline is valid? [True, True] Translation: X:262.55, Y:-94.79, Z:-4.72 [[-6.66256305e-01 -7.45721674e-01 -1.31174463e-03 2.62549340e+02] [ 7.45721464e-01 -6.66257420e-01 7.40395097e-04 -9.47916807e+01] [-1.42608826e-03 -4.84903222e-04 9.99998866e-01 -4.71681743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.946559995 meters 0.012130835533511412 Centerline is valid? [True, True] Translation: X:262.51, Y:-94.75, Z:-4.72 [[-6.66061712e-01 -7.45896132e-01 -8.69880870e-04 2.62512613e+02] [ 7.45895507e-01 -6.66062280e-01 9.65388479e-04 -9.47462550e+01] [-1.29947437e-03 -5.83192999e-06 9.99999156e-01 -4.71651434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.006559995 meters 0.012627152228490026 Centerline is valid? [True, True] Translation: X:262.47, Y:-94.70, Z:-4.72 [[-6.62384417e-01 -7.49164124e-01 8.88234398e-06 2.62471364e+02] [ 7.49164124e-01 -6.62384417e-01 -6.37123459e-06 -9.47049295e+01] [ 1.06566266e-05 2.43412695e-06 1.00000000e+00 -4.71737288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.066559995 meters 0.013619601490525416 Centerline is valid? [True, True] Translation: X:262.43, Y:-94.66, Z:-4.72 [[-6.59182464e-01 -7.51982516e-01 8.80380625e-04 2.62430221e+02] [ 7.51981892e-01 -6.59183052e-01 -9.69043475e-04 -9.46639144e+01] [ 1.30903574e-03 2.32538220e-05 9.99999143e-01 -4.71894647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.126559995 meters 0.014971398566698492 Centerline is valid? [True, True] Translation: X:262.39, Y:-94.62, Z:-4.72 [[-6.56964389e-01 -7.53920635e-01 1.21173828e-03 2.62389427e+02] [ 7.53919456e-01 -6.56965505e-01 -1.33411809e-03 -9.46238095e+01] [ 1.80188941e-03 3.70849882e-05 9.99998376e-01 -4.72035974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.186559995 meters 0.014682159600250993 Centerline is valid? [True, True] Translation: X:262.35, Y:-94.58, Z:-4.72 [[-6.56168950e-01 -7.54613909e-01 3.96343166e-04 2.62351431e+02] [ 7.54613785e-01 -6.56169069e-01 -4.33434202e-04 -9.45812640e+01] [ 5.87143604e-04 1.46799514e-05 9.99999828e-01 -4.71916838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.246559995 meters 0.01393932465888289 Centerline is valid? [True, True] Translation: X:262.31, Y:-94.54, Z:-4.72 [[-6.58299652e-01 -7.52754928e-01 -1.25949478e-03 2.62314179e+02] [ 7.52753642e-01 -6.58300856e-01 1.39213572e-03 -9.45368044e+01] [-1.87706351e-03 -3.16468225e-05 9.99998238e-01 -4.71781404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.306559995 meters 0.013489604436479726 Centerline is valid? [True, True] Translation: X:262.28, Y:-94.49, Z:-4.72 [[-6.60139746e-01 -7.51139525e-01 -2.22016343e-03 2.62276164e+02] [ 7.51135532e-01 -6.60143477e-01 2.44984252e-03 -9.44922238e+01] [-3.30579996e-03 -5.04052204e-05 9.99994535e-01 -4.71673861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.366559995 meters 0.013172726511910838 Centerline is valid? [True, True] Translation: X:262.24, Y:-94.45, Z:-4.72 [[-6.61137262e-01 -7.50261015e-01 -2.43544649e-03 2.62237661e+02] [ 7.50256209e-01 -6.61141745e-01 2.68578817e-03 -9.44485163e+01] [-3.62521750e-03 -5.15342162e-05 9.99993428e-01 -4.71683384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.426559995 meters 0.012862731379135062 Centerline is valid? [True, True] Translation: X:262.20, Y:-94.41, Z:-4.72 [[-6.63293760e-01 -7.48354460e-01 -2.64379402e-03 2.62199604e+02] [ 7.48348790e-01 -6.63299028e-01 2.91356681e-03 -9.44051792e+01] [-3.93400672e-03 -4.59293694e-05 9.99992261e-01 -4.71770235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48655999499994 meters 0.012578215270013819 Centerline is valid? [True, True] Translation: X:262.16, Y:-94.36, Z:-4.72 [[-6.64532779e-01 -7.47256731e-01 -1.88769287e-03 2.62160438e+02] [ 7.47253837e-01 -6.64535459e-01 2.08013752e-03 -9.43616862e+01] [-2.80883562e-03 -2.82661759e-05 9.99996055e-01 -4.71971070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54655999499994 meters 0.012739725196769264 Centerline is valid? [True, True] Translation: X:262.12, Y:-94.32, Z:-4.72 [[-6.65233674e-01 -7.46634649e-01 -9.27166175e-04 2.62121916e+02] [ 7.46633948e-01 -6.65234321e-01 1.02332539e-03 -9.43201939e+01] [-1.38083295e-03 -1.15032332e-05 9.99999047e-01 -4.72222275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60655999499994 meters 0.01271754296829922 Centerline is valid? [True, True] Translation: X:262.08, Y:-94.28, Z:-4.72 [[-6.65510254e-01 -7.46388589e-01 -4.18716327e-04 2.62084029e+02] [ 7.46388445e-01 -6.65510386e-01 4.63813359e-04 -9.42774968e+01] [-6.24845063e-04 -3.85248214e-06 9.99999805e-01 -4.72362920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66655999499994 meters 0.012603824084837666 Centerline is valid? [True, True] Translation: X:262.05, Y:-94.23, Z:-4.72 [[-6.65898960e-01 -7.46041639e-01 -6.69492299e-04 2.62045791e+02] [ 7.46041273e-01 -6.65899297e-01 7.38852899e-04 -9.42346463e+01] [-9.97029479e-04 -7.46750978e-06 9.99999503e-01 -4.72370535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72655999499995 meters 0.012323437063348333 Centerline is valid? [True, True] Translation: X:262.01, Y:-94.19, Z:-4.72 [[-6.67965012e-01 -7.44190805e-01 -1.67007516e-03 2.62007929e+02] [ 7.44188540e-01 -6.67967099e-01 1.83604702e-03 -9.41899727e+01] [-2.48192457e-03 -1.64356245e-05 9.99996920e-01 -4.72297374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78655999499995 meters 0.01201841713510192 Centerline is valid? [True, True] Translation: X:261.97, Y:-94.15, Z:-4.72 [[-6.70180375e-01 -7.42193116e-01 -2.76452771e-03 2.61971264e+02] [ 7.42186909e-01 -6.70186077e-01 3.03550951e-03 -9.41450003e+01] [-4.10568224e-03 -1.74573725e-05 9.99991571e-01 -4.72121289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84655999499995 meters 0.011833353581673088 Centerline is valid? [True, True] Translation: X:261.93, Y:-94.10, Z:-4.72 [[-6.72408773e-01 -7.40170759e-01 -3.69996023e-03 2.61933905e+02] [ 7.40159628e-01 -6.72418952e-01 4.05916728e-03 -9.41000094e+01] [-5.49240031e-03 -9.14150493e-06 9.99984917e-01 -4.72024583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90655999499995 meters 0.011849531458790445 Centerline is valid? [True, True] Translation: X:261.90, Y:-94.06, Z:-4.72 [[-6.73985043e-01 -7.38734825e-01 -3.87554391e-03 2.61897876e+02] [ 7.38722604e-01 -6.73996185e-01 4.24938006e-03 -9.40573583e+01] [-5.75126685e-03 1.06670865e-06 9.99983461e-01 -4.72023020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96655999499995 meters 0.011880768834245067 Centerline is valid? [True, True] Translation: X:261.86, Y:-94.02, Z:-4.72 [[-6.73051306e-01 -7.39588491e-01 -3.28685892e-03 2.61857786e+02] [ 7.39579719e-01 -6.73059332e-01 3.60202303e-03 -9.40168706e+01] [-4.87626585e-03 -6.54789392e-06 9.99988111e-01 -4.72174601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02655999499996 meters 0.011940180395115432 Centerline is valid? [True, True] Translation: X:261.82, Y:-93.98, Z:-4.72 [[-6.71401243e-01 -7.41088764e-01 -2.79559342e-03 2.61816753e+02] [ 7.41082437e-01 -6.71407063e-01 3.06230581e-03 -9.39765509e+01] [-4.14642159e-03 -1.57292563e-05 9.99991403e-01 -4.72246751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08655999499996 meters 0.0120998794514218 Centerline is valid? [True, True] Translation: X:261.78, Y:-93.94, Z:-4.72 [[-6.70092567e-01 -7.42271596e-01 -2.97146787e-03 2.61776702e+02] [ 7.42264470e-01 -6.70099155e-01 3.25264965e-03 -9.39357276e+01] [-4.40552756e-03 -2.60386622e-05 9.99990295e-01 -4.72232931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14655999499996 meters 0.012438029631443382 Centerline is valid? [True, True] Translation: X:261.74, Y:-93.89, Z:-4.72 [[-6.67544278e-01 -7.44566001e-01 -2.47111128e-03 2.61736695e+02] [ 7.44561093e-01 -6.67548851e-01 2.70366735e-03 -9.38940926e+01] [-3.66264628e-03 -3.50756446e-05 9.99993292e-01 -4.72133674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20655999499996 meters 0.012879235215051037 Centerline is valid? [True, True] Translation: X:261.70, Y:-93.85, Z:-4.72 [[-6.65858228e-01 -7.46077769e-01 -8.84427387e-04 2.61696294e+02] [ 7.46077139e-01 -6.65858816e-01 9.69280659e-04 -9.38522610e+01] [-1.31206252e-03 -1.44475530e-05 9.99999139e-01 -4.72489435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26655999499997 meters 0.01271457399542845 Centerline is valid? [True, True] Translation: X:261.66, Y:-93.81, Z:-4.72 [[-6.65688900e-01 -7.46226473e-01 -2.08332416e-03 2.61658588e+02] [ 7.46222998e-01 -6.65692159e-01 2.27734793e-03 -9.38078245e+01] [-3.08626987e-03 -3.86191614e-05 9.99995237e-01 -4.72328047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32655999499997 meters 0.012533790972339972 Centerline is valid? [True, True] Translation: X:261.62, Y:-93.76, Z:-4.72 [[-6.67536471e-01 -7.44571538e-01 -2.87835410e-03 2.61620681e+02] [ 7.44564905e-01 -6.67542675e-01 3.14324299e-03 -9.37646142e+01] [-4.26179346e-03 -4.48921154e-05 9.99990918e-01 -4.72280535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38655999499997 meters 0.012592339167794266 Centerline is valid? [True, True] Translation: X:261.58, Y:-93.72, Z:-4.72 [[-6.67934836e-01 -7.44209584e-01 -3.89218551e-03 2.61581762e+02] [ 7.44197470e-01 -6.67946174e-01 4.24680618e-03 -9.37242150e+01] [-5.76028428e-03 -5.99648217e-05 9.99983408e-01 -4.72249485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.446559995 meters 0.01252341413814511 Centerline is valid? [True, True] Translation: X:261.54, Y:-93.68, Z:-4.72 [[-6.68305376e-01 -7.43870025e-01 -5.03086592e-03 2.61541454e+02] [ 7.43849812e-01 -6.68324307e-01 5.48437767e-03 -9.36840039e+01] [-7.44191414e-03 -7.69695838e-05 9.99972306e-01 -4.72160505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.506559995 meters 0.012583395833262125 Centerline is valid? [True, True] Translation: X:261.50, Y:-93.64, Z:-4.72 [[-6.68719858e-01 -7.43484642e-01 -6.65873974e-03 2.61501500e+02] [ 7.43449269e-01 -6.68753001e-01 7.25315413e-03 -9.36435180e+01] [-9.84566089e-03 -1.00106994e-04 9.99951525e-01 -4.72116844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.566559995 meters 0.012264169130385494 Centerline is valid? [True, True] Translation: X:261.46, Y:-93.60, Z:-4.72 [[-6.70765351e-01 -7.41613007e-01 -9.16467627e-03 2.61461863e+02] [ 7.41545922e-01 -6.70827948e-01 9.97541370e-03 -9.36003459e+01] [-1.35458175e-02 -1.04866443e-04 9.99908246e-01 -4.72000592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.626559995 meters 0.01208403090525385 Centerline is valid? [True, True] Translation: X:261.42, Y:-93.56, Z:-4.72 [[-6.72776800e-01 -7.39766084e-01 -1.08406052e-02 2.61423961e+02] [ 7.39672098e-01 -6.72864127e-01 1.17920902e-02 -9.35576849e+01] [-1.60176428e-02 -8.50484574e-05 9.99871706e-01 -4.71913592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.686559995 meters 0.011879143756765619 Centerline is valid? [True, True] Translation: X:261.39, Y:-93.51, Z:-4.72 [[-6.77911951e-01 -7.35029767e-01 -1.29084859e-02 2.61389171e+02] [ 7.34895811e-01 -6.78034838e-01 1.40323213e-02 -9.35112286e+01] [-1.90665771e-02 2.62860921e-05 9.99818216e-01 -4.71823900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.746559995 meters 0.012212926984854322 Centerline is valid? [True, True] Translation: X:261.35, Y:-93.46, Z:-4.72 [[-6.83031326e-01 -7.30246711e-01 -1.44204624e-02 2.61353735e+02] [ 7.30078658e-01 -6.83183513e-01 1.56665648e-02 -9.34649305e+01] [-2.12922796e-02 1.72682717e-04 9.99773279e-01 -4.71785565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.806559995 meters 0.013078297999558066 Centerline is valid? [True, True] Translation: X:261.32, Y:-93.42, Z:-4.72 [[-6.86357435e-01 -7.27088262e-01 -1.60040826e-02 2.61315908e+02] [ 7.26880655e-01 -6.86543934e-01 1.73764220e-02 -9.34216555e+01] [-2.36216983e-02 2.93378354e-04 9.99720926e-01 -4.71675331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.866559995 meters 0.013278488474424957 Centerline is valid? [True, True] Translation: X:261.28, Y:-93.38, Z:-4.72 [[-6.88416750e-01 -7.25147168e-01 -1.56193310e-02 2.61275602e+02] [ 7.24949147e-01 -6.88593832e-01 1.69490089e-02 -9.33799581e+01] [-2.30459008e-02 3.44760922e-04 9.99734349e-01 -4.71898066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.926559995 meters 0.014346108254714102 Centerline is valid? [True, True] Translation: X:261.24, Y:-93.34, Z:-4.72 [[-6.92017507e-01 -7.21747047e-01 -1.38913672e-02 2.61236125e+02] [ 7.21589898e-01 -6.92156802e-01 1.50658743e-02 -9.33368755e+01] [-2.04887546e-02 4.01978541e-04 9.99790003e-01 -4.72283023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98655999499994 meters 0.016546899286899275 Centerline is valid? [True, True] Translation: X:261.20, Y:-93.30, Z:-4.73 [[-6.95951435e-01 -7.17992300e-01 -1.17752715e-02 2.61196645e+02] [ 7.17878964e-01 -6.96050912e-01 1.27640731e-02 -9.32959936e+01] [-1.73606947e-02 4.29955307e-04 9.99849199e-01 -4.72853477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04655999499994 meters 0.017168049707601486 Centerline is valid? [True, True] Translation: X:261.16, Y:-93.26, Z:-4.73 [[-6.98812799e-01 -7.15243667e-01 -9.33642717e-03 2.61155255e+02] [ 7.15172241e-01 -6.98875056e-01 1.01153929e-02 -9.32551405e+01] [-1.37599668e-02 3.91612485e-04 9.99905250e-01 -4.73456261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10655999499994 meters 0.01862503051372999 Centerline is valid? [True, True] Translation: X:261.12, Y:-93.21, Z:-4.74 [[-6.99263960e-01 -7.14813231e-01 -8.48285598e-03 2.61117456e+02] [ 7.14754301e-01 -6.99315319e-01 9.18555997e-03 -9.32131094e+01] [-1.24981509e-02 3.59973246e-04 9.99921830e-01 -4.73607088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16655999499994 meters 0.018821026691461525 Centerline is valid? [True, True] Translation: X:261.08, Y:-93.17, Z:-4.74 [[-6.99291904e-01 -7.14793957e-01 -7.77386820e-03 2.61077765e+02] [ 7.14744521e-01 -6.99335036e-01 8.41289261e-03 -9.31717969e+01] [-1.14500232e-02 3.26737983e-04 9.99934393e-01 -4.73803234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22655999499995 meters 0.016660779728238737 Centerline is valid? [True, True] Translation: X:261.03, Y:-93.13, Z:-4.74 [[-6.98095487e-01 -7.15981702e-01 -5.73522985e-03 2.61034018e+02] [ 7.15954859e-01 -6.98119009e-01 6.20395467e-03 -9.31330254e+01] [-8.44579101e-03 2.24787081e-04 9.99964308e-01 -4.74150909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28655999499995 meters 0.015299412038216905 Centerline is valid? [True, True] Translation: X:260.99, Y:-93.09, Z:-4.74 [[-6.96770481e-01 -7.17283421e-01 -3.92312017e-03 2.60991716e+02] [ 7.17270888e-01 -6.96781511e-01 4.24248497e-03 -9.30929107e+01] [-5.77662173e-03 1.42098404e-04 9.99983305e-01 -4.74377070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34655999499995 meters 0.014728586138948906 Centerline is valid? [True, True] Translation: X:260.95, Y:-93.05, Z:-4.75 [[-6.93255726e-01 -7.20691675e-01 -9.13194181e-05 2.60948894e+02] [ 7.20691668e-01 -6.93255732e-01 1.01986030e-04 -9.30543654e+01] [-1.36808193e-04 4.88925568e-06 9.99999991e-01 -4.75008136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40655999499995 meters 0.01306387519665741 Centerline is valid? [True, True] Translation: X:260.90, Y:-93.02, Z:-4.76 [[-6.86347906e-01 -7.27262069e-01 4.05401916e-03 2.60900371e+02] [ 7.27248925e-01 -6.86359877e-01 -4.37262028e-03 -9.30194300e+01] [ 5.96255697e-03 -5.28576959e-05 9.99982222e-01 -4.75756491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46655999499995 meters 0.012574301169626923 Centerline is valid? [True, True] Translation: X:260.85, Y:-92.99, Z:-4.76 [[-6.79728745e-01 -7.33441890e-01 5.64153427e-03 2.60854326e+02] [ 7.33416661e-01 -6.79752156e-01 -6.08341062e-03 -9.29851326e+01] [ 8.29667327e-03 2.52615683e-06 9.99965582e-01 -4.76104189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52655999499996 meters 0.012805936463632765 Centerline is valid? [True, True] Translation: X:260.81, Y:-92.95, Z:-4.76 [[-6.75646964e-01 -7.37198024e-01 6.34459627e-03 2.60809723e+02] [ 7.37166315e-01 -6.75676750e-01 -6.83771272e-03 -9.29473760e+01] [ 9.32764449e-03 5.71428114e-05 9.99956495e-01 -4.76255322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58655999499996 meters 0.013463235121743779 Centerline is valid? [True, True] Translation: X:260.76, Y:-92.91, Z:-4.76 [[-6.70662489e-01 -7.41717944e-01 8.14360869e-03 2.60763928e+02] [ 7.41666090e-01 -6.70711911e-01 -8.77170709e-03 -9.29115951e+01] [ 1.19681479e-02 1.56983514e-04 9.99928367e-01 -4.76411082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64655999499996 meters 0.014315895370347869 Centerline is valid? [True, True] Translation: X:260.72, Y:-92.87, Z:-4.77 [[-6.68520168e-01 -7.43639796e-01 8.97992972e-03 2.60720360e+02] [ 7.43576989e-01 -6.68580442e-01 -9.66714516e-03 -9.28736942e+01] [ 1.31926792e-02 2.14587601e-04 9.99912950e-01 -4.76680992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70655999499996 meters 0.015378645950538693 Centerline is valid? [True, True] Translation: X:260.68, Y:-92.84, Z:-4.77 [[-6.66571235e-01 -7.45380863e-01 9.49515404e-03 2.60675621e+02] [ 7.45310898e-01 -6.66638806e-01 -1.02160135e-02 -9.28377152e+01] [ 1.39446591e-02 2.67141065e-04 9.99902733e-01 -4.76945878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76655999499997 meters 0.015538206259174606 Centerline is valid? [True, True] Translation: X:260.63, Y:-92.80, Z:-4.77 [[-6.66290625e-01 -7.45622675e-01 1.01798258e-02 2.60632747e+02] [ 7.45542368e-01 -6.66368321e-01 -1.09470725e-02 -9.27980705e+01] [ 1.49458989e-02 2.95559643e-04 9.99888260e-01 -4.76993732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82655999499997 meters 0.015181868439638735 Centerline is valid? [True, True] Translation: X:260.59, Y:-92.76, Z:-4.77 [[-6.66483388e-01 -7.45444660e-01 1.05902129e-02 2.60592988e+02] [ 7.45357842e-01 -6.66567449e-01 -1.13808031e-02 -9.27563691e+01] [ 1.55428501e-02 3.08382038e-04 9.99879155e-01 -4.76884173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88655999499997 meters 0.01540678030229259 Centerline is valid? [True, True] Translation: X:260.55, Y:-92.72, Z:-4.77 [[-6.67776765e-01 -7.44289108e-01 1.03882545e-02 2.60552822e+02] [ 7.44205520e-01 -6.67857503e-01 -1.11578901e-02 -9.27156267e+01] [ 1.52425698e-02 2.80016579e-04 9.99883786e-01 -4.76853093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.946559995 meters 0.014435753088095056 Centerline is valid? [True, True] Translation: X:260.51, Y:-92.67, Z:-4.77 [[-6.69442277e-01 -7.42791667e-01 1.03719465e-02 2.60514849e+02] [ 7.42708257e-01 -6.69522574e-01 -1.11340708e-02 -9.26719882e+01] [ 1.52145474e-02 2.49712598e-04 9.99884221e-01 -4.76778115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.006559995 meters 0.013591889357455108 Centerline is valid? [True, True] Translation: X:260.48, Y:-92.63, Z:-4.77 [[-6.73674685e-01 -7.38960615e-01 9.98139660e-03 2.60479270e+02] [ 7.38883036e-01 -6.73748606e-01 -1.07086341e-02 -9.26262284e+01] [ 1.46382109e-02 1.60948912e-04 9.99892843e-01 -4.76752378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.066559995 meters 0.012806231374168255 Centerline is valid? [True, True] Translation: X:260.45, Y:-92.58, Z:-4.76 [[-6.78387863e-01 -7.34656425e-01 8.35730337e-03 2.60446706e+02] [ 7.34601781e-01 -6.78439337e-01 -8.96044781e-03 -9.25776210e+01] [ 1.22527739e-02 6.06309038e-05 9.99924930e-01 -4.76391724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.126559995 meters 0.012594686213791803 Centerline is valid? [True, True] Translation: X:260.41, Y:-92.53, Z:-4.76 [[-6.80291852e-01 -7.32897069e-01 8.05494946e-03 2.60411733e+02] [ 7.32846244e-01 -6.80339536e-01 -8.63125161e-03 -9.25303783e+01] [ 1.18059196e-02 3.12693138e-05 9.99930307e-01 -4.76178505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.186559995 meters 0.012797760792589258 Centerline is valid? [True, True] Translation: X:260.38, Y:-92.48, Z:-4.76 [[-6.79563659e-01 -7.33573978e-01 7.90264962e-03 2.60379428e+02] [ 7.33525174e-01 -6.79609606e-01 -8.46179597e-03 -9.24841384e+01] [ 1.15780699e-02 4.64634102e-05 9.99932971e-01 -4.76054253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.246559995 meters 0.013182994838741056 Centerline is valid? [True, True] Translation: X:260.34, Y:-92.44, Z:-4.76 [[-6.75063465e-01 -7.37729964e-01 6.61957004e-03 2.60343138e+02] [ 7.37695966e-01 -6.75095912e-01 -7.08317134e-03 -9.24393510e+01] [ 9.69431240e-03 1.01639932e-04 9.99953004e-01 -4.75938940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.306559995 meters 0.014160645807916653 Centerline is valid? [True, True] Translation: X:260.30, Y:-92.40, Z:-4.76 [[-6.71218528e-01 -7.41237298e-01 5.74074633e-03 2.60304942e+02] [ 7.41211885e-01 -6.71243064e-01 -6.13933633e-03 -9.23953533e+01] [ 8.40414123e-03 1.34273114e-04 9.99964676e-01 -4.75838408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.366559995 meters 0.015476414920156951 Centerline is valid? [True, True] Translation: X:260.27, Y:-92.35, Z:-4.76 [[-6.68449388e-01 -7.43743185e-01 4.63579700e-03 2.60267626e+02] [ 7.43726698e-01 -6.68465449e-01 -4.95403874e-03 -9.23515247e+01] [ 6.78340268e-03 1.36241836e-04 9.99976983e-01 -4.75766287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.426559995 meters 0.016049340123564692 Centerline is valid? [True, True] Translation: X:260.23, Y:-92.30, Z:-4.75 [[-6.66423609e-01 -7.45569174e-01 2.48613920e-03 2.60233638e+02] [ 7.45564456e-01 -6.66428241e-01 -2.65360241e-03 -9.23044346e+01] [ 3.63527753e-03 8.51537299e-05 9.99993389e-01 -4.75326236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48655999499994 meters 0.01653215091343564 Centerline is valid? [True, True] Translation: X:260.19, Y:-92.27, Z:-4.75 [[-6.67834434e-01 -7.44306868e-01 2.11080625e-03 2.60192461e+02] [ 7.44303466e-01 -6.67837766e-01 -2.25149659e-03 -9.22652624e+01] [ 3.08548051e-03 6.74534600e-05 9.99995238e-01 -4.75489052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54655999499994 meters 0.01400968656925826 Centerline is valid? [True, True] Translation: X:260.15, Y:-92.22, Z:-4.75 [[-6.70528321e-01 -7.41881635e-01 1.84680146e-03 2.60152151e+02] [ 7.41879025e-01 -6.70530862e-01 -1.96850507e-03 -9.22226171e+01] [ 2.69873514e-03 5.01648644e-05 9.99996357e-01 -4.75323917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60655999499994 meters 0.014429956519673643 Centerline is valid? [True, True] Translation: X:260.11, Y:-92.18, Z:-4.75 [[-6.71598865e-01 -7.40914875e-01 3.34769335e-04 2.60111139e+02] [ 7.40914791e-01 -6.71598949e-01 -3.53924353e-04 -9.21823916e+01] [ 4.87058551e-04 1.03403583e-05 9.99999881e-01 -4.75246984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66655999499994 meters 0.014471598574121902 Centerline is valid? [True, True] Translation: X:260.07, Y:-92.14, Z:-4.75 [[-6.72630477e-01 -7.39978520e-01 -1.80382172e-04 2.60074453e+02] [ 7.39978494e-01 -6.72630501e-01 1.96066496e-04 -9.21398366e+01] [-2.66415546e-04 -1.59862748e-06 9.99999965e-01 -4.75202063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72655999499995 meters 0.0132523560094888 Centerline is valid? [True, True] Translation: X:260.04, Y:-92.10, Z:-4.75 [[-6.73527961e-01 -7.39161362e-01 7.53097772e-04 2.60037543e+02] [ 7.39160930e-01 -6.73528381e-01 -7.99243932e-04 -9.20952783e+01] [ 1.09800296e-03 1.83473141e-05 9.99999397e-01 -4.75335367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78655999499995 meters 0.013586867898227708 Centerline is valid? [True, True] Translation: X:260.00, Y:-92.05, Z:-4.76 [[-6.73851606e-01 -7.38864865e-01 1.65092822e-03 2.59998164e+02] [ 7.38862779e-01 -6.73853627e-01 -1.75568525e-03 -9.20547960e+01] [ 2.40969811e-03 3.67380872e-05 9.99997096e-01 -4.75587548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84655999499995 meters 0.0135676649197098 Centerline is valid? [True, True] Translation: X:259.96, Y:-92.01, Z:-4.76 [[-6.73474701e-01 -7.39208497e-01 1.62021161e-03 2.59959472e+02] [ 7.39206495e-01 -6.73476649e-01 -1.72110337e-03 -9.20119531e+01] [ 2.36342892e-03 3.85513702e-05 9.99997206e-01 -4.75502933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90655999499995 meters 0.01382067290137625 Centerline is valid? [True, True] Translation: X:259.92, Y:-91.97, Z:-4.76 [[-6.73624706e-01 -7.39073079e-01 8.59844785e-04 2.59920475e+02] [ 7.39072518e-01 -6.73625255e-01 -9.11153892e-04 -9.19705916e+01] [ 1.25262247e-03 2.17118768e-05 9.99999215e-01 -4.75506234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96655999499995 meters 0.013184935851441744 Centerline is valid? [True, True] Translation: X:259.88, Y:-91.93, Z:-4.75 [[-6.74371803e-01 -7.38391484e-01 -8.29853561e-04 2.59882608e+02] [ 7.38390952e-01 -6.74372313e-01 8.85901649e-04 -9.19269146e+01] [-1.21377250e-03 -1.53292694e-05 9.99999263e-01 -4.75417834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02655999499996 meters 0.013765414883089258 Centerline is valid? [True, True] Translation: X:259.84, Y:-91.89, Z:-4.76 [[-6.74908819e-01 -7.37899416e-01 -1.59277744e-03 2.59843869e+02] [ 7.37897467e-01 -6.74910698e-01 1.69630400e-03 -9.18863687e+01] [-2.32668427e-03 -3.04559122e-05 9.99997293e-01 -4.75534983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08655999499996 meters 0.013373606363709063 Centerline is valid? [True, True] Translation: X:259.81, Y:-91.84, Z:-4.76 [[-6.74397665e-01 -7.38367144e-01 -1.32292423e-03 2.59806977e+02] [ 7.38365801e-01 -6.74398962e-01 1.40849843e-03 -9.18427773e+01] [-1.93216769e-03 -2.69139548e-05 9.99998133e-01 -4.75538562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14655999499996 meters 0.01306688543128297 Centerline is valid? [True, True] Translation: X:259.77, Y:-91.80, Z:-4.76 [[-6.74744299e-01 -7.38051293e-01 -6.47900184e-04 2.59766693e+02] [ 7.38050970e-01 -6.74744610e-01 6.90957849e-04 -9.18014056e+01] [-9.47129491e-04 -1.19634897e-05 9.99999551e-01 -4.75691256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20655999499996 meters 0.013246696846020244 Centerline is valid? [True, True] Translation: X:259.73, Y:-91.76, Z:-4.76 [[-6.75621816e-01 -7.37248103e-01 -6.29876736e-04 2.59725950e+02] [ 7.37247797e-01 -6.75622109e-01 6.71768675e-04 -9.17618533e+01] [-9.20818830e-04 -1.05136639e-05 9.99999576e-01 -4.75868462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26655999499997 meters 0.012648586532368831 Centerline is valid? [True, True] Translation: X:259.69, Y:-91.72, Z:-4.76 [[-6.77171427e-01 -7.35825211e-01 -3.41887164e-04 2.59686672e+02] [ 7.35825120e-01 -6.77171514e-01 3.65759603e-04 -9.17195014e+01] [-5.00651385e-04 -3.88721045e-06 9.99999875e-01 -4.75902934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32655999499997 meters 0.012276372507495368 Centerline is valid? [True, True] Translation: X:259.65, Y:-91.68, Z:-4.76 [[-6.79396749e-01 -7.33771020e-01 -3.84334470e-04 2.59648885e+02] [ 7.33770905e-01 -6.79396858e-01 4.10867742e-04 -9.16769806e+01] [-5.62598474e-04 -2.87124400e-06 9.99999842e-01 -4.75891801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38655999499997 meters 0.012087375156208993 Centerline is valid? [True, True] Translation: X:259.61, Y:-91.63, Z:-4.76 [[-6.80257329e-01 -7.32973110e-01 -6.21249258e-04 2.59609576e+02] [ 7.32972812e-01 -6.80257613e-01 6.61418155e-04 -9.16346965e+01] [-9.07411260e-04 -5.42426807e-06 9.99999588e-01 -4.75928340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.446559995 meters 0.012049302357442502 Centerline is valid? [True, True] Translation: X:259.57, Y:-91.60, Z:-4.76 [[-6.80980288e-01 -7.32301421e-01 -6.90638851e-04 2.59569678e+02] [ 7.32301052e-01 -6.80980638e-01 7.34537042e-04 -9.15950418e+01] [-1.00821420e-03 -5.55031155e-06 9.99999492e-01 -4.76085782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.506559995 meters 0.011758210098246655 Centerline is valid? [True, True] Translation: X:259.53, Y:-91.55, Z:-4.76 [[-6.82675715e-01 -7.30720676e-01 -1.07786769e-03 2.59530284e+02] [ 7.30719782e-01 -6.82676565e-01 1.14313042e-03 -9.15528476e+01] [-1.57114405e-03 -7.23186951e-06 9.99998766e-01 -4.76138882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.566559995 meters 0.011784267634486954 Centerline is valid? [True, True] Translation: X:259.49, Y:-91.51, Z:-4.76 [[-6.82882913e-01 -7.30527179e-01 -9.83752983e-04 2.59490075e+02] [ 7.30526435e-01 -6.82883621e-01 1.04286715e-03 -9.15111286e+01] [-1.43363160e-03 -6.50140098e-06 9.99998972e-01 -4.76201099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.626559995 meters 0.012067874801050676 Centerline is valid? [True, True] Translation: X:259.45, Y:-91.47, Z:-4.76 [[-6.82051017e-01 -7.31304589e-01 9.07079755e-05 2.59448911e+02] [ 7.31304583e-01 -6.82051023e-01 -9.24560060e-05 -9.14696252e+01] [ 1.29480969e-04 3.27544523e-06 9.99999992e-01 -4.76397791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.686559995 meters 0.012236156619246829 Centerline is valid? [True, True] Translation: X:259.41, Y:-91.43, Z:-4.77 [[-6.81467734e-01 -7.31847377e-01 1.06947359e-03 2.59407114e+02] [ 7.31846512e-01 -6.81468573e-01 -1.12550544e-03 -9.14294024e+01] [ 1.55251085e-03 1.56948726e-05 9.99998795e-01 -4.76668572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.746559995 meters 0.012489604885676278 Centerline is valid? [True, True] Translation: X:259.37, Y:-91.39, Z:-4.77 [[-6.80736448e-01 -7.32526266e-01 1.77742095e-03 2.59366359e+02] [ 7.32523875e-01 -6.80738767e-01 -1.87144347e-03 -9.13886728e+01] [ 2.58084085e-03 2.80435071e-05 9.99996669e-01 -4.76801235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.806559995 meters 0.012317892294570332 Centerline is valid? [True, True] Translation: X:259.33, Y:-91.35, Z:-4.77 [[-6.81850696e-01 -7.31491265e-01 3.98278274e-04 2.59327121e+02] [ 7.31491146e-01 -6.81850812e-01 -4.16348305e-04 -9.13461932e+01] [ 5.76121512e-04 7.44964960e-06 9.99999834e-01 -4.76596512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.866559995 meters 0.011991732525758653 Centerline is valid? [True, True] Translation: X:259.29, Y:-91.30, Z:-4.76 [[-6.83036156e-01 -7.30384104e-01 -8.19351804e-04 2.59287472e+02] [ 7.30383589e-01 -6.83036647e-01 8.66658325e-04 -9.13032949e+01] [-1.19264077e-03 -6.48214093e-06 9.99999289e-01 -4.76461132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.926559995 meters 0.011821885416472987 Centerline is valid? [True, True] Translation: X:259.25, Y:-91.26, Z:-4.76 [[-6.84235654e-01 -7.29259186e-01 -1.61538586e-03 2.59247786e+02] [ 7.29257195e-01 -6.84237561e-01 1.70426078e-03 -9.12601611e+01] [-2.34815551e-03 -1.19157713e-05 9.99997243e-01 -4.76416725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98655999499994 meters 0.011766800875644634 Centerline is valid? [True, True] Translation: X:259.21, Y:-91.22, Z:-4.76 [[-6.84430707e-01 -7.29074894e-01 -2.09923242e-03 2.59207124e+02] [ 7.29071536e-01 -6.84433926e-01 2.21272280e-03 -9.12186002e+01] [-3.05002653e-03 -1.60351813e-05 9.99995349e-01 -4.76450529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04655999499994 meters 0.012165735115080591 Centerline is valid? [True, True] Translation: X:259.16, Y:-91.18, Z:-4.77 [[-6.83120561e-01 -7.30305526e-01 -3.69598679e-04 2.59164871e+02] [ 7.30305421e-01 -6.83120661e-01 3.92272471e-04 -9.11795610e+01] [-5.38959247e-04 -1.95052820e-06 9.99999855e-01 -4.76797779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10655999499994 meters 0.012494050847396803 Centerline is valid? [True, True] Translation: X:259.12, Y:-91.14, Z:-4.77 [[-6.82487022e-01 -7.30896938e-01 1.06295057e-03 2.59123601e+02] [ 7.30896089e-01 -6.82487850e-01 -1.11422388e-03 -9.11386496e+01] [ 1.53983368e-03 1.64630776e-05 9.99998814e-01 -4.77057477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16655999499994 meters 0.012152683510438725 Centerline is valid? [True, True] Translation: X:259.09, Y:-91.10, Z:-4.77 [[-6.84276325e-01 -7.29220550e-01 1.81683598e-03 2.59085020e+02] [ 7.29218062e-01 -6.84278736e-01 -1.90503735e-03 -9.10959611e+01] [ 2.63241461e-03 2.12976565e-05 9.99996535e-01 -4.77065616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22655999499995 meters 0.011734300105545452 Centerline is valid? [True, True] Translation: X:259.05, Y:-91.05, Z:-4.77 [[-6.88834296e-01 -7.24918608e-01 5.70098781e-04 2.59047962e+02] [ 7.24918364e-01 -6.88834531e-01 -5.95285561e-04 -9.10510423e+01] [ 8.24237307e-04 3.22196532e-06 9.99999660e-01 -4.76871375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28655999499995 meters 0.01180609174354366 Centerline is valid? [True, True] Translation: X:259.01, Y:-91.01, Z:-4.77 [[-6.92210628e-01 -7.21695298e-01 -5.84999641e-04 2.59010746e+02] [ 7.21695034e-01 -6.92210876e-01 6.17551105e-04 -9.10076497e+01] [-8.50626843e-04 5.28410249e-06 9.99999638e-01 -4.76840447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34655999499995 meters 0.01220435787183079 Centerline is valid? [True, True] Translation: X:258.97, Y:-90.96, Z:-4.77 [[-6.95185145e-01 -7.18830242e-01 -8.35261289e-04 2.58973498e+02] [ 7.18829704e-01 -6.95185647e-01 8.79604298e-04 -9.09641280e+01] [-1.21294783e-03 1.10772171e-05 9.99999264e-01 -4.76819114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40655999499995 meters 0.012678049822542121 Centerline is valid? [True, True] Translation: X:258.93, Y:-90.92, Z:-4.77 [[-6.98282496e-01 -7.15821827e-01 -8.16954516e-04 2.58934963e+02] [ 7.15821311e-01 -6.98282974e-01 8.59543749e-04 -9.09211777e+01] [-1.18574561e-03 1.54109027e-05 9.99999297e-01 -4.76895320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46655999499995 meters 0.012740113800486636 Centerline is valid? [True, True] Translation: X:258.89, Y:-90.88, Z:-4.77 [[-6.99340113e-01 -7.14789048e-01 -1.52974751e-04 2.58894271e+02] [ 7.14789029e-01 -6.99340130e-01 1.63591223e-04 -9.08793394e+01] [-2.23914597e-04 5.06123057e-06 9.99999975e-01 -4.76883602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52655999499996 meters 0.012786612991186885 Centerline is valid? [True, True] Translation: X:258.85, Y:-90.84, Z:-4.77 [[-6.98934680e-01 -7.15185507e-01 -6.15781790e-05 2.58854215e+02] [ 7.15185504e-01 -6.98934682e-01 6.83780698e-05 -9.08391510e+01] [-9.19421296e-05 3.75198334e-06 9.99999996e-01 -4.76911802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58655999499996 meters 0.01223798761316046 Centerline is valid? [True, True] Translation: X:258.81, Y:-90.80, Z:-4.77 [[-6.96809709e-01 -7.17255975e-01 -3.08815944e-04 2.58810439e+02] [ 7.17255901e-01 -6.96809777e-01 3.26373548e-04 -9.08003426e+01] [-4.49279346e-04 5.92019867e-06 9.99999899e-01 -4.76977433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64655999499996 meters 0.012046634739712767 Centerline is valid? [True, True] Translation: X:258.77, Y:-90.76, Z:-4.77 [[-6.95543734e-01 -7.18483630e-01 -4.33217262e-04 2.58768349e+02] [ 7.18483485e-01 -6.95543869e-01 4.56627313e-04 -9.07612527e+01] [-6.29400860e-04 6.34481848e-06 9.99999802e-01 -4.77060574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70655999499996 meters 0.011776378793750946 Centerline is valid? [True, True] Translation: X:258.73, Y:-90.72, Z:-4.77 [[-6.94024005e-01 -7.19951246e-01 -9.39727879e-04 2.58725086e+02] [ 7.19950572e-01 -6.94024641e-01 9.85262667e-04 -9.07220285e+01] [-1.36153539e-03 7.23831759e-06 9.99999073e-01 -4.76997375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76655999499997 meters 0.011724617473237336 Centerline is valid? [True, True] Translation: X:258.68, Y:-90.68, Z:-4.77 [[-6.93506676e-01 -7.20449095e-01 -1.26190276e-03 2.58683780e+02] [ 7.20447883e-01 -6.93507824e-01 1.32144322e-03 -9.06816759e+01] [-1.82717201e-03 7.29452575e-06 9.99998331e-01 -4.76934829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82655999499997 meters 0.011725367683811607 Centerline is valid? [True, True] Translation: X:258.64, Y:-90.64, Z:-4.77 [[-6.93171547e-01 -7.20770100e-01 -1.91575526e-03 2.58640814e+02] [ 7.20767317e-01 -6.93174194e-01 2.00274799e-03 -9.06420947e+01] [-2.77147298e-03 7.43414382e-06 9.99996159e-01 -4.76828851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88655999499997 meters 0.011848726915962835 Centerline is valid? [True, True] Translation: X:258.60, Y:-90.60, Z:-4.77 [[-6.94538325e-01 -7.19450911e-01 -2.62701627e-03 2.58597743e+02] [ 7.19445681e-01 -6.94543293e-01 2.74351716e-03 -9.06023088e+01] [-3.79840245e-03 1.54823033e-05 9.99992786e-01 -4.76911226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.946559995 meters 0.01213615913601278 Centerline is valid? [True, True] Translation: X:258.56, Y:-90.56, Z:-4.77 [[-6.96068218e-01 -7.17971679e-01 -2.38828771e-03 2.58558983e+02] [ 7.17967350e-01 -6.96072315e-01 2.49340889e-03 -9.05621764e+01] [-3.45261792e-03 2.08700879e-05 9.99994039e-01 -4.77095449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.006559995 meters 0.012176357602574132 Centerline is valid? [True, True] Translation: X:258.52, Y:-90.52, Z:-4.77 [[-6.97446040e-01 -7.16633734e-01 -2.26084325e-03 2.58518103e+02] [ 7.16629853e-01 -6.97449704e-01 2.35866637e-03 -9.05212110e+01] [-3.26712434e-03 2.48547522e-05 9.99994663e-01 -4.77085717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.066559995 meters 0.012217133320386887 Centerline is valid? [True, True] Translation: X:258.48, Y:-90.48, Z:-4.77 [[-6.98255175e-01 -7.15846653e-01 -1.81119225e-03 2.58476567e+02] [ 7.15844160e-01 -6.98257524e-01 1.88918328e-03 -9.04800344e+01] [-2.61704415e-03 2.26006049e-05 9.99996575e-01 -4.77174900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.126559995 meters 0.012205766738809694 Centerline is valid? [True, True] Translation: X:258.44, Y:-90.44, Z:-4.77 [[-6.97833555e-01 -7.16258942e-01 -1.20731356e-03 2.58435770e+02] [ 7.16257834e-01 -6.97834599e-01 1.26013615e-03 -9.04411583e+01] [-1.74508896e-03 1.46174913e-05 9.99998477e-01 -4.77295941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.186559995 meters 0.011929427511366228 Centerline is valid? [True, True] Translation: X:258.39, Y:-90.40, Z:-4.77 [[-6.95605389e-01 -7.18423766e-01 -6.59448730e-04 2.58391444e+02] [ 7.18423436e-01 -6.95605702e-01 6.89112016e-04 -9.04037927e+01] [-9.53790747e-04 5.58660989e-06 9.99999545e-01 -4.77401868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.246559995 meters 0.011819397786764 Centerline is valid? [True, True] Translation: X:258.35, Y:-90.37, Z:-4.78 [[-6.93563718e-01 -7.20395271e-01 1.50627770e-04 2.58349381e+02] [ 7.20395255e-01 -6.93563734e-01 -1.53688528e-04 -9.03658918e+01] [ 2.15186447e-04 1.91874431e-06 9.99999977e-01 -4.77536194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.306559995 meters 0.011870543620324468 Centerline is valid? [True, True] Translation: X:258.31, Y:-90.33, Z:-4.78 [[-6.92849379e-01 -7.21082328e-01 1.18413817e-04 2.58308413e+02] [ 7.21082319e-01 -6.92849389e-01 -1.19316298e-04 -9.03257791e+01] [ 1.68079815e-04 2.71788670e-06 9.99999986e-01 -4.77554852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.366559995 meters 0.01204004737746202 Centerline is valid? [True, True] Translation: X:258.27, Y:-90.29, Z:-4.78 [[-6.92360676e-01 -7.21551536e-01 2.73982671e-04 2.58267938e+02] [ 7.21551482e-01 -6.92360730e-01 -2.80786484e-04 -9.02858712e+01] [ 3.92296761e-04 3.28708204e-06 9.99999923e-01 -4.77659055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.426559995 meters 0.012056389211465226 Centerline is valid? [True, True] Translation: X:258.23, Y:-90.25, Z:-4.78 [[-6.91468288e-01 -7.22406677e-01 4.46964807e-04 2.58226613e+02] [ 7.22406530e-01 -6.91468433e-01 -4.60200429e-04 -9.02457204e+01] [ 6.41513917e-04 4.67629272e-06 9.99999794e-01 -4.77621303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48655999499994 meters 0.012125692956448164 Centerline is valid? [True, True] Translation: X:258.19, Y:-90.21, Z:-4.78 [[-6.91146414e-01 -7.22714682e-01 -3.50117019e-04 2.58186876e+02] [ 7.22714589e-01 -6.91146503e-01 3.66864936e-04 -9.02064464e+01] [-5.07120828e-04 5.22707414e-07 9.99999871e-01 -4.77625682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54655999499994 meters 0.012085635533045294 Centerline is valid? [True, True] Translation: X:258.15, Y:-90.17, Z:-4.78 [[-6.90812315e-01 -7.23031797e-01 -1.83468453e-03 2.58145033e+02] [ 7.23029289e-01 -6.90814752e-01 1.90442919e-03 -9.01654616e+01] [-2.64439000e-03 -1.09275164e-05 9.99996504e-01 -4.77535269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60655999499994 meters 0.012214954396189323 Centerline is valid? [True, True] Translation: X:258.10, Y:-90.13, Z:-4.78 [[-6.90391649e-01 -7.23433862e-01 -1.67897430e-03 2.58104775e+02] [ 7.23431764e-01 -6.90393690e-01 1.74219418e-03 -9.01256660e+01] [-2.41951553e-03 -1.18270256e-05 9.99997073e-01 -4.77593353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66655999499994 meters 0.012188291902680844 Centerline is valid? [True, True] Translation: X:258.06, Y:-90.08, Z:-4.78 [[-6.90738035e-01 -7.23104724e-01 -7.24325946e-04 2.58064594e+02] [ 7.23104332e-01 -6.90738415e-01 7.53298636e-04 -9.00845443e+01] [-1.04503356e-03 -3.43120894e-06 9.99999454e-01 -4.77778078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72655999499995 meters 0.012183364206700121 Centerline is valid? [True, True] Translation: X:258.03, Y:-90.04, Z:-4.78 [[-6.91451885e-01 -7.22422484e-01 -2.10797336e-04 2.58026347e+02] [ 7.22422450e-01 -6.91451918e-01 2.21835229e-04 -9.00428898e+01] [-3.06014980e-04 1.10365930e-06 9.99999953e-01 -4.77872242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78655999499995 meters 0.012167399789634464 Centerline is valid? [True, True] Translation: X:257.99, Y:-90.00, Z:-4.78 [[-6.92432827e-01 -7.21481496e-01 1.10983312e-03 2.57987467e+02] [ 7.21480589e-01 -6.92433716e-01 -1.14386219e-03 -8.99995270e+01] [ 1.59376128e-03 8.67531795e-06 9.99998730e-01 -4.78008135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84655999499995 meters 0.012214849017247113 Centerline is valid? [True, True] Translation: X:257.95, Y:-89.96, Z:-4.78 [[-6.92688747e-01 -7.21236433e-01 5.54749428e-04 2.57949094e+02] [ 7.21236208e-01 -6.92688969e-01 -5.69803468e-04 -8.99562204e+01] [ 7.95231830e-04 5.40892331e-06 9.99999684e-01 -4.78037538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90655999499995 meters 0.012142741634172467 Centerline is valid? [True, True] Translation: X:257.91, Y:-89.91, Z:-4.78 [[-6.93734153e-01 -7.20231124e-01 2.29061051e-04 2.57911802e+02] [ 7.20231087e-01 -6.93734191e-01 -2.32828729e-04 -8.99131051e+01] [ 3.26597980e-04 3.45564807e-06 9.99999947e-01 -4.78065509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96655999499995 meters 0.012188258462876215 Centerline is valid? [True, True] Translation: X:257.88, Y:-89.87, Z:-4.78 [[-6.95538038e-01 -7.18489270e-01 -7.68279874e-05 2.57875283e+02] [ 7.18489265e-01 -6.95538043e-01 8.28892202e-05 -8.98681676e+01] [-1.12991803e-04 2.45252135e-06 9.99999994e-01 -4.78096216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02655999499996 meters 0.012173410553557338 Centerline is valid? [True, True] Translation: X:257.84, Y:-89.83, Z:-4.78 [[-6.96558668e-01 -7.17499334e-01 -8.53417567e-04 2.57837720e+02] [ 7.17498790e-01 -6.96559191e-01 8.83555910e-04 -8.98253770e+01] [-1.22840663e-03 3.12245598e-06 9.99999246e-01 -4.78065861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08655999499996 meters 0.012098298943397654 Centerline is valid? [True, True] Translation: X:257.80, Y:-89.78, Z:-4.78 [[-6.95748720e-01 -7.18279741e-01 -2.81651200e-03 2.57799640e+02] [ 7.18273863e-01 -6.95754421e-01 2.90597356e-03 -8.97829622e+01] [-4.04690261e-03 -1.19957035e-06 9.99991811e-01 -4.77859600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14655999499996 meters 0.01215728343943465 Centerline is valid? [True, True] Translation: X:257.76, Y:-89.74, Z:-4.78 [[-6.94314905e-01 -7.19665811e-01 -2.81671303e-03 2.57759565e+02] [ 7.19659950e-01 -6.94320618e-01 2.90440298e-03 -8.97419798e+01] [-4.04590146e-03 -1.05052812e-05 9.99991815e-01 -4.77973309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20655999499996 meters 0.012323063160249519 Centerline is valid? [True, True] Translation: X:257.72, Y:-89.70, Z:-4.78 [[-6.91601835e-01 -7.22275637e-01 -2.19238678e-03 2.57719708e+02] [ 7.22272102e-01 -6.91605309e-01 2.25993064e-03 -8.97003421e+01] [-3.14855918e-03 -2.05276297e-05 9.99995043e-01 -4.78067169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26655999499997 meters 0.012525149844741401 Centerline is valid? [True, True] Translation: X:257.68, Y:-89.66, Z:-4.78 [[-6.91226246e-01 -7.22636198e-01 -1.78960607e-03 2.57680786e+02] [ 7.22633843e-01 -6.91228563e-01 1.84467900e-03 -8.96602740e+01] [-2.57005865e-03 -1.81393702e-05 9.99996697e-01 -4.78246301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32655999499997 meters 0.012476503466559978 Centerline is valid? [True, True] Translation: X:257.64, Y:-89.62, Z:-4.78 [[-6.91706656e-01 -7.22178540e-01 -2.41878243e-04 2.57642931e+02] [ 7.22178496e-01 -6.91706698e-01 2.52295238e-04 -8.96165743e+01] [-3.49511008e-04 -1.64970551e-07 9.99999939e-01 -4.78481956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38655999499997 meters 0.012494347702559971 Centerline is valid? [True, True] Translation: X:257.61, Y:-89.57, Z:-4.79 [[-6.92568195e-01 -7.21352368e-01 2.36968791e-04 2.57606360e+02] [ 7.21352328e-01 -6.92568236e-01 -2.39649990e-04 -8.95740291e+01] [ 3.36989145e-04 4.96402856e-06 9.99999943e-01 -4.78600694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.446559995 meters 0.012159453022622115 Centerline is valid? [True, True] Translation: X:257.57, Y:-89.53, Z:-4.79 [[-6.94438651e-01 -7.19551887e-01 -2.06295148e-04 2.57570622e+02] [ 7.19551854e-01 -6.94438682e-01 2.15479093e-04 -8.95290735e+01] [-2.98307719e-04 1.19695479e-06 9.99999956e-01 -4.78600956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.506559995 meters 0.012137694440493372 Centerline is valid? [True, True] Translation: X:257.53, Y:-89.48, Z:-4.79 [[-6.95465331e-01 -7.18559471e-01 -5.09855261e-04 2.57533314e+02] [ 7.18559278e-01 -6.95465518e-01 5.26440162e-04 -8.94849972e+01] [-7.32865317e-04 -2.40346752e-07 9.99999731e-01 -4.78606492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.566559995 meters 0.012142833017719346 Centerline is valid? [True, True] Translation: X:257.50, Y:-89.44, Z:-4.79 [[-6.96131076e-01 -7.17914107e-01 -9.27607142e-04 2.57498332e+02] [ 7.17913471e-01 -6.96131694e-01 9.55007765e-04 -8.94402858e+01] [-1.33135028e-03 -1.13108011e-06 9.99999114e-01 -4.78574277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.626559995 meters 0.012161172286228499 Centerline is valid? [True, True] Translation: X:257.46, Y:-89.40, Z:-4.79 [[-6.96151793e-01 -7.17893953e-01 -9.76158626e-04 2.57460355e+02] [ 7.17893251e-01 -6.96152478e-01 1.00397896e-03 -8.93976965e+01] [-1.40030567e-03 -1.85593358e-06 9.99999020e-01 -4.78612974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.686559995 meters 0.0122479908639953 Centerline is valid? [True, True] Translation: X:257.42, Y:-89.36, Z:-4.79 [[-6.94950279e-01 -7.19057145e-01 -9.65086635e-04 2.57421483e+02] [ 7.19056461e-01 -6.94950949e-01 9.91905612e-04 -8.93551406e+01] [-1.38392469e-03 -4.62669881e-06 9.99999042e-01 -4.78662585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.746559995 meters 0.012418679664820366 Centerline is valid? [True, True] Translation: X:257.38, Y:-89.31, Z:-4.79 [[-6.93527418e-01 -7.20428919e-01 -1.37582908e-03 2.57380893e+02] [ 7.20427536e-01 -6.93528783e-01 1.41151863e-03 -8.93141878e+01] [-1.97107591e-03 -1.22582822e-05 9.99998057e-01 -4.78712003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.806559995 meters 0.01277008516634889 Centerline is valid? [True, True] Translation: X:257.34, Y:-89.27, Z:-4.79 [[-6.91834448e-01 -7.22056063e-01 -3.71823430e-04 2.57339137e+02] [ 7.22055961e-01 -6.91834548e-01 3.83632103e-04 -8.92737634e+01] [-5.34244180e-04 -3.06742033e-06 9.99999857e-01 -4.78864431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.866559995 meters 0.01296780446299907 Centerline is valid? [True, True] Translation: X:257.30, Y:-89.23, Z:-4.79 [[-6.91002094e-01 -7.22852747e-01 -1.11919563e-04 2.57297335e+02] [ 7.22852738e-01 -6.91002103e-01 1.18089603e-04 -8.92345332e+01] [-1.62698048e-04 6.98800582e-07 9.99999987e-01 -4.78977082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.926559995 meters 0.013305307592469038 Centerline is valid? [True, True] Translation: X:257.25, Y:-89.20, Z:-4.79 [[-6.89983076e-01 -7.23825375e-01 4.24717889e-04 2.57254218e+02] [ 7.23825247e-01 -6.89983207e-01 -4.30695243e-04 -8.91960599e+01] [ 6.04796357e-04 1.02491021e-05 9.99999817e-01 -4.79174326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98655999499994 meters 0.01336708956059377 Centerline is valid? [True, True] Translation: X:257.21, Y:-89.16, Z:-4.79 [[-6.89925305e-01 -7.23880402e-01 4.87338222e-04 2.57213234e+02] [ 7.23880233e-01 -6.89925477e-01 -4.93956443e-04 -8.91560272e+01] [ 6.93792444e-04 1.19814557e-05 9.99999759e-01 -4.79234444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04655999499994 meters 0.013716377830252112 Centerline is valid? [True, True] Translation: X:257.17, Y:-89.12, Z:-4.79 [[-6.89543973e-01 -7.24243302e-01 8.65049727e-04 2.57171908e+02] [ 7.24242769e-01 -6.89544516e-01 -8.79123984e-04 -8.91163884e+01] [ 1.23318995e-03 2.03113643e-05 9.99999239e-01 -4.79360429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10655999499994 meters 0.013684031944140699 Centerline is valid? [True, True] Translation: X:257.13, Y:-89.08, Z:-4.79 [[-6.88656918e-01 -7.25085170e-01 1.77355422e-03 2.57130801e+02] [ 7.25082924e-01 -6.88659200e-01 -1.80545936e-03 -8.90751322e+01] [ 2.53048624e-03 4.26318047e-05 9.99996797e-01 -4.79449949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16655999499994 meters 0.013824525128023974 Centerline is valid? [True, True] Translation: X:257.09, Y:-89.03, Z:-4.79 [[-6.88895010e-01 -7.24860907e-01 5.75228952e-04 2.57089960e+02] [ 7.24860673e-01 -6.88895250e-01 -5.82620300e-04 -8.90344000e+01] [ 8.18591172e-04 1.55966275e-05 9.99999665e-01 -4.79403110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22655999499995 meters 0.013980198854365288 Centerline is valid? [True, True] Translation: X:257.05, Y:-88.99, Z:-4.79 [[-6.90190556e-01 -7.23627479e-01 -5.17637636e-04 2.57048882e+02] [ 7.23627285e-01 -6.90190750e-01 5.30484924e-04 -8.89940723e+01] [-7.41142177e-04 -8.44103309e-06 9.99999725e-01 -4.79398125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28655999499995 meters 0.012783885925933363 Centerline is valid? [True, True] Translation: X:257.01, Y:-88.95, Z:-4.79 [[-6.92460069e-01 -7.21455850e-01 -7.13043825e-04 2.57010439e+02] [ 7.21455482e-01 -6.92460436e-01 7.29207222e-04 -8.89498795e+01] [-1.01984545e-03 -9.48249305e-06 9.99999480e-01 -4.79371560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34655999499995 meters 0.012428711221278933 Centerline is valid? [True, True] Translation: X:256.97, Y:-88.91, Z:-4.79 [[-6.94290973e-01 -7.19694080e-01 -6.89535381e-04 2.56971332e+02] [ 7.19693735e-01 -6.94291316e-01 7.04895237e-04 -8.89067544e+01] [-9.86047356e-04 -6.85189300e-06 9.99999514e-01 -4.79419757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40655999499995 meters 0.012125434805340516 Centerline is valid? [True, True] Translation: X:256.93, Y:-88.86, Z:-4.80 [[-6.96921157e-01 -7.17147709e-01 -2.53669108e-04 2.56932847e+02] [ 7.17147661e-01 -6.96921203e-01 2.61245374e-04 -8.88633766e+01] [-3.64138902e-04 1.49220785e-07 9.99999934e-01 -4.79508965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46655999499995 meters 0.012154004851632297 Centerline is valid? [True, True] Translation: X:256.89, Y:-88.82, Z:-4.80 [[-6.97071654e-01 -7.17001296e-01 5.00534792e-04 2.56890985e+02] [ 7.17001118e-01 -6.97071834e-01 -5.05407952e-04 -8.88237181e+01] [ 7.11286862e-04 6.57844804e-06 9.99999747e-01 -4.79688728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52655999499996 meters 0.012217878404470773 Centerline is valid? [True, True] Translation: X:256.85, Y:-88.78, Z:-4.80 [[-6.96607982e-01 -7.17451223e-01 1.03035447e-03 2.56848448e+02] [ 7.17450466e-01 -6.96608744e-01 -1.04284557e-03 -8.87848139e+01] [ 1.46594476e-03 1.27737521e-05 9.99998925e-01 -4.79810105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58655999499996 meters 0.012128802255002223 Centerline is valid? [True, True] Translation: X:256.81, Y:-88.74, Z:-4.80 [[-6.96553413e-01 -7.17504333e-01 9.34927479e-04 2.56807391e+02] [ 7.17503711e-01 -6.96554041e-01 -9.45312562e-04 -8.87443008e+01] [ 1.32949337e-03 1.23532435e-05 9.99999116e-01 -4.79789399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64655999499996 meters 0.01227115480481184 Centerline is valid? [True, True] Translation: X:256.77, Y:-88.70, Z:-4.80 [[-6.96410339e-01 -7.17643584e-01 5.71683403e-04 2.56765645e+02] [ 7.17643352e-01 -6.96410573e-01 -5.76261910e-04 -8.87046304e+01] [ 8.11677029e-04 8.95004165e-06 9.99999671e-01 -4.79828610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70655999499996 meters 0.012158346188756582 Centerline is valid? [True, True] Translation: X:256.72, Y:-88.66, Z:-4.80 [[-6.97235391e-01 -7.16842247e-01 -3.98831722e-05 2.56724244e+02] [ 7.16842246e-01 -6.97235392e-01 4.40643716e-05 -8.86648231e+01] [-5.93951624e-05 2.13329662e-06 9.99999998e-01 -4.79877652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76655999499997 meters 0.012180758921537178 Centerline is valid? [True, True] Translation: X:256.68, Y:-88.62, Z:-4.80 [[-6.98137269e-01 -7.15962646e-01 1.35788934e-03 2.56683847e+02] [ 7.15961331e-01 -6.98138589e-01 -1.37210765e-03 -8.86236408e+01] [ 1.93037277e-03 1.42767736e-05 9.99998137e-01 -4.80062332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82655999499997 meters 0.012289585290039894 Centerline is valid? [True, True] Translation: X:256.65, Y:-88.58, Z:-4.80 [[-6.99805177e-01 -7.14325213e-01 3.49343662e-03 2.56645694e+02] [ 7.14316472e-01 -6.99813897e-01 -3.53385849e-03 -8.85816962e+01] [ 4.96907971e-03 2.24068505e-05 9.99987654e-01 -4.80410089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88655999499997 meters 0.012070477016123756 Centerline is valid? [True, True] Translation: X:256.61, Y:-88.54, Z:-4.80 [[-7.00843395e-01 -7.13306966e-01 3.42162511e-03 2.56606030e+02] [ 7.13298578e-01 -7.00851747e-01 -3.45927006e-03 -8.85394788e+01] [ 4.86557337e-03 1.62337550e-05 9.99988163e-01 -4.80377014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.946559995 meters 0.011863867864130713 Centerline is valid? [True, True] Translation: X:256.56, Y:-88.50, Z:-4.80 [[-7.00774565e-01 -7.13379273e-01 2.24107739e-03 2.56564029e+02] [ 7.13375683e-01 -7.00778148e-01 -2.26327369e-03 -8.84990354e+01] [ 3.18507061e-03 1.26854787e-05 9.99994928e-01 -4.80307147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.006559995 meters 0.011796132195471725 Centerline is valid? [True, True] Translation: X:256.53, Y:-88.46, Z:-4.80 [[-7.02546230e-01 -7.11637276e-01 1.08758076e-03 2.56526680e+02] [ 7.11636433e-01 -7.02547071e-01 -1.09536470e-03 -8.84572728e+01] [ 1.54357903e-03 4.41775681e-06 9.99998809e-01 -4.80186438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.066559995 meters 0.011717754303380486 Centerline is valid? [True, True] Translation: X:256.49, Y:-88.42, Z:-4.80 [[-7.03765000e-01 -7.10432816e-01 -1.98231966e-04 2.56487600e+02] [ 7.10432787e-01 -7.03765028e-01 2.03850451e-04 -8.84150928e+01] [-2.84330775e-04 2.63232436e-06 9.99999960e-01 -4.80078535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.126559995 meters 0.011781246268809064 Centerline is valid? [True, True] Translation: X:256.45, Y:-88.38, Z:-4.80 [[-7.02800206e-01 -7.11386090e-01 -1.30443402e-03 2.56446040e+02] [ 7.11384865e-01 -7.02801416e-01 1.32031042e-03 -8.83751082e+01] [-1.85600854e-03 -4.01869743e-08 9.99998278e-01 -4.80041671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.186559995 meters 0.011774714729827628 Centerline is valid? [True, True] Translation: X:256.40, Y:-88.34, Z:-4.80 [[-7.00988551e-01 -7.13172273e-01 -6.00658418e-04 2.56402671e+02] [ 7.13172013e-01 -7.00988808e-01 6.09255127e-04 -8.83360127e+01] [-8.55558692e-04 -1.29190440e-06 9.99999634e-01 -4.80190368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.246559995 meters 0.012965625158251283 Centerline is valid? [True, True] Translation: X:256.36, Y:-88.30, Z:-4.81 [[-6.96214005e-01 -7.17834210e-01 3.25957995e-04 2.56357195e+02] [ 7.17834136e-01 -6.96214081e-01 -3.26058103e-04 -8.83016121e+01] [ 4.60992207e-04 6.97755843e-06 9.99999894e-01 -4.80607672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.306559995 meters 0.01302835409705541 Centerline is valid? [True, True] Translation: X:256.32, Y:-88.26, Z:-4.81 [[-6.95008301e-01 -7.19001416e-01 6.52061377e-04 2.56315385e+02] [ 7.19001119e-01 -6.95008607e-01 -6.53967601e-04 -8.82607921e+01] [ 9.23391901e-04 1.43199482e-05 9.99999574e-01 -4.80690890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.366559995 meters 0.013569140451727062 Centerline is valid? [True, True] Translation: X:256.27, Y:-88.22, Z:-4.81 [[-6.95303137e-01 -7.18716592e-01 9.49240757e-05 2.56274812e+02] [ 7.18716586e-01 -6.95303143e-01 -9.28619346e-05 -8.82214029e+01] [ 1.32742421e-04 3.65631318e-06 9.99999991e-01 -4.80802562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.426559995 meters 0.012533538768670473 Centerline is valid? [True, True] Translation: X:256.24, Y:-88.18, Z:-4.81 [[-6.97139400e-01 -7.16935536e-01 -3.07038738e-04 2.56236595e+02] [ 7.16935468e-01 -6.97139468e-01 3.12367580e-04 -8.81780078e+01] [-4.37996240e-04 -2.36321375e-06 9.99999904e-01 -4.80754925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48655999499994 meters 0.011979555751300724 Centerline is valid? [True, True] Translation: X:256.20, Y:-88.13, Z:-4.81 [[-7.00879643e-01 -7.13277703e-01 -1.62587346e-03 2.56198165e+02] [ 7.13275820e-01 -7.00881529e-01 1.63920261e-03 -8.81343009e+01] [-2.30875135e-03 -1.08124833e-05 9.99997335e-01 -4.80712210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54655999499994 meters 0.01171722621865457 Centerline is valid? [True, True] Translation: X:256.16, Y:-88.09, Z:-4.81 [[-7.04771517e-01 -7.09427295e-01 -3.16592165e-03 2.56160838e+02] [ 7.09420135e-01 -7.04778627e-01 3.18718718e-03 -8.80904863e+01] [-4.49235150e-03 2.70177313e-07 9.99989909e-01 -4.80548345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60655999499994 meters 0.011806574448202083 Centerline is valid? [True, True] Translation: X:256.12, Y:-88.05, Z:-4.81 [[-7.06557890e-01 -7.07652867e-01 -1.83513745e-03 2.56121336e+02] [ 7.07650454e-01 -7.06560273e-01 1.84782898e-03 -8.80484033e+01] [-2.60425670e-03 6.96229809e-06 9.99996609e-01 -4.80745343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66655999499994 meters 0.011789288544583023 Centerline is valid? [True, True] Translation: X:256.08, Y:-88.01, Z:-4.81 [[-7.03056928e-01 -7.11133426e-01 4.55514840e-04 2.56076202e+02] [ 7.11133281e-01 -7.03057075e-01 -4.54230830e-04 -8.80116563e+01] [ 6.43271657e-04 4.58163118e-06 9.99999793e-01 -4.81086943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72655999499995 meters 0.011789288544583023 Centerline is valid? [True, True] Translation: X:256.04, Y:-87.97, Z:-4.81 [[-7.03260126e-01 -7.10932478e-01 4.55646688e-04 2.56035520e+02] [ 7.10932333e-01 -7.03260273e-01 -4.54099052e-04 -8.79708977e+01] [ 6.43271978e-04 4.58420620e-06 9.99999793e-01 -4.81133436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78655999499995 meters 0.011856764575077845 Centerline is valid? [True, True] Translation: X:256.00, Y:-87.93, Z:-4.81 [[-7.03290158e-01 -7.10902752e-01 4.79493172e-04 2.55995432e+02] [ 7.10902592e-01 -7.03290322e-01 -4.77164546e-04 -8.79314920e+01] [ 6.76440496e-04 5.28781022e-06 9.99999771e-01 -4.81238705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84655999499995 meters 0.01200166181498548 Centerline is valid? [True, True] Translation: X:255.96, Y:-87.89, Z:-4.81 [[-7.02956961e-01 -7.11232154e-01 5.77910715e-04 2.55955877e+02] [ 7.11231920e-01 -7.02957199e-01 -5.76713856e-04 -8.78914163e+01] [ 8.16423935e-04 5.62352742e-06 9.99999667e-01 -4.81283562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90655999499995 meters 0.011913322409849351 Centerline is valid? [True, True] Translation: X:255.92, Y:-87.85, Z:-4.81 [[-7.03107555e-01 -7.11083307e-01 5.44574774e-04 2.55915971e+02] [ 7.11083100e-01 -7.03107766e-01 -5.42024989e-04 -8.78507182e+01] [ 7.68319675e-04 6.13605325e-06 9.99999705e-01 -4.81210502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96655999499995 meters 0.011961328436247583 Centerline is valid? [True, True] Translation: X:255.87, Y:-87.81, Z:-4.81 [[-7.02354240e-01 -7.11827466e-01 -4.23503426e-04 2.55873770e+02] [ 7.11827338e-01 -7.02354368e-01 4.27354816e-04 -8.78104761e+01] [-6.01652377e-04 -1.30684909e-06 9.99999819e-01 -4.81174445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02655999499996 meters 0.012021909975762019 Centerline is valid? [True, True] Translation: X:255.83, Y:-87.77, Z:-4.81 [[-7.01827954e-01 -7.12344429e-01 -1.71368901e-03 2.55831730e+02] [ 7.12342356e-01 -7.01830046e-01 1.71869611e-03 -8.77715104e+01] [-2.42702203e-03 -1.45042930e-05 9.99997055e-01 -4.81176067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08655999499996 meters 0.01200422421993278 Centerline is valid? [True, True] Translation: X:255.79, Y:-87.73, Z:-4.81 [[-7.02304042e-01 -7.11872453e-01 -2.57756347e-03 2.55791883e+02] [ 7.11867772e-01 -7.02308771e-01 2.58162231e-03 -8.77305924e+01] [-3.64803124e-03 -2.18005817e-05 9.99993346e-01 -4.81111421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14655999499996 meters 0.012004329018356859 Centerline is valid? [True, True] Translation: X:255.75, Y:-87.69, Z:-4.81 [[-7.02889164e-01 -7.11293259e-01 -2.95354830e-03 2.55752757e+02] [ 7.11287118e-01 -7.02895369e-01 2.95577891e-03 -8.76894029e+01] [-4.17846103e-03 -2.32358899e-05 9.99991270e-01 -4.81052813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20655999499996 meters 0.011981598421081546 Centerline is valid? [True, True] Translation: X:255.25, Y:-88.17, Z:-3.81 [[-7.59747834e-01 6.50158065e-01 8.81583652e-03 2.55253929e+02] [ 6.50104097e-01 7.59798700e-01 -8.40228745e-03 -8.81748001e+01] [-1.21610761e-02 -6.52408261e-04 -9.99925839e-01 -3.81178123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26655999499997 meters 0.01218990221015911 Centerline is valid? [True, True] Translation: X:255.28, Y:-88.16, Z:-3.81 [[-8.04780934e-01 5.93483687e-01 1.02353349e-02 2.55276204e+02] [ 5.93424746e-01 8.04845731e-01 -8.39165815e-03 -8.81551438e+01] [-1.32181778e-02 -6.79545479e-04 -9.99912405e-01 -3.81098451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32655999499997 meters 0.012583035790754822 Centerline is valid? [True, True] Translation: X:255.29, Y:-88.13, Z:-3.81 [[-8.46415545e-01 5.32397402e-01 1.15642163e-02 2.55291016e+02] [ 5.32335751e-01 8.46494226e-01 -8.13471022e-03 -8.81289785e+01] [-1.41199409e-02 -7.29299416e-04 -9.99900043e-01 -3.81026914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38655999499997 meters 0.013203678800240655 Centerline is valid? [True, True] Translation: X:255.31, Y:-88.10, Z:-3.81 [[-8.83428156e-01 4.68414662e-01 1.19330708e-02 2.55305252e+02] [ 4.68360002e-01 8.83508412e-01 -7.19687872e-03 -8.81041328e+01] [-1.39140919e-02 -7.68952228e-04 -9.99902899e-01 -3.81119164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.446559995 meters 0.013552562274913183 Centerline is valid? [True, True] Translation: X:255.64, Y:-87.52, Z:-4.81 [[-8.33685008e-01 -5.52237359e-01 -1.79069975e-03 2.55640081e+02] [ 5.52237122e-01 -8.33686820e-01 6.69273960e-04 -8.75167609e+01] [-1.86248086e-03 -4.30927208e-04 9.99998173e-01 -4.81281201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.506559995 meters 0.01368496406923652 Centerline is valid? [True, True] Translation: X:255.27, Y:-88.08, Z:-3.81 [[-8.85685348e-01 4.64120143e-01 1.24079794e-02 2.55267253e+02] [ 4.64061870e-01 8.85771902e-01 -7.39714475e-03 -8.80812178e+01] [-1.44238034e-02 -7.93472574e-04 -9.99895657e-01 -3.81070450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.566559995 meters 0.013382432944673488 Centerline is valid? [True, True] Translation: X:255.28, Y:-88.06, Z:-3.81 [[-9.15368407e-01 4.02405375e-01 1.30611320e-02 2.55282725e+02] [ 4.02352438e-01 9.15461270e-01 -6.57104958e-03 -8.80603168e+01] [-1.46011861e-02 -7.59752897e-04 -9.99893108e-01 -3.81034143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.626559995 meters 0.01272083692380111 Centerline is valid? [True, True] Translation: X:255.29, Y:-88.04, Z:-3.81 [[-9.40400620e-01 3.39826700e-01 1.28252698e-02 2.55292692e+02] [ 3.39784848e-01 9.40487811e-01 -5.37903531e-03 -8.80387187e+01] [-1.38899497e-02 -7.00615798e-04 -9.99903285e-01 -3.81114683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.686559995 meters 0.01194845861016003 Centerline is valid? [True, True] Translation: X:255.54, Y:-87.40, Z:-4.81 [[-9.09731426e-01 -4.15183840e-01 -3.33343253e-03 2.55543567e+02] [ 4.15182777e-01 -9.09737427e-01 1.03728143e-03 -8.74016472e+01] [-3.46321082e-03 -4.40336259e-04 9.99993906e-01 -4.81220746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.746559995 meters 0.011831246776002035 Centerline is valid? [True, True] Translation: X:255.25, Y:-88.03, Z:-3.81 [[-9.38440834e-01 3.45225647e-01 1.21677277e-02 2.55252030e+02] [ 3.45188722e-01 9.38519542e-01 -5.08094895e-03 -8.80308677e+01] [-1.31737241e-02 -5.68007612e-04 -9.99913061e-01 -3.81290599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.806559995 meters 0.011810317006599498 Centerline is valid? [True, True] Translation: X:255.26, Y:-88.01, Z:-3.81 [[-9.60147081e-01 2.79182421e-01 1.32196600e-02 2.55263873e+02] [ 2.79148085e-01 9.60237927e-01 -4.41242867e-03 -8.80073562e+01] [-1.39258914e-02 -5.46337751e-04 -9.99902881e-01 -3.81276640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.866559995 meters 0.011869425439062107 Centerline is valid? [True, True] Translation: X:255.47, Y:-87.34, Z:-4.81 [[-9.40277856e-01 -3.40406485e-01 -9.89020491e-04 2.55469406e+02] [ 3.40406664e-01 -9.40278311e-01 -1.40957493e-05 -8.73448825e+01] [-9.25156232e-04 -3.49923087e-04 9.99999511e-01 -4.81299653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.926559995 meters 0.011933428418939957 Centerline is valid? [True, True] Translation: X:255.22, Y:-87.99, Z:-3.81 [[-9.61035056e-01 2.76013911e-01 1.50977206e-02 2.55216610e+02] [ 2.75971035e-01 9.61153490e-01 -4.89442000e-03 -8.79935084e+01] [-1.58621548e-02 -5.37175618e-04 -9.99874044e-01 -3.81305755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98655999499994 meters 0.011941571768616965 Centerline is valid? [True, True] Translation: X:255.22, Y:-87.96, Z:-3.81 [[-9.78503006e-01 2.05582722e-01 1.63588579e-02 2.55220975e+02] [ 2.05544387e-01 9.78639581e-01 -4.00932202e-03 -8.79642850e+01] [-1.68336732e-02 -5.60662221e-04 -9.99858146e-01 -3.81253935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04655999499994 meters 0.012024896610912954 Centerline is valid? [True, True] Translation: X:255.23, Y:-87.93, Z:-3.81 [[-9.90948563e-01 1.33029085e-01 1.80057831e-02 2.55225568e+02] [ 1.32995950e-01 9.91111947e-01 -3.03069127e-03 -8.79339215e+01] [-1.82489168e-02 -6.08562936e-04 -9.99833289e-01 -3.81120589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10655999499994 meters 0.0122230321247691 Centerline is valid? [True, True] Translation: X:255.33, Y:-87.26, Z:-4.81 [[-9.78006609e-01 -2.08562274e-01 2.20222310e-03 2.55328028e+02] [ 2.08560555e-01 -9.78008959e-01 -9.85887210e-04 -8.72647634e+01] [ 2.35941280e-03 -5.04907336e-04 9.99997089e-01 -4.81417963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16655999499994 meters 0.012509703460318346 Centerline is valid? [True, True] Translation: X:255.17, Y:-87.92, Z:-3.81 [[-9.92301103e-01 1.22691949e-01 1.68880826e-02 2.55174078e+02] [ 1.22661867e-01 9.92444544e-01 -2.80962892e-03 -8.79222632e+01] [-1.71052043e-02 -7.16474131e-04 -9.99853439e-01 -3.81476185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22655999499995 meters 0.013220589065846992 Centerline is valid? [True, True] Translation: X:255.17, Y:-87.89, Z:-3.81 [[-9.98690755e-01 4.83376817e-02 1.67405157e-02 2.55172902e+02] [ 4.83179457e-02 9.98830754e-01 -1.58163439e-03 -8.78900703e+01] [-1.67973944e-02 -7.70696319e-04 -9.99858617e-01 -3.81454025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28655999499995 meters 0.014075298291128106 Centerline is valid? [True, True] Translation: X:255.22, Y:-87.24, Z:-4.81 [[-9.89324045e-01 -1.45732402e-01 3.19174151e-05 2.55219345e+02] [ 1.45732356e-01 -9.89323868e-01 -6.04184026e-04 -8.72391052e+01] [ 1.19625850e-04 -5.93082384e-04 9.99999817e-01 -4.81360917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34655999499995 meters 0.014127662678815251 Centerline is valid? [True, True] Translation: X:255.12, Y:-87.88, Z:-3.82 [[-9.99156299e-01 3.83660352e-02 1.46539221e-02 2.55115015e+02] [ 3.83497001e-02 9.99263407e-01 -1.39420598e-03 -8.78815116e+01] [-1.46966182e-02 -8.31056172e-04 -9.99891654e-01 -3.81784012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40655999499995 meters 0.015453252624346844 Centerline is valid? [True, True] Translation: X:255.11, Y:-87.85, Z:-3.81 [[-9.99302557e-01 -3.32386655e-02 1.70173448e-02 2.55113067e+02] [-3.32488209e-02 9.99447056e-01 -3.14118028e-04 -8.78499766e+01] [-1.69974943e-02 -8.79705598e-04 -9.99855145e-01 -3.81442880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46655999499995 meters 0.01391771032448229 Centerline is valid? [True, True] Translation: X:255.11, Y:-87.21, Z:-4.82 [[-9.97411693e-01 -7.18707762e-02 2.12281332e-03 2.55108225e+02] [ 7.18698460e-02 -9.97413888e-01 -5.11354850e-04 -8.72115470e+01] [ 2.15407496e-03 -3.57465040e-04 9.99997616e-01 -4.81539663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52655999499996 meters 0.013447202906013443 Centerline is valid? [True, True] Translation: X:255.05, Y:-87.85, Z:-3.82 [[-9.99269637e-01 -3.35350263e-02 1.83192170e-02 2.55051688e+02] [-3.35446481e-02 9.99437196e-01 -2.18111470e-04 -8.78547937e+01] [-1.83015925e-02 -8.32463858e-04 -9.99832165e-01 -3.81522832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58655999499996 meters 0.012681929325304726 Centerline is valid? [True, True] Translation: X:255.05, Y:-87.83, Z:-3.81 [[-9.94840361e-01 -9.93447260e-02 2.05738017e-02 2.55046063e+02] [-9.93391176e-02 9.95052791e-01 1.29695822e-03 -8.78348028e+01] [-2.06008648e-02 -7.53516918e-04 -9.99787496e-01 -3.81482120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64655999499996 meters 0.012392172179821654 Centerline is valid? [True, True] Translation: X:255.04, Y:-87.81, Z:-3.81 [[-9.85723200e-01 -1.67056347e-01 2.10225839e-02 2.55038009e+02] [-1.67033404e-01 9.85947103e-01 2.85503110e-03 -8.78119907e+01] [-2.12041068e-02 -6.97203346e-04 -9.99774925e-01 -3.81466711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70655999499996 meters 0.012074078300908208 Centerline is valid? [True, True] Translation: X:255.03, Y:-87.79, Z:-3.81 [[-9.72129925e-01 -2.33550448e-01 2.04351811e-02 2.55028121e+02] [-2.33512222e-01 9.72344488e-01 4.27068494e-03 -8.77883879e+01] [-2.08674561e-02 -6.20203913e-04 -9.99782059e-01 -3.81397849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76655999499997 meters 0.011932723502952873 Centerline is valid? [True, True] Translation: X:255.00, Y:-87.77, Z:-3.82 [[-9.53850215e-01 -2.99655868e-01 1.93940406e-02 2.55002518e+02] [-2.99605647e-01 9.54047198e-01 5.51355800e-03 -8.77731686e+01] [-2.01550001e-02 -5.51455588e-04 -9.99796715e-01 -3.81642291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82655999499997 meters 0.011878999131584432 Centerline is valid? [True, True] Translation: X:254.96, Y:-87.76, Z:-3.82 [[-9.29886152e-01 -3.67369695e-01 1.87417153e-02 2.54961836e+02] [-3.67306788e-01 9.30074843e-01 6.81982120e-03 -8.77608941e+01] [-1.99365935e-02 -5.42301960e-04 -9.99801099e-01 -3.81766122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88655999499997 meters 0.011917640138874764 Centerline is valid? [True, True] Translation: X:254.90, Y:-87.76, Z:-3.82 [[-9.00605337e-01 -4.34262288e-01 1.80635453e-02 2.54899770e+02] [-4.34186990e-01 9.00786306e-01 8.10478672e-03 -8.77608734e+01] [-1.97909975e-02 -5.43742187e-04 -9.99803991e-01 -3.81847452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.946559995 meters 0.011815229849359355 Centerline is valid? [True, True] Translation: X:254.84, Y:-87.76, Z:-3.82 [[-8.65107101e-01 -5.01257943e-01 1.81708232e-02 2.54836013e+02] [-5.01161512e-01 8.65297713e-01 9.84924216e-03 -8.77626785e+01] [-2.06601826e-02 -5.85867903e-04 -9.99786384e-01 -3.81856060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.006559995 meters 0.011799962725321737 Centerline is valid? [True, True] Translation: X:254.76, Y:-87.78, Z:-3.82 [[-8.24320786e-01 -5.65864096e-01 1.71192162e-02 2.54760953e+02] [-5.65757806e-01 8.24498289e-01 1.09852811e-02 -8.77768835e+01] [-2.03309406e-02 -6.29934714e-04 -9.99793107e-01 -3.81920259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.066559995 meters 0.012102424345370932 Centerline is valid? [True, True] Translation: X:254.68, Y:-87.80, Z:-3.82 [[-7.77322873e-01 -6.28920105e-01 1.51212797e-02 2.54684338e+02] [-6.28818440e-01 7.77469620e-01 1.13296211e-02 -8.77985223e+01] [-1.88817620e-02 -7.01765912e-04 -9.99821477e-01 -3.82112396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.126559995 meters 0.012738283101662421 Centerline is valid? [True, True] Translation: X:254.60, Y:-87.83, Z:-3.82 [[-7.25833367e-01 -6.87720588e-01 1.43637121e-02 2.54598841e+02] [-6.87606439e-01 7.25975073e-01 1.25529750e-02 -8.78340354e+01] [-1.90606363e-02 -7.65212834e-04 -9.99818037e-01 -3.82169711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.186559995 meters 0.012834948237011127 Centerline is valid? [True, True] Translation: X:254.52, Y:-87.88, Z:-3.82 [[-6.70841974e-01 -7.41473522e-01 1.37136034e-02 2.54517313e+02] [-7.41342539e-01 6.70981649e-01 1.39594378e-02 -8.78764011e+01] [-1.95521298e-02 -8.01900773e-04 -9.99808517e-01 -3.82265998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.246559995 meters 0.013134375850864051 Centerline is valid? [True, True] Translation: X:254.43, Y:-87.93, Z:-3.82 [[-6.12441602e-01 -7.90412335e-01 1.27915949e-02 2.54433729e+02] [-7.90267144e-01 6.12574627e-01 1.51712788e-02 -8.79313213e+01] [-1.98273724e-02 -8.17254843e-04 -9.99803084e-01 -3.82232266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.306559995 meters 0.012631107868781168 Centerline is valid? [True, True] Translation: X:254.35, Y:-88.00, Z:-3.83 [[-5.52213480e-01 -8.33632664e-01 1.08098905e-02 2.54354692e+02] [-8.33499393e-01 5.52318740e-01 1.49255045e-02 -8.79984095e+01] [-1.84128932e-02 -7.67972400e-04 -9.99830173e-01 -3.82509793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.366559995 meters 0.011835165242199951 Centerline is valid? [True, True] Translation: X:254.28, Y:-88.07, Z:-3.83 [[-4.93279573e-01 -8.69830010e-01 8.42708210e-03 2.54283892e+02] [-8.69724208e-01 4.93351149e-01 1.35810567e-02 -8.80718541e+01] [-1.59707213e-02 -6.29979455e-04 -9.99872261e-01 -3.82749995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.426559995 meters 0.011804987569985766 Centerline is valid? [True, True] Translation: X:254.21, Y:-88.15, Z:-3.83 [[-4.27139664e-01 -9.04153830e-01 7.58670113e-03 2.54214536e+02] [-9.04035343e-01 4.27206612e-01 1.46495556e-02 -8.81500976e+01] [-1.64865407e-02 -6.01239681e-04 -9.99863907e-01 -3.82816208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48655999499994 meters 0.01192638827227307 Centerline is valid? [True, True] Translation: X:254.15, Y:-88.24, Z:-3.83 [[-3.61966290e-01 -9.32166727e-01 6.75267159e-03 2.54151286e+02] [-9.32029655e-01 3.62028920e-01 1.59932057e-02 -8.82422805e+01] [-1.73529966e-02 -5.04688835e-04 -9.99849298e-01 -3.82869594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54655999499994 meters 0.012223681822375888 Centerline is valid? [True, True] Translation: X:254.09, Y:-88.34, Z:-3.83 [[-2.91798930e-01 -9.56462629e-01 5.71164866e-03 2.54090863e+02] [-9.56308927e-01 2.91854467e-01 1.71524670e-02 -8.83424305e+01] [-1.80726639e-02 -4.57029075e-04 -9.99836572e-01 -3.82853359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60655999499994 meters 0.012507486452876524 Centerline is valid? [True, True] Translation: X:254.04, Y:-88.44, Z:-3.83 [[-2.19106897e-01 -9.75690912e-01 4.40585356e-03 2.54038739e+02] [-9.75530915e-01 2.19150776e-01 1.76740370e-02 -8.84423045e+01] [-1.82099435e-02 -4.25542955e-04 -9.99834095e-01 -3.82898052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66655999499994 meters 0.012453608163181773 Centerline is valid? [True, True] Translation: X:253.99, Y:-88.56, Z:-3.83 [[-1.41861551e-01 -9.89881699e-01 3.08576477e-03 2.53989505e+02] [-9.89711986e-01 1.41894385e-01 1.83348840e-02 -8.85560167e+01] [-1.85872189e-02 -4.53003289e-04 -9.99827140e-01 -3.82913525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72655999499995 meters 0.01224101810032921 Centerline is valid? [True, True] Translation: X:253.95, Y:-88.67, Z:-3.83 [[-6.21803088e-02 -9.98063345e-01 1.78016199e-03 2.53949112e+02] [-9.97854499e-01 6.22037242e-02 2.04229107e-02 -8.86679953e+01] [-2.04940913e-02 -5.06439758e-04 -9.99789846e-01 -3.82943838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78655999499995 meters 0.01222889907525419 Centerline is valid? [True, True] Translation: X:253.92, Y:-88.79, Z:-3.83 [[ 1.96773841e-02 -9.99806363e-01 1.93727466e-04 2.53916031e+02] [-9.99584188e-01 -1.96689259e-02 2.10851886e-02 -8.87851730e+01] [-2.10772953e-02 -6.08548268e-04 -9.99777664e-01 -3.82958431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84655999499995 meters 0.012243415652680166 Centerline is valid? [True, True] Translation: X:253.89, Y:-88.91, Z:-3.83 [[ 9.90042040e-02 -9.95086082e-01 -1.36294556e-03 2.53893658e+02] [-9.94878236e-01 -9.90113948e-02 2.03479733e-02 -8.89062053e+01] [-2.03829321e-02 -6.58570022e-04 -9.99792030e-01 -3.83140277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90655999499995 meters 0.012565731985898736 Centerline is valid? [True, True] Translation: X:253.88, Y:-89.03, Z:-3.83 [[ 1.79412026e-01 -9.83770332e-01 -2.69409530e-03 2.53879693e+02] [-9.83589814e-01 -1.79430752e-01 1.88595766e-02 -8.90277683e+01] [-1.90368955e-02 -7.33750158e-04 -9.99818513e-01 -3.83305833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96655999499995 meters 0.01312983509422483 Centerline is valid? [True, True] Translation: X:253.88, Y:-89.15, Z:-3.83 [[ 2.57857357e-01 -9.66174155e-01 -4.13352709e-03 2.53875446e+02] [-9.65995617e-01 -2.57889242e-01 1.85904930e-02 -8.91493117e+01] [-1.90276460e-02 -8.00726334e-04 -9.99818637e-01 -3.83385129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02655999499996 meters 0.013974355598219914 Centerline is valid? [True, True] Translation: X:253.88, Y:-89.27, Z:-3.84 [[ 3.34522463e-01 -9.42374107e-01 -5.07584756e-03 2.53880620e+02] [-9.42224537e-01 -3.34559913e-01 1.68103415e-02 -8.92720564e+01] [-1.75398056e-02 -8.40848703e-04 -9.99845812e-01 -3.83509802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08655999499996 meters 0.013452465732711106 Centerline is valid? [True, True] Translation: X:253.90, Y:-89.38, Z:-3.84 [[ 4.05746393e-01 -9.13968672e-01 -5.57946838e-03 2.53896660e+02] [-9.13853183e-01 -4.05783954e-01 1.45513831e-02 -8.93847736e+01] [-1.55635671e-02 -8.05356281e-04 -9.99878556e-01 -3.83777873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14655999499996 meters 0.013400314214297295 Centerline is valid? [True, True] Translation: X:253.92, Y:-89.50, Z:-3.84 [[ 4.73483215e-01 -8.80778804e-01 -6.50718170e-03 2.53920555e+02] [-8.80671860e-01 -4.73527288e-01 1.37471041e-02 -8.94968452e+01] [-1.51894860e-02 -7.78331223e-04 -9.99884330e-01 -3.83854073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20655999499996 meters 0.013608269757295236 Centerline is valid? [True, True] Translation: X:253.95, Y:-89.61, Z:-3.84 [[ 5.39336630e-01 -8.42050961e-01 -8.13506740e-03 2.53954263e+02] [-8.41932190e-01 -5.39397400e-01 1.41644453e-02 -8.96094865e+01] [-1.63152190e-02 -7.90229072e-04 -9.99866586e-01 -3.83767223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26655999499997 meters 0.013568068665049619 Centerline is valid? [True, True] Translation: X:253.99, Y:-89.71, Z:-3.84 [[ 6.02617525e-01 -7.97963781e-01 -1.02918704e-02 2.53993838e+02] [-7.97823240e-01 -6.02704836e-01 1.49986394e-02 -8.97149128e+01] [-1.81713311e-02 -8.27349552e-04 -9.99834545e-01 -3.83671519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32655999499997 meters 0.013728075505973436 Centerline is valid? [True, True] Translation: X:254.04, Y:-89.81, Z:-3.84 [[ 6.62090024e-01 -7.49320214e-01 -1.24906652e-02 2.54041139e+02] [-7.49161780e-01 -6.62207276e-01 1.54321026e-02 -8.98128525e+01] [-1.98349958e-02 -8.59912252e-04 -9.99802897e-01 -3.83619410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38655999499997 meters 0.013881919814898523 Centerline is valid? [True, True] Translation: X:254.10, Y:-89.91, Z:-3.84 [[ 7.17354639e-01 -6.96585419e-01 -1.30796237e-02 2.54096391e+02] [-6.96447626e-01 -7.17473369e-01 1.38805620e-02 -8.99108610e+01] [-1.90532788e-02 -8.48012625e-04 -9.99818110e-01 -3.83710854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.446559995 meters 0.013677305502222478 Centerline is valid? [True, True] Translation: X:254.15, Y:-90.00, Z:-3.84 [[ 7.68225567e-01 -6.40044859e-01 -1.31170862e-02 2.54150351e+02] [-6.39932889e-01 -7.68337100e-01 1.19999139e-02 -8.99954645e+01] [-1.77588272e-02 -8.24585753e-04 -9.99841960e-01 -3.83921969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.506559995 meters 0.013789015172937149 Centerline is valid? [True, True] Translation: X:254.17, Y:-90.02, Z:-3.84 [[ 8.16314581e-01 -5.77462033e-01 -1.29655237e-02 2.54171057e+02] [-5.77372791e-01 -8.16417120e-01 1.01855943e-02 -9.00228457e+01] [-1.64670695e-02 -8.28708528e-04 -9.99864065e-01 -3.84049396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.566559995 meters 0.01404598260897518 Centerline is valid? [True, True] Translation: X:254.19, Y:-90.05, Z:-3.84 [[ 8.59241353e-01 -5.11391532e-01 -1.35276483e-02 2.54194765e+02] [-5.11312679e-01 -8.59347431e-01 9.01869944e-03 -9.00479858e+01] [-1.62370363e-02 -8.32381446e-04 -9.99867824e-01 -3.84051511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.626559995 meters 0.014226610102177009 Centerline is valid? [True, True] Translation: X:254.22, Y:-90.07, Z:-3.84 [[ 8.96375351e-01 -4.43081445e-01 -1.37863424e-02 2.54221143e+02] [-4.43014882e-01 -8.96480992e-01 7.72304676e-03 -9.00692059e+01] [-1.57811326e-02 -8.15193889e-04 -9.99875138e-01 -3.84066422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.686559995 meters 0.013744964372814904 Centerline is valid? [True, True] Translation: X:254.25, Y:-90.09, Z:-3.84 [[ 9.28011013e-01 -3.72302827e-01 -1.36442516e-02 2.54248720e+02] [-3.72249943e-01 -9.28110974e-01 6.32448758e-03 -9.00894040e+01] [-1.50180043e-02 -7.90122246e-04 -9.99886911e-01 -3.84258206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.746559995 meters 0.013725485952412094 Centerline is valid? [True, True] Translation: X:254.28, Y:-90.11, Z:-3.84 [[ 9.54455666e-01 -2.98021797e-01 -1.40495756e-02 2.54277491e+02] [-2.97977124e-01 -9.54558732e-01 5.22111926e-03 -9.01090326e+01] [-1.49671524e-02 -7.96874726e-04 -9.99887668e-01 -3.84374851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.806559995 meters 0.01402970163737815 Centerline is valid? [True, True] Translation: X:254.31, Y:-90.13, Z:-3.84 [[ 9.74838302e-01 -2.22362952e-01 -1.56525837e-02 2.54307015e+02] [-2.22320729e-01 -9.74963613e-01 4.40979404e-03 -9.01254970e+01] [-1.62412743e-02 -8.18942321e-04 -9.99867766e-01 -3.84334967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.866559995 meters 0.014316416945758727 Centerline is valid? [True, True] Translation: X:254.34, Y:-90.14, Z:-3.84 [[ 9.89195559e-01 -1.45581626e-01 -1.72666403e-02 2.54338070e+02] [-1.45544607e-01 -9.89345888e-01 3.38824030e-03 -9.01391030e+01] [-1.75759451e-02 -8.38565876e-04 -9.99845179e-01 -3.84147923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.926559995 meters 0.013705462850576593 Centerline is valid? [True, True] Translation: X:254.37, Y:-90.14, Z:-3.84 [[ 9.97365422e-01 -7.05981838e-02 -1.66766886e-02 2.54367959e+02] [-7.05753058e-02 -9.97504534e-01 1.95715095e-03 -9.01443917e+01] [-1.67732437e-02 -7.75032285e-04 -9.99859019e-01 -3.84299005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98655999499994 meters 0.01290495753137322 Centerline is valid? [True, True] Translation: X:254.40, Y:-90.15, Z:-3.85 [[ 9.99880169e-01 3.39613236e-03 -1.51034389e-02 2.54398048e+02] [ 3.40608416e-03 -9.99993999e-01 6.33234876e-04 -9.01454225e+01] [-1.51011977e-02 -6.84602579e-04 -9.99885736e-01 -3.84554704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04655999499994 meters 0.011949185056752586 Centerline is valid? [True, True] Translation: X:254.43, Y:-90.14, Z:-3.85 [[ 9.97390049e-01 7.10584628e-02 -1.27978669e-02 2.54427133e+02] [ 7.10593457e-02 -9.97472015e-01 -3.86297083e-04 -9.01408160e+01] [-1.27929638e-02 -5.24119182e-04 -9.99918029e-01 -3.84836412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10655999499994 meters 0.013132544737400314 Centerline is valid? [True, True] Translation: X:254.46, Y:-90.14, Z:-3.85 [[ 9.90333604e-01 1.38026874e-01 -1.37089381e-02 2.54456187e+02] [ 1.38018812e-01 -9.90428415e-01 -1.53704029e-03 -9.01359353e+01] [-1.37898747e-02 -3.69908693e-04 -9.99904847e-01 -3.84917635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16655999499994 meters 0.015050956960716956 Centerline is valid? [True, True] Translation: X:254.48, Y:-90.13, Z:-3.85 [[ 9.77661783e-01 2.09690915e-01 -1.43929688e-02 2.54483380e+02] [ 2.09672347e-01 -9.77767684e-01 -2.80412917e-03 -9.01324500e+01] [-1.46609802e-02 -2.76317622e-04 -9.99892484e-01 -3.84833026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22655999499995 meters 0.015050581473548508 Centerline is valid? [True, True] Translation: X:254.51, Y:-90.13, Z:-3.85 [[ 9.59105088e-01 2.82665748e-01 -1.47480769e-02 2.54513881e+02] [ 2.82635806e-01 -9.59218446e-01 -4.11986989e-03 -9.01349991e+01] [-1.53111736e-02 -2.16946443e-04 -9.99882754e-01 -3.84834489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28655999499995 meters 0.016410696340108964 Centerline is valid? [True, True] Translation: X:254.54, Y:-90.13, Z:-3.85 [[ 9.34571467e-01 3.55511350e-01 -1.37059284e-02 2.54541634e+02] [ 3.55476391e-01 -9.34671941e-01 -4.98989015e-03 -9.01306051e+01] [-1.45845093e-02 -2.08725001e-04 -9.99893619e-01 -3.84848760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34655999499995 meters 0.015005555609997185 Centerline is valid? [True, True] Translation: X:254.57, Y:-90.13, Z:-3.85 [[ 9.03309883e-01 4.28805397e-01 -1.25373981e-02 2.54572680e+02] [ 4.28767826e-01 -9.03396852e-01 -5.68151374e-03 -9.01299234e+01] [-1.37625098e-02 -2.43465433e-04 -9.99905263e-01 -3.84995544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40655999499995 meters 0.013737733464076302 Centerline is valid? [True, True] Translation: X:254.61, Y:-90.13, Z:-3.85 [[ 8.64218445e-01 5.02967745e-01 -1.22444790e-02 2.54605873e+02] [ 5.02922383e-01 -8.64305125e-01 -6.76223925e-03 -9.01301242e+01] [-1.39841542e-02 -3.13970678e-04 -9.99902168e-01 -3.84995809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46655999499995 meters 0.013543642346907981 Centerline is valid? [True, True] Translation: X:254.64, Y:-90.12, Z:-3.85 [[ 8.19262829e-01 5.73265857e-01 -1.32164183e-02 2.54636000e+02] [ 5.73198401e-01 -8.19369345e-01 -8.80166168e-03 -9.01227864e+01] [-1.58748201e-02 -3.64755559e-04 -9.99873921e-01 -3.84790326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52655999499996 meters 0.012023442715091955 Centerline is valid? [True, True] Translation: X:254.67, Y:-90.12, Z:-3.85 [[ 7.66557339e-01 6.42023805e-01 -1.39742716e-02 2.54671661e+02] [ 6.41928706e-01 -7.66684545e-01 -1.10609060e-02 -9.01191588e+01] [-1.78152230e-02 -4.91667457e-04 -9.99841175e-01 -3.84762154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58655999499996 meters 0.012062221315040237 Centerline is valid? [True, True] Translation: X:254.71, Y:-90.11, Z:-3.85 [[ 7.09086473e-01 7.05002891e-01 -1.29343393e-02 2.54707368e+02] [ 7.04901120e-01 -7.09204165e-01 -1.19943023e-02 -9.01119196e+01] [-1.76291051e-02 -6.12432733e-04 -9.99844408e-01 -3.84817214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64655999499996 meters 0.012428831458121733 Centerline is valid? [True, True] Translation: X:254.74, Y:-90.10, Z:-3.85 [[ 6.48917727e-01 7.60772418e-01 -1.14504010e-02 2.54737867e+02] [ 7.60671804e-01 -6.49018397e-01 -1.23905827e-02 -9.00966801e+01] [-1.68579344e-02 -6.69528455e-04 -9.99857671e-01 -3.84929703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70655999499996 meters 0.013226191332405123 Centerline is valid? [True, True] Translation: X:254.77, Y:-90.08, Z:-3.85 [[ 5.84079586e-01 8.11646523e-01 -8.99771376e-03 2.54766442e+02] [ 8.11568237e-01 -5.84148461e-01 -1.12947832e-02 -9.00785370e+01] [-1.44233722e-02 -7.05206386e-04 -9.99895729e-01 -3.85218297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76655999499997 meters 0.0137373769942733 Centerline is valid? [True, True] Translation: X:254.79, Y:-90.06, Z:-3.85 [[ 5.16684654e-01 8.56144890e-01 -7.27292546e-03 2.54792896e+02] [ 8.56078740e-01 -5.16735344e-01 -1.06665671e-02 -9.00579371e+01] [-1.28903046e-02 -7.14945327e-04 -9.99916661e-01 -3.85342315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82655999499997 meters 0.01468712858282467 Centerline is valid? [True, True] Translation: X:254.82, Y:-90.03, Z:-3.85 [[ 4.44969267e-01 8.95522622e-01 -6.44871073e-03 2.54817273e+02] [ 8.95452019e-01 -4.45015345e-01 -1.12704851e-02 -9.00344915e+01] [-1.29627496e-02 -7.59491576e-04 -9.99915692e-01 -3.85350428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88655999499997 meters 0.0147021130582687 Centerline is valid? [True, True] Translation: X:254.84, Y:-90.01, Z:-3.85 [[ 3.71395566e-01 9.28457284e-01 -5.69251685e-03 2.54841304e+02] [ 9.28378916e-01 -3.71438339e-01 -1.20892168e-02 -9.00092037e+01] [-1.33387404e-02 -7.94931081e-04 -9.99910719e-01 -3.85307855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.946559995 meters 0.016211566535661612 Centerline is valid? [True, True] Translation: X:254.86, Y:-89.98, Z:-3.85 [[ 2.95361841e-01 9.55367928e-01 -5.78842850e-03 2.54863569e+02] [ 9.55239885e-01 -2.95417179e-01 -1.56669013e-02 -8.99829063e+01] [-1.66776562e-02 -9.01932965e-04 -9.99860511e-01 -3.85071038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.006559995 meters 0.01639477397006003 Centerline is valid? [True, True] Translation: X:254.88, Y:-89.95, Z:-3.85 [[ 2.19079952e-01 9.75693783e-01 -5.06130957e-03 2.54878184e+02] [ 9.75525380e-01 -2.19136304e-01 -1.81525043e-02 -8.99522956e+01] [-1.88204023e-02 -9.60586160e-04 -9.99822419e-01 -3.84958417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.066559995 meters 0.015731960819677586 Centerline is valid? [True, True] Translation: X:254.89, Y:-89.92, Z:-3.85 [[ 1.44239711e-01 9.89535659e-01 -3.75300422e-03 2.54888608e+02] [ 9.89348417e-01 -1.44285509e-01 -1.92717694e-02 -8.99211311e+01] [-1.96116071e-02 -9.33274349e-04 -9.99807238e-01 -3.84868559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.126559995 meters 0.014674907504373459 Centerline is valid? [True, True] Translation: X:254.89, Y:-89.89, Z:-3.85 [[ 7.00031421e-02 9.97544626e-01 -2.06879241e-03 2.54894713e+02] [ 9.97388327e-01 -7.00288345e-02 -1.76773152e-02 -8.98893790e+01] [-1.77787859e-02 -8.25921785e-04 -9.99841604e-01 -3.85035671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.186559995 meters 0.012954220376910896 Centerline is valid? [True, True] Translation: X:254.90, Y:-89.86, Z:-3.85 [[-4.52747984e-04 9.99999691e-01 -6.42671039e-04 2.54897452e+02] [ 9.99897654e-01 4.43511706e-04 -1.42998170e-02 -8.98575610e+01] [-1.42995276e-02 -6.49079477e-04 -9.99897546e-01 -3.85446562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.246559995 meters 0.012453913690206698 Centerline is valid? [True, True] Translation: X:254.90, Y:-89.83, Z:-3.86 [[-7.13800701e-02 9.97449138e-01 3.19745644e-04 2.54897623e+02] [ 9.97377485e-01 7.13787787e-02 -1.19675861e-02 -8.98272615e+01] [-1.19598815e-02 -5.35340028e-04 -9.99928335e-01 -3.85663714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.306559995 meters 0.01250323064651574 Centerline is valid? [True, True] Translation: X:254.90, Y:-89.80, Z:-3.86 [[-1.45283778e-01 9.89389110e-01 1.34636552e-03 2.54898356e+02] [ 9.89310196e-01 1.45289207e-01 -1.25053250e-02 -8.97960894e+01] [-1.25682448e-02 -4.84847727e-04 -9.99920899e-01 -3.85677335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.366559995 meters 0.012808909587383545 Centerline is valid? [True, True] Translation: X:254.90, Y:-89.77, Z:-3.86 [[-2.17702689e-01 9.76011697e-01 2.58987738e-03 2.54895592e+02] [ 9.75918103e-01 2.17717695e-01 -1.35226172e-02 -8.97662645e+01] [-1.37620947e-02 -4.16401907e-04 -9.99905211e-01 -3.85551274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.426559995 meters 0.013370993120683301 Centerline is valid? [True, True] Translation: X:254.89, Y:-89.74, Z:-3.86 [[-2.89958341e-01 9.57032091e-01 3.70638300e-03 2.54891141e+02] [ 9.56937210e-01 2.89981803e-01 -1.34807478e-02 -8.97365735e+01] [-1.39762919e-02 -3.62079479e-04 -9.99902261e-01 -3.85549465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48655999499994 meters 0.014144807344666282 Centerline is valid? [True, True] Translation: X:254.88, Y:-89.71, Z:-3.86 [[-3.57901947e-01 9.33747177e-01 4.73340571e-03 2.54884406e+02] [ 9.33655286e-01 3.57933145e-01 -1.31023310e-02 -8.97072416e+01] [-1.39285074e-02 -2.69980521e-04 -9.99902957e-01 -3.85702334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54655999499994 meters 0.015134869646136065 Centerline is valid? [True, True] Translation: X:254.88, Y:-89.68, Z:-3.86 [[-4.25961831e-01 9.04723810e-01 5.59870109e-03 2.54877280e+02] [ 9.04638954e-01 4.25998569e-01 -1.23928337e-02 -8.96782480e+01] [-1.35971304e-02 -2.14071045e-04 -9.99907532e-01 -3.85729136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60655999499994 meters 0.015086605788165085 Centerline is valid? [True, True] Translation: X:254.87, Y:-89.65, Z:-3.86 [[-4.93910309e-01 8.69488035e-01 6.56987374e-03 2.54873220e+02] [ 8.69406034e-01 4.93953967e-01 -1.19426042e-02 -8.96468293e+01] [-1.36291666e-02 -1.86687430e-04 -9.99907101e-01 -3.85740801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66655999499994 meters 0.017185468647174233 Centerline is valid? [True, True] Translation: X:254.86, Y:-89.62, Z:-3.86 [[-5.57200025e-01 8.30348844e-01 6.99489182e-03 2.54860543e+02] [ 8.30279939e-01 5.57243908e-01 -1.06981210e-02 -8.96217940e+01] [-1.27810333e-02 -1.53274955e-04 -9.99918308e-01 -3.85709674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72655999499995 meters 0.0172832290915415 Centerline is valid? [True, True] Translation: X:254.85, Y:-89.60, Z:-3.86 [[-6.20694273e-01 7.84019137e-01 7.25344000e-03 2.54846938e+02] [ 7.83962237e-01 6.20736628e-01 -9.44719503e-03 -8.95966680e+01] [-1.19092576e-02 -1.77396810e-04 -9.99929067e-01 -3.85793304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78655999499995 meters 0.015546855733915373 Centerline is valid? [True, True] Translation: X:254.84, Y:-89.57, Z:-3.86 [[-6.83802649e-01 7.29633030e-01 7.04120171e-03 2.54835343e+02] [ 7.29590338e-01 6.83838850e-01 -7.89728235e-03 -8.95681752e+01] [-1.05771653e-02 -2.62989853e-04 -9.99944026e-01 -3.85869677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84655999499995 meters 0.01401100314891325 Centerline is valid? [True, True] Translation: X:254.82, Y:-89.54, Z:-3.86 [[-7.43296984e-01 6.68923153e-01 7.17001472e-03 2.54823696e+02] [ 6.68887545e-01 7.43331487e-01 -6.91031094e-03 -8.95388691e+01] [-9.95216469e-03 -3.40479733e-04 -9.99950418e-01 -3.85872179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90655999499995 meters 0.01275067255723956 Centerline is valid? [True, True] Translation: X:254.84, Y:-89.51, Z:-3.86 [[-7.95725163e-01 6.05626747e-01 6.14079490e-03 2.54838480e+02] [ 6.05604638e-01 7.95748751e-01 -5.19120072e-03 -8.95074777e+01] [-8.03045987e-03 -4.11875168e-04 -9.99967671e-01 -3.85914077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96655999499995 meters 0.013101857120485665 Centerline is valid? [True, True] Translation: X:254.85, Y:-89.48, Z:-3.86 [[-8.42353126e-01 5.38891144e-01 6.12750461e-03 2.54852797e+02] [ 5.38872538e-01 8.42375268e-01 -4.50514629e-03 -8.94771026e+01] [-7.58944178e-03 -4.92980100e-04 -9.99971078e-01 -3.85888723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02655999499996 meters 0.01392534631807939 Centerline is valid? [True, True] Translation: X:254.86, Y:-89.45, Z:-3.86 [[-8.81414707e-01 4.72307125e-01 5.83895093e-03 2.54863377e+02] [ 4.72292684e-01 8.81433887e-01 -3.73128397e-03 -8.94492992e+01] [-6.90896122e-03 -5.31114760e-04 -9.99975992e-01 -3.85945692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08655999499996 meters 0.015363794894110076 Centerline is valid? [True, True] Translation: X:254.87, Y:-89.42, Z:-3.86 [[-9.15073754e-01 4.03231954e-01 6.63442033e-03 2.54874783e+02] [ 4.03216652e-01 9.15097618e-01 -3.56098132e-03 -8.94208399e+01] [-7.50704369e-03 -5.83451793e-04 -9.99971652e-01 -3.85831990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14655999499996 meters 0.017036963111929086 Centerline is valid? [True, True] Translation: X:255.15, Y:-88.84, Z:-4.86 [[-8.63169933e-01 -5.04905455e-01 -2.85466319e-03 2.55149467e+02] [ 5.04903992e-01 -8.63174582e-01 1.26461889e-03 -8.88388486e+01] [-3.10258568e-03 -3.49749844e-04 9.99995126e-01 -4.86220702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20655999499996 meters 0.019003330094864143 Centerline is valid? [True, True] Translation: X:254.83, Y:-89.40, Z:-3.85 [[-9.20458785e-01 3.90717977e-01 9.75127123e-03 2.54825936e+02] [ 3.90687155e-01 9.20510121e-01 -4.96627911e-03 -8.93954475e+01] [-1.09165584e-02 -7.61558816e-04 -9.99940123e-01 -3.85453750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26655999499997 meters 0.017913913179760394 Centerline is valid? [True, True] Translation: X:254.84, Y:-89.38, Z:-3.85 [[-9.45430997e-01 3.25640615e-01 1.08820969e-02 2.54840179e+02] [ 3.25609514e-01 9.45493305e-01 -4.56665224e-03 -8.93784528e+01] [-1.17760372e-02 -7.74140297e-04 -9.99930360e-01 -3.85412357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32655999499997 meters 0.018372146534585854 Centerline is valid? [True, True] Translation: X:255.08, Y:-88.77, Z:-4.87 [[-8.98924662e-01 -4.38103094e-01 -3.61081669e-04 2.55084250e+02] [ 4.38103161e-01 -8.98924693e-01 -1.30384613e-04 -8.87698881e+01] [-2.67463326e-04 -2.75396965e-04 9.99999926e-01 -4.86612482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38655999499997 meters 0.016419820651836746 Centerline is valid? [True, True] Translation: X:254.80, Y:-89.38, Z:-3.85 [[-9.44723638e-01 3.27690062e-01 1.07921509e-02 2.54798090e+02] [ 3.27660103e-01 9.44785018e-01 -4.48625259e-03 -8.93785472e+01] [-1.16663629e-02 -7.02111585e-04 -9.99931699e-01 -3.85458533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.446559995 meters 0.015507473724242105 Centerline is valid? [True, True] Translation: X:254.81, Y:-89.36, Z:-3.86 [[-9.64731477e-01 2.63006212e-01 1.09959107e-02 2.54808208e+02] [ 2.62981251e-01 9.64793913e-01 -3.68330261e-03 -8.93636809e+01] [-1.15775192e-02 -6.61679620e-04 -9.99932759e-01 -3.85564445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.506559995 meters 0.01594266333494312 Centerline is valid? [True, True] Translation: X:255.01, Y:-88.70, Z:-4.87 [[-9.30600837e-01 -3.66035432e-01 3.79510895e-04 2.55011021e+02] [ 3.66035273e-01 -9.30600879e-01 -4.28590859e-04 -8.87000671e+01] [ 5.10052612e-04 -2.59932638e-04 9.99999836e-01 -4.86633236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.566559995 meters 0.01641400165108606 Centerline is valid? [True, True] Translation: X:254.76, Y:-89.34, Z:-3.85 [[-9.65863203e-01 2.58676223e-01 1.39601286e-02 2.54763469e+02] [ 2.58638149e-01 9.65963805e-01 -4.49841323e-03 -8.93448306e+01] [-1.46486114e-02 -7.34230008e-04 -9.99892434e-01 -3.85207383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.626559995 meters 0.01524137799243616 Centerline is valid? [True, True] Translation: X:254.77, Y:-89.32, Z:-3.85 [[-9.81408666e-01 1.91435427e-01 1.37661991e-02 2.54771686e+02] [ 1.91406620e-01 9.81504964e-01 -3.39284579e-03 -8.93205117e+01] [-1.41611036e-02 -6.94826630e-04 -9.99899485e-01 -3.85347220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.686559995 meters 0.015069958945021313 Centerline is valid? [True, True] Translation: X:254.93, Y:-88.65, Z:-4.87 [[-9.56074170e-01 -2.93121113e-01 1.48132013e-03 2.54925850e+02] [ 2.93120218e-01 -9.56075262e-01 -7.94019465e-04 -8.86494749e+01] [ 1.64899740e-03 -3.24936623e-04 9.99998588e-01 -4.86590748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.746559995 meters 0.014912881055819354 Centerline is valid? [True, True] Translation: X:254.72, Y:-89.31, Z:-3.86 [[-9.82103429e-01 1.87889631e-01 1.30514639e-02 2.54721705e+02] [ 1.87863823e-01 9.82189914e-01 -3.18704711e-03 -8.93144020e+01] [-1.34178293e-02 -6.78111978e-04 -9.99909747e-01 -3.85623287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.806559995 meters 0.014657944346788614 Centerline is valid? [True, True] Translation: X:254.73, Y:-89.29, Z:-3.86 [[-9.92753859e-01 1.19357871e-01 1.39095004e-02 2.54726726e+02] [ 1.19336733e-01 9.92851074e-01 -2.34289049e-03 -8.92889982e+01] [-1.40897048e-02 -6.65999242e-04 -9.99900513e-01 -3.85569104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.866559995 meters 0.014463771537602732 Centerline is valid? [True, True] Translation: X:254.73, Y:-89.26, Z:-3.86 [[-9.98625762e-01 5.07068670e-02 1.32439418e-02 2.54729368e+02] [ 5.06941222e-02 9.98713385e-01 -1.29646632e-03 -8.92623178e+01] [-1.32926416e-02 -6.23294660e-04 -9.99911455e-01 -3.85608751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.926559995 meters 0.014435494999564216 Centerline is valid? [True, True] Translation: X:254.79, Y:-88.57, Z:-4.86 [[-9.89183000e-01 -1.46685720e-01 5.40487314e-04 2.54785571e+02] [ 1.46685482e-01 -9.89183077e-01 -4.56888481e-04 -8.85682779e+01] [ 6.01659921e-04 -3.72664676e-04 9.99999750e-01 -4.86451943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98655999499994 meters 0.014147408057493122 Centerline is valid? [True, True] Translation: X:254.68, Y:-89.26, Z:-3.86 [[-9.98779398e-01 4.80200532e-02 1.15666633e-02 2.54677551e+02] [ 4.80100770e-02 9.98846202e-01 -1.13878927e-03 -8.92628042e+01] [-1.16080024e-02 -5.82082863e-04 -9.99932455e-01 -3.85959758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04655999499994 meters 0.0142998152858887 Centerline is valid? [True, True] Translation: X:254.73, Y:-88.56, Z:-4.86 [[-9.89999300e-01 -1.41072265e-01 -3.60765548e-05 2.54725046e+02] [ 1.41072269e-01 -9.89999253e-01 -3.07328797e-04 -8.85609766e+01] [ 7.63980705e-06 -3.09344695e-04 9.99999952e-01 -4.86323652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10655999499994 meters 0.013987244132895637 Centerline is valid? [True, True] Translation: X:254.62, Y:-89.26, Z:-3.86 [[-9.98855440e-01 4.63311352e-02 1.18842875e-02 2.54621019e+02] [ 4.63212428e-02 9.98925982e-01 -1.10645533e-03 -8.92638161e+01] [-1.19227869e-02 -5.54693958e-04 -9.99928767e-01 -3.86055385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16655999499994 meters 0.013696739302867258 Centerline is valid? [True, True] Translation: X:254.62, Y:-89.24, Z:-3.86 [[-9.99686509e-01 -2.24505464e-02 1.10840788e-02 2.54617169e+02] [-2.24548838e-02 9.99747822e-01 -2.67006342e-04 -8.92391177e+01] [-1.10752892e-02 -5.15814340e-04 -9.99938534e-01 -3.86213840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22655999499995 meters 0.013451034697396832 Centerline is valid? [True, True] Translation: X:254.62, Y:-89.21, Z:-3.86 [[-9.95787191e-01 -9.11490039e-02 9.98645999e-03 2.54620213e+02] [-9.11492706e-02 9.95837148e-01 4.29383357e-04 -8.92124246e+01] [-9.98402570e-03 -4.82684097e-04 -9.99950042e-01 -3.86342638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28655999499995 meters 0.01348718705415779 Centerline is valid? [True, True] Translation: X:254.57, Y:-88.50, Z:-4.86 [[-9.99924778e-01 1.21801894e-02 -1.44265678e-03 2.54569403e+02] [-1.21796947e-02 -9.99925763e-01 -3.51202245e-04 -8.84998418e+01] [-1.44682739e-03 -3.33604708e-04 9.99998898e-01 -4.86154925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34655999499995 meters 0.013442314559034305 Centerline is valid? [True, True] Translation: X:254.53, Y:-89.22, Z:-3.86 [[-9.95435688e-01 -9.46598239e-02 1.21370933e-02 2.54534815e+02] [-9.46586771e-02 9.95509561e-01 6.70203564e-04 -8.92216732e+01] [-1.21460338e-02 -4.81736651e-04 -9.99926118e-01 -3.86240945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40655999499995 meters 0.013514340757567474 Centerline is valid? [True, True] Translation: X:254.53, Y:-89.19, Z:-3.86 [[-9.86085674e-01 -1.65765879e-01 1.25186464e-02 2.54526351e+02] [-1.65758676e-01 9.86165018e-01 1.61798707e-03 -8.91944149e+01] [-1.26136582e-02 -4.79600377e-04 -9.99920330e-01 -3.86220973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46655999499995 meters 0.013540139088522658 Centerline is valid? [True, True] Translation: X:254.51, Y:-89.16, Z:-3.86 [[-9.71282625e-01 -2.37581385e-01 1.28510014e-02 2.54514654e+02] [-2.37567474e-01 9.71367504e-01 2.62056642e-03 -8.91637007e+01] [-1.31056430e-02 -5.07669309e-04 -9.99913988e-01 -3.86064557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52655999499996 meters 0.013542760263777166 Centerline is valid? [True, True] Translation: X:254.49, Y:-89.14, Z:-3.86 [[-9.51627256e-01 -3.06976157e-01 1.30845277e-02 2.54490494e+02] [-3.06954557e-01 9.51717065e-01 3.67798819e-03 -8.91416430e+01] [-1.35818230e-02 -5.16281605e-04 -9.99907630e-01 -3.86109907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58655999499996 meters 0.01364333141162935 Centerline is valid? [True, True] Translation: X:254.45, Y:-89.12, Z:-3.86 [[-9.26741904e-01 -3.75478110e-01 1.28697939e-02 2.54451842e+02] [-3.75449741e-01 9.26831113e-01 4.64554872e-03 -8.91249474e+01] [-1.36724272e-02 -5.26736103e-04 -9.99906389e-01 -3.86089591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64655999499996 meters 0.013699052694276348 Centerline is valid? [True, True] Translation: X:254.39, Y:-89.12, Z:-3.86 [[-8.96468429e-01 -4.42919183e-01 1.29210681e-02 2.54393582e+02] [-4.42881801e-01 8.96561378e-01 5.77974517e-03 -8.91208907e+01] [-1.41444906e-02 -5.41146851e-04 -9.99899815e-01 -3.86135617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70655999499996 meters 0.013767923389987611 Centerline is valid? [True, True] Translation: X:254.33, Y:-89.12, Z:-3.86 [[-8.61005495e-01 -5.08435854e-01 1.27483248e-02 2.54325139e+02] [-5.08389547e-01 8.61099690e-01 6.88419843e-03 -8.91243106e+01] [-1.44777519e-02 -5.53782415e-04 -9.99895039e-01 -3.86122311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76655999499997 meters 0.01382839220750588 Centerline is valid? [True, True] Translation: X:254.25, Y:-89.14, Z:-3.86 [[-8.21062877e-01 -5.70687216e-01 1.31092988e-02 2.54254377e+02] [-5.70625235e-01 8.21167333e-01 8.42925899e-03 -8.91374382e+01] [-1.55753983e-02 -5.59545054e-04 -9.99878540e-01 -3.86204600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82655999499997 meters 0.013584621899882042 Centerline is valid? [True, True] Translation: X:254.18, Y:-89.16, Z:-3.86 [[-7.77313515e-01 -6.28984551e-01 1.27331505e-02 2.54175498e+02] [-6.28911273e-01 7.77417616e-01 9.61565256e-03 -8.91641955e+01] [-1.59470725e-02 -5.33645225e-04 -9.99872695e-01 -3.86262973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88655999499997 meters 0.013408851740704856 Centerline is valid? [True, True] Translation: X:254.10, Y:-89.20, Z:-3.86 [[-7.29739512e-01 -6.83613295e-01 1.23736820e-02 2.54095113e+02] [-6.83526327e-01 7.29844244e-01 1.09151216e-02 -8.92013637e+01] [-1.64925828e-02 -4.92541912e-04 -9.99863867e-01 -3.86269507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.946559995 meters 0.013370991352408088 Centerline is valid? [True, True] Translation: X:254.01, Y:-89.25, Z:-3.86 [[-6.79429352e-01 -7.33643637e-01 1.19486647e-02 2.54011875e+02] [-7.33540854e-01 6.79534282e-01 1.22871523e-02 -8.92538611e+01] [-1.71339184e-02 -4.16581831e-04 -9.99853117e-01 -3.86454274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.006559995 meters 0.013488886819773175 Centerline is valid? [True, True] Translation: X:253.93, Y:-89.31, Z:-3.87 [[-6.23146299e-01 -7.82030472e-01 1.08180861e-02 2.53933300e+02] [-7.81923324e-01 6.23240074e-01 1.29508677e-02 -8.93071628e+01] [-1.68702380e-02 -3.88628560e-04 -9.99857612e-01 -3.86502665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.066559995 meters 0.013516436342924813 Centerline is valid? [True, True] Translation: X:253.85, Y:-89.37, Z:-3.87 [[-5.62282908e-01 -8.26883660e-01 1.00669990e-02 2.53850024e+02] [-8.26763022e-01 5.62372893e-01 1.41292358e-02 -8.93744360e+01] [-1.73446416e-02 -3.78394760e-04 -9.99849499e-01 -3.86541977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.126559995 meters 0.01349099679410725 Centerline is valid? [True, True] Translation: X:253.77, Y:-89.45, Z:-3.86 [[-4.97002408e-01 -8.67693984e-01 9.78554878e-03 2.53769715e+02] [-8.67540872e-01 4.97098583e-01 1.63043844e-02 -8.94512846e+01] [-1.90115987e-02 -3.86045224e-04 -9.99819189e-01 -3.86473973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.186559995 meters 0.013518131450518866 Centerline is valid? [True, True] Translation: X:253.69, Y:-89.54, Z:-3.86 [[-4.25694911e-01 -9.04819509e-01 9.24654066e-03 2.53691604e+02] [-9.04629231e-01 4.25795069e-01 1.85610876e-02 -8.95354835e+01] [-2.07315656e-02 -4.63330437e-04 -9.99784971e-01 -3.86406386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.246559995 meters 0.013612496091232518 Centerline is valid? [True, True] Translation: X:253.62, Y:-89.62, Z:-3.86 [[-3.52795414e-01 -9.35666977e-01 7.91856808e-03 2.53622128e+02] [-9.35463359e-01 3.52883888e-01 1.95260198e-02 -8.96229468e+01] [-2.10641870e-02 -5.18840064e-04 -9.99777991e-01 -3.86460881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.306559995 meters 0.013461914533766387 Centerline is valid? [True, True] Translation: X:253.56, Y:-89.72, Z:-3.87 [[-2.80303355e-01 -9.59891876e-01 6.13318780e-03 2.53560578e+02] [-9.59700463e-01 2.80369979e-01 1.91754128e-02 -8.97171746e+01] [-2.01258847e-02 -5.11090625e-04 -9.99797323e-01 -3.86614575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.366559995 meters 0.013295827615140773 Centerline is valid? [True, True] Translation: X:253.51, Y:-89.82, Z:-3.87 [[-2.08230150e-01 -9.78070114e-01 4.36539713e-03 2.53507456e+02] [-9.77899177e-01 2.08275395e-01 1.82909769e-02 -8.98201405e+01] [-1.87990627e-02 -4.60185394e-04 -9.99823176e-01 -3.86784339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.426559995 meters 0.013188190169693702 Centerline is valid? [True, True] Translation: X:253.46, Y:-89.93, Z:-3.87 [[-1.35316650e-01 -9.90798457e-01 2.79686156e-03 2.53463871e+02] [-9.90644797e-01 1.35344933e-01 1.74537937e-02 -8.99289209e+01] [-1.76717329e-02 -4.08907469e-04 -9.99843759e-01 -3.86979810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48655999499994 meters 0.013423392627930833 Centerline is valid? [True, True] Translation: X:253.43, Y:-90.04, Z:-3.87 [[-6.29633528e-02 -9.98014953e-01 1.33028440e-03 2.53429288e+02] [-9.97893055e-01 6.29764585e-02 1.56018120e-02 -9.00391420e+01] [-1.56546183e-02 -3.45139173e-04 -9.99877399e-01 -3.87118156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54655999499994 meters 0.013811566447239979 Centerline is valid? [True, True] Translation: X:253.40, Y:-90.15, Z:-3.87 [[ 1.18113258e-02 -9.99930235e-01 1.34352843e-04 2.53401967e+02] [-9.99814569e-01 -1.18079156e-02 1.52118306e-02 -9.01545152e+01] [-1.52091829e-02 -3.13999817e-04 -9.99884284e-01 -3.87260153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60655999499994 meters 0.014693266027968702 Centerline is valid? [True, True] Translation: X:253.38, Y:-90.27, Z:-3.87 [[ 8.64125579e-02 -9.96258730e-01 -1.18822896e-03 2.53383370e+02] [-9.96118182e-01 -8.64203281e-02 1.67360241e-02 -9.02737704e+01] [-1.67760972e-02 -2.62586181e-04 -9.99859237e-01 -3.87106112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66655999499994 meters 0.015185462092847896 Centerline is valid? [True, True] Translation: X:253.37, Y:-90.40, Z:-3.87 [[ 1.62507331e-01 -9.86703362e-01 -2.80058869e-03 2.53373689e+02] [-9.86530611e-01 -1.62531287e-01 1.84644037e-02 -9.04009341e+01] [-1.86740725e-02 -2.37734489e-04 -9.99825596e-01 -3.86921503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72655999499995 meters 0.01338851916310356 Centerline is valid? [True, True] Translation: X:253.37, Y:-90.52, Z:-3.87 [[ 2.38176949e-01 -9.71213253e-01 -4.06926123e-03 2.53367628e+02] [-9.71053252e-01 -2.38211579e-01 1.76302255e-02 -9.05157731e+01] [-1.80920538e-02 -2.47643977e-04 -9.99836295e-01 -3.87356392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78655999499995 meters 0.015052543630029683 Centerline is valid? [True, True] Translation: X:253.38, Y:-90.63, Z:-3.87 [[ 3.12571758e-01 -9.49880701e-01 -5.05471985e-03 2.53377599e+02] [-9.49742480e-01 -3.12612514e-01 1.62061238e-02 -9.06341482e+01] [-1.69740529e-02 -2.64894445e-04 -9.99855895e-01 -3.87126434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84655999499995 meters 0.012693781549003197 Centerline is valid? [True, True] Translation: X:253.39, Y:-90.76, Z:-3.88 [[ 3.87764029e-01 -9.21740207e-01 -5.83515176e-03 2.53388605e+02] [-9.21622785e-01 -3.87807792e-01 1.47159467e-02 -9.07559572e+01] [-1.58271971e-02 -3.28505974e-04 -9.99874688e-01 -3.87670979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90655999499995 meters 0.012231619523686274 Centerline is valid? [True, True] Translation: X:253.41, Y:-90.88, Z:-3.88 [[ 4.63100943e-01 -8.86280838e-01 -6.61765115e-03 2.53411298e+02] [-8.86176726e-01 -4.63148024e-01 1.35911496e-02 -9.08753991e+01] [-1.51105275e-02 -4.29665761e-04 -9.99885737e-01 -3.87825758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96655999499995 meters 0.01249066407052026 Centerline is valid? [True, True] Translation: X:253.44, Y:-90.99, Z:-3.88 [[ 5.34814731e-01 -8.44928643e-01 -8.29409068e-03 2.53441556e+02] [-8.44811281e-01 -5.34878778e-01 1.40922344e-02 -9.09918725e+01] [-1.63432655e-02 -5.29793146e-04 -9.99866300e-01 -3.87803720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02655999499996 meters 0.01402240148954796 Centerline is valid? [True, True] Translation: X:253.48, Y:-91.11, Z:-3.88 [[ 6.04973506e-01 -7.96186213e-01 -9.72475682e-03 2.53477975e+02] [-7.96064667e-01 -6.05051274e-01 1.39284348e-02 -9.11072014e+01] [-1.69736043e-02 -6.84798754e-04 -9.99855703e-01 -3.87772933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08655999499996 meters 0.014901651903783205 Centerline is valid? [True, True] Translation: X:253.53, Y:-91.22, Z:-3.88 [[ 6.66887203e-01 -7.45084809e-01 -1.04922036e-02 2.53527395e+02] [-7.44974644e-01 -6.66969322e-01 1.28336587e-02 -9.12165631e+01] [-1.65601420e-02 -7.42177146e-04 -9.99862596e-01 -3.87851135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14655999499996 meters 0.015863543988155895 Centerline is valid? [True, True] Translation: X:253.57, Y:-91.31, Z:-3.88 [[ 7.23417863e-01 -6.90322544e-01 -1.10172609e-02 2.53573763e+02] [-6.90225929e-01 -7.23501343e-01 1.15746830e-02 -9.13075013e+01] [-1.59612676e-02 -7.68933316e-04 -9.99872315e-01 -3.88020082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20655999499996 meters 0.01626230032000599 Centerline is valid? [True, True] Translation: X:253.60, Y:-91.33, Z:-3.88 [[ 7.75739707e-01 -6.30962056e-01 -1.07140506e-02 2.53595904e+02] [-6.30888103e-01 -7.75813322e-01 9.68973764e-03 -9.13347811e+01] [-1.44259599e-02 -7.57347194e-04 -9.99895654e-01 -3.88078285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26655999499997 meters 0.016125412944641714 Centerline is valid? [True, True] Translation: X:253.62, Y:-91.36, Z:-3.88 [[ 8.21902738e-01 -5.69524049e-01 -1.08741504e-02 2.53621304e+02] [-5.69462393e-01 -8.21974354e-01 8.41098326e-03 -9.13556283e+01] [-1.37285300e-02 -7.20590484e-04 -9.99905500e-01 -3.88166130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32655999499997 meters 0.015437204880174894 Centerline is valid? [True, True] Translation: X:253.65, Y:-91.37, Z:-3.88 [[ 8.62243006e-01 -5.06353531e-01 -1.19624511e-02 2.53650488e+02] [-5.06293640e-01 -8.62325712e-01 7.81774612e-03 -9.13721180e+01] [-1.42740725e-02 -6.84284032e-04 -9.99897886e-01 -3.88064011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38655999499997 meters 0.013712291204655615 Centerline is valid? [True, True] Translation: X:253.68, Y:-91.39, Z:-3.88 [[ 8.98432625e-01 -4.38881459e-01 -1.42085438e-02 2.53679001e+02] [-4.38814290e-01 -8.98544705e-01 7.70918457e-03 -9.13909796e+01] [-1.61504300e-02 -6.91270855e-04 -9.99869334e-01 -3.88132319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.446559995 meters 0.013677725740663062 Centerline is valid? [True, True] Translation: X:253.71, Y:-91.41, Z:-3.88 [[ 9.29801584e-01 -3.67756651e-01 -1.49686220e-02 2.53706687e+02] [-3.67697038e-01 -9.29921811e-01 6.65679599e-03 -9.14114239e+01] [-1.63677291e-02 -6.85581488e-04 -9.99865805e-01 -3.88111501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.506559995 meters 0.013634964675986204 Centerline is valid? [True, True] Translation: X:253.74, Y:-91.43, Z:-3.88 [[ 9.55412036e-01 -2.94860526e-01 -1.56560657e-02 2.53736688e+02] [-2.94809351e-01 -9.55540067e-01 5.53423160e-03 -9.14285910e+01] [-1.65918245e-02 -6.71916905e-04 -9.99862120e-01 -3.88040847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.566559995 meters 0.01325386571266982 Centerline is valid? [True, True] Translation: X:253.77, Y:-91.44, Z:-3.88 [[ 9.75127582e-01 -2.21056320e-01 -1.61338907e-02 2.53768590e+02] [-2.21015142e-01 -9.75260833e-01 4.31446144e-03 -9.14401482e+01] [-1.66884907e-02 -6.41316193e-04 -9.99860532e-01 -3.88078774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.626559995 meters 0.012458780360420212 Centerline is valid? [True, True] Translation: X:253.80, Y:-91.45, Z:-3.88 [[ 9.89095842e-01 -1.46439336e-01 -1.56504556e-02 2.53800131e+02] [-1.46411513e-01 -9.89219475e-01 2.91521118e-03 -9.14521968e+01] [-1.59086371e-02 -5.92016379e-04 -9.99873274e-01 -3.88259908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.686559995 meters 0.012551475075197657 Centerline is valid? [True, True] Translation: X:253.83, Y:-91.46, Z:-3.88 [[ 9.97416844e-01 -7.02281349e-02 -1.50880152e-02 2.53827569e+02] [-7.02116413e-02 -9.97530801e-01 1.62075623e-03 -9.14623851e+01] [-1.51645826e-02 -5.57215255e-04 -9.99884856e-01 -3.88280409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.746559995 meters 0.012354536435653055 Centerline is valid? [True, True] Translation: X:253.86, Y:-91.46, Z:-3.88 [[ 9.99869699e-01 5.60577815e-03 -1.51380433e-02 2.53855768e+02] [ 5.61298092e-03 -9.99984153e-01 4.33360568e-04 -9.14630877e+01] [-1.51353740e-02 -5.18273649e-04 -9.99885319e-01 -3.88334486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.806559995 meters 0.012285435738446556 Centerline is valid? [True, True] Translation: X:253.89, Y:-91.47, Z:-3.89 [[ 9.96283382e-01 8.49845505e-02 -1.40374025e-02 2.53885060e+02] [ 8.49835228e-02 -9.96382131e-01 -6.70781227e-04 -9.14686917e+01] [-1.40436230e-02 -5.24659724e-04 -9.99901246e-01 -3.88528623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.866559995 meters 0.012359219326806855 Centerline is valid? [True, True] Translation: X:253.92, Y:-91.47, Z:-3.89 [[ 9.86399491e-01 1.63807361e-01 -1.35348370e-02 2.53915086e+02] [ 1.63799355e-01 -9.86492201e-01 -1.70549301e-03 -9.14744761e+01] [-1.36313835e-02 -5.34700146e-04 -9.99906945e-01 -3.88607203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.926559995 meters 0.012395775255290698 Centerline is valid? [True, True] Translation: X:253.95, Y:-91.48, Z:-3.89 [[ 9.70435967e-01 2.41022048e-01 -1.27439041e-02 2.53945121e+02] [ 2.41008457e-01 -9.70519493e-01 -2.61466861e-03 -9.14782748e+01] [-1.29984001e-02 -5.34020199e-04 -9.99915375e-01 -3.88651903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98655999499994 meters 0.012928903661324377 Centerline is valid? [True, True] Translation: X:253.97, Y:-91.48, Z:-3.89 [[ 9.48370300e-01 3.16923072e-01 -1.23911387e-02 2.53974355e+02] [ 3.16903417e-01 -9.48451092e-01 -3.57073741e-03 -9.14790869e+01] [-1.28840381e-02 -5.40412894e-04 -9.99916851e-01 -3.88625969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04655999499994 meters 0.012570851590846368 Centerline is valid? [True, True] Translation: X:254.01, Y:-91.48, Z:-3.89 [[ 9.20295377e-01 3.91073294e-01 -1.08673243e-02 2.54005109e+02] [ 3.91052846e-01 -9.20359381e-01 -4.03487258e-03 -9.14779687e+01] [-1.15797748e-02 -5.36423521e-04 -9.99932808e-01 -3.88780149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10655999499994 meters 0.01257733685360585 Centerline is valid? [True, True] Translation: X:254.04, Y:-91.47, Z:-3.89 [[ 8.86970278e-01 4.61720201e-01 -9.90869526e-03 2.54036055e+02] [ 4.61697923e-01 -8.87025468e-01 -4.56588093e-03 -9.14735782e+01] [-1.08974245e-02 -5.25023342e-04 -9.99940483e-01 -3.88853392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16655999499994 meters 0.012391838550887225 Centerline is valid? [True, True] Translation: X:254.07, Y:-91.46, Z:-3.89 [[ 8.49135091e-01 5.28098418e-01 -9.03647429e-03 2.54065503e+02] [ 5.28074658e-01 -8.49183027e-01 -5.03405219e-03 -9.14648758e+01] [-1.03320956e-02 -4.97342710e-04 -9.99946499e-01 -3.88928013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22655999499995 meters 0.012159749802801881 Centerline is valid? [True, True] Translation: X:254.09, Y:-91.45, Z:-3.89 [[ 8.06367652e-01 5.91349751e-01 -8.75687360e-03 2.54094625e+02] [ 5.91321203e-01 -8.06415058e-01 -5.83008996e-03 -9.14540661e+01] [-1.05092970e-02 -4.76929079e-04 -9.99944662e-01 -3.88943800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28655999499995 meters 0.012069901101380828 Centerline is valid? [True, True] Translation: X:254.12, Y:-91.44, Z:-3.89 [[ 7.59170901e-01 6.50841116e-01 -8.08608860e-03 2.54123005e+02] [ 6.50810392e-01 -7.59213830e-01 -6.33988703e-03 -9.14427223e+01] [-1.02653294e-02 -4.49452747e-04 -9.99947209e-01 -3.88781036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34655999499995 meters 0.011872443512525456 Centerline is valid? [True, True] Translation: X:254.15, Y:-91.43, Z:-3.89 [[ 7.07124174e-01 7.07051503e-01 -7.31946490e-03 2.54149456e+02] [ 7.07019782e-01 -7.07161925e-01 -6.71126298e-03 -9.14274752e+01] [-9.92125547e-03 -4.29310185e-04 -9.99950691e-01 -3.88726439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40655999499995 meters 0.011919825181001526 Centerline is valid? [True, True] Translation: X:254.17, Y:-91.41, Z:-3.89 [[ 6.50910632e-01 7.59125938e-01 -6.56954706e-03 2.54173763e+02] [ 7.59093489e-01 -6.50943655e-01 -7.03091651e-03 -9.14105995e+01] [-9.61375607e-03 -4.10402088e-04 -9.99953703e-01 -3.88729351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46655999499995 meters 0.01190494154523766 Centerline is valid? [True, True] Translation: X:254.20, Y:-91.39, Z:-3.89 [[ 5.89646207e-01 8.07638964e-01 -6.05437206e-03 2.54200378e+02] [ 8.07603287e-01 -5.89677148e-01 -7.60213741e-03 -9.13944708e+01] [-9.70990723e-03 -4.06959286e-04 -9.99952775e-01 -3.88722435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52655999499996 meters 0.011904702978935934 Centerline is valid? [True, True] Translation: X:254.23, Y:-91.38, Z:-3.89 [[ 5.23822558e-01 8.51811133e-01 -5.26510145e-03 2.54226507e+02] [ 8.51775782e-01 -5.23848854e-01 -7.77141013e-03 -9.13772431e+01] [-9.37789103e-03 -4.13845973e-04 -9.99955941e-01 -3.88604377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58655999499996 meters 0.011901207389515328 Centerline is valid? [True, True] Translation: X:254.25, Y:-91.36, Z:-3.89 [[ 4.55607666e-01 8.90169260e-01 -4.51042974e-03 2.54246669e+02] [ 8.90134214e-01 -4.55629806e-01 -7.90954919e-03 -9.13559528e+01] [-9.09592378e-03 -4.11236587e-04 -9.99958547e-01 -3.88681198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64655999499996 meters 0.011859585931613093 Centerline is valid? [True, True] Translation: X:254.27, Y:-91.33, Z:-3.89 [[ 3.85105042e-01 9.22865129e-01 -3.74961855e-03 2.54265453e+02] [ 9.22831088e-01 -3.85123084e-01 -7.93682189e-03 -9.13322948e+01] [-8.76868082e-03 -4.03754437e-04 -9.99961473e-01 -3.88772891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70655999499996 meters 0.011865878794763017 Centerline is valid? [True, True] Translation: X:254.28, Y:-91.31, Z:-3.89 [[ 3.12792822e-01 9.49816193e-01 -3.13831031e-03 2.54282100e+02] [ 9.49780216e-01 -3.12808320e-01 -8.27619481e-03 -9.13080721e+01] [-8.84255342e-03 -3.91970710e-04 -9.99960827e-01 -3.88711124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76655999499997 meters 0.011885104314605125 Centerline is valid? [True, True] Translation: X:254.29, Y:-91.28, Z:-3.89 [[ 2.39076119e-01 9.70997714e-01 -2.45952971e-03 2.54293934e+02] [ 9.70961308e-01 -2.39088474e-01 -8.41657993e-03 -9.12812542e+01] [-8.76052507e-03 -3.75904917e-04 -9.99961555e-01 -3.88720002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82655999499997 meters 0.01190810854945832 Centerline is valid? [True, True] Translation: X:254.31, Y:-91.25, Z:-3.89 [[ 1.63857206e-01 9.86482165e-01 -1.93748878e-03 2.54307645e+02] [ 9.86436680e-01 -1.63868270e-01 -9.47975433e-03 -9.12544973e+01] [-9.66910151e-03 -3.57883942e-04 -9.99953189e-01 -3.88659006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88655999499997 meters 0.011903027944674627 Centerline is valid? [True, True] Translation: X:254.32, Y:-91.23, Z:-3.89 [[ 8.58509582e-02 9.96307150e-01 -1.29467102e-03 2.54322385e+02] [ 9.96247771e-01 -8.58599838e-02 -1.08830687e-02 -9.12263106e+01] [-1.09540395e-02 -3.55491243e-04 -9.99939940e-01 -3.88573795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.946559995 meters 0.01171901827845476 Centerline is valid? [True, True] Translation: X:254.34, Y:-91.20, Z:-3.89 [[ 5.80895965e-03 9.99983033e-01 -4.35102417e-04 2.54336026e+02] [ 9.99927854e-01 -5.81321279e-03 -1.05115403e-02 -9.11972704e+01] [-1.05138913e-02 -3.74009913e-04 -9.99944658e-01 -3.88595715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.006559995 meters 0.011718618780291656 Centerline is valid? [True, True] Translation: X:254.34, Y:-91.17, Z:-3.89 [[-7.48220093e-02 9.97196816e-01 4.21737260e-04 2.54344483e+02] [ 9.97136970e-01 7.48221423e-02 -1.09320959e-02 -9.11680852e+01] [-1.09330065e-02 -3.97431568e-04 -9.99940154e-01 -3.88578180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.066559995 meters 0.011874388777200292 Centerline is valid? [True, True] Translation: X:254.35, Y:-91.14, Z:-3.89 [[-1.54711430e-01 9.87958993e-01 1.18364737e-03 2.54347716e+02] [ 9.87905911e-01 1.54715397e-01 -1.02497220e-02 -9.11381817e+01] [-1.03094335e-02 -4.16416918e-04 -9.99946770e-01 -3.88714434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.126559995 meters 0.012016633344915878 Centerline is valid? [True, True] Translation: X:254.35, Y:-91.11, Z:-3.89 [[-2.33961403e-01 9.72244265e-01 1.77501974e-03 2.54352037e+02] [ 9.72200510e-01 2.33967733e-01 -9.23411223e-03 -9.11073428e+01] [-9.39311001e-03 -4.34750763e-04 -9.99955789e-01 -3.88767436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.186559995 meters 0.01248562968002351 Centerline is valid? [True, True] Translation: X:254.36, Y:-91.08, Z:-3.89 [[-3.13337173e-01 9.49638209e-01 2.66242334e-03 2.54355082e+02] [ 9.49589863e-01 3.13348120e-01 -9.59414500e-03 -9.10750414e+01] [-9.94523202e-03 -4.77992063e-04 -9.99950431e-01 -3.88786065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.246559995 meters 0.01358300221524246 Centerline is valid? [True, True] Translation: X:254.36, Y:-91.04, Z:-3.89 [[-3.92047568e-01 9.19937463e-01 3.71062591e-03 2.54356581e+02] [ 9.19882172e-01 3.92064746e-01 -1.01007167e-02 -9.10421488e+01] [-1.07468333e-02 -5.46622810e-04 -9.99942102e-01 -3.88734496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.306559995 meters 0.014053040259320249 Centerline is valid? [True, True] Translation: X:254.35, Y:-91.01, Z:-3.89 [[-4.64543662e-01 8.85538844e-01 4.48804016e-03 2.54351203e+02] [ 8.85485113e-01 4.64564998e-01 -9.77125785e-03 -9.10105126e+01] [-1.07378147e-02 -5.65083157e-04 -9.99942188e-01 -3.88743503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.366559995 meters 0.01473465006094627 Centerline is valid? [True, True] Translation: X:254.35, Y:-90.98, Z:-3.89 [[-5.35729230e-01 8.44368760e-01 5.96563389e-03 2.54345216e+02] [ 8.44302629e-01 5.35762068e-01 -1.05866324e-02 -9.09776647e+01] [-1.21351821e-02 -6.34768065e-04 -9.99926164e-01 -3.88707211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.426559995 meters 0.015227564427993421 Centerline is valid? [True, True] Translation: X:254.33, Y:-90.95, Z:-3.89 [[-6.01492799e-01 7.98847042e-01 7.05805462e-03 2.54334379e+02] [ 7.98778618e-01 6.01533842e-01 -1.04764968e-02 -9.09473388e+01] [-1.26147772e-02 -6.63714283e-04 -9.99920210e-01 -3.88778526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48655999499994 meters 0.015292417703548798 Centerline is valid? [True, True] Translation: X:254.32, Y:-90.92, Z:-3.89 [[-6.62543757e-01 7.48976283e-01 8.38441819e-03 2.54320342e+02] [ 7.48902798e-01 6.62596450e-01 -1.05139364e-02 -9.09186486e+01] [-1.34301747e-02 -6.86828689e-04 -9.99909575e-01 -3.88759249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54655999499994 meters 0.014995149327041778 Centerline is valid? [True, True] Translation: X:254.30, Y:-90.89, Z:-3.89 [[-7.18783112e-01 6.95173174e-01 9.22473284e-03 2.54304025e+02] [ 6.95103490e-01 7.18841983e-01 -9.86621422e-03 -9.08907982e+01] [-1.34898527e-02 -6.79524175e-04 -9.99908777e-01 -3.88730037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60655999499994 meters 0.014800223454608793 Centerline is valid? [True, True] Translation: X:254.28, Y:-90.87, Z:-3.89 [[-7.69612693e-01 6.38446004e-01 9.11061234e-03 2.54283415e+02] [ 6.38391446e-01 7.69666362e-01 -8.36973278e-03 -9.08682017e+01] [-1.23557543e-02 -6.25315605e-04 -9.99923469e-01 -3.88916148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66655999499994 meters 0.013534782048393357 Centerline is valid? [True, True] Translation: X:254.30, Y:-90.85, Z:-3.89 [[-8.11519803e-01 5.84250998e-01 9.29413195e-03 2.54299898e+02] [ 5.84204779e-01 8.11572836e-01 -7.36935346e-03 -9.08542556e+01] [-1.18484171e-02 -5.50699961e-04 -9.99929653e-01 -3.89055817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72655999499995 meters 0.013388136372539713 Centerline is valid? [True, True] Translation: X:254.31, Y:-90.83, Z:-3.89 [[-8.49452694e-01 5.27565573e-01 1.02316135e-02 2.54311977e+02] [ 5.27519733e-01 8.49514148e-01 -6.97445781e-03 -9.08346846e+01] [-1.23713842e-02 -5.27093970e-04 -9.99923333e-01 -3.88970149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78655999499995 meters 0.013066206542623677 Centerline is valid? [True, True] Translation: X:254.67, Y:-90.29, Z:-4.90 [[-7.94640475e-01 -6.07071103e-01 3.34552543e-03 2.54670571e+02] [ 6.07065340e-01 -7.94647514e-01 -2.64612565e-03 -9.02948066e+01] [ 4.26489988e-03 -7.17660097e-05 9.99990903e-01 -4.90163783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84655999499995 meters 0.013122249438229528 Centerline is valid? [True, True] Translation: X:254.27, Y:-90.82, Z:-3.89 [[-8.50254341e-01 5.26231535e-01 1.21625571e-02 2.54273209e+02] [ 5.26168640e-01 8.50341160e-01 -8.15320842e-03 -9.08184123e+01] [-1.46327983e-02 -5.32744727e-04 -9.99892793e-01 -3.88800512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90655999499995 meters 0.013253613467963356 Centerline is valid? [True, True] Translation: X:254.29, Y:-90.80, Z:-3.89 [[-8.85667893e-01 4.64138583e-01 1.29522205e-02 2.54286082e+02] [ 4.64079867e-01 8.85762428e-01 -7.40261663e-03 -9.07989180e+01] [-1.49084303e-02 -5.45395113e-04 -9.99888714e-01 -3.88784322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96655999499995 meters 0.013523368128176335 Centerline is valid? [True, True] Translation: X:254.30, Y:-90.78, Z:-3.89 [[-9.16655795e-01 3.99461558e-01 1.31383810e-02 2.54296809e+02] [ 3.99411817e-01 9.16749779e-01 -6.32795209e-03 -9.07754654e+01] [-1.45723815e-02 -5.52929317e-04 -9.99893664e-01 -3.88802722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02655999499996 meters 0.013670673783391934 Centerline is valid? [True, True] Translation: X:254.30, Y:-90.75, Z:-3.89 [[-9.43133875e-01 3.32107239e-01 1.42574379e-02 2.54301077e+02] [ 3.32059831e-01 9.43241452e-01 -5.64190543e-03 -9.07520572e+01] [-1.53219241e-02 -5.86749697e-04 -9.99882440e-01 -3.88842392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08655999499996 meters 0.013977663621115558 Centerline is valid? [True, True] Translation: X:254.55, Y:-90.12, Z:-4.90 [[-9.04792485e-01 -4.25811436e-01 5.93128879e-03 2.54545689e+02] [ 4.25801546e-01 -9.04811920e-01 -2.90390969e-03 -9.01238160e+01] [ 6.60321876e-03 -1.01883725e-04 9.99978193e-01 -4.90319901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14655999499996 meters 0.014503427697650877 Centerline is valid? [True, True] Translation: X:254.26, Y:-90.74, Z:-3.89 [[-9.44982849e-01 3.26761875e-01 1.53001039e-02 2.54259401e+02] [ 3.26708061e-01 9.45106487e-01 -5.96425572e-03 -9.07407001e+01] [-1.64091188e-02 -6.37452104e-04 -9.99865158e-01 -3.88778242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20655999499996 meters 0.014713776861822372 Centerline is valid? [True, True] Translation: X:254.27, Y:-90.72, Z:-3.89 [[-9.66062900e-01 2.57829977e-01 1.56899807e-02 2.54265826e+02] [ 2.57784905e-01 9.66190081e-01 -4.86509758e-03 -9.07171722e+01] [-1.64138717e-02 -6.55350097e-04 -9.99865069e-01 -3.88881105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26655999499997 meters 0.014312319042273982 Centerline is valid? [True, True] Translation: X:254.27, Y:-90.69, Z:-3.89 [[-9.81809094e-01 1.89313413e-01 1.45373330e-02 2.54271533e+02] [ 1.89283351e-01 9.81916520e-01 -3.42928468e-03 -9.06930967e+01] [-1.49236570e-02 -6.15227787e-04 -9.99888447e-01 -3.89090826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32655999499997 meters 0.013736889306876351 Centerline is valid? [True, True] Translation: X:254.27, Y:-90.67, Z:-3.89 [[-9.92487746e-01 1.21650945e-01 1.30047044e-02 2.54274967e+02] [ 1.21633247e-01 9.92572792e-01 -2.14621278e-03 -9.06658355e+01] [-1.31692046e-02 -5.48285458e-04 -9.99913132e-01 -3.89179115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38655999499997 meters 0.01331151823347299 Centerline is valid? [True, True] Translation: X:254.27, Y:-90.64, Z:-3.89 [[-9.98576763e-01 5.17891778e-02 1.27408357e-02 2.54272920e+02] [ 5.17781821e-02 9.98657899e-01 -1.19160541e-03 -9.06378932e+01] [-1.27854485e-02 -5.30212163e-04 -9.99918122e-01 -3.89235521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.446559995 meters 0.013818927115225303 Centerline is valid? [True, True] Translation: X:254.28, Y:-90.61, Z:-3.89 [[-9.99715158e-01 -1.95666985e-02 1.36655784e-02 2.54275317e+02] [-1.95723550e-02 9.99808404e-01 -2.80291417e-04 -9.06084180e+01] [-1.36574758e-02 -5.47679130e-04 -9.99906582e-01 -3.89182548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.506559995 meters 0.013929675840852213 Centerline is valid? [True, True] Translation: X:254.27, Y:-90.58, Z:-3.89 [[-9.95622011e-01 -9.23101626e-02 1.46848503e-02 2.54268312e+02] [-9.23088449e-02 9.95730127e-01 7.68962754e-04 -9.05808920e+01] [-1.46931309e-02 -5.89945325e-04 -9.99891876e-01 -3.89197859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.566559995 meters 0.015068345762777807 Centerline is valid? [True, True] Translation: X:254.23, Y:-89.91, Z:-4.90 [[-9.99863320e-01 -1.45408351e-02 7.86798686e-03 2.54226008e+02] [ 1.45403249e-02 -9.99894276e-01 -1.22044261e-04 -8.99113996e+01] [ 7.86892965e-03 -7.62449470e-06 9.99969039e-01 -4.90483782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.626559995 meters 0.015029431920613696 Centerline is valid? [True, True] Translation: X:254.20, Y:-90.58, Z:-3.89 [[-9.94669429e-01 -1.01103885e-01 2.02664963e-02 2.54195378e+02] [-1.01098775e-01 9.94875571e-01 1.27921052e-03 -9.05813440e+01] [-2.02919752e-02 -7.76526345e-04 -9.99793795e-01 -3.88649197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.686559995 meters 0.014406128476776883 Centerline is valid? [True, True] Translation: X:254.15, Y:-89.91, Z:-4.91 [[-9.99912821e-01 -6.94473979e-03 1.12303541e-02 2.54151498e+02] [ 6.94437956e-03 -9.99975885e-01 -7.10716853e-05 -8.99142423e+01] [ 1.12305769e-02 6.92235248e-06 9.99936935e-01 -4.90681362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.746559995 meters 0.013274451525363643 Centerline is valid? [True, True] Translation: X:254.12, Y:-90.60, Z:-3.89 [[-9.95159815e-01 -9.67310742e-02 1.73217139e-02 2.54123397e+02] [-9.67259190e-02 9.95310406e-01 1.13712814e-03 -9.05957684e+01] [-1.73504778e-02 -5.43834472e-04 -9.99849321e-01 -3.88974707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.806559995 meters 0.01200448547382316 Centerline is valid? [True, True] Translation: X:254.07, Y:-89.91, Z:-4.90 [[-9.99930666e-01 9.61413494e-03 6.79940984e-03 2.54074861e+02] [-9.61551289e-03 -9.99953755e-01 -1.69995820e-04 -8.99096476e+01] [ 6.79746104e-03 -2.35363847e-04 9.99976869e-01 -4.90153622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.866559995 meters 0.01166511309897907 Centerline is valid? [True, True] Translation: X:254.04, Y:-90.61, Z:-3.90 [[-9.95683726e-01 -9.17623448e-02 1.39136413e-02 2.54044319e+02] [-9.17583492e-02 9.95780873e-01 9.26628842e-04 -9.06123481e+01] [-1.39399675e-02 -3.54063494e-04 -9.99902771e-01 -3.89503472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.926559995 meters 0.011785132441197632 Centerline is valid? [True, True] Translation: X:253.98, Y:-89.91, Z:-4.90 [[-9.99682482e-01 2.45118175e-02 5.84006238e-03 2.53984473e+02] [-2.45123848e-02 -9.99699526e-01 -2.55674597e-05 -8.99130438e+01] [ 5.83768089e-03 -1.68713198e-04 9.99982946e-01 -4.90115730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98655999499994 meters 0.011951329818564936 Centerline is valid? [True, True] Translation: X:253.95, Y:-90.62, Z:-3.89 [[-9.95562178e-01 -9.27837653e-02 1.57201439e-02 2.53954776e+02] [-9.27766362e-02 9.95686243e-01 1.18374757e-03 -9.06203774e+01] [-1.57621636e-02 -2.79967765e-04 -9.99875730e-01 -3.89482663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04655999499994 meters 0.012397822170909652 Centerline is valid? [True, True] Translation: X:253.90, Y:-89.92, Z:-4.90 [[-9.99345218e-01 3.53464133e-02 7.73089318e-03 2.53897833e+02] [-3.53469162e-02 -9.99375100e-01 7.16207615e-05 -8.99198577e+01] [ 7.72859368e-03 -2.01689368e-04 9.99970114e-01 -4.90246187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10655999499994 meters 0.012539900663094667 Centerline is valid? [True, True] Translation: X:253.87, Y:-90.63, Z:-3.89 [[-9.95458747e-01 -9.35896491e-02 1.74028980e-02 2.53867939e+02] [-9.35785943e-02 9.95610839e-01 1.45026710e-03 -9.06282369e+01] [-1.74622439e-02 -1.84857661e-04 -9.99847506e-01 -3.89495365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16655999499994 meters 0.013108806206267053 Centerline is valid? [True, True] Translation: X:253.86, Y:-90.60, Z:-3.89 [[-9.86761434e-01 -1.61236377e-01 1.74557737e-02 2.53859223e+02] [-1.61213274e-01 9.86915810e-01 2.73197796e-03 -9.06018215e+01] [-1.76678732e-02 -1.18291928e-04 -9.99843904e-01 -3.89495526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22655999499995 meters 0.013381329280123255 Centerline is valid? [True, True] Translation: X:253.84, Y:-90.58, Z:-3.89 [[-9.72729808e-01 -2.31277022e-01 1.75402289e-02 2.53841894e+02] [-2.31241509e-01 9.72887931e-01 4.05435347e-03 -9.05775918e+01] [-1.80023558e-02 -1.12238539e-04 -9.99837938e-01 -3.89473090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28655999499995 meters 0.013194063899663981 Centerline is valid? [True, True] Translation: X:253.81, Y:-90.56, Z:-3.90 [[-9.53434662e-01 -3.01133876e-01 1.67551010e-02 2.53808790e+02] [-3.01089724e-01 9.53581865e-01 5.15805970e-03 -9.05571024e+01] [-1.75306270e-02 -1.26915836e-04 -9.99846319e-01 -3.89561558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34655999499995 meters 0.012415590805975603 Centerline is valid? [True, True] Translation: X:253.76, Y:-90.54, Z:-3.90 [[-9.28198980e-01 -3.71800712e-01 1.45218676e-02 2.53764741e+02] [-3.71758382e-01 9.28312553e-01 5.61337402e-03 -9.05390494e+01] [-1.55678885e-02 -1.88297968e-04 -9.99878795e-01 -3.89774750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40655999499995 meters 0.012182980037361303 Centerline is valid? [True, True] Translation: X:253.71, Y:-90.53, Z:-3.90 [[-8.97511303e-01 -4.40779231e-01 1.36795865e-02 2.53706788e+02] [-4.40731939e-01 8.97615517e-01 6.46078399e-03 -9.05320270e+01] [-1.51267885e-02 -2.30404019e-04 -9.99885557e-01 -3.89887632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46655999499995 meters 0.011946588231459184 Centerline is valid? [True, True] Translation: X:253.64, Y:-90.53, Z:-3.90 [[-8.60677294e-01 -5.08988057e-01 1.28745092e-02 2.53636788e+02] [-5.08936138e-01 8.60773532e-01 7.27557687e-03 -9.05341893e+01] [-1.47852185e-02 -2.90379181e-04 -9.99890651e-01 -3.89996019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52655999499996 meters 0.011769370007537978 Centerline is valid? [True, True] Translation: X:253.56, Y:-90.55, Z:-3.90 [[-8.19173813e-01 -5.73429697e-01 1.15172044e-02 2.53560821e+02] [-5.73378594e-01 8.19254707e-01 7.66241460e-03 -9.05462441e+01] [-1.38293800e-02 -3.26869084e-04 -9.99904316e-01 -3.90123213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58655999499996 meters 0.011732541153812233 Centerline is valid? [True, True] Translation: X:253.48, Y:-90.57, Z:-3.90 [[-7.72209986e-01 -6.35291023e-01 9.85153966e-03 2.53481144e+02] [-6.35245306e-01 7.72272738e-01 7.63014132e-03 -9.05653712e+01] [-1.24554358e-02 -3.66072999e-04 -9.99922361e-01 -3.90354441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64655999499996 meters 0.01180963090324867 Centerline is valid? [True, True] Translation: X:253.39, Y:-90.60, Z:-3.90 [[-7.22322451e-01 -6.91501306e-01 8.73043842e-03 2.53394919e+02] [-6.91456871e-01 7.22375116e-01 7.84771143e-03 -9.06016791e+01] [-1.17333542e-02 -3.68143483e-04 -9.99931094e-01 -3.90443133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70655999499996 meters 0.011851474479854103 Centerline is valid? [True, True] Translation: X:253.32, Y:-90.64, Z:-3.90 [[-6.68704052e-01 -7.43477370e-01 8.73449758e-03 2.53316158e+02] [-7.43420958e-01 6.68760995e-01 9.16573490e-03 -9.06402928e+01] [-1.26558078e-02 -3.64244493e-04 -9.99919846e-01 -3.90349858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76655999499997 meters 0.011868863515044462 Centerline is valid? [True, True] Translation: X:253.23, Y:-90.70, Z:-3.90 [[-6.11116621e-01 -7.91489018e-01 9.03382614e-03 2.53233041e+02] [-7.91411150e-01 6.11183282e-01 1.11080024e-02 -9.06967001e+01] [-1.43131854e-02 -3.61185870e-04 -9.99897496e-01 -3.90389345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82655999499997 meters 0.012005054743491232 Centerline is valid? [True, True] Translation: X:253.15, Y:-90.76, Z:-3.90 [[-5.49697007e-01 -8.35312748e-01 9.26355420e-03 2.53152062e+02] [-8.35205036e-01 5.49774939e-01 1.34188166e-02 -9.07592078e+01] [-1.63017785e-02 -3.60683781e-04 -9.99867052e-01 -3.90276272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88655999499997 meters 0.01209488393403974 Centerline is valid? [True, True] Translation: X:253.08, Y:-90.83, Z:-3.90 [[-4.83796220e-01 -8.75130068e-01 9.41180778e-03 2.53075517e+02] [-8.74979738e-01 4.83887607e-01 1.62247144e-02 -9.08294850e+01] [-1.87529926e-02 -3.85685599e-04 -9.99824073e-01 -3.90165700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.946559995 meters 0.01214463864749911 Centerline is valid? [True, True] Translation: X:253.00, Y:-90.91, Z:-3.90 [[-4.14791972e-01 -9.09877201e-01 8.43208303e-03 2.53002981e+02] [-9.09708939e-01 4.14877465e-01 1.75024510e-02 -9.09107382e+01] [-1.94233623e-02 -4.10865164e-04 -9.99811264e-01 -3.90195639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.006559995 meters 0.012128320411167737 Centerline is valid? [True, True] Translation: X:252.94, Y:-91.00, Z:-3.90 [[-3.42461393e-01 -9.39508347e-01 6.65281068e-03 2.52936143e+02] [-9.39355387e-01 3.42525722e-01 1.69583602e-02 -9.10008360e+01] [-1.82112798e-02 -4.41769891e-04 -9.99834063e-01 -3.90470716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.066559995 meters 0.012269620498298465 Centerline is valid? [True, True] Translation: X:252.88, Y:-91.10, Z:-3.91 [[-2.67576802e-01 -9.63522827e-01 5.13968549e-03 2.52875047e+02] [-9.63377936e-01 2.67625731e-01 1.67158977e-02 -9.10965818e+01] [-1.74816612e-02 -4.78673141e-04 -9.99847070e-01 -3.90637482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.126559995 meters 0.012849947149106847 Centerline is valid? [True, True] Translation: X:252.82, Y:-91.20, Z:-3.91 [[-1.88746420e-01 -9.82018987e-01 3.67407472e-03 2.52821002e+02] [-9.81885296e-01 1.88781382e-01 1.62128186e-02 -9.11968074e+01] [-1.66148926e-02 -5.47408474e-04 -9.99861813e-01 -3.90845343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.186559995 meters 0.01355725539460444 Centerline is valid? [True, True] Translation: X:252.77, Y:-91.31, Z:-3.91 [[-1.09937898e-01 -9.93935460e-01 2.44134002e-03 2.52772793e+02] [-9.93797360e-01 1.09963345e-01 1.65792289e-02 -9.13100888e+01] [-1.67471414e-02 -6.03511696e-04 -9.99859575e-01 -3.90864958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.246559995 meters 0.014292026311374276 Centerline is valid? [True, True] Translation: X:252.74, Y:-91.42, Z:-3.91 [[-3.04104149e-02 -9.99536733e-01 1.23554022e-03 2.52735721e+02] [-9.99372785e-01 3.04278201e-02 1.81158426e-02 -9.14198485e+01] [-1.81450449e-02 -6.83854987e-04 -9.99835131e-01 -3.90895351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.306559995 meters 0.01606228945265787 Centerline is valid? [True, True] Translation: X:252.71, Y:-91.53, Z:-3.91 [[ 4.93658013e-02 -9.98780752e-01 -1.63976801e-04 2.52706819e+02] [-9.98605287e-01 -4.93602048e-02 1.87363314e-02 -9.15267587e+01] [-1.87215811e-02 -7.61185912e-04 -9.99824446e-01 -3.90817066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.366559995 meters 0.016462958517247828 Centerline is valid? [True, True] Translation: X:252.69, Y:-91.64, Z:-3.91 [[ 1.27097959e-01 -9.91888999e-01 -1.52409841e-03 2.52687794e+02] [-9.91726583e-01 -1.27104753e-01 1.79656837e-02 -9.16377777e+01] [-1.80136841e-02 -7.71912818e-04 -9.99837442e-01 -3.90842989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.426559995 meters 0.016073955566693526 Centerline is valid? [True, True] Translation: X:252.68, Y:-91.76, Z:-3.91 [[ 2.03665283e-01 -9.79036052e-01 -2.97681679e-03 2.52680500e+02] [-9.78866435e-01 -2.03685462e-01 1.82410283e-02 -9.17554736e+01] [-1.84649587e-02 -8.01158168e-04 -9.99829187e-01 -3.90897991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48655999499994 meters 0.016866508975818408 Centerline is valid? [True, True] Translation: X:252.68, Y:-91.87, Z:-3.91 [[ 2.78873496e-01 -9.60316555e-01 -4.65692577e-03 2.52682059e+02] [-9.60127573e-01 -2.78911091e-01 1.90695347e-02 -9.18680499e+01] [-1.96116581e-02 -8.46744967e-04 -9.99807314e-01 -3.90844242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54655999499994 meters 0.016097826089792953 Centerline is valid? [True, True] Translation: X:252.69, Y:-91.99, Z:-3.91 [[ 3.51405447e-01 -9.36202444e-01 -6.26062140e-03 2.52694183e+02] [-9.36007815e-01 -3.51460173e-01 1.91080334e-02 -9.19857484e+01] [-2.00893467e-02 -8.54676469e-04 -9.99797823e-01 -3.90949400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60655999499994 meters 0.015778840108797716 Centerline is valid? [True, True] Translation: X:252.72, Y:-92.10, Z:-3.91 [[ 4.21131120e-01 -9.06970558e-01 -7.27920941e-03 2.52715232e+02] [-9.06800353e-01 -4.21193254e-01 1.75887231e-02 -9.21009217e+01] [-1.90184079e-02 -8.06368999e-04 -9.99818809e-01 -3.91060537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66655999499994 meters 0.015406137574829924 Centerline is valid? [True, True] Translation: X:252.74, Y:-92.21, Z:-3.91 [[ 4.88987914e-01 -8.72254744e-01 -7.90449136e-03 2.52742945e+02] [-8.72114614e-01 -4.89051206e-01 1.56530451e-02 -9.22110049e+01] [-1.75191439e-02 -7.60527447e-04 -9.99846239e-01 -3.91315478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72655999499995 meters 0.015938014638533102 Centerline is valid? [True, True] Translation: X:252.77, Y:-92.31, Z:-3.91 [[ 5.54538609e-01 -8.32117279e-01 -8.23198440e-03 2.52774070e+02] [-8.32005514e-01 -5.54599233e-01 1.36570821e-02 -9.23145986e+01] [-1.59297462e-02 -7.24322893e-04 -9.99872851e-01 -3.91443482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78655999499995 meters 0.016045601972891912 Centerline is valid? [True, True] Translation: X:252.82, Y:-92.42, Z:-3.91 [[ 6.17915592e-01 -7.86189923e-01 -9.25886782e-03 2.52815947e+02] [-7.86082869e-01 -6.17984498e-01 1.29955003e-02 -9.24207162e+01] [-1.59387682e-02 -7.51884882e-04 -9.99872687e-01 -3.91492183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84655999499995 meters 0.01674883126000089 Centerline is valid? [True, True] Translation: X:252.86, Y:-92.52, Z:-3.91 [[ 6.76888446e-01 -7.36011971e-01 -1.04120280e-02 2.52860630e+02] [-7.35906774e-01 -6.76968076e-01 1.24677480e-02 -9.25196488e+01] [-1.62250223e-02 -7.76992659e-04 -9.99868064e-01 -3.91405250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90655999499995 meters 0.017355707350165755 Centerline is valid? [True, True] Translation: X:252.91, Y:-92.61, Z:-3.91 [[ 7.31841300e-01 -6.81373099e-01 -1.17903515e-02 2.52913733e+02] [-6.81266300e-01 -7.31935812e-01 1.20911013e-02 -9.26141274e+01] [-1.68683317e-02 -8.16398103e-04 -9.99857386e-01 -3.91450924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96655999499995 meters 0.017702297494386968 Centerline is valid? [True, True] Translation: X:252.93, Y:-92.64, Z:-3.91 [[ 7.81601664e-01 -6.23644375e-01 -1.29047495e-02 2.52934780e+02] [-6.23542224e-01 -7.81707783e-01 1.13153603e-02 -9.26411403e+01] [-1.71445039e-02 -7.97448242e-04 -9.99852704e-01 -3.91321730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02655999499996 meters 0.01604040588599159 Centerline is valid? [True, True] Translation: X:252.96, Y:-92.66, Z:-3.91 [[ 8.26911371e-01 -5.62181779e-01 -1.30089565e-02 2.52959889e+02] [-5.62097908e-01 -8.27013361e-01 9.73872543e-03 -9.26644286e+01] [-1.62335148e-02 -7.40755544e-04 -9.99867953e-01 -3.91482177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08655999499996 meters 0.015159564019782114 Centerline is valid? [True, True] Translation: X:252.99, Y:-92.69, Z:-3.92 [[ 8.67090564e-01 -4.98001273e-01 -1.21936718e-02 2.52985908e+02] [-4.97941234e-01 -8.67176049e-01 7.76059266e-03 -9.26872783e+01] [-1.44388451e-02 -6.57404701e-04 -9.99895538e-01 -3.91632246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14655999499996 meters 0.01409156344685032 Centerline is valid? [True, True] Translation: X:253.01, Y:-92.71, Z:-3.92 [[ 9.01899060e-01 -4.31809356e-01 -1.08979541e-02 2.53013697e+02] [-4.31770175e-01 -9.01964723e-01 5.84428298e-03 -9.27076132e+01] [-1.23531862e-02 -5.65541777e-04 -9.99923537e-01 -3.91785380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20655999499996 meters 0.01365843403172949 Centerline is valid? [True, True] Translation: X:253.04, Y:-92.73, Z:-3.92 [[ 9.31969881e-01 -3.62381301e-01 -1.05798965e-02 2.53043073e+02] [-3.62351573e-01 -9.32029786e-01 4.67060736e-03 -9.27257464e+01] [-1.15533194e-02 -5.19223256e-04 -9.99933123e-01 -3.91881929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26655999499997 meters 0.0130175354687101 Centerline is valid? [True, True] Translation: X:253.07, Y:-92.74, Z:-3.92 [[ 9.56759966e-01 -2.90661513e-01 -1.12362300e-02 2.53073535e+02] [-2.90635340e-01 -9.56825814e-01 3.93200885e-03 -9.27417817e+01] [-1.18939986e-02 -4.96343121e-04 -9.99929141e-01 -3.91901889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32655999499997 meters 0.013303794630774676 Centerline is valid? [True, True] Translation: X:253.10, Y:-92.76, Z:-3.92 [[ 9.76743754e-01 -2.13988387e-01 -1.34390899e-02 2.53103648e+02] [-2.13960514e-01 -9.76836056e-01 3.49548677e-03 -9.27597938e+01] [-1.38757812e-02 -5.38760284e-04 -9.99903582e-01 -3.91729841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38655999499997 meters 0.013791813351103433 Centerline is valid? [True, True] Translation: X:253.14, Y:-92.78, Z:-3.92 [[ 9.90774823e-01 -1.34798472e-01 -1.39507197e-02 2.53135156e+02] [-1.34776950e-01 -9.90872870e-01 2.47585712e-03 -9.27762989e+01] [-1.41571314e-02 -5.72781441e-04 -9.99899619e-01 -3.91731491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.446559995 meters 0.014678525092752935 Centerline is valid? [True, True] Translation: X:253.16, Y:-92.79, Z:-3.92 [[ 9.98407484e-01 -5.45520304e-02 -1.43726421e-02 2.53162782e+02] [-5.45375811e-02 -9.98510743e-01 1.39565424e-03 -9.27898807e+01] [-1.44273733e-02 -6.09582503e-04 -9.99895734e-01 -3.91654563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.506559995 meters 0.014225772461466838 Centerline is valid? [True, True] Translation: X:253.19, Y:-92.80, Z:-3.92 [[ 9.99615421e-01 2.36072985e-02 -1.45501072e-02 2.53193392e+02] [ 2.36136490e-02 -9.99721124e-01 2.64789456e-04 -9.27977041e+01] [-1.45397986e-02 -6.08268750e-04 -9.99894107e-01 -3.91727644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.566559995 meters 0.014443127353686008 Centerline is valid? [True, True] Translation: X:253.22, Y:-92.80, Z:-3.92 [[ 9.94924360e-01 9.96407610e-02 -1.40440727e-02 2.53223187e+02] [ 9.96388664e-02 -9.95023315e-01 -8.36289320e-04 -9.28015545e+01] [-1.40575083e-02 -5.67290865e-04 -9.99901027e-01 -3.91717148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.626559995 meters 0.012635329885034782 Centerline is valid? [True, True] Translation: X:253.25, Y:-92.80, Z:-3.92 [[ 9.84857637e-01 1.72848082e-01 -1.33781485e-02 2.53253765e+02] [ 1.72838959e-01 -9.84948371e-01 -1.84387473e-03 -9.28002478e+01] [-1.34954958e-02 -4.96311151e-04 -9.99908808e-01 -3.91864816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.686559995 meters 0.012099668571851678 Centerline is valid? [True, True] Translation: X:253.28, Y:-92.80, Z:-3.92 [[ 9.69284441e-01 2.45626890e-01 -1.24540212e-02 2.53283068e+02] [ 2.45612359e-01 -9.69364349e-01 -2.70694076e-03 -9.27990181e+01] [-1.27373816e-02 -4.35065953e-04 -9.99918782e-01 -3.91851668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.746559995 meters 0.011405105469359727 Centerline is valid? [True, True] Translation: X:253.31, Y:-92.79, Z:-3.92 [[ 9.48953057e-01 3.15191798e-01 -1.19258200e-02 2.53313050e+02] [ 3.15171632e-01 -9.49027925e-01 -3.58332364e-03 -9.27943835e+01] [-1.24473704e-02 -3.58274238e-04 -9.99922464e-01 -3.91881413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.806559995 meters 0.01149069229891061 Centerline is valid? [True, True] Translation: X:253.34, Y:-92.79, Z:-3.92 [[ 9.22795313e-01 3.85071187e-01 -1.29996438e-02 2.53342090e+02] [ 3.85037702e-01 -9.22886821e-01 -5.08758887e-03 -9.27871208e+01] [-1.39562838e-02 -3.10549808e-04 -9.99902558e-01 -3.91831690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.866559995 meters 0.011512926042108332 Centerline is valid? [True, True] Translation: X:253.37, Y:-92.78, Z:-3.92 [[ 8.90459698e-01 4.54882729e-01 -1.27760985e-02 2.53371643e+02] [ 4.54840557e-01 -8.90551300e-01 -6.20070417e-03 -9.27814223e+01] [-1.41983644e-02 -2.89610597e-04 -9.99899156e-01 -3.91888788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.926559995 meters 0.011580026899121559 Centerline is valid? [True, True] Translation: X:253.40, Y:-92.78, Z:-3.92 [[ 8.51852614e-01 5.23621057e-01 -1.29658357e-02 2.53401460e+02] [ 5.23565651e-01 -8.51951232e-01 -7.62280079e-03 -9.27755351e+01] [-1.50377187e-02 -2.94963438e-04 -9.99886884e-01 -3.91759525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98655999499994 meters 0.011626972537943859 Centerline is valid? [True, True] Translation: X:253.43, Y:-92.77, Z:-3.92 [[ 8.07062272e-01 5.90321036e-01 -1.30982375e-02 2.53430700e+02] [ 5.90249791e-01 -8.07168489e-01 -9.17683526e-03 -9.27668734e+01] [-1.59897634e-02 -3.24954422e-04 -9.99872103e-01 -3.91688202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04655999499994 meters 0.011615302015711324 Centerline is valid? [True, True] Translation: X:253.46, Y:-92.76, Z:-3.92 [[ 7.57106931e-01 6.53178489e-01 -1.21225282e-02 2.53459626e+02] [ 6.53102202e-01 -7.57203893e-01 -9.98893854e-03 -9.27562100e+01] [-1.57037854e-02 -3.54555286e-04 -9.99876625e-01 -3.91736276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10655999499994 meters 0.011914539816051574 Centerline is valid? [True, True] Translation: X:253.49, Y:-92.74, Z:-3.92 [[ 7.01670603e-01 7.12411956e-01 -1.12947200e-02 2.53485922e+02] [ 7.12328683e-01 -7.01761389e-01 -1.08995778e-02 -9.27432138e+01] [-1.56911880e-02 -3.97639676e-04 -9.99876807e-01 -3.91774760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16655999499994 meters 0.012299364674813209 Centerline is valid? [True, True] Translation: X:253.51, Y:-92.73, Z:-3.92 [[ 6.40988714e-01 7.67477466e-01 -1.05739016e-02 2.53512834e+02] [ 7.67384586e-01 -6.41075761e-01 -1.19484365e-02 -9.27281448e+01] [-1.59488278e-02 -4.55436140e-04 -9.99872706e-01 -3.91746844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22655999499995 meters 0.012216195703102768 Centerline is valid? [True, True] Translation: X:253.54, Y:-92.71, Z:-3.92 [[ 5.78129816e-01 8.15893888e-01 -9.11484220e-03 2.53537069e+02] [ 8.15804832e-01 -5.78201479e-01 -1.20633965e-02 -9.27100744e+01] [-1.51126668e-02 -4.61723083e-04 -9.99885691e-01 -3.91885129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28655999499995 meters 0.012353601133083357 Centerline is valid? [True, True] Translation: X:253.56, Y:-92.69, Z:-3.92 [[ 5.11933532e-01 8.58992334e-01 -7.49856457e-03 2.53560187e+02] [ 8.58912930e-01 -5.11988243e-01 -1.16883932e-02 -9.26897921e+01] [-1.38794171e-02 -4.56933646e-04 -9.99903572e-01 -3.92045257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34655999499995 meters 0.012439901088550205 Centerline is valid? [True, True] Translation: X:253.58, Y:-92.67, Z:-3.92 [[ 4.42093389e-01 8.96944754e-01 -6.59875660e-03 2.53582073e+02] [ 8.96860302e-01 -4.42142381e-01 -1.23171928e-02 -9.26681217e+01] [-1.39654314e-02 -4.72813336e-04 -9.99902367e-01 -3.92123979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40655999499995 meters 0.012864379893259755 Centerline is valid? [True, True] Translation: X:253.60, Y:-92.65, Z:-3.92 [[ 3.68818417e-01 9.29485531e-01 -5.44263828e-03 2.53603739e+02] [ 9.29403165e-01 -3.68858247e-01 -1.23835105e-02 -9.26461905e+01] [-1.35178558e-02 -4.91138506e-04 -9.99908509e-01 -3.92073840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46655999499995 meters 0.012960206489395887 Centerline is valid? [True, True] Translation: X:253.62, Y:-92.62, Z:-3.92 [[ 2.93704026e-01 9.55885489e-01 -4.56914726e-03 2.53622597e+02] [ 9.55795526e-01 -2.93739117e-01 -1.31241304e-02 -9.26220454e+01] [-1.38873031e-02 -5.12560570e-04 -9.99903435e-01 -3.92057429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52655999499996 meters 0.013476092150176587 Centerline is valid? [True, True] Translation: X:253.64, Y:-92.60, Z:-3.92 [[ 2.16198302e-01 9.76343401e-01 -3.44353003e-03 2.53638805e+02] [ 9.76255681e-01 -2.16225074e-01 -1.30981833e-02 -9.25958859e+01] [-1.35329023e-02 -5.29960774e-04 -9.99908286e-01 -3.92123105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58655999499996 meters 0.013762160372154063 Centerline is valid? [True, True] Translation: X:253.65, Y:-92.57, Z:-3.92 [[ 1.38389766e-01 9.90375082e-01 -2.33865719e-03 2.53652589e+02] [ 9.90291201e-01 -1.38408508e-01 -1.29004913e-02 -9.25691581e+01] [-1.31000152e-02 -5.30655657e-04 -9.99914050e-01 -3.92082757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64655999499996 meters 0.014608062613807692 Centerline is valid? [True, True] Translation: X:253.66, Y:-92.54, Z:-3.92 [[ 5.88080552e-02 9.98268309e-01 -1.41308303e-03 2.53663963e+02] [ 9.98166931e-01 -5.88222375e-02 -1.42380556e-02 -9.25416931e+01] [-1.42965204e-02 -5.73180394e-04 -9.99897635e-01 -3.91900510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70655999499996 meters 0.014889361046083464 Centerline is valid? [True, True] Translation: X:253.67, Y:-92.51, Z:-3.92 [[-2.01161928e-02 9.99797606e-01 -2.92163634e-04 2.53667931e+02] [ 9.99680227e-01 2.01093508e-02 -1.53315896e-02 -9.25121404e+01] [-1.53226113e-02 -6.00483419e-04 -9.99882422e-01 -3.91902774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76655999499997 meters 0.014442405027222166 Centerline is valid? [True, True] Translation: X:253.67, Y:-92.48, Z:-3.92 [[-9.59322301e-02 9.95387403e-01 9.62189907e-04 2.53666687e+02] [ 9.95259508e-01 9.59353379e-02 -1.59663095e-02 -9.24846239e+01] [-1.59849713e-02 -5.74055019e-04 -9.99872067e-01 -3.91904641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82655999499997 meters 0.013007687641923603 Centerline is valid? [True, True] Translation: X:253.67, Y:-92.46, Z:-3.92 [[-1.70607988e-01 9.85336678e-01 2.13215889e-03 2.53666025e+02] [ 9.85217349e-01 1.70620528e-01 -1.53430849e-02 -9.24559445e+01] [-1.54818944e-02 -5.17012922e-04 -9.99880015e-01 -3.92105453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88655999499997 meters 0.01216029420025555 Centerline is valid? [True, True] Translation: X:253.66, Y:-92.43, Z:-3.92 [[-2.42780828e-01 9.70077103e-01 2.80788431e-03 2.53663652e+02] [ 9.69990617e-01 2.42796696e-01 -1.29602473e-02 -9.24278350e+01] [-1.32541842e-02 -4.22878135e-04 -9.99912070e-01 -3.92465430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.946559995 meters 0.011981898017136975 Centerline is valid? [True, True] Translation: X:253.66, Y:-92.40, Z:-3.92 [[-3.14732914e-01 9.49172656e-01 3.80295011e-03 2.53660910e+02] [ 9.49088259e-01 3.14755665e-01 -1.26628889e-02 -9.24005849e+01] [-1.32162679e-02 -3.76092618e-04 -9.99912591e-01 -3.92473295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.006559995 meters 0.012039068719676324 Centerline is valid? [True, True] Translation: X:253.65, Y:-92.38, Z:-3.92 [[-3.84457297e-01 9.23126921e-01 5.41060877e-03 2.53651473e+02] [ 9.23023244e-01 3.84495230e-01 -1.38386934e-02 -9.23755006e+01] [-1.48552237e-02 -3.26269013e-04 -9.99889602e-01 -3.92293339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.066559995 meters 0.011782347449219827 Centerline is valid? [True, True] Translation: X:253.65, Y:-92.35, Z:-3.93 [[-4.55096617e-01 8.90417754e-01 6.57978143e-03 2.53645133e+02] [ 8.90314414e-01 4.55144069e-01 -1.35691040e-02 -9.23481051e+01] [-1.50769196e-02 -3.17179065e-04 -9.99886286e-01 -3.92538633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.126559995 meters 0.011735654868905904 Centerline is valid? [True, True] Translation: X:253.64, Y:-92.32, Z:-3.93 [[-5.23532607e-01 8.51967061e-01 8.10780904e-03 2.53638387e+02] [ 8.51855311e-01 5.23595287e-01 -1.38023399e-02 -9.23201507e+01] [-1.60043495e-02 -3.19294784e-04 -9.99871871e-01 -3.92637159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.186559995 meters 0.011823835059174427 Centerline is valid? [True, True] Translation: X:253.63, Y:-92.29, Z:-3.93 [[-5.89981245e-01 8.07362039e-01 9.41643574e-03 2.53629942e+02] [ 8.07249714e-01 5.90056284e-01 -1.34714667e-02 -9.22926954e+01] [-1.64325779e-02 -3.46497608e-04 -9.99864916e-01 -3.92678186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.246559995 meters 0.011876568247191114 Centerline is valid? [True, True] Translation: X:253.62, Y:-92.26, Z:-3.93 [[-6.53986341e-01 7.56434803e-01 1.04045313e-02 2.53620807e+02] [ 7.56329192e-01 6.54068978e-01 -1.26461687e-02 -9.22640290e+01] [-1.63712833e-02 -4.01170872e-04 -9.99865901e-01 -3.92831595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.306559995 meters 0.01220540019119483 Centerline is valid? [True, True] Translation: X:253.61, Y:-92.24, Z:-3.93 [[-7.13143306e-01 7.00924429e-01 1.14704417e-02 2.53608341e+02] [ 7.00823563e-01 7.13235407e-01 -1.18990824e-02 -9.22365674e+01] [-1.65214826e-02 -4.46995131e-04 -9.99863411e-01 -3.92821026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.366559995 meters 0.012730070385560734 Centerline is valid? [True, True] Translation: X:253.60, Y:-92.21, Z:-3.93 [[-7.68453694e-01 6.39790503e-01 1.21256857e-02 2.53595116e+02] [ 6.39700278e-01 7.68549187e-01 -1.07564819e-02 -9.22086018e+01] [-1.62010808e-02 -5.09053740e-04 -9.99868624e-01 -3.92880951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.426559995 meters 0.013453676986944817 Centerline is valid? [True, True] Translation: X:253.61, Y:-92.18, Z:-3.93 [[-8.13020382e-01 5.82105978e-01 1.22673861e-02 2.53612092e+02] [ 5.82030290e-01 8.13112771e-01 -9.40019661e-03 -9.21841861e+01] [-1.54466789e-02 -5.02561183e-04 -9.99880567e-01 -3.92828386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48655999499994 meters 0.013042482311007774 Centerline is valid? [True, True] Translation: X:253.63, Y:-92.16, Z:-3.93 [[-8.52291983e-01 5.22949765e-01 1.10416917e-02 2.53630951e+02] [ 5.22898666e-01 8.52363374e-01 -7.32548194e-03 -9.21640750e+01] [-1.32423927e-02 -4.69763650e-04 -9.99912205e-01 -3.93035897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54655999499994 meters 0.013269315925116494 Centerline is valid? [True, True] Translation: X:253.65, Y:-92.14, Z:-3.93 [[-8.86768411e-01 4.62100075e-01 1.02619159e-02 2.53646213e+02] [ 4.62063396e-01 8.86827678e-01 -5.83836138e-03 -9.21404922e+01] [-1.17984583e-02 -4.35618739e-04 -9.99930301e-01 -3.93031164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60655999499994 meters 0.01256989151322898 Centerline is valid? [True, True] Translation: X:253.98, Y:-91.54, Z:-4.92 [[-8.39023084e-01 -5.44088822e-01 2.76026057e-03 2.53983015e+02] [ 5.44085175e-01 -8.39027606e-01 -1.99984287e-03 -9.15408864e+01] [ 3.40402697e-03 -1.76097472e-04 9.99994191e-01 -4.91554954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66655999499994 meters 0.012249058243556975 Centerline is valid? [True, True] Translation: X:253.61, Y:-92.12, Z:-3.93 [[-8.86088309e-01 4.63430863e-01 8.90749779e-03 2.53609841e+02] [ 4.63403333e-01 8.86133007e-01 -5.06407313e-03 -9.21236874e+01] [-1.02400756e-02 -3.59451832e-04 -9.99947504e-01 -3.93006477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72655999499995 meters 0.011812084791040182 Centerline is valid? [True, True] Translation: X:253.94, Y:-91.52, Z:-4.92 [[-8.44051387e-01 -5.36245704e-01 4.21924938e-03 2.53943889e+02] [ 5.36239045e-01 -8.44061932e-01 -2.67228291e-03 -9.15209776e+01] [ 4.99430801e-03 6.98216644e-06 9.99987528e-01 -4.91916726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78655999499995 meters 0.011573478275605783 Centerline is valid? [True, True] Translation: X:253.58, Y:-92.11, Z:-3.93 [[-8.84958215e-01 4.65548095e-01 1.06737034e-02 2.53575552e+02] [ 4.65510041e-01 8.85022529e-01 -5.96020966e-03 -9.21079421e+01] [-1.22212322e-02 -3.05820401e-04 -9.99925271e-01 -3.92696115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84655999499995 meters 0.011641099375845733 Centerline is valid? [True, True] Translation: X:253.59, Y:-92.09, Z:-3.93 [[-9.13067011e-01 4.07610501e-01 1.27401919e-02 2.53594718e+02] [ 4.07567276e-01 9.13155861e-01 -5.94051256e-03 -9.20898972e+01] [-1.40551962e-02 -2.31600738e-04 -9.99901194e-01 -3.92625996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90655999499995 meters 0.011911888638809235 Centerline is valid? [True, True] Translation: X:253.61, Y:-92.07, Z:-3.93 [[-9.38371165e-01 3.45350024e-01 1.38894869e-02 2.53606396e+02] [ 3.45309379e-01 9.38473936e-01 -5.30128570e-03 -9.20678046e+01] [-1.48657206e-02 -1.78403540e-04 -9.99889483e-01 -3.92516731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96655999499995 meters 0.012669708815729324 Centerline is valid? [True, True] Translation: X:253.61, Y:-92.04, Z:-3.92 [[-9.58993812e-01 2.83097459e-01 1.36637194e-02 2.53614384e+02] [ 2.83067165e-01 9.59091141e-01 -4.14277156e-03 -9.20443251e+01] [-1.42775603e-02 -1.05141973e-04 -9.99898065e-01 -3.92428431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02655999499996 meters 0.013065148451128506 Centerline is valid? [True, True] Translation: X:253.82, Y:-91.37, Z:-4.92 [[-9.45788601e-01 -3.24734531e-01 5.60414137e-03 2.53821379e+02] [ 3.24726925e-01 -9.45805156e-01 -2.24287989e-03 -9.13673625e+01] [ 6.02876635e-03 -3.01474642e-04 9.99981781e-01 -4.92204759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08655999499996 meters 0.013049115634751519 Centerline is valid? [True, True] Translation: X:253.57, Y:-92.04, Z:-3.93 [[-9.58896964e-01 2.83501653e-01 1.19760260e-02 2.53573982e+02] [ 2.83478617e-01 9.58971745e-01 -3.61471269e-03 -9.20374190e+01] [-1.25094476e-02 -7.11897209e-05 -9.99921751e-01 -3.92713246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14655999499996 meters 0.012691681038963573 Centerline is valid? [True, True] Translation: X:253.57, Y:-92.01, Z:-3.93 [[-9.77103439e-01 2.12481827e-01 1.09700576e-02 2.53574187e+02] [ 2.12467111e-01 9.77165012e-01 -2.50337101e-03 -9.20072370e+01] [-1.12514773e-02 -1.15275966e-04 -9.99936693e-01 -3.92779533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20655999499996 meters 0.011983810804457687 Centerline is valid? [True, True] Translation: X:253.58, Y:-91.98, Z:-3.93 [[-9.90557468e-01 1.36748734e-01 9.78197145e-03 2.53580145e+02] [ 1.36740167e-01 9.90605748e-01 -1.54245369e-03 -9.19759989e+01] [-9.90100573e-03 -1.90300613e-04 -9.99950966e-01 -3.92810289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26655999499997 meters 0.011633565308818209 Centerline is valid? [True, True] Translation: X:253.58, Y:-91.94, Z:-3.93 [[-9.98033220e-01 6.19753333e-02 9.42070493e-03 2.53580086e+02] [ 6.19703791e-02 9.98077654e-01 -8.17163263e-04 -9.19444000e+01] [-9.45323904e-03 -2.31751428e-04 -9.99955290e-01 -3.92892738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32655999499997 meters 0.011623053707075781 Centerline is valid? [True, True] Translation: X:253.55, Y:-91.91, Z:-3.93 [[-9.99831566e-01 -1.59621655e-02 9.05805708e-03 2.53554451e+02] [-1.59641813e-02 9.99872553e-01 -1.50276901e-04 -9.19109214e+01] [-9.05450392e-03 -2.94856054e-04 -9.99958964e-01 -3.92908082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38655999499997 meters 0.012212138467179107 Centerline is valid? [True, True] Translation: X:253.56, Y:-91.88, Z:-3.93 [[-9.95735494e-01 -9.17620313e-02 9.51601957e-03 2.53564895e+02] [-9.17611197e-02 9.95780906e-01 5.33292049e-04 -9.18774123e+01] [-9.52480655e-03 -3.42182789e-04 -9.99954579e-01 -3.92834741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.446559995 meters 0.012430188903021281 Centerline is valid? [True, True] Translation: X:253.56, Y:-91.85, Z:-3.93 [[-9.86401577e-01 -1.64041189e-01 1.01201009e-02 2.53555171e+02] [-1.64036346e-01 9.86453423e-01 1.31241830e-03 -9.18491661e+01] [-1.01982988e-02 -3.65492877e-04 -9.99947929e-01 -3.92833635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.506559995 meters 0.012644638930032344 Centerline is valid? [True, True] Translation: X:253.46, Y:-91.20, Z:-4.92 [[-9.97178017e-01 7.49431511e-02 4.41880208e-03 2.53458053e+02] [-7.49427852e-02 -9.97187804e-01 2.48571541e-04 -9.11987036e+01] [ 4.42500428e-03 -8.32872590e-05 9.99990206e-01 -4.92232605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.566559995 meters 0.012487124723653365 Centerline is valid? [True, True] Translation: X:253.46, Y:-91.86, Z:-3.93 [[-9.85846523e-01 -1.67223295e-01 1.19583993e-02 2.53463867e+02] [-1.67215430e-01 9.85918982e-01 1.66162221e-03 -9.18611987e+01] [-1.20678748e-02 -3.61524405e-04 -9.99927115e-01 -3.92762975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.626559995 meters 0.012062349162857066 Centerline is valid? [True, True] Translation: X:253.45, Y:-91.84, Z:-3.93 [[-9.72865630e-01 -2.31048578e-01 1.22073703e-02 2.53449867e+02] [-2.31033996e-01 9.72942175e-01 2.61086920e-03 -9.18401916e+01] [-1.24803030e-02 -2.80292631e-04 -9.99922079e-01 -3.92832597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.686559995 meters 0.0122742476424815 Centerline is valid? [True, True] Translation: X:253.43, Y:-91.82, Z:-3.93 [[-9.55139742e-01 -2.95892063e-01 1.24884033e-02 2.53429943e+02] [-2.95869794e-01 9.55221356e-01 3.63691002e-03 -9.18219713e+01] [-1.30053224e-02 -2.21184025e-04 -9.99915403e-01 -3.92849779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.746559995 meters 0.013289780107317187 Centerline is valid? [True, True] Translation: X:253.39, Y:-91.81, Z:-3.93 [[-9.33371084e-01 -3.58697809e-01 1.24218318e-02 2.53390170e+02] [-3.58668061e-01 9.33453728e-01 4.62166950e-03 -9.18127189e+01] [-1.32529879e-02 -1.41581654e-04 -9.99912165e-01 -3.92889892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.806559995 meters 0.01337410433897826 Centerline is valid? [True, True] Translation: X:253.34, Y:-91.81, Z:-3.93 [[-9.05568841e-01 -4.24042799e-01 1.15229440e-02 2.53335379e+02] [-4.24010108e-01 9.05642143e-01 5.26666417e-03 -9.18085279e+01] [-1.26689547e-02 -1.16517761e-04 -9.99919739e-01 -3.93015045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.866559995 meters 0.013618046221057624 Centerline is valid? [True, True] Translation: X:253.27, Y:-91.81, Z:-3.93 [[-8.73103448e-01 -4.87387360e-01 1.19971276e-02 2.53268710e+02] [-4.87342416e-01 8.73185866e-01 6.61910449e-03 -9.18143405e+01] [-1.37017901e-02 -6.75462172e-05 -9.99906124e-01 -3.93122852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.926559995 meters 0.014355591860463899 Centerline is valid? [True, True] Translation: X:253.19, Y:-91.83, Z:-3.93 [[-8.35046527e-01 -5.50055187e-01 1.16871160e-02 2.53193436e+02] [-5.50002157e-01 8.35128307e-01 7.63799623e-03 -9.18316516e+01] [-1.39615609e-02 -4.98568141e-05 -9.99902531e-01 -3.93051960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98655999499994 meters 0.014189671808434029 Centerline is valid? [True, True] Translation: X:253.11, Y:-91.86, Z:-3.93 [[-7.92508197e-01 -6.09769666e-01 1.05693881e-02 2.53113432e+02] [-6.09716124e-01 7.92578673e-01 8.08055723e-03 -9.18577672e+01] [-1.33043503e-02 -4.04184938e-05 -9.99911492e-01 -3.93237930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04655999499994 meters 0.014409186527019155 Centerline is valid? [True, True] Translation: X:253.03, Y:-91.90, Z:-3.93 [[-7.44393032e-01 -6.67673258e-01 9.56210342e-03 2.53026009e+02] [-6.67619058e-01 7.44454443e-01 8.50734473e-03 -9.18954119e+01] [-1.27986769e-02 -5.10343395e-05 -9.99918092e-01 -3.93181796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10655999499994 meters 0.014276583307163977 Centerline is valid? [True, True] Translation: X:252.94, Y:-91.94, Z:-3.93 [[-6.90747404e-01 -7.23039805e-01 9.02575735e-03 2.52943112e+02] [-7.22979392e-01 6.90806367e-01 9.34677616e-03 -9.19381070e+01] [-1.29931418e-02 -6.91751926e-05 -9.99915583e-01 -3.93192337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16655999499994 meters 0.013927878788822724 Centerline is valid? [True, True] Translation: X:252.86, Y:-91.99, Z:-3.93 [[-6.32630031e-01 -7.74409133e-01 8.35089097e-03 2.52857320e+02] [-7.74343591e-01 6.32685139e-01 1.00756261e-02 -9.19926704e+01] [-1.30861415e-02 -9.23152471e-05 -9.99914369e-01 -3.93149884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22655999499995 meters 0.013023017074281487 Centerline is valid? [True, True] Translation: X:252.77, Y:-92.06, Z:-3.93 [[-5.69832056e-01 -8.21725506e-01 7.65645365e-03 2.52771938e+02] [-8.21654326e-01 5.69883477e-01 1.08162872e-02 -9.20558597e+01] [-1.32513055e-02 -1.27491059e-04 -9.99912189e-01 -3.93201595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28655999499995 meters 0.012515290249390817 Centerline is valid? [True, True] Translation: X:252.69, Y:-92.13, Z:-3.93 [[-5.01352887e-01 -8.65215168e-01 6.92790569e-03 2.52687900e+02] [-8.65137874e-01 5.01400713e-01 1.15664956e-02 -9.21306255e+01] [-1.34811643e-02 -1.94697633e-04 -9.99909106e-01 -3.93149244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34655999499995 meters 0.012172767743935116 Centerline is valid? [True, True] Translation: X:252.61, Y:-92.21, Z:-3.93 [[-4.29964134e-01 -9.02828367e-01 5.63759611e-03 2.52612570e+02] [-9.02758422e-01 4.30001016e-01 1.12408790e-02 -9.22093071e+01] [-1.25727565e-02 -2.56212562e-04 -9.99920927e-01 -3.93196300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40655999499995 meters 0.01214544908488987 Centerline is valid? [True, True] Translation: X:252.54, Y:-92.30, Z:-3.93 [[-3.57401783e-01 -9.33938383e-01 4.80224026e-03 2.52542613e+02] [-9.33864668e-01 3.57433927e-01 1.17375608e-02 -9.22963424e+01] [-1.26786422e-02 -2.89617338e-04 -9.99919581e-01 -3.93199661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46655999499995 meters 0.012190525688108116 Centerline is valid? [True, True] Translation: X:252.48, Y:-92.40, Z:-3.93 [[-2.82699942e-01 -9.59201669e-01 3.59172561e-03 2.52476776e+02] [-9.59137858e-01 2.82722581e-01 1.10685268e-02 -9.23955022e+01] [-1.16324114e-02 -3.15888111e-04 -9.99932291e-01 -3.93186848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52655999499996 meters 0.012232888592583906 Centerline is valid? [True, True] Translation: X:252.42, Y:-92.49, Z:-3.93 [[-2.08937211e-01 -9.77925415e-01 2.66934810e-03 2.52423961e+02] [-9.77863465e-01 2.08954032e-01 1.10116563e-02 -9.24927275e+01] [-1.13263496e-02 -3.09513228e-04 -9.99935807e-01 -3.93187832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58655999499996 meters 0.011998175044750231 Centerline is valid? [True, True] Translation: X:252.38, Y:-92.60, Z:-3.93 [[-1.37461248e-01 -9.90505569e-01 1.76720505e-03 2.52382141e+02] [-9.90446518e-01 1.37472356e-01 1.08187954e-02 -9.25974742e+01] [-1.09590190e-02 -2.63156958e-04 -9.99939914e-01 -3.93319860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64655999499996 meters 0.012118034999560419 Centerline is valid? [True, True] Translation: X:252.35, Y:-92.71, Z:-3.93 [[-6.41756395e-02 -9.97938158e-01 9.58973240e-04 2.52346343e+02] [-9.97873542e-01 6.41823991e-02 1.13583951e-02 -9.27075923e+01] [-1.13965251e-02 -2.28001753e-04 -9.99935032e-01 -3.93320569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70655999499996 meters 0.01249052139531799 Centerline is valid? [True, True] Translation: X:252.32, Y:-92.82, Z:-3.93 [[ 7.89266964e-03 -9.99968850e-01 7.44529808e-05 2.52321043e+02] [-9.99896411e-01 -7.89120165e-03 1.20372574e-02 -9.28216270e+01] [-1.20362949e-02 -1.69451364e-04 -9.99927547e-01 -3.93329079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76655999499997 meters 0.012923603029594671 Centerline is valid? [True, True] Translation: X:252.30, Y:-92.94, Z:-3.93 [[ 8.15214760e-02 -9.96671225e-01 -8.47845107e-04 2.52302448e+02] [-9.96599240e-01 -8.15257785e-02 1.19792390e-02 -9.29382485e+01] [-1.20084840e-02 -1.31603456e-04 -9.99927887e-01 -3.93399365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82655999499997 meters 0.01376899997568378 Centerline is valid? [True, True] Translation: X:252.29, Y:-93.06, Z:-3.93 [[ 1.53526992e-01 -9.88142945e-01 -1.72730613e-03 2.52294557e+02] [-9.88074221e-01 -1.53536687e-01 1.16541309e-02 -9.30581405e+01] [-1.17811521e-02 -8.25170024e-05 -9.99930596e-01 -3.93412803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88655999499997 meters 0.0145259221808489 Centerline is valid? [True, True] Translation: X:252.29, Y:-93.17, Z:-3.94 [[ 2.26046162e-01 -9.74113087e-01 -2.61265303e-03 2.52293082e+02] [-9.74045531e-01 -2.26061255e-01 1.14722410e-02 -9.31702530e+01] [-1.17658797e-02 -4.84130351e-05 -9.99930778e-01 -3.93532635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.946559995 meters 0.01520105121326151 Centerline is valid? [True, True] Translation: X:252.30, Y:-93.29, Z:-3.94 [[ 2.96842252e-01 -9.54920141e-01 -3.49311533e-03 2.52301679e+02] [-9.54853759e-01 -2.96862804e-01 1.12594198e-02 -9.32887077e+01] [-1.17888228e-02 -6.85722291e-06 -9.99930509e-01 -3.93689532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.006559995 meters 0.015605593545675287 Centerline is valid? [True, True] Translation: X:252.32, Y:-93.41, Z:-3.94 [[ 3.67906909e-01 -9.29855780e-01 -3.56850701e-03 2.52317109e+02] [-9.29811141e-01 -3.67924213e-01 9.11122842e-03 -9.34052266e+01] [-9.78506855e-03 -3.40463073e-05 -9.99952124e-01 -3.93911780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.066559995 meters 0.015856574958659067 Centerline is valid? [True, True] Translation: X:252.34, Y:-93.52, Z:-3.94 [[ 4.39601006e-01 -8.98185346e-01 -3.74686672e-03 2.52340142e+02] [-8.98151305e-01 -4.39616968e-01 7.82014513e-03 -9.35217965e+01] [-8.67112594e-03 -7.24904359e-05 -9.99962402e-01 -3.94017000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.126559995 meters 0.014320697446598443 Centerline is valid? [True, True] Translation: X:252.37, Y:-93.64, Z:-3.94 [[ 5.09722528e-01 -8.60330039e-01 -3.89482105e-03 2.52368426e+02] [-8.60303207e-01 -5.09737395e-01 6.79556786e-03 -9.36384832e+01] [-7.83176710e-03 -1.13126986e-04 -9.99969325e-01 -3.94139347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.186559995 meters 0.013001739564328823 Centerline is valid? [True, True] Translation: X:252.40, Y:-93.75, Z:-3.94 [[ 5.79070458e-01 -8.15267284e-01 -4.08173456e-03 2.52403213e+02] [-8.15244956e-01 -5.79084819e-01 6.03606554e-03 -9.37527690e+01] [-7.28467727e-03 -1.67693728e-04 -9.99973452e-01 -3.94208729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.246559995 meters 0.012201968514612714 Centerline is valid? [True, True] Translation: X:252.44, Y:-93.86, Z:-3.94 [[ 6.44381404e-01 -7.64688484e-01 -4.91197510e-03 2.52444544e+02] [-7.64663735e-01 -6.44400091e-01 6.15586536e-03 -9.38593091e+01] [-7.87259656e-03 -2.10715939e-04 -9.99968988e-01 -3.94259443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.306559995 meters 0.01224156626667815 Centerline is valid? [True, True] Translation: X:252.49, Y:-93.97, Z:-3.94 [[ 7.08464326e-01 -7.05720990e-01 -6.01528410e-03 2.52493339e+02] [-7.05691857e-01 -7.08489797e-01 6.41946828e-03 -9.39686279e+01] [-8.79212092e-03 -3.03027258e-04 -9.99961303e-01 -3.94183395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.366559995 meters 0.013353228481946169 Centerline is valid? [True, True] Translation: X:252.54, Y:-94.06, Z:-3.94 [[ 7.64996252e-01 -6.44001973e-01 -6.49559336e-03 2.52541343e+02] [-6.43974556e-01 -7.65023738e-01 5.95413404e-03 -9.40630566e+01] [-8.80375718e-03 -3.71893376e-04 -9.99961177e-01 -3.94222518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.426559995 meters 0.013813850872030922 Centerline is valid? [True, True] Translation: X:252.56, Y:-94.09, Z:-3.94 [[ 8.14567662e-01 -5.80031774e-01 -6.53184759e-03 2.52562849e+02] [-5.80009178e-01 -8.14593755e-01 5.13499091e-03 -9.40943621e+01] [-8.29926014e-03 -3.94265985e-04 -9.99965483e-01 -3.94295391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48655999499994 meters 0.014125724291210544 Centerline is valid? [True, True] Translation: X:252.59, Y:-94.12, Z:-3.94 [[ 8.57937291e-01 -5.13702091e-01 -7.33256746e-03 2.52588787e+02] [-5.13679178e-01 -8.57968527e-01 4.86921422e-03 -9.41221269e+01] [-8.79243763e-03 -4.10893235e-04 -9.99961261e-01 -3.94310616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54655999499994 meters 0.013774547280791014 Centerline is valid? [True, True] Translation: X:252.62, Y:-94.15, Z:-3.94 [[ 8.95193344e-01 -4.45595325e-01 -8.58392909e-03 2.52616663e+02] [-4.45570266e-01 -8.95234398e-01 4.74453844e-03 -9.41477113e+01] [-9.79877274e-03 -4.22535664e-04 -9.99951902e-01 -3.94175414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60655999499994 meters 0.013442108458050828 Centerline is valid? [True, True] Translation: X:252.65, Y:-94.17, Z:-3.94 [[ 9.26927194e-01 -3.75133082e-01 -9.00823102e-03 2.52646872e+02] [-3.75110992e-01 -9.26970873e-01 4.09197247e-03 -9.41708683e+01] [-9.88540202e-03 -4.13874087e-04 -9.99951053e-01 -3.94146220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66655999499994 meters 0.013288080902294839 Centerline is valid? [True, True] Translation: X:252.68, Y:-94.19, Z:-3.94 [[ 9.53180394e-01 -3.02263199e-01 -9.17034752e-03 2.52678581e+02] [-3.02245115e-01 -9.53224421e-01 3.33084048e-03 -9.41905716e+01] [-9.74818970e-03 -4.03199104e-04 -9.99952404e-01 -3.94216150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72655999499995 meters 0.012928099127931181 Centerline is valid? [True, True] Translation: X:252.71, Y:-94.21, Z:-3.94 [[ 9.73513337e-01 -2.28460005e-01 -8.82095553e-03 2.52711520e+02] [-2.28447096e-01 -9.73553226e-01 2.45773765e-03 -9.42071563e+01] [-9.14916447e-03 -3.77518706e-04 -9.99958074e-01 -3.94268656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78655999499995 meters 0.012625748995686387 Centerline is valid? [True, True] Translation: X:252.75, Y:-94.22, Z:-3.94 [[ 9.88120494e-01 -1.53402019e-01 -9.25802376e-03 2.52745442e+02] [-1.53391824e-01 -9.88163796e-01 1.80560508e-03 -9.42208214e+01] [-9.42542737e-03 -3.64050235e-04 -9.99955513e-01 -3.94290457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84655999499995 meters 0.012579396580025768 Centerline is valid? [True, True] Translation: X:252.78, Y:-94.23, Z:-3.94 [[ 9.97005496e-01 -7.67711650e-02 -9.28593730e-03 2.52776153e+02] [-7.67645479e-02 -9.97048677e-01 1.06746238e-03 -9.42313906e+01] [-9.34048184e-03 -3.51435081e-04 -9.99956315e-01 -3.94263610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90655999499995 meters 0.012038392338558624 Centerline is valid? [True, True] Translation: X:252.81, Y:-94.23, Z:-3.94 [[ 9.99934041e-01 -2.14855425e-03 -1.12826149e-02 2.52808169e+02] [-2.14468092e-03 -9.99997637e-01 3.55388534e-04 -9.42346639e+01] [-1.12833518e-02 -3.31167484e-04 -9.99936286e-01 -3.94266157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96655999499995 meters 0.011971826409617452 Centerline is valid? [True, True] Translation: X:252.84, Y:-94.24, Z:-3.94 [[ 9.97213746e-01 7.36277762e-02 -1.19872751e-02 2.52838927e+02] [ 7.36261362e-02 -9.97285745e-01 -5.78659396e-04 -9.42351373e+01] [-1.19973440e-02 -3.05529646e-04 -9.99927983e-01 -3.94233004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02655999499996 meters 0.011850745342214078 Centerline is valid? [True, True] Translation: X:252.87, Y:-94.23, Z:-3.94 [[ 9.88571703e-01 1.50297515e-01 -1.16895179e-02 2.52870868e+02] [ 1.50290464e-01 -9.88640771e-01 -1.48436650e-03 -9.42349086e+01] [-1.17798305e-02 -2.89420337e-04 -9.99930574e-01 -3.94321147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08655999499996 meters 0.011715512399632488 Centerline is valid? [True, True] Translation: X:252.90, Y:-94.23, Z:-3.94 [[ 9.74099308e-01 2.25862954e-01 -1.07919003e-02 2.52901754e+02] [ 2.25852161e-01 -9.74159049e-01 -2.22454552e-03 -9.42295517e+01] [-1.10154697e-02 -2.70445744e-04 -9.99939291e-01 -3.94387449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14655999499996 meters 0.011731220881454637 Centerline is valid? [True, True] Translation: X:252.93, Y:-94.22, Z:-3.94 [[ 9.53835315e-01 3.00153063e-01 -1.03117078e-02 2.52930920e+02] [ 3.00138401e-01 -9.53891018e-01 -2.97761614e-03 -9.42219642e+01] [-1.07299861e-02 -2.54784067e-04 -9.99942400e-01 -3.94427910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20655999499996 meters 0.011717090361776424 Centerline is valid? [True, True] Translation: X:252.96, Y:-94.21, Z:-3.94 [[ 9.27742901e-01 3.73091114e-01 -9.80464400e-03 2.52959254e+02] [ 3.73073053e-01 -9.27794676e-01 -3.67911530e-03 -9.42108922e+01] [-1.04693417e-02 -2.44575373e-04 -9.99945165e-01 -3.94448021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26655999499997 meters 0.011734949945675343 Centerline is valid? [True, True] Translation: X:252.99, Y:-94.20, Z:-3.94 [[ 8.94708935e-01 4.46545700e-01 -9.63641123e-03 2.52987021e+02] [ 4.46522996e-01 -8.94760787e-01 -4.51077722e-03 -9.42010116e+01] [-1.06365511e-02 -2.67046538e-04 -9.99943395e-01 -3.94487258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32655999499997 meters 0.011904010574506784 Centerline is valid? [True, True] Translation: X:253.01, Y:-94.19, Z:-3.95 [[ 8.55574630e-01 5.17605204e-01 -8.76952784e-03 2.53014867e+02] [ 5.17581491e-01 -8.55619522e-01 -4.96313061e-03 -9.41897897e+01] [-1.00723214e-02 -2.92616661e-04 -9.99949230e-01 -3.94506998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38655999499997 meters 0.012419708007354511 Centerline is valid? [True, True] Translation: X:253.04, Y:-94.18, Z:-3.94 [[ 8.10478642e-01 5.85705499e-01 -8.56969175e-03 2.53041674e+02] [ 5.85676987e-01 -8.10523881e-01 -5.78838483e-03 -9.41754382e+01] [-1.03362286e-02 -3.27708975e-04 -9.99946526e-01 -3.94485882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.446559995 meters 0.012989909935415853 Centerline is valid? [True, True] Translation: X:253.07, Y:-94.16, Z:-3.95 [[ 7.58397860e-01 6.51741065e-01 -8.14066458e-03 2.53070891e+02] [ 6.51708922e-01 -7.58441451e-01 -6.48430764e-03 -9.41636680e+01] [-1.04003070e-02 -3.87658703e-04 -9.99945840e-01 -3.94522002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.506559995 meters 0.0135774671246367 Centerline is valid? [True, True] Translation: X:253.10, Y:-94.15, Z:-3.95 [[ 7.02917109e-01 7.11237259e-01 -7.00715896e-03 2.53098971e+02] [ 7.11207528e-01 -7.02951918e-01 -6.51562326e-03 -9.41506239e+01] [-9.55984985e-03 -4.03601138e-04 -9.99954222e-01 -3.94547045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.566559995 meters 0.014171688273628935 Centerline is valid? [True, True] Translation: X:253.12, Y:-94.13, Z:-3.95 [[ 6.43731756e-01 7.65225366e-01 -6.29009197e-03 2.53122294e+02] [ 7.65194968e-01 -6.43762354e-01 -6.83323583e-03 -9.41328025e+01] [-9.27828980e-03 -4.14375817e-04 -9.99956870e-01 -3.94651039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.626559995 meters 0.014283157060989012 Centerline is valid? [True, True] Translation: X:253.14, Y:-94.11, Z:-3.95 [[ 5.82352964e-01 8.12915695e-01 -5.75312109e-03 2.53143249e+02] [ 8.12882755e-01 -5.82381238e-01 -7.32942837e-03 -9.41124996e+01] [-9.30871714e-03 -4.08298590e-04 -9.99956590e-01 -3.94630903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.686559995 meters 0.013484091236765205 Centerline is valid? [True, True] Translation: X:253.17, Y:-94.09, Z:-3.95 [[ 5.18179992e-01 8.55253001e-01 -5.63913168e-03 2.53165707e+02] [ 8.55210675e-01 -5.18210514e-01 -8.51846037e-03 -9.40928949e+01] [-1.02076961e-02 -4.08549884e-04 -9.99947817e-01 -3.94514411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.746559995 meters 0.013017128313565933 Centerline is valid? [True, True] Translation: X:253.19, Y:-94.07, Z:-3.94 [[ 4.52236261e-01 8.91880687e-01 -5.58613060e-03 2.53188086e+02] [ 8.91823136e-01 -4.52270586e-01 -1.01395579e-02 -9.40722863e+01] [-1.15697185e-02 -3.96364747e-04 -9.99932990e-01 -3.94376788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.806559995 meters 0.012885631829450184 Centerline is valid? [True, True] Translation: X:253.21, Y:-94.05, Z:-3.94 [[ 3.81508908e-01 9.24351974e-01 -4.93773781e-03 2.53207352e+02] [ 9.24287466e-01 -3.81540656e-01 -1.09274532e-02 -9.40499662e+01] [-1.19847607e-02 -3.94968429e-04 -9.99928102e-01 -3.94438419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.866559995 meters 0.01319040225593303 Centerline is valid? [True, True] Translation: X:253.23, Y:-94.03, Z:-3.95 [[ 3.05735428e-01 9.52108607e-01 -3.87935604e-03 2.53227581e+02] [ 9.52048250e-01 -3.05759759e-01 -1.07284106e-02 -9.40268662e+01] [-1.14007630e-02 -4.13278934e-04 -9.99934924e-01 -3.94601996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.926559995 meters 0.014610649843607873 Centerline is valid? [True, True] Translation: X:253.25, Y:-94.00, Z:-3.94 [[ 2.27901467e-01 9.73679868e-01 -2.90442870e-03 2.53247507e+02] [ 9.73623150e-01 -2.27919567e-01 -1.05182160e-02 -9.40038587e+01] [-1.09033513e-02 -4.30702170e-04 -9.99940464e-01 -3.94480252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98655999499994 meters 0.013899083853457745 Centerline is valid? [True, True] Translation: X:253.26, Y:-93.98, Z:-3.95 [[ 1.50829391e-01 9.88557322e-01 -2.21728823e-03 2.53259969e+02] [ 9.88489742e-01 -1.50845025e-01 -1.15675511e-02 -9.39776860e+01] [-1.17696542e-02 -4.47039989e-04 -9.99930635e-01 -3.94503226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04655999499994 meters 0.013752089754774745 Centerline is valid? [True, True] Translation: X:253.27, Y:-93.95, Z:-3.95 [[ 7.46895147e-02 9.97206011e-01 -1.28337185e-03 2.53268864e+02] [ 9.97139953e-01 -7.46993488e-02 -1.14856738e-02 -9.39500932e+01] [-1.15494500e-02 -4.21841948e-04 -9.99933214e-01 -3.94609276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10655999499994 meters 0.012937926631049718 Centerline is valid? [True, True] Translation: X:253.28, Y:-93.92, Z:-3.95 [[-1.88120223e-03 9.99998163e-01 -3.66879407e-04 2.53281072e+02] [ 9.99941799e-01 1.87719838e-03 -1.06242292e-02 -9.39222643e+01] [-1.06235210e-02 -3.86844378e-04 -9.99943494e-01 -3.94773462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16655999499994 meters 0.013132879930666867 Centerline is valid? [True, True] Translation: X:253.29, Y:-93.89, Z:-3.95 [[-8.04952958e-02 9.96754885e-01 4.54827435e-04 2.53293017e+02] [ 9.96700435e-01 8.04956558e-02 -1.04256019e-02 -9.38938616e+01] [-1.04283813e-02 -3.85885208e-04 -9.99945548e-01 -3.94757494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22655999499995 meters 0.014261661004439909 Centerline is valid? [True, True] Translation: X:253.30, Y:-93.87, Z:-3.95 [[-1.60147189e-01 9.87092273e-01 1.31259983e-03 2.53301415e+02] [ 9.87034944e-01 1.60152045e-01 -1.06462248e-02 -9.38658433e+01] [-1.07190218e-02 -4.09381083e-04 -9.99942466e-01 -3.94681011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28655999499995 meters 0.013812650045505075 Centerline is valid? [True, True] Translation: X:253.30, Y:-93.84, Z:-3.95 [[-2.38507969e-01 9.71137707e-01 2.34573741e-03 2.53303106e+02] [ 9.71070810e-01 2.38519093e-01 -1.14071788e-02 -9.38366711e+01] [-1.16374447e-02 -4.42825938e-04 -9.99932185e-01 -3.94763222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34655999499995 meters 0.014295612186533063 Centerline is valid? [True, True] Translation: X:253.31, Y:-93.81, Z:-3.95 [[-3.14755057e-01 9.49166944e-01 3.37135779e-03 2.53305552e+02] [ 9.49095742e-01 3.14772773e-01 -1.16350193e-02 -9.38069494e+01] [-1.21047874e-02 -4.62439845e-04 -9.99926627e-01 -3.94661235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40655999499995 meters 0.01486676907592691 Centerline is valid? [True, True] Translation: X:253.31, Y:-93.78, Z:-3.95 [[-3.89743337e-01 9.20912935e-01 4.41558394e-03 2.53305307e+02] [ 9.20838843e-01 3.89768040e-01 -1.16918937e-02 -9.37772540e+01] [-1.24882696e-02 -4.90796460e-04 -9.99921898e-01 -3.94588169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46655999499995 meters 0.014789655990520062 Centerline is valid? [True, True] Translation: X:253.30, Y:-93.75, Z:-3.95 [[-4.60616250e-01 8.87583814e-01 5.25766422e-03 2.53299252e+02] [ 8.87513464e-01 4.60646000e-01 -1.11854814e-02 -9.37492805e+01] [-1.23499742e-02 -4.85966697e-04 -9.99923618e-01 -3.94671673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52655999499996 meters 0.014476372910760288 Centerline is valid? [True, True] Translation: X:253.29, Y:-93.72, Z:-3.95 [[-5.26974575e-01 8.49861511e-01 5.76279776e-03 2.53288746e+02] [ 8.49801129e-01 5.27005894e-01 -1.01404560e-02 -9.37228313e+01] [-1.16550117e-02 -4.46530458e-04 -9.99931978e-01 -3.94651435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58655999499996 meters 0.01347797677825294 Centerline is valid? [True, True] Translation: X:253.28, Y:-93.70, Z:-3.95 [[-5.89311750e-01 8.07886880e-01 5.51820470e-03 2.53276101e+02] [ 8.07845254e-01 5.89337463e-01 -8.20982581e-03 -9.36974136e+01] [-9.88469531e-03 -3.80291343e-04 -9.99951073e-01 -3.94865435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64655999499996 meters 0.013152799319236259 Centerline is valid? [True, True] Translation: X:253.26, Y:-93.67, Z:-3.95 [[-6.49404955e-01 7.60423013e-01 5.48136560e-03 2.53263660e+02] [ 7.60391306e-01 6.49427995e-01 -6.95281057e-03 -9.36710058e+01] [-8.84682943e-03 -3.47206897e-04 -9.99960806e-01 -3.94910549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70655999499996 meters 0.013209388826020293 Centerline is valid? [True, True] Translation: X:253.25, Y:-93.65, Z:-3.95 [[-7.05583943e-01 7.08603366e-01 5.70695297e-03 2.53249625e+02] [ 7.08576397e-01 7.05606948e-01 -6.19070361e-03 -9.36471585e+01] [-8.41361908e-03 -3.24248892e-04 -9.99964552e-01 -3.94877768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76655999499997 meters 0.0124944163755567 Centerline is valid? [True, True] Translation: X:253.23, Y:-93.62, Z:-3.95 [[-7.58525109e-01 6.51613410e-01 6.29466780e-03 2.53233394e+02] [ 6.51587408e-01 7.58551159e-01 -5.82999246e-03 -9.36227203e+01] [-8.57372882e-03 -3.20669382e-04 -9.99963193e-01 -3.94992105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82655999499997 meters 0.012547959875422515 Centerline is valid? [True, True] Translation: X:253.25, Y:-93.60, Z:-3.95 [[-8.02266242e-01 5.96917133e-01 7.66893619e-03 2.53248184e+02] [ 5.96886182e-01 8.02302837e-01 -6.08626485e-03 -9.35996078e+01] [-9.78580504e-03 -3.05322788e-04 -9.99952071e-01 -3.94864349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88655999499997 meters 0.012666062270419902 Centerline is valid? [True, True] Translation: X:253.27, Y:-93.58, Z:-3.95 [[-8.42802153e-01 5.38137874e-01 9.59995190e-03 2.53268140e+02] [ 5.38098451e-01 8.42856761e-01 -6.52213225e-03 -9.35788317e+01] [-1.16011907e-02 -3.31147858e-04 -9.99932649e-01 -3.94636779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.946559995 meters 0.012341015278273602 Centerline is valid? [True, True] Translation: X:253.29, Y:-93.56, Z:-3.95 [[-8.78245910e-01 4.78103842e-01 1.00418115e-02 2.53285448e+02] [ 4.78068423e-01 8.78303259e-01 -5.82817197e-03 -9.35594631e+01] [-1.16062272e-02 -3.17895192e-04 -9.99932595e-01 -3.94673556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.006559995 meters 0.01222000617365254 Centerline is valid? [True, True] Translation: X:253.29, Y:-93.54, Z:-3.95 [[-9.09158318e-01 4.16318414e-01 1.04943006e-02 2.53294618e+02] [ 4.16286880e-01 9.09218835e-01 -5.13267472e-03 -9.35351019e+01] [-1.16784428e-02 -2.97774260e-04 -9.99931760e-01 -3.94643157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.066559995 meters 0.011913391550480509 Centerline is valid? [True, True] Translation: X:253.31, Y:-93.52, Z:-3.95 [[-9.35319355e-01 3.53637920e-01 1.08593872e-02 2.53309174e+02] [ 3.53610809e-01 9.35382356e-01 -4.38678382e-03 -9.35158796e+01] [-1.17090123e-02 -2.63047122e-04 -9.99931413e-01 -3.94669054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.126559995 meters 0.011831320252840427 Centerline is valid? [True, True] Translation: X:253.32, Y:-93.49, Z:-3.95 [[-9.57898622e-01 2.86912170e-01 1.05658202e-02 2.53320020e+02] [ 2.86891777e-01 9.57956858e-01 -3.43026520e-03 -9.34905520e+01] [-1.11057847e-02 -2.54599381e-04 -9.99938296e-01 -3.94729288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.186559995 meters 0.011794205939009572 Centerline is valid? [True, True] Translation: X:253.33, Y:-93.46, Z:-3.95 [[-9.76204304e-01 2.16549667e-01 1.14629399e-02 2.53326563e+02] [ 2.16531375e-01 9.76271563e-01 -2.82837146e-03 -9.34625803e+01] [-1.18034251e-02 -2.78982250e-04 -9.99930298e-01 -3.94738768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.246559995 meters 0.012053310962419584 Centerline is valid? [True, True] Translation: X:253.49, Y:-92.78, Z:-4.94 [[-9.55166357e-01 -2.96006118e-01 6.13252073e-03 2.53490611e+02] [ 2.95999349e-01 -9.55186038e-01 -2.00435613e-03 -9.27778330e+01] [ 6.45099986e-03 -9.92714044e-05 9.99979187e-01 -4.94305392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.306559995 meters 0.011959738984408077 Centerline is valid? [True, True] Translation: X:253.28, Y:-93.45, Z:-3.95 [[-9.77302502e-01 2.11510851e-01 1.19573613e-02 2.53279971e+02] [ 2.11491272e-01 9.77375604e-01 -2.89336486e-03 -9.34514746e+01] [-1.22988113e-02 -2.98815172e-04 -9.99924322e-01 -3.94620298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.366559995 meters 0.01199830242395904 Centerline is valid? [True, True] Translation: X:253.28, Y:-93.42, Z:-3.95 [[-9.89848841e-01 1.41534523e-01 1.29325307e-02 2.53283916e+02] [ 1.41518401e-01 9.89933273e-01 -2.15806264e-03 -9.34241150e+01] [-1.31077828e-02 -3.05964746e-04 -9.99914043e-01 -3.94558216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.426559995 meters 0.01209745638042289 Centerline is valid? [True, True] Translation: X:253.40, Y:-92.73, Z:-4.94 [[-9.74240068e-01 -2.25385038e-01 7.60755883e-03 2.53395851e+02] [ 2.25377525e-01 -9.74269767e-01 -1.84204178e-03 -9.27324004e+01] [ 7.82698323e-03 -8.00181265e-05 9.99969365e-01 -4.94430734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48655999499994 meters 0.012552231014771983 Centerline is valid? [True, True] Translation: X:253.23, Y:-93.41, Z:-3.95 [[-9.90954088e-01 1.33616259e-01 1.25176299e-02 2.53233514e+02] [ 1.33601077e-01 9.91033082e-01 -2.04507221e-03 -9.34118513e+01] [-1.26786402e-02 -3.54203842e-04 -9.99919560e-01 -3.94560166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54655999499994 meters 0.012691916537923101 Centerline is valid? [True, True] Translation: X:253.23, Y:-93.38, Z:-3.95 [[-9.98027887e-01 6.16653293e-02 1.17355838e-02 2.53233047e+02] [ 6.16568560e-02 9.98096819e-01 -1.08279911e-03 -9.33829649e+01] [-1.17800200e-02 -3.57084510e-04 -9.99930549e-01 -3.94585393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60655999499994 meters 0.012786302882364436 Centerline is valid? [True, True] Translation: X:253.23, Y:-93.35, Z:-3.94 [[-9.99875059e-01 -1.02449556e-02 1.20377185e-02 2.53231973e+02] [-1.02486789e-02 9.99947450e-01 -2.47651634e-04 -9.33538921e+01] [-1.20345487e-02 -3.70991404e-04 -9.99927513e-01 -3.94411418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66655999499994 meters 0.012831381114546583 Centerline is valid? [True, True] Translation: X:253.23, Y:-93.33, Z:-3.94 [[-9.96653422e-01 -8.09422650e-02 1.14151321e-02 2.53229438e+02] [-8.09410620e-02 9.96718728e-01 5.68092304e-04 -9.33270659e+01] [-1.14236586e-02 -3.57761772e-04 -9.99934684e-01 -3.94406693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72655999499995 meters 0.013212515586861167 Centerline is valid? [True, True] Translation: X:253.19, Y:-92.65, Z:-4.95 [[-9.99881385e-01 -1.38179026e-02 6.80298155e-03 2.53188909e+02] [ 1.38175333e-02 -9.99904528e-01 -1.01274107e-04 -9.26464452e+01] [ 6.80373145e-03 -7.26167001e-06 9.99976854e-01 -4.94856989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78655999499995 meters 0.012600013095790077 Centerline is valid? [True, True] Translation: X:253.16, Y:-93.33, Z:-3.94 [[-9.96407684e-01 -8.36601469e-02 1.31417704e-02 2.53155205e+02] [-8.36576024e-02 9.96494281e-01 7.44198007e-04 -9.33323604e+01] [-1.31579588e-02 -3.57884389e-04 -9.99913366e-01 -3.94208939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84655999499995 meters 0.012842275778291362 Centerline is valid? [True, True] Translation: X:253.12, Y:-92.65, Z:-4.95 [[-9.99944004e-01 -7.03112524e-03 7.90903257e-03 2.53119542e+02] [ 7.03052747e-03 -9.99975280e-01 -1.03381904e-04 -9.26498094e+01] [ 7.90956396e-03 -4.77714439e-05 9.99968718e-01 -4.95013566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90655999499995 meters 0.012405774316638203 Centerline is valid? [True, True] Translation: X:253.09, Y:-93.34, Z:-3.94 [[-9.96056577e-01 -8.76556848e-02 1.37031872e-02 2.53088818e+02] [-8.76522244e-02 9.96150771e-01 8.54062189e-04 -9.33390598e+01] [-1.37253039e-02 -3.50420582e-04 -9.99905742e-01 -3.94191256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96655999499995 meters 0.012265342584479304 Centerline is valid? [True, True] Translation: X:253.04, Y:-92.65, Z:-4.95 [[-9.99963760e-01 -1.83419326e-03 8.31353881e-03 2.53040314e+02] [ 1.83358340e-03 -9.99998316e-01 -8.09794947e-05 -9.26522744e+01] [ 8.31367334e-03 -6.57329932e-05 9.99965439e-01 -4.94987475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02655999499996 meters 0.01245498327910213 Centerline is valid? [True, True] Translation: X:253.01, Y:-93.35, Z:-3.94 [[-9.95507268e-01 -9.35776201e-02 1.44398424e-02 2.53011329e+02] [-9.35731686e-02 9.95611918e-01 9.85081202e-04 -9.33465222e+01] [-1.44686607e-02 -3.70526309e-04 -9.99895255e-01 -3.94122754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08655999499996 meters 0.01307028952768082 Centerline is valid? [True, True] Translation: X:253.00, Y:-93.32, Z:-3.94 [[-9.86081216e-01 -1.65676154e-01 1.39730704e-02 2.52999540e+02] [-1.65665034e-01 9.86180138e-01 1.95760349e-03 -9.33185612e+01] [-1.41042927e-02 -3.84493149e-04 -9.99900456e-01 -3.94084528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14655999499996 meters 0.013564127445731227 Centerline is valid? [True, True] Translation: X:252.90, Y:-92.64, Z:-4.95 [[-9.97491236e-01 7.04878727e-02 6.53404729e-03 2.52904835e+02] [-7.04878921e-02 -9.97512609e-01 2.27611253e-04 -9.26432307e+01] [ 6.53383839e-03 -2.33530990e-04 9.99978627e-01 -4.95065158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20655999499996 meters 0.012899441430234452 Centerline is valid? [True, True] Translation: X:252.91, Y:-93.33, Z:-3.94 [[-9.84998942e-01 -1.72255667e-01 1.02503294e-02 2.52910875e+02] [-1.72249979e-01 9.85052215e-01 1.44180601e-03 -9.33302014e+01] [-1.03454690e-02 -3.45441635e-04 -9.99946425e-01 -3.94416165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26655999499997 meters 0.01223276113066009 Centerline is valid? [True, True] Translation: X:252.90, Y:-93.31, Z:-3.94 [[-9.70968817e-01 -2.39024288e-01 9.32450051e-03 2.52901286e+02] [-2.39016203e-01 9.71013543e-01 1.98835458e-03 -9.33070712e+01] [-9.52948132e-03 -2.98076419e-04 -9.99954549e-01 -3.94492210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32655999499997 meters 0.012088568866844252 Centerline is valid? [True, True] Translation: X:252.88, Y:-93.29, Z:-3.94 [[-9.52367874e-01 -3.04839213e-01 8.27569578e-03 2.52878332e+02] [-3.04830066e-01 9.52403794e-01 2.37579652e-03 -9.32856262e+01] [-8.60604000e-03 -2.60048608e-04 -9.99962934e-01 -3.94405042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38655999499997 meters 0.011742745611990424 Centerline is valid? [True, True] Translation: X:252.85, Y:-93.27, Z:-3.94 [[-9.28557359e-01 -3.71100515e-01 8.10175370e-03 2.52845520e+02] [-3.71088669e-01 9.28592671e-01 2.97512889e-03 -9.32694358e+01] [-8.62730097e-03 -2.43891174e-04 -9.99962754e-01 -3.94381989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.446559995 meters 0.011518769865189925 Centerline is valid? [True, True] Translation: X:252.79, Y:-93.27, Z:-3.94 [[-8.99962673e-01 -4.35883374e-01 8.53654392e-03 2.52789231e+02] [-4.35866130e-01 9.00003130e-01 3.88373246e-03 -9.32668984e+01] [-9.37577065e-03 -2.25576111e-04 -9.99956021e-01 -3.94419259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.506559995 meters 0.011475819766895599 Centerline is valid? [True, True] Translation: X:252.72, Y:-93.27, Z:-3.94 [[-8.65907607e-01 -5.00133549e-01 8.39339274e-03 2.52724846e+02] [-5.00112465e-01 8.65948258e-01 4.59738233e-03 -9.32706736e+01] [-9.56754897e-03 -2.16732005e-04 -9.99954206e-01 -3.94441316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.566559995 meters 0.01151960253611164 Centerline is valid? [True, True] Translation: X:252.65, Y:-93.28, Z:-3.94 [[-8.26849107e-01 -5.62375910e-01 7.34099124e-03 2.52651867e+02] [-5.62355973e-01 8.26881668e-01 4.74001316e-03 -9.32831173e+01] [-8.73580029e-03 -2.08974621e-04 -9.99961820e-01 -3.94477296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.626559995 meters 0.011366539885843133 Centerline is valid? [True, True] Translation: X:252.57, Y:-93.31, Z:-3.95 [[-7.82478913e-01 -6.22641264e-01 6.67886533e-03 2.52574492e+02] [-6.22620855e-01 7.82507388e-01 5.04569014e-03 -9.33053140e+01] [-8.36791634e-03 -2.10254709e-04 -9.99964966e-01 -3.94569635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.686559995 meters 0.011425913038785622 Centerline is valid? [True, True] Translation: X:252.49, Y:-93.34, Z:-3.95 [[-7.32827523e-01 -6.80386272e-01 6.19213682e-03 2.52490610e+02] [-6.80364489e-01 7.32853650e-01 5.44882653e-03 -9.33404158e+01] [-8.24523684e-03 -2.19859962e-04 -9.99965983e-01 -3.94588165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.746559995 meters 0.011668156216209574 Centerline is valid? [True, True] Translation: X:252.41, Y:-93.38, Z:-3.95 [[-6.78102086e-01 -7.34946708e-01 5.55849059e-03 2.52406449e+02] [-7.34924816e-01 6.78124827e-01 5.67758250e-03 -9.33835148e+01] [-7.94207104e-03 -2.35092140e-04 -9.99968434e-01 -3.94595846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.806559995 meters 0.011881110968278359 Centerline is valid? [True, True] Translation: X:252.32, Y:-93.43, Z:-3.95 [[-6.18185912e-01 -7.86020774e-01 4.18572716e-03 2.52324031e+02] [-7.86005417e-01 6.18200033e-01 4.91975671e-03 -9.34346133e+01] [-6.45464764e-03 -2.48679935e-04 -9.99979138e-01 -3.94805718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.866559995 meters 0.012209146676570293 Centerline is valid? [True, True] Translation: X:252.24, Y:-93.50, Z:-3.95 [[-5.54530829e-01 -8.32156883e-01 3.23754265e-03 2.52239451e+02] [-8.32145311e-01 5.54540221e-01 4.39605918e-03 -9.34998303e+01] [-5.45355852e-03 -2.56355593e-04 -9.99985096e-01 -3.94900561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.926559995 meters 0.013940688226901744 Centerline is valid? [True, True] Translation: X:252.16, Y:-93.57, Z:-3.95 [[-4.85731482e-01 -8.74102542e-01 3.11018669e-03 2.52159951e+02] [-8.74088269e-01 4.85741354e-01 5.00351134e-03 -9.35672668e+01] [-5.88432828e-03 -2.88214718e-04 -9.99982646e-01 -3.94916214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98655999499994 meters 0.013488570463095704 Centerline is valid? [True, True] Translation: X:252.09, Y:-93.65, Z:-3.95 [[-4.15628088e-01 -9.09530036e-01 2.89949078e-03 2.52085086e+02] [-9.09512856e-01 4.15638085e-01 5.59874767e-03 -9.36517897e+01] [-6.29736797e-03 -3.10127353e-04 -9.99980123e-01 -3.94996598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04655999499994 meters 0.014500709617667269 Centerline is valid? [True, True] Translation: X:252.01, Y:-93.74, Z:-3.95 [[-3.42164039e-01 -9.39635664e-01 2.93071285e-03 2.52013484e+02] [-9.39609624e-01 3.42176403e-01 7.00452709e-03 -9.37395657e+01] [-7.58452425e-03 -3.57028723e-04 -9.99971173e-01 -3.94876735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10655999499994 meters 0.015074251407715589 Centerline is valid? [True, True] Translation: X:251.95, Y:-93.83, Z:-3.95 [[-2.68582139e-01 -9.63252367e-01 2.91755239e-03 2.51953955e+02] [-9.63210767e-01 2.68597682e-01 8.96125403e-03 -9.38276741e+01] [-9.41559696e-03 -4.03385096e-04 -9.99955591e-01 -3.94831005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16655999499994 meters 0.014559359923932775 Centerline is valid? [True, True] Translation: X:251.90, Y:-93.93, Z:-3.95 [[-1.94427541e-01 -9.80913434e-01 2.60115588e-03 2.51902459e+02] [-9.80853276e-01 1.94444448e-01 1.08723689e-02 -9.39288155e+01] [-1.11706330e-02 -4.37464306e-04 -9.99937511e-01 -3.94868967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22655999499995 meters 0.015367295658356954 Centerline is valid? [True, True] Translation: X:251.86, Y:-94.02, Z:-3.95 [[-1.20288847e-01 -9.92737218e-01 1.84616389e-03 2.51857076e+02] [-9.92669361e-01 1.20302225e-01 1.16153016e-02 -9.40236576e+01] [-1.17530399e-02 -4.35439090e-04 -9.99930836e-01 -3.94770966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28655999499995 meters 0.013924938743029466 Centerline is valid? [True, True] Translation: X:251.82, Y:-94.14, Z:-3.95 [[-4.69438616e-02 -9.98897046e-01 9.82140186e-04 2.51823952e+02] [-9.98822558e-01 4.69523617e-02 1.22054283e-02 -9.41364871e+01] [-1.22380801e-02 -4.08013835e-04 -9.99925029e-01 -3.94860681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34655999499995 meters 0.013197342619196787 Centerline is valid? [True, True] Translation: X:251.80, Y:-94.25, Z:-3.95 [[ 2.73581777e-02 -9.99625694e-01 4.73229216e-05 2.51799108e+02] [-9.99556026e-01 -2.73557121e-02 1.18074356e-02 -9.42482260e+01] [-1.18017214e-02 -3.70331833e-04 -9.99930289e-01 -3.94966423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40655999499995 meters 0.012405196967128293 Centerline is valid? [True, True] Translation: X:251.78, Y:-94.37, Z:-3.95 [[ 1.00980302e-01 -9.94888064e-01 -8.48242599e-04 2.51783550e+02] [-9.94820012e-01 -1.00983320e-01 1.16409757e-02 -9.43677883e+01] [-1.16671262e-02 -3.31660530e-04 -9.99931882e-01 -3.95092775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46655999499995 meters 0.012751091237861964 Centerline is valid? [True, True] Translation: X:251.76, Y:-94.47, Z:-3.95 [[ 1.69820962e-01 -9.85473651e-01 -1.58879195e-03 2.51762636e+02] [-9.85414249e-01 -1.69828176e-01 1.08235504e-02 -9.44748272e+01] [-1.09361454e-02 -2.72447526e-04 -9.99940161e-01 -3.95119941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52655999499996 meters 0.013108944643529118 Centerline is valid? [True, True] Translation: X:251.76, Y:-94.60, Z:-3.95 [[ 2.46613580e-01 -9.69110964e-01 -2.38364347e-03 2.51759319e+02] [-9.69050524e-01 -2.46624835e-01 1.08292724e-02 -9.45978244e+01] [-1.10826323e-02 -3.60774685e-04 -9.99938521e-01 -3.95155391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58655999499996 meters 0.013463450081938685 Centerline is valid? [True, True] Translation: X:251.76, Y:-94.72, Z:-3.95 [[ 3.21942920e-01 -9.46753850e-01 -3.14691089e-03 2.51764216e+02] [-9.46696567e-01 -3.21958081e-01 1.04213080e-02 -9.47186972e+01] [-1.08795869e-02 -3.75896599e-04 -9.99940745e-01 -3.95160405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64655999499996 meters 0.013549536707185053 Centerline is valid? [True, True] Translation: X:251.78, Y:-94.84, Z:-3.95 [[ 3.94504309e-01 -9.18887049e-01 -3.59742445e-03 2.51776462e+02] [-9.18839912e-01 -3.94520538e-01 9.31455905e-03 -9.48354053e+01] [-9.97828551e-03 -3.69176514e-04 -9.99950148e-01 -3.95215868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70655999499996 meters 0.014011614668564383 Centerline is valid? [True, True] Translation: X:251.80, Y:-94.95, Z:-3.95 [[ 4.64998869e-01 -8.85303148e-01 -3.79313768e-03 2.51795569e+02] [-8.85267104e-01 -4.65014200e-01 7.99676276e-03 -9.49491324e+01] [-8.84342213e-03 -3.60545627e-04 -9.99960831e-01 -3.95266519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76655999499997 meters 0.01405783159281682 Centerline is valid? [True, True] Translation: X:251.83, Y:-95.06, Z:-3.95 [[ 5.31813965e-01 -8.46847190e-01 -4.87275568e-03 2.51825602e+02] [-8.46804845e-01 -5.31836151e-01 8.47725694e-03 -9.50601616e+01] [-9.77044884e-03 -3.82050507e-04 -9.99952195e-01 -3.95262564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82655999499997 meters 0.014467005886632234 Centerline is valid? [True, True] Translation: X:251.86, Y:-95.17, Z:-3.95 [[ 5.94574144e-01 -8.04017401e-01 -6.13234934e-03 2.51861856e+02] [-8.03967581e-01 -5.94605635e-01 8.95917369e-03 -9.51671410e+01] [-1.08496610e-02 -3.96682962e-04 -9.99941062e-01 -3.95157800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88655999499997 meters 0.014052278483471434 Centerline is valid? [True, True] Translation: X:251.91, Y:-95.27, Z:-3.95 [[ 6.54346525e-01 -7.56158380e-01 -7.42494681e-03 2.51905565e+02] [-7.56102330e-01 -6.54388517e-01 9.21607126e-03 -9.52686170e+01] [-1.18276094e-02 -4.16484627e-04 -9.99929965e-01 -3.95122140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.946559995 meters 0.013990955706153907 Centerline is valid? [True, True] Translation: X:251.96, Y:-95.37, Z:-3.95 [[ 7.10182081e-01 -7.03965733e-01 -8.58247870e-03 2.51955286e+02] [-7.03906866e-01 -7.10233807e-01 9.11390123e-03 -9.53651959e+01] [-1.25114407e-02 -4.31263663e-04 -9.99921636e-01 -3.95111491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.006559995 meters 0.013495621461305259 Centerline is valid? [True, True] Translation: X:252.01, Y:-95.45, Z:-3.95 [[ 7.60023265e-01 -6.49831817e-01 -9.12396988e-03 2.52011669e+02] [-6.49778650e-01 -7.60077926e-01 8.32184077e-03 -9.54539032e+01] [-1.23427250e-02 -3.96231757e-04 -9.99923747e-01 -3.95094084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.066559995 meters 0.013486086162973051 Centerline is valid? [True, True] Translation: X:252.03, Y:-95.48, Z:-3.95 [[ 8.07910614e-01 -5.89231374e-01 -9.31820898e-03 2.52034281e+02] [-5.89186693e-01 -8.07964259e-01 7.26611294e-03 -9.54800799e+01] [-1.18102015e-02 -3.80205025e-04 -9.99930185e-01 -3.95097513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.126559995 meters 0.013047943594376558 Centerline is valid? [True, True] Translation: X:252.06, Y:-95.50, Z:-3.95 [[ 8.50431910e-01 -5.26012731e-01 -8.72776949e-03 2.52059463e+02] [-5.25980925e-01 -8.50476627e-01 5.79418291e-03 -9.55029489e+01] [-1.04705779e-02 -3.36917768e-04 -9.99945125e-01 -3.95242671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.186559995 meters 0.012978365956340334 Centerline is valid? [True, True] Translation: X:252.09, Y:-95.52, Z:-3.95 [[ 8.88635343e-01 -4.58554385e-01 -7.42317620e-03 2.52085383e+02] [-4.58535509e-01 -8.88666295e-01 4.17159836e-03 -9.55248811e+01] [-8.50963121e-03 -3.03239854e-04 -9.99963746e-01 -3.95421317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.246559995 meters 0.012876872306426125 Centerline is valid? [True, True] Translation: X:252.11, Y:-95.55, Z:-3.96 [[ 9.21817749e-01 -3.87583457e-01 -5.57679056e-03 2.52112006e+02] [-3.87574559e-01 -9.21834578e-01 2.64037940e-03 -9.55471755e+01] [-6.16424575e-03 -2.72526453e-04 -9.99980964e-01 -3.95599865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.306559995 meters 0.013292246951115355 Centerline is valid? [True, True] Translation: X:252.14, Y:-95.57, Z:-3.96 [[ 9.49824241e-01 -3.12717014e-01 -6.47920202e-03 2.52139837e+02] [-3.12707615e-01 -9.49846295e-01 2.44225051e-03 -9.55680060e+01] [-6.91797932e-03 -2.93612931e-04 -9.99976027e-01 -3.95509556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.366559995 meters 0.014224862456099704 Centerline is valid? [True, True] Translation: X:252.17, Y:-95.59, Z:-3.95 [[ 9.71954354e-01 -2.35045182e-01 -7.64826543e-03 2.52168024e+02] [-2.35035231e-01 -9.71984390e-01 2.18760013e-03 -9.55878779e+01] [-7.94817948e-03 -3.28635635e-04 -9.99968359e-01 -3.95297545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.426559995 meters 0.01501452613087954 Centerline is valid? [True, True] Translation: X:252.20, Y:-95.60, Z:-3.95 [[ 9.87890855e-01 -1.54881724e-01 -9.12743199e-03 2.52199417e+02] [-1.54871508e-01 -9.87932945e-01 1.81992080e-03 -9.56047996e+01] [-9.29916324e-03 -3.84303957e-04 -9.99956688e-01 -3.95184794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48655999499994 meters 0.014930339469952116 Centerline is valid? [True, True] Translation: X:252.23, Y:-95.62, Z:-3.95 [[ 9.97028725e-01 -7.65259292e-02 -8.80365134e-03 2.52228081e+02] [-7.65195808e-02 -9.97067519e-01 1.05619027e-03 -9.56176653e+01] [-8.85866075e-03 -3.79400323e-04 -9.99960689e-01 -3.95249162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54655999499994 meters 0.015257498445228904 Centerline is valid? [True, True] Translation: X:252.26, Y:-95.63, Z:-3.95 [[ 9.99960452e-01 1.49597962e-03 -8.76675025e-03 2.52257640e+02] [ 1.49920435e-03 -9.99998811e-01 3.61276317e-04 -9.56272763e+01] [-8.76619936e-03 -3.74405180e-04 -9.99961506e-01 -3.95243658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60655999499994 meters 0.015006642924542759 Centerline is valid? [True, True] Translation: X:252.29, Y:-95.63, Z:-3.95 [[ 9.96873016e-01 7.85880423e-02 -8.25288522e-03 2.52287816e+02] [ 7.85882748e-02 -9.96907115e-01 -2.96618577e-04 -9.56318385e+01] [-8.25067067e-03 -3.52888957e-04 -9.99965900e-01 -3.95313007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66655999499994 meters 0.013692140424282013 Centerline is valid? [True, True] Translation: X:252.32, Y:-95.63, Z:-3.96 [[ 9.88205890e-01 1.52899506e-01 -8.41785164e-03 2.52318417e+02] [ 1.52896767e-01 -9.88241688e-01 -9.71825575e-04 -9.56322857e+01] [-8.46746356e-03 -3.26698543e-04 -9.99964097e-01 -3.95522869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72655999499995 meters 0.01350451835604568 Centerline is valid? [True, True] Translation: X:252.35, Y:-95.63, Z:-3.96 [[ 9.73616964e-01 2.28004037e-01 -9.17423754e-03 2.52348998e+02] [ 2.27997032e-01 -9.73660133e-01 -1.81636491e-03 -9.56348038e+01] [-9.34672788e-03 -3.23255234e-04 -9.99956266e-01 -3.95544283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78655999499995 meters 0.013525265611738235 Centerline is valid? [True, True] Translation: X:252.38, Y:-95.64, Z:-3.95 [[ 9.53026554e-01 3.02706867e-01 -1.04374607e-02 2.52379300e+02] [ 3.02692546e-01 -9.53083648e-01 -2.96352020e-03 -9.56359800e+01] [-1.08448511e-02 -3.35028121e-04 -9.99941137e-01 -3.95432902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84655999499995 meters 0.013987175079075079 Centerline is valid? [True, True] Translation: X:252.41, Y:-95.63, Z:-3.95 [[ 9.25991349e-01 3.77303472e-01 -1.34948525e-02 2.52409775e+02] [ 3.77269639e-01 -9.26089592e-01 -5.06831794e-03 -9.56337161e+01] [-1.44097364e-02 -3.97979579e-04 -9.99896095e-01 -3.95227917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90655999499995 meters 0.01427849284903888 Centerline is valid? [True, True] Translation: X:252.44, Y:-95.63, Z:-3.95 [[ 8.93026106e-01 4.49756245e-01 -1.49564157e-02 2.52439116e+02] [ 4.49701554e-01 -8.93151229e-01 -7.02808134e-03 -9.56273987e+01] [-1.65192645e-02 -4.49663264e-04 -9.99863447e-01 -3.95255085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96655999499995 meters 0.014547389064123638 Centerline is valid? [True, True] Translation: X:252.47, Y:-95.62, Z:-3.95 [[ 8.53875606e-01 5.20270124e-01 -1.46781353e-02 2.52470214e+02] [ 5.20203124e-01 -8.54001613e-01 -8.36394052e-03 -9.56226534e+01] [-1.68866596e-02 -4.93847072e-04 -9.99857288e-01 -3.95315118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02655999499996 meters 0.014555756362270234 Centerline is valid? [True, True] Translation: X:252.50, Y:-95.61, Z:-3.95 [[ 8.10943057e-01 5.84969567e-01 -1.34894199e-02 2.52499118e+02] [ 5.84898206e-01 -8.11055106e-01 -9.14902670e-03 -9.56124857e+01] [-1.62925651e-02 -4.70597817e-04 -9.99867157e-01 -3.95430853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08655999499996 meters 0.01349082506933895 Centerline is valid? [True, True] Translation: X:252.52, Y:-95.60, Z:-3.96 [[ 7.65335663e-01 6.43522106e-01 -1.18584417e-02 2.52524685e+02] [ 6.43452625e-01 -7.65427429e-01 -9.46412036e-03 -9.55970432e+01] [-1.51671472e-02 -3.87116607e-04 -9.99884897e-01 -3.95758514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14655999499996 meters 0.013006507099362437 Centerline is valid? [True, True] Translation: X:252.55, Y:-95.58, Z:-3.96 [[ 7.14500468e-01 6.99542517e-01 -1.13731199e-02 2.52552389e+02] [ 6.99461613e-01 -7.14590893e-01 -1.06445657e-02 -9.55830925e+01] [-1.55734542e-02 -3.49513612e-04 -9.99878665e-01 -3.95801439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20655999499996 meters 0.012867543985709627 Centerline is valid? [True, True] Translation: X:252.58, Y:-95.57, Z:-3.96 [[ 6.59554719e-01 7.51576186e-01 -1.09913599e-02 2.52576964e+02] [ 7.51479656e-01 -6.59646223e-01 -1.20493341e-02 -9.55672675e+01] [-1.63064016e-02 -3.12588220e-04 -9.99866993e-01 -3.95707186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26655999499997 meters 0.012757088509266441 Centerline is valid? [True, True] Translation: X:252.60, Y:-95.55, Z:-3.96 [[ 5.99721800e-01 8.00142869e-01 -1.02543295e-02 2.52602123e+02] [ 8.00034197e-01 -5.99809389e-01 -1.31902188e-02 -9.55500518e+01] [-1.67047026e-02 -2.93352541e-04 -9.99860424e-01 -3.95719702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32655999499997 meters 0.012781434566064329 Centerline is valid? [True, True] Translation: X:252.62, Y:-95.53, Z:-3.96 [[ 5.36687381e-01 8.43732782e-01 -9.03586548e-03 2.52623674e+02] [ 8.43621370e-01 -5.36763377e-01 -1.37135597e-02 -9.55312715e+01] [-1.64207016e-02 -2.62954740e-04 -9.99865137e-01 -3.95725796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38655999499997 meters 0.01278081962398235 Centerline is valid? [True, True] Translation: X:252.64, Y:-95.51, Z:-3.96 [[ 4.70320824e-01 8.82462729e-01 -7.60615632e-03 2.52644272e+02] [ 8.82355337e-01 -4.70382266e-01 -1.37689155e-02 -9.55096483e+01] [-1.57283558e-02 -2.35524933e-04 -9.99876274e-01 -3.95664796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.446559995 meters 0.012698400866649633 Centerline is valid? [True, True] Translation: X:252.66, Y:-95.49, Z:-3.96 [[ 3.99488700e-01 9.16719730e-01 -5.80653558e-03 2.52662987e+02] [ 9.16631239e-01 -3.99530828e-01 -1.27392901e-02 -9.54875013e+01] [-1.39982485e-02 -2.33249458e-04 -9.99901993e-01 -3.95696814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.506559995 meters 0.012632231624553356 Centerline is valid? [True, True] Translation: X:252.68, Y:-95.46, Z:-3.96 [[ 3.25436187e-01 9.45553365e-01 -4.48587879e-03 2.52682859e+02] [ 9.45473594e-01 -3.25467011e-01 -1.22844689e-02 -9.54644606e+01] [-1.30756265e-02 -2.43469217e-04 -9.99914481e-01 -3.95768824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.566559995 meters 0.0126251783716956 Centerline is valid? [True, True] Translation: X:252.70, Y:-95.44, Z:-3.96 [[ 2.49568675e-01 9.68351497e-01 -3.29454985e-03 2.52701953e+02] [ 9.68279838e-01 -2.49590295e-01 -1.17830531e-02 -9.54398309e+01] [-1.22324248e-02 -2.49365251e-04 -9.99925150e-01 -3.95795706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.626559995 meters 0.012586527828385001 Centerline is valid? [True, True] Translation: X:252.72, Y:-95.41, Z:-3.96 [[ 1.73406488e-01 9.84847648e-01 -2.30228054e-03 2.52718470e+02] [ 9.84778414e-01 -1.73421602e-01 -1.16799958e-02 -9.54144254e+01] [-1.19022816e-02 -2.41849123e-04 -9.99929136e-01 -3.95788597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.686559995 meters 0.012438508259828958 Centerline is valid? [True, True] Translation: X:252.73, Y:-95.39, Z:-3.96 [[ 9.69031831e-02 9.95292603e-01 -1.55155798e-03 2.52732129e+02] [ 9.95200910e-01 -9.69153192e-02 -1.35118130e-02 -9.53872717e+01] [-1.35985773e-02 -2.34774230e-04 -9.99907508e-01 -3.95668124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.746559995 meters 0.012438282193483426 Centerline is valid? [True, True] Translation: X:252.74, Y:-95.36, Z:-3.95 [[ 2.08556710e-02 9.99782365e-01 -5.14232392e-04 2.52743063e+02] [ 9.99673861e-01 -2.08609842e-02 -1.47305897e-02 -9.53586637e+01] [-1.47381112e-02 -2.06848348e-04 -9.99891367e-01 -3.95481950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.806559995 meters 0.012369271405714862 Centerline is valid? [True, True] Translation: X:252.75, Y:-95.33, Z:-3.95 [[-5.56415612e-02 9.98450607e-01 6.33804107e-04 2.52748808e+02] [ 9.98344083e-01 5.56448835e-02 -1.45855894e-02 -9.53304995e+01] [-1.45982585e-02 -1.78810384e-04 -9.99893424e-01 -3.95465935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.866559995 meters 0.012271463589235185 Centerline is valid? [True, True] Translation: X:252.75, Y:-95.30, Z:-3.96 [[-1.31229392e-01 9.91350819e-01 1.54902673e-03 2.52754376e+02] [ 9.91267996e-01 1.31238453e-01 -1.28151431e-02 -9.53008132e+01] [-1.29075945e-02 -1.46222808e-04 -9.99916683e-01 -3.95660208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.926559995 meters 0.012317063023738773 Centerline is valid? [True, True] Translation: X:252.76, Y:-95.27, Z:-3.96 [[-2.07639133e-01 9.78202379e-01 2.46909421e-03 2.52758668e+02] [ 9.78125255e-01 2.07653769e-01 -1.22840414e-02 -9.52707536e+01] [-1.25289953e-02 -1.35564310e-04 -9.99921500e-01 -3.95628883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98655999499994 meters 0.012306324216367313 Centerline is valid? [True, True] Translation: X:252.76, Y:-95.24, Z:-3.96 [[-2.84494805e-01 9.58671334e-01 3.46108231e-03 2.52760554e+02] [ 9.58594040e-01 2.84515820e-01 -1.21743281e-02 -9.52410772e+01] [-1.26559121e-02 -1.45760226e-04 -9.99919900e-01 -3.95513326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04655999499994 meters 0.012194233066444595 Centerline is valid? [True, True] Translation: X:252.76, Y:-95.21, Z:-3.95 [[-3.60881213e-01 9.32600432e-01 4.60260113e-03 2.52759240e+02] [ 9.32518317e-01 3.60910520e-01 -1.23767513e-02 -9.52121412e+01] [-1.32036908e-02 -1.74527178e-04 -9.99912812e-01 -3.95330363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10655999499994 meters 0.012051855312569224 Centerline is valid? [True, True] Translation: X:252.76, Y:-95.18, Z:-3.95 [[-4.34417321e-01 9.00697507e-01 5.05889289e-03 2.52757998e+02] [ 9.00631122e-01 4.34446733e-01 -1.09370543e-02 -9.51810786e+01] [-1.20487970e-02 -1.95049458e-04 -9.99927392e-01 -3.95418083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16655999499994 meters 0.012041442683097012 Centerline is valid? [True, True] Translation: X:252.75, Y:-95.15, Z:-3.95 [[-5.04002633e-01 8.63684195e-01 5.56393863e-03 2.52752131e+02] [ 8.63627160e-01 5.04033305e-01 -9.92754226e-03 -9.51511571e+01] [-1.13786717e-02 -1.98338920e-04 -9.99935241e-01 -3.95468129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22655999499995 meters 0.012021688486365291 Centerline is valid? [True, True] Translation: X:252.74, Y:-95.12, Z:-3.96 [[-5.69905912e-01 8.21694110e-01 5.10311827e-03 2.52742515e+02] [ 8.21658127e-01 5.69928727e-01 -7.69207906e-03 -9.51242114e+01] [-9.22894975e-03 -1.90742727e-04 -9.99957394e-01 -3.95539127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28655999499995 meters 0.012042160281299848 Centerline is valid? [True, True] Translation: X:252.73, Y:-95.10, Z:-3.96 [[-6.31855064e-01 7.75067770e-01 5.39727516e-03 2.52729213e+02] [ 7.75037008e-01 6.31878089e-01 -6.90770009e-03 -9.50975010e+01] [-8.76435562e-03 -1.81577289e-04 -9.99961576e-01 -3.95572402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34655999499995 meters 0.011989846136511224 Centerline is valid? [True, True] Translation: X:252.71, Y:-95.07, Z:-3.95 [[-6.89405608e-01 7.24352403e-01 5.78829310e-03 2.52714043e+02] [ 7.24324828e-01 6.89429887e-01 -6.32248146e-03 -9.50734333e+01] [-8.57032689e-03 -1.66149770e-04 -9.99963260e-01 -3.95432926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40655999499995 meters 0.012025869815563032 Centerline is valid? [True, True] Translation: X:252.70, Y:-95.05, Z:-3.95 [[-7.43093286e-01 6.69163378e-01 5.72209929e-03 2.52695778e+02] [ 6.69141916e-01 7.43115300e-01 -5.36160370e-03 -9.50502000e+01] [-7.83996838e-03 -1.55275230e-04 -9.99969255e-01 -3.95397489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46655999499995 meters 0.011961407260834094 Centerline is valid? [True, True] Translation: X:252.72, Y:-95.03, Z:-3.95 [[-7.88318882e-01 6.15238365e-01 5.92408728e-03 2.52715327e+02] [ 6.15219693e-01 7.88341130e-01 -4.79511841e-03 -9.50324635e+01] [-7.62034247e-03 -1.35467229e-04 -9.99970956e-01 -3.95469103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52655999499996 meters 0.011865374784305561 Centerline is valid? [True, True] Translation: X:253.14, Y:-94.50, Z:-4.97 [[-7.47814327e-01 -6.63904072e-01 2.26161632e-03 2.53144193e+02] [ 6.63900528e-01 -7.47817737e-01 -2.17279802e-03 -9.44966716e+01] [ 3.13380626e-03 -1.23361221e-04 9.99995082e-01 -4.96746185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58655999499996 meters 0.011957846625160912 Centerline is valid? [True, True] Translation: X:253.13, Y:-94.52, Z:-4.97 [[-6.99857489e-01 -7.14279013e-01 2.23310569e-03 2.53126754e+02] [ 7.14274824e-01 -6.99861041e-01 -2.44907481e-03 -9.45213302e+01] [ 3.31218641e-03 -1.18952172e-04 9.99994508e-01 -4.96812988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64655999499996 meters 0.012128149931999517 Centerline is valid? [True, True] Translation: X:253.08, Y:-94.48, Z:-4.97 [[-6.97155896e-01 -7.16917852e-01 1.56518064e-03 2.53084705e+02] [ 7.16916082e-01 -6.97157653e-01 -1.59309352e-03 -9.44824214e+01] [ 2.23329485e-03 1.14686302e-05 9.99997506e-01 -4.96909119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70655999499996 meters 0.01275262694656191 Centerline is valid? [True, True] Translation: X:253.04, Y:-94.44, Z:-4.97 [[-6.93702030e-01 -7.20261722e-01 7.39310559e-04 2.53043231e+02] [ 7.20261329e-01 -6.93702424e-01 -7.51654209e-04 -9.44421054e+01] [ 1.05424928e-03 1.10727558e-05 9.99999444e-01 -4.96808531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76655999499997 meters 0.013153220984109613 Centerline is valid? [True, True] Translation: X:253.00, Y:-94.40, Z:-4.97 [[-6.91905896e-01 -7.21987629e-01 -3.07698900e-04 2.53001414e+02] [ 7.21987561e-01 -6.91905964e-01 3.13908785e-04 -9.44011664e+01] [-4.39536964e-04 -4.95943947e-06 9.99999903e-01 -4.96732507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82655999499997 meters 0.013932207408340117 Centerline is valid? [True, True] Translation: X:252.96, Y:-94.36, Z:-4.97 [[-6.88861875e-01 -7.24892332e-01 -6.50823913e-04 2.52958988e+02] [ 7.24892030e-01 -6.88862183e-01 6.62594474e-04 -9.43611849e+01] [-9.28637635e-04 -1.53409952e-05 9.99999569e-01 -4.96760789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88655999499997 meters 0.014831554687669906 Centerline is valid? [True, True] Translation: X:252.92, Y:-94.32, Z:-4.97 [[-6.87156540e-01 -7.26509044e-01 7.06245569e-04 2.52918187e+02] [ 7.26508690e-01 -6.87156903e-01 -7.17046659e-04 -9.43220308e+01] [ 1.00624240e-03 2.03702419e-05 9.99999494e-01 -4.96949085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.946559995 meters 0.014863142192251932 Centerline is valid? [True, True] Translation: X:252.88, Y:-94.28, Z:-4.97 [[-6.87474562e-01 -7.26208331e-01 4.32562612e-04 2.52878111e+02] [ 7.26208199e-01 -6.87474698e-01 -4.38338094e-04 -9.42805594e+01] [ 6.15700627e-04 1.27842260e-05 9.99999810e-01 -4.96932973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.006559995 meters 0.014490691828756546 Centerline is valid? [True, True] Translation: X:252.84, Y:-94.24, Z:-4.97 [[-6.88407259e-01 -7.25324207e-01 4.89832210e-04 2.52838087e+02] [ 7.25324038e-01 -6.88407433e-01 -4.96318129e-04 -9.42380445e+01] [ 6.97195688e-04 1.36180739e-05 9.99999757e-01 -4.96913937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.066559995 meters 0.014341244254669809 Centerline is valid? [True, True] Translation: X:252.80, Y:-94.20, Z:-4.97 [[-6.89460877e-01 -7.24322417e-01 8.57515180e-04 2.52797747e+02] [ 7.24321896e-01 -6.89461410e-01 -8.69042891e-04 -9.41964116e+01] [ 1.22069087e-03 2.19459471e-05 9.99999255e-01 -4.96927151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.126559995 meters 0.013962765726324143 Centerline is valid? [True, True] Translation: X:252.76, Y:-94.15, Z:-4.97 [[-6.91370076e-01 -7.22499372e-01 1.44080694e-03 2.52758323e+02] [ 7.22497898e-01 -6.91371576e-01 -1.45996838e-03 -9.41535295e+01] [ 2.05095920e-03 3.16015377e-05 9.99997896e-01 -4.97021111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.186559995 meters 0.013114918903855504 Centerline is valid? [True, True] Translation: X:252.72, Y:-94.11, Z:-4.97 [[-6.94244916e-01 -7.19737182e-01 1.54434393e-03 2.52720367e+02] [ 7.19735483e-01 -6.94246633e-01 -1.56403673e-03 -9.41096534e+01] [ 2.19785097e-03 2.56945795e-05 9.99997584e-01 -4.96968593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.246559995 meters 0.012714664191443579 Centerline is valid? [True, True] Translation: X:252.68, Y:-94.07, Z:-4.97 [[-6.97293031e-01 -7.16785587e-01 9.22458745e-04 2.52682008e+02] [ 7.16784980e-01 -6.97293641e-01 -9.33363735e-04 -9.40678295e+01] [ 1.31224629e-03 1.03765451e-05 9.99999139e-01 -4.96985617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.306559995 meters 0.01233202452031887 Centerline is valid? [True, True] Translation: X:252.64, Y:-94.02, Z:-4.97 [[-7.02515289e-01 -7.11668651e-01 -1.16723034e-05 2.52644949e+02] [ 7.11668651e-01 -7.02515289e-01 1.26946034e-05 -9.40225695e+01] [-1.72343229e-05 6.11340583e-07 1.00000000e+00 -4.96839490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.366559995 meters 0.012360288122022143 Centerline is valid? [True, True] Translation: X:252.61, Y:-93.98, Z:-4.97 [[-7.05222793e-01 -7.08985667e-01 3.69899787e-04 2.52605944e+02] [ 7.08985568e-01 -7.05222890e-01 -3.73311609e-04 -9.39796302e+01] [ 5.25534377e-04 -1.01424468e-06 9.99999862e-01 -4.96860589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.426559995 meters 0.012278193909882397 Centerline is valid? [True, True] Translation: X:252.56, Y:-93.94, Z:-4.97 [[-7.03710043e-01 -7.10486639e-01 9.54597460e-04 2.52563483e+02] [ 7.10485985e-01 -7.03710690e-01 -9.64004395e-04 -9.39430661e+01] [ 1.35667268e-03 -1.51457520e-07 9.99999080e-01 -4.96967889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48655999499994 meters 0.01232506751377817 Centerline is valid? [True, True] Translation: X:252.52, Y:-93.90, Z:-4.97 [[-7.02983380e-01 -7.11204765e-01 1.46597763e-03 2.52521744e+02] [ 7.11203225e-01 -7.02984909e-01 -1.48009497e-03 -9.39036407e+01] [ 2.08321075e-03 2.12585013e-06 9.99997830e-01 -4.96955038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54655999499994 meters 0.012225700773722387 Centerline is valid? [True, True] Translation: X:252.48, Y:-93.86, Z:-4.97 [[-7.02658337e-01 -7.11526147e-01 1.34272886e-03 2.52479657e+02] [ 7.11524857e-01 -7.02659620e-01 -1.35487601e-03 -9.38629787e+01] [ 1.90751106e-03 3.37003678e-06 9.99998181e-01 -4.96854135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60655999499994 meters 0.012330021006080065 Centerline is valid? [True, True] Translation: X:252.44, Y:-93.83, Z:-4.97 [[-7.01120000e-01 -7.13042617e-01 9.86459981e-04 2.52435631e+02] [ 7.13041923e-01 -7.01120694e-01 -9.94506894e-04 -9.38259544e+01] [ 1.40075330e-03 6.11864883e-06 9.99999019e-01 -4.96855219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66655999499994 meters 0.012575286719154338 Centerline is valid? [True, True] Translation: X:252.39, Y:-93.79, Z:-4.97 [[-6.99103849e-01 -7.15019579e-01 9.00220332e-04 2.52390679e+02] [ 7.15019004e-01 -6.99104428e-01 -9.06859834e-04 -9.37896616e+01] [ 1.27777056e-03 9.68544491e-06 9.99999184e-01 -4.96847318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72655999499995 meters 0.012907245293968294 Centerline is valid? [True, True] Translation: X:252.35, Y:-93.75, Z:-4.97 [[-6.96881263e-01 -7.17185716e-01 1.07419667e-03 2.52346288e+02] [ 7.17184900e-01 -6.96882091e-01 -1.08177444e-03 -9.37513717e+01] [ 1.52442160e-03 1.65292926e-05 9.99998838e-01 -4.96812715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78655999499995 meters 0.013496874370845556 Centerline is valid? [True, True] Translation: X:252.30, Y:-93.71, Z:-4.97 [[-6.96195184e-01 -7.17852460e-01 3.32187532e-04 2.52302864e+02] [ 7.17852383e-01 -6.96195264e-01 -3.33676003e-04 -9.37139195e+01] [ 4.70797526e-04 6.15798447e-06 9.99999889e-01 -4.96767366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84655999499995 meters 0.013303758789216366 Centerline is valid? [True, True] Translation: X:252.26, Y:-93.68, Z:-4.97 [[-6.95713125e-01 -7.18319708e-01 2.13152172e-04 2.52259114e+02] [ 7.18319676e-01 -6.95713157e-01 -2.13583605e-04 -9.36760680e+01] [ 3.01714083e-04 4.51848173e-06 9.99999954e-01 -4.96748307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90655999499995 meters 0.013308827810608104 Centerline is valid? [True, True] Translation: X:252.22, Y:-93.64, Z:-4.97 [[-6.96079841e-01 -7.17963373e-01 1.20438381e-03 2.52216214e+02] [ 7.17962353e-01 -6.96080882e-01 -1.21063733e-03 -9.36376203e+01] [ 1.70754181e-03 2.20019999e-05 9.99998542e-01 -4.96844625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96655999499995 meters 0.013645040827133406 Centerline is valid? [True, True] Translation: X:252.17, Y:-93.60, Z:-4.97 [[-6.96415183e-01 -7.17638213e-01 1.13524423e-03 2.52174250e+02] [ 7.17637307e-01 -6.96416108e-01 -1.14029755e-03 -9.35996272e+01] [ 1.60892346e-03 2.05730863e-05 9.99998705e-01 -4.96886977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02655999499996 meters 0.014010113395813734 Centerline is valid? [True, True] Translation: X:252.13, Y:-93.56, Z:-4.97 [[-6.96334754e-01 -7.17715773e-01 1.40714712e-03 2.52131571e+02] [ 7.17714382e-01 -6.96336175e-01 -1.41280888e-03 -9.35632878e+01] [ 1.99384266e-03 2.61418040e-05 9.99998012e-01 -4.96950466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08655999499996 meters 0.013643689834880823 Centerline is valid? [True, True] Translation: X:252.09, Y:-93.52, Z:-4.97 [[-6.96828717e-01 -7.17234587e-01 2.07039991e-03 2.52090349e+02] [ 7.17231578e-01 -6.96831792e-01 -2.07793876e-03 -9.35236620e+01] [ 2.93309003e-03 3.69887914e-05 9.99995698e-01 -4.96975760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14655999499996 meters 0.013288487219880669 Centerline is valid? [True, True] Translation: X:252.05, Y:-93.48, Z:-4.97 [[-6.97413057e-01 -7.16662536e-01 3.13638403e-03 2.52050419e+02] [ 7.16655632e-01 -6.97420108e-01 -3.14626548e-03 -9.34830966e+01] [ 4.44218788e-03 5.34606499e-05 9.99990132e-01 -4.97017633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20655999499996 meters 0.013427620343353286 Centerline is valid? [True, True] Translation: X:252.01, Y:-93.44, Z:-4.97 [[-6.97739088e-01 -7.16333960e-01 5.08160127e-03 2.52008717e+02] [ 7.16315843e-01 -6.97757587e-01 -5.09528512e-03 -9.34436506e+01] [ 7.19565161e-03 8.48519114e-05 9.99974107e-01 -4.97337796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26655999499997 meters 0.013212791384611464 Centerline is valid? [True, True] Translation: X:251.97, Y:-93.40, Z:-4.97 [[-6.98120489e-01 -7.15953282e-01 6.21940589e-03 2.51967751e+02] [ 7.15926158e-01 -6.98148185e-01 -6.23282423e-03 -9.34023377e+01] [ 8.80447789e-03 1.01373063e-04 9.99961235e-01 -4.97382364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32655999499997 meters 0.013346229737265514 Centerline is valid? [True, True] Translation: X:251.93, Y:-93.36, Z:-4.97 [[-6.98308547e-01 -7.15765508e-01 6.70152679e-03 2.51927984e+02] [ 7.15734048e-01 -6.98340694e-01 -6.71169525e-03 -9.33614325e+01] [ 9.48394883e-03 1.09676743e-04 9.99955020e-01 -4.97378689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38655999499997 meters 0.01328503505918009 Centerline is valid? [True, True] Translation: X:251.89, Y:-93.32, Z:-4.97 [[-6.98130971e-01 -7.15937452e-01 6.83456527e-03 2.51887044e+02] [ 7.15904776e-01 -6.98164415e-01 -6.84116161e-03 -9.33207600e+01] [ 9.66949408e-03 1.16871111e-04 9.99953243e-01 -4.97408083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.446559995 meters 0.013946528030443136 Centerline is valid? [True, True] Translation: X:251.85, Y:-93.28, Z:-4.97 [[-6.95946736e-01 -7.18057993e-01 7.13162479e-03 2.51845862e+02] [ 7.18022568e-01 -6.95983258e-01 -7.13417640e-03 -9.32805738e+01] [ 1.00862438e-02 1.55660768e-04 9.99949120e-01 -4.97341348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.506559995 meters 0.015094411347306247 Centerline is valid? [True, True] Translation: X:251.80, Y:-93.24, Z:-4.97 [[-6.93801666e-01 -7.20130697e-01 7.14334878e-03 2.51803329e+02] [ 7.20095292e-01 -6.93838414e-01 -7.14326843e-03 -9.32418871e+01] [ 1.01004167e-02 1.87880281e-04 9.99948972e-01 -4.97366518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.566559995 meters 0.015408132183420454 Centerline is valid? [True, True] Translation: X:251.76, Y:-93.20, Z:-4.97 [[-6.90852731e-01 -7.22966339e-01 6.49434901e-03 2.51761529e+02] [ 7.22937237e-01 -6.90883223e-01 -6.49023118e-03 -9.32012764e+01] [ 9.17905545e-03 2.11212789e-04 9.99957849e-01 -4.97140401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.626559995 meters 0.016938050105218348 Centerline is valid? [True, True] Translation: X:251.32, Y:-93.63, Z:-3.96 [[-7.71638387e-01 6.35982112e-01 1.00475504e-02 2.51320708e+02] [ 6.35919811e-01 7.71703644e-01 -8.91517228e-03 -9.36257528e+01] [-1.34236214e-02 -4.89852797e-04 -9.99909779e-01 -3.95821604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.686559995 meters 0.01723862141158452 Centerline is valid? [True, True] Translation: X:251.34, Y:-93.61, Z:-3.96 [[-8.14644809e-01 5.79836469e-01 1.19793276e-02 2.51342515e+02] [ 5.79764013e-01 8.14732707e-01 -9.18179033e-03 -9.36095138e+01] [-1.50838869e-02 -5.34714786e-04 -9.99886089e-01 -3.95669150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.746559995 meters 0.015201103799411182 Centerline is valid? [True, True] Translation: X:251.36, Y:-93.60, Z:-3.96 [[-8.51483797e-01 5.24215272e-01 1.31792430e-02 2.51356776e+02] [ 5.24143533e-01 8.51585645e-01 -8.68601000e-03 -9.35955637e+01] [-1.57765932e-02 -4.88181817e-04 -9.99875423e-01 -3.95663144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.806559995 meters 0.014528365128558783 Centerline is valid? [True, True] Translation: X:251.37, Y:-93.58, Z:-3.96 [[-8.84162030e-01 4.66997270e-01 1.30788193e-02 2.51369492e+02] [ 4.66939505e-01 8.84258668e-01 -7.35564456e-03 -9.35780115e+01] [-1.50001252e-02 -3.96564217e-04 -9.99887413e-01 -3.95662153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.866559995 meters 0.012555500554596699 Centerline is valid? [True, True] Translation: X:251.38, Y:-93.57, Z:-3.96 [[-9.11247129e-01 4.11680252e-01 1.21671385e-02 2.51380761e+02] [ 4.11639934e-01 9.11328321e-01 -5.76676402e-03 -9.35666373e+01] [-1.34623207e-02 -2.46467098e-04 -9.99909348e-01 -3.95969463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.926559995 meters 0.012343247584742202 Centerline is valid? [True, True] Translation: X:251.40, Y:-93.55, Z:-3.96 [[-9.33854917e-01 3.57486553e-01 1.08792629e-02 2.51397453e+02] [ 3.57460217e-01 9.33918271e-01 -4.34233289e-03 -9.35533006e+01] [-1.17126680e-02 -1.66205245e-04 -9.99931391e-01 -3.96074452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98655999499994 meters 0.012618057890419502 Centerline is valid? [True, True] Translation: X:251.41, Y:-93.54, Z:-3.96 [[-9.55561744e-01 2.94566014e-01 1.15159388e-02 2.51406909e+02] [ 2.94543625e-01 9.55631130e-01 -3.63255644e-03 -9.35360491e+01] [-1.20750173e-02 -7.91855999e-05 -9.99927091e-01 -3.96057998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04655999499994 meters 0.012474009096175548 Centerline is valid? [True, True] Translation: X:251.41, Y:-93.51, Z:-3.96 [[-9.74481593e-01 2.24188041e-01 1.11958933e-02 2.51410833e+02] [ 2.24172010e-01 9.74545900e-01 -2.68304285e-03 -9.35085991e+01] [-1.15124180e-02 -1.04769973e-04 -9.99933724e-01 -3.96044990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10655999499994 meters 0.012366950490766835 Centerline is valid? [True, True] Translation: X:251.56, Y:-92.84, Z:-4.97 [[-9.57520901e-01 -2.88269733e-01 7.36788713e-03 2.51562609e+02] [ 2.88260050e-01 -9.57549237e-01 -2.36706496e-03 -9.28394120e+01] [ 7.73746788e-03 -1.42646664e-04 9.99970055e-01 -4.97202703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16655999499994 meters 0.013124485185220873 Centerline is valid? [True, True] Translation: X:251.36, Y:-93.49, Z:-3.96 [[-9.78384684e-01 2.06380643e-01 1.30552738e-02 2.51359215e+02] [ 2.06358311e-01 9.78471740e-01 -3.04979968e-03 -9.34869384e+01] [-1.34036361e-02 -2.89813038e-04 -9.99910125e-01 -3.95756920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22655999499995 meters 0.013585693732330172 Centerline is valid? [True, True] Translation: X:251.50, Y:-92.83, Z:-4.97 [[-9.55134688e-01 -2.96021036e-01 9.44853236e-03 2.51502798e+02] [ 2.96006730e-01 -9.55181420e-01 -2.91025659e-03 -9.28344290e+01] [ 9.88655973e-03 1.71421546e-05 9.99951127e-01 -4.97333388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28655999499995 meters 0.014595164242567807 Centerline is valid? [True, True] Translation: X:251.31, Y:-93.47, Z:-3.96 [[-9.80915391e-01 1.93986301e-01 1.32026765e-02 2.51307299e+02] [ 1.93963078e-01 9.81004152e-01 -3.02959804e-03 -9.34687990e+01] [-1.35395810e-02 -4.10947577e-04 -9.99908251e-01 -3.95810770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34655999499995 meters 0.01471164779636959 Centerline is valid? [True, True] Translation: X:251.45, Y:-92.83, Z:-4.97 [[-9.54757906e-01 -2.97289010e-01 7.52230583e-03 2.51447081e+02] [ 2.97279323e-01 -9.54787537e-01 -2.40048864e-03 -9.28288927e+01] [ 7.89584275e-03 -5.56595218e-05 9.99968826e-01 -4.97236251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40655999499995 meters 0.014152470404951151 Centerline is valid? [True, True] Translation: X:251.26, Y:-93.46, Z:-3.96 [[-9.81350270e-01 1.91991571e-01 9.53333564e-03 2.51263289e+02] [ 1.91979335e-01 9.81396523e-01 -2.19095510e-03 -9.34613438e+01] [-9.77662735e-03 -3.19890939e-04 -9.99952156e-01 -3.96180354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46655999499995 meters 0.013266360191816925 Centerline is valid? [True, True] Translation: X:251.41, Y:-92.82, Z:-4.97 [[-9.57883096e-01 -2.87129283e-01 4.09263807e-03 2.51406761e+02] [ 2.87126231e-01 -9.57891834e-01 -1.32734290e-03 -9.28152109e+01] [ 4.30142360e-03 -9.63355840e-05 9.99990744e-01 -4.96904406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52655999499996 meters 0.012656187920311236 Centerline is valid? [True, True] Translation: X:251.22, Y:-93.46, Z:-3.96 [[-9.80380562e-01 1.96901895e-01 9.14312296e-03 2.51221455e+02] [ 1.96891146e-01 9.80423169e-01 -2.07021225e-03 -9.34614309e+01] [-9.37175830e-03 -2.29395895e-04 -9.99956058e-01 -3.96248830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58655999499996 meters 0.012381730978434624 Centerline is valid? [True, True] Translation: X:251.23, Y:-93.44, Z:-3.96 [[-9.91287341e-01 1.31330718e-01 1.00821722e-02 2.51226955e+02] [ 1.31321976e-01 9.91338593e-01 -1.52722088e-03 -9.34378221e+01] [-1.01954174e-02 -1.89903951e-04 -9.99948007e-01 -3.96103128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64655999499996 meters 0.012373047654441227 Centerline is valid? [True, True] Translation: X:251.32, Y:-92.76, Z:-4.97 [[-9.78913674e-01 -2.04174883e-01 6.37462357e-03 2.51321780e+02] [ 2.04170206e-01 -9.78934428e-01 -1.38289446e-03 -9.27636883e+01] [ 6.52269079e-03 -5.22260868e-05 9.99978726e-01 -4.97163386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70655999499996 meters 0.012446663033987776 Centerline is valid? [True, True] Translation: X:251.17, Y:-93.43, Z:-3.96 [[-9.91391153e-01 1.30477317e-01 1.09202272e-02 2.51174742e+02] [ 1.30467629e-01 9.91451282e-01 -1.59793608e-03 -9.34344145e+01] [-1.10353677e-02 -1.59443533e-04 -9.99939096e-01 -3.96050374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76655999499997 meters 0.012600667502285542 Centerline is valid? [True, True] Translation: X:251.18, Y:-93.40, Z:-3.96 [[-9.98318419e-01 5.66036273e-02 1.25045632e-02 2.51177338e+02] [ 5.65966767e-02 9.98396709e-01 -9.09301397e-04 -9.34033727e+01] [-1.25359845e-02 -2.00055610e-04 -9.99921401e-01 -3.95884553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82655999499997 meters 0.01296913596224174 Centerline is valid? [True, True] Translation: X:251.17, Y:-93.37, Z:-3.96 [[-9.99750728e-01 -1.72212779e-02 1.42094526e-02 2.51167619e+02] [-1.72230472e-02 9.99851672e-01 -2.14965341e-06 -9.33731097e+01] [-1.42073079e-02 -2.46879191e-04 -9.99899041e-01 -3.95742506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88655999499997 meters 0.013141725817756996 Centerline is valid? [True, True] Translation: X:251.17, Y:-92.71, Z:-4.98 [[-9.97690587e-01 -6.69956661e-02 1.11836534e-02 2.51167059e+02] [ 6.69917016e-02 -9.97753266e-01 -7.29147798e-04 -9.27060357e+01] [ 1.12073765e-02 2.17480790e-05 9.99937195e-01 -4.97556395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.946559995 meters 0.013212911059005922 Centerline is valid? [True, True] Translation: X:251.10, Y:-93.37, Z:-3.96 [[-9.99536966e-01 -2.61447928e-02 1.55660797e-02 2.51104505e+02] [-2.61467259e-02 9.99658113e-01 7.93480611e-05 -9.33679037e+01] [-1.55628324e-02 -3.27690699e-04 -9.99878838e-01 -3.95722259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.006559995 meters 0.013381633010852519 Centerline is valid? [True, True] Translation: X:251.10, Y:-92.71, Z:-4.98 [[-9.97855968e-01 -6.44022754e-02 1.16539067e-02 2.51097246e+02] [ 6.43982245e-02 -9.97924018e-01 -7.22916167e-04 -9.27108197e+01] [ 1.16762709e-02 2.91246886e-05 9.99931830e-01 -4.97577659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.066559995 meters 0.013019504181488558 Centerline is valid? [True, True] Translation: X:251.04, Y:-93.37, Z:-3.96 [[-9.99464140e-01 -2.87884716e-02 1.55774633e-02 2.51041265e+02] [-2.87896046e-02 9.99585482e-01 1.51559678e-04 -9.33709441e+01] [-1.55753693e-02 -2.96990545e-04 -9.99878652e-01 -3.95817067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.126559995 meters 0.01266168952248386 Centerline is valid? [True, True] Translation: X:251.03, Y:-92.71, Z:-4.97 [[-9.98366602e-01 -5.62228539e-02 1.01547575e-02 2.51033661e+02] [ 5.62189373e-02 -9.98418239e-01 -6.70955389e-04 -9.27072182e+01] [ 1.01764182e-02 -9.89697741e-05 9.99948214e-01 -4.97354714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.186559995 meters 0.012710525221827905 Centerline is valid? [True, True] Translation: X:250.98, Y:-93.38, Z:-3.96 [[-9.99414757e-01 -3.15858041e-02 1.31331576e-02 2.50975178e+02] [-3.15863572e-02 9.99501013e-01 1.65356607e-04 -9.33756841e+01] [-1.31318273e-02 -2.49568775e-04 -9.99913743e-01 -3.95993217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.246559995 meters 0.012798953078714474 Centerline is valid? [True, True] Translation: X:250.97, Y:-93.35, Z:-3.96 [[-9.94447489e-01 -1.04534913e-01 1.21096069e-02 2.50969597e+02] [-1.04530391e-01 9.94521182e-01 1.00748354e-03 -9.33509571e+01] [-1.21485778e-02 -2.63932474e-04 -9.99926168e-01 -3.96090229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.306559995 meters 0.013127397259428988 Centerline is valid? [True, True] Translation: X:250.91, Y:-92.68, Z:-4.97 [[-9.99832486e-01 1.64589159e-02 8.00649037e-03 2.50908758e+02] [-1.64588292e-02 -9.99864541e-01 7.67254173e-05 -9.26823894e+01] [ 8.00666864e-03 -5.50648928e-05 9.99967945e-01 -4.97309585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.366559995 meters 0.013457670900064908 Centerline is valid? [True, True] Translation: X:250.89, Y:-93.36, Z:-3.96 [[-9.93335882e-01 -1.14526191e-01 1.29451659e-02 2.50891457e+02] [-1.14520902e-01 9.93420171e-01 1.15150715e-03 -9.33585949e+01] [-1.29918666e-02 -3.38658709e-04 -9.99915545e-01 -3.96011497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.426559995 meters 0.01459571775134428 Centerline is valid? [True, True] Translation: X:250.88, Y:-93.33, Z:-3.96 [[-9.81868989e-01 -1.89108148e-01 1.30918819e-02 2.50877646e+02] [-1.89096699e-01 9.81956186e-01 2.11820258e-03 -9.33291831e+01] [-1.32562238e-02 -3.95834233e-04 -9.99912054e-01 -3.95733930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48655999499994 meters 0.014962382753702139 Centerline is valid? [True, True] Translation: X:250.86, Y:-93.30, Z:-3.96 [[-9.65253603e-01 -2.60960429e-01 1.36064582e-02 2.50860700e+02] [-2.60940953e-01 9.65349397e-01 3.21884615e-03 -9.33033874e+01] [-1.39749777e-02 -4.43479333e-04 -9.99902247e-01 -3.95645700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54655999499994 meters 0.015807901945920404 Centerline is valid? [True, True] Translation: X:250.84, Y:-93.28, Z:-3.96 [[-9.44083603e-01 -3.29453271e-01 1.29109276e-02 2.50839052e+02] [-3.29428708e-01 9.44171782e-01 4.04626858e-03 -9.32794590e+01] [-1.35231900e-02 -4.33214385e-04 -9.99908464e-01 -3.95614894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60655999499994 meters 0.016172085040439304 Centerline is valid? [True, True] Translation: X:250.81, Y:-93.26, Z:-3.96 [[-9.18884558e-01 -3.94340889e-01 1.21009367e-02 2.50806220e+02] [-3.94312259e-01 9.18964151e-01 4.76778323e-03 -9.32610330e+01] [-1.30004589e-02 -3.90505298e-04 -9.99915414e-01 -3.95580103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66655999499994 meters 0.013924667176479277 Centerline is valid? [True, True] Translation: X:250.75, Y:-93.26, Z:-3.96 [[-8.89061501e-01 -4.57654856e-01 1.10308345e-02 2.50752560e+02] [-4.57624332e-01 8.89129865e-01 5.29654052e-03 -9.32598048e+01] [-1.22318319e-02 -3.39027994e-04 -9.99925131e-01 -3.95816375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72655999499995 meters 0.012678620982810168 Centerline is valid? [True, True] Translation: X:250.69, Y:-93.27, Z:-3.96 [[-8.56142751e-01 -5.16644704e-01 9.89140477e-03 2.50692324e+02] [-5.16613645e-01 8.56199851e-01 5.67067225e-03 -9.32682859e+01] [-1.13987421e-02 -2.55129732e-04 -9.99935000e-01 -3.96035793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78655999499995 meters 0.012316767458689596 Centerline is valid? [True, True] Translation: X:250.62, Y:-93.28, Z:-3.96 [[-8.20027382e-01 -5.72244941e-01 9.53001257e-03 2.50623768e+02] [-5.72208600e-01 8.20082740e-01 6.45112915e-03 -9.32829396e+01] [-1.15070248e-02 -1.63052601e-04 -9.99933779e-01 -3.95989094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84655999499995 meters 0.01234388654678239 Centerline is valid? [True, True] Translation: X:250.55, Y:-93.31, Z:-3.96 [[-7.76083159e-01 -6.30564737e-01 9.11275323e-03 2.50546616e+02] [-6.30523421e-01 7.76136645e-01 7.21967498e-03 -9.33082457e+01] [-1.16252142e-02 -1.42736173e-04 -9.99932415e-01 -3.95961410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90655999499995 meters 0.012426040575389614 Centerline is valid? [True, True] Translation: X:250.47, Y:-93.35, Z:-3.96 [[-7.28608853e-01 -6.84884436e-01 7.90244025e-03 2.50466347e+02] [-6.84845801e-01 7.28651698e-01 7.27547739e-03 -9.33463246e+01] [-1.07409877e-02 -1.10975789e-04 -9.99942308e-01 -3.96082914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96655999499995 meters 0.012335635370908664 Centerline is valid? [True, True] Translation: X:250.38, Y:-93.39, Z:-3.96 [[-6.74587791e-01 -7.38166954e-01 6.39224255e-03 2.50382774e+02] [-7.38135497e-01 6.74618065e-01 6.81566318e-03 -9.33915374e+01] [-9.34341963e-03 -1.20577967e-04 -9.99956342e-01 -3.96183662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02655999499996 meters 0.012271337963625312 Centerline is valid? [True, True] Translation: X:250.30, Y:-93.45, Z:-3.96 [[-6.14348580e-01 -7.89014797e-01 5.60993091e-03 2.50296124e+02] [-7.88984121e-01 6.14374175e-01 6.95922966e-03 -9.34454086e+01] [-8.93753185e-03 -1.50753546e-04 -9.99960048e-01 -3.96163903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08655999499996 meters 0.012295931807232258 Centerline is valid? [True, True] Translation: X:250.21, Y:-93.51, Z:-3.96 [[-5.50723649e-01 -8.34670672e-01 5.32280562e-03 2.50214217e+02] [-8.34634703e-01 5.50749344e-01 7.75063659e-03 -9.35090968e+01] [-9.40076075e-03 -1.74139427e-04 -9.99955797e-01 -3.96121386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14655999499996 meters 0.012514640824969748 Centerline is valid? [True, True] Translation: X:250.13, Y:-93.58, Z:-3.96 [[-4.82085750e-01 -8.76112534e-01 4.48979063e-03 2.50134128e+02] [-8.76078521e-01 4.82106611e-01 7.72278970e-03 -9.35837155e+01] [-8.93059059e-03 -2.10362269e-04 -9.99960099e-01 -3.96214451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20655999499996 meters 0.013439253850069584 Centerline is valid? [True, True] Translation: X:250.06, Y:-93.66, Z:-3.96 [[-4.10103129e-01 -9.12032597e-01 3.45919680e-03 2.50057304e+02] [-9.12004898e-01 4.10117648e-01 7.11204040e-03 -9.36621652e+01] [-7.90509034e-03 -2.38134401e-04 -9.99968726e-01 -3.96191937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26655999499997 meters 0.013498252975749529 Centerline is valid? [True, True] Translation: X:249.99, Y:-93.76, Z:-3.96 [[-3.36620509e-01 -9.41636493e-01 2.71070288e-03 2.49987138e+02] [-9.41611778e-01 3.36631327e-01 6.82714562e-03 -9.37591669e+01] [-7.34119697e-03 -2.54272524e-04 -9.99973021e-01 -3.96242647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32655999499997 meters 0.013894731772333361 Centerline is valid? [True, True] Translation: X:249.93, Y:-93.84, Z:-3.96 [[-2.62815926e-01 -9.64842808e-01 2.47889186e-03 2.49930555e+02] [-9.64809322e-01 2.62827469e-01 8.04317724e-03 -9.38446382e+01] [-8.41192259e-03 -2.77782908e-04 -9.99964581e-01 -3.96169270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38655999499997 meters 0.01370523427320806 Centerline is valid? [True, True] Translation: X:249.88, Y:-93.95, Z:-3.96 [[-1.87911938e-01 -9.82183343e-01 2.23241820e-03 2.49878955e+02] [-9.82132302e-01 1.87924943e-01 1.00178387e-02 -9.39466979e+01] [-1.02588814e-02 -3.10058528e-04 -9.99947328e-01 -3.95991488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.446559995 meters 0.013968502604034485 Centerline is valid? [True, True] Translation: X:249.84, Y:-94.06, Z:-3.96 [[-1.12353021e-01 -9.93667157e-01 1.54267724e-03 2.49835662e+02] [-9.93608418e-01 1.12363160e-01 1.08088864e-02 -9.40574771e+01] [-1.09137755e-02 -3.18406061e-04 -9.99940392e-01 -3.95885806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.506559995 meters 0.013362700904688754 Centerline is valid? [True, True] Translation: X:249.81, Y:-94.17, Z:-3.96 [[-3.87345330e-02 -9.99249289e-01 7.02796788e-04 2.49805268e+02] [-9.99191188e-01 3.87398621e-02 1.07793173e-02 -9.41669503e+01] [-1.07984514e-02 -2.84696537e-04 -9.99941654e-01 -3.95934803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.566559995 meters 0.012773199117258839 Centerline is valid? [True, True] Translation: X:249.78, Y:-94.28, Z:-3.96 [[ 3.46698369e-02 -9.99398813e-01 -1.22371433e-04 2.49783169e+02] [-9.99342722e-01 -3.46691879e-02 1.05911229e-02 -9.42788222e+01] [-1.05889982e-02 -2.44901504e-04 -9.99943905e-01 -3.96021887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.626559995 meters 0.012581227436809925 Centerline is valid? [True, True] Translation: X:249.77, Y:-94.40, Z:-3.96 [[ 1.09844777e-01 -9.93948491e-01 -7.22473902e-04 2.49765294e+02] [-9.93912429e-01 -1.09846948e-01 8.46944839e-03 -9.43952059e+01] [-8.49755700e-03 -2.12248881e-04 -9.99963873e-01 -3.96199351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.686559995 meters 0.012406842806087568 Centerline is valid? [True, True] Translation: X:249.76, Y:-94.51, Z:-3.96 [[ 1.85396638e-01 -9.82662830e-01 -1.35973939e-03 2.49756140e+02] [-9.82627589e-01 -1.85401509e-01 8.32479072e-03 -9.45132136e+01] [-8.43256014e-03 -2.07270778e-04 -9.99964424e-01 -3.96317648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.746559995 meters 0.012262649949179088 Centerline is valid? [True, True] Translation: X:249.76, Y:-94.64, Z:-3.96 [[ 2.58421225e-01 -9.66029296e-01 -2.42287749e-03 2.49755768e+02] [-9.65979328e-01 -2.58432506e-01 9.82743056e-03 -9.46354567e+01] [-1.01197361e-02 -1.99167074e-04 -9.99948774e-01 -3.96189497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.806559995 meters 0.012304484736913672 Centerline is valid? [True, True] Translation: X:249.76, Y:-94.75, Z:-3.96 [[ 3.31619112e-01 -9.43405946e-01 -3.73979288e-03 2.49760847e+02] [-9.43338797e-01 -3.31640135e-01 1.12576568e-02 -9.47518096e+01] [-1.18608058e-02 -2.05362448e-04 -9.99929637e-01 -3.96117209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.866559995 meters 0.012389718809570124 Centerline is valid? [True, True] Translation: X:249.78, Y:-94.87, Z:-3.96 [[ 4.01643259e-01 -9.15780527e-01 -5.35897606e-03 2.49776721e+02] [-9.15692476e-01 -4.01678962e-01 1.27004009e-02 -9.48683015e+01] [-1.37833678e-02 -1.93856335e-04 -9.99904986e-01 -3.96066537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92655999499993 meters 0.01239021684325526 Centerline is valid? [True, True] Translation: X:249.80, Y:-94.98, Z:-3.96 [[ 4.68494186e-01 -8.83441355e-01 -6.67607079e-03 2.49801817e+02] [-8.83346741e-01 -4.68541724e-01 1.29301671e-02 -9.49816677e+01] [-1.45510620e-02 -1.60422730e-04 -9.99894115e-01 -3.96055367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98655999499994 meters 0.01249719278401316 Centerline is valid? [True, True] Translation: X:249.83, Y:-95.09, Z:-3.96 [[ 5.30075668e-01 -8.47920912e-01 -7.06498099e-03 2.49832806e+02] [-8.47843479e-01 -5.30122741e-01 1.14592762e-02 -9.50863500e+01] [-1.34618670e-02 -8.42854288e-05 -9.99909381e-01 -3.96128371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04655999499994 meters 0.013125575917549308 Centerline is valid? [True, True] Translation: X:249.88, Y:-95.19, Z:-3.96 [[ 5.88527507e-01 -8.08453079e-01 -6.24447682e-03 2.49876515e+02] [-8.08406998e-01 -5.88560633e-01 8.63174012e-03 -9.51896714e+01] [-1.06536101e-02 -3.19377289e-05 -9.99943248e-01 -3.96443788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10655999499994 meters 0.01383308012898471 Centerline is valid? [True, True] Translation: X:249.92, Y:-95.29, Z:-3.97 [[ 6.46125883e-01 -7.63210405e-01 -5.58757710e-03 2.49921566e+02] [-7.63181536e-01 -6.46150042e-01 6.63821903e-03 -9.52878962e+01] [-8.67677102e-03 -2.47894584e-05 -9.99962356e-01 -3.96591119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16655999499994 meters 0.013749765204800219 Centerline is valid? [True, True] Translation: X:249.97, Y:-95.38, Z:-3.97 [[ 7.01923255e-01 -7.12227238e-01 -6.00874313e-03 2.49971838e+02] [-7.12200889e-01 -7.01948973e-01 6.12644274e-03 -9.53825565e+01] [-8.58125047e-03 -2.08604387e-05 -9.99963180e-01 -3.96620045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22655999499995 meters 0.013970331153441132 Centerline is valid? [True, True] Translation: X:249.99, Y:-95.41, Z:-3.97 [[ 7.54802270e-01 -6.55924166e-01 -6.08453477e-03 2.49991043e+02] [-6.55902608e-01 -7.54826793e-01 5.31809678e-03 -9.54111805e+01] [-8.08103806e-03 -2.32492997e-05 -9.99967348e-01 -3.96612541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28655999499995 meters 0.014462034758660284 Centerline is valid? [True, True] Translation: X:250.01, Y:-95.44, Z:-3.97 [[ 8.02041481e-01 -5.97237829e-01 -6.03648185e-03 2.50012869e+02] [-5.97220826e-01 -8.02064197e-01 4.50654650e-03 -9.54380227e+01] [-7.53312601e-03 -9.32455282e-06 -9.99971626e-01 -3.96728033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34655999499995 meters 0.015565550851881691 Centerline is valid? [True, True] Translation: X:250.04, Y:-95.46, Z:-3.97 [[ 8.44399917e-01 -5.35685291e-01 -5.48182965e-03 2.50036037e+02] [-5.35673966e-01 -8.44417710e-01 3.48316589e-03 -9.54624118e+01] [-6.49483477e-03 -4.71155490e-06 -9.99978908e-01 -3.96736146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40655999499995 meters 0.015733123351808206 Centerline is valid? [True, True] Translation: X:250.06, Y:-95.49, Z:-3.97 [[ 8.83861218e-01 -4.67716893e-01 -5.50039892e-03 2.50061547e+02] [-4.67707750e-01 -8.83878333e-01 2.92462566e-03 -9.54865037e+01] [-6.22958026e-03 -1.23839974e-05 -9.99980596e-01 -3.96654181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46655999499995 meters 0.01398045470783026 Centerline is valid? [True, True] Translation: X:250.09, Y:-95.52, Z:-3.97 [[ 9.19007551e-01 -3.94195029e-01 -5.94988796e-03 2.50085061e+02] [-3.94186572e-01 -9.19026811e-01 2.58213396e-03 -9.55161277e+01] [-6.48597093e-03 -2.76346643e-05 -9.99978965e-01 -3.96691131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52655999499996 meters 0.012954284211208282 Centerline is valid? [True, True] Translation: X:250.11, Y:-95.55, Z:-3.97 [[ 9.49066403e-01 -3.15016143e-01 -6.14762419e-03 2.50110666e+02] [-3.15009064e-01 -9.49086311e-01 2.11290248e-03 -9.55458745e+01] [-6.50022435e-03 -6.87274169e-05 -9.99978871e-01 -3.96570069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58655999499996 meters 0.012261612816011869 Centerline is valid? [True, True] Translation: X:250.14, Y:-95.57, Z:-3.96 [[ 9.72652414e-01 -2.32145529e-01 -7.46563967e-03 2.50139527e+02] [-2.32137776e-01 -9.72681058e-01 1.90081637e-03 -9.55727051e+01] [-7.70295231e-03 -1.15776645e-04 -9.99970325e-01 -3.96471328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64655999499996 meters 0.012164179014445494 Centerline is valid? [True, True] Translation: X:250.17, Y:-95.59, Z:-3.96 [[ 9.88703471e-01 -1.49681185e-01 -7.80956806e-03 2.50171642e+02] [-1.49675232e-01 -9.88734301e-01 1.34456200e-03 -9.55943682e+01] [-7.92284345e-03 -1.60474211e-04 -9.99968601e-01 -3.96481784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70655999499996 meters 0.012805956328786545 Centerline is valid? [True, True] Translation: X:250.20, Y:-95.62, Z:-3.97 [[ 9.97939697e-01 -6.37639759e-02 -7.10756130e-03 2.50202381e+02] [-6.37608172e-02 -9.97964984e-01 6.70357705e-04 -9.56161006e+01] [-7.13584197e-03 -2.15792648e-04 -9.99974516e-01 -3.96555547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76655999499997 meters 0.013630291611990435 Centerline is valid? [True, True] Translation: X:250.24, Y:-95.63, Z:-3.97 [[ 9.99771018e-01 2.03931888e-02 -6.48295254e-03 2.50235465e+02] [ 2.03943558e-02 -9.99792007e-01 1.13943786e-04 -9.56320436e+01] [-6.47928045e-03 -2.46133335e-04 -9.99978979e-01 -3.96587823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82655999499997 meters 0.014348283471353198 Centerline is valid? [True, True] Translation: X:250.27, Y:-95.64, Z:-3.97 [[ 9.94959324e-01 1.00074295e-01 -6.40933052e-03 2.50267955e+02] [ 1.00073860e-01 -9.94979935e-01 -3.89349616e-04 -9.56403825e+01] [-6.41611915e-03 -2.54019417e-04 -9.99979384e-01 -3.96721489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88655999499997 meters 0.014082662506249195 Centerline is valid? [True, True] Translation: X:250.30, Y:-95.64, Z:-3.97 [[ 9.84154516e-01 1.77193062e-01 -6.51975448e-03 2.50301684e+02] [ 1.77190873e-01 -9.84176079e-01 -9.16522910e-04 -9.56449932e+01] [-6.57898790e-03 -2.53240824e-04 -9.99978326e-01 -3.96701984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.946559995 meters 0.014195149205189507 Centerline is valid? [True, True] Translation: X:250.34, Y:-95.65, Z:-3.97 [[ 9.67245680e-01 2.53719329e-01 -7.89281583e-03 2.50336096e+02] [ 2.53713226e-01 -9.67277842e-01 -1.78179153e-03 -9.56456982e+01] [-8.08662082e-03 -2.79081603e-04 -9.99967264e-01 -3.96591385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.006559995 meters 0.014281883034402558 Centerline is valid? [True, True] Translation: X:250.37, Y:-95.64, Z:-3.96 [[ 9.44745306e-01 3.27623139e-01 -1.09263724e-02 2.50368017e+02] [ 3.27605178e-01 -9.44808432e-01 -3.44578934e-03 -9.56413036e+01] [-1.14522491e-02 -3.24142881e-04 -9.99934368e-01 -3.96332032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.066559995 meters 0.013656555328595171 Centerline is valid? [True, True] Translation: X:250.40, Y:-95.63, Z:-3.96 [[ 9.17454969e-01 3.97663558e-01 -1.18353419e-02 2.50399122e+02] [ 3.97634733e-01 -9.17531254e-01 -4.79758794e-03 -9.56291227e+01] [-1.27671220e-02 -3.04572142e-04 -9.99918451e-01 -3.96284638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.126559995 meters 0.012764228540373547 Centerline is valid? [True, True] Translation: X:250.43, Y:-95.62, Z:-3.96 [[ 8.85019599e-01 4.65428130e-01 -1.08150881e-02 2.50430981e+02] [ 4.65396907e-01 -8.85085640e-01 -5.39707870e-03 -9.56190923e+01] [-1.20842314e-02 -2.56788122e-04 -9.99926950e-01 -3.96493356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.186559995 meters 0.012282565542370932 Centerline is valid? [True, True] Translation: X:250.46, Y:-95.60, Z:-3.97 [[ 8.48723466e-01 5.28744319e-01 -9.89559401e-03 2.50458733e+02] [ 5.28710964e-01 -8.48781131e-01 -5.94200320e-03 -9.56042885e+01] [-1.15409939e-02 -1.88791498e-04 -9.99933383e-01 -3.96558326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.246559995 meters 0.012136114707209539 Centerline is valid? [True, True] Translation: X:250.49, Y:-95.59, Z:-3.97 [[ 8.07530215e-01 5.89756794e-01 -9.04848821e-03 2.50486977e+02] [ 5.89721624e-01 -8.07580898e-01 -6.44207601e-03 -9.55890414e+01] [-1.11066443e-02 -1.33918130e-04 -9.99938310e-01 -3.96674420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.306559995 meters 0.012660287903345327 Centerline is valid? [True, True] Translation: X:250.51, Y:-95.57, Z:-3.97 [[ 7.63882234e-01 6.45299268e-01 -8.53153677e-03 2.50510509e+02] [ 6.45259718e-01 -7.63929874e-01 -7.14448324e-03 -9.55696277e+01] [-1.11278256e-02 -4.75131995e-05 -9.99938083e-01 -3.96657142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.366559995 meters 0.013309910763873362 Centerline is valid? [True, True] Translation: X:250.53, Y:-95.55, Z:-3.97 [[ 7.14228446e-01 6.99851899e-01 -9.22207637e-03 2.50534269e+02] [ 6.99793079e-01 -7.14287980e-01 -9.07344829e-03 -9.55511129e+01] [-1.29372883e-02 2.69696553e-05 -9.99916309e-01 -3.96642035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42655999499993 meters 0.013296237612945173 Centerline is valid? [True, True] Translation: X:250.56, Y:-95.53, Z:-3.97 [[ 6.57775973e-01 7.53166585e-01 -8.41812647e-03 2.50559420e+02] [ 7.53104222e-01 -6.57829837e-01 -9.69204532e-03 -9.55346201e+01] [-1.28374194e-02 3.54679505e-05 -9.99917596e-01 -3.96661071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48655999499994 meters 0.013144461048240283 Centerline is valid? [True, True] Translation: X:250.58, Y:-95.52, Z:-3.97 [[ 5.94664589e-01 8.03942976e-01 -7.05112117e-03 2.50582672e+02] [ 8.03886638e-01 -5.94706391e-01 -9.51749566e-03 -9.55168211e+01] [-1.18448706e-02 -8.58444941e-06 -9.99929847e-01 -3.96699389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54655999499994 meters 0.012474710842167983 Centerline is valid? [True, True] Translation: X:250.61, Y:-95.50, Z:-3.97 [[ 5.26470807e-01 8.50174012e-01 -5.71304283e-03 2.50606726e+02] [ 8.50125262e-01 -5.26501800e-01 -9.10457205e-03 -9.54974856e+01] [-1.07483979e-02 -6.35106388e-05 -9.99942232e-01 -3.96781145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60655999499994 meters 0.012142995870801608 Centerline is valid? [True, True] Translation: X:250.63, Y:-95.48, Z:-3.97 [[ 4.50140569e-01 8.92940992e-01 -5.46370779e-03 2.50629361e+02] [ 8.92879575e-01 -4.50173697e-01 -1.04741223e-02 -9.54782546e+01] [-1.18123907e-02 -1.63605703e-04 -9.99930218e-01 -3.96575356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66655999499994 meters 0.012182717138566234 Centerline is valid? [True, True] Translation: X:250.65, Y:-95.46, Z:-3.97 [[ 3.76028458e-01 9.26595098e-01 -4.91144862e-03 2.50649536e+02] [ 9.26522978e-01 -3.76060478e-01 -1.15623900e-02 -9.54560738e+01] [-1.25606556e-02 -2.02782330e-04 -9.99921091e-01 -3.96624421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72655999499995 meters 0.013023896216574063 Centerline is valid? [True, True] Translation: X:250.67, Y:-95.43, Z:-3.97 [[ 2.96031890e-01 9.55168985e-01 -4.16294833e-03 2.50670556e+02] [ 9.55087946e-01 -2.96061016e-01 -1.24455173e-02 -9.54326932e+01] [-1.31200588e-02 -2.91711760e-04 -9.99913886e-01 -3.96554020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78655999499995 meters 0.014282217684193256 Centerline is valid? [True, True] Translation: X:250.69, Y:-95.41, Z:-3.97 [[ 2.14718788e-01 9.76671082e-01 -3.07253672e-03 2.50688640e+02] [ 9.76593639e-01 -2.14740470e-01 -1.23042356e-02 -9.54072324e+01] [-1.26769891e-02 -3.58669267e-04 -9.99919579e-01 -3.96540758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84655999499995 meters 0.015599716737208504 Centerline is valid? [True, True] Translation: X:250.70, Y:-95.38, Z:-3.97 [[ 1.32845666e-01 9.91134905e-01 -1.90500838e-03 2.50704151e+02] [ 9.91070880e-01 -1.32858750e-01 -1.12722555e-02 -9.53804423e+01] [-1.14254229e-02 -3.90528040e-04 -9.99934651e-01 -3.96679986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90655999499995 meters 0.01634973910523015 Centerline is valid? [True, True] Translation: X:250.72, Y:-95.35, Z:-3.97 [[ 5.65976765e-02 9.98396568e-01 -9.97656582e-04 2.50716041e+02] [ 9.98334355e-01 -5.66052930e-02 -1.11515418e-02 -9.53531173e+01] [-1.11901337e-02 -3.64843486e-04 -9.99937322e-01 -3.96567585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96655999499995 meters 0.01392444141977944 Centerline is valid? [True, True] Translation: X:250.72, Y:-95.32, Z:-3.97 [[-1.85917450e-02 9.99827151e-01 -1.20214256e-04 2.50722505e+02] [ 9.99762130e-01 1.85891644e-02 -1.14072931e-02 -9.53242375e+01] [-1.14030867e-02 -3.32267146e-04 -9.99934927e-01 -3.96786504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02655999499996 meters 0.014058748382184419 Centerline is valid? [True, True] Translation: X:250.73, Y:-95.30, Z:-3.97 [[-9.62211372e-02 9.95359698e-01 7.51174131e-04 2.50729153e+02] [ 9.95297973e-01 9.62235392e-02 -1.10894738e-02 -9.52961027e+01] [-1.11102960e-02 -3.19399694e-04 -9.99938228e-01 -3.96814803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08655999499996 meters 0.014113407120800581 Centerline is valid? [True, True] Translation: X:250.73, Y:-95.27, Z:-3.97 [[-1.73526910e-01 9.84827703e-01 1.67539379e-03 2.50731952e+02] [ 9.84762286e-01 1.73534702e-01 -1.13555115e-02 -9.52669153e+01] [-1.14739613e-02 -3.20622203e-04 -9.99934121e-01 -3.96744474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14655999499996 meters 0.013469496434977577 Centerline is valid? [True, True] Translation: X:250.73, Y:-95.24, Z:-3.96 [[-2.46975667e-01 9.69016312e-01 3.22596896e-03 2.50730038e+02] [ 9.68915922e-01 2.46996528e-01 -1.39517397e-02 -9.52379517e+01] [-1.43162665e-02 -3.20047528e-04 -9.99897466e-01 -3.96431759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20655999499996 meters 0.012520087690832479 Centerline is valid? [True, True] Translation: X:250.72, Y:-95.21, Z:-3.96 [[-3.15778130e-01 9.48819738e-01 5.02775618e-03 2.50724572e+02] [ 9.48687144e-01 3.15818062e-01 -1.58636178e-02 -9.52099538e+01] [-1.66395699e-02 -2.39615914e-04 -9.99861524e-01 -3.96275669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26655999499997 meters 0.012281637860897535 Centerline is valid? [True, True] Translation: X:250.72, Y:-95.18, Z:-3.96 [[-3.84300527e-01 9.23186736e-01 6.27343915e-03 2.50720479e+02] [ 9.23057236e-01 3.84351698e-01 -1.54632165e-02 -9.51814785e+01] [-1.66866433e-02 -1.51778828e-04 -9.99860757e-01 -3.96434969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32655999499997 meters 0.013064440276876168 Centerline is valid? [True, True] Translation: X:250.71, Y:-95.16, Z:-3.97 [[-4.47151337e-01 8.94425100e-01 7.70857308e-03 2.50710944e+02] [ 8.94292518e-01 4.47217777e-01 -1.53997265e-02 -9.51565146e+01] [-1.72213129e-02 7.71091691e-06 -9.99851702e-01 -3.96598864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38655999499997 meters 0.014539931902780903 Centerline is valid? [True, True] Translation: X:250.70, Y:-95.13, Z:-3.97 [[-5.08505529e-01 8.61011978e-01 8.97224593e-03 2.50702242e+02] [ 8.60883421e-01 5.08584653e-01 -1.48790152e-02 -9.51297493e+01] [-1.73741569e-02 1.57996299e-04 -9.99849045e-01 -3.96725576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.446559995 meters 0.015790273458451624 Centerline is valid? [True, True] Translation: X:250.69, Y:-95.10, Z:-3.97 [[-5.70446066e-01 8.21268745e-01 1.04371670e-02 2.50692730e+02] [ 8.21139352e-01 5.70541484e-01 -1.45801422e-02 -9.51024369e+01] [-1.79290518e-02 2.53183722e-04 -9.99839230e-01 -3.96715906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.506559995 meters 0.015199036831222324 Centerline is valid? [True, True] Translation: X:250.69, Y:-95.07, Z:-3.97 [[-6.31772944e-01 7.75076220e-01 1.09453485e-02 2.50686908e+02] [ 7.74967033e-01 6.31867696e-01 -1.30120073e-02 -9.50707123e+01] [-1.70013096e-02 2.61650072e-04 -9.99855433e-01 -3.97000809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.566559995 meters 0.014224225053817518 Centerline is valid? [True, True] Translation: X:250.68, Y:-95.04, Z:-3.97 [[-6.94770437e-01 7.19148617e-01 1.09227474e-02 2.50679773e+02] [ 7.19062883e-01 6.94856278e-01 -1.11051149e-02 -9.50395472e+01] [-1.55759676e-02 1.38636707e-04 -9.99878678e-01 -3.97167356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.626559995 meters 0.012907062698846346 Centerline is valid? [True, True] Translation: X:250.67, Y:-95.01, Z:-3.97 [[-7.53453556e-01 6.57412913e-01 1.07703621e-02 2.50668667e+02] [ 6.57346128e-01 7.53530531e-01 -9.37052389e-03 -9.50085449e+01] [-1.42761001e-02 1.96013163e-05 -9.99898091e-01 -3.97267501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.686559995 meters 0.011974906636416777 Centerline is valid? [True, True] Translation: X:250.68, Y:-94.97, Z:-3.97 [[-8.06533370e-01 5.91077478e-01 1.14602952e-02 2.50684606e+02] [ 5.91014795e-01 8.06614769e-01 -8.60963696e-03 -9.49698592e+01] [-1.43330058e-02 -1.70755522e-04 -9.99897263e-01 -3.97169352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.746559995 meters 0.013358558694237514 Centerline is valid? [True, True] Translation: X:251.06, Y:-94.46, Z:-4.98 [[-7.50854110e-01 -6.60424613e-01 7.57874262e-03 2.51060267e+02] [ 6.60388986e-01 -7.50892342e-01 -6.86130854e-03 -9.44576116e+01] [ 1.02221968e-02 -1.46923561e-04 9.99947741e-01 -4.98306558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.806559995 meters 0.016676742852698066 Centerline is valid? [True, True] Translation: X:250.65, Y:-94.92, Z:-3.97 [[-8.21990452e-01 5.69420005e-01 9.62049918e-03 2.50651141e+02] [ 5.69374718e-01 8.22046633e-01 -7.19465105e-03 -9.49221638e+01] [-1.20052772e-02 -4.36265460e-04 -9.99927839e-01 -3.97215244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.866559995 meters 0.017127280950718804 Centerline is valid? [True, True] Translation: X:251.01, Y:-94.43, Z:-4.98 [[-7.45608058e-01 -6.66359262e-01 5.82727909e-03 2.51008655e+02] [ 6.66339523e-01 -7.45630827e-01 -5.12935705e-03 -9.44323446e+01] [ 7.76299351e-03 5.84564136e-05 9.99969866e-01 -4.98342078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92655999499993 meters 0.01804689321977909 Centerline is valid? [True, True] Translation: X:250.62, Y:-94.89, Z:-3.97 [[-8.26934895e-01 5.62222817e-01 9.17516653e-03 2.50616389e+02] [ 5.62181701e-01 8.26985656e-01 -6.81613790e-03 -9.48949402e+01] [-1.14199194e-02 -4.78391548e-04 -9.99934676e-01 -3.97176441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98655999499994 meters 0.017469350197920324 Centerline is valid? [True, True] Translation: X:250.63, Y:-94.87, Z:-3.97 [[-8.64455317e-01 5.02590766e-01 1.09328661e-02 2.50630391e+02] [ 5.02542855e-01 8.64524291e-01 -6.95903922e-03 -9.48730632e+01] [-1.29492771e-02 -5.21544719e-04 -9.99916019e-01 -3.96881756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04655999499994 meters 0.015870358072778434 Centerline is valid? [True, True] Translation: X:250.96, Y:-94.36, Z:-4.99 [[-7.94792868e-01 -6.06834458e-01 7.49922298e-03 2.50958106e+02] [ 6.06809831e-01 -7.94828220e-01 -5.47079253e-03 -9.43597009e+01] [ 9.28045947e-03 2.02455344e-04 9.99956915e-01 -4.98871194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10655999499994 meters 0.014064871956501654 Centerline is valid? [True, True] Translation: X:250.59, Y:-94.87, Z:-3.97 [[-8.60700128e-01 5.08999303e-01 1.07238192e-02 2.50592062e+02] [ 5.08954360e-01 8.60766851e-01 -6.77407048e-03 -9.48650068e+01] [-1.26787053e-02 -3.72508768e-04 -9.99919553e-01 -3.96734747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16655999499994 meters 0.012273577144721345 Centerline is valid? [True, True] Translation: X:250.60, Y:-94.86, Z:-3.97 [[-8.89816307e-01 4.56132227e-01 1.30511415e-02 2.50603275e+02] [ 4.56078861e-01 8.89911976e-01 -6.98199252e-03 -9.48560667e+01] [-1.47990789e-02 -2.60341061e-04 -9.99890454e-01 -3.96549998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22655999499995 meters 0.011860443316821179 Centerline is valid? [True, True] Translation: X:250.61, Y:-94.85, Z:-3.96 [[-9.16048348e-01 4.00716025e-01 1.67955930e-02 2.50612504e+02] [ 4.00646271e-01 9.16202299e-01 -7.47748577e-03 -9.48464349e+01] [-1.83845093e-02 -1.20646775e-04 -9.99830983e-01 -3.96339855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28655999499995 meters 0.01205087439043616 Centerline is valid? [True, True] Translation: X:250.62, Y:-94.82, Z:-3.96 [[-9.41472502e-01 3.36586606e-01 1.84115234e-02 2.50624535e+02] [ 3.36520491e-01 9.41652510e-01 -6.67153328e-03 -9.48245549e+01] [-1.95828059e-02 -8.52102393e-05 -9.99808235e-01 -3.96240190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34655999499995 meters 0.01237598656521663 Centerline is valid? [True, True] Translation: X:250.63, Y:-94.79, Z:-3.96 [[-9.63661877e-01 2.66183142e-01 2.24125397e-02 2.50626659e+02] [ 2.66107584e-01 9.63922462e-01 -6.34356243e-03 -9.47935834e+01] [-2.32924998e-02 -1.48902493e-04 -9.99728682e-01 -3.96073186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40655999499995 meters 0.012591775613430771 Centerline is valid? [True, True] Translation: X:250.64, Y:-94.76, Z:-3.96 [[-9.80168986e-01 1.96279407e-01 2.72608360e-02 2.50635918e+02] [ 1.96198437e-01 9.80547991e-01 -5.64013873e-03 -9.47627737e+01] [-2.78376011e-02 -1.79755644e-04 -9.99612443e-01 -3.95934256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46655999499995 meters 0.012287540643069614 Centerline is valid? [True, True] Translation: X:250.64, Y:-94.74, Z:-3.96 [[-9.91523718e-01 1.27109870e-01 2.69034869e-02 2.50636315e+02] [ 1.27058906e-01 9.91888631e-01 -3.60237625e-03 -9.47370471e+01] [-2.71431603e-02 -1.53513883e-04 -9.99631545e-01 -3.96193839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52655999499996 meters 0.01191981732526028 Centerline is valid? [True, True] Translation: X:250.64, Y:-94.71, Z:-3.97 [[-9.98005166e-01 5.96201484e-02 2.07635876e-02 2.50640347e+02] [ 5.96056846e-02 9.98221134e-01 -1.31533229e-03 -9.47127258e+01] [-2.08050722e-02 -7.50805672e-05 -9.99783548e-01 -3.96751119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58655999499996 meters 0.011214492023412065 Centerline is valid? [True, True] Translation: X:250.64, Y:-94.68, Z:-3.97 [[-9.99827980e-01 -1.14848128e-02 1.45639782e-02 2.50636797e+02] [-1.14848442e-02 9.99934044e-01 8.14839610e-05 -9.46801996e+01] [-1.45639535e-02 -8.57950776e-05 -9.99893936e-01 -3.97229933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64655999499996 meters 0.010683992638166398 Centerline is valid? [True, True] Translation: X:250.62, Y:-94.02, Z:-4.98 [[-9.98398416e-01 -5.63825714e-02 4.64840531e-03 2.50623942e+02] [ 5.63792664e-02 -9.98409072e-01 -8.39110289e-04 -9.40155426e+01] [ 4.68832122e-03 -5.75692703e-04 9.99988844e-01 -4.97805127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70655999499996 meters 0.012301364963984431 Centerline is valid? [True, True] Translation: X:250.57, Y:-94.66, Z:-3.98 [[-9.99438100e-01 -3.32615829e-02 4.14143873e-03 2.50570227e+02] [-3.32620199e-02 9.99446665e-01 -3.66638471e-05 -9.46607810e+01] [-4.13792763e-03 -1.74395863e-04 -9.99991424e-01 -3.98032545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76655999499997 meters 0.011600603215490628 Centerline is valid? [True, True] Translation: X:250.57, Y:-94.63, Z:-3.98 [[-9.94838241e-01 -1.01416186e-01 3.41043188e-03 2.50565749e+02] [-1.01416114e-01 9.94844075e-01 1.94506011e-04 -9.46348611e+01] [-3.41257401e-03 -1.52370729e-04 -9.99994166e-01 -3.97985733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82655999499997 meters 0.01307314540914546 Centerline is valid? [True, True] Translation: X:250.57, Y:-94.62, Z:-3.98 [[-9.89740772e-01 -1.42771493e-01 5.43190102e-03 2.50572919e+02] [-1.42769433e-01 9.89755677e-01 7.67095715e-04 -9.46242820e+01] [-5.48577428e-03 -1.62835239e-05 -9.99984953e-01 -3.97530479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88655999499997 meters 0.01583178524677945 Centerline is valid? [True, True] Translation: X:250.56, Y:-94.59, Z:-3.97 [[-9.79074883e-01 -2.03047369e-01 1.35698373e-02 2.50556254e+02] [-2.03024036e-01 9.79168879e-01 3.08994144e-03 -9.45947215e+01] [-1.39145669e-02 2.70280902e-04 -9.99903151e-01 -3.96625920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.946559995 meters 0.01656129750081427 Centerline is valid? [True, True] Translation: X:250.53, Y:-94.57, Z:-3.97 [[-9.62478592e-01 -2.71042839e-01 1.30667577e-02 2.50528878e+02] [-2.71013760e-01 9.62567242e-01 3.98077297e-03 -9.45747163e+01] [-1.36565930e-02 2.90137610e-04 -9.99906702e-01 -3.96669004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.006559995 meters 0.01656129750081427 Centerline is valid? [True, True] Translation: X:250.48, Y:-94.56, Z:-3.97 [[-9.40286471e-01 -3.40145616e-01 1.27401681e-02 2.50484385e+02] [-3.40110213e-01 9.40372733e-01 4.91600577e-03 -9.45611796e+01] [-1.36526645e-02 2.89392446e-04 -9.99906756e-01 -3.96678472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.066559995 meters 0.016150287601677075 Centerline is valid? [True, True] Translation: X:250.42, Y:-94.56, Z:-3.97 [[-9.13530679e-01 -4.06596986e-01 1.18570217e-02 2.50423074e+02] [-4.06558542e-01 9.13607577e-01 5.59887649e-03 -9.45571939e+01] [-1.31091511e-02 2.94172000e-04 -9.99914028e-01 -3.96759585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.126559995 meters 0.017612752913310614 Centerline is valid? [True, True] Translation: X:250.36, Y:-94.56, Z:-3.97 [[-8.81751333e-01 -4.71580476e-01 1.12446347e-02 2.50357037e+02] [-4.71537641e-01 8.81822975e-01 6.36341001e-03 -9.45630602e+01] [-1.29166371e-02 3.08676751e-04 -9.99916529e-01 -3.96760525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.186559995 meters 0.017612752913310614 Centerline is valid? [True, True] Translation: X:250.28, Y:-94.58, Z:-3.97 [[-8.44273225e-01 -5.35805403e-01 1.07374278e-02 2.50280344e+02] [-5.35757397e-01 8.44341445e-01 7.17887680e-03 -9.45785784e+01] [-1.29125363e-02 3.08277093e-04 -9.99916582e-01 -3.96775353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.246559995 meters 0.017612752913310614 Centerline is valid? [True, True] Translation: X:250.20, Y:-94.60, Z:-3.97 [[-8.01899957e-01 -5.97371799e-01 1.01681735e-02 2.50198988e+02] [-5.97318869e-01 8.01964362e-01 7.95801173e-03 -9.46042102e+01] [-1.29084046e-02 3.07887352e-04 -9.99916636e-01 -3.96791270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.306559995 meters 0.01724021436266809 Centerline is valid? [True, True] Translation: X:250.11, Y:-94.64, Z:-3.97 [[-7.55554444e-01 -6.55013604e-01 9.72937524e-03 2.50114261e+02] [-6.54953613e-01 7.55617012e-01 8.87105135e-03 -9.46395796e+01] [-1.31623408e-02 3.30272808e-04 -9.99913318e-01 -3.96855739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.366559995 meters 0.01724021436266809 Centerline is valid? [True, True] Translation: X:250.03, Y:-94.69, Z:-3.97 [[-7.04069081e-01 -7.10074062e-01 9.03074717e-03 2.50029097e+02] [-7.10009571e-01 7.04126918e-01 9.57557421e-03 -9.46856868e+01] [-1.31581591e-02 3.29948813e-04 -9.99913373e-01 -3.96873383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42655999499993 meters 0.01781621773246214 Centerline is valid? [True, True] Translation: X:249.95, Y:-94.74, Z:-3.97 [[-6.49008126e-01 -7.60736985e-01 8.22753858e-03 2.49945348e+02] [-7.60669167e-01 6.49060187e-01 1.01632758e-02 -9.47414010e+01] [-1.30717475e-02 3.37613640e-04 -9.99914504e-01 -3.96874580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48655999499994 meters 0.01819786327450147 Centerline is valid? [True, True] Translation: X:249.86, Y:-94.81, Z:-3.97 [[-5.88160382e-01 -8.08708820e-01 7.57697582e-03 2.49862450e+02] [-8.08634508e-01 5.88209096e-01 1.09677517e-02 -9.48063515e+01] [-1.33265636e-02 3.23792891e-04 -9.99911145e-01 -3.96873068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54655999499994 meters 0.01497562898160197 Centerline is valid? [True, True] Translation: X:249.78, Y:-94.88, Z:-3.97 [[-5.19264944e-01 -8.54592657e-01 5.94211770e-03 2.49776049e+02] [-8.54532433e-01 5.19298907e-01 1.01472023e-02 -9.48778738e+01] [-1.17574598e-02 1.91354119e-04 -9.99930860e-01 -3.97099497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60655999499994 meters 0.012842931097329572 Centerline is valid? [True, True] Translation: X:249.69, Y:-94.96, Z:-3.97 [[-4.44005853e-01 -8.96011725e-01 4.66809607e-03 2.49694171e+02] [-8.95960885e-01 4.44030388e-01 9.54500366e-03 -9.49609629e+01] [-1.06252117e-02 5.56059989e-05 -9.99943549e-01 -3.97294878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66655999499994 meters 0.011519662405962942 Centerline is valid? [True, True] Translation: X:249.62, Y:-95.05, Z:-3.97 [[-3.68205375e-01 -9.29735420e-01 4.10496047e-03 2.49621160e+02] [-9.29678081e-01 3.68228256e-01 1.03255325e-02 -9.50464848e+01] [-1.11115757e-02 -1.43752145e-05 -9.99938264e-01 -3.97300879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72655999499995 meters 0.010905506332401371 Centerline is valid? [True, True] Translation: X:249.55, Y:-95.14, Z:-3.97 [[-2.87174708e-01 -9.57871158e-01 3.67846416e-03 2.49550628e+02] [-9.57798020e-01 2.87198239e-01 1.18374386e-02 -9.51406112e+01] [-1.23951894e-02 -1.23812731e-04 -9.99923169e-01 -3.97195554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78655999499995 meters 0.011118859658543477 Centerline is valid? [True, True] Translation: X:249.49, Y:-95.24, Z:-3.97 [[-2.06474904e-01 -9.78448008e-01 2.75858874e-03 2.49490091e+02] [-9.78373890e-01 2.06493222e-01 1.20449474e-02 -9.52408484e+01] [-1.23549847e-02 -2.11951833e-04 -9.99923652e-01 -3.97255401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84655999499995 meters 0.011834167207094029 Centerline is valid? [True, True] Translation: X:249.44, Y:-95.35, Z:-3.97 [[-1.26562385e-01 -9.91957177e-01 1.70956601e-03 2.49440837e+02] [-9.91892368e-01 1.26573663e-01 1.13418707e-02 -9.53462750e+01] [-1.14670360e-02 -2.60251280e-04 -9.99934218e-01 -3.97401591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90655999499995 meters 0.01212638313224103 Centerline is valid? [True, True] Translation: X:249.40, Y:-95.46, Z:-3.97 [[-4.88081262e-02 -9.98807790e-01 8.74443800e-04 2.49403090e+02] [-9.98736033e-01 4.88151044e-02 1.19758610e-02 -9.54559648e+01] [-1.20042693e-02 -2.88819198e-04 -9.99927904e-01 -3.97465929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96655999499995 meters 0.012728284519411829 Centerline is valid? [True, True] Translation: X:249.37, Y:-95.56, Z:-3.97 [[ 2.76988713e-02 -9.99616311e-01 -5.19841926e-05 2.49374188e+02] [-9.99531837e-01 -2.76972066e-02 1.29989255e-02 -9.55591359e+01] [-1.29953778e-02 -3.08095710e-04 -9.99915509e-01 -3.97277676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02655999499996 meters 0.012661236050405046 Centerline is valid? [True, True] Translation: X:249.35, Y:-95.67, Z:-3.97 [[ 1.03272678e-01 -9.94652476e-01 -1.09806562e-03 2.49354387e+02] [-9.94560131e-01 -1.03278056e-01 1.35568837e-02 -9.56703112e+01] [-1.35977941e-02 -3.07963406e-04 -9.99907498e-01 -3.97172770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08655999499996 meters 0.012193200955491201 Centerline is valid? [True, True] Translation: X:249.35, Y:-95.79, Z:-3.97 [[ 1.75730597e-01 -9.84435928e-01 -2.15873256e-03 2.49348433e+02] [-9.84341992e-01 -1.75743655e-01 1.36018205e-02 -9.57877564e+01] [-1.37695043e-02 -2.65324924e-04 -9.99905161e-01 -3.97064706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14655999499996 meters 0.011454386934320963 Centerline is valid? [True, True] Translation: X:249.35, Y:-95.89, Z:-3.97 [[ 2.47855536e-01 -9.68791591e-01 -3.23823320e-03 2.49349465e+02] [-9.68696339e-01 -2.47876582e-01 1.35868432e-02 -9.58944396e+01] [-1.39655016e-02 -2.30709662e-04 -9.99902451e-01 -3.97188069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20655999499996 meters 0.011117389029970351 Centerline is valid? [True, True] Translation: X:249.36, Y:-96.01, Z:-3.97 [[ 3.18819212e-01 -9.47806390e-01 -4.16609307e-03 2.49362530e+02] [-9.47717413e-01 -3.18846372e-01 1.29882874e-02 -9.60079384e+01] [-1.36387254e-02 -1.92636594e-04 -9.99906970e-01 -3.97373858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26655999499997 meters 0.011677053571225457 Centerline is valid? [True, True] Translation: X:249.38, Y:-96.12, Z:-3.97 [[ 3.90509245e-01 -9.20585387e-01 -5.00747733e-03 2.49380287e+02] [-9.20503305e-01 -3.90541302e-01 1.22945613e-02 -9.61214423e+01] [-1.32738202e-02 -1.91740399e-04 -9.99911881e-01 -3.97153685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32655999499997 meters 0.011518115992258982 Centerline is valid? [True, True] Translation: X:249.41, Y:-96.23, Z:-3.97 [[ 4.60468588e-01 -8.87656358e-01 -5.90497157e-03 2.49406147e+02] [-8.87577669e-01 -4.60506405e-01 1.18208418e-02 -9.62330376e+01] [-1.32121226e-02 -2.02005421e-04 -9.99912696e-01 -3.97235876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38655999499997 meters 0.011438984795648695 Centerline is valid? [True, True] Translation: X:249.44, Y:-96.34, Z:-3.97 [[ 5.27120920e-01 -8.49766927e-01 -6.30114450e-03 2.49443739e+02] [-8.49701693e-01 -5.27158544e-01 1.05310178e-02 -9.63406029e+01] [-1.22706128e-02 -1.97026624e-04 -9.99924694e-01 -3.97368997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.446559995 meters 0.011257139136941003 Centerline is valid? [True, True] Translation: X:249.49, Y:-96.44, Z:-3.98 [[ 5.89754922e-01 -8.07558180e-01 -6.23839609e-03 2.49487337e+02] [-8.07509810e-01 -5.89787890e-01 8.84034085e-03 -9.64439048e+01] [-1.08184200e-02 -1.76068490e-04 -9.99941464e-01 -3.97608030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.506559995 meters 0.011230687859460934 Centerline is valid? [True, True] Translation: X:249.54, Y:-96.54, Z:-3.98 [[ 6.49163580e-01 -7.60621958e-01 -6.39398330e-03 2.49537457e+02] [-7.60582555e-01 -6.49195048e-01 7.74386601e-03 -9.65407504e+01] [-1.00410968e-02 -1.63883626e-04 -9.99949573e-01 -3.97608144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.566559995 meters 0.011357270015729205 Centerline is valid? [True, True] Translation: X:249.59, Y:-96.63, Z:-3.98 [[ 7.06856578e-01 -7.07331541e-01 -5.98914474e-03 2.49591201e+02] [-7.07304030e-01 -7.06881929e-01 6.24085137e-03 -9.66325549e+01] [-8.64796920e-03 -1.75240632e-04 -9.99962590e-01 -3.97739792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.626559995 meters 0.012139877104772387 Centerline is valid? [True, True] Translation: X:249.65, Y:-96.73, Z:-3.98 [[ 7.61549425e-01 -6.48072122e-01 -6.70801810e-03 2.49651374e+02] [-6.48044420e-01 -7.61578936e-01 5.99610101e-03 -9.67290576e+01] [-8.99459120e-03 -2.19233571e-04 -9.99959524e-01 -3.97673991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.686559995 meters 0.01338137924606479 Centerline is valid? [True, True] Translation: X:249.67, Y:-96.76, Z:-3.98 [[ 8.12857197e-01 -5.82402854e-01 -8.37218751e-03 2.49671048e+02] [-5.82368185e-01 -8.12900257e-01 6.36149929e-03 -9.67587071e+01] [-1.05107087e-02 -2.95294835e-04 -9.99944717e-01 -3.97579244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.746559995 meters 0.013722832303522784 Centerline is valid? [True, True] Translation: X:249.69, Y:-96.79, Z:-3.98 [[ 8.57241979e-01 -5.14836201e-01 -8.93726111e-03 2.49693172e+02] [-5.14804238e-01 -8.57288505e-01 5.74599278e-03 -9.67867340e+01] [-1.06200563e-02 -3.24766326e-04 -9.99943553e-01 -3.97623511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.806559995 meters 0.014587512621843554 Centerline is valid? [True, True] Translation: X:249.72, Y:-96.81, Z:-3.98 [[ 8.95224448e-01 -4.45527501e-01 -8.85625260e-03 2.49716082e+02] [-4.45502129e-01 -8.95268196e-01 4.76549738e-03 -9.68125224e+01] [-1.00518814e-02 -3.20710379e-04 -9.99949427e-01 -3.97635681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.866559995 meters 0.01309508383297744 Centerline is valid? [True, True] Translation: X:249.74, Y:-96.83, Z:-3.98 [[ 9.26436611e-01 -3.76347382e-01 -8.82350284e-03 2.49743192e+02] [-3.76327325e-01 -9.26478583e-01 3.89619794e-03 -9.68336063e+01] [-9.64111030e-03 -2.89055198e-04 -9.99953482e-01 -3.97768458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92655999499993 meters 0.013114450040168622 Centerline is valid? [True, True] Translation: X:249.77, Y:-96.85, Z:-3.98 [[ 9.52421308e-01 -3.04659810e-01 -8.72078936e-03 2.49770706e+02] [-3.04644502e-01 -9.52461197e-01 3.06532923e-03 -9.68539274e+01] [-9.24009609e-03 -2.62744337e-04 -9.99957275e-01 -3.97771630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98655999499994 meters 0.011764643558268128 Centerline is valid? [True, True] Translation: X:249.80, Y:-96.87, Z:-3.98 [[ 9.71493130e-01 -2.36917741e-01 -8.43106695e-03 2.49803057e+02] [-2.36907162e-01 -9.71529696e-01 2.24650296e-03 -9.68657626e+01] [-8.72326831e-03 -1.85082049e-04 -9.99961934e-01 -3.97753456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04655999499994 meters 0.01116589760423048 Centerline is valid? [True, True] Translation: X:249.84, Y:-96.87, Z:-3.98 [[ 9.85646834e-01 -1.68552292e-01 -9.51015863e-03 2.49835590e+02] [-1.68543348e-01 -9.85692707e-01 1.73994088e-03 -9.68739106e+01] [-9.66736503e-03 -1.12093243e-04 -9.99953264e-01 -3.97748707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10655999499994 meters 0.011274412828710478 Centerline is valid? [True, True] Translation: X:249.86, Y:-96.88, Z:-3.98 [[ 9.95458300e-01 -9.46468597e-02 -1.02345372e-02 2.49864448e+02] [-9.46410992e-02 -9.95510907e-01 1.04679627e-03 -9.68833626e+01] [-1.02876694e-02 -7.34341892e-05 -9.99947078e-01 -3.97759161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16655999499994 meters 0.011638872148330728 Centerline is valid? [True, True] Translation: X:249.89, Y:-96.89, Z:-3.98 [[ 9.99742542e-01 -1.96602798e-02 -1.13279864e-02 2.49893732e+02] [-1.96586444e-02 -9.99806717e-01 2.55711157e-04 -9.68925625e+01] [-1.13308242e-02 -3.29524656e-05 -9.99935804e-01 -3.97717677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22655999499995 meters 0.011763244217072349 Centerline is valid? [True, True] Translation: X:249.92, Y:-96.90, Z:-3.98 [[ 9.98229863e-01 5.83081792e-02 -1.17174034e-02 2.49922544e+02] [ 5.83044647e-02 -9.98298630e-01 -6.58650096e-04 -9.69000566e+01] [-1.17358725e-02 -2.56927407e-05 -9.99931132e-01 -3.97623288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28655999499995 meters 0.011540132229593138 Centerline is valid? [True, True] Translation: X:249.95, Y:-96.91, Z:-3.98 [[ 9.90270175e-01 1.38651974e-01 -1.18579273e-02 2.49952569e+02] [ 1.38642666e-01 -9.90341167e-01 -1.60744619e-03 -9.69079492e+01] [-1.19662692e-02 -5.22086338e-05 -9.99928400e-01 -3.97591958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34655999499995 meters 0.011439375837956291 Centerline is valid? [True, True] Translation: X:249.98, Y:-96.91, Z:-3.98 [[ 9.75049256e-01 2.21572061e-01 -1.35930052e-02 2.49984185e+02] [ 2.21552339e-01 -9.75143992e-01 -2.95897123e-03 -9.69128794e+01] [-1.39107627e-02 -1.26419397e-04 -9.99903233e-01 -3.97546138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40655999499995 meters 0.011834780629868931 Centerline is valid? [True, True] Translation: X:250.02, Y:-96.92, Z:-3.98 [[ 9.52808893e-01 3.03232595e-01 -1.43250597e-02 2.50017182e+02] [ 3.03201825e-01 -9.52916546e-01 -4.32547065e-03 -9.69207979e+01] [-1.49622101e-02 -2.22037345e-04 -9.99888035e-01 -3.97531948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46655999499995 meters 0.012425299558596368 Centerline is valid? [True, True] Translation: X:250.05, Y:-96.92, Z:-3.98 [[ 9.24473419e-01 3.80991733e-01 -1.39354471e-02 2.50050838e+02] [ 3.80953133e-01 -9.24578399e-01 -5.43083315e-03 -9.69236151e+01] [-1.49535159e-02 -2.88091320e-04 -9.99888148e-01 -3.97520785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52655999499996 meters 0.012830566975808234 Centerline is valid? [True, True] Translation: X:250.08, Y:-96.92, Z:-3.98 [[ 8.91387294e-01 4.53060864e-01 -1.28275146e-02 2.50081449e+02] [ 4.53018660e-01 -8.91479539e-01 -6.19081513e-03 -9.69187335e+01] [-1.42402828e-02 -2.92689513e-04 -9.99898559e-01 -3.97616662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58655999499996 meters 0.012274825517166816 Centerline is valid? [True, True] Translation: X:250.11, Y:-96.91, Z:-3.98 [[ 8.54165482e-01 5.19890441e-01 -1.07358460e-02 2.50111580e+02] [ 5.19852971e-01 -8.54232913e-01 -6.24654020e-03 -9.69089257e+01] [-1.24184295e-02 -2.45482415e-04 -9.99922858e-01 -3.97883535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64655999499996 meters 0.012059203912909272 Centerline is valid? [True, True] Translation: X:250.14, Y:-96.90, Z:-3.98 [[ 8.11915865e-01 5.83703935e-01 -9.07436957e-03 2.50140503e+02] [ 5.83670343e-01 -8.11966547e-01 -6.26566274e-03 -9.68967143e+01] [-1.10253765e-02 -2.09249412e-04 -9.99939197e-01 -3.97990617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70655999499996 meters 0.011698868204392924 Centerline is valid? [True, True] Translation: X:250.17, Y:-96.88, Z:-3.98 [[ 7.65434713e-01 6.43462669e-01 -8.09287490e-03 2.50167191e+02] [ 6.43429118e-01 -7.65477474e-01 -6.57319425e-03 -9.68812416e+01] [-1.04245185e-02 -1.75840313e-04 -9.99945648e-01 -3.98064974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76655999499997 meters 0.0116456854849225 Centerline is valid? [True, True] Translation: X:250.19, Y:-96.87, Z:-3.98 [[ 7.13121553e-01 7.00986355e-01 -8.70522005e-03 2.50194292e+02] [ 7.00937184e-01 -7.13174662e-01 -8.30459322e-03 -9.68659452e+01] [-1.20297489e-02 -1.79628009e-04 -9.99927624e-01 -3.97943932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82655999499997 meters 0.011895532967557515 Centerline is valid? [True, True] Translation: X:250.22, Y:-96.85, Z:-3.98 [[ 6.55144404e-01 7.55443305e-01 -9.55105444e-03 2.50221760e+02] [ 7.55367696e-01 -6.55213987e-01 -1.06899537e-02 -9.68505908e+01] [-1.43336384e-02 -2.11094659e-04 -9.99897246e-01 -3.97718172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88655999499997 meters 0.012449375748190826 Centerline is valid? [True, True] Translation: X:250.25, Y:-96.83, Z:-3.97 [[ 5.91492526e-01 8.06242075e-01 -1.05027942e-02 2.50248689e+02] [ 8.06123507e-01 -5.91585695e-01 -1.38295652e-02 -9.68335713e+01] [-1.73632801e-02 -2.86464820e-04 -9.99849206e-01 -3.97344209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.946559995 meters 0.012792543042853476 Centerline is valid? [True, True] Translation: X:250.27, Y:-96.81, Z:-3.97 [[ 5.25366284e-01 8.50824729e-01 -9.35670431e-03 2.50271371e+02] [ 8.50700189e-01 -5.25449507e-01 -1.45603742e-02 -9.68128335e+01] [-1.73048021e-02 -3.10220449e-04 -9.99850213e-01 -3.97417112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.006559995 meters 0.012988698174253195 Centerline is valid? [True, True] Translation: X:250.29, Y:-96.79, Z:-3.98 [[ 4.56202014e-01 8.89852458e-01 -6.50579269e-03 2.50289803e+02] [ 8.89770627e-01 -4.56248313e-01 -1.20709908e-02 -9.67909428e+01] [-1.37096578e-02 -2.81852934e-04 -9.99905979e-01 -3.97729974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.066559995 meters 0.012837345346769495 Centerline is valid? [True, True] Translation: X:250.31, Y:-96.77, Z:-3.98 [[ 3.84758282e-01 9.23004526e-01 -4.86919759e-03 2.50308038e+02] [ 9.22939097e-01 -3.84789000e-01 -1.09931330e-02 -9.67671455e+01] [-1.20203252e-02 -2.64273877e-04 -9.99927718e-01 -3.97901000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.126559995 meters 0.013462569033808538 Centerline is valid? [True, True] Translation: X:250.32, Y:-96.74, Z:-3.98 [[ 3.11515444e-01 9.50231083e-01 -4.36082476e-03 2.50322515e+02] [ 9.50150043e-01 -3.11545842e-01 -1.24130697e-02 -9.67426303e+01] [-1.31538815e-02 -2.76574903e-04 -9.99913446e-01 -3.97699191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.186559995 meters 0.013030671458882325 Centerline is valid? [True, True] Translation: X:250.34, Y:-96.72, Z:-3.98 [[ 2.35365352e-01 9.71899681e-01 -3.76301245e-03 2.50336625e+02] [ 9.71795620e-01 -2.35395229e-01 -1.42253205e-02 -9.67165571e+01] [-1.47113797e-02 -3.08731449e-04 -9.99891734e-01 -3.97736513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.246559995 meters 0.013150751473896716 Centerline is valid? [True, True] Translation: X:250.35, Y:-96.69, Z:-3.98 [[ 1.57798358e-01 9.87468242e-01 -2.47960335e-03 2.50350255e+02] [ 9.87374918e-01 -1.57817543e-01 -1.35791910e-02 -9.66900896e+01] [-1.38003448e-02 -3.05524104e-04 -9.99904724e-01 -3.97851337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.306559995 meters 0.013743418888329157 Centerline is valid? [True, True] Translation: X:250.36, Y:-96.66, Z:-3.98 [[ 7.92802438e-02 9.96851459e-01 -1.34623117e-03 2.50361497e+02] [ 9.96765602e-01 -7.92910887e-02 -1.30865498e-02 -9.66634324e+01] [-1.31520904e-02 -3.04372058e-04 -9.99913461e-01 -3.97831595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.366559995 meters 0.013444225156976674 Centerline is valid? [True, True] Translation: X:250.37, Y:-96.64, Z:-3.98 [[ 3.24812670e-04 9.99999890e-01 -3.38817861e-04 2.50369592e+02] [ 9.99895106e-01 -3.29684692e-04 -1.44799216e-02 -9.66355640e+01] [-1.44800317e-02 -3.34079059e-04 -9.99895103e-01 -3.97906383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42655999499993 meters 0.013475767911291462 Centerline is valid? [True, True] Translation: X:250.38, Y:-96.61, Z:-3.98 [[-7.80437823e-02 9.96949558e-01 8.63895214e-04 2.50377178e+02] [ 9.96828470e-01 7.80477707e-02 -1.55417562e-02 -9.66070515e+01] [-1.55617720e-02 -3.51782090e-04 -9.99878846e-01 -3.97763189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48655999499994 meters 0.013746841483879056 Centerline is valid? [True, True] Translation: X:250.38, Y:-96.58, Z:-3.98 [[-1.55776143e-01 9.87790013e-01 2.16422895e-03 2.50380584e+02] [ 9.87660023e-01 1.55790761e-01 -1.60286560e-02 -9.65788745e+01] [-1.61701132e-02 -3.59359792e-04 -9.99869191e-01 -3.97760450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54655999499994 meters 0.013265523682467393 Centerline is valid? [True, True] Translation: X:250.38, Y:-96.55, Z:-3.98 [[-2.32673386e-01 9.72549677e-01 3.19706331e-03 2.50384806e+02] [ 9.72436587e-01 2.32695097e-01 -1.48349825e-02 -9.65491735e+01] [-1.51716984e-02 -3.42764265e-04 -9.99884844e-01 -3.98023650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60655999499994 meters 0.013745683559374874 Centerline is valid? [True, True] Translation: X:250.39, Y:-96.52, Z:-3.98 [[-3.08600086e-01 9.51181559e-01 4.43042198e-03 2.50387426e+02] [ 9.51066466e-01 3.08631684e-01 -1.48007128e-02 -9.65197909e+01] [-1.54455336e-02 -3.53875452e-04 -9.99880648e-01 -3.98014334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66655999499994 meters 0.013358586951136934 Centerline is valid? [True, True] Translation: X:250.39, Y:-96.49, Z:-3.98 [[-3.81771548e-01 9.24238939e-01 5.73319726e-03 2.50386556e+02] [ 9.24120421e-01 3.81814430e-01 -1.48050228e-02 -9.64899921e+01] [-1.58723960e-02 -3.53971803e-04 -9.99873963e-01 -3.98083649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72655999499995 meters 0.013535349454757381 Centerline is valid? [True, True] Translation: X:250.38, Y:-96.46, Z:-3.98 [[-4.51116657e-01 8.92434975e-01 7.31956300e-03 2.50381297e+02] [ 8.92305260e-01 4.51175911e-01 -1.52190844e-02 -9.64622058e+01] [-1.68844537e-02 -3.34297915e-04 -9.99857392e-01 -3.97915489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78655999499995 meters 0.012896600872524469 Centerline is valid? [True, True] Translation: X:250.37, Y:-96.43, Z:-3.98 [[-5.18931814e-01 8.54772140e-01 8.62334034e-03 2.50373712e+02] [ 8.54643627e-01 5.19003357e-01 -1.48252007e-02 -9.64336769e+01] [-1.71477111e-02 -3.23385418e-04 -9.99852915e-01 -3.98055697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84655999499995 meters 0.01301829130401629 Centerline is valid? [True, True] Translation: X:250.36, Y:-96.41, Z:-3.98 [[-5.83365907e-01 8.12147226e-01 1.00549568e-02 2.50364700e+02] [ 8.12017356e-01 5.83452472e-01 -1.45267262e-02 -9.64061707e+01] [-1.76644298e-02 -3.09597310e-04 -9.99843924e-01 -3.98051776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90655999499995 meters 0.013477835420820943 Centerline is valid? [True, True] Translation: X:250.35, Y:-96.38, Z:-3.98 [[-6.44644283e-01 7.64397873e-01 1.13859898e-02 2.50353345e+02] [ 7.64270362e-01 6.44744758e-01 -1.39646524e-02 -9.63799720e+01] [-1.80156078e-02 -3.00258799e-04 -9.99837661e-01 -3.97889216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96655999499995 meters 0.013229163204206574 Centerline is valid? [True, True] Translation: X:250.34, Y:-96.36, Z:-3.98 [[-7.02127729e-01 7.11923258e-01 1.34880514e-02 2.50336528e+02] [ 7.11783484e-01 7.02257205e-01 -1.41099563e-02 -9.63564300e+01] [-1.95172874e-02 -3.06419376e-04 -9.99809473e-01 -3.97987039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02655999499996 meters 0.01353458621398641 Centerline is valid? [True, True] Translation: X:250.32, Y:-96.33, Z:-3.98 [[-7.55855986e-01 6.54557647e-01 1.53627830e-02 2.50318066e+02] [ 6.54413746e-01 7.56012026e-01 -1.37282864e-02 -9.63334125e+01] [-2.06004035e-02 -3.22991041e-04 -9.99787737e-01 -3.97881650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08655999499996 meters 0.012901064110071235 Centerline is valid? [True, True] Translation: X:250.34, Y:-96.31, Z:-3.98 [[-8.00274323e-01 5.99444332e-01 1.50830993e-02 2.50335063e+02] [ 5.99330906e-01 8.00416395e-01 -1.16644683e-02 -9.63118837e+01] [-1.90649593e-02 -2.95006909e-04 -9.99818204e-01 -3.98221849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14655999499996 meters 0.012708964881598535 Centerline is valid? [True, True] Translation: X:250.35, Y:-96.29, Z:-3.98 [[-8.40399325e-01 5.41781763e-01 1.41949325e-02 2.50351056e+02] [ 5.41699195e-01 8.40519157e-01 -9.46200585e-03 -9.62898019e+01] [-1.70574549e-02 -2.62479832e-04 -9.99854477e-01 -3.98443655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20655999499996 meters 0.01250600581851917 Centerline is valid? [True, True] Translation: X:250.37, Y:-96.27, Z:-3.99 [[-8.76297890e-01 4.81548024e-01 1.46118916e-02 2.50367452e+02] [ 4.81476357e-01 8.76419670e-01 -8.31135720e-03 -9.62686401e+01] [-1.68084669e-02 -2.47944431e-04 -9.99858697e-01 -3.98667862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26655999499997 meters 0.012697567486033786 Centerline is valid? [True, True] Translation: X:250.70, Y:-95.68, Z:-4.99 [[-8.30569919e-01 -5.56768058e-01 1.27647785e-02 2.50701264e+02] [ 5.56704867e-01 -8.30667991e-01 -8.38927237e-03 -9.56845993e+01] [ 1.52741718e-02 1.38337049e-04 9.99883333e-01 -4.98724571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32655999499997 meters 0.013665092752508835 Centerline is valid? [True, True] Translation: X:250.33, Y:-96.24, Z:-3.99 [[-8.79856525e-01 4.74974351e-01 1.58701383e-02 2.50331312e+02] [ 4.74890271e-01 8.79999577e-01 -8.94288042e-03 -9.62420392e+01] [-1.82133538e-02 -3.31877404e-04 -9.99834068e-01 -3.98505557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38655999499997 meters 0.013434059790207958 Centerline is valid? [True, True] Translation: X:250.65, Y:-95.67, Z:-4.99 [[-8.30306751e-01 -5.57144281e-01 1.34517563e-02 2.50654262e+02] [ 5.57074500e-01 -8.30415692e-01 -8.81929637e-03 -9.56683959e+01] [ 1.60841700e-02 1.70909097e-04 9.99870627e-01 -4.98853146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.446559995 meters 0.013937245211497485 Centerline is valid? [True, True] Translation: X:250.29, Y:-96.22, Z:-3.98 [[-8.82803008e-01 4.69441673e-01 1.68334608e-02 2.50293053e+02] [ 4.69347746e-01 8.82963396e-01 -9.39863967e-03 -9.62160874e+01] [-1.92754429e-02 -3.96400467e-04 -9.99814133e-01 -3.98465311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.506559995 meters 0.014535946055935632 Centerline is valid? [True, True] Translation: X:250.30, Y:-96.19, Z:-3.98 [[-9.14271410e-01 4.04661437e-01 1.88920623e-02 2.50302829e+02] [ 4.04564948e-01 9.14466469e-01 -8.84766003e-03 -9.61890815e+01] [-2.08564643e-02 -4.46096419e-04 -9.99782381e-01 -3.98367778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.566559995 meters 0.014608521262466884 Centerline is valid? [True, True] Translation: X:250.31, Y:-96.16, Z:-3.98 [[-9.41148803e-01 3.37352559e-01 2.07889602e-02 2.50312722e+02] [ 3.37258358e-01 9.41378242e-01 -7.98783131e-03 -9.61622763e+01] [-2.22649901e-02 -5.06487305e-04 -9.99751976e-01 -3.98442515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.626559995 meters 0.014819487287840197 Centerline is valid? [True, True] Translation: X:250.54, Y:-95.56, Z:-4.99 [[-9.00635772e-01 -4.34249162e-01 1.68187592e-02 2.50543249e+02] [ 4.34177784e-01 -9.00792774e-01 -7.87592362e-03 -9.55634331e+01] [ 1.85703300e-02 2.08993061e-04 9.99827535e-01 -4.98870425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.686559995 meters 0.014413777632913728 Centerline is valid? [True, True] Translation: X:250.27, Y:-96.14, Z:-3.99 [[-9.41964905e-01 3.35249955e-01 1.75950194e-02 2.50272374e+02] [ 3.35183254e-01 9.42129130e-01 -6.69998647e-03 -9.61448085e+01] [-1.88229505e-02 -4.13596267e-04 -9.99822747e-01 -3.98820916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.746559995 meters 0.013160442029734966 Centerline is valid? [True, True] Translation: X:250.50, Y:-95.55, Z:-4.98 [[-9.03874917e-01 -4.27595909e-01 1.31100196e-02 2.50500249e+02] [ 4.27552203e-01 -9.03969984e-01 -6.11400408e-03 -9.55464374e+01] [ 1.44653873e-02 7.89228315e-05 9.99895368e-01 -4.98265283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.806559995 meters 0.013002893835550974 Centerline is valid? [True, True] Translation: X:250.23, Y:-96.13, Z:-3.99 [[-9.41971933e-01 3.35328183e-01 1.56168798e-02 2.50230965e+02] [ 3.35276602e-01 9.42101328e-01 -5.88962957e-03 -9.61313039e+01] [-1.66876420e-02 -3.11891347e-04 -9.99860703e-01 -3.99166029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.866559995 meters 0.01250893285356412 Centerline is valid? [True, True] Translation: X:250.24, Y:-96.10, Z:-3.99 [[-9.62860517e-01 2.69498268e-01 1.64410372e-02 2.50237912e+02] [ 2.69453894e-01 9.63000832e-01 -4.89873258e-03 -9.61046240e+01] [-1.71529325e-02 -2.86694688e-04 -9.99852837e-01 -3.99173980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92655999499993 meters 0.012385227400853998 Centerline is valid? [True, True] Translation: X:250.25, Y:-96.08, Z:-3.99 [[-9.79330185e-01 2.01611695e-01 1.62822998e-02 2.50245439e+02] [ 2.01579362e-01 9.79465495e-01 -3.62019016e-03 -9.60765956e+01] [-1.66778235e-02 -2.63185900e-04 -9.99860881e-01 -3.99105293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98655999499994 meters 0.01226579547540468 Centerline is valid? [True, True] Translation: X:250.25, Y:-96.05, Z:-3.99 [[-9.91123401e-01 1.31877892e-01 1.68114491e-02 2.50249220e+02] [ 1.31854431e-01 9.91265934e-01 -2.50125900e-03 -9.60489133e+01] [-1.69944776e-02 -2.62392260e-04 -9.99855549e-01 -3.99045487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04655999499994 meters 0.012951998930040072 Centerline is valid? [True, True] Translation: X:250.25, Y:-96.02, Z:-3.99 [[-9.98006089e-01 6.06323766e-02 1.75374350e-02 2.50247312e+02] [ 6.06181213e-02 9.98160126e-01 -1.34378017e-03 -9.60189233e+01] [-1.75866449e-02 -2.78014432e-04 -9.99845304e-01 -3.98734493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10655999499994 meters 0.013277014019962 Centerline is valid? [True, True] Translation: X:250.29, Y:-95.39, Z:-4.99 [[-9.88100344e-01 -1.52942226e-01 1.63213353e-02 2.50288246e+02] [ 1.52924563e-01 -9.88235113e-01 -2.33218960e-03 -9.53933252e+01] [ 1.64860069e-02 1.91495723e-04 9.99864078e-01 -4.98632054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16655999499994 meters 0.013903023221330694 Centerline is valid? [True, True] Translation: X:250.19, Y:-96.01, Z:-3.99 [[-9.98569207e-01 4.91195276e-02 2.11379139e-02 2.50189922e+02] [ 4.90984075e-02 9.98792793e-01 -1.51729154e-03 -9.60123247e+01] [-2.11869247e-02 -4.77282699e-04 -9.99775418e-01 -3.98743814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22655999499995 meters 0.016245161149969694 Centerline is valid? [True, True] Translation: X:250.18, Y:-95.98, Z:-3.99 [[-9.99354504e-01 -2.87307391e-02 2.15666211e-02 2.50180484e+02] [-2.87376422e-02 9.99586989e-01 -1.01663191e-05 -9.59790661e+01] [-2.15574217e-02 -6.29933597e-04 -9.99767413e-01 -3.98549806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28655999499995 meters 0.01755737227971032 Centerline is valid? [True, True] Translation: X:250.18, Y:-95.37, Z:-4.99 [[-9.95406063e-01 -9.42156939e-02 1.70344382e-02 2.50178866e+02] [ 9.42054091e-02 -9.95551787e-01 -1.40697723e-03 -9.53726791e+01] [ 1.70912247e-02 2.04222551e-04 9.99853913e-01 -4.98643785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34655999499995 meters 0.018981048037416157 Centerline is valid? [True, True] Translation: X:250.12, Y:-95.97, Z:-3.99 [[-9.99018676e-01 -4.05468883e-02 1.78222941e-02 2.50122084e+02] [-4.05524294e-02 9.99177411e-01 5.05250111e-05 -9.59724654e+01] [-1.78096823e-02 -6.72261892e-04 -9.99841169e-01 -3.98970806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40655999499995 meters 0.020636680303434737 Centerline is valid? [True, True] Translation: X:250.12, Y:-95.38, Z:-4.98 [[-9.95314682e-01 -9.59175369e-02 1.21864798e-02 2.50118021e+02] [ 9.59116834e-02 -9.95389278e-01 -1.06520773e-03 -9.53824590e+01] [ 1.22324635e-02 1.08608907e-04 9.99925175e-01 -4.98269124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46655999499995 meters 0.020899937285216597 Centerline is valid? [True, True] Translation: X:250.07, Y:-95.97, Z:-3.99 [[-9.98723003e-01 -4.88835101e-02 1.27579635e-02 2.50065762e+02] [-4.88866409e-02 9.98804331e-01 6.65364543e-05 -9.59658203e+01] [-1.27459618e-02 -5.57242493e-04 -9.99918612e-01 -3.99427944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52655999499996 meters 0.02073686580421804 Centerline is valid? [True, True] Translation: X:250.06, Y:-95.39, Z:-4.98 [[-9.95420481e-01 -9.49342062e-02 1.12054734e-02 2.50058258e+02] [ 9.49326853e-02 -9.95483470e-01 -6.68746144e-04 -9.53895615e+01] [ 1.12183505e-02 3.98082075e-04 9.99936993e-01 -4.98011321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58655999499996 meters 0.021455838061958124 Centerline is valid? [True, True] Translation: X:250.01, Y:-95.96, Z:-3.99 [[-9.98379186e-01 -5.50803384e-02 1.43233478e-02 2.50013934e+02] [-5.50839295e-02 9.98481717e-01 1.43975822e-04 -9.59599572e+01] [-1.43095312e-02 -6.45243817e-04 -9.99897405e-01 -3.99384660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64655999499996 meters 0.02203089421699682 Centerline is valid? [True, True] Translation: X:250.01, Y:-95.40, Z:-4.98 [[-9.95791051e-01 -9.05928349e-02 1.38967986e-02 2.50005349e+02] [ 9.05924403e-02 -9.95887833e-01 -6.59198762e-04 -9.53982940e+01] [ 1.38993713e-02 6.02520667e-04 9.99903218e-01 -4.98288428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70655999499996 meters 0.021917145129095383 Centerline is valid? [True, True] Translation: X:249.95, Y:-95.96, Z:-3.99 [[-9.98198778e-01 -5.77201404e-02 1.63579997e-02 2.49954639e+02] [-5.77239430e-02 9.98332554e-01 2.39992114e-04 -9.59574758e+01] [-1.63445760e-02 -7.04688407e-04 -9.99866170e-01 -3.99220151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76655999499997 meters 0.018690332288791165 Centerline is valid? [True, True] Translation: X:249.95, Y:-95.93, Z:-3.99 [[-9.92185899e-01 -1.23649730e-01 1.66699055e-02 2.49951026e+02] [-1.23643018e-01 9.92325723e-01 1.43664091e-03 -9.59340270e+01] [-1.67196163e-02 -6.35702572e-04 -9.99860015e-01 -3.99301546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82655999499997 meters 0.016792270135728565 Centerline is valid? [True, True] Translation: X:249.91, Y:-95.37, Z:-4.98 [[-9.99891490e-01 -4.47481380e-03 1.40350971e-02 2.49907411e+02] [ 4.47975223e-03 -9.99989915e-01 3.20443649e-04 -9.53701323e+01] [ 1.40335216e-02 3.83282635e-04 9.99901452e-01 -4.98212731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88655999499997 meters 0.013333397211774263 Centerline is valid? [True, True] Translation: X:249.90, Y:-95.95, Z:-4.00 [[-9.93696734e-01 -1.11298613e-01 1.33947370e-02 2.49896798e+02] [-1.11292547e-01 9.93786964e-01 1.19974209e-03 -9.59476790e+01] [-1.34450447e-02 -2.98554604e-04 -9.99909567e-01 -3.99756245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.946559995 meters 0.011841718522335742 Centerline is valid? [True, True] Translation: X:249.89, Y:-95.92, Z:-4.00 [[-9.85285037e-01 -1.70277999e-01 1.47918518e-02 2.49893569e+02] [-1.70261052e-01 9.85396053e-01 2.40681931e-03 -9.59193043e+01] [-1.49856608e-02 -1.47073198e-04 -9.99887698e-01 -3.99611920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.006559995 meters 0.011960058556462528 Centerline is valid? [True, True] Translation: X:249.88, Y:-95.90, Z:-4.00 [[-9.71013864e-01 -2.38561398e-01 1.48504330e-02 2.49875764e+02] [-2.38535459e-01 9.71127409e-01 3.52008107e-03 -9.58961280e+01] [-1.52614180e-02 -1.24307343e-04 -9.99883530e-01 -3.99589435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.066559995 meters 0.011960058556462528 Centerline is valid? [True, True] Translation: X:249.85, Y:-95.87, Z:-4.00 [[-9.51459949e-01 -3.07428096e-01 1.45578594e-02 2.49852832e+02] [-3.07394114e-01 9.51571306e-01 4.57255727e-03 -9.58745932e+01] [-1.52585738e-02 -1.24395177e-04 -9.99883573e-01 -3.99593748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.126559995 meters 0.011775266457180139 Centerline is valid? [True, True] Translation: X:249.82, Y:-95.86, Z:-4.00 [[-9.27548123e-01 -3.73442168e-01 1.39795480e-02 2.49823868e+02] [-3.73401314e-01 9.27653458e-01 5.52451755e-03 -9.58572320e+01] [-1.50312639e-02 -9.57257060e-05 -9.99887020e-01 -3.99679235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.186559995 meters 0.011775266457180139 Centerline is valid? [True, True] Translation: X:249.78, Y:-95.85, Z:-4.00 [[-8.98001434e-01 -4.39784166e-01 1.35392720e-02 2.49775286e+02] [-4.39735799e-01 8.98103490e-01 6.52293681e-03 -9.58490521e+01] [-1.50283517e-02 -9.60959755e-05 -9.99887063e-01 -3.99686301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.246559995 meters 0.011870464491400837 Centerline is valid? [True, True] Translation: X:249.71, Y:-95.85, Z:-4.00 [[-8.65065484e-01 -5.01505233e-01 1.24181654e-02 2.49709419e+02] [-5.01454303e-01 8.65154610e-01 7.14720427e-03 -9.58545481e+01] [-1.43279934e-02 -4.43427841e-05 -9.99897348e-01 -3.99724692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.306559995 meters 0.012276308844668944 Centerline is valid? [True, True] Translation: X:249.64, Y:-95.87, Z:-4.00 [[-8.28926084e-01 -5.59256617e-01 1.06575229e-02 2.49644521e+02] [-5.59209980e-01 8.28994593e-01 7.22244480e-03 -9.58661470e+01] [-1.28742289e-02 2.70797351e-05 -9.99917123e-01 -3.99868733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.366559995 meters 0.012852753672674277 Centerline is valid? [True, True] Translation: X:249.57, Y:-95.89, Z:-4.00 [[-7.87527772e-01 -6.16205042e-01 9.55800114e-03 2.49570894e+02] [-6.16158593e-01 7.87585768e-01 7.56615345e-03 -9.58892618e+01] [-1.21900476e-02 6.93114329e-05 -9.99925696e-01 -3.99959774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42655999499993 meters 0.012857660537874783 Centerline is valid? [True, True] Translation: X:249.49, Y:-95.92, Z:-4.00 [[-7.39113693e-01 -6.73521738e-01 8.91167541e-03 2.49491847e+02] [-6.73471750e-01 7.39167413e-01 8.20594162e-03 -9.59191241e+01] [-1.21141001e-02 6.33621790e-05 -9.99926620e-01 -3.99983540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48655999499994 meters 0.012209563418932876 Centerline is valid? [True, True] Translation: X:249.41, Y:-95.96, Z:-4.00 [[-6.82331311e-01 -7.30992767e-01 8.57651001e-03 2.49405513e+02] [-7.30935179e-01 6.82385210e-01 9.17551440e-03 -9.59569108e+01] [-1.25597182e-02 -8.13210866e-06 -9.99921124e-01 -3.99860713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54655999499994 meters 0.011533060296969289 Centerline is valid? [True, True] Translation: X:249.32, Y:-96.00, Z:-4.00 [[-6.20922389e-01 -7.83828160e-01 8.29468641e-03 2.49321911e+02] [-7.83760046e-01 6.20977784e-01 1.03335627e-02 -9.60039942e+01] [-1.32505534e-02 -8.47033565e-05 -9.99912204e-01 -3.99945750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60655999499994 meters 0.012020217734877579 Centerline is valid? [True, True] Translation: X:249.24, Y:-96.06, Z:-4.00 [[-5.53865659e-01 -8.32567710e-01 7.98999355e-03 2.49238527e+02] [-8.32486156e-01 5.53923252e-01 1.16546635e-02 -9.60595253e+01] [-1.41291398e-02 -1.96441114e-04 -9.99900159e-01 -3.99858953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66655999499994 meters 0.012390484037253957 Centerline is valid? [True, True] Translation: X:249.16, Y:-96.13, Z:-4.00 [[-4.87101657e-01 -8.73315365e-01 7.22838432e-03 2.49162173e+02] [-8.73226447e-01 4.87155227e-01 1.24642223e-02 -9.61252514e+01] [-1.44065420e-02 -2.40673034e-04 -9.99896191e-01 -3.99916986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72655999499995 meters 0.013111286387566068 Centerline is valid? [True, True] Translation: X:249.09, Y:-96.20, Z:-4.00 [[-4.17907664e-01 -9.08471760e-01 5.67858965e-03 2.49090120e+02] [-9.08395982e-01 4.17946166e-01 1.17363581e-02 -9.61999769e+01] [-1.30354947e-02 -2.53694032e-04 -9.99915002e-01 -4.00031969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78655999499995 meters 0.013349283599985178 Centerline is valid? [True, True] Translation: X:249.03, Y:-96.28, Z:-4.00 [[-3.47090082e-01 -9.37820628e-01 4.57657818e-03 2.49025235e+02] [-9.37748723e-01 3.47120156e-01 1.16159248e-02 -9.62823969e+01] [-1.24822764e-02 -2.59908060e-04 -9.99922060e-01 -4.00135191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84655999499995 meters 0.01345176637549081 Centerline is valid? [True, True] Translation: X:248.97, Y:-96.37, Z:-4.00 [[-2.72454109e-01 -9.62162711e-01 3.41709091e-03 2.48967018e+02] [-9.62099388e-01 2.72475393e-01 1.10420874e-02 -9.63686179e+01] [-1.15553579e-02 -2.79119000e-04 -9.99933196e-01 -4.00301743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90655999499995 meters 0.014692627810430446 Centerline is valid? [True, True] Translation: X:248.91, Y:-96.46, Z:-4.00 [[-1.97130314e-01 -9.80373985e-01 2.54743763e-03 2.48912690e+02] [-9.80310443e-01 1.97146550e-01 1.11657255e-02 -9.64599634e+01] [-1.14488053e-02 -2.96176752e-04 -9.99934416e-01 -4.00192779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96655999499995 meters 0.014681358085601112 Centerline is valid? [True, True] Translation: X:248.87, Y:-96.56, Z:-4.00 [[-1.20424717e-01 -9.92720711e-01 1.86485103e-03 2.48867643e+02] [-9.92641601e-01 1.20438671e-01 1.25370952e-02 -9.65623609e+01] [-1.26704342e-02 -3.41352577e-04 -9.99919669e-01 -4.00212434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02655999499996 meters 0.014665245614160029 Centerline is valid? [True, True] Translation: X:248.83, Y:-96.67, Z:-4.00 [[-4.37692574e-02 -9.99041196e-01 9.70224199e-04 2.48831773e+02] [-9.98948509e-01 4.37784175e-02 1.36134568e-02 -9.66665161e+01] [-1.36428791e-02 -3.73353121e-04 -9.99906862e-01 -4.00174520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08655999499996 meters 0.01506999245653905 Centerline is valid? [True, True] Translation: X:248.80, Y:-96.77, Z:-4.00 [[ 3.19991512e-02 -9.99487893e-01 -8.23194192e-05 2.48803472e+02] [-9.99375867e-01 -3.19967975e-02 1.49693787e-02 -9.67711858e+01] [-1.49643467e-02 -3.96739371e-04 -9.99887949e-01 -4.00026007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14655999499996 meters 0.014068162774224598 Centerline is valid? [True, True] Translation: X:248.79, Y:-96.88, Z:-4.00 [[ 1.04874410e-01 -9.94484730e-01 -1.21677664e-03 2.48789476e+02] [-9.94373788e-01 -1.04880890e-01 1.48582736e-02 -9.68822286e+01] [-1.49039428e-02 -3.48321874e-04 -9.99888869e-01 -4.00086699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20655999499996 meters 0.013716676214012168 Centerline is valid? [True, True] Translation: X:248.24, Y:-97.03, Z:-4.98 [[ 4.22591784e-03 9.99991058e-01 -1.59394295e-04 2.48244260e+02] [-9.99918981e-01 4.22752705e-03 1.20066111e-02 -9.70285072e+01] [ 1.20071776e-02 1.08642429e-04 9.99927905e-01 -4.97886841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26655999499997 meters 0.012785123937003588 Centerline is valid? [True, True] Translation: X:248.82, Y:-97.13, Z:-4.00 [[ 1.07764207e-01 -9.94175681e-01 -1.26157719e-03 2.48823341e+02] [-9.94078110e-01 -1.07771308e-01 1.39303923e-02 -9.71327853e+01] [-1.39852191e-02 -2.47091401e-04 -9.99902172e-01 -4.00339474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32655999499997 meters 0.012348020618754313 Centerline is valid? [True, True] Translation: X:248.82, Y:-97.25, Z:-4.00 [[ 1.82525549e-01 -9.83198409e-01 -2.30478481e-03 2.48817303e+02] [-9.83103062e-01 -1.82539950e-01 1.36943893e-02 -9.72453681e+01] [-1.38850171e-02 -2.33734916e-04 -9.99903571e-01 -4.00474491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38655999499997 meters 0.012691540416905855 Centerline is valid? [True, True] Translation: X:248.82, Y:-97.36, Z:-4.00 [[ 2.59030138e-01 -9.65862579e-01 -3.58705748e-03 2.48819420e+02] [-9.65754762e-01 -2.59054828e-01 1.44338645e-02 -9.73636686e+01] [-1.48703742e-02 -2.74588065e-04 -9.99889392e-01 -4.00455044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.446559995 meters 0.014367598666561307 Centerline is valid? [True, True] Translation: X:248.83, Y:-97.48, Z:-4.00 [[ 3.37428400e-01 -9.41337236e-01 -5.12668200e-03 2.48826086e+02] [-9.41210615e-01 -3.37467123e-01 1.54440378e-02 -9.74810244e+01] [-1.62681345e-02 -3.85969439e-04 -9.99867591e-01 -4.00283094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.506559995 meters 0.015311295307182188 Centerline is valid? [True, True] Translation: X:248.84, Y:-97.59, Z:-4.00 [[ 4.11997123e-01 -9.11164668e-01 -6.10891899e-03 2.48841283e+02] [-9.11048121e-01 -4.12042174e-01 1.45797058e-02 -9.75944997e+01] [-1.58016450e-02 -4.41277661e-04 -9.99875049e-01 -4.00293609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.566559995 meters 0.016601554144567914 Centerline is valid? [True, True] Translation: X:248.87, Y:-97.70, Z:-4.00 [[ 4.83566090e-01 -8.75277984e-01 -7.23106431e-03 2.48867326e+02] [-8.75164206e-01 -4.83619893e-01 1.41213233e-02 -9.77046493e+01] [-1.58571700e-02 -5.00224452e-04 -9.99874142e-01 -4.00328226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.626559995 meters 0.016270848267847044 Centerline is valid? [True, True] Translation: X:248.90, Y:-97.82, Z:-4.00 [[ 5.49499998e-01 -8.35454249e-01 -8.12095060e-03 2.48902648e+02] [-8.35349158e-01 -5.49559774e-01 1.32604214e-02 -9.78158090e+01] [-1.55414232e-02 -5.02772292e-04 -9.99879098e-01 -4.00413920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.686559995 meters 0.01677263014441935 Centerline is valid? [True, True] Translation: X:248.94, Y:-97.91, Z:-4.00 [[ 6.12200294e-01 -7.90656897e-01 -8.51305389e-03 2.48940290e+02] [-7.90569169e-01 -6.12259287e-01 1.17878980e-02 -9.79141242e+01] [-1.45323792e-02 -4.86396684e-04 -9.99894281e-01 -4.00468718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.746559995 meters 0.01854564867119807 Centerline is valid? [True, True] Translation: X:248.99, Y:-98.01, Z:-4.01 [[ 6.71019847e-01 -7.41388785e-01 -8.66226810e-03 2.48987194e+02] [-7.41317956e-01 -6.71075597e-01 1.02582788e-02 -9.80118434e+01] [-1.34184096e-02 -4.62013800e-04 -9.99909862e-01 -4.00527271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.806559995 meters 0.016157222860213122 Centerline is valid? [True, True] Translation: X:249.04, Y:-98.10, Z:-4.01 [[ 7.25230979e-01 -6.88439913e-01 -9.51386143e-03 2.49041201e+02] [-6.88372182e-01 -7.25293232e-01 9.66782476e-03 -9.80990731e+01] [-1.35560557e-02 -4.62328458e-04 -9.99908006e-01 -4.00704478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.866559995 meters 0.017226277428039942 Centerline is valid? [True, True] Translation: X:249.10, Y:-98.19, Z:-4.01 [[ 7.74554860e-01 -6.32421988e-01 -1.03536506e-02 2.49099951e+02] [-6.32357633e-01 -7.74623926e-01 9.03315996e-03 -9.81856087e+01] [-1.37329544e-02 -4.49467976e-04 -9.99905598e-01 -4.00657487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92655999499993 meters 0.015208672147299245 Centerline is valid? [True, True] Translation: X:249.13, Y:-98.21, Z:-4.01 [[ 8.19141090e-01 -5.73484117e-01 -1.11284541e-02 2.49129125e+02] [-5.73424582e-01 -8.19216584e-01 8.27270424e-03 -9.82056345e+01] [-1.38608787e-02 -3.95182811e-04 -9.99903855e-01 -4.00713322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98655999499994 meters 0.013819264270049614 Centerline is valid? [True, True] Translation: X:249.16, Y:-98.23, Z:-4.01 [[ 8.59760333e-01 -5.10571605e-01 -1.13492242e-02 2.49156154e+02] [-5.10521878e-01 -8.59835171e-01 7.13383581e-03 -9.82265234e+01] [-1.34007961e-02 -3.39361798e-04 -9.99910148e-01 -4.00855824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04655999499994 meters 0.013342062189740173 Centerline is valid? [True, True] Translation: X:249.18, Y:-98.24, Z:-4.01 [[ 8.95079854e-01 -4.45779659e-01 -1.06089853e-02 2.49184277e+02] [-4.45744910e-01 -8.95142686e-01 5.57193697e-03 -9.82447644e+01] [-1.19804117e-02 -2.58427340e-04 -9.99928199e-01 -4.00893094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10655999499994 meters 0.012541478844959219 Centerline is valid? [True, True] Translation: X:249.21, Y:-98.26, Z:-4.01 [[ 9.26538047e-01 -3.76041337e-01 -1.09617674e-02 2.49212770e+02] [-3.76011990e-01 -9.26602858e-01 4.70388042e-03 -9.82619932e+01] [-1.19260585e-02 -2.36568223e-04 -9.99928854e-01 -4.00983871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16655999499994 meters 0.012286365494377302 Centerline is valid? [True, True] Translation: X:249.24, Y:-98.28, Z:-4.01 [[ 9.52620284e-01 -3.03893288e-01 -1.27852871e-02 2.49241549e+02] [-3.03862578e-01 -9.52706048e-01 4.32670605e-03 -9.82788378e+01] [-1.34954773e-02 -2.36737635e-04 -9.99908904e-01 -4.00881043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22655999499995 meters 0.01231962769999906 Centerline is valid? [True, True] Translation: X:249.27, Y:-98.29, Z:-4.01 [[ 9.73324437e-01 -2.29032014e-01 -1.35600944e-02 2.49271246e+02] [-2.29006435e-01 -9.73418862e-01 3.43088767e-03 -9.82947931e+01] [-1.39854348e-02 -2.34017936e-04 -9.99902172e-01 -4.00834015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28655999499995 meters 0.01278596721361708 Centerline is valid? [True, True] Translation: X:249.30, Y:-98.31, Z:-4.01 [[ 9.88070715e-01 -1.53423586e-01 -1.33216239e-02 2.49300598e+02] [-1.53406749e-01 -9.88160492e-01 2.28281947e-03 -9.83067015e+01] [-1.35141408e-02 -2.11960055e-04 -9.99908657e-01 -4.00728206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34655999499995 meters 0.011935544825187668 Centerline is valid? [True, True] Translation: X:249.33, Y:-98.32, Z:-4.01 [[ 9.96989397e-01 -7.65587873e-02 -1.22838730e-02 2.49328758e+02] [-7.65506481e-02 -9.97065051e-01 1.13211185e-03 -9.83163356e+01] [-1.23344935e-02 -1.88365073e-04 -9.99923910e-01 -4.01050276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40655999499995 meters 0.0119873348054433 Centerline is valid? [True, True] Translation: X:249.36, Y:-98.33, Z:-4.01 [[ 9.99924064e-01 2.38773452e-03 -1.20899013e-02 2.49356830e+02] [ 2.38989832e-03 -9.99997131e-01 1.64531977e-04 -9.83253530e+01] [-1.20894737e-02 -1.93413118e-04 -9.99926901e-01 -4.01125770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46655999499995 meters 0.012953646108150509 Centerline is valid? [True, True] Translation: X:249.38, Y:-98.33, Z:-4.01 [[ 9.96401627e-01 8.37339786e-02 -1.31308337e-02 2.49384381e+02] [ 8.37299312e-02 -9.96488114e-01 -8.58651675e-04 -9.83336708e+01] [-1.31566181e-02 -2.43881879e-04 -9.99913418e-01 -4.00958057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52655999499996 meters 0.013213937401109052 Centerline is valid? [True, True] Translation: X:249.41, Y:-98.34, Z:-4.01 [[ 9.86329531e-01 1.64222727e-01 -1.35997240e-02 2.49413140e+02] [ 1.64211143e-01 -9.86423242e-01 -1.97174089e-03 -9.83379404e+01] [-1.37388885e-02 -2.88439945e-04 -9.99905575e-01 -4.00968508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58655999499996 meters 0.01402866497977358 Centerline is valid? [True, True] Translation: X:249.44, Y:-98.34, Z:-4.01 [[ 9.69668208e-01 2.44031054e-01 -1.38712508e-02 2.49442883e+02] [ 2.44011101e-01 -9.69767358e-01 -3.13910643e-03 -9.83401168e+01] [-1.42179257e-02 -3.40847477e-04 -9.99898862e-01 -4.00972154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64655999499996 meters 0.014342791850240889 Centerline is valid? [True, True] Translation: X:249.47, Y:-98.34, Z:-4.01 [[ 9.46866397e-01 3.21333176e-01 -1.37483437e-02 2.49472285e+02] [ 3.21305047e-01 -9.46966129e-01 -4.26824235e-03 -9.83398259e+01] [-1.43907437e-02 -3.75956970e-04 -9.99896377e-01 -4.01079145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70655999499996 meters 0.014704273548534425 Centerline is valid? [True, True] Translation: X:249.50, Y:-98.34, Z:-4.01 [[ 9.18189058e-01 3.95931183e-01 -1.29364978e-02 2.49502346e+02] [ 3.95897810e-01 -9.18280103e-01 -5.15517932e-03 -9.83377242e+01] [-1.39204248e-02 -3.88101908e-04 -9.99903031e-01 -4.01131719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76655999499997 meters 0.014908084526836009 Centerline is valid? [True, True] Translation: X:249.53, Y:-98.34, Z:-4.01 [[ 8.83325375e-01 4.68579420e-01 -1.30233908e-02 2.49533525e+02] [ 4.68535677e-01 -8.83421269e-01 -6.41716171e-03 -9.83353144e+01] [-1.45120903e-02 -4.33481456e-04 -9.99894600e-01 -4.01095707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82655999499997 meters 0.01483303461479495 Centerline is valid? [True, True] Translation: X:249.56, Y:-98.33, Z:-4.01 [[ 8.44008067e-01 5.36172608e-01 -1.30121959e-02 2.49563432e+02] [ 5.36116975e-01 -8.44108249e-01 -7.73650988e-03 -9.83289144e+01] [-1.51318065e-02 -4.46382337e-04 -9.99885408e-01 -4.01046046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88655999499997 meters 0.01455248099833138 Centerline is valid? [True, True] Translation: X:249.59, Y:-98.32, Z:-4.01 [[ 8.00375445e-01 5.99359678e-01 -1.29276408e-02 2.49591474e+02] [ 5.99290257e-01 -8.00479721e-01 -9.13257449e-03 -9.83190429e+01] [-1.58220112e-02 -4.37920833e-04 -9.99874728e-01 -4.01096663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.946559995 meters 0.01568301391947761 Centerline is valid? [True, True] Translation: X:249.62, Y:-98.31, Z:-4.01 [[ 7.52146912e-01 6.58892698e-01 -1.16376627e-02 2.49619041e+02] [ 6.58821881e-01 -7.52236835e-01 -9.66817242e-03 -9.83082677e+01] [-1.51245668e-02 -3.95260798e-04 -9.99885539e-01 -4.00996110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.006559995 meters 0.013213886260759606 Centerline is valid? [True, True] Translation: X:249.64, Y:-98.29, Z:-4.01 [[ 7.00946376e-01 7.13151039e-01 -9.47487665e-03 2.49642625e+02] [ 7.13091715e-01 -7.01010344e-01 -9.20349654e-03 -9.82908329e+01] [-1.32054697e-02 -3.05298489e-04 -9.99912757e-01 -4.01354774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.066559995 meters 0.012291519093465058 Centerline is valid? [True, True] Translation: X:249.67, Y:-98.27, Z:-4.01 [[ 6.46084081e-01 7.63222686e-01 -8.15423696e-03 2.49665870e+02] [ 7.63166529e-01 -6.46135492e-01 -9.26143762e-03 -9.82742346e+01] [-1.23372812e-02 -2.39373303e-04 -9.99923864e-01 -4.01450937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.126559995 meters 0.01147963027125042 Centerline is valid? [True, True] Translation: X:249.68, Y:-98.25, Z:-4.01 [[ 5.90173885e-01 8.07239879e-01 -7.65261639e-03 2.49683809e+02] [ 8.07175344e-01 -5.90223478e-01 -1.02083343e-02 -9.82542275e+01] [-1.27573284e-02 -1.52310937e-04 -9.99918610e-01 -4.01382999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.186559995 meters 0.011286347230272673 Centerline is valid? [True, True] Translation: X:249.70, Y:-98.23, Z:-4.01 [[ 5.30541889e-01 8.47626452e-01 -7.39609402e-03 2.49701013e+02] [ 8.47545959e-01 -5.30593435e-01 -1.16813750e-02 -9.82328155e+01] [-1.38257613e-02 -7.10708487e-05 -9.99904417e-01 -4.01410066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.246559995 meters 0.011403742776401181 Centerline is valid? [True, True] Translation: X:249.72, Y:-98.21, Z:-4.01 [[ 4.64224437e-01 8.85690681e-01 -6.90576939e-03 2.49720605e+02] [ 8.85594045e-01 -4.64275797e-01 -1.30832577e-02 -9.82132458e+01] [-1.47939010e-02 -4.21403020e-05 -9.99890563e-01 -4.01360610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.306559995 meters 0.011423480917818446 Centerline is valid? [True, True] Translation: X:249.74, Y:-98.19, Z:-4.01 [[ 3.94405226e-01 9.18917202e-01 -5.97445845e-03 2.49740171e+02] [ 9.18812761e-01 -3.94450473e-01 -1.38540735e-02 -9.81925798e+01] [-1.50873744e-02 -2.52896867e-05 -9.99886179e-01 -4.01378821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.366559995 meters 0.011432232211324549 Centerline is valid? [True, True] Translation: X:249.76, Y:-98.17, Z:-4.01 [[ 3.20444495e-01 9.47257008e-01 -4.41441819e-03 2.49756789e+02] [ 9.47168900e-01 -3.20474897e-01 -1.29195686e-02 -9.81717996e+01] [-1.36528621e-02 -4.11949994e-05 -9.99906794e-01 -4.01447284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42655999499993 meters 0.01120133507134212 Centerline is valid? [True, True] Translation: X:249.77, Y:-98.15, Z:-4.02 [[ 2.41868635e-01 9.70305421e-01 -2.63696788e-03 2.49773318e+02] [ 9.70251566e-01 -2.41882994e-01 -1.02232761e-02 -9.81495436e+01] [-1.05575379e-02 -8.58323882e-05 -9.99944264e-01 -4.01676071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48655999499994 meters 0.01111100337673342 Centerline is valid? [True, True] Translation: X:249.79, Y:-98.13, Z:-4.02 [[ 1.61577486e-01 9.86858791e-01 -1.56264757e-03 2.49791176e+02] [ 9.86819341e-01 -1.61585000e-01 -8.82478356e-03 -9.81252521e+01] [-8.96131565e-03 -1.16164503e-04 -9.99959840e-01 -4.01870587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54655999499994 meters 0.011295654425963194 Centerline is valid? [True, True] Translation: X:249.81, Y:-98.10, Z:-4.02 [[ 8.15887334e-02 9.96665725e-01 -8.43425638e-04 2.49805567e+02] [ 9.96628076e-01 -8.15929832e-02 -8.66395878e-03 -9.80994235e+01] [-8.70388837e-03 -1.33700247e-04 -9.99962112e-01 -4.01894525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60655999499994 meters 0.012298297270119581 Centerline is valid? [True, True] Translation: X:249.82, Y:-98.07, Z:-4.02 [[-2.60851526e-03 9.99996583e-01 -1.73999529e-04 2.49821293e+02] [ 9.99948035e-01 2.60667375e-03 -9.85555100e-03 -9.80739298e+01] [-9.85506376e-03 -1.99698843e-04 -9.99951418e-01 -4.01733299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66655999499994 meters 0.013968904410307967 Centerline is valid? [True, True] Translation: X:249.83, Y:-98.05, Z:-4.01 [[-8.70998105e-02 9.96199331e-01 7.18878722e-04 2.49834378e+02] [ 9.96131847e-01 8.71022803e-02 -1.15989325e-02 -9.80451314e+01] [-1.16174647e-02 -2.94166829e-04 -9.99932472e-01 -4.01409718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72655999499995 meters 0.014382743137045842 Centerline is valid? [True, True] Translation: X:249.84, Y:-98.02, Z:-4.01 [[-1.67661622e-01 9.85843194e-01 1.66658525e-03 2.49841442e+02] [ 9.85772801e-01 1.67669574e-01 -1.17855565e-02 -9.80161659e+01] [-1.18981463e-02 -3.33111110e-04 -9.99929159e-01 -4.01454271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78655999499995 meters 0.013799825776957196 Centerline is valid? [True, True] Translation: X:249.85, Y:-97.99, Z:-4.02 [[-2.44446415e-01 9.69659956e-01 2.34960495e-03 2.49846426e+02] [ 9.69602158e-01 2.44457510e-01 -1.05915500e-02 -9.79854335e+01] [-1.08445805e-02 -3.10884404e-04 -9.99941147e-01 -4.01617801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84655999499995 meters 0.013710549440486629 Centerline is valid? [True, True] Translation: X:249.85, Y:-97.96, Z:-4.02 [[-3.16858239e-01 9.48467925e-01 3.07431712e-03 2.49847501e+02] [ 9.48414589e-01 3.16873036e-01 -1.00620994e-02 -9.79566932e+01] [-1.05177467e-02 -2.72531897e-04 -9.99944650e-01 -4.01549103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90655999499995 meters 0.012227955134769335 Centerline is valid? [True, True] Translation: X:249.84, Y:-97.93, Z:-4.01 [[-3.84368625e-01 9.23171542e-01 3.88118820e-03 2.49841644e+02] [ 9.23118926e-01 3.84388164e-01 -9.85841190e-03 -9.79290012e+01] [-1.05928881e-02 -2.06465945e-04 -9.99943872e-01 -4.01499562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96655999499995 meters 0.011365266615338482 Centerline is valid? [True, True] Translation: X:249.83, Y:-97.90, Z:-4.01 [[-4.49574063e-01 8.93230812e-01 4.67737804e-03 2.49834463e+02] [ 8.93179273e-01 4.49598373e-01 -9.59625706e-03 -9.79018423e+01] [-1.06746141e-02 -1.36491157e-04 -9.99943015e-01 -4.01437270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02655999499996 meters 0.011213955574371878 Centerline is valid? [True, True] Translation: X:249.82, Y:-97.88, Z:-4.02 [[-5.14766047e-01 8.57314892e-01 5.20515716e-03 2.49824588e+02] [ 8.57269224e-01 5.14792354e-01 -8.84928503e-03 -9.78752407e+01] [-1.02661989e-02 -9.30904386e-05 -9.99947297e-01 -4.01502059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08655999499996 meters 0.011203074642134369 Centerline is valid? [True, True] Translation: X:249.81, Y:-97.85, Z:-4.02 [[-5.76798411e-01 8.16866916e-01 5.65993138e-03 2.49812345e+02] [ 8.16826756e-01 5.76826178e-01 -8.10013298e-03 -9.78500657e+01] [-9.88152723e-03 -4.89604473e-05 -9.99951175e-01 -4.01581932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14655999499996 meters 0.011310852493001875 Centerline is valid? [True, True] Translation: X:249.80, Y:-97.82, Z:-4.02 [[-6.38311060e-01 7.69753951e-01 6.15186548e-03 2.49802590e+02] [ 7.69717588e-01 6.38340703e-01 -7.48206242e-03 -9.78220862e+01] [-9.68633324e-03 -4.06841303e-05 -9.99953086e-01 -4.01646874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20655999499996 meters 0.011226106814526385 Centerline is valid? [True, True] Translation: X:249.79, Y:-97.80, Z:-4.02 [[-6.97041757e-01 7.16995051e-01 7.13336770e-03 2.49790976e+02] [ 7.16956856e-01 6.97078256e-01 -7.40084540e-03 -9.77954145e+01] [-1.02788850e-02 -4.43814049e-05 -9.99947170e-01 -4.01598759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26655999499997 meters 0.011421619936563059 Centerline is valid? [True, True] Translation: X:249.78, Y:-97.77, Z:-4.01 [[-7.50518537e-01 6.60796495e-01 8.36174842e-03 2.49776513e+02] [ 6.60754995e-01 7.50565115e-01 -7.40570615e-03 -9.77718771e+01] [-1.11697013e-02 -3.30526983e-05 -9.99937616e-01 -4.01481563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32655999499997 meters 0.011607502592173427 Centerline is valid? [True, True] Translation: X:250.25, Y:-97.24, Z:-4.97 [[-7.10275570e-01 -7.03897304e-01 6.09917077e-03 2.50250480e+02] [ 7.03870134e-01 -7.10301749e-01 -6.18535411e-03 -9.72425951e+01] [ 8.68610575e-03 -1.00281770e-04 9.99962270e-01 -4.97300878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38655999499997 meters 0.012063648208666592 Centerline is valid? [True, True] Translation: X:250.21, Y:-97.20, Z:-4.97 [[-7.13198879e-01 -7.00940446e-01 5.46355381e-03 2.50211543e+02] [ 7.00919150e-01 -7.13219803e-01 -5.46424200e-03 -9.72001134e+01] [ 7.72682299e-03 -6.75817728e-05 9.99970145e-01 -4.97196848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.446559995 meters 0.012544679219774138 Centerline is valid? [True, True] Translation: X:250.17, Y:-97.16, Z:-4.97 [[-7.15488817e-01 -6.98610316e-01 4.40205877e-03 2.50171823e+02] [ 6.98596463e-01 -7.15502355e-01 -4.40015329e-03 -9.71575989e+01] [ 6.22367590e-03 -7.29977865e-05 9.99980630e-01 -4.97075295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.506559995 meters 0.012533945536634273 Centerline is valid? [True, True] Translation: X:249.66, Y:-97.67, Z:-4.02 [[-7.46426120e-01 6.65446145e-01 5.42918921e-03 2.49662548e+02] [ 6.65428892e-01 7.46445864e-01 -4.79192928e-03 -9.76692430e+01] [-7.24136669e-03 3.59181783e-05 -9.99973780e-01 -4.01769316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.566559995 meters 0.013037084409251382 Centerline is valid? [True, True] Translation: X:249.68, Y:-97.65, Z:-4.02 [[-7.90368695e-01 6.12608360e-01 5.32195062e-03 2.49683429e+02] [ 6.12594835e-01 7.90386611e-01 -4.07102013e-03 -9.76498621e+01] [-6.70033948e-03 4.25925987e-05 -9.99977552e-01 -4.01743827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.626559995 meters 0.01321646101521367 Centerline is valid? [True, True] Translation: X:249.70, Y:-97.63, Z:-4.02 [[-8.30694913e-01 5.56697163e-01 5.85062714e-03 2.49702768e+02] [ 5.56683868e-01 8.30715514e-01 -3.84779981e-03 -9.76284730e+01] [-7.00226597e-03 6.06020157e-05 -9.99975482e-01 -4.01753040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.686559995 meters 0.013594597010603525 Centerline is valid? [True, True] Translation: X:249.72, Y:-97.61, Z:-4.02 [[-8.67733660e-01 4.96982138e-01 6.85922899e-03 2.49719029e+02] [ 4.96967341e-01 8.67760767e-01 -3.83586000e-03 -9.76050567e+01] [-7.85852372e-03 8.03079555e-05 -9.99969118e-01 -4.01696487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.746559995 meters 0.013668547266734722 Centerline is valid? [True, True] Translation: X:250.06, Y:-96.99, Z:-4.97 [[-8.51414162e-01 -5.24465971e-01 5.41945046e-03 2.50063633e+02] [ 5.24454286e-01 -8.51431398e-01 -3.50380424e-03 -9.69856366e+01] [ 6.45191637e-03 -1.40934527e-04 9.99979176e-01 -4.97244292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.806559995 meters 0.013282511694665494 Centerline is valid? [True, True] Translation: X:249.68, Y:-97.58, Z:-4.02 [[-8.71144913e-01 4.90970240e-01 7.40019131e-03 2.49679749e+02] [ 4.90953144e-01 8.71176342e-01 -4.09778320e-03 -9.75765770e+01] [-8.45876120e-03 6.33841936e-05 -9.99964222e-01 -4.01595835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.866559995 meters 0.012922859126536864 Centerline is valid? [True, True] Translation: X:249.69, Y:-97.55, Z:-4.02 [[-9.04842433e-01 4.25687263e-01 7.10805100e-03 2.49693003e+02] [ 4.25674420e-01 9.04870351e-01 -3.30686832e-03 -9.75496352e+01] [-7.83955633e-03 3.35207068e-05 -9.99969270e-01 -4.01615238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92655999499993 meters 0.011724331111657285 Centerline is valid? [True, True] Translation: X:249.70, Y:-97.52, Z:-4.02 [[-9.34524505e-01 3.55844083e-01 6.23994627e-03 2.49704312e+02] [ 3.55836052e-01 9.34545338e-01 -2.39084599e-03 -9.75172888e+01] [-6.68228109e-03 -1.39063203e-05 -9.99977673e-01 -4.01721336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98655999499994 meters 0.011316553918562665 Centerline is valid? [True, True] Translation: X:249.94, Y:-96.89, Z:-4.97 [[-9.12124844e-01 -4.09889518e-01 4.34199412e-03 2.49941074e+02] [ 4.09884356e-01 -9.12135173e-01 -2.05936703e-03 -9.68885554e+01] [ 4.80459852e-03 -9.86843620e-05 9.99988453e-01 -4.97128925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04655999499994 meters 0.011261942520775 Centerline is valid? [True, True] Translation: X:249.66, Y:-97.49, Z:-4.02 [[-9.39120716e-01 3.43522367e-01 6.68313450e-03 2.49660027e+02] [ 3.43513079e-01 9.39144492e-01 -2.52736347e-03 -9.74894082e+01] [-7.14463484e-03 -7.77552817e-05 -9.99974474e-01 -4.01720656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10655999499994 meters 0.011452326706456468 Centerline is valid? [True, True] Translation: X:249.67, Y:-97.46, Z:-4.02 [[-9.62047349e-01 2.72813036e-01 6.16007960e-03 2.49668239e+02] [ 2.72806789e-01 9.62067065e-01 -1.84875211e-03 -9.74582893e+01] [-6.43077338e-03 -9.80755254e-05 -9.99979318e-01 -4.01752954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16655999499994 meters 0.011608208841025203 Centerline is valid? [True, True] Translation: X:249.67, Y:-97.43, Z:-4.02 [[-9.79170796e-01 2.02949230e-01 6.01355839e-03 2.49671946e+02] [ 2.02944758e-01 9.79189256e-01 -1.35113354e-03 -9.74294175e+01] [-6.16262328e-03 -1.02570351e-04 -9.99981006e-01 -4.01776164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22655999499995 meters 0.011717015745549886 Centerline is valid? [True, True] Translation: X:249.67, Y:-97.40, Z:-4.02 [[-9.91289781e-01 1.31562484e-01 5.99028212e-03 2.49671464e+02] [ 1.31559407e-01 9.91307874e-01 -9.06537255e-04 -9.73999913e+01] [-6.05748012e-03 -1.10563155e-04 -9.99981647e-01 -4.01845323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28655999499995 meters 0.012122593035634089 Centerline is valid? [True, True] Translation: X:249.76, Y:-96.77, Z:-4.97 [[-9.76305095e-01 -2.16360306e-01 4.07178264e-03 2.49763483e+02] [ 2.16358300e-01 -9.76313585e-01 -9.32133133e-04 -9.67714869e+01] [ 4.17701332e-03 -2.90823558e-05 9.99991276e-01 -4.97032704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34655999499995 meters 0.012481367052140304 Centerline is valid? [True, True] Translation: X:249.62, Y:-97.39, Z:-4.02 [[-9.92459870e-01 1.22386556e-01 6.70349105e-03 2.49619250e+02] [ 1.22382722e-01 9.92482497e-01 -9.80757952e-04 -9.73873365e+01] [-6.77312913e-03 -1.52971429e-04 -9.99977050e-01 -4.01794647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40655999499995 meters 0.01285541132635508 Centerline is valid? [True, True] Translation: X:249.71, Y:-96.77, Z:-4.97 [[-9.76170645e-01 -2.16936102e-01 5.44058137e-03 2.49706734e+02] [ 2.16933061e-01 -9.76185804e-01 -1.15008089e-03 -9.67680653e+01] [ 5.56051236e-03 5.75667676e-05 9.99984539e-01 -4.97139557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46655999499995 meters 0.013891042632894415 Centerline is valid? [True, True] Translation: X:249.57, Y:-97.38, Z:-4.02 [[-9.93501418e-01 1.13538410e-01 7.99760534e-03 2.49572276e+02] [ 1.13533016e-01 9.93533585e-01 -1.12670201e-03 -9.73777496e+01] [-8.07381346e-03 -2.11387789e-04 -9.99967384e-01 -4.01644579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52655999499996 meters 0.013547865263552424 Centerline is valid? [True, True] Translation: X:249.57, Y:-97.35, Z:-4.02 [[-9.99052637e-01 4.28612833e-02 7.53252543e-03 2.49565714e+02] [ 4.28585501e-02 9.99081013e-01 -5.23980417e-04 -9.73518110e+01] [-7.54806161e-03 -2.00650899e-04 -9.99971493e-01 -4.01716492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58655999499996 meters 0.014024272098179837 Centerline is valid? [True, True] Translation: X:249.61, Y:-96.73, Z:-4.97 [[-9.89434850e-01 -1.44903509e-01 4.65299291e-03 2.49613672e+02] [ 1.44901765e-01 -9.89445790e-01 -7.11747299e-04 -9.67306129e+01] [ 4.70701893e-03 -3.00006992e-05 9.99988921e-01 -4.97130902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64655999499996 meters 0.01285151564983752 Centerline is valid? [True, True] Translation: X:249.52, Y:-97.36, Z:-4.02 [[-9.99059525e-01 4.27053136e-02 7.50472161e-03 2.49520822e+02] [ 4.27028207e-02 9.99087697e-01 -4.92179233e-04 -9.73564528e+01] [-7.51889370e-03 -1.71243569e-04 -9.99971718e-01 -4.01837805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70655999499996 meters 0.012219815896406137 Centerline is valid? [True, True] Translation: X:249.56, Y:-96.72, Z:-4.97 [[-9.90435932e-01 -1.37858161e-01 5.63848939e-03 2.49560795e+02] [ 1.37856092e-01 -9.90451981e-01 -7.55808065e-04 -9.67191721e+01] [ 5.68884729e-03 2.87206457e-05 9.99983818e-01 -4.97013301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76655999499997 meters 0.012398331575940365 Centerline is valid? [True, True] Translation: X:249.47, Y:-97.36, Z:-4.02 [[-9.99085660e-01 4.22116989e-02 6.78349237e-03 2.49467118e+02] [ 4.22097985e-02 9.99108680e-01 -4.23128410e-04 -9.73601416e+01] [-6.79530707e-03 -1.36411681e-04 -9.99976902e-01 -4.01840603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82655999499997 meters 0.011664986581422926 Centerline is valid? [True, True] Translation: X:249.51, Y:-96.71, Z:-4.97 [[-9.91626976e-01 -1.29040072e-01 4.95989014e-03 2.49508998e+02] [ 1.29038483e-01 -9.91639380e-01 -6.40215878e-04 -9.67100815e+01] [ 5.00103588e-03 5.16136620e-06 9.99987495e-01 -4.97021277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88655999499997 meters 0.011319078678799796 Centerline is valid? [True, True] Translation: X:249.42, Y:-97.37, Z:-4.02 [[-9.98950595e-01 4.54407785e-02 5.73103568e-03 2.49416152e+02] [ 4.54395550e-02 9.98967031e-01 -3.43593031e-04 -9.73684903e+01] [-5.74072883e-03 -8.28167517e-05 -9.99983518e-01 -4.01897939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.946559995 meters 0.011303709272983993 Centerline is valid? [True, True] Translation: X:249.42, Y:-97.35, Z:-4.02 [[-9.99755862e-01 -2.14426524e-02 5.33182427e-03 2.49418846e+02] [-2.14426593e-02 9.99770078e-01 5.58698586e-05 -9.73464279e+01] [-5.33179637e-03 -5.84722726e-05 -9.99985784e-01 -4.01914035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.006559995 meters 0.011818951790712037 Centerline is valid? [True, True] Translation: X:249.42, Y:-97.33, Z:-4.02 [[-9.96293255e-01 -8.58267075e-02 5.79012932e-03 2.49417441e+02] [-8.58253699e-02 9.96310080e-01 4.79558715e-04 -9.73260502e+01] [-5.80992316e-03 -1.91588773e-05 -9.99983122e-01 -4.01749037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.066559995 meters 0.012582090434679566 Centerline is valid? [True, True] Translation: X:249.41, Y:-97.30, Z:-4.02 [[-9.88261696e-01 -1.52636963e-01 6.38566464e-03 2.49410020e+02] [-1.52633702e-01 9.88282327e-01 9.97844137e-04 -9.73045653e+01] [-6.46314740e-03 1.14635053e-05 -9.99979114e-01 -4.01695614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.126559995 meters 0.012963143631520988 Centerline is valid? [True, True] Translation: X:249.40, Y:-97.28, Z:-4.02 [[-9.75551468e-01 -2.19664565e-01 6.84197082e-03 2.49399162e+02] [-2.19658869e-01 9.75575459e-01 1.58240657e-03 -9.72828962e+01] [-7.02245748e-03 4.08194799e-05 -9.99975341e-01 -4.01675709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.186559995 meters 0.012898081146450037 Centerline is valid? [True, True] Translation: X:249.37, Y:-97.26, Z:-4.02 [[-9.57090293e-01 -2.89694132e-01 7.44857277e-03 2.49370199e+02] [-2.89684969e-01 9.57119276e-01 2.30461271e-03 -9.72631210e+01] [-7.79680536e-03 4.79828831e-05 -9.99969603e-01 -4.01593500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.246559995 meters 0.01237765325060754 Centerline is valid? [True, True] Translation: X:249.33, Y:-97.25, Z:-4.02 [[-9.32472981e-01 -3.61170106e-01 7.09188019e-03 2.49328209e+02] [-3.61159483e-01 9.32499949e-01 2.77011057e-03 -9.72479334e+01] [-7.61365904e-03 2.17534753e-05 -9.99971015e-01 -4.01612042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.306559995 meters 0.011791635490229817 Centerline is valid? [True, True] Translation: X:249.27, Y:-97.24, Z:-4.02 [[-9.02090976e-01 -4.31497780e-01 6.44489993e-03 2.49265991e+02] [-4.31486817e-01 9.02113998e-01 3.07589511e-03 -9.72437952e+01] [-7.14127635e-03 -6.15213494e-06 -9.99974501e-01 -4.01712668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.366559995 meters 0.0112919963535272 Centerline is valid? [True, True] Translation: X:249.20, Y:-97.25, Z:-4.02 [[-8.65254151e-01 -5.01305710e-01 5.27623723e-03 2.49197584e+02] [-5.01296717e-01 8.65270237e-01 3.00310182e-03 -9.72466272e+01] [-6.07084313e-03 -4.65140896e-05 -9.99981571e-01 -4.01792774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42655999499993 meters 0.011206155535565475 Centerline is valid? [True, True] Translation: X:249.12, Y:-97.26, Z:-4.02 [[-8.23753700e-01 -5.66930010e-01 4.49511745e-03 2.49123828e+02] [-5.66922010e-01 8.23765962e-01 3.01241602e-03 -9.72590077e+01] [-5.41075379e-03 -6.68921844e-05 -9.99985360e-01 -4.01812753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48655999499994 meters 0.011466609845789061 Centerline is valid? [True, True] Translation: X:249.04, Y:-97.28, Z:-4.02 [[-7.75637963e-01 -6.31164157e-01 4.19018117e-03 2.49040352e+02] [-6.31155622e-01 7.75649274e-01 3.28384659e-03 -9.72841446e+01] [-5.32275725e-03 -9.75803199e-05 -9.99985829e-01 -4.01826275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54655999499994 meters 0.012625903235449517 Centerline is valid? [True, True] Translation: X:248.96, Y:-97.31, Z:-4.02 [[-7.21673543e-01 -6.92219901e-01 4.34809642e-03 2.48958365e+02] [-6.92208495e-01 7.21686628e-01 3.97620886e-03 -9.73144441e+01] [-5.89037394e-03 -1.40264545e-04 -9.99982642e-01 -4.01780357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60655999499994 meters 0.01299039910258611 Centerline is valid? [True, True] Translation: X:248.87, Y:-97.36, Z:-4.02 [[-6.64608214e-01 -7.47181257e-01 4.01130285e-03 2.48874694e+02] [-7.47169108e-01 6.64620299e-01 4.26406028e-03 -9.73584596e+01] [-5.85201922e-03 -1.63192080e-04 -9.99982863e-01 -4.01709157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66655999499994 meters 0.014004900071904882 Centerline is valid? [True, True] Translation: X:248.79, Y:-97.41, Z:-4.02 [[-6.03421314e-01 -7.97414591e-01 3.56184047e-03 2.48791940e+02] [-7.97402431e-01 6.03431800e-01 4.40750268e-03 -9.74118288e+01] [-5.66393475e-03 -1.80639187e-04 -9.99983943e-01 -4.01618702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72655999499995 meters 0.014075204286435775 Centerline is valid? [True, True] Translation: X:248.71, Y:-97.48, Z:-4.02 [[-5.41245131e-01 -8.40859559e-01 2.98512629e-03 2.48712347e+02] [-8.40848484e-01 5.41253335e-01 4.31898964e-03 -9.74786652e+01] [-5.24737328e-03 -1.72406803e-04 -9.99986218e-01 -4.01671232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78655999499995 meters 0.013892953521369926 Centerline is valid? [True, True] Translation: X:248.64, Y:-97.55, Z:-4.02 [[-4.77002337e-01 -8.78896203e-01 3.19923015e-03 2.48642373e+02] [-8.78878989e-01 4.77013029e-01 5.50390673e-03 -9.75479611e+01] [-6.36343719e-03 -1.86359790e-04 -9.99979736e-01 -4.01676633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84655999499995 meters 0.013660918314449728 Centerline is valid? [True, True] Translation: X:248.57, Y:-97.63, Z:-4.02 [[-4.09499376e-01 -9.12305573e-01 2.96694516e-03 2.48570657e+02] [-9.12284866e-01 4.09510081e-01 6.14954909e-03 -9.76313458e+01] [-6.82526186e-03 -1.88462654e-04 -9.99976690e-01 -4.01613731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90655999499995 meters 0.013473790558369137 Centerline is valid? [True, True] Translation: X:248.50, Y:-97.73, Z:-4.01 [[-3.39783036e-01 -9.40498622e-01 3.13541264e-03 2.48504854e+02] [-9.40464142e-01 3.39797436e-01 8.05601446e-03 -9.77267566e+01] [-8.64207568e-03 -2.11446108e-04 -9.99962634e-01 -4.01464685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96655999499995 meters 0.013179544828916036 Centerline is valid? [True, True] Translation: X:248.45, Y:-97.82, Z:-4.01 [[-2.68269438e-01 -9.63340083e-01 2.71923852e-03 2.48450265e+02] [-9.63298224e-01 2.68283137e-01 8.98279701e-03 -9.78155110e+01] [-9.38301425e-03 -2.09627733e-04 -9.99955957e-01 -4.01477774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02655999499996 meters 0.012467562438776864 Centerline is valid? [True, True] Translation: X:248.40, Y:-97.92, Z:-4.02 [[-1.97276346e-01 -9.80345940e-01 1.96986109e-03 2.48402202e+02] [-9.80305341e-01 1.97286107e-01 8.92355860e-03 -9.79188853e+01] [-9.13680067e-03 -1.70658317e-04 -9.99958244e-01 -4.01561953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08655999499996 meters 0.011717745946520593 Centerline is valid? [True, True] Translation: X:248.36, Y:-98.03, Z:-4.02 [[-1.27030878e-01 -9.91898073e-01 1.16992727e-03 2.48362994e+02] [-9.91863801e-01 1.27036215e-01 8.24628931e-03 -9.80267443e+01] [-8.32810160e-03 -1.12875137e-04 -9.99965314e-01 -4.01698630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14655999499996 meters 0.0113314093313911 Centerline is valid? [True, True] Translation: X:248.33, Y:-98.14, Z:-4.02 [[-5.43085848e-02 -9.98524077e-01 4.95587995e-04 2.48330244e+02] [-9.98494570e-01 5.43107901e-02 7.67669889e-03 -9.81382423e+01] [-7.69228445e-03 -7.79312696e-05 -9.99970411e-01 -4.01904228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20655999499996 meters 0.011441573774926632 Centerline is valid? [True, True] Translation: X:248.30, Y:-98.26, Z:-4.02 [[ 1.85507733e-02 -9.99827917e-01 -7.57336908e-05 2.48302634e+02] [-9.99805852e-01 -1.85508671e-02 6.64254121e-03 -9.82576651e+01] [-6.64280306e-03 -4.75052891e-05 -9.99977935e-01 -4.01908621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26655999499997 meters 0.011516502524304447 Centerline is valid? [True, True] Translation: X:248.28, Y:-98.37, Z:-4.02 [[ 9.17275488e-02 -9.95783974e-01 -5.78203726e-04 2.48283745e+02] [-9.95762544e-01 -9.17293682e-02 6.53287365e-03 -9.83704685e+01] [-6.55836914e-03 -2.34908734e-05 -9.99978493e-01 -4.02091018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32655999499997 meters 0.011819989341038605 Centerline is valid? [True, True] Translation: X:248.27, Y:-98.49, Z:-4.02 [[ 1.66522314e-01 -9.86036873e-01 -1.26615294e-03 2.48273362e+02] [-9.86008164e-01 -1.66527128e-01 7.52436011e-03 -9.84902272e+01] [-7.63014533e-03 -4.53672062e-06 -9.99970890e-01 -4.02082731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38655999499997 meters 0.012260722633117813 Centerline is valid? [True, True] Translation: X:248.27, Y:-98.61, Z:-4.02 [[ 2.39957148e-01 -9.70779712e-01 -2.70512501e-03 2.48269630e+02] [-9.70720078e-01 -2.39972392e-01 1.07601496e-02 -9.86139239e+01] [-1.10948902e-02 4.39443627e-05 -9.99938449e-01 -4.01791546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.446559995 meters 0.012648692237949724 Centerline is valid? [True, True] Translation: X:248.28, Y:-98.74, Z:-4.02 [[ 3.12875565e-01 -9.49785115e-01 -4.13727053e-03 2.48277803e+02] [-9.49705293e-01 -3.12902908e-01 1.23136968e-02 -9.87396364e+01] [-1.29899299e-02 7.65328708e-05 -9.99915624e-01 -4.01623422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.506559995 meters 0.013331833487478099 Centerline is valid? [True, True] Translation: X:248.29, Y:-98.85, Z:-4.02 [[ 3.81926742e-01 -9.24176336e-01 -5.48308582e-03 2.48290108e+02] [-9.24086122e-01 -3.81966075e-01 1.29134425e-02 -9.88506352e+01] [-1.40286508e-02 1.34854480e-04 -9.99901585e-01 -4.01615024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.566559995 meters 0.014629474561980972 Centerline is valid? [True, True] Translation: X:248.31, Y:-98.96, Z:-4.02 [[ 4.47376203e-01 -8.94325366e-01 -6.05583790e-03 2.48311631e+02] [-8.94249059e-01 -4.47417149e-01 1.16839402e-02 -9.89615578e+01] [-1.31587298e-02 1.88310543e-04 -9.99913402e-01 -4.01653200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.626559995 meters 0.018246362223924804 Centerline is valid? [True, True] Translation: X:248.35, Y:-99.07, Z:-4.02 [[ 5.12298752e-01 -8.58785138e-01 -6.17058609e-03 2.48348739e+02] [-8.58727350e-01 -5.12335876e-01 9.96434616e-03 -9.90726111e+01] [-1.17186450e-02 1.94128935e-04 -9.99931315e-01 -4.01599351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.686559995 meters 0.014582081864099964 Centerline is valid? [True, True] Translation: X:248.38, Y:-99.18, Z:-4.02 [[ 5.75970449e-01 -8.17446929e-01 -6.20959381e-03 2.48382788e+02] [-8.17402680e-01 -5.76003895e-01 8.50712749e-03 -9.91823449e+01] [-1.05308755e-02 1.75884581e-04 -9.99944533e-01 -4.02050159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.746559995 meters 0.013979720928600439 Centerline is valid? [True, True] Translation: X:248.43, Y:-99.29, Z:-4.02 [[ 6.39618631e-01 -7.68671955e-01 -5.60647061e-03 2.48425508e+02] [-7.68643803e-01 -6.39643194e-01 6.57945204e-03 -9.92887815e+01] [-8.64358103e-03 1.01038784e-04 -9.99962638e-01 -4.02063442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.806559995 meters 0.011805256722517777 Centerline is valid? [True, True] Translation: X:248.47, Y:-99.39, Z:-4.02 [[ 7.02627692e-01 -7.11533186e-01 -5.90355645e-03 2.48472447e+02] [-7.11508325e-01 -7.02652492e-01 5.94797010e-03 -9.93937019e+01] [-8.38032676e-03 2.12210596e-05 -9.99964884e-01 -4.02019010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.866559995 meters 0.010983120167361348 Centerline is valid? [True, True] Translation: X:248.49, Y:-99.43, Z:-4.02 [[ 7.61766840e-01 -6.47820802e-01 -6.28408725e-03 2.48486404e+02] [-6.47798179e-01 -7.61792758e-01 5.41417418e-03 -9.94272705e+01] [-8.29458682e-03 -5.35180803e-05 -9.99965598e-01 -4.01958240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92655999499993 meters 0.011724579237440896 Centerline is valid? [True, True] Translation: X:248.50, Y:-99.46, Z:-4.02 [[ 8.17258092e-01 -5.76232455e-01 -6.73565786e-03 2.48500646e+02] [-5.76211296e-01 -8.17285834e-01 4.94048745e-03 -9.94631808e+01] [-8.35182696e-03 -1.56491196e-04 -9.99965111e-01 -4.01860576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98655999499994 meters 0.012873094357520655 Centerline is valid? [True, True] Translation: X:248.52, Y:-99.49, Z:-4.02 [[ 8.62990640e-01 -5.05160591e-01 -7.74156269e-03 2.48521697e+02] [-5.05137939e-01 -8.63025334e-01 4.78909175e-03 -9.94944512e+01] [-9.10042515e-03 -2.22384332e-04 -9.99958566e-01 -4.01742528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04655999499994 meters 0.014084086047977125 Centerline is valid? [True, True] Translation: X:248.55, Y:-99.52, Z:-4.02 [[ 9.02003422e-01 -4.31656093e-01 -7.92746068e-03 2.48546908e+02] [-4.31636835e-01 -9.02038218e-01 4.08601159e-03 -9.95210692e+01] [-8.91462431e-03 -2.63812398e-04 -9.99960229e-01 -4.01730975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10655999499994 meters 0.014482989540677343 Centerline is valid? [True, True] Translation: X:248.58, Y:-99.54, Z:-4.02 [[ 9.33455159e-01 -3.58599704e-01 -8.22918103e-03 2.48575168e+02] [-3.58583149e-01 -9.33491391e-01 3.45665608e-03 -9.95438143e+01] [-8.92142549e-03 -2.75787802e-04 -9.99960165e-01 -4.01689716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16655999499994 meters 0.015585462496037416 Centerline is valid? [True, True] Translation: X:248.61, Y:-99.56, Z:-4.02 [[ 9.58734831e-01 -2.84146009e-01 -9.41113956e-03 2.48605006e+02] [-2.84129199e-01 -9.58780973e-01 3.10560318e-03 -9.95622660e+01] [-9.90566629e-03 -3.03470387e-04 -9.99950892e-01 -4.01517377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22655999499995 meters 0.014233054365487233 Centerline is valid? [True, True] Translation: X:248.64, Y:-99.57, Z:-4.02 [[ 9.77562906e-01 -2.10408666e-01 -9.94774381e-03 2.48638210e+02] [-2.10394747e-01 -9.77613476e-01 2.43745057e-03 -9.95708304e+01] [-1.02379091e-02 -2.89808219e-04 -9.99947549e-01 -4.01612339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28655999499995 meters 0.013188451462184858 Centerline is valid? [True, True] Translation: X:248.67, Y:-99.58, Z:-4.02 [[ 9.90794203e-01 -1.35050449e-01 -9.39272221e-03 2.48671083e+02] [-1.35041921e-01 -9.90838690e-01 1.53923047e-03 -9.95825680e+01] [-9.51454634e-03 -2.56649372e-04 -9.99954703e-01 -4.01708252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34655999499995 meters 0.013407117828744538 Centerline is valid? [True, True] Translation: X:248.70, Y:-99.59, Z:-4.02 [[ 9.98279582e-01 -5.78567727e-02 -9.51159303e-03 2.48699956e+02] [-5.78517658e-02 -9.98324863e-01 8.00929102e-04 -9.95925796e+01] [-9.54199898e-03 -2.49288716e-04 -9.99954443e-01 -4.01674588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40655999499995 meters 0.01260459476764224 Centerline is valid? [True, True] Translation: X:248.73, Y:-99.59, Z:-4.02 [[ 9.99807325e-01 1.68951438e-02 -9.99338454e-03 2.48730110e+02] [ 1.68965196e-02 -9.99857242e-01 5.32593405e-05 -9.95929650e+01] [-9.99105808e-03 -2.22102497e-04 -9.99950063e-01 -4.01612185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46655999499995 meters 0.01163693340303734 Centerline is valid? [True, True] Translation: X:248.76, Y:-99.60, Z:-4.02 [[ 9.95660039e-01 9.26213098e-02 -9.07637758e-03 2.48759499e+02] [ 9.26191513e-02 -9.95701390e-01 -6.58771751e-04 -9.95955370e+01] [-9.09837808e-03 -1.84733681e-04 -9.99958592e-01 -4.01741777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52655999499996 meters 0.010903565414419536 Centerline is valid? [True, True] Translation: X:248.79, Y:-99.59, Z:-4.02 [[ 9.85999005e-01 1.66550863e-01 -8.17140536e-03 2.48788422e+02] [ 1.66546332e-01 -9.86032854e-01 -1.23667436e-03 -9.95945567e+01] [-8.26324333e-03 -1.41557907e-04 -9.99965849e-01 -4.01850910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58655999499996 meters 0.010576247087030472 Centerline is valid? [True, True] Translation: X:248.82, Y:-99.59, Z:-4.02 [[ 9.70548028e-01 2.40781065e-01 -7.81046739e-03 2.48817873e+02] [ 2.40774252e-01 -9.70579448e-01 -1.81521118e-03 -9.95932554e+01] [-8.01774761e-03 -1.18809814e-04 -9.99967850e-01 -4.01880960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64655999499996 meters 0.01041132523384691 Centerline is valid? [True, True] Translation: X:248.85, Y:-99.59, Z:-4.02 [[ 9.49216328e-01 3.14528467e-01 -7.75921068e-03 2.48846831e+02] [ 3.14518878e-01 -9.49248035e-01 -2.45835239e-03 -9.95903146e+01] [-8.13863730e-03 -1.06910009e-04 -9.99966875e-01 -4.01800459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70655999499996 meters 0.010863166987774576 Centerline is valid? [True, True] Translation: X:248.88, Y:-99.59, Z:-4.02 [[ 9.20322032e-01 3.91097085e-01 -7.10120327e-03 2.48877650e+02] [ 3.91086534e-01 -9.20349419e-01 -2.87585420e-03 -9.95910475e+01] [-7.66032650e-03 -1.30472987e-04 -9.99970651e-01 -4.01774329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76655999499997 meters 0.011848455780680228 Centerline is valid? [True, True] Translation: X:248.91, Y:-99.59, Z:-4.02 [[ 8.85395473e-01 4.64768097e-01 -8.09145278e-03 2.48907847e+02] [ 4.64750458e-01 -8.85432429e-01 -4.05282355e-03 -9.95904732e+01] [-9.04805778e-03 -1.72154766e-04 -9.99959051e-01 -4.01566315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82655999499997 meters 0.012105232914257627 Centerline is valid? [True, True] Translation: X:248.94, Y:-99.59, Z:-4.01 [[ 8.43986256e-01 5.36280405e-01 -9.51452291e-03 2.48939078e+02] [ 5.36249585e-01 -8.44039849e-01 -5.75461582e-03 -9.95871687e+01] [-1.11167242e-02 -2.45342304e-04 -9.99938177e-01 -4.01468417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88655999499997 meters 0.012868325526225018 Centerline is valid? [True, True] Translation: X:248.97, Y:-99.58, Z:-4.01 [[ 7.98155850e-01 6.02393648e-01 -8.31454467e-03 2.48969198e+02] [ 6.02364217e-01 -7.98199117e-01 -5.95989503e-03 -9.95799895e+01] [-1.02268651e-02 -2.51459105e-04 -9.99947673e-01 -4.01464172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.946559995 meters 0.012514374462012251 Centerline is valid? [True, True] Translation: X:249.00, Y:-99.57, Z:-4.02 [[ 7.48761019e-01 6.62811558e-01 -6.14623175e-03 2.48997563e+02] [ 6.62791473e-01 -7.48786215e-01 -5.16404858e-03 -9.95682472e+01] [-8.02500469e-03 -2.07031717e-04 -9.99967778e-01 -4.01663061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.006559995 meters 0.01233229478813584 Centerline is valid? [True, True] Translation: X:249.02, Y:-99.55, Z:-4.02 [[ 6.95653697e-01 7.18363781e-01 -4.40602267e-03 2.49023479e+02] [ 7.18350837e-01 -6.95667630e-01 -4.31550601e-03 -9.95534138e+01] [-6.16523056e-03 -1.62972358e-04 -9.99980982e-01 -4.01783760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.066559995 meters 0.011412279304513648 Centerline is valid? [True, True] Translation: X:249.04, Y:-99.53, Z:-4.02 [[ 6.41378070e-01 7.67218400e-01 -3.17783286e-03 2.49044460e+02] [ 7.67209851e-01 -6.41385932e-01 -3.62366281e-03 -9.95346667e+01] [-4.81835808e-03 -1.13926815e-04 -9.99988385e-01 -4.01792722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.126559995 meters 0.010410387622369406 Centerline is valid? [True, True] Translation: X:249.06, Y:-99.51, Z:-4.02 [[ 5.85344485e-01 8.10775788e-01 -3.80203149e-03 2.49060885e+02] [ 8.10759621e-01 -5.85356827e-01 -5.12081500e-03 -9.95130069e+01] [-6.37737791e-03 -8.50927863e-05 -9.99979661e-01 -4.01591701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.186559995 meters 0.01045588047526048 Centerline is valid? [True, True] Translation: X:249.08, Y:-99.49, Z:-4.01 [[ 5.23844906e-01 8.51803377e-01 -4.18588409e-03 2.49075574e+02] [ 8.51777042e-01 -5.23861627e-01 -6.69827577e-03 -9.94897482e+01] [-7.89843798e-03 -5.65823279e-05 -9.99968805e-01 -4.01448023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.246559995 meters 0.010483226472172322 Centerline is valid? [True, True] Translation: X:249.10, Y:-99.47, Z:-4.02 [[ 4.57227088e-01 8.89342070e-01 -3.75136318e-03 2.49095689e+02] [ 8.89312869e-01 -4.57242475e-01 -7.20689155e-03 -9.94700010e+01] [-8.12467443e-03 -4.09495139e-05 -9.99966993e-01 -4.01512266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.306559995 meters 0.010654778809385788 Centerline is valid? [True, True] Translation: X:249.11, Y:-99.45, Z:-4.01 [[ 3.88310186e-01 9.21523135e-01 -3.21115053e-03 2.49113414e+02] [ 9.21492080e-01 -3.88323462e-01 -7.56537844e-03 -9.94479305e+01] [-8.21863635e-03 -2.13362722e-05 -9.99966226e-01 -4.01453498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.366559995 meters 0.010490111470313144 Centerline is valid? [True, True] Translation: X:249.13, Y:-99.43, Z:-4.01 [[ 3.13891034e-01 9.49455630e-01 -2.53480868e-03 2.49130925e+02] [ 9.49425467e-01 -3.13901267e-01 -7.56817255e-03 -9.94261430e+01] [-7.98132369e-03 -3.10304104e-05 -9.99968148e-01 -4.01434497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42655999499993 meters 0.010399215243896929 Centerline is valid? [True, True] Translation: X:249.15, Y:-99.40, Z:-4.01 [[ 2.36624156e-01 9.71599174e-01 -2.01363424e-03 2.49148524e+02] [ 9.71565641e-01 -2.36632719e-01 -8.07229620e-03 -9.94030896e+01] [-8.31952806e-03 -4.62775697e-05 -9.99965391e-01 -4.01447038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48655999499994 meters 0.010247227154758743 Centerline is valid? [True, True] Translation: X:249.17, Y:-99.38, Z:-4.01 [[ 1.54714077e-01 9.87958453e-01 -1.28412277e-03 2.49167328e+02] [ 9.87928921e-01 -1.54719381e-01 -7.63938144e-03 -9.93785300e+01] [-7.74607015e-03 -8.67021746e-05 -9.99969995e-01 -4.01422138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54655999499994 meters 0.01075970668053073 Centerline is valid? [True, True] Translation: X:249.18, Y:-99.35, Z:-4.01 [[ 7.20139940e-02 9.97403403e-01 -6.60375651e-04 2.49184105e+02] [ 9.97375530e-01 -7.20169192e-02 -7.45751762e-03 -9.93524468e+01] [-7.48571168e-03 -1.21596886e-04 -9.99971974e-01 -4.01357021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60655999499994 meters 0.012198012058689072 Centerline is valid? [True, True] Translation: X:249.20, Y:-99.32, Z:-4.01 [[-1.44796623e-02 9.99895161e-01 -7.44324753e-05 2.49201580e+02] [ 9.99866341e-01 1.44786797e-02 -7.59388085e-03 -9.93244680e+01] [-7.59200704e-03 -1.84379357e-04 -9.99971163e-01 -4.01355357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66655999499994 meters 0.013961818059611001 Centerline is valid? [True, True] Translation: X:249.21, Y:-99.30, Z:-4.01 [[-9.73762972e-02 9.95247492e-01 5.35550268e-04 2.49212796e+02] [ 9.95217184e-01 9.73775131e-02 -7.77026893e-03 -9.92967583e+01] [-7.78549122e-03 -2.23651188e-04 -9.99969668e-01 -4.01280761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72655999499995 meters 0.017547729521881432 Centerline is valid? [True, True] Translation: X:249.22, Y:-99.27, Z:-4.01 [[-1.79160278e-01 9.83819383e-01 1.00863786e-03 2.49221609e+02] [ 9.83795623e-01 1.79162965e-01 -6.84135576e-03 -9.92680095e+01] [-6.91136895e-03 -2.33405684e-04 -9.99976089e-01 -4.01219151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78655999499995 meters 0.015185801704182388 Centerline is valid? [True, True] Translation: X:249.22, Y:-99.24, Z:-4.01 [[-2.57316437e-01 9.66326339e-01 1.28723782e-03 2.49221560e+02] [ 9.66309740e-01 2.57319568e-01 -5.66803888e-03 -9.92381903e+01] [-5.80840674e-03 -2.14609129e-04 -9.99983108e-01 -4.01359819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84655999499995 meters 0.01602819617485908 Centerline is valid? [True, True] Translation: X:249.22, Y:-99.21, Z:-4.01 [[-3.33593238e-01 9.42716634e-01 9.48582004e-04 2.49222861e+02] [ 9.42711456e-01 3.33594553e-01 -3.12795316e-03 -9.92071880e+01] [-3.26521526e-03 -1.49224900e-04 -9.99994658e-01 -4.01472493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90655999499995 meters 0.018180556218161 Centerline is valid? [True, True] Translation: X:249.22, Y:-99.18, Z:-4.01 [[-4.06630884e-01 9.13592033e-01 9.60002894e-04 2.49222274e+02] [ 9.13588672e-01 4.06631996e-01 -2.48181004e-03 -9.91777692e+01] [-2.65772977e-03 -1.32132842e-04 -9.99996460e-01 -4.01481289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96655999499995 meters 0.01566569096196227 Centerline is valid? [True, True] Translation: X:249.21, Y:-99.15, Z:-4.01 [[-4.75088834e-01 8.79936631e-01 1.45746604e-03 2.49212797e+02] [ 8.79931515e-01 4.75091048e-01 -3.00420849e-03 -9.91497186e+01] [-3.33594217e-03 -1.44795606e-04 -9.99994425e-01 -4.01281382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02655999499996 meters 0.014379890414985419 Centerline is valid? [True, True] Translation: X:249.20, Y:-99.12, Z:-4.01 [[-5.38804187e-01 8.42429394e-01 1.66261890e-03 2.49200614e+02] [ 8.42424622e-01 5.38806737e-01 -2.83827206e-03 -9.91237813e+01] [-3.28687408e-03 -1.28641768e-04 -9.99994590e-01 -4.01225497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08655999499996 meters 0.013152697332124371 Centerline is valid? [True, True] Translation: X:249.19, Y:-99.10, Z:-4.01 [[-5.99546971e-01 8.00338418e-01 1.35867283e-03 2.49185546e+02] [ 8.00335984e-01 5.99548503e-01 -1.97634680e-03 -9.90992264e+01] [-2.39633654e-03 -9.75179828e-05 -9.99997124e-01 -4.01261452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14655999499996 meters 0.011477305126291052 Centerline is valid? [True, True] Translation: X:249.17, Y:-99.08, Z:-4.01 [[-6.55259789e-01 7.55402783e-01 1.11550920e-03 2.49167103e+02] [ 7.55401491e-01 6.55260735e-01 -1.39905217e-03 -9.90785880e+01] [-1.78779728e-03 -7.40853165e-05 -9.99998399e-01 -4.01218156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20655999499996 meters 0.010810136061540977 Centerline is valid? [True, True] Translation: X:249.15, Y:-99.06, Z:-4.01 [[-7.10284230e-01 7.03914429e-01 8.88262206e-04 2.49151136e+02] [ 7.03913762e-01 7.10284782e-01 -9.71196406e-04 -9.90554740e+01] [-1.31455829e-03 -6.45655005e-05 -9.99999134e-01 -4.01162613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26655999499997 meters 0.010426150620377387 Centerline is valid? [True, True] Translation: X:249.13, Y:-99.03, Z:-4.01 [[-7.61384040e-01 6.48300126e-01 1.13608249e-03 2.49134672e+02] [ 6.48299281e-01 7.61384885e-01 -1.04861314e-03 -9.90318457e+01] [-1.54481206e-03 -6.18758522e-05 -9.99998805e-01 -4.01054560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32655999499997 meters 0.010578353129972077 Centerline is valid? [True, True] Translation: X:249.15, Y:-99.01, Z:-4.01 [[-8.05465440e-01 5.92642371e-01 6.67083828e-04 2.49153258e+02] [ 5.92642112e-01 8.05465715e-01 -5.56673059e-04 -9.90105616e+01] [-8.67221193e-04 -5.30389417e-05 -9.99999623e-01 -4.00973737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38655999499997 meters 0.010773088029930987 Centerline is valid? [True, True] Translation: X:249.17, Y:-98.99, Z:-4.01 [[-8.45968986e-01 5.33231837e-01 5.31861033e-04 2.49170196e+02] [ 5.33231692e-01 8.45969152e-01 -3.97291900e-04 -9.89869939e+01] [-6.61786717e-04 -5.24914671e-05 -9.99999780e-01 -4.00903435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.446559995 meters 0.01100836010996354 Centerline is valid? [True, True] Translation: X:249.19, Y:-98.96, Z:-4.01 [[-8.82278338e-01 4.70727756e-01 5.59829069e-04 2.49185166e+02] [ 4.70727622e-01 8.82278514e-01 -3.59263613e-04 -9.89634959e+01] [-6.63040514e-04 -5.34434971e-05 -9.99999779e-01 -4.00906994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.506559995 meters 0.01124730554638317 Centerline is valid? [True, True] Translation: X:249.20, Y:-98.94, Z:-4.01 [[-9.13675461e-01 4.06441990e-01 1.43557868e-03 2.49201319e+02] [ 4.06441380e-01 9.13676586e-01 -7.06933181e-04 -9.89416633e+01] [-1.59898196e-03 -6.24289177e-05 -9.99998720e-01 -4.00869870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.566559995 meters 0.01144274440369658 Centerline is valid? [True, True] Translation: X:249.21, Y:-98.91, Z:-4.01 [[-9.40459586e-01 3.39897354e-01 2.35725024e-03 2.49210041e+02] [ 3.39896090e-01 9.40462537e-01 -9.29814818e-04 -9.89136653e+01] [-2.53294714e-03 -7.32331175e-05 -9.99996789e-01 -4.00643644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.626559995 meters 0.011430566518162861 Centerline is valid? [True, True] Translation: X:249.46, Y:-98.25, Z:-4.99 [[-9.07311796e-01 -4.20457959e-01 6.39501253e-04 2.49459288e+02] [ 4.20457811e-01 -9.07312020e-01 -3.56450061e-04 -9.82531927e+01] [ 7.30099439e-04 -5.45280483e-05 9.99999732e-01 -4.99203128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.686559995 meters 0.011217739647468205 Centerline is valid? [True, True] Translation: X:249.17, Y:-98.90, Z:-4.01 [[-9.41079009e-01 3.38186012e-01 7.21008650e-04 2.49172453e+02] [ 3.38185868e-01 9.41079284e-01 -3.16469046e-04 -9.89028614e+01] [-7.85551708e-04 -5.39874403e-05 -9.99999690e-01 -4.00822846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.746559995 meters 0.011068300150750459 Centerline is valid? [True, True] Translation: X:249.19, Y:-98.88, Z:-4.01 [[-9.61602385e-01 2.74443934e-01 -1.17509589e-03 2.49186435e+02] [ 2.74443782e-01 9.61603102e-01 2.92186126e-04 -9.88826708e+01] [ 1.21016456e-03 -4.15308831e-05 -9.99999267e-01 -4.00988164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.806559995 meters 0.010956764903265363 Centerline is valid? [True, True] Translation: X:249.20, Y:-98.86, Z:-4.01 [[-9.78167857e-01 2.07812177e-01 -1.31985610e-03 2.49195674e+02] [ 2.07812048e-01 9.78168747e-01 2.35404963e-04 -9.88576342e+01] [ 1.33996200e-03 -4.40164305e-05 -9.99999101e-01 -4.00933154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.866559995 meters 0.01093744979906689 Centerline is valid? [True, True] Translation: X:249.35, Y:-98.16, Z:-4.99 [[-9.61104771e-01 -2.76177055e-01 -1.96298475e-03 2.49352866e+02] [ 2.76176480e-01 -9.61106776e-01 5.63532479e-04 -9.81571432e+01] [-2.04227269e-03 -5.16466332e-07 9.99997915e-01 -4.99034796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92655999499993 meters 0.010841169934013824 Centerline is valid? [True, True] Translation: X:249.15, Y:-98.85, Z:-4.01 [[-9.78279510e-01 2.07285354e-01 1.40798746e-03 2.49148352e+02] [ 2.07285071e-01 9.78280522e-01 -3.45442498e-04 -9.88491465e+01] [-1.44901188e-03 -4.60845362e-05 -9.99998949e-01 -4.00812019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98655999499994 meters 0.01091268098122447 Centerline is valid? [True, True] Translation: X:249.30, Y:-98.15, Z:-4.99 [[-9.62983964e-01 -2.69556776e-01 1.01478674e-03 2.49304861e+02] [ 2.69556650e-01 -9.62984498e-01 -2.61395636e-04 -9.81469327e+01] [ 1.04768487e-03 2.18227081e-05 9.99999451e-01 -4.99109578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04655999499994 meters 0.010944468386237994 Centerline is valid? [True, True] Translation: X:249.10, Y:-98.84, Z:-4.00 [[-9.78467006e-01 2.06350092e-01 4.68585127e-03 2.49100224e+02] [ 2.06347581e-01 9.78478226e-01 -1.01832971e-03 -9.88379309e+01] [-4.79513587e-03 -2.94879489e-05 -9.99988503e-01 -4.00493990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10655999499994 meters 0.011036929424385989 Centerline is valid? [True, True] Translation: X:249.25, Y:-98.14, Z:-4.99 [[-9.64579643e-01 -2.63748447e-01 4.78212448e-03 2.49254248e+02] [ 2.63745403e-01 -9.64591496e-01 -1.26780296e-03 -9.81379735e+01] [ 4.94717767e-03 3.83664226e-05 9.99987762e-01 -4.99487457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16655999499994 meters 0.011191645500806707 Centerline is valid? [True, True] Translation: X:249.06, Y:-98.83, Z:-4.00 [[-9.79004751e-01 2.03721436e-01 6.87560902e-03 2.49058504e+02] [ 2.03716315e-01 9.79028895e-01 -1.44454724e-03 -9.88323049e+01] [-7.02570513e-03 -1.35448848e-05 -9.99975319e-01 -4.00382466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22655999499995 meters 0.011187699023505039 Centerline is valid? [True, True] Translation: X:249.06, Y:-98.81, Z:-4.00 [[-9.90890468e-01 1.34418148e-01 8.23661996e-03 2.49061699e+02] [ 1.34413488e-01 9.90924700e-01 -1.11917026e-03 -9.88051979e+01] [-8.31230696e-03 -1.86231927e-06 -9.99965452e-01 -4.00472367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28655999499995 meters 0.010943506970148799 Centerline is valid? [True, True] Translation: X:249.06, Y:-98.78, Z:-4.01 [[-9.97952965e-01 6.35270352e-02 7.36177902e-03 2.49063843e+02] [ 6.35252424e-02 9.97980118e-01 -4.77346514e-04 -9.87768156e+01] [-7.37723350e-03 -8.71057245e-06 -9.99972788e-01 -4.00618353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34655999499995 meters 0.010806459174357817 Centerline is valid? [True, True] Translation: X:249.05, Y:-98.75, Z:-4.01 [[-9.99942387e-01 -8.89509988e-03 6.00827253e-03 2.49054815e+02] [-8.89508439e-03 9.99960438e-01 2.93008654e-05 -9.87495457e+01] [-6.00829546e-03 -2.41449140e-05 -9.99981950e-01 -4.00717733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40655999499995 meters 0.010549431026779228 Centerline is valid? [True, True] Translation: X:249.05, Y:-98.04, Z:-4.99 [[-9.98435968e-01 -5.57628037e-02 4.01599275e-03 2.49049669e+02] [ 5.57619218e-02 -9.98444039e-01 -3.31319767e-04 -9.80353479e+01] [ 4.02821934e-03 -1.06862098e-04 9.99991881e-01 -4.99084087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46655999499995 meters 0.01085101343682063 Centerline is valid? [True, True] Translation: X:248.99, Y:-98.74, Z:-4.01 [[-9.99721399e-01 -2.30370038e-02 5.14012742e-03 2.48988058e+02] [-2.30370932e-02 9.99734610e-01 4.18116020e-05 -9.87426942e+01] [-5.13972649e-03 -7.66136413e-05 -9.99986789e-01 -4.00744782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52655999499996 meters 0.011537777817787469 Centerline is valid? [True, True] Translation: X:248.98, Y:-98.05, Z:-4.99 [[-9.98061449e-01 -6.20469544e-02 4.84975550e-03 2.48977267e+02] [ 6.20464884e-02 -9.98073230e-01 -2.46642259e-04 -9.80468812e+01] [ 4.85571453e-03 5.47461678e-05 9.99988209e-01 -4.99264816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58655999499996 meters 0.012065995714027812 Centerline is valid? [True, True] Translation: X:248.92, Y:-98.74, Z:-4.01 [[-9.99303655e-01 -3.66402166e-02 7.04982729e-03 2.48920134e+02] [-3.66403704e-02 9.99328510e-01 1.07381185e-04 -9.87370755e+01] [-7.04902788e-03 -1.51001872e-04 -9.99975144e-01 -4.00661907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64655999499996 meters 0.013072205746325024 Centerline is valid? [True, True] Translation: X:248.91, Y:-98.71, Z:-4.01 [[-9.93771640e-01 -1.11110019e-01 8.51420093e-03 2.48912264e+02] [-1.11107686e-01 9.93808091e-01 7.47904325e-04 -9.87072706e+01] [-8.54458144e-03 -2.02747059e-04 -9.99963474e-01 -4.00554601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70655999499996 meters 0.013581714107104275 Centerline is valid? [True, True] Translation: X:248.85, Y:-98.03, Z:-5.00 [[-9.99948511e-01 6.14744622e-03 8.07362982e-03 2.48850051e+02] [-6.14593267e-03 -9.99981091e-01 2.12265286e-04 -9.80315846e+01] [ 8.07478204e-03 1.62634372e-04 9.99967385e-01 -4.99507590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76655999499997 meters 0.013407226956015384 Centerline is valid? [True, True] Translation: X:248.84, Y:-98.71, Z:-4.01 [[-9.93003473e-01 -1.17717853e-01 9.30646186e-03 2.48835313e+02] [-1.17714875e-01 9.93047055e-01 8.68966960e-04 -9.87131266e+01] [-9.34404747e-03 -2.32621787e-04 -9.99956316e-01 -4.00575479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82655999499997 meters 0.013191902080851218 Centerline is valid? [True, True] Translation: X:248.77, Y:-98.04, Z:-4.99 [[-9.99892980e-01 1.28580165e-02 6.97849107e-03 2.48772984e+02] [-1.28574655e-02 -9.99917332e-01 1.23812492e-04 -9.80358555e+01] [ 6.97950616e-03 3.40735341e-05 9.99975642e-01 -4.99292675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88655999499997 meters 0.012432348456033972 Centerline is valid? [True, True] Translation: X:248.76, Y:-98.73, Z:-4.01 [[-9.92812622e-01 -1.19377888e-01 8.48629397e-03 2.48757747e+02] [-1.19375126e-01 9.92848873e-01 8.33015721e-04 -9.87251875e+01] [-8.52505106e-03 -1.86023890e-04 -9.99963644e-01 -4.00623013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.946559995 meters 0.011878479965593639 Centerline is valid? [True, True] Translation: X:248.75, Y:-98.70, Z:-4.01 [[-9.82027196e-01 -1.88448903e-01 1.04688488e-02 2.48751936e+02] [-1.88440414e-01 9.82082975e-01 1.80031774e-03 -9.87021241e+01] [-1.06205461e-02 -2.04793233e-04 -9.99943579e-01 -4.00536539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.006559995 meters 0.011876753656649518 Centerline is valid? [True, True] Translation: X:248.74, Y:-98.68, Z:-4.00 [[-9.66359104e-01 -2.56934394e-01 1.16103167e-02 2.48740753e+02] [-2.56918463e-01 9.66428824e-01 2.86889800e-03 -9.86780477e+01] [-1.19576633e-02 -2.10519026e-04 -9.99928482e-01 -4.00356019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.066559995 meters 0.011903310921794898 Centerline is valid? [True, True] Translation: X:248.72, Y:-98.66, Z:-4.00 [[-9.45731417e-01 -3.24718056e-01 1.22584774e-02 2.48715282e+02] [-3.24693638e-01 9.45810837e-01 3.98758903e-03 -9.86588496e+01] [-1.28890430e-02 -2.09061422e-04 -9.99916911e-01 -4.00257852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.126559995 meters 0.011409578404279246 Centerline is valid? [True, True] Translation: X:248.68, Y:-98.65, Z:-4.00 [[-9.20467071e-01 -3.90666465e-01 1.09583250e-02 2.48675744e+02] [-3.90641009e-01 9.20532283e-01 4.46302551e-03 -9.86487529e+01] [-1.18310463e-02 -1.72703117e-04 -9.99929996e-01 -4.00390026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.186559995 meters 0.01119430210474349 Centerline is valid? [True, True] Translation: X:248.61, Y:-98.65, Z:-4.00 [[-8.89977110e-01 -4.55896309e-01 9.96491453e-03 2.48612821e+02] [-4.55869596e-01 8.90032883e-01 4.93735715e-03 -9.86507371e+01] [-1.11200245e-02 -1.48566716e-04 -9.99938160e-01 -4.00445334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.246559995 meters 0.010847621833029895 Centerline is valid? [True, True] Translation: X:248.55, Y:-98.66, Z:-4.01 [[-8.55071925e-01 -5.18442747e-01 8.31392482e-03 2.48546928e+02] [-5.18419527e-01 8.55112335e-01 4.90799345e-03 -9.86611734e+01] [-9.65385328e-03 -1.13413571e-04 -9.99953394e-01 -4.00624497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.306559995 meters 0.010846434340783064 Centerline is valid? [True, True] Translation: X:248.48, Y:-98.68, Z:-4.01 [[-8.14450318e-01 -5.80180450e-01 7.83095772e-03 2.48475798e+02] [-5.80154879e-01 8.14487958e-01 5.44813133e-03 -9.86759252e+01] [-9.53912006e-03 -1.05936034e-04 -9.99954496e-01 -4.00562311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.366559995 meters 0.01064574351035501 Centerline is valid? [True, True] Translation: X:248.40, Y:-98.70, Z:-4.01 [[-7.68795256e-01 -6.39461463e-01 6.54921870e-03 2.48398933e+02] [-6.39439345e-01 7.68823145e-01 5.31946210e-03 -9.87001230e+01] [-8.43678193e-03 -9.82508952e-05 -9.99964405e-01 -4.00616950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42655999499993 meters 0.010732707989753414 Centerline is valid? [True, True] Translation: X:248.31, Y:-98.74, Z:-4.01 [[-7.18790249e-01 -6.95204920e-01 5.54045441e-03 2.48314921e+02] [-6.95185235e-01 7.18811596e-01 5.23239837e-03 -9.87380843e+01] [-7.62013197e-03 -9.06451762e-05 -9.99970962e-01 -4.00669016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48655999499994 meters 0.010641740241278444 Centerline is valid? [True, True] Translation: X:248.23, Y:-98.78, Z:-4.01 [[-6.65568286e-01 -7.46319758e-01 5.06716040e-03 2.48232002e+02] [-7.46298997e-01 6.65587570e-01 5.56719043e-03 -9.87846753e+01] [-7.52754319e-03 -7.62713363e-05 -9.99971665e-01 -4.00617981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54655999499994 meters 0.010542081586198949 Centerline is valid? [True, True] Translation: X:248.15, Y:-98.84, Z:-4.01 [[-6.10179573e-01 -7.92250076e-01 4.55043624e-03 2.48150777e+02] [-7.92228615e-01 6.10196538e-01 5.83157716e-03 -9.88423443e+01] [-7.39672788e-03 -4.66765390e-05 -9.99972643e-01 -4.00573374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60655999499994 meters 0.010823397751963061 Centerline is valid? [True, True] Translation: X:248.07, Y:-98.91, Z:-4.01 [[-5.52475437e-01 -8.33521366e-01 3.60889988e-03 2.48072506e+02] [-8.33503748e-01 5.52487224e-01 5.41932868e-03 -9.89074842e+01] [-6.51099732e-03 -1.39855958e-05 -9.99978803e-01 -4.00518791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66655999499994 meters 0.011333537418690833 Centerline is valid? [True, True] Translation: X:248.00, Y:-98.98, Z:-4.00 [[-4.90335590e-01 -8.71529095e-01 2.83657680e-03 2.47995232e+02] [-8.71514483e-01 4.90343794e-01 5.04669573e-03 -9.89840935e+01] [-5.78924000e-03 2.45676703e-06 -9.99983242e-01 -4.00463580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72655999499995 meters 0.01275607626313043 Centerline is valid? [True, True] Translation: X:247.93, Y:-99.06, Z:-4.00 [[-4.27713829e-01 -9.03911732e-01 2.11221821e-03 2.47925509e+02] [-9.03900409e-01 4.27719043e-01 4.52442351e-03 -9.90647011e+01] [-4.99311545e-03 2.59235959e-05 -9.99987534e-01 -4.00421331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78655999499995 meters 0.01285389160997463 Centerline is valid? [True, True] Translation: X:247.86, Y:-99.16, Z:-4.01 [[-3.59839928e-01 -9.33012619e-01 1.63668115e-03 2.47856686e+02] [-9.33002539e-01 3.59843648e-01 4.33712058e-03 -9.91573681e+01] [-4.63553755e-03 3.36414828e-05 -9.99989255e-01 -4.00531271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84655999499995 meters 0.01331464936144602 Centerline is valid? [True, True] Translation: X:247.79, Y:-99.26, Z:-4.00 [[-2.87744512e-01 -9.57705801e-01 1.64155481e-03 2.47792837e+02] [-9.57689031e-01 2.87749189e-01 5.66783054e-03 -9.92572419e+01] [-5.90047025e-03 5.87881024e-05 -9.99982590e-01 -4.00412730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90655999499995 meters 0.013072429431223324 Centerline is valid? [True, True] Translation: X:247.73, Y:-99.36, Z:-4.00 [[-2.11401335e-01 -9.77398290e-01 1.43457343e-03 2.47734919e+02] [-9.77373626e-01 2.11406192e-01 6.94388898e-03 -9.93629947e+01] [-7.09022293e-03 6.58331686e-05 -9.99974862e-01 -4.00295503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96655999499995 meters 0.012305214186526695 Centerline is valid? [True, True] Translation: X:247.68, Y:-99.47, Z:-4.00 [[-1.31402792e-01 -9.91328598e-01 9.57819805e-04 2.47682831e+02] [-9.91299986e-01 1.31406276e-01 7.53177036e-03 -9.94739231e+01] [-7.59232289e-03 4.02088918e-05 -9.99971177e-01 -4.00196064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02655999499996 meters 0.012009394506804464 Centerline is valid? [True, True] Translation: X:247.64, Y:-99.59, Z:-4.00 [[-5.32677158e-02 -9.98580196e-01 3.78075739e-04 2.47644065e+02] [-9.98551140e-01 5.32690500e-02 7.61769251e-03 -9.95888427e+01] [-7.62701662e-03 2.82491194e-05 -9.99970913e-01 -4.00178295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08655999499996 meters 0.011223400663431964 Centerline is valid? [True, True] Translation: X:247.61, Y:-99.71, Z:-4.00 [[ 2.81045594e-02 -9.99604968e-01 -2.02538194e-04 2.47610350e+02] [-9.99577137e-01 -2.81052883e-02 7.45924228e-03 -9.97053353e+01] [-7.46198804e-03 -7.18616969e-06 -9.99972159e-01 -4.00288429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14655999499996 meters 0.010957548792648476 Centerline is valid? [True, True] Translation: X:247.59, Y:-99.83, Z:-4.00 [[ 1.07631326e-01 -9.94190596e-01 -7.45540747e-04 2.47587674e+02] [-9.94164811e-01 -1.07633904e-01 7.16035859e-03 -9.98269148e+01] [-7.19900663e-03 -2.94885129e-05 -9.99974086e-01 -4.00284616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20655999499996 meters 0.01076170484802268 Centerline is valid? [True, True] Translation: X:247.57, Y:-99.95, Z:-4.00 [[ 1.86265583e-01 -9.82498733e-01 -1.17163528e-03 2.47573849e+02] [-9.82477605e-01 -1.86269261e-01 6.44347042e-03 -9.99451854e+01] [-6.54894116e-03 -4.90913521e-05 -9.99978554e-01 -4.00384260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26655999499997 meters 0.010644981084640476 Centerline is valid? [True, True] Translation: X:247.57, Y:-100.06, Z:-4.00 [[ 2.61731948e-01 -9.65139189e-01 -1.65298267e-03 2.47570160e+02] [-9.65118603e-01 -2.61737162e-01 6.30393760e-03 -1.00061398e+02] [-6.51682421e-03 -5.46175440e-05 -9.99978764e-01 -4.00477047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32655999499997 meters 0.01072044470446523 Centerline is valid? [True, True] Translation: X:247.58, Y:-100.18, Z:-4.00 [[ 3.34956570e-01 -9.42230860e-01 -2.25890141e-03 2.47578532e+02] [-9.42208311e-01 -3.34964183e-01 6.51886702e-03 -1.00181702e+02] [-6.89892875e-03 -5.51816569e-05 -9.99976201e-01 -4.00462394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38655999499997 meters 0.010671916367228416 Centerline is valid? [True, True] Translation: X:247.59, Y:-100.30, Z:-4.00 [[ 4.06070418e-01 -9.13835102e-01 -3.49585780e-03 2.47594249e+02] [-9.13800034e-01 -4.06085462e-01 8.00594914e-03 -1.00300516e+02] [-8.73573438e-03 -5.64641360e-05 -9.99961841e-01 -4.00339630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.446559995 meters 0.010681975170430236 Centerline is valid? [True, True] Translation: X:247.62, Y:-100.41, Z:-4.00 [[ 4.74446099e-01 -8.80271253e-01 -4.83940185e-03 2.47619031e+02] [-8.80224294e-01 -4.74470776e-01 9.09254033e-03 -1.00413417e+02] [-1.03000566e-02 -5.41612150e-05 -9.99946952e-01 -4.00328083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.506559995 meters 0.010911934469695496 Centerline is valid? [True, True] Translation: X:247.65, Y:-100.52, Z:-4.00 [[ 5.38678503e-01 -8.42484561e-01 -6.72567313e-03 2.47651291e+02] [-8.42418161e-01 -5.38720487e-01 1.05772882e-02 -1.00521175e+02] [-1.25344599e-02 -3.19285735e-05 -9.99921440e-01 -4.00122537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.566559995 meters 0.01117147484406076 Centerline is valid? [True, True] Translation: X:247.69, Y:-100.62, Z:-4.00 [[ 5.98925603e-01 -8.00767175e-01 -7.74946525e-03 2.47691289e+02] [-8.00700345e-01 -5.98975736e-01 1.03453338e-02 -1.00619907e+02] [-1.29259454e-02 8.91422243e-06 -9.99916456e-01 -4.00206492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.626559995 meters 0.011340664539382633 Centerline is valid? [True, True] Translation: X:247.74, Y:-100.71, Z:-4.00 [[ 6.56185754e-01 -7.54551794e-01 -8.47616188e-03 2.47737332e+02] [-7.54489681e-01 -6.56240495e-01 9.68164002e-03 -1.00714995e+02] [-1.28676995e-02 4.22224105e-05 -9.99917207e-01 -4.00261485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.686559995 meters 0.011090477954830504 Centerline is valid? [True, True] Translation: X:247.79, Y:-100.81, Z:-4.00 [[ 7.11814375e-01 -7.02317359e-01 -8.40370122e-03 2.47790552e+02] [-7.02268940e-01 -7.11863980e-01 8.24682894e-03 -1.00808548e+02] [-1.17741833e-02 3.14469557e-05 -9.99930681e-01 -4.00362956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.746559995 meters 0.010944218975637951 Centerline is valid? [True, True] Translation: X:247.81, Y:-100.84, Z:-4.00 [[ 7.65209151e-01 -6.43727766e-01 -8.33784661e-03 2.47809236e+02] [-6.43689745e-01 -7.65254574e-01 6.99629961e-03 -1.00838210e+02] [-1.08842876e-02 1.33538805e-05 -9.99940764e-01 -4.00388120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.806559995 meters 0.01052067196303178 Centerline is valid? [True, True] Translation: X:247.83, Y:-100.87, Z:-4.00 [[ 8.17008613e-01 -5.76566674e-01 -8.23388639e-03 2.47828710e+02] [-5.76536689e-01 -8.17050101e-01 5.88039970e-03 -1.00869618e+02] [-1.01179402e-02 -5.71996085e-05 -9.99948811e-01 -4.00465756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.866559995 meters 0.011017548165624455 Centerline is valid? [True, True] Translation: X:247.85, Y:-100.90, Z:-4.00 [[ 8.63840354e-01 -5.03693873e-01 -8.50436518e-03 2.47850394e+02] [-5.03667865e-01 -8.63882204e-01 5.12043745e-03 -1.00900074e+02] [-9.92590271e-03 -1.39865045e-04 -9.99950727e-01 -4.00369778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92655999499993 meters 0.01178413322264748 Centerline is valid? [True, True] Translation: X:247.88, Y:-100.93, Z:-4.00 [[ 9.02470474e-01 -4.30655562e-01 -9.10112856e-03 2.47876222e+02] [-4.30631568e-01 -9.02516344e-01 4.54975473e-03 -1.00926406e+02] [-1.01732945e-02 -1.86786042e-04 -9.99948233e-01 -4.00372172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98655999499994 meters 0.01320353222504393 Centerline is valid? [True, True] Translation: X:247.90, Y:-100.95, Z:-4.00 [[ 9.35149074e-01 -3.54125975e-01 -9.53955181e-03 2.47904104e+02] [-3.54104929e-01 -9.35197699e-01 3.86823273e-03 -1.00950737e+02] [-1.02912086e-02 -2.39371946e-04 -9.99947015e-01 -4.00292824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04655999499994 meters 0.013444857787874485 Centerline is valid? [True, True] Translation: X:247.93, Y:-100.97, Z:-4.00 [[ 9.60521060e-01 -2.78015904e-01 -1.03174655e-02 2.47934195e+02] [-2.77996827e-01 -9.60576433e-01 3.26811770e-03 -1.00971966e+02] [-1.08193029e-02 -2.70873218e-04 -9.99941433e-01 -4.00211516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10655999499994 meters 0.013943331460937297 Centerline is valid? [True, True] Translation: X:247.97, Y:-100.99, Z:-4.00 [[ 9.79380739e-01 -2.01681561e-01 -1.17437992e-02 2.47966481e+02] [-2.01663361e-01 -9.79451100e-01 2.72615324e-03 -1.00987096e+02] [-1.20522919e-02 -3.01647963e-04 -9.99927323e-01 -4.00030804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16655999499994 meters 0.01297170551539421 Centerline is valid? [True, True] Translation: X:248.00, Y:-100.99, Z:-4.00 [[ 9.91684465e-01 -1.28238592e-01 -1.08067053e-02 2.48000967e+02] [-1.28228381e-01 -9.91743317e-01 1.63537926e-03 -1.00994082e+02] [-1.09271965e-02 -2.36053886e-04 -9.99940269e-01 -4.00115877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22655999499995 meters 0.01193005690709075 Centerline is valid? [True, True] Translation: X:248.03, Y:-101.00, Z:-4.00 [[ 9.98498476e-01 -5.39174759e-02 -9.67980904e-03 2.48031879e+02] [-5.39132082e-02 -9.98545379e-01 7.01480508e-04 -1.01000131e+02] [-9.70355065e-03 -1.78557658e-04 -9.99952904e-01 -4.00263165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28655999499995 meters 0.011286328541966244 Centerline is valid? [True, True] Translation: X:248.06, Y:-101.00, Z:-4.00 [[ 9.99773198e-01 1.93881346e-02 -8.81213780e-03 2.48061377e+02] [ 1.93884537e-02 -9.99812025e-01 -4.92238424e-05 -1.01000655e+02] [-8.81143570e-03 -1.21641047e-04 -9.99961171e-01 -4.00316072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34655999499995 meters 0.010798041364771355 Centerline is valid? [True, True] Translation: X:248.09, Y:-101.00, Z:-4.00 [[ 9.95440029e-01 9.50028666e-02 -8.57922313e-03 2.48091117e+02] [ 9.50001792e-02 -9.95476994e-01 -7.21140694e-04 -1.01002256e+02] [-8.60892968e-03 -9.71754212e-05 -9.99962938e-01 -4.00381779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40655999499995 meters 0.010753046484832851 Centerline is valid? [True, True] Translation: X:248.12, Y:-101.00, Z:-4.00 [[ 9.85216954e-01 1.71033808e-01 -9.74630420e-03 2.48120710e+02] [ 1.71026327e-01 -9.85265157e-01 -1.60212308e-03 -1.01002915e+02] [-9.87671114e-03 -8.84357844e-05 -9.99951220e-01 -4.00311481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46655999499995 meters 0.010962776345854231 Centerline is valid? [True, True] Translation: X:248.15, Y:-101.00, Z:-4.00 [[ 9.68690236e-01 2.48047396e-01 -1.05696196e-02 2.48149189e+02] [ 2.48033725e-01 -9.68747893e-01 -2.60597143e-03 -1.01002336e+02] [-1.08857012e-02 -9.72430561e-05 -9.99940744e-01 -4.00185607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52655999499996 meters 0.011363340215808416 Centerline is valid? [True, True] Translation: X:248.18, Y:-101.00, Z:-4.00 [[ 9.45529380e-01 3.25347960e-01 -1.10858496e-02 2.48178843e+02] [ 3.25327184e-01 -9.45594357e-01 -3.67893008e-03 -1.00999657e+02] [-1.16796492e-02 -1.27991746e-04 -9.99931782e-01 -4.00182523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58655999499996 meters 0.011623430047956374 Centerline is valid? [True, True] Translation: X:248.21, Y:-101.00, Z:-4.00 [[ 9.15708472e-01 4.01695051e-01 -1.09124273e-02 2.48210423e+02] [ 4.01668755e-01 -9.15773475e-01 -4.59941447e-03 -1.00998835e+02] [-1.18408735e-02 -1.71458298e-04 -9.99929880e-01 -4.00304827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64655999499996 meters 0.012053010394220803 Centerline is valid? [True, True] Translation: X:248.24, Y:-101.00, Z:-4.00 [[ 8.80324400e-01 4.74239396e-01 -1.12226205e-02 2.48241759e+02] [ 4.74203888e-01 -8.80395906e-01 -5.80694099e-03 -1.00995974e+02] [-1.26342293e-02 -2.09818433e-04 -9.99920163e-01 -4.00270432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70655999499996 meters 0.013047889577902422 Centerline is valid? [True, True] Translation: X:248.27, Y:-100.99, Z:-4.00 [[ 8.38644410e-01 5.44583052e-01 -1.02397655e-02 2.48272463e+02] [ 5.44545987e-01 -8.38706886e-01 -6.35826083e-03 -1.00991470e+02] [-1.20507629e-02 -2.43703309e-04 -9.99927357e-01 -4.00315823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76655999499997 meters 0.012913300924975465 Centerline is valid? [True, True] Translation: X:248.30, Y:-100.98, Z:-4.01 [[ 7.93279728e-01 6.08790771e-01 -9.00391494e-03 2.48301879e+02] [ 6.08754853e-01 -7.93330791e-01 -6.61707133e-03 -1.00981832e+02] [-1.11714949e-02 -2.31988361e-04 -9.99937570e-01 -4.00517378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82655999499997 meters 0.01271480047693875 Centerline is valid? [True, True] Translation: X:248.33, Y:-100.97, Z:-4.01 [[ 7.43857847e-01 6.68292799e-01 -7.76138552e-03 2.48329660e+02] [ 6.68259289e-01 -7.43898308e-01 -6.69555733e-03 -1.00969795e+02] [-1.02482743e-02 -2.06075107e-04 -9.99947464e-01 -4.00614632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88655999499997 meters 0.012284401595971606 Centerline is valid? [True, True] Translation: X:248.36, Y:-100.95, Z:-4.01 [[ 6.91498104e-01 7.22347385e-01 -6.68046871e-03 2.48355457e+02] [ 7.22315952e-01 -6.91530353e-01 -6.74070183e-03 -1.00954577e+02] [-9.48887522e-03 -1.64226578e-04 -9.99954966e-01 -4.00644885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.946559995 meters 0.012227715096643645 Centerline is valid? [True, True] Translation: X:248.38, Y:-100.94, Z:-4.01 [[ 6.33993641e-01 7.73310715e-01 -6.52690398e-03 2.48378559e+02] [ 7.73272254e-01 -6.34027218e-01 -7.71411400e-03 -1.00938001e+02] [-1.01036418e-02 -1.56374528e-04 -9.99948945e-01 -4.00584087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.006559995 meters 0.011776042860619748 Centerline is valid? [True, True] Translation: X:248.40, Y:-100.92, Z:-4.01 [[ 5.73954775e-01 8.18861470e-01 -6.46594502e-03 2.48400069e+02] [ 8.18812113e-01 -5.73991180e-01 -8.99159364e-03 -1.00918507e+02] [-1.10742650e-02 -1.33625997e-04 -9.99938670e-01 -4.00558471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.066559995 meters 0.01142617876066132 Centerline is valid? [True, True] Translation: X:248.42, Y:-100.90, Z:-4.01 [[ 5.12056166e-01 8.58931924e-01 -5.86788977e-03 2.48420892e+02] [ 8.58877381e-01 -5.12089780e-01 -9.67996764e-03 -1.00898038e+02] [-1.13193196e-02 -8.31106756e-05 -9.99935931e-01 -4.00551155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.126559995 meters 0.011398940917719922 Centerline is valid? [True, True] Translation: X:248.44, Y:-100.88, Z:-4.01 [[ 4.46706641e-01 8.94665559e-01 -5.16847716e-03 2.48442597e+02] [ 8.94606689e-01 -4.46736539e-01 -1.02633457e-02 -1.00877487e+02] [-1.14912095e-02 -3.90495741e-05 -9.99933973e-01 -4.00558481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.186559995 meters 0.011390970367057144 Centerline is valid? [True, True] Translation: X:248.46, Y:-100.85, Z:-4.01 [[ 3.76667990e-01 9.26338425e-01 -4.28342420e-03 2.48462002e+02] [ 9.26279204e-01 -3.76692343e-01 -1.04745141e-02 -1.00854779e+02] [-1.13164780e-02 -2.22325714e-05 -9.99935966e-01 -4.00566139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.246559995 meters 0.011506351469807462 Centerline is valid? [True, True] Translation: X:248.48, Y:-100.83, Z:-4.01 [[ 3.02629287e-01 9.53100838e-01 -3.78257938e-03 2.48481780e+02] [ 9.53027397e-01 -3.02652924e-01 -1.18316240e-02 -1.00832015e+02] [-1.24215394e-02 -2.43058549e-05 -9.99922849e-01 -4.00612317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.306559995 meters 0.011594035868730541 Centerline is valid? [True, True] Translation: X:248.50, Y:-100.81, Z:-4.00 [[ 2.24871532e-01 9.74383833e-01 -2.99013649e-03 2.48500112e+02] [ 9.74300792e-01 -2.24891405e-01 -1.27209540e-02 -1.00809050e+02] [-1.30675479e-02 -5.27119402e-05 -9.99914615e-01 -4.00489033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.366559995 meters 0.011746417375686598 Centerline is valid? [True, True] Translation: X:248.52, Y:-100.78, Z:-4.01 [[ 1.43857271e-01 9.89596509e-01 -1.95842791e-03 2.48517676e+02] [ 9.89514457e-01 -1.43870563e-01 -1.27436694e-02 -1.00783381e+02] [-1.28928508e-02 -1.04623229e-04 -9.99916878e-01 -4.00521996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42655999499993 meters 0.011797460562480025 Centerline is valid? [True, True] Translation: X:248.53, Y:-100.76, Z:-4.01 [[ 6.40537703e-02 9.97946075e-01 -8.63468303e-04 2.48530882e+02] [ 9.97878921e-01 -6.40594775e-02 -1.15776522e-02 -1.00756564e+02] [-1.16091859e-02 -1.20044545e-04 -9.99932604e-01 -4.00714754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48655999499994 meters 0.011828833097304968 Centerline is valid? [True, True] Translation: X:248.54, Y:-100.73, Z:-4.01 [[-1.38941729e-02 9.99903471e-01 4.04465477e-05 2.48540879e+02] [ 9.99844417e-01 1.38937919e-02 -1.08675792e-02 -1.00727991e+02] [-1.08670921e-02 -1.10555770e-04 -9.99940945e-01 -4.00750973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54655999499994 meters 0.01167796096314232 Centerline is valid? [True, True] Translation: X:248.55, Y:-100.70, Z:-4.01 [[-8.93121447e-02 9.96003261e-01 9.19407481e-04 2.48547624e+02] [ 9.95940848e-01 8.93168409e-02 -1.11502687e-02 -1.00699813e+02] [-1.11878226e-02 -8.01789457e-05 -9.99937411e-01 -4.00773951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60655999499994 meters 0.011790119650121715 Centerline is valid? [True, True] Translation: X:248.55, Y:-100.67, Z:-4.01 [[-1.63878257e-01 9.86478905e-01 1.81270374e-03 2.48550293e+02] [ 9.86415580e-01 1.63888277e-01 -1.11774608e-02 -1.00670812e+02] [-1.13234101e-02 -4.36635791e-05 -9.99935887e-01 -4.00781782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66655999499994 meters 0.012297886309730667 Centerline is valid? [True, True] Translation: X:248.55, Y:-100.64, Z:-4.01 [[-2.34860950e-01 9.72024778e-01 2.85746161e-03 2.48548441e+02] [ 9.71954315e-01 2.34878330e-01 -1.17038262e-02 -1.00643658e+02] [-1.20475648e-02 2.85504144e-05 -9.99927425e-01 -4.00726299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72655999499995 meters 0.013059410871002953 Centerline is valid? [True, True] Translation: X:248.54, Y:-100.62, Z:-4.01 [[-3.06851574e-01 9.51749292e-01 3.92397412e-03 2.48543530e+02] [ 9.51674660e-01 3.06876653e-01 -1.19189609e-02 -1.00618012e+02] [-1.25480387e-02 7.69948117e-05 -9.99921267e-01 -4.00645872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78655999499995 meters 0.013322605494222211 Centerline is valid? [True, True] Translation: X:248.54, Y:-100.59, Z:-4.01 [[-3.78232639e-01 9.25695344e-01 5.31043421e-03 2.48540613e+02] [ 9.25608576e-01 3.78269898e-01 -1.26747088e-02 -1.00590189e+02] [-1.37416963e-02 1.21394878e-04 -9.99905571e-01 -4.00706026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84655999499995 meters 0.013287649793403807 Centerline is valid? [True, True] Translation: X:248.54, Y:-100.56, Z:-4.01 [[-4.50196945e-01 8.92902183e-01 6.95716394e-03 2.48537211e+02] [ 8.92799942e-01 4.50250680e-01 -1.35125218e-02 -1.00560721e+02] [-1.51978280e-02 1.28059530e-04 -9.99884498e-01 -4.00652227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90655999499995 meters 0.012537731644179718 Centerline is valid? [True, True] Translation: X:248.54, Y:-100.53, Z:-4.01 [[-5.22851522e-01 8.52374528e-01 9.16237990e-03 2.48536947e+02] [ 8.52245966e-01 5.22931792e-01 -1.48038582e-02 -1.00528612e+02] [-1.74097313e-02 6.83815340e-05 -9.99848437e-01 -4.00565557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96655999499995 meters 0.012244481615358833 Centerline is valid? [True, True] Translation: X:248.53, Y:-100.50, Z:-4.01 [[-5.91800162e-01 8.06016036e-01 1.05222740e-02 2.48530572e+02] [ 8.05888268e-01 5.91893699e-01 -1.43509534e-02 -1.00498186e+02] [-1.77951662e-02 -1.31193704e-05 -9.99841653e-01 -4.00564191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02655999499996 meters 0.012310573370870272 Centerline is valid? [True, True] Translation: X:248.52, Y:-100.47, Z:-4.01 [[-6.58542308e-01 7.52452949e-01 1.16870797e-02 2.48522257e+02] [ 7.52330636e-01 6.58645989e-01 -1.35674175e-02 -1.00468557e+02] [-1.79064915e-02 -1.42170302e-04 -9.99839656e-01 -4.00668753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08655999499996 meters 0.012999646771184155 Centerline is valid? [True, True] Translation: X:248.51, Y:-100.44, Z:-4.01 [[-7.19993700e-01 6.93889434e-01 1.12483874e-02 2.48508712e+02] [ 6.93799671e-01 7.20081523e-01 -1.11632179e-02 -1.00440951e+02] [-1.58457949e-02 -2.33319103e-04 -9.99874420e-01 -4.00813210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14655999499996 meters 0.013363027682519117 Centerline is valid? [True, True] Translation: X:248.53, Y:-100.42, Z:-4.01 [[-7.69342259e-01 6.38760754e-01 9.85842350e-03 2.48526952e+02] [ 6.38704354e-01 7.69405383e-01 -8.49146387e-03 -1.00420463e+02] [-1.30091380e-02 -2.36223984e-04 -9.99915350e-01 -4.01098989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20655999499996 meters 0.01383354615636803 Centerline is valid? [True, True] Translation: X:248.54, Y:-100.40, Z:-4.01 [[-8.14244211e-01 5.80453937e-01 8.92141270e-03 2.48544865e+02] [ 5.80415861e-01 8.14293050e-01 -6.65265896e-03 -1.00399305e+02] [-1.11262064e-02 -2.38759611e-04 -9.99938073e-01 -4.01237328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26655999499997 meters 0.0143520306748306 Centerline is valid? [True, True] Translation: X:248.56, Y:-100.38, Z:-4.01 [[-8.54498303e-01 5.19357476e-01 1.00230974e-02 2.48561364e+02] [ 5.19317868e-01 8.54557039e-01 -6.42016210e-03 -1.00376766e+02] [-1.18996676e-02 -2.80844027e-04 -9.99929157e-01 -4.01100404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32655999499997 meters 0.015532436150040185 Centerline is valid? [True, True] Translation: X:248.57, Y:-100.35, Z:-4.01 [[-8.90800633e-01 4.54201799e-01 1.32271362e-02 2.48569316e+02] [ 4.54144995e-01 8.90898740e-01 -7.19437690e-03 -1.00348018e+02] [-1.50517379e-02 -4.01717799e-04 -9.99886635e-01 -4.00869401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38655999499997 meters 0.01625634992117286 Centerline is valid? [True, True] Translation: X:248.58, Y:-100.32, Z:-4.01 [[-9.21521673e-01 3.88003266e-01 1.58515518e-02 2.48581511e+02] [ 3.87936568e-01 9.21657865e-01 -7.21106367e-03 -1.00322117e+02] [-1.74076236e-02 -4.95754876e-04 -9.99848353e-01 -4.00590867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.446559995 meters 0.01712444019539094 Centerline is valid? [True, True] Translation: X:248.60, Y:-100.30, Z:-4.00 [[-9.46879166e-01 3.21072797e-01 1.82237253e-02 2.48595210e+02] [ 3.21001832e-01 9.47054349e-01 -6.77371012e-03 -1.00297795e+02] [-1.94337124e-02 -5.64035772e-04 -9.99810988e-01 -4.00362527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.506559995 meters 0.016818247653116344 Centerline is valid? [True, True] Translation: X:248.60, Y:-100.27, Z:-4.00 [[-9.66875503e-01 2.54632185e-01 1.77260543e-02 2.48601333e+02] [ 2.54579710e-01 9.67037843e-01 -5.19427596e-03 -1.00274058e+02] [-1.84643952e-02 -5.09524419e-04 -9.99829389e-01 -4.00450720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.566559995 meters 0.01497792598312922 Centerline is valid? [True, True] Translation: X:248.80, Y:-99.63, Z:-5.00 [[-9.31993781e-01 -3.62242619e-01 1.29567322e-02 2.48797218e+02] [ 3.62209541e-01 -9.32083831e-01 -4.89700291e-03 -9.96269798e+01] [ 1.38506637e-02 1.29075750e-04 9.99904067e-01 -4.99899394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.626559995 meters 0.013010727946723118 Centerline is valid? [True, True] Translation: X:248.55, Y:-100.27, Z:-4.01 [[-9.65473880e-01 2.60226458e-01 1.19322334e-02 2.48550543e+02] [ 2.60203553e-01 9.65547583e-01 -3.46069237e-03 -1.00272723e+02] [-1.24217029e-02 -2.36398565e-04 -9.99922820e-01 -4.01148272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.686559995 meters 0.012295287659613465 Centerline is valid? [True, True] Translation: X:248.76, Y:-99.61, Z:-5.00 [[-9.36288745e-01 -3.51081311e-01 1.02614989e-02 2.48763253e+02] [ 3.51061675e-01 -9.36344967e-01 -3.71519426e-03 -9.96082830e+01] [ 1.09126381e-02 1.23924413e-04 9.99940448e-01 -4.99511589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.746559995 meters 0.012320779211822718 Centerline is valid? [True, True] Translation: X:248.51, Y:-100.27, Z:-4.01 [[-9.65136196e-01 2.61415224e-01 1.31986332e-02 2.48513673e+02] [ 2.61388094e-01 9.65226421e-01 -3.77090904e-03 -1.00267171e+02] [-1.37254426e-02 -1.89475222e-04 -9.99905784e-01 -4.01014665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.806559995 meters 0.012354267252380426 Centerline is valid? [True, True] Translation: X:248.71, Y:-99.60, Z:-5.00 [[-9.37480602e-01 -3.47779859e-01 1.33899263e-02 2.48713524e+02] [ 3.47747803e-01 -9.37576194e-01 -4.72717891e-03 -9.95962965e+01] [ 1.41980938e-02 2.24678939e-04 9.99899177e-01 -4.99761102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.866559995 meters 0.01265982388562513 Centerline is valid? [True, True] Translation: X:248.47, Y:-100.25, Z:-4.01 [[-9.66804278e-01 2.55029352e-01 1.57961088e-02 2.48470446e+02] [ 2.54990802e-01 9.66933275e-01 -4.44213114e-03 -1.00250698e+02] [-1.64066570e-02 -2.66808948e-04 -9.99865366e-01 -4.00860971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92655999499993 meters 0.012934936422901304 Centerline is valid? [True, True] Translation: X:248.47, Y:-100.22, Z:-4.01 [[-9.82712320e-01 1.84455820e-01 1.58917303e-02 2.48473883e+02] [ 1.84426971e-01 9.82840764e-01 -3.27482017e-03 -1.00221144e+02] [-1.62231000e-02 -2.87342452e-04 -9.99868356e-01 -4.00875278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98655999499994 meters 0.013348260422429993 Centerline is valid? [True, True] Translation: X:248.61, Y:-99.55, Z:-5.00 [[-9.59612365e-01 -2.80961645e-01 1.43060626e-02 2.48613527e+02] [ 2.80933199e-01 -9.59718981e-01 -4.00190414e-03 -9.95517101e+01] [ 1.48541814e-02 1.78771236e-04 9.99889655e-01 -4.99714539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04655999499994 meters 0.012970890423200036 Centerline is valid? [True, True] Translation: X:248.42, Y:-100.21, Z:-4.01 [[-9.83477260e-01 1.80288103e-01 1.63914137e-02 2.48424308e+02] [ 1.80257942e-01 9.83613801e-01 -3.31143714e-03 -1.00208504e+02] [-1.67198334e-02 -3.02040625e-04 -9.99860168e-01 -4.01067886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10655999499994 meters 0.012568930499747685 Centerline is valid? [True, True] Translation: X:248.44, Y:-100.18, Z:-4.01 [[-9.93724928e-01 1.10657995e-01 1.62965019e-02 2.48438028e+02] [ 1.10638367e-01 9.93858504e-01 -2.10387756e-03 -1.00183457e+02] [-1.64292278e-02 -2.87657223e-04 -9.99864990e-01 -4.01177420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16655999499994 meters 0.012294073897056656 Centerline is valid? [True, True] Translation: X:248.44, Y:-100.16, Z:-4.01 [[-9.99060451e-01 4.03556853e-02 1.57997786e-02 2.48437818e+02] [ 4.03463581e-02 9.99185341e-01 -9.08775845e-04 -1.00156153e+02] [-1.58235815e-02 -2.70458480e-04 -9.99874763e-01 -4.01384306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22655999499995 meters 0.012533599099461185 Centerline is valid? [True, True] Translation: X:248.43, Y:-100.13, Z:-4.01 [[-9.99435096e-01 -3.01736121e-02 1.48000620e-02 2.48434799e+02] [-3.01739657e-02 9.99544642e-01 1.99456889e-04 -1.00128207e+02] [-1.47993410e-02 -2.47232347e-04 -9.99890453e-01 -4.01446746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28655999499995 meters 0.011992429311582519 Centerline is valid? [True, True] Translation: X:248.43, Y:-100.10, Z:-4.02 [[-9.94783160e-01 -1.01016195e-01 1.42194359e-02 2.48433429e+02] [-1.01009282e-01 9.94884753e-01 1.20535305e-03 -1.00101031e+02] [-1.42684601e-02 -2.37230086e-04 -9.99898172e-01 -4.01595997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34655999499995 meters 0.01225225043723005 Centerline is valid? [True, True] Translation: X:248.38, Y:-99.43, Z:-4.99 [[-9.99894794e-01 5.33725105e-03 1.34876122e-02 2.48377109e+02] [-5.33440988e-03 -9.99985742e-01 2.46617882e-04 -9.94289515e+01] [ 1.34887362e-02 1.74643485e-04 9.99909008e-01 -4.99133267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40655999499995 meters 0.012863149959135869 Centerline is valid? [True, True] Translation: X:248.36, Y:-100.10, Z:-4.02 [[-9.94120878e-01 -1.07176986e-01 1.53874235e-02 2.48356302e+02] [-1.07168414e-01 9.94239920e-01 1.38294780e-03 -1.00103440e+02] [-1.54470109e-02 -2.74228488e-04 -9.99880650e-01 -4.01600503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46655999499995 meters 0.012766993602093643 Centerline is valid? [True, True] Translation: X:248.30, Y:-99.44, Z:-4.99 [[-9.99839459e-01 8.74067643e-03 1.56414991e-02 2.48299400e+02] [-8.73506381e-03 -9.99961757e-01 4.27113386e-04 -9.94406359e+01] [ 1.56446342e-02 2.90415325e-04 9.99877573e-01 -4.99126615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52655999499996 meters 0.01311541953098101 Centerline is valid? [True, True] Translation: X:248.28, Y:-100.11, Z:-4.01 [[-9.93394975e-01 -1.13178531e-01 1.88956122e-02 2.48281152e+02] [-1.13164734e-01 9.93574606e-01 1.80125666e-03 -1.00105675e+02] [-1.89780640e-02 -3.48957609e-04 -9.99819839e-01 -4.01347567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58655999499996 meters 0.013440088487519316 Centerline is valid? [True, True] Translation: X:248.22, Y:-99.45, Z:-5.00 [[-9.99739304e-01 1.33981421e-02 1.84882008e-02 2.48221288e+02] [-1.33901349e-02 -9.99910193e-01 5.56822328e-04 -9.94525788e+01] [ 1.84940008e-02 3.09117663e-04 9.99828924e-01 -4.99532776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64655999499996 meters 0.012599456085848912 Centerline is valid? [True, True] Translation: X:248.21, Y:-100.11, Z:-4.01 [[-9.93014718e-01 -1.16432955e-01 1.91085747e-02 2.48206702e+02] [-1.16417498e-01 9.93198504e-01 1.92306164e-03 -1.00112033e+02] [-1.92025155e-02 -3.14943947e-04 -9.99815565e-01 -4.01364902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70655999499996 meters 0.011699378799711047 Centerline is valid? [True, True] Translation: X:248.20, Y:-100.09, Z:-4.02 [[-9.82984853e-01 -1.82809132e-01 1.79332397e-02 2.48199926e+02] [-1.82782878e-01 9.83148397e-01 3.10624238e-03 -1.00088498e+02] [-1.81988853e-02 -2.24499944e-04 -9.99834361e-01 -4.01542574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76655999499997 meters 0.01109026806552569 Centerline is valid? [True, True] Translation: X:248.19, Y:-100.06, Z:-4.02 [[-9.68517689e-01 -2.48365814e-01 1.69678954e-02 2.48188548e+02] [-2.48330269e-01 9.68666301e-01 4.20417601e-03 -1.00064906e+02] [-1.74804020e-02 -1.41823190e-04 -9.99847196e-01 -4.01640379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82655999499997 meters 0.01099516875774886 Centerline is valid? [True, True] Translation: X:248.16, Y:-100.05, Z:-4.02 [[-9.49594979e-01 -3.13017347e-01 1.70151712e-02 2.48163441e+02] [-3.12968279e-01 9.49747407e-01 5.54255869e-03 -1.00045194e+02] [-1.78950317e-02 -6.20229429e-05 -9.99839869e-01 -4.01536982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88655999499997 meters 0.011816917686450074 Centerline is valid? [True, True] Translation: X:248.12, Y:-100.04, Z:-4.01 [[-9.27140047e-01 -3.74342550e-01 1.67029269e-02 2.48118449e+02] [-3.74280415e-01 9.27290488e-01 6.82062567e-03 -1.00037231e+02] [-1.80417157e-02 7.20967789e-05 -9.99837232e-01 -4.01453788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.946559995 meters 0.013179728225115126 Centerline is valid? [True, True] Translation: X:248.06, Y:-100.04, Z:-4.02 [[-9.00218752e-01 -4.35171365e-01 1.52342301e-02 2.48063103e+02] [-4.35105541e-01 9.00347626e-01 7.57102075e-03 -1.00035520e+02] [-1.70107943e-02 1.87076924e-04 -9.99855288e-01 -4.01562101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.006559995 meters 0.012876134902763067 Centerline is valid? [True, True] Translation: X:247.99, Y:-100.04, Z:-4.02 [[-8.67476801e-01 -4.97277716e-01 1.41022351e-02 2.47992639e+02] [-4.97207482e-01 8.67591387e-01 8.36092707e-03 -1.00041891e+02] [-1.63926804e-02 2.41173452e-04 -9.99865602e-01 -4.01801920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.066559995 meters 0.012940335813618144 Centerline is valid? [True, True] Translation: X:247.91, Y:-100.06, Z:-4.02 [[-8.29444393e-01 -5.58437633e-01 1.30157510e-02 2.47913932e+02] [-5.58363754e-01 8.29546465e-01 9.08742590e-03 -1.00058606e+02] [-1.58719309e-02 2.69990852e-04 -9.99873997e-01 -4.01927918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.126559995 meters 0.013456173628006196 Centerline is valid? [True, True] Translation: X:247.83, Y:-100.08, Z:-4.02 [[-7.85095130e-01 -6.19244069e-01 1.27443919e-02 2.47834537e+02] [-6.19156776e-01 7.85198515e-01 1.04009309e-02 -1.00082806e+02] [-1.64475924e-02 2.74943629e-04 -9.99864691e-01 -4.01840329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.186559995 meters 0.013293701375863907 Centerline is valid? [True, True] Translation: X:247.75, Y:-100.12, Z:-4.02 [[-7.34833516e-01 -6.78142989e-01 1.19075711e-02 2.47747869e+02] [-6.78048743e-01 7.34929950e-01 1.13079787e-02 -1.00115870e+02] [-1.64196571e-02 2.35568113e-04 -9.99865161e-01 -4.01775864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.246559995 meters 0.012117474095288617 Centerline is valid? [True, True] Translation: X:247.66, Y:-100.16, Z:-4.02 [[-6.79704080e-01 -7.33402214e-01 1.11155845e-02 2.47660082e+02] [-7.33299543e-01 6.79794937e-01 1.22729146e-02 -1.00160603e+02] [-1.65573008e-02 1.90897075e-04 -9.99862900e-01 -4.01862264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.306559995 meters 0.011704563002429929 Centerline is valid? [True, True] Translation: X:247.57, Y:-100.21, Z:-4.02 [[-6.19566863e-01 -7.84874026e-01 1.04721259e-02 2.47573258e+02] [-7.84758204e-01 6.19655344e-01 1.34839137e-02 -1.00213746e+02] [-1.70722824e-02 1.36099432e-04 -9.99854249e-01 -4.01822595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.366559995 meters 0.011201270368237306 Centerline is valid? [True, True] Translation: X:247.49, Y:-100.28, Z:-4.02 [[-5.56959437e-01 -8.30492733e-01 8.83208299e-03 2.47488553e+02] [-8.30385588e-01 5.57029452e-01 1.33403433e-02 -1.00279141e+02] [-1.59987885e-02 9.59956740e-05 -9.99872007e-01 -4.01899694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42655999499993 meters 0.010818087536486132 Centerline is valid? [True, True] Translation: X:247.41, Y:-100.35, Z:-4.02 [[-4.91448527e-01 -8.70879501e-01 6.87313194e-03 2.47410022e+02] [-8.70792484e-01 4.91496582e-01 1.23109552e-02 -1.00348155e+02] [-1.40994794e-02 6.51291580e-05 -9.99900595e-01 -4.02073902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48655999499994 meters 0.010670696945596908 Centerline is valid? [True, True] Translation: X:247.34, Y:-100.43, Z:-4.02 [[-4.25358313e-01 -9.05010461e-01 5.13525339e-03 2.47336406e+02] [-9.04942491e-01 4.25389305e-01 1.10918010e-02 -1.00427766e+02] [-1.22226778e-02 7.08807562e-05 -9.99925298e-01 -4.02175601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54655999499994 meters 0.011217200699737579 Centerline is valid? [True, True] Translation: X:247.27, Y:-100.51, Z:-4.02 [[-3.57820317e-01 -9.33780481e-01 4.31674618e-03 2.47271580e+02] [-9.33708916e-01 3.57846339e-01 1.15610371e-02 -1.00513590e+02] [-1.23402026e-02 1.06189545e-04 -9.99923851e-01 -4.02145292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60655999499994 meters 0.012896202865196474 Centerline is valid? [True, True] Translation: X:247.21, Y:-100.61, Z:-4.02 [[-2.90921303e-01 -9.56739759e-01 3.71877890e-03 2.47213274e+02] [-9.56652882e-01 2.90945006e-01 1.28944614e-02 -1.00608604e+02] [-1.34186041e-02 1.93692962e-04 -9.99909948e-01 -4.01962517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66655999499994 meters 0.013993619703234346 Centerline is valid? [True, True] Translation: X:247.16, Y:-100.71, Z:-4.02 [[-2.20517530e-01 -9.75378393e-01 3.00174161e-03 2.47160336e+02] [-9.75270637e-01 2.20537793e-01 1.45005923e-02 -1.00711244e+02] [-1.48055619e-02 2.70124341e-04 -9.99890355e-01 -4.01847550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72655999499995 meters 0.014273914100090705 Centerline is valid? [True, True] Translation: X:247.11, Y:-100.81, Z:-4.02 [[-1.46584940e-01 -9.89196171e-01 1.94686740e-03 2.47114499e+02] [-9.89079757e-01 1.46597562e-01 1.51785415e-02 -1.00813312e+02] [-1.52999612e-02 2.99338458e-04 -9.99882904e-01 -4.01820935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78655999499995 meters 0.014273914100090705 Centerline is valid? [True, True] Translation: X:247.08, Y:-100.92, Z:-4.02 [[-7.05937976e-02 -9.97504840e-01 7.81407480e-04 2.47077206e+02] [-9.97387823e-01 7.05974872e-02 1.52815322e-02 -1.00924736e+02] [-1.52985677e-02 2.99415084e-04 -9.99882925e-01 -4.01827614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84655999499995 meters 0.013825413422718888 Centerline is valid? [True, True] Translation: X:247.05, Y:-101.04, Z:-4.02 [[ 7.18315973e-03 -9.99974128e-01 -3.82347133e-04 2.47046225e+02] [-9.99860388e-01 -7.18811028e-03 1.50842807e-02 -1.01038301e+02] [-1.50866388e-02 2.73940956e-04 -9.99886153e-01 -4.01829418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90655999499995 meters 0.012460790252085976 Centerline is valid? [True, True] Translation: X:247.02, Y:-101.16, Z:-4.02 [[ 8.81282494e-02 -9.96108140e-01 -1.40922185e-03 2.47023207e+02] [-9.96012188e-01 -8.81393215e-02 1.38268231e-02 -1.01158315e+02] [-1.38972189e-02 1.85068425e-04 -9.99903412e-01 -4.01997525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96655999499995 meters 0.01134838148799113 Centerline is valid? [True, True] Translation: X:247.01, Y:-101.28, Z:-4.02 [[ 1.69462794e-01 -9.85533841e-01 -2.32567120e-03 2.47008837e+02] [-9.85448955e-01 -1.69478722e-01 1.29352376e-02 -1.01278793e+02] [-1.31422662e-02 9.97887431e-05 -9.99913632e-01 -4.01987098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02655999499996 meters 0.009796504908880344 Centerline is valid? [True, True] Translation: X:247.00, Y:-101.40, Z:-4.02 [[ 2.54505386e-01 -9.67066332e-01 -3.11746527e-03 2.46998896e+02] [-9.66991847e-01 -2.54524475e-01 1.20024667e-02 -1.01399140e+02] [-1.24006527e-02 -4.01289236e-05 -9.99923108e-01 -4.02143610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08655999499996 meters 0.010742390057421385 Centerline is valid? [True, True] Translation: X:247.00, Y:-101.53, Z:-4.02 [[ 3.37613720e-01 -9.41276425e-01 -3.95831799e-03 2.47000695e+02] [-9.41205630e-01 -3.37636879e-01 1.15455478e-02 -1.01525412e+02] [-1.22040261e-02 -1.72344167e-04 -9.99925513e-01 -4.02039221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14655999499996 meters 0.013107912067928109 Centerline is valid? [True, True] Translation: X:247.01, Y:-101.64, Z:-4.02 [[ 4.16430282e-01 -9.09154709e-01 -4.85133871e-03 2.47010760e+02] [-9.09084888e-01 -4.16458444e-01 1.12708366e-02 -1.01639913e+02] [-1.22673151e-02 -2.83238951e-04 -9.99924714e-01 -4.01993503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20655999499996 meters 0.013966113909928399 Centerline is valid? [True, True] Translation: X:247.03, Y:-101.75, Z:-4.02 [[ 4.87840231e-01 -8.72915654e-01 -5.49272922e-03 2.47032839e+02] [-8.72852718e-01 -4.87871046e-01 1.04868676e-02 -1.01750830e+02] [-1.18338944e-02 -3.21572264e-04 -9.99929925e-01 -4.02050942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26655999499997 meters 0.015371697186318617 Centerline is valid? [True, True] Translation: X:247.06, Y:-101.86, Z:-4.02 [[ 5.54960093e-01 -8.31856074e-01 -5.89635307e-03 2.47062828e+02] [-8.31802558e-01 -5.54991315e-01 9.44165748e-03 -1.01856774e+02] [-1.11265249e-02 -3.35141550e-04 -9.99938042e-01 -4.02101877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32655999499997 meters 0.015519724677197656 Centerline is valid? [True, True] Translation: X:247.10, Y:-101.96, Z:-4.02 [[ 6.17273957e-01 -7.86722479e-01 -6.37204321e-03 2.47101036e+02] [-7.86674846e-01 -6.17306754e-01 8.66360907e-03 -1.01955697e+02] [-1.07493613e-02 -3.35094137e-04 -9.99942168e-01 -4.02208959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38655999499997 meters 0.016652006946341735 Centerline is valid? [True, True] Translation: X:247.15, Y:-102.05, Z:-4.02 [[ 6.75400423e-01 -7.37405092e-01 -8.24614315e-03 2.47146290e+02] [-7.37342921e-01 -6.75450647e-01 9.58337025e-03 -1.02052279e+02] [-1.26366887e-02 -3.92377054e-04 -9.99920077e-01 -4.01947587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.446559995 meters 0.01652808961345638 Centerline is valid? [True, True] Translation: X:247.19, Y:-102.14, Z:-4.02 [[ 7.29109368e-01 -6.84338222e-01 -8.98486043e-03 2.47194823e+02] [-6.84279568e-01 -7.29164622e-01 8.96813566e-03 -1.02140484e+02] [-1.26886804e-02 -3.90595310e-04 -9.99919419e-01 -4.01857171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.506559995 meters 0.015656288790972948 Centerline is valid? [True, True] Translation: X:247.22, Y:-102.16, Z:-4.02 [[ 7.80017342e-01 -6.25683242e-01 -9.66577273e-03 2.47223495e+02] [-6.25629023e-01 -7.80077133e-01 8.24572566e-03 -1.02164647e+02] [-1.26992606e-02 -3.84621058e-04 -9.99919287e-01 -4.02043081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.566559995 meters 0.01513748058532246 Centerline is valid? [True, True] Translation: X:247.25, Y:-102.19, Z:-4.02 [[ 8.25799421e-01 -5.63885179e-01 -9.42446085e-03 2.47253219e+02] [-5.63843714e-01 -8.25853128e-01 6.84675092e-03 -1.02187004e+02] [-1.16440018e-02 -3.40119941e-04 -9.99932148e-01 -4.02199465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.626559995 meters 0.015532865245040894 Centerline is valid? [True, True] Translation: X:247.28, Y:-102.21, Z:-4.02 [[ 8.66673829e-01 -4.98788872e-01 -9.28090430e-03 2.47282373e+02] [-4.98756473e-01 -8.66723467e-01 5.69315364e-03 -1.02208917e+02] [-1.08836592e-02 -3.05196164e-04 -9.99940725e-01 -4.02190724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.686559995 meters 0.013589935287886299 Centerline is valid? [True, True] Translation: X:247.31, Y:-102.22, Z:-4.02 [[ 9.01657020e-01 -4.32376635e-01 -8.06622573e-03 2.47314697e+02] [-4.32357027e-01 -9.01693070e-01 4.12412343e-03 -1.02224664e+02] [-9.05643445e-03 -2.31055457e-04 -9.99958963e-01 -4.02370599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.746559995 meters 0.013453479609274848 Centerline is valid? [True, True] Translation: X:247.35, Y:-102.24, Z:-4.02 [[ 9.31618076e-01 -3.63368635e-01 -7.14105367e-03 2.47345408e+02] [-3.63356479e-01 -9.31645428e-01 2.97767011e-03 -1.02240204e+02] [-7.73492192e-03 -1.79303186e-04 -9.99970069e-01 -4.02441724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.806559995 meters 0.01156180569014302 Centerline is valid? [True, True] Translation: X:247.38, Y:-102.25, Z:-4.03 [[ 9.55257692e-01 -2.95728937e-01 -5.20931769e-03 2.47380017e+02] [-2.95723959e-01 -9.55271891e-01 1.71889009e-03 -1.02247415e+02] [-5.48464030e-03 -1.01462931e-04 -9.99984954e-01 -4.02740469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.866559995 meters 0.011852528744503774 Centerline is valid? [True, True] Translation: X:247.41, Y:-102.26, Z:-4.03 [[ 9.75139710e-01 -2.21441389e-01 -8.13982018e-03 2.47411832e+02] [-2.21432604e-01 -9.75173675e-01 1.97645218e-03 -1.02260110e+02] [-8.37540667e-03 -1.24895435e-04 -9.99964918e-01 -4.02579573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92655999499993 meters 0.011715503437196392 Centerline is valid? [True, True] Translation: X:247.44, Y:-102.27, Z:-4.02 [[ 9.89176124e-01 -1.46389067e-01 -1.00417216e-02 2.47444301e+02] [-1.46380241e-01 -9.89227085e-01 1.61234348e-03 -1.02269821e+02] [-1.01695725e-02 -1.24982040e-04 -9.99948281e-01 -4.02278682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98655999499994 meters 0.011487600219212322 Centerline is valid? [True, True] Translation: X:247.47, Y:-102.28, Z:-4.02 [[ 9.97501767e-01 -6.98872638e-02 -1.02953724e-02 2.47473877e+02] [-6.98823816e-02 -9.97554890e-01 8.33638671e-04 -1.02277185e+02] [-1.03284598e-02 -1.12090906e-04 -9.99946654e-01 -4.02266856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04655999499994 meters 0.011329586072611317 Centerline is valid? [True, True] Translation: X:247.50, Y:-102.28, Z:-4.02 [[ 9.99933138e-01 5.66357771e-03 -1.00818322e-02 2.47503166e+02] [ 5.66412237e-03 -9.99983958e-01 2.54712900e-05 -1.02280089e+02] [-1.00815262e-02 -8.25743181e-05 -9.99949177e-01 -4.02204923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10655999499994 meters 0.011072056733635177 Centerline is valid? [True, True] Translation: X:247.53, Y:-102.28, Z:-4.02 [[ 9.96687819e-01 8.09238458e-02 -8.04503496e-03 2.47532774e+02] [ 8.09216041e-02 -9.96720286e-01 -6.04305157e-04 -1.02278392e+02] [-8.06755225e-03 -4.87135447e-05 -9.99967456e-01 -4.02251557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16655999499994 meters 0.01097977029304287 Centerline is valid? [True, True] Translation: X:247.56, Y:-102.28, Z:-4.02 [[ 9.87768860e-01 1.55812882e-01 -5.91824553e-03 2.47562367e+02] [ 1.55810252e-01 -9.87786589e-01 -9.05614346e-04 -1.02278253e+02] [-5.98706994e-03 -2.75856794e-05 -9.99982077e-01 -4.02464156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22655999499995 meters 0.010975533205774764 Centerline is valid? [True, True] Translation: X:247.59, Y:-102.28, Z:-4.02 [[ 9.73103146e-01 2.30321139e-01 -4.73720392e-03 2.47591172e+02] [ 2.30318495e-01 -9.73114676e-01 -1.10360059e-03 -1.02275911e+02] [-4.86402521e-03 -1.71484729e-05 -9.99988170e-01 -4.02463554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28655999499995 meters 0.011004963476948317 Centerline is valid? [True, True] Translation: X:247.62, Y:-102.28, Z:-4.03 [[ 9.52804126e-01 3.03578196e-01 -2.13918999e-03 2.47621425e+02] [ 3.03577481e-01 -9.52806527e-01 -6.59282695e-04 -1.02275673e+02] [-2.23837804e-03 -2.12426366e-05 -9.99997495e-01 -4.02582180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34655999499995 meters 0.011032211440457643 Centerline is valid? [True, True] Translation: X:247.65, Y:-102.27, Z:-4.03 [[ 9.26271993e-01 3.76852754e-01 -1.48237543e-03 2.47650018e+02] [ 3.76852313e-01 -9.26273178e-01 -5.76869010e-04 -1.02273395e+02] [-1.59047928e-03 -2.42990038e-05 -9.99998735e-01 -4.02535736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40655999499995 meters 0.010795075166834317 Centerline is valid? [True, True] Translation: X:247.68, Y:-102.27, Z:-4.02 [[ 8.93147436e-01 4.49758304e-01 -2.26394197e-03 2.47679611e+02] [ 4.49756924e-01 -8.93150305e-01 -1.11471971e-03 -1.02270054e+02] [-2.52339491e-03 -2.26145271e-05 -9.99996816e-01 -4.02348356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46655999499995 meters 0.010589258110518314 Centerline is valid? [True, True] Translation: X:247.71, Y:-102.26, Z:-4.02 [[ 8.53617491e-01 5.20895736e-01 -2.19340740e-03 2.47708704e+02] [ 5.20894107e-01 -8.53620309e-01 -1.30315119e-03 -1.02264751e+02] [-2.55114300e-03 -3.01403423e-05 -9.99996745e-01 -4.02297082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52655999499996 meters 0.010745727434116017 Centerline is valid? [True, True] Translation: X:247.74, Y:-102.26, Z:-4.02 [[ 8.06190872e-01 5.91649444e-01 -2.68583961e-03 2.47740366e+02] [ 5.91646371e-01 -8.06195344e-01 -1.90741687e-03 -1.02260266e+02] [-3.29383351e-03 -5.13251878e-05 -9.99994574e-01 -4.02049586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58655999499996 meters 0.01100202508527702 Centerline is valid? [True, True] Translation: X:247.77, Y:-102.25, Z:-4.02 [[ 7.55212979e-01 6.55469704e-01 -3.58081981e-03 2.47769740e+02] [ 6.55462798e-01 -7.55221465e-01 -3.00983388e-03 -1.02251369e+02] [-4.67716691e-03 -7.40285667e-05 -9.99989059e-01 -4.01821687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64655999499996 meters 0.011409110429460986 Centerline is valid? [True, True] Translation: X:247.80, Y:-102.24, Z:-4.02 [[ 7.00015478e-01 7.14115030e-01 -4.24906581e-03 2.47796447e+02] [ 7.14102717e-01 -7.00028367e-01 -4.19465484e-03 -1.02238722e+02] [-5.96993267e-03 -9.79461241e-05 -9.99982175e-01 -4.01748886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70655999499996 meters 0.012163200270779254 Centerline is valid? [True, True] Translation: X:247.82, Y:-102.22, Z:-4.02 [[ 6.38356828e-01 7.69723686e-01 -5.09972047e-03 2.47822614e+02] [ 7.69701025e-01 -6.38377180e-01 -5.90829246e-03 -1.02224100e+02] [-7.80329782e-03 -1.53661247e-04 -9.99969542e-01 -4.01635192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76655999499997 meters 0.014239917937470072 Centerline is valid? [True, True] Translation: X:247.85, Y:-102.21, Z:-4.02 [[ 5.70897067e-01 8.21008833e-01 -4.58642178e-03 2.47847894e+02] [ 8.20985132e-01 -5.70915454e-01 -6.24160540e-03 -1.02209543e+02] [-7.74287224e-03 -2.02069870e-04 -9.99970003e-01 -4.01527745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82655999499997 meters 0.014239917937470072 Centerline is valid? [True, True] Translation: X:247.87, Y:-102.19, Z:-4.02 [[ 5.04883841e-01 8.63177639e-01 -4.08300629e-03 2.47868458e+02] [ 8.63152580e-01 -5.04900310e-01 -6.58038973e-03 -1.02189526e+02] [-7.74155641e-03 -2.01924967e-04 -9.99970013e-01 -4.01530200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88655999499997 meters 0.01370035942842886 Centerline is valid? [True, True] Translation: X:247.89, Y:-102.17, Z:-4.02 [[ 4.35172203e-01 9.00339574e-01 -3.71553475e-03 2.47889006e+02] [ 9.00310854e-01 -4.35188012e-01 -7.19451518e-03 -1.02168483e+02] [-8.09446291e-03 -2.14283238e-04 -9.99967216e-01 -4.01546812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.946559995 meters 0.013852871048729183 Centerline is valid? [True, True] Translation: X:247.91, Y:-102.15, Z:-4.02 [[ 3.63263143e-01 9.31680193e-01 -3.45052385e-03 2.47907859e+02] [ 9.31644060e-01 -3.63279456e-01 -8.20866716e-03 -1.02145664e+02] [-8.90135704e-03 -2.32753814e-04 -9.99960355e-01 -4.01558608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.006559995 meters 0.013122763770762571 Centerline is valid? [True, True] Translation: X:247.92, Y:-102.12, Z:-4.02 [[ 2.92098652e-01 9.56385047e-01 -2.45336266e-03 2.47923297e+02] [ 9.56356421e-01 -2.92108897e-01 -7.40187419e-03 -1.02121568e+02] [-7.79569085e-03 -1.84211655e-04 -9.99969596e-01 -4.01592115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.066559995 meters 0.012550293050610803 Centerline is valid? [True, True] Translation: X:247.94, Y:-102.10, Z:-4.02 [[ 2.17456670e-01 9.76068375e-01 -1.76755792e-03 2.47938535e+02] [ 9.76042095e-01 -2.17463790e-01 -7.16445119e-03 -1.02097256e+02] [-7.37737407e-03 -1.67253230e-04 -9.99972773e-01 -4.01695947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.126559995 meters 0.012844867786887568 Centerline is valid? [True, True] Translation: X:247.95, Y:-102.07, Z:-4.02 [[ 1.39036303e-01 9.90286140e-01 -1.50580245e-03 2.47954378e+02] [ 9.90243594e-01 -1.39044292e-01 -9.18197038e-03 -1.02072164e+02] [-9.30215124e-03 -2.14484015e-04 -9.99956711e-01 -4.01561812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.186559995 meters 0.01422918106000512 Centerline is valid? [True, True] Translation: X:247.97, Y:-102.05, Z:-4.01 [[ 5.96698920e-02 9.98217812e-01 -8.38933135e-04 2.47966820e+02] [ 9.98167965e-01 -5.96752986e-02 -9.97861156e-03 -1.02047009e+02] [-1.00108914e-02 -2.41973506e-04 -9.99949860e-01 -4.01434189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.246559995 meters 0.013036500689890627 Centerline is valid? [True, True] Translation: X:247.97, Y:-102.02, Z:-4.02 [[-1.86328858e-02 9.99826391e-01 -5.42990348e-05 2.47974424e+02] [ 9.99777658e-01 1.86314414e-02 -9.87444008e-03 -1.02019313e+02] [-9.87171412e-03 -2.38276276e-04 -9.99951245e-01 -4.01616287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.306559995 meters 0.013282428221130937 Centerline is valid? [True, True] Translation: X:247.98, Y:-101.99, Z:-4.02 [[-9.53767411e-02 9.95441062e-01 6.07231898e-04 2.47981155e+02] [ 9.95405818e-01 9.53784754e-02 -8.37872356e-03 -1.01992905e+02] [-8.39844233e-03 -1.94693183e-04 -9.99964714e-01 -4.01713447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.366559995 meters 0.012870134922760054 Centerline is valid? [True, True] Translation: X:247.98, Y:-101.96, Z:-4.02 [[-1.72729677e-01 9.84968563e-01 1.17841280e-03 2.47984222e+02] [ 9.84937936e-01 1.72733601e-01 -7.76955087e-03 -1.01964961e+02] [-7.85631485e-03 -1.81368542e-04 -9.99969122e-01 -4.01888783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42655999499993 meters 0.013539402969666962 Centerline is valid? [True, True] Translation: X:247.99, Y:-101.94, Z:-4.02 [[-2.50414041e-01 9.68137054e-01 1.85810386e-03 2.47988309e+02] [ 9.68104292e-01 2.50420858e-01 -7.96703533e-03 -1.01937621e+02] [-8.17849008e-03 -1.96219189e-04 -9.99966536e-01 -4.01768268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48655999499994 meters 0.013314001191201328 Centerline is valid? [True, True] Translation: X:247.99, Y:-101.91, Z:-4.02 [[-3.26344773e-01 9.45246435e-01 2.87511150e-03 2.47989226e+02] [ 9.45203281e-01 3.26357356e-01 -9.03511218e-03 -1.01908171e+02] [-9.47872137e-03 -2.30996810e-04 -9.99955049e-01 -4.01674460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54655999499994 meters 0.01333030835450726 Centerline is valid? [True, True] Translation: X:247.99, Y:-101.88, Z:-4.02 [[-4.00061028e-01 9.16480372e-01 3.86019148e-03 2.47987011e+02] [ 9.16431387e-01 4.00079570e-01 -9.47893851e-03 -1.01879943e+02] [-1.02316448e-02 -2.54553249e-04 -9.99947623e-01 -4.01732622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60655999499994 meters 0.014516575420129971 Centerline is valid? [True, True] Translation: X:247.98, Y:-101.85, Z:-4.02 [[-4.72847372e-01 8.81135664e-01 3.91195137e-03 2.47984878e+02] [ 8.81101133e-01 4.72863491e-01 -7.80463497e-03 -1.01851692e+02] [-8.72676121e-03 -2.43576353e-04 -9.99961891e-01 -4.01909060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66655999499994 meters 0.014534182653958517 Centerline is valid? [True, True] Translation: X:247.98, Y:-101.82, Z:-4.02 [[-5.40996130e-01 8.41010634e-01 4.92965087e-03 2.47979623e+02] [ 8.40971081e-01 5.41018522e-01 -8.16082150e-03 -1.01822460e+02] [-9.53037010e-03 -2.69279025e-04 -9.99954549e-01 -4.01824588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72655999499995 meters 0.014563490265666853 Centerline is valid? [True, True] Translation: X:247.97, Y:-101.80, Z:-4.02 [[-6.04772650e-01 7.96374386e-01 6.15463384e-03 2.47971084e+02] [ 7.96328196e-01 6.04803897e-01 -8.58198321e-03 -1.01795020e+02] [-1.05568181e-02 -2.89040268e-04 -9.99944233e-01 -4.01710868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78655999499995 meters 0.01466022729586105 Centerline is valid? [True, True] Translation: X:247.96, Y:-101.77, Z:-4.02 [[-6.64934531e-01 7.46873584e-01 6.47455378e-03 2.47958332e+02] [ 7.46834142e-01 6.64965996e-01 -7.68035523e-03 -1.01769450e+02] [-1.00416125e-02 -2.71515581e-04 -9.99949545e-01 -4.01830988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84655999499995 meters 0.013741986481690217 Centerline is valid? [True, True] Translation: X:247.94, Y:-101.75, Z:-4.02 [[-7.19704542e-01 6.94249399e-01 6.56834509e-03 2.47943205e+02] [ 6.94217506e-01 7.19734477e-01 -6.65858190e-03 -1.01745022e+02] [-9.35018090e-03 -2.32351491e-04 -9.99956259e-01 -4.01859091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90655999499995 meters 0.01192165318270779 Centerline is valid? [True, True] Translation: X:247.93, Y:-101.72, Z:-4.02 [[-7.68238302e-01 6.40131035e-01 6.49377618e-03 2.47926820e+02] [ 6.40106316e-01 7.68265728e-01 -5.62805094e-03 -1.01722051e+02] [-8.59163576e-03 -1.66977154e-04 -9.99963077e-01 -4.01888829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96655999499995 meters 0.010471835321647372 Centerline is valid? [True, True] Translation: X:247.94, Y:-101.71, Z:-4.02 [[-8.06281497e-01 5.91496221e-01 6.50906148e-03 2.47942392e+02] [ 5.91476112e-01 8.06307766e-01 -4.87800694e-03 -1.01708000e+02] [-8.13362949e-03 -8.30923572e-05 -9.99966918e-01 -4.02002260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02655999499996 meters 0.010297406112393553 Centerline is valid? [True, True] Translation: X:247.96, Y:-101.70, Z:-4.02 [[-8.40767798e-01 5.41342663e-01 7.59151918e-03 2.47964273e+02] [ 5.41320602e-01 8.40802070e-01 -4.88717051e-03 -1.01696867e+02] [-9.02859894e-03 4.70148197e-07 -9.99959241e-01 -4.01941064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08655999499996 meters 0.010953475361479614 Centerline is valid? [True, True] Translation: X:247.98, Y:-101.68, Z:-4.02 [[-8.73916860e-01 4.86008628e-01 8.05829671e-03 2.47979957e+02] [ 4.85988594e-01 8.73954009e-01 -4.41322396e-03 -1.01677886e+02] [-9.18744564e-03 5.94494592e-05 -9.99957793e-01 -4.01976559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14655999499996 meters 0.012397748199187309 Centerline is valid? [True, True] Translation: X:248.00, Y:-101.66, Z:-4.02 [[-9.03853073e-01 4.27748649e-01 8.98421513e-03 2.47999288e+02] [ 4.27728825e-01 9.03897715e-01 -4.11989782e-03 -1.01661325e+02] [-9.88309225e-03 1.19025475e-04 -9.99951154e-01 -4.01912104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20655999499996 meters 0.013660082729317907 Centerline is valid? [True, True] Translation: X:248.01, Y:-101.64, Z:-4.02 [[-9.29826664e-01 3.67852707e-01 1.03324816e-02 2.48011299e+02] [ 3.67832352e-01 9.29884050e-01 -3.87483762e-03 -1.01639501e+02] [-1.10333793e-02 1.97693655e-04 -9.99939111e-01 -4.01890042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26655999499997 meters 0.014318002378765666 Centerline is valid? [True, True] Translation: X:248.28, Y:-100.94, Z:-5.00 [[-9.19944099e-01 -3.91893739e-01 1.10522855e-02 2.48279711e+02] [ 3.91863427e-01 -9.20010475e-01 -4.87661672e-03 -1.00937640e+02] [ 1.20793339e-02 -1.55228318e-04 9.99927030e-01 -4.99597467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32655999499997 meters 0.013216021592072035 Centerline is valid? [True, True] Translation: X:247.97, Y:-101.62, Z:-4.01 [[-9.33076332e-01 3.59429156e-01 1.33880906e-02 2.47968736e+02] [ 3.59395035e-01 9.33172356e-01 -4.95600172e-03 -1.01617121e+02] [-1.42747276e-02 1.87285376e-04 -9.99898093e-01 -4.01400823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38655999499997 meters 0.01145272732968362 Centerline is valid? [True, True] Translation: X:247.97, Y:-101.58, Z:-4.01 [[-9.58099844e-01 2.86107112e-01 1.36897782e-02 2.47974350e+02] [ 2.86079298e-01 9.58197637e-01 -3.99041883e-03 -1.01583421e+02] [-1.42592004e-02 9.31425018e-05 -9.99898328e-01 -4.01391521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.446559995 meters 0.010512763556322836 Centerline is valid? [True, True] Translation: X:247.98, Y:-101.54, Z:-4.02 [[-9.79145284e-01 2.02839229e-01 1.14350367e-02 2.47977479e+02] [ 2.02824155e-01 9.79212049e-01 -2.47502458e-03 -1.01543650e+02] [-1.16993578e-02 -1.04106991e-04 -9.99931555e-01 -4.01595400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.506559995 meters 0.012402518451588957 Centerline is valid? [True, True] Translation: X:248.12, Y:-100.87, Z:-5.00 [[-9.57060480e-01 -2.89775280e-01 8.09472028e-03 2.48121272e+02] [ 2.89763617e-01 -9.57094700e-01 -2.60405409e-03 -1.00866423e+02] [ 8.50200439e-03 -1.46681829e-04 9.99963847e-01 -4.99621164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.566559995 meters 0.012647833747998223 Centerline is valid? [True, True] Translation: X:247.93, Y:-101.52, Z:-4.02 [[-9.82343470e-01 1.86902450e-01 8.29344410e-03 2.47925534e+02] [ 1.86894170e-01 9.82378460e-01 -1.76928852e-03 -1.01522601e+02] [-8.47798520e-03 -1.88052670e-04 -9.99964044e-01 -4.01819870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.626559995 meters 0.014059976982312284 Centerline is valid? [True, True] Translation: X:248.06, Y:-100.86, Z:-4.99 [[-9.55900676e-01 -2.93620903e-01 6.37670762e-03 2.48059207e+02] [ 2.93614590e-01 -9.55921945e-01 -1.92563782e-03 -1.00858670e+02] [ 6.66104226e-03 3.15759022e-05 9.99977815e-01 -4.99374335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.686559995 meters 0.01768086335590851 Centerline is valid? [True, True] Translation: X:247.88, Y:-101.50, Z:-4.01 [[-9.84641835e-01 1.74291852e-01 1.01394194e-02 2.47878282e+02] [ 1.74279301e-01 9.84693988e-01 -2.11534744e-03 -1.01501013e+02] [-1.03529132e-02 -3.15768662e-04 -9.99946357e-01 -4.01403944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.746559995 meters 0.015916227015437455 Centerline is valid? [True, True] Translation: X:247.88, Y:-101.48, Z:-4.01 [[-9.94651238e-01 1.02563098e-01 1.22362731e-02 2.47881100e+02] [ 1.02550516e-01 9.94726424e-01 -1.65293194e-03 -1.01476115e+02] [-1.23412740e-02 -3.89254679e-04 -9.99923768e-01 -4.01384757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.806559995 meters 0.016725606468848773 Centerline is valid? [True, True] Translation: X:247.96, Y:-100.82, Z:-5.00 [[-9.74018458e-01 -2.26065717e-01 1.35031686e-02 2.47958941e+02] [ 2.26051334e-01 -9.74111915e-01 -2.60210901e-03 -1.00822878e+02] [ 1.37418450e-02 5.17907061e-04 9.99905442e-01 -5.00138600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.866559995 meters 0.014744902317784941 Centerline is valid? [True, True] Translation: X:247.83, Y:-101.47, Z:-4.01 [[-9.94340626e-01 1.05043827e-01 1.58907023e-02 2.47831588e+02] [ 1.05024091e-01 9.94467516e-01 -2.07377367e-03 -1.01472481e+02] [-1.60206243e-02 -3.93130843e-04 -9.99871584e-01 -4.01028521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92655999499993 meters 0.012447938158626718 Centerline is valid? [True, True] Translation: X:247.83, Y:-101.45, Z:-4.01 [[-9.99096453e-01 3.99230405e-02 1.45749339e-02 2.47834394e+02] [ 3.99147501e-02 9.99202719e-01 -8.59380493e-04 -1.01452463e+02] [-1.45976226e-02 -2.76849159e-04 -9.99893411e-01 -4.01301045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98655999499994 meters 0.01058363344480932 Centerline is valid? [True, True] Translation: X:247.84, Y:-101.44, Z:-4.02 [[-9.99726838e-01 -1.99310580e-02 1.22066613e-02 2.47838381e+02] [-1.99307830e-02 9.99801352e-01 1.44195073e-04 -1.01435537e+02] [-1.22071104e-02 -9.91326330e-05 -9.99925486e-01 -4.01569239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04655999499994 meters 0.010492674597862885 Centerline is valid? [True, True] Translation: X:247.83, Y:-100.74, Z:-5.00 [[-9.98329191e-01 -5.67023626e-02 1.11206488e-02 2.47833279e+02] [ 5.66991316e-02 -9.98391126e-01 -6.05857572e-04 -1.00736891e+02] [ 1.11371106e-02 2.56858286e-05 9.99937980e-01 -4.99735250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10655999499994 meters 0.01040359057063968 Centerline is valid? [True, True] Translation: X:247.77, Y:-101.44, Z:-4.02 [[-9.99786134e-01 -1.76846841e-02 1.07209019e-02 2.47770294e+02] [-1.76838605e-02 9.99843614e-01 1.71619452e-04 -1.01443118e+02] [-1.07222604e-02 -1.80041861e-05 -9.99942515e-01 -4.01883806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16655999499994 meters 0.010650046878840781 Centerline is valid? [True, True] Translation: X:247.78, Y:-101.42, Z:-4.02 [[-9.96268034e-01 -8.56087421e-02 1.10066727e-02 2.47775293e+02] [-8.56033186e-02 9.96328833e-01 9.63790619e-04 -1.01415984e+02] [-1.10487743e-02 1.79860761e-05 -9.99938960e-01 -4.01805824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22655999499995 meters 0.011807226299962042 Centerline is valid? [True, True] Translation: X:247.77, Y:-101.39, Z:-4.02 [[-9.88701916e-01 -1.49397539e-01 1.22022939e-02 2.47769645e+02] [-1.49384789e-01 9.88777206e-01 1.95489882e-03 -1.01391833e+02] [-1.23574071e-02 1.09975116e-04 -9.99923638e-01 -4.01725541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28655999499995 meters 0.013029433494583393 Centerline is valid? [True, True] Translation: X:247.75, Y:-101.37, Z:-4.02 [[-9.76642671e-01 -2.14584627e-01 1.10693256e-02 2.47754068e+02] [-2.14569015e-01 9.76705387e-01 2.59327244e-03 -1.01370867e+02] [-1.13679463e-02 1.57566239e-04 -9.99935370e-01 -4.01853084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34655999499995 meters 0.014809684260502245 Centerline is valid? [True, True] Translation: X:247.73, Y:-101.35, Z:-4.02 [[-9.61627029e-01 -2.74185009e-01 9.79992526e-03 2.47727845e+02] [-2.74168069e-01 9.61676929e-01 3.05834569e-03 -1.01353697e+02] [-1.02629146e-02 2.54161289e-04 -9.99947303e-01 -4.02099347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40655999499995 meters 0.017284912471216773 Centerline is valid? [True, True] Translation: X:247.68, Y:-101.34, Z:-4.02 [[-9.40210720e-01 -3.40384633e-01 1.19207703e-02 2.47676860e+02] [-3.40352279e-01 9.40286215e-01 4.70749024e-03 -1.01340893e+02] [-1.28112934e-02 3.68771431e-04 -9.99917864e-01 -4.01876033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46655999499995 meters 0.01639958034957364 Centerline is valid? [True, True] Translation: X:247.61, Y:-101.34, Z:-4.02 [[-9.11087253e-01 -4.12024744e-01 1.24750597e-02 2.47609521e+02] [-4.11980853e-01 9.11172590e-01 6.02401418e-03 -1.01335398e+02] [-1.38489753e-02 3.48916818e-04 -9.99904037e-01 -4.01808062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52655999499996 meters 0.015034901811516855 Centerline is valid? [True, True] Translation: X:247.54, Y:-101.34, Z:-4.02 [[-8.76903463e-01 -4.80515508e-01 1.20483911e-02 2.47536167e+02] [-4.80465191e-01 8.76986173e-01 6.96077752e-03 -1.01339293e+02] [-1.39110340e-02 3.15097364e-04 -9.99903187e-01 -4.01878679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58655999499996 meters 0.015070353615570804 Centerline is valid? [True, True] Translation: X:247.46, Y:-101.35, Z:-4.02 [[-8.37173613e-01 -5.46814780e-01 1.15731323e-02 2.47457592e+02] [-5.46757932e-01 8.37253557e-01 7.88952209e-03 -1.01354903e+02] [-1.40037535e-02 2.77197824e-04 -9.99901904e-01 -4.01854048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64655999499996 meters 0.01328999512989786 Centerline is valid? [True, True] Translation: X:247.37, Y:-101.38, Z:-4.02 [[-7.90278603e-01 -6.12642271e-01 1.13656186e-02 2.47371381e+02] [-6.12575249e-01 7.90360302e-01 9.06403389e-03 -1.01376224e+02] [-1.45359441e-02 2.00815403e-04 -9.99894327e-01 -4.01952913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70655999499996 meters 0.01157613062697749 Centerline is valid? [True, True] Translation: X:247.28, Y:-101.41, Z:-4.02 [[-7.35774140e-01 -6.77149656e-01 1.02351575e-02 2.47279735e+02] [-6.77083034e-01 7.35845323e-01 9.49870926e-03 -1.01406151e+02] [-1.39635405e-02 5.88531497e-05 -9.99902503e-01 -4.01896399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76655999499997 meters 0.010760862740797714 Centerline is valid? [True, True] Translation: X:247.19, Y:-101.45, Z:-4.02 [[-6.78238412e-01 -7.34782830e-01 9.31929611e-03 2.47191974e+02] [-7.34714045e-01 6.78302434e-01 1.00538267e-02 -1.01447127e+02] [-1.37086804e-02 -2.81263072e-05 -9.99906031e-01 -4.02077843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82655999499997 meters 0.011237362443880418 Centerline is valid? [True, True] Translation: X:247.10, Y:-101.50, Z:-4.02 [[-6.13285454e-01 -7.89814574e-01 8.59595217e-03 2.47100955e+02] [-7.89740718e-01 6.13345671e-01 1.08021590e-02 -1.01499007e+02] [-1.38039927e-02 -1.63766443e-04 -9.99904707e-01 -4.02072093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88655999499997 meters 0.012815642943422604 Centerline is valid? [True, True] Translation: X:247.01, Y:-101.56, Z:-4.02 [[-5.44729027e-01 -8.38578234e-01 7.53868938e-03 2.47013152e+02] [-8.38504854e-01 5.44781120e-01 1.10968989e-02 -1.01559533e+02] [-1.34125536e-02 -2.76424677e-04 -9.99910009e-01 -4.02058423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.946559995 meters 0.013739749808013424 Centerline is valid? [True, True] Translation: X:246.94, Y:-101.63, Z:-4.02 [[-4.76694468e-01 -8.79046289e-01 6.32507638e-03 2.46935979e+02] [-8.78977270e-01 4.76736330e-01 1.10195292e-02 -1.01626690e+02] [-1.27020699e-02 -3.06649781e-04 -9.99919278e-01 -4.02071404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.006559995 meters 0.015238767912641418 Centerline is valid? [True, True] Translation: X:246.86, Y:-101.70, Z:-4.02 [[-4.07221317e-01 -9.13314291e-01 5.27311211e-03 2.46860648e+02] [-9.13247488e-01 4.07255334e-01 1.10507197e-02 -1.01704779e+02] [-1.22402833e-02 -3.15567752e-04 -9.99925035e-01 -4.01999638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.066559995 meters 0.014734748661469663 Centerline is valid? [True, True] Translation: X:246.80, Y:-101.79, Z:-4.02 [[-3.35450742e-01 -9.42045743e-01 4.75581291e-03 2.46795753e+02] [-9.41965519e-01 3.35484266e-01 1.22990978e-02 -1.01787782e+02] [-1.31818131e-02 -3.54070300e-04 -9.99913053e-01 -4.02028003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.126559995 meters 0.014164697403876932 Centerline is valid? [True, True] Translation: X:246.74, Y:-101.88, Z:-4.02 [[-2.63130455e-01 -9.64749383e-01 4.58176422e-03 2.46736201e+02] [-9.64629346e-01 2.63170016e-01 1.52239258e-02 -1.01880721e+02] [-1.58930559e-02 -4.13825717e-04 -9.99873612e-01 -4.01759671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.186559995 meters 0.014283640059885113 Centerline is valid? [True, True] Translation: X:246.69, Y:-101.98, Z:-4.02 [[-1.92850286e-01 -9.81222278e-01 3.40712194e-03 2.46685247e+02] [-9.81099495e-01 1.92880066e-01 1.55261475e-02 -1.01981926e+02] [-1.58917677e-02 -3.48503640e-04 -9.99873657e-01 -4.01696468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.246559995 meters 0.011850221804744059 Centerline is valid? [True, True] Translation: X:246.65, Y:-102.08, Z:-4.02 [[-1.27149242e-01 -9.91881631e-01 1.97504521e-03 2.46650841e+02] [-9.91782040e-01 1.27164465e-01 1.40564545e-02 -1.02078655e+02] [-1.41934946e-02 -1.71546842e-04 -9.99899253e-01 -4.01963572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.306559995 meters 0.011442424218739866 Centerline is valid? [True, True] Translation: X:246.63, Y:-102.19, Z:-4.02 [[-6.52081247e-02 -9.97871371e-01 7.91839825e-04 2.46625597e+02] [-9.97792617e-01 6.52129265e-02 1.25366673e-02 -1.02185633e+02] [-1.25616196e-02 2.74006360e-05 -9.99921099e-01 -4.02105675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.366559995 meters 0.012179102682245757 Centerline is valid? [True, True] Translation: X:246.60, Y:-102.30, Z:-4.02 [[ 6.16046973e-03 -9.99981012e-01 -1.57380210e-04 2.46600444e+02] [-9.99913616e-01 -6.16188174e-03 1.16099684e-02 -1.02295396e+02] [-1.16107178e-02 8.58437558e-05 -9.99932590e-01 -4.02154892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42655999499993 meters 0.016268079699597725 Centerline is valid? [True, True] Translation: X:246.59, Y:-102.41, Z:-4.02 [[ 6.65616816e-02 -9.97781747e-01 -1.06162729e-03 2.46591275e+02] [-9.97713347e-01 -6.65695528e-02 1.16863857e-02 -1.02406076e+02] [-1.17311344e-02 2.81334232e-04 -9.99931148e-01 -4.02151863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48655999499994 meters 0.018251975799155894 Centerline is valid? [True, True] Translation: X:246.58, Y:-102.52, Z:-4.02 [[ 1.37784139e-01 -9.90460188e-01 -2.03653979e-03 2.46583110e+02] [-9.90387121e-01 -1.37798722e-01 1.20358966e-02 -1.02524318e+02] [-1.22017090e-02 3.58607130e-04 -9.99925492e-01 -4.02077512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54655999499994 meters 0.020438984287914488 Centerline is valid? [True, True] Translation: X:246.58, Y:-102.63, Z:-4.02 [[ 1.99225107e-01 -9.79949798e-01 -2.78383450e-03 2.46582613e+02] [-9.79886229e-01 -1.99243923e-01 1.11730454e-02 -1.02628025e+02] [-1.15036857e-02 5.01889939e-04 -9.99933704e-01 -4.02295470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60655999499994 meters 0.024262037380035836 Centerline is valid? [True, True] Translation: X:246.59, Y:-102.74, Z:-4.02 [[ 2.65414028e-01 -9.64129534e-01 -3.10410869e-03 2.46593301e+02] [-9.64084379e-01 -2.65431684e-01 9.34505976e-03 -1.02742775e+02] [-9.83377691e-03 5.12312745e-04 -9.99951516e-01 -4.02395633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66655999499994 meters 0.031040398024781 Centerline is valid? [True, True] Translation: X:246.62, Y:-102.86, Z:-4.02 [[ 3.36325672e-01 -9.41740137e-01 -3.24911353e-03 2.46615956e+02] [-9.41708386e-01 -3.36341059e-01 7.74646815e-03 -1.02859902e+02] [-8.38797026e-03 4.54381345e-04 -9.99964717e-01 -4.02316846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72655999499995 meters 0.021715385501856935 Centerline is valid? [True, True] Translation: X:246.62, Y:-102.98, Z:-4.03 [[ 4.13103556e-01 -9.10680402e-01 -2.58032489e-03 2.46623888e+02] [-9.10666420e-01 -4.13111531e-01 5.05310072e-03 -1.02984122e+02] [-5.66772176e-03 2.62361353e-04 -9.99983904e-01 -4.02532687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78655999499995 meters 0.020492656060650597 Centerline is valid? [True, True] Translation: X:246.65, Y:-103.10, Z:-4.03 [[ 4.89150258e-01 -8.72196524e-01 -2.29109319e-03 2.46652760e+02] [-8.72188434e-01 -4.89155598e-01 3.75993354e-03 -1.03104226e+02] [-4.40010202e-03 1.59092517e-04 -9.99990307e-01 -4.02544209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84655999499995 meters 0.0151598413969424 Centerline is valid? [True, True] Translation: X:246.68, Y:-103.23, Z:-4.02 [[ 5.69701806e-01 -8.21847729e-01 -2.48245975e-03 2.46682543e+02] [-8.21840478e-01 -5.69707210e-01 3.45322568e-03 -1.03230924e+02] [-4.25230090e-03 7.28770047e-05 -9.99990956e-01 -4.02322952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90655999499995 meters 0.010633881351470366 Centerline is valid? [True, True] Translation: X:246.71, Y:-103.36, Z:-4.02 [[ 6.50885341e-01 -7.59172872e-01 -2.19625049e-03 2.46714999e+02] [-7.59168353e-01 -6.50889045e-01 2.61964449e-03 -1.03360147e+02] [-3.41827841e-03 -3.77643306e-05 -9.99994157e-01 -4.02254789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96655999499995 meters 0.012375075567701333 Centerline is valid? [True, True] Translation: X:246.76, Y:-103.47, Z:-4.02 [[ 7.15296187e-01 -6.98818205e-01 -2.11666942e-03 2.46757655e+02] [-6.98814834e-01 -7.15299315e-01 2.17194251e-03 -1.03467822e+02] [-3.03184515e-03 -7.44222062e-05 -9.99995401e-01 -4.02139209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02655999499996 meters 0.013235643432194103 Centerline is valid? [True, True] Translation: X:246.81, Y:-103.56, Z:-4.02 [[ 7.68433159e-01 -6.39928190e-01 -1.54649863e-03 2.46806078e+02] [-6.39926717e-01 -7.68434712e-01 1.37484883e-03 -1.03557769e+02] [-2.06818776e-03 -6.68336363e-05 -9.99997859e-01 -4.02107877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08655999499996 meters 0.014237735917353335 Centerline is valid? [True, True] Translation: X:246.83, Y:-103.59, Z:-4.02 [[ 8.16944182e-01 -5.76716203e-01 -7.90324320e-04 2.46828480e+02] [-5.76715875e-01 -8.16944563e-01 6.17023854e-04 -1.03589824e+02] [-1.00149881e-03 -4.82814662e-05 -9.99999497e-01 -4.02102121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14655999499996 meters 0.01388173381572494 Centerline is valid? [True, True] Translation: X:246.86, Y:-103.62, Z:-4.02 [[ 8.58617346e-01 -5.12612055e-01 -2.26588396e-03 2.46857829e+02] [-5.12610025e-01 -8.58620332e-01 1.44460742e-03 -1.03615240e+02] [-2.68605722e-03 -7.88501547e-05 -9.99996389e-01 -4.01913825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20655999499996 meters 0.012168704275506696 Centerline is valid? [True, True] Translation: X:246.89, Y:-103.64, Z:-4.02 [[ 8.94711110e-01 -4.46630038e-01 -3.69304355e-03 2.46888287e+02] [-4.46625792e-01 -8.94718727e-01 1.94961442e-03 -1.03639426e+02] [-4.17499158e-03 -9.49331798e-05 -9.99991280e-01 -4.01817102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26655999499997 meters 0.011823201856470629 Centerline is valid? [True, True] Translation: X:246.92, Y:-103.66, Z:-4.02 [[ 9.25925377e-01 -3.77663978e-01 -5.66714317e-03 2.46919888e+02] [-3.77656162e-01 -9.25942713e-01 2.43215003e-03 -1.03660460e+02] [-6.16598537e-03 -1.11757896e-04 -9.99980984e-01 -4.01587035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32655999499997 meters 0.011352695904078182 Centerline is valid? [True, True] Translation: X:246.95, Y:-103.68, Z:-4.01 [[ 9.51814366e-01 -3.06590726e-01 -7.17912517e-03 2.46953393e+02] [-3.06581121e-01 -9.51841434e-01 2.42928229e-03 -1.03678675e+02] [-7.57818422e-03 -1.11241535e-04 -9.99971279e-01 -4.01411027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38655999499997 meters 0.010939337430375368 Centerline is valid? [True, True] Translation: X:246.99, Y:-103.69, Z:-4.01 [[ 9.72041475e-01 -2.34697474e-01 -7.24335370e-03 2.46987814e+02] [-2.34690320e-01 -9.72068459e-01 1.83444352e-03 -1.03691140e+02] [-7.47157492e-03 -8.32101898e-05 -9.99972084e-01 -4.01361358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.446559995 meters 0.010402325013471748 Centerline is valid? [True, True] Translation: X:247.02, Y:-103.70, Z:-4.02 [[ 9.86011209e-01 -1.66569057e-01 -6.05351729e-03 2.47024417e+02] [-1.66565794e-01 -9.86029791e-01 1.04267371e-03 -1.03695365e+02] [-6.14262556e-03 -1.97790469e-05 -9.99981134e-01 -4.01617575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.506559995 meters 0.011076859124412312 Centerline is valid? [True, True] Translation: X:247.06, Y:-103.70, Z:-4.02 [[ 9.95339143e-01 -9.62763132e-02 -5.55540460e-03 2.47056892e+02] [-9.62749328e-02 -9.95354646e-01 5.16005332e-04 -1.03699370e+02] [-5.57927687e-03 2.12459000e-05 -9.99984435e-01 -4.01706123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.566559995 meters 0.0140819290876018 Centerline is valid? [True, True] Translation: X:247.09, Y:-103.69, Z:-4.02 [[ 9.99542139e-01 -2.97920156e-02 -5.28655749e-03 2.47087817e+02] [-2.97920273e-02 -9.99556116e-01 7.65550790e-05 -1.03694911e+02] [-5.28649161e-03 8.09772375e-05 -9.99986023e-01 -4.01798200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.626559995 meters 0.016726416380903452 Centerline is valid? [True, True] Translation: X:247.12, Y:-103.69, Z:-4.02 [[ 9.99275353e-01 3.77919504e-02 -4.53177954e-03 2.47118684e+02] [ 3.77910412e-02 -9.99285623e-01 -2.86131516e-04 -1.03693067e+02] [-4.53935561e-03 1.14663504e-04 -9.99989691e-01 -4.01952850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.686559995 meters 0.018213507060671905 Centerline is valid? [True, True] Translation: X:247.15, Y:-103.70, Z:-4.02 [[ 9.93996994e-01 1.09269203e-01 -5.49701987e-03 2.47149990e+02] [ 1.09266511e-01 -9.94012177e-01 -7.88497537e-04 -1.03695230e+02] [-5.55026318e-03 1.83123998e-04 -9.99984580e-01 -4.01949428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.746559995 meters 0.018626183617408712 Centerline is valid? [True, True] Translation: X:247.18, Y:-103.70, Z:-4.02 [[ 9.82837268e-01 1.84374228e-01 -6.08674786e-03 2.47181068e+02] [ 1.84369274e-01 -9.82856090e-01 -1.36995890e-03 -1.03698937e+02] [-6.23498232e-03 2.24237373e-04 -9.99980537e-01 -4.02020375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.806559995 meters 0.018692260049298085 Centerline is valid? [True, True] Translation: X:247.21, Y:-103.70, Z:-4.02 [[ 9.65202956e-01 2.61379523e-01 -7.99993014e-03 2.47213149e+02] [ 2.61367916e-01 -9.65236060e-01 -2.48199662e-03 -1.03701726e+02] [-8.37056414e-03 3.04705404e-04 -9.99964920e-01 -4.01943343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.866559995 meters 0.01842235803748682 Centerline is valid? [True, True] Translation: X:247.25, Y:-103.70, Z:-4.02 [[ 9.40720534e-01 3.39085483e-01 -8.11867844e-03 2.47245750e+02] [ 3.39070161e-01 -9.40755521e-01 -3.23665258e-03 -1.03703137e+02] [-8.73519347e-03 2.91983940e-04 -9.99961805e-01 -4.01952195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92655999499993 meters 0.017940892601743523 Centerline is valid? [True, True] Translation: X:247.28, Y:-103.70, Z:-4.02 [[ 9.10299173e-01 4.13884806e-01 -7.40161691e-03 2.47278702e+02] [ 4.13868838e-01 -9.10329228e-01 -3.64445415e-03 -1.03700658e+02] [-8.24629241e-03 2.54245005e-04 -9.99965966e-01 -4.02091448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98655999499994 meters 0.0161856964249434 Centerline is valid? [True, True] Translation: X:247.31, Y:-103.70, Z:-4.02 [[ 8.74008050e-01 4.85873277e-01 -6.08989780e-03 2.47314402e+02] [ 4.85859887e-01 -8.74029244e-01 -3.61262910e-03 -1.03700776e+02] [-7.07802871e-03 1.98629853e-04 -9.99974931e-01 -4.02339651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04655999499994 meters 0.016517070433367267 Centerline is valid? [True, True] Translation: X:247.35, Y:-103.70, Z:-4.02 [[ 8.32277351e-01 5.54318981e-01 -6.69922705e-03 2.47347696e+02] [ 5.54298885e-01 -8.32304283e-01 -4.72505342e-03 -1.03696019e+02] [-8.19498216e-03 2.19180854e-04 -9.99966397e-01 -4.02297945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10655999499994 meters 0.015948401133010777 Centerline is valid? [True, True] Translation: X:247.38, Y:-103.69, Z:-4.02 [[ 7.85740605e-01 6.18519253e-01 -6.75545794e-03 2.47381233e+02] [ 6.18493870e-01 -7.85769611e-01 -5.60807196e-03 -1.03687888e+02] [-8.77693404e-03 2.28280531e-04 -9.99961456e-01 -4.02257415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16655999499994 meters 0.015010502606992316 Centerline is valid? [True, True] Translation: X:247.42, Y:-103.68, Z:-4.02 [[ 7.34122490e-01 6.78981655e-01 -6.93410612e-03 2.47417436e+02] [ 6.78948203e-01 -7.34155197e-01 -6.74418516e-03 -1.03679855e+02] [-9.66988805e-03 2.43159111e-04 -9.99953216e-01 -4.02252928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22655999499995 meters 0.01532757950663506 Centerline is valid? [True, True] Translation: X:247.45, Y:-103.67, Z:-4.02 [[ 6.78579395e-01 7.34487103e-01 -7.66157386e-03 2.47451399e+02] [ 7.34435315e-01 -6.78622581e-01 -8.72699446e-03 -1.03666361e+02] [-1.16091819e-02 2.95028215e-04 -9.99932568e-01 -4.02133874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28655999499995 meters 0.015651036917222104 Centerline is valid? [True, True] Translation: X:247.48, Y:-103.65, Z:-4.02 [[ 6.19078470e-01 7.85297314e-01 -7.06935460e-03 2.47480093e+02] [ 7.85240459e-01 -6.19118758e-01 -9.45430525e-03 -1.03647114e+02] [-1.18012106e-02 3.01813572e-04 -9.99930318e-01 -4.02088703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34655999499995 meters 0.018012382517441257 Centerline is valid? [True, True] Translation: X:247.51, Y:-103.63, Z:-4.02 [[ 5.59214891e-01 8.28997934e-01 -6.41333203e-03 2.47507265e+02] [ 8.28935902e-01 -5.59251550e-01 -1.01476567e-02 -1.03627196e+02] [-1.19990523e-02 3.58479552e-04 -9.99927945e-01 -4.02014892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40655999499995 meters 0.018869412384028436 Centerline is valid? [True, True] Translation: X:247.53, Y:-103.60, Z:-4.02 [[ 4.94056107e-01 8.69411391e-01 -5.69189523e-03 2.47529131e+02] [ 8.69344435e-01 -4.94088742e-01 -1.07966866e-02 -1.03601508e+02] [-1.21990636e-02 3.85951480e-04 -9.99925514e-01 -4.02033755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46655999499995 meters 0.022128327478345852 Centerline is valid? [True, True] Translation: X:247.55, Y:-103.57, Z:-4.02 [[ 4.29683348e-01 9.02967580e-01 -4.66584435e-03 2.47547367e+02] [ 9.02902755e-01 -4.29708454e-01 -1.08286614e-02 -1.03574928e+02] [-1.17828830e-02 4.40091779e-04 -9.99930483e-01 -4.02089895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52655999499996 meters 0.02098431793187057 Centerline is valid? [True, True] Translation: X:247.57, Y:-103.55, Z:-4.02 [[ 3.60870124e-01 9.32608221e-01 -3.82873084e-03 2.47572097e+02] [ 9.32540656e-01 -3.60890110e-01 -1.12362498e-02 -1.03548770e+02] [-1.18607700e-02 4.84379687e-04 -9.99929541e-01 -4.02248937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58655999499996 meters 0.022527577488227604 Centerline is valid? [True, True] Translation: X:247.59, Y:-103.52, Z:-4.02 [[ 2.88177244e-01 9.57572759e-01 -2.87870905e-03 2.47591798e+02] [ 9.57506535e-01 -2.88191202e-01 -1.12723718e-02 -1.03521285e+02] [-1.16237347e-02 4.92058298e-04 -9.99932321e-01 -4.02281190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64655999499996 meters 0.021853811600420093 Centerline is valid? [True, True] Translation: X:247.61, Y:-103.49, Z:-4.02 [[ 2.09828652e-01 9.77736221e-01 -1.95408940e-03 2.47613612e+02] [ 9.77671369e-01 -2.09837259e-01 -1.12703079e-02 -1.03491620e+02] [-1.14294290e-02 4.54376247e-04 -9.99934579e-01 -4.02286033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70655999499996 meters 0.021424770249174083 Centerline is valid? [True, True] Translation: X:247.63, Y:-103.46, Z:-4.02 [[ 1.27630555e-01 9.91821192e-01 -1.07873610e-03 2.47633709e+02] [ 9.91754179e-01 -1.27634479e-01 -1.15363537e-02 -1.03460538e+02] [-1.15796840e-02 4.02550189e-04 -9.99932872e-01 -4.02249774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76655999499997 meters 0.017374871979735435 Centerline is valid? [True, True] Translation: X:247.66, Y:-103.43, Z:-4.02 [[ 4.72151865e-02 9.98884725e-01 -1.80976750e-04 2.47656001e+02] [ 9.98809014e-01 -4.72138372e-02 -1.23047226e-02 -1.03426384e+02] [-1.22995441e-02 4.00208564e-04 -9.99924278e-01 -4.02363956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82655999499997 meters 0.01730174580535575 Centerline is valid? [True, True] Translation: X:247.67, Y:-103.39, Z:-4.02 [[-3.27244018e-02 9.99464104e-01 7.86360071e-04 2.47666364e+02] [ 9.99388143e-01 3.27316141e-02 -1.23280431e-02 -1.03390860e+02] [-1.23471754e-02 3.82451096e-04 -9.99923698e-01 -4.02358093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88655999499997 meters 0.01501265660099452 Centerline is valid? [True, True] Translation: X:247.68, Y:-103.35, Z:-4.02 [[-1.16549784e-01 9.93183306e-01 1.75154478e-03 2.47683920e+02] [ 9.93107931e-01 1.16562524e-01 -1.22398962e-02 -1.03353048e+02] [-1.23606251e-02 3.12915762e-04 -9.99923556e-01 -4.02391938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.946559995 meters 0.0139681434308348 Centerline is valid? [True, True] Translation: X:247.69, Y:-103.31, Z:-4.02 [[-2.00765739e-01 9.79635662e-01 2.66225406e-03 2.47694790e+02] [ 9.79563719e-01 2.00783265e-01 -1.18744003e-02 -1.03314196e+02] [-1.21671221e-02 2.23874727e-04 -9.99925953e-01 -4.02337801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.006559995 meters 0.012712036491352349 Centerline is valid? [True, True] Translation: X:247.70, Y:-103.27, Z:-4.02 [[-2.81042965e-01 9.59686786e-01 4.01561274e-03 2.47700025e+02] [ 9.59598497e-01 2.81071584e-01 -1.30187936e-02 -1.03274157e+02] [-1.36226388e-02 1.94535602e-04 -9.99907189e-01 -4.02272477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.066559995 meters 0.012907085117706453 Centerline is valid? [True, True] Translation: X:247.70, Y:-103.24, Z:-4.02 [[-3.56274214e-01 9.34368060e-01 5.00131510e-03 2.47695474e+02] [ 9.34282990e-01 3.56309270e-01 -1.26094482e-02 -1.03237575e+02] [-1.35638806e-02 1.80222382e-04 -9.99907990e-01 -4.02223144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.126559995 meters 0.012431871517381088 Centerline is valid? [True, True] Translation: X:247.69, Y:-103.20, Z:-4.02 [[-4.29938566e-01 9.02839239e-01 5.84277799e-03 2.47689306e+02] [ 9.02760666e-01 4.29978238e-01 -1.19119382e-02 -1.03198850e+02] [-1.32668326e-02 1.53228537e-04 -9.99911980e-01 -4.02313475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.186559995 meters 0.011758144189750741 Centerline is valid? [True, True] Translation: X:247.68, Y:-103.16, Z:-4.02 [[-5.00437089e-01 8.65746518e-01 6.75910803e-03 2.47683088e+02] [ 8.65671194e-01 5.00482714e-01 -1.14209121e-02 -1.03158416e+02] [-1.32704316e-02 1.35717124e-04 -9.99911935e-01 -4.02461972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.246559995 meters 0.01187190484185583 Centerline is valid? [True, True] Translation: X:247.67, Y:-103.12, Z:-4.03 [[-5.66513925e-01 8.24023270e-01 6.90095010e-03 2.47670356e+02] [ 8.23964767e-01 5.66555941e-01 -9.81977663e-03 -1.03121220e+02] [-1.20014987e-02 1.23099543e-04 -9.99927972e-01 -4.02613356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.306559995 meters 0.011921599990475982 Centerline is valid? [True, True] Translation: X:247.65, Y:-103.08, Z:-4.03 [[-6.28822649e-01 7.77515396e-01 7.20314667e-03 2.47654725e+02] [ 7.77466586e-01 6.28863892e-01 -8.71285520e-03 -1.03084356e+02] [-1.13041779e-02 1.21365158e-04 -9.99936098e-01 -4.02678600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.366559995 meters 0.012690223236248813 Centerline is valid? [True, True] Translation: X:247.63, Y:-103.05, Z:-4.03 [[-6.86753012e-01 7.26835911e-01 8.93632620e-03 2.47634545e+02] [ 7.26777379e-01 6.86811133e-01 -9.22542634e-03 -1.03052019e+02] [-1.28429395e-02 1.59130406e-04 -9.99917513e-01 -4.02501286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42655999499993 meters 0.01252004556416257 Centerline is valid? [True, True] Translation: X:247.61, Y:-103.02, Z:-4.03 [[-7.41111973e-01 6.71316416e-01 9.34417486e-03 2.47612593e+02] [ 6.71265805e-01 7.41170860e-01 -8.24469041e-03 -1.03019381e+02] [-1.24604261e-02 1.62186288e-04 -9.99922353e-01 -4.02662608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48655999499994 meters 0.01273444252351463 Centerline is valid? [True, True] Translation: X:247.62, Y:-102.99, Z:-4.03 [[-7.86646418e-01 6.17339636e-01 8.89875019e-03 2.47623493e+02] [ 6.17302268e-01 7.86696735e-01 -6.79397039e-03 -1.02993476e+02] [-1.11948049e-02 1.48766209e-04 -9.99937325e-01 -4.02792344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54655999499994 meters 0.012597486380130817 Centerline is valid? [True, True] Translation: X:247.64, Y:-102.97, Z:-4.03 [[-8.29116225e-01 5.58997211e-01 9.40231459e-03 2.47635357e+02] [ 5.58963036e-01 8.29169525e-01 -6.18254829e-03 -1.02967740e+02] [-1.12521400e-02 1.29495207e-04 -9.99936684e-01 -4.02694345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60655999499994 meters 0.011982496427589003 Centerline is valid? [True, True] Translation: X:247.64, Y:-102.94, Z:-4.03 [[-8.68181716e-01 4.96157452e-01 9.39628772e-03 2.47640767e+02] [ 4.96129512e-01 8.68232558e-01 -5.26620480e-03 -1.02937317e+02] [-1.07710297e-02 8.97529169e-05 -9.99941987e-01 -4.02695853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66655999499994 meters 0.011015041970797524 Centerline is valid? [True, True] Translation: X:247.84, Y:-102.56, Z:-4.99 [[-8.40392442e-01 -5.41910986e-01 8.54559924e-03 2.47843506e+02] [ 5.41881509e-01 -8.40435880e-01 -5.65343819e-03 -1.02556250e+02] [ 1.02456885e-02 -1.20404511e-04 9.99947504e-01 -4.99143724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72655999499995 meters 0.0110350718083842 Centerline is valid? [True, True] Translation: X:247.59, Y:-102.90, Z:-4.03 [[-8.76934404e-01 4.80523962e-01 9.09793724e-03 2.47593881e+02] [ 4.80497359e-01 8.76981595e-01 -5.05668828e-03 -1.02900306e+02] [-1.04085834e-02 -6.28491070e-05 -9.99945827e-01 -4.02569843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78655999499995 meters 0.011464176685255309 Centerline is valid? [True, True] Translation: X:247.60, Y:-102.87, Z:-4.03 [[-9.11318203e-01 4.11605164e-01 8.96219931e-03 2.47595416e+02] [ 4.11583954e-01 9.11362263e-01 -4.18026160e-03 -1.02870337e+02] [-9.88842751e-03 -1.20851061e-04 -9.99951101e-01 -4.02843102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84655999499995 meters 0.0124634585586224 Centerline is valid? [True, True] Translation: X:247.59, Y:-102.84, Z:-4.03 [[-9.39699326e-01 3.41892578e-01 8.63960008e-03 2.47593066e+02] [ 3.41876616e-01 9.39739028e-01 -3.30731606e-03 -1.02839391e+02] [-9.24971620e-03 -1.54205430e-04 -9.99957209e-01 -4.02883939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90655999499995 meters 0.012745821845691901 Centerline is valid? [True, True] Translation: X:247.59, Y:-102.81, Z:-4.03 [[-9.62167940e-01 2.72302183e-01 9.18565196e-03 2.47589013e+02] [ 2.72287982e-01 9.62211769e-01 -2.78685659e-03 -1.02812359e+02] [-9.59740955e-03 -1.80281432e-04 -9.99953928e-01 -4.02878599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96655999499995 meters 0.012713101750721397 Centerline is valid? [True, True] Translation: X:247.71, Y:-102.41, Z:-4.99 [[-9.29903920e-01 -3.67706709e-01 8.39504980e-03 2.47708205e+02] [ 3.67692989e-01 -9.29941804e-01 -3.17907338e-03 -1.02408413e+02] [ 8.97587436e-03 1.30568154e-04 9.99959708e-01 -4.98863574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02655999499996 meters 0.013277359297285319 Centerline is valid? [True, True] Translation: X:247.54, Y:-102.81, Z:-4.03 [[-9.63444296e-01 2.67718721e-01 1.00883715e-02 2.47544276e+02] [ 2.67701793e-01 9.63497091e-01 -3.01764276e-03 -1.02806819e+02] [-1.05279961e-02 -2.06655558e-04 -9.99944558e-01 -4.02877299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08655999499996 meters 0.01323584004555817 Centerline is valid? [True, True] Translation: X:247.54, Y:-102.78, Z:-4.03 [[-9.80150695e-01 1.97948357e-01 1.10028999e-02 2.47538069e+02] [ 1.97933264e-01 9.80212424e-01 -2.45502476e-03 -1.02780459e+02] [-1.12711473e-02 -2.28454333e-04 -9.99936453e-01 -4.02818151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14655999499996 meters 0.01353176074458756 Centerline is valid? [True, True] Translation: X:247.53, Y:-102.76, Z:-4.03 [[-9.92004210e-01 1.25720288e-01 1.10479331e-02 2.47532641e+02] [ 1.25709676e-01 9.92065697e-01 -1.65258898e-03 -1.02757133e+02] [-1.11680394e-02 -2.50543129e-04 -9.99937604e-01 -4.02787473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20655999499996 meters 0.014601829610479304 Centerline is valid? [True, True] Translation: X:247.52, Y:-102.73, Z:-4.03 [[-9.98544963e-01 5.26331236e-02 1.17350241e-02 2.47522106e+02] [ 5.26260690e-02 9.98613874e-01 -9.09361984e-04 -1.02734087e+02] [-1.17666205e-02 -2.90470639e-04 -9.99930729e-01 -4.02673530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26655999499997 meters 0.014629866777458134 Centerline is valid? [True, True] Translation: X:247.55, Y:-102.27, Z:-4.99 [[-9.86117624e-01 -1.65655816e-01 1.14097226e-02 2.47551804e+02] [ 1.65647881e-01 -9.86183593e-01 -1.64363617e-03 -1.02274326e+02] [ 1.15243591e-02 2.69177770e-04 9.99933556e-01 -4.99115912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32655999499997 meters 0.015418062336631183 Centerline is valid? [True, True] Translation: X:247.47, Y:-102.74, Z:-4.03 [[-9.98817381e-01 4.70491144e-02 1.22564738e-02 2.47472742e+02] [ 4.70415893e-02 9.98892525e-01 -9.01704615e-04 -1.02740192e+02] [-1.22853244e-02 -3.24074237e-04 -9.99924480e-01 -4.02621298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38655999499997 meters 0.015489614611118198 Centerline is valid? [True, True] Translation: X:247.46, Y:-102.72, Z:-4.03 [[-9.99620760e-01 -2.42226971e-02 1.30994975e-02 2.47464378e+02] [-2.42251523e-02 9.99706528e-01 -2.87634210e-05 -1.02718839e+02] [-1.30949564e-02 -3.46089836e-04 -9.99914197e-01 -4.02614675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.446559995 meters 0.015762465326043664 Centerline is valid? [True, True] Translation: X:247.46, Y:-102.22, Z:-4.99 [[-9.95696921e-01 -9.18179720e-02 1.25339773e-02 2.47459005e+02] [ 9.18144672e-02 -9.95775763e-01 -8.55975114e-04 -1.02222142e+02] [ 1.25596247e-02 2.98508659e-04 9.99921080e-01 -4.99148636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.506559995 meters 0.014182260575341301 Centerline is valid? [True, True] Translation: X:247.41, Y:-102.74, Z:-4.03 [[-9.99590057e-01 -2.58412947e-02 1.23265899e-02 2.47408760e+02] [-2.58430109e-02 9.99666013e-01 2.00640999e-05 -1.02737037e+02] [-1.23229915e-02 -2.98500323e-04 -9.99924025e-01 -4.02836737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.566559995 meters 0.01350206168462162 Centerline is valid? [True, True] Translation: X:247.41, Y:-102.20, Z:-4.99 [[-9.96441727e-01 -8.35062819e-02 1.14273911e-02 2.47412003e+02] [ 8.35033712e-02 -9.96507226e-01 -7.32439728e-04 -1.02204224e+02] [ 1.14486411e-02 2.24392173e-04 9.99934437e-01 -4.98914447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.626559995 meters 0.012692711986095475 Centerline is valid? [True, True] Translation: X:247.36, Y:-102.76, Z:-4.03 [[-9.99637515e-01 -2.32815842e-02 1.35205723e-02 2.47362734e+02] [-2.32826329e-02 9.99728920e-01 7.98550055e-05 -1.02760635e+02] [-1.35187663e-02 -2.34968462e-04 -9.99908590e-01 -4.02824376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.686559995 meters 0.012204927712103903 Centerline is valid? [True, True] Translation: X:247.36, Y:-102.18, Z:-4.99 [[-9.97226997e-01 -7.31856868e-02 1.34971290e-02 2.47359080e+02] [ 7.31821681e-02 -9.97318304e-01 -7.55076513e-04 -1.02184877e+02] [ 1.35161946e-02 2.34766479e-04 9.99908625e-01 -4.99001642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.746559995 meters 0.011937015199542635 Centerline is valid? [True, True] Translation: X:247.31, Y:-102.78, Z:-4.03 [[-9.99617201e-01 -2.38107014e-02 1.40890812e-02 2.47306584e+02] [-2.38110520e-02 9.99716467e-01 1.42886574e-04 -1.02776425e+02] [-1.40884887e-02 -1.92643967e-04 -9.99900734e-01 -4.02816221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.806559995 meters 0.011696183415510094 Centerline is valid? [True, True] Translation: X:247.30, Y:-102.76, Z:-4.03 [[-9.95365975e-01 -9.51109628e-02 1.41591275e-02 2.47298503e+02] [-9.51041653e-02 9.95466657e-01 1.15416081e-03 -1.02759812e+02] [-1.42047127e-02 -1.97779602e-04 -9.99899088e-01 -4.02889535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.866559995 meters 0.012259110737341957 Centerline is valid? [True, True] Translation: X:247.29, Y:-102.74, Z:-4.03 [[-9.85920840e-01 -1.66676073e-01 1.33859845e-02 2.47286664e+02] [-1.66663506e-01 9.86011686e-01 2.05683987e-03 -1.02738885e+02] [-1.35415631e-02 -2.03073804e-04 -9.99908288e-01 -4.02807042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92655999499993 meters 0.012632367007223448 Centerline is valid? [True, True] Translation: X:247.19, Y:-102.11, Z:-4.99 [[-9.97432486e-01 7.04832017e-02 1.26710343e-02 2.47187951e+02] [-7.04758004e-02 -9.97512957e-01 1.03023736e-03 -1.02112362e+02] [ 1.27121354e-02 1.34590923e-04 9.99919188e-01 -4.99044298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98655999499994 meters 0.013555808769938315 Centerline is valid? [True, True] Translation: X:247.20, Y:-102.77, Z:-4.03 [[-9.83994589e-01 -1.77836107e-01 1.13564005e-02 2.47201174e+02] [-1.77827077e-01 9.84060090e-01 1.80809504e-03 -1.02765844e+02] [-1.14969251e-02 -2.40319784e-04 -9.99933879e-01 -4.02806890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04655999499994 meters 0.014181916749558819 Centerline is valid? [True, True] Translation: X:247.19, Y:-102.75, Z:-4.03 [[-9.67982519e-01 -2.50838836e-01 9.47217565e-03 2.47189315e+02] [-2.50829239e-01 9.68028833e-01 2.20722818e-03 -1.02747414e+02] [-9.72299769e-03 -2.39340322e-04 -9.99952702e-01 -4.02897041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10655999499994 meters 0.01454804487681883 Centerline is valid? [True, True] Translation: X:247.17, Y:-102.73, Z:-4.03 [[-9.47032086e-01 -3.21009977e-01 9.10068919e-03 2.47170469e+02] [-3.20997697e-01 9.47075779e-01 2.81906752e-03 -1.02728811e+02] [-9.52399110e-03 -2.51552872e-04 -9.99954614e-01 -4.02883456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16655999499994 meters 0.015581630348458187 Centerline is valid? [True, True] Translation: X:247.14, Y:-102.72, Z:-4.03 [[-9.21126977e-01 -3.89159417e-01 8.94648823e-03 2.47143370e+02] [-3.89143812e-01 9.21170386e-01 3.49482401e-03 -1.02715748e+02] [-9.60128368e-03 -2.62293863e-04 -9.99953872e-01 -4.02803497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22655999499995 meters 0.014393680929246054 Centerline is valid? [True, True] Translation: X:247.09, Y:-102.72, Z:-4.03 [[-8.90823627e-01 -4.54263083e-01 8.84968171e-03 2.47093025e+02] [-4.54243497e-01 8.90867547e-01 4.22601001e-03 -1.02715648e+02] [-9.80361457e-03 -2.55280797e-04 -9.99951911e-01 -4.02828764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28655999499995 meters 0.013565084055410178 Centerline is valid? [True, True] Translation: X:247.03, Y:-102.73, Z:-4.03 [[-8.56682667e-01 -5.15764884e-01 9.02181280e-03 2.47030943e+02] [-5.15739143e-01 8.56730138e-01 5.15815030e-03 -1.02727642e+02] [-1.03896517e-02 -2.34004044e-04 -9.99945999e-01 -4.02754372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34655999499995 meters 0.012548689102083092 Centerline is valid? [True, True] Translation: X:246.97, Y:-102.74, Z:-4.03 [[-8.18581631e-01 -5.74327733e-01 8.47169752e-03 2.46967041e+02] [-5.74299272e-01 8.18625447e-01 5.72053384e-03 -1.02743776e+02] [-1.02206084e-02 -1.82565802e-04 -9.99947752e-01 -4.02740984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40655999499995 meters 0.012224820303040661 Centerline is valid? [True, True] Translation: X:246.89, Y:-102.77, Z:-4.03 [[-7.74425058e-01 -6.32620597e-01 7.55046785e-03 2.46888950e+02] [-6.32592493e-01 7.74461849e-01 5.96508808e-03 -1.02767182e+02] [-9.62118687e-03 -1.56855596e-04 -9.99953703e-01 -4.02699835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46655999499995 meters 0.012241196667014021 Centerline is valid? [True, True] Translation: X:246.81, Y:-102.80, Z:-4.03 [[-7.25499713e-01 -6.88180334e-01 7.61538195e-03 2.46806545e+02] [-6.88144645e-01 7.25539664e-01 7.01019957e-03 -1.02798889e+02] [-1.03495431e-02 -1.54586529e-04 -9.99946430e-01 -4.02541814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52655999499996 meters 0.011609812689834893 Centerline is valid? [True, True] Translation: X:246.72, Y:-102.84, Z:-4.03 [[-6.72428259e-01 -7.40135076e-01 6.34876190e-03 2.46723461e+02] [-7.40103891e-01 6.72458217e-01 6.79541999e-03 -1.02841316e+02] [-9.29880580e-03 -1.29310951e-04 -9.99956757e-01 -4.02618641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58655999499996 meters 0.01150076840116871 Centerline is valid? [True, True] Translation: X:246.64, Y:-102.90, Z:-4.03 [[-6.14888755e-01 -7.88594011e-01 5.59506268e-03 2.46641508e+02] [-7.88563131e-01 6.14914198e-01 6.97975846e-03 -1.02895864e+02] [-8.94467920e-03 -1.20285156e-04 -9.99959988e-01 -4.02701961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64655999499996 meters 0.011270091211771135 Centerline is valid? [True, True] Translation: X:246.56, Y:-102.96, Z:-4.03 [[-5.54892945e-01 -8.31910897e-01 4.25194699e-03 2.46560580e+02] [-8.31887698e-01 5.54909228e-01 6.21335624e-03 -1.02959625e+02] [-7.52840338e-03 -8.93948523e-05 -9.99971657e-01 -4.02634896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70655999499996 meters 0.010698946867830777 Centerline is valid? [True, True] Translation: X:246.48, Y:-103.04, Z:-4.03 [[-4.94668281e-01 -8.69076279e-01 3.11652817e-03 2.46482324e+02] [-8.69059581e-01 4.94678096e-01 5.38749644e-03 -1.03037308e+02] [-6.22382358e-03 -4.34250651e-05 -9.99980631e-01 -4.02653226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76655999499997 meters 0.010702003654452211 Centerline is valid? [True, True] Translation: X:246.41, Y:-103.12, Z:-4.03 [[-4.30437819e-01 -9.02616948e-01 2.43487986e-03 2.46412609e+02] [-9.02602751e-01 4.30444705e-01 5.06248883e-03 -1.03117762e+02] [-5.61756937e-03 -1.86426070e-05 -9.99984221e-01 -4.02861548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82655999499997 meters 0.010899453823707933 Centerline is valid? [True, True] Translation: X:246.35, Y:-103.21, Z:-4.03 [[-3.63080277e-01 -9.31755387e-01 2.14766539e-03 2.46347052e+02] [-9.31739079e-01 3.63086628e-01 5.51263452e-03 -1.03205880e+02] [-5.91621549e-03 4.65088921e-07 -9.99982499e-01 -4.02929551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88655999499997 meters 0.010973178747924778 Centerline is valid? [True, True] Translation: X:246.28, Y:-103.30, Z:-4.03 [[-2.90718926e-01 -9.56805925e-01 2.21976792e-03 2.46284326e+02] [-9.56777822e-01 2.90727400e-01 7.33332443e-03 -1.03303040e+02] [-7.66191563e-03 8.11148443e-06 -9.99970647e-01 -4.02646898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.946559995 meters 0.011039178275899649 Centerline is valid? [True, True] Translation: X:246.23, Y:-103.41, Z:-4.02 [[-2.15718791e-01 -9.76453696e-01 1.89301933e-03 2.46228908e+02] [-9.76415829e-01 2.15727097e-01 8.59928377e-03 -1.03406322e+02] [-8.80517798e-03 6.65306396e-06 -9.99961234e-01 -4.02438593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.006559995 meters 0.010955107436232283 Centerline is valid? [True, True] Translation: X:246.18, Y:-103.52, Z:-4.02 [[-1.38929233e-01 -9.90301423e-01 1.32671272e-03 2.46180985e+02] [-9.90256424e-01 1.38935568e-01 9.44045139e-03 -1.03517315e+02] [-9.53322003e-03 -2.23112015e-06 -9.99954558e-01 -4.02453976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.066559995 meters 0.010968820693104703 Centerline is valid? [True, True] Translation: X:246.14, Y:-103.63, Z:-4.03 [[-5.98459498e-02 -9.98207475e-01 5.47873840e-04 2.46140498e+02] [-9.98169512e-01 5.98484520e-02 8.70559255e-03 -1.03631008e+02] [-8.72277695e-03 -2.58765092e-05 -9.99961956e-01 -4.02513624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.126559995 meters 0.0111462831740922 Centerline is valid? [True, True] Translation: X:246.11, Y:-103.75, Z:-4.03 [[ 1.94580813e-02 -9.99810668e-01 -1.09744198e-04 2.46109685e+02] [-9.99779283e-01 -1.94583401e-02 7.92197621e-03 -1.03748078e+02] [-7.92261177e-03 -4.44264822e-05 -9.99968615e-01 -4.02508850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.186559995 meters 0.01113884063280225 Centerline is valid? [True, True] Translation: X:246.09, Y:-103.87, Z:-4.03 [[ 9.67590642e-02 -9.95307590e-01 -6.96873121e-04 2.46089212e+02] [-9.95278164e-01 -9.67615622e-02 7.65350658e-03 -1.03869447e+02] [-7.68502372e-03 -4.69635347e-05 -9.99970469e-01 -4.02531541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.246559995 meters 0.01128251018084965 Centerline is valid? [True, True] Translation: X:246.08, Y:-103.99, Z:-4.03 [[ 1.74899253e-01 -9.84585450e-01 -1.32051370e-03 2.46078006e+02] [-9.84554633e-01 -1.74904227e-01 7.79007448e-03 -1.03990967e+02] [-7.90095741e-03 -6.23603216e-05 -9.99968785e-01 -4.02533715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.306559995 meters 0.01142920970602907 Centerline is valid? [True, True] Translation: X:246.07, Y:-104.11, Z:-4.03 [[ 2.51571099e-01 -9.67837141e-01 -1.80310457e-03 2.46074931e+02] [-9.67810226e-01 -2.51577550e-01 7.21817504e-03 -1.04109266e+02] [-7.43963853e-03 -7.08211815e-05 -9.99972323e-01 -4.02560275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.366559995 meters 0.011741364393964164 Centerline is valid? [True, True] Translation: X:246.08, Y:-104.23, Z:-4.03 [[ 3.26709682e-01 -9.45121467e-01 -2.48920601e-03 2.46081701e+02] [-9.45091997e-01 -3.26719153e-01 7.46409008e-03 -1.04232491e+02] [-7.86774304e-03 -8.60618174e-05 -9.99969045e-01 -4.02528958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42655999499993 meters 0.012111014579835594 Centerline is valid? [True, True] Translation: X:246.10, Y:-104.35, Z:-4.02 [[ 4.00060354e-01 -9.16482092e-01 -3.50545582e-03 2.46096699e+02] [-9.16444416e-01 -4.00075696e-01 8.31080926e-03 -1.04352255e+02] [-9.01915553e-03 -1.12269877e-04 -9.99959320e-01 -4.02407215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48655999499994 meters 0.012114626512184017 Centerline is valid? [True, True] Translation: X:246.12, Y:-104.46, Z:-4.02 [[ 4.69626082e-01 -8.82855018e-01 -4.28496494e-03 2.46120205e+02] [-8.82815916e-01 -4.69645615e-01 8.30993553e-03 -1.04464356e+02] [-9.34888327e-03 -1.19727212e-04 -9.99956291e-01 -4.02408833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54655999499994 meters 0.01220036793106116 Centerline is valid? [True, True] Translation: X:246.16, Y:-104.58, Z:-4.02 [[ 5.35426752e-01 -8.44564668e-01 -5.35855848e-03 2.46155912e+02] [-8.44520063e-01 -5.35453552e-01 8.68087994e-03 -1.04580809e+02] [-1.02008237e-02 -1.22565210e-04 -9.99947963e-01 -4.02300081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60655999499994 meters 0.0117485421340322 Centerline is valid? [True, True] Translation: X:246.19, Y:-104.68, Z:-4.02 [[ 5.97345714e-01 -8.01962685e-01 -5.82661918e-03 2.46191153e+02] [-8.01922812e-01 -5.97374121e-01 7.99773422e-03 -1.04679473e+02] [-9.89455593e-03 -1.04913422e-04 -9.99951042e-01 -4.02280244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66655999499994 meters 0.01173390312312783 Centerline is valid? [True, True] Translation: X:246.24, Y:-104.78, Z:-4.02 [[ 6.55816483e-01 -7.54889066e-01 -6.87299105e-03 2.46239376e+02] [-7.54846080e-01 -6.55852490e-01 8.05645720e-03 -1.04782063e+02] [-1.05893997e-02 -9.55070743e-05 -9.99943926e-01 -4.02174674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72655999499995 meters 0.011491912917030183 Centerline is valid? [True, True] Translation: X:246.29, Y:-104.87, Z:-4.02 [[ 7.08973946e-01 -7.05184984e-01 -8.37149585e-03 2.46293171e+02] [-7.05134797e-01 -7.09023367e-01 8.41325394e-03 -1.04874176e+02] [-1.18684865e-02 -6.17448175e-05 -9.99929565e-01 -4.02137771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78655999499995 meters 0.011505959689144547 Centerline is valid? [True, True] Translation: X:246.35, Y:-104.96, Z:-4.02 [[ 7.58118055e-01 -6.52064207e-01 -8.32376917e-03 2.46350509e+02] [-6.52024664e-01 -7.58163749e-01 7.18108657e-03 -1.04960477e+02] [-1.09933096e-02 -1.68085915e-05 -9.99939572e-01 -4.02194184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84655999499995 meters 0.011447332277063925 Centerline is valid? [True, True] Translation: X:246.37, Y:-104.98, Z:-4.02 [[ 8.04612989e-01 -5.93761909e-01 -6.68831163e-03 2.46372447e+02] [-5.93741523e-01 -8.04640787e-01 4.92020102e-03 -1.04984255e+02] [-8.30311628e-03 1.22706842e-05 -9.99965528e-01 -4.02476678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90655999499995 meters 0.011460210968716017 Centerline is valid? [True, True] Translation: X:246.39, Y:-105.01, Z:-4.03 [[ 8.47805260e-01 -5.30270124e-01 -6.31154524e-03 2.46394136e+02] [-5.30255605e-01 -8.47828753e-01 3.92407739e-03 -1.05008253e+02] [-7.43193054e-03 1.98787891e-05 -9.99972383e-01 -4.02551502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96655999499995 meters 0.011914942331458287 Centerline is valid? [True, True] Translation: X:246.42, Y:-105.03, Z:-4.03 [[ 8.84927573e-01 -4.65685149e-01 -6.36653416e-03 2.46418765e+02] [-4.65673465e-01 -8.84950473e-01 3.29910233e-03 -1.05028754e+02] [-7.17041038e-03 4.52594067e-05 -9.99974291e-01 -4.02566289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02655999499996 meters 0.012416222305299525 Centerline is valid? [True, True] Translation: X:246.44, Y:-105.05, Z:-4.02 [[ 9.17447285e-01 -3.97783622e-01 -7.65961084e-03 2.46444718e+02] [-3.97770487e-01 -9.17479255e-01 3.23359621e-03 -1.05048597e+02] [-8.31380566e-03 8.01130669e-05 -9.99965437e-01 -4.02439398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08655999499996 meters 0.01247406719689524 Centerline is valid? [True, True] Translation: X:246.47, Y:-105.07, Z:-4.02 [[ 9.45371592e-01 -3.25878523e-01 -8.70293151e-03 2.46470588e+02] [-3.25865692e-01 -9.45411645e-01 2.89352687e-03 -1.05069456e+02] [-9.17079106e-03 1.00528692e-04 -9.99957942e-01 -4.02436113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14655999499996 meters 0.013039884798666586 Centerline is valid? [True, True] Translation: X:246.50, Y:-105.09, Z:-4.02 [[ 9.67933001e-01 -2.51013659e-01 -9.89188510e-03 2.46497687e+02] [-2.51001762e-01 -9.67983538e-01 2.44655640e-03 -1.05086269e+02] [-1.01893010e-02 1.14777917e-04 -9.99948081e-01 -4.02308958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20655999499996 meters 0.012768529268550896 Centerline is valid? [True, True] Translation: X:246.52, Y:-105.10, Z:-4.02 [[ 9.84698102e-01 -1.73894939e-01 -1.14104027e-02 2.46524263e+02] [-1.73884753e-01 -9.84764202e-01 1.88638406e-03 -1.05100560e+02] [-1.15645888e-02 1.26576262e-04 -9.99933120e-01 -4.02278654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26655999499997 meters 0.012338218426678635 Centerline is valid? [True, True] Translation: X:246.55, Y:-105.11, Z:-4.02 [[ 9.95466154e-01 -9.44734147e-02 -1.10413340e-02 2.46550258e+02] [-9.44687234e-02 -9.95527380e-01 9.46832564e-04 -1.05113303e+02] [-1.10814008e-02 1.00520953e-04 -9.99938594e-01 -4.02331765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32655999499997 meters 0.011583649837027131 Centerline is valid? [True, True] Translation: X:246.58, Y:-105.13, Z:-4.03 [[ 9.99848281e-01 -1.39481253e-02 -1.04337915e-02 2.46578001e+02] [-1.39480913e-02 -9.99902718e-01 7.60250031e-05 -1.05127743e+02] [-1.04338369e-02 6.95180086e-05 -9.99945564e-01 -4.02537693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38655999499997 meters 0.011241749534808566 Centerline is valid? [True, True] Translation: X:246.61, Y:-105.14, Z:-4.03 [[ 9.97760018e-01 6.61574819e-02 -9.90628651e-03 2.46606616e+02] [ 6.61537510e-02 -9.97809193e-01 -7.04182993e-04 -1.05139226e+02] [-9.93117072e-03 4.72676244e-05 -9.99950684e-01 -4.02592585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.446559995 meters 0.010983511733622152 Centerline is valid? [True, True] Translation: X:246.63, Y:-105.15, Z:-4.03 [[ 9.89170109e-01 1.46466226e-01 -9.49424070e-03 2.46634974e+02] [ 1.46459268e-01 -9.89215671e-01 -1.42779687e-03 -1.05146795e+02] [-9.60097571e-03 2.18144492e-05 -9.99953909e-01 -4.02565495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.506559995 meters 0.010936217249180032 Centerline is valid? [True, True] Translation: X:246.66, Y:-105.15, Z:-4.02 [[ 9.73865355e-01 2.26961471e-01 -8.64639332e-03 2.46663651e+02] [ 2.26952645e-01 -9.73903738e-01 -2.00164576e-03 -1.05151408e+02] [-8.87505124e-03 -1.29883721e-05 -9.99960616e-01 -4.02486351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.566559995 meters 0.010651415712124176 Centerline is valid? [True, True] Translation: X:246.70, Y:-105.16, Z:-4.03 [[ 9.52168385e-01 3.05488717e-01 -7.21189558e-03 2.46695036e+02] [ 3.05480253e-01 -9.52195696e-01 -2.27432756e-03 -1.05155009e+02] [-7.56191733e-03 -3.75488843e-05 -9.99971408e-01 -4.02677092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.626559995 meters 0.010975107051594338 Centerline is valid? [True, True] Translation: X:246.73, Y:-105.16, Z:-4.03 [[ 9.23375678e-01 3.83829816e-01 -7.21322506e-03 2.46727370e+02] [ 3.83818760e-01 -9.23403848e-01 -2.91426768e-03 -1.05157351e+02] [-7.77930260e-03 -7.76072021e-05 -9.99969738e-01 -4.02560056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.686559995 meters 0.011326676390975645 Centerline is valid? [True, True] Translation: X:246.76, Y:-105.16, Z:-4.02 [[ 8.89020605e-01 4.57788327e-01 -8.49774794e-03 2.46759098e+02] [ 4.57768706e-01 -8.89061209e-01 -4.24019801e-03 -1.05155995e+02] [-9.49613121e-03 -1.20379675e-04 -9.99954903e-01 -4.02445329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.746559995 meters 0.011475709611330667 Centerline is valid? [True, True] Translation: X:246.79, Y:-105.15, Z:-4.02 [[ 8.50093045e-01 5.26570421e-01 -8.08743295e-03 2.46789857e+02] [ 5.26547996e-01 -8.50131505e-01 -4.86124388e-03 -1.05149403e+02] [-9.43516878e-03 -1.25912004e-04 -9.99955480e-01 -4.02458879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.806559995 meters 0.011874762796288947 Centerline is valid? [True, True] Translation: X:246.82, Y:-105.14, Z:-4.02 [[ 8.06096604e-01 5.91714664e-01 -9.05659262e-03 2.46817626e+02] [ 5.91679375e-01 -8.06147465e-01 -6.46397808e-03 -1.05139752e+02] [-1.11257798e-02 -1.48008278e-04 -9.99938096e-01 -4.02248900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.866559995 meters 0.011659176137742283 Centerline is valid? [True, True] Translation: X:246.84, Y:-105.12, Z:-4.02 [[ 7.57603539e-01 6.52654631e-01 -8.87757730e-03 2.46844186e+02] [ 6.52612097e-01 -7.57655536e-01 -7.45246454e-03 -1.05124843e+02] [-1.15900311e-02 -1.47600832e-04 -9.99932822e-01 -4.02310989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92655999499993 meters 0.011306050917169052 Centerline is valid? [True, True] Translation: X:246.87, Y:-105.11, Z:-4.02 [[ 7.06089597e-01 7.08073024e-01 -8.37098073e-03 2.46866647e+02] [ 7.08025237e-01 -7.06139206e-01 -8.22708419e-03 -1.05106580e+02] [-1.17364541e-02 -1.17807053e-04 -9.99931119e-01 -4.02384060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98655999499994 meters 0.01083730654526102 Centerline is valid? [True, True] Translation: X:246.89, Y:-105.09, Z:-4.02 [[ 6.50558502e-01 7.59414868e-01 -7.91789952e-03 2.46889666e+02] [ 7.59360257e-01 -6.50606678e-01 -9.10770068e-03 -1.05088765e+02] [-1.20679616e-02 -8.74461101e-05 -9.99927176e-01 -4.02406998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04655999499994 meters 0.010737457221103511 Centerline is valid? [True, True] Translation: X:246.91, Y:-105.07, Z:-4.02 [[ 5.92396986e-01 8.05614190e-01 -7.18242566e-03 2.46907241e+02] [ 8.05555764e-01 -5.92440525e-01 -9.70233906e-03 -1.05068224e+02] [-1.20715021e-02 -3.82079741e-05 -9.99927136e-01 -4.02408676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10655999499994 meters 0.0106817380750834 Centerline is valid? [True, True] Translation: X:246.93, Y:-105.05, Z:-4.03 [[ 5.28490238e-01 8.48917316e-01 -6.12033683e-03 2.46926658e+02] [ 8.48860925e-01 -5.28525676e-01 -9.78469301e-03 -1.05048041e+02] [-1.15411505e-02 -2.42000385e-05 -9.99933398e-01 -4.02508861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16655999499994 meters 0.010579836593525014 Centerline is valid? [True, True] Translation: X:246.94, Y:-105.03, Z:-4.03 [[ 4.63510615e-01 8.86079008e-01 -4.67979696e-03 2.46942528e+02] [ 8.86033584e-01 -4.63534239e-01 -8.97198771e-03 -1.05025875e+02] [-1.01191361e-02 1.21542689e-05 -9.99948800e-01 -4.02737129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22655999499995 meters 0.010939422196148652 Centerline is valid? [True, True] Translation: X:246.96, Y:-105.00, Z:-4.03 [[ 3.95819842e-01 9.18320008e-01 -3.87495975e-03 2.46955764e+02] [ 9.18274886e-01 -3.95838806e-01 -9.10344107e-03 -1.05003780e+02] [-9.89373152e-03 4.50443787e-05 -9.99951055e-01 -4.02702814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28655999499995 meters 0.011121959139464772 Centerline is valid? [True, True] Translation: X:246.97, Y:-104.98, Z:-4.03 [[ 3.24031847e-01 9.46039705e-01 -3.49832616e-03 2.46969373e+02] [ 9.45982282e-01 -3.24050723e-01 -1.04236159e-02 -1.04980508e+02] [-1.09947896e-02 6.82289372e-05 -9.99939553e-01 -4.02698616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34655999499995 meters 0.011092216925702843 Centerline is valid? [True, True] Translation: X:246.98, Y:-104.96, Z:-4.03 [[ 2.48911063e-01 9.68522525e-01 -2.72062256e-03 2.46982214e+02] [ 9.68461581e-01 -2.48925921e-01 -1.08651997e-02 -1.04956491e+02] [-1.12004241e-02 6.96499757e-05 -9.99937271e-01 -4.02626435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40655999499995 meters 0.011170178484354257 Centerline is valid? [True, True] Translation: X:246.99, Y:-104.93, Z:-4.02 [[ 1.70961613e-01 9.85275630e-01 -2.01468032e-03 2.46992022e+02] [ 9.85202982e-01 -1.70973473e-01 -1.19647495e-02 -1.04933267e+02] [-1.21330330e-02 6.06438273e-05 -9.99926390e-01 -4.02459649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46655999499995 meters 0.010850461496175483 Centerline is valid? [True, True] Translation: X:247.00, Y:-104.91, Z:-4.02 [[ 9.04506968e-02 9.95900365e-01 -1.06469277e-03 2.46999671e+02] [ 9.95827993e-01 -9.04569591e-02 -1.20061412e-02 -1.04908693e+02] [-1.20532292e-02 2.57129727e-05 -9.99927357e-01 -4.02393937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52655999499996 meters 0.010343891497815389 Centerline is valid? [True, True] Translation: X:247.01, Y:-104.88, Z:-4.03 [[ 9.58912779e-03 9.99954017e-01 -1.13236298e-04 2.47006729e+02] [ 9.99891746e-01 -9.58979435e-03 -1.11593927e-02 -1.04882992e+02] [-1.11599654e-02 -6.21519722e-06 -9.99937726e-01 -4.02563996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58655999499996 meters 0.010159970608343583 Centerline is valid? [True, True] Translation: X:247.02, Y:-104.86, Z:-4.03 [[-7.34727715e-02 9.97297028e-01 6.24200416e-04 2.47016971e+02] [ 9.97254822e-01 7.34754048e-02 -9.17521837e-03 -1.04856159e+02] [-9.19628139e-03 -5.16418485e-05 -9.99957712e-01 -4.02673920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64655999499996 meters 0.010458732762044074 Centerline is valid? [True, True] Translation: X:247.02, Y:-104.83, Z:-4.03 [[-1.55333363e-01 9.87861273e-01 1.28501829e-03 2.47024823e+02] [ 9.87822753e-01 1.55338654e-01 -8.72419364e-03 -1.04828331e+02] [-8.81790604e-03 -8.57880293e-05 -9.99961118e-01 -4.02696369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70655999499996 meters 0.010857176946690266 Centerline is valid? [True, True] Translation: X:247.03, Y:-104.80, Z:-4.03 [[-2.34913623e-01 9.72014183e-01 2.00459546e-03 2.47029348e+02] [ 9.71974619e-01 2.34922149e-01 -8.77062729e-03 -1.04799545e+02] [-8.99609799e-03 -1.11923928e-04 -9.99959528e-01 -4.02681655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76655999499997 meters 0.01087614481015666 Centerline is valid? [True, True] Translation: X:247.03, Y:-104.77, Z:-4.03 [[-3.10506101e-01 9.50567505e-01 2.71639826e-03 2.47031061e+02] [ 9.50527839e-01 3.10517962e-01 -8.68459832e-03 -1.04770509e+02] [-9.09878741e-03 -1.14608589e-04 -9.99958599e-01 -4.02620904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82655999499997 meters 0.010759034087861549 Centerline is valid? [True, True] Translation: X:247.03, Y:-104.74, Z:-4.03 [[-3.83759371e-01 9.23427005e-01 3.36339694e-03 2.47029220e+02] [ 9.23388967e-01 3.83774094e-01 -8.38220997e-03 -1.04742822e+02] [-9.03114366e-03 -1.11027999e-04 -9.99959212e-01 -4.02611848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88655999499997 meters 0.010404457305678804 Centerline is valid? [True, True] Translation: X:247.02, Y:-104.72, Z:-4.03 [[-4.52532887e-01 8.91740063e-01 3.69405158e-03 2.47021549e+02] [ 8.91708868e-01 4.52547957e-01 -7.45933055e-03 -1.04716274e+02] [-8.32351939e-03 -8.15738329e-05 -9.99965356e-01 -4.02654012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.946559995 meters 0.01006792313852723 Centerline is valid? [True, True] Translation: X:247.01, Y:-104.69, Z:-4.03 [[-5.18000557e-01 8.55371219e-01 3.93699699e-03 2.47012022e+02] [ 8.55345782e-01 5.18015516e-01 -6.59688818e-03 -1.04691255e+02] [-7.68221381e-03 -4.96979906e-05 -9.99970490e-01 -4.02682694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.006559995 meters 0.010027616775250409 Centerline is valid? [True, True] Translation: X:247.00, Y:-104.67, Z:-4.03 [[-5.79907576e-01 8.14669075e-01 4.63705169e-03 2.46999633e+02] [ 8.14642803e-01 5.79926115e-01 -6.54253163e-03 -1.04667888e+02] [-8.01914556e-03 -1.65228751e-05 -9.99967846e-01 -4.02630705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.066559995 meters 0.01064377115293763 Centerline is valid? [True, True] Translation: X:246.98, Y:-104.65, Z:-4.03 [[-6.37220752e-01 7.70657226e-01 6.09529010e-03 2.46983779e+02] [ 7.70622602e-01 6.37249902e-01 -7.30529552e-03 -1.04647149e+02] [-9.51410180e-03 4.20824096e-05 -9.99954739e-01 -4.02529925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.126559995 meters 0.010887098403734181 Centerline is valid? [True, True] Translation: X:246.97, Y:-104.62, Z:-4.02 [[-6.94072056e-01 7.19871061e-01 7.04528932e-03 2.46971527e+02] [ 7.19834963e-01 6.94107809e-01 -7.20939091e-03 -1.04622277e+02] [-1.00800222e-02 6.76088033e-05 -9.99949193e-01 -4.02487029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.186559995 meters 0.01150747973981594 Centerline is valid? [True, True] Translation: X:246.96, Y:-104.60, Z:-4.03 [[-7.46486151e-01 6.65349912e-01 8.24138427e-03 2.46957525e+02] [ 6.65310920e-01 7.46531636e-01 -7.20395112e-03 -1.04599049e+02] [-1.09456023e-02 1.05433201e-04 -9.99940090e-01 -4.02524227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.246559995 meters 0.011647578720073529 Centerline is valid? [True, True] Translation: X:246.98, Y:-104.58, Z:-4.03 [[-7.90780455e-01 6.12037380e-01 8.74740224e-03 2.46982684e+02] [ 6.12001656e-01 7.90828825e-01 -6.61380662e-03 -1.04583938e+02] [-1.09655947e-02 1.23355649e-04 -9.99939868e-01 -4.02573953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.306559995 meters 0.012542987550472832 Centerline is valid? [True, True] Translation: X:247.00, Y:-104.56, Z:-4.03 [[-8.30486894e-01 5.56971209e-01 8.63667114e-03 2.47002263e+02] [ 5.56942898e-01 8.30531789e-01 -5.61747617e-03 -1.04564452e+02] [-1.03018024e-02 1.44892319e-04 -9.99946925e-01 -4.02635824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.366559995 meters 0.012360849897492738 Centerline is valid? [True, True] Translation: X:247.02, Y:-104.54, Z:-4.03 [[-8.67191820e-01 4.97908908e-01 8.06640205e-03 2.47020139e+02] [ 4.97888861e-01 8.67229324e-01 -4.47008575e-03 -1.04541521e+02] [-9.22111591e-03 1.39749932e-04 -9.99957475e-01 -4.02817580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42655999499993 meters 0.012141766952665702 Centerline is valid? [True, True] Translation: X:247.04, Y:-104.51, Z:-4.03 [[-9.00484977e-01 4.34826038e-01 7.28852075e-03 2.47036218e+02] [ 4.34812829e-01 9.00514466e-01 -3.39115163e-03 -1.04514781e+02] [-8.03797940e-03 1.15461227e-04 -9.99967688e-01 -4.02886423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48655999499994 meters 0.011879340265814988 Centerline is valid? [True, True] Translation: X:247.05, Y:-104.49, Z:-4.03 [[-9.29704759e-01 3.68234816e-01 7.22364926e-03 2.47047695e+02] [ 3.68224503e-01 9.29732817e-01 -2.75753689e-03 -1.04486822e+02] [-7.73148486e-03 9.62294876e-05 -9.99970107e-01 -4.02897936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54655999499994 meters 0.011103654895172186 Centerline is valid? [True, True] Translation: X:247.05, Y:-104.45, Z:-4.03 [[-9.54923855e-01 2.96714749e-01 8.98828027e-03 2.47051526e+02] [ 2.96702335e-01 9.54966152e-01 -2.71522209e-03 -1.04452906e+02] [-9.38914986e-03 7.40133945e-05 -9.99955918e-01 -4.02727513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60655999499994 meters 0.010433325676115773 Centerline is valid? [True, True] Translation: X:247.06, Y:-104.42, Z:-4.03 [[-9.74592192e-01 2.23771932e-01 9.80717354e-03 2.47061893e+02] [ 2.23760950e-01 9.74641535e-01 -2.21726737e-03 -1.04421787e+02] [-1.00546409e-02 3.35309979e-05 -9.99949450e-01 -4.02614979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66655999499994 meters 0.010157166047410862 Centerline is valid? [True, True] Translation: X:247.21, Y:-103.74, Z:-5.00 [[-9.58096920e-01 -2.86286356e-01 9.50859505e-03 2.47213696e+02] [ 2.86271831e-01 -9.58144102e-01 -2.88409339e-03 -1.03740249e+02] [ 9.93628085e-03 -4.11980762e-05 9.99950633e-01 -4.99606618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72655999499995 meters 0.010358506769236135 Centerline is valid? [True, True] Translation: X:247.01, Y:-104.40, Z:-4.03 [[-9.77851125e-01 2.09067522e-01 9.89684785e-03 2.47013199e+02] [ 2.09055988e-01 9.77901204e-01 -2.19754282e-03 -1.04399621e+02] [-1.01375743e-02 -7.98744151e-05 -9.99948610e-01 -4.02581192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78655999499995 meters 0.010590470330155068 Centerline is valid? [True, True] Translation: X:247.01, Y:-104.37, Z:-4.03 [[-9.90685711e-01 1.35869672e-01 9.01413092e-03 2.47013437e+02] [ 1.35863091e-01 9.90726714e-01 -1.34129355e-03 -1.04369000e+02] [-9.11278142e-03 -1.04112661e-04 -9.99958472e-01 -4.02740056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84655999499995 meters 0.010983126829558569 Centerline is valid? [True, True] Translation: X:247.11, Y:-103.70, Z:-4.99 [[-9.74801189e-01 -2.22946407e-01 7.58563066e-03 2.47110645e+02] [ 2.22939693e-01 -9.74830703e-01 -1.73029705e-03 -1.03702486e+02] [ 7.78046918e-03 4.44254689e-06 9.99969732e-01 -4.99401617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90655999499995 meters 0.01106349882223909 Centerline is valid? [True, True] Translation: X:246.96, Y:-104.36, Z:-4.03 [[-9.91587341e-01 1.29161250e-01 8.48038569e-03 2.46961763e+02] [ 1.29155461e-01 9.91623596e-01 -1.22906436e-03 -1.04357378e+02] [-8.56809804e-03 -1.23436530e-04 -9.99963286e-01 -4.02671335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96655999499995 meters 0.010532589240856939 Centerline is valid? [True, True] Translation: X:246.96, Y:-104.33, Z:-4.03 [[-9.98027621e-01 6.20751768e-02 9.35631883e-03 2.46964158e+02] [ 6.20715127e-02 9.98071472e-01 -6.81774751e-04 -1.04332770e+02] [-9.38059619e-03 -9.96691693e-05 -9.99955996e-01 -4.02545995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02655999499996 meters 0.01035387710451361 Centerline is valid? [True, True] Translation: X:247.02, Y:-103.66, Z:-5.00 [[-9.89391908e-01 -1.44999616e-01 8.87494139e-03 2.47018430e+02] [ 1.44994413e-01 -9.89431709e-01 -1.23026633e-03 -1.03662310e+02] [ 8.95953657e-03 6.96013622e-05 9.99959860e-01 -4.99617721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08655999499996 meters 0.009882205447238652 Centerline is valid? [True, True] Translation: X:246.91, Y:-104.34, Z:-4.03 [[-9.97833343e-01 6.51354005e-02 9.27362082e-03 2.46912812e+02] [ 6.51322855e-02 9.97876435e-01 -6.37844862e-04 -1.04336305e+02] [-9.29547395e-03 -3.24507528e-05 -9.99956796e-01 -4.02638757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14655999499996 meters 0.010450751167918881 Centerline is valid? [True, True] Translation: X:246.91, Y:-104.32, Z:-4.03 [[-9.99958802e-01 3.63328138e-03 8.31832833e-03 2.46913928e+02] [ 3.63356082e-03 9.99993398e-01 1.84806088e-05 -1.04316318e+02] [-8.31820627e-03 4.87049994e-05 -9.99965402e-01 -4.02744145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20655999499996 meters 0.012059712150995777 Centerline is valid? [True, True] Translation: X:246.92, Y:-103.61, Z:-4.99 [[-9.98795103e-01 -4.85677080e-02 7.03704683e-03 2.46923758e+02] [ 4.85657046e-02 -9.98819886e-01 -4.55386502e-04 -1.03612482e+02] [ 7.05085940e-03 -1.13078671e-04 9.99975136e-01 -4.99379976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26655999499997 meters 0.015073938472599496 Centerline is valid? [True, True] Translation: X:246.85, Y:-104.33, Z:-4.03 [[-9.99846076e-01 1.60830547e-02 7.01142669e-03 2.46854181e+02] [ 1.60837905e-02 9.99870646e-01 4.85737078e-05 -1.04331815e+02] [-7.00973853e-03 1.61336549e-04 -9.99975418e-01 -4.02868178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32655999499997 meters 0.017505388142399138 Centerline is valid? [True, True] Translation: X:246.86, Y:-103.60, Z:-4.99 [[-9.99690406e-01 -2.39867303e-02 6.61272801e-03 2.46857110e+02] [ 2.39850562e-02 -9.99712262e-01 -3.32354865e-04 -1.03599987e+02] [ 6.61879738e-03 -1.73645317e-04 9.99978080e-01 -4.99228477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38655999499997 meters 0.019074261483436133 Centerline is valid? [True, True] Translation: X:246.78, Y:-104.34, Z:-4.03 [[-9.99643122e-01 2.56091927e-02 7.60246361e-03 2.46780478e+02] [ 2.56106409e-02 9.99671989e-01 9.31747295e-05 -1.04340012e+02] [-7.59758379e-03 2.87845443e-04 -9.99971097e-01 -4.02985597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.446559995 meters 0.021580119049087555 Centerline is valid? [True, True] Translation: X:246.78, Y:-103.60, Z:-4.99 [[-9.99955420e-01 -5.90580539e-03 7.36751085e-03 2.46779469e+02] [ 5.90349247e-03 -9.99982518e-01 -3.35642874e-04 -1.03596461e+02] [ 7.36936429e-03 -2.92133866e-04 9.99972803e-01 -4.99048041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.506559995 meters 0.023107794390940257 Centerline is valid? [True, True] Translation: X:246.70, Y:-104.34, Z:-4.03 [[-9.99510608e-01 3.03844277e-02 7.43854294e-03 2.46704151e+02] [ 3.03862451e-02 9.99538223e-01 1.31392313e-04 -1.04341715e+02] [-7.43111571e-03 3.57357400e-04 -9.99972325e-01 -4.03081977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.566559995 meters 0.023274637826664203 Centerline is valid? [True, True] Translation: X:246.70, Y:-104.31, Z:-4.03 [[-9.99177347e-01 -3.97938590e-02 7.81524874e-03 2.46698573e+02] [-3.97896155e-02 9.99207836e-01 6.97775059e-04 -1.04308458e+02] [-7.83682494e-03 3.86235290e-04 -9.99969217e-01 -4.03152995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.626559995 meters 0.02343478223158633 Centerline is valid? [True, True] Translation: X:246.69, Y:-104.28, Z:-4.03 [[-9.93635860e-01 -1.12322125e-01 8.45681302e-03 2.46689053e+02] [-1.12314530e-01 9.93671762e-01 1.36920714e-03 -1.04277122e+02] [-8.55708856e-03 4.10670336e-04 -9.99963303e-01 -4.03089779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.686559995 meters 0.021460624003792773 Centerline is valid? [True, True] Translation: X:246.67, Y:-104.24, Z:-4.03 [[-9.82097537e-01 -1.88210681e-01 7.82102170e-03 2.46667829e+02] [-1.88201931e-01 9.82128618e-01 1.84667818e-03 -1.04241178e+02] [-8.02881379e-03 3.41686706e-04 -9.99967710e-01 -4.03193334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.746559995 meters 0.018883177182009075 Centerline is valid? [True, True] Translation: X:246.63, Y:-104.21, Z:-4.03 [[-9.64711140e-01 -2.63207804e-01 7.35311623e-03 2.46632599e+02] [-2.63197868e-01 9.64739120e-01 2.30507686e-03 -1.04211303e+02] [-7.70055310e-03 2.88408809e-04 -9.99970309e-01 -4.03289733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.806559995 meters 0.01601610951527588 Centerline is valid? [True, True] Translation: X:246.59, Y:-104.18, Z:-4.03 [[-9.40192037e-01 -3.40583888e-01 6.44584844e-03 2.46587900e+02] [-3.40574457e-01 9.40214112e-01 2.54200348e-03 -1.04181324e+02] [-6.92624309e-03 1.94680095e-04 -9.99975994e-01 -4.03344358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.866559995 meters 0.014695428581080848 Centerline is valid? [True, True] Translation: X:246.53, Y:-104.16, Z:-4.03 [[-9.10340620e-01 -4.13823346e-01 5.49496713e-03 2.46529456e+02] [-4.13814934e-01 9.10357194e-01 2.64192102e-03 -1.04164881e+02] [-6.09567146e-03 1.31148556e-04 -9.99981413e-01 -4.03364657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92655999499993 meters 0.013138797010787887 Centerline is valid? [True, True] Translation: X:246.45, Y:-104.15, Z:-4.03 [[-8.73584298e-01 -4.86642680e-01 5.42005369e-03 2.46454243e+02] [-4.86632728e-01 8.73601108e-01 3.11332967e-03 -1.04154496e+02] [-6.25004401e-03 8.21804023e-05 -9.99980465e-01 -4.03271978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98655999499994 meters 0.012379665037316068 Centerline is valid? [True, True] Translation: X:246.38, Y:-104.16, Z:-4.03 [[-8.32429786e-01 -5.54087549e-01 6.90219228e-03 2.46376449e+02] [-5.54067801e-01 8.32458397e-01 4.67850895e-03 -1.04155696e+02] [-8.33809148e-03 7.02477045e-05 -9.99965235e-01 -4.03166846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04655999499994 meters 0.012694814161617664 Centerline is valid? [True, True] Translation: X:246.30, Y:-104.17, Z:-4.03 [[-7.88295022e-01 -6.15260253e-01 6.76601666e-03 2.46301796e+02] [-6.15236925e-01 7.88324056e-01 5.35805950e-03 -1.04169005e+02] [-8.63041474e-03 6.10283487e-05 -9.99962755e-01 -4.03020474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10655999499994 meters 0.012560735227659221 Centerline is valid? [True, True] Translation: X:246.22, Y:-104.19, Z:-4.03 [[-7.41405543e-01 -6.71019205e-01 7.14479234e-03 2.46222474e+02] [-6.70986938e-01 7.41439964e-01 6.58102264e-03 -1.04188185e+02] [-9.71342715e-03 8.51443337e-05 -9.99952820e-01 -4.03132918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16655999499994 meters 0.013708118802523856 Centerline is valid? [True, True] Translation: X:246.14, Y:-104.23, Z:-4.03 [[-6.91567291e-01 -7.22253953e-01 9.16023025e-03 2.46142452e+02] [-7.22187400e-01 6.91627934e-01 9.80614062e-03 -1.04226107e+02] [-1.34179950e-02 1.66203240e-04 -9.99909961e-01 -4.02771870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22655999499995 meters 0.015143275523195538 Centerline is valid? [True, True] Translation: X:246.07, Y:-104.27, Z:-4.03 [[-6.40955494e-01 -7.67527028e-01 8.84963521e-03 2.46066495e+02] [-7.67447850e-01 6.41016524e-01 1.10278216e-02 -1.04269455e+02] [-1.41369135e-02 2.76709326e-04 -9.99900031e-01 -4.02757267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28655999499995 meters 0.01672304032845741 Centerline is valid? [True, True] Translation: X:245.99, Y:-104.32, Z:-4.03 [[-5.86206318e-01 -8.10127160e-01 7.49248365e-03 2.45993038e+02] [-8.10053562e-01 5.86254102e-01 1.09249339e-02 -1.04323625e+02] [-1.32430849e-02 3.34952193e-04 -9.99912250e-01 -4.02928738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34655999499995 meters 0.019389475393973073 Centerline is valid? [True, True] Translation: X:245.92, Y:-104.39, Z:-4.03 [[-5.30875794e-01 -8.47426401e-01 6.27587378e-03 2.45921042e+02] [-8.47357489e-01 5.30912720e-01 1.08152569e-02 -1.04387722e+02] [-1.24970754e-02 4.23649437e-04 -9.99921819e-01 -4.03064002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40655999499995 meters 0.020440751522924037 Centerline is valid? [True, True] Translation: X:245.85, Y:-104.46, Z:-4.03 [[-4.70791903e-01 -8.82231443e-01 4.76081202e-03 2.45849737e+02] [-8.82176630e-01 4.70815773e-01 9.84385839e-03 -1.04458569e+02] [-1.09260268e-02 4.34531720e-04 -9.99940215e-01 -4.03182861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46655999499995 meters 0.020521706018953364 Centerline is valid? [True, True] Translation: X:245.78, Y:-104.54, Z:-4.03 [[-4.04527988e-01 -9.14517655e-01 3.81652548e-03 2.45781188e+02] [-9.14466360e-01 4.04545760e-01 9.69562091e-03 -1.04536049e+02] [-1.04107757e-02 4.32065857e-04 -9.99945713e-01 -4.03211741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52655999499996 meters 0.021726285204701032 Centerline is valid? [True, True] Translation: X:245.72, Y:-104.62, Z:-4.03 [[-3.33789459e-01 -9.42642756e-01 3.03849134e-03 2.45715908e+02] [-9.42591491e-01 3.33803023e-01 9.83984613e-03 -1.04623175e+02] [-1.02897173e-02 4.20380829e-04 -9.99946971e-01 -4.03105620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58655999499996 meters 0.019775544432829865 Centerline is valid? [True, True] Translation: X:245.65, Y:-104.72, Z:-4.03 [[-2.58196846e-01 -9.66089611e-01 2.29193754e-03 2.45652627e+02] [-9.66037285e-01 2.58206733e-01 1.00621734e-02 -1.04718202e+02] [-1.03127549e-02 3.83924304e-04 -9.99946748e-01 -4.03133051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64655999499996 meters 0.01876410993673737 Centerline is valid? [True, True] Translation: X:245.60, Y:-104.82, Z:-4.03 [[-1.82846796e-01 -9.83140199e-01 1.54886045e-03 2.45602316e+02] [-9.83085614e-01 1.82852976e-01 1.03665651e-02 -1.04815597e+02] [-1.04750006e-02 3.72830783e-04 -9.99945066e-01 -4.03139951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70655999499996 meters 0.018196565425761136 Centerline is valid? [True, True] Translation: X:245.56, Y:-104.92, Z:-4.03 [[-1.01767971e-01 -9.94807895e-01 7.30016052e-04 2.45555755e+02] [-9.94757599e-01 1.01770170e-01 1.00075509e-02 -1.04917792e+02] [-1.00298845e-02 2.92259140e-04 -9.99949657e-01 -4.03104428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76655999499997 meters 0.016620297652533214 Centerline is valid? [True, True] Translation: X:245.52, Y:-105.02, Z:-4.03 [[-2.01949934e-02 -9.99796060e-01 -1.85784667e-05 2.45516711e+02] [-9.99763572e-01 2.01941873e-02 8.06197256e-03 -1.05023960e+02] [-8.05995323e-03 1.81385557e-04 -9.99967502e-01 -4.03178893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82655999499997 meters 0.015600359687122206 Centerline is valid? [True, True] Translation: X:245.49, Y:-105.13, Z:-4.03 [[ 5.97954140e-02 -9.98210491e-01 -5.68525472e-04 2.45488813e+02] [-9.98183739e-01 -5.97979744e-02 7.30933164e-03 -1.05131363e+02] [-7.33024820e-03 1.30428369e-04 -9.99973125e-01 -4.03213309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88655999499997 meters 0.013512267880601687 Centerline is valid? [True, True] Translation: X:245.47, Y:-105.24, Z:-4.03 [[ 1.39774710e-01 -9.90182707e-01 -1.11249053e-03 2.45465124e+02] [-9.90156407e-01 -1.39779106e-01 7.21747979e-03 -1.05236696e+02] [-7.30212660e-03 9.27184803e-05 -9.99973335e-01 -4.03284208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.946559995 meters 0.012445085454829934 Centerline is valid? [True, True] Translation: X:245.45, Y:-105.35, Z:-4.03 [[ 2.22816661e-01 -9.74859061e-01 -1.59606270e-03 2.45449399e+02] [-9.74834811e-01 -2.22822376e-01 6.87608332e-03 -1.05349325e+02] [-7.05885061e-03 2.37915485e-05 -9.99975086e-01 -4.03175117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.006559995 meters 0.01219754849469417 Centerline is valid? [True, True] Translation: X:245.44, Y:-105.46, Z:-4.03 [[ 3.05463563e-01 -9.52201684e-01 -1.99122906e-03 2.45441456e+02] [-9.52180398e-01 -3.05470049e-01 6.36694453e-03 -1.05458942e+02] [-6.67087615e-03 -4.88602794e-05 -9.99977748e-01 -4.03195756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.066559995 meters 0.013915258019984436 Centerline is valid? [True, True] Translation: X:245.44, Y:-105.57, Z:-4.03 [[ 3.87792685e-01 -9.21744307e-01 -2.06538498e-03 2.45441809e+02] [-9.21729608e-01 -3.87798168e-01 5.20671959e-03 -1.05569089e+02] [-5.60021665e-03 -1.15401282e-04 -9.99984312e-01 -4.03141055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.126559995 meters 0.015262182672829533 Centerline is valid? [True, True] Translation: X:245.45, Y:-105.67, Z:-4.03 [[ 4.59839666e-01 -8.87998477e-01 -2.48716379e-03 2.45454423e+02] [-8.87983759e-01 -4.59846370e-01 5.11459415e-03 -1.05669651e+02] [-5.68546506e-03 -1.43332213e-04 -9.99983827e-01 -4.03077143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.186559995 meters 0.01579392681533973 Centerline is valid? [True, True] Translation: X:245.47, Y:-105.76, Z:-4.03 [[ 5.26472683e-01 -8.50185839e-01 -3.24861020e-03 2.45472494e+02] [-8.50167601e-01 -5.26482677e-01 5.57147217e-03 -1.05760891e+02] [-6.44712374e-03 -1.71364758e-04 -9.99979202e-01 -4.03033929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.246559995 meters 0.016908447740788562 Centerline is valid? [True, True] Translation: X:245.50, Y:-105.85, Z:-4.03 [[ 5.90365051e-01 -8.07125414e-01 -4.20391366e-03 2.45499376e+02] [-8.07102352e-01 -5.90379981e-01 6.10503305e-03 -1.05852710e+02] [-7.40943380e-03 -2.11209546e-04 -9.99972527e-01 -4.02925039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.306559995 meters 0.016153349131088266 Centerline is valid? [True, True] Translation: X:245.54, Y:-105.94, Z:-4.03 [[ 6.49308126e-01 -7.60510515e-01 -4.76591041e-03 2.45535245e+02] [-7.60487510e-01 -6.49325579e-01 5.91943345e-03 -1.05938886e+02] [-7.59641892e-03 -2.19120903e-04 -9.99971123e-01 -4.02927098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.366559995 meters 0.015146773735497842 Centerline is valid? [True, True] Translation: X:245.58, Y:-106.01, Z:-4.03 [[ 7.02028169e-01 -7.12130725e-01 -5.12653239e-03 2.45576207e+02] [-7.12109707e-01 -7.02046860e-01 5.47465130e-03 -1.06014376e+02] [-7.49773337e-03 -1.92705952e-04 -9.99971873e-01 -4.02970827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42655999499993 meters 0.01434609798452884 Centerline is valid? [True, True] Translation: X:245.62, Y:-106.08, Z:-4.03 [[ 7.48985272e-01 -6.62566113e-01 -5.21604222e-03 2.45619287e+02] [-6.62548738e-01 -7.49003422e-01 4.80046727e-03 -1.06081071e+02] [-7.08746041e-03 -1.39597093e-04 -9.99974874e-01 -4.03028528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48655999499994 meters 0.013376911799433963 Centerline is valid? [True, True] Translation: X:245.65, Y:-106.11, Z:-4.03 [[ 7.95679585e-01 -6.05697278e-01 -4.98050446e-03 2.45651859e+02] [-6.05684646e-01 -7.95695166e-01 3.91306168e-03 -1.06105435e+02] [-6.33309413e-03 -9.69282123e-05 -9.99979941e-01 -4.03042197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54655999499994 meters 0.012556162282761458 Centerline is valid? [True, True] Translation: X:245.69, Y:-106.13, Z:-4.03 [[ 8.38002312e-01 -5.45647316e-01 -4.59691530e-03 2.45688317e+02] [-5.45638711e-01 -8.38014918e-01 3.06503773e-03 -1.06130550e+02] [-5.52471321e-03 -6.02537658e-05 -9.99984737e-01 -4.03058039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60655999499994 meters 0.012216419156846813 Centerline is valid? [True, True] Translation: X:245.73, Y:-106.15, Z:-4.03 [[ 8.74577887e-01 -4.84861744e-01 -4.75487895e-03 2.45727489e+02] [-4.84854456e-01 -8.74590812e-01 2.65858016e-03 -1.06146182e+02] [-5.44761726e-03 -1.97111715e-05 -9.99985161e-01 -4.03059402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66655999499994 meters 0.012496864701893234 Centerline is valid? [True, True] Translation: X:245.77, Y:-106.16, Z:-4.03 [[ 9.07606250e-01 -4.19787539e-01 -5.41458986e-03 2.45765728e+02] [-4.19780143e-01 -9.07622400e-01 2.49189253e-03 -1.06164066e+02] [-5.96046848e-03 1.12800750e-05 -9.99982236e-01 -4.03005451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72655999499995 meters 0.013696751518842707 Centerline is valid? [True, True] Translation: X:245.81, Y:-106.17, Z:-4.03 [[ 9.34777953e-01 -3.55182524e-01 -5.96268605e-03 2.45806644e+02] [-3.55175741e-01 -9.34796967e-01 2.19611195e-03 -1.06174525e+02] [-6.35392142e-03 6.49244032e-05 -9.99979812e-01 -4.02938383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78655999499995 meters 0.014618563105744433 Centerline is valid? [True, True] Translation: X:245.85, Y:-106.19, Z:-4.03 [[ 9.58323823e-01 -2.85617859e-01 -6.15539267e-03 2.45845777e+02] [-2.85612609e-01 -9.58343586e-01 1.73437703e-03 -1.06186675e+02] [-6.39435014e-03 9.59629420e-05 -9.99979551e-01 -4.02920056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84655999499995 meters 0.015414827260365492 Centerline is valid? [True, True] Translation: X:245.88, Y:-106.20, Z:-4.03 [[ 9.76944712e-01 -2.13359793e-01 -7.52516764e-03 2.45884062e+02] [-2.13354613e-01 -9.76973683e-01 1.49382111e-03 -1.06195770e+02] [-7.67061211e-03 1.46148594e-04 -9.99970570e-01 -4.02854248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90655999499995 meters 0.01648787895151665 Centerline is valid? [True, True] Translation: X:245.92, Y:-106.20, Z:-4.03 [[ 9.90507448e-01 -1.37231354e-01 -7.90886709e-03 2.45921321e+02] [-1.37228269e-01 -9.90539010e-01 9.34064158e-04 -1.06203005e+02] [-7.96222426e-03 1.60122632e-04 -9.99968288e-01 -4.02793400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96655999499995 meters 0.01616242775407171 Centerline is valid? [True, True] Translation: X:245.96, Y:-106.21, Z:-4.03 [[ 9.98304564e-01 -5.77116480e-02 -7.57388379e-03 2.45956598e+02] [-5.77110501e-02 -9.98333284e-01 2.97652978e-04 -1.06206783e+02] [-7.57843833e-03 1.39948461e-04 -9.99971273e-01 -4.02895419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02655999499996 meters 0.014752726418816895 Centerline is valid? [True, True] Translation: X:245.99, Y:-106.21, Z:-4.03 [[ 9.99708172e-01 2.29328866e-02 -7.59300617e-03 2.45992294e+02] [ 2.29312937e-02 -9.99736999e-01 -2.96800128e-04 -1.06214276e+02] [-7.59781569e-03 1.22596059e-04 -9.99971129e-01 -4.03021475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08655999499996 meters 0.01310411654965645 Centerline is valid? [True, True] Translation: X:246.03, Y:-106.22, Z:-4.03 [[ 9.94172392e-01 1.07635636e-01 -5.98544324e-03 2.46028732e+02] [ 1.07633355e-01 -9.94190408e-01 -7.02924279e-04 -1.06222954e+02] [-6.02632996e-03 5.45945753e-05 -9.99981840e-01 -4.03203261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14655999499996 meters 0.012087873558101104 Centerline is valid? [True, True] Translation: X:246.07, Y:-106.23, Z:-4.03 [[ 9.80819582e-01 1.94859943e-01 -4.74865852e-03 2.46066255e+02] [ 1.94857695e-01 -9.80831078e-01 -9.36099041e-04 -1.06229349e+02] [-4.84004006e-03 -7.16838067e-06 -9.99988287e-01 -4.03215956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20655999499996 meters 0.012130602947535511 Centerline is valid? [True, True] Translation: X:246.10, Y:-106.23, Z:-4.03 [[ 9.60545066e-01 2.78083669e-01 -4.75912117e-03 2.46103407e+02] [ 2.78080478e-01 -9.60556855e-01 -1.33300472e-03 -1.06231299e+02] [-4.94209330e-03 -4.30075844e-05 -9.99987787e-01 -4.03141821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26655999499997 meters 0.013545421343896852 Centerline is valid? [True, True] Translation: X:246.14, Y:-106.23, Z:-4.03 [[ 9.32593004e-01 3.60895753e-01 -4.95414555e-03 2.46141016e+02] [ 3.60891187e-01 -9.32606158e-01 -1.81785365e-03 -1.06230275e+02] [-5.27632231e-03 -9.25898686e-05 -9.99986076e-01 -4.03006455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32655999499997 meters 0.014268016627696369 Centerline is valid? [True, True] Translation: X:246.18, Y:-106.22, Z:-4.03 [[ 8.99962946e-01 4.35934854e-01 -5.24401799e-03 2.46176841e+02] [ 4.35928226e-01 -8.99978216e-01 -2.40681773e-03 -1.06222595e+02] [-5.76871768e-03 -1.19968686e-04 -9.99983354e-01 -4.02920585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38655999499997 meters 0.015213382559288186 Centerline is valid? [True, True] Translation: X:246.21, Y:-106.21, Z:-4.03 [[ 8.61728288e-01 5.07335187e-01 -5.94687198e-03 2.46210506e+02] [ 5.07324355e-01 -8.61748794e-01 -3.31891635e-03 -1.06208905e+02] [-6.80851280e-03 -1.56988889e-04 -9.99976809e-01 -4.02820884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.446559995 meters 0.015999969203160026 Centerline is valid? [True, True] Translation: X:246.24, Y:-106.19, Z:-4.03 [[ 8.18566675e-01 5.74385658e-01 -5.45112718e-03 2.46240921e+02] [ 5.74374219e-01 -8.18584809e-01 -3.62858721e-03 -1.06190728e+02] [-6.54641835e-03 -1.60746345e-04 -9.99978559e-01 -4.02755486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.506559995 meters 0.016433434103698633 Centerline is valid? [True, True] Translation: X:246.27, Y:-106.17, Z:-4.03 [[ 7.70764030e-01 6.37098266e-01 -5.34881662e-03 2.46269013e+02] [ 6.37084440e-01 -7.70782570e-01 -4.20074114e-03 -1.06169702e+02] [-6.79905952e-03 -1.69867669e-04 -9.99976872e-01 -4.02717763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.566559995 meters 0.016103302598006405 Centerline is valid? [True, True] Translation: X:246.30, Y:-106.15, Z:-4.03 [[ 7.17579848e-01 6.96448004e-01 -6.27215984e-03 2.46295101e+02] [ 6.96424052e-01 -7.17607225e-01 -5.78015085e-03 -1.06145455e+02] [-8.52652174e-03 -2.20363201e-04 -9.99963624e-01 -4.02732581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.626559995 meters 0.015358203308219022 Centerline is valid? [True, True] Translation: X:246.32, Y:-106.12, Z:-4.03 [[ 6.60266834e-01 7.51004827e-01 -6.28150180e-03 2.46322499e+02] [ 7.50974315e-01 -6.60296668e-01 -6.77408245e-03 -1.06123311e+02] [-9.23502333e-03 -2.44544548e-04 -9.99957326e-01 -4.02733853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.686559995 meters 0.016887352041271873 Centerline is valid? [True, True] Translation: X:246.35, Y:-106.10, Z:-4.03 [[ 5.98476401e-01 8.01116938e-01 -6.13581831e-03 2.46346369e+02] [ 8.01079429e-01 -5.98507792e-01 -7.75703574e-03 -1.06100360e+02] [-9.88662779e-03 -2.72874989e-04 -9.99951089e-01 -4.02610920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.746559995 meters 0.016279971409418642 Centerline is valid? [True, True] Translation: X:246.37, Y:-106.07, Z:-4.03 [[ 5.34173349e-01 8.45357612e-01 -5.41668462e-03 2.46366541e+02] [ 8.45319093e-01 -5.34200746e-01 -8.07426775e-03 -1.06073448e+02] [-9.71924067e-03 -2.65768284e-04 -9.99952732e-01 -4.02688875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.806559995 meters 0.016532643896374214 Centerline is valid? [True, True] Translation: X:246.39, Y:-106.05, Z:-4.03 [[ 4.66610707e-01 8.84450432e-01 -4.67770173e-03 2.46386574e+02] [ 8.84411396e-01 -4.66634082e-01 -8.31363805e-03 -1.06046771e+02] [-9.53577582e-03 -2.57780184e-04 -9.99954500e-01 -4.02663727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.866559995 meters 0.014976100655055814 Centerline is valid? [True, True] Translation: X:246.40, Y:-106.02, Z:-4.03 [[ 3.98270902e-01 9.17258730e-01 -4.08796226e-03 2.46398340e+02] [ 9.17216376e-01 -3.98291811e-01 -8.81780445e-03 -1.06016880e+02] [-9.71641000e-03 -2.37670996e-04 -9.99952766e-01 -4.02858954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92655999499993 meters 0.014067734923701893 Centerline is valid? [True, True] Translation: X:246.41, Y:-105.99, Z:-4.03 [[ 3.28413877e-01 9.44528047e-01 -3.33071427e-03 2.46411487e+02] [ 9.44485531e-01 -3.28430705e-01 -8.96408866e-03 -1.05988124e+02] [-9.56074199e-03 -2.01880326e-04 -9.99954275e-01 -4.02889910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98655999499994 meters 0.012428042460320116 Centerline is valid? [True, True] Translation: X:246.42, Y:-105.96, Z:-4.03 [[ 2.60252852e-01 9.65536785e-01 -2.67753372e-03 2.46417607e+02] [ 9.65490969e-01 -2.60266589e-01 -9.40694714e-03 -1.05957660e+02] [-9.77962607e-03 -1.36949798e-04 -9.99952169e-01 -4.02981157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04655999499994 meters 0.011556374958010141 Centerline is valid? [True, True] Translation: X:246.42, Y:-105.93, Z:-4.03 [[ 1.90230117e-01 9.81737724e-01 -1.88260072e-03 2.46422918e+02] [ 9.81693316e-01 -1.90239419e-01 -9.33797016e-03 -1.05928368e+02] [-9.52558244e-03 -7.17733900e-05 -9.99954628e-01 -4.02981587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10655999499994 meters 0.011444209122185673 Centerline is valid? [True, True] Translation: X:246.42, Y:-105.90, Z:-4.03 [[ 1.22704811e-01 9.92442453e-01 -1.22792690e-03 2.46422755e+02] [ 9.92390581e-01 -1.22710952e-01 -1.01467629e-02 -1.05898690e+02] [-1.02207584e-02 2.64735306e-05 -9.99947766e-01 -4.02975780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16655999499994 meters 0.012104369810301241 Centerline is valid? [True, True] Translation: X:246.43, Y:-105.87, Z:-4.03 [[ 4.99645627e-02 9.98750882e-01 -4.67094282e-04 2.46425418e+02] [ 9.98688696e-01 -4.99666642e-02 -1.11454757e-02 -1.05870968e+02] [-1.11548928e-02 9.03970394e-05 -9.99937778e-01 -4.02830741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22655999499995 meters 0.012674070548979687 Centerline is valid? [True, True] Translation: X:246.43, Y:-105.84, Z:-4.03 [[-2.46306694e-02 9.99696518e-01 4.50188327e-04 2.46427413e+02] [ 9.99621264e-01 2.46343394e-02 -1.22669112e-02 -1.05843382e+02] [-1.22742785e-02 1.47875590e-04 -9.99924657e-01 -4.02683239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28655999499995 meters 0.012971856619154615 Centerline is valid? [True, True] Translation: X:246.43, Y:-105.82, Z:-4.03 [[-1.02642896e-01 9.94717138e-01 1.50042061e-03 2.46429148e+02] [ 9.94632619e-01 1.02653735e-01 -1.29678191e-02 -1.05816624e+02] [-1.30533356e-02 1.61312779e-04 -9.99914789e-01 -4.02614301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34655999499995 meters 0.012359310755014683 Centerline is valid? [True, True] Translation: X:246.43, Y:-105.79, Z:-4.03 [[-1.83027486e-01 9.83104484e-01 2.55201529e-03 2.46429824e+02] [ 9.83018355e-01 1.83045233e-01 -1.30137232e-02 -1.05789533e+02] [-1.32609839e-02 1.26808830e-04 -9.99912061e-01 -4.02629737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40655999499995 meters 0.011242401824164482 Centerline is valid? [True, True] Translation: X:246.44, Y:-105.76, Z:-4.03 [[-2.67448888e-01 9.63567534e-01 2.94965358e-03 2.46436561e+02] [ 9.63509402e-01 2.67465153e-01 -1.05841850e-02 -1.05760420e+02] [-1.09875065e-02 1.12904631e-05 -9.99939635e-01 -4.02811011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46655999499995 meters 0.011286158986058883 Centerline is valid? [True, True] Translation: X:246.44, Y:-105.73, Z:-4.03 [[-3.48980071e-01 9.37122314e-01 3.83127736e-03 2.46439730e+02] [ 9.37063614e-01 3.49001094e-01 -1.04890235e-02 -1.05732273e+02] [-1.11666180e-02 -7.03095694e-05 -9.99937649e-01 -4.02792389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52655999499996 meters 0.012775830666301396 Centerline is valid? [True, True] Translation: X:246.44, Y:-105.70, Z:-4.03 [[-4.29660846e-01 9.02977146e-01 4.88175841e-03 2.46441063e+02] [ 9.02913982e-01 4.29688540e-01 -1.06817217e-02 -1.05704220e+02] [-1.17429862e-02 -1.81709665e-04 -9.99931032e-01 -4.02716671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58655999499996 meters 0.013401121004508049 Centerline is valid? [True, True] Translation: X:246.44, Y:-105.68, Z:-4.03 [[-5.02622368e-01 8.64484863e-01 6.05617677e-03 2.46437093e+02] [ 8.64416184e-01 5.02658794e-01 -1.08994304e-02 -1.05676215e+02] [-1.24665831e-02 -2.43240320e-04 -9.99922260e-01 -4.02756994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64655999499996 meters 0.014060367496124375 Centerline is valid? [True, True] Translation: X:246.43, Y:-105.65, Z:-4.03 [[-5.71192742e-01 8.20785617e-01 7.05846902e-03 2.46431800e+02] [ 8.20716672e-01 5.71236281e-01 -1.06421768e-02 -1.05647278e+02] [-1.27669992e-02 -2.85730954e-04 -9.99918458e-01 -4.02776948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70655999499996 meters 0.01366962223291993 Centerline is valid? [True, True] Translation: X:246.42, Y:-105.62, Z:-4.03 [[-6.33611010e-01 7.73608250e-01 8.20750159e-03 2.46423370e+02] [ 7.73537231e-01 6.33664097e-01 -1.04864162e-02 -1.05618869e+02] [-1.33131772e-02 -2.95500705e-04 -9.99911332e-01 -4.02724314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76655999499997 meters 0.013030480157389765 Centerline is valid? [True, True] Translation: X:246.41, Y:-105.59, Z:-4.03 [[-6.90711210e-01 7.23074600e-01 9.00817101e-03 2.46411374e+02] [ 7.23008011e-01 6.90769897e-01 -9.81655289e-03 -1.05591522e+02] [-1.33206734e-02 -2.67423321e-04 -9.99911240e-01 -4.02689739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82655999499997 meters 0.011810980392470001 Centerline is valid? [True, True] Translation: X:246.40, Y:-105.57, Z:-4.03 [[-7.41502034e-01 6.70885127e-01 9.37447428e-03 2.46395576e+02] [ 6.70828316e-01 7.41561266e-01 -8.73264289e-03 -1.05566928e+02] [-1.28103473e-02 -1.86609665e-04 -9.99917927e-01 -4.02724635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88655999499997 meters 0.011513052639443168 Centerline is valid? [True, True] Translation: X:246.89, Y:-105.06, Z:-5.00 [[-6.78734591e-01 -7.34335389e-01 8.41972072e-03 2.46891006e+02] [ 7.34281592e-01 -6.78786796e-01 -8.88985259e-03 -1.05055311e+02] [ 1.22433286e-02 1.48595467e-04 9.99925037e-01 -4.99816237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.946559995 meters 0.010978969155895794 Centerline is valid? [True, True] Translation: X:246.86, Y:-105.01, Z:-5.00 [[-6.85811860e-01 -7.27729506e-01 8.47696687e-03 2.46856477e+02] [ 7.27673729e-01 -6.85864248e-01 -9.00991312e-03 -1.05007460e+02] [ 1.23708281e-02 -1.06391864e-05 9.99923478e-01 -4.99718438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.006559995 meters 0.011544608220292903 Centerline is valid? [True, True] Translation: X:246.82, Y:-104.96, Z:-5.00 [[-6.90766000e-01 -7.23033476e-01 8.05764644e-03 2.46819552e+02] [ 7.22982816e-01 -6.90812989e-01 -8.55938850e-03 -1.04962623e+02] [ 1.17550512e-02 -8.69946483e-05 9.99930903e-01 -4.99678002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.066559995 meters 0.012217219273381477 Centerline is valid? [True, True] Translation: X:246.78, Y:-104.92, Z:-5.00 [[-6.94534642e-01 -7.19424839e-01 7.03790735e-03 2.46781259e+02] [ 7.19386048e-01 -6.94570288e-01 -7.47190382e-03 -1.04919055e+02] [ 1.02637945e-02 -1.26523696e-04 9.99947318e-01 -4.99583918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.126559995 meters 0.013362812511517625 Centerline is valid? [True, True] Translation: X:246.74, Y:-104.87, Z:-4.99 [[-6.98514513e-01 -7.15567840e-01 6.33578022e-03 2.46744008e+02] [ 7.15536278e-01 -6.98543227e-01 -6.72269367e-03 -1.04874772e+02] [ 9.23635975e-03 -1.62418499e-04 9.99957331e-01 -4.99448791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.186559995 meters 0.0136096277663277 Centerline is valid? [True, True] Translation: X:246.70, Y:-104.83, Z:-4.99 [[-7.00444386e-01 -7.13683281e-01 5.81692309e-03 2.46703896e+02] [ 7.13656642e-01 -7.00468519e-01 -6.16861944e-03 -1.04832541e+02] [ 8.47701207e-03 -1.69489058e-04 9.99964055e-01 -4.99422099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.246559995 meters 0.014733640763244616 Centerline is valid? [True, True] Translation: X:246.66, Y:-104.79, Z:-4.99 [[-7.02877416e-01 -7.11281088e-01 6.52314948e-03 2.46663905e+02] [ 7.11247521e-01 -7.02907651e-01 -6.91367191e-03 -1.04790099e+02] [ 9.50273576e-03 -2.19889952e-04 9.99954824e-01 -4.99478018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.306559995 meters 0.015991074928898952 Centerline is valid? [True, True] Translation: X:246.63, Y:-104.75, Z:-4.99 [[-7.05014055e-01 -7.09160964e-01 6.77573670e-03 2.46625377e+02] [ 7.09124677e-01 -7.05046567e-01 -7.17849926e-03 -1.04747761e+02] [ 9.86792135e-03 -2.56100777e-04 9.99951278e-01 -4.99431756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.366559995 meters 0.01834104954541132 Centerline is valid? [True, True] Translation: X:246.59, Y:-104.70, Z:-4.99 [[-7.09273297e-01 -7.04901963e-01 6.67924054e-03 2.46587234e+02] [ 7.04866554e-01 -7.09304679e-01 -7.07206748e-03 -1.04704739e+02] [ 9.72273082e-03 -3.08055361e-04 9.99952686e-01 -4.99382270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42655999499993 meters 0.018679821827637184 Centerline is valid? [True, True] Translation: X:246.55, Y:-104.66, Z:-4.99 [[-7.11556514e-01 -7.02603233e-01 6.00207145e-03 2.46546760e+02] [ 7.02574588e-01 -7.11581763e-01 -6.35157268e-03 -1.04663088e+02] [ 8.73360009e-03 -3.02600042e-04 9.99961816e-01 -4.99238249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48655999499994 meters 0.019462276530351534 Centerline is valid? [True, True] Translation: X:246.51, Y:-104.62, Z:-4.99 [[-7.12190036e-01 -7.01964745e-01 5.55423317e-03 2.46505184e+02] [ 7.01940225e-01 -7.12211637e-01 -5.87404915e-03 -1.04622983e+02] [ 8.07916491e-03 -2.84699593e-04 9.99967322e-01 -4.99216973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54655999499994 meters 0.01838439326605377 Centerline is valid? [True, True] Translation: X:246.46, Y:-104.59, Z:-4.99 [[-7.08685577e-01 -7.05510359e-01 4.45942949e-03 2.46461732e+02] [ 7.05494639e-01 -7.08699581e-01 -4.71362448e-03 -1.04586887e+02] [ 6.48590671e-03 -1.94374082e-04 9.99978947e-01 -4.99126489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60655999499994 meters 0.016410171615579994 Centerline is valid? [True, True] Translation: X:246.42, Y:-104.55, Z:-4.99 [[-7.04445336e-01 -7.09745729e-01 4.21537581e-03 2.46417401e+02] [ 7.09731774e-01 -7.04457933e-01 -4.45296867e-03 -1.04550137e+02] [ 6.13003043e-03 -1.45086858e-04 9.99981201e-01 -4.99087135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66655999499994 meters 0.012453597590549075 Centerline is valid? [True, True] Translation: X:246.37, Y:-104.52, Z:-4.99 [[-6.96453314e-01 -7.17588063e-01 4.48930174e-03 2.46367861e+02] [ 7.17572416e-01 -6.96467778e-01 -4.73938214e-03 -1.04518622e+02] [ 6.52757806e-03 -7.93592940e-05 9.99978692e-01 -4.99152344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72655999499995 meters 0.012080339106602856 Centerline is valid? [True, True] Translation: X:246.33, Y:-104.48, Z:-4.99 [[-6.93907524e-01 -7.20046151e-01 5.08817072e-03 2.46326046e+02] [ 7.20026138e-01 -6.93926176e-01 -5.36872833e-03 -1.04479883e+02] [ 7.39654702e-03 -6.17850708e-05 9.99972643e-01 -4.99328890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78655999499995 meters 0.010935659158819977 Centerline is valid? [True, True] Translation: X:246.28, Y:-104.45, Z:-5.00 [[-6.86377295e-01 -7.27219113e-01 6.21061650e-03 2.46276013e+02] [ 7.27189622e-01 -6.86405392e-01 -6.54916970e-03 -1.04448118e+02] [ 9.02568203e-03 2.10944813e-05 9.99959267e-01 -4.99583557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84655999499995 meters 0.011548050250853446 Centerline is valid? [True, True] Translation: X:246.23, Y:-104.41, Z:-5.00 [[-6.82149299e-01 -7.31185445e-01 6.33867113e-03 2.46231104e+02] [ 7.31154929e-01 -6.82178744e-01 -6.68063897e-03 -1.04410135e+02] [ 9.20889269e-03 7.73574458e-05 9.99957594e-01 -4.99587280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90655999499995 meters 0.013669279758266971 Centerline is valid? [True, True] Translation: X:246.19, Y:-104.37, Z:-5.00 [[-6.77095763e-01 -7.35873550e-01 5.60770436e-03 2.46186438e+02] [ 7.35849847e-01 -6.77118972e-01 -5.90770878e-03 -1.04374477e+02] [ 8.14440964e-03 1.26343810e-04 9.99966826e-01 -4.99522998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96655999499995 meters 0.013812845690218838 Centerline is valid? [True, True] Translation: X:246.15, Y:-104.33, Z:-4.99 [[-6.74524291e-01 -7.38235099e-01 5.09108262e-03 2.46145192e+02] [ 7.38215651e-01 -6.74543489e-01 -5.36044855e-03 -1.04333507e+02] [ 7.39142790e-03 1.42564108e-04 9.99972673e-01 -4.99371278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02655999499996 meters 0.017507028869088014 Centerline is valid? [True, True] Translation: X:246.10, Y:-104.30, Z:-4.99 [[-6.71049490e-01 -7.41396698e-01 4.84964288e-03 2.46100484e+02] [ 7.41379149e-01 -6.71066992e-01 -5.10396144e-03 -1.04297794e+02] [ 7.03849541e-03 1.70413389e-04 9.99975215e-01 -4.99465838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08655999499996 meters 0.01884622846861093 Centerline is valid? [True, True] Translation: X:246.06, Y:-104.26, Z:-5.00 [[-6.69406456e-01 -7.42877580e-01 5.28183819e-03 2.46058891e+02] [ 7.42856835e-01 -6.69427263e-01 -5.55541176e-03 -1.04258821e+02] [ 7.66279732e-03 2.04821107e-04 9.99970619e-01 -4.99563691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14655999499996 meters 0.01715103960179052 Centerline is valid? [True, True] Translation: X:246.02, Y:-104.22, Z:-5.00 [[-6.67415716e-01 -7.44656011e-01 6.60973199e-03 2.46020071e+02] [ 7.44623638e-01 -6.67448384e-01 -6.94929398e-03 -1.04216134e+02] [ 9.58648846e-03 2.83694664e-04 9.99954008e-01 -4.99680996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20655999499996 meters 0.017181164696306803 Centerline is valid? [True, True] Translation: X:245.98, Y:-104.17, Z:-5.00 [[-6.67131068e-01 -7.44897900e-01 7.95338529e-03 2.45980671e+02] [ 7.44851084e-01 -6.67178385e-01 -8.35854676e-03 -1.04174174e+02] [ 1.15325907e-02 3.47841424e-04 9.99933437e-01 -4.99803936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26655999499997 meters 0.016836417289947767 Centerline is valid? [True, True] Translation: X:245.94, Y:-104.13, Z:-5.00 [[-6.68873450e-01 -7.43321100e-01 9.05815923e-03 2.45942734e+02] [ 7.43260298e-01 -6.68934681e-01 -9.51431981e-03 -1.04130568e+02] [ 1.31315115e-02 3.68694204e-04 9.99913710e-01 -4.99861919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32655999499997 meters 0.014385581774551282 Centerline is valid? [True, True] Translation: X:245.91, Y:-104.08, Z:-5.00 [[-6.72238820e-01 -7.40291416e-01 7.97422839e-03 2.45907832e+02] [ 7.40244139e-01 -6.72286058e-01 -8.37082793e-03 -1.04083811e+02] [ 1.15578146e-02 2.75680332e-04 9.99933168e-01 -4.99546368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38655999499997 meters 0.013720793056204047 Centerline is valid? [True, True] Translation: X:245.87, Y:-104.04, Z:-4.99 [[-6.75241817e-01 -7.37568562e-01 6.41127012e-03 2.45870403e+02] [ 7.37537916e-01 -6.75272227e-01 -6.72623215e-03 -1.04040423e+02] [ 9.29041003e-03 1.86721587e-04 9.99956826e-01 -4.99412329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.446559995 meters 0.012083521145479847 Centerline is valid? [True, True] Translation: X:245.83, Y:-103.99, Z:-4.99 [[-6.79361259e-01 -7.33783358e-01 5.50126504e-03 2.45834522e+02] [ 7.33760696e-01 -6.79383522e-01 -5.76813203e-03 -1.03994291e+02] [ 7.97002810e-03 1.17966630e-04 9.99968232e-01 -4.99251902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.506559995 meters 0.011678771335545778 Centerline is valid? [True, True] Translation: X:245.80, Y:-103.95, Z:-4.99 [[-6.81703603e-01 -7.31605847e-01 5.75172737e-03 2.45796524e+02] [ 7.31581025e-01 -6.81727860e-01 -6.02732137e-03 -1.03950203e+02] [ 8.33073634e-03 9.90079084e-05 9.99965294e-01 -4.99269752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.566559995 meters 0.011466058682999963 Centerline is valid? [True, True] Translation: X:245.76, Y:-103.91, Z:-4.99 [[-6.84178231e-01 -7.29286449e-01 6.43619739e-03 2.45758822e+02] [ 7.29255295e-01 -6.84208498e-01 -6.74130604e-03 -1.03908848e+02] [ 9.32004409e-03 8.13761866e-05 9.99956564e-01 -4.99364364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.626559995 meters 0.01138003391906734 Centerline is valid? [True, True] Translation: X:245.72, Y:-103.87, Z:-4.99 [[-6.84732137e-01 -7.28766322e-01 6.44582386e-03 2.45719011e+02] [ 7.28735090e-01 -6.84762472e-01 -6.74730059e-03 -1.03867132e+02] [ 9.33106371e-03 7.72044701e-05 9.99956462e-01 -4.99336573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.686559995 meters 0.011109851931839533 Centerline is valid? [True, True] Translation: X:245.68, Y:-103.83, Z:-4.99 [[-6.85915200e-01 -7.27649853e-01 6.78447549e-03 2.45679789e+02] [ 7.27615243e-01 -6.85948749e-01 -7.09734311e-03 -1.03825493e+02] [ 9.81818315e-03 6.83122654e-05 9.99951798e-01 -4.99372449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.746559995 meters 0.010943760791188991 Centerline is valid? [True, True] Translation: X:245.64, Y:-103.78, Z:-4.99 [[-6.87227943e-01 -7.26407194e-01 7.09521921e-03 2.45639961e+02] [ 7.26369317e-01 -6.87264567e-01 -7.41820995e-03 -1.03782665e+02] [ 1.02649338e-02 5.57483657e-05 9.99947313e-01 -4.99424292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.806559995 meters 0.010905986865581084 Centerline is valid? [True, True] Translation: X:245.60, Y:-103.74, Z:-4.99 [[-6.89382957e-01 -7.24357765e-01 7.54759956e-03 2.45600911e+02] [ 7.24314836e-01 -6.89424272e-01 -7.88618048e-03 -1.03740128e+02] [ 1.09159144e-02 3.02399152e-05 9.99940419e-01 -4.99443592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.866559995 meters 0.010850932181921895 Centerline is valid? [True, True] Translation: X:245.56, Y:-103.70, Z:-4.99 [[-6.90690653e-01 -7.23107619e-01 7.86087122e-03 2.45561688e+02] [ 7.23061023e-01 -6.90735384e-01 -8.20885086e-03 -1.03697355e+02] [ 1.13656645e-02 1.41130302e-05 9.99935409e-01 -4.99393519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92655999499993 meters 0.010860150840050422 Centerline is valid? [True, True] Translation: X:245.52, Y:-103.65, Z:-4.99 [[-6.91554288e-01 -7.22282445e-01 7.79335261e-03 2.45522571e+02] [ 7.22236646e-01 -6.91598200e-01 -8.13369837e-03 -1.03654957e+02] [ 1.12646962e-02 3.75086818e-06 9.99936551e-01 -4.99290182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98655999499994 meters 0.010820077212238047 Centerline is valid? [True, True] Translation: X:245.48, Y:-103.62, Z:-4.99 [[-6.90859461e-01 -7.22948313e-01 7.67734773e-03 2.45482478e+02] [ 7.22903953e-01 -6.90902118e-01 -8.00869964e-03 -1.03615163e+02] [ 1.10941717e-02 1.70990987e-05 9.99938458e-01 -4.99370736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04655999499994 meters 0.010879991204674396 Centerline is valid? [True, True] Translation: X:245.44, Y:-103.58, Z:-4.99 [[-6.88628211e-01 -7.25077573e-01 7.32800259e-03 2.45440241e+02] [ 7.25037329e-01 -6.88667199e-01 -7.63947244e-03 -1.03575707e+02] [ 1.05857651e-02 5.23191800e-05 9.99943968e-01 -4.99376447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10655999499994 meters 0.011092597577912306 Centerline is valid? [True, True] Translation: X:245.40, Y:-103.54, Z:-4.99 [[-6.87069963e-01 -7.26559882e-01 6.75309750e-03 2.45399586e+02] [ 7.26525819e-01 -6.87103146e-01 -7.03569818e-03 -1.03535446e+02] [ 9.75193058e-03 7.22828092e-05 9.99952446e-01 -4.99351419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16655999499994 meters 0.011567273740316056 Centerline is valid? [True, True] Translation: X:245.36, Y:-103.50, Z:-4.99 [[-6.85440929e-01 -7.28103771e-01 5.96925103e-03 2.45359462e+02] [ 7.28077251e-01 -6.85466915e-01 -6.21497095e-03 -1.03495862e+02] [ 8.61686787e-03 8.60804230e-05 9.99962870e-01 -4.99361091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22655999499995 meters 0.011711261513212544 Centerline is valid? [True, True] Translation: X:245.32, Y:-103.45, Z:-4.99 [[-6.84648694e-01 -7.28852309e-01 5.52062719e-03 2.45319755e+02] [ 7.28829679e-01 -6.84670946e-01 -5.74421897e-03 -1.03454966e+02] [ 7.96650029e-03 9.08249221e-05 9.99968263e-01 -4.99357112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28655999499995 meters 0.012060531900607553 Centerline is valid? [True, True] Translation: X:245.28, Y:-103.41, Z:-5.00 [[-6.83276595e-01 -7.30136477e-01 5.81551162e-03 2.45279362e+02] [ 7.30111441e-01 -6.83301334e-01 -6.04739112e-03 -1.03413831e+02] [ 8.38916769e-03 1.13930757e-04 9.99964804e-01 -4.99510981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34655999499995 meters 0.012493406882661436 Centerline is valid? [True, True] Translation: X:245.24, Y:-103.37, Z:-5.00 [[-6.82630952e-01 -7.30735963e-01 6.31946067e-03 2.45238954e+02] [ 7.30706460e-01 -6.82660190e-01 -6.56775699e-03 -1.03372706e+02] [ 9.11334045e-03 1.34316521e-04 9.99958464e-01 -4.99617420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40655999499995 meters 0.012230524315464463 Centerline is valid? [True, True] Translation: X:245.20, Y:-103.33, Z:-5.00 [[-6.81932591e-01 -7.31382005e-01 6.95009901e-03 2.45199435e+02] [ 7.31346393e-01 -6.81967988e-01 -7.21915820e-03 -1.03329443e+02] [ 1.00197074e-02 1.59950582e-04 9.99949789e-01 -4.99692908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46655999499995 meters 0.012632799875009091 Centerline is valid? [True, True] Translation: X:245.16, Y:-103.29, Z:-5.00 [[-6.82165732e-01 -7.31163520e-01 7.05841710e-03 2.45160530e+02] [ 7.31126823e-01 -6.82202229e-01 -7.32714999e-03 -1.03288142e+02] [ 1.01726127e-02 1.62267430e-04 9.99948244e-01 -4.99846394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52655999499996 meters 0.012459083372609855 Centerline is valid? [True, True] Translation: X:245.12, Y:-103.24, Z:-5.00 [[-6.83300913e-01 -7.30109156e-01 6.36267912e-03 2.45123409e+02] [ 7.30079326e-01 -6.83330522e-01 -6.60112593e-03 -1.03243549e+02] [ 9.16735532e-03 1.34705111e-04 9.99957970e-01 -4.99839914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58655999499996 meters 0.012341618035042896 Centerline is valid? [True, True] Translation: X:245.09, Y:-103.20, Z:-5.00 [[-6.84315537e-01 -7.29158882e-01 6.29051428e-03 2.45085371e+02] [ 7.29129719e-01 -6.84344438e-01 -6.52251478e-03 -1.03199726e+02] [ 9.06082804e-03 1.23142710e-04 9.99958942e-01 -4.99862134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64655999499996 meters 0.012462494462049398 Centerline is valid? [True, True] Translation: X:245.05, Y:-103.16, Z:-5.00 [[-6.84859954e-01 -7.28646577e-01 6.40385378e-03 2.45045967e+02] [ 7.28616370e-01 -6.84889882e-01 -6.63581425e-03 -1.03157743e+02] [ 9.22109801e-03 1.21349257e-04 9.99957477e-01 -4.99943307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70655999499996 meters 0.01240829611792491 Centerline is valid? [True, True] Translation: X:245.01, Y:-103.11, Z:-5.00 [[-6.85372142e-01 -7.28168650e-01 5.95354377e-03 2.45008575e+02] [ 7.28142554e-01 -6.85397991e-01 -6.16568046e-03 -1.03113420e+02] [ 8.57020215e-03 1.09242941e-04 9.99963269e-01 -5.00060377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76655999499997 meters 0.012544854954857193 Centerline is valid? [True, True] Translation: X:244.97, Y:-103.07, Z:-5.00 [[-6.85581675e-01 -7.27970023e-01 6.11652994e-03 2.44971758e+02] [ 7.27942508e-01 -6.85608951e-01 -6.33024929e-03 -1.03070432e+02] [ 8.80177940e-03 1.12579226e-04 9.99961257e-01 -5.00167706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82655999499997 meters 0.012461564074372844 Centerline is valid? [True, True] Translation: X:244.93, Y:-103.03, Z:-5.00 [[-6.85731299e-01 -7.27830928e-01 5.89278545e-03 2.44934312e+02] [ 7.27805417e-01 -6.85756610e-01 -6.09481929e-03 -1.03027326e+02] [ 8.47701455e-03 1.09392820e-04 9.99964063e-01 -5.00139016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88655999499997 meters 0.012612340974088199 Centerline is valid? [True, True] Translation: X:244.90, Y:-102.98, Z:-5.00 [[-6.85753953e-01 -7.27816164e-01 5.01475948e-03 2.44897284e+02] [ 7.27797712e-01 -6.85772282e-01 -5.18338765e-03 -1.02983119e+02] [ 7.21153637e-03 9.52019056e-05 9.99973992e-01 -5.00008032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.946559995 meters 0.012752245242253064 Centerline is valid? [True, True] Translation: X:244.86, Y:-102.94, Z:-5.00 [[-6.85931225e-01 -7.27654869e-01 4.09225559e-03 2.44858472e+02] [ 7.27642595e-01 -6.85943427e-01 -4.22721228e-03 -1.02940436e+02] [ 5.88300742e-03 7.81225758e-05 9.99982692e-01 -4.99969303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.006559995 meters 0.012375561654243144 Centerline is valid? [True, True] Translation: X:244.82, Y:-102.90, Z:-5.00 [[-6.85801658e-01 -7.27780981e-01 3.30588859e-03 2.44820954e+02] [ 7.27772982e-01 -6.85809623e-01 -3.41290382e-03 -1.02895538e+02] [ 4.75105670e-03 6.53612947e-05 9.99988712e-01 -4.99913038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.066559995 meters 0.0135806196107242 Centerline is valid? [True, True] Translation: X:244.78, Y:-102.85, Z:-5.00 [[-6.84970116e-01 -7.28565800e-01 2.79564035e-03 2.44781615e+02] [ 7.28560091e-01 -6.84975818e-01 -2.88478966e-03 -1.02854841e+02] [ 4.01670513e-03 6.07972822e-05 9.99991931e-01 -4.99932153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.126559995 meters 0.01323700447332948 Centerline is valid? [True, True] Translation: X:244.74, Y:-102.81, Z:-5.00 [[-6.84110624e-01 -7.29363513e-01 4.63903212e-03 2.44742354e+02] [ 7.29347830e-01 -6.84126343e-01 -4.78424427e-03 -1.02811382e+02] [ 6.66313729e-03 1.10515682e-04 9.99977795e-01 -5.00113198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.186559995 meters 0.013518303580921568 Centerline is valid? [True, True] Translation: X:244.70, Y:-102.77, Z:-5.00 [[-6.83498159e-01 -7.29921452e-01 6.70368752e-03 2.44700952e+02] [ 7.29888768e-01 -6.83531012e-01 -6.90958986e-03 -1.02770609e+02] [ 9.62563618e-03 1.70254278e-04 9.99953658e-01 -5.00363440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.246559995 meters 0.01429972334188933 Centerline is valid? [True, True] Translation: X:244.66, Y:-102.73, Z:-5.00 [[-6.82433257e-01 -7.30919198e-01 6.47886670e-03 2.44659070e+02] [ 7.30888751e-01 -6.82463986e-01 -6.67384801e-03 -1.02731147e+02] [ 9.29963683e-03 1.80874961e-04 9.99956741e-01 -5.00257080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.306559995 meters 0.0148990405395302 Centerline is valid? [True, True] Translation: X:244.62, Y:-102.69, Z:-5.00 [[-6.81407256e-01 -7.31879830e-01 6.00545415e-03 2.44616259e+02] [ 7.31853738e-01 -6.81433695e-01 -6.18272236e-03 -1.02691281e+02] [ 8.61732860e-03 1.82162185e-04 9.99962854e-01 -5.00122390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.366559995 meters 0.013955422024838125 Centerline is valid? [True, True] Translation: X:244.58, Y:-102.65, Z:-5.00 [[-6.83263819e-01 -7.30146612e-01 6.03973309e-03 2.44576773e+02] [ 7.30120184e-01 -6.83290493e-01 -6.21444011e-03 -1.02648362e+02] [ 8.66434459e-03 1.63628949e-04 9.99962450e-01 -5.00069218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42655999499993 meters 0.013532042300651834 Centerline is valid? [True, True] Translation: X:244.54, Y:-102.60, Z:-5.00 [[-6.85161457e-01 -7.28366616e-01 5.98756184e-03 2.44537798e+02] [ 7.28340602e-01 -6.85187604e-01 -6.15744190e-03 -1.02604502e+02] [ 8.58747827e-03 1.42142531e-04 9.99963117e-01 -5.00007867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48655999499994 meters 0.013142128946435487 Centerline is valid? [True, True] Translation: X:244.50, Y:-102.56, Z:-5.00 [[-6.88937173e-01 -7.24799414e-01 5.60197915e-03 2.44500348e+02] [ 7.24776544e-01 -6.88959942e-01 -5.75851181e-03 -1.02561206e+02] [ 8.03330521e-03 9.29302368e-05 9.99967728e-01 -4.99960621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54655999499994 meters 0.012441830665606446 Centerline is valid? [True, True] Translation: X:244.46, Y:-102.52, Z:-5.00 [[-6.91981576e-01 -7.21894123e-01 5.51120944e-03 2.44461495e+02] [ 7.21871921e-01 -6.92003519e-01 -5.66202431e-03 -1.02517818e+02] [ 7.90115841e-03 6.03708446e-05 9.99968784e-01 -4.99950231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60655999499994 meters 0.01216873413591092 Centerline is valid? [True, True] Translation: X:244.42, Y:-102.48, Z:-5.00 [[-6.95201640e-01 -7.18795647e-01 5.24381198e-03 2.44424131e+02] [ 7.18775478e-01 -6.95221416e-01 -5.38472592e-03 -1.02476249e+02] [ 7.51612794e-03 2.56531755e-05 9.99971753e-01 -4.99956081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66655999499994 meters 0.012166146864117563 Centerline is valid? [True, True] Translation: X:244.39, Y:-102.43, Z:-5.00 [[-6.96821153e-01 -7.17226656e-01 5.11909232e-03 2.44385071e+02] [ 7.17207416e-01 -6.96839956e-01 -5.25345793e-03 -1.02434197e+02] [ 7.33510813e-03 1.07303698e-05 9.99973098e-01 -4.99973749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72655999499995 meters 0.012130612124600567 Centerline is valid? [True, True] Translation: X:244.34, Y:-102.39, Z:-5.00 [[-6.98179610e-01 -7.15898604e-01 5.86687609e-03 2.44344976e+02] [ 7.15873314e-01 -6.98204260e-01 -6.01739974e-03 -1.02392592e+02] [ 8.40412595e-03 -1.28577744e-06 9.99964685e-01 -5.00014133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78655999499995 meters 0.012217021298564305 Centerline is valid? [True, True] Translation: X:244.31, Y:-102.35, Z:-5.00 [[-6.99513969e-01 -7.14595666e-01 5.76558655e-03 2.44305305e+02] [ 7.14571227e-01 -6.99537729e-01 -5.90993922e-03 -1.02351299e+02] [ 8.25646227e-03 -1.41627837e-05 9.99965915e-01 -5.00118697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84655999499995 meters 0.012151251040077332 Centerline is valid? [True, True] Translation: X:244.27, Y:-102.31, Z:-5.00 [[-7.00448130e-01 -7.13683506e-01 5.31701663e-03 2.44265083e+02] [ 7.13662719e-01 -7.00468310e-01 -5.44701546e-03 -1.02309806e+02] [ 7.61184674e-03 -2.07952502e-05 9.99971029e-01 -5.00043643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90655999499995 meters 0.012111604088095931 Centerline is valid? [True, True] Translation: X:244.22, Y:-102.27, Z:-5.00 [[-7.00423029e-01 -7.13711931e-01 4.78119807e-03 2.44223550e+02] [ 7.13695143e-01 -7.00439348e-01 -4.89528325e-03 -1.02269112e+02] [ 6.84276132e-03 -1.64512816e-05 9.99976588e-01 -5.00019098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96655999499995 meters 0.012342778694871541 Centerline is valid? [True, True] Translation: X:244.18, Y:-102.23, Z:-5.00 [[-6.93794968e-01 -7.20158867e-01 4.44399262e-03 2.44176158e+02] [ 7.20144511e-01 -6.93809199e-01 -4.54744862e-03 -1.02234540e+02] [ 6.35816840e-03 4.53199183e-05 9.99979786e-01 -5.00147310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02655999499996 meters 0.012797615808972956 Centerline is valid? [True, True] Translation: X:244.13, Y:-102.20, Z:-5.00 [[-6.90677859e-01 -7.23143779e-01 5.21248003e-03 2.44132002e+02] [ 7.23124136e-01 -6.90697522e-01 -5.33076815e-03 -1.02196725e+02] [ 7.45515887e-03 8.74265857e-05 9.99972206e-01 -5.00293168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08655999499996 meters 0.013148766473508674 Centerline is valid? [True, True] Translation: X:244.09, Y:-102.16, Z:-5.00 [[-6.89998035e-01 -7.23790165e-01 5.52345386e-03 2.44090728e+02] [ 7.23768156e-01 -6.90020134e-01 -5.64539688e-03 -1.02157187e+02] [ 7.89737712e-03 1.02387260e-04 9.99968810e-01 -5.00381559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14655999499996 meters 0.013516439008552766 Centerline is valid? [True, True] Translation: X:244.05, Y:-102.12, Z:-5.00 [[-6.89586000e-01 -7.24181788e-01 5.64681279e-03 2.44050045e+02] [ 7.24158826e-01 -6.89609111e-01 -5.76788542e-03 -1.02117441e+02] [ 8.07109112e-03 1.11736285e-04 9.99967422e-01 -5.00408110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20655999499996 meters 0.013646706984742775 Centerline is valid? [True, True] Translation: X:244.01, Y:-102.08, Z:-5.00 [[-6.89158453e-01 -7.24590302e-01 5.43335129e-03 2.44008634e+02] [ 7.24569083e-01 -6.89179861e-01 -5.54637784e-03 -1.02077485e+02] [ 7.76340789e-03 1.14505192e-04 9.99969858e-01 -5.00388175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26655999499997 meters 0.013139398970771111 Centerline is valid? [True, True] Translation: X:243.97, Y:-102.04, Z:-5.00 [[-6.89956048e-01 -7.23835664e-01 4.75224669e-03 2.43968285e+02] [ 7.23819433e-01 -6.89972407e-01 -4.84833385e-03 -1.02035920e+02] [ 6.78831604e-03 9.46312412e-05 9.99976955e-01 -5.00300483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32655999499997 meters 0.012570138488413124 Centerline is valid? [True, True] Translation: X:243.93, Y:-101.99, Z:-5.00 [[-6.92492349e-01 -7.21415318e-01 3.77948033e-03 2.43928409e+02] [ 7.21405028e-01 -6.92502661e-01 -3.85370745e-03 -1.01994175e+02] [ 5.39742377e-03 5.78731822e-05 9.99985432e-01 -5.00260126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38655999499997 meters 0.01234291912684365 Centerline is valid? [True, True] Translation: X:243.89, Y:-101.95, Z:-5.00 [[-6.94382241e-01 -7.19595840e-01 3.88992796e-03 2.43889654e+02] [ 7.19584924e-01 -6.94393135e-01 -3.96380854e-03 -1.01952090e+02] [ 5.55347941e-03 4.67352648e-05 9.99984578e-01 -5.00275755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.446559995 meters 0.012071274836317905 Centerline is valid? [True, True] Translation: X:243.85, Y:-101.91, Z:-5.00 [[-6.96313245e-01 -7.17724339e-01 4.43155414e-03 2.43850761e+02] [ 7.17710152e-01 -6.96327345e-01 -4.51287318e-03 -1.01910301e+02] [ 6.32481125e-03 3.81980278e-05 9.99979997e-01 -5.00353325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.506559995 meters 0.01206902163165376 Centerline is valid? [True, True] Translation: X:243.81, Y:-101.87, Z:-5.00 [[-6.96826263e-01 -7.17224766e-01 4.66842210e-03 2.43810944e+02] [ 7.17209031e-01 -6.96841900e-01 -4.75096351e-03 -1.01870217e+02] [ 6.66066082e-03 3.76383428e-05 9.99977817e-01 -5.00396366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.566559995 meters 0.01199508719156857 Centerline is valid? [True, True] Translation: X:243.77, Y:-101.83, Z:-5.00 [[-6.96741003e-01 -7.17302745e-01 5.36156283e-03 2.43770116e+02] [ 7.17282020e-01 -6.96761630e-01 -5.45291230e-03 -1.01830717e+02] [ 7.64712022e-03 4.64850321e-05 9.99970759e-01 -5.00441766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.626559995 meters 0.012040446085494113 Centerline is valid? [True, True] Translation: X:243.73, Y:-101.79, Z:-5.00 [[-6.96557340e-01 -7.17483199e-01 5.07250740e-03 2.43729345e+02] [ 7.17464677e-01 -6.96575808e-01 -5.15565658e-03 -1.01790253e+02] [ 7.23248292e-03 4.81344446e-05 9.99973844e-01 -5.00452185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.686559995 meters 0.012176209541496506 Centerline is valid? [True, True] Translation: X:243.69, Y:-101.75, Z:-5.00 [[-6.96210384e-01 -7.17818126e-01 5.31405039e-03 2.43688340e+02] [ 7.17797834e-01 -6.96230662e-01 -5.39775729e-03 -1.01749650e+02] [ 7.57441284e-03 5.64391849e-05 9.99971312e-01 -5.00446896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.746559995 meters 0.012200328767391569 Centerline is valid? [True, True] Translation: X:243.65, Y:-101.71, Z:-5.00 [[-6.95557175e-01 -7.18445552e-01 6.01703939e-03 2.43648000e+02] [ 7.18419592e-01 -6.95583196e-01 -6.10795433e-03 -1.01708894e+02] [ 8.57358411e-03 7.43275239e-05 9.99963243e-01 -5.00486308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.806559995 meters 0.012716836819662108 Centerline is valid? [True, True] Translation: X:243.61, Y:-101.67, Z:-5.01 [[-6.95238600e-01 -7.18755505e-01 5.81495435e-03 2.43607074e+02] [ 7.18731302e-01 -6.95262913e-01 -5.89891586e-03 -1.01669654e+02] [ 8.28280035e-03 7.82357136e-05 9.99965694e-01 -5.00574165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.866559995 meters 0.012484502598931949 Centerline is valid? [True, True] Translation: X:243.57, Y:-101.63, Z:-5.00 [[-6.94642663e-01 -7.19330323e-01 5.95458771e-03 2.43568740e+02] [ 7.19304998e-01 -6.94668178e-01 -6.03672315e-03 -1.01627560e+02] [ 8.47886062e-03 8.97992614e-05 9.99964050e-01 -5.00304408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92655999499993 meters 0.012410140637904936 Centerline is valid? [True, True] Translation: X:243.53, Y:-101.59, Z:-5.00 [[-6.95270298e-01 -7.18725225e-01 5.76748221e-03 2.43529181e+02] [ 7.18701477e-01 -6.95294214e-01 -5.84315841e-03 -1.01587306e+02] [ 8.20972235e-03 8.25234953e-05 9.99966296e-01 -5.00334710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98655999499994 meters 0.012237128159470513 Centerline is valid? [True, True] Translation: X:243.49, Y:-101.55, Z:-5.00 [[-6.96615295e-01 -7.17426568e-01 5.12358774e-03 2.43490329e+02] [ 7.17407815e-01 -6.96634134e-01 -5.18754439e-03 -1.01545118e+02] [ 7.29094827e-03 6.19791163e-05 9.99973419e-01 -5.00172527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04655999499994 meters 0.012010586323946014 Centerline is valid? [True, True] Translation: X:243.45, Y:-101.50, Z:-5.00 [[-6.98310520e-01 -7.15779725e-01 4.66935371e-03 2.43450663e+02] [ 7.15764133e-01 -6.98326130e-01 -4.72469430e-03 -1.01503504e+02] [ 6.64257209e-03 4.28521820e-05 9.99977937e-01 -5.00073486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10655999499994 meters 0.011684274291639384 Centerline is valid? [True, True] Translation: X:243.41, Y:-101.46, Z:-5.00 [[-7.01164166e-01 -7.12981359e-01 5.13758821e-03 2.43412215e+02] [ 7.12962429e-01 -7.01182987e-01 -5.19551553e-03 -1.01460453e+02] [ 7.30669517e-03 1.99980553e-05 9.99973306e-01 -4.99988250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16655999499994 meters 0.011684254942347245 Centerline is valid? [True, True] Translation: X:243.37, Y:-101.42, Z:-5.00 [[-7.03312727e-01 -7.10857984e-01 5.66875981e-03 2.43372042e+02] [ 7.10834895e-01 -7.03335572e-01 -5.72936341e-03 -1.01418180e+02] [ 8.05980415e-03 1.80873074e-08 9.99967519e-01 -4.99883437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22655999499995 meters 0.011669638354570666 Centerline is valid? [True, True] Translation: X:243.33, Y:-101.38, Z:-5.00 [[-7.04127044e-01 -7.10046978e-01 6.19642973e-03 2.43330186e+02] [ 7.10019391e-01 -7.04154308e-01 -6.25905499e-03 -1.01377499e+02] [ 8.80746576e-03 -7.58462221e-06 9.99961213e-01 -4.99927493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28655999499995 meters 0.011848161045488782 Centerline is valid? [True, True] Translation: X:243.29, Y:-101.34, Z:-5.00 [[-7.04478487e-01 -7.09683693e-01 7.68883469e-03 2.43288645e+02] [ 7.09641246e-01 -7.04520444e-01 -7.76186121e-03 -1.01337650e+02] [ 1.09254076e-02 -1.17500108e-05 9.99940316e-01 -5.00025233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34655999499995 meters 0.011809739670469388 Centerline is valid? [True, True] Translation: X:243.25, Y:-101.30, Z:-5.00 [[-7.04639732e-01 -7.09520912e-01 7.93244367e-03 2.43247239e+02] [ 7.09475779e-01 -7.04684380e-01 -8.00270178e-03 -1.01297442e+02] [ 1.12679534e-02 -1.11449826e-05 9.99936515e-01 -4.99983263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40655999499995 meters 0.011743505057141588 Centerline is valid? [True, True] Translation: X:243.21, Y:-101.26, Z:-5.00 [[-7.04833739e-01 -7.09324604e-01 8.24664748e-03 2.43205568e+02] [ 7.09275866e-01 -7.04881981e-01 -8.31497429e-03 -1.01257439e+02] [ 1.17109290e-02 -1.15263791e-05 9.99931425e-01 -4.99854495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46655999499995 meters 0.011656802629218354 Centerline is valid? [True, True] Translation: X:243.16, Y:-101.22, Z:-5.00 [[-7.05213905e-01 -7.08947606e-01 8.16333097e-03 2.43164905e+02] [ 7.08899884e-01 -7.05261151e-01 -8.22575556e-03 -1.01217341e+02] [ 1.15889099e-02 -1.39328225e-05 9.99932846e-01 -4.99820789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52655999499996 meters 0.011648737725150862 Centerline is valid? [True, True] Translation: X:243.12, Y:-101.18, Z:-5.00 [[-7.04889982e-01 -7.09271456e-01 8.00713211e-03 2.43123624e+02] [ 7.09225621e-01 -7.04935459e-01 -8.06332396e-03 -1.01177251e+02] [ 1.13635969e-02 -4.89304211e-06 9.99935432e-01 -4.99798254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58655999499996 meters 0.01155749630967123 Centerline is valid? [True, True] Translation: X:243.08, Y:-101.14, Z:-5.00 [[-7.02668325e-01 -7.11469175e-01 8.29685866e-03 2.43080575e+02] [ 7.11420177e-01 -7.02717306e-01 -8.34979743e-03 -1.01138892e+02] [ 1.17709696e-02 3.54144811e-05 9.99930719e-01 -4.99741708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64655999499996 meters 0.011790059445301931 Centerline is valid? [True, True] Translation: X:243.04, Y:-101.10, Z:-5.00 [[-7.00496346e-01 -7.13603077e-01 8.69008099e-03 2.43037633e+02] [ 7.13549550e-01 -7.00550242e-01 -8.74054941e-03 -1.01100037e+02] [ 1.23251213e-02 7.80804569e-05 9.99924040e-01 -4.99727133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70655999499996 meters 0.01257668850039057 Centerline is valid? [True, True] Translation: X:242.99, Y:-101.06, Z:-5.00 [[-6.96566942e-01 -7.17424201e-01 9.84942977e-03 2.42993638e+02] [ 7.17355902e-01 -6.96636553e-01 -9.90068351e-03 -1.01062498e+02] [ 1.39644628e-02 1.69057739e-04 9.99902478e-01 -4.99831025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76655999499997 meters 0.013539671582190393 Centerline is valid? [True, True] Translation: X:242.95, Y:-101.02, Z:-5.00 [[-6.93603624e-01 -7.20276527e-01 1.07581613e-02 2.42950073e+02] [ 7.20195476e-01 -6.93687006e-01 -1.08080836e-02 -1.01024011e+02] [ 1.52476056e-02 2.51453199e-04 9.99883717e-01 -4.99910485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82655999499997 meters 0.01387546816108354 Centerline is valid? [True, True] Translation: X:242.91, Y:-100.98, Z:-5.00 [[-6.91864888e-01 -7.21942470e-01 1.10475006e-02 2.42907855e+02] [ 7.21857311e-01 -6.91953019e-01 -1.10924214e-02 -1.00984002e+02] [ 1.56524415e-02 3.00262246e-04 9.99877448e-01 -4.99876696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88655999499997 meters 0.015321277202853931 Centerline is valid? [True, True] Translation: X:242.87, Y:-100.95, Z:-5.00 [[-6.91536178e-01 -7.22253764e-01 1.12789177e-02 2.42865981e+02] [ 7.22165150e-01 -6.91628078e-01 -1.13180155e-02 -1.00945452e+02] [ 1.59752954e-02 3.18424083e-04 9.99872336e-01 -5.00064079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.946559995 meters 0.014858046630077407 Centerline is valid? [True, True] Translation: X:242.83, Y:-100.90, Z:-5.00 [[-6.90022574e-01 -7.23688520e-01 1.19905556e-02 2.42825303e+02] [ 7.23588701e-01 -6.90126643e-01 -1.20253085e-02 -1.00903679e+02] [ 1.69775796e-02 3.78496247e-04 9.99855799e-01 -4.99983749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.006559995 meters 0.015466712148039088 Centerline is valid? [True, True] Translation: X:242.78, Y:-100.86, Z:-5.00 [[-6.89311310e-01 -7.24362990e-01 1.21728000e-02 2.42783690e+02] [ 7.24260337e-01 -6.89418664e-01 -1.22012129e-02 -1.00863058e+02] [ 1.72302625e-02 4.05842162e-04 9.99851466e-01 -5.00027914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.066559995 meters 0.016117608395947957 Centerline is valid? [True, True] Translation: X:242.74, Y:-100.82, Z:-5.00 [[-6.88722811e-01 -7.24922107e-01 1.21995539e-02 2.42743016e+02] [ 7.24819208e-01 -6.88830718e-01 -1.22212074e-02 -1.00822102e+02] [ 1.72628509e-02 4.25446711e-04 9.99850895e-01 -5.00007308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.126559995 meters 0.017280409511099708 Centerline is valid? [True, True] Translation: X:242.70, Y:-100.78, Z:-5.00 [[-6.88555322e-01 -7.25089646e-01 1.16864926e-02 2.42702829e+02] [ 7.24995338e-01 -6.88654363e-01 -1.17016081e-02 -1.00783384e+02] [ 1.65326690e-02 4.15448147e-04 9.99863240e-01 -5.00065251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.186559995 meters 0.01599087833705864 Centerline is valid? [True, True] Translation: X:242.66, Y:-100.74, Z:-5.00 [[-6.88323663e-01 -7.25315169e-01 1.13331355e-02 2.42664294e+02] [ 7.25226612e-01 -6.88416832e-01 -1.13413286e-02 -1.00739796e+02] [ 1.60279589e-02 4.12586620e-04 9.99871459e-01 -4.99885671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.246559995 meters 0.01610236216647231 Centerline is valid? [True, True] Translation: X:242.62, Y:-100.70, Z:-5.00 [[-6.88572078e-01 -7.25081367e-01 1.12028559e-02 2.42624735e+02] [ 7.24994918e-01 -6.88663085e-01 -1.12037895e-02 -1.00698737e+02] [ 1.58386524e-02 4.07396975e-04 9.99874478e-01 -4.99867182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.306559995 meters 0.0163042368726397 Centerline is valid? [True, True] Translation: X:242.59, Y:-100.66, Z:-5.00 [[-6.88732322e-01 -7.24932970e-01 1.09534469e-02 2.42585460e+02] [ 7.24850416e-01 -6.88819301e-01 -1.09473912e-02 -1.00657051e+02] [ 1.54810704e-02 3.99788354e-04 9.99880081e-01 -4.99837957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.366559995 meters 0.016201183273564592 Centerline is valid? [True, True] Translation: X:242.11, Y:-101.14, Z:-4.03 [[-7.70010147e-01 6.37927408e-01 1.15324053e-02 2.42112929e+02] [ 6.37847764e-01 7.70096392e-01 -1.00885057e-02 -1.01138760e+02] [-1.53167980e-02 -4.12332863e-04 -9.99882606e-01 -4.02866286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42655999499993 meters 0.0171085245522026 Centerline is valid? [True, True] Translation: X:242.13, Y:-101.12, Z:-4.03 [[-8.13577142e-01 5.81340390e-01 1.16440874e-02 2.42134124e+02] [ 5.81273711e-01 8.13660364e-01 -8.81388733e-03 -1.01121421e+02] [-1.45982011e-02 -4.02375356e-04 -9.99893360e-01 -4.02910158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48655999499994 meters 0.01668456989456797 Centerline is valid? [True, True] Translation: X:242.55, Y:-100.58, Z:-5.00 [[-7.37196537e-01 -6.75598109e-01 1.04144618e-02 2.42545051e+02] [ 6.75537046e-01 -7.37270020e-01 -9.08938801e-03 -1.00581953e+02] [ 1.38190438e-02 3.34689366e-04 9.99904456e-01 -4.99577871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54655999499994 meters 0.018432836625949592 Centerline is valid? [True, True] Translation: X:242.10, Y:-101.09, Z:-4.03 [[-8.18219102e-01 5.74781725e-01 1.19778814e-02 2.42098833e+02] [ 5.74711460e-01 8.18306628e-01 -9.00002384e-03 -1.01093835e+02] [-1.49746290e-02 -4.80165692e-04 -9.99887759e-01 -4.02865262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60655999499994 meters 0.020374275299785884 Centerline is valid? [True, True] Translation: X:242.11, Y:-101.07, Z:-4.03 [[-8.58420479e-01 5.12786173e-01 1.28305441e-02 2.42114587e+02] [ 5.12719469e-01 8.58516193e-01 -8.28806199e-03 -1.01067680e+02] [-1.52652334e-02 -5.36172395e-04 -9.99883336e-01 -4.02721021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66655999499994 meters 0.022467405347548416 Centerline is valid? [True, True] Translation: X:242.11, Y:-101.03, Z:-4.03 [[-8.93759945e-01 4.48347006e-01 1.33462734e-02 2.42112553e+02] [ 4.48287317e-01 8.93859402e-01 -7.33832161e-03 -1.01030723e+02] [-1.52198065e-02 -5.75732806e-04 -9.99884006e-01 -4.02654318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72655999499995 meters 0.02252982940821812 Centerline is valid? [True, True] Translation: X:242.14, Y:-101.02, Z:-4.03 [[-9.23242162e-01 3.84011533e-01 1.26116219e-02 2.42142212e+02] [ 3.83967889e-01 9.23328147e-01 -5.81317475e-03 -1.01015610e+02] [-1.38769916e-02 -5.24510205e-04 -9.99903572e-01 -4.02757468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78655999499995 meters 0.01967779104743741 Centerline is valid? [True, True] Translation: X:242.15, Y:-100.99, Z:-4.03 [[-9.47995567e-01 3.18111041e-01 1.04771985e-02 2.42152827e+02] [ 3.18086687e-01 9.48053368e-01 -3.95854265e-03 -1.00993954e+02] [-1.11921995e-02 -4.20023513e-04 -9.99937277e-01 -4.03024285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84655999499995 meters 0.020852030878005863 Centerline is valid? [True, True] Translation: X:242.39, Y:-100.38, Z:-5.00 [[-8.94681825e-01 -4.46626696e-01 8.30823906e-03 2.42388261e+02] [ 4.46609753e-01 -8.94720372e-01 -3.89671801e-03 -1.00379938e+02] [ 9.17392903e-03 2.24217805e-04 9.99957893e-01 -4.99581654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90655999499995 meters 0.02039350226092 Centerline is valid? [True, True] Translation: X:242.11, Y:-100.97, Z:-4.03 [[-9.48934293e-01 3.15357982e-01 8.54699711e-03 2.42110063e+02] [ 3.15341976e-01 9.48972724e-01 -3.19504501e-03 -1.00973906e+02] [-9.11845007e-03 -3.36660822e-04 -9.99958369e-01 -4.03011387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96655999499995 meters 0.020494442710395418 Centerline is valid? [True, True] Translation: X:242.12, Y:-100.95, Z:-4.03 [[-9.68928341e-01 2.47182091e-01 8.88161226e-03 2.42120811e+02] [ 2.47168446e-01 9.68968986e-01 -2.61979181e-03 -1.00947236e+02] [-9.25357244e-03 -3.43136233e-04 -9.99957126e-01 -4.02974227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02655999499996 meters 0.020828175699166396 Centerline is valid? [True, True] Translation: X:242.30, Y:-100.33, Z:-5.00 [[-9.25429538e-01 -3.78808853e-01 9.16644596e-03 2.42304099e+02] [ 3.78794424e-01 -9.25474851e-01 -3.32931908e-03 -1.00328340e+02] [ 9.74449075e-03 3.91148407e-04 9.99952445e-01 -4.99746452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08655999499996 meters 0.01934973828501537 Centerline is valid? [True, True] Translation: X:242.08, Y:-100.93, Z:-4.03 [[-9.69426247e-01 2.45200707e-01 9.45328538e-03 2.42079344e+02] [ 2.45185535e-01 9.69472275e-01 -2.74976026e-03 -1.00934325e+02] [-9.83894125e-03 -3.47880930e-04 -9.99951536e-01 -4.02907684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14655999499996 meters 0.01905215520130749 Centerline is valid? [True, True] Translation: X:242.09, Y:-100.91, Z:-4.03 [[-9.83705424e-01 1.79568209e-01 8.88240957e-03 2.42085216e+02] [ 1.79558238e-01 9.83745483e-01 -1.91410596e-03 -1.00906836e+02] [-9.08174287e-03 -2.88006608e-04 -9.99958719e-01 -4.02848477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20655999499996 meters 0.016579669448923553 Centerline is valid? [True, True] Translation: X:242.22, Y:-100.28, Z:-5.00 [[-9.53514298e-01 -3.01242687e-01 7.95781734e-03 2.42224906e+02] [ 3.01234072e-01 -9.53547480e-01 -2.28842120e-03 -1.00277063e+02] [ 8.27752683e-03 2.15123385e-04 9.99965718e-01 -4.99685351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26655999499997 meters 0.016110096790473587 Centerline is valid? [True, True] Translation: X:242.03, Y:-100.90, Z:-4.03 [[-9.83346530e-01 1.81521212e-01 8.92477165e-03 2.42034069e+02] [ 1.81511548e-01 9.83387001e-01 -1.88788926e-03 -1.00899393e+02] [-9.11919638e-03 -2.36500230e-04 -9.99958391e-01 -4.02849802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32655999499997 meters 0.016399737913043045 Centerline is valid? [True, True] Translation: X:242.04, Y:-100.87, Z:-4.03 [[-9.93634116e-01 1.12256784e-01 9.46879593e-03 2.42042559e+02] [ 1.12249401e-01 9.93679203e-01 -1.30931384e-03 -1.00871659e+02] [-9.55592496e-03 -2.38112237e-04 -9.99954313e-01 -4.02771224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38655999499997 meters 0.01566189172296551 Centerline is valid? [True, True] Translation: X:242.04, Y:-100.84, Z:-4.03 [[-9.99066673e-01 4.19718508e-02 1.02052161e-02 2.42042672e+02] [ 4.19671192e-02 9.99118763e-01 -6.77439497e-04 -1.00843909e+02] [-1.02246562e-02 -2.48523706e-04 -9.99947696e-01 -4.02761075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.446559995 meters 0.015880783355914203 Centerline is valid? [True, True] Translation: X:242.04, Y:-100.81, Z:-4.03 [[-9.99532751e-01 -2.88673995e-02 1.00475615e-02 2.42042126e+02] [-2.88683790e-02 9.99583220e-01 4.75598304e-05 -1.00814482e+02] [-1.00447468e-02 -2.42519206e-04 -9.99949521e-01 -4.02735370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.506559995 meters 0.015470090416972575 Centerline is valid? [True, True] Translation: X:242.04, Y:-100.18, Z:-5.00 [[-9.96518674e-01 -8.29066388e-02 8.77625195e-03 2.42039414e+02] [ 8.29046110e-02 -9.96557310e-01 -5.95226269e-04 -1.00178897e+02] [ 8.79538624e-03 1.34437663e-04 9.99961311e-01 -4.99789507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.566559995 meters 0.014334064437275968 Centerline is valid? [True, True] Translation: X:241.99, Y:-100.82, Z:-4.03 [[-9.99554542e-01 -2.90443659e-02 6.86607188e-03 2.41987463e+02] [-2.90446499e-02 9.99578113e-01 5.83606921e-05 -1.00815754e+02] [-6.86487023e-03 -1.41087959e-04 -9.99976427e-01 -4.02968764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.626559995 meters 0.014148724290751103 Centerline is valid? [True, True] Translation: X:241.98, Y:-100.18, Z:-5.00 [[-9.97300025e-01 -7.32037746e-02 5.81950550e-03 2.41982767e+02] [ 7.32028627e-02 -9.97317003e-01 -3.69846289e-04 -1.00179517e+02] [ 5.83096592e-03 5.71567486e-05 9.99982998e-01 -4.99642013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.686559995 meters 0.013452226869384422 Centerline is valid? [True, True] Translation: X:241.93, Y:-100.82, Z:-4.03 [[-9.99595166e-01 -2.76244330e-02 6.81133172e-03 2.41927264e+02] [-2.76244807e-02 9.99618367e-01 8.70912533e-05 -1.00816787e+02] [-6.81113814e-03 -1.01103506e-04 -9.99976799e-01 -4.02957558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.746559995 meters 0.01313113338133536 Centerline is valid? [True, True] Translation: X:241.92, Y:-100.18, Z:-5.00 [[-9.97923382e-01 -6.40484910e-02 6.83478390e-03 2.41920149e+02] [ 6.40476986e-02 -9.97946782e-01 -3.34972122e-04 -1.00180954e+02] [ 6.84220506e-03 1.03475666e-04 9.99976586e-01 -4.99754489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.806559995 meters 0.012568656736580534 Centerline is valid? [True, True] Translation: X:241.87, Y:-100.82, Z:-4.03 [[-9.99613942e-01 -2.65434891e-02 8.21042850e-03 2.41868374e+02] [-2.65432020e-02 9.99647657e-01 1.43961464e-04 -1.00817815e+02] [-8.21135685e-03 -7.40251749e-05 -9.99966284e-01 -4.02769359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.866559995 meters 0.012279744275353659 Centerline is valid? [True, True] Translation: X:241.87, Y:-100.79, Z:-4.03 [[-9.95484394e-01 -9.45561505e-02 8.36396550e-03 2.41866271e+02] [-9.45532366e-02 9.95519529e-01 7.44020473e-04 -1.00791230e+02] [-8.39684270e-03 -5.01792391e-05 -9.99964745e-01 -4.02669917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92655999499993 meters 0.012135860027992981 Centerline is valid? [True, True] Translation: X:241.81, Y:-100.16, Z:-5.00 [[-9.99693101e-01 2.33012628e-02 8.41155842e-03 2.41808897e+02] [-2.33000057e-02 -9.99728487e-01 2.47434791e-04 -1.00155812e+02] [ 8.41504012e-03 5.13694947e-05 9.99964592e-01 -4.99961274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98655999499994 meters 0.012151836568992401 Centerline is valid? [True, True] Translation: X:241.79, Y:-100.80, Z:-4.03 [[-9.95704225e-01 -9.21851161e-02 8.66030275e-03 2.41792620e+02] [-9.21815231e-02 9.95741886e-01 8.13989649e-04 -1.00800009e+02] [-8.69846392e-03 1.21730342e-05 -9.99962168e-01 -4.02709618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04655999499994 meters 0.012110843558493348 Centerline is valid? [True, True] Translation: X:241.73, Y:-100.16, Z:-5.00 [[-9.99492921e-01 3.09215994e-02 7.59967857e-03 2.41734919e+02] [-3.09213228e-02 -9.99521810e-01 1.53921653e-04 -1.00163861e+02] [ 7.60080398e-03 -8.11485118e-05 9.99971110e-01 -4.99730660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10655999499994 meters 0.012016355306961162 Centerline is valid? [True, True] Translation: X:241.72, Y:-100.80, Z:-4.03 [[-9.95075793e-01 -9.88187790e-02 7.68214439e-03 2.41723188e+02] [-9.88158711e-02 9.95105446e-01 7.58112759e-04 -1.00801874e+02] [-7.71945950e-03 -4.73813509e-06 -9.99970205e-01 -4.02830700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16655999499994 meters 0.012048267717400099 Centerline is valid? [True, True] Translation: X:241.71, Y:-100.77, Z:-4.03 [[-9.84445201e-01 -1.75498714e-01 8.23699147e-03 2.41707069e+02] [-1.75493046e-01 9.84479659e-01 1.41161000e-03 -1.00769577e+02] [-8.35688629e-03 -5.58820323e-05 -9.99965079e-01 -4.02812829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22655999499995 meters 0.012805247542963277 Centerline is valid? [True, True] Translation: X:241.60, Y:-100.17, Z:-5.00 [[-9.95741158e-01 9.17993537e-02 8.51031093e-03 2.41597320e+02] [-9.17953896e-02 -9.95777522e-01 8.56073498e-04 -1.00169457e+02] [ 8.55296332e-03 7.12203090e-05 9.99963420e-01 -4.99810466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28655999499995 meters 0.013634702265017767 Centerline is valid? [True, True] Translation: X:241.62, Y:-100.77, Z:-4.03 [[-9.81619816e-01 -1.90607085e-01 9.56426711e-03 2.41619013e+02] [-1.90599665e-01 9.81666396e-01 1.68988044e-03 -1.00773030e+02] [-9.71102281e-03 -1.64125973e-04 -9.99952833e-01 -4.02804305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34655999499995 meters 0.013974164177359916 Centerline is valid? [True, True] Translation: X:241.61, Y:-100.75, Z:-4.03 [[-9.65156333e-01 -2.61516380e-01 9.07943238e-03 2.41605208e+02] [-2.61506487e-01 9.65199023e-01 2.28131475e-03 -1.00747031e+02] [-9.36006043e-03 -1.72505079e-04 -9.99956179e-01 -4.02838346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40655999499995 meters 0.014572714470866234 Centerline is valid? [True, True] Translation: X:241.58, Y:-100.72, Z:-4.03 [[-9.43158039e-01 -3.32255933e-01 7.67516338e-03 2.41584141e+02] [-3.32246404e-01 9.43189252e-01 2.52216605e-03 -1.00720700e+02] [-8.07713624e-03 -1.71244251e-04 -9.99967365e-01 -4.02934686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46655999499995 meters 0.014597246082361027 Centerline is valid? [True, True] Translation: X:241.55, Y:-100.70, Z:-4.03 [[-9.16718218e-01 -3.99480322e-01 6.57123948e-03 2.41551030e+02] [-3.99471256e-01 9.16741757e-01 2.69570461e-03 -1.00703232e+02] [-7.10101057e-03 -1.53819766e-04 -9.99974776e-01 -4.02986193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52655999499996 meters 0.01428891817095367 Centerline is valid? [True, True] Translation: X:241.51, Y:-100.69, Z:-4.03 [[-8.85924540e-01 -4.63789418e-01 6.08982167e-03 2.41508007e+02] [-4.63779540e-01 8.85945459e-01 3.03025907e-03 -1.00693104e+02] [-6.80065195e-03 -1.39753815e-04 -9.99976866e-01 -4.02912551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58655999499996 meters 0.013816577357482762 Centerline is valid? [True, True] Translation: X:241.45, Y:-100.70, Z:-4.03 [[-8.50006348e-01 -5.26729129e-01 6.75526687e-03 2.41447965e+02] [-5.26713918e-01 8.50033177e-01 4.00590178e-03 -1.00696894e+02] [-7.85222611e-03 -1.53051140e-04 -9.99969159e-01 -4.02872911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64655999499996 meters 0.014171213294245174 Centerline is valid? [True, True] Translation: X:241.38, Y:-100.71, Z:-4.03 [[-8.08915480e-01 -5.87875595e-01 7.61786776e-03 2.41382923e+02] [-5.87851589e-01 8.08951329e-01 5.31558424e-03 -1.00706811e+02] [-9.28738649e-03 -1.78317295e-04 -9.99956855e-01 -4.02721296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70655999499996 meters 0.014679544058693634 Centerline is valid? [True, True] Translation: X:241.31, Y:-100.73, Z:-4.02 [[-7.62378427e-01 -6.47068552e-01 9.02348531e-03 2.41310584e+02] [-6.47026847e-01 7.62431790e-01 7.35019173e-03 -1.00727903e+02] [-1.16358700e-02 -2.34809640e-04 -9.99932273e-01 -4.02495156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76655999499997 meters 0.01439709481074395 Centerline is valid? [True, True] Translation: X:241.24, Y:-100.76, Z:-4.02 [[-7.11619004e-01 -7.02508793e-01 8.93247496e-03 2.41235935e+02] [-7.02457915e-01 7.11675018e-01 8.45858599e-03 -1.00760368e+02] [-1.22992503e-02 -2.55397195e-04 -9.99924329e-01 -4.02460995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82655999499997 meters 0.014672395404313355 Centerline is valid? [True, True] Translation: X:241.16, Y:-100.80, Z:-4.02 [[-6.57575395e-01 -7.53345908e-01 8.03380844e-03 2.41160114e+02] [-7.53294114e-01 6.57624425e-01 8.83704510e-03 -1.00803028e+02] [-1.19405804e-02 -2.40797188e-04 -9.99928680e-01 -4.02458634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88655999499997 meters 0.014320209172909075 Centerline is valid? [True, True] Translation: X:241.09, Y:-100.85, Z:-4.03 [[-5.99856112e-01 -8.00080144e-01 6.66399667e-03 2.41086091e+02] [-8.00034602e-01 5.99893091e-01 8.53906738e-03 -1.00853089e+02] [-1.08296238e-02 -2.09216169e-04 -9.99941336e-01 -4.02571817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.946559995 meters 0.013783257530361762 Centerline is valid? [True, True] Translation: X:241.01, Y:-100.92, Z:-4.03 [[-5.38980026e-01 -8.42301304e-01 5.38935084e-03 2.41011716e+02] [-8.42262409e-01 5.39006941e-01 8.09639007e-03 -1.00917623e+02] [-9.72449742e-03 -1.75455091e-04 -9.99952701e-01 -4.02687814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.006559995 meters 0.014017351584093169 Centerline is valid? [True, True] Translation: X:240.94, Y:-100.99, Z:-4.03 [[-4.73539873e-01 -8.80759514e-01 4.76093812e-03 2.40939137e+02] [-8.80718724e-01 4.73563772e-01 8.47841540e-03 -1.00987626e+02] [-9.72205284e-03 -1.78179596e-04 -9.99952724e-01 -4.02691380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.066559995 meters 0.014551317404379378 Centerline is valid? [True, True] Translation: X:240.87, Y:-101.07, Z:-4.03 [[-4.01831999e-01 -9.15703983e-01 4.15465158e-03 2.40868803e+02] [-9.15660533e-01 4.01853417e-01 8.92302953e-03 -1.01066326e+02] [-9.84041461e-03 -2.18691691e-04 -9.99951558e-01 -4.02714730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.126559995 meters 0.016759889813358873 Centerline is valid? [True, True] Translation: X:240.80, Y:-101.15, Z:-4.03 [[-3.27548795e-01 -9.44826259e-01 3.88937845e-03 2.40800681e+02] [-9.44769644e-01 3.27571762e-01 1.03470223e-02 -1.01151468e+02] [-1.10501890e-02 -2.85411994e-04 -9.99938904e-01 -4.02507175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.186559995 meters 0.018289991823839596 Centerline is valid? [True, True] Translation: X:240.74, Y:-101.25, Z:-4.02 [[-2.49643234e-01 -9.68332260e-01 3.29991942e-03 2.40740619e+02] [-9.68266026e-01 2.49664775e-01 1.13315389e-02 -1.01247130e+02] [-1.17965684e-02 -3.66357832e-04 -9.99930351e-01 -4.02441652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.246559995 meters 0.019105335718473324 Centerline is valid? [True, True] Translation: X:240.69, Y:-101.35, Z:-4.02 [[-1.72951729e-01 -9.84927499e-01 2.34985753e-03 2.40689038e+02] [-9.84864098e-01 1.72967274e-01 1.11817099e-02 -1.01345075e+02] [-1.14196220e-02 -3.80394256e-04 -9.99934722e-01 -4.02473065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.306559995 meters 0.018082188122028973 Centerline is valid? [True, True] Translation: X:240.65, Y:-101.45, Z:-4.03 [[-9.62370106e-02 -9.95357589e-01 1.30653075e-03 2.40649958e+02] [-9.95308176e-01 9.62452594e-02 9.92393465e-03 -1.01448756e+02] [-1.00036111e-02 -3.45350938e-04 -9.99949903e-01 -4.02703522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.366559995 meters 0.021111636766628784 Centerline is valid? [True, True] Translation: X:240.61, Y:-101.56, Z:-4.03 [[-1.97799310e-02 -9.99804242e-01 4.82081186e-04 2.40610855e+02] [-9.99765425e-01 1.97834136e-02 8.81537521e-03 -1.01560473e+02] [-8.82318674e-03 -3.07600589e-04 -9.99961028e-01 -4.02764577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42655999499993 meters 0.018484049451928736 Centerline is valid? [True, True] Translation: X:240.59, Y:-101.67, Z:-4.03 [[ 5.77901162e-02 -9.98328742e-01 -1.60209017e-04 2.40588862e+02] [-9.98301513e-01 -5.77897240e-02 7.37817223e-03 -1.01671561e+02] [-7.37509984e-03 -2.66448527e-04 -9.99972768e-01 -4.02950534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48655999499994 meters 0.019352006341987017 Centerline is valid? [True, True] Translation: X:240.57, Y:-101.79, Z:-4.03 [[ 1.35724306e-01 -9.90746331e-01 -7.87619790e-04 2.40568937e+02] [-9.90714274e-01 -1.35726255e-01 7.97561297e-03 -1.01786284e+02] [-8.00870997e-03 -3.02178368e-04 -9.99967884e-01 -4.02864352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54655999499994 meters 0.02082191285422474 Centerline is valid? [True, True] Translation: X:240.56, Y:-101.90, Z:-4.03 [[ 2.13992022e-01 -9.76833963e-01 -1.68012962e-03 2.40558126e+02] [-9.76788000e-01 -2.13998266e-01 9.48399244e-03 -1.01901537e+02] [-9.62383075e-03 -3.88368276e-04 -9.99953614e-01 -4.02729995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60655999499994 meters 0.021158072037857103 Centerline is valid? [True, True] Translation: X:240.56, Y:-102.02, Z:-4.03 [[ 2.89590615e-01 -9.57147498e-01 -2.43788391e-03 2.40558092e+02] [-9.57100741e-01 -2.89600587e-01 9.46949009e-03 -1.02020664e+02] [-9.76971136e-03 -4.08974955e-04 -9.99952192e-01 -4.02699492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66655999499994 meters 0.02206667610463851 Centerline is valid? [True, True] Translation: X:240.56, Y:-102.13, Z:-4.03 [[ 3.62849496e-01 -9.31842685e-01 -3.07469118e-03 2.40564383e+02] [-9.31799142e-01 -3.62862295e-01 9.01741431e-03 -1.02131065e+02] [-9.51850106e-03 -4.06969641e-04 -9.99954615e-01 -4.02659708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72655999499995 meters 0.022435230619323867 Centerline is valid? [True, True] Translation: X:240.58, Y:-102.24, Z:-4.03 [[ 4.32776570e-01 -9.01493628e-01 -3.69869311e-03 2.40581888e+02] [-9.01452466e-01 -4.32792192e-01 8.62386047e-03 -1.02244037e+02] [-9.37512075e-03 -3.98008721e-04 -9.99955973e-01 -4.02630710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78655999499995 meters 0.02154169117930683 Centerline is valid? [True, True] Translation: X:240.61, Y:-102.35, Z:-4.03 [[ 4.98886119e-01 -8.66657862e-01 -4.09771835e-03 2.40610225e+02] [-8.66622486e-01 -4.98902818e-01 7.83871020e-03 -1.02351983e+02] [-8.83784305e-03 -3.59448845e-04 -9.99960881e-01 -4.02667463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84655999499995 meters 0.021793191322959603 Centerline is valid? [True, True] Translation: X:240.65, Y:-102.46, Z:-4.03 [[ 5.63057638e-01 -8.26408498e-01 -3.88477130e-03 2.40645580e+02] [-8.26385110e-01 -5.63070962e-01 6.22431295e-03 -1.02461033e+02] [-7.33122703e-03 -2.94329794e-04 -9.99973083e-01 -4.02761695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90655999499995 meters 0.021761802760294952 Centerline is valid? [True, True] Translation: X:240.69, Y:-102.56, Z:-4.03 [[ 6.23943389e-01 -7.81461819e-01 -3.47455029e-03 2.40685285e+02] [-7.81447563e-01 -6.23953020e-01 4.72603071e-03 -1.02563265e+02] [-5.86116871e-03 -2.33596762e-04 -9.99982796e-01 -4.02841299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96655999499995 meters 0.019390821795654913 Centerline is valid? [True, True] Translation: X:240.73, Y:-102.66, Z:-4.03 [[ 6.81399030e-01 -7.31907592e-01 -2.57657287e-03 2.40733387e+02] [-7.31901455e-01 -6.81403882e-01 3.00160716e-03 -1.02656900e+02] [-3.95258583e-03 -1.59494780e-04 -9.99992176e-01 -4.03062189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02655999499996 meters 0.019575805508542394 Centerline is valid? [True, True] Translation: X:240.79, Y:-102.75, Z:-4.03 [[ 7.35134690e-01 -6.77917456e-01 -2.21582485e-03 2.40785482e+02] [-6.77913838e-01 -7.35138019e-01 2.21846495e-03 -1.02751308e+02] [-3.13287320e-03 -1.28732218e-04 -9.99995084e-01 -4.03081479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08655999499996 meters 0.020897612364147257 Centerline is valid? [True, True] Translation: X:240.80, Y:-102.78, Z:-4.03 [[ 7.85623188e-01 -6.18697884e-01 -3.02257151e-03 2.40804389e+02] [-6.18692515e-01 -7.85628986e-01 2.58219820e-03 -1.02780629e+02] [-3.97222036e-03 -1.58592410e-04 -9.99992098e-01 -4.02886076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14655999499996 meters 0.02075286719600459 Centerline is valid? [True, True] Translation: X:240.83, Y:-102.81, Z:-4.03 [[ 8.31592497e-01 -5.55370258e-01 -4.21854067e-03 2.40829198e+02] [-5.55361848e-01 -8.31603171e-01 3.06314733e-03 -1.02805334e+02] [-5.20933273e-03 -2.04473792e-04 -9.99986410e-01 -4.02861545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20655999499996 meters 0.02013302937741021 Centerline is valid? [True, True] Translation: X:240.86, Y:-102.83, Z:-4.03 [[ 8.72718133e-01 -4.88202110e-01 -4.66469339e-03 2.40855167e+02] [-4.88193794e-01 -8.72730573e-01 2.85782295e-03 -1.02829168e+02] [-5.46621573e-03 -2.16799551e-04 -9.99985037e-01 -4.02900502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26655999499997 meters 0.019853380046347537 Centerline is valid? [True, True] Translation: X:240.88, Y:-102.85, Z:-4.03 [[ 9.08128867e-01 -4.18663936e-01 -4.74008897e-03 2.40881494e+02] [-4.18657014e-01 -9.08141214e-01 2.41671577e-03 -1.02851960e+02] [-5.31646189e-03 -2.10217861e-04 -9.99985845e-01 -4.02913787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32655999499997 meters 0.018894652596573875 Centerline is valid? [True, True] Translation: X:240.91, Y:-102.87, Z:-4.03 [[ 9.37929945e-01 -3.46792581e-01 -4.72482335e-03 2.40908932e+02] [-3.46787098e-01 -9.37941824e-01 1.96045015e-03 -1.02873576e+02] [-5.11147900e-03 -2.00257124e-04 -9.99986916e-01 -4.02895926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38655999499997 meters 0.01920092014755473 Centerline is valid? [True, True] Translation: X:240.94, Y:-102.89, Z:-4.03 [[ 9.61822673e-01 -2.73614456e-01 -5.68115835e-03 2.40938137e+02] [-2.73608299e-01 -9.61839425e-01 1.84923921e-03 -1.02891568e+02] [-5.97034066e-03 -2.24228126e-04 -9.99982152e-01 -4.02866167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.446559995 meters 0.0193412732592485 Centerline is valid? [True, True] Translation: X:240.97, Y:-102.91, Z:-4.03 [[ 9.79980618e-01 -1.98982570e-01 -6.62762495e-03 2.40968353e+02] [-1.98976327e-01 -9.80002998e-01 1.59512746e-03 -1.02905869e+02] [-6.81249489e-03 -2.44453525e-04 -9.99976765e-01 -4.02756365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.506559995 meters 0.017755338565964833 Centerline is valid? [True, True] Translation: X:241.00, Y:-102.92, Z:-4.03 [[ 9.92321227e-01 -1.23520435e-01 -6.42532652e-03 2.41000614e+02] [-1.23516393e-01 -9.92342004e-01 1.02366321e-03 -1.02917601e+02] [-6.50256472e-03 -2.22169572e-04 -9.99978833e-01 -4.02768364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.566559995 meters 0.016967908693325918 Centerline is valid? [True, True] Translation: X:241.03, Y:-102.93, Z:-4.03 [[ 9.98833402e-01 -4.79531026e-02 -5.68642215e-03 2.41030915e+02] [-4.79512869e-02 -9.98849572e-01 4.55300356e-04 -1.02926572e+02] [-5.70171339e-03 -1.82097943e-04 -9.99983729e-01 -4.02819048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.626559995 meters 0.01575383147001502 Centerline is valid? [True, True] Translation: X:241.06, Y:-102.93, Z:-4.03 [[ 9.99644394e-01 2.61908655e-02 -5.01248186e-03 2.41061474e+02] [ 2.61912399e-02 -9.99656951e-01 9.06095422e-06 -1.02930863e+02] [-5.01052502e-03 -1.40340847e-04 -9.99987437e-01 -4.02897745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.686559995 meters 0.01431908156597292 Centerline is valid? [True, True] Translation: X:241.09, Y:-102.93, Z:-4.03 [[ 9.94878854e-01 1.00904393e-01 -5.86253017e-03 2.41091485e+02] [ 1.00903481e-01 -9.94896117e-01 -4.51806456e-04 -1.02934727e+02] [-5.87819776e-03 -1.42057014e-04 -9.99982713e-01 -4.02855390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.746559995 meters 0.014304527568068931 Centerline is valid? [True, True] Translation: X:241.12, Y:-102.94, Z:-4.03 [[ 9.84315368e-01 1.76316624e-01 -5.97525160e-03 2.41120893e+02] [ 1.76314190e-01 -9.84333496e-01 -9.35712619e-04 -1.02937587e+02] [-6.04662198e-03 -1.32485336e-04 -9.99981710e-01 -4.02784235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.806559995 meters 0.01342434723078565 Centerline is valid? [True, True] Translation: X:241.15, Y:-102.93, Z:-4.03 [[ 9.68371169e-01 2.49413945e-01 -7.06841283e-03 2.41149982e+02] [ 2.49408289e-01 -9.68396957e-01 -1.68480332e-03 -1.02932084e+02] [-7.26524292e-03 -1.31405789e-04 -9.99973599e-01 -4.02742421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.866559995 meters 0.012558053625247877 Centerline is valid? [True, True] Translation: X:241.18, Y:-102.93, Z:-4.03 [[ 9.46906169e-01 3.21396716e-01 -8.53572723e-03 2.41178688e+02] [ 3.21384896e-01 -9.46944631e-01 -2.75947274e-03 -1.02926061e+02] [-8.96974655e-03 -1.30292047e-04 -9.99959763e-01 -4.02641822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92655999499993 meters 0.012330519601465867 Centerline is valid? [True, True] Translation: X:241.21, Y:-102.92, Z:-4.03 [[ 9.19452997e-01 3.93099608e-01 -8.88164831e-03 2.41207202e+02] [ 3.93082568e-01 -9.19495885e-01 -3.66229170e-03 -1.02920403e+02] [-9.60628450e-03 -1.23916041e-04 -9.99953851e-01 -4.02544942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98655999499994 meters 0.011973343568973926 Centerline is valid? [True, True] Translation: X:241.23, Y:-102.91, Z:-4.03 [[ 8.87129701e-01 4.61433452e-01 -8.94780169e-03 2.41233797e+02] [ 4.61411132e-01 -8.87174819e-01 -4.53966870e-03 -1.02910270e+02] [-1.00330193e-02 -1.01340370e-04 -9.99949663e-01 -4.02547766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04655999499994 meters 0.011889913931498866 Centerline is valid? [True, True] Translation: X:241.26, Y:-102.90, Z:-4.03 [[ 8.48367515e-01 5.29355177e-01 -7.46030569e-03 2.41262898e+02] [ 5.29335625e-01 -8.48400311e-01 -4.55056921e-03 -1.02903762e+02] [-8.73819304e-03 -8.84504819e-05 -9.99961817e-01 -4.02709461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10655999499994 meters 0.012204272130245563 Centerline is valid? [True, True] Translation: X:241.29, Y:-102.90, Z:-4.03 [[ 8.03338818e-01 5.95485862e-01 -6.58277334e-03 2.41291455e+02] [ 5.95466851e-01 -8.03365782e-01 -4.75915155e-03 -1.02895514e+02] [-8.12238231e-03 -9.66121335e-05 -9.99967008e-01 -4.02808972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16655999499994 meters 0.012446698272353241 Centerline is valid? [True, True] Translation: X:241.32, Y:-102.89, Z:-4.03 [[ 7.53042002e-01 6.57936008e-01 -6.92484982e-03 2.41320629e+02] [ 6.57909684e-01 -7.53073831e-01 -5.88665833e-03 -1.02886871e+02] [-9.08796766e-03 -1.23024787e-04 -9.99958696e-01 -4.02760773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22655999499995 meters 0.013266362331999768 Centerline is valid? [True, True] Translation: X:241.35, Y:-102.88, Z:-4.03 [[ 6.96743082e-01 7.17284894e-01 -7.17340273e-03 2.41350315e+02] [ 7.17249375e-01 -6.96779988e-01 -7.14023537e-03 -1.02876808e+02] [-1.01198664e-02 -1.70209027e-04 -9.99948778e-01 -4.02648483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28655999499995 meters 0.01378523356284198 Centerline is valid? [True, True] Translation: X:241.38, Y:-102.86, Z:-4.03 [[ 6.37282190e-01 7.70603181e-01 -6.49209900e-03 2.41376732e+02] [ 7.70566091e-01 -6.37315231e-01 -7.56281815e-03 -1.02862791e+02] [-9.96544530e-03 -1.82942030e-04 -9.99950327e-01 -4.02597146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34655999499995 meters 0.013985833896137 Centerline is valid? [True, True] Translation: X:241.40, Y:-102.85, Z:-4.03 [[ 5.74360523e-01 8.18579710e-01 -6.10322168e-03 2.41401080e+02] [ 8.18537097e-01 -5.74392915e-01 -8.35462732e-03 -1.02845094e+02] [-1.03445757e-02 -1.97145249e-04 -9.99946474e-01 -4.02600947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40655999499995 meters 0.013733626522020757 Centerline is valid? [True, True] Translation: X:241.42, Y:-102.82, Z:-4.03 [[ 5.09315391e-01 8.60562948e-01 -5.40796939e-03 2.41422866e+02] [ 8.60518270e-01 -5.09344067e-01 -8.77089991e-03 -1.02824862e+02] [-1.03024286e-02 -1.86502154e-04 -9.99946911e-01 -4.02615809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46655999499995 meters 0.01388570263635981 Centerline is valid? [True, True] Translation: X:241.44, Y:-102.80, Z:-4.03 [[ 4.43283627e-01 8.96367524e-01 -4.98883858e-03 2.41440482e+02] [ 8.96314803e-01 -4.43311669e-01 -9.72304061e-03 -1.02803779e+02] [-1.09270282e-02 -1.61505170e-04 -9.99940285e-01 -4.02500421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52655999499996 meters 0.012498241068972613 Centerline is valid? [True, True] Translation: X:241.46, Y:-102.78, Z:-4.03 [[ 3.74382839e-01 9.27265176e-01 -4.09674572e-03 2.41456084e+02] [ 9.27213311e-01 -3.74405231e-01 -9.80812772e-03 -1.02779880e+02] [-1.06285783e-02 -1.26562470e-04 -9.99943507e-01 -4.02649794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58655999499996 meters 0.011978975562625987 Centerline is valid? [True, True] Translation: X:241.47, Y:-102.76, Z:-4.03 [[ 3.04788044e-01 9.52416439e-01 -2.67856091e-03 2.41470760e+02] [ 9.52381568e-01 -3.04799807e-01 -8.15022263e-03 -1.02756205e+02] [-8.57883086e-03 -6.69216249e-05 -9.99963199e-01 -4.02732987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64655999499996 meters 0.011751694015446791 Centerline is valid? [True, True] Translation: X:241.48, Y:-102.73, Z:-4.03 [[ 2.31306845e-01 9.72879472e-01 -1.63580904e-03 2.41483146e+02] [ 9.72856389e-01 -2.31312625e-01 -6.70186244e-03 -1.02731045e+02] [-6.89848768e-03 -4.12206221e-05 -9.99976204e-01 -4.02843910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70655999499996 meters 0.01171079200744276 Centerline is valid? [True, True] Translation: X:241.49, Y:-102.71, Z:-4.03 [[ 1.55510864e-01 9.87833790e-01 -8.80136146e-04 2.41493835e+02] [ 9.87819004e-01 -1.55513352e-01 -5.40479693e-03 -1.02706023e+02] [-5.47591396e-03 -2.89105699e-05 -9.99985007e-01 -4.02956494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76655999499997 meters 0.01181917169177992 Centerline is valid? [True, True] Translation: X:241.50, Y:-102.68, Z:-4.03 [[ 7.66907704e-02 9.97054758e-01 -5.79432995e-04 2.41504740e+02] [ 9.97030172e-01 -7.66929485e-02 -7.00200698e-03 -1.02680185e+02] [-7.02582280e-03 -4.07228688e-05 -9.99975318e-01 -4.02797945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82655999499997 meters 0.011990212193038141 Centerline is valid? [True, True] Translation: X:241.51, Y:-102.65, Z:-4.03 [[-3.14574886e-03 9.99995052e-01 -3.28520054e-05 2.41513999e+02] [ 9.99959335e-01 3.14535883e-03 -8.45196480e-03 -1.02654317e+02] [-8.45181964e-03 -5.94384280e-05 -9.99964281e-01 -4.02652149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88655999499997 meters 0.0121087350647522 Centerline is valid? [True, True] Translation: X:241.52, Y:-102.63, Z:-4.03 [[-8.31732958e-02 9.96534826e-01 7.37053617e-04 2.41522991e+02] [ 9.96486161e-01 8.31765183e-02 -9.84870975e-03 -1.02626768e+02] [-9.87588781e-03 -8.46859187e-05 -9.99951229e-01 -4.02507437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.946559995 meters 0.012260226678645368 Centerline is valid? [True, True] Translation: X:241.53, Y:-102.60, Z:-4.02 [[-1.61233915e-01 9.86915013e-01 1.54312038e-03 2.41527010e+02] [ 9.86864369e-01 1.61241275e-01 -9.99842333e-03 -1.02600464e+02] [-1.01164088e-02 -8.92344215e-05 -9.99948824e-01 -4.02466112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.006559995 meters 0.011830752614840442 Centerline is valid? [True, True] Translation: X:241.53, Y:-102.57, Z:-4.03 [[-2.37117657e-01 9.71478624e-01 2.12113763e-03 2.41529135e+02] [ 9.71436938e-01 2.37127133e-01 -8.99985775e-03 -1.02572148e+02] [-9.24614871e-03 -7.34737389e-05 -9.99957251e-01 -4.02638508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.066559995 meters 0.011724706194295904 Centerline is valid? [True, True] Translation: X:241.53, Y:-102.54, Z:-4.03 [[-3.11973693e-01 9.50087055e-01 2.64632026e-03 2.41530278e+02] [ 9.50051092e-01 3.11984910e-01 -8.26670192e-03 -1.02543506e+02] [-8.67969847e-03 -6.48540661e-05 -9.99962329e-01 -4.02684962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.126559995 meters 0.011678808323148457 Centerline is valid? [True, True] Translation: X:241.53, Y:-102.51, Z:-4.03 [[-3.85215131e-01 9.22821496e-01 3.12870509e-03 2.41529305e+02] [ 9.22789773e-01 3.85227832e-01 -7.65198651e-03 -1.02514835e+02] [-8.26668192e-03 -6.05239295e-05 -9.99965829e-01 -4.02709141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.186559995 meters 0.011543006164791526 Centerline is valid? [True, True] Translation: X:241.53, Y:-102.49, Z:-4.03 [[-4.55356561e-01 8.90302775e-01 3.37216569e-03 2.41525431e+02] [ 8.90277581e-01 4.55369045e-01 -6.69789780e-03 -1.02488460e+02] [-7.49873686e-03 -4.77681973e-05 -9.99971883e-01 -4.02671066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.246559995 meters 0.01151185505443049 Centerline is valid? [True, True] Translation: X:241.52, Y:-102.46, Z:-4.03 [[-5.22574450e-01 8.52584822e-01 3.88139502e-03 2.41519744e+02] [ 8.52560764e-01 5.22588863e-01 -6.40497894e-03 -1.02461050e+02] [-7.48916164e-03 -3.79532521e-05 -9.99971955e-01 -4.02710075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.306559995 meters 0.011491216043263055 Centerline is valid? [True, True] Translation: X:241.51, Y:-102.44, Z:-4.03 [[-5.85724964e-01 8.10496575e-01 4.64424389e-03 2.41510943e+02] [ 8.10470833e-01 5.85743375e-01 -6.45958946e-03 -1.02435092e+02] [-7.95581022e-03 -1.95185903e-05 -9.99968352e-01 -4.02674066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.366559995 meters 0.011639886106449131 Centerline is valid? [True, True] Translation: X:241.50, Y:-102.41, Z:-4.03 [[-6.44722664e-01 7.64398008e-01 5.32648010e-03 2.41501074e+02] [ 7.64372042e-01 6.44744667e-01 -6.30047374e-03 -1.02408732e+02] [-8.25028922e-03 9.35425102e-06 -9.99965966e-01 -4.02670607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42655999499993 meters 0.011956952232328602 Centerline is valid? [True, True] Translation: X:241.49, Y:-102.38, Z:-4.03 [[-7.00683355e-01 7.13448358e-01 5.85460720e-03 2.41489075e+02] [ 7.13423834e-01 7.00707813e-01 -5.91562964e-03 -1.02383744e+02] [-8.32286526e-03 3.18330898e-05 -9.99965364e-01 -4.02618725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48655999499994 meters 0.012375291857521816 Centerline is valid? [True, True] Translation: X:241.47, Y:-102.36, Z:-4.03 [[-7.52245776e-01 6.58852829e-01 6.26436635e-03 2.41474201e+02] [ 6.58830637e-01 7.52271856e-01 -5.40799744e-03 -1.02360410e+02] [-8.27558092e-03 5.90132432e-05 -9.99965755e-01 -4.02628365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54655999499994 meters 0.012768117797418417 Centerline is valid? [True, True] Translation: X:241.96, Y:-101.81, Z:-5.00 [[-7.19140534e-01 -6.94842450e-01 5.55531451e-03 2.41961180e+02] [ 6.94820835e-01 -7.19161987e-01 -5.48129444e-03 -1.01806410e+02] [ 7.80380708e-03 -8.18727504e-05 9.99969546e-01 -5.00167813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60655999499994 meters 0.012808376097522299 Centerline is valid? [True, True] Translation: X:241.94, Y:-101.84, Z:-5.00 [[-6.70081050e-01 -7.42266938e-01 5.58384318e-03 2.41944429e+02] [ 7.42240116e-01 -6.70104309e-01 -6.31072516e-03 -1.01835915e+02] [ 8.42600002e-03 -8.41449284e-05 9.99964497e-01 -5.00228553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66655999499994 meters 0.012404165856077846 Centerline is valid? [True, True] Translation: X:241.90, Y:-101.80, Z:-5.00 [[-6.68803320e-01 -7.43412254e-01 6.35130776e-03 2.41903760e+02] [ 7.43377772e-01 -6.68833474e-01 -7.16043012e-03 -1.01795294e+02] [ 9.57111873e-03 -6.74984268e-05 9.99954194e-01 -5.00343184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72655999499995 meters 0.012119716329213595 Centerline is valid? [True, True] Translation: X:241.86, Y:-101.75, Z:-5.00 [[-6.67045219e-01 -7.44988626e-01 6.52861164e-03 2.41863154e+02] [ 7.44952313e-01 -6.67077166e-01 -7.35575340e-03 -1.01754673e+02] [ 9.83504037e-03 -4.31157929e-05 9.99951634e-01 -5.00447094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78655999499995 meters 0.011914075876642777 Centerline is valid? [True, True] Translation: X:241.82, Y:-101.71, Z:-5.01 [[-6.64859904e-01 -7.46936766e-01 6.83923569e-03 2.41822765e+02] [ 7.46897069e-01 -6.64895080e-01 -7.70074852e-03 -1.01714698e+02] [ 1.02993464e-02 -1.17138319e-05 9.99946960e-01 -5.00540901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84655999499995 meters 0.011698063044588253 Centerline is valid? [True, True] Translation: X:241.78, Y:-101.67, Z:-5.00 [[-6.63966173e-01 -7.47734637e-01 6.46790020e-03 2.41782008e+02] [ 7.47699216e-01 -6.63997676e-01 -7.27799562e-03 -1.01673687e+02] [ 9.73668011e-03 3.70100761e-06 9.99952597e-01 -5.00477244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90655999499995 meters 0.011614528462336418 Centerline is valid? [True, True] Translation: X:241.74, Y:-101.63, Z:-5.00 [[-6.64458155e-01 -7.47307162e-01 5.23123882e-03 2.41743124e+02] [ 7.47284007e-01 -6.64478748e-01 -5.88274388e-03 -1.01632282e+02] [ 7.87226365e-03 3.83959649e-07 9.99969013e-01 -5.00447404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96655999499995 meters 0.011617176519636445 Centerline is valid? [True, True] Translation: X:241.71, Y:-101.59, Z:-5.00 [[-6.66797152e-01 -7.45228887e-01 3.93247508e-03 2.41705646e+02] [ 7.45215782e-01 -6.66808748e-01 -4.41946741e-03 -1.01589041e+02] [ 5.91572356e-03 -1.63457878e-05 9.99982502e-01 -5.00362813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02655999499996 meters 0.011528153928572706 Centerline is valid? [True, True] Translation: X:241.67, Y:-101.55, Z:-5.00 [[-6.68527766e-01 -7.43679426e-01 3.39661715e-03 2.41667261e+02] [ 7.43669641e-01 -6.68536394e-01 -3.81506697e-03 -1.01546028e+02] [ 5.10794899e-03 -2.45171416e-05 9.99986954e-01 -5.00351826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08655999499996 meters 0.011848566195416039 Centerline is valid? [True, True] Translation: X:241.63, Y:-101.50, Z:-5.00 [[-6.71464234e-01 -7.41024907e-01 4.22714742e-03 2.41629636e+02] [ 7.41009716e-01 -6.71477538e-01 -4.74521667e-03 -1.01501989e+02] [ 6.35475829e-03 -5.38859677e-05 9.99979807e-01 -5.00483351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14655999499996 meters 0.012388821064831464 Centerline is valid? [True, True] Translation: X:241.59, Y:-101.46, Z:-5.01 [[-6.73214162e-01 -7.39430957e-01 4.95511281e-03 2.41592270e+02] [ 7.39410056e-01 -6.73232392e-01 -5.56012906e-03 -1.01458714e+02] [ 7.44727400e-03 -7.92973809e-05 9.99972266e-01 -5.00639029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20655999499996 meters 0.0130971031862445 Centerline is valid? [True, True] Translation: X:241.55, Y:-101.41, Z:-5.01 [[-6.76007775e-01 -7.36870884e-01 5.89815555e-03 2.41554277e+02] [ 7.36841206e-01 -6.76033493e-01 -6.61461254e-03 -1.01414240e+02] [ 8.86146609e-03 -1.25525461e-04 9.99960729e-01 -5.00757996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26655999499997 meters 0.013587017967326993 Centerline is valid? [True, True] Translation: X:241.52, Y:-101.37, Z:-5.01 [[-6.77727518e-01 -7.35292353e-01 5.52869728e-03 2.41516993e+02] [ 7.35266252e-01 -6.77750055e-01 -6.19685369e-03 -1.01369865e+02] [ 8.30357401e-03 -1.34713742e-04 9.99965516e-01 -5.00743332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32655999499997 meters 0.012998569764841343 Centerline is valid? [True, True] Translation: X:241.48, Y:-101.33, Z:-5.01 [[-6.78424526e-01 -7.34653532e-01 4.93454542e-03 2.41478661e+02] [ 7.34632748e-01 -6.78442460e-01 -5.52751341e-03 -1.01326870e+02] [ 7.40861239e-03 -1.24921997e-04 9.99972548e-01 -5.00613631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38655999499997 meters 0.012930483770990327 Centerline is valid? [True, True] Translation: X:241.44, Y:-101.28, Z:-5.01 [[-6.78425151e-01 -7.34656935e-01 4.30141892e-03 2.41441047e+02] [ 7.34641160e-01 -6.78438778e-01 -4.81556405e-03 -1.01283142e+02] [ 6.45603692e-03 -1.07000378e-04 9.99979154e-01 -5.00550978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.446559995 meters 0.012324846306946528 Centerline is valid? [True, True] Translation: X:241.40, Y:-101.24, Z:-5.01 [[-6.77071282e-01 -7.35908943e-01 3.53643414e-03 2.41401438e+02] [ 7.35898305e-01 -6.77080513e-01 -3.95774054e-03 -1.01240089e+02] [ 5.30698731e-03 -7.72165747e-05 9.99985915e-01 -5.00508175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.506559995 meters 0.011434710405363174 Centerline is valid? [True, True] Translation: X:241.36, Y:-101.20, Z:-5.01 [[-6.74267901e-01 -7.38479802e-01 3.22187009e-03 2.41360875e+02] [ 7.38471011e-01 -6.74275596e-01 -3.60360216e-03 -1.01198308e+02] [ 4.83361579e-03 -5.05355990e-05 9.99988317e-01 -5.00543299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.566559995 meters 0.010767521707007314 Centerline is valid? [True, True] Translation: X:241.32, Y:-101.16, Z:-5.01 [[-6.69691420e-01 -7.42631889e-01 3.35841585e-03 2.41320153e+02] [ 7.42622400e-01 -6.69699841e-01 -3.75422219e-03 -1.01157919e+02] [ 5.03713568e-03 -2.01355566e-05 9.99987313e-01 -5.00586218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.626559995 meters 0.01063634216918235 Centerline is valid? [True, True] Translation: X:241.28, Y:-101.12, Z:-5.01 [[-6.66047045e-01 -7.45901694e-01 3.46355516e-03 2.41279060e+02] [ 7.45891658e-01 -6.66056051e-01 -3.86935637e-03 -1.01118397e+02] [ 5.19308134e-03 6.26352564e-06 9.99986516e-01 -5.00696714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.686559995 meters 0.011205108450046545 Centerline is valid? [True, True] Translation: X:241.24, Y:-101.08, Z:-5.01 [[-6.60705317e-01 -7.50634434e-01 4.05352093e-03 2.41235454e+02] [ 7.50620791e-01 -6.60717749e-01 -4.52595204e-03 -1.01079289e+02] [ 6.07556868e-03 5.23365082e-05 9.99981542e-01 -5.00806774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.746559995 meters 0.012303362282880257 Centerline is valid? [True, True] Translation: X:241.19, Y:-101.04, Z:-5.01 [[-6.57313881e-01 -7.53606081e-01 4.04192871e-03 2.41193947e+02] [ 7.53592588e-01 -6.57326303e-01 -4.51038631e-03 -1.01039430e+02] [ 6.05592060e-03 8.12279821e-05 9.99981659e-01 -5.00871815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.806559995 meters 0.01214718419253783 Centerline is valid? [True, True] Translation: X:241.16, Y:-101.00, Z:-5.01 [[-6.56265428e-01 -7.54521081e-01 3.69148069e-03 2.41155244e+02] [ 7.54509853e-01 -6.56275805e-01 -4.11696778e-03 -1.00996078e+02] [ 5.52896844e-03 8.34349352e-05 9.99984712e-01 -5.00806661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86655999499993 meters 0.012397851793033238 Centerline is valid? [True, True] Translation: X:241.12, Y:-100.95, Z:-5.01 [[-6.55756945e-01 -7.54961700e-01 3.95729101e-03 2.41116246e+02] [ 7.54948823e-01 -6.55768878e-01 -4.41059883e-03 -1.00953561e+02] [ 5.92490147e-03 9.52713727e-05 9.99982443e-01 -5.00942073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92655999499993 meters 0.012495416140603448 Centerline is valid? [True, True] Translation: X:241.08, Y:-100.91, Z:-5.01 [[-6.56130288e-01 -7.54636318e-01 4.13182822e-03 2.41079108e+02] [ 7.54622291e-01 -6.56143291e-01 -4.60222523e-03 -1.00909881e+02] [ 6.18407767e-03 9.83103135e-05 9.99980874e-01 -5.00985193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98655999499994 meters 0.01162863490008269 Centerline is valid? [True, True] Translation: X:241.04, Y:-100.86, Z:-5.01 [[-6.58805098e-01 -7.52304963e-01 3.61732667e-03 2.41043556e+02] [ 7.52294188e-01 -6.58815025e-01 -4.02699522e-03 -1.00863080e+02] [ 5.41267765e-03 6.82888469e-05 9.99985349e-01 -5.00919047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04655999499994 meters 0.011461900159348835 Centerline is valid? [True, True] Translation: X:241.01, Y:-100.82, Z:-5.01 [[-6.60394052e-01 -7.50910370e-01 3.64868907e-03 2.41006372e+02] [ 7.50899400e-01 -6.60404129e-01 -4.05932200e-03 -1.00819319e+02] [ 5.45779631e-03 5.90463250e-05 9.99985104e-01 -5.00906905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10655999499994 meters 0.01059123361634473 Centerline is valid? [True, True] Translation: X:240.97, Y:-100.77, Z:-5.01 [[-6.66099814e-01 -7.45854697e-01 3.43635413e-03 2.40972674e+02] [ 7.45844910e-01 -6.66108678e-01 -3.82093000e-03 -1.00771814e+02] [ 5.13884389e-03 1.78664716e-05 9.99986796e-01 -5.00905927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16655999499994 meters 0.010827417554692015 Centerline is valid? [True, True] Translation: X:240.94, Y:-100.72, Z:-5.01 [[-6.74046395e-01 -7.38678317e-01 3.97511697e-03 2.40939561e+02] [ 7.38665109e-01 -6.74058115e-01 -4.41750417e-03 -1.00722861e+02] [ 5.94257440e-03 -4.13225517e-05 9.99982342e-01 -5.00904655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22655999499995 meters 0.011943608767730061 Centerline is valid? [True, True] Translation: X:240.91, Y:-100.68, Z:-5.01 [[-6.79906650e-01 -7.33287727e-01 4.00697862e-03 2.40905224e+02] [ 7.33274228e-01 -6.79918452e-01 -4.45033240e-03 -1.00676410e+02] [ 5.98779284e-03 -8.75964409e-05 9.99982069e-01 -5.00884861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28655999499995 meters 0.01463208388027934 Centerline is valid? [True, True] Translation: X:240.87, Y:-100.63, Z:-5.01 [[-6.86827866e-01 -7.26811200e-01 3.60025045e-03 2.40870741e+02] [ 7.26800223e-01 -6.86837290e-01 -3.99670094e-03 -1.00631450e+02] [ 5.37763327e-03 -1.28382746e-04 9.99985532e-01 -5.00811227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34655999499995 meters 0.015122171535218696 Centerline is valid? [True, True] Translation: X:240.83, Y:-100.59, Z:-5.01 [[-6.90928030e-01 -7.22915108e-01 3.49330550e-03 2.40830325e+02] [ 7.22904734e-01 -6.90936844e-01 -3.87582138e-03 -1.00589500e+02] [ 5.21554331e-03 -1.52586547e-04 9.99986387e-01 -5.00711021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40655999499995 meters 0.017100899265983502 Centerline is valid? [True, True] Translation: X:240.79, Y:-100.55, Z:-5.01 [[-6.94003176e-01 -7.19961141e-01 3.94301147e-03 2.40793288e+02] [ 7.19947887e-01 -6.94014349e-01 -4.37293975e-03 -1.00546244e+02] [ 5.88485323e-03 -1.96071298e-04 9.99982665e-01 -5.00680083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46655999499995 meters 0.017278840749439334 Centerline is valid? [True, True] Translation: X:240.75, Y:-100.51, Z:-5.01 [[-6.95072866e-01 -7.18929766e-01 3.70168279e-03 2.40752440e+02] [ 7.18918083e-01 -6.95082697e-01 -4.10295514e-03 -1.00505329e+02] [ 5.52271223e-03 -1.90646096e-04 9.99984732e-01 -5.00663713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52655999499996 meters 0.017060423841681736 Centerline is valid? [True, True] Translation: X:240.71, Y:-100.47, Z:-5.01 [[-6.93522841e-01 -7.20425546e-01 3.61960210e-03 2.40708274e+02] [ 7.20414404e-01 -6.93532264e-01 -4.01058092e-03 -1.00466492e+02] [ 5.39963580e-03 -1.73815983e-04 9.99985407e-01 -5.00704589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58655999499996 meters 0.014389220986667567 Centerline is valid? [True, True] Translation: X:240.66, Y:-100.43, Z:-5.01 [[-6.87444747e-01 -7.26226479e-01 3.84972875e-03 2.40662217e+02] [ 7.26213979e-01 -6.87455513e-01 -4.26299979e-03 -1.00430822e+02] [ 5.74242059e-03 -1.34849975e-04 9.99983503e-01 -5.00698088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64655999499996 meters 0.012401123710406468 Centerline is valid? [True, True] Translation: X:240.62, Y:-100.39, Z:-5.01 [[-6.81235407e-01 -7.32054517e-01 3.80832598e-03 2.40617462e+02] [ 7.32042390e-01 -6.81246047e-01 -4.21452687e-03 -1.00394788e+02] [ 5.67967045e-03 -8.32288779e-05 9.99983867e-01 -5.00734754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70655999499996 meters 0.0102783390175307 Centerline is valid? [True, True] Translation: X:240.57, Y:-100.36, Z:-5.01 [[-6.70384969e-01 -7.42004838e-01 3.57960488e-03 2.40565759e+02] [ 7.41994275e-01 -6.70394526e-01 -3.95920112e-03 -1.00364071e+02] [ 5.33749390e-03 1.85740910e-06 9.99985755e-01 -5.00826071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76655999499997 meters 0.011307745562053642 Centerline is valid? [True, True] Translation: X:240.52, Y:-100.33, Z:-5.01 [[-6.61962786e-01 -7.49533502e-01 2.19068858e-03 2.40517599e+02] [ 7.49529591e-01 -6.61966410e-01 -2.42148777e-03 -1.00329825e+02] [ 3.26514847e-03 3.90511277e-05 9.99994669e-01 -5.00680945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82655999499997 meters 0.012709869148802257 Centerline is valid? [True, True] Translation: X:240.47, Y:-100.29, Z:-5.01 [[-6.57683732e-01 -7.53293533e-01 9.80395155e-04 2.40473002e+02] [ 7.53292755e-01 -6.57684463e-01 -1.08298945e-03 -1.00292577e+02] [ 1.46059961e-03 2.62600225e-05 9.99998933e-01 -5.00559819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88655999499997 meters 0.013467161447303646 Centerline is valid? [True, True] Translation: X:240.43, Y:-100.25, Z:-5.01 [[-6.56399223e-01 -7.54413115e-01 9.55082908e-04 2.40428783e+02] [ 7.54412378e-01 -6.56399917e-01 -1.05442933e-03 -1.00253942e+02] [ 1.42239166e-03 2.83997749e-05 9.99998988e-01 -5.00657130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.946559995 meters 0.013373702695872436 Centerline is valid? [True, True] Translation: X:240.39, Y:-100.21, Z:-5.01 [[-6.56874736e-01 -7.53996429e-01 2.22850662e-03 2.40388154e+02] [ 7.53992422e-01 -6.56878513e-01 -2.45898479e-03 -1.00212943e+02] [ 3.31792386e-03 6.50321186e-05 9.99994494e-01 -5.00806603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.006559995 meters 0.011818205479921054 Centerline is valid? [True, True] Translation: X:240.35, Y:-100.17, Z:-5.01 [[-6.60704519e-01 -7.50634805e-01 4.11444709e-03 2.40350594e+02] [ 7.50621095e-01 -6.60717324e-01 -4.53765700e-03 -1.00167523e+02] [ 6.12460975e-03 9.03402921e-05 9.99981240e-01 -5.01004616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.066559995 meters 0.01070737162347434 Centerline is valid? [True, True] Translation: X:240.32, Y:-100.12, Z:-5.01 [[-6.68731245e-01 -7.43488351e-01 4.85742284e-03 2.40316322e+02] [ 7.43469072e-01 -6.68748885e-01 -5.35418535e-03 -1.00121856e+02] [ 7.22917055e-03 3.08326200e-05 9.99973869e-01 -5.01108447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.126559995 meters 0.010718964801452143 Centerline is valid? [True, True] Translation: X:240.28, Y:-100.07, Z:-5.01 [[-6.75603647e-01 -7.37253086e-01 4.19505412e-03 2.40282107e+02] [ 7.37238602e-01 -6.75616671e-01 -4.62142252e-03 -1.00074022e+02] [ 6.24140652e-03 -2.94940789e-05 9.99980522e-01 -5.00900818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.186559995 meters 0.01384227971787477 Centerline is valid? [True, True] Translation: X:240.25, Y:-100.02, Z:-5.01 [[-6.86954845e-01 -7.26691417e-01 3.55332839e-03 2.40252059e+02] [ 7.26680894e-01 -6.86964027e-01 -3.91207061e-03 -1.00024828e+02] [ 5.28387691e-03 -1.05280008e-04 9.99986035e-01 -5.00786588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.246559995 meters 0.018873328140837295 Centerline is valid? [True, True] Translation: X:240.22, Y:-99.98, Z:-5.01 [[-6.97311055e-01 -7.16763446e-01 2.73035435e-03 2.40219651e+02] [ 7.16757163e-01 -6.97316387e-01 -3.00418185e-03 -9.99769563e+01] [ 4.05720857e-03 -1.37848177e-04 9.99991760e-01 -5.00669718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.306559995 meters 0.02200830656852492 Centerline is valid? [True, True] Translation: X:240.18, Y:-99.93, Z:-5.01 [[-7.05007146e-01 -7.09194436e-01 2.85939420e-03 2.40182832e+02] [ 7.09187490e-01 -7.05012919e-01 -3.14437564e-03 -9.99320838e+01] [ 4.24588356e-03 -1.88960696e-04 9.99990968e-01 -5.00594110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36655999499993 meters 0.022639895975515734 Centerline is valid? [True, True] Translation: X:240.14, Y:-99.89, Z:-5.01 [[-7.08596560e-01 -7.05604829e-01 3.56930094e-03 2.40141474e+02] [ 7.05593973e-01 -7.08605502e-01 -3.92271583e-03 -9.98912007e+01] [ 5.29711351e-03 -2.61145712e-04 9.99985936e-01 -5.00573769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42655999499993 meters 0.02173609889144664 Centerline is valid? [True, True] Translation: X:240.10, Y:-99.85, Z:-5.01 [[-7.08297287e-01 -7.05899713e-01 4.53315707e-03 2.40097998e+02] [ 7.05882227e-01 -7.08311717e-01 -4.97921648e-03 -9.98526837e+01] [ 6.72571575e-03 -3.26890514e-04 9.99977329e-01 -5.00658730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48655999499994 meters 0.021228124212140504 Centerline is valid? [True, True] Translation: X:240.05, Y:-99.82, Z:-5.01 [[-7.05943511e-01 -7.08251069e-01 4.91752066e-03 2.40054105e+02] [ 7.08230574e-01 -7.05960562e-01 -5.39800331e-03 -9.98151290e+01] [ 7.29471727e-03 -3.27946928e-04 9.99973339e-01 -5.00700176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54655999499994 meters 0.01767428089411807 Centerline is valid? [True, True] Translation: X:240.00, Y:-99.78, Z:-5.01 [[-6.99076616e-01 -7.15034022e-01 4.26990636e-03 2.40004051e+02] [ 7.15018711e-01 -6.99089621e-01 -4.68446091e-03 -9.97820216e+01] [ 6.33459614e-03 -2.21734140e-04 9.99979912e-01 -5.00605425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60655999499994 meters 0.014082261525215634 Centerline is valid? [True, True] Translation: X:239.95, Y:-99.75, Z:-5.01 [[-6.89186687e-01 -7.24571931e-01 4.15060973e-03 2.39952879e+02] [ 7.24557649e-01 -6.89199173e-01 -4.55109717e-03 -9.97521347e+01] [ 6.15819406e-03 -1.29199553e-04 9.99981030e-01 -5.00624708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66655999499994 meters 0.011701071434273833 Centerline is valid? [True, True] Translation: X:239.90, Y:-99.72, Z:-5.01 [[-6.81823969e-01 -7.31502380e-01 4.51039188e-03 2.39904771e+02] [ 7.31485679e-01 -6.81838883e-01 -4.94357393e-03 -9.97182059e+01] [ 6.69159666e-03 -7.13601322e-05 9.99977608e-01 -5.00670657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72655999499995 meters 0.010732055217866802 Centerline is valid? [True, True] Translation: X:239.85, Y:-99.69, Z:-5.01 [[-6.72492236e-01 -7.40087610e-01 4.95200235e-03 2.39852818e+02] [ 7.40067730e-01 -6.72510468e-01 -5.42455134e-03 -9.96869835e+01] [ 7.34491665e-03 1.68484742e-05 9.99973026e-01 -5.00645071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78655999499995 meters 0.01127561870797934 Centerline is valid? [True, True] Translation: X:239.80, Y:-99.65, Z:-5.01 [[-6.67309759e-01 -7.44763252e-01 5.03828247e-03 2.39803958e+02] [ 7.44742829e-01 -6.67328775e-01 -5.51594975e-03 -9.96530261e+01] [ 7.47026754e-03 7.13776387e-05 9.99972095e-01 -5.00705211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84655999499995 meters 0.01156011600358528 Centerline is valid? [True, True] Translation: X:239.76, Y:-99.62, Z:-5.01 [[-6.67300275e-01 -7.44771851e-01 5.02324685e-03 2.39760528e+02] [ 7.44751570e-01 -6.67319177e-01 -5.49681750e-03 -9.96161385e+01] [ 7.44598390e-03 7.30431465e-05 9.99972276e-01 -5.00851179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90655999499995 meters 0.010887331209798151 Centerline is valid? [True, True] Translation: X:239.72, Y:-99.57, Z:-5.01 [[-6.70533548e-01 -7.41862057e-01 5.04482181e-03 2.39722219e+02] [ 7.41841542e-01 -6.70552524e-01 -5.51715482e-03 -9.95735532e+01] [ 7.47578582e-03 4.30209952e-05 9.99972055e-01 -5.00883467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96655999499995 meters 0.01061700858033519 Centerline is valid? [True, True] Translation: X:239.69, Y:-99.53, Z:-5.01 [[-6.75512627e-01 -7.37328283e-01 5.44911722e-03 2.39685067e+02] [ 7.37304231e-01 -6.75534605e-01 -5.95558489e-03 -9.95294127e+01] [ 8.07228843e-03 -5.41561559e-06 9.99967419e-01 -5.00930955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02655999499996 meters 0.011796573810880605 Centerline is valid? [True, True] Translation: X:239.65, Y:-99.48, Z:-5.01 [[-6.83415302e-01 -7.30008702e-01 5.55161632e-03 2.39648491e+02] [ 7.29983519e-01 -6.83437844e-01 -6.06423866e-03 -9.94840568e+01] [ 8.22113168e-03 -9.18050738e-05 9.99966202e-01 -5.00962153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08655999499996 meters 0.013285930656572392 Centerline is valid? [True, True] Translation: X:239.61, Y:-99.44, Z:-5.01 [[-6.88885003e-01 -7.24843171e-01 6.31109114e-03 2.39611001e+02] [ 7.24810445e-01 -6.88913890e-01 -6.88991877e-03 -9.94400211e+01] [ 9.34190892e-03 -1.72016937e-04 9.99956349e-01 -5.01038586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14655999499996 meters 0.014044010367050433 Centerline is valid? [True, True] Translation: X:239.57, Y:-99.40, Z:-5.01 [[-6.90377698e-01 -7.23412811e-01 7.24839276e-03 2.39571851e+02] [ 7.23369610e-01 -6.90415714e-01 -7.90877507e-03 -9.93965815e+01] [ 1.07257135e-02 -2.16774876e-04 9.99942454e-01 -5.01140808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20655999499996 meters 0.013546047482299404 Centerline is valid? [True, True] Translation: X:239.53, Y:-99.36, Z:-5.01 [[-6.90538279e-01 -7.23253090e-01 7.86468964e-03 2.39530623e+02] [ 7.23202277e-01 -6.90583024e-01 -8.57632304e-03 -9.93550020e+01] [ 1.16340733e-02 -2.34517891e-04 9.99932294e-01 -5.01124066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26655999499997 meters 0.013420463786159912 Centerline is valid? [True, True] Translation: X:239.49, Y:-99.32, Z:-5.01 [[-6.88980709e-01 -7.24735386e-01 8.01272894e-03 2.39489606e+02] [ 7.24682800e-01 -6.89027268e-01 -8.73288808e-03 -9.93153301e+01] [ 1.18500217e-02 -2.10104576e-04 9.99929764e-01 -5.01137825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32655999499997 meters 0.012324536684113936 Centerline is valid? [True, True] Translation: X:239.45, Y:-99.27, Z:-5.01 [[-6.85732948e-01 -7.27818702e-01 7.08959142e-03 2.39447358e+02] [ 7.27777742e-01 -6.85769582e-01 -7.72265830e-03 -9.92749350e+01] [ 1.04825213e-02 -1.36034401e-04 9.99945048e-01 -5.00905830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38655999499997 meters 0.011714786586923731 Centerline is valid? [True, True] Translation: X:239.41, Y:-99.24, Z:-5.01 [[-6.82867291e-01 -7.30517563e-01 6.02937379e-03 2.39405928e+02] [ 7.30488074e-01 -6.82893904e-01 -6.56427494e-03 -9.92351788e+01] [ 8.91274074e-03 -7.81429990e-05 9.99960278e-01 -5.00874277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.446559995 meters 0.010699571844752821 Centerline is valid? [True, True] Translation: X:239.36, Y:-99.20, Z:-5.01 [[-6.76260492e-01 -7.36643928e-01 5.24116960e-03 2.39360355e+02] [ 7.36621851e-01 -6.76280802e-01 -5.70310169e-03 -9.91975995e+01] [ 7.74565762e-03 3.97769670e-06 9.99970002e-01 -5.00752576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.506559995 meters 0.011746644887874327 Centerline is valid? [True, True] Translation: X:239.32, Y:-99.16, Z:-5.01 [[-6.68232503e-01 -7.43931739e-01 5.55787084e-03 2.39315667e+02] [ 7.43907191e-01 -6.68255608e-01 -6.04429166e-03 -9.91598447e+01] [ 8.21061877e-03 9.55479438e-05 9.99966288e-01 -5.00791082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.566559995 meters 0.013509610426195225 Centerline is valid? [True, True] Translation: X:239.27, Y:-99.12, Z:-5.01 [[-6.63166066e-01 -7.48451120e-01 5.62932075e-03 2.39273289e+02] [ 7.48426128e-01 -6.63189940e-01 -6.11830677e-03 -9.91206690e+01] [ 8.31256244e-03 1.55677298e-04 9.99965438e-01 -5.00842803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.626559995 meters 0.016642681996412202 Centerline is valid? [True, True] Translation: X:239.23, Y:-99.08, Z:-5.01 [[-6.57931451e-01 -7.53052297e-01 6.20037150e-03 2.39231521e+02] [ 7.53022205e-01 -6.57960624e-01 -6.73613966e-03 -9.90818706e+01] [ 9.15226574e-03 2.37099287e-04 9.99958089e-01 -5.00901291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.686559995 meters 0.01675576418485996 Centerline is valid? [True, True] Translation: X:239.19, Y:-99.04, Z:-5.01 [[-6.56543594e-01 -7.54263640e-01 6.07219482e-03 2.39193853e+02] [ 7.54234865e-01 -6.56571625e-01 -6.59318136e-03 -9.90378138e+01] [ 8.95982779e-03 2.51150056e-04 9.99959828e-01 -5.00869126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.746559995 meters 0.016486825335381664 Centerline is valid? [True, True] Translation: X:239.16, Y:-98.99, Z:-5.01 [[-6.56754908e-01 -7.54079835e-01 6.04916631e-03 2.39158699e+02] [ 7.54051308e-01 -6.56782719e-01 -6.56399026e-03 -9.89919786e+01] [ 8.92276058e-03 2.50448944e-04 9.99960160e-01 -5.00822853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.806559995 meters 0.01594977211322365 Centerline is valid? [True, True] Translation: X:239.12, Y:-98.94, Z:-5.01 [[-6.58865904e-01 -7.52225517e-01 7.24516998e-03 2.39124841e+02] [ 7.52184528e-01 -6.58905682e-01 -7.85739638e-03 -9.89442669e+01] [ 1.06844177e-02 2.72734198e-04 9.99942883e-01 -5.01006603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86655999499993 meters 0.01481271041008768 Centerline is valid? [True, True] Translation: X:239.09, Y:-98.90, Z:-5.01 [[-6.60559253e-01 -7.50731838e-01 7.94863636e-03 2.39091150e+02] [ 7.50682452e-01 -6.60607017e-01 -8.61540734e-03 -9.88960438e+01] [ 1.17187855e-02 2.75914804e-04 9.99931295e-01 -5.01009040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92655999499993 meters 0.014356683573536365 Centerline is valid? [True, True] Translation: X:239.06, Y:-98.85, Z:-5.01 [[-6.62137653e-01 -7.49338133e-01 8.12961140e-03 2.39058503e+02] [ 7.49286427e-01 -6.62187507e-01 -8.80655672e-03 -9.88468018e+01] [ 1.19824159e-02 2.60254682e-04 9.99928174e-01 -5.00911174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98655999499994 meters 0.014280480044035652 Centerline is valid? [True, True] Translation: X:239.03, Y:-98.80, Z:-5.01 [[-6.62517213e-01 -7.49007022e-01 7.70864370e-03 2.39025394e+02] [ 7.48960564e-01 -6.62562013e-01 -8.34577900e-03 -9.87985797e+01] [ 1.13585016e-02 2.44247894e-04 9.99935460e-01 -5.00813795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04655999499994 meters 0.014302639426919487 Centerline is valid? [True, True] Translation: X:238.99, Y:-98.75, Z:-5.01 [[-6.62668725e-01 -7.48871278e-01 7.87215760e-03 2.38991097e+02] [ 7.48822882e-01 -6.62715434e-01 -8.51735271e-03 -9.87523412e+01] [ 1.15954011e-02 2.50668482e-04 9.99932740e-01 -5.00812718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10655999499994 meters 0.014599389288865082 Centerline is valid? [True, True] Translation: X:238.96, Y:-98.70, Z:-5.01 [[-6.62819589e-01 -7.48731212e-01 8.47142511e-03 2.38958669e+02] [ 7.48675227e-01 -6.62873668e-01 -9.15995798e-03 -9.87044194e+01] [ 1.24738311e-02 2.70946533e-04 9.99922162e-01 -5.00860970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16655999499994 meters 0.014968193237951573 Centerline is valid? [True, True] Translation: X:238.92, Y:-98.66, Z:-5.01 [[-6.62660997e-01 -7.48859806e-01 9.45482835e-03 2.38923172e+02] [ 7.48790161e-01 -6.62728372e-01 -1.02176356e-02 -9.86580037e+01] [ 1.39175596e-02 3.08853857e-04 9.99903098e-01 -5.00944060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22655999499995 meters 0.014544937497070467 Centerline is valid? [True, True] Translation: X:238.89, Y:-98.61, Z:-5.01 [[-6.62636416e-01 -7.48882048e-01 9.41582565e-03 2.38891942e+02] [ 7.48813069e-01 -6.62703237e-01 -1.01689922e-02 -9.86085351e+01] [ 1.38552739e-02 3.12348740e-04 9.99903962e-01 -5.00777284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28655999499995 meters 0.015043154009637705 Centerline is valid? [True, True] Translation: X:238.86, Y:-98.56, Z:-5.01 [[-6.61265325e-01 -7.50094255e-01 9.31548136e-03 2.38857711e+02] [ 7.50026936e-01 -6.61330851e-01 -1.00549155e-02 -9.85611745e+01] [ 1.37027495e-02 3.37895005e-04 9.99906056e-01 -5.00661981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34655999499995 meters 0.016161385746445812 Centerline is valid? [True, True] Translation: X:238.82, Y:-98.52, Z:-5.01 [[-6.59794555e-01 -7.51385364e-01 9.54886052e-03 2.38819978e+02] [ 7.51314845e-01 -6.59863541e-01 -1.03010402e-02 -9.85171046e+01] [ 1.40409958e-02 3.77630426e-04 9.99901349e-01 -5.00773321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40655999499995 meters 0.017486998953582585 Centerline is valid? [True, True] Translation: X:238.79, Y:-98.47, Z:-5.01 [[-6.57874719e-01 -7.53056901e-01 1.03033172e-02 2.38785378e+02] [ 7.52975102e-01 -6.57955243e-01 -1.11083392e-02 -9.84706279e+01] [ 1.51443330e-02 4.50245771e-04 9.99885217e-01 -5.00814727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46655999499995 meters 0.017557704230747116 Centerline is valid? [True, True] Translation: X:238.75, Y:-98.42, Z:-5.01 [[-6.57728587e-01 -7.53184189e-01 1.03288048e-02 2.38750088e+02] [ 7.53102106e-01 -6.57809522e-01 -1.11288203e-02 -9.84249421e+01] [ 1.51764376e-02 4.58901414e-04 9.99884726e-01 -5.00764478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52655999499996 meters 0.018075885892723065 Centerline is valid? [True, True] Translation: X:238.72, Y:-98.38, Z:-5.01 [[-6.58586630e-01 -7.52435104e-01 1.02501055e-02 2.38716388e+02] [ 7.52354280e-01 -6.58666242e-01 -1.10372018e-02 -9.83787802e+01] [ 1.50561765e-02 4.42757193e-04 9.99886551e-01 -5.00750558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58655999499996 meters 0.016057561447235535 Centerline is valid? [True, True] Translation: X:238.68, Y:-98.33, Z:-5.01 [[-6.60123783e-01 -7.51098113e-01 9.39230191e-03 2.38683147e+02] [ 7.51030195e-01 -6.60190487e-01 -1.01077957e-02 -9.83303474e+01] [ 1.37926547e-02 3.81505981e-04 9.99904804e-01 -5.00554500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64655999499996 meters 0.014718822241384993 Centerline is valid? [True, True] Translation: X:238.65, Y:-98.28, Z:-5.00 [[-6.64137427e-01 -7.47547487e-01 9.70732157e-03 2.38651958e+02] [ 7.47474644e-01 -6.64208289e-01 -1.04405925e-02 -9.82806939e+01] [ 1.42525221e-02 3.21988500e-04 9.99898376e-01 -5.00464635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70655999499996 meters 0.012898378253606298 Centerline is valid? [True, True] Translation: X:238.62, Y:-98.23, Z:-5.01 [[-6.69520178e-01 -7.42720283e-01 1.04552597e-02 2.38621630e+02] [ 7.42635290e-01 -6.69601764e-01 -1.12384983e-02 -9.82303379e+01] [ 1.53479210e-02 2.40043479e-04 9.99882185e-01 -5.00578711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76655999499997 meters 0.012033446815621742 Centerline is valid? [True, True] Translation: X:238.59, Y:-98.18, Z:-5.01 [[-6.73120665e-01 -7.39453018e-01 1.08537845e-02 2.38588232e+02] [ 7.39361098e-01 -6.73208143e-01 -1.16603229e-02 -9.81823340e+01] [ 1.59291170e-02 1.76061684e-04 9.99873108e-01 -5.00575558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82655999499997 meters 0.011609954470609 Centerline is valid? [True, True] Translation: X:238.55, Y:-98.14, Z:-5.00 [[-6.75188072e-01 -7.37574432e-01 1.02481436e-02 2.38552432e+02] [ 7.37492360e-01 -6.75265830e-01 -1.10035227e-02 -9.81361613e+01] [ 1.50361382e-02 1.28480345e-04 9.99886943e-01 -5.00486853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88655999499997 meters 0.011826089292762774 Centerline is valid? [True, True] Translation: X:238.51, Y:-98.10, Z:-5.00 [[-6.73821946e-01 -7.38827290e-01 9.91061529e-03 2.38512592e+02] [ 7.38750770e-01 -6.73894807e-01 -1.06343084e-02 -9.80951858e+01] [ 1.45356295e-02 1.55844276e-04 9.99894340e-01 -5.00413333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.946559995 meters 0.01221062430292737 Centerline is valid? [True, True] Translation: X:238.47, Y:-98.05, Z:-5.00 [[-6.72183303e-01 -7.40310482e-01 1.04879611e-02 2.38472291e+02] [ 7.40225065e-01 -6.72265088e-01 -1.12474038e-02 -9.80538148e+01] [ 1.53772610e-02 2.03134630e-04 9.99881742e-01 -5.00424066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.006559995 meters 0.012533524190330958 Centerline is valid? [True, True] Translation: X:238.43, Y:-98.01, Z:-5.00 [[-6.70464992e-01 -7.41847242e-01 1.18052774e-02 2.38432500e+02] [ 7.41739348e-01 -6.70568860e-01 -1.26547627e-02 -9.80122693e+01] [ 1.73041522e-02 2.71863391e-04 9.99850235e-01 -5.00480568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.066559995 meters 0.013185300990361514 Centerline is valid? [True, True] Translation: X:238.39, Y:-97.97, Z:-5.01 [[-6.69954442e-01 -7.42298792e-01 1.23914795e-02 2.38391678e+02] [ 7.42180140e-01 -6.70068960e-01 -1.32751054e-02 -9.79720867e+01] [ 1.81572405e-02 3.02994170e-04 9.99835098e-01 -5.00590962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.126559995 meters 0.014301338692169359 Centerline is valid? [True, True] Translation: X:238.35, Y:-97.93, Z:-5.01 [[-6.69730093e-01 -7.42499100e-01 1.25175673e-02 2.38350428e+02] [ 7.42378218e-01 -6.69846987e-01 -1.34013372e-02 -9.79336350e+01] [ 1.83353355e-02 3.17490499e-04 9.99831843e-01 -5.00668153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.186559995 meters 0.013448181761800002 Centerline is valid? [True, True] Translation: X:238.31, Y:-97.89, Z:-5.00 [[-6.70382538e-01 -7.41913442e-01 1.23165556e-02 2.38311795e+02] [ 7.41796461e-01 -6.70495603e-01 -1.31778883e-02 -9.78910107e+01] [ 1.80350488e-02 3.02151146e-04 9.99837310e-01 -5.00412654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.246559995 meters 0.01286566957345315 Centerline is valid? [True, True] Translation: X:238.27, Y:-97.85, Z:-5.00 [[-6.71734026e-01 -7.40701537e-01 1.16030470e-02 2.38272782e+02] [ 7.40597655e-01 -6.71834180e-01 -1.24075561e-02 -9.78474963e+01] [ 1.69856195e-02 2.58611797e-04 9.99855701e-01 -5.00156921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.306559995 meters 0.012012471495866695 Centerline is valid? [True, True] Translation: X:238.23, Y:-97.80, Z:-5.00 [[-6.74226894e-01 -7.38452325e-01 1.03081998e-02 2.38233425e+02] [ 7.38370167e-01 -6.74305665e-01 -1.10166234e-02 -9.78043475e+01] [ 1.50861287e-02 1.83563453e-04 9.99886181e-01 -4.99975937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36655999499993 meters 0.012016218331454049 Centerline is valid? [True, True] Translation: X:238.19, Y:-97.76, Z:-5.00 [[-6.75941046e-01 -7.36889524e-01 9.87583571e-03 2.38194764e+02] [ 7.36814043e-01 -6.76013172e-01 -1.05478835e-02 -9.77628831e+01] [ 1.44488199e-02 1.46907006e-04 9.99895600e-01 -5.00041047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42655999499993 meters 0.011867598563782668 Centerline is valid? [True, True] Translation: X:238.16, Y:-97.72, Z:-5.00 [[-6.77378871e-01 -7.35559931e-01 1.04619769e-02 2.38156794e+02] [ 7.35475173e-01 -6.77459645e-01 -1.11668636e-02 -9.77198433e+01] [ 1.53014646e-02 1.30326770e-04 9.99882917e-01 -4.99985758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48655999499994 meters 0.01206351034099068 Centerline is valid? [True, True] Translation: X:238.12, Y:-97.68, Z:-5.00 [[-6.78024306e-01 -7.34952386e-01 1.13150857e-02 2.38118732e+02] [ 7.34853272e-01 -6.78118702e-01 -1.20704187e-02 -9.76790730e+01] [ 1.65441542e-02 1.30890498e-04 9.99863128e-01 -5.00141695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54655999499994 meters 0.012224103618116959 Centerline is valid? [True, True] Translation: X:238.08, Y:-97.64, Z:-5.00 [[-6.77448262e-01 -7.35457690e-01 1.28778046e-02 2.38078378e+02] [ 7.35329553e-01 -6.77570629e-01 -1.37291870e-02 -9.76380017e+01] [ 1.88228583e-02 1.68616431e-04 9.99822820e-01 -5.00270367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60655999499994 meters 0.012487588812189003 Centerline is valid? [True, True] Translation: X:238.04, Y:-97.60, Z:-5.00 [[-6.77727394e-01 -7.35175205e-01 1.42477372e-02 2.38038645e+02] [ 7.35018467e-01 -6.77877116e-01 -1.51811688e-02 -9.75957115e+01] [ 2.08190339e-02 1.83656020e-04 9.99783244e-01 -5.00489928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66655999499994 meters 0.012216100537473538 Centerline is valid? [True, True] Translation: X:238.00, Y:-97.55, Z:-5.00 [[-6.79759213e-01 -7.33294305e-01 1.43831221e-02 2.38001176e+02] [ 7.33134357e-01 -6.79911350e-01 -1.53156846e-02 -9.75518140e+01] [ 2.10101523e-02 1.33783260e-04 9.99779253e-01 -5.00415435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72655999499995 meters 0.011820911668690993 Centerline is valid? [True, True] Translation: X:237.96, Y:-97.51, Z:-5.00 [[-6.82462870e-01 -7.30790494e-01 1.37726216e-02 2.37964981e+02] [ 7.30643495e-01 -6.82601824e-01 -1.46571927e-02 -9.75066293e+01] [ 2.01125537e-02 5.98865453e-05 9.99797720e-01 -5.00202059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78655999499995 meters 0.011746335022009561 Centerline is valid? [True, True] Translation: X:237.93, Y:-97.46, Z:-5.00 [[-6.83726756e-01 -7.29643663e-01 1.17408689e-02 2.37926752e+02] [ 7.29536758e-01 -6.83827555e-01 -1.24897489e-02 -9.74647469e+01] [ 1.71417958e-02 2.58199454e-05 9.99853068e-01 -5.00105939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84655999499995 meters 0.011742990970341628 Centerline is valid? [True, True] Translation: X:237.89, Y:-97.42, Z:-5.00 [[-6.83051263e-01 -7.30292048e-01 1.07003792e-02 2.37887400e+02] [ 7.30203443e-01 -6.83135070e-01 -1.13757840e-02 -9.74228333e+01] [ 1.56174489e-02 4.32101154e-05 9.99878039e-01 -5.00049883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90655999499995 meters 0.011653008947030901 Centerline is valid? [True, True] Translation: X:237.85, Y:-97.38, Z:-5.00 [[-6.83023117e-01 -7.30327997e-01 1.00219491e-02 2.37847689e+02] [ 7.30250375e-01 -6.83096637e-01 -1.06477707e-02 -9.73816029e+01] [ 1.46223247e-02 4.58585681e-05 9.99893087e-01 -5.00007720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96655999499995 meters 0.01167652571171184 Centerline is valid? [True, True] Translation: X:237.81, Y:-97.34, Z:-5.00 [[-6.83442015e-01 -7.29938837e-01 9.81358253e-03 2.37806707e+02] [ 7.29864455e-01 -6.83512467e-01 -1.04204262e-02 -9.73399446e+01] [ 1.43139798e-02 4.08280181e-05 9.99897549e-01 -5.00072156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02655999499996 meters 0.011826008688408909 Centerline is valid? [True, True] Translation: X:237.77, Y:-97.30, Z:-5.00 [[-6.83867254e-01 -7.29532595e-01 1.03813046e-02 2.37766745e+02] [ 7.29449417e-01 -6.83946044e-01 -1.10162071e-02 -9.72990345e+01] [ 1.51369344e-02 3.90132330e-05 9.99885429e-01 -5.00159645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08655999499996 meters 0.012043338302696296 Centerline is valid? [True, True] Translation: X:237.73, Y:-97.26, Z:-5.00 [[-6.83702950e-01 -7.29681867e-01 1.07074251e-02 2.37726349e+02] [ 7.29593511e-01 -6.83786787e-01 -1.13551158e-02 -9.72579985e+01] [ 1.56072179e-02 4.85417162e-05 9.99878199e-01 -5.00227166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14655999499996 meters 0.012036335427708586 Centerline is valid? [True, True] Translation: X:237.68, Y:-97.22, Z:-5.00 [[-6.83025263e-01 -7.30327841e-01 9.88611019e-03 2.37684669e+02] [ 7.30252674e-01 -6.83096802e-01 -1.04781454e-02 -9.72179775e+01] [ 1.44056516e-02 6.25203760e-05 9.99896231e-01 -5.00163171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20655999499996 meters 0.011948238790779659 Centerline is valid? [True, True] Translation: X:237.64, Y:-97.18, Z:-5.00 [[-6.82430803e-01 -7.30906491e-01 7.99371220e-03 2.37642668e+02] [ 7.30857443e-01 -6.82477616e-01 -8.46768611e-03 -9.71780327e+01] [ 1.16446164e-02 6.36542254e-05 9.99932197e-01 -5.00043058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26655999499997 meters 0.012099964705155833 Centerline is valid? [True, True] Translation: X:237.60, Y:-97.14, Z:-5.00 [[-6.82548546e-01 -7.30804275e-01 7.25218071e-03 2.37602928e+02] [ 7.30763932e-01 -6.82587071e-01 -7.67898186e-03 -9.71372442e+01] [ 1.05620775e-02 5.83541868e-05 9.99944218e-01 -4.99991435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32655999499997 meters 0.012151542150998128 Centerline is valid? [True, True] Translation: X:237.56, Y:-97.10, Z:-5.00 [[-6.81526000e-01 -7.31766043e-01 6.38505144e-03 2.37561681e+02] [ 7.31734850e-01 -6.81555907e-01 -6.75694371e-03 -9.70963984e+01] [ 9.29627148e-03 6.71318282e-05 9.99956786e-01 -4.99934519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38655999499997 meters 0.012383825548556241 Centerline is valid? [True, True] Translation: X:237.52, Y:-97.06, Z:-5.00 [[-6.80900215e-01 -7.32347673e-01 6.46394492e-03 2.37520715e+02] [ 7.32315771e-01 -6.80930892e-01 -6.83609990e-03 -9.70559888e+01] [ 9.40790163e-03 7.89469177e-05 9.99955742e-01 -4.99994624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.446559995 meters 0.012630691361996866 Centerline is valid? [True, True] Translation: X:237.48, Y:-97.02, Z:-5.00 [[-6.80143735e-01 -7.33054435e-01 5.97455874e-03 2.37479435e+02] [ 7.33027242e-01 -6.80169970e-01 -6.31459327e-03 -9.70157539e+01] [ 8.69265604e-03 8.46832655e-05 9.99962215e-01 -5.00104618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.506559995 meters 0.012598126585601615 Centerline is valid? [True, True] Translation: X:237.44, Y:-96.97, Z:-5.00 [[-6.79882085e-01 -7.33303578e-01 5.11985190e-03 2.37439962e+02] [ 7.33283640e-01 -6.79901358e-01 -5.40809802e-03 -9.69736379e+01] [ 7.44677189e-03 7.74346824e-05 9.99972269e-01 -5.00039353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.566559995 meters 0.012740713189164355 Centerline is valid? [True, True] Translation: X:237.40, Y:-96.93, Z:-5.00 [[-6.80089717e-01 -7.33113589e-01 4.73727937e-03 2.37400535e+02] [ 7.33096535e-01 -6.80106212e-01 -5.00094777e-03 -9.69329495e+01] [ 6.88811590e-03 7.17899326e-05 9.99976274e-01 -5.00119282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.626559995 meters 0.01274977956374065 Centerline is valid? [True, True] Translation: X:237.36, Y:-96.89, Z:-5.00 [[-6.80228606e-01 -7.32986595e-01 4.43794032e-03 2.37361497e+02] [ 7.32971645e-01 -6.80243079e-01 -4.68194165e-03 -9.68907438e+01] [ 6.45067866e-03 6.80937700e-05 9.99979192e-01 -5.00141459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.686559995 meters 0.012843864642569048 Centerline is valid? [True, True] Translation: X:237.32, Y:-96.85, Z:-5.00 [[-6.79812364e-01 -7.33372767e-01 4.41975177e-03 2.37322591e+02] [ 7.33357965e-01 -6.79826727e-01 -4.66009082e-03 -9.68478497e+01] [ 6.42224908e-03 7.32728093e-05 9.99979374e-01 -5.00105403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.746559995 meters 0.013005618297848388 Centerline is valid? [True, True] Translation: X:237.28, Y:-96.81, Z:-5.00 [[-6.79002650e-01 -7.34122001e-01 4.50432188e-03 2.37282702e+02] [ 7.34106661e-01 -6.79017585e-01 -4.74655708e-03 -9.68060979e+01] [ 6.54306575e-03 8.37278611e-05 9.99978590e-01 -5.00100281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.806559995 meters 0.013544793008737906 Centerline is valid? [True, True] Translation: X:237.24, Y:-96.76, Z:-5.00 [[-6.77546367e-01 -7.35464071e-01 4.84985843e-03 2.37241509e+02] [ 7.35446341e-01 -6.77563716e-01 -5.10779998e-03 -9.67649761e+01] [ 7.04269146e-03 1.06039320e-04 9.99975194e-01 -5.00205619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86655999499993 meters 0.014097318054060785 Centerline is valid? [True, True] Translation: X:237.20, Y:-96.72, Z:-5.00 [[-6.75897555e-01 -7.36971938e-01 5.90405766e-03 2.37200331e+02] [ 7.36945750e-01 -6.75923325e-01 -6.21459704e-03 -9.67236241e+01] [ 8.57067390e-03 1.50539248e-04 9.99963260e-01 -5.00359126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92655999499993 meters 0.014371143407981846 Centerline is valid? [True, True] Translation: X:237.16, Y:-96.68, Z:-5.00 [[-6.75576499e-01 -7.37265573e-01 5.98896334e-03 2.37161552e+02] [ 7.37238673e-01 -6.75603026e-01 -6.30001445e-03 -9.66813670e+01] [ 8.69094552e-03 1.59153680e-04 9.99962220e-01 -5.00318254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98655999499994 meters 0.013931617068066353 Centerline is valid? [True, True] Translation: X:237.12, Y:-96.64, Z:-5.00 [[-6.76523709e-01 -7.36401998e-01 5.26952858e-03 2.37124791e+02] [ 7.36381173e-01 -6.76544218e-01 -5.53969420e-03 -9.66374585e+01] [ 7.64451097e-03 1.32647171e-04 9.99970772e-01 -5.00189301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04655999499994 meters 0.013501061564097453 Centerline is valid? [True, True] Translation: X:237.09, Y:-96.59, Z:-5.00 [[-6.77493118e-01 -7.35517226e-01 4.18165789e-03 2.37086200e+02] [ 7.35504109e-01 -6.77506015e-01 -4.39367973e-03 -9.65933034e+01] [ 6.06472550e-03 9.89387831e-05 9.99981604e-01 -5.00071207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10655999499994 meters 0.01332017702103527 Centerline is valid? [True, True] Translation: X:237.05, Y:-96.55, Z:-5.00 [[-6.79024332e-01 -7.34108293e-01 3.31220919e-03 2.37048661e+02] [ 7.34100057e-01 -6.79032407e-01 -3.47814974e-03 -9.65506544e+01] [ 4.80243595e-03 6.97446506e-05 9.99988466e-01 -4.99975101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16655999499994 meters 0.013255752116944367 Centerline is valid? [True, True] Translation: X:237.01, Y:-96.51, Z:-5.00 [[-6.80252498e-01 -7.32970493e-01 3.28546660e-03 2.37009988e+02] [ 7.32962387e-01 -6.80260430e-01 -3.44789250e-03 -9.65085805e+01] [ 4.76217639e-03 6.26859521e-05 9.99988659e-01 -5.00068493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22655999499995 meters 0.012801151745297971 Centerline is valid? [True, True] Translation: X:236.97, Y:-96.47, Z:-5.00 [[-6.81800227e-01 -7.31523032e-01 4.74377917e-03 2.36972062e+02] [ 7.31506118e-01 -6.81816726e-01 -4.97516331e-03 -9.64659723e+01] [ 6.87383454e-03 7.80360102e-05 9.99976372e-01 -5.00201738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28655999499995 meters 0.012571741134684228 Centerline is valid? [True, True] Translation: X:236.93, Y:-96.42, Z:-5.00 [[-6.82991619e-01 -7.30406725e-01 5.33529481e-03 2.36932681e+02] [ 7.30385320e-01 -6.83012453e-01 -5.59234891e-03 -9.64227884e+01] [ 7.72876205e-03 7.72935701e-05 9.99970130e-01 -5.00252256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34655999499995 meters 0.012590506145081311 Centerline is valid? [True, True] Translation: X:236.89, Y:-96.38, Z:-5.00 [[-6.83542600e-01 -7.29885903e-01 6.00691984e-03 2.36892628e+02] [ 7.29858780e-01 -6.83568989e-01 -6.29273726e-03 -9.63809922e+01] [ 8.69912433e-03 8.28491980e-05 9.99962158e-01 -5.00304994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40655999499995 meters 0.012706748736414327 Centerline is valid? [True, True] Translation: X:236.85, Y:-96.34, Z:-5.00 [[-6.83835467e-01 -7.29608967e-01 6.30948656e-03 2.36852831e+02] [ 7.29579070e-01 -6.83864568e-01 -6.60548656e-03 -9.63400528e+01] [ 9.13425653e-03 8.62033510e-05 9.99958278e-01 -5.00383253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46655999499995 meters 0.013217977145621264 Centerline is valid? [True, True] Translation: X:236.81, Y:-96.30, Z:-5.00 [[-6.83300987e-01 -7.30104063e-01 6.91507208e-03 2.36812090e+02] [ 7.30068223e-01 -6.83335969e-01 -7.23490546e-03 -9.62995899e+01] [ 1.00075514e-02 1.04856340e-04 9.99949918e-01 -5.00399759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52655999499996 meters 0.013546741308969486 Centerline is valid? [True, True] Translation: X:236.77, Y:-96.26, Z:-5.00 [[-6.82324010e-01 -7.31009498e-01 7.68503705e-03 2.36770557e+02] [ 7.30965339e-01 -6.82367274e-01 -8.03596704e-03 -9.62593658e+01] [ 1.11183860e-02 1.34362457e-04 9.99938180e-01 -5.00332138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58655999499996 meters 0.01379078414115129 Centerline is valid? [True, True] Translation: X:236.73, Y:-96.22, Z:-5.00 [[-6.81391936e-01 -7.31878223e-01 7.70037633e-03 2.36729132e+02] [ 7.31833995e-01 -6.81435429e-01 -8.04743632e-03 -9.62185003e+01] [ 1.11370526e-02 1.51938952e-04 9.99937970e-01 -5.00252008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64655999499996 meters 0.013988865761376937 Centerline is valid? [True, True] Translation: X:236.69, Y:-96.18, Z:-5.00 [[-6.79948053e-01 -7.33217882e-01 7.88556223e-03 2.36686404e+02] [ 7.33171644e-01 -6.79993753e-01 -8.23624089e-03 -9.61789211e+01] [ 1.14010922e-02 1.81254663e-04 9.99934989e-01 -5.00129085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70655999499996 meters 0.014362471139745767 Centerline is valid? [True, True] Translation: X:236.64, Y:-96.14, Z:-5.00 [[-6.79170622e-01 -7.33938619e-01 7.83393372e-03 2.36644359e+02] [ 7.33893084e-01 -6.79215773e-01 -8.17768030e-03 -9.61387743e+01] [ 1.13228467e-02 1.95229570e-04 9.99935875e-01 -5.00036632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76655999499997 meters 0.014916733653330442 Centerline is valid? [True, True] Translation: X:236.60, Y:-96.10, Z:-5.00 [[-6.77530074e-01 -7.35448788e-01 8.25101145e-03 2.36600630e+02] [ 7.35398445e-01 -6.77580272e-01 -8.60819787e-03 -9.60998581e+01] [ 1.19216113e-02 2.35468048e-04 9.99928907e-01 -5.00073988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82655999499997 meters 0.015124818745316135 Centerline is valid? [True, True] Translation: X:236.56, Y:-96.06, Z:-5.00 [[-6.76818610e-01 -7.36093132e-01 9.13626193e-03 2.36558761e+02] [ 7.36031518e-01 -6.76880215e-01 -9.52782141e-03 -9.60603364e+01] [ 1.31975188e-02 2.75969900e-04 9.99912871e-01 -5.00151009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88655999499997 meters 0.01494995094692926 Centerline is valid? [True, True] Translation: X:236.52, Y:-96.02, Z:-5.00 [[-6.77617408e-01 -7.35345987e-01 1.00462305e-02 2.36518806e+02] [ 7.35271503e-01 -6.77691813e-01 -1.04701408e-02 -9.60194307e+01] [ 1.45074243e-02 2.91957321e-04 9.99894719e-01 -5.00176543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.946559995 meters 0.01425709683113611 Centerline is valid? [True, True] Translation: X:236.48, Y:-95.98, Z:-5.00 [[-6.79814120e-01 -7.33321915e-01 9.57762253e-03 2.36478821e+02] [ 7.33254093e-01 -6.79881542e-01 -9.97616928e-03 -9.59769340e+01] [ 1.38273923e-02 2.40890179e-04 9.99904368e-01 -5.00083095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.006559995 meters 0.01368487942094718 Centerline is valid? [True, True] Translation: X:236.44, Y:-95.94, Z:-5.00 [[-6.81365893e-01 -7.31882200e-01 9.43216268e-03 2.36439010e+02] [ 7.31816360e-01 -6.81431141e-01 -9.81911348e-03 -9.59352520e+01] [ 1.36138038e-02 2.12201940e-04 9.99907305e-01 -5.00065794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.066559995 meters 0.013340290732052796 Centerline is valid? [True, True] Translation: X:236.40, Y:-95.89, Z:-5.00 [[-6.83472079e-01 -7.29909186e-01 9.92453353e-03 2.36398955e+02] [ 7.29836148e-01 -6.83544107e-01 -1.03272018e-02 -9.58937506e+01] [ 1.43217759e-02 1.84929216e-04 9.99897421e-01 -5.00211128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.126559995 meters 0.013105204038632056 Centerline is valid? [True, True] Translation: X:236.36, Y:-95.85, Z:-5.00 [[-6.85014750e-01 -7.28449467e-01 1.07780787e-02 2.36360027e+02] [ 7.28363253e-01 -6.85099514e-01 -1.12083590e-02 -9.58523124e+01] [ 1.55487796e-02 1.72465261e-04 9.99879096e-01 -5.00317926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.186559995 meters 0.012688655425400156 Centerline is valid? [True, True] Translation: X:236.32, Y:-95.81, Z:-5.00 [[-6.87050482e-01 -7.26535017e-01 1.04164898e-02 2.36321244e+02] [ 7.26454361e-01 -6.87129429e-01 -1.08263297e-02 -9.58093088e+01] [ 1.50231843e-02 1.28869451e-04 9.99887137e-01 -5.00187330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.246559995 meters 0.012545581018210426 Centerline is valid? [True, True] Translation: X:236.28, Y:-95.77, Z:-5.00 [[-6.88072583e-01 -7.25570798e-01 1.01556200e-02 2.36281953e+02] [ 7.25494122e-01 -6.88147516e-01 -1.05486624e-02 -9.57675589e+01] [ 1.46423661e-02 1.09597212e-04 9.99892789e-01 -5.00109570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.306559995 meters 0.012455969027015939 Centerline is valid? [True, True] Translation: X:236.24, Y:-95.73, Z:-5.00 [[-6.89318782e-01 -7.24394106e-01 9.63304273e-03 2.36243060e+02] [ 7.24325093e-01 -6.89386083e-01 -9.99942122e-03 -9.57265138e+01] [ 1.38844074e-02 8.46657142e-05 9.99903603e-01 -5.00167557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36655999499993 meters 0.011918590405897017 Centerline is valid? [True, True] Translation: X:236.20, Y:-95.68, Z:-5.00 [[-6.89240754e-01 -7.24471967e-01 9.35691379e-03 2.36202633e+02] [ 7.24406937e-01 -6.89304259e-01 -9.70717205e-03 -9.56846794e+01] [ 1.34823346e-02 8.76346787e-05 9.99909105e-01 -4.99888774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42655999499993 meters 0.011930804752386918 Centerline is valid? [True, True] Translation: X:236.16, Y:-95.64, Z:-5.00 [[-6.89154647e-01 -7.24548334e-01 9.77673313e-03 2.36161134e+02] [ 7.24477427e-01 -6.89223986e-01 -1.01368689e-02 -9.56441701e+01] [ 1.40830104e-02 9.71521698e-05 9.99900825e-01 -4.99969770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48655999499994 meters 0.011850337411764677 Centerline is valid? [True, True] Translation: X:236.12, Y:-95.60, Z:-5.00 [[-6.89969759e-01 -7.23776315e-01 9.46459105e-03 2.36120258e+02] [ 7.23709866e-01 -6.90034665e-01 -9.80766619e-03 -9.56025060e+01] [ 1.36294524e-02 8.26248540e-05 9.99907111e-01 -5.00034150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54655999499994 meters 0.011732919742961171 Centerline is valid? [True, True] Translation: X:236.08, Y:-95.56, Z:-5.00 [[-6.90649273e-01 -7.23141421e-01 8.37054961e-03 2.36080439e+02] [ 7.23089460e-01 -6.90699993e-01 -8.66902640e-03 -9.55605067e+01] [ 1.20504706e-02 6.53994082e-05 9.99927388e-01 -4.99836302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60655999499994 meters 0.0117135126333529 Centerline is valid? [True, True] Translation: X:236.04, Y:-95.52, Z:-5.00 [[-6.90717191e-01 -7.23078844e-01 8.16993836e-03 2.36038455e+02] [ 7.23029395e-01 -6.90765504e-01 -8.45646000e-03 -9.55204622e+01] [ 1.17581989e-02 6.60832943e-05 9.99930868e-01 -4.99843792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66655999499994 meters 0.011668303358288395 Centerline is valid? [True, True] Translation: X:236.00, Y:-95.48, Z:-5.00 [[-6.90832101e-01 -7.22969781e-01 8.10579048e-03 2.35997075e+02] [ 7.22921155e-01 -6.90879650e-01 -8.38524674e-03 -9.54790160e+01] [ 1.16624057e-02 6.70497974e-05 9.99931990e-01 -4.99855736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72655999499995 meters 0.011850124920092457 Centerline is valid? [True, True] Translation: X:235.96, Y:-95.44, Z:-5.00 [[-6.89935540e-01 -7.23827612e-01 7.90814653e-03 2.35956523e+02] [ 7.23781431e-01 -6.89980855e-01 -8.17674946e-03 -9.54405524e+01] [ 1.13750267e-02 8.23395642e-05 9.99935299e-01 -4.99941140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78655999499995 meters 0.011778977903090442 Centerline is valid? [True, True] Translation: X:235.92, Y:-95.40, Z:-5.00 [[-6.89512363e-01 -7.24234574e-01 7.54864801e-03 2.35916234e+02] [ 7.24192570e-01 -6.89553677e-01 -7.80051259e-03 -9.53989182e+01] [ 1.08545989e-02 8.81249297e-05 9.99941083e-01 -4.99801126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84655999499995 meters 0.01197140203066083 Centerline is valid? [True, True] Translation: X:235.87, Y:-95.36, Z:-5.00 [[-6.87849770e-01 -7.25814037e-01 7.52836571e-03 2.35874335e+02] [ 7.25772399e-01 -6.87890958e-01 -7.77527526e-03 -9.53581330e+01] [ 1.08220986e-02 1.15658741e-04 9.99941433e-01 -4.99757414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90655999499995 meters 0.012386374631602833 Centerline is valid? [True, True] Translation: X:235.83, Y:-95.32, Z:-5.00 [[-6.86727552e-01 -7.26868159e-01 8.24313303e-03 2.35832918e+02] [ 7.26818356e-01 -6.86777008e-01 -8.50993475e-03 -9.53180801e+01] [ 1.18467948e-02 1.47253740e-04 9.99929813e-01 -4.99949157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96655999499995 meters 0.01294917161807862 Centerline is valid? [True, True] Translation: X:235.79, Y:-95.28, Z:-5.00 [[-6.85011419e-01 -7.28492213e-01 7.64540654e-03 2.35791320e+02] [ 7.28449521e-01 -6.85054063e-01 -7.88836478e-03 -9.52778856e+01] [ 1.09841291e-02 1.65672783e-04 9.99939659e-01 -4.99963585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02655999499996 meters 0.013232032024943252 Centerline is valid? [True, True] Translation: X:235.75, Y:-95.24, Z:-5.00 [[-6.84565451e-01 -7.28920268e-01 6.73691727e-03 2.35750378e+02] [ 7.28887184e-01 -6.84598582e-01 -6.94658006e-03 -9.52382302e+01] [ 9.67558701e-03 1.55063942e-04 9.99953178e-01 -4.99891593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08655999499996 meters 0.01294087903575072 Centerline is valid? [True, True] Translation: X:235.71, Y:-95.20, Z:-5.00 [[-6.85744677e-01 -7.27812986e-01 6.51875300e-03 2.35709673e+02] [ 7.27781996e-01 -6.85775647e-01 -6.71782105e-03 -9.51968801e+01] [ 9.35971945e-03 1.37521041e-04 9.99956187e-01 -4.99878151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14655999499996 meters 0.012519138525090866 Centerline is valid? [True, True] Translation: X:235.67, Y:-95.15, Z:-5.00 [[-6.88969204e-01 -7.24757830e-01 6.89375687e-03 2.35672064e+02] [ 7.24723057e-01 -6.89003684e-01 -7.10031848e-03 -9.51530571e+01] [ 9.89583530e-03 1.04163783e-04 9.99951030e-01 -4.99907698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20655999499996 meters 0.0118835413639192 Centerline is valid? [True, True] Translation: X:235.63, Y:-95.11, Z:-5.00 [[-6.93139739e-01 -7.20769028e-01 7.02212071e-03 2.35634008e+02] [ 7.20732783e-01 -6.93175306e-01 -7.22847847e-03 -9.51093994e+01] [ 1.00776241e-02 5.07269175e-05 9.99949218e-01 -4.99902508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26655999499997 meters 0.011898534432508425 Centerline is valid? [True, True] Translation: X:235.59, Y:-95.07, Z:-5.00 [[-6.94192410e-01 -7.19754509e-01 7.09542316e-03 2.35594295e+02] [ 7.19717496e-01 -6.94228669e-01 -7.29937213e-03 -9.50675324e+01] [ 1.01796022e-02 3.95314627e-05 9.99948186e-01 -4.99963573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32655999499997 meters 0.011769152662558792 Centerline is valid? [True, True] Translation: X:235.56, Y:-95.02, Z:-5.00 [[-6.96012953e-01 -7.17992052e-01 7.30638007e-03 2.35555455e+02] [ 7.17952752e-01 -6.96051301e-01 -7.51211069e-03 -9.50236715e+01] [ 1.04792511e-02 1.71093376e-05 9.99945091e-01 -4.99924105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38655999499997 meters 0.012003631307068439 Centerline is valid? [True, True] Translation: X:235.52, Y:-94.98, Z:-5.00 [[-6.97176676e-01 -7.16860992e-01 7.41624415e-03 2.35518866e+02] [ 7.16820492e-01 -6.97216120e-01 -7.61997466e-03 -9.49814146e+01] [ 1.06331876e-02 3.64717664e-06 9.99943466e-01 -5.00058187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.446559995 meters 0.011920774850955376 Centerline is valid? [True, True] Translation: X:235.48, Y:-94.94, Z:-5.00 [[-6.97282716e-01 -7.16759644e-01 7.24066887e-03 2.35479786e+02] [ 7.16721081e-01 -6.97320309e-01 -7.43492327e-03 -9.49401014e+01] [ 1.03781184e-02 5.29652736e-06 9.99946146e-01 -4.99985195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.506559995 meters 0.0119300068358987 Centerline is valid? [True, True] Translation: X:235.44, Y:-94.90, Z:-5.00 [[-6.96863329e-01 -7.17176113e-01 6.31847429e-03 2.35439956e+02] [ 7.17146802e-01 -6.96891974e-01 -6.48391926e-03 -9.48987320e+01] [ 9.05340603e-03 1.28680667e-05 9.99959017e-01 -4.99902553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.566559995 meters 0.012048590048988258 Centerline is valid? [True, True] Translation: X:235.40, Y:-94.86, Z:-5.00 [[-6.95223892e-01 -7.18767572e-01 6.07599585e-03 2.35399908e+02] [ 7.18740564e-01 -6.95250441e-01 -6.23102472e-03 -9.48590151e+01] [ 8.70299730e-03 3.51074320e-05 9.99962128e-01 -4.99926751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.626559995 meters 0.012342157179565062 Centerline is valid? [True, True] Translation: X:235.36, Y:-94.82, Z:-5.00 [[-6.93304552e-01 -7.20619404e-01 6.03917271e-03 2.35358551e+02] [ 7.20592824e-01 -6.93330852e-01 -6.18959393e-03 -9.48195285e+01] [ 8.64748625e-03 6.05108718e-05 9.99962608e-01 -4.99917481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.686559995 meters 0.013068336778134553 Centerline is valid? [True, True] Translation: X:235.32, Y:-94.78, Z:-5.00 [[-6.90812639e-01 -7.23013717e-01 5.39094503e-03 2.35316909e+02] [ 7.22992636e-01 -6.90833669e-01 -5.52180002e-03 -9.47817843e+01] [ 7.71658349e-03 8.30843122e-05 9.99970223e-01 -4.99941235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.746559995 meters 0.014534515119010456 Centerline is valid? [True, True] Translation: X:235.28, Y:-94.74, Z:-5.00 [[-6.87976959e-01 -7.25708249e-01 5.93644266e-03 2.35275954e+02] [ 7.25682808e-01 -6.88002559e-01 -6.07783077e-03 -9.47430072e+01] [ 8.49501967e-03 1.26566851e-04 9.99963909e-01 -4.99999768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.806559995 meters 0.0148555320131305 Centerline is valid? [True, True] Translation: X:235.24, Y:-94.70, Z:-5.00 [[-6.87216649e-01 -7.26419280e-01 6.95034453e-03 2.35236256e+02] [ 7.26384486e-01 -6.87251777e-01 -7.11155735e-03 -9.47024403e+01] [ 9.94260899e-03 1.61441824e-04 9.99950558e-01 -5.00216069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86655999499993 meters 0.015094231990346372 Centerline is valid? [True, True] Translation: X:235.20, Y:-94.66, Z:-5.00 [[-6.87381757e-01 -7.26261103e-01 7.15058425e-03 2.35196953e+02] [ 7.26224314e-01 -6.87418928e-01 -7.31181968e-03 -9.46620880e+01] [ 1.02257372e-02 1.66916684e-04 9.99947702e-01 -5.00256121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92655999499993 meters 0.014971209313053523 Centerline is valid? [True, True] Translation: X:235.16, Y:-94.62, Z:-5.00 [[-6.88058225e-01 -7.25618608e-01 7.31535114e-03 2.35158928e+02] [ 7.25580117e-01 -6.88097093e-01 -7.47562550e-03 -9.46203573e+01] [ 1.04581248e-02 1.64207716e-04 9.99945299e-01 -5.00290652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98655999499994 meters 0.013585391132853467 Centerline is valid? [True, True] Translation: X:235.12, Y:-94.57, Z:-5.00 [[-6.89067254e-01 -7.24664571e-01 6.89770381e-03 2.35123303e+02] [ 7.24630344e-01 -6.89101762e-01 -7.04458531e-03 -9.45748136e+01] [ 9.85818124e-03 1.44092431e-04 9.99951397e-01 -4.99993295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04655999499994 meters 0.013790626157836404 Centerline is valid? [True, True] Translation: X:235.08, Y:-94.53, Z:-5.00 [[-6.89444238e-01 -7.24311827e-01 6.24657869e-03 2.35084880e+02] [ 7.24283778e-01 -6.89472524e-01 -6.37559340e-03 -9.45342596e+01] [ 8.92476207e-03 1.28679478e-04 9.99960165e-01 -4.99965040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10655999499994 meters 0.014158891416977959 Centerline is valid? [True, True] Translation: X:235.04, Y:-94.49, Z:-5.00 [[-6.88097211e-01 -7.25590278e-01 6.40133865e-03 2.35044617e+02] [ 7.25560909e-01 -6.88126969e-01 -6.53006901e-03 -9.44917847e+01] [ 9.14308836e-03 1.51238818e-04 9.99958190e-01 -4.99932014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16655999499994 meters 0.015194880804263584 Centerline is valid? [True, True] Translation: X:235.00, Y:-94.45, Z:-5.00 [[-6.86468114e-01 -7.27124011e-01 7.22502742e-03 2.35003071e+02] [ 7.27086722e-01 -6.86506106e-01 -7.36642317e-03 -9.44516026e+01] [ 1.03163286e-02 1.96406884e-04 9.99946766e-01 -5.00076202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22655999499995 meters 0.014705389751488733 Centerline is valid? [True, True] Translation: X:234.96, Y:-94.41, Z:-5.00 [[-6.83365910e-01 -7.30031835e-01 8.03450367e-03 2.34963428e+02] [ 7.29985977e-01 -6.83413087e-01 -8.18697132e-03 -9.44087507e+01] [ 1.14676346e-02 2.70377909e-04 9.99934208e-01 -5.00017384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28655999499995 meters 0.015631402500622803 Centerline is valid? [True, True] Translation: X:234.92, Y:-94.37, Z:-5.00 [[-6.81849068e-01 -7.31455796e-01 7.36663760e-03 2.34922216e+02] [ 7.31417373e-01 -6.81888807e-01 -7.50212778e-03 -9.43682284e+01] [ 1.05107026e-02 2.72767890e-04 9.99944724e-01 -4.99961470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34655999499995 meters 0.01654701217993217 Centerline is valid? [True, True] Translation: X:234.88, Y:-94.33, Z:-5.00 [[-6.81349384e-01 -7.31935009e-01 5.84459952e-03 2.34882544e+02] [ 7.31910874e-01 -6.81374414e-01 -5.94809263e-03 -9.43280080e+01] [ 8.33597781e-03 2.24996696e-04 9.99965230e-01 -4.99853116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40655999499995 meters 0.01570328534872941 Centerline is valid? [True, True] Translation: X:234.84, Y:-94.28, Z:-5.00 [[-6.82183502e-01 -7.31162577e-01 5.19183472e-03 2.34844105e+02] [ 7.31143533e-01 -6.82203231e-01 -5.28074104e-03 -9.42842190e+01] [ 7.40296665e-03 1.93541963e-04 9.99972579e-01 -4.99775769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46655999499995 meters 0.014731310176016973 Centerline is valid? [True, True] Translation: X:234.81, Y:-94.24, Z:-5.00 [[-6.84563187e-01 -7.28936674e-01 4.95663652e-03 2.34806703e+02] [ 7.28919278e-01 -6.84581112e-01 -5.03859674e-03 -9.42398970e+01] [ 7.06603769e-03 1.63750074e-04 9.99975022e-01 -4.99819680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52655999499996 meters 0.014362216985949465 Centerline is valid? [True, True] Translation: X:234.77, Y:-94.20, Z:-5.00 [[-6.86758542e-01 -7.26866884e-01 5.21903616e-03 2.34767379e+02] [ 7.26847559e-01 -6.86778356e-01 -5.30252405e-03 -9.41965481e+01] [ 7.43855021e-03 1.51890006e-04 9.99972322e-01 -4.99950603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58655999499996 meters 0.013576950255648479 Centerline is valid? [True, True] Translation: X:234.73, Y:-94.15, Z:-5.00 [[-6.89161481e-01 -7.24586179e-01 5.59656049e-03 2.34728736e+02] [ 7.24563907e-01 -6.89184191e-01 -5.68286253e-03 -9.41531048e+01] [ 7.97478466e-03 1.38655774e-04 9.99968191e-01 -5.00027983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64655999499996 meters 0.013384230719283288 Centerline is valid? [True, True] Translation: X:234.69, Y:-94.11, Z:-5.00 [[-6.90708335e-01 -7.23108685e-01 5.98541278e-03 2.34689911e+02] [ 7.23083188e-01 -6.90734255e-01 -6.07388342e-03 -9.41107138e+01] [ 8.52640750e-03 1.32669450e-04 9.99963641e-01 -5.00079685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70655999499996 meters 0.01302496297026945 Centerline is valid? [True, True] Translation: X:234.65, Y:-94.07, Z:-5.00 [[-6.91563494e-01 -7.22284868e-01 6.67101218e-03 2.34651255e+02] [ 7.22253193e-01 -6.91595655e-01 -6.76574165e-03 -9.40667367e+01] [ 9.50043585e-03 1.39219904e-04 9.99954860e-01 -5.00038189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76655999499997 meters 0.013207299505490275 Centerline is valid? [True, True] Translation: X:234.61, Y:-94.03, Z:-5.00 [[-6.92095441e-01 -7.21774967e-01 6.69312853e-03 2.34611123e+02] [ 7.21743101e-01 -6.92127790e-01 -6.78361908e-03 -9.40268930e+01] [ 9.52874670e-03 1.35807505e-04 9.99954591e-01 -5.00147307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82655999499997 meters 0.013265625904697532 Centerline is valid? [True, True] Translation: X:234.57, Y:-93.99, Z:-5.00 [[-6.92166673e-01 -7.21705578e-01 6.80853766e-03 2.34570575e+02] [ 7.21672642e-01 -6.92200144e-01 -6.89624421e-03 -9.39865311e+01] [ 9.68992866e-03 1.40184947e-04 9.99953042e-01 -5.00240877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88655999499997 meters 0.013810127649111008 Centerline is valid? [True, True] Translation: X:234.53, Y:-93.95, Z:-5.00 [[-6.92701506e-01 -7.21193436e-01 6.68220928e-03 2.34529925e+02] [ 7.21161729e-01 -6.92733723e-01 -6.76384147e-03 -9.39470103e+01] [ 9.50702978e-03 1.33630427e-04 9.99954798e-01 -5.00347255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.946559995 meters 0.01285794401254611 Centerline is valid? [True, True] Translation: X:234.49, Y:-93.90, Z:-5.00 [[-6.93321486e-01 -7.20605951e-01 5.69041160e-03 2.34491443e+02] [ 7.20582965e-01 -6.93344829e-01 -5.75664716e-03 -9.39036516e+01] [ 8.09369166e-03 1.09206494e-04 9.99967240e-01 -5.00104338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.006559995 meters 0.013153172726562358 Centerline is valid? [True, True] Translation: X:234.45, Y:-93.86, Z:-5.00 [[-6.94052014e-01 -7.19907639e-01 4.97928750e-03 2.34450950e+02] [ 7.19890045e-01 -6.94069869e-01 -5.03387763e-03 -9.38644138e+01] [ 7.07990038e-03 9.07665909e-05 9.99974933e-01 -5.00118232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.066559995 meters 0.012883123612621668 Centerline is valid? [True, True] Translation: X:234.41, Y:-93.82, Z:-5.00 [[-6.93933966e-01 -7.20024440e-01 4.52281325e-03 2.34409932e+02] [ 7.20009946e-01 -6.93948700e-01 -4.56949407e-03 -9.38242646e+01] [ 6.42874779e-03 8.55433776e-05 9.99979332e-01 -5.00089618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.126559995 meters 0.013760514905942194 Centerline is valid? [True, True] Translation: X:234.37, Y:-93.79, Z:-5.00 [[-6.93615333e-01 -7.20333378e-01 4.19470159e-03 2.34367111e+02] [ 7.20320932e-01 -6.93628011e-01 -4.23519746e-03 -9.37868886e+01] [ 5.96031661e-03 8.39334584e-05 9.99982234e-01 -5.00208265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.186559995 meters 0.013066906054302382 Centerline is valid? [True, True] Translation: X:234.33, Y:-93.75, Z:-5.00 [[-6.94133266e-01 -7.19834187e-01 4.21319229e-03 2.34327126e+02] [ 7.19821639e-01 -6.94146048e-01 -4.25120766e-03 -9.37454913e+01] [ 5.98473539e-03 8.18423184e-05 9.99982088e-01 -5.00136548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.246559995 meters 0.01365621268975597 Centerline is valid? [True, True] Translation: X:234.29, Y:-93.71, Z:-5.00 [[-6.95645335e-01 -7.18374515e-01 3.95277140e-03 2.34285215e+02] [ 7.18363460e-01 -6.95656562e-01 -3.98597777e-03 -9.37071364e+01] [ 5.61319621e-03 6.66996972e-05 9.99984244e-01 -5.00230632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.306559995 meters 0.01240012162609469 Centerline is valid? [True, True] Translation: X:234.25, Y:-93.66, Z:-5.00 [[-6.96791229e-01 -7.17263737e-01 3.83611178e-03 2.34246709e+02] [ 7.17253321e-01 -6.96801786e-01 -3.86589905e-03 -9.36648588e+01] [ 5.44587874e-03 5.77393656e-05 9.99985169e-01 -5.00088319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36655999499993 meters 0.012303704250541562 Centerline is valid? [True, True] Translation: X:234.21, Y:-93.63, Z:-5.00 [[-6.97948346e-01 -7.16136353e-01 4.10244798e-03 2.34205573e+02] [ 7.16124436e-01 -6.97960401e-01 -4.13174125e-03 -9.36251828e+01] [ 5.82223634e-03 5.41212747e-05 9.99983049e-01 -5.00164954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42655999499993 meters 0.012084957230846257 Centerline is valid? [True, True] Translation: X:234.16, Y:-93.59, Z:-5.00 [[-6.98706159e-01 -7.15395468e-01 4.36219321e-03 2.34164845e+02] [ 7.15381996e-01 -6.98719774e-01 -4.39056991e-03 -9.35853042e+01] [ 6.18894447e-03 5.29162514e-05 9.99980847e-01 -5.00180893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48655999499994 meters 0.01173953819789808 Centerline is valid? [True, True] Translation: X:234.12, Y:-93.54, Z:-5.00 [[-7.00694051e-01 -7.13448234e-01 4.41183184e-03 2.34123864e+02] [ 7.13434431e-01 -7.00707939e-01 -4.43800445e-03 -9.35439548e+01] [ 6.25769204e-03 3.78694242e-05 9.99980420e-01 -5.00181049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54655999499994 meters 0.011431454067936886 Centerline is valid? [True, True] Translation: X:234.08, Y:-93.50, Z:-5.00 [[-7.03190262e-01 -7.10991469e-01 3.81922316e-03 2.34083644e+02] [ 7.10981101e-01 -7.03200633e-01 -3.83968513e-03 -9.35016493e+01] [ 5.41566351e-03 1.53662962e-05 9.99985335e-01 -5.00071775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60655999499994 meters 0.011378139256887418 Centerline is valid? [True, True] Translation: X:234.05, Y:-93.46, Z:-5.00 [[-7.07368973e-01 -7.06840916e-01 2.24857219e-03 2.34045615e+02] [ 7.06837304e-01 -7.07372547e-01 -2.25949450e-03 -9.34595358e+01] [ 3.18768140e-03 -8.92160087e-06 9.99994919e-01 -4.99844876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66655999499994 meters 0.01210234537365349 Centerline is valid? [True, True] Translation: X:234.01, Y:-93.42, Z:-5.00 [[-7.12081699e-01 -7.02094505e-01 1.72063105e-03 2.34006331e+02] [ 7.02092379e-01 -7.12083777e-01 -1.72795717e-03 -9.34180418e+01] [ 2.43842269e-03 -2.24047267e-05 9.99997027e-01 -4.99846350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72655999499995 meters 0.012629855038707297 Centerline is valid? [True, True] Translation: X:233.97, Y:-93.38, Z:-5.00 [[-7.15256288e-01 -6.98859204e-01 2.06275587e-03 2.33965089e+02] [ 6.98856138e-01 -7.15259262e-01 -2.07038020e-03 -9.33767990e+01] [ 2.92230950e-03 -3.92828543e-05 9.99995729e-01 -4.99860029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78655999499995 meters 0.013681191316362777 Centerline is valid? [True, True] Translation: X:233.92, Y:-93.34, Z:-5.00 [[-7.18499694e-01 -6.95523075e-01 2.41681716e-03 2.33923997e+02] [ 6.95518853e-01 -7.18503756e-01 -2.42440784e-03 -9.33361019e+01] [ 3.42272381e-03 -6.09943912e-05 9.99994141e-01 -4.99906821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84655999499995 meters 0.013553696869450951 Centerline is valid? [True, True] Translation: X:233.88, Y:-93.30, Z:-5.00 [[-7.18681425e-01 -6.95331575e-01 3.31815933e-03 2.33879500e+02] [ 6.95323621e-01 -7.18689080e-01 -3.32672548e-03 -9.32983951e+01] [ 4.69790214e-03 -8.36612443e-05 9.99988961e-01 -4.99932049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90655999499995 meters 0.013387160330617971 Centerline is valid? [True, True] Translation: X:233.84, Y:-93.26, Z:-5.00 [[-7.17243616e-01 -6.96814679e-01 3.30132657e-03 2.33835831e+02] [ 6.96806830e-01 -7.17251210e-01 -3.30801583e-03 -9.32612560e+01] [ 4.67295447e-03 -7.22663318e-05 9.99989079e-01 -4.99932690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96655999499995 meters 0.012048217533930981 Centerline is valid? [True, True] Translation: X:233.79, Y:-93.23, Z:-5.00 [[-7.13134037e-01 -7.01018123e-01 3.66555675e-03 2.33787435e+02] [ 7.01008513e-01 -7.13143456e-01 -3.67095015e-03 -9.32274592e+01] [ 5.18747039e-03 -4.82930121e-05 9.99986544e-01 -4.99897310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02655999499996 meters 0.011481399129944624 Centerline is valid? [True, True] Translation: X:233.74, Y:-93.19, Z:-5.00 [[-7.09940880e-01 -7.04249570e-01 4.06077539e-03 2.33742747e+02] [ 7.04237843e-01 -7.09952493e-01 -4.06426224e-03 -9.31919121e+01] [ 5.74521255e-03 -2.56342068e-05 9.99983496e-01 -4.99935915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08655999499996 meters 0.011368564244643714 Centerline is valid? [True, True] Translation: X:233.69, Y:-93.16, Z:-5.00 [[-7.05432924e-01 -7.08760117e-01 4.84623391e-03 2.33694683e+02] [ 7.08743541e-01 -7.05449570e-01 -4.84733704e-03 -9.31602172e+01] [ 6.85437280e-03 1.52658400e-05 9.99976508e-01 -5.00069414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14655999499996 meters 0.011668503193704518 Centerline is valid? [True, True] Translation: X:233.65, Y:-93.12, Z:-5.00 [[-7.02500045e-01 -7.11668642e-01 4.62927892e-03 2.33648521e+02] [ 7.11653597e-01 -7.02515297e-01 -4.62775383e-03 -9.31249244e+01] [ 6.54556654e-03 4.34457214e-05 9.99978577e-01 -5.00062912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20655999499996 meters 0.012763936454298037 Centerline is valid? [True, True] Translation: X:233.62, Y:-93.15, Z:-5.00 [[-6.48072242e-01 -7.61567452e-01 4.16943822e-03 2.33617611e+02] [ 7.61552523e-01 -6.48085649e-01 -4.76931826e-03 -9.31480097e+01] [ 6.33431064e-03 8.43834179e-05 9.99979934e-01 -4.99883548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26655999499997 meters 0.01446260603131387 Centerline is valid? [True, True] Translation: X:233.57, Y:-93.11, Z:-5.00 [[-6.44414571e-01 -7.64665381e-01 4.08844516e-03 2.33573243e+02] [ 7.64651096e-01 -6.44427531e-01 -4.67534658e-03 -9.31109018e+01] [ 6.20978229e-03 1.13372617e-04 9.99980713e-01 -4.99907800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32655999499997 meters 0.015458644116112735 Centerline is valid? [True, True] Translation: X:233.53, Y:-93.07, Z:-5.00 [[-6.43478085e-01 -7.65452922e-01 4.21642319e-03 2.33532983e+02] [ 7.65437766e-01 -6.43491886e-01 -4.81865190e-03 -9.30718348e+01] [ 6.40168529e-03 1.26712650e-04 9.99979501e-01 -4.99968594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38655999499997 meters 0.015079719961134745 Centerline is valid? [True, True] Translation: X:233.49, Y:-93.03, Z:-5.00 [[-6.44997935e-01 -7.64171296e-01 4.46038065e-03 2.33494968e+02] [ 7.64154327e-01 -6.45013345e-01 -5.09395168e-03 -9.30309179e+01] [ 6.76965670e-03 1.22830867e-04 9.99977078e-01 -5.00039113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.446559995 meters 0.013883904398188915 Centerline is valid? [True, True] Translation: X:233.46, Y:-92.99, Z:-5.00 [[-6.48176055e-01 -7.61469953e-01 5.59583349e-03 2.33459332e+02] [ 7.61443175e-01 -6.48200198e-01 -6.38702157e-03 -9.29859093e+01] [ 8.49074539e-03 1.20994777e-04 9.99963946e-01 -5.00121392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.506559995 meters 0.013618342811604603 Centerline is valid? [True, True] Translation: X:233.42, Y:-92.94, Z:-5.00 [[-6.49201273e-01 -7.60592485e-01 6.06455572e-03 2.33422667e+02] [ 7.60561036e-01 -6.49229587e-01 -6.91758524e-03 -9.29428955e+01] [ 9.19875235e-03 1.21559639e-04 9.99957683e-01 -5.00190956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.566559995 meters 0.013461070463740508 Centerline is valid? [True, True] Translation: X:233.39, Y:-92.90, Z:-5.00 [[-6.50345005e-01 -7.59604464e-01 7.24103177e-03 2.33386464e+02] [ 7.59559614e-01 -6.50385302e-01 -8.25539572e-03 -9.29006909e+01] [ 1.09802961e-02 1.31139926e-04 9.99939706e-01 -5.00371153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.626559995 meters 0.012858149023859261 Centerline is valid? [True, True] Translation: X:233.35, Y:-92.86, Z:-5.00 [[-6.51928730e-01 -7.58236743e-01 8.12238597e-03 2.33351903e+02] [ 7.58180277e-01 -6.51979314e-01 -9.25427141e-03 -9.28559205e+01] [ 1.23125562e-02 1.25107440e-04 9.99924190e-01 -5.00449036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.686559995 meters 0.011559650377235688 Centerline is valid? [True, True] Translation: X:233.32, Y:-92.81, Z:-5.00 [[-6.53650602e-01 -7.56754009e-01 8.01627003e-03 2.33318085e+02] [ 7.56698961e-01 -6.53699747e-01 -9.12810807e-03 -9.28082575e+01] [ 1.21479661e-02 9.93098728e-05 9.99926206e-01 -5.00091296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.746559995 meters 0.0115952011919663 Centerline is valid? [True, True] Translation: X:233.29, Y:-92.76, Z:-5.00 [[-6.58537550e-01 -7.52515927e-01 6.93361814e-03 2.33285529e+02] [ 7.52474554e-01 -6.58574050e-01 -7.89089269e-03 -9.27603843e+01] [ 1.05043234e-02 2.09220834e-05 9.99944828e-01 -5.00211841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.806559995 meters 0.01163234520803833 Centerline is valid? [True, True] Translation: X:233.26, Y:-92.71, Z:-5.00 [[-6.65494707e-01 -7.46385094e-01 5.10751093e-03 2.33255595e+02] [ 7.46362490e-01 -6.65514304e-01 -5.80901375e-03 -9.27101014e+01] [ 7.73488285e-03 -5.38133295e-05 9.99970084e-01 -4.99772519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86655999499993 meters 0.012604907954200831 Centerline is valid? [True, True] Translation: X:233.22, Y:-92.66, Z:-5.00 [[-6.70345785e-01 -7.42031218e-01 5.11863141e-03 2.33221951e+02] [ 7.42008413e-01 -6.70365319e-01 -5.81840905e-03 -9.26622074e+01] [ 7.74879414e-03 -1.02278417e-04 9.99969972e-01 -4.99727680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92655999499993 meters 0.015137102854629757 Centerline is valid? [True, True] Translation: X:233.19, Y:-92.61, Z:-5.00 [[-6.76186077e-01 -7.36709166e-01 5.65640644e-03 2.33190328e+02] [ 7.36681160e-01 -6.76209711e-01 -6.42607900e-03 -9.26145594e+01] [ 8.55906827e-03 -1.78257084e-04 9.99963355e-01 -4.99868803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98655999499994 meters 0.015883211256736213 Centerline is valid? [True, True] Translation: X:233.15, Y:-92.57, Z:-5.00 [[-6.79206818e-01 -7.33919297e-01 6.36903666e-03 2.33153364e+02] [ 7.33883706e-01 -6.79236637e-01 -7.23164775e-03 -9.25694323e+01] [ 9.63352887e-03 -2.37652228e-04 9.99953568e-01 -4.99912252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04655999499994 meters 0.016227745857854622 Centerline is valid? [True, True] Translation: X:233.12, Y:-92.53, Z:-5.00 [[-6.82633321e-01 -7.30730093e-01 6.72907976e-03 2.33116278e+02] [ 7.30690257e-01 -6.82666422e-01 -7.63575093e-03 -9.25254936e+01] [ 1.01733898e-02 -2.95544990e-04 9.99948206e-01 -4.99903043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10655999499994 meters 0.017499773983677705 Centerline is valid? [True, True] Translation: X:233.08, Y:-92.48, Z:-5.00 [[-6.84512142e-01 -7.28970181e-01 6.75302040e-03 2.33080317e+02] [ 7.28930022e-01 -6.84545377e-01 -7.65833540e-03 -9.24809290e+01] [ 1.02054470e-02 -3.19744267e-04 9.99947872e-01 -4.99911618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16655999499994 meters 0.018447602694171936 Centerline is valid? [True, True] Translation: X:233.04, Y:-92.44, Z:-5.00 [[-6.85833209e-01 -7.27732738e-01 6.15391948e-03 2.33042829e+02] [ 7.27699375e-01 -6.85860750e-01 -6.97503935e-03 -9.24367954e+01] [ 9.29669632e-03 -3.05510260e-04 9.99956738e-01 -4.99868472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22655999499995 meters 0.016393983761496707 Centerline is valid? [True, True] Translation: X:233.00, Y:-92.40, Z:-5.00 [[-6.83812444e-01 -7.29637515e-01 5.44418610e-03 2.33000634e+02] [ 7.29611491e-01 -6.83834071e-01 -6.16720912e-03 -9.23964029e+01] [ 8.22274708e-03 -2.45073599e-04 9.99966163e-01 -4.99747057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28655999499995 meters 0.01603099300147359 Centerline is valid? [True, True] Translation: X:232.96, Y:-92.36, Z:-5.00 [[-6.80528099e-01 -7.32703454e-01 5.21112350e-03 2.32960303e+02] [ 7.32679729e-01 -6.80548022e-01 -5.89955296e-03 -9.23558108e+01] [ 7.86904262e-03 -1.96727011e-04 9.99969019e-01 -4.99809734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34655999499995 meters 0.013188117467764052 Centerline is valid? [True, True] Translation: X:232.91, Y:-92.32, Z:-5.00 [[-6.72488189e-01 -7.40086099e-01 5.67470266e-03 2.32914723e+02] [ 7.40058257e-01 -6.72512120e-01 -6.42058748e-03 -9.23186606e+01] [ 8.56809386e-03 -1.18158687e-04 9.99963286e-01 -4.99823756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40655999499995 meters 0.011675442032471284 Centerline is valid? [True, True] Translation: X:232.87, Y:-92.28, Z:-5.00 [[-6.65962969e-01 -7.45962389e-01 5.78259548e-03 2.32869859e+02] [ 7.45933730e-01 -6.65988073e-01 -6.53888866e-03 -9.22811410e+01] [ 8.72890463e-03 -4.12246879e-05 9.99961902e-01 -4.99853755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46655999499995 meters 0.011968739083043516 Centerline is valid? [True, True] Translation: X:232.82, Y:-92.25, Z:-5.00 [[-6.55971481e-01 -7.54767674e-01 5.21279717e-03 2.32822330e+02] [ 7.54744686e-01 -6.55992190e-01 -5.89120885e-03 -9.22461354e+01] [ 7.86604823e-03 6.98659652e-05 9.99969060e-01 -4.99878626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52655999499996 meters 0.013278636299331039 Centerline is valid? [True, True] Translation: X:232.78, Y:-92.21, Z:-5.00 [[-6.50092001e-01 -7.59841210e-01 4.66123283e-03 2.32778816e+02] [ 7.59822979e-01 -6.50108700e-01 -5.26481398e-03 -9.22066801e+01] [ 7.03073064e-03 1.19098363e-04 9.99975277e-01 -4.99842400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58655999499996 meters 0.015562799165551219 Centerline is valid? [True, True] Translation: X:232.74, Y:-92.17, Z:-5.00 [[-6.44016620e-01 -7.65001232e-01 3.96344067e-03 2.32736379e+02] [ 7.64988165e-01 -6.44028798e-01 -4.47385558e-03 -9.21673727e+01] [ 5.97507496e-03 1.50747857e-04 9.99982138e-01 -4.99831272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64655999499996 meters 0.01711745540254545 Centerline is valid? [True, True] Translation: X:232.70, Y:-92.13, Z:-5.00 [[-6.42634976e-01 -7.66162039e-01 4.00212756e-03 2.32696690e+02] [ 7.66148754e-01 -6.42647417e-01 -4.51480292e-03 -9.21260389e+01] [ 6.03102755e-03 1.64854776e-04 9.99981800e-01 -4.99874333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70655999499996 meters 0.01662553430016507 Centerline is valid? [True, True] Translation: X:232.66, Y:-92.08, Z:-5.00 [[-6.42283881e-01 -7.66454088e-01 4.42132377e-03 2.32660161e+02] [ 7.66437900e-01 -6.42299071e-01 -4.98485084e-03 -9.20804175e+01] [ 6.66047145e-03 1.86980762e-04 9.99977801e-01 -4.99950317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76655999499997 meters 0.016979826948136635 Centerline is valid? [True, True] Translation: X:232.62, Y:-92.04, Z:-5.00 [[-6.42972209e-01 -7.65868702e-01 5.64538044e-03 2.32623680e+02] [ 7.65842323e-01 -6.42996950e-01 -6.36067378e-03 -9.20378320e+01] [ 8.50140337e-03 2.33734806e-04 9.99963835e-01 -5.00158344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82655999499997 meters 0.01690496130700936 Centerline is valid? [True, True] Translation: X:232.59, Y:-91.99, Z:-5.00 [[-6.44588070e-01 -7.64502388e-01 6.50538179e-03 2.32589418e+02] [ 7.64467325e-01 -6.44620847e-01 -7.32611238e-03 -9.19934971e+01] [ 9.79433513e-03 2.50827179e-04 9.99952003e-01 -5.00372387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88655999499997 meters 0.01493609549395841 Centerline is valid? [True, True] Translation: X:232.56, Y:-91.94, Z:-5.00 [[-6.45993996e-01 -7.63315843e-01 6.37811770e-03 2.32556264e+02] [ 7.63282121e-01 -6.46025441e-01 -7.17874303e-03 -9.19447709e+01] [ 9.60007459e-03 2.30878305e-04 9.99953892e-01 -5.00224382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.946559995 meters 0.014291552712104713 Centerline is valid? [True, True] Translation: X:232.52, Y:-91.90, Z:-5.00 [[-6.49960294e-01 -7.59948037e-01 5.53157870e-03 2.32524202e+02] [ 7.59922580e-01 -6.49983812e-01 -6.22225310e-03 -9.18966542e+01] [ 8.32402564e-03 1.59354108e-04 9.99965342e-01 -5.00180047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.006559995 meters 0.013231733929135205 Centerline is valid? [True, True] Translation: X:232.49, Y:-91.85, Z:-5.00 [[-6.53627154e-01 -7.56803971e-01 4.39227507e-03 2.32491341e+02] [ 7.56787868e-01 -6.53641905e-01 -4.93800978e-03 -9.18475698e+01] [ 6.60808045e-03 9.64032055e-05 9.99978162e-01 -4.99966690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.066559995 meters 0.012247969060470175 Centerline is valid? [True, True] Translation: X:232.46, Y:-91.80, Z:-5.00 [[-6.58601172e-01 -7.52483599e-01 3.59588318e-03 2.32460582e+02] [ 7.52472753e-01 -6.58610987e-01 -4.04036982e-03 -9.17969210e+01] [ 5.40860019e-03 4.48118148e-05 9.99985372e-01 -4.99897275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.126559995 meters 0.011856151806714765 Centerline is valid? [True, True] Translation: X:232.43, Y:-91.75, Z:-5.00 [[-6.61599319e-01 -7.49846584e-01 4.05490470e-03 2.32427482e+02] [ 7.49832760e-01 -6.61611744e-01 -4.55321337e-03 -9.17494556e+01] [ 6.09698406e-03 2.80975187e-05 9.99981413e-01 -4.99937148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.186559995 meters 0.011835372317785763 Centerline is valid? [True, True] Translation: X:232.40, Y:-91.70, Z:-5.00 [[-6.65183125e-01 -7.46663418e-01 5.01503183e-03 2.32395645e+02] [ 7.46642208e-01 -6.65202030e-01 -5.62780208e-03 -9.17011697e+01] [ 7.53808328e-03 9.15466058e-07 9.99971588e-01 -5.00092730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.246559995 meters 0.011924114110610352 Centerline is valid? [True, True] Translation: X:232.36, Y:-91.65, Z:-5.00 [[-6.68445743e-01 -7.43742767e-01 5.19481998e-03 2.32362380e+02] [ 7.43719950e-01 -6.68465927e-01 -5.82584845e-03 -9.16544540e+01] [ 7.80549280e-03 -3.07723379e-05 9.99969536e-01 -5.00066723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.306559995 meters 0.012778862058701893 Centerline is valid? [True, True] Translation: X:232.33, Y:-91.60, Z:-5.00 [[-6.74708978e-01 -7.38070099e-01 4.50826859e-03 2.32331397e+02] [ 7.38052807e-01 -6.74724034e-01 -5.05299166e-03 -9.16042690e+01] [ 6.77129922e-03 -8.19585448e-05 9.99977071e-01 -4.99919862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36655999499993 meters 0.013346558414550975 Centerline is valid? [True, True] Translation: X:232.30, Y:-91.56, Z:-5.00 [[-6.76625418e-01 -7.36315978e-01 4.10175592e-03 2.32295188e+02] [ 7.36301648e-01 -6.76637845e-01 -4.59459482e-03 -9.15601396e+01] [ 6.15847686e-03 -8.86899958e-05 9.99981032e-01 -4.99860495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42655999499993 meters 0.013384453108777271 Centerline is valid? [True, True] Translation: X:232.26, Y:-91.52, Z:-5.00 [[-6.78137556e-01 -7.34931409e-01 2.29752386e-03 2.32256000e+02] [ 7.34926911e-01 -6.78141446e-01 -2.57208298e-03 -9.15178517e+01] [ 3.44835072e-03 -5.57139509e-05 9.99994053e-01 -4.99716366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48655999499994 meters 0.013669190696227377 Centerline is valid? [True, True] Translation: X:232.22, Y:-91.48, Z:-5.00 [[-6.78631586e-01 -7.34472615e-01 3.02481273e-03 2.32218756e+02] [ 7.34464823e-01 -6.78638323e-01 -3.38402901e-03 -9.14750684e+01] [ 4.53823047e-03 -7.48904278e-05 9.99989699e-01 -4.99795471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54655999499994 meters 0.013541570260206106 Centerline is valid? [True, True] Translation: X:232.18, Y:-91.43, Z:-5.00 [[-6.78986319e-01 -7.34142080e-01 3.60352045e-03 2.32179555e+02] [ 7.34131028e-01 -6.78995875e-01 -4.02919605e-03 -9.14323583e+01] [ 5.40477789e-03 -9.03128156e-05 9.99985390e-01 -4.99820520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60655999499994 meters 0.013395607230424296 Centerline is valid? [True, True] Translation: X:232.14, Y:-91.39, Z:-5.00 [[-6.79203767e-01 -7.33939722e-01 3.83763489e-03 2.32138227e+02] [ 7.33927198e-01 -6.79214602e-01 -4.28852114e-03 -9.13911702e+01] [ 5.75409367e-03 -9.62350891e-05 9.99983440e-01 -4.99866183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66655999499994 meters 0.013372406356538014 Centerline is valid? [True, True] Translation: X:232.10, Y:-91.35, Z:-5.00 [[-6.79294748e-01 -7.33858607e-01 3.19209663e-03 2.32098063e+02] [ 7.33849952e-01 -6.79302244e-01 -3.56509912e-03 -9.13485199e+01] [ 4.78467708e-03 -7.92331542e-05 9.99988550e-01 -4.99733942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72655999499995 meters 0.013371880737004948 Centerline is valid? [True, True] Translation: X:232.06, Y:-91.31, Z:-5.00 [[-6.78842550e-01 -7.34277972e-01 2.94136480e-03 2.32059002e+02] [ 7.34270637e-01 -6.78848919e-01 -3.28287007e-03 -9.13080942e+01] [ 4.40728150e-03 -6.87940842e-05 9.99990286e-01 -4.99656640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78655999499995 meters 0.012998521824406133 Centerline is valid? [True, True] Translation: X:232.02, Y:-91.27, Z:-5.00 [[-6.78618445e-01 -7.34486059e-01 2.68996395e-03 2.32018089e+02] [ 7.34479932e-01 -6.78623773e-01 -3.00057950e-03 -9.12671728e+01] [ 4.02935729e-03 -6.05240560e-05 9.99991880e-01 -4.99653579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84655999499995 meters 0.012702837557170296 Centerline is valid? [True, True] Translation: X:231.98, Y:-91.23, Z:-5.00 [[-6.77421168e-01 -7.35590183e-01 2.76478937e-03 2.31976667e+02] [ 7.35583728e-01 -6.77426807e-01 -3.08207026e-03 -9.12277220e+01] [ 4.14008306e-03 -5.41255599e-05 9.99991428e-01 -4.99753004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90655999499995 meters 0.012587439380769259 Centerline is valid? [True, True] Translation: X:231.94, Y:-91.19, Z:-5.00 [[-6.75641541e-01 -7.37219113e-01 4.06050786e-03 2.31936432e+02] [ 7.37205237e-01 -6.75653740e-01 -4.52351010e-03 -9.11887065e+01] [ 6.07831542e-03 -6.28436741e-05 9.99981525e-01 -4.99966447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96655999499995 meters 0.012234293154702945 Centerline is valid? [True, True] Translation: X:231.90, Y:-91.15, Z:-5.00 [[-6.74299772e-01 -7.38441209e-01 4.93936330e-03 2.31895606e+02] [ 7.38420734e-01 -6.74317860e-01 -5.49934598e-03 -9.11477350e+01] [ 7.39164459e-03 -6.08794688e-05 9.99972680e-01 -5.00011602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02655999499996 meters 0.01199867289315469 Centerline is valid? [True, True] Translation: X:231.85, Y:-91.11, Z:-5.00 [[-6.73297321e-01 -7.39355653e-01 4.89246409e-03 2.31854397e+02] [ 7.39335612e-01 -6.73315094e-01 -5.44399665e-03 -9.11072646e+01] [ 7.31921961e-03 -4.82554320e-05 9.99973213e-01 -4.99936060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08655999499996 meters 0.01208868304485048 Centerline is valid? [True, True] Translation: X:231.81, Y:-91.07, Z:-5.00 [[-6.72977932e-01 -7.39648326e-01 4.58882741e-03 2.31812838e+02] [ 7.39630722e-01 -6.72993575e-01 -5.10320714e-03 -9.10664744e+01] [ 6.86282998e-03 -4.03080571e-05 9.99976450e-01 -4.99984815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14655999499996 meters 0.0124634282848786 Centerline is valid? [True, True] Translation: X:231.77, Y:-91.02, Z:-5.00 [[-6.74984934e-01 -7.37813498e-01 5.15574788e-03 2.31774671e+02] [ 7.37791247e-01 -6.75004621e-01 -5.73041549e-03 -9.10223764e+01] [ 7.70813154e-03 -6.40784589e-05 9.99970290e-01 -5.00075756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20655999499996 meters 0.01360143832159225 Centerline is valid? [True, True] Translation: X:231.74, Y:-90.98, Z:-5.00 [[-6.79354924e-01 -7.33783723e-01 6.19159793e-03 2.31739341e+02] [ 7.33751502e-01 -6.79383126e-01 -6.87763058e-03 -9.09771273e+01] [ 9.25316052e-03 -1.29257915e-04 9.99957180e-01 -5.00165072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26655999499997 meters 0.014621162497997066 Centerline is valid? [True, True] Translation: X:231.70, Y:-90.93, Z:-5.00 [[-6.82348122e-01 -7.31003408e-01 5.92099646e-03 2.31702287e+02] [ 7.30973869e-01 -6.82373793e-01 -6.57340965e-03 -9.09325142e+01] [ 8.84551767e-03 -1.57260036e-04 9.99960865e-01 -5.00111035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32655999499997 meters 0.014840055706146297 Centerline is valid? [True, True] Translation: X:231.66, Y:-90.89, Z:-5.00 [[-6.84470916e-01 -7.29017152e-01 5.79278429e-03 2.31663707e+02] [ 7.28988839e-01 -6.84495406e-01 -6.42743188e-03 -9.08888097e+01] [ 8.65084231e-03 -1.76515094e-04 9.99962565e-01 -5.00013144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38655999499997 meters 0.015009403550840659 Centerline is valid? [True, True] Translation: X:231.63, Y:-90.85, Z:-5.00 [[-6.84447663e-01 -7.29036383e-01 6.11133348e-03 2.31626040e+02] [ 7.29004910e-01 -6.84474922e-01 -6.77661543e-03 -9.08462982e+01] [ 9.12345370e-03 -1.83046482e-04 9.99958364e-01 -5.00053576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.446559995 meters 0.014334168100145074 Centerline is valid? [True, True] Translation: X:231.59, Y:-90.81, Z:-5.00 [[-6.83017274e-01 -7.30376501e-01 6.12944291e-03 2.31585061e+02] [ 7.30344930e-01 -6.83044757e-01 -6.79286205e-03 -9.08054237e+01] [ 9.14803066e-03 -1.63034567e-04 9.99958143e-01 -5.00125343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.506559995 meters 0.013377502602191817 Centerline is valid? [True, True] Translation: X:231.54, Y:-90.77, Z:-5.00 [[-6.78480938e-01 -7.34588962e-01 6.53248644e-03 2.31543542e+02] [ 7.34553337e-01 -6.78512376e-01 -7.23543459e-03 -9.07653920e+01] [ 9.74744329e-03 -1.10644736e-04 9.99952486e-01 -5.00136564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.566559995 meters 0.012315433479800823 Centerline is valid? [True, True] Translation: X:231.50, Y:-90.73, Z:-5.00 [[-6.71001006e-01 -7.41426845e-01 6.62438754e-03 2.31499971e+02] [ 7.41390569e-01 -6.71033705e-01 -7.33427734e-03 -9.07274778e+01] [ 9.88301742e-03 -1.00490332e-05 9.99951162e-01 -5.00160600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.626559995 meters 0.012488064016846432 Centerline is valid? [True, True] Translation: X:231.46, Y:-90.69, Z:-5.00 [[-6.65648924e-01 -7.46234137e-01 6.79138404e-03 2.31456734e+02] [ 7.46196299e-01 -6.65683565e-01 -7.51496171e-03 -9.06877178e+01] [ 1.01288337e-02 6.53794579e-05 9.99948700e-01 -5.00146909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.686559995 meters 0.013773827258635962 Centerline is valid? [True, True] Translation: X:231.41, Y:-90.65, Z:-5.00 [[-6.60938530e-01 -7.50408641e-01 6.86529228e-03 2.31414596e+02] [ 7.50370244e-01 -6.60974171e-01 -7.59230566e-03 -9.06487652e+01] [ 1.02351126e-02 1.33463697e-04 9.99947611e-01 -5.00208804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.746559995 meters 0.01419523387071766 Centerline is valid? [True, True] Translation: X:231.38, Y:-90.61, Z:-5.00 [[-6.56491104e-01 -7.54304873e-01 6.60221821e-03 2.31375635e+02] [ 7.54269599e-01 -6.56524274e-01 -7.29714846e-03 -9.06056098e+01] [ 9.83879115e-03 1.89339437e-04 9.99951580e-01 -4.99993319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.806559995 meters 0.014601182156215574 Centerline is valid? [True, True] Translation: X:231.34, Y:-90.56, Z:-5.00 [[-6.55532058e-01 -7.55141827e-01 6.20817723e-03 2.31337109e+02] [ 7.55110713e-01 -6.55561426e-01 -6.85767376e-03 -9.05624063e+01] [ 9.24835782e-03 1.92436142e-04 9.99957215e-01 -4.99943348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86655999499993 meters 0.014776160751359275 Centerline is valid? [True, True] Translation: X:231.30, Y:-90.52, Z:-5.00 [[-6.55753421e-01 -7.54954210e-01 5.62063633e-03 2.31300586e+02] [ 7.54928729e-01 -6.55777485e-01 -6.20511851e-03 -9.05176333e+01] [ 8.37046710e-03 1.74152148e-04 9.99964952e-01 -4.99905226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92655999499993 meters 0.01448890020750612 Centerline is valid? [True, True] Translation: X:231.26, Y:-90.47, Z:-5.00 [[-6.57036192e-01 -7.53834441e-01 6.08916636e-03 2.31264772e+02] [ 7.53804525e-01 -6.57064384e-01 -6.71806256e-03 -9.04730857e+01] [ 9.06528128e-03 1.76030913e-04 9.99958894e-01 -4.99993081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98655999499994 meters 0.01431610455060122 Centerline is valid? [True, True] Translation: X:231.23, Y:-90.43, Z:-5.00 [[-6.59223537e-01 -7.51916592e-01 6.76511250e-03 2.31231162e+02] [ 7.51879608e-01 -6.59258227e-01 -7.45964954e-03 -9.04269720e+01] [ 1.00689903e-02 1.68973584e-04 9.99949292e-01 -5.00154676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04655999499994 meters 0.013464536293076895 Centerline is valid? [True, True] Translation: X:231.20, Y:-90.38, Z:-5.00 [[-6.61761318e-01 -7.49687175e-01 6.41068699e-03 2.31196557e+02] [ 7.49653897e-01 -6.61792356e-01 -7.06488448e-03 -9.03799512e+01] [ 9.53899694e-03 1.30529213e-04 9.99954494e-01 -5.00123847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10655999499994 meters 0.01248154248963047 Centerline is valid? [True, True] Translation: X:231.17, Y:-90.33, Z:-5.00 [[-6.67661190e-01 -7.44440208e-01 6.10840521e-03 2.31165434e+02] [ 7.44409807e-01 -6.67689129e-01 -6.72793047e-03 -9.03298628e+01] [ 9.08705771e-03 5.51786875e-05 9.99958710e-01 -5.00002762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16655999499994 meters 0.012333875944405367 Centerline is valid? [True, True] Translation: X:231.13, Y:-90.28, Z:-5.00 [[-6.72314327e-01 -7.40242670e-01 5.85115346e-03 2.31131849e+02] [ 7.40214648e-01 -6.72339788e-01 -6.44091408e-03 -9.02816435e+01] [ 8.70180271e-03 7.90678232e-07 9.99962139e-01 -4.99918159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22655999499995 meters 0.012417419696007782 Centerline is valid? [True, True] Translation: X:231.09, Y:-90.24, Z:-5.00 [[-6.74733916e-01 -7.38045305e-01 4.82402555e-03 2.31093427e+02] [ 7.38026223e-01 -6.74751160e-01 -5.30722734e-03 -9.02385285e+01] [ 7.17199106e-03 -2.07089267e-05 9.99974281e-01 -4.99758218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28655999499995 meters 0.012497274175433287 Centerline is valid? [True, True] Translation: X:231.06, Y:-90.20, Z:-5.00 [[-6.75464216e-01 -7.37374348e-01 5.21194702e-03 2.31055014e+02] [ 7.37352082e-01 -6.75484323e-01 -5.73036844e-03 -9.01961390e+01] [ 7.74601519e-03 -2.76188419e-05 9.99969999e-01 -4.99816503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34655999499995 meters 0.012880780075810477 Centerline is valid? [True, True] Translation: X:231.02, Y:-90.15, Z:-5.00 [[-6.78460132e-01 -7.34613178e-01 5.94371148e-03 2.31016833e+02] [ 7.34584147e-01 -6.78486164e-01 -6.53120721e-03 -9.01523916e+01] [ 8.83063688e-03 -6.50074844e-05 9.99961007e-01 -4.99922573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40655999499995 meters 0.013392188463893954 Centerline is valid? [True, True] Translation: X:230.98, Y:-90.11, Z:-5.00 [[-6.81475395e-01 -7.31813069e-01 6.39667870e-03 2.30979138e+02] [ 7.31779359e-01 -6.81505408e-01 -7.02494093e-03 -9.01083463e+01] [ 9.50031471e-03 -1.06366960e-04 9.99954865e-01 -4.99921428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46655999499995 meters 0.01446856759637553 Centerline is valid? [True, True] Translation: X:230.94, Y:-90.07, Z:-5.00 [[-6.84602291e-01 -7.28894717e-01 5.67397406e-03 2.30941822e+02] [ 7.28868116e-01 -6.84625791e-01 -6.22860526e-03 -9.00658204e+01] [ 8.42454645e-03 -1.28538654e-04 9.99964505e-01 -4.99943376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52655999499996 meters 0.015404743900127771 Centerline is valid? [True, True] Translation: X:230.90, Y:-90.02, Z:-5.00 [[-6.88399607e-01 -7.25319046e-01 4.27344039e-03 2.30902375e+02] [ 7.25303904e-01 -6.88412859e-01 -4.68854376e-03 -9.00232241e+01] [ 6.34258141e-03 -1.28048684e-04 9.99979877e-01 -4.99777045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58655999499996 meters 0.015811537809470075 Centerline is valid? [True, True] Translation: X:230.86, Y:-89.98, Z:-5.00 [[-6.89075594e-01 -7.24682559e-01 3.16446563e-03 2.30862307e+02] [ 7.24674260e-01 -6.89082853e-01 -3.46957474e-03 -8.99831260e+01] [ 4.69491931e-03 -9.75924913e-05 9.99988974e-01 -4.99650183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64655999499996 meters 0.014798466482426857 Centerline is valid? [True, True] Translation: X:230.82, Y:-89.94, Z:-5.00 [[-6.87034706e-01 -7.26618654e-01 2.94024746e-03 2.30818931e+02] [ 7.26611515e-01 -6.87040993e-01 -3.22196635e-03 -8.99438354e+01] [ 4.36121138e-03 -7.71850401e-05 9.99990487e-01 -4.99710174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70655999499996 meters 0.012754463151515107 Centerline is valid? [True, True] Translation: X:230.77, Y:-89.91, Z:-5.00 [[-6.80546429e-01 -7.32696236e-01 3.57529413e-03 2.30770837e+02] [ 7.32685774e-01 -6.80555819e-01 -3.91569848e-03 -8.99089850e+01] [ 5.30220477e-03 -4.52474729e-05 9.99985942e-01 -4.99935288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76655999499997 meters 0.01232780016694686 Centerline is valid? [True, True] Translation: X:230.72, Y:-89.87, Z:-5.00 [[-6.72528866e-01 -7.40058037e-01 4.36188645e-03 2.30723828e+02] [ 7.40042638e-01 -6.72543011e-01 -4.77416538e-03 -8.98741894e+01] [ 6.46671571e-03 1.72179225e-05 9.99979090e-01 -5.00022331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82655999499997 meters 0.012872422050265448 Centerline is valid? [True, True] Translation: X:230.68, Y:-89.84, Z:-5.00 [[-6.67760384e-01 -7.44365220e-01 4.06067221e-03 2.30680296e+02] [ 7.44351969e-01 -6.67772728e-01 -4.44193899e-03 -8.98354830e+01] [ 6.01803105e-03 5.64184682e-05 9.99981890e-01 -4.99947655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88655999499997 meters 0.013731249563683734 Centerline is valid? [True, True] Translation: X:230.64, Y:-89.80, Z:-5.00 [[-6.63167116e-01 -7.48467406e-01 2.43298539e-03 2.30637030e+02] [ 7.48462680e-01 -6.63171576e-01 -2.66028637e-03 -8.97968669e+01] [ 3.60462439e-03 5.67843254e-05 9.99993502e-01 -4.99749440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.946559995 meters 0.01464154775349173 Centerline is valid? [True, True] Translation: X:230.60, Y:-89.76, Z:-5.00 [[-6.61758550e-01 -7.49716552e-01 8.44735975e-04 2.30596118e+02] [ 7.49715984e-01 -6.61759089e-01 -9.23051164e-04 -8.97570909e+01] [ 1.25103845e-03 2.24750624e-05 9.99999217e-01 -4.99642593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.006559995 meters 0.014706784862449878 Centerline is valid? [True, True] Translation: X:230.56, Y:-89.72, Z:-5.00 [[-6.61202825e-01 -7.50206893e-01 6.64561018e-04 2.30555873e+02] [ 7.50206542e-01 -6.61203159e-01 -7.25745951e-04 -8.97154939e+01] [ 9.83869460e-04 1.86927504e-05 9.99999516e-01 -4.99722957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.066559995 meters 0.014882212906967045 Centerline is valid? [True, True] Translation: X:230.52, Y:-89.67, Z:-5.00 [[-6.61101456e-01 -7.50293833e-01 2.00724503e-03 2.30516580e+02] [ 7.50290637e-01 -6.61104501e-01 -2.19075416e-03 -8.96735791e+01] [ 2.97070806e-03 5.77063898e-05 9.99995586e-01 -4.99954103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.126559995 meters 0.01537572962708045 Centerline is valid? [True, True] Translation: X:230.48, Y:-89.63, Z:-5.00 [[-6.60810650e-01 -7.50542499e-01 3.90408961e-03 2.30478404e+02] [ 7.50530427e-01 -6.60822172e-01 -4.25854364e-03 -8.96314864e+01] [ 5.77612697e-03 1.16047055e-04 9.99983311e-01 -5.00227137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.186559995 meters 0.015368199331879082 Centerline is valid? [True, True] Translation: X:230.44, Y:-89.59, Z:-5.00 [[-6.61611436e-01 -7.49831390e-01 4.81599715e-03 2.30440520e+02] [ 7.49813024e-01 -6.61628950e-01 -5.24998677e-03 -8.95884734e+01] [ 7.12300801e-03 1.37646099e-04 9.99974622e-01 -5.00367818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.246559995 meters 0.013845919378661852 Centerline is valid? [True, True] Translation: X:230.41, Y:-89.54, Z:-5.00 [[-6.65646865e-01 -7.46249517e-01 5.09011451e-03 2.30406962e+02] [ 7.46228919e-01 -6.65666318e-01 -5.54564412e-03 -8.95403899e+01] [ 7.52675203e-03 1.06950029e-04 9.99971668e-01 -5.00366725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.306559995 meters 0.012711470438851598 Centerline is valid? [True, True] Translation: X:230.38, Y:-89.49, Z:-5.00 [[-6.72503618e-01 -7.40082043e-01 4.17761659e-03 2.30376163e+02] [ 7.40068060e-01 -6.72516593e-01 -4.54956896e-03 -8.94911578e+01] [ 6.17657077e-03 3.21190201e-05 9.99980924e-01 -5.00282873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36655999499993 meters 0.012395179759529189 Centerline is valid? [True, True] Translation: X:230.34, Y:-89.44, Z:-5.00 [[-6.77527289e-01 -7.35490891e-01 3.14984165e-03 2.30342629e+02] [ 7.35482902e-01 -6.77534611e-01 -3.42807484e-03 -8.94442243e+01] [ 4.65544456e-03 -5.95957312e-06 9.99989163e-01 -5.00130226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42655999499993 meters 0.012733769662939026 Centerline is valid? [True, True] Translation: X:230.31, Y:-89.40, Z:-5.00 [[-6.82766632e-01 -7.30633608e-01 2.06322329e-03 2.30308893e+02] [ 7.30630162e-01 -6.82769749e-01 -2.24417842e-03 -8.93958336e+01] [ 3.04837862e-03 -2.47969715e-05 9.99995353e-01 -5.00034977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48655999499994 meters 0.01305940423653325 Centerline is valid? [True, True] Translation: X:230.27, Y:-89.35, Z:-5.00 [[-6.84220159e-01 -7.29272691e-01 2.02882941e-03 2.30273690e+02] [ 7.29269357e-01 -6.84223166e-01 -2.20529116e-03 -8.93521743e+01] [ 2.99643070e-03 -2.93415479e-05 9.99995510e-01 -5.00033759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54655999499994 meters 0.012842951641347614 Centerline is valid? [True, True] Translation: X:230.24, Y:-89.31, Z:-5.00 [[-6.82998724e-01 -7.30417075e-01 1.90779888e-03 2.30235599e+02] [ 7.30414135e-01 -6.83001389e-01 -2.07237746e-03 -8.93103026e+01] [ 2.81672916e-03 -2.19478978e-05 9.99996033e-01 -5.00144895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60655999499994 meters 0.012392852331942145 Centerline is valid? [True, True] Translation: X:230.20, Y:-89.27, Z:-5.00 [[-6.80708840e-01 -7.32551790e-01 1.83024189e-03 2.30195111e+02] [ 7.32549095e-01 -6.80711301e-01 -1.98687068e-03 -8.92700973e+01] [ 2.70135201e-03 -1.17383996e-05 9.99996351e-01 -5.00241932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66655999499994 meters 0.012263658290055046 Centerline is valid? [True, True] Translation: X:230.15, Y:-89.23, Z:-5.00 [[-6.76506017e-01 -7.36432323e-01 2.65395498e-03 2.30154630e+02] [ 7.36426694e-01 -6.76511222e-01 -2.87928522e-03 -8.92298763e+01] [ 3.91582903e-03 6.58951524e-06 9.99992333e-01 -5.00489263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72655999499995 meters 0.012405688583755972 Centerline is valid? [True, True] Translation: X:230.11, Y:-89.19, Z:-5.01 [[-6.73773195e-01 -7.38930607e-01 3.35244918e-03 2.30113807e+02] [ 7.38921667e-01 -6.73781535e-01 -3.63508493e-03 -8.91879779e+01] [ 4.94489387e-03 2.79745463e-05 9.99987774e-01 -5.00644642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78655999499995 meters 0.012938519722735013 Centerline is valid? [True, True] Translation: X:230.07, Y:-89.15, Z:-5.01 [[-6.70079937e-01 -7.42281034e-01 3.42693594e-03 2.30073698e+02] [ 7.42271747e-01 -6.70088698e-01 -3.71363525e-03 -8.91466911e+01] [ 5.05291206e-03 5.52852498e-05 9.99987232e-01 -5.00646179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84655999499995 meters 0.013414120798317514 Centerline is valid? [True, True] Translation: X:230.03, Y:-89.10, Z:-5.01 [[-6.68494810e-01 -7.43711317e-01 2.85763847e-03 2.30033619e+02] [ 7.43704879e-01 -6.68500915e-01 -3.09497712e-03 -8.91042778e+01] [ 4.21210344e-03 5.62635376e-05 9.99991127e-01 -5.00623725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90655999499995 meters 0.013497475787570417 Centerline is valid? [True, True] Translation: X:230.00, Y:-89.06, Z:-5.01 [[-6.67714238e-01 -7.44416799e-01 1.15159757e-03 2.29995538e+02] [ 7.44415755e-01 -6.67715231e-01 -1.24649706e-03 -8.90605159e+01] [ 1.69685259e-03 2.49635445e-05 9.99998560e-01 -5.00559308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96655999499995 meters 0.013324291774179455 Centerline is valid? [True, True] Translation: X:229.96, Y:-89.02, Z:-5.00 [[-6.68684527e-01 -7.43546225e-01 1.20578673e-04 2.29958119e+02] [ 7.43546214e-01 -6.68684538e-01 -1.30389160e-04 -8.90159463e+01] [ 1.77579462e-04 2.46660234e-06 9.99999984e-01 -5.00492343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02655999499996 meters 0.013145960098800435 Centerline is valid? [True, True] Translation: X:229.92, Y:-88.97, Z:-5.01 [[-6.69974817e-01 -7.42383804e-01 1.81633982e-04 2.29919769e+02] [ 7.42383778e-01 -6.69974841e-01 -1.96308791e-04 -8.89737315e+01] [ 2.67426666e-04 3.32017516e-06 9.99999964e-01 -5.00555789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08655999499996 meters 0.01291439387262582 Centerline is valid? [True, True] Translation: X:229.88, Y:-88.93, Z:-5.01 [[-6.71462539e-01 -7.41038168e-01 7.01018422e-04 2.29879834e+02] [ 7.41037781e-01 -6.71462905e-01 -7.57356769e-04 -8.89332651e+01] [ 1.03193814e-03 1.09444369e-05 9.99999467e-01 -5.00769145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14655999499996 meters 0.0133262628320012 Centerline is valid? [True, True] Translation: X:229.84, Y:-88.89, Z:-5.01 [[-6.71355625e-01 -7.41134372e-01 1.21178091e-03 2.29839322e+02] [ 7.41133217e-01 -6.71356718e-01 -1.30834809e-03 -8.88944831e+01] [ 1.78319900e-03 1.97242368e-05 9.99998410e-01 -5.00907009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20655999499996 meters 0.013078412104239164 Centerline is valid? [True, True] Translation: X:229.80, Y:-88.85, Z:-5.01 [[-6.70679475e-01 -7.41745557e-01 1.60300809e-03 2.29800008e+02] [ 7.41743541e-01 -6.70681390e-01 -1.72979143e-03 -8.88514709e+01] [ 2.35817281e-03 2.88852879e-05 9.99997219e-01 -5.00924151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26655999499997 meters 0.013637584432334825 Centerline is valid? [True, True] Translation: X:229.76, Y:-88.81, Z:-5.01 [[-6.67972816e-01 -7.44179122e-01 3.12278717e-03 2.29758479e+02] [ 7.44171505e-01 -6.67980111e-01 -3.36789381e-03 -8.88105873e+01] [ 4.59227598e-03 7.42277123e-05 9.99989453e-01 -5.01159233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32655999499997 meters 0.014069174076377656 Centerline is valid? [True, True] Translation: X:229.72, Y:-88.77, Z:-5.01 [[-6.66731885e-01 -7.45285608e-01 4.23753477e-03 2.29718249e+02] [ 7.45271620e-01 -6.66745341e-01 -4.56754214e-03 -8.87685312e+01] [ 6.22947998e-03 1.12788419e-04 9.99980590e-01 -5.01342984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38655999499997 meters 0.01422174439987761 Centerline is valid? [True, True] Translation: X:229.68, Y:-88.73, Z:-5.01 [[-6.67113316e-01 -7.44942662e-01 4.50051095e-03 2.29679762e+02] [ 7.44926897e-01 -6.67128486e-01 -4.84791074e-03 -8.87261031e+01] [ 6.61383459e-03 1.18445851e-04 9.99978121e-01 -5.01352997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.446559995 meters 0.014544682202787873 Centerline is valid? [True, True] Translation: X:229.64, Y:-88.68, Z:-5.01 [[-6.68489145e-01 -7.43713334e-01 3.56922794e-03 2.29640869e+02] [ 7.43703412e-01 -6.68498668e-01 -3.84258441e-03 -8.86842273e+01] [ 5.24380539e-03 8.57210275e-05 9.99986247e-01 -5.01245042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.506559995 meters 0.01316139186147083 Centerline is valid? [True, True] Translation: X:229.60, Y:-88.64, Z:-5.01 [[-6.71040374e-01 -7.41419089e-01 1.59696915e-03 2.29604134e+02] [ 7.41417099e-01 -6.71042274e-01 -1.71826627e-03 -8.86393977e+01] [ 2.34558922e-03 3.09941936e-05 9.99997249e-01 -5.00908842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.566559995 meters 0.012824486490460914 Centerline is valid? [True, True] Translation: X:229.57, Y:-88.60, Z:-5.01 [[-6.72368829e-01 -7.40215279e-01 1.22377872e-03 2.29565198e+02] [ 7.40214110e-01 -6.72369943e-01 -1.31596804e-03 -8.85968207e+01] [ 1.79693167e-03 2.10423861e-05 9.99998385e-01 -5.00858583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.626559995 meters 0.012807569849867303 Centerline is valid? [True, True] Translation: X:229.52, Y:-88.56, Z:-5.01 [[-6.72483279e-01 -7.40107614e-01 2.63802962e-03 2.29524949e+02] [ 7.40102186e-01 -6.72488452e-01 -2.83501712e-03 -8.85555294e+01] [ 3.87226220e-03 4.59098786e-05 9.99992502e-01 -5.01051319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.686559995 meters 0.012937587628951742 Centerline is valid? [True, True] Translation: X:229.48, Y:-88.51, Z:-5.01 [[-6.71161362e-01 -7.41299802e-01 4.12671339e-03 2.29484395e+02] [ 7.41286556e-01 -6.71174043e-01 -4.43235726e-03 -8.85140303e+01] [ 6.05544847e-03 8.42502209e-05 9.99981662e-01 -5.01189807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.746559995 meters 0.013532342126583377 Centerline is valid? [True, True] Translation: X:229.44, Y:-88.47, Z:-5.01 [[-6.69905451e-01 -7.42431125e-01 4.76556340e-03 2.29443260e+02] [ 7.42413510e-01 -6.69922393e-01 -5.11545408e-03 -8.84737932e+01] [ 6.99042996e-03 1.11148075e-04 9.99975560e-01 -5.01260070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.806559995 meters 0.013704372344537207 Centerline is valid? [True, True] Translation: X:229.40, Y:-88.43, Z:-5.01 [[-6.68303720e-01 -7.43869927e-01 5.26025463e-03 2.29401527e+02] [ 7.43848535e-01 -6.68324406e-01 -5.64321249e-03 -8.84332378e+01] [ 7.71337261e-03 1.41452804e-04 9.99970242e-01 -5.01265145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86655999499993 meters 0.013930142961233806 Centerline is valid? [True, True] Translation: X:229.36, Y:-88.39, Z:-5.01 [[-6.68785647e-01 -7.43437708e-01 5.11201356e-03 2.29363489e+02] [ 7.43417513e-01 -6.68805170e-01 -5.48145344e-03 -8.83924552e+01] [ 7.49406028e-03 1.34443029e-04 9.99971910e-01 -5.01250810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92655999499993 meters 0.013302201190904276 Centerline is valid? [True, True] Translation: X:229.33, Y:-88.35, Z:-5.01 [[-6.70511775e-01 -7.41884565e-01 4.60999948e-03 2.29325991e+02] [ 7.41868123e-01 -6.70527614e-01 -4.94032804e-03 -8.83485836e+01] [ 6.75628507e-03 1.07463541e-04 9.99977170e-01 -5.01185388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98655999499994 meters 0.012774928005087529 Centerline is valid? [True, True] Translation: X:229.29, Y:-88.30, Z:-5.01 [[-6.74073484e-01 -7.38656798e-01 3.32760248e-03 2.29289751e+02] [ 7.38648202e-01 -6.74081695e-01 -3.56411944e-03 -8.83044453e+01] [ 4.87573697e-03 5.54491810e-05 9.99988112e-01 -5.01129100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04655999499994 meters 0.012082155228752152 Centerline is valid? [True, True] Translation: X:229.25, Y:-88.26, Z:-5.01 [[-6.76462713e-01 -7.36471934e-01 2.69989584e-03 2.29252185e+02] [ 7.36466263e-01 -6.76468100e-01 -2.89015367e-03 -8.82601369e+01] [ 3.95491047e-03 3.33010105e-05 9.99992179e-01 -5.01053533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10655999499994 meters 0.01179668060943691 Centerline is valid? [True, True] Translation: X:229.22, Y:-88.22, Z:-5.01 [[-6.79648493e-01 -7.33533004e-01 2.69417607e-03 2.29215497e+02] [ 7.33527342e-01 -6.79653832e-01 -2.88212179e-03 -8.82177771e+01] [ 3.94523855e-03 1.74220787e-05 9.99992217e-01 -5.01122839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16655999499994 meters 0.011600624360001678 Centerline is valid? [True, True] Translation: X:229.18, Y:-88.17, Z:-5.01 [[-6.82058903e-01 -7.31288114e-01 3.65342554e-03 2.29177478e+02] [ 7.31277683e-01 -6.82068687e-01 -3.90582864e-03 -8.81749961e+01] [ 5.34817322e-03 7.66336930e-06 9.99985698e-01 -5.01222731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22655999499995 meters 0.011621704981340013 Centerline is valid? [True, True] Translation: X:229.14, Y:-88.13, Z:-5.01 [[-6.83345878e-01 -7.30082781e-01 4.18848090e-03 2.29138453e+02] [ 7.30069066e-01 -6.83358715e-01 -4.47503595e-03 -8.81325586e+01] [ 6.12938161e-03 -1.17035886e-07 9.99981215e-01 -5.01290811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28655999499995 meters 0.011715264357501518 Centerline is valid? [True, True] Translation: X:229.10, Y:-88.09, Z:-5.01 [[-6.84564874e-01 -7.28938089e-01 4.49405076e-03 2.29098590e+02] [ 7.28922294e-01 -6.84579625e-01 -4.79853937e-03 -8.80919636e+01] [ 6.57437370e-03 -9.09771145e-06 9.99978389e-01 -5.01363574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34655999499995 meters 0.011717151548412767 Centerline is valid? [True, True] Translation: X:229.06, Y:-88.05, Z:-5.01 [[-6.85140972e-01 -7.28394266e-01 4.86221892e-03 2.29058581e+02] [ 7.28375787e-01 -6.85158225e-01 -5.18848293e-03 -8.80509914e+01] [ 7.11065050e-03 -1.33197096e-05 9.99974719e-01 -5.01416352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40655999499995 meters 0.011610851862983716 Centerline is valid? [True, True] Translation: X:229.02, Y:-88.01, Z:-5.01 [[-6.85574546e-01 -7.27983230e-01 5.28751556e-03 2.29017345e+02] [ 7.27961389e-01 -6.85594936e-01 -5.63910882e-03 -8.80098638e+01] [ 7.73027055e-03 -1.69222993e-05 9.99970121e-01 -5.01412119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46655999499995 meters 0.011618435436571789 Centerline is valid? [True, True] Translation: X:228.98, Y:-87.97, Z:-5.01 [[-6.85245288e-01 -7.28291564e-01 5.50396882e-03 2.28976392e+02] [ 7.28267938e-01 -6.85267392e-01 -5.86624957e-03 -8.79696022e+01] [ 8.04403043e-03 -1.14558554e-05 9.99967646e-01 -5.01451209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52655999499996 meters 0.011635392384160153 Centerline is valid? [True, True] Translation: X:228.94, Y:-87.93, Z:-5.02 [[-6.85014253e-01 -7.28503461e-01 6.17900325e-03 2.28935308e+02] [ 7.28473730e-01 -6.85042121e-01 -6.58158940e-03 -8.79292995e+01] [ 9.02758815e-03 -7.24100370e-06 9.99959250e-01 -5.01561785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58655999499996 meters 0.011556484743348033 Centerline is valid? [True, True] Translation: X:228.89, Y:-87.89, Z:-5.02 [[-6.84772358e-01 -7.28723213e-01 7.02117437e-03 2.28893879e+02] [ 7.28684881e-01 -6.84808352e-01 -7.47435327e-03 -8.78891126e+01] [ 1.02548936e-02 -2.00690004e-06 9.99947417e-01 -5.01593667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64655999499996 meters 0.011603787163772666 Centerline is valid? [True, True] Translation: X:228.85, Y:-87.85, Z:-5.02 [[-6.84617006e-01 -7.28870085e-01 6.92495666e-03 2.28854357e+02] [ 7.28832854e-01 -6.84652028e-01 -7.36696967e-03 -8.78486165e+01] [ 1.01107494e-02 3.58320791e-06 9.99948885e-01 -5.01524625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70655999499996 meters 0.011541176472782778 Centerline is valid? [True, True] Translation: X:228.81, Y:-87.81, Z:-5.01 [[-6.84145709e-01 -7.29322101e-01 5.82426507e-03 2.28813363e+02] [ 7.29295814e-01 -6.84170500e-01 -6.19207111e-03 -8.78088741e+01] [ 8.50080466e-03 1.13332531e-05 9.99963867e-01 -5.01381708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76655999499997 meters 0.0114859269438042 Centerline is valid? [True, True] Translation: X:228.77, Y:-87.77, Z:-5.01 [[-6.84149727e-01 -7.29323028e-01 5.20309791e-03 2.28772470e+02] [ 7.29302074e-01 -6.84169512e-01 -5.52851474e-03 -8.77682264e+01] [ 7.59187407e-03 1.22982538e-05 9.99971181e-01 -5.01301590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82655999499997 meters 0.011425322258306819 Centerline is valid? [True, True] Translation: X:228.73, Y:-87.73, Z:-5.01 [[-6.85304490e-01 -7.28239242e-01 5.03603811e-03 2.28731398e+02] [ 7.28219605e-01 -6.85322994e-01 -5.34793580e-03 -8.77264876e+01] [ 7.34588943e-03 2.37727207e-06 9.99973019e-01 -5.01265462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88655999499997 meters 0.011609020181352243 Centerline is valid? [True, True] Translation: X:228.69, Y:-87.68, Z:-5.01 [[-6.87041976e-01 -7.26598433e-01 5.29535400e-03 2.28691235e+02] [ 7.26576698e-01 -6.87062383e-01 -5.62006458e-03 -8.76839944e+01] [ 7.72176865e-03 -1.37394512e-05 9.99970187e-01 -5.01302452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.946559995 meters 0.012003304969185861 Centerline is valid? [True, True] Translation: X:228.65, Y:-87.64, Z:-5.01 [[-6.90207328e-01 -7.23581984e-01 6.55421140e-03 2.28652604e+02] [ 7.23548576e-01 -6.90238444e-01 -6.95324472e-03 -8.76417847e+01] [ 9.55521128e-03 -5.68901288e-05 9.99954346e-01 -5.01408630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.006559995 meters 0.012137595168567248 Centerline is valid? [True, True] Translation: X:228.61, Y:-87.60, Z:-5.01 [[-6.92360348e-01 -7.21518630e-01 6.92926722e-03 2.28611893e+02] [ 7.21481228e-01 -6.92395016e-01 -7.34709748e-03 -8.75993786e+01] [ 1.00988578e-02 -8.75027460e-05 9.99949001e-01 -5.01383833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.066559995 meters 0.013049308948820434 Centerline is valid? [True, True] Translation: X:228.57, Y:-87.56, Z:-5.02 [[-6.95147941e-01 -7.18825206e-01 7.72421616e-03 2.28573498e+02] [ 7.18778603e-01 -6.95190840e-01 -8.18637695e-03 -8.75577145e+01] [ 1.12543784e-02 -1.38741773e-04 9.99936658e-01 -5.01532305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.126559995 meters 0.01312068368063925 Centerline is valid? [True, True] Translation: X:228.53, Y:-87.52, Z:-5.01 [[-6.96387869e-01 -7.17623431e-01 7.78121603e-03 2.28533810e+02] [ 7.17576115e-01 -6.96431322e-01 -8.24210180e-03 -8.75157732e+01] [ 1.13338079e-02 -1.56084931e-04 9.99935758e-01 -5.01492145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.186559995 meters 0.01383659984575016 Centerline is valid? [True, True] Translation: X:228.49, Y:-87.47, Z:-5.01 [[-6.98685654e-01 -7.15393987e-01 7.05691363e-03 2.28494431e+02] [ 7.15354999e-01 -6.98721271e-01 -7.47068151e-03 -8.74735875e+01] [ 1.02752963e-02 -1.71459551e-04 9.99947193e-01 -5.01430624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.246559995 meters 0.0136072083533717 Centerline is valid? [True, True] Translation: X:228.45, Y:-87.43, Z:-5.01 [[-6.99260671e-01 -7.14839192e-01 6.28039185e-03 2.28453780e+02] [ 7.14808325e-01 -6.99288856e-01 -6.64482991e-03 -8.74320392e+01] [ 9.14179288e-03 -1.57191849e-04 9.99958201e-01 -5.01304070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.306559995 meters 0.013582432585436389 Centerline is valid? [True, True] Translation: X:228.41, Y:-87.39, Z:-5.01 [[-6.97187763e-01 -7.16864318e-01 5.89684184e-03 2.28412838e+02] [ 7.16837207e-01 -6.97212690e-01 -6.23560813e-03 -8.73924345e+01] [ 8.58143793e-03 -1.20314048e-04 9.99963172e-01 -5.01317736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36655999499993 meters 0.012075611575774954 Centerline is valid? [True, True] Translation: X:228.37, Y:-87.36, Z:-5.01 [[-6.91974176e-01 -7.21897339e-01 5.99772334e-03 2.28366712e+02] [ 7.21869511e-01 -6.92000166e-01 -6.33870220e-03 -8.73563722e+01] [ 8.72631779e-03 -5.66446155e-05 9.99961923e-01 -5.01310043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42655999499993 meters 0.011694596841279147 Centerline is valid? [True, True] Translation: X:228.32, Y:-87.32, Z:-5.01 [[-6.87458197e-01 -7.26199398e-01 5.97174580e-03 2.28322161e+02] [ 7.26172004e-01 -6.87484134e-01 -6.30766953e-03 -8.73185752e+01] [ 8.68610631e-03 2.55498571e-07 9.99962275e-01 -5.01329907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48655999499994 meters 0.012211366336087218 Centerline is valid? [True, True] Translation: X:228.28, Y:-87.28, Z:-5.01 [[-6.81027960e-01 -7.32230002e-01 6.33570004e-03 2.28275948e+02] [ 7.32199460e-01 -6.81057425e-01 -6.68833022e-03 -8.72826795e+01] [ 9.21237161e-03 8.40562640e-05 9.99957562e-01 -5.01444441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54655999499994 meters 0.012790551726542452 Centerline is valid? [True, True] Translation: X:228.23, Y:-87.24, Z:-5.01 [[-6.77929537e-01 -7.35097689e-01 6.55215769e-03 2.28233796e+02] [ 7.35065198e-01 -6.77961187e-01 -6.91262089e-03 -8.72432613e+01] [ 9.52356024e-03 1.29993208e-04 9.99954641e-01 -5.01440029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60655999499994 meters 0.013928907276287927 Centerline is valid? [True, True] Translation: X:228.19, Y:-87.21, Z:-5.01 [[-6.76050132e-01 -7.36829378e-01 6.21991206e-03 2.28191544e+02] [ 7.36800196e-01 -6.76078727e-01 -6.55937732e-03 -8.72054018e+01] [ 9.03829214e-03 1.48364529e-04 9.99959143e-01 -5.01469911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66655999499994 meters 0.013486124018399376 Centerline is valid? [True, True] Translation: X:228.15, Y:-87.16, Z:-5.01 [[-6.76203355e-01 -7.36695334e-01 5.38589591e-03 2.28151757e+02] [ 7.36673477e-01 -6.76224792e-01 -5.67621240e-03 -8.71643086e+01] [ 7.82371553e-03 1.29372797e-04 9.99969386e-01 -5.01320002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72655999499995 meters 0.013432446031749702 Centerline is valid? [True, True] Translation: X:228.11, Y:-87.12, Z:-5.01 [[-6.76927061e-01 -7.36025742e-01 5.98839019e-03 2.28111416e+02] [ 7.35998731e-01 -6.76953534e-01 -6.30718134e-03 -8.71233523e+01] [ 8.69610973e-03 1.37945847e-04 9.99962179e-01 -5.01475081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78655999499995 meters 0.013512239525894455 Centerline is valid? [True, True] Translation: X:228.07, Y:-87.08, Z:-5.02 [[-6.77955005e-01 -7.35071749e-01 6.82168070e-03 2.28072679e+02] [ 7.35036696e-01 -6.77989308e-01 -7.18009537e-03 -8.70831297e+01] [ 9.90291184e-03 1.46404052e-04 9.99950954e-01 -5.01650051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84655999499995 meters 0.013239231169143491 Centerline is valid? [True, True] Translation: X:228.03, Y:-87.04, Z:-5.02 [[-6.79394762e-01 -7.33738791e-01 7.08126366e-03 2.28034960e+02] [ 7.33700994e-01 -6.79431651e-01 -7.44866825e-03 -8.70398877e+01] [ 1.02766115e-02 1.34943994e-04 9.99947185e-01 -5.01663207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90655999499995 meters 0.012701938286782215 Centerline is valid? [True, True] Translation: X:228.00, Y:-87.00, Z:-5.02 [[-6.81546278e-01 -7.31732844e-01 7.85599928e-03 2.27998508e+02] [ 7.31686250e-01 -6.81591543e-01 -8.25838200e-03 -8.69958906e+01] [ 1.13975120e-02 1.19657137e-04 9.99935039e-01 -5.01780394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96655999499995 meters 0.012517135686483744 Centerline is valid? [True, True] Translation: X:227.96, Y:-86.95, Z:-5.02 [[-6.83408662e-01 -7.29993848e-01 7.84751378e-03 2.27962107e+02] [ 7.29947299e-01 -6.83453710e-01 -8.24426647e-03 -8.69519387e+01] [ 1.13816762e-02 9.40683754e-05 9.99935222e-01 -5.01781306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02655999499996 meters 0.012037682104814087 Centerline is valid? [True, True] Translation: X:227.93, Y:-86.90, Z:-5.02 [[-6.87967993e-01 -7.25702982e-01 7.43116168e-03 2.27928255e+02] [ 7.25661038e-01 -6.88008125e-01 -7.80238630e-03 -8.69044714e+01] [ 1.07749146e-02 2.47124524e-05 9.99941949e-01 -5.01673765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08655999499996 meters 0.012105881159335877 Centerline is valid? [True, True] Translation: X:227.89, Y:-86.86, Z:-5.02 [[-6.91922117e-01 -7.21938629e-01 6.95705427e-03 2.27892443e+02] [ 7.21901716e-01 -6.91957091e-01 -7.30044303e-03 -8.68578528e+01] [ 1.00844549e-02 -2.90285814e-05 9.99949150e-01 -5.01584454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14655999499996 meters 0.012860530890476863 Centerline is valid? [True, True] Translation: X:227.86, Y:-86.81, Z:-5.01 [[-6.97296277e-01 -7.16755827e-01 6.24398059e-03 2.27858162e+02] [ 7.16725918e-01 -6.97324227e-01 -6.54841101e-03 -8.68102754e+01] [ 9.04769068e-03 -9.09598971e-05 9.99959065e-01 -5.01412514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20655999499996 meters 0.013508088760961802 Centerline is valid? [True, True] Translation: X:227.82, Y:-86.77, Z:-5.01 [[-6.99708105e-01 -7.14409354e-01 5.27656544e-03 2.27822411e+02] [ 7.14387954e-01 -6.99727994e-01 -5.53050605e-03 -8.67653085e+01] [ 7.64320580e-03 -1.00225126e-04 9.99970785e-01 -5.01203692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26655999499997 meters 0.013466029721920209 Centerline is valid? [True, True] Translation: X:227.78, Y:-86.72, Z:-5.01 [[-6.99656426e-01 -7.14459018e-01 5.40344618e-03 2.27783192e+02] [ 7.14436605e-01 -6.99677284e-01 -5.65993276e-03 -8.67238445e+01] [ 7.82445855e-03 -9.95885853e-05 9.99969384e-01 -5.01179146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32655999499997 meters 0.013095085870349344 Centerline is valid? [True, True] Translation: X:227.74, Y:-86.68, Z:-5.01 [[-6.97572404e-01 -7.16485294e-01 6.44713486e-03 2.27742328e+02] [ 7.16453513e-01 -6.97602191e-01 -6.74891591e-03 -8.66833334e+01] [ 9.33303440e-03 -8.87850779e-05 9.99956442e-01 -5.01255785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38655999499997 meters 0.012700842234365515 Centerline is valid? [True, True] Translation: X:227.70, Y:-86.64, Z:-5.01 [[-6.95877110e-01 -7.18128546e-01 6.81459751e-03 2.27701286e+02] [ 7.18093158e-01 -6.95910473e-01 -7.12950033e-03 -8.66423830e+01] [ 9.86224749e-03 -6.77402377e-05 9.99951365e-01 -5.01235062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.446559995 meters 0.012536067222149897 Centerline is valid? [True, True] Translation: X:227.66, Y:-86.60, Z:-5.01 [[-6.93037514e-01 -7.20864988e-01 7.25758619e-03 2.27660091e+02] [ 7.20825044e-01 -6.93075514e-01 -7.58865888e-03 -8.66018247e+01] [ 1.05004538e-02 -2.77753982e-05 9.99944868e-01 -5.01217658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.506559995 meters 0.012349178454696132 Centerline is valid? [True, True] Translation: X:227.62, Y:-86.56, Z:-5.01 [[-6.91475459e-01 -7.22354478e-01 8.10547681e-03 2.27620476e+02] [ 7.22304820e-01 -6.91522963e-01 -8.46984989e-03 -8.65604526e+01] [ 1.17233573e-02 -2.06837154e-06 9.99931279e-01 -5.01144082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.566559995 meters 0.012401677574492476 Centerline is valid? [True, True] Translation: X:227.58, Y:-86.52, Z:-5.01 [[-6.91052407e-01 -7.22757401e-01 8.26502813e-03 2.27581206e+02] [ 7.22705863e-01 -6.91101830e-01 -8.63112869e-03 -8.65183220e+01] [ 1.19501882e-02 8.62203181e-06 9.99928594e-01 -5.01075252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.626559995 meters 0.012171899486855937 Centerline is valid? [True, True] Translation: X:227.54, Y:-86.48, Z:-5.01 [[-6.91577430e-01 -7.22267522e-01 7.09121176e-03 2.27542190e+02] [ 7.22229601e-01 -6.91613784e-01 -7.40113238e-03 -8.64756139e+01] [ 1.02499773e-02 3.02692969e-06 9.99947468e-01 -5.00817732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.686559995 meters 0.012241278123122533 Centerline is valid? [True, True] Translation: X:227.50, Y:-86.43, Z:-5.01 [[-6.92481908e-01 -7.21404234e-01 6.68866348e-03 2.27503255e+02] [ 7.21370494e-01 -6.92514210e-01 -6.97704073e-03 -8.64321490e+01] [ 9.66526123e-03 -6.46999718e-06 9.99953290e-01 -5.00700826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.746559995 meters 0.012289043332224523 Centerline is valid? [True, True] Translation: X:227.46, Y:-86.39, Z:-5.01 [[-6.93353036e-01 -7.20564109e-01 6.99521993e-03 2.27464370e+02] [ 7.20527207e-01 -6.93388322e-01 -7.29241202e-03 -8.63896533e+01] [ 1.01050542e-02 -1.59697379e-05 9.99948943e-01 -5.00717015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.806559995 meters 0.012301635510618324 Centerline is valid? [True, True] Translation: X:227.42, Y:-86.35, Z:-5.01 [[-6.93234182e-01 -7.20666678e-01 8.11836068e-03 2.27424905e+02] [ 7.20617041e-01 -6.93281717e-01 -8.45822851e-03 -8.63477193e+01] [ 1.17238745e-02 -1.33040795e-05 9.99931273e-01 -5.00799387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86655999499993 meters 0.01233658547837993 Centerline is valid? [True, True] Translation: X:227.38, Y:-86.31, Z:-5.01 [[-6.92702831e-01 -7.21165893e-01 9.08532159e-03 2.27384184e+02] [ 7.21103840e-01 -6.92762409e-01 -9.46027012e-03 -8.63068561e+01] [ 1.31163934e-02 -1.69559901e-06 9.99913976e-01 -5.00851850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92655999499993 meters 0.01255144552975124 Centerline is valid? [True, True] Translation: X:227.34, Y:-86.27, Z:-5.01 [[-6.91394088e-01 -7.22400908e-01 1.05424310e-02 2.27343031e+02] [ 7.22317597e-01 -6.91474459e-01 -1.09709566e-02 -8.62669598e+01] [ 1.52152508e-02 2.97288821e-05 9.99884241e-01 -5.01025438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98655999499994 meters 0.012754293662588368 Centerline is valid? [True, True] Translation: X:227.30, Y:-86.23, Z:-5.01 [[-6.91010221e-01 -7.22760181e-01 1.10722572e-02 2.27303214e+02] [ 7.22668452e-01 -6.91098921e-01 -1.15147745e-02 -8.62265855e+01] [ 1.59744455e-02 4.47440606e-05 9.99872399e-01 -5.01141664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04655999499994 meters 0.012543059939294469 Centerline is valid? [True, True] Translation: X:227.26, Y:-86.18, Z:-5.01 [[-6.90149335e-01 -7.23570688e-01 1.18048514e-02 2.27262683e+02] [ 7.23466656e-01 -6.90250283e-01 -1.22696560e-02 -8.61847734e+01] [ 1.70262654e-02 7.25214820e-05 9.99855040e-01 -5.01019195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10655999499994 meters 0.012539850929488778 Centerline is valid? [True, True] Translation: X:227.22, Y:-86.14, Z:-5.01 [[-6.89991497e-01 -7.23724217e-01 1.16186509e-02 2.27223082e+02] [ 7.23623590e-01 -6.90089307e-01 -1.20684786e-02 -8.61436441e+01] [ 1.67521569e-02 8.03822608e-05 9.99859670e-01 -5.01037829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16655999499994 meters 0.012473854285007581 Centerline is valid? [True, True] Translation: X:227.18, Y:-86.10, Z:-5.01 [[-6.90562576e-01 -7.23183721e-01 1.13416750e-02 2.27183962e+02] [ 7.23087884e-01 -6.90655703e-01 -1.17733424e-02 -8.61016788e+01] [ 1.63474821e-02 7.07981406e-05 9.99866368e-01 -5.01035025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22655999499995 meters 0.012303270882021131 Centerline is valid? [True, True] Translation: X:227.15, Y:-86.06, Z:-5.01 [[-6.91794190e-01 -7.22012285e-01 1.09114087e-02 2.27145844e+02] [ 7.21923537e-01 -6.91880234e-01 -1.13202739e-02 -8.60581847e+01] [ 1.57227649e-02 4.59030694e-05 9.99876389e-01 -5.00921105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28655999499995 meters 0.01224125107907786 Centerline is valid? [True, True] Translation: X:227.11, Y:-86.01, Z:-5.01 [[-6.92670506e-01 -7.21185859e-01 9.92612670e-03 2.27106776e+02] [ 7.21112414e-01 -6.92741623e-01 -1.02922051e-02 -8.60149172e+01] [ 1.42988339e-02 2.87462644e-05 9.99897766e-01 -5.00848718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34655999499995 meters 0.012169439681153249 Centerline is valid? [True, True] Translation: X:227.07, Y:-85.97, Z:-5.01 [[-6.93269402e-01 -7.20623446e-01 8.90986693e-03 2.27068833e+02] [ 7.20564304e-01 -6.93326654e-01 -9.23230410e-03 -8.59736254e+01] [ 1.28304630e-02 1.96581250e-05 9.99917686e-01 -5.00845718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40655999499995 meters 0.011995063371866793 Centerline is valid? [True, True] Translation: X:227.03, Y:-85.93, Z:-5.01 [[-6.93248760e-01 -7.20643719e-01 8.87617988e-03 2.27028936e+02] [ 7.20585092e-01 -6.93305582e-01 -9.19214108e-03 -8.59307104e+01] [ 1.27781638e-02 2.36024926e-05 9.99918356e-01 -5.00848765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46655999499995 meters 0.012056680031714515 Centerline is valid? [True, True] Translation: X:226.99, Y:-85.89, Z:-5.01 [[-6.92421015e-01 -7.21434535e-01 9.23842401e-03 2.26990823e+02] [ 7.21371176e-01 -6.92482642e-01 -9.56120571e-03 -8.58884504e+01] [ 1.32952323e-02 4.39530240e-05 9.99911614e-01 -5.00921250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52655999499996 meters 0.012238407028206064 Centerline is valid? [True, True] Translation: X:226.95, Y:-85.85, Z:-5.01 [[-6.91123295e-01 -7.22678410e-01 9.19272491e-03 2.26952001e+02] [ 7.22615869e-01 -6.91184426e-01 -9.50763676e-03 -8.58482943e+01] [ 1.32248321e-02 7.18596550e-05 9.99912546e-01 -5.00970651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58655999499996 meters 0.012338324274282629 Centerline is valid? [True, True] Translation: X:226.91, Y:-85.81, Z:-5.01 [[-6.90248672e-01 -7.23517082e-01 8.93323077e-03 2.26911267e+02] [ 7.23458166e-01 -6.90306471e-01 -9.23356818e-03 -8.58077206e+01] [ 1.28473113e-02 8.93605749e-05 9.99917466e-01 -5.01019049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64655999499996 meters 0.012323304655066725 Centerline is valid? [True, True] Translation: X:226.87, Y:-85.77, Z:-5.01 [[-6.89316177e-01 -7.24414355e-01 8.18840961e-03 2.26872138e+02] [ 7.24364980e-01 -6.89364803e-01 -8.45834246e-03 -8.57661760e+01] [ 1.17721461e-02 1.00924874e-04 9.99930701e-01 -5.00924741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70655999499996 meters 0.012145082110665062 Centerline is valid? [True, True] Translation: X:226.83, Y:-85.72, Z:-5.01 [[-6.89425398e-01 -7.24315896e-01 7.68783601e-03 2.26832914e+02] [ 7.24272418e-01 -6.89468254e-01 -7.93666560e-03 -8.57237727e+01] [ 1.10491719e-02 9.63487394e-05 9.99938951e-01 -5.00803579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76655999499997 meters 0.012122369266732737 Centerline is valid? [True, True] Translation: X:226.79, Y:-85.68, Z:-5.01 [[-6.90015041e-01 -7.23760347e-01 7.08541343e-03 2.26792850e+02] [ 7.23723430e-01 -6.90051413e-01 -7.31055891e-03 -8.56816082e+01] [ 1.01803922e-02 8.34841101e-05 9.99948175e-01 -5.00845340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82655999499997 meters 0.012124768491676586 Centerline is valid? [True, True] Translation: X:226.75, Y:-85.64, Z:-5.01 [[-6.90306276e-01 -7.23488141e-01 6.49273812e-03 2.26752720e+02] [ 7.23457165e-01 -6.90336805e-01 -6.69519780e-03 -8.56397524e+01] [ 9.32607230e-03 7.54808553e-05 9.99956508e-01 -5.00838146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88655999499997 meters 0.012184655144833181 Centerline is valid? [True, True] Translation: X:226.71, Y:-85.60, Z:-5.01 [[-6.90119256e-01 -7.23672501e-01 5.78994676e-03 2.26712810e+02] [ 7.23647904e-01 -6.90143540e-01 -5.96706645e-03 -8.55981091e+01] [ 8.31409626e-03 7.18953737e-05 9.99965435e-01 -5.00797117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.946559995 meters 0.012388256244586556 Centerline is valid? [True, True] Translation: X:226.67, Y:-85.56, Z:-5.01 [[-6.89838635e-01 -7.23939333e-01 5.87359898e-03 2.26673514e+02] [ 7.23914063e-01 -6.89863636e-01 -6.04921332e-03 -8.55583014e+01] [ 8.43124581e-03 7.89998447e-05 9.99964453e-01 -5.00795706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.006559995 meters 0.012440798857327122 Centerline is valid? [True, True] Translation: X:226.63, Y:-85.52, Z:-5.01 [[-6.89953638e-01 -7.23832261e-01 5.55298559e-03 2.26633807e+02] [ 7.23809700e-01 -6.89975980e-01 -5.71537886e-03 -8.55176287e+01] [ 7.96840228e-03 7.59583994e-05 9.99968249e-01 -5.00835991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.066559995 meters 0.012576359683896816 Centerline is valid? [True, True] Translation: X:226.59, Y:-85.48, Z:-5.01 [[-6.90246477e-01 -7.23549474e-01 5.99659902e-03 2.26594615e+02] [ 7.23523180e-01 -6.90272520e-01 -6.16897757e-03 -8.54777395e+01] [ 8.60284800e-03 8.05633528e-05 9.99962992e-01 -5.00940970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.126559995 meters 0.01266715173037972 Centerline is valid? [True, True] Translation: X:226.55, Y:-85.44, Z:-5.01 [[-6.90491862e-01 -7.23314430e-01 6.10114312e-03 2.26554348e+02] [ 7.23287236e-01 -6.90518811e-01 -6.27263371e-03 -8.54366282e+01] [ 8.75004057e-03 8.16764064e-05 9.99961714e-01 -5.00994501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.186559995 meters 0.012189721214282698 Centerline is valid? [True, True] Translation: X:226.51, Y:-85.39, Z:-5.01 [[-6.91763813e-01 -7.22094283e-01 6.53246575e-03 2.26514895e+02] [ 7.22063087e-01 -6.91794652e-01 -6.71246884e-03 -8.53932679e+01] [ 9.36616025e-03 7.34093514e-05 9.99956134e-01 -5.00901175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.246559995 meters 0.01218247620915037 Centerline is valid? [True, True] Translation: X:226.47, Y:-85.35, Z:-5.01 [[-6.92331319e-01 -7.21553164e-01 6.19485347e-03 2.26474238e+02] [ 7.21525120e-01 -6.92359031e-01 -6.36192395e-03 -8.53522131e+01] [ 8.87952910e-03 6.51831845e-05 9.99960574e-01 -5.00861483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.306559995 meters 0.01235236045685182 Centerline is valid? [True, True] Translation: X:226.43, Y:-85.31, Z:-5.01 [[-6.91257416e-01 -7.22580244e-01 6.40130602e-03 2.26432521e+02] [ 7.22550378e-01 -6.91287049e-01 -6.57018467e-03 -8.53123643e+01] [ 9.17262558e-03 8.35772064e-05 9.99957927e-01 -5.00829511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36655999499993 meters 0.012719901592796547 Centerline is valid? [True, True] Translation: X:226.39, Y:-85.27, Z:-5.01 [[-6.90379006e-01 -7.23413197e-01 7.08335739e-03 2.26391023e+02] [ 7.23376700e-01 -6.90415335e-01 -7.26737991e-03 -8.52738568e+01] [ 1.01477771e-02 1.06689177e-04 9.99948504e-01 -5.00906509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42655999499993 meters 0.013017650420672756 Centerline is valid? [True, True] Translation: X:226.35, Y:-85.23, Z:-5.01 [[-6.89342759e-01 -7.24396266e-01 7.52401639e-03 2.26348760e+02] [ 7.24355191e-01 -6.89383807e-01 -7.71522815e-03 -8.52341598e+01] [ 1.07758175e-02 1.31623670e-04 9.99941931e-01 -5.00959117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48655999499994 meters 0.012841432773980806 Centerline is valid? [True, True] Translation: X:226.31, Y:-85.19, Z:-5.01 [[-6.89630746e-01 -7.24117248e-01 7.97781873e-03 2.26309479e+02] [ 7.24071110e-01 -6.89676875e-01 -8.17534941e-03 -8.51922769e+01] [ 1.14220286e-02 1.38535756e-04 9.99934757e-01 -5.00847352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54655999499994 meters 0.012665783647224415 Centerline is valid? [True, True] Translation: X:226.27, Y:-85.15, Z:-5.01 [[-6.90735681e-01 -7.23064331e-01 7.88620186e-03 2.26269678e+02] [ 7.23019235e-01 -6.90780687e-01 -8.07635843e-03 -8.51509152e+01] [ 1.12873626e-02 1.23246695e-04 9.99936288e-01 -5.00814786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60655999499994 meters 0.012258354316326716 Centerline is valid? [True, True] Translation: X:226.23, Y:-85.11, Z:-5.01 [[-6.92703263e-01 -7.21182106e-01 7.65238084e-03 2.26230483e+02] [ 7.21139584e-01 -6.92745524e-01 -7.83193733e-03 -8.51089726e+01] [ 1.09494056e-02 9.32261890e-05 9.99940049e-01 -5.00786207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66655999499994 meters 0.01214058069820857 Centerline is valid? [True, True] Translation: X:226.19, Y:-85.07, Z:-5.01 [[-6.93965943e-01 -7.19962782e-01 8.05373371e-03 2.26190772e+02] [ 7.19915660e-01 -6.94012670e-01 -8.23751785e-03 -8.50671914e+01] [ 1.15200995e-02 8.14521738e-05 9.99933638e-01 -5.00843750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72655999499995 meters 0.01205414302014683 Centerline is valid? [True, True] Translation: X:226.15, Y:-85.02, Z:-5.01 [[-6.95599465e-01 -7.18374124e-01 8.94439551e-03 2.26152350e+02] [ 7.18315945e-01 -6.95656965e-01 -9.14276426e-03 -8.50246197e+01] [ 1.27901563e-02 6.51999848e-05 9.99918200e-01 -5.00935067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78655999499995 meters 0.012412576340769671 Centerline is valid? [True, True] Translation: X:226.11, Y:-84.98, Z:-5.01 [[-6.95993883e-01 -7.17984874e-01 9.49918412e-03 2.26112778e+02] [ 7.17919303e-01 -6.96058701e-01 -9.70350957e-03 -8.49845689e+01] [ 1.35789629e-02 6.60643377e-05 9.99907799e-01 -5.01148121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84655999499995 meters 0.01215932093052275 Centerline is valid? [True, True] Translation: X:226.07, Y:-84.94, Z:-5.01 [[-6.95186227e-01 -7.18767036e-01 9.48984451e-03 2.26072205e+02] [ 7.18701749e-01 -6.95250991e-01 -9.68787881e-03 -8.49444238e+01] [ 1.35611517e-02 8.54879309e-05 9.99908040e-01 -5.00911562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90655999499995 meters 0.012241269834297764 Centerline is valid? [True, True] Translation: X:226.03, Y:-84.90, Z:-5.01 [[-6.94782966e-01 -7.19156395e-01 9.52417336e-03 2.26031245e+02] [ 7.19090754e-01 -6.94848235e-01 -9.71682668e-03 -8.49038806e+01] [ 1.36057731e-02 9.76593447e-05 9.99907432e-01 -5.00875301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96655999499995 meters 0.012873122925662887 Centerline is valid? [True, True] Translation: X:225.99, Y:-84.87, Z:-5.01 [[-6.92937952e-01 -7.20931270e-01 9.75186089e-03 2.25989059e+02] [ 7.20862709e-01 -6.93006555e-01 -9.94332823e-03 -8.48658668e+01] [ 1.39265598e-02 1.39643357e-04 9.99903011e-01 -5.00950151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02655999499996 meters 0.013095298857179794 Centerline is valid? [True, True] Translation: X:225.95, Y:-84.83, Z:-5.01 [[-6.91316107e-01 -7.22474866e-01 1.05881226e-02 2.25947171e+02] [ 7.22394312e-01 -6.91397159e-01 -1.07900684e-02 -8.48258445e+01] [ 1.51161511e-02 1.89451433e-04 9.99885727e-01 -5.00910606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08655999499996 meters 0.013902411156861515 Centerline is valid? [True, True] Translation: X:225.90, Y:-84.79, Z:-5.01 [[-6.89270287e-01 -7.24420323e-01 1.10302491e-02 2.25904059e+02] [ 7.24333247e-01 -6.89358495e-01 -1.12344735e-02 -8.47871379e+01] [ 1.57422769e-02 2.45987325e-04 9.99876052e-01 -5.00898728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14655999499996 meters 0.014532469797460016 Centerline is valid? [True, True] Translation: X:225.86, Y:-84.75, Z:-5.01 [[-6.88459456e-01 -7.25194146e-01 1.08179550e-02 2.25861988e+02] [ 7.25110582e-01 -6.88544393e-01 -1.10119230e-02 -8.47479693e+01] [ 1.54344244e-02 2.62951163e-04 9.99880848e-01 -5.00873542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20655999499996 meters 0.013750764405956446 Centerline is valid? [True, True] Translation: X:225.82, Y:-84.71, Z:-5.01 [[-6.88744259e-01 -7.24928630e-01 1.04798227e-02 2.25821930e+02] [ 7.24850278e-01 -6.88823938e-01 -1.06609859e-02 -8.47068132e+01] [ 1.49472066e-02 2.53609528e-04 9.99888252e-01 -5.00625127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26655999499997 meters 0.012470305245673273 Centerline is valid? [True, True] Translation: X:225.78, Y:-84.66, Z:-5.00 [[-6.91754193e-01 -7.22065609e-01 9.86875068e-03 2.25782650e+02] [ 7.21995915e-01 -6.91824560e-01 -1.00337832e-02 -8.46639515e+01] [ 1.40724939e-02 1.84286064e-04 9.99900961e-01 -5.00426986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32655999499997 meters 0.011994755816849105 Centerline is valid? [True, True] Translation: X:225.74, Y:-84.62, Z:-5.00 [[-6.95404768e-01 -7.18552251e-01 9.74012828e-03 2.25744276e+02] [ 7.18484093e-01 -6.95472968e-01 -9.89748381e-03 -8.46219202e+01] [ 1.38858552e-02 1.15369793e-04 9.99903580e-01 -5.00459154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38655999499997 meters 0.011741155968480315 Centerline is valid? [True, True] Translation: X:225.71, Y:-84.58, Z:-5.00 [[-7.01594691e-01 -7.12508072e-01 9.85584346e-03 2.25707034e+02] [ 7.12437766e-01 -7.01663914e-01 -1.00090747e-02 -8.45775164e+01] [ 1.40470362e-02 -6.38548184e-07 9.99901336e-01 -5.00441777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.446559995 meters 0.012892946191050613 Centerline is valid? [True, True] Translation: X:225.67, Y:-84.53, Z:-5.01 [[-7.05242288e-01 -7.08894250e-01 1.01122679e-02 2.25668803e+02] [ 7.08819952e-01 -7.05314779e-01 -1.02634494e-02 -8.45348556e+01] [ 1.44080322e-02 -7.04412879e-05 9.99896196e-01 -5.00772270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.506559995 meters 0.01289099597055849 Centerline is valid? [True, True] Translation: X:225.63, Y:-84.49, Z:-5.00 [[-7.09766934e-01 -7.04353700e-01 1.08057360e-02 2.25628027e+02] [ 7.04268427e-01 -7.09849164e-01 -1.09611539e-02 -8.44938189e+01] [ 1.53909720e-02 -1.69725914e-04 9.99881538e-01 -5.00460338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.566559995 meters 0.013740600069384214 Centerline is valid? [True, True] Translation: X:225.59, Y:-84.45, Z:-5.00 [[-7.12236963e-01 -7.01852020e-01 1.10567255e-02 2.25587298e+02] [ 7.01762534e-01 -7.12322744e-01 -1.12095658e-02 -8.44520074e+01] [ 1.57434135e-02 -2.24671426e-04 9.99876040e-01 -5.00494148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.626559995 meters 0.014037850731036113 Centerline is valid? [True, True] Translation: X:225.55, Y:-84.41, Z:-5.00 [[-7.14241353e-01 -6.99799569e-01 1.18259329e-02 2.25545044e+02] [ 6.99697029e-01 -7.14339193e-01 -1.19826706e-02 -8.44119015e+01] [ 1.68331950e-02 -2.83948751e-04 9.99858271e-01 -5.00499629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.686559995 meters 0.014437588321360044 Centerline is valid? [True, True] Translation: X:225.50, Y:-84.37, Z:-5.00 [[-7.15149451e-01 -6.98884788e-01 1.10143206e-02 2.25503420e+02] [ 6.98795841e-01 -7.15234210e-01 -1.11533527e-02 -8.43721282e+01] [ 1.56727274e-02 -2.79552670e-04 9.99877136e-01 -5.00445635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.746559995 meters 0.013576192086379167 Centerline is valid? [True, True] Translation: X:225.46, Y:-84.33, Z:-5.00 [[-7.14234518e-01 -6.99843412e-01 9.39423401e-03 2.25460146e+02] [ 6.99778862e-01 -7.14296263e-01 -9.50749819e-03 -8.43330206e+01] [ 1.33640262e-02 -2.16697002e-04 9.99910674e-01 -5.00215401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.806559995 meters 0.012067219293516116 Centerline is valid? [True, True] Translation: X:225.41, Y:-84.30, Z:-5.00 [[-7.08759062e-01 -7.05408664e-01 7.69472256e-03 2.25414246e+02] [ 7.05365734e-01 -7.08800825e-01 -7.78280983e-03 -8.42980750e+01] [ 1.09440872e-02 -8.85433641e-05 9.99940108e-01 -5.00018352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86655999499993 meters 0.011321780758802899 Centerline is valid? [True, True] Translation: X:225.36, Y:-84.27, Z:-5.00 [[-6.99380395e-01 -7.14717107e-01 6.82049147e-03 2.25363140e+02] [ 7.14683851e-01 -6.99413650e-01 -6.89491772e-03 -8.42662956e+01] [ 9.69826048e-03 5.23248304e-05 9.99952969e-01 -4.99944219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92655999499993 meters 0.012733369940409 Centerline is valid? [True, True] Translation: X:225.32, Y:-84.23, Z:-5.00 [[-6.92814557e-01 -7.21084892e-01 6.67599859e-03 2.25315830e+02] [ 7.21053348e-01 -6.92846707e-01 -6.74607419e-03 -8.42323119e+01] [ 9.48993582e-03 1.39972736e-04 9.99954960e-01 -4.99998486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98655999499994 meters 0.015857419792407033 Centerline is valid? [True, True] Translation: X:225.27, Y:-84.20, Z:-5.00 [[-6.85013575e-01 -7.28500790e-01 6.55754669e-03 2.25266526e+02] [ 7.28470729e-01 -6.85044919e-01 -6.62230307e-03 -8.42005056e+01] [ 9.31656706e-03 2.40613317e-04 9.99956571e-01 -5.00048699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04655999499994 meters 0.017459481640932372 Centerline is valid? [True, True] Translation: X:225.22, Y:-84.16, Z:-5.00 [[-6.82112913e-01 -7.31219119e-01 6.36973654e-03 2.25221547e+02] [ 7.31190907e-01 -6.82142599e-01 -6.42900777e-03 -8.41636893e+01] [ 9.04608204e-03 2.72184220e-04 9.99959046e-01 -5.00070714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10655999499994 meters 0.01701727766713332 Centerline is valid? [True, True] Translation: X:225.18, Y:-84.13, Z:-5.00 [[-6.80587028e-01 -7.32635631e-01 6.80660958e-03 2.25178121e+02] [ 7.32603525e-01 -6.80620992e-01 -6.86598202e-03 -8.41251384e+01] [ 9.66298442e-03 3.13647871e-04 9.99953263e-01 -5.00135079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16655999499994 meters 0.016957734642621864 Centerline is valid? [True, True] Translation: X:225.14, Y:-84.09, Z:-5.00 [[-6.81744157e-01 -7.31551860e-01 7.53531750e-03 2.25135987e+02] [ 7.31512491e-01 -6.81785718e-01 -7.59669699e-03 -8.40850396e+01] [ 1.06948497e-02 3.33175089e-04 9.99942753e-01 -5.00252135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22655999499995 meters 0.015760898799119332 Centerline is valid? [True, True] Translation: X:225.10, Y:-84.04, Z:-5.00 [[-6.85898115e-01 -7.27652504e-01 8.09999875e-03 2.25096878e+02] [ 7.27606790e-01 -6.85945877e-01 -8.16161596e-03 -8.40444301e+01] [ 1.14949810e-02 2.95577094e-04 9.99933887e-01 -5.00345296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28655999499995 meters 0.01462463610141612 Centerline is valid? [True, True] Translation: X:225.06, Y:-84.00, Z:-5.00 [[-6.90010787e-01 -7.23749831e-01 8.44365919e-03 2.25058438e+02] [ 7.23699914e-01 -6.90062405e-01 -8.50358842e-03 -8.40024736e+01] [ 1.19811225e-02 2.43107688e-04 9.99928194e-01 -5.00410292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34655999499995 meters 0.012295082240677534 Centerline is valid? [True, True] Translation: X:225.02, Y:-83.96, Z:-5.00 [[-6.96580499e-01 -7.17426693e-01 8.63411841e-03 2.25023257e+02] [ 7.17374075e-01 -6.96633993e-01 -8.69002695e-03 -8.39564591e+01] [ 1.22492777e-02 1.40589401e-04 9.99924965e-01 -5.00262348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40655999499995 meters 0.01156526170709944 Centerline is valid? [True, True] Translation: X:224.99, Y:-83.91, Z:-5.00 [[-7.01098930e-01 -7.13004325e-01 9.22615054e-03 2.24985654e+02] [ 7.12943927e-01 -7.01159630e-01 -9.28059455e-03 -8.39115498e+01] [ 1.30861084e-02 7.11130849e-05 9.99914371e-01 -5.00196807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46655999499995 meters 0.011878971777131174 Centerline is valid? [True, True] Translation: X:224.95, Y:-83.87, Z:-5.00 [[-7.08563614e-01 -7.05586108e-01 9.26549373e-03 2.24951430e+02] [ 7.05524635e-01 -7.08624189e-01 -9.31393922e-03 -8.38667908e+01] [ 1.31375391e-02 -6.24843558e-05 9.99913697e-01 -5.00239273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52655999499996 meters 0.01317382123312242 Centerline is valid? [True, True] Translation: X:224.92, Y:-83.82, Z:-5.00 [[-7.16020852e-01 -6.98021610e-01 8.94267606e-03 2.24915865e+02] [ 6.97963819e-01 -7.16076669e-01 -8.98397709e-03 -8.38211278e+01] [ 1.26746518e-02 -1.91050596e-04 9.99919655e-01 -5.00006894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58655999499996 meters 0.015227807111628648 Centerline is valid? [True, True] Translation: X:224.88, Y:-83.78, Z:-5.00 [[-7.21886138e-01 -6.91953234e-01 9.00703392e-03 2.24878967e+02] [ 6.91894198e-01 -7.21942266e-01 -9.04342801e-03 -8.37759538e+01] [ 1.27601877e-02 -2.96410803e-04 9.99918542e-01 -4.99906298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64655999499996 meters 0.017043353690706944 Centerline is valid? [True, True] Translation: X:224.84, Y:-83.73, Z:-5.00 [[-7.24315753e-01 -6.89410115e-01 8.96566307e-03 2.24840610e+02] [ 6.89351493e-01 -7.24371162e-01 -8.99658722e-03 -8.37337260e+01] [ 1.26968060e-02 -3.35876625e-04 9.99919336e-01 -4.99927744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70655999499996 meters 0.017024828360968147 Centerline is valid? [True, True] Translation: X:224.80, Y:-83.69, Z:-5.00 [[-7.25609496e-01 -6.88051462e-01 8.72042576e-03 2.24798588e+02] [ 6.87995965e-01 -7.25661812e-01 -8.74565981e-03 -8.36934749e+01] [ 1.23455440e-02 -3.46316071e-04 9.99923731e-01 -4.99857088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76655999499997 meters 0.016899559096289218 Centerline is valid? [True, True] Translation: X:224.76, Y:-83.66, Z:-5.00 [[-7.25138348e-01 -6.88551043e-01 8.47562681e-03 2.24756485e+02] [ 6.88498716e-01 -7.25187807e-01 -8.49489053e-03 -8.36551224e+01] [ 1.19955870e-02 -3.24512716e-04 9.99927998e-01 -4.99844015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82655999499997 meters 0.01627776815497972 Centerline is valid? [True, True] Translation: X:224.71, Y:-83.62, Z:-5.00 [[-7.24481848e-01 -6.89241416e-01 8.50425746e-03 2.24714118e+02] [ 6.89188838e-01 -7.24531693e-01 -8.51886366e-03 -8.36155726e+01] [ 1.20331577e-02 -3.10722772e-04 9.99927551e-01 -4.99815150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88655999499997 meters 0.014493594625831937 Centerline is valid? [True, True] Translation: X:224.67, Y:-83.58, Z:-5.00 [[-7.20057901e-01 -6.93850902e-01 9.35661560e-03 2.24667799e+02] [ 6.93787714e-01 -7.20118645e-01 -9.36728983e-03 -8.35801369e+01] [ 1.32373758e-02 -2.53486103e-04 9.99912350e-01 -4.99902858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.946559995 meters 0.012844212704669664 Centerline is valid? [True, True] Translation: X:224.62, Y:-83.54, Z:-5.00 [[-7.16254912e-01 -6.97777973e-01 9.20881721e-03 2.24622082e+02] [ 6.97717157e-01 -7.16314087e-01 -9.21402312e-03 -8.35439737e+01] [ 1.30257479e-02 -1.74439549e-04 9.99915146e-01 -4.99902468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.006559995 meters 0.011517376934390967 Centerline is valid? [True, True] Translation: X:224.58, Y:-83.51, Z:-5.00 [[-7.10730116e-01 -7.03420648e-01 7.88001832e-03 2.24575416e+02] [ 7.03376512e-01 -7.10773796e-01 -7.87990524e-03 -8.35089467e+01] [ 1.11437986e-02 -5.78661715e-05 9.99937904e-01 -4.99813410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.066559995 meters 0.01109796181465973 Centerline is valid? [True, True] Translation: X:224.15, Y:-83.93, Z:-4.04 [[-7.55215131e-01 6.55443326e-01 6.64465155e-03 2.24148225e+02] [ 6.55417860e-01 7.55244362e-01 -5.77778723e-03 -8.39296341e+01] [-8.80534770e-03 -8.44903844e-06 -9.99961232e-01 -4.03734825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.126559995 meters 0.011444557544016345 Centerline is valid? [True, True] Translation: X:224.16, Y:-83.90, Z:-4.04 [[-8.03952131e-01 5.94674087e-01 4.86839121e-03 2.24164697e+02] [ 5.94662792e-01 8.03966870e-01 -3.66547234e-03 -8.38977324e+01] [-6.09378666e-03 -5.18131904e-05 -9.99981431e-01 -4.03797657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.186559995 meters 0.012462675997144698 Centerline is valid? [True, True] Translation: X:224.18, Y:-83.87, Z:-4.04 [[-8.47208131e-01 5.31232966e-01 5.46976234e-03 2.24176196e+02] [ 5.31221180e-01 8.47225783e-01 -3.53995546e-03 -8.38653342e+01] [-6.51466472e-03 -9.34254427e-05 -9.99978775e-01 -4.03707798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.246559995 meters 0.013324447643838902 Centerline is valid? [True, True] Translation: X:224.19, Y:-83.84, Z:-4.04 [[-8.84615817e-01 4.66283106e-01 5.90949172e-03 2.24189089e+02] [ 4.66271758e-01 8.84635546e-01 -3.25541522e-03 -8.38371242e+01] [-6.74569156e-03 -1.24362697e-04 -9.99977240e-01 -4.03584180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.306559995 meters 0.013651788251072427 Centerline is valid? [True, True] Translation: X:224.45, Y:-83.35, Z:-5.00 [[-8.32253095e-01 -5.54370858e-01 5.26662991e-03 2.24454134e+02] [ 5.54360415e-01 -8.32269754e-01 -3.40384818e-03 -8.33500351e+01] [ 6.27025102e-03 8.67479587e-05 9.99980338e-01 -4.99929102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36655999499993 meters 0.014535936013490736 Centerline is valid? [True, True] Translation: X:224.15, Y:-83.81, Z:-4.03 [[-8.87582448e-01 4.60590771e-01 7.31708719e-03 2.24150477e+02] [ 4.60573491e-01 8.87612591e-01 -3.99359623e-03 -8.38140379e+01] [-8.33415228e-03 -1.74589530e-04 -9.99965255e-01 -4.03371614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42655999499993 meters 0.014797406182676867 Centerline is valid? [True, True] Translation: X:224.16, Y:-83.79, Z:-4.03 [[-9.17849058e-01 3.96798334e-01 1.02072625e-02 2.24158203e+02] [ 3.96771018e-01 9.17905785e-01 -4.66142055e-03 -8.37900211e+01] [-1.12189492e-02 -2.28534514e-04 -9.99937040e-01 -4.03041659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48655999499994 meters 0.014292033011272342 Centerline is valid? [True, True] Translation: X:224.16, Y:-83.77, Z:-4.03 [[-9.43387382e-01 3.31469943e-01 1.21623946e-02 2.24160664e+02] [ 3.31438932e-01 9.43465746e-01 -4.54104703e-03 -8.37662074e+01] [-1.29800233e-02 -2.52875388e-04 -9.99915724e-01 -4.02922586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54655999499994 meters 0.013933528693490295 Centerline is valid? [True, True] Translation: X:224.16, Y:-83.75, Z:-4.03 [[-9.64101362e-01 2.65246003e-01 1.23742117e-02 2.24163154e+02] [ 2.65221064e-01 9.64180742e-01 -3.64463898e-03 -8.37461963e+01] [-1.28977025e-02 -2.31899824e-04 -9.99916794e-01 -4.02948430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60655999499994 meters 0.013723502188373688 Centerline is valid? [True, True] Translation: X:224.17, Y:-83.72, Z:-4.03 [[-9.80454678e-01 1.96406461e-01 1.15380222e-02 2.24166093e+02] [ 1.96390331e-01 9.80522543e-01 -2.52590305e-03 -8.37246068e+01] [-1.18093945e-02 -2.10577466e-04 -9.99930245e-01 -4.03107562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66655999499994 meters 0.01355385205265223 Centerline is valid? [True, True] Translation: X:224.15, Y:-83.70, Z:-4.03 [[-9.92181173e-01 1.24396514e-01 1.01008582e-02 2.24148823e+02] [ 1.24387977e-01 9.92232566e-01 -1.47150665e-03 -8.37007258e+01] [-1.02054508e-02 -2.03575876e-04 -9.99947902e-01 -4.03314449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72655999499995 meters 0.014249608106481744 Centerline is valid? [True, True] Translation: X:224.16, Y:-83.68, Z:-4.03 [[-9.98688164e-01 5.02010521e-02 1.00898942e-02 2.24159380e+02] [ 5.01960969e-02 9.98739104e-01 -7.43908622e-04 -8.36783966e+01] [-1.01145169e-02 -2.36459428e-04 -9.99948819e-01 -4.03270062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78655999499995 meters 0.01587821059097639 Centerline is valid? [True, True] Translation: X:224.16, Y:-83.65, Z:-4.03 [[-9.99693419e-01 -2.26261294e-02 1.00561316e-02 2.24155244e+02] [-2.26275341e-02 9.99743964e-01 -2.59154379e-05 -8.36520313e+01] [-1.00529705e-02 -2.53452953e-04 -9.99949436e-01 -4.03131723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84655999499995 meters 0.015405261654958462 Centerline is valid? [True, True] Translation: X:224.16, Y:-83.04, Z:-5.00 [[-9.95470831e-01 -9.45781247e-02 9.63347076e-03 2.24155123e+02] [ 9.45758088e-02 -9.95517419e-01 -6.96699647e-04 -8.30385067e+01] [ 9.65618049e-03 2.17549112e-04 9.99953354e-01 -5.00346720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90655999499995 meters 0.015613173670562058 Centerline is valid? [True, True] Translation: X:224.10, Y:-83.66, Z:-4.03 [[-9.99558129e-01 -2.78947988e-02 1.02677592e-02 2.24098062e+02] [-2.78960962e-02 9.99610828e-01 1.68651632e-05 -8.36620269e+01] [-1.02642337e-02 -2.69572688e-04 -9.99947285e-01 -4.03034488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96655999499995 meters 0.01419338340955954 Centerline is valid? [True, True] Translation: X:224.09, Y:-83.03, Z:-5.01 [[-9.96343983e-01 -8.47994180e-02 1.03791440e-02 2.24094268e+02] [ 8.47977462e-02 -9.96398003e-01 -6.01836398e-04 -8.30267585e+01] [ 1.03927937e-02 2.80491943e-04 9.99945954e-01 -5.00590282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02655999499996 meters 0.012131735090945905 Centerline is valid? [True, True] Translation: X:224.04, Y:-83.68, Z:-4.03 [[-9.99745878e-01 -2.03703107e-02 9.65554829e-03 2.24038781e+02] [-2.03706853e-02 9.99792494e-01 5.95659495e-05 -8.36815986e+01] [-9.65475809e-03 -1.37139323e-04 -9.99953382e-01 -4.03066950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08655999499996 meters 0.010959892188034693 Centerline is valid? [True, True] Translation: X:224.05, Y:-83.00, Z:-5.00 [[-9.98233041e-01 -5.89997699e-02 7.05858080e-03 2.24045081e+02] [ 5.89980917e-02 -9.98257996e-01 -4.45921734e-04 -8.30031380e+01] [ 7.07259400e-03 -2.86910112e-05 9.99974988e-01 -5.00299884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14655999499996 meters 0.0132441700874134 Centerline is valid? [True, True] Translation: X:223.98, Y:-83.71, Z:-4.03 [[-9.99966418e-01 4.35529592e-03 6.94216779e-03 2.23980669e+02] [ 4.35593222e-03 9.99990510e-01 7.65398829e-05 -8.37135062e+01] [-6.94176856e-03 1.06776925e-04 -9.99975900e-01 -4.03224415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20655999499996 meters 0.017386496819900534 Centerline is valid? [True, True] Translation: X:223.98, Y:-82.97, Z:-5.00 [[-9.99663910e-01 -2.47180411e-02 7.81576629e-03 2.23979942e+02] [ 2.47166939e-02 -9.99694460e-01 -2.68920308e-04 -8.29740776e+01] [ 7.82002544e-03 -7.56500229e-05 9.99969420e-01 -5.00417236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26655999499997 meters 0.018991481934715906 Centerline is valid? [True, True] Translation: X:223.90, Y:-83.73, Z:-4.03 [[-9.99805724e-01 1.80001616e-02 8.03172302e-03 2.23903406e+02] [ 1.80018074e-02 9.99837946e-01 1.32662469e-04 -8.37316395e+01] [-8.02803350e-03 2.77222227e-04 -9.99967736e-01 -4.03063453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32655999499997 meters 0.020041149664235033 Centerline is valid? [True, True] Translation: X:223.90, Y:-82.97, Z:-5.00 [[-9.99918698e-01 -1.04252657e-02 7.34243183e-03 2.23900916e+02] [ 1.04228151e-02 -9.99945612e-01 -3.71949150e-04 -8.29714504e+01] [ 7.34591016e-03 -2.95390101e-04 9.99972975e-01 -5.00455631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38655999499997 meters 0.021040194958838174 Centerline is valid? [True, True] Translation: X:223.83, Y:-83.73, Z:-4.03 [[-9.99802739e-01 1.85094692e-02 7.20293209e-03 2.23825270e+02] [ 1.85110802e-02 9.99828643e-01 1.57052352e-04 -8.37335516e+01] [-7.19879086e-03 2.90355426e-04 -9.99974046e-01 -4.03031260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.446559995 meters 0.022057368797513004 Centerline is valid? [True, True] Translation: X:223.83, Y:-83.71, Z:-4.03 [[-9.98665232e-01 -5.12511585e-02 6.40886270e-03 2.23825562e+02] [-5.12483822e-02 9.98685760e-01 5.96779883e-04 -8.37061909e+01] [-6.43102558e-03 2.67539476e-04 -9.99979285e-01 -4.03014399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.506559995 meters 0.021433116528187114 Centerline is valid? [True, True] Translation: X:223.76, Y:-82.95, Z:-5.00 [[-9.97538394e-01 6.99612104e-02 4.75207674e-03 2.23758756e+02] [-6.99618802e-02 -9.97549665e-01 2.53298363e-05 -8.29537979e+01] [ 4.74220467e-03 -3.07196740e-04 9.99988709e-01 -5.00498302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.566559995 meters 0.01924254389577958 Centerline is valid? [True, True] Translation: X:223.73, Y:-83.70, Z:-4.03 [[-9.98032043e-01 -6.26244118e-02 3.19754187e-03 2.23726407e+02] [-6.26237341e-02 9.98037159e-01 3.11722099e-04 -8.36993957e+01] [-3.21078702e-03 1.10866631e-04 -9.99994839e-01 -4.03069941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.626559995 meters 0.017533038473860438 Centerline is valid? [True, True] Translation: X:223.72, Y:-83.67, Z:-4.03 [[-9.90185405e-01 -1.39744042e-01 2.11326401e-03 2.23715228e+02] [-1.39743599e-01 9.90187659e-01 3.56408917e-04 -8.36659977e+01] [-2.14233397e-03 5.75957886e-05 -9.99997704e-01 -4.03067408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.686559995 meters 0.01468876553781684 Centerline is valid? [True, True] Translation: X:223.59, Y:-82.97, Z:-5.01 [[-9.92321992e-01 1.23656583e-01 2.47249117e-03 2.23586522e+02] [-1.23656303e-01 -9.92325072e-01 2.66230211e-04 -8.29732565e+01] [ 2.48643609e-03 -4.15530238e-05 9.99996908e-01 -5.00604491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.746559995 meters 0.013655290463317375 Centerline is valid? [True, True] Translation: X:223.60, Y:-83.67, Z:-4.03 [[-9.86911545e-01 -1.61230173e-01 3.23017789e-03 2.23599495e+02] [-1.61229170e-01 9.86916830e-01 5.70233143e-04 -8.36669068e+01] [-3.27985572e-03 4.19707720e-05 -9.99994620e-01 -4.02786409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.806559995 meters 0.012393861324950779 Centerline is valid? [True, True] Translation: X:223.58, Y:-83.63, Z:-4.03 [[-9.70538408e-01 -2.40910427e-01 4.16713366e-03 2.23578199e+02] [-2.40908139e-01 9.70547354e-01 1.04996595e-03 -8.36325859e+01] [-4.29734829e-03 1.51358703e-05 -9.99990766e-01 -4.02557060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86655999499993 meters 0.012154329253701284 Centerline is valid? [True, True] Translation: X:223.55, Y:-83.61, Z:-4.03 [[-9.49293518e-01 -3.14365594e-01 4.01128187e-03 2.23550889e+02] [-3.14362813e-01 9.49301993e-01 1.32224837e-03 -8.36079065e+01] [-4.22358727e-03 -5.79604639e-06 -9.99991081e-01 -4.02548423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92655999499993 meters 0.01227668362083701 Centerline is valid? [True, True] Translation: X:223.32, Y:-83.00, Z:-5.01 [[-9.69506897e-01 2.45048745e-01 2.73680960e-03 2.23324306e+02] [-2.45048050e-01 -9.69510755e-01 5.91597748e-04 -8.30022503e+01] [ 2.79833663e-03 -9.70917594e-05 9.99996080e-01 -5.00868517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98655999499994 meters 0.012631178276769819 Centerline is valid? [True, True] Translation: X:223.42, Y:-83.64, Z:-4.03 [[-9.43906896e-01 -3.30203828e-01 2.28136480e-03 2.23418770e+02] [-3.30202945e-01 9.43909652e-01 7.64069922e-04 -8.36405998e+01] [-2.40570106e-03 -3.21025075e-05 -9.99997106e-01 -4.02621480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04655999499994 meters 0.013231289798771802 Centerline is valid? [True, True] Translation: X:223.19, Y:-83.05, Z:-5.01 [[-9.69907645e-01 2.43462844e-01 2.23672111e-03 2.23194015e+02] [-2.43462138e-01 -9.69910224e-01 5.86819179e-04 -8.30505662e+01] [ 2.31228734e-03 2.46035036e-05 9.99997326e-01 -5.00963793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10655999499994 meters 0.01330772893257023 Centerline is valid? [True, True] Translation: X:223.29, Y:-83.68, Z:-4.03 [[-9.39940139e-01 -3.41328705e-01 2.69277243e-03 2.23291982e+02] [-3.41327461e-01 9.39943995e-01 9.22856686e-04 -8.36802155e+01] [-2.84605275e-03 -5.16871343e-05 -9.99995949e-01 -4.02551608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16655999499994 meters 0.013938396745866116 Centerline is valid? [True, True] Translation: X:223.26, Y:-83.66, Z:-4.02 [[-9.12214573e-01 -4.09693120e-01 4.01491935e-03 2.23255411e+02] [-4.09689545e-01 9.12223405e-01 1.71337683e-03 -8.36646527e+01] [-4.36446210e-03 -8.19031639e-05 -9.99990472e-01 -4.02344433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22655999499995 meters 0.014409678633108011 Centerline is valid? [True, True] Translation: X:223.20, Y:-83.66, Z:-4.02 [[-8.78952273e-01 -4.76863631e-01 6.63176902e-03 2.23201370e+02] [-4.76851315e-01 8.78977279e-01 3.43028520e-03 -8.36619814e+01] [-7.46495254e-03 -1.47310805e-04 -9.99972126e-01 -4.02061195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28655999499995 meters 0.014486108688125497 Centerline is valid? [True, True] Translation: X:223.14, Y:-83.67, Z:-4.02 [[-8.41140779e-01 -5.40767476e-01 7.26133559e-03 2.23139651e+02] [-5.40749084e-01 8.41172103e-01 4.46331791e-03 -8.36702539e+01] [-8.52165009e-03 -1.72281862e-04 -9.99963675e-01 -4.02006204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34655999499995 meters 0.01410712686355531 Centerline is valid? [True, True] Translation: X:223.07, Y:-83.69, Z:-4.02 [[-8.00056465e-01 -5.99890462e-01 6.40985186e-03 2.23071576e+02] [-5.99872644e-01 8.00082129e-01 4.62576478e-03 -8.36882725e+01] [-7.90336009e-03 -1.44221762e-04 -9.99968758e-01 -4.02061282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40655999499995 meters 0.012612083972915909 Centerline is valid? [True, True] Translation: X:223.00, Y:-83.72, Z:-4.02 [[-7.57903816e-01 -6.52356741e-01 3.53390096e-03 2.23004012e+02] [-6.52349979e-01 7.57912053e-01 2.97072342e-03 -8.37204817e+01] [-4.61635758e-03 -5.38176016e-05 -9.99989343e-01 -4.02334863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46655999499995 meters 0.011995166933170194 Centerline is valid? [True, True] Translation: X:222.93, Y:-83.76, Z:-4.03 [[-7.11896352e-01 -7.02280961e-01 2.24421569e-03 2.22929830e+02] [-7.02277544e-01 7.11899889e-01 2.19059724e-03 -8.37636720e+01] [-3.13607164e-03 -1.65840980e-05 -9.99995082e-01 -4.02514485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52655999499996 meters 0.012564672683456062 Centerline is valid? [True, True] Translation: X:222.86, Y:-83.82, Z:-4.03 [[-6.65255848e-01 -7.46614563e-01 1.16284926e-03 2.22858602e+02] [-7.46613405e-01 6.65256864e-01 1.31495743e-03 -8.38166404e+01] [-1.75535982e-03 6.58427139e-06 -9.99998459e-01 -4.02609826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58655999499996 meters 0.013655156177272391 Centerline is valid? [True, True] Translation: X:222.78, Y:-83.88, Z:-4.03 [[-6.11717279e-01 -7.91075850e-01 9.84739227e-04 2.22781968e+02] [-7.91074783e-01 6.11718072e-01 1.29942965e-03 -8.38791791e+01] [-1.63033020e-03 1.58812020e-05 -9.99998671e-01 -4.02622603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64655999499996 meters 0.0158835797139693 Centerline is valid? [True, True] Translation: X:222.71, Y:-83.95, Z:-4.02 [[-5.53760988e-01 -8.32672966e-01 2.12137721e-03 2.22706735e+02] [-8.32666358e-01 5.53765047e-01 3.31798353e-03 -8.39542417e+01] [-3.93753974e-03 7.09704066e-05 -9.99992245e-01 -4.02372342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70655999499996 meters 0.015541846435801171 Centerline is valid? [True, True] Translation: X:222.63, Y:-84.03, Z:-4.02 [[-4.89890207e-01 -8.71780331e-01 2.57691242e-03 2.22630446e+02] [-8.71767061e-01 4.89896972e-01 4.81122183e-03 -8.40319463e+01] [-5.45675015e-03 1.10503092e-04 -9.99985106e-01 -4.02210222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76655999499997 meters 0.015662265174873933 Centerline is valid? [True, True] Translation: X:222.56, Y:-84.12, Z:-4.02 [[-4.21280752e-01 -9.06926794e-01 2.51364561e-03 2.22556185e+02] [-9.06908851e-01 4.21288233e-01 5.70623398e-03 -8.41234203e+01] [-6.23410581e-03 1.24279093e-04 -9.99980560e-01 -4.02085057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82655999499997 meters 0.013946771539462024 Centerline is valid? [True, True] Translation: X:222.49, Y:-84.21, Z:-4.02 [[-3.47662282e-01 -9.37617881e-01 1.90945014e-03 2.22488017e+02] [-9.37602223e-01 3.47667513e-01 5.41964134e-03 -8.42138395e+01] [-5.74540642e-03 9.39001897e-05 -9.99983491e-01 -4.02198516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88655999499997 meters 0.013790783310536753 Centerline is valid? [True, True] Translation: X:222.43, Y:-84.32, Z:-4.02 [[-2.72107952e-01 -9.62265856e-01 1.29773654e-03 2.22426792e+02] [-9.62253708e-01 2.72111038e-01 4.83565564e-03 -8.43184967e+01] [-5.00631475e-03 6.70685515e-05 -9.99987466e-01 -4.02211339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.946559995 meters 0.01265570161538743 Centerline is valid? [True, True] Translation: X:222.37, Y:-84.42, Z:-4.02 [[-1.91872609e-01 -9.81419655e-01 6.02604093e-04 2.22370819e+02] [-9.81414449e-01 1.91873554e-01 3.19673872e-03 -8.44203211e+01] [-3.25296600e-03 2.19622355e-05 -9.99994709e-01 -4.02231961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.006559995 meters 0.011953095833959052 Centerline is valid? [True, True] Translation: X:222.32, Y:-84.54, Z:-4.02 [[-1.10924141e-01 -9.93828824e-01 3.20978149e-04 2.22320469e+02] [-9.93824559e-01 1.10924606e-01 2.91167514e-03 -8.45379765e+01] [-2.92931105e-03 3.97909767e-06 -9.99995710e-01 -4.02240561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.066559995 meters 0.01185587038121589 Centerline is valid? [True, True] Translation: X:222.28, Y:-84.64, Z:-4.02 [[-2.62116763e-02 -9.99656410e-01 1.02512914e-04 2.22278456e+02] [-9.99651627e-01 2.62118680e-02 3.09240746e-03 -8.46442607e+01] [-3.09403200e-03 -2.14200177e-05 -9.99995213e-01 -4.02200949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.126559995 meters 0.01268808581088319 Centerline is valid? [True, True] Translation: X:222.25, Y:-84.77, Z:-4.02 [[ 5.83201892e-02 -9.98297914e-01 -1.71860907e-04 2.22245682e+02] [-9.98290376e-01 -5.83204168e-02 3.87994344e-03 -8.47666091e+01] [-3.88336244e-03 -5.47119459e-05 -9.99992458e-01 -4.02110189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.186559995 meters 0.013262564410327473 Centerline is valid? [True, True] Translation: X:222.22, Y:-84.88, Z:-4.02 [[ 1.38634263e-01 -9.90343515e-01 -5.12907613e-04 2.22224987e+02] [-9.90334575e-01 -1.38635192e-01 4.20870485e-03 -8.48848852e+01] [-4.23917060e-03 -7.55205540e-05 -9.99991012e-01 -4.02041862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.246559995 meters 0.013831226757848985 Centerline is valid? [True, True] Translation: X:222.22, Y:-85.01, Z:-4.02 [[ 2.16120071e-01 -9.76366266e-01 -1.01443561e-03 2.22215022e+02] [-9.76353239e-01 -2.16122429e-01 5.04458889e-03 -8.50096636e+01] [-5.14460871e-03 -9.97894133e-05 -9.99986761e-01 -4.01917137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.306559995 meters 0.01321076143495287 Centerline is valid? [True, True] Translation: X:222.22, Y:-85.12, Z:-4.02 [[ 2.89287410e-01 -9.57240884e-01 -1.63813144e-03 2.22216189e+02] [-9.57223364e-01 -2.89292028e-01 5.79250189e-03 -8.51201881e+01] [-6.01871800e-03 -1.07640186e-04 -9.99981882e-01 -4.01857678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36655999499993 meters 0.012517662118411607 Centerline is valid? [True, True] Translation: X:222.23, Y:-85.24, Z:-4.02 [[ 3.57863756e-01 -9.33771560e-01 -2.05075859e-03 2.22230554e+02] [-9.33754913e-01 -3.57869622e-01 5.57635632e-03 -8.52374174e+01] [-5.94094714e-03 -8.06699086e-05 -9.99982349e-01 -4.01892106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42655999499993 meters 0.01202081746286355 Centerline is valid? [True, True] Translation: X:222.25, Y:-85.35, Z:-4.02 [[ 4.23914407e-01 -9.05697511e-01 -2.93157886e-03 2.22253830e+02] [-9.05674897e-01 -4.23924539e-01 6.40042023e-03 -8.53538645e+01] [-7.03961289e-03 -5.81729627e-05 -9.99975220e-01 -4.01812282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48655999499994 meters 0.011762044773753276 Centerline is valid? [True, True] Translation: X:222.28, Y:-85.46, Z:-4.02 [[ 4.88907129e-01 -8.72327044e-01 -3.91764636e-03 2.22280313e+02] [-8.72298459e-01 -4.88922824e-01 7.06198151e-03 -8.54582776e+01] [-8.07578417e-03 -3.52962259e-05 -9.99967390e-01 -4.01733570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54655999499994 meters 0.011965195354344874 Centerline is valid? [True, True] Translation: X:222.32, Y:-85.56, Z:-4.02 [[ 5.48195195e-01 -8.36333414e-01 -5.33373686e-03 2.22320760e+02] [-8.36294375e-01 -5.48221142e-01 8.08070336e-03 -8.55613625e+01] [-9.68222954e-03 3.07713830e-05 -9.99953126e-01 -4.01718909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60655999499994 meters 0.012380230686784418 Centerline is valid? [True, True] Translation: X:222.36, Y:-85.66, Z:-4.02 [[ 6.08323900e-01 -7.93662761e-01 -6.43859104e-03 2.22363580e+02] [-7.93619411e-01 -6.08357969e-01 8.29533530e-03 -8.56628963e+01] [-1.05006669e-02 6.35401122e-05 -9.99944864e-01 -4.01691357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66655999499994 meters 0.013693178901561147 Centerline is valid? [True, True] Translation: X:222.42, Y:-85.76, Z:-4.02 [[ 6.61549670e-01 -7.49871723e-01 -6.66581336e-03 2.22416351e+02] [-7.49835685e-01 -6.61583238e-01 7.35284240e-03 -8.57594765e+01] [-9.92367899e-03 1.33994262e-04 -9.99950750e-01 -4.01821734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72655999499995 meters 0.014904932682278733 Centerline is valid? [True, True] Translation: X:222.47, Y:-85.85, Z:-4.02 [[ 7.13737203e-01 -7.00384746e-01 -6.35714750e-03 2.22468733e+02] [-7.00358891e-01 -7.13765496e-01 6.02003836e-03 -8.58480978e+01] [-8.75385558e-03 1.55559434e-04 -9.99961672e-01 -4.01926230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78655999499995 meters 0.015977028798405575 Centerline is valid? [True, True] Translation: X:222.49, Y:-85.87, Z:-4.02 [[ 7.61636758e-01 -6.47977087e-01 -5.92828529e-03 2.22487708e+02] [-6.47959373e-01 -7.61659806e-01 4.79494786e-03 -8.58749039e+01] [-7.62235296e-03 1.89279479e-04 -9.99970932e-01 -4.02110481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84655999499995 meters 0.01809096220070121 Centerline is valid? [True, True] Translation: X:222.51, Y:-85.90, Z:-4.02 [[ 8.04570914e-01 -5.93819090e-01 -6.67328560e-03 2.22507934e+02] [-5.93801469e-01 -8.04598541e-01 4.58289579e-03 -8.59001698e+01] [-8.09072687e-03 2.75342138e-04 -9.99967232e-01 -4.02065176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90655999499995 meters 0.020553308911683547 Centerline is valid? [True, True] Translation: X:222.53, Y:-85.93, Z:-4.02 [[ 8.44124445e-01 -5.36098509e-01 -7.23251208e-03 2.22529453e+02] [-5.36082372e-01 -8.44155355e-01 4.17457056e-03 -8.59254774e+01] [-8.34334486e-03 3.53365176e-04 -9.99965131e-01 -4.02030336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96655999499995 meters 0.02076195567156264 Centerline is valid? [True, True] Translation: X:222.55, Y:-85.95, Z:-4.02 [[ 8.82224709e-01 -4.70771344e-01 -7.34195322e-03 2.22550798e+02] [-4.70758450e-01 -8.82255183e-01 3.50340249e-03 -8.59526451e+01] [-8.12677778e-03 3.65498269e-04 -9.99966910e-01 -4.02074434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02655999499996 meters 0.022431747172793476 Centerline is valid? [True, True] Translation: X:222.57, Y:-85.98, Z:-4.02 [[ 9.16820826e-01 -3.99215127e-01 -8.17655169e-03 2.22574365e+02] [-3.99202945e-01 -9.16857206e-01 3.14211498e-03 -8.59768763e+01] [-8.75111017e-03 3.83347066e-04 -9.99961635e-01 -4.02057678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08655999499996 meters 0.02029930873540045 Centerline is valid? [True, True] Translation: X:222.60, Y:-86.00, Z:-4.02 [[ 9.46159965e-01 -3.23588323e-01 -8.48050726e-03 2.22599208e+02] [-3.23578728e-01 -9.46197900e-01 2.51798589e-03 -8.60036647e+01] [-8.83902900e-03 3.61694316e-04 -9.99960870e-01 -4.02111046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14655999499996 meters 0.01861050480455058 Centerline is valid? [True, True] Translation: X:222.63, Y:-86.03, Z:-4.02 [[ 9.69961641e-01 -2.43108580e-01 -8.52252858e-03 2.22625614e+02] [-2.43101964e-01 -9.69999033e-01 1.81959133e-03 -8.60320340e+01] [-8.70920275e-03 3.06909640e-04 -9.99962027e-01 -4.02135221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20655999499996 meters 0.018261881082589335 Centerline is valid? [True, True] Translation: X:222.65, Y:-86.05, Z:-4.02 [[ 9.86698472e-01 -1.62319456e-01 -8.86108329e-03 2.22651695e+02] [-1.62315434e-01 -9.86738221e-01 1.17598656e-03 -8.60528806e+01] [-8.93445506e-03 2.77946436e-04 -9.99960048e-01 -4.02132805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26655999499997 meters 0.017898721632311265 Centerline is valid? [True, True] Translation: X:222.68, Y:-86.07, Z:-4.02 [[ 9.96525677e-01 -8.27948999e-02 -9.03215789e-03 2.22681157e+02] [-8.27939072e-02 -9.96566573e-01 4.84404214e-04 -8.60673167e+01] [-9.04125283e-03 2.65086405e-04 -9.99959092e-01 -4.02232950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32655999499997 meters 0.01719974827655351 Centerline is valid? [True, True] Translation: X:222.71, Y:-86.08, Z:-4.02 [[ 9.99960238e-01 -1.03002044e-03 -8.85786985e-03 2.22712339e+02] [-1.03200421e-03 -9.99999443e-01 -2.19388217e-04 -8.60835212e+01] [-8.85763895e-03 2.28520853e-04 -9.99960744e-01 -4.02239198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38655999499997 meters 0.016545420744917834 Centerline is valid? [True, True] Translation: X:222.74, Y:-86.09, Z:-4.02 [[ 9.96737402e-01 8.02076459e-02 -9.01578963e-03 2.22744935e+02] [ 8.02024845e-02 -9.96778155e-01 -9.33173673e-04 -8.60931118e+01] [-9.06158982e-03 2.07040374e-04 -9.99958922e-01 -4.02098656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.446559995 meters 0.015038989063533603 Centerline is valid? [True, True] Translation: X:222.78, Y:-86.11, Z:-4.02 [[ 9.87087015e-01 1.59890026e-01 -9.71618637e-03 2.22778902e+02] [ 1.59880203e-01 -9.87134812e-01 -1.78451805e-03 -8.61056775e+01] [-9.87651244e-03 2.08048751e-04 -9.99951204e-01 -4.02151148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.506559995 meters 0.016287253379848453 Centerline is valid? [True, True] Translation: X:222.81, Y:-86.11, Z:-4.02 [[ 9.72735074e-01 2.31583139e-01 -1.24790188e-02 2.22814052e+02] [ 2.31559559e-01 -9.72815056e-01 -3.32237835e-03 -8.61135607e+01] [-1.29091841e-02 3.42157875e-04 -9.99916614e-01 -4.01984467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.566559995 meters 0.016717497003269657 Centerline is valid? [True, True] Translation: X:222.85, Y:-86.11, Z:-4.02 [[ 9.52351554e-01 3.04757995e-01 -1.22099429e-02 2.22848692e+02] [ 3.04727889e-01 -9.52429748e-01 -4.29993806e-03 -8.61143433e+01] [-1.29395534e-02 3.74342552e-04 -9.99916210e-01 -4.01995984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.626559995 meters 0.021115240267934137 Centerline is valid? [True, True] Translation: X:222.88, Y:-86.11, Z:-4.02 [[ 9.28638592e-01 3.70801960e-01 -1.16735891e-02 2.22880256e+02] [ 3.70766206e-01 -9.28711840e-01 -5.17091949e-03 -8.61067867e+01] [-1.27587875e-02 4.73743039e-04 -9.99918491e-01 -4.02044076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.686559995 meters 0.020156082780608476 Centerline is valid? [True, True] Translation: X:222.92, Y:-86.11, Z:-4.02 [[ 8.98974879e-01 4.37866038e-01 -1.08397333e-02 2.22916020e+02] [ 4.37827186e-01 -8.99040079e-01 -5.85585378e-03 -8.61063486e+01] [-1.23094342e-02 5.18335509e-04 -9.99924102e-01 -4.02190063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.746559995 meters 0.021249408211629548 Centerline is valid? [True, True] Translation: X:222.95, Y:-86.10, Z:-4.02 [[ 8.63916092e-01 5.03537333e-01 -9.95687721e-03 2.22952247e+02] [ 5.03496529e-01 -8.63973297e-01 -6.43330945e-03 -8.61018312e+01] [-1.18418875e-02 5.44586442e-04 -9.99929734e-01 -4.02200231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.806559995 meters 0.020954634658062077 Centerline is valid? [True, True] Translation: X:222.99, Y:-86.10, Z:-4.02 [[ 8.21120020e-01 5.70691753e-01 -8.53436184e-03 2.22988924e+02] [ 5.70654771e-01 -8.21164230e-01 -6.51452872e-03 -8.60963244e+01] [-1.07259005e-02 4.79035652e-04 -9.99942361e-01 -4.02298385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86655999499993 meters 0.019450753638806707 Centerline is valid? [True, True] Translation: X:223.03, Y:-86.09, Z:-4.02 [[ 7.69882734e-01 6.38136455e-01 -7.90186614e-03 2.23027877e+02] [ 6.38097350e-01 -7.69923178e-01 -7.07614634e-03 -8.60892869e+01] [-1.05993768e-02 4.05643049e-04 -9.99943743e-01 -4.02285159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92655999499993 meters 0.017300797270709035 Centerline is valid? [True, True] Translation: X:223.07, Y:-86.08, Z:-4.02 [[ 7.11240895e-01 7.02921627e-01 -6.12988045e-03 2.23067050e+02] [ 7.02892357e-01 -7.11267263e-01 -6.41986399e-03 -8.60791419e+01] [-8.87264453e-03 2.57423693e-04 -9.99960604e-01 -4.02290515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98655999499994 meters 0.014850034757090999 Centerline is valid? [True, True] Translation: X:223.11, Y:-86.07, Z:-4.02 [[ 6.49285290e-01 7.60530616e-01 -4.66844485e-03 2.23105049e+02] [ 7.60509089e-01 -6.49302052e-01 -5.72461407e-03 -8.60652053e+01] [-7.38497509e-03 1.66512968e-04 -9.99972717e-01 -4.02406611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04655999499994 meters 0.01356134417398296 Centerline is valid? [True, True] Translation: X:223.14, Y:-86.05, Z:-4.02 [[ 5.81781073e-01 8.13338463e-01 -3.36560233e-03 2.23141101e+02] [ 8.13323971e-01 -5.81790801e-01 -4.85608947e-03 -8.60476847e+01] [-5.90772082e-03 8.78558907e-05 -9.99982545e-01 -4.02425627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10655999499994 meters 0.01293887967627592 Centerline is valid? [True, True] Translation: X:223.17, Y:-86.03, Z:-4.02 [[ 5.13373262e-01 8.58161897e-01 -2.46006798e-03 2.23173979e+02] [ 8.58151533e-01 -5.13379153e-01 -4.21792998e-03 -8.60250103e+01] [-4.88261441e-03 5.42613630e-05 -9.99988079e-01 -4.02338527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16655999499994 meters 0.013031341698653632 Centerline is valid? [True, True] Translation: X:223.20, Y:-86.00, Z:-4.02 [[ 4.44739142e-01 8.95658070e-01 -1.92803176e-03 2.23200111e+02] [ 8.95649169e-01 -4.44743318e-01 -3.99335069e-03 -8.59977663e+01] [-4.43415601e-03 4.91593121e-05 -9.99990168e-01 -4.02286759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22655999499995 meters 0.013578409678505115 Centerline is valid? [True, True] Translation: X:223.22, Y:-85.97, Z:-4.02 [[ 3.75021042e-01 9.27014719e-01 -1.71151770e-03 2.23222948e+02] [ 9.27004298e-01 -3.75024942e-01 -4.39597965e-03 -8.59673858e+01] [-4.71699967e-03 6.20006042e-05 -9.99988873e-01 -4.02143081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28655999499995 meters 0.014906599713939346 Centerline is valid? [True, True] Translation: X:223.24, Y:-85.94, Z:-4.02 [[ 3.04935114e-01 9.52371989e-01 -1.47362160e-03 2.23240006e+02] [ 9.52359441e-01 -3.04938662e-01 -4.88953924e-03 -8.59355954e+01] [-5.10602441e-03 8.75747618e-05 -9.99986960e-01 -4.02057440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34655999499995 meters 0.01489577024337465 Centerline is valid? [True, True] Translation: X:223.26, Y:-85.90, Z:-4.02 [[ 2.33278522e-01 9.72409426e-01 -1.01908504e-03 2.23260791e+02] [ 9.72398171e-01 -2.33280727e-01 -4.67972829e-03 -8.59027561e+01] [-4.78834480e-03 1.00723672e-04 -9.99988531e-01 -4.02100273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40655999499995 meters 0.016837283430594336 Centerline is valid? [True, True] Translation: X:223.28, Y:-85.87, Z:-4.02 [[ 1.63892898e-01 9.86477984e-01 -5.51644075e-04 2.23276062e+02] [ 9.86469791e-01 -1.63893786e-01 -4.02213725e-03 -8.58683193e+01] [-4.05816088e-03 1.15019515e-04 -9.99991759e-01 -4.02138426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46655999499995 meters 0.020865894841540944 Centerline is valid? [True, True] Translation: X:223.28, Y:-85.83, Z:-4.02 [[ 9.03233463e-02 9.95912466e-01 -2.29327337e-04 2.23284591e+02] [ 9.95904628e-01 -9.03235457e-02 -3.95325193e-03 -8.58343205e+01] [-3.95780654e-03 1.28682787e-04 -9.99992160e-01 -4.02044642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52655999499996 meters 0.018666745667820797 Centerline is valid? [True, True] Translation: X:223.30, Y:-85.80, Z:-4.02 [[ 1.47221306e-02 9.99891620e-01 7.89218760e-05 2.23302070e+02] [ 9.99884174e-01 -1.47217162e-02 -3.86122630e-03 -8.57985130e+01] [-3.85964596e-03 1.35758213e-04 -9.99992542e-01 -4.02090820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58655999499996 meters 0.02057841274102881 Centerline is valid? [True, True] Translation: X:223.31, Y:-85.76, Z:-4.02 [[-6.24182515e-02 9.98050003e-01 3.91181458e-04 2.23310684e+02] [ 9.98042224e-01 6.24193105e-02 -3.94319715e-03 -8.57629021e+01] [-3.95992520e-03 1.44288141e-04 -9.99992149e-01 -4.02036462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64655999499996 meters 0.018811217650624098 Centerline is valid? [True, True] Translation: X:223.33, Y:-85.72, Z:-4.02 [[-1.42129233e-01 9.89847816e-01 7.62750163e-04 2.23325618e+02] [ 9.89838691e-01 1.42131200e-01 -4.25304644e-03 -8.57229827e+01] [-4.31827932e-03 1.50517395e-04 -9.99990665e-01 -4.02002874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70655999499996 meters 0.017690554894366613 Centerline is valid? [True, True] Translation: X:223.34, Y:-85.68, Z:-4.02 [[-2.23610022e-01 9.74678057e-01 1.11480810e-03 2.23336959e+02] [ 9.74668752e-01 2.23612761e-01 -4.26117562e-03 -8.56812827e+01] [-4.40255969e-03 1.33727045e-04 -9.99990300e-01 -4.01926941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76655999499997 meters 0.017163496252720213 Centerline is valid? [True, True] Translation: X:223.34, Y:-85.64, Z:-4.02 [[-3.02892941e-01 9.53023300e-01 1.56730427e-03 2.23340231e+02] [ 9.53012635e-01 3.02896969e-01 -4.51041781e-03 -8.56415281e+01] [-4.77326497e-03 1.27487058e-04 -9.99988600e-01 -4.01878472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82655999499997 meters 0.01558134237623591 Centerline is valid? [True, True] Translation: X:223.34, Y:-85.60, Z:-4.02 [[-3.81346713e-01 9.24429977e-01 1.97537283e-03 2.23343381e+02] [ 9.24418983e-01 3.81351814e-01 -4.50975219e-03 -8.55978258e+01] [-4.92226213e-03 1.06292966e-04 -9.99987880e-01 -4.01934607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88655999499997 meters 0.015287488817336341 Centerline is valid? [True, True] Translation: X:223.34, Y:-85.56, Z:-4.02 [[-4.55051281e-01 8.90463565e-01 1.72380884e-03 2.23339288e+02] [ 8.90457722e-01 4.55054541e-01 -3.22651919e-03 -8.55563454e+01] [-3.65752482e-03 6.67472013e-05 -9.99993309e-01 -4.02026986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.946559995 meters 0.014856833690791835 Centerline is valid? [True, True] Translation: X:223.33, Y:-85.52, Z:-4.02 [[-5.24039918e-01 8.51691352e-01 2.00159416e-03 2.23329235e+02] [ 8.51685607e-01 5.24043736e-01 -3.12870058e-03 -8.55154452e+01] [-3.71361011e-03 6.51649425e-05 -9.99993102e-01 -4.02008972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.006559995 meters 0.014485017043759396 Centerline is valid? [True, True] Translation: X:223.32, Y:-85.47, Z:-4.02 [[-5.89478142e-01 8.07782205e-01 1.85188814e-03 2.23317733e+02] [ 8.07778488e-01 5.89481049e-01 -2.45086655e-03 -8.54732605e+01] [-3.07141935e-03 5.11831407e-05 -9.99995282e-01 -4.02089491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.066559995 meters 0.01460323434979941 Centerline is valid? [True, True] Translation: X:223.30, Y:-85.43, Z:-4.02 [[-6.51323271e-01 7.58795374e-01 2.75281423e-03 2.23300305e+02] [ 7.58789045e-01 6.51329084e-01 -3.09972986e-03 -8.54337310e+01] [-4.14504865e-03 6.98790931e-05 -9.99991407e-01 -4.01973676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.126559995 meters 0.014226145574810238 Centerline is valid? [True, True] Translation: X:223.28, Y:-85.39, Z:-4.02 [[-7.08468977e-01 7.05734811e-01 3.17587314e-03 2.23280742e+02] [ 7.05728201e-01 7.08476091e-01 -3.05541488e-03 -8.53937692e+01] [-4.40634283e-03 7.66365847e-05 -9.99990289e-01 -4.01949327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.186559995 meters 0.015026808163365879 Centerline is valid? [True, True] Translation: X:223.29, Y:-85.36, Z:-4.02 [[-7.55650769e-01 6.54968281e-01 2.90978401e-03 2.23290146e+02] [ 6.54963787e-01 7.55656368e-01 -2.42720259e-03 -8.53618627e+01] [-3.78853752e-03 7.16856520e-05 -9.99992821e-01 -4.01981276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.246559995 meters 0.016042061223197516 Centerline is valid? [True, True] Translation: X:223.30, Y:-85.33, Z:-4.02 [[-7.98178439e-01 6.02411249e-01 3.44491969e-03 2.23298388e+02] [ 6.02406149e-01 7.98185867e-01 -2.48051912e-03 -8.53307556e+01] [-4.24397883e-03 9.53439218e-05 -9.99990990e-01 -4.01947661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.306559995 meters 0.0170731580868359 Centerline is valid? [True, True] Translation: X:223.31, Y:-85.31, Z:-4.02 [[-8.36002771e-01 5.48708504e-01 4.28306580e-03 2.23310615e+02] [ 5.48702159e-01 8.36013731e-01 -2.64245213e-03 -8.53052034e+01] [-5.03063777e-03 1.41030150e-04 -9.99987336e-01 -4.01921573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36655999499993 meters 0.01798864638269067 Centerline is valid? [True, True] Translation: X:223.31, Y:-85.27, Z:-4.02 [[-8.71078691e-01 4.91126363e-01 4.09990795e-03 2.23313909e+02] [ 4.91121703e-01 8.71088328e-01 -2.14440841e-03 -8.52746653e+01] [-4.62455746e-03 1.45605306e-04 -9.99989296e-01 -4.01978027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42655999499993 meters 0.019363535642928295 Centerline is valid? [True, True] Translation: X:223.32, Y:-85.24, Z:-4.02 [[-9.02626002e-01 4.30396244e-01 5.03716518e-03 2.23317055e+02] [ 4.30390697e-01 9.02640038e-01 -2.19331568e-03 -8.52441822e+01] [-5.49074180e-03 1.88205268e-04 -9.99984908e-01 -4.01980542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48655999499994 meters 0.01991663950968513 Centerline is valid? [True, True] Translation: X:223.31, Y:-85.21, Z:-4.02 [[-9.31473099e-01 3.63785514e-01 4.23871779e-03 2.23314392e+02] [ 3.63782454e-01 9.31482731e-01 -1.49910461e-03 -8.52114517e+01] [-4.49364496e-03 1.45595541e-04 -9.99989893e-01 -4.02094051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54655999499994 meters 0.019269895707119875 Centerline is valid? [True, True] Translation: X:223.31, Y:-85.18, Z:-4.02 [[-9.55606522e-01 2.94615494e-01 4.22906591e-03 2.23306553e+02] [ 2.94613218e-01 9.55615871e-01 -1.16577691e-03 -8.51765630e+01] [-4.38481844e-03 1.31914692e-04 -9.99990378e-01 -4.02125914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60655999499994 meters 0.01661469683624967 Centerline is valid? [True, True] Translation: X:223.30, Y:-85.14, Z:-4.02 [[-9.74872905e-01 2.22697445e-01 5.35420507e-03 2.23297180e+02] [ 2.22694913e-01 9.74887597e-01 -1.07212200e-03 -8.51380678e+01] [-5.45850694e-03 1.47171544e-04 -9.99985091e-01 -4.02094136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66655999499994 meters 0.01627272461575653 Centerline is valid? [True, True] Translation: X:223.35, Y:-84.83, Z:-5.02 [[-9.71728894e-01 -2.36021201e-01 6.07858142e-03 2.23347980e+02] [ 2.36015840e-01 -9.71747899e-01 -1.59504269e-03 -8.48273853e+01] [ 6.28331261e-03 -1.15307567e-04 9.99980253e-01 -5.01652596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72655999499995 meters 0.014949246174137952 Centerline is valid? [True, True] Translation: X:223.25, Y:-85.12, Z:-4.02 [[-9.77259263e-01 2.11956435e-01 6.22913462e-03 2.23245725e+02] [ 2.11952948e-01 9.77279107e-01 -1.22232549e-03 -8.51211873e+01] [-6.34668287e-03 1.25754532e-04 -9.99979852e-01 -4.02193574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78655999499995 meters 0.014453867904673645 Centerline is valid? [True, True] Translation: X:223.23, Y:-85.09, Z:-4.02 [[-9.90238521e-01 1.39121570e-01 8.53582048e-03 2.23226055e+02] [ 1.39117687e-01 9.90275299e-01 -1.04980946e-03 -8.50867271e+01] [-8.59886332e-03 1.47921838e-04 -9.99963018e-01 -4.01973374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84655999499995 meters 0.014204717411740616 Centerline is valid? [True, True] Translation: X:223.21, Y:-85.06, Z:-4.02 [[-9.97671748e-01 6.75773742e-02 9.18590887e-03 2.23212804e+02] [ 6.75759053e-02 9.97714025e-01 -4.70551097e-04 -8.50571266e+01] [-9.19670872e-03 1.51290573e-04 -9.99957698e-01 -4.01980211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90655999499995 meters 0.014712536225925056 Centerline is valid? [True, True] Translation: X:223.20, Y:-85.03, Z:-4.02 [[-9.99949837e-01 -2.53939638e-03 9.68891233e-03 2.23195131e+02] [-2.53763969e-03 9.99996761e-01 1.93598706e-04 -8.50307829e+01] [-9.68937258e-03 1.69002026e-04 -9.99953043e-01 -4.02020101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96655999499995 meters 0.01502440872626901 Centerline is valid? [True, True] Translation: X:223.18, Y:-84.73, Z:-5.02 [[-9.99625830e-01 -2.52851393e-02 1.04336511e-02 2.23182539e+02] [ 2.52823422e-02 -9.99680271e-01 -3.99915466e-04 -8.47336512e+01] [ 1.04404271e-02 -1.35978691e-04 9.99945488e-01 -5.01590756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02655999499996 meters 0.01709306818509842 Centerline is valid? [True, True] Translation: X:223.15, Y:-85.04, Z:-4.02 [[-9.99941587e-01 -1.48208552e-04 1.08074076e-02 2.23152937e+02] [-1.45441480e-04 9.99999956e-01 2.56820346e-04 -8.50390827e+01] [-1.08074452e-02 2.55233499e-04 -9.99941565e-01 -4.02025226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08655999499996 meters 0.01689395258134967 Centerline is valid? [True, True] Translation: X:223.13, Y:-84.73, Z:-5.01 [[-9.99843365e-01 -1.48434315e-02 9.63936589e-03 2.23134721e+02] [ 1.48398638e-02 -9.99889786e-01 -4.41548757e-04 -8.47283622e+01] [ 9.64485759e-03 -2.98432719e-04 9.99953443e-01 -5.01361634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14655999499996 meters 0.01724512671992402 Centerline is valid? [True, True] Translation: X:223.11, Y:-85.04, Z:-4.02 [[-9.99952361e-01 6.13119034e-04 9.74167635e-03 2.23106014e+02] [ 6.15759575e-04 9.99999775e-01 2.68059250e-04 -8.50440784e+01] [-9.74150980e-03 2.74045010e-04 -9.99952513e-01 -4.02331885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20655999499996 meters 0.01723589339826191 Centerline is valid? [True, True] Translation: X:223.08, Y:-84.73, Z:-5.01 [[-9.99885586e-01 -1.16443903e-02 9.65526255e-03 2.23078710e+02] [ 1.16411708e-02 -9.99932163e-01 -3.89581678e-04 -8.47291553e+01] [ 9.65914401e-03 -2.77138543e-04 9.99953311e-01 -5.01345882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26655999499997 meters 0.01677711959420711 Centerline is valid? [True, True] Translation: X:223.05, Y:-85.05, Z:-4.02 [[-9.99934972e-01 -5.92633045e-03 9.74323416e-03 2.23049447e+02] [-5.92363773e-03 9.99982409e-01 3.05203656e-04 -8.50470306e+01] [-9.74487150e-03 2.47468420e-04 -9.99952487e-01 -4.02364893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32655999499997 meters 0.015951801030798678 Centerline is valid? [True, True] Translation: X:223.03, Y:-84.73, Z:-5.01 [[-9.99861352e-01 -1.35939509e-02 9.61668328e-03 2.23026110e+02] [ 1.35908898e-02 -9.99907566e-01 -3.83600020e-04 -8.47332060e+01] [ 9.62100901e-03 -2.52847552e-04 9.99953685e-01 -5.01313382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38655999499997 meters 0.014227758232369532 Centerline is valid? [True, True] Translation: X:222.99, Y:-85.04, Z:-4.02 [[-9.99751020e-01 -2.00472230e-02 9.79832467e-03 2.22992700e+02] [-2.00448126e-02 9.99799023e-01 3.44158949e-04 -8.50443512e+01] [-9.80325487e-03 1.47667678e-04 -9.99951936e-01 -4.02389544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.446559995 meters 0.013453250587277903 Centerline is valid? [True, True] Translation: X:222.97, Y:-85.02, Z:-4.02 [[-9.95598123e-01 -9.32392245e-02 9.53018927e-03 2.22969727e+02] [-9.32337643e-02 9.95643727e-01 1.01659026e-03 -8.50169660e+01] [-9.58345926e-03 1.23579930e-04 -9.99954070e-01 -4.02461473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.506559995 meters 0.012822777429456325 Centerline is valid? [True, True] Translation: X:222.94, Y:-84.99, Z:-4.02 [[-9.85783031e-01 -1.67762903e-01 9.35010432e-03 2.22943535e+02] [-1.67754547e-01 9.85827369e-01 1.67645796e-03 -8.49921408e+01] [-9.49883619e-03 8.41012896e-05 -9.99954882e-01 -4.02475062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.566559995 meters 0.012446123308803002 Centerline is valid? [True, True] Translation: X:222.88, Y:-84.70, Z:-5.01 [[-9.93255896e-01 1.15394408e-01 1.12630307e-02 2.22876014e+02] [-1.15386667e-01 -9.93319752e-01 1.33689927e-03 -8.46981299e+01] [ 1.13420615e-02 2.82795062e-05 9.99935676e-01 -5.01339013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.626559995 meters 0.012388449857550844 Centerline is valid? [True, True] Translation: X:222.89, Y:-85.01, Z:-4.02 [[-9.84260619e-01 -1.76277991e-01 1.25340658e-02 2.22888525e+02] [-1.76263002e-01 9.84340422e-01 2.29941220e-03 -8.50053730e+01] [-1.27431234e-02 5.39288091e-05 -9.99918802e-01 -4.02283352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.686559995 meters 0.013391954229742835 Centerline is valid? [True, True] Translation: X:222.83, Y:-84.69, Z:-5.01 [[-9.92142611e-01 1.24497349e-01 1.23874430e-02 2.22826934e+02] [-1.24488513e-01 -9.92219938e-01 1.48483830e-03 -8.46943949e+01] [ 1.24759263e-02 -6.89230064e-05 9.99922170e-01 -5.01345746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.746559995 meters 0.014284307127906095 Centerline is valid? [True, True] Translation: X:222.85, Y:-85.03, Z:-4.03 [[-9.85727878e-01 -1.67970142e-01 1.12508273e-02 2.22847620e+02] [-1.67957001e-01 9.85792065e-01 2.10959009e-03 -8.50344976e+01] [-1.14453245e-02 1.89826544e-04 -9.99934482e-01 -4.02607559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.806559995 meters 0.014284307127906095 Centerline is valid? [True, True] Translation: X:222.82, Y:-85.01, Z:-4.03 [[-9.71265018e-01 -2.37742887e-01 1.10717556e-02 2.22823655e+02] [-2.37725209e-01 9.71328103e-01 2.90537947e-03 -8.50118139e+01] [-1.14450407e-02 1.89858024e-04 -9.99934485e-01 -4.02607925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86655999499993 meters 0.016348421705235892 Centerline is valid? [True, True] Translation: X:222.80, Y:-85.00, Z:-4.03 [[-9.53724115e-01 -3.00479288e-01 1.10684168e-02 2.22804118e+02] [-3.00455793e-01 9.53788303e-01 3.76697908e-03 -8.49986978e+01] [-1.16888256e-02 2.67088853e-04 -9.99931648e-01 -4.02561007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92655999499993 meters 0.01704555121039721 Centerline is valid? [True, True] Translation: X:222.68, Y:-84.65, Z:-5.01 [[-9.59151218e-01 2.82686109e-01 1.08399249e-02 2.22678182e+02] [-2.82671422e-01 -9.59212428e-01 2.89579963e-03 -8.46514321e+01] [ 1.12163930e-02 -2.86627228e-04 9.99937053e-01 -5.01068668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98655999499994 meters 0.0162492955115035 Centerline is valid? [True, True] Translation: X:222.74, Y:-85.03, Z:-4.03 [[-9.52768270e-01 -3.03461709e-01 1.19839340e-02 2.22737499e+02] [-3.03433624e-01 9.52843584e-01 4.14003052e-03 -8.50293934e+01] [-1.26751554e-02 3.08161191e-04 -9.99919620e-01 -4.02648779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04655999499994 meters 0.016626780589869238 Centerline is valid? [True, True] Translation: X:222.60, Y:-84.67, Z:-5.01 [[-9.58217214e-01 2.85778079e-01 1.22743728e-02 2.22603447e+02] [-2.85758716e-01 -9.58295777e-01 3.34072121e-03 -8.46716222e+01] [ 1.27171845e-02 -3.06372446e-04 9.99919086e-01 -5.01061879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10655999499994 meters 0.01554775821369819 Centerline is valid? [True, True] Translation: X:222.67, Y:-85.06, Z:-4.03 [[-9.50653952e-01 -3.10008024e-01 1.23324383e-02 2.22668459e+02] [-3.09978015e-01 9.50733897e-01 4.32292620e-03 -8.50562893e+01] [-1.30650090e-02 2.86822124e-04 -9.99914608e-01 -4.02762482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16655999499994 meters 0.014890084018493194 Centerline is valid? [True, True] Translation: X:222.64, Y:-85.04, Z:-4.03 [[-9.24395921e-01 -3.81259505e-01 1.15486378e-02 2.22635479e+02] [-3.81226763e-01 9.24468031e-01 5.00144090e-03 -8.50388030e+01] [-1.25831933e-02 2.20661769e-04 -9.99920804e-01 -4.02751218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22655999499995 meters 0.013783753030129837 Centerline is valid? [True, True] Translation: X:222.59, Y:-85.03, Z:-4.03 [[-8.92551488e-01 -4.50818156e-01 1.07159467e-02 2.22594228e+02] [-4.50783608e-01 8.92615800e-01 5.58317002e-03 -8.50255015e+01] [-1.20822178e-02 1.52693594e-04 -9.99926996e-01 -4.02761749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28655999499995 meters 0.012355066530769843 Centerline is valid? [True, True] Translation: X:222.55, Y:-85.02, Z:-4.03 [[-8.53328956e-01 -5.21284730e-01 9.58763728e-03 2.22545525e+02] [-5.21251253e-01 8.53382815e-01 5.90782538e-03 -8.50158849e+01] [-1.12615840e-02 4.37505185e-05 -9.99936585e-01 -4.02871076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34655999499995 meters 0.012172771559596118 Centerline is valid? [True, True] Translation: X:222.49, Y:-85.01, Z:-4.03 [[-8.09159653e-01 -5.87506433e-01 9.84110847e-03 2.22491803e+02] [-5.87463648e-01 8.09219494e-01 7.09037889e-03 -8.50140327e+01] [-1.21292600e-02 -4.40449627e-05 -9.99926437e-01 -4.02808621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40655999499995 meters 0.013329203940937277 Centerline is valid? [True, True] Translation: X:222.44, Y:-85.02, Z:-4.03 [[-7.56906457e-01 -6.53463298e-01 8.85065015e-03 2.22435538e+02] [-6.53421413e-01 7.56958179e-01 7.40082411e-03 -8.50154159e+01] [-1.15357389e-02 -1.81472769e-04 -9.99933445e-01 -4.02909158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46655999499995 meters 0.014784933873140449 Centerline is valid? [True, True] Translation: X:222.38, Y:-85.03, Z:-4.03 [[-7.03058796e-01 -7.11090837e-01 7.62573357e-03 2.22376566e+02] [-7.11052567e-01 7.03100112e-01 7.38103733e-03 -8.50284797e+01] [-1.06102421e-02 -2.32994217e-04 -9.99943683e-01 -4.02960969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52655999499996 meters 0.016792589043451496 Centerline is valid? [True, True] Translation: X:222.31, Y:-85.06, Z:-4.03 [[-6.47604861e-01 -7.61945128e-01 6.89683010e-03 2.22311833e+02] [-7.61905975e-01 6.47641536e-01 7.72826596e-03 -8.50571467e+01] [-1.03551882e-02 -2.49873459e-04 -9.99946352e-01 -4.02884005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58655999499996 meters 0.01398414861274264 Centerline is valid? [True, True] Translation: X:222.26, Y:-85.10, Z:-4.03 [[-5.93327228e-01 -8.04937517e-01 6.19625055e-03 2.22258484e+02] [-8.04897081e-01 5.93359549e-01 8.07063986e-03 -8.50956118e+01] [-1.01729652e-02 -1.98813600e-04 -9.99948234e-01 -4.02965100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64655999499996 meters 0.013280870649363659 Centerline is valid? [True, True] Translation: X:222.20, Y:-85.14, Z:-4.03 [[-5.35514860e-01 -8.44505497e-01 5.85663443e-03 2.22199550e+02] [-8.44458331e-01 5.35546859e-01 8.92684469e-03 -8.51424053e+01] [-1.06752716e-02 -1.65225750e-04 -9.99943004e-01 -4.02890868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70655999499996 meters 0.012906805357435526 Centerline is valid? [True, True] Translation: X:222.14, Y:-85.20, Z:-4.03 [[-4.74650655e-01 -8.80157442e-01 5.44357576e-03 2.22142582e+02] [-8.80102680e-01 4.74681852e-01 9.81898608e-03 -8.52007196e+01] [-1.12262203e-02 -1.30317434e-04 -9.99936976e-01 -4.02834012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76655999499997 meters 0.012963434564381987 Centerline is valid? [True, True] Translation: X:222.08, Y:-85.27, Z:-4.03 [[-4.07790128e-01 -9.13063739e-01 4.67118341e-03 2.22084389e+02] [-9.13007412e-01 4.07816861e-01 1.01427004e-02 -8.52670668e+01] [-1.11659193e-02 -1.28731998e-04 -9.99937651e-01 -4.02823908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82655999499997 meters 0.013629584772132736 Centerline is valid? [True, True] Translation: X:222.03, Y:-85.34, Z:-4.03 [[-3.35390353e-01 -9.42071739e-01 3.76159479e-03 2.22029210e+02] [-9.42017700e-01 3.35411409e-01 1.00915818e-02 -8.53433155e+01] [-1.07686758e-02 -1.58869678e-04 -9.99942004e-01 -4.02858986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88655999499997 meters 0.0140395312378027 Centerline is valid? [True, True] Translation: X:221.98, Y:-85.43, Z:-4.03 [[-2.60349268e-01 -9.65509104e-01 3.22938888e-03 2.21976629e+02] [-9.65444664e-01 2.60369209e-01 1.11568712e-02 -8.54279065e+01] [-1.16128942e-02 -2.13113002e-04 -9.99932545e-01 -4.02837214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.946559995 meters 0.015820659697821197 Centerline is valid? [True, True] Translation: X:221.93, Y:-85.51, Z:-4.03 [[-1.82106734e-01 -9.83275365e-01 2.58721711e-03 2.21931443e+02] [-9.83197848e-01 1.82124873e-01 1.23499877e-02 -8.55138481e+01] [-1.26146352e-02 -2.94730371e-04 -9.99920389e-01 -4.02669045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.006559995 meters 0.016195041844151135 Centerline is valid? [True, True] Translation: X:221.89, Y:-85.61, Z:-4.03 [[-1.06204117e-01 -9.94343157e-01 1.54006627e-03 2.21893357e+02] [-9.94274732e-01 1.06214881e-01 1.16685779e-02 -8.56105197e+01] [-1.17661486e-02 -2.91997967e-04 -9.99930734e-01 -4.02741808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.066559995 meters 0.015719539334300387 Centerline is valid? [True, True] Translation: X:221.87, Y:-85.71, Z:-4.03 [[-3.24448810e-02 -9.99473359e-01 5.77823039e-04 2.21867799e+02] [-9.99419737e-01 3.24491273e-02 1.03558307e-02 -8.57098702e+01] [-1.03691267e-02 -2.41494056e-04 -9.99946210e-01 -4.02889310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.126559995 meters 0.01500035719141121 Centerline is valid? [True, True] Translation: X:221.85, Y:-85.81, Z:-4.03 [[ 4.06908741e-02 -9.99171767e-01 -1.78943061e-04 2.21847738e+02] [-9.99131394e-01 -4.06908389e-02 8.98410018e-03 -8.58086493e+01] [-8.98394059e-03 -1.86783259e-04 -9.99959626e-01 -4.03021833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.186559995 meters 0.013562311532645786 Centerline is valid? [True, True] Translation: X:221.84, Y:-85.91, Z:-4.03 [[ 1.12439811e-01 -9.93658220e-01 -7.93743162e-04 2.21840011e+02] [-9.93623914e-01 -1.12442525e-01 8.25812070e-03 -8.59141983e+01] [-8.29500000e-03 -1.39859342e-04 -9.99965586e-01 -4.03132949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.246559995 meters 0.013275035822387277 Centerline is valid? [True, True] Translation: X:221.84, Y:-86.02, Z:-4.03 [[ 1.84553811e-01 -9.82820974e-01 -1.68073937e-03 2.21837724e+02] [-9.82773421e-01 -1.84561416e-01 9.66883109e-03 -8.60187458e+01] [-9.81292962e-03 -1.32633639e-04 -9.99951843e-01 -4.03013543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.306559995 meters 0.012880192528037166 Centerline is valid? [True, True] Translation: X:221.84, Y:-86.13, Z:-4.03 [[ 2.57124985e-01 -9.66374364e-01 -2.70743871e-03 2.21841705e+02] [-9.66315385e-01 -2.57139206e-01 1.06773158e-02 -8.61284198e+01] [-1.10144729e-02 -1.29164975e-04 -9.99939331e-01 -4.02976786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36655999499993 meters 0.0127909656435083 Centerline is valid? [True, True] Translation: X:221.85, Y:-86.24, Z:-4.03 [[ 3.29273738e-01 -9.44226908e-01 -3.78842812e-03 2.21851637e+02] [-9.44159762e-01 -3.29295505e-01 1.12611676e-02 -8.62434814e+01] [-1.18806099e-02 -1.31125372e-04 -9.99929414e-01 -4.02967507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42655999499993 meters 0.01250589116112766 Centerline is valid? [True, True] Translation: X:221.87, Y:-86.35, Z:-4.03 [[ 3.98895295e-01 -9.16981870e-01 -5.17618653e-03 2.21874072e+02] [-9.16900531e-01 -3.98928858e-01 1.22140585e-02 -8.63486982e+01] [-1.32650003e-02 -1.26082285e-04 -9.99912008e-01 -4.02972130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48655999499994 meters 0.012477547709150584 Centerline is valid? [True, True] Translation: X:221.90, Y:-86.46, Z:-4.03 [[ 4.66611028e-01 -8.84442659e-01 -5.94406521e-03 2.21901609e+02] [-8.84367895e-01 -4.66648873e-01 1.15002004e-02 -8.64564571e+01] [-1.29450592e-02 -1.09379904e-04 -9.99916203e-01 -4.02972214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54655999499994 meters 0.012103382728683762 Centerline is valid? [True, True] Translation: X:221.94, Y:-86.55, Z:-4.03 [[ 5.28708979e-01 -8.48784496e-01 -5.62985374e-03 2.21941874e+02] [-8.48735515e-01 -5.28738950e-01 9.11854646e-03 -8.65518260e+01] [-1.07164038e-02 -4.28005717e-05 -9.99942577e-01 -4.03239201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60655999499994 meters 0.012079561159977369 Centerline is valid? [True, True] Translation: X:221.98, Y:-86.65, Z:-4.03 [[ 5.89052497e-01 -8.08071974e-01 -6.06972122e-03 2.21984967e+02] [-8.08028972e-01 -5.89083768e-01 8.33634044e-03 -8.66516816e+01] [-1.03119373e-02 -6.03155401e-06 -9.99946831e-01 -4.03371307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66655999499994 meters 0.012314185172123517 Centerline is valid? [True, True] Translation: X:222.03, Y:-86.74, Z:-4.03 [[ 6.46378489e-01 -7.62993154e-01 -6.02462213e-03 2.22030233e+02] [-7.62960345e-01 -6.46406565e-01 7.07567136e-03 -8.67419249e+01] [-9.29304409e-03 2.29860150e-05 -9.99956818e-01 -4.03370987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72655999499995 meters 0.012506856933642297 Centerline is valid? [True, True] Translation: X:222.09, Y:-86.83, Z:-4.03 [[ 7.01710395e-01 -7.12427915e-01 -6.99912852e-03 2.22086372e+02] [-7.12392984e-01 -7.01745299e-01 7.05482969e-03 -8.68323303e+01] [-9.93766314e-03 3.56827255e-05 -9.99950620e-01 -4.03341125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78655999499995 meters 0.012383702263247054 Centerline is valid? [True, True] Translation: X:222.15, Y:-86.92, Z:-4.03 [[ 7.54700028e-01 -6.56023015e-01 -7.85316426e-03 2.22147062e+02] [-6.55987782e-01 -7.54740885e-01 6.79902939e-03 -8.69226599e+01] [-1.03874239e-02 2.03521320e-05 -9.99946049e-01 -4.03326113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84655999499995 meters 0.012557028661555426 Centerline is valid? [True, True] Translation: X:222.17, Y:-86.95, Z:-4.03 [[ 8.05144283e-01 -5.93007634e-01 -9.19945358e-03 2.22172833e+02] [-5.92968851e-01 -8.05196837e-01 6.78203095e-03 -8.69464130e+01] [-1.14291670e-02 -5.52403406e-06 -9.99934685e-01 -4.03220164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90655999499995 meters 0.012570220220927715 Centerline is valid? [True, True] Translation: X:222.20, Y:-86.97, Z:-4.03 [[ 8.49416397e-01 -5.27621039e-01 -1.03837841e-02 2.22198410e+02] [-5.27581419e-01 -8.49479864e-01 6.46590468e-03 -8.69693639e+01] [-1.22323629e-02 -1.39538947e-05 -9.99925182e-01 -4.03242546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96655999499995 meters 0.012633233665107898 Centerline is valid? [True, True] Translation: X:222.23, Y:-86.99, Z:-4.03 [[ 8.87876241e-01 -4.59979260e-01 -9.73966134e-03 2.22226964e+02] [-4.59951480e-01 -8.87929659e-01 5.05528486e-03 -8.69882956e+01] [-1.09734604e-02 -8.69566547e-06 -9.99939790e-01 -4.03401701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02655999499996 meters 0.012706211552081818 Centerline is valid? [True, True] Translation: X:222.26, Y:-87.00, Z:-4.04 [[ 9.20660911e-01 -3.90266871e-01 -8.67502117e-03 2.22256504e+02] [-3.90249577e-01 -9.20701781e-01 3.67395421e-03 -8.70034518e+01] [-9.42093005e-03 2.95731948e-06 -9.99955622e-01 -4.03516003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08655999499996 meters 0.012710039177886687 Centerline is valid? [True, True] Translation: X:222.28, Y:-87.02, Z:-4.04 [[ 9.48268754e-01 -3.17360885e-01 -8.27281366e-03 2.22284885e+02] [-3.17348849e-01 -9.48304840e-01 2.76390878e-03 -8.70217686e+01] [-8.72230576e-03 4.43955961e-06 -9.99961960e-01 -4.03639341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14655999499996 meters 0.012814768860722796 Centerline is valid? [True, True] Translation: X:222.31, Y:-87.04, Z:-4.04 [[ 9.70431695e-01 -2.41253655e-01 -7.68109600e-03 2.22314256e+02] [-2.41246061e-01 -9.70462093e-01 1.91425153e-03 -8.70388179e+01] [-7.91603268e-03 -4.61620230e-06 -9.99968668e-01 -4.03684552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20655999499996 meters 0.013065079417272593 Centerline is valid? [True, True] Translation: X:222.34, Y:-87.05, Z:-4.04 [[ 9.86915938e-01 -1.61063520e-01 -7.44807641e-03 2.22344598e+02] [-1.61058688e-01 -9.86944042e-01 1.24798803e-03 -8.70543833e+01] [-7.55183998e-03 -3.20818619e-05 -9.99971484e-01 -4.03655156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26655999499997 meters 0.013457287437804919 Centerline is valid? [True, True] Translation: X:222.37, Y:-87.07, Z:-4.03 [[ 9.96832773e-01 -7.90355537e-02 -8.82062398e-03 2.22372458e+02] [-7.90318043e-02 -9.96871795e-01 7.73372333e-04 -8.70668215e+01] [-8.85415518e-03 -7.38130589e-05 -9.99960798e-01 -4.03487297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32655999499997 meters 0.013844288371292299 Centerline is valid? [True, True] Translation: X:222.40, Y:-87.08, Z:-4.03 [[ 9.99950669e-01 1.79648709e-03 -9.76896551e-03 2.22401688e+02] [ 1.79743054e-03 -9.99998381e-01 8.77971358e-05 -8.70771571e+01] [-9.76879197e-03 -1.05351842e-04 -9.99952279e-01 -4.03418107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38655999499997 meters 0.014079251981007596 Centerline is valid? [True, True] Translation: X:222.43, Y:-87.08, Z:-4.03 [[ 9.96642000e-01 8.13736886e-02 -9.11296693e-03 2.22431365e+02] [ 8.13713030e-02 -9.96683656e-01 -6.32867120e-04 -8.70840611e+01] [-9.13424393e-03 -1.10792042e-04 -9.99958276e-01 -4.03425283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.446559995 meters 0.014294385616198568 Centerline is valid? [True, True] Translation: X:222.46, Y:-87.09, Z:-4.03 [[ 9.87100756e-01 1.59853847e-01 -8.87946564e-03 2.22460661e+02] [ 1.59848428e-01 -9.87140686e-01 -1.32124231e-03 -8.70857383e+01] [-8.97648748e-03 -1.15169335e-04 -9.99959704e-01 -4.03416670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.506559995 meters 0.014357495691777048 Centerline is valid? [True, True] Translation: X:222.49, Y:-87.09, Z:-4.03 [[ 9.71481197e-01 2.36959579e-01 -8.62796509e-03 2.22490237e+02] [ 2.36951295e-01 -9.71519503e-01 -1.98470666e-03 -8.70866563e+01] [-8.85253161e-03 -1.16302307e-04 -9.99960809e-01 -4.03409691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.566559995 meters 0.014601762534013206 Centerline is valid? [True, True] Translation: X:222.52, Y:-87.09, Z:-4.03 [[ 9.49548482e-01 3.13504116e-01 -8.53519603e-03 2.22520243e+02] [ 3.13492666e-01 -9.49586833e-01 -2.68256123e-03 -8.70851014e+01] [-8.94590375e-03 -1.28499410e-04 -9.99959976e-01 -4.03435842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.626559995 meters 0.014934815663721453 Centerline is valid? [True, True] Translation: X:222.55, Y:-87.08, Z:-4.03 [[ 9.21627271e-01 3.87968106e-01 -9.16088715e-03 2.22550041e+02] [ 3.87950582e-01 -9.21672787e-01 -3.69055047e-03 -8.70812114e+01] [-9.87515626e-03 -1.52659547e-04 -9.99951228e-01 -4.03370266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.686559995 meters 0.015288986381644871 Centerline is valid? [True, True] Translation: X:222.58, Y:-87.08, Z:-4.03 [[ 8.87556635e-01 4.60590842e-01 -9.96470536e-03 2.22579975e+02] [ 4.60564232e-01 -8.87612550e-01 -4.95467278e-03 -8.70763737e+01] [-1.11268744e-02 -1.91834167e-04 -9.99938076e-01 -4.03257976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.746559995 meters 0.015790820993356956 Centerline is valid? [True, True] Translation: X:222.61, Y:-87.07, Z:-4.03 [[ 8.48472902e-01 5.29142844e-01 -1.00789349e-02 2.22607894e+02] [ 5.29108423e-01 -8.48532737e-01 -6.03901939e-03 -8.70693955e+01] [-1.17478101e-02 -2.08905040e-04 -9.99930970e-01 -4.03187031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.806559995 meters 0.01502252886805114 Centerline is valid? [True, True] Translation: X:222.64, Y:-87.06, Z:-4.03 [[ 8.05070713e-01 5.93108549e-01 -9.13214467e-03 2.22636323e+02] [ 5.93073027e-01 -8.05122484e-01 -6.49386566e-03 -8.70599418e+01] [-1.12040622e-02 -1.88007618e-04 -9.99937215e-01 -4.03353144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86655999499993 meters 0.014684807336560702 Centerline is valid? [True, True] Translation: X:222.66, Y:-87.05, Z:-4.03 [[ 7.57539087e-01 6.52737784e-01 -8.24110635e-03 2.22662999e+02] [ 6.52701417e-01 -7.57583896e-01 -6.89204780e-03 -8.70473828e+01] [-1.07420295e-02 -1.57986193e-04 -9.99942290e-01 -4.03457669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92655999499993 meters 0.014431145777423972 Centerline is valid? [True, True] Translation: X:222.69, Y:-87.03, Z:-4.03 [[ 7.05868038e-01 7.08302468e-01 -7.61100285e-03 2.22687861e+02] [ 7.08263276e-01 -7.05909057e-01 -7.45220608e-03 -8.70339556e+01] [-1.06510918e-02 -1.30319727e-04 -9.99943267e-01 -4.03452218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98655999499994 meters 0.013985580320346845 Centerline is valid? [True, True] Translation: X:222.71, Y:-87.02, Z:-4.03 [[ 6.52013309e-01 7.58175130e-01 -7.00837923e-03 2.22709978e+02] [ 7.58132603e-01 -6.52050969e-01 -8.03048881e-03 -8.70165975e+01] [-1.06583374e-02 -7.72952128e-05 -9.99943195e-01 -4.03430699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04655999499994 meters 0.013797660346699433 Centerline is valid? [True, True] Translation: X:222.73, Y:-87.00, Z:-4.03 [[ 5.94229239e-01 8.04266712e-01 -6.83141628e-03 2.22730901e+02] [ 8.04214176e-01 -5.94268505e-01 -9.19258904e-03 -8.69977527e+01] [-1.14529889e-02 -3.14166268e-05 -9.99934412e-01 -4.03413237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10655999499994 meters 0.013884681215721817 Centerline is valid? [True, True] Translation: X:222.75, Y:-86.98, Z:-4.04 [[ 5.34270312e-01 8.45296630e-01 -5.37037138e-03 2.22748872e+02] [ 8.45253387e-01 -5.34297302e-01 -8.55015841e-03 -8.69778270e+01] [-1.00967950e-02 2.87712020e-05 -9.99949026e-01 -4.03577033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16655999499994 meters 0.014378947744802754 Centerline is valid? [True, True] Translation: X:222.77, Y:-86.96, Z:-4.04 [[ 4.70986372e-01 8.82131897e-01 -3.89280212e-03 2.22766257e+02] [ 8.82100604e-01 -4.71002455e-01 -7.43050447e-03 -8.69568732e+01] [-8.38820435e-03 6.58232417e-05 -9.99964816e-01 -4.03711909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22655999499995 meters 0.014484083608170273 Centerline is valid? [True, True] Translation: X:222.79, Y:-86.94, Z:-4.04 [[ 4.02045154e-01 9.15614452e-01 -3.14167772e-03 2.22785072e+02] [ 9.15585006e-01 -4.02057421e-01 -7.34352255e-03 -8.69354792e+01] [-7.98697021e-03 7.59546368e-05 -9.99968101e-01 -4.03753807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28655999499995 meters 0.01593346295213448 Centerline is valid? [True, True] Translation: X:222.80, Y:-86.91, Z:-4.04 [[ 3.35510635e-01 9.42033079e-01 -2.50845481e-03 2.22796931e+02] [ 9.42003838e-01 -3.35519988e-01 -7.42346903e-03 -8.69130204e+01] [-7.83479011e-03 1.27678753e-04 -9.99969299e-01 -4.03770022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34655999499995 meters 0.01686754033809232 Centerline is valid? [True, True] Translation: X:222.81, Y:-86.89, Z:-4.04 [[ 2.66347206e-01 9.63874825e-01 -2.11845217e-03 2.22814284e+02] [ 9.63838346e-01 -2.66355561e-01 -8.38795145e-03 -8.68900236e+01] [-8.64919675e-03 1.92262000e-04 -9.99962577e-01 -4.03729914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40655999499995 meters 0.018040357787960978 Centerline is valid? [True, True] Translation: X:222.83, Y:-86.87, Z:-4.04 [[ 1.93460999e-01 9.81106608e-01 -1.63280704e-03 2.22827712e+02] [ 9.81059909e-01 -1.93467727e-01 -9.57571320e-03 -8.68657636e+01] [-9.71069096e-03 2.50645518e-04 -9.99952819e-01 -4.03639355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46655999499995 meters 0.01927586974406603 Centerline is valid? [True, True] Translation: X:222.84, Y:-86.84, Z:-4.04 [[ 1.21206276e-01 9.92626811e-01 -1.02578278e-03 2.22840898e+02] [ 9.92562298e-01 -1.21210099e-01 -1.13223956e-02 -8.68408114e+01] [-1.13632487e-02 3.54192095e-04 -9.99935373e-01 -4.03594295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52655999499996 meters 0.020922247729924143 Centerline is valid? [True, True] Translation: X:222.85, Y:-86.82, Z:-4.04 [[ 4.58090716e-02 9.98950204e-01 -1.40625795e-04 2.22848116e+02] [ 9.98880796e-01 -4.58075474e-02 -1.17823305e-02 -8.68164035e+01] [-1.17764032e-02 3.99269214e-04 -9.99930576e-01 -4.03611392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58655999499996 meters 0.020905341619138703 Centerline is valid? [True, True] Translation: X:222.86, Y:-86.79, Z:-4.04 [[-3.15527197e-02 9.99501810e-01 7.46970191e-04 2.22857345e+02] [ 9.99438869e-01 3.15591206e-02 -1.12236109e-02 -8.67898187e+01] [-1.12415931e-02 3.92415595e-04 -9.99936734e-01 -4.03714573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64655999499996 meters 0.01982039921769357 Centerline is valid? [True, True] Translation: X:222.87, Y:-86.76, Z:-4.04 [[-1.11302339e-01 9.93785328e-01 1.58497617e-03 2.22870764e+02] [ 9.93725991e-01 1.11313023e-01 -1.08657665e-02 -8.67616628e+01] [-1.09746678e-02 3.65646798e-04 -9.99939710e-01 -4.03728300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70655999499996 meters 0.019542519371152752 Centerline is valid? [True, True] Translation: X:222.88, Y:-86.73, Z:-4.04 [[-1.91416554e-01 9.81505922e-01 2.41399649e-03 2.22876786e+02] [ 9.81448371e-01 1.91431484e-01 -1.06339996e-02 -8.67327140e+01] [-1.08994485e-02 3.33689373e-04 -9.99940544e-01 -4.03775158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76655999499997 meters 0.017060981946190008 Centerline is valid? [True, True] Translation: X:222.89, Y:-86.70, Z:-4.04 [[-2.73700253e-01 9.61809640e-01 3.22313745e-03 2.22888519e+02] [ 9.61753886e-01 2.73719103e-01 -1.03592933e-02 -8.67013726e+01] [-1.08459025e-02 2.64523764e-04 -9.99941146e-01 -4.04040439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82655999499997 meters 0.016487189585462886 Centerline is valid? [True, True] Translation: X:222.89, Y:-86.67, Z:-4.04 [[-3.52626647e-01 9.35755409e-01 4.03264239e-03 2.22893015e+02] [ 9.35700985e-01 3.52649641e-01 -1.00944544e-02 -8.66711717e+01] [-1.08680502e-02 2.13773831e-04 -9.99940918e-01 -4.04024369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88655999499997 meters 0.014633061334083175 Centerline is valid? [True, True] Translation: X:222.90, Y:-86.64, Z:-4.04 [[-4.31488946e-01 9.02107239e-01 4.45186922e-03 2.22899730e+02] [ 9.02062141e-01 4.31511894e-01 -9.02105957e-03 -8.66367758e+01] [-1.00589977e-02 1.23375195e-04 -9.99949399e-01 -4.04092160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.946559995 meters 0.013863449640888295 Centerline is valid? [True, True] Translation: X:222.90, Y:-86.60, Z:-4.04 [[-5.05477847e-01 8.62823237e-01 5.31107402e-03 2.22899378e+02] [ 8.62777097e-01 5.05505743e-01 -8.92328784e-03 -8.66033857e+01] [-1.03839985e-02 7.17486956e-05 -9.99946082e-01 -4.04064969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.006559995 meters 0.013591753149960488 Centerline is valid? [True, True] Translation: X:222.90, Y:-86.57, Z:-4.04 [[-5.78208447e-01 8.15860525e-01 6.82609469e-03 2.22898292e+02] [ 8.15803379e-01 5.78248738e-01 -9.65625562e-03 -8.65694088e+01] [-1.18253384e-02 -1.45774490e-05 -9.99930078e-01 -4.03798521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.066559995 meters 0.013501818994500182 Centerline is valid? [True, True] Translation: X:222.89, Y:-86.53, Z:-4.04 [[-6.44185157e-01 7.64828605e-01 7.91763029e-03 2.22891914e+02] [ 7.64769363e-01 6.44233808e-01 -9.51958411e-03 -8.65341505e+01] [-1.23816553e-02 -7.72137095e-05 -9.99923341e-01 -4.03930270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.126559995 meters 0.014539420012373962 Centerline is valid? [True, True] Translation: X:222.88, Y:-86.50, Z:-4.04 [[-7.06401434e-01 7.07747021e-01 9.54825138e-03 2.22883821e+02] [ 7.07679150e-01 7.06465941e-01 -9.80279540e-03 -8.64999113e+01] [-1.36834136e-02 -1.67610304e-04 -9.99906364e-01 -4.03648663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.186559995 meters 0.014717106361239577 Centerline is valid? [True, True] Translation: X:222.87, Y:-86.47, Z:-4.04 [[-7.62027056e-01 6.47456551e-01 1.07135428e-02 2.22868413e+02] [ 6.47388363e-01 7.62102331e-01 -9.39917649e-03 -8.64690384e+01] [-1.42503743e-02 -2.26603849e-04 -9.99898433e-01 -4.03739616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.246559995 meters 0.014690538027854546 Centerline is valid? [True, True] Translation: X:222.89, Y:-86.45, Z:-4.04 [[-8.06741701e-01 5.90804401e-01 1.08621635e-02 2.22885979e+02] [ 5.90746907e-01 8.06814789e-01 -8.24545340e-03 -8.64463384e+01] [-1.36352043e-02 -2.35161635e-04 -9.99907009e-01 -4.03811340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.306559995 meters 0.015369352336484652 Centerline is valid? [True, True] Translation: X:222.90, Y:-86.42, Z:-4.04 [[-8.47038532e-01 5.31427864e-01 1.04953204e-02 2.22896999e+02] [ 5.31383716e-01 8.47103520e-01 -6.85363463e-03 -8.64185633e+01] [-1.25328353e-02 -2.28250257e-04 -9.99921435e-01 -4.03729280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36655999499993 meters 0.015245326453651138 Centerline is valid? [True, True] Translation: X:222.91, Y:-86.39, Z:-4.04 [[-8.82985240e-01 4.69297258e-01 9.85646439e-03 2.22907885e+02] [ 4.69265272e-01 8.83040224e-01 -5.48348387e-03 -8.63944234e+01] [-1.12770385e-02 -2.16538882e-04 -9.99936389e-01 -4.03841126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42655999499993 meters 0.015444479522114384 Centerline is valid? [True, True] Translation: X:222.91, Y:-86.37, Z:-4.04 [[-9.14571793e-01 4.04328805e-01 8.75515062e-03 2.22914750e+02] [ 4.04308176e-01 9.14613677e-01 -4.08916180e-03 -8.63684360e+01] [-9.66094640e-03 -2.00053059e-04 -9.99953312e-01 -4.03923896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48655999499994 meters 0.016134123371482612 Centerline is valid? [True, True] Translation: X:222.93, Y:-86.34, Z:-4.04 [[-9.41391045e-01 3.37219150e-01 8.13299869e-03 2.22925512e+02] [ 3.37204791e-01 9.41426156e-01 -3.11782378e-03 -8.63434922e+01] [-8.70800758e-03 -1.92605259e-04 -9.99962066e-01 -4.03854959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54655999499994 meters 0.016735851598163022 Centerline is valid? [True, True] Translation: X:222.91, Y:-86.31, Z:-4.04 [[-9.63533357e-01 2.67466504e-01 8.07092677e-03 2.22912013e+02] [ 2.67455325e-01 9.63567137e-01 -2.45399929e-03 -8.63122852e+01] [-8.43324241e-03 -2.05897827e-04 -9.99964418e-01 -4.03815474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60655999499994 meters 0.01642173086250445 Centerline is valid? [True, True] Translation: X:222.93, Y:-86.29, Z:-4.04 [[-9.80298812e-01 1.97318333e-01 8.92825271e-03 2.22927223e+02] [ 1.97307972e-01 9.80339442e-01 -2.03557437e-03 -8.62905507e+01] [-9.15437442e-03 -2.33855702e-04 -9.99958070e-01 -4.03687014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66655999499994 meters 0.01702766083666135 Centerline is valid? [True, True] Translation: X:222.92, Y:-86.26, Z:-4.04 [[-9.92039407e-01 1.25509139e-01 1.02601711e-02 2.22922656e+02] [ 1.25499472e-01 9.92092423e-01 -1.58324704e-03 -8.62647311e+01] [-1.03777500e-02 -2.82997403e-04 -9.99946110e-01 -4.03524073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72655999499995 meters 0.017185019678325916 Centerline is valid? [True, True] Translation: X:222.92, Y:-86.24, Z:-4.04 [[-9.98437693e-01 5.48382267e-02 1.07210873e-02 2.22923739e+02] [ 5.48319136e-02 9.98495209e-01 -8.82121199e-04 -8.62429004e+01] [-1.07533283e-02 -2.92885321e-04 -9.99942138e-01 -4.03508631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78655999499995 meters 0.01708276191406478 Centerline is valid? [True, True] Translation: X:222.92, Y:-86.22, Z:-4.04 [[-9.99836267e-01 -1.49040099e-02 1.02620687e-02 2.22922862e+02] [-1.49059566e-02 9.99888894e-01 -1.13231306e-04 -8.62199763e+01] [-1.02592410e-02 -2.66178717e-04 -9.99947337e-01 -4.03555132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84655999499995 meters 0.015550602311341151 Centerline is valid? [True, True] Translation: X:222.93, Y:-85.60, Z:-5.00 [[-9.95047468e-01 -9.91086773e-02 7.61618497e-03 2.22934573e+02] [ 9.91060879e-02 -9.95076614e-01 -7.17574732e-04 -8.55998582e+01] [ 7.64980543e-03 4.07893764e-05 9.99970739e-01 -5.00074884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90655999499995 meters 0.014587597637756793 Centerline is valid? [True, True] Translation: X:222.87, Y:-86.23, Z:-4.04 [[-9.99897787e-01 -1.29102510e-02 6.14329308e-03 2.22869912e+02] [-1.29107692e-02 9.99916652e-01 -4.46932244e-05 -8.62339008e+01] [-6.14220405e-03 -1.24003295e-04 -9.99981129e-01 -4.03874115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96655999499995 meters 0.014242832008112907 Centerline is valid? [True, True] Translation: X:222.87, Y:-86.21, Z:-4.04 [[-9.96561895e-01 -8.26705423e-02 5.47456989e-03 2.22870594e+02] [-8.26698706e-02 9.96576927e-01 3.49270370e-04 -8.62106448e+01] [-5.48470440e-03 -1.04512443e-04 -9.99984953e-01 -4.03928711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02655999499996 meters 0.014299207230353043 Centerline is valid? [True, True] Translation: X:222.86, Y:-86.19, Z:-4.04 [[-9.88161944e-01 -1.53322667e-01 5.30393742e-03 2.22861541e+02] [-1.53321013e-01 9.88176173e-01 7.19476075e-04 -8.61873056e+01] [-5.35153657e-03 -1.02246182e-04 -9.99985675e-01 -4.03912914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08655999499996 meters 0.01403407120100684 Centerline is valid? [True, True] Translation: X:222.85, Y:-86.16, Z:-4.04 [[-9.74417259e-01 -2.24667429e-01 5.96255607e-03 2.22849890e+02] [-2.24664000e-01 9.74435493e-01 1.24750098e-03 -8.61643212e+01] [-6.09039911e-03 -1.23985214e-04 -9.99981446e-01 -4.03807647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14655999499996 meters 0.014340810308209287 Centerline is valid? [True, True] Translation: X:222.83, Y:-86.14, Z:-4.04 [[-9.55835107e-01 -2.93834121e-01 6.38415872e-03 2.22833634e+02] [-2.93828514e-01 9.55856417e-01 1.82024079e-03 -8.61405846e+01] [-6.63718794e-03 -1.35997822e-04 -9.99977964e-01 -4.03737449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20655999499996 meters 0.01433775040375722 Centerline is valid? [True, True] Translation: X:222.64, Y:-85.51, Z:-5.00 [[-9.81578720e-01 1.90915257e-01 7.38794071e-03 2.22640424e+02] [-1.90908190e-01 -9.81606499e-01 1.65679690e-03 -8.55117602e+01] [ 7.56835842e-03 2.15858195e-04 9.99971336e-01 -5.00212516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26655999499997 meters 0.013666717979162666 Centerline is valid? [True, True] Translation: X:222.72, Y:-86.18, Z:-4.04 [[-9.54584444e-01 -2.97841256e-01 7.68936136e-03 2.22716936e+02] [-2.97832825e-01 9.54615402e-01 2.24584649e-03 -8.61761544e+01] [-8.00928852e-03 -1.46294086e-04 -9.99967914e-01 -4.03565962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32655999499997 meters 0.013431902903359123 Centerline is valid? [True, True] Translation: X:222.51, Y:-85.54, Z:-5.00 [[-9.79591301e-01 2.00855854e-01 7.60319616e-03 2.22514277e+02] [-2.00848787e-01 -9.79620799e-01 1.68970400e-03 -8.55435797e+01] [ 7.78763604e-03 1.28126612e-04 9.99969668e-01 -5.00227251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38655999499997 meters 0.012435461825018703 Centerline is valid? [True, True] Translation: X:222.60, Y:-86.22, Z:-4.04 [[-9.54775957e-01 -2.97246559e-01 6.88149299e-03 2.22596091e+02] [-2.97239443e-01 9.54800753e-01 2.05833878e-03 -8.62162165e+01] [-7.18228880e-03 -8.01987592e-05 -9.99974204e-01 -4.03653670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.446559995 meters 0.011964088454254595 Centerline is valid? [True, True] Translation: X:222.57, Y:-86.20, Z:-4.04 [[-9.32798923e-01 -3.60349319e-01 5.87684003e-03 2.22566560e+02] [-3.60342425e-01 9.32817435e-01 2.22920674e-03 -8.62022338e+01] [-6.28531198e-03 -3.82731442e-05 -9.99980247e-01 -4.03690026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.506559995 meters 0.011788491851844787 Centerline is valid? [True, True] Translation: X:222.51, Y:-86.20, Z:-4.04 [[-9.04883928e-01 -4.25612122e-01 6.27677171e-03 2.22514497e+02] [-4.25602076e-01 9.04905697e-01 2.92436522e-03 -8.61976275e+01] [-6.92453176e-03 -2.51959801e-05 -9.99976025e-01 -4.03659849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.566559995 meters 0.011901690122160384 Centerline is valid? [True, True] Translation: X:222.45, Y:-86.20, Z:-4.04 [[-8.72073667e-01 -4.89320699e-01 7.26444685e-03 2.22451563e+02] [-4.89303834e-01 8.72103924e-01 4.06262873e-03 -8.62024923e+01] [-8.32328093e-03 -1.16101558e-05 -9.99965361e-01 -4.03615934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.626559995 meters 0.01195641781442187 Centerline is valid? [True, True] Translation: X:222.38, Y:-86.22, Z:-4.04 [[-8.33519734e-01 -5.52439760e-01 7.42727583e-03 2.22378543e+02] [-5.52417933e-01 8.33552825e-01 4.91078291e-03 -8.62161186e+01] [-8.90393848e-03 -9.72589896e-06 -9.99960359e-01 -4.03576164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.686559995 meters 0.01198283078072697 Centerline is valid? [True, True] Translation: X:222.30, Y:-86.24, Z:-4.04 [[-7.89444987e-01 -6.13782583e-01 6.89594544e-03 2.22303570e+02] [-6.13759354e-01 7.89475105e-01 5.33990907e-03 -8.62382341e+01] [-8.72172043e-03 -1.68865717e-05 -9.99961965e-01 -4.03609283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.746559995 meters 0.012012598724517511 Centerline is valid? [True, True] Translation: X:222.22, Y:-86.27, Z:-4.04 [[-7.40351271e-01 -6.72190683e-01 6.29925294e-03 2.22222342e+02] [-6.72166664e-01 7.40378069e-01 5.68254149e-03 -8.62716268e+01] [-8.48358017e-03 -2.70710177e-05 -9.99964013e-01 -4.03658888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.806559995 meters 0.012055240631042735 Centerline is valid? [True, True] Translation: X:222.14, Y:-86.32, Z:-4.04 [[-6.86235070e-01 -7.27355340e-01 5.96979508e-03 2.22137784e+02] [-7.27328383e-01 6.86261035e-01 6.26224028e-03 -8.63155287e+01] [-8.65171166e-03 -4.46325063e-05 -9.99962572e-01 -4.03606608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86655999499993 meters 0.012102580534012971 Centerline is valid? [True, True] Translation: X:222.05, Y:-86.37, Z:-4.04 [[-6.27731459e-01 -7.78410995e-01 5.43502127e-03 2.22053020e+02] [-7.78382675e-01 6.27754984e-01 6.64014493e-03 -8.63696305e+01] [-8.58062351e-03 -6.22985355e-05 -9.99963184e-01 -4.03595278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92655999499993 meters 0.012154226645744556 Centerline is valid? [True, True] Translation: X:221.97, Y:-86.43, Z:-4.04 [[-5.66670558e-01 -8.23929599e-01 4.94912827e-03 2.21973758e+02] [-8.23899169e-01 5.66692166e-01 7.08149426e-03 -8.64297531e+01] [-8.63928495e-03 -6.47083700e-05 -9.99962679e-01 -4.03584190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98655999499994 meters 0.01180410960717507 Centerline is valid? [True, True] Translation: X:221.90, Y:-86.50, Z:-4.04 [[-5.04525224e-01 -8.63383053e-01 4.89926890e-03 2.21897505e+02] [-8.63343276e-01 5.04549008e-01 8.28769303e-03 -8.65026971e+01] [-9.62737497e-03 -4.84006807e-05 -9.99953655e-01 -4.03515988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04655999499994 meters 0.011754503031792847 Centerline is valid? [True, True] Translation: X:221.83, Y:-86.58, Z:-4.03 [[-4.39956775e-01 -8.98006984e-01 4.63597061e-03 2.21827552e+02] [-8.97957590e-01 4.39981199e-01 9.41861012e-03 -8.65809514e+01] [-1.04977176e-02 -1.91236683e-05 -9.99944897e-01 -4.03434737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10655999499994 meters 0.011973780039167659 Centerline is valid? [True, True] Translation: X:221.76, Y:-86.67, Z:-4.03 [[-3.76968254e-01 -9.26216794e-01 4.16960205e-03 2.21763921e+02] [-9.26158238e-01 3.76991308e-01 1.04149968e-02 -8.66715452e+01] [-1.12184487e-02 6.44118686e-05 -9.99937069e-01 -4.03493759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16655999499994 meters 0.012951598217517186 Centerline is valid? [True, True] Translation: X:221.71, Y:-86.77, Z:-4.04 [[-3.10531394e-01 -9.50557743e-01 3.19844879e-03 2.21706500e+02] [-9.50503101e-01 3.10547841e-01 1.01928483e-02 -8.67662357e+01] [-1.06821622e-02 1.25063898e-04 -9.99942936e-01 -4.03555844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22655999499995 meters 0.01485405484706488 Centerline is valid? [True, True] Translation: X:221.66, Y:-86.87, Z:-4.04 [[-2.44322718e-01 -9.69691807e-01 2.05173575e-03 2.21655416e+02] [-9.69651243e-01 2.44331268e-01 8.87121884e-03 -8.68749307e+01] [-9.10365142e-03 1.77972175e-04 -9.99958545e-01 -4.03699072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28655999499995 meters 0.015456480913931344 Centerline is valid? [True, True] Translation: X:221.61, Y:-86.98, Z:-4.04 [[-1.73774856e-01 -9.84784636e-01 1.23257896e-03 2.21610531e+02] [-9.84751040e-01 1.73779112e-01 8.13694609e-03 -8.69755181e+01] [-8.22733597e-03 2.00213220e-04 -9.99966135e-01 -4.03862890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34655999499995 meters 0.015861458286431315 Centerline is valid? [True, True] Translation: X:221.57, Y:-87.09, Z:-4.04 [[-9.86251569e-02 -9.95124487e-01 5.77285875e-04 2.21570434e+02] [-9.95093521e-01 9.86266435e-02 7.85296076e-03 -8.70913231e+01] [-7.87160932e-03 2.00046053e-04 -9.99968998e-01 -4.03814240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40655999499995 meters 0.015881957556346426 Centerline is valid? [True, True] Translation: X:221.54, Y:-87.21, Z:-4.04 [[-1.99734688e-02 -9.99800510e-01 -3.29944710e-05 2.21537162e+02] [-9.99757694e-01 1.99723080e-02 9.25523407e-03 -8.72069661e+01] [-9.25272877e-03 2.17845605e-04 -9.99957169e-01 -4.03612057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46655999499995 meters 0.015126881134976313 Centerline is valid? [True, True] Translation: X:221.51, Y:-87.33, Z:-4.04 [[ 6.02347011e-02 -9.98183932e-01 -7.87168654e-04 2.21511600e+02] [-9.98136387e-01 -6.02395165e-02 9.74439307e-03 -8.73269051e+01] [-9.77411525e-03 1.98751072e-04 -9.99952212e-01 -4.03527187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52655999499996 meters 0.013604254153417643 Centerline is valid? [True, True] Translation: X:221.49, Y:-87.45, Z:-4.03 [[ 1.42799800e-01 -9.89750426e-01 -1.52024246e-03 2.21493002e+02] [-9.89704173e-01 -1.42807825e-01 9.56949982e-03 -8.74531446e+01] [-9.68851904e-03 1.38067643e-04 -9.99953056e-01 -4.03461000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58655999499996 meters 0.012181664713604967 Centerline is valid? [True, True] Translation: X:221.48, Y:-87.58, Z:-4.04 [[ 2.23146641e-01 -9.74782733e-01 -2.04956450e-03 2.21483772e+02] [-9.74744959e-01 -2.23156038e-01 8.58178370e-03 -8.75761914e+01] [-8.82274726e-03 8.28064529e-05 -9.99961075e-01 -4.03535590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64655999499996 meters 0.011237506731872255 Centerline is valid? [True, True] Translation: X:221.48, Y:-87.70, Z:-4.04 [[ 3.02681989e-01 -9.53088955e-01 -2.24878803e-03 2.21484592e+02] [-9.53063307e-01 -3.02690341e-01 6.99214993e-03 -8.76994457e+01] [-7.34482729e-03 2.68395155e-05 -9.99973026e-01 -4.03610820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70655999499996 meters 0.011106841709603884 Centerline is valid? [True, True] Translation: X:221.49, Y:-87.82, Z:-4.04 [[ 3.82732408e-01 -9.23857000e-01 -2.03640380e-03 2.21493434e+02] [-9.23843537e-01 -3.82737824e-01 4.98766784e-03 -8.78248218e+01] [-5.38730061e-03 -2.76236362e-05 -9.99985488e-01 -4.03721455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76655999499997 meters 0.01243880998569878 Centerline is valid? [True, True] Translation: X:221.51, Y:-87.94, Z:-4.04 [[ 4.58635430e-01 -8.88621943e-01 -2.14120400e-03 2.21509273e+02] [-8.88611651e-01 -4.58640424e-01 4.27718896e-03 -8.79429186e+01] [-4.78284668e-03 -5.89715756e-05 -9.99988560e-01 -4.03722944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82655999499997 meters 0.013764485804909956 Centerline is valid? [True, True] Translation: X:221.54, Y:-88.06, Z:-4.04 [[ 5.28564225e-01 -8.48889809e-01 -2.43966455e-03 2.21536644e+02] [-8.48880085e-01 -5.28569850e-01 4.06375529e-03 -8.80585757e+01] [-4.73921357e-03 -7.69730173e-05 -9.99988767e-01 -4.03665154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88655999499997 meters 0.01518677383943424 Centerline is valid? [True, True] Translation: X:221.57, Y:-88.17, Z:-4.04 [[ 5.94429345e-01 -8.04142671e-01 -2.88425376e-03 2.21572839e+02] [-8.04132403e-01 -5.94436334e-01 4.06494139e-03 -8.81698988e+01] [-4.98329806e-03 -9.69985354e-05 -9.99987579e-01 -4.03612524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.946559995 meters 0.017008781575988337 Centerline is valid? [True, True] Translation: X:221.61, Y:-88.27, Z:-4.04 [[ 6.56452270e-01 -7.54359618e-01 -3.46170278e-03 2.21613722e+02] [-7.54348132e-01 -6.56461386e-01 4.16472241e-03 -8.82732348e+01] [-5.41417261e-03 -1.22612456e-04 -9.99985336e-01 -4.03573683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.006559995 meters 0.01872530193370786 Centerline is valid? [True, True] Translation: X:221.66, Y:-88.38, Z:-4.04 [[ 7.13669164e-01 -7.00472667e-01 -3.79041873e-03 2.21664869e+02] [-7.00461755e-01 -7.13679216e-01 3.91234307e-03 -8.83759789e+01] [-5.44563246e-03 -1.37075249e-04 -9.99985163e-01 -4.03566206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.066559995 meters 0.019195104671010904 Centerline is valid? [True, True] Translation: X:221.72, Y:-88.46, Z:-4.04 [[ 7.65206265e-01 -6.43773746e-01 -3.83871974e-03 2.21717264e+02] [-6.43764763e-01 -7.65215882e-01 3.40346160e-03 -8.84643564e+01] [-5.12850854e-03 -1.33117632e-04 -9.99986840e-01 -4.03592952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.126559995 meters 0.015513521532495236 Centerline is valid? [True, True] Translation: X:221.74, Y:-88.49, Z:-4.04 [[ 8.13685011e-01 -5.81295138e-01 -3.55885885e-03 2.21742965e+02] [-5.81288924e-01 -8.13692785e-01 2.69053416e-03 -8.84881039e+01] [-4.45981219e-03 -1.20522085e-04 -9.99990048e-01 -4.03821389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.186559995 meters 0.017720645183263058 Centerline is valid? [True, True] Translation: X:221.77, Y:-88.52, Z:-4.04 [[ 8.56598098e-01 -5.15972552e-01 -3.46754885e-03 2.21765327e+02] [-5.15967794e-01 -8.56605109e-01 2.21882155e-03 -8.85164348e+01] [-4.11517108e-03 -1.11494793e-04 -9.99991526e-01 -4.03813602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.246559995 meters 0.015979747131001466 Centerline is valid? [True, True] Translation: X:221.79, Y:-88.54, Z:-4.04 [[ 8.94489799e-01 -4.47075807e-01 -3.34994846e-03 2.21792991e+02] [-4.47072231e-01 -8.94496066e-01 1.79144784e-03 -8.85381696e+01] [-3.79742871e-03 -1.04762892e-04 -9.99992784e-01 -4.03916146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.306559995 meters 0.0161926883434968 Centerline is valid? [True, True] Translation: X:221.82, Y:-88.56, Z:-4.04 [[ 9.26756807e-01 -3.75638941e-01 -4.14808339e-03 2.21821190e+02] [-3.75634575e-01 -9.26766082e-01 1.81547329e-03 -8.85608874e+01] [-4.52626545e-03 -1.24338685e-04 -9.99989749e-01 -4.03856218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36655999499993 meters 0.017377778462631565 Centerline is valid? [True, True] Translation: X:221.85, Y:-88.58, Z:-4.04 [[ 9.53523098e-01 -3.01276110e-01 -5.13881155e-03 2.21850297e+02] [-3.01270869e-01 -9.53536933e-01 1.78356629e-03 -8.85804183e+01] [-5.43739252e-03 -1.52497435e-04 -9.99985206e-01 -4.03817369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42655999499993 meters 0.016311716913963433 Centerline is valid? [True, True] Translation: X:221.88, Y:-88.60, Z:-4.04 [[ 9.74099645e-01 -2.26056369e-01 -5.32907968e-03 2.21882730e+02] [-2.26052124e-01 -9.74114210e-01 1.39374534e-03 -8.85963648e+01] [-5.50619725e-03 -1.52997059e-04 -9.99984829e-01 -4.03843374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48655999499994 meters 0.01573686645003437 Centerline is valid? [True, True] Translation: X:221.92, Y:-88.61, Z:-4.04 [[ 9.88680564e-01 -1.49946981e-01 -5.16189472e-03 2.21915869e+02] [-1.49944186e-01 -9.88694029e-01 9.26504761e-04 -8.86113104e+01] [-5.24246108e-03 -1.42021150e-04 -9.99986248e-01 -4.03879032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54655999499994 meters 0.015132217372148765 Centerline is valid? [True, True] Translation: X:221.95, Y:-88.62, Z:-4.04 [[ 9.97233322e-01 -7.41281354e-02 -5.54259622e-03 2.21947723e+02] [-7.41262160e-02 -9.97248715e-01 5.51206987e-04 -8.86227874e+01] [-5.56820691e-03 -1.38830290e-04 -9.99984488e-01 -4.03929704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60655999499994 meters 0.015193848528568981 Centerline is valid? [True, True] Translation: X:221.98, Y:-88.63, Z:-4.04 [[ 9.99957338e-01 6.00341965e-03 -7.02006037e-03 2.21978347e+02] [ 6.00457970e-03 -9.99981962e-01 1.44182379e-04 -8.86348912e+01] [-7.01906816e-03 -1.86328740e-04 -9.99975349e-01 -4.03865850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66655999499994 meters 0.01585459302545121 Centerline is valid? [True, True] Translation: X:222.01, Y:-88.64, Z:-4.04 [[ 9.96360282e-01 8.48630407e-02 -8.02826836e-03 2.22009307e+02] [ 8.48620431e-02 -9.96392602e-01 -4.65448893e-04 -8.86446945e+01] [-8.03880661e-03 -2.17540465e-04 -9.99967665e-01 -4.03723215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72655999499995 meters 0.016163985658530538 Centerline is valid? [True, True] Translation: X:222.04, Y:-88.65, Z:-4.04 [[ 9.86464281e-01 1.63803869e-01 -7.51768701e-03 2.22042332e+02] [ 1.63800767e-01 -9.86492902e-01 -1.03077551e-03 -8.86500666e+01] [-7.58498990e-03 -2.14579679e-04 -9.99971211e-01 -4.03781647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78655999499995 meters 0.015768572850864603 Centerline is valid? [True, True] Translation: X:222.08, Y:-88.65, Z:-4.04 [[ 9.70783707e-01 2.39865421e-01 -6.60101603e-03 2.22075003e+02] [ 2.39861181e-01 -9.70806132e-01 -1.43835643e-03 -8.86518383e+01] [-6.75331880e-03 -1.86994511e-04 -9.99977179e-01 -4.03858159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84655999499995 meters 0.01543318582623688 Centerline is valid? [True, True] Translation: X:222.11, Y:-88.65, Z:-4.04 [[ 9.49713388e-01 3.13075465e-01 -5.31348846e-03 2.22106900e+02] [ 3.13071402e-01 -9.49728242e-01 -1.60137204e-03 -8.86496334e+01] [-5.54772035e-03 -1.42656811e-04 -9.99984601e-01 -4.03882562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90655999499995 meters 0.014892650862920898 Centerline is valid? [True, True] Translation: X:222.14, Y:-88.64, Z:-4.04 [[ 9.23072593e-01 3.84589560e-01 -5.27815672e-03 2.22138593e+02] [ 3.84584098e-01 -9.23087673e-01 -2.05394918e-03 -8.86447750e+01] [-5.66212882e-03 -1.33950948e-04 -9.99983961e-01 -4.03856420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96655999499995 meters 0.013907106821212732 Centerline is valid? [True, True] Translation: X:222.17, Y:-88.64, Z:-4.04 [[ 8.91327522e-01 4.53314966e-01 -6.38665072e-03 2.22170014e+02] [ 4.53304509e-01 -8.91350391e-01 -3.08257953e-03 -8.86373983e+01] [-7.09012305e-03 -1.47509598e-04 -9.99974854e-01 -4.03786434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02655999499996 meters 0.013249886428316938 Centerline is valid? [True, True] Translation: X:222.20, Y:-88.63, Z:-4.04 [[ 8.55112524e-01 5.18401121e-01 -6.54600072e-03 2.22200298e+02] [ 5.18387068e-01 -8.55137569e-01 -3.81907709e-03 -8.86270999e+01] [-7.57754498e-03 -1.27621476e-04 -9.99971282e-01 -4.03664634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08655999499996 meters 0.012748833668978676 Centerline is valid? [True, True] Translation: X:222.23, Y:-88.61, Z:-4.04 [[ 8.13750852e-01 5.81173265e-01 -6.86928474e-03 2.22228791e+02] [ 5.81153735e-01 -8.13779837e-01 -4.76577026e-03 -8.86130793e+01] [-8.35982368e-03 -1.13960877e-04 -9.99965050e-01 -4.03603247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14655999499996 meters 0.012246908902393388 Centerline is valid? [True, True] Translation: X:222.25, Y:-88.60, Z:-4.04 [[ 7.68085541e-01 6.40319304e-01 -5.98253472e-03 2.22254681e+02] [ 6.40300665e-01 -7.68108835e-01 -4.88630174e-03 -8.85969197e+01] [-7.72403111e-03 -7.75232446e-05 -9.99970166e-01 -4.03647422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20655999499996 meters 0.01230275984152226 Centerline is valid? [True, True] Translation: X:222.28, Y:-88.58, Z:-4.04 [[ 7.16209297e-01 6.97861933e-01 -5.74156463e-03 2.22279817e+02] [ 6.97840318e-01 -7.16232307e-01 -5.49301078e-03 -8.85814167e+01] [-7.94565720e-03 -7.25498975e-05 -9.99968430e-01 -4.03609891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26655999499997 meters 0.012478327663210241 Centerline is valid? [True, True] Translation: X:222.31, Y:-88.56, Z:-4.04 [[ 6.58577434e-01 7.52491644e-01 -5.66469996e-03 2.22305673e+02] [ 7.52464929e-01 -6.58601790e-01 -6.34136049e-03 -8.85639106e+01] [-8.50260232e-03 -8.62111302e-05 -9.99963849e-01 -4.03555608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32655999499997 meters 0.012995520110322954 Centerline is valid? [True, True] Translation: X:222.33, Y:-88.55, Z:-4.03 [[ 5.96418058e-01 8.02653877e-01 -5.67914718e-03 2.22328917e+02] [ 8.02619210e-01 -5.96445087e-01 -7.46068807e-03 -8.85458344e+01] [-9.37564964e-03 -1.08503527e-04 -9.99956042e-01 -4.03488813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38655999499997 meters 0.013482150799392177 Centerline is valid? [True, True] Translation: X:222.35, Y:-88.52, Z:-4.04 [[ 5.30279516e-01 8.47807066e-01 -5.17819515e-03 2.22348626e+02] [ 8.47768957e-01 -5.30304783e-01 -8.03939173e-03 -8.85227257e+01] [-9.56187477e-03 -1.26788345e-04 -9.99954276e-01 -4.03503498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.446559995 meters 0.013067755545648627 Centerline is valid? [True, True] Translation: X:222.37, Y:-88.50, Z:-4.04 [[ 4.62440839e-01 8.86637706e-01 -4.69550797e-03 2.22368324e+02] [ 8.86594811e-01 -4.62464659e-01 -8.72238810e-03 -8.84995837e+01] [-9.90510467e-03 -1.29424527e-04 -9.99950935e-01 -4.03617846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.506559995 meters 0.01287329639519925 Centerline is valid? [True, True] Translation: X:222.39, Y:-88.47, Z:-4.04 [[ 3.92962325e-01 9.19547110e-01 -3.70451542e-03 2.22385951e+02] [ 9.19508779e-01 -3.92979772e-01 -8.39673640e-03 -8.84746899e+01] [-9.17699432e-03 -1.06733395e-04 -9.99957885e-01 -4.03750365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.566559995 meters 0.012532748233160456 Centerline is valid? [True, True] Translation: X:222.40, Y:-88.45, Z:-4.04 [[ 3.22245614e-01 9.46652253e-01 -2.69764301e-03 2.22399538e+02] [ 9.46620975e-01 -3.22256897e-01 -7.69564091e-03 -8.84487816e+01] [-8.15442987e-03 -7.37589243e-05 -9.99966749e-01 -4.03892702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.626559995 meters 0.012222414816909461 Centerline is valid? [True, True] Translation: X:222.41, Y:-88.42, Z:-4.04 [[ 2.49146325e-01 9.68463476e-01 -2.14571288e-03 2.22413113e+02] [ 9.68429553e-01 -2.49155558e-01 -8.10610304e-03 -8.84225059e+01] [-8.38508102e-03 -5.83659799e-05 -9.99964843e-01 -4.03894931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.686559995 meters 0.012074568333545721 Centerline is valid? [True, True] Translation: X:222.42, Y:-88.40, Z:-4.04 [[ 1.75336557e-01 9.84507148e-01 -1.66329931e-03 2.22424036e+02] [ 9.84464863e-01 -1.75344442e-01 -9.12465521e-03 -8.83961656e+01] [-9.27493857e-03 -3.75740994e-05 -9.99956986e-01 -4.03896064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.746559995 meters 0.012234615015560687 Centerline is valid? [True, True] Translation: X:222.43, Y:-88.37, Z:-4.04 [[ 9.86418282e-02 9.95122431e-01 -1.06626575e-03 2.22433308e+02] [ 9.95067742e-01 -9.86475857e-02 -1.04327243e-02 -8.83704440e+01] [-1.04870225e-02 -3.19036631e-05 -9.99945009e-01 -4.03816219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.806559995 meters 0.012242599867848782 Centerline is valid? [True, True] Translation: X:222.44, Y:-88.34, Z:-4.04 [[ 2.12555807e-02 9.99774039e-01 -2.68315407e-04 2.22441185e+02] [ 9.99708177e-01 -2.12572603e-02 -1.14756370e-02 -8.83433788e+01] [-1.14787476e-02 -2.43157769e-05 -9.99934117e-01 -4.03839003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86655999499993 meters 0.012297222236799807 Centerline is valid? [True, True] Translation: X:222.45, Y:-88.32, Z:-4.04 [[-5.69126246e-02 9.98378967e-01 6.26228652e-04 2.22445936e+02] [ 9.98314302e-01 5.69160658e-02 -1.13628950e-02 -8.83167842e+01] [-1.13801179e-02 -2.15191595e-05 -9.99935244e-01 -4.03797600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92655999499993 meters 0.012275336915294803 Centerline is valid? [True, True] Translation: X:222.45, Y:-88.29, Z:-4.04 [[-1.34105239e-01 9.90966135e-01 1.37972440e-03 2.22447610e+02] [ 9.90912790e-01 1.34112336e-01 -1.02822637e-02 -8.82892595e+01] [-1.03744132e-02 -1.17188697e-05 -9.99946184e-01 -4.03984892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98655999499994 meters 0.01226762997798047 Centerline is valid? [True, True] Translation: X:222.45, Y:-88.26, Z:-4.04 [[-2.11512633e-01 9.77372893e-01 2.15254865e-03 2.22448855e+02] [ 9.77321633e-01 2.11523586e-01 -1.00099269e-02 -8.82628462e+01] [-1.02387460e-02 -1.34936366e-05 -9.99947583e-01 -4.03980066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04655999499994 meters 0.012090148293478703 Centerline is valid? [True, True] Translation: X:222.45, Y:-88.23, Z:-4.04 [[-2.89184391e-01 9.57269043e-01 2.89256598e-03 2.22450541e+02] [ 9.57220050e-01 2.89198856e-01 -9.68496315e-03 -8.82341039e+01] [-1.01076422e-02 -3.19180193e-05 -9.99948916e-01 -4.04057826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10655999499994 meters 0.01219255513593031 Centerline is valid? [True, True] Translation: X:222.45, Y:-88.20, Z:-4.04 [[-3.66009695e-01 9.30603453e-01 3.75724512e-03 2.22451888e+02] [ 9.30552635e-01 3.66028973e-01 -9.72543239e-03 -8.82044864e+01] [-1.04257815e-02 -6.32881880e-05 -9.99945648e-01 -4.04045879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16655999499994 meters 0.012613732690190992 Centerline is valid? [True, True] Translation: X:222.45, Y:-88.18, Z:-4.04 [[-4.42063713e-01 8.96973049e-01 4.36148373e-03 2.22451295e+02] [ 8.96926923e-01 4.42085215e-01 -9.09712403e-03 -8.81750019e+01] [-1.00880225e-02 -1.09576250e-04 -9.99949109e-01 -4.04063135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22655999499995 meters 0.01311816570718397 Centerline is valid? [True, True] Translation: X:222.45, Y:-88.15, Z:-4.04 [[-5.13553016e-01 8.58043247e-01 5.00859793e-03 2.22447274e+02] [ 8.57999787e-01 5.13577421e-01 -8.63698708e-03 -8.81463366e+01] [-9.98321125e-03 -1.38174804e-04 -9.99950157e-01 -4.04092294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28655999499995 meters 0.013730923786040218 Centerline is valid? [True, True] Translation: X:222.44, Y:-88.12, Z:-4.04 [[-5.82315824e-01 8.12943738e-01 5.54622184e-03 2.22440996e+02] [ 8.12904012e-01 5.82342210e-01 -8.03852454e-03 -8.81167326e+01] [-9.76466727e-03 -1.72414060e-04 -9.99952310e-01 -4.04127621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34655999499995 meters 0.014404927529127275 Centerline is valid? [True, True] Translation: X:222.43, Y:-88.09, Z:-4.04 [[-6.45476444e-01 7.63754400e-01 6.27508796e-03 2.22430439e+02] [ 7.63715385e-01 6.45506917e-01 -7.72211016e-03 -8.80891907e+01] [-9.94840829e-03 -1.92058989e-04 -9.99950495e-01 -4.04075589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40655999499995 meters 0.014951745110307056 Centerline is valid? [True, True] Translation: X:222.42, Y:-88.07, Z:-4.04 [[-7.03841576e-01 7.10329313e-01 6.26919514e-03 2.22417032e+02] [ 7.10298804e-01 7.03869472e-01 -6.58598373e-03 -8.80653332e+01] [-9.09091237e-03 -1.82487358e-04 -9.99958660e-01 -4.04065850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46655999499995 meters 0.014755879818607813 Centerline is valid? [True, True] Translation: X:222.40, Y:-88.05, Z:-4.04 [[-7.56178277e-01 6.54335852e-01 6.24546522e-03 2.22399131e+02] [ 6.54311838e-01 7.56204052e-01 -5.60805890e-03 -8.80453437e+01] [-8.39240011e-03 -1.54210493e-04 -9.99964771e-01 -4.04045280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52655999499996 meters 0.014480675132161447 Centerline is valid? [True, True] Translation: X:222.42, Y:-88.03, Z:-4.04 [[-7.99630698e-01 6.00455513e-01 6.62748875e-03 2.22419543e+02] [ 6.00433426e-01 7.99658150e-01 -5.15206381e-03 -8.80302039e+01] [-8.39331051e-03 -1.40382602e-04 -9.99964766e-01 -4.04040476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58655999499996 meters 0.014027388253011516 Centerline is valid? [True, True] Translation: X:222.44, Y:-88.01, Z:-4.04 [[-8.38851049e-01 5.44302622e-01 7.97327074e-03 2.22438046e+02] [ 5.44276469e-01 8.38888930e-01 -5.33745339e-03 -8.80135156e+01] [-9.59387843e-03 -1.37664733e-04 -9.99953968e-01 -4.03852832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64655999499996 meters 0.013863609235136218 Centerline is valid? [True, True] Translation: X:222.84, Y:-87.43, Z:-5.00 [[-7.84273479e-01 -6.20361866e-01 8.14033294e-03 2.22835120e+02] [ 6.20330865e-01 -7.84315703e-01 -6.20451882e-03 -8.74288306e+01] [ 1.02336378e-02 1.83660214e-04 9.99947618e-01 -5.00207647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70655999499996 meters 0.012940749111090248 Centerline is valid? [True, True] Translation: X:222.40, Y:-87.99, Z:-4.04 [[-8.39176816e-01 5.43791785e-01 8.53036048e-03 2.22399010e+02] [ 5.43762269e-01 8.39220163e-01 -5.66690470e-03 -8.79939217e+01] [-1.02404667e-02 -1.17046881e-04 -9.99947558e-01 -4.03797629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76655999499997 meters 0.01266259693722656 Centerline is valid? [True, True] Translation: X:222.80, Y:-87.40, Z:-5.00 [[-7.87855402e-01 -6.15823357e-01 6.74234906e-03 2.22802104e+02] [ 6.15800805e-01 -7.87884251e-01 -5.27030291e-03 -8.74025952e+01] [ 8.55776627e-03 -2.92636869e-07 9.99963382e-01 -4.99898241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82655999499997 meters 0.012610050345141741 Centerline is valid? [True, True] Translation: X:222.37, Y:-87.97, Z:-4.04 [[-8.40463119e-01 5.41823615e-01 6.99394484e-03 2.22366464e+02] [ 5.41803997e-01 8.40492215e-01 -4.61151964e-03 -8.79746146e+01] [-8.37698643e-03 -8.64649154e-05 -9.99964909e-01 -4.04062376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88655999499997 meters 0.012536526678908956 Centerline is valid? [True, True] Translation: X:222.38, Y:-87.95, Z:-4.04 [[-8.76604025e-01 4.81161808e-01 6.97836309e-03 2.22379222e+02] [ 4.81145824e-01 8.76631797e-01 -3.92274310e-03 -8.79498252e+01] [-8.00492914e-03 -8.10821278e-05 -9.99967957e-01 -4.04071199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.946559995 meters 0.012528770573699197 Centerline is valid? [True, True] Translation: X:222.39, Y:-87.93, Z:-4.04 [[-9.08258462e-01 4.18341933e-01 7.52287116e-03 2.22394649e+02] [ 4.18326851e-01 9.08289613e-01 -3.55320802e-03 -8.79265746e+01] [-8.31940164e-03 -8.02122503e-05 -9.99965390e-01 -4.04050525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.006559995 meters 0.012408446356046517 Centerline is valid? [True, True] Translation: X:222.40, Y:-87.90, Z:-4.04 [[-9.35332755e-01 3.53689382e-01 7.51388565e-03 2.22404558e+02] [ 3.53677355e-01 9.35362933e-01 -2.91771486e-03 -8.79013779e+01] [-8.06017489e-03 -7.15430744e-05 -9.99967514e-01 -4.04066745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.066559995 meters 0.012201147318061868 Centerline is valid? [True, True] Translation: X:222.42, Y:-87.88, Z:-4.04 [[-9.57496190e-01 2.88339816e-01 7.82280274e-03 2.22418370e+02] [ 2.88329702e-01 9.57528144e-01 -2.41566180e-03 -8.78776005e+01] [-8.18708527e-03 -5.74405886e-05 -9.99966484e-01 -4.04011327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.126559995 meters 0.012237361848603839 Centerline is valid? [True, True] Translation: X:222.43, Y:-87.85, Z:-4.04 [[-9.75329668e-01 2.20590412e-01 8.47992985e-03 2.22429460e+02] [ 2.20581600e-01 9.75366530e-01 -1.97240150e-03 -8.78528134e+01] [-8.70613261e-03 -5.32252094e-05 -9.99962100e-01 -4.03972884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.186559995 meters 0.012117636100741139 Centerline is valid? [True, True] Translation: X:222.59, Y:-87.16, Z:-5.00 [[-9.55107427e-01 -2.96159424e-01 7.70705694e-03 2.22593623e+02] [ 2.96149866e-01 -9.55138522e-01 -2.37943792e-03 -8.71591345e+01] [ 8.06599994e-03 9.82505085e-06 9.99967469e-01 -4.99849081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.246559995 meters 0.01235632351535392 Centerline is valid? [True, True] Translation: X:222.38, Y:-87.84, Z:-4.04 [[-9.76470031e-01 2.15512069e-01 7.79915457e-03 2.22380125e+02] [ 2.15504703e-01 9.76501175e-01 -1.78289522e-03 -8.78393851e+01] [-8.00011904e-03 -6.01892562e-05 -9.99967997e-01 -4.04000680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.306559995 meters 0.01273417717844213 Centerline is valid? [True, True] Translation: X:222.39, Y:-87.81, Z:-4.04 [[-9.89683729e-01 1.43036396e-01 8.16741593e-03 2.22387146e+02] [ 1.43030818e-01 9.89717425e-01 -1.26605473e-03 -8.78100135e+01] [-8.26452577e-03 -8.48015855e-05 -9.99965845e-01 -4.03963587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36655999499993 meters 0.01379437581354404 Centerline is valid? [True, True] Translation: X:222.49, Y:-87.12, Z:-5.00 [[-9.72219858e-01 -2.33900150e-01 8.90326834e-03 2.22493388e+02] [ 2.33891773e-01 -9.72260611e-01 -1.98544351e-03 -8.71214221e+01] [ 9.12069266e-03 1.52113606e-04 9.99958394e-01 -4.99980770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42655999499993 meters 0.014685044136638977 Centerline is valid? [True, True] Translation: X:222.32, Y:-87.79, Z:-4.04 [[-9.91685966e-01 1.28427177e-01 8.08731090e-03 2.22322549e+02] [ 1.28421477e-01 9.91718927e-01 -1.22238054e-03 -8.77915770e+01] [-8.17732617e-03 -1.73633217e-04 -9.99966550e-01 -4.03947288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48655999499994 meters 0.015532364447589786 Centerline is valid? [True, True] Translation: X:222.33, Y:-87.76, Z:-4.04 [[-9.98431922e-01 5.54852542e-02 7.42181689e-03 2.22333156e+02] [ 5.54824141e-02 9.98459491e-01 -5.88178976e-04 -8.77631432e+01] [-7.44301878e-03 -1.75476347e-04 -9.99972285e-01 -4.03973514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54655999499994 meters 0.01706273727947954 Centerline is valid? [True, True] Translation: X:222.33, Y:-87.73, Z:-4.04 [[-9.99824205e-01 -1.76508570e-02 6.32504160e-03 2.22332744e+02] [-1.76515371e-02 9.99844198e-01 -5.17101586e-05 -8.77321064e+01] [-6.32314341e-03 -1.63347775e-04 -9.99979995e-01 -4.04017937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60655999499994 meters 0.016278709408048115 Centerline is valid? [True, True] Translation: X:222.33, Y:-87.70, Z:-4.04 [[-9.95894757e-01 -9.02595058e-02 6.84510316e-03 2.22326295e+02] [-9.02586690e-02 9.95918263e-01 4.31694620e-04 -8.77047265e+01] [-6.85612779e-03 -1.87907492e-04 -9.99976479e-01 -4.03945330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66655999499994 meters 0.018642176618263288 Centerline is valid? [True, True] Translation: X:222.29, Y:-87.04, Z:-5.00 [[-9.99489072e-01 -3.10212563e-02 7.69913522e-03 2.22285648e+02] [ 3.10223826e-02 -9.99518690e-01 2.68846696e-05 -8.70418470e+01] [ 7.69459555e-03 2.65716452e-04 9.99970361e-01 -5.00116742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72655999499995 meters 0.01669347584327208 Centerline is valid? [True, True] Translation: X:222.26, Y:-87.71, Z:-4.04 [[-9.95434017e-01 -9.50113856e-02 9.16262714e-03 2.22260097e+02] [-9.50096877e-02 9.95476154e-01 6.21394319e-04 -8.77071257e+01] [-9.18021636e-03 -2.51981299e-04 -9.99957829e-01 -4.03726418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78655999499995 meters 0.015770228451786886 Centerline is valid? [True, True] Translation: X:222.25, Y:-87.68, Z:-4.04 [[-9.86422255e-01 -1.63917168e-01 1.01141473e-02 2.22254131e+02] [-1.63911279e-01 9.86474071e-01 1.41413391e-03 -8.76822072e+01] [-1.02091449e-02 -2.62889662e-04 -9.99947851e-01 -4.03673528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84655999499995 meters 0.014897395987414 Centerline is valid? [True, True] Translation: X:222.25, Y:-87.66, Z:-4.04 [[-9.72543885e-01 -2.32495574e-01 1.02078050e-02 2.22245116e+02] [-2.32485517e-01 9.72597421e-01 2.17752411e-03 -8.76583285e+01] [-1.04343495e-02 -2.55429067e-04 -9.99945528e-01 -4.03676848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90655999499995 meters 0.014615193837965565 Centerline is valid? [True, True] Translation: X:222.23, Y:-87.64, Z:-4.04 [[-9.54318316e-01 -2.98609501e-01 1.04363937e-02 2.22231936e+02] [-2.98594314e-01 9.54375351e-01 3.02064636e-03 -8.76365626e+01] [-1.08622306e-02 -2.33589674e-04 -9.99940977e-01 -4.03633922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96655999499995 meters 0.013767562418318295 Centerline is valid? [True, True] Translation: X:222.20, Y:-87.62, Z:-4.04 [[-9.31288858e-01 -3.64167057e-01 9.13333585e-03 2.22197319e+02] [-3.64151516e-01 9.31333624e-01 3.36952263e-03 -8.76236381e+01] [-9.73325192e-03 -1.87919217e-04 -9.99952613e-01 -4.03783494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02655999499996 meters 0.013334375069204306 Centerline is valid? [True, True] Translation: X:222.15, Y:-87.62, Z:-4.04 [[-9.03331234e-01 -4.28892168e-01 6.64748985e-03 2.22154518e+02] [-4.28881552e-01 9.03355685e-01 3.02012121e-03 -8.76160483e+01] [-7.30035407e-03 -1.22815948e-04 -9.99973345e-01 -4.03920569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08655999499996 meters 0.013408703952722414 Centerline is valid? [True, True] Translation: X:222.09, Y:-87.62, Z:-4.04 [[-8.69633117e-01 -4.93664713e-01 5.77861888e-03 2.22093248e+02] [-4.93654628e-01 8.69652310e-01 3.15727491e-03 -8.76175025e+01] [-6.58402446e-03 -1.06971131e-04 -9.99978319e-01 -4.03853628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14655999499996 meters 0.013559283167478554 Centerline is valid? [True, True] Translation: X:222.03, Y:-87.63, Z:-4.04 [[-8.30288952e-01 -5.57290106e-01 6.92776276e-03 2.22025704e+02] [-5.57272092e-01 8.30317842e-01 4.48293423e-03 -8.76270196e+01] [-8.25053992e-03 -1.38518080e-04 -9.99965954e-01 -4.03631964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20655999499996 meters 0.014163286214985837 Centerline is valid? [True, True] Translation: X:221.95, Y:-87.65, Z:-4.03 [[-7.85687920e-01 -6.18581030e-01 7.21125199e-03 2.21950554e+02] [-6.18556877e-01 7.85720995e-01 5.46871081e-03 -8.76457785e+01] [-9.04887286e-03 -1.63869492e-04 -9.99959045e-01 -4.03460911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26655999499997 meters 0.013909002462719987 Centerline is valid? [True, True] Translation: X:221.87, Y:-87.68, Z:-4.04 [[-7.36754374e-01 -6.76138508e-01 5.45069489e-03 2.21872355e+02] [-6.76121374e-01 7.36774524e-01 4.81543923e-03 -8.76769824e+01] [-7.27183703e-03 -1.37535404e-04 -9.99973550e-01 -4.03631410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32655999499997 meters 0.013809922919517322 Centerline is valid? [True, True] Translation: X:221.79, Y:-87.72, Z:-4.04 [[-6.84008909e-01 -7.29464396e-01 3.67515400e-03 2.21792154e+02] [-7.29454644e-01 6.84018775e-01 3.77327184e-03 -8.77172649e+01] [-5.26634180e-03 -9.99065970e-05 -9.99986128e-01 -4.03774192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38655999499997 meters 0.013972217807806674 Centerline is valid? [True, True] Translation: X:221.71, Y:-87.77, Z:-4.04 [[-6.26353051e-01 -7.79534523e-01 2.78968248e-03 2.21710428e+02] [-7.79527404e-01 6.26359258e-01 3.33261500e-03 -8.77677676e+01] [-4.34523190e-03 -8.72403681e-05 -9.99990556e-01 -4.03888719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.446559995 meters 0.014558529746739882 Centerline is valid? [True, True] Translation: X:221.63, Y:-87.83, Z:-4.04 [[-5.64886703e-01 -8.25162202e-01 3.21766486e-03 2.21628070e+02] [-8.25149948e-01 5.64895855e-01 4.49843494e-03 -8.78265274e+01] [-5.52958402e-03 -1.13949911e-04 -9.99984705e-01 -4.03690496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.506559995 meters 0.014765793394633013 Centerline is valid? [True, True] Translation: X:221.55, Y:-87.90, Z:-4.04 [[-5.00430486e-01 -8.65770887e-01 3.17794517e-03 2.21549276e+02] [-8.65755014e-01 5.00440560e-01 5.24426638e-03 -8.78966090e+01] [-6.13070582e-03 -1.26931194e-04 -9.99981199e-01 -4.03644564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.566559995 meters 0.014445388557696807 Centerline is valid? [True, True] Translation: X:221.48, Y:-87.98, Z:-4.04 [[-4.33745295e-01 -9.01031199e-01 2.79246482e-03 2.21475482e+02] [-9.01014323e-01 4.33754266e-01 5.51609311e-03 -8.79772406e+01] [-6.18141552e-03 -1.23471368e-04 -9.99980887e-01 -4.03688749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.626559995 meters 0.014512816549823088 Centerline is valid? [True, True] Translation: X:221.41, Y:-88.06, Z:-4.04 [[-3.64421771e-01 -9.31231129e-01 2.31445441e-03 2.21408381e+02] [-9.31214324e-01 3.64429103e-01 5.59579173e-03 -8.80596870e+01] [-6.05443000e-03 -1.16024761e-04 -9.99981665e-01 -4.03708808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.686559995 meters 0.013998989085036741 Centerline is valid? [True, True] Translation: X:221.35, Y:-88.15, Z:-4.04 [[-2.94167820e-01 -9.55752228e-01 1.72402519e-03 2.21345713e+02] [-9.55737656e-01 2.94172856e-01 5.27851231e-03 -8.81533319e+01] [-5.55211132e-03 -9.49473371e-05 -9.99984582e-01 -4.03770295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.746559995 meters 0.013677147841034057 Centerline is valid? [True, True] Translation: X:221.29, Y:-88.25, Z:-4.04 [[-2.23313500e-01 -9.74746046e-01 1.10781189e-03 2.21289671e+02] [-9.74735457e-01 2.23316238e-01 4.54396902e-03 -8.82543417e+01] [-4.67660822e-03 -6.50939041e-05 -9.99989062e-01 -4.03808223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.806559995 meters 0.013045841546210782 Centerline is valid? [True, True] Translation: X:220.59, Y:-88.19, Z:-5.00 [[-3.11115511e-01 9.50371197e-01 1.31421209e-03 2.20588374e+02] [-9.50362182e-01 -3.11118284e-01 4.13970532e-03 -8.81889745e+01] [ 4.34313211e-03 3.89490687e-05 9.99990568e-01 -5.00033879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86655999499993 meters 0.012784719597006701 Centerline is valid? [True, True] Translation: X:221.23, Y:-88.52, Z:-4.04 [[-2.18049265e-01 -9.75936890e-01 1.30605986e-03 2.21225468e+02] [-9.75920840e-01 2.18053169e-01 5.59731807e-03 -8.85195824e+01] [-5.74741968e-03 -5.41199417e-05 -9.99983482e-01 -4.03816387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92655999499993 meters 0.012673735330901303 Centerline is valid? [True, True] Translation: X:221.17, Y:-88.63, Z:-4.04 [[-1.41652961e-01 -9.89915832e-01 1.04080009e-03 2.21174857e+02] [-9.89892619e-01 1.41656768e-01 6.77963726e-03 -8.86281770e+01] [-6.85870664e-03 -6.99246327e-05 -9.99976476e-01 -4.03769888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98655999499994 meters 0.013089765307991755 Centerline is valid? [True, True] Translation: X:221.13, Y:-88.74, Z:-4.04 [[-6.38268517e-02 -9.97960869e-01 4.85934080e-04 2.21132631e+02] [-9.97940208e-01 6.38286574e-02 6.42214606e-03 -8.87384034e+01] [-6.44006698e-03 -7.50277930e-05 -9.99979260e-01 -4.03765421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04655999499994 meters 0.013156085143766452 Centerline is valid? [True, True] Translation: X:221.10, Y:-88.85, Z:-4.04 [[ 1.31587175e-02 -9.99913420e-01 -5.93837262e-06 2.21100991e+02] [-9.99900092e-01 -1.31585728e-02 5.16304550e-03 -8.88510043e+01] [-5.16267663e-03 -6.20012782e-05 -9.99986671e-01 -4.03836391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10655999499994 meters 0.01300347054540571 Centerline is valid? [True, True] Translation: X:221.08, Y:-88.97, Z:-4.04 [[ 8.91825777e-02 -9.96015193e-01 -4.51240671e-04 2.21079671e+02] [-9.95998464e-01 -8.91836953e-02 5.77304721e-03 -8.89709130e+01] [-5.79028604e-03 -6.54202159e-05 -9.99983234e-01 -4.03826936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16655999499994 meters 0.0130697724395152 Centerline is valid? [True, True] Translation: X:221.07, Y:-89.09, Z:-4.04 [[ 1.65684399e-01 -9.86178425e-01 -8.91030800e-04 2.21067201e+02] [-9.86161927e-01 -1.65686782e-01 5.70475219e-03 -8.90925055e+01] [-5.77353555e-03 -6.64877883e-05 -9.99983331e-01 -4.03829249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22655999499995 meters 0.013072965287565085 Centerline is valid? [True, True] Translation: X:221.06, Y:-89.21, Z:-4.04 [[ 2.41502434e-01 -9.70399365e-01 -1.28311521e-03 2.21061636e+02] [-9.70384146e-01 -2.41505833e-01 5.43523621e-03 -8.92057109e+01] [-5.58422958e-03 -6.75081201e-05 -9.99984406e-01 -4.03884364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28655999499995 meters 0.01298440474927689 Centerline is valid? [True, True] Translation: X:221.07, Y:-89.32, Z:-4.04 [[ 3.15736248e-01 -9.48845837e-01 -1.48306518e-03 2.21066322e+02] [-9.48834435e-01 -3.15739725e-01 4.65198975e-03 -8.93226121e+01] [-4.88228370e-03 -6.16184803e-05 -9.99988080e-01 -4.03960595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34655999499995 meters 0.013239785276718301 Centerline is valid? [True, True] Translation: X:221.08, Y:-89.44, Z:-4.04 [[ 3.88323757e-01 -9.21519685e-01 -2.47600150e-03 2.21081054e+02] [-9.21499513e-01 -3.88331641e-01 6.09790951e-03 -8.94448504e+01] [-6.58085337e-03 -8.63289592e-05 -9.99978342e-01 -4.03717752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40655999499995 meters 0.013102382836661137 Centerline is valid? [True, True] Translation: X:221.10, Y:-89.56, Z:-4.04 [[ 4.57476248e-01 -8.89215270e-01 -3.41851324e-03 2.21103124e+02] [-8.89188835e-01 -4.57489010e-01 6.85723903e-03 -8.95575464e+01] [-7.66149390e-03 -9.73201781e-05 -9.99970646e-01 -4.03594819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46655999499995 meters 0.012967390880149513 Centerline is valid? [True, True] Translation: X:221.13, Y:-89.66, Z:-4.04 [[ 5.23632751e-01 -8.51937160e-01 -3.43785141e-03 2.21131956e+02] [-8.51917780e-01 -5.23644030e-01 5.74688313e-03 -8.96632599e+01] [-6.69619366e-03 -8.04894813e-05 -9.99977577e-01 -4.03759641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52655999499996 meters 0.013007298932916501 Centerline is valid? [True, True] Translation: X:221.17, Y:-89.77, Z:-4.04 [[ 5.87542550e-01 -8.09185156e-01 -3.62427045e-03 2.21170478e+02] [-8.09168940e-01 -5.87553723e-01 5.12344650e-03 -8.97720791e+01] [-6.27527045e-03 -7.75957444e-05 -9.99980307e-01 -4.03807740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58655999499996 meters 0.01368282820245317 Centerline is valid? [True, True] Translation: X:221.21, Y:-89.88, Z:-4.04 [[ 6.50232144e-01 -7.59724894e-01 -4.03056379e-03 2.21213481e+02] [-7.59709338e-01 -6.50244628e-01 4.86268882e-03 -8.98783976e+01] [-6.31515820e-03 -9.98196260e-05 -9.99980054e-01 -4.03770208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64655999499996 meters 0.014460256070182939 Centerline is valid? [True, True] Translation: X:221.26, Y:-89.98, Z:-4.04 [[ 7.07901615e-01 -7.06292855e-01 -5.07020639e-03 2.21262931e+02] [-7.06273395e-01 -7.07919760e-01 5.24459088e-03 -8.99782417e+01] [-7.29351635e-03 -1.31702470e-04 -9.99973393e-01 -4.03616301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70655999499996 meters 0.014150664126451364 Centerline is valid? [True, True] Translation: X:221.32, Y:-90.07, Z:-4.04 [[ 7.60657205e-01 -6.49126384e-01 -5.96266941e-03 2.21318189e+02] [-6.49104807e-01 -7.60680559e-01 5.29500335e-03 -9.00694391e+01] [-7.97281307e-03 -1.57285074e-04 -9.99968204e-01 -4.03639421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76655999499997 meters 0.015511119767897376 Centerline is valid? [True, True] Translation: X:221.34, Y:-90.10, Z:-4.04 [[ 8.09253748e-01 -5.87426826e-01 -6.17211579e-03 2.21336833e+02] [-5.87408269e-01 -8.09277270e-01 4.67184332e-03 -9.00993980e+01] [-7.73931911e-03 -1.55154865e-04 -9.99970039e-01 -4.03567442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82655999499997 meters 0.015684615798020003 Centerline is valid? [True, True] Translation: X:221.36, Y:-90.12, Z:-4.04 [[ 8.52513798e-01 -5.22676182e-01 -5.46188663e-03 2.21364757e+02] [-5.22664483e-01 -8.52531285e-01 3.49939145e-03 -9.01201283e+01] [-6.48547779e-03 -1.28545343e-04 -9.99978961e-01 -4.03760373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88655999499997 meters 0.015589048153437101 Centerline is valid? [True, True] Translation: X:221.39, Y:-90.14, Z:-4.04 [[ 8.90210023e-01 -4.55528429e-01 -4.46824784e-03 2.21393074e+02] [-4.55522151e-01 -8.90221232e-01 2.39350907e-03 -9.01363566e+01] [-5.06804053e-03 -9.53398970e-05 -9.99987153e-01 -4.03872606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.946559995 meters 0.01421686438295393 Centerline is valid? [True, True] Translation: X:221.42, Y:-90.16, Z:-4.04 [[ 9.23150900e-01 -3.84415641e-01 -4.12692971e-03 2.21421273e+02] [-3.84411383e-01 -9.23160120e-01 1.81140959e-03 -9.01572245e+01] [-4.50615111e-03 -8.57656363e-05 -9.99989844e-01 -4.03950951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.006559995 meters 0.014256498205923732 Centerline is valid? [True, True] Translation: X:221.45, Y:-90.18, Z:-4.04 [[ 9.50483838e-01 -3.10742384e-01 -4.43230718e-03 2.21449741e+02] [-3.10738559e-01 -9.50494168e-01 1.54446020e-03 -9.01793230e+01] [-4.69281137e-03 -9.06957145e-05 -9.99988985e-01 -4.03892411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.066559995 meters 0.014412805664332257 Centerline is valid? [True, True] Translation: X:221.48, Y:-90.20, Z:-4.04 [[ 9.71883631e-01 -2.35400589e-01 -5.36374214e-03 2.21479555e+02] [-2.35396396e-01 -9.71898427e-01 1.40897288e-03 -9.01987609e+01] [-5.54468559e-03 -1.06752105e-04 -9.99984622e-01 -4.03814784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.126559995 meters 0.014243514891284304 Centerline is valid? [True, True] Translation: X:221.51, Y:-90.22, Z:-4.04 [[ 9.87388837e-01 -1.58185396e-01 -6.37697949e-03 2.21510298e+02] [-1.58181264e-01 -9.87409421e-01 1.15045858e-03 -9.02170155e+01] [-6.47867537e-03 -1.27231288e-04 -9.99979005e-01 -4.03775421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.186559995 meters 0.01457620050832759 Centerline is valid? [True, True] Translation: X:221.54, Y:-90.23, Z:-4.04 [[ 9.96801439e-01 -7.96481607e-02 -6.56216160e-03 2.21539784e+02] [-7.96455478e-02 -9.96823030e-01 6.58949774e-04 -9.02333864e+01] [-6.59379795e-03 -1.34195128e-04 -9.99978252e-01 -4.03726798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.246559995 meters 0.014682371540688658 Centerline is valid? [True, True] Translation: X:221.57, Y:-90.25, Z:-4.04 [[ 9.99982750e-01 -4.32222038e-04 -5.85764737e-03 2.21570487e+02] [-4.31482398e-04 -9.99999899e-01 1.27532128e-04 -9.02473213e+01] [-5.85770190e-03 -1.25002457e-04 -9.99982836e-01 -4.03751861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.306559995 meters 0.015092372427512398 Centerline is valid? [True, True] Translation: X:221.60, Y:-90.26, Z:-4.04 [[ 9.96952916e-01 7.78226035e-02 -5.34096612e-03 2.21602375e+02] [ 7.78221007e-02 -9.96967216e-01 -3.02203540e-04 -9.02556938e+01] [-5.34828639e-03 -1.14362503e-04 -9.99985691e-01 -4.03763526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36655999499993 meters 0.01480511149532971 Centerline is valid? [True, True] Translation: X:221.63, Y:-90.26, Z:-4.04 [[ 9.87996593e-01 1.54399108e-01 -4.86297868e-03 2.21633981e+02] [ 1.54397731e-01 -9.88008555e-01 -6.59583905e-04 -9.02594608e+01] [-4.90650371e-03 -9.91662255e-05 -9.99987958e-01 -4.03818760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42655999499993 meters 0.014120080129762498 Centerline is valid? [True, True] Translation: X:221.67, Y:-90.26, Z:-4.04 [[ 9.73559237e-01 2.28397204e-01 -4.13882134e-03 2.21665936e+02] [ 2.28395461e-01 -9.73568032e-01 -8.95209220e-04 -9.02600690e+01] [-4.23388743e-03 -7.37488031e-05 -9.99991034e-01 -4.03889612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48655999499994 meters 0.01332802822813232 Centerline is valid? [True, True] Translation: X:221.70, Y:-90.26, Z:-4.04 [[ 9.53548924e-01 3.01215500e-01 -3.69768846e-03 2.21698126e+02] [ 3.01213465e-01 -9.53556091e-01 -1.10869546e-03 -9.02613820e+01] [-3.85990961e-03 -5.65981914e-05 -9.99992549e-01 -4.03886796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54655999499994 meters 0.012717846460358643 Centerline is valid? [True, True] Translation: X:221.73, Y:-90.26, Z:-4.04 [[ 9.29237367e-01 3.69461323e-01 -4.03061652e-03 2.21728430e+02] [ 3.69458021e-01 -9.29246108e-01 -1.56241964e-03 -9.02578071e+01] [-4.32268834e-03 -3.72848869e-05 -9.99990656e-01 -4.03792873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60655999499994 meters 0.012418200072447158 Centerline is valid? [True, True] Translation: X:221.76, Y:-90.25, Z:-4.04 [[ 9.01275787e-01 4.33211161e-01 -5.48136254e-03 2.21758419e+02] [ 4.33203133e-01 -9.01292455e-01 -2.63739351e-03 -9.02493691e+01] [-6.08285901e-03 2.47548884e-06 -9.99981499e-01 -4.03620948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66655999499994 meters 0.012737315096101813 Centerline is valid? [True, True] Translation: X:221.79, Y:-90.24, Z:-4.04 [[ 8.67681910e-01 4.97087748e-01 -5.64566262e-03 2.21787295e+02] [ 4.97076900e-01 -8.67700276e-01 -3.28425157e-03 -9.02395346e+01] [-6.53130423e-03 4.33572028e-05 -9.99978670e-01 -4.03573634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72655999499995 meters 0.014101318014751785 Centerline is valid? [True, True] Translation: X:221.81, Y:-90.22, Z:-4.04 [[ 8.30627267e-01 5.56804117e-01 -5.24591992e-03 2.21813733e+02] [ 5.56792295e-01 -8.30643827e-01 -3.62955211e-03 -9.02245263e+01] [-6.37844056e-03 9.39171587e-05 -9.99979653e-01 -4.03655739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78655999499995 meters 0.014943083942814843 Centerline is valid? [True, True] Translation: X:221.84, Y:-90.21, Z:-4.04 [[ 7.86997539e-01 6.16942139e-01 -4.15592593e-03 2.21840673e+02] [ 6.16932862e-01 -7.87008506e-01 -3.38470123e-03 -9.02115050e+01] [-5.35891387e-03 9.98242588e-05 -9.99985636e-01 -4.03765938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84655999499995 meters 0.015032339486655829 Centerline is valid? [True, True] Translation: X:221.87, Y:-90.20, Z:-4.04 [[ 7.36525826e-01 6.76399679e-01 -3.63074996e-03 2.21868193e+02] [ 6.76390817e-01 -7.36534769e-01 -3.46360205e-03 -9.01986059e+01] [-5.01695290e-03 9.52264331e-05 -9.99987410e-01 -4.03762862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90655999499995 meters 0.014208060137577987 Centerline is valid? [True, True] Translation: X:221.90, Y:-90.19, Z:-4.04 [[ 6.78933618e-01 7.34189593e-01 -3.84492577e-03 2.21898025e+02] [ 7.34177051e-01 -6.78944499e-01 -4.29235007e-03 -9.01863912e+01] [-5.76188995e-03 9.13644972e-05 -9.99983396e-01 -4.03672812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96655999499995 meters 0.013639819715191901 Centerline is valid? [True, True] Translation: X:221.92, Y:-90.17, Z:-4.04 [[ 6.16287093e-01 7.87510914e-01 -4.09626870e-03 2.21924693e+02] [ 7.87492632e-01 -6.16300701e-01 -5.36662669e-03 -9.01695182e+01] [-6.75081036e-03 8.16013431e-05 -9.99977210e-01 -4.03612096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02655999499996 meters 0.012503537670437617 Centerline is valid? [True, True] Translation: X:221.95, Y:-90.15, Z:-4.04 [[ 5.46422894e-01 8.37499771e-01 -4.01936041e-03 2.21954938e+02] [ 8.37476650e-01 -5.46437675e-01 -6.22313330e-03 -9.01544581e+01] [-7.40820267e-03 3.43420114e-05 -9.99972558e-01 -4.03642612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08655999499996 meters 0.012288019499658473 Centerline is valid? [True, True] Translation: X:221.98, Y:-90.14, Z:-4.04 [[ 4.71875154e-01 8.81659144e-01 -3.31562251e-03 2.21983761e+02] [ 8.81637765e-01 -4.71886802e-01 -6.13982314e-03 -9.01358491e+01] [-6.97782971e-03 -2.59480372e-05 -9.99975654e-01 -4.03640156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14655999499996 meters 0.01258796858199906 Centerline is valid? [True, True] Translation: X:222.01, Y:-90.11, Z:-4.04 [[ 3.96815300e-01 9.17895098e-01 -2.49145157e-03 2.22010785e+02] [ 9.17877856e-01 -3.96823118e-01 -5.62620552e-03 -9.01143494e+01] [-6.15293204e-03 -5.42837894e-05 -9.99981069e-01 -4.03689632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20655999499996 meters 0.013377814335212021 Centerline is valid? [True, True] Translation: X:222.04, Y:-90.09, Z:-4.04 [[ 3.18397395e-01 9.47956126e-01 -1.51053842e-03 2.22036003e+02] [ 9.47946431e-01 -3.18400971e-01 -4.28781407e-03 -9.00903647e+01] [-4.54561651e-03 -6.66806708e-05 -9.99989666e-01 -4.03760535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26655999499997 meters 0.014207563665460549 Centerline is valid? [True, True] Translation: X:222.06, Y:-90.06, Z:-4.04 [[ 2.39870272e-01 9.70804190e-01 -1.21524512e-03 2.22055446e+02] [ 9.70793470e-01 -2.39873335e-01 -4.56315867e-03 -9.00641612e+01] [-4.72143845e-03 -8.51859134e-05 -9.99988850e-01 -4.03711522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32655999499997 meters 0.016471175963564403 Centerline is valid? [True, True] Translation: X:222.07, Y:-90.04, Z:-4.04 [[ 1.58261850e-01 9.87396617e-01 -1.05193669e-03 2.22072779e+02] [ 9.87380027e-01 -1.58265291e-01 -5.72535473e-03 -9.00370406e+01] [-5.81968096e-03 -1.32556046e-04 -9.99983057e-01 -4.03609548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38655999499997 meters 0.01638592126062384 Centerline is valid? [True, True] Translation: X:222.08, Y:-90.01, Z:-4.04 [[ 7.75987244e-02 9.96984456e-01 -6.58411347e-04 2.22083738e+02] [ 9.96964234e-01 -7.76013453e-02 -6.35201213e-03 -9.00062703e+01] [-6.38395097e-03 -1.63504525e-04 -9.99979609e-01 -4.03624833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.446559995 meters 0.01762176463644442 Centerline is valid? [True, True] Translation: X:222.09, Y:-89.98, Z:-4.03 [[-3.99422792e-03 9.99992005e-01 -1.88904158e-04 2.22094233e+02] [ 9.99962979e-01 3.99267208e-03 -7.62230911e-03 -8.99752869e+01] [-7.62149394e-03 -2.19342404e-04 -9.99970932e-01 -4.03436990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.506559995 meters 0.017224323725243504 Centerline is valid? [True, True] Translation: X:222.10, Y:-89.94, Z:-4.03 [[-8.20102401e-02 9.96631368e-01 4.87184339e-04 2.22097150e+02] [ 9.96590276e-01 8.20112846e-02 -9.05376465e-03 -8.99443084e+01] [-9.06322046e-03 -2.56978239e-04 -9.99958895e-01 -4.03352930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.566559995 meters 0.016286907086994082 Centerline is valid? [True, True] Translation: X:222.10, Y:-89.91, Z:-4.03 [[-1.56983574e-01 9.87600511e-01 1.17815073e-03 2.22095858e+02] [ 9.87560764e-01 1.56987830e-01 -8.86331961e-03 -8.99137722e+01] [-8.93837430e-03 -2.27900152e-04 -9.99960026e-01 -4.03409763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.626559995 meters 0.014258818625882295 Centerline is valid? [True, True] Translation: X:222.09, Y:-89.88, Z:-4.04 [[-2.26472544e-01 9.74016223e-01 1.60745338e-03 2.22087745e+02] [ 9.73987178e-01 2.26478206e-01 -7.52323864e-03 -8.98846768e+01] [-7.69180965e-03 -1.38168008e-04 -9.99970408e-01 -4.03588559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.686559995 meters 0.013585242472976586 Centerline is valid? [True, True] Translation: X:222.08, Y:-89.86, Z:-4.04 [[-2.98971215e-01 9.54259906e-01 2.06001782e-03 2.22082699e+02] [ 9.54234732e-01 2.98978293e-01 -6.93226761e-03 -8.98558653e+01] [-7.23108565e-03 -1.06807923e-04 -9.99973850e-01 -4.03631295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.746559995 meters 0.012167492234913717 Centerline is valid? [True, True] Translation: X:222.07, Y:-89.83, Z:-4.04 [[-3.62673861e-01 9.31912851e-01 2.47148719e-03 2.22069009e+02] [ 9.31890706e-01 3.62682281e-01 -6.42461009e-03 -8.98300204e+01] [-6.88354131e-03 -2.68822053e-05 -9.99976308e-01 -4.03706887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.806559995 meters 0.0123072436100679 Centerline is valid? [True, True] Translation: X:222.06, Y:-89.80, Z:-4.04 [[-4.27479070e-01 9.04019818e-01 3.13278828e-03 2.22060455e+02] [ 9.03996034e-01 4.27490548e-01 -6.55759397e-03 -8.98027860e+01] [-7.26743228e-03 2.87940131e-05 -9.99973591e-01 -4.03704035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86655999499993 meters 0.014073805940856691 Centerline is valid? [True, True] Translation: X:222.05, Y:-89.78, Z:-4.04 [[-4.86261441e-01 8.73802672e-01 4.32449328e-03 2.22046450e+02] [ 8.73770665e-01 4.86280650e-01 -7.48025824e-03 -8.97803089e+01] [-8.63918704e-03 1.41254220e-04 -9.99962672e-01 -4.03566777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92655999499993 meters 0.0161263542185857 Centerline is valid? [True, True] Translation: X:222.03, Y:-89.76, Z:-4.04 [[-5.45511095e-01 8.38084541e-01 5.65218124e-03 2.22032895e+02] [ 8.38044316e-01 5.45540316e-01 -8.21509294e-03 -8.97576606e+01] [-9.96843514e-03 2.55354015e-04 -9.99950281e-01 -4.03505930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98655999499994 meters 0.017528644556526772 Centerline is valid? [True, True] Translation: X:222.02, Y:-89.73, Z:-4.04 [[-6.06066740e-01 7.95390192e-01 6.12775925e-03 2.22020469e+02] [ 7.95354298e-01 6.06097647e-01 -7.56192067e-03 -8.97339616e+01] [-9.72869799e-03 2.90711052e-04 -9.99952633e-01 -4.03517162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04655999499994 meters 0.018020389633380995 Centerline is valid? [True, True] Translation: X:222.01, Y:-89.71, Z:-4.04 [[-6.65111545e-01 7.46721403e-01 5.81194456e-03 2.22007895e+02] [ 7.46696344e-01 6.65136884e-01 -6.12331620e-03 -8.97101689e+01] [-8.43814996e-03 2.67069457e-04 -9.99964363e-01 -4.03648309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10655999499994 meters 0.018179685190918584 Centerline is valid? [True, True] Translation: X:222.00, Y:-89.69, Z:-4.04 [[-7.22904949e-01 6.90921507e-01 5.99212253e-03 2.21995175e+02] [ 6.90900474e-01 7.22929744e-01 -5.39632728e-03 -8.96868195e+01] [-8.06032218e-03 2.38928598e-04 -9.99967487e-01 -4.03634981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16655999499994 meters 0.016055505571503377 Centerline is valid? [True, True] Translation: X:222.02, Y:-89.66, Z:-4.04 [[-7.73713395e-01 6.33501690e-01 6.57195896e-03 2.22018151e+02] [ 6.33480989e-01 7.73741281e-01 -5.12513791e-03 -8.96641132e+01] [-8.33177947e-03 1.97823212e-04 -9.99965271e-01 -4.03613117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22655999499995 meters 0.014455662615659306 Centerline is valid? [True, True] Translation: X:222.04, Y:-89.64, Z:-4.04 [[-8.19701649e-01 5.72742442e-01 7.43648965e-03 2.22035342e+02] [ 5.72720681e-01 8.19735365e-01 -4.99536891e-03 -8.96372568e+01] [-8.95701335e-03 1.64319282e-04 -9.99959872e-01 -4.03581463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28655999499995 meters 0.012810096779093042 Centerline is valid? [True, True] Translation: X:222.05, Y:-89.60, Z:-4.04 [[-8.63336861e-01 5.04565582e-01 7.93963557e-03 2.22045226e+02] [ 5.04545043e-01 8.63373365e-01 -4.55317253e-03 -8.96030538e+01] [-9.15224404e-03 7.49820902e-05 -9.99958115e-01 -4.03532251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34655999499995 meters 0.01223259081780676 Centerline is valid? [True, True] Translation: X:222.06, Y:-89.57, Z:-4.03 [[-9.01626227e-01 4.32444193e-01 7.88457918e-03 2.22058861e+02] [ 4.32427430e-01 9.01660701e-01 -3.80765996e-03 -8.95703628e+01] [-8.75581562e-03 -2.35777716e-05 -9.99961667e-01 -4.03491238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40655999499995 meters 0.012754551157264859 Centerline is valid? [True, True] Translation: X:222.07, Y:-89.54, Z:-4.03 [[-9.32311028e-01 3.61586884e-01 7.14651046e-03 2.22072156e+02] [ 3.61575685e-01 9.32338415e-01 -2.84671335e-03 -8.95409913e+01] [-7.69230045e-03 -7.00178336e-05 -9.99970411e-01 -4.03456289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46655999499995 meters 0.013587540294406222 Centerline is valid? [True, True] Translation: X:222.08, Y:-89.51, Z:-4.03 [[-9.57373873e-01 2.88762583e-01 7.17208274e-03 2.22081927e+02] [ 2.88753582e-01 9.57400730e-01 -2.28287798e-03 -8.95107836e+01] [-7.52576699e-03 -1.14603150e-04 -9.99971674e-01 -4.03413426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52655999499996 meters 0.014328777270087387 Centerline is valid? [True, True] Translation: X:222.09, Y:-89.48, Z:-4.03 [[-9.75913293e-01 2.18047848e-01 6.95560225e-03 2.22089494e+02] [ 2.18041394e-01 9.75938072e-01 -1.68229179e-03 -8.94826753e+01] [-7.15505716e-03 -1.25161704e-04 -9.99974394e-01 -4.03339522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58655999499996 meters 0.014256360521978548 Centerline is valid? [True, True] Translation: X:222.25, Y:-88.81, Z:-5.01 [[-9.48690204e-01 -3.16144777e-01 6.27515205e-03 2.22250671e+02] [ 3.16138417e-01 -9.48710954e-01 -2.00691708e-03 -8.88145787e+01] [ 6.58778184e-03 7.98740561e-05 9.99978297e-01 -5.00581432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64655999499996 meters 0.01432511810106808 Centerline is valid? [True, True] Translation: X:222.03, Y:-89.47, Z:-4.04 [[-9.76881930e-01 2.13711917e-01 5.37699166e-03 2.22032257e+02] [ 2.13708107e-01 9.76896722e-01 -1.28008366e-03 -8.94732412e+01] [-5.52633466e-03 -1.01383886e-04 -9.99984725e-01 -4.03557423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70655999499996 meters 0.014390118282063807 Centerline is valid? [True, True] Translation: X:222.21, Y:-88.80, Z:-5.01 [[-9.49686440e-01 -3.13094859e-01 8.20213735e-03 2.22205091e+02] [ 3.13086285e-01 -9.49721797e-01 -2.34239426e-03 -8.88009291e+01] [ 8.52314022e-03 3.43436644e-04 9.99963618e-01 -5.00637752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76655999499997 meters 0.014840280396909869 Centerline is valid? [True, True] Translation: X:221.99, Y:-89.47, Z:-4.03 [[-9.77837145e-01 2.08899459e-01 1.39833512e-02 2.21989991e+02] [ 2.08874077e-01 9.77937084e-01 -3.26798028e-03 -8.94661766e+01] [-1.43575170e-02 -2.74792933e-04 -9.99896888e-01 -4.02791273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82655999499997 meters 0.014328303651928663 Centerline is valid? [True, True] Translation: X:221.99, Y:-89.45, Z:-4.03 [[-9.89948426e-01 1.40654885e-01 1.47755404e-02 2.21994850e+02] [ 1.40635264e-01 9.90058652e-01 -2.36384229e-03 -8.94458047e+01] [-1.49611376e-02 -2.62119919e-04 -9.99888042e-01 -4.02979354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88655999499997 meters 0.013631988715752462 Centerline is valid? [True, True] Translation: X:222.01, Y:-89.42, Z:-4.03 [[-9.97129234e-01 7.45543297e-02 1.32265990e-02 2.22005362e+02] [ 7.45454635e-02 9.97216938e-01 -1.16276807e-03 -8.94239049e+01] [-1.32764780e-02 -1.73447086e-04 -9.99911849e-01 -4.03226194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.946559995 meters 0.013064568147932937 Centerline is valid? [True, True] Translation: X:222.07, Y:-88.71, Z:-5.01 [[-9.86611440e-01 -1.62666694e-01 1.17223223e-02 2.22072376e+02] [ 1.62656069e-01 -9.86681074e-01 -1.86050795e-03 -8.87072403e+01] [ 1.18688363e-02 7.11084426e-05 9.99929560e-01 -5.00598582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.006559995 meters 0.012472919696831137 Centerline is valid? [True, True] Translation: X:221.95, Y:-89.43, Z:-4.04 [[-9.96857418e-01 7.85723394e-02 1.00834646e-02 2.21954491e+02] [ 7.85678076e-02 9.96908414e-01 -8.45387622e-04 -8.94269860e+01] [-1.01187148e-02 -5.04952177e-05 -9.99948803e-01 -4.03602844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.066559995 meters 0.012610815984736026 Centerline is valid? [True, True] Translation: X:222.02, Y:-88.70, Z:-5.00 [[-9.89193264e-01 -1.46343759e-01 8.95494186e-03 2.22018847e+02] [ 1.46337637e-01 -9.89233796e-01 -1.33869778e-03 -8.86950303e+01] [ 9.05444120e-03 -1.37857942e-05 9.99959008e-01 -5.00286297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.126559995 meters 0.01318497176238821 Centerline is valid? [True, True] Translation: X:221.90, Y:-89.43, Z:-4.04 [[-9.95928810e-01 8.96614638e-02 9.30742328e-03 2.21901003e+02] [ 8.96584758e-02 9.95972295e-01 -7.38631070e-04 -8.94313261e+01] [-9.33616247e-03 9.88654229e-05 -9.99956412e-01 -4.03837670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.186559995 meters 0.014809192203583888 Centerline is valid? [True, True] Translation: X:221.97, Y:-88.68, Z:-5.00 [[-9.92073139e-01 -1.25339230e-01 8.99805462e-03 2.21967842e+02] [ 1.25333069e-01 -9.92113938e-01 -1.24764227e-03 -8.86845493e+01] [ 9.08347392e-03 -1.09998587e-04 9.99958738e-01 -4.99967712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.246559995 meters 0.01612889195566648 Centerline is valid? [True, True] Translation: X:221.84, Y:-89.43, Z:-4.04 [[-9.94966197e-01 9.97474480e-02 9.62875513e-03 2.21844098e+02] [ 9.97451464e-02 9.95012757e-01 -7.20163493e-04 -8.94325515e+01] [-9.65256866e-03 2.43883258e-04 -9.99953383e-01 -4.03982521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.306559995 meters 0.01795817794403723 Centerline is valid? [True, True] Translation: X:221.85, Y:-89.41, Z:-4.04 [[-9.99362372e-01 3.43473128e-02 9.75248323e-03 2.21847750e+02] [ 3.43486143e-02 9.99409912e-01 -3.40578522e-05 -8.94050351e+01] [-9.74789820e-03 3.00948149e-04 -9.99952443e-01 -4.03913401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36655999499993 meters 0.017989384175661798 Centerline is valid? [True, True] Translation: X:221.86, Y:-88.65, Z:-5.00 [[-9.99320738e-01 -3.58782512e-02 8.41509033e-03 2.21856623e+02] [ 3.58740992e-02 -9.99356110e-01 -6.43879890e-04 -8.86528586e+01] [ 8.43277322e-03 -3.41558742e-04 9.99964385e-01 -5.00011631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42655999499993 meters 0.01843423928498683 Centerline is valid? [True, True] Translation: X:221.78, Y:-89.40, Z:-4.04 [[-9.99506570e-01 3.01673747e-02 8.74911204e-03 2.21778160e+02] [ 3.01686279e-02 9.99544823e-01 1.12654751e-05 -8.93972736e+01] [-8.74478980e-03 2.75208622e-04 -9.99961726e-01 -4.03947967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48655999499994 meters 0.012651363950527012 Centerline is valid? [True, True] Translation: X:221.75, Y:-89.34, Z:-4.04 [[-9.97731272e-01 -6.64847761e-02 1.05869724e-02 2.21754788e+02] [-6.64803630e-02 9.97787438e-01 7.68618333e-04 -8.93386676e+01] [-1.06146494e-02 6.30487812e-05 -9.99943661e-01 -4.03716397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54655999499994 meters 0.012207568063205195 Centerline is valid? [True, True] Translation: X:221.70, Y:-88.67, Z:-5.00 [[-9.99944941e-01 5.38502563e-03 9.00648863e-03 2.21700756e+02] [-5.38632548e-03 -9.99985486e-01 -1.20073577e-04 -8.86715821e+01] [ 9.00571131e-03 -1.68578845e-04 9.99959434e-01 -5.00214797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60655999499994 meters 0.012207568063205195 Centerline is valid? [True, True] Translation: X:221.68, Y:-89.34, Z:-4.04 [[-9.96925061e-01 -7.78326377e-02 9.08315212e-03 2.21675550e+02] [-7.78294507e-02 9.96966439e-01 7.04353685e-04 -8.93368653e+01] [-9.11041953e-03 -4.74889940e-06 -9.99958499e-01 -4.03756316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66655999499994 meters 0.012171991830295137 Centerline is valid? [True, True] Translation: X:221.67, Y:-89.31, Z:-4.04 [[-9.88377354e-01 -1.51740917e-01 9.21418253e-03 2.21667649e+02] [-1.51734649e-01 9.88420302e-01 1.37961226e-03 -8.93074079e+01] [-9.31682870e-03 -3.45332358e-05 -9.99956597e-01 -4.03771078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72655999499995 meters 0.012322293590187543 Centerline is valid? [True, True] Translation: X:221.65, Y:-89.28, Z:-4.04 [[-9.74386136e-01 -2.24704726e-01 8.91310824e-03 2.21652040e+02] [-2.24695901e-01 9.74426899e-01 1.99247277e-03 -8.92801953e+01] [-9.13289048e-03 -6.13010434e-05 -9.99958292e-01 -4.03758183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78655999499995 meters 0.012686320668910869 Centerline is valid? [True, True] Translation: X:221.63, Y:-89.25, Z:-4.04 [[-9.54902590e-01 -2.96774988e-01 9.25472081e-03 2.21631476e+02] [-2.96762013e-01 9.54947432e-01 2.77669988e-03 -8.92549812e+01] [-9.66182694e-03 -9.49716704e-05 -9.99953319e-01 -4.03711135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84655999499995 meters 0.01359191807054495 Centerline is valid? [True, True] Translation: X:221.60, Y:-89.23, Z:-4.04 [[-9.29021665e-01 -3.69885640e-01 1.01665726e-02 2.21597514e+02] [-3.69865469e-01 9.29077276e-01 3.86651974e-03 -8.92327710e+01] [-1.08757017e-02 -1.68183519e-04 -9.99940844e-01 -4.03584171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90655999499995 meters 0.016764648851389556 Centerline is valid? [True, True] Translation: X:221.55, Y:-89.21, Z:-4.03 [[-8.95815867e-01 -4.44297799e-01 1.06488516e-02 2.21553313e+02] [-4.44270267e-01 8.95879111e-01 4.95471783e-03 -8.92106488e+01] [-1.17414539e-02 -2.92453305e-04 -9.99931024e-01 -4.03392571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96655999499995 meters 0.015841343983749867 Centerline is valid? [True, True] Translation: X:221.50, Y:-89.21, Z:-4.04 [[-8.60736005e-01 -5.08957887e-01 9.76726194e-03 2.21496104e+02] [-5.08928837e-01 8.60791374e-01 5.44517620e-03 -8.92103110e+01] [-1.11789402e-02 -2.83982051e-04 -9.99937473e-01 -4.03525496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02655999499996 meters 0.015165676543649689 Centerline is valid? [True, True] Translation: X:221.43, Y:-89.22, Z:-4.04 [[-8.22554718e-01 -5.68626366e-01 8.23361090e-03 2.21434966e+02] [-5.68600555e-01 8.22595896e-01 5.42236185e-03 -8.92190081e+01] [-9.85623245e-03 -2.21446401e-04 -9.99951402e-01 -4.03634532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08655999499996 meters 0.014128382513251984 Centerline is valid? [True, True] Translation: X:221.37, Y:-89.24, Z:-4.04 [[-7.80548820e-01 -6.25053925e-01 7.15052543e-03 2.21366458e+02] [-6.25029655e-01 7.80581554e-01 5.51076674e-03 -8.92389589e+01] [-9.02609464e-03 -1.67867963e-04 -9.99959250e-01 -4.03735745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14655999499996 meters 0.012705444990648988 Centerline is valid? [True, True] Translation: X:221.29, Y:-89.27, Z:-4.04 [[-7.36302003e-01 -6.76612031e-01 7.45123773e-03 2.21292367e+02] [-6.76578991e-01 7.36339695e-01 6.68750286e-03 -8.92722523e+01] [-1.00114870e-02 -1.17329155e-04 -9.99949877e-01 -4.03699949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20655999499996 meters 0.012064871128841971 Centerline is valid? [True, True] Translation: X:221.22, Y:-89.31, Z:-4.04 [[-6.87009617e-01 -7.26607762e-01 7.67760381e-03 2.21217638e+02] [-7.26563588e-01 6.87052512e-01 8.01240429e-03 -8.93133922e+01] [-1.10967921e-02 -7.36685706e-05 -9.99938426e-01 -4.03678327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26655999499997 meters 0.01207700483027336 Centerline is valid? [True, True] Translation: X:221.14, Y:-89.37, Z:-4.04 [[-6.36859337e-01 -7.70937616e-01 8.08566368e-03 2.21142548e+02] [-7.70874961e-01 6.36910663e-01 9.82866198e-03 -8.93687883e+01] [-1.27271306e-02 2.64394731e-05 -9.99919006e-01 -4.03549762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32655999499997 meters 0.012914317417672945 Centerline is valid? [True, True] Translation: X:221.07, Y:-89.43, Z:-4.04 [[-5.82370593e-01 -8.12886778e-01 7.71870102e-03 2.21067776e+02] [-8.12812542e-01 5.82421729e-01 1.09864445e-02 -8.94321219e+01] [-1.34262747e-02 1.24325214e-04 -9.99909856e-01 -4.03510273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38655999499997 meters 0.014613628291311898 Centerline is valid? [True, True] Translation: X:221.00, Y:-89.51, Z:-4.04 [[-5.28171576e-01 -8.49108695e-01 7.01503100e-03 2.20997386e+02] [-8.49026690e-01 5.28218086e-01 1.18039486e-02 -8.95077004e+01] [-1.37283016e-02 2.78561562e-04 -9.99905724e-01 -4.03673819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.446559995 meters 0.016688573992019798 Centerline is valid? [True, True] Translation: X:220.93, Y:-89.59, Z:-4.04 [[-4.69421450e-01 -8.82954504e-01 5.90299952e-03 2.20930163e+02] [-8.82874104e-01 4.69458406e-01 1.19214325e-02 -8.95875340e+01] [-1.32972953e-02 3.84570732e-04 -9.99911513e-01 -4.03756019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.506559995 meters 0.019843338147187625 Centerline is valid? [True, True] Translation: X:220.87, Y:-89.68, Z:-4.04 [[-4.11246004e-01 -9.11514770e-01 4.18908174e-03 2.20869506e+02] [-9.11455621e-01 4.11267086e-01 1.03940056e-02 -8.96751810e+01] [-1.11971210e-02 4.56331147e-04 -9.99937206e-01 -4.04023226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.566559995 meters 0.022328804059058224 Centerline is valid? [True, True] Translation: X:220.81, Y:-89.77, Z:-4.04 [[-3.45646332e-01 -9.38359942e-01 3.03861300e-03 2.20808770e+02] [-9.38310924e-01 3.45659371e-01 9.60255543e-03 -8.97742458e+01] [-1.00609784e-02 4.67924292e-04 -9.99949278e-01 -4.04114853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.626559995 meters 0.024513713090431127 Centerline is valid? [True, True] Translation: X:220.75, Y:-89.88, Z:-4.04 [[-2.75415610e-01 -9.61321905e-01 2.53716225e-03 2.20752956e+02] [-9.61260747e-01 2.75426744e-01 1.08574542e-02 -8.98797022e+01] [-1.11363109e-02 5.51437904e-04 -9.99937837e-01 -4.04075145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.686559995 meters 0.023817894519771343 Centerline is valid? [True, True] Translation: X:220.70, Y:-89.99, Z:-4.04 [[-1.99163521e-01 -9.79964473e-01 1.87712129e-03 2.20700007e+02] [-9.79888661e-01 1.99171489e-01 1.22036529e-02 -8.99919924e+01] [-1.23330153e-02 5.91152615e-04 -9.99923771e-01 -4.04031965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.746559995 meters 0.02124683172909996 Centerline is valid? [True, True] Translation: X:220.65, Y:-90.11, Z:-4.04 [[-1.17090109e-01 -9.93120864e-01 9.25123569e-04 2.20650097e+02] [-9.93046244e-01 1.17092661e-01 1.21846751e-02 -9.01060345e+01] [-1.22091803e-02 5.08014449e-04 -9.99925336e-01 -4.03980224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.806559995 meters 0.01753514067307385 Centerline is valid? [True, True] Translation: X:220.61, Y:-90.23, Z:-4.04 [[-3.25942873e-02 -9.99468665e-01 -1.06673588e-05 2.20606770e+02] [-9.99406037e-01 3.25921254e-02 1.11948944e-02 -9.02266137e+01] [-1.11885985e-02 3.75550628e-04 -9.99937335e-01 -4.04082282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86655999499993 meters 0.01733210592746121 Centerline is valid? [True, True] Translation: X:220.58, Y:-90.35, Z:-4.04 [[ 4.86294921e-02 -9.98816598e-01 -7.59649429e-04 2.20579510e+02] [-9.98768914e-01 -4.86345964e-02 9.76383734e-03 -9.03495170e+01] [-9.78922803e-03 2.83903785e-04 -9.99952044e-01 -4.04080823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92655999499993 meters 0.015249546461168951 Centerline is valid? [True, True] Translation: X:220.56, Y:-90.47, Z:-4.04 [[ 1.30032225e-01 -9.91508822e-01 -1.36947773e-03 2.20556117e+02] [-9.91469761e-01 -1.30039262e-01 8.80357941e-03 -9.04704157e+01] [-8.90691253e-03 2.13046740e-04 -9.99960310e-01 -4.04121896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98655999499994 meters 0.014605192508481303 Centerline is valid? [True, True] Translation: X:220.55, Y:-90.59, Z:-4.04 [[ 2.07796071e-01 -9.78170007e-01 -2.05690293e-03 2.20546541e+02] [-9.78130923e-01 -2.07806160e-01 8.74630122e-03 -9.05945053e+01] [-8.98280662e-03 1.94473330e-04 -9.99959635e-01 -4.04136936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04655999499994 meters 0.014243113396363171 Centerline is valid? [True, True] Translation: X:220.54, Y:-90.71, Z:-4.04 [[ 2.83834938e-01 -9.58869119e-01 -2.78217757e-03 2.20543123e+02] [-9.58829121e-01 -2.83848516e-01 8.75991614e-03 -9.07130492e+01] [-9.18933005e-03 1.81262618e-04 -9.99957761e-01 -4.04101006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10655999499994 meters 0.014484992881521885 Centerline is valid? [True, True] Translation: X:220.55, Y:-90.83, Z:-4.04 [[ 3.56289846e-01 -9.34369342e-01 -3.38807133e-03 2.20551350e+02] [-9.34331741e-01 -3.56305910e-01 8.38431320e-03 -9.08291504e+01] [-9.04123504e-03 1.78336920e-04 -9.99959111e-01 -4.04070526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16655999499994 meters 0.014640202192207652 Centerline is valid? [True, True] Translation: X:220.57, Y:-90.94, Z:-4.04 [[ 4.24753385e-01 -9.05299627e-01 -4.14090879e-03 2.20567116e+02] [-9.05261146e-01 -4.24773522e-01 8.34945684e-03 -9.09437807e+01] [-9.31770857e-03 2.02143775e-04 -9.99956569e-01 -4.04103549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22655999499995 meters 0.015416721013973931 Centerline is valid? [True, True] Translation: X:220.59, Y:-91.05, Z:-4.04 [[ 4.90441651e-01 -8.71460867e-01 -4.78996806e-03 2.20592223e+02] [-8.71423697e-01 -4.90464990e-01 8.05193109e-03 -9.10518378e+01] [-9.36625448e-03 2.25089295e-04 -9.99956110e-01 -4.04086777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28655999499995 meters 0.016761282114457526 Centerline is valid? [True, True] Translation: X:220.62, Y:-91.16, Z:-4.04 [[ 5.50376483e-01 -8.34891174e-01 -6.51573989e-03 2.20624382e+02] [-8.34839824e-01 -5.50414945e-01 9.26586250e-03 -9.11557343e+01] [-1.13223474e-02 3.39886332e-04 -9.99935842e-01 -4.04093313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34655999499995 meters 0.019072980403166215 Centerline is valid? [True, True] Translation: X:220.66, Y:-91.25, Z:-4.04 [[ 6.06339062e-01 -7.95170696e-01 -7.51708567e-03 2.20664395e+02] [-7.95118405e-01 -6.06385496e-01 9.12979534e-03 -9.12544886e+01] [-1.18179974e-02 4.41221624e-04 -9.99930068e-01 -4.04164767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40655999499995 meters 0.020430469052757177 Centerline is valid? [True, True] Translation: X:220.71, Y:-91.35, Z:-4.04 [[ 6.61871399e-01 -7.49574140e-01 -8.05357914e-03 2.20709320e+02] [-7.49527265e-01 -6.61920221e-01 8.39639153e-03 -9.13476624e+01] [-1.16245448e-02 4.79045739e-04 -9.99932318e-01 -4.04236506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46655999499995 meters 0.019944837672492628 Centerline is valid? [True, True] Translation: X:220.75, Y:-91.43, Z:-4.04 [[ 7.15451013e-01 -6.98611532e-01 -8.47201406e-03 2.20754680e+02] [-6.98570430e-01 -7.15501007e-01 7.59360099e-03 -9.14333112e+01] [-1.13667118e-02 4.85448987e-04 -9.99935279e-01 -4.04313201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52655999499996 meters 0.021545243567294595 Centerline is valid? [True, True] Translation: X:220.77, Y:-91.47, Z:-4.04 [[ 7.66761013e-01 -6.41875468e-01 -8.56929306e-03 2.20774168e+02] [-6.41842237e-01 -7.66808747e-01 6.54892082e-03 -9.14667155e+01] [-1.07746005e-02 4.78677064e-04 -9.99941838e-01 -4.04373756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58655999499996 meters 0.020706634452113504 Centerline is valid? [True, True] Translation: X:220.80, Y:-91.50, Z:-4.04 [[ 8.16693362e-01 -5.76985512e-01 -9.98357579e-03 2.20795089e+02] [-5.76949555e-01 -8.16754237e-01 6.45960495e-03 -9.15026092e+01] [-1.18812263e-02 4.84503132e-04 -9.99929298e-01 -4.04366442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64655999499996 meters 0.019391790699073586 Centerline is valid? [True, True] Translation: X:220.82, Y:-91.54, Z:-4.04 [[ 8.61894642e-01 -5.06966238e-01 -1.10841945e-02 2.20819509e+02] [-5.06930958e-01 -8.61965795e-01 5.99768370e-03 -9.15356873e+01] [-1.25948196e-02 4.49549862e-04 -9.99920581e-01 -4.04323097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70655999499996 meters 0.01556203749142496 Centerline is valid? [True, True] Translation: X:220.84, Y:-91.57, Z:-4.04 [[ 9.03118933e-01 -4.29250297e-01 -1.09715434e-02 2.20843418e+02] [-4.29222785e-01 -9.03185521e-01 4.86982987e-03 -9.15746188e+01] [-1.19997151e-02 3.11200850e-04 -9.99927952e-01 -4.04403351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76655999499997 meters 0.014165412886111272 Centerline is valid? [True, True] Translation: X:220.87, Y:-91.60, Z:-4.04 [[ 9.36348487e-01 -3.50913187e-01 -1.05568428e-02 2.20873776e+02] [-3.50893445e-01 -9.36407972e-01 3.72828138e-03 -9.16042782e+01] [-1.11938149e-02 2.13356332e-04 -9.99937325e-01 -4.04377445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82655999499997 meters 0.012086305442482232 Centerline is valid? [True, True] Translation: X:220.91, Y:-91.64, Z:-4.04 [[ 9.63422228e-01 -2.67797770e-01 -1.00977612e-02 2.20906720e+02] [-2.67784179e-01 -9.63475139e-01 2.69992660e-03 -9.16360908e+01] [-1.04519762e-02 1.02851401e-04 -9.99945371e-01 -4.04347987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88655999499997 meters 0.011374471181135054 Centerline is valid? [True, True] Translation: X:220.94, Y:-91.66, Z:-4.04 [[ 9.82434068e-01 -1.86291117e-01 -1.09051513e-02 2.20943816e+02] [-1.86280187e-01 -9.82494589e-01 2.01851095e-03 -9.16596896e+01] [-1.10902828e-02 4.83597124e-05 -9.99938500e-01 -4.04287865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.946559995 meters 0.011162399399316491 Centerline is valid? [True, True] Translation: X:220.98, Y:-91.68, Z:-4.04 [[ 9.94647022e-01 -1.02642883e-01 -1.19054701e-02 2.20981794e+02] [-1.02635249e-01 -9.94718271e-01 1.25213091e-03 -9.16797865e+01] [-1.19711109e-02 -2.35074007e-05 -9.99928343e-01 -4.04170418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.006559995 meters 0.011319030648963582 Centerline is valid? [True, True] Translation: X:221.02, Y:-91.69, Z:-4.04 [[ 9.99724840e-01 -2.03180418e-02 -1.17226704e-02 2.21019518e+02] [-2.03158058e-02 -9.99793565e-01 3.09807403e-04 -9.16940141e+01] [-1.17265451e-02 -7.15666624e-05 -9.99931239e-01 -4.04162668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.066559995 meters 0.0121019928583362 Centerline is valid? [True, True] Translation: X:221.06, Y:-91.71, Z:-4.04 [[ 9.97869421e-01 6.42843191e-02 -1.11420047e-02 2.21058618e+02] [ 6.42818630e-02 -9.97931614e-01 -5.78789224e-04 -9.17053258e+01] [-1.11561658e-02 -1.38672752e-04 -9.99937758e-01 -4.04174016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.126559995 meters 0.013060541465322798 Centerline is valid? [True, True] Translation: X:221.10, Y:-91.71, Z:-4.04 [[ 9.89225047e-01 1.45988185e-01 -1.10116248e-02 2.21097922e+02] [ 1.45981167e-01 -9.89286317e-01 -1.44273582e-03 -9.17086405e+01] [-1.11042721e-02 -1.80299429e-04 -9.99938329e-01 -4.04165048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.186559995 meters 0.013095327543805156 Centerline is valid? [True, True] Translation: X:221.14, Y:-91.71, Z:-4.04 [[ 9.74611429e-01 2.23630170e-01 -1.10502875e-02 2.21137044e+02] [ 2.23618007e-01 -9.74674054e-01 -2.34004451e-03 -9.17057899e+01] [-1.12937331e-02 -1.90409153e-04 -9.99936206e-01 -4.04176672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.246559995 meters 0.013043989676468444 Centerline is valid? [True, True] Translation: X:221.17, Y:-91.70, Z:-4.04 [[ 9.54349318e-01 2.98503987e-01 -1.06183726e-02 2.21173846e+02] [ 2.98487583e-01 -9.54408371e-01 -3.13445660e-03 -9.16967860e+01] [-1.10699115e-02 -1.78085862e-04 -9.99938711e-01 -4.04221752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.306559995 meters 0.012215983736999416 Centerline is valid? [True, True] Translation: X:221.21, Y:-91.69, Z:-4.04 [[ 9.28242276e-01 3.71851799e-01 -9.61856647e-03 2.21212175e+02] [ 3.71833629e-01 -9.28292095e-01 -3.67950717e-03 -9.16873396e+01] [-1.02970706e-02 -1.61032365e-04 -9.99946971e-01 -4.04386818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36655999499993 meters 0.011981055205711516 Centerline is valid? [True, True] Translation: X:221.25, Y:-91.67, Z:-4.04 [[ 8.96672477e-01 4.42598745e-01 -9.20979616e-03 2.21248938e+02] [ 4.42577123e-01 -8.96719760e-01 -4.37745582e-03 -9.16747464e+01] [-1.01960627e-02 -1.50900939e-04 -9.99948007e-01 -4.04415421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42655999499993 meters 0.011738621358258 Centerline is valid? [True, True] Translation: X:221.28, Y:-91.66, Z:-4.04 [[ 8.60140469e-01 5.09971177e-01 -9.36865382e-03 2.21283536e+02] [ 5.09942710e-01 -8.60191478e-01 -5.39017571e-03 -9.16597494e+01] [-1.08076704e-02 -1.41168450e-04 -9.99941585e-01 -4.04311449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48655999499994 meters 0.010716126526162688 Centerline is valid? [True, True] Translation: X:221.31, Y:-91.64, Z:-4.04 [[ 8.20713096e-01 5.71268184e-01 -9.09266434e-03 2.21314800e+02] [ 5.71234250e-01 -8.20763459e-01 -6.22707048e-03 -9.16379052e+01] [-1.10202539e-02 -8.34030106e-05 -9.99939272e-01 -4.04293467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54655999499994 meters 0.010499377217000384 Centerline is valid? [True, True] Translation: X:221.34, Y:-91.61, Z:-4.04 [[ 7.79216443e-01 6.26698219e-01 -8.43077876e-03 2.21339806e+02] [ 6.26661312e-01 -7.79262050e-01 -6.80129662e-03 -9.16123576e+01] [-1.08321464e-02 1.64392814e-05 -9.99941330e-01 -4.04279278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60655999499994 meters 0.011175304298525743 Centerline is valid? [True, True] Translation: X:221.37, Y:-91.59, Z:-4.04 [[ 7.32927707e-01 6.80267553e-01 -7.28233586e-03 2.21366442e+02] [ 6.80232740e-01 -7.32963879e-01 -6.88273447e-03 -9.15881500e+01] [-1.00197901e-02 9.08635197e-05 -9.99949797e-01 -4.04379197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66655999499994 meters 0.013309667942190512 Centerline is valid? [True, True] Translation: X:221.39, Y:-91.56, Z:-4.05 [[ 6.86063054e-01 7.27517944e-01 -5.92690558e-03 2.21389740e+02] [ 7.27488455e-01 -6.86088630e-01 -6.55285698e-03 -9.15619641e+01] [-8.83370356e-03 1.83917683e-04 -9.99960965e-01 -4.04513368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72655999499995 meters 0.01568365667442393 Centerline is valid? [True, True] Translation: X:221.41, Y:-91.54, Z:-4.04 [[ 6.32065023e-01 7.74896802e-01 -5.36215745e-03 2.21412583e+02] [ 7.74865641e-01 -6.32087722e-01 -6.95339265e-03 -9.15372163e+01] [-8.77751562e-03 2.40044714e-04 -9.99961448e-01 -4.04494963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78655999499995 meters 0.01785089884525554 Centerline is valid? [True, True] Translation: X:221.43, Y:-91.51, Z:-4.04 [[ 5.75212695e-01 8.17988697e-01 -4.98467058e-03 2.21433706e+02] [ 8.17953138e-01 -5.75234207e-01 -7.63361284e-03 -9.15111664e+01] [-9.11156205e-03 3.13724067e-04 -9.99958440e-01 -4.04444641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84655999499995 meters 0.01834592836867979 Centerline is valid? [True, True] Translation: X:221.46, Y:-91.49, Z:-4.04 [[ 5.12099968e-01 8.58913797e-01 -4.55106266e-03 2.21455753e+02] [ 8.58873484e-01 -5.12120066e-01 -8.32917807e-03 -9.14858106e+01] [-9.48473648e-03 3.56584782e-04 -9.99954955e-01 -4.04477726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90655999499995 meters 0.019305912108307396 Centerline is valid? [True, True] Translation: X:221.48, Y:-91.46, Z:-4.04 [[ 4.42630518e-01 8.96694699e-01 -4.10382838e-03 2.21476048e+02] [ 8.96648101e-01 -4.42649387e-01 -9.14894726e-03 -9.14604435e+01] [-1.00203696e-02 3.69913339e-04 -9.99949726e-01 -4.04414136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96655999499995 meters 0.017985259406000192 Centerline is valid? [True, True] Translation: X:221.50, Y:-91.43, Z:-4.04 [[ 3.66972157e-01 9.30225842e-01 -3.36425581e-03 2.21497837e+02] [ 9.30178269e-01 -3.66987434e-01 -9.41339641e-03 -9.14344571e+01] [-9.99122421e-03 3.25096741e-04 -9.99950034e-01 -4.04382243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02655999499996 meters 0.01629680589708603 Centerline is valid? [True, True] Translation: X:221.52, Y:-91.41, Z:-4.04 [[ 2.86769745e-01 9.57996895e-01 -2.24995399e-03 2.21516608e+02] [ 9.57961026e-01 -2.86778484e-01 -8.29298039e-03 -9.14063381e+01] [-8.58988786e-03 2.22807635e-04 -9.99963081e-01 -4.04409740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08655999499996 meters 0.014174374239566483 Centerline is valid? [True, True] Translation: X:221.54, Y:-91.38, Z:-4.04 [[ 2.06061967e-01 9.78537734e-01 -1.53931232e-03 2.21536294e+02] [ 9.78503755e-01 -2.06067642e-01 -8.15649445e-03 -9.13772353e+01] [-8.29864006e-03 1.74520400e-04 -9.99965550e-01 -4.04419567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14655999499996 meters 0.012002457526703795 Centerline is valid? [True, True] Translation: X:221.56, Y:-91.35, Z:-4.04 [[ 1.20207586e-01 9.92748373e-01 -8.96991629e-04 2.21556342e+02] [ 9.92713967e-01 -1.20210888e-01 -8.26566124e-03 -9.13465722e+01] [-8.31354991e-03 1.03139064e-04 -9.99965437e-01 -4.04384844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20655999499996 meters 0.010991516496234997 Centerline is valid? [True, True] Translation: X:221.57, Y:-91.31, Z:-4.04 [[ 3.56025870e-02 9.99366001e-01 -2.28734537e-04 2.21571338e+02] [ 9.99336406e-01 -3.56032930e-02 -7.69111886e-03 -9.13141826e+01] [-7.69438639e-03 4.52409777e-05 -9.99970397e-01 -4.04398129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26655999499997 meters 0.010498143360598807 Centerline is valid? [True, True] Translation: X:221.58, Y:-91.28, Z:-4.04 [[-5.20595635e-02 9.98643926e-01 3.33660444e-04 2.21584131e+02] [ 9.98620356e-01 5.20606272e-02 -6.86119675e-03 -9.12808440e+01] [-6.86926303e-03 -2.39907966e-05 -9.99976406e-01 -4.04372271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32655999499997 meters 0.011183166464746718 Centerline is valid? [True, True] Translation: X:221.59, Y:-91.25, Z:-4.04 [[-1.35997099e-01 9.90708872e-01 8.48621771e-04 2.21590480e+02] [ 9.90686579e-01 1.35999732e-01 -6.64648340e-03 -9.12459259e+01] [-6.70014241e-03 -6.31842643e-05 -9.99977552e-01 -4.04308279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38655999499997 meters 0.012224902439210573 Centerline is valid? [True, True] Translation: X:221.59, Y:-91.21, Z:-4.04 [[-2.18274526e-01 9.75886362e-01 1.42803754e-03 2.21593793e+02] [ 9.75862310e-01 2.18279174e-01 -6.85238406e-03 -9.12106014e+01] [-6.99885900e-03 -1.02132875e-04 -9.99975502e-01 -4.04206247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.446559995 meters 0.012935521029334467 Centerline is valid? [True, True] Translation: X:221.59, Y:-91.17, Z:-4.04 [[-2.98021558e-01 9.54556735e-01 2.14265517e-03 2.21593555e+02] [ 9.54528496e-01 2.98029226e-01 -7.34380100e-03 -9.11744395e+01] [-7.64864856e-03 -1.43385602e-04 -9.99970738e-01 -4.04129963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.506559995 meters 0.013952547426547463 Centerline is valid? [True, True] Translation: X:221.59, Y:-91.14, Z:-4.04 [[-3.74180403e-01 9.27350241e-01 3.24914902e-03 2.21588623e+02] [ 9.27310660e-01 3.74194460e-01 -8.57007758e-03 -9.11396316e+01] [-9.16327707e-03 -1.93784565e-04 -9.99957998e-01 -4.04007002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.566559995 meters 0.013823961552000615 Centerline is valid? [True, True] Translation: X:221.58, Y:-91.11, Z:-4.04 [[-4.47008404e-01 8.94521308e-01 3.88796192e-03 2.21579876e+02] [ 8.94483365e-01 4.47025264e-01 -8.24152149e-03 -9.11051712e+01] [-9.11023379e-03 -2.06312105e-04 -9.99958480e-01 -4.04021240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.626559995 meters 0.014295590102774975 Centerline is valid? [True, True] Translation: X:221.57, Y:-91.07, Z:-4.04 [[-5.15752341e-01 8.56726011e-01 4.47934507e-03 2.21569187e+02] [ 8.56690185e-01 5.15771752e-01 -7.83757582e-03 -9.10733064e+01] [-9.02497472e-03 -2.04837127e-04 -9.99959253e-01 -4.04015199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.686559995 meters 0.013690384017297627 Centerline is valid? [True, True] Translation: X:221.55, Y:-91.04, Z:-4.04 [[-5.80114912e-01 8.14517390e-01 5.30191638e-03 2.21551573e+02] [ 8.14480169e-01 5.80139105e-01 -7.78934539e-03 -9.10437925e+01] [-9.42040630e-03 -2.00409670e-04 -9.99955607e-01 -4.04085124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.746559995 meters 0.013513868991773766 Centerline is valid? [True, True] Translation: X:221.53, Y:-91.02, Z:-4.04 [[-6.40292697e-01 7.68113813e-01 5.14124185e-03 2.21533649e+02] [ 7.68087085e-01 6.40313319e-01 -6.40959024e-03 -9.10162459e+01] [-8.21530043e-03 -1.55092349e-04 -9.99966242e-01 -4.04093073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.806559995 meters 0.01158661052642254 Centerline is valid? [True, True] Translation: X:221.51, Y:-90.99, Z:-4.04 [[-6.94067181e-01 7.19894123e-01 4.81668611e-03 2.21509239e+02] [ 7.19875884e-01 6.94083888e-01 -5.12519615e-03 -9.09933920e+01] [-7.03278281e-03 -8.98142723e-05 -9.99975266e-01 -4.04253209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86655999499993 meters 0.010466612977108356 Centerline is valid? [True, True] Translation: X:221.48, Y:-90.98, Z:-4.04 [[-7.42836682e-01 6.69457659e-01 4.48397966e-03 2.21481387e+02] [ 6.69445235e-01 7.42850215e-01 -4.07867113e-03 -9.09751111e+01] [-6.06142288e-03 -2.80077120e-05 -9.99981629e-01 -4.04446452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92655999499993 meters 0.01043219341921366 Centerline is valid? [True, True] Translation: X:221.49, Y:-90.96, Z:-4.04 [[-7.84915260e-01 6.19586271e-01 4.57021281e-03 2.21493455e+02] [ 6.19575813e-01 7.84928565e-01 -3.59999213e-03 -9.09604182e+01] [-5.81779629e-03 5.90455801e-06 -9.99983076e-01 -4.04456101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98655999499994 meters 0.011222310886957519 Centerline is valid? [True, True] Translation: X:221.89, Y:-90.47, Z:-5.00 [[-7.48707577e-01 -6.62884111e-01 4.64976467e-03 2.21893710e+02] [ 6.62871437e-01 -7.48722015e-01 -4.09900039e-03 -9.04678032e+01] [ 6.19854340e-03 1.32435417e-05 9.99980789e-01 -4.99633736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04655999499994 meters 0.012286112413224522 Centerline is valid? [True, True] Translation: X:221.45, Y:-90.95, Z:-4.04 [[-7.79273491e-01 6.26659688e-01 5.51922570e-03 2.21451829e+02] [ 6.26644837e-01 7.79293030e-01 -4.31532109e-03 -9.09523886e+01] [-7.00533188e-03 9.57789627e-05 -9.99975458e-01 -4.04377663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10655999499994 meters 0.013399739730488101 Centerline is valid? [True, True] Translation: X:221.47, Y:-90.94, Z:-4.04 [[-8.18338079e-01 5.74696263e-01 6.85514369e-03 2.21470943e+02] [ 5.74677723e-01 8.18366776e-01 -4.61900951e-03 -9.09436082e+01] [-8.26454935e-03 1.59586999e-04 -9.99965835e-01 -4.04393125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16655999499994 meters 0.014587718371058569 Centerline is valid? [True, True] Translation: X:221.48, Y:-90.93, Z:-4.04 [[-8.55455102e-01 5.17839407e-01 6.23833613e-03 2.21483502e+02] [ 5.17826989e-01 8.55477833e-01 -3.58977483e-03 -9.09270381e+01] [-7.19568514e-03 1.59487615e-04 -9.99974098e-01 -4.04464580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22655999499995 meters 0.013795383630431797 Centerline is valid? [True, True] Translation: X:221.50, Y:-90.90, Z:-4.05 [[-8.90235323e-01 4.55471754e-01 5.15269722e-03 2.21496393e+02] [ 4.55464921e-01 8.90250227e-01 -2.49800816e-03 -9.09034645e+01] [-5.72496203e-03 1.23057728e-04 -9.99983605e-01 -4.04615281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28655999499995 meters 0.012794267605081629 Centerline is valid? [True, True] Translation: X:221.51, Y:-90.88, Z:-4.05 [[-9.21680951e-01 3.87930340e-01 3.77840833e-03 2.21507313e+02] [ 3.87927398e-01 9.21688693e-01 -1.51245090e-03 -9.08773111e+01] [-4.06924182e-03 7.17509268e-05 -9.99991718e-01 -4.04758892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34655999499995 meters 0.012399184797580768 Centerline is valid? [True, True] Translation: X:221.51, Y:-90.85, Z:-4.05 [[-9.48210610e-01 3.17617222e-01 3.99233192e-03 2.21507395e+02] [ 3.17614656e-01 9.48219013e-01 -1.27799912e-03 -9.08470071e+01] [-4.19151957e-03 5.62108014e-05 -9.99991214e-01 -4.04726274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40655999499995 meters 0.010830220644682356 Centerline is valid? [True, True] Translation: X:221.52, Y:-90.81, Z:-4.05 [[-9.70318897e-01 2.41780606e-01 4.83501957e-03 2.21516776e+02] [ 2.41777744e-01 9.70330942e-01 -1.17678466e-03 -9.08143850e+01] [-4.97609281e-03 2.71437266e-05 -9.99987619e-01 -4.04588892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46655999499995 meters 0.010569325025382473 Centerline is valid? [True, True] Translation: X:221.52, Y:-90.78, Z:-4.04 [[-9.85949193e-01 1.66970645e-01 4.99918115e-03 2.21520924e+02] [ 1.66968497e-01 9.85961867e-01 -8.47032932e-04 -9.07839910e+01] [-5.07043162e-03 -4.25672736e-07 -9.99987145e-01 -4.04488516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52655999499996 meters 0.010960561895520493 Centerline is valid? [True, True] Translation: X:221.51, Y:-90.75, Z:-4.04 [[-9.95868631e-01 9.06454219e-02 5.39239640e-03 2.21511379e+02] [ 9.06439152e-02 9.95883229e-01 -5.23648125e-04 -9.07515255e+01] [-5.41766344e-03 -3.26968198e-05 -9.99985324e-01 -4.04329800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58655999499996 meters 0.01138141814708876 Centerline is valid? [True, True] Translation: X:221.58, Y:-90.09, Z:-5.00 [[-9.85314586e-01 -1.70658047e-01 5.56749594e-03 2.21578076e+02] [ 1.70655602e-01 -9.85330314e-01 -9.14752865e-04 -9.00943365e+01] [ 5.64193246e-03 4.88050314e-05 9.99984083e-01 -4.99783424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64655999499996 meters 0.011367017572898198 Centerline is valid? [True, True] Translation: X:221.47, Y:-90.75, Z:-4.04 [[-9.96476725e-01 8.37575499e-02 4.33706155e-03 2.21465688e+02] [ 8.37565833e-02 9.96486162e-01 -4.04342297e-04 -9.07497365e+01] [-4.35568854e-03 -3.96602304e-05 -9.99990513e-01 -4.04271980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70655999499996 meters 0.011262778471226424 Centerline is valid? [True, True] Translation: X:221.53, Y:-90.09, Z:-5.00 [[-9.86127520e-01 -1.65956968e-01 3.28632299e-03 2.21529396e+02] [ 1.65955936e-01 -9.86132995e-01 -5.86172937e-04 -9.00854179e+01] [ 3.33803101e-03 -3.26564569e-05 9.99994428e-01 -4.99748128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76655999499997 meters 0.011360514423827073 Centerline is valid? [True, True] Translation: X:221.41, Y:-90.75, Z:-4.04 [[-9.96716860e-01 8.09298253e-02 2.42185528e-03 2.21411691e+02] [ 8.09295364e-02 9.96719802e-01 -2.17228450e-04 -9.07516393e+01] [-2.43149138e-03 -2.05156327e-05 -9.99997044e-01 -4.04274631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82655999499997 meters 0.0121491760197966 Centerline is valid? [True, True] Translation: X:221.41, Y:-90.72, Z:-4.04 [[-9.99981396e-01 4.95178111e-03 3.56191885e-03 2.21411184e+02] [ 4.95158458e-03 9.99987739e-01 -6.39910945e-05 -9.07237858e+01] [-3.56219204e-03 -4.63527616e-05 -9.99993654e-01 -4.04106423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88655999499997 meters 0.013143949313634311 Centerline is valid? [True, True] Translation: X:221.42, Y:-90.05, Z:-5.00 [[-9.94837122e-01 -1.01359850e-01 5.02801032e-03 2.21421298e+02] [ 1.01359401e-01 -9.94849814e-01 -3.44782409e-04 -9.00498382e+01] [ 5.03706222e-03 1.66633773e-04 9.99987300e-01 -5.00105320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.946559995 meters 0.01496747414432539 Centerline is valid? [True, True] Translation: X:221.35, Y:-90.72, Z:-4.04 [[-9.99935900e-01 -9.59085565e-03 6.01755756e-03 2.21350022e+02] [-9.59151824e-03 9.99953997e-01 -8.12607770e-05 -9.07213331e+01] [-6.01650137e-03 -1.38973081e-04 -9.99981891e-01 -4.03795824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.006559995 meters 0.01523429605377699 Centerline is valid? [True, True] Translation: X:221.36, Y:-90.05, Z:-5.00 [[-9.94633398e-01 -1.03326705e-01 5.29115291e-03 2.21360685e+02] [ 1.03325655e-01 -9.94647468e-01 -4.72192129e-04 -9.00470109e+01] [ 5.31162190e-03 7.70537785e-05 9.99985890e-01 -5.00223743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.066559995 meters 0.01390862858419656 Centerline is valid? [True, True] Translation: X:221.29, Y:-90.73, Z:-4.04 [[-9.99940476e-01 -1.02562557e-02 3.72215467e-03 2.21287629e+02] [-1.02564597e-02 9.99947401e-01 -3.57294734e-05 -9.07330958e+01] [-3.72159244e-03 -7.39034762e-05 -9.99993072e-01 -4.03946891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.126559995 meters 0.012501598328414474 Centerline is valid? [True, True] Translation: X:221.31, Y:-90.03, Z:-5.00 [[-9.96000227e-01 -8.93144419e-02 2.54527703e-03 2.21308538e+02] [ 8.93141057e-02 -9.96003479e-01 -2.45701436e-04 -9.00288492e+01] [ 2.55704947e-03 -1.73895443e-05 9.99996731e-01 -4.99981375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.186559995 meters 0.011657409513243842 Centerline is valid? [True, True] Translation: X:221.23, Y:-90.75, Z:-4.04 [[-9.99999487e-01 1.44571098e-04 1.00219153e-03 2.21234837e+02] [ 1.44563969e-04 9.99999990e-01 -7.18534549e-06 -9.07536743e+01] [-1.00219255e-03 -7.04046104e-06 -9.99999498e-01 -4.04141713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.246559995 meters 0.011710366905777711 Centerline is valid? [True, True] Translation: X:221.24, Y:-90.74, Z:-4.04 [[-9.97995818e-01 -6.32703026e-02 1.10274999e-03 2.21240972e+02] [-6.32702628e-02 9.97996427e-01 7.10337818e-05 -9.07370258e+01] [-1.10503487e-03 1.12013579e-06 -9.99999389e-01 -4.04094843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.306559995 meters 0.011868185983652807 Centerline is valid? [True, True] Translation: X:221.20, Y:-89.98, Z:-5.00 [[-9.99986523e-01 4.95556422e-03 1.54817852e-03 2.21196131e+02] [-4.95551853e-03 -9.99987721e-01 3.33416965e-05 -8.99778388e+01] [ 1.54832474e-03 2.56692198e-05 9.99998801e-01 -4.99999035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36655999499993 meters 0.011952656618163977 Centerline is valid? [True, True] Translation: X:221.16, Y:-90.75, Z:-4.04 [[-9.97723216e-01 -6.74183533e-02 1.77498850e-03 2.21155762e+02] [-6.74182367e-02 9.97724795e-01 1.25556133e-04 -9.07459617e+01] [-1.77941482e-03 5.60367405e-06 -9.99998417e-01 -4.03986632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42655999499993 meters 0.011703643995272545 Centerline is valid? [True, True] Translation: X:221.10, Y:-89.99, Z:-5.00 [[-9.99983207e-01 4.81189228e-03 3.22989734e-03 2.21095650e+02] [-4.81157770e-03 -9.99988419e-01 1.05159976e-04 -8.99884141e+01] [ 3.23036595e-03 8.96173078e-05 9.99994778e-01 -5.00279586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48655999499994 meters 0.01177889222632785 Centerline is valid? [True, True] Translation: X:221.06, Y:-90.75, Z:-4.04 [[-9.96724887e-01 -8.07271273e-02 4.75710183e-03 2.21062615e+02] [-8.07262856e-02 9.96736239e-01 3.69001142e-04 -9.07454139e+01] [-4.77136419e-03 -1.62305395e-05 -9.99988617e-01 -4.03615215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54655999499994 meters 0.011847059193534928 Centerline is valid? [True, True] Translation: X:221.06, Y:-90.72, Z:-4.04 [[-9.88160864e-01 -1.53341338e-01 4.95397227e-03 2.21055369e+02] [-1.53339546e-01 9.88173281e-01 7.41905017e-04 -9.07180081e+01] [-5.00914774e-03 -2.65183541e-05 -9.99987454e-01 -4.03577193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60655999499994 meters 0.01191074117395262 Centerline is valid? [True, True] Translation: X:221.04, Y:-90.69, Z:-4.04 [[-9.74757122e-01 -2.23248278e-01 2.95976978e-03 2.21044392e+02] [-2.23247302e-01 9.74761615e-01 6.60369182e-04 -9.06911445e+01] [-3.03249626e-03 -1.70610549e-05 -9.99995402e-01 -4.03706729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66655999499994 meters 0.011769697394706694 Centerline is valid? [True, True] Translation: X:220.88, Y:-89.96, Z:-5.00 [[-9.88864194e-01 1.48815500e-01 1.24590103e-03 2.20880150e+02] [-1.48815520e-01 -9.88864973e-01 7.71729482e-05 -8.99632905e+01] [ 1.24351242e-03 -1.09095844e-04 9.99999221e-01 -5.00197198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72655999499995 meters 0.011858597576403245 Centerline is valid? [True, True] Translation: X:220.93, Y:-90.71, Z:-4.04 [[-9.73303823e-01 -2.29518932e-01 8.53273357e-04 2.20932902e+02] [-2.29518850e-01 9.73304197e-01 1.94021843e-04 -9.07136471e+01] [-8.75026226e-04 -7.00011793e-06 -9.99999617e-01 -4.03910160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78655999499995 meters 0.011920134428956987 Centerline is valid? [True, True] Translation: X:220.91, Y:-90.69, Z:-4.04 [[-9.53809098e-01 -3.00409209e-01 1.58460967e-03 2.20911387e+02] [-3.00408818e-01 9.53810415e-01 4.85021996e-04 -9.06888990e+01] [-1.65712228e-03 -1.34123246e-05 -9.99998627e-01 -4.03755849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84655999499995 meters 0.012223518881732759 Centerline is valid? [True, True] Translation: X:220.88, Y:-90.67, Z:-4.03 [[-9.28542285e-01 -3.71207761e-01 3.74475858e-03 2.20875788e+02] [-3.71204920e-01 9.28549835e-01 1.45291321e-03 -9.06685470e+01] [-4.01652762e-03 -4.09814585e-05 -9.99991933e-01 -4.03484570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90655999499995 meters 0.01233547691011656 Centerline is valid? [True, True] Translation: X:220.82, Y:-90.66, Z:-4.03 [[-8.98389274e-01 -4.39181106e-01 4.08266384e-03 2.20818793e+02] [-4.39176824e-01 8.98398550e-01 1.93995081e-03 -9.06621307e+01] [-4.51984901e-03 -5.01803351e-05 -9.99989784e-01 -4.03400460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96655999499995 meters 0.012203724603564926 Centerline is valid? [True, True] Translation: X:220.76, Y:-90.66, Z:-4.03 [[-8.63971642e-01 -5.03530690e-01 3.13784811e-03 2.20757039e+02] [-5.03527527e-01 8.63977340e-01 1.78511231e-03 -9.06649274e+01] [-3.60988849e-03 -3.77064856e-05 -9.99993484e-01 -4.03485660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02655999499996 meters 0.012038926667861702 Centerline is valid? [True, True] Translation: X:220.68, Y:-90.68, Z:-4.03 [[-8.24989552e-01 -5.65140052e-01 2.99349376e-03 2.20683605e+02] [-5.65136475e-01 8.24994982e-01 2.01106926e-03 -9.06797266e+01] [-3.60615312e-03 -3.26213792e-05 -9.99993497e-01 -4.03476904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08655999499996 meters 0.012043824688277046 Centerline is valid? [True, True] Translation: X:220.61, Y:-90.70, Z:-4.03 [[-7.81552657e-01 -6.23828958e-01 3.58819772e-03 2.20609125e+02] [-6.23822570e-01 7.81560893e-01 2.82334895e-03 -9.07024353e+01] [-4.56568185e-03 -3.18028481e-05 -9.99989577e-01 -4.03373728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14655999499996 meters 0.011966191350773854 Centerline is valid? [True, True] Translation: X:220.53, Y:-90.74, Z:-4.03 [[-7.33870436e-01 -6.79278581e-01 3.84614238e-03 2.20527369e+02] [-6.79269427e-01 7.33880514e-01 3.52649470e-03 -9.07390598e+01] [-5.21808126e-03 -2.45767315e-05 -9.99986385e-01 -4.03315921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20655999499996 meters 0.011898788910892636 Centerline is valid? [True, True] Translation: X:220.45, Y:-90.78, Z:-4.03 [[-6.81937014e-01 -7.31402310e-01 3.54527915e-03 2.20445575e+02] [-7.31392533e-01 6.81946230e-01 3.78181880e-03 -9.07836748e+01] [-5.18372075e-03 -1.40284779e-05 -9.99986564e-01 -4.03311699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26655999499997 meters 0.011926105665390324 Centerline is valid? [True, True] Translation: X:220.36, Y:-90.84, Z:-4.03 [[-6.26376295e-01 -7.79516898e-01 2.47836493e-03 2.20361741e+02] [-7.79510809e-01 6.26381198e-01 3.08124029e-03 -9.08407559e+01] [-3.95428006e-03 -1.89637465e-06 -9.99992182e-01 -4.03365140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32655999499997 meters 0.011961597343245863 Centerline is valid? [True, True] Translation: X:220.28, Y:-90.91, Z:-4.03 [[-5.66585915e-01 -8.24000104e-01 2.05647766e-03 2.20280664e+02] [-8.23994651e-01 5.66589647e-01 2.99775685e-03 -9.09057661e+01] [-3.63533091e-03 3.96021414e-06 -9.99993392e-01 -4.03394382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38655999499997 meters 0.012065300705498315 Centerline is valid? [True, True] Translation: X:220.20, Y:-90.98, Z:-4.03 [[-5.03621205e-01 -8.63922247e-01 2.00808090e-03 2.20200431e+02] [-8.63915285e-01 5.03625208e-01 3.46829824e-03 -9.09835213e+01] [-4.00766017e-03 1.18967523e-05 -9.99991969e-01 -4.03314876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.446559995 meters 0.012259722449392926 Centerline is valid? [True, True] Translation: X:220.13, Y:-91.06, Z:-4.03 [[-4.38355503e-01 -8.98798981e-01 2.20119240e-03 2.20128197e+02] [-8.98787315e-01 4.38361028e-01 4.57950960e-03 -9.10620749e+01] [-5.08097553e-03 2.90494277e-05 -9.99987091e-01 -4.03143327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.506559995 meters 0.012406713190191166 Centerline is valid? [True, True] Translation: X:220.06, Y:-91.15, Z:-4.03 [[-3.69439084e-01 -9.29253149e-01 1.82968536e-03 2.20058726e+02] [-9.29241269e-01 3.69443614e-01 4.69892309e-03 -9.11541901e+01] [-5.04245465e-03 3.57466987e-05 -9.99987286e-01 -4.03133842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.566559995 meters 0.012284069414657612 Centerline is valid? [True, True] Translation: X:219.99, Y:-91.25, Z:-4.03 [[-2.97909826e-01 -9.54593215e-01 1.23701983e-03 2.19994642e+02] [-9.54584511e-01 2.97912392e-01 4.07652222e-03 -9.12501378e+01] [-4.25994399e-03 3.35960540e-05 -9.99990926e-01 -4.03257248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.626559995 meters 0.012069306929390216 Centerline is valid? [True, True] Translation: X:219.94, Y:-91.35, Z:-4.03 [[-2.23211987e-01 -9.74769540e-01 8.67175132e-04 2.19935781e+02] [-9.74761667e-01 2.23213669e-01 3.91807103e-03 -9.13542981e+01] [-4.01278164e-03 2.92713424e-05 -9.99991948e-01 -4.03260113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.686559995 meters 0.012053336704071412 Centerline is valid? [True, True] Translation: X:219.89, Y:-91.46, Z:-4.03 [[-1.46809696e-01 -9.89164599e-01 5.55173472e-04 2.19886017e+02] [-9.89156857e-01 1.46810744e-01 3.91389564e-03 -9.14631829e+01] [-3.95299244e-03 2.54441835e-05 -9.99992187e-01 -4.03224686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.746559995 meters 0.011838341617744044 Centerline is valid? [True, True] Translation: X:219.84, Y:-91.58, Z:-4.03 [[-6.80897166e-02 -9.97679149e-01 3.25719754e-04 2.19842731e+02] [-9.97666115e-01 6.80904920e-02 5.09976930e-03 -9.15777194e+01] [-5.11011192e-03 2.22822847e-05 -9.99986943e-01 -4.03148286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.806559995 meters 0.01157780352439005 Centerline is valid? [True, True] Translation: X:219.81, Y:-91.70, Z:-4.03 [[ 1.05653345e-02 -9.99944183e-01 -7.22434966e-05 2.19809098e+02] [-9.99929225e-01 -1.05655716e-02 5.46938496e-03 -9.16963862e+01] [-5.46984297e-03 1.44525018e-05 -9.99985040e-01 -4.03120269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86655999499993 meters 0.011369029494478945 Centerline is valid? [True, True] Translation: X:219.78, Y:-91.82, Z:-4.03 [[ 8.96964341e-02 -9.95969063e-01 -4.17970801e-04 2.19783453e+02] [-9.95958305e-01 -8.96974079e-02 4.62933429e-03 -9.18168784e+01] [-4.64816464e-03 1.04671186e-06 -9.99989197e-01 -4.03207343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92655999499993 meters 0.011296815207941206 Centerline is valid? [True, True] Translation: X:219.77, Y:-91.94, Z:-4.03 [[ 1.67681123e-01 -9.85841083e-01 -6.32688298e-04 2.19767458e+02] [-9.85833924e-01 -1.67682316e-01 3.75691802e-03 -9.19364883e+01] [-3.80981477e-03 -6.23864458e-06 -9.99992743e-01 -4.03266307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98655999499994 meters 0.011468423295940704 Centerline is valid? [True, True] Translation: X:219.76, Y:-92.06, Z:-4.03 [[ 2.43523353e-01 -9.69894624e-01 -8.91236129e-04 2.19762482e+02] [-9.69888003e-01 -2.43524984e-01 3.58374804e-03 -9.20569392e+01] [-3.69289622e-03 -8.32710933e-06 -9.99993181e-01 -4.03234915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04655999499994 meters 0.011616601533303319 Centerline is valid? [True, True] Translation: X:219.77, Y:-92.18, Z:-4.03 [[ 3.17298609e-01 -9.48324765e-01 -1.31652188e-03 2.19768694e+02] [-9.48316483e-01 -3.17301340e-01 3.96325820e-03 -9.21810462e+01] [-4.17619006e-03 -9.05691866e-06 -9.99991280e-01 -4.03202862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10655999499994 meters 0.011711452598328988 Centerline is valid? [True, True] Translation: X:219.78, Y:-92.29, Z:-4.03 [[ 3.88557502e-01 -9.21421700e-01 -2.26229125e-03 2.19780515e+02] [-9.21405968e-01 -3.88564088e-01 5.38448039e-03 -9.22934314e+01] [-5.84042221e-03 -7.69158642e-06 -9.99982945e-01 -4.03066233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16655999499994 meters 0.011812285167523223 Centerline is valid? [True, True] Translation: X:219.80, Y:-92.41, Z:-4.03 [[ 4.57942861e-01 -8.88974361e-01 -3.59451908e-03 2.19803442e+02] [-8.88946831e-01 -4.57956968e-01 6.99616716e-03 -9.24093516e+01] [-7.86554829e-03 -8.50846048e-06 -9.99969066e-01 -4.02994758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22655999499995 meters 0.011818706290670757 Centerline is valid? [True, True] Translation: X:219.83, Y:-92.52, Z:-4.03 [[ 5.25029545e-01 -8.51073069e-01 -4.31370731e-03 2.19835000e+02] [-8.51044143e-01 -5.25047265e-01 7.01681747e-03 -9.25212853e+01] [-8.23672461e-03 -1.28811411e-05 -9.99966078e-01 -4.02971793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28655999499995 meters 0.012058352480555128 Centerline is valid? [True, True] Translation: X:219.87, Y:-92.63, Z:-4.03 [[ 5.89753726e-01 -8.07563893e-01 -5.57684063e-03 2.19872522e+02] [-8.07527328e-01 -5.89780092e-01 7.68490518e-03 -9.26293600e+01] [-9.49516153e-03 -2.87502550e-05 -9.99954920e-01 -4.02908281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34655999499995 meters 0.012096427426939884 Centerline is valid? [True, True] Translation: X:219.92, Y:-92.73, Z:-4.03 [[ 6.49872699e-01 -7.60015928e-01 -6.42373886e-03 2.19917748e+02] [-7.59978303e-01 -6.49904445e-01 7.56249208e-03 -9.27317632e+01] [-9.92243088e-03 -3.27549869e-05 -9.99950771e-01 -4.02880770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40655999499995 meters 0.0119562161161295 Centerline is valid? [True, True] Translation: X:219.97, Y:-92.83, Z:-4.03 [[ 7.04815581e-01 -7.09359480e-01 -6.64258961e-03 2.19969949e+02] [-7.09327737e-01 -7.04846882e-01 6.71076078e-03 -9.28263742e+01] [-9.44235036e-03 -1.80757066e-05 -9.99955420e-01 -4.02927278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46655999499995 meters 0.011888544409596021 Centerline is valid? [True, True] Translation: X:220.02, Y:-92.91, Z:-4.03 [[ 7.55238299e-01 -6.55420791e-01 -6.22076677e-03 2.20024688e+02] [-6.55398579e-01 -7.55263918e-01 5.39594849e-03 -9.29117470e+01] [-8.23493751e-03 1.85474396e-06 -9.99966092e-01 -4.03011131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52655999499996 meters 0.012050629718288903 Centerline is valid? [True, True] Translation: X:220.05, Y:-92.94, Z:-4.03 [[ 8.01560490e-01 -5.97881708e-01 -6.18423288e-03 2.20048398e+02] [-5.97864251e-01 -8.01584345e-01 4.56896875e-03 -9.29356440e+01] [-7.68888710e-03 3.50269320e-05 -9.99970439e-01 -4.03110194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58655999499996 meters 0.012450597856522954 Centerline is valid? [True, True] Translation: X:220.07, Y:-92.96, Z:-4.03 [[ 8.44100313e-01 -5.36144889e-01 -6.58180131e-03 2.20073416e+02] [-5.36129152e-01 -8.44125970e-01 4.10834911e-03 -9.29577341e+01] [-7.75853980e-03 6.08367838e-05 -9.99969900e-01 -4.03064309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64655999499996 meters 0.013065982262701116 Centerline is valid? [True, True] Translation: X:220.10, Y:-92.98, Z:-4.03 [[ 8.81670890e-01 -4.71811090e-01 -7.12297084e-03 2.20100736e+02] [-4.71796545e-01 -8.81699658e-01 3.70585987e-03 -9.29763076e+01] [-8.02878673e-03 9.32442597e-05 -9.99967764e-01 -4.03054209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70655999499996 meters 0.01291774613386854 Centerline is valid? [True, True] Translation: X:220.13, Y:-93.00, Z:-4.03 [[ 9.15288434e-01 -4.02740760e-01 -6.85300628e-03 2.20126699e+02] [-4.02730260e-01 -9.15314083e-01 2.90980175e-03 -9.29987362e+01] [-7.44454893e-03 9.66051102e-05 -9.99972284e-01 -4.03107588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76655999499997 meters 0.012882744646875591 Centerline is valid? [True, True] Translation: X:220.15, Y:-93.02, Z:-4.03 [[ 9.43942263e-01 -3.30024265e-01 -7.54904331e-03 2.20153619e+02] [-3.30014590e-01 -9.43972443e-01 2.52916298e-03 -9.30191840e+01] [-7.96077401e-03 1.03910607e-04 -9.99968307e-01 -4.03058988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82655999499997 meters 0.012765937211673085 Centerline is valid? [True, True] Translation: X:220.18, Y:-93.04, Z:-4.03 [[ 9.67403754e-01 -2.53103763e-01 -8.27417376e-03 2.20181189e+02] [-2.53095325e-01 -9.67439133e-01 2.06879706e-03 -9.30363482e+01] [-8.52837982e-03 9.27926516e-05 -9.99963628e-01 -4.02989606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88655999499997 meters 0.012249756994179628 Centerline is valid? [True, True] Translation: X:220.21, Y:-93.05, Z:-4.03 [[ 9.84620258e-01 -1.74494030e-01 -8.64765938e-03 2.20210514e+02] [-1.74487984e-01 -9.84658229e-01 1.45458149e-03 -9.30528334e+01] [-8.76880475e-03 7.67022525e-05 -9.99961550e-01 -4.02963228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.946559995 meters 0.011752113759744958 Centerline is valid? [True, True] Translation: X:220.24, Y:-93.07, Z:-4.03 [[ 9.95628251e-01 -9.29777042e-02 -8.91806471e-03 2.20238057e+02] [-9.29743639e-02 -9.95668190e-01 7.89305046e-04 -9.30659356e+01] [-8.95282112e-03 4.32969913e-05 -9.99959922e-01 -4.02966891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.006559995 meters 0.011497860823135558 Centerline is valid? [True, True] Translation: X:220.27, Y:-93.08, Z:-4.03 [[ 9.99903606e-01 -1.12114102e-02 -8.19037192e-03 2.20266527e+02] [-1.12111186e-02 -9.99937150e-01 8.15173044e-05 -9.30776615e+01] [-8.19077108e-03 1.03137845e-05 -9.99966455e-01 -4.03035764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.066559995 meters 0.011536781356761705 Centerline is valid? [True, True] Translation: X:220.30, Y:-93.09, Z:-4.03 [[ 9.97276035e-01 7.33049174e-02 -8.17923427e-03 2.20296728e+02] [ 7.33027847e-02 -9.97309575e-01 -5.60632322e-04 -9.30883458e+01] [-8.19832575e-03 -4.04554697e-05 -9.99966392e-01 -4.02973679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.126559995 meters 0.011872293022659389 Centerline is valid? [True, True] Translation: X:220.33, Y:-93.10, Z:-4.03 [[ 9.87790574e-01 1.55591604e-01 -7.81245184e-03 2.20327350e+02] [ 1.55587335e-01 -9.87821465e-01 -1.15497432e-03 -9.30956012e+01] [-7.89701193e-03 -7.46458155e-05 -9.99968815e-01 -4.02965679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.186559995 meters 0.012930038822001368 Centerline is valid? [True, True] Translation: X:220.36, Y:-93.10, Z:-4.03 [[ 9.71194794e-01 2.38186666e-01 -6.91255552e-03 2.20358544e+02] [ 2.38181430e-01 -9.71219388e-01 -1.58311025e-03 -9.30998178e+01] [-7.09068370e-03 -1.08933922e-04 -9.99974855e-01 -4.03042368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.246559995 meters 0.013393006775623103 Centerline is valid? [True, True] Translation: X:220.39, Y:-93.10, Z:-4.03 [[ 9.48783758e-01 3.15876993e-01 -5.57728182e-03 2.20390461e+02] [ 3.15872185e-01 -9.48800144e-01 -1.74600548e-03 -9.31005924e+01] [-5.84324876e-03 -1.05126555e-04 -9.99982923e-01 -4.03071990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.306559995 meters 0.01363784541306893 Centerline is valid? [True, True] Translation: X:220.42, Y:-93.10, Z:-4.03 [[ 9.20323940e-01 3.91135008e-01 -4.15343726e-03 2.20422488e+02] [ 3.91131468e-01 -9.20333308e-01 -1.66659319e-03 -9.30987053e+01] [-4.47440959e-03 -9.07344002e-05 -9.99989986e-01 -4.03137604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36655999499993 meters 0.013532295261766797 Centerline is valid? [True, True] Translation: X:220.45, Y:-93.09, Z:-4.03 [[ 8.87135800e-01 4.61483793e-01 -4.77300082e-03 2.20453183e+02] [ 4.61477743e-01 -8.87148634e-01 -2.36532589e-03 -9.30939292e+01] [-5.32592072e-03 -1.04268367e-04 -9.99985812e-01 -4.03011702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42655999499993 meters 0.013535094115733845 Centerline is valid? [True, True] Translation: X:220.48, Y:-93.09, Z:-4.03 [[ 8.49000160e-01 5.28368318e-01 -5.06441975e-03 2.20481476e+02] [ 5.28359664e-01 -8.49015259e-01 -3.02584018e-03 -9.30850692e+01] [-5.89852773e-03 -1.06896326e-04 -9.99982598e-01 -4.02818764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48655999499994 meters 0.012931038447259416 Centerline is valid? [True, True] Translation: X:220.51, Y:-93.07, Z:-4.03 [[ 8.05983000e-01 5.91908259e-01 -6.00143182e-03 2.20509918e+02] [ 5.91892961e-01 -8.06005334e-01 -4.25725025e-03 -9.30736251e+01] [-7.35708764e-03 -1.20933927e-04 -9.99972929e-01 -4.02779806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54655999499994 meters 0.012057525557434874 Centerline is valid? [True, True] Translation: X:220.54, Y:-93.06, Z:-4.03 [[ 7.60314244e-01 6.49520370e-01 -6.74827615e-03 2.20536227e+02] [ 6.49495962e-01 -7.60344184e-01 -5.63178067e-03 -9.30597373e+01] [-8.78896879e-03 -1.01055049e-04 -9.99961371e-01 -4.02688457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60655999499994 meters 0.011509684907187795 Centerline is valid? [True, True] Translation: X:220.56, Y:-93.04, Z:-4.03 [[ 7.10500183e-01 7.03672093e-01 -5.92244827e-03 2.20561081e+02] [ 7.03648298e-01 -7.10524864e-01 -5.78717552e-03 -9.30437024e+01] [-8.28032066e-03 -5.55313737e-05 -9.99965716e-01 -4.02741274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66655999499994 meters 0.011085777957878542 Centerline is valid? [True, True] Translation: X:220.58, Y:-93.03, Z:-4.03 [[ 6.58243308e-01 7.52797861e-01 -3.33583720e-03 2.20583793e+02] [ 7.52788207e-01 -6.58251760e-01 -3.81256688e-03 -9.30266819e+01] [-5.06591290e-03 -1.58227152e-06 -9.99987168e-01 -4.02963590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72655999499995 meters 0.011379140298217927 Centerline is valid? [True, True] Translation: X:220.61, Y:-93.01, Z:-4.03 [[ 6.01140485e-01 7.99137993e-01 -2.93011144e-03 2.20605860e+02] [ 7.99128320e-01 -6.01147626e-01 -3.93186150e-03 -9.30086177e+01] [-4.90352944e-03 2.20660927e-05 -9.99987977e-01 -4.03063411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78655999499995 meters 0.012790117293850297 Centerline is valid? [True, True] Translation: X:220.62, Y:-92.99, Z:-4.03 [[ 5.44065910e-01 8.39039597e-01 -2.19982009e-03 2.20623295e+02] [ 8.39032332e-01 -5.44070355e-01 -3.49199067e-03 -9.29887761e+01] [-4.12677535e-03 5.41529048e-05 -9.99991483e-01 -4.03053385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84655999499995 meters 0.014817411293897166 Centerline is valid? [True, True] Translation: X:220.64, Y:-92.97, Z:-4.03 [[ 4.85602955e-01 8.74177040e-01 -2.06722057e-03 2.20644826e+02] [ 8.74168190e-01 -4.85607344e-01 -3.93491746e-03 -9.29697304e+01] [-4.44367199e-03 1.03709080e-04 -9.99990121e-01 -4.03044058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90655999499995 meters 0.016537673436806514 Centerline is valid? [True, True] Translation: X:220.67, Y:-92.95, Z:-4.03 [[ 4.22781152e-01 9.06229477e-01 -2.05731522e-03 2.20665360e+02] [ 9.06216799e-01 -4.22786126e-01 -4.79635636e-03 -9.29492991e+01] [-5.21640385e-03 1.63435452e-04 -9.99986381e-01 -4.02951960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96655999499995 meters 0.02156057060636553 Centerline is valid? [True, True] Translation: X:220.68, Y:-92.93, Z:-4.03 [[ 3.61031904e-01 9.32551289e-01 -2.01443014e-03 2.20678867e+02] [ 9.32532383e-01 -3.61037425e-01 -5.94415102e-03 -9.29264316e+01] [-6.27051036e-03 2.67506821e-04 -9.99980304e-01 -4.02895675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02655999499996 meters 0.021259490496405613 Centerline is valid? [True, True] Translation: X:220.70, Y:-92.90, Z:-4.03 [[ 2.91836751e-01 9.56467189e-01 -1.35190611e-03 2.20700135e+02] [ 9.56452373e-01 -2.91839765e-01 -5.33003038e-03 -9.29047870e+01] [-5.49253913e-03 2.62464944e-04 -9.99984881e-01 -4.02963530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08655999499996 meters 0.024203488829692425 Centerline is valid? [True, True] Translation: X:220.71, Y:-92.88, Z:-4.03 [[ 2.17552057e-01 9.76048346e-01 -8.53635066e-04 2.20713071e+02] [ 9.76035708e-01 -2.17553589e-01 -4.97311565e-03 -9.28813729e+01] [-5.03971267e-03 2.48733232e-04 -9.99987270e-01 -4.02925944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14655999499996 meters 0.02267680051500444 Centerline is valid? [True, True] Translation: X:220.73, Y:-92.86, Z:-4.03 [[ 1.40472222e-01 9.90084536e-01 -4.08084502e-04 2.20734669e+02] [ 9.90074601e-01 -1.40472643e-01 -4.44079988e-03 -9.28574484e+01] [-4.45409200e-03 2.19774925e-04 -9.99990056e-01 -4.02909472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20655999499996 meters 0.021106989644160957 Centerline is valid? [True, True] Translation: X:220.75, Y:-92.83, Z:-4.03 [[ 5.64575197e-02 9.98405001e-01 -4.53387175e-05 2.20753094e+02] [ 9.98399313e-01 -5.64573513e-02 -3.37327702e-03 -9.28313599e+01] [-3.37045635e-03 1.45180709e-04 -9.99994309e-01 -4.02996273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26655999499997 meters 0.019356112829025683 Centerline is valid? [True, True] Translation: X:220.77, Y:-92.80, Z:-4.03 [[-2.92470068e-02 9.99572204e-01 1.47649303e-04 2.20767973e+02] [ 9.99569602e-01 2.92472677e-02 -2.28209679e-03 -9.28028756e+01] [-2.28543886e-03 8.08412552e-05 -9.99997385e-01 -4.03064764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32655999499997 meters 0.014924000887533994 Centerline is valid? [True, True] Translation: X:220.79, Y:-92.77, Z:-4.03 [[-1.22608034e-01 9.92455168e-01 9.97763629e-05 2.20788921e+02] [ 9.92454917e-01 1.22608074e-01 -7.05961172e-04 -9.27722957e+01] [-7.12868201e-04 1.24670308e-05 -9.99999746e-01 -4.03055817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38655999499997 meters 0.012268743148318367 Centerline is valid? [True, True] Translation: X:220.80, Y:-92.74, Z:-4.03 [[-2.10554095e-01 9.77582172e-01 2.65237080e-04 2.20804287e+02] [ 9.77581455e-01 2.10554262e-01 -1.18405510e-03 -9.27393602e+01] [-1.21335795e-03 9.98320049e-06 -9.99999264e-01 -4.02974366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.446559995 meters 0.011710833706487926 Centerline is valid? [True, True] Translation: X:220.82, Y:-92.70, Z:-4.03 [[-3.00436341e-01 9.53801648e-01 6.49866179e-04 2.20819396e+02] [ 9.53799331e-01 3.00437043e-01 -2.10234734e-03 -9.27029559e+01] [-2.20046623e-03 -1.17796142e-05 -9.99997579e-01 -4.02759020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.506559995 meters 0.01262834712457862 Centerline is valid? [True, True] Translation: X:220.82, Y:-92.67, Z:-4.03 [[-3.81317042e-01 9.24444026e-01 7.45674483e-04 2.20823978e+02] [ 9.24442120e-01 3.81317771e-01 -1.87733264e-03 -9.26680746e+01] [-2.01982788e-03 -2.65260311e-05 -9.99997960e-01 -4.02680321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.566559995 meters 0.01505720193938893 Centerline is valid? [True, True] Translation: X:220.83, Y:-92.63, Z:-4.03 [[-4.60473803e-01 8.87673188e-01 4.33062451e-04 2.20825327e+02] [ 8.87672748e-01 4.60474006e-01 -8.84995885e-04 -9.26318279e+01] [-9.85001121e-04 -2.30996853e-05 -9.99999515e-01 -4.02690248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.626559995 meters 0.01663041490312153 Centerline is valid? [True, True] Translation: X:220.82, Y:-92.60, Z:-4.03 [[-5.33785311e-01 8.45619419e-01 1.01981741e-03 2.20820449e+02] [ 8.45617670e-01 5.33786282e-01 -1.72109331e-03 -9.25967724e+01] [-1.99975447e-03 -5.63187037e-05 -9.99997999e-01 -4.02567638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.686559995 meters 0.018016825318275014 Centerline is valid? [True, True] Translation: X:220.81, Y:-92.56, Z:-4.02 [[-6.00450951e-01 7.99658753e-01 2.12920839e-03 2.20810108e+02] [ 7.99653054e-01 6.00454716e-01 -3.02125586e-03 -9.25634039e+01] [-3.69446691e-03 -1.11487969e-04 -9.99993169e-01 -4.02332179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.746559995 meters 0.017561855303916345 Centerline is valid? [True, True] Translation: X:220.79, Y:-92.53, Z:-4.02 [[-6.61654557e-01 7.49799552e-01 3.72533443e-03 2.20794438e+02] [ 7.49786129e-01 6.61665021e-01 -4.49004068e-03 -9.25329407e+01] [-5.83155397e-03 -1.77651794e-04 -9.99982981e-01 -4.02128496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80655999499993 meters 0.016314272239072263 Centerline is valid? [True, True] Translation: X:220.77, Y:-92.50, Z:-4.02 [[-7.16513814e-01 6.97561262e-01 4.02992122e-03 2.20774915e+02] [ 6.97548947e-01 7.16525129e-01 -4.14803885e-03 -9.25047919e+01] [-5.78105103e-03 -1.61059833e-04 -9.99983277e-01 -4.02155145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86655999499993 meters 0.016057590271885202 Centerline is valid? [True, True] Translation: X:220.75, Y:-92.48, Z:-4.02 [[-7.66537657e-01 6.42184505e-01 4.36839375e-03 2.20754540e+02] [ 6.42173023e-01 7.66550091e-01 -3.84264002e-03 -9.24794649e+01] [-5.81627651e-03 -1.40263654e-04 -9.99983075e-01 -4.02133650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92655999499993 meters 0.014409259730934362 Centerline is valid? [True, True] Translation: X:220.77, Y:-92.46, Z:-4.02 [[-8.07231066e-01 5.90215693e-01 4.84169807e-03 2.20767629e+02] [ 5.90204196e-01 8.07245577e-01 -3.68580282e-03 -9.24640356e+01] [-6.08385802e-03 -1.17704022e-04 -9.99981486e-01 -4.02131482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98655999499994 meters 0.013901635384060796 Centerline is valid? [True, True] Translation: X:220.78, Y:-92.45, Z:-4.02 [[-8.46037561e-01 5.33095240e-01 5.46902945e-03 2.20780864e+02] [ 5.33083221e-01 8.46055230e-01 -3.58160873e-03 -9.24453657e+01] [-6.53643953e-03 -1.14727683e-04 -9.99978631e-01 -4.02126341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04655999499994 meters 0.01401810481185084 Centerline is valid? [True, True] Translation: X:220.79, Y:-92.42, Z:-4.02 [[-8.81063808e-01 4.72967177e-01 5.34934138e-03 2.20791690e+02] [ 4.72957769e-01 8.81080041e-01 -2.98486562e-03 -9.24245290e+01] [-6.12494139e-03 -9.98445043e-05 -9.99981237e-01 -4.02122631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10655999499994 meters 0.013993967790025564 Centerline is valid? [True, True] Translation: X:220.80, Y:-92.40, Z:-4.02 [[-9.12802243e-01 4.08370220e-01 5.08224350e-03 2.20796967e+02] [ 4.08363290e-01 9.12816386e-01 -2.38097223e-03 -9.24012932e+01] [-5.61147330e-03 -9.79551139e-05 -9.99984251e-01 -4.02291827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16655999499994 meters 0.014291552230718547 Centerline is valid? [True, True] Translation: X:220.81, Y:-92.38, Z:-4.02 [[-9.40086601e-01 3.40891837e-01 5.47160995e-03 2.20805082e+02] [ 3.40885359e-01 9.40102517e-01 -2.10457894e-03 -9.23770915e+01] [-5.86130807e-03 -1.13294743e-04 -9.99982816e-01 -4.02328175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22655999499995 meters 0.015505207903739621 Centerline is valid? [True, True] Translation: X:220.81, Y:-92.35, Z:-4.02 [[-9.62916104e-01 2.69718419e-01 6.67460206e-03 2.20808930e+02] [ 2.69710777e-01 9.62939224e-01 -2.03681258e-03 -9.23501199e+01] [-6.97660199e-03 -1.61067526e-04 -9.99975650e-01 -4.02219506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28655999499995 meters 0.01641696724529099 Centerline is valid? [True, True] Translation: X:220.81, Y:-92.32, Z:-4.02 [[-9.80174982e-01 1.97976156e-01 7.90229582e-03 2.20813297e+02] [ 1.97967990e-01 9.80206814e-01 -1.81040114e-03 -9.23226112e+01] [-8.10430047e-03 -2.10108289e-04 -9.99967138e-01 -4.02129253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34655999499995 meters 0.016677485196207785 Centerline is valid? [True, True] Translation: X:220.81, Y:-92.30, Z:-4.02 [[-9.92278307e-01 1.23768703e-01 8.06651314e-03 2.20810827e+02] [ 1.23762593e-01 9.92311064e-01 -1.25426189e-03 -9.22953880e+01] [-8.15972860e-03 -2.46244285e-04 -9.99966679e-01 -4.02110042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40655999499995 meters 0.018099529346803762 Centerline is valid? [True, True] Translation: X:220.91, Y:-91.69, Z:-5.02 [[-9.68034488e-01 -2.50709088e-01 7.36089764e-03 2.20906008e+02] [ 2.50703316e-01 -9.68062455e-01 -1.71160441e-03 -9.16900760e+01] [ 7.55492342e-03 1.88509350e-04 9.99971443e-01 -5.01936926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46655999499995 meters 0.01896791427764691 Centerline is valid? [True, True] Translation: X:220.76, Y:-92.29, Z:-4.02 [[-9.93125772e-01 1.16910834e-01 5.74962249e-03 2.20764580e+02] [ 1.16907742e-01 9.93142396e-01 -8.72074542e-04 -9.22878536e+01] [-5.81214882e-03 -1.93904319e-04 -9.99983091e-01 -4.02308041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52655999499996 meters 0.018007301308991024 Centerline is valid? [True, True] Translation: X:220.76, Y:-92.26, Z:-4.02 [[-9.98886957e-01 4.69406975e-02 4.62792603e-03 2.20764622e+02] [ 4.69394906e-02 9.98897666e-01 -3.69102795e-04 -9.22632386e+01] [-4.64015046e-03 -1.51459477e-04 -9.99989223e-01 -4.02380329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58655999499996 meters 0.017092982529980667 Centerline is valid? [True, True] Translation: X:220.76, Y:-92.24, Z:-4.02 [[-9.99766285e-01 -2.13255173e-02 3.54934026e-03 2.20762699e+02] [-2.13257613e-02 9.99772580e-01 -3.08979284e-05 -9.22393518e+01] [-3.54787415e-03 -1.06583090e-04 -9.99993701e-01 -4.02441529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64655999499996 meters 0.015972099806627827 Centerline is valid? [True, True] Translation: X:220.76, Y:-92.22, Z:-4.02 [[-9.95969463e-01 -8.96013008e-02 4.05404097e-03 2.20756572e+02] [-8.96010106e-02 9.95977708e-01 2.53527218e-04 -9.22150319e+01] [-4.06045080e-03 -1.10740801e-04 -9.99991750e-01 -4.02375102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70655999499996 meters 0.015008019808029401 Centerline is valid? [True, True] Translation: X:220.72, Y:-91.59, Z:-5.02 [[-9.99634654e-01 -2.65185034e-02 5.22755413e-03 2.20720569e+02] [ 2.65192532e-02 -9.99648300e-01 7.41554070e-05 -9.15867603e+01] [ 5.22374911e-03 2.12759146e-04 9.99986334e-01 -5.01815942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76655999499997 meters 0.014321230871879967 Centerline is valid? [True, True] Translation: X:220.70, Y:-92.22, Z:-4.02 [[-9.96341529e-01 -8.52493567e-02 6.00872985e-03 2.20699312e+02] [-8.52484702e-02 9.96359641e-01 4.03960896e-04 -9.22245004e+01] [-6.02129332e-03 -1.09752010e-04 -9.99981866e-01 -4.02216043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82655999499997 meters 0.012688172927521566 Centerline is valid? [True, True] Translation: X:220.66, Y:-91.58, Z:-5.02 [[-9.99922578e-01 -1.03117294e-02 6.96458785e-03 2.20661896e+02] [ 1.03127442e-02 -9.99946816e-01 1.09816661e-04 -9.15832779e+01] [ 6.96308505e-03 1.81632172e-04 9.99975741e-01 -5.01960224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88655999499997 meters 0.012149104617408212 Centerline is valid? [True, True] Translation: X:220.63, Y:-92.24, Z:-4.02 [[-9.97008267e-01 -7.69697356e-02 7.08349739e-03 2.20627824e+02] [-7.69680624e-02 9.97033429e-01 5.08916765e-04 -9.22377999e+01] [-7.10165488e-03 -3.78088480e-05 -9.99974782e-01 -4.02031277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.946559995 meters 0.012091132507328843 Centerline is valid? [True, True] Translation: X:220.59, Y:-91.58, Z:-5.02 [[-9.99940572e-01 8.60710564e-03 6.69101737e-03 2.20592486e+02] [-8.60683113e-03 -9.99962958e-01 6.98217083e-05 -9.15799271e+01] [ 6.69137049e-03 1.22291024e-05 9.99977612e-01 -5.02100672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.006559995 meters 0.012313011626559626 Centerline is valid? [True, True] Translation: X:220.57, Y:-92.25, Z:-4.02 [[-9.97463828e-01 -7.08815459e-02 6.45893733e-03 2.20566142e+02] [-7.08798178e-02 9.97484739e-01 4.96353647e-04 -9.22495503e+01] [-6.47787373e-03 3.72865081e-05 -9.99979018e-01 -4.02030775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.066559995 meters 0.012977387275165802 Centerline is valid? [True, True] Translation: X:220.57, Y:-92.23, Z:-4.02 [[-9.90515172e-01 -1.37237222e-01 6.75566196e-03 2.20568569e+02] [-1.37233544e-01 9.90538207e-01 1.00725738e-03 -9.22256810e+01] [-6.82997449e-03 7.06002889e-05 -9.99976673e-01 -4.02089217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.126559995 meters 0.012663757191210767 Centerline is valid? [True, True] Translation: X:220.55, Y:-92.20, Z:-4.02 [[-9.78018855e-01 -2.08379349e-01 7.56075810e-03 2.20550897e+02] [-2.08372543e-01 9.78048077e-01 1.68586488e-03 -9.21995607e+01] [-7.74608435e-03 7.33532471e-05 -9.99969996e-01 -4.02048213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.186559995 meters 0.012157829631346899 Centerline is valid? [True, True] Translation: X:220.53, Y:-92.17, Z:-4.02 [[-9.58703713e-01 -2.84248162e-01 9.49593187e-03 2.20527217e+02] [-2.84233930e-01 9.58750740e-01 2.84456921e-03 -9.21728145e+01] [-9.91279528e-03 2.80330356e-05 -9.99950867e-01 -4.01848971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.246559995 meters 0.011993695273857411 Centerline is valid? [True, True] Translation: X:220.49, Y:-92.15, Z:-4.02 [[-9.33479339e-01 -3.58483446e-01 1.02928431e-02 2.20494124e+02] [-3.58462124e-01 9.33536083e-01 3.90998453e-03 -9.21506628e+01] [-1.10104051e-02 -3.97046275e-05 -9.99939383e-01 -4.01875832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30655999499993 meters 0.012816276893647303 Centerline is valid? [True, True] Translation: X:220.45, Y:-92.13, Z:-4.02 [[-9.01687111e-01 -4.32276418e-01 9.87180318e-03 2.20446691e+02] [-4.32252064e-01 9.01741139e-01 4.59031086e-03 -9.21349821e+01] [-1.08860942e-02 -1.28083162e-04 -9.99940737e-01 -4.01888487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36655999499993 meters 0.013709416032507952 Centerline is valid? [True, True] Translation: X:220.39, Y:-92.13, Z:-4.02 [[-8.65809467e-01 -5.00302208e-01 8.46561630e-03 2.20387070e+02] [-5.00279968e-01 8.65850841e-01 4.71965227e-03 -9.21317649e+01] [-9.69121344e-03 -1.48858638e-04 -9.99953028e-01 -4.01990781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42655999499993 meters 0.013908725802476407 Centerline is valid? [True, True] Translation: X:220.32, Y:-92.14, Z:-4.02 [[-8.24256868e-01 -5.66175005e-01 6.81753984e-03 2.20318672e+02] [-5.66157240e-01 8.24285046e-01 4.48795646e-03 -9.21422439e+01] [-8.16056491e-03 -1.60570607e-04 -9.99966689e-01 -4.02316492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48655999499994 meters 0.01432164956253046 Centerline is valid? [True, True] Translation: X:220.25, Y:-92.16, Z:-4.02 [[-7.78997975e-01 -6.26993919e-01 6.38600748e-03 2.20247419e+02] [-6.26974636e-01 7.79024131e-01 4.92033462e-03 -9.21599153e+01] [-8.05987382e-03 -1.70934010e-04 -9.99967504e-01 -4.02350844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54655999499994 meters 0.015044852091013812 Centerline is valid? [True, True] Translation: X:220.17, Y:-92.19, Z:-4.02 [[-7.29239160e-01 -6.84231983e-01 6.06968863e-03 2.20170919e+02] [-6.84210344e-01 7.29264396e-01 5.44478558e-03 -9.21892278e+01] [-8.15190425e-03 -1.82392879e-04 -9.99966756e-01 -4.02298950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60655999499994 meters 0.014443944965134407 Centerline is valid? [True, True] Translation: X:220.09, Y:-92.23, Z:-4.02 [[-6.75973151e-01 -7.36899392e-01 6.29161103e-03 2.20090724e+02] [-7.36870221e-01 6.76002400e-01 6.55988839e-03 -9.22329705e+01] [-9.08712193e-03 -2.01792383e-04 -9.99958691e-01 -4.02274087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66655999499994 meters 0.01422525887785546 Centerline is valid? [True, True] Translation: X:220.01, Y:-92.28, Z:-4.02 [[-6.20030189e-01 -7.84543378e-01 7.36565029e-03 2.20014571e+02] [-7.84492441e-01 6.20073894e-01 8.94291248e-03 -9.22848058e+01] [-1.15833502e-02 -2.33421262e-04 -9.99932884e-01 -4.02075965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72655999499995 meters 0.013076716515445449 Centerline is valid? [True, True] Translation: X:219.95, Y:-92.34, Z:-4.02 [[-5.63652745e-01 -8.25972556e-01 8.05723723e-03 2.19945631e+02] [-8.25893234e-01 5.63710294e-01 1.14486101e-02 -9.23447277e+01] [-1.39981853e-02 -2.01377226e-04 -9.99902000e-01 -4.01944051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78655999499995 meters 0.012389187812679944 Centerline is valid? [True, True] Translation: X:219.87, Y:-92.42, Z:-4.02 [[-5.04542384e-01 -8.63352117e-01 7.75275840e-03 2.19873479e+02] [-8.63253977e-01 5.04601929e-01 1.30178599e-02 -9.24195112e+01] [-1.51510537e-02 -1.24537465e-04 -9.99885208e-01 -4.01908139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84655999499995 meters 0.012397072528802056 Centerline is valid? [True, True] Translation: X:219.81, Y:-92.50, Z:-4.02 [[-4.48359026e-01 -8.93828361e-01 6.71155774e-03 2.19814192e+02] [-8.93726060e-01 4.48409252e-01 1.35230686e-02 -9.24993773e+01] [-1.50968269e-02 6.48958361e-05 -9.99886034e-01 -4.01986759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90655999499995 meters 0.013211219689437254 Centerline is valid? [True, True] Translation: X:219.75, Y:-92.59, Z:-4.02 [[-3.85777424e-01 -9.22578071e-01 5.04802619e-03 2.19751816e+02] [-9.22493529e-01 3.85810416e-01 1.24905032e-02 -9.25893064e+01] [-1.34710454e-02 1.61782662e-04 -9.99909248e-01 -4.02272617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96655999499995 meters 0.014243097861047542 Centerline is valid? [True, True] Translation: X:219.69, Y:-92.68, Z:-4.02 [[-3.18105294e-01 -9.48049555e-01 3.32607933e-03 2.19691206e+02] [-9.47991665e-01 3.18122631e-01 1.04783299e-02 -9.26838722e+01] [-1.09920772e-02 1.80116746e-04 -9.99939569e-01 -4.02475955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02655999499996 meters 0.01509593098167412 Centerline is valid? [True, True] Translation: X:219.64, Y:-92.79, Z:-4.02 [[-2.44173099e-01 -9.69728015e-01 2.65981527e-03 2.19635945e+02] [-9.69661791e-01 2.44187513e-01 1.13344186e-02 -9.27880591e+01] [-1.16407969e-02 1.88438869e-04 -9.99932226e-01 -4.02416293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08655999499996 meters 0.01327247453374371 Centerline is valid? [True, True] Translation: X:219.58, Y:-92.90, Z:-4.02 [[-1.65435435e-01 -9.86218477e-01 2.05728851e-03 2.19580834e+02] [-9.86128940e-01 1.65448139e-01 1.32901353e-02 -9.28974766e+01] [-1.34473516e-02 1.69907581e-04 -9.99909566e-01 -4.02471018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14655999499996 meters 0.013036726621953045 Centerline is valid? [True, True] Translation: X:219.54, Y:-93.01, Z:-4.02 [[-8.69381354e-02 -9.96213098e-01 1.10650121e-03 2.19536532e+02] [-9.96109206e-01 8.69450496e-02 1.43878015e-02 -9.30095682e+01] [-1.44295211e-02 1.48652594e-04 -9.99895878e-01 -4.02378536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20655999499996 meters 0.012724663164278437 Centerline is valid? [True, True] Translation: X:218.82, Y:-93.07, Z:-5.02 [[-1.35847865e-01 9.90727575e-01 2.05663993e-03 2.18823792e+02] [-9.90634104e-01 -1.35863302e-01 1.36101185e-02 -9.30670595e+01] [ 1.37633416e-02 -1.88472118e-04 9.99905263e-01 -5.01736681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26655999499997 meters 0.012434258071199649 Centerline is valid? [True, True] Translation: X:219.50, Y:-93.30, Z:-4.03 [[-7.42659222e-02 -9.97238081e-01 8.84155188e-04 2.19504686e+02] [-9.97151451e-01 7.42711248e-02 1.31447618e-02 -9.32991181e+01] [-1.31741242e-02 9.45712245e-05 -9.99913213e-01 -4.02592244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32655999499997 meters 0.01262724292619963 Centerline is valid? [True, True] Translation: X:219.47, Y:-93.41, Z:-4.03 [[ 2.74859421e-03 -9.99996216e-01 -1.14376200e-04 2.19473586e+02] [-9.99926674e-01 -2.74975196e-03 1.17934600e-02 -9.34092687e+01] [-1.17937299e-02 8.19523774e-05 -9.99930448e-01 -4.02720261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38655999499997 meters 0.012343238978246882 Centerline is valid? [True, True] Translation: X:219.45, Y:-93.53, Z:-4.03 [[ 8.07079878e-02 -9.96737363e-01 -9.22339778e-04 2.19448167e+02] [-9.96680615e-01 -8.07132349e-02 1.06359991e-02 -9.35280464e+01] [-1.06757428e-02 6.08680891e-05 -9.99943011e-01 -4.02843619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.446559995 meters 0.01201286109973667 Centerline is valid? [True, True] Translation: X:219.43, Y:-93.65, Z:-4.03 [[ 1.59187384e-01 -9.87247074e-01 -1.60963973e-03 2.19432151e+02] [-9.87198745e-01 -1.59195518e-01 9.76861071e-03 -9.36480972e+01] [-9.90027977e-03 3.39947366e-05 -9.99950990e-01 -4.02888900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.506559995 meters 0.011702339644791991 Centerline is valid? [True, True] Translation: X:218.78, Y:-93.87, Z:-5.01 [[ 9.32667273e-02 9.95640774e-01 -8.75565488e-04 2.18784876e+02] [-9.95592785e-01 9.32708285e-02 9.77539887e-03 -9.38671171e+01] [ 9.81445041e-03 -4.00127775e-05 9.99951836e-01 -5.01184082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.566559995 meters 0.012001604724291442 Centerline is valid? [True, True] Translation: X:219.46, Y:-93.93, Z:-4.03 [[ 1.78848688e-01 -9.83874933e-01 -1.80665898e-03 2.19464244e+02] [-9.83820392e-01 -1.78857797e-01 1.03597433e-02 -9.39280400e+01] [-1.05158268e-02 -7.53985476e-05 -9.99944704e-01 -4.02964036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.626559995 meters 0.01286977223575455 Centerline is valid? [True, True] Translation: X:219.46, Y:-94.05, Z:-4.03 [[ 2.59237252e-01 -9.65808882e-01 -3.04146143e-03 2.19456188e+02] [-9.65735049e-01 -2.59255044e-01 1.19431140e-02 -9.40517148e+01] [-1.23232798e-02 -1.58854144e-04 -9.99924053e-01 -4.02785779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.686559995 meters 0.013278235822991386 Centerline is valid? [True, True] Translation: X:219.46, Y:-94.17, Z:-4.03 [[ 3.35325987e-01 -9.42092832e-01 -4.19268219e-03 2.19460602e+02] [-9.42011213e-01 -3.35352132e-01 1.24024845e-02 -9.41701687e+01] [-1.30903166e-02 -2.09321717e-04 -9.99914296e-01 -4.02754206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.746559995 meters 0.01393783551923653 Centerline is valid? [True, True] Translation: X:219.47, Y:-94.29, Z:-4.03 [[ 4.08560912e-01 -9.12714207e-01 -5.54593397e-03 2.19471995e+02] [-9.12621232e-01 -4.08598467e-01 1.30299646e-02 -9.42859334e+01] [-1.41586939e-02 -2.62197129e-04 -9.99899726e-01 -4.02696412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80655999499993 meters 0.013805723588657262 Centerline is valid? [True, True] Translation: X:219.49, Y:-94.40, Z:-4.03 [[ 4.76614967e-01 -8.79085469e-01 -6.84921664e-03 2.19494889e+02] [-8.78986551e-01 -4.76664104e-01 1.31899518e-02 -9.43967181e+01] [-1.48598707e-02 -2.66159150e-04 -9.99889551e-01 -4.02690430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86655999499993 meters 0.012660758288424785 Centerline is valid? [True, True] Translation: X:219.53, Y:-94.50, Z:-4.03 [[ 5.37168463e-01 -8.43437175e-01 -7.98585492e-03 2.19527615e+02] [-8.43339021e-01 -5.37227792e-01 1.28683626e-02 -9.44975393e+01] [-1.51438786e-02 -1.77695481e-04 -9.99885309e-01 -4.02761191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92655999499993 meters 0.012268264920996932 Centerline is valid? [True, True] Translation: X:219.57, Y:-94.60, Z:-4.03 [[ 5.97238834e-01 -8.02015973e-01 -8.72662526e-03 2.19567180e+02] [-8.01927342e-01 -5.97302573e-01 1.19237247e-02 -9.45991447e+01] [-1.47754534e-02 -1.23192063e-04 -9.99890829e-01 -4.02812839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98655999499994 meters 0.012000538171776213 Centerline is valid? [True, True] Translation: X:219.61, Y:-94.69, Z:-4.03 [[ 6.46488865e-01 -7.62871986e-01 -8.85889152e-03 2.19614520e+02] [-7.62801813e-01 -6.46549556e-01 1.03472661e-02 -9.46865998e+01] [-1.36213518e-02 6.81862210e-05 -9.99907223e-01 -4.03039538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04655999499994 meters 0.01354055642998117 Centerline is valid? [True, True] Translation: X:219.67, Y:-94.77, Z:-4.03 [[ 6.94826135e-01 -7.19119248e-01 -9.17329692e-03 2.19667393e+02] [-7.19060475e-01 -6.94886656e-01 9.19610243e-03 -9.47736943e+01] [-1.29874959e-02 2.06462933e-04 -9.99915638e-01 -4.03143240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10655999499994 meters 0.017678485334209952 Centerline is valid? [True, True] Translation: X:219.72, Y:-94.85, Z:-4.03 [[ 7.36389012e-01 -6.76490861e-01 -9.55706542e-03 2.19722360e+02] [-6.76440990e-01 -7.36450913e-01 8.22434937e-03 -9.48474384e+01] [-1.26020067e-02 4.08470277e-04 -9.99920508e-01 -4.03291288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16655999499994 meters 0.020932162256112465 Centerline is valid? [True, True] Translation: X:219.75, Y:-94.87, Z:-4.03 [[ 7.80975229e-01 -6.24472806e-01 -1.05549205e-02 2.19746276e+02] [-6.24425161e-01 -7.81046356e-01 7.73352907e-03 -9.48700389e+01] [-1.30732608e-02 5.51063269e-04 -9.99914389e-01 -4.03264562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22655999499995 meters 0.026148220573075625 Centerline is valid? [True, True] Translation: X:219.77, Y:-94.89, Z:-4.03 [[ 8.21409903e-01 -5.70198988e-01 -1.26049964e-02 2.19771375e+02] [-5.70146183e-01 -8.21506242e-01 7.79903067e-03 -9.48885092e+01] [-1.48020826e-02 7.80489561e-04 -9.99890139e-01 -4.03030997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28655999499995 meters 0.02734403986341239 Centerline is valid? [True, True] Translation: X:219.79, Y:-94.91, Z:-4.03 [[ 8.61088172e-01 -5.08268923e-01 -1.37790131e-02 2.19794900e+02] [-5.08220094e-01 -8.61197952e-01 7.10092492e-03 -9.49112258e+01] [-1.54756373e-02 8.88248879e-04 -9.99879851e-01 -4.03062927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34655999499995 meters 0.025687249066162782 Centerline is valid? [True, True] Translation: X:219.82, Y:-94.94, Z:-4.03 [[ 8.98340601e-01 -4.39066095e-01 -1.43223257e-02 2.19817821e+02] [-4.39025778e-01 -8.98454330e-01 6.01529281e-03 -9.49369553e+01] [-1.55090667e-02 8.84088427e-04 -9.99879336e-01 -4.03192545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40655999499995 meters 0.024658601433019206 Centerline is valid? [True, True] Translation: X:219.84, Y:-94.96, Z:-4.03 [[ 9.32019385e-01 -3.62144569e-01 -1.38266789e-02 2.19843034e+02] [-3.62116468e-01 -9.32121642e-01 4.57249023e-03 -9.49623574e+01] [-1.45440492e-02 7.45218607e-04 -9.99893952e-01 -4.03243161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46655999499995 meters 0.02117018474080982 Centerline is valid? [True, True] Translation: X:219.87, Y:-94.99, Z:-4.03 [[ 9.59506346e-01 -2.81385106e-01 -1.30381941e-02 2.19869761e+02] [-2.81367462e-01 -9.59594743e-01 3.20620955e-03 -9.49904647e+01] [-1.34135622e-02 5.92145183e-04 -9.99909859e-01 -4.03330451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52655999499996 meters 0.017236082131306982 Centerline is valid? [True, True] Translation: X:219.90, Y:-95.02, Z:-4.03 [[ 9.81365042e-01 -1.91854971e-01 -1.06922731e-02 2.19897048e+02] [-1.91847210e-01 -9.81423233e-01 1.75651353e-03 -9.50190946e+01] [-1.08306411e-02 3.27501785e-04 -9.99941293e-01 -4.03446676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58655999499996 meters 0.014537049806627227 Centerline is valid? [True, True] Translation: X:219.93, Y:-95.04, Z:-4.03 [[ 9.94506573e-01 -1.04106187e-01 -1.08893339e-02 2.19926053e+02] [-1.04102327e-01 -9.94566164e-01 9.22264314e-04 -9.50411295e+01] [-1.09261764e-02 2.16407066e-04 -9.99940284e-01 -4.03391260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64655999499996 meters 0.011693898098723845 Centerline is valid? [True, True] Translation: X:219.96, Y:-95.06, Z:-4.03 [[ 9.99876238e-01 -1.02516861e-02 -1.19336733e-02 2.19956052e+02] [-1.02515513e-02 -9.99947449e-01 7.24749842e-05 -9.50649134e+01] [-1.19337891e-02 4.98726488e-05 -9.99928789e-01 -4.03164863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70655999499996 meters 0.011418749202446156 Centerline is valid? [True, True] Translation: X:219.99, Y:-95.08, Z:-4.03 [[ 9.96954881e-01 7.70139323e-02 -1.22400643e-02 2.19989489e+02] [ 7.70088511e-02 -9.97030015e-01 -8.86606446e-04 -9.50816472e+01] [-1.22719925e-02 -5.86866649e-05 -9.99924695e-01 -4.03139634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76655999499997 meters 0.01255917581617485 Centerline is valid? [True, True] Translation: X:220.03, Y:-95.09, Z:-4.03 [[ 9.86469324e-01 1.63519370e-01 -1.18189861e-02 2.20025432e+02] [ 1.63509609e-01 -9.86540110e-01 -1.79411597e-03 -9.50945115e+01] [-1.19532766e-02 -1.62677419e-04 -9.99928544e-01 -4.03106096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82655999499997 meters 0.012864032537897044 Centerline is valid? [True, True] Translation: X:220.06, Y:-95.10, Z:-4.03 [[ 9.70009892e-01 2.42817793e-01 -1.09694357e-02 2.20061728e+02] [ 2.42804396e-01 -9.70071897e-01 -2.55714449e-03 -9.50987728e+01] [-1.12620614e-02 -1.82971758e-04 -9.99936564e-01 -4.03174370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88655999499997 meters 0.013253775487234557 Centerline is valid? [True, True] Translation: X:220.10, Y:-95.10, Z:-4.03 [[ 9.48084210e-01 3.17859712e-01 -1.00764202e-02 2.20096448e+02] [ 3.17843661e-01 -9.48137740e-01 -3.19880488e-03 -9.50981124e+01] [-1.05706054e-02 -1.69989873e-04 -9.99944115e-01 -4.03117388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.946559995 meters 0.012735054483405894 Centerline is valid? [True, True] Translation: X:220.13, Y:-95.09, Z:-4.03 [[ 9.20992628e-01 3.89457183e-01 -9.78169859e-03 2.20130736e+02] [ 3.89436958e-01 -9.21044559e-01 -3.97192090e-03 -9.50896332e+01] [-1.05562734e-02 -1.51245081e-04 -9.99944270e-01 -4.03080483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.006559995 meters 0.012282890902754749 Centerline is valid? [True, True] Translation: X:220.16, Y:-95.08, Z:-4.03 [[ 8.88759849e-01 4.58267571e-01 -9.83694480e-03 2.20163251e+02] [ 4.58241137e-01 -8.88814276e-01 -4.92381684e-03 -9.50773602e+01] [-1.09996425e-02 -1.31602064e-04 -9.99939493e-01 -4.03020850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.066559995 meters 0.011803061986305869 Centerline is valid? [True, True] Translation: X:220.20, Y:-95.07, Z:-4.03 [[ 8.50837368e-01 5.25336488e-01 -9.86645883e-03 2.20195897e+02] [ 5.25302835e-01 -8.50894564e-01 -5.94743293e-03 -9.50652215e+01] [-1.15197197e-02 -1.22580613e-04 -9.99933638e-01 -4.03039066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.126559995 meters 0.011756305754142934 Centerline is valid? [True, True] Translation: X:220.23, Y:-95.05, Z:-4.03 [[ 8.07627122e-01 5.89612995e-01 -9.74409539e-03 2.20227861e+02] [ 5.89571830e-01 -8.07685893e-01 -6.96812212e-03 -9.50515034e+01] [-1.19786637e-02 -1.17199740e-04 -9.99928246e-01 -4.03019156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.186559995 meters 0.011636629996548783 Centerline is valid? [True, True] Translation: X:220.25, Y:-95.03, Z:-4.03 [[ 7.60948746e-01 6.48742190e-01 -9.51714403e-03 2.20254907e+02] [ 6.48692840e-01 -7.61008254e-01 -8.00222283e-03 -9.50320588e+01] [-1.24340047e-02 -8.44217673e-05 -9.99922691e-01 -4.02933325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.246559995 meters 0.011344544161831546 Centerline is valid? [True, True] Translation: X:220.28, Y:-95.01, Z:-4.03 [[ 7.10038147e-01 7.04114293e-01 -8.30016634e-03 2.20281744e+02] [ 7.04066899e-01 -7.10086657e-01 -8.16951049e-03 -9.50116857e+01] [-1.16461065e-02 -4.32082881e-05 -9.99932181e-01 -4.03049570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30655999499993 meters 0.011287825979061836 Centerline is valid? [True, True] Translation: X:220.30, Y:-94.99, Z:-4.03 [[ 6.56529353e-01 7.54273340e-01 -6.39829026e-03 2.20304954e+02] [ 7.54237342e-01 -6.56560530e-01 -7.36900413e-03 -9.49883003e+01] [-9.75910819e-03 1.21380735e-05 -9.99952379e-01 -4.03242237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36655999499993 meters 0.011479938272087974 Centerline is valid? [True, True] Translation: X:220.33, Y:-94.97, Z:-4.03 [[ 5.98258259e-01 8.01284783e-01 -5.45448580e-03 2.20325773e+02] [ 8.01250826e-01 -5.98283122e-01 -7.37701523e-03 -9.49654802e+01] [-9.17441684e-03 4.29490398e-05 -9.99957913e-01 -4.03277010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42655999499993 meters 0.012114580954833417 Centerline is valid? [True, True] Translation: X:220.34, Y:-94.94, Z:-4.03 [[ 5.37685065e-01 8.43133086e-01 -4.62284162e-03 2.20344018e+02] [ 8.43100604e-01 -5.37704931e-01 -7.40131104e-03 -9.49395839e+01] [-8.72601495e-03 8.20538393e-05 -9.99961924e-01 -4.03372635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48655999499994 meters 0.012979519898184771 Centerline is valid? [True, True] Translation: X:220.36, Y:-94.91, Z:-4.03 [[ 4.74419669e-01 8.80287863e-01 -4.38818237e-03 2.20362705e+02] [ 8.80247496e-01 -4.74439943e-01 -8.43132718e-03 -9.49148183e+01] [-9.50392398e-03 1.37300905e-04 -9.99954827e-01 -4.03351098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54655999499994 meters 0.014308295407649477 Centerline is valid? [True, True] Translation: X:220.38, Y:-94.89, Z:-4.03 [[ 4.08473435e-01 9.12761866e-01 -3.90238133e-03 2.20377523e+02] [ 9.12715595e-01 -4.08492030e-01 -9.19261867e-03 -9.48888630e+01] [-9.98476344e-03 1.93176235e-04 -9.99950132e-01 -4.03380315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60655999499994 meters 0.016639922999919288 Centerline is valid? [True, True] Translation: X:220.39, Y:-94.86, Z:-4.03 [[ 3.43900481e-01 9.39000766e-01 -3.16534962e-03 2.20388472e+02] [ 9.38953201e-01 -3.43914935e-01 -9.45534480e-03 -9.48616027e+01] [-9.96718702e-03 2.79582468e-04 -9.99950287e-01 -4.03483303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66655999499994 meters 0.017268931975747918 Centerline is valid? [True, True] Translation: X:220.40, Y:-94.84, Z:-4.04 [[ 2.74562038e-01 9.61566711e-01 -2.26906103e-03 2.20404604e+02] [ 9.61523808e-01 -2.74571235e-01 -9.08871627e-03 -9.48357411e+01] [-9.36242590e-03 3.13660260e-04 -9.99956122e-01 -4.03567648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72655999499995 meters 0.01960887050129507 Centerline is valid? [True, True] Translation: X:220.42, Y:-94.81, Z:-4.04 [[ 2.03894214e-01 9.78991862e-01 -1.44342615e-03 2.20415439e+02] [ 9.78954135e-01 -2.03899039e-01 -8.60138926e-03 -9.48082942e+01] [-8.71500329e-03 3.40725509e-04 -9.99961966e-01 -4.03656548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78655999499995 meters 0.020398827749849364 Centerline is valid? [True, True] Translation: X:220.43, Y:-94.78, Z:-4.04 [[ 1.27753558e-01 9.91805741e-01 -6.32597731e-04 2.20427443e+02] [ 9.91779828e-01 -1.27754796e-01 -7.17525626e-03 -9.47815148e+01] [-7.19727775e-03 2.89266846e-04 -9.99974057e-01 -4.03724369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84655999499995 meters 0.02054631992613276 Centerline is valid? [True, True] Translation: X:220.44, Y:-94.75, Z:-4.04 [[ 4.87547346e-02 9.98810778e-01 -6.94819368e-05 2.20437780e+02] [ 9.98784205e-01 -4.87539447e-02 -7.29147750e-03 -9.47535066e+01] [-7.28619384e-03 2.86096590e-04 -9.99973414e-01 -4.03676003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90655999499995 meters 0.018495387330109275 Centerline is valid? [True, True] Translation: X:220.45, Y:-94.72, Z:-4.04 [[-3.35405436e-02 9.99437200e-01 5.61356489e-04 2.20452421e+02] [ 9.99404157e-01 3.35440023e-02 -8.13214522e-03 -9.47249019e+01] [-8.14639859e-03 2.88265437e-04 -9.99966776e-01 -4.03586964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96655999499995 meters 0.015687013695117945 Centerline is valid? [True, True] Translation: X:220.47, Y:-94.69, Z:-4.03 [[-1.21827717e-01 9.92549997e-01 1.58467460e-03 2.20467901e+02] [ 9.92492669e-01 1.21837718e-01 -1.06711372e-02 -9.46937153e+01] [-1.07847103e-02 2.72737639e-04 -9.99941806e-01 -4.03422825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02655999499996 meters 0.012906805459891783 Centerline is valid? [True, True] Translation: X:220.48, Y:-94.66, Z:-4.03 [[-2.10519482e-01 9.77586229e-01 2.59100692e-03 2.20482904e+02] [ 9.77521200e-01 2.10535366e-01 -1.12767071e-02 -9.46599058e+01] [-1.15694521e-02 1.58797666e-04 -9.99933059e-01 -4.03345311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08655999499996 meters 0.011787226304529557 Centerline is valid? [True, True] Translation: X:220.49, Y:-94.63, Z:-4.03 [[-2.92929257e-01 9.56128829e-01 3.17999005e-03 2.20490112e+02] [ 9.56075193e-01 2.92946508e-01 -1.01276848e-02 -9.46265221e+01] [-1.06149383e-02 7.36144291e-05 -9.99943657e-01 -4.03364612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14655999499996 meters 0.011226247380230031 Centerline is valid? [True, True] Translation: X:220.50, Y:-94.59, Z:-4.04 [[-3.73711591e-01 9.27539772e-01 3.10122555e-03 2.20495446e+02] [ 9.27507758e-01 3.73724458e-01 -7.70633181e-03 -9.45916714e+01] [-8.30693309e-03 -3.53476203e-06 -9.99965497e-01 -4.03529756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20655999499996 meters 0.011365443777429126 Centerline is valid? [True, True] Translation: X:220.49, Y:-94.56, Z:-4.03 [[-4.48260891e-01 8.93894418e-01 3.86565189e-03 2.20493311e+02] [ 8.93860542e-01 4.48277557e-01 -7.78225212e-03 -9.45586554e+01] [-8.68939671e-03 -3.31255723e-05 -9.99962246e-01 -4.03417005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26655999499997 meters 0.011609404055200423 Centerline is valid? [True, True] Translation: X:220.49, Y:-94.52, Z:-4.03 [[-5.20462776e-01 8.53867795e-01 5.31862618e-03 2.20489786e+02] [ 8.53821583e-01 5.20489944e-01 -8.88380314e-03 -9.45239992e+01] [-1.03538848e-02 -8.25310168e-05 -9.99946394e-01 -4.03331461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32655999499997 meters 0.012111146861569137 Centerline is valid? [True, True] Translation: X:220.48, Y:-94.49, Z:-4.03 [[-5.89239553e-01 8.07933741e-01 6.31018951e-03 2.20483391e+02] [ 8.07884968e-01 5.89273325e-01 -8.87841533e-03 -9.44895260e+01] [-1.08915977e-02 -1.33606228e-04 -9.99940676e-01 -4.03289523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38655999499997 meters 0.012734300223606146 Centerline is valid? [True, True] Translation: X:220.47, Y:-94.46, Z:-4.03 [[-6.52589124e-01 7.57675138e-01 7.47127119e-03 2.20471659e+02] [ 7.57622450e-01 6.52631868e-01 -8.93685837e-03 -9.44567386e+01] [-1.16472251e-02 -1.71693786e-04 -9.99932154e-01 -4.03201944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.446559995 meters 0.01281932046483676 Centerline is valid? [True, True] Translation: X:220.46, Y:-94.43, Z:-4.03 [[-7.10592057e-01 7.03541666e-01 9.38365140e-03 2.20455163e+02] [ 7.03476394e-01 7.10653981e-01 -9.58557951e-03 -9.44264153e+01] [-1.34123838e-02 -2.10259413e-04 -9.99910028e-01 -4.03072267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.506559995 meters 0.013096335914702816 Centerline is valid? [True, True] Translation: X:220.44, Y:-94.40, Z:-4.03 [[-7.62525630e-01 6.46868888e-01 1.07380103e-02 2.20435474e+02] [ 6.46801009e-01 7.62601207e-01 -9.37300274e-03 -9.44009110e+01] [-1.42519235e-02 -2.01798939e-04 -9.99898416e-01 -4.02959814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.566559995 meters 0.012304789924028146 Centerline is valid? [True, True] Translation: X:220.45, Y:-94.38, Z:-4.03 [[-8.04962718e-01 5.93218653e-01 1.12540046e-02 2.20448384e+02] [ 5.93157795e-01 8.05041367e-01 -8.49867143e-03 -9.43824511e+01] [-1.41015097e-02 -1.65713089e-04 -9.99900555e-01 -4.03068835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.626559995 meters 0.011747466440510546 Centerline is valid? [True, True] Translation: X:220.46, Y:-94.37, Z:-4.03 [[-8.42582673e-01 5.38442838e-01 1.15650211e-02 2.20462757e+02] [ 5.38390466e-01 8.42662032e-01 -7.51035795e-03 -9.43676093e+01] [-1.37893027e-02 -1.01600345e-04 -9.99904918e-01 -4.03128106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.686559995 meters 0.011415545231710551 Centerline is valid? [True, True] Translation: X:220.47, Y:-94.35, Z:-4.03 [[-8.76024558e-01 4.82145921e-01 1.07835320e-02 2.20470235e+02] [ 4.82109047e-01 8.76090926e-01 -5.96286907e-03 -9.43513068e+01] [-1.23223276e-02 -2.47813863e-05 -9.99924077e-01 -4.03269448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.746559995 meters 0.011336964271520552 Centerline is valid? [True, True] Translation: X:220.48, Y:-94.33, Z:-4.03 [[-9.06699367e-01 4.21641063e-01 1.07271399e-02 2.20480556e+02] [ 4.21611716e-01 9.06762821e-01 -4.97470965e-03 -9.43327039e+01] [-1.18245135e-02 1.21217709e-05 -9.99930088e-01 -4.03363834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80655999499993 meters 0.01138714884447166 Centerline is valid? [True, True] Translation: X:220.49, Y:-94.32, Z:-4.04 [[-9.33037401e-01 3.59626244e-01 1.04963479e-02 2.20491375e+02] [ 3.59604095e-01 9.33096438e-01 -3.99156989e-03 -9.43155799e+01] [-1.12295781e-02 5.02456993e-05 -9.99936945e-01 -4.03504908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86655999499993 meters 0.011689175614640005 Centerline is valid? [True, True] Translation: X:220.73, Y:-93.71, Z:-5.01 [[-9.11691940e-01 -4.10742738e-01 1.04023484e-02 2.20725489e+02] [ 4.10715510e-01 -9.11751283e-01 -4.72958540e-03 -9.37054737e+01] [ 1.14269973e-02 -3.95190745e-05 9.99934709e-01 -5.00606505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92655999499993 meters 0.01292837391845177 Centerline is valid? [True, True] Translation: X:220.44, Y:-94.31, Z:-4.04 [[-9.31209277e-01 3.64314386e-01 1.11494205e-02 2.20444526e+02] [ 3.64290287e-01 9.31276008e-01 -4.19323525e-03 -9.43149943e+01] [-1.19108437e-02 1.56846009e-04 -9.99929051e-01 -4.03513058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98655999499994 meters 0.013821867937566321 Centerline is valid? [True, True] Translation: X:220.69, Y:-93.68, Z:-5.01 [[-9.17498522e-01 -3.97604770e-01 1.03396762e-02 2.20691778e+02] [ 3.97577288e-01 -9.17556763e-01 -4.67827957e-03 -9.36774086e+01] [ 1.13473461e-02 -1.81494178e-04 9.99935600e-01 -5.00543142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04655999499994 meters 0.015956646471145808 Centerline is valid? [True, True] Translation: X:220.41, Y:-94.32, Z:-4.04 [[-9.28465463e-01 3.71286412e-01 9.91387486e-03 2.20407647e+02] [ 3.71268203e-01 9.28518354e-01 -3.68616600e-03 -9.43162410e+01] [-1.05738381e-02 2.58228682e-04 -9.99944062e-01 -4.03595256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10655999499994 meters 0.018015542244402178 Centerline is valid? [True, True] Translation: X:220.42, Y:-94.30, Z:-4.04 [[-9.50771644e-01 3.09776627e-01 8.46889557e-03 2.20416881e+02] [ 3.09766797e-01 9.50809325e-01 -2.48189717e-03 -9.42970789e+01] [-8.82113861e-03 2.63665204e-04 -9.99961058e-01 -4.03705057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16655999499994 meters 0.01688313859708952 Centerline is valid? [True, True] Translation: X:220.43, Y:-94.27, Z:-4.04 [[-9.70071313e-01 2.42670597e-01 8.52233024e-03 2.20425164e+02] [ 2.42663670e-01 9.70108710e-01 -1.85332551e-03 -9.42689800e+01] [-8.71733440e-03 2.70202018e-04 -9.99961967e-01 -4.03761926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22655999499995 meters 0.016925384393441757 Centerline is valid? [True, True] Translation: X:220.58, Y:-93.57, Z:-5.00 [[-9.68357599e-01 -2.49421765e-01 8.50548414e-03 2.20576558e+02] [ 2.49409725e-01 -9.68394916e-01 -2.46502816e-03 -9.35736002e+01] [ 8.85149927e-03 -2.65678289e-04 9.99960789e-01 -5.00459879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28655999499995 meters 0.015101137283929396 Centerline is valid? [True, True] Translation: X:220.37, Y:-94.25, Z:-4.04 [[-9.72628369e-01 2.32196567e-01 8.87754816e-03 2.20371780e+02] [ 2.32188933e-01 9.72668858e-01 -1.89542823e-03 -9.42508650e+01] [-9.07502655e-03 2.17721163e-04 -9.99958797e-01 -4.03597614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34655999499995 meters 0.012950445217904163 Centerline is valid? [True, True] Translation: X:220.51, Y:-93.57, Z:-5.01 [[-9.65461217e-01 -2.60367540e-01 9.66349701e-03 2.20509174e+02] [ 2.60352731e-01 -9.65509562e-01 -2.78216129e-03 -9.35730135e+01] [ 1.00545833e-02 -1.70150993e-04 9.99949437e-01 -5.00660153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40655999499995 meters 0.011758850388886737 Centerline is valid? [True, True] Translation: X:220.32, Y:-94.22, Z:-4.03 [[-9.77309689e-01 2.11602753e-01 9.48930889e-03 2.20317473e+02] [ 2.11593432e-01 9.77355754e-01 -1.98727251e-03 -9.42247561e+01] [-9.69494298e-03 6.56947573e-05 -9.99953001e-01 -4.03470611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46655999499995 meters 0.011356867387234503 Centerline is valid? [True, True] Translation: X:220.45, Y:-93.58, Z:-5.01 [[-9.62329979e-01 -2.71758177e-01 8.27669108e-03 2.20447122e+02] [ 2.71746930e-01 -9.62365562e-01 -2.47607177e-03 -9.35754918e+01] [ 8.63809522e-03 -1.33632707e-04 9.99962682e-01 -5.00752197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52655999499996 meters 0.011825151071654052 Centerline is valid? [True, True] Translation: X:220.26, Y:-94.20, Z:-4.03 [[-9.81294773e-01 1.92353148e-01 7.79973412e-03 2.20264482e+02] [ 1.92346487e-01 9.81325767e-01 -1.60240480e-03 -9.41996756e+01] [-7.96230768e-03 -7.21800011e-05 -9.99968298e-01 -4.03404194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58655999499996 meters 0.012610835465179064 Centerline is valid? [True, True] Translation: X:220.39, Y:-93.57, Z:-5.01 [[-9.60072605e-01 -2.79661603e-01 7.06976537e-03 2.20388925e+02] [ 2.79654219e-01 -9.60098634e-01 -2.03236037e-03 -9.35739786e+01] [ 7.35604523e-03 2.58762052e-05 9.99972944e-01 -5.00703700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64655999499996 meters 0.013980040282833438 Centerline is valid? [True, True] Translation: X:220.21, Y:-94.18, Z:-4.03 [[-9.83953122e-01 1.78302520e-01 6.66822267e-03 2.20214372e+02] [ 1.78297508e-01 9.83975708e-01 -1.34344644e-03 -9.41814046e+01] [-6.80090900e-03 -1.32960838e-04 -9.99976865e-01 -4.03427548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70655999499996 meters 0.01449071506435845 Centerline is valid? [True, True] Translation: X:220.21, Y:-94.15, Z:-4.03 [[-9.94272509e-01 1.06657815e-01 6.80354075e-03 2.20212915e+02] [ 1.06654328e-01 9.94295776e-01 -8.74440707e-04 -9.41521188e+01] [-6.85799776e-03 -1.43805292e-04 -9.99976473e-01 -4.03372241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76655999499997 meters 0.01491988570656664 Centerline is valid? [True, True] Translation: X:220.21, Y:-94.12, Z:-4.03 [[-9.99440070e-01 3.25853438e-02 7.59875544e-03 2.20210890e+02] [ 3.25829998e-02 9.99468940e-01 -4.32099576e-04 -9.41238940e+01] [-7.60880016e-03 -1.84267384e-04 -9.99971036e-01 -4.03271746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82655999499997 meters 0.0156782353780869 Centerline is valid? [True, True] Translation: X:220.25, Y:-93.51, Z:-5.01 [[-9.88882595e-01 -1.48463639e-01 8.35226490e-03 2.20246768e+02] [ 1.48460522e-01 -9.88917834e-01 -9.95454360e-04 -9.35076381e+01] [ 8.40749249e-03 2.55594114e-04 9.99964624e-01 -5.00990937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88655999499997 meters 0.015328933218974742 Centerline is valid? [True, True] Translation: X:220.16, Y:-94.12, Z:-4.03 [[-9.99531106e-01 2.89296755e-02 1.00320577e-02 2.20156693e+02] [ 2.89258135e-02 9.99581421e-01 -5.29878435e-04 -9.41236189e+01] [-1.00431877e-02 -2.39444548e-04 -9.99949537e-01 -4.03015843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.946559995 meters 0.01450806819898801 Centerline is valid? [True, True] Translation: X:220.16, Y:-94.10, Z:-4.03 [[-9.99162894e-01 -3.93292593e-02 1.12569936e-02 2.20157004e+02] [-3.93294316e-02 9.99226277e-01 2.06151111e-04 -9.41014774e+01] [-1.12563916e-02 -2.36752620e-04 -9.99936617e-01 -4.02870134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.006559995 meters 0.012395184893396199 Centerline is valid? [True, True] Translation: X:220.15, Y:-93.46, Z:-5.01 [[-9.98096007e-01 -6.05033299e-02 1.19878138e-02 2.20151438e+02] [ 6.05024938e-02 -9.98167952e-01 -4.32727473e-04 -9.34555464e+01] [ 1.19920330e-02 2.93389066e-04 9.99928050e-01 -5.01246542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.066559995 meters 0.01161555233358295 Centerline is valid? [True, True] Translation: X:220.10, Y:-94.13, Z:-4.03 [[-9.99525412e-01 -2.88986998e-02 1.06684415e-02 2.20101900e+02] [-2.88977482e-02 9.99582343e-01 2.43364486e-04 -9.41253706e+01] [-1.06710186e-02 -6.50449477e-05 -9.99943061e-01 -4.03004338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.126559995 meters 0.011276408201216628 Centerline is valid? [True, True] Translation: X:220.09, Y:-93.44, Z:-5.01 [[-9.99043501e-01 -4.29721478e-02 8.09184590e-03 2.20093478e+02] [ 4.29699329e-02 -9.99076266e-01 -4.47460666e-04 -9.34369630e+01] [ 8.10359953e-03 -9.93265948e-05 9.99967160e-01 -5.00736902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.186559995 meters 0.01151111380978314 Centerline is valid? [True, True] Translation: X:220.04, Y:-94.15, Z:-4.04 [[-9.99716993e-01 -2.25406492e-02 7.60609276e-03 2.20039424e+02] [-2.25397101e-02 9.99745927e-01 2.09174909e-04 -9.41450327e+01] [-7.60887519e-03 3.76765855e-05 -9.99971051e-01 -4.03522872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.246559995 meters 0.012140965521632097 Centerline is valid? [True, True] Translation: X:220.03, Y:-93.43, Z:-5.01 [[-9.99479939e-01 -3.08219577e-02 9.47937026e-03 2.20025793e+02] [ 3.08212213e-02 -9.99524888e-01 -2.23790470e-04 -9.34261712e+01] [ 9.48176416e-03 6.84916832e-05 9.99955045e-01 -5.00726440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30655999499993 meters 0.012665966732824238 Centerline is valid? [True, True] Translation: X:219.97, Y:-94.16, Z:-4.03 [[-9.99699196e-01 -2.19708256e-02 1.08995524e-02 2.19967571e+02] [-2.19682539e-02 9.99758606e-01 3.55634362e-04 -9.41584855e+01] [-1.09047348e-02 1.16083253e-04 -9.99940535e-01 -4.03384561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36655999499993 meters 0.013163096027618934 Centerline is valid? [True, True] Translation: X:219.96, Y:-94.13, Z:-4.03 [[-9.95792214e-01 -9.09164406e-02 1.14920782e-02 2.19963272e+02] [-9.09086747e-02 9.95858514e-01 1.19743405e-03 -9.41348276e+01] [-1.15533504e-02 1.47665899e-04 -9.99933247e-01 -4.03357406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42655999499993 meters 0.01292766870984119 Centerline is valid? [True, True] Translation: X:219.89, Y:-93.40, Z:-5.01 [[-9.98618013e-01 5.13570294e-02 1.11588452e-02 2.19891044e+02] [-5.13556995e-02 -9.98680343e-01 4.05880466e-04 -9.33968568e+01] [ 1.11649642e-02 -1.67750756e-04 9.99937656e-01 -5.00627697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48655999499994 meters 0.013099415106347673 Centerline is valid? [True, True] Translation: X:219.87, Y:-94.14, Z:-4.04 [[-9.95339884e-01 -9.57862501e-02 1.11134889e-02 2.19865939e+02] [-9.57785159e-02 9.95401914e-01 1.22731869e-03 -9.41440510e+01] [-1.11799483e-02 1.57165770e-04 -9.99937490e-01 -4.03558636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54655999499994 meters 0.012998783920865597 Centerline is valid? [True, True] Translation: X:219.85, Y:-94.12, Z:-4.04 [[-9.85790732e-01 -1.67602312e-01 1.12292909e-02 2.19853843e+02] [-1.67589739e-01 9.85854677e-01 2.05816848e-03 -9.41170631e+01] [-1.14154027e-02 1.47009487e-04 -9.99934831e-01 -4.03622951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60655999499994 meters 0.012542061104190894 Centerline is valid? [True, True] Translation: X:219.84, Y:-94.09, Z:-4.04 [[-9.70987830e-01 -2.38897803e-01 1.05106046e-02 2.19837288e+02] [-2.38882395e-01 9.71044707e-01 2.71624953e-03 -9.40890812e+01] [-1.08551731e-02 1.26646830e-04 -9.99941073e-01 -4.03701770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66655999499994 meters 0.012481698990604301 Centerline is valid? [True, True] Translation: X:219.81, Y:-94.07, Z:-4.04 [[-9.51049746e-01 -3.08882406e-01 9.80003404e-03 2.19808330e+02] [-3.08864786e-01 9.51100230e-01 3.30113558e-03 -9.40663227e+01] [-1.03404773e-02 1.12658739e-04 -9.99946529e-01 -4.03662832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72655999499995 meters 0.012228302027875173 Centerline is valid? [True, True] Translation: X:219.76, Y:-94.05, Z:-4.04 [[-9.25251922e-01 -3.79237284e-01 9.37892969e-03 2.19758314e+02] [-3.79216823e-01 9.25299451e-01 3.94036263e-03 -9.40522003e+01] [-1.01726509e-02 8.91801771e-05 -9.99948253e-01 -4.03777258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78655999499995 meters 0.011832991284042523 Centerline is valid? [True, True] Translation: X:219.69, Y:-94.05, Z:-4.04 [[-8.93631209e-01 -4.48711407e-01 9.01861681e-03 2.19694153e+02] [-4.48687871e-01 8.93676714e-01 4.59615766e-03 -9.40475144e+01] [-1.01220762e-02 6.07259516e-05 -9.99948769e-01 -4.03758748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84655999499995 meters 0.011408178015160267 Centerline is valid? [True, True] Translation: X:219.62, Y:-94.05, Z:-4.04 [[-8.54815911e-01 -5.18851438e-01 9.10736690e-03 2.19619964e+02] [-5.18822039e-01 8.54864425e-01 5.52324320e-03 -9.40481857e+01] [-1.06513066e-02 -3.74649730e-06 -9.99943273e-01 -4.03631501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90655999499995 meters 0.011845075688345467 Centerline is valid? [True, True] Translation: X:219.54, Y:-94.06, Z:-4.04 [[-8.08826389e-01 -5.87980190e-01 8.89769046e-03 2.19541752e+02] [-5.87945984e-01 8.08875322e-01 6.34307572e-03 -9.40568538e+01] [-1.09267251e-02 -1.00914342e-04 -9.99940296e-01 -4.03533602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96655999499995 meters 0.01307620204842703 Centerline is valid? [True, True] Translation: X:219.46, Y:-94.08, Z:-4.04 [[-7.58801371e-01 -6.51264285e-01 8.67816945e-03 2.19458547e+02] [-6.51224301e-01 7.58850974e-01 7.21871663e-03 -9.40799910e+01] [-1.12867297e-02 -1.73862756e-04 -9.99936288e-01 -4.03508863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02655999499996 meters 0.015925209217181338 Centerline is valid? [True, True] Translation: X:219.37, Y:-94.11, Z:-4.03 [[-7.03048737e-01 -7.11081921e-01 9.21817298e-03 2.19370271e+02] [-7.11026105e-01 7.03109109e-01 8.91394956e-03 -9.41123393e+01] [-1.28199298e-02 -2.87420657e-04 -9.99917780e-01 -4.03336036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08655999499996 meters 0.01641301133753329 Centerline is valid? [True, True] Translation: X:219.29, Y:-94.15, Z:-4.03 [[-6.45252919e-01 -7.63919809e-01 8.67157499e-03 2.19288942e+02] [-7.63857678e-01 6.45311099e-01 9.74853599e-03 -9.41549293e+01] [-1.30429633e-02 -3.33577829e-04 -9.99914881e-01 -4.03348281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14655999499996 meters 0.017844972697512274 Centerline is valid? [True, True] Translation: X:219.21, Y:-94.20, Z:-4.03 [[-5.84028277e-01 -8.11685586e-01 8.80231468e-03 2.19208411e+02] [-8.11603588e-01 5.84094468e-01 1.15441989e-02 -9.42049979e+01] [-1.45116432e-02 -4.01851584e-04 -9.99894620e-01 -4.03199597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20655999499996 meters 0.01578071294203755 Centerline is valid? [True, True] Translation: X:219.14, Y:-94.27, Z:-4.03 [[-5.22173909e-01 -8.52802119e-01 7.93436330e-03 2.19135403e+02] [-8.52714553e-01 5.22234047e-01 1.22266522e-02 -9.42691562e+01] [-1.45705096e-02 -3.81308272e-04 -9.99893772e-01 -4.03380889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26655999499997 meters 0.014566443633850335 Centerline is valid? [True, True] Translation: X:219.06, Y:-94.35, Z:-4.03 [[-4.58818770e-01 -8.88503847e-01 6.80082777e-03 2.19061780e+02] [-8.88416618e-01 4.58869052e-01 1.24541377e-02 -9.43475939e+01] [-1.41862386e-02 -3.27776298e-04 -9.99899317e-01 -4.03451084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32655999499997 meters 0.013153027410261243 Centerline is valid? [True, True] Translation: X:219.00, Y:-94.43, Z:-4.03 [[-3.95210966e-01 -9.18573437e-01 5.57965950e-03 2.18999684e+02] [-9.18490082e-01 3.95250283e-01 1.23767341e-02 -9.44255416e+01] [-1.35743012e-02 -2.33440861e-04 -9.99907838e-01 -4.03492155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38655999499997 meters 0.012805851306347139 Centerline is valid? [True, True] Translation: X:218.94, Y:-94.51, Z:-4.03 [[-3.27930352e-01 -9.44691099e-01 4.51783787e-03 2.18938947e+02] [-9.44608609e-01 3.27961426e-01 1.24851516e-02 -9.45132341e+01] [-1.32762881e-02 -1.73328388e-04 -9.99911851e-01 -4.03476821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.446559995 meters 0.011879144578828103 Centerline is valid? [True, True] Translation: X:218.89, Y:-94.61, Z:-4.04 [[-2.61212946e-01 -9.65275124e-01 3.42526570e-03 2.18888471e+02] [-9.65196095e-01 2.61235390e-01 1.23519084e-02 -9.46079836e+01] [-1.28177905e-02 -7.95746997e-05 -9.99917846e-01 -4.03574600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.506559995 meters 0.011710045379456378 Centerline is valid? [True, True] Translation: X:218.84, Y:-94.71, Z:-4.04 [[-1.92862683e-01 -9.81222567e-01 2.50190576e-03 2.18842456e+02] [-9.81139718e-01 1.92878910e-01 1.27506919e-02 -9.47107211e+01] [-1.29938315e-02 4.41353278e-06 -9.99915577e-01 -4.03537300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.566559995 meters 0.011960830943694137 Centerline is valid? [True, True] Translation: X:218.80, Y:-94.82, Z:-4.04 [[-1.20428126e-01 -9.92720919e-01 1.49764045e-03 2.18801274e+02] [-9.92638908e-01 1.20437428e-01 1.27603001e-02 -9.48178629e+01] [-1.28477888e-02 5.00828549e-05 -9.99917463e-01 -4.03552815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.626559995 meters 0.012131579188638062 Centerline is valid? [True, True] Translation: X:218.77, Y:-94.93, Z:-4.04 [[-4.53662116e-02 -9.98970292e-01 5.12666938e-04 2.18766692e+02] [-9.98887740e-01 4.53690534e-02 1.28426183e-02 -9.49313428e+01] [-1.28526534e-02 7.05242226e-05 -9.99917399e-01 -4.03584233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.686559995 meters 0.013080510105480978 Centerline is valid? [True, True] Translation: X:218.74, Y:-95.05, Z:-4.04 [[ 2.72451687e-02 -9.99628677e-01 -4.56397893e-04 2.18742763e+02] [-9.99553030e-01 -2.72487219e-02 1.22982865e-02 -9.50465468e+01] [-1.23061561e-02 1.21125006e-04 -9.99924269e-01 -4.03620133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.746559995 meters 0.012877868143312701 Centerline is valid? [True, True] Translation: X:218.72, Y:-95.16, Z:-4.04 [[ 1.00897081e-01 -9.94895979e-01 -1.33037791e-03 2.18723412e+02] [-9.94828238e-01 -1.00905737e-01 1.16107463e-02 -9.51637938e+01] [-1.16857276e-02 1.52007108e-04 -9.99931708e-01 -4.03780599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80655999499993 meters 0.014049965740933906 Centerline is valid? [True, True] Translation: X:218.71, Y:-95.28, Z:-4.04 [[ 1.73483157e-01 -9.84834840e-01 -1.98299727e-03 2.18714658e+02] [-9.84781499e-01 -1.73494402e-01 1.02514182e-02 -9.52845215e+01] [-1.04399928e-02 1.74370627e-04 -9.99945487e-01 -4.03714811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86655999499993 meters 0.014720813749921614 Centerline is valid? [True, True] Translation: X:218.71, Y:-95.40, Z:-4.04 [[ 2.45769340e-01 -9.69324570e-01 -2.70356354e-03 2.18713900e+02] [-9.69274584e-01 -2.45784128e-01 9.84597374e-03 -9.54016975e+01] [-1.02084373e-02 2.00656955e-04 -9.99947872e-01 -4.03806694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92655999499993 meters 0.01466697106666719 Centerline is valid? [True, True] Translation: X:218.72, Y:-95.52, Z:-4.04 [[ 3.18318358e-01 -9.47977553e-01 -3.46158855e-03 2.18720825e+02] [-9.47928576e-01 -3.18337108e-01 9.63852651e-03 -9.55209512e+01] [-1.02390589e-02 2.13218767e-04 -9.99947557e-01 -4.03860956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98655999499994 meters 0.014723008898188086 Centerline is valid? [True, True] Translation: X:218.73, Y:-95.64, Z:-4.04 [[ 3.89939231e-01 -9.20834148e-01 -3.44495827e-03 2.18734604e+02] [-9.20802122e-01 -3.89954409e-01 7.68194041e-03 -9.56394158e+01] [-8.41716972e-03 1.76634939e-04 -9.99964559e-01 -4.03908991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04655999499994 meters 0.014973408349977109 Centerline is valid? [True, True] Translation: X:218.76, Y:-95.76, Z:-4.04 [[ 4.59435182e-01 -8.88205034e-01 -3.33648547e-03 2.18759295e+02] [-8.88183863e-01 -4.59447274e-01 6.13425412e-03 -9.57573907e+01] [-6.98141454e-03 1.45120394e-04 -9.99975619e-01 -4.03958992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10655999499994 meters 0.014698408819901195 Centerline is valid? [True, True] Translation: X:218.79, Y:-95.87, Z:-4.04 [[ 5.26493035e-01 -8.50172769e-01 -3.36869383e-03 2.18787015e+02] [-8.50156861e-01 -5.26503797e-01 5.20233779e-03 -9.58684422e+01] [-6.19651601e-03 1.24923562e-04 -9.99980794e-01 -4.04039117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16655999499994 meters 0.013940673069060695 Centerline is valid? [True, True] Translation: X:218.82, Y:-95.98, Z:-4.04 [[ 5.92540144e-01 -8.05531823e-01 -3.82878898e-03 2.18820952e+02] [-8.05516147e-01 -5.92552505e-01 5.02648586e-03 -9.59795812e+01] [-6.31775282e-03 1.05756697e-04 -9.99980037e-01 -4.03926411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22655999499995 meters 0.013354488469047326 Centerline is valid? [True, True] Translation: X:218.86, Y:-96.09, Z:-4.04 [[ 6.54754704e-01 -7.55829190e-01 -4.30266590e-03 2.18863675e+02] [-7.55813724e-01 -6.54768836e-01 4.83603621e-03 -9.60854879e+01] [-6.47246887e-03 8.55964746e-05 -9.99979050e-01 -4.03854235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28655999499995 meters 0.012098719240937413 Centerline is valid? [True, True] Translation: X:218.91, Y:-96.19, Z:-4.04 [[ 7.14469988e-01 -6.99649764e-01 -4.77946840e-03 2.18909436e+02] [-6.99634544e-01 -7.14485973e-01 4.61511568e-03 -9.61895618e+01] [-6.64382773e-03 4.65195506e-05 -9.99977928e-01 -4.03882162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34655999499995 meters 0.011757407771974366 Centerline is valid? [True, True] Translation: X:218.93, Y:-96.22, Z:-4.04 [[ 7.70011751e-01 -6.38004111e-01 -5.71464995e-03 2.18926080e+02] [-6.37986704e-01 -7.70032957e-01 4.71286284e-03 -9.62243550e+01] [-7.40729466e-03 1.69109157e-05 -9.99972565e-01 -4.03807310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40655999499995 meters 0.011796630500763655 Centerline is valid? [True, True] Translation: X:218.94, Y:-96.26, Z:-4.04 [[ 8.21079712e-01 -5.70773716e-01 -6.74320554e-03 2.18944419e+02] [-5.70754147e-01 -8.21107401e-01 4.72649631e-03 -9.62588558e+01] [-8.23465584e-03 -3.21177031e-05 -9.99966094e-01 -4.03624147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46655999499995 meters 0.012268358832498912 Centerline is valid? [True, True] Translation: X:218.97, Y:-96.29, Z:-4.04 [[ 8.65279096e-01 -5.01233836e-01 -7.53183924e-03 2.18969044e+02] [-5.01214134e-01 -8.65311873e-01 4.44466027e-03 -9.62899932e+01] [-8.74520404e-03 -7.08073341e-05 -9.99961757e-01 -4.03587523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52655999499996 meters 0.012586429209240933 Centerline is valid? [True, True] Translation: X:219.00, Y:-96.31, Z:-4.04 [[ 9.02596991e-01 -4.30415158e-01 -7.83988903e-03 2.18998701e+02] [-4.30398085e-01 -9.02631034e-01 3.83456388e-03 -9.63149648e+01] [-8.72698157e-03 -8.67925881e-05 -9.99961915e-01 -4.03585345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58655999499996 meters 0.012940637901846658 Centerline is valid? [True, True] Translation: X:219.03, Y:-96.34, Z:-4.04 [[ 9.33891610e-01 -3.57469303e-01 -7.88405687e-03 2.19030559e+02] [-3.57455712e-01 -9.33924884e-01 3.11855129e-03 -9.63351412e+01] [-8.47790325e-03 -9.41877276e-05 -9.99964058e-01 -4.03520190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64655999499996 meters 0.012354685141233477 Centerline is valid? [True, True] Translation: X:219.06, Y:-96.36, Z:-4.04 [[ 9.59045844e-01 -2.83136004e-01 -8.06668836e-03 2.19063631e+02] [-2.83125147e-01 -9.59079764e-01 2.48134706e-03 -9.63586353e+01] [-8.43915626e-03 -9.58432564e-05 -9.99964385e-01 -4.03665240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70655999499996 meters 0.012668352120459074 Centerline is valid? [True, True] Translation: X:219.10, Y:-96.38, Z:-4.04 [[ 9.78290669e-01 -2.07094548e-01 -7.69512866e-03 2.19097593e+02] [-2.07087407e-01 -9.78320929e-01 1.72231278e-03 -9.63782687e+01] [-7.88498700e-03 -9.13582844e-05 -9.99968909e-01 -4.03622765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76655999499997 meters 0.012358536620051945 Centerline is valid? [True, True] Translation: X:219.13, Y:-96.39, Z:-4.04 [[ 9.91368896e-01 -1.30909078e-01 -7.10810900e-03 2.19134489e+02] [-1.30905159e-01 -9.91394375e-01 1.01580167e-03 -9.63928588e+01] [-7.17991694e-03 -7.65460429e-05 -9.99974221e-01 -4.03609084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82655999499997 meters 0.012132964908537396 Centerline is valid? [True, True] Translation: X:219.17, Y:-96.40, Z:-4.04 [[ 9.98473828e-01 -5.47992130e-02 -6.86004601e-03 2.19170061e+02] [-5.47975056e-02 -9.98497392e-01 4.36740349e-04 -9.64011456e+01] [-6.87367108e-03 -6.01603991e-05 -9.99976374e-01 -4.03609916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88655999499997 meters 0.011932392761238338 Centerline is valid? [True, True] Translation: X:219.21, Y:-96.41, Z:-4.04 [[ 9.99713288e-01 2.25638411e-02 -8.01345840e-03 2.19205480e+02] [ 2.25636129e-02 -9.99745402e-01 -1.18895960e-04 -9.64085437e+01] [-8.01410095e-03 -6.19507022e-05 -9.99967885e-01 -4.03594824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.946559995 meters 0.012024496061262619 Centerline is valid? [True, True] Translation: X:219.24, Y:-96.41, Z:-4.03 [[ 9.94782196e-01 1.01545299e-01 -9.84552433e-03 2.19241568e+02] [ 1.01541154e-01 -9.94830913e-01 -9.21281798e-04 -9.64138048e+01] [-9.88818379e-03 -8.32511731e-05 -9.99951107e-01 -4.03476437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.006559995 meters 0.012162555626418317 Centerline is valid? [True, True] Translation: X:219.28, Y:-96.42, Z:-4.03 [[ 9.83580878e-01 1.80183555e-01 -1.01263425e-02 2.19277085e+02] [ 1.80175024e-01 -9.83632999e-01 -1.75604912e-03 -9.64168936e+01] [-1.02770158e-02 -9.72976648e-05 -9.99947185e-01 -4.03481219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.066559995 meters 0.012150017116859082 Centerline is valid? [True, True] Translation: X:219.31, Y:-96.41, Z:-4.03 [[ 9.66315833e-01 2.57180829e-01 -9.57772519e-03 2.19312739e+02] [ 2.57169214e-01 -9.66363292e-01 -2.44615895e-03 -9.64146684e+01] [-9.88466723e-03 -9.93339433e-05 -9.99951141e-01 -4.03494587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.126559995 meters 0.012024123352757793 Centerline is valid? [True, True] Translation: X:219.35, Y:-96.41, Z:-4.04 [[ 9.43583766e-01 3.31008727e-01 -9.10485138e-03 2.19347088e+02] [ 3.30994197e-01 -9.43627689e-01 -3.10268812e-03 -9.64070312e+01] [-9.61860671e-03 -8.60068227e-05 -9.99953736e-01 -4.03528754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.186559995 meters 0.011859416695206683 Centerline is valid? [True, True] Translation: X:219.38, Y:-96.40, Z:-4.04 [[ 9.15117280e-01 4.03109763e-01 -7.92991331e-03 2.19380991e+02] [ 4.03095292e-01 -9.15151635e-01 -3.41637084e-03 -9.63985271e+01] [-8.63424557e-03 -7.01307277e-05 -9.99962722e-01 -4.03586918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.246559995 meters 0.011832797342992373 Centerline is valid? [True, True] Translation: X:219.41, Y:-96.39, Z:-4.04 [[ 8.80873246e-01 4.73311677e-01 -6.19525191e-03 2.19412747e+02] [ 4.73300414e-01 -8.80895030e-01 -3.26570955e-03 -9.63870923e+01] [-7.00306508e-03 -5.55391234e-05 -9.99975477e-01 -4.03707931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30655999499993 meters 0.01200624956002117 Centerline is valid? [True, True] Translation: X:219.45, Y:-96.38, Z:-4.04 [[ 8.40592248e-01 5.41634277e-01 -6.08131417e-03 2.19445589e+02] [ 5.41620655e-01 -8.40614243e-01 -3.84192827e-03 -9.63751123e+01] [-7.19295935e-03 -6.42702451e-05 -9.99974128e-01 -4.03675399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36655999499993 meters 0.01250750510719867 Centerline is valid? [True, True] Translation: X:219.48, Y:-96.36, Z:-4.04 [[ 7.93512052e-01 6.08528138e-01 -5.66822613e-03 2.19477116e+02] [ 6.08513400e-01 -7.93532292e-01 -4.23603469e-03 -9.63621871e+01] [-7.07566677e-03 -8.78469714e-05 -9.99974963e-01 -4.03595213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42655999499993 meters 0.012896696188184035 Centerline is valid? [True, True] Translation: X:219.51, Y:-96.35, Z:-4.04 [[ 7.41824308e-01 6.70572828e-01 -5.36460484e-03 2.19508408e+02] [ 6.70556318e-01 -7.41843697e-01 -4.70673929e-03 -9.63470885e+01] [-7.13590976e-03 -1.05696055e-04 -9.99974533e-01 -4.03566181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48655999499994 meters 0.014129522859889982 Centerline is valid? [True, True] Translation: X:219.54, Y:-96.33, Z:-4.03 [[ 6.84279172e-01 7.29202658e-01 -5.04955213e-03 2.19537081e+02] [ 7.29184242e-01 -6.84297790e-01 -5.18422778e-03 -9.63295473e+01] [-7.23575004e-03 -1.34594754e-04 -9.99973813e-01 -4.03470073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54655999499994 meters 0.013879694093789988 Centerline is valid? [True, True] Translation: X:219.57, Y:-96.31, Z:-4.04 [[ 6.23872329e-01 7.81511875e-01 -4.74416392e-03 2.19565129e+02] [ 7.81491079e-01 -6.23890349e-01 -5.70322790e-03 -9.63096034e+01] [-7.41697841e-03 -1.49435707e-04 -9.99972483e-01 -4.03505903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60655999499994 meters 0.016213440269284684 Centerline is valid? [True, True] Translation: X:219.59, Y:-96.29, Z:-4.03 [[ 5.57419535e-01 8.30219485e-01 -4.36673560e-03 2.19591902e+02] [ 8.30196534e-01 -5.57436609e-01 -6.17588888e-03 -9.62892500e+01] [-7.56152157e-03 -1.82687660e-04 -9.99971395e-01 -4.03422609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66655999499994 meters 0.015642688183437375 Centerline is valid? [True, True] Translation: X:219.61, Y:-96.26, Z:-4.03 [[ 4.89464842e-01 8.72013941e-01 -3.98188552e-03 2.19614028e+02] [ 8.71988326e-01 -4.89480998e-01 -6.68678247e-03 -9.62645356e+01] [-7.78002483e-03 -1.99212763e-04 -9.99969715e-01 -4.03462198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72655999499995 meters 0.01657503584245129 Centerline is valid? [True, True] Translation: X:219.63, Y:-96.24, Z:-4.03 [[ 4.19647756e-01 9.07679668e-01 -3.65798689e-03 2.19632191e+02] [ 9.07649469e-01 -4.19663645e-01 -7.40721777e-03 -9.62389106e+01] [-8.25850508e-03 -2.11747539e-04 -9.99965876e-01 -4.03409316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78655999499995 meters 0.015137023595493576 Centerline is valid? [True, True] Translation: X:219.65, Y:-96.21, Z:-4.04 [[ 3.47838541e-01 9.37549401e-01 -3.07725600e-03 2.19649116e+02] [ 9.37517828e-01 -3.47852091e-01 -7.69713787e-03 -9.62107152e+01] [-8.28687693e-03 -2.07621155e-04 -9.99965642e-01 -4.03525445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84655999499995 meters 0.015474532522890883 Centerline is valid? [True, True] Translation: X:219.66, Y:-96.18, Z:-4.03 [[ 2.73715475e-01 9.61806843e-01 -2.72663935e-03 2.19663741e+02] [ 9.61767023e-01 -2.73728963e-01 -8.75493676e-03 -9.61828868e+01] [-9.16691825e-03 -2.26030137e-04 -9.99957957e-01 -4.03463542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90655999499995 meters 0.015533369824429696 Centerline is valid? [True, True] Translation: X:219.67, Y:-96.15, Z:-4.03 [[ 1.99074727e-01 9.79982279e-01 -1.99650427e-03 2.19672529e+02] [ 9.79942944e-01 -1.99084630e-01 -8.78270413e-03 -9.61540138e+01] [-9.00436772e-03 -2.08045843e-04 -9.99959438e-01 -4.03491387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96655999499995 meters 0.014262268516506317 Centerline is valid? [True, True] Translation: X:219.68, Y:-96.12, Z:-4.04 [[ 1.23734540e-01 9.92314477e-01 -1.31989791e-03 2.19680944e+02] [ 9.92273386e-01 -1.23741430e-01 -9.03243701e-03 -9.61241468e+01] [-9.12634407e-03 -1.92075133e-04 -9.99958336e-01 -4.03623610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02655999499996 meters 0.013504390179066026 Centerline is valid? [True, True] Translation: X:219.68, Y:-96.09, Z:-4.04 [[ 4.97532291e-02 9.98761390e-01 -5.49242494e-04 2.19684680e+02] [ 9.98727555e-01 -4.97560651e-02 -8.22220537e-03 -9.60944008e+01] [-8.23934941e-03 -1.39462347e-04 -9.99966046e-01 -4.03677734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08655999499996 meters 0.01271552471580572 Centerline is valid? [True, True] Translation: X:219.69, Y:-96.07, Z:-4.04 [[-2.54502350e-02 9.99676086e-01 9.31481486e-05 2.19688740e+02] [ 9.99644524e-01 2.54501717e-02 -7.94447083e-03 -9.60655196e+01] [-7.94426814e-03 -1.09073613e-04 -9.99968438e-01 -4.03671808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14655999499996 meters 0.01216807763474764 Centerline is valid? [True, True] Translation: X:219.69, Y:-96.04, Z:-4.04 [[-9.91222353e-02 9.95074998e-01 7.27962542e-04 2.19687358e+02] [ 9.95042405e-01 9.91248808e-02 -8.05417980e-03 -9.60370176e+01] [-8.08667215e-03 -7.39947069e-05 -9.99967300e-01 -4.03606661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20655999499996 meters 0.012055129372678285 Centerline is valid? [True, True] Translation: X:219.68, Y:-96.01, Z:-4.03 [[-1.74213869e-01 9.84706685e-01 1.50753811e-03 2.19684455e+02] [ 9.84666838e-01 1.74220382e-01 -8.85870971e-03 -9.60100532e+01] [-8.98587454e-03 -5.88873098e-05 -9.99959624e-01 -4.03493682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26655999499997 meters 0.011936660560059865 Centerline is valid? [True, True] Translation: X:219.68, Y:-95.98, Z:-4.03 [[-2.50360123e-01 9.68149793e-01 2.40564190e-03 2.19682896e+02] [ 9.68102775e-01 2.50371673e-01 -9.54158672e-03 -9.59825759e+01] [-9.83998980e-03 -5.99242316e-05 -9.99951584e-01 -4.03497787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32655999499997 meters 0.01218071122916568 Centerline is valid? [True, True] Translation: X:219.68, Y:-95.95, Z:-4.03 [[-3.27196906e-01 9.44950566e-01 3.25769943e-03 2.19681071e+02] [ 9.44901241e-01 3.27213113e-01 -9.65517938e-03 -9.59545515e+01] [-1.01896292e-02 -8.09405895e-05 -9.99948081e-01 -4.03448598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38655999499997 meters 0.01272228272041789 Centerline is valid? [True, True] Translation: X:219.68, Y:-95.92, Z:-4.04 [[-4.05175229e-01 9.14231656e-01 3.67600467e-03 2.19682326e+02] [ 9.14191197e-01 4.05191885e-01 -8.60186537e-03 -9.59248988e+01] [-9.35358488e-03 -1.24691666e-04 -9.99956247e-01 -4.03548743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.446559995 meters 0.013235227289032106 Centerline is valid? [True, True] Translation: X:219.68, Y:-95.89, Z:-4.04 [[-4.78652252e-01 8.77992714e-01 4.56234046e-03 2.19682162e+02] [ 8.77949484e-01 4.78673966e-01 -8.71418780e-03 -9.58942185e+01] [-9.83486701e-03 -1.65561163e-04 -9.99951623e-01 -4.03565791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.506559995 meters 0.014405966647867334 Centerline is valid? [True, True] Translation: X:219.68, Y:-95.87, Z:-4.04 [[-5.47931365e-01 8.36505133e-01 5.51199260e-03 2.19679841e+02] [ 8.36459108e-01 5.47959053e-01 -8.77708104e-03 -9.58650603e+01] [-1.03624196e-02 -1.98681584e-04 -9.99946289e-01 -4.03557435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.566559995 meters 0.014252261389204091 Centerline is valid? [True, True] Translation: X:219.67, Y:-95.84, Z:-4.04 [[-6.11892679e-01 7.90912727e-01 6.66382683e-03 2.19670363e+02] [ 7.90861940e-01 6.11928926e-01 -8.96550470e-03 -9.58380430e+01] [-1.11687202e-02 -2.15759678e-04 -9.99937605e-01 -4.03524942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.626559995 meters 0.014517144335457607 Centerline is valid? [True, True] Translation: X:219.66, Y:-95.81, Z:-4.03 [[-6.72354872e-01 7.40190095e-01 7.58607100e-03 2.19659349e+02] [ 7.40139098e-01 6.72397628e-01 -8.69168060e-03 -9.58108544e+01] [-1.15343520e-02 -2.29146053e-04 -9.99933451e-01 -4.03477866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.686559995 meters 0.01458989102033867 Centerline is valid? [True, True] Translation: X:219.64, Y:-95.79, Z:-4.04 [[-7.28198362e-01 6.85332969e-01 6.77260166e-03 2.19644189e+02] [ 6.85300912e-01 7.28229831e-01 -6.63124404e-03 -9.57856142e+01] [-9.47662073e-03 -1.87590954e-04 -9.99955078e-01 -4.03624054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.746559995 meters 0.013778574488594254 Centerline is valid? [True, True] Translation: X:220.14, Y:-95.30, Z:-5.01 [[-6.52780880e-01 -7.57521232e-01 6.22134517e-03 2.20135903e+02] [ 7.57489375e-01 -6.52810502e-01 -6.94945405e-03 -9.52968779e+01] [ 9.32571846e-03 1.76132133e-04 9.99956499e-01 -5.00580232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.80655999499993 meters 0.01272825311480375 Centerline is valid? [True, True] Translation: X:220.10, Y:-95.25, Z:-5.01 [[-6.56928662e-01 -7.53919611e-01 7.06773055e-03 2.20099180e+02] [ 7.53878102e-01 -6.56966668e-01 -7.91228111e-03 -9.52510220e+01] [ 1.06084873e-02 1.30403051e-04 9.99943720e-01 -5.00734248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.86655999499993 meters 0.012114869864535666 Centerline is valid? [True, True] Translation: X:220.06, Y:-95.21, Z:-5.01 [[-6.59165070e-01 -7.51965609e-01 7.00957734e-03 2.20062770e+02] [ 7.51924717e-01 -6.59202331e-01 -7.84263417e-03 -9.52060101e+01] [ 1.05181209e-02 1.01083961e-04 9.99944678e-01 -5.00583890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.92655999499993 meters 0.011819026653827435 Centerline is valid? [True, True] Translation: X:220.03, Y:-95.16, Z:-5.01 [[-6.61373524e-01 -7.50024582e-01 6.94180314e-03 2.20026352e+02] [ 7.49984425e-01 -6.61409949e-01 -7.76155499e-03 -9.51634424e+01] [ 1.04127347e-02 7.29572650e-05 9.99945783e-01 -5.00519734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.98655999499994 meters 0.011737500411950555 Centerline is valid? [True, True] Translation: X:219.99, Y:-95.12, Z:-5.01 [[-6.62410999e-01 -7.49104541e-01 7.35217302e-03 2.19989010e+02] [ 7.49059483e-01 -6.62451796e-01 -8.21636132e-03 -9.51213042e+01] [ 1.10253738e-02 6.46068127e-05 9.99939217e-01 -5.00644580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04655999499994 meters 0.011592481966255792 Centerline is valid? [True, True] Translation: X:219.95, Y:-95.08, Z:-5.01 [[-6.62515525e-01 -7.49011303e-01 7.43281076e-03 2.19951593e+02] [ 7.48965304e-01 -6.62557215e-01 -8.30119054e-03 -9.50782581e+01] [ 1.11423479e-02 6.72497697e-05 9.99937920e-01 -5.00566600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10655999499994 meters 0.011828162673827892 Centerline is valid? [True, True] Translation: X:219.91, Y:-95.04, Z:-5.01 [[-6.61632052e-01 -7.49788230e-01 7.78699615e-03 2.19913214e+02] [ 7.49737864e-01 -6.61677869e-01 -8.69100605e-03 -9.50370644e+01] [ 1.16688971e-02 8.79576995e-05 9.99931912e-01 -5.00591883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16655999499994 meters 0.012135405383370185 Centerline is valid? [True, True] Translation: X:219.87, Y:-95.00, Z:-5.01 [[-6.60228417e-01 -7.51027114e-01 7.53071383e-03 2.19873814e+02] [ 7.50980147e-01 -6.60271355e-01 -8.39979271e-03 -9.49959741e+01] [ 1.12807867e-02 1.09634735e-04 9.99936364e-01 -5.00599562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22655999499995 meters 0.012399504490450143 Centerline is valid? [True, True] Translation: X:219.84, Y:-94.95, Z:-5.00 [[-6.59580814e-01 -7.51604354e-01 6.63667625e-03 2.19836560e+02] [ 7.51567953e-01 -6.59614193e-01 -7.39783411e-03 -9.49533237e+01] [ 9.93789017e-03 1.08443742e-04 9.99950612e-01 -5.00388751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28655999499995 meters 0.012352990349915131 Centerline is valid? [True, True] Translation: X:219.80, Y:-94.91, Z:-5.00 [[-6.59958446e-01 -7.51284688e-01 5.11533192e-03 2.19799217e+02] [ 7.51263082e-01 -6.59978265e-01 -5.69841127e-03 -9.49113275e+01] [ 7.65713702e-03 8.22453745e-05 9.99970680e-01 -5.00254396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34655999499995 meters 0.012374936426985329 Centerline is valid? [True, True] Translation: X:219.76, Y:-94.87, Z:-5.00 [[-6.60507076e-01 -7.50803763e-01 4.91040733e-03 2.19761363e+02] [ 7.50783863e-01 -6.60525325e-01 -5.46691545e-03 -9.48689345e+01] [ 7.34802909e-03 7.57182358e-05 9.99973000e-01 -5.00331480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40655999499995 meters 0.011847851726457654 Centerline is valid? [True, True] Translation: X:219.72, Y:-94.82, Z:-5.01 [[-6.60173097e-01 -7.51080047e-01 7.08832468e-03 2.19723951e+02] [ 7.51038644e-01 -6.60211140e-01 -7.88711951e-03 -9.48248674e+01] [ 1.06036490e-02 1.16741640e-04 9.99943773e-01 -5.00578885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46655999499995 meters 0.011847851726457654 Centerline is valid? [True, True] Translation: X:219.69, Y:-94.78, Z:-5.01 [[-6.60388497e-01 -7.50890642e-01 7.09058673e-03 2.19685397e+02] [ 7.50849250e-01 -6.60426551e-01 -7.88508598e-03 -9.47820777e+01] [ 1.06036490e-02 1.16741648e-04 9.99943773e-01 -5.00579042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52655999499996 meters 0.012074993982818973 Centerline is valid? [True, True] Translation: X:219.65, Y:-94.74, Z:-5.01 [[-6.59936211e-01 -7.51286925e-01 7.22174890e-03 2.19645732e+02] [ 7.51244060e-01 -6.59975712e-01 -8.02632951e-03 -9.47394427e+01] [ 1.07962553e-02 1.28430478e-04 9.99941711e-01 -5.00646792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58655999499996 meters 0.012183607576923763 Centerline is valid? [True, True] Translation: X:219.61, Y:-94.70, Z:-5.01 [[-6.59625694e-01 -7.51556199e-01 7.56459791e-03 2.19605917e+02] [ 7.51509240e-01 -6.59669053e-01 -8.40252216e-03 -9.46968616e+01] [ 1.13050988e-02 1.42345718e-04 9.99936085e-01 -5.00661108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64655999499996 meters 0.012725997713734657 Centerline is valid? [True, True] Translation: X:219.57, Y:-94.66, Z:-5.01 [[-6.58043355e-01 -7.52940944e-01 7.67323306e-03 2.19565133e+02] [ 7.52892761e-01 -6.58088068e-01 -8.51963754e-03 -9.46562711e+01] [ 1.14644471e-02 1.70830762e-04 9.99934266e-01 -5.00788924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70655999499996 meters 0.013060075187641797 Centerline is valid? [True, True] Translation: X:219.53, Y:-94.61, Z:-5.01 [[-6.57681419e-01 -7.53259227e-01 7.46237985e-03 2.19527022e+02] [ 7.53213738e-01 -6.57723730e-01 -8.28002157e-03 -9.46148827e+01] [ 1.11451870e-02 1.75150692e-04 9.99937875e-01 -5.00756763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76655999499997 meters 0.013199249477745591 Centerline is valid? [True, True] Translation: X:219.49, Y:-94.57, Z:-5.01 [[-6.57547675e-01 -7.53383624e-01 6.64614742e-03 2.19488356e+02] [ 7.53347594e-01 -6.57581242e-01 -7.36973830e-03 -9.45722399e+01] [ 9.92262202e-03 1.60904887e-04 9.99950757e-01 -5.00692624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82655999499997 meters 0.012653174038918837 Centerline is valid? [True, True] Translation: X:219.45, Y:-94.53, Z:-5.01 [[-6.57707656e-01 -7.53253467e-01 5.46389427e-03 2.19450807e+02] [ 7.53229140e-01 -6.57730338e-01 -6.05525815e-03 -9.45282562e+01] [ 8.15491321e-03 1.32974741e-04 9.99966739e-01 -5.00533095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88655999499997 meters 0.012693054347184627 Centerline is valid? [True, True] Translation: X:219.41, Y:-94.48, Z:-5.01 [[-6.57330300e-01 -7.53583048e-01 5.42830629e-03 2.19412408e+02] [ 7.53559076e-01 -6.57352699e-01 -6.01230271e-03 -9.44842600e+01] [ 8.09908119e-03 1.38480724e-04 9.99967192e-01 -5.00512392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.946559995 meters 0.013084991501296802 Centerline is valid? [True, True] Translation: X:219.37, Y:-94.44, Z:-5.01 [[-6.56728657e-01 -7.54105814e-01 5.64727518e-03 2.19372921e+02] [ 7.54079919e-01 -6.56752920e-01 -6.25120757e-03 -9.44421242e+01] [ 8.42293644e-03 1.53149653e-04 9.99964515e-01 -5.00578061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.006559995 meters 0.013421167826782526 Centerline is valid? [True, True] Translation: X:219.33, Y:-94.40, Z:-5.01 [[-6.55345015e-01 -7.55303418e-01 6.29748673e-03 2.19331372e+02] [ 7.55271308e-01 -6.55375244e-01 -6.96713871e-03 -9.44003527e+01] [ 9.38952059e-03 1.90431416e-04 9.99955899e-01 -5.00752946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.066559995 meters 0.013778188314944219 Centerline is valid? [True, True] Translation: X:219.29, Y:-94.36, Z:-5.01 [[-6.55346667e-01 -7.55296691e-01 6.90316045e-03 2.19292270e+02] [ 7.55258155e-01 -6.55382990e-01 -7.63255632e-03 -9.43590492e+01] [ 1.02890585e-02 2.11697875e-04 9.99947044e-01 -5.00872544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.126559995 meters 0.01382615728762462 Centerline is valid? [True, True] Translation: X:219.25, Y:-94.32, Z:-5.01 [[-6.55412409e-01 -7.55244422e-01 6.35903626e-03 2.19253547e+02] [ 7.55211757e-01 -6.55443228e-01 -7.02690062e-03 -9.43156299e+01] [ 9.47501475e-03 1.96901080e-04 9.99955092e-01 -5.00796307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.186559995 meters 0.013917462701989432 Centerline is valid? [True, True] Translation: X:219.21, Y:-94.27, Z:-5.01 [[-6.55339887e-01 -7.55311199e-01 5.88437960e-03 2.19214735e+02] [ 7.55283264e-01 -6.55366278e-01 -6.49863983e-03 -9.42725267e+01] [ 8.76491940e-03 1.85555547e-04 9.99961570e-01 -5.00717639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.246559995 meters 0.01420739439591919 Centerline is valid? [True, True] Translation: X:219.17, Y:-94.23, Z:-5.01 [[-6.55047568e-01 -7.55567050e-01 5.57833460e-03 2.19174607e+02] [ 7.55541984e-01 -6.55071294e-01 -6.15711340e-03 -9.42299227e+01] [ 8.30631887e-03 1.81463831e-04 9.99965485e-01 -5.00750399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.30655999499993 meters 0.014937155589025848 Centerline is valid? [True, True] Translation: X:219.14, Y:-94.19, Z:-5.01 [[-6.54805706e-01 -7.55762015e-01 7.29819828e-03 2.19135124e+02] [ 7.55719175e-01 -6.54846331e-01 -8.05058573e-03 -9.41881861e+01] [ 1.08635253e-02 2.43818915e-04 9.99940960e-01 -5.01065096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.36655999499993 meters 0.014578097025761926 Centerline is valid? [True, True] Translation: X:219.10, Y:-94.14, Z:-5.01 [[-6.54078895e-01 -7.56384161e-01 7.98750443e-03 2.19097095e+02] [ 7.56332952e-01 -6.54127603e-01 -8.80589905e-03 -9.41442632e+01] [ 1.18854897e-02 2.81460095e-04 9.99929325e-01 -5.00991197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.42655999499993 meters 0.01531609183537092 Centerline is valid? [True, True] Translation: X:219.06, Y:-94.10, Z:-5.01 [[-6.52616268e-01 -7.57654072e-01 7.23281894e-03 2.19056656e+02] [ 7.57612210e-01 -6.52656287e-01 -7.96932270e-03 -9.41020210e+01] [ 1.07585346e-02 2.78762306e-04 9.99942086e-01 -5.00844763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.48655999499994 meters 0.01598140625720006 Centerline is valid? [True, True] Translation: X:219.02, Y:-94.06, Z:-5.01 [[-6.52020816e-01 -7.58174904e-01 6.29846979e-03 2.19016212e+02] [ 7.58143225e-01 -6.52051187e-01 -6.93539346e-03 -9.40613071e+01] [ 9.36516597e-03 2.53121293e-04 9.99956114e-01 -5.00787447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54655999499994 meters 0.015582959532267777 Centerline is valid? [True, True] Translation: X:218.98, Y:-94.02, Z:-5.01 [[-6.53048395e-01 -7.57290356e-01 6.25382425e-03 2.18978164e+02] [ 7.57259125e-01 -6.53078294e-01 -6.88183217e-03 -9.40181382e+01] [ 9.29578201e-03 2.41596033e-04 9.99956764e-01 -5.00797907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60655999499994 meters 0.015573814331440559 Centerline is valid? [True, True] Translation: X:218.94, Y:-93.98, Z:-5.01 [[-6.53054768e-01 -7.57292630e-01 5.22907835e-03 2.18939392e+02] [ 7.57270824e-01 -6.53075670e-01 -5.75049006e-03 -9.39754252e+01] [ 7.76978759e-03 2.04443516e-04 9.99969794e-01 -5.00585214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66655999499994 meters 0.01620469566542358 Centerline is valid? [True, True] Translation: X:218.90, Y:-93.93, Z:-5.01 [[-6.52967984e-01 -7.57369823e-01 4.87467483e-03 2.18898971e+02] [ 7.57350900e-01 -6.52986151e-01 -5.35736154e-03 -9.39349662e+01] [ 7.24059912e-03 1.93653806e-04 9.99973768e-01 -5.00623874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72655999499995 meters 0.015528657441123656 Centerline is valid? [True, True] Translation: X:218.86, Y:-93.89, Z:-5.01 [[-6.53219509e-01 -7.57153848e-01 4.72484029e-03 2.18860068e+02] [ 7.57136085e-01 -6.53236569e-01 -5.18970814e-03 -9.38920205e+01] [ 7.01584594e-03 1.87328478e-04 9.99975371e-01 -5.00590454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78655999499995 meters 0.015384381445514527 Centerline is valid? [True, True] Translation: X:218.82, Y:-93.85, Z:-5.01 [[-6.53652530e-01 -7.56780223e-01 4.69715098e-03 2.18820471e+02] [ 7.56762679e-01 -6.53669381e-01 -5.15633554e-03 -9.38499509e+01] [ 6.97259653e-03 1.84176785e-04 9.99975674e-01 -5.00522146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84655999499995 meters 0.014696226748369063 Centerline is valid? [True, True] Translation: X:218.78, Y:-93.81, Z:-5.01 [[-6.55356551e-01 -7.55306286e-01 4.49511603e-03 2.18781123e+02] [ 7.55290201e-01 -6.55371947e-01 -4.93187840e-03 -9.38065169e+01] [ 6.67105170e-03 1.62978270e-04 9.99977735e-01 -5.00502514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90655999499995 meters 0.013696629257125146 Centerline is valid? [True, True] Translation: X:218.74, Y:-93.76, Z:-5.00 [[-6.58463188e-01 -7.52600543e-01 4.31893159e-03 2.18742179e+02] [ 7.52585654e-01 -6.58477339e-01 -4.73580060e-03 -9.37631921e+01] [ 6.40808468e-03 1.32015589e-04 9.99979459e-01 -5.00494684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96655999499995 meters 0.012256454351115042 Centerline is valid? [True, True] Translation: X:218.71, Y:-93.72, Z:-5.00 [[-6.64068038e-01 -7.47662868e-01 3.72514240e-03 2.18705821e+02] [ 7.47651727e-01 -6.64078482e-01 -4.08220576e-03 -9.37182867e+01] [ 5.52590057e-03 7.42467789e-05 9.99984729e-01 -5.00409756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02655999499996 meters 0.011330287399547426 Centerline is valid? [True, True] Translation: X:218.67, Y:-93.67, Z:-5.00 [[-6.69284056e-01 -7.42998784e-01 3.41462996e-03 2.18668613e+02] [ 7.42989372e-01 -6.69292766e-01 -3.73994317e-03 -9.36731068e+01] [ 5.06416035e-03 3.39494320e-05 9.99987176e-01 -5.00331046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08655999499996 meters 0.011138190633910064 Centerline is valid? [True, True] Translation: X:218.63, Y:-93.63, Z:-5.00 [[-6.71567594e-01 -7.40935457e-01 3.40811395e-03 2.18629427e+02] [ 7.40926066e-01 -6.71576242e-01 -3.73044978e-03 -9.36317714e+01] [ 5.05283087e-03 1.99112827e-05 9.99987234e-01 -5.00380973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14655999499996 meters 0.011169686474809084 Centerline is valid? [True, True] Translation: X:218.59, Y:-93.59, Z:-5.01 [[-6.72180697e-01 -7.40375647e-01 4.12467027e-03 2.18588681e+02] [ 7.40361900e-01 -6.72193351e-01 -4.51181929e-03 -9.35924987e+01] [ 6.11301706e-03 2.09908774e-05 9.99981315e-01 -5.00536653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20655999499996 meters 0.011160490236630302 Centerline is valid? [True, True] Translation: X:218.55, Y:-93.55, Z:-5.01 [[-6.72252218e-01 -7.40308356e-01 4.52696170e-03 2.18549364e+02] [ 7.40291814e-01 -6.72267460e-01 -4.94903453e-03 -9.35498388e+01] [ 6.70714066e-03 2.42732456e-05 9.99977507e-01 -5.00551087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26655999499997 meters 0.011237500514672526 Centerline is valid? [True, True] Translation: X:218.51, Y:-93.51, Z:-5.01 [[-6.72182079e-01 -7.40367969e-01 5.14997820e-03 2.18510170e+02] [ 7.40346590e-01 -6.72201807e-01 -5.62656780e-03 -9.35080297e+01] [ 7.62755522e-03 3.06907544e-05 9.99970909e-01 -5.00625209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32655999499997 meters 0.011285345999984896 Centerline is valid? [True, True] Translation: X:218.47, Y:-93.47, Z:-5.01 [[-6.72078055e-01 -7.40459847e-01 5.50477725e-03 2.18470780e+02] [ 7.40435451e-01 -6.72100598e-01 -6.01078578e-03 -9.34656647e+01] [ 8.15050960e-03 3.62150087e-05 9.99966783e-01 -5.00684805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38655999499997 meters 0.01130152632894956 Centerline is valid? [True, True] Translation: X:218.43, Y:-93.42, Z:-5.01 [[-6.71556586e-01 -7.40929327e-01 5.95677421e-03 2.18430475e+02] [ 7.40900812e-01 -6.71583003e-01 -6.50061367e-03 -9.34232337e+01] [ 8.81696363e-03 4.78489170e-05 9.99961129e-01 -5.00647719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.446559995 meters 0.011361444105386967 Centerline is valid? [True, True] Translation: X:218.39, Y:-93.38, Z:-5.01 [[-6.71189837e-01 -7.41262081e-01 5.89325822e-03 2.18390637e+02] [ 7.41234218e-01 -6.71215706e-01 -6.42721039e-03 -9.33814785e+01] [ 8.71989483e-03 5.44063635e-05 9.99961980e-01 -5.00620489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.506559995 meters 0.011347992037951284 Centerline is valid? [True, True] Translation: X:218.35, Y:-93.34, Z:-5.00 [[-6.71170464e-01 -7.41285567e-01 5.09088983e-03 2.18351579e+02] [ 7.41264802e-01 -6.71189769e-01 -5.54862296e-03 -9.33400268e+01] [ 7.53006729e-03 4.96255976e-05 9.99971647e-01 -5.00427359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.566559995 meters 0.01125209925206063 Centerline is valid? [True, True] Translation: X:218.31, Y:-93.30, Z:-5.00 [[-6.71342873e-01 -7.41129135e-01 5.13352383e-03 2.18312697e+02] [ 7.41108043e-01 -6.71362498e-01 -5.59152652e-03 -9.32978464e+01] [ 7.59049859e-03 5.06643202e-05 9.99971190e-01 -5.00338790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.626559995 meters 0.011281182413408091 Centerline is valid? [True, True] Translation: X:218.27, Y:-93.26, Z:-5.00 [[-6.71090615e-01 -7.41355729e-01 5.39158428e-03 2.18272658e+02] [ 7.41332498e-01 -6.71112270e-01 -5.86925408e-03 -9.32563213e+01] [ 7.96956351e-03 5.81553098e-05 9.99968241e-01 -5.00365609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.686559995 meters 0.011453008853967932 Centerline is valid? [True, True] Translation: X:218.23, Y:-93.21, Z:-5.00 [[-6.70577075e-01 -7.41817013e-01 5.82287244e-03 2.18232133e+02] [ 7.41789965e-01 -6.70602352e-01 -6.33512349e-03 -9.32147320e+01] [ 8.60433433e-03 7.11597655e-05 9.99962980e-01 -5.00434312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.746559995 meters 0.011697502771931259 Centerline is valid? [True, True] Translation: X:218.19, Y:-93.17, Z:-5.00 [[-6.69703467e-01 -7.42605006e-01 5.92206410e-03 2.18190844e+02] [ 7.42577091e-01 -6.69729645e-01 -6.43937439e-03 -9.31738934e+01] [ 8.74809355e-03 8.51177745e-05 9.99961731e-01 -5.00462856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.80655999499993 meters 0.011754332240452782 Centerline is valid? [True, True] Translation: X:218.15, Y:-93.13, Z:-5.01 [[-6.69655290e-01 -7.42644818e-01 6.36137914e-03 2.18149675e+02] [ 7.42612647e-01 -6.69685498e-01 -6.91309571e-03 -9.31326491e+01] [ 9.39409806e-03 9.46494872e-05 9.99955870e-01 -5.00572579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.86655999499993 meters 0.011851209830391174 Centerline is valid? [True, True] Translation: X:218.11, Y:-93.09, Z:-5.01 [[-6.70870940e-01 -7.41544983e-01 6.57415800e-03 2.18111511e+02] [ 7.41510618e-01 -6.70903146e-01 -7.13952608e-03 -9.30914095e+01] [ 9.70490303e-03 8.51073876e-05 9.99952903e-01 -5.00679086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.92655999499993 meters 0.01159142870415713 Centerline is valid? [True, True] Translation: X:218.07, Y:-93.05, Z:-5.01 [[-6.72303458e-01 -7.40244611e-01 6.78061861e-03 2.18073872e+02] [ 7.40208029e-01 -6.72337647e-01 -7.35953220e-03 -9.30476315e+01] [ 1.00067192e-02 7.12293880e-05 9.99949929e-01 -5.00600531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.98655999499994 meters 0.011491934390452697 Centerline is valid? [True, True] Translation: X:218.04, Y:-93.00, Z:-5.01 [[-6.74491033e-01 -7.38256636e-01 6.24383739e-03 2.18037806e+02] [ 7.38225574e-01 -6.74519931e-01 -6.77238487e-03 -9.30046025e+01] [ 9.21135083e-03 4.14475749e-05 9.99957574e-01 -5.00591619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04655999499994 meters 0.011432868860250292 Centerline is valid? [True, True] Translation: X:218.00, Y:-92.96, Z:-5.01 [[-6.75460657e-01 -7.37374903e-01 5.58143512e-03 2.17999288e+02] [ 7.37350080e-01 -6.75483716e-01 -6.05047091e-03 -9.29608739e+01] [ 8.23163394e-03 2.86165716e-05 9.99966119e-01 -5.00565061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10655999499994 meters 0.011383774125396607 Centerline is valid? [True, True] Translation: X:217.96, Y:-92.92, Z:-5.00 [[-6.76261280e-01 -7.36648294e-01 4.46912483e-03 2.17961091e+02] [ 7.36632381e-01 -6.76276047e-01 -4.84191234e-03 -9.29170542e+01] [ 6.58914853e-03 1.77042278e-05 9.99978291e-01 -5.00433956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16655999499994 meters 0.011505385051472942 Centerline is valid? [True, True] Translation: X:217.92, Y:-92.87, Z:-5.01 [[-6.76536278e-01 -7.36389957e-01 5.33811092e-03 2.17922487e+02] [ 7.36367273e-01 -6.76557337e-01 -5.78010632e-03 -9.28742375e+01] [ 7.86795035e-03 2.03585625e-05 9.99969047e-01 -5.00606773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22655999499995 meters 0.011553591720171159 Centerline is valid? [True, True] Translation: X:217.88, Y:-92.83, Z:-5.01 [[-6.76206463e-01 -7.36695340e-01 4.97956265e-03 2.17884598e+02] [ 7.36675634e-01 -6.76224797e-01 -5.38829340e-03 -9.28326411e+01] [ 7.33683438e-03 2.47236544e-05 9.99973085e-01 -5.00606175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28655999499995 meters 0.011641369979691747 Centerline is valid? [True, True] Translation: X:217.84, Y:-92.79, Z:-5.01 [[-6.74556169e-01 -7.38208705e-01 4.67789167e-03 2.17844079e+02] [ 7.38191371e-01 -6.74572388e-01 -5.05896780e-03 -9.27905926e+01] [ 6.89015062e-03 4.06213288e-05 9.99976262e-01 -5.00529569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34655999499995 meters 0.01214573706433732 Centerline is valid? [True, True] Translation: X:217.80, Y:-92.75, Z:-5.01 [[-6.72049513e-01 -7.40487550e-01 5.25734887e-03 2.17803514e+02] [ 7.40465752e-01 -6.72070073e-01 -5.68223143e-03 -9.27504626e+01] [ 7.74092847e-03 7.41459219e-05 9.99970036e-01 -5.00635236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40655999499995 meters 0.012347880646705897 Centerline is valid? [True, True] Translation: X:217.76, Y:-92.71, Z:-5.01 [[-6.71405637e-01 -7.41069146e-01 5.56698187e-03 2.17763899e+02] [ 7.41044755e-01 -6.71428710e-01 -6.01309903e-03 -9.27087530e+01] [ 8.19395362e-03 8.81541278e-05 9.99966425e-01 -5.00705347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46655999499995 meters 0.012559835586384334 Centerline is valid? [True, True] Translation: X:217.72, Y:-92.67, Z:-5.01 [[-6.70098933e-01 -7.42253207e-01 5.25323059e-03 2.17723449e+02] [ 7.42231549e-01 -6.70119517e-01 -5.67098649e-03 -9.26665940e+01] [ 7.72960025e-03 9.89914853e-05 9.99970121e-01 -5.00709628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52655999499996 meters 0.012787015392232896 Centerline is valid? [True, True] Translation: X:217.69, Y:-92.63, Z:-5.01 [[-6.70225572e-01 -7.42141708e-01 4.83406606e-03 2.17685597e+02] [ 7.42123391e-01 -6.70242998e-01 -5.21501796e-03 -9.26251782e+01] [ 7.11028127e-03 9.22350957e-05 9.99974717e-01 -5.00644590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58655999499996 meters 0.01209672632736467 Centerline is valid? [True, True] Translation: X:217.65, Y:-92.58, Z:-5.00 [[-6.71765142e-01 -7.40755541e-01 3.58067899e-03 2.17648057e+02] [ 7.40745483e-01 -6.71774683e-01 -3.86075343e-03 -9.25801539e+01] [ 5.26528399e-03 5.88522073e-05 9.99986137e-01 -5.00469759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64655999499996 meters 0.011760796321899724 Centerline is valid? [True, True] Translation: X:217.61, Y:-92.54, Z:-5.01 [[-6.74322163e-01 -7.38428153e-01 3.67181039e-03 2.17610348e+02] [ 7.38417554e-01 -6.74332159e-01 -3.95670598e-03 -9.25368516e+01] [ 5.39776292e-03 4.32347100e-05 9.99985431e-01 -5.00516676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70655999499996 meters 0.01147309005023907 Centerline is valid? [True, True] Translation: X:217.57, Y:-92.49, Z:-5.01 [[-6.76720057e-01 -7.36232962e-01 3.31504209e-03 2.17573209e+02] [ 7.36224307e-01 -6.76728176e-01 -3.56998176e-03 -9.24936029e+01] [ 4.87172063e-03 2.47363104e-05 9.99988133e-01 -5.00507787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76655999499997 meters 0.011290388741363544 Centerline is valid? [True, True] Translation: X:217.54, Y:-92.45, Z:-5.01 [[-6.79006762e-01 -7.34123910e-01 3.45004898e-03 2.17535567e+02] [ 7.34114519e-01 -6.79015526e-01 -3.71323287e-03 -9.24496209e+01] [ 5.06860985e-03 1.14208237e-05 9.99987154e-01 -5.00502879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82655999499997 meters 0.011404570096338808 Centerline is valid? [True, True] Translation: X:217.50, Y:-92.41, Z:-5.01 [[-6.81969981e-01 -7.31365460e-01 4.63783369e-03 2.17498913e+02] [ 7.31348446e-01 -6.81985751e-01 -4.98862143e-03 -9.24062136e+01] [ 6.81144189e-03 -1.02175995e-05 9.99976802e-01 -5.00756492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.88655999499997 meters 0.011325634785902915 Centerline is valid? [True, True] Translation: X:217.46, Y:-92.36, Z:-5.01 [[-6.82557742e-01 -7.30817799e-01 4.50267385e-03 2.17459438e+02] [ 7.30801769e-01 -6.82572593e-01 -4.84046737e-03 -9.23633927e+01] [ 6.61090148e-03 -1.33364597e-05 9.99978148e-01 -5.00741489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.946559995 meters 0.011435428136661617 Centerline is valid? [True, True] Translation: X:217.42, Y:-92.32, Z:-5.01 [[-6.82210536e-01 -7.31140623e-01 4.70893775e-03 2.17418708e+02] [ 7.31123118e-01 -6.82226788e-01 -5.05931777e-03 -9.23216656e+01] [ 6.91163622e-03 -8.70663441e-06 9.99976114e-01 -5.00847697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.006559995 meters 0.011393684673600782 Centerline is valid? [True, True] Translation: X:217.38, Y:-92.28, Z:-5.01 [[-6.81208796e-01 -7.32072591e-01 4.92929643e-03 2.17377675e+02] [ 7.32053456e-01 -6.81226630e-01 -5.29302466e-03 -9.22798640e+01] [ 7.23284627e-03 2.85353048e-06 9.99973843e-01 -5.01000376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.066559995 meters 0.011443188283946802 Centerline is valid? [True, True] Translation: X:217.34, Y:-92.24, Z:-5.01 [[-6.79909904e-01 -7.33285618e-01 3.83729043e-03 2.17337927e+02] [ 7.33274057e-01 -6.79920732e-01 -4.11766215e-03 -9.22402152e+01] [ 5.62847576e-03 1.41462447e-05 9.99984160e-01 -5.00966282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.126559995 meters 0.011442740704383458 Centerline is valid? [True, True] Translation: X:217.30, Y:-92.20, Z:-5.01 [[-6.79642457e-01 -7.33536021e-01 3.32219878e-03 2.17298670e+02] [ 7.33527369e-01 -6.79650576e-01 -3.56267178e-03 -9.21990751e+01] [ 4.87128240e-03 1.55807258e-05 9.99988135e-01 -5.00892372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.186559995 meters 0.01176422021607884 Centerline is valid? [True, True] Translation: X:217.26, Y:-92.16, Z:-5.01 [[-6.76996299e-01 -7.35977873e-01 3.54710505e-03 2.17256913e+02] [ 7.35968055e-01 -6.77005590e-01 -3.80170250e-03 -9.21590947e+01] [ 5.19937887e-03 3.68174803e-05 9.99986482e-01 -5.00967956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.246559995 meters 0.011857067036697568 Centerline is valid? [True, True] Translation: X:217.22, Y:-92.12, Z:-5.01 [[-6.76104058e-01 -7.36798507e-01 3.35603670e-03 2.17216878e+02] [ 7.36789738e-01 -6.76112386e-01 -3.59484964e-03 -9.21175860e+01] [ 4.91773783e-03 4.22009762e-05 9.99987907e-01 -5.00935972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.30655999499993 meters 0.012642786931858122 Centerline is valid? [True, True] Translation: X:217.17, Y:-92.08, Z:-5.01 [[-6.72821841e-01 -7.39798555e-01 2.97792494e-03 2.17174218e+02] [ 7.39791688e-01 -6.72828429e-01 -3.18801224e-03 -9.20780379e+01] [ 4.36211940e-03 5.80798536e-05 9.99990484e-01 -5.00967890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.36655999499993 meters 0.013303006819389724 Centerline is valid? [True, True] Translation: X:217.13, Y:-92.04, Z:-5.01 [[-6.71705051e-01 -7.40811747e-01 3.20628425e-03 2.17133487e+02] [ 7.40803808e-01 -6.71712700e-01 -3.43043623e-03 -9.20383857e+01] [ 4.69500931e-03 7.09862408e-05 9.99988976e-01 -5.01044369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.42655999499993 meters 0.013698672574211406 Centerline is valid? [True, True] Translation: X:217.09, Y:-92.00, Z:-5.01 [[-6.70907541e-01 -7.41535293e-01 2.91209342e-03 2.17093522e+02] [ 7.41528758e-01 -6.70913857e-01 -3.11394231e-03 -9.19964376e+01] [ 4.26286196e-03 7.02336404e-05 9.99990912e-01 -5.00999373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.48655999499994 meters 0.013847749410564386 Centerline is valid? [True, True] Translation: X:217.05, Y:-91.95, Z:-5.01 [[-6.69969369e-01 -7.42381493e-01 3.28079982e-03 2.17053641e+02] [ 7.42373218e-01 -6.69977397e-01 -3.50621917e-03 -9.19537224e+01] [ 4.80101394e-03 8.65184728e-05 9.99988471e-01 -5.00960175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54655999499994 meters 0.01420254363195736 Centerline is valid? [True, True] Translation: X:217.01, Y:-91.91, Z:-5.01 [[-6.68145128e-01 -7.44015034e-01 4.87008859e-03 2.17013406e+02] [ 7.43996866e-01 -6.68162860e-01 -5.20150276e-03 -9.19123276e+01] [ 7.12400857e-03 1.47971921e-04 9.99974613e-01 -5.01135878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60655999499994 meters 0.015144952910360096 Centerline is valid? [True, True] Translation: X:216.97, Y:-91.87, Z:-5.01 [[-6.66671140e-01 -7.45333295e-01 5.27918843e-03 2.16973540e+02] [ 7.45312006e-01 -6.66692019e-01 -5.63608303e-03 -9.18717893e+01] [ 7.72035313e-03 1.77228623e-04 9.99970182e-01 -5.01249558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66655999499994 meters 0.015220701108497532 Centerline is valid? [True, True] Translation: X:216.94, Y:-91.83, Z:-5.01 [[-6.66879740e-01 -7.45148346e-01 5.03539927e-03 2.16935041e+02] [ 7.45128998e-01 -6.66898728e-01 -5.37238177e-03 -9.18287803e+01] [ 7.36132276e-03 1.69289457e-04 9.99972891e-01 -5.01159754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72655999499995 meters 0.017164015949985133 Centerline is valid? [True, True] Translation: X:216.89, Y:-91.79, Z:-5.01 [[-6.67660887e-01 -7.44450327e-01 4.75915852e-03 2.16894415e+02] [ 7.44433050e-01 -6.67677831e-01 -5.07429702e-03 -9.17898922e+01] [ 6.95514672e-03 1.54965245e-04 9.99975801e-01 -5.01323532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78655999499995 meters 0.01474178795441035 Centerline is valid? [True, True] Translation: X:216.86, Y:-91.75, Z:-5.01 [[-6.68374607e-01 -7.43810153e-01 4.67340914e-03 2.16858672e+02] [ 7.43793498e-01 -6.68390929e-01 -4.97969512e-03 -9.17454685e+01] [ 6.82761207e-03 1.47749568e-04 9.99976681e-01 -5.01200620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84655999499995 meters 0.014037086091674545 Centerline is valid? [True, True] Translation: X:216.82, Y:-91.70, Z:-5.01 [[-6.70000867e-01 -7.42345057e-01 4.75978553e-03 2.16820959e+02] [ 7.42327763e-01 -6.70017760e-01 -5.06900751e-03 -9.17005903e+01] [ 6.95209351e-03 1.37081519e-04 9.99975825e-01 -5.01199796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90655999499995 meters 0.013800041857142465 Centerline is valid? [True, True] Translation: X:216.78, Y:-91.66, Z:-5.01 [[-6.71307936e-01 -7.41161102e-01 5.08679444e-03 2.16782012e+02] [ 7.41141342e-01 -6.71327194e-01 -5.41379986e-03 -9.16583362e+01] [ 7.42740131e-03 1.35706848e-04 9.99972407e-01 -5.01270153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96655999499995 meters 0.013674833083948458 Centerline is valid? [True, True] Translation: X:216.74, Y:-91.62, Z:-5.01 [[-6.72467181e-01 -7.40107987e-01 5.29694352e-03 2.16742935e+02] [ 7.40086555e-01 -6.72488030e-01 -5.63388123e-03 -9.16161207e+01] [ 7.73181161e-03 1.31596446e-04 9.99970100e-01 -5.01350746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02655999499996 meters 0.013105020718601562 Centerline is valid? [True, True] Translation: X:216.70, Y:-91.57, Z:-5.01 [[-6.73321590e-01 -7.39332022e-01 5.11829337e-03 2.16704336e+02] [ 7.39312013e-01 -6.73341033e-01 -5.44072703e-03 -9.15729034e+01] [ 7.46886066e-03 1.20656794e-04 9.99972100e-01 -5.01306018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08655999499996 meters 0.013361709600698138 Centerline is valid? [True, True] Translation: X:216.67, Y:-91.53, Z:-5.01 [[-6.73562451e-01 -7.39110529e-01 5.40842759e-03 2.16665689e+02] [ 7.39088202e-01 -6.73584152e-01 -5.74628255e-03 -9.15321293e+01] [ 7.89016904e-03 1.26824865e-04 9.99968864e-01 -5.01356951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14655999499996 meters 0.013688804485042661 Centerline is valid? [True, True] Translation: X:216.63, Y:-91.49, Z:-5.01 [[-6.72319831e-01 -7.40234346e-01 6.25765425e-03 2.16625137e+02] [ 7.40204540e-01 -6.72348932e-01 -6.64477016e-03 -9.14905151e+01] [ 9.12601424e-03 1.64533333e-04 9.99958344e-01 -5.01401564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20655999499996 meters 0.014018644388747106 Centerline is valid? [True, True] Translation: X:216.59, Y:-91.45, Z:-5.01 [[-6.72752702e-01 -7.39843241e-01 5.98180759e-03 2.16586349e+02] [ 7.39816026e-01 -6.72779277e-01 -6.34762232e-03 -9.14504027e+01] [ 8.72068165e-03 1.55057053e-04 9.99961962e-01 -5.01448280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26655999499997 meters 0.013240409220156445 Centerline is valid? [True, True] Translation: X:216.55, Y:-91.41, Z:-5.01 [[-6.74398535e-01 -7.38344319e-01 5.85512896e-03 2.16548216e+02] [ 7.38318218e-01 -6.74423938e-01 -6.20968276e-03 -9.14062838e+01] [ 8.53372312e-03 1.35147425e-04 9.99963578e-01 -5.01343336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32655999499997 meters 0.012217026073526233 Centerline is valid? [True, True] Translation: X:216.51, Y:-91.36, Z:-5.01 [[-6.78874032e-01 -7.34240099e-01 4.63952799e-03 2.16512006e+02] [ 7.34223634e-01 -6.78889882e-01 -4.91767536e-03 -9.13609902e+01] [ 6.76048305e-03 6.79690052e-05 9.99977145e-01 -5.01185450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38655999499997 meters 0.011661857327102995 Centerline is valid? [True, True] Translation: X:216.47, Y:-91.32, Z:-5.01 [[-6.82433641e-01 -7.30932841e-01 4.63765899e-03 2.16474464e+02] [ 7.30916330e-01 -6.82449398e-01 -4.91292122e-03 -9.13162788e+01] [ 6.75598305e-03 3.69979759e-05 9.99977177e-01 -5.01156607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.446559995 meters 0.011599519043161581 Centerline is valid? [True, True] Translation: X:216.44, Y:-91.27, Z:-5.01 [[-6.87906126e-01 -7.25780858e-01 5.22581431e-03 2.16438923e+02] [ 7.25759771e-01 -6.87925975e-01 -5.53248280e-03 -9.12717206e+01] [ 7.61034352e-03 -1.31430128e-05 9.99971041e-01 -5.01309494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.506559995 meters 0.01182016313650495 Centerline is valid? [True, True] Translation: X:216.40, Y:-91.23, Z:-5.01 [[-6.91148672e-01 -7.22688241e-01 5.93457652e-03 2.16401227e+02] [ 7.22660966e-01 -6.91174148e-01 -6.27899549e-03 -9.12281412e+01] [ 8.63958208e-03 -5.10325947e-05 9.99962677e-01 -5.01365276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.566559995 meters 0.012477947839724638 Centerline is valid? [True, True] Translation: X:216.36, Y:-91.18, Z:-5.01 [[-6.94516943e-01 -7.19447145e-01 6.48241764e-03 2.16363157e+02] [ 7.19414496e-01 -6.94547188e-01 -6.85473077e-03 -9.11843007e+01] [ 9.43396143e-03 -9.71814419e-05 9.99955494e-01 -5.01436429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.626559995 meters 0.012535117248717777 Centerline is valid? [True, True] Translation: X:216.32, Y:-91.14, Z:-5.01 [[-6.95212688e-01 -7.18782181e-01 5.61202082e-03 2.16322722e+02] [ 7.18757720e-01 -6.95235333e-01 -5.93058280e-03 -9.11430766e+01] [ 8.16447240e-03 -8.93331151e-05 9.99966666e-01 -5.01378111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.686559995 meters 0.012193210330274446 Centerline is valid? [True, True] Translation: X:216.28, Y:-91.10, Z:-5.01 [[-6.94270651e-01 -7.19695586e-01 5.15047957e-03 2.16281009e+02] [ 7.19675031e-01 -6.94289751e-01 -5.43974967e-03 -9.11025327e+01] [ 7.49088901e-03 -6.99869969e-05 9.99971940e-01 -5.01323257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.746559995 meters 0.011841173199155949 Centerline is valid? [True, True] Translation: X:216.24, Y:-91.06, Z:-5.01 [[-6.92127455e-01 -7.21757060e-01 5.13143886e-03 2.16239145e+02] [ 7.21736736e-01 -6.92146476e-01 -5.41656464e-03 -9.10627929e+01] [ 7.46115109e-03 -4.54051690e-05 9.99972164e-01 -5.01339488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.80655999499993 meters 0.011496896203821499 Centerline is valid? [True, True] Translation: X:216.19, Y:-91.03, Z:-5.01 [[-6.86750049e-01 -7.26870437e-01 5.80844786e-03 2.16193556e+02] [ 7.26844608e-01 -6.86774612e-01 -6.12766645e-03 -9.10257544e+01] [ 8.44311412e-03 1.36637668e-05 9.99964356e-01 -5.01397063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.86655999499993 meters 0.012403346043161307 Centerline is valid? [True, True] Translation: X:216.15, Y:-90.99, Z:-5.02 [[-6.80440453e-01 -7.32773561e-01 6.61042678e-03 2.16147365e+02] [ 7.32740423e-01 -6.80472555e-01 -6.96951861e-03 -9.09913267e+01] [ 9.60529297e-03 1.01384509e-04 9.99953863e-01 -5.01613688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.92655999499993 meters 0.01321327277245106 Centerline is valid? [True, True] Translation: X:216.10, Y:-90.95, Z:-5.02 [[-6.77639404e-01 -7.35360355e-01 7.07008943e-03 2.16104594e+02] [ 7.35322634e-01 -6.77676269e-01 -7.44973403e-03 -9.09526078e+01] [ 1.02694709e-02 1.50563449e-04 9.99947256e-01 -5.01669400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.98655999499994 meters 0.014695168296526636 Centerline is valid? [True, True] Translation: X:216.06, Y:-90.91, Z:-5.02 [[-6.75505412e-01 -7.37318319e-01 7.35766870e-03 2.16062407e+02] [ 7.37277630e-01 -6.75545454e-01 -7.74823346e-03 -9.09141242e+01] [ 1.06833541e-02 1.90670909e-04 9.99942913e-01 -5.01729752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04655999499994 meters 0.014642249933493489 Centerline is valid? [True, True] Translation: X:216.02, Y:-90.87, Z:-5.02 [[-6.73527816e-01 -7.39133375e-01 6.49123193e-03 2.16020742e+02] [ 7.39101825e-01 -6.73559067e-01 -6.83194786e-03 -9.08738038e+01] [ 9.42194879e-03 1.96174446e-04 9.99955593e-01 -5.01527238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10655999499994 meters 0.014655419406874905 Centerline is valid? [True, True] Translation: X:215.98, Y:-90.83, Z:-5.01 [[-6.73218028e-01 -7.39421963e-01 5.71372417e-03 2.15979322e+02] [ 7.39397558e-01 -6.73242251e-01 -6.01020652e-03 -9.08328863e+01] [ 8.29079923e-03 1.78534318e-04 9.99965615e-01 -5.01367878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16655999499994 meters 0.014655419406874905 Centerline is valid? [True, True] Translation: X:215.94, Y:-90.79, Z:-5.01 [[-6.73428360e-01 -7.39230396e-01 5.71543386e-03 2.15939583e+02] [ 7.39205997e-01 -6.73452590e-01 -6.00858072e-03 -9.07911973e+01] [ 8.29079923e-03 1.78534326e-04 9.99965615e-01 -5.01368036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22655999499995 meters 0.015255918417514126 Centerline is valid? [True, True] Translation: X:215.90, Y:-90.75, Z:-5.01 [[-6.73168488e-01 -7.39460859e-01 6.46721835e-03 2.15898396e+02] [ 7.39429657e-01 -6.73199521e-01 -6.79612994e-03 -9.07510486e+01] [ 9.37920038e-03 2.07112528e-04 9.99955993e-01 -5.01409492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28655999499995 meters 0.016252627498718263 Centerline is valid? [True, True] Translation: X:215.86, Y:-90.71, Z:-5.02 [[-6.71744380e-01 -7.40741086e-01 7.88235862e-03 2.15855865e+02] [ 7.40694861e-01 -6.71790567e-01 -8.27988935e-03 -9.07120363e+01] [ 1.14285484e-02 2.76453385e-04 9.99934654e-01 -5.01613057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34655999499995 meters 0.016939338549698854 Centerline is valid? [True, True] Translation: X:215.81, Y:-90.67, Z:-5.02 [[-6.69502351e-01 -7.42756774e-01 8.88690650e-03 2.15813108e+02] [ 7.42698260e-01 -6.69561236e-01 -9.32984369e-03 -9.06725760e+01] [ 1.28801327e-02 3.53937712e-04 9.99916985e-01 -5.01613143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40655999499995 meters 0.01773728090417706 Centerline is valid? [True, True] Translation: X:215.77, Y:-90.63, Z:-5.02 [[-6.68492451e-01 -7.43663469e-01 9.08228941e-03 2.15770494e+02] [ 7.43602506e-01 -6.68554035e-01 -9.52965041e-03 -9.06325867e+01] [ 1.31588541e-02 3.83113809e-04 9.99913345e-01 -5.01628421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46655999499995 meters 0.017708212134843915 Centerline is valid? [True, True] Translation: X:215.73, Y:-90.59, Z:-5.02 [[-6.68751336e-01 -7.43431976e-01 8.97480508e-03 2.15730282e+02] [ 7.43372504e-01 -6.68811449e-01 -9.41094944e-03 -9.05914874e+01] [ 1.29988531e-02 3.78038317e-04 9.99915440e-01 -5.01596148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52655999499996 meters 0.01648922495898929 Centerline is valid? [True, True] Translation: X:215.69, Y:-90.55, Z:-5.01 [[-6.70181093e-01 -7.42156794e-01 7.78429896e-03 2.15691694e+02] [ 7.42112020e-01 -6.70226229e-01 -8.15794755e-03 -9.05479226e+01] [ 1.12717175e-02 3.09519624e-04 9.99936424e-01 -5.01303669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58655999499996 meters 0.016873016311585456 Centerline is valid? [True, True] Translation: X:215.65, Y:-90.51, Z:-5.01 [[-6.72233410e-01 -7.40306242e-01 6.99355351e-03 2.15651562e+02] [ 7.40270045e-01 -6.72269740e-01 -7.32511390e-03 -9.05065897e+01] [ 1.01243819e-02 2.52931873e-04 9.99948715e-01 -5.01213712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64655999499996 meters 0.014715662395741458 Centerline is valid? [True, True] Translation: X:215.61, Y:-90.46, Z:-5.01 [[-6.75335793e-01 -7.37480639e-01 6.62373021e-03 2.15613511e+02] [ 7.37448069e-01 -6.75368245e-01 -6.93399978e-03 -9.04621904e+01] [ 9.58714764e-03 2.01878810e-04 9.99954022e-01 -5.01052677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70655999499996 meters 0.01448147830224933 Centerline is valid? [True, True] Translation: X:215.57, Y:-90.42, Z:-5.01 [[-6.77175893e-01 -7.35786758e-01 7.11737804e-03 2.15574588e+02] [ 7.35749101e-01 -6.77213267e-01 -7.44661074e-03 -9.04207498e+01] [ 1.02991004e-02 1.93939215e-04 9.99946944e-01 -5.01093976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76655999499997 meters 0.013740690344982822 Centerline is valid? [True, True] Translation: X:215.54, Y:-90.38, Z:-5.01 [[-6.79201407e-01 -7.33909090e-01 7.93071418e-03 2.15535403e+02] [ 7.33862266e-01 -6.79247681e-01 -8.29232533e-03 -9.03787623e+01] [ 1.14727322e-02 1.87892844e-04 9.99934168e-01 -5.01110962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82655999499997 meters 0.013318095834279517 Centerline is valid? [True, True] Translation: X:215.50, Y:-90.34, Z:-5.01 [[-6.81020332e-01 -7.32211345e-01 8.82348098e-03 2.15495715e+02] [ 7.32153294e-01 -6.81077465e-01 -9.22177198e-03 -9.03368979e+01] [ 1.27617601e-02 1.79926447e-04 9.99918549e-01 -5.01206431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88655999499997 meters 0.01292535218423982 Centerline is valid? [True, True] Translation: X:215.46, Y:-90.29, Z:-5.01 [[-6.82582055e-01 -7.30761318e-01 8.34473396e-03 2.15456247e+02] [ 7.30709345e-01 -6.82633046e-01 -8.71653303e-03 -9.02945311e+01] [ 1.20660963e-02 1.47826055e-04 9.99927191e-01 -5.01116526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.946559995 meters 0.012354541975120013 Centerline is valid? [True, True] Translation: X:215.42, Y:-90.25, Z:-5.01 [[-6.85108949e-01 -7.28397541e-01 7.92150489e-03 2.15417157e+02] [ 7.28350601e-01 -6.85154736e-01 -8.26981473e-03 -9.02518038e+01] [ 1.14511693e-02 1.03908768e-04 9.99934428e-01 -5.01082292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.006559995 meters 0.01211235896296647 Centerline is valid? [True, True] Translation: X:215.38, Y:-90.21, Z:-5.01 [[-6.86580139e-01 -7.27012582e-01 7.77300079e-03 2.15378290e+02] [ 7.26967354e-01 -6.86624133e-01 -8.10967979e-03 -9.02101974e+01] [ 1.12329692e-02 8.27727374e-05 9.99936905e-01 -5.01025283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.066559995 meters 0.012149250907289456 Centerline is valid? [True, True] Translation: X:215.34, Y:-90.17, Z:-5.01 [[-6.86864770e-01 -7.26747828e-01 7.37445289e-03 2.15338325e+02] [ 7.26707155e-01 -6.86904352e-01 -7.68908608e-03 -9.01695408e+01] [ 1.06535704e-02 7.77053401e-05 9.99943246e-01 -5.00946183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.126559995 meters 0.0121843165963067 Centerline is valid? [True, True] Translation: X:215.30, Y:-90.13, Z:-5.01 [[-6.86811944e-01 -7.26792757e-01 7.85123557e-03 2.15297528e+02] [ 7.26746715e-01 -6.86856812e-01 -8.18113374e-03 -9.01289367e+01] [ 1.13386634e-02 8.69592913e-05 9.99935712e-01 -5.01027915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.186559995 meters 0.01218758443123947 Centerline is valid? [True, True] Translation: X:215.26, Y:-90.09, Z:-5.01 [[-6.86502384e-01 -7.27080646e-01 8.25897619e-03 2.15256732e+02] [ 7.27029784e-01 -6.86552055e-01 -8.60055752e-03 -9.00888092e+01] [ 1.19235160e-02 1.00218441e-04 9.99928907e-01 -5.00941515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.246559995 meters 0.011984403981683267 Centerline is valid? [True, True] Translation: X:215.22, Y:-90.05, Z:-5.01 [[-6.87102722e-01 -7.26516926e-01 7.93758190e-03 2.15215544e+02] [ 7.26469962e-01 -6.87148563e-01 -8.26112294e-03 -9.00481522e+01] [ 1.14561436e-02 9.01747664e-05 9.99934372e-01 -5.00875644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.30655999499993 meters 0.011840323362650907 Centerline is valid? [True, True] Translation: X:215.18, Y:-90.01, Z:-5.01 [[-6.88927236e-01 -7.24795354e-01 7.13854663e-03 2.15175195e+02] [ 7.24757320e-01 -6.88964217e-01 -7.42531863e-03 -9.00067020e+01] [ 1.03000396e-02 5.82096767e-05 9.99946952e-01 -5.00880295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.36655999499993 meters 0.011769159241818894 Centerline is valid? [True, True] Translation: X:215.14, Y:-89.96, Z:-5.01 [[-6.91170941e-01 -7.22658453e-01 6.89141412e-03 2.15136320e+02] [ 7.22622945e-01 -6.91205295e-01 -7.16370633e-03 -8.99649857e+01] [ 9.94029486e-03 2.85483229e-05 9.99950594e-01 -5.00814547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.42655999499993 meters 0.011909350195227045 Centerline is valid? [True, True] Translation: X:215.10, Y:-89.92, Z:-5.01 [[-6.94887709e-01 -7.19080686e-01 7.35109059e-03 2.15097067e+02] [ 7.19040130e-01 -6.94926590e-01 -7.63715407e-03 -8.99222660e+01] [ 1.06001983e-02 -2.12353644e-05 9.99943816e-01 -5.00853155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.48655999499994 meters 0.01224041696860409 Centerline is valid? [True, True] Translation: X:215.06, Y:-89.88, Z:-5.01 [[-6.97754128e-01 -7.16289601e-01 8.26948661e-03 2.15057710e+02] [ 7.16238139e-01 -6.97803126e-01 -8.58637313e-03 -8.98799450e+01] [ 1.19208034e-02 -6.82555855e-05 9.99928942e-01 -5.00983462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54655999499994 meters 0.012894740240176103 Centerline is valid? [True, True] Translation: X:215.02, Y:-89.84, Z:-5.01 [[-7.01393894e-01 -7.12717912e-01 8.93217593e-03 2.15018365e+02] [ 7.12657647e-01 -7.01450754e-01 -9.26921397e-03 -8.98370070e+01] [ 1.28718164e-02 -1.35786600e-04 9.99917146e-01 -5.01060288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60655999499994 meters 0.013392312943532202 Centerline is valid? [True, True] Translation: X:214.98, Y:-89.79, Z:-5.01 [[-7.03121815e-01 -7.11016269e-01 8.69355333e-03 2.14978322e+02] [ 7.10959114e-01 -7.03175540e-01 -9.01656608e-03 -8.97947191e+01] [ 1.25240192e-02 -1.58983340e-04 9.99921559e-01 -5.01061447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66655999499994 meters 0.013565870332806037 Centerline is valid? [True, True] Translation: X:214.94, Y:-89.75, Z:-5.01 [[-7.03974736e-01 -7.10170976e-01 8.76102024e-03 2.14937683e+02] [ 7.10112937e-01 -7.04029229e-01 -9.08084181e-03 -8.97543369e+01] [ 1.26169646e-02 -1.71369410e-04 9.99920388e-01 -5.01049131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72655999499995 meters 0.01312430456781183 Centerline is valid? [True, True] Translation: X:214.90, Y:-89.71, Z:-5.01 [[-7.02898635e-01 -7.11229772e-01 9.25859402e-03 2.14895246e+02] [ 7.11165112e-01 -7.02959591e-01 -9.59150855e-03 -8.97139296e+01] [ 1.33301839e-02 -1.57469217e-04 9.99911137e-01 -5.01027511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78655999499995 meters 0.012573942974494991 Centerline is valid? [True, True] Translation: X:214.85, Y:-89.67, Z:-5.01 [[-7.01383674e-01 -7.12729377e-01 8.81916608e-03 2.14853171e+02] [ 7.12670894e-01 -7.01439107e-01 -9.13106427e-03 -8.96740539e+01] [ 1.26940857e-02 -1.19216424e-04 9.99919420e-01 -5.00948633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84655999499995 meters 0.012166242901871054 Centerline is valid? [True, True] Translation: X:214.81, Y:-89.64, Z:-5.01 [[-6.98141443e-01 -7.15911190e-01 8.34821151e-03 2.14809875e+02] [ 7.15859072e-01 -6.98191352e-01 -8.63854046e-03 -8.96356602e+01] [ 1.20130769e-02 -5.47801623e-05 9.99927839e-01 -5.00914649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90655999499995 meters 0.011869838587229809 Centerline is valid? [True, True] Translation: X:214.77, Y:-89.60, Z:-5.01 [[-6.94553325e-01 -7.19398431e-01 7.84706180e-03 2.14766237e+02] [ 7.19352656e-01 -6.94597651e-01 -8.11537955e-03 -8.95967418e+01] [ 1.12887420e-02 8.24089512e-06 9.99936280e-01 -5.00857643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96655999499995 meters 0.011997593275970319 Centerline is valid? [True, True] Translation: X:214.72, Y:-89.56, Z:-5.01 [[-6.92246437e-01 -7.21626285e-01 7.09754493e-03 2.14724880e+02] [ 7.21588990e-01 -6.92282820e-01 -7.33665773e-03 -8.95588817e+01] [ 1.02078335e-02 4.27351048e-05 9.99947898e-01 -5.00841802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02655999499996 meters 0.012322249506584329 Centerline is valid? [True, True] Translation: X:214.68, Y:-89.52, Z:-5.01 [[-6.90334459e-01 -7.23458411e-01 6.80164249e-03 2.14682991e+02] [ 7.23424292e-01 -6.90367962e-01 -7.02642828e-03 -8.95194281e+01] [ 9.77896470e-03 6.98878441e-05 9.99952182e-01 -5.00816102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08655999499996 meters 0.012379479463064953 Centerline is valid? [True, True] Translation: X:214.64, Y:-89.48, Z:-5.01 [[-6.89764410e-01 -7.24000777e-01 6.92343218e-03 2.14642822e+02] [ 7.23965499e-01 -6.89799151e-01 -7.14753501e-03 -8.94793216e+01] [ 9.95059854e-03 8.22107660e-05 9.99950488e-01 -5.00816022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14655999499996 meters 0.013094273561289853 Centerline is valid? [True, True] Translation: X:214.60, Y:-89.44, Z:-5.01 [[-6.88313902e-01 -7.25372283e-01 7.68263523e-03 2.14601917e+02] [ 7.25328980e-01 -6.88356766e-01 -7.92671431e-03 -8.94390723e+01] [ 1.10382128e-02 1.16370317e-04 9.99939070e-01 -5.00924667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20655999499996 meters 0.012897367681289606 Centerline is valid? [True, True] Translation: X:214.56, Y:-89.40, Z:-5.01 [[-6.87781496e-01 -7.25873042e-01 8.05859110e-03 2.14562702e+02] [ 7.25825493e-01 -6.87828692e-01 -8.30934746e-03 -8.93971004e+01] [ 1.15744615e-02 1.34115427e-04 9.99933005e-01 -5.00810503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26655999499997 meters 0.013433898275008373 Centerline is valid? [True, True] Translation: X:214.52, Y:-89.36, Z:-5.01 [[-6.87864019e-01 -7.25791685e-01 8.33791468e-03 2.14522613e+02] [ 7.25740826e-01 -6.87914537e-01 -8.59318246e-03 -8.93570214e+01] [ 1.19726331e-02 1.40224059e-04 9.99928316e-01 -5.00926204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32655999499997 meters 0.012743259891663031 Centerline is valid? [True, True] Translation: X:214.49, Y:-89.31, Z:-5.01 [[-6.88799551e-01 -7.24899381e-01 8.72152922e-03 2.14485007e+02] [ 7.24843728e-01 -6.88854752e-01 -8.98335832e-03 -8.93122291e+01] [ 1.25198977e-02 1.34012575e-04 9.99921614e-01 -5.00726769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38655999499997 meters 0.012573198485829239 Centerline is valid? [True, True] Translation: X:214.45, Y:-89.27, Z:-5.01 [[-6.90652992e-01 -7.23127020e-01 9.26053831e-03 2.14447494e+02] [ 7.23064188e-01 -6.90715065e-01 -9.53309198e-03 -8.92683143e+01] [ 1.32900297e-02 1.11905110e-04 9.99911677e-01 -5.00730307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.446559995 meters 0.012423952880539098 Centerline is valid? [True, True] Translation: X:214.41, Y:-89.23, Z:-5.01 [[-6.91708384e-01 -7.22119061e-01 9.14181649e-03 2.14408430e+02] [ 7.22057812e-01 -6.91768786e-01 -9.40546289e-03 -8.92250179e+01] [ 1.31158873e-02 9.50824722e-05 9.99913979e-01 -5.00694526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.506559995 meters 0.012295043537365035 Centerline is valid? [True, True] Translation: X:214.37, Y:-89.18, Z:-5.01 [[-6.92267908e-01 -7.21581328e-01 9.24832618e-03 2.14370140e+02] [ 7.21518668e-01 -6.92329675e-01 -9.50960567e-03 -8.91808725e+01] [ 1.32648445e-02 8.96451672e-05 9.99912014e-01 -5.00662096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.566559995 meters 0.012494001043562988 Centerline is valid? [True, True] Translation: X:214.33, Y:-89.14, Z:-5.01 [[-6.92449125e-01 -7.21401854e-01 9.67341404e-03 2.14332380e+02] [ 7.21333365e-01 -6.92516683e-01 -9.94086468e-03 -8.91398312e+01] [ 1.38703588e-02 9.42132520e-05 9.99903798e-01 -5.00734367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.626559995 meters 0.012527240486310437 Centerline is valid? [True, True] Translation: X:214.29, Y:-89.10, Z:-5.01 [[-6.91813050e-01 -7.22018562e-01 9.15968520e-03 2.14293937e+02] [ 7.21957287e-01 -6.91873677e-01 -9.40697262e-03 -8.90973671e+01] [ 1.31293539e-02 1.05035065e-04 9.99913801e-01 -5.00668341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.686559995 meters 0.012572336155744523 Centerline is valid? [True, True] Translation: X:214.26, Y:-89.06, Z:-5.01 [[-6.91230022e-01 -7.22585401e-01 8.44959763e-03 2.14255089e+02] [ 7.22533366e-01 -6.91281655e-01 -8.67230247e-03 -8.90551179e+01] [ 1.21075310e-02 1.10560395e-04 9.99926695e-01 -5.00583062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.746559995 meters 0.012523982978286318 Centerline is valid? [True, True] Translation: X:214.22, Y:-89.01, Z:-5.00 [[-6.90574266e-01 -7.23218807e-01 7.85755763e-03 2.14215904e+02] [ 7.23173902e-01 -6.90618957e-01 -8.06003388e-03 -8.90118175e+01] [ 1.12557463e-02 1.16328636e-04 9.99936645e-01 -5.00414470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.80655999499993 meters 0.012671225869833823 Centerline is valid? [True, True] Translation: X:214.18, Y:-88.97, Z:-5.00 [[-6.89902191e-01 -7.23857486e-01 8.08129573e-03 2.14176632e+02] [ 7.23810086e-01 -6.89949507e-01 -8.28478970e-03 -8.89688130e+01] [ 1.15726930e-02 1.33628795e-04 9.99933025e-01 -5.00449143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.86655999499993 meters 0.012777769648488953 Centerline is valid? [True, True] Translation: X:214.14, Y:-88.93, Z:-5.01 [[-6.90428721e-01 -7.23349489e-01 8.58480594e-03 2.14138458e+02] [ 7.23296031e-01 -6.90482077e-01 -8.79508168e-03 -8.89277725e+01] [ 1.22895725e-02 1.36979071e-04 9.99924471e-01 -5.00574784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.92655999499993 meters 0.012675095961996206 Centerline is valid? [True, True] Translation: X:214.10, Y:-88.88, Z:-5.01 [[-6.91138431e-01 -7.22666846e-01 8.96093159e-03 2.14100776e+02] [ 7.22608618e-01 -6.91196507e-01 -9.17458582e-03 -8.88844841e+01] [ 1.28239336e-02 1.34337547e-04 9.99917761e-01 -5.00579006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.98655999499994 meters 0.01246869910940065 Centerline is valid? [True, True] Translation: X:214.06, Y:-88.84, Z:-5.01 [[-6.92158996e-01 -7.21684620e-01 9.33988094e-03 2.14062921e+02] [ 7.21621355e-01 -6.92221997e-01 -9.55650236e-03 -8.88420802e+01] [ 1.33620518e-02 1.25238459e-04 9.99910716e-01 -5.00535684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04655999499994 meters 0.0122295347538407 Centerline is valid? [True, True] Translation: X:214.02, Y:-88.80, Z:-5.00 [[-6.92645417e-01 -7.21220614e-01 9.11878282e-03 2.14023759e+02] [ 7.21160339e-01 -6.92705429e-01 -9.32491749e-03 -8.87993393e+01] [ 1.30419531e-02 1.17243144e-04 9.99914943e-01 -5.00454665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10655999499994 meters 0.012278092120001296 Centerline is valid? [True, True] Translation: X:213.98, Y:-88.76, Z:-5.00 [[-6.92456705e-01 -7.21408569e-01 8.56666601e-03 2.13984967e+02] [ 7.21355458e-01 -6.92509684e-01 -8.75444267e-03 -8.87583198e+01] [ 1.22480291e-02 1.17538757e-04 9.99924983e-01 -5.00407534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16655999499994 meters 0.012415954048444143 Centerline is valid? [True, True] Translation: X:213.95, Y:-88.72, Z:-5.00 [[-6.92147196e-01 -7.21710128e-01 8.17005138e-03 2.13945418e+02] [ 7.21661904e-01 -6.92195403e-01 -8.34387883e-03 -8.87172603e+01] [ 1.16771339e-02 1.20822495e-04 9.99931813e-01 -5.00336994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22655999499995 meters 0.012838149750797697 Centerline is valid? [True, True] Translation: X:213.90, Y:-88.68, Z:-5.00 [[-6.90812848e-01 -7.22989228e-01 8.01160764e-03 2.13904009e+02] [ 7.22942994e-01 -6.90859288e-01 -8.17751002e-03 -8.86766668e+01] [ 1.14471452e-02 1.42806629e-04 9.99934469e-01 -5.00380581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28655999499995 meters 0.012943779711823597 Centerline is valid? [True, True] Translation: X:213.86, Y:-88.64, Z:-5.00 [[-6.89694493e-01 -7.24057184e-01 7.91843951e-03 2.13862693e+02] [ 7.24012141e-01 -6.89739928e-01 -8.07782450e-03 -8.86353432e+01] [ 1.13104708e-02 1.61815270e-04 9.99936021e-01 -5.00351804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34655999499995 meters 0.013817053656402924 Centerline is valid? [True, True] Translation: X:213.82, Y:-88.60, Z:-5.00 [[-6.87658995e-01 -7.25990625e-01 7.91952581e-03 2.13820079e+02] [ 7.25945749e-01 -6.87704568e-01 -8.07440839e-03 -8.85954438e+01] [ 1.13082389e-02 1.96706533e-04 9.99936040e-01 -5.00453730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40655999499995 meters 0.013737052558576362 Centerline is valid? [True, True] Translation: X:213.78, Y:-88.55, Z:-5.00 [[-6.86993031e-01 -7.26620959e-01 7.90932902e-03 2.13779572e+02] [ 7.26576293e-01 -6.87038527e-01 -8.05936712e-03 -8.85542069e+01] [ 1.12901188e-02 2.10001914e-04 9.99936243e-01 -5.00426914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46655999499995 meters 0.013959163299475458 Centerline is valid? [True, True] Translation: X:213.74, Y:-88.51, Z:-5.01 [[-6.87474111e-01 -7.26172880e-01 7.23156213e-03 2.13739711e+02] [ 7.26135567e-01 -6.87512118e-01 -7.36378728e-03 -8.85149568e+01] [ 1.03191692e-02 1.88681357e-04 9.99946738e-01 -5.00500739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52655999499996 meters 0.014060350566441877 Centerline is valid? [True, True] Translation: X:213.70, Y:-88.47, Z:-5.01 [[-6.88268544e-01 -7.25424646e-01 6.74493301e-03 2.13700153e+02] [ 7.25392192e-01 -6.88301572e-01 -6.86397264e-03 -8.84738667e+01] [ 9.62184292e-03 1.68465286e-04 9.99953695e-01 -5.00501233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58655999499996 meters 0.014267266404640187 Centerline is valid? [True, True] Translation: X:213.66, Y:-88.43, Z:-5.01 [[-6.88330250e-01 -7.25366272e-01 6.72596277e-03 2.13659854e+02] [ 7.25334038e-01 -6.88363089e-01 -6.84041821e-03 -8.84332900e+01] [ 9.59171317e-03 1.70102963e-04 9.99953984e-01 -5.00541629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64655999499996 meters 0.01366881847097642 Centerline is valid? [True, True] Translation: X:213.62, Y:-88.39, Z:-5.01 [[-6.87825284e-01 -7.25840125e-01 7.24508301e-03 2.13619942e+02] [ 7.25802791e-01 -6.87863414e-01 -7.36430329e-03 -8.83904100e+01] [ 1.03289344e-02 1.93147462e-04 9.99946636e-01 -5.00557260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70655999499996 meters 0.015122699795866364 Centerline is valid? [True, True] Translation: X:213.58, Y:-88.35, Z:-5.01 [[-6.87824091e-01 -7.25836013e-01 7.75257994e-03 2.13578768e+02] [ 7.25793318e-01 -6.87867747e-01 -7.87536156e-03 -8.83513964e+01] [ 1.10489707e-02 2.09907316e-04 9.99938936e-01 -5.00753376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76655999499997 meters 0.014194144633359494 Centerline is valid? [True, True] Translation: X:213.54, Y:-88.31, Z:-5.01 [[-6.87677644e-01 -7.25978046e-01 7.43876749e-03 2.13540284e+02] [ 7.25938791e-01 -6.87717845e-01 -7.55229205e-03 -8.83074458e+01] [ 1.05985714e-02 2.06547470e-04 9.99943812e-01 -5.00534665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82655999499997 meters 0.014700454436708064 Centerline is valid? [True, True] Translation: X:213.50, Y:-88.27, Z:-5.01 [[-6.86902113e-01 -7.26711817e-01 7.44454547e-03 2.13498950e+02] [ 7.26672590e-01 -6.86942418e-01 -7.55390313e-03 -8.82663626e+01] [ 1.06034847e-02 2.20955108e-04 9.99943757e-01 -5.00559545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88655999499997 meters 0.015671491431716318 Centerline is valid? [True, True] Translation: X:213.46, Y:-88.23, Z:-5.01 [[-6.85963509e-01 -7.27594509e-01 7.76498797e-03 2.13458428e+02] [ 7.27551939e-01 -6.86007412e-01 -7.87441353e-03 -8.82262442e+01] [ 1.10562194e-02 2.47871723e-04 9.99938847e-01 -5.00622797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.946559995 meters 0.015195861658859553 Centerline is valid? [True, True] Translation: X:213.42, Y:-88.18, Z:-5.01 [[-6.85899590e-01 -7.27653407e-01 7.89132066e-03 2.13419499e+02] [ 7.27609502e-01 -6.85944935e-01 -7.99740945e-03 -8.81846758e+01] [ 1.12323537e-02 2.56380036e-04 9.99936882e-01 -5.00557648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.006559995 meters 0.01579036996043702 Centerline is valid? [True, True] Translation: X:213.38, Y:-88.14, Z:-5.01 [[-6.85996647e-01 -7.27564992e-01 7.60148534e-03 2.13379550e+02] [ 7.27524303e-01 -6.86038716e-01 -7.69855436e-03 -8.81446113e+01] [ 1.08161119e-02 2.49082853e-04 9.99941473e-01 -5.00543980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.066559995 meters 0.014937940354856237 Centerline is valid? [True, True] Translation: X:213.34, Y:-88.10, Z:-5.00 [[-6.86249496e-01 -7.27333553e-01 6.89427225e-03 2.13340273e+02] [ 7.27300111e-01 -6.86284090e-01 -6.97831270e-03 -8.81011171e+01] [ 9.80699032e-03 2.25341395e-04 9.99951885e-01 -5.00351586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.126559995 meters 0.014734956574060218 Centerline is valid? [True, True] Translation: X:213.30, Y:-88.06, Z:-5.00 [[-6.86839218e-01 -7.26782403e-01 6.26317156e-03 2.13300462e+02] [ 7.26754813e-01 -6.86867745e-01 -6.33588691e-03 -8.80587359e+01] [ 8.90678164e-03 2.00054466e-04 9.99960314e-01 -5.00214963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.186559995 meters 0.014903495064997958 Centerline is valid? [True, True] Translation: X:213.26, Y:-88.02, Z:-5.00 [[-6.87183869e-01 -7.26459638e-01 5.89269978e-03 2.13259497e+02] [ 7.26435232e-01 -6.87209109e-01 -5.95772605e-03 -8.80170225e+01] [ 8.37756447e-03 1.86611493e-04 9.99964890e-01 -5.00169624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.246559995 meters 0.015416249613063752 Centerline is valid? [True, True] Translation: X:213.22, Y:-87.98, Z:-5.00 [[-6.86851097e-01 -7.26768247e-01 6.59430335e-03 2.13218367e+02] [ 7.26737732e-01 -6.86882718e-01 -6.66333006e-03 -8.79765938e+01] [ 9.37220972e-03 2.15613497e-04 9.99956057e-01 -5.00290911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.30655999499993 meters 0.015508848175528781 Centerline is valid? [True, True] Translation: X:213.18, Y:-87.94, Z:-5.00 [[-6.86191975e-01 -7.27385861e-01 7.09812369e-03 2.13177586e+02] [ 7.27350579e-01 -6.86228643e-01 -7.16836132e-03 -8.79357758e+01] [ 1.00851005e-02 2.43952357e-04 9.99949114e-01 -5.00329450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.36655999499993 meters 0.015774737313038228 Centerline is valid? [True, True] Translation: X:213.14, Y:-87.89, Z:-5.00 [[-6.85191926e-01 -7.28318873e-01 7.97773705e-03 2.13136732e+02] [ 7.28274420e-01 -6.85238305e-01 -8.05206140e-03 -8.78948756e+01] [ 1.13311193e-02 2.92774361e-04 9.99935758e-01 -5.00385104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.42655999499993 meters 0.015942993827116596 Centerline is valid? [True, True] Translation: X:213.10, Y:-87.85, Z:-5.00 [[-6.84995204e-01 -7.28502801e-01 8.07706315e-03 2.13095919e+02] [ 7.28457301e-01 -6.85042756e-01 -8.14764205e-03 -8.78532218e+01] [ 1.14687137e-02 3.02699892e-04 9.99934186e-01 -5.00371819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.48655999499994 meters 0.016519365794242846 Centerline is valid? [True, True] Translation: X:213.06, Y:-87.81, Z:-5.00 [[-6.85390000e-01 -7.28140128e-01 7.24581143e-03 2.13056595e+02] [ 7.28103541e-01 -6.85428247e-01 -7.30423646e-03 -8.78134565e+01] [ 1.02849915e-02 2.69450326e-04 9.99947072e-01 -5.00331132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54655999499994 meters 0.016245546474993353 Centerline is valid? [True, True] Translation: X:213.02, Y:-87.77, Z:-5.00 [[-6.85955069e-01 -7.27615092e-01 6.47470534e-03 2.13016956e+02] [ 7.27585893e-01 -6.85985584e-01 -6.52278652e-03 -8.77723974e+01] [ 9.18763244e-03 2.36565790e-04 9.99957765e-01 -5.00244352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60655999499994 meters 0.01605005063765154 Centerline is valid? [True, True] Translation: X:212.98, Y:-87.73, Z:-5.00 [[-6.86120766e-01 -7.27466413e-01 5.55988139e-03 2.12977227e+02] [ 7.27444905e-01 -6.86143262e-01 -5.59760299e-03 -8.77314441e+01] [ 7.88694332e-03 2.03875741e-04 9.99968877e-01 -5.00120947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66655999499994 meters 0.016121530661492047 Centerline is valid? [True, True] Translation: X:212.94, Y:-87.69, Z:-5.00 [[-6.85768216e-01 -7.27798790e-01 5.55657322e-03 2.12936823e+02] [ 7.27777344e-01 -6.85790695e-01 -5.59108346e-03 -8.76901832e+01] [ 7.87982998e-03 2.09760770e-04 9.99968932e-01 -5.00080454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72655999499995 meters 0.016800581832940493 Centerline is valid? [True, True] Translation: X:212.90, Y:-87.65, Z:-5.00 [[-6.85000704e-01 -7.28516258e-01 6.17237640e-03 2.12895468e+02] [ 7.28489856e-01 -6.85028468e-01 -6.20698120e-03 -8.76500672e+01] [ 8.75014027e-03 2.44727104e-04 9.99961687e-01 -5.00168479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78655999499995 meters 0.016861254272283913 Centerline is valid? [True, True] Translation: X:212.85, Y:-87.61, Z:-5.00 [[-6.84724405e-01 -7.28776623e-01 6.09292693e-03 2.12854880e+02] [ 7.28750941e-01 -6.84751468e-01 -6.12316209e-03 -8.76090528e+01] [ 8.63455805e-03 2.47547720e-04 9.99962691e-01 -5.00183232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84655999499995 meters 0.016940437952061203 Centerline is valid? [True, True] Translation: X:212.81, Y:-87.57, Z:-5.00 [[-6.85214129e-01 -7.28314732e-01 6.26490064e-03 2.12814772e+02] [ 7.28287596e-01 -6.85242722e-01 -6.29199620e-03 -8.75684095e+01] [ 8.87553110e-03 2.51284734e-04 9.99960580e-01 -5.00147570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90655999499995 meters 0.015611306683531067 Centerline is valid? [True, True] Translation: X:212.78, Y:-87.53, Z:-5.00 [[-6.87484424e-01 -7.26173316e-01 6.12215124e-03 2.12775712e+02] [ 7.26147349e-01 -6.87511648e-01 -6.14506859e-03 -8.75251642e+01] [ 8.67143513e-03 2.20944949e-04 9.99962378e-01 -5.00187407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96655999499995 meters 0.015335535829614333 Centerline is valid? [True, True] Translation: X:212.74, Y:-87.48, Z:-5.00 [[-6.89329380e-01 -7.24418245e-01 6.57358539e-03 2.12735086e+02] [ 7.24388259e-01 -6.89360689e-01 -6.59470126e-03 -8.74829197e+01] [ 9.30889327e-03 2.15906750e-04 9.99956648e-01 -5.00201215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02655999499996 meters 0.01477096433213329 Centerline is valid? [True, True] Translation: X:212.70, Y:-87.44, Z:-5.00 [[-6.90376055e-01 -7.23418766e-01 6.79648183e-03 2.12695056e+02] [ 7.23386701e-01 -6.90409476e-01 -6.81441353e-03 -8.74408146e+01] [ 9.62203008e-03 2.11976639e-04 9.99953685e-01 -5.00191077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08655999499996 meters 0.014752858080150607 Centerline is valid? [True, True] Translation: X:212.65, Y:-87.40, Z:-5.00 [[-6.91551029e-01 -7.22293860e-01 6.98242234e-03 2.12654936e+02] [ 7.22260005e-01 -6.91586248e-01 -6.99616339e-03 -8.74015659e+01] [ 9.88223313e-03 2.04920400e-04 9.99951149e-01 -5.00220256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14655999499996 meters 0.014226644818449694 Centerline is valid? [True, True] Translation: X:212.61, Y:-87.36, Z:-5.00 [[-6.92553565e-01 -7.21338374e-01 6.36473979e-03 2.12614167e+02] [ 7.21310237e-01 -6.92582788e-01 -6.37361768e-03 -8.73605864e+01] [ 9.00564424e-03 1.76880330e-04 9.99959433e-01 -5.00092960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20655999499996 meters 0.013866490488372966 Centerline is valid? [True, True] Translation: X:212.57, Y:-87.32, Z:-5.00 [[-6.93782417e-01 -7.20162469e-01 5.65468822e-03 2.12573052e+02] [ 7.20140247e-01 -6.93805446e-01 -5.65933217e-03 -8.73196532e+01] [ 7.99889211e-03 1.45823419e-04 9.99967998e-01 -4.99997452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26655999499997 meters 0.013724668735636929 Centerline is valid? [True, True] Translation: X:212.53, Y:-87.28, Z:-5.00 [[-6.95138577e-01 -7.18857458e-01 5.12972741e-03 2.12531837e+02] [ 7.18839156e-01 -6.95157493e-01 -5.13104972e-03 -8.72781913e+01] [ 7.25446181e-03 1.20658323e-04 9.99973679e-01 -4.99870828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32655999499997 meters 0.013335477738304005 Centerline is valid? [True, True] Translation: X:212.49, Y:-87.24, Z:-5.00 [[-6.96004235e-01 -7.18020228e-01 5.00566453e-03 2.12490421e+02] [ 7.18002799e-01 -6.96022226e-01 -5.00409323e-03 -8.72373380e+01] [ 7.07709393e-03 1.11211065e-04 9.99974951e-01 -4.99770277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38655999499997 meters 0.013418694553870434 Centerline is valid? [True, True] Translation: X:212.01, Y:-87.72, Z:-4.04 [[-7.65697736e-01 6.43178575e-01 5.31959168e-03 2.12009008e+02] [ 6.43162023e-01 7.65716206e-01 -4.61558552e-03 -8.77246437e+01] [-7.04194327e-03 -1.12784031e-04 -9.99975199e-01 -4.04377006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.446559995 meters 0.013830440948089497 Centerline is valid? [True, True] Translation: X:212.03, Y:-87.70, Z:-4.04 [[-8.09788149e-01 5.86694399e-01 5.73033436e-03 2.12026792e+02] [ 5.86678646e-01 8.09808414e-01 -4.30103574e-03 -8.76996508e+01] [-7.16386656e-03 -1.21062971e-04 -9.99974332e-01 -4.04278974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.506559995 meters 0.013457702390576073 Centerline is valid? [True, True] Translation: X:212.04, Y:-87.68, Z:-4.04 [[-8.49450286e-01 5.27635214e-01 5.94070066e-03 2.12044886e+02] [ 5.27621305e-01 8.49471051e-01 -3.83312787e-03 -8.76773486e+01] [-7.06894647e-03 -1.21611336e-04 -9.99975007e-01 -4.04290868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.566559995 meters 0.013583532248638522 Centerline is valid? [True, True] Translation: X:212.06, Y:-87.65, Z:-4.04 [[-8.84291617e-01 4.66909076e-01 4.92453043e-03 2.12060422e+02] [ 4.66901251e-01 8.84305324e-01 -2.70471796e-03 -8.76534971e+01] [-5.61764584e-03 -9.24899978e-05 -9.99984217e-01 -4.04342755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.626559995 meters 0.013453625080912359 Centerline is valid? [True, True] Translation: X:212.08, Y:-87.63, Z:-4.04 [[-9.14889523e-01 4.03687353e-01 3.69895160e-03 2.12075569e+02] [ 4.03683765e-01 9.14896998e-01 -1.70325213e-03 -8.76285367e+01] [-4.07174105e-03 -6.50808248e-05 -9.99991708e-01 -4.04494980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.686559995 meters 0.013710094741069247 Centerline is valid? [True, True] Translation: X:212.08, Y:-87.60, Z:-4.04 [[-9.41229921e-01 3.37748096e-01 3.52977825e-03 2.12082740e+02] [ 3.37745478e-01 9.41236538e-01 -1.33119567e-03 -8.75994098e+01] [-3.77196507e-03 -6.07945462e-05 -9.99992884e-01 -4.04411866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.746559995 meters 0.013936494394956653 Centerline is valid? [True, True] Translation: X:212.09, Y:-87.57, Z:-4.04 [[-9.62674027e-01 2.70620590e-01 4.81807224e-03 2.12094788e+02] [ 2.70616792e-01 9.62686081e-01 -1.43584620e-03 -8.75713540e+01] [-5.02686063e-03 -7.84005881e-05 -9.99987362e-01 -4.04220546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.80655999499993 meters 0.013761107052041545 Centerline is valid? [True, True] Translation: X:212.10, Y:-87.54, Z:-4.04 [[-9.79142938e-01 2.03082461e-01 6.05156752e-03 2.12099915e+02] [ 2.03078030e-01 9.79161634e-01 -1.34448656e-03 -8.75427085e+01] [-6.19850438e-03 -8.75041093e-05 -9.99980785e-01 -4.04093078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.86655999499993 meters 0.012833799162374782 Centerline is valid? [True, True] Translation: X:212.10, Y:-87.52, Z:-4.04 [[-9.90954187e-01 1.34043679e-01 6.48777937e-03 2.12102798e+02] [ 1.34040234e-01 9.90975421e-01 -9.64963879e-04 -8.75179486e+01] [-6.55857720e-03 -8.66115340e-05 -9.99978489e-01 -4.04181397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.92655999499993 meters 0.012585276427780106 Centerline is valid? [True, True] Translation: X:212.10, Y:-87.49, Z:-4.04 [[-9.97860354e-01 6.50577373e-02 6.49653350e-03 2.12104554e+02] [ 6.50558669e-02 9.97881499e-01 -4.99040917e-04 -8.74914184e+01] [-6.51523706e-03 -7.53355270e-05 -9.99978773e-01 -4.04225132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.98655999499994 meters 0.012371835481241421 Centerline is valid? [True, True] Translation: X:212.10, Y:-87.47, Z:-4.04 [[-9.99976095e-01 -3.28132447e-03 6.08622660e-03 2.12102215e+02] [-3.28159246e-03 9.99994615e-01 -3.40466121e-05 -8.74653971e+01] [-6.08608211e-03 -5.40183136e-05 -9.99981478e-01 -4.04295859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04655999499994 meters 0.012211357102183408 Centerline is valid? [True, True] Translation: X:212.11, Y:-86.81, Z:-5.00 [[-9.96845672e-01 -7.91593545e-02 5.70111761e-03 2.12106629e+02] [ 7.91582185e-02 -9.96861974e-01 -4.24982410e-04 -8.68116348e+01] [ 5.71686869e-03 2.76484372e-05 9.99983658e-01 -4.99957499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10655999499994 meters 0.012016398454754969 Centerline is valid? [True, True] Translation: X:212.04, Y:-87.47, Z:-4.04 [[-9.99973921e-01 -4.72630031e-03 5.46069913e-03 2.12043649e+02] [-4.72640705e-03 9.99988830e-01 -6.64288007e-06 -8.74665595e+01] [-5.46060674e-03 -3.24521937e-05 -9.99985090e-01 -4.04285623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16655999499994 meters 0.012074323872213261 Centerline is valid? [True, True] Translation: X:212.04, Y:-86.81, Z:-5.00 [[-9.97150741e-01 -7.52337383e-02 5.50308207e-03 2.12044809e+02] [ 7.52327942e-02 -9.97165926e-01 -3.78658232e-04 -8.68127191e+01] [ 5.51597380e-03 3.64329044e-05 9.99984786e-01 -4.99966887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22655999499995 meters 0.012912036607820261 Centerline is valid? [True, True] Translation: X:211.98, Y:-87.46, Z:-4.04 [[-9.99883027e-01 -1.40370426e-02 6.07403452e-03 2.11982496e+02] [-1.40371897e-02 9.99901474e-01 1.84129225e-05 -8.74623428e+01] [-6.07369453e-03 -6.68516060e-05 -9.99981553e-01 -4.04171893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28655999499995 meters 0.013027162395501488 Centerline is valid? [True, True] Translation: X:211.98, Y:-86.82, Z:-5.00 [[-9.96925611e-01 -7.80701160e-02 6.66207061e-03 2.11978327e+02] [ 7.80691377e-02 -9.96947864e-01 -4.07175930e-04 -8.68179011e+01] [ 6.67352534e-03 1.14177995e-04 9.99977725e-01 -5.00062317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34655999499995 meters 0.01411495801710832 Centerline is valid? [True, True] Translation: X:211.92, Y:-87.46, Z:-4.04 [[-9.99643047e-01 -2.56562310e-02 7.45230300e-03 2.11919530e+02] [-2.56565399e-02 9.99670815e-01 5.41714220e-05 -8.74582714e+01] [-7.45123965e-03 -1.37048224e-04 -9.99972230e-01 -4.04029010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40655999499995 meters 0.015056736924917111 Centerline is valid? [True, True] Translation: X:211.91, Y:-87.43, Z:-4.04 [[-9.95188536e-01 -9.76640835e-02 7.84253290e-03 2.11911414e+02] [-9.76622621e-02 9.95219425e-01 6.15796987e-04 -8.74301124e+01] [-7.86518233e-03 -1.53085403e-04 -9.99969057e-01 -4.03887060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46655999499995 meters 0.01412872482873354 Centerline is valid? [True, True] Translation: X:211.90, Y:-87.41, Z:-4.04 [[-9.85727264e-01 -1.68150232e-01 8.20123059e-03 2.11902799e+02] [-1.68145767e-01 9.85761368e-01 1.23593584e-03 -8.74082843e+01] [-8.29227918e-03 -1.60706549e-04 -9.99965606e-01 -4.03958304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52655999499996 meters 0.014408449760519079 Centerline is valid? [True, True] Translation: X:211.81, Y:-86.77, Z:-5.00 [[-9.97919737e-01 6.39934891e-02 7.81228914e-03 2.11805844e+02] [-6.39905703e-02 -9.97950309e-01 6.23262863e-04 -8.67735434e+01] [ 7.83616112e-03 1.22053476e-04 9.99969289e-01 -5.00330730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58655999499996 meters 0.014088275181612958 Centerline is valid? [True, True] Translation: X:211.82, Y:-87.42, Z:-4.04 [[-9.85023827e-01 -1.72273491e-01 7.06433472e-03 2.11818897e+02] [-1.72269993e-01 9.85049150e-01 1.10519322e-03 -8.74248368e+01] [-7.14911240e-03 -1.28331235e-04 -9.99974437e-01 -4.03997139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64655999499996 meters 0.014523374100071913 Centerline is valid? [True, True] Translation: X:211.71, Y:-86.78, Z:-5.00 [[-9.97589565e-01 6.91105205e-02 6.22856614e-03 2.11714416e+02] [-6.91088513e-02 -9.97609008e-01 4.83089934e-04 -8.67822639e+01] [ 6.24706029e-03 5.14764267e-05 9.99980486e-01 -5.00217217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70655999499996 meters 0.015143896169784192 Centerline is valid? [True, True] Translation: X:211.73, Y:-87.44, Z:-4.04 [[-9.83513785e-01 -1.80695143e-01 7.06400580e-03 2.11729433e+02] [-1.80691576e-01 9.83539141e-01 1.14526068e-03 -8.74394847e+01] [-7.15466924e-03 -1.50026674e-04 -9.99974394e-01 -4.03951647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76655999499997 meters 0.01648216399111757 Centerline is valid? [True, True] Translation: X:211.72, Y:-87.41, Z:-4.04 [[-9.67466020e-01 -2.52851920e-01 8.68370071e-03 2.11720112e+02] [-2.52843676e-01 9.67504968e-01 2.05249522e-03 -8.74122605e+01] [-8.92050094e-03 -2.09899431e-04 -9.99960190e-01 -4.03765277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82655999499997 meters 0.01603546123260742 Centerline is valid? [True, True] Translation: X:211.56, Y:-86.78, Z:-5.00 [[-9.90358233e-01 1.38199114e-01 9.56948308e-03 2.11562831e+02] [-1.38189900e-01 -9.90404425e-01 1.62064368e-03 -8.67798562e+01] [ 9.70162991e-03 2.82611908e-04 9.99952898e-01 -5.00476869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88655999499997 meters 0.017842495767993648 Centerline is valid? [True, True] Translation: X:211.62, Y:-87.44, Z:-4.04 [[-9.65002062e-01 -2.62081442e-01 9.18361266e-03 2.11618583e+02] [-2.62072068e-01 9.65045726e-01 2.23114894e-03 -8.74378206e+01] [-9.44734888e-03 -2.53705033e-04 -9.99955341e-01 -4.03679468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.946559995 meters 0.015969440446971076 Centerline is valid? [True, True] Translation: X:211.60, Y:-87.42, Z:-4.04 [[-9.44221570e-01 -3.29242586e-01 6.70412975e-03 2.11603420e+02] [-3.29235636e-01 9.44245353e-01 2.14683767e-03 -8.74211214e+01] [-7.03717375e-03 -1.80147991e-04 -9.99975223e-01 -4.03917237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.006559995 meters 0.015953653290442286 Centerline is valid? [True, True] Translation: X:211.57, Y:-87.41, Z:-4.04 [[-9.18422781e-01 -3.95565602e-01 5.23922408e-03 2.11572923e+02] [-3.95560032e-01 9.18437714e-01 2.10382582e-03 -8.74056239e+01] [-5.64410212e-03 -1.40226087e-04 -9.99984062e-01 -4.03998572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.066559995 meters 0.01590122643300808 Centerline is valid? [True, True] Translation: X:211.52, Y:-87.40, Z:-4.04 [[-8.87285351e-01 -4.61197809e-01 4.61371915e-03 2.11524614e+02] [-4.61192309e-01 8.87297338e-01 2.25591318e-03 -8.74008396e+01] [-5.13416293e-03 -1.26173067e-04 -9.99986812e-01 -4.03975944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.126559995 meters 0.016113223399660297 Centerline is valid? [True, True] Translation: X:211.46, Y:-87.41, Z:-4.04 [[-8.50992105e-01 -5.25154987e-01 4.96765489e-03 2.11461376e+02] [-5.25146996e-01 8.51006592e-01 2.90051242e-03 -8.74059537e+01] [-5.75072562e-03 -1.40435876e-04 -9.99983455e-01 -4.03889582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.186559995 meters 0.014844338860620393 Centerline is valid? [True, True] Translation: X:211.40, Y:-87.42, Z:-4.04 [[-8.10692505e-01 -5.85442331e-01 5.91098265e-03 2.11396696e+02] [-5.85428238e-01 8.10714037e-01 4.06544144e-03 -8.74213590e+01] [-7.17219812e-03 -1.64633261e-04 -9.99974266e-01 -4.03790357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.246559995 meters 0.015570500639473999 Centerline is valid? [True, True] Translation: X:211.32, Y:-87.44, Z:-4.04 [[-7.64825353e-01 -6.44209641e-01 6.00985767e-03 2.11323855e+02] [-6.44191538e-01 7.64848944e-01 4.83273303e-03 -8.74430718e+01] [-7.70992650e-03 -1.75302711e-04 -9.99970263e-01 -4.03737806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.30655999499993 meters 0.01515236496078492 Centerline is valid? [True, True] Translation: X:211.24, Y:-87.48, Z:-4.04 [[-7.14073205e-01 -7.00046488e-01 5.86284223e-03 2.11243743e+02] [-7.00025006e-01 7.14097249e-01 5.48727816e-03 -8.74814735e+01] [-8.02798931e-03 -1.85817860e-04 -9.99967758e-01 -4.03742815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.36655999499993 meters 0.015328130233123361 Centerline is valid? [True, True] Translation: X:211.16, Y:-87.53, Z:-4.04 [[-6.59659634e-01 -7.51544277e-01 5.51070140e-03 2.11163475e+02] [-7.51520363e-01 6.59682625e-01 5.99810112e-03 -8.75272638e+01] [-8.14315254e-03 -1.84699128e-04 -9.99966827e-01 -4.03675425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.42655999499993 meters 0.015486451357983377 Centerline is valid? [True, True] Translation: X:211.09, Y:-87.58, Z:-4.04 [[-6.01776656e-01 -7.98649305e-01 4.91367576e-03 2.11085043e+02] [-7.98624973e-01 6.01796692e-01 6.23646614e-03 -8.75809007e+01] [-7.93778316e-03 -1.71224432e-04 -9.99968481e-01 -4.03673807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.48655999499994 meters 0.014966099552492958 Centerline is valid? [True, True] Translation: X:211.01, Y:-87.65, Z:-4.04 [[-5.41368615e-01 -8.40776910e-01 3.76951319e-03 2.11009226e+02] [-8.40758177e-01 5.41381723e-01 5.61410099e-03 -8.76454536e+01] [-6.76095203e-03 -1.29950957e-04 -9.99977136e-01 -4.03824138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54655999499994 meters 0.014473243401517169 Centerline is valid? [True, True] Translation: X:210.93, Y:-87.73, Z:-4.04 [[-4.77257410e-01 -8.78758693e-01 2.91979364e-03 2.10930707e+02] [-8.78743563e-01 4.77266330e-01 5.15764580e-03 -8.77251275e+01] [-5.92584527e-03 -1.04225192e-04 -9.99982437e-01 -4.03905822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60655999499994 meters 0.013720472577840965 Centerline is valid? [True, True] Translation: X:210.86, Y:-87.80, Z:-4.04 [[-4.10828282e-01 -9.11710487e-01 2.02726782e-03 2.10864119e+02] [-9.11700248e-01 4.10833278e-01 4.32152104e-03 -8.78013606e+01] [-4.77284513e-03 -7.28575082e-05 -9.99988607e-01 -4.03963650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66655999499994 meters 0.013349161018359517 Centerline is valid? [True, True] Translation: X:210.80, Y:-87.89, Z:-4.04 [[-3.42251868e-01 -9.39605906e-01 2.09744293e-03 2.10797992e+02] [-9.39589576e-01 3.42258287e-01 5.54014904e-03 -8.78920112e+01] [-5.92342398e-03 -7.46091560e-05 -9.99982454e-01 -4.03777313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72655999499995 meters 0.013086643082497143 Centerline is valid? [True, True] Translation: X:210.74, Y:-87.99, Z:-4.04 [[-2.70282947e-01 -9.62778828e-01 2.01438104e-03 2.10737582e+02] [-9.62754304e-01 2.70290441e-01 6.87228368e-03 -8.79899030e+01] [-7.16095716e-03 -8.18929315e-05 -9.99974357e-01 -4.03689631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78655999499995 meters 0.012946128606567502 Centerline is valid? [True, True] Translation: X:210.68, Y:-88.10, Z:-4.04 [[-1.96317390e-01 -9.80539176e-01 1.55165325e-03 2.10683976e+02] [-9.80511686e-01 1.96323506e-01 7.34260560e-03 -8.80950125e+01] [-7.50433845e-03 -7.99329745e-05 -9.99971839e-01 -4.03660916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84655999499995 meters 0.01285057091534572 Centerline is valid? [True, True] Translation: X:210.64, Y:-88.20, Z:-4.04 [[-1.22231293e-01 -9.92501138e-01 1.00067996e-03 2.10638745e+02] [-9.92472203e-01 1.22235371e-01 7.57891132e-03 -8.82024668e+01] [-7.64439659e-03 -6.67669193e-05 -9.99970779e-01 -4.03620308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90655999499995 meters 0.012645464523571154 Centerline is valid? [True, True] Translation: X:210.60, Y:-88.31, Z:-4.04 [[-4.75072838e-02 -9.98870821e-01 3.74776937e-04 2.10602117e+02] [-9.98847109e-01 4.75087385e-02 6.88270946e-03 -8.83143910e+01] [-6.89274283e-03 -4.73660281e-05 -9.99976244e-01 -4.03627809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96655999499995 meters 0.01242690667306977 Centerline is valid? [True, True] Translation: X:210.57, Y:-88.43, Z:-4.04 [[ 2.75792581e-02 -9.99619610e-01 -1.38341090e-04 2.10573827e+02] [-9.99600902e-01 -2.75795884e-02 6.11582350e-03 -8.84277551e+01] [-6.11731249e-03 -3.03839969e-05 -9.99981289e-01 -4.03683707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02655999499996 meters 0.012410412241941154 Centerline is valid? [True, True] Translation: X:210.55, Y:-88.55, Z:-4.04 [[ 1.04094719e-01 -9.94567184e-01 -6.37256033e-04 2.10553492e+02] [-9.94546785e-01 -1.04096665e-01 6.36991532e-03 -8.85481672e+01] [-6.40164497e-03 -2.92936057e-05 -9.99979509e-01 -4.03629800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08655999499996 meters 0.012466225504828966 Centerline is valid? [True, True] Translation: X:210.54, Y:-88.67, Z:-4.04 [[ 1.80745555e-01 -9.83529104e-01 -1.24330546e-03 2.10541971e+02] [-9.83504490e-01 -1.80749827e-01 6.95831265e-03 -8.86668473e+01] [-7.06843025e-03 -3.48875742e-05 -9.99975018e-01 -4.03579667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14655999499996 meters 0.012432122321845075 Centerline is valid? [True, True] Translation: X:210.54, Y:-88.79, Z:-4.04 [[ 2.57062823e-01 -9.66392409e-01 -2.10174101e-03 2.10541545e+02] [-9.66358445e-01 -2.57071409e-01 8.10219070e-03 -8.87944391e+01] [-8.37019311e-03 -5.17368382e-05 -9.99964968e-01 -4.03558028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20655999499996 meters 0.012371824291669178 Centerline is valid? [True, True] Translation: X:210.55, Y:-88.91, Z:-4.03 [[ 3.30806737e-01 -9.43695335e-01 -2.45311370e-03 2.10546537e+02] [-9.43668293e-01 -3.30815828e-01 7.14425995e-03 -8.89104327e+01] [-7.55353363e-03 -4.84436989e-05 -9.99971470e-01 -4.03495191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26655999499997 meters 0.012370871791001851 Centerline is valid? [True, True] Translation: X:210.56, Y:-89.03, Z:-4.03 [[ 4.01899617e-01 -9.15679191e-01 -2.88405822e-03 2.10561739e+02] [-9.15654844e-01 -4.01909963e-01 6.67741129e-03 -8.90255998e+01] [-7.27349830e-03 -4.28471640e-05 -9.99973547e-01 -4.03438406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32655999499997 meters 0.01226499370938428 Centerline is valid? [True, True] Translation: X:210.59, Y:-89.14, Z:-4.03 [[ 4.69787150e-01 -8.82773063e-01 -3.42843502e-03 2.10588699e+02] [-8.82749042e-01 -4.69799658e-01 6.51232255e-03 -8.91420442e+01] [-7.35958052e-03 -3.29577242e-05 -9.99972917e-01 -4.03363156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38655999499997 meters 0.012145858506004595 Centerline is valid? [True, True] Translation: X:210.62, Y:-89.25, Z:-4.03 [[ 5.35527227e-01 -8.44507504e-01 -4.20284545e-03 2.10621927e+02] [-8.44481061e-01 -5.35543718e-01 6.68313035e-03 -8.92516371e+01] [-7.89476121e-03 -2.97748768e-05 -9.99968835e-01 -4.03352713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.446559995 meters 0.012238165625680157 Centerline is valid? [True, True] Translation: X:210.66, Y:-89.36, Z:-4.03 [[ 5.98794700e-01 -8.00887593e-01 -4.89591011e-03 2.10661838e+02] [-8.00860381e-01 -5.98814714e-01 6.60208332e-03 -8.93585199e+01] [-8.21926964e-03 -3.23520636e-05 -9.99966221e-01 -4.03308501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.506559995 meters 0.012280189741752103 Centerline is valid? [True, True] Translation: X:210.71, Y:-89.46, Z:-4.03 [[ 6.59005108e-01 -7.52117726e-01 -5.58514848e-03 2.10709949e+02] [-7.52090178e-01 -6.59028774e-01 6.43736304e-03 -8.94633443e+01] [-8.52242841e-03 -4.17198194e-05 -9.99963683e-01 -4.03264047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.566559995 meters 0.012426580032866433 Centerline is valid? [True, True] Translation: X:210.76, Y:-89.56, Z:-4.03 [[ 7.15011718e-01 -6.99080433e-01 -6.69267287e-03 2.10759644e+02] [-6.99049112e-01 -7.15043037e-01 6.61764423e-03 -8.95570518e+01] [-9.41181473e-03 -5.31861378e-05 -9.99955706e-01 -4.03124985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.626559995 meters 0.012458607242252005 Centerline is valid? [True, True] Translation: X:210.78, Y:-89.58, Z:-4.03 [[ 7.67842041e-01 -6.40597930e-01 -7.27266133e-03 2.10782622e+02] [-6.40568463e-01 -7.67876480e-01 6.14463412e-03 -8.95798381e+01] [-9.52074548e-03 -5.94709164e-05 -9.99954675e-01 -4.03104009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.686559995 meters 0.012711618511610666 Centerline is valid? [True, True] Translation: X:210.81, Y:-89.60, Z:-4.03 [[ 8.15870328e-01 -5.78188906e-01 -7.29359206e-03 2.10807785e+02] [-5.78165134e-01 -8.15902926e-01 5.24329182e-03 -8.95984024e+01] [-8.98247627e-03 -6.09455877e-05 -9.99959655e-01 -4.03110584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.746559995 meters 0.012269303533871739 Centerline is valid? [True, True] Translation: X:210.83, Y:-89.62, Z:-4.03 [[ 8.58488781e-01 -5.12777433e-01 -7.50454224e-03 2.10832829e+02] [-5.12757245e-01 -8.58521579e-01 4.55040271e-03 -8.96191226e+01] [-8.77615527e-03 -5.84612623e-05 -9.99961487e-01 -4.03304429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.80655999499993 meters 0.012254054396801967 Centerline is valid? [True, True] Translation: X:210.86, Y:-89.64, Z:-4.03 [[ 8.96364361e-01 -4.43238933e-01 -8.37744789e-03 2.10857240e+02] [-4.43218832e-01 -8.96403505e-01 4.22176066e-03 -8.96409749e+01] [-9.38082234e-03 -7.11931251e-05 -9.99955997e-01 -4.03246378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.86655999499993 meters 0.012342800779247199 Centerline is valid? [True, True] Translation: X:210.88, Y:-89.66, Z:-4.03 [[ 9.28553601e-01 -3.71086020e-01 -9.13103086e-03 2.10883653e+02] [-3.71067202e-01 -9.28598492e-01 3.73798113e-03 -8.96602834e+01] [-9.86617402e-03 -8.26897631e-05 -9.99951325e-01 -4.03209247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.92655999499993 meters 0.012144457770988517 Centerline is valid? [True, True] Translation: X:210.91, Y:-89.68, Z:-4.03 [[ 9.54571779e-01 -2.97842629e-01 -9.08220059e-03 2.10911499e+02] [-2.97828396e-01 -9.54614981e-01 2.91268674e-03 -8.96776760e+01] [-9.53752703e-03 -7.54313337e-05 -9.99954514e-01 -4.03296538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.98655999499994 meters 0.012081866450458088 Centerline is valid? [True, True] Translation: X:210.94, Y:-89.69, Z:-4.03 [[ 9.74473258e-01 -2.24332039e-01 -8.77524263e-03 2.10939972e+02] [-2.24322460e-01 -9.74512767e-01 2.07381803e-03 -8.96912158e+01] [-9.01680981e-03 -5.23961980e-05 -9.99959346e-01 -4.03265095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04655999499994 meters 0.011747432049912106 Centerline is valid? [True, True] Translation: X:210.97, Y:-89.70, Z:-4.03 [[ 9.88354356e-01 -1.51955907e-01 -8.06654589e-03 2.10966923e+02] [-1.51950771e-01 -9.88387273e-01 1.24943527e-03 -8.96994985e+01] [-8.16273037e-03 -9.16693092e-06 -9.99966684e-01 -4.03479153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10655999499994 meters 0.011754526370327843 Centerline is valid? [True, True] Translation: X:210.99, Y:-89.71, Z:-4.04 [[ 9.96960168e-01 -7.74756791e-02 -8.24275767e-03 2.10993165e+02] [-7.74731870e-02 -9.96994242e-01 6.21691047e-04 -8.97104434e+01] [-8.26614787e-03 1.87914965e-05 -9.99965835e-01 -4.03524251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16655999499994 meters 0.012082742742002443 Centerline is valid? [True, True] Translation: X:211.02, Y:-89.72, Z:-4.03 [[ 9.99956390e-01 -9.58839746e-04 -9.28968431e-03 2.11019051e+02] [-9.59151948e-04 -9.99999540e-01 -2.91523075e-05 -8.97197421e+01] [-9.28965208e-03 3.80612550e-05 -9.99956850e-01 -4.03349768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22655999499995 meters 0.012100775340136736 Centerline is valid? [True, True] Translation: X:211.05, Y:-89.73, Z:-4.03 [[ 9.96985463e-01 7.69548065e-02 -9.89670385e-03 2.11046575e+02] [ 7.69505712e-02 -9.97034581e-01 -8.08597464e-04 -8.97265419e+01] [-9.92958144e-03 4.46029026e-05 -9.99950700e-01 -4.03390051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28655999499995 meters 0.012173909847084448 Centerline is valid? [True, True] Translation: X:211.07, Y:-89.73, Z:-4.03 [[ 9.87938803e-01 1.54571181e-01 -9.20175713e-03 2.11073447e+02] [ 1.54564065e-01 -9.87981654e-01 -1.48383624e-03 -8.97311810e+01] [-9.32052554e-03 4.36784051e-05 -9.99956562e-01 -4.03407236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34655999499995 meters 0.0120395897769703 Centerline is valid? [True, True] Translation: X:211.10, Y:-89.74, Z:-4.04 [[ 9.72850464e-01 2.31267121e-01 -8.80298623e-03 2.11103216e+02] [ 2.31257243e-01 -9.72890290e-01 -2.13800517e-03 -8.97358655e+01] [-9.05879013e-03 4.42050007e-05 -9.99958967e-01 -4.03512680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40655999499995 meters 0.012069619969720367 Centerline is valid? [True, True] Translation: X:211.13, Y:-89.74, Z:-4.03 [[ 9.51949720e-01 3.06120294e-01 -9.06072512e-03 2.11132057e+02] [ 3.06105900e-01 -9.51992837e-01 -2.96907100e-03 -8.97376523e+01] [-9.53463831e-03 5.28648842e-05 -9.99954543e-01 -4.03485585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46655999499995 meters 0.012283252226648035 Centerline is valid? [True, True] Translation: X:211.16, Y:-89.74, Z:-4.03 [[ 9.25683968e-01 3.78189679e-01 -9.04203870e-03 2.11161814e+02] [ 3.78170893e-01 -9.25728125e-01 -3.77017607e-03 -8.97365572e+01] [-9.79631121e-03 7.05556979e-05 -9.99952013e-01 -4.03484665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52655999499996 meters 0.012554277809144808 Centerline is valid? [True, True] Translation: X:211.19, Y:-89.73, Z:-4.03 [[ 8.93786223e-01 4.48387204e-01 -9.75209939e-03 2.11191715e+02] [ 4.48359378e-01 -8.93839419e-01 -4.99613126e-03 -8.97322989e+01] [-1.09570122e-02 9.30280666e-05 -9.99939966e-01 -4.03438693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58655999499996 meters 0.012425147808073463 Centerline is valid? [True, True] Translation: X:211.22, Y:-89.73, Z:-4.04 [[ 8.56047763e-01 5.16813591e-01 -9.27035672e-03 2.11220775e+02] [ 5.16782089e-01 -8.56097952e-01 -5.70698413e-03 -8.97265797e+01] [-1.08857804e-02 9.46966834e-05 -9.99940744e-01 -4.03528601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64655999499996 meters 0.012375188442920328 Centerline is valid? [True, True] Translation: X:211.25, Y:-89.72, Z:-4.04 [[ 8.13124355e-01 5.82028849e-01 -8.43817409e-03 2.11250147e+02] [ 5.81996308e-01 -8.13168131e-01 -6.15526164e-03 -8.97181705e+01] [-1.04441941e-02 9.40069769e-05 -9.99945454e-01 -4.03585307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70655999499996 meters 0.01206989040444656 Centerline is valid? [True, True] Translation: X:211.28, Y:-89.71, Z:-4.04 [[ 7.64906321e-01 6.44093661e-01 -7.85340860e-03 2.11280768e+02] [ 6.44058496e-01 -7.64946631e-01 -6.73093930e-03 -8.97095684e+01] [-1.03427938e-02 9.04834849e-05 -9.99946508e-01 -4.03678533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76655999499997 meters 0.012080644335133051 Centerline is valid? [True, True] Translation: X:211.31, Y:-89.70, Z:-4.04 [[ 7.10445257e-01 7.03718050e-01 -6.96019049e-03 2.11310703e+02] [ 7.03683412e-01 -7.10479347e-01 -6.98232730e-03 -8.97000975e+01] [-9.85866134e-03 6.27907169e-05 -9.99951400e-01 -4.03631886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82655999499997 meters 0.011833478840300306 Centerline is valid? [True, True] Translation: X:211.34, Y:-89.68, Z:-4.04 [[ 6.51456756e-01 7.58657680e-01 -6.52837391e-03 2.11335979e+02] [ 7.58618953e-01 -6.51489465e-01 -7.66556896e-03 -8.96846357e+01] [-1.00687096e-02 4.12385117e-05 -9.99949308e-01 -4.03592234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88655999499997 meters 0.011520381763450518 Centerline is valid? [True, True] Translation: X:211.37, Y:-89.67, Z:-4.04 [[ 5.86150580e-01 8.10178294e-01 -6.21532640e-03 2.11365683e+02] [ 8.10132892e-01 -5.86183532e-01 -8.57698656e-03 -8.96700708e+01] [-1.05922103e-02 -7.83470309e-06 -9.99943901e-01 -4.03619620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.946559995 meters 0.01151538902366716 Centerline is valid? [True, True] Translation: X:211.39, Y:-89.65, Z:-4.04 [[ 5.17961125e-01 8.55386478e-01 -5.49961648e-03 2.11393264e+02] [ 8.55339166e-01 -5.17990319e-01 -8.99667469e-03 -8.96527787e+01] [-1.05443820e-02 -4.41096316e-05 -9.99944405e-01 -4.03656772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.006559995 meters 0.012150013134208612 Centerline is valid? [True, True] Translation: X:211.42, Y:-89.63, Z:-4.04 [[ 4.44460614e-01 8.95783838e-01 -5.10674550e-03 2.11421859e+02] [ 8.95727518e-01 -4.44489937e-01 -1.00453899e-02 -8.96335787e+01] [-1.12683949e-02 -1.09472302e-04 -9.99936504e-01 -4.03583505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.066559995 meters 0.012700613598304466 Centerline is valid? [True, True] Translation: X:211.45, Y:-89.61, Z:-4.04 [[ 3.70038861e-01 9.29006789e-01 -4.19839846e-03 2.11445297e+02] [ 9.28951265e-01 -3.70062650e-01 -1.01578889e-02 -8.96104546e+01] [-1.09904182e-02 -1.41293910e-04 -9.99939594e-01 -4.03512235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.126559995 meters 0.01261204898991668 Centerline is valid? [True, True] Translation: X:211.47, Y:-89.59, Z:-4.04 [[ 2.93414734e-01 9.55980465e-01 -3.02387244e-03 2.11470373e+02] [ 9.55934990e-01 -2.93430275e-01 -9.32567806e-03 -8.95857805e+01] [-9.80246177e-03 -1.54334128e-04 -9.99951943e-01 -4.03698742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.186559995 meters 0.013010063564133314 Centerline is valid? [True, True] Translation: X:211.49, Y:-89.56, Z:-4.04 [[ 2.17787124e-01 9.75994811e-01 -1.70225290e-03 2.11491248e+02] [ 9.75968969e-01 -2.17793747e-01 -7.10325875e-03 -8.95595489e+01] [-7.30348372e-03 -1.14347710e-04 -9.99973323e-01 -4.03762874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.246559995 meters 0.012331381690687274 Centerline is valid? [True, True] Translation: X:211.51, Y:-89.53, Z:-4.04 [[ 1.42751700e-01 9.89757960e-01 -1.06391467e-03 2.11507231e+02] [ 9.89735098e-01 -1.42755634e-01 -6.72795319e-03 -8.95299466e+01] [-6.81092504e-03 -9.25669347e-05 -9.99976801e-01 -4.03768283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.30655999499993 meters 0.011755107243861985 Centerline is valid? [True, True] Translation: X:211.52, Y:-89.50, Z:-4.04 [[ 7.06726898e-02 9.97499412e-01 -5.43002836e-04 2.11518985e+02] [ 9.97475475e-01 -7.06747558e-02 -6.91047857e-03 -8.94993315e+01] [-6.93157490e-03 -5.32499032e-05 -9.99975975e-01 -4.03666992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.36655999499993 meters 0.01146420096459077 Centerline is valid? [True, True] Translation: X:211.53, Y:-89.47, Z:-4.04 [[-2.59946683e-03 9.99996621e-01 -2.93717526e-07 2.11525779e+02] [ 9.99975822e-01 2.59941087e-03 -6.44972858e-03 -8.94694593e+01] [-6.44970602e-03 -1.70595659e-05 -9.99979200e-01 -4.03626361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.42655999499993 meters 0.011647304678993171 Centerline is valid? [True, True] Translation: X:211.53, Y:-89.44, Z:-4.04 [[-7.18344925e-02 9.97416463e-01 4.52550782e-04 2.11529875e+02] [ 9.97399804e-01 7.18359084e-02 -5.76475593e-03 -8.94387452e+01] [-5.78237187e-03 3.72657442e-05 -9.99983281e-01 -4.03714635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.48655999499994 meters 0.012576461048788384 Centerline is valid? [True, True] Translation: X:211.53, Y:-89.41, Z:-4.04 [[-1.44125588e-01 9.89558890e-01 1.00874124e-03 2.11532594e+02] [ 9.89538328e-01 1.44129096e-01 -6.37970140e-03 -8.94081160e+01] [-6.45847920e-03 7.87099062e-05 -9.99979141e-01 -4.03594428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54655999499994 meters 0.014421043285457477 Centerline is valid? [True, True] Translation: X:211.53, Y:-89.38, Z:-4.03 [[-2.13843986e-01 9.76866601e-01 1.54710588e-03 2.11531363e+02] [ 9.76845282e-01 2.13849542e-01 -6.45516236e-03 -8.93776805e+01] [-6.63668040e-03 1.30885427e-04 -9.99977968e-01 -4.03469792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60655999499994 meters 0.015076202025627556 Centerline is valid? [True, True] Translation: X:211.53, Y:-89.35, Z:-4.03 [[-2.85828076e-01 9.58279168e-01 1.82930117e-03 2.11532840e+02] [ 9.58262582e-01 2.85833895e-01 -5.63983626e-03 -8.93457061e+01] [-5.92741388e-03 1.40927312e-04 -9.99982423e-01 -4.03478786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66655999499994 meters 0.015053155562170717 Centerline is valid? [True, True] Translation: X:211.53, Y:-89.31, Z:-4.03 [[-3.59414197e-01 9.33176027e-01 1.98459881e-03 2.11534056e+02] [ 9.33163690e-01 3.59419653e-01 -4.80013667e-03 -8.93128125e+01] [-5.19267628e-03 1.26718279e-04 -9.99986510e-01 -4.03474336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72655999499995 meters 0.014950376064578906 Centerline is valid? [True, True] Translation: X:211.53, Y:-89.28, Z:-4.03 [[-4.32937223e-01 9.01421499e-01 2.15439616e-03 2.11532226e+02] [ 9.01411549e-01 4.32942570e-01 -4.23687684e-03 -8.92795185e+01] [-4.75194169e-03 1.07695882e-04 -9.99988704e-01 -4.03437775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78655999499995 meters 0.013598145180110582 Centerline is valid? [True, True] Translation: X:211.53, Y:-89.25, Z:-4.03 [[-5.07962919e-01 8.61375738e-01 2.34739992e-03 2.11530858e+02] [ 8.61367187e-01 5.07968338e-01 -3.83899342e-03 -8.92450779e+01] [-4.49922063e-03 7.19069609e-05 -9.99989876e-01 -4.03355228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84655999499995 meters 0.011927782401113621 Centerline is valid? [True, True] Translation: X:211.53, Y:-89.21, Z:-4.03 [[-5.81950513e-01 8.13220677e-01 2.39398448e-03 2.11530220e+02] [ 8.13213968e-01 5.81955437e-01 -3.30322000e-03 -8.92073694e+01] [-4.07943909e-03 2.45110425e-05 -9.99991679e-01 -4.03302045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90655999499995 meters 0.011655274129829129 Centerline is valid? [True, True] Translation: X:211.52, Y:-89.17, Z:-4.03 [[-6.49811724e-01 7.60090907e-01 2.55652647e-03 2.11522587e+02] [ 7.60084982e-01 6.49816753e-01 -3.00126135e-03 -8.91724821e+01] [-3.94250519e-03 -7.07743533e-06 -9.99992228e-01 -4.03331034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96655999499995 meters 0.012880225214401785 Centerline is valid? [True, True] Translation: X:211.51, Y:-89.13, Z:-4.03 [[-7.15587105e-01 6.98518357e-01 2.68310709e-03 2.11514504e+02] [ 6.98513176e-01 7.15592134e-01 -2.69088139e-03 -8.91338747e+01] [-3.79964038e-03 -5.13743652e-05 -9.99992780e-01 -4.03304053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02655999499996 meters 0.014539505648801507 Centerline is valid? [True, True] Translation: X:211.50, Y:-89.10, Z:-4.03 [[-7.73384408e-01 6.33927097e-01 3.60451807e-03 2.11501026e+02] [ 6.33919584e-01 7.73392801e-01 -3.08801074e-03 -8.90974342e+01] [-4.74528201e-03 -1.03244765e-04 -9.99988736e-01 -4.03266195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08655999499996 meters 0.01620358266671502 Centerline is valid? [True, True] Translation: X:211.85, Y:-88.69, Z:-5.01 [[-6.96890523e-01 -7.17169645e-01 3.36149099e-03 2.11849370e+02] [ 7.17161994e-01 -6.96898623e-01 -3.31423934e-03 -8.86882669e+01] [ 4.71949029e-03 1.01071593e-04 9.99988858e-01 -5.00992606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14655999499996 meters 0.015860812025607105 Centerline is valid? [True, True] Translation: X:211.47, Y:-89.07, Z:-4.03 [[-7.77052136e-01 6.29427013e-01 3.40774002e-03 2.11472384e+02] [ 6.29420349e-01 7.77059601e-01 -2.89839286e-03 -8.90665191e+01] [-4.47234386e-03 -1.07301458e-04 -9.99989993e-01 -4.03308279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20655999499996 meters 0.014882222642795795 Centerline is valid? [True, True] Translation: X:211.48, Y:-89.05, Z:-4.03 [[-8.17789029e-01 5.75503615e-01 4.08571211e-03 2.11484232e+02] [ 5.75495787e-01 8.17799228e-01 -3.00367173e-03 -8.90451229e+01] [-5.06991615e-03 -1.05059678e-04 -9.99987142e-01 -4.03231695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26655999499997 meters 0.014361280353561183 Centerline is valid? [True, True] Translation: X:211.49, Y:-89.02, Z:-4.03 [[-8.55271266e-01 5.18154336e-01 5.21007704e-03 2.11493842e+02] [ 5.18143912e-01 8.55287128e-01 -3.28873865e-03 -8.90213808e+01] [-6.16018602e-03 -1.13193977e-04 -9.99981019e-01 -4.03163904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32655999499997 meters 0.013291685347421893 Centerline is valid? [True, True] Translation: X:211.51, Y:-89.00, Z:-4.03 [[-8.88780115e-01 4.58282236e-01 6.87751114e-03 2.11505347e+02] [ 4.58267417e-01 8.88806715e-01 -3.68760332e-03 -8.90021811e+01] [-7.80274118e-03 -1.25729233e-04 -9.99969550e-01 -4.03124766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38655999499997 meters 0.013752352523644986 Centerline is valid? [True, True] Translation: X:211.51, Y:-88.98, Z:-4.03 [[-9.18668727e-01 3.94951259e-01 7.82767619e-03 2.11509524e+02] [ 3.94935705e-01 9.18702066e-01 -3.50763242e-03 -8.89751595e+01] [-8.57664612e-03 -1.30923398e-04 -9.99963211e-01 -4.03047845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.446559995 meters 0.013281624152341447 Centerline is valid? [True, True] Translation: X:211.52, Y:-88.95, Z:-4.03 [[-9.43697500e-01 3.30708728e-01 8.17104796e-03 2.11518872e+02] [ 3.30695268e-01 9.43732867e-01 -2.98589340e-03 -8.89544076e+01] [-8.69874752e-03 -1.15653243e-04 -9.99962159e-01 -4.03077509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.506559995 meters 0.012470237019945084 Centerline is valid? [True, True] Translation: X:211.52, Y:-88.93, Z:-4.03 [[-9.64214954e-01 2.64961868e-01 9.20489596e-03 2.11521114e+02] [ 2.64948730e-01 9.64258885e-01 -2.64074198e-03 -8.89324535e+01] [-9.57559864e-03 -1.07417406e-04 -9.99954147e-01 -4.03114188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.566559995 meters 0.012683048506702705 Centerline is valid? [True, True] Translation: X:211.68, Y:-88.39, Z:-5.01 [[-9.36707165e-01 -3.49989259e-01 9.33836077e-03 2.11681160e+02] [ 3.49973277e-01 -9.36753703e-01 -3.34732215e-03 -8.83853989e+01] [ 9.91927083e-03 1.32716079e-04 9.99950794e-01 -5.01185057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.626559995 meters 0.01268225867112097 Centerline is valid? [True, True] Translation: X:211.48, Y:-88.92, Z:-4.03 [[-9.65195126e-01 2.61331268e-01 1.02145566e-02 2.11475484e+02] [ 2.61315314e-01 9.65249167e-01 -2.89006550e-03 -8.89232728e+01] [-1.06148568e-02 -1.20257057e-04 -9.99943654e-01 -4.03100134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.686559995 meters 0.013123227473196348 Centerline is valid? [True, True] Translation: X:211.48, Y:-88.90, Z:-4.03 [[-9.81742961e-01 1.89942237e-01 1.01343861e-02 2.11477821e+02] [ 1.89930628e-01 9.81795257e-01 -2.10472546e-03 -8.88972291e+01] [-1.03496685e-02 -1.41469089e-04 -9.99946431e-01 -4.03129317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.746559995 meters 0.013785973980086297 Centerline is valid? [True, True] Translation: X:211.48, Y:-88.87, Z:-4.03 [[-9.93090238e-01 1.16911777e-01 1.01693911e-02 2.11475387e+02] [ 1.16903893e-01 9.93142290e-01 -1.36830104e-03 -8.88707809e+01] [-1.02596229e-02 -1.70004991e-04 -9.99947354e-01 -4.03131448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.80655999499993 meters 0.014036108189928289 Centerline is valid? [True, True] Translation: X:211.47, Y:-88.84, Z:-4.03 [[-9.98990450e-01 4.36808035e-02 1.04913620e-02 2.11469102e+02] [ 4.36762939e-02 9.99045518e-01 -6.58687866e-04 -8.88442920e+01] [-1.05101202e-02 -1.99799078e-04 -9.99944747e-01 -4.03157473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.86655999499993 meters 0.015725953670463522 Centerline is valid? [True, True] Translation: X:211.46, Y:-88.82, Z:-4.03 [[-9.99431358e-01 -3.19512199e-02 1.07740319e-02 2.11461846e+02] [-3.19520995e-02 9.99489397e-01 9.05227988e-05 -8.88165085e+01] [-1.07714230e-02 -2.53781616e-04 -9.99941954e-01 -4.03058414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.92655999499993 meters 0.016520899469653943 Centerline is valid? [True, True] Translation: X:211.45, Y:-88.79, Z:-4.03 [[-9.94299940e-01 -1.06018887e-01 1.12970898e-02 2.11453165e+02] [-1.06015501e-01 9.94364070e-01 8.99790968e-04 -8.87900702e+01] [-1.13288150e-02 -3.03004531e-04 -9.99935781e-01 -4.03070214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.98655999499994 meters 0.017630855104377546 Centerline is valid? [True, True] Translation: X:211.40, Y:-88.21, Z:-5.01 [[-9.99772746e-01 -1.83375984e-02 1.08714376e-02 2.11401154e+02] [ 1.83393283e-02 -9.99831819e-01 5.94379842e-05 -8.82107274e+01] [ 1.08685193e-02 2.58799340e-04 9.99940902e-01 -5.01116321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04655999499994 meters 0.0183394315208724 Centerline is valid? [True, True] Translation: X:211.38, Y:-88.80, Z:-4.03 [[-9.93221587e-01 -1.15798211e-01 1.00823057e-02 2.11383778e+02] [-1.15795572e-01 9.93272706e-01 8.47100712e-04 -8.87970646e+01] [-1.01125718e-02 -3.26127644e-04 -9.99948813e-01 -4.03233887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10655999499994 meters 0.018907207960133992 Centerline is valid? [True, True] Translation: X:211.34, Y:-88.21, Z:-5.01 [[-9.99821741e-01 -1.61370564e-02 9.80216591e-03 2.11335846e+02] [ 1.61391750e-02 -9.99869746e-01 1.37068329e-04 -8.82137497e+01] [ 9.79867726e-03 2.95242766e-04 9.99951948e-01 -5.00964744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16655999499994 meters 0.017914703794155818 Centerline is valid? [True, True] Translation: X:211.32, Y:-88.81, Z:-4.03 [[-9.92950049e-01 -1.18176395e-01 9.19458708e-03 2.11322845e+02] [-1.18173907e-01 9.92992580e-01 8.15302999e-04 -8.88087046e+01] [-9.22650631e-03 -2.77005129e-04 -9.99957397e-01 -4.03283755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22655999499995 meters 0.01595662040511388 Centerline is valid? [True, True] Translation: X:211.27, Y:-88.21, Z:-5.01 [[-9.99924002e-01 -4.81569103e-03 1.13489871e-02 2.11269014e+02] [ 4.82073370e-03 -9.99988293e-01 4.17012880e-04 -8.82089377e+01] [ 1.13468460e-02 4.71691633e-04 9.99935511e-01 -5.01114558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28655999499995 meters 0.015060498052571666 Centerline is valid? [True, True] Translation: X:211.25, Y:-88.83, Z:-4.03 [[-9.93207102e-01 -1.15666267e-01 1.26873142e-02 2.11252329e+02] [-1.15660582e-01 9.93288090e-01 1.18333069e-03 -8.88262359e+01] [-1.27390296e-02 -2.92129708e-04 -9.99918813e-01 -4.03083205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34655999499995 meters 0.013589282629142954 Centerline is valid? [True, True] Translation: X:211.26, Y:-88.81, Z:-4.03 [[-9.83500778e-01 -1.80387571e-01 1.36581229e-02 2.11255560e+02] [-1.80373506e-01 9.83595582e-01 2.26491727e-03 -8.88065790e+01] [-1.38426322e-02 -2.36015613e-04 -9.99904158e-01 -4.03064995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40655999499995 meters 0.012492041888938075 Centerline is valid? [True, True] Translation: X:211.24, Y:-88.79, Z:-4.03 [[-9.69278501e-01 -2.45616669e-01 1.31010991e-02 2.11243590e+02] [-2.45596575e-01 9.69367022e-01 3.14623328e-03 -8.87883624e+01] [-1.34725408e-02 -1.68008790e-04 -9.99909227e-01 -4.03195775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46655999499995 meters 0.011710140508323013 Centerline is valid? [True, True] Translation: X:211.22, Y:-88.77, Z:-4.03 [[-9.51077483e-01 -3.08757676e-01 1.09690211e-02 2.11222522e+02] [-3.08738048e-01 9.51140732e-01 3.48220198e-03 -8.87740429e+01] [-1.15082393e-02 -7.47102652e-05 -9.99933775e-01 -4.03368199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52655999499996 meters 0.011664716183120333 Centerline is valid? [True, True] Translation: X:211.19, Y:-88.76, Z:-4.03 [[-9.27320666e-01 -3.74112211e-01 1.07905451e-02 2.11189166e+02] [-3.74087397e-01 9.27383444e-01 4.30905840e-03 -8.87624300e+01] [-1.16190442e-02 -4.07280239e-05 -9.99932496e-01 -4.03365438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58655999499996 meters 0.011699899203116388 Centerline is valid? [True, True] Translation: X:211.13, Y:-88.76, Z:-4.03 [[-8.97536373e-01 -4.40790372e-01 1.15024865e-02 2.11130676e+02] [-4.40754769e-01 8.97610075e-01 5.60238232e-03 -8.87610969e+01] [-1.27942240e-02 -4.14338849e-05 -9.99918150e-01 -4.03334398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64655999499996 meters 0.012013038569628947 Centerline is valid? [True, True] Translation: X:211.07, Y:-88.77, Z:-4.03 [[-8.61567365e-01 -5.07511816e-01 1.15512651e-02 2.11066643e+02] [-5.07467310e-01 8.61644794e-01 6.72148868e-03 -8.87657274e+01] [-1.33643224e-02 -7.08741431e-05 -9.99910691e-01 -4.03264273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70655999499996 meters 0.01198865851063932 Centerline is valid? [True, True] Translation: X:210.99, Y:-88.78, Z:-4.03 [[-8.19832793e-01 -5.72520029e-01 9.74726537e-03 2.10994401e+02] [-5.72481007e-01 8.19890729e-01 6.68504287e-03 -8.87795125e+01] [-1.18190134e-02 -9.95069338e-05 -9.99930148e-01 -4.03417868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76655999499997 meters 0.012169695762972495 Centerline is valid? [True, True] Translation: X:210.92, Y:-88.80, Z:-4.03 [[-7.73189660e-01 -6.34113062e-01 8.85299841e-03 2.10916564e+02] [-6.34073368e-01 7.73240331e-01 7.09614963e-03 -8.88037887e+01] [-1.13452566e-02 -1.26781005e-04 -9.99935632e-01 -4.03483104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82655999499997 meters 0.013197131932146855 Centerline is valid? [True, True] Translation: X:210.83, Y:-88.84, Z:-4.03 [[-7.19370702e-01 -6.94575256e-01 8.42660145e-03 2.10832107e+02] [-6.94530829e-01 7.19420026e-01 7.85830205e-03 -8.88395543e+01] [-1.15204480e-02 -1.99502233e-04 -9.99933618e-01 -4.03452284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88655999499997 meters 0.016247230551796846 Centerline is valid? [True, True] Translation: X:210.75, Y:-88.88, Z:-4.03 [[-6.61551694e-01 -7.49856090e-01 8.07468810e-03 2.10748924e+02] [-7.49805032e-01 6.61600919e-01 8.75432913e-03 -8.88773182e+01] [-1.19067081e-02 -2.63000500e-04 -9.99929078e-01 -4.03216240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.946559995 meters 0.019687983386252213 Centerline is valid? [True, True] Translation: X:210.66, Y:-88.93, Z:-4.03 [[-5.98009445e-01 -8.01453954e-01 7.50092501e-03 2.10663543e+02] [-8.01398015e-01 5.98056386e-01 9.47523601e-03 -8.89286152e+01] [-1.20799415e-02 -3.44945795e-04 -9.99926975e-01 -4.03154383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.006559995 meters 0.018757146574269367 Centerline is valid? [True, True] Translation: X:210.59, Y:-89.00, Z:-4.03 [[-5.32990533e-01 -8.46090855e-01 7.16643799e-03 2.10585022e+02] [-8.46024395e-01 5.33038554e-01 1.06123570e-02 -8.89963367e+01] [-1.27990059e-02 -4.06695562e-04 -9.99918007e-01 -4.03308357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.066559995 meters 0.01929891774475926 Centerline is valid? [True, True] Translation: X:210.51, Y:-89.07, Z:-4.03 [[-4.66912580e-01 -8.84282118e-01 6.14640218e-03 2.10509788e+02] [-8.84216443e-01 4.66952863e-01 1.07844730e-02 -8.90675551e+01] [-1.24065967e-02 -3.99343752e-04 -9.99922955e-01 -4.03319268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.126559995 meters 0.017148046464537332 Centerline is valid? [True, True] Translation: X:210.44, Y:-89.15, Z:-4.03 [[-3.99308308e-01 -9.16801707e-01 5.24459193e-03 2.10442584e+02] [-9.16734718e-01 3.99342567e-01 1.10891786e-02 -8.91514527e+01] [-1.22609667e-02 -3.79898359e-04 -9.99924759e-01 -4.03439027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.186559995 meters 0.016576705927350225 Centerline is valid? [True, True] Translation: X:210.38, Y:-89.24, Z:-4.03 [[-3.30066453e-01 -9.43946696e-01 4.55763538e-03 2.10381589e+02] [-9.43871537e-01 3.30097712e-01 1.19172724e-02 -8.92354728e+01] [-1.27537350e-02 -3.68330469e-04 -9.99918600e-01 -4.03451180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.246559995 meters 0.01545630725219506 Centerline is valid? [True, True] Translation: X:210.33, Y:-89.33, Z:-4.03 [[-2.60844192e-01 -9.65374231e-01 3.59178394e-03 2.10328933e+02] [-9.65298465e-01 2.60868735e-01 1.20986115e-02 -8.93284489e+01] [-1.26166719e-02 -3.11290965e-04 -9.99920358e-01 -4.03485430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.30655999499993 meters 0.017248663913200995 Centerline is valid? [True, True] Translation: X:210.27, Y:-89.43, Z:-4.03 [[-1.88343006e-01 -9.82099956e-01 2.56693219e-03 2.10274803e+02] [-9.82027471e-01 1.88360300e-01 1.19349691e-02 -8.94300635e+01] [-1.22048408e-02 -2.72929959e-04 -9.99925481e-01 -4.03294293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.36655999499993 meters 0.01384977726177473 Centerline is valid? [True, True] Translation: X:210.24, Y:-89.54, Z:-4.04 [[-1.15667379e-01 -9.93286677e-01 1.62336649e-03 2.10238735e+02] [-9.93214705e-01 1.15678543e-01 1.19592575e-02 -8.95360753e+01] [-1.20667598e-02 -2.29055501e-04 -9.99927168e-01 -4.03631569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.42655999499993 meters 0.013283078163343114 Centerline is valid? [True, True] Translation: X:210.20, Y:-89.66, Z:-4.04 [[-4.29799487e-02 -9.99075657e-01 7.45443407e-04 2.10203970e+02] [-9.98992994e-01 4.29859827e-02 1.28531141e-02 -8.96585441e+01] [-1.28732770e-02 -1.92266558e-04 -9.99917117e-01 -4.03610453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.48655999499994 meters 0.01308030256311156 Centerline is valid? [True, True] Translation: X:210.18, Y:-89.76, Z:-4.04 [[ 3.30759039e-02 -9.99452815e-01 -2.35629107e-04 2.10175550e+02] [-9.99376759e-01 -3.30762940e-02 1.23309164e-02 -8.97617326e+01] [-1.23319629e-02 -1.72373954e-04 -9.99923944e-01 -4.03646911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54655999499994 meters 0.012605658167828713 Centerline is valid? [True, True] Translation: X:210.16, Y:-89.89, Z:-4.04 [[ 1.08136511e-01 -9.94135406e-01 -1.13545632e-03 2.10155833e+02] [-9.94065593e-01 -1.08142375e-01 1.17823065e-02 -8.98870282e+01] [-1.18359990e-02 -1.45379463e-04 -9.99929942e-01 -4.03731455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60655999499994 meters 0.012141737786140076 Centerline is valid? [True, True] Translation: X:210.14, Y:-90.00, Z:-4.04 [[ 1.82368288e-01 -9.83228291e-01 -1.98373999e-03 2.10144545e+02] [-9.83162830e-01 -1.82379038e-01 1.13461710e-02 -9.00031522e+01] [-1.15176689e-02 -1.18842356e-04 -9.99933662e-01 -4.03894112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66655999499994 meters 0.012128110519560578 Centerline is valid? [True, True] Translation: X:210.14, Y:-90.13, Z:-4.04 [[ 2.56994700e-01 -9.66408559e-01 -2.86728459e-03 2.10142856e+02] [-9.66343357e-01 -2.57010669e-01 1.12264094e-02 -9.01257211e+01] [-1.15862208e-02 -1.14346294e-04 -9.99932871e-01 -4.03921858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72655999499995 meters 0.012326530846632251 Centerline is valid? [True, True] Translation: X:210.14, Y:-90.24, Z:-4.04 [[ 3.31603426e-01 -9.43410506e-01 -3.97305148e-03 2.10143767e+02] [-9.43337796e-01 -3.31627198e-01 1.17134071e-02 -9.02364773e+01] [-1.23681233e-02 -1.36276312e-04 -9.99923503e-01 -4.03895954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78655999499995 meters 0.012524588879091456 Centerline is valid? [True, True] Translation: X:210.16, Y:-90.36, Z:-4.04 [[ 4.04847289e-01 -9.14369077e-01 -5.27864572e-03 2.10155860e+02] [-9.14285661e-01 -4.04881663e-01 1.23518845e-02 -9.03567378e+01] [-1.34314080e-02 -1.74436849e-04 -9.99909779e-01 -4.03842940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84655999499995 meters 0.012940374758050783 Centerline is valid? [True, True] Translation: X:210.18, Y:-90.47, Z:-4.04 [[ 4.75186062e-01 -8.79863134e-01 -6.25080823e-03 2.10176452e+02] [-8.79781499e-01 -4.75227132e-01 1.19869744e-02 -9.04714100e+01] [-1.35174506e-02 -1.96697749e-04 -9.99908616e-01 -4.03821238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90655999499995 meters 0.01298745226869467 Centerline is valid? [True, True] Translation: X:210.21, Y:-90.58, Z:-4.04 [[ 5.42407849e-01 -8.40086323e-01 -6.97817931e-03 2.10207021e+02] [-8.40011733e-01 -5.42452693e-01 1.11965940e-02 -9.05838176e+01] [-1.31914377e-02 -2.11367984e-04 -9.99912967e-01 -4.03952867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96655999499995 meters 0.013275562925898632 Centerline is valid? [True, True] Translation: X:210.24, Y:-90.69, Z:-4.04 [[ 6.05712818e-01 -7.95646715e-01 -7.63461019e-03 2.10243582e+02] [-7.95578953e-01 -6.05760891e-01 1.03861704e-02 -9.06888043e+01] [-1.28884706e-02 -2.17101341e-04 -9.99916917e-01 -4.03989411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02655999499996 meters 0.013407751202998947 Centerline is valid? [True, True] Translation: X:210.29, Y:-90.79, Z:-4.04 [[ 6.65952382e-01 -7.45945800e-01 -8.50227735e-03 2.10288855e+02] [-7.45880321e-01 -6.66006611e-01 9.88640260e-03 -9.07914154e+01] [-1.30372934e-02 -2.42192002e-04 -9.99914982e-01 -4.04088774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08655999499996 meters 0.013902354726579198 Centerline is valid? [True, True] Translation: X:210.34, Y:-90.89, Z:-4.04 [[ 7.21861349e-01 -6.91976728e-01 -9.18697319e-03 2.10341697e+02] [-6.91916039e-01 -7.21919759e-01 9.16822506e-03 -9.08900150e+01] [-1.29764559e-02 -2.61573208e-04 -9.99915768e-01 -4.04154813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14655999499996 meters 0.01410784025247202 Centerline is valid? [True, True] Translation: X:210.36, Y:-90.92, Z:-4.04 [[ 7.74603324e-01 -6.32367440e-01 -1.00554568e-02 2.10359371e+02] [-6.32309354e-01 -7.74668536e-01 8.57556592e-03 -9.09207076e+01] [-1.32125546e-02 -2.84502485e-04 -9.99912670e-01 -4.04199992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20655999499996 meters 0.015222804807128846 Centerline is valid? [True, True] Translation: X:210.38, Y:-90.95, Z:-4.04 [[ 8.23355665e-01 -5.67418490e-01 -1.10320227e-02 2.10378227e+02] [-5.67362090e-01 -8.23429502e-01 8.00710323e-03 -9.09499380e+01] [-1.36274714e-02 -3.33542376e-04 -9.99907086e-01 -4.04164984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26655999499997 meters 0.015927441191430174 Centerline is valid? [True, True] Translation: X:210.40, Y:-90.98, Z:-4.04 [[ 8.66697964e-01 -4.98688415e-01 -1.20210121e-02 2.10401239e+02] [-4.98634197e-01 -8.66781238e-01 7.36364438e-03 -9.09778480e+01] [-1.40917519e-02 -3.87967880e-04 -9.99900631e-01 -4.04134861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32655999499997 meters 0.018362858737731386 Centerline is valid? [True, True] Translation: X:210.42, Y:-91.00, Z:-4.04 [[ 9.04787719e-01 -4.25614025e-01 -1.45562992e-02 2.10424658e+02] [-4.25549682e-01 -9.04904654e-01 7.41852152e-03 -9.10038542e+01] [-1.63294897e-02 -5.17758660e-04 -9.99866531e-01 -4.03880652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38655999499997 meters 0.018677961509138242 Centerline is valid? [True, True] Translation: X:210.45, Y:-91.02, Z:-4.04 [[ 9.35894193e-01 -3.51911315e-01 -1.61395774e-02 2.10453182e+02] [-3.51848154e-01 -9.36033164e-01 6.69269854e-03 -9.10244307e+01] [-1.74624160e-02 -5.84977192e-04 -9.99847349e-01 -4.03838831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.446559995 meters 0.019315548626581955 Centerline is valid? [True, True] Translation: X:210.48, Y:-91.04, Z:-4.04 [[ 9.60703254e-01 -2.77137126e-01 -1.56291753e-02 2.10484029e+02] [-2.77090935e-01 -9.60830214e-01 5.09051550e-03 -9.10409332e+01] [-1.64277547e-02 -5.59772008e-04 -9.99864899e-01 -4.03918272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.506559995 meters 0.018919495370968292 Centerline is valid? [True, True] Translation: X:210.52, Y:-91.05, Z:-4.04 [[ 9.79304050e-01 -2.01830568e-01 -1.50996780e-02 2.10516106e+02] [-2.01798389e-01 -9.79420315e-01 3.64105639e-03 -9.10537282e+01] [-1.55238078e-02 -5.18610569e-04 -9.99879364e-01 -4.04066460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.566559995 meters 0.01682012722022668 Centerline is valid? [True, True] Translation: X:210.55, Y:-91.06, Z:-4.04 [[ 9.91768628e-01 -1.27347213e-01 -1.33295331e-02 2.10549368e+02] [-1.27330089e-01 -9.91858113e-01 2.12901158e-03 -9.10632262e+01] [-1.34921292e-02 -4.14236261e-04 -9.99908891e-01 -4.04315781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.626559995 meters 0.01663824068072254 Centerline is valid? [True, True] Translation: X:210.58, Y:-91.07, Z:-4.04 [[ 9.98640475e-01 -5.06862819e-02 -1.21697139e-02 2.10578830e+02] [-5.06781458e-02 -9.98714560e-01 9.76207781e-04 -9.10734626e+01] [-1.22035508e-02 -3.58142069e-04 -9.99925470e-01 -4.04403935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.686559995 meters 0.016694878539934805 Centerline is valid? [True, True] Translation: X:210.61, Y:-91.08, Z:-4.04 [[ 9.99534399e-01 2.79937703e-02 -1.21381101e-02 2.10609373e+02] [ 2.79960828e-02 -9.99608033e-01 2.06110507e-05 -9.10829453e+01] [-1.21327754e-02 -3.60420989e-04 -9.99926330e-01 -4.04426397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.746559995 meters 0.016729656832233434 Centerline is valid? [True, True] Translation: X:210.64, Y:-91.09, Z:-4.04 [[ 9.94023383e-01 1.08486875e-01 -1.21701286e-02 2.10640555e+02] [ 1.08483552e-01 -9.94097805e-01 -9.34875598e-04 -9.10936356e+01] [-1.21997198e-02 -3.90970571e-04 -9.99925504e-01 -4.04385917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.80655999499993 meters 0.01767417290193463 Centerline is valid? [True, True] Translation: X:210.67, Y:-91.10, Z:-4.04 [[ 9.82265372e-01 1.87105065e-01 -1.21009930e-02 2.10671898e+02] [ 1.87095947e-01 -9.82339824e-01 -1.89129319e-03 -9.11001176e+01] [-1.22411579e-02 -4.06294944e-04 -9.99924992e-01 -4.04320197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.86655999499993 meters 0.018050988455417444 Centerline is valid? [True, True] Translation: X:210.70, Y:-91.10, Z:-4.04 [[ 9.63955812e-01 2.65802853e-01 -1.17488280e-02 2.10704198e+02] [ 2.65788522e-01 -9.64027312e-01 -2.79345930e-03 -9.11047826e+01] [-1.20687006e-02 -4.29932313e-04 -9.99927078e-01 -4.04387151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.92655999499993 meters 0.01995419028918416 Centerline is valid? [True, True] Translation: X:210.74, Y:-91.11, Z:-4.04 [[ 9.39367367e-01 3.42733825e-01 -1.10668771e-02 2.10736965e+02] [ 3.42715549e-01 -9.39432451e-01 -3.56684014e-03 -9.11082683e+01] [-1.16190602e-02 -4.42217635e-04 -9.99932399e-01 -4.04345647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.98655999499994 meters 0.021241114404185652 Centerline is valid? [True, True] Translation: X:210.77, Y:-91.11, Z:-4.04 [[ 9.08735825e-01 4.17231465e-01 -1.08215402e-02 2.10770101e+02] [ 4.17207991e-01 -9.08800134e-01 -4.45070665e-03 -9.11060491e+01] [-1.16915920e-02 -4.70316474e-04 -9.99931540e-01 -4.04303444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04655999499994 meters 0.021716235756340744 Centerline is valid? [True, True] Translation: X:210.80, Y:-91.10, Z:-4.04 [[ 8.71848347e-01 4.89671627e-01 -1.01073399e-02 2.10803250e+02] [ 4.89645149e-01 -8.71906795e-01 -5.11561024e-03 -9.11013622e+01] [-1.13176275e-02 -4.88973633e-04 -9.99935834e-01 -4.04402438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10655999499994 meters 0.02281589514188786 Centerline is valid? [True, True] Translation: X:210.83, Y:-91.09, Z:-4.04 [[ 8.30829259e-01 5.56462843e-01 -8.47628591e-03 2.10834218e+02] [ 5.56439076e-01 -8.30872385e-01 -5.16084510e-03 -9.10934368e+01] [-9.91453043e-03 -4.28755590e-04 -9.99950758e-01 -4.04403169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16655999499994 meters 0.021507902843684115 Centerline is valid? [True, True] Translation: X:210.86, Y:-91.08, Z:-4.05 [[ 7.85449890e-01 6.18895718e-01 -6.04652975e-03 2.10863800e+02] [ 6.18880406e-01 -7.85473101e-01 -4.36469225e-03 -9.10806104e+01] [-7.45067582e-03 -3.13831744e-04 -9.99972194e-01 -4.04653393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22655999499995 meters 0.02226391793252381 Centerline is valid? [True, True] Translation: X:210.89, Y:-91.07, Z:-4.05 [[ 7.34109359e-01 6.79012692e-01 -5.02131518e-03 2.10894876e+02] [ 6.78999386e-01 -7.34126477e-01 -4.26024789e-03 -9.10670888e+01] [-6.57904281e-03 -2.81982074e-04 -9.99978318e-01 -4.04681859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28655999499995 meters 0.023668310401572846 Centerline is valid? [True, True] Translation: X:210.92, Y:-91.05, Z:-4.05 [[ 6.78826937e-01 7.34285058e-01 -4.40937868e-03 2.10924180e+02] [ 7.34272048e-01 -6.78841206e-01 -4.37912703e-03 -9.10523361e+01] [-6.20879548e-03 -2.65014126e-04 -9.99980690e-01 -4.04575240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34655999499995 meters 0.02224136380624082 Centerline is valid? [True, True] Translation: X:210.95, Y:-91.03, Z:-4.05 [[ 6.19064062e-01 7.85330763e-01 -3.90905694e-03 2.10950006e+02] [ 7.85317660e-01 -6.19076350e-01 -4.54383621e-03 -9.10315881e+01] [-5.98841906e-03 -2.56925754e-04 -9.99982036e-01 -4.04551722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40655999499995 meters 0.021278077430596006 Centerline is valid? [True, True] Translation: X:210.98, Y:-91.01, Z:-4.04 [[ 5.55806476e-01 8.31302609e-01 -3.89016425e-03 2.10975753e+02] [ 8.31285682e-01 -5.55820018e-01 -5.31251975e-03 -9.10111296e+01] [-6.57854269e-03 -2.81104961e-04 -9.99978322e-01 -4.04497398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46655999499995 meters 0.02168843507930504 Centerline is valid? [True, True] Translation: X:211.00, Y:-90.99, Z:-4.04 [[ 4.89631371e-01 8.71919460e-01 -4.19246663e-03 2.11000615e+02] [ 8.71893144e-01 -4.89649205e-01 -6.78246425e-03 -9.09889843e+01] [-7.96660052e-03 -3.34475641e-04 -9.99968210e-01 -4.04329743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52655999499996 meters 0.020947775448029272 Centerline is valid? [True, True] Translation: X:211.02, Y:-90.96, Z:-4.04 [[ 4.21012843e-01 9.07046306e-01 -3.89680796e-03 2.11021958e+02] [ 9.07014758e-01 -4.21030734e-01 -7.57292450e-03 -9.09642691e+01] [-8.50966911e-03 -3.46163852e-04 -9.99963732e-01 -4.04314209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58655999499996 meters 0.020580212502672758 Centerline is valid? [True, True] Translation: X:211.04, Y:-90.94, Z:-4.04 [[ 3.50465612e-01 9.36571032e-01 -2.92513949e-03 2.11041272e+02] [ 9.36545069e-01 -3.50477696e-01 -6.97988376e-03 -9.09373612e+01] [-7.56235309e-03 -2.93315734e-04 -9.99971362e-01 -4.04316449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64655999499996 meters 0.01668765438590644 Centerline is valid? [True, True] Translation: X:211.06, Y:-90.91, Z:-4.04 [[ 2.81338814e-01 9.59606820e-01 -1.79533472e-03 2.11056345e+02] [ 9.59591392e-01 -2.81344478e-01 -5.44480144e-03 -9.09088987e+01] [-5.72997610e-03 -1.90953757e-04 -9.99983565e-01 -4.04403229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70655999499996 meters 0.014388243867392783 Centerline is valid? [True, True] Translation: X:211.07, Y:-90.88, Z:-4.04 [[ 2.13960147e-01 9.76841874e-01 -1.00429507e-03 2.11068866e+02] [ 9.76833276e-01 -2.13962478e-01 -4.09974541e-03 -9.08801139e+01] [-4.21968445e-03 -1.03846719e-04 -9.99991092e-01 -4.04459909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76655999499997 meters 0.012919554198991885 Centerline is valid? [True, True] Translation: X:211.08, Y:-90.85, Z:-4.04 [[ 1.42991463e-01 9.89723717e-01 -6.37177881e-04 2.11079731e+02] [ 9.89716025e-01 -1.42992864e-01 -3.90259885e-03 -9.08502597e+01] [-3.95360653e-03 -7.25868401e-05 -9.99992182e-01 -4.04472384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82655999499997 meters 0.01117375467027727 Centerline is valid? [True, True] Translation: X:211.09, Y:-90.82, Z:-4.04 [[ 7.33682847e-02 9.97304817e-01 -4.44555413e-04 2.11087426e+02] [ 9.97290616e-01 -7.33696125e-02 -5.32235561e-03 -9.08206258e+01] [-5.34062774e-03 -5.28588404e-05 -9.99985737e-01 -4.04379075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88655999499997 meters 0.010664501142151894 Centerline is valid? [True, True] Translation: X:211.10, Y:-90.79, Z:-4.04 [[ 2.26259360e-04 9.99999974e-01 -3.05247486e-05 2.11095020e+02] [ 9.99980495e-01 -2.26445479e-04 -6.24170677e-03 -9.07900941e+01] [-6.24171352e-03 -2.91119086e-05 -9.99980520e-01 -4.04297471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.946559995 meters 0.01072525038962878 Centerline is valid? [True, True] Translation: X:211.10, Y:-90.76, Z:-4.04 [[-7.02443470e-02 9.97529704e-01 4.71220931e-04 2.11099311e+02] [ 9.97509170e-01 7.02459245e-02 -6.40053073e-03 -9.07594302e+01] [-6.41782088e-03 2.04460983e-05 -9.99979405e-01 -4.04296932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.006559995 meters 0.011432752441452669 Centerline is valid? [True, True] Translation: X:211.10, Y:-90.73, Z:-4.04 [[-1.41050168e-01 9.90001935e-01 1.00981580e-03 2.11100930e+02] [ 9.89979971e-01 1.41053766e-01 -6.59491484e-03 -9.07296198e+01] [-6.67141677e-03 6.94835679e-05 -9.99977743e-01 -4.04353755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.066559995 meters 0.012054558422051574 Centerline is valid? [True, True] Translation: X:211.10, Y:-90.70, Z:-4.04 [[-2.14446204e-01 9.76734442e-01 1.62961727e-03 2.11103604e+02] [ 9.76709735e-01 2.14452371e-01 -6.94798505e-03 -9.06994288e+01] [-7.13581159e-03 1.01694035e-04 -9.99974535e-01 -4.04387085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.126559995 meters 0.012869097929583056 Centerline is valid? [True, True] Translation: X:211.10, Y:-90.67, Z:-4.04 [[-2.87647824e-01 9.57732859e-01 2.54957620e-03 2.11103935e+02] [ 9.57699520e-01 2.87659087e-01 -7.99246386e-03 -9.06701867e+01] [-8.38805403e-03 1.42713059e-04 -9.99964809e-01 -4.04289347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.186559995 meters 0.012766610422844146 Centerline is valid? [True, True] Translation: X:211.10, Y:-90.64, Z:-4.04 [[-3.62298464e-01 9.32055518e-01 3.51197165e-03 2.11104693e+02] [ 9.32015743e-01 3.62315453e-01 -8.61205076e-03 -9.06386858e+01] [-9.29935103e-03 1.53080101e-04 -9.99956748e-01 -4.04251985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.246559995 meters 0.012452603935784753 Centerline is valid? [True, True] Translation: X:211.10, Y:-90.61, Z:-4.04 [[-4.36474977e-01 8.99705491e-01 4.42998001e-03 2.11102006e+02] [ 8.99662304e-01 4.36497436e-01 -8.81627806e-03 -9.06083369e+01] [-9.86572869e-03 1.37401263e-04 -9.99951323e-01 -4.04222781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.30655999499993 meters 0.011330908545492903 Centerline is valid? [True, True] Translation: X:211.10, Y:-90.57, Z:-4.04 [[-5.08875688e-01 8.60823345e-01 5.35755148e-03 2.11100121e+02] [ 8.60777793e-01 5.08903879e-01 -8.85627705e-03 -9.05748668e+01] [-1.03501688e-02 1.04917261e-04 -9.99946430e-01 -4.04297730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.36655999499993 meters 0.010671009336960607 Centerline is valid? [True, True] Translation: X:211.10, Y:-90.54, Z:-4.04 [[-5.80033059e-01 8.14569567e-01 6.17018464e-03 2.11095665e+02] [ 8.14524186e-01 5.80065875e-01 -8.59829019e-03 -9.05412012e+01] [-1.05830191e-02 3.84720550e-05 -9.99943998e-01 -4.04231898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.42655999499993 meters 0.010405933171572112 Centerline is valid? [True, True] Translation: X:211.09, Y:-90.51, Z:-4.04 [[-6.45640632e-01 7.63609673e-01 6.96002500e-03 2.11086251e+02] [ 7.63565124e-01 6.45678145e-01 -8.24834264e-03 -9.05086935e+01] [-1.07924503e-02 -1.10328069e-05 -9.99941760e-01 -4.04287117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.48655999499994 meters 0.010883101752407566 Centerline is valid? [True, True] Translation: X:211.08, Y:-90.48, Z:-4.04 [[-7.08390951e-01 7.05779932e-01 7.54637152e-03 2.11075415e+02] [ 7.05738602e-01 7.08431140e-01 -7.63848314e-03 -9.04763530e+01] [-1.07371727e-02 -8.52666513e-05 -9.99942351e-01 -4.04338973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54655999499994 meters 0.011327348001912969 Centerline is valid? [True, True] Translation: X:211.06, Y:-90.44, Z:-4.04 [[-7.64483689e-01 6.44598795e-01 7.55536840e-03 2.11060690e+02] [ 6.44565682e-01 7.64521012e-01 -6.53483366e-03 -9.04448038e+01] [-9.98858379e-03 -1.25842563e-04 -9.99950105e-01 -4.04436935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60655999499994 meters 0.013144731474067937 Centerline is valid? [True, True] Translation: X:211.08, Y:-90.42, Z:-4.04 [[-8.11535284e-01 5.84257998e-01 7.28525825e-03 2.11079051e+02] [ 5.84232601e-01 8.11567967e-01 -5.45009500e-03 -9.04174187e+01] [-9.09674381e-03 -1.66659016e-04 -9.99958610e-01 -4.04470008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66655999499994 meters 0.014510916651798022 Centerline is valid? [True, True] Translation: X:211.09, Y:-90.39, Z:-4.05 [[-8.53116858e-01 5.21670324e-01 7.19023173e-03 2.11090007e+02] [ 5.21649869e-01 8.53147136e-01 -4.62366377e-03 -9.03883453e+01] [-8.54635378e-03 -1.93742074e-04 -9.99963460e-01 -4.04511012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72655999499995 meters 0.01511899569361646 Centerline is valid? [True, True] Translation: X:211.10, Y:-90.36, Z:-4.04 [[-8.89157007e-01 4.57533741e-01 7.91785688e-03 2.11100564e+02] [ 4.57513293e-01 8.89192231e-01 -4.33172276e-03 -9.03608234e+01] [-9.02240614e-03 -2.29056867e-04 -9.99959271e-01 -4.04457636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78655999499995 meters 0.018195923954193054 Centerline is valid? [True, True] Translation: X:211.38, Y:-89.85, Z:-5.00 [[-8.26741114e-01 -5.62507635e-01 9.18098256e-03 2.11375954e+02] [ 5.62478171e-01 -8.26791997e-01 -5.77069550e-03 -8.98541941e+01] [ 1.08368232e-02 3.93231051e-04 9.99941203e-01 -5.00079846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84655999499995 meters 0.01721019593563385 Centerline is valid? [True, True] Translation: X:211.06, Y:-90.33, Z:-4.04 [[-8.93174027e-01 4.49597939e-01 1.00921373e-02 2.11055195e+02] [ 4.49564704e-01 8.93230971e-01 -5.47816820e-03 -9.03340966e+01] [-1.14775828e-02 -3.55888818e-04 -9.99934067e-01 -4.04263796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90655999499995 meters 0.016355519426004564 Centerline is valid? [True, True] Translation: X:211.07, Y:-90.32, Z:-4.04 [[-9.21758442e-01 3.87642270e-01 9.73880015e-03 2.11070491e+02] [ 3.87617137e-01 9.21809839e-01 -4.42455275e-03 -9.03171979e+01] [-1.06924655e-02 -3.03443018e-04 -9.99942788e-01 -4.04330340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96655999499995 meters 0.014438929141165058 Centerline is valid? [True, True] Translation: X:211.08, Y:-90.30, Z:-4.04 [[-9.44710395e-01 3.27771121e-01 9.40009284e-03 2.11083135e+02] [ 3.27752610e-01 9.44757136e-01 -3.49015977e-03 -9.03020250e+01] [-1.00247784e-02 -2.16285252e-04 -9.99949727e-01 -4.04418580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02655999499996 meters 0.012727816644005937 Centerline is valid? [True, True] Translation: X:211.09, Y:-90.28, Z:-4.04 [[-9.64200837e-01 2.65004366e-01 9.45684625e-03 2.11086419e+02] [ 2.64989977e-01 9.64247199e-01 -2.76624510e-03 -9.02822046e+01] [-9.85180453e-03 -1.61246371e-04 -9.99951457e-01 -4.04435581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08655999499996 meters 0.010527702556061494 Centerline is valid? [True, True] Translation: X:211.27, Y:-89.68, Z:-5.00 [[-9.36194847e-01 -3.51356393e-01 9.37510374e-03 2.11273493e+02] [ 3.51340570e-01 -9.36241773e-01 -3.33874492e-03 -8.96838380e+01] [ 9.95045311e-03 1.68138503e-04 9.99950479e-01 -4.99793849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14655999499996 meters 0.010228939411518728 Centerline is valid? [True, True] Translation: X:211.05, Y:-90.29, Z:-4.05 [[-9.61063969e-01 2.76170122e-01 9.27959337e-03 2.11045973e+02] [ 2.76157144e-01 9.61108768e-01 -2.67728647e-03 -9.02906253e+01] [-9.65808508e-03 -1.04175535e-05 -9.99953360e-01 -4.04521753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20655999499996 meters 0.010756040026088364 Centerline is valid? [True, True] Translation: X:211.06, Y:-90.27, Z:-4.05 [[-9.76429444e-01 2.15665574e-01 8.59656310e-03 2.11057128e+02] [ 2.15657808e-01 9.76467284e-01 -1.83144555e-03 -9.02747739e+01] [-8.78924237e-03 6.56385906e-05 -9.99961372e-01 -4.04650923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26655999499997 meters 0.011519386708653297 Centerline is valid? [True, True] Translation: X:211.06, Y:-90.25, Z:-4.05 [[-9.88690242e-01 1.49713720e-01 8.79817659e-03 2.11060897e+02] [ 1.49708703e-01 9.88729383e-01 -1.22981623e-03 -9.02524024e+01] [-8.88313607e-03 1.01256300e-04 -9.99960539e-01 -4.04611725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32655999499997 meters 0.012147554486531884 Centerline is valid? [True, True] Translation: X:211.06, Y:-90.23, Z:-4.05 [[-9.96634233e-01 8.14109929e-02 9.61541346e-03 2.11061850e+02] [ 8.14084753e-02 9.96680607e-01 -6.53586574e-04 -9.02282391e+01] [-9.63670526e-03 1.31389395e-04 -9.99953557e-01 -4.04559091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38655999499997 meters 0.011705554446047824 Centerline is valid? [True, True] Translation: X:211.11, Y:-89.54, Z:-5.00 [[-9.92632178e-01 -1.20761026e-01 9.90625162e-03 2.11111664e+02] [ 1.20753872e-01 -9.92681601e-01 -1.31934285e-03 -8.95444080e+01] [ 9.99307892e-03 -1.13403927e-04 9.99950062e-01 -4.99717601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.446559995 meters 0.01122250392247975 Centerline is valid? [True, True] Translation: X:211.00, Y:-90.22, Z:-4.05 [[-9.97201650e-01 7.40833144e-02 1.00265291e-02 2.11001847e+02] [ 7.40806175e-02 9.97252050e-01 -6.40616374e-04 -9.02241571e+01] [-1.00464357e-02 1.03947764e-04 -9.99949528e-01 -4.04611421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.506559995 meters 0.01055334244463007 Centerline is valid? [True, True] Translation: X:211.00, Y:-90.19, Z:-4.05 [[-9.99951208e-01 -5.17136688e-04 9.86475261e-03 2.11000866e+02] [-5.16452804e-04 9.99999864e-01 7.18734040e-05 -9.01945425e+01] [-9.86478844e-03 6.67752180e-05 -9.99951340e-01 -4.04636176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.566559995 meters 0.010119908606041356 Centerline is valid? [True, True] Translation: X:210.99, Y:-90.16, Z:-4.05 [[-9.96884476e-01 -7.82635942e-02 9.80569571e-03 2.10990284e+02] [-7.82598039e-02 9.96932701e-01 7.70241436e-04 -9.01642512e+01] [-9.83590057e-03 4.49906689e-07 -9.99951626e-01 -4.04547825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.626559995 meters 0.010111291513221708 Centerline is valid? [True, True] Translation: X:210.98, Y:-90.13, Z:-4.05 [[-9.88025621e-01 -1.53998543e-01 9.47740154e-03 2.10977635e+02] [-1.53991930e-01 9.88071074e-01 1.42794970e-03 -9.01347808e+01] [-9.58424849e-03 -4.85924685e-05 -9.99954069e-01 -4.04635201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.686559995 meters 0.010409635971689896 Centerline is valid? [True, True] Translation: X:210.88, Y:-89.48, Z:-5.00 [[-9.97160268e-01 7.47778458e-02 8.92602852e-03 2.10880590e+02] [-7.47748348e-02 -9.97200218e-01 6.71052058e-04 -8.94779912e+01] [ 8.95121740e-03 1.70414198e-06 9.99959937e-01 -4.99603147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.746559995 meters 0.010726749435954433 Centerline is valid? [True, True] Translation: X:210.89, Y:-90.14, Z:-4.05 [[-9.86323840e-01 -1.64648933e-01 7.48412092e-03 2.10888195e+02] [-1.64644811e-01 9.86352230e-01 1.16784360e-03 -9.01449596e+01] [-7.57426356e-03 -8.03496931e-05 -9.99971312e-01 -4.04759249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.80655999499993 meters 0.010923138594088772 Centerline is valid? [True, True] Translation: X:210.88, Y:-90.12, Z:-4.05 [[-9.71725691e-01 -2.36004190e-01 7.15573652e-03 2.10879275e+02] [-2.35998466e-01 9.71752033e-01 1.64610431e-03 -9.01190132e+01] [-7.34208903e-03 -8.91809889e-05 -9.99973043e-01 -4.04777466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.86655999499993 meters 0.011357180766394049 Centerline is valid? [True, True] Translation: X:210.86, Y:-90.10, Z:-4.05 [[-9.51679816e-01 -3.07000617e-01 7.49329467e-03 2.10860167e+02] [-3.06992028e-01 9.51709309e-01 2.29916336e-03 -9.00951874e+01] [-7.83728286e-03 -1.12314359e-04 -9.99969282e-01 -4.04693711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.92655999499993 meters 0.012641639736312514 Centerline is valid? [True, True] Translation: X:210.83, Y:-90.08, Z:-4.04 [[-9.25533511e-01 -3.78567328e-01 8.63119972e-03 2.10825072e+02] [-3.78552585e-01 9.25573740e-01 3.34536302e-03 -9.00759821e+01] [-9.25525695e-03 -1.71117383e-04 -9.99957155e-01 -4.04498341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.98655999499994 meters 0.01353225204752588 Centerline is valid? [True, True] Translation: X:210.78, Y:-90.07, Z:-4.04 [[-8.94012784e-01 -4.47946823e-01 9.20793500e-03 2.10778867e+02] [-4.47925628e-01 8.94060174e-01 4.36316985e-03 -9.00663450e+01] [-1.01869160e-02 -2.23740445e-04 -9.99948087e-01 -4.04380748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04655999499994 meters 0.013378947504369182 Centerline is valid? [True, True] Translation: X:210.72, Y:-90.07, Z:-4.04 [[-8.58291011e-01 -5.13080290e-01 9.22804123e-03 2.10716210e+02] [-5.13053622e-01 8.58340584e-01 5.23667593e-03 -9.00711740e+01] [-1.06076375e-02 -2.39888101e-04 -9.99943709e-01 -4.04390089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10655999499994 meters 0.013237781355927035 Centerline is valid? [True, True] Translation: X:210.65, Y:-90.09, Z:-4.04 [[-8.18820114e-01 -5.73983830e-01 8.72838124e-03 2.10650403e+02] [-5.73954098e-01 8.18866603e-01 5.84632648e-03 -9.00851357e+01] [-1.05030768e-02 -2.22600474e-04 -9.99944816e-01 -4.04390615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16655999499994 meters 0.012802899972259215 Centerline is valid? [True, True] Translation: X:210.58, Y:-90.11, Z:-4.04 [[-7.74740683e-01 -6.32232526e-01 7.67505213e-03 2.10577099e+02] [-6.32203951e-01 7.74778675e-01 6.01402528e-03 -9.01095467e+01] [-9.74872912e-03 -1.92888226e-04 -9.99952461e-01 -4.04442618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22655999499995 meters 0.011879979798866338 Centerline is valid? [True, True] Translation: X:210.50, Y:-90.15, Z:-4.05 [[-7.27180008e-01 -6.86412816e-01 6.83235085e-03 2.10501282e+02] [-6.86384521e-01 7.27212088e-01 6.23445003e-03 -9.01465311e+01] [-9.24797453e-03 -1.56052441e-04 -9.99957224e-01 -4.04519104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28655999499995 meters 0.01168039563609285 Centerline is valid? [True, True] Translation: X:210.42, Y:-90.19, Z:-4.04 [[-6.74563773e-01 -7.38189376e-01 6.33726873e-03 2.10423089e+02] [-7.38158761e-01 6.74593526e-01 6.72444372e-03 -9.01903100e+01] [-9.23899337e-03 -1.41844306e-04 -9.99957310e-01 -4.04485900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34655999499995 meters 0.011533782654323366 Centerline is valid? [True, True] Translation: X:210.34, Y:-90.25, Z:-4.04 [[-6.17679973e-01 -7.86406261e-01 6.05334859e-03 2.10341761e+02] [-7.86370687e-01 6.17709619e-01 7.48133631e-03 -9.02491118e+01] [-9.62258137e-03 -1.39104276e-04 -9.99953692e-01 -4.04434517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40655999499995 meters 0.011135203561050834 Centerline is valid? [True, True] Translation: X:210.27, Y:-90.31, Z:-4.04 [[-5.56269369e-01 -8.30983099e-01 5.61055387e-03 2.10268642e+02] [-8.30943370e-01 5.56297644e-01 8.12692468e-03 -9.03079101e+01] [-9.87447495e-03 -1.41293281e-04 -9.99951236e-01 -4.04431719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46655999499995 meters 0.011206460940266864 Centerline is valid? [True, True] Translation: X:210.19, Y:-90.38, Z:-4.04 [[-4.91187749e-01 -8.71041322e-01 4.64874668e-03 2.10192061e+02] [-8.71004874e-01 4.91209728e-01 7.96950336e-03 -9.03815316e+01] [-9.22527634e-03 -1.34558600e-04 -9.99957437e-01 -4.04478988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52655999499996 meters 0.010740475647190913 Centerline is valid? [True, True] Translation: X:210.12, Y:-90.46, Z:-4.04 [[-4.25384961e-01 -9.05005010e-01 3.68339175e-03 2.10120874e+02] [-9.04973168e-01 4.25400895e-01 7.59237243e-03 -9.04646457e+01] [-8.43805323e-03 -1.03689648e-04 -9.99964394e-01 -4.04471765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58655999499996 meters 0.010567145544347609 Centerline is valid? [True, True] Translation: X:210.06, Y:-90.55, Z:-4.04 [[-3.58130913e-01 -9.33667002e-01 2.85983453e-03 2.10055662e+02] [-9.33638756e-01 3.58142325e-01 7.26275853e-03 -9.05518224e+01] [-7.80522577e-03 -6.90340108e-05 -9.99969536e-01 -4.04351847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64655999499996 meters 0.0095235553095788 Centerline is valid? [True, True] Translation: X:210.00, Y:-90.65, Z:-4.04 [[-2.92031047e-01 -9.56406242e-01 2.22901918e-03 2.10001677e+02] [-9.56378769e-01 2.92039553e-01 7.24910071e-03 -9.06485092e+01] [-7.58404693e-03 -1.48241503e-05 -9.99971241e-01 -4.04497635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70655999499996 meters 0.009818496401943322 Centerline is valid? [True, True] Translation: X:209.95, Y:-90.75, Z:-4.05 [[-2.23851666e-01 -9.74622079e-01 1.49469462e-03 2.09951568e+02] [-9.74599460e-01 2.23856654e-01 6.64009062e-03 -9.07528981e+01] [-6.80617626e-03 2.96667727e-05 -9.99976837e-01 -4.04553224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76655999499997 meters 0.009962631231225802 Centerline is valid? [True, True] Translation: X:209.90, Y:-90.86, Z:-4.05 [[-1.50551060e-01 -9.88601873e-01 8.45636873e-04 2.09904563e+02] [-9.88584792e-01 1.50553430e-01 5.81158292e-03 -9.08597653e+01] [-5.87265529e-03 3.89562167e-05 -9.99982755e-01 -4.04596176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82655999499997 meters 0.010418465910107613 Centerline is valid? [True, True] Translation: X:209.87, Y:-90.98, Z:-4.05 [[-7.59493156e-02 -9.97111594e-01 4.12013134e-04 2.09865182e+02] [-9.97092919e-01 7.59504148e-02 6.10285017e-03 -9.09762132e+01] [-6.11651524e-03 5.26919147e-05 -9.99981293e-01 -4.04551575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88655999499997 meters 0.010555133600162896 Centerline is valid? [True, True] Translation: X:209.83, Y:-91.09, Z:-4.05 [[ 2.72656232e-04 -9.99999961e-01 -5.83580288e-05 2.09834262e+02] [-9.99981834e-01 -2.73002685e-04 6.02137667e-03 -9.10908427e+01] [-6.02139237e-03 5.67152028e-05 -9.99981870e-01 -4.04519713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.946559995 meters 0.011039303591923707 Centerline is valid? [True, True] Translation: X:209.81, Y:-91.21, Z:-4.04 [[ 7.58787715e-02 -9.97116890e-01 -5.65558121e-04 2.09812518e+02] [-9.97095746e-01 -7.58808458e-02 6.49383661e-03 -9.12105156e+01] [-6.51802919e-03 7.11712519e-05 -9.99978755e-01 -4.04422615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.006559995 meters 0.011071350777764657 Centerline is valid? [True, True] Translation: X:209.80, Y:-91.33, Z:-4.04 [[ 1.51711365e-01 -9.88424201e-01 -1.12266633e-03 2.09798994e+02] [-9.88400932e-01 -1.51715497e-01 6.78278803e-03 -9.13325335e+01] [-6.87459772e-03 8.06184116e-05 -9.99976366e-01 -4.04363486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.066559995 meters 0.011117595075202914 Centerline is valid? [True, True] Translation: X:209.79, Y:-91.45, Z:-4.04 [[ 2.28372812e-01 -9.73572226e-01 -1.72626089e-03 2.09793526e+02] [-9.73546914e-01 -2.28379324e-01 7.02078983e-03 -9.14543056e+01] [-7.22948828e-03 7.72384458e-05 -9.99973864e-01 -4.04306584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.126559995 meters 0.010846495436996503 Centerline is valid? [True, True] Translation: X:209.80, Y:-91.58, Z:-4.04 [[ 3.04383018e-01 -9.52546635e-01 -2.42628045e-03 2.09797179e+02] [-9.52518137e-01 -3.04392680e-01 7.36848977e-03 -9.15771794e+01] [-7.75737214e-03 6.82329778e-05 -9.99969909e-01 -4.04287558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.186559995 meters 0.010553974825936946 Centerline is valid? [True, True] Translation: X:209.81, Y:-91.70, Z:-4.04 [[ 3.79037431e-01 -9.25376369e-01 -3.03354958e-03 2.09809823e+02] [-9.25347763e-01 -3.79049567e-01 7.27620385e-03 -9.16981840e+01] [-7.88309275e-03 4.91347015e-05 -9.99968927e-01 -4.04300542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.246559995 meters 0.010464185740301264 Centerline is valid? [True, True] Translation: X:209.83, Y:-91.82, Z:-4.04 [[ 4.51327862e-01 -8.92351808e-01 -3.37814691e-03 2.09830894e+02] [-8.92327249e-01 -4.51340503e-01 6.62054063e-03 -9.18156546e+01] [-7.43254593e-03 2.63780953e-05 -9.99972378e-01 -4.04225295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.30655999499993 meters 0.010334482047907413 Centerline is valid? [True, True] Translation: X:209.86, Y:-91.93, Z:-4.04 [[ 5.22069508e-01 -8.52894114e-01 -3.88066248e-03 2.09859672e+02] [-8.52870469e-01 -5.22083931e-01 6.35077346e-03 -9.19322710e+01] [-7.44256882e-03 -5.84274918e-06 -9.99972304e-01 -4.04265446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.36655999499993 meters 0.010437292665144458 Centerline is valid? [True, True] Translation: X:209.90, Y:-92.04, Z:-4.04 [[ 5.88584351e-01 -8.08421177e-01 -4.86449942e-03 2.09896611e+02] [-8.08393072e-01 -5.88604451e-01 6.74105727e-03 -9.20434369e+01] [-8.31287946e-03 -3.52531874e-05 -9.99965447e-01 -4.04231776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.42655999499993 meters 0.010978802631708738 Centerline is valid? [True, True] Translation: X:209.94, Y:-92.15, Z:-4.04 [[ 6.53086869e-01 -7.57259874e-01 -5.91823963e-03 2.09938572e+02] [-7.57227485e-01 -6.53113677e-01 7.00431681e-03 -9.21505024e+01] [-9.16937131e-03 -9.29736176e-05 -9.99957956e-01 -4.04200489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.48655999499994 meters 0.012047122964972061 Centerline is valid? [True, True] Translation: X:209.99, Y:-92.25, Z:-4.04 [[ 7.11997442e-01 -7.02150516e-01 -6.65545973e-03 2.09985376e+02] [-7.02118006e-01 -7.12028534e-01 6.75813426e-03 -9.22503230e+01] [-9.48410470e-03 -1.38856199e-04 -9.99955015e-01 -4.04080387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54655999499994 meters 0.01258039684912886 Centerline is valid? [True, True] Translation: X:210.04, Y:-92.34, Z:-4.04 [[ 7.64768017e-01 -6.44266873e-01 -7.07653343e-03 2.10041008e+02] [-6.44237351e-01 -7.64800739e-01 6.16966883e-03 -9.23423258e+01] [-9.38705124e-03 -1.59398242e-04 -9.99955928e-01 -4.04071089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60655999499994 meters 0.0131297427317761 Centerline is valid? [True, True] Translation: X:210.06, Y:-92.37, Z:-4.04 [[ 8.14335324e-01 -5.80347026e-01 -7.43707675e-03 2.10060974e+02] [-5.80320771e-01 -8.14369263e-01 5.52331297e-03 -9.23718097e+01] [-9.26196496e-03 -1.81938745e-04 -9.99957091e-01 -4.04146035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66655999499994 meters 0.01346235166023602 Centerline is valid? [True, True] Translation: X:210.08, Y:-92.40, Z:-4.04 [[ 8.58040507e-01 -5.13518462e-01 -8.07942275e-03 2.10083308e+02] [-5.13493460e-01 -8.58078521e-01 5.07136120e-03 -9.23992919e+01] [-9.53701672e-03 -2.02702597e-04 -9.99954501e-01 -4.04143814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72655999499995 meters 0.01461804145351441 Centerline is valid? [True, True] Translation: X:210.11, Y:-92.42, Z:-4.04 [[ 8.96510128e-01 -4.42929787e-01 -9.09915198e-03 2.10106941e+02] [-4.42904236e-01 -8.96556271e-01 4.76354830e-03 -9.24243212e+01] [-1.02678192e-02 -2.40516335e-04 -9.99947256e-01 -4.04010210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78655999499995 meters 0.015027590926801192 Centerline is valid? [True, True] Translation: X:210.13, Y:-92.45, Z:-4.04 [[ 9.28694648e-01 -3.70728492e-01 -9.30786460e-03 2.10134519e+02] [-3.70707213e-01 -9.28741259e-01 3.97958714e-03 -9.24450957e+01] [-1.01199442e-02 -2.45328740e-04 -9.99948762e-01 -4.03987297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84655999499995 meters 0.014709710942254834 Centerline is valid? [True, True] Translation: X:210.16, Y:-92.46, Z:-4.04 [[ 9.54582562e-01 -2.97835215e-01 -8.14353473e-03 2.10164577e+02] [-2.97822576e-01 -9.54617276e-01 2.75114367e-03 -9.24621667e+01] [-8.59334641e-03 -2.00865275e-04 -9.99963056e-01 -4.04166459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90655999499995 meters 0.01532478642108137 Centerline is valid? [True, True] Translation: X:210.19, Y:-92.48, Z:-4.04 [[ 9.74621637e-01 -2.23758477e-01 -6.69395894e-03 2.10194636e+02] [-2.23752129e-01 -9.74644613e-01 1.69226394e-03 -9.24770658e+01] [-6.90288942e-03 -1.51529490e-04 -9.99976163e-01 -4.04286722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96655999499995 meters 0.013726585087803275 Centerline is valid? [True, True] Translation: X:210.23, Y:-92.49, Z:-4.04 [[ 9.89038710e-01 -1.47487779e-01 -7.05591508e-03 2.10226782e+02] [-1.47482924e-01 -9.89063866e-01 1.20638431e-03 -9.24896134e+01] [-7.15667759e-03 -1.52533788e-04 -9.99974379e-01 -4.04351423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02655999499996 meters 0.01378253495047506 Centerline is valid? [True, True] Translation: X:210.26, Y:-92.50, Z:-4.04 [[ 9.97511926e-01 -7.00251219e-02 -8.15101248e-03 2.10255508e+02] [-7.00213877e-02 -9.97545214e-01 7.42960452e-04 -9.25021463e+01] [-8.18302938e-03 -1.70366707e-04 -9.99966504e-01 -4.04229163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08655999499996 meters 0.01408960600726071 Centerline is valid? [True, True] Translation: X:210.28, Y:-92.51, Z:-4.04 [[ 9.99939421e-01 7.18641905e-03 -8.33725899e-03 2.10284804e+02] [ 7.18753682e-03 -9.99974164e-01 1.04114638e-04 -9.25109237e+01] [-8.33629538e-03 -1.64032687e-04 -9.99965239e-01 -4.04113255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14655999499996 meters 0.01332458369915516 Centerline is valid? [True, True] Translation: X:210.32, Y:-92.52, Z:-4.04 [[ 9.96425202e-01 8.40983962e-02 -8.01721784e-03 2.10315986e+02] [ 8.40968616e-02 -9.96457444e-01 -5.28936614e-04 -9.25170654e+01] [-8.03329912e-03 -1.47177087e-04 -9.99967722e-01 -4.04230229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20655999499996 meters 0.013125122566916555 Centerline is valid? [True, True] Translation: X:210.35, Y:-92.52, Z:-4.04 [[ 9.86950070e-01 1.60852961e-01 -7.47553406e-03 2.10347943e+02] [ 1.60849352e-01 -9.86978372e-01 -1.08551436e-03 -9.25216116e+01] [-7.55279864e-03 -1.31086334e-04 -9.99971469e-01 -4.04281868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26655999499997 meters 0.012597625263693195 Centerline is valid? [True, True] Translation: X:210.38, Y:-92.53, Z:-4.04 [[ 9.71612950e-01 2.36473556e-01 -6.96655454e-03 2.10380501e+02] [ 2.36468329e-01 -9.71637918e-01 -1.57651530e-03 -9.25257390e+01] [-7.14177273e-03 -1.15606827e-04 -9.99974491e-01 -4.04315397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32655999499997 meters 0.01284716292698443 Centerline is valid? [True, True] Translation: X:210.41, Y:-92.53, Z:-4.04 [[ 9.50050932e-01 3.12037757e-01 -5.97203798e-03 2.10413740e+02] [ 3.12032271e-01 -9.50069696e-01 -1.85312615e-03 -9.25281274e+01] [-6.25209764e-03 -1.02904351e-04 -9.99980450e-01 -4.04384144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38655999499997 meters 0.013398515396984155 Centerline is valid? [True, True] Translation: X:210.45, Y:-92.53, Z:-4.04 [[ 9.22260478e-01 3.86529399e-01 -5.53489796e-03 2.10445676e+02] [ 3.86523118e-01 -9.22277080e-01 -2.20589034e-03 -9.25275753e+01] [-5.95735100e-03 -1.04960538e-04 -9.99982249e-01 -4.04359070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.446559995 meters 0.013395538421075924 Centerline is valid? [True, True] Translation: X:210.48, Y:-92.53, Z:-4.04 [[ 8.88672835e-01 4.58513108e-01 -5.13041421e-03 2.10479671e+02] [ 4.58506160e-01 -8.88687638e-01 -2.52656851e-03 -9.25256380e+01] [-5.71780046e-03 -1.07033710e-04 -9.99983648e-01 -4.04370129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.506559995 meters 0.013409924515696645 Centerline is valid? [True, True] Translation: X:210.51, Y:-92.52, Z:-4.04 [[ 8.49651945e-01 5.27324289e-01 -4.54609652e-03 2.10513297e+02] [ 5.27317386e-01 -8.49664101e-01 -2.70011994e-03 -9.25213441e+01] [-5.28649384e-03 -1.03073577e-04 -9.99986021e-01 -4.04393919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.566559995 meters 0.014063994921521302 Centerline is valid? [True, True] Translation: X:210.55, Y:-92.51, Z:-4.04 [[ 8.05653297e-01 5.92373144e-01 -4.10156254e-03 2.10546427e+02] [ 5.92366088e-01 -8.05663732e-01 -2.89294007e-03 -9.25149275e+01] [-5.01818019e-03 -9.89198529e-05 -9.99987404e-01 -4.04351205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.626559995 meters 0.013768982512719942 Centerline is valid? [True, True] Translation: X:210.58, Y:-92.50, Z:-4.04 [[ 7.57375057e-01 6.52968031e-01 -3.97151367e-03 2.10577520e+02] [ 6.52959721e-01 -7.57385464e-01 -3.29581474e-03 -9.25018397e+01] [-5.16002839e-03 -9.70705830e-05 -9.99986682e-01 -4.04294007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.686559995 meters 0.012934936700567603 Centerline is valid? [True, True] Translation: X:210.60, Y:-92.48, Z:-4.04 [[ 7.06774891e-01 7.07425181e-01 -4.34367160e-03 2.10604936e+02] [ 7.07412593e-01 -7.06788232e-01 -4.22117592e-03 -9.24849478e+01] [-6.05622211e-03 -8.93468415e-05 -9.99981657e-01 -4.04160907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.746559995 meters 0.012106480289664058 Centerline is valid? [True, True] Translation: X:210.63, Y:-92.47, Z:-4.04 [[ 6.52619293e-01 7.57673406e-01 -4.36678583e-03 2.10629570e+02] [ 7.57657135e-01 -6.52633899e-01 -4.96594608e-03 -9.24653587e+01] [-6.61247774e-03 -6.76542216e-05 -9.99978135e-01 -4.04126217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.80655999499993 meters 0.011777799239758326 Centerline is valid? [True, True] Translation: X:210.65, Y:-92.44, Z:-4.04 [[ 5.93558028e-01 8.04781544e-01 -3.94138739e-03 2.10653478e+02] [ 8.04764345e-01 -5.93571111e-01 -5.26163348e-03 -9.24443280e+01] [-6.57395921e-03 -4.88032523e-05 -9.99978390e-01 -4.04133024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.86655999499993 meters 0.011649348689044194 Centerline is valid? [True, True] Translation: X:210.68, Y:-92.42, Z:-4.04 [[ 5.30473290e-01 8.47696261e-01 -3.02274009e-03 2.10677627e+02] [ 8.47682823e-01 -5.30481901e-01 -4.77324669e-03 -9.24237243e+01] [-5.64977228e-03 -3.02449754e-05 -9.99984039e-01 -4.04202293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.92655999499993 meters 0.0117339968957365 Centerline is valid? [True, True] Translation: X:210.70, Y:-92.40, Z:-4.04 [[ 4.63624080e-01 8.86028876e-01 -2.35448036e-03 2.10698664e+02] [ 8.86017677e-01 -4.63630058e-01 -4.45489398e-03 -9.24017084e+01] [-5.03877257e-03 -2.07150938e-05 -9.99987305e-01 -4.04220890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.98655999499994 meters 0.011744938511067329 Centerline is valid? [True, True] Translation: X:210.72, Y:-92.38, Z:-4.04 [[ 3.93871976e-01 9.19162932e-01 -2.09075205e-03 2.10721610e+02] [ 9.19150193e-01 -3.93877524e-01 -4.83930004e-03 -9.23778449e+01] [-5.27160546e-03 -1.56504773e-05 -9.99986105e-01 -4.04254648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04655999499994 meters 0.011753532976282142 Centerline is valid? [True, True] Translation: X:210.74, Y:-92.35, Z:-4.04 [[ 3.20707800e-01 9.47176259e-01 -1.90805767e-03 2.10741655e+02] [ 9.47159813e-01 -3.20713476e-01 -5.58172492e-03 -9.23521478e+01] [-5.89881714e-03 -1.71328239e-05 -9.99982602e-01 -4.04240706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10655999499994 meters 0.011789955722910425 Centerline is valid? [True, True] Translation: X:210.76, Y:-92.33, Z:-4.04 [[ 2.45068165e-01 9.69504574e-01 -1.57322693e-03 2.10758026e+02] [ 9.69485154e-01 -2.45073214e-01 -6.13638085e-03 -9.23258606e+01] [-6.33480509e-03 -2.13885583e-05 -9.99979935e-01 -4.04187487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16655999499994 meters 0.011885635174923309 Centerline is valid? [True, True] Translation: X:210.77, Y:-92.30, Z:-4.04 [[ 1.67542918e-01 9.85863959e-01 -1.27493687e-03 2.10774478e+02] [ 9.85836817e-01 -1.67547766e-01 -7.31542569e-03 -9.22980021e+01] [-7.42562736e-03 -3.12319337e-05 -9.99972429e-01 -4.04165565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22655999499995 meters 0.012073970329452356 Centerline is valid? [True, True] Translation: X:210.79, Y:-92.27, Z:-4.04 [[ 8.81924685e-02 9.96103071e-01 -8.71915136e-04 2.10788310e+02] [ 9.96060260e-01 -8.81967619e-02 -9.23524046e-03 -9.22695633e+01] [-9.27615148e-03 -5.40013637e-05 -9.99956974e-01 -4.04064029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28655999499995 meters 0.012026288187804714 Centerline is valid? [True, True] Translation: X:210.80, Y:-92.24, Z:-4.04 [[ 9.51731654e-03 9.99954698e-01 -1.53870297e-04 2.10799950e+02] [ 9.99906864e-01 -9.51836632e-03 -9.78085011e-03 -9.22393790e+01] [-9.78187161e-03 -6.07685194e-05 -9.99952155e-01 -4.04109095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34655999499995 meters 0.011971085987698096 Centerline is valid? [True, True] Translation: X:210.81, Y:-92.21, Z:-4.04 [[-6.78463295e-02 9.97695592e-01 6.17269088e-04 2.10807278e+02] [ 9.97647072e-01 6.78491177e-02 -9.83951951e-03 -9.22086542e+01] [-9.85872641e-03 -5.17585842e-05 -9.99951400e-01 -4.04173789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40655999499995 meters 0.012097788622102496 Centerline is valid? [True, True] Translation: X:210.81, Y:-92.18, Z:-4.04 [[-1.42909817e-01 9.89734852e-01 1.30636938e-03 2.10809464e+02] [ 9.89692107e-01 1.42915786e-01 -9.19840249e-03 -9.21782594e+01] [-9.29068033e-03 -2.16385512e-05 -9.99956840e-01 -4.04151629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46655999499995 meters 0.011970246312731548 Centerline is valid? [True, True] Translation: X:210.81, Y:-92.15, Z:-4.04 [[-2.17906827e-01 9.75967521e-01 2.00305689e-03 2.10811453e+02] [ 9.75926222e-01 2.17916033e-01 -8.97843825e-03 -9.21464326e+01] [-9.19916233e-03 -1.62724740e-06 -9.99957687e-01 -4.04286542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52655999499996 meters 0.012096362469468516 Centerline is valid? [True, True] Translation: X:210.81, Y:-92.12, Z:-4.04 [[-2.92344320e-01 9.56308727e-01 2.90131489e-03 2.10811781e+02] [ 9.56262047e-01 2.92358716e-01 -9.44871809e-03 -9.21151053e+01] [-9.88411627e-03 1.21382595e-05 -9.99951151e-01 -4.04245305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58655999499996 meters 0.012095602763956225 Centerline is valid? [True, True] Translation: X:210.81, Y:-92.09, Z:-4.04 [[-3.66847012e-01 9.30272847e-01 3.96225447e-03 2.10809671e+02] [ 9.30218815e-01 3.66868409e-01 -1.00263226e-02 -9.20851851e+01] [-1.07808417e-02 7.63716414e-06 -9.99941885e-01 -4.04184026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64655999499996 meters 0.012186636347029578 Centerline is valid? [True, True] Translation: X:210.81, Y:-92.05, Z:-4.04 [[-4.41134159e-01 8.97424602e-01 5.45323903e-03 2.10805978e+02] [ 8.97355310e-01 4.41167863e-01 -1.11518596e-02 -9.20539550e+01] [-1.24137470e-02 -2.59732024e-05 -9.99922946e-01 -4.04064803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70655999499996 meters 0.012509748740115335 Centerline is valid? [True, True] Translation: X:210.80, Y:-92.02, Z:-4.04 [[-5.13216187e-01 8.58234504e-01 6.53316028e-03 2.10798994e+02] [ 8.58163135e-01 5.13257763e-01 -1.10680492e-02 -9.20248214e+01] [-1.28521770e-02 -7.37847021e-05 -9.99917405e-01 -4.03984033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76655999499997 meters 0.012668552430507539 Centerline is valid? [True, True] Translation: X:210.79, Y:-92.00, Z:-4.04 [[-5.80466984e-01 8.14249686e-01 7.45181866e-03 2.10788314e+02] [ 8.14180386e-01 5.80514805e-01 -1.06235773e-02 -9.19953309e+01] [-1.29761355e-02 -9.95112630e-05 -9.99915801e-01 -4.04022233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82655999499997 meters 0.012662125489314523 Centerline is valid? [True, True] Translation: X:210.78, Y:-91.97, Z:-4.04 [[-6.43322881e-01 7.65556464e-01 7.67919436e-03 2.10775032e+02] [ 7.65499948e-01 6.43368703e-01 -9.30278253e-03 -9.19659847e+01] [-1.20623586e-02 -1.06269981e-04 -9.99927241e-01 -4.04179595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88655999499997 meters 0.012844938412351223 Centerline is valid? [True, True] Translation: X:210.76, Y:-91.94, Z:-4.04 [[-7.00734383e-01 7.13376116e-01 8.11429068e-03 2.10759572e+02] [ 7.13326742e-01 7.00781355e-01 -8.39352432e-03 -9.19398900e+01] [-1.16740834e-02 -9.34905514e-05 -9.99931851e-01 -4.04137441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.946559995 meters 0.012535554162034748 Centerline is valid? [True, True] Translation: X:210.74, Y:-91.92, Z:-4.04 [[-7.52854545e-01 6.58139638e-01 7.88992544e-03 2.10739947e+02] [ 6.58102682e-01 7.52895885e-01 -6.97474767e-03 -9.19150838e+01] [-1.05306503e-02 -5.85893904e-05 -9.99944549e-01 -4.04401378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.006559995 meters 0.012460542358570682 Centerline is valid? [True, True] Translation: X:210.76, Y:-91.90, Z:-4.04 [[-7.95817312e-01 6.05478014e-01 8.43685402e-03 2.10756454e+02] [ 6.05443612e-01 7.95862032e-01 -6.45438925e-03 -9.18977487e+01] [-1.06225626e-02 -2.84753294e-05 -9.99943579e-01 -4.04373882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.066559995 meters 0.012385091687081268 Centerline is valid? [True, True] Translation: X:211.16, Y:-91.39, Z:-5.00 [[-7.51370076e-01 -6.59818432e-01 9.09097116e-03 2.11155623e+02] [ 6.59771924e-01 -7.51425062e-01 -7.83484196e-03 -9.13873712e+01] [ 1.20007567e-02 1.11101733e-04 9.99927982e-01 -5.00005581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.126559995 meters 0.012625387767238833 Centerline is valid? [True, True] Translation: X:210.72, Y:-91.88, Z:-4.04 [[-7.94690840e-01 6.06911812e-01 1.11588968e-02 2.10719638e+02] [ 6.06852639e-01 7.94769181e-01 -8.47486293e-03 -9.18786032e+01] [-1.40122417e-02 3.69100027e-05 -9.99901823e-01 -4.04203478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.186559995 meters 0.012710541235037306 Centerline is valid? [True, True] Translation: X:210.74, Y:-91.86, Z:-4.04 [[-8.34786313e-01 5.50436568e-01 1.23043284e-02 2.10738581e+02] [ 5.50377881e-01 8.34876986e-01 -8.03789452e-03 -9.18612766e+01] [-1.46969516e-02 6.21058267e-05 -9.99891992e-01 -4.04212412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.246559995 meters 0.012868649887886743 Centerline is valid? [True, True] Translation: X:210.75, Y:-91.84, Z:-4.04 [[-8.70943832e-01 4.91222969e-01 1.25234440e-02 2.10750593e+02] [ 4.91173535e-01 8.71033861e-01 -6.96926225e-03 -9.18404179e+01] [-1.43318054e-02 8.13482780e-05 -9.99897291e-01 -4.04264924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.30655999499993 meters 0.012735811601063114 Centerline is valid? [True, True] Translation: X:210.76, Y:-91.82, Z:-4.04 [[-9.03539931e-01 4.28332003e-01 1.21361959e-02 2.10761515e+02] [ 4.28294502e-01 9.03621430e-01 -5.66839872e-03 -9.18173891e+01] [-1.33944833e-02 7.62413961e-05 -9.99910287e-01 -4.04440841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.36655999499993 meters 0.012483370080501287 Centerline is valid? [True, True] Translation: X:210.77, Y:-91.79, Z:-4.05 [[-9.32412637e-01 3.61208784e-01 1.16141233e-02 2.10771593e+02] [ 3.61181355e-01 9.32484966e-01 -4.45160632e-03 -9.17928039e+01] [-1.24379547e-02 4.40707964e-05 -9.99922645e-01 -4.04611607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.42655999499993 meters 0.01236561235758525 Centerline is valid? [True, True] Translation: X:210.78, Y:-91.76, Z:-4.05 [[-9.56434681e-01 2.91697904e-01 1.20429567e-02 2.10776212e+02] [ 2.91674927e-01 9.56510498e-01 -3.66121051e-03 -9.17646347e+01] [-1.25871819e-02 1.09197972e-05 -9.99920778e-01 -4.04634284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.48655999499994 meters 0.012355656485817516 Centerline is valid? [True, True] Translation: X:210.78, Y:-91.73, Z:-4.05 [[-9.75894351e-01 2.17827881e-01 1.34622071e-02 2.10780022e+02] [ 2.17806260e-01 9.75987198e-01 -3.06962343e-03 -9.17348332e+01] [-1.38075914e-02 -6.34751691e-05 -9.99904669e-01 -4.04652406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54655999499994 meters 0.01278264081027895 Centerline is valid? [True, True] Translation: X:210.78, Y:-91.70, Z:-4.05 [[-9.89543767e-01 1.43483218e-01 1.46867064e-02 2.10780818e+02] [ 1.43465368e-01 9.89652741e-01 -2.26728392e-03 -9.17046726e+01] [-1.48600565e-02 -1.36542922e-04 -9.99889574e-01 -4.04588770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60655999499994 meters 0.01294222081160095 Centerline is valid? [True, True] Translation: X:210.78, Y:-91.68, Z:-4.05 [[-9.97311923e-01 7.18012855e-02 1.46117682e-02 2.10780127e+02] [ 7.17913627e-02 9.97418945e-01 -1.20316956e-03 -9.16768600e+01] [-1.46604436e-02 -1.50936597e-04 -9.99892519e-01 -4.04553686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66655999499994 meters 0.012711177861912708 Centerline is valid? [True, True] Translation: X:210.78, Y:-91.65, Z:-4.05 [[-9.99911219e-01 2.55234384e-03 1.30782488e-02 2.10778840e+02] [ 2.55065481e-03 9.99996736e-01 -1.45825833e-04 -9.16521231e+01] [-1.30785784e-02 -1.12454788e-04 -9.99914465e-01 -4.04570998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72655999499995 meters 0.012469821431461628 Centerline is valid? [True, True] Translation: X:210.78, Y:-91.63, Z:-4.05 [[-9.97762994e-01 -6.57163745e-02 1.22623866e-02 2.10777452e+02] [-6.57122936e-02 9.97838340e-01 7.35851148e-04 -9.16284598e+01] [-1.22842370e-02 -7.15845047e-05 -9.99924543e-01 -4.04564906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78655999499995 meters 0.012426227588825424 Centerline is valid? [True, True] Translation: X:210.74, Y:-90.95, Z:-5.00 [[-9.99902318e-01 -7.12851191e-03 1.20224511e-02 2.10739376e+02] [ 7.12865077e-03 -9.99974590e-01 -3.13034473e-05 -9.09523512e+01] [ 1.20223688e-02 5.44034659e-05 9.99927727e-01 -4.99894415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84655999499995 meters 0.01294279004564299 Centerline is valid? [True, True] Translation: X:210.70, Y:-91.65, Z:-4.04 [[-9.98187596e-01 -5.89283639e-02 1.22053866e-02 2.10702552e+02] [-5.89229912e-02 9.98262211e-01 7.99640330e-04 -9.16470550e+01] [-1.22312977e-02 7.90131700e-05 -9.99925192e-01 -4.04407257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90655999499995 meters 0.013420839673514491 Centerline is valid? [True, True] Translation: X:210.70, Y:-91.62, Z:-4.04 [[-9.92012553e-01 -1.25573421e-01 1.19335988e-02 2.10699085e+02] [-1.25562765e-01 9.92084321e-01 1.64098962e-03 -9.16249789e+01] [-1.20452009e-02 1.29466648e-04 -9.99927446e-01 -4.04485257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96655999499995 meters 0.013915029908533204 Centerline is valid? [True, True] Translation: X:210.69, Y:-91.60, Z:-4.05 [[-9.81273246e-01 -1.92274337e-01 1.15497549e-02 2.10688242e+02] [-1.92258958e-01 9.81341199e-01 2.43790725e-03 -9.16028499e+01] [-1.18029973e-02 1.71709323e-04 -9.99930327e-01 -4.04535561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02655999499996 meters 0.0151283293307307 Centerline is valid? [True, True] Translation: X:210.67, Y:-91.58, Z:-4.04 [[-9.65695784e-01 -2.59439656e-01 1.10777937e-02 2.10665009e+02] [-2.59420175e-01 9.65759299e-01 3.18574491e-03 -9.15848611e+01] [-1.15249908e-02 2.02657265e-04 -9.99933565e-01 -4.04450262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08655999499996 meters 0.014694468464638273 Centerline is valid? [True, True] Translation: X:210.63, Y:-91.57, Z:-4.05 [[-9.45005546e-01 -3.26892301e-01 1.02928112e-02 2.10625538e+02] [-3.26870430e-01 9.45061573e-01 3.78741535e-03 -9.15698163e+01] [-1.09654173e-02 2.14712880e-04 -9.99939855e-01 -4.04563244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14655999499996 meters 0.01511221781527895 Centerline is valid? [True, True] Translation: X:210.56, Y:-91.57, Z:-4.05 [[-9.18544005e-01 -3.95181226e-01 1.04263543e-02 2.10564575e+02] [-3.95152925e-01 9.18603150e-01 4.73489845e-03 -9.15684837e+01] [-1.14488249e-02 2.29208191e-04 -9.99934434e-01 -4.04558722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20655999499996 meters 0.015107442408350992 Centerline is valid? [True, True] Translation: X:210.49, Y:-91.57, Z:-4.05 [[-8.85439148e-01 -4.64653105e-01 9.74715884e-03 2.10494801e+02] [-4.64622612e-01 8.85492776e-01 5.32649419e-03 -9.15735516e+01] [-1.11060108e-02 1.87536074e-04 -9.99938309e-01 -4.04579866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26655999499997 meters 0.0137364273756282 Centerline is valid? [True, True] Translation: X:210.42, Y:-91.58, Z:-4.05 [[-8.46477174e-01 -5.32348009e-01 9.05494958e-03 2.10419654e+02] [-5.32315749e-01 8.46525592e-01 5.86228389e-03 -9.15823491e+01] [-1.07860217e-02 1.42197234e-04 -9.99941819e-01 -4.04698132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.32655999499997 meters 0.012873324840330288 Centerline is valid? [True, True] Translation: X:210.34, Y:-91.60, Z:-4.05 [[-8.00085081e-01 -5.99828539e-01 8.34184011e-03 2.10335614e+02] [-5.99795128e-01 8.00128565e-01 6.33120450e-03 -9.16023572e+01] [-1.04721817e-02 6.21072085e-05 -9.99945163e-01 -4.04654429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38655999499997 meters 0.01251622342085884 Centerline is valid? [True, True] Translation: X:210.25, Y:-91.63, Z:-4.05 [[-7.49362941e-01 -6.62102366e-01 8.69713820e-03 2.10251299e+02] [-6.62057678e-01 7.49413409e-01 7.69250205e-03 -9.16317151e+01] [-1.16109758e-02 6.46884217e-06 -9.99932590e-01 -4.04646228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.446559995 meters 0.012920974296530751 Centerline is valid? [True, True] Translation: X:210.16, Y:-91.67, Z:-4.05 [[-6.91249706e-01 -7.22565089e-01 8.57526833e-03 2.10161977e+02] [-7.22511271e-01 6.91302887e-01 8.81939848e-03 -9.16706199e+01] [-1.23006972e-02 -9.93214077e-05 -9.99924339e-01 -4.04526020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.506559995 meters 0.013820427142466266 Centerline is valid? [True, True] Translation: X:210.07, Y:-91.72, Z:-4.04 [[-6.30157104e-01 -7.76424182e-01 8.21661504e-03 2.10072758e+02] [-7.76361898e-01 6.30210644e-01 9.83600990e-03 -9.17228425e+01] [-1.28151142e-02 -1.80835328e-04 -9.99917867e-01 -4.04483767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.566559995 meters 0.01594800693946585 Centerline is valid? [True, True] Translation: X:209.99, Y:-91.78, Z:-4.04 [[-5.63304169e-01 -8.26214809e-01 7.58311377e-03 2.09986531e+02] [-8.26146640e-01 5.63355136e-01 1.06169964e-02 -9.17815054e+01] [-1.30439057e-02 -2.84165630e-04 -9.99914884e-01 -4.04434127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.626559995 meters 0.015736176556308473 Centerline is valid? [True, True] Translation: X:209.91, Y:-91.85, Z:-4.05 [[-4.96140119e-01 -8.68218228e-01 6.48774872e-03 2.09911779e+02] [-8.68152130e-01 4.96182436e-01 1.07177520e-02 -9.18477745e+01] [-1.25244546e-02 -3.14846124e-04 -9.99921516e-01 -4.04614323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.686559995 meters 0.019030374559029402 Centerline is valid? [True, True] Translation: X:209.83, Y:-91.93, Z:-4.05 [[-4.25166015e-01 -9.05101736e-01 4.97059621e-03 2.09830723e+02] [-9.05048439e-01 4.25194948e-01 9.82745369e-03 -9.19268706e+01] [-1.10083178e-02 -3.20331019e-04 -9.99939355e-01 -4.04617011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.746559995 meters 0.018288843486069038 Centerline is valid? [True, True] Translation: X:209.76, Y:-92.01, Z:-4.05 [[-3.51651804e-01 -9.36121239e-01 4.24676131e-03 2.09763777e+02] [-9.36064920e-01 3.51677260e-01 1.02747928e-02 -9.20096418e+01] [-1.11119412e-02 -3.62094849e-04 -9.99938195e-01 -4.04716495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.80655999499993 meters 0.01920192526628483 Centerline is valid? [True, True] Translation: X:209.69, Y:-92.12, Z:-4.05 [[-2.77388112e-01 -9.60751472e-01 3.52759645e-03 2.09693764e+02] [-9.60690839e-01 2.77410264e-01 1.08007951e-02 -9.21188858e+01] [-1.13554712e-02 -3.92917441e-04 -9.99935447e-01 -4.04665472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.86655999499993 meters 0.02020127672864927 Centerline is valid? [True, True] Translation: X:209.64, Y:-92.20, Z:-4.05 [[-2.00224891e-01 -9.79745005e-01 3.11737323e-03 2.09642607e+02] [-9.79661591e-01 2.00248552e-01 1.27939021e-02 -9.22008212e+01] [-1.31590112e-02 -4.92313165e-04 -9.99913295e-01 -4.04581512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.92655999499993 meters 0.02007789032417453 Centerline is valid? [True, True] Translation: X:209.59, Y:-92.31, Z:-4.04 [[-1.24507814e-01 -9.92216061e-01 2.25647706e-03 2.09593609e+02] [-9.92120611e-01 1.24527157e-01 1.37724538e-02 -9.23130957e+01] [-1.39462426e-02 -5.23919278e-04 -9.99902609e-01 -4.04461849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.98655999499994 meters 0.02042547684996794 Centerline is valid? [True, True] Translation: X:209.55, Y:-92.41, Z:-4.04 [[-4.85696485e-02 -9.98819173e-01 1.11732766e-03 2.09554966e+02] [-9.98734448e-01 4.85800915e-02 1.30183619e-02 -9.24147633e+01] [-1.30572694e-02 -4.83616364e-04 -9.99914633e-01 -4.04452973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04655999499994 meters 0.01942818520538508 Centerline is valid? [True, True] Translation: X:209.53, Y:-92.53, Z:-4.05 [[ 2.74881393e-02 -9.99622124e-01 1.11179619e-04 2.09526455e+02] [-9.99542393e-01 -2.74845417e-02 1.26334467e-02 -9.25288504e+01] [-1.26256171e-02 -4.58398686e-04 -9.99920189e-01 -4.04565678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10655999499994 meters 0.01870493208789507 Centerline is valid? [True, True] Translation: X:209.51, Y:-92.64, Z:-4.05 [[ 1.02506381e-01 -9.94732034e-01 -7.88659309e-04 2.09505544e+02] [-9.94664986e-01 -1.02508633e-01 1.15561808e-02 -9.26359022e+01] [-1.15761477e-02 -4.00130469e-04 -9.99932914e-01 -4.04642072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16655999499994 meters 0.019066481534537275 Centerline is valid? [True, True] Translation: X:209.49, Y:-92.76, Z:-4.05 [[ 1.77611616e-01 -9.84099432e-01 -1.55602081e-03 2.09491203e+02] [-9.84041680e-01 -1.77618060e-01 1.06675376e-02 -9.27560854e+01] [-1.07742951e-02 -3.63489257e-04 -9.99941890e-01 -4.04574010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22655999499995 meters 0.0183609510719225 Centerline is valid? [True, True] Translation: X:209.49, Y:-92.87, Z:-4.05 [[ 2.53444768e-01 -9.67346886e-01 -2.39844293e-03 2.09486346e+02] [-9.67288485e-01 -2.53455838e-01 1.06360348e-02 -9.28685393e+01] [-1.08966345e-02 -3.75661129e-04 -9.99940559e-01 -4.04646155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28655999499995 meters 0.01957858378594123 Centerline is valid? [True, True] Translation: X:209.49, Y:-92.99, Z:-4.05 [[ 3.29401256e-01 -9.44185078e-01 -3.05801994e-03 2.09487033e+02] [-9.44132889e-01 -3.29415225e-01 9.93471796e-03 -9.29879832e+01] [-1.03875708e-02 -3.85331365e-04 -9.99945974e-01 -4.04602833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34655999499995 meters 0.021055170308053636 Centerline is valid? [True, True] Translation: X:209.50, Y:-93.11, Z:-4.04 [[ 4.04055797e-01 -9.14725615e-01 -3.99521478e-03 2.09496702e+02] [-9.14669533e-01 -4.04075306e-01 1.01386828e-02 -9.31081333e+01] [-1.08884805e-02 -4.42292325e-04 -9.99940621e-01 -4.04497187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40655999499995 meters 0.024847154192198757 Centerline is valid? [True, True] Translation: X:209.51, Y:-93.22, Z:-4.04 [[ 4.73585777e-01 -8.80732710e-01 -5.13852025e-03 2.09511838e+02] [-8.80669273e-01 -4.73613404e-01 1.05818415e-02 -9.32232985e+01] [-1.17534460e-02 -4.86072732e-04 -9.99930808e-01 -4.04270737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46655999499995 meters 0.022238327364725263 Centerline is valid? [True, True] Translation: X:209.54, Y:-93.33, Z:-4.04 [[ 5.39710903e-01 -8.41830105e-01 -5.84935753e-03 2.09544332e+02] [-8.41770682e-01 -5.39742386e-01 1.00137495e-02 -9.33310188e+01] [-1.15870220e-02 -4.80712088e-04 -9.99932753e-01 -4.04439382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52655999499996 meters 0.021336635131985256 Centerline is valid? [True, True] Translation: X:209.58, Y:-93.43, Z:-4.05 [[ 6.02271502e-01 -7.98267371e-01 -6.18398047e-03 2.09580328e+02] [-7.98217454e-01 -6.02303083e-01 8.93823499e-03 -9.34345161e+01] [-1.08597318e-02 -4.47083069e-04 -9.99940931e-01 -4.04528640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58655999499996 meters 0.021356663021363204 Centerline is valid? [True, True] Translation: X:209.63, Y:-93.54, Z:-4.05 [[ 6.60901926e-01 -7.50447536e-01 -6.09423170e-03 2.09629231e+02] [-7.50410052e-01 -6.60929907e-01 7.51074349e-03 -9.35445374e+01] [-9.66427894e-03 -3.90692113e-04 -9.99953223e-01 -4.04525743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64655999499996 meters 0.021519724879866066 Centerline is valid? [True, True] Translation: X:209.67, Y:-93.63, Z:-4.05 [[ 7.14885663e-01 -6.99217706e-01 -5.75235329e-03 2.09668999e+02] [-6.99191376e-01 -7.14908733e-01 6.07644409e-03 -9.36307898e+01] [-8.36116490e-03 -3.21966949e-04 -9.99964993e-01 -4.04524847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70655999499996 meters 0.02025610074930777 Centerline is valid? [True, True] Translation: X:209.73, Y:-93.72, Z:-4.05 [[ 7.64816144e-01 -6.44223129e-01 -5.72941016e-03 2.09725210e+02] [-6.44202236e-01 -7.64837552e-01 5.19602431e-03 -9.37201388e+01] [-7.72946707e-03 -2.83104446e-04 -9.99970087e-01 -4.04567942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76655999499997 meters 0.02018676846206411 Centerline is valid? [True, True] Translation: X:209.75, Y:-93.75, Z:-4.05 [[ 8.10818043e-01 -5.85269863e-01 -5.76967386e-03 2.09747191e+02] [-5.85252899e-01 -8.10838535e-01 4.46254061e-03 -9.37456538e+01] [-7.29006443e-03 -2.41590092e-04 -9.99973398e-01 -4.04577070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82655999499997 meters 0.019633744963041728 Centerline is valid? [True, True] Translation: X:209.77, Y:-93.77, Z:-4.04 [[ 8.52370878e-01 -5.22898816e-01 -6.38075598e-03 2.09773721e+02] [-5.22882150e-01 -8.52394731e-01 4.18100347e-03 -9.37658721e+01] [-7.62516454e-03 -2.27382199e-04 -9.99970902e-01 -4.04497609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88655999499997 meters 0.016629671689064533 Centerline is valid? [True, True] Translation: X:209.80, Y:-93.78, Z:-4.04 [[ 8.87367490e-01 -4.60997729e-01 -7.74801575e-03 2.09804701e+02] [-4.60978176e-01 -8.87401292e-01 4.25061961e-03 -9.37800471e+01] [-8.83512518e-03 -2.00195482e-04 -9.99960949e-01 -4.04385495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.946559995 meters 0.014880822571838958 Centerline is valid? [True, True] Translation: X:209.83, Y:-93.80, Z:-4.04 [[ 9.19541729e-01 -3.92908922e-01 -8.09859731e-03 2.09833249e+02] [-3.92892003e-01 -9.19577375e-01 3.65049195e-03 -9.37981242e+01] [-8.88159771e-03 -1.74905569e-04 -9.99960543e-01 -4.04457526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.006559995 meters 0.013146647076747344 Centerline is valid? [True, True] Translation: X:209.86, Y:-93.81, Z:-4.05 [[ 9.44558923e-01 -3.28236310e-01 -8.32862860e-03 2.09863854e+02] [-3.28222657e-01 -9.44595636e-01 2.99534799e-03 -9.38119515e+01] [-8.85036820e-03 -9.56380648e-05 -9.99960830e-01 -4.04538818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.066559995 meters 0.012586802068253997 Centerline is valid? [True, True] Translation: X:209.89, Y:-93.82, Z:-4.05 [[ 9.65868569e-01 -2.58924144e-01 -7.49634481e-03 2.09893608e+02] [-2.58916027e-01 -9.65897658e-01 2.05052386e-03 -9.38248512e+01] [-7.77163203e-03 -3.96127358e-05 -9.99969800e-01 -4.04628640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.126559995 meters 0.012513751058073081 Centerline is valid? [True, True] Translation: X:209.92, Y:-93.83, Z:-4.05 [[ 9.81918725e-01 -1.89181510e-01 -6.78043026e-03 2.09924984e+02] [-1.89177075e-01 -9.81942135e-01 1.29535360e-03 -9.38333629e+01] [-6.90304711e-03 1.07700097e-05 -9.99976174e-01 -4.04762841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.186559995 meters 0.012752812666037956 Centerline is valid? [True, True] Translation: X:209.95, Y:-93.84, Z:-4.05 [[ 9.93176891e-01 -1.16438509e-01 -6.46034881e-03 2.09952681e+02] [-1.16436312e-01 -9.93197902e-01 7.16402384e-04 -9.38420025e+01] [-6.49982171e-03 4.07048995e-05 -9.99978875e-01 -4.04856658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.246559995 meters 0.012674456857988403 Centerline is valid? [True, True] Translation: X:209.98, Y:-93.85, Z:-4.05 [[ 9.99191629e-01 -3.97061461e-02 -6.28574197e-03 2.09980851e+02] [-3.97056636e-02 -9.99211399e-01 2.01584179e-04 -9.38542900e+01] [-6.28878915e-03 4.81583318e-05 -9.99980224e-01 -4.04868346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.30655999499993 meters 0.012625224318657695 Centerline is valid? [True, True] Translation: X:210.01, Y:-93.87, Z:-4.05 [[ 9.99194905e-01 3.95526653e-02 -6.71781547e-03 2.10009889e+02] [ 3.95514638e-02 -9.99217486e-01 -3.11665384e-04 -9.38669421e+01] [-6.72488589e-03 4.57150282e-05 -9.99977387e-01 -4.04803089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.36655999499993 meters 0.012470692367035128 Centerline is valid? [True, True] Translation: X:210.04, Y:-93.88, Z:-4.05 [[ 9.92823900e-01 1.19353826e-01 -7.44098308e-03 2.10040391e+02] [ 1.19350186e-01 -9.92851783e-01 -9.33012280e-04 -9.38753540e+01] [-7.49915190e-03 3.82341777e-05 -9.99971880e-01 -4.04779570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.42655999499993 meters 0.012197695432392925 Centerline is valid? [True, True] Translation: X:210.07, Y:-93.88, Z:-4.05 [[ 9.79593566e-01 2.00858378e-01 -7.23580904e-03 2.10071200e+02] [ 2.00852850e-01 -9.79620290e-01 -1.49020753e-03 -9.38832752e+01] [-7.38766601e-03 6.46483980e-06 -9.99972711e-01 -4.04770315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.48655999499994 meters 0.01212560522700669 Centerline is valid? [True, True] Translation: X:210.10, Y:-93.89, Z:-4.05 [[ 9.59796207e-01 2.80623814e-01 -6.44326303e-03 2.10103010e+02] [ 2.80617631e-01 -9.59817834e-01 -1.86285277e-03 -9.38891509e+01] [-6.70711962e-03 -2.01341862e-05 -9.99977507e-01 -4.04778876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54655999499994 meters 0.012508664328200943 Centerline is valid? [True, True] Translation: X:210.14, Y:-93.89, Z:-4.05 [[ 9.32469399e-01 3.61200096e-01 -5.94229401e-03 2.10136937e+02] [ 3.61193184e-01 -9.32488331e-01 -2.23546288e-03 -9.38948845e+01] [-6.34856923e-03 -6.18153671e-05 -9.99979846e-01 -4.04805065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60655999499994 meters 0.0131565906556025 Centerline is valid? [True, True] Translation: X:210.17, Y:-93.89, Z:-4.05 [[ 8.99264046e-01 4.37361966e-01 -6.21982141e-03 2.10170038e+02] [ 4.37352266e-01 -8.99285550e-01 -2.91450173e-03 -9.38947354e+01] [-6.86808773e-03 -9.93463716e-05 -9.99976409e-01 -4.04793089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66655999499994 meters 0.014652740162399197 Centerline is valid? [True, True] Translation: X:210.20, Y:-93.89, Z:-4.05 [[ 8.59039875e-01 5.11867486e-01 -6.49391055e-03 2.10203769e+02] [ 5.11854217e-01 -8.59064406e-01 -3.68877576e-03 -9.38933719e+01] [-7.46685178e-03 -1.55130030e-04 -9.99972111e-01 -4.04717206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72655999499995 meters 0.015052118558122472 Centerline is valid? [True, True] Translation: X:210.24, Y:-93.89, Z:-4.05 [[ 8.14614811e-01 5.79971424e-01 -5.98809163e-03 2.10236421e+02] [ 5.79957291e-01 -8.14636801e-01 -4.05247842e-03 -9.38866764e+01] [-7.22844149e-03 -1.71628456e-04 -9.99973860e-01 -4.04787888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78655999499995 meters 0.016266969644320377 Centerline is valid? [True, True] Translation: X:210.27, Y:-93.88, Z:-4.05 [[ 7.65106600e-01 6.43880901e-01 -5.41068200e-03 2.10267422e+02] [ 6.43866461e-01 -7.65125710e-01 -4.31596889e-03 -9.38777942e+01] [-6.91882185e-03 -1.81580392e-04 -9.99976048e-01 -4.04729212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84655999499995 meters 0.01703923490951832 Centerline is valid? [True, True] Translation: X:210.30, Y:-93.86, Z:-4.05 [[ 7.12236370e-01 7.01914292e-01 -5.97326098e-03 2.10295109e+02] [ 7.01892112e-01 -7.12261385e-01 -5.58418735e-03 -9.38627364e+01] [-8.17414405e-03 -2.15323434e-04 -9.99966568e-01 -4.04538179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90655999499995 meters 0.015806150900957515 Centerline is valid? [True, True] Translation: X:210.32, Y:-93.84, Z:-4.05 [[ 6.56021094e-01 7.54722212e-01 -5.54133952e-03 2.10320248e+02] [ 7.54697906e-01 -6.56044465e-01 -6.06060159e-03 -9.38440969e+01] [-8.20943576e-03 -2.06154840e-04 -9.99966281e-01 -4.04536360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96655999499995 meters 0.01453315880965259 Centerline is valid? [True, True] Translation: X:210.34, Y:-93.82, Z:-4.05 [[ 5.97572219e-01 8.01800173e-01 -4.89145103e-03 2.10343369e+02] [ 8.01775653e-01 -5.97592213e-01 -6.27288190e-03 -9.38232053e+01] [-7.95269084e-03 -1.73346384e-04 -9.99968362e-01 -4.04637755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02655999499996 meters 0.013094093810047372 Centerline is valid? [True, True] Translation: X:210.36, Y:-93.80, Z:-4.05 [[ 5.38495999e-01 8.42619936e-01 -3.70180893e-03 2.10362528e+02] [ 8.42601323e-01 -5.38508712e-01 -5.60155344e-03 -9.38000724e+01] [-6.71343696e-03 -1.02734989e-04 -9.99977459e-01 -4.04784205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08655999499996 meters 0.01217102221817263 Centerline is valid? [True, True] Translation: X:210.38, Y:-93.78, Z:-4.05 [[ 4.76354248e-01 8.79247776e-01 -3.15886992e-03 2.10381447e+02] [ 8.79229259e-01 -4.76364718e-01 -5.70658015e-03 -9.37774821e+01] [-6.52227208e-03 -5.90171650e-05 -9.99978728e-01 -4.04827771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14655999499996 meters 0.011852833766519905 Centerline is valid? [True, True] Translation: X:210.39, Y:-93.75, Z:-4.05 [[ 4.16431433e-01 9.09163625e-01 -2.52295970e-03 2.10394160e+02] [ 9.09146732e-01 -4.16439075e-01 -5.54219003e-03 -9.37523862e+01] [-6.08941658e-03 1.42015643e-05 -9.99981459e-01 -4.04756978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20655999499996 meters 0.013492359630652095 Centerline is valid? [True, True] Translation: X:210.40, Y:-93.73, Z:-4.05 [[ 3.54804662e-01 9.34937785e-01 -2.23373113e-03 2.10402427e+02] [ 9.34917611e-01 -3.54811681e-01 -6.14256857e-03 -9.37259747e+01] [-6.53547335e-03 9.10573920e-05 -9.99978639e-01 -4.04745393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26655999499997 meters 0.015318193368456091 Centerline is valid? [True, True] Translation: X:210.41, Y:-93.70, Z:-4.05 [[ 2.86972786e-01 9.57937314e-01 -1.65036376e-03 2.10411679e+02] [ 9.57918818e-01 -2.86977503e-01 -5.95413687e-03 -9.37002271e+01] [-6.17730715e-03 1.27760743e-04 -9.99980912e-01 -4.04793916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32655999499997 meters 0.01771039276769449 Centerline is valid? [True, True] Translation: X:210.42, Y:-93.67, Z:-4.05 [[ 2.17868309e-01 9.75977456e-01 -1.18564835e-03 2.10417376e+02] [ 9.75958408e-01 -2.17871468e-01 -6.09996855e-03 -9.36747007e+01] [-6.21175073e-03 1.71846359e-04 -9.99980692e-01 -4.04780183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.38655999499997 meters 0.018657130789048827 Centerline is valid? [True, True] Translation: X:210.42, Y:-93.65, Z:-4.05 [[ 1.41546459e-01 9.89931361e-01 -7.07020449e-04 2.10423735e+02] [ 9.89911968e-01 -1.41548113e-01 -6.19902080e-03 -9.36505550e+01] [-6.23668251e-03 1.77561438e-04 -9.99980536e-01 -4.04735204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.446559995 meters 0.01614661606925535 Centerline is valid? [True, True] Translation: X:210.44, Y:-93.63, Z:-4.05 [[ 6.01772214e-02 9.98187676e-01 -2.56114238e-04 2.10440098e+02] [ 9.98161025e-01 -6.01774868e-02 -7.29649491e-03 -9.36250644e+01] [-7.29868361e-03 1.83439539e-04 -9.99973347e-01 -4.04687612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.506559995 meters 0.015415866136743029 Centerline is valid? [True, True] Translation: X:210.45, Y:-93.60, Z:-4.05 [[-2.24545201e-02 9.99747799e-01 3.65604604e-04 2.10450162e+02] [ 9.99712363e-01 2.24568031e-02 -8.41919628e-03 -9.35981382e+01] [-8.42528326e-03 1.76450430e-04 -9.99964491e-01 -4.04552778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.566559995 meters 0.013465601158471868 Centerline is valid? [True, True] Translation: X:210.46, Y:-93.57, Z:-4.05 [[-1.08544809e-01 9.94091045e-01 1.00941253e-03 2.10463098e+02] [ 9.94056834e-01 1.08549449e-01 -8.24795406e-03 -9.35699166e+01] [-8.30878844e-03 1.08140823e-04 -9.99965476e-01 -4.04571259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.626559995 meters 0.012389558874787453 Centerline is valid? [True, True] Translation: X:210.47, Y:-93.54, Z:-4.05 [[-1.93899561e-01 9.81020296e-01 1.46250873e-03 2.10472933e+02] [ 9.80993812e-01 1.93905073e-01 -7.20864004e-03 -9.35406427e+01] [-7.35541004e-03 3.69598723e-05 -9.99972948e-01 -4.04645699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.686559995 meters 0.012112128718797898 Centerline is valid? [True, True] Translation: X:210.48, Y:-93.51, Z:-4.05 [[-2.75012842e-01 9.61439211e-01 1.60627728e-03 2.10477278e+02] [ 9.61422801e-01 2.75017533e-01 -5.61738685e-03 -9.35115730e+01] [-5.84253040e-03 -5.41918112e-07 -9.99982932e-01 -4.04742250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.746559995 meters 0.012376531969332406 Centerline is valid? [True, True] Translation: X:210.48, Y:-93.48, Z:-4.05 [[-3.55149897e-01 9.34808563e-01 1.22500128e-03 2.10480006e+02] [ 9.34802783e-01 3.55152009e-01 -3.28742938e-03 -9.34826898e+01] [-3.50817880e-03 -2.23955989e-05 -9.99993846e-01 -4.04829023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.80655999499993 meters 0.012499906306231396 Centerline is valid? [True, True] Translation: X:210.48, Y:-93.45, Z:-4.05 [[-4.28622690e-01 9.03482473e-01 1.41775304e-03 2.10475425e+02] [ 9.03477325e-01 4.28625034e-01 -3.05015431e-03 -9.34542210e+01] [-3.36344541e-03 -2.64576233e-05 -9.99994343e-01 -4.04837156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.86655999499993 meters 0.012651299568309187 Centerline is valid? [True, True] Translation: X:210.47, Y:-93.42, Z:-4.05 [[-5.00288927e-01 8.65856530e-01 1.86010395e-03 2.10473262e+02] [ 8.65850251e-01 5.00292383e-01 -3.29756252e-03 -9.34228187e+01] [-3.78581188e-03 -3.91625435e-05 -9.99992833e-01 -4.04791485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.92655999499993 meters 0.013005879805491288 Centerline is valid? [True, True] Translation: X:210.47, Y:-93.39, Z:-4.05 [[-5.67248051e-01 8.23540779e-01 3.19904027e-03 2.10467519e+02] [ 8.23527054e-01 5.67257068e-01 -4.75500030e-03 -9.33927270e+01] [-5.73061486e-03 -6.27684510e-05 -9.99983578e-01 -4.04597079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.98655999499994 meters 0.013021352840470115 Centerline is valid? [True, True] Translation: X:210.46, Y:-93.36, Z:-4.04 [[-6.29963117e-01 7.76610119e-01 4.81609221e-03 2.10456026e+02] [ 7.76586404e-01 6.29981521e-01 -6.06956184e-03 -9.33649060e+01] [-7.74773224e-03 -8.34883635e-05 -9.99969982e-01 -4.04402200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04655999499994 meters 0.012376579111044712 Centerline is valid? [True, True] Translation: X:210.44, Y:-93.34, Z:-4.04 [[-6.86711237e-01 7.26909739e-01 5.46876433e-03 2.10442215e+02] [ 7.26885957e-01 6.86733010e-01 -5.88030478e-03 -9.33376093e+01] [-8.03003180e-03 -6.29033748e-05 -9.99967757e-01 -4.04447248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10655999499994 meters 0.012189092131281743 Centerline is valid? [True, True] Translation: X:210.43, Y:-93.31, Z:-4.04 [[-7.39442155e-01 6.73197561e-01 5.50850114e-03 2.10425686e+02] [ 6.73178527e-01 7.39462672e-01 -5.06245358e-03 -9.33123224e+01] [-7.48136237e-03 -3.51869039e-05 -9.99972014e-01 -4.04472209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16655999499994 meters 0.012012949823440772 Centerline is valid? [True, True] Translation: X:210.44, Y:-93.30, Z:-4.04 [[-7.83227418e-01 6.21707102e-01 5.92379667e-03 2.10443799e+02] [ 6.21689209e-01 7.83249819e-01 -4.71676762e-03 -9.32950963e+01] [-7.57226060e-03 -1.15412543e-05 -9.99971330e-01 -4.04424250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22655999499995 meters 0.01205240270735835 Centerline is valid? [True, True] Translation: X:210.46, Y:-93.28, Z:-4.04 [[-8.23699650e-01 5.66986511e-01 6.72180139e-03 2.10462122e+02] [ 5.66967732e-01 8.23727076e-01 -4.61462406e-03 -9.32768716e+01] [-8.15335940e-03 9.98026735e-06 -9.99966761e-01 -4.04421401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28655999499995 meters 0.012012673430209694 Centerline is valid? [True, True] Translation: X:210.47, Y:-93.25, Z:-4.04 [[-8.61400517e-01 5.07876256e-01 7.13147521e-03 2.10471379e+02] [ 5.07859003e-01 8.61430037e-01 -4.18627010e-03 -9.32511591e+01] [-8.26937414e-03 1.57286572e-05 -9.99965808e-01 -4.04449704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34655999499995 meters 0.012025310225419774 Centerline is valid? [True, True] Translation: X:210.49, Y:-93.23, Z:-4.04 [[-8.95106385e-01 4.45792496e-01 7.32189508e-03 2.10489568e+02] [ 4.45777739e-01 8.95136331e-01 -3.62719114e-03 -9.32305895e+01] [-8.17106888e-03 1.72158907e-05 -9.99966616e-01 -4.04394008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40655999499995 meters 0.011967213184849498 Centerline is valid? [True, True] Translation: X:210.50, Y:-93.21, Z:-4.04 [[-9.24518595e-01 3.81063180e-01 7.49801004e-03 2.10502005e+02] [ 3.81050779e-01 9.24549000e-01 -3.07434767e-03 -9.32057517e+01] [-8.10379838e-03 1.48309745e-05 -9.99967164e-01 -4.04422354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46655999499995 meters 0.011815924721293457 Centerline is valid? [True, True] Translation: X:210.51, Y:-93.18, Z:-4.05 [[-9.49558581e-01 3.13504332e-01 7.31673481e-03 2.10510549e+02] [ 3.13495063e-01 9.49586770e-01 -2.41074150e-03 -9.31789554e+01] [-7.70365248e-03 4.61996708e-06 -9.99970326e-01 -4.04508742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52655999499996 meters 0.011951130450019021 Centerline is valid? [True, True] Translation: X:210.52, Y:-93.15, Z:-4.04 [[-9.69769721e-01 2.43875630e-01 8.44784731e-03 2.10516420e+02] [ 2.43866302e-01 9.69806515e-01 -2.13306341e-03 -9.31520131e+01] [-8.71297954e-03 -8.43502127e-06 -9.99962041e-01 -4.04382099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58655999499996 meters 0.011973795699113924 Centerline is valid? [True, True] Translation: X:210.51, Y:-93.12, Z:-4.04 [[-9.84865251e-01 1.73120004e-01 8.36071386e-03 2.10513924e+02] [ 1.73113589e-01 9.84900738e-01 -1.49051066e-03 -9.31228857e+01] [-8.49251046e-03 -2.05989721e-05 -9.99963938e-01 -4.04342522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64655999499996 meters 0.012013412262943259 Centerline is valid? [True, True] Translation: X:210.52, Y:-93.10, Z:-4.04 [[-9.94850116e-01 1.00983924e-01 8.68870442e-03 2.10519827e+02] [ 1.00979749e-01 9.94888057e-01 -9.19040352e-04 -9.30958195e+01] [-8.73709656e-03 -3.69242115e-05 -9.99961830e-01 -4.04430187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70655999499996 meters 0.012079605199699786 Centerline is valid? [True, True] Translation: X:210.59, Y:-92.42, Z:-5.00 [[-9.84259430e-01 -1.76513596e-01 8.73645742e-03 2.10592624e+02] [ 1.76507056e-01 -9.84298201e-01 -1.52008234e-03 -9.24241774e+01] [ 8.86759452e-03 4.58910046e-05 9.99960681e-01 -4.99927054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76655999499997 meters 0.012289240486667748 Centerline is valid? [True, True] Translation: X:210.47, Y:-93.09, Z:-4.04 [[-9.95478011e-01 9.46537830e-02 8.01198520e-03 2.10469227e+02] [ 9.46502839e-02 9.95510250e-01 -8.15639401e-04 -9.30896350e+01] [-8.05321674e-03 -5.36144144e-05 -9.99967571e-01 -4.04453991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.82655999499997 meters 0.012240346934598648 Centerline is valid? [True, True] Translation: X:210.46, Y:-93.06, Z:-4.04 [[-9.99717731e-01 2.25507056e-02 7.47819800e-03 2.10456908e+02] [ 2.25496326e-02 9.99745699e-01 -2.27773686e-04 -9.30610115e+01] [-7.48143275e-03 -5.90787751e-05 -9.99972012e-01 -4.04498579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.88655999499997 meters 0.012323572347087586 Centerline is valid? [True, True] Translation: X:210.46, Y:-93.03, Z:-4.04 [[-9.98712786e-01 -5.00610480e-02 8.16472667e-03 2.10460478e+02] [-5.00600055e-02 9.98746157e-01 3.32130729e-04 -9.30334766e+01] [-8.17111620e-03 -7.70230564e-05 -9.99966613e-01 -4.04488293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.946559995 meters 0.012689368027381045 Centerline is valid? [True, True] Translation: X:210.46, Y:-93.01, Z:-4.04 [[-9.92424397e-01 -1.22543614e-01 8.76807073e-03 2.10456003e+02] [-1.22539699e-01 9.92463124e-01 9.84375059e-04 -9.30052218e+01] [-8.82261575e-03 -9.75189210e-05 -9.99961075e-01 -4.04374537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.006559995 meters 0.013075360326334776 Centerline is valid? [True, True] Translation: X:210.38, Y:-92.34, Z:-5.00 [[-9.99481979e-01 3.10151834e-02 8.59256163e-03 2.10381165e+02] [-3.10133514e-02 -9.99518910e-01 3.46399707e-04 -9.23440265e+01] [ 8.59917149e-03 7.97361321e-05 9.99963023e-01 -5.00040855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.066559995 meters 0.013248500003837614 Centerline is valid? [True, True] Translation: X:210.37, Y:-93.01, Z:-4.04 [[-9.91260932e-01 -1.31616013e-01 8.88766580e-03 2.10373966e+02] [-1.31611953e-01 9.91300765e-01 1.04274997e-03 -9.30134097e+01] [-8.94759250e-03 -1.36085740e-04 -9.99959960e-01 -4.04289342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.126559995 meters 0.013625691247593935 Centerline is valid? [True, True] Translation: X:210.37, Y:-92.99, Z:-4.04 [[-9.78916714e-01 -2.04065138e-01 8.91551458e-03 2.10368263e+02] [-2.04058151e-01 9.78957300e-01 1.69608750e-03 -9.29882614e+01] [-9.07402040e-03 -1.58955019e-04 -9.99958818e-01 -4.04233803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.186559995 meters 0.0139035542184474 Centerline is valid? [True, True] Translation: X:210.35, Y:-92.96, Z:-4.04 [[-9.61413433e-01 -2.74975769e-01 8.51682646e-03 2.10352367e+02] [-2.74966535e-01 9.61451142e-01 2.25990146e-03 -9.29649053e+01] [-8.80993066e-03 -1.69142638e-04 -9.99961178e-01 -4.04214410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.246559995 meters 0.014985388835593666 Centerline is valid? [True, True] Translation: X:210.33, Y:-92.94, Z:-4.04 [[-9.38491624e-01 -3.45210052e-01 7.96812316e-03 2.10326389e+02] [-3.45199242e-01 9.38525432e-01 2.73794623e-03 -9.29439815e+01] [-8.42345279e-03 -1.81050467e-04 -9.99964506e-01 -4.04156300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.30655999499993 meters 0.014583163315431375 Centerline is valid? [True, True] Translation: X:210.30, Y:-92.93, Z:-4.04 [[-9.10881424e-01 -4.12599104e-01 7.55060848e-03 2.10295960e+02] [-4.12586575e-01 9.10912700e-01 3.22051717e-03 -9.29296626e+01] [-8.20672766e-03 -1.81770423e-04 -9.99966308e-01 -4.04248319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.36655999499993 meters 0.014607081739173354 Centerline is valid? [True, True] Translation: X:210.24, Y:-92.93, Z:-4.04 [[-8.78767144e-01 -4.77202486e-01 6.78924980e-03 2.10242202e+02] [-4.77189671e-01 8.78793355e-01 3.50105727e-03 -9.29285664e+01] [-7.63706084e-03 -1.63145782e-04 -9.99970824e-01 -4.04256577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.42655999499993 meters 0.014199578648420247 Centerline is valid? [True, True] Translation: X:210.18, Y:-92.94, Z:-4.04 [[-8.41892418e-01 -5.39605130e-01 6.59240472e-03 2.10182458e+02] [-5.39590012e-01 8.41918214e-01 4.04214254e-03 -9.29354149e+01] [-7.73142647e-03 -1.54146584e-04 -9.99970100e-01 -4.04252035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.48655999499994 meters 0.01343540854042152 Centerline is valid? [True, True] Translation: X:210.11, Y:-92.96, Z:-4.04 [[-8.00569151e-01 -5.99202315e-01 6.75422539e-03 2.10109441e+02] [-5.99182569e-01 8.00597629e-01 4.86681638e-03 -9.29570548e+01] [-8.32362447e-03 -1.50791066e-04 -9.99965347e-01 -4.04085605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54655999499994 meters 0.014028178103279096 Centerline is valid? [True, True] Translation: X:210.03, Y:-92.98, Z:-4.04 [[-7.53851098e-01 -6.57010856e-01 6.72738207e-03 2.10034870e+02] [-6.56986512e-01 7.53881099e-01 5.65785516e-03 -9.29827018e+01] [-8.78891845e-03 -1.54618952e-04 -9.99961365e-01 -4.03984480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60655999499994 meters 0.013796103087569699 Centerline is valid? [True, True] Translation: X:209.96, Y:-93.02, Z:-4.04 [[-7.02787937e-01 -7.11367965e-01 6.68832903e-03 2.09955831e+02] [-7.11337875e-01 7.02819744e-01 6.54479602e-03 -9.30219661e+01] [-9.35644793e-03 -1.58058066e-04 -9.99956215e-01 -4.03979822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66655999499994 meters 0.012775798756450556 Centerline is valid? [True, True] Translation: X:209.88, Y:-93.07, Z:-4.04 [[-6.49403237e-01 -7.60420958e-01 5.95001390e-03 2.09878249e+02] [-7.60390783e-01 6.49430482e-01 6.77538295e-03 -9.30721836e+01] [-9.01626359e-03 -1.24380105e-04 -9.99959345e-01 -4.04019153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72655999499995 meters 0.01262929678317113 Centerline is valid? [True, True] Translation: X:209.80, Y:-93.13, Z:-4.04 [[-5.91109280e-01 -8.06575685e-01 5.04814062e-03 2.09797159e+02] [-8.06547760e-01 5.91130826e-01 6.71248484e-03 -9.31315872e+01] [-8.39823859e-03 -1.03754431e-04 -9.99964729e-01 -4.03994002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78655999499995 meters 0.01177274525509554 Centerline is valid? [True, True] Translation: X:209.73, Y:-93.20, Z:-4.04 [[-5.33916048e-01 -8.45532516e-01 2.90130699e-03 2.09725586e+02] [-8.45520337e-01 5.33923930e-01 4.53826621e-03 -9.31983565e+01] [-5.38632888e-03 -3.00609041e-05 -9.99985493e-01 -4.04168189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84655999499995 meters 0.011513890692301576 Centerline is valid? [True, True] Translation: X:209.65, Y:-93.28, Z:-4.04 [[-4.72937998e-01 -8.81094378e-01 1.53210437e-03 2.09653987e+02] [-8.81089755e-01 4.72940480e-01 2.85418360e-03 -9.32755287e+01] [-3.23939930e-03 -6.95839465e-08 -9.99994753e-01 -4.04248226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90655999499995 meters 0.012295790361946014 Centerline is valid? [True, True] Translation: X:209.59, Y:-93.36, Z:-4.04 [[-4.12373961e-01 -9.11014263e-01 8.54243071e-04 2.09588693e+02] [-9.11012214e-01 4.12374845e-01 1.93200776e-03 -9.33616284e+01] [-2.11235498e-03 1.84838198e-05 -9.99997769e-01 -4.04168709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96655999499995 meters 0.014316661792398986 Centerline is valid? [True, True] Translation: X:209.53, Y:-93.46, Z:-4.04 [[-3.49498937e-01 -9.36936102e-01 1.11132889e-03 2.09528354e+02] [-9.36930808e-01 3.49500698e-01 3.15015093e-03 -9.34562406e+01] [-3.33990035e-03 5.97361229e-05 -9.99994421e-01 -4.03965950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02655999499996 meters 0.01580272955039781 Centerline is valid? [True, True] Translation: X:209.47, Y:-93.56, Z:-4.04 [[-2.80775234e-01 -9.59773024e-01 1.00533560e-03 2.09470656e+02] [-9.59765711e-01 2.80777020e-01 3.74760766e-03 -9.35561954e+01] [-3.87912787e-03 8.73487857e-05 -9.99992472e-01 -4.03902627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08655999499996 meters 0.018058681578455412 Centerline is valid? [True, True] Translation: X:209.42, Y:-93.66, Z:-4.04 [[-2.11365042e-01 -9.77406948e-01 6.89897783e-04 2.09419262e+02] [-9.77400007e-01 2.11366142e-01 3.68517628e-03 -9.36621825e+01] [-3.74773793e-03 1.04611343e-04 -9.99992972e-01 -4.03842213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14655999499996 meters 0.020149547436289657 Centerline is valid? [True, True] Translation: X:209.38, Y:-93.78, Z:-4.04 [[-1.39905845e-01 -9.90164792e-01 2.00783491e-04 2.09375735e+02] [-9.90163076e-01 1.39905976e-01 1.84398617e-03 -9.37784553e+01] [-1.85394099e-03 5.91760435e-05 -9.99998280e-01 -4.03922340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.20655999499996 meters 0.018649377110296624 Centerline is valid? [True, True] Translation: X:209.33, Y:-93.89, Z:-4.04 [[-6.60771866e-02 -9.97814508e-01 1.11176856e-04 2.09334805e+02] [-9.97808032e-01 6.60771586e-02 3.59733112e-03 -9.38894624e+01] [-3.59681544e-03 1.26768360e-04 -9.99993523e-01 -4.03769030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26655999499997 meters 0.018134416120402678 Centerline is valid? [True, True] Translation: X:209.30, Y:-94.01, Z:-4.04 [[ 1.19598583e-02 -9.99928467e-01 -1.50384835e-04 2.09302067e+02] [-9.99923134e-01 -1.19602859e-02 3.26772938e-03 -9.40078331e+01] [-3.26929427e-03 1.11291695e-04 -9.99994650e-01 -4.03841136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.32655999499997 meters 0.017142501879755277 Centerline is valid? [True, True] Translation: X:209.28, Y:-94.13, Z:-4.04 [[ 9.25732832e-02 -9.95705796e-01 -3.93515749e-04 2.09277932e+02] [-9.95700711e-01 -9.25740687e-02 3.18378338e-03 -9.41301364e+01] [-3.20654092e-03 9.70906303e-05 -9.99994854e-01 -4.03844702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.38655999499997 meters 0.015821914940184312 Centerline is valid? [True, True] Translation: X:209.26, Y:-94.26, Z:-4.04 [[ 1.76630843e-01 -9.84276765e-01 -8.91430384e-04 2.09260048e+02] [-9.84266949e-01 -1.76633064e-01 4.39693112e-03 -9.42573061e+01] [-4.48525322e-03 1.00771813e-04 -9.99989936e-01 -4.03662387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.446559995 meters 0.013106241450813304 Centerline is valid? [True, True] Translation: X:209.25, Y:-94.39, Z:-4.04 [[ 2.61782921e-01 -9.65125707e-01 -1.43922277e-03 2.09249045e+02] [-9.65112419e-01 -2.61786870e-01 5.06497797e-03 -9.43870379e+01] [-5.26511007e-03 6.30870387e-05 -9.99986137e-01 -4.03638153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.506559995 meters 0.012352030854417474 Centerline is valid? [True, True] Translation: X:209.25, Y:-94.51, Z:-4.04 [[ 3.42693831e-01 -9.39445898e-01 -1.53062179e-03 2.09250961e+02] [-9.39436735e-01 -3.42697249e-01 4.14935316e-03 -9.45112863e+01] [-4.42263269e-03 1.59646071e-05 -9.99990220e-01 -4.03669075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.566559995 meters 0.012745093756200318 Centerline is valid? [True, True] Translation: X:209.26, Y:-94.64, Z:-4.04 [[ 4.25448793e-01 -9.04981113e-01 -1.58449101e-03 2.09259024e+02] [-9.04974512e-01 -4.25451742e-01 3.45652156e-03 -9.46369739e+01] [-3.80221119e-03 -3.66489482e-05 -9.99992771e-01 -4.03738459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.626559995 meters 0.014263636116709534 Centerline is valid? [True, True] Translation: X:209.28, Y:-94.75, Z:-4.04 [[ 5.00044698e-01 -8.65997362e-01 -1.96685254e-03 2.09281227e+02] [-8.65990100e-01 -5.00048561e-01 3.54732594e-03 -9.47542315e+01] [-4.05549669e-03 -7.05466962e-05 -9.99991774e-01 -4.03818543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.686559995 meters 0.015661429165543077 Centerline is valid? [True, True] Translation: X:209.31, Y:-94.87, Z:-4.04 [[ 5.69848962e-01 -8.21744516e-01 -2.84788988e-03 2.09312430e+02] [-8.21733158e-01 -5.69856065e-01 4.32225289e-03 -9.48687453e+01] [-5.17467493e-03 -1.22825783e-04 -9.99986604e-01 -4.03785848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.746559995 meters 0.0175997952252653 Centerline is valid? [True, True] Translation: X:209.35, Y:-94.98, Z:-4.04 [[ 6.35302014e-01 -7.72254665e-01 -3.75262814e-03 2.09346104e+02] [-7.72239476e-01 -6.35313071e-01 4.84702100e-03 -9.49753424e+01] [-6.12722829e-03 -1.81394619e-04 -9.99981212e-01 -4.03660312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.80655999499993 meters 0.018463070207537978 Centerline is valid? [True, True] Translation: X:209.39, Y:-95.08, Z:-4.04 [[ 6.93184372e-01 -7.20751710e-01 -3.52115125e-03 2.09394177e+02] [-7.20741193e-01 -6.93193296e-01 3.89713965e-03 -9.50778895e+01] [-5.24970851e-03 -1.63597546e-04 -9.99986207e-01 -4.03790383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.86655999499993 meters 0.019075613798978968 Centerline is valid? [True, True] Translation: X:209.44, Y:-95.17, Z:-4.04 [[ 7.45517695e-01 -6.66473501e-01 -4.05445674e-03 2.09442445e+02] [-6.66462374e-01 -7.45528700e-01 3.85504588e-03 -9.51663442e+01] [-5.59199979e-03 -1.71862053e-04 -9.99984350e-01 -4.03767789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.92655999499993 meters 0.018430445257660612 Centerline is valid? [True, True] Translation: X:209.47, Y:-95.19, Z:-4.04 [[ 7.94725651e-01 -6.06947079e-01 -5.13637797e-03 2.09467016e+02] [-6.06932787e-01 -7.94742225e-01 4.16986239e-03 -9.51945303e+01] [-6.61298225e-03 -1.96460408e-04 -9.99978115e-01 -4.03708839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.98655999499994 meters 0.017514165744173874 Centerline is valid? [True, True] Translation: X:209.49, Y:-95.22, Z:-4.04 [[ 8.39714273e-01 -5.42989843e-01 -6.47842285e-03 2.09493318e+02] [-5.42971521e-01 -8.39739231e-01 4.46671607e-03 -9.52217613e+01] [-7.86556728e-03 -2.33166128e-04 -9.99969039e-01 -4.03735394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04655999499994 meters 0.017462736415622904 Centerline is valid? [True, True] Translation: X:209.52, Y:-95.25, Z:-4.04 [[ 8.78639451e-01 -4.77431444e-01 -7.20627971e-03 2.09520815e+02] [-4.77413219e-01 -8.78668972e-01 4.17797767e-03 -9.52469210e+01] [-8.32663230e-03 -2.30562812e-04 -9.99965306e-01 -4.03726887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10655999499994 meters 0.016495760559130476 Centerline is valid? [True, True] Translation: X:209.55, Y:-95.27, Z:-4.04 [[ 9.13082535e-01 -4.07693962e-01 -8.11890021e-03 2.09550831e+02] [-4.07675447e-01 -9.13118598e-01 3.89315602e-03 -9.52704429e+01] [-9.00073498e-03 -2.44896492e-04 -9.99959463e-01 -4.03766838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16655999499994 meters 0.016621467498811125 Centerline is valid? [True, True] Translation: X:209.58, Y:-95.29, Z:-4.04 [[ 9.42042683e-01 -3.35387451e-01 -8.41666779e-03 2.09582054e+02] [-3.35371758e-01 -9.42080251e-01 3.25346206e-03 -9.52922858e+01] [-9.02034685e-03 -2.42187455e-04 -9.99959287e-01 -4.03730870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22655999499995 meters 0.017614629088835806 Centerline is valid? [True, True] Translation: X:209.61, Y:-95.31, Z:-4.04 [[ 9.65360709e-01 -2.60743755e-01 -9.56009446e-03 2.09614049e+02] [-2.60728219e-01 -9.65408008e-01 2.85884374e-03 -9.53109880e+01] [-9.97481740e-03 -2.67229021e-04 -9.99950215e-01 -4.03651113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28655999499995 meters 0.017149240448685658 Centerline is valid? [True, True] Translation: X:209.65, Y:-95.32, Z:-4.04 [[ 9.82799440e-01 -1.84423476e-01 -9.65624127e-03 2.09648773e+02] [-1.84411919e-01 -9.82846840e-01 2.08156956e-03 -9.53247814e+01] [-9.87449651e-03 -2.65039421e-04 -9.99951211e-01 -4.03748247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34655999499995 meters 0.01705376775927791 Centerline is valid? [True, True] Translation: X:209.68, Y:-95.34, Z:-4.04 [[ 9.94197741e-01 -1.07187432e-01 -9.03913203e-03 2.09684070e+02] [-1.07180774e-01 -9.94238802e-01 1.21921710e-03 -9.53370575e+01] [-9.11774055e-03 -2.43321716e-04 -9.99958403e-01 -4.03839409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40655999499995 meters 0.017445753405995794 Centerline is valid? [True, True] Translation: X:209.72, Y:-95.35, Z:-4.04 [[ 9.99567790e-01 -2.80365163e-02 -8.84233991e-03 2.09716917e+02] [-2.80332485e-02 -9.99606870e-01 4.93306267e-04 -9.53473084e+01] [-8.85269431e-03 -2.45213543e-04 -9.99960784e-01 -4.03913618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46655999499995 meters 0.018481450383887477 Centerline is valid? [True, True] Translation: X:209.75, Y:-95.35, Z:-4.04 [[ 9.98616161e-01 5.15932267e-02 -1.01932657e-02 2.09748979e+02] [ 5.15935532e-02 -9.98668139e-01 -2.31100889e-04 -9.53544953e+01] [-1.01916130e-02 -2.95125715e-04 -9.99948021e-01 -4.03896783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52655999499996 meters 0.01805049209695727 Centerline is valid? [True, True] Translation: X:209.78, Y:-95.36, Z:-4.04 [[ 9.91344012e-01 1.30838762e-01 -1.08750961e-02 2.09783229e+02] [ 1.30834533e-01 -9.91403606e-01 -1.10252386e-03 -9.53594547e+01] [-1.09258623e-02 -3.29857691e-04 -9.99940257e-01 -4.03945887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58655999499996 meters 0.017825833772625886 Centerline is valid? [True, True] Translation: X:209.82, Y:-95.36, Z:-4.04 [[ 9.77884119e-01 2.08862015e-01 -1.09228302e-02 2.09818467e+02] [ 2.08852901e-01 -9.77945060e-01 -1.98121664e-03 -9.53631372e+01] [-1.10957288e-02 -3.43864489e-04 -9.99938381e-01 -4.04054521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64655999499996 meters 0.018283644619416214 Centerline is valid? [True, True] Translation: X:209.85, Y:-95.36, Z:-4.04 [[ 9.58541653e-01 2.84759115e-01 -1.04950541e-02 2.09853516e+02] [ 2.84745871e-01 -9.58599047e-01 -2.76685377e-03 -9.53630023e+01] [-1.08484357e-02 -3.36278744e-04 -9.99941097e-01 -4.04062980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70655999499996 meters 0.018850375163211065 Centerline is valid? [True, True] Translation: X:209.89, Y:-95.36, Z:-4.04 [[ 9.33323288e-01 3.58864811e-01 -1.11215127e-02 2.09887049e+02] [ 3.58843957e-01 -9.33389476e-01 -3.88588437e-03 -9.53594697e+01] [-1.17752101e-02 -3.64101250e-04 -9.99930604e-01 -4.04042303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76655999499997 meters 0.017126433208221718 Centerline is valid? [True, True] Translation: X:209.92, Y:-95.35, Z:-4.04 [[ 9.02553549e-01 4.30417537e-01 -1.17403329e-02 2.09921601e+02] [ 4.30386714e-01 -9.02629820e-01 -5.16578984e-03 -9.53530764e+01] [-1.28206211e-02 -3.90481344e-04 -9.99917736e-01 -4.04071419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.82655999499997 meters 0.016748793235474638 Centerline is valid? [True, True] Translation: X:209.96, Y:-95.35, Z:-4.04 [[ 8.67131663e-01 4.97932025e-01 -1.20986430e-02 2.09955444e+02] [ 4.97889765e-01 -8.67215975e-01 -6.49882657e-03 -9.53451235e+01] [-1.37281104e-02 -3.88452225e-04 -9.99905690e-01 -4.04007351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.88655999499997 meters 0.016304449310949837 Centerline is valid? [True, True] Translation: X:209.99, Y:-95.33, Z:-4.04 [[ 8.26427799e-01 5.62918452e-01 -1.18283553e-02 2.09988013e+02] [ 5.62867227e-01 -8.26512357e-01 -7.60322903e-03 -9.53328187e+01] [-1.40562797e-02 -3.74273700e-04 -9.99901136e-01 -4.04013446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.946559995 meters 0.015448635552729495 Centerline is valid? [True, True] Translation: X:210.02, Y:-95.32, Z:-4.04 [[ 7.82045835e-01 6.23118628e-01 -1.12910390e-02 2.10018045e+02] [ 6.23059671e-01 -7.82127271e-01 -8.57779302e-03 -9.53169439e+01] [-1.41760121e-02 -3.26763747e-04 -9.99899462e-01 -4.04008898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.006559995 meters 0.014611681346265356 Centerline is valid? [True, True] Translation: X:210.05, Y:-95.30, Z:-4.04 [[ 7.32138805e-01 6.81072372e-01 -1.06392508e-02 2.10047615e+02] [ 6.81006406e-01 -7.32216042e-01 -9.48381325e-03 -9.52998869e+01] [-1.42493933e-02 -3.01930222e-04 -9.99898427e-01 -4.04073077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.066559995 meters 0.014166673090758943 Centerline is valid? [True, True] Translation: X:210.07, Y:-95.28, Z:-4.04 [[ 6.78470029e-01 7.34556438e-01 -1.02596330e-02 2.10074376e+02] [ 7.34478541e-01 -6.78547540e-01 -1.07008835e-02 -9.52799929e+01] [-1.48220516e-02 -2.75251555e-04 -9.99890109e-01 -4.04032833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.126559995 meters 0.013715457834285922 Centerline is valid? [True, True] Translation: X:210.10, Y:-95.26, Z:-4.04 [[ 6.20610612e-01 7.84061522e-01 -9.48670962e-03 2.10099455e+02] [ 7.83975904e-01 -6.20683067e-01 -1.15893109e-02 -9.52574724e+01] [-1.49749728e-02 -2.44902413e-04 -9.99887839e-01 -4.04053614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.186559995 meters 0.013212158041308996 Centerline is valid? [True, True] Translation: X:210.12, Y:-95.23, Z:-4.04 [[ 5.58220508e-01 8.29654382e-01 -7.96680855e-03 2.10123902e+02] [ 8.29575281e-01 -5.58277315e-01 -1.14582889e-02 -9.52346766e+01] [-1.39541081e-02 -2.12815567e-04 -9.99902614e-01 -4.04164058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.246559995 meters 0.013097073093595098 Centerline is valid? [True, True] Translation: X:210.14, Y:-95.21, Z:-4.04 [[ 4.92125630e-01 8.70497484e-01 -6.81874173e-03 2.10144840e+02] [ 8.70419420e-01 -4.92172827e-01 -1.16593957e-02 -9.52093059e+01] [-1.35054740e-02 -1.97277778e-04 -9.99908777e-01 -4.04244522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.30655999499993 meters 0.012938469969838677 Centerline is valid? [True, True] Translation: X:210.16, Y:-95.18, Z:-4.04 [[ 4.22434124e-01 9.06375406e-01 -5.74763812e-03 2.10164746e+02] [ 9.06297641e-01 -4.22473179e-01 -1.18742889e-02 -9.51837946e+01] [-1.31907863e-02 -1.92966054e-04 -9.99912979e-01 -4.04303429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.36655999499993 meters 0.013198816314619468 Centerline is valid? [True, True] Translation: X:210.18, Y:-95.16, Z:-4.04 [[ 3.48881469e-01 9.37155012e-01 -4.71218871e-03 2.10184109e+02] [ 9.37077403e-01 -3.48913228e-01 -1.20623649e-02 -9.51575957e+01] [-1.29484507e-02 -2.07349993e-04 -9.99916144e-01 -4.04304937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.42655999499993 meters 0.013833793204033652 Centerline is valid? [True, True] Translation: X:210.20, Y:-95.13, Z:-4.04 [[ 2.72798898e-01 9.62064559e-01 -3.54185891e-03 2.10200221e+02] [ 9.61993454e-01 -2.72821804e-01 -1.16986359e-02 -9.51311640e+01] [-1.22211393e-02 -2.15870100e-04 -9.99925296e-01 -4.04242970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.48655999499994 meters 0.014710556474406162 Centerline is valid? [True, True] Translation: X:210.21, Y:-95.10, Z:-4.04 [[ 1.94143939e-01 9.80969289e-01 -2.71735594e-03 2.10212105e+02] [ 9.80890806e-01 -1.94162787e-01 -1.24112484e-02 -9.51028935e+01] [-1.27026630e-02 -2.55860792e-04 -9.99919285e-01 -4.04232179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54655999499994 meters 0.014633200649978239 Centerline is valid? [True, True] Translation: X:210.22, Y:-95.07, Z:-4.04 [[ 1.15171268e-01 9.93344185e-01 -1.70565316e-03 2.10223085e+02] [ 9.93267345e-01 -1.15183578e-01 -1.23581843e-02 -9.50726505e+01] [-1.24723938e-02 -2.70861837e-04 -9.99922180e-01 -4.04342804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60655999499994 meters 0.01483066647413872 Centerline is valid? [True, True] Translation: X:210.23, Y:-95.04, Z:-4.04 [[ 3.54889129e-02 9.99369823e-01 -7.02581364e-04 2.10231666e+02] [ 9.99298486e-01 -3.54947765e-02 -1.19438691e-02 -9.50417906e+01] [-1.19612803e-02 -2.78213562e-04 -9.99928423e-01 -4.04444115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66655999499994 meters 0.015235974881401826 Centerline is valid? [True, True] Translation: X:210.24, Y:-95.01, Z:-4.05 [[-4.46252209e-02 9.99003775e-01 2.16786485e-04 2.10238571e+02] [ 9.98942967e-01 4.46248972e-02 -1.10257780e-02 -9.50105649e+01] [-1.10244679e-02 -2.75470442e-04 -9.99939191e-01 -4.04548562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72655999499995 meters 0.01733769427758629 Centerline is valid? [True, True] Translation: X:210.25, Y:-94.98, Z:-4.04 [[-1.24436649e-01 9.92226990e-01 1.05889446e-03 2.10245569e+02] [ 9.92168622e-01 1.24440818e-01 -1.07660521e-02 -9.49804386e+01] [-1.08141371e-02 -2.89089586e-04 -9.99941484e-01 -4.04455089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78655999499995 meters 0.018592645631550657 Centerline is valid? [True, True] Translation: X:210.24, Y:-94.95, Z:-4.04 [[-2.04993815e-01 9.78761207e-01 2.00866668e-03 2.10244710e+02] [ 9.78696449e-01 2.05003369e-01 -1.12640919e-02 -9.49494328e+01] [-1.14366397e-02 -3.43194230e-04 -9.99934541e-01 -4.04397949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84655999499995 meters 0.018270685620339153 Centerline is valid? [True, True] Translation: X:210.24, Y:-94.92, Z:-4.04 [[-2.82241224e-01 9.59338760e-01 3.00585763e-03 2.10241436e+02] [ 9.59269466e-01 2.82256984e-01 -1.15363618e-02 -9.49189622e+01] [-1.19157033e-02 -3.72609420e-04 -9.99928936e-01 -4.04442703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90655999499995 meters 0.019136452811526705 Centerline is valid? [True, True] Translation: X:210.24, Y:-94.89, Z:-4.04 [[-3.58627885e-01 9.33473051e-01 3.75536805e-03 2.10236867e+02] [ 9.33410100e-01 3.58647340e-01 -1.08475878e-02 -9.48883090e+01] [-1.14727836e-02 -3.84948989e-04 -9.99934111e-01 -4.04480629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96655999499995 meters 0.01887952235704673 Centerline is valid? [True, True] Translation: X:210.23, Y:-94.86, Z:-4.05 [[-4.31974202e-01 9.01875776e-01 4.28642058e-03 2.10231286e+02] [ 9.01822423e-01 4.31995305e-01 -9.81705390e-03 -9.48574870e+01] [-1.07054767e-02 -3.75123828e-04 -9.99942624e-01 -4.04619653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02655999499996 meters 0.019461132414839627 Centerline is valid? [True, True] Translation: X:210.22, Y:-94.83, Z:-4.05 [[-5.01396212e-01 8.65204311e-01 4.83102349e-03 2.10223611e+02] [ 8.65156991e-01 5.01419356e-01 -9.05597772e-03 -9.48276734e+01] [-1.02576396e-02 -3.61039185e-04 -9.99947324e-01 -4.04625592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08655999499996 meters 0.02001803976562846 Centerline is valid? [True, True] Translation: X:210.21, Y:-94.80, Z:-4.05 [[-5.67525309e-01 8.23334053e-01 6.00515455e-03 2.10211448e+02] [ 8.23280491e-01 5.67556945e-01 -9.39933079e-03 -9.47995959e+01] [-1.11470563e-02 -3.90431526e-04 -9.99937793e-01 -4.04535454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14655999499996 meters 0.019482989972233487 Centerline is valid? [True, True] Translation: X:210.20, Y:-94.77, Z:-4.04 [[-6.29575537e-01 7.76899577e-01 7.85440596e-03 2.10196206e+02] [ 7.76830128e-01 6.29624373e-01 -1.03972109e-02 -9.47737518e+01] [-1.30229142e-02 -4.44290443e-04 -9.99915100e-01 -4.04414573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20655999499996 meters 0.01806358136339818 Centerline is valid? [True, True] Translation: X:210.18, Y:-94.75, Z:-4.04 [[-6.87485695e-01 7.26142117e-01 9.00252963e-03 2.10180211e+02] [ 7.26071266e-01 6.87544493e-01 -1.01531892e-02 -9.47476786e+01] [-1.35622979e-02 -4.43694233e-04 -9.99907929e-01 -4.04429203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26655999499997 meters 0.01702363442629011 Centerline is valid? [True, True] Translation: X:210.16, Y:-94.72, Z:-4.04 [[-7.41242278e-01 6.71173631e-01 9.26509897e-03 2.10163466e+02] [ 6.71114342e-01 7.41300071e-01 -8.93001468e-03 -9.47222097e+01] [-1.28618089e-02 -4.01363627e-04 -9.99917203e-01 -4.04468389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.32655999499997 meters 0.016513345451475862 Centerline is valid? [True, True] Translation: X:210.18, Y:-94.71, Z:-4.05 [[-7.85268228e-01 6.19077988e-01 9.81095921e-03 2.10182958e+02] [ 6.19023793e-01 7.85329428e-01 -8.19956439e-03 -9.47076390e+01] [-1.27810048e-02 -3.65640212e-04 -9.99918253e-01 -4.04521277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.38655999499997 meters 0.015346774798390882 Centerline is valid? [True, True] Translation: X:210.20, Y:-94.69, Z:-4.05 [[-8.25714294e-01 5.64005969e-01 9.65252328e-03 2.10195373e+02] [ 5.63962989e-01 8.25770652e-01 -6.96971560e-03 -9.46876836e+01] [-1.19017316e-02 -3.11327917e-04 -9.99929123e-01 -4.04585460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.446559995 meters 0.015149694867719644 Centerline is valid? [True, True] Translation: X:210.21, Y:-94.66, Z:-4.05 [[-8.63349082e-01 5.04505652e-01 1.01197485e-02 2.10206830e+02] [ 5.04466808e-01 8.63408335e-01 -6.26786034e-03 -9.46641966e+01] [-1.18996462e-02 -3.06274249e-04 -9.99929150e-01 -4.04593236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.506559995 meters 0.016278224925226972 Centerline is valid? [True, True] Translation: X:210.22, Y:-94.64, Z:-4.05 [[-8.97106457e-01 4.41700809e-01 1.00199608e-02 2.10219060e+02] [ 4.41669546e-01 8.97162364e-01 -5.26352102e-03 -9.46397849e+01] [-1.13144332e-02 -2.96427149e-04 -9.99935946e-01 -4.04562487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.566559995 meters 0.016365236801598418 Centerline is valid? [True, True] Translation: X:210.23, Y:-94.62, Z:-4.05 [[-9.26307608e-01 3.76626617e-01 1.03250117e-02 2.10230624e+02] [ 3.76599582e-01 9.26365101e-01 -4.52261610e-03 -9.46158562e+01] [-1.12680682e-02 -3.00938600e-04 -9.99936468e-01 -4.04557995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.626559995 meters 0.016649679882162437 Centerline is valid? [True, True] Translation: X:210.24, Y:-94.59, Z:-4.05 [[-9.51048742e-01 3.08843778e-01 1.10367636e-02 2.10243385e+02] [ 3.08818966e-01 9.51112724e-01 -3.92849692e-03 -9.45919236e+01] [-1.17104981e-02 -3.27830126e-04 -9.99931376e-01 -4.04505968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.686559995 meters 0.018196227862108307 Centerline is valid? [True, True] Translation: X:210.25, Y:-94.56, Z:-4.04 [[-9.70675614e-01 2.40081749e-01 1.22313634e-02 2.10253995e+02] [ 2.40057963e-01 9.70752606e-01 -3.39888600e-03 -9.45646912e+01] [-1.26896384e-02 -3.62979553e-04 -9.99919417e-01 -4.04266645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.746559995 meters 0.01726329511334727 Centerline is valid? [True, True] Translation: X:210.44, Y:-93.93, Z:-5.00 [[-9.33443727e-01 -3.58516453e-01 1.21967847e-02 2.10435680e+02] [ 3.58491192e-01 -9.33523329e-01 -4.27315899e-03 -9.39290241e+01] [ 1.29179809e-02 3.83686427e-04 9.99916486e-01 -5.00039679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.80655999499993 meters 0.016894408030594697 Centerline is valid? [True, True] Translation: X:210.21, Y:-94.56, Z:-4.04 [[-9.71550364e-01 2.36540471e-01 1.17684310e-02 2.10206495e+02] [ 2.36518767e-01 9.71621575e-01 -3.22311887e-03 -9.45577066e+01] [-1.21968595e-02 -3.47967519e-04 -9.99925555e-01 -4.04487216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.86655999499993 meters 0.016392642686382453 Centerline is valid? [True, True] Translation: X:210.22, Y:-94.53, Z:-4.05 [[-9.85906296e-01 1.66944349e-01 1.08793586e-02 2.10216775e+02] [ 1.66930611e-01 9.85966269e-01 -2.16529142e-03 -9.45340503e+01] [-1.10881637e-02 -3.18676471e-04 -9.99938474e-01 -4.04678565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.92655999499993 meters 0.017244047828209687 Centerline is valid? [True, True] Translation: X:210.22, Y:-94.51, Z:-4.05 [[-9.95320183e-01 9.60923082e-02 1.01981145e-02 2.10220983e+02] [ 9.60841549e-02 9.95372381e-01 -1.28758523e-03 -9.45065628e+01] [-1.02746485e-02 -3.01682355e-04 -9.99947169e-01 -4.04654346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.98655999499994 meters 0.016711363673689375 Centerline is valid? [True, True] Translation: X:210.21, Y:-94.48, Z:-4.05 [[-9.99651803e-01 2.40419577e-02 1.08745855e-02 2.10210697e+02] [ 2.40369166e-02 9.99710895e-01 -5.94051560e-04 -9.44805332e+01] [-1.08857238e-02 -3.32453207e-04 -9.99940694e-01 -4.04680541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0465599949999 meters 0.01770709304269769 Centerline is valid? [True, True] Translation: X:210.22, Y:-94.45, Z:-4.05 [[-9.98734588e-01 -4.85854250e-02 1.29876503e-02 2.10216246e+02] [-4.85867460e-02 9.98818944e-01 2.13987082e-04 -9.44514224e+01] [-1.29827078e-02 -4.17311366e-04 -9.99915634e-01 -4.04527726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.106559995 meters 0.017436497467114207 Centerline is valid? [True, True] Translation: X:210.21, Y:-93.79, Z:-5.00 [[-9.96396782e-01 -8.35808474e-02 1.44116491e-02 2.10206642e+02] [ 8.35801865e-02 -9.96500843e-01 -6.49206847e-04 -9.37853433e+01] [ 1.44154817e-02 5.57660704e-04 9.99895936e-01 -4.99935441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.166559995 meters 0.01781276499221555 Centerline is valid? [True, True] Translation: X:210.15, Y:-94.45, Z:-4.04 [[-9.98490064e-01 -5.26490450e-02 1.56738873e-02 2.10150932e+02] [-5.26504157e-02 9.98612952e-01 3.25469692e-04 -9.44524296e+01] [-1.56692825e-02 -5.00258427e-04 -9.99877104e-01 -4.04416459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.226559995 meters 0.016583676786666432 Centerline is valid? [True, True] Translation: X:210.15, Y:-94.43, Z:-4.05 [[-9.92485045e-01 -1.21474009e-01 1.47479083e-02 2.10152191e+02] [-1.21467206e-01 9.92594514e-01 1.35949668e-03 -9.44278327e+01] [-1.48038364e-02 -4.42107088e-04 -9.99890319e-01 -4.04540101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.286559995 meters 0.016101095988458165 Centerline is valid? [True, True] Translation: X:210.14, Y:-94.40, Z:-4.05 [[-9.81899878e-01 -1.88902208e-01 1.37326667e-02 2.10140710e+02] [-1.88889057e-01 9.81995833e-01 2.26023213e-03 -9.44034486e+01] [-1.39123843e-02 -3.74628806e-04 -9.99903148e-01 -4.04582117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.346559995 meters 0.015162713287652082 Centerline is valid? [True, True] Translation: X:210.13, Y:-94.38, Z:-4.05 [[-9.66798510e-01 -2.55231326e-01 1.25543451e-02 2.10134373e+02] [-2.55213883e-01 9.66879971e-01 2.99934104e-03 -9.43795562e+01] [-1.29040706e-02 -3.04284711e-04 -9.99916693e-01 -4.04665696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.406559995 meters 0.014455462533445611 Centerline is valid? [True, True] Translation: X:210.11, Y:-94.36, Z:-4.05 [[-9.46596548e-01 -3.22210983e-01 1.16214409e-02 2.10114792e+02] [-3.22190153e-01 9.46667846e-01 3.67345198e-03 -9.43588940e+01] [-1.21852710e-02 -2.67036864e-04 -9.99925721e-01 -4.04730739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.466559995 meters 0.01406992862319362 Centerline is valid? [True, True] Translation: X:210.08, Y:-94.34, Z:-4.05 [[-9.21488536e-01 -3.88230955e-01 1.16449260e-02 2.10082469e+02] [-3.88203469e-01 9.21562076e-01 4.62675034e-03 -9.43426106e+01] [-1.25277699e-02 -2.57103279e-04 -9.99921491e-01 -4.04723590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.526559995 meters 0.01360988130376095 Centerline is valid? [True, True] Translation: X:210.03, Y:-94.34, Z:-4.05 [[-8.91571196e-01 -4.52730915e-01 1.16413988e-02 2.10027751e+02] [-4.52695771e-01 8.91647163e-01 5.64585370e-03 -9.43381839e+01] [-1.29360727e-02 -2.36331466e-04 -9.99916298e-01 -4.04666980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5865599949999 meters 0.012989557991477189 Centerline is valid? [True, True] Translation: X:209.97, Y:-94.34, Z:-4.05 [[-8.57448686e-01 -5.14474350e-01 9.89417414e-03 2.09966779e+02] [-5.14442403e-01 8.57505751e-01 5.73584488e-03 -9.43429155e+01] [-1.14352563e-02 -1.71790067e-04 -9.99934601e-01 -4.04738339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.646559995 meters 0.012581842431647805 Centerline is valid? [True, True] Translation: X:209.90, Y:-94.36, Z:-4.05 [[-8.17840056e-01 -5.75373090e-01 9.13515839e-03 2.09895989e+02] [-5.75339221e-01 8.17891060e-01 6.24465660e-03 -9.43574798e+01] [-1.10645717e-02 -1.48684608e-04 -9.99938775e-01 -4.04717566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7065599949999 meters 0.012469284552386266 Centerline is valid? [True, True] Translation: X:209.82, Y:-94.38, Z:-4.05 [[-7.73892638e-01 -6.33265658e-01 8.04936625e-03 2.09822112e+02] [-6.33232975e-01 7.73934489e-01 6.43480296e-03 -9.43809062e+01] [-1.03046219e-02 -1.17277502e-04 -9.99946899e-01 -4.04700500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.766559995 meters 0.012533343250584519 Centerline is valid? [True, True] Translation: X:209.74, Y:-94.42, Z:-4.05 [[-7.23962096e-01 -6.89799970e-01 7.40849430e-03 2.09738992e+02] [-6.89765538e-01 7.23999991e-01 6.89318092e-03 -9.44168406e+01] [-1.01186658e-02 -1.19722355e-04 -9.99948798e-01 -4.04728609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8265599949999 meters 0.01290138825756709 Centerline is valid? [True, True] Translation: X:209.66, Y:-94.46, Z:-4.05 [[-6.68690201e-01 -7.43505710e-01 7.25769284e-03 2.09655413e+02] [-7.43464246e-01 6.68729570e-01 7.85350369e-03 -9.44588641e+01] [-1.06925587e-02 -1.44274174e-04 -9.99942823e-01 -4.04613173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.886559995 meters 0.013000060586841186 Centerline is valid? [True, True] Translation: X:209.57, Y:-94.51, Z:-4.05 [[-6.09564609e-01 -7.92708968e-01 6.59393245e-03 2.09573407e+02] [-7.92665348e-01 6.09600252e-01 8.31739563e-03 -9.45114308e+01] [-1.06129370e-02 -1.56791746e-04 -9.99943669e-01 -4.04636078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9465599949999 meters 0.01324244972880517 Centerline is valid? [True, True] Translation: X:209.49, Y:-94.57, Z:-4.05 [[-5.47539002e-01 -8.36758518e-01 6.01862141e-03 2.09492494e+02] [-8.36711184e-01 5.47572056e-01 8.90156853e-03 -9.45727288e+01] [-1.07440922e-02 -1.61891891e-04 -9.99942267e-01 -4.04600779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.006559995 meters 0.01280867819088167 Centerline is valid? [True, True] Translation: X:209.42, Y:-94.65, Z:-4.05 [[-4.83899575e-01 -8.75106540e-01 5.45387354e-03 2.09416207e+02] [-8.75054345e-01 4.83930287e-01 9.55879945e-03 -9.46467067e+01] [-1.10042625e-02 -1.46936743e-04 -9.99939440e-01 -4.04723530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0665599949999 meters 0.012578565428983024 Centerline is valid? [True, True] Translation: X:209.34, Y:-94.73, Z:-4.05 [[-4.17592041e-01 -9.08624377e-01 4.31618540e-03 2.09344396e+02] [-9.08578674e-01 4.17614330e-01 9.11400342e-03 -9.47274513e+01] [-1.00837066e-02 -1.15658710e-04 -9.99949151e-01 -4.04836193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.126559995 meters 0.012306347194860396 Centerline is valid? [True, True] Translation: X:209.28, Y:-94.81, Z:-4.05 [[-3.47763424e-01 -9.37576414e-01 3.32702480e-03 2.09278614e+02] [-9.37536199e-01 3.47779325e-01 8.68432479e-03 -9.48142677e+01] [-9.29928853e-03 -9.91156591e-05 -9.99956756e-01 -4.04925073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1865599949999 meters 0.012183556132192805 Centerline is valid? [True, True] Translation: X:209.22, Y:-94.91, Z:-4.05 [[-2.76187696e-01 -9.61099614e-01 2.80862130e-03 2.09218777e+02] [-9.61053274e-01 2.76201961e-01 9.43834657e-03 -9.49073585e+01] [-9.84693796e-03 -9.24795030e-05 -9.99951513e-01 -4.04868682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.246559995 meters 0.01209019937571057 Centerline is valid? [True, True] Translation: X:209.16, Y:-95.01, Z:-4.05 [[-2.02481002e-01 -9.79284234e-01 1.95786474e-03 2.09164120e+02] [-9.79242224e-01 2.02490452e-01 9.07101164e-03 -9.50125101e+01] [-9.27954760e-03 -8.05162964e-05 -9.99956941e-01 -4.04917312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3065599949999 meters 0.012021454009144502 Centerline is valid? [True, True] Translation: X:209.12, Y:-95.12, Z:-4.05 [[-1.26722230e-01 -9.91937458e-01 1.24755039e-03 2.09117200e+02] [-9.91895443e-01 1.26728346e-01 9.13003705e-03 -9.51169482e+01] [-9.21452574e-03 -8.04608869e-05 -9.99957542e-01 -4.04901927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.366559995 meters 0.012102768954038678 Centerline is valid? [True, True] Translation: X:209.08, Y:-95.23, Z:-4.05 [[-4.97920040e-02 -9.98759457e-01 5.51032037e-04 2.09077747e+02] [-9.98715861e-01 4.97949792e-02 9.33218248e-03 -9.52263965e+01] [-9.34804413e-03 -8.56563682e-05 -9.99956302e-01 -4.04873867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4265599949999 meters 0.011967908832661073 Centerline is valid? [True, True] Translation: X:209.05, Y:-95.34, Z:-4.05 [[ 2.72966843e-02 -9.99627365e-01 -1.45676827e-04 2.09046513e+02] [-9.99593844e-01 -2.72969620e-02 8.18669842e-03 -9.53419459e+01] [-8.18762431e-03 -7.78520630e-05 -9.99966478e-01 -4.04950028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.486559995 meters 0.012165180441748986 Centerline is valid? [True, True] Translation: X:209.02, Y:-95.46, Z:-4.05 [[ 1.04543484e-01 -9.94520086e-01 -6.77614511e-04 2.09023734e+02] [-9.94494446e-01 -1.04545654e-01 7.14161989e-03 -9.54601212e+01] [-7.17332608e-03 -7.27259545e-05 -9.99974269e-01 -4.04967866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5465599949999 meters 0.011904548043940163 Centerline is valid? [True, True] Translation: X:209.01, Y:-95.58, Z:-4.05 [[ 1.80262929e-01 -9.83617616e-01 -1.28900189e-03 2.09010515e+02] [-9.83589437e-01 -1.80267522e-01 7.44579964e-03 -9.55798877e+01] [-7.55618487e-03 -7.43530045e-05 -9.99971449e-01 -4.04961045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.606559995 meters 0.011728892407365027 Centerline is valid? [True, True] Translation: X:209.01, Y:-95.70, Z:-4.05 [[ 2.54500455e-01 -9.67071197e-01 -1.67895474e-03 2.09006059e+02] [-9.67048495e-01 -2.54505985e-01 6.62661387e-03 -9.56957330e+01] [-6.83571144e-03 -6.28455929e-05 -9.99976634e-01 -4.05063587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.666559995 meters 0.011798141839086082 Centerline is valid? [True, True] Translation: X:209.01, Y:-95.82, Z:-4.05 [[ 3.27987451e-01 -9.44680077e-01 -1.94518830e-03 2.09011713e+02] [-9.44662421e-01 -3.27993214e-01 5.77596228e-03 -9.58154824e+01] [-6.09444506e-03 -5.68968569e-05 -9.99981427e-01 -4.05140837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.726559995 meters 0.011801108784390665 Centerline is valid? [True, True] Translation: X:209.02, Y:-95.93, Z:-4.05 [[ 3.99929414e-01 -9.16543146e-01 -2.26392530e-03 2.09024857e+02] [-9.16527635e-01 -3.99935818e-01 5.33248388e-03 -9.59297808e+01] [-5.79287637e-03 -5.76670504e-05 -9.99983220e-01 -4.05150366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.786559995 meters 0.012042026769182906 Centerline is valid? [True, True] Translation: X:209.05, Y:-96.05, Z:-4.05 [[ 4.70558992e-01 -8.82364173e-01 -2.77492345e-03 2.09047093e+02] [-8.82347927e-01 -4.70567169e-01 5.35490818e-03 -9.60471360e+01] [-6.03076700e-03 -7.13522485e-05 -9.99981812e-01 -4.05171891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.846559995 meters 0.012435048958054475 Centerline is valid? [True, True] Translation: X:209.08, Y:-96.16, Z:-4.05 [[ 5.38253480e-01 -8.42776923e-01 -3.20155701e-03 2.09075672e+02] [-8.42761075e-01 -5.38262995e-01 5.16903974e-03 -9.61575093e+01] [-6.07962707e-03 -8.41059974e-05 -9.99981515e-01 -4.05181229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.906559995 meters 0.01333052224007475 Centerline is valid? [True, True] Translation: X:209.11, Y:-96.27, Z:-4.05 [[ 6.04331326e-01 -7.96725176e-01 -3.55547862e-03 2.09111721e+02] [-7.96710317e-01 -6.04341775e-01 4.86711281e-03 -9.62670725e+01] [-6.02647557e-03 -1.08662236e-04 -9.99981835e-01 -4.05215406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.966559995 meters 0.014381382700166683 Centerline is valid? [True, True] Translation: X:209.15, Y:-96.37, Z:-4.05 [[ 6.66289895e-01 -7.45681340e-01 -4.13698375e-03 2.09154856e+02] [-7.45665639e-01 -6.66302723e-01 4.84106430e-03 -9.63707686e+01] [-6.36637485e-03 -1.40745591e-04 -9.99979725e-01 -4.05235250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.026559995 meters 0.014698693999505647 Centerline is valid? [True, True] Translation: X:209.21, Y:-96.47, Z:-4.05 [[ 7.22026465e-01 -6.91850322e-01 -4.57344826e-03 2.09205516e+02] [-6.91835086e-01 -7.22040933e-01 4.59400123e-03 -9.64670381e+01] [-6.48057807e-03 -1.52918496e-04 -9.99978989e-01 -4.05229051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0865599949999 meters 0.014970002677092602 Centerline is valid? [True, True] Translation: X:209.26, Y:-96.55, Z:-4.05 [[ 7.72717172e-01 -6.34731646e-01 -4.88986454e-03 2.09258194e+02] [-6.34717648e-01 -7.72732628e-01 4.21823309e-03 -9.65534469e+01] [-6.45600391e-03 -1.55817821e-04 -9.99979148e-01 -4.05234015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.146559995 meters 0.014834849050415818 Centerline is valid? [True, True] Translation: X:209.28, Y:-96.58, Z:-4.05 [[ 8.19341803e-01 -5.73282033e-01 -5.16918508e-03 2.09282615e+02] [-5.73269475e-01 -8.19358095e-01 3.79739131e-03 -9.65806532e+01] [-6.41238985e-03 -1.48025429e-04 -9.99979429e-01 -4.05260591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2065599949999 meters 0.014658712957471324 Centerline is valid? [True, True] Translation: X:209.31, Y:-96.61, Z:-4.05 [[ 8.61272764e-01 -5.08111866e-01 -5.61770434e-03 2.09308759e+02] [-5.08099931e-01 -8.61291072e-01 3.48559034e-03 -9.66053569e+01] [-6.60954840e-03 -1.47688839e-04 -9.99978146e-01 -4.05199400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.266559995 meters 0.014190025353868022 Centerline is valid? [True, True] Translation: X:209.34, Y:-96.62, Z:-4.05 [[ 8.96843212e-01 -4.42297346e-01 -6.73130625e-03 2.09337959e+02] [-4.42283687e-01 -8.96868462e-01 3.47891899e-03 -9.66242326e+01] [-7.57581292e-03 -1.42897939e-04 -9.99971293e-01 -4.05038959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3265599949999 meters 0.01303416924296194 Centerline is valid? [True, True] Translation: X:209.37, Y:-96.64, Z:-4.05 [[ 9.27773958e-01 -3.73076715e-01 -7.01765074e-03 2.09369355e+02] [-3.73065018e-01 -9.27800490e-01 2.95695913e-03 -9.66417316e+01] [-7.61415240e-03 -1.25349683e-04 -9.99971004e-01 -4.05066526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.386559995 meters 0.01238921682925899 Centerline is valid? [True, True] Translation: X:209.40, Y:-96.66, Z:-4.05 [[ 9.53598972e-01 -3.00991358e-01 -7.29398389e-03 2.09400032e+02] [-3.00981639e-01 -9.53626861e-01 2.42149020e-03 -9.66599216e+01] [-7.68458658e-03 -1.13775341e-04 -9.99970467e-01 -4.05083440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4465599949999 meters 0.011772785371356662 Centerline is valid? [True, True] Translation: X:209.43, Y:-96.67, Z:-4.05 [[ 9.73205369e-01 -2.29806288e-01 -7.77038540e-03 2.09431797e+02] [-2.29798279e-01 -9.73236386e-01 1.92046265e-03 -9.66717099e+01] [-8.00375619e-03 -8.33833703e-05 -9.99967966e-01 -4.05018391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.506559995 meters 0.011218224136233907 Centerline is valid? [True, True] Translation: X:209.46, Y:-96.68, Z:-4.05 [[ 9.87792299e-01 -1.55595996e-01 -7.50063072e-03 2.09464995e+02] [-1.55591052e-01 -9.87820774e-01 1.24185653e-03 -9.66828072e+01] [-7.60250675e-03 -5.96652996e-05 -9.99971099e-01 -4.05142111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5665599949999 meters 0.01109755708215884 Centerline is valid? [True, True] Translation: X:209.49, Y:-96.69, Z:-4.05 [[ 9.96885159e-01 -7.85212517e-02 -7.37519921e-03 2.09494225e+02] [-7.85187099e-02 -9.96912439e-01 6.33998618e-04 -9.66929642e+01] [-7.40221019e-03 -5.29326859e-05 -9.99972602e-01 -4.05199256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.626559995 meters 0.011164007359653476 Centerline is valid? [True, True] Translation: X:209.52, Y:-96.70, Z:-4.05 [[ 9.99969968e-01 2.01924510e-04 -7.74739593e-03 2.09523925e+02] [ 2.02370860e-04 -9.99999978e-01 5.68288425e-05 -9.67000717e+01] [-7.74738428e-03 -5.83949830e-05 -9.99969987e-01 -4.05180157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6865599949999 meters 0.011376605312267894 Centerline is valid? [True, True] Translation: X:209.55, Y:-96.71, Z:-4.05 [[ 9.96750724e-01 8.01159365e-02 -8.33251194e-03 2.09553933e+02] [ 8.01137756e-02 -9.96785549e-01 -5.93334350e-04 -9.67054561e+01] [-8.35326303e-03 -7.61425484e-05 -9.99965108e-01 -4.05117766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.746559995 meters 0.012022095733141508 Centerline is valid? [True, True] Translation: X:209.58, Y:-96.71, Z:-4.05 [[ 9.86861320e-01 1.61350235e-01 -8.41650070e-03 2.09584906e+02] [ 1.61345294e-01 -9.86897204e-01 -1.26719782e-03 -9.67082380e+01] [-8.51068367e-03 -1.07414267e-04 -9.99963778e-01 -4.05114422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8065599949999 meters 0.01245922053618781 Centerline is valid? [True, True] Translation: X:209.62, Y:-96.71, Z:-4.05 [[ 9.70118001e-01 2.42477625e-01 -8.69862296e-03 2.09615842e+02] [ 2.42469287e-01 -9.70156986e-01 -2.01658337e-03 -9.67115170e+01] [-8.92800619e-03 -1.52825081e-04 -9.99960133e-01 -4.05120091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.866559995 meters 0.013421836564981767 Centerline is valid? [True, True] Translation: X:209.65, Y:-96.71, Z:-4.05 [[ 9.47177814e-01 3.20590758e-01 -8.70372709e-03 2.09647560e+02] [ 3.20579001e-01 -9.47217785e-01 -2.75168284e-03 -9.67116089e+01] [-9.12648918e-03 -1.83899202e-04 -9.99958336e-01 -4.05083386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9265599949999 meters 0.014179162725347078 Centerline is valid? [True, True] Translation: X:209.68, Y:-96.71, Z:-4.05 [[ 9.17833406e-01 3.96878034e-01 -8.34650773e-03 2.09678005e+02] [ 3.96863717e-01 -9.17871331e-01 -3.37776823e-03 -9.67076219e+01] [-9.00158218e-03 -2.12197562e-04 -9.99959462e-01 -4.05110724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.986559995 meters 0.014271135382044706 Centerline is valid? [True, True] Translation: X:209.71, Y:-96.70, Z:-4.05 [[ 8.83348734e-01 4.68646187e-01 -8.10965905e-03 2.09707953e+02] [ 4.68628763e-01 -8.83385930e-01 -4.04737124e-03 -9.67017581e+01] [-9.06074380e-03 -2.25179235e-04 -9.99958925e-01 -4.05096208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0465599949999 meters 0.015148546511704985 Centerline is valid? [True, True] Translation: X:209.74, Y:-96.69, Z:-4.05 [[ 8.43617106e-01 5.36887500e-01 -7.87342725e-03 2.09736594e+02] [ 5.36866691e-01 -8.43653814e-01 -4.73270865e-03 -9.66937687e+01] [-9.18337904e-03 -2.34386866e-04 -9.99957804e-01 -4.05010152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.106559995 meters 0.014851975529329544 Centerline is valid? [True, True] Translation: X:209.76, Y:-96.68, Z:-4.05 [[ 7.98780677e-01 6.01581387e-01 -7.01888624e-03 2.09763422e+02] [ 6.01560596e-01 -7.98811483e-01 -5.00639711e-03 -9.66812279e+01] [-8.61852224e-03 -2.23272123e-04 -9.99962835e-01 -4.05069039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.166559995 meters 0.014555988491183123 Centerline is valid? [True, True] Translation: X:209.79, Y:-96.67, Z:-4.05 [[ 7.48857548e-01 6.62703081e-01 -6.08281149e-03 2.09790402e+02] [ 6.62683474e-01 -7.48882222e-01 -5.10199958e-03 -9.66683920e+01] [-7.93642023e-03 -2.10307755e-04 -9.99968484e-01 -4.05130210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.226559995 meters 0.01519488549116072 Centerline is valid? [True, True] Translation: X:209.81, Y:-96.65, Z:-4.05 [[ 6.94783883e-01 7.19194668e-01 -5.86387328e-03 2.09814498e+02] [ 7.19171647e-01 -6.94808594e-01 -5.75843430e-03 -9.66537011e+01] [-8.21570480e-03 -2.16264058e-04 -9.99966227e-01 -4.05064350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.286559995 meters 0.014333527724052058 Centerline is valid? [True, True] Translation: X:209.84, Y:-96.64, Z:-4.05 [[ 6.37632446e-01 7.70320464e-01 -5.58987270e-03 2.09835835e+02] [ 7.70293705e-01 -6.37656913e-01 -6.42411322e-03 -9.66350728e+01] [-8.51304685e-03 -2.09620728e-04 -9.99963741e-01 -4.04985163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.346559995 meters 0.014015098319501922 Centerline is valid? [True, True] Translation: X:209.86, Y:-96.62, Z:-4.05 [[ 5.76010885e-01 8.17426708e-01 -5.00371246e-03 2.09858038e+02] [ 8.17398837e-01 -5.76032583e-01 -6.75311342e-03 -9.66170552e+01] [-8.40247668e-03 -2.00161907e-04 -9.99964679e-01 -4.05023226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.406559995 meters 0.013059342038982893 Centerline is valid? [True, True] Translation: X:209.88, Y:-96.60, Z:-4.05 [[ 5.13279213e-01 8.58208862e-01 -4.69028465e-03 2.09876075e+02] [ 8.58176170e-01 -5.13300611e-01 -7.49299453e-03 -9.65956451e+01] [-8.83808028e-03 -1.79092182e-04 -9.99960927e-01 -4.04920200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.466559995 meters 0.012495474965471882 Centerline is valid? [True, True] Translation: X:209.89, Y:-96.57, Z:-4.05 [[ 4.46400005e-01 8.94825345e-01 -3.82587860e-03 2.09894535e+02] [ 8.94795316e-01 -4.46416374e-01 -7.33239289e-03 -9.65745431e+01] [-8.26914585e-03 -1.50198032e-04 -9.99965799e-01 -4.04924673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.526559995 meters 0.01210705841595879 Centerline is valid? [True, True] Translation: X:209.91, Y:-96.55, Z:-4.05 [[ 3.76308198e-01 9.26490747e-01 -2.65260041e-03 2.09911357e+02] [ 9.26469814e-01 -3.76317529e-01 -6.22907379e-03 -9.65524478e+01] [-6.76939926e-03 -1.13502676e-04 -9.99977081e-01 -4.05001073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5865599949999 meters 0.012426287827325307 Centerline is valid? [True, True] Translation: X:209.93, Y:-96.53, Z:-4.05 [[ 3.02916631e-01 9.53014897e-01 -2.03014943e-03 2.09928983e+02] [ 9.52995751e-01 -3.02923416e-01 -6.04178142e-03 -9.65319758e+01] [-6.37288749e-03 -1.04567708e-04 -9.99979687e-01 -4.04944934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.646559995 meters 0.011889718926879352 Centerline is valid? [True, True] Translation: X:209.94, Y:-96.51, Z:-4.05 [[ 2.28102203e-01 9.73635758e-01 -1.67225928e-03 2.09943466e+02] [ 9.73612929e-01 -2.28108307e-01 -6.66814426e-03 -9.65081167e+01] [-6.87379992e-03 -1.07114865e-04 -9.99976369e-01 -4.04901273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7065599949999 meters 0.011465303382278655 Centerline is valid? [True, True] Translation: X:209.95, Y:-96.48, Z:-4.05 [[ 1.53472140e-01 9.88152219e-01 -1.22280346e-03 2.09953815e+02] [ 9.88125690e-01 -1.53476981e-01 -7.24139189e-03 -9.64833222e+01] [-7.34326965e-03 -9.69316064e-05 -9.99973033e-01 -4.04822065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.766559995 meters 0.01120110418192802 Centerline is valid? [True, True] Translation: X:209.96, Y:-96.46, Z:-4.05 [[ 7.67802824e-02 9.97047798e-01 -6.89833610e-04 2.09962041e+02] [ 9.97017745e-01 -7.67833245e-02 -7.74186375e-03 -9.64577828e+01] [-7.77197593e-03 -9.33538648e-05 -9.99969793e-01 -4.04814015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8265599949999 meters 0.010530140117570775 Centerline is valid? [True, True] Translation: X:209.97, Y:-96.43, Z:-4.05 [[ 9.21914200e-04 9.99999571e-01 -8.56771947e-05 2.09971382e+02] [ 9.99965760e-01 -9.22587602e-04 -8.22356609e-03 -9.64317017e+01] [-8.22364161e-03 -7.80928388e-05 -9.99966182e-01 -4.04829590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.886559995 meters 0.010224092343456018 Centerline is valid? [True, True] Translation: X:209.98, Y:-96.41, Z:-4.05 [[-7.52111216e-02 9.97167482e-01 5.48005522e-04 2.09979472e+02] [ 9.97134965e-01 7.52130947e-02 -8.05308882e-03 -9.64051997e+01] [-8.07149549e-03 -5.92463758e-05 -9.99967423e-01 -4.04909226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9465599949999 meters 0.010088122326706262 Centerline is valid? [True, True] Translation: X:209.98, Y:-96.38, Z:-4.05 [[-1.48782516e-01 9.88869408e-01 1.02833730e-03 2.09983647e+02] [ 9.88844793e-01 1.48786068e-01 -6.97718078e-03 -9.63793079e+01] [-7.05252289e-03 -2.12165257e-05 -9.99975130e-01 -4.04981992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.006559995 meters 0.010002535900996682 Centerline is valid? [True, True] Translation: X:209.99, Y:-96.35, Z:-4.05 [[-2.23063988e-01 9.74802817e-01 1.38776992e-03 2.09986736e+02] [ 9.74783908e-01 2.23068304e-01 -6.07154182e-03 -9.63524006e+01] [-6.22812355e-03 -1.56654167e-06 -9.99980605e-01 -4.05061515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0665599949999 meters 0.010171306044502422 Centerline is valid? [True, True] Translation: X:209.99, Y:-96.33, Z:-4.05 [[-2.95628335e-01 9.55301213e-01 1.86575658e-03 2.09987827e+02] [ 9.55282587e-01 2.95634222e-01 -5.96546038e-03 -9.63254865e+01] [-6.25039303e-03 1.87656554e-05 -9.99980466e-01 -4.05071847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.126559995 meters 0.010427789130145304 Centerline is valid? [True, True] Translation: X:209.99, Y:-96.30, Z:-4.05 [[-3.66630015e-01 9.30363981e-01 2.30103450e-03 2.09988237e+02] [ 9.30346305e-01 3.66637234e-01 -5.73511432e-03 -9.62978071e+01] [-6.17938872e-03 3.80938945e-05 -9.99980907e-01 -4.05043983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1865599949999 meters 0.010823854465845353 Centerline is valid? [True, True] Translation: X:209.99, Y:-96.27, Z:-4.05 [[-4.36663871e-01 8.99620569e-01 2.73775980e-03 2.09985062e+02] [ 8.99603599e-01 4.36672451e-01 -5.52596761e-03 -9.62722054e+01] [-6.16677841e-03 4.99081557e-05 -9.99980984e-01 -4.05024732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.246559995 meters 0.010843589188020492 Centerline is valid? [True, True] Translation: X:209.98, Y:-96.24, Z:-4.05 [[-5.05216731e-01 8.62985785e-01 3.40430821e-03 2.09983565e+02] [ 8.62966965e-01 5.05228197e-01 -5.69971777e-03 -9.62427052e+01] [-6.63872792e-03 5.82127496e-05 -9.99977962e-01 -4.04965538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3065599949999 meters 0.010708053785023616 Centerline is valid? [True, True] Translation: X:209.98, Y:-96.21, Z:-4.05 [[-5.72993430e-01 8.19547550e-01 4.51021630e-03 2.09980225e+02] [ 8.19522876e-01 5.73011178e-01 -6.35963540e-03 -9.62131761e+01] [-7.79642797e-03 5.21961291e-05 -9.99969606e-01 -4.04820402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.366559995 meters 0.010365044340361607 Centerline is valid? [True, True] Translation: X:209.97, Y:-96.18, Z:-4.05 [[-6.37623386e-01 7.70330019e-01 5.29897533e-03 2.09974159e+02] [ 7.70303836e-01 6.37645404e-01 -6.35132108e-03 -9.61834728e+01] [-8.27148055e-03 3.20701713e-05 -9.99965790e-01 -4.04757040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4265599949999 meters 0.010262278210757947 Centerline is valid? [True, True] Translation: X:209.96, Y:-96.15, Z:-4.05 [[-6.98164170e-01 7.15915030e-01 5.69755455e-03 2.09964831e+02] [ 7.15891275e-01 6.98187417e-01 -5.83203937e-03 -9.61547192e+01] [-8.15320554e-03 7.10866641e-06 -9.99966762e-01 -4.04706635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.486559995 meters 0.010361472489118801 Centerline is valid? [True, True] Translation: X:209.96, Y:-96.12, Z:-4.05 [[-7.55199166e-01 6.55474886e-01 5.18589527e-03 2.09955431e+02] [ 6.55459188e-01 7.55216971e-01 -4.53652526e-03 -9.61239444e+01] [-6.89005449e-03 -2.68373915e-05 -9.99976263e-01 -4.04719224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5465599949999 meters 0.010848860326520071 Centerline is valid? [True, True] Translation: X:209.98, Y:-96.10, Z:-4.05 [[-8.01954160e-01 5.97362478e-01 5.25312187e-03 2.09976775e+02] [ 5.97349247e-01 8.01971363e-01 -3.97609331e-03 -9.60991561e+01] [-6.58802226e-03 -5.06961779e-05 -9.99978297e-01 -4.04684267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.606559995 meters 0.011142041016237503 Centerline is valid? [True, True] Translation: X:209.99, Y:-96.07, Z:-4.05 [[-8.43426465e-01 5.37220213e-01 5.12269797e-03 2.09993883e+02] [ 5.37209865e-01 8.43442019e-01 -3.33492784e-03 -9.60743805e+01] [-6.11228936e-03 -6.08025177e-05 -9.99981318e-01 -4.04699545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.666559995 meters 0.0115185187975984 Centerline is valid? [True, True] Translation: X:210.01, Y:-96.05, Z:-4.05 [[-8.80052068e-01 4.74857517e-01 4.32393973e-03 2.10009430e+02] [ 4.74851466e-01 8.80062689e-01 -2.39789459e-03 -9.60466605e+01] [-4.94399629e-03 -5.70429736e-05 -9.99987777e-01 -4.04654921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.726559995 meters 0.01150084644290512 Centerline is valid? [True, True] Translation: X:210.02, Y:-96.02, Z:-4.05 [[-9.11117488e-01 4.12126069e-01 4.12626785e-03 2.10021862e+02] [ 4.12121599e-01 9.11126830e-01 -1.92006995e-03 -9.60205631e+01] [-4.55086422e-03 -4.88852032e-05 -9.99989644e-01 -4.04558947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.786559995 meters 0.01120506375977909 Centerline is valid? [True, True] Translation: X:210.03, Y:-96.00, Z:-4.04 [[-9.37287176e-01 3.48526334e-01 4.70567048e-03 2.10031784e+02] [ 3.48521710e-01 9.37298988e-01 -1.79594857e-03 -9.59953308e+01] [-5.03655555e-03 -4.32912421e-05 -9.99987316e-01 -4.04437230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.846559995 meters 0.011002705848897622 Centerline is valid? [True, True] Translation: X:210.05, Y:-95.97, Z:-4.04 [[-9.58545537e-01 2.84879602e-01 5.83662094e-03 2.10045151e+02] [ 2.84874138e-01 9.58563306e-01 -1.76471044e-03 -9.59723552e+01] [-6.09750067e-03 -2.88529617e-05 -9.99981410e-01 -4.04279900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.906559995 meters 0.010895397029031967 Centerline is valid? [True, True] Translation: X:210.05, Y:-95.95, Z:-4.04 [[-9.75763138e-01 2.18745108e-01 6.07260442e-03 2.10051026e+02] [ 2.18740787e-01 9.75782034e-01 -1.37509870e-03 -9.59467388e+01] [-6.22633441e-03 -1.34443564e-05 -9.99980616e-01 -4.04238661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.966559995 meters 0.010949371031970212 Centerline is valid? [True, True] Translation: X:210.06, Y:-95.92, Z:-4.04 [[-9.88475502e-01 1.51231487e-01 6.72450196e-03 2.10056242e+02] [ 1.51227994e-01 9.88498375e-01 -1.02781608e-03 -9.59203532e+01] [-6.80259741e-03 9.61926499e-07 -9.99976862e-01 -4.04146311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.026559995 meters 0.011025199597038645 Centerline is valid? [True, True] Translation: X:210.16, Y:-95.26, Z:-5.00 [[-9.76246576e-01 -2.16561531e-01 6.61257411e-03 2.10160558e+02] [ 2.16556544e-01 -9.76268971e-01 -1.46967087e-03 -9.52583824e+01] [ 6.77392510e-03 -2.76495453e-06 9.99977057e-01 -5.00296401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0865599949999 meters 0.011056162102298959 Centerline is valid? [True, True] Translation: X:210.00, Y:-95.91, Z:-4.04 [[-9.89237215e-01 1.46156245e-01 6.93427381e-03 2.10004702e+02] [ 1.46152597e-01 9.89261519e-01 -1.03269498e-03 -9.59110553e+01] [-7.01074506e-03 -8.11818283e-06 -9.99975424e-01 -4.04112052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.146559995 meters 0.011053698926175236 Centerline is valid? [True, True] Translation: X:210.11, Y:-95.25, Z:-5.00 [[-9.76468636e-01 -2.15512203e-01 7.96822418e-03 2.10107341e+02] [ 2.15505717e-01 -9.76501144e-01 -1.67410255e-03 -9.52536483e+01] [ 8.14176955e-03 8.24892326e-05 9.99966852e-01 -5.00406851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2065599949999 meters 0.011174223059698984 Centerline is valid? [True, True] Translation: X:209.95, Y:-95.90, Z:-4.04 [[-9.90249005e-01 1.39136731e-01 6.91937075e-03 2.09954826e+02] [ 1.39133116e-01 9.90273179e-01 -1.00346526e-03 -9.59024349e+01] [-6.99168615e-03 -3.09668656e-05 -9.99975557e-01 -4.04094449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.266559995 meters 0.011137193227221516 Centerline is valid? [True, True] Translation: X:209.95, Y:-95.87, Z:-4.04 [[-9.97661725e-01 6.80378823e-02 6.47528697e-03 2.09950212e+02] [ 6.80362407e-02 9.97682738e-01 -4.73713755e-04 -9.58747719e+01] [-6.49251251e-03 -3.20518990e-05 -9.99978923e-01 -4.04179867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3265599949999 meters 0.011247726186592005 Centerline is valid? [True, True] Translation: X:209.95, Y:-95.85, Z:-4.04 [[-9.99978888e-01 -4.10661725e-03 5.03578522e-03 2.09954374e+02] [-4.10672160e-03 9.99991567e-01 -1.03824177e-05 -9.58466421e+01] [-5.03570012e-03 -3.10627665e-05 -9.99987320e-01 -4.04223779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.386559995 meters 0.011282603806877402 Centerline is valid? [True, True] Translation: X:209.96, Y:-95.19, Z:-5.00 [[-9.97158908e-01 -7.52060395e-02 4.26188942e-03 2.09957086e+02] [ 7.52052543e-02 -9.97168016e-01 -3.44404350e-04 -9.51861605e+01] [ 4.27572110e-03 -2.29093878e-05 9.99990859e-01 -5.00168553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4465599949999 meters 0.01131716021465044 Centerline is valid? [True, True] Translation: X:209.89, Y:-95.85, Z:-4.04 [[-9.99954978e-01 -8.68738926e-03 3.81720054e-03 2.09892503e+02] [-8.68742130e-03 9.99962264e-01 8.18860256e-06 -9.58484803e+01] [-3.81712763e-03 -2.49733954e-05 -9.99992714e-01 -4.04262041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.506559995 meters 0.011288021782373658 Centerline is valid? [True, True] Translation: X:209.89, Y:-95.82, Z:-4.04 [[-9.96793477e-01 -7.98577678e-02 5.04979374e-03 2.09885121e+02] [-7.98569126e-02 9.96806268e-01 3.71078333e-04 -9.58217037e+01] [-5.06329954e-03 -3.33724749e-05 -9.99987181e-01 -4.04138819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5665599949999 meters 0.011406870360073705 Centerline is valid? [True, True] Translation: X:209.88, Y:-95.80, Z:-4.04 [[-9.88549342e-01 -1.50724987e-01 7.22336038e-03 2.09878964e+02] [-1.50721322e-01 9.88575731e-01 1.05224748e-03 -9.57953705e+01] [-7.29943876e-03 -4.85158723e-05 -9.99973358e-01 -4.03908654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.626559995 meters 0.011293585224377425 Centerline is valid? [True, True] Translation: X:209.79, Y:-95.14, Z:-5.00 [[-9.97494490e-01 7.02921300e-02 7.98495482e-03 2.09785961e+02] [-7.02890673e-02 -9.97526444e-01 6.63897177e-04 -9.51375390e+01] [ 8.01187034e-03 1.00978748e-04 9.99967899e-01 -5.00467756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6865599949999 meters 0.011274492665371179 Centerline is valid? [True, True] Translation: X:209.79, Y:-95.81, Z:-4.04 [[-9.87510327e-01 -1.57366577e-01 7.68859726e-03 2.09791803e+02] [-1.57362276e-01 9.87540256e-01 1.16505302e-03 -9.58089934e+01] [-7.77613971e-03 -5.93932782e-05 -9.99969764e-01 -4.03930544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.746559995 meters 0.011460242518301472 Centerline is valid? [True, True] Translation: X:209.78, Y:-95.78, Z:-4.04 [[-9.73649284e-01 -2.27937603e-01 7.17778119e-03 2.09778874e+02] [-2.27931870e-01 9.73675739e-01 1.61779960e-03 -9.57846211e+01] [-7.35758877e-03 -6.08756708e-05 -9.99972931e-01 -4.03914507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8065599949999 meters 0.01142271474401984 Centerline is valid? [True, True] Translation: X:209.76, Y:-95.76, Z:-4.04 [[-9.54664416e-01 -2.97614090e-01 6.45808099e-03 2.09761188e+02] [-2.97607708e-01 9.54686257e-01 1.94989704e-03 -9.57624164e+01] [-6.74575800e-03 -6.04773640e-05 -9.99977245e-01 -4.03996674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.866559995 meters 0.011805646206844852 Centerline is valid? [True, True] Translation: X:209.73, Y:-95.75, Z:-4.04 [[-9.29901975e-01 -3.67745480e-01 6.75126090e-03 2.09728831e+02] [-3.67736425e-01 9.29926478e-01 2.58188189e-03 -9.57451326e+01] [-7.22765167e-03 -8.17874794e-05 -9.99973877e-01 -4.03970676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9265599949999 meters 0.011991833836739171 Centerline is valid? [True, True] Translation: X:209.68, Y:-95.74, Z:-4.04 [[-8.99348979e-01 -4.37185704e-01 6.33044334e-03 2.09681026e+02] [-4.37175663e-01 8.99371252e-01 2.96484742e-03 -9.57362191e+01] [-6.98960766e-03 -1.01083264e-04 -9.99975567e-01 -4.03990879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.986559995 meters 0.013436211762503465 Centerline is valid? [True, True] Translation: X:209.62, Y:-95.74, Z:-4.04 [[-8.61951707e-01 -5.06953673e-01 6.10158762e-03 2.09616470e+02] [-5.06942126e-01 8.61973291e-01 3.42440399e-03 -9.57365764e+01] [-6.99541974e-03 -1.41480940e-04 -9.99975522e-01 -4.03972249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0465599949999 meters 0.015418477970839228 Centerline is valid? [True, True] Translation: X:209.55, Y:-95.74, Z:-4.04 [[-8.19260301e-01 -5.73391592e-01 5.88578688e-03 2.09548510e+02] [-5.73378355e-01 8.19281423e-01 3.90015568e-03 -9.57439666e+01] [-7.05843233e-03 -1.79540085e-04 -9.99975073e-01 -4.03922062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.106559995 meters 0.016188500939681574 Centerline is valid? [True, True] Translation: X:209.47, Y:-95.77, Z:-4.04 [[-7.71834007e-01 -6.35800885e-01 5.43132000e-03 2.09473890e+02] [-6.35786976e-01 7.71853090e-01 4.21051921e-03 -9.57651351e+01] [-6.86923297e-03 -2.03340601e-04 -9.99976386e-01 -4.03934397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.166559995 meters 0.016861626732120466 Centerline is valid? [True, True] Translation: X:209.40, Y:-95.79, Z:-4.04 [[-7.21521103e-01 -6.92372744e-01 5.22323498e-03 2.09396147e+02] [-6.92356731e-01 7.21539976e-01 4.71381883e-03 -9.57946293e+01] [-7.03249252e-03 -2.15222135e-04 -9.99975249e-01 -4.03911480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.226559995 meters 0.01711584661962939 Centerline is valid? [True, True] Translation: X:209.32, Y:-95.84, Z:-4.04 [[-6.65712370e-01 -7.46193372e-01 4.74253445e-03 2.09315871e+02] [-7.46176831e-01 6.65729224e-01 4.97369802e-03 -9.58388757e+01] [-6.86858427e-03 -2.27717029e-04 -9.99976385e-01 -4.03929080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.286559995 meters 0.01893186406375321 Centerline is valid? [True, True] Translation: X:209.24, Y:-95.89, Z:-4.04 [[-6.06505882e-01 -7.95064125e-01 4.86332492e-03 2.09238551e+02] [-7.95041982e-01 6.06525323e-01 5.93963877e-03 -9.58855009e+01] [-7.67212342e-03 -2.64121638e-04 -9.99970534e-01 -4.03769302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.346559995 meters 0.018020220233448365 Centerline is valid? [True, True] Translation: X:209.16, Y:-95.95, Z:-4.04 [[-5.44462021e-01 -8.38773104e-01 4.55940387e-03 2.09163315e+02] [-8.38747821e-01 5.44481041e-01 6.51829417e-03 -9.59468695e+01] [-7.94987881e-03 -2.75226447e-04 -9.99968361e-01 -4.03732224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.406559995 meters 0.01772920780554547 Centerline is valid? [True, True] Translation: X:209.09, Y:-96.02, Z:-4.04 [[-4.80047788e-01 -8.77237610e-01 2.88039373e-03 2.09091651e+02] [-8.77224134e-01 4.80056391e-01 4.86613380e-03 -9.60183339e+01] [-5.65150701e-03 -1.90774126e-04 -9.99984012e-01 -4.03970276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.466559995 meters 0.017740559329921905 Centerline is valid? [True, True] Translation: X:209.02, Y:-96.10, Z:-4.04 [[-4.12759219e-01 -9.10835754e-01 2.83840366e-03 2.09018480e+02] [-9.10817608e-01 4.12768924e-01 5.75321505e-03 -9.61023340e+01] [-6.41183879e-03 -2.10575488e-04 -9.99979422e-01 -4.03938430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.526559995 meters 0.017436287178083643 Centerline is valid? [True, True] Translation: X:208.95, Y:-96.19, Z:-4.04 [[-3.43523617e-01 -9.39141991e-01 1.96086542e-03 2.08951417e+02] [-9.39129319e-01 3.43529174e-01 4.88151307e-03 -9.61873600e+01] [-5.25804838e-03 -1.64591175e-04 -9.99986163e-01 -4.03890261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5865599949999 meters 0.01728939685754227 Centerline is valid? [True, True] Translation: X:208.89, Y:-96.27, Z:-4.04 [[-2.70750373e-01 -9.62648822e-01 1.21717587e-03 2.08890530e+02] [-9.62641096e-01 2.70753080e-01 3.85887831e-03 -9.62739875e+01] [-4.04429877e-03 -1.26910767e-04 -9.99991814e-01 -4.03926460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.646559995 meters 0.017441787325100218 Centerline is valid? [True, True] Translation: X:208.83, Y:-96.37, Z:-4.04 [[-1.94446155e-01 -9.80912817e-01 8.59677928e-04 2.08833875e+02] [-9.80905886e-01 1.94448015e-01 3.68938022e-03 -9.63733157e+01] [-3.78612301e-03 -1.25877339e-04 -9.99992825e-01 -4.03874683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7065599949999 meters 0.018796188125606544 Centerline is valid? [True, True] Translation: X:208.78, Y:-96.48, Z:-4.04 [[-1.15568345e-01 -9.93299378e-01 5.50427458e-04 2.08782806e+02] [-9.93292912e-01 1.15569580e-01 3.58642862e-03 -9.64750739e+01] [-3.62600999e-03 -1.32258075e-04 -9.99993417e-01 -4.03812575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.766559995 meters 0.020031869344207556 Centerline is valid? [True, True] Translation: X:208.74, Y:-96.59, Z:-4.04 [[-3.74745680e-02 -9.99297551e-01 2.47554161e-04 2.08740182e+02] [-9.99292220e-01 3.74751773e-02 3.26639666e-03 -9.65861554e+01] [-3.27337932e-03 -1.24972144e-04 -9.99994635e-01 -4.03781519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8265599949999 meters 0.02044642588767162 Centerline is valid? [True, True] Translation: X:208.71, Y:-96.70, Z:-4.04 [[ 4.01206102e-02 -9.99194844e-01 -2.61667534e-06 2.08705868e+02] [-9.99190827e-01 -4.01204563e-02 2.83543325e-03 -9.67016705e+01] [-2.83325526e-03 -1.11144754e-04 -9.99995980e-01 -4.03713088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.886559995 meters 0.019599507555757074 Centerline is valid? [True, True] Translation: X:208.68, Y:-96.81, Z:-4.04 [[ 1.16022383e-01 -9.93246580e-01 -1.93878034e-04 2.08683457e+02] [-9.93243452e-01 -1.16022505e-01 2.49456351e-03 -9.68113276e+01] [-2.50021089e-03 -9.68571153e-05 -9.99996870e-01 -4.03694276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9465599949999 meters 0.02045843794072763 Centerline is valid? [True, True] Translation: X:208.67, Y:-96.92, Z:-4.04 [[ 1.90170663e-01 -9.81751032e-01 -1.72777243e-04 2.08667280e+02] [-9.81750397e-01 -1.90170736e-01 1.11760535e-03 -9.69237145e+01] [-1.13006738e-03 -4.29116236e-05 -9.99999361e-01 -4.03751376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.006559995 meters 0.02132631918308952 Centerline is valid? [True, True] Translation: X:208.66, Y:-97.04, Z:-4.04 [[ 2.61738450e-01 -9.65138755e-01 -4.08273651e-04 2.08660535e+02] [-9.65137192e-01 -2.61738761e-01 1.73813698e-03 -9.70387748e+01] [-1.78440440e-03 -6.08971931e-05 -9.99998406e-01 -4.03637168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0665599949999 meters 0.01837883383258725 Centerline is valid? [True, True] Translation: X:208.67, Y:-97.15, Z:-4.03 [[ 3.27987977e-01 -9.44681476e-01 -8.92377821e-04 2.08667463e+02] [-9.44677311e-01 -3.27989182e-01 2.80627702e-03 -9.71486860e+01] [-2.94372819e-03 -7.74160436e-05 -9.99995664e-01 -4.03430672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.126559995 meters 0.013757262668516316 Centerline is valid? [True, True] Translation: X:208.69, Y:-97.26, Z:-4.04 [[ 3.93961662e-01 -9.19126121e-01 -1.17607666e-03 2.08689251e+02] [-9.19121533e-01 -3.93963412e-01 2.90460784e-03 -9.72602725e+01] [-3.13303211e-03 -6.33467501e-05 -9.99995090e-01 -4.03527473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1865599949999 meters 0.013164282922896382 Centerline is valid? [True, True] Translation: X:208.71, Y:-97.37, Z:-4.04 [[ 4.57776734e-01 -8.89066352e-01 -1.21844459e-03 2.08711948e+02] [-8.89062975e-01 -4.57778354e-01 2.45053277e-03 -9.73706067e+01] [-2.73646379e-03 -3.85229174e-05 -9.99996255e-01 -4.03542151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.246559995 meters 0.011300446198905714 Centerline is valid? [True, True] Translation: X:208.75, Y:-97.48, Z:-4.04 [[ 5.17591473e-01 -8.55627445e-01 -8.61061718e-04 2.08745844e+02] [-8.55626228e-01 -5.17592190e-01 1.44365976e-03 -9.74750856e+01] [-1.68091374e-03 -1.04789946e-05 -9.99998587e-01 -4.03631988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3065599949999 meters 0.011165245953878316 Centerline is valid? [True, True] Translation: X:208.78, Y:-97.58, Z:-4.04 [[ 5.77397635e-01 -8.16461748e-01 -1.47786917e-03 2.08784467e+02] [-8.16459065e-01 -5.77399527e-01 2.09321975e-03 -9.75815618e+01] [-2.56235482e-03 -2.00045081e-06 -9.99996717e-01 -4.03558901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.366559995 meters 0.011200444439090516 Centerline is valid? [True, True] Translation: X:208.83, Y:-97.69, Z:-4.03 [[ 6.38169799e-01 -7.69887837e-01 -3.46788652e-03 2.08826708e+02] [-7.69876441e-01 -6.38179221e-01 4.18893801e-03 -9.76853635e+01] [-5.43814554e-03 -3.40959436e-06 -9.99985213e-01 -4.03367107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4265599949999 meters 0.011200444439090516 Centerline is valid? [True, True] Translation: X:208.88, Y:-97.78, Z:-4.03 [[ 6.94980762e-01 -7.19018411e-01 -3.77697215e-03 2.08877029e+02] [-7.19007766e-01 -6.94991025e-01 3.91244557e-03 -9.77823115e+01] [-5.43808214e-03 -3.40209741e-06 -9.99985214e-01 -4.03367400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.486559995 meters 0.011243655636474552 Centerline is valid? [True, True] Translation: X:208.93, Y:-97.87, Z:-4.03 [[ 7.48142095e-01 -6.63522598e-01 -4.60084619e-03 2.08930751e+02] [-6.63509978e-01 -7.48156242e-01 4.09231304e-03 -9.78730262e+01] [-6.15749398e-03 -8.92430085e-06 -9.99981042e-01 -4.03313010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5465599949999 meters 0.011610080987117147 Centerline is valid? [True, True] Translation: X:208.95, Y:-97.90, Z:-4.03 [[ 8.00649156e-01 -5.99095568e-01 -6.74019607e-03 2.08948296e+02] [-5.99073781e-01 -8.00677524e-01 5.10953999e-03 -9.79042613e+01] [-8.45782626e-03 -5.30741329e-05 -9.99964231e-01 -4.03126632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.606559995 meters 0.012432494199812455 Centerline is valid? [True, True] Translation: X:208.97, Y:-97.93, Z:-4.03 [[ 8.48037939e-01 -5.29877834e-01 -7.81889706e-03 2.08968914e+02] [-5.29854106e-01 -8.48073976e-01 5.01577772e-03 -9.79338822e+01] [-9.28875255e-03 -1.10695085e-04 -9.99956852e-01 -4.03109521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.666559995 meters 0.012761163581626718 Centerline is valid? [True, True] Translation: X:208.99, Y:-97.96, Z:-4.03 [[ 8.88211671e-01 -4.59368255e-01 -7.79967301e-03 2.08993365e+02] [-4.59349240e-01 -8.88245906e-01 4.18171553e-03 -9.79607449e+01] [-8.84897499e-03 -1.31474671e-04 -9.99960838e-01 -4.03222596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.726559995 meters 0.013577955620246785 Centerline is valid? [True, True] Translation: X:209.02, Y:-97.98, Z:-4.03 [[ 9.22110001e-01 -3.86859386e-01 -7.27744381e-03 2.09019507e+02] [-3.86846199e-01 -9.22138709e-01 3.19689880e-03 -9.79843423e+01] [-7.94756295e-03 -1.32640882e-04 -9.99968409e-01 -4.03282992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.786559995 meters 0.013619894401167931 Centerline is valid? [True, True] Translation: X:209.05, Y:-98.01, Z:-4.04 [[ 9.49768269e-01 -3.12898883e-01 -5.87574747e-03 2.09048354e+02] [-3.12892184e-01 -9.49786438e-01 2.05042437e-03 -9.80051932e+01] [-6.22228075e-03 -1.08952546e-04 -9.99980636e-01 -4.03502673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.846559995 meters 0.013664069758354758 Centerline is valid? [True, True] Translation: X:209.08, Y:-98.03, Z:-4.04 [[ 9.71526898e-01 -2.36850300e-01 -6.11735065e-03 2.09078404e+02] [-2.36844849e-01 -9.71546150e-01 1.61109100e-03 -9.80256180e+01] [-6.32487586e-03 -1.16355247e-04 -9.99979991e-01 -4.03556515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.906559995 meters 0.013954154543369965 Centerline is valid? [True, True] Translation: X:209.11, Y:-98.04, Z:-4.03 [[ 9.87182591e-01 -1.59417940e-01 -7.51344037e-03 2.09110653e+02] [-1.59412196e-01 -9.87211172e-01 1.36123536e-03 -9.80423630e+01] [-7.63435761e-03 -1.46053821e-04 -9.99970847e-01 -4.03434350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.966559995 meters 0.014306446977670856 Centerline is valid? [True, True] Translation: X:209.14, Y:-98.06, Z:-4.03 [[ 9.96744063e-01 -8.00082917e-02 -9.99732699e-03 2.09142009e+02] [-8.00021722e-02 -9.96794176e-01 1.01118233e-03 -9.80577813e+01] [-1.00461803e-02 -2.08082106e-04 -9.99949514e-01 -4.03242148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.026559995 meters 0.014599789762857512 Centerline is valid? [True, True] Translation: X:209.17, Y:-98.07, Z:-4.03 [[ 9.99934065e-01 -3.77301724e-04 -1.14771008e-02 2.09173109e+02] [-3.74375178e-04 -9.99999897e-01 2.57137375e-04 -9.80693862e+01] [-1.14771967e-02 -2.52823679e-04 -9.99934103e-01 -4.03138456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0865599949999 meters 0.014642168881655088 Centerline is valid? [True, True] Translation: X:209.21, Y:-98.08, Z:-4.03 [[ 9.96906683e-01 7.76235204e-02 -1.23147786e-02 2.09205272e+02] [ 7.76209121e-02 -9.96982707e-01 -6.90342209e-04 -9.80765097e+01] [-1.23312081e-02 -2.67677585e-04 -9.99923932e-01 -4.03138701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.146559995 meters 0.014132641340566045 Centerline is valid? [True, True] Translation: X:209.24, Y:-98.08, Z:-4.03 [[ 9.88134366e-01 1.53178144e-01 -1.12663639e-02 2.09237964e+02] [ 1.53170729e-01 -9.88198567e-01 -1.52318163e-03 -9.80787187e+01] [-1.13667228e-02 -2.20569061e-04 -9.99935372e-01 -4.03201141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2065599949999 meters 0.013189163832546959 Centerline is valid? [True, True] Translation: X:209.27, Y:-98.08, Z:-4.03 [[ 9.73622428e-01 2.27919358e-01 -1.05893654e-02 2.09270691e+02] [ 2.27907957e-01 -9.73679994e-01 -2.28728384e-03 -9.80798690e+01] [-1.08319695e-02 -1.86449795e-04 -9.99941315e-01 -4.03365652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.266559995 meters 0.012918357497775907 Centerline is valid? [True, True] Translation: X:209.30, Y:-98.08, Z:-4.03 [[ 9.53697395e-01 3.00626305e-01 -9.22516674e-03 2.09301644e+02] [ 3.00613634e-01 -9.53742002e-01 -2.76361251e-03 -9.80791076e+01] [-9.62924360e-03 -1.37560848e-04 -9.99953628e-01 -4.03486978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3265599949999 meters 0.01300765344542905 Centerline is valid? [True, True] Translation: X:209.33, Y:-98.07, Z:-4.03 [[ 9.27746591e-01 3.73111490e-01 -8.60692765e-03 2.09331885e+02] [ 3.73096624e-01 -9.27786506e-01 -3.33286829e-03 -9.80742190e+01] [-9.22892279e-03 -1.19158454e-04 -9.99957406e-01 -4.03465618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.386559995 meters 0.012667041001584846 Centerline is valid? [True, True] Translation: X:209.36, Y:-98.07, Z:-4.03 [[ 8.95667393e-01 4.44632526e-01 -9.04639513e-03 2.09363808e+02] [ 4.44611309e-01 -8.95713068e-01 -4.34552516e-03 -9.80678194e+01] [-1.00351362e-02 -1.29984393e-04 -9.99949638e-01 -4.03489754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4465599949999 meters 0.0130791498213676 Centerline is valid? [True, True] Translation: X:209.40, Y:-98.06, Z:-4.03 [[ 8.57599878e-01 5.14232657e-01 -9.33939609e-03 2.09395490e+02] [ 5.14204067e-01 -8.57650717e-01 -5.42456521e-03 -9.80591694e+01] [-1.07994283e-02 -1.50248992e-04 -9.99941673e-01 -4.03367590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.506559995 meters 0.013222488712642203 Centerline is valid? [True, True] Translation: X:209.43, Y:-98.05, Z:-4.03 [[ 8.13815572e-01 5.81028880e-01 -1.04715895e-02 2.09426715e+02] [ 5.80983878e-01 -8.13882916e-01 -7.23410421e-03 -9.80487558e+01] [-1.27258713e-02 -1.96598033e-04 -9.99919004e-01 -4.03223797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5665599949999 meters 0.013005128980779157 Centerline is valid? [True, True] Translation: X:209.46, Y:-98.04, Z:-4.03 [[ 7.65640230e-01 6.43192821e-01 -9.90118575e-03 2.09456257e+02] [ 6.43142418e-01 -7.65704221e-01 -8.05455039e-03 -9.80355894e+01] [-1.27620087e-02 -2.00984732e-04 -9.99918542e-01 -4.03244787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.626559995 meters 0.012920929406059493 Centerline is valid? [True, True] Translation: X:209.48, Y:-98.02, Z:-4.03 [[ 7.13396889e-01 7.00707077e-01 -8.62967704e-03 2.09483168e+02] [ 7.00658840e-01 -7.13449059e-01 -8.22368572e-03 -9.80190080e+01] [-1.19192297e-02 -1.79707699e-04 -9.99928947e-01 -4.03369680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6865599949999 meters 0.0128143396359965 Centerline is valid? [True, True] Translation: X:209.51, Y:-98.00, Z:-4.03 [[ 6.56246480e-01 7.54508594e-01 -7.57227167e-03 2.09510007e+02] [ 7.54461380e-01 -6.56290143e-01 -8.44240519e-03 -9.80020149e+01] [-1.13394745e-02 -1.72687847e-04 -9.99935691e-01 -4.03486016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.746559995 meters 0.013052641268490192 Centerline is valid? [True, True] Translation: X:209.54, Y:-97.98, Z:-4.04 [[ 5.94350629e-01 8.04180928e-01 -6.35339204e-03 2.09536165e+02] [ 8.04138011e-01 -5.94384562e-01 -8.30973125e-03 -9.79834108e+01] [-1.04588855e-02 -1.70110044e-04 -9.99945290e-01 -4.03550950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8065599949999 meters 0.014289061012101098 Centerline is valid? [True, True] Translation: X:209.56, Y:-97.96, Z:-4.04 [[ 5.26178316e-01 8.50358634e-01 -5.15490278e-03 2.09560286e+02] [ 8.50321351e-01 -5.26203531e-01 -7.96517900e-03 -9.79633666e+01] [-9.48578679e-03 -1.92219423e-04 -9.99954990e-01 -4.03601240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.866559995 meters 0.014461060643908747 Centerline is valid? [True, True] Translation: X:209.58, Y:-97.94, Z:-4.04 [[ 4.55256082e-01 8.90347200e-01 -4.87481465e-03 2.09584789e+02] [ 8.90301656e-01 -4.55282118e-01 -9.00855395e-03 -9.79416431e+01] [-1.02401567e-02 -2.38856575e-04 -9.99947540e-01 -4.03601005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9265599949999 meters 0.016916440174427737 Centerline is valid? [True, True] Translation: X:209.61, Y:-97.92, Z:-4.03 [[ 3.79183298e-01 9.25310911e-01 -4.44360943e-03 2.09608162e+02] [ 9.25256770e-01 -3.79209204e-01 -1.00144434e-02 -9.79195232e+01] [-1.09515313e-02 -3.14170057e-04 -9.99939981e-01 -4.03465546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.986559995 meters 0.01860579361477093 Centerline is valid? [True, True] Translation: X:209.63, Y:-97.89, Z:-4.03 [[ 3.01594190e-01 9.53428122e-01 -3.97009488e-03 2.09625701e+02] [ 9.53361815e-01 -3.01620065e-01 -1.12510872e-02 -9.78929712e+01] [-1.19245632e-02 -3.91674333e-04 -9.99928823e-01 -4.03382878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0465599949999 meters 0.01862688692620338 Centerline is valid? [True, True] Translation: X:209.64, Y:-97.87, Z:-4.03 [[ 2.25148111e-01 9.74319532e-01 -3.12708416e-03 2.09640646e+02] [ 9.74249169e-01 -2.25169455e-01 -1.17163557e-02 -9.78653280e+01] [-1.21195980e-02 -4.08643794e-04 -9.99926471e-01 -4.03350942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.106559995 meters 0.020245806271758388 Centerline is valid? [True, True] Translation: X:209.65, Y:-97.84, Z:-4.03 [[ 1.47243137e-01 9.89097538e-01 -2.34919966e-03 2.09652667e+02] [ 9.89015637e-01 -1.47261194e-01 -1.27361753e-02 -9.78375978e+01] [-1.29432655e-02 -4.48080808e-04 -9.99916132e-01 -4.03211612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.166559995 meters 0.018446601844832988 Centerline is valid? [True, True] Translation: X:209.66, Y:-97.81, Z:-4.03 [[ 7.10975850e-02 9.97468560e-01 -1.26672560e-03 2.09656287e+02] [ 9.97394811e-01 -7.11077402e-02 -1.21359209e-02 -9.78074724e+01] [-1.21952735e-02 -4.00590870e-04 -9.99925555e-01 -4.03324552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.226559995 meters 0.016561386448836403 Centerline is valid? [True, True] Translation: X:209.66, Y:-97.78, Z:-4.03 [[-2.18174558e-03 9.99997587e-01 -2.55685854e-04 2.09657679e+02] [ 9.99947854e-01 2.17908609e-03 -9.97699494e-03 -9.77777088e+01] [-9.97641371e-03 -2.77439786e-04 -9.99950196e-01 -4.03497153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.286559995 meters 0.015059628786917178 Centerline is valid? [True, True] Translation: X:209.66, Y:-97.75, Z:-4.04 [[-7.41245371e-02 9.97248879e-01 4.75961847e-04 2.09656002e+02] [ 9.97208188e-01 7.41258131e-02 -9.01072212e-03 -9.77502840e+01] [-9.02121360e-03 -1.93282555e-04 -9.99959289e-01 -4.03572863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.346559995 meters 0.013403081532664321 Centerline is valid? [True, True] Translation: X:209.66, Y:-97.72, Z:-4.04 [[-1.47979569e-01 9.88989680e-01 1.20799487e-03 2.09655454e+02] [ 9.88947307e-01 1.47984413e-01 -9.15623760e-03 -9.77215352e+01] [-9.23418891e-03 -1.60292822e-04 -9.99957351e-01 -4.03642286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.406559995 meters 0.012714825035753798 Centerline is valid? [True, True] Translation: X:209.65, Y:-97.69, Z:-4.04 [[-2.21531467e-01 9.75150866e-01 2.14429839e-03 2.09654556e+02] [ 9.75098785e-01 2.21541799e-01 -1.00792054e-02 -9.76927711e+01] [-1.03037976e-02 -1.41958408e-04 -9.99946904e-01 -4.03592079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.466559995 meters 0.012307097629609638 Centerline is valid? [True, True] Translation: X:209.65, Y:-97.67, Z:-4.03 [[-2.91492926e-01 9.56566674e-01 3.47462187e-03 2.09649230e+02] [ 9.56494796e-01 2.91513618e-01 -1.17267161e-02 -9.76670725e+01] [-1.22302854e-02 -9.47970518e-05 -9.99925203e-01 -4.03296965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.526559995 meters 0.01172596212100533 Centerline is valid? [True, True] Translation: X:209.64, Y:-97.64, Z:-4.03 [[-3.60822228e-01 9.32624224e-01 4.40182192e-03 2.09640649e+02] [ 9.32553692e-01 3.60849075e-01 -1.14697772e-02 -9.76411668e+01] [-1.22853854e-02 -3.36152706e-05 -9.99924531e-01 -4.03401524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5865599949999 meters 0.011798204041753382 Centerline is valid? [True, True] Translation: X:209.63, Y:-97.62, Z:-4.03 [[-4.30703584e-01 9.02479568e-01 5.00520789e-03 2.09632844e+02] [ 9.02418489e-01 4.30732666e-01 -1.04995760e-02 -9.76168949e+01] [-1.16315593e-02 -5.41287143e-06 -9.99932351e-01 -4.03438658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.646559995 meters 0.011564833429431699 Centerline is valid? [True, True] Translation: X:209.63, Y:-97.59, Z:-4.04 [[-5.00101080e-01 8.65951117e-01 5.25105555e-03 2.09626925e+02] [ 8.65903272e-01 5.00128647e-01 -9.10275219e-03 -9.75902874e+01] [-1.05087417e-02 -5.39001848e-06 -9.99944782e-01 -4.03688088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7065599949999 meters 0.011598330221569376 Centerline is valid? [True, True] Translation: X:209.62, Y:-97.56, Z:-4.04 [[-5.67685774e-01 8.23226578e-01 5.55554845e-03 2.09619372e+02] [ 8.23186813e-01 5.67712957e-01 -8.09131559e-03 -9.75646563e+01] [-9.81494288e-03 -2.00705327e-05 -9.99951832e-01 -4.03613258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.766559995 meters 0.01154561586176111 Centerline is valid? [True, True] Translation: X:209.61, Y:-97.54, Z:-4.04 [[-6.31909340e-01 7.75019678e-01 5.92322191e-03 2.09610463e+02] [ 7.74985074e-01 6.31937099e-01 -7.32383746e-03 -9.75375196e+01] [-9.41922183e-03 -3.75927229e-05 -9.99955637e-01 -4.03680864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8265599949999 meters 0.011858933782474811 Centerline is valid? [True, True] Translation: X:209.60, Y:-97.51, Z:-4.04 [[-6.93255796e-01 7.20666607e-01 6.00362090e-03 2.09600938e+02] [ 7.20638756e-01 6.93281788e-01 -6.33605942e-03 -9.75112546e+01] [-8.72838747e-03 -6.60680259e-05 -9.99961905e-01 -4.03626971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.886559995 meters 0.012640083968621391 Centerline is valid? [True, True] Translation: X:209.59, Y:-97.49, Z:-4.04 [[-7.49514544e-01 6.61958179e-01 6.27043879e-03 2.09587381e+02] [ 6.61934023e-01 7.49540767e-01 -5.65573104e-03 -9.74882173e+01] [-8.44380692e-03 -8.84358940e-05 -9.99964347e-01 -4.03587882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9465599949999 meters 0.013729955083075219 Centerline is valid? [True, True] Translation: X:209.61, Y:-97.46, Z:-4.04 [[-7.96686606e-01 6.04360250e-01 6.25613019e-03 2.09606457e+02] [ 6.04340498e-01 7.96711162e-01 -4.88743739e-03 -9.74622970e+01] [-7.93810163e-03 -1.12923075e-04 -9.99968486e-01 -4.03568091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.006559995 meters 0.013306525113237992 Centerline is valid? [True, True] Translation: X:209.63, Y:-97.44, Z:-4.04 [[-8.38411714e-01 5.45000007e-01 6.38674562e-03 2.09626235e+02] [ 5.44983072e-01 8.38436030e-01 -4.29818259e-03 -9.74427671e+01] [-7.69738719e-03 -1.22978381e-04 -9.99970367e-01 -4.03676063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0665599949999 meters 0.014480080014281206 Centerline is valid? [True, True] Translation: X:209.64, Y:-97.42, Z:-4.04 [[-8.75486808e-01 4.83197201e-01 6.58137339e-03 2.09641702e+02] [ 4.83182420e-01 8.75511535e-01 -3.78164113e-03 -9.74157505e+01] [-7.58934673e-03 -1.30772998e-04 -9.99971192e-01 -4.03568461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.126559995 meters 0.015211864905457565 Centerline is valid? [True, True] Translation: X:209.66, Y:-97.39, Z:-4.04 [[-9.07670745e-01 4.19623711e-01 7.05409185e-03 2.09656172e+02] [ 4.19609849e-01 9.07698145e-01 -3.41369413e-03 -9.73908521e+01] [-7.83545308e-03 -1.38543880e-04 -9.99969293e-01 -4.03500815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1865599949999 meters 0.01353011854526015 Centerline is valid? [True, True] Translation: X:209.66, Y:-97.37, Z:-4.03 [[-9.34755533e-01 3.55181357e-01 8.84854072e-03 2.09664475e+02] [ 3.55163826e-01 9.34797400e-01 -3.53244544e-03 -9.73688085e+01] [-9.52625162e-03 -1.59291344e-04 -9.99954612e-01 -4.03467811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.246559995 meters 0.01330399062413949 Centerline is valid? [True, True] Translation: X:209.67, Y:-97.34, Z:-4.03 [[-9.56904462e-01 2.90225746e-01 1.01423549e-02 2.09667480e+02] [ 2.90207733e-01 9.56958198e-01 -3.23717778e-03 -9.73434450e+01] [-1.06453220e-02 -1.54280026e-04 -9.99943325e-01 -4.03335756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3065599949999 meters 0.01254193887877396 Centerline is valid? [True, True] Translation: X:209.68, Y:-97.32, Z:-4.03 [[-9.74574390e-01 2.23805079e-01 1.07724159e-02 2.09683560e+02] [ 2.23789861e-01 9.74633915e-01 -2.61345174e-03 -9.73238725e+01] [-1.10840656e-02 -1.36245689e-04 -9.99938561e-01 -4.03435238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.366559995 meters 0.012292023938892943 Centerline is valid? [True, True] Translation: X:209.69, Y:-97.30, Z:-4.03 [[-9.87506595e-01 1.57179033e-01 1.12016024e-02 2.09692851e+02] [ 1.57167720e-01 9.87570119e-01 -1.88864687e-03 -9.73014085e+01] [-1.13592235e-02 -1.04520927e-04 -9.99935476e-01 -4.03411377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4265599949999 meters 0.012248346003251795 Centerline is valid? [True, True] Translation: X:209.69, Y:-97.28, Z:-4.03 [[-9.96017427e-01 8.84531967e-02 1.11945536e-02 2.09694811e+02] [ 8.84466592e-02 9.96080331e-01 -1.07869206e-03 -9.72761314e+01] [-1.12460884e-02 -8.42752291e-05 -9.99936757e-01 -4.03391519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.486559995 meters 0.011813500688488186 Centerline is valid? [True, True] Translation: X:209.77, Y:-96.56, Z:-5.01 [[-9.85830783e-01 -1.67456471e-01 9.79779524e-03 2.09772512e+02] [ 1.67448142e-01 -9.85879470e-01 -1.67012693e-03 -9.65574571e+01] [ 9.93911875e-03 -5.83993021e-06 9.99950606e-01 -5.00826242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5465599949999 meters 0.011775628949073701 Centerline is valid? [True, True] Translation: X:209.64, Y:-97.28, Z:-4.04 [[-9.96161701e-01 8.70688040e-02 8.99377050e-03 2.09644855e+02] [ 8.70648606e-02 9.96202299e-01 -8.29802768e-04 -9.72758902e+01] [-9.03186479e-03 -4.35763620e-05 -9.99959211e-01 -4.03741788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.606559995 meters 0.011818478327317179 Centerline is valid? [True, True] Translation: X:209.71, Y:-96.55, Z:-5.01 [[-9.86542945e-01 -1.63245335e-01 9.16400224e-03 2.09713377e+02] [ 1.63238862e-01 -9.86585504e-01 -1.45500166e-03 -9.65524170e+01] [ 9.27859400e-03 6.04996811e-05 9.99956951e-01 -5.00766815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.666559995 meters 0.011784455235654051 Centerline is valid? [True, True] Translation: X:209.59, Y:-97.27, Z:-4.04 [[-9.96470064e-01 8.33209114e-02 1.02487302e-02 2.09588169e+02] [ 8.33160267e-02 9.96522766e-01 -9.03389943e-04 -9.72701819e+01] [-1.02883642e-02 -4.63175561e-05 -9.99947072e-01 -4.03619507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.726559995 meters 0.011807312537704789 Centerline is valid? [True, True] Translation: X:209.59, Y:-97.24, Z:-4.04 [[-9.99868589e-01 1.25217739e-02 1.02960649e-02 2.09594451e+02] [ 1.25206489e-02 9.99921599e-01 -1.73720480e-04 -9.72429495e+01] [-1.02974329e-02 -4.47842373e-05 -9.99946979e-01 -4.03623943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.786559995 meters 0.011836117640828727 Centerline is valid? [True, True] Translation: X:209.59, Y:-97.21, Z:-4.04 [[-9.98254348e-01 -5.81584020e-02 1.02886493e-02 2.09589371e+02] [-5.81557323e-02 9.98307367e-01 5.58719616e-04 -9.72146287e+01] [-1.03037286e-02 -4.05996470e-05 -9.99946914e-01 -4.03569274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.846559995 meters 0.011812905236831013 Centerline is valid? [True, True] Translation: X:209.55, Y:-96.50, Z:-5.01 [[-9.99798672e-01 -1.71124459e-02 1.04776123e-02 2.09551476e+02] [ 1.71120591e-02 -9.99853570e-01 -1.26569003e-04 -9.64951828e+01] [ 1.04782439e-02 5.27499985e-05 9.99945100e-01 -5.00855117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.906559995 meters 0.01178787587744737 Centerline is valid? [True, True] Translation: X:209.51, Y:-97.22, Z:-4.04 [[-9.97883181e-01 -6.42824408e-02 9.84502178e-03 2.09513851e+02] [-6.42798001e-02 9.97931744e-01 5.84747980e-04 -9.72151591e+01] [-9.86224879e-03 -4.93258579e-05 -9.99951366e-01 -4.03568049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.966559995 meters 0.011624431825426664 Centerline is valid? [True, True] Translation: X:209.51, Y:-97.19, Z:-4.04 [[-9.90820963e-01 -1.34885848e-01 8.92341733e-03 2.09507441e+02] [-1.34880773e-01 9.90861144e-01 1.17087352e-03 -9.71876398e+01] [-8.99980177e-03 -4.34714030e-05 -9.99959500e-01 -4.03669262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.026559995 meters 0.011638301220879027 Centerline is valid? [True, True] Translation: X:209.42, Y:-96.48, Z:-5.01 [[-9.98235491e-01 5.88229540e-02 8.10959156e-03 2.09419404e+02] [-5.88211648e-02 -9.98268431e-01 4.59167125e-04 -9.64819520e+01] [ 8.12255881e-03 -1.86587015e-05 9.99967011e-01 -5.00765238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0865599949999 meters 0.011486624468039006 Centerline is valid? [True, True] Translation: X:209.41, Y:-97.20, Z:-4.04 [[-9.90213806e-01 -1.39362086e-01 7.40450587e-03 2.09414993e+02] [-1.39358384e-01 9.90241490e-01 1.01620840e-03 -9.71980021e+01] [-7.47386985e-03 -2.56163814e-05 -9.99972070e-01 -4.03721758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.146559995 meters 0.011578923925453326 Centerline is valid? [True, True] Translation: X:209.32, Y:-96.50, Z:-5.01 [[-9.97838287e-01 6.53497856e-02 6.93969612e-03 2.09320090e+02] [-6.53482810e-02 -9.97862418e-01 4.43583066e-04 -9.64967116e+01] [ 6.95385001e-03 -1.08730462e-05 9.99975822e-01 -5.00787822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2065599949999 meters 0.011710106288756827 Centerline is valid? [True, True] Translation: X:209.32, Y:-97.21, Z:-4.04 [[-9.89159450e-01 -1.46688782e-01 6.78116936e-03 2.09319624e+02] [-1.46685572e-01 9.89182693e-01 9.71072551e-04 -9.72057370e+01] [-6.85026082e-03 -3.41541181e-05 -9.99976536e-01 -4.03565540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.266559995 meters 0.011793891794536155 Centerline is valid? [True, True] Translation: X:209.22, Y:-96.51, Z:-5.01 [[-9.97619107e-01 6.84716270e-02 8.23123021e-03 2.09223939e+02] [-6.84681621e-02 -9.97653055e-01 7.02330318e-04 -9.65141491e+01] [ 8.26000166e-03 1.37080941e-04 9.99965876e-01 -5.01027982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3265599949999 meters 0.011859805897848491 Centerline is valid? [True, True] Translation: X:209.23, Y:-97.22, Z:-4.03 [[-9.87921889e-01 -1.54701155e-01 8.82572933e-03 2.09226337e+02] [-1.54695551e-01 9.87961309e-01 1.31825587e-03 -9.72161582e+01] [-8.92341481e-03 -6.29672356e-05 -9.99960184e-01 -4.03364345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.386559995 meters 0.011844000877897871 Centerline is valid? [True, True] Translation: X:209.21, Y:-97.19, Z:-4.03 [[-9.74510867e-01 -2.24163853e-01 8.89586250e-03 2.09214748e+02] [-2.24155068e-01 9.74551468e-01 1.98546855e-03 -9.71908153e+01] [-9.11454613e-03 -5.91919881e-05 -9.99958460e-01 -4.03308534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4465599949999 meters 0.01183639491487078 Centerline is valid? [True, True] Translation: X:209.19, Y:-97.17, Z:-4.03 [[-9.56152654e-01 -2.92751944e-01 8.27054965e-03 2.09194549e+02] [-2.92741457e-01 9.56188421e-01 2.47850782e-03 -9.71680485e+01] [-8.63379179e-03 -5.13009264e-05 -9.99962727e-01 -4.03328870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.506559995 meters 0.012319887480862188 Centerline is valid? [True, True] Translation: X:209.16, Y:-97.15, Z:-4.03 [[-9.32171811e-01 -3.61956145e-01 6.59273645e-03 2.09163835e+02] [-3.61947479e-01 9.32195123e-01 2.50513841e-03 -9.71480452e+01] [-7.05246700e-03 -5.10049265e-05 -9.99975130e-01 -4.03343906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5665599949999 meters 0.0122099914968769 Centerline is valid? [True, True] Translation: X:209.11, Y:-97.14, Z:-4.04 [[-9.02336152e-01 -4.30995974e-01 5.65156198e-03 2.09112807e+02] [-4.30987927e-01 9.02353848e-01 2.63428834e-03 -9.71399213e+01] [-6.23507637e-03 -5.87413801e-05 -9.99980560e-01 -4.03556490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.626559995 meters 0.0131393406019472 Centerline is valid? [True, True] Translation: X:209.04, Y:-97.14, Z:-4.03 [[-8.65848200e-01 -5.00270478e-01 6.02850004e-03 2.09042798e+02] [-5.00259131e-01 8.65869181e-01 3.37083611e-03 -9.71409825e+01] [-6.90622219e-03 -9.71798113e-05 -9.99976147e-01 -4.03490468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6865599949999 meters 0.013562354547974609 Centerline is valid? [True, True] Translation: X:208.97, Y:-97.15, Z:-4.03 [[-8.24671817e-01 -5.65575337e-01 6.39781889e-03 2.08972414e+02] [-5.65559556e-01 8.24696623e-01 4.22703521e-03 -9.71506837e+01] [-7.66696649e-03 -1.32430808e-04 -9.99970600e-01 -4.03446987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.746559995 meters 0.01446733237511218 Centerline is valid? [True, True] Translation: X:208.90, Y:-97.17, Z:-4.03 [[-7.77835976e-01 -6.28430131e-01 6.83847104e-03 2.08898725e+02] [-6.28407892e-01 7.77866015e-01 5.28995428e-03 -9.71681196e+01] [-8.64378088e-03 -1.82632423e-04 -9.99962625e-01 -4.03412368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8065599949999 meters 0.015207677223299836 Centerline is valid? [True, True] Translation: X:208.81, Y:-97.20, Z:-4.03 [[-7.27495938e-01 -6.86081702e-01 6.44659831e-03 2.08813596e+02] [-6.86057168e-01 7.27524473e-01 5.80547503e-03 -9.72008448e+01] [-8.67308822e-03 -1.99275472e-04 -9.99962368e-01 -4.03367613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.866559995 meters 0.015104734362898437 Centerline is valid? [True, True] Translation: X:208.74, Y:-97.24, Z:-4.03 [[-6.73537928e-01 -7.39128867e-01 5.93105951e-03 2.08735654e+02] [-7.39102814e-01 6.73564011e-01 6.20920276e-03 -9.72394044e+01] [-8.58434924e-03 -2.01529212e-04 -9.99963134e-01 -4.03453824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9265599949999 meters 0.01568742429791813 Centerline is valid? [True, True] Translation: X:208.65, Y:-97.29, Z:-4.04 [[-6.15367215e-01 -7.88225373e-01 4.89407356e-03 2.08654478e+02] [-7.88202819e-01 6.15386648e-01 5.96578380e-03 -9.72900979e+01] [-7.71412968e-03 -1.86374813e-04 -9.99970228e-01 -4.03605025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.986559995 meters 0.01596947934755229 Centerline is valid? [True, True] Translation: X:208.58, Y:-97.35, Z:-4.04 [[-5.53336689e-01 -8.32944738e-01 4.64462517e-03 2.08577464e+02] [-8.32918389e-01 5.53356145e-01 6.62833775e-03 -9.73452074e+01] [-8.09117093e-03 -2.00891251e-04 -9.99967246e-01 -4.03565907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0465599949999 meters 0.016834397145836073 Centerline is valid? [True, True] Translation: X:208.50, Y:-97.42, Z:-4.03 [[-4.87892605e-01 -8.72890190e-01 4.84992559e-03 2.08495437e+02] [-8.72851911e-01 4.87916649e-01 8.17827306e-03 -9.74162072e+01] [-9.50509377e-03 -2.43147868e-04 -9.99954796e-01 -4.03387221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.106559995 meters 0.016542022663625675 Centerline is valid? [True, True] Translation: X:208.42, Y:-97.50, Z:-4.03 [[-4.18892458e-01 -9.08022422e-01 4.93854131e-03 2.08420657e+02] [-9.07967526e-01 4.18921462e-01 9.98906302e-03 -9.74969662e+01] [-1.11391541e-02 -2.99691967e-04 -9.99937913e-01 -4.03368725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.166559995 meters 0.01656485831002416 Centerline is valid? [True, True] Translation: X:208.36, Y:-97.58, Z:-4.03 [[-3.48055905e-01 -9.37462609e-01 4.57648085e-03 2.08355244e+02] [-9.37393783e-01 3.48085831e-01 1.13644370e-02 -9.75755305e+01] [-1.22467429e-02 -3.34505278e-04 -9.99924950e-01 -4.03325917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.226559995 meters 0.01644139388112531 Centerline is valid? [True, True] Translation: X:208.29, Y:-97.67, Z:-4.03 [[-2.76496108e-01 -9.61006759e-01 3.98893216e-03 2.08292454e+02] [-9.60924100e-01 2.76524663e-01 1.26089502e-02 -9.76684815e+01] [-1.32203244e-02 -3.46735405e-04 -9.99912548e-01 -4.03286023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.286559995 meters 0.01646924488764355 Centerline is valid? [True, True] Translation: X:208.24, Y:-97.77, Z:-4.03 [[-2.03739468e-01 -9.79020916e-01 2.87654516e-03 2.08237450e+02] [-9.78943788e-01 2.03759536e-01 1.22927320e-02 -9.77666989e+01] [-1.26209653e-02 -3.11461332e-04 -9.99920304e-01 -4.03322079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.346559995 meters 0.014390503816526113 Centerline is valid? [True, True] Translation: X:208.19, Y:-97.87, Z:-4.04 [[-1.32019516e-01 -9.91245648e-01 1.70670705e-03 2.08193674e+02] [-9.91184041e-01 1.32030343e-01 1.10537820e-02 -9.78700266e+01] [-1.11823504e-02 -2.32345839e-04 -9.99937449e-01 -4.03697620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.406559995 meters 0.013497271245361816 Centerline is valid? [True, True] Translation: X:208.16, Y:-97.98, Z:-4.04 [[-5.94721682e-02 -9.98229658e-01 7.81624543e-04 2.08155307e+02] [-9.98177627e-01 5.94770499e-02 1.01934268e-02 -9.79784061e+01] [-1.02218697e-02 -1.73974939e-04 -9.99947740e-01 -4.03856531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.466559995 meters 0.012989118168020283 Centerline is valid? [True, True] Translation: X:208.12, Y:-98.09, Z:-4.04 [[ 1.48736645e-02 -9.99889381e-01 -2.88058712e-06 2.08123954e+02] [-9.99833152e-01 -1.48728587e-02 1.06050366e-02 -9.80899036e+01] [-1.06039063e-02 -1.54855651e-04 -9.99943765e-01 -4.03841274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.526559995 meters 0.012583209601925292 Centerline is valid? [True, True] Translation: X:207.46, Y:-98.19, Z:-5.01 [[-7.91552902e-02 9.96862062e-01 6.84565463e-04 2.07459012e+02] [-9.96791520e-01 -7.91578346e-02 1.18618511e-02 -9.81943962e+01] [ 1.18788181e-02 2.56559218e-04 9.99929411e-01 -5.00746399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5865599949999 meters 0.012868968937471323 Centerline is valid? [True, True] Translation: X:208.12, Y:-98.36, Z:-4.03 [[ 1.86324558e-02 -9.99826391e-01 -1.38293978e-04 2.08119001e+02] [-9.99724728e-01 -1.86325334e-02 1.42582253e-02 -9.83637081e+01] [-1.42583267e-02 -1.27409844e-04 -9.99898337e-01 -4.03337799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.646559995 meters 0.012051264210510542 Centerline is valid? [True, True] Translation: X:208.10, Y:-98.49, Z:-4.03 [[ 9.12261078e-02 -9.95829349e-01 -1.30611953e-03 2.08099827e+02] [-9.95715389e-01 -9.12354276e-02 1.50652403e-02 -9.84872619e+01] [-1.51215728e-02 -7.38199289e-05 -9.99885660e-01 -4.03496358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7065599949999 meters 0.01192542235284974 Centerline is valid? [True, True] Translation: X:208.09, Y:-98.59, Z:-4.03 [[ 1.64930578e-01 -9.86302038e-01 -2.48883565e-03 2.08086290e+02] [-9.86186448e-01 -1.64949352e-01 1.50997135e-02 -9.85938218e+01] [-1.53034100e-02 -3.59484843e-05 -9.99882895e-01 -4.03487916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.766559995 meters 0.011924378590750639 Centerline is valid? [True, True] Translation: X:208.08, Y:-98.71, Z:-4.04 [[ 2.38272067e-01 -9.71191414e-01 -3.69599671e-03 2.08081171e+02] [-9.71074060e-01 -2.38300731e-01 1.50973790e-02 -9.87074935e+01] [-1.55432036e-02 -8.19717907e-06 -9.99879197e-01 -4.03523642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8265599949999 meters 0.011796530789987731 Centerline is valid? [True, True] Translation: X:208.09, Y:-98.83, Z:-4.04 [[ 3.13248451e-01 -9.49659682e-01 -4.67942744e-03 2.08085090e+02] [-9.49552398e-01 -3.13283399e-01 1.42742749e-02 -9.88322657e+01] [-1.50216903e-02 -2.80329435e-05 -9.99887168e-01 -4.03588926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.886559995 meters 0.011898256122296749 Centerline is valid? [True, True] Translation: X:208.10, Y:-98.94, Z:-4.04 [[ 3.86344322e-01 -9.22337691e-01 -5.58996667e-03 2.08096147e+02] [-9.22239359e-01 -3.86384758e-01 1.34678854e-02 -9.89447176e+01] [-1.45818163e-02 -4.79537896e-05 -9.99893679e-01 -4.03629989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9465599949999 meters 0.012170545364350128 Centerline is valid? [True, True] Translation: X:208.11, Y:-99.06, Z:-4.04 [[ 4.60337508e-01 -8.87720820e-01 -6.41287690e-03 2.08113192e+02] [-8.87631003e-01 -4.60382158e-01 1.26282048e-02 -9.90623037e+01] [-1.41626945e-02 -1.20968002e-04 -9.99899697e-01 -4.03677821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.006559995 meters 0.012633270193682546 Centerline is valid? [True, True] Translation: X:208.14, Y:-99.18, Z:-4.04 [[ 5.29548342e-01 -8.48246751e-01 -7.48355052e-03 2.08141038e+02] [-8.48157452e-01 -5.29601191e-01 1.23091808e-02 -9.91768670e+01] [-1.44045199e-02 -1.71077125e-04 -9.99896235e-01 -4.03613225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0665599949999 meters 0.013766104919008598 Centerline is valid? [True, True] Translation: X:208.17, Y:-99.28, Z:-4.04 [[ 5.96764600e-01 -8.02375883e-01 -8.05947086e-03 2.08171986e+02] [-8.02297310e-01 -5.96818974e-01 1.12311594e-02 -9.92835986e+01] [-1.38216565e-02 -2.36266541e-04 -9.99904448e-01 -4.03628263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.126559995 meters 0.014237878548080618 Centerline is valid? [True, True] Translation: X:208.22, Y:-99.39, Z:-4.04 [[ 6.57644299e-01 -7.53278579e-01 -8.68091776e-03 2.08216243e+02] [-7.53207684e-01 -6.57701540e-01 1.03377423e-02 -9.93889930e+01] [-1.34966528e-02 -2.60023323e-04 -9.99908882e-01 -4.03669632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1865599949999 meters 0.014897226361967494 Centerline is valid? [True, True] Translation: X:208.26, Y:-99.48, Z:-4.04 [[ 7.13536912e-01 -7.00559929e-01 -8.99231792e-03 2.08262705e+02] [-7.00499670e-01 -7.13593525e-01 9.19205536e-03 -9.94840297e+01] [-1.28564455e-02 -2.59755054e-04 -9.99917319e-01 -4.03667693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.246559995 meters 0.015718407000192242 Centerline is valid? [True, True] Translation: X:208.31, Y:-99.57, Z:-4.04 [[ 7.64632276e-01 -6.44396801e-01 -9.49977592e-03 2.08309712e+02] [-6.44342847e-01 -7.64691243e-01 8.34258305e-03 -9.95701808e+01] [-1.26403293e-02 -2.57895598e-04 -9.99920075e-01 -4.03566088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3065599949999 meters 0.014173946439571998 Centerline is valid? [True, True] Translation: X:208.33, Y:-99.60, Z:-4.04 [[ 8.12380725e-01 -5.83025043e-01 -1.09250702e-02 2.08334244e+02] [-5.82967793e-01 -8.12454137e-01 8.17480262e-03 -9.95979366e+01] [-1.36422331e-02 -2.72088009e-04 -9.99906903e-01 -4.03668292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.366559995 meters 0.014327111179749798 Centerline is valid? [True, True] Translation: X:208.36, Y:-99.63, Z:-4.04 [[ 8.55365663e-01 -5.17871858e-01 -1.25825678e-02 2.08359665e+02] [-5.17810732e-01 -8.55458153e-01 7.96202871e-03 -9.96256936e+01] [-1.48871708e-02 -2.95057332e-04 -9.99889136e-01 -4.03597418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4265599949999 meters 0.014519212203927745 Centerline is valid? [True, True] Translation: X:208.39, Y:-99.65, Z:-4.04 [[ 8.93297191e-01 -4.49258779e-01 -1.36630398e-02 2.08387435e+02] [-4.49200927e-01 -8.93401620e-01 7.21619398e-03 -9.96504533e+01] [-1.54485204e-02 -3.08755660e-04 -9.99880617e-01 -4.03522589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.486559995 meters 0.014313030838939717 Centerline is valid? [True, True] Translation: X:208.42, Y:-99.67, Z:-4.04 [[ 9.25686152e-01 -3.78026612e-01 -1.41784486e-02 2.08417207e+02] [-3.77977155e-01 -9.25794678e-01 6.12246908e-03 -9.96731514e+01] [-1.54407885e-02 -3.08355162e-04 -9.99880736e-01 -4.03578952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5465599949999 meters 0.014659652234901463 Centerline is valid? [True, True] Translation: X:208.45, Y:-99.69, Z:-4.04 [[ 9.52290361e-01 -3.04855842e-01 -1.43521437e-02 2.08448766e+02] [-3.04816508e-01 -9.52398460e-01 4.90600905e-03 -9.96919767e+01] [-1.51645851e-02 -2.97174799e-04 -9.99884967e-01 -4.03623669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.606559995 meters 0.014121757809114266 Centerline is valid? [True, True] Translation: X:208.48, Y:-99.71, Z:-4.04 [[ 9.73185732e-01 -2.29599983e-01 -1.39060463e-02 2.08482441e+02] [-2.29572439e-01 -9.73285040e-01 3.56723037e-03 -9.97081400e+01] [-1.43535829e-02 -2.79132728e-04 -9.99896943e-01 -4.03790703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.666559995 meters 0.01388111486211584 Centerline is valid? [True, True] Translation: X:208.52, Y:-99.72, Z:-4.04 [[ 9.88145875e-01 -1.52889647e-01 -1.38738833e-02 2.08516656e+02] [-1.52870695e-01 -9.88243230e-01 2.42271865e-03 -9.97235809e+01] [-1.40811798e-02 -2.73089262e-04 -9.99900818e-01 -4.03846421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.726559995 meters 0.014356078015003652 Centerline is valid? [True, True] Translation: X:208.55, Y:-99.73, Z:-4.04 [[ 9.97072467e-01 -7.51280259e-02 -1.42223184e-02 2.08548325e+02] [-7.51164362e-02 -9.97173858e-01 1.34809630e-03 -9.97348390e+01] [-1.42834039e-02 -2.75819835e-04 -9.99897949e-01 -4.03800434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.786559995 meters 0.014021248762792517 Centerline is valid? [True, True] Translation: X:208.58, Y:-99.74, Z:-4.04 [[ 9.99896023e-01 2.34910270e-03 -1.42275996e-02 2.08581078e+02] [ 2.35261297e-03 -9.99997206e-01 2.29990714e-04 -9.97422892e+01] [-1.42270196e-02 -2.63438836e-04 -9.99898756e-01 -4.03839428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.846559995 meters 0.013798828904318458 Centerline is valid? [True, True] Translation: X:208.61, Y:-99.75, Z:-4.04 [[ 9.96804049e-01 7.86888427e-02 -1.37750998e-02 2.08613476e+02] [ 7.86845013e-02 -9.96899199e-01 -8.57687682e-04 -9.97453031e+01] [-1.37998765e-02 -2.28940307e-04 -9.99904751e-01 -4.03867085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.906559995 meters 0.013186079883071272 Centerline is valid? [True, True] Translation: X:208.65, Y:-99.75, Z:-4.04 [[ 9.88028265e-01 1.53704689e-01 -1.32293618e-02 2.08645805e+02] [ 1.53693401e-01 -9.88116812e-01 -1.87181747e-03 -9.97456502e+01] [-1.33598619e-02 -1.83857050e-04 -9.99910736e-01 -4.03996487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.966559995 meters 0.012972628046679612 Centerline is valid? [True, True] Translation: X:208.68, Y:-99.74, Z:-4.04 [[ 9.73482959e-01 2.28340752e-01 -1.38357774e-02 2.08678024e+02] [ 2.28320060e-01 -9.73581262e-01 -3.07823730e-03 -9.97438811e+01] [-1.41731406e-02 -1.62373965e-04 -9.99899543e-01 -4.03960807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.026559995 meters 0.012684172001611718 Centerline is valid? [True, True] Translation: X:208.71, Y:-99.74, Z:-4.04 [[ 9.54093502e-01 2.99148422e-01 -1.46904822e-02 2.08707525e+02] [ 2.99114570e-01 -9.54206588e-01 -4.50138426e-03 -9.97362140e+01] [-1.53643369e-02 -9.93957827e-05 -9.99881957e-01 -4.03885468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0865599949999 meters 0.012565413663734228 Centerline is valid? [True, True] Translation: X:208.74, Y:-99.73, Z:-4.04 [[ 9.28809560e-01 3.70246971e-01 -1.51651389e-02 2.08738095e+02] [ 3.70198653e-01 -9.28933354e-01 -5.98169917e-03 -9.97293587e+01] [-1.63021093e-02 -5.82545978e-05 -9.99867110e-01 -4.03959661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.146559995 meters 0.012673683769850765 Centerline is valid? [True, True] Translation: X:208.77, Y:-99.72, Z:-4.04 [[ 8.98579576e-01 4.38547624e-01 -1.51897214e-02 2.08767604e+02] [ 4.38484959e-01 -8.98707951e-01 -7.41343655e-03 -9.97193647e+01] [-1.69022684e-02 1.09827386e-06 -9.99857146e-01 -4.04012281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2065599949999 meters 0.012657829088524336 Centerline is valid? [True, True] Translation: X:208.80, Y:-99.71, Z:-4.04 [[ 8.62237027e-01 5.06304131e-01 -1.42631280e-02 2.08797964e+02] [ 5.06234385e-01 -8.62354989e-01 -8.40366411e-03 -9.97106248e+01] [-1.65546894e-02 2.54645233e-05 -9.99862961e-01 -4.04159969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.266559995 meters 0.01270015303268259 Centerline is valid? [True, True] Translation: X:208.83, Y:-99.70, Z:-4.04 [[ 8.20009884e-01 5.72211833e-01 -1.25462480e-02 2.08827005e+02] [ 5.72144415e-01 -8.20105857e-01 -8.78356195e-03 -9.96995130e+01] [-1.53153095e-02 2.43419073e-05 -9.99882713e-01 -4.04236919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3265599949999 meters 0.012617050446334563 Centerline is valid? [True, True] Translation: X:208.86, Y:-99.69, Z:-4.04 [[ 7.71354135e-01 6.36291929e-01 -1.20573561e-02 2.08857337e+02] [ 6.36214374e-01 -7.71448366e-01 -9.93422286e-03 -9.96892084e+01] [-1.56226935e-02 -8.25939595e-06 -9.99877958e-01 -4.04191342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.386559995 meters 0.012584691044776256 Centerline is valid? [True, True] Translation: X:208.89, Y:-99.68, Z:-4.04 [[ 7.17462626e-01 6.96508270e-01 -1.11179994e-02 2.08887113e+02] [ 6.96425654e-01 -7.17548764e-01 -1.07275493e-02 -9.96759618e+01] [-1.54495335e-02 -4.62442609e-05 -9.99880648e-01 -4.04171379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4465599949999 meters 0.013047978625115685 Centerline is valid? [True, True] Translation: X:208.92, Y:-99.66, Z:-4.04 [[ 6.55727332e-01 7.54930115e-01 -1.01087977e-02 2.08917362e+02] [ 7.54843858e-01 -6.55805230e-01 -1.14127430e-02 -9.96626617e+01] [-1.52452258e-02 -1.46916311e-04 -9.99883774e-01 -4.04136025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.506559995 meters 0.013457066577699588 Centerline is valid? [True, True] Translation: X:208.95, Y:-99.65, Z:-4.04 [[ 5.90274424e-01 8.07154560e-01 -8.81031024e-03 2.08947124e+02] [ 8.07070152e-01 -5.90340130e-01 -1.16748271e-02 -9.96476337e+01] [-1.46244696e-02 -2.19186601e-04 -9.99893033e-01 -4.04154045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5665599949999 meters 0.015836934590095116 Centerline is valid? [True, True] Translation: X:208.98, Y:-99.63, Z:-4.04 [[ 5.17982962e-01 8.55362180e-01 -7.01377030e-03 2.08976861e+02] [ 8.55291650e-01 -5.18030354e-01 -1.09884301e-02 -9.96312346e+01] [-1.30324334e-02 -3.06999608e-04 -9.99915027e-01 -4.04126545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.626559995 meters 0.01793714351968804 Centerline is valid? [True, True] Translation: X:209.00, Y:-99.61, Z:-4.04 [[ 4.43311554e-01 8.96350993e-01 -5.45552254e-03 2.09002297e+02] [ 8.96292631e-01 -4.43344981e-01 -1.02346330e-02 -9.96100192e+01] [-1.15925020e-02 -3.52613608e-04 -9.99932743e-01 -4.04134934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6865599949999 meters 0.019383773025991775 Centerline is valid? [True, True] Translation: X:209.02, Y:-99.59, Z:-4.04 [[ 3.68848241e-01 9.29479144e-01 -4.41545740e-03 2.09023389e+02] [ 9.29424111e-01 -3.68874483e-01 -1.01211166e-02 -9.95851734e+01] [-1.10361164e-02 -3.70676505e-04 -9.99939032e-01 -4.04056861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.746559995 meters 0.021483288215476903 Centerline is valid? [True, True] Translation: X:209.04, Y:-99.56, Z:-4.04 [[ 2.92335220e-01 9.56308747e-01 -3.70134323e-03 2.09040350e+02] [ 9.56248952e-01 -2.92358362e-01 -1.07018866e-02 -9.95598231e+01] [-1.13164264e-02 -4.10867215e-04 -9.99935883e-01 -4.03957088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8065599949999 meters 0.02039789878472005 Centerline is valid? [True, True] Translation: X:209.05, Y:-99.53, Z:-4.04 [[ 2.15797005e-01 9.76433875e-01 -2.92223642e-03 2.09053849e+02] [ 9.76369396e-01 -2.15816362e-01 -1.12294166e-02 -9.95309175e+01] [-1.15954492e-02 -4.29907737e-04 -9.99932678e-01 -4.03990887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.866559995 meters 0.02090115087738407 Centerline is valid? [True, True] Translation: X:209.07, Y:-99.50, Z:-4.04 [[ 1.37383400e-01 9.90515327e-01 -2.27797455e-03 2.09067287e+02] [ 9.90432832e-01 -1.37401379e-01 -1.27931766e-02 -9.95020332e+01] [-1.29848343e-02 -4.98610701e-04 -9.99915569e-01 -4.03805059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9265599949999 meters 0.021362046448668695 Centerline is valid? [True, True] Translation: X:209.08, Y:-99.47, Z:-4.04 [[ 5.93657071e-02 9.98235433e-01 -1.31635487e-03 2.09075952e+02] [ 9.98145441e-01 -5.93780436e-02 -1.34136845e-02 -9.94719177e+01] [-1.34681777e-02 -5.17600750e-04 -9.99909166e-01 -4.03704065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.986559995 meters 0.02116131853636911 Centerline is valid? [True, True] Translation: X:209.08, Y:-99.44, Z:-4.04 [[-1.85967575e-02 9.99827035e-01 -2.48120606e-04 2.09081663e+02] [ 9.99745649e-01 1.85920757e-02 -1.27660161e-02 -9.94417142e+01] [-1.27591950e-02 -4.85464002e-04 -9.99918480e-01 -4.03753759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0465599949999 meters 0.021441439261364152 Centerline is valid? [True, True] Translation: X:209.08, Y:-99.41, Z:-4.04 [[-9.54492307e-02 9.95434055e-01 6.96966941e-04 2.09084245e+02] [ 9.95364015e-01 9.54507881e-02 -1.18162681e-02 -9.94121281e+01] [-1.18288417e-02 -4.34117887e-04 -9.99929943e-01 -4.03804630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.106559995 meters 0.0213556258792107 Centerline is valid? [True, True] Translation: X:209.08, Y:-99.38, Z:-4.04 [[-1.71511646e-01 9.85181129e-01 1.37761339e-03 2.09081658e+02] [ 9.85130756e-01 1.71516816e-01 -9.96871642e-03 -9.93822417e+01] [-1.00572752e-02 -3.52621647e-04 -9.99949362e-01 -4.03911637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.166559995 meters 0.01967723533252361 Centerline is valid? [True, True] Translation: X:209.08, Y:-99.35, Z:-4.04 [[-2.47733041e-01 9.68826125e-01 2.06893395e-03 2.09079365e+02] [ 9.68780192e-01 2.47741455e-01 -9.43991962e-03 -9.93523375e+01] [-9.65820145e-03 -3.34237769e-04 -9.99953303e-01 -4.03957902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.226559995 meters 0.019922177730476356 Centerline is valid? [True, True] Translation: X:209.08, Y:-99.32, Z:-4.04 [[-3.22724606e-01 9.46488691e-01 2.82606621e-03 2.09077011e+02] [ 9.46442794e-01 3.22736806e-01 -9.32697852e-03 -9.93217713e+01] [-9.73995527e-03 -3.35335471e-04 -9.99952509e-01 -4.03866368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.286559995 meters 0.020287264424611772 Centerline is valid? [True, True] Translation: X:209.07, Y:-99.29, Z:-4.04 [[-3.95264129e-01 9.18561692e-01 3.26895351e-03 2.09070553e+02] [ 9.18523667e-01 3.95277530e-01 -8.36347196e-03 -9.92925268e+01] [-8.97450883e-03 -3.03169293e-04 -9.99959682e-01 -4.03824065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.346559995 meters 0.020866405844282114 Centerline is valid? [True, True] Translation: X:209.06, Y:-99.26, Z:-4.04 [[-4.65646853e-01 8.84962121e-01 3.87971245e-03 2.09061347e+02] [ 8.84925913e-01 4.65662920e-01 -8.01077184e-03 -9.92648815e+01] [-8.89586788e-03 -2.96932615e-04 -9.99960387e-01 -4.03843537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.406559995 meters 0.01836626688034158 Centerline is valid? [True, True] Translation: X:209.05, Y:-99.24, Z:-4.04 [[-5.33527279e-01 8.45772287e-01 4.22865802e-03 2.09051696e+02] [ 8.45741457e-01 5.33543964e-01 -7.22675056e-03 -9.92362551e+01] [-8.36836030e-03 -2.79317172e-04 -9.99964946e-01 -4.03922729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.466559995 meters 0.019441595675784292 Centerline is valid? [True, True] Translation: X:209.04, Y:-99.21, Z:-4.04 [[-5.98430775e-01 8.01160655e-01 4.71297042e-03 2.09043771e+02] [ 8.01132062e-01 5.98449269e-01 -6.77435011e-03 -9.92069741e+01] [-8.24781648e-03 -2.78267876e-04 -9.99965947e-01 -4.03833482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.526559995 meters 0.019059659750094184 Centerline is valid? [True, True] Translation: X:209.03, Y:-99.18, Z:-4.04 [[-6.59442872e-01 7.51735352e-01 5.39074547e-03 2.09030687e+02] [ 7.51706591e-01 6.59464842e-01 -6.58208871e-03 -9.91794377e+01] [-8.50299588e-03 -2.88252587e-04 -9.99963807e-01 -4.03821270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5865599949999 meters 0.018750307525703905 Centerline is valid? [True, True] Translation: X:209.02, Y:-99.15, Z:-4.04 [[-7.16344642e-01 6.97726978e-01 5.23620422e-03 2.09016216e+02] [ 6.97705675e-01 7.16363733e-01 -5.45825161e-03 -9.91522257e+01] [-7.55939620e-03 -2.56659895e-04 -9.99971394e-01 -4.03932129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.646559995 meters 0.018807318711064135 Centerline is valid? [True, True] Translation: X:209.00, Y:-99.13, Z:-4.04 [[-7.68434809e-01 6.39907917e-01 5.07949918e-03 2.09000081e+02] [ 6.39891954e-01 7.68451564e-01 -4.52565551e-03 -9.91250603e+01] [-6.79935188e-03 -2.27340570e-04 -9.99976858e-01 -4.04030783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7065599949999 meters 0.019260353249791563 Centerline is valid? [True, True] Translation: X:209.02, Y:-99.11, Z:-4.04 [[-8.11638079e-01 5.84133629e-01 5.61532175e-03 2.09019391e+02] [ 5.84117613e-01 8.11657469e-01 -4.33207042e-03 -9.91055469e+01] [-7.08822586e-03 -2.36064974e-04 -9.99974850e-01 -4.04044111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.766559995 meters 0.01970927703867146 Centerline is valid? [True, True] Translation: X:209.42, Y:-98.59, Z:-5.00 [[-7.27211294e-01 -6.86389863e-01 5.71752442e-03 2.09418406e+02] [ 6.86371652e-01 -7.27233715e-01 -5.00797479e-03 -9.85907137e+01] [ 7.59539966e-03 2.82490854e-04 9.99971115e-01 -5.00469389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8265599949999 meters 0.017811038916085487 Centerline is valid? [True, True] Translation: X:208.99, Y:-99.08, Z:-4.04 [[-8.11528159e-01 5.84266255e-01 7.41557510e-03 2.08985475e+02] [ 5.84238712e-01 8.11561992e-01 -5.67989572e-03 -9.90831782e+01] [-9.33677030e-03 -2.76929267e-04 -9.99956373e-01 -4.03970677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.886559995 meters 0.01579429219596034 Centerline is valid? [True, True] Translation: X:209.00, Y:-99.07, Z:-4.04 [[-8.48120395e-01 5.29721564e-01 9.31985776e-03 2.09003310e+02] [ 5.29686010e-01 8.48171557e-01 -6.14338002e-03 -9.90680412e+01] [-1.11591191e-02 -2.73727614e-04 -9.99937698e-01 -4.03944396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9465599949999 meters 0.014583434746255735 Centerline is valid? [True, True] Translation: X:209.01, Y:-99.05, Z:-4.04 [[-8.81586414e-01 4.71911986e-01 1.02211759e-02 2.09014554e+02] [ 4.71877094e-01 8.81645632e-01 -5.74359410e-03 -9.90469765e+01] [-1.17219260e-02 -2.40335748e-04 -9.99931267e-01 -4.03944596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.006559995 meters 0.012810936208501982 Centerline is valid? [True, True] Translation: X:209.03, Y:-99.03, Z:-4.04 [[-9.09303048e-01 4.15994219e-01 1.08063132e-02 2.09033278e+02] [ 4.15962965e-01 9.09367247e-01 -5.10119259e-03 -9.90332840e+01] [-1.19489739e-02 -1.43503902e-04 -9.99928598e-01 -4.04040633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0665599949999 meters 0.012436782472812036 Centerline is valid? [True, True] Translation: X:209.05, Y:-99.01, Z:-4.04 [[-9.34155760e-01 3.56716012e-01 1.03296694e-02 2.09045869e+02] [ 3.56693498e-01 9.34212868e-01 -4.00817165e-03 -9.90130888e+01] [-1.10798890e-02 -5.97307416e-05 -9.99938614e-01 -4.03958292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.126559995 meters 0.012198561051187039 Centerline is valid? [True, True] Translation: X:209.06, Y:-99.00, Z:-4.04 [[-9.54311986e-01 2.98671347e-01 9.16838328e-03 2.09057691e+02] [ 2.98657954e-01 9.54356026e-01 -2.82877199e-03 -9.89956272e+01] [-9.59477498e-03 3.86795695e-05 -9.99953968e-01 -4.04110086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1865599949999 meters 0.013052839900273961 Centerline is valid? [True, True] Translation: X:209.07, Y:-98.98, Z:-4.04 [[-9.71280544e-01 2.37783485e-01 8.55101046e-03 2.09069737e+02] [ 2.37775206e-01 9.71318178e-01 -1.98693608e-03 -9.89758467e+01] [-8.77821249e-03 1.03345924e-04 -9.99961465e-01 -4.04146373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.246559995 meters 0.014263886229959418 Centerline is valid? [True, True] Translation: X:209.08, Y:-98.95, Z:-4.04 [[-9.84809929e-01 1.73424999e-01 8.55413923e-03 2.09077442e+02] [ 1.73419754e-01 9.84847068e-01 -1.35679739e-03 -9.89524451e+01] [-8.65982153e-03 1.47269172e-04 -9.99962492e-01 -4.04124141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3065599949999 meters 0.014692703926874386 Centerline is valid? [True, True] Translation: X:209.19, Y:-98.24, Z:-5.00 [[-9.78897673e-01 -2.04221104e-01 7.28607854e-03 2.09193499e+02] [ 2.04213925e-01 -9.78924768e-01 -1.72398671e-03 -9.82439218e+01] [ 7.48459721e-03 -1.99687881e-04 9.99971970e-01 -5.00381064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.366559995 meters 0.014430839370031104 Centerline is valid? [True, True] Translation: X:209.03, Y:-98.94, Z:-4.04 [[-9.85035485e-01 1.72222444e-01 6.67262651e-03 2.09027383e+02] [ 1.72219406e-01 9.85058076e-01 -1.03151399e-03 -9.89428407e+01] [-6.75057448e-03 1.33077892e-04 -9.99977206e-01 -4.04078178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4265599949999 meters 0.014852037349979896 Centerline is valid? [True, True] Translation: X:209.14, Y:-98.24, Z:-5.00 [[-9.79925679e-01 -1.99261313e-01 6.37118459e-03 2.09142649e+02] [ 1.99256153e-01 -9.79946381e-01 -1.44110020e-03 -9.82397535e+01] [ 6.53057480e-03 -1.42673355e-04 9.99978665e-01 -5.00472855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.486559995 meters 0.01409072832530037 Centerline is valid? [True, True] Translation: X:208.98, Y:-98.93, Z:-4.04 [[-9.86076467e-01 1.66180408e-01 6.10514183e-03 2.08975780e+02] [ 1.66177898e-01 9.86095361e-01 -9.19696259e-04 -9.89310359e+01] [-6.17308754e-03 1.07648801e-04 -9.99980941e-01 -4.04029120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5465599949999 meters 0.012845433976331021 Centerline is valid? [True, True] Translation: X:208.98, Y:-98.90, Z:-4.04 [[-9.96010438e-01 8.90580526e-02 5.64544580e-03 2.08977074e+02] [ 8.90569647e-02 9.96026435e-01 -4.44303931e-04 -9.88958608e+01] [-5.66258210e-03 6.02349137e-05 -9.99983966e-01 -4.04011429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.606559995 meters 0.011804054511468693 Centerline is valid? [True, True] Translation: X:208.97, Y:-98.86, Z:-4.04 [[-9.99945264e-01 9.31397444e-03 4.76636993e-03 2.08974779e+02] [ 9.31390086e-03 9.99956624e-01 -3.76348025e-05 -9.88580630e+01] [-4.76651371e-03 6.76075438e-06 -9.99988640e-01 -4.04073756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.666559995 meters 0.011793452677157404 Centerline is valid? [True, True] Translation: X:208.97, Y:-98.83, Z:-4.04 [[-9.97880279e-01 -6.49359906e-02 4.27390518e-03 2.08968676e+02] [-6.49354281e-02 9.97889431e-01 2.70371915e-04 -9.88277082e+01] [-4.28244168e-03 -7.72906081e-06 -9.99990830e-01 -4.04082304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.726559995 meters 0.012181659825446481 Centerline is valid? [True, True] Translation: X:208.92, Y:-98.17, Z:-5.00 [[-9.99921377e-01 -1.19317668e-02 3.85662493e-03 2.08921834e+02] [ 1.19315877e-02 -9.99928814e-01 -6.94442451e-05 -9.81746565e+01] [ 3.85717898e-03 -2.34231267e-05 9.99992561e-01 -5.00342084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.786559995 meters 0.013688394222441749 Centerline is valid? [True, True] Translation: X:208.89, Y:-98.82, Z:-4.04 [[-9.96428444e-01 -8.42769013e-02 5.26879701e-03 2.08892503e+02] [-8.42761881e-02 9.96442370e-01 3.57621593e-04 -9.88164156e+01] [-5.28019182e-03 -8.76898005e-05 -9.99986056e-01 -4.03943426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.846559995 meters 0.014871182519237556 Centerline is valid? [True, True] Translation: X:208.88, Y:-98.79, Z:-4.04 [[-9.87161083e-01 -1.59657520e-01 4.74058732e-03 2.08879611e+02] [-1.59656178e-01 9.87172460e-01 6.62644565e-04 -9.87858815e+01] [-4.78557343e-03 -1.02727124e-04 -9.99988544e-01 -4.03963783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.906559995 meters 0.017116703762147956 Centerline is valid? [True, True] Translation: X:208.86, Y:-98.75, Z:-4.04 [[-9.72088710e-01 -2.34559040e-01 5.05935932e-03 2.08860693e+02] [-2.34556600e-01 9.72101866e-01 1.07870151e-03 -9.87548663e+01] [-5.17123183e-03 -1.38112558e-04 -9.99986620e-01 -4.03916304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.966559995 meters 0.01848095413696965 Centerline is valid? [True, True] Translation: X:208.84, Y:-98.73, Z:-4.04 [[-9.52246257e-01 -3.05272384e-01 5.98641862e-03 2.08844267e+02] [-3.05267529e-01 9.52265057e-01 1.73092357e-03 -9.87269307e+01] [-6.22906043e-03 -1.79193725e-04 -9.99980583e-01 -4.03766703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.026559995 meters 0.018242577623329606 Centerline is valid? [True, True] Translation: X:208.82, Y:-98.71, Z:-4.04 [[-9.27437775e-01 -3.73923062e-01 6.38094683e-03 2.08820819e+02] [-3.73915720e-01 9.27459704e-01 2.35208580e-03 -9.87053200e+01] [-6.79757018e-03 -2.04523105e-04 -9.99976875e-01 -4.03656664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0865599949999 meters 0.01831515728212651 Centerline is valid? [True, True] Translation: X:208.59, Y:-98.16, Z:-5.01 [[-9.67306509e-01 2.53526437e-01 6.51641179e-03 2.08591828e+02] [-2.53519260e-01 -9.67328437e-01 1.91854513e-03 -9.81576485e+01] [ 6.78991234e-03 2.03785295e-04 9.99976928e-01 -5.00790101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.146559995 meters 0.017337015224528726 Centerline is valid? [True, True] Translation: X:208.70, Y:-98.75, Z:-4.04 [[-9.25905226e-01 -3.77706282e-01 6.12179592e-03 2.08697403e+02] [-3.77699318e-01 9.25925446e-01 2.30082719e-03 -9.87510606e+01] [-6.53736350e-03 -1.81850224e-04 -9.99978615e-01 -4.03782458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2065599949999 meters 0.016215539627902828 Centerline is valid? [True, True] Translation: X:208.66, Y:-98.74, Z:-4.04 [[-8.96814014e-01 -4.42366432e-01 6.04684684e-03 2.08663823e+02] [-4.42357692e-01 8.96834382e-01 2.78621762e-03 -9.87387575e+01] [-6.65554929e-03 -1.76150208e-04 -9.99977836e-01 -4.03893641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.266559995 meters 0.01628104128334047 Centerline is valid? [True, True] Translation: X:208.61, Y:-98.74, Z:-4.04 [[-8.62209159e-01 -5.06522393e-01 5.51652154e-03 2.08609941e+02] [-5.06513252e-01 8.62226790e-01 3.04760662e-03 -9.87354114e+01] [-6.30017366e-03 -1.66516926e-04 -9.99980140e-01 -4.03910316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3265599949999 meters 0.016817476829925657 Centerline is valid? [True, True] Translation: X:208.54, Y:-98.74, Z:-4.04 [[-8.22451993e-01 -5.68801774e-01 6.10420161e-03 2.08539897e+02] [-5.68787847e-01 8.22474622e-01 3.98505504e-03 -9.87448080e+01] [-7.28725729e-03 -1.94479238e-04 -9.99973429e-01 -4.03865361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.386559995 meters 0.016928337408925142 Centerline is valid? [True, True] Translation: X:208.47, Y:-98.76, Z:-4.04 [[-7.78689018e-01 -6.27380132e-01 6.13054183e-03 2.08473341e+02] [-6.27362671e-01 7.78713125e-01 4.68482900e-03 -9.87597627e+01] [-7.71310202e-03 -1.98048210e-04 -9.99970234e-01 -4.03912437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4465599949999 meters 0.015708435322542468 Centerline is valid? [True, True] Translation: X:208.40, Y:-98.79, Z:-4.04 [[-7.30165502e-01 -6.83246379e-01 5.72067023e-03 2.08401315e+02] [-6.83227459e-01 7.30187886e-01 5.08829242e-03 -9.87874424e+01] [-7.65372147e-03 -1.93223399e-04 -9.99970691e-01 -4.04054998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.506559995 meters 0.01541237494678998 Centerline is valid? [True, True] Translation: X:208.32, Y:-98.83, Z:-4.04 [[-6.77426664e-01 -7.35567046e-01 5.85109485e-03 2.08322297e+02] [-7.35542226e-01 6.77451901e-01 6.04613488e-03 -9.88265426e+01] [-8.41117290e-03 -2.07914345e-04 -9.99964604e-01 -4.04140816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5665599949999 meters 0.017156065147283312 Centerline is valid? [True, True] Translation: X:208.24, Y:-98.87, Z:-4.04 [[-6.18606160e-01 -7.85677402e-01 6.11867021e-03 2.08243207e+02] [-7.85643015e-01 6.18636366e-01 7.35517964e-03 -9.88681783e+01] [-9.56403034e-03 -2.57131078e-04 -9.99954231e-01 -4.04048427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.626559995 meters 0.018252478601261248 Centerline is valid? [True, True] Translation: X:208.16, Y:-98.92, Z:-4.04 [[-5.54930576e-01 -8.31871824e-01 6.42845629e-03 2.08162072e+02] [-8.31822870e-01 5.54967708e-01 9.03086319e-03 -9.89246925e+01] [-1.10801063e-02 -3.35834851e-04 -9.99938557e-01 -4.03955143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6865599949999 meters 0.017397299405124154 Centerline is valid? [True, True] Translation: X:208.09, Y:-98.99, Z:-4.04 [[-4.89001225e-01 -8.72259572e-01 6.40633582e-03 2.08087266e+02] [-8.72195111e-01 4.89043025e-01 1.06117002e-02 -9.89919180e+01] [-1.23891309e-02 -3.98440395e-04 -9.99923172e-01 -4.03994233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.746559995 meters 0.018554638779220294 Centerline is valid? [True, True] Translation: X:208.02, Y:-99.06, Z:-4.04 [[-4.21862843e-01 -9.06643246e-01 5.45581462e-03 2.08015289e+02] [-9.06578886e-01 4.21897945e-01 1.08096217e-02 -9.90649514e+01] [-1.21022675e-02 -3.85948590e-04 -9.99926690e-01 -4.03964463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8065599949999 meters 0.018382570815787633 Centerline is valid? [True, True] Translation: X:207.95, Y:-99.14, Z:-4.04 [[-3.52458452e-01 -9.35816999e-01 4.42539469e-03 2.07951359e+02] [-9.35755666e-01 3.52486047e-01 1.07200967e-02 -9.91425945e+01] [-1.15919386e-02 -3.62699456e-04 -9.99932745e-01 -4.04039280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.866559995 meters 0.018007103660819694 Centerline is valid? [True, True] Translation: X:207.89, Y:-99.23, Z:-4.04 [[-2.81207726e-01 -9.59641797e-01 3.13640633e-03 2.07890801e+02] [-9.59593724e-01 2.81225048e-01 9.61026239e-03 -9.92325250e+01] [-1.01044455e-02 -3.07195800e-04 -9.99948902e-01 -4.04128839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9265599949999 meters 0.01702070109418969 Centerline is valid? [True, True] Translation: X:207.84, Y:-99.33, Z:-4.04 [[-2.09662756e-01 -9.77771371e-01 2.16233672e-03 2.07838624e+02] [-9.77731210e-01 2.09673750e-01 8.86561138e-03 -9.93281666e+01] [-9.12192624e-03 -2.55395590e-04 -9.99958362e-01 -4.04204052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.986559995 meters 0.017027266970604613 Centerline is valid? [True, True] Translation: X:207.79, Y:-99.43, Z:-4.04 [[-1.35240301e-01 -9.90811820e-01 1.41360675e-03 2.07791991e+02] [-9.90774513e-01 1.35247480e-01 8.60131358e-03 -9.94306865e+01] [-8.71346992e-03 -2.37321308e-04 -9.99962009e-01 -4.04212763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0465599949999 meters 0.018996403174621618 Centerline is valid? [True, True] Translation: X:207.75, Y:-99.53, Z:-4.04 [[-5.78155584e-02 -9.98326787e-01 9.93487639e-04 2.07749036e+02] [-9.98261072e-01 5.78231563e-02 1.14592342e-02 -9.95333728e+01] [-1.14975070e-02 -3.29238013e-04 -9.99933847e-01 -4.03889352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.106559995 meters 0.017071563240518672 Centerline is valid? [True, True] Translation: X:207.72, Y:-99.65, Z:-4.04 [[ 2.14624758e-02 -9.99769645e-01 1.36819082e-04 2.07720238e+02] [-9.99676373e-01 -2.14586036e-02 1.36630119e-02 -9.96452919e+01] [-1.36569286e-02 -4.30016866e-04 -9.99906647e-01 -4.03915101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.166559995 meters 0.01801238649393536 Centerline is valid? [True, True] Translation: X:207.70, Y:-99.76, Z:-4.04 [[ 9.92764749e-02 -9.95059453e-01 -9.30804570e-04 2.07696248e+02] [-9.94961372e-01 -9.92797652e-02 1.39784425e-02 -9.97594260e+01] [-1.40017914e-02 -4.61615908e-04 -9.99901864e-01 -4.03885523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.226559995 meters 0.018866349065563066 Centerline is valid? [True, True] Translation: X:207.68, Y:-99.87, Z:-4.04 [[ 1.76007011e-01 -9.84387238e-01 -1.81588939e-03 2.07681572e+02] [-9.84306546e-01 -1.76015847e-01 1.26113365e-02 -9.98723166e+01] [-1.27340641e-02 -4.32291839e-04 -9.99918825e-01 -4.03934826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.286559995 meters 0.018353276459827286 Centerline is valid? [True, True] Translation: X:207.68, Y:-99.99, Z:-4.04 [[ 2.50880784e-01 -9.68014872e-01 -2.45766669e-03 2.07677395e+02] [-9.67952276e-01 -2.50892527e-01 1.10150796e-02 -9.99850804e+01] [-1.12793710e-02 -3.84567725e-04 -9.99936312e-01 -4.04106389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.346559995 meters 0.017942436941013325 Centerline is valid? [True, True] Translation: X:207.68, Y:-100.10, Z:-4.04 [[ 3.24073874e-01 -9.46027050e-01 -2.99074560e-03 2.07682448e+02] [-9.45976305e-01 -3.24087486e-01 9.80464699e-03 -1.00099806e+02] [-1.02447245e-02 -3.48255457e-04 -9.99947461e-01 -4.04208518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.406559995 meters 0.021190755922963912 Centerline is valid? [True, True] Translation: X:207.69, Y:-100.21, Z:-4.04 [[ 3.95821660e-01 -9.18319514e-01 -3.80568382e-03 2.07689654e+02] [-9.18267937e-01 -3.95839791e-01 9.73943524e-03 -1.00212609e+02] [-1.04503545e-02 -3.60441995e-04 -9.99945329e-01 -4.04084836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.466559995 meters 0.01978191774190146 Centerline is valid? [True, True] Translation: X:207.71, Y:-100.33, Z:-4.04 [[ 4.65050118e-01 -8.85272307e-01 -4.61853810e-03 2.07713248e+02] [-8.85220473e-01 -4.65072904e-01 9.58683155e-03 -1.00327454e+02] [-1.06349134e-02 -3.69932659e-04 -9.99943379e-01 -4.04094497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.526559995 meters 0.018882526506691467 Centerline is valid? [True, True] Translation: X:207.74, Y:-100.43, Z:-4.04 [[ 5.30676436e-01 -8.47555562e-01 -5.66481369e-03 2.07741303e+02] [-8.47499312e-01 -5.30706530e-01 9.77215975e-03 -1.00432303e+02] [-1.12888020e-02 -3.84929199e-04 -9.99936205e-01 -4.04056547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5865599949999 meters 0.018123682379803604 Centerline is valid? [True, True] Translation: X:207.78, Y:-100.54, Z:-4.04 [[ 5.92405315e-01 -8.05615684e-01 -6.26995766e-03 2.07777694e+02] [-8.05564000e-01 -5.92438386e-01 9.13243155e-03 -1.00535420e+02] [-1.10717937e-02 -3.59248818e-04 -9.99938641e-01 -4.04091603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.646559995 meters 0.017320007758175077 Centerline is valid? [True, True] Translation: X:207.82, Y:-100.63, Z:-4.04 [[ 6.50885856e-01 -7.59143786e-01 -6.95087895e-03 2.07821049e+02] [-7.59094781e-01 -6.50922880e-01 8.63235567e-03 -1.00633858e+02] [-1.10776853e-02 -3.42302277e-04 -9.99938582e-01 -4.04168008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7065599949999 meters 0.016001858357019744 Centerline is valid? [True, True] Translation: X:207.88, Y:-100.73, Z:-4.04 [[ 7.03462500e-01 -7.10697669e-01 -7.02378600e-03 2.07876636e+02] [-7.10658368e-01 -7.03497513e-01 7.47887356e-03 -1.00731287e+02] [-1.02564340e-02 -2.69594800e-04 -9.99947365e-01 -4.04194093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.766559995 meters 0.014195643133074856 Centerline is valid? [True, True] Translation: X:207.92, Y:-100.81, Z:-4.04 [[ 7.52688296e-01 -6.58338781e-01 -7.09781263e-03 2.07923467e+02] [-6.58306815e-01 -7.52721731e-01 6.49100878e-03 -1.00807137e+02] [-9.61596061e-03 -2.13167917e-04 -9.99953743e-01 -4.04316664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8265599949999 meters 0.013646810336877768 Centerline is valid? [True, True] Translation: X:207.95, Y:-100.83, Z:-4.04 [[ 8.00165838e-01 -5.99732118e-01 -7.48451178e-03 2.07946404e+02] [-5.99703721e-01 -8.00200820e-01 5.83905403e-03 -1.00834985e+02] [-9.49098070e-03 -1.83722001e-04 -9.99954943e-01 -4.04291494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.886559995 meters 0.013186748932770014 Centerline is valid? [True, True] Translation: X:207.97, Y:-100.86, Z:-4.04 [[ 8.43298300e-01 -5.37385831e-01 -8.02777042e-03 2.07970648e+02] [-5.37359631e-01 -8.43336494e-01 5.30894344e-03 -1.00860868e+02] [-9.62306274e-03 -1.63223227e-04 -9.99953684e-01 -4.04259406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9465599949999 meters 0.012434400825686491 Centerline is valid? [True, True] Translation: X:208.00, Y:-100.88, Z:-4.04 [[ 8.80307483e-01 -4.74308064e-01 -9.51815943e-03 2.07998985e+02] [-4.74278746e-01 -8.80358929e-01 5.27518408e-03 -1.00881558e+02] [-1.08814590e-02 -1.29523309e-04 -9.99940787e-01 -4.04175755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.006559995 meters 0.011924389807718701 Centerline is valid? [True, True] Translation: X:208.03, Y:-100.90, Z:-4.04 [[ 9.13217364e-01 -4.07346333e-01 -1.01494501e-02 2.08027707e+02] [-4.07320049e-01 -9.13273758e-01 4.62830274e-03 -1.00901970e+02] [-1.11545486e-02 -9.25719317e-05 -9.99937782e-01 -4.04147556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0665599949999 meters 0.011664070677043748 Centerline is valid? [True, True] Translation: X:208.06, Y:-100.92, Z:-4.04 [[ 9.40899132e-01 -3.38538971e-01 -1.00094651e-02 2.08058107e+02] [-3.38519301e-01 -9.40952370e-01 3.64954639e-03 -1.00919187e+02] [-1.06539436e-02 -4.54579001e-05 -9.99943244e-01 -4.04078126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.126559995 meters 0.01168137972122119 Centerline is valid? [True, True] Translation: X:208.09, Y:-100.93, Z:-4.04 [[ 9.62887663e-01 -2.69757440e-01 -8.84715284e-03 2.08088519e+02] [-2.69746208e-01 -9.62928306e-01 2.46162742e-03 -1.00933536e+02] [-9.18321621e-03 1.62152645e-05 -9.99957833e-01 -4.04209293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1865599949999 meters 0.011759444365744732 Centerline is valid? [True, True] Translation: X:208.12, Y:-100.95, Z:-4.04 [[ 9.80493746e-01 -1.96381811e-01 -8.13620547e-03 2.08118879e+02] [-1.96375367e-01 -9.80527502e-01 1.59135702e-03 -1.00946582e+02] [-8.29028681e-03 3.74347218e-05 -9.99965634e-01 -4.04266262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.246559995 meters 0.011910312683563915 Centerline is valid? [True, True] Translation: X:208.15, Y:-100.96, Z:-4.04 [[ 9.92786849e-01 -1.19627080e-01 -7.97714853e-03 2.08147645e+02] [-1.19623551e-01 -9.92818896e-01 9.19818793e-04 -1.00957505e+02] [-8.02989904e-03 4.10708311e-05 -9.99967759e-01 -4.04231386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3065599949999 meters 0.01180099032258625 Centerline is valid? [True, True] Translation: X:208.18, Y:-100.97, Z:-4.04 [[ 9.99180444e-01 -3.96478945e-02 -8.15387336e-03 2.08177003e+02] [-3.96467909e-02 -9.99213713e-01 2.97011392e-04 -1.00968911e+02] [-8.15923795e-03 2.65069377e-05 -9.99966713e-01 -4.04213329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.366559995 meters 0.011746603316709767 Centerline is valid? [True, True] Translation: X:208.21, Y:-100.98, Z:-4.04 [[ 9.99026516e-01 4.33132730e-02 -8.36539462e-03 2.08207112e+02] [ 4.33118520e-02 -9.99061540e-01 -3.51035916e-04 -1.00982320e+02] [-8.37274855e-03 -1.16265458e-05 -9.99964948e-01 -4.04187513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4265599949999 meters 0.011865653882951407 Centerline is valid? [True, True] Translation: X:208.24, Y:-100.99, Z:-4.04 [[ 9.92105933e-01 1.25121600e-01 -8.39065237e-03 2.08238400e+02] [ 1.25117498e-01 -9.92141413e-01 -1.01411250e-03 -1.00992036e+02] [-8.45160107e-03 -4.37104007e-05 -9.99964284e-01 -4.04178211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.486559995 meters 0.012407036237945328 Centerline is valid? [True, True] Translation: X:208.27, Y:-101.00, Z:-4.04 [[ 9.78355327e-01 2.06748084e-01 -8.72264945e-03 2.08270121e+02] [ 2.06740642e-01 -9.78394206e-01 -1.75620597e-03 -1.00998333e+02] [-8.89728190e-03 -8.51326819e-05 -9.99960415e-01 -4.04067582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5465599949999 meters 0.012946461747968685 Centerline is valid? [True, True] Translation: X:208.30, Y:-101.00, Z:-4.04 [[ 9.58292433e-01 2.85663693e-01 -8.47743601e-03 2.08301938e+02] [ 2.85653542e-01 -9.58329924e-01 -2.41076759e-03 -1.01000033e+02] [-8.81284938e-03 -1.11389280e-04 -9.99961160e-01 -4.04063668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.606559995 meters 0.013565364059454722 Centerline is valid? [True, True] Translation: X:208.33, Y:-101.00, Z:-4.04 [[ 9.32405189e-01 3.61321621e-01 -8.20066286e-03 2.08331717e+02] [ 3.61308818e-01 -9.32441243e-01 -3.04418091e-03 -1.00997220e+02] [-8.74656465e-03 -1.24561730e-04 -9.99961740e-01 -4.03968843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.666559995 meters 0.013287580521347118 Centerline is valid? [True, True] Translation: X:208.36, Y:-100.99, Z:-4.04 [[ 9.01153881e-01 4.33431709e-01 -7.65740976e-03 2.08362436e+02] [ 4.33417211e-01 -9.01186406e-01 -3.54715132e-03 -1.00991108e+02] [-8.43820144e-03 -1.22324000e-04 -9.99964390e-01 -4.04037715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.726559995 meters 0.013358634846205392 Centerline is valid? [True, True] Translation: X:208.39, Y:-100.98, Z:-4.04 [[ 8.64328822e-01 5.02871867e-01 -7.45469060e-03 2.08391922e+02] [ 5.02854416e-01 -8.64360960e-01 -4.19132358e-03 -1.00982965e+02] [-8.55124224e-03 -1.25942317e-04 -9.99963430e-01 -4.04017075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.786559995 meters 0.013975153183248379 Centerline is valid? [True, True] Translation: X:208.42, Y:-100.97, Z:-4.04 [[ 8.21458031e-01 5.70217191e-01 -7.68492542e-03 2.08419961e+02] [ 5.70193936e-01 -8.21493964e-01 -5.15204280e-03 -1.00971873e+02] [-9.25090322e-03 -1.49710940e-04 -9.99957198e-01 -4.03960680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.846559995 meters 0.014087366930711095 Centerline is valid? [True, True] Translation: X:208.45, Y:-100.96, Z:-4.04 [[ 7.73224731e-01 6.34080929e-01 -8.05551596e-03 2.08448807e+02] [ 6.34048971e-01 -7.73266670e-01 -6.36866156e-03 -1.00959815e+02] [-1.02673088e-02 -1.83184991e-04 -9.99947273e-01 -4.03928281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.906559995 meters 0.015166233467331794 Centerline is valid? [True, True] Translation: X:208.48, Y:-100.95, Z:-4.04 [[ 7.18694004e-01 6.95279076e-01 -8.12005426e-03 2.08476544e+02] [ 6.95238401e-01 -7.18739835e-01 -7.52435869e-03 -1.00946834e+02] [-1.10677356e-02 -2.37662060e-04 -9.99938723e-01 -4.03837021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.966559995 meters 0.015534214643739035 Centerline is valid? [True, True] Translation: X:208.50, Y:-100.93, Z:-4.04 [[ 6.59813463e-01 7.51385125e-01 -8.16015342e-03 2.08502365e+02] [ 7.51333096e-01 -6.59863855e-01 -8.84708919e-03 -1.00930212e+02] [-1.20321615e-02 -2.93564779e-04 -9.99927568e-01 -4.03855258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.026559995 meters 0.017402166995275407 Centerline is valid? [True, True] Translation: X:208.53, Y:-100.91, Z:-4.04 [[ 5.97994842e-01 8.01467236e-01 -7.24147277e-03 2.08527699e+02] [ 8.01414454e-01 -5.98038611e-01 -9.20286745e-03 -1.00913756e+02] [-1.17064770e-02 -3.00153677e-04 -9.99931432e-01 -4.03755241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0865599949999 meters 0.01836518917229677 Centerline is valid? [True, True] Translation: X:208.55, Y:-100.89, Z:-4.04 [[ 5.32197265e-01 8.46597513e-01 -6.22266809e-03 2.08545670e+02] [ 8.46546179e-01 -5.32233557e-01 -9.32779832e-03 -1.00890232e+02] [-1.12088036e-02 -3.03547141e-04 -9.99937133e-01 -4.03828892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.146559995 meters 0.016620452468829663 Centerline is valid? [True, True] Translation: X:208.56, Y:-100.87, Z:-4.04 [[ 4.63081272e-01 8.86296613e-01 -5.83522958e-03 2.08564062e+02] [ 8.86235244e-01 -4.63117911e-01 -1.04351672e-02 -1.00867116e+02] [-1.19510526e-02 -3.39055629e-04 -9.99928526e-01 -4.04003885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2065599949999 meters 0.01729075204609845 Centerline is valid? [True, True] Translation: X:208.58, Y:-100.85, Z:-4.04 [[ 3.91267990e-01 9.20262063e-01 -5.20531945e-03 2.08584620e+02] [ 9.20192692e-01 -3.91302442e-01 -1.13052856e-02 -1.00845294e+02] [-1.24406797e-02 -3.66500541e-04 -9.99922545e-01 -4.03924945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.266559995 meters 0.017645010427466697 Centerline is valid? [True, True] Translation: X:208.60, Y:-100.82, Z:-4.04 [[ 3.16984250e-01 9.48422332e-01 -4.00817742e-03 2.08602557e+02] [ 9.48360048e-01 -3.17009393e-01 -1.08749598e-02 -1.00821725e+02] [-1.15846847e-02 -3.54004345e-04 -9.99932833e-01 -4.04009788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3265599949999 meters 0.017824128166700263 Centerline is valid? [True, True] Translation: X:208.62, Y:-100.80, Z:-4.04 [[ 2.41245860e-01 9.70459404e-01 -2.99662230e-03 2.08618515e+02] [ 9.70401228e-01 -2.41264227e-01 -1.06315451e-02 -1.00796886e+02] [-1.10404607e-02 -3.43109718e-04 -9.99938993e-01 -4.04097843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.386559995 meters 0.01762948542707939 Centerline is valid? [True, True] Translation: X:208.63, Y:-100.77, Z:-4.04 [[ 1.65569216e-01 9.86195437e-01 -2.32268716e-03 2.08631920e+02] [ 9.86126351e-01 -1.65585122e-01 -1.16785321e-02 -1.00770490e+02] [-1.19019175e-02 -3.56857609e-04 -9.99929106e-01 -4.04043088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4465599949999 meters 0.016383777287630786 Centerline is valid? [True, True] Translation: X:208.64, Y:-100.74, Z:-4.04 [[ 9.01901381e-02 9.95923330e-01 -1.56842671e-03 2.08643217e+02] [ 9.95835332e-01 -9.02030265e-02 -1.32440424e-02 -1.00743522e+02] [-1.33315277e-02 -3.67412721e-04 -9.99911064e-01 -4.03939140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.506559995 meters 0.01711296771082748 Centerline is valid? [True, True] Translation: X:208.65, Y:-100.72, Z:-4.04 [[ 1.25827745e-02 9.99920693e-01 -5.30469815e-04 2.08652917e+02] [ 9.99830467e-01 -1.25887677e-02 -1.34372682e-02 -1.00717076e+02] [-1.34428805e-02 -3.61301768e-04 -9.99909575e-01 -4.03884760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5665599949999 meters 0.015858224026244195 Centerline is valid? [True, True] Translation: X:208.66, Y:-100.69, Z:-4.04 [[-6.33837960e-02 9.97989102e-01 4.96288130e-04 2.08656939e+02] [ 9.97907960e-01 6.33849730e-02 -1.27298106e-02 -1.00689317e+02] [-1.27356695e-02 -3.11613843e-04 -9.99918850e-01 -4.04034372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.626559995 meters 0.014877299844502567 Centerline is valid? [True, True] Translation: X:208.66, Y:-100.66, Z:-4.04 [[-1.39099470e-01 9.90277345e-01 1.45491190e-03 2.08660710e+02] [ 9.90200502e-01 1.39106805e-01 -1.23394984e-02 -1.00660539e+02] [-1.24219139e-02 -2.75763199e-04 -9.99922807e-01 -4.04107783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6865599949999 meters 0.01602677609132036 Centerline is valid? [True, True] Translation: X:208.67, Y:-100.63, Z:-4.04 [[-2.14066477e-01 9.76815925e-01 2.48849291e-03 2.08665285e+02] [ 9.76735397e-01 2.14080789e-01 -1.25451663e-02 -1.00632678e+02] [-1.27870568e-02 -2.54900450e-04 -9.99918210e-01 -4.03941891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.746559995 meters 0.014120132534467618 Centerline is valid? [True, True] Translation: X:208.66, Y:-100.60, Z:-4.04 [[-2.88546792e-01 9.57458557e-01 3.72308554e-03 2.08662772e+02] [ 9.57367122e-01 2.88570698e-01 -1.32342858e-02 -1.00604665e+02] [-1.37456536e-02 -2.54351015e-04 -9.99905492e-01 -4.04068702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8065599949999 meters 0.013726943906486832 Centerline is valid? [True, True] Translation: X:208.66, Y:-100.58, Z:-4.04 [[-3.61378774e-01 9.32405298e-01 5.07374268e-03 2.08661572e+02] [ 9.32303430e-01 3.61414302e-01 -1.37846643e-02 -1.00576355e+02] [-1.46866172e-02 -2.51217371e-04 -9.99892114e-01 -4.04050174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.866559995 meters 0.01366221465849351 Centerline is valid? [True, True] Translation: X:208.66, Y:-100.55, Z:-4.04 [[-4.32826741e-01 9.01458518e-01 5.79251753e-03 2.08658264e+02] [ 9.01370562e-01 4.32865438e-01 -1.25945158e-02 -1.00547674e+02] [-1.38608141e-02 -2.30038424e-04 -9.99903908e-01 -4.04097622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9265599949999 meters 0.013465395095118075 Centerline is valid? [True, True] Translation: X:208.65, Y:-100.52, Z:-4.04 [[-5.00470611e-01 8.65732648e-01 6.01239324e-03 2.08651313e+02] [ 8.65665769e-01 5.00506692e-01 -1.07623679e-02 -1.00520807e+02] [-1.23265763e-02 -1.81525842e-04 -9.99924008e-01 -4.04208985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.986559995 meters 0.01318911703709873 Centerline is valid? [True, True] Translation: X:208.64, Y:-100.49, Z:-4.04 [[-5.65822908e-01 8.24502100e-01 6.38154896e-03 2.08642265e+02] [ 8.24446521e-01 5.65858872e-01 -9.57448174e-03 -1.00494381e+02] [-1.15052364e-02 -1.56215263e-04 -9.99933800e-01 -4.04351145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0465599949999 meters 0.013409510853638016 Centerline is valid? [True, True] Translation: X:208.63, Y:-100.47, Z:-4.04 [[-6.29107297e-01 7.77287105e-01 6.98322921e-03 2.08631512e+02] [ 7.77236375e-01 6.29146033e-01 -8.88181443e-03 -1.00468050e+02] [-1.12971908e-02 -1.59994514e-04 -9.99936172e-01 -4.04404599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.106559995 meters 0.013165110500025865 Centerline is valid? [True, True] Translation: X:208.62, Y:-100.44, Z:-4.04 [[-6.88021621e-01 7.25646606e-01 7.95312837e-03 2.08620477e+02] [ 7.25595323e-01 6.88067566e-01 -8.62849833e-03 -1.00441602e+02] [-1.17335302e-02 -1.65840657e-04 -9.99931146e-01 -4.04383939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.166559995 meters 0.012962702631142575 Centerline is valid? [True, True] Translation: X:208.61, Y:-100.42, Z:-4.04 [[-7.41458296e-01 6.70949075e-01 8.18125996e-03 2.08606475e+02] [ 6.70906201e-01 7.41503419e-01 -7.58616924e-03 -1.00417649e+02] [-1.11563655e-02 -1.35970077e-04 -9.99937757e-01 -4.04290609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.226559995 meters 0.012415325495481966 Centerline is valid? [True, True] Translation: X:208.63, Y:-100.40, Z:-4.04 [[-7.85186589e-01 6.19205364e-01 8.16937484e-03 2.08629203e+02] [ 6.19170576e-01 7.85229080e-01 -6.56425524e-03 -1.00404193e+02] [-1.04794527e-02 -9.59286546e-05 -9.99945084e-01 -4.04430541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.286559995 meters 0.012165742296905537 Centerline is valid? [True, True] Translation: X:208.65, Y:-100.38, Z:-4.04 [[-8.26040744e-01 5.63555327e-01 7.87931064e-03 2.08646542e+02] [ 5.63528871e-01 8.26078319e-01 -5.46100171e-03 -1.00384066e+02] [-9.58650429e-03 -7.07908820e-05 -9.99954046e-01 -4.04491992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.346559995 meters 0.012096448251238017 Centerline is valid? [True, True] Translation: X:208.66, Y:-100.36, Z:-4.05 [[-8.63223524e-01 5.04767100e-01 7.43797624e-03 2.08662484e+02] [ 5.04747829e-01 8.63255566e-01 -4.41095809e-03 -1.00361622e+02] [-8.64738091e-03 -5.33404287e-05 -9.99962609e-01 -4.04505609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.406559995 meters 0.012268603376354006 Centerline is valid? [True, True] Translation: X:208.68, Y:-100.34, Z:-4.04 [[-8.97204126e-01 4.41536184e-01 8.39961680e-03 2.08680719e+02] [ 4.41516136e-01 8.97243442e-01 -4.20804005e-03 -1.00338253e+02] [-9.39450304e-03 -6.69045417e-05 -9.99955868e-01 -4.04420005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.466559995 meters 0.012594796989717442 Centerline is valid? [True, True] Translation: X:209.00, Y:-99.70, Z:-5.00 [[-8.57149851e-01 -5.14995443e-01 8.59224269e-03 2.09002248e+02] [ 5.14970809e-01 -8.57192909e-01 -5.03816931e-03 -9.97040181e+01] [ 9.95984373e-03 1.06288103e-04 9.99950394e-01 -5.00124522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.526559995 meters 0.012894795938699478 Centerline is valid? [True, True] Translation: X:208.63, Y:-100.31, Z:-4.04 [[-9.00470281e-01 4.34822601e-01 9.08723980e-03 2.08632079e+02] [ 4.34799205e-01 9.00516126e-01 -4.51205712e-03 -1.00308856e+02] [-1.01451504e-02 -1.11848712e-04 -9.99948530e-01 -4.04347246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5865599949999 meters 0.013006813709698042 Centerline is valid? [True, True] Translation: X:208.65, Y:-100.29, Z:-4.04 [[-9.29895132e-01 3.67709250e-01 9.21687596e-03 2.08652211e+02] [ 3.67689752e-01 9.29940799e-01 -3.78903191e-03 -1.00286890e+02] [-9.96441108e-03 -1.34451489e-04 -9.99950345e-01 -4.04449066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.646559995 meters 0.01328410911987721 Centerline is valid? [True, True] Translation: X:208.67, Y:-100.26, Z:-4.04 [[-9.53837366e-01 3.00211423e-01 8.20854892e-03 2.08666551e+02] [ 3.00199153e-01 9.53872678e-01 -2.71717297e-03 -1.00262046e+02] [-8.64563690e-03 -1.27541678e-04 -9.99962618e-01 -4.04489073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7065599949999 meters 0.013661423328604878 Centerline is valid? [True, True] Translation: X:208.89, Y:-99.60, Z:-5.00 [[-9.19378233e-01 -3.93340042e-01 5.22260413e-03 2.08891252e+02] [ 3.93333056e-01 -9.19393061e-01 -2.34649668e-03 -9.96023146e+01] [ 5.72459710e-03 -1.03095130e-04 9.99983609e-01 -4.99782827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.766559995 meters 0.014476211327275793 Centerline is valid? [True, True] Translation: X:208.62, Y:-100.25, Z:-4.05 [[-9.56604748e-01 2.91353680e-01 4.51544498e-03 2.08624923e+02] [ 2.91349959e-01 9.56615400e-01 -1.47567179e-03 -1.00245171e+02] [-4.74948661e-03 -9.60599309e-05 -9.99988717e-01 -4.04761812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8265599949999 meters 0.015473902427966492 Centerline is valid? [True, True] Translation: X:208.84, Y:-99.59, Z:-5.00 [[-9.17963480e-01 -3.96629286e-01 5.31597597e-03 2.08838887e+02] [ 3.96623758e-01 -9.17978855e-01 -2.10175019e-03 -9.95912434e+01] [ 5.71356920e-03 1.79112449e-04 9.99983661e-01 -4.99821299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.886559995 meters 0.016098703757609904 Centerline is valid? [True, True] Translation: X:208.58, Y:-100.23, Z:-4.05 [[-9.59499170e-01 2.81620006e-01 7.17742125e-03 2.08575625e+02] [ 2.81610550e-01 9.59525993e-01 -2.31669283e-03 -1.00225352e+02] [-7.53934930e-03 -2.01627301e-04 -9.99971558e-01 -4.04532849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9465599949999 meters 0.016574194312670272 Centerline is valid? [True, True] Translation: X:208.58, Y:-100.20, Z:-4.04 [[-9.77118336e-01 2.12553116e-01 7.80579148e-03 2.08584852e+02] [ 2.12544548e-01 9.77149490e-01 -1.92084744e-03 -1.00199374e+02] [-8.03570727e-03 -2.17816825e-04 -9.99967689e-01 -4.04417104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.006559995 meters 0.01621173925081095 Centerline is valid? [True, True] Translation: X:208.75, Y:-99.54, Z:-5.00 [[-9.44255811e-01 -3.29126441e-01 7.53323739e-03 2.08753713e+02] [ 3.29117702e-01 -9.44285838e-01 -2.40728258e-03 -9.95390357e+01] [ 7.90582973e-03 2.06231207e-04 9.99968727e-01 -4.99997036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0665599949999 meters 0.01650045634791554 Centerline is valid? [True, True] Translation: X:208.54, Y:-100.19, Z:-4.05 [[-9.77662376e-01 2.10091104e-01 6.16494925e-03 2.08538676e+02] [ 2.10085863e-01 9.77681799e-01 -1.49311216e-03 -1.00189379e+02] [-6.34104826e-03 -1.64590899e-04 -9.99979882e-01 -4.04631254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.126559995 meters 0.016076576987710898 Centerline is valid? [True, True] Translation: X:208.55, Y:-100.16, Z:-4.05 [[-9.90108825e-01 1.40174550e-01 5.96745687e-03 2.08546842e+02] [ 1.40171043e-01 9.90126795e-01 -1.00411479e-03 -1.00164658e+02] [-6.04929029e-03 -1.57718260e-04 -9.99981690e-01 -4.04694416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1865599949999 meters 0.017135501173181404 Centerline is valid? [True, True] Translation: X:208.55, Y:-100.14, Z:-4.05 [[-9.97572262e-01 6.93358894e-02 6.48976974e-03 2.08546817e+02] [ 6.93333034e-02 9.97593357e-01 -6.22885546e-04 -1.00135473e+02] [-6.51733951e-03 -1.71416169e-04 -9.99978747e-01 -4.04620831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.246559995 meters 0.016929790233613802 Centerline is valid? [True, True] Translation: X:208.54, Y:-100.11, Z:-4.05 [[-9.99979513e-01 -1.85761640e-03 6.12564050e-03 2.08541812e+02] [-1.85857788e-03 9.99998261e-01 -1.51270873e-04 -1.00108137e+02] [-6.12534884e-03 -1.62652754e-04 -9.99981227e-01 -4.04641411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3065599949999 meters 0.01612278861723328 Centerline is valid? [True, True] Translation: X:208.54, Y:-100.08, Z:-4.05 [[-9.97369244e-01 -7.21850092e-02 6.62688748e-03 2.08542861e+02] [-7.21845573e-02 9.97391245e-01 3.07650760e-04 -1.00081782e+02] [-6.63180732e-03 -1.71517533e-04 -9.99977995e-01 -4.04626349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.366559995 meters 0.018440763082601532 Centerline is valid? [True, True] Translation: X:208.54, Y:-100.05, Z:-4.05 [[-9.89765514e-01 -1.42536316e-01 6.90113645e-03 2.08537422e+02] [-1.42534096e-01 9.89789557e-01 8.15048881e-04 -1.00050750e+02] [-6.94684686e-03 -1.76939968e-04 -9.99975855e-01 -4.04506740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4265599949999 meters 0.01856744957123675 Centerline is valid? [True, True] Translation: X:208.46, Y:-99.39, Z:-5.00 [[-9.99673717e-01 2.45883650e-02 6.91899149e-03 2.08461959e+02] [-2.45865644e-02 -9.99697645e-01 3.45198698e-04 -9.93856439e+01] [ 6.92538737e-03 1.74971836e-04 9.99976004e-01 -4.99977392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.486559995 meters 0.015963166748659083 Centerline is valid? [True, True] Translation: X:208.46, Y:-100.06, Z:-4.05 [[-9.88911344e-01 -1.48360821e-01 6.58939781e-03 2.08460709e+02] [-1.48358698e-01 9.88933282e-01 8.12443305e-04 -1.00062231e+02] [-6.63700956e-03 -1.74160080e-04 -9.99977960e-01 -4.04670701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5465599949999 meters 0.016898557615309732 Centerline is valid? [True, True] Translation: X:208.38, Y:-99.40, Z:-5.00 [[-9.99594679e-01 2.77332809e-02 6.42978988e-03 2.08379161e+02] [-2.77317069e-02 -9.99615347e-01 3.33842595e-04 -9.93965658e+01] [ 6.43657519e-03 1.55398234e-04 9.99979273e-01 -4.99854523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.606559995 meters 0.018102541152402014 Centerline is valid? [True, True] Translation: X:208.38, Y:-100.06, Z:-4.05 [[-9.87645147e-01 -1.56599788e-01 5.79402762e-03 2.08384332e+02] [-1.56598111e-01 9.87662127e-01 7.44838535e-04 -1.00062815e+02] [-5.83918320e-03 -1.71697613e-04 -9.99982937e-01 -4.04614599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.666559995 meters 0.018026785920819688 Centerline is valid? [True, True] Translation: X:208.30, Y:-99.41, Z:-5.00 [[-9.99560147e-01 2.90724787e-02 5.85686856e-03 2.08299039e+02] [-2.90709584e-02 -9.99577291e-01 3.44570968e-04 -9.94122839e+01] [ 5.86441034e-03 1.74154626e-04 9.99982789e-01 -4.99880601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.726559995 meters 0.01970470424438916 Centerline is valid? [True, True] Translation: X:208.31, Y:-100.06, Z:-4.05 [[-9.85986048e-01 -1.66723819e-01 5.88910513e-03 2.08307926e+02] [-1.66722098e-01 9.86003613e-01 7.85502102e-04 -1.00064903e+02] [-5.93764085e-03 -2.07349850e-04 -9.99982351e-01 -4.04546499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.786559995 meters 0.021195243394998127 Centerline is valid? [True, True] Translation: X:208.23, Y:-99.43, Z:-5.00 [[-9.99589764e-01 2.79323264e-02 6.33161471e-03 2.08229224e+02] [-2.79301866e-02 -9.99609785e-01 4.26143432e-04 -9.94328207e+01] [ 6.34104720e-03 2.49125433e-04 9.99979864e-01 -4.99947501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.846559995 meters 0.02150004957497318 Centerline is valid? [True, True] Translation: X:208.24, Y:-100.07, Z:-4.05 [[-9.84731396e-01 -1.73973878e-01 6.09650358e-03 2.08241630e+02] [-1.73971989e-01 9.84750241e-01 8.42845282e-04 -1.00066612e+02] [-6.15016643e-03 -2.30644641e-04 -9.99981061e-01 -4.04542765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.906559995 meters 0.02107105468442698 Centerline is valid? [True, True] Translation: X:208.23, Y:-100.04, Z:-4.05 [[-9.69889908e-01 -2.43474401e-01 5.81225494e-03 2.08229167e+02] [-2.43471395e-01 9.69907298e-01 1.23010332e-03 -1.00039421e+02] [-5.93684715e-03 -2.22053026e-04 -9.99982352e-01 -4.04549375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.966559995 meters 0.021416743140512187 Centerline is valid? [True, True] Translation: X:208.10, Y:-99.43, Z:-5.00 [[-9.94563076e-01 1.03981760e-01 5.66401623e-03 2.08101281e+02] [-1.03978932e-01 -9.94579184e-01 7.92314404e-04 -9.94326302e+01] [ 5.71569889e-03 1.99068291e-04 9.99983645e-01 -4.99931943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.026559995 meters 0.021544666808046106 Centerline is valid? [True, True] Translation: X:208.15, Y:-100.05, Z:-4.05 [[-9.68842392e-01 -2.47619642e-01 5.37885376e-03 2.08145223e+02] [-2.47616953e-01 9.68857303e-01 1.17083434e-03 -1.00051671e+02] [-5.50126332e-03 -1.97541433e-04 -9.99984848e-01 -4.04549228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0865599949999 meters 0.020452909775108385 Centerline is valid? [True, True] Translation: X:208.13, Y:-100.03, Z:-4.05 [[-9.48603201e-01 -3.16426482e-01 5.12334679e-03 2.08126894e+02] [-3.16422964e-01 9.48617016e-01 1.50469417e-03 -1.00028112e+02] [-5.33621903e-03 -1.93786875e-04 -9.99985744e-01 -4.04582261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.146559995 meters 0.02145165006855882 Centerline is valid? [True, True] Translation: X:208.10, Y:-100.01, Z:-4.05 [[-9.23173221e-01 -3.84340843e-01 5.77233282e-03 2.08100404e+02] [-3.84334871e-01 9.23191239e-01 2.15473853e-03 -1.00005070e+02] [-6.15712111e-03 -2.29311886e-04 -9.99981018e-01 -4.04507646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2065599949999 meters 0.023445468480817355 Centerline is valid? [True, True] Translation: X:208.06, Y:-99.98, Z:-4.04 [[-8.92008808e-01 -4.51969816e-01 6.60093574e-03 2.08064305e+02] [-4.51959809e-01 8.92033185e-01 3.02128130e-03 -9.99847831e+01] [-7.25378168e-03 -2.88348123e-04 -9.99973649e-01 -4.04370686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.266559995 meters 0.024918474687715988 Centerline is valid? [True, True] Translation: X:208.01, Y:-99.97, Z:-4.04 [[-8.55814387e-01 -5.17230705e-01 7.35755018e-03 2.08014973e+02] [-5.17215078e-01 8.55845941e-01 4.03600203e-03 -9.99748071e+01] [-8.38447363e-03 -3.51367281e-04 -9.99964788e-01 -4.04299331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3265599949999 meters 0.023889107723179273 Centerline is valid? [True, True] Translation: X:207.95, Y:-99.98, Z:-4.04 [[-8.13931365e-01 -5.80917967e-01 7.07453173e-03 2.07951955e+02] [-5.80899969e-01 8.13962023e-01 4.58812329e-03 -9.99783556e+01] [-8.42372341e-03 -3.75177815e-04 -9.99964449e-01 -4.04347068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.386559995 meters 0.023040670286450363 Centerline is valid? [True, True] Translation: X:207.88, Y:-99.99, Z:-4.04 [[-7.68507786e-01 -6.39806918e-01 6.54906791e-03 2.07884821e+02] [-6.39787726e-01 7.68535601e-01 4.96949914e-03 -9.99921732e+01] [-8.21271177e-03 -3.70914478e-04 -9.99966206e-01 -4.04398306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4465599949999 meters 0.02392149317486118 Centerline is valid? [True, True] Translation: X:207.81, Y:-100.01, Z:-4.04 [[-7.19990537e-01 -6.93962055e-01 5.50385411e-03 2.07812849e+02] [-6.93945115e-01 7.20011502e-01 4.85938799e-03 -1.00012743e+02] [-7.33506914e-03 -3.20659305e-04 -9.99973047e-01 -4.04427144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.506559995 meters 0.022877104392046536 Centerline is valid? [True, True] Translation: X:207.74, Y:-100.05, Z:-4.04 [[-6.67736367e-01 -7.44385619e-01 4.26550667e-03 2.07738358e+02] [-7.44372821e-01 6.67749942e-01 4.37242820e-03 -1.00047100e+02] [-6.10306450e-03 -2.55497920e-04 -9.99981344e-01 -4.04495090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5665599949999 meters 0.020831978407672976 Centerline is valid? [True, True] Translation: X:207.67, Y:-100.09, Z:-4.05 [[-6.13071835e-01 -7.90018629e-01 3.67299321e-03 2.07666307e+02] [-7.90006527e-01 6.13082799e-01 4.37821840e-03 -1.00088992e+02] [-5.71072305e-03 -2.17526220e-04 -9.99983670e-01 -4.04501882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.626559995 meters 0.020366193300749718 Centerline is valid? [True, True] Translation: X:207.59, Y:-100.14, Z:-4.04 [[-5.54586059e-01 -8.32117557e-01 3.83059562e-03 2.07592481e+02] [-8.32100493e-01 5.54599241e-01 5.33391083e-03 -1.00140207e+02] [-6.56288627e-03 -2.29327916e-04 -9.99978438e-01 -4.04409913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6865599949999 meters 0.017686698629397958 Centerline is valid? [True, True] Translation: X:207.52, Y:-100.20, Z:-4.04 [[-4.96858106e-01 -8.67823347e-01 3.82884736e-03 2.07524216e+02] [-8.67800617e-01 4.96872818e-01 6.28418646e-03 -1.00200710e+02] [-7.35601391e-03 -2.00327117e-04 -9.99972924e-01 -4.04306034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.746559995 meters 0.013692950189499108 Centerline is valid? [True, True] Translation: X:207.46, Y:-100.27, Z:-4.04 [[-4.39574437e-01 -8.98201491e-01 2.89761973e-03 2.07461395e+02] [-8.98183505e-01 4.39583975e-01 5.68511624e-03 -1.00273681e+02] [-6.38012708e-03 -1.03562474e-04 -9.99979641e-01 -4.04344323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8065599949999 meters 0.012281214406202614 Centerline is valid? [True, True] Translation: X:207.40, Y:-100.35, Z:-4.04 [[-3.77775222e-01 -9.25894458e-01 2.30952261e-03 2.07400258e+02] [-9.25877920e-01 3.77782278e-01 5.53414617e-03 -1.00354049e+02] [-5.99653198e-03 -4.76726887e-05 -9.99982020e-01 -4.04347390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.866559995 meters 0.01215803460805679 Centerline is valid? [True, True] Translation: X:207.35, Y:-100.44, Z:-4.04 [[-3.18730084e-01 -9.47843709e-01 1.85409484e-03 2.07346700e+02] [-9.47827094e-01 3.18735475e-01 5.61213216e-03 -1.00442018e+02] [-5.91038996e-03 3.13940320e-05 -9.99982533e-01 -4.04317966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9265599949999 meters 0.013220484523490296 Centerline is valid? [True, True] Translation: X:207.29, Y:-100.54, Z:-4.04 [[-2.52514152e-01 -9.67592215e-01 1.38179021e-03 2.07294852e+02] [-9.67576121e-01 2.52517922e-01 5.58115479e-03 -1.00537049e+02] [-5.74920872e-03 7.23333552e-05 -9.99983471e-01 -4.04262995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.986559995 meters 0.014523541657811598 Centerline is valid? [True, True] Translation: X:207.25, Y:-100.64, Z:-4.04 [[-1.83891621e-01 -9.82946029e-01 9.88240577e-04 2.07247223e+02] [-9.82928379e-01 1.83894243e-01 5.89148319e-03 -1.00639192e+02] [-5.97274176e-03 1.12024688e-04 -9.99982157e-01 -4.04196941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0465599949999 meters 0.015094312489362768 Centerline is valid? [True, True] Translation: X:207.20, Y:-100.75, Z:-4.04 [[-1.10275970e-01 -9.93900879e-01 5.03191524e-04 2.07204014e+02] [-9.93885147e-01 1.10277056e-01 5.59328459e-03 -1.00745512e+02] [-5.61466095e-03 1.16690299e-04 -9.99984231e-01 -4.04224476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.106559995 meters 0.014466591336093172 Centerline is valid? [True, True] Translation: X:207.17, Y:-100.86, Z:-4.04 [[-3.34348285e-02 -9.99440898e-01 6.72082036e-05 2.07166872e+02] [-9.99427962e-01 3.34347378e-02 5.08601678e-03 -1.00858502e+02] [-5.08542027e-03 1.02880341e-04 -9.99987064e-01 -4.04279967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.166559995 meters 0.014161910704208188 Centerline is valid? [True, True] Translation: X:207.14, Y:-100.98, Z:-4.04 [[ 4.54584729e-02 -9.98966179e-01 -3.17733399e-04 2.07137792e+02] [-9.98953589e-01 -4.54594955e-02 5.01600842e-03 -1.00976142e+02] [-5.02526676e-03 8.93808364e-05 -9.99987369e-01 -4.04208698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.226559995 meters 0.01359074362693214 Centerline is valid? [True, True] Translation: X:207.12, Y:-101.09, Z:-4.04 [[ 1.24991016e-01 -9.92157561e-01 -7.87084026e-04 2.07117282e+02] [-9.92141748e-01 -1.24993469e-01 5.60227742e-03 -1.01093283e+02] [-5.65672227e-03 8.06645710e-05 -9.99983997e-01 -4.04101442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.286559995 meters 0.013211727122005558 Centerline is valid? [True, True] Translation: X:207.11, Y:-101.21, Z:-4.04 [[ 2.02003814e-01 -9.79384069e-01 -1.14218710e-03 2.07108460e+02] [-9.79370241e-01 -2.02007032e-01 5.20473792e-03 -1.01211805e+02] [-5.32816723e-03 6.72471461e-05 -9.99985803e-01 -4.04123572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.346559995 meters 0.012381087382340707 Centerline is valid? [True, True] Translation: X:207.10, Y:-101.33, Z:-4.04 [[ 2.81241812e-01 -9.59636183e-01 -1.19966110e-03 2.07102846e+02] [-9.59627905e-01 -2.81244369e-01 3.98605720e-03 -1.01328322e+02] [-4.16256265e-03 3.01823210e-05 -9.99991336e-01 -4.04154616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.406559995 meters 0.012085851058641841 Centerline is valid? [True, True] Translation: X:207.11, Y:-101.45, Z:-4.04 [[ 3.56105073e-01 -9.34444607e-01 -1.56648840e-03 2.07109887e+02] [-9.34435804e-01 -3.56108518e-01 4.05599578e-03 -1.01445891e+02] [-4.34794324e-03 1.94221718e-05 -9.99990547e-01 -4.04108141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.466559995 meters 0.012042253009485984 Centerline is valid? [True, True] Translation: X:207.13, Y:-101.56, Z:-4.04 [[ 4.28487589e-01 -9.03545562e-01 -1.94997887e-03 2.07125164e+02] [-9.03536298e-01 -4.28492026e-01 4.09175132e-03 -1.01557889e+02] [-4.53263414e-03 8.61203463e-06 -9.99989728e-01 -4.04012166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.526559995 meters 0.01213281225161699 Centerline is valid? [True, True] Translation: X:207.15, Y:-101.67, Z:-4.04 [[ 4.99065472e-01 -8.66561962e-01 -2.00507228e-03 2.07148160e+02] [-8.66554909e-01 -4.99069500e-01 3.49620105e-03 -1.01671061e+02] [-4.03034526e-03 -7.32799891e-06 -9.99991878e-01 -4.03982976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5865599949999 meters 0.012233113970702827 Centerline is valid? [True, True] Translation: X:207.18, Y:-101.78, Z:-4.04 [[ 5.65954486e-01 -8.24433459e-01 -2.23397865e-03 2.07178163e+02] [-8.24426899e-01 -5.65958895e-01 3.28907242e-03 -1.01776520e+02] [-3.97596144e-03 -1.97132024e-05 -9.99992096e-01 -4.04049526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.646559995 meters 0.012353346957196927 Centerline is valid? [True, True] Translation: X:207.22, Y:-101.88, Z:-4.04 [[ 6.27985322e-01 -7.78221242e-01 -2.47678635e-03 2.07217124e+02] [-7.78215025e-01 -6.27990206e-01 3.11066616e-03 -1.01876683e+02] [-3.97618405e-03 -2.59803420e-05 -9.99992095e-01 -4.04070557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7065599949999 meters 0.012703680399792706 Centerline is valid? [True, True] Translation: X:207.26, Y:-101.97, Z:-4.04 [[ 6.86951092e-01 -7.26697826e-01 -2.90970134e-03 2.07261323e+02] [-7.26691065e-01 -6.86957253e-01 3.13511555e-03 -1.01971673e+02] [-4.27712209e-03 -3.92170873e-05 -9.99990852e-01 -4.04116096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.766559995 meters 0.01330050449222957 Centerline is valid? [True, True] Translation: X:207.31, Y:-102.06, Z:-4.04 [[ 7.41980872e-01 -6.70407215e-01 -4.30725407e-03 2.07313591e+02] [-6.70395343e-01 -7.41993370e-01 3.99028010e-03 -1.02063782e+02] [-5.87106653e-03 -7.31484387e-05 -9.99982762e-01 -4.03902613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8265599949999 meters 0.014060723221898112 Centerline is valid? [True, True] Translation: X:207.34, Y:-102.09, Z:-4.04 [[ 7.93481411e-01 -6.08576929e-01 -4.62290490e-03 2.07338840e+02] [-6.08565962e-01 -7.93494873e-01 3.65463427e-03 -1.02092637e+02] [-5.89237744e-03 -8.65417907e-05 -9.99982636e-01 -4.03885066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.886559995 meters 0.014530070938971363 Centerline is valid? [True, True] Translation: X:207.37, Y:-102.12, Z:-4.04 [[ 8.39708264e-01 -5.43020888e-01 -4.28333116e-03 2.07369146e+02] [-5.43013299e-01 -8.39719184e-01 2.87219067e-03 -1.02117048e+02] [-5.15645488e-03 -8.58964579e-05 -9.99986702e-01 -4.03996945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9465599949999 meters 0.01432828435266629 Centerline is valid? [True, True] Translation: X:207.40, Y:-102.14, Z:-4.04 [[ 8.79431575e-01 -4.76006657e-01 -4.21514543e-03 2.07401602e+02] [-4.76000757e-01 -8.79441673e-01 2.37137416e-03 -1.02139635e+02] [-4.83576444e-03 -7.90488976e-05 -9.99988305e-01 -4.04038747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.006559995 meters 0.014112159689805429 Centerline is valid? [True, True] Translation: X:207.44, Y:-102.16, Z:-4.04 [[ 9.13214056e-01 -4.07465717e-01 -3.43195775e-03 2.07436002e+02] [-4.07462613e-01 -9.13220503e-01 1.59142090e-03 -1.02155997e+02] [-3.78258364e-03 -5.49134664e-05 -9.99992845e-01 -4.04077208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0665599949999 meters 0.012650177999799918 Centerline is valid? [True, True] Translation: X:207.47, Y:-102.17, Z:-4.04 [[ 9.40835971e-01 -3.38841377e-01 -3.76793367e-03 2.07471027e+02] [-3.38838484e-01 -9.40843515e-01 1.40068806e-03 -1.02172308e+02] [-4.01964702e-03 -4.10967767e-05 -9.99991920e-01 -4.04068603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.126559995 meters 0.012182222942827668 Centerline is valid? [True, True] Translation: X:207.51, Y:-102.19, Z:-4.04 [[ 9.63246139e-01 -2.68571029e-01 -5.14575688e-03 2.07506209e+02] [-2.68567025e-01 -9.63259883e-01 1.46671812e-03 -1.02186881e+02] [-5.35061917e-03 -3.08299458e-05 -9.99985685e-01 -4.03952004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1865599949999 meters 0.011953905846194301 Centerline is valid? [True, True] Translation: X:207.54, Y:-102.20, Z:-4.04 [[ 9.80185493e-01 -1.97979104e-01 -6.37762807e-03 2.07543072e+02] [-1.97974908e-01 -9.80206241e-01 1.28896960e-03 -1.02195970e+02] [-6.50657988e-03 -8.18976490e-07 -9.99978832e-01 -4.03918588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.246559995 meters 0.012633846447499646 Centerline is valid? [True, True] Translation: X:207.58, Y:-102.20, Z:-4.04 [[ 9.91553060e-01 -1.29548749e-01 -6.29693255e-03 2.07577124e+02] [-1.29546497e-01 -9.91573053e-01 7.65894572e-04 -1.02198957e+02] [-6.34308931e-03 5.63204470e-05 -9.99979881e-01 -4.04027327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3065599949999 meters 0.013574002955376203 Centerline is valid? [True, True] Translation: X:207.61, Y:-102.20, Z:-4.04 [[ 9.98256544e-01 -5.87573095e-02 -5.60807608e-03 2.07609102e+02] [-5.87568923e-02 -9.98272293e-01 2.39277374e-04 -1.02203770e+02] [-5.61244627e-03 9.06529179e-05 -9.99984246e-01 -4.04147530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.366559995 meters 0.014454077133215481 Centerline is valid? [True, True] Translation: X:207.64, Y:-102.21, Z:-4.04 [[ 9.99840584e-01 1.67384685e-02 -6.21529451e-03 2.07641279e+02] [ 1.67374104e-02 -9.99859895e-01 -2.22225907e-04 -1.02208675e+02] [-6.21814343e-03 1.18162546e-04 -9.99980660e-01 -4.04138713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4265599949999 meters 0.014860319360915796 Centerline is valid? [True, True] Translation: X:207.67, Y:-102.21, Z:-4.04 [[ 9.95492439e-01 9.45868384e-02 -6.93786844e-03 2.07673020e+02] [ 9.45835928e-02 -9.95516605e-01 -7.95175784e-04 -1.02209913e+02] [-6.98197640e-03 1.35382957e-04 -9.99975617e-01 -4.04174348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.486559995 meters 0.01433456721826435 Centerline is valid? [True, True] Translation: X:207.71, Y:-102.21, Z:-4.04 [[ 9.84732397e-01 1.73934604e-01 -6.98993955e-03 2.07705169e+02] [ 1.73929313e-01 -9.84757197e-01 -1.36250129e-03 -1.02213687e+02] [-7.12037940e-03 1.25943779e-04 -9.99974642e-01 -4.04262416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5465599949999 meters 0.01317404172083791 Centerline is valid? [True, True] Translation: X:207.74, Y:-102.22, Z:-4.04 [[ 9.66627513e-01 2.56085950e-01 -7.15802626e-03 2.07738455e+02] [ 2.56078250e-01 -9.66654012e-01 -1.98775490e-03 -1.02218814e+02] [-7.42837091e-03 8.84037375e-05 -9.99972405e-01 -4.04364997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.606559995 meters 0.012174061725779756 Centerline is valid? [True, True] Translation: X:207.77, Y:-102.22, Z:-4.04 [[ 9.40273752e-01 3.40350905e-01 -6.82145618e-03 2.07772120e+02] [ 3.40341839e-01 -9.40298496e-01 -2.48418994e-03 -1.02221468e+02] [-7.25970128e-03 1.41916535e-05 -9.99973648e-01 -4.04388698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.666559995 meters 0.01240193471613741 Centerline is valid? [True, True] Translation: X:207.81, Y:-102.22, Z:-4.04 [[ 9.07229673e-01 4.20574973e-01 -7.14232530e-03 2.07807130e+02] [ 4.20562381e-01 -9.07257785e-01 -3.25494059e-03 -1.02222220e+02] [-7.84887678e-03 -5.08146434e-05 -9.99969196e-01 -4.04392314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.726559995 meters 0.01266205552984705 Centerline is valid? [True, True] Translation: X:207.84, Y:-102.22, Z:-4.04 [[ 8.70084933e-01 4.92848240e-01 -7.26782723e-03 2.07840697e+02] [ 4.92831791e-01 -8.70115283e-01 -4.02733307e-03 -1.02216866e+02] [-8.30871157e-03 -7.76944841e-05 -9.99965479e-01 -4.04349077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.786559995 meters 0.013724076487356152 Centerline is valid? [True, True] Translation: X:207.87, Y:-102.21, Z:-4.04 [[ 8.25610589e-01 5.64177118e-01 -8.44598835e-03 2.07874031e+02] [ 5.64149477e-01 -8.25653775e-01 -5.58670532e-03 -1.02208915e+02] [-1.01253535e-02 -1.52356837e-04 -9.99948726e-01 -4.04261283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.846559995 meters 0.015283124144762503 Centerline is valid? [True, True] Translation: X:207.91, Y:-102.20, Z:-4.04 [[ 7.73850823e-01 6.33305483e-01 -8.89205367e-03 2.07907366e+02] [ 6.33267501e-01 -7.73901866e-01 -6.94082153e-03 -1.02199671e+02] [-1.12772373e-02 -2.59888153e-04 -9.99936376e-01 -4.04263850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.906559995 meters 0.016929170384259756 Centerline is valid? [True, True] Translation: X:207.94, Y:-102.19, Z:-4.04 [[ 7.19126819e-01 6.94827655e-01 -8.43499849e-03 2.07938167e+02] [ 6.94784836e-01 -7.19176220e-01 -7.71985093e-03 -1.02186220e+02] [-1.14302162e-02 -3.08957202e-04 -9.99934625e-01 -4.04278112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.966559995 meters 0.01708369874334801 Centerline is valid? [True, True] Translation: X:207.97, Y:-102.17, Z:-4.04 [[ 6.61151827e-01 7.50211038e-01 -7.85234524e-03 2.07966076e+02] [ 7.50164003e-01 -6.61198372e-01 -8.40718063e-03 -1.02167458e+02] [-1.14991176e-02 -3.32123904e-04 -9.99933828e-01 -4.04352074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.026559995 meters 0.016670086219871046 Centerline is valid? [True, True] Translation: X:207.99, Y:-102.15, Z:-4.04 [[ 6.01579948e-01 7.98776310e-01 -7.61393578e-03 2.07991054e+02] [ 7.98719249e-01 -6.01628036e-01 -9.55337677e-03 -1.02146329e+02] [-1.22117683e-02 -3.34277172e-04 -9.99925378e-01 -4.04409973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0865599949999 meters 0.016031765991205763 Centerline is valid? [True, True] Translation: X:208.01, Y:-102.12, Z:-4.04 [[ 5.40316502e-01 8.41428344e-01 -7.51133486e-03 2.08010477e+02] [ 8.41355063e-01 -5.40368617e-01 -1.11092833e-02 -1.02121664e+02] [-1.34065555e-02 -3.17170514e-04 -9.99910078e-01 -4.04342227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.146559995 meters 0.014854316009408824 Centerline is valid? [True, True] Translation: X:208.03, Y:-102.09, Z:-4.04 [[ 4.76295486e-01 8.79257185e-01 -7.02940544e-03 2.08026483e+02] [ 8.79169963e-01 -4.76347273e-01 -1.23875585e-02 -1.02094757e+02] [-1.42402879e-02 -2.79903933e-04 -9.99898563e-01 -4.04362551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2065599949999 meters 0.014017178726629843 Centerline is valid? [True, True] Translation: X:208.05, Y:-102.07, Z:-4.04 [[ 4.07261541e-01 9.13289170e-01 -6.39764350e-03 2.08046099e+02] [ 9.13186935e-01 -4.07311694e-01 -1.36676879e-02 -1.02070052e+02] [-1.50883864e-02 -2.75920800e-04 -9.99886126e-01 -4.04431794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.266559995 meters 0.013849587378319324 Centerline is valid? [True, True] Translation: X:208.06, Y:-102.04, Z:-4.04 [[ 3.37001459e-01 9.41487631e-01 -5.57291151e-03 2.08061500e+02] [ 9.41370782e-01 -3.37047445e-01 -1.48347718e-02 -1.02044325e+02] [-1.58450898e-02 -2.46836314e-04 -9.99874428e-01 -4.04322533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3265599949999 meters 0.013800131010336118 Centerline is valid? [True, True] Translation: X:208.07, Y:-102.02, Z:-4.04 [[ 2.65001731e-01 9.64237893e-01 -4.40090946e-03 2.08069105e+02] [ 9.64117291e-01 -2.65038195e-01 -1.52513393e-02 -1.02016123e+02] [-1.58723283e-02 -2.01361603e-04 -9.99874006e-01 -4.04251958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.386559995 meters 0.013211530264961907 Centerline is valid? [True, True] Translation: X:208.08, Y:-101.99, Z:-4.05 [[ 1.88284569e-01 9.82110100e-01 -2.94498083e-03 2.08077140e+02] [ 9.82005412e-01 -1.88307501e-01 -1.43406787e-02 -1.01988069e+02] [-1.46386873e-02 -1.91858610e-04 -9.99892830e-01 -4.04615727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4465599949999 meters 0.013386592974557066 Centerline is valid? [True, True] Translation: X:208.09, Y:-101.96, Z:-4.05 [[ 1.08564635e-01 9.94087963e-01 -1.68599572e-03 2.08089049e+02] [ 9.93996095e-01 -1.08577525e-01 -1.35160771e-02 -1.01960876e+02] [-1.36192308e-02 -2.08505187e-04 -9.99907232e-01 -4.04717760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.506559995 meters 0.01473969930479182 Centerline is valid? [True, True] Translation: X:208.10, Y:-101.93, Z:-4.05 [[ 2.48544507e-02 9.99690888e-01 -6.19918513e-04 2.08100930e+02] [ 9.99598898e-01 -2.48605751e-02 -1.35644447e-02 -1.01932631e+02] [-1.35756633e-02 -2.82533039e-04 -9.99907807e-01 -4.04682905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5665599949999 meters 0.016212923919292 Centerline is valid? [True, True] Translation: X:208.11, Y:-101.90, Z:-4.05 [[-5.80742006e-02 9.98312162e-01 4.63311130e-04 2.08110162e+02] [ 9.98212116e-01 5.80749419e-02 -1.41376218e-02 -1.01904117e+02] [-1.41406666e-02 -3.58548302e-04 -9.99899952e-01 -4.04622445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.626559995 meters 0.017937620213067842 Centerline is valid? [True, True] Translation: X:208.12, Y:-101.87, Z:-4.05 [[-1.41217174e-01 9.89977266e-01 1.64990242e-03 2.08117498e+02] [ 9.89867040e-01 1.41226082e-01 -1.47795937e-02 -1.01873987e+02] [-1.48644711e-02 -4.53948428e-04 -9.99889415e-01 -4.04531684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6865599949999 meters 0.018505201192750995 Centerline is valid? [True, True] Translation: X:208.12, Y:-101.84, Z:-4.05 [[-2.20096961e-01 9.75474272e-01 2.69688877e-03 2.08118985e+02] [ 9.75373177e-01 2.20112998e-01 -1.40511288e-02 -1.01844279e+02] [-1.43001349e-02 -4.62137788e-04 -9.99897641e-01 -4.04585910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.746559995 meters 0.01857953302386193 Centerline is valid? [True, True] Translation: X:208.12, Y:-101.81, Z:-4.05 [[-2.96667773e-01 9.54973855e-01 3.62884473e-03 2.08117943e+02] [ 9.54882569e-01 2.96689618e-01 -1.32117289e-02 -1.01814669e+02] [-1.36934963e-02 -4.54373617e-04 -9.99906136e-01 -4.04639266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8065599949999 meters 0.0170460526592516 Centerline is valid? [True, True] Translation: X:208.11, Y:-101.79, Z:-4.05 [[-3.69385162e-01 9.29265516e-01 4.49477930e-03 2.08114865e+02] [ 9.29182220e-01 3.69412267e-01 -1.24490918e-02 -1.01785753e+02] [-1.32289383e-02 -4.22040771e-04 -9.99912405e-01 -4.04706757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.866559995 meters 0.01844522030086563 Centerline is valid? [True, True] Translation: X:208.11, Y:-101.76, Z:-4.05 [[-4.42190213e-01 8.96904592e-01 5.47433307e-03 2.08113957e+02] [ 8.96823108e-01 4.42223879e-01 -1.20977078e-02 -1.01756802e+02] [-1.32713705e-02 -4.39979576e-04 -9.99911835e-01 -4.04645294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9265599949999 meters 0.018452693798224284 Centerline is valid? [True, True] Translation: X:208.11, Y:-101.73, Z:-4.05 [[-5.11865436e-01 8.59042731e-01 6.27390027e-03 2.08108188e+02] [ 8.58967287e-01 5.11903692e-01 -1.13934270e-02 -1.01727933e+02] [-1.29990733e-02 -4.42826375e-04 -9.99915410e-01 -4.04603994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.986559995 meters 0.019311006634534552 Centerline is valid? [True, True] Translation: X:208.10, Y:-101.70, Z:-4.05 [[-5.78272268e-01 8.15816883e-01 6.63312834e-03 2.08100287e+02] [ 8.15754655e-01 5.78310156e-01 -1.00849234e-02 -1.01699676e+02] [-1.20634563e-02 -4.20826221e-04 -9.99927145e-01 -4.04588642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0465599949999 meters 0.018958412354232273 Centerline is valid? [True, True] Translation: X:208.09, Y:-101.67, Z:-4.05 [[-6.40095782e-01 7.68262202e-01 7.11193286e-03 2.08089091e+02] [ 7.68207704e-01 6.40135165e-01 -9.15934204e-03 -1.01672309e+02] [-1.15893746e-02 -3.99414586e-04 -9.99932761e-01 -4.04616403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.106559995 meters 0.020471444032327344 Centerline is valid? [True, True] Translation: X:208.08, Y:-101.65, Z:-4.05 [[-6.97559851e-01 7.16487278e-01 7.49900582e-03 2.08077457e+02] [ 7.16440048e-01 6.97600059e-01 -8.23496706e-03 -1.01645677e+02] [-1.11315560e-02 -3.71794303e-04 -9.99937973e-01 -4.04550499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.166559995 meters 0.01835109551931121 Centerline is valid? [True, True] Translation: X:208.06, Y:-101.62, Z:-4.05 [[-7.50983828e-01 6.60278878e-01 7.42250550e-03 2.08059913e+02] [ 6.60242204e-01 7.51020435e-01 -6.96697279e-03 -1.01621465e+02] [-1.01745983e-02 -3.31432503e-04 -9.99948183e-01 -4.04755398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.226559995 meters 0.01810800028020218 Centerline is valid? [True, True] Translation: X:208.08, Y:-101.60, Z:-4.05 [[-7.95007877e-01 6.06545358e-01 8.07498152e-03 2.08077011e+02] [ 6.06509864e-01 7.95048818e-01 -6.56974605e-03 -1.01601447e+02] [-1.04048535e-02 -3.25443910e-04 -9.99945815e-01 -4.04734886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.286559995 meters 0.01777609690053178 Centerline is valid? [True, True] Translation: X:208.10, Y:-101.58, Z:-4.05 [[-8.35793722e-01 5.48964800e-01 9.30066523e-03 2.08097018e+02] [ 5.48926066e-01 8.35845395e-01 -6.53068558e-03 -1.01583381e+02] [-1.13590347e-02 -3.52928432e-04 -9.99935422e-01 -4.04661301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.346559995 meters 0.018326210525835693 Centerline is valid? [True, True] Translation: X:208.11, Y:-101.56, Z:-4.05 [[-8.73185378e-01 4.87268545e-01 1.08009533e-02 2.08112200e+02] [ 4.87225438e-01 8.73252082e-01 -6.49417598e-03 -1.01559866e+02] [-1.25963626e-02 -4.08120334e-04 -9.99920579e-01 -4.04582069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.406559995 meters 0.018043038423373594 Centerline is valid? [True, True] Translation: X:208.13, Y:-101.54, Z:-4.05 [[-9.05795088e-01 4.23572005e-01 1.10460356e-02 2.08126306e+02] [ 4.23534932e-01 9.05862345e-01 -5.61907616e-03 -1.01536791e+02] [-1.23862711e-02 -4.11349627e-04 -9.99923203e-01 -4.04635197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.466559995 meters 0.018892236871416307 Centerline is valid? [True, True] Translation: X:208.44, Y:-100.93, Z:-5.00 [[-8.40595102e-01 -5.41580687e-01 9.49916718e-03 2.08435380e+02] [ 5.41549985e-01 -8.40648723e-01 -5.77400359e-03 -1.00933186e+02] [ 1.11125516e-02 2.90674711e-04 9.99938211e-01 -4.99804669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.526559995 meters 0.019537288488439525 Centerline is valid? [True, True] Translation: X:208.08, Y:-101.51, Z:-4.05 [[-9.07918824e-01 4.19066040e-01 8.18917323e-03 2.08082396e+02] [ 4.19045823e-01 9.07955700e-01 -4.12844950e-03 -1.01509569e+02] [-9.16549950e-03 -3.16658180e-04 -9.99957946e-01 -4.04757080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5865599949999 meters 0.020082852001619047 Centerline is valid? [True, True] Translation: X:208.39, Y:-100.92, Z:-5.00 [[-8.42799600e-01 -5.38182713e-01 6.94275152e-03 2.08394123e+02] [ 5.38166545e-01 -8.42828168e-01 -4.17718356e-03 -1.00917706e+02] [ 8.09963453e-03 2.15827966e-04 9.99967174e-01 -4.99642658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.646559995 meters 0.017169743162342606 Centerline is valid? [True, True] Translation: X:208.38, Y:-100.94, Z:-4.99 [[-8.05351653e-01 -5.92770431e-01 5.65080096e-03 2.08378890e+02] [ 5.92757778e-01 -8.05371446e-01 -3.87957131e-03 -1.00939141e+02] [ 6.85068890e-03 2.25137053e-04 9.99976508e-01 -4.99473403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7065599949999 meters 0.01774640864975856 Centerline is valid? [True, True] Translation: X:208.00, Y:-101.50, Z:-4.05 [[-8.77100587e-01 4.80274290e-01 5.58263276e-03 2.08004045e+02] [ 4.80263155e-01 8.77118332e-01 -3.27617915e-03 -1.01496159e+02] [-6.47009415e-03 -1.92405833e-04 -9.99979050e-01 -4.04900351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.766559995 meters 0.015198610429478353 Centerline is valid? [True, True] Translation: X:208.02, Y:-101.48, Z:-4.05 [[-9.06208719e-01 4.22767602e-01 7.30158884e-03 2.08024307e+02] [ 4.22752178e-01 9.06238114e-01 -3.61630692e-03 -1.01479723e+02] [-8.14583550e-03 -1.90366276e-04 -9.99966804e-01 -4.04740726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8265599949999 meters 0.01293080233843345 Centerline is valid? [True, True] Translation: X:208.33, Y:-100.88, Z:-5.00 [[-8.57058673e-01 -5.15161532e-01 7.68286703e-03 2.08328888e+02] [ 5.15143331e-01 -8.57093074e-01 -4.33718198e-03 -1.00876569e+02] [ 8.81928144e-03 2.40558285e-04 9.99961080e-01 -4.99776269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.886559995 meters 0.012416646096187343 Centerline is valid? [True, True] Translation: X:207.99, Y:-101.47, Z:-4.05 [[-9.02091408e-01 4.31475359e-01 7.75275385e-03 2.07989789e+02] [ 4.31458587e-01 9.02124718e-01 -3.80542222e-03 -1.01471684e+02] [-8.63589680e-03 -8.78464699e-05 -9.99962706e-01 -4.04699191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9465599949999 meters 0.011587204890580346 Centerline is valid? [True, True] Translation: X:208.01, Y:-101.45, Z:-4.05 [[-9.26808829e-01 3.75453930e-01 7.72917841e-03 2.08005399e+02] [ 3.75440837e-01 9.26841058e-01 -3.13554767e-03 -1.01454045e+02] [-8.34097359e-03 -4.20405440e-06 -9.99965213e-01 -4.04778228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.006559995 meters 0.011708687712130487 Centerline is valid? [True, True] Translation: X:208.02, Y:-101.43, Z:-4.05 [[-9.49182646e-01 3.14655235e-01 6.66240882e-03 2.08015682e+02] [ 3.14647774e-01 9.49206027e-01 -2.16715620e-03 -1.01430135e+02] [-7.00590565e-03 3.92850511e-05 -9.99975458e-01 -4.04878072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0665599949999 meters 0.011922137177050639 Centerline is valid? [True, True] Translation: X:208.24, Y:-100.77, Z:-5.00 [[-9.30660003e-01 -3.65836611e-01 5.96095628e-03 2.08238469e+02] [ 3.65828620e-01 -9.30679090e-01 -2.41901405e-03 -1.00771874e+02] [ 6.43270127e-03 -7.05912125e-05 9.99979307e-01 -4.99610103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.126559995 meters 0.012092535796945955 Centerline is valid? [True, True] Translation: X:207.97, Y:-101.42, Z:-4.05 [[-9.49709190e-01 3.13071569e-01 6.21674885e-03 2.07973308e+02] [ 3.13065206e-01 9.49729535e-01 -1.99660089e-03 -1.01416377e+02] [-6.52930897e-03 5.00575476e-05 -9.99978683e-01 -4.04866445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1865599949999 meters 0.011934227983046468 Centerline is valid? [True, True] Translation: X:207.98, Y:-101.39, Z:-4.05 [[-9.69865517e-01 2.43551532e-01 6.59767339e-03 2.07984026e+02] [ 2.43546190e-01 9.69887957e-01 -1.61361576e-03 -1.01386726e+02] [-6.79200256e-03 4.18479366e-05 -9.99976933e-01 -4.04873338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.246559995 meters 0.011703144792513637 Centerline is valid? [True, True] Translation: X:207.98, Y:-101.35, Z:-4.05 [[-9.85102398e-01 1.71854623e-01 6.26534399e-03 2.07981602e+02] [ 1.71851301e-01 9.85122321e-01 -1.06873998e-03 -1.01354436e+02] [-6.35579812e-03 2.38891982e-05 -9.99979801e-01 -4.04891173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3065599949999 meters 0.011653067900802288 Centerline is valid? [True, True] Translation: X:208.10, Y:-100.69, Z:-5.00 [[-9.71751296e-01 -2.35938549e-01 5.69378298e-03 2.08095736e+02] [ 2.35934165e-01 -9.71767975e-01 -1.43928572e-03 -1.00693682e+02] [ 5.87261894e-03 -5.52698318e-05 9.99982755e-01 -4.99601713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.366559995 meters 0.012081583200387972 Centerline is valid? [True, True] Translation: X:207.93, Y:-101.33, Z:-4.05 [[-9.87645950e-01 1.56555663e-01 6.76771691e-03 2.07931580e+02] [ 1.56551612e-01 9.87669136e-01 -1.12763142e-03 -1.01332206e+02] [-6.86080220e-03 -5.42036167e-05 -9.99976463e-01 -4.04724324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4265599949999 meters 0.012780962352364764 Centerline is valid? [True, True] Translation: X:207.93, Y:-101.30, Z:-4.05 [[-9.96604770e-01 8.19816300e-02 7.61218493e-03 2.07930180e+02] [ 8.19785317e-02 9.96633836e-01 -7.18690972e-04 -1.01300937e+02] [-7.64548053e-03 -9.22151073e-05 -9.99970769e-01 -4.04573893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.486559995 meters 0.014043248995263205 Centerline is valid? [True, True] Translation: X:207.92, Y:-101.27, Z:-4.04 [[-9.99948044e-01 5.27286630e-03 8.72385133e-03 2.07919435e+02] [ 5.27130775e-03 9.99986086e-01 -2.01637731e-04 -1.01268536e+02] [-8.72479315e-03 -1.55641150e-04 -9.99961926e-01 -4.04470855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5465599949999 meters 0.017038401067862575 Centerline is valid? [True, True] Translation: X:207.94, Y:-100.64, Z:-5.00 [[-9.93636529e-01 -1.12290460e-01 8.79209523e-03 2.07937357e+02] [ 1.12287530e-01 -9.93675413e-01 -8.27801984e-04 -1.00643634e+02] [ 8.82944313e-03 1.64708364e-04 9.99961006e-01 -5.00159388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.606559995 meters 0.016268867226959124 Centerline is valid? [True, True] Translation: X:207.87, Y:-101.26, Z:-4.05 [[-9.99931036e-01 -7.89301604e-03 8.69613685e-03 2.07865947e+02] [-7.89475530e-03 9.99968822e-01 -1.65693115e-04 -1.01262640e+02] [-8.69455791e-03 -2.34335561e-04 -9.99962174e-01 -4.04531618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.666559995 meters 0.01772284955783645 Centerline is valid? [True, True] Translation: X:207.86, Y:-101.23, Z:-4.04 [[-9.96677915e-01 -8.09933348e-02 8.55649612e-03 2.07859208e+02] [-8.09924969e-02 9.96714612e-01 4.44955549e-04 -1.01233631e+02] [-8.56442314e-03 -2.49534617e-04 -9.99963294e-01 -4.04445532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.726559995 meters 0.017521958347555964 Centerline is valid? [True, True] Translation: X:207.85, Y:-101.21, Z:-4.04 [[-9.88202304e-01 -1.52920993e-01 8.44843083e-03 2.07852031e+02] [-1.52917641e-01 9.88238384e-01 1.04510808e-03 -1.01209167e+02] [-8.50888260e-03 -2.59135904e-04 -9.99963765e-01 -4.04480449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.786559995 meters 0.019522256000758638 Centerline is valid? [True, True] Translation: X:207.78, Y:-100.60, Z:-5.00 [[-9.99698093e-01 2.29624173e-02 8.74360550e-03 2.07775260e+02] [-2.29590609e-02 -9.99736289e-01 4.84056187e-04 -1.00596035e+02] [ 8.75241481e-03 2.83165075e-04 9.99961657e-01 -5.00102034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.846559995 meters 0.021360639931644738 Centerline is valid? [True, True] Translation: X:207.78, Y:-101.21, Z:-4.04 [[-9.86852079e-01 -1.61358423e-01 9.29701619e-03 2.07782434e+02] [-1.61354332e-01 9.86895818e-01 1.19335752e-03 -1.01214813e+02] [-9.36774468e-03 -3.22446486e-04 -9.99956070e-01 -4.04281647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.906559995 meters 0.019971497993086285 Centerline is valid? [True, True] Translation: X:207.77, Y:-101.19, Z:-4.04 [[-9.72176010e-01 -2.34091993e-01 8.64548434e-03 2.07766238e+02] [-2.34085742e-01 9.72214395e-01 1.74225883e-03 -1.01194692e+02] [-8.81311316e-03 -3.30002382e-04 -9.99961109e-01 -4.04416735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.966559995 meters 0.020903846250244728 Centerline is valid? [True, True] Translation: X:207.65, Y:-100.58, Z:-5.00 [[-9.95704372e-01 9.22233364e-02 8.22552129e-03 2.07645947e+02] [-9.22179118e-02 -9.95738310e-01 1.03715853e-03 -1.00584813e+02] [ 8.28611688e-03 2.74162890e-04 9.99965632e-01 -4.99972007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.026559995 meters 0.0218131947728448 Centerline is valid? [True, True] Translation: X:207.69, Y:-101.21, Z:-4.05 [[-9.70323709e-01 -2.41712911e-01 6.83870146e-03 2.07685761e+02] [-2.41708903e-01 9.70347769e-01 1.41898547e-03 -1.01210847e+02] [-6.97890581e-03 -2.76099788e-04 -9.99975609e-01 -4.04516359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0865599949999 meters 0.02081326336417015 Centerline is valid? [True, True] Translation: X:207.56, Y:-100.60, Z:-5.00 [[-9.95117821e-01 9.84903988e-02 6.33756146e-03 2.07559002e+02] [-9.84870294e-02 -9.95137978e-01 8.42322957e-04 -1.00597855e+02] [ 6.38970882e-03 2.14042983e-04 9.99979563e-01 -5.00013421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.146559995 meters 0.020648646835262095 Centerline is valid? [True, True] Translation: X:207.60, Y:-101.23, Z:-4.04 [[-9.69540605e-01 -2.44844956e-01 6.47794397e-03 2.07598360e+02] [-2.44841169e-01 9.69562214e-01 1.38363614e-03 -1.01234524e+02] [-6.61954603e-03 -2.44575947e-04 -9.99978061e-01 -4.04411459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2065599949999 meters 0.021052738287943382 Centerline is valid? [True, True] Translation: X:207.59, Y:-101.21, Z:-4.04 [[-9.49999125e-01 -3.12180488e-01 6.70860366e-03 2.07585509e+02] [-3.12174547e-01 9.50022779e-01 1.94208465e-03 -1.01211288e+02] [-6.97960723e-03 -2.49276585e-04 -9.99975611e-01 -4.04410690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.266559995 meters 0.019081495389669505 Centerline is valid? [True, True] Translation: X:207.56, Y:-101.20, Z:-4.05 [[-9.25443709e-01 -3.78831709e-01 6.36225846e-03 2.07561890e+02] [-3.78824505e-01 9.25465548e-01 2.34830707e-03 -1.01195529e+02] [-6.77766419e-03 -2.36953405e-04 -9.99977003e-01 -4.04524508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3265599949999 meters 0.01938724273381629 Centerline is valid? [True, True] Translation: X:207.53, Y:-101.18, Z:-4.04 [[-8.95819886e-01 -4.44376407e-01 6.02836477e-03 2.07526040e+02] [-4.44368051e-01 8.95840140e-01 2.73459139e-03 -1.01181168e+02] [-6.61563904e-03 -2.29111359e-04 -9.99978090e-01 -4.04485928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.386559995 meters 0.02007257188039535 Centerline is valid? [True, True] Translation: X:207.47, Y:-101.18, Z:-4.04 [[-8.60776131e-01 -5.08955400e-01 5.37153235e-03 2.07470253e+02] [-5.08947031e-01 8.60792864e-01 2.92660887e-03 -1.01178132e+02] [-6.11329010e-03 -2.14670382e-04 -9.99981291e-01 -4.04497901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4465599949999 meters 0.023195508517067663 Centerline is valid? [True, True] Translation: X:207.40, Y:-101.18, Z:-4.04 [[-8.20009719e-01 -5.72329132e-01 4.83998002e-03 2.07404803e+02] [-5.72320669e-01 8.20023975e-01 3.11955443e-03 -1.01179707e+02] [-5.75431153e-03 -2.11955654e-04 -9.99983421e-01 -4.04488886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.506559995 meters 0.02193734506236634 Centerline is valid? [True, True] Translation: X:207.34, Y:-101.20, Z:-4.05 [[-7.74141335e-01 -6.32995274e-01 4.70933177e-03 2.07336933e+02] [-6.32985335e-01 7.74155625e-01 3.55454781e-03 -1.01196055e+02] [-5.89576764e-03 -2.29215565e-04 -9.99982594e-01 -4.04582195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5665599949999 meters 0.0228288682669939 Centerline is valid? [True, True] Translation: X:207.26, Y:-101.22, Z:-4.05 [[-7.23489090e-01 -6.90318219e-01 4.92891026e-03 2.07260613e+02] [-6.90304680e-01 7.23505829e-01 4.33163493e-03 -1.01220894e+02] [-6.55630181e-03 -2.68559209e-04 -9.99978471e-01 -4.04552365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.626559995 meters 0.023016236858241095 Centerline is valid? [True, True] Translation: X:207.18, Y:-101.26, Z:-4.05 [[-6.70211135e-01 -7.42155942e-01 4.64662318e-03 2.07180563e+02] [-7.42140831e-01 6.70227189e-01 4.74365885e-03 -1.01258906e+02] [-6.63482780e-03 -2.69195802e-04 -9.99977953e-01 -4.04535257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6865599949999 meters 0.020798715212505585 Centerline is valid? [True, True] Translation: X:207.11, Y:-101.30, Z:-4.05 [[-6.14855976e-01 -7.88631200e-01 3.59982943e-03 2.07108438e+02] [-7.88619632e-01 6.14866479e-01 4.27660966e-03 -1.01303972e+02] [-5.58608226e-03 -2.09397151e-04 -9.99984376e-01 -4.04652036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.746559995 meters 0.019397120265536808 Centerline is valid? [True, True] Translation: X:207.03, Y:-101.36, Z:-4.05 [[-5.55021181e-01 -8.31831956e-01 2.66195084e-03 2.07032536e+02] [-8.31823759e-01 5.55027540e-01 3.69635520e-03 -1.01360855e+02] [-4.55220241e-03 -1.62718527e-04 -9.99989625e-01 -4.04816069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8065599949999 meters 0.019111508407300463 Centerline is valid? [True, True] Translation: X:206.96, Y:-101.43, Z:-4.05 [[-4.91107505e-01 -8.71095509e-01 2.45596285e-03 2.06957149e+02] [-8.71086248e-01 4.91113619e-01 4.02028321e-03 -1.01425748e+02] [-4.70820745e-03 -1.64964208e-04 -9.99988903e-01 -4.04775323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.866559995 meters 0.020055476285549354 Centerline is valid? [True, True] Translation: X:206.88, Y:-101.50, Z:-4.05 [[-4.23674869e-01 -9.05808165e-01 3.34267690e-03 2.06882851e+02] [-9.05784598e-01 4.23687977e-01 6.53908665e-03 -1.01498283e+02] [-7.33941010e-03 -2.57298569e-04 -9.99973033e-01 -4.04564865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9265599949999 meters 0.019319697388385196 Centerline is valid? [True, True] Translation: X:206.82, Y:-101.58, Z:-4.04 [[-3.53489565e-01 -9.35430580e-01 3.84165514e-03 2.06816028e+02] [-9.35385634e-01 3.53510267e-01 9.17647092e-03 -1.01579189e+02] [-9.94201605e-03 -3.49642314e-04 -9.99950516e-01 -4.04430481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.986559995 meters 0.019985948599110116 Centerline is valid? [True, True] Translation: X:206.75, Y:-101.67, Z:-4.04 [[-2.81236401e-01 -9.59632809e-01 3.31039539e-03 2.06751486e+02] [-9.59580967e-01 2.81255641e-01 9.98158169e-03 -1.01669882e+02] [-1.05097207e-02 -3.69408299e-04 -9.99944703e-01 -4.04374388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0465599949999 meters 0.018748508851890215 Centerline is valid? [True, True] Translation: X:206.70, Y:-101.76, Z:-4.05 [[-2.07457468e-01 -9.78240754e-01 2.53481354e-03 2.06698824e+02] [-9.78187886e-01 2.07472626e-01 1.01768503e-02 -1.01762308e+02] [-1.04813141e-02 -3.68260306e-04 -9.99945002e-01 -4.04526145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.106559995 meters 0.021165483899460418 Centerline is valid? [True, True] Translation: X:206.65, Y:-101.86, Z:-4.05 [[-1.32016775e-01 -9.91246212e-01 1.58705017e-03 2.06647434e+02] [-9.91201897e-01 1.32025890e-01 9.37885869e-03 -1.01860047e+02] [-9.50628986e-03 -3.34920455e-04 -9.99954758e-01 -4.04528394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.166559995 meters 0.019178712817116906 Centerline is valid? [True, True] Translation: X:206.61, Y:-101.96, Z:-4.05 [[-5.67305931e-02 -9.98389228e-01 7.67746284e-04 2.06610013e+02] [-9.98354197e-01 5.67350378e-02 8.36858201e-03 -1.01961387e+02] [-8.39866024e-03 -2.91728104e-04 -9.99964688e-01 -4.04768795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.226559995 meters 0.020449952673768007 Centerline is valid? [True, True] Translation: X:206.57, Y:-102.07, Z:-4.05 [[ 1.99005423e-02 -9.99801958e-01 1.17212171e-04 2.06574256e+02] [-9.99771182e-01 -1.98990095e-02 7.84934414e-03 -1.02072614e+02] [-7.84545724e-03 -2.73391555e-04 -9.99969187e-01 -4.04761818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.286559995 meters 0.019430508983517298 Centerline is valid? [True, True] Translation: X:206.55, Y:-102.18, Z:-4.05 [[ 9.67444101e-02 -9.95309115e-01 -5.33767099e-04 2.06550937e+02] [-9.95271618e-01 -9.67454015e-02 8.64482999e-03 -1.02181262e+02] [-8.65591760e-03 -3.05095733e-04 -9.99962490e-01 -4.04812104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.346559995 meters 0.020398613757609967 Centerline is valid? [True, True] Translation: X:206.53, Y:-102.29, Z:-4.05 [[ 1.72363476e-01 -9.85032540e-01 -1.31391915e-03 2.06532351e+02] [-9.84986995e-01 -1.72368150e-01 9.47839798e-03 -1.02287264e+02] [-9.56300825e-03 -3.39536351e-04 -9.99954216e-01 -4.04800991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.406559995 meters 0.01841989222837219 Centerline is valid? [True, True] Translation: X:206.53, Y:-102.40, Z:-4.05 [[ 2.46366143e-01 -9.69174125e-01 -2.28879173e-03 2.06528165e+02] [-9.69117154e-01 -2.46376493e-01 1.05150052e-02 -1.02404814e+02] [-1.07547754e-02 -3.72433933e-04 -9.99942096e-01 -4.04828465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.466559995 meters 0.019192013095887042 Centerline is valid? [True, True] Translation: X:206.53, Y:-102.52, Z:-4.05 [[ 3.18183271e-01 -9.48024109e-01 -3.11375341e-03 2.06528893e+02] [-9.47967133e-01 -3.18198305e-01 1.03996845e-02 -1.02519887e+02] [-1.08499426e-02 -3.57269719e-04 -9.99941074e-01 -4.04775370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.526559995 meters 0.015922810094066785 Centerline is valid? [True, True] Translation: X:206.54, Y:-102.63, Z:-4.05 [[ 3.85154432e-01 -9.22846442e-01 -3.24156189e-03 2.06542346e+02] [-9.22808084e-01 -3.85167991e-01 8.41774350e-03 -1.02626749e+02] [-9.01683052e-03 -2.50791696e-04 -9.99959316e-01 -4.04980620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5865599949999 meters 0.014493303784335727 Centerline is valid? [True, True] Translation: X:206.56, Y:-102.74, Z:-4.05 [[ 4.48819861e-01 -8.93616883e-01 -3.09812542e-03 2.06563586e+02] [-8.93593192e-01 -4.48830527e-01 6.50883596e-03 -1.02735803e+02] [-7.20693897e-03 -1.52831066e-04 -9.99974018e-01 -4.05093069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.646559995 meters 0.013581105240454068 Centerline is valid? [True, True] Translation: X:206.59, Y:-102.84, Z:-4.05 [[ 5.12480978e-01 -8.58690964e-01 -3.61594582e-03 2.06592054e+02] [-8.58667832e-01 -5.12493719e-01 6.30419138e-03 -1.02843854e+02] [-7.26650170e-03 -1.25881812e-04 -9.99973591e-01 -4.05101084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7065599949999 meters 0.01277311800796868 Centerline is valid? [True, True] Translation: X:206.63, Y:-102.95, Z:-4.05 [[ 5.72978459e-01 -8.19558906e-01 -4.34575931e-03 2.06627389e+02] [-8.19533995e-01 -5.72994930e-01 6.39078985e-03 -1.02948287e+02] [-7.72772678e-03 -1.00287432e-04 -9.99970136e-01 -4.05041563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.766559995 meters 0.012175156074613695 Centerline is valid? [True, True] Translation: X:206.67, Y:-103.05, Z:-4.05 [[ 6.31450834e-01 -7.75399759e-01 -5.00580446e-03 2.06667638e+02] [-7.75374381e-01 -6.31470670e-01 6.27397154e-03 -1.03047255e+02] [-8.02585472e-03 -8.03320308e-05 -9.99967789e-01 -4.05013608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8265599949999 meters 0.012028093266826283 Centerline is valid? [True, True] Translation: X:206.71, Y:-103.14, Z:-4.05 [[ 6.87246108e-01 -7.26408507e-01 -4.84444698e-03 2.06713446e+02] [-7.26389863e-01 -6.87263180e-01 5.20463330e-03 -1.03141456e+02] [-7.11009994e-03 -5.79067918e-05 -9.99974721e-01 -4.05014123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.886559995 meters 0.011670652718823425 Centerline is valid? [True, True] Translation: X:206.77, Y:-103.23, Z:-4.05 [[ 7.39475635e-01 -6.73166946e-01 -4.69566851e-03 2.06767707e+02] [-6.73153004e-01 -7.39490542e-01 4.33264077e-03 -1.03232982e+02] [-6.38899300e-03 -4.29789236e-05 -9.99979589e-01 -4.05074974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9465599949999 meters 0.011782507366382757 Centerline is valid? [True, True] Translation: X:206.79, Y:-103.26, Z:-4.05 [[ 7.89338359e-01 -6.13944887e-01 -4.07807153e-03 2.06787935e+02] [-6.13936494e-01 -7.89348893e-01 3.21032727e-03 -1.03261203e+02] [-5.18998526e-03 -3.03575211e-05 -9.99986531e-01 -4.04975891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.006559995 meters 0.011920327685727075 Centerline is valid? [True, True] Translation: X:206.81, Y:-103.29, Z:-4.05 [[ 8.35956668e-01 -5.48784012e-01 -3.54355910e-03 2.06812057e+02] [-5.48778915e-01 -8.35964178e-01 2.36550767e-03 -1.03287973e+02] [-4.26044126e-03 -3.28313966e-05 -9.99990924e-01 -4.05044074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0665599949999 meters 0.012629727629220159 Centerline is valid? [True, True] Translation: X:206.84, Y:-103.31, Z:-4.05 [[ 8.77628243e-01 -4.79333147e-01 -2.89848549e-03 2.06836868e+02] [-4.79330403e-01 -8.77633029e-01 1.62241484e-03 -1.03313166e+02] [-3.32148381e-03 -3.45448659e-05 -9.99994483e-01 -4.05019637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.126559995 meters 0.013549073699942701 Centerline is valid? [True, True] Translation: X:206.86, Y:-103.34, Z:-4.05 [[ 9.14969638e-01 -4.03513863e-01 -2.66906760e-03 2.06863431e+02] [-4.03511990e-01 -9.14973529e-01 1.23049627e-03 -1.03339097e+02] [-2.93864851e-03 -4.88659468e-05 -9.99995681e-01 -4.04911344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1865599949999 meters 0.01431039553676252 Centerline is valid? [True, True] Translation: X:206.89, Y:-103.36, Z:-4.05 [[ 9.44919101e-01 -3.27291737e-01 -2.83043464e-03 2.06892481e+02] [-3.27290074e-01 -9.44923338e-01 1.04518093e-03 -1.03362664e+02] [-3.01662283e-03 -6.12382610e-05 -9.99995448e-01 -4.04823163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.246559995 meters 0.016633574160165903 Centerline is valid? [True, True] Translation: X:206.92, Y:-103.38, Z:-4.05 [[ 9.69097820e-01 -2.46664069e-01 -2.50037532e-03 2.06922608e+02] [-2.46663066e-01 -9.69101043e-01 7.06615248e-04 -1.03383220e+02] [-2.59741292e-03 -6.80290536e-05 -9.99996624e-01 -4.04839012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3065599949999 meters 0.019958631495150453 Centerline is valid? [True, True] Translation: X:206.96, Y:-103.40, Z:-4.05 [[ 9.86707296e-01 -1.62380978e-01 -6.41330612e-03 2.06955937e+02] [-1.62376064e-01 -9.86728112e-01 1.28315172e-03 -1.03400391e+02] [-6.53654887e-03 -2.24727758e-04 -9.99978611e-01 -4.04573821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.366559995 meters 0.020939725936891515 Centerline is valid? [True, True] Translation: X:206.99, Y:-103.41, Z:-4.04 [[ 9.96793570e-01 -7.94994598e-02 -9.07820617e-03 2.06991054e+02] [-7.94928443e-02 -9.96834843e-01 1.08781146e-03 -1.03414047e+02] [-9.13595264e-03 -3.62671035e-04 -9.99958201e-01 -4.04373146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4265599949999 meters 0.023731917264119065 Centerline is valid? [True, True] Translation: X:207.02, Y:-103.43, Z:-4.04 [[ 9.99947217e-01 5.65742917e-03 -8.57648964e-03 2.07023286e+02] [ 5.66064605e-03 -9.99983917e-01 3.50852914e-04 -1.03426722e+02] [-8.57436678e-03 -3.99382867e-04 -9.99963160e-01 -4.04458320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.486559995 meters 0.02683024287409395 Centerline is valid? [True, True] Translation: X:207.06, Y:-103.44, Z:-4.05 [[ 9.96164064e-01 8.72047030e-02 -7.24554099e-03 2.07056260e+02] [ 8.72050244e-02 -9.96190348e-01 -2.72160068e-04 -1.03436668e+02] [-7.24167164e-03 -3.60731500e-04 -9.99973714e-01 -4.04508600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5465599949999 meters 0.03010659434943102 Centerline is valid? [True, True] Translation: X:207.09, Y:-103.44, Z:-4.05 [[ 9.85699025e-01 1.68403187e-01 -6.14809573e-03 2.07089541e+02] [ 1.68401987e-01 -9.85718143e-01 -7.16150394e-04 -1.03441353e+02] [-6.18089151e-03 -3.29442790e-04 -9.99980844e-01 -4.04636280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.606559995 meters 0.029376294826101275 Centerline is valid? [True, True] Translation: X:207.12, Y:-103.44, Z:-4.05 [[ 9.69695907e-01 2.44296833e-01 -2.98406323e-03 2.07124050e+02] [ 2.44296178e-01 -9.69700486e-01 -5.87826265e-04 -1.03439512e+02] [-3.03725165e-03 -1.58982517e-04 -9.99995375e-01 -4.04874681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.666559995 meters 0.023869808160438946 Centerline is valid? [True, True] Translation: X:207.16, Y:-103.43, Z:-4.05 [[ 9.48835999e-01 3.15767510e-01 -1.06174920e-03 2.07157159e+02] [ 3.15767374e-01 -9.48836591e-01 -2.97894911e-04 -1.03432263e+02] [-1.10149203e-03 -5.26123424e-05 -9.99999392e-01 -4.05035417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.726559995 meters 0.021226107137531234 Centerline is valid? [True, True] Translation: X:207.19, Y:-103.42, Z:-4.05 [[ 9.24877817e-01 3.80264181e-01 4.20783821e-04 2.07188669e+02] [ 3.80264151e-01 -9.24877912e-01 1.52754582e-04 -1.03424055e+02] [ 4.47260757e-04 1.87296780e-05 -9.99999900e-01 -4.05125200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.786559995 meters 0.01738751692699953 Centerline is valid? [True, True] Translation: X:207.22, Y:-103.41, Z:-4.05 [[ 8.97413983e-01 4.41189198e-01 -4.84413264e-04 2.07218012e+02] [ 4.41189142e-01 -8.97414114e-01 -2.22968174e-04 -1.03410160e+02] [-5.33090450e-04 -1.36231153e-05 -9.99999858e-01 -4.04887979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.846559995 meters 0.012929693317029131 Centerline is valid? [True, True] Translation: X:207.25, Y:-103.39, Z:-4.05 [[ 8.66544973e-01 4.99091505e-01 -2.73487850e-03 2.07245359e+02] [ 4.99089186e-01 -8.66549287e-01 -1.52224717e-03 -1.03392499e+02] [-3.12964765e-03 -4.58526522e-05 -9.99995102e-01 -4.04500529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.906559995 meters 0.011304165470469309 Centerline is valid? [True, True] Translation: X:207.27, Y:-103.37, Z:-4.04 [[ 8.31980527e-01 5.54796821e-01 -2.98154780e-03 2.07271395e+02] [ 5.54793287e-01 -8.31985870e-01 -1.98019371e-03 -1.03374433e+02] [-3.57921082e-03 -6.66009261e-06 -9.99993595e-01 -4.04489598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.966559995 meters 0.011291163341440601 Centerline is valid? [True, True] Translation: X:207.30, Y:-103.36, Z:-4.04 [[ 7.88866187e-01 6.14548837e-01 -4.45714791e-03 2.07296193e+02] [ 6.14538919e-01 -7.88878779e-01 -3.49136954e-03 -1.03357617e+02] [-5.66176649e-03 1.51325184e-05 -9.99983972e-01 -4.04062640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.026559995 meters 0.011291163341440601 Centerline is valid? [True, True] Translation: X:207.32, Y:-103.34, Z:-4.04 [[ 7.38310134e-01 6.74448484e-01 -4.17003541e-03 2.07324052e+02] [ 6.74437610e-01 -7.38321910e-01 -3.82977083e-03 -1.03343853e+02] [-5.66181164e-03 1.51298972e-05 -9.99983972e-01 -4.04062556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0865599949999 meters 0.011256239600953302 Centerline is valid? [True, True] Translation: X:207.35, Y:-103.33, Z:-4.04 [[ 6.81721412e-01 7.31600687e-01 -4.04357357e-03 2.07351404e+02] [ 7.31587787e-01 -6.81733404e-01 -4.34461110e-03 -1.03327796e+02] [-5.93515964e-03 3.58537750e-06 -9.99982387e-01 -4.04045478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.146559995 meters 0.011256239600953302 Centerline is valid? [True, True] Translation: X:207.38, Y:-103.31, Z:-4.04 [[ 6.22349867e-01 7.82730490e-01 -3.69103528e-03 2.07376117e+02] [ 7.82716690e-01 -6.22360812e-01 -4.64789453e-03 -1.03309718e+02] [-5.93520448e-03 3.58162174e-06 -9.99982387e-01 -4.04045394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2065599949999 meters 0.011236351130643793 Centerline is valid? [True, True] Translation: X:207.40, Y:-103.29, Z:-4.04 [[ 5.57483461e-01 8.30179884e-01 -3.68112417e-03 2.07401276e+02] [ 8.30161894e-01 -5.57495614e-01 -5.46544751e-03 -1.03291112e+02] [-6.58951516e-03 -9.03241957e-06 -9.99978289e-01 -4.04049192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.266559995 meters 0.011236351130643793 Centerline is valid? [True, True] Translation: X:207.42, Y:-103.27, Z:-4.04 [[ 4.90736302e-01 8.71302114e-01 -3.24167985e-03 2.07424346e+02] [ 8.71283226e-01 -4.90747009e-01 -5.73706295e-03 -1.03270444e+02] [-6.58955977e-03 -9.03621896e-06 -9.99978289e-01 -4.04049109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3265599949999 meters 0.011236351130643793 Centerline is valid? [True, True] Translation: X:207.45, Y:-103.25, Z:-4.04 [[ 4.20975212e-01 9.07067875e-01 -2.78232018e-03 2.07445679e+02] [ 9.07048206e-01 -4.20984406e-01 -5.97341276e-03 -1.03248118e+02] [-6.58960423e-03 -9.03981959e-06 -9.99978288e-01 -4.04049027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.386559995 meters 0.011321803719893 Centerline is valid? [True, True] Translation: X:207.46, Y:-103.22, Z:-4.04 [[ 3.47369794e-01 9.37725514e-01 -2.25551399e-03 2.07464022e+02] [ 9.37706071e-01 -3.47377116e-01 -6.03849697e-03 -1.03224915e+02] [-6.44596662e-03 -1.74177179e-05 -9.99979224e-01 -4.03974776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4465599949999 meters 0.011487850777559372 Centerline is valid? [True, True] Translation: X:207.48, Y:-103.20, Z:-4.04 [[ 2.70364157e-01 9.62756859e-01 -1.56622268e-03 2.07481235e+02] [ 9.62741345e-01 -2.70368692e-01 -5.46565405e-03 -1.03198695e+02] [-5.68555350e-03 -3.01503748e-05 -9.99983837e-01 -4.03918815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.506559995 meters 0.011764430593959544 Centerline is valid? [True, True] Translation: X:207.49, Y:-103.17, Z:-4.04 [[ 1.93308992e-01 9.81137420e-01 -9.98126818e-04 2.07490885e+02] [ 9.81125144e-01 -1.93311566e-01 -4.90820928e-03 -1.03171764e+02] [-5.00857725e-03 -3.04863318e-05 -9.99987457e-01 -4.03998653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5665599949999 meters 0.011870120546810541 Centerline is valid? [True, True] Translation: X:207.50, Y:-103.14, Z:-4.04 [[ 1.14718062e-01 9.93397902e-01 -6.12696877e-04 2.07500216e+02] [ 9.93385381e-01 -1.14719692e-01 -4.98759520e-03 -1.03143732e+02] [-5.02495500e-03 -3.64768655e-05 -9.99987374e-01 -4.04059323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.626559995 meters 0.012121974829833387 Centerline is valid? [True, True] Translation: X:207.51, Y:-103.11, Z:-4.04 [[ 3.39646353e-02 9.99423008e-01 -2.35023493e-04 2.07511864e+02] [ 9.99408647e-01 -3.39654072e-02 -5.35790192e-03 -1.03114803e+02] [-5.36279312e-03 -5.29053265e-05 -9.99985619e-01 -4.04030075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6865599949999 meters 0.013156673803995059 Centerline is valid? [True, True] Translation: X:207.52, Y:-103.09, Z:-4.04 [[-4.94700214e-02 9.98775580e-01 2.39783378e-04 2.07521335e+02] [ 9.98751502e-01 4.94704940e-02 -6.93598826e-03 -1.03085532e+02] [-6.93935790e-03 -1.03639479e-04 -9.99975917e-01 -4.03868601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.746559995 meters 0.014207824824458577 Centerline is valid? [True, True] Translation: X:207.52, Y:-103.06, Z:-4.04 [[-1.30609312e-01 9.91433419e-01 9.92083535e-04 2.07524116e+02] [ 9.91394819e-01 1.30612982e-01 -8.74999913e-03 -1.03056907e+02] [-8.80462054e-03 -1.59284888e-04 -9.99961226e-01 -4.03723770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8065599949999 meters 0.013708019875459667 Centerline is valid? [True, True] Translation: X:207.52, Y:-103.03, Z:-4.04 [[-2.07957425e-01 9.78136347e-01 1.73081648e-03 2.07524601e+02] [ 9.78095540e-01 2.07964562e-01 -8.93614459e-03 -1.03026492e+02] [-9.10071631e-03 -1.65433737e-04 -9.99958574e-01 -4.03749617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.866559995 meters 0.013238267252120586 Centerline is valid? [True, True] Translation: X:207.52, Y:-103.00, Z:-4.04 [[-2.82848292e-01 9.59162118e-01 2.20798263e-03 2.07523361e+02] [ 9.59128875e-01 2.82856875e-01 -7.98680742e-03 -1.02996812e+02] [-8.28518619e-03 -1.41314936e-04 -9.99965667e-01 -4.03801881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9265599949999 meters 0.013516341004605192 Centerline is valid? [True, True] Translation: X:207.52, Y:-102.97, Z:-4.04 [[-3.56611457e-01 9.34249157e-01 2.60415374e-03 2.07520094e+02] [ 9.34221614e-01 3.56620943e-01 -7.17492062e-03 -1.02968794e+02] [-7.63185930e-03 -1.25802187e-04 -9.99970869e-01 -4.03823836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.986559995 meters 0.012945855338522912 Centerline is valid? [True, True] Translation: X:207.51, Y:-102.94, Z:-4.04 [[-4.28436915e-01 9.03566417e-01 3.08864270e-03 2.07513362e+02] [ 9.03540873e-01 4.28448031e-01 -6.79528860e-03 -1.02940033e+02] [-7.46331745e-03 -1.20637566e-04 -9.99972142e-01 -4.03923999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0465599949999 meters 0.013095765785976146 Centerline is valid? [True, True] Translation: X:207.51, Y:-102.91, Z:-4.04 [[-4.98128085e-01 8.67095102e-01 3.80714056e-03 2.07507243e+02] [ 8.67067766e-01 4.98142617e-01 -6.88643353e-03 -1.02911590e+02] [-7.86769175e-03 -1.29277091e-04 -9.99969041e-01 -4.03909661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.106559995 meters 0.013565635680177867 Centerline is valid? [True, True] Translation: X:207.50, Y:-102.88, Z:-4.04 [[-5.66018673e-01 8.24380483e-01 4.43631375e-03 2.07497999e+02] [ 8.24353103e-01 5.66036039e-01 -6.72044975e-03 -1.02884486e+02] [-8.05132108e-03 -1.46811045e-04 -9.99967577e-01 -4.03856775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.166559995 meters 0.014380749059753352 Centerline is valid? [True, True] Translation: X:207.49, Y:-102.86, Z:-4.04 [[-6.31080217e-01 7.75703931e-01 4.60121871e-03 2.07486884e+02] [ 7.75681468e-01 6.31096971e-01 -5.90529743e-03 -1.02858305e+02] [-7.48457762e-03 -1.57636301e-04 -9.99971978e-01 -4.03913714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.226559995 meters 0.015079646579932302 Centerline is valid? [True, True] Translation: X:207.47, Y:-102.83, Z:-4.04 [[-6.91501268e-01 7.22357440e-01 5.07202204e-03 2.07474398e+02] [ 7.22336128e-01 6.91519847e-01 -5.55152753e-03 -1.02832486e+02] [-7.51759111e-03 -1.75183565e-04 -9.99971727e-01 -4.03915618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.286559995 meters 0.01528150535528224 Centerline is valid? [True, True] Translation: X:207.46, Y:-102.81, Z:-4.04 [[-7.47596934e-01 6.64128265e-01 5.69839031e-03 2.07460721e+02] [ 6.64106901e-01 7.47618624e-01 -5.33079937e-03 -1.02807022e+02] [-7.80055726e-03 -2.00948936e-04 -9.99969555e-01 -4.03905397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.346559995 meters 0.015645431068446434 Centerline is valid? [True, True] Translation: X:207.49, Y:-102.80, Z:-4.04 [[-7.93225263e-01 6.08899575e-01 5.91519974e-03 2.07490679e+02] [ 6.08880707e-01 7.93247291e-01 -4.79779063e-03 -1.02799727e+02] [-7.61358885e-03 -2.04077735e-04 -9.99970995e-01 -4.03910480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.406559995 meters 0.015751483668434058 Centerline is valid? [True, True] Translation: X:207.51, Y:-102.79, Z:-4.04 [[-8.34508072e-01 5.50949073e-01 7.16908964e-03 2.07513833e+02] [ 5.50926273e-01 8.34538832e-01 -5.01787849e-03 -1.02785991e+02] [-8.74747920e-03 -2.37820271e-04 -9.99961712e-01 -4.03906435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.466559995 meters 0.016296362789766424 Centerline is valid? [True, True] Translation: X:207.53, Y:-102.76, Z:-4.04 [[-8.71226401e-01 4.90821101e-01 7.69454183e-03 2.07529290e+02] [ 4.90799498e-01 8.71260345e-01 -4.61126104e-03 -1.02764217e+02] [-8.96725339e-03 -2.40975092e-04 -9.99959764e-01 -4.03931781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.526559995 meters 0.016418099251543725 Centerline is valid? [True, True] Translation: X:207.55, Y:-102.74, Z:-4.04 [[-9.03872235e-01 4.27728061e-01 7.98059301e-03 2.07546143e+02] [ 4.27709009e-01 9.03907433e-01 -4.04427325e-03 -1.02742896e+02] [-8.94356650e-03 -2.42134772e-04 -9.99959976e-01 -4.03948638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5865599949999 meters 0.017059665941891792 Centerline is valid? [True, True] Translation: X:207.55, Y:-102.71, Z:-4.04 [[-9.32290703e-01 3.61595865e-01 9.08166326e-03 2.07552724e+02] [ 3.61575784e-01 9.32334893e-01 -3.82092235e-03 -1.02714351e+02] [-9.84878127e-03 -2.78500868e-04 -9.99951461e-01 -4.03849836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.646559995 meters 0.016085345035215862 Centerline is valid? [True, True] Translation: X:207.56, Y:-102.69, Z:-4.04 [[-9.55497910e-01 2.94809545e-01 1.05393009e-02 2.07564391e+02] [ 2.94787984e-01 9.55555982e-01 -3.57914066e-03 -1.02691311e+02] [-1.11260568e-02 -3.13002159e-04 -9.99938055e-01 -4.03798957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7065599949999 meters 0.016872806686016695 Centerline is valid? [True, True] Translation: X:207.58, Y:-102.67, Z:-4.04 [[-9.74032598e-01 2.26137069e-01 1.10690834e-02 2.07579845e+02] [ 2.26118671e-01 9.74095437e-01 -2.90274723e-03 -1.02666485e+02] [-1.14387624e-02 -3.24444009e-04 -9.99934523e-01 -4.03789433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.766559995 meters 0.016954862340318077 Centerline is valid? [True, True] Translation: X:207.58, Y:-102.64, Z:-4.04 [[-9.87697574e-01 1.55999142e-01 1.08521932e-02 2.07582670e+02] [ 1.55986168e-01 9.87757139e-01 -2.03706106e-03 -1.02639397e+02] [-1.10371111e-02 -3.19208246e-04 -9.99939038e-01 -4.03900411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8265599949999 meters 0.01689132977924318 Centerline is valid? [True, True] Translation: X:207.58, Y:-102.61, Z:-4.04 [[-9.96243482e-01 8.59045515e-02 1.09239308e-02 2.07581285e+02] [ 8.58959219e-02 9.96303322e-01 -1.25757526e-03 -1.02611920e+02] [-1.09915800e-02 -3.14530054e-04 -9.99939541e-01 -4.03884283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.886559995 meters 0.016438101823909822 Centerline is valid? [True, True] Translation: X:207.67, Y:-101.91, Z:-5.01 [[-9.77974318e-01 -2.08479736e-01 1.01209271e-02 2.07673017e+02] [ 2.08471217e-01 -9.78026655e-01 -1.90118844e-03 -1.01910050e+02] [ 1.02948957e-02 2.50608519e-04 9.99946975e-01 -5.00501269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9465599949999 meters 0.017122572218010536 Centerline is valid? [True, True] Translation: X:207.54, Y:-102.61, Z:-4.04 [[-9.96555128e-01 8.23225706e-02 1.00434528e-02 2.07539532e+02] [ 8.23155017e-02 9.96605696e-01 -1.11588846e-03 -1.02605954e+02] [-1.01012251e-02 -2.85312512e-04 -9.99948941e-01 -4.03978688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.006559995 meters 0.017885229057729005 Centerline is valid? [True, True] Translation: X:207.62, Y:-101.91, Z:-5.01 [[-9.78346322e-01 -2.06702419e-01 1.06105888e-02 2.07619150e+02] [ 2.06694109e-01 -9.78403796e-01 -1.88591420e-03 -1.01909111e+02] [ 1.07712634e-02 3.48068967e-04 9.99941928e-01 -5.00531731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0665599949999 meters 0.018311313340050043 Centerline is valid? [True, True] Translation: X:207.49, Y:-102.60, Z:-4.04 [[-9.97099071e-01 7.53827582e-02 1.05301002e-02 2.07487447e+02] [ 7.53750471e-02 9.97154617e-01 -1.12780487e-03 -1.02596396e+02] [-1.05851550e-02 -3.30826397e-04 -9.99943921e-01 -4.03954056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.126559995 meters 0.018760533773033324 Centerline is valid? [True, True] Translation: X:207.49, Y:-102.57, Z:-4.04 [[-9.99935711e-01 2.27173933e-03 1.11091067e-02 2.07485658e+02] [ 2.26747594e-03 9.99997351e-01 -3.96354549e-04 -1.02567709e+02] [-1.11099777e-02 -3.71139435e-04 -9.99938213e-01 -4.03950426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1865599949999 meters 0.018511882204820418 Centerline is valid? [True, True] Translation: X:207.52, Y:-101.88, Z:-5.01 [[-9.90395671e-01 -1.37747232e-01 1.19212103e-02 2.07518668e+02] [ 1.37742794e-01 -9.90467309e-01 -1.19643300e-03 -1.01878775e+02] [ 1.19723745e-02 4.57118762e-04 9.99928224e-01 -5.00602446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.246559995 meters 0.019458850040698254 Centerline is valid? [True, True] Translation: X:207.43, Y:-102.56, Z:-4.04 [[-9.99913050e-01 -3.84440145e-03 1.26140278e-02 2.07432076e+02] [-3.84974043e-03 9.99992510e-01 -3.99002566e-04 -1.02562292e+02] [-1.26123994e-02 -4.47528605e-04 -9.99920360e-01 -4.03743292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3065599949999 meters 0.021720944011856622 Centerline is valid? [True, True] Translation: X:207.43, Y:-102.53, Z:-4.04 [[-9.97142954e-01 -7.44930669e-02 1.25184749e-02 2.07433676e+02] [-7.44927192e-02 9.97221435e-01 4.94704920e-04 -1.02531917e+02] [-1.25205436e-02 -4.39243711e-04 -9.99921518e-01 -4.03635032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.366559995 meters 0.01841306523591255 Centerline is valid? [True, True] Translation: X:207.41, Y:-101.85, Z:-5.01 [[-9.98077430e-01 -6.10724854e-02 1.05638776e-02 2.07409348e+02] [ 6.10716834e-02 -9.98133303e-01 -3.98791386e-04 -1.01851646e+02] [ 1.05685132e-02 2.47129106e-04 9.99944121e-01 -5.00527382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4265599949999 meters 0.016622836382610286 Centerline is valid? [True, True] Translation: X:207.37, Y:-102.54, Z:-4.04 [[-9.97294308e-01 -7.29511176e-02 9.06624045e-03 2.07373396e+02] [-7.29504889e-02 9.97335483e-01 4.00472889e-04 -1.02543496e+02] [-9.07129824e-03 -2.61997340e-04 -9.99958821e-01 -4.04112357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.486559995 meters 0.01568279383410226 Centerline is valid? [True, True] Translation: X:207.36, Y:-102.52, Z:-4.04 [[-9.89906853e-01 -1.41448606e-01 8.75868605e-03 2.07355734e+02] [-1.41445165e-01 9.89945573e-01 1.01427878e-03 -1.02520132e+02] [-8.81409080e-03 -2.34832281e-04 -9.99961128e-01 -4.04149483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5465599949999 meters 0.014986505705754908 Centerline is valid? [True, True] Translation: X:207.36, Y:-102.49, Z:-4.04 [[-9.78228118e-01 -2.07338643e-01 8.96863828e-03 2.07356153e+02] [-2.07331826e-01 9.78269209e-01 1.69348622e-03 -1.02494379e+02] [-9.12486781e-03 -2.02868309e-04 -9.99958347e-01 -4.04045425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.606559995 meters 0.01453178391545522 Centerline is valid? [True, True] Translation: X:207.35, Y:-102.47, Z:-4.04 [[-9.61577068e-01 -2.74376574e-01 9.32941210e-03 2.07347935e+02] [-2.74365583e-01 9.61622306e-01 2.46320755e-03 -1.02469330e+02] [-9.64721723e-03 -1.91105704e-04 -9.99953446e-01 -4.03937258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.666559995 meters 0.013141337544507456 Centerline is valid? [True, True] Translation: X:207.33, Y:-102.45, Z:-4.04 [[-9.40395906e-01 -3.39921128e-01 1.04482849e-02 2.07325801e+02] [-3.39902317e-01 9.40453929e-01 3.58078460e-03 -1.02450754e+02] [-1.10433149e-02 -1.84041062e-04 -9.99939004e-01 -4.04068305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.726559995 meters 0.012647043143862982 Centerline is valid? [True, True] Translation: X:207.28, Y:-102.44, Z:-4.04 [[-9.14631511e-01 -4.04130615e-01 1.12980210e-02 2.07281207e+02] [-4.04101945e-01 9.14701274e-01 4.81640802e-03 -1.02438777e+02] [-1.22807721e-02 -1.60313721e-04 -9.99924576e-01 -4.03972024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.786559995 meters 0.01207730606899008 Centerline is valid? [True, True] Translation: X:207.22, Y:-102.44, Z:-4.04 [[-8.83743352e-01 -4.67830369e-01 1.15079742e-02 2.07217582e+02] [-4.67792647e-01 8.83818267e-01 5.94234237e-03 -1.02439533e+02] [-1.29509660e-02 -1.31840137e-04 -9.99916124e-01 -4.03976733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.846559995 meters 0.011828671530970107 Centerline is valid? [True, True] Translation: X:207.15, Y:-102.44, Z:-4.04 [[-8.48035317e-01 -5.29828857e-01 1.08389752e-02 2.07151780e+02] [-5.29787032e-01 8.48104577e-01 6.65788154e-03 -1.02444671e+02] [-1.27201223e-02 -9.62298449e-05 -9.99919091e-01 -4.04063815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.906559995 meters 0.011718491469033348 Centerline is valid? [True, True] Translation: X:207.08, Y:-102.46, Z:-4.04 [[-8.07522723e-01 -5.89753246e-01 9.90759655e-03 2.07075468e+02] [-5.89709858e-01 8.07583497e-01 7.15392331e-03 -1.02461477e+02] [-1.22202610e-02 -6.56517213e-05 -9.99925328e-01 -4.04085891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.966559995 meters 0.011425633536543817 Centerline is valid? [True, True] Translation: X:206.99, Y:-102.49, Z:-4.04 [[-7.62765053e-01 -6.46616725e-01 8.73417396e-03 2.06993792e+02] [-6.46574831e-01 7.62815056e-01 7.36059229e-03 -1.02489615e+02] [-1.14220415e-02 -3.28944832e-05 -9.99934766e-01 -4.04269714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.026559995 meters 0.01125389760307362 Centerline is valid? [True, True] Translation: X:206.91, Y:-102.52, Z:-4.04 [[-7.12320992e-01 -7.01811178e-01 7.73783261e-03 2.06913674e+02] [-7.01770164e-01 7.12363018e-01 7.58731310e-03 -1.02521831e+02] [-1.08370069e-02 -2.55776608e-05 -9.99941278e-01 -4.04461884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0865599949999 meters 0.011347316253909553 Centerline is valid? [True, True] Translation: X:206.83, Y:-102.57, Z:-4.04 [[-6.56005483e-01 -7.54718282e-01 7.55782533e-03 2.06826057e+02] [-7.54669042e-01 6.56049016e-01 8.62122815e-03 -1.02565576e+02] [-1.14649024e-02 -4.80838675e-05 -9.99934275e-01 -4.04373865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.146559995 meters 0.01145152335604055 Centerline is valid? [True, True] Translation: X:206.74, Y:-102.62, Z:-4.04 [[-5.95118550e-01 -8.03608649e-01 6.85941015e-03 2.06740299e+02] [-8.03556736e-01 5.95158075e-01 9.13446301e-03 -1.02620795e+02] [-1.14229668e-02 -7.58368514e-05 -9.99934753e-01 -4.04303704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2065599949999 meters 0.011758689955111444 Centerline is valid? [True, True] Translation: X:206.65, Y:-102.69, Z:-4.04 [[-5.29023479e-01 -8.48582404e-01 6.48558428e-03 2.06654459e+02] [-8.48521641e-01 5.29063216e-01 1.01557230e-02 -1.02685868e+02] [-1.20492519e-02 -1.30542721e-04 -9.99927397e-01 -4.04381474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.266559995 meters 0.01219959088515106 Centerline is valid? [True, True] Translation: X:206.58, Y:-102.76, Z:-4.04 [[-4.60729887e-01 -8.87524124e-01 5.37592521e-03 2.06575090e+02] [-8.87467537e-01 4.60761224e-01 1.00231783e-02 -1.02758913e+02] [-1.13728304e-02 -1.52981292e-04 -9.99935316e-01 -4.04420203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3265599949999 meters 0.01286067958714567 Centerline is valid? [True, True] Translation: X:206.50, Y:-102.84, Z:-4.04 [[-3.88460861e-01 -9.21452976e-01 4.75108208e-03 2.06499975e+02] [-9.21390314e-01 3.88489862e-01 1.07478871e-02 -1.02835607e+02] [-1.17494197e-02 -2.02467549e-04 -9.99930953e-01 -4.04386978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.386559995 meters 0.013635639985858473 Centerline is valid? [True, True] Translation: X:206.43, Y:-102.93, Z:-4.04 [[-3.13727695e-01 -9.49504034e-01 4.12585131e-03 2.06427315e+02] [-9.49432472e-01 3.13754717e-01 1.16601754e-02 -1.02928214e+02] [-1.23658889e-02 -2.59097242e-04 -9.99923506e-01 -4.04304222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4465599949999 meters 0.015223964947186834 Centerline is valid? [True, True] Translation: X:206.36, Y:-103.02, Z:-4.04 [[-2.38946764e-01 -9.71027059e-01 3.30085241e-03 2.06364749e+02] [-9.70950227e-01 2.38969391e-01 1.22182936e-02 -1.03019860e+02] [-1.26530963e-02 -2.85441696e-04 -9.99919906e-01 -4.04131634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.506559995 meters 0.015684717111853423 Centerline is valid? [True, True] Translation: X:206.31, Y:-103.12, Z:-4.04 [[-1.63178302e-01 -9.86593997e-01 2.26445607e-03 2.06311490e+02] [-9.86521880e-01 1.63193761e-01 1.19321473e-02 -1.03120503e+02] [-1.21417300e-02 -2.86867928e-04 -9.99926245e-01 -4.04222076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5665599949999 meters 0.014435622734056937 Centerline is valid? [True, True] Translation: X:206.27, Y:-103.22, Z:-4.05 [[-8.79812949e-02 -9.96121430e-01 1.17826067e-03 2.06269798e+02] [-9.96065441e-01 8.79888454e-02 1.05640630e-02 -1.03221764e+02] [-1.06267634e-02 -2.44184791e-04 -9.99943505e-01 -4.04539001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.626559995 meters 0.013968364997947416 Centerline is valid? [True, True] Translation: X:206.23, Y:-103.33, Z:-4.05 [[-1.26798129e-02 -9.99919554e-01 3.29084921e-04 2.06234672e+02] [-9.99874273e-01 1.26823713e-02 9.51813153e-03 -1.03333745e+02] [-9.52153940e-03 -2.08355420e-04 -9.99954647e-01 -4.04612023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6865599949999 meters 0.013093199003882231 Centerline is valid? [True, True] Translation: X:206.21, Y:-103.44, Z:-4.05 [[ 6.03768511e-02 -9.98175569e-01 -4.12215901e-04 2.06209881e+02] [-9.98127512e-01 -6.03779898e-02 9.79629950e-03 -1.03438669e+02] [-9.80331559e-03 -1.80025683e-04 -9.99951930e-01 -4.04582572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.746559995 meters 0.012604155028748088 Centerline is valid? [True, True] Translation: X:206.19, Y:-103.55, Z:-4.05 [[ 1.34817156e-01 -9.90869772e-01 -1.19583969e-03 2.06193453e+02] [-9.90818957e-01 -1.34822355e-01 1.00362857e-02 -1.03553912e+02] [-1.01058780e-02 -1.68202865e-04 -9.99948920e-01 -4.04549164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8065599949999 meters 0.011536354186326283 Centerline is valid? [True, True] Translation: X:206.19, Y:-103.67, Z:-4.04 [[ 2.04289411e-01 -9.78907992e-01 -2.23141049e-03 2.06187878e+02] [-9.78842923e-01 -2.04301561e-01 1.12873899e-02 -1.03665287e+02] [-1.15051969e-02 -1.21693876e-04 -9.99933806e-01 -4.04437432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.866559995 meters 0.011080750621089056 Centerline is valid? [True, True] Translation: X:206.19, Y:-103.79, Z:-4.04 [[ 2.74183885e-01 -9.61672467e-01 -3.04355690e-03 2.06192903e+02] [-9.61610455e-01 -2.74200769e-01 1.09211013e-02 -1.03788293e+02] [-1.13370680e-02 -6.76738476e-05 -9.99935731e-01 -4.04447940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9265599949999 meters 0.010861119995833553 Centerline is valid? [True, True] Translation: X:206.20, Y:-103.89, Z:-4.04 [[ 3.40485589e-01 -9.40241826e-01 -3.85638878e-03 2.06202750e+02] [-9.40181906e-01 -3.40507427e-01 1.06148818e-02 -1.03889104e+02] [-1.12936849e-02 1.14926704e-05 -9.99936224e-01 -4.04486073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.986559995 meters 0.011292488744685213 Centerline is valid? [True, True] Translation: X:206.23, Y:-104.01, Z:-4.04 [[ 4.07053000e-01 -9.13394757e-01 -4.22766102e-03 2.06225479e+02] [-9.13346997e-01 -4.07074949e-01 9.34067700e-03 -1.04006781e+02] [-1.02527003e-02 5.91709007e-05 -9.99947438e-01 -4.04446229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0465599949999 meters 0.0123259416478191 Centerline is valid? [True, True] Translation: X:206.25, Y:-104.11, Z:-4.04 [[ 4.70510815e-01 -8.82382960e-01 -4.45928141e-03 2.06250495e+02] [-8.82345501e-01 -4.70531933e-01 8.13123487e-03 -1.04107925e+02] [-9.27309740e-03 1.08792943e-04 -9.99956998e-01 -4.04421823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.106559995 meters 0.012345864816268183 Centerline is valid? [True, True] Translation: X:206.28, Y:-104.21, Z:-4.04 [[ 5.33930070e-01 -8.45516145e-01 -4.59671103e-03 2.06283923e+02] [-8.45486800e-01 -5.33949842e-01 7.04541924e-03 -1.04214628e+02] [-8.41142884e-03 1.24697316e-04 -9.99964616e-01 -4.04451064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.166559995 meters 0.012479329932900712 Centerline is valid? [True, True] Translation: X:206.33, Y:-104.32, Z:-4.04 [[ 5.97147602e-01 -8.02114965e-01 -5.13082622e-03 2.06325553e+02] [-8.02087091e-01 -5.97169631e-01 6.68806471e-03 -1.04318742e+02] [-8.42857039e-03 1.21607674e-04 -9.99964472e-01 -4.04418568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.226559995 meters 0.012112807197126844 Centerline is valid? [True, True] Translation: X:206.37, Y:-104.42, Z:-4.04 [[ 6.57705811e-01 -7.53253409e-01 -5.68927509e-03 2.06374269e+02] [-7.53226647e-01 -6.57730408e-01 6.35043700e-03 -1.04421971e+02] [-8.52549755e-03 1.08594279e-04 -9.99963651e-01 -4.04438294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.286559995 meters 0.011861154360370213 Centerline is valid? [True, True] Translation: X:206.43, Y:-104.52, Z:-4.04 [[ 7.14945072e-01 -6.99157499e-01 -5.68649790e-03 2.06425541e+02] [-6.99136255e-01 -7.14967682e-01 5.45073195e-03 -1.04516366e+02] [-7.87658234e-03 7.86629009e-05 -9.99968976e-01 -4.04424906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.346559995 meters 0.011583827142370275 Centerline is valid? [True, True] Translation: X:206.44, Y:-104.55, Z:-4.04 [[ 7.68028965e-01 -6.40388949e-01 -5.78816532e-03 2.06444883e+02] [-6.40371424e-01 -7.68050773e-01 4.73811621e-03 -1.04547775e+02] [-7.47984210e-03 6.75651794e-05 -9.99972023e-01 -4.04452587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.406559995 meters 0.01143888859339107 Centerline is valid? [True, True] Translation: X:206.47, Y:-104.58, Z:-4.04 [[ 8.15958398e-01 -5.78082084e-01 -5.74433585e-03 2.06466095e+02] [-5.78068282e-01 -8.15978615e-01 3.99515003e-03 -1.04578183e+02] [-6.99677987e-03 6.07421428e-05 -9.99975520e-01 -4.04462028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.466559995 meters 0.011448501057739478 Centerline is valid? [True, True] Translation: X:206.49, Y:-104.60, Z:-4.04 [[ 8.58657206e-01 -5.12524522e-01 -5.13973951e-03 2.06489210e+02] [-5.12515703e-01 -8.58672587e-01 3.00711698e-03 -1.04604325e+02] [-5.95457462e-03 5.21145460e-05 -9.99982270e-01 -4.04410354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.526559995 meters 0.011191116985893633 Centerline is valid? [True, True] Translation: X:206.51, Y:-104.63, Z:-4.04 [[ 8.96449985e-01 -4.43117285e-01 -4.94941652e-03 2.06514216e+02] [-4.43110800e-01 -8.96463647e-01 2.39769348e-03 -1.04630423e+02] [-5.49943141e-03 4.37276288e-05 -9.99984877e-01 -4.04448743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5865599949999 meters 0.010908872476551562 Centerline is valid? [True, True] Translation: X:206.54, Y:-104.66, Z:-4.04 [[ 9.29338628e-01 -3.69187349e-01 -5.51510570e-03 2.06541385e+02] [-3.69181046e-01 -9.29354992e-01 2.15747760e-03 -1.04656751e+02] [-5.92200445e-03 3.10452177e-05 -9.99982464e-01 -4.04323647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.646559995 meters 0.010758883581124288 Centerline is valid? [True, True] Translation: X:206.57, Y:-104.68, Z:-4.04 [[ 9.56061170e-01 -2.93092797e-01 -6.60693887e-03 2.06570990e+02] [-2.93085938e-01 -9.56083998e-01 2.00519025e-03 -1.04679486e+02] [-6.90449535e-03 1.93163442e-05 -9.99976164e-01 -4.04243487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7065599949999 meters 0.010814214853602821 Centerline is valid? [True, True] Translation: X:206.60, Y:-104.70, Z:-4.04 [[ 9.76840543e-01 -2.13787291e-01 -8.80615218e-03 2.06602312e+02] [-2.13778519e-01 -9.76880235e-01 1.93663423e-03 -1.04698862e+02] [-9.01658380e-03 -9.21666546e-06 -9.99959350e-01 -4.04069318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.766559995 meters 0.010909494721723015 Centerline is valid? [True, True] Translation: X:206.64, Y:-104.72, Z:-4.04 [[ 9.91101697e-01 -1.32724263e-01 -1.00844364e-02 2.06635746e+02] [-1.32716858e-01 -9.91152999e-01 1.40302820e-03 -1.04718916e+02] [-1.01814352e-02 -5.21689258e-05 -9.99948167e-01 -4.04129279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8265599949999 meters 0.011256777641710708 Centerline is valid? [True, True] Translation: X:206.67, Y:-104.73, Z:-4.04 [[ 9.98618207e-01 -5.15508653e-02 -1.02070674e-02 2.06665924e+02] [-5.15473067e-02 -9.98670367e-01 6.11585755e-04 -1.04733717e+02] [-1.02250235e-02 -8.45938349e-05 -9.99947720e-01 -4.04146904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.886559995 meters 0.012061123673039761 Centerline is valid? [True, True] Translation: X:206.70, Y:-104.75, Z:-4.04 [[ 9.99419383e-01 3.28130937e-02 -9.17589991e-03 2.06698651e+02] [ 3.28129151e-02 -9.99461497e-01 -1.70047189e-04 -1.04747084e+02] [-9.17653843e-03 -1.31139568e-04 -9.99957886e-01 -4.04281568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9465599949999 meters 0.013737283832658808 Centerline is valid? [True, True] Translation: X:206.73, Y:-104.76, Z:-4.04 [[ 9.92991794e-01 1.17774097e-01 -9.82641577e-03 2.06732350e+02] [ 1.17770410e-01 -9.93040391e-01 -9.55029196e-04 -1.04758786e+02] [-9.87050546e-03 -2.08924857e-04 -9.99951264e-01 -4.04231429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.006559995 meters 0.015387822643810405 Centerline is valid? [True, True] Translation: X:206.77, Y:-104.76, Z:-4.04 [[ 9.79835042e-01 1.99590432e-01 -9.32470316e-03 2.06766644e+02] [ 1.99583750e-01 -9.79879380e-01 -1.65118235e-03 -1.04764719e+02] [-9.46664456e-03 -2.43172897e-04 -9.99955161e-01 -4.04209054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0665599949999 meters 0.017718322135039023 Centerline is valid? [True, True] Translation: X:206.80, Y:-104.77, Z:-4.04 [[ 9.59321946e-01 2.82173560e-01 -8.91542507e-03 2.06802311e+02] [ 2.82164250e-01 -9.59363327e-01 -2.31147943e-03 -1.04768141e+02] [-9.20537023e-03 -2.98161282e-04 -9.99957585e-01 -4.04219487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.126559995 meters 0.01937080724581536 Centerline is valid? [True, True] Translation: X:206.84, Y:-104.77, Z:-4.04 [[ 9.32784429e-01 3.60350710e-01 -7.78295565e-03 2.06837599e+02] [ 3.60340839e-01 -9.32816850e-01 -2.68410579e-03 -1.04766698e+02] [-8.22729160e-03 -3.00824683e-04 -9.99966110e-01 -4.04268551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1865599949999 meters 0.01979108035554445 Centerline is valid? [True, True] Translation: X:206.87, Y:-104.76, Z:-4.04 [[ 9.01106976e-01 4.33523187e-01 -7.99156711e-03 2.06872480e+02] [ 4.33509363e-01 -9.01142351e-01 -3.47771656e-03 -1.04760754e+02] [-8.70921034e-03 -3.30624516e-04 -9.99962019e-01 -4.04190681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.246559995 meters 0.021032999454210766 Centerline is valid? [True, True] Translation: X:206.90, Y:-104.75, Z:-4.04 [[ 8.64464523e-01 5.02607746e-01 -9.30281066e-03 2.06904151e+02] [ 5.02583554e-01 -8.64514485e-01 -4.94734583e-03 -1.04750571e+02] [-1.05289889e-02 -3.98634689e-04 -9.99944489e-01 -4.03957293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3065599949999 meters 0.01927835057107659 Centerline is valid? [True, True] Translation: X:206.93, Y:-104.73, Z:-4.04 [[ 8.23840915e-01 5.66733064e-01 -9.98904589e-03 2.06933376e+02] [ 5.66697506e-01 -8.23901365e-01 -6.36221934e-03 -1.04732627e+02] [-1.18356686e-02 -4.19310798e-04 -9.99929868e-01 -4.03945218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.366559995 meters 0.01859541961134741 Centerline is valid? [True, True] Translation: X:206.96, Y:-104.71, Z:-4.04 [[ 7.77982151e-01 6.28221326e-01 -9.04091284e-03 2.06962334e+02] [ 6.28184544e-01 -7.78034588e-01 -6.80874092e-03 -1.04714855e+02] [-1.13115391e-02 -3.82282810e-04 -9.99935949e-01 -4.04023537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4265599949999 meters 0.019684075053409935 Centerline is valid? [True, True] Translation: X:206.99, Y:-104.70, Z:-4.04 [[ 7.27853106e-01 6.85689232e-01 -7.75459147e-03 2.06988820e+02] [ 6.85655048e-01 -7.27894340e-01 -6.85459536e-03 -1.04695639e+02] [-1.03446455e-02 -3.27836266e-04 -9.99946439e-01 -4.04026065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.486559995 meters 0.016904067936485145 Centerline is valid? [True, True] Translation: X:207.01, Y:-104.67, Z:-4.04 [[ 6.73772571e-01 7.38912996e-01 -6.17313255e-03 2.07010513e+02] [ 7.38885460e-01 -6.73800800e-01 -6.38432207e-03 -1.04671325e+02] [-8.87692019e-03 -2.59656794e-04 -9.99960566e-01 -4.04230033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5465599949999 meters 0.016450797797583638 Centerline is valid? [True, True] Translation: X:207.03, Y:-104.65, Z:-4.04 [[ 6.16235257e-01 7.87546079e-01 -5.02807322e-03 2.07030604e+02] [ 7.87522561e-01 -6.16255734e-01 -6.08980989e-03 -1.04648121e+02] [-7.89458486e-03 -2.06965543e-04 -9.99968816e-01 -4.04222619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.606559995 meters 0.014855016795316225 Centerline is valid? [True, True] Translation: X:207.05, Y:-104.62, Z:-4.04 [[ 5.54394962e-01 8.32240031e-01 -4.77035923e-03 2.07050723e+02] [ 8.32212286e-01 -5.54415449e-01 -6.79861720e-03 -1.04623569e+02] [-8.30284225e-03 -2.00832437e-04 -9.99965511e-01 -4.04270545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.666559995 meters 0.01444039400003295 Centerline is valid? [True, True] Translation: X:207.07, Y:-104.60, Z:-4.04 [[ 4.88114135e-01 8.72768352e-01 -4.47166619e-03 2.07072186e+02] [ 8.72735528e-01 -4.88134573e-01 -7.57207841e-03 -1.04600611e+02] [-8.79144526e-03 -2.06543451e-04 -9.99961333e-01 -4.04244873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.726559995 meters 0.0145969447266725 Centerline is valid? [True, True] Translation: X:207.09, Y:-104.57, Z:-4.04 [[ 4.18725054e-01 9.08104634e-01 -3.91185863e-03 2.07089911e+02] [ 9.08069462e-01 -4.18743277e-01 -7.99502085e-03 -1.04574988e+02] [-8.89837998e-03 -2.04523826e-04 -9.99960388e-01 -4.04154897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.786559995 meters 0.014851280953759392 Centerline is valid? [True, True] Translation: X:207.11, Y:-104.55, Z:-4.04 [[ 3.46060137e-01 9.38206923e-01 -3.18594795e-03 2.07106680e+02] [ 9.38172365e-01 -3.46074744e-01 -8.05516941e-03 -1.04549050e+02] [-8.65999183e-03 -2.01395295e-04 -9.99962481e-01 -4.04124086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.846559995 meters 0.014160797540679294 Centerline is valid? [True, True] Translation: X:207.12, Y:-104.52, Z:-4.04 [[ 2.71892120e-01 9.62324846e-01 -2.35907409e-03 2.07122039e+02] [ 9.62294263e-01 -2.71902292e-01 -7.67430291e-03 -1.04522413e+02] [-8.02661002e-03 -1.83540978e-04 -9.99967769e-01 -4.04094021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.906559995 meters 0.013924058922640072 Centerline is valid? [True, True] Translation: X:207.14, Y:-104.49, Z:-4.04 [[ 1.96040333e-01 9.80594066e-01 -1.86143879e-03 2.07136196e+02] [ 9.80558694e-01 -1.96049077e-01 -8.33104980e-03 -1.04494657e+02] [-8.53431136e-03 -1.92028212e-04 -9.99963564e-01 -4.04030352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.966559995 meters 0.014252916213567137 Centerline is valid? [True, True] Translation: X:207.15, Y:-104.47, Z:-4.04 [[ 1.18717056e-01 9.92927335e-01 -1.25196393e-03 2.07148583e+02] [ 9.92888411e-01 -1.18723491e-01 -8.79408646e-03 -1.04466870e+02] [-8.88052636e-03 -1.99052416e-04 -9.99960548e-01 -4.04017091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.026559995 meters 0.015105736127137436 Centerline is valid? [True, True] Translation: X:207.16, Y:-104.44, Z:-4.04 [[ 4.00475350e-02 9.99197631e-01 -5.38312549e-04 2.07157374e+02] [ 9.99161173e-01 -4.00506735e-02 -8.53778000e-03 -1.04439384e+02] [-8.55248933e-03 -1.95943955e-04 -9.99963408e-01 -4.03963023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0865599949999 meters 0.015943693882449886 Centerline is valid? [True, True] Translation: X:207.16, Y:-104.41, Z:-4.04 [[-3.93274571e-02 9.99226369e-01 1.19811955e-04 2.07162560e+02] [ 9.99196212e-01 3.93272013e-02 -7.76539768e-03 -1.04411496e+02] [-7.76410200e-03 -1.85677693e-04 -9.99969842e-01 -4.03942048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.146559995 meters 0.015855202854338904 Centerline is valid? [True, True] Translation: X:207.16, Y:-104.38, Z:-4.04 [[-1.17751242e-01 9.93042841e-01 7.49314987e-04 2.07162707e+02] [ 9.93010934e-01 1.17753467e-01 -7.96273314e-03 -1.04382245e+02] [-7.99556958e-03 -1.93543745e-04 -9.99968016e-01 -4.03926119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2065599949999 meters 0.01448768493335079 Centerline is valid? [True, True] Translation: X:207.16, Y:-104.35, Z:-4.04 [[-1.94925599e-01 9.80816911e-01 1.48239265e-03 2.07163444e+02] [ 9.80779906e-01 1.94931125e-01 -8.52251149e-03 -1.04352184e+02] [-8.64798786e-03 -2.07354730e-04 -9.99962584e-01 -4.03910449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.266559995 meters 0.014860512448208747 Centerline is valid? [True, True] Translation: X:207.16, Y:-104.32, Z:-4.04 [[-2.71123804e-01 9.62541793e-01 2.27591082e-03 2.07162399e+02] [ 9.62500750e-01 2.71133267e-01 -8.89138158e-03 -1.04322913e+02] [-9.17540150e-03 -2.20099332e-04 -9.99957881e-01 -4.03841998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3265599949999 meters 0.015126597741156681 Centerline is valid? [True, True] Translation: X:207.16, Y:-104.29, Z:-4.04 [[-3.46082929e-01 9.38199321e-01 2.93952963e-03 2.07159580e+02] [ 9.38159846e-01 3.46095342e-01 -8.60914531e-03 -1.04293947e+02] [-9.09445179e-03 -2.21729560e-04 -9.99958620e-01 -4.03836889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.386559995 meters 0.01527741348616841 Centerline is valid? [True, True] Translation: X:207.15, Y:-104.27, Z:-4.04 [[-4.19455912e-01 9.07770256e-01 3.14649055e-03 2.07154637e+02] [ 9.07741001e-01 4.19467664e-01 -7.29062489e-03 -1.04265038e+02] [-7.93806346e-03 -2.01897231e-04 -9.99968473e-01 -4.03862737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4465599949999 meters 0.016216591272432364 Centerline is valid? [True, True] Translation: X:207.15, Y:-104.24, Z:-4.04 [[-4.90413127e-01 8.71483107e-01 3.48713062e-03 2.07147636e+02] [ 8.71458115e-01 4.90425484e-01 -6.60297987e-03 -1.04237646e+02] [-7.46456313e-03 -1.99299730e-04 -9.99972120e-01 -4.03806346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.506559995 meters 0.01570497203372124 Centerline is valid? [True, True] Translation: X:207.14, Y:-104.21, Z:-4.04 [[-5.57256738e-01 8.30330170e-01 4.09102752e-03 2.07137889e+02] [ 8.30305041e-01 5.57271717e-01 -6.46313129e-03 -1.04210867e+02] [-7.64634684e-03 -2.04822683e-04 -9.99970745e-01 -4.03799463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5665599949999 meters 0.016425308635920215 Centerline is valid? [True, True] Translation: X:207.13, Y:-104.19, Z:-4.04 [[-6.19634581e-01 7.84871429e-01 5.46143134e-03 2.07126292e+02] [ 7.84837571e-01 6.19658605e-01 -7.29387578e-03 -1.04185439e+02] [-9.10897763e-03 -2.33201149e-04 -9.99958485e-01 -4.03661275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.626559995 meters 0.015286776046722057 Centerline is valid? [True, True] Translation: X:207.11, Y:-104.16, Z:-4.04 [[-6.77722821e-01 7.35290960e-01 6.24349717e-03 2.07110289e+02] [ 7.35256691e-01 6.77751543e-01 -7.10241767e-03 -1.04162761e+02] [-9.45388335e-03 -2.22897474e-04 -9.99955286e-01 -4.03709234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6865599949999 meters 0.014127315712810777 Centerline is valid? [True, True] Translation: X:207.10, Y:-104.14, Z:-4.04 [[-7.32219896e-01 6.81035850e-01 6.64793536e-03 2.07095271e+02] [ 6.81005221e-01 7.32250046e-01 -6.46210064e-03 -1.04138128e+02] [-9.26887317e-03 -2.04399966e-04 -9.99957022e-01 -4.03839848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.746559995 meters 0.013566597597581758 Centerline is valid? [True, True] Translation: X:207.11, Y:-104.12, Z:-4.04 [[-7.77511744e-01 6.28839560e-01 6.02458462e-03 2.07113156e+02] [ 6.28819068e-01 7.77535068e-01 -5.07908798e-03 -1.04119651e+02] [-7.87825727e-03 -1.60676869e-04 -9.99968953e-01 -4.03962914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8065599949999 meters 0.014138642368918587 Centerline is valid? [True, True] Translation: X:207.14, Y:-104.10, Z:-4.04 [[-8.19646464e-01 5.72839574e-01 5.87334052e-03 2.07135834e+02] [ 5.72823609e-01 8.19667495e-01 -4.27915206e-03 -1.04102360e+02] [-7.26545395e-03 -1.43003736e-04 -9.99973596e-01 -4.04022624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.866559995 meters 0.013596101053606405 Centerline is valid? [True, True] Translation: X:207.15, Y:-104.08, Z:-4.04 [[-8.57626824e-01 5.14222142e-01 7.19854711e-03 2.07152797e+02] [ 5.14202459e-01 8.57657020e-01 -4.50199495e-03 -1.04082966e+02] [-8.48890995e-03 -1.59521009e-04 -9.99963956e-01 -4.04033479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9265599949999 meters 0.013892137464067781 Centerline is valid? [True, True] Translation: X:207.16, Y:-104.06, Z:-4.04 [[-8.92019995e-01 4.51920418e-01 8.26221861e-03 2.07163416e+02] [ 4.51899164e-01 8.92058240e-01 -4.38648737e-03 -1.04056784e+02] [-9.35272340e-03 -1.79144754e-04 -9.99956246e-01 -4.03970295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.986559995 meters 0.013574326375975448 Centerline is valid? [True, True] Translation: X:207.17, Y:-104.03, Z:-4.04 [[-9.22310020e-01 3.86357008e-01 8.51413396e-03 2.07170712e+02] [ 3.86338629e-01 9.22349297e-01 -3.77331314e-03 -1.04029017e+02] [-9.31085144e-03 -1.90825677e-04 -9.99956635e-01 -4.04032911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0465599949999 meters 0.014473177089278111 Centerline is valid? [True, True] Translation: X:207.17, Y:-104.00, Z:-4.04 [[-9.47995917e-01 3.18141995e-01 9.45579105e-03 2.07173585e+02] [ 3.18123774e-01 9.48043047e-01 -3.41254946e-03 -1.03997593e+02] [-1.00501723e-02 -2.26971027e-04 -9.99949470e-01 -4.04028654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.106559995 meters 0.01538085134477861 Centerline is valid? [True, True] Translation: X:207.43, Y:-103.35, Z:-5.00 [[-9.05858682e-01 -4.23459833e-01 1.00905004e-02 2.07425263e+02] [ 4.23437319e-01 -9.05914828e-01 -4.37735099e-03 -1.03349239e+02] [ 1.09947662e-02 3.07433019e-04 9.99939508e-01 -5.00472669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.166559995 meters 0.014606407898117419 Centerline is valid? [True, True] Translation: X:207.14, Y:-103.98, Z:-4.04 [[-9.49140305e-01 3.14692410e-01 1.00681844e-02 2.07143510e+02] [ 3.14671997e-01 9.49193673e-01 -3.59239533e-03 -1.03984948e+02] [-1.06871565e-02 -2.41511514e-04 -9.99942862e-01 -4.04084821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.226559995 meters 0.013799777800609772 Centerline is valid? [True, True] Translation: X:207.16, Y:-103.96, Z:-4.04 [[-9.68347989e-01 2.49422441e-01 9.51935912e-03 2.07162395e+02] [ 2.49408408e-01 9.68394758e-01 -2.65287829e-03 -1.03963401e+02] [-9.88018485e-03 -1.94701150e-04 -9.99951171e-01 -4.04157239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.286559995 meters 0.012958967613492193 Centerline is valid? [True, True] Translation: X:207.35, Y:-103.29, Z:-5.00 [[-9.37104351e-01 -3.48942569e-01 8.63243567e-03 2.07349575e+02] [ 3.48929114e-01 -9.37144100e-01 -3.06736031e-03 -1.03294376e+02] [ 9.16016875e-03 1.37671436e-04 9.99958035e-01 -5.00195402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.346559995 meters 0.01215680657718173 Centerline is valid? [True, True] Translation: X:207.12, Y:-103.96, Z:-4.04 [[-9.67466106e-01 2.52837607e-01 9.08176670e-03 2.07121447e+02] [ 2.52825331e-01 9.67508724e-01 -2.49415180e-03 -1.03956221e+02] [-9.41730389e-03 -1.16906648e-04 -9.99955649e-01 -4.04298716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.406559995 meters 0.011538695837369377 Centerline is valid? [True, True] Translation: X:207.13, Y:-103.93, Z:-4.04 [[-9.81693474e-01 1.90224816e-01 9.61472802e-03 2.07131164e+02] [ 1.90215135e-01 9.81740555e-01 -1.91992967e-03 -1.03932949e+02] [-9.80438669e-03 -5.59156451e-05 -9.99951934e-01 -4.04236841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.466559995 meters 0.011448115678894543 Centerline is valid? [True, True] Translation: X:207.14, Y:-103.91, Z:-4.04 [[-9.91889715e-01 1.26716131e-01 9.89019857e-03 2.07137282e+02] [ 1.26709931e-01 9.91939021e-01 -1.25351371e-03 -1.03911006e+02] [-9.96931430e-03 9.83903023e-06 -9.99950305e-01 -4.04360342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.526559995 meters 0.011504459955269462 Centerline is valid? [True, True] Translation: X:207.14, Y:-103.89, Z:-4.04 [[-9.98261582e-01 5.80631625e-02 1.01233535e-02 2.07140618e+02] [ 5.80604939e-02 9.98312911e-01 -5.57542817e-04 -1.03885073e+02] [-1.01386472e-02 3.11933277e-05 -9.99948602e-01 -4.04375612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5865599949999 meters 0.011830503148599653 Centerline is valid? [True, True] Translation: X:207.14, Y:-103.86, Z:-4.04 [[-9.99895227e-01 -9.84590152e-03 1.06110233e-02 2.07140019e+02] [-9.84464926e-03 9.99951526e-01 1.70242129e-04 -1.03859471e+02] [-1.06121851e-02 6.57624891e-05 -9.99943687e-01 -4.04391638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.646559995 meters 0.012266576824157003 Centerline is valid? [True, True] Translation: X:207.13, Y:-103.14, Z:-5.00 [[-9.98959985e-01 -4.42072939e-02 1.11653126e-02 2.07132706e+02] [ 4.42041647e-02 -9.99022379e-01 -5.27008398e-04 -1.03142471e+02] [ 1.11776947e-02 -3.29069850e-05 9.99937527e-01 -5.00084617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7065599949999 meters 0.011659266728059932 Centerline is valid? [True, True] Translation: X:207.07, Y:-103.86, Z:-4.05 [[-9.99788241e-01 -1.71863457e-02 1.13182332e-02 2.07073110e+02] [-1.71848050e-02 9.99852303e-01 2.33375549e-04 -1.03857638e+02] [-1.13205724e-02 3.88244992e-05 -9.99935920e-01 -4.04512501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.766559995 meters 0.011646345071519421 Centerline is valid? [True, True] Translation: X:207.06, Y:-103.15, Z:-5.00 [[-9.98703958e-01 -4.93174152e-02 1.25776321e-02 2.07059086e+02] [ 4.93140982e-02 -9.98783155e-01 -5.73908517e-04 -1.03151240e+02] [ 1.25906307e-02 4.70898767e-05 9.99920734e-01 -4.99994544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8265599949999 meters 0.012071936667556418 Centerline is valid? [True, True] Translation: X:207.00, Y:-103.85, Z:-4.04 [[-9.99388475e-01 -3.22970173e-02 1.34007110e-02 2.07000187e+02] [-3.22953905e-02 9.99478311e-01 3.37836657e-04 -1.03850923e+02] [-1.34046311e-02 -9.51511335e-05 -9.99910149e-01 -4.04415841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.886559995 meters 0.012919702287210899 Centerline is valid? [True, True] Translation: X:206.98, Y:-103.16, Z:-5.00 [[-9.98313056e-01 -5.63642614e-02 1.39324336e-02 2.06979333e+02] [ 5.63607026e-02 -9.98410262e-01 -6.48253107e-04 -1.03162448e+02] [ 1.39468230e-02 1.38082206e-04 9.99902729e-01 -5.00074981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9465599949999 meters 0.01414742607383234 Centerline is valid? [True, True] Translation: X:206.92, Y:-103.84, Z:-4.04 [[-9.98702338e-01 -4.91869041e-02 1.32018096e-02 2.06919123e+02] [-4.91860632e-02 9.98789558e-01 3.88571924e-04 -1.03843366e+02] [-1.32049422e-02 -2.61277353e-04 -9.99912777e-01 -4.04431692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.006559995 meters 0.015378011971767852 Centerline is valid? [True, True] Translation: X:206.91, Y:-103.17, Z:-5.00 [[-9.97989066e-01 -6.23527042e-02 1.14002014e-02 2.06908574e+02] [ 6.23497900e-02 -9.98054172e-01 -6.11206419e-04 -1.03171261e+02] [ 1.14161289e-02 1.00822840e-04 9.99934829e-01 -4.99906465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0665599949999 meters 0.016915540095984116 Centerline is valid? [True, True] Translation: X:206.86, Y:-103.84, Z:-4.05 [[-9.98021570e-01 -6.18616878e-02 1.12284589e-02 2.06864142e+02] [-6.18612907e-02 9.98084683e-01 3.83012172e-04 -1.03840071e+02] [-1.12306466e-02 -3.12352551e-04 -9.99936886e-01 -4.04516674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.126559995 meters 0.0171290837311176 Centerline is valid? [True, True] Translation: X:206.84, Y:-103.18, Z:-5.00 [[-9.97936335e-01 -6.30398644e-02 1.22084631e-02 2.06841404e+02] [ 6.30401062e-02 -9.98010928e-01 -3.65404644e-04 -1.03175312e+02] [ 1.22072146e-02 4.04972238e-04 9.99925407e-01 -4.99948746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1865599949999 meters 0.01829498656275835 Centerline is valid? [True, True] Translation: X:206.80, Y:-103.84, Z:-4.04 [[-9.97488813e-01 -6.94667980e-02 1.37997406e-02 2.06795906e+02] [-6.94660750e-02 9.97584172e-01 5.32291774e-04 -1.03841820e+02] [-1.38033794e-02 -4.27658725e-04 -9.99904637e-01 -4.04351811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.246559995 meters 0.019076741301231943 Centerline is valid? [True, True] Translation: X:206.79, Y:-103.82, Z:-4.04 [[-9.90038165e-01 -1.39948980e-01 1.54503986e-02 2.06787517e+02] [-1.39939457e-01 9.90158601e-01 1.70115177e-03 -1.03816006e+02] [-1.55364196e-02 -4.77915214e-04 -9.99879188e-01 -4.04154004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3065599949999 meters 0.018756349181547116 Centerline is valid? [True, True] Translation: X:206.72, Y:-103.15, Z:-5.00 [[-9.99794831e-01 1.25008419e-02 1.59381437e-02 2.06720466e+02] [-1.24910077e-02 -9.99921728e-01 7.16428165e-04 -1.03153085e+02] [ 1.59458521e-02 5.17197702e-04 9.99872723e-01 -5.00298955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.366559995 meters 0.016975500401696073 Centerline is valid? [True, True] Translation: X:206.71, Y:-103.83, Z:-4.04 [[-9.89860987e-01 -1.41257579e-01 1.48836226e-02 2.06712596e+02] [-1.41247695e-01 9.89972795e-01 1.71850683e-03 -1.03833749e+02] [-1.49771335e-02 -4.01194512e-04 -9.99887756e-01 -4.04387560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4265599949999 meters 0.015456869705804224 Centerline is valid? [True, True] Translation: X:206.71, Y:-103.81, Z:-4.05 [[-9.77744594e-01 -2.09331226e-01 1.39981251e-02 2.06708450e+02] [-2.09314899e-01 9.77844729e-01 2.63787079e-03 -1.03812139e+02] [-1.42401816e-02 -3.50852240e-04 -9.99898542e-01 -4.04559259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.486559995 meters 0.015033086579185758 Centerline is valid? [True, True] Translation: X:206.69, Y:-103.79, Z:-4.05 [[-9.61260941e-01 -2.75341155e-01 1.28316820e-02 2.06688975e+02] [-2.75320543e-01 9.61346539e-01 3.38084552e-03 -1.03793360e+02] [-1.32665790e-02 -2.82950902e-04 -9.99911955e-01 -4.04610654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5465599949999 meters 0.01414391818911817 Centerline is valid? [True, True] Translation: X:206.67, Y:-103.78, Z:-4.05 [[-9.39791597e-01 -3.41557130e-01 1.14228240e-02 2.06669664e+02] [-3.41534844e-01 9.39860987e-01 3.90834846e-03 -1.03776222e+02] [-1.20707910e-02 -2.28259377e-04 -9.99927119e-01 -4.04781985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.606559995 meters 0.013537193449539265 Centerline is valid? [True, True] Translation: X:206.63, Y:-103.76, Z:-4.05 [[-9.13511937e-01 -4.06654216e-01 1.13264884e-02 2.06630145e+02] [-4.06625696e-01 9.13582130e-01 4.82027740e-03 -1.03764672e+02] [-1.23078635e-02 -2.02260281e-04 -9.99924235e-01 -4.04775622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.666559995 meters 0.013001816097488154 Centerline is valid? [True, True] Translation: X:206.57, Y:-103.76, Z:-4.05 [[-8.82764736e-01 -4.69655075e-01 1.22691018e-02 2.06574874e+02] [-4.69612516e-01 8.82849975e-01 6.32502943e-03 -1.03764093e+02] [-1.38023584e-02 -1.78210821e-04 -9.99904727e-01 -4.04616732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.726559995 meters 0.012176872881225211 Centerline is valid? [True, True] Translation: X:206.50, Y:-103.78, Z:-4.05 [[-8.47913291e-01 -5.30007742e-01 1.16122781e-02 2.06504078e+02] [-5.29959921e-01 8.47992795e-01 7.12053642e-03 -1.03777334e+02] [-1.36210676e-02 -1.16444529e-04 -9.99907222e-01 -4.04750783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.786559995 meters 0.011856997182937827 Centerline is valid? [True, True] Translation: X:206.43, Y:-103.79, Z:-4.05 [[-8.08812265e-01 -5.87987803e-01 9.64690806e-03 2.06433417e+02] [-5.87946628e-01 8.08869793e-01 6.95859110e-03 -1.03793786e+02] [-1.18946592e-02 -4.36732341e-05 -9.99929255e-01 -4.04792533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.846559995 meters 0.011641401649105432 Centerline is valid? [True, True] Translation: X:206.36, Y:-103.82, Z:-4.05 [[-7.65109818e-01 -6.43845598e-01 8.35543670e-03 2.06355284e+02] [-6.43807119e-01 7.65155439e-01 7.03897989e-03 -1.03823290e+02] [-1.09252241e-02 6.30298446e-06 -9.99940318e-01 -4.04951301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.906559995 meters 0.011635249241089394 Centerline is valid? [True, True] Translation: X:206.27, Y:-103.87, Z:-4.05 [[-7.15627407e-01 -6.98437127e-01 7.93693897e-03 2.06266917e+02] [-6.98393795e-01 7.15671419e-01 7.77999623e-03 -1.03867755e+02] [-1.11140786e-02 2.44695945e-05 -9.99938236e-01 -4.04961042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.966559995 meters 0.011617384218690895 Centerline is valid? [True, True] Translation: X:206.18, Y:-103.91, Z:-4.05 [[-6.61038188e-01 -7.50309886e-01 7.97421929e-03 2.06184571e+02] [-7.50254703e-01 6.61086283e-01 9.09981718e-03 -1.03913759e+02] [-1.20993298e-02 3.26311349e-05 -9.99926800e-01 -4.04952006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.026559995 meters 0.011544453635925345 Centerline is valid? [True, True] Translation: X:206.10, Y:-103.97, Z:-4.05 [[-5.99288895e-01 -8.00496334e-01 7.64464302e-03 2.06096115e+02] [-8.00431486e-01 5.99337651e-01 1.01890210e-02 -1.03972397e+02] [-1.27379964e-02 -1.28458168e-05 -9.99918868e-01 -4.04896698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0865599949999 meters 0.01159796004489585 Centerline is valid? [True, True] Translation: X:206.01, Y:-104.04, Z:-4.05 [[-5.33759205e-01 -8.45609662e-01 6.73877054e-03 2.06013519e+02] [-8.45543585e-01 5.33801740e-01 1.05711075e-02 -1.04036712e+02] [-1.25361981e-02 -5.54982751e-05 -9.99921417e-01 -4.04798179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.146559995 meters 0.012022499256345315 Centerline is valid? [True, True] Translation: X:205.93, Y:-104.11, Z:-4.05 [[-4.62865820e-01 -8.86412711e-01 5.26683761e-03 2.05929675e+02] [-8.86358072e-01 4.62895770e-01 9.84251192e-03 -1.04114589e+02] [-1.11625245e-02 -1.12541679e-04 -9.99937691e-01 -4.04847491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2065599949999 meters 0.012675405771818141 Centerline is valid? [True, True] Translation: X:205.86, Y:-104.20, Z:-4.05 [[-3.90235172e-01 -9.20708905e-01 3.40912392e-03 2.05855733e+02] [-9.20676389e-01 3.90250045e-01 7.73884924e-03 -1.04195841e+02] [-8.45563817e-03 -1.18728731e-04 -9.99964243e-01 -4.05065901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.266559995 meters 0.012811583411750389 Centerline is valid? [True, True] Translation: X:205.79, Y:-104.29, Z:-4.05 [[-3.17923809e-01 -9.48109502e-01 3.58109580e-03 2.05787576e+02] [-9.48054955e-01 3.17943936e-01 1.01713097e-02 -1.04290015e+02] [-1.07821031e-02 -1.61374085e-04 -9.99941858e-01 -4.04890152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3265599949999 meters 0.012837106471801354 Centerline is valid? [True, True] Translation: X:205.73, Y:-104.38, Z:-4.05 [[-2.44091177e-01 -9.69747025e-01 3.19460176e-03 2.05728864e+02] [-9.69673828e-01 2.44112008e-01 1.19161762e-02 -1.04384650e+02] [-1.23355171e-02 -1.89088224e-04 -9.99923897e-01 -4.04708632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.386559995 meters 0.012636668530873984 Centerline is valid? [True, True] Translation: X:205.68, Y:-104.49, Z:-4.05 [[-1.71044330e-01 -9.85260530e-01 2.35048828e-03 2.05677019e+02] [-9.85180654e-01 1.71060396e-01 1.25466876e-02 -1.04489913e+02] [-1.27638315e-02 -1.69615804e-04 -9.99918525e-01 -4.04658517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4465599949999 meters 0.012182718582401565 Centerline is valid? [True, True] Translation: X:205.63, Y:-104.60, Z:-4.05 [[-9.82438905e-02 -9.95161364e-01 1.41365506e-03 2.05633340e+02] [-9.95076536e-01 9.82539745e-02 1.29939623e-02 -1.04597486e+02] [-1.30699865e-02 -1.30117570e-04 -9.99914576e-01 -4.04582838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.506559995 meters 0.011740856361758019 Centerline is valid? [True, True] Translation: X:205.60, Y:-104.71, Z:-4.05 [[-2.57564248e-02 -9.99668155e-01 4.32026176e-04 2.05599065e+02] [-9.99574221e-01 2.57599271e-02 1.37040991e-02 -1.04707826e+02] [-1.37106805e-02 -7.88736298e-05 -9.99906001e-01 -4.04538596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5665599949999 meters 0.011541752890966492 Centerline is valid? [True, True] Translation: X:205.58, Y:-104.82, Z:-4.05 [[ 4.45774052e-02 -9.99005771e-01 -5.68951537e-04 2.05575582e+02] [-9.98927383e-01 -4.45810346e-02 1.25145924e-02 -1.04819599e+02] [-1.25275145e-02 1.04732133e-05 -9.99921528e-01 -4.04814243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.626559995 meters 0.011840530885828853 Centerline is valid? [True, True] Translation: X:205.56, Y:-104.94, Z:-4.05 [[ 1.15629255e-01 -9.93291600e-01 -1.29303094e-03 2.05560171e+02] [-9.93235991e-01 -1.15636464e-01 1.05107112e-02 -1.04940863e+02] [-1.05897226e-02 6.89391658e-05 -9.99943925e-01 -4.05115475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6865599949999 meters 0.012115815154823222 Centerline is valid? [True, True] Translation: X:205.55, Y:-105.06, Z:-4.05 [[ 1.89541651e-01 -9.81870869e-01 -1.88673024e-03 2.05550627e+02] [-9.81826445e-01 -1.89551023e-01 9.34035215e-03 -1.05056296e+02] [-9.52865133e-03 8.20558720e-05 -9.99954598e-01 -4.05226042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.746559995 meters 0.011833840746318464 Centerline is valid? [True, True] Translation: X:205.55, Y:-105.18, Z:-4.05 [[ 2.65693042e-01 -9.64054356e-01 -2.53088909e-03 2.05547742e+02] [-9.64012989e-01 -2.65705088e-01 8.93103781e-03 -1.05176493e+02] [-9.28247601e-03 6.68953471e-05 -9.99956915e-01 -4.05262172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8065599949999 meters 0.011516427515081173 Centerline is valid? [True, True] Translation: X:205.55, Y:-105.30, Z:-4.05 [[ 3.44190757e-01 -9.38893450e-01 -3.43691406e-03 2.05551365e+02] [-9.38847077e-01 -3.44207916e-01 9.33151417e-03 -1.05298714e+02] [-9.94431056e-03 1.49157887e-05 -9.99950554e-01 -4.05032152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.866559995 meters 0.011906192589583678 Centerline is valid? [True, True] Translation: X:205.56, Y:-105.42, Z:-4.05 [[ 4.23080845e-01 -9.06082200e-01 -4.20061288e-03 2.05564228e+02] [-9.06035773e-01 -4.23101691e-01 9.17264054e-03 -1.05423431e+02] [-1.00884527e-02 -7.48629721e-05 -9.99949107e-01 -4.05049031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9265599949999 meters 0.01402863343803104 Centerline is valid? [True, True] Translation: X:205.58, Y:-105.54, Z:-4.05 [[ 5.00885599e-01 -8.65498033e-01 -5.17406672e-03 2.05583790e+02] [-8.65447649e-01 -5.00912281e-01 9.34097074e-03 -1.05544333e+02] [-1.06763454e-02 -2.00873847e-04 -9.99942986e-01 -4.05042675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.986559995 meters 0.017635320856025618 Centerline is valid? [True, True] Translation: X:205.61, Y:-105.66, Z:-4.05 [[ 5.72067804e-01 -8.20186914e-01 -5.64397619e-03 2.05607372e+02] [-8.20142133e-01 -5.72095578e-01 8.57507749e-03 -1.05659551e+02] [-1.02620602e-02 -2.76663074e-04 -9.99947305e-01 -4.04768061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0465599949999 meters 0.017097552063875823 Centerline is valid? [True, True] Translation: X:205.65, Y:-105.76, Z:-4.05 [[ 6.33155188e-01 -7.73995142e-01 -6.78442824e-03 2.05648964e+02] [-7.73945489e-01 -6.33191462e-01 8.77222123e-03 -1.05763074e+02] [-1.10854987e-02 -3.03399753e-04 -9.99938508e-01 -4.04728425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.106559995 meters 0.01772304115632115 Centerline is valid? [True, True] Translation: X:205.69, Y:-105.86, Z:-4.05 [[ 6.90138459e-01 -7.23634162e-01 -7.90615530e-03 2.05693286e+02] [-7.23581244e-01 -6.90183668e-01 8.75721701e-03 -1.05859474e+02] [-1.17937207e-02 -3.22946560e-04 -9.99930400e-01 -4.04619749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.166559995 meters 0.01772304115632115 Centerline is valid? [True, True] Translation: X:205.74, Y:-105.95, Z:-4.05 [[ 7.43006105e-01 -6.69230059e-01 -8.54730617e-03 2.05744262e+02] [-6.69180719e-01 -7.43055196e-01 8.13270196e-03 -1.05950172e+02] [-1.17937689e-02 -3.22954714e-04 -9.99930399e-01 -4.04619537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.226559995 meters 0.01703775170523833 Centerline is valid? [True, True] Translation: X:205.77, Y:-105.98, Z:-4.05 [[ 7.93057502e-01 -6.09071627e-01 -9.56824250e-03 2.05768525e+02] [-6.09022108e-01 -7.93115148e-01 7.77387866e-03 -1.05978173e+02] [-1.23235670e-02 -3.37861571e-04 -9.99924005e-01 -4.04604699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.286559995 meters 0.016940459047153293 Centerline is valid? [True, True] Translation: X:205.80, Y:-106.00, Z:-4.04 [[ 8.37646209e-01 -5.46104610e-01 -1.08895995e-02 2.05795486e+02] [-5.46053017e-01 -8.37716917e-01 7.51458326e-03 -1.06003288e+02] [-1.32261503e-02 -3.48263486e-04 -9.99912470e-01 -4.04494256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.346559995 meters 0.015158345775426884 Centerline is valid? [True, True] Translation: X:205.82, Y:-106.03, Z:-4.05 [[ 8.76089627e-01 -4.82017091e-01 -1.12467930e-02 2.05824230e+02] [-4.81972994e-01 -8.76161763e-01 6.52663106e-03 -1.06025146e+02] [-1.29999577e-02 -2.97263281e-04 -9.99915453e-01 -4.04597408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.406559995 meters 0.013506130414039318 Centerline is valid? [True, True] Translation: X:205.86, Y:-106.04, Z:-4.05 [[ 9.07237887e-01 -4.20499154e-01 -9.99386082e-03 2.05856068e+02] [-4.20471816e-01 -9.07292918e-01 4.79721720e-03 -1.06038839e+02] [-1.10845849e-02 -1.50080386e-04 -9.99938553e-01 -4.04802883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4665599949999 meters 0.012938159398844901 Centerline is valid? [True, True] Translation: X:205.89, Y:-106.05, Z:-4.05 [[ 9.35656728e-01 -3.52735187e-01 -1.11523649e-02 2.05887922e+02] [-3.52708790e-01 -9.35723184e-01 4.31657820e-03 -1.06053688e+02] [-1.19581354e-02 -1.05298323e-04 -9.99928493e-01 -4.04730841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.526559995 meters 0.012520157332078093 Centerline is valid? [True, True] Translation: X:205.92, Y:-106.07, Z:-4.05 [[ 9.59338658e-01 -2.82056302e-01 -1.06575023e-02 2.05920143e+02] [-2.82038237e-01 -9.59397853e-01 3.19267517e-03 -1.06067547e+02] [-1.11252989e-02 -5.70335581e-05 -9.99938110e-01 -4.04818666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5865599949999 meters 0.01247583478162324 Centerline is valid? [True, True] Translation: X:205.95, Y:-106.08, Z:-4.05 [[ 9.77584418e-01 -2.10314500e-01 -9.82433723e-03 2.05951888e+02] [-2.10303785e-01 -9.77633782e-01 2.12292796e-03 -1.06080964e+02] [-1.00510865e-02 -9.24599098e-06 -9.99949487e-01 -4.04935263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.646559995 meters 0.01273505551707005 Centerline is valid? [True, True] Translation: X:205.98, Y:-106.09, Z:-4.05 [[ 9.90711284e-01 -1.35648243e-01 -9.52393146e-03 2.05981604e+02] [-1.35642127e-01 -9.90757061e-01 1.28815435e-03 -1.06092239e+02] [-9.61063821e-03 1.56572777e-05 -9.99953817e-01 -4.04820234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7065599949999 meters 0.012817231092675744 Centerline is valid? [True, True] Translation: X:206.01, Y:-106.10, Z:-4.05 [[ 9.98225780e-01 -5.87580172e-02 -9.63263324e-03 2.06011118e+02] [-5.87555335e-02 -9.98272255e-01 5.40875608e-04 -1.06102871e+02] [-9.64777128e-03 2.60545291e-05 -9.99953459e-01 -4.04919552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.766559995 meters 0.01299959829924769 Centerline is valid? [True, True] Translation: X:206.04, Y:-106.11, Z:-4.05 [[ 9.99748272e-01 2.00058884e-02 -1.01566049e-02 2.06040362e+02] [ 2.00046244e-02 -9.99799862e-01 -2.26033812e-04 -1.06112365e+02] [-1.01590942e-02 2.27978466e-05 -9.99948395e-01 -4.04847794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8265599949999 meters 0.012759315589285216 Centerline is valid? [True, True] Translation: X:206.07, Y:-106.12, Z:-4.05 [[ 9.95025646e-01 9.91861662e-02 -9.27726238e-03 2.06071242e+02] [ 9.91817441e-02 -9.95068894e-01 -9.36668376e-04 -1.06120609e+02] [-9.32441976e-03 1.18739927e-05 -9.99956527e-01 -4.04935866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.886559995 meters 0.012905557365538485 Centerline is valid? [True, True] Translation: X:206.10, Y:-106.13, Z:-4.05 [[ 9.83986127e-01 1.78062843e-01 -8.05759362e-03 2.06102937e+02] [ 1.78056875e-01 -9.84019118e-01 -1.45789217e-03 -1.06125038e+02] [-8.18842259e-03 -1.64265853e-07 -9.99966474e-01 -4.05016686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9465599949999 meters 0.013349213722008679 Centerline is valid? [True, True] Translation: X:206.14, Y:-106.13, Z:-4.05 [[ 9.66070767e-01 2.58166303e-01 -7.57851824e-03 2.06136116e+02] [ 2.58158597e-01 -9.66100491e-01 -1.99492198e-03 -1.06129102e+02] [-7.83663182e-03 -2.92238323e-05 -9.99969293e-01 -4.04988989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.006559995 meters 0.014931830515060755 Centerline is valid? [True, True] Translation: X:206.17, Y:-106.13, Z:-4.05 [[ 9.40393285e-01 3.39999162e-01 -7.81280415e-03 2.06169690e+02] [ 3.39988244e-01 -9.40425734e-01 -2.72626480e-03 -1.06132322e+02] [-8.27428982e-03 -9.25004564e-05 -9.99965763e-01 -4.04938080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0665599949999 meters 0.01736244909741634 Centerline is valid? [True, True] Translation: X:206.20, Y:-106.13, Z:-4.05 [[ 9.06989954e-01 4.21082914e-01 -7.64212709e-03 2.06203647e+02] [ 4.21069554e-01 -9.07022133e-01 -3.35871412e-03 -1.06133566e+02] [-8.34587555e-03 -1.71547078e-04 -9.99965158e-01 -4.05057057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.126559995 meters 0.02066455736622928 Centerline is valid? [True, True] Translation: X:206.24, Y:-106.13, Z:-4.05 [[ 8.66893654e-01 4.98418838e-01 -8.60546568e-03 2.06238467e+02] [ 4.98397539e-01 -8.66936318e-01 -4.61664894e-03 -1.06132775e+02] [-9.76141553e-03 -2.86799246e-04 -9.99952315e-01 -4.04981881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1865599949999 meters 0.025541394227607456 Centerline is valid? [True, True] Translation: X:206.27, Y:-106.13, Z:-4.04 [[ 8.19781355e-01 5.72557233e-01 -1.16938045e-02 2.06271516e+02] [ 5.72508272e-01 -8.19864576e-01 -7.50706603e-03 -1.06126656e+02] [-1.38855610e-02 -5.40647057e-04 -9.99903445e-01 -4.04493451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.246559995 meters 0.024668279742393853 Centerline is valid? [True, True] Translation: X:206.30, Y:-106.11, Z:-4.04 [[ 7.72014395e-01 6.35487383e-01 -1.22294933e-02 2.06299271e+02] [ 6.35419923e-01 -7.72111014e-01 -9.27924380e-03 -1.06109098e+02] [-1.53393689e-02 -6.07153913e-04 -9.99882161e-01 -4.04429018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3065599949999 meters 0.023680436487642578 Centerline is valid? [True, True] Translation: X:206.33, Y:-106.09, Z:-4.04 [[ 7.20388931e-01 6.93475433e-01 -1.14722193e-02 2.06327309e+02] [ 6.93400462e-01 -7.20480026e-01 -1.02142878e-02 -1.06090921e+02] [-1.53488625e-02 -5.96582299e-04 -9.99882021e-01 -4.04446577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.366559995 meters 0.023680436487642578 Centerline is valid? [True, True] Translation: X:206.35, Y:-106.07, Z:-4.04 [[ 6.63907110e-01 7.47739387e-01 -1.06375987e-02 2.06354809e+02] [ 7.47657516e-01 -6.63992058e-01 -1.10809059e-02 -1.06073178e+02] [-1.53489109e-02 -5.96588399e-04 -9.99882021e-01 -4.04446485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4265599949999 meters 0.02334611541926276 Centerline is valid? [True, True] Translation: X:206.38, Y:-106.05, Z:-4.05 [[ 6.06191905e-01 7.95274047e-01 -8.40021902e-03 2.06376135e+02] [ 7.95208141e-01 -6.06249925e-01 -1.02489845e-02 -1.06049943e+02] [-1.32433835e-02 -4.67071112e-04 -9.99912193e-01 -4.04567482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.486559995 meters 0.020258727160346397 Centerline is valid? [True, True] Translation: X:206.39, Y:-106.02, Z:-4.05 [[ 5.45855002e-01 8.37847707e-01 -7.31689082e-03 2.06394761e+02] [ 8.37781878e-01 -5.45903898e-01 -1.05099485e-02 -1.06024392e+02] [-1.28000554e-02 -3.93050583e-04 -9.99917999e-01 -4.04678181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5465599949999 meters 0.019814884965307367 Centerline is valid? [True, True] Translation: X:206.41, Y:-106.00, Z:-4.05 [[ 4.83818430e-01 8.75146758e-01 -6.15460288e-03 2.06412793e+02] [ 8.75083697e-01 -4.83857481e-01 -1.05100581e-02 -1.06001073e+02] [-1.21757939e-02 -3.00832852e-04 -9.99925827e-01 -4.04553363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.606559995 meters 0.0161038607354308 Centerline is valid? [True, True] Translation: X:206.42, Y:-105.97, Z:-4.05 [[ 4.26494913e-01 9.04475950e-01 -5.03433664e-03 2.06416730e+02] [ 9.04416318e-01 -4.26524607e-01 -1.03867148e-02 -1.05969560e+02] [-1.15418022e-02 -1.23255198e-04 -9.99933384e-01 -4.04708211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.666559995 meters 0.01548765175860376 Centerline is valid? [True, True] Translation: X:206.43, Y:-105.94, Z:-4.05 [[ 3.60786792e-01 9.32638278e-01 -4.32830514e-03 2.06425983e+02] [ 9.32572674e-01 -3.60812751e-01 -1.10619323e-02 -1.05942704e+02] [-1.18784892e-02 -4.54600402e-05 -9.99929447e-01 -4.04661929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.726559995 meters 0.015451808853088701 Centerline is valid? [True, True] Translation: X:206.43, Y:-105.92, Z:-4.05 [[ 2.95791172e-01 9.55247389e-01 -3.16351859e-03 2.06430103e+02] [ 9.55190468e-01 -2.95808082e-01 -1.04282640e-02 -1.05915127e+02] [-1.08973663e-02 6.28256290e-05 -9.99940620e-01 -4.04784277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.786559995 meters 0.01596922145580175 Centerline is valid? [True, True] Translation: X:206.44, Y:-105.89, Z:-4.05 [[ 2.26660342e-01 9.73972183e-01 -1.80992008e-03 2.06435180e+02] [ 9.73937294e-01 -2.26667543e-01 -8.24447638e-03 -1.05888442e+02] [-8.44014079e-03 1.05947174e-04 -9.99964376e-01 -4.04963176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.846559995 meters 0.016166281863909976 Centerline is valid? [True, True] Translation: X:206.44, Y:-105.86, Z:-4.05 [[ 1.52180739e-01 9.88352161e-01 -1.01452540e-03 2.06444364e+02] [ 9.88325054e-01 -1.52184080e-01 -7.32079812e-03 -1.05863466e+02] [-7.38992125e-03 1.11403601e-04 -9.99972688e-01 -4.05053531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.906559995 meters 0.016049368735984636 Centerline is valid? [True, True] Translation: X:206.45, Y:-105.84, Z:-4.05 [[ 7.41548108e-02 9.97246668e-01 -3.83917284e-04 2.06451837e+02] [ 9.97225671e-01 -7.41557410e-02 -6.47208879e-03 -1.05838413e+02] [-6.48273865e-03 9.70843481e-05 -9.99978982e-01 -4.05043589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9665599949999 meters 0.01487864408884028 Centerline is valid? [True, True] Translation: X:206.46, Y:-105.81, Z:-4.05 [[-8.80553628e-03 9.99961223e-01 1.23352047e-04 2.06464085e+02] [ 9.99940459e-01 8.80614840e-03 -6.44447254e-03 -1.05812876e+02] [-6.44530889e-03 6.65976656e-05 -9.99979227e-01 -4.04971375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.026559995 meters 0.014449902664154845 Centerline is valid? [True, True] Translation: X:206.47, Y:-105.79, Z:-4.05 [[-9.10950809e-02 9.95842018e-01 6.01771014e-04 2.06471503e+02] [ 9.95823051e-01 9.10970600e-02 -6.14627695e-03 -1.05786897e+02] [-6.17554041e-03 3.93618508e-05 -9.99980930e-01 -4.04865245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0865599949999 meters 0.01374667333418726 Centerline is valid? [True, True] Translation: X:206.48, Y:-105.76, Z:-4.05 [[-1.74458758e-01 9.84664029e-01 9.44047170e-04 2.06479630e+02] [ 9.84649725e-01 1.74461313e-01 -5.30740368e-03 -1.05758495e+02] [-5.39070920e-03 3.63273013e-06 -9.99985470e-01 -4.04838246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.146559995 meters 0.01346949313340339 Centerline is valid? [True, True] Translation: X:206.48, Y:-105.73, Z:-4.05 [[-2.55011544e-01 9.66937484e-01 1.00728668e-03 2.06483967e+02] [ 9.66929735e-01 2.55013533e-01 -3.87112777e-03 -1.05730570e+02] [-4.00001028e-03 -1.32068286e-05 -9.99992000e-01 -4.04887356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2065599949999 meters 0.013356724424616452 Centerline is valid? [True, True] Translation: X:206.49, Y:-105.70, Z:-4.05 [[-3.31882095e-01 9.43320533e-01 8.03961027e-04 2.06485310e+02] [ 9.43317672e-01 3.31883069e-01 -2.32327153e-03 -1.05702202e+02] [-2.45841079e-03 -1.26615779e-05 -9.99996978e-01 -4.04879462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.266559995 meters 0.013345251076174175 Centerline is valid? [True, True] Translation: X:206.48, Y:-105.68, Z:-4.05 [[-4.05208260e-01 9.14224325e-01 3.85796905e-04 2.06483242e+02] [ 9.14223900e-01 4.05208444e-01 -8.82067062e-04 -1.05675338e+02] [-9.62735329e-04 -4.71610873e-06 -9.99999537e-01 -4.04813856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3265599949999 meters 0.01331046407593691 Centerline is valid? [True, True] Translation: X:206.48, Y:-105.65, Z:-4.05 [[-4.74963346e-01 8.80005494e-01 3.88354010e-04 2.06476291e+02] [ 8.80005194e-01 4.74963505e-01 -7.26508644e-04 -1.05649605e+02] [-8.23785580e-04 -3.31143077e-06 -9.99999661e-01 -4.04685946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.386559995 meters 0.013120769048579709 Centerline is valid? [True, True] Translation: X:206.47, Y:-105.63, Z:-4.04 [[-5.39175163e-01 8.42192465e-01 1.41302693e-03 2.06465715e+02] [ 8.42189559e-01 5.39177014e-01 -2.21243935e-03 -1.05625030e+02] [-2.62517139e-03 -2.85582009e-06 -9.99996554e-01 -4.04410985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4465599949999 meters 0.01319557513133609 Centerline is valid? [True, True] Translation: X:206.45, Y:-105.60, Z:-4.04 [[-5.99508268e-01 8.00366388e-01 1.86613928e-03 2.06451514e+02] [ 8.00362572e-01 5.99511172e-01 -2.47153825e-03 -1.05602567e+02] [-3.09690749e-03 1.18804180e-05 -9.99995205e-01 -4.04329776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.506559995 meters 0.013808057539563441 Centerline is valid? [True, True] Translation: X:206.44, Y:-105.58, Z:-4.04 [[-6.55786937e-01 7.54943861e-01 1.80548453e-03 2.06435037e+02] [ 7.54941113e-01 6.55789421e-01 -2.03722196e-03 -1.05581576e+02] [-2.72200586e-03 2.70509527e-05 -9.99996295e-01 -4.04361843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5665599949999 meters 0.015376644707176625 Centerline is valid? [True, True] Translation: X:206.42, Y:-105.56, Z:-4.04 [[-7.07939117e-01 7.06272553e-01 1.13446816e-03 2.06417665e+02] [ 7.06271707e-01 7.07940026e-01 -1.09336052e-03 -1.05563163e+02] [-1.57534595e-03 2.72100827e-05 -9.99998759e-01 -4.04446305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.626559995 meters 0.01557175946404604 Centerline is valid? [True, True] Translation: X:206.44, Y:-105.55, Z:-4.04 [[-7.53207681e-01 6.57781049e-01 1.51015364e-03 2.06441304e+02] [ 6.57779839e-01 7.53209194e-01 -1.26259346e-03 -1.05548041e+02] [-1.96797166e-03 4.23535317e-05 -9.99998063e-01 -4.04430883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6865599949999 meters 0.016294286952888554 Centerline is valid? [True, True] Translation: X:206.46, Y:-105.53, Z:-4.04 [[-7.96850519e-01 6.04173641e-01 1.86060487e-03 2.06455417e+02] [ 6.04172149e-01 7.96852689e-01 -1.34406909e-03 -1.05526103e+02] [-2.29467911e-03 5.31034876e-05 -9.99997366e-01 -4.04408745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.746559995 meters 0.016746477535791327 Centerline is valid? [True, True] Translation: X:206.91, Y:-104.92, Z:-5.00 [[-7.83832969e-01 -6.20967802e-01 2.20579630e-03 2.06908078e+02] [ 6.20965222e-01 -7.83836072e-01 -1.79029050e-03 -1.04923923e+02] [ 2.84069546e-03 -3.35659248e-05 9.99995965e-01 -5.00104743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8065599949999 meters 0.016516854302263167 Centerline is valid? [True, True] Translation: X:206.42, Y:-105.50, Z:-4.04 [[-7.98945947e-01 6.01395164e-01 3.03804391e-03 2.06424987e+02] [ 6.01391222e-01 7.98951719e-01 -2.17934501e-03 -1.05498392e+02] [-3.73789796e-03 8.58740784e-05 -9.99993010e-01 -4.04282266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.866559995 meters 0.0154860781358617 Centerline is valid? [True, True] Translation: X:206.45, Y:-105.48, Z:-4.04 [[-8.40487519e-01 5.41822572e-01 3.00511430e-03 2.06449011e+02] [ 5.41819424e-01 8.40492888e-01 -1.84838254e-03 -1.05475644e+02] [-3.52727258e-03 7.46868451e-05 -9.99993776e-01 -4.04368861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9265599949999 meters 0.015347510393422931 Centerline is valid? [True, True] Translation: X:206.46, Y:-105.45, Z:-4.04 [[-8.77370276e-01 4.79806321e-01 2.70061786e-03 2.06464699e+02] [ 4.79804259e-01 8.77374430e-01 -1.40785609e-03 -1.05450029e+02] [-3.04495131e-03 6.05568661e-05 -9.99995362e-01 -4.04363959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.986559995 meters 0.015453274207305702 Centerline is valid? [True, True] Translation: X:206.48, Y:-105.42, Z:-4.04 [[-9.09291318e-01 4.16157349e-01 1.53621126e-03 2.06478928e+02] [ 4.16156816e-01 9.09292615e-01 -6.66692094e-04 -1.05422543e+02] [-1.67431437e-03 3.30874536e-05 -9.99998598e-01 -4.04401174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0465599949999 meters 0.015753216434737566 Centerline is valid? [True, True] Translation: X:206.49, Y:-105.40, Z:-4.04 [[-9.36055180e-01 3.51851938e-01 9.55319930e-04 2.06492741e+02] [ 3.51851779e-01 9.36055668e-01 -3.36004640e-04 -1.05395636e+02] [-1.01245652e-03 2.16121324e-05 -9.99999487e-01 -4.04477336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.106559995 meters 0.015856640307972767 Centerline is valid? [True, True] Translation: X:206.73, Y:-104.72, Z:-5.00 [[-9.26795343e-01 -3.75565587e-01 9.39694151e-04 2.06732831e+02] [ 3.75565370e-01 -9.26795819e-01 -4.03676086e-04 -1.04722492e+02] [ 1.02251146e-03 -2.12085344e-05 9.99999477e-01 -4.99963470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.166559995 meters 0.016147808840049786 Centerline is valid? [True, True] Translation: X:206.45, Y:-105.38, Z:-4.04 [[-9.36906598e-01 3.49576462e-01 1.52438802e-03 2.06451907e+02] [ 3.49576062e-01 9.36907837e-01 -5.30280913e-04 -1.05376086e+02] [-1.61358481e-03 3.60658758e-05 -9.99998698e-01 -4.04350793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.226559995 meters 0.016416585876095933 Centerline is valid? [True, True] Translation: X:206.46, Y:-105.35, Z:-4.04 [[-9.59575079e-01 2.81442323e-01 2.42617165e-03 2.06458714e+02] [ 2.81441563e-01 9.59578145e-01 -6.55890284e-04 -1.05346503e+02] [-2.51269658e-03 5.34495720e-05 -9.99996842e-01 -4.04202201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.286559995 meters 0.01615046479603854 Centerline is valid? [True, True] Translation: X:206.46, Y:-105.32, Z:-4.04 [[-9.77199072e-01 2.12306061e-01 2.84779136e-03 2.06464892e+02] [ 2.12305338e-01 9.77203220e-01 -5.57057193e-04 -1.05317807e+02] [-2.90113751e-03 6.02455361e-05 -9.99995790e-01 -4.04170803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.346559995 meters 0.015681894577636277 Centerline is valid? [True, True] Translation: X:206.60, Y:-104.64, Z:-5.00 [[-9.70631225e-01 -2.40554621e-01 2.91540789e-03 2.06600919e+02] [ 2.40553365e-01 -9.70635602e-01 -7.79200323e-04 -1.04639995e+02] [ 3.01723893e-03 -5.50049857e-05 9.99995447e-01 -5.00260762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.406559995 meters 0.014620093494902174 Centerline is valid? [True, True] Translation: X:206.42, Y:-105.30, Z:-4.04 [[-9.79299855e-01 2.02398032e-01 2.61339091e-03 2.06415818e+02] [ 2.02397417e-01 9.79303342e-01 -5.00667369e-04 -1.05298153e+02] [-2.66063654e-03 3.86400860e-05 -9.99996460e-01 -4.04194316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4665599949999 meters 0.01374495391415524 Centerline is valid? [True, True] Translation: X:206.42, Y:-105.27, Z:-4.04 [[-9.91637392e-01 1.29030191e-01 2.54817559e-03 2.06416256e+02] [ 1.29029839e-01 9.91640665e-01 -3.02719265e-04 -1.05265872e+02] [-2.56593447e-03 2.86029454e-05 -9.99996708e-01 -4.04220414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.526559995 meters 0.012370169735226791 Centerline is valid? [True, True] Translation: X:206.41, Y:-105.23, Z:-4.04 [[-9.98661681e-01 5.16916284e-02 1.68016266e-03 2.06412974e+02] [ 5.16915684e-02 9.98663094e-01 -7.91509698e-05 -1.05228979e+02] [-1.68200789e-03 7.80520259e-06 -9.99998585e-01 -4.04349991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5865599949999 meters 0.012143318494522678 Centerline is valid? [True, True] Translation: X:206.40, Y:-105.19, Z:-4.04 [[-9.99664347e-01 -2.58616209e-02 1.53972053e-03 2.06403434e+02] [-2.58615945e-02 9.99665532e-01 3.70934299e-05 -1.05193877e+02] [-1.54016484e-03 -2.73864853e-06 -9.99998814e-01 -4.04416822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.646559995 meters 0.012472098445409766 Centerline is valid? [True, True] Translation: X:206.39, Y:-104.57, Z:-5.00 [[-9.98733461e-01 -5.02978565e-02 1.26436928e-03 2.06386546e+02] [ 5.02977949e-02 -9.98734262e-01 -8.04811750e-05 -1.04568002e+02] [ 1.26681695e-03 -1.67842557e-05 9.99999197e-01 -5.00003991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7065599949999 meters 0.013559223267621535 Centerline is valid? [True, True] Translation: X:206.34, Y:-105.18, Z:-4.04 [[-9.99229475e-01 -3.91761828e-02 2.38384090e-03 2.06340078e+02] [-3.91761341e-02 9.99232318e-01 6.71103692e-05 -1.05183364e+02] [-2.38464000e-03 -2.63310120e-05 -9.99997156e-01 -4.04341445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.766559995 meters 0.014532850544551308 Centerline is valid? [True, True] Translation: X:206.32, Y:-104.58, Z:-5.00 [[-9.98528335e-01 -5.40864631e-02 3.97721078e-03 2.06322586e+02] [ 5.40866430e-02 -9.98536244e-01 -6.23811758e-05 -1.04581816e+02] [ 3.97476310e-03 1.52824608e-04 9.99992089e-01 -5.00270814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8265599949999 meters 0.014442020538285562 Centerline is valid? [True, True] Translation: X:206.28, Y:-105.18, Z:-4.04 [[-9.98903498e-01 -4.65666078e-02 4.83248771e-03 2.06280172e+02] [-4.65664040e-02 9.98915185e-01 1.54753399e-04 -1.05179848e+02] [-4.83445169e-03 -7.04478632e-05 -9.99988312e-01 -4.04117002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.886559995 meters 0.013965641291081406 Centerline is valid? [True, True] Translation: X:206.27, Y:-105.15, Z:-4.04 [[-9.93344932e-01 -1.15018655e-01 6.04609804e-03 2.06271846e+02] [-1.15016976e-01 9.93363329e-01 6.25752063e-04 -1.05153964e+02] [-6.07794523e-03 -7.38162747e-05 -9.99981526e-01 -4.04035122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9465599949999 meters 0.012993210370753603 Centerline is valid? [True, True] Translation: X:206.26, Y:-105.13, Z:-4.04 [[-9.83242903e-01 -1.82198695e-01 6.08523141e-03 2.06264019e+02] [-1.82195549e-01 9.83261731e-01 1.07205792e-03 -1.05131167e+02] [-6.17870273e-03 -5.46087403e-05 -9.99980910e-01 -4.04111657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.006559995 meters 0.012530205574338347 Centerline is valid? [True, True] Translation: X:206.25, Y:-105.11, Z:-4.04 [[-9.68495421e-01 -2.48951035e-01 6.32466395e-03 2.06249546e+02] [-2.48945985e-01 9.68516071e-01 1.58622553e-03 -1.05109250e+02] [-6.52043117e-03 -3.82475290e-05 -9.99978741e-01 -4.04069805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0665599949999 meters 0.012107263172487923 Centerline is valid? [True, True] Translation: X:206.23, Y:-105.09, Z:-4.04 [[-9.49070815e-01 -3.14988491e-01 6.84383265e-03 2.06227037e+02] [-3.14980470e-01 9.49095490e-01 2.24802935e-03 -1.05090220e+02] [-7.20355408e-03 -2.21345724e-05 -9.99974054e-01 -4.04032611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.126559995 meters 0.01218809179393551 Centerline is valid? [True, True] Translation: X:206.19, Y:-105.08, Z:-4.04 [[-9.25313886e-01 -3.79133516e-01 7.21033006e-03 2.06193223e+02] [-3.79121951e-01 9.25341978e-01 2.96141583e-03 -1.05078924e+02] [-7.79479308e-03 6.64479451e-06 -9.99969620e-01 -4.04046077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1865599949999 meters 0.012348472439050188 Centerline is valid? [True, True] Translation: X:206.14, Y:-105.08, Z:-4.04 [[-8.96317097e-01 -4.43356702e-01 7.10615012e-03 2.06140279e+02] [-4.43342532e-01 8.96345265e-01 3.54473159e-03 -1.05076775e+02] [-7.94114452e-03 2.67449460e-05 -9.99968468e-01 -4.04098710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.246559995 meters 0.012991469718230016 Centerline is valid? [True, True] Translation: X:206.08, Y:-105.08, Z:-4.04 [[-8.63105423e-01 -5.04964207e-01 7.75746254e-03 2.06079468e+02] [-5.04943134e-01 8.63140282e-01 4.61359475e-03 -1.05083318e+02] [-9.02547861e-03 6.49411974e-05 -9.99959267e-01 -4.04135768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3065599949999 meters 0.014329734551252046 Centerline is valid? [True, True] Translation: X:206.01, Y:-105.10, Z:-4.04 [[-8.25878089e-01 -5.63798912e-01 7.49453630e-03 2.06007972e+02] [-5.63774510e-01 8.25912087e-01 5.24663842e-03 -1.05102701e+02] [-9.14787715e-03 1.07855191e-04 -9.99958151e-01 -4.04070875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.366559995 meters 0.016071077657521794 Centerline is valid? [True, True] Translation: X:205.93, Y:-105.13, Z:-4.04 [[-7.84035910e-01 -6.20671054e-01 7.42527961e-03 2.05933338e+02] [-6.20641369e-01 7.84071055e-01 6.07214878e-03 -1.05131291e+02] [-9.59075380e-03 1.52346991e-04 -9.99953996e-01 -4.04081850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4265599949999 meters 0.018673277096018563 Centerline is valid? [True, True] Translation: X:205.86, Y:-105.17, Z:-4.04 [[-7.39251606e-01 -6.73393174e-01 6.97828289e-03 2.05859183e+02] [-6.73360445e-01 7.39284512e-01 6.64241566e-03 -1.05168617e+02] [-9.63189382e-03 2.11516775e-04 -9.99953590e-01 -4.04119307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.486559995 meters 0.020473580771593888 Centerline is valid? [True, True] Translation: X:205.78, Y:-105.22, Z:-4.04 [[-6.88392012e-01 -7.25308373e-01 6.64852652e-03 2.05776246e+02] [-7.25271057e-01 6.88424073e-01 7.36135547e-03 -1.05218757e+02] [-9.91625847e-03 2.45514442e-04 -9.99950803e-01 -4.04109709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5465599949999 meters 0.01617872800140642 Centerline is valid? [True, True] Translation: X:205.69, Y:-105.27, Z:-4.04 [[-6.32677984e-01 -7.74386999e-01 6.58362762e-03 2.05688267e+02] [-7.74340376e-01 6.32712176e-01 8.50201112e-03 -1.05270292e+02] [-1.07493882e-02 2.81066571e-04 -9.99942184e-01 -4.04408638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.606559995 meters 0.015331417760585442 Centerline is valid? [True, True] Translation: X:205.60, Y:-105.33, Z:-4.04 [[-5.70726177e-01 -8.21120218e-01 5.76353498e-03 2.05604738e+02] [-8.21073752e-01 5.70755221e-01 8.73910586e-03 -1.05334498e+02] [-1.04654242e-02 2.55349196e-04 -9.99945203e-01 -4.04443838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.666559995 meters 0.01464525100148745 Centerline is valid? [True, True] Translation: X:205.52, Y:-105.41, Z:-4.04 [[-5.03205185e-01 -8.64147270e-01 5.83421048e-03 2.05520364e+02] [-8.64083506e-01 5.03238947e-01 1.05003572e-02 -1.05412183e+02] [-1.20098569e-02 2.42589139e-04 -9.99927850e-01 -4.04333694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.726559995 meters 0.013690987682871813 Centerline is valid? [True, True] Translation: X:205.45, Y:-105.49, Z:-4.04 [[-4.32450406e-01 -9.01643654e-01 5.03663517e-03 2.05446050e+02] [-9.01577140e-01 4.32479691e-01 1.09534099e-02 -1.05490781e+02] [-1.20543150e-02 1.95891441e-04 -9.99927325e-01 -4.04309676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.786559995 meters 0.012272903106640214 Centerline is valid? [True, True] Translation: X:205.37, Y:-105.58, Z:-4.04 [[-3.55895984e-01 -9.34515956e-01 4.23982701e-03 2.05373151e+02] [-9.34445930e-01 3.55921221e-01 1.14406325e-02 -1.05582103e+02] [-1.22004981e-02 1.09786082e-04 -9.99925565e-01 -4.04445175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.846559995 meters 0.011606080302882146 Centerline is valid? [True, True] Translation: X:205.31, Y:-105.68, Z:-4.04 [[-2.77045274e-01 -9.60850896e-01 3.38689927e-03 2.05306274e+02] [-9.60777986e-01 2.77065975e-01 1.18366992e-02 -1.05679267e+02] [-1.23116976e-02 2.52433042e-05 -9.99924208e-01 -4.04415486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.906559995 meters 0.011614568595187488 Centerline is valid? [True, True] Translation: X:205.25, Y:-105.78, Z:-4.04 [[-1.98665376e-01 -9.80064494e-01 2.37804540e-03 2.05250121e+02] [-9.79995997e-01 1.98679606e-01 1.15870890e-02 -1.05781145e+02] [-1.18285636e-02 -2.85215938e-05 -9.99930040e-01 -4.04429710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9665599949999 meters 0.0117584710900573 Centerline is valid? [True, True] Translation: X:205.20, Y:-105.89, Z:-4.05 [[-1.19533857e-01 -9.92829171e-01 1.37636697e-03 2.05202324e+02] [-9.92769799e-01 1.19541762e-01 1.08579078e-02 -1.05887291e+02] [-1.09445809e-02 -6.85279570e-05 -9.99940104e-01 -4.04546972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.026559995 meters 0.012369493113176517 Centerline is valid? [True, True] Translation: X:205.16, Y:-106.00, Z:-4.05 [[-3.84895591e-02 -9.99258858e-01 5.37315671e-04 2.05161926e+02] [-9.99200521e-01 3.84931183e-02 1.07980958e-02 -1.05998051e+02] [-1.08107758e-02 -1.21272152e-04 -9.99941555e-01 -4.04536376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0865599949999 meters 0.0130501164446224 Centerline is valid? [True, True] Translation: X:205.13, Y:-106.11, Z:-4.05 [[ 4.18711250e-02 -9.99122987e-01 -2.58121607e-04 2.05131358e+02] [-9.99075740e-01 -4.18716555e-02 9.71754215e-03 -1.06108954e+02] [-9.71982772e-03 -1.49001386e-04 -9.99952750e-01 -4.04691130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.146559995 meters 0.013210031844844065 Centerline is valid? [True, True] Translation: X:205.11, Y:-106.22, Z:-4.05 [[ 1.19088696e-01 -9.92883075e-01 -1.04029958e-03 2.05111958e+02] [-9.92832092e-01 -1.19093124e-01 1.00630928e-02 -1.06222210e+02] [-1.01153670e-02 -1.65557792e-04 -9.99948825e-01 -4.04678381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2065599949999 meters 0.013343701419999188 Centerline is valid? [True, True] Translation: X:205.10, Y:-106.34, Z:-4.04 [[ 1.95591955e-01 -9.80682934e-01 -2.18405029e-03 2.05101571e+02] [-9.80609073e-01 -1.95604033e-01 1.20378253e-02 -1.06338694e+02] [-1.22324989e-02 -2.12802254e-04 -9.99925158e-01 -4.04464630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.266559995 meters 0.013381080140792057 Centerline is valid? [True, True] Translation: X:205.10, Y:-106.45, Z:-4.04 [[ 2.69623386e-01 -9.62960112e-01 -3.32449535e-03 2.05100675e+02] [-9.62876341e-01 -2.69643787e-01 1.27035541e-02 -1.06451693e+02] [-1.31294454e-02 -2.24097346e-04 -9.99913780e-01 -4.04411335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3265599949999 meters 0.012914755761368713 Centerline is valid? [True, True] Translation: X:205.11, Y:-106.57, Z:-4.04 [[ 3.39363933e-01 -9.40643107e-01 -4.76096818e-03 2.05111860e+02] [-9.40542048e-01 -3.39397267e-01 1.37895645e-02 -1.06565578e+02] [-1.45869184e-02 -2.01790087e-04 -9.99893585e-01 -4.04351582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.386559995 meters 0.012435082920074355 Centerline is valid? [True, True] Translation: X:205.13, Y:-106.67, Z:-4.04 [[ 4.06239438e-01 -9.13746829e-01 -6.02093045e-03 2.05130584e+02] [-9.13641239e-01 -4.06284029e-01 1.38915129e-02 -1.06673446e+02] [-1.51395338e-02 -1.42310041e-04 -9.99885381e-01 -4.04364221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4465599949999 meters 0.011806993175914923 Centerline is valid? [True, True] Translation: X:205.16, Y:-106.78, Z:-4.05 [[ 4.67460734e-01 -8.83991590e-01 -6.27151589e-03 2.05161539e+02] [-8.83911686e-01 -4.67502802e-01 1.18853963e-02 -1.06777506e+02] [-1.34385416e-02 -1.24899166e-05 -9.99909699e-01 -4.04665872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.506559995 meters 0.012268066710106806 Centerline is valid? [True, True] Translation: X:205.20, Y:-106.88, Z:-4.05 [[ 5.27350794e-01 -8.49625528e-01 -6.13202769e-03 2.05199591e+02] [-8.49569736e-01 -5.27386439e-01 9.73687797e-03 -1.06882043e+02] [-1.15066483e-02 7.48348197e-05 -9.99933794e-01 -4.04815991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5665599949999 meters 0.012794974299217676 Centerline is valid? [True, True] Translation: X:205.24, Y:-106.98, Z:-4.05 [[ 5.87440181e-01 -8.09240068e-01 -6.67430363e-03 2.05238778e+02] [-8.09190096e-01 -5.87478083e-01 8.99386129e-03 -1.06979833e+02] [-1.11992000e-02 1.17424899e-04 -9.99937280e-01 -4.04856790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.626559995 meters 0.014005407800959555 Centerline is valid? [True, True] Translation: X:205.29, Y:-107.07, Z:-4.05 [[ 6.42341022e-01 -7.66377510e-01 -7.97013065e-03 2.05287079e+02] [-7.66322474e-01 -6.42390434e-01 9.18674563e-03 -1.07073591e+02] [-1.21604509e-02 2.06666661e-04 -9.99926038e-01 -4.04920867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6865599949999 meters 0.0152965381627004 Centerline is valid? [True, True] Translation: X:205.34, Y:-107.16, Z:-4.05 [[ 6.95639381e-01 -7.18334469e-01 -9.02457503e-03 2.05340445e+02] [-7.18279017e-01 -6.95697864e-01 8.92954655e-03 -1.07164374e+02] [-1.26927786e-02 2.70418648e-04 -9.99919407e-01 -4.04898415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.746559995 meters 0.016287378985285473 Centerline is valid? [True, True] Translation: X:205.36, Y:-107.19, Z:-4.05 [[ 7.46045310e-01 -6.65809710e-01 -1.06688799e-02 2.05360999e+02] [-6.65748701e-01 -7.46121499e-01 9.02088558e-03 -1.07192522e+02] [-1.39664739e-02 3.72803563e-04 -9.99902395e-01 -4.04855522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8065599949999 meters 0.016868946569010668 Centerline is valid? [True, True] Translation: X:205.38, Y:-107.22, Z:-4.05 [[ 7.94609610e-01 -6.07014367e-01 -1.13634001e-02 2.05382327e+02] [-6.06959435e-01 -7.94690756e-01 8.17594261e-03 -1.07219378e+02] [-1.39933036e-02 4.00440338e-04 -9.99902009e-01 -4.04866623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.866559995 meters 0.01644335707540553 Centerline is valid? [True, True] Translation: X:205.40, Y:-107.25, Z:-4.05 [[ 8.39784014e-01 -5.42805221e-01 -1.11938344e-02 2.05404399e+02] [-5.42762843e-01 -8.39858533e-01 6.79274526e-03 -1.07246997e+02] [-1.30883749e-02 3.71158473e-04 -9.99914275e-01 -4.04998622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9265599949999 meters 0.015442611142203445 Centerline is valid? [True, True] Translation: X:205.43, Y:-107.28, Z:-4.05 [[ 8.81102210e-01 -4.72785731e-01 -1.15129680e-02 2.05426615e+02] [-4.72750169e-01 -8.81177364e-01 5.80780890e-03 -1.07275301e+02] [-1.28908160e-02 3.25484311e-04 -9.99916857e-01 -4.05017925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.986559995 meters 0.014523880324320315 Centerline is valid? [True, True] Translation: X:205.45, Y:-107.30, Z:-4.05 [[ 9.17892638e-01 -3.96642974e-01 -1.21431663e-02 2.05451318e+02] [-3.96611831e-01 -9.17972924e-01 4.97653578e-03 -1.07300134e+02] [-1.31210059e-02 2.48197888e-04 -9.99913885e-01 -4.05011096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0465599949999 meters 0.013024972882378172 Centerline is valid? [True, True] Translation: X:205.48, Y:-107.32, Z:-4.05 [[ 9.49050255e-01 -3.14875627e-01 -1.25281207e-02 2.05478202e+02] [-3.14849954e-01 -9.49132932e-01 4.02281120e-03 -1.07324948e+02] [-1.31575371e-02 1.26628229e-04 -9.99913428e-01 -4.04965306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.106559995 meters 0.01208521515727619 Centerline is valid? [True, True] Translation: X:205.51, Y:-107.35, Z:-4.05 [[ 9.73319255e-01 -2.29091406e-01 -1.29134047e-02 2.05507213e+02] [-2.29071008e-01 -9.73404915e-01 3.05709949e-03 -1.07351622e+02] [-1.32703269e-02 -1.74471564e-05 -9.99911945e-01 -4.04887978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.166559995 meters 0.012416681413258237 Centerline is valid? [True, True] Translation: X:205.54, Y:-107.37, Z:-4.05 [[ 9.88845906e-01 -1.48326812e-01 -1.35252125e-02 2.05539100e+02] [-1.48311936e-01 -9.88938396e-01 2.10192734e-03 -1.07368185e+02] [-1.36873741e-02 -7.25317937e-05 -9.99906321e-01 -4.04763561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.226559995 meters 0.01379365980284318 Centerline is valid? [True, True] Translation: X:205.57, Y:-107.39, Z:-4.05 [[ 9.98101974e-01 -6.01680187e-02 -1.31247330e-02 2.05569417e+02] [-6.01601078e-02 -9.98188242e-01 9.97084759e-04 -1.07386085e+02] [-1.31609467e-02 -2.05606917e-04 -9.99913370e-01 -4.04723375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.286559995 meters 0.01528149987283957 Centerline is valid? [True, True] Translation: X:205.60, Y:-107.40, Z:-4.05 [[ 9.99629425e-01 2.41928234e-02 -1.24787976e-02 2.05601021e+02] [ 2.41943116e-02 -9.99707274e-01 -3.17125724e-05 -1.07397781e+02] [-1.24759120e-02 -2.70215098e-04 -9.99922136e-01 -4.04713588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.346559995 meters 0.017112784414158196 Centerline is valid? [True, True] Translation: X:205.63, Y:-107.41, Z:-4.05 [[ 9.93981722e-01 1.08969899e-01 -1.12204280e-02 2.05634280e+02] [ 1.08966562e-01 -9.94044999e-01 -9.10104815e-04 -1.07407252e+02] [-1.12527844e-02 -3.18023914e-04 -9.99936635e-01 -4.04751099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.406559995 meters 0.018774877635029504 Centerline is valid? [True, True] Translation: X:205.67, Y:-107.41, Z:-4.05 [[ 9.81774346e-01 1.89764102e-01 -1.04268412e-02 2.05667702e+02] [ 1.89757005e-01 -9.81829656e-01 -1.67482243e-03 -1.07410518e+02] [-1.05552031e-02 -3.34268472e-04 -9.99944236e-01 -4.04659049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4665599949999 meters 0.022893552866438578 Centerline is valid? [True, True] Translation: X:205.70, Y:-107.41, Z:-4.04 [[ 9.63767097e-01 2.66544042e-01 -1.03564748e-02 2.05700882e+02] [ 2.66532459e-01 -9.63822679e-01 -2.50839086e-03 -1.07412804e+02] [-1.06504019e-02 -3.42832114e-04 -9.99943224e-01 -4.04353334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.526559995 meters 0.018453576770546414 Centerline is valid? [True, True] Translation: X:205.73, Y:-107.40, Z:-4.04 [[ 9.40224532e-01 3.40379509e-01 -1.09370741e-02 2.05731862e+02] [ 3.40360919e-01 -9.40288073e-01 -3.57562290e-03 -1.07401321e+02] [-1.15010691e-02 -3.60664234e-04 -9.99933795e-01 -4.04442622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5865599949999 meters 0.016699549047173957 Centerline is valid? [True, True] Translation: X:205.76, Y:-107.39, Z:-4.04 [[ 9.12320600e-01 4.09300538e-01 -1.20079923e-02 2.05761983e+02] [ 4.09270187e-01 -9.12399552e-01 -4.99704948e-03 -1.07389760e+02] [-1.30013818e-02 -3.55602055e-04 -9.99915415e-01 -4.04374450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.646559995 meters 0.015062936334915268 Centerline is valid? [True, True] Translation: X:205.79, Y:-107.38, Z:-4.04 [[ 8.79494861e-01 4.75774174e-01 -1.13015251e-02 2.05790991e+02] [ 4.75739156e-01 -8.79567422e-01 -5.77974224e-03 -1.07378666e+02] [-1.26903054e-02 -2.93324430e-04 -9.99919432e-01 -4.04437175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7065599949999 meters 0.013100396913982758 Centerline is valid? [True, True] Translation: X:205.82, Y:-107.36, Z:-4.05 [[ 8.44785415e-01 5.35029012e-01 -9.03099243e-03 2.05816465e+02] [ 5.35000240e-01 -8.44833673e-01 -5.55048084e-03 -1.07361510e+02] [-1.05993548e-02 -1.42617860e-04 -9.99943815e-01 -4.04536099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.766559995 meters 0.012300219042598117 Centerline is valid? [True, True] Translation: X:205.84, Y:-107.34, Z:-4.05 [[ 8.04722496e-01 5.93601650e-01 -7.66719835e-03 2.05840065e+02] [ 5.93575387e-01 -8.04759019e-01 -5.58409218e-03 -1.07344351e+02] [-9.48497335e-03 -5.74156287e-05 -9.99955015e-01 -4.04595145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8265599949999 meters 0.01233463100625461 Centerline is valid? [True, True] Translation: X:205.86, Y:-107.32, Z:-4.05 [[ 7.63411587e-01 6.45879234e-01 -6.53940279e-03 2.05858965e+02] [ 6.45854988e-01 -7.63439593e-01 -5.59657441e-03 -1.07321207e+02] [-8.60715020e-03 4.89838347e-05 -9.99962957e-01 -4.04642734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.886559995 meters 0.014241228322414682 Centerline is valid? [True, True] Translation: X:205.88, Y:-107.30, Z:-4.05 [[ 7.18030017e-01 6.95979776e-01 -6.71156424e-03 2.05876318e+02] [ 6.95947322e-01 -7.18061367e-01 -6.72294074e-03 -1.07299186e+02] [-9.49834578e-03 1.56378094e-04 -9.99954877e-01 -4.04535487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9465599949999 meters 0.015163990972132436 Centerline is valid? [True, True] Translation: X:205.90, Y:-107.28, Z:-4.05 [[ 6.64581892e-01 7.47190794e-01 -6.06855787e-03 2.05897990e+02] [ 7.47156937e-01 -6.64609570e-01 -7.11553225e-03 -1.07282296e+02] [-9.34988183e-03 1.94688772e-04 -9.99956270e-01 -4.04588831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.006559995 meters 0.014920931818380558 Centerline is valid? [True, True] Translation: X:205.92, Y:-107.27, Z:-4.05 [[ 6.04708566e-01 7.96427250e-01 -5.58447910e-03 2.05923098e+02] [ 7.96390096e-01 -6.04734316e-01 -7.69558546e-03 -1.07268325e+02] [-9.50610012e-03 2.06162597e-04 -9.99954795e-01 -4.04609459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0665599949999 meters 0.016857127820318105 Centerline is valid? [True, True] Translation: X:205.94, Y:-107.25, Z:-4.04 [[ 5.40847237e-01 8.41103969e-01 -5.32730361e-03 2.05941601e+02] [ 8.41058989e-01 -5.40873426e-01 -8.70138024e-03 -1.07250562e+02] [-1.02001624e-02 2.25540870e-04 -9.99947952e-01 -4.04428187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.126559995 meters 0.015395693790010958 Centerline is valid? [True, True] Translation: X:205.97, Y:-107.23, Z:-4.05 [[ 4.74284795e-01 8.80357541e-01 -4.95316757e-03 2.05965513e+02] [ 8.80303829e-01 -4.74310591e-01 -9.72795827e-03 -1.07233371e+02] [-1.09134213e-02 2.53530318e-04 -9.99940415e-01 -4.04542909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1865599949999 meters 0.01578116958956548 Centerline is valid? [True, True] Translation: X:205.99, Y:-107.21, Z:-4.05 [[ 4.03765362e-01 9.14853373e-01 -4.10352930e-03 2.05986016e+02] [ 9.14799710e-01 -4.03786137e-01 -9.91194427e-03 -1.07214091e+02] [-1.07249239e-02 2.48192356e-04 -9.99942456e-01 -4.04554677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.246559995 meters 0.014981008450944027 Centerline is valid? [True, True] Translation: X:206.01, Y:-107.19, Z:-4.05 [[ 3.28043606e-01 9.44658050e-01 -2.92604040e-03 2.06009692e+02] [ 9.44615117e-01 -3.28056600e-01 -9.00820397e-03 -1.07194294e+02] [-9.46957926e-03 1.91101722e-04 -9.99955144e-01 -4.04631451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3065599949999 meters 0.014453557571109842 Centerline is valid? [True, True] Translation: X:206.03, Y:-107.17, Z:-4.05 [[ 2.49861573e-01 9.68279455e-01 -2.02290314e-03 2.06028081e+02] [ 9.68242812e-01 -2.49869719e-01 -8.42500015e-03 -1.07171982e+02] [-8.66321679e-03 1.46422364e-04 -9.99962463e-01 -4.04706981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.366559995 meters 0.013259694181754648 Centerline is valid? [True, True] Translation: X:206.05, Y:-107.15, Z:-4.05 [[ 1.66005227e-01 9.86123996e-01 -1.31502960e-03 2.06048003e+02] [ 9.86089109e-01 -1.66010416e-01 -8.29523161e-03 -1.07148042e+02] [-8.39843556e-03 8.03154358e-05 -9.99964729e-01 -4.04675267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4265599949999 meters 0.012557314969456772 Centerline is valid? [True, True] Translation: X:206.07, Y:-107.12, Z:-4.05 [[ 8.24008730e-02 9.96598984e-01 -7.48906978e-04 2.06067464e+02] [ 9.96553873e-01 -8.24042687e-02 -9.48235775e-03 -1.07122245e+02] [-9.51182123e-03 3.50284068e-05 -9.99954761e-01 -4.04598859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.486559995 meters 0.012738531223699416 Centerline is valid? [True, True] Translation: X:206.09, Y:-107.09, Z:-4.04 [[-5.27174013e-03 9.99986104e-01 -4.39552939e-06 2.06085989e+02] [ 9.99922335e-01 5.27135431e-03 -1.12932574e-02 -1.07094824e+02] [-1.12930773e-02 -6.39303063e-05 -9.99936229e-01 -4.04402118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5465599949999 meters 0.013732673534539467 Centerline is valid? [True, True] Translation: X:206.10, Y:-107.07, Z:-4.04 [[-9.24487208e-02 9.95716911e-01 1.03343311e-03 2.06100063e+02] [ 9.95629170e-01 9.24542948e-02 -1.32196663e-02 -1.07065425e+02] [-1.32585906e-02 -1.93225089e-04 -9.99912082e-01 -4.04336920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.606559995 meters 0.014687426537842942 Centerline is valid? [True, True] Translation: X:206.11, Y:-107.03, Z:-4.04 [[-1.75000508e-01 9.84566112e-01 2.09611502e-03 2.06108998e+02] [ 9.84476454e-01 1.75012864e-01 -1.32893934e-02 -1.07034682e+02] [-1.34511335e-02 -2.62074703e-04 -9.99909495e-01 -4.04341458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.666559995 meters 0.016587719099315393 Centerline is valid? [True, True] Translation: X:206.12, Y:-107.00, Z:-4.04 [[-2.57172039e-01 9.66360391e-01 3.18384381e-03 2.06115606e+02] [ 9.66268847e-01 2.57191514e-01 -1.33056606e-02 -1.07004639e+02] [-1.36769209e-02 -3.45394762e-04 -9.99906407e-01 -4.04266142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.726559995 meters 0.0182452604854427 Centerline is valid? [True, True] Translation: X:206.12, Y:-106.98, Z:-4.04 [[-3.34149483e-01 9.42510129e-01 4.33356949e-03 2.06115239e+02] [ 9.42415274e-01 3.34177360e-01 -1.33769388e-02 -1.06975326e+02] [-1.40560811e-02 -3.85875107e-04 -9.99901134e-01 -4.04180924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.786559995 meters 0.01746277730955374 Centerline is valid? [True, True] Translation: X:206.11, Y:-106.95, Z:-4.04 [[-4.08049884e-01 9.12940567e-01 5.90022088e-03 2.06109508e+02] [ 9.12828926e-01 4.08092299e-01 -1.42837853e-02 -1.06945541e+02] [-1.54480818e-02 -4.42604645e-04 -9.99880573e-01 -4.04237700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.846559995 meters 0.017248643819603317 Centerline is valid? [True, True] Translation: X:206.10, Y:-106.92, Z:-4.04 [[-4.77462625e-01 8.78620646e-01 7.42976329e-03 2.06101369e+02] [ 8.78499086e-01 4.77520213e-01 -1.46219770e-02 -1.06916658e+02] [-1.63950331e-02 -4.54407278e-04 -9.99865489e-01 -4.04201350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.906559995 meters 0.01679613144685051 Centerline is valid? [True, True] Translation: X:206.09, Y:-106.89, Z:-4.04 [[-5.43511032e-01 8.39355334e-01 8.85327280e-03 2.06090933e+02] [ 8.39230407e-01 5.43582951e-01 -1.44878944e-02 -1.06889335e+02] [-1.69729796e-02 -4.44394706e-04 -9.99855850e-01 -4.04238080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9665599949999 meters 0.015884828016647097 Centerline is valid? [True, True] Translation: X:206.08, Y:-106.86, Z:-4.04 [[-6.05499991e-01 7.95781699e-01 1.00622408e-02 2.06077329e+02] [ 7.95660585e-01 6.05583458e-01 -1.38891512e-02 -1.06863268e+02] [-1.71462589e-02 -4.03752506e-04 -9.99852911e-01 -4.04417519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.026559995 meters 0.015398490952080986 Centerline is valid? [True, True] Translation: X:206.06, Y:-106.84, Z:-4.04 [[-6.63139980e-01 7.48422397e-01 1.04537755e-02 2.06061654e+02] [ 7.48321783e-01 6.63222296e-01 -1.22758128e-02 -1.06838835e+02] [-1.61206703e-02 -3.17794301e-04 -9.99870003e-01 -4.04425144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0865599949999 meters 0.01434229789063523 Centerline is valid? [True, True] Translation: X:206.05, Y:-106.82, Z:-4.05 [[-7.16895503e-01 6.97095692e-01 1.08827592e-02 2.06045563e+02] [ 6.97010228e-01 7.16978059e-01 -1.09180882e-02 -1.06815377e+02] [-1.54136519e-02 -2.41733865e-04 -9.99881173e-01 -4.04522155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.146559995 meters 0.013595358329416996 Centerline is valid? [True, True] Translation: X:206.03, Y:-106.80, Z:-4.05 [[-7.65369139e-01 6.43496219e-01 1.10768752e-02 2.06026065e+02] [ 6.43426198e-01 7.65449278e-01 -9.49373823e-03 -1.06795001e+02] [-1.45879708e-02 -1.39062526e-04 -9.99893580e-01 -4.04614440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2065599949999 meters 0.0133526094910331 Centerline is valid? [True, True] Translation: X:206.50, Y:-106.25, Z:-5.00 [[-7.09805322e-01 -7.04322579e-01 1.03009610e-02 2.06503191e+02] [ 7.04250988e-01 -7.09880053e-01 -1.00427139e-02 -1.06253137e+02] [ 1.43857569e-02 1.26090209e-04 9.99896512e-01 -4.99837783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.266559995 meters 0.013304755701454424 Centerline is valid? [True, True] Translation: X:205.99, Y:-106.78, Z:-4.05 [[-7.60866841e-01 6.48819030e-01 1.07478826e-02 2.05990714e+02] [ 6.48754560e-01 7.60942748e-01 -9.14630374e-03 -1.06777557e+02] [-1.41128193e-02 1.36186396e-05 -9.99900409e-01 -4.04584432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3265599949999 meters 0.014169522782413221 Centerline is valid? [True, True] Translation: X:206.01, Y:-106.77, Z:-4.05 [[-7.99557707e-01 6.00499240e-01 1.03988665e-02 2.06013018e+02] [ 6.00450486e-01 7.99625317e-01 -7.65283539e-03 -1.06767208e+02] [-1.29107188e-02 1.25120960e-04 -9.99916645e-01 -4.04604680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.386559995 meters 0.015148461092226872 Centerline is valid? [True, True] Translation: X:206.03, Y:-106.75, Z:-4.05 [[-8.36203540e-01 5.48321032e-01 1.03771044e-02 2.06033549e+02] [ 5.48281854e-01 8.36267901e-01 -6.55786524e-03 -1.06752757e+02] [-1.22738547e-02 2.05867890e-04 -9.99924652e-01 -4.04758024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4465599949999 meters 0.01954747456831486 Centerline is valid? [True, True] Translation: X:206.05, Y:-106.74, Z:-4.05 [[-8.67016984e-01 4.98162810e-01 1.07408243e-02 2.06052814e+02] [ 4.98129544e-01 8.67083441e-01 -5.76752386e-03 -1.06740961e+02] [-1.21863567e-02 3.49780754e-04 -9.99925682e-01 -4.04716909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.506559995 meters 0.01973954705540762 Centerline is valid? [True, True] Translation: X:206.07, Y:-106.72, Z:-4.05 [[-8.96939333e-01 4.42016802e-01 1.09990655e-02 2.06072158e+02] [ 4.41989443e-01 8.97006666e-01 -4.93692504e-03 -1.06719043e+02] [-1.20484389e-02 4.33348588e-04 -9.99927321e-01 -4.04883519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5665599949999 meters 0.022196646879719374 Centerline is valid? [True, True] Translation: X:206.09, Y:-106.70, Z:-4.05 [[-9.23520709e-01 3.83371843e-01 1.16417668e-02 2.06086525e+02] [ 3.83348510e-01 9.23593933e-01 -4.26229759e-03 -1.06695329e+02] [-1.23863100e-02 5.26533865e-04 -9.99923148e-01 -4.04863501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.626559995 meters 0.02216765887593572 Centerline is valid? [True, True] Translation: X:206.10, Y:-106.67, Z:-4.05 [[-9.47953630e-01 3.18189219e-01 1.18125510e-02 2.06100874e+02] [ 3.18171545e-01 9.48027073e-01 -3.39659068e-03 -1.06666937e+02] [-1.22793767e-02 5.38607145e-04 -9.99924461e-01 -4.04876544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6865599949999 meters 0.022692705472614875 Centerline is valid? [True, True] Translation: X:206.11, Y:-106.64, Z:-4.05 [[-9.68567745e-01 2.48491132e-01 1.13437956e-02 2.06111523e+02] [ 2.48479962e-01 9.68634048e-01 -2.40606695e-03 -1.06635308e+02] [-1.15858729e-02 4.88267059e-04 -9.99932762e-01 -4.04893745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.746559995 meters 0.021498693297596717 Centerline is valid? [True, True] Translation: X:206.27, Y:-105.91, Z:-4.99 [[-9.71927903e-01 -2.35039674e-01 1.06067819e-02 2.06269944e+02] [ 2.35020017e-01 -9.71985648e-01 -3.08077197e-03 -1.05910260e+02] [ 1.10337434e-02 -5.01482174e-04 9.99939001e-01 -4.99419790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8065599949999 meters 0.01822849191773498 Centerline is valid? [True, True] Translation: X:206.06, Y:-106.60, Z:-4.05 [[-9.71934671e-01 2.35040124e-01 9.95672677e-03 2.06061568e+02] [ 2.35031223e-01 9.71985614e-01 -2.07141564e-03 -1.06604490e+02] [-1.01646610e-02 3.26860999e-04 -9.99948285e-01 -4.05099382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.866559995 meters 0.0156208881989995 Centerline is valid? [True, True] Translation: X:206.20, Y:-105.93, Z:-4.99 [[-9.69026528e-01 -2.46773387e-01 9.51231603e-03 2.06200961e+02] [ 2.46758066e-01 -9.69073156e-01 -2.77034822e-03 -1.05925307e+02] [ 9.90177832e-03 -3.37300203e-04 9.99950919e-01 -4.99315869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9265599949999 meters 0.014780987213659067 Centerline is valid? [True, True] Translation: X:206.01, Y:-106.57, Z:-4.05 [[-9.76164074e-01 2.16800775e-01 1.00560377e-02 2.06010519e+02] [ 2.16791136e-01 9.76215853e-01 -2.05204136e-03 -1.06571603e+02] [-1.02617475e-02 1.76930773e-04 -9.99947331e-01 -4.05015709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.986559995 meters 0.01415628794075614 Centerline is valid? [True, True] Translation: X:206.01, Y:-106.54, Z:-4.05 [[-9.89469393e-01 1.44359265e-01 1.05224842e-02 2.06009362e+02] [ 1.44352764e-01 9.89525330e-01 -1.37874978e-03 -1.06538763e+02] [-1.06113000e-02 1.54718976e-04 -9.99943687e-01 -4.05001976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0465599949999 meters 0.01331210207350169 Centerline is valid? [True, True] Translation: X:206.09, Y:-105.90, Z:-5.00 [[-9.81896795e-01 -1.89044279e-01 1.18719756e-02 2.06087554e+02] [ 1.89029587e-01 -9.81968561e-01 -2.35791856e-03 -1.05902485e+02] [ 1.21036578e-02 -7.10780453e-05 9.99926746e-01 -4.99506300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.106559995 meters 0.013078298125488389 Centerline is valid? [True, True] Translation: X:205.96, Y:-106.51, Z:-4.05 [[-9.91444610e-01 1.29985927e-01 1.18846014e-02 2.05956164e+02] [ 1.29977159e-01 9.91515838e-01 -1.51051269e-03 -1.06510431e+02] [-1.19801159e-02 4.71370536e-05 -9.99928235e-01 -4.04884942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.166559995 meters 0.013015777255973493 Centerline is valid? [True, True] Translation: X:205.95, Y:-106.48, Z:-4.05 [[-9.98207823e-01 5.85464623e-02 1.23876119e-02 2.05952659e+02] [ 5.85424514e-02 9.98284684e-01 -6.86468004e-04 -1.06477834e+02] [-1.24065535e-02 3.99634353e-05 -9.99923035e-01 -4.04914669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.226559995 meters 0.013180335811130574 Centerline is valid? [True, True] Translation: X:205.95, Y:-106.44, Z:-4.05 [[-9.99839659e-01 -1.18846201e-02 1.33944925e-02 2.05949721e+02] [-1.18828797e-02 9.99929374e-01 2.09511806e-04 -1.06444907e+02] [-1.33960364e-02 5.03130699e-05 -9.99910268e-01 -4.04824108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.286559995 meters 0.01347830195299552 Centerline is valid? [True, True] Translation: X:205.94, Y:-106.42, Z:-4.05 [[-9.96560324e-01 -8.17056715e-02 1.38456920e-02 2.05941615e+02] [-8.16968196e-02 9.96656500e-01 1.20467572e-03 -1.06415799e+02] [-1.38978278e-02 6.93830211e-05 -9.99903418e-01 -4.04735772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.346559995 meters 0.013477978045471841 Centerline is valid? [True, True] Translation: X:205.89, Y:-105.84, Z:-5.00 [[-9.99579744e-01 2.55984860e-02 1.36034158e-02 2.05889884e+02] [-2.55972973e-02 -9.99672301e-01 2.61515475e-04 -1.05837990e+02] [ 1.36056524e-02 -8.68051080e-05 9.99907435e-01 -4.99551782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.406559995 meters 0.013308734223258024 Centerline is valid? [True, True] Translation: X:205.87, Y:-106.42, Z:-4.05 [[-9.96345505e-01 -8.44700208e-02 1.26668756e-02 2.05874039e+02] [-8.44620883e-02 9.96426017e-01 1.16085000e-03 -1.06416026e+02] [-1.27196614e-02 8.67369162e-05 -9.99919098e-01 -4.05051965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4665599949999 meters 0.013258221470970315 Centerline is valid? [True, True] Translation: X:205.86, Y:-106.39, Z:-4.05 [[-9.87827577e-01 -1.55070421e-01 1.22410549e-02 2.05860944e+02] [-1.55057438e-01 9.87903415e-01 2.00841229e-03 -1.06387291e+02] [-1.24044253e-02 8.58984392e-05 -9.99923058e-01 -4.05076595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.526559995 meters 0.013306242898457787 Centerline is valid? [True, True] Translation: X:205.77, Y:-105.83, Z:-4.99 [[-9.94698309e-01 1.01977264e-01 1.32631723e-02 2.05767225e+02] [-1.01968612e-01 -9.94786729e-01 1.32869239e-03 -1.05831140e+02] [ 1.33295242e-02 -3.07791907e-05 9.99911157e-01 -4.99452596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5865599949999 meters 0.01314629651007609 Centerline is valid? [True, True] Translation: X:205.78, Y:-106.40, Z:-4.05 [[-9.86997518e-01 -1.60243564e-01 1.25658398e-02 2.05784928e+02] [-1.60229470e-01 9.87077501e-01 2.12701474e-03 -1.06396532e+02] [-1.27442981e-02 8.59404275e-05 -9.99918784e-01 -4.04967261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.646559995 meters 0.012970882448717951 Centerline is valid? [True, True] Translation: X:205.69, Y:-105.85, Z:-4.99 [[-9.94464015e-01 1.04423391e-01 1.17080570e-02 2.05688442e+02] [-1.04417897e-01 -9.94532922e-01 1.08122421e-03 -1.05848113e+02] [ 1.17569532e-02 -1.47292115e-04 9.99930874e-01 -4.99468573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7065599949999 meters 0.01271157074891562 Centerline is valid? [True, True] Translation: X:205.71, Y:-106.40, Z:-4.05 [[-9.85082387e-01 -1.71748702e-01 1.07272772e-02 2.05710519e+02] [-1.71738541e-01 9.85140794e-01 1.86823205e-03 -1.06402696e+02] [-1.08887448e-02 -1.92445546e-06 -9.99940716e-01 -4.04933298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.766559995 meters 0.012768823129015448 Centerline is valid? [True, True] Translation: X:205.69, Y:-106.38, Z:-4.05 [[-9.69223890e-01 -2.45966910e-01 1.02630670e-02 2.05690234e+02] [-2.45953677e-01 9.69278224e-01 2.55191120e-03 -1.06376135e+02] [-1.05754531e-02 -5.08657742e-05 -9.99944077e-01 -4.04944712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8265599949999 meters 0.013577651670086987 Centerline is valid? [True, True] Translation: X:205.66, Y:-106.35, Z:-4.05 [[-9.46691217e-01 -3.21999493e-01 9.59507651e-03 2.05662897e+02] [-3.21984331e-01 9.46739832e-01 3.12742387e-03 -1.06349946e+02] [-1.00910700e-02 -1.28759579e-04 -9.99949076e-01 -4.04922429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.886559995 meters 0.01640997749972762 Centerline is valid? [True, True] Translation: X:205.63, Y:-106.33, Z:-4.05 [[-9.17868924e-01 -3.96778167e-01 9.15009158e-03 2.05627743e+02] [-3.96760742e-01 9.17914507e-01 3.72446597e-03 -1.06326189e+02] [-9.87678858e-03 -2.11825550e-04 -9.99951201e-01 -4.04800232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9465599949999 meters 0.01661613659921033 Centerline is valid? [True, True] Translation: X:205.41, Y:-105.86, Z:-5.00 [[-9.57456182e-01 2.88438333e-01 8.99928282e-03 2.05410978e+02] [-2.88423899e-01 -9.57498459e-01 2.89074657e-03 -1.05859206e+02] [ 9.45060155e-03 1.72154939e-04 9.99955327e-01 -4.99517310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.006559995 meters 0.019440834914202024 Centerline is valid? [True, True] Translation: X:205.51, Y:-106.37, Z:-4.05 [[-9.11248093e-01 -4.11775850e-01 8.21956654e-03 2.05511844e+02] [-4.11761874e-01 9.11285120e-01 3.40440461e-03 -1.06368027e+02] [-8.89222028e-03 -2.82246907e-04 -9.99960424e-01 -4.04845214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0665599949999 meters 0.019740499457715107 Centerline is valid? [True, True] Translation: X:205.47, Y:-106.36, Z:-4.05 [[-8.78339951e-01 -4.77979384e-01 7.39181270e-03 2.05472100e+02] [-4.77965105e-01 8.78371010e-01 3.70509063e-03 -1.06357574e+02] [-8.26371093e-03 -2.78699405e-04 -9.99965816e-01 -4.04855162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.126559995 meters 0.02078726389621718 Centerline is valid? [True, True] Translation: X:205.43, Y:-106.36, Z:-4.05 [[-8.40666418e-01 -5.41509291e-01 6.90368194e-03 2.05425179e+02] [-5.41493752e-01 8.40694718e-01 4.11193224e-03 -1.06355092e+02] [-8.03053845e-03 -2.81537293e-04 -9.99967715e-01 -4.04808636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1865599949999 meters 0.01988557684497787 Centerline is valid? [True, True] Translation: X:205.36, Y:-106.37, Z:-4.05 [[-7.98681714e-01 -6.01713214e-01 6.98046177e-03 2.05362388e+02] [-6.01693464e-01 7.98712162e-01 4.88436066e-03 -1.06369003e+02] [-8.51436407e-03 -2.99048680e-04 -9.99963707e-01 -4.04737123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.246559995 meters 0.019714691914277778 Centerline is valid? [True, True] Translation: X:205.30, Y:-106.39, Z:-4.05 [[-7.52539726e-01 -6.58513310e-01 6.64685956e-03 2.05299379e+02] [-6.58491051e-01 7.52569022e-01 5.42246576e-03 -1.06389167e+02] [-8.57298647e-03 -2.96276637e-04 -9.99963207e-01 -4.04682143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3065599949999 meters 0.02069403467195899 Centerline is valid? [True, True] Translation: X:205.23, Y:-106.42, Z:-4.04 [[-7.02158292e-01 -7.11989780e-01 6.65478547e-03 2.05231808e+02] [-7.11961937e-01 7.02189758e-01 6.30424995e-03 -1.06415327e+02] [-9.16148373e-03 -3.11372575e-04 -9.99957984e-01 -4.04496744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.366559995 meters 0.019755442891110753 Centerline is valid? [True, True] Translation: X:205.16, Y:-106.46, Z:-4.04 [[-6.47702315e-01 -7.61867030e-01 6.35144495e-03 2.05163021e+02] [-7.61835062e-01 6.47733379e-01 6.98622709e-03 -1.06457466e+02] [-9.43661899e-03 -3.13758000e-04 -9.99955425e-01 -4.04437921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4265599949999 meters 0.017961464554238905 Centerline is valid? [True, True] Translation: X:205.09, Y:-106.51, Z:-4.04 [[-5.90054114e-01 -8.07341392e-01 6.00156137e-03 2.05094096e+02] [-8.07304842e-01 5.90084554e-01 7.68838665e-03 -1.06511198e+02] [-9.74858145e-03 -3.08525379e-04 -9.99952434e-01 -4.04435810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.486559995 meters 0.018622805904211 Centerline is valid? [True, True] Translation: X:205.02, Y:-106.57, Z:-4.04 [[-5.29137513e-01 -8.48522400e-01 4.81978040e-03 2.05022625e+02] [-8.48491568e-01 5.29159400e-01 7.23804760e-03 -1.06570295e+02] [-8.69207762e-03 -2.59620522e-04 -9.99962189e-01 -4.04436515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5465599949999 meters 0.015927061443294328 Centerline is valid? [True, True] Translation: X:204.96, Y:-106.64, Z:-4.05 [[-4.67378008e-01 -8.84051093e-01 3.38556503e-03 2.04962404e+02] [-8.84030555e-01 4.67390237e-01 6.02859518e-03 -1.06641758e+02] [-6.91196620e-03 -1.75310125e-04 -9.99976097e-01 -4.04627703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.606559995 meters 0.015923125150893565 Centerline is valid? [True, True] Translation: X:204.90, Y:-106.72, Z:-4.05 [[-4.01903600e-01 -9.15677456e-01 2.87963180e-03 2.04897886e+02] [-9.15656592e-01 4.01913887e-01 6.18322716e-03 -1.06721208e+02] [-6.81920573e-03 -1.51692585e-04 -9.99976737e-01 -4.04563258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.666559995 meters 0.013488190155861942 Centerline is valid? [True, True] Translation: X:204.85, Y:-106.81, Z:-4.05 [[-3.35968108e-01 -9.41870097e-01 2.48012267e-03 2.04845693e+02] [-9.41847003e-01 3.35977241e-01 6.59668665e-03 -1.06809403e+02] [-7.04648666e-03 -1.19619770e-04 -9.99975166e-01 -4.04558041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.726559995 meters 0.012667771935800952 Centerline is valid? [True, True] Translation: X:204.80, Y:-106.91, Z:-4.05 [[-2.66690521e-01 -9.63780528e-01 1.80558356e-03 2.04795974e+02] [-9.63760560e-01 2.66696620e-01 6.20452041e-03 -1.06905526e+02] [-6.46133898e-03 -8.54634397e-05 -9.99979122e-01 -4.04566514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.786559995 meters 0.012215155213087933 Centerline is valid? [True, True] Translation: X:204.75, Y:-107.01, Z:-4.05 [[-1.94475556e-01 -9.80906363e-01 1.40155771e-03 2.04749508e+02] [-9.80883568e-01 1.94480592e-01 6.68763562e-03 -1.07009110e+02] [-6.83252011e-03 -7.41832681e-05 -9.99976655e-01 -4.04546004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.846559995 meters 0.011857914435592594 Centerline is valid? [True, True] Translation: X:204.71, Y:-107.12, Z:-4.05 [[-1.21121902e-01 -9.92637229e-01 9.03769904e-04 2.04710958e+02] [-9.92613098e-01 1.21125259e-01 6.92171995e-03 -1.07117561e+02] [-6.98022627e-03 -5.87219586e-05 -9.99975636e-01 -4.04504198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.906559995 meters 0.011668797580302776 Centerline is valid? [True, True] Translation: X:204.68, Y:-107.23, Z:-4.04 [[-4.71297570e-02 -9.98888698e-01 3.92758096e-04 2.04680768e+02] [-9.98861242e-01 4.71313736e-02 7.40628737e-03 -1.07228077e+02] [-7.41656798e-03 -4.32543164e-05 -9.99972496e-01 -4.04467503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9665599949999 meters 0.011404986059508668 Centerline is valid? [True, True] Translation: X:204.66, Y:-107.34, Z:-4.04 [[ 2.75698812e-02 -9.99619864e-01 -1.71404805e-04 2.04658392e+02] [-9.99594276e-01 -2.75704019e-02 7.15232405e-03 -1.07341435e+02] [-7.15433089e-03 -2.58534627e-05 -9.99974407e-01 -4.04498125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.026559995 meters 0.011316657477188912 Centerline is valid? [True, True] Translation: X:204.65, Y:-107.46, Z:-4.05 [[ 1.03060296e-01 -9.94674940e-01 -5.82103432e-04 2.04646489e+02] [-9.94658373e-01 -1.03061939e-01 5.74096959e-03 -1.07459120e+02] [-5.77039130e-03 -1.26719719e-05 -9.99983351e-01 -4.04542819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0865599949999 meters 0.011339818436932736 Centerline is valid? [True, True] Translation: X:204.64, Y:-107.58, Z:-4.05 [[ 1.80646311e-01 -9.83547613e-01 -1.00164364e-03 2.04641629e+02] [-9.83531874e-01 -1.80649087e-01 5.56414265e-03 -1.07578700e+02] [-5.65354523e-03 -1.99934017e-05 -9.99984018e-01 -4.04580447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.146559995 meters 0.011441116286430306 Centerline is valid? [True, True] Translation: X:204.64, Y:-107.70, Z:-4.05 [[ 2.57870240e-01 -9.66178459e-01 -1.45793526e-03 2.04643473e+02] [-9.66162295e-01 -2.57874359e-01 5.58871774e-03 -1.07703437e+02] [-5.77566281e-03 -3.25619119e-05 -9.99983320e-01 -4.04570368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2065599949999 meters 0.011981173467102023 Centerline is valid? [True, True] Translation: X:204.65, Y:-107.83, Z:-4.05 [[ 3.35022775e-01 -9.42207958e-01 -1.97567532e-03 2.04654275e+02] [-9.42190556e-01 -3.35028596e-01 5.72675232e-03 -1.07830827e+02] [-6.05769933e-03 -5.71298267e-05 -9.99981650e-01 -4.04516257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.266559995 meters 0.012021721407970464 Centerline is valid? [True, True] Translation: X:204.67, Y:-107.94, Z:-4.05 [[ 4.08131330e-01 -9.12920291e-01 -2.31509109e-03 2.04670213e+02] [-9.12904682e-01 -4.08137891e-01 5.33878462e-03 -1.07943033e+02] [-5.81876120e-03 -6.54677739e-05 -9.99983069e-01 -4.04557900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3265599949999 meters 0.012268553956860394 Centerline is valid? [True, True] Translation: X:204.69, Y:-108.06, Z:-4.05 [[ 4.78289649e-01 -8.78198507e-01 -2.52860026e-03 2.04693018e+02] [-8.78185470e-01 -4.78296328e-01 4.78562476e-03 -1.08056294e+02] [-5.41214874e-03 -6.83347809e-05 -9.99985352e-01 -4.04563861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.386559995 meters 0.01200108981724313 Centerline is valid? [True, True] Translation: X:204.72, Y:-108.17, Z:-4.04 [[ 5.43909831e-01 -8.39137465e-01 -3.22660930e-03 2.04724016e+02] [-8.39121886e-01 -5.43919396e-01 5.11377312e-03 -1.08168308e+02] [-6.04617399e-03 -7.39129929e-05 -9.99981719e-01 -4.04480690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4465599949999 meters 0.01195604233762137 Centerline is valid? [True, True] Translation: X:204.76, Y:-108.28, Z:-4.04 [[ 6.05843991e-01 -7.95570608e-01 -4.52394852e-03 2.04761964e+02] [-7.95547363e-01 -6.05860875e-01 6.08215013e-03 -1.08277325e+02] [-7.57966328e-03 -8.58187962e-05 -9.99971270e-01 -4.04289426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.506559995 meters 0.011669615762788533 Centerline is valid? [True, True] Translation: X:204.81, Y:-108.38, Z:-4.04 [[ 6.64571287e-01 -7.47210841e-01 -4.57870137e-03 2.04813253e+02] [-7.47192320e-01 -6.64587055e-01 5.26147822e-03 -1.08382923e+02] [-6.97437922e-03 -7.54568564e-05 -9.99975676e-01 -4.04434699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5665599949999 meters 0.011224622748432157 Centerline is valid? [True, True] Translation: X:204.86, Y:-108.48, Z:-4.04 [[ 7.18700985e-01 -6.95299992e-01 -5.17821979e-03 2.04863075e+02] [-6.95281254e-01 -7.18719636e-01 5.10516046e-03 -1.08475173e+02] [-7.27130627e-03 -6.87647098e-05 -9.99973561e-01 -4.04363839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.626559995 meters 0.01108645195058147 Centerline is valid? [True, True] Translation: X:204.88, Y:-108.50, Z:-4.04 [[ 7.69670542e-01 -6.38409344e-01 -6.38484800e-03 2.04881994e+02] [-6.38386689e-01 -7.69697022e-01 5.37873766e-03 -1.08502468e+02] [-8.34823487e-03 -6.38539594e-05 -9.99965151e-01 -4.04181768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6865599949999 meters 0.010784598389497562 Centerline is valid? [True, True] Translation: X:204.90, Y:-108.53, Z:-4.04 [[ 8.14864147e-01 -5.79597497e-01 -7.94752870e-03 2.04903640e+02] [-5.79569509e-01 -8.14902902e-01 5.69593004e-03 -1.08526046e+02] [-9.77781100e-03 -3.52638641e-05 -9.99952195e-01 -4.04136117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.746559995 meters 0.010754850359018173 Centerline is valid? [True, True] Translation: X:204.93, Y:-108.55, Z:-4.04 [[ 8.56313633e-01 -5.16382851e-01 -8.70135984e-03 2.04926485e+02] [-5.16356074e-01 -8.56357840e-01 5.25872238e-03 -1.08548335e+02] [-1.01669918e-02 -1.01156582e-05 -9.99948315e-01 -4.04192735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8065599949999 meters 0.010760464392257625 Centerline is valid? [True, True] Translation: X:204.95, Y:-108.57, Z:-4.04 [[ 8.92261504e-01 -4.51450170e-01 -7.88373412e-03 2.04950763e+02] [-4.51432818e-01 -8.92296332e-01 3.95821676e-03 -1.08568504e+02] [-8.82156466e-03 2.72118718e-05 -9.99961089e-01 -4.04285468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.866559995 meters 0.011191315725555408 Centerline is valid? [True, True] Translation: X:204.98, Y:-108.59, Z:-4.04 [[ 9.23879288e-01 -3.82606121e-01 -7.72123923e-03 2.04976002e+02] [-3.82593183e-01 -9.23911551e-01 3.14685497e-03 -1.08585387e+02] [-8.33774808e-03 4.67793676e-05 -9.99965239e-01 -4.04260859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9265599949999 meters 0.011500966232099806 Centerline is valid? [True, True] Translation: X:205.00, Y:-108.60, Z:-4.04 [[ 9.49825466e-01 -3.12706156e-01 -6.81505474e-03 2.05003647e+02] [-3.12698607e-01 -9.49849912e-01 2.17387627e-03 -1.08601111e+02] [-7.15306364e-03 6.62550831e-05 -9.99974414e-01 -4.04350703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.986559995 meters 0.011929232098356219 Centerline is valid? [True, True] Translation: X:205.03, Y:-108.62, Z:-4.04 [[ 9.70994464e-01 -2.39039101e-01 -5.48261976e-03 2.05030277e+02] [-2.39035646e-01 -9.71009941e-01 1.28660924e-03 -1.08615683e+02] [-5.63122820e-03 6.12511049e-05 -9.99984143e-01 -4.04366657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0465599949999 meters 0.011980120372049406 Centerline is valid? [True, True] Translation: X:205.06, Y:-108.63, Z:-4.04 [[ 9.86597580e-01 -1.63071294e-01 -5.74182370e-03 2.05055309e+02] [-1.63068931e-01 -9.86614286e-01 8.80451538e-04 -1.08630172e+02] [-5.80854165e-03 6.76616946e-05 -9.99983128e-01 -4.04357231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.106559995 meters 0.01201772742258172 Centerline is valid? [True, True] Translation: X:205.08, Y:-108.64, Z:-4.04 [[ 9.96284727e-01 -8.58124821e-02 -7.27743043e-03 2.05081425e+02] [-8.58108372e-02 -9.96311302e-01 5.38545372e-04 -1.08643572e+02] [-7.29680010e-03 8.79378697e-05 -9.99973374e-01 -4.04190923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.166559995 meters 0.011930625930990299 Centerline is valid? [True, True] Translation: X:205.11, Y:-108.66, Z:-4.04 [[ 9.99939470e-01 -6.94794594e-03 -8.53128695e-03 2.05107756e+02] [-6.94852301e-03 -9.99975858e-01 -3.80025059e-05 -1.08657472e+02] [-8.53081695e-03 9.72800492e-05 -9.99963607e-01 -4.04031674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.226559995 meters 0.01187660312429903 Centerline is valid? [True, True] Translation: X:205.14, Y:-108.67, Z:-4.04 [[ 9.97260750e-01 7.34075512e-02 -9.07350316e-03 2.05136158e+02] [ 7.34037409e-02 -9.97302023e-01 -7.52694237e-04 -1.08669341e+02] [-9.10427649e-03 8.46033441e-05 -9.99958552e-01 -4.03897644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.286559995 meters 0.01158405898356252 Centerline is valid? [True, True] Translation: X:205.17, Y:-108.68, Z:-4.04 [[ 9.88303527e-01 1.52328663e-01 -7.21914532e-03 2.05165822e+02] [ 1.52324155e-01 -9.88329892e-01 -1.17350615e-03 -1.08678534e+02] [-7.31365574e-03 6.01300529e-05 -9.99973253e-01 -4.04088298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.346559995 meters 0.011515402006238415 Centerline is valid? [True, True] Translation: X:205.20, Y:-108.68, Z:-4.04 [[ 9.73233026e-01 2.29740726e-01 -6.05608792e-03 2.05195714e+02] [ 2.29735970e-01 -9.73251867e-01 -1.47908318e-03 -1.08682980e+02] [-6.23390452e-03 4.81913614e-05 -9.99980568e-01 -4.04190191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.406559995 meters 0.011180230798210894 Centerline is valid? [True, True] Translation: X:205.23, Y:-108.69, Z:-4.04 [[ 9.51702284e-01 3.06974547e-01 -5.42126585e-03 2.05226807e+02] [ 3.06969364e-01 -9.51717724e-01 -1.78400491e-03 -1.08688943e+02] [-5.70715890e-03 3.36790152e-05 -9.99983713e-01 -4.04188684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4665599949999 meters 0.010888068770748077 Centerline is valid? [True, True] Translation: X:205.26, Y:-108.69, Z:-4.04 [[ 9.23196954e-01 3.84287451e-01 -5.52631213e-03 2.05258145e+02] [ 3.84280494e-01 -9.23213494e-01 -2.31229822e-03 -1.08691587e+02] [-5.99055312e-03 1.10527151e-05 -9.99982056e-01 -4.04175432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.526559995 meters 0.01078915407841837 Centerline is valid? [True, True] Translation: X:205.29, Y:-108.69, Z:-4.04 [[ 8.88737199e-01 4.58379334e-01 -5.88028225e-03 2.05290791e+02] [ 4.58369378e-01 -8.88756652e-01 -3.02106041e-03 -1.08691982e+02] [-6.61093162e-03 -1.04125531e-05 -9.99978148e-01 -4.04173303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5865599949999 meters 0.011128991434693258 Centerline is valid? [True, True] Translation: X:205.32, Y:-108.69, Z:-4.04 [[ 8.46927848e-01 5.31672273e-01 -6.14930113e-03 2.05323928e+02] [ 5.31658732e-01 -8.46950170e-01 -3.79491201e-03 -1.08690364e+02] [-7.22580114e-03 -5.53129761e-05 -9.99973892e-01 -4.04089028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.646559995 meters 0.011585822837180054 Centerline is valid? [True, True] Translation: X:205.36, Y:-108.69, Z:-4.04 [[ 8.00190769e-01 5.99710932e-01 -6.44439980e-03 2.05357046e+02] [ 5.99692436e-01 -8.00216714e-01 -4.71102715e-03 -1.08686220e+02] [-7.98217091e-03 -9.49373778e-05 -9.99968137e-01 -4.04016178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7065599949999 meters 0.01296254172516238 Centerline is valid? [True, True] Translation: X:205.39, Y:-108.68, Z:-4.04 [[ 7.47174488e-01 6.64591358e-01 -6.97218591e-03 2.05389629e+02] [ 6.64564401e-01 -7.47207001e-01 -5.98790858e-03 -1.08679793e+02] [-9.18917842e-03 -1.59454019e-04 -9.99957766e-01 -4.03873266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.766559995 meters 0.01305563680497432 Centerline is valid? [True, True] Translation: X:205.42, Y:-108.67, Z:-4.04 [[ 6.91782589e-01 7.22078044e-01 -6.33628659e-03 2.05418256e+02] [ 7.22049971e-01 -6.91811586e-01 -6.36944872e-03 -1.08666411e+02] [-8.98275555e-03 -1.68841824e-04 -9.99959640e-01 -4.03922715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8265599949999 meters 0.013551191103516751 Centerline is valid? [True, True] Translation: X:205.45, Y:-108.65, Z:-4.04 [[ 6.31029715e-01 7.75735673e-01 -5.97202822e-03 2.05447223e+02] [ 7.75703876e-01 -6.31057942e-01 -7.02640588e-03 -1.08652330e+02] [-9.21932953e-03 -1.98654542e-04 -9.99957481e-01 -4.03995934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.886559995 meters 0.013994062465159999 Centerline is valid? [True, True] Translation: X:205.47, Y:-108.64, Z:-4.04 [[ 5.67675111e-01 8.23237921e-01 -4.92885489e-03 2.05474058e+02] [ 8.23209725e-01 -5.67696477e-01 -6.81614585e-03 -1.08635055e+02] [-8.40940330e-03 -1.88124926e-04 -9.99964623e-01 -4.04017063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9465599949999 meters 0.014142373186451822 Centerline is valid? [True, True] Translation: X:205.50, Y:-108.61, Z:-4.04 [[ 5.02021068e-01 8.64841172e-01 -4.95932922e-03 2.05496206e+02] [ 8.64802971e-01 -5.02045521e-01 -8.13117245e-03 -1.08614296e+02] [-9.52198173e-03 -2.06822764e-04 -9.99954644e-01 -4.03981162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.006559995 meters 0.012978756008865729 Centerline is valid? [True, True] Translation: X:205.51, Y:-108.59, Z:-4.04 [[ 4.35994588e-01 8.99935324e-01 -5.01314184e-03 2.05513199e+02] [ 8.99881038e-01 -4.36023362e-01 -9.88664775e-03 -1.08589764e+02] [-1.10831905e-02 -2.00706377e-04 -9.99938559e-01 -4.03913533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0665599949999 meters 0.012229950278310081 Centerline is valid? [True, True] Translation: X:205.53, Y:-108.56, Z:-4.04 [[ 3.67519509e-01 9.30005646e-01 -4.34849734e-03 2.05529082e+02] [ 9.29945802e-01 -3.67545196e-01 -1.05514504e-02 -1.08564896e+02] [-1.14111777e-02 -1.66002983e-04 -9.99934877e-01 -4.03979889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.126559995 meters 0.011085303629019091 Centerline is valid? [True, True] Translation: X:205.54, Y:-108.54, Z:-4.04 [[ 3.01933437e-01 9.53322032e-01 -3.64740566e-03 2.05540043e+02] [ 9.53255180e-01 -3.01955460e-01 -1.12898837e-02 -1.08537885e+02] [-1.18642489e-02 -6.81149408e-05 -9.99929615e-01 -4.04153207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1865599949999 meters 0.011497780136196801 Centerline is valid? [True, True] Translation: X:205.54, Y:-108.51, Z:-4.04 [[ 2.38326639e-01 9.71181372e-01 -2.67509520e-03 2.05544494e+02] [ 9.71116577e-01 -2.38341639e-01 -1.12185666e-02 -1.08510928e+02] [-1.15328495e-02 7.58539750e-05 -9.99933492e-01 -4.04256882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.246559995 meters 0.013218758494080877 Centerline is valid? [True, True] Translation: X:205.55, Y:-108.48, Z:-4.04 [[ 1.70992879e-01 9.85270807e-01 -1.69500764e-03 2.05549289e+02] [ 9.85211634e-01 -1.71001189e-01 -1.07995138e-02 -1.08484510e+02] [-1.09302940e-02 1.76698705e-04 -9.99940247e-01 -4.04364161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3065599949999 meters 0.01732397626104614 Centerline is valid? [True, True] Translation: X:205.55, Y:-108.46, Z:-4.04 [[ 1.08039212e-01 9.94146274e-01 -8.45271097e-04 2.05549779e+02] [ 9.94086403e-01 -1.08041987e-01 -1.09157167e-02 -1.08458087e+02] [-1.09431438e-02 3.39052929e-04 -9.99940065e-01 -4.04408511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.366559995 meters 0.019718197541206874 Centerline is valid? [True, True] Translation: X:205.56, Y:-108.43, Z:-4.04 [[ 4.16192143e-02 9.99133545e-01 1.17511203e-05 2.05556068e+02] [ 9.99081528e-01 -4.16169275e-02 -1.02045401e-02 -1.08432408e+02] [-1.01952093e-02 4.36445268e-04 -9.99947932e-01 -4.04493917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4265599949999 meters 0.021121852584014358 Centerline is valid? [True, True] Translation: X:205.56, Y:-108.41, Z:-4.05 [[-3.22832259e-02 9.99478484e-01 7.44109908e-04 2.05563842e+02] [ 9.99435002e-01 3.22887701e-02 -9.33336389e-03 -1.08407404e+02] [-9.35252278e-03 4.42378392e-04 -9.99956166e-01 -4.04535750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.486559995 meters 0.023215100104976037 Centerline is valid? [True, True] Translation: X:205.57, Y:-108.38, Z:-4.04 [[-1.09315716e-01 9.94005966e-01 1.48774253e-03 2.05570597e+02] [ 9.93962188e-01 1.09324881e-01 -9.34022522e-03 -1.08382752e+02] [-9.44688687e-03 4.57726419e-04 -9.99955272e-01 -4.04352622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5465599949999 meters 0.02275260780462827 Centerline is valid? [True, True] Translation: X:205.58, Y:-108.36, Z:-4.04 [[-1.88435105e-01 9.82082726e-01 2.39375249e-03 2.05577043e+02] [ 9.82032546e-01 1.88449703e-01 -9.93925153e-03 -1.08356165e+02] [-1.02122692e-02 4.77838950e-04 -9.99947739e-01 -4.04232089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.606559995 meters 0.01938915492806276 Centerline is valid? [True, True] Translation: X:205.59, Y:-108.33, Z:-4.04 [[-2.69153141e-01 9.63092966e-01 2.91976805e-03 2.05589284e+02] [ 9.63051299e-01 2.69168683e-01 -8.96751503e-03 -1.08326477e+02] [-9.42246077e-03 3.98251573e-04 -9.99955528e-01 -4.04302561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.666559995 meters 0.017751579662159244 Centerline is valid? [True, True] Translation: X:205.60, Y:-108.30, Z:-4.04 [[-3.49439259e-01 9.36954331e-01 2.96395425e-03 2.05598048e+02] [ 9.36927132e-01 3.49451717e-01 -7.14470367e-03 -1.08295270e+02] [-7.73001995e-03 2.80369200e-04 -9.99970084e-01 -4.04360064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.726559995 meters 0.018031032126115943 Centerline is valid? [True, True] Translation: X:205.60, Y:-108.27, Z:-4.04 [[-4.26647366e-01 9.04413095e-01 2.99640254e-03 2.05598813e+02] [ 9.04394043e-01 4.26657839e-01 -5.87398917e-03 -1.08266544e+02] [-6.59095135e-03 2.03806599e-04 -9.99978259e-01 -4.04346832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.786559995 meters 0.014129888907431908 Centerline is valid? [True, True] Translation: X:205.60, Y:-108.23, Z:-4.04 [[-5.05406044e-01 8.62874912e-01 3.40827191e-03 2.05604004e+02] [ 8.62857026e-01 5.05417519e-01 -5.55736354e-03 -1.08232139e+02] [-6.51790991e-03 1.32126244e-04 -9.99978749e-01 -4.04303167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.846559995 meters 0.01197074672379966 Centerline is valid? [True, True] Translation: X:205.61, Y:-108.20, Z:-4.04 [[-5.78072369e-01 8.15975808e-01 3.97695038e-03 2.05605036e+02] [ 8.15957472e-01 5.78086043e-01 -5.47092337e-03 -1.08197266e+02] [-6.76316063e-03 8.24327422e-05 -9.99977126e-01 -4.04215177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.906559995 meters 0.010698111960910889 Centerline is valid? [True, True] Translation: X:205.60, Y:-108.16, Z:-4.04 [[-6.49844381e-01 7.60054905e-01 4.33830431e-03 2.05604781e+02] [ 7.60037942e-01 6.49858862e-01 -5.07794859e-03 -1.08159232e+02] [-6.67880523e-03 -2.60047969e-06 -9.99977697e-01 -4.04074748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9665599949999 meters 0.011938357460822037 Centerline is valid? [True, True] Translation: X:205.60, Y:-108.12, Z:-4.04 [[-7.15525685e-01 6.98564918e-01 5.48171414e-03 2.05598312e+02] [ 6.98543412e-01 7.15546677e-01 -5.48225278e-03 -1.08124970e+02] [-7.75213179e-03 -9.34773798e-05 -9.99969947e-01 -4.03937147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.026559995 meters 0.013603491626724635 Centerline is valid? [True, True] Translation: X:205.58, Y:-108.10, Z:-4.04 [[-7.71970355e-01 6.35631831e-01 5.82639555e-03 2.05583455e+02] [ 6.35612352e-01 7.71992329e-01 -4.97813439e-03 -1.08095112e+02] [-7.66219334e-03 -1.39643190e-04 -9.99970635e-01 -4.03883908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0865599949999 meters 0.015230200554994954 Centerline is valid? [True, True] Translation: X:205.60, Y:-108.07, Z:-4.04 [[-8.18273008e-01 5.74797803e-01 6.06372736e-03 2.05600659e+02] [ 5.74780380e-01 8.18295456e-01 -4.47902276e-03 -1.08068670e+02] [-7.53645299e-03 -1.79751911e-04 -9.99971584e-01 -4.03858136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.146559995 meters 0.015509841643505478 Centerline is valid? [True, True] Translation: X:205.62, Y:-108.05, Z:-4.04 [[-8.57152943e-01 5.15021852e-01 6.42831083e-03 2.05616988e+02] [ 5.15005704e-01 8.57177027e-01 -4.08271383e-03 -1.08047729e+02] [-7.61288721e-03 -1.88893435e-04 -9.99971004e-01 -4.03847378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2065599949999 meters 0.016971847713922485 Centerline is valid? [True, True] Translation: X:205.63, Y:-108.02, Z:-4.04 [[-8.91267755e-01 4.53426504e-01 6.79657482e-03 2.05630255e+02] [ 4.53411701e-01 8.91293650e-01 -3.66880241e-03 -1.08023367e+02] [-7.72127623e-03 -1.88238743e-04 -9.99970173e-01 -4.03805858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.266559995 meters 0.014844994957631178 Centerline is valid? [True, True] Translation: X:205.93, Y:-107.49, Z:-5.01 [[-8.33169129e-01 -5.52959343e-01 8.07259999e-03 2.05926720e+02] [ 5.52937242e-01 -8.33208169e-01 -4.95517285e-03 -1.07486801e+02] [ 9.46616538e-03 3.35144122e-04 9.99955139e-01 -5.00603221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3265599949999 meters 0.015023941073713425 Centerline is valid? [True, True] Translation: X:205.59, Y:-108.01, Z:-4.04 [[-8.91718856e-01 4.52504311e-01 8.79377750e-03 2.05589883e+02] [ 4.52479877e-01 8.91762188e-01 -4.70750077e-03 -1.08011958e+02] [-9.97212266e-03 -2.18759845e-04 -9.99950253e-01 -4.03755768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.386559995 meters 0.013579867309204637 Centerline is valid? [True, True] Translation: X:205.60, Y:-107.99, Z:-4.04 [[-9.20312068e-01 3.91111634e-01 7.57542361e-03 2.05597961e+02] [ 3.91096986e-01 9.20343232e-01 -3.38848432e-03 -1.07994180e+02] [-8.29726549e-03 -1.55737670e-04 -9.99965565e-01 -4.03928001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4465599949999 meters 0.012843253140295878 Centerline is valid? [True, True] Translation: X:205.61, Y:-107.97, Z:-4.04 [[-9.44589269e-01 3.28173734e-01 7.28787772e-03 2.05607526e+02] [ 3.28162993e-01 9.44617376e-01 -2.65777294e-03 -1.07974879e+02] [-7.75646719e-03 -1.18892036e-04 -9.99969911e-01 -4.04013914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.506559995 meters 0.011968200289374072 Centerline is valid? [True, True] Translation: X:205.62, Y:-107.96, Z:-4.04 [[-9.63727311e-01 2.66809343e-01 6.51500634e-03 2.05623110e+02] [ 2.66802810e-01 9.63749330e-01 -1.86821866e-03 -1.07960124e+02] [-6.77729119e-03 -6.22313505e-05 -9.99977032e-01 -4.04046960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5665599949999 meters 0.011596303869131913 Centerline is valid? [True, True] Translation: X:205.63, Y:-107.94, Z:-4.04 [[-9.78691557e-01 2.05208693e-01 7.22687689e-03 2.05625391e+02] [ 2.05203009e-01 9.78718239e-01 -1.52748148e-03 -1.07941850e+02] [-7.38652871e-03 -1.19563443e-05 -9.99972719e-01 -4.03986845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.626559995 meters 0.011852228040222882 Centerline is valid? [True, True] Translation: X:205.78, Y:-107.27, Z:-5.00 [[-9.63307094e-01 -2.68295021e-01 7.56471403e-03 2.05777792e+02] [ 2.68287065e-01 -9.63336795e-01 -2.06654053e-03 -1.07271075e+02] [ 7.84180991e-03 3.88017749e-05 9.99969252e-01 -5.00449963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6865599949999 meters 0.012227050424614484 Centerline is valid? [True, True] Translation: X:205.58, Y:-107.94, Z:-4.04 [[-9.77608765e-01 2.10278326e-01 8.00797852e-03 2.05581084e+02] [ 2.10271769e-01 9.77641561e-01 -1.66165577e-03 -1.07942509e+02] [-8.17834282e-03 5.94025630e-05 -9.99966555e-01 -4.03906835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.746559995 meters 0.013916103456164076 Centerline is valid? [True, True] Translation: X:205.60, Y:-107.93, Z:-4.04 [[-9.88594964e-01 1.50381529e-01 8.08660154e-03 2.05596572e+02] [ 1.50377671e-01 9.88628027e-01 -1.08651679e-03 -1.07925918e+02] [-8.15803298e-03 1.41919280e-04 -9.99966713e-01 -4.03941785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8065599949999 meters 0.015489919704357933 Centerline is valid? [True, True] Translation: X:205.70, Y:-107.21, Z:-5.00 [[-9.84302671e-01 -1.76326411e-01 7.56623006e-03 2.05699955e+02] [ 1.76319952e-01 -9.84331738e-01 -1.51759938e-03 -1.07212550e+02] [ 7.71527324e-03 -1.59699802e-04 9.99970224e-01 -5.00436794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.866559995 meters 0.016911056491219847 Centerline is valid? [True, True] Translation: X:205.55, Y:-107.93, Z:-4.04 [[-9.87328219e-01 1.58524919e-01 7.26898201e-03 2.05549228e+02] [ 1.58522244e-01 9.87354953e-01 -9.46370984e-04 -1.07929486e+02] [-7.32708877e-03 2.17916561e-04 -9.99973133e-01 -4.04052138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9265599949999 meters 0.017616861513913232 Centerline is valid? [True, True] Translation: X:205.55, Y:-107.90, Z:-4.04 [[-9.95948122e-01 8.97221037e-02 6.10595635e-03 2.05551763e+02] [ 8.97215983e-02 9.95966820e-01 -3.57206462e-04 -1.07902396e+02] [-6.11337925e-03 1.92077057e-04 -9.99981295e-01 -4.04157421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.986559995 meters 0.018205304886538782 Centerline is valid? [True, True] Translation: X:205.59, Y:-107.17, Z:-5.00 [[-9.95151111e-01 -9.81878804e-02 5.77979979e-03 2.05592113e+02] [ 9.81850400e-02 -9.95167875e-01 -7.73828695e-04 -1.07169405e+02] [ 5.82785167e-03 -2.02586612e-04 9.99982997e-01 -5.00293029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0465599949999 meters 0.014867903358840572 Centerline is valid? [True, True] Translation: X:205.48, Y:-107.89, Z:-4.04 [[-9.97249564e-01 7.37867911e-02 6.98688303e-03 2.05483126e+02] [ 7.37859424e-02 9.97274030e-01 -3.79500632e-04 -1.07888651e+02] [-6.99583913e-03 1.37076910e-04 -9.99975519e-01 -4.04023212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.106559995 meters 0.013678445891809091 Centerline is valid? [True, True] Translation: X:205.48, Y:-107.86, Z:-4.04 [[-9.99960169e-01 -4.19660959e-03 7.87717382e-03 2.05478869e+02] [-4.19569545e-03 9.99991189e-01 1.32571632e-04 -1.07855440e+02] [-7.87766077e-03 9.95161293e-05 -9.99968966e-01 -4.03858795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.166559995 meters 0.012433206953419857 Centerline is valid? [True, True] Translation: X:205.46, Y:-107.16, Z:-5.01 [[-9.98734549e-01 -4.95199990e-02 8.77900732e-03 2.05463238e+02] [ 4.95177236e-02 -9.98773131e-01 -4.76491749e-04 -1.07162444e+02] [ 8.79183250e-03 -4.11723145e-05 9.99961350e-01 -5.00671121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.226559995 meters 0.012828935396136566 Centerline is valid? [True, True] Translation: X:205.40, Y:-107.84, Z:-4.04 [[-9.99564645e-01 -2.81901625e-02 8.70836290e-03 2.05404853e+02] [-2.81896181e-02 9.99602577e-01 1.85272633e-04 -1.07839839e+02] [-8.71012486e-03 -6.02934513e-05 -9.99962064e-01 -4.03698283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.286559995 meters 0.013731778538733615 Centerline is valid? [True, True] Translation: X:205.39, Y:-107.81, Z:-4.04 [[-9.94220192e-01 -1.07001022e-01 8.77443032e-03 2.05393703e+02] [-1.06998013e-01 9.94258902e-01 8.13011945e-04 -1.07807383e+02] [-8.81104856e-03 -1.30533714e-04 -9.99961173e-01 -4.03764792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.346559995 meters 0.016119542363393215 Centerline is valid? [True, True] Translation: X:205.32, Y:-107.16, Z:-5.01 [[-9.99960182e-01 6.49312559e-04 8.90016003e-03 2.05323626e+02] [-6.48053875e-04 -9.99999780e-01 1.44305688e-04 -1.07162215e+02] [ 8.90025177e-03 1.38532159e-04 9.99960382e-01 -5.00634489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.406559995 meters 0.01724481147023402 Centerline is valid? [True, True] Translation: X:205.31, Y:-107.80, Z:-4.04 [[-9.91929988e-01 -1.26452732e-01 9.19816176e-03 2.05311314e+02] [-1.26449864e-01 9.91972596e-01 8.95095762e-04 -1.07801544e+02] [-9.23751170e-03 -2.75233973e-04 -9.99957295e-01 -4.03829847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4665599949999 meters 0.019066325940113846 Centerline is valid? [True, True] Translation: X:205.30, Y:-107.77, Z:-4.04 [[-9.80014703e-01 -1.98667576e-01 1.01181576e-02 2.05302520e+02] [-1.98660415e-01 9.80066879e-01 1.71805127e-03 -1.07771538e+02] [-1.02577922e-02 -3.26361872e-04 -9.99947334e-01 -4.03676849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.526559995 meters 0.019848138770681832 Centerline is valid? [True, True] Translation: X:205.29, Y:-107.75, Z:-4.03 [[-9.63045132e-01 -2.68983183e-01 1.38607596e-02 2.05290324e+02] [-2.68962291e-01 9.63144760e-01 3.38494034e-03 -1.07745083e+02] [-1.42604100e-02 -4.68171334e-04 -9.99898206e-01 -4.03358553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5865599949999 meters 0.018251798073036108 Centerline is valid? [True, True] Translation: X:205.26, Y:-107.73, Z:-4.03 [[-9.41669225e-01 -3.36211652e-01 1.48592317e-02 2.05263987e+02] [-3.36178117e-01 9.41786322e-01 4.77468545e-03 -1.07728521e+02] [-1.55995261e-02 -4.99174193e-04 -9.99878195e-01 -4.03345691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.646559995 meters 0.018075720553600266 Centerline is valid? [True, True] Translation: X:205.24, Y:-107.71, Z:-4.03 [[-9.15952862e-01 -4.01006422e-01 1.49734430e-02 2.05237825e+02] [-4.00961304e-01 9.16075118e-01 6.03410191e-03 -1.07713306e+02] [-1.61365122e-02 -4.76818307e-04 -9.99869684e-01 -4.03372868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7065599949999 meters 0.017920926845687954 Centerline is valid? [True, True] Translation: X:205.19, Y:-107.71, Z:-4.04 [[-8.85680670e-01 -4.64108226e-01 1.31645371e-02 2.05189880e+02] [-4.64063479e-01 8.85778416e-01 6.45642420e-03 -1.07709275e+02] [-1.46573424e-02 -3.90850794e-04 -9.99892499e-01 -4.03544394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.766559995 meters 0.017264205147475186 Centerline is valid? [True, True] Translation: X:205.13, Y:-107.71, Z:-4.04 [[-8.50767836e-01 -5.25434583e-01 1.06107256e-02 2.05133236e+02] [-5.25397939e-01 8.50833952e-01 6.21214756e-03 -1.07713798e+02] [-1.22920428e-02 -2.89758029e-04 -9.99924408e-01 -4.03714103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8265599949999 meters 0.017089331646598056 Centerline is valid? [True, True] Translation: X:205.07, Y:-107.73, Z:-4.04 [[-8.10580776e-01 -5.85549434e-01 9.52181900e-03 2.05066367e+02] [-5.85512664e-01 8.10636661e-01 6.56689199e-03 -1.07726906e+02] [-1.15639755e-02 -2.52149201e-04 -9.99933103e-01 -4.03729034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.886559995 meters 0.01585484876586644 Centerline is valid? [True, True] Translation: X:204.99, Y:-107.75, Z:-4.04 [[-7.65397075e-01 -6.43480855e-01 9.98534584e-03 2.04993324e+02] [-6.43430590e-01 7.65462160e-01 8.04720906e-03 -1.07751875e+02] [-1.28216294e-02 -2.65566693e-04 -9.99917764e-01 -4.03694605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9465599949999 meters 0.015342177940942198 Centerline is valid? [True, True] Translation: X:204.91, Y:-107.79, Z:-4.04 [[-7.14993262e-01 -6.99068667e-01 9.36129037e-03 2.04914736e+02] [-6.99013610e-01 7.15054492e-01 8.77758691e-03 -1.07786730e+02] [-1.28299687e-02 -2.67753881e-04 -9.99917657e-01 -4.03805246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.006559995 meters 0.016255449086190994 Centerline is valid? [True, True] Translation: X:204.84, Y:-107.83, Z:-4.04 [[-6.59793164e-01 -7.51394811e-01 8.87801701e-03 2.04835143e+02] [-7.51332563e-01 6.59852829e-01 9.67594254e-03 -1.07826779e+02] [-1.31286377e-02 -2.86222531e-04 -9.99913775e-01 -4.03739874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0665599949999 meters 0.01687893973400677 Centerline is valid? [True, True] Translation: X:204.75, Y:-107.88, Z:-4.04 [[-6.01578430e-01 -7.98766883e-01 8.65217487e-03 2.04752803e+02] [-7.98691329e-01 6.01640572e-01 1.09901530e-02 -1.07879362e+02] [-1.39840697e-02 -2.98978038e-04 -9.99902173e-01 -4.03570188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.126559995 meters 0.01672132797178279 Centerline is valid? [True, True] Translation: X:204.67, Y:-107.94, Z:-4.03 [[-5.40263765e-01 -8.41458526e-01 7.91278409e-03 2.04674281e+02] [-8.41375995e-01 5.40321631e-01 1.17885650e-02 -1.07942117e+02] [-1.41950369e-02 -2.88692059e-04 -9.99899204e-01 -4.03465291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1865599949999 meters 0.016501118904490443 Centerline is valid? [True, True] Translation: X:204.60, Y:-108.01, Z:-4.04 [[-4.76416121e-01 -8.79195624e-01 6.53720873e-03 2.04600824e+02] [-8.79119833e-01 4.76460906e-01 1.15465875e-02 -1.08011724e+02] [-1.32664336e-02 -2.46009408e-04 -9.99911967e-01 -4.03542417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.246559995 meters 0.016383134488167733 Centerline is valid? [True, True] Translation: X:204.53, Y:-108.09, Z:-4.04 [[-4.09075352e-01 -9.12485699e-01 5.21598038e-03 2.04527653e+02] [-9.12418111e-01 4.09108547e-01 1.11080200e-02 -1.08093586e+02] [-1.22698115e-02 -2.15137785e-04 -9.99924700e-01 -4.03598750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3065599949999 meters 0.014791806929600053 Centerline is valid? [True, True] Translation: X:204.46, Y:-108.18, Z:-4.04 [[-3.39065163e-01 -9.40754832e-01 3.89385319e-03 2.04463473e+02] [-9.40698883e-01 3.39087471e-01 1.02615307e-02 -1.08182048e+02] [-1.09739414e-02 -1.83615769e-04 -9.99939768e-01 -4.03889825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.366559995 meters 0.014523088863112201 Centerline is valid? [True, True] Translation: X:204.40, Y:-108.27, Z:-4.04 [[-2.66303279e-01 -9.63885004e-01 2.87433310e-03 2.04404073e+02] [-9.63835526e-01 2.66318737e-01 9.76775379e-03 -1.08273742e+02] [-1.01804802e-02 -1.69199497e-04 -9.99948163e-01 -4.03934732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4265599949999 meters 0.014604691916281718 Centerline is valid? [True, True] Translation: X:204.35, Y:-108.38, Z:-4.04 [[-1.91931809e-01 -9.81405671e-01 2.25580912e-03 2.04348229e+02] [-9.81348413e-01 1.91944982e-01 1.06026267e-02 -1.08375104e+02] [-1.08384692e-02 -1.78753385e-04 -9.99941246e-01 -4.03837545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.486559995 meters 0.014298803528933555 Centerline is valid? [True, True] Translation: X:204.30, Y:-108.48, Z:-4.04 [[-1.16944227e-01 -9.93137306e-01 1.52979235e-03 2.04300329e+02] [-9.93071517e-01 1.16954090e-01 1.14325707e-02 -1.08483954e+02] [-1.15330279e-02 -1.82220076e-04 -9.99933476e-01 -4.03718773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5465599949999 meters 0.013932585245286382 Centerline is valid? [True, True] Translation: X:204.26, Y:-108.59, Z:-4.04 [[-4.21218033e-02 -9.99112207e-01 7.42581291e-04 2.04264033e+02] [-9.99025266e-01 4.21279350e-02 1.31816265e-02 -1.08589779e+02] [-1.32012073e-02 -1.86623595e-04 -9.99912843e-01 -4.03713949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.606559995 meters 0.014165024351258824 Centerline is valid? [True, True] Translation: X:204.23, Y:-108.70, Z:-4.04 [[ 3.37010811e-02 -9.99431921e-01 -2.67566006e-04 2.04234606e+02] [-9.99346124e-01 -3.37016942e-02 1.30965890e-02 -1.08701938e+02] [-1.30981665e-02 -1.73978157e-04 -9.99914200e-01 -4.03652785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.666559995 meters 0.013880194525757759 Centerline is valid? [True, True] Translation: X:204.22, Y:-108.82, Z:-4.04 [[ 1.08867138e-01 -9.94055518e-01 -1.25430558e-03 2.04216115e+02] [-9.93972107e-01 -1.08874253e-01 1.28781814e-02 -1.08823371e+02] [-1.29381889e-02 -1.55265992e-04 -9.99916286e-01 -4.03767229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.726559995 meters 0.01372830694938893 Centerline is valid? [True, True] Translation: X:204.21, Y:-108.94, Z:-4.04 [[ 1.83462318e-01 -9.83024167e-01 -2.25061354e-03 2.04205387e+02] [-9.82940680e-01 -1.83476070e-01 1.28121474e-02 -1.08936750e+02] [-1.30075843e-02 -1.38326659e-04 -9.99915388e-01 -4.03826873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.786559995 meters 0.013460059907858314 Centerline is valid? [True, True] Translation: X:204.20, Y:-109.05, Z:-4.04 [[ 2.55785312e-01 -9.66726703e-01 -3.65453700e-03 2.04204810e+02] [-9.66621391e-01 -2.55811391e-01 1.42694674e-02 -1.09051181e+02] [-1.47295474e-02 -1.17366542e-04 -9.99891507e-01 -4.03796623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.846559995 meters 0.013515103651669354 Centerline is valid? [True, True] Translation: X:204.21, Y:-109.17, Z:-4.04 [[ 3.26438824e-01 -9.45205045e-01 -5.01161948e-03 2.04214556e+02] [-9.45089908e-01 -3.26477283e-01 1.47529311e-02 -1.09169850e+02] [-1.55807249e-02 -7.94984992e-05 -9.99878610e-01 -4.03725527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.906559995 meters 0.01316724571415605 Centerline is valid? [True, True] Translation: X:204.23, Y:-109.28, Z:-4.04 [[ 3.93825607e-01 -9.19163849e-01 -6.26173295e-03 2.04232376e+02] [-9.19047297e-01 -3.93875384e-01 1.46372326e-02 -1.09279129e+02] [-1.59203576e-02 -9.68829009e-06 -9.99873263e-01 -4.04011560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9665599949999 meters 0.013676196270537497 Centerline is valid? [True, True] Translation: X:204.26, Y:-109.39, Z:-4.04 [[ 4.59214759e-01 -8.88294356e-01 -7.41231662e-03 2.04258835e+02] [-8.88180775e-01 -4.59274573e-01 1.42048665e-02 -1.09388904e+02] [-1.60223913e-02 6.03927765e-05 -9.99871631e-01 -4.03851666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.026559995 meters 0.01444463854266107 Centerline is valid? [True, True] Translation: X:204.29, Y:-109.50, Z:-4.04 [[ 5.23100383e-01 -8.52228739e-01 -8.49503895e-03 2.04293404e+02] [-8.52119792e-01 -5.23169345e-01 1.36270280e-02 -1.09496799e+02] [-1.60576888e-02 1.10487276e-04 -9.99871061e-01 -4.03705777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0865599949999 meters 0.014598209043203816 Centerline is valid? [True, True] Translation: X:204.33, Y:-109.59, Z:-4.04 [[ 5.81579334e-01 -8.13438602e-01 -9.11697280e-03 2.04332417e+02] [-8.13344102e-01 -5.81650753e-01 1.24005019e-02 -1.09594790e+02] [-1.53899410e-02 2.03360426e-04 -9.99881547e-01 -4.03978727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.146559995 meters 0.015808138139926587 Centerline is valid? [True, True] Translation: X:204.38, Y:-109.69, Z:-4.04 [[ 6.36421792e-01 -7.71276569e-01 -9.98781625e-03 2.04379671e+02] [-7.71189220e-01 -6.36500083e-01 1.16116607e-02 -1.09689530e+02] [-1.53130477e-02 3.12582316e-04 -9.99882700e-01 -4.04071323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2065599949999 meters 0.021534111280722006 Centerline is valid? [True, True] Translation: X:204.44, Y:-109.78, Z:-4.04 [[ 6.90238157e-01 -7.23509533e-01 -1.02587477e-02 2.04442546e+02] [-7.23437238e-01 -6.90314296e-01 1.02339817e-02 -1.09782357e+02] [-1.44861436e-02 3.57675431e-04 -9.99895006e-01 -4.03685257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.266559995 meters 0.01755319077837048 Centerline is valid? [True, True] Translation: X:204.46, Y:-109.81, Z:-4.04 [[ 7.42469391e-01 -6.69795066e-01 -1.06664397e-02 2.04456508e+02] [-6.69733459e-01 -7.42545901e-01 9.09273130e-03 -1.09814484e+02] [-1.40105877e-02 3.92596905e-04 -9.99901770e-01 -4.04100761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3265599949999 meters 0.017608738098717946 Centerline is valid? [True, True] Translation: X:204.48, Y:-109.84, Z:-4.04 [[ 7.92314088e-01 -6.10007219e-01 -1.13832682e-02 2.04475412e+02] [-6.09951439e-01 -7.92395755e-01 8.25888401e-03 -1.09841977e+02] [-1.40580323e-02 3.99610691e-04 -9.99901101e-01 -4.04089254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.386559995 meters 0.017846016040542163 Centerline is valid? [True, True] Translation: X:204.50, Y:-109.87, Z:-4.04 [[ 8.37743506e-01 -5.45962759e-01 -1.05111133e-02 2.04497219e+02] [-5.45924934e-01 -8.37809373e-01 6.43592605e-03 -1.09867332e+02] [-1.23200852e-02 3.46623583e-04 -9.99924045e-01 -4.04142692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4465599949999 meters 0.016892337831445257 Centerline is valid? [True, True] Translation: X:204.52, Y:-109.90, Z:-4.04 [[ 8.78735875e-01 -4.77174984e-01 -1.12825826e-02 2.04519252e+02] [-4.77140484e-01 -8.78808241e-01 5.74753093e-03 -1.09895134e+02] [-1.26578045e-02 3.32815291e-04 -9.99919831e-01 -4.04081086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.506559995 meters 0.015910295337463007 Centerline is valid? [True, True] Translation: X:204.54, Y:-109.92, Z:-4.04 [[ 9.14370390e-01 -4.04726922e-01 -1.10863716e-02 2.04543531e+02] [-4.04700937e-01 -9.14437552e-01 4.59507008e-03 -1.09922105e+02] [-1.19975431e-02 2.85068955e-04 -9.99927986e-01 -4.04115812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5665599949999 meters 0.015103500782482064 Centerline is valid? [True, True] Translation: X:204.57, Y:-109.95, Z:-4.04 [[ 9.44616499e-01 -3.27988386e-01 -1.11035673e-02 2.04569856e+02] [-3.27968554e-01 -9.44681728e-01 3.61395077e-03 -1.09948200e+02] [-1.16746710e-02 2.27823378e-04 -9.99931823e-01 -4.04111257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.626559995 meters 0.014725189664361395 Centerline is valid? [True, True] Translation: X:204.60, Y:-109.97, Z:-4.04 [[ 9.68189090e-01 -2.49983073e-01 -1.08787979e-02 2.04597758e+02] [-2.49969400e-01 -9.68250190e-01 2.62093128e-03 -1.09968636e+02] [-1.11885866e-02 1.81809515e-04 -9.99937389e-01 -4.04014642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6865599949999 meters 0.013503549889509803 Centerline is valid? [True, True] Translation: X:204.63, Y:-109.99, Z:-4.04 [[ 9.85699671e-01 -1.68270028e-01 -9.01972693e-03 2.04626986e+02] [-1.68263915e-01 -9.85740933e-01 1.43774040e-03 -1.09990418e+02] [-9.13304266e-03 1.00514331e-04 -9.99958288e-01 -4.04081176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.746559995 meters 0.013076883082816109 Centerline is valid? [True, True] Translation: X:204.65, Y:-110.01, Z:-4.04 [[ 9.96195711e-01 -8.67599990e-02 -8.17366750e-03 2.04654682e+02] [-8.67575637e-02 -9.96229240e-01 6.52713218e-04 -1.10005684e+02] [-8.19947596e-03 5.88973707e-05 -9.99966382e-01 -4.04103041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8065599949999 meters 0.012537615446165513 Centerline is valid? [True, True] Translation: X:204.68, Y:-110.02, Z:-4.04 [[ 9.99966172e-01 -1.10294672e-03 -8.15102630e-03 2.04684819e+02] [-1.10289669e-03 -9.99999392e-01 1.06335119e-05 -1.10023952e+02] [-8.15103307e-03 -1.64341227e-06 -9.99966780e-01 -4.04108201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.866559995 meters 0.01311010544637446 Centerline is valid? [True, True] Translation: X:204.72, Y:-110.04, Z:-4.04 [[ 9.96276674e-01 8.58712108e-02 -7.67613901e-03 2.04717015e+02] [ 8.58691950e-02 -9.96306243e-01 -5.92406976e-04 -1.10039275e+02] [-7.69865593e-03 -6.89426263e-05 -9.99970363e-01 -4.04030568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9265599949999 meters 0.01420816685118911 Centerline is valid? [True, True] Translation: X:204.75, Y:-110.05, Z:-4.04 [[ 9.85453575e-01 1.69748580e-01 -8.16526779e-03 2.04751158e+02] [ 1.69743808e-01 -9.85487394e-01 -1.27893430e-03 -1.10048926e+02] [-8.26386576e-03 -1.25673267e-04 -9.99965846e-01 -4.03911891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.986559995 meters 0.01575833067746189 Centerline is valid? [True, True] Translation: X:204.79, Y:-110.06, Z:-4.04 [[ 9.67197677e-01 2.53922293e-01 -7.21958002e-03 2.04786466e+02] [ 2.53916534e-01 -9.67224607e-01 -1.71875803e-03 -1.10057208e+02] [-7.41938642e-03 -1.70791958e-04 -9.99972461e-01 -4.03895162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0465599949999 meters 0.016841114548694913 Centerline is valid? [True, True] Translation: X:204.82, Y:-110.06, Z:-4.04 [[ 9.42780655e-01 3.33380889e-01 -4.67118653e-03 2.04821915e+02] [ 3.33377510e-01 -9.42792217e-01 -1.50727066e-03 -1.10059401e+02] [-4.90645354e-03 -1.36242913e-04 -9.99987954e-01 -4.04119956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.106559995 meters 0.018629828714754527 Centerline is valid? [True, True] Translation: X:204.86, Y:-110.06, Z:-4.04 [[ 9.12651246e-01 4.08721875e-01 -3.75923256e-03 2.04856438e+02] [ 4.08718964e-01 -9.12658980e-01 -1.54745279e-03 -1.10059371e+02] [-4.06337516e-03 -1.24184916e-04 -9.99991737e-01 -4.04133658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.166559995 meters 0.021056224773269704 Centerline is valid? [True, True] Translation: X:204.89, Y:-110.06, Z:-4.04 [[ 8.76076157e-01 4.82161688e-01 -3.26717901e-03 2.04890515e+02] [ 4.82158864e-01 -8.76082240e-01 -1.65492144e-03 -1.10055139e+02] [-3.66025722e-03 -1.25462102e-04 -9.99993293e-01 -4.04033953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.226559995 meters 0.021512504341970943 Centerline is valid? [True, True] Translation: X:204.92, Y:-110.04, Z:-4.04 [[ 8.34792837e-01 5.50551471e-01 -3.74126818e-03 2.04922347e+02] [ 5.50546775e-01 -8.34801206e-01 -2.27941583e-03 -1.10042444e+02] [-4.37815092e-03 -1.56903124e-04 -9.99990404e-01 -4.03946470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.286559995 meters 0.020286767948288858 Centerline is valid? [True, True] Translation: X:204.95, Y:-110.02, Z:-4.04 [[ 7.91185425e-01 6.11563811e-01 -3.91522216e-03 2.04950887e+02] [ 6.11557293e-01 -7.91195097e-01 -2.82785834e-03 -1.10024241e+02] [-4.82712040e-03 -1.57022361e-04 -9.99988337e-01 -4.03936826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.346559995 meters 0.018092194396780736 Centerline is valid? [True, True] Translation: X:204.97, Y:-110.00, Z:-4.04 [[ 7.46261047e-01 6.65651314e-01 -1.66685890e-03 2.04973173e+02] [ 6.65649811e-01 -7.46262906e-01 -1.41565872e-03 -1.10000030e+02] [-2.18625006e-03 -5.30933596e-05 -9.99997609e-01 -4.04157633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.406559995 meters 0.015105805554843537 Centerline is valid? [True, True] Translation: X:205.00, Y:-109.98, Z:-4.04 [[ 6.96638857e-01 7.17421409e-01 -9.08563339e-04 2.04995490e+02] [ 7.17420840e-01 -6.96639449e-01 -9.03726838e-04 -1.09975779e+02] [-1.28129404e-03 -2.22510426e-05 -9.99999179e-01 -4.04247273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4665599949999 meters 0.013459602195654327 Centerline is valid? [True, True] Translation: X:205.02, Y:-109.95, Z:-4.04 [[ 6.44046340e-01 7.64985869e-01 -9.64889855e-04 2.05018288e+02] [ 7.64985045e-01 -6.44047063e-01 -1.12307367e-03 -1.09953816e+02] [-1.48056997e-03 -1.48148219e-05 -9.99998904e-01 -4.04211906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.526559995 meters 0.012878156627139732 Centerline is valid? [True, True] Translation: X:205.04, Y:-109.93, Z:-4.04 [[ 5.88159183e-01 8.08743482e-01 -1.65994629e-03 2.05038324e+02] [ 8.08740301e-01 -5.88161525e-01 -2.26854892e-03 -1.09931980e+02] [-2.81099070e-03 -8.19758283e-06 -9.99996049e-01 -4.04039393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5865599949999 meters 0.012913754642300301 Centerline is valid? [True, True] Translation: X:205.06, Y:-109.91, Z:-4.04 [[ 5.29536781e-01 8.48285272e-01 -1.70131105e-03 2.05056782e+02] [ 8.48280801e-01 -5.29539514e-01 -2.75423380e-03 -1.09907916e+02] [-3.23728739e-03 1.52786012e-05 -9.99994760e-01 -4.04049706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.646559995 meters 0.013991578180055999 Centerline is valid? [True, True] Translation: X:205.07, Y:-109.88, Z:-4.04 [[ 4.70088530e-01 8.82617841e-01 -1.58765289e-03 2.05070274e+02] [ 8.82612442e-01 -4.70091208e-01 -3.08771952e-03 -1.09881634e+02] [-3.47161800e-03 5.02193348e-05 -9.99993973e-01 -4.04189752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7065599949999 meters 0.01534235190941426 Centerline is valid? [True, True] Translation: X:205.08, Y:-109.86, Z:-4.04 [[ 4.04354439e-01 9.14601287e-01 -1.40465808e-03 2.05082493e+02] [ 9.14595137e-01 -4.04356872e-01 -3.35488025e-03 -1.09857515e+02] [-3.63636094e-03 7.18672713e-05 -9.99993386e-01 -4.04230927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.766559995 meters 0.015158520218383953 Centerline is valid? [True, True] Translation: X:205.10, Y:-109.83, Z:-4.04 [[ 3.32290902e-01 9.43176064e-01 -1.29229379e-03 2.05100516e+02] [ 9.43167904e-01 -3.32293404e-01 -3.92404139e-03 -1.09834027e+02] [-4.13048262e-03 8.50732271e-05 -9.99991466e-01 -4.04180641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8265599949999 meters 0.015111817620657957 Centerline is valid? [True, True] Translation: X:205.12, Y:-109.81, Z:-4.04 [[ 2.56126772e-01 9.66642464e-01 -1.19341609e-03 2.05115680e+02] [ 9.66630145e-01 -2.56129534e-01 -4.88101199e-03 -1.09809329e+02] [-5.02386256e-03 9.65658765e-05 -9.99987376e-01 -4.04104686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.886559995 meters 0.014285795594955826 Centerline is valid? [True, True] Translation: X:205.13, Y:-109.79, Z:-4.04 [[ 1.74101622e-01 9.84727055e-01 -1.11914513e-03 2.05129411e+02] [ 9.84703081e-01 -1.74105194e-01 -6.87191111e-03 -1.09785011e+02] [-6.96180577e-03 9.43852102e-05 -9.99975762e-01 -4.04009061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9465599949999 meters 0.012992081585547684 Centerline is valid? [True, True] Translation: X:205.15, Y:-109.76, Z:-4.04 [[ 8.75361583e-02 9.96161111e-01 -6.80188556e-04 2.05146265e+02] [ 9.96127570e-01 -8.75387926e-02 -8.17455775e-03 -1.09759031e+02] [-8.20271942e-03 3.80148080e-05 -9.99966356e-01 -4.04083715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.006559995 meters 0.01301023038464421 Centerline is valid? [True, True] Translation: X:205.16, Y:-109.73, Z:-4.04 [[-3.09101861e-04 9.99999952e-01 -3.68057295e-05 2.05159583e+02] [ 9.99967788e-01 3.08796722e-04 -8.02042153e-03 -1.09732948e+02] [-8.02040978e-03 -3.92836712e-05 -9.99967835e-01 -4.04091688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0665599949999 meters 0.01382599606888468 Centerline is valid? [True, True] Translation: X:205.17, Y:-109.70, Z:-4.04 [[-8.68076713e-02 9.96224971e-01 4.84322888e-04 2.05171822e+02] [ 9.96203467e-01 8.68089800e-02 -6.54622271e-03 -1.09703774e+02] [-6.56355411e-03 -8.57782087e-05 -9.99978456e-01 -4.04243735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.126559995 meters 0.015322850407484077 Centerline is valid? [True, True] Translation: X:205.18, Y:-109.67, Z:-4.04 [[-1.67209716e-01 9.85920843e-01 1.00085544e-03 2.05178912e+02] [ 9.85899269e-01 1.67212679e-01 -6.52308822e-03 -1.09674722e+02] [-6.59860436e-03 -1.03981081e-04 -9.99978224e-01 -4.04156055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1865599949999 meters 0.016113956565108715 Centerline is valid? [True, True] Translation: X:205.18, Y:-109.64, Z:-4.04 [[-2.50474455e-01 9.68121850e-01 1.62182464e-03 2.05182192e+02] [ 9.68097222e-01 2.50479654e-01 -6.90737250e-03 -1.09644416e+02] [-7.09341232e-03 -1.60036435e-04 -9.99974829e-01 -4.04145224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.246559995 meters 0.017920444800805478 Centerline is valid? [True, True] Translation: X:205.18, Y:-109.61, Z:-4.04 [[-3.31220008e-01 9.43548770e-01 3.00412616e-03 2.05183098e+02] [ 9.43501894e-01 3.31233511e-01 -9.40946951e-03 -1.09613702e+02] [-9.87336064e-03 -2.82205846e-04 -9.99951217e-01 -4.04002878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3065599949999 meters 0.018944100284836313 Centerline is valid? [True, True] Translation: X:205.18, Y:-109.58, Z:-4.04 [[-4.07154847e-01 9.13349403e-01 4.21886890e-03 2.05180782e+02] [ 9.13290965e-01 4.07176549e-01 -1.03378597e-02 -1.09583979e+02] [-1.11599024e-02 -3.56054831e-04 -9.99937663e-01 -4.03874523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.366559995 meters 0.019698823859074677 Centerline is valid? [True, True] Translation: X:205.17, Y:-109.55, Z:-4.04 [[-4.79464477e-01 8.77544374e-01 5.44857479e-03 2.05174906e+02] [ 8.77477568e-01 4.79495255e-01 -1.08359454e-02 -1.09554263e+02] [-1.21215887e-02 -4.14448734e-04 -9.99926445e-01 -4.03716783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4265599949999 meters 0.01992077306704503 Centerline is valid? [True, True] Translation: X:205.16, Y:-109.53, Z:-4.04 [[-5.46036825e-01 8.37736398e-01 6.44304267e-03 2.05164146e+02] [ 8.37668865e-01 5.46074679e-01 -1.06451091e-02 -1.09527877e+02] [-1.24361778e-02 -4.15485314e-04 -9.99922581e-01 -4.03636064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.486559995 meters 0.018054731472067216 Centerline is valid? [True, True] Translation: X:205.15, Y:-109.50, Z:-4.04 [[-6.06900167e-01 7.94739221e-01 7.85857777e-03 2.05147145e+02] [ 7.94663949e-01 6.06950914e-01 -1.09451195e-02 -1.09503953e+02] [-1.34682867e-02 -3.97666419e-04 -9.99909219e-01 -4.03614030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5465599949999 meters 0.01631816429949944 Centerline is valid? [True, True] Translation: X:205.13, Y:-109.48, Z:-4.04 [[-6.63088594e-01 7.48487735e-01 8.92336597e-03 2.05128351e+02] [ 7.48413167e-01 6.63148551e-01 -1.05702272e-02 -1.09482897e+02] [-1.38292026e-02 -3.30632505e-04 -9.99904317e-01 -4.03655966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.606559995 meters 0.016624435297305094 Centerline is valid? [True, True] Translation: X:205.11, Y:-109.46, Z:-4.04 [[-7.17576301e-01 6.96415526e-01 9.46935245e-03 2.05113104e+02] [ 6.96349671e-01 7.17638723e-01 -9.58118243e-03 -1.09461168e+02] [-1.34680582e-02 -2.81248980e-04 -9.99909262e-01 -4.03602511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.666559995 meters 0.01653468134332297 Centerline is valid? [True, True] Translation: X:205.09, Y:-109.45, Z:-4.04 [[-7.67948321e-01 6.40432846e-01 1.00571580e-02 2.05091718e+02] [ 6.40373865e-01 7.68014137e-01 -8.69477138e-03 -1.09446259e+02] [-1.32924567e-02 -2.36793956e-04 -9.99911623e-01 -4.03696937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.726559995 meters 0.015119175592981362 Centerline is valid? [True, True] Translation: X:205.12, Y:-109.44, Z:-4.04 [[-8.10290960e-01 5.85924578e-01 1.09976673e-02 2.05124674e+02] [ 5.85866888e-01 8.10365559e-01 -8.22496209e-03 -1.09443495e+02] [-1.37313383e-02 -2.21443286e-04 -9.99905696e-01 -4.03852199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.786559995 meters 0.015235974427779284 Centerline is valid? [True, True] Translation: X:205.14, Y:-109.42, Z:-4.04 [[-8.49741263e-01 5.27082124e-01 1.11454218e-02 2.05142359e+02] [ 5.27033461e-01 8.49814326e-01 -7.16536497e-03 -1.09420921e+02] [-1.32482749e-02 -2.14696027e-04 -9.99912215e-01 -4.03848090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.846559995 meters 0.015518296313431976 Centerline is valid? [True, True] Translation: X:205.16, Y:-109.40, Z:-4.04 [[-8.85642396e-01 4.64233248e-01 1.11820319e-02 2.05158644e+02] [ 4.64193014e-01 8.85712956e-01 -6.11592437e-03 -1.09395991e+02] [-1.27432860e-02 -2.25900803e-04 -9.99918776e-01 -4.03912886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.906559995 meters 0.01578336205754167 Centerline is valid? [True, True] Translation: X:205.17, Y:-109.37, Z:-4.04 [[-9.17294312e-01 3.98029265e-01 1.19937427e-02 2.05172481e+02] [ 3.97991414e-01 9.17372679e-01 -5.49560862e-03 -1.09369717e+02] [-1.31901449e-02 -2.67683905e-04 -9.99912970e-01 -4.03874566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9665599949999 meters 0.01804094322515564 Centerline is valid? [True, True] Translation: X:205.17, Y:-109.33, Z:-4.04 [[-9.44278829e-01 3.28880590e-01 1.32306349e-02 2.05171135e+02] [ 3.28843303e-01 9.44371455e-01 -4.96363379e-03 -1.09333011e+02] [-1.41270768e-02 -3.36248613e-04 -9.99900151e-01 -4.03645844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.026559995 meters 0.017275720878416393 Centerline is valid? [True, True] Translation: X:205.19, Y:-109.31, Z:-4.04 [[-9.65539485e-01 2.59893111e-01 1.37504280e-02 2.05193633e+02] [ 2.59861432e-01 9.65637324e-01 -4.07368390e-03 -1.09311958e+02] [-1.43366489e-02 -3.60096740e-04 -9.99897160e-01 -4.03698391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0865599949999 meters 0.017963138726160743 Centerline is valid? [True, True] Translation: X:205.40, Y:-108.64, Z:-5.01 [[-9.28539066e-01 -3.71020520e-01 1.26085997e-02 2.05399905e+02] [ 3.70990460e-01 -9.28624624e-01 -4.73134309e-03 -1.08642210e+02] [ 1.34640815e-02 2.84433301e-04 9.99909315e-01 -5.00664261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.146559995 meters 0.01645902250353972 Centerline is valid? [True, True] Translation: X:205.15, Y:-109.30, Z:-4.04 [[-9.65998759e-01 2.58295041e-01 1.14048162e-02 2.05152008e+02] [ 2.58273684e-01 9.66066042e-01 -3.33275641e-03 -1.09300354e+02] [-1.18786401e-02 -2.73874663e-04 -9.99929409e-01 -4.04014067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2065599949999 meters 0.01568509364750758 Centerline is valid? [True, True] Translation: X:205.16, Y:-109.28, Z:-4.04 [[-9.81376838e-01 1.91801333e-01 1.05711746e-02 2.05160302e+02] [ 1.91787783e-01 9.81433747e-01 -2.29046657e-03 -1.09275520e+02] [-1.08142220e-02 -2.20388703e-04 -9.99941500e-01 -4.04101127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.266559995 meters 0.014777294117264441 Centerline is valid? [True, True] Translation: X:205.32, Y:-108.59, Z:-5.00 [[-9.55885359e-01 -2.93547061e-01 1.06444210e-02 2.05317887e+02] [ 2.93531650e-01 -9.55944593e-01 -3.01745934e-03 -1.08587348e+02] [ 1.10612430e-02 2.40129255e-04 9.99938794e-01 -5.00305505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3265599949999 meters 0.013952906065884617 Centerline is valid? [True, True] Translation: X:205.12, Y:-109.27, Z:-4.04 [[-9.80482303e-01 1.96198529e-01 1.26724630e-02 2.05115575e+02] [ 1.96180074e-01 9.80564181e-01 -2.69559279e-03 -1.09271023e+02] [-1.29550347e-02 -1.56896297e-04 -9.99916068e-01 -4.03946209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.386559995 meters 0.013964820379221185 Centerline is valid? [True, True] Translation: X:205.13, Y:-109.25, Z:-4.04 [[-9.91649988e-01 1.28213553e-01 1.38414709e-02 2.05125625e+02] [ 1.28199090e-01 9.91746573e-01 -1.93088480e-03 -1.09246402e+02] [-1.39747970e-02 -1.40297914e-04 -9.99902338e-01 -4.03833406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4465599949999 meters 0.013224672917952268 Centerline is valid? [True, True] Translation: X:205.13, Y:-109.23, Z:-4.04 [[-9.97740486e-01 6.54026591e-02 1.53758048e-02 2.05132610e+02] [ 6.53943841e-02 9.97858954e-01 -1.04088491e-03 -1.09225803e+02] [-1.54109611e-02 -3.30417331e-05 -9.99881244e-01 -4.03878596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.506559995 meters 0.013281911640294483 Centerline is valid? [True, True] Translation: X:205.13, Y:-109.20, Z:-4.04 [[-9.99879884e-01 5.60128361e-05 1.54988440e-02 2.05129062e+02] [ 5.68605627e-05 9.99999997e-01 5.42555012e-05 -1.09202168e+02] [-1.54988409e-02 5.51302573e-05 -9.99879884e-01 -4.03999503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5665599949999 meters 0.013803062602001311 Centerline is valid? [True, True] Translation: X:205.14, Y:-108.47, Z:-5.00 [[-9.98419098e-01 -5.39448149e-02 1.57880169e-02 2.05141350e+02] [ 5.39374757e-02 -9.98543918e-01 -8.90609115e-04 -1.08466833e+02] [ 1.58130720e-02 -3.76353706e-05 9.99874965e-01 -5.00218807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.626559995 meters 0.014432384822565808 Centerline is valid? [True, True] Translation: X:205.07, Y:-109.21, Z:-4.04 [[-9.99842312e-01 5.18365508e-03 1.69847173e-02 2.05068073e+02] [ 5.18684942e-03 9.99986538e-01 1.44024990e-04 -1.09205428e+02] [-1.69837420e-02 2.32099449e-04 -9.99855739e-01 -4.04159933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6865599949999 meters 0.015097454599250559 Centerline is valid? [True, True] Translation: X:205.07, Y:-108.47, Z:-5.00 [[-9.98958303e-01 -4.20020200e-02 1.78364376e-02 2.05066768e+02] [ 4.19919389e-02 -9.99117508e-01 -9.39508893e-04 -1.08467083e+02] [ 1.78601583e-02 -1.89543612e-04 9.99840477e-01 -5.00164743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.746559995 meters 0.015296166223385142 Centerline is valid? [True, True] Translation: X:204.99, Y:-109.21, Z:-4.04 [[-9.99817784e-01 4.42724085e-03 1.85687444e-02 2.04994012e+02] [ 4.43262446e-03 9.99990145e-01 2.48780474e-04 -1.09205442e+02] [-1.85674600e-02 3.31043413e-04 -9.99827555e-01 -4.04244548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8065599949999 meters 0.015227757627723206 Centerline is valid? [True, True] Translation: X:204.99, Y:-108.47, Z:-5.00 [[-9.99145017e-01 -3.69326353e-02 1.85799574e-02 2.04990010e+02] [ 3.69201237e-02 -9.99317703e-01 -1.01607621e-03 -1.08472248e+02] [ 1.86048067e-02 -3.29233161e-04 9.99826861e-01 -5.00163131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.866559995 meters 0.014576705693263565 Centerline is valid? [True, True] Translation: X:204.92, Y:-109.20, Z:-4.04 [[-9.99838693e-01 -3.45573280e-03 1.76251312e-02 2.04921821e+02] [-3.45067573e-03 9.99993996e-01 3.17327699e-04 -1.09199908e+02] [-1.76261220e-02 2.56457900e-04 -9.99844615e-01 -4.04320228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9265599949999 meters 0.013735046841590085 Centerline is valid? [True, True] Translation: X:204.91, Y:-108.48, Z:-5.00 [[-9.99069768e-01 -4.00965620e-02 1.58702386e-02 2.04912840e+02] [ 4.00858835e-02 -9.99195747e-01 -9.90526105e-04 -1.08481662e+02] [ 1.58971916e-02 -3.53432150e-04 9.99873569e-01 -4.99976693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.986559995 meters 0.012935239475696643 Centerline is valid? [True, True] Translation: X:204.85, Y:-109.19, Z:-4.04 [[-9.99702566e-01 -1.91181301e-02 1.51418647e-02 2.04849420e+02] [-1.91151249e-02 9.99817230e-01 3.43186957e-04 -1.09188845e+02] [-1.51456583e-02 5.36462462e-05 -9.99885297e-01 -4.04383852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0465599949999 meters 0.012747165740520044 Centerline is valid? [True, True] Translation: X:204.83, Y:-108.49, Z:-5.00 [[-9.98853247e-01 -4.54308904e-02 1.51071224e-02 2.04833504e+02] [ 4.54248626e-02 -9.98967483e-01 -7.42081118e-04 -1.08494943e+02] [ 1.51252375e-02 -5.49911740e-05 9.99885606e-01 -5.00019194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.106559995 meters 0.012857857430006323 Centerline is valid? [True, True] Translation: X:204.78, Y:-109.18, Z:-4.04 [[-9.99307112e-01 -3.42362023e-02 1.46006029e-02 2.04777476e+02] [-3.42340391e-02 9.99413764e-01 3.98139154e-04 -1.09178029e+02] [-1.46056743e-02 -1.01974323e-04 -9.99893326e-01 -4.04364345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.166559995 meters 0.013520847270382828 Centerline is valid? [True, True] Translation: X:204.77, Y:-109.14, Z:-4.04 [[-9.93783997e-01 -1.10370226e-01 1.45526900e-02 2.04765441e+02] [-1.10361033e-01 9.93890528e-01 1.43572033e-03 -1.09144303e+02] [-1.46222416e-02 -1.79254017e-04 -9.99893073e-01 -4.04271797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.226559995 meters 0.013811160438189 Centerline is valid? [True, True] Translation: X:204.75, Y:-109.12, Z:-4.04 [[-9.82998238e-01 -1.83076132e-01 1.40568344e-02 2.04749481e+02] [-1.83060427e-01 9.83098717e-01 2.40688244e-03 -1.09116759e+02] [-1.42598985e-02 -2.07288904e-04 -9.99898301e-01 -4.04291485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.286559995 meters 0.014305230211015466 Centerline is valid? [True, True] Translation: X:204.74, Y:-109.09, Z:-4.04 [[-9.67185327e-01 -2.53732083e-01 1.31367177e-02 2.04742429e+02] [-2.53711629e-01 9.67274514e-01 3.22850777e-03 -1.09087529e+02] [-1.35259882e-02 -2.10372713e-04 -9.99908498e-01 -4.04226531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.346559995 meters 0.01398629541377413 Centerline is valid? [True, True] Translation: X:204.72, Y:-109.07, Z:-4.04 [[-9.46770034e-01 -3.21655332e-01 1.28199127e-02 2.04718294e+02] [-3.21628718e-01 9.46856804e-01 4.14253079e-03 -1.09065871e+02] [-1.34710887e-02 -2.01228090e-04 -9.99909241e-01 -4.04245855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.406559995 meters 0.013883040197901538 Centerline is valid? [True, True] Translation: X:204.69, Y:-109.05, Z:-4.04 [[-9.21610828e-01 -3.87934812e-01 1.18348397e-02 2.04686443e+02] [-3.87905266e-01 9.21686797e-01 4.79095542e-03 -1.09048790e+02] [-1.27665938e-02 -1.75400234e-04 -9.99918488e-01 -4.04245624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4665599949999 meters 0.014185499607782592 Centerline is valid? [True, True] Translation: X:204.63, Y:-109.04, Z:-4.04 [[-8.91652243e-01 -4.52570837e-01 1.16582950e-02 2.04631534e+02] [-4.52534439e-01 8.91728441e-01 5.74185775e-03 -1.09042385e+02] [-1.29946306e-02 -1.56039655e-04 -9.99915554e-01 -4.04036861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.526559995 meters 0.013500836262011685 Centerline is valid? [True, True] Translation: X:204.57, Y:-109.05, Z:-4.04 [[-8.57032392e-01 -5.15146852e-01 1.09178965e-02 2.04569114e+02] [-5.15106910e-01 8.57101922e-01 6.41611308e-03 -1.09046747e+02] [-1.26629905e-02 -1.25067166e-04 -9.99919813e-01 -4.04051888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5865599949999 meters 0.012929046157990157 Centerline is valid? [True, True] Translation: X:204.50, Y:-109.06, Z:-4.04 [[-8.19844368e-01 -5.72519987e-01 8.72220159e-03 2.04503368e+02] [-5.72488132e-01 8.19890763e-01 6.03956456e-03 -1.09060639e+02] [-1.06090239e-02 -4.18539054e-05 -9.99943722e-01 -4.04135397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.646559995 meters 0.012844033589316453 Centerline is valid? [True, True] Translation: X:204.43, Y:-109.09, Z:-4.04 [[-7.78256136e-01 -6.27904983e-01 7.26084297e-03 2.04430259e+02] [-6.27877490e-01 7.78290005e-01 5.87580377e-03 -1.09085503e+02] [-9.34048798e-03 1.39604777e-05 -9.99956377e-01 -4.04209684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7065599949999 meters 0.013835653394994806 Centerline is valid? [True, True] Translation: X:204.35, Y:-109.12, Z:-4.04 [[-7.35096286e-01 -6.77934235e-01 6.21480387e-03 2.04354304e+02] [-6.77908959e-01 7.35122551e-01 5.85479205e-03 -1.09121983e+02] [-8.53780645e-03 9.07646695e-05 -9.99963548e-01 -4.04112389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.766559995 meters 0.016334581690105647 Centerline is valid? [True, True] Translation: X:204.28, Y:-109.17, Z:-4.04 [[-6.89202345e-01 -7.24549036e-01 5.36875207e-03 2.04277306e+02] [-7.24525162e-01 6.89223235e-01 5.88409342e-03 -1.09168946e+02] [-7.96358288e-03 1.65535018e-04 -9.99968276e-01 -4.03983338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8265599949999 meters 0.017215187227899702 Centerline is valid? [True, True] Translation: X:204.19, Y:-109.23, Z:-4.04 [[-6.37998437e-01 -7.70022555e-01 4.82286332e-03 2.04194912e+02] [-7.69997908e-01 6.38016628e-01 6.16474703e-03 -1.09226005e+02] [-7.82406125e-03 2.19504295e-04 -9.99969367e-01 -4.03996446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.886559995 meters 0.020334503714022158 Centerline is valid? [True, True] Translation: X:204.12, Y:-109.29, Z:-4.04 [[-5.86164191e-01 -8.10185247e-01 3.37735870e-03 2.04118749e+02] [-8.10169424e-01 5.86173874e-01 5.06898471e-03 -1.09290431e+02] [-6.08653606e-03 2.35024577e-04 -9.99981449e-01 -4.03983344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9465599949999 meters 0.021295879715100455 Centerline is valid? [True, True] Translation: X:204.04, Y:-109.36, Z:-4.04 [[-5.27670677e-01 -8.49445723e-01 2.37087979e-03 2.04041402e+02] [-8.49435251e-01 5.27675959e-01 4.22326475e-03 -1.09363815e+02] [-4.83849044e-03 2.14584100e-04 -9.99988271e-01 -4.04061022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.006559995 meters 0.021593228730675162 Centerline is valid? [True, True] Translation: X:203.97, Y:-109.44, Z:-4.04 [[-4.64516241e-01 -8.85563312e-01 1.51097631e-03 2.03965314e+02] [-8.85557361e-01 4.64518666e-01 3.25096240e-03 -1.09444028e+02] [-3.58080973e-03 1.72068638e-04 -9.99993574e-01 -4.04122050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0665599949999 meters 0.02312867540379341 Centerline is valid? [True, True] Translation: X:203.90, Y:-109.54, Z:-4.04 [[-3.93891372e-01 -9.19156199e-01 1.21226919e-03 2.03895052e+02] [-9.19150523e-01 3.93893205e-01 3.23402908e-03 -1.09535813e+02] [-3.45008248e-03 1.59598290e-04 -9.99994036e-01 -4.04082084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.126559995 meters 0.019124822205051267 Centerline is valid? [True, True] Translation: X:203.82, Y:-109.64, Z:-4.04 [[-3.14137119e-01 -9.49377218e-01 8.76884067e-04 2.03816220e+02] [-9.49372412e-01 3.14138321e-01 3.02316319e-03 -1.09637566e+02] [-3.14558515e-03 1.17198234e-04 -9.99995046e-01 -4.04008236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1865599949999 meters 0.015517101653032913 Centerline is valid? [True, True] Translation: X:203.75, Y:-109.74, Z:-4.04 [[-2.26748462e-01 -9.73953179e-01 5.83624603e-04 2.03745867e+02] [-9.73949176e-01 2.26749204e-01 2.79289070e-03 -1.09739317e+02] [-2.85248119e-03 6.48629689e-05 -9.99995930e-01 -4.04015216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.246559995 meters 0.013767526967868132 Centerline is valid? [True, True] Translation: X:203.69, Y:-109.85, Z:-4.04 [[-1.41053384e-01 -9.90001840e-01 5.47994040e-04 2.03687200e+02] [-9.89992952e-01 1.41054440e-01 4.19525477e-03 -1.09852817e+02] [-4.23060693e-03 4.92446437e-05 -9.99991050e-01 -4.03858302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3065599949999 meters 0.013121572487710686 Centerline is valid? [True, True] Translation: X:203.64, Y:-109.96, Z:-4.04 [[-5.95573661e-02 -9.98224855e-01 2.43723161e-04 2.03643982e+02] [-9.98214528e-01 5.95578586e-02 4.54056641e-03 -1.09959925e+02] [-4.54702187e-03 2.71361756e-05 -9.99989662e-01 -4.03820861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.366559995 meters 0.013455432775963849 Centerline is valid? [True, True] Translation: X:203.07, Y:-110.04, Z:-5.01 [[-1.31597596e-01 9.91303048e-01 5.82098374e-04 2.03071718e+02] [-9.91296099e-01 -1.31598854e-01 3.71280619e-03 -1.10039643e+02] [ 3.75711958e-03 -8.84354777e-05 9.99992938e-01 -5.00557831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4265599949999 meters 0.016745427093771872 Centerline is valid? [True, True] Translation: X:203.59, Y:-110.23, Z:-4.04 [[-2.14200113e-02 -9.99770556e-01 1.37296553e-04 2.03594648e+02] [-9.99765857e-01 2.14203317e-02 3.06598935e-03 -1.10225792e+02] [-3.06822681e-03 -7.15908800e-05 -9.99995290e-01 -4.03802976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.486559995 meters 0.020153978040453848 Centerline is valid? [True, True] Translation: X:203.56, Y:-110.34, Z:-4.04 [[ 6.35763202e-02 -9.97976977e-01 -7.59413602e-05 2.03556741e+02] [-9.97974008e-01 -6.35763164e-02 2.43535088e-03 -1.10337005e+02] [-2.43525218e-03 -7.90431437e-05 -9.99997032e-01 -4.03786123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5465599949999 meters 0.020608064286142317 Centerline is valid? [True, True] Translation: X:203.53, Y:-110.45, Z:-4.04 [[ 1.42795464e-01 -9.89752173e-01 -3.01447880e-04 2.03534780e+02] [-9.89748198e-01 -1.42795745e-01 2.80701279e-03 -1.10445376e+02] [-2.82129248e-03 -1.02471196e-04 -9.99996015e-01 -4.03769926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.606559995 meters 0.02109183196683832 Centerline is valid? [True, True] Translation: X:203.52, Y:-110.55, Z:-4.04 [[ 2.19604919e-01 -9.75588494e-01 -8.77182781e-04 2.03521600e+02] [-9.75576960e-01 -2.19606591e-01 4.74761197e-03 -1.10552722e+02] [-4.82435073e-03 -1.86839629e-04 -9.99988345e-01 -4.03568066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.666559995 meters 0.02134324989562159 Centerline is valid? [True, True] Translation: X:203.52, Y:-110.66, Z:-4.03 [[ 2.92557891e-01 -9.56246334e-01 -1.68173497e-03 2.03519227e+02] [-9.56225225e-01 -2.92562616e-01 6.35884345e-03 -1.10662671e+02] [-6.57263352e-03 -2.52212429e-04 -9.99978368e-01 -4.03394217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.726559995 meters 0.020755021288095192 Centerline is valid? [True, True] Translation: X:203.53, Y:-110.77, Z:-4.03 [[ 3.61272989e-01 -9.32456140e-01 -2.71560436e-03 2.03528398e+02] [-9.32423440e-01 -3.61283078e-01 7.81451820e-03 -1.10770656e+02] [-8.26779738e-03 -2.91081188e-04 -9.99965779e-01 -4.03286595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.786559995 meters 0.019505230373228627 Centerline is valid? [True, True] Translation: X:203.55, Y:-110.87, Z:-4.03 [[ 4.26355843e-01 -9.04549254e-01 -3.36781057e-03 2.03546673e+02] [-9.04516170e-01 -4.26369069e-01 7.74053729e-03 -1.10872423e+02] [-8.43762749e-03 -2.53984182e-04 -9.99964370e-01 -4.03275077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.846559995 meters 0.017673177330485696 Centerline is valid? [True, True] Translation: X:203.57, Y:-110.97, Z:-4.03 [[ 4.90169230e-01 -8.71620654e-01 -3.40025632e-03 2.03573015e+02] [-8.71596951e-01 -4.90180988e-01 6.43078023e-03 -1.10971603e+02] [-7.27194187e-03 -1.88517557e-04 -9.99973541e-01 -4.03433593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.906559995 meters 0.0165311674481492 Centerline is valid? [True, True] Translation: X:203.61, Y:-111.07, Z:-4.04 [[ 5.49935634e-01 -8.35202078e-01 -2.87877410e-03 2.03608202e+02] [-8.35189599e-01 -5.49943158e-01 4.56694637e-03 -1.11068193e+02] [-5.39748522e-03 -1.07204362e-04 -9.99985428e-01 -4.03613044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9665599949999 meters 0.015240286813328393 Centerline is valid? [True, True] Translation: X:203.65, Y:-111.16, Z:-4.04 [[ 6.07936635e-01 -7.93981189e-01 -2.63029671e-03 2.03651125e+02] [-7.93973282e-01 -6.07942322e-01 3.54408094e-03 -1.11161126e+02] [-4.41300229e-03 -6.61913344e-05 -9.99990260e-01 -4.03729398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.026559995 meters 0.014009526237193653 Centerline is valid? [True, True] Translation: X:203.70, Y:-111.25, Z:-4.04 [[ 6.65025820e-01 -7.46813928e-01 -3.10104114e-03 2.03701176e+02] [-7.46805369e-01 -6.65033047e-01 3.57583317e-03 -1.11253398e+02] [-4.73277685e-03 -6.21472082e-05 -9.99988798e-01 -4.03785356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0865599949999 meters 0.013888938938091823 Centerline is valid? [True, True] Translation: X:203.75, Y:-111.34, Z:-4.04 [[ 7.19118583e-01 -6.94871611e-01 -4.68061379e-03 2.03754221e+02] [-6.94856145e-01 -7.19133811e-01 4.63684071e-03 -1.11340288e+02] [-6.58799661e-03 -8.20850683e-05 -9.99978296e-01 -4.03653528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.146559995 meters 0.014031921405530518 Centerline is valid? [True, True] Translation: X:203.78, Y:-111.37, Z:-4.04 [[ 7.71285604e-01 -6.36460055e-01 -6.09226105e-03 2.03779403e+02] [-6.36439167e-01 -7.71309658e-01 5.15743442e-03 -1.11367262e+02] [-7.98152078e-03 -1.00501374e-04 -9.99968142e-01 -4.03542071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2065599949999 meters 0.014033831787942753 Centerline is valid? [True, True] Translation: X:203.81, Y:-111.39, Z:-4.03 [[ 8.18211396e-01 -5.74873634e-01 -7.10043412e-03 2.03806717e+02] [-5.74850888e-01 -8.18242198e-01 5.11491985e-03 -1.11390642e+02] [-8.75030738e-03 -1.03394857e-04 -9.99961710e-01 -4.03464067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.266559995 meters 0.01357434476460763 Centerline is valid? [True, True] Translation: X:203.83, Y:-111.41, Z:-4.04 [[ 8.59882481e-01 -5.10444682e-01 -6.95311235e-03 2.03833893e+02] [-5.10427203e-01 -8.59910588e-01 4.22502332e-03 -1.11414614e+02] [-8.13569562e-03 -8.39658411e-05 -9.99966901e-01 -4.03632351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3265599949999 meters 0.013622430208132304 Centerline is valid? [True, True] Translation: X:203.86, Y:-111.44, Z:-4.04 [[ 8.96874812e-01 -4.42235238e-01 -6.60043319e-03 2.03861716e+02] [-4.42222675e-01 -8.96899096e-01 3.33411989e-03 -1.11437258e+02] [-7.39438787e-03 -7.14269282e-05 -9.99972659e-01 -4.03683379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.386559995 meters 0.013515078985438071 Centerline is valid? [True, True] Translation: X:203.89, Y:-111.46, Z:-4.04 [[ 9.28688024e-01 -3.70804241e-01 -6.53980509e-03 2.03892243e+02] [-3.70794530e-01 -9.28711048e-01 2.68437291e-03 -1.11456284e+02] [-7.06896610e-03 -6.80210177e-05 -9.99975012e-01 -4.03745979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4465599949999 meters 0.01365129974925551 Centerline is valid? [True, True] Translation: X:203.92, Y:-111.48, Z:-4.04 [[ 9.55221608e-01 -2.95805037e-01 -7.14558039e-03 2.03923128e+02] [-2.95796117e-01 -9.55248331e-01 2.29866176e-03 -1.11475903e+02] [-7.50575947e-03 -8.20964472e-05 -9.99971828e-01 -4.03740010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.506559995 meters 0.014339852081771156 Centerline is valid? [True, True] Translation: X:203.95, Y:-111.49, Z:-4.04 [[ 9.76405814e-01 -2.15766584e-01 -8.74460162e-03 2.03954462e+02] [-2.15756649e-01 -9.76444961e-01 2.07525035e-03 -1.11494374e+02] [-8.98639187e-03 -1.39580565e-04 -9.99959612e-01 -4.03628100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5665599949999 meters 0.015601058795448588 Centerline is valid? [True, True] Translation: X:203.99, Y:-111.51, Z:-4.04 [[ 9.91078188e-01 -1.32815622e-01 -1.11371338e-02 2.03987280e+02] [-1.32804474e-01 -9.91140732e-01 1.73797059e-03 -1.11511280e+02] [-1.12692966e-02 -2.43403550e-04 -9.99936470e-01 -4.03548327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.626559995 meters 0.016643473507660985 Centerline is valid? [True, True] Translation: X:204.02, Y:-111.52, Z:-4.04 [[ 9.98622935e-01 -5.11015250e-02 -1.18687943e-02 2.04018678e+02] [-5.10943258e-02 -9.98693418e-01 9.09195843e-04 -1.11523823e+02] [-1.18997480e-02 -3.01515778e-04 -9.99929150e-01 -4.03517500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6865599949999 meters 0.01762886260828346 Centerline is valid? [True, True] Translation: X:204.05, Y:-111.53, Z:-4.03 [[ 9.99469400e-01 3.02050991e-02 -1.21889697e-02 2.04050607e+02] [ 3.02070596e-02 -9.99543662e-01 -2.32657747e-05 -1.11532102e+02] [-1.21841102e-02 -3.44939504e-04 -9.99925712e-01 -4.03482427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.746559995 meters 0.01799408357963573 Centerline is valid? [True, True] Translation: X:204.08, Y:-111.54, Z:-4.04 [[ 9.93998669e-01 1.08791503e-01 -1.14478990e-02 2.04083259e+02] [ 1.08788104e-01 -9.94064535e-01 -9.21087634e-04 -1.11536143e+02] [-1.14801569e-02 -3.29835348e-04 -9.99934046e-01 -4.03503194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8065599949999 meters 0.017238859233696554 Centerline is valid? [True, True] Translation: X:204.12, Y:-111.54, Z:-4.04 [[ 9.82535777e-01 1.85758037e-01 -1.08350405e-02 2.04115258e+02] [ 1.85750203e-01 -9.82595469e-01 -1.73375031e-03 -1.11536202e+02] [-1.09685198e-02 -3.09139272e-04 -9.99939796e-01 -4.03609228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.866559995 meters 0.0164079390386433 Centerline is valid? [True, True] Translation: X:204.15, Y:-111.53, Z:-4.04 [[ 9.65416982e-01 2.60447521e-01 -1.17106573e-02 2.04146548e+02] [ 2.60432347e-01 -9.65487953e-01 -2.82933132e-03 -1.11534147e+02] [-1.20433908e-02 -3.18349451e-04 -9.99927425e-01 -4.03566987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9265599949999 meters 0.016743075381705618 Centerline is valid? [True, True] Translation: X:204.18, Y:-111.53, Z:-4.03 [[ 9.42646877e-01 3.33528609e-01 -1.32488956e-02 2.04176879e+02] [ 3.33500764e-01 -9.42739916e-01 -4.32333058e-03 -1.11531532e+02] [-1.39322172e-02 -3.43142735e-04 -9.99902883e-01 -4.03422088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.986559995 meters 0.015186695930863992 Centerline is valid? [True, True] Translation: X:204.21, Y:-111.52, Z:-4.03 [[ 9.15187743e-01 4.02742144e-01 -1.51710548e-02 2.04206909e+02] [ 4.02692960e-01 -9.15313416e-01 -6.30318870e-03 -1.11522313e+02] [-1.64248297e-02 -3.40675933e-04 -9.99865045e-01 -4.03380775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0465599949999 meters 0.014325079937714662 Centerline is valid? [True, True] Translation: X:204.24, Y:-111.51, Z:-4.03 [[ 8.83127063e-01 4.68859102e-01 -1.60540775e-02 2.04235532e+02] [ 4.68787503e-01 -8.83272925e-01 -8.19855249e-03 -1.11511285e+02] [-1.80240980e-02 -2.85587332e-04 -9.99837512e-01 -4.03306563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.106559995 meters 0.013756678062603007 Centerline is valid? [True, True] Translation: X:204.26, Y:-111.50, Z:-4.03 [[ 8.48020162e-01 5.29723625e-01 -1.59588941e-02 2.04259698e+02] [ 5.29633068e-01 -8.48170301e-01 -9.79558886e-03 -1.11495623e+02] [-1.87248148e-02 -1.45501169e-04 -9.99824665e-01 -4.03255356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.166559995 meters 0.01335512099509487 Centerline is valid? [True, True] Translation: X:204.28, Y:-111.48, Z:-4.03 [[ 8.08170543e-01 5.88752482e-01 -1.51949946e-02 2.04284102e+02] [ 5.88648728e-01 -8.08313377e-01 -1.10526305e-02 -1.11479494e+02] [-1.87895810e-02 -1.21038525e-05 -9.99823460e-01 -4.03442935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.226559995 meters 0.013535020572462798 Centerline is valid? [True, True] Translation: X:204.31, Y:-111.47, Z:-4.03 [[ 7.62003995e-01 6.47409764e-01 -1.45089344e-02 2.04309346e+02] [ 6.47290989e-01 -7.62142109e-01 -1.24008287e-02 -1.11465190e+02] [-1.90862874e-02 5.79785116e-05 -9.99817839e-01 -4.03496353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.286559995 meters 0.014704103038074482 Centerline is valid? [True, True] Translation: X:204.33, Y:-111.44, Z:-4.04 [[ 7.15217515e-01 6.98791314e-01 -1.24340471e-02 2.04328245e+02] [ 6.98680632e-01 -7.15325559e-01 -1.24385747e-02 -1.11444900e+02] [-1.75863597e-02 2.08858579e-04 -9.99845326e-01 -4.03600981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.346559995 meters 0.014978762132464204 Centerline is valid? [True, True] Translation: X:204.35, Y:-111.43, Z:-4.04 [[ 6.62475764e-01 7.49015093e-01 -1.01120142e-02 2.04351338e+02] [ 7.48921549e-01 -6.62552879e-01 -1.18404832e-02 -1.11429273e+02] [-1.55684447e-02 2.70927799e-04 -9.99878768e-01 -4.03879251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.406559995 meters 0.015706191054281587 Centerline is valid? [True, True] Translation: X:204.37, Y:-111.41, Z:-4.04 [[ 6.03903819e-01 7.97009915e-01 -8.68178958e-03 2.04374029e+02] [ 7.96920420e-01 -6.03966148e-01 -1.19471946e-02 -1.11412870e+02] [-1.47655396e-02 2.96261040e-04 -9.99890940e-01 -4.03863832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4665599949999 meters 0.017237911815459712 Centerline is valid? [True, True] Translation: X:204.39, Y:-111.39, Z:-4.04 [[ 5.42521814e-01 8.40002510e-01 -8.11572378e-03 2.04391893e+02] [ 8.39898314e-01 -5.42582391e-01 -1.32352454e-02 -1.11394425e+02] [-1.55210882e-02 3.64026624e-04 -9.99879474e-01 -4.03819551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.526559995 meters 0.017499446601626886 Centerline is valid? [True, True] Translation: X:204.41, Y:-111.38, Z:-4.04 [[ 4.76523799e-01 8.79131521e-01 -7.26901762e-03 2.04411706e+02] [ 8.79016083e-01 -4.76579068e-01 -1.42519219e-02 -1.11375820e+02] [-1.59935754e-02 4.01796573e-04 -9.99872014e-01 -4.03807955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5865599949999 meters 0.01806298129461941 Centerline is valid? [True, True] Translation: X:204.43, Y:-111.36, Z:-4.04 [[ 4.06463798e-01 9.13645673e-01 -6.22612277e-03 2.04429365e+02] [ 9.13522497e-01 -4.06511271e-01 -1.50078365e-02 -1.11355192e+02] [-1.62428340e-02 4.12438993e-04 -9.99867991e-01 -4.03816555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.646559995 meters 0.018377082793323663 Centerline is valid? [True, True] Translation: X:204.45, Y:-111.33, Z:-4.04 [[ 3.32776912e-01 9.42993322e-01 -4.80850313e-03 2.04445039e+02] [ 9.42877797e-01 -3.32811434e-01 -1.47651181e-02 -1.11334561e+02] [-1.55237326e-02 3.79659563e-04 -9.99879428e-01 -4.03809288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7065599949999 meters 0.016775493406021563 Centerline is valid? [True, True] Translation: X:204.46, Y:-111.31, Z:-4.04 [[ 2.56268805e-01 9.66599659e-01 -3.37631024e-03 2.04463993e+02] [ 9.66498111e-01 -2.56290835e-01 -1.40146160e-02 -1.11312698e+02] [-1.44118404e-02 3.28311412e-04 -9.99896090e-01 -4.04008375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.766559995 meters 0.015899319282517633 Centerline is valid? [True, True] Translation: X:204.48, Y:-111.29, Z:-4.04 [[ 1.75544188e-01 9.84469287e-01 -2.11205612e-03 2.04481265e+02] [ 9.84380073e-01 -1.75556718e-01 -1.32555933e-02 -1.11290069e+02] [-1.34205102e-02 2.47876417e-04 -9.99909910e-01 -4.04006405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8265599949999 meters 0.014323224491939112 Centerline is valid? [True, True] Translation: X:204.50, Y:-111.27, Z:-4.04 [[ 9.11204032e-02 9.95839263e-01 -1.11076583e-03 2.04499146e+02] [ 9.95741807e-01 -9.11270264e-02 -1.39326808e-02 -1.11265058e+02] [-1.39759313e-02 1.63515514e-04 -9.99902319e-01 -4.03876237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.886559995 meters 0.013070820320981861 Centerline is valid? [True, True] Translation: X:204.52, Y:-111.24, Z:-4.04 [[ 7.94699529e-03 9.99968422e-01 -1.72568742e-05 2.04517147e+02] [ 9.99858500e-01 -7.94637758e-03 -1.48268598e-02 -1.11237493e+02] [-1.48265287e-02 1.00574553e-04 -9.99890076e-01 -4.03889406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9465599949999 meters 0.012517908700224612 Centerline is valid? [True, True] Translation: X:204.53, Y:-111.21, Z:-4.04 [[-7.67061261e-02 9.97053070e-01 1.16042319e-03 2.04534047e+02] [ 9.96940414e-01 7.67149028e-02 -1.49878129e-02 -1.11208206e+02] [-1.50326666e-02 7.21571125e-06 -9.99887003e-01 -4.03881613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.006559995 meters 0.012419371334304818 Centerline is valid? [True, True] Translation: X:204.54, Y:-111.18, Z:-4.04 [[-1.57607401e-01 9.87499236e-01 2.27268277e-03 2.04543636e+02] [ 9.87393049e-01 1.57623782e-01 -1.44813547e-02 -1.11177961e+02] [-1.46585555e-02 -3.83375079e-05 -9.99892557e-01 -4.03842855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0665599949999 meters 0.012438390555255828 Centerline is valid? [True, True] Translation: X:204.55, Y:-111.15, Z:-4.04 [[-2.38061830e-01 9.71245163e-01 3.06557722e-03 2.04550620e+02] [ 9.71160100e-01 2.38081553e-01 -1.28543639e-02 -1.11147444e+02] [-1.32145961e-02 -8.29671150e-05 -9.99912680e-01 -4.03963741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.126559995 meters 0.013186284112490702 Centerline is valid? [True, True] Translation: X:204.55, Y:-111.12, Z:-4.04 [[-3.16747156e-01 9.48501971e-01 3.90520438e-03 2.04552682e+02] [ 9.48424989e-01 3.16771204e-01 -1.20848543e-02 -1.11117021e+02] [-1.26995645e-02 -1.24049824e-04 -9.99919350e-01 -4.03891925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1865599949999 meters 0.012964477916582772 Centerline is valid? [True, True] Translation: X:204.55, Y:-111.09, Z:-4.04 [[-3.92066804e-01 9.19921712e-01 5.25974118e-03 2.04551287e+02] [ 9.19833215e-01 3.92102048e-01 -1.27608879e-02 -1.11085445e+02] [-1.38013732e-02 -1.65035899e-04 -9.99904743e-01 -4.04062154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.246559995 meters 0.013525331261413967 Centerline is valid? [True, True] Translation: X:204.55, Y:-111.06, Z:-4.04 [[-4.64881583e-01 8.85346793e-01 6.79478811e-03 2.04548874e+02] [ 8.85245447e-01 4.64931189e-01 -1.33973512e-02 -1.11055214e+02] [-1.50204108e-02 -2.13126610e-04 -9.99887165e-01 -4.03889586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3065599949999 meters 0.01390625948428015 Centerline is valid? [True, True] Translation: X:204.54, Y:-111.03, Z:-4.04 [[-5.33074043e-01 8.46036171e-01 7.40686252e-03 2.04540550e+02] [ 8.45949072e-01 5.33125458e-01 -1.21414060e-02 -1.11026476e+02] [-1.42208557e-02 -2.06439924e-04 -9.99898857e-01 -4.03861454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.366559995 meters 0.013545932914536651 Centerline is valid? [True, True] Translation: X:204.53, Y:-111.00, Z:-4.04 [[-5.97441958e-01 8.01876976e-01 7.51141394e-03 2.04528218e+02] [ 8.01809740e-01 5.97489148e-01 -1.03855263e-02 -1.10999161e+02] [-1.28159028e-02 -1.82024343e-04 -9.99917856e-01 -4.03983782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4265599949999 meters 0.01316899913929107 Centerline is valid? [True, True] Translation: X:204.51, Y:-110.97, Z:-4.04 [[-6.57123379e-01 7.53743619e-01 7.70862394e-03 2.04513206e+02] [ 7.53689096e-01 6.57168575e-01 -9.06702369e-03 -1.10973814e+02] [-1.19000767e-02 -1.48247436e-04 -9.99929181e-01 -4.04055851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.486559995 meters 0.012814545418371863 Centerline is valid? [True, True] Translation: X:204.50, Y:-110.95, Z:-4.04 [[-7.12654257e-01 7.01471771e-01 7.82717986e-03 2.04497147e+02] [ 7.01427689e-01 7.12697230e-01 -7.86489357e-03 -1.10948186e+02] [-1.10954102e-02 -1.14749200e-04 -9.99938437e-01 -4.04142586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5465599949999 meters 0.012425750936383411 Centerline is valid? [True, True] Translation: X:204.48, Y:-110.93, Z:-4.04 [[-7.62206143e-01 6.47292321e-01 7.37874565e-03 2.04477683e+02] [ 6.47261333e-01 7.62241857e-01 -6.33397825e-03 -1.10927198e+02] [-9.72432427e-03 -5.18203876e-05 -9.99952716e-01 -4.04133927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.606559995 meters 0.012264948293923978 Centerline is valid? [True, True] Translation: X:204.49, Y:-110.91, Z:-4.04 [[-8.02933454e-01 5.96027847e-01 6.97669053e-03 2.04493967e+02] [ 5.96005347e-01 8.02963764e-01 -5.17887198e-03 -1.10913015e+02] [-8.68878160e-03 -1.44706471e-07 -9.99962252e-01 -4.04175917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.666559995 meters 0.013211783713481652 Centerline is valid? [True, True] Translation: X:204.51, Y:-110.90, Z:-4.04 [[-8.37572574e-01 5.46282494e-01 6.90075626e-03 2.04510974e+02] [ 5.46264767e-01 8.37600997e-01 -4.40161864e-03 -1.10904491e+02] [-8.18460753e-03 8.29649588e-05 -9.99966502e-01 -4.04155088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.726559995 meters 0.014858039352729224 Centerline is valid? [True, True] Translation: X:204.53, Y:-110.89, Z:-4.04 [[-8.69493879e-01 4.93883435e-01 7.71673205e-03 2.04529446e+02] [ 4.93865730e-01 8.69528104e-01 -4.18538413e-03 -1.10893205e+02] [-8.77700728e-03 1.71863629e-04 -9.99961467e-01 -4.04086868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.786559995 meters 0.016101160218517926 Centerline is valid? [True, True] Translation: X:204.54, Y:-110.87, Z:-4.04 [[-9.00200131e-01 4.35397509e-01 8.29062374e-03 2.04542744e+02] [ 4.35381301e-01 9.00238280e-01 -3.76332083e-03 -1.10873570e+02] [-9.10207737e-03 2.21840649e-04 -9.99958551e-01 -4.04000837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.846559995 meters 0.01633911244578816 Centerline is valid? [True, True] Translation: X:204.56, Y:-110.85, Z:-4.04 [[-9.28122558e-01 3.72191906e-01 7.85509244e-03 2.04556007e+02] [ 3.72180561e-01 9.28155772e-01 -2.91421635e-03 -1.10849287e+02] [-8.37539713e-03 2.18762784e-04 -9.99964902e-01 -4.04056436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.906559995 meters 0.01584604156667602 Centerline is valid? [True, True] Translation: X:204.57, Y:-110.82, Z:-4.04 [[-9.52648146e-01 3.03964749e-01 8.18176209e-03 2.04567067e+02] [ 3.03955418e-01 9.52683257e-01 -2.39093752e-03 -1.10822692e+02] [-8.52138848e-03 2.09168715e-04 -9.99963670e-01 -4.04039504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9665599949999 meters 0.015953514141926497 Centerline is valid? [True, True] Translation: X:204.57, Y:-110.80, Z:-4.04 [[-9.72174151e-01 2.34121581e-01 8.03148093e-03 2.04573234e+02] [ 2.34115194e-01 9.72207308e-01 -1.73962196e-03 -1.10795602e+02] [-8.21554749e-03 1.89076214e-04 -9.99966234e-01 -4.03994521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.026559995 meters 0.015346607579618326 Centerline is valid? [True, True] Translation: X:204.73, Y:-110.07, Z:-5.00 [[-9.66241913e-01 -2.57546567e-01 6.80673800e-03 2.04728746e+02] [ 2.57538449e-01 -9.66265859e-01 -2.05840666e-03 -1.10071026e+02] [ 7.10725411e-03 -2.35922042e-04 9.99974715e-01 -5.00336259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0865599949999 meters 0.014963790772362304 Centerline is valid? [True, True] Translation: X:204.53, Y:-110.78, Z:-4.04 [[-9.74115066e-01 2.25965084e-01 6.29436250e-03 2.04525673e+02] [ 2.25961160e-01 9.74135394e-01 -1.33694905e-03 -1.10777475e+02] [-6.43366510e-03 1.19939238e-04 -9.99979297e-01 -4.03993207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.146559995 meters 0.014613880063378064 Centerline is valid? [True, True] Translation: X:204.53, Y:-110.75, Z:-4.04 [[-9.87842998e-01 1.55338661e-01 6.00937325e-03 2.04527537e+02] [ 1.55336444e-01 9.87861270e-01 -8.36748783e-04 -1.10748103e+02] [-6.06640653e-03 1.06898249e-04 -9.99981593e-01 -4.04041955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2065599949999 meters 0.014157055777736063 Centerline is valid? [True, True] Translation: X:204.63, Y:-110.03, Z:-5.00 [[-9.81624973e-01 -1.90741326e-01 5.49174108e-03 2.04628735e+02] [ 1.90737605e-01 -9.81640326e-01 -1.19847253e-03 -1.10034525e+02] [ 5.61951275e-03 -1.28969024e-04 9.99984202e-01 -5.00300176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.266559995 meters 0.013439636181155743 Centerline is valid? [True, True] Translation: X:204.48, Y:-110.73, Z:-4.04 [[-9.89289786e-01 1.45767401e-01 7.58840872e-03 2.04476672e+02] [ 1.45763818e-01 9.89318885e-01 -1.02612259e-03 -1.10730178e+02] [-7.65693128e-03 9.09828296e-05 -9.99970681e-01 -4.03850421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3265599949999 meters 0.013369055809362658 Centerline is valid? [True, True] Translation: X:204.48, Y:-110.70, Z:-4.04 [[-9.97199620e-01 7.43013860e-02 8.49839677e-03 2.04475104e+02] [ 7.42994856e-02 9.97235827e-01 -5.39556095e-04 -1.10699222e+02] [-8.51499549e-03 9.33813749e-05 -9.99963742e-01 -4.03707813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.386559995 meters 0.013129695113451573 Centerline is valid? [True, True] Translation: X:204.52, Y:-110.01, Z:-5.01 [[-9.92597183e-01 -1.21226951e-01 7.40665334e-03 2.04523236e+02] [ 1.21222446e-01 -9.92624805e-01 -1.05587540e-03 -1.10009463e+02] [ 7.48002839e-03 -1.50206314e-04 9.99972013e-01 -5.00555010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4465599949999 meters 0.012500939826913287 Centerline is valid? [True, True] Translation: X:204.42, Y:-110.69, Z:-4.04 [[-9.97711193e-01 6.72492313e-02 7.06517434e-03 2.04421175e+02] [ 6.72479539e-02 9.97736206e-01 -4.18489004e-04 -1.10687177e+02] [-7.07732330e-03 5.75873547e-05 -9.99974954e-01 -4.03937920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.506559995 meters 0.012408471299550616 Centerline is valid? [True, True] Translation: X:204.42, Y:-110.66, Z:-4.04 [[-9.99953047e-01 -5.35284717e-03 8.07775318e-03 2.04421543e+02] [-5.35226739e-03 9.99985672e-01 9.33907659e-05 -1.10656953e+02] [-8.07813735e-03 5.01520860e-05 -9.99967370e-01 -4.03840443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5665599949999 meters 0.012057613704301036 Centerline is valid? [True, True] Translation: X:204.41, Y:-109.99, Z:-5.01 [[-9.98462959e-01 -5.46642359e-02 9.14011859e-03 2.04411110e+02] [ 5.46621118e-02 -9.98504793e-01 -4.82240464e-04 -1.09990776e+02] [ 9.15281353e-03 1.81189433e-05 9.99958112e-01 -5.00538916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.626559995 meters 0.011933403381166992 Centerline is valid? [True, True] Translation: X:204.35, Y:-110.65, Z:-4.04 [[-9.99791292e-01 -1.80803032e-02 9.51185779e-03 2.04351465e+02] [-1.80796841e-02 9.99836538e-01 1.51075132e-04 -1.10649674e+02] [-9.51303444e-03 -2.09277826e-05 -9.99954750e-01 -4.03857282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6865599949999 meters 0.012410033687530325 Centerline is valid? [True, True] Translation: X:204.34, Y:-110.00, Z:-5.01 [[-9.98047981e-01 -6.16473864e-02 9.99132914e-03 2.04335963e+02] [ 6.16448777e-02 -9.98097989e-01 -5.59145850e-04 -1.10001662e+02] [ 1.00067954e-02 5.78598764e-05 9.99949929e-01 -5.00533692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.746559995 meters 0.013289617461007739 Centerline is valid? [True, True] Translation: X:204.28, Y:-110.64, Z:-4.04 [[-9.99347142e-01 -3.48264704e-02 9.61282660e-03 2.04283356e+02] [-3.48262146e-02 9.99393365e-01 1.94051879e-04 -1.10640789e+02] [-9.61375326e-03 -1.40853172e-04 -9.99953777e-01 -4.03849494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8065599949999 meters 0.014618440833998684 Centerline is valid? [True, True] Translation: X:204.27, Y:-110.01, Z:-5.00 [[-9.97684530e-01 -6.74102242e-02 9.02438173e-03 2.04267975e+02] [ 6.74083006e-02 -9.97725340e-01 -5.17503197e-04 -1.10010953e+02] [ 9.03873933e-03 9.20133023e-05 9.99959146e-01 -5.00491523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.866559995 meters 0.014606158074199033 Centerline is valid? [True, True] Translation: X:204.22, Y:-110.64, Z:-4.04 [[-9.98947708e-01 -4.50500500e-02 8.60061271e-03 2.04221259e+02] [-4.50498953e-02 9.98984716e-01 2.11816260e-04 -1.10638609e+02] [-8.60142298e-03 -1.75863334e-04 -9.99962992e-01 -4.03859500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9265599949999 meters 0.01337941085219419 Centerline is valid? [True, True] Translation: X:204.21, Y:-110.01, Z:-5.00 [[-9.98169612e-01 -5.99370804e-02 8.06054453e-03 2.04209001e+02] [ 5.99361934e-02 -9.98202148e-01 -3.51771920e-04 -1.10007941e+02] [ 8.06713705e-03 1.31990315e-04 9.99967451e-01 -5.00476125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.986559995 meters 0.012903236070866141 Centerline is valid? [True, True] Translation: X:204.16, Y:-110.65, Z:-4.04 [[-9.99122144e-01 -4.10581916e-02 8.31662224e-03 2.04161844e+02] [-4.10575949e-02 9.99156752e-01 2.42534893e-04 -1.10648103e+02] [-8.31956731e-03 -9.91385249e-05 -9.99965387e-01 -4.03776089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0465599949999 meters 0.011756170332091472 Centerline is valid? [True, True] Translation: X:204.16, Y:-110.63, Z:-4.04 [[-9.94607825e-01 -1.03298503e-01 9.20287531e-03 2.04161071e+02] [-1.03294357e-01 9.94650400e-01 9.25872049e-04 -1.10629535e+02] [-9.24928481e-03 -2.97255067e-05 -9.99957224e-01 -4.03690601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.106559995 meters 0.0118945032515075 Centerline is valid? [True, True] Translation: X:204.10, Y:-109.97, Z:-5.01 [[-9.99342466e-01 3.50567855e-02 9.25511303e-03 2.04100321e+02] [-3.50549993e-02 -9.99385322e-01 3.55199949e-04 -1.09968382e+02] [ 9.26187628e-03 3.05284125e-05 9.99957107e-01 -5.00717398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.166559995 meters 0.012861151570860391 Centerline is valid? [True, True] Translation: X:204.08, Y:-110.65, Z:-4.04 [[-9.95448585e-01 -9.48330022e-02 9.42423929e-03 2.04079757e+02] [-9.48277473e-02 9.95493190e-01 1.00390069e-03 -1.10652172e+02] [-9.47696894e-03 1.05652138e-04 -9.99955087e-01 -4.03649387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.226559995 meters 0.014320484783539457 Centerline is valid? [True, True] Translation: X:204.07, Y:-110.63, Z:-4.04 [[-9.87058877e-01 -1.60099108e-01 9.11309258e-03 2.04074319e+02] [-1.60090839e-01 9.87100933e-01 1.63453122e-03 -1.10631782e+02] [-9.25722918e-03 1.54455915e-04 -9.99957139e-01 -4.03558985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.286559995 meters 0.013889366412524843 Centerline is valid? [True, True] Translation: X:204.06, Y:-110.61, Z:-4.04 [[-9.73486334e-01 -2.28566423e-01 9.04140680e-03 2.04059090e+02] [-2.28554923e-01 9.73528305e-01 2.29915456e-03 -1.10607973e+02] [-9.32757497e-03 1.71737503e-04 -9.99956483e-01 -4.03601418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.346559995 meters 0.013928998074872226 Centerline is valid? [True, True] Translation: X:204.03, Y:-110.59, Z:-4.04 [[-9.54338296e-01 -2.98630485e-01 7.63224354e-03 2.04030875e+02] [-2.98619728e-01 9.54368803e-01 2.53867243e-03 -1.10589620e+02] [-8.04210012e-03 1.43613826e-04 -9.99967651e-01 -4.03645968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.406559995 meters 0.01349663524190946 Centerline is valid? [True, True] Translation: X:203.98, Y:-110.58, Z:-4.04 [[-9.29132892e-01 -3.69687542e-01 6.57196240e-03 2.03983582e+02] [-3.69677474e-01 9.29156128e-01 2.73046250e-03 -1.10577716e+02] [-7.11579710e-03 1.07456066e-04 -9.99974677e-01 -4.03713080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4665599949999 meters 0.012326079830355672 Centerline is valid? [True, True] Translation: X:203.92, Y:-110.57, Z:-4.04 [[-8.96220976e-01 -4.43575433e-01 5.36630274e-03 2.03919672e+02] [-4.43567168e-01 8.96237041e-01 2.70818567e-03 -1.10572950e+02] [-6.01076392e-03 4.68170900e-05 -9.99981934e-01 -4.03675904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.526559995 meters 0.011902843745521984 Centerline is valid? [True, True] Translation: X:203.85, Y:-110.57, Z:-4.04 [[-8.55963246e-01 -5.17017617e-01 4.43903685e-03 2.03847534e+02] [-5.17010735e-01 8.55974756e-01 2.66778723e-03 -1.10574203e+02] [-5.17899648e-03 -1.15018884e-05 -9.99986589e-01 -4.03656369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5865599949999 meters 0.012759183260577695 Centerline is valid? [True, True] Translation: X:203.77, Y:-110.59, Z:-4.04 [[-8.11067751e-01 -5.84934737e-01 4.52280376e-03 2.03772082e+02] [-5.84926007e-01 8.11080360e-01 3.19628227e-03 -1.10585728e+02] [-5.53797383e-03 -5.31040727e-05 -9.99984664e-01 -4.03588098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.646559995 meters 0.014596106895053572 Centerline is valid? [True, True] Translation: X:203.69, Y:-110.61, Z:-4.04 [[-7.59501273e-01 -6.50489469e-01 4.61153882e-03 2.03690737e+02] [-6.50478362e-01 7.59515265e-01 3.80294078e-03 -1.10608151e+02] [-5.97630706e-03 -1.11367854e-04 -9.99982136e-01 -4.03522616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7065599949999 meters 0.01566271300851209 Centerline is valid? [True, True] Translation: X:203.61, Y:-110.64, Z:-4.04 [[-7.05954995e-01 -7.08243536e-01 4.31723473e-03 2.03610459e+02] [-7.08231459e-01 7.05968183e-01 4.13828041e-03 -1.10641132e+02] [-5.97874070e-03 -1.36161724e-04 -9.99982118e-01 -4.03506815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.766559995 meters 0.018362304735878354 Centerline is valid? [True, True] Translation: X:203.52, Y:-110.69, Z:-4.03 [[-6.48467874e-01 -7.61233294e-01 3.64537892e-03 2.03524986e+02] [-7.61222469e-01 6.48478105e-01 4.06197219e-03 -1.10686092e+02] [-5.45605689e-03 -1.40885868e-04 -9.99985106e-01 -4.03419992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8265599949999 meters 0.01615997185299622 Centerline is valid? [True, True] Translation: X:203.45, Y:-110.74, Z:-4.03 [[-5.89591052e-01 -8.07692499e-01 3.90106473e-03 2.03453658e+02] [-8.07676600e-01 5.89603936e-01 5.07028631e-03 -1.10740334e+02] [-6.39531534e-03 -1.61403258e-04 -9.99979537e-01 -4.03452657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.886559995 meters 0.016531969097822483 Centerline is valid? [True, True] Translation: X:203.38, Y:-110.80, Z:-4.03 [[-5.28135836e-01 -8.49153540e-01 3.28702395e-03 2.03377147e+02] [-8.49138730e-01 5.28146046e-01 5.01709549e-03 -1.10804813e+02] [-5.99631309e-03 -1.41431423e-04 -9.99982012e-01 -4.03402820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9465599949999 meters 0.015329951932090207 Centerline is valid? [True, True] Translation: X:203.31, Y:-110.88, Z:-4.03 [[-4.65579422e-01 -8.85000551e-01 3.13477507e-03 2.03308914e+02] [-8.84982295e-01 4.65589958e-01 5.68587613e-03 -1.10879011e+02] [-6.49152330e-03 -1.26993508e-04 -9.99978922e-01 -4.03378833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.006559995 meters 0.014600008615602997 Centerline is valid? [True, True] Translation: X:203.24, Y:-110.97, Z:-4.03 [[-3.98770312e-01 -9.17045947e-01 2.99500146e-03 2.03238237e+02] [-9.17022407e-01 3.98781539e-01 6.57180592e-03 -1.10966729e+02] [-7.22099927e-03 -1.25842355e-04 -9.99973920e-01 -4.03386209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0665599949999 meters 0.013438948048260504 Centerline is valid? [True, True] Translation: X:203.18, Y:-111.05, Z:-4.03 [[-3.35279307e-01 -9.42114486e-01 2.84262735e-03 2.03183511e+02] [-9.42082494e-01 3.35291349e-01 7.76437442e-03 -1.11050179e+02] [-8.26803798e-03 -7.47553887e-05 -9.99965816e-01 -4.03267012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.126559995 meters 0.013042338076079645 Centerline is valid? [True, True] Translation: X:203.13, Y:-111.15, Z:-4.03 [[-2.67334101e-01 -9.63601642e-01 2.08647352e-03 2.03127838e+02] [-9.63573109e-01 2.67342241e-01 7.41545609e-03 -1.11146897e+02] [-7.70334817e-03 -2.80654969e-05 -9.99970328e-01 -4.03357743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1865599949999 meters 0.013246565632129824 Centerline is valid? [True, True] Translation: X:203.08, Y:-111.25, Z:-4.03 [[-1.97232468e-01 -9.80355685e-01 1.44356772e-03 2.03076863e+02] [-9.80329114e-01 1.97237750e-01 7.21793681e-03 -1.11249094e+02] [-7.36087144e-03 8.44002291e-06 -9.99972908e-01 -4.03417988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.246559995 meters 0.013668481248836743 Centerline is valid? [True, True] Translation: X:203.03, Y:-111.36, Z:-4.03 [[-1.27369702e-01 -9.91854807e-01 1.00041219e-03 2.03034800e+02] [-9.91820378e-01 1.27373616e-01 8.26437277e-03 -1.11359134e+02] [-8.32448398e-03 6.04014993e-05 -9.99965349e-01 -4.03476614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3065599949999 meters 0.01401345569573265 Centerline is valid? [True, True] Translation: X:203.00, Y:-111.47, Z:-4.03 [[-5.29928247e-02 -9.98594829e-01 3.58589392e-04 2.02998003e+02] [-9.98560831e-01 5.29939796e-02 8.24048223e-03 -1.11474230e+02] [-8.24790602e-03 7.86131082e-05 -9.99965982e-01 -4.03468447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.366559995 meters 0.01460284939523766 Centerline is valid? [True, True] Translation: X:202.97, Y:-111.59, Z:-4.03 [[ 2.12934451e-02 -9.99773220e-01 -3.13341789e-04 2.02968433e+02] [-9.99729537e-01 -2.12954440e-02 9.34647732e-03 -1.11588603e+02] [-9.35103047e-03 1.14238340e-04 -9.99956272e-01 -4.03262322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4265599949999 meters 0.014754838408395985 Centerline is valid? [True, True] Translation: X:202.95, Y:-111.71, Z:-4.03 [[ 9.68429679e-02 -9.95299048e-01 -1.11580408e-03 2.02947959e+02] [-9.95247785e-01 -9.68493056e-02 1.01024310e-02 -1.11707042e+02] [-1.01630048e-02 1.32152135e-04 -9.99948347e-01 -4.03257911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.486559995 meters 0.01487101157699638 Centerline is valid? [True, True] Translation: X:202.94, Y:-111.82, Z:-4.03 [[ 1.72943775e-01 -9.84929362e-01 -2.14530960e-03 2.02935188e+02] [-9.84864070e-01 -1.72957014e-01 1.13417296e-02 -1.11823710e+02] [-1.15418488e-02 1.51356821e-04 -9.99933379e-01 -4.03290564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5465599949999 meters 0.014632140823058701 Centerline is valid? [True, True] Translation: X:202.93, Y:-111.95, Z:-4.03 [[ 2.49582850e-01 -9.68348475e-01 -3.10362450e-03 2.02931476e+02] [-9.68280305e-01 -2.49602108e-01 1.14908224e-02 -1.11945973e+02] [-1.19017916e-02 1.37266265e-04 -9.99929162e-01 -4.03349828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.606559995 meters 0.014333755114168479 Centerline is valid? [True, True] Translation: X:202.93, Y:-112.06, Z:-4.03 [[ 3.27072913e-01 -9.44990499e-01 -4.03316098e-03 2.02932775e+02] [-9.44921970e-01 -3.27097767e-01 1.13807315e-02 -1.12062137e+02] [-1.20739211e-02 8.86933971e-05 -9.99927104e-01 -4.03376094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.666559995 meters 0.014297683918816195 Centerline is valid? [True, True] Translation: X:202.95, Y:-112.19, Z:-4.03 [[ 4.03230148e-01 -9.15081631e-01 -5.57287282e-03 2.02945073e+02] [-9.14995279e-01 -4.03268655e-01 1.25710422e-02 -1.12185438e+02] [-1.37508947e-02 3.01291262e-05 -9.99905452e-01 -4.03347319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.726559995 meters 0.01423420123594191 Centerline is valid? [True, True] Translation: X:202.96, Y:-112.30, Z:-4.03 [[ 4.75808160e-01 -8.79525742e-01 -6.40813743e-03 2.02963508e+02] [-8.79445154e-01 -4.75851310e-01 1.19059494e-02 -1.12301476e+02] [-1.35209096e-02 -2.93424887e-05 -9.99908588e-01 -4.03351111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.786559995 meters 0.014134067718870451 Centerline is valid? [True, True] Translation: X:202.99, Y:-112.41, Z:-4.04 [[ 5.43398880e-01 -8.39445057e-01 -7.04659839e-03 2.02992994e+02] [-8.39373137e-01 -5.43444564e-01 1.09882868e-02 -1.12412001e+02] [-1.30534986e-02 -5.62973411e-05 -9.99914798e-01 -4.03528746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.846559995 meters 0.014162211234081278 Centerline is valid? [True, True] Translation: X:203.03, Y:-112.52, Z:-4.04 [[ 6.06919402e-01 -7.94722473e-01 -8.06413563e-03 2.03031800e+02] [-7.94650641e-01 -6.06972969e-01 1.06852149e-02 -1.12522683e+02] [-1.33864928e-02 -7.68937182e-05 -9.99910394e-01 -4.03564132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.906559995 meters 0.014166406698866164 Centerline is valid? [True, True] Translation: X:203.07, Y:-112.62, Z:-4.04 [[ 6.65946167e-01 -7.45944433e-01 -9.08872293e-03 2.03073734e+02] [-7.45873216e-01 -6.66008180e-01 1.03077965e-02 -1.12620857e+02] [-1.37422072e-02 -8.54025651e-05 -9.99905568e-01 -4.03542728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9665599949999 meters 0.014293980932811002 Centerline is valid? [True, True] Translation: X:203.12, Y:-112.71, Z:-4.03 [[ 7.20661480e-01 -6.93212645e-01 -1.01617043e-02 2.03119976e+02] [-6.93142000e-01 -7.20733114e-01 9.89679748e-03 -1.12713954e+02] [-1.41844620e-02 -8.87366477e-05 -9.99899392e-01 -4.03394907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.026559995 meters 0.014115115397818982 Centerline is valid? [True, True] Translation: X:203.14, Y:-112.74, Z:-4.03 [[ 7.71873841e-01 -6.35673934e-01 -1.13764339e-02 2.03140731e+02] [-6.35603469e-01 -7.71957670e-01 9.46502469e-03 -1.12743641e+02] [-1.47987949e-02 -7.49041301e-05 -9.99890489e-01 -4.03370651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0865599949999 meters 0.014054030964673015 Centerline is valid? [True, True] Translation: X:203.16, Y:-112.77, Z:-4.03 [[ 8.17231791e-01 -5.76168551e-01 -1.27279313e-02 2.03164072e+02] [-5.76098192e-01 -8.17330900e-01 9.00409682e-03 -1.12770955e+02] [-1.55908089e-02 -2.58959885e-05 -9.99878456e-01 -4.03345426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.146559995 meters 0.014067757569746861 Centerline is valid? [True, True] Translation: X:203.19, Y:-112.80, Z:-4.03 [[ 8.58338849e-01 -5.12901141e-01 -1.36689212e-02 2.03190101e+02] [-5.12836451e-01 -8.58447680e-01 8.14588076e-03 -1.12796417e+02] [-1.59120852e-02 1.79951244e-05 -9.99873395e-01 -4.03338760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2065599949999 meters 0.014261698698051014 Centerline is valid? [True, True] Translation: X:203.22, Y:-112.82, Z:-4.03 [[ 8.94351858e-01 -4.47159840e-01 -1.35215023e-02 2.03218411e+02] [-4.47109861e-01 -8.94454064e-01 6.68573790e-03 -1.12818232e+02] [-1.50839561e-02 6.61948861e-05 -9.99886228e-01 -4.03370926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.266559995 meters 0.014437617689780599 Centerline is valid? [True, True] Translation: X:203.25, Y:-112.84, Z:-4.03 [[ 9.25243811e-01 -3.79161084e-01 -1.26792520e-02 2.03248800e+02] [-3.79127099e-01 -9.25330676e-01 5.07760490e-03 -1.12837693e+02] [-1.36577310e-02 1.09025539e-04 -9.99906723e-01 -4.03447293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3265599949999 meters 0.014312846065418541 Centerline is valid? [True, True] Translation: X:203.28, Y:-112.86, Z:-4.04 [[ 9.51361445e-01 -3.07836876e-01 -1.21597402e-02 2.03278770e+02] [-3.07813493e-01 -9.51439142e-01 3.79645238e-03 -1.12859005e+02] [-1.27379408e-02 1.31133692e-04 -9.99918861e-01 -4.03592299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.386559995 meters 0.014379853146771078 Centerline is valid? [True, True] Translation: X:203.31, Y:-112.88, Z:-4.04 [[ 9.72323617e-01 -2.33379223e-01 -1.09964941e-02 2.03309106e+02] [-2.33365765e-01 -9.72385789e-01 2.50940167e-03 -1.12876379e+02] [-1.12784768e-02 1.26254746e-04 -9.99936388e-01 -4.03643946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4465599949999 meters 0.014170059085401483 Centerline is valid? [True, True] Translation: X:203.34, Y:-112.89, Z:-4.03 [[ 9.87994729e-01 -1.54050308e-01 -1.16154435e-02 2.03341174e+02] [-1.54040869e-01 -9.88063000e-01 1.70830572e-03 -1.12893349e+02] [-1.17399550e-02 1.01455964e-04 -9.99931079e-01 -4.03483764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.506559995 meters 0.01392238298077778 Centerline is valid? [True, True] Translation: X:203.37, Y:-112.91, Z:-4.03 [[ 9.97228237e-01 -7.33802733e-02 -1.22954698e-02 2.03371322e+02] [-7.33755765e-02 -9.97304031e-01 8.33279542e-04 -1.12908516e+02] [-1.23234679e-02 7.12172986e-05 -9.99924061e-01 -4.03395143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5665599949999 meters 0.01347532481989609 Centerline is valid? [True, True] Translation: X:203.40, Y:-112.92, Z:-4.03 [[ 9.99883580e-01 9.24570055e-03 -1.21385221e-02 2.03403262e+02] [ 9.24480302e-03 -9.99957257e-01 -1.30050795e-04 -1.12923467e+02] [-1.21392057e-02 1.78174089e-05 -9.99926317e-01 -4.03401173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.626559995 meters 0.013501547452332665 Centerline is valid? [True, True] Translation: X:203.43, Y:-112.93, Z:-4.03 [[ 9.95966735e-01 8.90052335e-02 -1.13283365e-02 2.03434709e+02] [ 8.89994823e-02 -9.96031158e-01 -1.01179827e-03 -1.12932050e+02] [-1.13734314e-02 -4.98662216e-07 -9.99935320e-01 -4.03362162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6865599949999 meters 0.01332895510796199 Centerline is valid? [True, True] Translation: X:203.47, Y:-112.94, Z:-4.03 [[ 9.85702611e-01 1.68171299e-01 -1.04296045e-02 2.03467835e+02] [ 1.68162055e-01 -9.85757787e-01 -1.76333549e-03 -1.12935761e+02] [-1.05776062e-02 -1.57393169e-05 -9.99944055e-01 -4.03385586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.746559995 meters 0.01317428935252293 Centerline is valid? [True, True] Translation: X:203.50, Y:-112.94, Z:-4.03 [[ 9.69425944e-01 2.45205738e-01 -9.35337691e-03 2.03500600e+02] [ 2.45194504e-01 -9.69471065e-01 -2.34722121e-03 -1.12935749e+02] [-9.64338038e-03 -1.79394782e-05 -9.99953501e-01 -4.03441628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8065599949999 meters 0.013171993452025878 Centerline is valid? [True, True] Translation: X:203.53, Y:-112.94, Z:-4.03 [[ 9.46379137e-01 3.22935966e-01 -8.88203818e-03 2.03534669e+02] [ 3.22922170e-01 -9.46420816e-01 -2.98525253e-03 -1.12935594e+02] [-9.37019123e-03 -4.30263306e-05 -9.99956098e-01 -4.03389064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.866559995 meters 0.01335352239941177 Centerline is valid? [True, True] Translation: X:203.57, Y:-112.93, Z:-4.03 [[ 9.16830238e-01 3.99197537e-01 -7.97749559e-03 2.03569622e+02] [ 3.99183083e-01 -9.16864942e-01 -3.39775332e-03 -1.12934483e+02] [-8.67066078e-03 -6.93182944e-05 -9.99962407e-01 -4.03426625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9265599949999 meters 0.01369578321583674 Centerline is valid? [True, True] Translation: X:203.60, Y:-112.93, Z:-4.03 [[ 8.80851926e-01 4.73341278e-01 -6.92229475e-03 2.03604494e+02] [ 4.73327497e-01 -8.80879121e-01 -3.61319081e-03 -1.12931621e+02] [-7.80797727e-03 -9.38263636e-05 -9.99969513e-01 -4.03470737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.986559995 meters 0.014451712197308269 Centerline is valid? [True, True] Translation: X:203.64, Y:-112.92, Z:-4.03 [[ 8.38948283e-01 5.44175225e-01 -6.25315808e-03 2.03637873e+02] [ 5.44161150e-01 -8.38971579e-01 -3.91571658e-03 -1.12924357e+02] [-7.37705786e-03 -1.17641983e-04 -9.99972782e-01 -4.03441597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0465599949999 meters 0.015350550802459624 Centerline is valid? [True, True] Translation: X:203.67, Y:-112.91, Z:-4.03 [[ 7.91331420e-01 6.11352362e-01 -6.54768657e-03 2.03669976e+02] [ 6.11333125e-01 -7.91358492e-01 -4.85263104e-03 -1.12912889e+02] [-8.14823482e-03 -1.62778281e-04 -9.99966789e-01 -4.03389659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.106559995 meters 0.015700632691485972 Centerline is valid? [True, True] Translation: X:203.70, Y:-112.90, Z:-4.03 [[ 7.40079019e-01 6.72496697e-01 -5.58904206e-03 2.03700708e+02] [ 6.72479123e-01 -7.40100106e-01 -4.86442524e-03 -1.12897534e+02] [-7.40776054e-03 -1.58455040e-04 -9.99972550e-01 -4.03380593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.166559995 meters 0.016104662001803088 Centerline is valid? [True, True] Translation: X:203.73, Y:-112.88, Z:-4.03 [[ 6.84187405e-01 7.29287544e-01 -5.22244327e-03 2.03729460e+02] [ 7.29268168e-01 -6.84207315e-01 -5.31877593e-03 -1.12879725e+02] [-7.45215092e-03 -1.69522134e-04 -9.99972218e-01 -4.03262942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.226559995 meters 0.015994045162147603 Centerline is valid? [True, True] Translation: X:203.75, Y:-112.86, Z:-4.03 [[ 6.25333059e-01 7.80336404e-01 -5.80188485e-03 2.03753511e+02] [ 7.80305770e-01 -6.25359941e-01 -6.91738563e-03 -1.12857492e+02] [-9.02615419e-03 -2.01574310e-04 -9.99959243e-01 -4.03155544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.286559995 meters 0.015228898024324384 Centerline is valid? [True, True] Translation: X:203.78, Y:-112.83, Z:-4.03 [[ 5.63989085e-01 8.25765515e-01 -5.25601464e-03 2.03775322e+02] [ 8.25732653e-01 -5.64013546e-01 -7.36921943e-03 -1.12833824e+02] [-9.04971074e-03 -1.83903582e-04 -9.99959034e-01 -4.03189547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.346559995 meters 0.014278991754491077 Centerline is valid? [True, True] Translation: X:203.79, Y:-112.81, Z:-4.03 [[ 5.02182128e-01 8.64753998e-01 -3.69243936e-03 2.03791348e+02] [ 8.64732175e-01 -5.02195691e-01 -6.14436738e-03 -1.12808027e+02] [-7.16769340e-03 -1.07379633e-04 -9.99974306e-01 -4.03306197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.406559995 meters 0.01301992497097885 Centerline is valid? [True, True] Translation: X:203.80, Y:-112.78, Z:-4.03 [[ 4.39002634e-01 8.98481614e-01 -2.73434173e-03 2.03803126e+02] [ 8.98464890e-01 -4.39011146e-01 -5.48216049e-03 -1.12778701e+02] [-6.12602690e-03 -5.00271524e-05 -9.99981234e-01 -4.03411612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4665599949999 meters 0.012606227264401158 Centerline is valid? [True, True] Translation: X:203.81, Y:-112.75, Z:-4.03 [[ 3.72178847e-01 9.28158040e-01 -2.35771926e-03 2.03812772e+02] [ 9.28139724e-01 -3.72186314e-01 -5.83101230e-03 -1.12751553e+02] [-6.28961179e-03 -1.81134679e-05 -9.99980220e-01 -4.03352608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.526559995 meters 0.012643490604985638 Centerline is valid? [True, True] Translation: X:203.82, Y:-112.72, Z:-4.03 [[ 3.06462952e-01 9.51879922e-01 -2.25219791e-03 2.03823323e+02] [ 9.51853216e-01 -3.06471225e-01 -7.13046851e-03 -1.12724398e+02] [-7.47758367e-03 4.14626057e-05 -9.99972042e-01 -4.03317689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5865599949999 meters 0.01343465619537518 Centerline is valid? [True, True] Translation: X:203.83, Y:-112.70, Z:-4.03 [[ 2.35456566e-01 9.71883302e-01 -1.74734286e-03 2.03833210e+02] [ 9.71854007e-01 -2.35463037e-01 -7.54637514e-03 -1.12697857e+02] [-7.74563064e-03 7.86814227e-05 -9.99969999e-01 -4.03241680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.646559995 meters 0.014496005271265633 Centerline is valid? [True, True] Translation: X:203.84, Y:-112.67, Z:-4.03 [[ 1.63080556e-01 9.86611919e-01 -1.28627048e-03 2.03836281e+02] [ 9.86574793e-01 -1.63085579e-01 -8.55990235e-03 -1.12670168e+02] [-8.65507384e-03 1.26951598e-04 -9.99962536e-01 -4.03238752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7065599949999 meters 0.014371481296209904 Centerline is valid? [True, True] Translation: X:203.85, Y:-112.64, Z:-4.03 [[ 8.59858133e-02 9.96296144e-01 -6.57835131e-04 2.03845626e+02] [ 9.96252920e-01 -8.59882112e-02 -9.28152338e-03 -1.12642882e+02] [-9.30371202e-03 1.42709166e-04 -9.99956709e-01 -4.03287804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.766559995 meters 0.013727310265778822 Centerline is valid? [True, True] Translation: X:203.86, Y:-112.62, Z:-4.03 [[ 5.43205881e-03 9.99985244e-01 7.17398079e-05 2.03857073e+02] [ 9.99941535e-01 -5.43115058e-03 -9.35036843e-03 -1.12615091e+02] [-9.34984082e-03 1.22527365e-04 -9.99956282e-01 -4.03229647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8265599949999 meters 0.013175353304453767 Centerline is valid? [True, True] Translation: X:203.87, Y:-112.59, Z:-4.03 [[-7.62392925e-02 9.97089258e-01 7.62592094e-04 2.03865894e+02] [ 9.97050110e-01 7.62430571e-02 -8.83600744e-03 -1.12586585e+02] [-8.86843045e-03 8.66915754e-05 -9.99960671e-01 -4.03273009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.886559995 meters 0.013049148652475128 Centerline is valid? [True, True] Translation: X:203.87, Y:-112.56, Z:-4.03 [[-1.56608971e-01 9.87659779e-01 1.33857922e-03 2.03871099e+02] [ 9.87626886e-01 1.56614680e-01 -8.06077041e-03 -1.12558700e+02] [-8.17093987e-03 5.96278681e-05 -9.99966616e-01 -4.03295383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9465599949999 meters 0.012732107964334513 Centerline is valid? [True, True] Translation: X:203.87, Y:-112.53, Z:-4.03 [[-2.37625711e-01 9.71355024e-01 1.85439414e-03 2.03874474e+02] [ 9.71326214e-01 2.37632946e-01 -7.48131348e-03 -1.12530254e+02] [-7.70767657e-03 2.34691973e-05 -9.99970295e-01 -4.03307622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.006559995 meters 0.01265145343306636 Centerline is valid? [True, True] Translation: X:203.88, Y:-112.50, Z:-4.03 [[-3.15687668e-01 9.48860543e-01 2.22834398e-03 2.03877333e+02] [ 9.48836943e-01 3.15695533e-01 -6.69229043e-03 -1.12500760e+02] [-7.05352858e-03 1.66152538e-06 -9.99975124e-01 -4.03308310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0665599949999 meters 0.01278832625261902 Centerline is valid? [True, True] Translation: X:203.88, Y:-112.47, Z:-4.03 [[-3.92778183e-01 9.19631007e-01 2.02725423e-03 2.03877835e+02] [ 9.19618504e-01 3.92783414e-01 -4.79539768e-03 -1.12470715e+02] [-5.20626823e-03 -1.92270814e-05 -9.99986447e-01 -4.03347706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.126559995 meters 0.013127040167908265 Centerline is valid? [True, True] Translation: X:203.88, Y:-112.44, Z:-4.03 [[-4.66906568e-01 8.84303835e-01 2.23237324e-03 2.03876753e+02] [ 8.84293358e-01 4.66911903e-01 -4.30480671e-03 -1.12440273e+02] [-4.84907872e-03 -3.58696966e-05 -9.99988243e-01 -4.03284115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1865599949999 meters 0.013278993884760693 Centerline is valid? [True, True] Translation: X:203.87, Y:-112.41, Z:-4.03 [[-5.36179452e-01 8.44100364e-01 2.48422358e-03 2.03870846e+02] [ 8.44090931e-01 5.36185205e-01 -3.99083478e-03 -1.12410649e+02] [-4.70066902e-03 -4.28930128e-05 -9.99988951e-01 -4.03186811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.246559995 meters 0.013789841036616608 Centerline is valid? [True, True] Translation: X:203.86, Y:-112.38, Z:-4.03 [[-6.03052739e-01 7.97693117e-01 3.61738655e-03 2.03862386e+02] [ 7.97678019e-01 6.03063584e-01 -4.90831357e-03 -1.12381779e+02] [-6.09684205e-03 -7.44622020e-05 -9.99981411e-01 -4.03009952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3065599949999 meters 0.014242512645650868 Centerline is valid? [True, True] Translation: X:203.85, Y:-112.35, Z:-4.03 [[-6.65053058e-01 7.46780388e-01 4.84588650e-03 2.03850641e+02] [ 7.46759411e-01 6.65070704e-01 -5.59830480e-03 -1.12354682e+02] [-7.40356137e-03 -1.04458384e-04 -9.99972588e-01 -4.02841877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.366559995 meters 0.014466050768903541 Centerline is valid? [True, True] Translation: X:203.84, Y:-112.33, Z:-4.03 [[-7.23132567e-01 6.90682778e-01 6.04898672e-03 2.03838140e+02] [ 6.90656976e-01 7.23157853e-01 -5.97179347e-03 -1.12326785e+02] [-8.49898716e-03 -1.40623471e-04 -9.99963873e-01 -4.02638137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4265599949999 meters 0.0152440780979617 Centerline is valid? [True, True] Translation: X:204.31, Y:-111.84, Z:-5.02 [[-6.49021634e-01 -7.60750437e-01 5.44892709e-03 2.04308460e+02] [ 7.60725191e-01 -6.49044496e-01 -6.19886993e-03 -1.11839091e+02] [ 8.25238915e-03 1.21935408e-04 9.99965941e-01 -5.01744256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.486559995 meters 0.015810516837045516 Centerline is valid? [True, True] Translation: X:204.27, Y:-111.80, Z:-5.02 [[-6.48153776e-01 -7.61491069e-01 5.29470139e-03 2.04270645e+02] [ 7.61467592e-01 -6.48175383e-01 -5.98162385e-03 -1.11795686e+02] [ 7.98684824e-03 1.54731429e-04 9.99968093e-01 -5.01736095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5465599949999 meters 0.015262295583316548 Centerline is valid? [True, True] Translation: X:204.23, Y:-111.75, Z:-5.02 [[-6.47983294e-01 -7.61635687e-01 5.36006738e-03 2.04234524e+02] [ 7.61611662e-01 -6.48005443e-01 -6.05158535e-03 -1.11751216e+02] [ 8.08245621e-03 1.60963617e-04 9.99967323e-01 -5.01662375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.606559995 meters 0.015450527228760013 Centerline is valid? [True, True] Translation: X:204.20, Y:-111.71, Z:-5.02 [[-6.48112611e-01 -7.61521598e-01 5.90751324e-03 2.04195900e+02] [ 7.61492448e-01 -6.48139510e-01 -6.66541744e-03 -1.11708503e+02] [ 8.90475208e-03 1.78585611e-04 9.99960336e-01 -5.01791773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.666559995 meters 0.01617063383919069 Centerline is valid? [True, True] Translation: X:204.16, Y:-111.67, Z:-5.02 [[-6.48080506e-01 -7.61547457e-01 6.09330299e-03 2.04156629e+02] [ 7.61516488e-01 -6.48109123e-01 -6.87050214e-03 -1.11667681e+02] [ 9.18133869e-03 1.87512186e-04 9.99957833e-01 -5.01909454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.726559995 meters 0.015692726527208833 Centerline is valid? [True, True] Translation: X:204.12, Y:-111.62, Z:-5.02 [[-6.47506127e-01 -7.62036501e-01 6.01552168e-03 2.04118226e+02] [ 7.62006373e-01 -6.47534040e-01 -6.77892016e-03 -1.11623997e+02] [ 9.06103966e-03 1.94473521e-04 9.99958929e-01 -5.01804330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.786559995 meters 0.015509180432753409 Centerline is valid? [True, True] Translation: X:204.08, Y:-111.58, Z:-5.02 [[-6.47235908e-01 -7.62272157e-01 5.18044994e-03 2.04078337e+02] [ 7.62249848e-01 -6.47256617e-01 -5.83449257e-03 -1.11581327e+02] [ 7.80055174e-03 1.72504083e-04 9.99969560e-01 -5.01648805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.846559995 meters 0.01590447400332801 Centerline is valid? [True, True] Translation: X:204.04, Y:-111.54, Z:-5.02 [[-6.47261382e-01 -7.62253210e-01 4.76943944e-03 2.04039334e+02] [ 7.62234324e-01 -6.47278934e-01 -5.36814863e-03 -1.11539234e+02] [ 7.17904620e-03 1.60835148e-04 9.99974217e-01 -5.01650419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.906559995 meters 0.017281341085964286 Centerline is valid? [True, True] Translation: X:204.00, Y:-111.50, Z:-5.02 [[-6.46771271e-01 -7.62670992e-01 4.45893088e-03 2.03999487e+02] [ 7.62654515e-01 -6.46786622e-01 -5.01566912e-03 -1.11498043e+02] [ 6.70928218e-03 1.56633077e-04 9.99977480e-01 -5.01681379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9665599949999 meters 0.016621553816227985 Centerline is valid? [True, True] Translation: X:203.96, Y:-111.45, Z:-5.02 [[-6.45884222e-01 -7.63414922e-01 5.58821035e-03 2.03961797e+02] [ 7.63389101e-01 -6.45908363e-01 -6.28234512e-03 -1.11454136e+02] [ 8.40550781e-03 2.08311282e-04 9.99964651e-01 -5.01706319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.026559995 meters 0.017765491993346386 Centerline is valid? [True, True] Translation: X:203.92, Y:-111.41, Z:-5.02 [[-6.44533195e-01 -7.64546996e-01 6.69718286e-03 2.03921304e+02] [ 7.64510014e-01 -6.44567932e-01 -7.52457296e-03 -1.11413458e+02] [ 1.00696789e-02 2.70226315e-04 9.99949263e-01 -5.01845780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0865599949999 meters 0.01774207572276116 Centerline is valid? [True, True] Translation: X:203.88, Y:-111.37, Z:-5.02 [[-6.43290705e-01 -7.65579122e-01 8.10415446e-03 2.03882598e+02] [ 7.65525119e-01 -6.43341655e-01 -9.09981553e-03 -1.11370938e+02] [ 1.21803689e-02 3.50107065e-04 9.99925755e-01 -5.01882228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.146559995 meters 0.01745137737434099 Centerline is valid? [True, True] Translation: X:203.84, Y:-111.33, Z:-5.02 [[-6.43453059e-01 -7.65437104e-01 8.61403829e-03 2.03844661e+02] [ 7.65376151e-01 -6.43510607e-01 -9.66674433e-03 -1.11326391e+02] [ 1.29425098e-02 3.72883268e-04 9.99916173e-01 -5.01843252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2065599949999 meters 0.0201236493063892 Centerline is valid? [True, True] Translation: X:203.80, Y:-111.29, Z:-5.02 [[-6.44605871e-01 -7.64477829e-01 7.54459093e-03 2.03804854e+02] [ 7.64431046e-01 -6.44649945e-01 -8.46304665e-03 -1.11285894e+02] [ 1.13334317e-02 3.11989981e-04 9.99935726e-01 -5.01885720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.266559995 meters 0.017246111707651036 Centerline is valid? [True, True] Translation: X:203.77, Y:-111.24, Z:-5.02 [[-6.45988597e-01 -7.63313465e-01 7.16149293e-03 2.03770239e+02] [ 7.63271291e-01 -6.46028231e-01 -8.02875512e-03 -1.11238760e+02] [ 1.07549835e-02 2.79677700e-04 9.99942124e-01 -5.01566905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3265599949999 meters 0.016201122079571174 Centerline is valid? [True, True] Translation: X:203.73, Y:-111.19, Z:-5.01 [[-6.49526268e-01 -7.60313216e-01 6.28020356e-03 2.03734657e+02] [ 7.60280676e-01 -6.49556597e-01 -7.03716071e-03 -1.11194698e+02] [ 9.42979394e-03 2.03896666e-04 9.99955518e-01 -5.01476039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.386559995 meters 0.014401929483121861 Centerline is valid? [True, True] Translation: X:203.70, Y:-111.15, Z:-5.01 [[-6.54640691e-01 -7.55908188e-01 6.95538239e-03 2.03700944e+02] [ 7.55868072e-01 -6.54677620e-01 -7.78916785e-03 -1.11147184e+02] [ 1.04414289e-02 1.58245261e-04 9.99945474e-01 -5.01443581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4465599949999 meters 0.013215601790571385 Centerline is valid? [True, True] Translation: X:203.67, Y:-111.10, Z:-5.02 [[-6.63379163e-01 -7.48227794e-01 9.12437005e-03 2.03669639e+02] [ 7.48158095e-01 -6.63441908e-01 -1.02127000e-02 -1.11098841e+02] [ 1.36949154e-02 5.15789636e-05 9.99906219e-01 -5.01687186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.506559995 meters 0.013395980966131222 Centerline is valid? [True, True] Translation: X:203.63, Y:-111.05, Z:-5.02 [[-6.68285046e-01 -7.43842263e-01 9.68426848e-03 2.03634793e+02] [ 7.43763385e-01 -6.68355210e-01 -1.08323800e-02 -1.11054238e+02] [ 1.45301134e-02 -3.63132915e-05 9.99894432e-01 -5.01816321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5665599949999 meters 0.013836459715311847 Centerline is valid? [True, True] Translation: X:203.60, Y:-111.01, Z:-5.02 [[-6.72405049e-01 -7.40121866e-01 9.54324387e-03 2.03598082e+02] [ 7.40044975e-01 -6.72472758e-01 -1.06688699e-02 -1.11009478e+02] [ 1.43138355e-02 -1.11372341e-04 9.99897546e-01 -5.01754918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.626559995 meters 0.013901083129752113 Centerline is valid? [True, True] Translation: X:203.56, Y:-110.97, Z:-5.01 [[-6.75097286e-01 -7.37677714e-01 8.67436978e-03 2.03560876e+02] [ 7.37614064e-01 -6.75152997e-01 -9.69138413e-03 -1.10966316e+02] [ 1.30056448e-02 -1.44289985e-04 9.99915413e-01 -5.01481443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6865599949999 meters 0.014318568256673702 Centerline is valid? [True, True] Translation: X:203.52, Y:-110.92, Z:-5.01 [[-6.77586458e-01 -7.35392361e-01 8.64101651e-03 2.03523337e+02] [ 7.35329084e-01 -6.77641529e-01 -9.64866175e-03 -1.10922006e+02] [ 1.29510638e-02 -1.83811787e-04 9.99916115e-01 -5.01342142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.746559995 meters 0.01447100070249028 Centerline is valid? [True, True] Translation: X:203.48, Y:-110.88, Z:-5.01 [[-6.77499699e-01 -7.35467063e-01 9.07508871e-03 2.03484272e+02] [ 7.35397362e-01 -6.77560451e-01 -1.01269486e-02 -1.10880595e+02] [ 1.35969583e-02 -1.87208317e-04 9.99907540e-01 -5.01364292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8065599949999 meters 0.01396821230096835 Centerline is valid? [True, True] Translation: X:203.44, Y:-110.84, Z:-5.01 [[-6.73674089e-01 -7.38957578e-01 1.02429874e-02 2.03439999e+02] [ 7.38869282e-01 -6.73751943e-01 -1.14238228e-02 -1.10842474e+02] [ 1.53429531e-02 -1.27704644e-04 9.99882282e-01 -5.01457536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.866559995 meters 0.013670557940611963 Centerline is valid? [True, True] Translation: X:203.40, Y:-110.81, Z:-5.01 [[-6.67167056e-01 -7.44821449e-01 1.13635071e-02 2.03395020e+02] [ 7.44713740e-01 -6.67263823e-01 -1.26663162e-02 -1.10805114e+02] [ 1.70166012e-02 1.20109505e-05 9.99855207e-01 -5.01319691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9265599949999 meters 0.01403221076730617 Centerline is valid? [True, True] Translation: X:203.35, Y:-110.77, Z:-5.01 [[-6.62260430e-01 -7.49189003e-01 1.12676924e-02 2.03351494e+02] [ 7.49083851e-01 -6.62356265e-01 -1.25524033e-02 -1.10765975e+02] [ 1.68673492e-02 1.27486414e-04 9.99857728e-01 -5.01236626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.986559995 meters 0.015062069773159093 Centerline is valid? [True, True] Translation: X:203.31, Y:-110.73, Z:-5.01 [[-6.55655314e-01 -7.54989590e-01 1.03357404e-02 2.03305531e+02] [ 7.54901929e-01 -6.55736725e-01 -1.15076151e-02 -1.10729408e+02] [ 1.54656542e-02 2.57441362e-04 9.99880366e-01 -5.01119533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0465599949999 meters 0.01579447756092569 Centerline is valid? [True, True] Translation: X:203.26, Y:-110.69, Z:-5.01 [[-6.52666985e-01 -7.57582925e-01 9.69114179e-03 2.03262915e+02] [ 7.57506232e-01 -6.52738860e-01 -1.07837539e-02 -1.10689131e+02] [ 1.44953727e-02 3.02900133e-04 9.99894891e-01 -5.00988467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.106559995 meters 0.01772265027605706 Centerline is valid? [True, True] Translation: X:203.22, Y:-110.65, Z:-5.01 [[-6.49544397e-01 -7.60269578e-01 9.06887410e-03 2.03220200e+02] [ 7.60202741e-01 -6.49607613e-01 -1.00866996e-02 -1.10651598e+02] [ 1.35598205e-02 3.42423766e-04 9.99908003e-01 -5.00956881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.166559995 meters 0.018859602842384377 Centerline is valid? [True, True] Translation: X:203.18, Y:-110.61, Z:-5.01 [[-6.47512520e-01 -7.62003823e-01 8.81537807e-03 2.03177075e+02] [ 7.61940901e-01 -6.47572418e-01 -9.79934630e-03 -1.10611843e+02] [ 1.31757350e-02 3.71597694e-04 9.99913127e-01 -5.00980660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.226559995 meters 0.018632115670440482 Centerline is valid? [True, True] Translation: X:203.14, Y:-110.57, Z:-5.01 [[-6.46761403e-01 -7.62627283e-01 9.96571064e-03 2.03137234e+02] [ 7.62547040e-01 -6.46838029e-01 -1.10714530e-02 -1.10570354e+02] [ 1.48895927e-02 4.38734693e-04 9.99889048e-01 -5.01122147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.286559995 meters 0.01761718185902841 Centerline is valid? [True, True] Translation: X:203.10, Y:-110.53, Z:-5.01 [[-6.47179321e-01 -7.62240123e-01 1.22033104e-02 2.03098854e+02] [ 7.62119881e-01 -6.47294147e-01 -1.35489812e-02 -1.10527416e+02] [ 1.82267085e-02 5.31765024e-04 9.99833738e-01 -5.01324449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.346559995 meters 0.01671737287959345 Centerline is valid? [True, True] Translation: X:203.06, Y:-110.48, Z:-5.01 [[-6.49578764e-01 -7.60199302e-01 1.20187428e-02 2.03060995e+02] [ 7.60082408e-01 -6.49689772e-01 -1.33391445e-02 -1.10482697e+02] [ 1.79488626e-02 4.70409980e-04 9.99838796e-01 -5.01316394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.406559995 meters 0.016817003366409934 Centerline is valid? [True, True] Translation: X:203.02, Y:-110.44, Z:-5.01 [[-6.51953635e-01 -7.58180776e-01 1.08796962e-02 2.03022989e+02] [ 7.58084811e-01 -6.52044298e-01 -1.20687014e-02 -1.10439995e+02] [ 1.62443013e-02 3.79498701e-04 9.99867981e-01 -5.01261800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4665599949999 meters 0.015357627013641103 Centerline is valid? [True, True] Translation: X:202.99, Y:-110.39, Z:-5.01 [[-6.55124206e-01 -7.55454681e-01 1.00249208e-02 2.02987308e+02] [ 7.55372980e-01 -6.55200839e-01 -1.11140387e-02 -1.10394207e+02] [ 1.49644891e-02 2.91478526e-04 9.99887983e-01 -5.01045739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.526559995 meters 0.014050952600506383 Centerline is valid? [True, True] Translation: X:202.95, Y:-110.35, Z:-5.01 [[-6.61071150e-01 -7.50266994e-01 9.18541242e-03 2.02953230e+02] [ 7.50197966e-01 -6.61134942e-01 -1.01784587e-02 -1.10349235e+02] [ 1.37093588e-02 1.62192284e-04 9.99906009e-01 -5.01048845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5865599949999 meters 0.013105802525171665 Centerline is valid? [True, True] Translation: X:202.92, Y:-110.30, Z:-5.01 [[-6.68962065e-01 -7.43237085e-01 9.40169485e-03 2.02920099e+02] [ 7.43164145e-01 -6.69028127e-01 -1.04123997e-02 -1.10301136e+02] [ 1.40288799e-02 2.15021112e-05 9.99901590e-01 -5.01081704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.646559995 meters 0.01342773104953692 Centerline is valid? [True, True] Translation: X:202.89, Y:-110.25, Z:-5.01 [[-6.75097223e-01 -7.37663256e-01 9.83155486e-03 2.02885488e+02] [ 7.37582992e-01 -6.75168802e-01 -1.08820017e-02 -1.10254844e+02] [ 1.46652119e-02 -9.48214538e-05 9.99892456e-01 -5.01072216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7065599949999 meters 0.015214102832347743 Centerline is valid? [True, True] Translation: X:202.85, Y:-110.21, Z:-5.01 [[-6.83589707e-01 -7.29799193e-01 9.91217207e-03 2.02851485e+02] [ 7.29716863e-01 -6.83661517e-01 -1.09649622e-02 -1.10207128e+02] [ 1.47787912e-02 -2.62456206e-04 9.99890753e-01 -5.01039317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.766559995 meters 0.01614411758694769 Centerline is valid? [True, True] Translation: X:202.81, Y:-110.16, Z:-5.01 [[-6.86279669e-01 -7.27273430e-01 9.67339664e-03 2.02813937e+02] [ 7.27194854e-01 -6.86347773e-01 -1.06948620e-02 -1.10162390e+02] [ 1.44174032e-02 -3.05222098e-04 9.99896017e-01 -5.01055871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8265599949999 meters 0.017666452482577345 Centerline is valid? [True, True] Translation: X:202.78, Y:-110.12, Z:-5.01 [[-6.90212916e-01 -7.23548447e-01 9.15286329e-03 2.02777547e+02] [ 7.23477828e-01 -6.90273508e-01 -1.01152139e-02 -1.10117477e+02] [ 1.36368264e-02 -3.59757665e-04 9.99906949e-01 -5.00996245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.886559995 meters 0.018011457284533662 Centerline is valid? [True, True] Translation: X:202.74, Y:-110.08, Z:-5.01 [[-6.93804394e-01 -7.20099046e-01 9.63464911e-03 2.02738399e+02] [ 7.20020556e-01 -6.93871144e-01 -1.06411241e-02 -1.10075067e+02] [ 1.43478683e-02 -4.45713264e-04 9.99896965e-01 -5.00998672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9465599949999 meters 0.01941272039709515 Centerline is valid? [True, True] Translation: X:202.70, Y:-110.03, Z:-5.01 [[-6.95124453e-01 -7.18825279e-01 9.60276022e-03 2.02700677e+02] [ 7.18747255e-01 -6.95190621e-01 -1.06010949e-02 -1.10032864e+02] [ 1.42960838e-02 -4.67122729e-04 9.99897697e-01 -5.01156440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.006559995 meters 0.018530624962760898 Centerline is valid? [True, True] Translation: X:202.66, Y:-109.99, Z:-5.01 [[-6.94051239e-01 -7.19873020e-01 8.70132337e-03 2.02658699e+02] [ 7.19809110e-01 -6.94105666e-01 -9.60056417e-03 -1.09992326e+02] [ 1.29508250e-02 -3.99991630e-04 9.99916055e-01 -5.01093416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0665599949999 meters 0.016870583714709196 Centerline is valid? [True, True] Translation: X:202.61, Y:-109.95, Z:-5.01 [[-6.90073018e-01 -7.23703498e-01 7.24408867e-03 2.02614909e+02] [ 7.23659463e-01 -6.90110986e-01 -7.98802941e-03 -1.09953762e+02] [ 1.07801900e-02 -2.70070245e-04 9.99941856e-01 -5.00978642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.126559995 meters 0.014985021914543421 Centerline is valid? [True, True] Translation: X:202.57, Y:-109.92, Z:-5.01 [[-6.85702964e-01 -7.27852733e-01 6.46869419e-03 2.02570797e+02] [ 7.27817844e-01 -6.85733451e-01 -7.12879468e-03 -1.09915911e+02] [ 9.62451268e-03 -1.80204589e-04 9.99953667e-01 -5.00910376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1865599949999 meters 0.012928820633061054 Centerline is valid? [True, True] Translation: X:202.52, Y:-109.88, Z:-5.01 [[-6.76977929e-01 -7.35983033e-01 5.46431948e-03 2.02523254e+02] [ 7.35958429e-01 -6.76999979e-01 -6.01819888e-03 -1.09882839e+02] [ 8.12863644e-03 -5.26758367e-05 9.99966961e-01 -5.00986772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.246559995 meters 0.012479427526814222 Centerline is valid? [True, True] Translation: X:202.48, Y:-109.85, Z:-5.01 [[-6.71059900e-01 -7.41385377e-01 5.13165992e-03 2.02478158e+02] [ 7.41363860e-01 -6.71079520e-01 -5.64837236e-03 -1.09846816e+02] [ 7.63137255e-03 1.40310208e-05 9.99970881e-01 -5.00999983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3065599949999 meters 0.013573076115400115 Centerline is valid? [True, True] Translation: X:202.43, Y:-109.81, Z:-5.01 [[-6.63811153e-01 -7.47879130e-01 5.61783901e-03 2.02431855e+02] [ 7.47853604e-01 -6.63834917e-01 -6.17990538e-03 -1.09810918e+02] [ 8.35113996e-03 9.90310353e-05 9.99965124e-01 -5.01049242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.366559995 meters 0.014215135310834818 Centerline is valid? [True, True] Translation: X:202.39, Y:-109.77, Z:-5.01 [[-6.60335350e-01 -7.50944828e-01 6.25218688e-03 2.02390115e+02] [ 7.50913384e-01 -6.60364930e-01 -6.87377610e-03 -1.09770662e+02] [ 9.29055156e-03 1.55853458e-04 9.99956830e-01 -5.01004807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4265599949999 meters 0.016360761599352194 Centerline is valid? [True, True] Translation: X:202.35, Y:-109.73, Z:-5.01 [[-6.56802926e-01 -7.54025383e-01 7.45915808e-03 2.02346664e+02] [ 7.53980866e-01 -6.56845236e-01 -8.19694065e-03 -1.09734015e+02] [ 1.10802138e-02 2.40287864e-04 9.99938584e-01 -5.01266041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.486559995 meters 0.016708595862984236 Centerline is valid? [True, True] Translation: X:202.31, Y:-109.69, Z:-5.01 [[-6.56017525e-01 -7.54695824e-01 8.67298594e-03 2.02306388e+02] [ 7.54635765e-01 -6.56074787e-01 -9.52556521e-03 -1.09691644e+02] [ 1.28790317e-02 2.96007664e-04 9.99917018e-01 -5.01412458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5465599949999 meters 0.015702272369846018 Centerline is valid? [True, True] Translation: X:202.27, Y:-109.65, Z:-5.01 [[-6.56834868e-01 -7.53971862e-01 9.71537648e-03 2.02269514e+02] [ 7.53896507e-01 -6.56906637e-01 -1.06643179e-02 -1.09646352e+02] [ 1.44226909e-02 3.19692573e-04 9.99895936e-01 -5.01412032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.606559995 meters 0.01490140062977713 Centerline is valid? [True, True] Translation: X:202.23, Y:-109.60, Z:-5.01 [[-6.59429103e-01 -7.51709686e-01 9.26312950e-03 2.02234385e+02] [ 7.51641041e-01 -6.59494108e-01 -1.01620459e-02 -1.09599688e+02] [ 1.37478877e-02 2.61399497e-04 9.99905459e-01 -5.01220698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.666559995 meters 0.01419125868830385 Centerline is valid? [True, True] Translation: X:202.20, Y:-109.55, Z:-5.01 [[-6.62544702e-01 -7.48971743e-01 8.70901360e-03 2.02199795e+02] [ 7.48910894e-01 -6.62601909e-01 -9.54897486e-03 -1.09551888e+02] [ 1.29225214e-02 1.95652461e-04 9.99916482e-01 -5.01083269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.726559995 meters 0.013755149861886501 Centerline is valid? [True, True] Translation: X:202.16, Y:-109.51, Z:-5.01 [[-6.64144575e-01 -7.47556250e-01 8.46382459e-03 2.02163407e+02] [ 7.47498731e-01 -6.64198483e-01 -9.27477985e-03 -1.09506568e+02] [ 1.25550791e-02 1.66903422e-04 9.99921168e-01 -5.01029908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.786559995 meters 0.013620962925902515 Centerline is valid? [True, True] Translation: X:202.13, Y:-109.46, Z:-5.01 [[-6.65692638e-01 -7.46176175e-01 8.62715731e-03 2.02128028e+02] [ 7.46116370e-01 -6.65748522e-01 -9.44818327e-03 -1.09461678e+02] [ 1.27935265e-02 1.47277252e-04 9.99918149e-01 -5.01109608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.846559995 meters 0.013316583705091983 Centerline is valid? [True, True] Translation: X:202.09, Y:-109.42, Z:-5.01 [[-6.67107898e-01 -7.44906780e-01 8.99678684e-03 2.02091881e+02] [ 7.44841700e-01 -6.67168549e-01 -9.84731756e-03 -1.09416317e+02] [ 1.33377068e-02 1.31958690e-04 9.99911040e-01 -5.01108812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.906559995 meters 0.01319066359222133 Centerline is valid? [True, True] Translation: X:202.06, Y:-109.37, Z:-5.01 [[-6.69521992e-01 -7.42735878e-01 9.14975509e-03 2.02058337e+02] [ 7.42668455e-01 -6.69584503e-01 -1.00080076e-02 -1.09370668e+02] [ 1.35598406e-02 9.46532653e-05 9.99908057e-01 -5.01241759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9665599949999 meters 0.012991320032362091 Centerline is valid? [True, True] Translation: X:202.02, Y:-109.32, Z:-5.01 [[-6.72337790e-01 -7.40192743e-01 8.75207229e-03 2.02024652e+02] [ 7.40130915e-01 -6.72394751e-01 -9.56700323e-03 -1.09323399e+02] [ 1.29662738e-02 4.54214617e-05 9.99915933e-01 -5.01205230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.026559995 meters 0.013027422945278878 Centerline is valid? [True, True] Translation: X:201.99, Y:-109.28, Z:-5.01 [[-6.74289741e-01 -7.38418362e-01 8.46569843e-03 2.01989445e+02] [ 7.38360446e-01 -6.74342882e-01 -9.24822177e-03 -1.09278437e+02] [ 1.25378402e-02 1.47558074e-05 9.99921398e-01 -5.01205160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0865599949999 meters 0.013122411081319556 Centerline is valid? [True, True] Translation: X:201.96, Y:-109.23, Z:-5.01 [[-6.76358889e-01 -7.36528672e-01 8.01054343e-03 2.01956286e+02] [ 7.36476733e-01 -6.76406324e-01 -8.74682445e-03 -1.09233054e+02] [ 1.18606692e-02 -1.64136120e-05 9.99929660e-01 -5.01230259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.146559995 meters 0.01297626343229383 Centerline is valid? [True, True] Translation: X:201.92, Y:-109.19, Z:-5.01 [[-6.77473001e-01 -7.35502331e-01 8.16424849e-03 2.01919325e+02] [ 7.35448367e-01 -6.77522192e-01 -8.90951411e-03 -1.09188057e+02] [ 1.20844279e-02 -3.15720425e-05 9.99926980e-01 -5.01170754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2065599949999 meters 0.013223605905744125 Centerline is valid? [True, True] Translation: X:201.88, Y:-109.14, Z:-5.01 [[-6.78798814e-01 -7.34277997e-01 8.24576448e-03 2.01884836e+02] [ 7.34222926e-01 -6.78848894e-01 -8.99304191e-03 -1.09142483e+02] [ 1.22010209e-02 -5.02368613e-05 9.99925564e-01 -5.01243799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.266559995 meters 0.013259359409698428 Centerline is valid? [True, True] Translation: X:201.85, Y:-109.10, Z:-5.01 [[-6.79562685e-01 -7.33578111e-01 7.59678816e-03 2.01848488e+02] [ 7.33531383e-01 -6.79605144e-01 -8.27998303e-03 -1.09098578e+02] [ 1.12368306e-02 -5.42849770e-05 9.99936863e-01 -5.01167887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3265599949999 meters 0.013237329757827402 Centerline is valid? [True, True] Translation: X:201.81, Y:-109.05, Z:-5.01 [[-6.79936448e-01 -7.33240469e-01 6.69631695e-03 2.01812769e+02] [ 7.33204194e-01 -6.79969420e-01 -7.29371395e-03 -1.09054458e+02] [ 9.90133699e-03 -4.94942876e-05 9.99950979e-01 -5.01173483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.386559995 meters 0.013068304775762313 Centerline is valid? [True, True] Translation: X:201.77, Y:-109.01, Z:-5.01 [[-6.78277836e-01 -7.34789043e-01 4.92339759e-03 2.01772960e+02] [ 7.34769495e-01 -6.78295704e-01 -5.35971006e-03 -1.09012649e+02] [ 7.27777566e-03 -1.78101848e-05 9.99973517e-01 -5.01175835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4465599949999 meters 0.012965466527227215 Centerline is valid? [True, True] Translation: X:201.73, Y:-108.97, Z:-5.01 [[-6.75765441e-01 -7.37105292e-01 4.10584598e-03 2.01733060e+02] [ 7.37091757e-01 -6.75777914e-01 -4.46694863e-03 -1.08972055e+02] [ 6.06725151e-03 7.77571498e-06 9.99981594e-01 -5.01229557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.506559995 meters 0.01303529788189852 Centerline is valid? [True, True] Translation: X:201.69, Y:-108.93, Z:-5.01 [[-6.75490865e-01 -7.37357451e-01 4.00996816e-03 2.01694410e+02] [ 7.37344561e-01 -6.75502768e-01 -4.35994533e-03 -1.08930308e+02] [ 5.92358276e-03 1.16249717e-05 9.99982455e-01 -5.01270076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5665599949999 meters 0.013195006445850943 Centerline is valid? [True, True] Translation: X:201.66, Y:-108.89, Z:-5.01 [[-6.74428479e-01 -7.38330580e-01 3.76585984e-03 2.01657159e+02] [ 7.38319242e-01 -6.74438992e-01 -4.09190695e-03 -1.08888492e+02] [ 5.56102275e-03 2.07081994e-05 9.99984537e-01 -5.01364081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.626559995 meters 0.013386457031548614 Centerline is valid? [True, True] Translation: X:201.62, Y:-108.85, Z:-5.01 [[-6.73102246e-01 -7.39541055e-01 3.52056004e-03 2.01616860e+02] [ 7.39531174e-01 -6.73111452e-01 -3.82308567e-03 -1.08847734e+02] [ 5.19705809e-03 3.02363481e-05 9.99986495e-01 -5.01359425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6865599949999 meters 0.013587355328021676 Centerline is valid? [True, True] Translation: X:201.58, Y:-108.81, Z:-5.01 [[-6.71529212e-01 -7.40972159e-01 2.96260118e-03 2.01576162e+02] [ 7.40965184e-01 -6.71535746e-01 -3.21534902e-03 -1.08806044e+02] [ 4.37197670e-03 3.59835387e-05 9.99990442e-01 -5.01312713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.746559995 meters 0.013956840546751257 Centerline is valid? [True, True] Translation: X:201.53, Y:-108.77, Z:-5.01 [[-6.69788791e-01 -7.42544917e-01 3.16583876e-03 2.01533443e+02] [ 7.42536978e-01 -6.69796270e-01 -3.43394211e-03 -1.08766659e+02] [ 4.67032325e-03 5.07364127e-05 9.99989093e-01 -5.01454662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8065599949999 meters 0.014422962490642482 Centerline is valid? [True, True] Translation: X:201.49, Y:-108.73, Z:-5.02 [[-6.69619322e-01 -7.42696554e-01 3.43399276e-03 2.01493095e+02] [ 7.42687229e-01 -6.69628124e-01 -3.72229741e-03 -1.08727205e+02] [ 5.06403559e-03 5.78603017e-05 9.99987176e-01 -5.01615519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.866559995 meters 0.013899688329961708 Centerline is valid? [True, True] Translation: X:201.45, Y:-108.68, Z:-5.02 [[-6.70788374e-01 -7.41641055e-01 3.39158991e-03 2.01454691e+02] [ 7.41631956e-01 -6.70796946e-01 -3.67422829e-03 -1.08683030e+02] [ 5.00002670e-03 5.06818364e-05 9.99987499e-01 -5.01589274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9265599949999 meters 0.013875493852923724 Centerline is valid? [True, True] Translation: X:201.42, Y:-108.64, Z:-5.02 [[-6.71591804e-01 -7.40912680e-01 3.58466637e-03 2.01415906e+02] [ 7.40902517e-01 -6.71601369e-01 -3.88091990e-03 -1.08641459e+02] [ 5.28288960e-03 4.94943369e-05 9.99986044e-01 -5.01659841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.986559995 meters 0.013725853319858386 Centerline is valid? [True, True] Translation: X:201.38, Y:-108.60, Z:-5.02 [[-6.72328020e-01 -7.40243977e-01 3.72661534e-03 2.01376562e+02] [ 7.40232997e-01 -6.72338347e-01 -4.03202565e-03 -1.08599443e+02] [ 5.49022910e-03 4.77198185e-05 9.99984927e-01 -5.01827363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0465599949999 meters 0.013768928691324013 Centerline is valid? [True, True] Translation: X:201.34, Y:-108.56, Z:-5.02 [[-6.72001280e-01 -7.40543840e-01 3.01680000e-03 2.01338004e+02] [ 7.40536656e-01 -6.72008050e-01 -3.26217590e-03 -1.08556332e+02] [ 4.44309815e-03 4.18646064e-05 9.99990129e-01 -5.01832186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.106559995 meters 0.01406245213108291 Centerline is valid? [True, True] Translation: X:201.30, Y:-108.51, Z:-5.02 [[-6.70410509e-01 -7.41986610e-01 2.37073341e-03 2.01298851e+02] [ 7.41982188e-01 -6.70414699e-01 -2.56199851e-03 -1.08514066e+02] [ 3.49034312e-03 4.14512421e-05 9.99993908e-01 -5.01771564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.166559995 meters 0.014514530621526231 Centerline is valid? [True, True] Translation: X:201.26, Y:-108.47, Z:-5.02 [[-6.68739305e-01 -7.43493806e-01 2.16871169e-03 2.01258626e+02] [ 7.43490117e-01 -6.68742820e-01 -2.34233172e-03 -1.08472603e+02] [ 3.19181950e-03 4.60064219e-05 9.99994905e-01 -5.01773655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.226559995 meters 0.015561113366136801 Centerline is valid? [True, True] Translation: X:201.22, Y:-108.43, Z:-5.02 [[-6.65506943e-01 -7.46389298e-01 1.87760241e-03 2.01216258e+02] [ 7.46386548e-01 -6.65509589e-01 -2.02675874e-03 -1.08432229e+02] [ 2.76231344e-03 5.25951657e-05 9.99996183e-01 -5.01784380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.286559995 meters 0.016458715538454346 Centerline is valid? [True, True] Translation: X:201.17, Y:-108.39, Z:-5.02 [[-6.63376538e-01 -7.48282929e-01 2.05594374e-03 2.01173989e+02] [ 7.48279645e-01 -6.63379720e-01 -2.21800278e-03 -1.08391799e+02] [ 3.02356500e-03 6.70498428e-05 9.99995427e-01 -5.01832442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.346559995 meters 0.017043825694534546 Centerline is valid? [True, True] Translation: X:201.13, Y:-108.35, Z:-5.02 [[-6.60673138e-01 -7.50669259e-01 2.58207760e-03 2.01132755e+02] [ 7.50664104e-01 -6.60678177e-01 -2.78388226e-03 -1.08351653e+02] [ 3.79569715e-03 9.90367351e-05 9.99992791e-01 -5.01897643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.406559995 meters 0.01801220370732704 Centerline is valid? [True, True] Translation: X:201.09, Y:-108.31, Z:-5.02 [[-6.60177205e-01 -7.51104202e-01 2.92152448e-03 2.01091616e+02] [ 7.51097614e-01 -6.60183660e-01 -3.14794254e-03 -1.08311738e+02] [ 4.29317559e-03 1.16150155e-04 9.99990778e-01 -5.02025159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4665599949999 meters 0.017320530206145265 Centerline is valid? [True, True] Translation: X:201.05, Y:-108.27, Z:-5.02 [[-6.60876767e-01 -7.50489109e-01 2.82771514e-03 2.01053402e+02] [ 7.50482940e-01 -6.60882807e-01 -3.04510614e-03 -1.08268027e+02] [ 4.15410731e-03 1.09712074e-04 9.99991366e-01 -5.02010417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.526559995 meters 0.017135343482333115 Centerline is valid? [True, True] Translation: X:201.02, Y:-108.22, Z:-5.02 [[-6.62435076e-01 -7.49114441e-01 2.70640873e-03 2.01015551e+02] [ 7.49108784e-01 -6.62440598e-01 -2.91281820e-03 -1.08224041e+02] [ 3.97486919e-03 9.78416083e-05 9.99992095e-01 -5.01989114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5865599949999 meters 0.016489088162468052 Centerline is valid? [True, True] Translation: X:200.98, Y:-108.18, Z:-5.02 [[-6.63780164e-01 -7.47923187e-01 2.60773675e-03 2.00977648e+02] [ 7.47917933e-01 -6.63785280e-01 -2.80501267e-03 -1.08180039e+02] [ 3.82891129e-03 8.84613074e-05 9.99992666e-01 -5.01944343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.646559995 meters 0.015794817984975992 Centerline is valid? [True, True] Translation: X:200.94, Y:-108.14, Z:-5.02 [[-6.66426062e-01 -7.45567244e-01 2.40598698e-03 2.00939619e+02] [ 7.45562761e-01 -6.66430402e-01 -2.58653001e-03 -1.08136626e+02] [ 3.53185492e-03 7.00832861e-05 9.99993761e-01 -5.01956833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7065599949999 meters 0.015359262578577152 Centerline is valid? [True, True] Translation: X:200.90, Y:-108.09, Z:-5.02 [[-6.68391495e-01 -7.43807051e-01 1.96975365e-03 2.00901441e+02] [ 7.43804042e-01 -6.68394395e-01 -2.11637312e-03 -1.08092694e+02] [ 2.89074555e-03 5.05449357e-05 9.99995821e-01 -5.01893913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.766559995 meters 0.014597512942592898 Centerline is valid? [True, True] Translation: X:200.86, Y:-108.05, Z:-5.02 [[-6.70166070e-01 -7.42209559e-01 1.55196533e-03 2.00863728e+02] [ 7.42207689e-01 -6.70167866e-01 -1.66652838e-03 -1.08047964e+02] [ 2.27699059e-03 3.50298284e-05 9.99997407e-01 -5.01773576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8265599949999 meters 0.014365319592655995 Centerline is valid? [True, True] Translation: X:200.82, Y:-108.01, Z:-5.02 [[-6.70975025e-01 -7.41478633e-01 1.39743597e-03 2.00824522e+02] [ 7.41477117e-01 -6.70976480e-01 -1.49972577e-03 -1.08005388e+02] [ 2.04966128e-03 2.98882559e-05 9.99997899e-01 -5.01795348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.886559995 meters 0.014249216809208863 Centerline is valid? [True, True] Translation: X:200.78, Y:-107.96, Z:-5.02 [[-6.71364023e-01 -7.41124650e-01 2.14531439e-03 2.00784302e+02] [ 7.41121079e-01 -6.71367449e-01 -2.30100884e-03 -1.07964083e+02] [ 3.14562863e-03 4.51231660e-05 9.99995052e-01 -5.01966997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9465599949999 meters 0.014209400054582835 Centerline is valid? [True, True] Translation: X:200.74, Y:-107.92, Z:-5.02 [[-6.71118165e-01 -7.41341413e-01 3.64940257e-03 2.00744074e+02] [ 7.41331096e-01 -6.71128083e-01 -3.91198124e-03 -1.07922580e+02] [ 5.34933025e-03 8.00139350e-05 9.99985689e-01 -5.02132918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.006559995 meters 0.014597649103593045 Centerline is valid? [True, True] Translation: X:200.70, Y:-107.88, Z:-5.02 [[-6.71283470e-01 -7.41186980e-01 4.51250259e-03 2.00704303e+02] [ 7.41171224e-01 -6.71298630e-01 -4.83391217e-03 -1.07882556e+02] [ 6.61206957e-03 9.96117297e-05 9.99978135e-01 -5.02264911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0665599949999 meters 0.014285847036235866 Centerline is valid? [True, True] Translation: X:200.66, Y:-107.84, Z:-5.02 [[-6.71871540e-01 -7.40651838e-01 4.84649511e-03 2.00664867e+02] [ 7.40633672e-01 -6.71889012e-01 -5.18838397e-03 -1.07840385e+02] [ 7.09909294e-03 1.03549946e-04 9.99974796e-01 -5.02286234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.126559995 meters 0.013880706772926594 Centerline is valid? [True, True] Translation: X:200.63, Y:-107.80, Z:-5.02 [[-6.73174074e-01 -7.39470958e-01 4.40086062e-03 2.00626023e+02] [ 7.39455972e-01 -6.73188454e-01 -4.70862291e-03 -1.07797057e+02] [ 6.44449845e-03 8.45197993e-05 9.99979230e-01 -5.02206877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1865599949999 meters 0.013520242669975677 Centerline is valid? [True, True] Translation: X:200.59, Y:-107.75, Z:-5.02 [[-6.75482273e-01 -7.37365568e-01 3.96458282e-03 2.00587223e+02] [ 7.37353378e-01 -6.75493905e-01 -4.24033525e-03 -1.07753120e+02] [ 5.80472874e-03 5.90272381e-05 9.99983151e-01 -5.02114788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.246559995 meters 0.013191426545691552 Centerline is valid? [True, True] Translation: X:200.55, Y:-107.71, Z:-5.02 [[-6.77299828e-01 -7.35697948e-01 3.67056142e-03 2.00549362e+02] [ 7.35687487e-01 -6.77309772e-01 -3.92341740e-03 -1.07710787e+02] [ 5.37255725e-03 4.30561750e-05 9.99985567e-01 -5.02130117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3065599949999 meters 0.012880355686726219 Centerline is valid? [True, True] Translation: X:200.51, Y:-107.67, Z:-5.02 [[-6.79021052e-01 -7.34112006e-01 3.15812064e-03 2.00511407e+02] [ 7.34104255e-01 -6.79028395e-01 -3.37353394e-03 -1.07667370e+02] [ 4.62100536e-03 2.76892352e-05 9.99989323e-01 -5.02046335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.366559995 meters 0.013133383523508966 Centerline is valid? [True, True] Translation: X:200.47, Y:-107.63, Z:-5.02 [[-6.78876646e-01 -7.34246326e-01 2.97195836e-03 2.00471753e+02] [ 7.34239472e-01 -6.78883151e-01 -3.17257939e-03 -1.07627625e+02] [ 4.34706722e-03 2.83390875e-05 9.99990551e-01 -5.02056397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4265599949999 meters 0.01338533761972814 Centerline is valid? [True, True] Translation: X:200.43, Y:-107.59, Z:-5.02 [[-6.76516236e-01 -7.36415276e-01 4.28055852e-03 2.00430132e+02] [ 7.36401118e-01 -6.76529775e-01 -4.56697321e-03 -1.07587295e+02] [ 6.25911413e-03 6.25765490e-05 9.99980410e-01 -5.02154830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.486559995 meters 0.014216065365337097 Centerline is valid? [True, True] Translation: X:200.39, Y:-107.55, Z:-5.02 [[-6.73191412e-01 -7.39446760e-01 5.64032131e-03 2.00386943e+02] [ 7.39422310e-01 -6.73215029e-01 -6.01434565e-03 -1.07548166e+02] [ 8.24443748e-03 1.21773573e-04 9.99966007e-01 -5.02393432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5465599949999 meters 0.014581579194159444 Centerline is valid? [True, True] Translation: X:200.35, Y:-107.51, Z:-5.02 [[-6.72003023e-01 -7.40524248e-01 5.98119495e-03 2.00346279e+02] [ 7.40496828e-01 -6.72029625e-01 -6.37424443e-03 -1.07507203e+02] [ 8.73982276e-03 1.45544359e-04 9.99961796e-01 -5.02399610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.606559995 meters 0.01561560792856572 Centerline is valid? [True, True] Translation: X:200.30, Y:-107.47, Z:-5.02 [[-6.69523517e-01 -7.42763095e-01 6.42220650e-03 2.00303242e+02] [ 7.42731620e-01 -6.69554291e-01 -6.84042449e-03 -1.07467814e+02] [ 9.38083079e-03 1.90150779e-04 9.99955981e-01 -5.02325464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.666559995 meters 0.016103205987189204 Centerline is valid? [True, True] Translation: X:200.26, Y:-107.43, Z:-5.02 [[-6.70237578e-01 -7.42122985e-01 5.92152130e-03 2.00263380e+02] [ 7.42096238e-01 -6.70263714e-01 -6.30302378e-03 -1.07428319e+02] [ 8.64659968e-03 1.69815287e-04 9.99962603e-01 -5.02303922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.726559995 meters 0.014738687796006969 Centerline is valid? [True, True] Translation: X:200.23, Y:-107.38, Z:-5.02 [[-6.72121380e-01 -7.40422677e-01 5.20676387e-03 2.00225841e+02] [ 7.40401969e-01 -6.72141534e-01 -5.53911366e-03 -1.07384060e+02] [ 7.60096762e-03 1.32141509e-04 9.99971104e-01 -5.02042165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.786559995 meters 0.013732043500213054 Centerline is valid? [True, True] Translation: X:200.19, Y:-107.34, Z:-5.02 [[-6.75972909e-01 -7.36913923e-01 4.30070365e-03 2.00188038e+02] [ 7.36899740e-01 -6.75986586e-01 -4.57262265e-03 -1.07339865e+02] [ 6.27684727e-03 7.82183718e-05 9.99980297e-01 -5.01809230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.846559995 meters 0.013025239545087348 Centerline is valid? [True, True] Translation: X:200.15, Y:-107.30, Z:-5.02 [[-6.80069085e-01 -7.33136038e-01 4.19398715e-03 2.00149810e+02] [ 7.33122493e-01 -6.80082016e-01 -4.45661794e-03 -1.07295563e+02] [ 6.11956245e-03 4.38982277e-05 9.99981274e-01 -5.01753202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.906559995 meters 0.012796018764125196 Centerline is valid? [True, True] Translation: X:200.11, Y:-107.25, Z:-5.02 [[-6.82678997e-01 -7.30705722e-01 4.30508625e-03 2.00111341e+02] [ 7.30691420e-01 -6.82692571e-01 -4.57193418e-03 -1.07252464e+02] [ 6.27978887e-03 2.45261396e-05 9.99980282e-01 -5.01682443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9665599949999 meters 0.012878223454432042 Centerline is valid? [True, True] Translation: X:200.07, Y:-107.21, Z:-5.02 [[-6.84373306e-01 -7.29103748e-01 6.39556578e-03 2.00070610e+02] [ 7.29072148e-01 -6.84403189e-01 -6.78808870e-03 -1.07210809e+02] [ 9.32636653e-03 1.72421840e-05 9.99956508e-01 -5.01798744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.026559995 meters 0.013015937101415218 Centerline is valid? [True, True] Translation: X:200.03, Y:-107.17, Z:-5.02 [[-6.85556258e-01 -7.27980373e-01 7.56264584e-03 2.00030652e+02] [ 7.27936169e-01 -6.85597970e-01 -8.02224400e-03 -1.07169106e+02] [ 1.10249708e-02 5.42385946e-06 9.99939223e-01 -5.01854509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0865599949999 meters 0.0130872520750483 Centerline is valid? [True, True] Translation: X:199.99, Y:-107.13, Z:-5.02 [[-6.87348062e-01 -7.26283861e-01 8.02465822e-03 1.99990046e+02] [ 7.26234039e-01 -6.87394903e-01 -8.50695785e-03 -1.07128885e+02] [ 1.16945754e-02 -1.94610427e-05 9.99931616e-01 -5.01775802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.146559995 meters 0.01329673454700121 Centerline is valid? [True, True] Translation: X:199.95, Y:-107.09, Z:-5.02 [[-6.89864793e-01 -7.23891085e-01 8.26226583e-03 1.99950390e+02] [ 7.23838156e-01 -6.89914266e-01 -8.75385183e-03 -1.07086999e+02] [ 1.20370904e-02 -5.84309176e-05 9.99927550e-01 -5.01573113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2065599949999 meters 0.013432359087304618 Centerline is valid? [True, True] Translation: X:199.91, Y:-107.05, Z:-5.01 [[-6.91410810e-01 -7.22416367e-01 8.10458351e-03 1.99910791e+02] [ 7.22365395e-01 -6.91458304e-01 -8.58191763e-03 -1.07045147e+02] [ 1.18036993e-02 -7.91599539e-05 9.99930331e-01 -5.01464922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.266559995 meters 0.013604709839415825 Centerline is valid? [True, True] Translation: X:199.87, Y:-107.01, Z:-5.01 [[-6.91257354e-01 -7.22553336e-01 8.94131377e-03 1.99868417e+02] [ 7.22491385e-01 -6.91315174e-01 -9.46195395e-03 -1.07006030e+02] [ 1.30180323e-02 -8.06230789e-05 9.99915259e-01 -5.01458297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3265599949999 meters 0.013416903629544808 Centerline is valid? [True, True] Translation: X:199.82, Y:-106.97, Z:-5.01 [[-6.89041385e-01 -7.24653071e-01 9.99480317e-03 1.99824383e+02] [ 7.24575978e-01 -6.89113869e-01 -1.05701337e-02 -1.06968668e+02] [ 1.45472373e-02 -4.12652867e-05 9.99894183e-01 -5.01498259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.386559995 meters 0.013361467014110331 Centerline is valid? [True, True] Translation: X:199.78, Y:-106.93, Z:-5.01 [[-6.88042099e-01 -7.25601638e-01 1.00166276e-02 1.99783725e+02] [ 7.25524404e-01 -6.88115007e-01 -1.05866353e-02 -1.06928709e+02] [ 1.45742716e-02 -1.67430104e-05 9.99893790e-01 -5.01485200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4465599949999 meters 0.013439860785335676 Centerline is valid? [True, True] Translation: X:199.74, Y:-106.89, Z:-5.01 [[-6.85099768e-01 -7.28381927e-01 9.90339929e-03 1.99740960e+02] [ 7.28306812e-01 -6.85171341e-01 -1.04604635e-02 -1.06890331e+02] [ 1.44047379e-02 4.62520544e-05 9.99896245e-01 -5.01371561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.506559995 meters 0.01381404159722416 Centerline is valid? [True, True] Translation: X:199.69, Y:-106.85, Z:-5.01 [[-6.80573468e-01 -7.32617354e-01 9.56902631e-03 1.99694926e+02] [ 7.32547722e-01 -6.80640723e-01 -1.01015482e-02 -1.06853743e+02] [ 1.39136385e-02 1.34922718e-04 9.99903192e-01 -5.01266034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5665599949999 meters 0.01457918047140387 Centerline is valid? [True, True] Translation: X:199.65, Y:-106.82, Z:-5.01 [[-6.76189294e-01 -7.36663677e-01 9.72963582e-03 1.99648999e+02] [ 7.36592187e-01 -6.76259252e-01 -1.02651995e-02 -1.06816965e+02] [ 1.41417558e-02 2.25555737e-04 9.99899975e-01 -5.01318795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.626559995 meters 0.015014204847603073 Centerline is valid? [True, True] Translation: X:199.61, Y:-106.78, Z:-5.01 [[-6.73979828e-01 -7.38680705e-01 1.00998736e-02 1.99606483e+02] [ 7.38603981e-01 -6.74055440e-01 -1.06500329e-02 -1.06776920e+02] [ 1.46748485e-02 2.81899477e-04 9.99892279e-01 -5.01292054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6865599949999 meters 0.01768320502169503 Centerline is valid? [True, True] Translation: X:199.56, Y:-106.74, Z:-5.02 [[-6.71131454e-01 -7.41254577e-01 1.11455484e-02 1.99560737e+02] [ 7.41161612e-01 -6.71223889e-01 -1.17454758e-02 -1.06741410e+02] [ 1.61875460e-02 3.77894365e-04 9.99868902e-01 -5.01630014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.746559995 meters 0.016778619599846268 Centerline is valid? [True, True] Translation: X:199.52, Y:-106.70, Z:-5.02 [[-6.70278051e-01 -7.42006343e-01 1.24065090e-02 1.99519251e+02] [ 7.41891413e-01 -6.70392712e-01 -1.30668955e-02 -1.06700240e+02] [ 1.80129526e-02 4.45829202e-04 9.99837654e-01 -5.01679969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8065599949999 meters 0.015849017337575027 Centerline is valid? [True, True] Translation: X:199.48, Y:-106.66, Z:-5.01 [[-6.72230817e-01 -7.40239921e-01 1.22714290e-02 1.99479359e+02] [ 7.40127317e-01 -6.72342696e-01 -1.29172155e-02 -1.06657947e+02] [ 1.78124442e-02 3.99069503e-04 9.99841266e-01 -5.01469620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.866559995 meters 0.016018181039029446 Centerline is valid? [True, True] Translation: X:199.44, Y:-106.62, Z:-5.02 [[-6.73498470e-01 -7.39093303e-01 1.18701373e-02 1.99439422e+02] [ 7.38987886e-01 -6.73602969e-01 -1.24877746e-02 -1.06617102e+02] [ 1.72253903e-02 3.61390600e-04 9.99851567e-01 -5.01521565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9265599949999 meters 0.015562003464180374 Centerline is valid? [True, True] Translation: X:199.40, Y:-106.58, Z:-5.01 [[-6.74430809e-01 -7.38242708e-01 1.18654056e-02 1.99400351e+02] [ 7.38137380e-01 -6.74535088e-01 -1.24748919e-02 -1.06575302e+02] [ 1.72131304e-02 3.44847973e-04 9.99851784e-01 -5.01465157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.986559995 meters 0.014959675519695341 Centerline is valid? [True, True] Translation: X:199.36, Y:-106.53, Z:-5.01 [[-6.76563351e-01 -7.36290013e-01 1.17919160e-02 1.99362347e+02] [ 7.36185807e-01 -6.76666039e-01 -1.23906858e-02 -1.06531765e+02] [ 1.71023273e-02 2.97957339e-04 9.99853700e-01 -5.01431079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0465599949999 meters 0.01424226428231584 Centerline is valid? [True, True] Translation: X:199.33, Y:-106.49, Z:-5.01 [[-6.78622266e-01 -7.34385810e-01 1.22189022e-02 1.99325827e+02] [ 7.34273741e-01 -6.78732209e-01 -1.28320445e-02 -1.06486191e+02] [ 1.77170339e-02 2.63907873e-04 9.99843006e-01 -5.01305339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.106559995 meters 0.014183134798568215 Centerline is valid? [True, True] Translation: X:199.29, Y:-106.44, Z:-5.01 [[-6.81237773e-01 -7.31954458e-01 1.25605883e-02 1.99288684e+02] [ 7.31835754e-01 -6.81353526e-01 -1.31834209e-02 -1.06442354e+02] [ 1.82078649e-02 2.11243327e-04 9.99834201e-01 -5.01485527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.166559995 meters 0.013288267620172732 Centerline is valid? [True, True] Translation: X:199.25, Y:-106.40, Z:-5.01 [[-6.84137985e-01 -7.29255458e-01 1.19035722e-02 1.99252100e+02] [ 7.29148558e-01 -6.84241521e-01 -1.24868381e-02 -1.06396787e+02] [ 1.72510132e-02 1.36752272e-04 9.99851181e-01 -5.01298752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.226559995 meters 0.012910381692295643 Centerline is valid? [True, True] Translation: X:199.22, Y:-106.35, Z:-5.01 [[-6.88286416e-01 -7.25340210e-01 1.19744945e-02 1.99216241e+02] [ 7.25231561e-01 -6.88390571e-01 -1.25541174e-02 -1.06350662e+02] [ 1.73491352e-02 4.34528402e-05 9.99849492e-01 -5.01185557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.286559995 meters 0.013636915437020804 Centerline is valid? [True, True] Translation: X:199.18, Y:-106.30, Z:-5.01 [[-6.96808364e-01 -7.17161878e-01 1.17023763e-02 1.99183951e+02] [ 7.17057059e-01 -6.96906606e-01 -1.22619762e-02 -1.06301029e+02] [ 1.69492853e-02 -1.52976026e-04 9.99856339e-01 -5.01128907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.346559995 meters 0.01505465359656048 Centerline is valid? [True, True] Translation: X:199.15, Y:-106.25, Z:-5.01 [[-7.04858959e-01 -7.09262153e-01 1.10021414e-02 1.99149490e+02] [ 7.09168638e-01 -7.04944748e-01 -1.15215642e-02 -1.06253410e+02] [ 1.59277112e-02 -3.18704113e-04 9.99873095e-01 -5.00883930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.406559995 meters 0.016581527747070397 Centerline is valid? [True, True] Translation: X:199.11, Y:-106.21, Z:-5.01 [[-7.08167804e-01 -7.05961511e-01 1.08030767e-02 1.99112834e+02] [ 7.05871069e-01 -7.08250097e-01 -1.13063524e-02 -1.06209306e+02] [ 1.56331298e-02 -3.81215444e-04 9.99877723e-01 -5.00866016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4665599949999 meters 0.017302239518181044 Centerline is valid? [True, True] Translation: X:199.07, Y:-106.17, Z:-5.01 [[-7.10003709e-01 -7.04112740e-01 1.09536825e-02 1.99074104e+02] [ 7.04019646e-01 -7.10088072e-01 -1.14572036e-02 -1.06166511e+02] [ 1.58452423e-02 -4.23049426e-04 9.99874367e-01 -5.00910333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.526559995 meters 0.017835255585944093 Centerline is valid? [True, True] Translation: X:199.03, Y:-106.12, Z:-5.01 [[-7.10548912e-01 -7.03549730e-01 1.17482515e-02 1.99034785e+02] [ 7.03442677e-01 -7.10645878e-01 -1.22815244e-02 -1.06123830e+02] [ 1.69895097e-02 -4.62402372e-04 9.99855561e-01 -5.00979101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5865599949999 meters 0.015833052947847984 Centerline is valid? [True, True] Translation: X:198.99, Y:-106.08, Z:-5.01 [[-7.08418363e-01 -7.05674845e-01 1.29010538e-02 1.98992070e+02] [ 7.05546245e-01 -7.08535683e-01 -1.34789498e-02 -1.06084654e+02] [ 1.86526127e-02 -4.46445505e-04 9.99825925e-01 -5.00933894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.646559995 meters 0.014919087771744726 Centerline is valid? [True, True] Translation: X:198.95, Y:-106.04, Z:-5.01 [[-7.04664401e-01 -7.09428605e-01 1.26149253e-02 1.98949471e+02] [ 7.09306376e-01 -7.04777229e-01 -1.31727905e-02 -1.06044530e+02] [ 1.82358665e-02 -3.34549587e-04 9.99833657e-01 -5.00957917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7065599949999 meters 0.013913803748084739 Centerline is valid? [True, True] Translation: X:198.91, Y:-106.00, Z:-5.01 [[-7.01978877e-01 -7.12109829e-01 1.11914404e-02 1.98907806e+02] [ 7.12014078e-01 -7.02068044e-01 -1.16796298e-02 -1.06004567e+02] [ 1.61743318e-02 -2.30390288e-04 9.99869160e-01 -5.00802802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.766559995 meters 0.012675793984042553 Centerline is valid? [True, True] Translation: X:198.86, Y:-105.97, Z:-5.01 [[-6.97277797e-01 -7.16736875e-01 9.58777682e-03 1.98864033e+02] [ 7.16667110e-01 -6.97343704e-01 -1.00006205e-02 -1.05965606e+02] [ 1.38537893e-02 -1.01966354e-04 9.99904026e-01 -5.00621858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8265599949999 meters 0.011990878243640575 Centerline is valid? [True, True] Translation: X:198.82, Y:-105.93, Z:-5.01 [[-6.93645789e-01 -7.20258975e-01 9.08449642e-03 1.98820410e+02] [ 7.20196714e-01 -6.93705274e-01 -9.47024495e-03 -1.05927071e+02] [ 1.31229920e-02 -2.63710577e-05 9.99913890e-01 -5.00534840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.886559995 meters 0.012122923427536765 Centerline is valid? [True, True] Translation: X:198.78, Y:-105.89, Z:-5.01 [[-6.87870808e-01 -7.25784160e-01 8.43231711e-03 1.98775955e+02] [ 7.25731001e-01 -6.87922486e-01 -8.78448531e-03 -1.05891268e+02] [ 1.21764208e-02 7.70029256e-05 9.99925862e-01 -5.00553511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9465599949999 meters 0.012842155475941202 Centerline is valid? [True, True] Translation: X:198.73, Y:-105.85, Z:-5.01 [[-6.84251851e-01 -7.29193607e-01 8.72283477e-03 1.98732020e+02] [ 7.29137061e-01 -6.84307432e-01 -9.08209354e-03 -1.05852817e+02] [ 1.25917052e-02 1.45702798e-04 9.99920711e-01 -5.00597285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.006559995 meters 0.014524946504052562 Centerline is valid? [True, True] Translation: X:198.69, Y:-105.82, Z:-5.01 [[-6.78619086e-01 -7.34432297e-01 9.23788193e-03 1.98686643e+02] [ 7.34369434e-01 -6.78681909e-01 -9.61252684e-03 -1.05816645e+02] [ 1.33293335e-02 2.60773949e-04 9.99911127e-01 -5.00743196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0665599949999 meters 0.015103011611616202 Centerline is valid? [True, True] Translation: X:198.65, Y:-105.78, Z:-5.01 [[-6.77042585e-01 -7.35885515e-01 9.26534478e-03 1.98645392e+02] [ 7.35822492e-01 -6.77105916e-01 -9.63529989e-03 -1.05776513e+02] [ 1.33640974e-02 2.94140739e-04 9.99910653e-01 -5.00770367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.126559995 meters 0.015405489426758288 Centerline is valid? [True, True] Translation: X:198.61, Y:-105.73, Z:-5.01 [[-6.75894913e-01 -7.36932462e-01 9.82916189e-03 1.98605722e+02] [ 7.36861728e-01 -6.75966295e-01 -1.02157499e-02 -1.05734548e+02] [ 1.41724999e-02 3.37959846e-04 9.99899508e-01 -5.00778935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1865599949999 meters 0.016906339135026975 Centerline is valid? [True, True] Translation: X:198.57, Y:-105.69, Z:-5.01 [[-6.74737769e-01 -7.37959592e-01 1.20242890e-02 1.98565979e+02] [ 7.37854027e-01 -6.74844754e-01 -1.24897066e-02 -1.05693748e+02] [ 1.73314271e-02 4.44893251e-04 9.99849701e-01 -5.01118154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.246559995 meters 0.016284791510494206 Centerline is valid? [True, True] Translation: X:198.53, Y:-105.65, Z:-5.01 [[-6.74627729e-01 -7.38054036e-01 1.23962550e-02 1.98528035e+02] [ 7.37941986e-01 -6.74741449e-01 -1.28686867e-02 -1.05649060e+02] [ 1.78620532e-02 4.66144135e-04 9.99840352e-01 -5.01004472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3065599949999 meters 0.017028625931330307 Centerline is valid? [True, True] Translation: X:198.49, Y:-105.61, Z:-5.01 [[-6.75413220e-01 -7.37347670e-01 1.16359890e-02 1.98490748e+02] [ 7.37248953e-01 -6.75513311e-01 -1.20726325e-02 -1.05605550e+02] [ 1.67619929e-02 4.24605100e-04 9.99859418e-01 -5.00891248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.366559995 meters 0.01689162003474018 Centerline is valid? [True, True] Translation: X:198.45, Y:-105.56, Z:-5.01 [[-6.76426725e-01 -7.36442261e-01 9.98411608e-03 1.98453792e+02] [ 7.36369566e-01 -6.76500314e-01 -1.03531246e-02 -1.05560465e+02] [ 1.43787361e-02 3.48869084e-04 9.99896560e-01 -5.00714569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4265599949999 meters 0.015860910956525125 Centerline is valid? [True, True] Translation: X:198.42, Y:-105.52, Z:-5.01 [[-6.77110075e-01 -7.35820211e-01 9.51642553e-03 1.98417664e+02] [ 7.35754192e-01 -6.77176869e-01 -9.86189942e-03 -1.05515965e+02] [ 1.37008882e-02 3.24158523e-04 9.99906086e-01 -5.00576989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.486559995 meters 0.016975188307451608 Centerline is valid? [True, True] Translation: X:198.38, Y:-105.47, Z:-5.01 [[-6.76646181e-01 -7.36254703e-01 8.88587033e-03 1.98381307e+02] [ 7.36197258e-01 -6.76704450e-01 -9.20239644e-03 -1.05472329e+02] [ 1.27884157e-02 3.14986967e-04 9.99918175e-01 -5.00529704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5465599949999 meters 0.01675219449889813 Centerline is valid? [True, True] Translation: X:198.34, Y:-105.43, Z:-5.00 [[-6.75708770e-01 -7.37109150e-01 9.36796922e-03 1.98343452e+02] [ 7.37045459e-01 -6.75773613e-01 -9.69618477e-03 -1.05428502e+02] [ 1.34777729e-02 3.52822083e-04 9.99909108e-01 -5.00453900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.606559995 meters 0.01709277194539814 Centerline is valid? [True, True] Translation: X:198.30, Y:-105.39, Z:-5.00 [[-6.74887538e-01 -7.37850432e-01 1.01759958e-02 1.98304893e+02] [ 7.37775451e-01 -6.74964130e-01 -1.05265255e-02 -1.05385421e+02] [ 1.46354336e-02 4.03378987e-04 9.99892815e-01 -5.00482165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.666559995 meters 0.01863684981538046 Centerline is valid? [True, True] Translation: X:198.27, Y:-105.34, Z:-5.01 [[-6.73721981e-01 -7.38898011e-01 1.13323207e-02 1.98266228e+02] [ 7.38805281e-01 -6.73817111e-01 -1.17156924e-02 -1.05343397e+02] [ 1.62926134e-02 4.79258880e-04 9.99867152e-01 -5.00708056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.726559995 meters 0.018024995048887257 Centerline is valid? [True, True] Translation: X:198.23, Y:-105.30, Z:-5.01 [[-6.73235897e-01 -7.39328935e-01 1.20893479e-02 1.98229720e+02] [ 7.39223594e-01 -6.73344227e-01 -1.24911876e-02 -1.05297485e+02] [ 1.73753891e-02 5.27215283e-04 9.99848898e-01 -5.00608891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.786559995 meters 0.018294290182873606 Centerline is valid? [True, True] Translation: X:198.19, Y:-105.25, Z:-5.01 [[-6.73362261e-01 -7.39206352e-01 1.25393330e-02 1.98192012e+02] [ 7.39093151e-01 -6.73478781e-01 -1.29478238e-02 -1.05254825e+02] [ 1.80160883e-02 5.49159228e-04 9.99837546e-01 -5.00665378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.846559995 meters 0.01774890030413503 Centerline is valid? [True, True] Translation: X:198.16, Y:-105.21, Z:-5.01 [[-6.74540966e-01 -7.38129864e-01 1.26011508e-02 1.98156483e+02] [ 7.38015492e-01 -6.74658451e-01 -1.30041980e-02 -1.05208957e+02] [ 1.81002598e-02 5.27980191e-04 9.99836037e-01 -5.00598034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.906559995 meters 0.0182943314341669 Centerline is valid? [True, True] Translation: X:198.12, Y:-105.17, Z:-5.00 [[-6.74648971e-01 -7.38042071e-01 1.19443076e-02 1.98118372e+02] [ 7.37939433e-01 -6.74754509e-01 -1.23185151e-02 -1.05166788e+02] [ 1.71510578e-02 5.03502036e-04 9.99852783e-01 -5.00483328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9665599949999 meters 0.01825220021452286 Centerline is valid? [True, True] Translation: X:198.08, Y:-105.12, Z:-5.00 [[-6.75775650e-01 -7.37041517e-01 9.85257931e-03 1.98080339e+02] [ 7.36971656e-01 -6.75847353e-01 -1.01554938e-02 -1.05122430e+02] [ 1.41438602e-02 3.98236257e-04 9.99899891e-01 -5.00185896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.026559995 meters 0.017011002704978455 Centerline is valid? [True, True] Translation: X:198.04, Y:-105.08, Z:-5.00 [[-6.77767060e-01 -7.35213804e-01 9.61637401e-03 1.98043101e+02] [ 7.35147147e-01 -6.77835184e-01 -9.90633054e-03 -1.05077953e+02] [ 1.38015876e-02 3.55265388e-04 9.99904690e-01 -5.00157534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0865599949999 meters 0.016625086197662245 Centerline is valid? [True, True] Translation: X:198.00, Y:-105.04, Z:-5.00 [[-6.79340906e-01 -7.33754274e-01 1.00299024e-02 1.98004097e+02] [ 7.33681687e-01 -6.79414857e-01 -1.03264298e-02 -1.05035433e+02] [ 1.43915267e-02 3.43589545e-04 9.99896378e-01 -5.00242707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.146559995 meters 0.016129022942424732 Centerline is valid? [True, True] Translation: X:197.97, Y:-104.99, Z:-5.00 [[-6.81591448e-01 -7.31649698e-01 1.10370654e-02 1.97965691e+02] [ 7.31561627e-01 -6.81680723e-01 -1.13568803e-02 -1.04991497e+02] [ 1.58330128e-02 3.33541061e-04 9.99874594e-01 -5.00386705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2065599949999 meters 0.01591518733503258 Centerline is valid? [True, True] Translation: X:197.93, Y:-104.95, Z:-5.00 [[-6.82845829e-01 -7.30468252e-01 1.17348841e-02 1.97927408e+02] [ 7.30368646e-01 -6.82946575e-01 -1.20671621e-02 -1.04948492e+02] [ 1.68289777e-02 3.30780119e-04 9.99858328e-01 -5.00396908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.266559995 meters 0.016080275220126297 Centerline is valid? [True, True] Translation: X:197.89, Y:-104.91, Z:-5.00 [[-6.84630351e-01 -7.28801234e-01 1.14037133e-02 1.97888957e+02] [ 7.28707019e-01 -6.84725259e-01 -1.17217692e-02 -1.04906574e+02] [ 1.63512504e-02 2.84886967e-04 9.99866269e-01 -5.00419833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3265599949999 meters 0.015638517692644786 Centerline is valid? [True, True] Translation: X:197.85, Y:-104.87, Z:-5.00 [[-6.84953577e-01 -7.28512676e-01 1.03864577e-02 1.97849538e+02] [ 7.28434588e-01 -6.85032273e-01 -1.06694453e-02 -1.04865354e+02] [ 1.48878849e-02 2.57780300e-04 9.99889136e-01 -5.00199392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.386559995 meters 0.015419952859115595 Centerline is valid? [True, True] Translation: X:197.81, Y:-104.83, Z:-5.00 [[-6.84668605e-01 -7.28786471e-01 9.95898408e-03 1.97808364e+02] [ 7.28714800e-01 -6.84740983e-01 -1.02237851e-02 -1.04825104e+02] [ 1.42702808e-02 2.57354395e-04 9.99898141e-01 -5.00087656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4465599949999 meters 0.01536464809493876 Centerline is valid? [True, True] Translation: X:197.77, Y:-104.78, Z:-5.00 [[-6.84231931e-01 -7.29195025e-01 1.00637767e-02 1.97765926e+02] [ 7.29121968e-01 -6.84305883e-01 -1.03254206e-02 -1.04784997e+02] [ 1.44159470e-02 2.72738200e-04 9.99896048e-01 -5.00068283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.506559995 meters 0.015963741026947288 Centerline is valid? [True, True] Translation: X:197.72, Y:-104.75, Z:-5.00 [[-6.82938033e-01 -7.30406706e-01 1.00840214e-02 1.97724117e+02] [ 7.30333549e-01 -6.83012410e-01 -1.03418702e-02 -1.04745330e+02] [ 1.44412831e-02 3.01842623e-04 9.99895674e-01 -5.00042364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5665599949999 meters 0.01668455696742445 Centerline is valid? [True, True] Translation: X:197.68, Y:-104.71, Z:-5.00 [[-6.80882073e-01 -7.32314863e-01 1.07025270e-02 1.97679821e+02] [ 7.32232786e-01 -6.80966083e-01 -1.09699613e-02 -1.04706958e+02] [ 1.53215236e-02 3.67491205e-04 9.99882551e-01 -5.00131553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.626559995 meters 0.018556819050560065 Centerline is valid? [True, True] Translation: X:197.64, Y:-104.67, Z:-5.00 [[-6.79284774e-01 -7.33779687e-01 1.18138086e-02 1.97635887e+02] [ 7.33680000e-01 -6.79387350e-01 -1.21031464e-02 -1.04670750e+02] [ 1.69071951e-02 4.46072036e-04 9.99856964e-01 -5.00359752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6865599949999 meters 0.01808775330061976 Centerline is valid? [True, True] Translation: X:197.59, Y:-104.63, Z:-5.00 [[-6.77789208e-01 -7.35142998e-01 1.29058913e-02 1.97594074e+02] [ 7.35024375e-01 -6.77911862e-01 -1.32164826e-02 -1.04631082e+02] [ 1.84650614e-02 5.28155399e-04 9.99829367e-01 -5.00275700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.746559995 meters 0.017524584693265108 Centerline is valid? [True, True] Translation: X:197.55, Y:-104.59, Z:-5.00 [[-6.78319086e-01 -7.34662968e-01 1.23911286e-02 1.97552756e+02] [ 7.34553668e-01 -6.78432070e-01 -1.26820877e-02 -1.04590431e+02] [ 1.77235992e-02 4.99446842e-04 9.99842800e-01 -5.00074775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8065599949999 meters 0.016395475208219497 Centerline is valid? [True, True] Translation: X:197.51, Y:-104.55, Z:-5.00 [[-6.80653536e-01 -7.32532575e-01 1.03340066e-02 1.97513217e+02] [ 7.32456402e-01 -6.80731876e-01 -1.05703790e-02 -1.04548210e+02] [ 1.47778346e-02 3.74443448e-04 9.99890732e-01 -4.99675376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.866559995 meters 0.015813413853389607 Centerline is valid? [True, True] Translation: X:197.47, Y:-104.51, Z:-4.99 [[-6.83224665e-01 -7.30150390e-01 9.19049358e-03 1.97472289e+02] [ 7.30089999e-01 -6.83286414e-01 -9.39525036e-03 -1.04507328e+02] [ 1.31396851e-02 2.90820671e-04 9.99913628e-01 -4.99468111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9265599949999 meters 0.015703975490765427 Centerline is valid? [True, True] Translation: X:197.43, Y:-104.47, Z:-4.99 [[-6.84281588e-01 -7.29158263e-01 9.32394384e-03 1.97431648e+02] [ 7.29096093e-01 -6.84345052e-01 -9.52563573e-03 -1.04466525e+02] [ 1.33264908e-02 2.79833885e-04 9.99911159e-01 -4.99488921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.986559995 meters 0.014578754749506782 Centerline is valid? [True, True] Translation: X:197.39, Y:-104.43, Z:-5.00 [[-6.87056211e-01 -7.26533163e-01 1.01649802e-02 1.97390559e+02] [ 7.26459068e-01 -6.87131355e-01 -1.03789589e-02 -1.04425039e+02] [ 1.45253345e-02 2.53513867e-04 9.99894470e-01 -4.99624475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0465599949999 meters 0.01385438386835246 Centerline is valid? [True, True] Translation: X:197.35, Y:-104.38, Z:-5.00 [[-6.90025740e-01 -7.23701157e-01 1.10051913e-02 1.97349656e+02] [ 7.23614046e-01 -6.90113462e-01 -1.12304627e-02 -1.04383533e+02] [ 1.57223296e-02 2.14202672e-04 9.99876374e-01 -4.99751899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.106559995 meters 0.013254292624189248 Centerline is valid? [True, True] Translation: X:197.31, Y:-104.34, Z:-5.00 [[-6.93870505e-01 -7.20016514e-01 1.09518305e-02 1.97309805e+02] [ 7.19929883e-01 -6.93956916e-01 -1.11697024e-02 -1.04341485e+02] [ 1.56424687e-02 1.34222981e-04 9.99877640e-01 -4.99720155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.166559995 meters 0.013012059588687236 Centerline is valid? [True, True] Translation: X:197.27, Y:-104.30, Z:-5.00 [[-6.95997553e-01 -7.17972554e-01 1.01399459e-02 1.97270036e+02] [ 7.17898158e-01 -6.96071408e-01 -1.03358183e-02 -1.04299754e+02] [ 1.44789603e-02 8.57442162e-05 9.99895171e-01 -4.99627633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.226559995 meters 0.012939909012867398 Centerline is valid? [True, True] Translation: X:197.23, Y:-104.26, Z:-5.00 [[-6.97805698e-01 -7.16232684e-01 8.82896105e-03 1.97229792e+02] [ 7.16176207e-01 -6.97861548e-01 -8.99447137e-03 -1.04259167e+02] [ 1.26035268e-02 4.66984636e-05 9.99920571e-01 -4.99604676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.286559995 meters 0.012693505474312425 Centerline is valid? [True, True] Translation: X:197.19, Y:-104.22, Z:-5.00 [[-6.97985559e-01 -7.16067542e-01 7.96464783e-03 1.97187759e+02] [ 7.16021624e-01 -6.98030998e-01 -8.10929240e-03 -1.04218801e+02] [ 1.13663721e-02 4.26910852e-05 9.99935400e-01 -4.99528225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.346559995 meters 0.012822302316173439 Centerline is valid? [True, True] Translation: X:197.15, Y:-104.18, Z:-5.00 [[-6.97161869e-01 -7.16877930e-01 7.16672847e-03 1.97146694e+02] [ 7.16840845e-01 -6.97198702e-01 -7.29198347e-03 -1.04180242e+02] [ 1.02240958e-02 5.37108616e-05 9.99947731e-01 -4.99524372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.406559995 meters 0.013162029527291641 Centerline is valid? [True, True] Translation: X:197.11, Y:-104.14, Z:-5.00 [[-6.95480709e-01 -7.18512751e-01 6.78305692e-03 1.97105208e+02] [ 7.18479647e-01 -6.95513781e-01 -6.89757838e-03 -1.04142856e+02] [ 9.67370759e-03 7.63556380e-05 9.99953206e-01 -4.99585879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4665599949999 meters 0.013853613313176284 Centerline is valid? [True, True] Translation: X:197.06, Y:-104.11, Z:-5.00 [[-6.92301959e-01 -7.21577288e-01 6.64940199e-03 1.97061172e+02] [ 7.21545651e-01 -6.92333881e-01 -6.75798059e-03 -1.04105114e+02] [ 9.48001159e-03 1.19283889e-04 9.99955057e-01 -4.99628216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.526559995 meters 0.014461975196280905 Centerline is valid? [True, True] Translation: X:197.02, Y:-104.07, Z:-5.00 [[-6.89468920e-01 -7.24292654e-01 5.72360494e-03 1.97017501e+02] [ 7.24269333e-01 -6.89492663e-01 -5.81383059e-03 -1.04066848e+02] [ 8.15729840e-03 1.36976041e-04 9.99966719e-01 -4.99600591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5865599949999 meters 0.014972613145386313 Centerline is valid? [True, True] Translation: X:196.97, Y:-104.03, Z:-5.00 [[-6.86968276e-01 -7.26669783e-01 5.06102266e-03 1.96974760e+02] [ 7.26651636e-01 -6.86986902e-01 -5.13768746e-03 -1.04028014e+02] [ 7.21025851e-03 1.48172103e-04 9.99973995e-01 -4.99621492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.646559995 meters 0.01544318122240094 Centerline is valid? [True, True] Translation: X:196.93, Y:-103.99, Z:-5.00 [[-6.85881570e-01 -7.27699792e-01 4.41409548e-03 1.96932585e+02] [ 7.27686025e-01 -6.85895760e-01 -4.47840594e-03 -1.03988130e+02] [ 6.28654445e-03 1.40419498e-04 9.99980230e-01 -4.99668595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7065599949999 meters 0.01569776807613807 Centerline is valid? [True, True] Translation: X:196.89, Y:-103.95, Z:-5.00 [[-6.85192440e-01 -7.28350712e-01 4.06949848e-03 1.96891461e+02] [ 7.28339036e-01 -6.85204511e-01 -4.12627940e-03 -1.03947821e+02] [ 5.79381725e-03 1.36679151e-04 9.99983206e-01 -4.99696332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.766559995 meters 0.016017768844908763 Centerline is valid? [True, True] Translation: X:196.85, Y:-103.91, Z:-5.00 [[-6.85469701e-01 -7.28094445e-01 3.12543900e-03 1.96850598e+02] [ 7.28087565e-01 -6.85476818e-01 -3.16703835e-03 -1.03907791e+02] [ 4.44831901e-03 1.04684440e-04 9.99990101e-01 -4.99745853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8265599949999 meters 0.016312591547216496 Centerline is valid? [True, True] Translation: X:196.81, Y:-103.87, Z:-5.00 [[-6.86627540e-01 -7.27005559e-01 2.35367332e-03 1.96809271e+02] [ 7.27001655e-01 -6.86631570e-01 -2.38367812e-03 -1.03867610e+02] [ 3.34905364e-03 7.44253547e-05 9.99994389e-01 -4.99781558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.886559995 meters 0.01480645967819047 Centerline is valid? [True, True] Translation: X:196.77, Y:-103.82, Z:-5.00 [[-6.88687134e-01 -7.25057645e-01 1.20161842e-03 1.96770561e+02] [ 7.25056625e-01 -6.88688181e-01 -1.21624847e-03 -1.03824688e+02] [ 1.70939066e-03 3.36267256e-05 9.99998538e-01 -4.99751210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9465599949999 meters 0.013337247824098316 Centerline is valid? [True, True] Translation: X:196.73, Y:-103.78, Z:-5.00 [[-6.94374083e-01 -7.19613196e-01 1.21712132e-03 1.96733076e+02] [ 7.19612143e-01 -6.94375150e-01 -1.23121234e-03 -1.03780634e+02] [ 1.73113544e-03 2.09333390e-05 9.99998501e-01 -4.99846490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.006559995 meters 0.012485230770210229 Centerline is valid? [True, True] Translation: X:196.70, Y:-103.74, Z:-5.00 [[-6.99712214e-01 -7.14422943e-01 1.63569512e-03 1.96695191e+02] [ 7.14421029e-01 -6.99714126e-01 -1.65370450e-03 -1.03736214e+02] [ 2.32596342e-03 1.14577531e-05 9.99997295e-01 -4.99978919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0665599949999 meters 0.01272117309085776 Centerline is valid? [True, True] Translation: X:196.66, Y:-103.69, Z:-5.00 [[-7.07854296e-01 -7.06353699e-01 2.59743638e-03 1.96659335e+02] [ 7.06348824e-01 -7.07859061e-01 -2.62440606e-03 -1.03690739e+02] [ 3.69237781e-03 -2.30009679e-05 9.99993183e-01 -5.00127854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.126559995 meters 0.014244957126285875 Centerline is valid? [True, True] Translation: X:196.62, Y:-103.65, Z:-5.00 [[-7.14984724e-01 -6.99137092e-01 2.04217012e-03 1.96621600e+02] [ 6.99134053e-01 -7.14987639e-01 -2.06223197e-03 -1.03646795e+02] [ 2.90190925e-03 -4.67136839e-05 9.99995788e-01 -5.00074059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1865599949999 meters 0.015491753303053673 Centerline is valid? [True, True] Translation: X:196.58, Y:-103.60, Z:-5.00 [[-7.19181296e-01 -6.94822058e-01 7.55512358e-04 1.96581762e+02] [ 6.94821640e-01 -7.19181693e-01 -7.62493790e-04 -1.03604992e+02] [ 1.07314816e-03 -2.34249365e-05 9.99999424e-01 -4.99921670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.246559995 meters 0.015347060343080825 Centerline is valid? [True, True] Translation: X:196.54, Y:-103.56, Z:-5.00 [[-7.20244816e-01 -6.93719905e-01 3.14147598e-04 1.96540120e+02] [ 6.93719832e-01 -7.20244885e-01 -3.16879497e-04 -1.03564678e+02] [ 4.46088815e-04 -1.03003964e-05 9.99999900e-01 -4.99916977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3065599949999 meters 0.01605394659337307 Centerline is valid? [True, True] Translation: X:196.50, Y:-103.52, Z:-5.00 [[-7.21313885e-01 -6.92608211e-01 3.82364170e-04 1.96498772e+02] [ 6.92608103e-01 -7.21313986e-01 -3.85473527e-04 -1.03524245e+02] [ 5.42786753e-04 -1.32188849e-05 9.99999853e-01 -4.99955741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.366559995 meters 0.015123653879345219 Centerline is valid? [True, True] Translation: X:196.45, Y:-103.49, Z:-5.00 [[-7.19557240e-01 -6.94432118e-01 1.18811011e-03 1.96453534e+02] [ 6.94431087e-01 -7.19558220e-01 -1.19708117e-03 -1.03487025e+02] [ 1.68620601e-03 -3.63078332e-05 9.99998578e-01 -5.00134681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4265599949999 meters 0.013457119310545046 Centerline is valid? [True, True] Translation: X:196.41, Y:-103.45, Z:-5.00 [[-7.15371604e-01 -6.98742480e-01 1.55401542e-03 1.96406331e+02] [ 6.98740729e-01 -7.15373291e-01 -1.56488384e-03 -1.03451718e+02] [ 2.20515194e-03 -3.36195927e-05 9.99997568e-01 -5.00169666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.486559995 meters 0.012827296310592725 Centerline is valid? [True, True] Translation: X:196.36, Y:-103.41, Z:-5.00 [[-7.12573141e-01 -7.01596562e-01 1.33527337e-03 1.96361269e+02] [ 7.01595274e-01 -7.12574392e-01 -1.34413482e-03 -1.03414110e+02] [ 1.89452198e-03 -2.09728861e-05 9.99998205e-01 -5.00178587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5465599949999 meters 0.012294204583380515 Centerline is valid? [True, True] Translation: X:196.32, Y:-103.38, Z:-5.00 [[-7.09215849e-01 -7.04990612e-01 1.05712859e-03 1.96315437e+02] [ 7.04989809e-01 -7.09216636e-01 -1.06355068e-03 -1.03378225e+02] [ 1.49952642e-03 -9.02211476e-06 9.99998876e-01 -5.00179500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.606559995 meters 0.012036613904410546 Centerline is valid? [True, True] Translation: X:196.27, Y:-103.34, Z:-5.00 [[-7.08022451e-01 -7.06189338e-01 9.10082294e-04 1.96271966e+02] [ 7.06188745e-01 -7.08023036e-01 -9.15089147e-04 -1.03339839e+02] [ 1.29058543e-03 -5.21378762e-06 9.99999167e-01 -5.00195882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.666559995 meters 0.012057348404753209 Centerline is valid? [True, True] Translation: X:196.23, Y:-103.30, Z:-5.00 [[-7.07521677e-01 -7.06690605e-01 1.21050457e-03 1.96229163e+02] [ 7.06689558e-01 -7.07522713e-01 -1.21647350e-03 -1.03301207e+02] [ 1.71612987e-03 -5.23043229e-06 9.99998527e-01 -5.00238529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.726559995 meters 0.012151699174575911 Centerline is valid? [True, True] Translation: X:196.19, Y:-103.26, Z:-5.00 [[-7.08164029e-01 -7.06046000e-01 1.65962942e-03 1.96187981e+02] [ 7.06044032e-01 -7.08165974e-01 -1.66674850e-03 -1.03262625e+02] [ 2.35209419e-03 -8.55988748e-06 9.99997234e-01 -5.00253870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.786559995 meters 0.012193789758359679 Centerline is valid? [True, True] Translation: X:196.15, Y:-103.22, Z:-5.00 [[-7.08898796e-01 -7.05305229e-01 2.65149970e-03 1.96146113e+02] [ 7.05300209e-01 -7.08903754e-01 -2.66120062e-03 -1.03223187e+02] [ 3.75661680e-03 -1.64186263e-05 9.99992944e-01 -5.00273401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.846559995 meters 0.012371522152249698 Centerline is valid? [True, True] Translation: X:196.11, Y:-103.18, Z:-5.00 [[-7.09768615e-01 -7.04424622e-01 3.80329314e-03 1.96105240e+02] [ 7.04414293e-01 -7.09778805e-01 -3.81481004e-03 -1.03182624e+02] [ 5.38674298e-03 -2.85383956e-05 9.99985491e-01 -5.00361704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.906559995 meters 0.012614057988080185 Centerline is valid? [True, True] Translation: X:196.06, Y:-103.14, Z:-5.00 [[-7.11326853e-01 -7.02845053e-01 4.78947225e-03 1.96064992e+02] [ 7.02828655e-01 -7.11342976e-01 -4.80129842e-03 -1.03140673e+02] [ 6.78152628e-03 -4.91141591e-05 9.99977004e-01 -5.00386524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9665599949999 meters 0.012747313107141967 Centerline is valid? [True, True] Translation: X:196.02, Y:-103.10, Z:-5.00 [[-7.12459283e-01 -7.01692792e-01 5.38474525e-03 1.96024701e+02] [ 7.01672055e-01 -7.12479628e-01 -5.39498485e-03 -1.03099152e+02] [ 7.62214329e-03 -6.53817706e-05 9.99970949e-01 -5.00348310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.026559995 meters 0.012696959980569982 Centerline is valid? [True, True] Translation: X:195.98, Y:-103.06, Z:-5.00 [[-7.12433984e-01 -7.01715348e-01 5.77839835e-03 1.95984552e+02] [ 7.01691499e-01 -7.12457414e-01 -5.78573069e-03 -1.03058547e+02] [ 8.17679877e-03 -6.72981689e-05 9.99966567e-01 -5.00336678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0865599949999 meters 0.012566407942074188 Centerline is valid? [True, True] Translation: X:195.94, Y:-103.02, Z:-5.00 [[-7.11555646e-01 -7.02606547e-01 5.70992142e-03 1.95943599e+02] [ 7.02583317e-01 -7.11578553e-01 -5.71356788e-03 -1.03017946e+02] [ 8.07744782e-03 -5.38259466e-05 9.99967375e-01 -5.00280433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.146559995 meters 0.0122045798665614 Centerline is valid? [True, True] Translation: X:195.90, Y:-102.98, Z:-5.00 [[-7.08688522e-01 -7.05498418e-01 5.70629033e-03 1.95902536e+02] [ 7.05475341e-01 -7.08711494e-01 -5.70619861e-03 -1.02979319e+02] [ 8.06982764e-03 -1.82703364e-05 9.99967438e-01 -5.00178340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2065599949999 meters 0.01233083887372502 Centerline is valid? [True, True] Translation: X:195.47, Y:-103.40, Z:-4.04 [[-7.58682200e-01 6.51435820e-01 5.71764973e-03 1.95470573e+02] [ 6.51416960e-01 7.58703744e-01 -4.95713480e-03 -1.03398647e+02] [-7.56725743e-03 -3.63159355e-05 -9.99971367e-01 -4.04121603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.266559995 meters 0.014073606567030583 Centerline is valid? [True, True] Translation: X:195.85, Y:-102.95, Z:-5.00 [[-6.98772945e-01 -7.15307199e-01 7.20995528e-03 1.95854062e+02] [ 7.15272400e-01 -6.98810104e-01 -7.05917652e-03 -1.02950533e+02] [ 1.00878694e-02 2.24320457e-04 9.99949091e-01 -5.00280970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3265599949999 meters 0.015342687364233828 Centerline is valid? [True, True] Translation: X:195.83, Y:-102.97, Z:-5.00 [[-6.43677732e-01 -7.65263616e-01 7.11164845e-03 1.95830863e+02] [ 7.65220958e-01 -6.43716973e-01 -8.08352280e-03 -1.02971729e+02] [ 1.07639147e-02 2.38798817e-04 9.99942039e-01 -5.00270339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.386559995 meters 0.018301751079487595 Centerline is valid? [True, True] Translation: X:195.79, Y:-102.93, Z:-5.00 [[-6.36825661e-01 -7.70961488e-01 8.45351413e-03 1.95789928e+02] [ 7.70901785e-01 -6.36881639e-01 -9.60288289e-03 -1.02930826e+02] [ 1.27873408e-02 4.01466892e-04 9.99918158e-01 -5.00363105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4465599949999 meters 0.018800101120953296 Centerline is valid? [True, True] Translation: X:195.75, Y:-102.89, Z:-5.00 [[-6.36668594e-01 -7.71090896e-01 8.48129503e-03 1.95753198e+02] [ 7.71030889e-01 -6.36724951e-01 -9.62834189e-03 -1.02886289e+02] [ 1.28245789e-02 4.09277560e-04 9.99917678e-01 -5.00346534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.506559995 meters 0.01815757974972043 Centerline is valid? [True, True] Translation: X:195.72, Y:-102.84, Z:-5.00 [[-6.38137283e-01 -7.69880250e-01 8.07512071e-03 1.95717888e+02] [ 7.69825820e-01 -6.38188266e-01 -9.16208002e-03 -1.02840398e+02] [ 1.22071517e-02 3.69771563e-04 9.99925422e-01 -5.00263260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5665599949999 meters 0.016680466205573653 Centerline is valid? [True, True] Translation: X:195.69, Y:-102.79, Z:-5.00 [[-6.42123435e-01 -7.66563287e-01 7.63020561e-03 1.95685158e+02] [ 7.66514496e-01 -6.42168701e-01 -8.65372422e-03 -1.02792177e+02] [ 1.15335065e-02 2.91904080e-04 9.99933444e-01 -5.00167409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.626559995 meters 0.0157084171689103 Centerline is valid? [True, True] Translation: X:195.65, Y:-102.74, Z:-5.00 [[-6.45416320e-01 -7.63792910e-01 7.62660215e-03 1.95651389e+02] [ 7.63744022e-01 -6.45461332e-01 -8.64508261e-03 -1.02744113e+02] [ 1.15257296e-02 2.45094401e-04 9.99933547e-01 -5.00120037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6865599949999 meters 0.014448485464387784 Centerline is valid? [True, True] Translation: X:195.62, Y:-102.70, Z:-5.00 [[-6.48701152e-01 -7.60999839e-01 8.12775424e-03 1.95617863e+02] [ 7.60944154e-01 -6.48752033e-01 -9.20841352e-03 -1.02695722e+02] [ 1.22804983e-02 2.11258618e-04 9.99924570e-01 -5.00128042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.746559995 meters 0.013063008480971371 Centerline is valid? [True, True] Translation: X:195.59, Y:-102.65, Z:-5.00 [[-6.53535694e-01 -7.56850935e-01 8.23162134e-03 1.95586009e+02] [ 7.56793546e-01 -6.53587518e-01 -9.32124280e-03 -1.02645858e+02] [ 1.24348763e-02 1.37873020e-04 9.99922674e-01 -5.00192307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8065599949999 meters 0.012054537457555779 Centerline is valid? [True, True] Translation: X:195.56, Y:-102.59, Z:-5.00 [[-6.60077182e-01 -7.51142058e-01 9.15003152e-03 1.95556341e+02] [ 7.51070674e-01 -6.60140597e-01 -1.03554545e-02 -1.02594056e+02] [ 1.38187246e-02 3.69211465e-05 9.99904516e-01 -5.00258981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.866559995 meters 0.013146025144584838 Centerline is valid? [True, True] Translation: X:195.53, Y:-102.54, Z:-5.00 [[-6.68645569e-01 -7.43520435e-01 9.51130111e-03 1.95529484e+02] [ 7.43442612e-01 -6.68713203e-01 -1.07580561e-02 -1.02541894e+02] [ 1.43591672e-02 -1.22220012e-04 9.99896894e-01 -5.00343587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9265599949999 meters 0.014724557668862747 Centerline is valid? [True, True] Translation: X:195.50, Y:-102.49, Z:-5.00 [[-6.78254661e-01 -7.34771241e-01 9.04645881e-03 1.95499439e+02] [ 7.34700132e-01 -6.78314926e-01 -1.02262483e-02 -1.02490743e+02] [ 1.36503012e-02 -2.89566095e-04 9.99906788e-01 -5.00036585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.986559995 meters 0.01735960170706747 Centerline is valid? [True, True] Translation: X:195.47, Y:-102.44, Z:-5.00 [[-6.84056265e-01 -7.29372461e-01 9.10161776e-03 1.95467742e+02] [ 7.29300088e-01 -6.84116698e-01 -1.02823035e-02 -1.02442909e+02] [ 1.37261977e-02 -3.95863517e-04 9.99905713e-01 -5.00048041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0465599949999 meters 0.02033934777540088 Centerline is valid? [True, True] Translation: X:195.44, Y:-102.39, Z:-5.00 [[-6.90196111e-01 -7.23569043e-01 8.78458479e-03 1.95435735e+02] [ 7.23501206e-01 -6.90251837e-01 -9.92000671e-03 -1.02394675e+02] [ 1.32413856e-02 -4.91092368e-04 9.99912208e-01 -4.99961876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.106559995 meters 0.020515090978558147 Centerline is valid? [True, True] Translation: X:195.40, Y:-102.35, Z:-5.00 [[-6.91936346e-01 -7.21911762e-01 8.21586046e-03 1.95398171e+02] [ 7.21852376e-01 -6.91984951e-01 -9.27225656e-03 -1.02350979e+02] [ 1.23790029e-02 -4.85172925e-04 9.99923260e-01 -4.99810093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.166559995 meters 0.019945335106143578 Centerline is valid? [True, True] Translation: X:195.36, Y:-102.31, Z:-5.00 [[-6.90811938e-01 -7.22983209e-01 8.61084680e-03 1.95358643e+02] [ 7.22918129e-01 -6.90865432e-01 -9.71258913e-03 -1.02308368e+02] [ 1.29709752e-02 -4.84635263e-04 9.99915756e-01 -4.99797857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.226559995 meters 0.019168780876924477 Centerline is valid? [True, True] Translation: X:195.32, Y:-102.27, Z:-5.00 [[-6.88236400e-01 -7.25432738e-01 8.83183048e-03 1.95318499e+02] [ 7.25364551e-01 -6.88292920e-01 -9.95609124e-03 -1.02266531e+02] [ 1.33013609e-02 -4.45847641e-04 9.99911434e-01 -4.99795641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.286559995 meters 0.017975457963633524 Centerline is valid? [True, True] Translation: X:195.28, Y:-102.23, Z:-5.00 [[-6.84207700e-01 -7.29236146e-01 8.62942527e-03 1.95277723e+02] [ 7.29171423e-01 -6.84262021e-01 -9.72224159e-03 -1.02225672e+02] [ 1.29945980e-02 -3.59702251e-04 9.99915502e-01 -4.99774949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.346559995 meters 0.015369056748385351 Centerline is valid? [True, True] Translation: X:195.23, Y:-102.19, Z:-5.00 [[-6.79295993e-01 -7.33808248e-01 9.07789353e-03 1.95234139e+02] [ 7.33737116e-01 -6.79356589e-01 -1.02209995e-02 -1.02187818e+02] [ 1.36673805e-02 -2.82296605e-04 9.99906557e-01 -4.99775056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.406559995 meters 0.01331108755123211 Centerline is valid? [True, True] Translation: X:195.19, Y:-102.15, Z:-5.00 [[-6.70907605e-01 -7.41481524e-01 9.38800797e-03 1.95188684e+02] [ 7.41406280e-01 -6.70973273e-01 -1.05638699e-02 -1.02150829e+02] [ 1.41320168e-02 -1.27052566e-04 9.99900130e-01 -4.99950375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4665599949999 meters 0.01284838463220089 Centerline is valid? [True, True] Translation: X:195.14, Y:-102.11, Z:-5.00 [[-6.64225656e-01 -7.47475724e-01 9.18260362e-03 1.95144838e+02] [ 7.47404382e-01 -6.64289125e-01 -1.03270909e-02 -1.02112914e+02] [ 1.38191535e-02 3.59944476e-06 9.99904511e-01 -5.00152502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.526559995 meters 0.012700490154021277 Centerline is valid? [True, True] Translation: X:195.10, Y:-102.07, Z:-5.00 [[-6.60573620e-01 -7.50711733e-01 8.62470888e-03 1.95103741e+02] [ 7.50649150e-01 -6.60629918e-01 -9.69355055e-03 -1.02073037e+02] [ 1.29748029e-02 7.08266150e-05 9.99915821e-01 -4.99926465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5865599949999 meters 0.014137226612858867 Centerline is valid? [True, True] Translation: X:195.06, Y:-102.04, Z:-5.00 [[-6.52937714e-01 -7.57371921e-01 7.75338480e-03 1.95059505e+02] [ 7.57321868e-01 -6.52983721e-01 -8.70908787e-03 -1.02035361e+02] [ 1.16588527e-02 1.85315935e-04 9.99932016e-01 -4.99839090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.646559995 meters 0.015158127993985691 Centerline is valid? [True, True] Translation: X:195.02, Y:-101.99, Z:-5.00 [[-6.49266796e-01 -7.60522054e-01 7.67033337e-03 1.95018718e+02] [ 7.60473343e-01 -6.49312057e-01 -8.61090310e-03 -1.01993904e+02] [ 1.15292216e-02 2.42310595e-04 9.99933507e-01 -4.99790231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7065599949999 meters 0.016935541129062415 Centerline is valid? [True, True] Translation: X:194.98, Y:-101.95, Z:-5.00 [[-6.45316467e-01 -7.63866973e-01 8.59681699e-03 1.94977377e+02] [ 7.63806150e-01 -6.45373636e-01 -9.64548344e-03 -1.01953233e+02] [ 1.29160253e-02 3.41912390e-04 9.99916526e-01 -4.99967350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.766559995 meters 0.018019372292119824 Centerline is valid? [True, True] Translation: X:194.94, Y:-101.91, Z:-5.00 [[-6.44068299e-01 -7.64910310e-01 9.39382123e-03 1.94937556e+02] [ 7.64837878e-01 -6.44136676e-01 -1.05338810e-02 -1.01910562e+02] [ 1.41083790e-02 4.00211457e-04 9.99900392e-01 -5.00144744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8265599949999 meters 0.018349987253968518 Centerline is valid? [True, True] Translation: X:194.90, Y:-101.87, Z:-5.00 [[-6.43779944e-01 -7.65147582e-01 9.82656618e-03 1.94899736e+02] [ 7.65068440e-01 -6.43854793e-01 -1.10130666e-02 -1.01866619e+02] [ 1.47535030e-02 4.28004237e-04 9.99891070e-01 -5.00194398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.886559995 meters 0.017668261542134727 Centerline is valid? [True, True] Translation: X:194.87, Y:-101.82, Z:-5.00 [[-6.46039180e-01 -7.63234409e-01 1.03254316e-02 1.94865073e+02] [ 7.63146874e-01 -6.46121560e-01 -1.15662534e-02 -1.01819043e+02] [ 1.54992466e-02 4.07567965e-04 9.99879796e-01 -5.00246708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9465599949999 meters 0.016721942169602454 Centerline is valid? [True, True] Translation: X:194.83, Y:-101.77, Z:-5.00 [[-6.48644539e-01 -7.61027180e-01 9.89408616e-03 1.94829854e+02] [ 7.60946634e-01 -6.48719903e-01 -1.10773496e-02 -1.01771984e+02] [ 1.48486548e-02 3.43609213e-04 9.99889694e-01 -5.00182436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.006559995 meters 0.014692478957041604 Centerline is valid? [True, True] Translation: X:194.80, Y:-101.72, Z:-5.00 [[-6.53894703e-01 -7.56533860e-01 8.84514467e-03 1.94798599e+02] [ 7.56469128e-01 -6.53954487e-01 -9.89883879e-03 -1.01722627e+02] [ 1.32731288e-02 2.18280619e-04 9.99911884e-01 -5.00001535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0665599949999 meters 0.013172442037602011 Centerline is valid? [True, True] Translation: X:194.76, Y:-101.67, Z:-5.00 [[-6.57267289e-01 -7.53616558e-01 7.86096834e-03 1.94764939e+02] [ 7.53565278e-01 -6.57314280e-01 -8.79255305e-03 -1.01674572e+02] [ 1.17933403e-02 1.44695296e-04 9.99930446e-01 -4.99807059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.126559995 meters 0.012200738556939985 Centerline is valid? [True, True] Translation: X:194.73, Y:-101.63, Z:-5.00 [[-6.61233654e-01 -7.50147460e-01 6.98879425e-03 1.94732322e+02] [ 7.50106780e-01 -6.61270582e-01 -7.81262217e-03 -1.01625871e+02] [ 1.04821027e-02 7.63732497e-05 9.99945058e-01 -4.99623364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1865599949999 meters 0.011944922922186633 Centerline is valid? [True, True] Translation: X:194.70, Y:-101.58, Z:-5.00 [[-6.64621736e-01 -7.47142669e-01 7.46863909e-03 1.94698770e+02] [ 7.47096078e-01 -6.64663698e-01 -8.34381482e-03 -1.01579341e+02] [ 1.11981533e-02 3.43102913e-05 9.99937298e-01 -4.99723437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.246559995 meters 0.012038141107751378 Centerline is valid? [True, True] Translation: X:194.66, Y:-101.53, Z:-5.00 [[-6.67312830e-01 -7.44720602e-01 9.20936026e-03 1.94663460e+02] [ 7.44649608e-01 -6.67376374e-01 -1.02828458e-02 -1.01532782e+02] [ 1.38039566e-02 -4.12841503e-06 9.99904721e-01 -4.99955909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3065599949999 meters 0.012007014628951358 Centerline is valid? [True, True] Translation: X:194.63, Y:-101.49, Z:-5.00 [[-6.68708005e-01 -7.43471922e-01 8.89409904e-03 1.94626009e+02] [ 7.43405678e-01 -6.68767150e-01 -9.92458028e-03 -1.01489022e+02] [ 1.33267280e-02 -2.47225588e-05 9.99911195e-01 -4.99919781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.366559995 meters 0.01209044333449421 Centerline is valid? [True, True] Translation: X:194.59, Y:-101.44, Z:-5.00 [[-6.70893295e-01 -7.41512361e-01 7.84890158e-03 1.94589117e+02] [ 7.41460702e-01 -6.70939205e-01 -8.75275308e-03 -1.01444758e+02] [ 1.17564104e-02 -5.25112851e-05 9.99930890e-01 -4.99835419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4265599949999 meters 0.012607734017765153 Centerline is valid? [True, True] Translation: X:194.55, Y:-101.40, Z:-5.00 [[-6.74940315e-01 -7.37848967e-01 5.87139716e-03 1.94553173e+02] [ 7.37819957e-01 -6.74965847e-01 -6.54340731e-03 -1.01399930e+02] [ 8.79103888e-03 -8.43753941e-05 9.99961355e-01 -4.99606562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.486559995 meters 0.013662489695506945 Centerline is valid? [True, True] Translation: X:194.52, Y:-101.36, Z:-5.00 [[-6.78485714e-01 -7.34599302e-01 4.58272010e-03 1.94516281e+02] [ 7.34581575e-01 -6.78501183e-01 -5.10424947e-03 -1.01356008e+02] [ 6.85895911e-03 -9.67785925e-05 9.99976472e-01 -4.99581409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5465599949999 meters 0.01371481849879707 Centerline is valid? [True, True] Translation: X:194.48, Y:-101.31, Z:-5.00 [[-6.80677000e-01 -7.32571213e-01 4.27090220e-03 1.94476747e+02] [ 7.32555793e-01 -6.80690390e-01 -4.75423689e-03 -1.01312989e+02] [ 6.38997916e-03 -1.07425550e-04 9.99979578e-01 -4.99544648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.606559995 meters 0.014333777339103241 Centerline is valid? [True, True] Translation: X:194.44, Y:-101.27, Z:-5.00 [[-6.82273440e-01 -7.31085719e-01 4.07726065e-03 1.94438107e+02] [ 7.31071655e-01 -6.82285614e-01 -4.53613455e-03 -1.01269799e+02] [ 6.09815948e-03 -1.14114434e-04 9.99981400e-01 -4.99610054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.666559995 meters 0.013898875697236782 Centerline is valid? [True, True] Translation: X:194.39, Y:-101.23, Z:-5.00 [[-6.81958157e-01 -7.31378906e-01 4.23893792e-03 1.94394407e+02] [ 7.31363727e-01 -6.81971322e-01 -4.71332129e-03 -1.01231574e+02] [ 6.33805786e-03 -1.14082461e-04 9.99979908e-01 -4.99750816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.726559995 meters 0.013709474711151253 Centerline is valid? [True, True] Translation: X:194.35, Y:-101.19, Z:-5.00 [[-6.80764220e-01 -7.32489048e-01 4.45774643e-03 1.94353490e+02] [ 7.32472307e-01 -6.80778806e-01 -4.95348136e-03 -1.01191041e+02] [ 6.66311014e-03 -1.06977065e-04 9.99977796e-01 -4.99863912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.786559995 meters 0.01276059935182931 Centerline is valid? [True, True] Translation: X:194.31, Y:-101.15, Z:-5.00 [[-6.77999085e-01 -7.35051243e-01 4.11232482e-03 1.94309953e+02] [ 7.35037059e-01 -6.78011552e-01 -4.56702588e-03 -1.01151684e+02] [ 6.14520178e-03 -7.37282194e-05 9.99981115e-01 -4.99845663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.846559995 meters 0.012244795425205787 Centerline is valid? [True, True] Translation: X:194.27, Y:-101.11, Z:-5.00 [[-6.75387441e-01 -7.37453168e-01 3.82492773e-03 1.94267297e+02] [ 7.37440949e-01 -6.75398270e-01 -4.24542776e-03 -1.01112187e+02] [ 5.71415372e-03 -4.66502536e-05 9.99983673e-01 -4.99852036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.906559995 meters 0.011646307562975898 Centerline is valid? [True, True] Translation: X:194.22, Y:-101.07, Z:-5.00 [[-6.70575121e-01 -7.41835678e-01 2.97206168e-03 1.94221365e+02] [ 7.41828352e-01 -6.70581708e-01 -3.29694229e-03 -1.01074995e+02] [ 4.43879962e-03 -6.08785850e-06 9.99990148e-01 -4.99919012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9665599949999 meters 0.011899333016942614 Centerline is valid? [True, True] Translation: X:194.18, Y:-101.04, Z:-5.00 [[-6.65056541e-01 -7.46789290e-01 2.35669112e-03 1.94177251e+02] [ 7.46784720e-01 -6.65060716e-01 -2.61263630e-03 -1.01037923e+02] [ 3.51843149e-03 2.23900546e-05 9.99993810e-01 -4.99862800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.026559995 meters 0.012443895480316419 Centerline is valid? [True, True] Translation: X:194.13, Y:-101.00, Z:-5.00 [[-6.61783743e-01 -7.49690647e-01 2.49230400e-03 1.94134294e+02] [ 7.49685563e-01 -6.61788435e-01 -2.76140160e-03 -1.00998696e+02] [ 3.71957491e-03 4.09936392e-05 9.99993082e-01 -4.99952913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0865599949999 meters 0.013100833536979726 Centerline is valid? [True, True] Translation: X:194.09, Y:-100.96, Z:-5.00 [[-6.59073803e-01 -7.52073644e-01 2.63757040e-03 1.94091454e+02] [ 7.52067975e-01 -6.59079078e-01 -2.92068549e-03 -1.00959437e+02] [ 3.93493805e-03 5.86849390e-05 9.99992256e-01 -5.00073896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.146559995 meters 0.013388258444692843 Centerline is valid? [True, True] Translation: X:194.05, Y:-100.92, Z:-5.00 [[-6.57133422e-01 -7.53768910e-01 2.84556680e-03 1.94049745e+02] [ 7.53762334e-01 -6.57139578e-01 -3.14927738e-03 -1.00917872e+02] [ 4.24376195e-03 7.53856517e-05 9.99990992e-01 -5.00161218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2065599949999 meters 0.013891879664215028 Centerline is valid? [True, True] Translation: X:194.01, Y:-100.88, Z:-5.00 [[-6.56003552e-01 -7.54750294e-01 3.36649791e-03 1.94008484e+02] [ 7.54741115e-01 -6.56012182e-01 -3.72364476e-03 -1.00876627e+02] [ 5.01888562e-03 9.81102004e-05 9.99987401e-01 -5.00251367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.266559995 meters 0.014017809955480865 Centerline is valid? [True, True] Translation: X:193.97, Y:-100.84, Z:-5.00 [[-6.57152057e-01 -7.53754626e-01 2.26693580e-03 1.93969690e+02] [ 7.53750462e-01 -6.57155964e-01 -2.50598163e-03 -1.00835253e+02] [ 3.37862563e-03 6.18929248e-05 9.99994291e-01 -5.00173259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3265599949999 meters 0.013476593209724707 Centerline is valid? [True, True] Translation: X:193.93, Y:-100.79, Z:-5.00 [[-6.58976448e-01 -7.52162005e-01 1.53635943e-03 1.93931647e+02] [ 7.52160090e-01 -6.58978238e-01 -1.69740368e-03 -1.00791106e+02] [ 2.28914999e-03 3.70392010e-05 9.99997379e-01 -5.00132458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.386559995 meters 0.012395922569270227 Centerline is valid? [True, True] Translation: X:193.90, Y:-100.74, Z:-5.00 [[-6.63679959e-01 -7.48015331e-01 1.40584535e-03 1.93895716e+02] [ 7.48013720e-01 -6.63681448e-01 -1.55265169e-03 -1.00744819e+02] [ 2.09444075e-03 2.11277981e-05 9.99997806e-01 -5.00159233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4465599949999 meters 0.011741662276555634 Centerline is valid? [True, True] Translation: X:193.86, Y:-100.70, Z:-5.00 [[-6.68472723e-01 -7.43736240e-01 7.90523818e-04 1.93859577e+02] [ 7.43735728e-01 -6.68473190e-01 -8.72593436e-04 -1.00699602e+02] [ 1.17742334e-03 4.63589769e-06 9.99999307e-01 -5.00187468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.506559995 meters 0.012075128042302166 Centerline is valid? [True, True] Translation: X:193.83, Y:-100.65, Z:-5.00 [[-6.76648258e-01 -7.36306078e-01 7.03358927e-04 1.93827492e+02] [ 7.36305669e-01 -6.76648624e-01 -7.75875050e-04 -1.00653120e+02] [ 1.04720837e-03 -7.10733621e-06 9.99999452e-01 -5.00275695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5665599949999 meters 0.01358620827172325 Centerline is valid? [True, True] Translation: X:193.79, Y:-100.61, Z:-5.00 [[-6.84508239e-01 -7.29004177e-01 1.17455352e-03 1.93793642e+02] [ 7.29003028e-01 -6.84509247e-01 -1.29489372e-03 -1.00605231e+02] [ 1.74797568e-03 -3.01123466e-05 9.99998472e-01 -5.00347694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.626559995 meters 0.01565756098941253 Centerline is valid? [True, True] Translation: X:193.76, Y:-100.56, Z:-5.00 [[-6.90880797e-01 -7.22967387e-01 1.37207706e-03 1.93759108e+02] [ 7.22965808e-01 -6.90882157e-01 -1.51172317e-03 -1.00559147e+02] [ 2.04087011e-03 -5.24557112e-05 9.99997916e-01 -5.00424628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6865599949999 meters 0.017356135520301637 Centerline is valid? [True, True] Translation: X:193.72, Y:-100.51, Z:-5.00 [[-6.95515320e-01 -7.18510243e-01 1.21269813e-03 1.93723431e+02] [ 7.18509005e-01 -6.95516374e-01 -1.33530547e-03 -1.00513842e+02] [ 1.80288206e-03 -5.73908831e-05 9.99998373e-01 -5.00446911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.746559995 meters 0.017688426402529565 Centerline is valid? [True, True] Translation: X:193.69, Y:-100.47, Z:-5.00 [[-6.97393120e-01 -7.16687469e-01 1.38148098e-03 1.93685049e+02] [ 7.16685860e-01 -6.97394485e-01 -1.52028633e-03 -1.00469737e+02] [ 2.05300737e-03 -7.01493440e-05 9.99997890e-01 -5.00435489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8065599949999 meters 0.019859214560720435 Centerline is valid? [True, True] Translation: X:193.65, Y:-100.43, Z:-5.00 [[-6.97601575e-01 -7.16485191e-01 1.00679632e-03 1.93649684e+02] [ 7.16484337e-01 -6.97602300e-01 -1.10741503e-03 -1.00425672e+02] [ 1.49578989e-03 -5.11806735e-05 9.99998880e-01 -5.00426734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.866559995 meters 0.017063224441866007 Centerline is valid? [True, True] Translation: X:193.61, Y:-100.39, Z:-5.00 [[-6.95133658e-01 -7.18880392e-01 4.23014090e-04 1.93606124e+02] [ 7.18880242e-01 -6.95133787e-01 -4.65021529e-04 -1.00387467e+02] [ 6.28346245e-04 -1.91556454e-05 9.99999802e-01 -5.00405406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9265599949999 meters 0.014808348770228788 Centerline is valid? [True, True] Translation: X:193.56, Y:-100.35, Z:-5.00 [[-6.89951610e-01 -7.23855435e-01 2.91770506e-04 1.93561997e+02] [ 7.23855364e-01 -6.89951671e-01 -3.20556960e-04 -1.00349601e+02] [ 4.33344446e-04 -9.96914416e-06 9.99999906e-01 -5.00460149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.986559995 meters 0.013007431828672672 Centerline is valid? [True, True] Translation: X:193.52, Y:-100.31, Z:-5.00 [[-6.83356390e-01 -7.30084891e-01 3.08755652e-04 1.93518552e+02] [ 7.30084813e-01 -6.83356460e-01 -3.39039872e-04 -1.00313196e+02] [ 4.58518057e-04 -6.26725043e-06 9.99999895e-01 -5.00471994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0465599949999 meters 0.012007125058225192 Centerline is valid? [True, True] Translation: X:193.47, Y:-100.27, Z:-5.01 [[-6.79025005e-01 -7.34115059e-01 3.50936550e-04 1.93474015e+02] [ 7.34114958e-01 -6.79025095e-01 -3.85154626e-04 -1.00274443e+02] [ 5.21042536e-04 -3.90185074e-06 9.99999864e-01 -5.00554441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.106559995 meters 0.011811872246729912 Centerline is valid? [True, True] Translation: X:193.43, Y:-100.24, Z:-5.01 [[-6.73732318e-01 -7.38975175e-01 6.74805879e-04 1.93431104e+02] [ 7.38974804e-01 -6.73732656e-01 -7.40110676e-04 -1.00237844e+02] [ 1.00156217e-03 2.80608611e-08 9.99999498e-01 -5.00582866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.166559995 meters 0.012172534436783884 Centerline is valid? [True, True] Translation: X:193.39, Y:-100.20, Z:-5.01 [[-6.68763732e-01 -7.43474814e-01 5.21461586e-04 1.93387601e+02] [ 7.43474594e-01 -6.68763935e-01 -5.71603882e-04 -1.00199383e+02] [ 7.73707792e-04 5.42549659e-06 9.99999701e-01 -5.00612534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.226559995 meters 0.014200110509817367 Centerline is valid? [True, True] Translation: X:193.34, Y:-100.16, Z:-5.01 [[-6.63238435e-01 -7.48405839e-01 1.86509590e-03 1.93342516e+02] [ 7.48403051e-01 -6.63241056e-01 -2.04319986e-03 -1.00163076e+02] [ 2.76615087e-03 4.07147850e-05 9.99996173e-01 -5.00753890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.286559995 meters 0.0147342231235699 Centerline is valid? [True, True] Translation: X:193.30, Y:-100.12, Z:-5.01 [[-6.60043474e-01 -7.51223752e-01 2.34229906e-03 1.93301753e+02] [ 7.51219378e-01 -6.60047627e-01 -2.56453467e-03 -1.00121965e+02] [ 3.47256829e-03 6.68760746e-05 9.99993968e-01 -5.00805736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.346559995 meters 0.015146292497880959 Centerline is valid? [True, True] Translation: X:193.26, Y:-100.08, Z:-5.01 [[-6.57650892e-01 -7.53318493e-01 2.55985151e-03 1.93261390e+02] [ 7.53313290e-01 -6.57655868e-01 -2.80110870e-03 -1.00080027e+02] [ 3.79362835e-03 8.62185252e-05 9.99992800e-01 -5.00842672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.406559995 meters 0.016320026564245558 Centerline is valid? [True, True] Translation: X:193.22, Y:-100.04, Z:-5.01 [[-6.55541926e-01 -7.55147624e-01 4.10480635e-03 1.93220919e+02] [ 7.55134297e-01 -6.55554758e-01 -4.48910975e-03 -1.00037921e+02] [ 6.08086589e-03 1.56880406e-04 9.99981499e-01 -5.01004552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4665599949999 meters 0.016414454637763542 Centerline is valid? [True, True] Translation: X:193.18, Y:-99.99, Z:-5.01 [[-6.55355568e-01 -7.55305908e-01 4.69736450e-03 1.93183859e+02] [ 7.55288480e-01 -6.55372377e-01 -5.13420625e-03 -9.99937072e+01] [ 6.95641925e-03 1.83134640e-04 9.99975787e-01 -5.01025046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.526559995 meters 0.01617775062977703 Centerline is valid? [True, True] Translation: X:193.15, Y:-99.95, Z:-5.01 [[-6.56049711e-01 -7.54707344e-01 3.94998649e-03 1.93147030e+02] [ 7.54695024e-01 -6.56061585e-01 -4.31486252e-03 -9.99492901e+01] [ 5.84789283e-03 1.50270837e-04 9.99982890e-01 -5.00893747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5865599949999 meters 0.01530001522961076 Centerline is valid? [True, True] Translation: X:193.11, Y:-99.90, Z:-5.01 [[-6.59105572e-01 -7.52041248e-01 3.71567832e-03 1.93111927e+02] [ 7.52030317e-01 -6.59116034e-01 -4.05656904e-03 -9.99025970e+01] [ 5.49977041e-03 1.20595487e-04 9.99984869e-01 -5.00862907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.646559995 meters 0.013348742644023488 Centerline is valid? [True, True] Translation: X:193.08, Y:-99.85, Z:-5.01 [[-6.65460042e-01 -7.46425855e-01 3.37263226e-03 1.93080433e+02] [ 7.46416788e-01 -6.65468585e-01 -3.67984013e-03 -9.98529468e+01] [ 4.99110863e-03 6.86027655e-05 9.99987542e-01 -5.00779444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7065599949999 meters 0.012248718537363682 Centerline is valid? [True, True] Translation: X:193.05, Y:-99.80, Z:-5.01 [[-6.73877862e-01 -7.38831886e-01 4.00887293e-03 1.93049740e+02] [ 7.38818954e-01 -6.73889786e-01 -4.37153122e-03 -9.98027960e+01] [ 5.93136518e-03 1.59531955e-05 9.99982409e-01 -5.00804949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.766559995 meters 0.012421555883778105 Centerline is valid? [True, True] Translation: X:193.02, Y:-99.76, Z:-5.01 [[-6.79344901e-01 -7.33801572e-01 5.07530605e-03 1.93015875e+02] [ 7.33780726e-01 -6.79363858e-01 -5.53129643e-03 -9.97556012e+01] [ 7.50685351e-03 -3.34962683e-05 9.99971823e-01 -5.00923753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8265599949999 meters 0.013644814997899168 Centerline is valid? [True, True] Translation: X:192.98, Y:-99.71, Z:-5.01 [[-6.85658088e-01 -7.27900829e-01 5.77658642e-03 1.92983639e+02] [ 7.27873644e-01 -6.85682413e-01 -6.29184732e-03 -9.97068815e+01] [ 8.54074459e-03 -1.09430997e-04 9.99963521e-01 -5.01046157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.886559995 meters 0.014308585875226492 Centerline is valid? [True, True] Translation: X:192.95, Y:-99.66, Z:-5.01 [[-6.89712056e-01 -7.24049480e-01 7.04481430e-03 1.92948413e+02] [ 7.24008880e-01 -6.89748008e-01 -7.66995542e-03 -9.96608268e+01] [ 1.04125739e-02 -1.89552614e-04 9.99945770e-01 -5.01118954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9465599949999 meters 0.015255769008170616 Centerline is valid? [True, True] Translation: X:192.91, Y:-99.62, Z:-5.01 [[-6.92018562e-01 -7.21849114e-01 6.64583769e-03 1.92914593e+02] [ 7.21812912e-01 -6.92050441e-01 -7.23235843e-03 -9.96150342e+01] [ 9.81992643e-03 -2.07874822e-04 9.99951762e-01 -5.01032449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.006559995 meters 0.015290639574729255 Centerline is valid? [True, True] Translation: X:192.88, Y:-99.57, Z:-5.01 [[-6.92138576e-01 -7.21736224e-01 6.40433694e-03 1.92877107e+02] [ 7.21702642e-01 -6.92168176e-01 -6.96514383e-03 -9.95721729e+01] [ 9.45987482e-03 -1.98817840e-04 9.99955235e-01 -5.00966613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0665599949999 meters 0.01489721832835549 Centerline is valid? [True, True] Translation: X:192.84, Y:-99.53, Z:-5.01 [[-6.91169280e-01 -7.22667967e-01 6.00301124e-03 1.92838681e+02] [ 7.22638530e-01 -6.91195327e-01 -6.52501577e-03 -9.95289930e+01] [ 8.86467320e-03 -1.71883235e-04 9.99960693e-01 -5.00881599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.126559995 meters 0.013801366214343282 Centerline is valid? [True, True] Translation: X:192.80, Y:-99.49, Z:-5.01 [[-6.87354385e-01 -7.26297124e-01 6.03622931e-03 1.92797737e+02] [ 7.26267520e-01 -6.87380878e-01 -6.55878130e-03 -9.94872189e+01] [ 8.91281260e-03 -1.24289797e-04 9.99960272e-01 -5.00933515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1865599949999 meters 0.012638066630124074 Centerline is valid? [True, True] Translation: X:192.76, Y:-99.45, Z:-5.01 [[-6.83499982e-01 -7.29925582e-01 6.03485702e-03 1.92755466e+02] [ 7.29896163e-01 -6.83526619e-01 -6.55375703e-03 -9.94464108e+01] [ 8.90874033e-03 -7.46738293e-05 9.99960314e-01 -5.00902252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.246559995 meters 0.012106113765205635 Centerline is valid? [True, True] Translation: X:192.71, Y:-99.41, Z:-5.01 [[-6.76392764e-01 -7.36515839e-01 6.10313410e-03 1.92712763e+02] [ 7.36486050e-01 -6.76420297e-01 -6.62409543e-03 -9.94077626e+01] [ 9.00703499e-03 1.43829087e-05 9.99959436e-01 -5.00966347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3065599949999 meters 0.013007704221535405 Centerline is valid? [True, True] Translation: X:192.67, Y:-99.37, Z:-5.01 [[-6.69115101e-01 -7.43125819e-01 6.99985798e-03 1.92667988e+02] [ 7.43087036e-01 -6.69151703e-01 -7.59307628e-03 -9.93700345e+01] [ 1.03265779e-02 1.20861715e-04 9.99946672e-01 -5.01088695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.366559995 meters 0.014214545998044802 Centerline is valid? [True, True] Translation: X:192.63, Y:-99.33, Z:-5.01 [[-6.64791998e-01 -7.46996940e-01 6.86813201e-03 1.92625282e+02] [ 7.46959850e-01 -6.64827451e-01 -7.44600539e-03 -9.93306217e+01] [ 1.01282659e-02 1.80174055e-04 9.99948692e-01 -5.01076082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4265599949999 meters 0.016783310530404 Centerline is valid? [True, True] Translation: X:192.58, Y:-99.29, Z:-5.01 [[-6.58351016e-01 -7.52682172e-01 6.59454018e-03 1.92582006e+02] [ 7.52648303e-01 -6.58383992e-01 -7.14502519e-03 -9.92924022e+01] [ 9.71967276e-03 2.59434879e-04 9.99952729e-01 -5.00971135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.486559995 meters 0.016712307676070938 Centerline is valid? [True, True] Translation: X:192.54, Y:-99.25, Z:-5.01 [[-6.57359064e-01 -7.53551192e-01 6.29781290e-03 1.92541961e+02] [ 7.53520379e-01 -6.57389178e-01 -6.81959989e-03 -9.92497714e+01] [ 9.27903168e-03 2.62604561e-04 9.99956914e-01 -5.00888663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5465599949999 meters 0.017200409418962333 Centerline is valid? [True, True] Translation: X:192.50, Y:-99.21, Z:-5.01 [[-6.56369592e-01 -7.54416956e-01 5.83230347e-03 1.92501344e+02] [ 7.54390595e-01 -6.56395453e-01 -6.31188311e-03 -9.92080019e+01] [ 8.59008912e-03 2.56906746e-04 9.99963072e-01 -5.00899997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.606559995 meters 0.017915189644857228 Centerline is valid? [True, True] Translation: X:192.46, Y:-99.17, Z:-5.01 [[-6.55486656e-01 -7.55177487e-01 6.64885843e-03 1.92460033e+02] [ 7.55143306e-01 -6.55520304e-01 -7.19147091e-03 -9.91666971e+01] [ 9.78929863e-03 3.06927724e-04 9.99952037e-01 -5.01048169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.666559995 meters 0.020021569912892792 Centerline is valid? [True, True] Translation: X:192.42, Y:-99.13, Z:-5.01 [[-6.54404905e-01 -7.56093436e-01 8.77135873e-03 1.92418032e+02] [ 7.56034104e-01 -6.54463547e-01 -9.48151978e-03 -9.91279924e+01] [ 1.29094494e-02 4.26693285e-04 9.99916579e-01 -5.01471804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.726559995 meters 0.01827574272198331 Centerline is valid? [True, True] Translation: X:192.38, Y:-99.08, Z:-5.01 [[-6.55885852e-01 -7.54798079e-01 9.67522918e-03 1.92381204e+02] [ 7.54725832e-01 -6.55957058e-01 -1.04526183e-02 -9.90831667e+01] [ 1.42361510e-02 4.46420957e-04 9.99898561e-01 -5.01491455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.786559995 meters 0.015920788588016505 Centerline is valid? [True, True] Translation: X:192.35, Y:-99.04, Z:-5.01 [[-6.61202733e-01 -7.50164234e-01 8.03539137e-03 1.92347100e+02] [ 7.50114122e-01 -6.61251493e-01 -8.67561258e-03 -9.90365723e+01] [ 1.18215488e-02 2.91121797e-04 9.99930081e-01 -5.01228204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.846559995 meters 0.014299683628373076 Centerline is valid? [True, True] Translation: X:192.31, Y:-98.99, Z:-5.01 [[-6.66418881e-01 -7.45546291e-01 6.82668204e-03 1.92312129e+02] [ 7.45509922e-01 -6.66453821e-01 -7.36613303e-03 -9.89899155e+01] [ 1.00414615e-02 1.80429062e-04 9.99949567e-01 -5.01071901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.906559995 meters 0.01248446744896911 Centerline is valid? [True, True] Translation: X:192.28, Y:-98.94, Z:-5.01 [[-6.75946520e-01 -7.36926623e-01 5.95442003e-03 1.92280819e+02] [ 7.36898649e-01 -6.75972744e-01 -6.42111838e-03 -9.89400215e+01] [ 8.75691872e-03 4.74714551e-05 9.99961656e-01 -5.00916918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9665599949999 meters 0.012500247296791955 Centerline is valid? [True, True] Translation: X:192.25, Y:-98.89, Z:-5.01 [[-6.82214488e-01 -7.31123502e-01 6.46665925e-03 1.92247874e+02] [ 7.31090286e-01 -6.82245135e-01 -6.96916243e-03 -9.88931140e+01] [ 9.50716526e-03 -2.67518171e-05 9.99954806e-01 -5.00928248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.026559995 meters 0.013760524230281762 Centerline is valid? [True, True] Translation: X:192.21, Y:-98.85, Z:-5.01 [[-6.88439888e-01 -7.25258741e-01 7.09075602e-03 1.92214354e+02] [ 7.25218537e-01 -6.88476394e-01 -7.63732999e-03 -9.88467602e+01] [ 1.04208585e-02 -1.15494905e-04 9.99945695e-01 -5.00994197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0865599949999 meters 0.013574159923424901 Centerline is valid? [True, True] Translation: X:192.17, Y:-98.81, Z:-5.01 [[-6.89619343e-01 -7.24135742e-01 7.25179921e-03 1.92174903e+02] [ 7.24093681e-01 -6.89657458e-01 -7.80585172e-03 -9.88053377e+01] [ 1.06537536e-02 -1.32084353e-04 9.99943238e-01 -5.00974034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.146559995 meters 0.013291098302389323 Centerline is valid? [True, True] Translation: X:192.13, Y:-98.76, Z:-5.01 [[-6.89235686e-01 -7.24502682e-01 7.07342710e-03 1.92134081e+02] [ 7.24462729e-01 -6.89271971e-01 -7.60953257e-03 -9.87640823e+01] [ 1.03886418e-02 -1.20327104e-04 9.99946029e-01 -5.00916727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2065599949999 meters 0.01282619897594344 Centerline is valid? [True, True] Translation: X:192.09, Y:-98.72, Z:-5.01 [[-6.86833182e-01 -7.26783996e-01 6.72334717e-03 1.92091040e+02] [ 7.26748049e-01 -6.86866084e-01 -7.22878477e-03 -9.87244215e+01] [ 9.87180422e-03 -7.87898088e-05 9.99951269e-01 -5.00894709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.266559995 meters 0.012395974777819261 Centerline is valid? [True, True] Translation: X:192.05, Y:-98.69, Z:-5.01 [[-6.83783749e-01 -7.29655938e-01 6.48053361e-03 1.92047530e+02] [ 7.29622712e-01 -6.83814457e-01 -6.96329983e-03 -9.86867831e+01] [ 9.51229563e-03 -3.30467544e-05 9.99954757e-01 -5.00948018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3265599949999 meters 0.012160295548879653 Centerline is valid? [True, True] Translation: X:192.01, Y:-98.65, Z:-5.01 [[-6.82000599e-01 -7.31326153e-01 6.10255993e-03 1.92005058e+02] [ 7.31296790e-01 -6.82027901e-01 -6.55343734e-03 -9.86470756e+01] [ 8.95481626e-03 -6.66569893e-06 9.99959905e-01 -5.00941712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.386559995 meters 0.012046128166145809 Centerline is valid? [True, True] Translation: X:191.96, Y:-98.61, Z:-5.01 [[-6.79341715e-01 -7.33800116e-01 5.67667666e-03 1.91962080e+02] [ 7.33774823e-01 -6.79365431e-01 -6.09257947e-03 -9.86076847e+01] [ 8.32727341e-03 2.64590282e-05 9.99965327e-01 -5.00902331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4465599949999 meters 0.012128982358311145 Centerline is valid? [True, True] Translation: X:191.92, Y:-98.57, Z:-5.01 [[-6.78116902e-01 -7.34933111e-01 5.54887716e-03 1.91921280e+02] [ 7.34909015e-01 -6.78139603e-01 -5.95141085e-03 -9.85689321e+01] [ 8.13680224e-03 4.21675610e-05 9.99966895e-01 -5.00968030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.506559995 meters 0.011983964808772668 Centerline is valid? [True, True] Translation: X:191.88, Y:-98.53, Z:-5.01 [[-6.79373358e-01 -7.33770161e-01 5.76112568e-03 1.91880858e+02] [ 7.33744178e-01 -6.79397784e-01 -6.17512030e-03 -9.85279595e+01] [ 8.44521504e-03 3.19802096e-05 9.99964338e-01 -5.01073315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5665599949999 meters 0.011832603121912219 Centerline is valid? [True, True] Translation: X:191.84, Y:-98.49, Z:-5.01 [[-6.81495474e-01 -7.31799798e-01 5.74241503e-03 1.91842699e+02] [ 7.31773946e-01 -6.81519666e-01 -6.15117582e-03 -9.84852963e+01] [ 8.41499800e-03 1.01512205e-05 9.99964593e-01 -5.01064974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.626559995 meters 0.012131692266426745 Centerline is valid? [True, True] Translation: X:191.81, Y:-98.44, Z:-5.01 [[-6.86639740e-01 -7.26975209e-01 5.73693871e-03 1.91806145e+02] [ 7.26949266e-01 -6.86663705e-01 -6.14179036e-03 -9.84400559e+01] [ 8.40427692e-03 -4.67339525e-05 9.99964682e-01 -5.00912616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6865599949999 meters 0.013253602065905605 Centerline is valid? [True, True] Translation: X:191.77, Y:-98.40, Z:-5.01 [[-6.92506183e-01 -7.21388735e-01 5.78615192e-03 1.91769572e+02] [ 7.21362180e-01 -6.92530346e-01 -6.19075663e-03 -9.83954183e+01] [ 8.47302788e-03 -1.13226080e-04 9.99964097e-01 -5.00859990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.746559995 meters 0.014573715645151988 Centerline is valid? [True, True] Translation: X:191.73, Y:-98.35, Z:-5.01 [[-6.97181150e-01 -7.16860661e-01 7.01685015e-03 1.91731495e+02] [ 7.16821421e-01 -6.97216431e-01 -7.50319607e-03 -9.83516656e+01] [ 1.02710093e-02 -2.01258363e-04 9.99947232e-01 -5.00933243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8065599949999 meters 0.015387597484815305 Centerline is valid? [True, True] Translation: X:191.69, Y:-98.31, Z:-5.01 [[-6.99229528e-01 -7.14853308e-01 7.92567207e-03 1.91692290e+02] [ 7.14803171e-01 -6.99274397e-01 -8.47023805e-03 -9.83088088e+01] [ 1.15971972e-02 -2.57345025e-04 9.99932717e-01 -5.00983262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.866559995 meters 0.016120078923429197 Centerline is valid? [True, True] Translation: X:191.65, Y:-98.27, Z:-5.01 [[-7.00244445e-01 -7.13850212e-01 8.69433517e-03 1.91652206e+02] [ 7.13789866e-01 -7.00298355e-01 -9.28657196e-03 -9.82666902e+01] [ 1.27178500e-02 -2.96942088e-04 9.99919081e-01 -5.01037603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9265599949999 meters 0.01600763606429544 Centerline is valid? [True, True] Translation: X:191.61, Y:-98.23, Z:-5.01 [[-6.99804930e-01 -7.14282617e-01 8.56758245e-03 1.91611263e+02] [ 7.14224121e-01 -6.99857317e-01 -9.14551923e-03 -9.82265171e+01] [ 1.25285707e-02 -2.80905399e-04 9.99921475e-01 -5.00952352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.986559995 meters 0.014272588612292645 Centerline is valid? [True, True] Translation: X:191.57, Y:-98.19, Z:-5.01 [[-6.96456163e-01 -7.17555114e-01 7.96691061e-03 1.91566648e+02] [ 7.17504799e-01 -6.96501700e-01 -8.49974254e-03 -9.81882975e+01] [ 1.16480005e-02 -2.03401475e-04 9.99932139e-01 -5.00664389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0465599949999 meters 0.01252449765816286 Centerline is valid? [True, True] Translation: X:191.52, Y:-98.15, Z:-5.01 [[-6.90062503e-01 -7.23703818e-01 8.15634102e-03 1.91519101e+02] [ 7.23651568e-01 -6.90110697e-01 -8.69682058e-03 -9.81533160e+01] [ 1.19227004e-02 -9.90008099e-05 9.99928917e-01 -5.00652257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.106559995 meters 0.01171121961280059 Centerline is valid? [True, True] Translation: X:191.47, Y:-98.12, Z:-5.01 [[-6.84620303e-01 -7.28854784e-01 8.10830313e-03 1.91473148e+02] [ 7.28803564e-01 -6.84668316e-01 -8.64073323e-03 -9.81169221e+01] [ 1.18493380e-02 -6.26118070e-06 9.99929794e-01 -5.00624153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.166559995 meters 0.01251721766519809 Centerline is valid? [True, True] Translation: X:191.42, Y:-98.08, Z:-5.01 [[-6.75850108e-01 -7.36998030e-01 7.78039390e-03 1.91424331e+02] [ 7.36951454e-01 -6.75894878e-01 -8.28666299e-03 -9.80833947e+01] [ 1.13659827e-02 1.33230521e-04 9.99935396e-01 -5.00550571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.226559995 meters 0.013863448722702789 Centerline is valid? [True, True] Translation: X:191.38, Y:-98.05, Z:-5.01 [[-6.71272685e-01 -7.41169847e-01 7.76149062e-03 1.91379111e+02] [ 7.41123826e-01 -6.71317522e-01 -8.26190885e-03 -9.80463105e+01] [ 1.13339024e-02 2.06231887e-04 9.99935748e-01 -5.00513736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.286559995 meters 0.01615968175911361 Centerline is valid? [True, True] Translation: X:191.33, Y:-98.01, Z:-5.00 [[-6.66590898e-01 -7.45387541e-01 7.34772312e-03 1.91332553e+02] [ 7.45346597e-01 -6.66631340e-01 -7.81708739e-03 -9.80105768e+01] [ 1.07249821e-02 2.65801125e-04 9.99942450e-01 -5.00490663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.346559995 meters 0.015881621450009695 Centerline is valid? [True, True] Translation: X:191.29, Y:-97.97, Z:-5.00 [[-6.64991463e-01 -7.46814420e-01 7.38752493e-03 1.91290671e+02] [ 7.46773168e-01 -6.65032432e-01 -7.85492930e-03 -9.79698895e+01] [ 1.07791181e-02 2.93344463e-04 9.99941861e-01 -5.00442704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.406559995 meters 0.015654120773266812 Centerline is valid? [True, True] Translation: X:191.25, Y:-97.93, Z:-5.01 [[-6.66303551e-01 -7.45635458e-01 8.20624385e-03 1.91250781e+02] [ 7.45584532e-01 -6.66354012e-01 -8.71987493e-03 -9.79292870e+01] [ 1.19701114e-02 3.08364848e-04 9.99928308e-01 -5.00580576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4665599949999 meters 0.016148979645912376 Centerline is valid? [True, True] Translation: X:191.21, Y:-97.89, Z:-5.01 [[-6.67919259e-01 -7.44187356e-01 8.30920004e-03 1.91211064e+02] [ 7.44135092e-01 -6.67970879e-01 -8.82438836e-03 -9.78888796e+01] [ 1.21173019e-02 2.89188404e-04 9.99926541e-01 -5.00714077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.526559995 meters 0.014171134233231878 Centerline is valid? [True, True] Translation: X:191.17, Y:-97.84, Z:-5.01 [[-6.69784183e-01 -7.42502244e-01 8.91989889e-03 1.91174805e+02] [ 7.42441936e-01 -6.69843517e-01 -9.46750151e-03 -9.78432262e+01] [ 1.30045776e-02 2.81324230e-04 9.99915397e-01 -5.00543240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5865599949999 meters 0.014097693443743533 Centerline is valid? [True, True] Translation: X:191.14, Y:-97.80, Z:-5.01 [[-6.71520889e-01 -7.40920699e-01 9.80885067e-03 1.91137368e+02] [ 7.40847701e-01 -6.71592466e-01 -1.04040319e-02 -9.78018283e+01] [ 1.42961128e-02 2.80339715e-04 9.99897766e-01 -5.00701216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.646559995 meters 0.013855234274697488 Centerline is valid? [True, True] Translation: X:191.10, Y:-97.76, Z:-5.01 [[-6.72235180e-01 -7.40267331e-01 1.02049504e-02 1.91099209e+02] [ 7.40188346e-01 -6.72312575e-01 -1.08172673e-02 -9.77591864e+01] [ 1.48685861e-02 2.81837731e-04 9.99889417e-01 -5.00751545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7065599949999 meters 0.01385192256220699 Centerline is valid? [True, True] Translation: X:191.06, Y:-97.72, Z:-5.01 [[-6.73095134e-01 -7.39491458e-01 9.76340781e-03 1.91061193e+02] [ 7.39419172e-01 -6.73165891e-01 -1.03427073e-02 -9.77159234e+01] [ 1.42207368e-02 2.57624951e-04 9.99898847e-01 -5.00733778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.766559995 meters 0.014184698021587148 Centerline is valid? [True, True] Translation: X:191.02, Y:-97.67, Z:-5.00 [[-6.71887754e-01 -7.40591035e-01 9.57937675e-03 1.91023721e+02] [ 7.40521645e-01 -6.71955981e-01 -1.01416921e-02 -9.76721142e+01] [ 1.39477657e-02 2.79657102e-04 9.99902686e-01 -5.00473389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8265599949999 meters 0.014928010734293657 Centerline is valid? [True, True] Translation: X:190.98, Y:-97.63, Z:-5.00 [[-6.70175527e-01 -7.42148001e-01 9.00599780e-03 1.90983130e+02] [ 7.42086879e-01 -6.70235971e-01 -9.52930558e-03 -9.76307453e+01] [ 1.31082988e-02 2.96925408e-04 9.99914038e-01 -5.00421232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.886559995 meters 0.016789813714151985 Centerline is valid? [True, True] Translation: X:190.94, Y:-97.59, Z:-5.00 [[-6.66047054e-01 -7.45863118e-01 8.33853782e-03 1.90941677e+02] [ 7.45811074e-01 -6.66099159e-01 -8.81772867e-03 -9.75910808e+01] [ 1.21311116e-02 3.45951649e-04 9.99926356e-01 -5.00312203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9465599949999 meters 0.01956603227899384 Centerline is valid? [True, True] Translation: X:190.90, Y:-97.55, Z:-5.00 [[-6.61612063e-01 -7.49796672e-01 8.62719701e-03 1.90899063e+02] [ 7.49741363e-01 -6.61668165e-01 -9.11745517e-03 -9.75523009e+01] [ 1.25445792e-02 4.35948125e-04 9.99921219e-01 -5.00371380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.006559995 meters 0.019211257884631967 Centerline is valid? [True, True] Translation: X:190.86, Y:-97.51, Z:-5.00 [[-6.60090768e-01 -7.51138392e-01 8.44362802e-03 1.90859758e+02] [ 7.51085583e-01 -6.60144613e-01 -8.91834523e-03 -9.75095047e+01] [ 1.22729270e-02 4.54969922e-04 9.99924581e-01 -5.00331690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0665599949999 meters 0.020300253824097395 Centerline is valid? [True, True] Translation: X:190.82, Y:-97.47, Z:-5.00 [[-6.59201933e-01 -7.51918908e-01 8.41236639e-03 1.90819792e+02] [ 7.51866615e-01 -6.59255440e-01 -8.88028717e-03 -9.74669471e+01] [ 1.22231541e-02 4.71074963e-04 9.99925184e-01 -5.00271314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.126559995 meters 0.02087138028942882 Centerline is valid? [True, True] Translation: X:190.78, Y:-97.43, Z:-5.00 [[-6.61330963e-01 -7.50057480e-01 7.42523953e-03 1.90780992e+02] [ 7.50016664e-01 -6.61372532e-01 -7.83439367e-03 -9.74252192e+01] [ 1.07870950e-02 3.87926266e-04 9.99941742e-01 -5.00257125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1865599949999 meters 0.01876600699019829 Centerline is valid? [True, True] Translation: X:190.75, Y:-97.38, Z:-5.00 [[-6.64522591e-01 -7.47247648e-01 5.53880400e-03 1.90745314e+02] [ 7.47224869e-01 -6.64545623e-01 -5.84036248e-03 -9.73800167e+01] [ 8.04498508e-03 2.57679284e-04 9.99967605e-01 -5.00057377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.246559995 meters 0.01800422624356768 Centerline is valid? [True, True] Translation: X:190.71, Y:-97.34, Z:-5.00 [[-6.67337426e-01 -7.44736275e-01 5.35167791e-03 1.90706323e+02] [ 7.44714943e-01 -6.67358848e-01 -5.64103373e-03 -9.73363177e+01] [ 7.77257205e-03 2.21001580e-04 9.99969769e-01 -5.00157262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3065599949999 meters 0.014739023994849212 Centerline is valid? [True, True] Translation: X:190.67, Y:-97.29, Z:-5.00 [[-6.75028266e-01 -7.37766116e-01 6.16433039e-03 1.90674142e+02] [ 7.37737554e-01 -6.75056391e-01 -6.49378524e-03 -9.72881604e+01] [ 8.95216534e-03 1.64169444e-04 9.99959915e-01 -5.00391867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.366559995 meters 0.013236982968017225 Centerline is valid? [True, True] Translation: X:190.64, Y:-97.24, Z:-5.00 [[-6.78321063e-01 -7.34739729e-01 6.16988278e-03 1.90637935e+02] [ 7.34711021e-01 -6.78349110e-01 -6.49615797e-03 -9.72416614e+01] [ 8.95831984e-03 1.26600097e-04 9.99959865e-01 -5.00336312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4265599949999 meters 0.012844444360282299 Centerline is valid? [True, True] Translation: X:190.60, Y:-97.20, Z:-5.00 [[-6.80602160e-01 -7.32627939e-01 6.08295410e-03 1.90599550e+02] [ 7.32599983e-01 -6.80629336e-01 -6.40098610e-03 -9.71979218e+01] [ 8.82977826e-03 9.98470980e-05 9.99961012e-01 -5.00344804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.486559995 meters 0.01272580216479113 Centerline is valid? [True, True] Translation: X:190.56, Y:-97.15, Z:-5.00 [[-6.83019517e-01 -7.30375363e-01 6.01411039e-03 1.90561692e+02] [ 7.30347979e-01 -6.83045990e-01 -6.32494755e-03 -9.71532200e+01] [ 8.72749985e-03 7.23307554e-05 9.99961912e-01 -5.00373822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5465599949999 meters 0.012749161088881385 Centerline is valid? [True, True] Translation: X:190.52, Y:-97.11, Z:-5.01 [[-6.84344492e-01 -7.29131882e-01 6.27013477e-03 1.90523964e+02] [ 7.29102103e-01 -6.84373213e-01 -6.59004646e-03 -9.71104207e+01] [ 9.09612526e-03 6.17064458e-05 9.99958628e-01 -5.00517176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.606559995 meters 0.013027178114153711 Centerline is valid? [True, True] Translation: X:190.49, Y:-97.07, Z:-5.01 [[-6.84433380e-01 -7.29038387e-01 7.34698525e-03 1.90485301e+02] [ 7.28997543e-01 -6.84472808e-01 -7.71738750e-03 -9.70672014e+01] [ 1.06550834e-02 7.38965800e-05 9.99943230e-01 -5.00554117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.666559995 meters 0.013546502431003785 Centerline is valid? [True, True] Translation: X:190.45, Y:-97.03, Z:-5.01 [[-6.82960254e-01 -7.30409062e-01 8.23969805e-03 1.90446248e+02] [ 7.30357851e-01 -6.83009948e-01 -8.64989132e-03 -9.70259127e+01] [ 1.19457547e-02 1.10396183e-04 9.99928641e-01 -5.00563299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.726559995 meters 0.013737981732437909 Centerline is valid? [True, True] Translation: X:190.41, Y:-96.98, Z:-5.00 [[-6.81172933e-01 -7.32075564e-01 8.29476305e-03 1.90405747e+02] [ 7.32023849e-01 -6.81223420e-01 -8.70271455e-03 -9.69838519e+01] [ 1.20216315e-02 1.43910776e-04 9.99927727e-01 -5.00484702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.786559995 meters 0.014076091504384273 Centerline is valid? [True, True] Translation: X:190.37, Y:-96.94, Z:-5.01 [[-6.80339876e-01 -7.32852164e-01 8.08449690e-03 1.90365287e+02] [ 7.32803152e-01 -6.80387890e-01 -8.47699771e-03 -9.69428595e+01] [ 1.17129799e-02 1.57105243e-04 9.99931388e-01 -5.00501255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.846559995 meters 0.015207219843853748 Centerline is valid? [True, True] Translation: X:190.32, Y:-96.90, Z:-5.01 [[-6.77081761e-01 -7.35856515e-01 8.68787013e-03 1.90322764e+02] [ 7.35800206e-01 -6.77137459e-01 -9.10593733e-03 -9.69040588e+01] [ 1.25835456e-02 2.27072560e-04 9.99920798e-01 -5.00676419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.906559995 meters 0.015402808075705295 Centerline is valid? [True, True] Translation: X:190.28, Y:-96.86, Z:-5.01 [[-6.74871524e-01 -7.37859946e-01 1.05416698e-02 1.90282357e+02] [ 7.37777389e-01 -6.74953772e-01 -1.10421673e-02 -9.68631102e+01] [ 1.52627128e-02 3.25361358e-04 9.99883465e-01 -5.00826764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9665599949999 meters 0.017131385224980703 Centerline is valid? [True, True] Translation: X:190.24, Y:-96.82, Z:-5.01 [[-6.74332976e-01 -7.38355888e-01 1.02771869e-02 1.90241317e+02] [ 7.38277576e-01 -6.74411204e-01 -1.07586263e-02 -9.68236621e+01] [ 1.48747451e-02 3.32520187e-04 9.99889310e-01 -5.00905292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.026559995 meters 0.015873803677029955 Centerline is valid? [True, True] Translation: X:190.20, Y:-96.78, Z:-5.01 [[-6.74455849e-01 -7.38238557e-01 1.06367650e-02 1.90203182e+02] [ 7.38154752e-01 -6.74539631e-01 -1.11287158e-02 -9.67802502e+01] [ 1.53905666e-02 3.45751108e-04 9.99881498e-01 -5.00704067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0865599949999 meters 0.01632847544029266 Centerline is valid? [True, True] Translation: X:190.16, Y:-96.74, Z:-5.01 [[-6.74617934e-01 -7.38070994e-01 1.19100941e-02 1.90163506e+02] [ 7.37966024e-01 -6.74722948e-01 -1.24535276e-02 -9.67396968e+01] [ 1.72276013e-02 3.87871749e-04 9.99851519e-01 -5.00910061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.146559995 meters 0.01592876965160303 Centerline is valid? [True, True] Translation: X:190.13, Y:-96.70, Z:-5.01 [[-6.75491252e-01 -7.37248682e-01 1.32645444e-02 1.90125277e+02] [ 7.37118488e-01 -6.75621350e-01 -1.38609508e-02 -9.66968132e+01] [ 1.91807771e-02 4.14589856e-04 9.99815946e-01 -5.00947795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2065599949999 meters 0.015249582550793297 Centerline is valid? [True, True] Translation: X:190.09, Y:-96.65, Z:-5.01 [[-6.77079275e-01 -7.35778496e-01 1.39161876e-02 1.90087054e+02] [ 7.35635051e-01 -6.77222155e-01 -1.45335689e-02 -9.66529739e+01] [ 2.01178380e-02 3.96857126e-04 9.99797537e-01 -5.00862689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.266559995 meters 0.014860761975852139 Centerline is valid? [True, True] Translation: X:190.05, Y:-96.61, Z:-5.01 [[-6.79774747e-01 -7.33287120e-01 1.40104652e-02 1.90050105e+02] [ 7.33141317e-01 -6.79919033e-01 -1.46259364e-02 -9.66090885e+01] [ 2.02509927e-02 3.29308668e-04 9.99794873e-01 -5.00791141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3265599949999 meters 0.014890709300653962 Centerline is valid? [True, True] Translation: X:190.01, Y:-96.56, Z:-5.01 [[-6.82732502e-01 -7.30549549e-01 1.31790717e-02 1.90013234e+02] [ 7.30420172e-01 -6.82859649e-01 -1.37503639e-02 -9.65648045e+01] [ 1.90447784e-02 2.38439501e-04 9.99818603e-01 -5.00775626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.386559995 meters 0.014084377408999834 Centerline is valid? [True, True] Translation: X:189.98, Y:-96.52, Z:-5.01 [[-6.83763056e-01 -7.29588822e-01 1.29704877e-02 1.89976385e+02] [ 7.29463493e-01 -6.83886032e-01 -1.35243338e-02 -9.65214300e+01] [ 1.87375382e-02 2.14057469e-04 9.99824414e-01 -5.00536550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4465599949999 meters 0.013837835276986378 Centerline is valid? [True, True] Translation: X:189.94, Y:-96.48, Z:-5.00 [[-6.83634184e-01 -7.29712236e-01 1.28201197e-02 1.89937390e+02] [ 7.29589975e-01 -6.83754345e-01 -1.33590273e-02 -9.64791578e+01] [ 1.85140582e-02 2.20743120e-04 9.99828576e-01 -5.00476354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.506559995 meters 0.014236434500173705 Centerline is valid? [True, True] Translation: X:189.90, Y:-96.44, Z:-5.01 [[-6.83118048e-01 -7.30203663e-01 1.23426968e-02 1.89898671e+02] [ 7.30090532e-01 -6.83229506e-01 -1.28552556e-02 -9.64389200e+01] [ 1.78198494e-02 2.29628992e-04 9.99841188e-01 -5.00526267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5665599949999 meters 0.014250664117468273 Centerline is valid? [True, True] Translation: X:189.86, Y:-96.40, Z:-5.00 [[-6.81859544e-01 -7.31390017e-01 1.16707275e-02 1.89859455e+02] [ 7.31289173e-01 -6.81959368e-01 -1.21476869e-02 -9.63970489e+01] [ 1.68436589e-02 2.51660417e-04 9.99858104e-01 -5.00370488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.626559995 meters 0.01460699417611733 Centerline is valid? [True, True] Translation: X:189.82, Y:-96.36, Z:-5.00 [[-6.79447498e-01 -7.33625785e-01 1.20126940e-02 1.89818157e+02] [ 7.33519417e-01 -6.79553607e-01 -1.24964068e-02 -9.63563050e+01] [ 1.73309557e-02 3.20891943e-04 9.99849756e-01 -5.00483671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6865599949999 meters 0.01584123418016754 Centerline is valid? [True, True] Translation: X:189.78, Y:-96.32, Z:-5.01 [[-6.77444389e-01 -7.35490193e-01 1.11029554e-02 1.89776848e+02] [ 7.35399653e-01 -6.77535282e-01 -1.15452177e-02 -9.63166946e+01] [ 1.60140384e-02 3.43866596e-04 9.99871708e-01 -5.00607107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.746559995 meters 0.016192593139543958 Centerline is valid? [True, True] Translation: X:189.74, Y:-96.28, Z:-5.01 [[-6.77800120e-01 -7.35174068e-01 1.02998580e-02 1.89737879e+02] [ 7.35096221e-01 -6.77878299e-01 -1.07031202e-02 -9.62755015e+01] [ 1.48507066e-02 3.16810598e-04 9.99889672e-01 -5.00565527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8065599949999 meters 0.015576266664862871 Centerline is valid? [True, True] Translation: X:189.70, Y:-96.23, Z:-5.00 [[-6.78296370e-01 -7.34724356e-01 9.70337707e-03 1.89699390e+02] [ 7.34655308e-01 -6.78365708e-01 -1.00768823e-02 -9.62333338e+01] [ 1.39861692e-02 2.93524763e-04 9.99902146e-01 -5.00415071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.866559995 meters 0.015994379886642793 Centerline is valid? [True, True] Translation: X:189.66, Y:-96.19, Z:-5.00 [[-6.77660846e-01 -7.35320780e-01 8.89542254e-03 1.89659413e+02] [ 7.35262878e-01 -6.77719168e-01 -9.23198576e-03 -9.61917971e+01] [ 1.28170693e-02 2.84318698e-04 9.99917818e-01 -5.00298020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9265599949999 meters 0.01621738366740035 Centerline is valid? [True, True] Translation: X:189.62, Y:-96.15, Z:-5.00 [[-6.77030727e-01 -7.35899287e-01 9.03518807e-03 1.89618333e+02] [ 7.35839672e-01 -6.77090945e-01 -9.37172463e-03 -9.61508517e+01] [ 1.30142895e-02 3.03504292e-04 9.99915265e-01 -5.00399999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.986559995 meters 0.016731963068810897 Centerline is valid? [True, True] Translation: X:189.58, Y:-96.11, Z:-5.01 [[-6.75308534e-01 -7.37472858e-01 9.60040120e-03 1.89576596e+02] [ 7.37405788e-01 -6.75376677e-01 -9.95227797e-03 -9.61099142e+01] [ 1.38234219e-02 3.58533161e-04 9.99904388e-01 -5.00585888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0465599949999 meters 0.017560804442368887 Centerline is valid? [True, True] Translation: X:189.54, Y:-96.07, Z:-5.01 [[-6.74952538e-01 -7.37800346e-01 9.47211881e-03 1.89535774e+02] [ 7.37735170e-01 -6.75018901e-01 -9.81338150e-03 -9.60698120e+01] [ 1.36341755e-02 3.64348427e-04 9.99906984e-01 -5.00716956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.106559995 meters 0.01696304044432334 Centerline is valid? [True, True] Translation: X:189.50, Y:-96.03, Z:-5.01 [[-6.75762869e-01 -7.37059767e-01 9.35124471e-03 1.89496963e+02] [ 7.36996256e-01 -6.75827477e-01 -9.68195455e-03 -9.60281426e+01] [ 1.34560073e-02 3.49126958e-04 9.99909403e-01 -5.00740028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.166559995 meters 0.01698603135336428 Centerline is valid? [True, True] Translation: X:189.46, Y:-95.99, Z:-5.01 [[-6.76375579e-01 -7.36506133e-01 8.64830872e-03 1.89456806e+02] [ 7.36451837e-01 -6.76430792e-01 -8.94846471e-03 -9.59867913e+01] [ 1.24405815e-02 3.16539847e-04 9.99922563e-01 -5.00683223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.226559995 meters 0.01732707212449574 Centerline is valid? [True, True] Translation: X:189.42, Y:-95.95, Z:-5.01 [[-6.76675948e-01 -7.36245043e-01 7.27312191e-03 1.89416636e+02] [ 7.36206666e-01 -6.76714982e-01 -7.52188617e-03 -9.59470264e+01] [ 1.04597820e-02 2.64641379e-04 9.99945260e-01 -5.00514730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.286559995 meters 0.01704844510313906 Centerline is valid? [True, True] Translation: X:189.38, Y:-95.91, Z:-5.00 [[-6.76974374e-01 -7.35976562e-01 6.64809404e-03 1.89376715e+02] [ 7.35944526e-01 -6.77006973e-01 -6.87114605e-03 -9.59059835e+01] [ 9.55780848e-03 2.41038624e-04 9.99954294e-01 -5.00497932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.346559995 meters 0.016891777109755333 Centerline is valid? [True, True] Translation: X:189.34, Y:-95.86, Z:-5.01 [[-6.77849430e-01 -7.35171702e-01 6.53590551e-03 1.89337044e+02] [ 7.35140741e-01 -6.77880901e-01 -6.75094666e-03 -9.58643229e+01] [ 9.39367046e-03 2.28685068e-04 9.99955852e-01 -5.00580307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.406559995 meters 0.01840240863474039 Centerline is valid? [True, True] Translation: X:189.30, Y:-95.83, Z:-5.01 [[-6.76386268e-01 -7.36497902e-01 8.51214990e-03 1.89295028e+02] [ 7.36445553e-01 -6.76439749e-01 -8.78706986e-03 -9.58259231e+01] [ 1.22296151e-02 3.25281551e-04 9.99925163e-01 -5.00860445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4665599949999 meters 0.017648825485862264 Centerline is valid? [True, True] Translation: X:189.26, Y:-95.78, Z:-5.01 [[-6.76902482e-01 -7.36017987e-01 8.97513788e-03 1.89255141e+02] [ 7.35959820e-01 -6.76961896e-01 -9.25925108e-03 -9.57844784e+01] [ 1.28908017e-02 3.37730821e-04 9.99916853e-01 -5.00925865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.526559995 meters 0.018239670567443217 Centerline is valid? [True, True] Translation: X:189.22, Y:-95.74, Z:-5.01 [[-6.76971860e-01 -7.35962550e-01 8.25992293e-03 1.89215076e+02] [ 7.35913346e-01 -6.77022176e-01 -8.51588917e-03 -9.57447812e+01] [ 1.18595265e-02 3.13570194e-04 9.99929624e-01 -5.00822822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5865599949999 meters 0.018412263667692157 Centerline is valid? [True, True] Translation: X:189.17, Y:-95.70, Z:-5.01 [[-6.77902214e-01 -7.35116096e-01 7.27419319e-03 1.89174541e+02] [ 7.35077928e-01 -6.77941188e-01 -7.49563380e-03 -9.57047889e+01] [ 1.04416362e-02 2.65792112e-04 9.99945449e-01 -5.00696713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.646559995 meters 0.017724097951006806 Centerline is valid? [True, True] Translation: X:189.13, Y:-95.66, Z:-5.01 [[-6.79944484e-01 -7.33232425e-01 6.76088091e-03 1.89134205e+02] [ 7.33199396e-01 -6.79978060e-01 -6.96300927e-03 -9.56629249e+01] [ 9.70275485e-03 2.22614061e-04 9.99952902e-01 -5.00692018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7065599949999 meters 0.01576891233500461 Centerline is valid? [True, True] Translation: X:189.10, Y:-95.62, Z:-5.01 [[-6.80740995e-01 -7.32494636e-01 6.58072908e-03 1.89097014e+02] [ 7.32463351e-01 -6.80772770e-01 -6.77313930e-03 -9.56193573e+01] [ 9.44126937e-03 2.09389289e-04 9.99955408e-01 -5.00503375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.766559995 meters 0.01606405393061296 Centerline is valid? [True, True] Translation: X:189.06, Y:-95.58, Z:-5.00 [[-6.82845736e-01 -7.30537850e-01 6.01247322e-03 1.89056246e+02] [ 7.30511688e-01 -6.82872185e-01 -6.18493681e-03 -9.55792963e+01] [ 8.62408116e-03 1.68824234e-04 9.99962798e-01 -5.00479846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8265599949999 meters 0.016258163519670948 Centerline is valid? [True, True] Translation: X:189.01, Y:-95.54, Z:-5.01 [[-6.84822153e-01 -7.28679054e-01 6.74202788e-03 1.89014602e+02] [ 7.28646102e-01 -6.84855320e-01 -6.93174675e-03 -9.55397989e+01] [ 9.66833233e-03 1.65538600e-04 9.99953247e-01 -5.00702455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.886559995 meters 0.014814728214805813 Centerline is valid? [True, True] Translation: X:188.98, Y:-95.50, Z:-5.01 [[-6.86436912e-01 -7.27156351e-01 6.92871904e-03 1.88976617e+02] [ 7.27121514e-01 -6.86471863e-01 -7.11937686e-03 -9.54965301e+01] [ 9.93327076e-03 1.51017607e-04 9.99950652e-01 -5.00621059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9465599949999 meters 0.014198303695863574 Centerline is valid? [True, True] Translation: X:188.94, Y:-95.45, Z:-5.01 [[-6.89112362e-01 -7.24620789e-01 6.99032852e-03 1.88937291e+02] [ 7.24585235e-01 -6.89147806e-01 -7.17907495e-03 -9.54531263e+01] [ 1.00194765e-02 1.17899537e-04 9.99949797e-01 -5.00543404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.006559995 meters 0.013886136903672639 Centerline is valid? [True, True] Translation: X:188.90, Y:-95.41, Z:-5.00 [[-6.91215406e-01 -7.22616282e-01 6.85360090e-03 1.88899034e+02] [ 7.22582049e-01 -6.91249377e-01 -7.03425110e-03 -9.54119837e+01] [ 9.82061173e-03 9.01062532e-05 9.99951773e-01 -5.00496790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0665599949999 meters 0.013517363473801175 Centerline is valid? [True, True] Translation: X:188.86, Y:-95.37, Z:-5.00 [[-6.94385170e-01 -7.19574410e-01 6.47338081e-03 1.88861310e+02] [ 7.19543766e-01 -6.94415341e-01 -6.64099377e-03 -9.53702889e+01] [ 9.27390412e-03 4.64732191e-05 9.99956995e-01 -5.00384464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.126559995 meters 0.013241495101505617 Centerline is valid? [True, True] Translation: X:188.82, Y:-95.33, Z:-5.00 [[-6.96289496e-01 -7.17718724e-01 7.79562147e-03 1.88822189e+02] [ 7.17674221e-01 -6.96333134e-01 -7.99244539e-03 -9.53278677e+01] [ 1.11646772e-02 2.96607928e-05 9.99937673e-01 -5.00349337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1865599949999 meters 0.013269268499590727 Centerline is valid? [True, True] Translation: X:188.78, Y:-95.29, Z:-5.00 [[-6.96206191e-01 -7.17795626e-01 8.14736109e-03 1.88780816e+02] [ 7.17747084e-01 -6.96253861e-01 -8.34776555e-03 -9.52886458e+01] [ 1.16646212e-02 3.59786014e-05 9.99931965e-01 -5.00264221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.246559995 meters 0.0131976009329769 Centerline is valid? [True, True] Translation: X:188.74, Y:-95.25, Z:-5.00 [[-6.96227129e-01 -7.17764609e-01 9.04161475e-03 1.88738887e+02] [ 7.17704904e-01 -6.96285835e-01 -9.25782073e-03 -9.52502397e+01] [ 1.29404844e-02 4.36652966e-05 9.99916267e-01 -5.00297708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3065599949999 meters 0.013114322792990478 Centerline is valid? [True, True] Translation: X:188.70, Y:-95.21, Z:-5.00 [[-6.95920388e-01 -7.18041493e-01 1.05464261e-02 1.88695723e+02] [ 7.17960384e-01 -6.96000295e-01 -1.07924400e-02 -9.52113975e+01] [ 1.50897354e-02 6.12370887e-05 9.99886142e-01 -5.00291588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.366559995 meters 0.013140079986012772 Centerline is valid? [True, True] Translation: X:188.65, Y:-95.17, Z:-5.00 [[-6.96112049e-01 -7.17854361e-01 1.06363757e-02 1.88654385e+02] [ 7.17771934e-01 -6.96193302e-01 -1.08783029e-02 -9.51709842e+01] [ 1.52140107e-02 6.19741905e-05 9.99884258e-01 -5.00275710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4265599949999 meters 0.013067780796658528 Centerline is valid? [True, True] Translation: X:188.61, Y:-95.13, Z:-5.00 [[-6.96477265e-01 -7.17493778e-01 1.10498329e-02 1.88612512e+02] [ 7.17404886e-01 -6.96564911e-01 -1.12940031e-02 -9.51313274e+01] [ 1.58003028e-02 6.11877447e-05 9.99875166e-01 -5.00207646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.486559995 meters 0.013007238254720615 Centerline is valid? [True, True] Translation: X:188.57, Y:-95.09, Z:-5.00 [[-6.97414147e-01 -7.16586145e-01 1.08537994e-02 1.88570994e+02] [ 7.16500383e-01 -6.97498598e-01 -1.10863390e-02 -9.50938286e+01] [ 1.55148268e-02 4.49817723e-05 9.99879637e-01 -5.00129244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5465599949999 meters 0.012777157387107586 Centerline is valid? [True, True] Translation: X:188.53, Y:-95.05, Z:-5.00 [[-6.97778980e-01 -7.16232086e-01 1.07747047e-02 1.88528909e+02] [ 7.16147623e-01 -6.97862162e-01 -1.09992926e-02 -9.50537068e+01] [ 1.53973050e-02 4.12039838e-05 9.99881454e-01 -4.99821104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.606559995 meters 0.012760095365293876 Centerline is valid? [True, True] Translation: X:188.48, Y:-95.02, Z:-5.00 [[-6.96819071e-01 -7.17156730e-01 1.13757170e-02 1.88484685e+02] [ 7.17062811e-01 -6.96911917e-01 -1.16062490e-02 -9.50151690e+01] [ 1.62513723e-02 6.96479537e-05 9.99867935e-01 -4.99773050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.666559995 meters 0.012880259817936396 Centerline is valid? [True, True] Translation: X:188.44, Y:-94.98, Z:-5.00 [[-6.96312296e-01 -7.17645334e-01 1.15914010e-02 1.88442393e+02] [ 7.17548017e-01 -6.96408764e-01 -1.18184724e-02 -9.49773698e+01] [ 1.65538248e-02 8.80391148e-05 9.99862972e-01 -4.99856862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.726559995 meters 0.012732266950846758 Centerline is valid? [True, True] Translation: X:188.40, Y:-94.94, Z:-5.00 [[-6.96617791e-01 -7.17339387e-01 1.21596595e-02 1.88400449e+02] [ 7.17232382e-01 -6.96723902e-01 -1.23901113e-02 -9.49385889e+01] [ 1.73598403e-02 9.01295893e-05 9.99849303e-01 -4.99803432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.786559995 meters 0.012548888673877889 Centerline is valid? [True, True] Translation: X:188.36, Y:-94.90, Z:-5.00 [[-6.97457491e-01 -7.16534518e-01 1.14600369e-02 1.88359281e+02] [ 7.16439485e-01 -6.97551632e-01 -1.16698796e-02 -9.48988730e+01] [ 1.63558390e-02 7.11779773e-05 9.99866232e-01 -4.99748943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.846559995 meters 0.012377016194292424 Centerline is valid? [True, True] Translation: X:188.32, Y:-94.86, Z:-5.00 [[-6.98074340e-01 -7.15933117e-01 1.14886167e-02 1.88317523e+02] [ 7.15837636e-01 -6.98168868e-01 -1.16923256e-02 -9.48583026e+01] [ 1.63919176e-02 6.18716812e-05 9.99865642e-01 -4.99722994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.906559995 meters 0.01227600764525389 Centerline is valid? [True, True] Translation: X:188.28, Y:-94.82, Z:-5.00 [[-6.98908031e-01 -7.15120201e-01 1.14307707e-02 1.88276903e+02] [ 7.15025697e-01 -6.99001499e-01 -1.16257240e-02 -9.48192911e+01] [ 1.63039159e-02 4.79828992e-05 9.99867081e-01 -4.99814884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9665599949999 meters 0.012475617824202253 Centerline is valid? [True, True] Translation: X:188.24, Y:-94.78, Z:-5.00 [[-6.98732474e-01 -7.15281462e-01 1.20565128e-02 1.88235877e+02] [ 7.15176481e-01 -6.98836480e-01 -1.22545798e-02 -9.47789573e+01] [ 1.71910047e-02 5.98615463e-05 9.99852222e-01 -4.99925504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.026559995 meters 0.012439210738593436 Centerline is valid? [True, True] Translation: X:188.20, Y:-94.74, Z:-5.00 [[-6.98647630e-01 -7.15354447e-01 1.26295417e-02 1.88195298e+02] [ 7.15239405e-01 -6.98761770e-01 -1.28289614e-02 -9.47385901e+01] [ 1.80022955e-02 7.02223906e-05 9.99837943e-01 -4.99939286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0865599949999 meters 0.012577463303334441 Centerline is valid? [True, True] Translation: X:188.15, Y:-94.70, Z:-5.00 [[-6.96828466e-01 -7.17129489e-01 1.24653890e-02 1.88153155e+02] [ 7.17017844e-01 -6.96939942e-01 -1.26542191e-02 -9.46999694e+01] [ 1.77623411e-02 1.20086261e-04 9.99842230e-01 -4.99957364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.146559995 meters 0.012537372493719917 Centerline is valid? [True, True] Translation: X:188.11, Y:-94.66, Z:-5.00 [[-6.95886964e-01 -7.18053274e-01 1.18671037e-02 1.88112004e+02] [ 7.17952353e-01 -6.95988128e-01 -1.20392499e-02 -9.46598569e+01] [ 1.69041861e-02 1.42057918e-04 9.99857104e-01 -4.99917427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2065599949999 meters 0.012584743860366957 Centerline is valid? [True, True] Translation: X:188.07, Y:-94.62, Z:-5.00 [[-6.95245006e-01 -7.18700416e-01 1.02026446e-02 1.88071527e+02] [ 7.18625986e-01 -6.95319849e-01 -1.03440640e-02 -9.46188848e+01] [ 1.45283844e-02 1.40226653e-04 9.99894448e-01 -4.99711902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.266559995 meters 0.012666513778867978 Centerline is valid? [True, True] Translation: X:188.03, Y:-94.58, Z:-5.00 [[-6.94503751e-01 -7.19424016e-01 9.67602978e-03 1.88031117e+02] [ 7.19357227e-01 -6.94571136e-01 -9.80394413e-03 -9.45787965e+01] [ 1.37738839e-02 1.51645980e-04 9.99905124e-01 -4.99653218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3265599949999 meters 0.012775065566837912 Centerline is valid? [True, True] Translation: X:187.99, Y:-94.54, Z:-5.00 [[-6.93410575e-01 -7.20493083e-01 8.45531466e-03 1.87989498e+02] [ 7.20442221e-01 -6.93462107e-01 -8.56222831e-03 -9.45379933e+01] [ 1.20324666e-02 1.54426025e-04 9.99927595e-01 -4.99579761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.386559995 meters 0.01382376082585935 Centerline is valid? [True, True] Translation: X:187.95, Y:-94.50, Z:-5.00 [[-6.92072080e-01 -7.21777805e-01 8.54616158e-03 1.87947197e+02] [ 7.21726005e-01 -6.92124821e-01 -8.64908408e-03 -9.44989556e+01] [ 1.21577275e-02 1.82197439e-04 9.99926076e-01 -4.99752613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4465599949999 meters 0.014001873886120902 Centerline is valid? [True, True] Translation: X:187.91, Y:-94.46, Z:-5.00 [[-6.90526043e-01 -7.23250769e-01 9.06144408e-03 1.87907293e+02] [ 7.23192730e-01 -6.90585458e-01 -9.16514908e-03 -9.44574167e+01] [ 1.28864026e-02 2.24396355e-04 9.99916942e-01 -4.99783798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.506559995 meters 0.014609083920028411 Centerline is valid? [True, True] Translation: X:187.87, Y:-94.42, Z:-5.00 [[-6.89869603e-01 -7.23886759e-01 8.23959015e-03 1.87868436e+02] [ 7.23838880e-01 -6.89918772e-01 -8.32847602e-03 -9.44169485e+01] [ 1.17135214e-02 2.18573261e-04 9.99931370e-01 -4.99718373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5665599949999 meters 0.014626067080628451 Centerline is valid? [True, True] Translation: X:187.83, Y:-94.37, Z:-5.00 [[-6.89913678e-01 -7.23856003e-01 7.18354071e-03 1.87830200e+02] [ 7.23819655e-01 -6.89951049e-01 -7.25658860e-03 -9.43745430e+01] [ 1.02090167e-02 1.93168222e-04 9.99947868e-01 -4.99553340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.626559995 meters 0.014888874156533744 Centerline is valid? [True, True] Translation: X:187.79, Y:-94.33, Z:-4.99 [[-6.89854623e-01 -7.23920073e-01 6.35035558e-03 1.87790494e+02] [ 7.23891705e-01 -6.89883829e-01 -6.41102212e-03 -9.43336846e+01] [ 9.02207522e-03 1.74296477e-04 9.99959285e-01 -4.99469437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6865599949999 meters 0.014973646029027954 Centerline is valid? [True, True] Translation: X:187.75, Y:-94.29, Z:-5.00 [[-6.88764512e-01 -7.24957397e-01 6.34191369e-03 1.87750618e+02] [ 7.24929180e-01 -6.88793682e-01 -6.39896378e-03 -9.42908919e+01] [ 9.00724621e-03 1.90059131e-04 9.99959416e-01 -4.99510523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.746559995 meters 0.017587608252461827 Centerline is valid? [True, True] Translation: X:187.71, Y:-94.25, Z:-5.00 [[-6.86497296e-01 -7.27101267e-01 6.72389727e-03 1.87708103e+02] [ 7.27069689e-01 -6.86530184e-01 -6.78046888e-03 -9.42524887e+01] [ 9.54624594e-03 2.33968347e-04 9.99954406e-01 -4.99691076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8065599949999 meters 0.017560266494366275 Centerline is valid? [True, True] Translation: X:187.67, Y:-94.21, Z:-5.00 [[-6.84189234e-01 -7.29265452e-01 7.54939501e-03 1.87668937e+02] [ 7.29225823e-01 -6.84230817e-01 -7.60844945e-03 -9.42103316e+01] [ 1.07141080e-02 2.99594593e-04 9.99942557e-01 -4.99658812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.866559995 meters 0.019365593344795817 Centerline is valid? [True, True] Translation: X:187.63, Y:-94.17, Z:-5.00 [[-6.82120113e-01 -7.31198216e-01 7.83075254e-03 1.87628864e+02] [ 7.31155747e-01 -6.82164973e-01 -7.88819070e-03 -9.41705390e+01] [ 1.11096961e-02 3.44806184e-04 9.99938226e-01 -4.99668831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9265599949999 meters 0.01778718054160577 Centerline is valid? [True, True] Translation: X:187.59, Y:-94.13, Z:-5.00 [[-6.81518058e-01 -7.31753703e-01 8.34594987e-03 1.87590653e+02] [ 7.31705560e-01 -6.81569053e-01 -8.40236719e-03 -9.41264656e+01] [ 1.18368044e-02 3.80412948e-04 9.99929870e-01 -4.99627868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.986559995 meters 0.017774341830444178 Centerline is valid? [True, True] Translation: X:187.55, Y:-94.08, Z:-5.00 [[-6.81267020e-01 -7.31987061e-01 8.37793665e-03 1.87551809e+02] [ 7.31938627e-01 -6.81318421e-01 -8.42939705e-03 -9.40838461e+01] [ 1.18782521e-02 3.89465248e-04 9.99929375e-01 -4.99540421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0465599949999 meters 0.01927613579226876 Centerline is valid? [True, True] Translation: X:187.51, Y:-94.04, Z:-4.99 [[-6.81449489e-01 -7.31822310e-01 7.91835953e-03 1.87512250e+02] [ 7.31779094e-01 -6.81495392e-01 -7.96162265e-03 -9.40441933e+01] [ 1.12228186e-02 3.69046286e-04 9.99936954e-01 -4.99448041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.106559995 meters 0.017812493711017136 Centerline is valid? [True, True] Translation: X:187.47, Y:-94.00, Z:-4.99 [[-6.81739808e-01 -7.31557634e-01 7.36634326e-03 1.87474439e+02] [ 7.31520262e-01 -6.81779518e-01 -7.40232996e-03 -9.39998923e+01] [ 1.04374530e-02 3.42166352e-04 9.99945470e-01 -4.99234400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.166559995 meters 0.017737995362368034 Centerline is valid? [True, True] Translation: X:187.43, Y:-93.96, Z:-4.99 [[-6.82192111e-01 -7.31139309e-01 7.01675156e-03 1.87434222e+02] [ 7.31105418e-01 -6.82228120e-01 -7.04697391e-03 -9.39575654e+01] [ 9.93934485e-03 3.22595071e-04 9.99950551e-01 -4.99190586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.226559995 meters 0.01850182473659506 Centerline is valid? [True, True] Translation: X:187.39, Y:-93.92, Z:-4.99 [[-6.81632554e-01 -7.31651045e-01 7.98808935e-03 1.87392869e+02] [ 7.31607209e-01 -6.81679253e-01 -8.01792245e-03 -9.39166281e+01] [ 1.13116361e-02 3.78866797e-04 9.99935950e-01 -4.99223170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.286559995 meters 0.022275742220133034 Centerline is valid? [True, True] Translation: X:187.35, Y:-93.88, Z:-5.00 [[-6.81544610e-01 -7.31724102e-01 8.76263478e-03 1.87347845e+02] [ 7.31671423e-01 -6.81600809e-01 -8.79010968e-03 -9.38803402e+01] [ 1.24045541e-02 4.20517593e-04 9.99922972e-01 -4.99513328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.346559995 meters 0.019954181266181484 Centerline is valid? [True, True] Translation: X:187.31, Y:-93.84, Z:-4.99 [[-6.81633183e-01 -7.31648904e-01 8.12930590e-03 1.87309577e+02] [ 7.31603618e-01 -6.81681544e-01 -8.14971952e-03 -9.38381991e+01] [ 1.15043312e-02 3.92310360e-04 9.99933746e-01 -4.99298135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.406559995 meters 0.019788734958481855 Centerline is valid? [True, True] Translation: X:187.27, Y:-93.80, Z:-4.99 [[-6.81425670e-01 -7.31849316e-01 7.45891775e-03 1.87269204e+02] [ 7.31811253e-01 -6.81466393e-01 -7.47292272e-03 -9.37982003e+01] [ 1.05520552e-02 3.66278576e-04 9.99944258e-01 -4.99248522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4665599949999 meters 0.018726270067124778 Centerline is valid? [True, True] Translation: X:187.23, Y:-93.76, Z:-4.99 [[-6.82686132e-01 -7.30670404e-01 7.77205582e-03 1.87229097e+02] [ 7.30629052e-01 -6.82730274e-01 -7.78219861e-03 -9.37567292e+01] [ 1.09924400e-02 3.65690696e-04 9.99939514e-01 -4.99337875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.526559995 meters 0.018605025480916738 Centerline is valid? [True, True] Translation: X:187.19, Y:-93.72, Z:-4.99 [[-6.83438131e-01 -7.29972222e-01 7.27165447e-03 1.87187801e+02] [ 7.29936031e-01 -6.83476732e-01 -7.27648012e-03 -9.37165303e+01] [ 1.02816350e-02 3.34818626e-04 9.99947087e-01 -4.99430287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5865599949999 meters 0.018399803416876432 Centerline is valid? [True, True] Translation: X:187.15, Y:-93.68, Z:-5.00 [[-6.84706680e-01 -7.28788844e-01 6.60174979e-03 1.87146487e+02] [ 7.28758981e-01 -6.84738444e-01 -6.60379535e-03 -9.36751493e+01] [ 9.33324426e-03 2.89421663e-04 9.99956402e-01 -4.99558073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.646559995 meters 0.01751089804105838 Centerline is valid? [True, True] Translation: X:187.11, Y:-93.63, Z:-5.00 [[-6.86363934e-01 -7.27232446e-01 6.12529343e-03 1.87107286e+02] [ 7.27206706e-01 -6.86391220e-01 -6.12369446e-03 -9.36325462e+01] [ 8.65769693e-03 2.51271439e-04 9.99962490e-01 -4.99568552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7065599949999 meters 0.01649788639837581 Centerline is valid? [True, True] Translation: X:186.64, Y:-94.11, Z:-4.05 [[-7.70888613e-01 6.36956485e-01 4.14515428e-03 1.86635282e+02] [ 6.36946365e-01 7.70899747e-01 -3.59285339e-03 -9.41067406e+01] [-5.48398965e-03 -1.29448815e-04 -9.99984954e-01 -4.04710248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.766559995 meters 0.015670756781820297 Centerline is valid? [True, True] Translation: X:186.66, Y:-94.09, Z:-4.05 [[-8.11404707e-01 5.84480422e-01 2.24450610e-03 1.86655252e+02] [ 5.84478005e-01 8.11407810e-01 -1.68162126e-03 -9.40904576e+01] [-2.80408448e-03 -5.26109564e-05 -9.99996067e-01 -4.04789456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8265599949999 meters 0.014577992882898027 Centerline is valid? [True, True] Translation: X:186.67, Y:-94.07, Z:-4.05 [[-8.48408738e-01 5.29340016e-01 1.32713895e-03 1.86674424e+02] [ 5.29339327e-01 8.48409776e-01 -8.53899353e-04 -9.40731702e+01] [-1.57796076e-03 -2.19488321e-05 -9.99998755e-01 -4.04756688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.886559995 meters 0.014406613774415994 Centerline is valid? [True, True] Translation: X:187.04, Y:-93.50, Z:-4.99 [[-7.93663075e-01 -6.08356647e-01 1.05528242e-03 1.87037032e+02] [ 6.08356115e-01 -7.93663777e-01 -8.04386196e-04 -9.35014714e+01] [ 1.32689312e-03 3.57588990e-06 9.99999120e-01 -4.99433903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9465599949999 meters 0.013895654502230381 Centerline is valid? [True, True] Translation: X:186.64, Y:-94.05, Z:-4.05 [[-8.47850022e-01 5.30233571e-01 1.64349232e-03 1.86641985e+02] [ 5.30232532e-01 8.47851614e-01 -1.04963966e-03 -9.40531890e+01] [-1.94999180e-03 -1.85039116e-05 -9.99998099e-01 -4.04581907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.006559995 meters 0.013648754704126609 Centerline is valid? [True, True] Translation: X:186.66, Y:-94.03, Z:-4.04 [[-8.82347673e-01 4.70588641e-01 2.98591850e-03 1.86656485e+02] [ 4.70585842e-01 8.82352725e-01 -1.62317117e-03 -9.40293064e+01] [-3.39847923e-03 -2.70703285e-05 -9.99994225e-01 -4.04378030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0665599949999 meters 0.013485971780290382 Centerline is valid? [True, True] Translation: X:186.67, Y:-94.00, Z:-4.04 [[-9.12421885e-01 4.09230472e-01 4.08954774e-03 1.86668246e+02] [ 4.09226238e-01 9.12431050e-01 -1.86176757e-03 -9.40048383e+01] [-4.49332236e-03 -2.51672408e-05 -9.99989905e-01 -4.04195924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.126559995 meters 0.013352915954481622 Centerline is valid? [True, True] Translation: X:186.95, Y:-93.39, Z:-5.00 [[-8.78351412e-01 -4.77998426e-01 4.03744665e-03 1.86953454e+02] [ 4.77993537e-01 -8.78360691e-01 -2.16216598e-03 -9.33932625e+01] [ 4.57984637e-03 3.07318610e-05 9.99989512e-01 -5.00017915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1865599949999 meters 0.013340421233059608 Centerline is valid? [True, True] Translation: X:186.63, Y:-93.99, Z:-4.04 [[-9.11649445e-01 4.10956530e-01 3.16543824e-03 1.86631553e+02] [ 4.10954054e-01 9.11654940e-01 -1.42677560e-03 -9.39903095e+01] [-3.47213016e-03 1.30497434e-07 -9.99993972e-01 -4.04131665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.246559995 meters 0.013367497497097989 Centerline is valid? [True, True] Translation: X:186.91, Y:-93.38, Z:-5.00 [[-8.82511680e-01 -4.70283510e-01 2.56025445e-03 1.86914218e+02] [ 4.70281422e-01 -8.82515393e-01 -1.40162371e-03 -9.33768510e+01] [ 2.91862448e-03 -3.29091917e-05 9.99995740e-01 -5.00099943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3065599949999 meters 0.013442317357626559 Centerline is valid? [True, True] Translation: X:186.59, Y:-93.97, Z:-4.04 [[-9.12434058e-01 4.09218016e-01 2.16932783e-03 1.86594531e+02] [ 4.09216872e-01 9.12436637e-01 -9.67479189e-04 -9.39734144e+01] [-2.37528410e-03 4.96458544e-06 -9.99997179e-01 -4.04106162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.366559995 meters 0.013468974110928853 Centerline is valid? [True, True] Translation: X:186.87, Y:-93.36, Z:-5.00 [[-8.82155830e-01 -4.70955241e-01 1.50102302e-03 1.86868294e+02] [ 4.70954469e-01 -8.82157106e-01 -8.53740598e-04 -9.33634629e+01] [ 1.72621174e-03 -4.62187445e-05 9.99998509e-01 -5.00053695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4265599949999 meters 0.013575161622720688 Centerline is valid? [True, True] Translation: X:186.55, Y:-93.95, Z:-4.04 [[-9.16936603e-01 3.99029090e-01 1.74684056e-03 1.86554260e+02] [ 3.99028346e-01 9.16938267e-01 -7.70764715e-04 -9.39460654e+01] [-1.90930250e-03 -9.70347817e-06 -9.99998177e-01 -4.04058600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.486559995 meters 0.013915378807040269 Centerline is valid? [True, True] Translation: X:186.56, Y:-93.92, Z:-4.04 [[-9.44030310e-01 3.29856212e-01 1.28577940e-03 1.86559539e+02] [ 3.29855890e-01 9.44031185e-01 -4.61051905e-04 -9.39152012e+01] [-1.36589669e-03 -1.11250628e-05 -9.99999067e-01 -4.04098579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5465599949999 meters 0.014497231879496987 Centerline is valid? [True, True] Translation: X:186.56, Y:-93.88, Z:-4.04 [[-9.65863273e-01 2.59049702e-01 1.17858947e-03 1.86563146e+02] [ 2.59049492e-01 9.65863992e-01 -3.30275958e-04 -9.38842990e+01] [-1.22391502e-03 -1.36884151e-05 -9.99999251e-01 -4.04126285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.606559995 meters 0.01537828085203037 Centerline is valid? [True, True] Translation: X:186.74, Y:-93.27, Z:-5.00 [[-9.36364345e-01 -3.51024773e-01 1.85001590e-03 1.86741049e+02] [ 3.51024236e-01 -9.36366170e-01 -6.18025317e-04 -9.32737168e+01] [ 1.94923450e-03 7.07035474e-05 9.99998098e-01 -5.00106477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.666559995 meters 0.01601612829267952 Centerline is valid? [True, True] Translation: X:186.52, Y:-93.86, Z:-4.04 [[-9.68588560e-01 2.48655150e-01 2.61116564e-03 1.86518287e+02] [ 2.48654101e-01 9.68592078e-01 -7.24325343e-04 -9.38636694e+01] [-2.70926158e-03 -5.22961964e-05 -9.99996329e-01 -4.03969031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.726559995 meters 0.01714192995567919 Centerline is valid? [True, True] Translation: X:186.53, Y:-93.83, Z:-4.04 [[-9.84129076e-01 1.77440389e-01 2.20667492e-03 1.86525460e+02] [ 1.77439834e-01 9.84131549e-01 -4.46038002e-04 -9.38347290e+01] [-2.25080357e-03 -4.74069344e-05 -9.99997466e-01 -4.04089784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.786559995 meters 0.017063857822286022 Centerline is valid? [True, True] Translation: X:186.52, Y:-93.81, Z:-4.04 [[-9.94231271e-01 1.07240941e-01 1.88710443e-03 1.86524625e+02] [ 1.07240672e-01 9.94233061e-01 -2.43438089e-04 -9.38077061e+01] [-1.90232814e-03 -3.96594143e-05 -9.99998190e-01 -4.04128691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.846559995 meters 0.01706488899757102 Centerline is valid? [True, True] Translation: X:186.61, Y:-93.20, Z:-5.00 [[-9.76429216e-01 -2.15826045e-01 2.25927311e-03 1.86606918e+02] [ 2.15825640e-01 -9.76431827e-01 -4.24556868e-04 -9.31955263e+01] [ 2.29765660e-03 7.30593349e-05 9.99997358e-01 -5.00152025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.906559995 meters 0.015768253505629628 Centerline is valid? [True, True] Translation: X:186.48, Y:-93.81, Z:-4.04 [[-9.94461216e-01 1.05096117e-01 1.30215670e-03 1.86479067e+02] [ 1.05095995e-01 9.94462068e-01 -1.62463131e-04 -9.38054910e+01] [-1.31201969e-03 -2.47118289e-05 -9.99999139e-01 -4.04112995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9665599949999 meters 0.015811244456579075 Centerline is valid? [True, True] Translation: X:186.48, Y:-93.78, Z:-4.04 [[-9.99423091e-01 3.39385181e-02 1.28901267e-03 1.86477810e+02] [ 3.39384580e-02 9.99423922e-01 -6.84455470e-05 -9.37778643e+01] [-1.29059304e-03 -2.46589579e-05 -9.99999167e-01 -4.04142751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.026559995 meters 0.016295343376833617 Centerline is valid? [True, True] Translation: X:186.51, Y:-93.16, Z:-5.00 [[-9.89635928e-01 -1.43582795e-01 2.17065407e-03 1.86507931e+02] [ 1.43582674e-01 -9.89638303e-01 -2.12550885e-04 -9.31578078e+01] [ 2.17868106e-03 1.01320323e-04 9.99997622e-01 -5.00158502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0865599949999 meters 0.017032249719360272 Centerline is valid? [True, True] Translation: X:186.42, Y:-93.77, Z:-4.04 [[-9.99657671e-01 2.60220196e-02 2.71959185e-03 1.86420199e+02] [ 2.60217457e-02 9.99661368e-01 -1.36048778e-04 -9.37716610e+01] [-2.72221117e-03 -6.52336765e-05 -9.99996293e-01 -4.03999454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.146559995 meters 0.018043569411760146 Centerline is valid? [True, True] Translation: X:186.45, Y:-93.16, Z:-5.00 [[-9.89238691e-01 -1.46270953e-01 3.40896981e-03 1.86450352e+02] [ 1.46270539e-01 -9.89244556e-01 -3.71804500e-04 -9.31609707e+01] [ 3.42668903e-03 1.30828455e-04 9.99994120e-01 -5.00219489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2065599949999 meters 0.019831585982391625 Centerline is valid? [True, True] Translation: X:186.37, Y:-93.76, Z:-4.04 [[-9.99888861e-01 1.43491459e-02 4.04574397e-03 1.86365912e+02] [ 1.43485056e-02 9.99897037e-01 -1.87256977e-04 -9.37617737e+01] [-4.04801439e-03 -1.29185786e-04 -9.99991798e-01 -4.03900715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.266559995 meters 0.022390518638578952 Centerline is valid? [True, True] Translation: X:186.34, Y:-93.73, Z:-4.04 [[-9.98153428e-01 -6.05692234e-02 4.59384500e-03 1.86344299e+02] [-6.05693419e-02 9.98163986e-01 1.13455608e-04 -9.37311527e+01] [-4.59228255e-03 -1.65000064e-04 -9.99989442e-01 -4.03909972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3265599949999 meters 0.021648046258658543 Centerline is valid? [True, True] Translation: X:186.35, Y:-93.70, Z:-4.04 [[-9.90981432e-01 -1.33882128e-01 5.60156322e-03 1.86354924e+02] [-1.33881222e-01 9.90997240e-01 5.38003646e-04 -9.37049589e+01] [-5.62316277e-03 -2.16792508e-04 -9.99984166e-01 -4.03868566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.386559995 meters 0.025032093146335064 Centerline is valid? [True, True] Translation: X:186.29, Y:-93.12, Z:-5.00 [[-9.99928467e-01 -1.07278165e-02 5.28918888e-03 1.86294044e+02] [ 1.07286276e-02 -9.99942439e-01 1.25008388e-04 -9.31181722e+01] [ 5.28754336e-03 1.81745184e-04 9.99986004e-01 -5.00278018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4465599949999 meters 0.024479871717974704 Centerline is valid? [True, True] Translation: X:186.29, Y:-93.71, Z:-4.04 [[-9.90492143e-01 -1.37506648e-01 4.15176280e-03 1.86288238e+02] [-1.37506100e-01 9.90500832e-01 4.18385165e-04 -9.37098899e+01] [-4.16985525e-03 -1.56485493e-04 -9.99991294e-01 -4.04073445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.506559995 meters 0.02077692890381844 Centerline is valid? [True, True] Translation: X:186.23, Y:-93.11, Z:-5.00 [[-9.99993432e-01 -1.49543137e-03 3.30138266e-03 1.86233294e+02] [ 1.49565281e-03 -9.99998879e-01 6.46069926e-05 -9.31140156e+01] [ 3.30128235e-03 6.95442905e-05 9.99994548e-01 -5.00010834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5665599949999 meters 0.018897909825136342 Centerline is valid? [True, True] Translation: X:186.23, Y:-93.73, Z:-4.04 [[-9.90879713e-01 -1.34657746e-01 4.96847797e-03 1.86229777e+02] [-1.34656812e-01 9.90892158e-01 5.23576560e-04 -9.37305180e+01] [-4.99372950e-03 -1.50238014e-04 -9.99987520e-01 -4.04016969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.626559995 meters 0.018193058423081526 Centerline is valid? [True, True] Translation: X:186.17, Y:-93.11, Z:-5.00 [[-9.99939478e-01 8.63402849e-03 6.81865580e-03 1.86166385e+02] [-8.63162382e-03 -9.99962674e-01 3.82011395e-04 -9.31112494e+01] [ 6.82169958e-03 3.23132203e-04 9.99976680e-01 -5.00262841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6865599949999 meters 0.0181341152744704 Centerline is valid? [True, True] Translation: X:186.16, Y:-93.74, Z:-4.04 [[-9.90690780e-01 -1.35878656e-01 8.29274896e-03 1.86163653e+02] [-1.35875770e-01 9.90725462e-01 9.12989667e-04 -9.37440410e+01] [-8.33989335e-03 -2.22293206e-04 -9.99965198e-01 -4.03869209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.746559995 meters 0.018125443426552885 Centerline is valid? [True, True] Translation: X:186.15, Y:-93.72, Z:-4.04 [[-9.78571280e-01 -2.05723167e-01 8.73087758e-03 1.86154743e+02] [-2.05717107e-01 9.78610200e-01 1.59631546e-03 -9.37207699e+01] [-8.87252493e-03 -2.33982408e-04 -9.99960611e-01 -4.03820900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8065599949999 meters 0.01857188920923852 Centerline is valid? [True, True] Translation: X:186.04, Y:-93.09, Z:-5.00 [[-9.96179768e-01 8.67673907e-02 9.86351567e-03 1.86036899e+02] [-8.67598294e-02 -9.96228543e-01 1.19272048e-03 -9.30938921e+01] [ 9.92980508e-03 3.32407079e-04 9.99950643e-01 -5.00414883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.866559995 meters 0.018971081779454876 Centerline is valid? [True, True] Translation: X:186.06, Y:-93.74, Z:-4.04 [[-9.77298019e-01 -2.11622851e-01 1.02152192e-02 1.86062884e+02] [-2.11614248e-01 9.77351366e-01 1.92825414e-03 -9.37405263e+01] [-1.03919211e-02 -2.77206984e-04 -9.99945964e-01 -4.03687439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9265599949999 meters 0.019630306680718895 Centerline is valid? [True, True] Translation: X:186.05, Y:-93.72, Z:-4.04 [[-9.59601275e-01 -2.81159363e-01 1.07147500e-02 1.86050826e+02] [-2.81145316e-01 9.59661046e-01 2.82644156e-03 -9.37163143e+01] [-1.10772087e-02 -3.00144841e-04 -9.99938601e-01 -4.03631626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.986559995 meters 0.01971893422149322 Centerline is valid? [True, True] Translation: X:186.03, Y:-93.70, Z:-4.04 [[-9.36623051e-01 -3.50200344e-01 9.84781580e-03 1.86029440e+02] [-3.50184265e-01 9.36674775e-01 3.36854117e-03 -9.36967182e+01] [-1.04038649e-02 -2.93496837e-04 -9.99945835e-01 -4.03767580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0465599949999 meters 0.021749277731283063 Centerline is valid? [True, True] Translation: X:185.99, Y:-93.68, Z:-4.04 [[-9.08436964e-01 -4.17934747e-01 8.53397749e-03 1.85991284e+02] [-4.17919127e-01 9.08477007e-01 3.62374840e-03 -9.36804459e+01] [-9.26741269e-03 -2.74565425e-04 -9.99957019e-01 -4.03819958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.106559995 meters 0.018613975249340543 Centerline is valid? [True, True] Translation: X:185.94, Y:-93.68, Z:-4.04 [[-8.74839248e-01 -4.84348838e-01 7.90533427e-03 1.85943531e+02] [-4.84331886e-01 8.74874921e-01 4.06161069e-03 -9.36793625e+01] [-8.88341511e-03 -2.75549022e-04 -9.99960504e-01 -4.04028393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.166559995 meters 0.01969139572348041 Centerline is valid? [True, True] Translation: X:185.88, Y:-93.69, Z:-4.04 [[-8.36176662e-01 -5.48410724e-01 7.36666859e-03 1.85876577e+02] [-5.48392340e-01 8.36209065e-01 4.49898827e-03 -9.36851407e+01] [-8.62736847e-03 -2.77875630e-04 -9.99962745e-01 -4.03974518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.226559995 meters 0.020615065001960236 Centerline is valid? [True, True] Translation: X:185.81, Y:-93.70, Z:-4.04 [[-7.92845872e-01 -6.09384245e-01 6.80190088e-03 1.85807970e+02] [-6.09364765e-01 7.92875000e-01 4.88031507e-03 -9.36975546e+01] [-8.36704428e-03 -2.75501077e-04 -9.99964958e-01 -4.03946640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.286559995 meters 0.019501005026093577 Centerline is valid? [True, True] Translation: X:185.74, Y:-93.72, Z:-4.04 [[-7.44897888e-01 -6.67148621e-01 6.31306334e-03 1.85739531e+02] [-6.67127734e-01 7.44924589e-01 5.28611585e-03 -9.37197917e+01] [-8.22938101e-03 -2.74003108e-04 -9.99966101e-01 -4.03986574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.346559995 meters 0.019256304948886544 Centerline is valid? [True, True] Translation: X:185.66, Y:-93.76, Z:-4.04 [[-6.93016449e-01 -7.20894970e-01 6.21634969e-03 1.85661733e+02] [-7.20869625e-01 6.93044269e-01 6.05179599e-03 -9.37555015e+01] [-8.67091482e-03 -2.87183503e-04 -9.99962366e-01 -4.03956715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.406559995 meters 0.01959651189986801 Centerline is valid? [True, True] Translation: X:185.58, Y:-93.80, Z:-4.04 [[-6.37259160e-01 -7.70627078e-01 5.88811307e-03 1.85578510e+02] [-7.70598318e-01 6.37286295e-01 6.66411934e-03 -9.38040123e+01] [-8.88796458e-03 -2.90598932e-04 -9.99960459e-01 -4.03915352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4665599949999 meters 0.020365767299470077 Centerline is valid? [True, True] Translation: X:185.50, Y:-93.86, Z:-4.04 [[-5.77563175e-01 -8.16323381e-01 6.07589925e-03 1.85498808e+02] [-8.16284005e-01 5.77595042e-01 8.02439974e-03 -9.38586665e+01] [-1.00599144e-02 -3.25061580e-04 -9.99949345e-01 -4.03789835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.526559995 meters 0.018568885888879467 Centerline is valid? [True, True] Translation: X:185.43, Y:-93.92, Z:-4.04 [[-5.15003596e-01 -8.57171234e-01 5.36400609e-03 1.85428114e+02] [-8.57130838e-01 5.15031437e-01 8.32744886e-03 -9.39187726e+01] [-9.90068138e-03 -3.08988926e-04 -9.99950939e-01 -4.03857841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5865599949999 meters 0.018118922893120146 Centerline is valid? [True, True] Translation: X:185.35, Y:-93.99, Z:-4.04 [[-4.49919303e-01 -8.93056848e-01 4.69964578e-03 1.85354531e+02] [-8.93014709e-01 4.49943753e-01 8.68037855e-03 -9.39944464e+01] [-9.86664777e-03 -2.91382943e-04 -9.99951281e-01 -4.03846808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.646559995 meters 0.016989181565886427 Centerline is valid? [True, True] Translation: X:185.29, Y:-94.07, Z:-4.04 [[-3.83862884e-01 -9.23380660e-01 4.17639447e-03 1.85291428e+02] [-9.23333317e-01 3.83885511e-01 9.35414463e-03 -9.40737695e+01] [-1.02406936e-02 -2.65495221e-04 -9.99947528e-01 -4.03885569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7065599949999 meters 0.016229621635773465 Centerline is valid? [True, True] Translation: X:185.23, Y:-94.16, Z:-4.04 [[-3.15411368e-01 -9.48948020e-01 3.65037861e-03 1.85230079e+02] [-9.48893168e-01 3.15432396e-01 1.02058403e-02 -9.41646608e+01] [-1.08362596e-02 -2.44781269e-04 -9.99941256e-01 -4.03831810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.766559995 meters 0.015561714715664716 Centerline is valid? [True, True] Translation: X:185.17, Y:-94.27, Z:-4.04 [[-2.44059830e-01 -9.69755697e-01 2.94729360e-03 1.85173339e+02] [-9.69695852e-01 2.44077519e-01 1.07758585e-02 -9.42655968e+01] [-1.11693183e-02 -2.28024185e-04 -9.99937595e-01 -4.03772299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8265599949999 meters 0.014886897370098975 Centerline is valid? [True, True] Translation: X:185.13, Y:-94.36, Z:-4.04 [[-1.70918832e-01 -9.85282742e-01 2.16121459e-03 1.85126756e+02] [-9.85218792e-01 1.70932366e-01 1.12275452e-02 -9.43634275e+01] [-1.14317280e-02 -2.10270329e-04 -9.99934634e-01 -4.03822408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.886559995 meters 0.014693725148956123 Centerline is valid? [True, True] Translation: X:185.09, Y:-94.47, Z:-4.04 [[-9.67962142e-02 -9.95303442e-01 1.24571375e-03 1.85086475e+02] [-9.95243227e-01 9.68040625e-02 1.09495115e-02 -9.44722405e+01] [-1.10186766e-02 -1.79916913e-04 -9.99939276e-01 -4.03824193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9465599949999 meters 0.014361770368340127 Centerline is valid? [True, True] Translation: X:185.05, Y:-94.58, Z:-4.04 [[-2.09862649e-02 -9.99779681e-01 4.08257733e-04 1.85053592e+02] [-9.99716663e-01 2.09895264e-02 1.12264953e-02 -9.45836332e+01] [-1.12325910e-02 -1.72539855e-04 -9.99936898e-01 -4.03924244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.006559995 meters 0.014395079177120438 Centerline is valid? [True, True] Translation: X:185.03, Y:-94.71, Z:-4.04 [[ 5.58188372e-02 -9.98440805e-01 -4.64160637e-04 1.85027801e+02] [-9.98375451e-01 -5.58204949e-02 1.14249968e-02 -9.47075267e+01] [-1.14330927e-02 -1.74323451e-04 -9.99934625e-01 -4.03911725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0665599949999 meters 0.014640074115852617 Centerline is valid? [True, True] Translation: X:185.01, Y:-94.82, Z:-4.04 [[ 1.32494801e-01 -9.91182809e-01 -1.32943675e-03 1.85010035e+02] [-9.91118993e-01 -1.32501358e-01 1.12486133e-02 -9.48175717e+01] [-1.13255843e-02 -1.72752764e-04 -9.99935849e-01 -4.03841656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.126559995 meters 0.01489146575268741 Centerline is valid? [True, True] Translation: X:185.00, Y:-94.94, Z:-4.04 [[ 2.09090659e-01 -9.77893738e-01 -2.22134404e-03 1.85001265e+02] [-9.77828844e-01 -2.09102378e-01 1.12671093e-02 -9.49371897e+01] [-1.14825240e-02 -1.83753038e-04 -9.99934057e-01 -4.03819770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1865599949999 meters 0.014940919774523637 Centerline is valid? [True, True] Translation: X:185.00, Y:-95.06, Z:-4.04 [[ 2.84031482e-01 -9.58809441e-01 -3.25154959e-03 1.85001633e+02] [-9.58738357e-01 -2.84050023e-01 1.16767489e-02 -9.50575542e+01] [-1.21193798e-02 -1.99178978e-04 -9.99926538e-01 -4.03745105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.246559995 meters 0.01468161574415908 Centerline is valid? [True, True] Translation: X:185.01, Y:-95.18, Z:-4.04 [[ 3.56436141e-01 -9.34309939e-01 -4.26787858e-03 1.85014364e+02] [-9.34236107e-01 -3.56461635e-01 1.17472770e-02 -9.51833068e+01] [-1.24969327e-02 -1.99947820e-04 -9.99921890e-01 -4.03747822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3065599949999 meters 0.014415560524349787 Centerline is valid? [True, True] Translation: X:185.03, Y:-95.30, Z:-4.04 [[ 4.26138119e-01 -9.04642525e-01 -5.31097597e-03 1.85032580e+02] [-9.04566585e-01 -4.26171170e-01 1.17229425e-02 -9.52973027e+01] [-1.28684571e-02 -1.91461241e-04 -9.99917180e-01 -4.03782006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.366559995 meters 0.014220091379840327 Centerline is valid? [True, True] Translation: X:185.06, Y:-95.41, Z:-4.04 [[ 4.92666942e-01 -8.70195138e-01 -6.30127864e-03 1.85057880e+02] [-8.70119517e-01 -4.92707208e-01 1.14731509e-02 -9.54056471e+01] [-1.30885655e-02 -1.69576637e-04 -9.99914327e-01 -4.03791899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4265599949999 meters 0.013709632703781305 Centerline is valid? [True, True] Translation: X:185.10, Y:-95.52, Z:-4.04 [[ 5.55066440e-01 -8.31774608e-01 -7.22827927e-03 1.85096249e+02] [-8.31701126e-01 -5.55113489e-01 1.10567686e-02 -9.55188488e+01] [-1.32092547e-02 -1.25473174e-04 -9.99912746e-01 -4.03780076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.486559995 meters 0.01335199540675522 Centerline is valid? [True, True] Translation: X:185.13, Y:-95.62, Z:-4.04 [[ 6.14203810e-01 -7.89101779e-01 -8.48895035e-03 1.85134660e+02] [-7.89024586e-01 -6.14262465e-01 1.10374684e-02 -9.56157607e+01] [-1.39241295e-02 -8.12646122e-05 -9.99903051e-01 -4.03785343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5465599949999 meters 0.01321162395629697 Centerline is valid? [True, True] Translation: X:185.18, Y:-95.71, Z:-4.04 [[ 6.70898471e-01 -7.41488182e-01 -9.51405119e-03 1.85179914e+02] [-7.41412599e-01 -6.70965925e-01 1.05870018e-02 -9.57099665e+01] [-1.42337409e-02 -4.89658736e-05 -9.99898694e-01 -4.03832035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.606559995 meters 0.013216458452900755 Centerline is valid? [True, True] Translation: X:185.23, Y:-95.80, Z:-4.04 [[ 7.24100851e-01 -6.89613000e-01 -1.05767774e-02 1.85233362e+02] [-6.89539008e-01 -7.24178093e-01 1.01017854e-02 -9.58030362e+01] [-1.46257930e-02 -2.16108334e-05 -9.99893037e-01 -4.03870617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.666559995 meters 0.01321261999203863 Centerline is valid? [True, True] Translation: X:185.25, Y:-95.83, Z:-4.04 [[ 7.75451817e-01 -6.31293639e-01 -1.19507446e-02 1.85251990e+02] [-6.31218397e-01 -7.75543900e-01 9.74648135e-03 -9.58310557e+01] [-1.54212188e-02 -1.43968005e-05 -9.99881086e-01 -4.03898472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.726559995 meters 0.013256502562468646 Centerline is valid? [True, True] Translation: X:185.27, Y:-95.86, Z:-4.04 [[ 8.22701035e-01 -5.68320196e-01 -1.32348797e-02 1.85272600e+02] [-5.68246211e-01 -8.22807483e-01 9.17005963e-03 -9.58578865e+01] [-1.61012882e-02 -2.35473018e-05 -9.99870366e-01 -4.03943677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.786559995 meters 0.013163366225852877 Centerline is valid? [True, True] Translation: X:185.29, Y:-95.88, Z:-4.04 [[ 8.65541997e-01 -5.00668389e-01 -1.29698094e-02 1.85294858e+02] [-5.00611322e-01 -8.65639164e-01 7.55924109e-03 -9.58827946e+01] [-1.50118480e-02 -5.00072201e-05 -9.99887315e-01 -4.04010400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.846559995 meters 0.013187637221945025 Centerline is valid? [True, True] Translation: X:185.32, Y:-95.90, Z:-4.04 [[ 9.02464782e-01 -4.30579221e-01 -1.26036108e-02 1.85320121e+02] [-4.30536299e-01 -9.02552786e-01 6.07984547e-03 -9.59048912e+01] [-1.39932792e-02 -6.05344574e-05 -9.99902087e-01 -4.04020046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.906559995 meters 0.013384159532681275 Centerline is valid? [True, True] Translation: X:185.35, Y:-95.92, Z:-4.04 [[ 9.34115453e-01 -3.56765429e-01 -1.21140158e-02 1.85347220e+02] [-3.56734281e-01 -9.34193996e-01 4.71493886e-03 -9.59247560e+01] [-1.29989680e-02 -8.28125307e-05 -9.99915506e-01 -4.04020637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9665599949999 meters 0.013803421299292842 Centerline is valid? [True, True] Translation: X:185.38, Y:-95.94, Z:-4.04 [[ 9.59771640e-01 -2.80511865e-01 -1.23082187e-02 1.85375302e+02] [-2.80487325e-01 -9.59850552e-01 3.71202879e-03 -9.59406219e+01] [-1.28553186e-02 -1.10400620e-04 -9.99917361e-01 -4.03936649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.026559995 meters 0.013928962538445909 Centerline is valid? [True, True] Translation: X:185.40, Y:-95.96, Z:-4.04 [[ 9.79470612e-01 -2.01204108e-01 -1.24188327e-02 1.85404864e+02] [-2.01185940e-01 -9.79549327e-01 2.70815344e-03 -9.59577235e+01] [-1.27097508e-02 -1.54062172e-04 -9.99919216e-01 -4.04085489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0865599949999 meters 0.01516803557784275 Centerline is valid? [True, True] Translation: X:185.43, Y:-95.97, Z:-4.04 [[ 9.92545884e-01 -1.21223394e-01 -1.25521369e-02 1.85434676e+02] [-1.21211286e-01 -9.92625233e-01 1.72373154e-03 -9.59721217e+01] [-1.26685244e-02 -1.89421992e-04 -9.99919733e-01 -4.03922462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.146559995 meters 0.015110360580955993 Centerline is valid? [True, True] Translation: X:185.46, Y:-95.98, Z:-4.04 [[ 9.99150298e-01 -3.91246372e-02 -1.29593243e-02 1.85463903e+02] [-3.91181480e-02 -9.99234308e-01 7.53938400e-04 -9.59846814e+01] [-1.29788990e-02 -2.46353012e-04 -9.99915740e-01 -4.03956155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2065599949999 meters 0.015227675464537942 Centerline is valid? [True, True] Translation: X:185.49, Y:-96.00, Z:-4.04 [[ 9.99034594e-01 4.17331993e-02 -1.37193101e-02 1.85493683e+02] [ 4.17333195e-02 -9.99128747e-01 -2.77651926e-04 -9.59958217e+01] [-1.37189444e-02 -2.95168472e-04 -9.99905847e-01 -4.03934008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.266559995 meters 0.015510127514782429 Centerline is valid? [True, True] Translation: X:185.52, Y:-96.00, Z:-4.04 [[ 9.92497081e-01 1.21540514e-01 -1.33209892e-02 1.85524583e+02] [ 1.21533762e-01 -9.92586423e-01 -1.31818319e-03 -9.60037277e+01] [-1.33824457e-02 -3.10656974e-04 -9.99910403e-01 -4.03937977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3265599949999 meters 0.016008440146226266 Centerline is valid? [True, True] Translation: X:185.55, Y:-96.01, Z:-4.04 [[ 9.79998244e-01 1.98584857e-01 -1.29419973e-02 1.85554316e+02] [ 1.98571590e-01 -9.80083651e-01 -2.31512504e-03 -9.60089671e+01] [-1.31439887e-02 -3.01094509e-04 -9.99913569e-01 -4.03884912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.386559995 meters 0.015299680942374085 Centerline is valid? [True, True] Translation: X:185.59, Y:-96.01, Z:-4.04 [[ 9.61815172e-01 2.73477001e-01 -1.10410230e-02 1.85585150e+02] [ 2.73461925e-01 -9.61878510e-01 -2.88213159e-03 -9.60085375e+01] [-1.14083195e-02 -2.47221523e-04 -9.99934892e-01 -4.03993785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4465599949999 meters 0.015039744800547868 Centerline is valid? [True, True] Translation: X:185.62, Y:-96.01, Z:-4.04 [[ 9.37744427e-01 3.47174924e-01 -1.02450881e-02 1.85616073e+02] [ 3.47156829e-01 -9.37800363e-01 -3.55176541e-03 -9.60068669e+01] [-1.08409312e-02 -2.26004067e-04 -9.99941210e-01 -4.03990953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.506559995 meters 0.01548288420170155 Centerline is valid? [True, True] Translation: X:185.65, Y:-96.00, Z:-4.04 [[ 9.07337600e-01 4.20253945e-01 -1.11848408e-02 1.85646575e+02] [ 4.20225594e-01 -9.07406497e-01 -4.88864136e-03 -9.60027098e+01] [-1.22036680e-02 -2.64508237e-04 -9.99925498e-01 -4.03876175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5665599949999 meters 0.01754921022370235 Centerline is valid? [True, True] Translation: X:185.68, Y:-96.00, Z:-4.04 [[ 8.70872551e-01 4.91389986e-01 -1.08111528e-02 1.85677264e+02] [ 4.91356162e-01 -8.70939608e-01 -5.77250309e-03 -9.59995085e+01] [-1.22524114e-02 -2.85012042e-04 -9.99924896e-01 -4.03594533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.626559995 meters 0.015551993286078213 Centerline is valid? [True, True] Translation: X:185.71, Y:-95.99, Z:-4.04 [[ 8.29783438e-01 5.58000712e-01 -9.72889208e-03 1.85706023e+02] [ 5.57966115e-01 -8.29840427e-01 -6.21943361e-03 -9.59886065e+01] [-1.15438763e-02 -2.67609109e-04 -9.99933331e-01 -4.03769718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6865599949999 meters 0.015088762046246273 Centerline is valid? [True, True] Translation: X:185.73, Y:-95.98, Z:-4.04 [[ 7.85425511e-01 6.18911651e-01 -7.42535014e-03 1.85732984e+02] [ 6.18886234e-01 -7.85460587e-01 -5.61213404e-03 -9.59755097e+01] [-9.30573502e-03 -1.87533740e-04 -9.99956683e-01 -4.03896306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.746559995 meters 0.014122543007110031 Centerline is valid? [True, True] Translation: X:185.76, Y:-95.96, Z:-4.04 [[ 7.36964805e-01 6.75903255e-01 -6.13730722e-03 1.85757866e+02] [ 6.75881342e-01 -7.36990347e-01 -5.44421898e-03 -9.59604334e+01] [-8.20290151e-03 -1.35893658e-04 -9.99966346e-01 -4.03986203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8065599949999 meters 0.01377218548476186 Centerline is valid? [True, True] Translation: X:185.78, Y:-95.95, Z:-4.04 [[ 6.83216387e-01 7.30194812e-01 -5.55930182e-03 1.85783686e+02] [ 7.30172023e-01 -6.83238994e-01 -5.77002943e-03 -9.59453974e+01] [-8.01157734e-03 -1.17068001e-04 -9.99967900e-01 -4.03941913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.866559995 meters 0.013417268258009749 Centerline is valid? [True, True] Translation: X:185.81, Y:-95.93, Z:-4.04 [[ 6.25642313e-01 7.80091214e-01 -5.42161850e-03 1.85808392e+02] [ 7.80063389e-01 -6.25665794e-01 -6.58962394e-03 -9.59287063e+01] [-8.53262899e-03 -1.06458542e-04 -9.99963591e-01 -4.03824882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9265599949999 meters 0.013151774794789033 Centerline is valid? [True, True] Translation: X:185.83, Y:-95.91, Z:-4.04 [[ 5.63794591e-01 8.25901485e-01 -4.73249222e-03 1.85830664e+02] [ 8.25873741e-01 -5.63814446e-01 -6.77009773e-03 -9.59099818e+01] [-8.25968125e-03 -9.14965735e-05 -9.99965884e-01 -4.03820289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.986559995 meters 0.01296285758389224 Centerline is valid? [True, True] Translation: X:185.85, Y:-95.89, Z:-4.04 [[ 4.97543677e-01 8.67428263e-01 -4.30103448e-03 1.85853854e+02] [ 8.67397445e-01 -4.97562258e-01 -7.31239655e-03 -9.58912190e+01] [-8.48301186e-03 -9.24696504e-05 -9.99964014e-01 -4.03833712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0465599949999 meters 0.013708984171039095 Centerline is valid? [True, True] Translation: X:185.88, Y:-95.87, Z:-4.03 [[ 4.27679944e-01 9.03919481e-01 -4.40880208e-03 1.85876220e+02] [ 9.03874181e-01 -4.27702652e-01 -9.05019270e-03 -9.58728018e+01] [-1.00663018e-02 -1.14416465e-04 -9.99949327e-01 -4.03499226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.106559995 meters 0.013319838009246408 Centerline is valid? [True, True] Translation: X:185.89, Y:-95.85, Z:-4.04 [[ 3.55152031e-01 9.34801112e-01 -3.73038413e-03 1.85893328e+02] [ 9.34753062e-01 -3.55171601e-01 -9.47877335e-03 -9.58496045e+01] [-1.01856944e-02 -1.20582383e-04 -9.99948117e-01 -4.03595061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.166559995 meters 0.013147027008532009 Centerline is valid? [True, True] Translation: X:185.91, Y:-95.83, Z:-4.04 [[ 2.81580333e-01 9.59533970e-01 -2.66015635e-03 1.85907367e+02] [ 9.59494478e-01 -2.81592880e-01 -8.70609060e-03 -9.58258268e+01] [-9.10287076e-03 -1.00941434e-04 -9.99958563e-01 -4.03720084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.226559995 meters 0.01255533985996736 Centerline is valid? [True, True] Translation: X:185.92, Y:-95.80, Z:-4.04 [[ 2.07962426e-01 9.78135417e-01 -1.65375939e-03 1.85920560e+02] [ 9.78106955e-01 -2.07968991e-01 -7.46216987e-03 -9.58002739e+01] [-7.64294331e-03 -6.57026093e-05 -9.99970790e-01 -4.03830715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.286559995 meters 0.011925547545350105 Centerline is valid? [True, True] Translation: X:185.93, Y:-95.77, Z:-4.04 [[ 1.35540388e-01 9.90771439e-01 -8.70689897e-04 1.85932076e+02] [ 9.90752091e-01 -1.35543183e-01 -6.19189254e-03 -9.57740783e+01] [-6.25276636e-03 -2.33863155e-05 -9.99980451e-01 -4.03951693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.346559995 meters 0.011869087150940663 Centerline is valid? [True, True] Translation: X:185.94, Y:-95.75, Z:-4.04 [[ 6.22174935e-02 9.98062539e-01 -3.90463829e-04 1.85940411e+02] [ 9.98042250e-01 -6.22187184e-02 -6.36377372e-03 -9.57481702e+01] [-6.37573831e-03 6.23865141e-06 -9.99979675e-01 -4.03984105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.406559995 meters 0.011843835576130448 Centerline is valid? [True, True] Translation: X:185.95, Y:-95.72, Z:-4.04 [[-1.37642198e-02 9.99905261e-01 1.23958423e-04 1.85949669e+02] [ 9.99879093e-01 1.37647563e-02 -7.23407214e-03 -9.57216550e+01] [-7.23509304e-03 2.43720773e-05 -9.99973826e-01 -4.03921596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4665599949999 meters 0.012048002291207024 Centerline is valid? [True, True] Translation: X:185.96, Y:-95.69, Z:-4.04 [[-8.94722347e-02 9.95989009e-01 7.83147669e-04 1.85958485e+02] [ 9.95955487e-01 8.94756487e-02 -8.17170071e-03 -9.56943007e+01] [-8.20899674e-03 4.88398938e-05 -9.99966304e-01 -4.03853365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.526559995 meters 0.012207280263292717 Centerline is valid? [True, True] Translation: X:185.96, Y:-95.67, Z:-4.04 [[-1.65570366e-01 9.86196844e-01 1.49632071e-03 1.85963164e+02] [ 9.86160084e-01 1.65577114e-01 -8.51515689e-03 -9.56662864e+01] [-8.64537731e-03 6.57541110e-05 -9.99962626e-01 -4.03919557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5865599949999 meters 0.012373646843951317 Centerline is valid? [True, True] Translation: X:185.97, Y:-95.64, Z:-4.04 [[-2.40266781e-01 9.70704532e-01 2.14140767e-03 1.85968884e+02] [ 9.70669007e-01 2.40276309e-01 -8.30508525e-03 -9.56374710e+01] [-8.57631342e-03 8.31619532e-05 -9.99963219e-01 -4.04005526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.646559995 meters 0.012466086344712017 Centerline is valid? [True, True] Translation: X:185.97, Y:-95.61, Z:-4.04 [[-3.15131593e-01 9.49042962e-01 3.08799601e-03 1.85972714e+02] [ 9.49000362e-01 3.15146707e-01 -8.99250111e-03 -9.56091353e+01] [-9.50744167e-03 9.66881401e-05 -9.99954799e-01 -4.03878002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7065599949999 meters 0.012568759971884431 Centerline is valid? [True, True] Translation: X:185.97, Y:-95.58, Z:-4.04 [[-3.90300662e-01 9.20677646e-01 4.25022868e-03 1.85972258e+02] [ 9.20625478e-01 3.90323794e-01 -9.80128349e-03 -9.55808409e+01] [-1.06827880e-02 8.74213731e-05 -9.99942934e-01 -4.03785599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.766559995 meters 0.012159522135999854 Centerline is valid? [True, True] Translation: X:185.97, Y:-95.55, Z:-4.04 [[-4.63749881e-01 8.85951877e-01 5.03194326e-03 1.85968434e+02] [ 8.85901065e-01 4.63777176e-01 -9.48865337e-03 -9.55520785e+01] [-1.07401907e-02 5.74420230e-05 -9.99942321e-01 -4.03843831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8265599949999 meters 0.011700520247876416 Centerline is valid? [True, True] Translation: X:185.97, Y:-95.52, Z:-4.04 [[-5.36661836e-01 8.43775495e-01 6.08177286e-03 1.85965758e+02] [ 8.43721195e-01 5.36696296e-01 -9.57241552e-03 -9.55208064e+01] [-1.13410346e-02 -5.82942388e-06 -9.99935688e-01 -4.03932707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.886559995 meters 0.01192197152584816 Centerline is valid? [True, True] Translation: X:185.96, Y:-95.49, Z:-4.04 [[-6.05275169e-01 7.95984133e-01 7.15749038e-03 1.85961073e+02] [ 7.95927134e-01 6.05317483e-01 -9.52587431e-03 -9.54894259e+01] [-1.19149989e-02 -6.89343844e-05 -9.99929012e-01 -4.03945263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9465599949999 meters 0.013065906015109586 Centerline is valid? [True, True] Translation: X:185.95, Y:-95.46, Z:-4.04 [[-6.72014231e-01 7.40496468e-01 7.86477537e-03 1.85954419e+02] [ 7.40442803e-01 6.72060230e-01 -8.91645727e-03 -9.54568290e+01] [-1.18882079e-02 -1.68569853e-04 -9.99929319e-01 -4.03956088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.006559995 meters 0.014299583287935902 Centerline is valid? [True, True] Translation: X:185.94, Y:-95.43, Z:-4.04 [[-7.31364477e-01 6.81938088e-01 8.15143485e-03 1.85942435e+02] [ 6.81892386e-01 7.31409869e-01 -7.89793615e-03 -9.54269533e+01] [-1.13479434e-02 -2.17868588e-04 -9.99935586e-01 -4.03975755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0665599949999 meters 0.01611395745919055 Centerline is valid? [True, True] Translation: X:186.40, Y:-94.96, Z:-5.00 [[-6.51009594e-01 -7.59037379e-01 6.98322376e-03 1.86396799e+02] [ 7.58996186e-01 -6.51047029e-01 -7.90921263e-03 -9.49594119e+01] [ 1.05497951e-02 1.51266892e-04 9.99944338e-01 -5.00114330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.126559995 meters 0.016796549765354506 Centerline is valid? [True, True] Translation: X:186.36, Y:-94.92, Z:-5.00 [[-6.48437095e-01 -7.61235732e-01 7.03519484e-03 1.86356408e+02] [ 7.61195856e-01 -6.48475189e-01 -7.79731329e-03 -9.49171974e+01] [ 1.04977428e-02 2.99093979e-04 9.99944852e-01 -5.00129255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1865599949999 meters 0.017263594198646162 Centerline is valid? [True, True] Translation: X:186.32, Y:-94.87, Z:-5.00 [[-6.47428139e-01 -7.62092382e-01 7.21156763e-03 1.86316682e+02] [ 7.62050583e-01 -6.47468221e-01 -7.98822288e-03 -9.48748967e+01] [ 1.07570247e-02 3.23779045e-04 9.99942089e-01 -5.00148609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.246559995 meters 0.017433325672705842 Centerline is valid? [True, True] Translation: X:186.28, Y:-94.83, Z:-5.00 [[-6.47150768e-01 -7.62326082e-01 7.40466205e-03 1.86277426e+02] [ 7.62282082e-01 -6.47193039e-01 -8.19740984e-03 -9.48323316e+01] [ 1.10413451e-02 3.39481136e-04 9.99938985e-01 -5.00188049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3065599949999 meters 0.01883542589976009 Centerline is valid? [True, True] Translation: X:186.24, Y:-94.79, Z:-5.00 [[-6.48083627e-01 -7.61531618e-01 7.56349937e-03 1.86238254e+02] [ 7.61485720e-01 -6.48127674e-01 -8.36765466e-03 -9.47918141e+01] [ 1.12743468e-02 3.36556777e-04 9.99936386e-01 -5.00408078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.366559995 meters 0.015057147513288746 Centerline is valid? [True, True] Translation: X:186.21, Y:-94.74, Z:-5.00 [[-6.53121387e-01 -7.57213695e-01 7.73777886e-03 1.86206286e+02] [ 7.57165409e-01 -6.53167166e-01 -8.55556041e-03 -9.47421068e+01] [ 1.15324506e-02 2.70959011e-04 9.99933462e-01 -5.00319721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4265599949999 meters 0.013555546931231111 Centerline is valid? [True, True] Translation: X:186.17, Y:-94.69, Z:-5.00 [[-6.58447365e-01 -7.52586993e-01 7.73853652e-03 1.86171956e+02] [ 7.52538434e-01 -6.58492810e-01 -8.55130380e-03 -9.46949112e+01] [ 1.15313707e-02 1.92962699e-04 9.99933493e-01 -5.00275960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.486559995 meters 0.012015143063078007 Centerline is valid? [True, True] Translation: X:186.14, Y:-94.65, Z:-5.00 [[-6.67869805e-01 -7.44247403e-01 6.76211913e-03 1.86141145e+02] [ 7.44209939e-01 -6.67904036e-01 -7.46764009e-03 -9.46460552e+01] [ 1.00742184e-02 4.50249327e-05 9.99949253e-01 -5.00161447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5465599949999 meters 0.012078107578241563 Centerline is valid? [True, True] Translation: X:186.11, Y:-94.60, Z:-5.00 [[-6.74956513e-01 -7.37835126e-01 5.74736086e-03 1.86108156e+02] [ 7.37807862e-01 -6.74980981e-01 -6.34301611e-03 -9.45992266e+01] [ 8.55945936e-03 -4.08120091e-05 9.99963366e-01 -5.00069303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.606559995 meters 0.013898810270201211 Centerline is valid? [True, True] Translation: X:186.08, Y:-94.55, Z:-5.00 [[-6.84656791e-01 -7.28850634e-01 4.67243712e-03 1.86075654e+02] [ 7.28832424e-01 -6.84672723e-01 -5.15367376e-03 -9.45505817e+01] [ 6.95534864e-03 -1.23074068e-04 9.99975804e-01 -4.99909873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.666559995 meters 0.016097061635604946 Centerline is valid? [True, True] Translation: X:186.04, Y:-94.51, Z:-5.00 [[-6.90339011e-01 -7.23469191e-01 4.93758354e-03 1.86041340e+02] [ 7.23448740e-01 -6.90356644e-01 -5.44285708e-03 -9.45053156e+01] [ 7.34643301e-03 -1.85327982e-04 9.99972997e-01 -4.99987961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.726559995 meters 0.01918000767103703 Centerline is valid? [True, True] Translation: X:186.01, Y:-94.46, Z:-5.00 [[-6.97843878e-01 -7.16230320e-01 5.29628840e-03 1.86006356e+02] [ 7.16206607e-01 -6.97863920e-01 -5.83486158e-03 -9.44595141e+01] [ 7.87519336e-03 -2.78585684e-04 9.99968951e-01 -5.00098250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.786559995 meters 0.019834440151414234 Centerline is valid? [True, True] Translation: X:185.97, Y:-94.42, Z:-5.00 [[-7.01850003e-01 -7.12307402e-01 4.97380806e-03 1.85967788e+02] [ 7.12286414e-01 -7.01867563e-01 -5.47624490e-03 -9.44169226e+01] [ 7.39172431e-03 -3.00726593e-04 9.99972636e-01 -5.00031188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.846559995 meters 0.020463356884905387 Centerline is valid? [True, True] Translation: X:185.93, Y:-94.38, Z:-5.00 [[-7.06628705e-01 -7.07575873e-01 3.50096523e-03 1.85927667e+02] [ 7.07565429e-01 -7.06637335e-01 -3.85232093e-03 -9.43756109e+01] [ 5.19972209e-03 -2.44998587e-04 9.99986451e-01 -4.99903946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.906559995 meters 0.022676969911913043 Centerline is valid? [True, True] Translation: X:185.89, Y:-94.33, Z:-5.00 [[-7.08375728e-01 -7.05827802e-01 3.30803111e-03 1.85888251e+02] [ 7.05818467e-01 -7.08383410e-01 -3.63813440e-03 -9.43349127e+01] [ 4.91125076e-03 -2.42296659e-04 9.99987910e-01 -4.99981617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9665599949999 meters 0.02321298157297073 Centerline is valid? [True, True] Translation: X:185.85, Y:-94.29, Z:-5.00 [[-7.07363443e-01 -7.06842421e-01 3.27881300e-03 1.85846666e+02] [ 7.06833271e-01 -7.07371005e-01 -3.60397713e-03 -9.42949373e+01] [ 4.86678117e-03 -2.31747548e-04 9.99988130e-01 -5.00025933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.026559995 meters 0.019694084401804385 Centerline is valid? [True, True] Translation: X:185.80, Y:-94.26, Z:-5.00 [[-7.02154507e-01 -7.12019391e-01 2.72679604e-03 1.85797712e+02] [ 7.12013108e-01 -7.02159783e-01 -2.99542676e-03 -9.42615120e+01] [ 4.04744845e-03 -1.61737875e-04 9.99991796e-01 -4.99967118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0865599949999 meters 0.01618175140926939 Centerline is valid? [True, True] Translation: X:185.75, Y:-94.23, Z:-5.00 [[-6.92964077e-01 -7.20966561e-01 2.82943032e-03 1.85747210e+02] [ 7.20959878e-01 -6.92969844e-01 -3.10626764e-03 -9.42296768e+01] [ 4.20022498e-03 -1.12626149e-04 9.99991173e-01 -4.99987920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.146559995 meters 0.013970738911335625 Centerline is valid? [True, True] Translation: X:185.70, Y:-94.20, Z:-5.00 [[-6.86129043e-01 -7.27472244e-01 3.32734217e-03 1.85700006e+02] [ 7.27463089e-01 -6.86137106e-01 -3.65061592e-03 -9.41951992e+01] [ 4.93873468e-03 -8.42749968e-05 9.99987801e-01 -5.00102752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2065599949999 meters 0.011801373468399637 Centerline is valid? [True, True] Translation: X:185.65, Y:-94.16, Z:-5.00 [[-6.77377092e-01 -7.35627699e-01 3.48772655e-03 1.85647829e+02] [ 7.35617759e-01 -6.77386070e-01 -3.82432201e-03 -9.41642946e+01] [ 5.17581458e-03 -2.48745380e-05 9.99986605e-01 -5.00163583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.266559995 meters 0.011656400156627568 Centerline is valid? [True, True] Translation: X:185.60, Y:-94.13, Z:-5.00 [[-6.72360962e-01 -7.40218981e-01 2.56846488e-03 1.85599789e+02] [ 7.40213629e-01 -6.72365868e-01 -2.81473445e-03 -9.41292185e+01] [ 3.81046799e-03 8.69515239e-06 9.99992740e-01 -5.00119833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3265599949999 meters 0.011752610215250451 Centerline is valid? [True, True] Translation: X:185.56, Y:-94.09, Z:-5.00 [[-6.71208168e-01 -7.41263213e-01 2.90585219e-03 1.85557292e+02] [ 7.41256382e-01 -6.71214458e-01 -3.18252312e-03 -9.40900518e+01] [ 4.30953731e-03 1.78459633e-05 9.99990714e-01 -5.00137849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.386559995 meters 0.011833955295033356 Centerline is valid? [True, True] Translation: X:185.51, Y:-94.05, Z:-5.00 [[-6.71740892e-01 -7.40774875e-01 4.09374696e-03 1.85514108e+02] [ 7.40761324e-01 -6.71753365e-01 -4.48081921e-03 -9.40517833e+01] [ 6.06926659e-03 2.25399289e-05 9.99981582e-01 -5.00363465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4465599949999 meters 0.011739635424708583 Centerline is valid? [True, True] Translation: X:185.47, Y:-94.01, Z:-5.00 [[-6.73852963e-01 -7.38850126e-01 4.76198495e-03 1.85473801e+02] [ 7.38831764e-01 -6.73869788e-01 -5.20892563e-03 -9.40106212e+01] [ 7.05757315e-03 8.25577677e-06 9.99975095e-01 -5.00485328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.506559995 meters 0.012172470492473978 Centerline is valid? [True, True] Translation: X:185.44, Y:-93.97, Z:-5.01 [[-6.79331387e-01 -7.33813554e-01 5.15128782e-03 1.85435706e+02] [ 7.33791946e-01 -6.79350916e-01 -5.63143497e-03 -9.39679203e+01] [ 7.63195540e-03 -4.56370161e-05 9.99970875e-01 -5.00549215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5665599949999 meters 0.01373130228036338 Centerline is valid? [True, True] Translation: X:185.40, Y:-93.92, Z:-5.00 [[-6.87611620e-01 -7.26061256e-01 5.03113331e-03 1.85399337e+02] [ 7.26040459e-01 -6.87630014e-01 -5.49690971e-03 -9.39226399e+01] [ 7.45065144e-03 -1.26932659e-04 9.99972235e-01 -5.00481771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.626559995 meters 0.015504564506124424 Centerline is valid? [True, True] Translation: X:185.36, Y:-93.88, Z:-5.00 [[-6.92964785e-01 -7.20954671e-01 4.91608896e-03 1.85362689e+02] [ 7.20934709e-01 -6.92982201e-01 -5.36794221e-03 -9.38783837e+01] [ 7.27680516e-03 -1.75615762e-04 9.99973508e-01 -5.00444574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6865599949999 meters 0.017063940522689128 Centerline is valid? [True, True] Translation: X:185.32, Y:-93.83, Z:-5.00 [[-6.97460241e-01 -7.16608027e-01 4.70607133e-03 1.85324589e+02] [ 7.16589655e-01 -6.97476087e-01 -5.13566268e-03 -9.38346852e+01] [ 6.96262931e-03 -2.09598501e-04 9.99975739e-01 -5.00422278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.746559995 meters 0.018097604688009902 Centerline is valid? [True, True] Translation: X:185.28, Y:-93.79, Z:-5.00 [[-7.00069891e-01 -7.14058806e-01 4.70836443e-03 1.85284133e+02] [ 7.14040379e-01 -7.00085685e-01 -5.13525640e-03 -9.37931739e+01] [ 6.96313360e-03 -2.33076070e-04 9.99975730e-01 -5.00422639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8065599949999 meters 0.017943112155238153 Centerline is valid? [True, True] Translation: X:185.24, Y:-93.75, Z:-5.00 [[-6.97774471e-01 -7.16301247e-01 4.82810668e-03 1.85242353e+02] [ 7.16281942e-01 -6.97791141e-01 -5.26327017e-03 -9.37544807e+01] [ 7.13909706e-03 -2.14289928e-04 9.99974493e-01 -5.00498595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.866559995 meters 0.015978561232688846 Centerline is valid? [True, True] Translation: X:185.20, Y:-93.72, Z:-5.00 [[-6.94453368e-01 -7.19521702e-01 4.79994251e-03 1.85198929e+02] [ 7.19502721e-01 -6.94469933e-01 -5.22935776e-03 -9.37163794e+01] [ 7.09605216e-03 -1.77973416e-04 9.99974807e-01 -5.00442841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9265599949999 meters 0.01338938407610245 Centerline is valid? [True, True] Translation: X:185.15, Y:-93.68, Z:-5.00 [[-6.87097193e-01 -7.26549138e-01 4.87828455e-03 1.85152377e+02] [ 7.26529730e-01 -6.87114502e-01 -5.31155943e-03 -9.36810384e+01] [ 7.21104899e-03 -1.05338817e-04 9.99973995e-01 -5.00430437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.986559995 meters 0.012054257159225996 Centerline is valid? [True, True] Translation: X:185.11, Y:-93.64, Z:-5.00 [[-6.81516516e-01 -7.31787963e-01 4.64934322e-03 1.85107224e+02] [ 7.31770467e-01 -6.81532373e-01 -5.06047107e-03 -9.36433854e+01] [ 6.87186973e-03 -4.65425499e-05 9.99976387e-01 -5.00443218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0465599949999 meters 0.011767012016105777 Centerline is valid? [True, True] Translation: X:185.06, Y:-93.61, Z:-5.00 [[-6.74337148e-01 -7.38409415e-01 4.57677399e-03 1.85062069e+02] [ 7.38392633e-01 -6.74352679e-01 -4.97838074e-03 -9.36078113e+01] [ 6.76244302e-03 2.23491250e-05 9.99977134e-01 -5.00474317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.106559995 meters 0.011940433443622866 Centerline is valid? [True, True] Translation: X:185.02, Y:-93.57, Z:-5.00 [[-6.72546432e-01 -7.40041889e-01 4.39318984e-03 1.85021496e+02] [ 7.40026480e-01 -6.72560779e-01 -4.77571710e-03 -9.35675280e+01] [ 6.48891788e-03 3.91853256e-05 9.99978946e-01 -5.00480422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.166559995 meters 0.013738717960243908 Centerline is valid? [True, True] Translation: X:184.98, Y:-93.53, Z:-5.01 [[-6.67833334e-01 -7.44295862e-01 4.72309391e-03 1.84978124e+02] [ 7.44278179e-01 -6.67850029e-01 -5.13137531e-03 -9.35298554e+01] [ 6.97357982e-03 8.83922614e-05 9.99975680e-01 -5.00586585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.226559995 meters 0.013847201863655668 Centerline is valid? [True, True] Translation: X:184.94, Y:-93.49, Z:-5.01 [[-6.65328609e-01 -7.46534497e-01 4.90789640e-03 1.84937741e+02] [ 7.46515484e-01 -6.65346700e-01 -5.32918282e-03 -9.34877482e+01] [ 7.24387149e-03 1.18162868e-04 9.99973756e-01 -5.00527818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.286559995 meters 0.01481764587526916 Centerline is valid? [True, True] Translation: X:184.90, Y:-93.45, Z:-5.01 [[-6.62414438e-01 -7.49121650e-01 4.88519759e-03 1.84897286e+02] [ 7.49102905e-01 -6.62432435e-01 -5.30153810e-03 -9.34455769e+01] [ 7.20761031e-03 1.47700323e-04 9.99974014e-01 -5.00549799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.346559995 meters 0.016274486858277752 Centerline is valid? [True, True] Translation: X:184.86, Y:-93.40, Z:-5.01 [[-6.60056441e-01 -7.51200451e-01 4.83493284e-03 1.84857920e+02] [ 7.51182161e-01 -6.60074127e-01 -5.24484738e-03 -9.34041588e+01] [ 7.13134579e-03 1.70020002e-04 9.99974557e-01 -5.00622344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.406559995 meters 0.016744548320778044 Centerline is valid? [True, True] Translation: X:184.82, Y:-93.36, Z:-5.01 [[-6.58785689e-01 -7.52312424e-01 5.23759501e-03 1.84819412e+02] [ 7.52291020e-01 -6.58806479e-01 -5.67847580e-03 -9.33609831e+01] [ 7.72254942e-03 1.99297096e-04 9.99970161e-01 -5.00663555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4665599949999 meters 0.017490863861326592 Centerline is valid? [True, True] Translation: X:184.78, Y:-93.32, Z:-5.01 [[-6.57255593e-01 -7.53641649e-01 6.27299080e-03 1.84782347e+02] [ 7.53611040e-01 -6.57285477e-01 -6.79721482e-03 -9.33162839e+01] [ 9.24580993e-03 2.59887662e-04 9.99957223e-01 -5.00770373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.526559995 meters 0.017459565503915798 Centerline is valid? [True, True] Translation: X:184.75, Y:-93.27, Z:-5.01 [[-6.57073005e-01 -7.53801622e-01 6.17916152e-03 1.84746936e+02] [ 7.53771968e-01 -6.57102007e-01 -6.69128959e-03 -9.32716671e+01] [ 9.10424437e-03 2.61012983e-04 9.99958521e-01 -5.00696379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5865599949999 meters 0.018285325918015388 Centerline is valid? [True, True] Translation: X:184.71, Y:-93.23, Z:-5.01 [[-6.57887407e-01 -7.53096383e-01 5.47692111e-03 1.84712609e+02] [ 7.53073094e-01 -6.57910166e-01 -5.92693291e-03 -9.32270034e+01] [ 8.06687381e-03 2.25267400e-04 9.99967437e-01 -5.00571792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.646559995 meters 0.017320554423702825 Centerline is valid? [True, True] Translation: X:184.68, Y:-93.18, Z:-5.00 [[-6.59462879e-01 -7.51721170e-01 4.89841306e-03 1.84679208e+02] [ 7.51702524e-01 -6.59481044e-01 -5.29796205e-03 -9.31786431e+01] [ 7.21300079e-03 1.88340158e-04 9.99973968e-01 -5.00417947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7065599949999 meters 0.016382159489469295 Centerline is valid? [True, True] Translation: X:184.64, Y:-93.13, Z:-5.00 [[-6.60614513e-01 -7.50710562e-01 4.70294223e-03 1.84644544e+02] [ 7.50693368e-01 -6.60631231e-01 -5.08368047e-03 -9.31313358e+01] [ 6.92328314e-03 1.72114444e-04 9.99976019e-01 -5.00388509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.766559995 meters 0.015740329018110913 Centerline is valid? [True, True] Translation: X:184.61, Y:-93.08, Z:-5.00 [[-6.62779451e-01 -7.48800055e-01 4.67732846e-03 1.84610995e+02] [ 7.48783020e-01 -6.62795937e-01 -5.05316905e-03 -9.30835685e+01] [ 6.88392756e-03 1.53167521e-04 9.99976294e-01 -5.00384644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8265599949999 meters 0.014650638363743201 Centerline is valid? [True, True] Translation: X:184.58, Y:-93.04, Z:-5.00 [[-6.64420056e-01 -7.47346052e-01 4.45744817e-03 1.84578355e+02] [ 7.47330566e-01 -6.64434994e-01 -4.81285182e-03 -9.30351398e+01] [ 6.55855036e-03 1.33431993e-04 9.99978484e-01 -5.00272741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.886559995 meters 0.014346265670883674 Centerline is valid? [True, True] Translation: X:184.54, Y:-92.99, Z:-5.00 [[-6.65929624e-01 -7.46001203e-01 4.46554234e-03 1.84542103e+02] [ 7.45985649e-01 -6.65944585e-01 -4.81884501e-03 -9.29895148e+01] [ 6.56866792e-03 1.22218859e-04 9.99978419e-01 -5.00282215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9465599949999 meters 0.013124485113200263 Centerline is valid? [True, True] Translation: X:184.51, Y:-92.94, Z:-5.00 [[-6.70397677e-01 -7.41988163e-01 4.52987183e-03 1.84510105e+02] [ 7.41972083e-01 -6.70412976e-01 -4.88563776e-03 -9.29395118e+01] [ 6.66197024e-03 8.57182277e-05 9.99977805e-01 -5.00246476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.006559995 meters 0.012199751883609361 Centerline is valid? [True, True] Translation: X:184.48, Y:-92.89, Z:-5.00 [[-6.77764289e-01 -7.35267545e-01 4.14801047e-03 1.84480349e+02] [ 7.35253950e-01 -6.77776982e-01 -4.47122072e-03 -9.28889241e+01] [ 6.09896949e-03 1.94073481e-05 9.99981401e-01 -5.00200391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0665599949999 meters 0.012260501648090408 Centerline is valid? [True, True] Translation: X:184.45, Y:-92.84, Z:-5.00 [[-6.83051399e-01 -7.30357376e-01 4.34615549e-03 1.84447668e+02] [ 7.30342368e-01 -6.83065226e-01 -4.68215455e-03 -9.28404477e+01] [ 6.38835379e-03 -2.39707233e-05 9.99979594e-01 -5.00200357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.126559995 meters 0.013399000691586201 Centerline is valid? [True, True] Translation: X:184.42, Y:-92.79, Z:-5.00 [[-6.89285658e-01 -7.24476221e-01 4.41435114e-03 1.84416694e+02] [ 7.24460635e-01 -6.89299789e-01 -4.75277673e-03 -9.27905032e+01] [ 6.48608503e-03 -7.79972056e-05 9.99978962e-01 -5.00200135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1865599949999 meters 0.013933236337445273 Centerline is valid? [True, True] Translation: X:184.38, Y:-92.74, Z:-5.00 [[-6.92113830e-01 -7.21770148e-01 5.12828388e-03 1.84382533e+02] [ 7.21749062e-01 -6.92132819e-01 -5.51830992e-03 -9.27429366e+01] [ 7.53240495e-03 -1.17964540e-04 9.99971624e-01 -5.00202865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.246559995 meters 0.01464948250964118 Centerline is valid? [True, True] Translation: X:184.35, Y:-92.70, Z:-5.00 [[-6.91730899e-01 -7.22134051e-01 5.54759855e-03 1.84346871e+02] [ 7.22109411e-01 -6.91753133e-01 -5.96660238e-03 -9.26989868e+01] [ 8.14625543e-03 -1.21310108e-04 9.99966811e-01 -5.00322755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3065599949999 meters 0.013520517761745381 Centerline is valid? [True, True] Translation: X:184.31, Y:-92.66, Z:-5.00 [[-6.89555244e-01 -7.24210455e-01 5.72549425e-03 1.84307215e+02] [ 7.24184311e-01 -6.89579007e-01 -6.15447848e-03 -9.26565599e+01] [ 8.40531830e-03 -9.75398091e-05 9.99964670e-01 -5.00228140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.366559995 meters 0.013153557083563649 Centerline is valid? [True, True] Translation: X:184.27, Y:-92.61, Z:-5.00 [[-6.87510160e-01 -7.26149805e-01 6.02006293e-03 1.84267899e+02] [ 7.26121008e-01 -6.87536512e-01 -6.46729916e-03 -9.26143186e+01] [ 8.83524109e-03 -7.50397115e-05 9.99960966e-01 -5.00223062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4265599949999 meters 0.012628720824770059 Centerline is valid? [True, True] Translation: X:184.23, Y:-92.57, Z:-5.00 [[-6.84302190e-01 -7.29171967e-01 6.22536499e-03 1.84228715e+02] [ 7.29141337e-01 -6.84330506e-01 -6.68360881e-03 -9.25725165e+01] [ 9.13370735e-03 -3.44371957e-05 9.99958286e-01 -5.00226992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.486559995 meters 0.012532085225517449 Centerline is valid? [True, True] Translation: X:184.19, Y:-92.53, Z:-5.00 [[-6.82262897e-01 -7.31082398e-01 5.98893300e-03 1.84188799e+02] [ 7.31054155e-01 -6.82289182e-01 -6.42609119e-03 -9.25300776e+01] [ 8.78418635e-03 -6.04923393e-06 9.99961418e-01 -5.00229044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5465599949999 meters 0.012561764032137133 Centerline is valid? [True, True] Translation: X:184.15, Y:-92.49, Z:-5.00 [[-6.80616941e-01 -7.32612729e-01 6.25853839e-03 1.84150371e+02] [ 7.32581992e-01 -6.80645715e-01 -6.71087962e-03 -9.24888970e+01] [ 9.17632317e-03 1.73541567e-05 9.99957897e-01 -5.00203428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.606559995 meters 0.01254716897811503 Centerline is valid? [True, True] Translation: X:184.11, Y:-92.45, Z:-5.00 [[-6.81326087e-01 -7.31952909e-01 6.30093988e-03 1.84112968e+02] [ 7.31921765e-01 -6.81355222e-01 -6.75204837e-03 -9.24450804e+01] [ 9.23535973e-03 1.14483429e-05 9.99957353e-01 -5.00171178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.666559995 meters 0.01276406061631218 Centerline is valid? [True, True] Translation: X:184.08, Y:-92.40, Z:-5.00 [[-6.83539209e-01 -7.29886152e-01 6.35260519e-03 1.84075716e+02] [ 7.29854446e-01 -6.83568727e-01 -6.80310652e-03 -9.24014081e+01] [ 9.30793548e-03 -1.37128994e-05 9.99956680e-01 -5.00188047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.726559995 meters 0.013285594892221758 Centerline is valid? [True, True] Translation: X:184.04, Y:-92.36, Z:-5.00 [[-6.88502473e-01 -7.25203404e-01 6.66093373e-03 1.84039452e+02] [ 7.25168364e-01 -6.88534688e-01 -7.12925268e-03 -9.23557778e+01] [ 9.75644224e-03 -7.82096785e-05 9.99952402e-01 -5.00243531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.786559995 meters 0.01399678016595794 Centerline is valid? [True, True] Translation: X:184.00, Y:-92.31, Z:-5.00 [[-6.92795095e-01 -7.21099230e-01 7.13143951e-03 1.84002933e+02] [ 7.21058894e-01 -6.92831784e-01 -7.62823500e-03 -9.23109514e+01] [ 1.04416023e-02 -1.42615899e-04 9.99945475e-01 -5.00265707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.846559995 meters 0.015623478208526548 Centerline is valid? [True, True] Translation: X:183.97, Y:-92.27, Z:-5.00 [[-6.98929051e-01 -7.15149896e-01 7.66863178e-03 1.83967884e+02] [ 7.15102951e-01 -6.98971077e-01 -8.19779031e-03 -9.22650371e+01] [ 1.12228007e-02 -2.45812592e-04 9.99936992e-01 -5.00273274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.906559995 meters 0.017305001529879887 Centerline is valid? [True, True] Translation: X:183.93, Y:-92.22, Z:-5.00 [[-7.03135199e-01 -7.11010780e-01 8.03507090e-03 1.83930796e+02] [ 7.10959031e-01 -7.03181034e-01 -8.58429715e-03 -9.22208124e+01] [ 1.17536373e-02 -3.23315264e-04 9.99930871e-01 -5.00317928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9665599949999 meters 0.017257726140801732 Centerline is valid? [True, True] Translation: X:183.89, Y:-92.18, Z:-5.00 [[-7.04200981e-01 -7.09956032e-01 7.96313437e-03 1.83891855e+02] [ 7.09905198e-01 -7.04245924e-01 -8.50231833e-03 -9.21784200e+01] [ 1.16442771e-02 -3.34270427e-04 9.99932147e-01 -5.00288665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.026559995 meters 0.0176148003616487 Centerline is valid? [True, True] Translation: X:183.85, Y:-92.14, Z:-5.00 [[-7.03967831e-01 -7.10184122e-01 8.23447709e-03 1.83853355e+02] [ 7.10129846e-01 -7.04015908e-01 -8.78651362e-03 -9.21364441e+01] [ 1.20372453e-02 -3.37874983e-04 9.99927493e-01 -5.00329044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0865599949999 meters 0.016181080456608515 Centerline is valid? [True, True] Translation: X:183.81, Y:-92.10, Z:-5.00 [[-7.00600156e-01 -7.13505487e-01 8.32720552e-03 1.83810873e+02] [ 7.13450257e-01 -7.00649585e-01 -8.88201726e-03 -9.20963869e+01] [ 1.21718211e-02 -2.81695759e-04 9.99925881e-01 -5.00351520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.146559995 meters 0.015429097718211734 Centerline is valid? [True, True] Translation: X:183.77, Y:-92.06, Z:-5.00 [[-6.96934501e-01 -7.17091472e-01 7.88169623e-03 1.83769330e+02] [ 7.17042271e-01 -6.96979037e-01 -8.40258576e-03 -9.20578064e+01] [ 1.15187996e-02 -2.04542562e-04 9.99933636e-01 -5.00442585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2065599949999 meters 0.012986271320040122 Centerline is valid? [True, True] Translation: X:183.72, Y:-92.02, Z:-5.00 [[-6.88644532e-01 -7.25066381e-01 6.88845836e-03 1.83722553e+02] [ 7.25029235e-01 -6.88678981e-01 -7.33956510e-03 -9.20219715e+01] [ 1.00656084e-02 -6.00176794e-05 9.99949339e-01 -5.00255743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.266559995 meters 0.013070127553849654 Centerline is valid? [True, True] Translation: X:183.68, Y:-91.99, Z:-5.00 [[-6.79532040e-01 -7.33620679e-01 6.07509722e-03 1.83677231e+02] [ 7.33592163e-01 -6.79559193e-01 -6.46859297e-03 -9.19876621e+01] [ 8.87388173e-03 6.10275310e-05 9.99960625e-01 -5.00283651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3265599949999 meters 0.014974532844243259 Centerline is valid? [True, True] Translation: X:183.63, Y:-91.95, Z:-5.00 [[-6.70979104e-01 -7.41453486e-01 5.81125201e-03 1.83631082e+02] [ 7.41427713e-01 -6.71004250e-01 -6.18411594e-03 -9.19513318e+01] [ 8.48460911e-03 1.59210715e-04 9.99963992e-01 -5.00223632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.386559995 meters 0.016453251452047703 Centerline is valid? [True, True] Translation: X:183.59, Y:-91.91, Z:-5.00 [[-6.66607527e-01 -7.45386738e-01 5.74600362e-03 1.83588316e+02] [ 7.45361715e-01 -6.66632258e-01 -6.11116352e-03 -9.19116909e+01] [ 8.38565161e-03 2.09103518e-04 9.99964818e-01 -5.00190868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4465599949999 meters 0.01790497345476185 Centerline is valid? [True, True] Translation: X:183.55, Y:-91.87, Z:-5.00 [[-6.63111171e-01 -7.48499264e-01 5.69444210e-03 1.83546916e+02] [ 7.48474832e-01 -6.63135574e-01 -6.05282932e-03 -9.18709030e+01] [ 8.30672542e-03 2.48447848e-04 9.99965468e-01 -5.00224780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.506559995 meters 0.019166377008527847 Centerline is valid? [True, True] Translation: X:183.51, Y:-91.83, Z:-5.00 [[-6.62889717e-01 -7.48692653e-01 6.04441519e-03 1.83507149e+02] [ 7.48665156e-01 -6.62917219e-01 -6.42218266e-03 -9.18294286e+01] [ 8.81518788e-03 2.68044199e-04 9.99961110e-01 -5.00347680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5665599949999 meters 0.01768200664691097 Centerline is valid? [True, True] Translation: X:183.47, Y:-91.78, Z:-5.00 [[-6.65076296e-01 -7.46742742e-01 6.98556035e-03 1.83472142e+02] [ 7.46705950e-01 -6.65112921e-01 -7.41798831e-03 -9.17821559e+01] [ 1.01855154e-02 2.82631291e-04 9.99948086e-01 -5.00455015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.626559995 meters 0.016601703942222677 Centerline is valid? [True, True] Translation: X:183.44, Y:-91.74, Z:-5.00 [[-6.67628153e-01 -7.44455824e-01 7.62733618e-03 1.83436612e+02] [ 7.44411862e-01 -6.67671665e-01 -8.09493543e-03 -9.17358735e+01] [ 1.11188781e-02 2.73472733e-04 9.99938146e-01 -5.00486019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6865599949999 meters 0.014718348015951259 Centerline is valid? [True, True] Translation: X:183.41, Y:-91.69, Z:-5.00 [[-6.72204574e-01 -7.40336270e-01 6.57399371e-03 1.83405610e+02] [ 7.40303454e-01 -6.72236696e-01 -6.97287780e-03 -9.16859740e+01] [ 9.58155415e-03 1.79549897e-04 9.99954080e-01 -5.00260841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.746559995 meters 0.013304708504431776 Centerline is valid? [True, True] Translation: X:183.37, Y:-91.63, Z:-5.00 [[-6.78091015e-01 -7.34959361e-01 5.22608132e-03 1.83374602e+02] [ 7.34938486e-01 -6.78111149e-01 -5.54007541e-03 -9.16348072e+01] [ 7.61559430e-03 8.41729283e-05 9.99970997e-01 -4.99986174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8065599949999 meters 0.012619492557043047 Centerline is valid? [True, True] Translation: X:183.34, Y:-91.59, Z:-5.00 [[-6.83893955e-01 -7.29568029e-01 4.42140612e-03 1.83343354e+02] [ 7.29552991e-01 -6.83908247e-01 -4.68439853e-03 -9.15850373e+01] [ 6.44142351e-03 2.20182183e-05 9.99979254e-01 -4.99856588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.866559995 meters 0.012639452226125817 Centerline is valid? [True, True] Translation: X:183.31, Y:-91.54, Z:-5.00 [[-6.86890680e-01 -7.26747622e-01 4.36896035e-03 1.83308287e+02] [ 7.26732898e-01 -6.86904574e-01 -4.62616835e-03 -9.15387327e+01] [ 6.36311569e-03 -2.60470384e-06 9.99979755e-01 -4.99816899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9265599949999 meters 0.012562500514041028 Centerline is valid? [True, True] Translation: X:183.27, Y:-91.50, Z:-5.00 [[-6.86665048e-01 -7.26963314e-01 3.93103978e-03 1.83269154e+02] [ 7.26951412e-01 -6.86676300e-01 -4.15981794e-03 -9.14972469e+01] [ 5.72338689e-03 1.27333611e-06 9.99983621e-01 -4.99841173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.986559995 meters 0.012668761053587352 Centerline is valid? [True, True] Translation: X:183.23, Y:-91.46, Z:-5.00 [[-6.83270724e-01 -7.30149861e-01 4.72211074e-03 1.83226540e+02] [ 7.30132783e-01 -6.83287040e-01 -4.99405386e-03 -9.14570479e+01] [ 6.87296480e-03 3.54770631e-05 9.99976380e-01 -4.99908062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0465599949999 meters 0.012883639502897195 Centerline is valid? [True, True] Translation: X:183.19, Y:-91.42, Z:-5.00 [[-6.81943191e-01 -7.31389122e-01 4.84109168e-03 1.83186161e+02] [ 7.31371226e-01 -6.81960372e-01 -5.11662176e-03 -9.14161273e+01] [ 7.04367418e-03 5.13897878e-05 9.99975192e-01 -4.99920191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.106559995 meters 0.013043975553538577 Centerline is valid? [True, True] Translation: X:183.15, Y:-91.38, Z:-5.00 [[-6.82006637e-01 -7.31333763e-01 4.22784439e-03 1.83146600e+02] [ 7.31320130e-01 -6.82019740e-01 -4.46564989e-03 -9.13750974e+01] [ 6.14935387e-03 4.63048477e-05 9.99981091e-01 -4.99927693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.166559995 meters 0.012964583657256704 Centerline is valid? [True, True] Translation: X:183.11, Y:-91.33, Z:-5.00 [[-6.82703960e-01 -7.30684211e-01 3.98595617e-03 1.83106760e+02] [ 7.30672098e-01 -6.82715594e-01 -4.20749362e-03 -9.13339365e+01] [ 5.79562358e-03 3.99544024e-05 9.99983204e-01 -4.99941287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.226559995 meters 0.012985881010728942 Centerline is valid? [True, True] Translation: X:183.07, Y:-91.29, Z:-5.00 [[-6.82744956e-01 -7.30646146e-01 3.94132395e-03 1.83067464e+02] [ 7.30634316e-01 -6.82756331e-01 -4.15797815e-03 -9.12918133e+01] [ 5.72897459e-03 4.08279246e-05 9.99983588e-01 -4.99836367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.286559995 meters 0.013223037960726599 Centerline is valid? [True, True] Translation: X:183.03, Y:-91.25, Z:-5.00 [[-6.81944957e-01 -7.31393836e-01 3.75921843e-03 1.83027350e+02] [ 7.31383099e-01 -6.81955317e-01 -3.96332864e-03 -9.12505969e+01] [ 5.46237314e-03 4.66568459e-05 9.99985080e-01 -4.99764825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.346559995 meters 0.013453850583551 Centerline is valid? [True, True] Translation: X:182.99, Y:-91.21, Z:-5.00 [[-6.80345569e-01 -7.32884724e-01 3.14462318e-03 1.82985958e+02] [ 7.32877235e-01 -6.80352834e-01 -3.31348177e-03 -9.12091972e+01] [ 4.56785347e-03 5.03101012e-05 9.99989566e-01 -4.99624921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.406559995 meters 0.013656423902253405 Centerline is valid? [True, True] Translation: X:182.95, Y:-91.17, Z:-5.00 [[-6.79207518e-01 -7.33940052e-01 3.02461110e-03 1.82945814e+02] [ 7.33933141e-01 -6.79214250e-01 -3.18536914e-03 -9.11675347e+01] [ 4.39222895e-03 5.63356560e-05 9.99990353e-01 -4.99561536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4665599949999 meters 0.01456943715322107 Centerline is valid? [True, True] Translation: X:182.90, Y:-91.13, Z:-5.00 [[-6.77639815e-01 -7.35385974e-01 3.42790837e-03 1.82904957e+02] [ 7.35377124e-01 -6.77648481e-01 -3.60858340e-03 -9.11280838e+01] [ 4.97661852e-03 7.54856095e-05 9.99987614e-01 -4.99523192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.526559995 meters 0.014680331347198613 Centerline is valid? [True, True] Translation: X:182.86, Y:-91.09, Z:-4.99 [[-6.77095212e-01 -7.35883144e-01 4.25115422e-03 1.82864935e+02] [ 7.35869558e-01 -6.77108550e-01 -4.47272037e-03 -9.10859224e+01] [ 6.16989240e-03 9.98374350e-05 9.99980961e-01 -4.99488223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5865599949999 meters 0.014248540797980179 Centerline is valid? [True, True] Translation: X:182.83, Y:-91.04, Z:-5.00 [[-6.78702145e-01 -7.34395758e-01 5.12539908e-03 1.82827233e+02] [ 7.34375992e-01 -6.78721489e-01 -5.38910206e-03 -9.10430690e+01] [ 7.43645219e-03 1.06374900e-04 9.99972344e-01 -4.99525934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.646559995 meters 0.013695093503547001 Centerline is valid? [True, True] Translation: X:182.79, Y:-91.00, Z:-4.99 [[-6.80855804e-01 -7.32396860e-01 5.49676432e-03 1.82790605e+02] [ 7.32374090e-01 -6.80877985e-01 -5.77587236e-03 -9.09994128e+01] [ 7.97285660e-03 9.31515555e-05 9.99968212e-01 -4.99491832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7065599949999 meters 0.013145077386591495 Centerline is valid? [True, True] Translation: X:182.76, Y:-90.95, Z:-4.99 [[-6.85570097e-01 -7.27982669e-01 5.90553296e-03 1.82755428e+02] [ 7.27956252e-01 -6.85595530e-01 -6.20191418e-03 -9.09535106e+01] [ 8.56369304e-03 4.71227310e-05 9.99963330e-01 -4.99468603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.766559995 meters 0.013020084915415888 Centerline is valid? [True, True] Translation: X:182.72, Y:-90.91, Z:-4.99 [[-6.88463490e-01 -7.25256392e-01 4.60312944e-03 1.82716667e+02] [ 7.25240302e-01 -6.88478878e-01 -4.83105705e-03 -9.09109254e+01] [ 6.67291240e-03 1.23685809e-05 9.99977736e-01 -4.99272925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8265599949999 meters 0.013008471095372388 Centerline is valid? [True, True] Translation: X:182.68, Y:-90.87, Z:-4.99 [[-6.89824077e-01 -7.23964763e-01 4.21486151e-03 1.82677257e+02] [ 7.23951263e-01 -6.89836954e-01 -4.42104000e-03 -9.08688921e+01] [ 6.10824440e-03 1.61447523e-06 9.99981345e-01 -4.99195019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.886559995 meters 0.013050274880703202 Centerline is valid? [True, True] Translation: X:182.64, Y:-90.83, Z:-4.99 [[-6.90237110e-01 -7.23568856e-01 4.56547160e-03 1.82637111e+02] [ 7.23553027e-01 -6.90252208e-01 -4.78606948e-03 -9.08272247e+01] [ 6.61437767e-03 -1.61973400e-07 9.99978125e-01 -4.99214458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9465599949999 meters 0.013014142601405033 Centerline is valid? [True, True] Translation: X:182.60, Y:-90.79, Z:-4.99 [[-6.90350168e-01 -7.23457415e-01 5.10030915e-03 1.82597042e+02] [ 7.23437680e-01 -6.90369009e-01 -5.34369321e-03 -9.07855826e+01] [ 7.38702985e-03 7.36310138e-07 9.99972716e-01 -4.99264616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.006559995 meters 0.013055113381210189 Centerline is valid? [True, True] Translation: X:182.56, Y:-90.74, Z:-4.99 [[-6.90418430e-01 -7.23385863e-01 5.94004584e-03 1.82556667e+02] [ 7.23359125e-01 -6.90443983e-01 -6.21955817e-03 -9.07445497e+01] [ 8.60040937e-03 2.68877363e-06 9.99963016e-01 -4.99416763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0665599949999 meters 0.013016156292767785 Centerline is valid? [True, True] Translation: X:182.52, Y:-90.70, Z:-4.99 [[-6.89435887e-01 -7.24322161e-01 5.96355066e-03 1.82515777e+02] [ 7.24295280e-01 -6.89461679e-01 -6.24024025e-03 -9.07045441e+01] [ 8.63158395e-03 1.71260262e-05 9.99962747e-01 -4.99461784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.126559995 meters 0.01299948940835191 Centerline is valid? [True, True] Translation: X:182.47, Y:-90.66, Z:-4.99 [[-6.88281466e-01 -7.25427861e-01 4.80026559e-03 1.82474906e+02] [ 7.25410493e-01 -6.88298205e-01 -5.01979996e-03 -9.06647027e+01] [ 6.94551693e-03 2.71277543e-05 9.99975879e-01 -4.99337519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1865599949999 meters 0.01283330719845617 Centerline is valid? [True, True] Translation: X:182.44, Y:-90.62, Z:-4.99 [[-6.89278835e-01 -7.24487701e-01 3.50126777e-03 1.82435740e+02] [ 7.24478460e-01 -6.89287727e-01 -3.65930101e-03 -9.06220617e+01] [ 5.06449948e-03 1.43143476e-05 9.99987175e-01 -4.99199976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.246559995 meters 0.012796629131307021 Centerline is valid? [True, True] Translation: X:182.40, Y:-90.58, Z:-4.99 [[-6.92808075e-01 -7.21121063e-01 1.17650142e-03 1.82399726e+02] [ 7.21120016e-01 -6.92809074e-01 -1.22878813e-03 -9.05789775e+01] [ 1.70119586e-03 -2.91561143e-06 9.99998553e-01 -4.99068217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3065599949999 meters 0.012931479762346461 Centerline is valid? [True, True] Translation: X:182.36, Y:-90.54, Z:-4.99 [[-6.95441636e-01 -7.18582568e-01 -1.55178830e-04 1.82361340e+02] [ 7.18582550e-01 -6.95441653e-01 1.61975252e-04 -9.05354622e+01] [-2.24310415e-04 1.13553480e-06 9.99999975e-01 -4.98957769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.366559995 meters 0.013141726583409152 Centerline is valid? [True, True] Translation: X:182.32, Y:-90.49, Z:-4.99 [[-6.97788249e-01 -7.16302784e-01 -1.37174039e-03 1.82321480e+02] [ 7.16301355e-01 -6.97789597e-01 1.43105599e-03 -9.04928556e+01] [-1.98225556e-03 1.59945510e-05 9.99998035e-01 -4.98889640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4265599949999 meters 0.013303680413866516 Centerline is valid? [True, True] Translation: X:182.28, Y:-90.45, Z:-4.99 [[-6.98870713e-01 -7.15246548e-01 -1.44985765e-03 1.82281554e+02] [ 7.15244951e-01 -6.98872217e-01 1.51169198e-03 -9.04504743e+01] [-2.09449770e-03 1.94738833e-05 9.99997806e-01 -4.98911631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.486559995 meters 0.013403367494924798 Centerline is valid? [True, True] Translation: X:182.24, Y:-90.41, Z:-4.99 [[-6.99476310e-01 -7.14652648e-01 -2.11766686e-03 1.82241096e+02] [ 7.14649242e-01 -6.99479515e-01 2.20673037e-03 -9.04090265e+01] [-3.05831029e-03 3.01665985e-05 9.99995323e-01 -4.98910914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5465599949999 meters 0.01327112714408609 Centerline is valid? [True, True] Translation: X:182.20, Y:-90.37, Z:-4.99 [[-6.98306207e-01 -7.15795416e-01 -2.31606367e-03 1.82199002e+02] [ 7.15791352e-01 -6.98310047e-01 2.41218276e-03 -9.03682434e+01] [-3.34395989e-03 2.66238453e-05 9.99994409e-01 -4.99002080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.606559995 meters 0.013130467988446968 Centerline is valid? [True, True] Translation: X:182.16, Y:-90.33, Z:-4.99 [[-6.97144113e-01 -7.16923365e-01 -3.31290711e-03 1.82157956e+02] [ 7.16915072e-01 -6.97151984e-01 3.44842254e-03 -9.03274638e+01] [-4.78185446e-03 2.89744327e-05 9.99988566e-01 -4.98983542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.666559995 meters 0.013154754564815921 Centerline is valid? [True, True] Translation: X:182.12, Y:-90.29, Z:-4.99 [[-6.96681201e-01 -7.17363280e-01 -5.02275312e-03 1.82118152e+02] [ 7.17344248e-01 -6.96699306e-01 5.22563565e-03 -9.02872230e+01] [-7.24802774e-03 3.75590719e-05 9.99973732e-01 -4.98870010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.726559995 meters 0.013407445173762116 Centerline is valid? [True, True] Translation: X:182.08, Y:-90.25, Z:-4.99 [[-6.98700912e-01 -7.15380113e-01 -6.95196888e-03 1.82077494e+02] [ 7.15343595e-01 -6.98735492e-01 7.22861155e-03 -9.02456222e+01] [-1.00287923e-02 7.75910704e-05 9.99949707e-01 -4.98866745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.786559995 meters 0.014011186702295146 Centerline is valid? [True, True] Translation: X:182.04, Y:-90.20, Z:-4.99 [[-7.01517834e-01 -7.12574731e-01 -1.04871783e-02 1.82037795e+02] [ 7.12491413e-01 -7.01596196e-01 1.08979230e-02 -9.02042811e+01] [-1.51233489e-02 1.73062833e-04 9.99885621e-01 -4.98634006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.846559995 meters 0.014545699572918326 Centerline is valid? [True, True] Translation: X:182.00, Y:-90.16, Z:-4.98 [[-7.03402442e-01 -7.10648670e-01 -1.42643753e-02 1.81996300e+02] [ 7.10494296e-01 -7.03547004e-01 1.48144959e-02 -9.01633738e+01] [-2.05635603e-02 2.85795328e-04 9.99788507e-01 -4.98428290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.906559995 meters 0.014823862649417156 Centerline is valid? [True, True] Translation: X:181.96, Y:-90.12, Z:-4.98 [[-7.04574442e-01 -7.09436975e-01 -1.65539461e-02 1.81955327e+02] [ 7.09228961e-01 -7.04768788e-01 1.71824425e-02 -9.01216817e+01] [-2.38565646e-02 3.65771882e-04 9.99715325e-01 -4.98342119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9665599949999 meters 0.01587118644612634 Centerline is valid? [True, True] Translation: X:181.92, Y:-90.08, Z:-4.98 [[-7.06259714e-01 -7.07691528e-01 -1.92332366e-02 1.81916544e+02] [ 7.07410383e-01 -7.06521383e-01 1.99520630e-02 -9.00808145e+01] [-2.77085989e-02 4.85546988e-04 9.99615925e-01 -4.98113554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.026559995 meters 0.015888484453155136 Centerline is valid? [True, True] Translation: X:181.88, Y:-90.04, Z:-4.98 [[-7.07877420e-01 -7.06048521e-01 -2.01257078e-02 1.81876158e+02] [ 7.05740377e-01 -7.08163234e-01 2.08651687e-02 -9.00396868e+01] [-2.89841079e-02 5.66457181e-04 9.99579712e-01 -4.98360291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0865599949999 meters 0.01637480576955309 Centerline is valid? [True, True] Translation: X:181.84, Y:-90.00, Z:-4.99 [[-7.09712095e-01 -7.04225180e-01 -1.93814094e-02 1.81836478e+02] [ 7.03939047e-01 -7.09976426e-01 2.00821325e-02 -8.99968538e+01] [-2.79026872e-02 6.09201472e-04 9.99610459e-01 -4.98531358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.146559995 meters 0.017237775598359803 Centerline is valid? [True, True] Translation: X:181.80, Y:-89.96, Z:-4.99 [[-7.12687675e-01 -7.01219343e-01 -1.91758123e-02 1.81795985e+02] [ 7.00938469e-01 -7.12945248e-01 1.98578952e-02 -8.99553394e+01] [-2.75960445e-02 7.11412690e-04 9.99618904e-01 -4.98775956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2065599949999 meters 0.018112503489252363 Centerline is valid? [True, True] Translation: X:181.76, Y:-89.91, Z:-4.99 [[-7.15254870e-01 -6.98619559e-01 -1.84711309e-02 1.81756258e+02] [ 6.98358369e-01 -7.15492915e-01 1.91174432e-02 -8.99128827e+01] [-2.65717830e-02 7.74375513e-04 9.99646608e-01 -4.98912720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.266559995 meters 0.019459480756752776 Centerline is valid? [True, True] Translation: X:181.72, Y:-89.87, Z:-4.99 [[-7.20121617e-01 -6.93605091e-01 -1.83530639e-02 1.81716854e+02] [ 6.93345896e-01 -7.20354832e-01 1.89838063e-02 -8.98712914e+01] [-2.63879830e-02 9.45627742e-04 9.99651329e-01 -4.99163313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3265599949999 meters 0.02046827652286353 Centerline is valid? [True, True] Translation: X:181.68, Y:-89.83, Z:-5.00 [[-7.23568024e-01 -6.90045794e-01 -1.69149957e-02 1.81675507e+02] [ 6.89824902e-01 -7.23765040e-01 1.74863177e-02 -8.98304049e+01] [-2.43088425e-02 9.84155096e-04 9.99704012e-01 -4.99584465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.386559995 meters 0.02099511731278992 Centerline is valid? [True, True] Translation: X:181.63, Y:-89.79, Z:-5.00 [[-7.25372007e-01 -6.88210499e-01 -1.42042143e-02 1.81632836e+02] [ 6.88054559e-01 -7.25510543e-01 1.46756921e-02 -8.97904571e+01] [-2.04052726e-02 8.72061820e-04 9.99791410e-01 -5.00036608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4465599949999 meters 0.02229768725222745 Centerline is valid? [True, True] Translation: X:181.59, Y:-89.75, Z:-5.01 [[-7.27955391e-01 -6.85572201e-01 -8.46793790e-03 1.81589719e+02] [ 6.85516672e-01 -7.28004425e-01 8.74349840e-03 -8.97522987e+01] [-1.21589957e-02 5.59964188e-04 9.99925920e-01 -5.00908732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.506559995 meters 0.02255645314254573 Centerline is valid? [True, True] Translation: X:181.55, Y:-89.71, Z:-5.02 [[-7.29887785e-01 -6.83560847e-01 -2.89637591e-03 1.81545510e+02] [ 6.83554343e-01 -7.29893504e-01 2.98893521e-03 -8.97146875e+01] [-4.15716505e-03 2.01756968e-04 9.99991339e-01 -5.01689955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5665599949999 meters 0.021620236818678418 Centerline is valid? [True, True] Translation: X:181.50, Y:-89.68, Z:-5.02 [[-7.29746222e-01 -6.83718104e-01 7.53618891e-05 1.81500047e+02] [ 6.83718100e-01 -7.29746226e-01 -7.77340913e-05 -8.96775366e+01] [ 1.08143260e-04 -5.19987177e-06 9.99999994e-01 -5.02041475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.626559995 meters 0.02260102561441227 Centerline is valid? [True, True] Translation: X:181.45, Y:-89.64, Z:-5.03 [[-7.26661252e-01 -6.86982909e-01 4.23186624e-03 1.81454199e+02] [ 6.86969110e-01 -7.26673527e-01 -4.36208366e-03 -8.96426615e+01] [ 6.07186208e-03 -2.62595788e-04 9.99981532e-01 -5.02650357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6865599949999 meters 0.019951167546585154 Centerline is valid? [True, True] Translation: X:181.40, Y:-89.61, Z:-5.03 [[-7.21789341e-01 -6.92069184e-01 7.77116454e-03 1.81403720e+02] [ 6.92022980e-01 -7.21831062e-01 -8.00701535e-03 -8.96116534e+01] [ 1.11508765e-02 -4.01553890e-04 9.99937746e-01 -5.03079317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.746559995 meters 0.01799505034828072 Centerline is valid? [True, True] Translation: X:181.35, Y:-89.58, Z:-5.03 [[-7.16888185e-01 -6.97101422e-01 1.09971974e-02 1.81354081e+02] [ 6.97009584e-01 -7.16972386e-01 -1.13241880e-02 -8.95790028e+01] [ 1.57787944e-02 -4.53024589e-04 9.99875404e-01 -5.03468439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8065599949999 meters 0.016556857712383518 Centerline is valid? [True, True] Translation: X:181.30, Y:-89.55, Z:-5.04 [[-7.11349091e-01 -7.02695244e-01 1.42079054e-02 1.81303461e+02] [ 7.02543217e-01 -7.11490842e-01 -1.46222478e-02 -8.95469617e+01] [ 2.03837785e-02 -4.19855073e-04 9.99792141e-01 -5.03926068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.866559995 meters 0.015444748345268315 Centerline is valid? [True, True] Translation: X:181.25, Y:-89.51, Z:-5.04 [[-7.06108638e-01 -7.07906640e-01 1.66967276e-02 1.81252531e+02] [ 7.07698337e-01 -7.06305949e-01 -1.71747171e-02 -8.95148689e+01] [ 2.39510943e-02 -3.10969780e-04 9.99713083e-01 -5.04210817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9265599949999 meters 0.014729981263078385 Centerline is valid? [True, True] Translation: X:181.20, Y:-89.48, Z:-5.04 [[-7.01838935e-01 -7.12102340e-01 1.82309115e-02 1.81202619e+02] [ 7.11855705e-01 -7.02075656e-01 -1.87411244e-02 -8.94834827e+01] [ 2.61450777e-02 -1.75472424e-04 9.99658144e-01 -5.04383305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.986559995 meters 0.014701971698651688 Centerline is valid? [True, True] Translation: X:181.15, Y:-89.46, Z:-5.05 [[-6.97168369e-01 -7.16613180e-01 2.05381491e-02 1.81148181e+02] [ 7.16302437e-01 -6.97470824e-01 -2.11013594e-02 -8.94551614e+01] [ 2.94462721e-02 3.25971917e-07 9.99566365e-01 -5.04603805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0465599949999 meters 0.014490145237890543 Centerline is valid? [True, True] Translation: X:181.10, Y:-89.42, Z:-5.04 [[-6.96416505e-01 -7.17335171e-01 2.08399500e-02 1.81097321e+02] [ 7.17015951e-01 -6.96728247e-01 -2.13980429e-02 -8.94248866e+01] [ 2.98693506e-02 4.06263720e-05 9.99553811e-01 -5.04442001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.106559995 meters 0.015073358131039282 Centerline is valid? [True, True] Translation: X:181.05, Y:-89.39, Z:-5.05 [[-6.97436465e-01 -7.16346916e-01 2.07237387e-02 1.81052726e+02] [ 7.16031220e-01 -6.97744291e-01 -2.12648890e-02 -8.93904179e+01] [ 2.96929080e-02 7.93494543e-06 9.99559068e-01 -5.04603402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.166559995 meters 0.014517900104169692 Centerline is valid? [True, True] Translation: X:181.01, Y:-89.35, Z:-5.04 [[-6.99703128e-01 -7.14133140e-01 2.07217799e-02 1.81008423e+02] [ 7.13816926e-01 -7.00009895e-01 -2.12495350e-02 -8.93530572e+01] [ 2.96804482e-02 -7.68088563e-05 9.99559436e-01 -5.04253168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.226559995 meters 0.01495052368823237 Centerline is valid? [True, True] Translation: X:180.97, Y:-89.31, Z:-5.04 [[-7.00928713e-01 -7.12909697e-01 2.14173734e-02 1.80965996e+02] [ 7.12571693e-01 -7.01255837e-01 -2.19506882e-02 -8.93133684e+01] [ 3.06679166e-02 -1.24453595e-04 9.99529621e-01 -5.04319818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.286559995 meters 0.015070806923700114 Centerline is valid? [True, True] Translation: X:180.92, Y:-89.28, Z:-5.04 [[-6.99360481e-01 -7.14411225e-01 2.26168053e-02 1.80921981e+02] [ 7.14035490e-01 -6.99726089e-01 -2.31672197e-02 -8.92751159e+01] [ 3.23764906e-02 -5.30362494e-05 9.99475743e-01 -5.04375106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.346559995 meters 0.015025253873692593 Centerline is valid? [True, True] Translation: X:180.88, Y:-89.24, Z:-5.04 [[-6.94048258e-01 -7.19624055e-01 2.09340415e-02 1.80877065e+02] [ 7.19304869e-01 -6.94363871e-01 -2.14317551e-02 -8.92375074e+01] [ 2.99586486e-02 1.83285659e-04 9.99551122e-01 -5.04129663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.406559995 meters 0.015089808974026819 Centerline is valid? [True, True] Translation: X:180.83, Y:-89.20, Z:-5.04 [[-6.90577628e-01 -7.23007044e-01 1.90618686e-02 1.80834461e+02] [ 7.22743981e-01 -6.90840590e-01 -1.95042871e-02 -8.91979309e+01] [ 2.72704495e-02 3.07626493e-04 9.99628045e-01 -5.03872346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4665599949999 meters 0.015000692072469684 Centerline is valid? [True, True] Translation: X:180.79, Y:-89.16, Z:-5.04 [[-6.88891215e-01 -7.24657498e-01 1.73322081e-02 1.80794886e+02] [ 7.24440785e-01 -6.89109129e-01 -1.77244956e-02 -8.91551319e+01] [ 2.47879715e-02 3.45909152e-04 9.99692671e-01 -5.03516772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.526559995 meters 0.014483799755425786 Centerline is valid? [True, True] Translation: X:180.76, Y:-89.11, Z:-5.03 [[-6.90097181e-01 -7.23541475e-01 1.59252738e-02 1.80758741e+02] [ 7.23358423e-01 -6.90280850e-01 -1.62769739e-02 -8.91087039e+01] [ 2.27699772e-02 2.86987139e-04 9.99740689e-01 -5.03240280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5865599949999 meters 0.013744453941385857 Centerline is valid? [True, True] Translation: X:180.73, Y:-89.06, Z:-5.03 [[-6.93848723e-01 -7.19989298e-01 1.37608017e-02 1.80725769e+02] [ 7.19852088e-01 -6.93985149e-01 -1.40564793e-02 -8.90598128e+01] [ 1.96703067e-02 1.52671623e-04 9.99806509e-01 -5.02919887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.646559995 meters 0.013444503285671707 Centerline is valid? [True, True] Translation: X:180.69, Y:-89.01, Z:-5.03 [[-6.96964190e-01 -7.17002027e-01 1.22070170e-02 1.80690229e+02] [ 7.16893709e-01 -6.97071079e-01 -1.24627629e-02 -8.90128069e+01] [ 1.74449848e-02 6.50342213e-05 9.99847823e-01 -5.02705581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7065599949999 meters 0.013117015007621871 Centerline is valid? [True, True] Translation: X:180.66, Y:-88.96, Z:-5.02 [[-7.00183643e-01 -7.13895146e-01 9.82789652e-03 1.80657049e+02] [ 7.13824708e-01 -7.00252612e-01 -1.00282286e-02 -8.89642845e+01] [ 1.40411139e-02 -6.20623756e-06 9.99901419e-01 -5.02403143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.766559995 meters 0.01301667030499197 Centerline is valid? [True, True] Translation: X:180.62, Y:-88.92, Z:-5.02 [[-7.01095448e-01 -7.13012639e-01 8.84022694e-03 1.80621235e+02] [ 7.12955649e-01 -7.01151179e-01 -9.01480067e-03 -8.89197268e+01] [ 1.26260024e-02 -1.75459774e-05 9.99920289e-01 -5.02296400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8265599949999 meters 0.012951064561174534 Centerline is valid? [True, True] Translation: X:180.59, Y:-88.87, Z:-5.02 [[-7.01302395e-01 -7.12816646e-01 8.20855737e-03 1.80586490e+02] [ 7.12767558e-01 -7.01350432e-01 -8.36540818e-03 -8.88730063e+01] [ 1.17200775e-02 -1.58874021e-05 9.99931317e-01 -5.02177289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.886559995 meters 0.012825852287249018 Centerline is valid? [True, True] Translation: X:180.55, Y:-88.83, Z:-5.02 [[-7.00917345e-01 -7.13200626e-01 7.72933626e-03 1.80549588e+02] [ 7.13157180e-01 -7.00959961e-01 -7.87209714e-03 -8.88290502e+01] [ 1.10323399e-02 -5.45777508e-06 9.99939142e-01 -5.02108177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9465599949999 meters 0.012704494461102288 Centerline is valid? [True, True] Translation: X:180.52, Y:-88.78, Z:-5.02 [[-6.99927879e-01 -7.14187364e-01 6.11341273e-03 1.80515465e+02] [ 7.14160257e-01 -6.99954577e-01 -6.22242027e-03 -8.87827419e+01] [ 8.72308515e-03 1.07109887e-05 9.99961953e-01 -5.01882344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.006559995 meters 0.012697572118908668 Centerline is valid? [True, True] Translation: X:180.48, Y:-88.74, Z:-5.02 [[-6.98980089e-01 -7.15114554e-01 6.16522640e-03 1.80478956e+02] [ 7.15087057e-01 -6.99007277e-01 -6.27119936e-03 -8.87384502e+01] [ 8.79416405e-03 2.52301186e-05 9.99961330e-01 -5.01841143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0665599949999 meters 0.012821083451862805 Centerline is valid? [True, True] Translation: X:180.44, Y:-88.69, Z:-5.02 [[-6.97671893e-01 -7.16395984e-01 5.54286220e-03 1.80443670e+02] [ 7.16373826e-01 -6.97693910e-01 -5.63462017e-03 -8.86924153e+01] [ 7.90384046e-03 3.96452842e-05 9.99968763e-01 -5.01723529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.126559995 meters 0.012898539683798806 Centerline is valid? [True, True] Translation: X:180.41, Y:-88.65, Z:-5.02 [[-6.96745958e-01 -7.17304456e-01 4.40307677e-03 1.80406260e+02] [ 7.17290510e-01 -6.96759869e-01 -4.47316035e-03 -8.86486319e+01] [ 6.27650505e-03 4.16287911e-05 9.99980302e-01 -5.01610388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1865599949999 meters 0.013061841599372556 Centerline is valid? [True, True] Translation: X:180.37, Y:-88.60, Z:-5.02 [[-6.96474962e-01 -7.17571306e-01 3.74811480e-03 1.80372262e+02] [ 7.17561217e-01 -6.96485046e-01 -3.80529127e-03 -8.86032254e+01] [ 5.34107373e-03 3.92117246e-05 9.99985736e-01 -5.01571965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.246559995 meters 0.012753646248302207 Centerline is valid? [True, True] Translation: X:180.34, Y:-88.56, Z:-5.02 [[-6.98190302e-01 -7.15903207e-01 3.59170918e-03 1.80337476e+02] [ 7.15893932e-01 -6.98199540e-01 -3.64427505e-03 -8.85576819e+01] [ 5.11667789e-03 2.68853095e-05 9.99986909e-01 -5.01519841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3065599949999 meters 0.012627492972784189 Centerline is valid? [True, True] Translation: X:180.30, Y:-88.51, Z:-5.01 [[-7.01962171e-01 -7.12206342e-01 3.35213969e-03 1.80304873e+02] [ 7.12198231e-01 -7.01970175e-01 -3.39904404e-03 -8.85102405e+01] [ 4.77392281e-03 1.38762110e-06 9.99988605e-01 -5.01479399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.366559995 meters 0.012683508395360685 Centerline is valid? [True, True] Translation: X:180.27, Y:-88.47, Z:-5.01 [[-7.04569278e-01 -7.09626849e-01 3.44505132e-03 1.80268977e+02] [ 7.09618261e-01 -7.04577700e-01 -3.49103426e-03 -8.84652894e+01] [ 4.90463798e-03 -1.50041553e-05 9.99987972e-01 -5.01426838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4265599949999 meters 0.013430635592928323 Centerline is valid? [True, True] Translation: X:180.23, Y:-88.42, Z:-5.02 [[-7.07946371e-01 -7.06250842e-01 4.65648179e-03 1.80234245e+02] [ 7.06235099e-01 -7.07961683e-01 -4.71584334e-03 -8.84189509e+01] [ 6.62717902e-03 -4.99933028e-05 9.99978039e-01 -5.01722854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.486559995 meters 0.013492044241750096 Centerline is valid? [True, True] Translation: X:180.19, Y:-88.38, Z:-5.02 [[-7.09567836e-01 -7.04613744e-01 5.74090103e-03 1.80194472e+02] [ 7.04589787e-01 -7.09591056e-01 -5.81087748e-03 -8.83762975e+01] [ 8.16811616e-03 -7.82315292e-05 9.99966637e-01 -5.01891728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5465599949999 meters 0.013868307957297153 Centerline is valid? [True, True] Translation: X:180.16, Y:-88.33, Z:-5.02 [[-7.11046193e-01 -7.03107548e-01 7.28608352e-03 1.80157788e+02] [ 7.03068922e-01 -7.11083513e-01 -7.37080571e-03 -8.83308175e+01] [ 1.03634830e-02 -1.18364460e-04 9.99946291e-01 -5.01974709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.606559995 meters 0.014258801676234884 Centerline is valid? [True, True] Translation: X:180.12, Y:-88.29, Z:-5.02 [[-7.12341820e-01 -7.01791037e-01 7.64677023e-03 1.80121517e+02] [ 7.01748462e-01 -7.12382847e-01 -7.73141623e-03 -8.82855018e+01] [ 1.08732666e-02 -1.41301860e-04 9.99940874e-01 -5.01892395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.666559995 meters 0.014110369169990752 Centerline is valid? [True, True] Translation: X:180.08, Y:-88.24, Z:-5.02 [[-7.12499166e-01 -7.01619864e-01 8.63163539e-03 1.80082229e+02] [ 7.01565664e-01 -7.12551431e-01 -8.72225151e-03 -8.82428365e+01] [ 1.22701891e-02 -1.58937914e-04 9.99924706e-01 -5.01907028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.726559995 meters 0.014570659159877404 Centerline is valid? [True, True] Translation: X:180.04, Y:-88.20, Z:-5.02 [[-7.11885539e-01 -7.02231820e-01 9.45783624e-03 1.80044417e+02] [ 7.02166886e-01 -7.11948345e-01 -9.55081736e-03 -8.82003879e+01] [ 1.34403787e-02 -1.58109346e-04 9.99909662e-01 -5.02142592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.786559995 meters 0.013609174820351413 Centerline is valid? [True, True] Translation: X:180.00, Y:-88.16, Z:-5.02 [[-7.09972005e-01 -7.04173032e-01 8.94954757e-03 1.80001964e+02] [ 7.04115107e-01 -7.10028400e-01 -9.03252690e-03 -8.81608818e+01] [ 1.27148948e-02 -1.11329582e-04 9.99919156e-01 -5.02035426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.846559995 meters 0.013410521366659368 Centerline is valid? [True, True] Translation: X:179.96, Y:-88.12, Z:-5.02 [[-7.08739595e-01 -7.05422518e-01 8.20106152e-03 1.79962638e+02] [ 7.05374023e-01 -7.08787038e-01 -8.27173829e-03 -8.81200748e+01] [ 1.16478766e-02 -7.76926900e-05 9.99932158e-01 -5.01961404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.906559995 meters 0.013383222186241026 Centerline is valid? [True, True] Translation: X:179.92, Y:-88.08, Z:-5.02 [[-7.09634511e-01 -7.04526147e-01 7.85933567e-03 1.79922645e+02] [ 7.04481610e-01 -7.09678026e-01 -7.92213361e-03 -8.80787878e+01] [ 1.11589481e-02 -8.50619610e-05 9.99937733e-01 -5.01801580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9665599949999 meters 0.013988564439316483 Centerline is valid? [True, True] Translation: X:179.88, Y:-88.04, Z:-5.02 [[-7.12207038e-01 -7.01927916e-01 7.63787631e-03 1.79883233e+02] [ 7.01885749e-01 -7.12247982e-01 -7.69469245e-03 -8.80355557e+01] [ 1.08411814e-02 -1.19297581e-04 9.99941226e-01 -5.01703158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.026559995 meters 0.014172207986948373 Centerline is valid? [True, True] Translation: X:179.84, Y:-87.99, Z:-5.02 [[-7.14633958e-01 -6.99456957e-01 7.63356806e-03 1.79841570e+02] [ 6.99414744e-01 -7.14674710e-01 -7.68599387e-03 -8.79944662e+01] [ 1.08315399e-02 -1.53642169e-04 9.99941325e-01 -5.01708943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0865599949999 meters 0.01499948412043612 Centerline is valid? [True, True] Translation: X:179.80, Y:-87.95, Z:-5.02 [[-7.17197788e-01 -6.96822955e-01 8.06858882e-03 1.79801359e+02] [ 6.96775678e-01 -7.17243145e-01 -8.11945789e-03 -8.79523849e+01] [ 1.14449647e-02 -2.01260795e-04 9.99934484e-01 -5.01786992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.146559995 meters 0.015819636159631525 Centerline is valid? [True, True] Translation: X:179.76, Y:-87.91, Z:-5.02 [[-7.18478501e-01 -6.95504415e-01 7.89005198e-03 1.79761106e+02] [ 6.95459179e-01 -7.18521790e-01 -7.93515576e-03 -8.79124732e+01] [ 1.11881101e-02 -2.14029741e-04 9.99937388e-01 -5.01868294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2065599949999 meters 0.016120513369390015 Centerline is valid? [True, True] Translation: X:179.72, Y:-87.87, Z:-5.02 [[-7.18901686e-01 -6.95065934e-01 7.98206629e-03 1.79719911e+02] [ 6.95019665e-01 -7.18945964e-01 -8.02281468e-03 -8.78724792e+01] [ 1.13150595e-02 -2.19921961e-04 9.99935959e-01 -5.01850788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.266559995 meters 0.015513151549577824 Centerline is valid? [True, True] Translation: X:179.68, Y:-87.83, Z:-5.02 [[-7.18195653e-01 -6.95788387e-01 8.57464804e-03 1.79677880e+02] [ 6.95735109e-01 -7.18246804e-01 -8.61309927e-03 -8.78330290e+01] [ 1.21516080e-02 -2.20206763e-04 9.99926142e-01 -5.01762258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3265599949999 meters 0.014561951867910277 Centerline is valid? [True, True] Translation: X:179.63, Y:-87.79, Z:-5.02 [[-7.16468328e-01 -6.97566045e-01 8.64567630e-03 1.79634313e+02] [ 6.97512070e-01 -7.16520466e-01 -8.67955063e-03 -8.77943608e+01] [ 1.22493638e-02 -1.88159560e-04 9.99924956e-01 -5.01749493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.386559995 meters 0.013442423630068123 Centerline is valid? [True, True] Translation: X:179.59, Y:-87.76, Z:-5.02 [[-7.12548358e-01 -7.01573558e-01 8.32947582e-03 1.79588859e+02] [ 7.01523787e-01 -7.12597032e-01 -8.35739385e-03 -8.77570806e+01] [ 1.17988863e-02 -1.11721841e-04 9.99930385e-01 -5.01755378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4465599949999 meters 0.01308137446560739 Centerline is valid? [True, True] Translation: X:179.55, Y:-87.72, Z:-5.02 [[-7.09295113e-01 -7.04870229e-01 7.64220863e-03 1.79545758e+02] [ 7.04828570e-01 -7.09336280e-01 -7.66345392e-03 -8.77178771e+01] [ 1.08226364e-02 -4.92034264e-05 9.99941432e-01 -5.01671173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.506559995 meters 0.013056356214318677 Centerline is valid? [True, True] Translation: X:179.50, Y:-87.68, Z:-5.02 [[-7.04478262e-01 -7.09688074e-01 7.29489392e-03 1.79501253e+02] [ 7.09650416e-01 -7.04516030e-01 -7.31101492e-03 -8.76797494e+01] [ 1.03279098e-02 2.63734146e-05 9.99946665e-01 -5.01623357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5665599949999 meters 0.013365363115945753 Centerline is valid? [True, True] Translation: X:179.46, Y:-87.64, Z:-5.02 [[-7.01307770e-01 -7.12817977e-01 7.61205218e-03 1.79458094e+02] [ 7.12777203e-01 -7.01349075e-01 -7.62453847e-03 -8.76404155e+01] [ 1.07736138e-02 7.85491862e-05 9.99941960e-01 -5.01635505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.626559995 meters 0.01442851551732674 Centerline is valid? [True, True] Translation: X:179.41, Y:-87.60, Z:-5.02 [[-6.97153031e-01 -7.16876543e-01 8.10393083e-03 1.79414246e+02] [ 7.16830654e-01 -6.97200114e-01 -8.11266517e-03 -8.76016672e+01] [ 1.14658409e-02 1.53376923e-04 9.99934253e-01 -5.01646866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6865599949999 meters 0.01540389226075904 Centerline is valid? [True, True] Translation: X:179.37, Y:-87.56, Z:-5.02 [[-6.94582318e-01 -7.19376695e-01 7.25076949e-03 1.79371782e+02] [ 7.19340137e-01 -6.94620140e-01 -7.25456803e-03 -8.75621207e+01] [ 1.02552977e-02 1.76874835e-04 9.99947397e-01 -5.01513367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.746559995 meters 0.015887368604382734 Centerline is valid? [True, True] Translation: X:179.33, Y:-87.52, Z:-5.01 [[-6.93538425e-01 -7.20391433e-01 6.37468300e-03 1.79330646e+02] [ 7.20363250e-01 -6.93567699e-01 -6.37451232e-03 -8.75209620e+01] [ 9.01341829e-03 1.71118137e-04 9.99959364e-01 -5.01342998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8065599949999 meters 0.016086762971986468 Centerline is valid? [True, True] Translation: X:178.85, Y:-88.00, Z:-4.03 [[-7.69010999e-01 6.39180794e-01 8.36636034e-03 1.78851102e+02] [ 6.39139651e-01 7.69056473e-01 -7.25588210e-03 -8.79960958e+01] [-1.10720241e-02 -2.32580517e-04 -9.99938676e-01 -4.02698823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.866559995 meters 0.015897109371438376 Centerline is valid? [True, True] Translation: X:179.30, Y:-87.49, Z:-5.02 [[-6.94863472e-01 -7.19085722e-01 8.97108535e-03 1.79295893e+02] [ 7.19032205e-01 -6.94921292e-01 -8.77982685e-03 -8.74877573e+01] [ 1.25476464e-02 3.49718316e-04 9.99921214e-01 -5.01539678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9265599949999 meters 0.014832467333696019 Centerline is valid? [True, True] Translation: X:178.81, Y:-87.97, Z:-4.03 [[-7.66990286e-01 6.41587737e-01 9.54341011e-03 1.78807425e+02] [ 6.41535107e-01 7.67049635e-01 -8.21974340e-03 -8.79724787e+01] [-1.25939558e-02 -1.82030715e-04 -9.99920676e-01 -4.02657620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.986559995 meters 0.014020866248020803 Centerline is valid? [True, True] Translation: X:178.83, Y:-87.97, Z:-4.03 [[-8.07090965e-01 5.90332581e-01 1.05649324e-02 1.78834349e+02] [ 5.90280128e-01 8.07160102e-01 -7.87016382e-03 -8.79674709e+01] [-1.31736060e-02 -1.15668480e-04 -9.99913218e-01 -4.02658230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0465599949999 meters 0.013759464560651802 Centerline is valid? [True, True] Translation: X:178.85, Y:-87.95, Z:-4.03 [[-8.41986428e-01 5.39385078e-01 1.10721572e-02 1.78847789e+02] [ 5.39338508e-01 8.42059224e-01 -7.08779380e-03 -8.79535269e+01] [-1.31464623e-02 3.81453725e-06 -9.99913582e-01 -4.02688341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.106559995 meters 0.013929767973274625 Centerline is valid? [True, True] Translation: X:178.87, Y:-87.93, Z:-4.03 [[-8.74218744e-01 4.85420702e-01 1.04081587e-02 1.78869677e+02] [ 4.85387314e-01 8.74280697e-01 -5.69377508e-03 -8.79341687e+01] [-1.18635285e-02 7.43832949e-05 -9.99929623e-01 -4.02764546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.166559995 meters 0.014429372919825668 Centerline is valid? [True, True] Translation: X:178.89, Y:-87.91, Z:-4.03 [[-9.04481863e-01 4.26312940e-01 1.30321573e-02 1.78890355e+02] [ 4.26270779e-01 9.04575735e-01 -5.99690496e-03 -8.79149607e+01] [-1.43451315e-02 1.31136086e-04 -9.99897095e-01 -4.02759626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.226559995 meters 0.015017490743424481 Centerline is valid? [True, True] Translation: X:178.90, Y:-87.89, Z:-4.03 [[-9.30849072e-01 3.65077613e-01 1.54383197e-02 1.78903672e+02] [ 3.65031312e-01 9.30977061e-01 -5.81833837e-03 -8.78934340e+01] [-1.64968666e-02 2.19475234e-04 -9.99863893e-01 -4.02887358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.286559995 meters 0.015360649604760596 Centerline is valid? [True, True] Translation: X:178.92, Y:-87.87, Z:-4.03 [[-9.53662287e-01 3.00492343e-01 1.52510441e-02 1.78915225e+02] [ 3.00458110e-01 9.53784194e-01 -4.54257035e-03 -8.78663255e+01] [-1.59112125e-02 2.50221873e-04 -9.99873377e-01 -4.02904061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.346559995 meters 0.016121473886905522 Centerline is valid? [True, True] Translation: X:178.93, Y:-87.84, Z:-4.03 [[-9.71287011e-01 2.37371032e-01 1.60167476e-02 1.78926575e+02] [ 2.37344634e-01 9.71419000e-01 -3.55693941e-03 -8.78393556e+01] [-1.64032873e-02 3.46680048e-04 -9.99865397e-01 -4.02937433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.406559995 meters 0.01822360148959131 Centerline is valid? [True, True] Translation: X:179.09, Y:-87.13, Z:-5.01 [[-9.66068809e-01 -2.57804140e-01 1.57505967e-02 1.79088076e+02] [ 2.57764011e-01 -9.66197136e-01 -4.56174615e-03 -8.71329715e+01] [ 1.63942185e-02 -3.47023672e-04 9.99865546e-01 -5.01261681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4665599949999 meters 0.018512718343120998 Centerline is valid? [True, True] Translation: X:178.88, Y:-87.83, Z:-4.03 [[-9.70177097e-01 2.41829561e-01 1.65790240e-02 1.78881404e+02] [ 2.41803078e-01 9.70318613e-01 -3.61399983e-03 -8.78286865e+01] [-1.69609076e-02 5.02639168e-04 -9.99856027e-01 -4.02855381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.526559995 meters 0.01874390912012086 Centerline is valid? [True, True] Translation: X:178.89, Y:-87.80, Z:-4.03 [[-9.84637563e-01 1.73880219e-01 1.59542491e-02 1.78888236e+02] [ 1.73865636e-01 9.84766682e-01 -2.30724214e-03 -8.77982043e+01] [-1.61123967e-02 5.02098390e-04 -9.99870061e-01 -4.02790663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5865599949999 meters 0.019811869287216476 Centerline is valid? [True, True] Translation: X:178.89, Y:-87.77, Z:-4.03 [[-9.94255909e-01 1.05974490e-01 1.49864605e-02 1.78889269e+02] [ 1.05970096e-01 9.94368721e-01 -1.08920397e-03 -8.77674771e+01] [-1.50174954e-02 5.05169171e-04 -9.99887103e-01 -4.02720371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.646559995 meters 0.020248003695880316 Centerline is valid? [True, True] Translation: X:178.95, Y:-87.07, Z:-5.01 [[-9.94379612e-01 -1.04781026e-01 1.51698243e-02 1.78945241e+02] [ 1.04761205e-01 -9.94495194e-01 -2.09758771e-03 -8.70652210e+01] [ 1.53061047e-02 -4.96589377e-04 9.99882731e-01 -5.01443987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7065599949999 meters 0.021893767146077735 Centerline is valid? [True, True] Translation: X:178.83, Y:-87.76, Z:-4.03 [[-9.94258901e-01 1.06024221e-01 1.44257838e-02 1.78830167e+02] [ 1.06021055e-01 9.94363396e-01 -9.86190422e-04 -8.77603786e+01] [-1.44490314e-02 5.48908209e-04 -9.99895457e-01 -4.02650321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.766559995 meters 0.020402886773863326 Centerline is valid? [True, True] Translation: X:178.88, Y:-87.07, Z:-5.01 [[-9.95294613e-01 -9.62781790e-02 1.09154009e-02 1.78882822e+02] [ 9.62653615e-02 -9.95354262e-01 -1.69486169e-03 -8.70698305e+01] [ 1.10278690e-02 -6.36111694e-04 9.99938989e-01 -5.01235410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8265599949999 meters 0.01987927812693022 Centerline is valid? [True, True] Translation: X:178.78, Y:-87.74, Z:-4.03 [[-9.94613037e-01 1.03385355e-01 7.50837191e-03 1.78776332e+02] [ 1.03384671e-01 9.94641332e-01 -4.80232325e-04 -8.77435665e+01] [-7.51778603e-03 2.98605229e-04 -9.99971696e-01 -4.03012587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.886559995 meters 0.01958334050523919 Centerline is valid? [True, True] Translation: X:178.82, Y:-87.08, Z:-5.01 [[-9.95526322e-01 -9.40577477e-02 8.97118035e-03 1.78819747e+02] [ 9.40516001e-02 -9.95566710e-01 -1.10564184e-03 -8.70781030e+01] [ 9.03540268e-03 -2.56941686e-04 9.99959147e-01 -5.01247033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9465599949999 meters 0.017393297414374734 Centerline is valid? [True, True] Translation: X:178.72, Y:-87.73, Z:-4.03 [[-9.95870245e-01 9.00468567e-02 1.15766770e-02 1.78715868e+02] [ 9.00448703e-02 9.95937468e-01 -6.93767037e-04 -8.77258209e+01] [-1.15921179e-02 3.51518427e-04 -9.99932747e-01 -4.02690869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.006559995 meters 0.015015274625338611 Centerline is valid? [True, True] Translation: X:178.75, Y:-87.10, Z:-5.02 [[-9.94092899e-01 -1.07875625e-01 1.19230108e-02 1.78746507e+02] [ 1.07863858e-01 -9.94164342e-01 -1.62749833e-03 -8.70971668e+01] [ 1.20289996e-02 -3.31822598e-04 9.99927594e-01 -5.01553227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0665599949999 meters 0.012720225570418362 Centerline is valid? [True, True] Translation: X:178.65, Y:-87.69, Z:-4.03 [[-9.97943768e-01 6.31571520e-02 1.09274896e-02 1.78650286e+02] [ 6.31542344e-02 9.98003591e-01 -6.12201533e-04 -8.76946368e+01] [-1.09443387e-02 7.91745323e-05 -9.99940106e-01 -4.02570921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.126559995 meters 0.012255182413682404 Centerline is valid? [True, True] Translation: X:178.64, Y:-87.66, Z:-4.03 [[-9.99841503e-01 -1.43662204e-02 1.05156920e-02 1.78639944e+02] [-1.43653405e-02 9.99896801e-01 1.59202634e-04 -8.76605508e+01] [-1.05168939e-02 8.11590407e-06 -9.99944696e-01 -4.02516889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1865599949999 meters 0.01243325085582419 Centerline is valid? [True, True] Translation: X:178.62, Y:-87.63, Z:-4.03 [[-9.95556479e-01 -9.37319966e-02 9.03382401e-03 1.78623724e+02] [-9.37287636e-02 9.95597463e-01 7.81523800e-04 -8.76267954e+01] [-9.06730605e-03 -6.86780725e-05 -9.99958889e-01 -4.02699386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.246559995 meters 0.013614906063141214 Centerline is valid? [True, True] Translation: X:178.57, Y:-87.08, Z:-5.01 [[-9.99971799e-01 2.93745449e-03 6.91184265e-03 1.78569030e+02] [-2.93812025e-03 -9.99995680e-01 -8.61703012e-05 -8.70765177e+01] [ 6.91155967e-03 -1.06475696e-04 9.99976109e-01 -5.01255247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3065599949999 meters 0.01447083381574485 Centerline is valid? [True, True] Translation: X:178.56, Y:-87.62, Z:-4.03 [[-9.93931738e-01 -1.09850218e-01 5.71231194e-03 1.78557641e+02] [-1.09849042e-01 9.93948146e-01 5.20150761e-04 -8.76226077e+01] [-5.73488054e-03 -1.10497642e-04 -9.99983549e-01 -4.02920020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.366559995 meters 0.015800499963881227 Centerline is valid? [True, True] Translation: X:178.54, Y:-87.60, Z:-4.03 [[-9.83136390e-01 -1.82787830e-01 5.60782515e-03 1.78543675e+02] [-1.82785574e-01 9.83152376e-01 9.16535593e-04 -8.75967852e+01] [-5.68087817e-03 -1.23950043e-04 -9.99983856e-01 -4.02938591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4265599949999 meters 0.015430108952417993 Centerline is valid? [True, True] Translation: X:178.53, Y:-87.57, Z:-4.03 [[-9.67731781e-01 -2.51893209e-01 6.70903734e-03 1.78529531e+02] [-2.51888212e-01 9.67755026e-01 1.59358805e-03 -8.75737764e+01] [-6.89411861e-03 -1.47761620e-04 -9.99976224e-01 -4.02831183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.486559995 meters 0.01429017801437073 Centerline is valid? [True, True] Translation: X:178.51, Y:-87.56, Z:-4.03 [[-9.48063505e-01 -3.17945634e-01 9.28250118e-03 1.78509938e+02] [-3.17932300e-01 9.48108928e-01 2.91763676e-03 -8.75552025e+01] [-9.72847211e-03 -1.85102022e-04 -9.99952660e-01 -4.02589677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5465599949999 meters 0.013664051736442685 Centerline is valid? [True, True] Translation: X:178.33, Y:-87.03, Z:-5.02 [[-9.75913267e-01 2.17956413e-01 9.39666833e-03 1.78332752e+02] [-2.17944530e-01 -9.75958488e-01 2.28300243e-03 -8.70314313e+01] [ 9.66835324e-03 1.80059895e-04 9.99953244e-01 -5.01533110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.606559995 meters 0.012684202227244173 Centerline is valid? [True, True] Translation: X:178.41, Y:-87.60, Z:-4.03 [[-9.48619586e-01 -3.16337153e-01 7.18934807e-03 1.78412494e+02] [-3.16328743e-01 9.48646825e-01 2.30821397e-03 -8.75993639e+01] [-7.55032606e-03 -8.45804635e-05 -9.99971492e-01 -4.02828862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.666559995 meters 0.0118963864650635 Centerline is valid? [True, True] Translation: X:178.39, Y:-87.59, Z:-4.03 [[-9.26051961e-01 -3.77359681e-01 5.23796952e-03 1.78385399e+02] [-3.77353790e-01 9.26066774e-01 2.10874103e-03 -8.75891166e+01] [-5.64646338e-03 -2.37638766e-05 -9.99984058e-01 -4.02991213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.726559995 meters 0.011791906032815321 Centerline is valid? [True, True] Translation: X:178.34, Y:-87.59, Z:-4.03 [[-8.98403767e-01 -4.39140577e-01 5.12105225e-03 1.78338365e+02] [-4.39133408e-01 8.98418362e-01 2.50933429e-03 -8.75880624e+01] [-5.70279788e-03 5.57025082e-06 -9.99983739e-01 -4.03034210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.786559995 meters 0.01241617109888203 Centerline is valid? [True, True] Translation: X:178.28, Y:-87.60, Z:-4.03 [[-8.67324532e-01 -4.97725254e-01 4.21029017e-03 1.78281212e+02] [-4.97719161e-01 8.67334751e-01 2.46324001e-03 -8.75990043e+01] [-4.87774773e-03 4.08863980e-05 -9.99988103e-01 -4.03165631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.846559995 meters 0.013202312349115716 Centerline is valid? [True, True] Translation: X:178.21, Y:-87.61, Z:-4.03 [[-8.30937275e-01 -5.56351190e-01 4.07410204e-03 1.78214601e+02] [-5.56344104e-01 8.30947260e-01 2.80866264e-03 -8.76140757e+01] [-4.94796673e-03 6.72198317e-05 -9.99987757e-01 -4.03102042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.906559995 meters 0.015280534220957681 Centerline is valid? [True, True] Translation: X:178.14, Y:-87.64, Z:-4.03 [[-7.91270330e-01 -6.11447065e-01 4.87361029e-03 1.78143715e+02] [-6.11434474e-01 7.91285328e-01 3.92602318e-03 -8.76440222e+01] [-6.25697166e-03 1.26652315e-04 -9.99980417e-01 -4.02915846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9665599949999 meters 0.01595557873602939 Centerline is valid? [True, True] Translation: X:178.06, Y:-87.68, Z:-4.03 [[-7.47160194e-01 -6.64622981e-01 5.28562512e-03 1.78064357e+02] [-6.64604536e-01 7.47178865e-01 4.95523032e-03 -8.76842539e+01] [-7.24266733e-03 1.89500421e-04 -9.99973754e-01 -4.02903498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.026559995 meters 0.017814631666680972 Centerline is valid? [True, True] Translation: X:177.99, Y:-87.73, Z:-4.03 [[-6.96933775e-01 -7.17120980e-01 4.56205113e-03 1.77985377e+02] [-7.17103748e-01 6.96948679e-01 4.97533605e-03 -8.77316003e+01] [-6.74743338e-03 1.96015773e-04 -9.99977217e-01 -4.02893579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0865599949999 meters 0.017377143844909397 Centerline is valid? [True, True] Translation: X:177.90, Y:-87.79, Z:-4.03 [[-6.40777298e-01 -7.67719550e-01 3.33878337e-03 1.77900700e+02] [-7.67707826e-01 6.40785977e-01 4.24566277e-03 -8.77892658e+01] [-5.39892388e-03 1.57314198e-04 -9.99985413e-01 -4.02983536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.146559995 meters 0.01553742191768137 Centerline is valid? [True, True] Translation: X:177.82, Y:-87.85, Z:-4.03 [[-5.76473754e-01 -8.17108203e-01 3.49215773e-03 1.77816366e+02] [-8.17091614e-01 5.76484312e-01 5.20877069e-03 -8.78549412e+01] [-6.26930341e-03 1.49306798e-04 -9.99980337e-01 -4.02912325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2065599949999 meters 0.01426610774339043 Centerline is valid? [True, True] Translation: X:177.73, Y:-87.93, Z:-4.03 [[-5.07863961e-01 -8.61432479e-01 2.87777641e-03 1.77734918e+02] [-8.61417454e-01 5.07872103e-01 5.08891360e-03 -8.79295287e+01] [-5.84529782e-03 1.05508990e-04 -9.99982911e-01 -4.02944935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.266559995 meters 0.012334086157572706 Centerline is valid? [True, True] Translation: X:177.65, Y:-88.01, Z:-4.03 [[-4.30612731e-01 -9.02533153e-01 2.56575356e-03 1.77652925e+02] [-9.02516588e-01 4.30620373e-01 5.46841315e-03 -8.80111884e+01] [-6.04028992e-03 3.91331687e-05 -9.99981757e-01 -4.02873538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3265599949999 meters 0.012049134962686853 Centerline is valid? [True, True] Translation: X:177.58, Y:-88.10, Z:-4.03 [[-3.52391660e-01 -9.35848525e-01 2.76701731e-03 1.77579304e+02] [-9.35820111e-01 3.52402522e-01 7.29262082e-03 -8.81007906e+01] [-7.79989231e-03 -1.95716884e-05 -9.99969580e-01 -4.02657749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.386559995 meters 0.013107464894008136 Centerline is valid? [True, True] Translation: X:177.51, Y:-88.20, Z:-4.02 [[-2.69601851e-01 -9.62968613e-01 2.50828871e-03 1.77511255e+02] [-9.62930973e-01 2.69613493e-01 8.51503550e-03 -8.81969831e+01] [-8.87598041e-03 -1.19639560e-04 -9.99960601e-01 -4.02440857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4465599949999 meters 0.014684650441903237 Centerline is valid? [True, True] Translation: X:177.45, Y:-88.30, Z:-4.02 [[-1.89682805e-01 -9.81843075e-01 2.14685708e-03 1.77454986e+02] [-9.81791539e-01 1.89694849e-01 1.00617240e-02 -8.83012301e+01] [-1.02862817e-02 -1.99230092e-04 -9.99947075e-01 -4.02260938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.506559995 meters 0.015009677075562989 Centerline is valid? [True, True] Translation: X:177.41, Y:-88.40, Z:-4.02 [[-1.11659178e-01 -9.93745695e-01 1.31214239e-03 1.77411302e+02] [-9.93697880e-01 1.11666680e-01 9.75066211e-03 -8.84047847e+01] [-9.83620108e-03 -2.15122202e-04 -9.99951600e-01 -4.02309424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5665599949999 meters 0.01613605031725032 Centerline is valid? [True, True] Translation: X:177.37, Y:-88.52, Z:-4.02 [[-3.23755926e-02 -9.99475645e-01 5.06391855e-04 1.77373549e+02] [-9.99436697e-01 3.23788029e-02 8.82624598e-03 -8.85181322e+01] [-8.83801426e-03 -2.20351658e-04 -9.99960920e-01 -4.02409736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.626559995 meters 0.017066288517403803 Centerline is valid? [True, True] Translation: X:177.34, Y:-88.63, Z:-4.02 [[ 4.76572024e-02 -9.98863741e-01 -1.32234614e-04 1.77344189e+02] [-9.98840268e-01 -4.76569894e-02 6.85055571e-03 -8.86332861e+01] [-6.84907361e-03 -1.94397063e-04 -9.99976526e-01 -4.02417831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6865599949999 meters 0.017208188127508194 Centerline is valid? [True, True] Translation: X:177.33, Y:-88.75, Z:-4.02 [[ 1.24040784e-01 -9.92276841e-01 -7.44845943e-04 1.77327475e+02] [-9.92246681e-01 -1.24042823e-01 7.73967241e-03 -8.87487691e+01] [-7.77229048e-03 -2.20964117e-04 -9.99969771e-01 -4.02362811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.746559995 meters 0.01716308911445182 Centerline is valid? [True, True] Translation: X:177.32, Y:-88.86, Z:-4.02 [[ 1.99369065e-01 -9.79922981e-01 -1.71076925e-03 1.77321148e+02] [-9.79873889e-01 -1.99376208e-01 9.81276079e-03 -8.88622425e+01] [-9.95683649e-03 -2.80022821e-04 -9.99950390e-01 -4.02268535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8065599949999 meters 0.0168042118962749 Centerline is valid? [True, True] Translation: X:177.32, Y:-88.98, Z:-4.02 [[ 2.72993952e-01 -9.62010885e-01 -3.05935533e-03 1.77322127e+02] [-9.61935889e-01 -2.73010886e-01 1.20166916e-02 -8.89757775e+01] [-1.23954254e-02 -3.37580434e-04 -9.99923117e-01 -4.02006131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.866559995 meters 0.016365573709221155 Centerline is valid? [True, True] Translation: X:177.33, Y:-89.09, Z:-4.02 [[ 3.45121707e-01 -9.38545742e-01 -4.78517562e-03 1.77334376e+02] [-9.38439091e-01 -3.45154654e-01 1.41540674e-02 -8.90946215e+01] [-1.49358653e-02 -3.94280046e-04 -9.99888376e-01 -4.01796649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9265599949999 meters 0.016402534686301276 Centerline is valid? [True, True] Translation: X:177.36, Y:-89.20, Z:-4.02 [[ 4.13494448e-01 -9.10488962e-01 -5.67382449e-03 1.77357137e+02] [-9.10391683e-01 -4.13533234e-01 1.33134931e-02 -8.92022958e+01] [-1.44681035e-02 -3.39652858e-04 -9.99895274e-01 -4.01859981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.986559995 meters 0.013933630761968827 Centerline is valid? [True, True] Translation: X:177.39, Y:-89.30, Z:-4.02 [[ 4.74773643e-01 -8.80095644e-01 -4.65236744e-03 1.77393066e+02] [-8.80050237e-01 -4.74796414e-01 8.94121405e-03 -8.93044948e+01] [-1.00780509e-02 -1.50735700e-04 -9.99949204e-01 -4.02284820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0465599949999 meters 0.013421709355717452 Centerline is valid? [True, True] Translation: X:177.43, Y:-89.42, Z:-4.03 [[ 5.37522861e-01 -8.43244675e-01 -2.75529063e-03 1.77433944e+02] [-8.43233058e-01 -5.37529919e-01 4.42660531e-03 -8.94205133e+01] [-5.21376251e-03 -5.60494014e-05 -9.99986407e-01 -4.02666468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.106559995 meters 0.013646282027349316 Centerline is valid? [True, True] Translation: X:177.47, Y:-89.53, Z:-4.03 [[ 6.00691399e-01 -7.99478439e-01 -2.01715329e-03 1.77472279e+02] [-7.99473726e-01 -6.00694785e-01 2.74527281e-03 -8.95250336e+01] [-3.40647989e-03 -3.64007051e-05 -9.99994197e-01 -4.02815609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.166559995 meters 0.013347094559896154 Centerline is valid? [True, True] Translation: X:177.51, Y:-89.62, Z:-4.03 [[ 6.59666727e-01 -7.51548240e-01 -3.87977761e-03 1.77513504e+02] [-7.51534687e-01 -6.59678133e-01 4.51391247e-03 -8.96203686e+01] [-5.95182743e-03 -6.18904125e-05 -9.99982286e-01 -4.02613448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.226559995 meters 0.013358730230569915 Centerline is valid? [True, True] Translation: X:177.56, Y:-89.72, Z:-4.02 [[ 7.14131497e-01 -6.99990888e-01 -5.38164132e-03 1.77563710e+02] [-6.99970277e-01 -7.14151771e-01 5.37209135e-03 -8.97164273e+01] [-7.60372368e-03 -6.93906716e-05 -9.99971089e-01 -4.02321457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.286559995 meters 0.012861988904971745 Centerline is valid? [True, True] Translation: X:177.58, Y:-89.74, Z:-4.02 [[ 7.64226503e-01 -6.44930292e-01 -4.77184108e-03 1.77583455e+02] [-6.44917448e-01 -7.64241400e-01 4.07034229e-03 -8.97433049e+01] [-6.27192554e-03 -3.32198802e-05 -9.99980331e-01 -4.02474065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.346559995 meters 0.012775637958024751 Centerline is valid? [True, True] Translation: X:177.60, Y:-89.77, Z:-4.02 [[ 8.10585649e-01 -5.85597089e-01 -5.19185632e-03 1.77602578e+02] [-5.85584957e-01 -8.10602276e-01 3.76946418e-03 -8.97709575e+01] [-6.41591780e-03 -1.52006097e-05 -9.99979418e-01 -4.02469996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.406559995 meters 0.012832857969928836 Centerline is valid? [True, True] Translation: X:177.62, Y:-89.80, Z:-4.02 [[ 8.51294852e-01 -5.24621111e-01 -8.35254384e-03 1.77624079e+02] [-5.24596132e-01 -8.51335826e-01 5.11947183e-03 -8.97965379e+01] [-9.79660281e-03 2.35321750e-05 -9.99952012e-01 -4.02224358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4665599949999 meters 0.013295784339104772 Centerline is valid? [True, True] Translation: X:177.65, Y:-89.82, Z:-4.02 [[ 8.87330968e-01 -4.61068638e-01 -7.71136178e-03 1.77649432e+02] [-4.61051869e-01 -8.87364473e-01 3.93279829e-03 -8.98181378e+01] [-8.65607843e-03 6.56440545e-05 -9.99962533e-01 -4.02314719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.526559995 meters 0.013284085261637473 Centerline is valid? [True, True] Translation: X:177.68, Y:-89.84, Z:-4.02 [[ 9.20499952e-01 -3.90658597e-01 -8.10552511e-03 1.77675249e+02] [-3.90644118e-01 -9.20535635e-01 3.36406553e-03 -8.98403928e+01] [-8.77562582e-03 6.97535464e-05 -9.99961491e-01 -4.02330780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5865599949999 meters 0.012948359106934496 Centerline is valid? [True, True] Translation: X:177.70, Y:-89.86, Z:-4.02 [[ 9.49681066e-01 -3.13100889e-01 -8.58521643e-03 1.77701613e+02] [-3.13088378e-01 -9.49719871e-01 2.79909327e-03 -8.98637189e+01] [-9.02994923e-03 2.96856074e-05 -9.99959229e-01 -4.02330971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.646559995 meters 0.012836110446052802 Centerline is valid? [True, True] Translation: X:177.73, Y:-89.89, Z:-4.02 [[ 9.72472805e-01 -2.32883964e-01 -7.85510338e-03 1.77729463e+02] [-2.32876241e-01 -9.72504529e-01 1.89659225e-03 -8.98867593e+01] [-8.08080954e-03 -1.51174365e-05 -9.99967350e-01 -4.02384371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7065599949999 meters 0.01342412480849387 Centerline is valid? [True, True] Translation: X:177.76, Y:-89.91, Z:-4.02 [[ 9.88857902e-01 -1.48601969e-01 -8.80371092e-03 1.77759758e+02] [-1.48595314e-01 -9.88897086e-01 1.40896153e-03 -8.99073051e+01] [-8.91533853e-03 -8.50725502e-05 -9.99960254e-01 -4.02355289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.766559995 meters 0.014878556886409591 Centerline is valid? [True, True] Translation: X:177.79, Y:-89.92, Z:-4.02 [[ 9.97952596e-01 -6.34945542e-02 -7.68489242e-03 1.77788485e+02] [-6.34916733e-02 -9.97982177e-01 6.18507270e-04 -8.99239959e+01] [-7.70865750e-03 -1.29314257e-04 -9.99970280e-01 -4.02368273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8265599949999 meters 0.01692941131154515 Centerline is valid? [True, True] Translation: X:177.82, Y:-89.94, Z:-4.02 [[ 9.99765468e-01 2.00182781e-02 -8.26297057e-03 1.77818158e+02] [ 2.00190940e-02 -9.99799598e-01 1.60340831e-05 -8.99370400e+01] [-8.26099368e-03 -1.81447507e-04 -9.99965861e-01 -4.02116668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.886559995 meters 0.01722646786542403 Centerline is valid? [True, True] Translation: X:177.85, Y:-89.94, Z:-4.02 [[ 9.95012221e-01 9.93445190e-02 -9.01928372e-03 1.77848903e+02] [ 9.93423395e-02 -9.95053075e-01 -6.90444942e-04 -8.99394248e+01] [-9.04325793e-03 -2.08995590e-04 -9.99959087e-01 -4.02059368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9465599949999 meters 0.01649380627517568 Centerline is valid? [True, True] Translation: X:177.88, Y:-89.94, Z:-4.02 [[ 9.84458399e-01 1.75401535e-01 -8.71559661e-03 1.77879780e+02] [ 1.75396368e-01 -9.84496961e-01 -1.35966655e-03 -8.99374222e+01] [-8.81896597e-03 -1.90148840e-04 -9.99961094e-01 -4.02174981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.006559995 meters 0.014832869697689245 Centerline is valid? [True, True] Translation: X:177.91, Y:-89.93, Z:-4.02 [[ 9.68885513e-01 2.47339650e-01 -9.16295824e-03 1.77910366e+02] [ 2.47330131e-01 -9.68928827e-01 -2.17574324e-03 -8.99344704e+01] [-9.41640195e-03 -1.58229552e-04 -9.99955652e-01 -4.02085823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0665599949999 meters 0.014154309597646918 Centerline is valid? [True, True] Translation: X:177.94, Y:-89.93, Z:-4.02 [[ 9.47794708e-01 3.18765148e-01 -8.60073532e-03 1.77940291e+02] [ 3.18753141e-01 -9.47833723e-01 -2.76916264e-03 -8.99298388e+01] [-9.03477952e-03 -1.16913700e-04 -9.99959179e-01 -4.02071935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.126559995 meters 0.013266099074141106 Centerline is valid? [True, True] Translation: X:177.97, Y:-89.92, Z:-4.02 [[ 9.22689864e-01 3.85438855e-01 -8.96125006e-03 1.77967636e+02] [ 3.85421271e-01 -9.22733377e-01 -3.68207596e-03 -8.99174615e+01] [-9.68805968e-03 -5.64422235e-05 -9.99953068e-01 -4.02052343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1865599949999 meters 0.013159266442759965 Centerline is valid? [True, True] Translation: X:177.99, Y:-89.91, Z:-4.02 [[ 8.92593905e-01 4.50740804e-01 -1.04330253e-02 1.77994550e+02] [ 4.50709927e-01 -8.92654876e-01 -5.27577576e-03 -8.99056046e+01] [-1.16910983e-02 6.85723774e-06 -9.99931657e-01 -4.01905555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.246559995 meters 0.013163209704576538 Centerline is valid? [True, True] Translation: X:178.02, Y:-89.90, Z:-4.02 [[ 8.54972763e-01 5.18584829e-01 -9.55771856e-03 1.78021584e+02] [ 5.18552229e-01 -8.55026184e-01 -5.81473698e-03 -8.98978848e+01] [-1.11875340e-02 1.52654728e-05 -9.99937417e-01 -4.01984888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3065599949999 meters 0.012990193381711054 Centerline is valid? [True, True] Translation: X:178.05, Y:-89.89, Z:-4.02 [[ 8.10604352e-01 5.85530089e-01 -8.66595655e-03 1.78051364e+02] [ 5.85496709e-01 -8.10650673e-01 -6.25210512e-03 -8.98907947e+01] [-1.06858592e-02 -5.90542464e-06 -9.99942905e-01 -4.02109778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.366559995 meters 0.013047934586413588 Centerline is valid? [True, True] Translation: X:178.08, Y:-89.88, Z:-4.02 [[ 7.61597898e-01 6.48003434e-01 -7.75833380e-03 1.78080782e+02] [ 6.47970034e-01 -7.61637413e-01 -6.57918890e-03 -8.98812132e+01] [-1.01723743e-02 -1.64713854e-05 -9.99948260e-01 -4.02134836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4265599949999 meters 0.013034337971413535 Centerline is valid? [True, True] Translation: X:178.11, Y:-89.87, Z:-4.02 [[ 7.09887601e-01 7.04278400e-01 -7.17829869e-03 1.78107657e+02] [ 7.04242355e-01 -7.09923894e-01 -7.12538890e-03 -8.98685317e+01] [-1.01143033e-02 2.96326885e-06 -9.99948849e-01 -4.02098144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.486559995 meters 0.01309651903796296 Centerline is valid? [True, True] Translation: X:178.13, Y:-89.85, Z:-4.02 [[ 6.53565096e-01 7.56838222e-01 -6.96930610e-03 1.78130221e+02] [ 7.56794918e-01 -6.53602254e-01 -8.09606733e-03 -8.98524698e+01] [-1.06825674e-02 1.69715829e-05 -9.99942940e-01 -4.02074642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5465599949999 meters 0.013338022289043504 Centerline is valid? [True, True] Translation: X:178.15, Y:-89.84, Z:-4.02 [[ 5.94851488e-01 8.03800792e-01 -7.48282684e-03 1.78154733e+02] [ 8.03735920e-01 -5.94898548e-01 -1.02121499e-02 -8.98355728e+01] [-1.26600570e-02 6.04958607e-05 -9.99919856e-01 -4.02103095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.606559995 meters 0.013506211972797003 Centerline is valid? [True, True] Translation: X:178.18, Y:-89.82, Z:-4.02 [[ 5.31783542e-01 8.46851685e-01 -6.96341388e-03 1.78177077e+02] [ 8.46776874e-01 -5.31829123e-01 -1.12565461e-02 -8.98166634e+01] [-1.32359713e-02 8.95880911e-05 -9.99912397e-01 -4.02058458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.666559995 meters 0.014089482859468984 Centerline is valid? [True, True] Translation: X:178.20, Y:-89.80, Z:-4.02 [[ 4.68701366e-01 8.83339279e-01 -5.54508124e-03 1.78196988e+02] [ 8.83273668e-01 -4.68734143e-01 -1.07670960e-02 -8.97955082e+01] [-1.21101677e-02 1.48728374e-04 -9.99926658e-01 -4.02206750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.726559995 meters 0.014755016069700831 Centerline is valid? [True, True] Translation: X:178.22, Y:-89.77, Z:-4.02 [[ 4.01962219e-01 9.15645566e-01 -4.42406133e-03 1.78215740e+02] [ 9.15584840e-01 -4.01986520e-01 -1.05469890e-02 -8.97732898e+01] [-1.14357168e-02 1.88887633e-04 -9.99934592e-01 -4.02358875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.786559995 meters 0.015689227543448907 Centerline is valid? [True, True] Translation: X:178.23, Y:-89.75, Z:-4.02 [[ 3.31383525e-01 9.43487377e-01 -4.06546797e-03 1.78230113e+02] [ 9.43406997e-01 -3.31408371e-01 -1.23178482e-02 -8.97495554e+01] [-1.29690644e-02 2.46541034e-04 -9.99915868e-01 -4.02455787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.846559995 meters 0.015270086392457924 Centerline is valid? [True, True] Translation: X:178.25, Y:-89.73, Z:-4.02 [[ 2.53270797e-01 9.67389487e-01 -3.38887664e-03 1.78248365e+02] [ 9.67290735e-01 -2.53293370e-01 -1.38239754e-02 -8.97276114e+01] [-1.42315485e-02 2.23180303e-04 -9.99898702e-01 -4.02327000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.906559995 meters 0.013455646743403698 Centerline is valid? [True, True] Translation: X:178.27, Y:-89.70, Z:-4.02 [[ 1.69066116e-01 9.85602048e-01 -2.29172883e-03 1.78271821e+02] [ 9.85502315e-01 -1.69081611e-01 -1.40212923e-02 -8.97040058e+01] [-1.42069036e-02 1.12021363e-04 -9.99899071e-01 -4.02378817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9665599949999 meters 0.013107052802906315 Centerline is valid? [True, True] Translation: X:178.29, Y:-89.68, Z:-4.02 [[ 8.68765915e-02 9.96218444e-01 -1.12717721e-03 1.78286872e+02] [ 9.96127657e-01 -8.68838914e-02 -1.34491813e-02 -8.96769959e+01] [-1.34962560e-02 4.56066369e-05 -9.99908920e-01 -4.02317422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.026559995 meters 0.012949681074816234 Centerline is valid? [True, True] Translation: X:178.30, Y:-89.65, Z:-4.03 [[ 3.00947407e-03 9.99995469e-01 -6.63221529e-05 1.78297939e+02] [ 9.99913775e-01 -3.01007596e-03 -1.27821310e-02 -8.96488820e+01] [-1.27822728e-02 -2.78489423e-05 -9.99918303e-01 -4.02502486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0865599949999 meters 0.013235403955393266 Centerline is valid? [True, True] Translation: X:178.31, Y:-89.62, Z:-4.02 [[-7.90752591e-02 9.96868141e-01 1.00628896e-03 1.78308421e+02] [ 9.96773785e-01 7.90816196e-02 -1.37156812e-02 -8.96190586e+01] [-1.37523045e-02 -8.15285815e-05 -9.99905429e-01 -4.02377612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.146559995 meters 0.013991941503826945 Centerline is valid? [True, True] Translation: X:178.32, Y:-89.59, Z:-4.02 [[-1.63497367e-01 9.86541276e-01 2.21848954e-03 1.78319046e+02] [ 9.86434461e-01 1.63512313e-01 -1.45181555e-02 -8.95880332e+01] [-1.46855100e-02 -1.85285666e-04 -9.99892145e-01 -4.02299485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2065599949999 meters 0.014830632761578427 Centerline is valid? [True, True] Translation: X:178.32, Y:-89.56, Z:-4.02 [[-2.45305136e-01 9.69441051e-01 3.07238909e-03 1.78324010e+02] [ 9.69352295e-01 2.45324258e-01 -1.31201217e-02 -8.95566373e+01] [-1.34729161e-02 -2.40205819e-04 -9.99909207e-01 -4.02430809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.266559995 meters 0.015065465795058235 Centerline is valid? [True, True] Translation: X:178.32, Y:-89.53, Z:-4.03 [[-3.20841655e-01 9.47127113e-01 3.29608712e-03 1.78321950e+02] [ 9.47070655e-01 3.20858525e-01 -1.03431853e-02 -8.95264426e+01] [-1.08538889e-02 -1.96897304e-04 -9.99941075e-01 -4.02679617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3265599949999 meters 0.014014344633920895 Centerline is valid? [True, True] Translation: X:178.31, Y:-89.50, Z:-4.03 [[-3.89340184e-01 9.21085803e-01 3.89423904e-03 1.78313121e+02] [ 9.21036224e-01 3.89359636e-01 -9.55757174e-03 -8.94995399e+01] [-1.03196031e-02 -1.34411523e-04 -9.99946742e-01 -4.02703604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.386559995 meters 0.012863949523695541 Centerline is valid? [True, True] Translation: X:178.30, Y:-89.47, Z:-4.03 [[-4.52115082e-01 8.91941786e-01 5.63940451e-03 1.78297121e+02] [ 8.91871054e-01 4.52150250e-01 -1.12327200e-02 -8.94741948e+01] [-1.25687905e-02 -4.88604635e-05 -9.99921008e-01 -4.02529034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4465599949999 meters 0.01290135334248764 Centerline is valid? [True, True] Translation: X:178.28, Y:-89.45, Z:-4.03 [[-5.12888852e-01 8.58430554e-01 6.48152059e-03 1.78282889e+02] [ 8.58363578e-01 5.12929800e-01 -1.07232212e-02 -8.94493762e+01] [-1.25297058e-02 6.36805907e-05 -9.99921498e-01 -4.02545878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.506559995 meters 0.013895080841705196 Centerline is valid? [True, True] Translation: X:178.27, Y:-89.43, Z:-4.03 [[-5.73551061e-01 8.19139850e-01 7.00613261e-03 1.78268490e+02] [ 8.19081591e-01 5.73593835e-01 -9.77037397e-03 -8.94257526e+01] [-1.20219771e-02 1.34785888e-04 -9.99927724e-01 -4.02501212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5665599949999 meters 0.014931996336998755 Centerline is valid? [True, True] Translation: X:178.25, Y:-89.40, Z:-4.03 [[-6.30065291e-01 7.76498848e-01 8.20175299e-03 1.78251720e+02] [ 7.76437947e-01 6.30118625e-01 -9.72789261e-03 -8.94034313e+01] [-1.27217747e-02 2.38944774e-04 -9.99919046e-01 -4.02560426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.626559995 meters 0.016970835724118657 Centerline is valid? [True, True] Translation: X:178.23, Y:-89.39, Z:-4.02 [[-6.84444763e-01 7.28996458e-01 9.97650359e-03 1.78232622e+02] [ 7.28926475e-01 6.84517376e-01 -1.01072061e-02 -8.93855545e+01] [-1.41972075e-02 3.54313284e-04 -9.99899152e-01 -4.02436496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6865599949999 meters 0.017408783691983582 Centerline is valid? [True, True] Translation: X:178.22, Y:-89.36, Z:-4.02 [[-7.38043116e-01 6.74656145e-01 1.14649343e-02 1.78216812e+02] [ 6.74583264e-01 7.38132047e-01 -9.92476949e-03 -8.93628094e+01] [-1.51584421e-02 4.09144987e-04 -9.99885021e-01 -4.02371895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.746559995 meters 0.016642017054376596 Centerline is valid? [True, True] Translation: X:178.23, Y:-89.34, Z:-4.03 [[-7.85031171e-01 6.19360259e-01 1.09054844e-02 1.78234529e+02] [ 6.19306523e-01 7.85106841e-01 -8.16575846e-03 -8.93437714e+01] [-1.36195167e-02 3.43462698e-04 -9.99907191e-01 -4.02675388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8065599949999 meters 0.015735113687008386 Centerline is valid? [True, True] Translation: X:178.25, Y:-89.32, Z:-4.03 [[-8.29014704e-01 5.59137933e-01 9.96958766e-03 1.78251301e+02] [ 5.59101174e-01 8.29074609e-01 -6.41640108e-03 -8.93192632e+01] [-1.18531852e-02 2.54717319e-04 -9.99929716e-01 -4.02834795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.866559995 meters 0.014449560296665253 Centerline is valid? [True, True] Translation: X:178.26, Y:-89.29, Z:-4.03 [[-8.69182016e-01 4.94407536e-01 9.15492321e-03 1.78264891e+02] [ 4.94382136e-01 8.69230211e-01 -5.01431670e-03 -8.92904139e+01] [-1.04368518e-02 1.67676591e-04 -9.99945521e-01 -4.02896612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9265599949999 meters 0.013811239176473615 Centerline is valid? [True, True] Translation: X:178.28, Y:-89.26, Z:-4.03 [[-9.03496937e-01 4.28523367e-01 7.81083377e-03 1.78278526e+02] [ 4.28508393e-01 9.03530692e-01 -3.58404998e-03 -8.92633222e+01] [-8.59317721e-03 1.08829649e-04 -9.99963072e-01 -4.03026502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.986559995 meters 0.013327759824116728 Centerline is valid? [True, True] Translation: X:178.28, Y:-89.23, Z:-4.03 [[-9.33096999e-01 3.59501732e-01 9.40715501e-03 1.78283230e+02] [ 3.59484369e-01 9.33144414e-01 -3.53424878e-03 -8.92316408e+01] [-1.00488027e-02 8.39282516e-05 -9.99949506e-01 -4.02837736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0465599949999 meters 0.012869029901143279 Centerline is valid? [True, True] Translation: X:178.30, Y:-89.21, Z:-4.03 [[-9.57164834e-01 2.89382885e-01 9.64506454e-03 1.78302578e+02] [ 2.89368733e-01 9.57213426e-01 -2.86237001e-03 -8.92065645e+01] [-1.00607062e-02 5.12201882e-05 -9.99949389e-01 -4.02874343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.106559995 meters 0.012590224832294897 Centerline is valid? [True, True] Translation: X:178.50, Y:-88.53, Z:-5.01 [[-9.36445033e-01 -3.50675083e-01 9.88366441e-03 1.78502044e+02] [ 3.50655337e-01 -9.36497189e-01 -3.72140740e-03 -8.85299336e+01] [ 1.05610288e-02 -1.91337991e-05 9.99944231e-01 -5.01435566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.166559995 meters 0.01319514135926024 Centerline is valid? [True, True] Translation: X:178.25, Y:-89.18, Z:-4.03 [[-9.62392333e-01 2.71427644e-01 1.13151043e-02 1.78253902e+02] [ 2.71407454e-01 9.62458841e-01 -3.31261976e-03 -8.91792662e+01] [-1.17894588e-02 -1.17036200e-04 -9.99930495e-01 -4.02583024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.226559995 meters 0.013504617222537473 Centerline is valid? [True, True] Translation: X:178.26, Y:-89.15, Z:-4.03 [[-9.79692959e-01 2.00256646e-01 9.94893560e-03 1.78257605e+02] [ 2.00245029e-01 9.79743466e-01 -2.16059769e-03 -8.91512173e+01] [-1.01800787e-02 -1.24497441e-04 -9.99948174e-01 -4.02675856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.286559995 meters 0.01447429845399705 Centerline is valid? [True, True] Translation: X:178.26, Y:-89.12, Z:-4.03 [[-9.91620704e-01 1.28906721e-01 8.45203085e-03 1.78257012e+02] [ 1.28901042e-01 9.91656717e-01 -1.21554076e-03 -8.91239576e+01] [-8.53820454e-03 -1.15879807e-04 -9.99963542e-01 -4.02675639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.346559995 meters 0.014256579372214948 Centerline is valid? [True, True] Translation: X:178.26, Y:-89.10, Z:-4.03 [[-9.98368739e-01 5.67503018e-02 6.26612385e-03 1.78256677e+02] [ 5.67485929e-02 9.98388399e-01 -4.50328884e-04 -8.91004957e+01] [-6.28158166e-03 -9.40005683e-05 -9.99980266e-01 -4.02891040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.406559995 meters 0.01483040240434303 Centerline is valid? [True, True] Translation: X:178.26, Y:-89.07, Z:-4.03 [[-9.99830800e-01 -1.78053800e-02 4.61945203e-03 1.78259468e+02] [-1.78055849e-02 9.99841468e-01 -3.22756282e-06 -8.90737065e+01] [-4.61866223e-03 -8.54790621e-05 -9.99989330e-01 -4.03013851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4665599949999 meters 0.017175011450070263 Centerline is valid? [True, True] Translation: X:178.25, Y:-89.04, Z:-4.03 [[-9.95375456e-01 -9.58010531e-02 7.06114178e-03 1.78249982e+02] [-9.57999406e-02 9.95400485e-01 4.96401450e-04 -8.90430189e+01] [-7.07621973e-03 -1.82351144e-04 -9.99974947e-01 -4.02628745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.526559995 meters 0.018310828151886553 Centerline is valid? [True, True] Translation: X:178.24, Y:-89.02, Z:-4.02 [[-9.84828824e-01 -1.73234404e-01 1.01009383e-02 1.78238523e+02] [-1.73228774e-01 9.84880566e-01 1.43633617e-03 -8.90191542e+01] [-1.01970407e-02 -3.35227898e-04 -9.99947953e-01 -4.02449155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5865599949999 meters 0.018834593035636157 Centerline is valid? [True, True] Translation: X:178.15, Y:-88.34, Z:-5.02 [[-9.99141269e-01 3.96631124e-02 1.19817496e-02 1.78146381e+02] [-3.96540425e-02 -9.99212975e-01 9.93696124e-04 -8.83356684e+01] [ 1.20117328e-02 5.17717998e-04 9.99927723e-01 -5.01848920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.646559995 meters 0.017620893985904443 Centerline is valid? [True, True] Translation: X:178.15, Y:-89.04, Z:-4.02 [[-9.84844322e-01 -1.73256450e-01 7.99148571e-03 1.78154429e+02] [-1.73252532e-01 9.84876721e-01 1.18525817e-03 -8.90378538e+01] [-8.07598186e-03 -2.17250356e-04 -9.99967365e-01 -4.02448371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7065599949999 meters 0.01503720112317869 Centerline is valid? [True, True] Translation: X:178.14, Y:-89.02, Z:-4.03 [[-9.72559296e-01 -2.32642385e-01 2.43648758e-03 1.78139906e+02] [-2.32641757e-01 9.72562347e-01 5.42101338e-04 -8.90223297e+01] [-2.49575182e-03 -3.96030539e-05 -9.99996885e-01 -4.02932054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.766559995 meters 0.013313688533892934 Centerline is valid? [True, True] Translation: X:178.13, Y:-89.00, Z:-4.03 [[-9.55341368e-01 -2.95503612e-01 6.97768844e-04 1.78133436e+02] [-2.95503537e-01 9.55341622e-01 2.09946608e-04 -8.90016087e+01] [-7.28647601e-04 -5.62248216e-06 -9.99999735e-01 -4.03118673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8265599949999 meters 0.013228353972557493 Centerline is valid? [True, True] Translation: X:178.10, Y:-88.98, Z:-4.03 [[-9.31933603e-01 -3.62626509e-01 1.33184959e-03 1.78102693e+02] [-3.62626156e-01 9.31934555e-01 5.06525693e-04 -8.89836870e+01] [-1.42487630e-03 -1.09151823e-05 -9.99998985e-01 -4.03055551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.886559995 meters 0.01294222460984678 Centerline is valid? [True, True] Translation: X:178.05, Y:-88.98, Z:-4.03 [[-9.03520082e-01 -4.28526003e-01 4.11413262e-03 1.78046488e+02] [-4.28521714e-01 9.03529448e-01 1.91759680e-03 -8.89764689e+01] [-4.53898007e-03 -3.04079403e-05 -9.99989698e-01 -4.02656514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9465599949999 meters 0.012510243089694263 Centerline is valid? [True, True] Translation: X:177.98, Y:-88.98, Z:-4.03 [[-8.71946697e-01 -4.89578533e-01 4.67097140e-03 1.77984439e+02] [-4.89571559e-01 8.71959208e-01 2.61328782e-03 -8.89806959e+01] [-5.35230614e-03 -8.12706831e-06 -9.99985676e-01 -4.02622890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.006559995 meters 0.012757320928319625 Centerline is valid? [True, True] Translation: X:177.91, Y:-89.00, Z:-4.03 [[-8.37193288e-01 -5.46884023e-01 5.02624767e-03 1.77912870e+02] [-5.46873909e-01 8.37208375e-01 3.32627111e-03 -8.89967855e+01] [-6.02710117e-03 3.60081411e-05 -9.99981836e-01 -4.02659054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0665599949999 meters 0.0135736337884666 Centerline is valid? [True, True] Translation: X:177.83, Y:-89.02, Z:-4.03 [[-7.97671591e-01 -6.03074053e-01 4.66046860e-03 1.77833922e+02] [-6.03063226e-01 7.97685202e-01 3.61437810e-03 -8.90218714e+01] [-5.89732449e-03 7.25294989e-05 -9.99982608e-01 -4.02623043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.126559995 meters 0.01474573299144435 Centerline is valid? [True, True] Translation: X:177.76, Y:-89.06, Z:-4.03 [[-7.54731013e-01 -6.56026241e-01 3.26641548e-03 1.77755797e+02] [-6.56019594e-01 7.54738077e-01 2.95428513e-03 -8.90571037e+01] [-4.40337670e-03 8.68580545e-05 -9.99990301e-01 -4.02703221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1865599949999 meters 0.016632154357683223 Centerline is valid? [True, True] Translation: X:177.67, Y:-89.10, Z:-4.03 [[-7.07331112e-01 -7.06876653e-01 2.84532571e-03 1.77670179e+02] [-7.06870317e-01 7.07336827e-01 2.99480396e-03 -8.91040808e+01] [-4.12956066e-03 1.07041728e-04 -9.99991468e-01 -4.02728925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.246559995 meters 0.017287255271681064 Centerline is valid? [True, True] Translation: X:177.58, Y:-89.16, Z:-4.03 [[-6.51687051e-01 -7.58478225e-01 3.84313599e-03 1.77579056e+02] [-7.58463594e-01 6.51698364e-01 4.71363559e-03 -8.91594619e+01] [-6.07975539e-03 1.56936541e-04 -9.99981506e-01 -4.02607493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3065599949999 meters 0.016268918770488285 Centerline is valid? [True, True] Translation: X:177.49, Y:-89.22, Z:-4.02 [[-5.88841437e-01 -8.08236537e-01 4.41157938e-03 1.77492225e+02] [-8.08211685e-01 5.88857938e-01 6.34043867e-03 -8.92196479e+01] [-7.72236773e-03 1.68023012e-04 -9.99970168e-01 -4.02404621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.366559995 meters 0.015088104746027982 Centerline is valid? [True, True] Translation: X:177.41, Y:-89.29, Z:-4.02 [[-5.23064269e-01 -8.52281354e-01 4.50155576e-03 1.77406985e+02] [-8.52247008e-01 5.23083613e-01 7.65318215e-03 -8.92948674e+01] [-8.87735450e-03 1.66668702e-04 -9.99960582e-01 -4.02394311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4265599949999 meters 0.014686383188395097 Centerline is valid? [True, True] Translation: X:177.33, Y:-89.38, Z:-4.02 [[-4.54146379e-01 -8.90918554e-01 3.89829628e-03 1.77328584e+02] [-8.90882977e-01 4.54163087e-01 7.96320871e-03 -8.93760590e+01] [-8.86503266e-03 1.43536608e-04 -9.99960695e-01 -4.02331834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.486559995 meters 0.013489293279254723 Centerline is valid? [True, True] Translation: X:177.25, Y:-89.46, Z:-4.02 [[-3.79956417e-01 -9.24999233e-01 3.08869115e-03 1.77252015e+02] [-9.24966681e-01 3.79968960e-01 7.76074146e-03 -8.94636039e+01] [-8.35228666e-03 9.18071137e-05 -9.99965115e-01 -4.02481468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5465599949999 meters 0.013251238631547863 Centerline is valid? [True, True] Translation: X:177.18, Y:-89.57, Z:-4.02 [[-3.03174912e-01 -9.52927521e-01 3.75663708e-03 1.77181219e+02] [-9.52851389e-01 3.03198176e-01 1.20455938e-02 -8.95653713e+01] [-1.26175834e-02 7.24049780e-05 -9.99920393e-01 -4.02165282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.606559995 meters 0.013087026066531341 Centerline is valid? [True, True] Translation: X:177.12, Y:-89.67, Z:-4.02 [[-2.20330757e-01 -9.75419755e-01 3.26477710e-03 1.77118117e+02] [-9.75316130e-01 2.20354938e-01 1.42178456e-02 -8.96650595e+01] [-1.45877772e-02 -5.15610761e-05 -9.99893591e-01 -4.02100420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.666559995 meters 0.013761024676369459 Centerline is valid? [True, True] Translation: X:177.06, Y:-89.77, Z:-4.02 [[-1.39555532e-01 -9.90211887e-01 2.16169544e-03 1.77061888e+02] [-9.90107316e-01 1.39572211e-01 1.43909905e-02 -8.97744170e+01] [-1.45518425e-02 -1.31968131e-04 -9.99894108e-01 -4.01917218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.726559995 meters 0.01396200245214124 Centerline is valid? [True, True] Translation: X:177.02, Y:-89.89, Z:-4.02 [[-5.97718901e-02 -9.98211570e-01 9.91138201e-04 1.77019767e+02] [-9.98118051e-01 5.97798582e-02 1.36647324e-02 -8.98860633e+01] [-1.36995441e-02 -1.72506046e-04 -9.99906142e-01 -4.02025521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.786559995 meters 0.01419150762625508 Centerline is valid? [True, True] Translation: X:176.99, Y:-90.00, Z:-4.02 [[ 2.01601624e-02 -9.99796762e-01 -5.17456924e-05 1.76990654e+02] [-9.99723355e-01 -2.01593093e-02 1.21167263e-02 -8.99983817e+01] [-1.21153068e-02 -1.92543792e-04 -9.99926588e-01 -4.02355969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.846559995 meters 0.015829835132853246 Centerline is valid? [True, True] Translation: X:176.96, Y:-90.11, Z:-4.02 [[ 9.91431432e-02 -9.95072657e-01 -1.02192123e-03 1.76964806e+02] [-9.94992949e-01 -9.91481382e-02 1.25967176e-02 -9.01144890e+01] [-1.26359709e-02 -2.32073764e-04 -9.99920136e-01 -4.02146874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.906559995 meters 0.015004343116645912 Centerline is valid? [True, True] Translation: X:176.95, Y:-90.23, Z:-4.02 [[ 1.75272048e-01 -9.84517475e-01 -2.24743748e-03 1.76954683e+02] [-9.84415880e-01 -1.75286253e-01 1.41458307e-02 -9.02290996e+01] [-1.43207624e-02 -2.66955579e-04 -9.99897417e-01 -4.02199499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9665599949999 meters 0.015519420764325652 Centerline is valid? [True, True] Translation: X:176.95, Y:-90.34, Z:-4.02 [[ 2.50585319e-01 -9.68088645e-01 -3.37260022e-03 1.76952193e+02] [-9.67985623e-01 -2.50607862e-01 1.41255921e-02 -9.03445824e+01] [-1.45200254e-02 -2.75037465e-04 -9.99894541e-01 -4.02117331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.026559995 meters 0.01673775032512879 Centerline is valid? [True, True] Translation: X:176.96, Y:-90.46, Z:-4.02 [[ 3.24203987e-01 -9.45977425e-01 -4.29969831e-03 1.76956984e+02] [-9.45882962e-01 -3.24232387e-01 1.33709006e-02 -9.04641170e+01] [-1.40426715e-02 -2.67887888e-04 -9.99901361e-01 -4.02022937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0865599949999 meters 0.014349760689212954 Centerline is valid? [True, True] Translation: X:176.98, Y:-90.58, Z:-4.02 [[ 3.93189628e-01 -9.19442465e-01 -5.24125802e-03 1.76982435e+02] [-9.19353022e-01 -3.93224495e-01 1.28264018e-02 -9.05831321e+01] [-1.38541295e-02 -2.24641757e-04 -9.99904002e-01 -4.02307063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.146559995 meters 0.013650764222999847 Centerline is valid? [True, True] Translation: X:177.01, Y:-90.69, Z:-4.02 [[ 4.59372607e-01 -8.88222460e-01 -6.13751871e-03 1.77009467e+02] [-8.88138113e-01 -4.59413573e-01 1.22418156e-02 -9.06867126e+01] [-1.36931150e-02 -1.72590475e-04 -9.99906230e-01 -4.02358662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2065599949999 meters 0.013925373456637073 Centerline is valid? [True, True] Translation: X:177.04, Y:-90.79, Z:-4.02 [[ 5.24493904e-01 -8.51385390e-01 -7.00446674e-03 1.77041972e+02] [-8.51305741e-01 -5.24540653e-01 1.16463969e-02 -9.07935498e+01] [-1.35896998e-02 -1.45521450e-04 -9.99907645e-01 -4.02213398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.266559995 meters 0.01305855487187266 Centerline is valid? [True, True] Translation: X:177.08, Y:-90.90, Z:-4.02 [[ 5.86857639e-01 -8.09655795e-01 -7.45688110e-03 1.77084759e+02] [-8.09587887e-01 -5.86905000e-01 1.04868575e-02 -9.08994939e+01] [-1.28672258e-02 -1.17291843e-04 -9.99917207e-01 -4.02488957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3265599949999 meters 0.012626551379543483 Centerline is valid? [True, True] Translation: X:177.13, Y:-91.00, Z:-4.03 [[ 6.43496299e-01 -7.65416028e-01 -7.12860164e-03 1.77132591e+02] [-7.65368227e-01 -6.43535781e-01 8.55425674e-03 -9.09979645e+01] [-1.11350754e-02 -4.86273565e-05 -9.99938002e-01 -4.02605799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.386559995 meters 0.012448078620579974 Centerline is valid? [True, True] Translation: X:177.19, Y:-91.09, Z:-4.03 [[ 6.97578163e-01 -7.16473563e-01 -7.09505172e-03 1.77185030e+02] [-7.16436375e-01 -6.97614244e-01 7.29983784e-03 -9.10944547e+01] [-1.01797500e-02 -9.05433136e-06 -9.99948185e-01 -4.02710707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4465599949999 meters 0.01255295907922945 Centerline is valid? [True, True] Translation: X:177.24, Y:-91.18, Z:-4.03 [[ 7.48098199e-01 -6.63536637e-01 -8.25926340e-03 1.77236868e+02] [-6.63496547e-01 -7.48143790e-01 7.29389508e-03 -9.11800611e+01] [-1.10188832e-02 2.34429776e-05 -9.99939290e-01 -4.02761535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.506559995 meters 0.012751979275615161 Centerline is valid? [True, True] Translation: X:177.26, Y:-91.21, Z:-4.03 [[ 7.95841025e-01 -6.05434353e-01 -9.29012386e-03 1.77256729e+02] [-6.05393986e-01 -7.95895244e-01 6.99157398e-03 -9.12058300e+01] [-1.16269045e-02 6.00037122e-05 -9.99932403e-01 -4.02696097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5665599949999 meters 0.013809024238764216 Centerline is valid? [True, True] Translation: X:177.28, Y:-91.23, Z:-4.03 [[ 8.37533322e-01 -5.46285050e-01 -1.05156214e-02 1.77278534e+02] [-5.46244052e-01 -8.37599323e-01 6.69409745e-03 -9.12283872e+01] [-1.24647628e-02 1.37565989e-04 -9.99922302e-01 -4.02504584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.626559995 meters 0.015118797574979755 Centerline is valid? [True, True] Translation: X:177.30, Y:-91.25, Z:-4.03 [[ 8.72878287e-01 -4.87819733e-01 -1.07426856e-02 1.77302397e+02] [-4.87786365e-01 -8.72944353e-01 5.71123108e-03 -9.12503901e+01] [-1.21638179e-02 2.54925946e-04 -9.99925986e-01 -4.02589082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6865599949999 meters 0.01810417624882122 Centerline is valid? [True, True] Translation: X:177.33, Y:-91.26, Z:-4.03 [[ 9.05003517e-01 -4.25290151e-01 -9.84487783e-03 1.77328371e+02] [-4.25268696e-01 -9.05057010e-01 4.28316969e-03 -9.12649665e+01] [-1.07317656e-02 3.10434722e-04 -9.99942365e-01 -4.02849806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.746559995 meters 0.017900235814720743 Centerline is valid? [True, True] Translation: X:177.35, Y:-91.29, Z:-4.03 [[ 9.35052620e-01 -3.54419671e-01 -7.95575862e-03 1.77353048e+02] [-3.54409141e-01 -9.35086430e-01 2.74382146e-03 -9.12863473e+01] [-8.41178623e-03 2.53976130e-04 -9.99964588e-01 -4.03105961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8065599949999 meters 0.016682820152356614 Centerline is valid? [True, True] Translation: X:177.38, Y:-91.31, Z:-4.03 [[ 9.60319789e-01 -2.78823912e-01 -6.56721841e-03 1.77378465e+02] [-2.78818773e-01 -9.60342224e-01 1.70401392e-03 -9.13122004e+01] [-6.78189697e-03 1.94665487e-04 -9.99976984e-01 -4.03162234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.866559995 meters 0.01759679517133683 Centerline is valid? [True, True] Translation: X:177.40, Y:-91.33, Z:-4.03 [[ 9.79751212e-01 -2.00057739e-01 -8.02894336e-03 1.77404339e+02] [-2.00052784e-01 -9.79784087e-01 1.42386205e-03 -9.13309876e+01] [-8.15148556e-03 2.11181901e-04 -9.99966754e-01 -4.02913822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9265599949999 meters 0.016729606175656126 Centerline is valid? [True, True] Translation: X:177.43, Y:-91.35, Z:-4.03 [[ 9.92573708e-01 -1.21291224e-01 -9.26679718e-03 1.77431053e+02] [-1.21288072e-01 -9.92616939e-01 9.03437907e-04 -9.13453339e+01] [-9.30795894e-03 2.27223249e-04 -9.99956654e-01 -4.02923784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.986559995 meters 0.0147985012658744 Centerline is valid? [True, True] Translation: X:177.46, Y:-91.37, Z:-4.03 [[ 9.99206947e-01 -3.83812530e-02 -1.05998103e-02 1.77458622e+02] [-3.83812905e-02 -9.99263147e-01 1.99960610e-04 -9.13676799e+01] [-1.05996746e-02 2.07032369e-04 -9.99943800e-01 -4.02895510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0465599949999 meters 0.013940185596787388 Centerline is valid? [True, True] Translation: X:177.49, Y:-91.38, Z:-4.03 [[ 9.98895559e-01 4.59979184e-02 -9.58402914e-03 1.77487731e+02] [ 4.59945550e-02 -9.98941527e-01 -5.71172944e-04 -9.13842953e+01] [-9.60015748e-03 1.29728961e-04 -9.99953909e-01 -4.02869256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.106559995 meters 0.01284845031149483 Centerline is valid? [True, True] Translation: X:177.52, Y:-91.40, Z:-4.03 [[ 9.91489327e-01 1.29823724e-01 -9.73216587e-03 1.77519217e+02] [ 1.29816722e-01 -9.91537087e-01 -1.35040965e-03 -9.13965513e+01] [-9.82511860e-03 7.55188834e-05 -9.99951730e-01 -4.02991320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.166559995 meters 0.01245095831794756 Centerline is valid? [True, True] Translation: X:177.55, Y:-91.41, Z:-4.03 [[ 9.76659185e-01 2.14522879e-01 -1.08060597e-02 1.77553147e+02] [ 2.14509744e-01 -9.76718964e-01 -2.37394198e-03 -9.14083474e+01] [-1.10637483e-02 5.27154449e-07 -9.99938795e-01 -4.02840617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.226559995 meters 0.012513604089183566 Centerline is valid? [True, True] Translation: X:177.59, Y:-91.41, Z:-4.03 [[ 9.56066590e-01 2.92984930e-01 -9.82372221e-03 1.77586000e+02] [ 2.92969764e-01 -9.56117059e-01 -2.98122715e-03 -9.14096870e+01] [-1.02660830e-02 -2.78019040e-05 -9.99947302e-01 -4.02910457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.286559995 meters 0.012617282362856553 Centerline is valid? [True, True] Translation: X:177.62, Y:-91.41, Z:-4.03 [[ 9.28908538e-01 3.70169983e-01 -1.01544270e-02 1.77619122e+02] [ 3.70148657e-01 -9.28964035e-01 -3.97403445e-03 -9.14086267e+01] [-1.09041658e-02 -6.71329918e-05 -9.99940546e-01 -4.02960585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.346559995 meters 0.012710040746427401 Centerline is valid? [True, True] Translation: X:177.65, Y:-91.40, Z:-4.03 [[ 8.96414023e-01 4.43110876e-01 -9.72885703e-03 1.77651991e+02] [ 4.43085787e-01 -8.96466812e-01 -4.71599907e-03 -9.14037456e+01] [-1.08113079e-02 -8.32305677e-05 -9.99941553e-01 -4.03032147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.406559995 meters 0.012499939818154884 Centerline is valid? [True, True] Translation: X:177.68, Y:-91.39, Z:-4.03 [[ 8.60232058e-01 5.09860346e-01 -6.57524925e-03 1.77681411e+02] [ 5.09845806e-01 -8.60257186e-01 -3.85069594e-03 -9.13939840e+01] [-7.61972258e-03 -3.98711615e-05 -9.99970969e-01 -4.03188755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4665599949999 meters 0.012392171665610272 Centerline is valid? [True, True] Translation: X:177.71, Y:-91.38, Z:-4.03 [[ 8.19002843e-01 5.73758276e-01 -5.98199890e-03 1.77710332e+02] [ 5.73743160e-01 -8.19024689e-01 -4.16483293e-03 -9.13807243e+01] [-7.28901215e-03 -2.11209452e-05 -9.99973435e-01 -4.03277936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.526559995 meters 0.01240430908547995 Centerline is valid? [True, True] Translation: X:177.74, Y:-91.37, Z:-4.03 [[ 7.71867774e-01 6.35749458e-01 -6.53959587e-03 1.77737586e+02] [ 6.35726869e-01 -7.71895476e-01 -5.35932710e-03 -9.13660475e+01] [-8.45507377e-03 -2.07049238e-05 -9.99964255e-01 -4.03141270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5865599949999 meters 0.01255615360403223 Centerline is valid? [True, True] Translation: X:177.76, Y:-91.35, Z:-4.03 [[ 7.18483316e-01 6.95513121e-01 -6.57440103e-03 1.77764264e+02] [ 6.95484494e-01 -7.18513394e-01 -6.31046220e-03 -9.13497768e+01] [-9.11280445e-03 -3.84321664e-05 -9.99958477e-01 -4.03103305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.646559995 meters 0.013003875988418298 Centerline is valid? [True, True] Translation: X:177.79, Y:-91.33, Z:-4.03 [[ 6.59052714e-01 7.52059220e-01 -7.51334469e-03 1.77788572e+02] [ 7.52011895e-01 -6.59095533e-01 -8.43729369e-03 -9.13309713e+01] [-1.12973564e-02 -8.95032804e-05 -9.99936179e-01 -4.02924715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7065599949999 meters 0.013551563028873538 Centerline is valid? [True, True] Translation: X:177.81, Y:-91.31, Z:-4.03 [[ 5.94319071e-01 8.04204123e-01 -6.36955151e-03 1.77813264e+02] [ 8.04160332e-01 -5.94353188e-01 -8.39339418e-03 -9.13127223e+01] [-1.05357654e-02 -1.33786426e-04 -9.99944488e-01 -4.02948847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.766559995 meters 0.014209025607754023 Centerline is valid? [True, True] Translation: X:177.84, Y:-91.29, Z:-4.03 [[ 5.26998884e-01 8.49847711e-01 -5.57181011e-03 1.77835834e+02] [ 8.49803416e-01 -5.27028313e-01 -8.67827483e-03 -9.12921068e+01] [-1.03117137e-02 -1.61502120e-04 -9.99946820e-01 -4.02916328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8265599949999 meters 0.01572912748017527 Centerline is valid? [True, True] Translation: X:177.85, Y:-91.27, Z:-4.03 [[ 4.53971921e-01 8.91001452e-01 -5.09004878e-03 1.77851584e+02] [ 8.90950950e-01 -4.54000398e-01 -9.48907376e-03 -9.12671314e+01] [-1.07656627e-02 -2.27210756e-04 -9.99942023e-01 -4.02941927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.886559995 meters 0.015838480997531747 Centerline is valid? [True, True] Translation: X:177.87, Y:-91.24, Z:-4.03 [[ 3.82691028e-01 9.23869569e-01 -3.54913585e-03 1.77866259e+02] [ 9.23834273e-01 -3.82707439e-01 -8.07788983e-03 -9.12425861e+01] [-8.82119729e-03 -1.87477370e-04 -9.99961075e-01 -4.03099609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9465599949999 meters 0.015132642663799413 Centerline is valid? [True, True] Translation: X:177.87, Y:-91.22, Z:-4.03 [[ 3.12631114e-01 9.49868247e-01 -3.47841310e-03 1.77874502e+02] [ 9.49815916e-01 -3.12650409e-01 -9.97232523e-03 -9.12159187e+01] [-1.05599224e-02 -1.86192979e-04 -9.99944225e-01 -4.03004246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.006559995 meters 0.014436888774476119 Centerline is valid? [True, True] Translation: X:177.89, Y:-91.19, Z:-4.03 [[ 2.40405051e-01 9.70670194e-01 -2.18763693e-03 1.77886236e+02] [ 9.70634558e-01 -2.40414972e-01 -8.31837278e-03 -9.11907114e+01] [-8.60033719e-03 -1.23617181e-04 -9.99963009e-01 -4.03148067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0665599949999 meters 0.014771478843318817 Centerline is valid? [True, True] Translation: X:177.90, Y:-91.17, Z:-4.03 [[ 1.63138923e-01 9.86602311e-01 -1.25405643e-03 1.77899062e+02] [ 9.86577898e-01 -1.63143709e-01 -6.94127264e-03 -9.11665841e+01] [-7.05286704e-03 -1.04832613e-04 -9.99975123e-01 -4.03369700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.126559995 meters 0.014670684569092473 Centerline is valid? [True, True] Translation: X:177.91, Y:-91.14, Z:-4.04 [[ 8.41387160e-02 9.96453948e-01 -4.53082640e-04 1.77912408e+02] [ 9.96443765e-01 -8.41399047e-02 -4.50546168e-03 -9.11402503e+01] [-4.52760741e-03 -7.23876107e-05 -9.99989748e-01 -4.03602656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1865599949999 meters 0.01451915799204391 Centerline is valid? [True, True] Translation: X:177.92, Y:-91.11, Z:-4.04 [[ 6.55621965e-03 9.99978505e-01 -7.65165990e-05 1.77923833e+02] [ 9.99972298e-01 -6.55644858e-03 -3.52380167e-03 -9.11128978e+01] [-3.52422760e-03 -5.34116616e-05 -9.99993788e-01 -4.03637332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.246559995 meters 0.013956495979252118 Centerline is valid? [True, True] Translation: X:177.93, Y:-91.09, Z:-4.04 [[-6.81463927e-02 9.97675331e-01 6.08936960e-05 1.77929026e+02] [ 9.97674771e-01 6.81464190e-02 -1.05692732e-03 -9.10854235e+01] [-1.05862000e-03 -1.12736802e-05 -9.99999440e-01 -4.03803466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3065599949999 meters 0.013638854553157406 Centerline is valid? [True, True] Translation: X:177.93, Y:-91.06, Z:-4.04 [[-1.42735084e-01 9.89760900e-01 -2.36908533e-04 1.77932171e+02] [ 9.89759341e-01 1.42735280e-01 1.75671082e-03 -9.10578932e+01] [ 1.77253888e-03 1.62618333e-05 -9.99998429e-01 -4.04098262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.366559995 meters 0.013564428560508232 Centerline is valid? [True, True] Translation: X:177.93, Y:-91.03, Z:-4.04 [[-2.17614186e-01 9.76034734e-01 -5.13537989e-04 1.77934002e+02] [ 9.76031837e-01 2.17614791e-01 2.37804943e-03 -9.10314843e+01] [ 2.43281230e-03 1.62678623e-05 -9.99997041e-01 -4.04063305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4265599949999 meters 0.013487460639838115 Centerline is valid? [True, True] Translation: X:177.94, Y:-91.00, Z:-4.04 [[-2.92948575e-01 9.56127977e-01 -6.50866053e-04 1.77935864e+02] [ 9.56125509e-01 2.92949297e-01 2.17244048e-03 -9.10031259e+01] [ 2.26780188e-03 1.41037064e-05 -9.99997428e-01 -4.03993009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.486559995 meters 0.013232200868841948 Centerline is valid? [True, True] Translation: X:177.93, Y:-90.98, Z:-4.04 [[-3.64340941e-01 9.31265364e-01 -7.07485982e-04 1.77932960e+02] [ 9.31263572e-01 3.64341628e-01 1.82700170e-03 -9.09769303e+01] [ 1.95919000e-03 6.79559790e-06 -9.99998081e-01 -4.03913828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5465599949999 meters 0.013180800712407353 Centerline is valid? [True, True] Translation: X:177.93, Y:-90.95, Z:-4.04 [[-4.35293579e-01 9.00287307e-01 -1.50492500e-03 1.77931115e+02] [ 9.00281866e-01 4.35296181e-01 3.13009187e-03 -9.09484221e+01] [ 3.47307009e-03 7.65220431e-06 -9.99993969e-01 -4.03980636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.606559995 meters 0.013274682041381054 Centerline is valid? [True, True] Translation: X:177.93, Y:-90.92, Z:-4.04 [[-5.03108748e-01 8.64215650e-01 -3.59143245e-03 1.77926438e+02] [ 8.64193588e-01 5.03121567e-01 6.17501907e-03 -9.09217037e+01] [ 7.14347523e-03 3.01321716e-06 -9.99974485e-01 -4.04201329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.666559995 meters 0.013133938314307748 Centerline is valid? [True, True] Translation: X:177.92, Y:-90.89, Z:-4.04 [[-5.68003467e-01 8.23017074e-01 -3.86753827e-03 1.77921089e+02] [ 8.22998088e-01 5.68016634e-01 5.59029274e-03 -9.08925278e+01] [ 6.79773244e-03 -7.67093725e-06 -9.99976895e-01 -4.04029214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.726559995 meters 0.013237720330504061 Centerline is valid? [True, True] Translation: X:177.91, Y:-90.87, Z:-4.04 [[-6.29089811e-01 7.77327955e-01 -2.69440770e-03 1.77912007e+02] [ 7.77320917e-01 6.29095581e-01 3.30783563e-03 -9.08664576e+01] [ 4.26631308e-03 -1.34937664e-05 -9.99990899e-01 -4.03692721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.786559995 meters 0.013159119511950071 Centerline is valid? [True, True] Translation: X:177.90, Y:-90.84, Z:-4.04 [[-6.87626555e-01 7.26055615e-01 -3.60058107e-03 1.77901905e+02] [ 7.26045811e-01 6.87635982e-01 3.77322488e-03 -9.08390248e+01] [ 5.21546021e-03 -1.96171718e-05 -9.99986399e-01 -4.03598982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.846559995 meters 0.013098597878563684 Centerline is valid? [True, True] Translation: X:177.89, Y:-90.81, Z:-4.03 [[-7.41528827e-01 6.70916659e-01 -2.41572567e-03 1.77890344e+02] [ 6.70913169e-01 7.41532761e-01 2.16420003e-03 -9.08120708e+01] [ 3.24333758e-03 -1.59254583e-05 -9.99994740e-01 -4.03412728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.906559995 meters 0.013149784551204262 Centerline is valid? [True, True] Translation: X:177.91, Y:-90.79, Z:-4.03 [[-7.86630419e-01 6.17424097e-01 -2.60723764e-04 1.77912970e+02] [ 6.17424063e-01 7.86630463e-01 2.03476962e-04 -9.07930031e+01] [ 3.30724834e-04 -9.15958248e-07 -9.99999945e-01 -4.03021357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9665599949999 meters 0.01314531136693713 Centerline is valid? [True, True] Translation: X:177.93, Y:-90.77, Z:-4.03 [[-8.27857208e-01 5.60933526e-01 2.45396027e-03 1.77931442e+02] [ 5.60931139e-01 8.27860845e-01 -1.63641873e-03 -9.07688099e+01] [-2.94945975e-03 2.17816916e-05 -9.99995650e-01 -4.02551769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.026559995 meters 0.013507440451297021 Centerline is valid? [True, True] Translation: X:177.95, Y:-90.74, Z:-4.02 [[-8.64337967e-01 5.02875066e-01 6.04542581e-03 1.77949767e+02] [ 5.02863292e-01 8.64359106e-01 -3.44178718e-03 -9.07437003e+01] [-6.95620780e-03 6.51553885e-05 -9.99975803e-01 -4.01974799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0865599949999 meters 0.013948374482141352 Centerline is valid? [True, True] Translation: X:177.96, Y:-90.72, Z:-4.02 [[-8.96380865e-01 4.43194665e-01 8.93498732e-03 1.77962917e+02] [ 4.43173976e-01 8.96425387e-01 -4.28392861e-03 -9.07199109e+01] [-9.90816377e-03 1.19722222e-04 -9.99950906e-01 -4.01726363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.146559995 meters 0.014707355424927406 Centerline is valid? [True, True] Translation: X:177.98, Y:-90.69, Z:-4.01 [[-9.24509673e-01 3.80897787e-01 1.40975525e-02 1.77982331e+02] [ 3.80857145e-01 9.24617124e-01 -5.56849822e-03 -9.06944868e+01] [-1.51558671e-02 2.21023143e-04 -9.99885119e-01 -4.01200858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2065599949999 meters 0.015290548620836033 Centerline is valid? [True, True] Translation: X:177.99, Y:-90.66, Z:-4.01 [[-9.49135214e-01 3.14145334e-01 2.13320155e-02 1.77994814e+02] [ 3.14073540e-01 9.49374851e-01 -6.72335611e-03 -9.06641111e+01] [-2.23641900e-02 3.18447593e-04 -9.99749840e-01 -4.00510651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.266559995 meters 0.01593178306091601 Centerline is valid? [True, True] Translation: X:178.00, Y:-90.63, Z:-4.00 [[-9.69078211e-01 2.45637937e-01 2.34398244e-02 1.77995734e+02] [ 2.45574394e-01 9.69361591e-01 -5.59677389e-03 -9.06323505e+01] [-2.40964454e-02 3.32509043e-04 -9.99709583e-01 -4.00100829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3265599949999 meters 0.01634727513329836 Centerline is valid? [True, True] Translation: X:178.00, Y:-90.60, Z:-4.00 [[-9.83996573e-01 1.76657237e-01 2.33016292e-02 1.78003389e+02] [ 1.76615792e-01 9.84272375e-01 -3.84108113e-03 -9.06009749e+01] [-2.36137047e-02 3.35825038e-04 -9.99721101e-01 -4.00109573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.386559995 meters 0.015474437767786528 Centerline is valid? [True, True] Translation: X:178.00, Y:-90.57, Z:-4.01 [[-9.93952149e-01 1.07482929e-01 2.25065483e-02 1.78004934e+02] [ 1.07463261e-01 9.94206870e-01 -2.08501838e-03 -9.05677293e+01] [-2.26002688e-02 3.46218580e-04 -9.99744521e-01 -4.00534556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4465599949999 meters 0.0151164020428584 Centerline is valid? [True, True] Translation: X:178.06, Y:-89.92, Z:-5.03 [[-9.89226779e-01 -1.44694860e-01 2.22210799e-02 1.78064954e+02] [ 1.44650398e-01 -9.89476263e-01 -3.60388810e-03 -8.99178418e+01] [ 2.25086952e-02 -3.50774568e-04 9.99746586e-01 -5.03372617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.506559995 meters 0.01579757882588282 Centerline is valid? [True, True] Translation: X:177.95, Y:-90.55, Z:-4.00 [[-9.94885069e-01 9.85333429e-02 2.22458899e-02 1.77952741e+02] [ 9.85139106e-02 9.95133723e-01 -1.97041319e-03 -9.05515840e+01] [-2.23317866e-02 2.31194943e-04 -9.99750588e-01 -4.00470789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5665599949999 meters 0.014134796068960882 Centerline is valid? [True, True] Translation: X:177.95, Y:-90.51, Z:-4.01 [[-9.99489308e-01 2.40184487e-02 2.10769396e-02 1.77946311e+02] [ 2.40161143e-02 9.99711505e-01 -3.63908254e-04 -9.05147616e+01] [-2.10795996e-02 1.42463782e-04 -9.99777790e-01 -4.00883811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.626559995 meters 0.013691604094773642 Centerline is valid? [True, True] Translation: X:177.96, Y:-89.91, Z:-5.03 [[-9.96642246e-01 -7.97615465e-02 1.85021415e-02 1.77955234e+02] [ 7.97423582e-02 -9.96813930e-01 -1.77371749e-03 -8.99069824e+01] [ 1.85846668e-02 -2.92357389e-04 9.99827247e-01 -5.02978881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6865599949999 meters 0.014025154471558809 Centerline is valid? [True, True] Translation: X:177.88, Y:-90.51, Z:-4.02 [[-9.99564230e-01 2.22746339e-02 1.93698396e-02 1.77884971e+02] [ 2.22739801e-02 9.99751873e-01 -2.49518378e-04 -9.05108412e+01] [-1.93705914e-02 1.82033778e-04 -9.99812356e-01 -4.01514061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.746559995 meters 0.01454940643313384 Centerline is valid? [True, True] Translation: X:177.88, Y:-90.49, Z:-4.02 [[-9.98851926e-01 -4.42257487e-02 1.84096200e-02 1.77884319e+02] [-4.42134511e-02 9.99021529e-01 1.07466916e-03 -9.04864989e+01] [-1.84391347e-02 2.59482531e-04 -9.99829951e-01 -4.01732084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8065599949999 meters 0.016024865873584638 Centerline is valid? [True, True] Translation: X:177.88, Y:-90.46, Z:-4.02 [[-9.93879673e-01 -1.09059442e-01 1.75850200e-02 1.77878425e+02] [-1.09035967e-01 9.94035165e-01 2.29109092e-03 -9.04623065e+01] [-1.77299933e-02 3.59669035e-04 -9.99842747e-01 -4.01831395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.866559995 meters 0.016913512287414743 Centerline is valid? [True, True] Translation: X:177.87, Y:-90.44, Z:-4.02 [[-9.84534993e-01 -1.74412253e-01 1.64685569e-02 1.77866722e+02] [-1.74380516e-01 9.84672626e-01 3.35493972e-03 -9.04409253e+01] [-1.68012798e-02 4.31260093e-04 -9.99858756e-01 -4.02010252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9265599949999 meters 0.020206012079399018 Centerline is valid? [True, True] Translation: X:177.85, Y:-90.43, Z:-4.02 [[-9.71728866e-01 -2.35655401e-01 1.44755953e-02 1.77845002e+02] [-2.35621132e-01 9.71836536e-01 4.05320821e-03 -9.04280500e+01] [-1.50230728e-02 5.27863261e-04 -9.99887008e-01 -4.02296176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.986559995 meters 0.02069073945347289 Centerline is valid? [True, True] Translation: X:177.81, Y:-90.41, Z:-4.02 [[-9.53476254e-01 -3.01096724e-01 1.49598208e-02 1.77807411e+02] [-3.01049235e-01 9.53593396e-01 5.38450537e-03 -9.04136274e+01] [-1.58868432e-02 6.30355413e-04 -9.99873597e-01 -4.02483481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0465599949999 meters 0.019151823361174814 Centerline is valid? [True, True] Translation: X:177.75, Y:-90.40, Z:-4.03 [[-9.27942106e-01 -3.72550070e-01 1.13971015e-02 1.77751895e+02] [-3.72515871e-01 9.28011981e-01 5.06849852e-03 -9.04004946e+01] [-1.24649162e-02 4.57671984e-04 -9.99922205e-01 -4.02853781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.106559995 meters 0.018923841689652894 Centerline is valid? [True, True] Translation: X:177.68, Y:-90.40, Z:-4.03 [[-8.97040613e-01 -4.41819901e-01 1.06449329e-02 1.77683737e+02] [-4.41783234e-01 8.97103674e-01 5.70725666e-03 -9.04016979e+01] [-1.20711880e-02 4.16888123e-04 -9.99927054e-01 -4.02908668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.166559995 meters 0.018071616666081713 Centerline is valid? [True, True] Translation: X:177.61, Y:-90.41, Z:-4.03 [[-8.59093729e-01 -5.11736776e-01 9.13432611e-03 1.77610209e+02] [-5.11703970e-01 8.59142232e-01 5.80271291e-03 -9.04109205e+01] [-1.08171469e-02 3.11003337e-04 -9.99941445e-01 -4.03068119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.226559995 meters 0.01734088486957018 Centerline is valid? [True, True] Translation: X:177.53, Y:-90.43, Z:-4.03 [[-8.16778834e-01 -5.76871645e-01 9.56249235e-03 1.77529568e+02] [-5.76827758e-01 8.16834753e-01 7.12205445e-03 -9.04283366e+01] [-1.19194873e-02 3.01232308e-04 -9.99928915e-01 -4.02830224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.286559995 meters 0.015173428908499605 Centerline is valid? [True, True] Translation: X:177.45, Y:-90.45, Z:-4.03 [[-7.68847293e-01 -6.39350843e-01 1.02146480e-02 1.77446583e+02] [-6.39289435e-01 7.68915091e-01 8.86567383e-03 -9.04524190e+01] [-1.35224731e-02 2.86232744e-04 -9.99908526e-01 -4.02750711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.346559995 meters 0.015256213887154747 Centerline is valid? [True, True] Translation: X:177.37, Y:-90.49, Z:-4.03 [[-7.18300922e-01 -6.95684347e-01 8.18997238e-03 1.77365122e+02] [-6.95635321e-01 7.18347571e-01 8.26235055e-03 -9.04918596e+01] [-1.16312347e-02 2.37619949e-04 -9.99932327e-01 -4.02892185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.406559995 meters 0.014790329917402076 Centerline is valid? [True, True] Translation: X:177.28, Y:-90.54, Z:-4.03 [[-6.62584726e-01 -7.48960244e-01 6.32719888e-03 1.77283405e+02] [-7.48923458e-01 6.62614910e-01 7.42525450e-03 -9.05428572e+01] [-9.75371674e-03 1.81272547e-04 -9.99952415e-01 -4.03133014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4665599949999 meters 0.013809328337744408 Centerline is valid? [True, True] Translation: X:177.20, Y:-90.60, Z:-4.03 [[-6.00438241e-01 -7.99649957e-01 5.81946946e-03 1.77199738e+02] [-7.99610182e-01 6.00466426e-01 7.97678100e-03 -9.06012375e+01] [-9.87302860e-03 1.36257316e-04 -9.99951251e-01 -4.03069370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.526559995 meters 0.012990303614093925 Centerline is valid? [True, True] Translation: X:177.12, Y:-90.67, Z:-4.03 [[-5.33712816e-01 -8.45649702e-01 5.21646057e-03 1.77117100e+02] [-8.45607788e-01 5.33738301e-01 8.41990232e-03 -9.06675549e+01] [-9.90451269e-03 8.27300941e-05 -9.99950946e-01 -4.02966139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5865599949999 meters 0.01252796947658047 Centerline is valid? [True, True] Translation: X:177.04, Y:-90.74, Z:-4.03 [[-4.58444155e-01 -8.88712893e-01 4.28380416e-03 1.77035294e+02] [-8.88674610e-01 4.58464168e-01 8.24886056e-03 -9.07428190e+01] [-9.29483944e-03 -2.52660846e-05 -9.99956802e-01 -4.02922923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.646559995 meters 0.013452117463108768 Centerline is valid? [True, True] Translation: X:176.96, Y:-90.83, Z:-4.03 [[-3.81764583e-01 -9.24251798e-01 3.79699519e-03 1.76960960e+02] [-9.24208936e-01 3.81783449e-01 8.90174506e-03 -9.08270532e+01] [-9.67708380e-03 -1.10845893e-04 -9.99953170e-01 -4.02884501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7065599949999 meters 0.013743329958715026 Centerline is valid? [True, True] Translation: X:176.90, Y:-90.92, Z:-4.03 [[-3.07910020e-01 -9.51409341e-01 3.41834568e-03 1.76898455e+02] [-9.51356084e-01 3.07928957e-01 1.00677427e-02 -9.09169483e+01] [-1.06311521e-02 -1.52105105e-04 -9.99943476e-01 -4.02781661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.766559995 meters 0.014609609758651334 Centerline is valid? [True, True] Translation: X:176.85, Y:-91.01, Z:-4.03 [[-2.31503370e-01 -9.72829624e-01 2.95167130e-03 1.76846471e+02] [-9.72761670e-01 2.31522092e-01 1.15001771e-02 -9.10114334e+01] [-1.18710901e-02 -2.08942940e-04 -9.99929514e-01 -4.02834875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8265599949999 meters 0.015174914938137343 Centerline is valid? [True, True] Translation: X:176.80, Y:-91.11, Z:-4.03 [[-1.55744805e-01 -9.87794873e-01 2.20109268e-03 1.76798830e+02] [-9.87717517e-01 1.55760160e-01 1.23644005e-02 -9.11050110e+01] [-1.25563340e-02 -2.48366654e-04 -9.99921135e-01 -4.02707435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.886559995 meters 0.016151376342843856 Centerline is valid? [True, True] Translation: X:176.76, Y:-91.21, Z:-4.03 [[-7.70646356e-02 -9.97025310e-01 1.25446782e-03 1.76758318e+02] [-9.96946516e-01 7.70743204e-02 1.25377050e-02 -9.12126911e+01] [-1.25970965e-02 -2.84423652e-04 -9.99920613e-01 -4.02544041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9465599949999 meters 0.01554703022424434 Centerline is valid? [True, True] Translation: X:176.73, Y:-91.32, Z:-4.03 [[-8.73060265e-04 -9.99999587e-01 2.53705018e-04 1.76733423e+02] [-9.99940630e-01 8.75764390e-04 1.08614160e-02 -9.13188654e+01] [-1.08616337e-02 -2.44207284e-04 -9.99940981e-01 -4.02871635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.006559995 meters 0.015214253768946688 Centerline is valid? [True, True] Translation: X:176.72, Y:-91.43, Z:-4.03 [[ 7.42616425e-02 -9.97238667e-01 -4.99503469e-04 1.76715258e+02] [-9.97194875e-01 -7.42630635e-02 9.34769170e-03 -9.14286185e+01] [-9.35897427e-03 -1.96072639e-04 -9.99956185e-01 -4.03041064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0665599949999 meters 0.015349300741519625 Centerline is valid? [True, True] Translation: X:176.70, Y:-91.55, Z:-4.03 [[ 1.51651912e-01 -9.88433140e-01 -1.27521022e-03 1.76703491e+02] [-9.88385081e-01 -1.51657116e-01 9.74941346e-03 -9.15459953e+01] [-9.83003806e-03 -2.18118432e-04 -9.99951660e-01 -4.02900448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.126559995 meters 0.017180820069225285 Centerline is valid? [True, True] Translation: X:176.69, Y:-91.65, Z:-4.03 [[ 2.28170658e-01 -9.73619182e-01 -1.95956854e-03 1.76694839e+02] [-9.73574059e-01 -2.28178955e-01 9.37634375e-03 -9.16539658e+01] [-9.57612043e-03 -2.31621425e-04 -9.99954121e-01 -4.02899448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1865599949999 meters 0.017653319565556366 Centerline is valid? [True, True] Translation: X:176.70, Y:-91.77, Z:-4.03 [[ 3.05553328e-01 -9.52169902e-01 -3.10500186e-03 1.76699243e+02] [-9.52109955e-01 -3.05568946e-01 1.06889335e-02 -9.17737464e+01] [-1.11264729e-02 -3.09736021e-04 -9.99938051e-01 -4.02684411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.246559995 meters 0.018761327783052024 Centerline is valid? [True, True] Translation: X:176.72, Y:-91.90, Z:-4.03 [[ 3.80179245e-01 -9.24901861e-01 -4.50442411e-03 1.76717723e+02] [-9.24824219e-01 -3.80205726e-01 1.19903967e-02 -9.18984955e+01] [-1.28025480e-02 -3.92699444e-04 -9.99917967e-01 -4.02703063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3065599949999 meters 0.01824173591604538 Centerline is valid? [True, True] Translation: X:176.74, Y:-92.00, Z:-4.03 [[ 4.48478009e-01 -8.93776452e-01 -5.57940440e-03 1.76738354e+02] [-8.93696366e-01 -4.48512551e-01 1.19707095e-02 -9.20040597e+01] [-1.32015711e-02 -3.82306516e-04 -9.99912782e-01 -4.02527945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.366559995 meters 0.017414283793329405 Centerline is valid? [True, True] Translation: X:176.77, Y:-92.11, Z:-4.03 [[ 5.11670894e-01 -8.59159311e-01 -6.17852771e-03 1.76770886e+02] [-8.59089309e-01 -5.11708105e-01 1.09715187e-02 -9.21085696e+01] [-1.25878852e-02 -3.05899682e-04 -9.99920723e-01 -4.02620183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4265599949999 meters 0.013896761101136128 Centerline is valid? [True, True] Translation: X:176.82, Y:-92.21, Z:-4.03 [[ 5.66722783e-01 -8.23887196e-01 -5.93091048e-03 1.76817939e+02] [-8.23839512e-01 -5.66753799e-01 8.86505577e-03 -9.22087420e+01] [-1.06651720e-02 -1.37910679e-04 -9.99943116e-01 -4.02840439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.486559995 meters 0.013043045426792675 Centerline is valid? [True, True] Translation: X:176.86, Y:-92.30, Z:-4.03 [[ 6.24498982e-01 -7.80998438e-01 -6.51626009e-03 1.76855730e+02] [-7.80954458e-01 -6.24532971e-01 8.28864520e-03 -9.23030493e+01] [-1.05430382e-02 -8.73481205e-05 -9.99944417e-01 -4.02782755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5465599949999 meters 0.01263153207751994 Centerline is valid? [True, True] Translation: X:176.91, Y:-92.40, Z:-4.03 [[ 6.77879417e-01 -7.35137954e-01 -7.18925520e-03 1.76906143e+02] [-7.35096244e-01 -6.77917538e-01 7.83097398e-03 -9.23982671e+01] [-1.06305684e-02 -2.36615789e-05 -9.99943494e-01 -4.02811627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.606559995 meters 0.013039012782800334 Centerline is valid? [True, True] Translation: X:176.96, Y:-92.48, Z:-4.03 [[ 7.25671177e-01 -6.88005981e-01 -7.00814349e-03 1.76959140e+02] [-6.87974786e-01 -7.25705013e-01 6.55189550e-03 -9.24825911e+01] [-9.59358816e-03 6.69043017e-05 -9.99953978e-01 -4.02959505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.666559995 meters 0.01413769891041681 Centerline is valid? [True, True] Translation: X:176.98, Y:-92.50, Z:-4.03 [[ 7.73323149e-01 -6.33974616e-01 -6.89160020e-03 1.76982824e+02] [-6.33950772e-01 -7.73353847e-01 5.49968447e-03 -9.25031208e+01] [-8.81630588e-03 1.15901955e-04 -9.99961129e-01 -4.03076931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.726559995 meters 0.015925258415737057 Centerline is valid? [True, True] Translation: X:177.00, Y:-92.53, Z:-4.03 [[ 8.13842271e-01 -5.81039820e-01 -7.31334651e-03 1.77001958e+02] [-5.81018749e-01 -8.13875101e-01 4.95315663e-03 -9.25296020e+01] [-8.83013187e-03 2.18103203e-04 -9.99960990e-01 -4.02961654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.786559995 meters 0.01766027100705632 Centerline is valid? [True, True] Translation: X:177.02, Y:-92.55, Z:-4.03 [[ 8.53661260e-01 -5.20758797e-01 -8.52811334e-03 1.77023992e+02] [-5.20736301e-01 -8.53703804e-01 4.84972761e-03 -9.25538252e+01] [-9.80602112e-03 3.00873613e-04 -9.99951875e-01 -4.02895175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.846559995 meters 0.01960022695438499 Centerline is valid? [True, True] Translation: X:177.05, Y:-92.58, Z:-4.03 [[ 8.87865761e-01 -4.59970397e-01 -1.10283178e-02 1.77047347e+02] [-4.59941520e-01 -8.87934123e-01 5.17607747e-03 -9.25778526e+01] [-1.21732621e-02 4.76719312e-04 -9.99925789e-01 -4.02835755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.906559995 meters 0.02139243287669968 Centerline is valid? [True, True] Translation: X:177.07, Y:-92.60, Z:-4.03 [[ 9.20366591e-01 -3.90867690e-01 -1.21567472e-02 1.77070669e+02] [-3.90841174e-01 -9.20446720e-01 4.58385350e-03 -9.26002807e+01] [-1.29813183e-02 5.32531725e-04 -9.99915597e-01 -4.02659829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9665599949999 meters 0.020549992616952797 Centerline is valid? [True, True] Translation: X:177.10, Y:-92.62, Z:-4.03 [[ 9.48248852e-01 -3.17311135e-01 -1.17370679e-02 1.77096388e+02] [-3.17293258e-01 -9.48321358e-01 3.40447868e-03 -9.26226322e+01] [-1.22107911e-02 4.95799504e-04 -9.99925323e-01 -4.02718270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.026559995 meters 0.02091024135186282 Centerline is valid? [True, True] Translation: X:177.12, Y:-92.64, Z:-4.03 [[ 9.71076756e-01 -2.38653759e-01 -7.37000128e-03 1.77123688e+02] [-2.38649053e-01 -9.71104683e-01 1.52440014e-03 -9.26420731e+01] [-7.52084658e-03 2.78534284e-04 -9.99971679e-01 -4.03065476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0865599949999 meters 0.017182571893656445 Centerline is valid? [True, True] Translation: X:177.15, Y:-92.67, Z:-4.03 [[ 9.87493300e-01 -1.57508430e-01 -6.93378618e-03 1.77148452e+02] [-1.57506163e-01 -9.87517616e-01 8.75229831e-04 -9.26673079e+01] [-6.98509208e-03 2.27830463e-04 -9.99975578e-01 -4.03193716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.146559995 meters 0.015334300904775503 Centerline is valid? [True, True] Translation: X:177.18, Y:-92.69, Z:-4.03 [[ 9.97471805e-01 -7.07130094e-02 -7.04753130e-03 1.77176269e+02] [-7.07124190e-02 -9.97496688e-01 3.33231144e-04 -9.26880900e+01] [-7.05345291e-03 1.65959315e-04 -9.99975110e-01 -4.03119408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2065599949999 meters 0.013154804182068963 Centerline is valid? [True, True] Translation: X:177.21, Y:-92.71, Z:-4.03 [[ 9.99800017e-01 1.92722405e-02 -5.33917707e-03 1.77206508e+02] [ 1.92716244e-02 -9.99814271e-01 -1.66833222e-04 -9.27074148e+01] [-5.34140068e-03 6.39052436e-05 -9.99985733e-01 -4.03192043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.266559995 meters 0.01238527455885376 Centerline is valid? [True, True] Translation: X:177.24, Y:-92.72, Z:-4.03 [[ 9.94505038e-01 1.04407033e-01 -7.67472283e-03 1.77237850e+02] [ 1.04403632e-01 -9.94534650e-01 -8.43620561e-04 -9.27190658e+01] [-7.72085770e-03 3.77159628e-05 -9.99970193e-01 -4.02974587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3265599949999 meters 0.012256384521955802 Centerline is valid? [True, True] Translation: X:177.27, Y:-92.73, Z:-4.03 [[ 9.81948509e-01 1.88962871e-01 -8.37607878e-03 1.77270917e+02] [ 1.88956163e-01 -9.81984233e-01 -1.59232001e-03 -9.27284725e+01] [-8.52606666e-03 -1.91354450e-05 -9.99963652e-01 -4.02790925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.386559995 meters 0.01277419300783007 Centerline is valid? [True, True] Translation: X:177.30, Y:-92.73, Z:-4.03 [[ 9.62284468e-01 2.71914496e-01 -8.43264071e-03 1.77304991e+02] [ 2.71904786e-01 -9.62321412e-01 -2.29927185e-03 -9.27339149e+01] [-8.74011606e-03 -8.03217827e-05 -9.99961801e-01 -4.02696555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4465599949999 meters 0.012881969918306101 Centerline is valid? [True, True] Translation: X:177.34, Y:-92.73, Z:-4.03 [[ 9.37876478e-01 3.46851664e-01 -9.03519953e-03 1.77336853e+02] [ 3.46836521e-01 -9.37919994e-01 -3.24244667e-03 -9.27282132e+01] [-9.59894231e-03 -9.27227056e-05 -9.99953925e-01 -4.02729559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.506559995 meters 0.012764004500438162 Centerline is valid? [True, True] Translation: X:177.37, Y:-92.72, Z:-4.03 [[ 9.08143178e-01 4.18577484e-01 -8.29814144e-03 1.77367955e+02] [ 4.18560828e-01 -9.08181085e-01 -3.73493237e-03 -9.27201654e+01] [-9.09957369e-03 -8.14236034e-05 -9.99958595e-01 -4.02751461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5665599949999 meters 0.012530665725676713 Centerline is valid? [True, True] Translation: X:177.40, Y:-92.71, Z:-4.03 [[ 8.73813752e-01 4.86205323e-01 -7.34232081e-03 1.77397253e+02] [ 4.86188676e-01 -8.73844598e-01 -4.02376990e-03 -9.27088921e+01] [-8.37242572e-03 -5.37277575e-05 -9.99964949e-01 -4.02696878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.626559995 meters 0.012282541816145727 Centerline is valid? [True, True] Translation: X:177.42, Y:-92.69, Z:-4.03 [[ 8.36466838e-01 5.47964543e-01 -7.62162520e-03 1.77422190e+02] [ 5.47941820e-01 -8.36501560e-01 -4.99026261e-03 -9.26911567e+01] [-9.10998833e-03 -2.01799756e-06 -9.99958503e-01 -4.02691480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6865599949999 meters 0.012711070348438689 Centerline is valid? [True, True] Translation: X:177.44, Y:-92.67, Z:-4.03 [[ 7.94385652e-01 6.07363380e-01 -7.82052991e-03 1.77444305e+02] [ 6.07333298e-01 -7.94424145e-01 -6.04505727e-03 -9.26709174e+01] [-9.88436420e-03 5.24385422e-05 -9.99951147e-01 -4.02720067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.746559995 meters 0.013957465362161187 Centerline is valid? [True, True] Translation: X:177.47, Y:-92.65, Z:-4.03 [[ 7.51329383e-01 6.59885658e-01 -7.42137318e-03 1.77466110e+02] [ 6.59851378e-01 -7.51366018e-01 -6.72801578e-03 -9.26516441e+01] [-1.00158887e-02 1.57952623e-04 -9.99949827e-01 -4.02722584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8065599949999 meters 0.014900671828886176 Centerline is valid? [True, True] Translation: X:177.49, Y:-92.64, Z:-4.03 [[ 7.00779013e-01 7.13348174e-01 -6.56939445e-03 1.77489912e+02] [ 7.13314170e-01 -7.00809777e-01 -6.96790011e-03 -9.26356154e+01] [-9.57443468e-03 1.96916015e-04 -9.99954145e-01 -4.02837027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.866559995 meters 0.014888139176027427 Centerline is valid? [True, True] Translation: X:177.51, Y:-92.62, Z:-4.03 [[ 6.41609740e-01 7.67010580e-01 -5.63140009e-03 1.77513648e+02] [ 7.66978669e-01 -6.41634430e-01 -6.99854856e-03 -9.26204875e+01] [-8.98126097e-03 1.71173174e-04 -9.99959653e-01 -4.02990182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9265599949999 meters 0.014123409606854142 Centerline is valid? [True, True] Translation: X:177.54, Y:-92.60, Z:-4.03 [[ 5.77045256e-01 8.16697596e-01 -4.87957319e-03 1.77539176e+02] [ 8.16666348e-01 -5.77065870e-01 -7.14547929e-03 -9.26045618e+01] [-8.65153091e-03 1.38281704e-04 -9.99962565e-01 -4.03072186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.986559995 meters 0.013684092344592037 Centerline is valid? [True, True] Translation: X:177.56, Y:-92.59, Z:-4.03 [[ 5.09247061e-01 8.60608017e-01 -4.61214600e-03 1.77563789e+02] [ 8.60570467e-01 -5.09267931e-01 -8.04024047e-03 -9.25877502e+01] [-9.26831346e-03 1.25392191e-04 -9.99957040e-01 -4.02999313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0465599949999 meters 0.013094097279661071 Centerline is valid? [True, True] Translation: X:177.59, Y:-92.57, Z:-4.03 [[ 4.36148157e-01 8.99865441e-01 -4.11993252e-03 1.77588945e+02] [ 8.99823423e-01 -4.36167606e-01 -8.69634784e-03 -9.25694679e+01] [-9.62252398e-03 8.56842975e-05 -9.99953699e-01 -4.02930255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.106559995 meters 0.012573109631866548 Centerline is valid? [True, True] Translation: X:177.62, Y:-92.55, Z:-4.03 [[ 3.53755329e-01 9.35330997e-01 -3.61830645e-03 1.77618405e+02] [ 9.35282795e-01 -3.53773833e-01 -9.49573499e-03 -9.25511517e+01] [-1.01617174e-02 -2.49729103e-05 -9.99948368e-01 -4.02884054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.166559995 meters 0.01336548768797104 Centerline is valid? [True, True] Translation: X:177.64, Y:-92.53, Z:-4.03 [[ 2.70984034e-01 9.62579146e-01 -3.00691090e-03 1.77639612e+02] [ 9.62524715e-01 -2.71000690e-01 -1.02371657e-02 -9.25273764e+01] [-1.06689572e-02 -1.20117578e-04 -9.99943078e-01 -4.02876934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.226559995 meters 0.01365205892634916 Centerline is valid? [True, True] Translation: X:177.66, Y:-92.50, Z:-4.03 [[ 1.92516587e-01 9.81291265e-01 -2.19494999e-03 1.77656102e+02] [ 9.81235758e-01 -1.92529046e-01 -1.04380628e-02 -9.25012442e+01] [-1.06653715e-02 -1.44263183e-04 -9.99943113e-01 -4.02876832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.286559995 meters 0.015300543380091756 Centerline is valid? [True, True] Translation: X:177.67, Y:-92.48, Z:-4.03 [[ 1.11627950e-01 9.93748937e-01 -1.50028629e-03 1.77671839e+02] [ 9.93681486e-01 -1.11637855e-01 -1.15798916e-02 -9.24750693e+01] [-1.16749937e-02 -1.98167146e-04 -9.99931825e-01 -4.02551960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.346559995 meters 0.01423445256046643 Centerline is valid? [True, True] Translation: X:177.68, Y:-92.45, Z:-4.03 [[ 3.11065022e-02 9.99515926e-01 -5.46270099e-04 1.77680459e+02] [ 9.99457248e-01 -3.11105963e-02 -1.08323869e-02 -9.24462764e+01] [-1.08441380e-02 -2.09015943e-04 -9.99941179e-01 -4.02841693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.406559995 meters 0.014069938229249436 Centerline is valid? [True, True] Translation: X:177.69, Y:-92.42, Z:-4.03 [[-4.57158577e-02 9.98954445e-01 2.76380857e-04 1.77686034e+02] [ 9.98905944e-01 4.57163620e-02 -9.84522716e-03 -9.24170260e+01] [-9.84756856e-03 -1.74004522e-04 -9.99951496e-01 -4.02922156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4665599949999 meters 0.013784513977002168 Centerline is valid? [True, True] Translation: X:177.69, Y:-92.39, Z:-4.03 [[-1.21754941e-01 9.92559616e-01 1.06940338e-03 1.77688985e+02] [ 9.92509150e-01 1.21759535e-01 -1.00101170e-02 -9.23879063e+01] [-1.00658479e-02 -1.57388557e-04 -9.99949326e-01 -4.02839330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.526559995 meters 0.013513515948153148 Centerline is valid? [True, True] Translation: X:177.69, Y:-92.36, Z:-4.03 [[-1.96536423e-01 9.80494381e-01 2.05011321e-03 1.77685433e+02] [ 9.80433074e-01 1.96547061e-01 -1.09653714e-02 -9.23613517e+01] [-1.11544288e-02 -1.45096071e-04 -9.99937777e-01 -4.02711511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5865599949999 meters 0.014511227767576174 Centerline is valid? [True, True] Translation: X:177.69, Y:-92.33, Z:-4.03 [[-2.76056173e-01 9.61138260e-01 2.49681268e-03 1.77687474e+02] [ 9.61093639e-01 2.76067419e-01 -9.26265522e-03 -9.23340146e+01] [-9.59198095e-03 -1.57342362e-04 -9.99953984e-01 -4.02739337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.646559995 meters 0.014353067571421713 Centerline is valid? [True, True] Translation: X:177.69, Y:-92.30, Z:-4.03 [[-3.51782096e-01 9.36076140e-01 3.28905177e-03 1.77687401e+02] [ 9.36030476e-01 3.51797428e-01 -9.24756907e-03 -9.23049704e+01] [-9.81350871e-03 -1.74476537e-04 -9.99951831e-01 -4.02708859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7065599949999 meters 0.014044932305710467 Centerline is valid? [True, True] Translation: X:177.68, Y:-92.28, Z:-4.03 [[-4.23176092e-01 9.06037306e-01 4.28888432e-03 1.77682224e+02] [ 9.05986457e-01 4.23197788e-01 -9.60063316e-03 -9.22771651e+01] [-1.05135782e-02 -1.77087313e-04 -9.99944715e-01 -4.02723326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.766559995 meters 0.014285462401390699 Centerline is valid? [True, True] Translation: X:177.68, Y:-92.25, Z:-4.03 [[-4.92908395e-01 8.70070967e-01 4.22225547e-03 1.77679190e+02] [ 8.70036414e-01 4.92926456e-01 -7.75551629e-03 -9.22491213e+01] [-8.82911098e-03 -1.49243083e-04 -9.99961012e-01 -4.02768451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8265599949999 meters 0.013998727486264084 Centerline is valid? [True, True] Translation: X:177.67, Y:-92.22, Z:-4.02 [[-5.57772491e-01 8.29975241e-01 5.56300265e-03 1.77671688e+02] [ 8.29931233e-01 5.57800211e-01 -8.54822423e-03 -9.22207895e+01] [-1.01978585e-02 -1.51054670e-04 -9.99947989e-01 -4.02447556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.886559995 meters 0.01390182142017335 Centerline is valid? [True, True] Translation: X:177.66, Y:-92.20, Z:-4.02 [[-6.20528726e-01 7.84154541e-01 6.76436622e-03 1.77659928e+02] [ 7.84105170e-01 6.20565574e-01 -8.80060650e-03 -9.21951146e+01] [-1.10987684e-02 -1.57054618e-04 -9.99938394e-01 -4.02355237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9465599949999 meters 0.013181431496751668 Centerline is valid? [True, True] Translation: X:177.65, Y:-92.17, Z:-4.02 [[-6.77641920e-01 7.35354503e-01 7.42853200e-03 1.77645559e+02] [ 7.35308353e-01 6.77682625e-01 -8.23934704e-03 -9.21704468e+01] [-1.10930280e-02 -1.21065316e-04 -9.99938463e-01 -4.02432651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.006559995 meters 0.012629655713051507 Centerline is valid? [True, True] Translation: X:177.63, Y:-92.15, Z:-4.03 [[-7.30557829e-01 6.82814615e-01 7.03279713e-03 1.77630769e+02] [ 6.82782076e-01 7.30591676e-01 -6.66627710e-03 -9.21453162e+01] [-9.68993448e-03 -6.82331016e-05 -9.99953049e-01 -4.02528608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0665599949999 meters 0.0123949159569245 Centerline is valid? [True, True] Translation: X:177.65, Y:-92.13, Z:-4.03 [[-7.74687030e-01 6.32318808e-01 5.73848232e-03 1.77649260e+02] [ 6.32301228e-01 7.74708283e-01 -4.71517785e-03 -9.21281917e+01] [-7.42714542e-03 -2.43377130e-05 -9.99972418e-01 -4.02718469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.126559995 meters 0.01239624216345971 Centerline is valid? [True, True] Translation: X:177.67, Y:-92.12, Z:-4.03 [[-8.16198969e-01 5.77745970e-01 5.36994585e-03 1.77673701e+02] [ 5.77733400e-01 8.16216634e-01 -3.81118130e-03 -9.21154204e+01] [-6.58493377e-03 -8.28518048e-06 -9.99978319e-01 -4.02776666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1865599949999 meters 0.012422991467587458 Centerline is valid? [True, True] Translation: X:177.69, Y:-92.10, Z:-4.03 [[-8.52931406e-01 5.22003976e-01 4.45716751e-03 1.77689477e+02] [ 5.21996940e-01 8.52943051e-01 -2.71036060e-03 -9.20960575e+01] [-5.21652906e-03 1.48761212e-05 -9.99986394e-01 -4.02787890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.246559995 meters 0.012738888565922047 Centerline is valid? [True, True] Translation: X:177.70, Y:-92.08, Z:-4.03 [[-8.85636239e-01 4.64346278e-01 5.56654763e-03 1.77704070e+02] [ 4.64337425e-01 8.85653731e-01 -2.86766527e-03 -9.20785940e+01] [-6.26162337e-03 4.50481075e-05 -9.99980395e-01 -4.02699785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3065599949999 meters 0.013016496980742318 Centerline is valid? [True, True] Translation: X:177.72, Y:-92.06, Z:-4.03 [[-9.15203318e-01 4.02964309e-01 4.75951743e-03 1.77721334e+02] [ 4.02959152e-01 9.15215692e-01 -2.03929171e-03 -9.20585046e+01] [-5.17774682e-03 5.15245703e-05 -9.99986594e-01 -4.02903331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.366559995 meters 0.013863201529617536 Centerline is valid? [True, True] Translation: X:178.02, Y:-91.38, Z:-5.01 [[-8.96525663e-01 -4.42975037e-01 3.85379736e-03 1.78018260e+02] [ 4.42970506e-01 -8.96533942e-01 -2.00564952e-03 -9.13823974e+01] [ 4.34351281e-03 -9.09977049e-05 9.99990563e-01 -5.01082222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4265599949999 meters 0.014184091165351369 Centerline is valid? [True, True] Translation: X:177.68, Y:-92.04, Z:-4.03 [[-9.14068328e-01 4.05543959e-01 3.63162335e-03 1.77682578e+02] [ 4.05541042e-01 9.14075540e-01 -1.53956211e-03 -9.20446892e+01] [-3.94393819e-03 6.55073533e-05 -9.99992221e-01 -4.03024974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.486559995 meters 0.0152289364147133 Centerline is valid? [True, True] Translation: X:177.70, Y:-92.02, Z:-4.03 [[-9.38688726e-01 3.44742851e-01 3.98031234e-03 1.77696217e+02] [ 3.44740165e-01 9.38697160e-01 -1.36389792e-03 -9.20222831e+01] [-4.20650195e-03 9.18979331e-05 -9.99991148e-01 -4.02948879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5465599949999 meters 0.01637305527080765 Centerline is valid? [True, True] Translation: X:177.71, Y:-92.00, Z:-4.03 [[-9.59660036e-01 2.81110591e-01 5.42695457e-03 1.77711596e+02] [ 2.81106936e-01 9.59675370e-01 -1.44065140e-03 -9.20012567e+01] [-5.61309700e-03 1.43019000e-04 -9.99984236e-01 -4.02943069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.606559995 meters 0.016779938730303846 Centerline is valid? [True, True] Translation: X:177.72, Y:-91.98, Z:-4.03 [[-9.76604089e-01 2.14887495e-01 8.23512292e-03 1.77719684e+02] [ 2.14881873e-01 9.76638782e-01 -1.57194998e-03 -9.19755276e+01] [-8.38053281e-03 2.34405860e-04 -9.99964855e-01 -4.02767095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.666559995 meters 0.016955289347246848 Centerline is valid? [True, True] Translation: X:177.72, Y:-91.95, Z:-4.03 [[-9.89725399e-01 1.42681658e-01 9.25089518e-03 1.77715297e+02] [ 1.42677664e-01 9.89768603e-01 -1.09367849e-03 -9.19466666e+01] [-9.31229347e-03 2.37454732e-04 -9.99956611e-01 -4.02667843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.726559995 meters 0.01545839298475747 Centerline is valid? [True, True] Translation: X:177.81, Y:-91.21, Z:-5.01 [[-9.86679847e-01 -1.62406242e-01 9.33230987e-03 1.77807222e+02] [ 1.62396771e-01 -9.86723953e-01 -1.76890760e-03 -9.12066298e+01] [ 9.49569532e-03 -2.29808496e-04 9.99954888e-01 -5.01243708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.786559995 meters 0.014419031826468637 Centerline is valid? [True, True] Translation: X:177.66, Y:-91.93, Z:-4.03 [[-9.91337350e-01 1.31014411e-01 9.24564323e-03 1.77663037e+02] [ 1.31010269e-01 9.91380450e-01 -1.05493330e-03 -9.19340572e+01] [-9.30416141e-03 1.65479425e-04 -9.99956702e-01 -4.02895232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.846559995 meters 0.013946906005901635 Centerline is valid? [True, True] Translation: X:177.75, Y:-91.21, Z:-5.01 [[-9.86122808e-01 -1.65786664e-01 8.75157003e-03 1.77748833e+02] [ 1.65778467e-01 -9.86161624e-01 -1.65891050e-03 -9.12050019e+01] [ 8.90548775e-03 -1.85067615e-04 9.99960328e-01 -5.01042377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.906559995 meters 0.01317367410960457 Centerline is valid? [True, True] Translation: X:177.61, Y:-91.92, Z:-4.03 [[-9.92690164e-01 1.20320624e-01 9.44385705e-03 1.77607444e+02] [ 1.20316182e-01 9.92735079e-01 -1.03913787e-03 -9.19224051e+01] [-9.50027789e-03 1.04706876e-04 -9.99954866e-01 -4.02982378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9665599949999 meters 0.012876889025601537 Centerline is valid? [True, True] Translation: X:177.60, Y:-91.89, Z:-4.03 [[-9.98820311e-01 4.76752337e-02 9.22270439e-03 1.77597832e+02] [ 4.76739831e-02 9.98862886e-01 -3.55521753e-04 -9.18929551e+01] [-9.22916670e-03 8.45807056e-05 -9.99957407e-01 -4.03080036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.026559995 meters 0.012564600567719127 Centerline is valid? [True, True] Translation: X:177.61, Y:-91.86, Z:-4.03 [[-9.99663959e-01 -2.40605428e-02 9.64675907e-03 1.77605860e+02] [-2.40586325e-02 9.99710500e-01 3.14037738e-04 -9.18639679e+01] [-9.65152225e-03 8.18443770e-05 -9.99953420e-01 -4.02970271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0865599949999 meters 0.012455675709100847 Centerline is valid? [True, True] Translation: X:177.60, Y:-91.84, Z:-4.03 [[-9.95417323e-01 -9.52676178e-02 8.27253560e-03 1.77596672e+02] [-9.52637486e-02 9.95451695e-01 8.61408392e-04 -9.18389431e+01] [-8.31697390e-03 6.93880844e-05 -9.99965411e-01 -4.03182883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.146559995 meters 0.012535502100846729 Centerline is valid? [True, True] Translation: X:177.59, Y:-91.81, Z:-4.03 [[-9.86219229e-01 -1.65237075e-01 8.26690746e-03 1.77590860e+02] [-1.65230625e-01 9.86253874e-01 1.46186308e-03 -9.18123022e+01] [-8.39482349e-03 7.57711942e-05 -9.99964760e-01 -4.03072219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2065599949999 meters 0.012697891075249526 Centerline is valid? [True, True] Translation: X:177.58, Y:-91.79, Z:-4.03 [[-9.72001662e-01 -2.34773180e-01 9.71203159e-03 1.77575773e+02] [-2.34760481e-01 9.72050176e-01 2.44368364e-03 -9.17894556e+01] [-1.00142934e-02 9.52633522e-05 -9.99949851e-01 -4.02837471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.266559995 meters 0.012612966965593771 Centerline is valid? [True, True] Translation: X:177.55, Y:-91.77, Z:-4.03 [[-9.52341984e-01 -3.04830998e-01 1.10818683e-02 1.77548179e+02] [-3.04809119e-01 9.52406453e-01 3.65360634e-03 -9.17713199e+01] [-1.16681753e-02 1.01628198e-04 -9.99931919e-01 -4.02655901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3265599949999 meters 0.012515192756430583 Centerline is valid? [True, True] Translation: X:177.50, Y:-91.76, Z:-4.03 [[-9.27021620e-01 -3.74822142e-01 1.18015966e-02 1.77500303e+02] [-3.74790524e-01 9.27096734e-01 4.86926166e-03 -9.17598585e+01] [-1.27663287e-02 9.07842691e-05 -9.99918503e-01 -4.02545578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.386559995 meters 0.012236064749835294 Centerline is valid? [True, True] Translation: X:177.43, Y:-91.76, Z:-4.02 [[-8.95443430e-01 -4.45012433e-01 1.20415454e-02 1.77434791e+02] [-4.44971431e-01 8.95524389e-01 6.04102627e-03 -9.17576138e+01] [-1.34718294e-02 5.12535943e-05 -9.99909250e-01 -4.02416598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4465599949999 meters 0.01184959010322101 Centerline is valid? [True, True] Translation: X:177.36, Y:-91.76, Z:-4.02 [[-8.57989247e-01 -5.13539013e-01 1.14949775e-02 1.77364500e+02] [-5.13492991e-01 8.58066246e-01 6.87498975e-03 -9.17623470e+01] [-1.33940276e-02 -3.92308465e-06 -9.99910296e-01 -4.02479975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.506559995 meters 0.01164939995753213 Centerline is valid? [True, True] Translation: X:177.29, Y:-91.78, Z:-4.03 [[-8.17480922e-01 -5.75900863e-01 7.94595464e-03 1.77287998e+02] [-5.75873677e-01 8.17519539e-01 5.59568960e-03 -9.17831339e+01] [-9.71853564e-03 -1.49661804e-06 -9.99952774e-01 -4.02767657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5665599949999 meters 0.011549513847520473 Centerline is valid? [True, True] Translation: X:177.21, Y:-91.81, Z:-4.03 [[-7.73476484e-01 -6.33805475e-01 4.97475760e-03 1.77206082e+02] [-6.33792254e-01 7.73492482e-01 4.09377512e-03 -9.18120695e+01] [-6.44259469e-03 1.34759559e-05 -9.99979246e-01 -4.02912303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.626559995 meters 0.011606855023989742 Centerline is valid? [True, True] Translation: X:177.13, Y:-91.84, Z:-4.03 [[-7.24277327e-01 -6.89497312e-01 3.97634388e-03 1.77127860e+02] [-6.89486786e-01 7.24288242e-01 3.80991857e-03 -9.18449777e+01] [-5.50694773e-03 1.78010749e-05 -9.99984837e-01 -4.02969642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6865599949999 meters 0.011641880554345702 Centerline is valid? [True, True] Translation: X:177.04, Y:-91.89, Z:-4.03 [[-6.70932557e-01 -7.41506460e-01 4.20398893e-03 1.77043840e+02] [-7.41491652e-01 6.70945727e-01 4.68634804e-03 -9.18915809e+01] [-6.29560576e-03 2.70007820e-05 -9.99980182e-01 -4.02828867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.746559995 meters 0.011772846718147259 Centerline is valid? [True, True] Translation: X:176.96, Y:-91.95, Z:-4.03 [[-6.13246398e-01 -7.89877503e-01 4.73128962e-03 1.76962223e+02] [-7.89853524e-01 6.13264648e-01 6.15485021e-03 -9.19486605e+01] [-7.76311038e-03 3.74139417e-05 -9.99969866e-01 -4.02730741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8065599949999 meters 0.011899984143839125 Centerline is valid? [True, True] Translation: X:176.88, Y:-92.02, Z:-4.03 [[-5.51707433e-01 -8.34025108e-01 4.58550454e-03 1.76879512e+02] [-8.33995658e-01 5.51726488e-01 7.00900945e-03 -9.20183871e+01] [-8.37563418e-03 4.26317369e-05 -9.99964923e-01 -4.02694614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.866559995 meters 0.012153118374100904 Centerline is valid? [True, True] Translation: X:176.80, Y:-92.09, Z:-4.02 [[-4.88029425e-01 -8.72815978e-01 4.42147354e-03 1.76801327e+02] [-8.72778988e-01 4.88049449e-01 8.03575627e-03 -9.20914295e+01] [-9.17163419e-03 6.27163111e-05 -9.99957938e-01 -4.02424292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9265599949999 meters 0.012387045372863456 Centerline is valid? [True, True] Translation: X:176.73, Y:-92.18, Z:-4.02 [[-4.21243251e-01 -9.06939127e-01 3.94257174e-03 1.76729158e+02] [-9.06897634e-01 4.21261694e-01 8.67563199e-03 -9.21772091e+01] [-9.52912455e-03 7.90424442e-05 -9.99954594e-01 -4.02371844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.986559995 meters 0.012716118030117214 Centerline is valid? [True, True] Translation: X:176.66, Y:-92.27, Z:-4.03 [[-3.51953742e-01 -9.36013459e-01 2.71457188e-03 1.76662277e+02] [-9.35983894e-01 3.51964201e-01 7.43985826e-03 -9.22702546e+01] [-7.91923959e-03 7.76903934e-05 -9.99968639e-01 -4.02555204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0465599949999 meters 0.012317857562511131 Centerline is valid? [True, True] Translation: X:176.60, Y:-92.37, Z:-4.03 [[-2.79360073e-01 -9.60185238e-01 1.50252212e-03 1.76598138e+02] [-9.60170252e-01 2.79364108e-01 5.36492015e-03 -9.23691247e+01] [-5.57106788e-03 5.60674397e-05 -9.99984480e-01 -4.02721462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.106559995 meters 0.0122476517920271 Centerline is valid? [True, True] Translation: X:176.54, Y:-92.47, Z:-4.03 [[-2.04705999e-01 -9.78823043e-01 9.51282507e-04 1.76544527e+02] [-9.78811345e-01 2.04708203e-01 4.78572700e-03 -9.24696930e+01] [-4.87911520e-03 4.85409158e-05 -9.99988096e-01 -4.02690791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.166559995 meters 0.012056234658435113 Centerline is valid? [True, True] Translation: X:176.50, Y:-92.58, Z:-4.03 [[-1.27704078e-01 -9.91812225e-01 4.22730978e-04 1.76498629e+02] [-9.91805942e-01 1.27704774e-01 3.53053285e-03 -9.25843816e+01] [-3.55561041e-03 3.15963468e-05 -9.99993678e-01 -4.02836889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.226559995 meters 0.011873175213844614 Centerline is valid? [True, True] Translation: X:176.46, Y:-92.69, Z:-4.03 [[-4.86228167e-02 -9.98817198e-01 1.60660099e-04 1.76458656e+02] [-9.98810009e-01 4.86230763e-02 3.78982960e-03 -9.26949372e+01] [-3.79315877e-03 2.38032750e-05 -9.99992806e-01 -4.02656534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.286559995 meters 0.011528657745690266 Centerline is valid? [True, True] Translation: X:176.43, Y:-92.81, Z:-4.03 [[ 3.08313153e-02 -9.99524593e-01 -1.34519444e-04 1.76427623e+02] [-9.99516979e-01 -3.08316055e-02 3.90128132e-03 -9.28133103e+01] [-3.90357407e-03 1.41728339e-05 -9.99992381e-01 -4.02662945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.346559995 meters 0.011544308977227616 Centerline is valid? [True, True] Translation: X:176.41, Y:-92.94, Z:-4.02 [[ 1.11674924e-01 -9.93744544e-01 -7.02415713e-04 1.76407133e+02] [-9.93724601e-01 -1.11677133e-01 6.29560623e-03 -9.29350023e+01] [-6.33466811e-03 -5.05357256e-06 -9.99979936e-01 -4.02367788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.406559995 meters 0.011577683973260625 Centerline is valid? [True, True] Translation: X:176.40, Y:-93.06, Z:-4.02 [[ 1.90086743e-01 -9.81766428e-01 -1.30826786e-03 1.76398306e+02] [-9.81742334e-01 -1.90091244e-01 6.87807394e-03 -9.30611798e+01] [-7.00135235e-03 -2.30487305e-05 -9.99975490e-01 -4.02287949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4665599949999 meters 0.01189612125006127 Centerline is valid? [True, True] Translation: X:176.40, Y:-93.18, Z:-4.02 [[ 2.67316704e-01 -9.63606887e-01 -1.88316868e-03 1.76397642e+02] [-9.63581883e-01 -2.67323334e-01 6.94183686e-03 -9.31765326e+01] [-7.19261674e-03 -4.10817241e-05 -9.99974132e-01 -4.02219459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.526559995 meters 0.011978905747041716 Centerline is valid? [True, True] Translation: X:176.41, Y:-93.30, Z:-4.02 [[ 3.41783703e-01 -9.39776428e-01 -2.04128000e-03 1.76406965e+02] [-9.39758914e-01 -3.41789796e-01 5.73750796e-03 -9.32955877e+01] [-6.08966341e-03 -4.26756404e-05 -9.99981457e-01 -4.02232234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5865599949999 meters 0.012910145568474547 Centerline is valid? [True, True] Translation: X:176.42, Y:-93.42, Z:-4.02 [[ 4.18299919e-01 -9.08307555e-01 -1.60092930e-03 1.76424784e+02] [-9.08300430e-01 -4.18302979e-01 3.59819951e-03 -9.34156138e+01] [-3.93794530e-03 -5.10017925e-05 -9.99992245e-01 -4.02392512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.646559995 meters 0.013804909938111346 Centerline is valid? [True, True] Translation: X:176.45, Y:-93.53, Z:-4.02 [[ 4.89303466e-01 -8.72112224e-01 -1.54514559e-03 1.76445330e+02] [-8.72107540e-01 -4.89305903e-01 2.85879230e-03 -9.35296115e+01] [-3.24923657e-03 -5.12838623e-05 -9.99994720e-01 -4.02305355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7065599949999 meters 0.014421887691398043 Centerline is valid? [True, True] Translation: X:176.48, Y:-93.64, Z:-4.02 [[ 5.56150800e-01 -8.31077789e-01 -2.44868784e-03 1.76479486e+02] [-8.31069086e-01 -5.56156185e-01 3.80421371e-03 -9.36426616e+01] [-4.52345041e-03 -8.06877311e-05 -9.99989766e-01 -4.02228338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.766559995 meters 0.01469956801272423 Centerline is valid? [True, True] Translation: X:176.52, Y:-93.75, Z:-4.02 [[ 6.18874576e-01 -7.85484041e-01 -3.01348679e-03 1.76516722e+02] [-7.85473976e-01 -6.18881905e-01 3.97739700e-03 -9.37493832e+01] [-4.98917431e-03 -9.44944308e-05 -9.99987550e-01 -4.02036692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8265599949999 meters 0.014231718388299692 Centerline is valid? [True, True] Translation: X:176.56, Y:-93.85, Z:-4.02 [[ 6.77079619e-01 -7.35901973e-01 -3.38766474e-03 1.76563132e+02] [-7.35892034e-01 -6.77088086e-01 3.82597420e-03 -9.38490344e+01] [-5.10928940e-03 -9.75336604e-05 -9.99986943e-01 -4.01918509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.886559995 meters 0.01419300516545279 Centerline is valid? [True, True] Translation: X:176.62, Y:-93.94, Z:-4.02 [[ 7.30413143e-01 -6.82997302e-01 -3.36540135e-03 1.76620032e+02] [-6.82989518e-01 -7.30420891e-01 3.26196955e-03 -9.39442147e+01] [-4.68607585e-03 -8.40515850e-05 -9.99989017e-01 -4.01975697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9465599949999 meters 0.014177326824235158 Centerline is valid? [True, True] Translation: X:176.64, Y:-93.97, Z:-4.02 [[ 7.81264026e-01 -6.24189508e-01 -3.73907917e-03 1.76641579e+02] [-6.24181837e-01 -7.81272968e-01 3.09567042e-03 -9.39705453e+01] [-4.85352648e-03 -8.46706247e-05 -9.99988218e-01 -4.02005990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.006559995 meters 0.013659836056985944 Centerline is valid? [True, True] Translation: X:176.67, Y:-93.99, Z:-4.02 [[ 8.26400984e-01 -5.63061885e-01 -4.76726250e-03 1.76665190e+02] [-5.63051892e-01 -8.26414730e-01 3.35571120e-03 -9.39943726e+01] [-5.82920902e-03 -8.89468741e-05 -9.99983006e-01 -4.01901888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0665599949999 meters 0.013248663162907893 Centerline is valid? [True, True] Translation: X:176.69, Y:-94.02, Z:-4.02 [[ 8.66934481e-01 -4.98391382e-01 -5.53506759e-03 1.76688638e+02] [-4.98380586e-01 -8.66952146e-01 3.28149966e-03 -9.40185657e+01] [-6.43410987e-03 -8.62749716e-05 -9.99979297e-01 -4.01710416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.126559995 meters 0.012866765070934523 Centerline is valid? [True, True] Translation: X:176.71, Y:-94.04, Z:-4.02 [[ 9.02403469e-01 -4.30860414e-01 -5.22332566e-03 1.76714862e+02] [-4.30852769e-01 -9.02418583e-01 2.56767081e-03 -9.40404814e+01] [-5.81993385e-03 -6.65907249e-05 -9.99983062e-01 -4.01809361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1865599949999 meters 0.01298606222344571 Centerline is valid? [True, True] Translation: X:176.74, Y:-94.06, Z:-4.02 [[ 9.33275558e-01 -3.59139977e-01 -3.89986989e-03 1.76741095e+02] [-3.59136632e-01 -9.33283705e-01 1.55077192e-03 -9.40593920e+01] [-4.19662922e-03 -4.67113876e-05 -9.99991193e-01 -4.02038134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.246559995 meters 0.013050372917676226 Centerline is valid? [True, True] Translation: X:176.77, Y:-94.08, Z:-4.02 [[ 9.58763775e-01 -2.84170829e-01 -4.35462396e-03 1.76769377e+02] [-2.84167636e-01 -9.58773663e-01 1.34826964e-03 -9.40798835e+01] [-4.55823767e-03 -5.52288933e-05 -9.99989610e-01 -4.01961391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3065599949999 meters 0.013375493484519774 Centerline is valid? [True, True] Translation: X:176.80, Y:-94.10, Z:-4.02 [[ 9.78423036e-01 -2.06496776e-01 -6.88804189e-03 1.76799070e+02] [-2.06490936e-01 -9.78447276e-01 1.55620272e-03 -9.40981342e+01] [-7.06093667e-03 -1.00306371e-04 -9.99975066e-01 -4.01651671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.366559995 meters 0.01365264660709314 Centerline is valid? [True, True] Translation: X:176.83, Y:-94.11, Z:-4.01 [[ 9.91650897e-01 -1.28641721e-01 -8.93339666e-03 1.76830508e+02] [-1.28635270e-01 -9.91691126e-01 1.29537226e-03 -9.41117475e+01] [-9.02580911e-03 -1.35407173e-04 -9.99959257e-01 -4.01461946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4265599949999 meters 0.014480378306866378 Centerline is valid? [True, True] Translation: X:176.86, Y:-94.12, Z:-4.01 [[ 9.98665169e-01 -5.06723356e-02 -1.00097665e-02 1.76858992e+02] [-5.06682858e-02 -9.98715321e-01 6.57928261e-04 -9.41202808e+01] [-1.00302459e-02 -1.49872329e-04 -9.99949685e-01 -4.01365233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.486559995 meters 0.013019654928477287 Centerline is valid? [True, True] Translation: X:176.89, Y:-94.12, Z:-4.02 [[ 9.99662406e-01 2.51350533e-02 -6.58052928e-03 1.76888463e+02] [ 2.51350392e-02 -9.99684061e-01 -8.48685664e-05 -9.41244117e+01] [-6.58058341e-03 -8.05619458e-05 -9.99978345e-01 -4.01775439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5465599949999 meters 0.012890050323237583 Centerline is valid? [True, True] Translation: X:176.92, Y:-94.13, Z:-4.02 [[ 9.94753258e-01 1.02233305e-01 -3.78255540e-03 1.76917194e+02] [ 1.02232724e-01 -9.94760448e-01 -3.47066370e-04 -9.41284265e+01] [-3.79821824e-03 -4.14555403e-05 -9.99992786e-01 -4.01949848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.606559995 meters 0.012589173747512436 Centerline is valid? [True, True] Translation: X:176.95, Y:-94.13, Z:-4.02 [[ 9.83923059e-01 1.78573127e-01 -2.65559927e-03 1.76947290e+02] [ 1.78572546e-01 -9.83926642e-01 -4.56187705e-04 -9.41297948e+01] [-2.69437774e-03 -2.53635196e-05 -9.99996370e-01 -4.02039952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.666559995 meters 0.012349136294831425 Centerline is valid? [True, True] Translation: X:176.98, Y:-94.13, Z:-4.02 [[ 9.67266794e-01 2.53743660e-01 -3.01720014e-03 1.76978253e+02] [ 2.53742507e-01 -9.67271500e-01 -7.65370146e-04 -9.41331733e+01] [-3.11265953e-03 -2.52748000e-05 -9.99995155e-01 -4.01801849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.726559995 meters 0.012395166312475113 Centerline is valid? [True, True] Translation: X:177.01, Y:-94.13, Z:-4.02 [[ 9.44676577e-01 3.27985433e-01 -3.42355994e-03 1.77007860e+02] [ 3.27983382e-01 -9.44682780e-01 -1.16012119e-03 -9.41317586e+01] [-3.61468098e-03 -2.69314521e-05 -9.99993467e-01 -4.01677397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.786559995 meters 0.011947769682485634 Centerline is valid? [True, True] Translation: X:177.04, Y:-94.13, Z:-4.02 [[ 9.17184652e-01 3.98444234e-01 -3.80882658e-03 1.77037675e+02] [ 3.98440889e-01 -9.17192560e-01 -1.63284506e-03 -9.41272262e+01] [-4.14402510e-03 -1.99718235e-05 -9.99991413e-01 -4.01501105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.846559995 meters 0.01172129790474977 Centerline is valid? [True, True] Translation: X:177.07, Y:-94.12, Z:-4.01 [[ 8.84382521e-01 4.66744234e-01 -4.16839233e-03 1.77066189e+02] [ 4.66739108e-01 -8.84392345e-01 -2.18762315e-03 -9.41191996e+01] [-4.70755476e-03 -1.08560371e-05 -9.99988919e-01 -4.01461158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.906559995 meters 0.011788698775354054 Centerline is valid? [True, True] Translation: X:177.09, Y:-94.11, Z:-4.01 [[ 8.46184752e-01 5.32870911e-01 -4.46753355e-03 1.77094477e+02] [ 5.32863497e-01 -8.46196545e-01 -2.81088870e-03 -9.41118326e+01] [-5.27825227e-03 -2.05439625e-06 -9.99986070e-01 -4.01235789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9665599949999 meters 0.011795766688321135 Centerline is valid? [True, True] Translation: X:177.12, Y:-94.10, Z:-4.01 [[ 8.03554294e-01 5.95216995e-01 -4.15034316e-03 1.77121319e+02] [ 5.95208975e-01 -8.03565012e-01 -3.09006155e-03 -9.40984702e+01] [-5.17432770e-03 1.27107319e-05 -9.99986613e-01 -4.01177843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.026559995 meters 0.011885062607587543 Centerline is valid? [True, True] Translation: X:177.15, Y:-94.09, Z:-4.01 [[ 7.56162206e-01 6.54378183e-01 -2.81291125e-03 1.77149566e+02] [ 6.54373560e-01 -7.56167437e-01 -2.45974199e-03 -9.40872359e+01] [-3.73663339e-03 1.92691820e-05 -9.99993019e-01 -4.01207580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0865599949999 meters 0.012161393416867552 Centerline is valid? [True, True] Translation: X:177.18, Y:-94.07, Z:-4.01 [[ 7.04825242e-01 7.09376282e-01 -2.58226265e-03 1.77175295e+02] [ 7.09371361e-01 -7.04829972e-01 -2.64241576e-03 -9.40717810e+01] [-3.69452318e-03 3.06581545e-05 -9.99993175e-01 -4.01166648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.146559995 meters 0.012338140159192924 Centerline is valid? [True, True] Translation: X:177.20, Y:-94.06, Z:-4.01 [[ 6.47543511e-01 7.62022426e-01 -3.03695904e-03 1.77200144e+02] [ 7.62013743e-01 -6.47550632e-01 -3.63794808e-03 -9.40565742e+01] [-4.73878276e-03 4.15251468e-05 -9.99988771e-01 -4.01036491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2065599949999 meters 0.012076726863552507 Centerline is valid? [True, True] Translation: X:177.23, Y:-94.04, Z:-4.01 [[ 5.83685904e-01 8.11969453e-01 -4.04644428e-03 1.77227772e+02] [ 8.11949447e-01 -5.83699928e-01 -5.69993202e-03 -9.40416626e+01] [-6.99007992e-03 4.14617793e-05 -9.99975568e-01 -4.00794227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.266559995 meters 0.011802981553071735 Centerline is valid? [True, True] Translation: X:177.25, Y:-94.02, Z:-4.01 [[ 5.15269271e-01 8.57019954e-01 -3.79176565e-03 1.77252943e+02] [ 8.56996504e-01 -5.15283222e-01 -6.33984331e-03 -9.40232083e+01] [-7.38720544e-03 1.71965296e-05 -9.99972714e-01 -4.00768222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3265599949999 meters 0.011742756255117932 Centerline is valid? [True, True] Translation: X:177.28, Y:-94.00, Z:-4.01 [[ 4.42966258e-01 8.96532291e-01 -3.27811745e-03 1.77277252e+02] [ 8.96507949e-01 -4.42978387e-01 -6.60657874e-03 -9.40033240e+01] [-7.37514636e-03 -1.23668874e-05 -9.99972803e-01 -4.00776014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.386559995 meters 0.012001446441374198 Centerline is valid? [True, True] Translation: X:177.30, Y:-93.98, Z:-4.01 [[ 3.67589100e-01 9.29986812e-01 -1.66827242e-03 1.77299673e+02] [ 9.29977542e-01 -3.67592885e-01 -4.15238016e-03 -9.39816031e+01] [-4.47490386e-03 -2.50862005e-05 -9.99989987e-01 -4.00990896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4465599949999 meters 0.01221642288551256 Centerline is valid? [True, True] Translation: X:177.32, Y:-93.96, Z:-4.01 [[ 2.91243468e-01 9.56648731e-01 -6.69411177e-04 1.77317985e+02] [ 9.56646338e-01 -2.91244237e-01 -2.13990982e-03 -9.39564063e+01] [-2.24210416e-03 -1.71549945e-05 -9.99997486e-01 -4.01225916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.506559995 meters 0.012633108768084272 Centerline is valid? [True, True] Translation: X:177.33, Y:-93.93, Z:-4.01 [[ 2.13927350e-01 9.76849566e-01 -1.21790989e-04 1.77332752e+02] [ 9.76849417e-01 -2.13927384e-01 -5.39598188e-04 -9.39313450e+01] [-5.53160684e-04 -3.53664651e-06 -9.99999847e-01 -4.01382408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5665599949999 meters 0.013297571825754726 Centerline is valid? [True, True] Translation: X:177.35, Y:-93.90, Z:-4.01 [[ 1.35702724e-01 9.90749600e-01 2.20901051e-05 1.77346255e+02] [ 9.90749591e-01 -1.35702725e-01 1.35021418e-04 -9.39048038e+01] [ 1.36770103e-04 3.56298848e-06 -9.99999991e-01 -4.01323816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.626559995 meters 0.013033995152543333 Centerline is valid? [True, True] Translation: X:177.35, Y:-93.88, Z:-4.01 [[ 5.69130395e-02 9.98379139e-01 1.39291696e-05 1.77352474e+02] [ 9.98379124e-01 -5.69130410e-02 1.72373825e-04 -9.38756275e+01] [ 1.72887183e-04 4.09627376e-06 -9.99999985e-01 -4.01334458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6865599949999 meters 0.012917052690156942 Centerline is valid? [True, True] Translation: X:177.36, Y:-93.85, Z:-4.01 [[-2.17421630e-02 9.99763611e-01 8.05995685e-06 1.77359662e+02] [ 9.99763412e-01 2.17421637e-02 -6.30700372e-04 -9.38461196e+01] [-6.30726523e-04 -5.65474034e-06 -9.99999801e-01 -4.01106438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.746559995 meters 0.012323880504841733 Centerline is valid? [True, True] Translation: X:177.36, Y:-93.82, Z:-4.01 [[-9.68855863e-02 9.95295499e-01 2.32045073e-04 1.77362164e+02] [ 9.95292085e-01 9.68858617e-02 -2.60696829e-03 -9.38172272e+01] [-2.61718569e-03 -2.16250268e-05 -9.99996575e-01 -4.01003960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8065599949999 meters 0.011767097679156055 Centerline is valid? [True, True] Translation: X:177.36, Y:-93.79, Z:-4.01 [[-1.69061386e-01 9.85605412e-01 4.69750322e-04 1.77361769e+02] [ 9.85601479e-01 1.69062038e-01 -2.78411291e-03 -9.37887389e+01] [-2.82345370e-03 -7.69937530e-06 -9.99996014e-01 -4.00983966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.866559995 meters 0.012308200460778414 Centerline is valid? [True, True] Translation: X:177.36, Y:-93.76, Z:-4.01 [[-2.35214677e-01 9.71942855e-01 1.06917801e-03 1.77356221e+02] [ 9.71933474e-01 2.35217104e-01 -4.27034723e-03 -9.37606959e+01] [-4.40202243e-03 3.47215565e-05 -9.99990310e-01 -4.00913939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9265599949999 meters 0.013367935838321696 Centerline is valid? [True, True] Translation: X:177.35, Y:-93.73, Z:-4.01 [[-3.04291825e-01 9.52577078e-01 1.84294535e-03 1.77352666e+02] [ 9.52561239e-01 3.04297395e-01 -5.49385170e-03 -9.37327612e+01] [-5.79412067e-03 8.37841407e-05 -9.99983210e-01 -4.00900622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.986559995 meters 0.015290554891830795 Centerline is valid? [True, True] Translation: X:177.35, Y:-93.71, Z:-4.01 [[-3.72011299e-01 9.28225578e-01 2.20654913e-03 1.77348119e+02] [ 9.28211086e-01 3.72017824e-01 -5.18831862e-03 -9.37056931e+01] [-5.63680566e-03 1.18030212e-04 -9.99984106e-01 -4.00919079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0465599949999 meters 0.01679231509757276 Centerline is valid? [True, True] Translation: X:177.34, Y:-93.68, Z:-4.01 [[-4.41367368e-01 8.97322949e-01 2.52419695e-03 1.77342404e+02] [ 8.97309896e-01 4.41374567e-01 -4.84172539e-03 -9.36794557e+01] [-5.45870764e-03 1.28007312e-04 -9.99985093e-01 -4.01015178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.106559995 meters 0.01588829546324682 Centerline is valid? [True, True] Translation: X:177.34, Y:-93.65, Z:-4.01 [[-5.10777192e-01 8.59708438e-01 2.83945966e-03 1.77337225e+02] [ 8.59696466e-01 5.10785069e-01 -4.53864101e-03 -9.36508147e+01] [-5.35226157e-03 1.22839125e-04 -9.99985669e-01 -4.01167668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.166559995 meters 0.014467785322433133 Centerline is valid? [True, True] Translation: X:177.34, Y:-93.62, Z:-4.01 [[-5.77591068e-01 8.16320359e-01 3.10315328e-03 1.77336623e+02] [ 8.16309613e-01 5.77599393e-01 -4.19016041e-03 -9.36163614e+01] [-5.21289270e-03 1.12934624e-04 -9.99986406e-01 -4.01311218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.226559995 meters 0.014502378947149997 Centerline is valid? [True, True] Translation: X:177.33, Y:-93.59, Z:-4.01 [[-6.42378911e-01 7.66377656e-01 3.82388988e-03 1.77331283e+02] [ 7.66365052e-01 6.42390284e-01 -4.39665709e-03 -9.35852253e+01] [-5.82592946e-03 1.06175777e-04 -9.99983024e-01 -4.01156216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.286559995 meters 0.013490289855074507 Centerline is valid? [True, True] Translation: X:177.32, Y:-93.55, Z:-4.01 [[-7.02306888e-01 7.11860313e-01 4.46432023e-03 1.77321015e+02] [ 7.11846804e-01 7.02321070e-01 -4.38650423e-03 -9.35547578e+01] [-6.25796443e-03 9.72399556e-05 -9.99980414e-01 -4.01188828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.346559995 meters 0.01289753594220405 Centerline is valid? [True, True] Translation: X:177.34, Y:-93.53, Z:-4.01 [[-7.53465169e-01 6.57475679e-01 3.99644412e-03 1.77340470e+02] [ 6.57466858e-01 7.53475765e-01 -3.40619842e-03 -9.35307284e+01] [-5.25071641e-03 6.10776904e-05 -9.99986213e-01 -4.01314732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.406559995 meters 0.012198736669086425 Centerline is valid? [True, True] Translation: X:177.36, Y:-93.50, Z:-4.01 [[-8.02390948e-01 5.96785618e-01 3.96126338e-03 1.77359089e+02] [ 5.96778481e-01 8.02400726e-01 -2.91885959e-03 -9.35009608e+01] [-4.92045404e-03 2.19302210e-05 -9.99987894e-01 -4.01257261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4665599949999 meters 0.012014450197701624 Centerline is valid? [True, True] Translation: X:177.37, Y:-93.47, Z:-4.01 [[-8.44796002e-01 5.35075984e-01 3.66149294e-03 1.77370138e+02] [ 5.35070967e-01 8.44803937e-01 -2.31699992e-03 -9.34731937e+01] [-4.33301466e-03 1.76629430e-06 -9.99990612e-01 -4.01331669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.526559995 meters 0.012282418822167565 Centerline is valid? [True, True] Translation: X:177.38, Y:-93.45, Z:-4.01 [[-8.83007808e-01 4.69337826e-01 4.38365966e-03 1.77383787e+02] [ 4.69331906e-01 8.83018689e-01 -2.35726869e-03 -9.34467417e+01] [-4.97720876e-03 -2.40953144e-05 -9.99987613e-01 -4.01292427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5865599949999 meters 0.012319101571605534 Centerline is valid? [True, True] Translation: X:177.39, Y:-93.42, Z:-4.01 [[-9.14661960e-01 4.04193451e-01 4.59932510e-03 1.77394682e+02] [ 4.04188160e-01 9.14673523e-01 -2.06834253e-03 -9.34209891e+01] [-5.04289139e-03 -3.28414849e-05 -9.99987284e-01 -4.01269108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.646559995 meters 0.012649970381923236 Centerline is valid? [True, True] Translation: X:177.40, Y:-93.39, Z:-4.01 [[-9.41978827e-01 3.35636449e-01 4.90549682e-03 1.77402318e+02] [ 3.35631625e-01 9.41991598e-01 -1.80022686e-03 -9.33923304e+01] [-5.22515854e-03 -4.93357146e-05 -9.99986348e-01 -4.01147992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7065599949999 meters 0.013615501609875659 Centerline is valid? [True, True] Translation: X:177.41, Y:-93.36, Z:-4.01 [[-9.64130253e-01 2.65354682e-01 6.30459837e-03 1.77405381e+02] [ 2.65348456e-01 9.64150863e-01 -1.81943138e-03 -9.33640273e+01] [-6.56137859e-03 -8.12533920e-05 -9.99978471e-01 -4.00913484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.766559995 meters 0.013613422959539719 Centerline is valid? [True, True] Translation: X:177.41, Y:-93.34, Z:-4.01 [[-9.80961245e-01 1.94018930e-01 8.46708053e-03 1.77408739e+02] [ 1.94010576e-01 9.80997777e-01 -1.80498501e-03 -9.33387005e+01] [-8.65638844e-03 -1.27917167e-04 -9.99962525e-01 -4.00737177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8265599949999 meters 0.014039250793340435 Centerline is valid? [True, True] Translation: X:177.41, Y:-93.31, Z:-4.00 [[-9.92434358e-01 1.22243487e-01 1.14269576e-02 1.77409862e+02] [ 1.22233159e-01 9.92500123e-01 -1.60052648e-03 -9.33129071e+01] [-1.15369107e-02 -1.91664351e-04 -9.99933429e-01 -4.00469138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.886559995 meters 0.014083982344062407 Centerline is valid? [True, True] Translation: X:177.50, Y:-92.68, Z:-5.04 [[-9.75398458e-01 -2.20091992e-01 1.25444746e-02 1.77502653e+02] [ 2.20077618e-01 -9.75479077e-01 -2.53213795e-03 -9.26811913e+01] [ 1.27941758e-02 2.90914635e-04 9.99918109e-01 -5.03749057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9465599949999 meters 0.013260341316110067 Centerline is valid? [True, True] Translation: X:177.36, Y:-93.32, Z:-4.00 [[-9.92146777e-01 1.24400021e-01 1.30156537e-02 1.77362466e+02] [ 1.24387478e-01 9.92232138e-01 -1.77195206e-03 -9.33248888e+01] [-1.31349808e-02 -1.39052187e-04 -9.99913723e-01 -4.00312214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.006559995 meters 0.012946242954365554 Centerline is valid? [True, True] Translation: X:177.46, Y:-92.66, Z:-5.04 [[-9.77837825e-01 -2.08914528e-01 1.37079589e-02 1.77458528e+02] [ 2.08896851e-01 -9.77933883e-01 -2.72492987e-03 -9.26572968e+01] [ 1.39747549e-02 1.99009955e-04 9.99902329e-01 -5.03787065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0665599949999 meters 0.012851042454163205 Centerline is valid? [True, True] Translation: X:177.31, Y:-93.33, Z:-4.01 [[-9.92273774e-01 1.23687796e-01 9.69985600e-03 1.77311152e+02] [ 1.23681169e-01 9.92321180e-01 -1.28237170e-03 -9.33289189e+01] [-9.78398628e-03 -7.27742740e-05 -9.99952133e-01 -4.00604622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.126559995 meters 0.013453599929980442 Centerline is valid? [True, True] Translation: X:177.31, Y:-93.30, Z:-4.01 [[-9.98647280e-01 5.12264547e-02 8.91407996e-03 1.77313040e+02] [ 5.12236843e-02 9.98687060e-01 -5.38968036e-04 -9.33013598e+01] [-8.92998573e-03 -8.16269447e-05 -9.99960124e-01 -4.00638688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1865599949999 meters 0.013383194756437174 Centerline is valid? [True, True] Translation: X:177.31, Y:-93.27, Z:-4.01 [[-9.99727695e-01 -2.13814509e-02 9.34712116e-03 1.77310127e+02] [-2.13814496e-02 9.99771386e-01 1.00080966e-04 -9.32746113e+01] [-9.34712415e-03 -9.98012872e-05 -9.99956310e-01 -4.00648143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.246559995 meters 0.013573119152122741 Centerline is valid? [True, True] Translation: X:177.30, Y:-93.25, Z:-4.01 [[-9.95590330e-01 -9.33086682e-02 9.66369214e-03 1.77303603e+02] [-9.33053697e-02 9.95637223e-01 7.92601303e-04 -9.32485537e+01] [-9.69548818e-03 -1.12568176e-04 -9.99952991e-01 -4.00638650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3065599949999 meters 0.013575706295770724 Centerline is valid? [True, True] Translation: X:177.25, Y:-92.56, Z:-5.03 [[-9.99952595e-01 2.17679315e-03 9.49048052e-03 1.77251507e+02] [-2.17577849e-03 -9.99997626e-01 1.17236394e-04 -9.25628102e+01] [ 9.49071319e-03 9.65816530e-05 9.99954958e-01 -5.03321024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.366559995 meters 0.013581412983855144 Centerline is valid? [True, True] Translation: X:177.22, Y:-93.25, Z:-4.01 [[-9.95232460e-01 -9.69713242e-02 1.04361260e-02 1.77216687e+02] [-9.69671710e-02 9.95287170e-01 9.04424753e-04 -9.32547409e+01] [-1.04746456e-02 -1.11848745e-04 -9.99945133e-01 -4.00635650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4265599949999 meters 0.013305180114876306 Centerline is valid? [True, True] Translation: X:177.23, Y:-93.23, Z:-4.01 [[-9.85958295e-01 -1.66641760e-01 1.08057710e-02 1.77231061e+02] [-1.66632925e-01 9.86017501e-01 1.71921543e-03 -9.32261620e+01] [-1.09411724e-02 -1.05522499e-04 -9.99940138e-01 -4.00592285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.486559995 meters 0.01325230136327858 Centerline is valid? [True, True] Translation: X:177.22, Y:-93.20, Z:-4.01 [[-9.72040505e-01 -2.34631514e-01 9.23627093e-03 1.77220362e+02] [-2.34621638e-01 9.72084383e-01 2.15392879e-03 -9.32006566e+01] [-9.48381430e-03 -7.33229837e-05 -9.99955025e-01 -4.00623204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5465599949999 meters 0.012935940687373216 Centerline is valid? [True, True] Translation: X:177.20, Y:-93.18, Z:-4.01 [[-9.53446746e-01 -3.01474865e-01 7.22557440e-03 1.77200626e+02] [-3.01466530e-01 9.53474124e-01 2.24211745e-03 -9.31792862e+01] [-7.56534028e-03 -4.05292510e-05 -9.99971382e-01 -4.00842898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.606559995 meters 0.012735043100159117 Centerline is valid? [True, True] Translation: X:177.17, Y:-93.17, Z:-4.01 [[-9.30726255e-01 -3.65667784e-01 5.97581081e-03 1.77165967e+02] [-3.65660294e-01 9.30745439e-01 2.34036924e-03 -9.31651143e+01] [-6.41775629e-03 -6.87363728e-06 -9.99979406e-01 -4.00975288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.666559995 meters 0.012778781349868382 Centerline is valid? [True, True] Translation: X:177.11, Y:-93.16, Z:-4.01 [[-9.02861572e-01 -4.29908653e-01 4.41946870e-03 1.77108702e+02] [-4.29903443e-01 9.02872389e-01 2.11654835e-03 -9.31623469e+01] [-4.90013871e-03 1.10053601e-05 -9.99987994e-01 -4.01156343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.726559995 meters 0.01287269586523628 Centerline is valid? [True, True] Translation: X:177.05, Y:-93.17, Z:-4.01 [[-8.69572963e-01 -4.93790883e-01 3.66424543e-03 1.77045068e+02] [-4.93786414e-01 8.69580683e-01 2.10076346e-03 -9.31652799e+01] [-4.22369488e-03 1.74124908e-05 -9.99991080e-01 -4.01171958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.786559995 meters 0.013026808692050524 Centerline is valid? [True, True] Translation: X:176.97, Y:-93.18, Z:-4.01 [[-8.30550438e-01 -5.56927193e-01 4.25103605e-03 1.76969139e+02] [-5.56919769e-01 8.30561317e-01 2.87583676e-03 -9.31759865e+01] [-5.13237780e-03 2.10414645e-05 -9.99986829e-01 -4.00902659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.846559995 meters 0.013208161379915054 Centerline is valid? [True, True] Translation: X:176.89, Y:-93.20, Z:-4.00 [[-7.84902248e-01 -6.19536421e-01 1.01530344e-02 1.76886403e+02] [-6.19484343e-01 7.84967912e-01 8.03278633e-03 -9.32003763e+01] [-1.29464099e-02 1.53062290e-05 -9.99916192e-01 -4.00333708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.906559995 meters 0.013619290873953034 Centerline is valid? [True, True] Translation: X:176.80, Y:-93.23, Z:-4.00 [[-7.32594971e-01 -6.80544785e-01 1.27829744e-02 1.76799081e+02] [-6.80442926e-01 7.32706483e-01 1.17743156e-02 -9.32296490e+01] [-1.73791173e-02 -7.22801024e-05 -9.99848969e-01 -3.99785466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9665599949999 meters 0.013734118484552414 Centerline is valid? [True, True] Translation: X:176.71, Y:-93.27, Z:-4.00 [[-6.77323607e-01 -7.35564871e-01 1.33060758e-02 1.76714428e+02] [-7.35426838e-01 6.77454281e-01 1.42500481e-02 -9.32738438e+01] [-1.94960928e-02 -1.33751271e-04 -9.99809924e-01 -3.99791143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.026559995 meters 0.013720544076624167 Centerline is valid? [True, True] Translation: X:176.63, Y:-93.33, Z:-4.00 [[-6.19997417e-01 -7.84515134e-01 1.17986467e-02 1.76633126e+02] [-7.84376937e-01 6.20109659e-01 1.47252051e-02 -9.33263179e+01] [-1.88686010e-02 -1.24997236e-04 -9.99821964e-01 -3.99898551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0865599949999 meters 0.013388880903449698 Centerline is valid? [True, True] Translation: X:176.56, Y:-93.39, Z:-4.00 [[-5.65626573e-01 -8.24616319e-01 8.63168274e-03 1.76556776e+02] [-8.24519612e-01 5.65692430e-01 1.26286633e-02 -9.33922139e+01] [-1.52966795e-02 2.61158545e-05 -9.99882999e-01 -4.00221592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.146559995 meters 0.014226964286159697 Centerline is valid? [True, True] Translation: X:176.49, Y:-93.46, Z:-4.01 [[-5.11086391e-01 -8.59511354e-01 5.56169618e-03 1.76488998e+02] [-8.59457308e-01 5.11116631e-01 9.63982717e-03 -9.34640381e+01] [-1.11282163e-02 1.46744055e-04 -9.99938069e-01 -4.00883160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2065599949999 meters 0.015425520546917254 Centerline is valid? [True, True] Translation: X:176.42, Y:-93.54, Z:-4.01 [[-4.48830172e-01 -8.93610402e-01 3.45336900e-03 1.76420671e+02] [-8.93581346e-01 4.48843432e-01 7.20770984e-03 -9.35443161e+01] [-7.99090649e-03 1.49171520e-04 -9.99968061e-01 -4.01282312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.266559995 meters 0.016001754091512797 Centerline is valid? [True, True] Translation: X:176.35, Y:-93.63, Z:-4.01 [[-3.81356497e-01 -9.24423989e-01 2.74064089e-03 1.76349694e+02] [-9.24397044e-01 3.81366312e-01 7.05988482e-03 -9.36343900e+01] [-7.57151499e-03 1.58892607e-04 -9.99971323e-01 -4.01283659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3265599949999 meters 0.015825290720791394 Centerline is valid? [True, True] Translation: X:176.28, Y:-93.73, Z:-4.01 [[-3.07856104e-01 -9.51428949e-01 2.75208663e-03 1.76284474e+02] [-9.51385464e-01 3.07868351e-01 9.09818171e-03 -9.37340217e+01] [-9.50355384e-03 1.82635560e-04 -9.99954824e-01 -4.01039778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.386559995 meters 0.014879953427874517 Centerline is valid? [True, True] Translation: X:176.23, Y:-93.84, Z:-4.01 [[-2.28250423e-01 -9.73598251e-01 2.86171535e-03 1.76226093e+02] [-9.73511819e-01 2.28268294e-01 1.29739874e-02 -9.38400207e+01] [-1.32846904e-02 1.75404400e-04 -9.99911739e-01 -4.00728418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4465599949999 meters 0.014147664645961455 Centerline is valid? [True, True] Translation: X:176.18, Y:-93.95, Z:-4.01 [[-1.47622841e-01 -9.89042437e-01 1.59837135e-03 1.76175736e+02] [-9.88977742e-01 1.47631467e-01 1.13126109e-02 -9.39503062e+01] [-1.14246222e-02 8.92460789e-05 -9.99934733e-01 -4.00781036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.506559995 meters 0.013743697704335364 Centerline is valid? [True, True] Translation: X:176.14, Y:-94.06, Z:-4.01 [[-6.90351378e-02 -9.97614093e-01 5.20264104e-04 1.76136081e+02] [-9.97580595e-01 6.90370833e-02 8.17538078e-03 -9.40648896e+01] [-8.19179260e-03 4.53831643e-05 -9.99966446e-01 -4.01006166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5665599949999 meters 0.014561780228301104 Centerline is valid? [True, True] Translation: X:176.10, Y:-94.19, Z:-4.01 [[ 2.84870979e-02 -9.99594154e-01 -1.15052501e-04 1.76095276e+02] [-9.99555614e-01 -2.84870100e-02 8.77867374e-03 -9.41915280e+01] [-8.77838845e-03 -1.35077565e-04 -9.99961460e-01 -4.00702965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.626559995 meters 0.01707134167521324 Centerline is valid? [True, True] Translation: X:176.07, Y:-94.31, Z:-4.00 [[ 1.14473146e-01 -9.93425557e-01 -1.24979038e-03 1.76067351e+02] [-9.93328470e-01 -1.14479436e-01 1.38927862e-02 -9.43111325e+01] [-1.39445241e-02 -3.48898576e-04 -9.99902710e-01 -4.00171254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6865599949999 meters 0.017534155282493132 Centerline is valid? [True, True] Translation: X:175.43, Y:-94.47, Z:-5.04 [[-4.64842020e-03 9.99989100e-01 -4.37574571e-04 1.75429350e+02] [-9.99866669e-01 -4.64100041e-03 1.56558497e-02 -9.44738364e+01] [ 1.56536483e-02 5.10291196e-04 9.99877344e-01 -5.03997102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.746559995 meters 0.017534155282493132 Centerline is valid? [True, True] Translation: X:176.09, Y:-94.58, Z:-4.00 [[ 1.25119214e-01 -9.92140509e-01 -1.54684915e-03 1.76088029e+02] [-9.92018360e-01 -1.25128090e-01 1.55735078e-02 -9.45806791e+01] [-1.56446623e-02 -4.14042294e-04 -9.99877529e-01 -3.99999729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8065599949999 meters 0.018356687084903466 Centerline is valid? [True, True] Translation: X:176.08, Y:-94.70, Z:-4.00 [[ 2.01527360e-01 -9.79478356e-01 -2.97877801e-03 1.76075788e+02] [-9.79334758e-01 -2.01548840e-01 1.67778645e-02 -9.46976776e+01] [-1.70339244e-02 -4.63977900e-04 -9.99854805e-01 -3.99829631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.866559995 meters 0.018356687084903466 Centerline is valid? [True, True] Translation: X:176.07, Y:-94.81, Z:-4.00 [[ 2.75966684e-01 -9.61157781e-01 -4.25546036e-03 1.76073755e+02] [-9.61016251e-01 -2.75999102e-01 1.65003481e-02 -9.48142717e+01] [-1.70339412e-02 -4.63979787e-04 -9.99854804e-01 -3.99829551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9265599949999 meters 0.018666128694190254 Centerline is valid? [True, True] Translation: X:176.08, Y:-94.93, Z:-4.00 [[ 3.48560772e-01 -9.37267094e-01 -5.98187139e-03 1.76081859e+02] [-9.37103501e-01 -3.48611738e-01 1.75181381e-02 -9.49304297e+01] [-1.85045249e-02 -5.00503111e-04 -9.99828651e-01 -3.99656633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.986559995 meters 0.016535356247597024 Centerline is valid? [True, True] Translation: X:176.10, Y:-95.04, Z:-4.00 [[ 4.16946271e-01 -9.08907683e-01 -6.52923012e-03 1.76100656e+02] [-9.08780715e-01 -4.16997196e-01 1.51970553e-02 -9.50414892e+01] [-1.65353909e-02 -4.02717104e-04 -9.99863200e-01 -3.99916070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0465599949999 meters 0.01757969399609062 Centerline is valid? [True, True] Translation: X:176.12, Y:-95.15, Z:-4.00 [[ 4.83650248e-01 -8.75230858e-01 -7.30633635e-03 1.76123084e+02] [-8.75119705e-01 -4.83705302e-01 1.39528920e-02 -9.51548517e+01] [-1.57461153e-02 -3.54400769e-04 -9.99875959e-01 -3.99827004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.106559995 meters 0.015773695763508577 Centerline is valid? [True, True] Translation: X:176.16, Y:-95.26, Z:-4.00 [[ 5.47801032e-01 -8.36570702e-01 -7.96810746e-03 1.76158580e+02] [-8.36473734e-01 -5.47858889e-01 1.27408490e-02 -9.52643478e+01] [-1.50240195e-02 -3.14337611e-04 -9.99887084e-01 -4.00080682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.166559995 meters 0.015248786699732715 Centerline is valid? [True, True] Translation: X:176.19, Y:-95.36, Z:-4.00 [[ 6.07424738e-01 -7.94333230e-01 -8.36099683e-03 1.76194221e+02] [-7.94252342e-01 -6.07482229e-01 1.13383811e-02 -9.53585580e+01] [-1.40856099e-02 -2.46471884e-04 -9.99900763e-01 -4.00160072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.226559995 meters 0.015088772888677776 Centerline is valid? [True, True] Translation: X:176.24, Y:-95.46, Z:-4.00 [[ 6.65586056e-01 -7.46265196e-01 -9.13556618e-03 1.76239466e+02] [-7.46190064e-01 -6.65648708e-01 1.05918003e-02 -9.54564582e+01] [-1.39853698e-02 -2.32885877e-04 -9.99902173e-01 -4.00154309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.286559995 meters 0.015162590038481583 Centerline is valid? [True, True] Translation: X:176.29, Y:-95.55, Z:-4.00 [[ 7.20648307e-01 -6.93239466e-01 -9.22282301e-03 1.76289552e+02] [-6.93178759e-01 -7.20707288e-01 9.17677691e-03 -9.55506942e+01] [-1.30086597e-02 -2.20163741e-04 -9.99915360e-01 -4.00199901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.346559995 meters 0.015272294735905263 Centerline is valid? [True, True] Translation: X:176.31, Y:-95.58, Z:-4.00 [[ 7.72730412e-01 -6.34649824e-01 -1.03591652e-02 1.76308731e+02] [-6.34588734e-01 -7.72799810e-01 8.80859755e-03 -9.55807449e+01] [-1.35959358e-02 -2.32861699e-04 -9.99907544e-01 -4.00055989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.406559995 meters 0.015215373091702301 Centerline is valid? [True, True] Translation: X:176.33, Y:-95.61, Z:-4.00 [[ 8.20410414e-01 -5.71639779e-01 -1.24384476e-02 1.76329702e+02] [-5.71568968e-01 -8.20504654e-01 9.00156807e-03 -9.56108246e+01] [-1.53514585e-02 -2.75549533e-04 -9.99882121e-01 -3.99943127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4665599949999 meters 0.015710932492783103 Centerline is valid? [True, True] Translation: X:176.35, Y:-95.64, Z:-4.00 [[ 8.62277023e-01 -5.06284113e-01 -1.24391524e-02 1.76354393e+02] [-5.06227197e-01 -8.62366705e-01 7.59549197e-03 -9.56355070e+01] [-1.45725878e-02 -2.52380962e-04 -9.99893782e-01 -3.99970718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.526559995 meters 0.013979547617786626 Centerline is valid? [True, True] Translation: X:176.38, Y:-95.65, Z:-4.00 [[ 8.97285552e-01 -4.41263622e-01 -1.28473363e-02 1.76382824e+02] [-4.41215421e-01 -8.97377502e-01 6.52468381e-03 -9.56548260e+01] [-1.44080162e-02 -1.86061631e-04 -9.99896182e-01 -4.00226299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5865599949999 meters 0.013786280602493818 Centerline is valid? [True, True] Translation: X:176.41, Y:-95.67, Z:-4.00 [[ 9.27999091e-01 -3.72303494e-01 -1.44151044e-02 1.76411530e+02] [-3.72255922e-01 -9.28111029e-01 5.95362770e-03 -9.56746899e+01] [-1.55953738e-02 -1.58853110e-04 -9.99878372e-01 -4.00098495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.646559995 meters 0.01329057697610368 Centerline is valid? [True, True] Translation: X:176.44, Y:-95.69, Z:-4.00 [[ 9.52867490e-01 -3.03035672e-01 -1.45920721e-02 1.76441708e+02] [-3.02998771e-01 -9.52979210e-01 4.72973842e-03 -9.56905103e+01] [-1.53392208e-02 -8.54340559e-05 -9.99882344e-01 -4.00124103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7065599949999 meters 0.01305920099975668 Centerline is valid? [True, True] Translation: X:176.47, Y:-95.71, Z:-4.00 [[ 9.72908503e-01 -2.30871567e-01 -1.21393920e-02 1.76472706e+02] [-2.30853240e-01 -9.72984233e-01 2.90911392e-03 -9.57060168e+01] [-1.24830687e-02 -2.78836900e-05 -9.99922083e-01 -4.00198268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.766559995 meters 0.012943341862970916 Centerline is valid? [True, True] Translation: X:176.50, Y:-95.72, Z:-4.00 [[ 9.87983781e-01 -1.54236321e-01 -9.96016209e-03 1.76502968e+02] [-1.54228282e-01 -9.88033986e-01 1.57490609e-03 -9.57185666e+01] [-1.00838864e-02 -1.98429924e-05 -9.99949156e-01 -4.00496755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8265599949999 meters 0.013170467140648696 Centerline is valid? [True, True] Translation: X:176.53, Y:-95.73, Z:-4.00 [[ 9.97217849e-01 -7.39815322e-02 -9.12653734e-03 1.76530534e+02] [-7.39780631e-02 -9.97259611e-01 7.17582382e-04 -9.57322954e+01] [-9.15461492e-03 -4.04224047e-05 -9.99958095e-01 -4.00370419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.886559995 meters 0.013472863435869968 Centerline is valid? [True, True] Translation: X:176.56, Y:-95.74, Z:-4.00 [[ 9.99900902e-01 9.36327350e-03 -1.05126321e-02 1.76560090e+02] [ 9.36380332e-03 -9.99956159e-01 1.17788165e-06 -9.57448267e+01] [-1.05121602e-02 -9.96159841e-05 -9.99944741e-01 -4.00462650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9465599949999 meters 0.014287418229536329 Centerline is valid? [True, True] Translation: X:176.59, Y:-95.76, Z:-4.00 [[ 9.95689415e-01 9.21824177e-02 -1.02465217e-02 1.76590816e+02] [ 9.21790262e-02 -9.95742126e-01 -8.03773838e-04 -9.57583188e+01] [-1.02769871e-02 -1.44205291e-04 -9.99947180e-01 -4.00316747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.006559995 meters 0.014711773443936023 Centerline is valid? [True, True] Translation: X:176.62, Y:-95.77, Z:-4.00 [[ 9.84989119e-01 1.72342479e-01 -9.72136715e-03 1.76623019e+02] [ 1.72335715e-01 -9.85037077e-01 -1.53556528e-03 -9.57659603e+01] [-9.84055021e-03 -1.62823664e-04 -9.99951567e-01 -4.00316373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0665599949999 meters 0.015154879033435258 Centerline is valid? [True, True] Translation: X:176.66, Y:-95.77, Z:-4.00 [[ 9.68204857e-01 2.49954834e-01 -1.00963583e-02 1.76655255e+02] [ 2.49943207e-01 -9.68257480e-01 -2.41782052e-03 -9.57670228e+01] [-1.03802203e-02 -1.82570588e-04 -9.99946107e-01 -4.00340702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.126559995 meters 0.015071072057107593 Centerline is valid? [True, True] Translation: X:176.69, Y:-95.76, Z:-4.00 [[ 9.45615977e-01 3.25085908e-01 -1.13831923e-02 1.76687074e+02] [ 3.25065038e-01 -9.45684465e-01 -3.68958371e-03 -9.57642758e+01] [-1.19643398e-02 -2.11348530e-04 -9.99928402e-01 -4.00265961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1865599949999 meters 0.014349233226809645 Centerline is valid? [True, True] Translation: X:176.72, Y:-95.76, Z:-4.00 [[ 9.18435843e-01 3.95444819e-01 -9.94973900e-03 1.76718587e+02] [ 3.95423484e-01 -9.18489722e-01 -4.11077162e-03 -9.57585962e+01] [-1.07643164e-02 -1.58880460e-04 -9.99942050e-01 -4.00281683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.246559995 meters 0.013616328314860093 Centerline is valid? [True, True] Translation: X:176.75, Y:-95.75, Z:-4.00 [[ 8.87024245e-01 4.61621282e-01 -9.68405833e-03 1.76747503e+02] [ 4.61595061e-01 -8.87077100e-01 -4.92118923e-03 -9.57470859e+01] [-1.08622321e-02 -1.04899336e-04 -9.99940999e-01 -4.00249490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3065599949999 meters 0.013211144278075987 Centerline is valid? [True, True] Translation: X:176.77, Y:-95.73, Z:-4.00 [[ 8.50394948e-01 5.26053875e-01 -9.78534268e-03 1.76774678e+02] [ 5.26019896e-01 -8.50451243e-01 -5.97936426e-03 -9.57341920e+01] [-1.14674246e-02 -6.24637801e-05 -9.99934245e-01 -4.00350747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.366559995 meters 0.013382233985243805 Centerline is valid? [True, True] Translation: X:176.81, Y:-95.73, Z:-4.00 [[ 8.05742104e-01 5.92196458e-01 -9.11131399e-03 1.76806452e+02] [ 5.92159685e-01 -8.05793614e-01 -6.59988925e-03 -9.57277053e+01] [-1.12502697e-02 -7.75441712e-05 -9.99936711e-01 -4.00390228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4265599949999 meters 0.013615318255768524 Centerline is valid? [True, True] Translation: X:176.83, Y:-95.72, Z:-4.00 [[ 7.56784353e-01 6.53593331e-01 -9.65401189e-03 1.76834784e+02] [ 6.53541655e-01 -7.56845922e-01 -8.21927731e-03 -9.57153598e+01] [-1.26786644e-02 -8.90784434e-05 -9.99919619e-01 -4.00325769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.486559995 meters 0.013612370714921124 Centerline is valid? [True, True] Translation: X:176.86, Y:-95.70, Z:-4.00 [[ 7.03604900e-01 7.10519817e-01 -1.00863092e-02 1.76862447e+02] [ 7.10448728e-01 -7.03677185e-01 -1.00511136e-02 -9.57007852e+01] [-1.42390211e-02 -9.37927159e-05 -9.99898616e-01 -4.00275838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5465599949999 meters 0.0137477029193135 Centerline is valid? [True, True] Translation: X:176.89, Y:-95.69, Z:-4.00 [[ 6.45513633e-01 7.63694833e-01 -9.07482989e-03 1.76889716e+02] [ 7.63621492e-01 -6.45577411e-01 -1.05841044e-02 -9.56863326e+01] [-1.39415310e-02 -9.75514407e-05 -9.99902807e-01 -4.00188012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.606559995 meters 0.013497744617212204 Centerline is valid? [True, True] Translation: X:176.91, Y:-95.67, Z:-4.00 [[ 5.85537726e-01 8.10606526e-01 -7.91399353e-03 1.76912354e+02] [ 8.10533974e-01 -5.85591202e-01 -1.08453281e-02 -9.56670620e+01] [-1.34256587e-02 -6.42118918e-05 -9.99909870e-01 -4.00460088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.666559995 meters 0.01352007217854353 Centerline is valid? [True, True] Translation: X:176.93, Y:-95.65, Z:-4.01 [[ 5.23374941e-01 8.52070916e-01 -7.33661193e-03 1.76931326e+02] [ 8.51987627e-01 -5.23426360e-01 -1.19133925e-02 -9.56450595e+01] [-1.39912314e-02 -1.55314778e-05 -9.99902118e-01 -4.00565154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.726559995 meters 0.013795339118381758 Centerline is valid? [True, True] Translation: X:176.95, Y:-95.62, Z:-4.00 [[ 4.56530987e-01 8.89681058e-01 -6.86096880e-03 1.76949996e+02] [ 8.89580311e-01 -4.56582539e-01 -1.33886278e-02 -9.56241850e+01] [-1.50442071e-02 8.94072328e-06 -9.99886830e-01 -4.00404383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.786559995 meters 0.013825699923859302 Centerline is valid? [True, True] Translation: X:176.96, Y:-95.60, Z:-4.00 [[ 3.85972827e-01 9.22493883e-01 -5.47838255e-03 1.76964561e+02] [ 9.22400385e-01 -3.86011704e-01 -1.31337249e-02 -9.55998371e+01] [-1.42305007e-02 1.59987783e-05 -9.99898741e-01 -4.00495975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.846559995 meters 0.013652351554954558 Centerline is valid? [True, True] Translation: X:176.98, Y:-95.58, Z:-4.01 [[ 3.13464946e-01 9.49590104e-01 -4.28500946e-03 1.76981946e+02] [ 9.49500117e-01 -3.13494231e-01 -1.30726529e-02 -9.55753990e+01] [-1.37569876e-02 2.92014729e-05 -9.99905368e-01 -4.00923390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.906559995 meters 0.013925904307635234 Centerline is valid? [True, True] Translation: X:177.00, Y:-95.55, Z:-4.01 [[ 2.37982609e-01 9.71263928e-01 -3.26512576e-03 1.76998035e+02] [ 9.71170946e-01 -2.38005005e-01 -1.34391539e-02 -9.55518201e+01] [-1.38300817e-02 2.72896258e-05 -9.99904360e-01 -4.00763797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9665599949999 meters 0.013645265730114245 Centerline is valid? [True, True] Translation: X:177.01, Y:-95.53, Z:-4.01 [[ 1.59341822e-01 9.87220920e-01 -2.24471822e-03 1.77013212e+02] [ 9.87122798e-01 -1.59357632e-01 -1.39185525e-02 -9.55255940e+01] [-1.40983992e-02 1.99497989e-06 -9.99900613e-01 -4.01022927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.026559995 meters 0.013623724134096104 Centerline is valid? [True, True] Translation: X:177.03, Y:-95.50, Z:-4.01 [[ 7.67019111e-02 9.97053391e-01 -1.16318991e-03 1.77029774e+02] [ 9.96951577e-01 -7.67107015e-02 -1.42485867e-02 -9.54988869e+01] [-1.42958308e-02 -6.67501780e-05 -9.99897807e-01 -4.01094452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0865599949999 meters 0.013785212170572476 Centerline is valid? [True, True] Translation: X:177.04, Y:-95.47, Z:-4.01 [[-5.56828118e-03 9.99984496e-01 -4.47174946e-05 1.77042524e+02] [ 9.99878466e-01 5.56703956e-03 -1.45623010e-02 -9.54699632e+01] [-1.45618263e-02 -1.25799046e-04 -9.99893963e-01 -4.01225893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.146559995 meters 0.01398370101605085 Centerline is valid? [True, True] Translation: X:177.05, Y:-95.44, Z:-4.01 [[-8.57343411e-02 9.96317425e-01 1.10056694e-03 1.77051228e+02] [ 9.96210744e-01 8.57412671e-02 -1.45804187e-02 -9.54401251e+01] [-1.46210892e-02 -1.53645974e-04 -9.99893094e-01 -4.01307656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2065599949999 meters 0.014520583639240785 Centerline is valid? [True, True] Translation: X:177.06, Y:-95.41, Z:-4.01 [[-1.67925879e-01 9.85796571e-01 2.45340433e-03 1.77059075e+02] [ 9.85669519e-01 1.67943629e-01 -1.58283779e-02 -9.54099564e+01] [-1.60155943e-02 -2.39748405e-04 -9.99871713e-01 -4.01304204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.266559995 meters 0.01536210828998305 Centerline is valid? [True, True] Translation: X:177.06, Y:-95.38, Z:-4.01 [[-2.47039561e-01 9.68997400e-01 3.93636631e-03 1.77064516e+02] [ 9.68854429e-01 2.47070739e-01 -1.66476808e-02 -9.53801908e+01] [-1.71041204e-02 -2.98869832e-04 -9.99853669e-01 -4.01104849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3265599949999 meters 0.0156240616746201 Centerline is valid? [True, True] Translation: X:177.06, Y:-95.35, Z:-4.01 [[-3.22969327e-01 9.46392892e-01 5.59533551e-03 1.77061991e+02] [ 9.46232421e-01 3.23017619e-01 -1.74305463e-02 -9.53503051e+01] [-1.83035370e-02 -3.35043941e-04 -9.99832420e-01 -4.01014435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.386559995 meters 0.015500520545881876 Centerline is valid? [True, True] Translation: X:177.05, Y:-95.32, Z:-4.01 [[-3.94590889e-01 9.18830452e-01 6.97365947e-03 1.77053344e+02] [ 9.18672967e-01 3.94652388e-01 -1.70139152e-02 -9.53229966e+01] [-1.83850748e-02 -3.07023490e-04 -9.99830933e-01 -4.01112756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4465599949999 meters 0.014887133855100106 Centerline is valid? [True, True] Translation: X:177.04, Y:-95.30, Z:-4.01 [[-4.62405523e-01 8.86632410e-01 8.00629116e-03 1.77040298e+02] [ 8.86490557e-01 4.62474770e-01 -1.58612395e-02 -9.52976412e+01] [-1.77657966e-02 -2.36823222e-04 -9.99842148e-01 -4.01167376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.506559995 meters 0.01436852072242114 Centerline is valid? [True, True] Translation: X:177.03, Y:-95.27, Z:-4.01 [[-5.28225534e-01 8.49056557e-01 8.98597285e-03 1.77025479e+02] [ 8.48927715e-01 5.28301929e-01 -1.47920867e-02 -9.52736855e+01] [-1.73066250e-02 -1.85116488e-04 -9.99850212e-01 -4.01326587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5665599949999 meters 0.0137916332797449 Centerline is valid? [True, True] Translation: X:177.01, Y:-95.25, Z:-4.02 [[-5.91063758e-01 8.06560635e-01 1.01772067e-02 1.77012832e+02] [ 8.06436939e-01 5.91151352e-01 -1.41259455e-02 -9.52481530e+01] [-1.74097011e-02 -1.42058999e-04 -9.99848430e-01 -4.01518604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.626559995 meters 0.014124610502356217 Centerline is valid? [True, True] Translation: X:177.00, Y:-95.22, Z:-4.02 [[-6.53624596e-01 7.56732226e-01 1.14553827e-02 1.77002056e+02] [ 7.56611364e-01 6.53724949e-01 -1.35253931e-02 -9.52205489e+01] [-1.77237703e-02 -1.73256868e-04 -9.99842907e-01 -4.01601218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6865599949999 meters 0.014865292794380622 Centerline is valid? [True, True] Translation: X:176.99, Y:-95.19, Z:-4.02 [[-7.13733050e-01 7.00292131e-01 1.32689355e-02 1.76990792e+02] [ 7.00164274e-01 7.13856332e-01 -1.33838226e-02 -9.51930072e+01] [-1.88446992e-02 -2.62041924e-04 -9.99822389e-01 -4.01506801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.746559995 meters 0.015600501735176868 Centerline is valid? [True, True] Translation: X:176.98, Y:-95.16, Z:-4.01 [[-7.69107327e-01 6.38945727e-01 1.49089883e-02 1.76977819e+02] [ 6.38816601e-01 7.69251734e-01 -1.28499196e-02 -9.51641730e+01] [-1.96791663e-02 -3.58858128e-04 -9.99806282e-01 -4.01430092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8065599949999 meters 0.016022637862209966 Centerline is valid? [True, True] Translation: X:177.00, Y:-95.14, Z:-4.02 [[-8.13028262e-01 5.82021814e-01 1.53510109e-02 1.76995949e+02] [ 5.81909436e-01 8.13173088e-01 -1.14427710e-02 -9.51432856e+01] [-1.91429713e-02 -3.70398148e-04 -9.99816688e-01 -4.01502749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.866559995 meters 0.015633534678252257 Centerline is valid? [True, True] Translation: X:177.01, Y:-95.12, Z:-4.01 [[-8.50463711e-01 5.25784440e-01 1.61925408e-02 1.77007990e+02] [ 5.25682211e-01 8.50617791e-01 -1.03723846e-02 -9.51199059e+01] [-1.92273017e-02 -3.09206109e-04 -9.99815091e-01 -4.01398557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9265599949999 meters 0.014311288278273908 Centerline is valid? [True, True] Translation: X:177.03, Y:-95.11, Z:-4.02 [[-8.83087845e-01 4.68916756e-01 1.65206936e-02 1.77028564e+02] [ 4.68830419e-01 8.83242342e-01 -9.00017748e-03 -9.51082660e+01] [-1.88121102e-02 -2.02543607e-04 -9.99823016e-01 -4.01623058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.986559995 meters 0.013561853347519668 Centerline is valid? [True, True] Translation: X:177.04, Y:-95.09, Z:-4.02 [[-9.11042771e-01 4.11997924e-01 1.60866550e-02 1.77043729e+02] [ 4.11932578e-01 9.11184782e-01 -7.33779595e-03 -9.50899852e+01] [-1.76810719e-02 -5.84286992e-05 -9.99843676e-01 -4.01762919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0465599949999 meters 0.01365158907867944 Centerline is valid? [True, True] Translation: X:177.06, Y:-95.07, Z:-4.02 [[-9.36277242e-01 3.50893784e-01 1.60772779e-02 1.77060050e+02] [ 3.50842533e-01 9.36415267e-01 -5.99708011e-03 -9.50688823e+01] [-1.71593466e-02 2.56632875e-05 -9.99852767e-01 -4.01739167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.106559995 meters 0.01430928362166406 Centerline is valid? [True, True] Translation: X:177.07, Y:-95.04, Z:-4.02 [[-9.58008081e-01 2.86308859e-01 1.57401980e-02 1.77065334e+02] [ 2.86271428e-01 9.58137376e-01 -4.63003425e-03 -9.50434963e+01] [-1.64068918e-02 7.03587356e-05 -9.99865395e-01 -4.01568393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.166559995 meters 0.013873917256100233 Centerline is valid? [True, True] Translation: X:177.07, Y:-95.01, Z:-4.02 [[-9.75739967e-01 2.18266672e-01 1.70639183e-02 1.77073931e+02] [ 2.18234830e-01 9.75889160e-01 -3.72913704e-03 -9.50145645e+01] [-1.74664392e-02 8.52732420e-05 -9.99847447e-01 -4.01699979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.226559995 meters 0.013777925101901171 Centerline is valid? [True, True] Translation: X:177.23, Y:-94.33, Z:-5.02 [[-9.61362986e-01 -2.74723940e-01 1.75489514e-02 1.77226054e+02] [ 2.74677448e-01 -9.61523143e-01 -5.05416621e-03 -9.43322474e+01] [ 1.82622234e-02 -3.85871425e-05 9.99833231e-01 -5.02225616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.286559995 meters 0.013714676043260403 Centerline is valid? [True, True] Translation: X:177.03, Y:-95.00, Z:-4.02 [[-9.76897200e-01 2.13031558e-01 1.70122128e-02 1.77028536e+02] [ 2.13000325e-01 9.77045317e-01 -3.64825738e-03 -9.49998952e+01] [-1.73988968e-02 5.96344447e-05 -9.99848626e-01 -4.01850607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.346559995 meters 0.013654340659014717 Centerline is valid? [True, True] Translation: X:177.17, Y:-94.33, Z:-5.02 [[-9.61929678e-01 -2.72805254e-01 1.63886665e-02 1.77174476e+02] [ 2.72764246e-01 -9.62069273e-01 -4.73065651e-03 -9.43275430e+01] [ 1.70575804e-02 -8.03166222e-05 9.99854506e-01 -5.02140510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.406559995 meters 0.013647970515597383 Centerline is valid? [True, True] Translation: X:176.98, Y:-94.98, Z:-4.02 [[-9.78147898e-01 2.07188430e-01 1.73102561e-02 1.76981450e+02] [ 2.07156391e-01 9.78301055e-01 -3.64355519e-03 -9.49841427e+01] [-1.76895442e-02 2.19943260e-05 -9.99843528e-01 -4.01737240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4665599949999 meters 0.013523447175723858 Centerline is valid? [True, True] Translation: X:176.98, Y:-94.96, Z:-4.02 [[-9.90584858e-01 1.35808465e-01 1.72540014e-02 1.76982443e+02] [ 1.35787790e-01 9.90735111e-01 -2.36961435e-03 -9.49563817e+01] [-1.74159587e-02 -4.42136638e-06 -9.99848331e-01 -4.01874423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.526559995 meters 0.01340360096711939 Centerline is valid? [True, True] Translation: X:177.08, Y:-94.29, Z:-5.02 [[-9.78736186e-01 -2.04390349e-01 1.73223277e-02 1.77076118e+02] [ 2.04358751e-01 -9.78889465e-01 -3.59390303e-03 -9.42871461e+01] [ 1.76912032e-02 2.24863024e-05 9.99843498e-01 -5.02195362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5865599949999 meters 0.013396082032727288 Centerline is valid? [True, True] Translation: X:176.93, Y:-94.95, Z:-4.02 [[-9.91533596e-01 1.28678121e-01 1.74088756e-02 1.76932535e+02] [ 1.28657190e-01 9.91686411e-01 -2.32166163e-03 -9.49469329e+01] [-1.75628924e-02 -6.22284995e-05 -9.99845759e-01 -4.01776605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.646559995 meters 0.013283780014484362 Centerline is valid? [True, True] Translation: X:177.02, Y:-94.28, Z:-5.02 [[-9.79030120e-01 -2.03142393e-01 1.52706396e-02 1.77021263e+02] [ 2.03116557e-01 -9.79149204e-01 -3.24055476e-03 -9.42802535e+01] [ 1.56105287e-02 -7.08809775e-05 9.99878146e-01 -5.02037686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7065599949999 meters 0.013159655840312597 Centerline is valid? [True, True] Translation: X:176.88, Y:-94.94, Z:-4.02 [[-9.92329886e-01 1.22710850e-01 1.49480383e-02 1.76881238e+02] [ 1.22695660e-01 9.92442462e-01 -1.93252360e-03 -9.49423533e+01] [-1.50722096e-02 -8.36414903e-05 -9.99886404e-01 -4.01927497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.766559995 meters 0.01319824132092617 Centerline is valid? [True, True] Translation: X:176.97, Y:-94.27, Z:-5.02 [[-9.79193577e-01 -2.02372005e-01 1.50169890e-02 1.76969500e+02] [ 2.02349789e-01 -9.79308716e-01 -3.00023127e-03 -9.42740910e+01] [ 1.53134310e-02 1.00877355e-04 9.99882737e-01 -5.02028380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8265599949999 meters 0.013304355231399594 Centerline is valid? [True, True] Translation: X:176.82, Y:-94.94, Z:-4.02 [[-9.93173636e-01 1.15750013e-01 1.44243936e-02 1.76824932e+02] [ 1.15735952e-01 9.93278369e-01 -1.80859862e-03 -9.49366339e+01] [-1.45367834e-02 -1.26831545e-04 -9.99894327e-01 -4.01949267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.886559995 meters 0.013486552981907608 Centerline is valid? [True, True] Translation: X:176.92, Y:-94.27, Z:-5.02 [[-9.79778663e-01 -1.99482081e-01 1.55135758e-02 1.76915697e+02] [ 1.99460589e-01 -9.79901450e-01 -2.93621591e-03 -9.42653142e+01] [ 1.57874979e-02 2.17505276e-04 9.99875346e-01 -5.02230425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9465599949999 meters 0.013648807039871674 Centerline is valid? [True, True] Translation: X:176.77, Y:-94.94, Z:-4.02 [[-9.93609702e-01 1.11640263e-01 1.66196247e-02 1.76767929e+02] [ 1.11622091e-01 9.93748675e-01 -2.01991434e-03 -9.49354852e+01] [-1.67412338e-02 -1.51889214e-04 -9.99859844e-01 -4.01676968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.006559995 meters 0.01338115428182057 Centerline is valid? [True, True] Translation: X:176.78, Y:-94.91, Z:-4.02 [[-9.98994401e-01 4.21602988e-02 1.52543501e-02 1.76783102e+02] [ 4.21535769e-02 9.99110852e-01 -7.62057315e-04 -9.49145433e+01] [-1.52729153e-02 -1.18265570e-04 -9.99883355e-01 -4.01748973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0665599949999 meters 0.013559366823409351 Centerline is valid? [True, True] Translation: X:176.77, Y:-94.89, Z:-4.02 [[-9.99441646e-01 -2.94886237e-02 1.57104338e-02 1.76774917e+02] [-2.94870411e-02 9.99565107e-01 3.32417932e-04 -9.48879503e+01] [-1.57134040e-02 -1.31021880e-04 -9.99876528e-01 -4.01599386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.126559995 meters 0.01437113579310383 Centerline is valid? [True, True] Translation: X:176.77, Y:-94.86, Z:-4.02 [[-9.94081901e-01 -1.07668699e-01 1.44438692e-02 1.76768633e+02] [-1.07660641e-01 9.94186803e-01 1.33653471e-03 -9.48578814e+01] [-1.45038071e-02 -2.26411245e-04 -9.99894789e-01 -4.01656045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1865599949999 meters 0.015102398623760623 Centerline is valid? [True, True] Translation: X:176.75, Y:-94.83, Z:-4.02 [[-9.83225692e-01 -1.81797336e-01 1.47298185e-02 1.76754289e+02] [-1.81781325e-01 9.83335978e-01 2.42988149e-03 -9.48312577e+01] [-1.49261065e-02 -2.88484022e-04 -9.99888558e-01 -4.01667134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.246559995 meters 0.015638127450014597 Centerline is valid? [True, True] Translation: X:176.64, Y:-94.15, Z:-5.02 [[-9.97264774e-01 7.26564291e-02 1.35651488e-02 1.76639958e+02] [-7.26473819e-02 -9.97357014e-01 1.15917241e-03 -9.41543602e+01] [ 1.36135176e-02 1.70529267e-04 9.99907317e-01 -5.02231557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3065599949999 meters 0.01618969256313224 Centerline is valid? [True, True] Translation: X:176.66, Y:-94.84, Z:-4.02 [[-9.81159381e-01 -1.92792955e-01 1.25357723e-02 1.76657623e+02] [-1.92781218e-01 9.81239411e-01 2.14944422e-03 -9.48431321e+01] [-1.27149915e-02 -3.07714096e-04 -9.99919114e-01 -4.01701900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.366559995 meters 0.01648386600294685 Centerline is valid? [True, True] Translation: X:176.54, Y:-94.17, Z:-5.02 [[-9.96822891e-01 7.86759842e-02 1.24183031e-02 1.76538491e+02] [-7.86662966e-02 -9.96900199e-01 1.26741755e-03 -9.41730238e+01] [ 1.24795241e-02 2.86488909e-04 9.99922087e-01 -5.02322846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4265599949999 meters 0.015439929713596444 Centerline is valid? [True, True] Translation: X:176.56, Y:-94.86, Z:-4.02 [[-9.80369175e-01 -1.96765787e-01 1.26295444e-02 1.76560617e+02] [-1.96753166e-01 9.80450481e-01 2.24640978e-03 -9.48622618e+01] [-1.28246595e-02 -2.82591936e-04 -9.99917721e-01 -4.01693190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.486559995 meters 0.015414269959774109 Centerline is valid? [True, True] Translation: X:176.55, Y:-94.84, Z:-4.02 [[-9.64115957e-01 -2.65191471e-01 1.24058703e-02 1.76546861e+02] [-2.65173098e-01 9.64195733e-01 3.13316315e-03 -9.48380859e+01] [-1.27925753e-02 -2.68970470e-04 -9.99918136e-01 -4.01603392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5465599949999 meters 0.016137936507711823 Centerline is valid? [True, True] Translation: X:176.52, Y:-94.82, Z:-4.02 [[-9.43087866e-01 -3.32360874e-01 1.10239168e-02 1.76521387e+02] [-3.32341003e-01 9.43152266e-01 3.64158309e-03 -9.48166868e+01] [-1.16075519e-02 -2.29366745e-04 -9.99932604e-01 -4.01572169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.606559995 meters 0.015756152996897116 Centerline is valid? [True, True] Translation: X:176.49, Y:-94.80, Z:-4.02 [[-9.17244824e-01 -3.98215472e-01 9.29354903e-03 1.76487515e+02] [-3.98197010e-01 9.17291887e-01 3.83867356e-03 -9.48021084e+01] [-1.00535163e-02 -1.79659982e-04 -9.99949446e-01 -4.01736966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.666559995 meters 0.014484019939612092 Centerline is valid? [True, True] Translation: X:176.43, Y:-94.80, Z:-4.02 [[-8.86041418e-01 -4.63531010e-01 8.34311630e-03 1.76430803e+02] [-4.63512131e-01 8.86080683e-01 4.18654277e-03 -9.48000588e+01] [-9.33326660e-03 -1.57685321e-04 -9.99956432e-01 -4.01802998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.726559995 meters 0.014093806237898144 Centerline is valid? [True, True] Translation: X:176.37, Y:-94.81, Z:-4.02 [[-8.50919499e-01 -5.25244878e-01 7.33655776e-03 1.76367993e+02] [-5.25226562e-01 8.50951117e-01 4.38806153e-03 -9.48057747e+01] [-8.54785887e-03 -1.19467885e-04 -9.99963459e-01 -4.01777073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.786559995 meters 0.013778618546090193 Centerline is valid? [True, True] Translation: X:176.30, Y:-94.82, Z:-4.02 [[-8.10877850e-01 -5.85160094e-01 8.04837912e-03 1.76296474e+02] [-5.85132668e-01 8.10917783e-01 5.66652160e-03 -9.48228982e+01] [-9.84239607e-03 -1.14512696e-04 -9.99951556e-01 -4.01765927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.846559995 meters 0.013629422096563626 Centerline is valid? [True, True] Translation: X:176.22, Y:-94.85, Z:-4.02 [[-7.65780919e-01 -6.43038792e-01 8.98311523e-03 1.76221111e+02] [-6.42996413e-01 7.65833596e-01 7.38352806e-03 -9.48472535e+01] [-1.16274664e-02 -1.21945964e-04 -9.99932391e-01 -4.01709187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.906559995 meters 0.013729988958083935 Centerline is valid? [True, True] Translation: X:176.14, Y:-94.88, Z:-4.02 [[-7.14826724e-01 -6.99256026e-01 7.98527232e-03 1.76137469e+02] [-6.99214320e-01 7.14871313e-01 7.63810940e-03 -9.48827656e+01] [-1.10494361e-02 -1.23492029e-04 -9.99938946e-01 -4.01758678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9665599949999 meters 0.014088595529404863 Centerline is valid? [True, True] Translation: X:176.05, Y:-94.93, Z:-4.02 [[-6.58251680e-01 -7.52763430e-01 7.20729348e-03 1.76053662e+02] [-7.52720739e-01 6.58291119e-01 8.01821181e-03 -9.49272627e+01] [-1.07803139e-02 -1.47077883e-04 -9.99941880e-01 -4.01913592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.026559995 meters 0.014356348944003597 Centerline is valid? [True, True] Translation: X:175.97, Y:-94.98, Z:-4.02 [[-5.98777800e-01 -8.00884140e-01 7.05270831e-03 1.75971170e+02] [-8.00831859e-01 5.98819310e-01 9.15247867e-03 -9.49805539e+01] [-1.15533729e-02 -1.67732459e-04 -9.99933244e-01 -4.01804949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0865599949999 meters 0.014395270300895869 Centerline is valid? [True, True] Translation: X:175.89, Y:-95.05, Z:-4.01 [[-5.36307814e-01 -8.43987499e-01 7.68311392e-03 1.75887872e+02] [-8.43906266e-01 5.36362807e-01 1.17112461e-02 -9.50472640e+01] [-1.40050819e-02 -2.02995176e-04 -9.99901903e-01 -4.01482335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.146559995 meters 0.013667848104004834 Centerline is valid? [True, True] Translation: X:175.82, Y:-95.12, Z:-4.02 [[-4.73872793e-01 -8.80572705e-01 6.02392767e-03 1.75818013e+02] [-8.80505087e-01 4.73911061e-01 1.09132016e-02 -9.51211545e+01] [-1.24646734e-02 -1.32629660e-04 -9.99922304e-01 -4.01820567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2065599949999 meters 0.013549029787800915 Centerline is valid? [True, True] Translation: X:175.75, Y:-95.21, Z:-4.02 [[-4.07219909e-01 -9.13316696e-01 4.95562031e-03 1.75745633e+02] [-9.13252104e-01 4.07250049e-01 1.08624439e-02 -9.52063721e+01] [-1.19390280e-02 -1.02327233e-04 -9.99928722e-01 -4.01772628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.266559995 meters 0.013196432744623161 Centerline is valid? [True, True] Translation: X:175.68, Y:-95.30, Z:-4.02 [[-3.40218829e-01 -9.40337689e-01 4.02229928e-03 1.75683217e+02] [-9.40273695e-01 3.40242602e-01 1.09704517e-02 -9.52974699e+01] [-1.16844868e-02 -4.97079630e-05 -9.99931733e-01 -4.01872078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3265599949999 meters 0.01330081364652046 Centerline is valid? [True, True] Translation: X:175.63, Y:-95.39, Z:-4.02 [[-2.72535868e-01 -9.62141522e-01 2.80943119e-03 1.75628970e+02] [-9.62089843e-01 2.72550348e-01 9.97206558e-03 -9.53943491e+01] [-1.03602498e-02 1.48203331e-05 -9.99946331e-01 -4.02080244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.386559995 meters 0.01328585475250961 Centerline is valid? [True, True] Translation: X:175.58, Y:-95.50, Z:-4.02 [[-2.00442215e-01 -9.79703592e-01 1.94704498e-03 1.75577196e+02] [-9.79655386e-01 2.00451667e-01 9.71868816e-03 -9.54996842e+01] [-9.91172211e-03 4.06022824e-05 -9.99950877e-01 -4.02355657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4465599949999 meters 0.013297413105768185 Centerline is valid? [True, True] Translation: X:174.85, Y:-95.47, Z:-5.02 [[-2.59096764e-01 9.65846955e-01 2.92018301e-03 1.74852996e+02] [-9.65782917e-01 -2.59113212e-01 1.11220467e-02 -9.54678177e+01] [ 1.14988529e-02 6.14234336e-05 9.99933884e-01 -5.01722482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.506559995 meters 0.0133220442784902 Centerline is valid? [True, True] Translation: X:175.51, Y:-95.78, Z:-4.02 [[-1.88996630e-01 -9.81974343e-01 2.58140766e-03 1.75514946e+02] [-9.81880648e-01 1.89014256e-01 1.35648065e-02 -9.57776931e+01] [-1.38082148e-02 2.90684952e-05 -9.99904662e-01 -4.02128022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5665599949999 meters 0.013590513997640427 Centerline is valid? [True, True] Translation: X:175.47, Y:-95.88, Z:-4.02 [[-1.14127295e-01 -9.93464472e-01 1.81739041e-03 1.75471094e+02] [-9.93331676e-01 1.14141754e-01 1.62432203e-02 -9.58816727e+01] [-1.63445024e-02 4.85233351e-05 -9.99866419e-01 -4.02051555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.626559995 meters 0.013767676186201307 Centerline is valid? [True, True] Translation: X:175.44, Y:-95.99, Z:-4.02 [[-3.92892124e-02 -9.99227704e-01 5.94522507e-04 1.75435126e+02] [-9.99078716e-01 3.92936206e-02 1.72548638e-02 -9.59938598e+01] [-1.72648989e-02 8.39552274e-05 -9.99850947e-01 -4.01941860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6865599949999 meters 0.01421712829809418 Centerline is valid? [True, True] Translation: X:175.41, Y:-96.11, Z:-4.02 [[ 3.42245734e-02 -9.99413861e-01 -7.82866498e-04 1.75407999e+02] [-9.99244041e-01 -3.42331898e-02 1.84237623e-02 -9.61103916e+01] [-1.84397634e-02 1.51729279e-04 -9.99829962e-01 -4.01823935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.746559995 meters 0.01456767216119305 Centerline is valid? [True, True] Translation: X:175.39, Y:-96.23, Z:-4.02 [[ 1.07843355e-01 -9.94165196e-01 -2.31816165e-03 1.75392765e+02] [-9.93977513e-01 -1.07868042e-01 1.93181194e-02 -9.62318959e+01] [-1.94554575e-02 2.20869730e-04 -9.99810700e-01 -4.01876264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8065599949999 meters 0.015810719072647597 Centerline is valid? [True, True] Translation: X:175.39, Y:-96.35, Z:-4.02 [[ 1.77128497e-01 -9.84180495e-01 -3.77468764e-03 1.75387438e+02] [-9.83997770e-01 -1.77168357e-01 1.89673977e-02 -9.63456465e+01] [-1.93360981e-02 3.54617569e-04 -9.99812977e-01 -4.01942393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.866559995 meters 0.01741282848611071 Centerline is valid? [True, True] Translation: X:175.39, Y:-96.46, Z:-4.02 [[ 2.45378182e-01 -9.69414770e-01 -4.95485685e-03 1.75390803e+02] [-9.69253848e-01 -2.45427759e-01 1.76689683e-02 -9.64620164e+01] [-1.83446183e-02 4.66934747e-04 -9.99831614e-01 -4.02155338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9265599949999 meters 0.01840442037011249 Centerline is valid? [True, True] Translation: X:175.40, Y:-96.58, Z:-4.02 [[ 3.16342248e-01 -9.48625020e-01 -6.17686794e-03 1.75400420e+02] [-9.48474460e-01 -3.16402136e-01 1.69081860e-02 -9.65779322e+01] [-1.79939025e-02 5.09827905e-04 -9.99837967e-01 -4.02402925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.986559995 meters 0.01713209378259177 Centerline is valid? [True, True] Translation: X:175.42, Y:-96.70, Z:-4.03 [[ 3.88260490e-01 -9.21518497e-01 -7.57961270e-03 1.75416630e+02] [-9.21368101e-01 -3.88334124e-01 1.66562309e-02 -9.66965006e+01] [-1.82924472e-02 5.16656970e-04 -9.99832546e-01 -4.02605326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0465599949999 meters 0.016471339653218304 Centerline is valid? [True, True] Translation: X:175.44, Y:-96.82, Z:-4.03 [[ 4.62888948e-01 -8.86364803e-01 -9.55285338e-03 1.75442579e+02] [-8.86195420e-01 -4.62987300e-01 1.73331396e-02 -9.68184487e+01] [-1.97863347e-02 4.42376147e-04 -9.99804133e-01 -4.02581416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.106559995 meters 0.015039977497643253 Centerline is valid? [True, True] Translation: X:175.47, Y:-96.93, Z:-4.03 [[ 5.34540978e-01 -8.45073428e-01 -1.08094456e-02 1.75469839e+02] [-8.44912611e-01 -5.34650165e-01 1.64888199e-02 -9.69312382e+01] [-1.97135354e-02 3.19087051e-04 -9.99805618e-01 -4.02529055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.166559995 meters 0.013038118629586266 Centerline is valid? [True, True] Translation: X:175.51, Y:-97.04, Z:-4.03 [[ 6.04927886e-01 -7.96190765e-01 -1.19380944e-02 1.75505892e+02] [-7.96039978e-01 -6.05045659e-01 1.54952765e-02 -9.70438955e+01] [-1.95602883e-02 1.29675585e-04 -9.99808671e-01 -4.02684094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.226559995 meters 0.012499057894069509 Centerline is valid? [True, True] Translation: X:175.55, Y:-97.15, Z:-4.03 [[ 6.70733329e-01 -7.41568302e-01 -1.39016228e-02 1.75549292e+02] [-7.41407320e-01 -6.70877373e-01 1.54510812e-02 -9.71512422e+01] [-2.07843162e-02 -5.67902206e-05 -9.99783981e-01 -4.02619540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.286559995 meters 0.012504905638249063 Centerline is valid? [True, True] Translation: X:175.60, Y:-97.25, Z:-4.03 [[ 7.30242218e-01 -6.83043186e-01 -1.40822709e-02 1.75597986e+02] [-6.82910892e-01 -7.30377961e-01 1.34442184e-02 -9.72520192e+01] [-1.94683621e-02 -2.00599676e-04 -9.99810453e-01 -4.02686363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.346559995 meters 0.012611403874219983 Centerline is valid? [True, True] Translation: X:175.62, Y:-97.28, Z:-4.03 [[ 7.82447839e-01 -6.22566383e-01 -1.36557260e-02 1.75617175e+02] [-6.22466889e-01 -7.82566965e-01 1.11317892e-02 -9.72834236e+01] [-1.76167978e-02 -2.09807126e-04 -9.99844790e-01 -4.02748147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.406559995 meters 0.012266703825572324 Centerline is valid? [True, True] Translation: X:175.64, Y:-97.31, Z:-4.03 [[ 8.27281182e-01 -5.61620688e-01 -1.37130533e-02 1.75640823e+02] [-5.61540429e-01 -8.27394814e-01 9.49566004e-03 -9.73091208e+01] [-1.66790683e-02 -1.55147047e-04 -9.99860883e-01 -4.02883885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4665599949999 meters 0.011609905517978397 Centerline is valid? [True, True] Translation: X:175.67, Y:-97.33, Z:-4.03 [[ 8.66027471e-01 -4.99826701e-01 -1.30264801e-02 1.75666945e+02] [-4.99769123e-01 -8.66125433e-01 7.58671242e-03 -9.73338570e+01] [-1.50746071e-02 -6.00688503e-05 -9.99886370e-01 -4.02995282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.526559995 meters 0.011449131116222894 Centerline is valid? [True, True] Translation: X:175.69, Y:-97.36, Z:-4.03 [[ 9.00917970e-01 -4.33794577e-01 -1.30029644e-02 1.75694420e+02] [-4.33749295e-01 -9.01011801e-01 6.26772911e-03 -9.73562062e+01] [-1.44347313e-02 -6.68313948e-06 -9.99895814e-01 -4.02968271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5865599949999 meters 0.011738521114212199 Centerline is valid? [True, True] Translation: X:175.72, Y:-97.37, Z:-4.03 [[ 9.30349955e-01 -3.66406886e-01 -1.39626687e-02 1.75723823e+02] [-3.66366649e-01 -9.30454722e-01 5.43032220e-03 -9.73749894e+01] [-1.49813385e-02 6.33561308e-05 -9.99887771e-01 -4.02919211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.646559995 meters 0.012149773030719523 Centerline is valid? [True, True] Translation: X:175.75, Y:-97.39, Z:-4.03 [[ 9.55409858e-01 -2.94834675e-01 -1.62639730e-02 1.75754228e+02] [-2.94793959e-01 -9.55548273e-01 4.90100404e-03 -9.73923177e+01] [-1.69859972e-02 1.12053412e-04 -9.99855721e-01 -4.02747459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7065599949999 meters 0.012466885925720447 Centerline is valid? [True, True] Translation: X:175.79, Y:-97.41, Z:-4.03 [[ 9.75092826e-01 -2.21192413e-01 -1.63675862e-02 1.75786443e+02] [-2.21163749e-01 -9.75230176e-01 3.56384153e-03 -9.74066517e+01] [-1.67504587e-02 1.44840407e-04 -9.99859691e-01 -4.02694519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.766559995 meters 0.012827634877447557 Centerline is valid? [True, True] Translation: X:175.82, Y:-97.41, Z:-4.03 [[ 9.89189130e-01 -1.45872477e-01 -1.50361370e-02 1.75816591e+02] [-1.45858049e-01 -9.89303389e-01 2.05761984e-03 -9.74139288e+01] [-1.51754514e-02 1.57766422e-04 -9.99884834e-01 -4.02830369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8265599949999 meters 0.012434048603161439 Centerline is valid? [True, True] Translation: X:175.85, Y:-97.42, Z:-4.03 [[ 9.97664076e-01 -6.70824186e-02 -1.28973349e-02 1.75846886e+02] [-6.70784092e-02 -9.97747430e-01 7.43692413e-04 -9.74212377e+01] [-1.29181715e-02 1.23177506e-04 -9.99916549e-01 -4.02934628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.886559995 meters 0.011454115777033754 Centerline is valid? [True, True] Translation: X:175.88, Y:-97.43, Z:-4.03 [[ 9.99841683e-01 1.38935671e-02 -1.11165981e-02 1.75877150e+02] [ 1.38918561e-02 -9.99903477e-01 -2.31121786e-04 -9.74305790e+01] [-1.11187362e-02 7.66550143e-05 -9.99938182e-01 -4.03127926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9465599949999 meters 0.01088558991354126 Centerline is valid? [True, True] Translation: X:175.91, Y:-97.44, Z:-4.03 [[ 9.95194519e-01 9.74738581e-02 -9.31217819e-03 1.75908736e+02] [ 9.74694597e-02 -9.95238086e-01 -9.26083157e-04 -9.74411866e+01] [-9.35810329e-03 1.39799040e-05 -9.99956212e-01 -4.03134252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.006559995 meters 0.010873832861651252 Centerline is valid? [True, True] Translation: X:175.94, Y:-97.45, Z:-4.03 [[ 9.83688391e-01 1.79643180e-01 -9.24534276e-03 1.75941208e+02] [ 1.79635530e-01 -9.83731837e-01 -1.65814555e-03 -9.74480183e+01] [-9.39281256e-03 -2.96935200e-05 -9.99955886e-01 -4.03071102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0665599949999 meters 0.011455841934635117 Centerline is valid? [True, True] Translation: X:175.97, Y:-97.45, Z:-4.03 [[ 9.64753951e-01 2.63028671e-01 -8.10750779e-03 1.75974454e+02] [ 2.63020135e-01 -9.64788013e-01 -2.12080191e-03 -9.74541758e+01] [-8.37985805e-03 -8.63857771e-05 -9.99964885e-01 -4.02978675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.126559995 meters 0.011924425712308227 Centerline is valid? [True, True] Translation: X:176.01, Y:-97.45, Z:-4.03 [[ 9.40533428e-01 3.39612003e-01 -7.78189247e-03 1.76006639e+02] [ 3.39601266e-01 -9.40565616e-01 -2.70234272e-03 -9.74532098e+01] [-8.23712850e-03 -1.01096874e-04 -9.99966069e-01 -4.02921526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1865599949999 meters 0.012540915843449284 Centerline is valid? [True, True] Translation: X:176.04, Y:-97.45, Z:-4.03 [[ 9.09711868e-01 4.15168957e-01 -7.68462255e-03 1.76039731e+02] [ 4.15155352e-01 -9.09744316e-01 -3.36359822e-03 -9.74502274e+01] [-8.38750325e-03 -1.30406960e-04 -9.99964816e-01 -4.02797226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.246559995 meters 0.0126105338479368 Centerline is valid? [True, True] Translation: X:176.07, Y:-97.44, Z:-4.03 [[ 8.74127651e-01 4.85664522e-01 -5.55182754e-03 1.76070784e+02] [ 4.85655461e-01 -8.74145275e-01 -2.96829769e-03 -9.74420608e+01] [-6.29470069e-03 -1.01604280e-04 -9.99980183e-01 -4.02715218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3065599949999 meters 0.012557953970727351 Centerline is valid? [True, True] Translation: X:176.10, Y:-97.43, Z:-4.03 [[ 8.33829520e-01 5.52005568e-01 -4.26422416e-03 1.76100232e+02] [ 5.51998825e-01 -8.33840420e-01 -2.72963498e-03 -9.74294564e+01] [-5.06245618e-03 -7.77964946e-05 -9.99987183e-01 -4.02850836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.366559995 meters 0.012711289087499219 Centerline is valid? [True, True] Translation: X:176.13, Y:-97.41, Z:-4.03 [[ 7.89151857e-01 6.14185374e-01 -3.95888444e-03 1.76127208e+02] [ 6.14178072e-01 -7.89161784e-01 -2.99560649e-03 -9.74145234e+01] [-4.96405800e-03 -6.74715863e-05 -9.99987677e-01 -4.02779332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4265599949999 meters 0.012160339994530396 Centerline is valid? [True, True] Translation: X:176.15, Y:-97.40, Z:-4.03 [[ 7.38583411e-01 6.74152105e-01 -3.67198621e-03 1.76153402e+02] [ 6.74144223e-01 -7.38592536e-01 -3.26057448e-03 -9.73980020e+01] [-4.91022476e-03 -6.72420658e-05 -9.99987943e-01 -4.02686552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.486559995 meters 0.012560979421315429 Centerline is valid? [True, True] Translation: X:176.18, Y:-97.38, Z:-4.03 [[ 6.83162140e-01 7.30259928e-01 -3.15089924e-03 1.76177912e+02] [ 7.30252592e-01 -6.83169404e-01 -3.27390686e-03 -9.73812592e+01] [-4.54340095e-03 -6.43431205e-05 -9.99989677e-01 -4.02656404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5465599949999 meters 0.013536533641689897 Centerline is valid? [True, True] Translation: X:176.20, Y:-97.36, Z:-4.03 [[ 6.23741003e-01 7.81625097e-01 -3.06099640e-03 1.76200122e+02] [ 7.81616226e-01 -6.23748509e-01 -3.72451072e-03 -9.73621608e+01] [-4.82046299e-03 -6.93944064e-05 -9.99988379e-01 -4.02511036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.606559995 meters 0.012492781079839912 Centerline is valid? [True, True] Translation: X:176.22, Y:-97.34, Z:-4.03 [[ 5.60551754e-01 8.28114408e-01 -2.87362996e-03 1.76220943e+02] [ 8.28104185e-01 -5.60559115e-01 -4.11545139e-03 -9.73400621e+01] [-5.01890406e-03 -7.27414980e-05 -9.99987403e-01 -4.02548643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.666559995 meters 0.012911762112122624 Centerline is valid? [True, True] Translation: X:176.24, Y:-97.32, Z:-4.02 [[ 4.93093631e-01 8.69970302e-01 -3.21624899e-03 1.76239319e+02] [ 8.69953088e-01 -4.93104110e-01 -5.47369222e-03 -9.73170098e+01] [-6.34789527e-03 -9.89429725e-05 -9.99979847e-01 -4.02459230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.726559995 meters 0.012912153483534193 Centerline is valid? [True, True] Translation: X:176.26, Y:-97.30, Z:-4.02 [[ 4.22512393e-01 9.06351111e-01 -3.30778391e-03 1.76259186e+02] [ 9.06325629e-01 -4.22525322e-01 -6.79759200e-03 -9.72951650e+01] [-7.55862753e-03 -1.25862473e-04 -9.99971425e-01 -4.02328077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.786559995 meters 0.013701646439127167 Centerline is valid? [True, True] Translation: X:176.28, Y:-97.27, Z:-4.02 [[ 3.47206031e-01 9.37782843e-01 -3.36331560e-03 1.76278779e+02] [ 9.37743816e-01 -3.47222272e-01 -8.55747302e-03 -9.72719839e+01] [-9.19286946e-03 -1.82722161e-04 -9.99957728e-01 -4.02131600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.846559995 meters 0.014259125466604248 Centerline is valid? [True, True] Translation: X:176.30, Y:-97.25, Z:-4.02 [[ 2.71452846e-01 9.62448187e-01 -2.61542157e-03 1.76295231e+02] [ 9.62410015e-01 -2.71465379e-01 -8.57386530e-03 -9.72475650e+01] [-8.96189752e-03 -1.89707773e-04 -9.99959823e-01 -4.02262584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.906559995 meters 0.013939070138556674 Centerline is valid? [True, True] Translation: X:176.31, Y:-97.22, Z:-4.02 [[ 1.96136975e-01 9.80574323e-01 -2.06971753e-03 1.76311576e+02] [ 9.80529689e-01 -1.96147799e-01 -9.35793767e-03 -9.72222241e+01] [-9.58212394e-03 -1.93981898e-04 -9.99954072e-01 -4.02256522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9665599949999 meters 0.014120282974677666 Centerline is valid? [True, True] Translation: X:176.32, Y:-97.20, Z:-4.02 [[ 1.19568792e-01 9.92824920e-01 -1.40790821e-03 1.76324500e+02] [ 9.92774129e-01 -1.19576919e-01 -1.00444102e-02 -9.71965028e+01] [-1.01406941e-02 -1.96736845e-04 -9.99948563e-01 -4.02237258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.026559995 meters 0.01435556312184056 Centerline is valid? [True, True] Translation: X:176.33, Y:-97.17, Z:-4.02 [[ 3.99553867e-02 9.99201318e-01 -5.40647537e-04 1.76334234e+02] [ 9.99161942e-01 -3.99586129e-02 -8.87256347e-03 -9.71687044e+01] [-8.88708064e-03 -1.85687739e-04 -9.99960492e-01 -4.02499863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0865599949999 meters 0.015416855339913072 Centerline is valid? [True, True] Translation: X:176.34, Y:-97.14, Z:-4.03 [[-3.97865404e-02 9.99208194e-01 1.25496858e-04 1.76342603e+02] [ 9.99182649e-01 3.97864208e-02 -7.14667437e-03 -9.71420548e+01] [-7.14600866e-03 -1.58947165e-04 -9.99974454e-01 -4.02618682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.146559995 meters 0.015356792276651774 Centerline is valid? [True, True] Translation: X:176.35, Y:-97.11, Z:-4.02 [[-1.18496466e-01 9.92954223e-01 7.06698017e-04 1.76346370e+02] [ 9.92927113e-01 1.18498454e-01 -7.33923700e-03 -9.71136388e+01] [-7.37126899e-03 -1.67974027e-04 -9.99972818e-01 -4.02447320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2065599949999 meters 0.01446954421826609 Centerline is valid? [True, True] Translation: X:176.35, Y:-97.09, Z:-4.02 [[-1.92552713e-01 9.81285783e-01 1.29008134e-03 1.76346576e+02] [ 9.81258484e-01 1.92556981e-01 -7.32099151e-03 -9.70851440e+01] [-7.43239905e-03 -1.43773518e-04 -9.99972369e-01 -4.02435142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.266559995 meters 0.014049549989636425 Centerline is valid? [True, True] Translation: X:176.34, Y:-97.06, Z:-4.02 [[-2.66560183e-01 9.63816401e-01 1.90091395e-03 1.76344933e+02] [ 9.63788334e-01 2.66566929e-01 -7.35660739e-03 -9.70574683e+01] [-7.59713965e-03 -1.28899915e-04 -9.99971133e-01 -4.02397314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3265599949999 meters 0.014238037128013406 Centerline is valid? [True, True] Translation: X:176.34, Y:-97.03, Z:-4.02 [[-3.40847692e-01 9.40115561e-01 2.36274146e-03 1.76341995e+02] [ 9.40090478e-01 3.40855860e-01 -6.86845748e-03 -9.70307474e+01] [-7.26249803e-03 -1.19907133e-04 -9.99973621e-01 -4.02364321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.386559995 meters 0.01464791535944084 Centerline is valid? [True, True] Translation: X:176.34, Y:-97.00, Z:-4.02 [[-4.14250529e-01 9.10159756e-01 2.39128130e-03 1.76335428e+02] [ 9.10143112e-01 4.14257417e-01 -5.50526957e-03 -9.70041461e+01] [-6.00128082e-03 -1.04152629e-04 -9.99981987e-01 -4.02447148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4465599949999 meters 0.013872435465868426 Centerline is valid? [True, True] Translation: X:176.33, Y:-96.98, Z:-4.02 [[-4.83801072e-01 8.75172974e-01 2.96456632e-03 1.76327325e+02] [ 8.75155175e-01 4.83810143e-01 -5.58253369e-03 -9.69774785e+01] [-6.31996986e-03 -1.06380228e-04 -9.99980023e-01 -4.02474159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.506559995 meters 0.01356463385919153 Centerline is valid? [True, True] Translation: X:176.32, Y:-96.95, Z:-4.02 [[-5.49542590e-01 8.35459120e-01 3.31684542e-03 1.76318560e+02] [ 8.35442856e-01 5.49552591e-01 -5.21389376e-03 -9.69505215e+01] [-6.17877609e-03 -9.42218696e-05 -9.99980907e-01 -4.02467633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5665599949999 meters 0.013445548182664973 Centerline is valid? [True, True] Translation: X:176.31, Y:-96.92, Z:-4.03 [[-6.13173159e-01 7.89938874e-01 3.90546624e-03 1.76309352e+02] [ 7.89921822e-01 6.13185589e-01 -5.19126411e-03 -9.69232846e+01] [-6.49555693e-03 -9.81308094e-05 -9.99978899e-01 -4.02535557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.626559995 meters 0.013363039583580658 Centerline is valid? [True, True] Translation: X:176.30, Y:-96.90, Z:-4.02 [[-6.72242615e-01 7.40316873e-01 4.55996902e-03 1.76299653e+02] [ 7.40298871e-01 6.72258074e-01 -5.16371726e-03 -9.68950034e+01] [-6.88826301e-03 -9.55308775e-05 -9.99976271e-01 -4.02319681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6865599949999 meters 0.012982571180642381 Centerline is valid? [True, True] Translation: X:176.28, Y:-96.87, Z:-4.02 [[-7.26310744e-01 6.87341116e-01 5.90702571e-03 1.76283950e+02] [ 6.87317345e-01 7.26334759e-01 -5.71706351e-03 -9.68707462e+01] [-8.22005091e-03 -9.23634242e-05 -9.99966211e-01 -4.02320089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.746559995 meters 0.012571512935955067 Centerline is valid? [True, True] Translation: X:176.31, Y:-96.86, Z:-4.02 [[-7.70968964e-01 6.36842947e-01 6.15770513e-03 1.76308033e+02] [ 6.36821974e-01 7.70993552e-01 -5.16872508e-03 -9.68577166e+01] [-8.03921706e-03 -6.35646831e-05 -9.99967683e-01 -4.02319492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8065599949999 meters 0.012066017251647562 Centerline is valid? [True, True] Translation: X:176.33, Y:-96.84, Z:-4.02 [[-8.09422181e-01 5.87207931e-01 4.75162256e-03 1.76327342e+02] [ 5.87197819e-01 8.09436128e-01 -3.44619728e-03 -9.68442250e+01] [-5.86976935e-03 7.13883074e-07 -9.99982773e-01 -4.02497614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.866559995 meters 0.01315889055771569 Centerline is valid? [True, True] Translation: X:176.35, Y:-96.83, Z:-4.03 [[-8.43855704e-01 5.36557352e-01 3.70933508e-03 1.76346878e+02] [ 5.36552390e-01 8.43863855e-01 -2.30793568e-03 -9.68316857e+01] [-4.36851365e-03 4.26879132e-05 -9.99990457e-01 -4.02602928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9265599949999 meters 0.014141152903515673 Centerline is valid? [True, True] Translation: X:176.37, Y:-96.81, Z:-4.03 [[-8.76226770e-01 4.81879398e-01 4.34666761e-03 1.76365454e+02] [ 4.81873940e-01 8.76237547e-01 -2.29496451e-03 -9.68142385e+01] [-4.91460948e-03 8.36365014e-05 -9.99987920e-01 -4.02616507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.986559995 meters 0.014802173109368343 Centerline is valid? [True, True] Translation: X:176.38, Y:-96.79, Z:-4.03 [[-9.06977773e-01 4.21150787e-01 4.83040189e-03 1.76380880e+02] [ 4.21145426e-01 9.06990630e-01 -2.12768143e-03 -9.67914530e+01] [-5.27720397e-03 1.04541892e-04 -9.99986070e-01 -4.02555107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0465599949999 meters 0.01482391989492162 Centerline is valid? [True, True] Translation: X:176.39, Y:-96.77, Z:-4.02 [[-9.34287787e-01 3.56472479e-01 5.80544256e-03 1.76393099e+02] [ 3.56466431e-01 9.34305815e-01 -2.08029556e-03 -9.67657482e+01] [-6.16562686e-03 1.25850663e-04 -9.99980984e-01 -4.02462389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.106559995 meters 0.014833734889823993 Centerline is valid? [True, True] Translation: X:176.40, Y:-96.74, Z:-4.02 [[-9.57372671e-01 2.88671149e-01 1.03216282e-02 1.76401945e+02] [ 2.88656739e-01 9.57428286e-01 -2.89208585e-03 -9.67377479e+01] [-1.07170805e-02 2.10603565e-04 -9.99942548e-01 -4.02239277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.166559995 meters 0.01468021821676968 Centerline is valid? [True, True] Translation: X:176.60, Y:-96.04, Z:-5.02 [[-9.48093706e-01 -3.17780029e-01 1.15835350e-02 1.76601159e+02] [ 3.17754494e-01 -9.48164455e-01 -4.03090355e-03 -9.60383447e+01] [ 1.22640368e-02 -1.40953984e-04 9.99924784e-01 -5.01878354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.226559995 meters 0.013964167971848518 Centerline is valid? [True, True] Translation: X:176.36, Y:-96.71, Z:-4.02 [[-9.60705169e-01 2.77315149e-01 1.19115756e-02 1.76355569e+02] [ 2.77295671e-01 9.60779001e-01 -3.28982666e-03 -9.67132701e+01] [-1.23567105e-02 1.42474886e-04 -9.99923643e-01 -4.01925911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.286559995 meters 0.012925744623543435 Centerline is valid? [True, True] Translation: X:176.35, Y:-96.68, Z:-4.02 [[-9.79163177e-01 2.02793008e-01 1.06990408e-02 1.76351062e+02] [ 2.02781592e-01 9.79221626e-01 -2.15271167e-03 -9.66759445e+01] [-1.09132870e-02 6.17125152e-05 -9.99940446e-01 -4.02026153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.346559995 meters 0.012574185265048131 Centerline is valid? [True, True] Translation: X:176.36, Y:-96.64, Z:-4.02 [[-9.92154240e-01 1.24643719e-01 9.69062379e-03 1.76355538e+02] [ 1.24637528e-01 9.92201564e-01 -1.24253619e-03 -9.66406231e+01] [-9.76992641e-03 -2.49721573e-05 -9.99952273e-01 -4.02165908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.406559995 meters 0.01309946073922023 Centerline is valid? [True, True] Translation: X:176.35, Y:-96.61, Z:-4.02 [[-9.98855545e-01 4.69061416e-02 9.34952306e-03 1.76349092e+02] [ 4.69032444e-02 9.98899297e-01 -5.29029956e-04 -9.66055006e+01] [-9.36404677e-03 -8.99015409e-05 -9.99956152e-01 -4.02195998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4665599949999 meters 0.014179708300261665 Centerline is valid? [True, True] Translation: X:176.39, Y:-95.96, Z:-5.02 [[-9.90089471e-01 -1.40164391e-01 8.76261613e-03 1.76390339e+02] [ 1.40159328e-01 -9.90128245e-01 -1.19227085e-03 -9.59554227e+01] [ 8.84322765e-03 4.77075797e-05 9.99960897e-01 -5.01721873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.526559995 meters 0.016696786573272344 Centerline is valid? [True, True] Translation: X:176.30, Y:-96.59, Z:-4.02 [[-9.99552679e-01 2.82292671e-02 9.87674616e-03 1.76295649e+02] [ 2.82255106e-02 9.99601446e-01 -5.19556695e-04 -9.65850374e+01] [-9.88747645e-03 -2.40548083e-04 -9.99951089e-01 -4.02003865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5865599949999 meters 0.017393666017667907 Centerline is valid? [True, True] Translation: X:176.33, Y:-95.97, Z:-5.02 [[-9.88864107e-01 -1.48332179e-01 1.20557876e-02 1.76326579e+02] [ 1.48326675e-01 -9.88937492e-01 -1.35431216e-03 -9.59670954e+01] [ 1.21233084e-02 4.48964200e-04 9.99926409e-01 -5.02132666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.646559995 meters 0.01741443826781183 Centerline is valid? [True, True] Translation: X:176.24, Y:-96.58, Z:-4.02 [[-9.99726604e-01 1.89277082e-02 1.37280791e-02 1.76240726e+02] [ 1.89203092e-02 9.99820771e-01 -6.68659992e-04 -9.65765121e+01] [-1.37382748e-02 -4.08737682e-04 -9.99905542e-01 -4.01647865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7065599949999 meters 0.017637712788775614 Centerline is valid? [True, True] Translation: X:176.27, Y:-95.97, Z:-5.02 [[-9.89583227e-01 -1.43339464e-01 1.33729305e-02 1.76272389e+02] [ 1.43331593e-01 -9.89673508e-01 -1.55013521e-03 -9.59667035e+01] [ 1.34570306e-02 3.82775618e-04 9.99909377e-01 -5.02257842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.766559995 meters 0.015504201695659282 Centerline is valid? [True, True] Translation: X:176.19, Y:-96.58, Z:-4.02 [[-9.99654843e-01 2.35597030e-02 1.16247414e-02 1.76193679e+02] [ 2.35552670e-02 9.99722402e-01 -5.18384553e-04 -9.65810898e+01] [-1.16337274e-02 -2.44381740e-04 -9.99932296e-01 -4.01904657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8265599949999 meters 0.013956101780618011 Centerline is valid? [True, True] Translation: X:176.19, Y:-96.56, Z:-4.02 [[-9.99097615e-01 -4.11740813e-02 1.04235940e-02 1.76192742e+02] [-4.11734325e-02 9.99151976e-01 2.76925263e-04 -9.65607549e+01] [-1.04261567e-02 -1.52499776e-04 -9.99945635e-01 -4.02097612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.886559995 meters 0.013048770010682916 Centerline is valid? [True, True] Translation: X:176.19, Y:-96.54, Z:-4.02 [[-9.94671766e-01 -1.02516846e-01 1.08799765e-02 1.76192834e+02] [-1.02511307e-01 9.94731267e-01 1.06701690e-03 -9.65416164e+01] [-1.09320400e-02 -5.39890274e-05 -9.99940242e-01 -4.01954956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9465599949999 meters 0.01301668159452539 Centerline is valid? [True, True] Translation: X:176.19, Y:-96.52, Z:-4.02 [[-9.85890682e-01 -1.66999643e-01 1.14316392e-02 1.76188759e+02] [-1.66988251e-01 9.85956956e-01 1.95062139e-03 -9.65213595e+01] [-1.15968573e-02 1.41499989e-05 -9.99932754e-01 -4.02059148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.006559995 meters 0.01338518476856071 Centerline is valid? [True, True] Translation: X:176.17, Y:-96.50, Z:-4.02 [[-9.72991587e-01 -2.30441670e-01 1.35649803e-02 1.76174900e+02] [-2.30417676e-01 9.73086134e-01 3.32719205e-03 -9.65016146e+01] [-1.39666179e-02 1.11718631e-04 -9.99902456e-01 -4.01903158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0665599949999 meters 0.014265136914302002 Centerline is valid? [True, True] Translation: X:176.15, Y:-96.49, Z:-4.02 [[-9.54971527e-01 -2.96250129e-01 1.62863339e-02 1.76148982e+02] [-2.96203445e-01 9.55110371e-01 5.26297074e-03 -9.64884343e+01] [-1.71144021e-02 2.01919005e-04 -9.99853518e-01 -4.01743246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.126559995 meters 0.014678141573938186 Centerline is valid? [True, True] Translation: X:176.10, Y:-96.48, Z:-4.02 [[-9.31443360e-01 -3.63566833e-01 1.52455185e-02 1.76102467e+02] [-3.63514266e-01 9.31568092e-01 6.18620548e-03 -9.64807732e+01] [-1.64513377e-02 2.20136548e-04 -9.99864643e-01 -4.01846584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1865599949999 meters 0.014319200736879974 Centerline is valid? [True, True] Translation: X:176.04, Y:-96.48, Z:-4.02 [[-9.02156234e-01 -4.31201801e-01 1.33841552e-02 1.76040931e+02] [-4.31151077e-01 9.02255489e-01 6.61677242e-03 -9.64801012e+01] [-1.49290917e-02 1.98769554e-04 -9.99888535e-01 -4.02075683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.246559995 meters 0.013964263710244559 Centerline is valid? [True, True] Translation: X:175.97, Y:-96.49, Z:-4.02 [[-8.66724889e-01 -4.98662729e-01 1.11107976e-02 1.75971946e+02] [-4.98619647e-01 8.66796090e-01 6.55633060e-03 -9.64888499e+01] [-1.29001937e-02 1.42472912e-04 -9.99916779e-01 -4.02249182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3065599949999 meters 0.013183589838834173 Centerline is valid? [True, True] Translation: X:175.90, Y:-96.50, Z:-4.02 [[-8.24193030e-01 -5.66230626e-01 9.41957249e-03 1.75895466e+02] [-5.66192763e-01 8.24246853e-01 6.54837996e-03 -9.65046464e+01] [-1.14719463e-02 6.38353515e-05 -9.99934193e-01 -4.02390708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.366559995 meters 0.012802917997417881 Centerline is valid? [True, True] Translation: X:175.81, Y:-96.53, Z:-4.03 [[-7.74346016e-01 -6.32701312e-01 8.79194259e-03 1.75809803e+02] [-6.32661011e-01 7.74395925e-01 7.14115756e-03 -9.65299471e+01] [-1.13266643e-02 -3.25923802e-05 -9.99935851e-01 -4.02503449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4265599949999 meters 0.013886116855193448 Centerline is valid? [True, True] Translation: X:175.72, Y:-96.56, Z:-4.02 [[-7.17336611e-01 -6.96676067e-01 8.40496664e-03 1.75723551e+02] [-6.96630813e-01 7.17385833e-01 7.94212468e-03 -9.65594165e+01] [-1.15626922e-02 -1.57981936e-04 -9.99933137e-01 -4.02443384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.486559995 meters 0.015435683715845309 Centerline is valid? [True, True] Translation: X:175.63, Y:-96.60, Z:-4.03 [[-6.57223323e-01 -7.53663358e-01 7.00329488e-03 1.75633434e+02] [-7.53624137e-01 6.57260598e-01 7.69203482e-03 -9.66049311e+01] [-1.04001946e-02 -2.22467370e-04 -9.99945892e-01 -4.02505874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5465599949999 meters 0.016514267293347304 Centerline is valid? [True, True] Translation: X:175.55, Y:-96.66, Z:-4.02 [[-5.96523246e-01 -8.02571677e-01 6.22258716e-03 1.75552218e+02] [-8.02532147e-01 5.96555652e-01 7.96912140e-03 -9.66562240e+01] [-1.01079107e-02 -2.40060070e-04 -9.99948885e-01 -4.02452111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.606559995 meters 0.016873637948644552 Centerline is valid? [True, True] Translation: X:175.48, Y:-96.72, Z:-4.03 [[-5.33643465e-01 -8.45691960e-01 5.45535896e-03 1.75475702e+02] [-8.45652250e-01 5.33671296e-01 8.19883556e-03 -9.67202212e+01] [-9.84505780e-03 -2.38081564e-04 -9.99951508e-01 -4.02577525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.666559995 meters 0.016026271104260508 Centerline is valid? [True, True] Translation: X:175.40, Y:-96.80, Z:-4.03 [[-4.67877359e-01 -8.83779244e-01 5.00255027e-03 1.75400735e+02] [-8.83734254e-01 4.67904036e-01 8.92081736e-03 -9.67969904e+01] [-1.02247467e-02 -2.47076568e-04 -9.99947695e-01 -4.02638599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.726559995 meters 0.01616132849101744 Centerline is valid? [True, True] Translation: X:175.33, Y:-96.88, Z:-4.02 [[-3.98338655e-01 -9.17222862e-01 5.34212793e-03 1.75329552e+02] [-9.17150797e-01 3.98374348e-01 1.15019087e-02 -9.68795263e+01] [-1.26779804e-02 -3.17882033e-04 -9.99919581e-01 -4.02491329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.786559995 meters 0.01830465351204012 Centerline is valid? [True, True] Translation: X:175.26, Y:-96.96, Z:-4.02 [[-3.26767381e-01 -9.45092621e-01 4.79747511e-03 1.75262365e+02] [-9.45005876e-01 3.26802412e-01 1.28092849e-02 -9.69634625e+01] [-1.36737871e-02 -3.47985680e-04 -9.99906449e-01 -4.02195038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.846559995 meters 0.016378532983131223 Centerline is valid? [True, True] Translation: X:175.21, Y:-97.06, Z:-4.02 [[-2.53067511e-01 -9.67438506e-01 4.42400798e-03 1.75207158e+02] [-9.67317858e-01 2.53105843e-01 1.52837924e-02 -9.70615869e+01] [-1.59058716e-02 -4.11590609e-04 -9.99873409e-01 -4.02224497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.906559995 meters 0.016354415717111107 Centerline is valid? [True, True] Translation: X:175.16, Y:-97.17, Z:-4.02 [[-1.79054788e-01 -9.83832560e-01 3.58835984e-03 1.75156675e+02] [-9.83681353e-01 1.79090200e-01 1.72538725e-02 -9.71677834e+01] [-1.76175616e-02 -4.40414178e-04 -9.99844702e-01 -4.02124525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9665599949999 meters 0.015529545414297135 Centerline is valid? [True, True] Translation: X:175.12, Y:-97.27, Z:-4.02 [[-1.05671892e-01 -9.94398695e-01 2.16503619e-03 1.75116636e+02] [-9.94256825e-01 1.05693396e-01 1.68009616e-02 -9.72731532e+01] [-1.69356843e-02 -3.77212607e-04 -9.99856510e-01 -4.02257411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.026559995 meters 0.01477212304505366 Centerline is valid? [True, True] Translation: X:175.09, Y:-97.38, Z:-4.02 [[-3.28712025e-02 -9.99459276e-01 7.99647200e-04 1.75085566e+02] [-9.99337437e-01 3.28796831e-02 1.56081324e-02 -9.73791423e+01] [-1.56259849e-02 -2.86059302e-04 -9.99877866e-01 -4.02405207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0865599949999 meters 0.014033837386152834 Centerline is valid? [True, True] Translation: X:175.06, Y:-97.50, Z:-4.03 [[ 4.12363284e-02 -9.99149368e-01 -3.23819801e-04 1.75060387e+02] [-9.99070485e-01 -4.12371422e-02 1.25564746e-02 -9.74981678e+01] [-1.25591471e-02 -1.94264105e-04 -9.99921112e-01 -4.02730445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.146559995 meters 0.013410706810853682 Centerline is valid? [True, True] Translation: X:175.04, Y:-97.61, Z:-4.03 [[ 1.16906614e-01 -9.93142166e-01 -1.21762143e-03 1.75042601e+02] [-9.93072087e-01 -1.16912830e-01 1.17991774e-02 -9.76119683e+01] [-1.18606162e-02 -1.70216016e-04 -9.99929646e-01 -4.02875640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2065599949999 meters 0.013334301799437962 Centerline is valid? [True, True] Translation: X:175.03, Y:-97.74, Z:-4.03 [[ 1.91241248e-01 -9.81540656e-01 -2.17378470e-03 1.75032801e+02] [-9.81467863e-01 -1.91253541e-01 1.19547845e-02 -9.77351891e+01] [-1.21498511e-02 -1.52748090e-04 -9.99926176e-01 -4.02822746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.266559995 meters 0.01336143281005017 Centerline is valid? [True, True] Translation: X:175.03, Y:-97.85, Z:-4.03 [[ 2.65481466e-01 -9.64109151e-01 -3.62451859e-03 1.75030414e+02] [-9.64010394e-01 -2.65506152e-01 1.38000883e-02 -9.78520402e+01] [-1.42671234e-02 -1.69594082e-04 -9.99898205e-01 -4.02609848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3265599949999 meters 0.01322218732225425 Centerline is valid? [True, True] Translation: X:175.04, Y:-97.97, Z:-4.03 [[ 3.38994004e-01 -9.40777262e-01 -4.60530795e-03 1.75038830e+02] [-9.40683553e-01 -3.39025243e-01 1.32792009e-02 -9.79730412e+01] [-1.40540859e-02 -1.69432047e-04 -9.99901222e-01 -4.02709810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.386559995 meters 0.01299900677504586 Centerline is valid? [True, True] Translation: X:175.05, Y:-98.09, Z:-4.03 [[ 4.10592257e-01 -9.11803913e-01 -5.25570913e-03 1.75053628e+02] [-9.11724070e-01 -4.10625861e-01 1.20673858e-02 -9.80889863e+01] [-1.31612196e-02 -1.63018643e-04 -9.99913374e-01 -4.02859073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4465599949999 meters 0.012828588088468863 Centerline is valid? [True, True] Translation: X:175.08, Y:-98.20, Z:-4.03 [[ 4.77858307e-01 -8.78415997e-01 -6.06424703e-03 1.75075753e+02] [-8.78341552e-01 -4.77896765e-01 1.14368366e-02 -9.82018641e+01] [-1.29443842e-02 -1.38707213e-04 -9.99916208e-01 -4.02750686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.506559995 meters 0.01276521609752485 Centerline is valid? [True, True] Translation: X:175.11, Y:-98.31, Z:-4.03 [[ 5.42186491e-01 -8.40228235e-01 -7.09378807e-03 1.75108021e+02] [-8.40153500e-01 -5.42232883e-01 1.12070174e-02 -9.83097749e+01] [-1.32629376e-02 -1.16422550e-04 -9.99912037e-01 -4.02639786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5665599949999 meters 0.012311889883492248 Centerline is valid? [True, True] Translation: X:175.15, Y:-98.41, Z:-4.03 [[ 6.00903649e-01 -7.99291884e-01 -6.87662920e-03 1.75152801e+02] [-7.99238733e-01 -6.00942994e-01 9.21772386e-03 -9.84144403e+01] [-1.15001140e-02 -4.28954996e-05 -9.99933871e-01 -4.02832702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.626559995 meters 0.012228631778269406 Centerline is valid? [True, True] Translation: X:175.20, Y:-98.51, Z:-4.03 [[ 6.58002522e-01 -7.52980385e-01 -7.29529464e-03 1.75197436e+02] [-7.52933971e-01 -6.58042962e-01 8.36034392e-03 -9.85110840e+01] [-1.10957923e-02 -8.25222203e-06 -9.99938440e-01 -4.02835056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6865599949999 meters 0.012379326779633274 Centerline is valid? [True, True] Translation: X:175.25, Y:-98.61, Z:-4.03 [[ 7.12259058e-01 -7.01887588e-01 -6.39119521e-03 1.75249162e+02] [-7.01859447e-01 -7.12287732e-01 6.28510952e-03 -9.86065469e+01] [-8.96381030e-03 9.09455199e-06 -9.99959824e-01 -4.02780387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.746559995 meters 0.012426394202649167 Centerline is valid? [True, True] Translation: X:175.27, Y:-98.63, Z:-4.03 [[ 7.64207340e-01 -6.44946182e-01 -5.61811765e-03 1.75266926e+02] [-6.44928911e-01 -7.64227991e-01 4.71987736e-03 -9.86341096e+01] [-7.33758964e-03 1.63215781e-05 -9.99973079e-01 -4.02961218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8065599949999 meters 0.012589589598259145 Centerline is valid? [True, True] Translation: X:175.29, Y:-98.66, Z:-4.03 [[ 8.11837331e-01 -5.83847592e-01 -6.49136755e-03 1.75288676e+02] [-5.83829166e-01 -8.11863282e-01 4.63843403e-03 -9.86591693e+01] [-7.97824150e-03 2.41958050e-05 -9.99968173e-01 -4.02906336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.866559995 meters 0.01286484099443596 Centerline is valid? [True, True] Translation: X:175.31, Y:-98.69, Z:-4.03 [[ 8.54255799e-01 -5.19796745e-01 -7.64030007e-03 1.75310269e+02] [-5.19776365e-01 -8.54289964e-01 4.60300313e-03 -9.86862893e+01] [-8.91965772e-03 3.91052852e-05 -9.99960218e-01 -4.02616236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9265599949999 meters 0.013041025555642936 Centerline is valid? [True, True] Translation: X:175.34, Y:-98.70, Z:-4.03 [[ 8.91357301e-01 -4.53270478e-01 -5.29480591e-03 1.75335145e+02] [-4.53262736e-01 -8.91373026e-01 2.64948243e-03 -9.87049184e+01] [-5.92057934e-03 3.83027022e-05 -9.99982473e-01 -4.02771201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.986559995 meters 0.01316984422968609 Centerline is valid? [True, True] Translation: X:175.36, Y:-98.73, Z:-4.03 [[ 9.23369828e-01 -3.83860244e-01 -6.28290308e-03 1.75360320e+02] [-3.83851767e-01 -9.23391201e-01 2.55164069e-03 -9.87266785e+01] [-6.78105083e-03 5.55954260e-05 -9.99977007e-01 -4.02719401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0465599949999 meters 0.013518156086811443 Centerline is valid? [True, True] Translation: X:175.39, Y:-98.75, Z:-4.03 [[ 9.50094732e-01 -3.11887014e-01 -6.81837872e-03 1.75387543e+02] [-3.11879501e-01 -9.50119196e-01 2.16587153e-03 -9.87459219e+01] [-7.15377971e-03 6.87294282e-05 -9.99974409e-01 -4.02566916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.106559995 meters 0.013687270442604973 Centerline is valid? [True, True] Translation: X:175.42, Y:-98.77, Z:-4.03 [[ 9.71237979e-01 -2.38015700e-01 -6.73160511e-03 1.75415555e+02] [-2.38010525e-01 -9.71261304e-01 1.57137285e-03 -9.87663524e+01] [-6.91215897e-03 7.60158801e-05 -9.99976108e-01 -4.02585200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.166559995 meters 0.01375128154864163 Centerline is valid? [True, True] Translation: X:175.44, Y:-98.78, Z:-4.02 [[ 9.86954955e-01 -1.60769922e-01 -8.54104725e-03 1.75443239e+02] [-1.60764699e-01 -9.86991907e-01 1.29904276e-03 -9.87803284e+01] [-8.63879152e-03 9.10022064e-05 -9.99962681e-01 -4.02461762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.226559995 meters 0.01349478071002066 Centerline is valid? [True, True] Translation: X:175.47, Y:-98.79, Z:-4.02 [[ 9.96699255e-01 -8.06155178e-02 -9.57778866e-03 1.75471585e+02] [-8.06125465e-02 -9.96745270e-01 6.96514056e-04 -9.87937526e+01] [-9.60276538e-03 7.78748928e-05 -9.99953889e-01 -4.02458115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.286559995 meters 0.01332868241166389 Centerline is valid? [True, True] Translation: X:175.50, Y:-98.80, Z:-4.02 [[ 9.99957251e-01 4.77411115e-04 -9.23413592e-03 1.75499396e+02] [ 4.76939332e-04 -9.99999885e-01 -5.32932989e-05 -9.88033256e+01] [-9.23416030e-03 4.88868980e-05 -9.99957363e-01 -4.02396062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.346559995 meters 0.013093629925135337 Centerline is valid? [True, True] Translation: X:175.53, Y:-98.81, Z:-4.02 [[ 9.96303926e-01 8.54989878e-02 -8.27109492e-03 1.75529430e+02] [ 8.54961434e-02 -9.96338257e-01 -6.97515333e-04 -9.88130705e+01] [-8.30044515e-03 -1.22094526e-05 -9.99965551e-01 -4.02452486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.406559995 meters 0.013094984012375842 Centerline is valid? [True, True] Translation: X:175.56, Y:-98.82, Z:-4.03 [[ 9.85946124e-01 1.66962408e-01 -5.81335528e-03 1.75560938e+02] [ 1.66959690e-01 -9.85963262e-01 -9.53128022e-04 -9.88209354e+01] [-5.89089128e-03 -3.08631159e-05 -9.99982648e-01 -4.02635518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4665599949999 meters 0.013397831221583334 Centerline is valid? [True, True] Translation: X:175.59, Y:-98.82, Z:-4.03 [[ 9.69059049e-01 2.46784378e-01 -4.69365172e-03 1.75592908e+02] [ 2.46781688e-01 -9.69070415e-01 -1.15300538e-03 -9.88247742e+01] [-4.83302273e-03 -4.09769947e-05 -9.99988320e-01 -4.02769411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.526559995 meters 0.014107863528796496 Centerline is valid? [True, True] Translation: X:175.62, Y:-98.83, Z:-4.03 [[ 9.45629313e-01 3.25205781e-01 -5.13832559e-03 1.75624302e+02] [ 3.25201352e-01 -9.45643271e-01 -1.69844246e-03 -9.88274703e+01] [-5.41136633e-03 -6.48934492e-05 -9.99985356e-01 -4.02612918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5865599949999 meters 0.014005066099721466 Centerline is valid? [True, True] Translation: X:175.66, Y:-98.83, Z:-4.03 [[ 9.16539467e-01 3.99900333e-01 -5.92698670e-03 1.75657533e+02] [ 3.99892598e-01 -9.16558626e-01 -2.48887380e-03 -9.88274744e+01] [-6.42773225e-03 -8.90070418e-05 -9.99979338e-01 -4.02536231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.646559995 meters 0.014275529987698711 Centerline is valid? [True, True] Translation: X:175.69, Y:-98.82, Z:-4.02 [[ 8.82382565e-01 4.70451435e-01 -8.74395160e-03 1.75689000e+02] [ 4.70429866e-01 -8.82425877e-01 -4.50692684e-03 -9.88238269e+01] [-9.83617936e-03 -1.36582310e-04 -9.99951614e-01 -4.02159621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7065599949999 meters 0.013789427833099556 Centerline is valid? [True, True] Translation: X:175.72, Y:-98.81, Z:-4.02 [[ 8.44179530e-01 5.35994182e-01 -8.43550701e-03 1.75719597e+02] [ 5.35968760e-01 -8.44221667e-01 -5.22155444e-03 -9.88140868e+01] [-9.92016060e-03 -1.13238858e-04 -9.99950788e-01 -4.02108320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.766559995 meters 0.01350302781965633 Centerline is valid? [True, True] Translation: X:175.75, Y:-98.80, Z:-4.02 [[ 8.00647763e-01 5.99084088e-01 -7.83678272e-03 1.75749363e+02] [ 5.99056541e-01 -8.00686110e-01 -5.74578514e-03 -9.88028418e+01] [-9.71701152e-03 -9.43259355e-05 -9.99952784e-01 -4.02119459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8265599949999 meters 0.013322978627627208 Centerline is valid? [True, True] Translation: X:175.78, Y:-98.79, Z:-4.02 [[ 7.52573364e-01 6.58470077e-01 -7.10558109e-03 1.75777424e+02] [ 6.58441645e-01 -7.52606904e-01 -6.11943427e-03 -9.87884016e+01] [-9.37717375e-03 -7.32872664e-05 -9.99956031e-01 -4.02137116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.886559995 meters 0.013036253666663555 Centerline is valid? [True, True] Translation: X:175.80, Y:-98.77, Z:-4.02 [[ 7.03977478e-01 7.10197591e-01 -5.92387323e-03 1.75799202e+02] [ 7.10172493e-01 -7.04002402e-01 -5.97064693e-03 -9.87678533e+01] [-8.41076005e-03 -3.77085457e-06 -9.99964629e-01 -4.02268072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9465599949999 meters 0.013093655429938313 Centerline is valid? [True, True] Translation: X:175.82, Y:-98.75, Z:-4.02 [[ 6.49560508e-01 7.60291327e-01 -5.31464546e-03 1.75823767e+02] [ 7.60265471e-01 -6.49582248e-01 -6.27021554e-03 -9.87501150e+01] [-8.21948984e-03 3.23429504e-05 -9.99966219e-01 -4.02241145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.006559995 meters 0.01351773632139631 Centerline is valid? [True, True] Translation: X:175.85, Y:-98.73, Z:-4.02 [[ 5.91155475e-01 8.06541534e-01 -5.09490379e-03 1.75845732e+02] [ 8.06510585e-01 -5.91177426e-01 -7.06590670e-03 -9.87298008e+01] [-8.71093934e-03 6.79555904e-05 -9.99962057e-01 -4.02216623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0665599949999 meters 0.014007646124366393 Centerline is valid? [True, True] Translation: X:175.87, Y:-98.71, Z:-4.02 [[ 5.30010580e-01 8.47977520e-01 -4.78653436e-03 1.75867124e+02] [ 8.47940987e-01 -5.30032181e-01 -7.87215833e-03 -9.87085869e+01] [-9.21243054e-03 1.13628536e-04 -9.99957558e-01 -4.02280269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.126559995 meters 0.01415697609146149 Centerline is valid? [True, True] Translation: X:175.89, Y:-98.69, Z:-4.02 [[ 4.62220948e-01 8.86754032e-01 -4.36829659e-03 1.75886221e+02] [ 8.86711916e-01 -4.62241573e-01 -8.64331319e-03 -9.86877157e+01] [-9.68370111e-03 1.21699783e-04 -9.99953104e-01 -4.02301621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1865599949999 meters 0.013609658149297932 Centerline is valid? [True, True] Translation: X:175.91, Y:-98.67, Z:-4.02 [[ 3.89501887e-01 9.21018608e-01 -3.60601713e-03 1.75909074e+02] [ 9.20976734e-01 -3.89518566e-01 -8.78305241e-03 -9.86662623e+01] [-9.49396533e-03 9.99576081e-05 -9.99954926e-01 -4.02335125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.246559995 meters 0.01309827189037198 Centerline is valid? [True, True] Translation: X:175.93, Y:-98.64, Z:-4.02 [[ 3.10340372e-01 9.50621134e-01 -2.88313875e-03 1.75931003e+02] [ 9.50578872e-01 -3.10353762e-01 -8.96382082e-03 -9.86438960e+01] [-9.41599047e-03 4.11847073e-05 -9.99955668e-01 -4.02319020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3065599949999 meters 0.012948987999183335 Centerline is valid? [True, True] Translation: X:175.95, Y:-98.62, Z:-4.02 [[ 2.27808258e-01 9.73703121e-01 -2.37253748e-03 1.75950640e+02] [ 9.73651704e-01 -2.27820610e-01 -1.00064361e-02 -9.86189226e+01] [-1.02838110e-02 -3.04763873e-05 -9.99947120e-01 -4.02375049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.366559995 meters 0.013411016399980723 Centerline is valid? [True, True] Translation: X:175.97, Y:-98.59, Z:-4.02 [[ 1.44321783e-01 9.89529423e-01 -1.65678921e-03 1.75968627e+02] [ 9.89472152e-01 -1.44331256e-01 -1.06465754e-02 -9.85932811e+01] [-1.07742261e-02 -1.02814031e-04 -9.99941951e-01 -4.02381570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4265599949999 meters 0.014126168918865822 Centerline is valid? [True, True] Translation: X:175.98, Y:-98.57, Z:-4.02 [[ 6.22979553e-02 9.98057324e-01 -7.37144400e-04 1.75980240e+02] [ 9.98010348e-01 -6.23021757e-02 -9.68423707e-03 -9.85668195e+01] [-9.71134943e-03 -1.32369571e-04 -9.99952835e-01 -4.02489881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.486559995 meters 0.014661664132125862 Centerline is valid? [True, True] Translation: X:175.99, Y:-98.54, Z:-4.03 [[-2.08969239e-02 9.99781635e-01 2.19050879e-05 1.75991893e+02] [ 9.99742334e-01 2.08962967e-02 -8.86620358e-03 -9.85381596e+01] [-8.86472525e-03 -1.63376938e-04 -9.99960694e-01 -4.02719299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5465599949999 meters 0.015189840276367193 Centerline is valid? [True, True] Translation: X:176.00, Y:-98.51, Z:-4.03 [[-1.01359214e-01 9.94849648e-01 6.98397309e-04 1.76001992e+02] [ 9.94812362e-01 1.01361463e-01 -8.61503694e-03 -9.85082684e+01] [-8.64145704e-03 -1.78439100e-04 -9.99962646e-01 -4.02584164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.606559995 meters 0.015643568668431442 Centerline is valid? [True, True] Translation: X:176.01, Y:-98.48, Z:-4.02 [[-1.79790462e-01 9.83703676e-01 1.57074097e-03 1.76005398e+02] [ 9.83655114e-01 1.79797197e-01 -9.77671729e-03 -9.84786273e+01] [-9.89980756e-03 -2.12693123e-04 -9.99950973e-01 -4.02447896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.666559995 meters 0.015217849872468698 Centerline is valid? [True, True] Translation: X:176.01, Y:-98.45, Z:-4.02 [[-2.55430565e-01 9.66824654e-01 2.30562121e-03 1.76005784e+02] [ 9.66777855e-01 2.55440891e-01 -9.51477362e-03 -9.84483605e+01] [-9.78806765e-03 -2.01340477e-04 -9.99952075e-01 -4.02432161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.726559995 meters 0.01553906531387707 Centerline is valid? [True, True] Translation: X:176.00, Y:-98.42, Z:-4.02 [[-3.29993537e-01 9.43977201e-01 3.36308823e-03 1.76002852e+02] [ 9.43921247e-01 3.30010602e-01 -1.02801715e-02 -9.84200492e+01] [-1.08141023e-02 -2.17899741e-04 -9.99941502e-01 -4.02343593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.786559995 meters 0.016806214611758914 Centerline is valid? [True, True] Translation: X:176.00, Y:-98.39, Z:-4.02 [[-4.04085607e-01 9.14707897e-01 4.92808706e-03 1.75997974e+02] [ 9.14631383e-01 4.04115563e-01 -1.18340980e-02 -9.83914639e+01] [-1.28162595e-02 -2.74605580e-04 -9.99917831e-01 -4.02022982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.846559995 meters 0.016550708984891804 Centerline is valid? [True, True] Translation: X:175.99, Y:-98.36, Z:-4.02 [[-4.75201434e-01 8.79851476e-01 6.70657848e-03 1.75987781e+02] [ 8.79753938e-01 4.75248644e-01 -1.31047670e-02 -9.83644687e+01] [-1.47175409e-02 -3.27265237e-04 -9.99891638e-01 -4.01827355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.906559995 meters 0.015310453254418146 Centerline is valid? [True, True] Translation: X:175.97, Y:-98.34, Z:-4.02 [[-5.41323835e-01 8.40783963e-01 7.12972822e-03 1.75974689e+02] [ 8.40704100e-01 5.41370713e-01 -1.15917331e-02 -9.83380017e+01] [-1.36059693e-02 -2.80889677e-04 -9.99907395e-01 -4.02041351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9665599949999 meters 0.014352314117055386 Centerline is valid? [True, True] Translation: X:175.96, Y:-98.31, Z:-4.02 [[-6.02297561e-01 7.98243773e-01 6.67285111e-03 1.75960600e+02] [ 7.98191298e-01 6.02334494e-01 -9.15472049e-03 -9.83129205e+01] [-1.13269870e-02 -1.87654132e-04 -9.99935830e-01 -4.02158979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.026559995 meters 0.014007773954492818 Centerline is valid? [True, True] Translation: X:175.95, Y:-98.29, Z:-4.02 [[-6.60801940e-01 7.50533920e-01 6.29535926e-03 1.75945021e+02] [ 7.50497938e-01 6.60831913e-01 -7.35032229e-03 -9.82894648e+01] [-9.67684051e-03 -1.32453079e-04 -9.99953170e-01 -4.02270878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0865599949999 meters 0.013407555366875904 Centerline is valid? [True, True] Translation: X:175.93, Y:-98.27, Z:-4.02 [[-7.15023599e-01 6.99070246e-01 6.48406862e-03 1.75926667e+02] [ 6.99040325e-01 7.15052993e-01 -6.46849217e-03 -9.82704319e+01] [-9.15838309e-03 -9.24991228e-05 -9.99958057e-01 -4.02256667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.146559995 meters 0.013725852558663086 Centerline is valid? [True, True] Translation: X:175.95, Y:-98.25, Z:-4.02 [[-7.63790014e-01 6.45431346e-01 6.57203666e-03 1.75946443e+02] [ 6.45406292e-01 7.63818281e-01 -5.68777664e-03 -9.82504802e+01] [-8.69091108e-03 -1.02633188e-04 -9.99962228e-01 -4.02237370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2065599949999 meters 0.01483736833699258 Centerline is valid? [True, True] Translation: X:175.97, Y:-98.23, Z:-4.02 [[-8.09891577e-01 5.86526295e-01 7.90815430e-03 1.75966099e+02] [ 5.86496441e-01 8.09930171e-01 -5.91973785e-03 -9.82268496e+01] [-9.87713467e-03 -1.56241474e-04 -9.99951208e-01 -4.02156477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.266559995 meters 0.015509519629486648 Centerline is valid? [True, True] Translation: X:175.98, Y:-98.20, Z:-4.02 [[-8.51904719e-01 5.23617811e-01 9.09600244e-03 1.75983872e+02] [ 5.23585145e-01 8.51953249e-01 -5.85307071e-03 -9.82000310e+01] [-1.08141409e-02 -2.23726807e-04 -9.99941500e-01 -4.02005523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3265599949999 meters 0.016337205588040107 Centerline is valid? [True, True] Translation: X:175.99, Y:-98.17, Z:-4.02 [[-8.88331285e-01 4.59102852e-01 9.59680616e-03 1.75992931e+02] [ 4.59072855e-01 8.88383083e-01 -5.25464109e-03 -9.81713675e+01] [-1.09380610e-02 -2.62228865e-04 -9.99940143e-01 -4.02034584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.386559995 meters 0.017317363049434004 Centerline is valid? [True, True] Translation: X:176.01, Y:-98.14, Z:-4.02 [[-9.18950134e-01 3.94252705e-01 9.77011254e-03 1.76005431e+02] [ 3.94227276e-01 9.19002030e-01 -4.48590825e-03 -9.81441727e+01] [-1.07473347e-02 -2.70681132e-04 -9.99942209e-01 -4.01974719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4465599949999 meters 0.016395306141913653 Centerline is valid? [True, True] Translation: X:176.02, Y:-98.12, Z:-4.02 [[-9.44169900e-01 3.29316967e-01 9.67133100e-03 1.76024010e+02] [ 3.29296991e-01 9.44219399e-01 -3.63564529e-03 -9.81240867e+01] [-1.03291380e-02 -2.47926653e-04 -9.99946622e-01 -4.02041141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.506559995 meters 0.01605394125067846 Centerline is valid? [True, True] Translation: X:176.27, Y:-97.49, Z:-5.02 [[-9.01171390e-01 -4.33381905e-01 8.38152018e-03 1.76269084e+02] [ 4.33364771e-01 -9.01210353e-01 -3.85686263e-03 -9.74929266e+01] [ 9.22500723e-03 1.56561320e-04 9.99957436e-01 -5.01831231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5665599949999 meters 0.013860816632646267 Centerline is valid? [True, True] Translation: X:175.98, Y:-98.12, Z:-4.02 [[-9.42237095e-01 3.34887751e-01 6.28104645e-03 1.75984912e+02] [ 3.34879625e-01 9.42258025e-01 -2.33488317e-03 -9.81209343e+01] [-6.70029019e-03 -9.66190566e-05 -9.99977548e-01 -4.02388586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.626559995 meters 0.013014299751255093 Centerline is valid? [True, True] Translation: X:176.00, Y:-98.10, Z:-4.02 [[-9.61874315e-01 2.73422690e-01 6.15099754e-03 1.75998664e+02] [ 2.73416744e-01 9.61893980e-01 -1.80403564e-03 -9.81017976e+01] [-6.40987179e-03 -5.34698292e-05 -9.99979455e-01 -4.02291394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6865599949999 meters 0.01282149316391837 Centerline is valid? [True, True] Translation: X:176.00, Y:-98.08, Z:-4.02 [[-9.78540970e-01 2.05925031e-01 7.24229575e-03 1.76003886e+02] [ 2.05919004e-01 9.78567769e-01 -1.57641825e-03 -9.80758265e+01] [-7.41170118e-03 -5.12635221e-05 -9.99972532e-01 -4.02143978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.746559995 meters 0.012848696984704498 Centerline is valid? [True, True] Translation: X:176.16, Y:-97.39, Z:-5.02 [[-9.58599082e-01 -2.84648187e-01 7.95039371e-03 1.76163897e+02] [ 2.84639352e-01 -9.58632045e-01 -2.24547355e-03 -9.73894821e+01] [ 8.26067215e-03 1.10486029e-04 9.99965874e-01 -5.01876556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8065599949999 meters 0.013013711228522672 Centerline is valid? [True, True] Translation: X:175.96, Y:-98.07, Z:-4.02 [[-9.79131672e-01 2.03044231e-01 8.61446954e-03 1.75957756e+02] [ 2.03035887e-01 9.79169565e-01 -1.84152797e-03 -9.80652141e+01] [-8.80893803e-03 -5.40518926e-05 -9.99961199e-01 -4.01984864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.866559995 meters 0.012901318612786261 Centerline is valid? [True, True] Translation: X:176.12, Y:-97.38, Z:-5.02 [[-9.60215759e-01 -2.79126511e-01 8.60735904e-03 1.76115067e+02] [ 2.79115888e-01 -9.60254334e-01 -2.43607408e-03 -9.73793902e+01] [ 8.94522669e-03 6.32939344e-05 9.99959989e-01 -5.01831093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9265599949999 meters 0.012791364540275465 Centerline is valid? [True, True] Translation: X:175.91, Y:-98.06, Z:-4.02 [[-9.79582738e-01 2.00874328e-01 8.19536891e-03 1.75911834e+02] [ 2.00866970e-01 9.79617018e-01 -1.71979585e-03 -9.80568343e+01] [-8.37378569e-03 -3.85034122e-05 -9.99964939e-01 -4.02170225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.986559995 meters 0.012809203452713356 Centerline is valid? [True, True] Translation: X:175.92, Y:-98.03, Z:-4.02 [[-9.91329491e-01 1.31123577e-01 8.51164552e-03 1.75918130e+02] [ 1.31118419e-01 9.91366030e-01 -1.16363474e-03 -9.80304036e+01] [-8.59073618e-03 -3.75119315e-05 -9.99963098e-01 -4.02294043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0465599949999 meters 0.01293601407040274 Centerline is valid? [True, True] Translation: X:175.92, Y:-98.00, Z:-4.02 [[-9.98173003e-01 5.96593663e-02 9.56117461e-03 1.75923510e+02] [ 5.96561551e-02 9.98218792e-01 -6.20960665e-04 -9.80004303e+01] [-9.58119029e-03 -4.94432561e-05 -9.99954098e-01 -4.02174499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.106559995 meters 0.013315095177642162 Centerline is valid? [True, True] Translation: X:175.92, Y:-97.97, Z:-4.02 [[-9.99831598e-01 -1.44611511e-02 1.12982347e-02 1.75917880e+02] [-1.44612822e-02 9.99895428e-01 7.00999628e-05 -9.79709736e+01] [-1.12980669e-02 -9.32988021e-05 -9.99936170e-01 -4.02106220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.166559995 meters 0.013489005206189966 Centerline is valid? [True, True] Translation: X:175.91, Y:-97.94, Z:-4.02 [[-9.96123876e-01 -8.73387156e-02 1.04485888e-02 1.75912978e+02] [-8.73350273e-02 9.96178667e-01 8.09625160e-04 -9.79428028e+01] [-1.04793729e-02 -1.06040835e-04 -9.99945084e-01 -4.02247336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.226559995 meters 0.013775233812277686 Centerline is valid? [True, True] Translation: X:175.86, Y:-97.26, Z:-5.02 [[-9.99952201e-01 -2.44402205e-03 9.46693712e-03 1.75861549e+02] [ 2.44416810e-03 -9.99997013e-01 3.85704615e-06 -9.72579857e+01] [ 9.46689941e-03 2.69956475e-05 9.99955188e-01 -5.01689388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.286559995 meters 0.014200005615667111 Centerline is valid? [True, True] Translation: X:175.84, Y:-97.94, Z:-4.02 [[-9.95308864e-01 -9.61552963e-02 1.06969686e-02 1.75838061e+02] [-9.61513724e-02 9.95366333e-01 8.81691036e-04 -9.79448535e+01] [-1.07321817e-02 -1.50973309e-04 -9.99942397e-01 -4.02136498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.346559995 meters 0.014577877825225002 Centerline is valid? [True, True] Translation: X:175.78, Y:-97.27, Z:-5.02 [[-9.99930690e-01 -2.13719625e-03 1.15778721e-02 1.75783093e+02] [ 2.13961017e-03 -9.99997692e-01 1.96111766e-04 -9.72661754e+01] [ 1.15774262e-02 2.20870306e-04 9.99932955e-01 -5.01844936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.406559995 meters 0.015384870047085348 Centerline is valid? [True, True] Translation: X:175.76, Y:-97.95, Z:-4.02 [[-9.94301944e-01 -1.06008275e-01 1.12200975e-02 1.75763517e+02] [-1.06003974e-01 9.94365224e-01 9.79019242e-04 -9.79482419e+01] [-1.12606589e-02 -2.15934188e-04 -9.99936573e-01 -4.02144855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4665599949999 meters 0.016802216174905273 Centerline is valid? [True, True] Translation: X:175.76, Y:-97.92, Z:-4.02 [[-9.83828121e-01 -1.78779726e-01 1.09561867e-02 1.75758288e+02] [-1.78771398e-01 9.83889094e-01 1.74271295e-03 -9.79169654e+01] [-1.10912343e-02 -2.44122808e-04 -9.99938461e-01 -4.02083832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.526559995 meters 0.016469229360872466 Centerline is valid? [True, True] Translation: X:175.65, Y:-97.26, Z:-5.02 [[-9.97665995e-01 6.69630532e-02 1.33608492e-02 1.75654561e+02] [-6.69509527e-02 -9.97755353e-01 1.35141038e-03 -9.72591689e+01] [ 1.34213533e-02 4.53734599e-04 9.99909827e-01 -5.02022267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5865599949999 meters 0.015504588955611975 Centerline is valid? [True, True] Translation: X:175.67, Y:-97.93, Z:-4.02 [[-9.82590275e-01 -1.85245225e-01 1.41618711e-02 1.75666535e+02] [-1.85230750e-01 9.82692272e-01 2.33851350e-03 -9.79333857e+01] [-1.43499598e-02 -3.25413391e-04 -9.99896981e-01 -4.01991299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.646559995 meters 0.015491631794734624 Centerline is valid? [True, True] Translation: X:175.66, Y:-97.91, Z:-4.02 [[-9.67465678e-01 -2.52662004e-01 1.31176754e-02 1.75658094e+02] [-2.52642632e-01 9.67554565e-01 3.14078573e-03 -9.79097573e+01] [-1.34856240e-02 -2.75481652e-04 -9.99909027e-01 -4.02023244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7065599949999 meters 0.01481663507802282 Centerline is valid? [True, True] Translation: X:175.50, Y:-97.25, Z:-5.02 [[-9.88784626e-01 1.48873880e-01 1.18967159e-02 1.75498506e+02] [-1.48861231e-01 -9.88856180e-01 1.94670462e-03 -9.72505288e+01] [ 1.20539545e-02 1.53911830e-04 9.99927337e-01 -5.01734143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.766559995 meters 0.014475866770176031 Centerline is valid? [True, True] Translation: X:175.55, Y:-97.94, Z:-4.02 [[-9.67297388e-01 -2.53380970e-01 1.15691989e-02 1.75552604e+02] [-2.53365039e-01 9.67366555e-01 2.84683122e-03 -9.79396336e+01] [-1.19129890e-02 -1.77498131e-04 -9.99929022e-01 -4.02164615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8265599949999 meters 0.014306382267627694 Centerline is valid? [True, True] Translation: X:175.38, Y:-97.28, Z:-5.02 [[-9.87221357e-01 1.58784645e-01 1.34695306e-02 1.75382079e+02] [-1.58765412e-01 -9.87313189e-01 2.49219790e-03 -9.72764102e+01] [ 1.36943679e-02 3.21855428e-04 9.99906176e-01 -5.01961866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.886559995 meters 0.014474193163228063 Centerline is valid? [True, True] Translation: X:175.44, Y:-97.97, Z:-4.02 [[-9.65517978e-01 -2.59988269e-01 1.34585887e-02 1.75439188e+02] [-2.59966123e-01 9.65611751e-01 3.40025085e-03 -9.79650435e+01] [-1.38797967e-02 -2.15773792e-04 -9.99903648e-01 -4.02010249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9465599949999 meters 0.015194688042353782 Centerline is valid? [True, True] Translation: X:175.42, Y:-97.94, Z:-4.02 [[-9.43783078e-01 -3.30358254e-01 1.17015199e-02 1.75415519e+02] [-3.30335688e-01 9.43855591e-01 3.86729155e-03 -9.79377612e+01] [-1.23221366e-02 -2.15545281e-04 -9.99924056e-01 -4.02086151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.006559995 meters 0.015415086167939518 Centerline is valid? [True, True] Translation: X:175.38, Y:-97.92, Z:-4.02 [[-9.16879563e-01 -3.98981356e-01 1.20725230e-02 1.75379297e+02] [-3.98950355e-01 9.16959004e-01 4.97982405e-03 -9.79186773e+01] [-1.30568656e-02 -2.50438444e-04 -9.99914724e-01 -4.02059997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0665599949999 meters 0.015029731282834956 Centerline is valid? [True, True] Translation: X:175.32, Y:-97.92, Z:-4.02 [[-8.85716295e-01 -4.64069285e-01 1.20972796e-02 1.75322882e+02] [-4.64029758e-01 8.85798871e-01 6.06171392e-03 -9.79150786e+01] [-1.35288118e-02 -2.44538914e-04 -9.99908452e-01 -4.02057870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.126559995 meters 0.014390059271864392 Centerline is valid? [True, True] Translation: X:175.26, Y:-97.92, Z:-4.02 [[-8.51765029e-01 -5.23773683e-01 1.25485146e-02 1.75261121e+02] [-5.23720080e-01 8.51857438e-01 7.49562363e-03 -9.79221366e+01] [-1.46155559e-02 -1.87398986e-04 -9.99893170e-01 -4.01975573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1865599949999 meters 0.013339094230873318 Centerline is valid? [True, True] Translation: X:175.19, Y:-97.94, Z:-4.02 [[-8.16346450e-01 -5.77470434e-01 1.03136533e-02 1.75193568e+02] [-5.77424874e-01 8.16411598e-01 7.25377250e-03 -9.79418456e+01] [-1.26090253e-02 -3.37685460e-05 -9.99920503e-01 -4.02102924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.246559995 meters 0.013734424310123441 Centerline is valid? [True, True] Translation: X:175.12, Y:-97.97, Z:-4.02 [[-7.75846400e-01 -6.30861195e-01 8.74734268e-03 1.75117758e+02] [-6.30820240e-01 7.75895708e-01 7.18858975e-03 -9.79745705e+01] [-1.13220280e-02 5.92406717e-05 -9.99935902e-01 -4.02224897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3065599949999 meters 0.014881764047775418 Centerline is valid? [True, True] Translation: X:175.05, Y:-98.02, Z:-4.02 [[-7.32407183e-01 -6.80820810e-01 7.92107360e-03 1.75045775e+02] [-6.80778621e-01 7.32449998e-01 7.58090401e-03 -9.80152834e+01] [-1.09630275e-02 1.59810990e-04 -9.99939891e-01 -4.02450825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.366559995 meters 0.015010624938781464 Centerline is valid? [True, True] Translation: X:174.96, Y:-98.06, Z:-4.03 [[-6.80598881e-01 -7.32628200e-01 6.40967298e-03 1.74960388e+02] [-7.32593444e-01 6.80629043e-01 7.13801688e-03 -9.80638276e+01] [-9.59212204e-03 1.62441896e-04 -9.99953981e-01 -4.02524054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4265599949999 meters 0.015174770885224533 Centerline is valid? [True, True] Translation: X:174.87, Y:-98.12, Z:-4.02 [[-6.22024112e-01 -7.82975630e-01 5.93017696e-03 1.74874837e+02] [-7.82937715e-01 6.22052361e-01 7.70679188e-03 -9.81245737e+01] [-9.72311081e-03 1.50851180e-04 -9.99952718e-01 -4.02482048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.486559995 meters 0.01425672937684956 Centerline is valid? [True, True] Translation: X:174.79, Y:-98.19, Z:-4.03 [[-5.56849232e-01 -8.30596705e-01 5.29579786e-03 1.74790187e+02] [-8.30557336e-01 5.56874404e-01 8.08767143e-03 -9.81921268e+01] [-9.66668752e-03 1.05149867e-04 -9.99953271e-01 -4.02608106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5465599949999 meters 0.013803093132997534 Centerline is valid? [True, True] Translation: X:174.71, Y:-98.27, Z:-4.02 [[-4.87242004e-01 -8.73253416e-01 4.86837894e-03 1.74708022e+02] [-8.73208695e-01 4.87266322e-01 8.83774436e-03 -9.82672518e+01] [-1.00897875e-02 5.50094567e-05 -9.99949095e-01 -4.02478760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.606559995 meters 0.013679118509983197 Centerline is valid? [True, True] Translation: X:174.63, Y:-98.35, Z:-4.02 [[-4.09649580e-01 -9.12230349e-01 4.79702667e-03 1.74625951e+02] [-9.12169512e-01 4.09677662e-01 1.05354310e-02 -9.83499535e+01] [-1.15759746e-02 -5.98665751e-05 -9.99932994e-01 -4.02415080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.666559995 meters 0.0139387547655991 Centerline is valid? [True, True] Translation: X:174.56, Y:-98.44, Z:-4.02 [[-3.35486389e-01 -9.42036249e-01 4.07292356e-03 1.74556029e+02] [-9.41970514e-01 3.35511096e-01 1.11289910e-02 -9.84434931e+01] [-1.18504240e-02 -1.02948885e-04 -9.99929776e-01 -4.02422574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.726559995 meters 0.01597112620928348 Centerline is valid? [True, True] Translation: X:174.49, Y:-98.54, Z:-4.02 [[-2.51875224e-01 -9.67751927e-01 3.88315264e-03 1.74486344e+02] [-9.67653651e-01 2.51904996e-01 1.37943918e-02 -9.85443230e+01] [-1.43277348e-02 -2.83081314e-04 -9.99897313e-01 -4.02255835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.786559995 meters 0.017608140696680902 Centerline is valid? [True, True] Translation: X:174.43, Y:-98.64, Z:-4.02 [[-1.69833317e-01 -9.85469871e-01 2.40390113e-03 1.74429472e+02] [-9.85396984e-01 1.69850004e-01 1.19899856e-02 -9.86443307e+01] [-1.22240722e-02 -3.32497902e-04 -9.99925228e-01 -4.02463146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.846559995 meters 0.01817746089160217 Centerline is valid? [True, True] Translation: X:174.38, Y:-98.76, Z:-4.03 [[-9.10092042e-02 -9.95848915e-01 1.50473281e-03 1.74383227e+02] [-9.95772475e-01 9.10208707e-02 1.23441894e-02 -9.87559749e+01] [-1.24299097e-02 -3.74936666e-04 -9.99922675e-01 -4.02553399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.906559995 meters 0.018644718015526193 Centerline is valid? [True, True] Translation: X:174.35, Y:-98.87, Z:-4.03 [[-1.35319362e-02 -9.99908266e-01 5.89329872e-04 1.74348733e+02] [-9.99821086e-01 1.35385422e-02 1.32099676e-02 -9.88667309e+01] [-1.32167344e-02 -4.10467994e-04 -9.99912571e-01 -4.02615700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9665599949999 meters 0.018358708160713097 Centerline is valid? [True, True] Translation: X:174.32, Y:-98.97, Z:-4.03 [[ 6.36971187e-02 -9.97969191e-01 -4.14312805e-04 1.74321710e+02] [-9.97885923e-01 -6.36971586e-02 1.28979322e-02 -9.89739495e+01] [-1.28981295e-02 -4.08124201e-04 -9.99916732e-01 -4.02747929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.026559995 meters 0.01913772803385666 Centerline is valid? [True, True] Translation: X:174.30, Y:-99.09, Z:-4.03 [[ 1.41108461e-01 -9.89993122e-01 -1.42148362e-03 1.74301132e+02] [-9.89907848e-01 -1.41114973e-01 1.30006258e-02 -9.90895808e+01] [-1.30711227e-02 -4.27360501e-04 -9.99914478e-01 -4.02634335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0865599949999 meters 0.021072440306491552 Centerline is valid? [True, True] Translation: X:174.29, Y:-99.21, Z:-4.02 [[ 2.18568981e-01 -9.75816796e-01 -3.03012747e-03 1.74290145e+02] [-9.75683525e-01 -2.18589239e-01 1.61370529e-02 -9.92117942e+01] [-1.64091605e-02 -5.70613746e-04 -9.99865198e-01 -4.02314849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.146559995 meters 0.01962209351400386 Centerline is valid? [True, True] Translation: X:174.29, Y:-99.32, Z:-4.02 [[ 2.89988482e-01 -9.57018207e-01 -4.77831663e-03 1.74293980e+02] [-9.56852539e-01 -2.90027238e-01 1.78162569e-02 -9.93208071e+01] [-1.84363242e-02 -5.94364891e-04 -9.99829860e-01 -4.02202206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2065599949999 meters 0.01808975796659504 Centerline is valid? [True, True] Translation: X:174.31, Y:-99.43, Z:-4.02 [[ 3.59427121e-01 -9.33154288e-01 -5.93466221e-03 1.74306343e+02] [-9.33002491e-01 -3.59475743e-01 1.68387082e-02 -9.94311734e+01] [-1.78464798e-02 -5.15233771e-04 -9.99840606e-01 -4.02364303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.266559995 meters 0.01696064816737812 Centerline is valid? [True, True] Translation: X:174.33, Y:-99.54, Z:-4.03 [[ 4.25926514e-01 -9.04733860e-01 -6.57628836e-03 1.74328626e+02] [-9.04611253e-01 -4.25977095e-01 1.48995064e-02 -9.95425887e+01] [-1.62814361e-02 -3.97110353e-04 -9.99867370e-01 -4.02506977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3265599949999 meters 0.015513362401207223 Centerline is valid? [True, True] Translation: X:174.36, Y:-99.65, Z:-4.03 [[ 4.90647684e-01 -8.71332148e-01 -6.71844580e-03 1.74359620e+02] [-8.71242228e-01 -4.90693594e-01 1.25210512e-02 -9.96532737e+01] [-1.42066927e-02 -2.90031059e-04 -9.99899038e-01 -4.02739170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.386559995 meters 0.014663143672767795 Centerline is valid? [True, True] Translation: X:174.39, Y:-99.75, Z:-4.03 [[ 5.51234822e-01 -8.34319493e-01 -7.15218119e-03 1.74393071e+02] [-8.34244614e-01 -5.51281185e-01 1.11794493e-02 -9.97526146e+01] [-1.32700954e-02 -1.95833127e-04 -9.99911929e-01 -4.02708797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4465599949999 meters 0.01468858303101494 Centerline is valid? [True, True] Translation: X:174.43, Y:-99.86, Z:-4.03 [[ 6.13241143e-01 -7.89850303e-01 -8.47338482e-03 1.74433869e+02] [-7.89770280e-01 -6.13299647e-01 1.12448853e-02 -9.98593413e+01] [-1.40785000e-02 -2.03798841e-04 -9.99900872e-01 -4.02614761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.506559995 meters 0.014698567967452926 Centerline is valid? [True, True] Translation: X:174.48, Y:-99.96, Z:-4.03 [[ 6.72693093e-01 -7.39856628e-01 -9.80670819e-03 1.74480692e+02] [-7.39772894e-01 -6.72764531e-01 1.11333182e-02 -9.99624210e+01] [-1.48346647e-02 -2.34569331e-04 -9.99889933e-01 -4.02609500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5665599949999 meters 0.014660432510191114 Centerline is valid? [True, True] Translation: X:174.53, Y:-100.05, Z:-4.03 [[ 7.26430912e-01 -6.87165579e-01 -1.00795055e-02 1.74531352e+02] [-6.87095412e-01 -7.26500807e-01 9.82201616e-03 -1.00054654e+02] [-1.40721203e-02 -2.09434165e-04 -9.99900961e-01 -4.02655740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.626559995 meters 0.014236831801085013 Centerline is valid? [True, True] Translation: X:174.55, Y:-100.08, Z:-4.03 [[ 7.76774436e-01 -6.29683600e-01 -1.09562650e-02 1.74549328e+02] [-6.29617575e-01 -7.76851678e-01 9.12025825e-03 -1.00084099e+02] [-1.42542699e-02 -1.86126460e-04 -9.99898385e-01 -4.02537446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6865599949999 meters 0.013939439654936128 Centerline is valid? [True, True] Translation: X:174.57, Y:-100.11, Z:-4.02 [[ 8.22131502e-01 -5.69189926e-01 -1.10735022e-02 1.74569845e+02] [-5.69135971e-01 -8.22206062e-01 7.83828573e-03 -1.00109271e+02] [-1.35661739e-02 -1.41773180e-04 -9.99907965e-01 -4.02458173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.746559995 meters 0.01320653393136789 Centerline is valid? [True, True] Translation: X:174.60, Y:-100.13, Z:-4.03 [[ 8.61121679e-01 -5.08277337e-01 -1.11176858e-02 1.74595443e+02] [-5.08234089e-01 -8.61193443e-01 6.63067507e-03 -1.00130438e+02] [-1.29446999e-02 -5.94311609e-05 -9.99916212e-01 -4.02584666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8065599949999 meters 0.013133616988765702 Centerline is valid? [True, True] Translation: X:174.62, Y:-100.15, Z:-4.03 [[ 8.95678053e-01 -4.44571118e-01 -1.08326053e-02 1.74621623e+02] [-4.44538791e-01 -8.95743557e-01 5.36126127e-03 -1.00149756e+02] [-1.20866983e-02 1.35492067e-05 -9.99926953e-01 -4.02589274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.866559995 meters 0.013593888386034142 Centerline is valid? [True, True] Translation: X:174.65, Y:-100.17, Z:-4.03 [[ 9.24768709e-01 -3.80406657e-01 -9.67524954e-03 1.74648839e+02] [-3.80386887e-01 -9.24819316e-01 3.87940718e-03 -1.00168049e+02] [-1.04236100e-02 9.27836853e-05 -9.99945668e-01 -4.02685640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9265599949999 meters 0.014318577399031869 Centerline is valid? [True, True] Translation: X:174.68, Y:-100.18, Z:-4.03 [[ 9.50318220e-01 -3.11153134e-01 -8.88867125e-03 1.74676542e+02] [-3.11140740e-01 -9.50359780e-01 2.77987388e-03 -1.00183007e+02] [-9.31240213e-03 1.23862957e-04 -9.99956631e-01 -4.02776065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.986559995 meters 0.01531108394416573 Centerline is valid? [True, True] Translation: X:174.71, Y:-100.20, Z:-4.03 [[ 9.70260153e-01 -2.41915390e-01 -8.49581518e-03 1.74705657e+02] [-2.41907644e-01 -9.70297333e-01 1.94335753e-03 -1.00198452e+02] [-8.71359491e-03 1.69640261e-04 -9.99962022e-01 -4.02808658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0465599949999 meters 0.016597988528849392 Centerline is valid? [True, True] Translation: X:174.73, Y:-100.21, Z:-4.03 [[ 9.85278698e-01 -1.70782109e-01 -7.70440110e-03 1.74731683e+02] [-1.70778435e-01 -9.85308801e-01 1.13706086e-03 -1.00211916e+02] [-7.78540386e-03 1.95423719e-04 -9.99969674e-01 -4.02765436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.106559995 meters 0.017296095311129446 Centerline is valid? [True, True] Translation: X:174.76, Y:-100.22, Z:-4.03 [[ 9.95298669e-01 -9.66153814e-02 -6.78441830e-03 1.74758429e+02] [-9.66144659e-02 -9.95321772e-01 4.63318145e-04 -1.00224061e+02] [-6.79744291e-03 1.94333018e-04 -9.99976878e-01 -4.02851374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.166559995 meters 0.01906919338824261 Centerline is valid? [True, True] Translation: X:174.79, Y:-100.23, Z:-4.03 [[ 9.99724918e-01 -2.23392989e-02 -7.14447295e-03 1.74785353e+02] [-2.23403871e-02 -9.99750420e-01 -7.25284369e-05 -1.00232495e+02] [-7.14106960e-03 2.32118777e-04 -9.99974475e-01 -4.02784888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.226559995 meters 0.020127076130567738 Centerline is valid? [True, True] Translation: X:174.81, Y:-100.24, Z:-4.03 [[ 9.98374793e-01 5.63936408e-02 -8.21764697e-03 1.74812521e+02] [ 5.63895467e-02 -9.98408577e-01 -7.29243355e-04 -1.00240237e+02] [-8.24569390e-03 2.64668796e-04 -9.99965969e-01 -4.02656725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.286559995 meters 0.01717108136190159 Centerline is valid? [True, True] Translation: X:174.84, Y:-100.26, Z:-4.03 [[ 9.90296293e-01 1.38657382e-01 -9.34788093e-03 1.74844195e+02] [ 1.38648693e-01 -9.90340377e-01 -1.57439147e-03 -1.00257054e+02] [-9.47588491e-03 2.63042569e-04 -9.99955068e-01 -4.02601948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.346559995 meters 0.016151529963841813 Centerline is valid? [True, True] Translation: X:174.88, Y:-100.27, Z:-4.03 [[ 9.75164954e-01 2.21285267e-01 -9.28137790e-03 1.74876422e+02] [ 2.21273177e-01 -9.75209099e-01 -2.32275366e-03 -1.00266247e+02] [-9.56527534e-03 2.11347984e-04 -9.99954229e-01 -4.02581682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.406559995 meters 0.01466308595956845 Centerline is valid? [True, True] Translation: X:174.91, Y:-100.28, Z:-4.03 [[ 9.53732502e-01 3.00538716e-01 -8.41397222e-03 1.74910579e+02] [ 3.00525513e-01 -9.53769602e-01 -2.82168682e-03 -1.00277355e+02] [-8.87301708e-03 1.62521112e-04 -9.99960621e-01 -4.02705536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4665599949999 meters 0.013870092838323812 Centerline is valid? [True, True] Translation: X:174.95, Y:-100.28, Z:-4.03 [[ 9.25224695e-01 3.79336036e-01 -7.96462206e-03 1.74945451e+02] [ 3.79320943e-01 -9.25258969e-01 -3.38569947e-03 -1.00284502e+02] [-8.65365581e-03 1.11384809e-04 -9.99962550e-01 -4.02736675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.526559995 meters 0.013583505110561575 Centerline is valid? [True, True] Translation: X:174.98, Y:-100.28, Z:-4.03 [[ 8.91941445e-01 4.52091385e-01 -7.33747740e-03 1.74979142e+02] [ 4.52075231e-01 -8.91971620e-01 -3.82298790e-03 -1.00281831e+02] [-8.27316150e-03 9.27895639e-05 -9.99965773e-01 -4.02791135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5865599949999 meters 0.013583505110561575 Centerline is valid? [True, True] Translation: X:175.01, Y:-100.27, Z:-4.03 [[ 8.53807917e-01 5.20540894e-01 -7.01561308e-03 1.75010447e+02] [ 5.20522426e-01 -8.53836734e-01 -4.38573446e-03 -1.00274610e+02] [-8.27314230e-03 9.27908634e-05 -9.99965773e-01 -4.02791172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.646559995 meters 0.012823397199406356 Centerline is valid? [True, True] Translation: X:175.05, Y:-100.27, Z:-4.03 [[ 8.07208054e-01 5.90232526e-01 -6.38135821e-03 1.75047567e+02] [ 5.90213638e-01 -8.07233277e-01 -4.72214614e-03 -1.00272754e+02] [-7.93840894e-03 4.53897543e-05 -9.99968489e-01 -4.02748065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7065599949999 meters 0.012684395734140663 Centerline is valid? [True, True] Translation: X:175.08, Y:-100.26, Z:-4.03 [[ 7.55314104e-01 6.55325320e-01 -7.02341831e-03 1.75081388e+02] [ 6.55296890e-01 -7.55346758e-01 -6.10415667e-03 -1.00264233e+02] [-9.30532467e-03 8.13145272e-06 -9.99956705e-01 -4.02556279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.766559995 meters 0.012605705529938184 Centerline is valid? [True, True] Translation: X:175.11, Y:-100.25, Z:-4.03 [[ 7.00146680e-01 7.13967115e-01 -6.75170072e-03 1.75112702e+02] [ 7.13934095e-01 -7.00179233e-01 -6.86650165e-03 -1.00250408e+02] [-9.62985700e-03 -1.27110086e-05 -9.99953632e-01 -4.02617577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8265599949999 meters 0.012741753395607892 Centerline is valid? [True, True] Translation: X:175.14, Y:-100.23, Z:-4.02 [[ 6.39967590e-01 7.68375031e-01 -6.42621396e-03 1.75143101e+02] [ 7.68336936e-01 -6.39999852e-01 -7.65128340e-03 -1.00234990e+02] [-9.99183110e-03 -4.09241442e-05 -9.99950080e-01 -4.02388805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.886559995 meters 0.012671424284566893 Centerline is valid? [True, True] Translation: X:175.17, Y:-100.21, Z:-4.02 [[ 5.77706665e-01 8.16221694e-01 -6.09558379e-03 1.75167534e+02] [ 8.16177076e-01 -5.77738820e-01 -8.53437179e-03 -1.00212554e+02] [-1.04875948e-02 -4.47122945e-05 -9.99945003e-01 -4.02426365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9465599949999 meters 0.012663473083757641 Centerline is valid? [True, True] Translation: X:175.19, Y:-100.19, Z:-4.02 [[ 5.11939271e-01 8.59004220e-01 -5.47108417e-03 1.75190852e+02] [ 8.58956129e-01 -5.11968503e-01 -9.08961318e-03 -1.00189009e+02] [-1.06090389e-02 -4.60913315e-05 -9.99943722e-01 -4.02455605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.006559995 meters 0.01273504739180531 Centerline is valid? [True, True] Translation: X:175.21, Y:-100.16, Z:-4.03 [[ 4.41449999e-01 8.97275678e-01 -4.27269602e-03 1.75211552e+02] [ 8.97234947e-01 -4.41470671e-01 -8.54968209e-03 -1.00164134e+02] [-9.55769178e-03 -5.93550352e-05 -9.99954322e-01 -4.02558848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0665599949999 meters 0.013243523835613056 Centerline is valid? [True, True] Translation: X:175.23, Y:-100.14, Z:-4.02 [[ 3.67824129e-01 9.29887517e-01 -3.82306758e-03 1.75230626e+02] [ 9.29839672e-01 -3.67843986e-01 -9.43324818e-03 -1.00138825e+02] [-1.01781521e-02 -8.50636153e-05 -9.99948198e-01 -4.02389766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.126559995 meters 0.013874630318354477 Centerline is valid? [True, True] Translation: X:175.24, Y:-100.11, Z:-4.03 [[ 2.89935854e-01 9.57040748e-01 -3.19487690e-03 1.75243514e+02] [ 9.56987576e-01 -2.89953426e-01 -1.00890856e-02 -1.00109755e+02] [-1.05820315e-02 -1.32269842e-04 -9.99944000e-01 -4.02537037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1865599949999 meters 0.014250407993551855 Centerline is valid? [True, True] Translation: X:175.26, Y:-100.08, Z:-4.03 [[ 2.10082471e-01 9.77681044e-01 -2.26539375e-03 1.75258162e+02] [ 9.77632445e-01 -2.10094619e-01 -9.74959318e-03 -1.00081421e+02] [-1.00079395e-02 -1.66503804e-04 -9.99949905e-01 -4.02569554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.246559995 meters 0.014889271407477075 Centerline is valid? [True, True] Translation: X:175.27, Y:-100.05, Z:-4.03 [[ 1.30941338e-01 9.91389182e-01 -1.36193608e-03 1.75270910e+02] [ 9.91348203e-01 -1.30948311e-01 -9.01551099e-03 -1.00051392e+02] [-9.11622330e-03 -1.69649808e-04 -9.99958432e-01 -4.02572741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3065599949999 meters 0.0158738171390871 Centerline is valid? [True, True] Translation: X:175.28, Y:-100.02, Z:-4.03 [[ 4.98133075e-02 9.98758348e-01 -6.29678314e-04 1.75278447e+02] [ 9.98719748e-01 -4.98169196e-02 -8.78295827e-03 -1.00020760e+02] [-8.80342153e-03 -1.91363966e-04 -9.99961231e-01 -4.02560434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.366559995 meters 0.01715041814583367 Centerline is valid? [True, True] Translation: X:175.28, Y:-99.99, Z:-4.03 [[-3.13623658e-02 9.99508078e-01 5.93872112e-05 1.75281464e+02] [ 9.99470479e-01 3.13617013e-02 -8.67204864e-03 -9.99911820e+01] [-8.66964515e-03 -2.12620197e-04 -9.99962395e-01 -4.02551278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4265599949999 meters 0.01840654429606596 Centerline is valid? [True, True] Translation: X:175.28, Y:-99.96, Z:-4.02 [[-1.12212924e-01 9.93683917e-01 7.29999353e-04 1.75282128e+02] [ 9.93647236e-01 1.12215056e-01 -8.54113929e-03 -9.99608631e+01] [-8.56910966e-03 -2.33064372e-04 -9.99963257e-01 -4.02496486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.486559995 meters 0.01773647574353964 Centerline is valid? [True, True] Translation: X:175.28, Y:-99.93, Z:-4.02 [[-1.91360078e-01 9.81518759e-01 1.49887595e-03 1.75282353e+02] [ 9.81476850e-01 1.91365764e-01 -9.07401396e-03 -9.99300647e+01] [-9.19314846e-03 -2.65291972e-04 -9.99957707e-01 -4.02470498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5465599949999 meters 0.018685155534237854 Centerline is valid? [True, True] Translation: X:175.28, Y:-99.90, Z:-4.03 [[-2.71425581e-01 9.62456804e-01 2.24819898e-03 1.75280352e+02] [ 9.62413790e-01 2.71434718e-01 -9.10440383e-03 -9.98993428e+01] [-9.37283467e-03 -3.07470396e-04 -9.99956027e-01 -4.02535315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.606559995 meters 0.02015135436266463 Centerline is valid? [True, True] Translation: X:175.28, Y:-99.87, Z:-4.02 [[-3.46520837e-01 9.38037496e-01 2.99431576e-03 1.75278921e+02] [ 9.37994184e-01 3.46533629e-01 -9.01968666e-03 -9.98696270e+01] [-9.49843539e-03 -3.16858604e-04 -9.99954839e-01 -4.02461215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.666559995 meters 0.020266916751857482 Centerline is valid? [True, True] Translation: X:175.27, Y:-99.84, Z:-4.02 [[-4.18822739e-01 9.08057324e-01 4.40552469e-03 1.75270791e+02] [ 9.07997266e-01 4.18845740e-01 -1.04504131e-02 -9.98411296e+01] [-1.13348094e-02 -3.76666245e-04 -9.99935688e-01 -4.02295931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.726559995 meters 0.018758426255679514 Centerline is valid? [True, True] Translation: X:175.26, Y:-99.82, Z:-4.02 [[-4.86179085e-01 8.73838772e-01 5.97474303e-03 1.75257308e+02] [ 8.73762533e-01 4.86215636e-01 -1.15495200e-02 -9.98153304e+01] [-1.29974319e-02 -3.94628464e-04 -9.99915452e-01 -4.02186851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.786559995 meters 0.017751617563751633 Centerline is valid? [True, True] Translation: X:175.24, Y:-99.79, Z:-4.02 [[-5.50459905e-01 8.34836233e-01 6.50817367e-03 1.75243906e+02] [ 8.34770537e-01 5.50498275e-01 -1.04784961e-02 -9.97896312e+01] [-1.23305666e-02 -3.35160356e-04 -9.99923920e-01 -4.02227101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.846559995 meters 0.01594453501356402 Centerline is valid? [True, True] Translation: X:175.23, Y:-99.77, Z:-4.02 [[-6.09570692e-01 7.92703004e-01 6.74673560e-03 1.75227165e+02] [ 7.92649974e-01 6.09607979e-01 -9.17226371e-03 -9.97663978e+01] [-1.13837449e-02 -2.43343345e-04 -9.99935173e-01 -4.02320055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.906559995 meters 0.014804590976537729 Centerline is valid? [True, True] Translation: X:175.21, Y:-99.74, Z:-4.02 [[-6.66995978e-01 7.45026955e-01 7.15553341e-03 1.75211880e+02] [ 7.44980958e-01 6.67034331e-01 -8.28087220e-03 -9.97426069e+01] [-1.09424594e-02 -1.92572318e-04 -9.99940111e-01 -4.02370691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9665599949999 meters 0.014157311159197538 Centerline is valid? [True, True] Translation: X:175.20, Y:-99.72, Z:-4.02 [[-7.21500426e-01 6.92367773e-01 8.00019238e-03 1.75196988e+02] [ 6.92322605e-01 7.21544759e-01 -7.91021507e-03 -9.97177696e+01] [-1.12492749e-02 -1.68509506e-04 -9.99936711e-01 -4.02364343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.026559995 meters 0.014076780796816145 Centerline is valid? [True, True] Translation: X:175.70, Y:-99.23, Z:-5.02 [[-6.51022691e-01 -7.59011492e-01 8.42677839e-03 1.75699071e+02] [ 7.58953210e-01 -6.51077171e-01 -9.40971118e-03 -9.92349294e+01] [ 1.26285620e-02 2.69595004e-04 9.99920220e-01 -5.01673291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0865599949999 meters 0.014433236381313002 Centerline is valid? [True, True] Translation: X:175.66, Y:-99.19, Z:-5.02 [[-6.49959123e-01 -7.59925182e-01 8.17662478e-03 1.75657861e+02] [ 7.59868954e-01 -6.50010521e-01 -9.24643849e-03 -9.91936821e+01] [ 1.23414936e-02 2.03356265e-04 9.99923820e-01 -5.01667033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.146559995 meters 0.014773934356414617 Centerline is valid? [True, True] Translation: X:175.62, Y:-99.15, Z:-5.02 [[-6.49695287e-01 -7.60154849e-01 7.78717509e-03 1.75618104e+02] [ 7.60103932e-01 -6.49741922e-01 -8.80039658e-03 -9.91520372e+01] [ 1.17493182e-02 2.01486226e-04 9.99930954e-01 -5.01634902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2065599949999 meters 0.014357509257609832 Centerline is valid? [True, True] Translation: X:175.58, Y:-99.11, Z:-5.02 [[-6.51053733e-01 -7.58981623e-01 8.71391509e-03 1.75580301e+02] [ 7.58917836e-01 -6.51112013e-01 -9.84201286e-03 -9.91081804e+01] [ 1.31436417e-02 2.05466378e-04 9.99913598e-01 -5.01720067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.266559995 meters 0.014553087005002876 Centerline is valid? [True, True] Translation: X:175.54, Y:-99.07, Z:-5.02 [[-6.51905106e-01 -7.58235137e-01 9.96044546e-03 1.75542650e+02] [ 7.58151820e-01 -6.51981156e-01 -1.12423203e-02 -9.90657839e+01] [ 1.50183450e-02 2.22603872e-04 9.99887194e-01 -5.01929155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3265599949999 meters 0.014343373607720231 Centerline is valid? [True, True] Translation: X:175.51, Y:-99.02, Z:-5.02 [[-6.52621863e-01 -7.57603489e-01 1.10298418e-02 1.75505678e+02] [ 7.57501363e-01 -6.52715020e-01 -1.24413739e-02 -9.90224456e+01] [ 1.66249717e-02 2.35607576e-04 9.99861768e-01 -5.02001846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.386559995 meters 0.014171547658128034 Centerline is valid? [True, True] Translation: X:175.47, Y:-98.98, Z:-5.02 [[-6.53126625e-01 -7.57161775e-01 1.14742047e-02 1.75467995e+02] [ 7.57051314e-01 -6.53227364e-01 -1.29351808e-02 -9.89787039e+01] [ 1.72892890e-02 2.38250764e-04 9.99850501e-01 -5.01987524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4465599949999 meters 0.014408493291450731 Centerline is valid? [True, True] Translation: X:175.43, Y:-98.94, Z:-5.02 [[-6.52677475e-01 -7.57547690e-01 1.15590634e-02 1.75429244e+02] [ 7.57435794e-01 -6.52779773e-01 -1.30224879e-02 -9.89364641e+01] [ 1.74106784e-02 2.55763816e-04 9.99848390e-01 -5.02025036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.506559995 meters 0.014548391746370504 Centerline is valid? [True, True] Translation: X:175.39, Y:-98.89, Z:-5.02 [[-6.51632862e-01 -7.58446060e-01 1.15838701e-02 1.75390608e+02] [ 7.58333958e-01 -6.51735753e-01 -1.30428833e-02 -9.88926926e+01] [ 1.74419458e-02 2.85270708e-04 9.99847837e-01 -5.01915996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5665599949999 meters 0.015155623863745494 Centerline is valid? [True, True] Translation: X:175.35, Y:-98.85, Z:-5.02 [[-6.49854283e-01 -7.59968516e-01 1.17160058e-02 1.75351568e+02] [ 7.59854221e-01 -6.49959800e-01 -1.31840847e-02 -9.88499026e+01] [ 1.76344220e-02 3.34722548e-04 9.99844445e-01 -5.01936792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.626559995 meters 0.015939045513810472 Centerline is valid? [True, True] Translation: X:175.31, Y:-98.81, Z:-5.02 [[-6.49097497e-01 -7.60616047e-01 1.16476327e-02 1.75311890e+02] [ 7.60503325e-01 -6.49201896e-01 -1.30992673e-02 -9.88086849e+01] [ 1.75251782e-02 3.55361782e-04 9.99846359e-01 -5.01996850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6865599949999 meters 0.01639117252845984 Centerline is valid? [True, True] Translation: X:175.27, Y:-98.77, Z:-5.02 [[-6.48205914e-01 -7.61377700e-01 1.15364846e-02 1.75271903e+02] [ 7.61267365e-01 -6.48308457e-01 -1.29670301e-02 -9.87666014e+01] [ 1.73520081e-02 3.77043588e-04 9.99849372e-01 -5.02025274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.746559995 meters 0.016017334190483224 Centerline is valid? [True, True] Translation: X:175.23, Y:-98.72, Z:-5.02 [[-6.48550343e-01 -7.61093267e-01 1.09312078e-02 1.75233877e+02] [ 7.60994294e-01 -6.48642361e-01 -1.22788865e-02 -9.87234401e+01] [ 1.64358223e-02 3.55110723e-04 9.99864860e-01 -5.01858373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8065599949999 meters 0.015675249705084153 Centerline is valid? [True, True] Translation: X:175.20, Y:-98.68, Z:-5.02 [[-6.49441881e-01 -7.60338201e-01 1.05386739e-02 1.75196003e+02] [ 7.60246230e-01 -6.49527299e-01 -1.18303785e-02 -9.86802268e+01] [ 1.58402451e-02 3.28843862e-04 9.99874481e-01 -5.01788039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.866559995 meters 0.015494944599529185 Centerline is valid? [True, True] Translation: X:175.16, Y:-98.64, Z:-5.02 [[-6.51031621e-01 -7.58970943e-01 1.09970697e-02 1.75159946e+02] [ 7.58870731e-01 -6.51124419e-01 -1.23371361e-02 -9.86354691e+01] [ 1.65239884e-02 3.13488662e-04 9.99863420e-01 -5.01792969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9265599949999 meters 0.01566055720233184 Centerline is valid? [True, True] Translation: X:175.12, Y:-98.59, Z:-5.02 [[-6.52469025e-01 -7.57722400e-01 1.18716040e-02 1.75121645e+02] [ 7.57605564e-01 -6.52576944e-01 -1.33094728e-02 -9.85936462e+01] [ 1.78320207e-02 3.09974464e-04 9.99840949e-01 -5.02067330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.986559995 meters 0.014895749842825242 Centerline is valid? [True, True] Translation: X:175.09, Y:-98.55, Z:-5.02 [[-6.54149416e-01 -7.56248378e-01 1.33015548e-02 1.75086079e+02] [ 7.56101584e-01 -6.54284567e-01 -1.49030330e-02 -9.85492256e+01] [ 1.99733966e-02 3.08516359e-04 9.99800464e-01 -5.02066215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0465599949999 meters 0.014251461419534013 Centerline is valid? [True, True] Translation: X:175.05, Y:-98.50, Z:-5.02 [[-6.57090895e-01 -7.53710297e-01 1.23427428e-02 1.75049136e+02] [ 7.53583603e-01 -6.57206771e-01 -1.38207996e-02 -9.85047703e+01] [ 1.85286131e-02 2.19767012e-04 9.99828306e-01 -5.01848704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.106559995 meters 0.013938386280766239 Centerline is valid? [True, True] Translation: X:175.01, Y:-98.46, Z:-5.02 [[-6.59634091e-01 -7.51499016e-01 1.14933008e-02 1.75012299e+02] [ 7.51388951e-01 -6.59734194e-01 -1.28622502e-02 -9.84601734e+01] [ 1.72484919e-02 1.51560541e-04 9.99851222e-01 -5.01711281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.166559995 meters 0.013877725349276053 Centerline is valid? [True, True] Translation: X:174.98, Y:-98.41, Z:-5.02 [[-6.64699163e-01 -7.47029714e-01 1.10285770e-02 1.74977780e+02] [ 7.46927864e-01 -6.64790648e-01 -1.23353104e-02 -9.84139888e+01] [ 1.65465383e-02 3.82809614e-05 9.99863096e-01 -5.01657397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.226559995 meters 0.013737416300245772 Centerline is valid? [True, True] Translation: X:174.94, Y:-98.37, Z:-5.02 [[-6.68292518e-01 -7.43820015e-01 1.08118267e-02 1.74940271e+02] [ 7.43721820e-01 -6.68379969e-01 -1.20859842e-02 -9.83696989e+01] [ 1.62162053e-02 -3.59813948e-05 9.99868508e-01 -5.01526392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.286559995 meters 0.014252207895675918 Centerline is valid? [True, True] Translation: X:174.90, Y:-98.32, Z:-5.01 [[-6.73809045e-01 -7.38836579e-01 1.00935375e-02 1.74903496e+02] [ 7.38750534e-01 -6.73884626e-01 -1.12765377e-02 -9.83248376e+01] [ 1.51333982e-02 -1.41626857e-04 9.99885474e-01 -5.01365756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.346559995 meters 0.01536847652631704 Centerline is valid? [True, True] Translation: X:174.87, Y:-98.28, Z:-5.01 [[-6.78975493e-01 -7.34086103e-01 1.04820202e-02 1.74868387e+02] [ 7.33992848e-01 -6.79056352e-01 -1.17034423e-02 -9.82790459e+01] [ 1.57092167e-02 -2.52622652e-04 9.99876571e-01 -5.01289567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.406559995 meters 0.015600592879269702 Centerline is valid? [True, True] Translation: X:174.83, Y:-98.24, Z:-5.01 [[-6.80352908e-01 -7.32794799e-01 1.14762026e-02 1.74829592e+02] [ 7.32682964e-01 -6.80449624e-01 -1.28056282e-02 -9.82365524e+01] [ 1.71928755e-02 -3.03928249e-04 9.99852145e-01 -5.01273610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4665599949999 meters 0.015531832338015273 Centerline is valid? [True, True] Translation: X:174.79, Y:-98.19, Z:-5.01 [[-6.79689808e-01 -7.33416523e-01 1.10439496e-02 1.74789251e+02] [ 7.33313153e-01 -6.79779471e-01 -1.23162868e-02 -9.81947996e+01] [ 1.65404185e-02 -2.72581167e-04 9.99863161e-01 -5.01261475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.526559995 meters 0.015015075505926892 Centerline is valid? [True, True] Translation: X:174.75, Y:-98.15, Z:-5.01 [[-6.77395754e-01 -7.35551955e-01 9.91533614e-03 1.74747997e+02] [ 7.35468955e-01 -6.77468290e-01 -1.10513663e-02 -9.81539458e+01] [ 1.48461799e-02 -1.93726736e-04 9.99889771e-01 -5.01067783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5865599949999 meters 0.014565576593430047 Centerline is valid? [True, True] Translation: X:174.71, Y:-98.11, Z:-5.01 [[-6.75282044e-01 -7.37489455e-01 1.01717524e-02 1.74707441e+02] [ 7.37402435e-01 -6.75358632e-01 -1.13299256e-02 -9.81129336e+01] [ 1.52252815e-02 -1.50220336e-04 9.99884077e-01 -5.00999255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.646559995 meters 0.014065466835348366 Centerline is valid? [True, True] Translation: X:174.66, Y:-98.07, Z:-5.01 [[-6.71533395e-01 -7.40915597e-01 9.32621177e-03 1.74663914e+02] [ 7.40842855e-01 -6.71598150e-01 -1.03821978e-02 -9.80742546e+01] [ 1.39557988e-02 -6.27351593e-05 9.99902611e-01 -5.00901143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7065599949999 meters 0.013783736974048694 Centerline is valid? [True, True] Translation: X:174.62, Y:-98.04, Z:-5.01 [[-6.67839847e-01 -7.44247163e-01 9.27899565e-03 1.74622220e+02] [ 7.44175567e-01 -6.67904305e-01 -1.03230490e-02 -9.80353167e+01] [ 1.38803811e-02 1.10583837e-05 9.99903663e-01 -5.00835702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.766559995 meters 0.013831005777608195 Centerline is valid? [True, True] Translation: X:174.58, Y:-97.99, Z:-5.01 [[-6.66290105e-01 -7.45631070e-01 9.58138992e-03 1.74582332e+02] [ 7.45554971e-01 -6.66358991e-01 -1.06526653e-02 -9.79947131e+01] [ 1.43276036e-02 4.56874004e-05 9.99897354e-01 -5.00849905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8265599949999 meters 0.013959374459213478 Centerline is valid? [True, True] Translation: X:174.54, Y:-97.95, Z:-5.01 [[-6.64732421e-01 -7.47019806e-01 9.60300379e-03 1.74541010e+02] [ 7.46943606e-01 -6.64801777e-01 -1.06699260e-02 -9.79543866e+01] [ 1.43547401e-02 8.02565163e-05 9.99896962e-01 -5.00931847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.886559995 meters 0.014177787227819854 Centerline is valid? [True, True] Translation: X:174.50, Y:-97.91, Z:-5.01 [[-6.63275340e-01 -7.48294040e-01 1.10387445e-02 1.74500837e+02] [ 7.48193640e-01 -6.63367179e-01 -1.22582056e-02 -9.79126553e+01] [ 1.64954830e-02 1.28552943e-04 9.99863932e-01 -5.01070500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9465599949999 meters 0.014324460318747628 Centerline is valid? [True, True] Translation: X:174.46, Y:-97.87, Z:-5.01 [[-6.63512519e-01 -7.48067818e-01 1.20696355e-02 1.74462708e+02] [ 7.47947851e-01 -6.63622272e-01 -1.33974693e-02 -9.78696693e+01] [ 1.80318945e-02 1.38069328e-04 9.99837403e-01 -5.01178155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.006559995 meters 0.014125608671653357 Centerline is valid? [True, True] Translation: X:174.42, Y:-97.83, Z:-5.01 [[-6.64832989e-01 -7.46893086e-01 1.21579063e-02 1.74424776e+02] [ 7.46771301e-01 -6.64944137e-01 -1.34877249e-02 -9.78251550e+01] [ 1.81582170e-02 1.12091040e-04 9.99835120e-01 -5.01135489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0665599949999 meters 0.014251387742661978 Centerline is valid? [True, True] Translation: X:174.39, Y:-97.78, Z:-5.01 [[-6.65976270e-01 -7.45879475e-01 1.18075105e-02 1.74387932e+02] [ 7.45764603e-01 -6.66080927e-01 -1.30902465e-02 -9.77821675e+01] [ 1.76285038e-02 8.78298375e-05 9.99844602e-01 -5.01150880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.126559995 meters 0.014211487959479891 Centerline is valid? [True, True] Translation: X:174.35, Y:-97.74, Z:-5.01 [[-6.66568322e-01 -7.45352913e-01 1.16493506e-02 1.74350835e+02] [ 7.45241146e-01 -6.66670105e-01 -1.29075553e-02 -9.77376103e+01] [ 1.73869577e-02 7.78078793e-05 9.99848832e-01 -5.01037017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1865599949999 meters 0.014307852464714438 Centerline is valid? [True, True] Translation: X:174.31, Y:-97.69, Z:-5.01 [[-6.67278064e-01 -7.44711906e-01 1.20067775e-02 1.74314266e+02] [ 7.44593222e-01 -6.67386074e-01 -1.32951471e-02 -9.76940884e+01] [ 1.79142104e-02 6.86051095e-05 9.99839525e-01 -5.01022650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.246559995 meters 0.014779160378529976 Centerline is valid? [True, True] Translation: X:174.28, Y:-97.65, Z:-5.01 [[-6.66023062e-01 -7.45808129e-01 1.35468065e-02 1.74275637e+02] [ 7.45657449e-01 -6.66160808e-01 -1.49915741e-02 -9.76520195e+01] [ 2.02051894e-02 1.16543109e-04 9.99795848e-01 -5.01352794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3065599949999 meters 0.014708004208575935 Centerline is valid? [True, True] Translation: X:174.24, Y:-97.61, Z:-5.01 [[-6.65392089e-01 -7.46372973e-01 1.34444397e-02 1.74238916e+02] [ 7.46224868e-01 -6.65527885e-01 -1.48688067e-02 -9.76084130e+01] [ 2.00453250e-02 1.38988848e-04 9.99799063e-01 -5.01225527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.366559995 meters 0.01485612619519442 Centerline is valid? [True, True] Translation: X:174.20, Y:-97.56, Z:-5.01 [[-6.66167656e-01 -7.45695727e-01 1.25911016e-02 1.74203870e+02] [ 7.45565880e-01 -6.66286626e-01 -1.39158476e-02 -9.75648219e+01] [ 1.87662707e-02 1.17208197e-04 9.99823891e-01 -5.01175002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4265599949999 meters 0.014956356044298454 Centerline is valid? [True, True] Translation: X:174.17, Y:-97.52, Z:-5.01 [[-6.66885441e-01 -7.45061796e-01 1.21131545e-02 1.74167433e+02] [ 7.44941669e-01 -6.66995434e-01 -1.33790948e-02 -9.75212954e+01] [ 1.80476712e-02 1.01269990e-04 9.99837122e-01 -5.01360520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.486559995 meters 0.014413759390837158 Centerline is valid? [True, True] Translation: X:174.13, Y:-97.48, Z:-5.01 [[-6.66766381e-01 -7.45175853e-01 1.16422397e-02 1.74131059e+02] [ 7.45065044e-01 -6.66868006e-01 -1.28508081e-02 -9.74767939e+01] [ 1.73399490e-02 1.05739030e-04 9.99849646e-01 -5.01067777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5465599949999 meters 0.014355537613231306 Centerline is valid? [True, True] Translation: X:174.09, Y:-97.43, Z:-5.01 [[-6.67154123e-01 -7.44855215e-01 9.80229864e-03 1.74094917e+02] [ 7.44776716e-01 -6.67226125e-01 -1.08139264e-02 -9.74322371e+01] [ 1.45951592e-02 8.59682243e-05 9.99893481e-01 -5.01048303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.606559995 meters 0.014426916335998482 Centerline is valid? [True, True] Translation: X:174.06, Y:-97.39, Z:-5.01 [[-6.67288778e-01 -7.44742041e-01 9.21848198e-03 1.74057283e+02] [ 7.44672687e-01 -6.67352445e-01 -1.01638242e-02 -9.73894334e+01] [ 1.37214036e-02 8.25459426e-05 9.99905854e-01 -5.01045074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.666559995 meters 0.01485484129323691 Centerline is valid? [True, True] Translation: X:174.02, Y:-97.35, Z:-5.01 [[-6.63692691e-01 -7.47945176e-01 9.48817612e-03 1.74015289e+02] [ 7.47872109e-01 -6.63760491e-01 -1.04555535e-02 -9.73495763e+01] [ 1.41180573e-02 1.56667820e-04 9.99900323e-01 -5.01114191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.726559995 meters 0.015106586045483894 Centerline is valid? [True, True] Translation: X:173.98, Y:-97.31, Z:-5.01 [[-6.59889309e-01 -7.51297684e-01 9.89389041e-03 1.73975424e+02] [ 7.51218703e-01 -6.59963432e-01 -1.08963137e-02 -9.73077262e+01] [ 1.47159811e-02 2.42114615e-04 9.99891685e-01 -5.00970296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.786559995 meters 0.0157212178928043 Centerline is valid? [True, True] Translation: X:173.93, Y:-97.27, Z:-5.01 [[-6.58872113e-01 -7.52182922e-01 1.04111079e-02 1.73934743e+02] [ 7.52095684e-01 -6.58954303e-01 -1.14589758e-02 -9.72678797e+01] [ 1.54796902e-02 2.80149688e-04 9.99880143e-01 -5.01117087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8465599949999 meters 0.015260714796438694 Centerline is valid? [True, True] Translation: X:173.90, Y:-97.23, Z:-5.01 [[-6.60261869e-01 -7.50979837e-01 9.14053652e-03 1.73895070e+02] [ 7.50912555e-01 -6.60325097e-01 -1.00548457e-02 -9.72252372e+01] [ 1.35867121e-02 2.24912410e-04 9.99907671e-01 -5.01034051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.906559995 meters 0.0148927612805734 Centerline is valid? [True, True] Translation: X:173.86, Y:-97.18, Z:-5.01 [[-6.62519723e-01 -7.49008113e-01 7.38000235e-03 1.73857768e+02] [ 7.48964178e-01 -6.62560808e-01 -8.11390765e-03 -9.71823998e+01] [ 1.09670830e-02 1.51733545e-04 9.99939848e-01 -5.00865524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9665599949999 meters 0.013942031783592367 Centerline is valid? [True, True] Translation: X:173.82, Y:-97.14, Z:-5.01 [[-6.66963436e-01 -7.45070177e-01 5.49595836e-03 1.73822044e+02] [ 7.45045702e-01 -6.66986077e-01 -6.03947315e-03 -9.71380121e+01] [ 8.16555903e-03 6.66323918e-05 9.99966659e-01 -5.00650243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.026559995 meters 0.013419940182586793 Centerline is valid? [True, True] Translation: X:173.79, Y:-97.09, Z:-5.01 [[-6.71567080e-01 -7.40924208e-01 5.38282179e-03 1.73787355e+02] [ 7.40900626e-01 -6.71588652e-01 -5.91140063e-03 -9.70923529e+01] [ 7.99494187e-03 1.82339726e-05 9.99968040e-01 -5.00647258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0865599949999 meters 0.013296444633092864 Centerline is valid? [True, True] Translation: X:173.75, Y:-97.05, Z:-5.01 [[-6.74239319e-01 -7.38490541e-01 5.74993890e-03 1.73750303e+02] [ 7.38463578e-01 -6.74263836e-01 -6.31057972e-03 -9.70492425e+01] [ 8.53727929e-03 -8.72051940e-06 9.99963557e-01 -5.00780221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.146559995 meters 0.013224131502232249 Centerline is valid? [True, True] Translation: X:173.71, Y:-97.01, Z:-5.01 [[-6.73651914e-01 -7.39017488e-01 6.80084937e-03 1.73709242e+02] [ 7.38979842e-01 -6.73686242e-01 -7.45921319e-03 -9.70091363e+01] [ 1.00941277e-02 7.77350660e-07 9.99949053e-01 -5.00932288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2065599949999 meters 0.013102435125093908 Centerline is valid? [True, True] Translation: X:173.67, Y:-96.97, Z:-5.01 [[-6.72675661e-01 -7.39905502e-01 6.87777806e-03 1.73668584e+02] [ 7.39867095e-01 -6.72710821e-01 -7.53880856e-03 -9.69687629e+01] [ 1.02047617e-02 1.74686363e-05 9.99947930e-01 -5.00994601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.266559995 meters 0.01310182767005772 Centerline is valid? [True, True] Translation: X:173.63, Y:-96.93, Z:-5.01 [[-6.72221292e-01 -7.40316147e-01 7.10894244e-03 1.73629484e+02] [ 7.40275190e-01 -6.72258880e-01 -7.78725537e-03 -9.69270580e+01] [ 1.05440806e-02 2.78148514e-05 9.99944409e-01 -5.01006936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3265599949999 meters 0.013010437993764633 Centerline is valid? [True, True] Translation: X:173.59, Y:-96.89, Z:-5.01 [[-6.70048545e-01 -7.42286792e-01 6.72791716e-03 1.73587378e+02] [ 7.42250249e-01 -6.70082319e-01 -7.36566298e-03 -9.68865876e+01] [ 9.97569268e-03 5.84464294e-05 9.99950240e-01 -5.01014704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.386559995 meters 0.013466810350461104 Centerline is valid? [True, True] Translation: X:173.55, Y:-96.85, Z:-5.01 [[-6.68118877e-01 -7.44022454e-01 6.91043336e-03 1.73545679e+02] [ 7.43984040e-01 -6.68154608e-01 -7.56095375e-03 -9.68474250e+01] [ 1.02427573e-02 8.96361979e-05 9.99947538e-01 -5.01208098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4465599949999 meters 0.013473121088324437 Centerline is valid? [True, True] Translation: X:173.51, Y:-96.80, Z:-5.01 [[-6.67484767e-01 -7.44594814e-01 6.53064304e-03 1.73507289e+02] [ 7.44560577e-01 -6.67516707e-01 -7.14094950e-03 -9.68049584e+01] [ 9.67642730e-03 9.59843367e-05 9.99953178e-01 -5.01073668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.506559995 meters 0.013588974649236302 Centerline is valid? [True, True] Translation: X:173.47, Y:-96.76, Z:-5.01 [[-6.66790381e-01 -7.45222797e-01 5.79398558e-03 1.73468171e+02] [ 7.45195907e-01 -6.66815547e-01 -6.33142517e-03 -9.67625463e+01] [ 8.58184204e-03 9.59209418e-05 9.99963171e-01 -5.00950788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5665599949999 meters 0.014222946818063954 Centerline is valid? [True, True] Translation: X:173.43, Y:-96.72, Z:-5.01 [[-6.65123069e-01 -7.46714779e-01 5.32372981e-03 1.73427407e+02] [ 7.46692143e-01 -6.65144366e-01 -5.81518026e-03 -9.67219531e+01] [ 7.88332993e-03 1.07376677e-04 9.99968920e-01 -5.00975291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.626559995 meters 0.014363125884894877 Centerline is valid? [True, True] Translation: X:173.39, Y:-96.68, Z:-5.01 [[-6.64870482e-01 -7.46938239e-01 5.52350520e-03 1.73387987e+02] [ 7.46913911e-01 -6.64893415e-01 -6.02962426e-03 -9.66799347e+01] [ 8.17629916e-03 1.16663689e-04 9.99966567e-01 -5.00978246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6865599949999 meters 0.014615273592286043 Centerline is valid? [True, True] Translation: X:173.35, Y:-96.64, Z:-5.01 [[-6.65264030e-01 -7.46583088e-01 6.12068072e-03 1.73349937e+02] [ 7.46553229e-01 -6.65292174e-01 -6.67831393e-03 -9.66387103e+01] [ 9.05795722e-03 1.26571914e-04 9.99958968e-01 -5.01079071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.746559995 meters 0.01429407583560696 Centerline is valid? [True, True] Translation: X:173.31, Y:-96.60, Z:-5.01 [[-6.66067289e-01 -7.45863990e-01 6.42455332e-03 1.73312385e+02] [ 7.45831100e-01 -6.66098260e-01 -7.00551172e-03 -9.65951509e+01] [ 9.50454272e-03 1.25489471e-04 9.99954823e-01 -5.01018555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8065599949999 meters 0.014050477939743466 Centerline is valid? [True, True] Translation: X:173.28, Y:-96.55, Z:-5.01 [[-6.67169300e-01 -7.44875048e-01 6.80353905e-03 1.73275118e+02] [ 7.44838158e-01 -6.67203979e-01 -7.41416333e-03 -9.65517763e+01] [ 1.00619736e-02 1.21033329e-04 9.99949370e-01 -5.00978645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.866559995 meters 0.014233259647185666 Centerline is valid? [True, True] Translation: X:173.24, Y:-96.51, Z:-5.01 [[-6.66759787e-01 -7.45229997e-01 7.97730997e-03 1.73235969e+02] [ 7.45179362e-01 -6.66807490e-01 -8.68847739e-03 -9.65089589e+01] [ 1.17942440e-02 1.51399416e-04 9.99930434e-01 -5.01115847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9265599949999 meters 0.01440052891244789 Centerline is valid? [True, True] Translation: X:173.20, Y:-96.47, Z:-5.01 [[-6.66269000e-01 -7.45672060e-01 7.66804177e-03 1.73197241e+02] [ 7.45625363e-01 -6.66313105e-01 -8.34643318e-03 -9.64672227e+01] [ 1.13330187e-02 1.56516746e-04 9.99935767e-01 -5.01078203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.986559995 meters 0.014807413148300278 Centerline is valid? [True, True] Translation: X:173.16, Y:-96.43, Z:-5.01 [[-6.65986852e-01 -7.45923066e-01 7.76480977e-03 1.73158386e+02] [ 7.45875264e-01 -6.66032095e-01 -8.44626958e-03 -9.64265541e+01] [ 1.14718798e-02 1.66475040e-04 9.99934182e-01 -5.01130533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0465599949999 meters 0.015104914948782433 Centerline is valid? [True, True] Translation: X:173.12, Y:-96.38, Z:-5.01 [[-6.65953613e-01 -7.45947906e-01 8.21626004e-03 1.73119397e+02] [ 7.45894451e-01 -6.66004271e-01 -8.93191521e-03 -9.63842122e+01] [ 1.21348077e-02 1.80221568e-04 9.99926354e-01 -5.01158003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.106559995 meters 0.01536697269094529 Centerline is valid? [True, True] Translation: X:173.08, Y:-96.34, Z:-5.01 [[-6.66368360e-01 -7.45574099e-01 8.51301162e-03 1.73081572e+02] [ 7.45516752e-01 -6.66422710e-01 -9.24900020e-03 -9.63416600e+01] [ 1.25690793e-02 1.83351677e-04 9.99920989e-01 -5.01121228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.166559995 meters 0.015160722805380526 Centerline is valid? [True, True] Translation: X:173.04, Y:-96.30, Z:-5.01 [[-6.67180689e-01 -7.44854023e-01 7.90020771e-03 1.73042763e+02] [ 7.44804645e-01 -6.67227441e-01 -8.57801663e-03 -9.62990413e+01] [ 1.16606056e-02 1.61024359e-04 9.99932000e-01 -5.00878530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.226559995 meters 0.014812726598918156 Centerline is valid? [True, True] Translation: X:173.00, Y:-96.26, Z:-5.01 [[-6.69163907e-01 -7.43073768e-01 7.81288968e-03 1.73003126e+02] [ 7.43025409e-01 -6.69209503e-01 -8.47834364e-03 -9.62576408e+01] [ 1.15284948e-02 1.31773999e-04 9.99933536e-01 -5.00952790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.286559995 meters 0.01477237771164603 Centerline is valid? [True, True] Translation: X:172.96, Y:-96.22, Z:-5.01 [[-6.70101525e-01 -7.42231839e-01 7.47290854e-03 1.72964158e+02] [ 7.42187598e-01 -6.70143182e-01 -8.10461767e-03 -9.62158459e+01] [ 1.10234240e-02 1.15383377e-04 9.99939234e-01 -5.00995189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3465599949999 meters 0.014540513723628443 Centerline is valid? [True, True] Translation: X:172.93, Y:-96.17, Z:-5.01 [[-6.71475507e-01 -7.40989707e-01 7.40932741e-03 1.72926148e+02] [ 7.40946191e-01 -6.71516377e-01 -8.03097363e-03 -9.61731980e+01] [ 1.09263535e-02 9.73108357e-05 9.99940301e-01 -5.00954784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.406559995 meters 0.014401102570004294 Centerline is valid? [True, True] Translation: X:172.89, Y:-96.13, Z:-5.01 [[-6.73330896e-01 -7.39302171e-01 7.60297814e-03 1.72888437e+02] [ 7.39256302e-01 -6.73373815e-01 -8.23560139e-03 -9.61310097e+01] [ 1.12082444e-02 7.52646460e-05 9.99937183e-01 -5.00939896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4665599949999 meters 0.014284575897952604 Centerline is valid? [True, True] Translation: X:172.85, Y:-96.09, Z:-5.01 [[-6.73949433e-01 -7.38732225e-01 8.17683013e-03 1.72848175e+02] [ 7.38679193e-01 -6.73999031e-01 -8.85191314e-03 -9.60907604e+01] [ 1.20503691e-02 7.43124295e-05 9.99927389e-01 -5.01147075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.526559995 meters 0.014072331274458212 Centerline is valid? [True, True] Translation: X:172.81, Y:-96.05, Z:-5.01 [[-6.74566211e-01 -7.38172494e-01 7.86100576e-03 1.72809558e+02] [ 7.38123504e-01 -6.74612010e-01 -8.50459321e-03 -9.60483998e+01] [ 1.15809857e-02 6.54818988e-05 9.99932936e-01 -5.01035466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5865599949999 meters 0.01406818166758137 Centerline is valid? [True, True] Translation: X:172.77, Y:-96.01, Z:-5.01 [[-6.75353594e-01 -7.37452972e-01 7.78700320e-03 1.72771046e+02] [ 7.37404913e-01 -6.75398483e-01 -8.41922351e-03 -9.60065998e+01] [ 1.14681115e-02 5.62215648e-05 9.99934237e-01 -5.01096673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.646559995 meters 0.01389762535974386 Centerline is valid? [True, True] Translation: X:172.73, Y:-95.97, Z:-5.01 [[-6.76000411e-01 -7.36867292e-01 7.07379482e-03 1.72731240e+02] [ 7.36827651e-01 -6.76037419e-01 -7.64335307e-03 -9.59655920e+01] [ 1.04142869e-02 4.52578015e-05 9.99945769e-01 -5.01176137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7065599949999 meters 0.013908327122886052 Centerline is valid? [True, True] Translation: X:172.69, Y:-95.92, Z:-5.01 [[-6.76903655e-01 -7.36044376e-01 6.33390100e-03 1.72692358e+02] [ 7.36012598e-01 -6.76933288e-01 -6.83957628e-03 -9.59231734e+01] [ 9.32186008e-03 3.20967423e-05 9.99956550e-01 -5.01089789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.766559995 meters 0.013728934043321452 Centerline is valid? [True, True] Translation: X:172.65, Y:-95.88, Z:-5.01 [[-6.78690186e-01 -7.34403291e-01 5.60697675e-03 1.72654625e+02] [ 7.34378364e-01 -6.78713346e-01 -6.05082115e-03 -9.58799556e+01] [ 8.24927291e-03 1.10094831e-05 9.99965974e-01 -5.01000895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8265599949999 meters 0.013651956391953917 Centerline is valid? [True, True] Translation: X:172.62, Y:-95.84, Z:-5.01 [[-6.79266257e-01 -7.33875482e-01 4.91205462e-03 1.72615211e+02] [ 7.33856362e-01 -6.79284017e-01 -5.29751957e-03 -9.58382331e+01] [ 7.22439993e-03 6.31624331e-06 9.99973904e-01 -5.00964291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.886559995 meters 0.013789093150405572 Centerline is valid? [True, True] Translation: X:172.57, Y:-95.80, Z:-5.01 [[-6.79009858e-01 -7.34107104e-01 5.68974592e-03 1.72574450e+02] [ 7.34081492e-01 -6.79033696e-01 -6.13219145e-03 -9.57987789e+01] [ 8.36521451e-03 1.29187316e-05 9.99965011e-01 -5.01311002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9465599949999 meters 0.013703320754805473 Centerline is valid? [True, True] Translation: X:172.53, Y:-95.76, Z:-5.01 [[-6.79618032e-01 -7.33540263e-01 6.16550130e-03 1.72534825e+02] [ 7.33510199e-01 -6.79645998e-01 -6.64115703e-03 -9.57557882e+01] [ 9.06191436e-03 9.00801834e-06 9.99958940e-01 -5.01255871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.006559995 meters 0.013872549179527916 Centerline is valid? [True, True] Translation: X:172.50, Y:-95.71, Z:-5.02 [[-6.80967927e-01 -7.32278404e-01 7.14295243e-03 1.72496820e+02] [ 7.32238036e-01 -6.81005388e-01 -7.68889925e-03 -9.57147961e+01] [ 1.04948040e-02 -5.55231897e-06 9.99944928e-01 -5.01524191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0665599949999 meters 0.01388929159448794 Centerline is valid? [True, True] Translation: X:172.46, Y:-95.67, Z:-5.02 [[-6.82015363e-01 -7.31301546e-01 7.28659349e-03 1.72458859e+02] [ 7.31259535e-01 -6.82054286e-01 -7.83856179e-03 -9.56724962e+01] [ 1.07022047e-02 -1.76285909e-05 9.99942730e-01 -5.01565296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.126559995 meters 0.013991278898436486 Centerline is valid? [True, True] Translation: X:172.42, Y:-95.63, Z:-5.02 [[-6.82588528e-01 -7.30769461e-01 6.99255729e-03 1.72420689e+02] [ 7.30730793e-01 -6.82624344e-01 -7.51751388e-03 -9.56299558e+01] [ 1.02668594e-02 -2.16917973e-05 9.99947294e-01 -5.01591618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1865599949999 meters 0.013955797260791845 Centerline is valid? [True, True] Translation: X:172.38, Y:-95.59, Z:-5.02 [[-6.81909442e-01 -7.31404810e-01 6.82032727e-03 1.72381313e+02] [ 7.31368102e-01 -6.81943549e-01 -7.32775171e-03 -9.55884807e+01] [ 1.00106310e-02 -8.69326231e-06 9.99949892e-01 -5.01576568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.246559995 meters 0.014033333355803502 Centerline is valid? [True, True] Translation: X:172.34, Y:-95.55, Z:-5.02 [[-6.78763101e-01 -7.34328502e-01 6.50411769e-03 1.72340436e+02] [ 7.34295294e-01 -6.78794261e-01 -6.98368122e-03 -9.55489181e+01] [ 9.54327394e-03 3.56778914e-05 9.99954461e-01 -5.01501147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3065599949999 meters 0.014729622965014946 Centerline is valid? [True, True] Translation: X:172.30, Y:-95.51, Z:-5.02 [[-6.75496443e-01 -7.37332284e-01 6.75704830e-03 1.72298897e+02] [ 7.37296634e-01 -6.75530233e-01 -7.25106806e-03 -9.55094980e+01] [ 9.91103699e-03 8.38782886e-05 9.99950881e-01 -5.01628396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.366559995 meters 0.015045063145675571 Centerline is valid? [True, True] Translation: X:172.26, Y:-95.47, Z:-5.02 [[-6.73568416e-01 -7.39095563e-01 6.58313549e-03 1.72257726e+02] [ 7.39061845e-01 -6.73600576e-01 -7.06062708e-03 -9.54679581e+01] [ 9.65288201e-03 1.09528870e-04 9.99953404e-01 -5.01567521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4265599949999 meters 0.015136457927219488 Centerline is valid? [True, True] Translation: X:172.22, Y:-95.43, Z:-5.02 [[-6.72384352e-01 -7.40174013e-01 6.45858986e-03 1.72216910e+02] [ 7.40141645e-01 -6.72415359e-01 -6.92321318e-03 -9.54262587e+01] [ 9.46723750e-03 1.25211111e-04 9.99955177e-01 -5.01535487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.486559995 meters 0.014443369833549142 Centerline is valid? [True, True] Translation: X:172.18, Y:-95.38, Z:-5.01 [[-6.75393837e-01 -7.37436962e-01 5.46728883e-03 1.72179911e+02] [ 7.37413704e-01 -6.75415961e-01 -5.85738074e-03 -9.53818142e+01] [ 8.01214320e-03 7.56148510e-05 9.99967899e-01 -5.01414461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5465599949999 meters 0.01367916033102749 Centerline is valid? [True, True] Translation: X:172.15, Y:-95.33, Z:-5.01 [[-6.81304177e-01 -7.31979719e-01 5.50535608e-03 1.72145654e+02] [ 7.31955982e-01 -6.81326420e-01 -5.89496135e-03 -9.53338683e+01] [ 8.06593670e-03 1.34165275e-05 9.99967470e-01 -5.01418900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.606559995 meters 0.013911652388655237 Centerline is valid? [True, True] Translation: X:172.11, Y:-95.29, Z:-5.01 [[-6.88050708e-01 -7.25639107e-01 5.84038770e-03 1.72111351e+02] [ 7.25612194e-01 -6.88075492e-01 -6.24992001e-03 -9.52870266e+01] [ 8.55381402e-03 -6.24053578e-05 9.99963414e-01 -5.01376219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.666559995 meters 0.014262170578013815 Centerline is valid? [True, True] Translation: X:172.07, Y:-95.24, Z:-5.01 [[-6.91003418e-01 -7.22830378e-01 5.52458924e-03 1.72072845e+02] [ 7.22806235e-01 -6.91025496e-01 -5.90842583e-03 -9.52442083e+01] [ 8.08842170e-03 -8.95348944e-05 9.99967284e-01 -5.01333953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.726559995 meters 0.01439616661675253 Centerline is valid? [True, True] Translation: X:172.03, Y:-95.20, Z:-5.01 [[-6.92790349e-01 -7.21117484e-01 5.57736191e-03 1.72032752e+02] [ 7.21092850e-01 -6.92812791e-01 -5.96143288e-03 -9.52023781e+01] [ 8.16296115e-03 -1.08227367e-04 9.99966677e-01 -5.01364902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.786559995 meters 0.014831694630139695 Centerline is valid? [True, True] Translation: X:171.99, Y:-95.16, Z:-5.01 [[-6.93914270e-01 -7.20030758e-01 6.22031541e-03 1.71993848e+02] [ 7.20000110e-01 -6.93942137e-01 -6.64466197e-03 -9.51600541e+01] [ 9.10089996e-03 -1.32197984e-04 9.99958577e-01 -5.01467307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8465599949999 meters 0.015252759934693244 Centerline is valid? [True, True] Translation: X:171.95, Y:-95.12, Z:-5.02 [[-6.93944434e-01 -7.19995600e-01 6.88911332e-03 1.71954752e+02] [ 7.19958041e-01 -6.93978613e-01 -7.35550412e-03 -9.51193464e+01] [ 1.00768279e-02 -1.44438612e-04 9.99949217e-01 -5.01588525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.906559995 meters 0.014615896204697549 Centerline is valid? [True, True] Translation: X:171.91, Y:-95.08, Z:-5.01 [[-6.93132284e-01 -7.20780342e-01 6.58300794e-03 1.71909892e+02] [ 7.20746121e-01 -6.93163533e-01 -7.02469164e-03 -9.50812829e+01] [ 9.62636068e-03 -1.24363124e-04 9.99953658e-01 -5.01479968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9665599949999 meters 0.014210576777477406 Centerline is valid? [True, True] Translation: X:171.87, Y:-95.04, Z:-5.01 [[-6.92461148e-01 -7.21434676e-01 5.43751614e-03 1.71868912e+02] [ 7.21411378e-01 -6.92482490e-01 -5.79865425e-03 -9.50411265e+01] [ 7.94873497e-03 -9.26567629e-05 9.99968404e-01 -5.01217768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.026559995 meters 0.013982570939986973 Centerline is valid? [True, True] Translation: X:171.83, Y:-95.00, Z:-5.01 [[-6.91774349e-01 -7.22099925e-01 4.46641382e-03 1.71827860e+02] [ 7.22084239e-01 -6.91788764e-01 -4.76007042e-03 -9.50009455e+01] [ 6.52706138e-03 -6.77675887e-05 9.99978696e-01 -5.01083434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0865599949999 meters 0.013612957377509508 Centerline is valid? [True, True] Translation: X:171.78, Y:-94.96, Z:-5.01 [[-6.89338759e-01 -7.24427041e-01 4.18789416e-03 1.71784264e+02] [ 7.24413304e-01 -6.89351479e-01 -4.46134968e-03 -9.49626593e+01] [ 6.11885338e-03 -4.16150018e-05 9.99981279e-01 -5.01025345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.146559995 meters 0.013289763977176584 Centerline is valid? [True, True] Translation: X:171.74, Y:-94.93, Z:-5.01 [[-6.86510824e-01 -7.27111495e-01 3.42956922e-03 1.71740120e+02] [ 7.27102328e-01 -6.86519391e-01 -3.65122677e-03 -9.49254415e+01] [ 5.00931473e-03 -1.29589334e-05 9.99987453e-01 -5.00920896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2065599949999 meters 0.013254108414442457 Centerline is valid? [True, True] Translation: X:171.70, Y:-94.88, Z:-5.01 [[-6.85716124e-01 -7.27861932e-01 3.22571336e-03 1.71698465e+02] [ 7.27853839e-01 -6.85723711e-01 -3.43224407e-03 -9.48843491e+01] [ 4.71014794e-03 -5.69724619e-06 9.99988907e-01 -5.00895036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.266559995 meters 0.013209245912809206 Centerline is valid? [True, True] Translation: X:171.66, Y:-94.85, Z:-5.01 [[-6.84056584e-01 -7.29421219e-01 3.35785546e-03 1.71656742e+02] [ 7.29412477e-01 -6.84064825e-01 -3.57109722e-03 -9.48465302e+01] [ 4.90182490e-03 6.42910387e-06 9.99987986e-01 -5.00916793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3265599949999 meters 0.013342197381638863 Centerline is valid? [True, True] Translation: X:171.61, Y:-94.81, Z:-5.01 [[-6.81549013e-01 -7.31762567e-01 3.80639983e-03 1.71613620e+02] [ 7.31751384e-01 -6.81559641e-01 -4.04558023e-03 -9.48089293e+01] [ 5.55469268e-03 2.80771372e-05 9.99984572e-01 -5.00891860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.386559995 meters 0.013582921285459374 Centerline is valid? [True, True] Translation: X:171.57, Y:-94.77, Z:-5.01 [[-6.79908600e-01 -7.33283329e-01 4.45576803e-03 1.71570520e+02] [ 7.33268056e-01 -6.79923199e-01 -4.73298458e-03 -9.47705406e+01] [ 6.50019874e-03 4.92754401e-05 9.99978872e-01 -5.00965004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4465599949999 meters 0.01381531722912277 Centerline is valid? [True, True] Translation: X:171.53, Y:-94.73, Z:-5.01 [[-6.78294994e-01 -7.34773957e-01 4.80973165e-03 1.71525864e+02] [ 7.34756218e-01 -6.78312043e-01 -5.10613631e-03 -9.47323802e+01] [ 7.01435489e-03 7.05135403e-05 9.99975397e-01 -5.00973885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.506559995 meters 0.013662630444797649 Centerline is valid? [True, True] Translation: X:171.49, Y:-94.69, Z:-5.01 [[-6.78210179e-01 -7.34846590e-01 5.60735498e-03 1.71485043e+02] [ 7.34822510e-01 -6.78233354e-01 -5.94951777e-03 -9.46906474e+01] [ 8.17507802e-03 8.53871522e-05 9.99966580e-01 -5.00973392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5665599949999 meters 0.013834783516620297 Centerline is valid? [True, True] Translation: X:171.44, Y:-94.65, Z:-5.01 [[-6.78803037e-01 -7.34295239e-01 6.07771579e-03 1.71444973e+02] [ 7.34266966e-01 -6.78830239e-01 -6.44427912e-03 -9.46506499e+01] [ 8.85774074e-03 8.82696912e-05 9.99960766e-01 -5.00986397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.626559995 meters 0.013794921539852229 Centerline is valid? [True, True] Translation: X:171.40, Y:-94.61, Z:-5.01 [[-6.79153733e-01 -7.33971232e-01 6.03633912e-03 1.71403909e+02] [ 7.33943364e-01 -6.79180552e-01 -6.39655357e-03 -9.46100518e+01] [ 8.79465044e-03 8.60878020e-05 9.99961323e-01 -5.01043593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6865599949999 meters 0.013623424373551869 Centerline is valid? [True, True] Translation: X:171.37, Y:-94.57, Z:-5.01 [[-6.80393663e-01 -7.32822417e-01 5.98072623e-03 1.71365378e+02] [ 7.32795049e-01 -6.80419944e-01 -6.33365059e-03 -9.45688391e+01] [ 8.71084654e-03 7.32708456e-05 9.99962057e-01 -5.00986428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.746559995 meters 0.012984610428251282 Centerline is valid? [True, True] Translation: X:171.33, Y:-94.53, Z:-5.01 [[-6.82508172e-01 -7.30853298e-01 6.00422224e-03 1.71328332e+02] [ 7.30825674e-01 -6.82534581e-01 -6.35458185e-03 -9.45250084e+01] [ 8.74235641e-03 5.09857160e-05 9.99961784e-01 -5.00797655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8065599949999 meters 0.012721353627037317 Centerline is valid? [True, True] Translation: X:171.29, Y:-94.48, Z:-5.01 [[-6.84161794e-01 -7.29300474e-01 6.59229145e-03 1.71288574e+02] [ 7.29267139e-01 -6.84193553e-01 -6.97300675e-03 -9.44825939e+01] [ 9.59582043e-03 3.68767104e-05 9.99953958e-01 -5.00876055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.866559995 meters 0.012565790772875533 Centerline is valid? [True, True] Translation: X:171.25, Y:-94.44, Z:-5.01 [[-6.86310848e-01 -7.27269671e-01 7.49973374e-03 1.71250516e+02] [ 7.27226460e-01 -6.86351824e-01 -7.92784290e-03 -9.44397276e+01] [ 1.09131356e-02 1.30402346e-05 9.99940450e-01 -5.00919268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9265599949999 meters 0.012598667209575096 Centerline is valid? [True, True] Translation: X:171.21, Y:-94.40, Z:-5.01 [[-6.87698909e-01 -7.25954301e-01 7.78226078e-03 1.71212396e+02] [ 7.25907750e-01 -6.87742941e-01 -8.22109757e-03 -9.43977699e+01] [ 1.13203361e-02 -4.43641851e-06 9.99935923e-01 -5.01037026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.986559995 meters 0.012389640657299214 Centerline is valid? [True, True] Translation: X:171.17, Y:-94.36, Z:-5.01 [[-6.88232799e-01 -7.25446102e-01 7.97292799e-03 1.71172276e+02] [ 7.25397263e-01 -6.88278979e-01 -8.41770421e-03 -9.43560810e+01] [ 1.15941894e-02 -9.79998457e-06 9.99932785e-01 -5.00849098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0465599949999 meters 0.01232742610156172 Centerline is valid? [True, True] Translation: X:171.13, Y:-94.31, Z:-5.01 [[-6.88427352e-01 -7.25269730e-01 7.18330425e-03 1.71133953e+02] [ 7.25230129e-01 -6.88464828e-01 -7.57897020e-03 -9.43148933e+01] [ 1.04422500e-02 -8.02171711e-06 9.99945478e-01 -5.00743839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.106559995 meters 0.012372217575035345 Centerline is valid? [True, True] Translation: X:171.10, Y:-94.27, Z:-5.01 [[-6.87835642e-01 -7.25824316e-01 7.82251652e-03 1.71095014e+02] [ 7.25777451e-01 -6.87880122e-01 -8.24799460e-03 -9.42744807e+01] [ 1.13675487e-02 4.14144034e-06 9.99935387e-01 -5.00842746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.166559995 meters 0.012258564350794438 Centerline is valid? [True, True] Translation: X:171.05, Y:-94.23, Z:-5.01 [[-6.87342933e-01 -7.26294459e-01 7.48675612e-03 1.71054410e+02] [ 7.26251611e-01 -6.87383706e-01 -7.88915130e-03 -9.42336356e+01] [ 1.08761210e-02 1.47162992e-05 9.99940853e-01 -5.00840474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.226559995 meters 0.012067104365046802 Centerline is valid? [True, True] Translation: X:171.01, Y:-94.19, Z:-5.01 [[-6.87073427e-01 -7.26564179e-01 5.88214872e-03 1.71014966e+02] [ 7.26537768e-01 -6.87098605e-01 -6.19500858e-03 -9.41903260e+01] [ 8.54268751e-03 1.71774240e-05 9.99963510e-01 -5.00555006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.286559995 meters 0.012024738007135688 Centerline is valid? [True, True] Translation: X:170.98, Y:-94.15, Z:-5.01 [[-6.87105922e-01 -7.26534116e-01 5.79923773e-03 1.70975762e+02] [ 7.26508475e-01 -6.87130394e-01 -6.10382849e-03 -9.41489831e+01] [ 8.41947214e-03 1.92186622e-05 9.99964555e-01 -5.00574667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3465599949999 meters 0.012073173861446728 Centerline is valid? [True, True] Translation: X:170.93, Y:-94.11, Z:-5.01 [[-6.85567325e-01 -7.27987957e-01 5.56580143e-03 1.70934933e+02] [ 7.27964414e-01 -6.85589916e-01 -5.85481202e-03 -9.41072609e+01] [ 8.07808998e-03 3.78375680e-05 9.99967371e-01 -5.00646319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.406559995 meters 0.01220613872487347 Centerline is valid? [True, True] Translation: X:170.90, Y:-94.07, Z:-5.01 [[-6.84384708e-01 -7.29106659e-01 4.58809970e-03 1.70895052e+02] [ 7.29090702e-01 -6.84400086e-01 -4.82398516e-03 -9.40679516e+01] [ 6.65729554e-03 4.36791524e-05 9.99977839e-01 -5.00697294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4665599949999 meters 0.012480569666578498 Centerline is valid? [True, True] Translation: X:170.86, Y:-94.03, Z:-5.01 [[-6.83287306e-01 -7.30132170e-01 5.04696894e-03 1.70855436e+02] [ 7.30112913e-01 -6.83305943e-01 -5.30312450e-03 -9.40269007e+01] [ 7.32060567e-03 6.12995441e-05 9.99973202e-01 -5.00857766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.526559995 meters 0.012902225619685483 Centerline is valid? [True, True] Translation: X:170.82, Y:-93.99, Z:-5.01 [[-6.81790067e-01 -7.31526092e-01 5.64634053e-03 1.70816111e+02] [ 7.31502066e-01 -6.81813441e-01 -5.92945909e-03 -9.39850319e+01] [ 8.18730491e-03 8.76634528e-05 9.99966480e-01 -5.00952994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5865599949999 meters 0.013332447629713905 Centerline is valid? [True, True] Translation: X:170.78, Y:-93.94, Z:-5.01 [[-6.80030267e-01 -7.33162430e-01 5.62908989e-03 1.70776284e+02] [ 7.33138635e-01 -6.80053556e-01 -5.90783019e-03 -9.39434432e+01] [ 8.15948174e-03 1.09399941e-04 9.99966705e-01 -5.00968729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.646559995 meters 0.013409885302684952 Centerline is valid? [True, True] Translation: X:170.74, Y:-93.90, Z:-5.01 [[-6.78342904e-01 -7.34719303e-01 6.20085988e-03 1.70737861e+02] [ 7.34690527e-01 -6.78371229e-01 -6.50415497e-03 -9.38993676e+01] [ 8.98521315e-03 1.43665645e-04 9.99959622e-01 -5.00966352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7065599949999 meters 0.013773195473005113 Centerline is valid? [True, True] Translation: X:170.70, Y:-93.86, Z:-5.01 [[-6.77737283e-01 -7.35273959e-01 6.66187538e-03 1.70698518e+02] [ 7.35240811e-01 -6.77770003e-01 -6.98370640e-03 -9.38560135e+01] [ 9.65015676e-03 1.64964455e-04 9.99953423e-01 -5.01034008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.766559995 meters 0.014019036467270554 Centerline is valid? [True, True] Translation: X:170.66, Y:-93.81, Z:-5.01 [[-6.77226657e-01 -7.35741892e-01 6.92269535e-03 1.70659334e+02] [ 7.35706163e-01 -6.77262014e-01 -7.25299500e-03 -9.38129518e+01] [ 1.00248109e-02 1.81148077e-04 9.99949734e-01 -5.01029971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8265599949999 meters 0.013984870068389811 Centerline is valid? [True, True] Translation: X:170.62, Y:-93.77, Z:-5.01 [[-6.76996554e-01 -7.35956514e-01 6.60878873e-03 1.70621895e+02] [ 7.35924000e-01 -6.77028787e-01 -6.92010659e-03 -9.37685389e+01] [ 9.56723773e-03 1.78677929e-04 9.99954217e-01 -5.00846176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.886559995 meters 0.014108611468340141 Centerline is valid? [True, True] Translation: X:170.58, Y:-93.72, Z:-5.01 [[-6.77305184e-01 -7.35677636e-01 6.00857180e-03 1.70583656e+02] [ 7.35650781e-01 -6.77331816e-01 -6.28799490e-03 -9.37240890e+01] [ 8.69573408e-03 1.61318995e-04 9.99962178e-01 -5.00709970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9465599949999 meters 0.014016433952481705 Centerline is valid? [True, True] Translation: X:170.55, Y:-93.68, Z:-5.01 [[-6.78146757e-01 -7.34898133e-01 6.45836493e-03 1.70546606e+02] [ 7.34867107e-01 -6.78177490e-01 -6.75485811e-03 -9.36795756e+01] [ 9.34405032e-03 1.65254823e-04 9.99956330e-01 -5.00723021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.006559995 meters 0.014162157950006277 Centerline is valid? [True, True] Translation: X:170.51, Y:-93.64, Z:-5.01 [[-6.79621662e-01 -7.33522324e-01 7.70688911e-03 1.70511592e+02] [ 7.33478114e-01 -6.79665335e-01 -8.05532398e-03 -9.36354101e+01] [ 1.11468653e-02 1.78261819e-04 9.99937856e-01 -5.00885618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0665599949999 meters 0.013454670742888891 Centerline is valid? [True, True] Translation: X:170.48, Y:-93.59, Z:-5.01 [[-6.81099438e-01 -7.32139173e-01 8.70556628e-03 1.70475813e+02] [ 7.32082715e-01 -6.81155047e-01 -9.09397727e-03 -9.35888391e+01] [ 1.25878974e-02 1.79291795e-04 9.99920753e-01 -5.00794832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.126559995 meters 0.013227655262010501 Centerline is valid? [True, True] Translation: X:170.44, Y:-93.54, Z:-5.01 [[-6.82277859e-01 -7.31032700e-01 9.38698579e-03 1.70438891e+02] [ 7.30967027e-01 -6.82342408e-01 -9.80023572e-03 -9.35441831e+01] [ 1.35694313e-02 1.75093248e-04 9.99907916e-01 -5.00731063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1865599949999 meters 0.013495456291387117 Centerline is valid? [True, True] Translation: X:170.40, Y:-93.50, Z:-5.01 [[-6.82053022e-01 -7.31237879e-01 9.73856558e-03 1.70401538e+02] [ 7.31167305e-01 -6.82122517e-01 -1.01609002e-02 -9.35009036e+01] [ 1.40729300e-02 1.90248084e-04 9.99900953e-01 -5.00760638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.246559995 meters 0.013409246713398961 Centerline is valid? [True, True] Translation: X:170.36, Y:-93.46, Z:-5.01 [[-6.81480626e-01 -7.31764785e-01 1.02203455e-02 1.70362962e+02] [ 7.31687205e-01 -6.81557226e-01 -1.06574714e-02 -9.34575549e+01] [ 1.47645126e-02 2.15235773e-04 9.99890976e-01 -5.00724768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3065599949999 meters 0.01367220462644386 Centerline is valid? [True, True] Translation: X:170.32, Y:-93.41, Z:-5.01 [[-6.80524175e-01 -7.32642633e-01 1.10281425e-02 1.70324461e+02] [ 7.32552524e-01 -6.80613478e-01 -1.14932150e-02 -9.34144328e+01] [ 1.59263217e-02 2.57283028e-04 9.99873135e-01 -5.00793429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.366559995 meters 0.014422171794756161 Centerline is valid? [True, True] Translation: X:170.29, Y:-93.37, Z:-5.01 [[-6.79696789e-01 -7.33407541e-01 1.12095436e-02 1.70285480e+02] [ 7.33314660e-01 -6.79789157e-01 -1.16752486e-02 -9.33731482e+01] [ 1.61828415e-02 2.84493667e-04 9.99869009e-01 -5.00850907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4265599949999 meters 0.014300095128723442 Centerline is valid? [True, True] Translation: X:170.25, Y:-93.33, Z:-5.01 [[-6.79966834e-01 -7.33173247e-01 1.01041609e-02 1.70246984e+02] [ 7.33097853e-01 -6.80041855e-01 -1.05173057e-02 -9.33304036e+01] [ 1.45822595e-02 2.55919585e-04 9.99893640e-01 -5.00676722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.486559995 meters 0.013972952994924969 Centerline is valid? [True, True] Translation: X:170.21, Y:-93.29, Z:-5.01 [[-6.80670097e-01 -7.32536923e-01 8.82474929e-03 1.70209239e+02] [ 7.32479426e-01 -6.80727266e-01 -9.18038803e-03 -9.32859201e+01] [ 1.27322206e-02 2.15131690e-04 9.99918919e-01 -5.00511578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5465599949999 meters 0.013844452390718591 Centerline is valid? [True, True] Translation: X:170.17, Y:-93.24, Z:-5.01 [[-6.81840735e-01 -7.31442749e-01 9.20413502e-03 1.70170868e+02] [ 7.31380183e-01 -6.81902824e-01 -9.56904800e-03 -9.32432030e+01] [ 1.32755364e-02 2.07155232e-04 9.99911855e-01 -5.00593737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.606559995 meters 0.013184282443432198 Centerline is valid? [True, True] Translation: X:170.13, Y:-93.20, Z:-5.01 [[-6.83492084e-01 -7.29890753e-01 9.90248950e-03 1.70131232e+02] [ 7.29818253e-01 -6.83563787e-01 -1.02891525e-02 -9.32001342e+01] [ 1.42789405e-02 1.94463318e-04 9.99898032e-01 -5.00685491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.666559995 meters 0.012952413560936701 Centerline is valid? [True, True] Translation: X:170.09, Y:-93.16, Z:-5.01 [[-6.85300135e-01 -7.28180663e-01 1.08003658e-02 1.70091084e+02] [ 7.28094305e-01 -6.85385214e-01 -1.12156848e-02 -9.31585068e+01] [ 1.55694558e-02 1.77574551e-04 9.99878773e-01 -5.00794755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.726559995 meters 0.013171563818590698 Centerline is valid? [True, True] Translation: X:170.05, Y:-93.12, Z:-5.01 [[-6.85263033e-01 -7.28220602e-01 1.04561695e-02 1.70049921e+02] [ 7.28139770e-01 -6.85342778e-01 -1.08513601e-02 -9.31187850e+01] [ 1.50682442e-02 1.77516962e-04 9.99886452e-01 -5.00758600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.786559995 meters 0.014300380995766948 Centerline is valid? [True, True] Translation: X:170.01, Y:-93.08, Z:-5.01 [[-6.84120495e-01 -7.29301778e-01 9.90281581e-03 1.70007285e+02] [ 7.29229485e-01 -6.84192136e-01 -1.02703123e-02 -9.30813822e+01] [ 1.42655857e-02 1.95294141e-04 9.99898222e-01 -5.00975992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8465599949999 meters 0.01416037967800432 Centerline is valid? [True, True] Translation: X:169.97, Y:-93.04, Z:-5.01 [[-6.82255313e-01 -7.31049567e-01 9.70662511e-03 1.69966354e+02] [ 7.30980365e-01 -6.82324319e-01 -1.00612482e-02 -9.30403557e+01] [ 1.39783375e-02 2.31012320e-04 9.99902272e-01 -5.00742452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.906559995 meters 0.014186799431973483 Centerline is valid? [True, True] Translation: X:169.93, Y:-93.00, Z:-5.01 [[-6.81633081e-01 -7.31626763e-01 9.93086389e-03 1.69925201e+02] [ 7.31554472e-01 -6.81705373e-01 -1.02878202e-02 -9.29987150e+01] [ 1.42967679e-02 2.52449304e-04 9.99897764e-01 -5.00738893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9665599949999 meters 0.014645327811750633 Centerline is valid? [True, True] Translation: X:169.89, Y:-92.96, Z:-5.01 [[-6.81855701e-01 -7.31413624e-01 1.03399091e-02 1.69885235e+02] [ 7.31335336e-01 -6.81934045e-01 -1.07044376e-02 -9.29591692e+01] [ 1.48805075e-02 2.63059091e-04 9.99889245e-01 -5.00808314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.026559995 meters 0.014346763478837425 Centerline is valid? [True, True] Translation: X:169.85, Y:-92.92, Z:-5.01 [[-6.82738513e-01 -7.30587934e-01 1.04591083e-02 1.69845683e+02] [ 7.30507835e-01 -6.82818575e-01 -1.08210894e-02 -9.29176376e+01] [ 1.50474308e-02 2.52486144e-04 9.99886749e-01 -5.00661811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0865599949999 meters 0.014497681950400326 Centerline is valid? [True, True] Translation: X:169.81, Y:-92.88, Z:-5.01 [[-6.83388955e-01 -7.29971210e-01 1.10258019e-02 1.69805867e+02] [ 7.29882227e-01 -6.83477846e-01 -1.14003426e-02 -9.28761714e+01] [ 1.58578133e-02 2.56668643e-04 9.99874224e-01 -5.00651875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.146559995 meters 0.01455320640943847 Centerline is valid? [True, True] Translation: X:169.77, Y:-92.84, Z:-5.01 [[-6.84202752e-01 -7.29205596e-01 1.12157245e-02 1.69765843e+02] [ 7.29113538e-01 -6.84294627e-01 -1.15892613e-02 -9.28362000e+01] [ 1.61258142e-02 2.48132126e-04 9.99869940e-01 -5.00745726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2065599949999 meters 0.01349448334603415 Centerline is valid? [True, True] Translation: X:169.73, Y:-92.79, Z:-5.01 [[-6.84919676e-01 -7.28522801e-01 1.18138030e-02 1.69727690e+02] [ 7.28420681e-01 -6.85021508e-01 -1.22002215e-02 -9.27923770e+01] [ 1.69808487e-02 2.49246696e-04 9.99855784e-01 -5.00519068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.266559995 meters 0.013652887726258426 Centerline is valid? [True, True] Translation: X:169.69, Y:-92.75, Z:-5.01 [[-6.86191710e-01 -7.27313322e-01 1.25007314e-02 1.69688796e+02] [ 7.27198894e-01 -6.86305526e-01 -1.29032098e-02 -9.27517773e+01] [ 1.79639975e-02 2.36442448e-04 9.99838606e-01 -5.00607144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3265599949999 meters 0.013517035211717699 Centerline is valid? [True, True] Translation: X:169.65, Y:-92.71, Z:-5.01 [[-6.86871405e-01 -7.26662374e-01 1.30179552e-02 1.69649721e+02] [ 7.26538322e-01 -6.86994715e-01 -1.34286154e-02 -9.27100397e+01] [ 1.87013360e-02 2.34311414e-04 9.99825087e-01 -5.00633692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.386559995 meters 0.013112776209957374 Centerline is valid? [True, True] Translation: X:169.61, Y:-92.67, Z:-5.00 [[-6.87292514e-01 -7.26267082e-01 1.28501236e-02 1.69610308e+02] [ 7.26146280e-01 -6.87412594e-01 -1.32478489e-02 -9.26673278e+01] [ 1.84548134e-02 2.25922090e-04 9.99829670e-01 -5.00468171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4465599949999 meters 0.01324298609826019 Centerline is valid? [True, True] Translation: X:169.57, Y:-92.63, Z:-5.01 [[-6.87343171e-01 -7.26197235e-01 1.40335597e-02 1.69569935e+02] [ 7.26053307e-01 -6.87486373e-01 -1.44596754e-02 -9.26257768e+01] [ 2.01484574e-02 2.50353293e-04 9.99796968e-01 -5.00544076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.506559995 meters 0.013435222834879284 Centerline is valid? [True, True] Translation: X:169.53, Y:-92.58, Z:-5.01 [[-6.88190971e-01 -7.25369921e-01 1.52205113e-02 1.69529875e+02] [ 7.25200604e-01 -6.88359219e-01 -1.56738833e-02 -9.25835158e+01] [ 2.18465428e-02 2.51299045e-04 9.99761304e-01 -5.00742823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5665599949999 meters 0.013005789763232998 Centerline is valid? [True, True] Translation: X:169.49, Y:-92.54, Z:-5.01 [[-6.89684015e-01 -7.23949216e-01 1.52804148e-02 1.69491680e+02] [ 7.23778421e-01 -6.89853236e-01 -1.57261073e-02 -9.25400850e+01] [ 2.19261467e-02 2.13589665e-04 9.99759570e-01 -5.00567784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.626559995 meters 0.012478890438102092 Centerline is valid? [True, True] Translation: X:169.45, Y:-92.50, Z:-5.00 [[-6.91972667e-01 -7.21794814e-01 1.36409114e-02 1.69452756e+02] [ 7.21658444e-01 -6.92107093e-01 -1.40307487e-02 -9.24967619e+01] [ 1.95682931e-02 1.35184322e-04 9.99808514e-01 -5.00267196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6865599949999 meters 0.01214633061212145 Centerline is valid? [True, True] Translation: X:169.41, Y:-92.45, Z:-5.00 [[-6.93352364e-01 -7.20501412e-01 1.18412040e-02 1.69412569e+02] [ 7.20398583e-01 -6.93453464e-01 -1.21726897e-02 -9.24543647e+01] [ 1.69817641e-02 9.04234134e-05 9.99855795e-01 -5.00091333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.746559995 meters 0.011677073296523587 Centerline is valid? [True, True] Translation: X:169.37, Y:-92.41, Z:-5.00 [[-6.95620448e-01 -7.18343539e-01 9.73409301e-03 1.69372286e+02] [ 7.18273920e-01 -6.95688550e-01 -1.00008262e-02 -9.24122690e+01] [ 1.39559259e-02 3.49659805e-05 9.99902611e-01 -4.99874486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8065599949999 meters 0.011795003150097872 Centerline is valid? [True, True] Translation: X:169.33, Y:-92.37, Z:-5.00 [[-6.97465419e-01 -7.16533058e-01 1.10618808e-02 1.69332451e+02] [ 7.16442997e-01 -6.97553135e-01 -1.13602692e-02 -9.23709465e+01] [ 1.58562581e-02 1.81215462e-06 9.99874282e-01 -5.00125816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.866559995 meters 0.01193559953833844 Centerline is valid? [True, True] Translation: X:169.29, Y:-92.33, Z:-5.00 [[-6.99720991e-01 -7.14328653e-01 1.11853021e-02 1.69292821e+02] [ 7.14236378e-01 -6.99810384e-01 -1.14814227e-02 -9.23306231e+01] [ 1.60290998e-02 -4.48428155e-05 9.99871525e-01 -5.00219429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9265599949999 meters 0.012387705979552445 Centerline is valid? [True, True] Translation: X:169.25, Y:-92.29, Z:-5.00 [[-7.01515535e-01 -7.12557114e-01 1.17606600e-02 1.69252234e+02] [ 7.12454970e-01 -7.01614104e-01 -1.20650043e-02 -9.22898585e+01] [ 1.68484496e-02 -8.48473118e-05 9.99858051e-01 -5.00374396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.986559995 meters 0.012152470760445492 Centerline is valid? [True, True] Translation: X:169.21, Y:-92.25, Z:-5.00 [[-7.02233743e-01 -7.11842982e-01 1.21383807e-02 1.69211508e+02] [ 7.11734200e-01 -7.02338636e-01 -1.24446368e-02 -9.22490867e+01] [ 1.73838811e-02 -9.97432048e-05 9.99848884e-01 -5.00284087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0465599949999 meters 0.01238046842169056 Centerline is valid? [True, True] Translation: X:169.17, Y:-92.21, Z:-5.00 [[-7.03148841e-01 -7.10941623e-01 1.19881563e-02 1.69170280e+02] [ 7.10835519e-01 -7.03251019e-01 -1.22828990e-02 -9.22091533e+01] [ 1.71631073e-02 -1.15098835e-04 9.99852696e-01 -5.00400263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.106559995 meters 0.012136420222687109 Centerline is valid? [True, True] Translation: X:169.13, Y:-92.17, Z:-5.00 [[-7.03415529e-01 -7.10697088e-01 1.07815722e-02 1.69129269e+02] [ 7.10611347e-01 -7.03498144e-01 -1.10396909e-02 -9.21696037e+01] [ 1.54306922e-02 -1.03982462e-04 9.99880934e-01 -5.00296712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.166559995 meters 0.011731301926630345 Centerline is valid? [True, True] Translation: X:169.09, Y:-92.13, Z:-5.00 [[-7.02578143e-01 -7.11549231e-01 9.03571487e-03 1.69086241e+02] [ 7.11489148e-01 -7.02636241e-01 -9.24691670e-03 -9.21302786e+01] [ 1.29284572e-02 -6.78684910e-05 9.99916422e-01 -5.00189177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.226559995 meters 0.011344360449814433 Centerline is valid? [True, True] Translation: X:169.04, Y:-92.09, Z:-5.00 [[-6.99694954e-01 -7.14389595e-01 8.63003825e-03 1.69042879e+02] [ 7.14335072e-01 -6.99748173e-01 -8.82603171e-03 -9.20945340e+01] [ 1.23440787e-02 -1.07908525e-05 9.99923809e-01 -5.00245505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.286559995 meters 0.011217581773874651 Centerline is valid? [True, True] Translation: X:169.00, Y:-92.06, Z:-5.00 [[-6.97024211e-01 -7.17003144e-01 7.98378465e-03 1.68999542e+02] [ 7.16956708e-01 -6.97069932e-01 -8.16015158e-03 -9.20562533e+01] [ 1.14161106e-02 3.62047411e-05 9.99934833e-01 -5.00185046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3465599949999 meters 0.012093975390541856 Centerline is valid? [True, True] Translation: X:168.95, Y:-92.02, Z:-5.00 [[-6.92290879e-01 -7.21588076e-01 6.63225225e-03 1.68953789e+02] [ 7.21556277e-01 -6.92322641e-01 -6.77493754e-03 -9.20207089e+01] [ 9.48037254e-03 9.53157779e-05 9.99955056e-01 -5.00167904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.406559995 meters 0.013592105730380739 Centerline is valid? [True, True] Translation: X:168.91, Y:-91.98, Z:-5.00 [[-6.86803221e-01 -7.26812488e-01 6.70386442e-03 1.68908552e+02] [ 7.26780282e-01 -6.86835917e-01 -6.84430751e-03 -9.19837725e+01] [ 9.57898304e-03 1.71544024e-04 9.99954106e-01 -5.00140860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4665599949999 meters 0.01556243577727009 Centerline is valid? [True, True] Translation: X:168.87, Y:-91.95, Z:-5.01 [[-6.83917617e-01 -7.29511172e-01 8.37516972e-03 1.68865373e+02] [ 7.29461165e-01 -6.83968844e-01 -8.54567908e-03 -9.19458599e+01] [ 1.19625235e-02 2.64820600e-04 9.99928411e-01 -5.00503919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.526559995 meters 0.016259885506028065 Centerline is valid? [True, True] Translation: X:168.82, Y:-91.91, Z:-5.01 [[-6.81084217e-01 -7.32158196e-01 8.28639038e-03 1.68823617e+02] [ 7.32109480e-01 -6.81134553e-01 -8.45167987e-03 -9.19063163e+01] [ 1.18321135e-02 3.10239178e-04 9.99929950e-01 -5.00531562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5865599949999 meters 0.014763128696075083 Centerline is valid? [True, True] Translation: X:168.78, Y:-91.86, Z:-5.00 [[-6.82789074e-01 -7.30580737e-01 7.13219170e-03 1.68783474e+02] [ 7.30544602e-01 -6.82826279e-01 -7.27032760e-03 -9.18648367e+01] [ 1.01816092e-02 2.46283900e-04 9.99948136e-01 -5.00492965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.646559995 meters 0.013336525943221085 Centerline is valid? [True, True] Translation: X:168.75, Y:-91.82, Z:-5.00 [[-6.87408065e-01 -7.26256251e-01 4.69145909e-03 1.68746515e+02] [ 7.26240535e-01 -6.87424063e-01 -4.77932208e-03 -9.18209970e+01] [ 6.69603441e-03 1.21783213e-04 9.99977574e-01 -5.00206912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7065599949999 meters 0.01264659542438096 Centerline is valid? [True, True] Translation: X:168.71, Y:-91.78, Z:-5.00 [[-6.88638608e-01 -7.25087698e-01 4.96961427e-03 1.68706678e+02] [ 7.25070054e-01 -6.88656530e-01 -5.05978739e-03 -9.17791787e+01] [ 7.09114690e-03 1.18953537e-04 9.99974850e-01 -5.00231837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.766559995 meters 0.012816560468261278 Centerline is valid? [True, True] Translation: X:168.67, Y:-91.74, Z:-5.00 [[-6.89314629e-01 -7.24445736e-01 4.87016566e-03 1.68666557e+02] [ 7.24428797e-01 -6.89331824e-01 -4.95521842e-03 -9.17396929e+01] [ 6.94694703e-03 1.12383704e-04 9.99975863e-01 -5.00296880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8265599949999 meters 0.012338117949524757 Centerline is valid? [True, True] Translation: X:168.63, Y:-91.70, Z:-5.00 [[-6.89909368e-01 -7.23879327e-01 4.87696401e-03 1.68626553e+02] [ 7.23862347e-01 -6.89926596e-01 -4.95928151e-03 -9.16977773e+01] [ 6.95466854e-03 1.08795845e-04 9.99975810e-01 -5.00250312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.886559995 meters 0.012539673170043284 Centerline is valid? [True, True] Translation: X:168.58, Y:-91.66, Z:-5.00 [[-6.89937356e-01 -7.23861005e-01 3.41909322e-03 1.68584985e+02] [ 7.23852669e-01 -6.89945823e-01 -3.47481512e-03 -9.16570358e+01] [ 4.87427225e-03 7.75150023e-05 9.99988118e-01 -5.00100562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9465599949999 meters 0.012178303301536283 Centerline is valid? [True, True] Translation: X:168.54, Y:-91.62, Z:-5.00 [[-6.91654534e-01 -7.22226164e-01 1.83648351e-03 1.68544429e+02] [ 7.22223756e-01 -6.91656971e-01 -1.86534580e-03 -9.16158823e+01] [ 2.61741817e-03 3.61771362e-05 9.99996574e-01 -5.00160693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.006559995 meters 0.012320003720528376 Centerline is valid? [True, True] Translation: X:168.51, Y:-91.57, Z:-5.00 [[-6.94225745e-01 -7.19757224e-01 -3.92798217e-04 1.68505628e+02] [ 7.19757113e-01 -6.94225856e-01 3.98753319e-04 -9.15733854e+01] [-5.59696260e-04 -5.89449074e-06 9.99999843e-01 -4.99880064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0665599949999 meters 0.012532026396561096 Centerline is valid? [True, True] Translation: X:168.46, Y:-91.53, Z:-5.00 [[-6.92243184e-01 -7.21661296e-01 -2.08537053e-03 1.68462075e+02] [ 7.21658195e-01 -6.92246324e-01 2.11577711e-03 -9.15343836e+01] [-2.97046453e-03 -4.02924524e-05 9.99995587e-01 -4.99897706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.126559995 meters 0.015180039505318552 Centerline is valid? [True, True] Translation: X:168.41, Y:-91.51, Z:-5.01 [[-6.83550546e-01 -7.29902966e-01 5.58164550e-04 1.68408493e+02] [ 7.29902747e-01 -6.83550773e-01 -5.65959954e-04 -9.15055400e+01] [ 7.94629659e-04 2.05436032e-05 9.99999684e-01 -5.00574955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1865599949999 meters 0.015180039505318552 Centerline is valid? [True, True] Translation: X:168.37, Y:-91.46, Z:-5.01 [[-6.83762147e-01 -7.29704745e-01 5.58328561e-04 1.68367999e+02] [ 7.29704525e-01 -6.83762375e-01 -5.65798156e-04 -9.14645802e+01] [ 7.94629662e-04 2.05435150e-05 9.99999684e-01 -5.00575020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.246559995 meters 0.01630393395321724 Centerline is valid? [True, True] Translation: X:168.33, Y:-91.43, Z:-5.01 [[-6.83857007e-01 -7.29615928e-01 4.37602537e-04 1.68325619e+02] [ 7.29615794e-01 -6.83857147e-01 -4.43186991e-04 -9.14256030e+01] [ 6.22613911e-04 1.62051933e-05 9.99999806e-01 -5.00587423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3065599949999 meters 0.01630393395321724 Centerline is valid? [True, True] Translation: X:168.29, Y:-91.39, Z:-5.01 [[-6.84085302e-01 -7.29401884e-01 4.37741288e-04 1.68285649e+02] [ 7.29401750e-01 -6.84085441e-01 -4.43049947e-04 -9.13852892e+01] [ 6.22613909e-04 1.62053054e-05 9.99999806e-01 -5.00587488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.366559995 meters 0.0167359093901369 Centerline is valid? [True, True] Translation: X:168.24, Y:-91.35, Z:-5.01 [[-6.84312705e-01 -7.29188492e-01 5.14807800e-04 1.68244080e+02] [ 7.29188307e-01 -6.84312898e-01 -5.20729667e-04 -9.13453192e+01] [ 7.31999699e-04 1.90499010e-05 9.99999732e-01 -5.00549618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4265599949999 meters 0.016809610016259937 Centerline is valid? [True, True] Translation: X:168.20, Y:-91.31, Z:-5.00 [[-6.84445274e-01 -7.29064095e-01 -4.60765848e-04 1.68203232e+02] [ 7.29063946e-01 -6.84445429e-01 4.65786865e-04 -9.13057352e+01] [-6.54957557e-04 -1.71221485e-05 9.99999785e-01 -5.00417872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.486559995 meters 0.015275163924040464 Centerline is valid? [True, True] Translation: X:168.16, Y:-91.26, Z:-5.00 [[-6.85763902e-01 -7.27823996e-01 -3.19758608e-04 1.68161837e+02] [ 7.27823924e-01 -6.85763976e-01 3.23059567e-04 -9.12645844e+01] [-4.54409439e-04 -1.11853760e-05 9.99999897e-01 -5.00497631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5465599949999 meters 0.014954625571640047 Centerline is valid? [True, True] Translation: X:168.12, Y:-91.22, Z:-5.00 [[-6.87470216e-01 -7.26212052e-01 -8.70366562e-04 1.68120958e+02] [ 7.26211521e-01 -6.87470766e-01 8.78845643e-04 -9.12231596e+01] [-1.23657987e-03 -2.78900211e-05 9.99999235e-01 -5.00425730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.606559995 meters 0.014954625571640047 Centerline is valid? [True, True] Translation: X:168.08, Y:-91.18, Z:-5.00 [[-6.87701622e-01 -7.25992921e-01 -8.70646315e-04 1.68080935e+02] [ 7.25992390e-01 -6.87702172e-01 8.78568501e-04 -9.11829034e+01] [-1.23657987e-03 -2.78896164e-05 9.99999235e-01 -5.00425795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.666559995 meters 0.015625620853440218 Centerline is valid? [True, True] Translation: X:168.04, Y:-91.14, Z:-5.00 [[-6.87602658e-01 -7.26086877e-01 -6.57376451e-04 1.68040322e+02] [ 7.26086575e-01 -6.87602972e-01 6.63034165e-04 -9.11444909e+01] [-9.33434407e-04 -2.14081616e-05 9.99999564e-01 -5.00485457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.726559995 meters 0.016008542752856722 Centerline is valid? [True, True] Translation: X:168.00, Y:-91.10, Z:-5.01 [[-6.86840273e-01 -7.26808359e-01 2.22844872e-04 1.67997995e+02] [ 7.26808324e-01 -6.86840309e-01 -2.24631863e-04 -9.11041172e+01] [ 3.16323157e-04 7.67929856e-06 9.99999950e-01 -5.00677651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.786559995 meters 0.017090781226614626 Centerline is valid? [True, True] Translation: X:167.96, Y:-91.07, Z:-5.01 [[-6.85961006e-01 -7.27638296e-01 -9.50790323e-05 1.67955793e+02] [ 7.27638289e-01 -6.85961012e-01 9.57923380e-05 -9.10650371e+01] [-1.34922683e-04 -3.47333587e-06 9.99999991e-01 -5.00651587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8465599949999 meters 0.017863516150189572 Centerline is valid? [True, True] Translation: X:167.91, Y:-91.03, Z:-5.01 [[-6.83789825e-01 -7.29678808e-01 -5.58673818e-04 1.67912427e+02] [ 7.29678591e-01 -6.83790053e-01 5.62508843e-04 -9.10270611e+01] [-7.92466382e-04 -2.30145006e-05 9.99999686e-01 -5.00676341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.906559995 meters 0.020696918279374678 Centerline is valid? [True, True] Translation: X:167.87, Y:-90.99, Z:-5.01 [[-6.82987458e-01 -7.30430100e-01 8.73367387e-06 1.67869032e+02] [ 7.30430100e-01 -6.82987459e-01 -8.78370685e-06 -9.09895426e+01] [ 1.23808739e-05 3.80176681e-07 1.00000000e+00 -5.00747355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9665599949999 meters 0.019624875594082252 Centerline is valid? [True, True] Translation: X:167.83, Y:-90.95, Z:-5.01 [[-6.80781288e-01 -7.32484993e-01 1.60423243e-03 1.67829167e+02] [ 7.32483220e-01 -6.80783173e-01 -1.61337959e-03 -9.09476532e+01] [ 2.27391078e-03 7.67146984e-05 9.99997412e-01 -5.00921723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.026559995 meters 0.020885494694531697 Centerline is valid? [True, True] Translation: X:167.78, Y:-90.91, Z:-5.01 [[-6.79337974e-01 -7.33819750e-01 2.91388063e-03 1.67784903e+02] [ 7.33813920e-01 -6.79344207e-01 -2.92888118e-03 -9.09093765e+01] [ 4.12879878e-03 1.48545963e-04 9.99991465e-01 -5.01198570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0865599949999 meters 0.02140680154951006 Centerline is valid? [True, True] Translation: X:167.74, Y:-90.87, Z:-5.01 [[-6.79156545e-01 -7.33987385e-01 2.98453888e-03 1.67743446e+02] [ 7.33981277e-01 -6.79163085e-01 -2.99825542e-03 -9.08690534e+01] [ 4.22767029e-03 1.54310872e-04 9.99991051e-01 -5.01251005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.146559995 meters 0.02204964490377947 Centerline is valid? [True, True] Translation: X:167.71, Y:-90.83, Z:-5.01 [[-6.79796598e-01 -7.33395932e-01 2.64430625e-03 1.67705215e+02] [ 7.33391139e-01 -6.79801728e-01 -2.65475053e-03 -9.08282886e+01] [ 3.74458720e-03 1.34620396e-04 9.99992980e-01 -5.01127126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2065599949999 meters 0.01924675268550104 Centerline is valid? [True, True] Translation: X:167.67, Y:-90.78, Z:-5.01 [[-6.82002575e-01 -7.31347826e-01 1.68664858e-03 1.67668413e+02] [ 7.31345873e-01 -6.82004656e-01 -1.69233947e-03 -9.07834785e+01] [ 2.38799098e-03 7.93436004e-05 9.99997146e-01 -5.01024507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.266559995 meters 0.018051211730370654 Centerline is valid? [True, True] Translation: X:167.63, Y:-90.74, Z:-5.01 [[-6.85140068e-01 -7.28411318e-01 1.97954963e-04 1.67630229e+02] [ 7.28411291e-01 -6.85140097e-01 -1.98505208e-04 -9.07399492e+01] [ 2.80220324e-04 8.18875837e-06 9.99999961e-01 -5.00852538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3265599949999 meters 0.017278357079367025 Centerline is valid? [True, True] Translation: X:167.59, Y:-90.70, Z:-5.01 [[-6.87809750e-01 -7.25890296e-01 1.01334086e-03 1.67592673e+02] [ 7.25889586e-01 -6.87810495e-01 -1.01560774e-03 -9.06959191e+01] [ 1.43420628e-03 3.70286719e-05 9.99998971e-01 -5.00973041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.386559995 meters 0.015780152172739866 Centerline is valid? [True, True] Translation: X:167.55, Y:-90.65, Z:-5.01 [[-6.88981058e-01 -7.24776123e-01 2.16194464e-03 1.67554556e+02] [ 7.24772891e-01 -6.88984446e-01 -2.16562903e-03 -9.06511670e+01] [ 3.05914244e-03 7.48414915e-05 9.99995318e-01 -5.01100522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4465599949999 meters 0.01606248877877337 Centerline is valid? [True, True] Translation: X:167.52, Y:-90.61, Z:-5.01 [[-6.89934244e-01 -7.23865792e-01 3.00913230e-03 1.67515684e+02] [ 7.23859531e-01 -6.89940798e-01 -3.01225377e-03 -9.06110311e+01] [ 4.25659061e-03 9.99320669e-05 9.99990936e-01 -5.01266053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.506559995 meters 0.015103145142677058 Centerline is valid? [True, True] Translation: X:167.48, Y:-90.57, Z:-5.01 [[-6.92934637e-01 -7.20992559e-01 3.36442284e-03 1.67478746e+02] [ 7.20984708e-01 -6.92942798e-01 -3.36603505e-03 -9.05658161e+01] [ 4.75823880e-03 9.32551414e-05 9.99988675e-01 -5.01296550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5665599949999 meters 0.01347076506411677 Centerline is valid? [True, True] Translation: X:167.44, Y:-90.52, Z:-5.01 [[-6.97897931e-01 -7.16186662e-01 3.89139477e-03 1.67444394e+02] [ 7.16176095e-01 -6.97908776e-01 -3.89116574e-03 -9.05173596e+01] [ 5.50263957e-03 7.12873907e-05 9.99984858e-01 -5.01262726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.626559995 meters 0.012660857938781907 Centerline is valid? [True, True] Translation: X:166.98, Y:-90.99, Z:-4.03 [[-7.60128469e-01 6.49758261e-01 4.34875054e-03 1.66979040e+02] [ 6.49747307e-01 7.60140908e-01 -3.77314139e-03 -9.09878894e+01] [-5.75729297e-03 -4.24832423e-05 -9.99983426e-01 -4.02763690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6865599949999 meters 0.012540544294020768 Centerline is valid? [True, True] Translation: X:167.00, Y:-90.98, Z:-4.03 [[-7.99052619e-01 6.01241120e-01 4.90190247e-03 1.66996072e+02] [ 6.01229866e-01 7.99067654e-01 -3.67867056e-03 -9.09785325e+01] [-6.12871972e-03 7.71881569e-06 -9.99981219e-01 -4.02754128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.746559995 meters 0.013505449728953327 Centerline is valid? [True, True] Translation: X:167.01, Y:-90.97, Z:-4.03 [[-8.34596116e-01 5.50834104e-01 5.57790063e-03 1.67008104e+02] [ 5.50822354e-01 8.34614752e-01 -3.59852506e-03 -9.09664181e+01] [-6.63758848e-03 6.91173150e-05 -9.99977969e-01 -4.02758060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8065599949999 meters 0.015408594618242335 Centerline is valid? [True, True] Translation: X:167.03, Y:-90.96, Z:-4.03 [[-8.67239807e-01 4.97840178e-01 7.09045980e-03 1.67027672e+02] [ 4.97824986e-01 8.67268778e-01 -3.89227946e-03 -9.09571739e+01] [-8.08706751e-03 1.54268367e-04 -9.99967287e-01 -4.02670059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.866559995 meters 0.016625433506138227 Centerline is valid? [True, True] Translation: X:167.04, Y:-90.94, Z:-4.03 [[-8.98533778e-01 4.38828460e-01 8.16284886e-03 1.67039495e+02] [ 4.38812443e-01 8.98570832e-01 -3.75505087e-03 -9.09375847e+01] [-8.98272108e-03 2.07919598e-04 -9.99959633e-01 -4.02673090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9265599949999 meters 0.017462279430874972 Centerline is valid? [True, True] Translation: X:167.05, Y:-90.92, Z:-4.03 [[-9.26602578e-01 3.75957899e-01 7.95748671e-03 1.67051488e+02] [ 3.75946005e-01 9.26636721e-01 -2.99806032e-03 -9.09158849e+01] [-8.50084385e-03 2.13574921e-04 -9.99963844e-01 -4.02733395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.986559995 meters 0.016871395924463184 Centerline is valid? [True, True] Translation: X:167.06, Y:-90.89, Z:-4.03 [[-9.50740683e-01 3.09898585e-01 7.41760650e-03 1.67063282e+02] [ 3.09890778e-01 9.50769597e-01 -2.20865042e-03 -9.08913323e+01] [-7.73689239e-03 1.98794045e-04 -9.99970050e-01 -4.02847907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0465599949999 meters 0.017440641493638574 Centerline is valid? [True, True] Translation: X:167.07, Y:-90.87, Z:-4.03 [[-9.71146892e-01 2.38334535e-01 8.38828672e-03 1.67067974e+02] [ 2.38327338e-01 9.71183100e-01 -1.86198768e-03 -9.08662218e+01] [-8.59033827e-03 1.90894498e-04 -9.99963084e-01 -4.02807854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.106559995 meters 0.014182878066340308 Centerline is valid? [True, True] Translation: X:167.07, Y:-90.83, Z:-4.03 [[-9.87067131e-01 1.60083578e-01 8.46912829e-03 1.67068224e+02] [ 1.60078678e-01 9.87103457e-01 -1.25765369e-03 -9.08307313e+01] [-8.56123551e-03 1.14338242e-04 -9.99963345e-01 -4.02942532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.166559995 meters 0.012906477042558599 Centerline is valid? [True, True] Translation: X:167.06, Y:-90.79, Z:-4.03 [[-9.97063760e-01 7.60475168e-02 8.97958657e-03 1.67063974e+02] [ 7.60444080e-02 9.97104195e-01 -6.87625326e-04 -9.07930970e+01] [-9.00587564e-03 -2.75894873e-06 -9.99959446e-01 -4.02936958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.226559995 meters 0.01361205396266423 Centerline is valid? [True, True] Translation: X:167.11, Y:-90.09, Z:-5.01 [[-9.88139683e-01 -1.53229770e-01 1.00301622e-02 1.67111103e+02] [ 1.53222763e-01 -9.88190584e-01 -1.46796085e-03 -9.00922350e+01] [ 1.01366471e-02 8.62987923e-05 9.99948619e-01 -5.01107044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.286559995 meters 0.017390552878072632 Centerline is valid? [True, True] Translation: X:167.00, Y:-90.77, Z:-4.03 [[-9.98737984e-01 4.87247445e-02 1.21794066e-02 1.67000105e+02] [ 4.87175836e-02 9.98812202e-01 -8.84130575e-04 -9.07703571e+01] [-1.22080190e-02 -2.89663529e-04 -9.99925437e-01 -4.02653092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3465599949999 meters 0.01905650349139033 Centerline is valid? [True, True] Translation: X:166.99, Y:-90.74, Z:-4.03 [[-9.99425209e-01 -3.11697217e-02 1.33303887e-02 1.66987632e+02] [-3.11727438e-02 9.99514012e-01 -1.89352894e-05 -9.07383391e+01] [-1.33233200e-02 -4.34469195e-04 -9.99911146e-01 -4.02660970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.406559995 meters 0.02008237404849723 Centerline is valid? [True, True] Translation: X:166.98, Y:-90.71, Z:-4.03 [[-9.94370611e-01 -1.05015377e-01 1.41017099e-02 1.66981697e+02] [-1.05011966e-01 9.94470471e-01 9.84183570e-04 -9.07103097e+01] [-1.41270885e-02 -5.02205058e-04 -9.99900082e-01 -4.02685363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4665599949999 meters 0.020285489117713763 Centerline is valid? [True, True] Translation: X:166.94, Y:-90.05, Z:-5.01 [[-9.99371778e-01 -3.25486524e-02 1.40226459e-02 1.66938545e+02] [ 3.25523350e-02 -9.99470032e-01 3.43925131e-05 -9.00507848e+01] [ 1.40140949e-02 4.90840773e-04 9.99901677e-01 -5.01228813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.526559995 meters 0.020314289452713904 Centerline is valid? [True, True] Translation: X:166.91, Y:-90.72, Z:-4.03 [[-9.94181752e-01 -1.06628436e-01 1.52650377e-02 1.66912023e+02] [-1.06623554e-01 9.94298812e-01 1.13558983e-03 -9.07182326e+01] [-1.52990950e-02 -4.98629891e-04 -9.99882838e-01 -4.02633957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5865599949999 meters 0.018122006633544283 Centerline is valid? [True, True] Translation: X:166.91, Y:-90.70, Z:-4.03 [[-9.84575893e-01 -1.74173617e-01 1.65487762e-02 1.66912897e+02] [-1.74157436e-01 9.84714835e-01 2.42505652e-03 -9.06975729e+01] [-1.67182063e-02 -4.94440236e-04 -9.99860119e-01 -4.02581830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.646559995 meters 0.016511436520658757 Centerline is valid? [True, True] Translation: X:166.91, Y:-90.68, Z:-4.03 [[-9.70349318e-01 -2.41095221e-01 1.71841558e-02 1.66905786e+02] [-2.41065946e-01 9.70501352e-01 3.78612476e-03 -9.06782810e+01] [-1.75900630e-02 -4.68651188e-04 -9.99845173e-01 -4.02610748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7065599949999 meters 0.015795685843919414 Centerline is valid? [True, True] Translation: X:166.89, Y:-90.66, Z:-4.02 [[-9.52222537e-01 -3.04886882e-01 1.77828092e-02 1.66889619e+02] [-3.04841381e-01 9.52388490e-01 5.28172144e-03 -9.06610981e+01] [-1.85464704e-02 -3.91561935e-04 -9.99827923e-01 -4.02486701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.766559995 meters 0.015034772085937696 Centerline is valid? [True, True] Translation: X:166.86, Y:-90.65, Z:-4.03 [[-9.28540537e-01 -3.70859963e-01 1.65939487e-02 1.66859684e+02] [-3.70807243e-01 9.28688739e-01 6.26224846e-03 -9.06483646e+01] [-1.77330305e-02 -3.38404813e-04 -9.99842700e-01 -4.02733776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8265599949999 meters 0.015147377088103556 Centerline is valid? [True, True] Translation: X:166.81, Y:-90.64, Z:-4.03 [[-8.98732040e-01 -4.38227501e-01 1.54071009e-02 1.66805392e+02] [-4.38169420e-01 8.98864032e-01 7.14227624e-03 -9.06411429e+01] [-1.69788307e-02 -3.31927982e-04 -9.99855794e-01 -4.02810493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.886559995 meters 0.01566555716215667 Centerline is valid? [True, True] Translation: X:166.74, Y:-90.64, Z:-4.03 [[-8.63293329e-01 -5.04530549e-01 1.31739680e-02 1.66736923e+02] [-5.04477416e-01 8.63393782e-01 7.32895216e-03 -9.06398876e+01] [-1.50720023e-02 -3.18933824e-04 -9.99886360e-01 -4.02852048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9465599949999 meters 0.01597126039629548 Centerline is valid? [True, True] Translation: X:166.67, Y:-90.65, Z:-4.03 [[-8.23622649e-01 -5.67005522e-01 1.22666765e-02 1.66667936e+02] [-5.66948161e-01 8.23713933e-01 8.07082015e-03 -9.06469343e+01] [-1.46804319e-02 -3.07259426e-04 -9.99892189e-01 -4.02822488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.006559995 meters 0.015857212808118967 Centerline is valid? [True, True] Translation: X:166.59, Y:-90.67, Z:-4.03 [[-7.79864291e-01 -6.25847106e-01 1.12733102e-02 1.66593657e+02] [-6.25786875e-01 7.79945717e-01 8.68708474e-03 -9.06683890e+01] [-1.42293569e-02 -2.79942389e-04 -9.99898718e-01 -4.02829093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0665599949999 meters 0.015235229451955514 Centerline is valid? [True, True] Translation: X:166.52, Y:-90.70, Z:-4.03 [[-7.32621366e-01 -6.80556021e-01 1.04612271e-02 1.66516818e+02] [-6.80491228e-01 7.32696013e-01 9.39367435e-03 -9.06993883e+01] [-1.40578210e-02 -2.36766739e-04 -9.99901156e-01 -4.02862670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.126559995 meters 0.014231390124337696 Centerline is valid? [True, True] Translation: X:166.44, Y:-90.74, Z:-4.03 [[-6.82464536e-01 -7.30863430e-01 8.98908128e-03 1.66436134e+02] [-7.30803147e-01 6.82523714e-01 9.38834668e-03 -9.07416330e+01] [-1.29968604e-02 -1.62035222e-04 -9.99915524e-01 -4.02866447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1865599949999 meters 0.013244948993028718 Centerline is valid? [True, True] Translation: X:166.36, Y:-90.80, Z:-4.03 [[-6.30238660e-01 -7.76360122e-01 8.01206869e-03 1.66357209e+02] [-7.76298909e-01 6.30289581e-01 9.74930840e-03 -9.07953323e+01] [-1.26188977e-02 -7.53691280e-05 -9.99920376e-01 -4.02882343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.246559995 meters 0.012797751660688864 Centerline is valid? [True, True] Translation: X:166.28, Y:-90.86, Z:-4.03 [[-5.73642415e-01 -8.19076707e-01 6.90843634e-03 1.66279156e+02] [-8.19017537e-01 5.73684013e-01 9.84512380e-03 -9.08610220e+01] [-1.20271711e-02 -1.05499226e-05 -9.99927671e-01 -4.03084431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3065599949999 meters 0.012953298864527549 Centerline is valid? [True, True] Translation: X:166.20, Y:-90.93, Z:-4.03 [[-5.14601731e-01 -8.57406244e-01 6.29212734e-03 1.66204090e+02] [-8.57340668e-01 5.14640193e-01 1.06042818e-02 -9.09325913e+01] [-1.23303590e-02 6.24850864e-05 -9.99923976e-01 -4.03161731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.366559995 meters 0.014357592609302762 Centerline is valid? [True, True] Translation: X:166.13, Y:-91.01, Z:-4.03 [[-4.50434818e-01 -8.92789453e-01 5.95539890e-03 1.66130373e+02] [-8.92708151e-01 4.50474172e-01 1.20489231e-02 -9.10142928e+01] [-1.34399049e-02 1.10821364e-04 -9.99909674e-01 -4.02780228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4265599949999 meters 0.01368325888260071 Centerline is valid? [True, True] Translation: X:166.06, Y:-91.10, Z:-4.03 [[-3.79663832e-01 -9.25107827e-01 5.55734576e-03 1.66055771e+02] [-9.25004703e-01 3.79704488e-01 1.38130504e-02 -9.11025620e+01] [-1.48887102e-02 1.03744686e-04 -9.99889152e-01 -4.02824170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.486559995 meters 0.01306160697700453 Centerline is valid? [True, True] Translation: X:165.99, Y:-91.20, Z:-4.03 [[-3.04923444e-01 -9.52366894e-01 4.35791445e-03 1.65988994e+02] [-9.52266912e-01 3.04954579e-01 1.37997797e-02 -9.11984096e+01] [-1.44714193e-02 5.79786127e-05 -9.99895282e-01 -4.03010419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5465599949999 meters 0.01282124799572879 Centerline is valid? [True, True] Translation: X:165.93, Y:-91.30, Z:-4.03 [[-2.24528083e-01 -9.74463256e-01 2.91606388e-03 1.65925596e+02] [-9.74383113e-01 2.24547016e-01 1.24974429e-02 -9.13028456e+01] [-1.28330924e-02 -3.53365028e-05 -9.99917652e-01 -4.03038576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.606559995 meters 0.01345864898268984 Centerline is valid? [True, True] Translation: X:165.87, Y:-91.41, Z:-4.03 [[-1.42216090e-01 -9.89833964e-01 1.81861933e-03 1.65870519e+02] [-9.89763295e-01 1.42227669e-01 1.18283806e-02 -9.14098198e+01] [-1.19667908e-02 -1.17816629e-04 -9.99928388e-01 -4.03022343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.666559995 meters 0.013929833321877505 Centerline is valid? [True, True] Translation: X:165.83, Y:-91.52, Z:-4.03 [[-6.12928415e-02 -9.98119455e-01 8.61277191e-04 1.65826728e+02] [-9.98055143e-01 6.12986703e-02 1.13315764e-02 -9.15243618e+01] [-1.13630620e-02 -1.65057615e-04 -9.99935425e-01 -4.03047074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.726559995 meters 0.015170222900635114 Centerline is valid? [True, True] Translation: X:165.79, Y:-91.64, Z:-4.03 [[ 2.10073160e-02 -9.99779322e-01 -1.01195418e-05 1.65790574e+02] [-9.99720234e-01 -2.10061845e-02 1.08717483e-02 -9.16384957e+01] [-1.08695617e-02 -2.18269541e-04 -9.99940901e-01 -4.03040766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.786559995 meters 0.01523267035237237 Centerline is valid? [True, True] Translation: X:165.77, Y:-91.76, Z:-4.03 [[ 1.00865048e-01 -9.94899666e-01 -9.47288958e-04 1.65767677e+02] [-9.94825407e-01 -1.00869096e-01 1.21587391e-02 -9.17575505e+01] [-1.21922776e-02 -2.84004679e-04 -9.99925631e-01 -4.02961455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8465599949999 meters 0.01643571787249579 Centerline is valid? [True, True] Translation: X:165.75, Y:-91.87, Z:-4.03 [[ 1.77575253e-01 -9.84105371e-01 -1.91024654e-03 1.65751467e+02] [-9.84028990e-01 -1.77585277e-01 1.22644213e-02 -9.18725339e+01] [-1.24087146e-02 -2.98119745e-04 -9.99922965e-01 -4.02763349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.906559995 meters 0.015389988852207399 Centerline is valid? [True, True] Translation: X:165.75, Y:-91.99, Z:-4.03 [[ 2.50782937e-01 -9.68039585e-01 -2.69820250e-03 1.65751455e+02] [-9.67971861e-01 -2.50797316e-01 1.14534850e-02 -9.19885062e+01] [-1.17641288e-02 -2.60554514e-04 -9.99930766e-01 -4.02865493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9665599949999 meters 0.014251323589168679 Centerline is valid? [True, True] Translation: X:165.76, Y:-92.10, Z:-4.03 [[ 3.19152434e-01 -9.47697569e-01 -3.32293633e-03 1.65762594e+02] [-9.47640123e-01 -3.19169680e-01 1.04361442e-02 -9.21028531e+01] [-1.09508890e-02 -1.81773020e-04 -9.99940021e-01 -4.02998872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.026559995 meters 0.012831428396090751 Centerline is valid? [True, True] Translation: X:165.78, Y:-92.22, Z:-4.03 [[ 3.84970727e-01 -9.22918859e-01 -4.28004652e-03 1.65784005e+02] [-9.22858485e-01 -3.84994501e-01 1.05569793e-02 -9.22151555e+01] [-1.13910297e-02 -1.14250763e-04 -9.99935114e-01 -4.03001705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0865599949999 meters 0.012424602933165265 Centerline is valid? [True, True] Translation: X:165.81, Y:-92.33, Z:-4.03 [[ 4.48897452e-01 -8.93566956e-01 -5.40118107e-03 1.65813244e+02] [-8.93501147e-01 -4.48929943e-01 1.08446858e-02 -9.23269184e+01] [-1.21152048e-02 -4.21903688e-05 -9.99926607e-01 -4.02866453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.146559995 meters 0.012478121217016469 Centerline is valid? [True, True] Translation: X:165.84, Y:-92.43, Z:-4.03 [[ 5.13485752e-01 -8.58071542e-01 -6.75360971e-03 1.65844375e+02] [-8.57997197e-01 -5.13530163e-01 1.12951980e-02 -9.24333826e+01] [-1.31602702e-02 -5.34500642e-06 -9.99913400e-01 -4.02797320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2065599949999 meters 0.0124090082989133 Centerline is valid? [True, True] Translation: X:165.88, Y:-92.54, Z:-4.03 [[ 5.75720399e-01 -8.17612245e-01 -7.49932550e-03 1.65882468e+02] [-8.17543496e-01 -5.75769239e-01 1.06025822e-02 -9.25387553e+01] [-1.29866820e-02 2.69019329e-05 -9.99915669e-01 -4.03024081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.266559995 meters 0.012691380258202684 Centerline is valid? [True, True] Translation: X:165.93, Y:-92.64, Z:-4.03 [[ 6.33024077e-01 -7.74095377e-01 -7.54083303e-03 1.65928552e+02] [-7.74041945e-01 -6.33068985e-01 9.09547355e-03 -9.26393594e+01] [-1.18146315e-02 7.92673074e-05 -9.99930202e-01 -4.03068619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3265599949999 meters 0.013210638900335999 Centerline is valid? [True, True] Translation: X:165.98, Y:-92.74, Z:-4.03 [[ 6.87052992e-01 -7.26567626e-01 -7.59409516e-03 1.65980564e+02] [-7.26525195e-01 -6.87094949e-01 7.85312071e-03 -9.27357998e+01] [-1.09236877e-02 1.21791386e-04 -9.99940327e-01 -4.03072901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.386559995 meters 0.01342511386013252 Centerline is valid? [True, True] Translation: X:166.04, Y:-92.83, Z:-4.03 [[ 7.38698186e-01 -6.73989060e-01 -7.98360199e-03 1.66035463e+02] [-6.73951817e-01 -7.38741312e-01 7.08674626e-03 -9.28282011e+01] [-1.06742061e-02 1.45596464e-04 -9.99943018e-01 -4.03044258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4465599949999 meters 0.014117477664656092 Centerline is valid? [True, True] Translation: X:166.05, Y:-92.85, Z:-4.03 [[ 7.88123999e-01 -6.15465160e-01 -7.94980499e-03 1.66053917e+02] [-6.15435786e-01 -7.88164078e-01 6.01488326e-03 -9.28549117e+01] [-9.96770181e-03 1.52120632e-04 -9.99950310e-01 -4.03045579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.506559995 meters 0.013873328462438793 Centerline is valid? [True, True] Translation: X:166.07, Y:-92.88, Z:-4.03 [[ 8.34515903e-01 -5.50932794e-01 -7.50091153e-03 1.66073788e+02] [-5.50911875e-01 -8.34549604e-01 4.80264475e-03 -9.28814737e+01] [-8.90581724e-03 1.24457809e-04 -9.99960335e-01 -4.03076424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5665599949999 meters 0.012786018235137623 Centerline is valid? [True, True] Translation: X:166.09, Y:-92.91, Z:-4.03 [[ 8.76908757e-01 -4.80609330e-01 -6.76049304e-03 1.66093862e+02] [-4.80595727e-01 -8.76934813e-01 3.61674266e-03 -9.29122625e+01] [-7.66675196e-03 7.75107611e-05 -9.99970607e-01 -4.03132516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.626559995 meters 0.012085123513349536 Centerline is valid? [True, True] Translation: X:166.12, Y:-92.94, Z:-4.03 [[ 9.14038682e-01 -4.05595605e-01 -5.04908959e-03 1.66116570e+02] [-4.05589570e-01 -9.14052627e-01 2.21274220e-03 -9.29410242e+01] [-5.51261211e-03 2.53261137e-05 -9.99984805e-01 -4.03113430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6865599949999 meters 0.011938855538648558 Centerline is valid? [True, True] Translation: X:166.14, Y:-92.96, Z:-4.03 [[ 9.43696521e-01 -3.30785834e-01 -4.19627835e-03 1.66144120e+02] [-3.30782613e-01 -9.43705850e-01 1.45976754e-03 -9.29620852e+01] [-4.44292285e-03 1.04783664e-05 -9.99990130e-01 -4.03181955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.746559995 meters 0.011908164141390738 Centerline is valid? [True, True] Translation: X:166.17, Y:-92.99, Z:-4.03 [[ 9.67905132e-01 -2.51299423e-01 -2.87327223e-03 1.66172821e+02] [-2.51298292e-01 -9.67909397e-01 7.54013998e-04 -9.29851059e+01] [-2.97055047e-03 -7.76561646e-06 -9.99995588e-01 -4.03311453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8065599949999 meters 0.013481463932546327 Centerline is valid? [True, True] Translation: X:166.20, Y:-93.01, Z:-4.03 [[ 9.86414361e-01 -1.64262493e-01 -2.13129966e-03 1.66200996e+02] [-1.64262046e-01 -9.86416663e-01 3.84460939e-04 -9.30129901e+01] [-2.16550201e-03 -2.91461490e-05 -9.99997655e-01 -4.03248800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.866559995 meters 0.014171515121873833 Centerline is valid? [True, True] Translation: X:166.23, Y:-93.03, Z:-4.03 [[ 9.96612881e-01 -8.21862518e-02 -2.86093244e-03 1.66232566e+02] [-8.21857661e-02 -9.96616986e-01 2.87141431e-04 -9.30303445e+01] [-2.87485294e-03 -5.10409247e-05 -9.99995866e-01 -4.03112030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9265599949999 meters 0.015141172222642846 Centerline is valid? [True, True] Translation: X:166.26, Y:-93.04, Z:-4.03 [[ 9.99995950e-01 -8.12092959e-04 -2.72762611e-03 1.66263491e+02] [-8.11934459e-04 -9.99999669e-01 5.92156775e-05 -9.30442346e+01] [-2.72767329e-03 -5.70007841e-05 -9.99996278e-01 -4.02986748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.986559995 meters 0.015799939141151745 Centerline is valid? [True, True] Translation: X:166.29, Y:-93.05, Z:-4.03 [[ 9.97023454e-01 7.70438600e-02 -2.91123161e-03 1.66294669e+02] [ 7.70437062e-02 -9.97027703e-01 -1.65110297e-04 -9.30508048e+01] [-2.91529930e-03 -5.96732346e-05 -9.99995749e-01 -4.02974333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0465599949999 meters 0.01447487115018457 Centerline is valid? [True, True] Translation: X:166.33, Y:-93.05, Z:-4.03 [[ 9.88130790e-01 1.53579602e-01 -3.29371379e-03 1.66327791e+02] [ 1.53578964e-01 -9.88136277e-01 -4.47449359e-04 -9.30525721e+01] [-3.32335718e-03 -6.37066627e-05 -9.99994476e-01 -4.02947426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.106559995 meters 0.013638574997468428 Centerline is valid? [True, True] Translation: X:166.36, Y:-93.05, Z:-4.03 [[ 9.73908939e-01 2.26918054e-01 -3.09442259e-03 1.66360016e+02] [ 2.26917069e-01 -9.73913854e-01 -6.70435423e-04 -9.30514891e+01] [-3.16583494e-03 -4.92342540e-05 -9.99994988e-01 -4.02914844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.166559995 meters 0.013176242586583564 Centerline is valid? [True, True] Translation: X:166.39, Y:-93.05, Z:-4.03 [[ 9.53913787e-01 3.00060192e-01 -3.51675882e-03 1.66392346e+02] [ 3.00058337e-01 -9.53920269e-01 -1.05625782e-03 -9.30484257e+01] [-3.67164844e-03 -4.76539086e-05 -9.99993258e-01 -4.02826332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.226559995 meters 0.012646755007566167 Centerline is valid? [True, True] Translation: X:166.42, Y:-93.04, Z:-4.03 [[ 9.29144972e-01 3.69685810e-01 -4.69288208e-03 1.66422848e+02] [ 3.69681326e-01 -9.29156822e-01 -1.82128125e-03 -9.30398488e+01] [-5.03372523e-03 -4.26365515e-05 -9.99987330e-01 -4.02641012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.286559995 meters 0.012095856719425702 Centerline is valid? [True, True] Translation: X:166.45, Y:-93.03, Z:-4.03 [[ 8.99669260e-01 4.36551983e-01 -4.19389661e-03 1.66451636e+02] [ 4.36547317e-01 -8.99679035e-01 -2.01832910e-03 -9.30275668e+01] [-4.65426643e-03 -1.50056676e-05 -9.99989169e-01 -4.02736755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3465599949999 meters 0.012179999548765098 Centerline is valid? [True, True] Translation: X:166.48, Y:-93.01, Z:-4.03 [[ 8.65523675e-01 5.00858502e-01 -3.08672854e-03 1.66477604e+02] [ 5.00855284e-01 -8.65529180e-01 -1.79546132e-03 -9.30127967e+01] [-3.57092568e-03 8.00997743e-06 -9.99993624e-01 -4.02890964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.406559995 meters 0.012799218979809604 Centerline is valid? [True, True] Translation: X:166.50, Y:-92.99, Z:-4.03 [[ 8.26667794e-01 5.62666895e-01 -5.13071914e-03 1.66501286e+02] [ 5.62655697e-01 -8.26683714e-01 -3.55005611e-03 -9.29949692e+01] [-6.23898100e-03 4.78886945e-05 -9.99980536e-01 -4.02608331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4665599949999 meters 0.01337966957297316 Centerline is valid? [True, True] Translation: X:166.53, Y:-92.98, Z:-4.03 [[ 7.82946261e-01 6.22069317e-01 -4.99173275e-03 1.66526450e+02] [ 6.22056028e-01 -7.82962169e-01 -4.06694423e-03 -9.29794888e+01] [-6.43825912e-03 7.90613351e-05 -9.99979271e-01 -4.02651007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.526559995 meters 0.015034351036493953 Centerline is valid? [True, True] Translation: X:166.55, Y:-92.96, Z:-4.03 [[ 7.36953272e-01 6.75931652e-01 -4.03441428e-03 1.66547716e+02] [ 6.75920696e-01 -7.36964307e-01 -3.85011168e-03 -9.29602599e+01] [-5.57563167e-03 1.10408294e-04 -9.99984450e-01 -4.02715231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5865599949999 meters 0.01623488541379202 Centerline is valid? [True, True] Translation: X:166.57, Y:-92.94, Z:-4.03 [[ 6.85727548e-01 7.27849396e-01 -3.60376928e-03 1.66569425e+02] [ 7.27838285e-01 -6.85737004e-01 -4.02400993e-03 -9.29424183e+01] [-5.40011114e-03 1.36413215e-04 -9.99985410e-01 -4.02778116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.646559995 meters 0.017506939593233784 Centerline is valid? [True, True] Translation: X:166.59, Y:-92.92, Z:-4.03 [[ 6.30951943e-01 7.75815293e-01 -3.20574154e-03 1.66588830e+02] [ 7.75803944e-01 -6.30960066e-01 -4.19949244e-03 -9.29235305e+01] [-5.28072535e-03 1.62650984e-04 -9.99986044e-01 -4.03045471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7065599949999 meters 0.017849457319785406 Centerline is valid? [True, True] Translation: X:166.61, Y:-92.91, Z:-4.03 [[ 5.68649939e-01 8.22573945e-01 -3.05807722e-03 1.66611409e+02] [ 8.22560344e-01 -5.68658134e-01 -4.73364231e-03 -9.29072985e+01] [-5.63277132e-03 1.76332358e-04 -9.99984120e-01 -4.03113501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.766559995 meters 0.01759352629760589 Centerline is valid? [True, True] Translation: X:166.63, Y:-92.89, Z:-4.03 [[ 4.99939569e-01 8.66055450e-01 -2.89567804e-03 1.66632919e+02] [ 8.66038871e-01 -4.99947925e-01 -5.36154656e-03 -9.28905394e+01] [-6.09108485e-03 1.72679535e-04 -9.99981434e-01 -4.03083382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8265599949999 meters 0.015296907248323248 Centerline is valid? [True, True] Translation: X:166.66, Y:-92.87, Z:-4.03 [[ 4.22867005e-01 9.06188908e-01 -2.27130123e-03 1.66658541e+02] [ 9.06174396e-01 -4.22873090e-01 -5.12968179e-03 -9.28731889e+01] [-5.60893291e-03 1.10978154e-04 -9.99984264e-01 -4.03174459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.886559995 meters 0.013569754955291518 Centerline is valid? [True, True] Translation: X:166.68, Y:-92.85, Z:-4.03 [[ 3.40865461e-01 9.40109766e-01 -2.08948211e-03 1.66682423e+02] [ 9.40091024e-01 -3.40871860e-01 -5.93650514e-03 -9.28539739e+01] [-6.29321211e-03 5.92461840e-05 -9.99980196e-01 -4.03178133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9465599949999 meters 0.013068788385067259 Centerline is valid? [True, True] Translation: X:166.71, Y:-92.83, Z:-4.03 [[ 2.54912804e-01 9.66962533e-01 -1.70945501e-03 1.66705072e+02] [ 9.66941181e-01 -2.54918535e-01 -6.42594099e-03 -9.28327263e+01] [-6.64941595e-03 -1.48878094e-05 -9.99977892e-01 -4.03090643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.006559995 meters 0.014291043780449382 Centerline is valid? [True, True] Translation: X:166.73, Y:-92.81, Z:-4.03 [[ 1.66818143e-01 9.85986936e-01 -1.21208608e-03 1.66728648e+02] [ 9.85964836e-01 -1.66822520e-01 -6.60217366e-03 -9.28088059e+01] [-6.71186023e-03 -9.37119048e-05 -9.99977471e-01 -4.03070037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0665599949999 meters 0.0168793933785208 Centerline is valid? [True, True] Translation: X:166.75, Y:-92.78, Z:-4.03 [[ 7.84741376e-02 9.96915952e-01 -6.28480819e-04 1.66751086e+02] [ 9.96897490e-01 -7.84765104e-02 -6.06895621e-03 -9.27828575e+01] [-6.09956024e-03 -1.50274846e-04 -9.99981386e-01 -4.02944442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.126559995 meters 0.01764526685946464 Centerline is valid? [True, True] Translation: X:166.76, Y:-92.75, Z:-4.03 [[-2.05002571e-03 9.99997882e-01 -1.82905788e-04 1.66757758e+02] [ 9.99970693e-01 2.04862072e-03 -7.37674970e-03 -9.27544045e+01] [-7.37635937e-03 -1.98022954e-04 -9.99972775e-01 -4.02881116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1865599949999 meters 0.01716643824625319 Centerline is valid? [True, True] Translation: X:166.76, Y:-92.73, Z:-4.02 [[-7.88542865e-02 9.96885951e-01 6.33915840e-04 1.66762173e+02] [ 9.96816168e-01 7.88562695e-02 -1.17989799e-02 -9.27254443e+01] [-1.18122255e-02 -2.98502580e-04 -9.99930189e-01 -4.02340293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.246559995 meters 0.01716643824625319 Centerline is valid? [True, True] Translation: X:166.77, Y:-92.70, Z:-4.02 [[-1.56692079e-01 9.87646278e-01 1.55617463e-03 1.66767425e+02] [ 9.87576865e-01 1.56699522e-01 -1.17130476e-02 -9.26963293e+01] [-1.18121996e-02 -2.98499714e-04 -9.99930189e-01 -4.02340341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3065599949999 meters 0.017051720087744162 Centerline is valid? [True, True] Translation: X:166.77, Y:-92.67, Z:-4.02 [[-2.32838815e-01 9.72511513e-01 2.72818626e-03 1.66768763e+02] [ 9.72427766e-01 2.32854579e-01 -1.27665319e-02 -9.26672048e+01] [-1.30508699e-02 -3.19580100e-04 -9.99914783e-01 -4.02229738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.366559995 meters 0.017591018766407188 Centerline is valid? [True, True] Translation: X:166.77, Y:-92.64, Z:-4.02 [[-3.07154304e-01 9.51651804e-01 3.88302937e-03 1.66767170e+02] [ 9.51562190e-01 3.07178683e-01 -1.30635325e-02 -9.26389161e+01] [-1.36247182e-02 -3.17576308e-04 -9.99907129e-01 -4.02081175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4265599949999 meters 0.015559195500177985 Centerline is valid? [True, True] Translation: X:166.76, Y:-92.61, Z:-4.02 [[-3.76325819e-01 9.26473685e-01 5.03878215e-03 1.66756115e+02] [ 9.26381186e-01 3.76359461e-01 -1.30940734e-02 -9.26126325e+01] [-1.40277077e-02 -2.59804898e-04 -9.99901573e-01 -4.02162213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.486559995 meters 0.015388616484523169 Centerline is valid? [True, True] Translation: X:166.75, Y:-92.59, Z:-4.02 [[-4.43496456e-01 8.96261675e-01 5.08951568e-03 1.66747015e+02] [ 8.96198384e-01 4.43525628e-01 -1.06524367e-02 -9.25878246e+01] [-1.18047014e-02 -1.63102188e-04 -9.99930309e-01 -4.02314994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5465599949999 meters 0.014813977375435609 Centerline is valid? [True, True] Translation: X:166.74, Y:-92.56, Z:-4.03 [[-5.12314621e-01 8.58785297e-01 4.64148605e-03 1.66741224e+02] [ 8.58747763e-01 5.12335630e-01 -8.03004354e-03 -9.25602429e+01] [-9.27408200e-03 -1.28042951e-04 -9.99956987e-01 -4.02622307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.606559995 meters 0.014840940725207164 Centerline is valid? [True, True] Translation: X:166.73, Y:-92.53, Z:-4.03 [[-5.78015474e-01 8.16008027e-01 5.38628370e-03 1.66734946e+02] [ 8.15970466e-01 5.78040555e-01 -7.83038419e-03 -9.25317633e+01] [-9.50314677e-03 -1.31034804e-04 -9.99954836e-01 -4.02633782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.666559995 meters 0.014798955615061437 Centerline is valid? [True, True] Translation: X:166.73, Y:-92.50, Z:-4.03 [[-6.40200703e-01 7.68179872e-01 6.53797310e-03 1.66725458e+02] [ 7.68137500e-01 6.40234070e-01 -8.06946457e-03 -9.25038713e+01] [-1.03846334e-02 -1.44014574e-04 -9.99946068e-01 -4.02629631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.726559995 meters 0.01492846299118499 Centerline is valid? [True, True] Translation: X:166.72, Y:-92.48, Z:-4.03 [[-6.99153111e-01 7.14930186e-01 7.73023941e-03 1.66715672e+02] [ 7.14883818e-01 6.99195825e-01 -8.14400130e-03 -9.24758245e+01] [-1.12273435e-02 -1.67680778e-04 -9.99936957e-01 -4.02565689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.786559995 meters 0.014928583591516954 Centerline is valid? [True, True] Translation: X:166.70, Y:-92.45, Z:-4.02 [[-7.53052131e-01 6.57906675e-01 8.44368842e-03 1.66701946e+02] [ 6.57862761e-01 7.53099448e-01 -7.60324247e-03 -9.24493068e+01] [-1.13611611e-02 -1.70849758e-04 -9.99935445e-01 -4.02488179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8465599949999 meters 0.014836694624004842 Centerline is valid? [True, True] Translation: X:166.73, Y:-92.43, Z:-4.02 [[-7.95235157e-01 6.06228889e-01 9.35836708e-03 1.66725773e+02] [ 6.06183751e-01 7.95290192e-01 -7.40070002e-03 -9.24303284e+01] [-1.19291357e-02 -2.12406778e-04 -9.99928823e-01 -4.02440423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.906559995 meters 0.014390191870677273 Centerline is valid? [True, True] Translation: X:166.75, Y:-92.41, Z:-4.02 [[-8.34211626e-01 5.51357289e-01 9.80321113e-03 1.66745370e+02] [ 5.51317392e-01 8.34269215e-01 -6.63396579e-03 -9.24117578e+01] [-1.18362026e-02 -1.29450593e-04 -9.99929941e-01 -4.02333531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9665599949999 meters 0.01364187810049426 Centerline is valid? [True, True] Translation: X:166.76, Y:-92.39, Z:-4.03 [[-8.68925957e-01 4.94867130e-01 8.61426719e-03 1.66758995e+02] [ 4.94842082e-01 8.68968653e-01 -4.97941739e-03 -9.23940391e+01] [-9.94967815e-03 -6.40431119e-05 -9.99950499e-01 -4.02612051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.026559995 meters 0.013613023934700024 Centerline is valid? [True, True] Translation: X:166.78, Y:-92.37, Z:-4.03 [[-9.00988622e-01 4.33771554e-01 7.85758487e-03 1.66775841e+02] [ 4.33754668e-01 9.01022884e-01 -3.82764279e-03 -9.23734221e+01] [-8.74018635e-03 -4.03984883e-05 -9.99961803e-01 -4.02674981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0865599949999 meters 0.013460892574184381 Centerline is valid? [True, True] Translation: X:167.09, Y:-91.74, Z:-5.01 [[-8.65632012e-01 -5.00636953e-01 6.62277713e-03 1.67091897e+02] [ 5.00622050e-01 -8.65657346e-01 -3.86307494e-03 -9.17362182e+01] [ 7.66705374e-03 -2.84930677e-05 9.99970607e-01 -5.01282538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.146559995 meters 0.013825964161627458 Centerline is valid? [True, True] Translation: X:166.74, Y:-92.36, Z:-4.03 [[-9.02322323e-01 4.31011919e-01 6.56899454e-03 1.66735612e+02] [ 4.31000256e-01 9.02346233e-01 -3.17090241e-03 -9.23564455e+01] [-7.29420422e-03 -2.99376984e-05 -9.99973397e-01 -4.02634225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2065599949999 meters 0.014314198198252817 Centerline is valid? [True, True] Translation: X:166.74, Y:-92.33, Z:-4.03 [[-9.30936142e-01 3.65141840e-01 5.41629907e-03 1.66741749e+02] [ 3.65135475e-01 9.30951898e-01 -2.15618279e-03 -9.23288182e+01] [-5.82962645e-03 -2.95855545e-05 -9.99983007e-01 -4.02502083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.266559995 meters 0.014756322971939899 Centerline is valid? [True, True] Translation: X:166.75, Y:-92.30, Z:-4.02 [[-9.55034266e-01 2.96459600e-01 4.61057325e-03 1.66752753e+02] [ 2.96455975e-01 9.55045394e-01 -1.46647907e-03 -9.23031666e+01] [-4.83805855e-03 -3.37057768e-05 -9.99988296e-01 -4.02489337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3265599949999 meters 0.014966573454107308 Centerline is valid? [True, True] Translation: X:166.97, Y:-91.63, Z:-5.02 [[-9.27165158e-01 -3.74623303e-01 4.70634814e-03 1.66974879e+02] [ 3.74618745e-01 -9.27177102e-01 -1.84865549e-03 -9.16304925e+01] [ 5.05616766e-03 4.90772793e-05 9.99987216e-01 -5.01636618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.386559995 meters 0.015478405486179419 Centerline is valid? [True, True] Translation: X:166.71, Y:-92.29, Z:-4.02 [[-9.57497468e-01 2.88388272e-01 5.55002898e-03 1.66713098e+02] [ 2.88383013e-01 9.57513551e-01 -1.74281122e-03 -9.22874534e+01] [-5.81683428e-03 -6.82032518e-05 -9.99983080e-01 -4.02279997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4465599949999 meters 0.015737484458667295 Centerline is valid? [True, True] Translation: X:166.72, Y:-92.26, Z:-4.02 [[-9.76161045e-01 2.16970508e-01 5.78042690e-03 1.66720534e+02] [ 2.16966169e-01 9.76178155e-01 -1.37496615e-03 -9.22586783e+01] [-5.94105358e-03 -8.80313090e-05 -9.99982348e-01 -4.02239894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.506559995 meters 0.01642930200668377 Centerline is valid? [True, True] Translation: X:166.73, Y:-92.23, Z:-4.02 [[-9.89271200e-01 1.45963500e-01 6.09503629e-03 1.66726268e+02] [ 1.45960111e-01 9.89289971e-01 -9.99688578e-04 -9.22298126e+01] [-6.17567632e-03 -9.93309474e-05 -9.99980925e-01 -4.02142733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5665599949999 meters 0.015615385965856422 Centerline is valid? [True, True] Translation: X:166.84, Y:-91.55, Z:-5.02 [[-9.69954862e-01 -2.43217016e-01 5.74881675e-03 1.66843684e+02] [ 2.43213221e-01 -9.69971895e-01 -1.36094072e-03 -9.15457084e+01] [ 5.90719462e-03 7.81371763e-05 9.99982549e-01 -5.01753888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.626559995 meters 0.015187529721577636 Centerline is valid? [True, True] Translation: X:166.68, Y:-92.23, Z:-4.02 [[-9.89545867e-01 1.44032507e-01 7.32214108e-03 1.66676325e+02] [ 1.44027778e-01 9.89572951e-01 -1.17187413e-03 -9.22258095e+01] [-7.41458073e-03 -1.05031491e-04 -9.99972506e-01 -4.02126170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6865599949999 meters 0.014186456184060177 Centerline is valid? [True, True] Translation: X:166.80, Y:-91.53, Z:-5.02 [[-9.73015936e-01 -2.30570381e-01 8.79130752e-03 1.66796396e+02] [ 2.30562961e-01 -9.73055627e-01 -1.86221454e-03 -9.15313313e+01] [ 8.98380277e-03 2.14985472e-04 9.99959622e-01 -5.02020016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.746559995 meters 0.01394233811629457 Centerline is valid? [True, True] Translation: X:166.63, Y:-92.23, Z:-4.02 [[-9.88099155e-01 1.53576310e-01 8.62421075e-03 1.66631539e+02] [ 1.53570406e-01 9.88136791e-01 -1.34661829e-03 -9.22309820e+01] [-8.72870860e-03 -6.16884237e-06 -9.99961904e-01 -4.02063573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8065599949999 meters 0.014142591426858402 Centerline is valid? [True, True] Translation: X:166.75, Y:-91.52, Z:-5.02 [[-9.76541218e-01 -2.15196244e-01 7.60434511e-03 1.66754548e+02] [ 2.15189336e-01 -9.76570824e-01 -1.72493798e-03 -9.15178466e+01] [ 7.79738175e-03 -4.80990624e-05 9.99969599e-01 -5.01931802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.866559995 meters 0.01475125633176982 Centerline is valid? [True, True] Translation: X:166.59, Y:-92.23, Z:-4.02 [[-9.86711029e-01 1.62369724e-01 6.11700106e-03 1.66591289e+02] [ 1.62367075e-01 9.86729987e-01 -9.30582428e-04 -9.22314585e+01] [-6.18692679e-03 7.49836231e-05 -9.99980858e-01 -4.02219244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9265599949999 meters 0.015072438341886624 Centerline is valid? [True, True] Translation: X:166.71, Y:-91.51, Z:-5.02 [[-9.79768020e-01 -2.00045957e-01 6.02019212e-03 1.66711258e+02] [ 2.00041702e-01 -9.79786512e-01 -1.30697838e-03 -9.15077206e+01] [ 6.15995878e-03 -7.62461358e-05 9.99981024e-01 -5.01651181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.986559995 meters 0.01595220863251593 Centerline is valid? [True, True] Translation: X:166.55, Y:-92.23, Z:-4.02 [[-9.85717206e-01 1.68300815e-01 6.03531271e-03 1.66547886e+02] [ 1.68298494e-01 9.85735673e-01 -8.94054692e-04 -9.22270956e+01] [-6.09969317e-03 1.34448950e-04 -9.99981388e-01 -4.02340556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0465599949999 meters 0.016213003322919743 Centerline is valid? [True, True] Translation: X:166.55, Y:-92.20, Z:-4.02 [[-9.95141648e-01 9.81769460e-02 7.37483361e-03 1.66552604e+02] [ 9.81754774e-02 9.95168961e-01 -5.61770980e-04 -9.21958176e+01] [-7.39435845e-03 1.64986111e-04 -9.99972648e-01 -4.02108484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.106559995 meters 0.01564273608514373 Centerline is valid? [True, True] Translation: X:166.55, Y:-92.16, Z:-4.02 [[-9.99666677e-01 2.47816564e-02 7.23906777e-03 1.66549934e+02] [ 2.47820437e-02 9.99692877e-01 -3.62171619e-05 -9.21643165e+01] [-7.23774201e-03 1.43193804e-04 -9.99973797e-01 -4.02146921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.166559995 meters 0.014527092076754185 Centerline is valid? [True, True] Translation: X:166.54, Y:-92.13, Z:-4.02 [[-9.98551753e-01 -5.30990549e-02 8.65374423e-03 1.66541545e+02] [-5.30960813e-02 9.98589244e-01 5.73166273e-04 -9.21289470e+01] [-8.67197050e-03 1.12856279e-04 -9.99962391e-01 -4.02028916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.226559995 meters 0.013310181653198333 Centerline is valid? [True, True] Translation: X:166.49, Y:-91.44, Z:-5.02 [[-9.99945049e-01 5.46777741e-03 8.94443898e-03 1.66492012e+02] [-5.46842473e-03 -9.99985047e-01 -4.79161592e-05 -9.14367744e+01] [ 8.94404324e-03 -9.68255174e-05 9.99959997e-01 -5.01970836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.286559995 meters 0.012935637567891841 Centerline is valid? [True, True] Translation: X:166.46, Y:-92.12, Z:-4.02 [[-9.97207473e-01 -7.43106630e-02 7.42845240e-03 1.66461845e+02] [-7.43088015e-02 9.97235140e-01 5.26661226e-04 -9.21155541e+01] [-7.44705032e-03 -2.68088848e-05 -9.99972270e-01 -4.02114925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3465599949999 meters 0.014028457980716882 Centerline is valid? [True, True] Translation: X:166.41, Y:-91.46, Z:-5.02 [[-9.99941718e-01 -9.99647147e-03 4.07803197e-03 1.66407985e+02] [ 9.99541767e-03 -9.99950006e-01 -2.78709322e-04 -9.14635689e+01] [ 4.08061420e-03 -2.37931445e-04 9.99991646e-01 -5.01716284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.406559995 meters 0.01508957347977869 Centerline is valid? [True, True] Translation: X:166.39, Y:-92.10, Z:-4.02 [[-9.95512283e-01 -9.45975353e-02 2.56921868e-03 1.66385048e+02] [-9.45973472e-02 9.95515597e-01 1.94903992e-04 -9.21029466e+01] [-2.57613471e-03 -4.90119538e-05 -9.99996681e-01 -4.02379353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4665599949999 meters 0.01599908907125637 Centerline is valid? [True, True] Translation: X:166.37, Y:-92.07, Z:-4.02 [[-9.85872872e-01 -1.67492645e-01 9.45729490e-04 1.66374900e+02] [-1.67492587e-01 9.85873325e-01 1.40311763e-04 -9.20733468e+01] [-9.55870665e-04 -2.00731180e-05 -9.99999543e-01 -4.02483904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.526559995 meters 0.016119119100216902 Centerline is valid? [True, True] Translation: X:166.28, Y:-91.46, Z:-5.02 [[-9.98383713e-01 5.68267975e-02 8.23070982e-04 1.66283833e+02] [-5.68267712e-02 -9.98384052e-01 5.53390086e-05 -9.14596442e+01] [ 8.24885681e-04 8.47709856e-06 9.99999660e-01 -5.01545330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5865599949999 meters 0.016650895730431898 Centerline is valid? [True, True] Translation: X:166.30, Y:-92.08, Z:-4.02 [[-9.84867958e-01 -1.73268344e-01 3.63137801e-03 1.66299242e+02] [-1.73267473e-01 9.84874649e-01 5.55528313e-04 -9.20797115e+01] [-3.67270761e-03 -8.20776568e-05 -9.99993252e-01 -4.02074182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.646559995 meters 0.01659659867110834 Centerline is valid? [True, True] Translation: X:166.21, Y:-91.47, Z:-5.02 [[-9.98062588e-01 6.19962227e-02 5.24774208e-03 1.66207166e+02] [-6.19941857e-02 -9.98076359e-01 5.50091585e-04 -9.14747449e+01] [ 5.27175091e-03 2.23696334e-04 9.99986079e-01 -5.02122978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7065599949999 meters 0.015196818724062635 Centerline is valid? [True, True] Translation: X:166.22, Y:-92.10, Z:-4.02 [[-9.84506758e-01 -1.75168612e-01 7.89941790e-03 1.66220071e+02] [-1.75164227e-01 9.84538437e-01 1.24904784e-03 -9.20962961e+01] [-7.99607453e-03 -1.53999391e-04 -9.99968019e-01 -4.01645261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.766559995 meters 0.013911622654065984 Centerline is valid? [True, True] Translation: X:166.21, Y:-92.08, Z:-4.02 [[-9.70923431e-01 -2.39227229e-01 8.83309172e-03 1.66210781e+02] [-2.39218464e-01 9.70963603e-01 2.05142527e-03 -9.20768593e+01] [-9.06736734e-03 -1.21261770e-04 -9.99958883e-01 -4.01536491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8265599949999 meters 0.012469907021669264 Centerline is valid? [True, True] Translation: X:166.19, Y:-92.06, Z:-4.02 [[-9.54025605e-01 -2.99644325e-01 6.95865826e-03 1.66194935e+02] [-2.99636592e-01 9.54050983e-01 2.15297259e-03 -9.20639666e+01] [-7.28404077e-03 -3.10776697e-05 -9.99973471e-01 -4.01736681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.886559995 meters 0.012680107514785455 Centerline is valid? [True, True] Translation: X:166.16, Y:-92.06, Z:-4.02 [[-9.33880660e-01 -3.57569771e-01 3.28207460e-03 1.66163158e+02] [-3.57567471e-01 9.33886427e-01 1.28255017e-03 -9.20565712e+01] [-3.52368609e-03 2.41856836e-05 -9.99993792e-01 -4.01960022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9465599949999 meters 0.014065750126566964 Centerline is valid? [True, True] Translation: X:166.11, Y:-92.06, Z:-4.02 [[-9.08486543e-01 -4.17901875e-01 3.19763146e-03 1.66111656e+02] [-4.17899079e-01 9.08492168e-01 1.52970393e-03 -9.20569424e+01] [-3.54428928e-03 5.34281942e-05 -9.99993718e-01 -4.01943667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.006559995 meters 0.014646622349317606 Centerline is valid? [True, True] Translation: X:166.05, Y:-92.06, Z:-4.02 [[-8.77006557e-01 -4.80460486e-01 4.14987670e-03 1.66045390e+02] [-4.80454615e-01 8.77016370e-01 2.37678385e-03 -9.20641477e+01] [-4.78146052e-03 9.06276103e-05 -9.99988565e-01 -4.01870567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0665599949999 meters 0.015228138313534192 Centerline is valid? [True, True] Translation: X:165.97, Y:-92.08, Z:-4.02 [[-8.39744336e-01 -5.42960809e-01 4.79685287e-03 1.65969402e+02] [-5.42951138e-01 8.39758028e-01 3.24286910e-03 -9.20820540e+01] [-5.78894653e-03 1.18724235e-04 -9.99983237e-01 -4.01847320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.126559995 meters 0.014949283509710093 Centerline is valid? [True, True] Translation: X:165.89, Y:-92.10, Z:-4.02 [[-7.96935862e-01 -6.04041414e-01 5.21557444e-03 1.65890852e+02] [-6.04027334e-01 7.96952917e-01 4.12656057e-03 -9.21049977e+01] [-6.64918074e-03 1.38254583e-04 -9.99977884e-01 -4.01800261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1865599949999 meters 0.01464067192130024 Centerline is valid? [True, True] Translation: X:165.81, Y:-92.14, Z:-4.02 [[-7.48475318e-01 -6.63148710e-01 4.29955671e-03 1.65808116e+02] [-6.63136889e-01 7.48487659e-01 3.96129816e-03 -9.21390003e+01] [-5.84509490e-03 1.13739244e-04 -9.99982911e-01 -4.01859067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.246559995 meters 0.014727425995310864 Centerline is valid? [True, True] Translation: X:165.72, Y:-92.19, Z:-4.02 [[-6.94794531e-01 -7.19198998e-01 3.65535542e-03 1.65721827e+02] [-7.19188337e-01 6.94804140e-01 3.91690523e-03 -9.21862434e+01] [-5.35679040e-03 9.25553440e-05 -9.99985648e-01 -4.01874013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3065599949999 meters 0.013739447271891301 Centerline is valid? [True, True] Translation: X:165.64, Y:-92.24, Z:-4.02 [[-6.36513860e-01 -7.71259354e-01 3.01921803e-03 1.65636203e+02] [-7.71250140e-01 6.36521016e-01 3.77069018e-03 -9.22405877e+01] [-4.82997580e-03 7.15242364e-05 -9.99988333e-01 -4.02024300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.366559995 meters 0.013201549349263606 Centerline is valid? [True, True] Translation: X:165.55, Y:-92.31, Z:-4.02 [[-5.72887754e-01 -8.19631504e-01 1.95437414e-03 1.65548843e+02] [-8.19626512e-01 5.72891087e-01 2.86060842e-03 -9.23080169e+01] [-3.46428831e-03 3.69506725e-05 -9.99993999e-01 -4.02126911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4265599949999 meters 0.012617172906782392 Centerline is valid? [True, True] Translation: X:165.47, Y:-92.38, Z:-4.02 [[-5.04591806e-01 -8.63356742e-01 1.49866352e-03 1.65468183e+02] [-8.63352835e-01 5.04594031e-01 2.59729843e-03 -9.23765885e+01] [-2.99861178e-03 1.67001114e-05 -9.99995504e-01 -4.02174246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.486559995 meters 0.012412383924959764 Centerline is valid? [True, True] Translation: X:165.39, Y:-92.45, Z:-4.02 [[-4.31561734e-01 -9.02082538e-01 1.25118449e-03 1.65390893e+02] [-9.02078770e-01 4.31563547e-01 2.60712792e-03 -9.24520148e+01] [-2.89181018e-03 -3.53031994e-06 -9.99995819e-01 -4.02181024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5465599949999 meters 0.012664549154771462 Centerline is valid? [True, True] Translation: X:165.32, Y:-92.54, Z:-4.02 [[-3.58150797e-01 -9.33663027e-01 1.16528022e-03 1.65317740e+02] [-9.33658229e-01 3.58152692e-01 2.99348442e-03 -9.25407836e+01] [-3.21225398e-03 -1.58546335e-05 -9.99994841e-01 -4.02042544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.606559995 meters 0.012846867212225072 Centerline is valid? [True, True] Translation: X:165.25, Y:-92.63, Z:-4.02 [[-2.82750733e-01 -9.59192675e-01 1.19779265e-03 1.65253517e+02] [-9.59184569e-01 2.82753268e-01 3.94373804e-03 -9.26348073e+01] [-4.12148443e-03 -3.38094090e-05 -9.99991506e-01 -4.01981600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.666559995 meters 0.01351094444383551 Centerline is valid? [True, True] Translation: X:165.20, Y:-92.74, Z:-4.02 [[-2.04727921e-01 -9.78818532e-01 8.71832124e-04 1.65196528e+02] [-9.78810651e-01 2.04729771e-01 3.92805744e-03 -9.27388581e+01] [-4.02334541e-03 -4.91755357e-05 -9.99991905e-01 -4.02011590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.726559995 meters 0.013965224626373765 Centerline is valid? [True, True] Translation: X:165.15, Y:-92.84, Z:-4.02 [[-1.26985705e-01 -9.91904392e-01 5.55609483e-04 1.65149195e+02] [-9.91896760e-01 1.26986907e-01 3.89129345e-03 -9.28430589e+01] [-3.93034619e-03 -5.69686043e-05 -9.99992275e-01 -4.01987314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.786559995 meters 0.014860986693891062 Centerline is valid? [True, True] Translation: X:165.11, Y:-92.95, Z:-4.02 [[-4.68870103e-02 -9.98900140e-01 3.43329853e-04 1.65108693e+02] [-9.98886336e-01 4.68881676e-02 5.25238041e-03 -9.29544792e+01] [-5.26270164e-03 -9.66790846e-05 -9.99986147e-01 -4.01758888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8465599949999 meters 0.015480660537277174 Centerline is valid? [True, True] Translation: X:165.08, Y:-93.07, Z:-4.02 [[ 3.13421046e-02 -9.99508713e-01 -7.30578047e-05 1.65079067e+02] [-9.99488257e-01 -3.13419306e-02 6.39591525e-03 -9.30667052e+01] [-6.39506279e-03 -1.27441027e-04 -9.99979543e-01 -4.01690597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.906559995 meters 0.01589804252724599 Centerline is valid? [True, True] Translation: X:165.06, Y:-93.19, Z:-4.02 [[ 1.09446170e-01 -9.93992527e-01 -6.26299722e-04 1.65058656e+02] [-9.93967264e-01 -1.09447855e-01 7.08840309e-03 -9.31870519e+01] [-7.11436686e-03 -1.53277151e-04 -9.99974681e-01 -4.01627077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9665599949999 meters 0.015764183633504764 Centerline is valid? [True, True] Translation: X:165.05, Y:-93.30, Z:-4.02 [[ 1.84695779e-01 -9.82795031e-01 -1.18140489e-03 1.65047400e+02] [-9.82769397e-01 -1.84699496e-01 7.09991235e-03 -9.32980133e+01] [-7.19596347e-03 -1.50275267e-04 -9.99974097e-01 -4.01526052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.026559995 meters 0.01426688576329251 Centerline is valid? [True, True] Translation: X:165.05, Y:-93.41, Z:-4.02 [[ 2.54174479e-01 -9.67157279e-01 -1.45985988e-03 1.65050985e+02] [-9.67139140e-01 -2.54178654e-01 5.92408950e-03 -9.34117596e+01] [-6.10059150e-03 -9.38647357e-05 -9.99981387e-01 -4.01711360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0865599949999 meters 0.013197608331479396 Centerline is valid? [True, True] Translation: X:165.06, Y:-93.52, Z:-4.02 [[ 3.22136447e-01 -9.46691423e-01 -1.86008481e-03 1.65060258e+02] [-9.46674593e-01 -3.22141812e-01 5.64520368e-03 -9.35206910e+01] [-5.94347699e-03 -5.76308186e-05 -9.99982336e-01 -4.01713543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.146559995 meters 0.01247940648395422 Centerline is valid? [True, True] Translation: X:165.08, Y:-93.63, Z:-4.02 [[ 3.85631935e-01 -9.22648829e-01 -2.67397813e-03 1.65080879e+02] [-9.22626551e-01 -3.85641205e-01 6.41159973e-03 -9.36312415e+01] [-6.94685113e-03 -5.43438715e-06 -9.99975870e-01 -4.01567314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2065599949999 meters 0.012791773544921515 Centerline is valid? [True, True] Translation: X:165.11, Y:-93.74, Z:-4.01 [[ 4.50175929e-01 -8.92931266e-01 -3.92276372e-03 1.65108634e+02] [-8.92898181e-01 -4.50193018e-01 7.68675091e-03 -9.37431701e+01] [-8.62974105e-03 4.22383602e-05 -9.99962762e-01 -4.01317257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.266559995 meters 0.013996828006780227 Centerline is valid? [True, True] Translation: X:165.15, Y:-93.85, Z:-4.01 [[ 5.11150401e-01 -8.59470148e-01 -6.02755069e-03 1.65147340e+02] [-8.59413582e-01 -5.11185920e-01 9.86154025e-03 -9.38519009e+01] [-1.15568985e-02 1.39428675e-04 -9.99933207e-01 -4.01123420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3265599949999 meters 0.015547422538901004 Centerline is valid? [True, True] Translation: X:165.19, Y:-93.95, Z:-4.01 [[ 5.70820511e-01 -8.21042539e-01 -7.28651406e-03 1.65187440e+02] [-8.20980519e-01 -5.70866973e-01 1.00939181e-02 -9.39503581e+01] [-1.24471664e-02 2.20270580e-04 -9.99922507e-01 -4.01032308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.386559995 meters 0.01611672568885237 Centerline is valid? [True, True] Translation: X:165.23, Y:-94.05, Z:-4.01 [[ 6.30877514e-01 -7.75845178e-01 -7.60405462e-03 1.65234394e+02] [-7.75793052e-01 -6.30923299e-01 8.99620164e-03 -9.40524770e+01] [-1.17772349e-02 2.23671416e-04 -9.99930621e-01 -4.01049755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4465599949999 meters 0.015302275120570478 Centerline is valid? [True, True] Translation: X:165.28, Y:-94.15, Z:-4.01 [[ 6.88390280e-01 -7.25299960e-01 -7.66749386e-03 1.65283474e+02] [-7.25258246e-01 -6.88432950e-01 7.78145214e-03 -9.41490612e+01] [-1.09224423e-02 2.04237124e-04 -9.99940328e-01 -4.01189020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.506559995 meters 0.014909554688251801 Centerline is valid? [True, True] Translation: X:165.34, Y:-94.24, Z:-4.01 [[ 7.43074927e-01 -6.69161394e-01 -7.91719105e-03 1.65338142e+02] [-6.69125856e-01 -7.43117083e-01 6.89857448e-03 -9.42415147e+01] [-1.04996596e-02 1.71439511e-04 -9.99944862e-01 -4.01182670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5665599949999 meters 0.013831335680918272 Centerline is valid? [True, True] Translation: X:165.36, Y:-94.27, Z:-4.01 [[ 7.97500089e-01 -6.03259136e-01 -8.48665066e-03 1.65356656e+02] [-6.03226253e-01 -7.97545238e-01 6.29933747e-03 -9.42689135e+01] [-1.05686207e-02 9.56482803e-05 -9.99944146e-01 -4.01006941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.626559995 meters 0.012800690954252585 Centerline is valid? [True, True] Translation: X:165.38, Y:-94.29, Z:-4.01 [[ 8.44989211e-01 -5.34717570e-01 -8.38769215e-03 1.65382473e+02] [-5.34691682e-01 -8.45030839e-01 5.26176485e-03 -9.42903339e+01] [-9.90141665e-03 3.86946884e-05 -9.99950979e-01 -4.01120225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6865599949999 meters 0.012876379250485166 Centerline is valid? [True, True] Translation: X:165.41, Y:-94.31, Z:-4.01 [[ 8.87773994e-01 -4.60211456e-01 -7.92165422e-03 1.65406684e+02] [-4.60192792e-01 -8.87809335e-01 4.14475436e-03 -9.43132768e+01] [-8.94038200e-03 -3.41169535e-05 -9.99960033e-01 -4.00956719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.746559995 meters 0.01275062596145354 Centerline is valid? [True, True] Translation: X:165.43, Y:-94.34, Z:-4.01 [[ 9.23157413e-01 -3.84344401e-01 -7.73126841e-03 1.65432111e+02] [-3.84330209e-01 -9.23189783e-01 3.30382226e-03 -9.43402897e+01] [-8.40723360e-03 -7.85880117e-05 -9.99964656e-01 -4.01328702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8065599949999 meters 0.013082628104173936 Centerline is valid? [True, True] Translation: X:165.46, Y:-94.36, Z:-4.01 [[ 9.50823013e-01 -3.09622600e-01 -8.33326956e-03 1.65460065e+02] [-3.09609834e-01 -9.50859525e-01 2.81318537e-03 -9.43613320e+01] [-8.79479451e-03 -9.47791812e-05 -9.99961321e-01 -4.01275659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.866559995 meters 0.012740046307011364 Centerline is valid? [True, True] Translation: X:165.49, Y:-94.38, Z:-4.01 [[ 9.71541777e-01 -2.36739557e-01 -7.80758494e-03 1.65491464e+02] [-2.36731357e-01 -9.71573146e-01 1.97158988e-03 -9.43771525e+01] [-8.05239318e-03 -6.71817563e-05 -9.99967577e-01 -4.01347039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9265599949999 meters 0.012342346343461423 Centerline is valid? [True, True] Translation: X:165.52, Y:-94.39, Z:-4.01 [[ 9.86328288e-01 -1.64603510e-01 -7.88625551e-03 1.65524831e+02] [-1.64598004e-01 -9.86359815e-01 1.34667894e-03 -9.43881003e+01] [-8.00035360e-03 -3.02056151e-05 -9.99967996e-01 -4.01318442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.986559995 meters 0.012253233766598922 Centerline is valid? [True, True] Translation: X:165.56, Y:-94.40, Z:-4.01 [[ 9.95939667e-01 -8.96844662e-02 -7.80232628e-03 1.65555503e+02] [-8.96816533e-02 -9.95970229e-01 7.10349079e-04 -9.43980778e+01] [-7.83459197e-03 -7.73930429e-06 -9.99969309e-01 -4.01363656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0465599949999 meters 0.012403324981735936 Centerline is valid? [True, True] Translation: X:165.58, Y:-94.41, Z:-4.01 [[ 9.99885071e-01 -1.30822871e-02 -7.66144907e-03 1.65584833e+02] [-1.30819407e-02 -9.99914423e-01 9.53294145e-05 -9.44051980e+01] [-7.66204055e-03 4.90816388e-06 -9.99970646e-01 -4.01253450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.106559995 meters 0.01233983971330316 Centerline is valid? [True, True] Translation: X:165.62, Y:-94.41, Z:-4.01 [[ 9.97736636e-01 6.66828053e-02 -8.66070119e-03 1.65616524e+02] [ 6.66803540e-02 -9.97774225e-01 -5.71813203e-04 -9.44122156e+01] [-8.67955452e-03 -6.97963887e-06 -9.99962332e-01 -4.01338250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.166559995 meters 0.012576676138960553 Centerline is valid? [True, True] Translation: X:165.65, Y:-94.42, Z:-4.01 [[ 9.88837852e-01 1.48661015e-01 -9.98025452e-03 1.65648530e+02] [ 1.48653955e-01 -9.88888214e-01 -1.44975326e-03 -9.44176499e+01] [-1.00848779e-02 -5.00333970e-05 -9.99949145e-01 -4.01203623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.226559995 meters 0.013142464223859928 Centerline is valid? [True, True] Translation: X:165.68, Y:-94.42, Z:-4.01 [[ 9.72891630e-01 2.31031694e-01 -1.03068897e-02 1.65681404e+02] [ 2.31019941e-01 -9.72946218e-01 -2.33302989e-03 -9.44222686e+01] [-1.05670532e-02 -1.11311806e-04 -9.99944161e-01 -4.01239449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.286559995 meters 0.014363042121206052 Centerline is valid? [True, True] Translation: X:165.71, Y:-94.42, Z:-4.01 [[ 9.50800111e-01 3.09628269e-01 -1.04634319e-02 1.65713332e+02] [ 3.09611271e-01 -9.50857672e-01 -3.24790663e-03 -9.44230109e+01] [-1.09548782e-02 -1.51486462e-04 -9.99939982e-01 -4.01138969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3465599949999 meters 0.014655591282611218 Centerline is valid? [True, True] Translation: X:165.75, Y:-94.42, Z:-4.01 [[ 9.22467751e-01 3.85937924e-01 -1.02551538e-02 1.65745809e+02] [ 3.85916319e-01 -9.22524734e-01 -4.08782292e-03 -9.44186492e+01] [-1.10382789e-02 -1.86746403e-04 -9.99939059e-01 -4.01134429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.406559995 meters 0.014979384140570234 Centerline is valid? [True, True] Translation: X:165.78, Y:-94.41, Z:-4.01 [[ 8.87955905e-01 4.59800727e-01 -1.08444786e-02 1.65777018e+02] [ 4.59769770e-01 -8.88022090e-01 -5.34104454e-03 -9.44117334e+01] [-1.20859527e-02 -2.43351408e-04 -9.99926933e-01 -4.01212618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4665599949999 meters 0.015292528827033193 Centerline is valid? [True, True] Translation: X:165.81, Y:-94.40, Z:-4.01 [[ 8.48730991e-01 5.28725772e-01 -1.02353855e-02 1.65807912e+02] [ 5.28690871e-01 -8.48792669e-01 -6.08008695e-03 -9.44026985e+01] [-1.19024188e-02 -2.50996664e-04 -9.99929132e-01 -4.01247807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.526559995 meters 0.015360020827800663 Centerline is valid? [True, True] Translation: X:165.84, Y:-94.39, Z:-4.01 [[ 8.05351414e-01 5.92730760e-01 -8.90764158e-03 1.65835750e+02] [ 5.92697484e-01 -8.05400645e-01 -6.28442280e-03 -9.43904182e+01] [-1.08991910e-02 -2.18367960e-04 -9.99940578e-01 -4.01299096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5865599949999 meters 0.014953303752698916 Centerline is valid? [True, True] Translation: X:165.86, Y:-94.37, Z:-4.01 [[ 7.57779648e-01 6.52464799e-01 -7.72600851e-03 1.65861651e+02] [ 6.52433314e-01 -7.57819011e-01 -6.41224382e-03 -9.43736177e+01] [-1.00386795e-02 -1.81637472e-04 -9.99949595e-01 -4.01458723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.646559995 meters 0.015067680918645457 Centerline is valid? [True, True] Translation: X:165.88, Y:-94.35, Z:-4.01 [[ 7.06798880e-01 7.07379295e-01 -7.06236422e-03 1.65884578e+02] [ 7.07346005e-01 -7.06834148e-01 -6.86409258e-03 -9.43544725e+01] [-9.84743716e-03 -1.44002169e-04 -9.99951502e-01 -4.01415426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7065599949999 meters 0.013655689011978254 Centerline is valid? [True, True] Translation: X:165.90, Y:-94.33, Z:-4.02 [[ 6.51917769e-01 7.58258334e-01 -6.89364943e-03 1.65904724e+02] [ 7.58217812e-01 -6.51954205e-01 -7.83984124e-03 -9.43328887e+01] [-1.04389687e-02 -1.15955981e-04 -9.99945506e-01 -4.01534931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.766559995 meters 0.013337531653225723 Centerline is valid? [True, True] Translation: X:165.93, Y:-94.31, Z:-4.02 [[ 5.91670927e-01 8.06152364e-01 -6.62417251e-03 1.65927591e+02] [ 8.06103858e-01 -5.91707998e-01 -8.84399191e-03 -9.43137595e+01] [-1.10491808e-02 -1.07038116e-04 -9.99938950e-01 -4.01585672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8265599949999 meters 0.013345122063703316 Centerline is valid? [True, True] Translation: X:165.95, Y:-94.29, Z:-4.02 [[ 5.28014669e-01 8.49210910e-01 -6.42960463e-03 1.65947834e+02] [ 8.49150213e-01 -5.28053805e-01 -1.01535501e-02 -9.42923573e+01] [-1.20176827e-02 -9.84767431e-05 -9.99927780e-01 -4.01595587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.886559995 meters 0.013381208505394437 Centerline is valid? [True, True] Translation: X:165.97, Y:-94.27, Z:-4.02 [[ 4.60607575e-01 8.87582464e-01 -6.16698197e-03 1.65968464e+02] [ 8.87505735e-01 -4.60648847e-01 -1.16708846e-02 -9.42707648e+01] [-1.31996856e-02 -9.75340401e-05 -9.99912876e-01 -4.01509030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9465599949999 meters 0.013405728141376416 Centerline is valid? [True, True] Translation: X:165.99, Y:-94.25, Z:-4.01 [[ 3.90098428e-01 9.20756517e-01 -5.53651890e-03 1.65987236e+02] [ 9.20667302e-01 -3.90137703e-01 -1.28176231e-02 -9.42488468e+01] [-1.39619148e-02 -9.71572977e-05 -9.99902523e-01 -4.01479753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.006559995 meters 0.013485759300596529 Centerline is valid? [True, True] Translation: X:166.00, Y:-94.23, Z:-4.02 [[ 3.15769573e-01 9.48825249e-01 -4.49706215e-03 1.66004008e+02] [ 9.48734015e-01 -3.15801574e-01 -1.31580450e-02 -9.42266585e+01] [-1.39048647e-02 -1.11605561e-04 -9.99903317e-01 -4.01601815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0665599949999 meters 0.013971345952178799 Centerline is valid? [True, True] Translation: X:166.02, Y:-94.20, Z:-4.02 [[ 2.40204133e-01 9.70716827e-01 -3.28869469e-03 1.66018525e+02] [ 9.70632007e-01 -2.40226620e-01 -1.28326918e-02 -9.42024705e+01] [-1.32469419e-02 -1.09646713e-04 -9.99912249e-01 -4.01573413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.126559995 meters 0.013381902185146058 Centerline is valid? [True, True] Translation: X:166.03, Y:-94.18, Z:-4.02 [[ 1.64334530e-01 9.86402580e-01 -2.02813744e-03 1.66030206e+02] [ 9.86333879e-01 -1.64347022e-01 -1.16419420e-02 -9.41759200e+01] [-1.18169599e-02 -8.72476061e-05 -9.99930174e-01 -4.01915005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1865599949999 meters 0.013251774057632124 Centerline is valid? [True, True] Translation: X:166.04, Y:-94.15, Z:-4.02 [[ 8.72326723e-02 9.96187344e-01 -1.11225631e-03 1.66043622e+02] [ 9.96117561e-01 -8.72397268e-02 -1.17913297e-02 -9.41493981e+01] [-1.18434063e-02 -7.93488465e-05 -9.99929861e-01 -4.01948648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.246559995 meters 0.013352116508824872 Centerline is valid? [True, True] Translation: X:166.05, Y:-94.12, Z:-4.02 [[ 8.64470591e-03 9.99962611e-01 -2.12323924e-04 1.66054976e+02] [ 9.99870800e-01 -8.64678941e-03 -1.35505417e-02 -9.41217476e+01] [-1.35518710e-02 -9.51560430e-05 -9.99908165e-01 -4.01840961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3065599949999 meters 0.013479104524033851 Centerline is valid? [True, True] Translation: X:166.06, Y:-94.09, Z:-4.02 [[-7.01885491e-02 9.97533337e-01 8.99043325e-04 1.66061956e+02] [ 9.97430694e-01 7.01942242e-02 -1.43101606e-02 -9.40938536e+01] [-1.43379699e-02 -1.07676004e-04 -9.99897200e-01 -4.01804045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.366559995 meters 0.013642970107160281 Centerline is valid? [True, True] Translation: X:166.07, Y:-94.06, Z:-4.02 [[-1.48663129e-01 9.88885511e-01 2.17243608e-03 1.66067209e+02] [ 9.88767331e-01 1.48678948e-01 -1.52883790e-02 -9.40647186e+01] [-1.54414520e-02 -1.24784424e-04 -9.99880766e-01 -4.01740614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4265599949999 meters 0.013975364185700764 Centerline is valid? [True, True] Translation: X:166.07, Y:-94.04, Z:-4.02 [[-2.25329753e-01 9.74276515e-01 3.43154661e-03 1.66069119e+02] [ 9.74155222e-01 2.25355848e-01 -1.53734992e-02 -9.40366129e+01] [-1.57513583e-02 -1.21247733e-04 -9.99875932e-01 -4.01620543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.486559995 meters 0.01340648139382327 Centerline is valid? [True, True] Translation: X:166.07, Y:-94.01, Z:-4.02 [[-3.00784203e-01 9.53682141e-01 4.38602041e-03 1.66069455e+02] [ 9.53575248e-01 3.00816159e-01 -1.42788392e-02 -9.40075375e+01] [-1.49368598e-02 -1.12448779e-04 -9.99888433e-01 -4.01952321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5465599949999 meters 0.013373069482171998 Centerline is valid? [True, True] Translation: X:166.07, Y:-93.98, Z:-4.02 [[-3.75077877e-01 9.26978516e-01 5.23618891e-03 1.66069207e+02] [ 9.26883857e-01 3.75114407e-01 -1.32475795e-02 -9.39771512e+01] [-1.42443915e-02 -1.15535027e-04 -9.99898537e-01 -4.02165969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.606559995 meters 0.013588122173989785 Centerline is valid? [True, True] Translation: X:166.07, Y:-93.95, Z:-4.02 [[-4.47660927e-01 8.94176943e-01 6.87673266e-03 1.66067387e+02] [ 8.94066353e-01 4.47713718e-01 -1.40635571e-02 -9.39463381e+01] [-1.56541160e-02 -1.47449722e-04 -9.99877456e-01 -4.02092129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.666559995 meters 0.013816898902698733 Centerline is valid? [True, True] Translation: X:166.06, Y:-93.92, Z:-4.02 [[-5.16264116e-01 8.56390280e-01 8.18848407e-03 1.66059488e+02] [ 8.56277909e-01 5.16329029e-01 -1.38735837e-02 -9.39180032e+01] [-1.61091542e-02 -1.50815403e-04 -9.99870228e-01 -4.02036373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.726559995 meters 0.01352584535850451 Centerline is valid? [True, True] Translation: X:166.05, Y:-93.89, Z:-4.02 [[-5.80411973e-01 8.14274218e-01 8.91290555e-03 1.66048093e+02] [ 8.14175063e-01 5.80480390e-01 -1.27075916e-02 -9.38907804e+01] [-1.55212311e-02 -1.18972893e-04 -9.99879531e-01 -4.02149277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.786559995 meters 0.013370219495994628 Centerline is valid? [True, True] Translation: X:166.03, Y:-93.87, Z:-4.02 [[-6.40980597e-01 7.67498473e-01 9.48518270e-03 1.66033508e+02] [ 7.67412451e-01 6.41050767e-01 -1.14910260e-02 -9.38655661e+01] [-1.48998285e-02 -8.64773823e-05 -9.99888988e-01 -4.02216096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8465599949999 meters 0.013279653237086523 Centerline is valid? [True, True] Translation: X:166.02, Y:-93.84, Z:-4.02 [[-6.97172377e-01 7.16833761e-01 1.00017599e-02 1.66016101e+02] [ 7.16759105e-01 6.97244115e-01 -1.03454642e-02 -9.38439246e+01] [-1.43896463e-02 -4.37194037e-05 -9.99896463e-01 -4.02314649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.906559995 meters 0.01300381969797063 Centerline is valid? [True, True] Translation: X:166.00, Y:-93.82, Z:-4.03 [[-7.48350425e-01 6.63215875e-01 1.07863297e-02 1.66001659e+02] [ 6.63147326e-01 7.48428155e-01 -9.53526276e-03 -9.38168169e+01] [-1.43967304e-02 1.72077226e-05 -9.99896362e-01 -4.02592759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9665599949999 meters 0.01320561680041938 Centerline is valid? [True, True] Translation: X:166.02, Y:-93.80, Z:-4.03 [[-7.91639086e-01 6.10885462e-01 1.12476807e-02 1.66019402e+02] [ 6.10824839e-01 7.91718983e-01 -8.60627292e-03 -9.37952660e+01] [-1.41624493e-02 5.73007106e-05 -9.99899706e-01 -4.02559283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.026559995 meters 0.013386403322475439 Centerline is valid? [True, True] Translation: X:166.04, Y:-93.77, Z:-4.03 [[-8.30786604e-01 5.56469690e-01 1.16234149e-02 1.66037678e+02] [ 5.56417045e-01 8.30867903e-01 -7.65503405e-03 -9.37739096e+01] [-1.39173168e-02 1.07766400e-04 -9.99903144e-01 -4.02742557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0865599949999 meters 0.013874069770631018 Centerline is valid? [True, True] Translation: X:166.06, Y:-93.75, Z:-4.03 [[-8.67369814e-01 4.97471871e-01 1.38326963e-02 1.66058564e+02] [ 4.97411286e-01 8.67480095e-01 -7.76508413e-03 -9.37496919e+01] [-1.58624996e-02 1.45339679e-04 -9.99874172e-01 -4.02556526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.146559995 meters 0.014879199018485086 Centerline is valid? [True, True] Translation: X:166.38, Y:-93.18, Z:-5.02 [[-8.42116138e-01 -5.39089381e-01 1.49348234e-02 1.66384971e+02] [ 5.39003605e-01 -8.42248560e-01 -9.61651217e-03 -9.31758850e+01] [ 1.77629931e-02 -4.82964517e-05 9.99842224e-01 -5.01814992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2065599949999 meters 0.01435158485324658 Centerline is valid? [True, True] Translation: X:166.37, Y:-93.21, Z:-5.02 [[-8.04382655e-01 -5.93934708e-01 1.44950402e-02 1.66368210e+02] [ 5.93834085e-01 -8.04513224e-01 -1.09339893e-02 -9.32062647e+01] [ 1.81555273e-02 -1.87462415e-04 9.99835157e-01 -5.01569688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.266559995 meters 0.013915397860818505 Centerline is valid? [True, True] Translation: X:165.98, Y:-93.72, Z:-4.03 [[-8.32953098e-01 5.53144130e-01 1.48562259e-02 1.65976701e+02] [ 5.53060238e-01 8.33085551e-01 -9.63523160e-03 -9.37222003e+01] [-1.77061790e-02 1.90691850e-04 -9.99843215e-01 -4.02687785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3265599949999 meters 0.013849064873943745 Centerline is valid? [True, True] Translation: X:165.99, Y:-93.69, Z:-4.03 [[-8.70270277e-01 4.92364816e-01 1.43712316e-02 1.65991785e+02] [ 4.92300891e-01 8.70388913e-01 -7.93557460e-03 -9.36926763e+01] [-1.64157584e-02 1.68875422e-04 -9.99865238e-01 -4.02700581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.386559995 meters 0.013678367318992529 Centerline is valid? [True, True] Translation: X:166.00, Y:-93.66, Z:-4.03 [[-9.03703636e-01 4.27900254e-01 1.48697788e-02 1.66003406e+02] [ 4.27844889e-01 9.03825953e-01 -6.88461945e-03 -9.36635719e+01] [-1.63856224e-02 1.40303249e-04 -9.99865737e-01 -4.02676378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4465599949999 meters 0.013650380502170949 Centerline is valid? [True, True] Translation: X:166.01, Y:-93.63, Z:-4.02 [[-9.33794724e-01 3.57474487e-01 1.54726911e-02 1.66011497e+02] [ 3.57426264e-01 9.33922903e-01 -5.87169827e-03 -9.36280585e+01] [-1.65492830e-02 4.73853224e-05 -9.99863050e-01 -4.02418716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.506559995 meters 0.013045903483869798 Centerline is valid? [True, True] Translation: X:166.01, Y:-93.59, Z:-4.03 [[-9.59377096e-01 2.81655884e-01 1.62957063e-02 1.66012789e+02] [ 2.81613387e-01 9.59515478e-01 -4.89371303e-03 -9.35862511e+01] [-1.70143255e-02 -1.05827150e-04 -9.99855240e-01 -4.02669541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5665599949999 meters 0.01437768246188835 Centerline is valid? [True, True] Translation: X:166.01, Y:-93.55, Z:-4.02 [[-9.78278827e-01 2.06634346e-01 1.65161558e-02 1.66014184e+02] [ 2.06601200e-01 9.78418214e-01 -3.70711612e-03 -9.35489364e+01] [-1.69257252e-02 -2.14335599e-04 -9.99856727e-01 -4.02445760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.626559995 meters 0.015286124698761082 Centerline is valid? [True, True] Translation: X:166.01, Y:-93.51, Z:-4.03 [[-9.91360076e-01 1.30011294e-01 1.73857215e-02 1.66009762e+02] [ 1.29985235e-01 9.91512454e-01 -2.62543461e-03 -9.35126540e+01] [-1.75794955e-02 -3.42863968e-04 -9.99845410e-01 -4.02578460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6865599949999 meters 0.017815738728329325 Centerline is valid? [True, True] Translation: X:166.08, Y:-92.98, Z:-5.02 [[-9.71260506e-01 -2.37381150e-01 1.74131654e-02 1.66084111e+02] [ 2.37349727e-01 -9.71416521e-01 -3.87950720e-03 -9.29821834e+01] [ 1.78363584e-02 3.64997917e-04 9.99840853e-01 -5.01716748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.746559995 meters 0.01643760290106511 Centerline is valid? [True, True] Translation: X:165.96, Y:-93.50, Z:-4.02 [[-9.92293308e-01 1.22602618e-01 1.79607537e-02 1.65960326e+02] [ 1.22574872e-01 9.92455753e-01 -2.64174778e-03 -9.34969117e+01] [-1.81491385e-02 -4.19851549e-04 -9.99835203e-01 -4.02482527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8065599949999 meters 0.01596748258521918 Centerline is valid? [True, True] Translation: X:165.96, Y:-93.47, Z:-4.03 [[-9.98489002e-01 5.15876020e-02 1.89322897e-02 1.65956602e+02] [ 5.15699017e-02 9.98668375e-01 -1.42227281e-03 -9.34687700e+01] [-1.89804507e-02 -4.43787439e-04 -9.99819757e-01 -4.02540662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.866559995 meters 0.016015279115819698 Centerline is valid? [True, True] Translation: X:165.95, Y:-93.44, Z:-4.03 [[-9.99619056e-01 -1.91674987e-02 1.98582341e-02 1.65949895e+02] [-1.91728338e-02 9.99816181e-01 -7.82875747e-05 -9.34418785e+01] [-1.98530832e-02 -4.58996373e-04 -9.99802803e-01 -4.02560695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9265599949999 meters 0.01586507334163428 Centerline is valid? [True, True] Translation: X:165.95, Y:-92.92, Z:-5.01 [[-9.95456501e-01 -9.32554518e-02 1.92295645e-02 1.65948754e+02] [ 9.32459770e-02 -9.95642131e-01 -1.39071801e-03 -9.29154258e+01] [ 1.92754567e-02 4.08680249e-04 9.99814128e-01 -5.01339381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.986559995 meters 0.015806949511086448 Centerline is valid? [True, True] Translation: X:165.90, Y:-93.45, Z:-4.03 [[-9.99601440e-01 -2.15985091e-02 1.81787257e-02 1.65898084e+02] [-2.16020315e-02 9.99766649e-01 2.60080132e-06 -9.34460028e+01] [-1.81745398e-02 -3.90097641e-04 -9.99834753e-01 -4.02899854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0465599949999 meters 0.015581670087983774 Centerline is valid? [True, True] Translation: X:165.89, Y:-92.91, Z:-5.01 [[-9.95959484e-01 -8.79725656e-02 1.80425662e-02 1.65894475e+02] [ 8.79650714e-02 -9.96122825e-01 -1.21010902e-03 -9.29124409e+01] [ 1.80790684e-02 3.81896068e-04 9.99836487e-01 -5.01069852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.106559995 meters 0.015684507014047788 Centerline is valid? [True, True] Translation: X:165.84, Y:-93.45, Z:-4.03 [[-9.99549935e-01 -2.35516987e-02 1.85807575e-02 1.65843324e+02] [-2.35543111e-02 9.99722556e-01 7.82665498e-05 -9.34508925e+01] [-1.85774457e-02 -3.59425619e-04 -9.99827360e-01 -4.02844791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.166559995 meters 0.015674112988207554 Centerline is valid? [True, True] Translation: X:165.84, Y:-93.43, Z:-4.03 [[-9.95470366e-01 -9.31061562e-02 1.92352429e-02 1.65836776e+02] [-9.30954552e-02 9.95656128e-01 1.45296534e-03 -9.34273487e+01] [-1.92869675e-02 -3.44329754e-04 -9.99813930e-01 -4.02821278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.226559995 meters 0.015421694850403936 Centerline is valid? [True, True] Translation: X:165.79, Y:-92.88, Z:-5.01 [[-9.99761776e-01 -8.36046280e-03 2.01616880e-02 1.65793931e+02] [ 8.36715056e-03 -9.99964964e-01 2.47371503e-04 -9.28794075e+01] [ 2.01589135e-02 4.16008453e-04 9.99796702e-01 -5.01174403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.286559995 meters 0.014930710081295607 Centerline is valid? [True, True] Translation: X:165.77, Y:-93.44, Z:-4.03 [[-9.95316232e-01 -9.44814576e-02 2.04658828e-02 1.65770445e+02] [-9.44677653e-02 9.95526575e-01 1.63695320e-03 -9.34396938e+01] [-2.05289919e-02 -3.04080127e-04 -9.99789212e-01 -4.02871491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3465599949999 meters 0.01517293803144942 Centerline is valid? [True, True] Translation: X:165.77, Y:-93.42, Z:-4.03 [[-9.85997538e-01 -1.65504454e-01 2.04237687e-02 1.65766439e+02] [-1.65475561e-01 9.86208992e-01 3.10839469e-03 -9.34166140e+01] [-2.06565575e-02 -3.14765069e-04 -9.99786581e-01 -4.02953461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.406559995 meters 0.014982872134669497 Centerline is valid? [True, True] Translation: X:165.68, Y:-92.85, Z:-5.01 [[-9.97582433e-01 6.64274810e-02 2.04127017e-02 1.65677280e+02] [-6.64074285e-02 -9.97791211e-01 1.65938552e-03 -9.28544418e+01] [ 2.04778431e-02 2.99818821e-04 9.99790262e-01 -5.00875701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4665599949999 meters 0.016205822953580615 Centerline is valid? [True, True] Translation: X:165.69, Y:-93.43, Z:-4.03 [[-9.84117026e-01 -1.76170155e-01 2.18576309e-02 1.65689947e+02] [-1.76137245e-01 9.84359618e-01 3.43698649e-03 -9.34317073e+01] [-2.21212636e-02 -4.67545972e-04 -9.99755186e-01 -4.03044819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.526559995 meters 0.015692658552195603 Centerline is valid? [True, True] Translation: X:165.60, Y:-92.86, Z:-5.01 [[-9.97487612e-01 6.73899083e-02 2.18417815e-02 1.65597610e+02] [-6.73638766e-02 -9.97726615e-01 1.92624896e-03 -9.28595697e+01] [ 2.19219365e-02 4.50062399e-04 9.99759584e-01 -5.00822577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5865599949999 meters 0.015471950718572044 Centerline is valid? [True, True] Translation: X:165.61, Y:-93.45, Z:-4.03 [[-9.83607783e-01 -1.79163987e-01 2.03959614e-02 1.65613081e+02] [-1.79133623e-01 9.83819148e-01 3.32100383e-03 -9.34542783e+01] [-2.06609416e-02 -3.87037238e-04 -9.99786465e-01 -4.03293557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.646559995 meters 0.014593750350159083 Centerline is valid? [True, True] Translation: X:165.60, Y:-93.44, Z:-4.04 [[-9.69201615e-01 -2.45547158e-01 1.88367346e-02 1.65601399e+02] [-2.45506725e-01 9.69384601e-01 4.46570736e-03 -9.34376314e+01] [-1.93565822e-02 -2.96374237e-04 -9.99812600e-01 -4.03532285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7065599949999 meters 0.01446997760878753 Centerline is valid? [True, True] Translation: X:165.58, Y:-93.42, Z:-4.04 [[-9.49947354e-01 -3.11954661e-01 1.68616199e-02 1.65577192e+02] [-3.11909795e-01 9.50096962e-01 5.29553287e-03 -9.34216497e+01] [-1.76721400e-02 -2.28826967e-04 -9.99843809e-01 -4.03545250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.766559995 meters 0.01482268829578262 Centerline is valid? [True, True] Translation: X:165.55, Y:-93.41, Z:-4.03 [[-9.25766069e-01 -3.77729039e-01 1.66720982e-02 1.65546767e+02] [-3.77671497e-01 9.25916161e-01 6.59570512e-03 -9.34078022e+01] [-1.79283546e-02 -1.90496306e-04 -9.99839256e-01 -4.03319291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8265599949999 meters 0.01417347698178986 Centerline is valid? [True, True] Translation: X:165.49, Y:-93.41, Z:-4.04 [[-8.97152577e-01 -4.41384088e-01 1.72435778e-02 1.65493922e+02] [-4.41305523e-01 8.97318264e-01 8.32872057e-03 -9.34114689e+01] [-1.91491420e-02 -1.37552989e-04 -9.99816629e-01 -4.03522228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.886559995 meters 0.014316042141260737 Centerline is valid? [True, True] Translation: X:165.43, Y:-93.42, Z:-4.03 [[-8.62109655e-01 -5.06436169e-01 1.70103023e-02 1.65430592e+02] [-5.06340906e-01 8.62277441e-01 9.82348793e-03 -9.34171060e+01] [-1.96425696e-02 -1.44088102e-04 -9.99807056e-01 -4.03442175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9465599949999 meters 0.014138388802599239 Centerline is valid? [True, True] Translation: X:165.36, Y:-93.43, Z:-4.04 [[-8.21270727e-01 -5.70304342e-01 1.63508927e-02 1.65359593e+02] [-5.70195640e-01 8.21433458e-01 1.11358118e-02 -9.34310514e+01] [-1.97819722e-02 -1.77691433e-04 -9.99804302e-01 -4.03632105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.006559995 meters 0.014322097690650336 Centerline is valid? [True, True] Translation: X:165.28, Y:-93.46, Z:-4.04 [[-7.75178528e-01 -6.31561316e-01 1.51180085e-02 1.65283095e+02] [-6.31446631e-01 7.75325904e-01 1.20371791e-02 -9.34560926e+01] [-1.93236003e-02 -2.15252745e-04 -9.99813259e-01 -4.03805744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0665599949999 meters 0.014949926189825831 Centerline is valid? [True, True] Translation: X:165.20, Y:-93.49, Z:-4.04 [[-7.24228998e-01 -6.89396077e-01 1.50135688e-02 1.65198783e+02] [-6.89255837e-01 7.24384548e-01 1.39074896e-02 -9.34932147e+01] [-2.04633660e-02 -2.75982606e-04 -9.99790565e-01 -4.03738505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.126559995 meters 0.01515010970545997 Centerline is valid? [True, True] Translation: X:165.12, Y:-93.53, Z:-4.04 [[-6.69054866e-01 -7.43070492e-01 1.45544162e-02 1.65121934e+02] [-7.42905149e-01 6.69213075e-01 1.56780002e-02 -9.35333794e+01] [-2.13898649e-02 -3.23108425e-04 -9.99771158e-01 -4.03752176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1865599949999 meters 0.015236936252160646 Centerline is valid? [True, True] Translation: X:165.04, Y:-93.59, Z:-4.04 [[-6.10079698e-01 -7.92221787e-01 1.36895407e-02 1.65041903e+02] [-7.92035458e-01 6.10233162e-01 1.71848860e-02 -9.35876425e+01] [-2.19680528e-02 -3.58451596e-04 -9.99758609e-01 -4.03869065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.246559995 meters 0.0155332212494156 Centerline is valid? [True, True] Translation: X:164.96, Y:-93.65, Z:-4.04 [[-5.47715054e-01 -8.36568549e-01 1.26997090e-02 1.64960498e+02] [-8.36359871e-01 5.47862131e-01 1.86882627e-02 -9.36526017e+01] [-2.25917024e-02 -3.85684156e-04 -9.99744701e-01 -4.03839795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3065599949999 meters 0.015425203662703144 Centerline is valid? [True, True] Translation: X:164.88, Y:-93.73, Z:-4.04 [[-4.82260220e-01 -8.75955127e-01 1.13002334e-02 1.64883284e+02] [-8.75733749e-01 4.82392431e-01 1.96962774e-02 -9.37268350e+01] [-2.27042023e-02 -3.97264643e-04 -9.99742147e-01 -4.03915216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.366559995 meters 0.01570521964347129 Centerline is valid? [True, True] Translation: X:164.82, Y:-93.80, Z:-4.04 [[-4.16335310e-01 -9.09165493e-01 9.11133233e-03 1.64815203e+02] [-9.08964378e-01 4.16434874e-01 1.91247160e-02 -9.38010019e+01] [-2.11818084e-02 -3.19581970e-04 -9.99775589e-01 -4.03891744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4265599949999 meters 0.014162265471687805 Centerline is valid? [True, True] Translation: X:164.75, Y:-93.89, Z:-4.04 [[-3.48228588e-01 -9.37375511e-01 8.00009821e-03 1.64751517e+02] [-9.37146144e-01 3.48320363e-01 2.07371509e-02 -9.38914439e+01] [-2.22250946e-02 -2.75992395e-04 -9.99752954e-01 -4.04162794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.486559995 meters 0.013870360121016556 Centerline is valid? [True, True] Translation: X:164.69, Y:-93.98, Z:-4.04 [[-2.79048454e-01 -9.60252900e-01 6.80646809e-03 1.64694252e+02] [-9.59985201e-01 2.79131376e-01 2.26735257e-02 -9.39842537e+01] [-2.36722176e-02 -2.07096353e-04 -9.99719752e-01 -4.04044503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5465599949999 meters 0.014535386764581555 Centerline is valid? [True, True] Translation: X:164.64, Y:-94.09, Z:-4.04 [[-2.08202896e-01 -9.78070846e-01 5.38275294e-03 1.64641468e+02] [-9.77759958e-01 2.08272426e-01 2.46588994e-02 -9.40890745e+01] [-2.52392296e-02 -1.28986020e-04 -9.99681432e-01 -4.03733381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.606559995 meters 0.013355739833345176 Centerline is valid? [True, True] Translation: X:164.60, Y:-94.20, Z:-4.04 [[-1.35617288e-01 -9.90754730e-01 3.60766088e-03 1.64598013e+02] [-9.90414557e-01 1.35665255e-01 2.59604292e-02 -9.41960055e+01] [-2.62098523e-02 -5.23968448e-05 -9.99656461e-01 -4.04205669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.666559995 meters 0.013327896911420105 Centerline is valid? [True, True] Translation: X:164.56, Y:-94.31, Z:-4.04 [[-6.18231900e-02 -9.98085993e-01 1.49825754e-03 1.64562607e+02] [-9.97786066e-01 6.18413396e-02 2.44666298e-02 -9.43078966e+01] [-2.45124547e-02 1.76646069e-05 -9.99699525e-01 -4.04404076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.726559995 meters 0.013203750449456349 Centerline is valid? [True, True] Translation: X:164.53, Y:-94.42, Z:-4.04 [[ 1.44317414e-02 -9.99895796e-01 -3.48552872e-04 1.64532237e+02] [-9.99645741e-01 -1.44359269e-02 2.23606034e-02 -9.44181934e+01] [-2.23633050e-02 2.57269491e-05 -9.99749910e-01 -4.04451246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.786559995 meters 0.0131992462447017 Centerline is valid? [True, True] Translation: X:164.51, Y:-94.54, Z:-4.04 [[ 9.16785134e-02 -9.95786511e-01 -2.06752202e-03 1.64510348e+02] [-9.95536923e-01 -9.17018226e-02 2.22937441e-02 -9.45362604e+01] [-2.23894052e-02 1.44371889e-05 -9.99749326e-01 -4.04431094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8465599949999 meters 0.013106261133461167 Centerline is valid? [True, True] Translation: X:164.50, Y:-94.66, Z:-4.04 [[ 1.71113701e-01 -9.85243238e-01 -3.98289532e-03 1.64495179e+02] [-9.84967905e-01 -1.71160037e-01 2.32909615e-02 -9.46559749e+01] [-2.36289748e-02 -6.23785564e-05 -9.99720795e-01 -4.04435824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.906559995 meters 0.013045302871898123 Centerline is valid? [True, True] Translation: X:164.49, Y:-94.78, Z:-4.05 [[ 2.50480625e-01 -9.68106887e-01 -5.33969478e-03 1.64487231e+02] [-9.67873618e-01 -2.50537486e-01 2.12515320e-02 -9.47798467e+01] [-2.19115482e-02 -1.54947312e-04 -9.99759901e-01 -4.04504654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9665599949999 meters 0.012836563664852418 Centerline is valid? [True, True] Translation: X:164.49, Y:-94.90, Z:-4.05 [[ 3.26238543e-01 -9.45264300e-01 -6.61931964e-03 1.64490977e+02] [-9.45057356e-01 -3.26305629e-01 1.97795280e-02 -9.48979629e+01] [-2.08568030e-02 -1.97207691e-04 -9.99782454e-01 -4.04709489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.026559995 meters 0.012789087197795567 Centerline is valid? [True, True] Translation: X:164.50, Y:-95.02, Z:-4.05 [[ 3.99038766e-01 -9.16900033e-01 -7.89886728e-03 1.64503761e+02] [-9.16709251e-01 -3.99116874e-01 1.87047936e-02 -9.50158835e+01] [-2.03029971e-02 -2.22973042e-04 -9.99793848e-01 -4.04785997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0865599949999 meters 0.012601093222604762 Centerline is valid? [True, True] Translation: X:164.53, Y:-95.13, Z:-4.05 [[ 4.67526989e-01 -8.83928060e-01 -9.47098147e-03 1.64528212e+02] [-8.83737323e-01 -4.67622859e-01 1.83631632e-02 -9.51347658e+01] [-2.06605626e-02 -2.15414571e-04 -9.99786525e-01 -4.04782501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.146559995 meters 0.01281954239749981 Centerline is valid? [True, True] Translation: X:164.56, Y:-95.24, Z:-4.05 [[ 5.33444896e-01 -8.45765114e-01 -1.08588653e-02 1.64555427e+02] [-8.45581938e-01 -5.33555366e-01 1.76027592e-02 -9.52391658e+01] [-2.06816055e-02 -2.08041693e-04 -9.99786091e-01 -4.04676453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2065599949999 meters 0.012345911104482764 Centerline is valid? [True, True] Translation: X:164.59, Y:-95.34, Z:-4.05 [[ 5.95387331e-01 -8.03350280e-01 -1.19270398e-02 1.64593987e+02] [-8.03183150e-01 -5.95506756e-01 1.63869116e-02 -9.53440619e+01] [-2.02670628e-02 -1.76962171e-04 -9.99794586e-01 -4.04757712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.266559995 meters 0.012217932560537562 Centerline is valid? [True, True] Translation: X:164.64, Y:-95.44, Z:-4.05 [[ 6.52619717e-01 -7.57563061e-01 -1.36276890e-02 1.64638065e+02] [-7.57394044e-01 -6.52761974e-01 1.60021381e-02 -9.54410222e+01] [-2.10182658e-02 -1.21780351e-04 -9.99779084e-01 -4.04716248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3265599949999 meters 0.012009836334828406 Centerline is valid? [True, True] Translation: X:164.69, Y:-95.53, Z:-4.05 [[ 7.06730487e-01 -7.07341738e-01 -1.41310016e-02 1.64687031e+02] [-7.07198344e-01 -7.06871743e-01 1.42422141e-02 -9.55332970e+01] [-2.00629182e-02 -7.19859301e-05 -9.99798717e-01 -4.04783900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.386559995 meters 0.011882961235869167 Centerline is valid? [True, True] Translation: X:164.74, Y:-95.62, Z:-4.05 [[ 7.57982488e-01 -6.52108604e-01 -1.47280966e-02 1.64739922e+02] [-6.51983990e-01 -7.58125560e-01 1.27480134e-02 -9.56200882e+01] [-1.94788357e-02 -6.02877504e-05 -9.99810268e-01 -4.04800766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4465599949999 meters 0.011984286596428423 Centerline is valid? [True, True] Translation: X:164.76, Y:-95.65, Z:-4.05 [[ 8.07424397e-01 -5.89762585e-01 -1.56823647e-02 1.64761783e+02] [-5.89649274e-01 -8.07576675e-01 1.15606466e-02 -9.56480795e+01] [-1.94827488e-02 -8.72531720e-05 -9.99810189e-01 -4.04878476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.506559995 meters 0.012182933921673834 Centerline is valid? [True, True] Translation: X:164.78, Y:-95.68, Z:-4.05 [[ 8.52256155e-01 -5.22859203e-01 -1.66643404e-02 1.64784284e+02] [-5.22756201e-01 -8.52419050e-01 1.03787367e-02 -9.56760036e+01] [-1.96316193e-02 -1.33954967e-04 -9.99807272e-01 -4.04881612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5665599949999 meters 0.012724412422549703 Centerline is valid? [True, True] Translation: X:164.81, Y:-95.70, Z:-4.05 [[ 8.92601050e-01 -4.50516785e-01 -1.72624348e-02 1.64808511e+02] [-4.50427723e-01 -8.92767930e-01 8.96040980e-03 -9.57030936e+01] [-1.94481632e-02 -2.22592016e-04 -9.99810842e-01 -4.04948000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.626559995 meters 0.01398649473954592 Centerline is valid? [True, True] Translation: X:164.83, Y:-95.73, Z:-4.05 [[ 9.26546652e-01 -3.75773718e-01 -1.74761080e-02 1.64834826e+02] [-3.75700979e-01 -9.26711405e-01 7.39906067e-03 -9.57261100e+01] [-1.89756811e-02 -2.89784014e-04 -9.99819904e-01 -4.05011235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6865599949999 meters 0.014805372879268705 Centerline is valid? [True, True] Translation: X:164.87, Y:-95.75, Z:-4.05 [[ 9.54229153e-01 -2.98531750e-01 -1.80421251e-02 1.64865631e+02] [-2.98471176e-01 -9.54399634e-01 6.02451989e-03 -9.57459720e+01] [-1.90179081e-02 -3.63718216e-04 -9.99819077e-01 -4.05049541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.746559995 meters 0.014439314244832649 Centerline is valid? [True, True] Translation: X:164.90, Y:-95.77, Z:-4.05 [[ 9.75199209e-01 -2.20533989e-01 -1.87420050e-02 1.64897508e+02] [-2.20485006e-01 -9.75379200e-01 4.66661785e-03 -9.57652115e+01] [-1.93097097e-02 -4.18550953e-04 -9.99813463e-01 -4.05173608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8065599949999 meters 0.015103466477903432 Centerline is valid? [True, True] Translation: X:164.93, Y:-95.78, Z:-4.05 [[ 9.89880957e-01 -1.40443829e-01 -2.02786039e-02 1.64930884e+02] [-1.40403757e-01 -9.90088516e-01 3.39357027e-03 -9.57816199e+01] [-2.05542188e-02 -5.12038412e-04 -9.99788609e-01 -4.05194882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.866559995 meters 0.01658812060827438 Centerline is valid? [True, True] Translation: X:164.96, Y:-95.79, Z:-4.05 [[ 9.97871411e-01 -6.16044217e-02 -2.13902625e-02 1.64960889e+02] [-6.15783689e-02 -9.98100490e-01 1.87513570e-03 -9.57943793e+01] [-2.14651482e-02 -5.53966831e-04 -9.99769444e-01 -4.05085022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9265599949999 meters 0.01801946137741321 Centerline is valid? [True, True] Translation: X:164.99, Y:-95.80, Z:-4.05 [[ 9.99612454e-01 1.88654917e-02 -2.04703229e-02 1.64991231e+02] [ 1.88732353e-02 -9.99821868e-01 1.85143443e-04 -9.58012978e+01] [-2.04631837e-02 -5.71412913e-04 -9.99790444e-01 -4.05112755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.986559995 meters 0.016955168856178437 Centerline is valid? [True, True] Translation: X:165.02, Y:-95.81, Z:-4.05 [[ 9.94860102e-01 9.91821696e-02 -2.04028095e-02 1.65023473e+02] [ 9.91739415e-02 -9.95069104e-01 -1.41720978e-03 -9.58055353e+01] [-2.04427673e-02 -6.13501571e-04 -9.99790837e-01 -4.05262460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0465599949999 meters 0.017389515486209706 Centerline is valid? [True, True] Translation: X:165.06, Y:-95.81, Z:-4.05 [[ 9.83843600e-01 1.77794831e-01 -2.09945095e-02 1.65056032e+02] [ 1.77768604e-01 -9.84067358e-01 -3.12395225e-03 -9.58070043e+01] [-2.12154340e-02 -6.58684226e-04 -9.99774710e-01 -4.05335854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.106559995 meters 0.01717978156012712 Centerline is valid? [True, True] Translation: X:165.09, Y:-95.81, Z:-4.05 [[ 9.66902265e-01 2.54425313e-01 -1.91773243e-02 1.65088397e+02] [ 2.54387822e-01 -9.67092231e-01 -4.41052551e-03 -9.58060816e+01] [-1.96683906e-02 -6.13930637e-04 -9.99806370e-01 -4.05456159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.166559995 meters 0.016813288205546183 Centerline is valid? [True, True] Translation: X:165.12, Y:-95.80, Z:-4.06 [[ 9.44497186e-01 3.28098972e-01 -1.66171734e-02 1.65119541e+02] [ 3.28057840e-01 -9.44643210e-01 -5.22109349e-03 -9.58015098e+01] [-1.74103354e-02 -5.20085895e-04 -9.99848293e-01 -4.05651521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.226559995 meters 0.01594673139086464 Centerline is valid? [True, True] Translation: X:165.15, Y:-95.79, Z:-4.06 [[ 9.16940449e-01 3.98752519e-01 -1.47187557e-02 1.65150684e+02] [ 3.98708703e-01 -9.17058472e-01 -5.92706230e-03 -9.57944472e+01] [-1.58613907e-02 -4.33732841e-04 -9.99874106e-01 -4.05793607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.286559995 meters 0.015890809880330443 Centerline is valid? [True, True] Translation: X:165.18, Y:-95.79, Z:-4.06 [[ 8.85699243e-01 4.64067379e-01 -1.33536144e-02 1.65179518e+02] [ 4.64020046e-01 -8.85799846e-01 -6.63552664e-03 -9.57853902e+01] [-1.49079610e-02 -3.19263848e-04 -9.99888819e-01 -4.05545940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3465599949999 meters 0.013068261804249387 Centerline is valid? [True, True] Translation: X:165.20, Y:-95.77, Z:-4.06 [[ 8.50702279e-01 5.25488214e-01 -1.29526191e-02 1.65203461e+02] [ 5.25431013e-01 -8.50800855e-01 -7.75602054e-03 -9.57672907e+01] [-1.50957968e-02 -2.07643447e-04 -9.99886030e-01 -4.05719360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.406559995 meters 0.012200470902596601 Centerline is valid? [True, True] Translation: X:165.23, Y:-95.75, Z:-4.06 [[ 8.10420636e-01 5.85731058e-01 -1.17269367e-02 1.65229709e+02] [ 5.85671763e-01 -8.10505469e-01 -8.33488265e-03 -9.57526746e+01] [-1.43867459e-02 -1.13374794e-04 -9.99896499e-01 -4.05833374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4665599949999 meters 0.011991532308660915 Centerline is valid? [True, True] Translation: X:165.25, Y:-95.74, Z:-4.06 [[ 7.66343908e-01 6.42331326e-01 -1.12908138e-02 1.65253378e+02] [ 6.42261984e-01 -7.66427079e-01 -9.43802897e-03 -9.57362268e+01] [-1.47159271e-02 -1.88844951e-05 -9.99891715e-01 -4.05735893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.526559995 meters 0.012213425063278913 Centerline is valid? [True, True] Translation: X:165.28, Y:-95.72, Z:-4.06 [[ 7.16650367e-01 6.97359763e-01 -1.00802822e-02 1.65275639e+02] [ 6.97289970e-01 -7.16721256e-01 -9.86604398e-03 -9.57185752e+01] [-1.41049346e-02 4.16243723e-05 -9.99900520e-01 -4.05689294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5865599949999 meters 0.012353018611988226 Centerline is valid? [True, True] Translation: X:165.30, Y:-95.70, Z:-4.06 [[ 6.62444642e-01 7.49057054e-01 -8.97921260e-03 1.65297285e+02] [ 7.48986456e-01 -6.62505488e-01 -1.02843115e-02 -9.57010332e+01] [-1.36523137e-02 8.74784486e-05 -9.99906799e-01 -4.05771559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.646559995 meters 0.012578496943850524 Centerline is valid? [True, True] Translation: X:165.32, Y:-95.68, Z:-4.06 [[ 6.02385197e-01 7.98163886e-01 -8.15388673e-03 1.65318975e+02] [ 7.98088557e-01 -6.02440372e-01 -1.09660172e-02 -9.56829810e+01] [-1.36649094e-02 9.82427079e-05 -9.99906626e-01 -4.05893071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7065599949999 meters 0.012708587567054645 Centerline is valid? [True, True] Translation: X:165.34, Y:-95.66, Z:-4.06 [[ 5.37702310e-01 8.43104774e-01 -7.11099879e-03 1.65339381e+02] [ 8.43028813e-01 -5.37749321e-01 -1.13175694e-02 -9.56643645e+01] [-1.33658315e-02 9.07063250e-05 -9.99910669e-01 -4.05823873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.766559995 meters 0.012346979985989695 Centerline is valid? [True, True] Translation: X:165.36, Y:-95.65, Z:-4.06 [[ 4.68382228e-01 8.83503725e-01 -6.26548813e-03 1.65361777e+02] [ 8.83422772e-01 -4.68424128e-01 -1.19600683e-02 -9.56462666e+01] [-1.35016707e-02 6.68085285e-05 -9.99908846e-01 -4.05874621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8265599949999 meters 0.01212594529912892 Centerline is valid? [True, True] Translation: X:165.38, Y:-95.63, Z:-4.06 [[ 3.93972876e-01 9.19108450e-01 -5.00304726e-03 1.65381778e+02] [ 9.19034012e-01 -3.94004641e-01 -1.16973371e-02 -9.56270352e+01] [-1.27223452e-02 1.04629342e-05 -9.99919068e-01 -4.05926199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.886559995 meters 0.012075644862032343 Centerline is valid? [True, True] Translation: X:165.40, Y:-95.61, Z:-4.06 [[ 3.15643475e-01 9.48870121e-01 -3.83275147e-03 1.65402927e+02] [ 9.48802286e-01 -3.15666739e-01 -1.13459863e-02 -9.56062947e+01] [-1.19757396e-02 -5.52368100e-05 -9.99928287e-01 -4.05995346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9465599949999 meters 0.012340689370460501 Centerline is valid? [True, True] Translation: X:165.42, Y:-95.58, Z:-4.06 [[ 2.35786487e-01 9.71800524e-01 -2.91123565e-03 1.65421366e+02] [ 9.71732157e-01 -2.35804432e-01 -1.15276082e-02 -9.55831082e+01] [-1.18890180e-02 -1.10887059e-04 -9.99929317e-01 -4.05924892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.006559995 meters 0.014515572893247867 Centerline is valid? [True, True] Translation: X:165.44, Y:-95.56, Z:-4.06 [[ 1.50295203e-01 9.88639002e-01 -2.06757510e-03 1.65439284e+02] [ 9.88564743e-01 -1.50309260e-01 -1.21191784e-02 -9.55596508e+01] [-1.22922681e-02 -2.22477472e-04 -9.99924423e-01 -4.05712907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0665599949999 meters 0.015015936787704442 Centerline is valid? [True, True] Translation: X:165.45, Y:-95.53, Z:-4.06 [[ 6.95089442e-02 9.97580711e-01 -1.10958207e-03 1.65450158e+02] [ 9.97505972e-01 -6.95173217e-02 -1.22138346e-02 -9.55329733e+01] [-1.22614210e-02 -2.57843990e-04 -9.99924793e-01 -4.05693761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.126559995 meters 0.017038282878369223 Centerline is valid? [True, True] Translation: X:165.46, Y:-95.51, Z:-4.06 [[-1.70453823e-02 9.99854707e-01 -1.40986021e-04 1.65464741e+02] [ 9.99788109e-01 1.70426191e-02 -1.15449875e-02 -9.55058241e+01] [-1.15409073e-02 -3.37744874e-04 -9.99933345e-01 -4.05660470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1865599949999 meters 0.018851303734973342 Centerline is valid? [True, True] Translation: X:165.47, Y:-95.48, Z:-4.06 [[-1.00133722e-01 9.94973711e-01 7.43461622e-04 1.65473529e+02] [ 9.94910617e-01 1.00135750e-01 -1.12114124e-02 -9.54777685e+01] [-1.12295077e-02 -3.82962592e-04 -9.99936874e-01 -4.05566536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.246559995 meters 0.019342478821174017 Centerline is valid? [True, True] Translation: X:165.48, Y:-95.45, Z:-4.05 [[-1.78506098e-01 9.83937586e-01 1.54919784e-03 1.65477580e+02] [ 9.83880145e-01 1.78512427e-01 -1.06382939e-02 -9.54488775e+01] [-1.07439683e-02 -3.74775337e-04 -9.99942212e-01 -4.05468902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3065599949999 meters 0.019400855299901043 Centerline is valid? [True, True] Translation: X:165.48, Y:-95.42, Z:-4.05 [[-2.54096253e-01 9.67176185e-01 2.30688971e-03 1.65475098e+02] [ 9.67122766e-01 2.54106479e-01 -1.01711785e-02 -9.54205697e+01] [-1.04235173e-02 -3.53412796e-04 -9.99945611e-01 -4.05466155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.366559995 meters 0.018190710592220178 Centerline is valid? [True, True] Translation: X:165.47, Y:-95.39, Z:-4.06 [[-3.27443695e-01 9.44866701e-01 2.74668528e-03 1.65469808e+02] [ 9.44825451e-01 3.27455079e-01 -8.83392042e-03 -9.53927913e+01] [-9.24629329e-03 -2.97473377e-04 -9.99957208e-01 -4.05542578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4265599949999 meters 0.018730689227949553 Centerline is valid? [True, True] Translation: X:165.46, Y:-95.37, Z:-4.06 [[-3.96525848e-01 9.18019307e-01 2.79350759e-03 1.65463967e+02] [ 9.17992663e-01 3.96535633e-01 -6.99740100e-03 -9.53670912e+01] [-7.53147452e-03 -2.10230901e-04 -9.99971616e-01 -4.05555328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.486559995 meters 0.01476189691820054 Centerline is valid? [True, True] Translation: X:165.45, Y:-95.34, Z:-4.06 [[-4.63776748e-01 8.85947917e-01 2.72323527e-03 1.65450903e+02] [ 8.85930728e-01 4.63784720e-01 -5.52072806e-03 -9.53430920e+01] [-6.15407243e-03 -1.47787501e-04 -9.99981053e-01 -4.05784617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5465599949999 meters 0.014793786640912538 Centerline is valid? [True, True] Translation: X:165.44, Y:-95.32, Z:-4.06 [[-5.30459829e-01 8.47705176e-01 2.88172752e-03 1.65443979e+02] [ 8.47691344e-01 5.30467641e-01 -4.84421816e-03 -9.53175942e+01] [-5.63513201e-03 -1.26847660e-04 -9.99984115e-01 -4.05751034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.606559995 meters 0.014887947750106538 Centerline is valid? [True, True] Translation: X:165.43, Y:-95.29, Z:-4.06 [[-5.94158777e-01 8.04341699e-01 3.12715139e-03 1.65433734e+02] [ 8.04329526e-01 5.94166996e-01 -4.42664843e-03 -9.52934557e+01] [-5.41858807e-03 -1.14871830e-04 -9.99985313e-01 -4.05600668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.666559995 meters 0.014538179336657922 Centerline is valid? [True, True] Translation: X:165.42, Y:-95.27, Z:-4.06 [[-6.55226601e-01 7.55424162e-01 3.52662371e-03 1.65422290e+02] [ 7.55412252e-01 6.55236081e-01 -4.24340495e-03 -9.52688414e+01] [-5.51634173e-03 -1.16337038e-04 -9.99984778e-01 -4.05587498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.726559995 meters 0.0140583862220269 Centerline is valid? [True, True] Translation: X:165.41, Y:-95.24, Z:-4.06 [[-7.11854179e-01 7.02318533e-01 3.50797066e-03 1.65410421e+02] [ 7.02309289e-01 7.11862815e-01 -3.60490112e-03 -9.52425976e+01] [-5.02898274e-03 -1.02483546e-04 -9.99987349e-01 -4.05643885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.786559995 meters 0.014818284817953843 Centerline is valid? [True, True] Translation: X:165.40, Y:-95.22, Z:-4.06 [[-7.64050726e-01 6.45151319e-01 2.50258432e-03 1.65398610e+02] [ 6.45147579e-01 7.64054822e-01 -2.19774268e-03 -9.52166370e+01] [-3.32998821e-03 -6.46506789e-05 -9.99994454e-01 -4.05688587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8465599949999 meters 0.01420535221086463 Centerline is valid? [True, True] Translation: X:165.40, Y:-95.19, Z:-4.06 [[-8.07522372e-01 5.89833782e-01 1.93098556e-03 1.65403177e+02] [ 5.89831957e-01 8.07524680e-01 -1.46763111e-03 -9.51871080e+01] [-2.42497691e-03 -4.61879660e-05 -9.99997059e-01 -4.05808584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.906559995 meters 0.013882983859770211 Centerline is valid? [True, True] Translation: X:165.43, Y:-95.17, Z:-4.06 [[-8.46684235e-01 5.32089036e-01 2.65775536e-03 1.65431894e+02] [ 5.32086202e-01 8.46688404e-01 -1.73775869e-03 -9.51727932e+01] [-3.17493299e-03 -5.71779279e-05 -9.99994958e-01 -4.05751797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9665599949999 meters 0.0135518757933647 Centerline is valid? [True, True] Translation: X:165.46, Y:-95.16, Z:-4.06 [[-8.81333882e-01 4.72465052e-01 5.23104100e-03 1.65458925e+02] [ 4.72456077e-01 8.81349400e-01 -2.91380685e-03 -9.51567757e+01] [-5.98704675e-03 -9.65995938e-05 -9.99982073e-01 -4.05582456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.026559995 meters 0.013171015774162308 Centerline is valid? [True, True] Translation: X:165.48, Y:-95.14, Z:-4.06 [[-9.11835521e-01 4.10504214e-01 6.50171634e-03 1.65477323e+02] [ 4.10492969e-01 9.11858695e-01 -3.04022453e-03 -9.51361835e+01] [-7.17667156e-03 -1.03275879e-04 -9.99974242e-01 -4.05515461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0865599949999 meters 0.01250280191517979 Centerline is valid? [True, True] Translation: X:165.49, Y:-95.11, Z:-4.05 [[-9.37095456e-01 3.49010454e-01 6.61888514e-03 1.65492634e+02] [ 3.49001213e-01 9.37118828e-01 -2.54080991e-03 -9.51133765e+01] [-7.08945110e-03 -7.09824744e-05 -9.99974867e-01 -4.05466768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.146559995 meters 0.012317287948671488 Centerline is valid? [True, True] Translation: X:165.76, Y:-94.44, Z:-4.98 [[-9.05723845e-01 -4.23849295e-01 4.01154787e-03 1.65755629e+02] [ 4.23844652e-01 -9.05732723e-01 -1.98642255e-03 -9.44397378e+01] [ 4.47533398e-03 -9.88771587e-05 9.99989981e-01 -4.98442932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2065599949999 meters 0.012408724909675992 Centerline is valid? [True, True] Translation: X:165.45, Y:-95.10, Z:-4.06 [[-9.34510798e-01 3.55922195e-01 2.99329541e-03 1.65446853e+02] [ 3.55920383e-01 9.34515592e-01 -1.13585607e-03 -9.51003581e+01] [-3.20155762e-03 3.90508581e-06 -9.99994875e-01 -4.05590788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.266559995 meters 0.012863104998586823 Centerline is valid? [True, True] Translation: X:165.47, Y:-95.08, Z:-4.06 [[-9.55807363e-01 2.93991680e-01 1.08505709e-03 1.65465266e+02] [ 2.93991500e-01 9.55807979e-01 -3.25715374e-04 -9.50790134e+01] [-1.13286383e-03 7.67640751e-06 -9.99999358e-01 -4.05552051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3265599949999 meters 0.01308719862443192 Centerline is valid? [True, True] Translation: X:165.68, Y:-94.38, Z:-4.99 [[-9.38943764e-01 -3.44069842e-01 7.42663720e-04 1.65684384e+02] [ 3.44069713e-01 -9.38944058e-01 -2.99435400e-04 -9.43843833e+01] [ 8.00346378e-04 -2.56249092e-05 9.99999679e-01 -4.98608653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.386559995 meters 0.013398156968001722 Centerline is valid? [True, True] Translation: X:165.43, Y:-95.06, Z:-4.05 [[-9.56690535e-01 2.91102263e-01 1.64076749e-03 1.65426185e+02] [ 2.91101858e-01 9.56691942e-01 -4.85966801e-04 -9.50646476e+01] [-1.71117508e-03 1.27106274e-05 -9.99998536e-01 -4.05210301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4465599949999 meters 0.013361105846781867 Centerline is valid? [True, True] Translation: X:165.43, Y:-95.04, Z:-4.05 [[-9.75302789e-01 2.20864236e-01 1.86014757e-03 1.65433989e+02] [ 2.20863855e-01 9.75304562e-01 -4.10223023e-04 -9.50353689e+01] [-1.90481400e-03 1.07477042e-05 -9.99998186e-01 -4.05091204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.506559995 meters 0.013244675255317778 Centerline is valid? [True, True] Translation: X:165.59, Y:-94.34, Z:-4.99 [[-9.60162481e-01 -2.79439501e-01 1.25535806e-03 1.65588870e+02] [ 2.79439199e-01 -9.60163300e-01 -4.13695081e-04 -9.43414165e+01] [ 1.32095148e-03 -4.64182454e-05 9.99999126e-01 -4.98902561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5665599949999 meters 0.01326696451282006 Centerline is valid? [True, True] Translation: X:165.38, Y:-95.01, Z:-4.05 [[-9.77804558e-01 2.09511031e-01 -1.83692484e-03 1.65384612e+02] [ 2.09510651e-01 9.77806283e-01 3.98893004e-04 -9.50129528e+01] [ 1.87972914e-03 5.18407716e-06 -9.99998233e-01 -4.05295041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.626559995 meters 0.01339541777616311 Centerline is valid? [True, True] Translation: X:165.39, Y:-94.98, Z:-4.05 [[-9.90489507e-01 1.37555029e-01 -3.02489211e-03 1.65386549e+02] [ 1.37554343e-01 9.90494126e-01 4.34767532e-04 -9.49832214e+01] [ 3.05594233e-03 1.45456319e-05 -9.99995331e-01 -4.05427209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6865599949999 meters 0.013583878173092532 Centerline is valid? [True, True] Translation: X:165.48, Y:-94.31, Z:-4.99 [[-9.76530094e-01 -2.15357848e-01 -3.15799677e-03 1.65481898e+02] [ 2.15356810e-01 -9.76535200e-01 6.69162948e-04 -9.43073067e+01] [-3.22800450e-03 -2.66383554e-05 9.99994790e-01 -4.98614211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.746559995 meters 0.013751933421134085 Centerline is valid? [True, True] Translation: X:165.34, Y:-94.97, Z:-4.05 [[-9.91734430e-01 1.28276274e-01 -2.83163783e-03 1.65337831e+02] [ 1.28275666e-01 9.91738472e-01 3.95817499e-04 -9.49651728e+01] [ 2.85901816e-03 2.93156124e-05 -9.99995913e-01 -4.05232961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8065599949999 meters 0.013836636949514116 Centerline is valid? [True, True] Translation: X:165.33, Y:-94.93, Z:-4.05 [[-9.98431923e-01 5.59027937e-02 -2.92784326e-03 1.65333568e+02] [ 5.59024506e-02 9.98436216e-01 1.98933812e-04 -9.49343622e+01] [ 2.93438570e-03 3.49482551e-05 -9.99995694e-01 -4.05188427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.866559995 meters 0.013957480302227127 Centerline is valid? [True, True] Translation: X:165.33, Y:-94.91, Z:-4.05 [[-9.99873701e-01 -1.56466701e-02 -2.78635597e-03 1.65330985e+02] [-1.56467064e-02 9.99877583e-01 -8.79359851e-06 -9.49050337e+01] [ 2.78615246e-03 3.48048058e-05 -9.99996118e-01 -4.05175026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9265599949999 meters 0.014153044494080906 Centerline is valid? [True, True] Translation: X:165.33, Y:-94.88, Z:-4.05 [[-9.96182301e-01 -8.72621877e-02 -2.47645553e-03 1.65327662e+02] [-8.72619992e-02 9.96185379e-01 -1.84271295e-04 -9.48769611e+01] [ 2.48308871e-03 3.25326574e-05 -9.99996917e-01 -4.05190665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.986559995 meters 0.014561322854494135 Centerline is valid? [True, True] Translation: X:165.31, Y:-94.85, Z:-4.05 [[-9.87214687e-01 -1.59380828e-01 -2.21657770e-03 1.65314824e+02] [-1.59380501e-01 9.87217175e-01 -3.24503877e-04 -9.48475234e+01] [ 2.23996327e-03 3.29242719e-05 -9.99997491e-01 -4.05065483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0465599949999 meters 0.014385803939750166 Centerline is valid? [True, True] Translation: X:165.22, Y:-94.21, Z:-4.99 [[-9.98030769e-01 6.27042141e-02 -1.66298764e-03 1.65221913e+02] [-6.27041505e-02 -9.98032154e-01 -9.03957254e-05 -9.42120934e+01] [-1.66538333e-03 1.40585122e-05 9.99998613e-01 -4.98975668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.106559995 meters 0.01429884215699599 Centerline is valid? [True, True] Translation: X:165.24, Y:-94.86, Z:-4.05 [[-9.86177710e-01 -1.65681930e-01 -1.73827325e-03 1.65237558e+02] [-1.65681722e-01 9.86179242e-01 -2.64045742e-04 -9.48568388e+01] [ 1.75799660e-03 2.76040801e-05 -9.99998454e-01 -4.05075007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.166559995 meters 0.014932822819465159 Centerline is valid? [True, True] Translation: X:165.22, Y:-94.83, Z:-4.05 [[-9.72127306e-01 -2.34439152e-01 -2.60479305e-03 1.65223921e+02] [-2.34438417e-01 9.72130795e-01 -5.88315857e-04 -9.48295501e+01] [ 2.67012381e-03 3.87456512e-05 -9.99996434e-01 -4.05177823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.226559995 meters 0.01382914768198637 Centerline is valid? [True, True] Translation: X:165.21, Y:-94.81, Z:-4.05 [[-9.53053023e-01 -3.02797813e-01 -1.84922895e-03 1.65207597e+02] [-3.02797298e-01 9.53054817e-01 -5.58980272e-04 -9.48078792e+01] [ 1.93167456e-03 2.72036928e-05 -9.99998134e-01 -4.05092086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.286559995 meters 0.013621341883258413 Centerline is valid? [True, True] Translation: X:165.18, Y:-94.79, Z:-4.05 [[-9.29218709e-01 -3.69530227e-01 5.13000913e-05 1.65176664e+02] [-3.69530227e-01 9.29218710e-01 2.01475285e-05 -9.47896988e+01] [-5.51141258e-05 -2.35473949e-07 -9.99999999e-01 -4.04884353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3465599949999 meters 0.012980540654599991 Centerline is valid? [True, True] Translation: X:165.13, Y:-94.78, Z:-4.05 [[-9.01281117e-01 -4.33234636e-01 3.13702070e-04 1.65133026e+02] [-4.33234611e-01 9.01281172e-01 1.47656236e-04 -9.47818357e+01] [-3.46703566e-04 -2.82681680e-06 -9.99999940e-01 -4.04882924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.406559995 meters 0.012770035604838666 Centerline is valid? [True, True] Translation: X:165.07, Y:-94.79, Z:-4.05 [[-8.68344197e-01 -4.95962034e-01 -1.26677451e-04 1.65072446e+02] [-4.95962029e-01 8.68344206e-01 -7.06875565e-05 -9.47853401e+01] [ 1.45057974e-04 1.44607591e-06 -9.99999990e-01 -4.04951932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4665599949999 meters 0.01242266130917485 Centerline is valid? [True, True] Translation: X:165.01, Y:-94.80, Z:-4.05 [[-8.31035366e-01 -5.56219552e-01 1.74445121e-04 1.65006071e+02] [-5.56219540e-01 8.31035384e-01 1.16431998e-04 -9.47979502e+01] [-2.09731822e-04 -2.70677167e-07 -9.99999978e-01 -4.04950590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.526559995 meters 0.012282272060920025 Centerline is valid? [True, True] Translation: X:164.93, Y:-94.82, Z:-4.05 [[-7.90198393e-01 -6.12851055e-01 2.90172892e-04 1.64934892e+02] [-6.12851013e-01 7.90198447e-01 2.26202407e-04 -9.48215497e+01] [-3.67922552e-04 9.12027747e-07 -9.99999932e-01 -4.04973889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5865599949999 meters 0.012504606519074892 Centerline is valid? [True, True] Translation: X:164.86, Y:-94.86, Z:-4.05 [[-7.45076166e-01 -6.66978807e-01 8.82502693e-04 1.64857487e+02] [-6.66978327e-01 7.45076688e-01 7.99732612e-04 -9.48577564e+01] [-1.19093689e-03 7.25153878e-06 -9.99999291e-01 -4.04963080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.646559995 meters 0.013225051319711124 Centerline is valid? [True, True] Translation: X:164.78, Y:-94.90, Z:-4.05 [[-6.96245583e-01 -7.17801747e-01 1.65514989e-03 1.64779089e+02] [-7.17799630e-01 6.96247550e-01 1.74352844e-03 -9.49028107e+01] [-2.40390182e-03 2.58579954e-05 -9.99997110e-01 -4.04891052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7065599949999 meters 0.013432595956859675 Centerline is valid? [True, True] Translation: X:164.70, Y:-94.96, Z:-4.05 [[-6.42047218e-01 -7.66662969e-01 1.80608944e-03 1.64699449e+02] [-7.66659766e-01 6.42049757e-01 2.21643387e-03 -9.49562971e+01] [-2.85885706e-03 3.83990968e-05 -9.99995913e-01 -4.04873652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.766559995 meters 0.014603903652936333 Centerline is valid? [True, True] Translation: X:164.62, Y:-95.02, Z:-4.05 [[-5.84070581e-01 -8.11701234e-01 1.63189599e-03 1.64620656e+02] [-8.11697845e-01 5.84072859e-01 2.34603438e-03 -9.50239536e+01] [-2.85742516e-03 4.56432065e-05 -9.99995917e-01 -4.04883574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8265599949999 meters 0.014107312246578727 Centerline is valid? [True, True] Translation: X:164.54, Y:-95.10, Z:-4.05 [[-5.19466730e-01 -8.54489281e-01 1.54462923e-03 1.64540550e+02] [-8.54485245e-01 5.19469024e-01 2.62649540e-03 -9.50958841e+01] [-3.04669921e-03 4.45140935e-05 -9.99995358e-01 -4.04833534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.886559995 meters 0.013203605390398493 Centerline is valid? [True, True] Translation: X:164.46, Y:-95.18, Z:-4.05 [[-4.49974136e-01 -8.93040914e-01 1.09658008e-03 1.64462244e+02] [-8.93038107e-01 4.49975472e-01 2.23915448e-03 -9.51778769e+01] [-2.49309070e-03 2.82738040e-05 -9.99996892e-01 -4.04892306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9465599949999 meters 0.012543773411005984 Centerline is valid? [True, True] Translation: X:164.39, Y:-95.27, Z:-4.05 [[-3.74838612e-01 -9.27089933e-01 5.20842132e-04 1.64388077e+02] [-9.27089010e-01 3.74838973e-01 1.30817205e-03 -9.52662892e+01] [-1.40802507e-03 7.48637928e-06 -9.99999009e-01 -4.04925362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.006559995 meters 0.012402391372846997 Centerline is valid? [True, True] Translation: X:164.32, Y:-95.36, Z:-4.05 [[-2.99200296e-01 -9.54190238e-01 4.15387203e-04 1.64322324e+02] [-9.54189309e-01 2.99200584e-01 1.33133108e-03 -9.53618876e+01] [-1.39462721e-03 1.97662290e-06 -9.99999028e-01 -4.04910315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0665599949999 meters 0.01251191072494159 Centerline is valid? [True, True] Translation: X:164.26, Y:-95.47, Z:-4.05 [[-2.21004114e-01 -9.75272684e-01 6.11882683e-04 1.64261805e+02] [-9.75269060e-01 2.21004961e-01 2.65872242e-03 -9.54675552e+01] [-2.72820846e-03 -9.16165523e-06 -9.99996278e-01 -4.04794484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.126559995 meters 0.012949913117683657 Centerline is valid? [True, True] Translation: X:164.21, Y:-95.57, Z:-4.05 [[-1.42828017e-01 -9.89747395e-01 5.00709707e-04 1.64211071e+02] [-9.89741819e-01 1.42828893e-01 3.32263362e-03 -9.55716763e+01] [-3.36008378e-03 -2.10081642e-05 -9.99994355e-01 -4.04692354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1865599949999 meters 0.012613300636936178 Centerline is valid? [True, True] Translation: X:164.17, Y:-95.67, Z:-4.05 [[-6.71575730e-02 -9.97742343e-01 2.76736904e-04 1.64172579e+02] [-9.97735182e-01 6.71581395e-02 3.78026100e-03 -9.56749467e+01] [-3.79031160e-03 -2.22369914e-05 -9.99992817e-01 -4.04695378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.246559995 meters 0.012501396772646712 Centerline is valid? [True, True] Translation: X:164.14, Y:-95.78, Z:-4.05 [[ 6.06512258e-03 -9.99981607e-01 -9.27280230e-06 1.64143116e+02] [-9.99974088e-01 -6.06511294e-03 3.87780400e-03 -9.57777356e+01] [-3.87778892e-03 -1.42467946e-05 -9.99992481e-01 -4.04652564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3065599949999 meters 0.012406390145684412 Centerline is valid? [True, True] Translation: X:163.47, Y:-95.89, Z:-4.99 [[-6.46928523e-02 9.97905196e-01 2.34881367e-04 1.63471229e+02] [-9.97894406e-01 -6.46932451e-02 4.64101765e-03 -9.58877136e+01] [ 4.64649086e-03 6.58538673e-05 9.99989203e-01 -4.99359908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.366559995 meters 0.012407615975032024 Centerline is valid? [True, True] Translation: X:164.15, Y:-96.05, Z:-4.05 [[ 9.19607199e-03 -9.99957713e-01 -6.09527503e-05 1.64146570e+02] [-9.99944291e-01 -9.19626437e-03 5.18110417e-03 -9.60544497e+01] [-5.18144562e-03 1.33035477e-05 -9.99986576e-01 -4.04601290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4265599949999 meters 0.012400748077541653 Centerline is valid? [True, True] Translation: X:164.13, Y:-96.17, Z:-4.05 [[ 8.55143522e-02 -9.96336800e-01 -5.26262114e-04 1.64125716e+02] [-9.96319192e-01 -8.55159697e-02 5.92341801e-03 -9.61719672e+01] [-5.94672316e-03 1.77877904e-05 -9.99982318e-01 -4.04534661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.486559995 meters 0.012363747246559155 Centerline is valid? [True, True] Translation: X:164.11, Y:-96.29, Z:-4.05 [[ 1.62887436e-01 -9.86644120e-01 -1.03121656e-03 1.64113263e+02] [-9.86624786e-01 -1.62890700e-01 6.17673284e-03 -9.62893757e+01] [-6.26221273e-03 1.13116461e-05 -9.99980392e-01 -4.04501218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5465599949999 meters 0.01227412141821642 Centerline is valid? [True, True] Translation: X:164.11, Y:-96.41, Z:-4.05 [[ 2.41275311e-01 -9.70455525e-01 -1.51627858e-03 1.64109864e+02] [-9.70436119e-01 -2.41280075e-01 6.13717005e-03 -9.64110879e+01] [-6.32169840e-03 -9.29611179e-06 -9.99980018e-01 -4.04539019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.606559995 meters 0.012425676856228203 Centerline is valid? [True, True] Translation: X:164.12, Y:-96.54, Z:-4.05 [[ 3.17871528e-01 -9.48132067e-01 -1.81005922e-03 1.64116038e+02] [-9.48116224e-01 -3.17876680e-01 5.48098347e-03 -9.65379730e+01] [-5.77207180e-03 -2.61020752e-05 -9.99983341e-01 -4.04568237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.666559995 meters 0.013450635151533986 Centerline is valid? [True, True] Translation: X:164.13, Y:-96.65, Z:-4.05 [[ 3.95183788e-01 -9.18599196e-01 -2.30015120e-03 1.64125436e+02] [-9.18582696e-01 -3.95190476e-01 5.50625066e-03 -9.66509790e+01] [-5.96703527e-03 -6.31019020e-05 -9.99982195e-01 -4.04585199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.726559995 meters 0.013963919207611381 Centerline is valid? [True, True] Translation: X:164.15, Y:-96.77, Z:-4.05 [[ 4.70219209e-01 -8.82545354e-01 -2.75566713e-03 1.64148983e+02] [-8.82528874e-01 -4.70227272e-01 5.39438677e-03 -9.67692122e+01] [-6.05658081e-03 -1.04588475e-04 -9.99981653e-01 -4.04685616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.786559995 meters 0.01485405212532843 Centerline is valid? [True, True] Translation: X:164.18, Y:-96.89, Z:-4.05 [[ 5.38954489e-01 -8.42329942e-01 -2.88587921e-03 1.64182796e+02] [-8.42316725e-01 -5.38962204e-01 4.71993994e-03 -9.68877160e+01] [-5.53112656e-03 -1.13008492e-04 -9.99984697e-01 -4.04703158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8465599949999 meters 0.01556193456615703 Centerline is valid? [True, True] Translation: X:164.22, Y:-96.99, Z:-4.05 [[ 6.01792245e-01 -7.98646693e-01 -3.09103110e-03 1.64216211e+02] [-7.98635220e-01 -6.01800174e-01 4.28202979e-03 -9.69879249e+01] [-5.28001198e-03 -1.08286012e-04 -9.99986055e-01 -4.04665602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.906559995 meters 0.014871614562907825 Centerline is valid? [True, True] Translation: X:164.26, Y:-97.09, Z:-4.05 [[ 6.60197195e-01 -7.51085223e-01 -3.26369938e-03 1.64264812e+02] [-7.51075298e-01 -6.60205254e-01 3.86245778e-03 -9.70863816e+01] [-5.05574644e-03 -9.86998008e-05 -9.99987215e-01 -4.04695467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9665599949999 meters 0.014656747935530491 Centerline is valid? [True, True] Translation: X:164.32, Y:-97.18, Z:-4.05 [[ 7.14582572e-01 -6.99543086e-01 -3.34953065e-03 1.64315748e+02] [-6.99534826e-01 -7.14590417e-01 3.40060730e-03 -9.71789867e+01] [-4.77241382e-03 -8.69013681e-05 -9.99988608e-01 -4.04647206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.026559995 meters 0.014442189174967332 Centerline is valid? [True, True] Translation: X:164.37, Y:-97.27, Z:-4.05 [[ 7.64568366e-01 -6.44528242e-01 -4.30799910e-03 1.64374395e+02] [-6.44517312e-01 -7.64580497e-01 3.75472510e-03 -9.72666503e+01] [-5.71383847e-03 -9.41640340e-05 -9.99983671e-01 -4.04504009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0865599949999 meters 0.014424029282726104 Centerline is valid? [True, True] Translation: X:164.40, Y:-97.29, Z:-4.04 [[ 8.12281797e-01 -5.83241529e-01 -5.25368266e-03 1.64401300e+02] [-5.83228495e-01 -8.12298780e-01 3.90054764e-03 -9.72878627e+01] [-6.54252139e-03 -1.04246414e-04 -9.99978592e-01 -4.04416404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.146559995 meters 0.014758085145083427 Centerline is valid? [True, True] Translation: X:164.43, Y:-97.31, Z:-4.04 [[ 8.55834654e-01 -5.17211426e-01 -6.27580415e-03 1.64430508e+02] [-5.17196449e-01 -8.55857655e-01 3.93806114e-03 -9.73053116e+01] [-7.40800524e-03 -1.24505577e-04 -9.99972553e-01 -4.04380135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2065599949999 meters 0.01650248505335389 Centerline is valid? [True, True] Translation: X:164.46, Y:-97.32, Z:-4.04 [[ 8.95075294e-01 -4.45870045e-01 -6.33406497e-03 1.64457910e+02] [-4.45857746e-01 -8.95097694e-01 3.31479497e-03 -9.73229309e+01] [-7.14757473e-03 -1.42899152e-04 -9.99974446e-01 -4.04277084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.266559995 meters 0.017589146723650362 Centerline is valid? [True, True] Translation: X:164.49, Y:-97.34, Z:-4.04 [[ 9.28580090e-01 -3.71075416e-01 -6.48470990e-03 1.64489196e+02] [-3.71065104e-01 -9.28602718e-01 2.77154188e-03 -9.73350980e+01] [-7.05017030e-03 -1.67349062e-04 -9.99975133e-01 -4.04306371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3265599949999 meters 0.018467874221762076 Centerline is valid? [True, True] Translation: X:164.52, Y:-97.34, Z:-4.04 [[ 9.55148559e-01 -2.96067286e-01 -5.94908969e-03 1.64521470e+02] [-2.96060513e-01 -9.55167073e-01 2.00873587e-03 -9.73449432e+01] [-6.27709557e-03 -1.57350622e-04 -9.99980286e-01 -4.04385265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.386559995 meters 0.019221478623805802 Centerline is valid? [True, True] Translation: X:164.55, Y:-97.35, Z:-4.05 [[ 9.75586423e-01 -2.19567926e-01 -4.58888339e-03 1.64554849e+02] [-2.19564901e-01 -9.75597207e-01 1.15899719e-03 -9.73498839e+01] [-4.73138042e-03 -1.23144192e-04 -9.99988799e-01 -4.04507002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4465599949999 meters 0.01580143709040279 Centerline is valid? [True, True] Translation: X:164.59, Y:-97.36, Z:-4.05 [[ 9.89569846e-01 -1.43977670e-01 -4.68511318e-03 1.64586497e+02] [-1.43975494e-01 -9.89580930e-01 8.00205048e-04 -9.73556977e+01] [-4.75151032e-03 -1.17317301e-04 -9.99988705e-01 -4.04579958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.506559995 meters 0.015480952751817509 Centerline is valid? [True, True] Translation: X:164.61, Y:-97.36, Z:-4.04 [[ 9.97602185e-01 -6.89803137e-02 -5.62114174e-03 1.64613641e+02] [-6.89785233e-02 -9.97618014e-01 5.12010190e-04 -9.73629156e+01] [-5.64307088e-03 -1.23044428e-04 -9.99984070e-01 -4.04462601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5665599949999 meters 0.01408221070150954 Centerline is valid? [True, True] Translation: X:164.64, Y:-97.36, Z:-4.04 [[ 9.99975843e-01 3.48159354e-03 -6.01591315e-03 1.64641453e+02] [ 3.48210743e-03 -9.99993935e-01 7.49493277e-05 -9.73641798e+01] [-6.01561572e-03 -9.58955731e-05 -9.99981901e-01 -4.04382924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.626559995 meters 0.012935073605949695 Centerline is valid? [True, True] Translation: X:164.67, Y:-97.37, Z:-4.04 [[ 9.96827275e-01 7.93903040e-02 -5.70637946e-03 1.64669722e+02] [ 7.93894471e-02 -9.96843605e-01 -3.76887616e-04 -9.73706204e+01] [-5.71828910e-03 -7.73344551e-05 -9.99983647e-01 -4.04425697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6865599949999 meters 0.012660273308451658 Centerline is valid? [True, True] Translation: X:164.70, Y:-97.38, Z:-4.04 [[ 9.87894154e-01 1.55009898e-01 -6.08860755e-03 1.64697120e+02] [ 1.55007388e-01 -9.87912915e-01 -8.84859542e-04 -9.73762265e+01] [-6.15217602e-03 -6.96315862e-05 -9.99981073e-01 -4.04368026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.746559995 meters 0.01192495832166781 Centerline is valid? [True, True] Translation: X:164.72, Y:-97.37, Z:-4.04 [[ 9.73988699e-01 2.26499055e-01 -6.64778503e-03 1.64723299e+02] [ 2.26494058e-01 -9.74011384e-01 -1.50505563e-03 -9.73716452e+01] [-6.81591198e-03 -3.97766317e-05 -9.99976771e-01 -4.04365812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8065599949999 meters 0.01161011768731068 Centerline is valid? [True, True] Translation: X:164.75, Y:-97.37, Z:-4.04 [[ 9.54508625e-01 2.98117365e-01 -6.27069825e-03 1.64750723e+02] [ 2.98111007e-01 -9.54529223e-01 -1.94702532e-03 -9.73697134e+01] [-6.56600678e-03 -1.09117061e-05 -9.99978444e-01 -4.04446798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.866559995 meters 0.011722343030799637 Centerline is valid? [True, True] Translation: X:164.78, Y:-97.37, Z:-4.04 [[ 9.30129624e-01 3.67184040e-01 -5.89609430e-03 1.64777244e+02] [ 3.67176512e-01 -9.30148311e-01 -2.35140859e-03 -9.73658116e+01] [-6.34764187e-03 2.22074533e-05 -9.99979853e-01 -4.04404214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9265599949999 meters 0.012000905030154826 Centerline is valid? [True, True] Translation: X:164.80, Y:-97.36, Z:-4.04 [[ 8.99384536e-01 4.37086326e-01 -7.93728854e-03 1.64804118e+02] [ 4.37068828e-01 -8.99419558e-01 -3.91127215e-03 -9.73598520e+01] [-8.84851612e-03 4.85962918e-05 -9.99960850e-01 -4.04290415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.986559995 meters 0.011970791491654106 Centerline is valid? [True, True] Translation: X:164.83, Y:-97.35, Z:-4.04 [[ 8.61983433e-01 5.06863928e-01 -8.57441340e-03 1.64832150e+02] [ 5.06838316e-01 -8.62026077e-01 -5.09552325e-03 -9.73537195e+01] [-9.97410487e-03 4.64153712e-05 -9.99950256e-01 -4.04315325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0465599949999 meters 0.011845757437182329 Centerline is valid? [True, True] Translation: X:164.86, Y:-97.35, Z:-4.04 [[ 8.17326192e-01 5.76093653e-01 -9.69528465e-03 1.64862506e+02] [ 5.76053017e-01 -8.17383694e-01 -6.84246468e-03 -9.73493803e+01] [-1.18666681e-02 7.52762919e-06 -9.99929589e-01 -4.04302262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.106559995 meters 0.011957742058901585 Centerline is valid? [True, True] Translation: X:164.89, Y:-97.34, Z:-4.04 [[ 7.67145184e-01 6.41396022e-01 -9.97047521e-03 1.64892163e+02] [ 6.41342591e-01 -7.67209972e-01 -8.27892035e-03 -9.73427503e+01] [-1.29595146e-02 -4.33565286e-05 -9.99916021e-01 -4.04298576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.166559995 meters 0.012613385426090104 Centerline is valid? [True, True] Translation: X:164.92, Y:-97.33, Z:-4.04 [[ 7.09890445e-01 7.04239545e-01 -1.01104201e-02 1.64920249e+02] [ 7.04170955e-01 -7.09962424e-01 -9.82968918e-03 -9.73341803e+01] [-1.41004742e-02 -1.41461757e-04 -9.99900573e-01 -4.04293226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.226559995 meters 0.01341957669992875 Centerline is valid? [True, True] Translation: X:164.95, Y:-97.32, Z:-4.05 [[ 6.48142648e-01 7.61464696e-01 -9.08982263e-03 1.64948172e+02] [ 7.61394507e-01 -6.48206348e-01 -1.03409987e-02 -9.73217924e+01] [-1.37663861e-02 -2.18498741e-04 -9.99905215e-01 -4.04581582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.286559995 meters 0.014776710687325932 Centerline is valid? [True, True] Translation: X:164.97, Y:-97.31, Z:-4.05 [[ 5.83123919e-01 8.12337971e-01 -8.57419309e-03 1.64973169e+02] [ 8.12257295e-01 -5.83186882e-01 -1.14519529e-02 -9.73069864e+01] [-1.43032131e-02 -2.86543216e-04 -9.99897663e-01 -4.04565636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3465599949999 meters 0.015467023734825988 Centerline is valid? [True, True] Translation: X:165.00, Y:-97.29, Z:-4.05 [[ 5.14192834e-01 8.57633986e-01 -8.34719865e-03 1.64998082e+02] [ 8.57532670e-01 -5.14260444e-01 -1.31877113e-02 -9.72893516e+01] [-1.56028635e-02 -3.76968903e-04 -9.99878197e-01 -4.04691897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.406559995 meters 0.015587128009659171 Centerline is valid? [True, True] Translation: X:165.02, Y:-97.27, Z:-4.05 [[ 4.44586132e-01 8.95699244e-01 -8.12618954e-03 1.65020854e+02] [ 8.95567195e-01 -4.44660177e-01 -1.53859053e-02 -9.72700944e+01] [-1.73945366e-02 -4.37188666e-04 -9.99848608e-01 -4.04742152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4665599949999 meters 0.015721120644301163 Centerline is valid? [True, True] Translation: X:165.04, Y:-97.25, Z:-4.05 [[ 3.74405354e-01 9.27232850e-01 -7.73779247e-03 1.65038337e+02] [ 9.27059704e-01 -3.74485018e-01 -1.79241857e-02 -9.72488810e+01] [-1.95175811e-02 -4.62484518e-04 -9.99809407e-01 -4.04687476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.526559995 meters 0.01475573695545129 Centerline is valid? [True, True] Translation: X:165.05, Y:-97.22, Z:-4.05 [[ 3.05045545e-01 9.52314769e-01 -6.61782596e-03 1.65050239e+02] [ 9.52117734e-01 -3.05117072e-01 -1.93750580e-02 -9.72237318e+01] [-2.04703656e-02 -3.90674319e-04 -9.99790384e-01 -4.04691865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5865599949999 meters 0.013679882605561992 Centerline is valid? [True, True] Translation: X:165.06, Y:-97.20, Z:-4.05 [[ 2.34920304e-01 9.72001288e-01 -5.09374245e-03 1.65059007e+02] [ 9.71797839e-01 -2.34975357e-01 -1.98882175e-02 -9.71982757e+01] [-2.05282769e-02 -2.77941810e-04 -9.99789234e-01 -4.04778927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.646559995 meters 0.012966032358787932 Centerline is valid? [True, True] Translation: X:165.06, Y:-97.17, Z:-4.05 [[ 1.67793149e-01 9.85815094e-01 -3.74956827e-03 1.65062704e+02] [ 9.85579614e-01 -1.67835019e-01 -2.15460087e-02 -9.71725754e+01] [-2.18696895e-02 -8.02253899e-05 -9.99760827e-01 -4.04676186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7065599949999 meters 0.012893220740662946 Centerline is valid? [True, True] Translation: X:165.07, Y:-97.15, Z:-4.05 [[ 9.57269515e-02 9.95405484e-01 -2.06735087e-03 1.65070536e+02] [ 9.95163366e-01 -9.57492623e-02 -2.19534327e-02 -9.71477216e+01] [-2.20505146e-02 4.41833389e-05 -9.99756857e-01 -4.04811320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.766559995 meters 0.013178403542522628 Centerline is valid? [True, True] Translation: X:165.08, Y:-97.12, Z:-4.05 [[ 2.30142884e-02 9.99735075e-01 -3.51062144e-04 1.65078954e+02] [ 9.99478841e-01 -2.30163379e-02 -2.26339338e-02 -9.71217121e+01] [-2.26360177e-02 1.70024697e-04 -9.99743758e-01 -4.04980472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8265599949999 meters 0.01416412318891273 Centerline is valid? [True, True] Translation: X:165.09, Y:-97.10, Z:-4.05 [[-4.88115792e-02 9.98806937e-01 1.46032117e-03 1.65085499e+02] [ 9.98537951e-01 4.88323262e-02 -2.31811110e-02 -9.70961771e+01] [-2.32247653e-02 3.26679476e-04 -9.99730215e-01 -4.05055847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.886559995 meters 0.016318260122138134 Centerline is valid? [True, True] Translation: X:165.09, Y:-97.07, Z:-4.05 [[-1.16093666e-01 9.93233204e-01 3.17234840e-03 1.65089615e+02] [ 9.92983129e-01 1.16135642e-01 -2.22939055e-02 -9.70701281e+01] [-2.25114699e-02 5.61907214e-04 -9.99746427e-01 -4.05147719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9465599949999 meters 0.018635600696985527 Centerline is valid? [True, True] Translation: X:165.09, Y:-97.04, Z:-4.05 [[-1.85472053e-01 9.82638139e-01 4.73334238e-03 1.65093955e+02] [ 9.82409831e-01 1.85531047e-01 -2.11932445e-02 -9.70438298e+01] [-2.17034723e-02 7.19327515e-04 -9.99764193e-01 -4.05241110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.006559995 meters 0.01921692626845904 Centerline is valid? [True, True] Translation: X:165.10, Y:-97.02, Z:-4.05 [[-2.59777363e-01 9.65648532e-01 6.21565715e-03 1.65099915e+02] [ 9.65436985e-01 2.59850640e-01 -2.02255623e-02 -9.70161674e+01] [-2.11459270e-02 7.46682061e-04 -9.99776121e-01 -4.05272759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0665599949999 meters 0.0201340171986379 Centerline is valid? [True, True] Translation: X:165.10, Y:-96.99, Z:-4.05 [[-3.35084644e-01 9.42163063e-01 6.85885178e-03 1.65104527e+02] [ 9.42003600e-01 3.35154206e-01 -1.73457796e-02 -9.69888032e+01] [-1.86413259e-02 6.48758673e-04 -9.99826025e-01 -4.05344642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.126559995 meters 0.016790492608643695 Centerline is valid? [True, True] Translation: X:165.12, Y:-96.95, Z:-4.06 [[-4.12171825e-01 9.11080177e-01 6.87737816e-03 1.65115052e+02] [ 9.10971831e-01 4.12228930e-01 -1.40582217e-02 -9.69545514e+01] [-1.56432213e-02 4.70694871e-04 -9.99877527e-01 -4.05588303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1865599949999 meters 0.015472352124343938 Centerline is valid? [True, True] Translation: X:165.12, Y:-96.92, Z:-4.05 [[-4.86932526e-01 8.73405364e-01 7.73209960e-03 1.65118957e+02] [ 8.73307282e-01 4.86993767e-01 -1.30943514e-02 -9.69204374e+01] [-1.52021611e-02 3.76433273e-04 -9.99884370e-01 -4.05486040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.246559995 meters 0.01394099835680007 Centerline is valid? [True, True] Translation: X:165.12, Y:-96.89, Z:-4.05 [[-5.61289368e-01 8.27581941e-01 7.89786864e-03 1.65122368e+02] [ 8.27505401e-01 5.61344889e-01 -1.12572979e-02 -9.68853687e+01] [-1.37497647e-02 2.16927316e-04 -9.99905444e-01 -4.05392232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3065599949999 meters 0.012591201503674997 Centerline is valid? [True, True] Translation: X:165.12, Y:-96.85, Z:-4.06 [[-6.28823772e-01 7.77507966e-01 7.87573312e-03 1.65117643e+02] [ 7.77449456e-01 6.28873078e-01 -9.53917876e-03 -9.68519897e+01] [-1.23696240e-02 1.24522066e-04 -9.99923486e-01 -4.05501472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.366559995 meters 0.011653895425690518 Centerline is valid? [True, True] Translation: X:165.11, Y:-96.82, Z:-4.05 [[-6.93973637e-01 7.19959026e-01 7.71963193e-03 1.65113214e+02] [ 7.19914754e-01 6.94016571e-01 -7.98408229e-03 -9.68172067e+01] [-1.11057646e-02 1.67343005e-05 -9.99938329e-01 -4.05428475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4265599949999 meters 0.011853027113089661 Centerline is valid? [True, True] Translation: X:165.10, Y:-96.78, Z:-4.05 [[-7.54266002e-01 6.56523357e-01 7.73824066e-03 1.65104335e+02] [ 6.56487739e-01 7.54305691e-01 -6.83909970e-03 -9.67805303e+01] [-1.03270277e-02 -7.84402721e-05 -9.99946672e-01 -4.05342292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.486559995 meters 0.013312639591591187 Centerline is valid? [True, True] Translation: X:165.12, Y:-96.75, Z:-4.05 [[-8.02390576e-01 5.96750775e-01 7.60759799e-03 1.65120927e+02] [ 5.96722414e-01 8.02426629e-01 -5.81941777e-03 -9.67479702e+01] [-9.57728128e-03 -1.29821745e-04 -9.99954128e-01 -4.05206927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5465599949999 meters 0.015405880726519645 Centerline is valid? [True, True] Translation: X:165.14, Y:-96.71, Z:-4.05 [[-8.45896939e-01 5.33293580e-01 7.50509043e-03 1.65135111e+02] [ 5.33270725e-01 8.45930214e-01 -4.94040111e-03 -9.67135342e+01] [-8.98346695e-03 -1.76825160e-04 -9.99959632e-01 -4.05179403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.606559995 meters 0.016705521572727793 Centerline is valid? [True, True] Translation: X:165.15, Y:-96.69, Z:-4.05 [[-8.82435457e-01 4.70370686e-01 7.68651803e-03 1.65150926e+02] [ 4.70350943e-01 8.82468912e-01 -4.31390436e-03 -9.66850886e+01] [-8.81224736e-03 -1.91381161e-04 -9.99961153e-01 -4.05005108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.666559995 meters 0.013955712299561796 Centerline is valid? [True, True] Translation: X:165.16, Y:-96.66, Z:-4.05 [[-9.12549813e-01 4.08904611e-01 7.06098720e-03 1.65156835e+02] [ 4.08891085e-01 9.12577118e-01 -3.32925968e-03 -9.66644788e+01] [-7.80504498e-03 -1.50940574e-04 -9.99969529e-01 -4.05199831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.726559995 meters 0.012664643348401866 Centerline is valid? [True, True] Translation: X:165.16, Y:-96.64, Z:-4.05 [[-9.36960444e-01 3.49387344e-01 5.79743675e-03 1.65162623e+02] [ 3.49380129e-01 9.36978376e-01 -2.24686327e-03 -9.66430086e+01] [-6.21709846e-03 -7.97128139e-05 -9.99980671e-01 -4.05274740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.786559995 meters 0.011650473837423085 Centerline is valid? [True, True] Translation: X:165.17, Y:-96.62, Z:-4.05 [[-9.57839762e-01 2.87258982e-01 5.02675139e-03 1.65173336e+02] [ 2.87254812e-01 9.57852951e-01 -1.54845424e-03 -9.66237077e+01] [-5.25969605e-03 -3.92125170e-05 -9.99986167e-01 -4.05359907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8465599949999 meters 0.01140629690297194 Centerline is valid? [True, True] Translation: X:165.18, Y:-96.61, Z:-4.05 [[-9.74002836e-01 2.26470638e-01 5.43377078e-03 1.65180861e+02] [ 2.26467132e-01 9.74017993e-01 -1.26009016e-03 -9.66058038e+01] [-5.57796393e-03 3.23909219e-06 -9.99984443e-01 -4.05264581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.906559995 meters 0.011708091391966607 Centerline is valid? [True, True] Translation: X:165.32, Y:-96.01, Z:-4.99 [[-9.58245098e-01 -2.85897790e-01 5.36532028e-03 1.65324221e+02] [ 2.85893297e-01 -9.58260118e-01 -1.60282417e-03 -9.60107937e+01] [ 5.59961633e-03 -1.98930439e-06 9.99984322e-01 -4.98723083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9665599949999 meters 0.01238540459869199 Centerline is valid? [True, True] Translation: X:165.14, Y:-96.61, Z:-4.05 [[-9.72290853e-01 2.33719848e-01 5.05267945e-03 1.65138955e+02] [ 2.33717019e-01 9.72303980e-01 -1.15147816e-03 -9.66078591e+01] [-5.18186364e-03 6.13254933e-05 -9.99986572e-01 -4.05319622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.026559995 meters 0.014044266732146421 Centerline is valid? [True, True] Translation: X:165.14, Y:-96.59, Z:-4.05 [[-9.85317097e-01 1.70677972e-01 4.38736662e-03 1.65141917e+02] [ 1.70676650e-01 9.85326861e-01 -6.76790529e-04 -9.65874117e+01] [-4.43850341e-03 8.19677582e-05 -9.99990146e-01 -4.05369633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0865599949999 meters 0.014834945182573632 Centerline is valid? [True, True] Translation: X:165.15, Y:-96.56, Z:-4.05 [[-9.94544548e-01 1.04214674e-01 4.52147693e-03 1.65146851e+02] [ 1.04214059e-01 9.94554821e-01 -3.71924328e-04 -9.65631217e+01] [-4.53561665e-03 1.01306152e-04 -9.99989709e-01 -4.05386763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.146559995 meters 0.016386558916866308 Centerline is valid? [True, True] Translation: X:165.20, Y:-95.92, Z:-4.99 [[-9.92406592e-01 -1.22946081e-01 3.66286861e-03 1.65203998e+02] [ 1.22944748e-01 -9.92413343e-01 -5.87769167e-04 -9.59160333e+01] [ 3.70734359e-03 -1.32975538e-04 9.99993119e-01 -4.98685695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2065599949999 meters 0.016514057026502174 Centerline is valid? [True, True] Translation: X:165.09, Y:-96.56, Z:-4.05 [[-9.94660291e-01 1.03171243e-01 2.56894133e-03 1.65092607e+02] [ 1.03171069e-01 9.94663607e-01 -2.00748460e-04 -9.65616251e+01] [-2.57594392e-03 6.53639000e-05 -9.99996680e-01 -4.05271461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.266559995 meters 0.01475196718561577 Centerline is valid? [True, True] Translation: X:165.09, Y:-96.53, Z:-4.05 [[-9.99619402e-01 2.75183484e-02 1.94720435e-03 1.65086688e+02] [ 2.75183744e-02 9.99621298e-01 -1.34556005e-05 -9.65275028e+01] [-1.94683722e-03 4.01334190e-05 -9.99998104e-01 -4.05199902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3265599949999 meters 0.013645380244616036 Centerline is valid? [True, True] Translation: X:165.09, Y:-95.89, Z:-4.99 [[-9.98320755e-01 -5.79180694e-02 1.08037800e-03 1.65090567e+02] [ 5.79179467e-02 -9.98321336e-01 -1.44601130e-04 -9.58938062e+01] [ 1.08693943e-03 -8.17850334e-05 9.99999406e-01 -4.98884552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.386559995 meters 0.012473622628464992 Centerline is valid? [True, True] Translation: X:165.02, Y:-96.52, Z:-4.05 [[-9.99904692e-01 1.37955924e-02 5.37361831e-04 1.65024650e+02] [ 1.37955938e-02 9.99904836e-01 -1.13855647e-06 -9.65166649e+01] [-5.37326401e-04 6.27477754e-06 -9.99999856e-01 -4.05022923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4465599949999 meters 0.012068963855186358 Centerline is valid? [True, True] Translation: X:165.02, Y:-95.90, Z:-4.99 [[-9.98028475e-01 -6.27619463e-02 -3.19175732e-04 1.65024640e+02] [ 6.27619607e-02 -9.98028524e-01 -3.52003855e-05 -9.59032009e+01] [-3.16337240e-04 -5.51630818e-05 9.99999948e-01 -4.98993533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.506559995 meters 0.011751617328363047 Centerline is valid? [True, True] Translation: X:164.96, Y:-96.51, Z:-4.05 [[-9.99995785e-01 2.01865842e-03 -2.08694465e-03 1.64964839e+02] [ 2.01866636e-03 9.99997963e-01 -1.69685691e-06 -9.65096564e+01] [ 2.08693697e-03 -5.90969474e-06 -9.99997822e-01 -4.04898451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5665599949999 meters 0.011713571255001205 Centerline is valid? [True, True] Translation: X:164.96, Y:-96.48, Z:-4.05 [[-9.97346770e-01 -7.27111057e-02 -3.53785593e-03 1.64955034e+02] [-7.27106573e-02 9.97353044e-01 -2.55358983e-04 -9.64806421e+01] [ 3.54705881e-03 2.55837317e-06 -9.99993709e-01 -4.04821596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.626559995 meters 0.011805646166192457 Centerline is valid? [True, True] Translation: X:164.91, Y:-95.89, Z:-4.99 [[-9.99989401e-01 1.60665010e-03 -4.31465905e-03 1.64909248e+02] [-1.60639686e-03 -9.99998708e-01 -6.21580512e-05 -9.58863047e+01] [-4.31475335e-03 -5.52263376e-05 9.99990690e-01 -4.99252738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6865599949999 meters 0.011885934595629827 Centerline is valid? [True, True] Translation: X:164.89, Y:-96.48, Z:-4.05 [[-9.96722879e-01 -8.07963968e-02 -3.93007197e-03 1.64888375e+02] [-8.07958365e-02 9.96730627e-01 -3.01379654e-04 -9.64838862e+01] [ 3.94157349e-03 1.71414560e-05 -9.99992232e-01 -4.04671289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.746559995 meters 0.012139810420548897 Centerline is valid? [True, True] Translation: X:164.84, Y:-95.89, Z:-5.00 [[-9.99992450e-01 2.36502502e-03 -3.08323603e-03 1.64839345e+02] [-2.36515265e-03 -9.99997202e-01 3.77485065e-05 -9.58932812e+01] [-3.08313813e-03 4.50405454e-05 9.99995246e-01 -4.99512875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8065599949999 meters 0.01284010768364228 Centerline is valid? [True, True] Translation: X:164.82, Y:-96.49, Z:-4.04 [[-9.95660622e-01 -9.30161689e-02 -2.81383491e-03 1.64821294e+02] [-9.30158954e-02 9.95664598e-01 -2.28182772e-04 -9.64868682e+01] [ 2.82286049e-03 3.45387732e-05 -9.99996015e-01 -4.04305701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.866559995 meters 0.013740412026991732 Centerline is valid? [True, True] Translation: X:164.81, Y:-96.46, Z:-4.04 [[-9.86069142e-01 -1.66298732e-01 -3.51830357e-03 1.64806618e+02] [-1.66297866e-01 9.86075417e-01 -5.39534413e-04 -9.64607524e+01] [ 3.55903655e-03 5.30681375e-05 -9.99993665e-01 -4.04128501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9265599949999 meters 0.013052106295998837 Centerline is valid? [True, True] Translation: X:164.72, Y:-95.88, Z:-5.00 [[-9.97515627e-01 7.03464489e-02 -3.73506341e-03 1.64718650e+02] [-7.03456987e-02 -9.97522618e-01 -3.32003320e-04 -9.58754480e+01] [-3.74916549e-03 -6.84328546e-05 9.99992970e-01 -5.00046444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.986559995 meters 0.012878945031791234 Centerline is valid? [True, True] Translation: X:164.74, Y:-96.48, Z:-4.04 [[-9.85584444e-01 -1.69117045e-01 -4.76757228e-03 1.64738224e+02] [-1.69115368e-01 9.85595973e-01 -7.55669798e-04 -9.64824597e+01] [ 4.82669669e-03 6.14933422e-05 -9.99988350e-01 -4.03932609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0465599949999 meters 0.012737351921919292 Centerline is valid? [True, True] Translation: X:164.64, Y:-95.88, Z:-5.00 [[-9.96806173e-01 7.97172133e-02 -4.75601748e-03 1.64643214e+02] [-7.97160302e-02 -9.96817517e-01 -4.38129898e-04 -9.58756582e+01] [-4.77580803e-03 -5.75997544e-05 9.99988594e-01 -5.00240271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.106559995 meters 0.012586232661432117 Centerline is valid? [True, True] Translation: X:164.66, Y:-96.50, Z:-4.04 [[-9.85155318e-01 -1.71600681e-01 -4.71235737e-03 1.64662962e+02] [-1.71598949e-01 9.85166587e-01 -7.72553685e-04 -9.65043764e+01] [ 4.77502777e-03 4.75502006e-05 -9.99988598e-01 -4.03696440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.166559995 meters 0.012498706671926443 Centerline is valid? [True, True] Translation: X:164.65, Y:-96.49, Z:-4.04 [[-9.70465625e-01 -2.41184022e-01 -5.17095708e-03 1.64649621e+02] [-2.41180883e-01 9.70479400e-01 -1.23154788e-03 -9.64856713e+01] [ 5.31533700e-03 5.19611158e-05 -9.99985872e-01 -4.03620267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.226559995 meters 0.012596754576338439 Centerline is valid? [True, True] Translation: X:164.50, Y:-95.86, Z:-5.00 [[-9.87679281e-01 1.56413322e-01 -4.95080484e-03 1.64499248e+02] [-1.56411209e-01 -9.87691689e-01 -8.13608643e-04 -9.58585174e+01] [-5.01712802e-03 -2.92230306e-05 9.99987414e-01 -5.00441877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.286559995 meters 0.012480717129672433 Centerline is valid? [True, True] Translation: X:164.56, Y:-96.52, Z:-4.04 [[-9.69751442e-01 -2.44057691e-01 -4.24078785e-03 1.64555379e+02] [-2.44055485e-01 9.69760714e-01 -1.03814748e-03 -9.65186192e+01] [ 4.36591733e-03 2.82425204e-05 -9.99990469e-01 -4.03544842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3465599949999 meters 0.011980052031146136 Centerline is valid? [True, True] Translation: X:164.54, Y:-96.50, Z:-4.04 [[-9.51149770e-01 -3.08693496e-01 -4.73710582e-03 1.64536532e+02] [-3.08689719e-01 9.51161566e-01 -1.52704455e-03 -9.65044685e+01] [ 4.97714171e-03 9.84779257e-06 -9.99987614e-01 -4.03542416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.406559995 meters 0.01212044605159607 Centerline is valid? [True, True] Translation: X:164.50, Y:-96.50, Z:-4.04 [[-9.29139192e-01 -3.69695738e-01 -5.04205752e-03 1.64501681e+02] [-3.69690111e-01 9.29152872e-01 -2.03989453e-03 -9.64997537e+01] [ 5.43898254e-03 -3.13471486e-05 -9.99985208e-01 -4.03577779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4665599949999 meters 0.012567304509629538 Centerline is valid? [True, True] Translation: X:164.45, Y:-96.50, Z:-4.04 [[-9.01810854e-01 -4.32099450e-01 -5.22001608e-03 1.64447147e+02] [-4.32091788e-01 9.01825959e-01 -2.57407634e-03 -9.65040799e+01] [ 5.81980298e-03 -6.58038991e-05 -9.99983063e-01 -4.03591568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.526559995 meters 0.012911480859439259 Centerline is valid? [True, True] Translation: X:164.38, Y:-96.51, Z:-4.04 [[-8.68616888e-01 -4.95464596e-01 -4.41988716e-03 1.64380536e+02] [-4.95457766e-01 8.68628131e-01 -2.60253195e-03 -9.65146544e+01] [ 5.12870076e-03 -7.07357874e-05 -9.99986846e-01 -4.03547069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5865599949999 meters 0.013520293024659891 Centerline is valid? [True, True] Translation: X:164.31, Y:-96.54, Z:-4.03 [[-8.31339958e-01 -5.55758756e-01 -2.46559936e-03 1.64308427e+02] [-5.55756124e-01 8.31343613e-01 -1.71139033e-03 -9.65353648e+01] [ 3.00088044e-03 -5.24752206e-05 -9.99995496e-01 -4.03324935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.646559995 meters 0.014131689110824313 Centerline is valid? [True, True] Translation: X:164.23, Y:-96.57, Z:-4.03 [[-7.88603661e-01 -6.14900190e-01 -1.42175414e-03 1.64229612e+02] [-6.14899109e-01 7.88604942e-01 -1.15378309e-03 -9.65663202e+01] [ 1.83066378e-03 -3.56422121e-05 -9.99998324e-01 -4.03299028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7065599949999 meters 0.013924155572532088 Centerline is valid? [True, True] Translation: X:164.14, Y:-96.60, Z:-4.03 [[-7.39114361e-01 -6.73576794e-01 -2.06504612e-03 1.64144820e+02] [-6.73573968e-01 7.39117244e-01 -1.95184745e-03 -9.66021515e+01] [ 2.84103034e-03 -5.16771758e-05 -9.99995963e-01 -4.03354502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.766559995 meters 0.013916634710934734 Centerline is valid? [True, True] Translation: X:164.05, Y:-96.66, Z:-4.03 [[-6.85198132e-01 -7.28354372e-01 -1.85179027e-03 1.64053861e+02] [-7.28351527e-01 6.85200633e-01 -2.03639514e-03 -9.66550764e+01] [ 2.75206517e-03 -4.65798728e-05 -9.99996212e-01 -4.03378920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8265599949999 meters 0.013764700262793637 Centerline is valid? [True, True] Translation: X:163.97, Y:-96.71, Z:-4.03 [[-6.27106828e-01 -7.78931758e-01 -1.53031041e-03 1.63971402e+02] [-7.78929284e-01 6.27108694e-01 -1.96376544e-03 -9.67086387e+01] [ 2.48931024e-03 -3.94871259e-05 -9.99996901e-01 -4.03317704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.886559995 meters 0.013231606806130326 Centerline is valid? [True, True] Translation: X:163.89, Y:-96.78, Z:-4.03 [[-5.64851798e-01 -8.25191525e-01 -1.18064122e-03 1.63885073e+02] [-8.25189608e-01 5.64853031e-01 -1.77908541e-03 -9.67754852e+01] [ 2.13497497e-03 -3.06667325e-05 -9.99997721e-01 -4.03249776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9465599949999 meters 0.012965737293388905 Centerline is valid? [True, True] Translation: X:163.80, Y:-96.85, Z:-4.03 [[-4.99088418e-01 -8.66550714e-01 -7.81511580e-04 1.63803307e+02] [-8.66549587e-01 4.99089029e-01 -1.39820276e-03 -9.68502509e+01] [ 1.60165745e-03 -2.06082657e-05 -9.99998717e-01 -4.03212227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.006559995 meters 0.012165718603610022 Centerline is valid? [True, True] Translation: X:163.73, Y:-96.93, Z:-4.03 [[-4.28246095e-01 -9.03662150e-01 -2.08221976e-05 1.63725405e+02] [-9.03662149e-01 4.28246096e-01 -4.35614618e-05 -9.69321665e+01] [ 4.82818688e-05 1.61205856e-07 -9.99999999e-01 -4.03158168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0665599949999 meters 0.01167242480271678 Centerline is valid? [True, True] Translation: X:163.65, Y:-97.02, Z:-4.03 [[-3.53528595e-01 -9.35423617e-01 4.36153628e-04 1.63652859e+02] [-9.35422881e-01 3.53528864e-01 1.17312288e-03 -9.70223919e+01] [-1.25155975e-03 6.74440037e-06 -9.99999217e-01 -4.03013498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.126559995 meters 0.011470100614601549 Centerline is valid? [True, True] Translation: X:163.59, Y:-97.12, Z:-4.03 [[-2.76951002e-01 -9.60883968e-01 3.78377283e-04 1.63585930e+02] [-9.60883063e-01 2.76951260e-01 1.31866588e-03 -9.71214213e+01] [-1.37187697e-03 1.62951421e-06 -9.99999059e-01 -4.02855000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1865599949999 meters 0.011600729290081817 Centerline is valid? [True, True] Translation: X:163.53, Y:-97.23, Z:-4.03 [[-1.96250238e-01 -9.80553814e-01 2.49600094e-04 1.63525477e+02] [-9.80553063e-01 1.96250396e-01 1.21379849e-03 -9.72250936e+01] [-1.23917885e-03 -6.53789494e-06 -9.99999232e-01 -4.02719131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.246559995 meters 0.012127493867427036 Centerline is valid? [True, True] Translation: X:163.48, Y:-97.33, Z:-4.03 [[-1.16546348e-01 -9.93185212e-01 2.90088713e-04 1.63477084e+02] [-9.93182590e-01 1.16546706e-01 2.28222427e-03 -9.73327844e+01] [-2.30048028e-03 -2.21261567e-05 -9.99997354e-01 -4.02624916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3065599949999 meters 0.012199424462634854 Centerline is valid? [True, True] Translation: X:163.44, Y:-97.45, Z:-4.03 [[-3.90549197e-02 -9.99237060e-01 1.03580013e-04 1.63439329e+02] [-9.99234887e-01 3.90550508e-02 2.08417982e-03 -9.74468978e+01] [-2.08663504e-03 -2.21032868e-05 -9.99997823e-01 -4.02529196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.366559995 meters 0.012386190946861896 Centerline is valid? [True, True] Translation: X:163.41, Y:-97.56, Z:-4.02 [[ 3.75689193e-02 -9.99294038e-01 -4.66493911e-05 1.63411077e+02] [-9.99292543e-01 -3.75689438e-02 1.72852643e-03 -9.75597239e+01] [-1.72905872e-03 -1.83224812e-05 -9.99998505e-01 -4.02467314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4265599949999 meters 0.012233486708085974 Centerline is valid? [True, True] Translation: X:163.39, Y:-97.68, Z:-4.02 [[ 1.12841392e-01 -9.93612979e-01 -2.61136405e-04 1.63393957e+02] [-9.93609813e-01 -1.12841692e-01 2.50862549e-03 -9.76754021e+01] [-2.52206992e-03 -2.36090973e-05 -9.99996819e-01 -4.02362366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.486559995 meters 0.011853906064252087 Centerline is valid? [True, True] Translation: X:163.39, Y:-97.79, Z:-4.02 [[ 1.85239931e-01 -9.82693037e-01 -7.50206884e-04 1.63388877e+02] [-9.82684443e-01 -1.85241449e-01 4.10982250e-03 -9.77914033e+01] [-4.17766337e-03 -2.40866046e-05 -9.99991273e-01 -4.02144139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5465599949999 meters 0.011758124738951612 Centerline is valid? [True, True] Translation: X:163.39, Y:-97.91, Z:-4.02 [[ 2.58737191e-01 -9.65947017e-01 -1.19429640e-03 1.63389444e+02] [-9.65936372e-01 -2.58739947e-01 4.53480849e-03 -9.79079692e+01] [-4.68939692e-03 -1.97092730e-05 -9.99989005e-01 -4.02109203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.606559995 meters 0.011773899140439078 Centerline is valid? [True, True] Translation: X:163.40, Y:-98.02, Z:-4.02 [[ 3.27491298e-01 -9.44853470e-01 -1.17031430e-03 1.63402118e+02] [-9.44847471e-01 -3.27493389e-01 3.36690317e-03 -9.80238061e+01] [-3.56450034e-03 3.13701800e-06 -9.99993647e-01 -4.02133787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.666559995 meters 0.011909804239599815 Centerline is valid? [True, True] Translation: X:163.42, Y:-98.14, Z:-4.02 [[ 3.96633395e-01 -9.17976710e-01 -8.42326485e-04 1.63419147e+02] [-9.17974681e-01 -3.96634289e-01 1.93009787e-03 -9.81389856e+01] [-2.10588046e-03 7.69311640e-06 -9.99997783e-01 -4.02152023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.726559995 meters 0.012875686027016709 Centerline is valid? [True, True] Translation: X:163.45, Y:-98.25, Z:-4.02 [[ 4.60365597e-01 -8.87729346e-01 -3.55337045e-04 1.63447177e+02] [-8.87729094e-01 -4.60365734e-01 6.68086478e-04 -9.82512758e+01] [-7.56664972e-04 7.87900252e-06 -9.99999714e-01 -4.02236651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.786559995 meters 0.014103702392901719 Centerline is valid? [True, True] Translation: X:163.48, Y:-98.36, Z:-4.02 [[ 5.23128521e-01 -8.52253742e-01 -3.31182165e-04 1.63481550e+02] [-8.52253582e-01 -5.23128626e-01 5.21568266e-04 -9.83600313e+01] [-6.17759377e-04 9.40395020e-06 -9.99999809e-01 -4.02183069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8465599949999 meters 0.015292525769796618 Centerline is valid? [True, True] Translation: X:163.52, Y:-98.46, Z:-4.02 [[ 5.80937381e-01 -8.13947571e-01 -1.05446770e-03 1.63518141e+02] [-8.13946348e-01 -5.80938337e-01 1.41120477e-03 -9.84613718e+01] [-1.76122740e-03 3.84585358e-05 -9.99998448e-01 -4.01937880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.906559995 meters 0.016728654854425276 Centerline is valid? [True, True] Translation: X:163.57, Y:-98.56, Z:-4.02 [[ 6.36648782e-01 -7.71149370e-01 -2.64136582e-03 1.63565975e+02] [-7.71143450e-01 -6.36654252e-01 3.02377782e-03 -9.85647750e+01] [-4.01342115e-03 1.11787486e-04 -9.99991940e-01 -4.01784411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9665599949999 meters 0.01758978675124192 Centerline is valid? [True, True] Translation: X:163.61, Y:-98.66, Z:-4.02 [[ 6.91549348e-01 -7.22323432e-01 -2.89126322e-03 1.63613466e+02] [-7.22317856e-01 -6.91555381e-01 2.84092106e-03 -9.86578601e+01] [-4.05153249e-03 1.23773943e-04 -9.99991785e-01 -4.01778435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.026559995 meters 0.017688945301216997 Centerline is valid? [True, True] Translation: X:163.63, Y:-98.69, Z:-4.02 [[ 7.45917434e-01 -6.66036070e-01 -1.77027754e-03 1.63629761e+02] [-6.66034417e-01 -7.45919532e-01 1.48571745e-03 -9.86883354e+01] [-2.31002601e-03 7.08432248e-05 -9.99997329e-01 -4.01970322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0865599949999 meters 0.016328382074888015 Centerline is valid? [True, True] Translation: X:163.65, Y:-98.72, Z:-4.02 [[ 7.98809173e-01 -6.01583945e-01 -8.14228331e-04 1.63646273e+02] [-6.01583665e-01 -7.98809587e-01 5.80829929e-04 -9.87194600e+01] [-9.99831357e-04 2.58541880e-05 -9.99999500e-01 -4.02101562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.146559995 meters 0.014910927634669308 Centerline is valid? [True, True] Translation: X:163.67, Y:-98.75, Z:-4.02 [[ 8.46494081e-01 -5.32397359e-01 -9.07280751e-04 1.63666543e+02] [-5.32397080e-01 -8.46494567e-01 5.45618142e-04 -9.87494191e+01] [-1.05849388e-03 2.11710954e-05 -9.99999440e-01 -4.02020008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2065599949999 meters 0.012511184576963699 Centerline is valid? [True, True] Translation: X:163.69, Y:-98.78, Z:-4.02 [[ 8.91130568e-01 -4.53745619e-01 -1.10605746e-03 1.63687742e+02] [-4.53745283e-01 -8.91131255e-01 5.52534929e-04 -9.87795366e+01] [-1.23635267e-03 9.48758849e-06 -9.99999236e-01 -4.01992344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.266559995 meters 0.011906397713334155 Centerline is valid? [True, True] Translation: X:163.71, Y:-98.81, Z:-4.02 [[ 9.27317396e-01 -3.74272916e-01 -1.49406173e-03 1.63713624e+02] [-3.74272426e-01 -9.27318599e-01 6.05662617e-04 -9.88079116e+01] [-1.61215434e-03 -2.45537369e-06 -9.99998701e-01 -4.02052603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3265599949999 meters 0.013516863856501901 Centerline is valid? [True, True] Translation: X:163.74, Y:-98.84, Z:-4.02 [[ 9.57401811e-01 -2.88748440e-01 -2.47198694e-03 1.63741777e+02] [-2.88747379e-01 -9.57405002e-01 7.83682398e-04 -9.88359472e+01] [-2.59297973e-03 -3.65191965e-05 -9.99996638e-01 -4.01938109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.386559995 meters 0.014462536547094784 Centerline is valid? [True, True] Translation: X:163.77, Y:-98.86, Z:-4.02 [[ 9.78173096e-01 -2.07773901e-01 -2.72053028e-03 1.63773524e+02] [-2.07772943e-01 -9.78176877e-01 6.33383141e-04 -9.88562357e+01] [-2.79276030e-03 -5.43057665e-05 -9.99996099e-01 -4.01995096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4465599949999 meters 0.015521121075251772 Centerline is valid? [True, True] Translation: X:163.81, Y:-98.87, Z:-4.02 [[ 9.91834123e-01 -1.27505720e-01 -2.71365499e-03 1.63807122e+02] [-1.27505071e-01 -9.91837833e-01 4.11381583e-04 -9.88718361e+01] [-2.74395919e-03 -6.20175198e-05 -9.99996233e-01 -4.01992128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.506559995 meters 0.01592759603678036 Centerline is valid? [True, True] Translation: X:163.84, Y:-98.88, Z:-4.02 [[ 9.98696046e-01 -5.08008934e-02 -5.04751354e-03 1.63839664e+02] [-5.07996990e-02 -9.98708795e-01 3.64655134e-04 -9.88804732e+01] [-5.05952097e-03 -1.07767472e-04 -9.99987195e-01 -4.01717981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5665599949999 meters 0.014026054213075533 Centerline is valid? [True, True] Translation: X:163.87, Y:-98.88, Z:-4.02 [[ 9.99678444e-01 2.46042819e-02 -6.13502481e-03 1.63871811e+02] [ 2.46045125e-02 -9.99697262e-01 -3.79039675e-05 -9.88829689e+01] [-6.13410011e-03 -1.13057515e-04 -9.99981180e-01 -4.01637981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.626559995 meters 0.012639578634831483 Centerline is valid? [True, True] Translation: X:163.90, Y:-98.88, Z:-4.01 [[ 9.95413036e-01 9.52236705e-02 -9.23799079e-03 1.63903667e+02] [ 9.52205084e-02 -9.95455897e-01 -7.82518037e-04 -9.88803723e+01] [-9.27052664e-03 -1.00717525e-04 -9.99957023e-01 -4.01354962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6865599949999 meters 0.011844961220377506 Centerline is valid? [True, True] Translation: X:163.93, Y:-98.87, Z:-4.01 [[ 9.86906487e-01 1.60835254e-01 -1.21493440e-02 1.63933822e+02] [ 1.60822863e-01 -9.86981267e-01 -1.99648855e-03 -9.88709675e+01] [-1.23122807e-02 1.64552180e-05 -9.99924201e-01 -4.01083566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.746559995 meters 0.01366616620876761 Centerline is valid? [True, True] Translation: X:163.96, Y:-98.86, Z:-4.01 [[ 9.73759605e-01 2.27260443e-01 -1.20383967e-02 1.63960708e+02] [ 2.27241192e-01 -9.73834005e-01 -2.96171457e-03 -9.88597442e+01] [-1.23964806e-02 1.48378391e-04 -9.99923150e-01 -4.01004977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8065599949999 meters 0.01656240216873006 Centerline is valid? [True, True] Translation: X:163.99, Y:-98.85, Z:-4.01 [[ 9.56736460e-01 2.90831741e-01 -8.49969418e-03 1.63987846e+02] [ 2.90818219e-01 -9.56774190e-01 -2.81308219e-03 -9.88483278e+01] [-8.95042161e-03 2.19512372e-04 -9.99959920e-01 -4.01384128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.866559995 meters 0.01795148061858283 Centerline is valid? [True, True] Translation: X:164.02, Y:-98.84, Z:-4.02 [[ 9.33425714e-01 3.58689938e-01 -7.61344609e-03 1.64016270e+02] [ 3.58675749e-01 -9.33456728e-01 -3.20067038e-03 -9.88420985e+01] [-8.25487074e-03 2.56829551e-04 -9.99965895e-01 -4.01615786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9265599949999 meters 0.019260488012833886 Centerline is valid? [True, True] Translation: X:164.05, Y:-98.84, Z:-4.02 [[ 9.05691109e-01 4.23887981e-01 -6.52640923e-03 1.64045474e+02] [ 4.23874700e-01 -9.05714579e-01 -3.36744029e-03 -9.88375566e+01] [-7.33848146e-03 2.83480984e-04 -9.99973033e-01 -4.01789202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.986559995 meters 0.020366017126895463 Centerline is valid? [True, True] Translation: X:164.08, Y:-98.83, Z:-4.02 [[ 8.71813633e-01 4.89804572e-01 -5.69821558e-03 1.64076466e+02] [ 4.89791930e-01 -8.71832208e-01 -3.53083412e-03 -9.88330419e+01] [-6.69730656e-03 2.87289321e-04 -9.99977532e-01 -4.01768155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0465599949999 meters 0.022007230829677867 Centerline is valid? [True, True] Translation: X:164.11, Y:-98.83, Z:-4.02 [[ 8.33181540e-01 5.52978845e-01 -4.78725664e-03 1.64108084e+02] [ 5.52967755e-01 -8.33195246e-01 -3.51337245e-03 -9.88292632e+01] [-5.93154011e-03 2.80078520e-04 -9.99982369e-01 -4.01689563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.106559995 meters 0.02201848034090205 Centerline is valid? [True, True] Translation: X:164.14, Y:-98.82, Z:-4.02 [[ 7.87179116e-01 6.16714375e-01 -3.52387805e-03 1.64140749e+02] [ 6.16706930e-01 -7.87186974e-01 -3.03826100e-03 -9.88241027e+01] [-4.64769014e-03 2.18455592e-04 -9.99989176e-01 -4.01706439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.166559995 meters 0.021144068792339574 Centerline is valid? [True, True] Translation: X:164.17, Y:-98.82, Z:-4.02 [[ 7.32954585e-01 6.80274580e-01 -2.01807359e-03 1.64174842e+02] [ 6.80271541e-01 -7.32957353e-01 -2.03674938e-03 -9.88170266e+01] [-2.86471071e-03 1.20006762e-04 -9.99995890e-01 -4.01814675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.226559995 meters 0.01743378315210481 Centerline is valid? [True, True] Translation: X:164.21, Y:-98.81, Z:-4.02 [[ 6.69658899e-01 7.42666512e-01 -1.84673038e-03 1.64213250e+02] [ 7.42663313e-01 -6.69661440e-01 -2.18179496e-03 -9.88103352e+01] [-2.85703018e-03 8.95595100e-05 -9.99995915e-01 -4.01817618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.286559995 meters 0.014964437338161003 Centerline is valid? [True, True] Translation: X:164.25, Y:-98.80, Z:-4.02 [[ 6.02623578e-01 7.98022207e-01 -2.31960542e-03 1.64249838e+02] [ 7.98015711e-01 -6.02628035e-01 -3.22120176e-03 -9.87987100e+01] [-3.96844980e-03 9.00905590e-05 -9.99992122e-01 -4.01629507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3465599949999 meters 0.012908979315299916 Centerline is valid? [True, True] Translation: X:164.29, Y:-98.78, Z:-4.01 [[ 5.27992408e-01 8.49245639e-01 -2.42101381e-03 1.64286045e+02] [ 8.49236281e-01 -5.27997957e-01 -3.98719314e-03 -9.87845661e+01] [-4.66439674e-03 4.91949450e-05 -9.99989120e-01 -4.01404205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.406559995 meters 0.011780915739056147 Centerline is valid? [True, True] Translation: X:164.32, Y:-98.76, Z:-4.02 [[ 4.54165053e-01 8.90916394e-01 -1.44334084e-03 1.64317234e+02] [ 8.90911801e-01 -4.54167346e-01 -2.86089566e-03 -9.87639534e+01] [-3.20433712e-03 1.34294445e-05 -9.99994866e-01 -4.01689519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4665599949999 meters 0.011780408195470715 Centerline is valid? [True, True] Translation: X:164.34, Y:-98.74, Z:-4.02 [[ 3.82040204e-01 9.24145315e-01 -8.47678538e-04 1.64340157e+02] [ 9.24142998e-01 -3.82041144e-01 -2.06952710e-03 -9.87377946e+01] [-2.23639185e-03 7.26636866e-06 -9.99997499e-01 -4.01742808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.526559995 meters 0.01173518006678154 Centerline is valid? [True, True] Translation: X:164.36, Y:-98.71, Z:-4.02 [[ 3.08911940e-01 9.51090603e-01 -2.78509641e-04 1.64363838e+02] [ 9.51090206e-01 -3.08912066e-01 -8.69575550e-04 -9.87099777e+01] [-9.13080124e-04 3.73447810e-06 -9.99999583e-01 -4.01797305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5865599949999 meters 0.012274733743638503 Centerline is valid? [True, True] Translation: X:164.38, Y:-98.68, Z:-4.02 [[ 2.38079296e-01 9.71245715e-01 -1.00268300e-04 1.64380815e+02] [ 9.71245621e-01 -2.38079317e-01 -4.26571264e-04 -9.86812135e+01] [-4.38177321e-04 4.17263916e-06 -9.99999904e-01 -4.01745189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.646559995 meters 0.013742370523351215 Centerline is valid? [True, True] Translation: X:164.39, Y:-98.65, Z:-4.02 [[ 1.69620404e-01 9.85509424e-01 -3.05381951e-04 1.64393802e+02] [ 9.85507447e-01 -1.69620676e-01 -1.97417350e-03 -9.86494874e+01] [-1.99736568e-03 3.39039187e-05 -9.99998005e-01 -4.01599474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7065599949999 meters 0.016121636585301198 Centerline is valid? [True, True] Translation: X:164.40, Y:-98.62, Z:-4.01 [[ 9.77485002e-02 9.95211102e-01 -3.04145349e-04 1.64402386e+02] [ 9.95202925e-01 -9.77489303e-02 -4.03540553e-03 -9.86181280e+01] [-4.04581027e-03 9.17684969e-05 -9.99991812e-01 -4.01383770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.766559995 meters 0.017892270134553377 Centerline is valid? [True, True] Translation: X:164.41, Y:-98.59, Z:-4.01 [[ 2.57591994e-02 9.99668177e-01 2.27551147e-05 1.64409220e+02] [ 9.99640771e-01 -2.57583247e-02 -7.40525552e-03 -9.85857160e+01] [-7.40221215e-03 2.13500394e-04 -9.99972580e-01 -4.01145993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8265599949999 meters 0.01871450700981206 Centerline is valid? [True, True] Translation: X:164.41, Y:-98.55, Z:-4.01 [[-5.10568919e-02 9.98695432e-01 7.92154249e-04 1.64413731e+02] [ 9.98648296e-01 5.10621820e-02 -9.70746003e-03 -9.85524639e+01] [-9.73524511e-03 2.95450754e-04 -9.99952568e-01 -4.01023307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.886559995 meters 0.01743921744572048 Centerline is valid? [True, True] Translation: X:164.42, Y:-98.52, Z:-4.01 [[-1.31401254e-01 9.91327747e-01 1.73426826e-03 1.64421531e+02] [ 9.91269383e-01 1.31412344e-01 -1.07613607e-02 -9.85179851e+01] [-1.08959397e-02 3.05070733e-04 -9.99940591e-01 -4.01057854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9465599949999 meters 0.01536471592936444 Centerline is valid? [True, True] Translation: X:164.43, Y:-98.48, Z:-4.01 [[-2.13870661e-01 9.76858637e-01 2.55796845e-03 1.64430583e+02] [ 9.76801857e-01 2.13885816e-01 -1.05351457e-02 -9.84814004e+01] [-1.08384612e-02 2.45469763e-04 -9.99941232e-01 -4.01167598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.006559995 meters 0.014704870034335904 Centerline is valid? [True, True] Translation: X:164.43, Y:-98.45, Z:-4.01 [[-2.96611308e-01 9.54993029e-01 3.16961127e-03 1.64430455e+02] [ 9.54944037e-01 2.96628202e-01 -9.67449645e-03 -9.84474227e+01] [-1.01792728e-02 1.57236333e-04 -9.99948178e-01 -4.01157116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0665599949999 meters 0.013534892154414169 Centerline is valid? [True, True] Translation: X:164.42, Y:-98.42, Z:-4.01 [[-3.75901797e-01 9.26653449e-01 3.35044752e-03 1.64422969e+02] [ 9.26618615e-01 3.75916718e-01 -8.03512681e-03 -9.84154924e+01] [-8.70526721e-03 8.41684346e-05 -9.99962105e-01 -4.01218635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.126559995 meters 0.01212090877360525 Centerline is valid? [True, True] Translation: X:164.42, Y:-98.38, Z:-4.01 [[-4.53456311e-01 8.91271007e-01 3.65594963e-03 1.64416921e+02] [ 8.91242438e-01 4.53471048e-01 -7.13614815e-03 -9.83809063e+01] [-8.01810926e-03 2.24060447e-05 -9.99967854e-01 -4.01348588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1865599949999 meters 0.012618702371997376 Centerline is valid? [True, True] Translation: X:164.41, Y:-98.34, Z:-4.01 [[-5.31334317e-01 8.47154146e-01 3.70096564e-03 1.64410236e+02] [ 8.47132822e-01 5.31347203e-01 -6.01099745e-03 -9.83445856e+01] [-7.05873916e-03 -5.86397550e-05 -9.99975085e-01 -4.01485007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.246559995 meters 0.013605362143350064 Centerline is valid? [True, True] Translation: X:164.40, Y:-98.31, Z:-4.02 [[-6.01076098e-01 7.99183941e-01 3.54294745e-03 1.64396574e+02] [ 7.99169191e-01 6.01086533e-01 -4.85623260e-03 -9.83118269e+01] [-6.01064111e-03 -8.75508983e-05 -9.99981932e-01 -4.01637129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3065599949999 meters 0.015447583027284512 Centerline is valid? [True, True] Translation: X:164.38, Y:-98.28, Z:-4.02 [[-6.65913072e-01 7.46020050e-01 3.72357798e-03 1.64379243e+02] [ 7.46007413e-01 6.65923473e-01 -4.34385100e-03 -9.82823694e+01] [-5.72021792e-03 -1.14810390e-04 -9.99983633e-01 -4.01607840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.366559995 meters 0.016543469527152913 Centerline is valid? [True, True] Translation: X:164.36, Y:-98.26, Z:-4.01 [[-7.23727375e-01 6.90066264e-01 5.21900869e-03 1.64355342e+02] [ 6.90046678e-01 7.23746174e-01 -5.20163687e-03 -9.82573664e+01] [-7.36671169e-03 -1.63207385e-04 -9.99972852e-01 -4.01394862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4265599949999 meters 0.016820650199850927 Centerline is valid? [True, True] Translation: X:164.37, Y:-98.24, Z:-4.01 [[-7.71138263e-01 6.36633355e-01 6.61442447e-03 1.64367814e+02] [ 6.36607700e-01 7.71166604e-01 -5.71877689e-03 -9.82374982e+01] [-8.74158738e-03 -1.99174123e-04 -9.99961772e-01 -4.01308342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.486559995 meters 0.017528828624036725 Centerline is valid? [True, True] Translation: X:164.38, Y:-98.22, Z:-4.01 [[-8.14457974e-01 5.80158494e-01 8.62154573e-03 1.64377874e+02] [ 5.80122724e-01 8.14503567e-01 -6.44703462e-03 -9.82179253e+01] [-1.07625816e-02 -2.49284157e-04 -9.99942051e-01 -4.01117803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5465599949999 meters 0.015178047788040244 Centerline is valid? [True, True] Translation: X:164.39, Y:-98.21, Z:-4.01 [[-8.51697168e-01 5.23953019e-01 9.22864993e-03 1.64387045e+02] [ 5.23919484e-01 8.51747138e-01 -5.93196641e-03 -9.82060154e+01] [-1.09685479e-02 -2.17169482e-04 -9.99939820e-01 -4.01226370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.606559995 meters 0.01336224708258863 Centerline is valid? [True, True] Translation: X:164.39, Y:-98.19, Z:-4.01 [[-8.83883932e-01 4.67608637e-01 9.55804869e-03 1.64389542e+02] [ 4.67579458e-01 8.83935597e-01 -5.22594406e-03 -9.81885681e+01] [-1.08923961e-02 -1.49980759e-04 -9.99940665e-01 -4.01322875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.666559995 meters 0.012318055759483956 Centerline is valid? [True, True] Translation: X:164.41, Y:-98.19, Z:-4.01 [[-9.09577630e-01 4.15424757e-01 9.52926235e-03 1.64406550e+02] [ 4.15401829e-01 9.09627545e-01 -4.36452704e-03 -9.81853889e+01] [-1.04812121e-02 -1.14031437e-05 -9.99945071e-01 -4.01408501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.726559995 meters 0.013074580459550409 Centerline is valid? [True, True] Translation: X:164.42, Y:-98.17, Z:-4.01 [[-9.33155338e-01 3.59345147e-01 9.60105958e-03 1.64416895e+02] [ 3.59327136e-01 9.33204724e-01 -3.59898334e-03 -9.81736847e+01] [-1.02530314e-02 9.15107237e-05 -9.99947432e-01 -4.01471807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.786559995 meters 0.015662371274683288 Centerline is valid? [True, True] Translation: X:164.66, Y:-97.56, Z:-5.02 [[-9.19887176e-01 -3.92052351e-01 1.01260757e-02 1.64660129e+02] [ 3.92027866e-01 -9.19942906e-01 -4.38193755e-03 -9.75558477e+01] [ 1.10333605e-02 -6.11842899e-05 9.99939129e-01 -5.02458199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8465599949999 meters 0.019013999813147622 Centerline is valid? [True, True] Translation: X:164.37, Y:-98.19, Z:-4.02 [[-9.25803508e-01 3.77805344e-01 1.22877022e-02 1.64374945e+02] [ 3.77778132e-01 9.25884950e-01 -4.55434241e-03 -9.81920096e+01] [-1.30976534e-02 4.25599001e-04 -9.99914132e-01 -4.01509070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.906559995 meters 0.018876144359128107 Centerline is valid? [True, True] Translation: X:164.39, Y:-98.17, Z:-4.02 [[-9.49460908e-01 3.13580563e-01 1.38280004e-02 1.64385375e+02] [ 3.13555000e-01 9.49561465e-01 -4.03560474e-03 -9.81709199e+01] [-1.43960235e-02 5.04189730e-04 -9.99896245e-01 -4.01541096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9665599949999 meters 0.018361638678296866 Centerline is valid? [True, True] Translation: X:164.39, Y:-98.15, Z:-4.02 [[-9.70044278e-01 2.42558251e-01 1.34012715e-02 1.64392952e+02] [ 2.42541304e-01 9.70136745e-01 -2.90029230e-03 -9.81461861e+01] [-1.37045557e-02 4.36949912e-04 -9.99905993e-01 -4.01601915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.026559995 meters 0.016912911465923722 Centerline is valid? [True, True] Translation: X:164.39, Y:-98.12, Z:-4.02 [[-9.85885313e-01 1.66964189e-01 1.23737331e-02 1.64392915e+02] [ 1.66955105e-01 9.85962909e-01 -1.77085156e-03 -9.81157293e+01] [-1.24957107e-02 3.20001363e-04 -9.99921874e-01 -4.01751278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0865599949999 meters 0.01422848024121201 Centerline is valid? [True, True] Translation: X:164.39, Y:-98.08, Z:-4.02 [[-9.96293790e-01 8.52522439e-02 1.14341564e-02 1.64386034e+02] [ 8.52485067e-02 9.96359387e-01 -8.14726877e-04 -9.80820589e+01] [-1.14619863e-02 1.63037429e-04 -9.99934296e-01 -4.01899385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.146559995 meters 0.012735069438355114 Centerline is valid? [True, True] Translation: X:164.43, Y:-97.38, Z:-5.02 [[-9.90680809e-01 -1.35659678e-01 1.21649661e-02 1.64433080e+02] [ 1.35648066e-01 -9.90755489e-01 -1.77849191e-03 -9.73849575e+01] [ 1.22937765e-02 -1.11763692e-04 9.99924422e-01 -5.02200662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2065599949999 meters 0.012966619334757025 Centerline is valid? [True, True] Translation: X:164.32, Y:-98.06, Z:-4.01 [[-9.97998188e-01 6.20163147e-02 1.23932789e-02 1.64323501e+02] [ 6.20107594e-02 9.98075134e-01 -8.32388215e-04 -9.80625729e+01] [-1.24210452e-02 -6.22052930e-05 -9.99922854e-01 -4.01480384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.266559995 meters 0.014559230761906489 Centerline is valid? [True, True] Translation: X:164.31, Y:-98.03, Z:-4.01 [[-9.99747503e-01 -1.83590297e-02 1.29567459e-02 1.64314755e+02] [-1.83599024e-02 9.99831441e-01 5.16000466e-05 -9.80269630e+01] [-1.29555093e-02 -1.86297572e-04 -9.99916057e-01 -4.01439118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3265599949999 meters 0.01485714211458637 Centerline is valid? [True, True] Translation: X:164.31, Y:-97.37, Z:-5.02 [[-9.96561637e-01 -8.18059505e-02 1.31411531e-02 1.64309378e+02] [ 8.18015368e-02 -9.96648255e-01 -8.73920031e-04 -9.73698077e+01] [ 1.31685992e-02 2.04051344e-04 9.99913269e-01 -5.02486618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.386559995 meters 0.015215727436502492 Centerline is valid? [True, True] Translation: X:164.25, Y:-98.02, Z:-4.01 [[-9.99513905e-01 -2.80736441e-02 1.35582151e-02 1.64247411e+02] [-2.80747075e-02 9.99605821e-01 1.11932925e-04 -9.80248578e+01] [-1.35560131e-02 -2.68764407e-04 -9.99908077e-01 -4.01469949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4465599949999 meters 0.015036161001620562 Centerline is valid? [True, True] Translation: X:164.25, Y:-97.37, Z:-5.03 [[-9.96786091e-01 -7.90353057e-02 1.30731994e-02 1.64248488e+02] [ 7.90315273e-02 -9.96871791e-01 -8.06198365e-04 -9.73697062e+01] [ 1.30960219e-02 2.29587600e-04 9.99914217e-01 -5.02505384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.506559995 meters 0.014375660084524816 Centerline is valid? [True, True] Translation: X:164.19, Y:-98.03, Z:-4.01 [[-9.99484758e-01 -2.94664628e-02 1.27257771e-02 1.64190987e+02] [-2.94667729e-02 9.99565747e-01 1.63171578e-04 -9.80311828e+01] [-1.27250590e-02 -2.11900078e-04 -9.99919011e-01 -4.01424101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5665599949999 meters 0.01409836078362543 Centerline is valid? [True, True] Translation: X:164.18, Y:-98.01, Z:-4.01 [[-9.95105554e-01 -9.80356204e-02 1.24078072e-02 1.64184913e+02] [-9.80302213e-02 9.95182891e-01 1.04405519e-03 -9.80063525e+01] [-1.24503920e-02 -1.77394968e-04 -9.99922475e-01 -4.01388691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.626559995 meters 0.013693832951475828 Centerline is valid? [True, True] Translation: X:164.13, Y:-97.34, Z:-5.03 [[-9.99902614e-01 3.87541187e-03 1.34068211e-02 1.64131113e+02] [-3.87167594e-03 -9.99992459e-01 3.04602291e-04 -9.73384465e+01] [ 1.34079005e-02 2.52665760e-04 9.99910078e-01 -5.02700846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6865599949999 meters 0.014080259650352419 Centerline is valid? [True, True] Translation: X:164.11, Y:-98.01, Z:-4.01 [[-9.94632139e-01 -1.02324013e-01 1.53852059e-02 1.64109892e+02] [-1.02315003e-01 9.94751101e-01 1.37373285e-03 -9.80145463e+01] [-1.54450164e-02 -2.07778539e-04 -9.99880697e-01 -4.01056152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.746559995 meters 0.01498020492244446 Centerline is valid? [True, True] Translation: X:164.05, Y:-97.35, Z:-5.03 [[-9.99814727e-01 5.71258627e-03 1.83814671e-02 1.64052329e+02] [-5.70337088e-03 -9.99983582e-01 5.53725543e-04 -9.73489838e+01] [ 1.83843285e-02 4.48786628e-04 9.99830893e-01 -5.03317819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8065599949999 meters 0.014377982019476602 Centerline is valid? [True, True] Translation: X:164.03, Y:-98.02, Z:-4.01 [[-9.93650681e-01 -1.10898180e-01 1.89714757e-02 1.64032651e+02] [-1.10884203e-01 9.93831720e-01 1.79034684e-03 -9.80191891e+01] [-1.90530006e-02 -3.24657613e-04 -9.99818422e-01 -4.00857017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.866559995 meters 0.014578610223468512 Centerline is valid? [True, True] Translation: X:163.97, Y:-97.36, Z:-5.03 [[-9.99816104e-01 1.06222890e-02 1.59663586e-02 1.63969447e+02] [-1.06197922e-02 -9.99943579e-01 2.41160250e-04 -9.73552571e+01] [ 1.59680195e-02 7.15564912e-05 9.99872501e-01 -5.02936965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9265599949999 meters 0.01435918170110337 Centerline is valid? [True, True] Translation: X:163.96, Y:-98.03, Z:-4.01 [[-9.93645530e-01 -1.11838387e-01 1.26781843e-02 1.63955500e+02] [-1.11831375e-01 9.93726395e-01 1.26293149e-03 -9.80275845e+01] [-1.27398906e-02 -1.62912558e-04 -9.99918831e-01 -4.01223017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.986559995 meters 0.013506559677107116 Centerline is valid? [True, True] Translation: X:163.95, Y:-98.00, Z:-4.01 [[-9.83842044e-01 -1.78663552e-01 1.15830489e-02 1.63953767e+02] [-1.78652448e-01 9.83910221e-01 1.99477672e-03 -9.80042187e+01] [-1.17530741e-02 -1.06794829e-04 -9.99930925e-01 -4.01302547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0465599949999 meters 0.01274896061231013 Centerline is valid? [True, True] Translation: X:163.94, Y:-97.99, Z:-4.01 [[-9.69769657e-01 -2.43735673e-01 1.18208842e-02 1.63940715e+02] [-2.43718209e-01 9.69841698e-01 2.91816289e-03 -9.79855800e+01] [-1.21756468e-02 -5.10189074e-05 -9.99925873e-01 -4.01479238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.106559995 meters 0.012664235054675083 Centerline is valid? [True, True] Translation: X:163.91, Y:-97.96, Z:-4.01 [[-9.49942075e-01 -3.12232115e-01 1.10072715e-02 1.63914972e+02] [-3.12211662e-01 9.50005844e-01 3.57403990e-03 -9.79638795e+01] [-1.15729023e-02 -4.14676555e-05 -9.99933031e-01 -4.01495500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.166559995 meters 0.012776948806538235 Centerline is valid? [True, True] Translation: X:163.88, Y:-97.95, Z:-4.01 [[-9.24769207e-01 -3.80363525e-01 1.12027892e-02 1.63877061e+02] [-3.80336227e-01 9.24837060e-01 4.55716076e-03 -9.79478220e+01] [-1.20941324e-02 -4.65046501e-05 -9.99926862e-01 -4.01410774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.226559995 meters 0.01284412660580804 Centerline is valid? [True, True] Translation: X:163.82, Y:-97.94, Z:-4.01 [[-8.94002762e-01 -4.47918247e-01 1.13272289e-02 1.63815240e+02] [-4.47883105e-01 8.94074516e-01 5.61097736e-03 -9.79442953e+01] [-1.26406458e-02 -5.70451821e-05 -9.99920102e-01 -4.01354729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.286559995 meters 0.012788544068607669 Centerline is valid? [True, True] Translation: X:163.75, Y:-97.95, Z:-4.01 [[-8.58716589e-01 -5.12334597e-01 1.09123934e-02 1.63745800e+02] [-5.12294026e-01 8.58785921e-01 6.44770875e-03 -9.79504512e+01] [-1.26747941e-02 -5.35994773e-05 -9.99919670e-01 -4.01356997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3465599949999 meters 0.012714106867509213 Centerline is valid? [True, True] Translation: X:163.68, Y:-97.96, Z:-4.01 [[-8.19431620e-01 -5.73099975e-01 9.39356374e-03 1.63676001e+02] [-5.73062677e-01 8.19485459e-01 6.53843723e-03 -9.79640658e+01] [-1.14450671e-02 -2.52985743e-05 -9.99934503e-01 -4.01442291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.406559995 meters 0.012673217082219808 Centerline is valid? [True, True] Translation: X:163.60, Y:-97.99, Z:-4.02 [[-7.75516564e-01 -6.31280360e-01 7.69196289e-03 1.63599825e+02] [-6.31249347e-01 7.75554710e-01 6.25737028e-03 -9.79903581e+01] [-9.91569301e-03 -2.85225207e-06 -9.99950838e-01 -4.01557034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4665599949999 meters 0.012596941616962253 Centerline is valid? [True, True] Translation: X:163.52, Y:-98.03, Z:-4.02 [[-7.26821107e-01 -6.86790141e-01 7.09793010e-03 1.63516940e+02] [-6.86757273e-01 7.26855764e-01 6.71910119e-03 -9.80278555e+01] [-9.77378387e-03 9.02945062e-06 -9.99952235e-01 -4.01562229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.526559995 meters 0.012864147250970582 Centerline is valid? [True, True] Translation: X:163.44, Y:-98.07, Z:-4.01 [[-6.74647149e-01 -7.38111053e-01 6.58014182e-03 1.63436740e+02] [-7.38075491e-01 6.74679237e-01 7.24546610e-03 -9.80737254e+01] [-9.78744367e-03 3.14916435e-05 -9.99952101e-01 -4.01427849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5865599949999 meters 0.012886596111803513 Centerline is valid? [True, True] Translation: X:163.35, Y:-98.13, Z:-4.01 [[-6.18044830e-01 -7.86117316e-01 6.33674064e-03 1.63354737e+02] [-7.86075186e-01 6.18077312e-01 8.13868306e-03 -9.81316627e+01] [-1.03145553e-02 4.89164119e-05 -9.99946802e-01 -4.01479958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.646559995 meters 0.012892165132729934 Centerline is valid? [True, True] Translation: X:163.27, Y:-98.20, Z:-4.02 [[-5.57626664e-01 -8.30073801e-01 5.47613962e-03 1.63272937e+02] [-8.30032726e-01 5.57653549e-01 8.25789516e-03 -9.82013232e+01] [-9.90845112e-03 5.94474303e-05 -9.99950908e-01 -4.01547744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7065599949999 meters 0.012717863364483445 Centerline is valid? [True, True] Translation: X:163.20, Y:-98.27, Z:-4.02 [[-4.91916314e-01 -8.70628897e-01 4.86453875e-03 1.63195062e+02] [-8.70585328e-01 4.91940363e-01 8.71012489e-03 -9.82739518e+01] [-9.97634939e-03 4.96564634e-05 -9.99950234e-01 -4.01524903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.766559995 meters 0.012788276744431518 Centerline is valid? [True, True] Translation: X:163.12, Y:-98.36, Z:-4.01 [[-4.22654009e-01 -9.06282107e-01 4.04124137e-03 1.63120371e+02] [-9.06239942e-01 4.22673328e-01 8.74216746e-03 -9.83592463e+01] [-9.63099488e-03 3.25777865e-05 -9.99953620e-01 -4.01437803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8265599949999 meters 0.012595972165105456 Centerline is valid? [True, True] Translation: X:163.05, Y:-98.45, Z:-4.01 [[-3.49730578e-01 -9.36842819e-01 3.74906852e-03 1.63052307e+02] [-9.36788732e-01 3.49750672e-01 1.00667189e-02 -9.84479564e+01] [-1.07421725e-02 8.55426196e-06 -9.99942301e-01 -4.01448404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.886559995 meters 0.012523805613705056 Centerline is valid? [True, True] Translation: X:162.99, Y:-98.54, Z:-4.01 [[-2.75978906e-01 -9.61158726e-01 3.08990648e-03 1.62990809e+02] [-9.61098638e-01 2.75996203e-01 1.07472552e-02 -9.85415378e+01] [-1.11826206e-02 -3.68917832e-06 -9.99937473e-01 -4.01380640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9465599949999 meters 0.012611144528126155 Centerline is valid? [True, True] Translation: X:162.94, Y:-98.64, Z:-4.01 [[-2.00485278e-01 -9.79693841e-01 2.37285391e-03 1.62935473e+02] [-9.79626338e-01 2.00499318e-01 1.15005293e-02 -9.86411488e+01] [-1.17427533e-02 -1.88233797e-05 -9.99931051e-01 -4.01288679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.006559995 meters 0.012718940864857213 Centerline is valid? [True, True] Translation: X:162.89, Y:-98.76, Z:-4.01 [[-1.23559171e-01 -9.92335936e-01 1.58774386e-03 1.62887375e+02] [-9.92257776e-01 1.23569367e-01 1.24545960e-02 -9.87551422e+01] [-1.25553397e-02 -3.65716270e-05 -9.99921178e-01 -4.01300627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0665599949999 meters 0.012596735762194526 Centerline is valid? [True, True] Translation: X:162.85, Y:-98.86, Z:-4.01 [[-4.63613506e-02 -9.98924545e-01 6.14952105e-04 1.62849238e+02] [-9.98849060e-01 4.63654071e-02 1.22802637e-02 -9.88640304e+01] [-1.22955693e-02 -4.49147213e-05 -9.99924406e-01 -4.01339600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.126559995 meters 0.012713836824609418 Centerline is valid? [True, True] Translation: X:162.82, Y:-98.98, Z:-4.01 [[ 2.90508438e-02 -9.99577883e-01 -3.23727450e-04 1.62821238e+02] [-9.99504902e-01 -2.90526346e-02 1.20787290e-02 -9.89754629e+01] [-1.20830355e-02 -2.73300953e-05 -9.99926997e-01 -4.01384310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1865599949999 meters 0.012569724884341521 Centerline is valid? [True, True] Translation: X:162.80, Y:-99.09, Z:-4.02 [[ 1.03483598e-01 -9.94630395e-01 -1.23394411e-03 1.62803628e+02] [-9.94559624e-01 -1.03490954e-01 1.18648991e-02 -9.90929107e+01] [-1.19288913e-02 -5.91447119e-07 -9.99928848e-01 -4.01531982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.246559995 meters 0.012795990801571412 Centerline is valid? [True, True] Translation: X:162.80, Y:-99.21, Z:-4.02 [[ 1.76618013e-01 -9.84277140e-01 -2.14245109e-03 1.62796468e+02] [-9.84207089e-01 -1.76631003e-01 1.17428810e-02 -9.92098254e+01] [-1.19366726e-02 3.46112478e-05 -9.99928755e-01 -4.01607866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3065599949999 meters 0.012841268044264342 Centerline is valid? [True, True] Translation: X:162.80, Y:-99.33, Z:-4.02 [[ 2.51146053e-01 -9.67944525e-01 -3.00945254e-03 1.62795789e+02] [-9.67876953e-01 -2.51164080e-01 1.14371912e-02 -9.93303001e+01] [-1.18264330e-02 4.03743155e-05 -9.99930065e-01 -4.01593770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.366559995 meters 0.012632945616219292 Centerline is valid? [True, True] Translation: X:162.80, Y:-99.45, Z:-4.02 [[ 3.25780501e-01 -9.45437593e-01 -3.85001318e-03 1.62801807e+02] [-9.45372534e-01 -3.25803249e-01 1.10912337e-02 -9.94485748e+01] [-1.17404161e-02 2.63890296e-05 -9.99931079e-01 -4.01647314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4265599949999 meters 0.012702577236105737 Centerline is valid? [True, True] Translation: X:162.82, Y:-99.57, Z:-4.02 [[ 3.99867266e-01 -9.16560469e-01 -4.80382090e-03 1.62817813e+02] [-9.16494135e-01 -3.99896121e-01 1.10269226e-02 -9.95677593e+01] [-1.20278707e-02 -6.63172286e-06 -9.99927663e-01 -4.01715621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.486559995 meters 0.013088275634511414 Centerline is valid? [True, True] Translation: X:162.84, Y:-99.69, Z:-4.02 [[ 4.74012158e-01 -8.80498239e-01 -5.94343280e-03 1.62841587e+02] [-8.80426865e-01 -4.74049411e-01 1.12111926e-02 -9.96885381e+01] [-1.26889162e-02 -8.14837076e-05 -9.99919489e-01 -4.01621079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5465599949999 meters 0.013946897276896434 Centerline is valid? [True, True] Translation: X:162.87, Y:-99.80, Z:-4.01 [[ 5.45126874e-01 -8.38320312e-01 -7.46631484e-03 1.62870028e+02] [-8.38237231e-01 -5.45177974e-01 1.18034448e-02 -9.98013624e+01] [-1.39655379e-02 -1.75831858e-04 -9.99902462e-01 -4.01464188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.606559995 meters 0.014232953546286634 Centerline is valid? [True, True] Translation: X:162.91, Y:-99.90, Z:-4.01 [[ 6.09457422e-01 -7.92773881e-01 -8.43948650e-03 1.62907052e+02] [-7.92693018e-01 -6.09515815e-01 1.13247350e-02 -9.99037939e+01] [-1.41219546e-02 -2.12021785e-04 -9.99900258e-01 -4.01489399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.666559995 meters 0.014472079845449688 Centerline is valid? [True, True] Translation: X:162.96, Y:-100.00, Z:-4.02 [[ 6.69345186e-01 -7.42902148e-01 -8.56857114e-03 1.62956346e+02] [-7.42837086e-01 -6.69399994e-01 9.83421831e-03 -1.00004978e+02] [-1.30416634e-02 -2.17434272e-04 -9.99914930e-01 -4.01649376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.726559995 meters 0.014485981766007482 Centerline is valid? [True, True] Translation: X:163.01, Y:-100.10, Z:-4.02 [[ 7.23565664e-01 -6.90206069e-01 -8.26513807e-03 1.63005736e+02] [-6.90158043e-01 -7.23612843e-01 8.14427438e-03 -1.00095498e+02] [-1.16019877e-02 -1.88665780e-04 -9.99932677e-01 -4.01742272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.786559995 meters 0.014466992383850132 Centerline is valid? [True, True] Translation: X:163.03, Y:-100.12, Z:-4.02 [[ 7.74654211e-01 -6.32339412e-01 -7.59746826e-03 1.63026777e+02] [-6.32307078e-01 -7.74691452e-01 6.39637719e-03 -1.00121442e+02] [-9.93037511e-03 -1.51047561e-04 -9.99950681e-01 -4.01755601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8465599949999 meters 0.014153782277218373 Centerline is valid? [True, True] Translation: X:163.05, Y:-100.15, Z:-4.02 [[ 8.21479315e-01 -5.70187744e-01 -7.59425891e-03 1.63050903e+02] [-5.70161822e-01 -8.21514405e-01 5.43860790e-03 -1.00146190e+02] [-9.33982066e-03 -1.37747388e-04 -9.99956373e-01 -4.01881379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.906559995 meters 0.014178895836187746 Centerline is valid? [True, True] Translation: X:163.08, Y:-100.17, Z:-4.02 [[ 8.63696986e-01 -5.03947048e-01 -8.05536994e-03 1.63076032e+02] [-5.03923591e-01 -8.63734538e-01 4.86430821e-03 -1.00170387e+02] [-9.40905500e-03 -1.41997394e-04 -9.99955724e-01 -4.01843673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9665599949999 meters 0.014596519827756213 Centerline is valid? [True, True] Translation: X:163.10, Y:-100.20, Z:-4.02 [[ 9.01248998e-01 -4.33189815e-01 -9.84013936e-03 1.63101282e+02] [-4.33161724e-01 -9.01302696e-01 4.93677835e-03 -1.00195611e+02] [-1.10075062e-02 -1.86894809e-04 -9.99939398e-01 -4.01564565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.026559995 meters 0.015917744942279224 Centerline is valid? [True, True] Translation: X:163.13, Y:-100.22, Z:-4.01 [[ 9.32892924e-01 -3.59984193e-01 -1.10532196e-02 1.63128386e+02] [-3.59956119e-01 -9.32958377e-01 4.50109484e-03 -1.00217295e+02] [-1.19325168e-02 -2.20365506e-04 -9.99928781e-01 -4.01366471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0865599949999 meters 0.014920878834698626 Centerline is valid? [True, True] Translation: X:163.16, Y:-100.23, Z:-4.02 [[ 9.57801488e-01 -2.87268688e-01 -9.64416846e-03 1.63159809e+02] [-2.87252304e-01 -9.57850025e-01 3.07294444e-03 -1.00232341e+02] [-1.01204277e-02 -1.72961147e-04 -9.99948772e-01 -4.01633178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.146559995 meters 0.014439160397511802 Centerline is valid? [True, True] Translation: X:163.19, Y:-100.25, Z:-4.02 [[ 9.76945263e-01 -2.13274982e-01 -9.57785228e-03 1.63191400e+02] [-2.13263223e-01 -9.76992200e-01 2.24459165e-03 -1.00246001e+02] [-9.83620222e-03 -1.50239541e-04 -9.99951612e-01 -4.01638450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2065599949999 meters 0.013536771010925175 Centerline is valid? [True, True] Translation: X:163.22, Y:-100.26, Z:-4.02 [[ 9.90013492e-01 -1.40737035e-01 -8.14693836e-03 1.63223336e+02] [-1.40731537e-01 -9.90047009e-01 1.24716970e-03 -1.00255230e+02] [-8.24137492e-03 -8.81836787e-05 -9.99966035e-01 -4.01760766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.266559995 meters 0.013147264459589964 Centerline is valid? [True, True] Translation: X:163.25, Y:-100.26, Z:-4.02 [[ 9.97782586e-01 -6.61432889e-02 -7.41464274e-03 1.63252099e+02] [-6.61410579e-02 -9.97810133e-01 5.45965960e-04 -1.00263033e+02] [-7.43451765e-03 -5.43430128e-05 -9.99972362e-01 -4.01856999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3265599949999 meters 0.012953632321238834 Centerline is valid? [True, True] Translation: X:163.28, Y:-100.27, Z:-4.02 [[ 9.99920691e-01 1.04053613e-02 -7.09508414e-03 1.63280956e+02] [ 1.04053780e-02 -9.99945862e-01 -3.45684839e-05 -1.00269870e+02] [-7.09505972e-03 -3.92612899e-05 -9.99974829e-01 -4.01794532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.386559995 meters 0.01278070696954758 Centerline is valid? [True, True] Translation: X:163.31, Y:-100.28, Z:-4.02 [[ 9.96210206e-01 8.66548347e-02 -7.49431325e-03 1.63310578e+02] [ 8.66525815e-02 -9.96238395e-01 -6.25459138e-04 -1.00277258e+02] [-7.52032166e-03 -2.63128128e-05 -9.99971722e-01 -4.01742199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4465599949999 meters 0.012778836132430017 Centerline is valid? [True, True] Translation: X:163.34, Y:-100.28, Z:-4.02 [[ 9.86408805e-01 1.64065665e-01 -8.95141504e-03 1.63341190e+02] [ 1.64059172e-01 -9.86449419e-01 -1.45994669e-03 -1.00282584e+02] [-9.06964529e-03 -2.84574716e-05 -9.99958870e-01 -4.01601955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.506559995 meters 0.01292938552803122 Centerline is valid? [True, True] Translation: X:163.37, Y:-100.28, Z:-4.01 [[ 9.70550372e-01 2.40729084e-01 -9.02677645e-03 1.63370931e+02] [ 2.40718946e-01 -9.70592349e-01 -2.20952653e-03 -1.00284983e+02] [-9.29321746e-03 -2.84593150e-05 -9.99956817e-01 -4.01405483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5665599949999 meters 0.012860196437712598 Centerline is valid? [True, True] Translation: X:163.40, Y:-100.28, Z:-4.01 [[ 9.48995222e-01 3.15172571e-01 -8.62081388e-03 1.63400561e+02] [ 3.15159762e-01 -9.49034378e-01 -2.84155912e-03 -1.00279107e+02] [-9.07703023e-03 -2.03076148e-05 -9.99958803e-01 -4.01377499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.626559995 meters 0.012686145711845388 Centerline is valid? [True, True] Translation: X:163.43, Y:-100.28, Z:-4.02 [[ 9.21289621e-01 3.88792814e-01 -8.09820704e-03 1.63432239e+02] [ 3.88778006e-01 -9.21325212e-01 -3.39333498e-03 -1.00277303e+02] [-8.78038657e-03 -2.21604866e-05 -9.99961451e-01 -4.01523057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6865599949999 meters 0.012746693276646374 Centerline is valid? [True, True] Translation: X:163.46, Y:-100.27, Z:-4.02 [[ 8.87153489e-01 4.61416368e-01 -7.32269625e-03 1.63462906e+02] [ 4.61400989e-01 -8.87183709e-01 -3.76735011e-03 -1.00273576e+02] [-8.23489382e-03 -3.64815038e-05 -9.99966092e-01 -4.01541430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.746559995 meters 0.013022025729168062 Centerline is valid? [True, True] Translation: X:163.49, Y:-100.27, Z:-4.01 [[ 8.46741968e-01 5.31957267e-01 -7.03602085e-03 1.63493603e+02] [ 5.31939501e-01 -8.46771198e-01 -4.34801884e-03 -1.00266605e+02] [-8.27086002e-03 -6.10873884e-05 -9.99965794e-01 -4.01444280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8065599949999 meters 0.012995958762613393 Centerline is valid? [True, True] Translation: X:163.52, Y:-100.26, Z:-4.01 [[ 8.01519635e-01 5.97932327e-01 -6.57319279e-03 1.63523955e+02] [ 5.97912969e-01 -8.01546584e-01 -4.81188864e-03 -1.00257017e+02] [-8.14590400e-03 -7.33739903e-05 -9.99966819e-01 -4.01462740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.866559995 meters 0.013245579193161147 Centerline is valid? [True, True] Translation: X:163.55, Y:-100.25, Z:-4.02 [[ 7.51065945e-01 6.60204046e-01 -5.52848018e-03 1.63553847e+02] [ 6.60186934e-01 -7.51086288e-01 -4.75408909e-03 -1.00245381e+02] [-7.29103451e-03 -7.91959637e-05 -9.99973417e-01 -4.01511867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9265599949999 meters 0.013340954304660405 Centerline is valid? [True, True] Translation: X:163.58, Y:-100.23, Z:-4.01 [[ 6.96620268e-01 7.17425546e-01 -4.55943726e-03 1.63582359e+02] [ 7.17410874e-01 -6.96635185e-01 -4.58882745e-03 -1.00230595e+02] [-6.46840645e-03 -7.43196610e-05 -9.99979077e-01 -4.01482139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.986559995 meters 0.013293857718611945 Centerline is valid? [True, True] Translation: X:163.61, Y:-100.21, Z:-4.01 [[ 6.38186251e-01 7.69871938e-01 -3.93803218e-03 1.63609756e+02] [ 7.69857963e-01 -6.38198397e-01 -4.63931036e-03 -1.00213700e+02] [-6.08492068e-03 -7.09813493e-05 -9.99981484e-01 -4.01447569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0465599949999 meters 0.013573297080078725 Centerline is valid? [True, True] Translation: X:163.64, Y:-100.20, Z:-4.01 [[ 5.74845354e-01 8.18253962e-01 -3.64319008e-03 1.63635580e+02] [ 8.18238414e-01 -5.74856893e-01 -5.04492913e-03 -1.00195599e+02] [-6.22234618e-03 -8.09440015e-05 -9.99980638e-01 -4.01376081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.106559995 meters 0.013957346150336168 Centerline is valid? [True, True] Translation: X:163.66, Y:-100.17, Z:-4.01 [[ 5.07772096e-01 8.61484284e-01 -3.51095066e-03 1.63658871e+02] [ 8.61465001e-01 -5.07784225e-01 -5.76490477e-03 -1.00174724e+02] [-6.74918022e-03 -9.73033338e-05 -9.99977219e-01 -4.01263637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.166559995 meters 0.014083119850012595 Centerline is valid? [True, True] Translation: X:163.68, Y:-100.15, Z:-4.01 [[ 4.38282004e-01 8.98831281e-01 -3.34874260e-03 1.63679507e+02] [ 8.98806946e-01 -4.38294783e-01 -6.61494632e-03 -1.00151839e+02] [-7.41345708e-03 -1.10661182e-04 -9.99972514e-01 -4.01176917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.226559995 meters 0.01421317420855456 Centerline is valid? [True, True] Translation: X:163.70, Y:-100.13, Z:-4.01 [[ 3.65980021e-01 9.30615328e-01 -3.70614693e-03 1.63698334e+02] [ 9.30571723e-01 -3.65998755e-01 -9.00995314e-03 -1.00126863e+02] [-9.74124565e-03 -1.51372693e-04 -9.99952542e-01 -4.00862816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.286559995 meters 0.014024379107533142 Centerline is valid? [True, True] Translation: X:163.71, Y:-100.10, Z:-4.01 [[ 2.92772556e-01 9.56176884e-01 -3.16183899e-03 1.63713033e+02] [ 9.56126587e-01 -2.92789590e-01 -9.80845499e-03 -1.00100080e+02] [-1.03043715e-02 -1.51471886e-04 -9.99946897e-01 -4.00775085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3465599949999 meters 0.014127650372999357 Centerline is valid? [True, True] Translation: X:163.72, Y:-100.07, Z:-4.01 [[ 2.19760098e-01 9.75551186e-01 -2.32004421e-03 1.63721742e+02] [ 9.75502399e-01 -2.19772312e-01 -9.75708297e-03 -1.00072822e+02] [-1.00284153e-02 -1.18991179e-04 -9.99949707e-01 -4.00754610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.406559995 meters 0.013327021603058176 Centerline is valid? [True, True] Translation: X:163.73, Y:-100.05, Z:-4.01 [[ 1.44989244e-01 9.89432273e-01 -1.37725891e-03 1.63729209e+02] [ 9.89393040e-01 -1.44995760e-01 -8.81145713e-03 -1.00045043e+02] [-8.91803676e-03 -8.50838779e-05 -9.99960230e-01 -4.00999698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4665599949999 meters 0.012863690956388795 Centerline is valid? [True, True] Translation: X:163.74, Y:-100.02, Z:-4.01 [[ 7.11539840e-02 9.97465202e-01 -5.30398334e-04 1.63735421e+02] [ 9.97441281e-01 -7.11559509e-02 -6.90804888e-03 -1.00017095e+02] [-6.92827937e-03 -3.75059944e-05 -9.99975999e-01 -4.01148046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.526559995 meters 0.0128142147340154 Centerline is valid? [True, True] Translation: X:163.74, Y:-99.99, Z:-4.01 [[-5.24514005e-03 9.99986244e-01 1.00964253e-05 1.63741466e+02] [ 9.99970001e-01 5.24511240e-03 -5.69961893e-03 -9.99895875e+01] [-5.69959349e-03 -1.97991771e-05 -9.99983757e-01 -4.01282858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5865599949999 meters 0.012858944985100016 Centerline is valid? [True, True] Translation: X:163.75, Y:-99.96, Z:-4.01 [[-8.35357213e-02 9.96504699e-01 4.10050885e-04 1.63750148e+02] [ 9.96491634e-01 8.35367259e-02 -5.10280516e-03 -9.99606781e+01] [-5.11922363e-03 -1.76542332e-05 -9.99986897e-01 -4.01343101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.646559995 meters 0.013060501125419777 Centerline is valid? [True, True] Translation: X:163.76, Y:-99.93, Z:-4.01 [[-1.62611264e-01 9.86689768e-01 9.37650930e-04 1.63757662e+02] [ 9.86672348e-01 1.62613965e-01 -5.86302521e-03 -9.99322382e+01] [-5.93746212e-03 -2.82396981e-05 -9.99982373e-01 -4.01179998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7065599949999 meters 0.013072443029388068 Centerline is valid? [True, True] Translation: X:163.76, Y:-99.90, Z:-4.01 [[-2.40074888e-01 9.70753111e-01 1.56385398e-03 1.63759791e+02] [ 9.70731519e-01 2.40079979e-01 -6.47467809e-03 -9.99027622e+01] [-6.66076393e-03 -3.63252631e-05 -9.99977816e-01 -4.01202474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.766559995 meters 0.013080361798501102 Centerline is valid? [True, True] Translation: X:163.76, Y:-99.87, Z:-4.01 [[-3.15724691e-01 9.48848189e-01 2.24364076e-03 1.63762907e+02] [ 9.48823274e-01 3.15732660e-01 -6.87623599e-03 -9.98725872e+01] [-7.23289474e-03 -4.21789130e-05 -9.99973841e-01 -4.01103573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8265599949999 meters 0.01299644200310993 Centerline is valid? [True, True] Translation: X:163.76, Y:-99.84, Z:-4.01 [[-3.88417941e-01 9.21478915e-01 2.84822492e-03 1.63762466e+02] [ 9.21453422e-01 3.88428382e-01 -6.85448997e-03 -9.98424930e+01] [-7.42259938e-03 -3.79002828e-05 -9.99972451e-01 -4.01116288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.886559995 meters 0.0129273142915524 Centerline is valid? [True, True] Translation: X:163.76, Y:-99.81, Z:-4.01 [[-4.56537718e-01 8.89698425e-01 3.16607880e-03 1.63757221e+02] [ 8.89676833e-01 4.56548696e-01 -6.19849520e-03 -9.98146732e+01] [-6.96026057e-03 -1.30598952e-05 -9.99975777e-01 -4.01164807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9465599949999 meters 0.012993570094803215 Centerline is valid? [True, True] Translation: X:163.75, Y:-99.79, Z:-4.01 [[-5.22568752e-01 8.52590011e-01 3.48893342e-03 1.63749707e+02] [ 8.52571075e-01 5.22580399e-01 -5.68235369e-03 -9.97866269e+01] [-6.66796622e-03 5.14323761e-06 -9.99977769e-01 -4.01233836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.006559995 meters 0.013103926974422052 Centerline is valid? [True, True] Translation: X:163.74, Y:-99.76, Z:-4.01 [[-5.85396903e-01 8.10737214e-01 3.95408112e-03 1.63742206e+02] [ 8.10719006e-01 5.85410257e-01 -5.43361410e-03 -9.97573903e+01] [-6.71999280e-03 2.48278423e-05 -9.99977420e-01 -4.01313130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0665599949999 meters 0.013185081550099249 Centerline is valid? [True, True] Translation: X:163.73, Y:-99.73, Z:-4.01 [[-6.46033178e-01 7.63296144e-01 4.48664539e-03 1.63732645e+02] [ 7.63278111e-01 6.46048756e-01 -5.24685168e-03 -9.97283101e+01] [-6.90349333e-03 3.49179574e-05 -9.99976170e-01 -4.01280788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.126559995 meters 0.01326350834202837 Centerline is valid? [True, True] Translation: X:163.72, Y:-99.70, Z:-4.01 [[-7.03783914e-01 7.10394110e-01 5.33023084e-03 1.63721448e+02] [ 7.10374147e-01 7.03804098e-01 -5.32570145e-03 -9.97005185e+01] [-7.53478525e-03 3.83151811e-05 -9.99971612e-01 -4.01259960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1865599949999 meters 0.013272038597101306 Centerline is valid? [True, True] Translation: X:164.20, Y:-99.23, Z:-5.03 [[-6.61311706e-01 -7.50097913e-01 4.46625862e-03 1.64203740e+02] [ 7.50080025e-01 -6.61326784e-01 -5.18086846e-03 -9.92259790e+01] [ 6.83981507e-03 -7.61175904e-05 9.99976605e-01 -5.02757007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.246559995 meters 0.013012288249183995 Centerline is valid? [True, True] Translation: X:164.16, Y:-99.19, Z:-5.03 [[-6.59358547e-01 -7.51810541e-01 5.21702724e-03 1.64162027e+02] [ 7.51786895e-01 -6.59379186e-01 -5.96275587e-03 -9.91857418e+01] [ 7.92286189e-03 -9.50133267e-06 9.99968614e-01 -5.02737708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3065599949999 meters 0.013140052287259207 Centerline is valid? [True, True] Translation: X:164.12, Y:-99.15, Z:-5.03 [[-6.56124443e-01 -7.54628204e-01 6.08183984e-03 1.64119633e+02] [ 7.54596229e-01 -6.56152629e-01 -6.94678367e-03 -9.91462407e+01] [ 9.23285409e-03 3.13788417e-05 9.99957376e-01 -5.02889989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.366559995 meters 0.013273513327331211 Centerline is valid? [True, True] Translation: X:164.08, Y:-99.10, Z:-5.03 [[-6.54168142e-01 -7.56321059e-01 6.51907136e-03 1.64079490e+02] [ 7.56284447e-01 -6.54200621e-01 -7.44195264e-03 -9.91047181e+01] [ 9.89328603e-03 6.19839445e-05 9.99951058e-01 -5.02888811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4265599949999 meters 0.013468743480801994 Centerline is valid? [True, True] Translation: X:164.04, Y:-99.06, Z:-5.03 [[-6.52543072e-01 -7.57718638e-01 7.07141822e-03 1.64038747e+02] [ 7.57675690e-01 -6.52581380e-01 -8.06791307e-03 -9.90632268e+01] [ 1.07278840e-02 9.31809029e-05 9.99942450e-01 -5.02888709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.486559995 meters 0.013633250608455723 Centerline is valid? [True, True] Translation: X:164.00, Y:-99.02, Z:-5.03 [[-6.51917786e-01 -7.58254425e-01 7.30938468e-03 1.63999550e+02] [ 7.58208630e-01 -6.51958753e-01 -8.33415049e-03 -9.90214026e+01] [ 1.10848238e-02 1.08857602e-04 9.99938556e-01 -5.02907718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5465599949999 meters 0.013628411313618817 Centerline is valid? [True, True] Translation: X:163.96, Y:-98.98, Z:-5.03 [[-6.51893726e-01 -7.58270793e-01 7.74438110e-03 1.63960837e+02] [ 7.58219446e-01 -6.51939714e-01 -8.82502051e-03 -9.89779017e+01] [ 1.17406249e-02 1.18964852e-04 9.99931069e-01 -5.02894800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.606559995 meters 0.013451556429945664 Centerline is valid? [True, True] Translation: X:163.92, Y:-98.93, Z:-5.03 [[-6.53032956e-01 -7.57290961e-01 7.63935048e-03 1.63922504e+02] [ 7.57240988e-01 -6.53077629e-01 -8.70036035e-03 -9.89344260e+01] [ 1.15777931e-02 1.03207268e-04 9.99932970e-01 -5.02903713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.666559995 meters 0.01332222118599777 Centerline is valid? [True, True] Translation: X:163.89, Y:-98.89, Z:-5.03 [[-6.55579950e-01 -7.55094850e-01 6.83343567e-03 1.63886359e+02] [ 7.55054791e-01 -6.55615561e-01 -7.77812187e-03 -9.88899861e+01] [ 1.03533265e-02 6.04375951e-05 9.99946401e-01 -5.02888306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.726559995 meters 0.012861523467262654 Centerline is valid? [True, True] Translation: X:163.85, Y:-98.85, Z:-5.03 [[-6.57322554e-01 -7.53578883e-01 6.77696410e-03 1.63850721e+02] [ 7.53539453e-01 -6.57357487e-01 -7.70891928e-03 -9.88453039e+01] [ 1.02641669e-02 3.94633152e-05 9.99947321e-01 -5.02677858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.786559995 meters 0.012847417864288295 Centerline is valid? [True, True] Translation: X:163.81, Y:-98.80, Z:-5.03 [[-6.59405394e-01 -7.51745300e-01 7.97056395e-03 1.63814852e+02] [ 7.51690692e-01 -6.59453564e-01 -9.06090383e-03 -9.88002993e+01] [ 1.20677087e-02 1.65898724e-05 9.99927182e-01 -5.02788637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8465599949999 meters 0.012999182208564473 Centerline is valid? [True, True] Translation: X:163.78, Y:-98.76, Z:-5.03 [[-6.60274770e-01 -7.50968150e-01 9.16875255e-03 1.63777807e+02] [ 7.50895873e-01 -6.60338427e-01 -1.04187279e-02 -9.87561886e+01] [ 1.38786125e-02 5.55526297e-06 9.99903687e-01 -5.02977351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.906559995 meters 0.012942226671369333 Centerline is valid? [True, True] Translation: X:163.74, Y:-98.71, Z:-5.03 [[-6.61184218e-01 -7.50160802e-01 9.70571009e-03 1.63740974e+02] [ 7.50079817e-01 -6.61255451e-01 -1.10226087e-02 -9.87109576e+01] [ 1.46866827e-02 -7.91767083e-06 9.99892145e-01 -5.02971723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9665599949999 meters 0.013136090494121129 Centerline is valid? [True, True] Translation: X:163.71, Y:-98.67, Z:-5.03 [[-6.61555721e-01 -7.49840122e-01 9.15532079e-03 1.63705482e+02] [ 7.49768101e-01 -6.61619068e-01 -1.03924429e-02 -9.86678877e+01] [ 1.38500055e-02 -1.08125672e-05 9.99904084e-01 -5.03046431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.026559995 meters 0.012759112939477159 Centerline is valid? [True, True] Translation: X:163.67, Y:-98.62, Z:-5.03 [[-6.61027522e-01 -7.50307612e-01 9.00565921e-03 1.63666891e+02] [ 7.50238050e-01 -6.61088864e-01 -1.02166998e-02 -9.86238431e+01] [ 1.36192086e-02 2.86847625e-06 9.99907254e-01 -5.02848503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0865599949999 meters 0.012761875921203394 Centerline is valid? [True, True] Translation: X:163.63, Y:-98.58, Z:-5.03 [[-6.60801716e-01 -7.50510945e-01 8.62639939e-03 1.63628783e+02] [ 7.50447209e-01 -6.60858020e-01 -9.78082648e-03 -9.85804466e+01] [ 1.30414425e-02 1.04704295e-05 9.99914957e-01 -5.02848091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.146559995 meters 0.012902477050656174 Centerline is valid? [True, True] Translation: X:163.59, Y:-98.54, Z:-5.03 [[-6.59089481e-01 -7.52014164e-01 8.70361582e-03 1.63591678e+02] [ 7.51949500e-01 -6.59146945e-01 -9.86176038e-03 -9.85383781e+01] [ 1.31531453e-02 4.48970398e-05 9.99913493e-01 -5.02901712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2065599949999 meters 0.013216825175990505 Centerline is valid? [True, True] Translation: X:163.55, Y:-98.50, Z:-5.03 [[-6.56909095e-01 -7.53921077e-01 8.57035544e-03 1.63554497e+02] [ 7.53858621e-01 -6.56964993e-01 -9.70447641e-03 -9.84964450e+01] [ 1.29468328e-02 8.58775191e-05 9.99916183e-01 -5.02926007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.266559995 meters 0.01324356142177248 Centerline is valid? [True, True] Translation: X:163.52, Y:-98.45, Z:-5.03 [[-6.55261659e-01 -7.55354837e-01 8.43968068e-03 1.63516466e+02] [ 7.55294468e-01 -6.55315998e-01 -9.55040949e-03 -9.84532300e+01] [ 1.27446058e-02 1.16426964e-04 9.99918777e-01 -5.02815795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3265599949999 meters 0.014240374770588959 Centerline is valid? [True, True] Translation: X:163.48, Y:-98.41, Z:-5.03 [[-6.52540508e-01 -7.57703212e-01 8.75948159e-03 1.63478106e+02] [ 7.57638469e-01 -6.52599274e-01 -9.90641381e-03 -9.84112863e+01] [ 1.32225529e-02 1.72183929e-04 9.99912563e-01 -5.02980791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.386559995 meters 0.014222334646282375 Centerline is valid? [True, True] Translation: X:163.44, Y:-98.37, Z:-5.03 [[-6.51171514e-01 -7.58880526e-01 8.71814173e-03 1.63441312e+02] [ 7.58816572e-01 -6.51229842e-01 -9.85408384e-03 -9.83667069e+01] [ 1.31555864e-02 1.98771725e-04 9.99913442e-01 -5.02840986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4465599949999 meters 0.015290749105619828 Centerline is valid? [True, True] Translation: X:163.40, Y:-98.32, Z:-5.03 [[-6.49754078e-01 -7.60097406e-01 8.46002196e-03 1.63402979e+02] [ 7.60037358e-01 -6.49809114e-01 -9.55666347e-03 -9.83239621e+01] [ 1.27613945e-02 2.20451682e-04 9.99918546e-01 -5.02889431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.506559995 meters 0.014605597670596512 Centerline is valid? [True, True] Translation: X:163.37, Y:-98.28, Z:-5.03 [[-6.49266215e-01 -7.60523904e-01 7.53481989e-03 1.63367384e+02] [ 7.60476363e-01 -6.49309901e-01 -8.50606313e-03 -9.82787713e+01] [ 1.13614975e-02 2.07353020e-04 9.99935435e-01 -5.02655528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5665599949999 meters 0.01484974928138934 Centerline is valid? [True, True] Translation: X:163.33, Y:-98.24, Z:-5.03 [[-6.49250664e-01 -7.60534895e-01 7.76206307e-03 1.63330459e+02] [ 7.60484509e-01 -6.49297025e-01 -8.75703234e-03 -9.82353444e+01] [ 1.16999131e-02 2.17419660e-04 9.99931530e-01 -5.02678727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.626559995 meters 0.015466710081652372 Centerline is valid? [True, True] Translation: X:163.29, Y:-98.19, Z:-5.03 [[-6.49428617e-01 -7.60372489e-01 8.72631470e-03 1.63293573e+02] [ 7.60308868e-01 -6.49487196e-01 -9.83906836e-03 -9.81914150e+01] [ 1.31489866e-02 2.44921892e-04 9.99913518e-01 -5.02905893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6865599949999 meters 0.014513184447533979 Centerline is valid? [True, True] Translation: X:163.26, Y:-98.15, Z:-5.03 [[-6.49793090e-01 -7.60046692e-01 9.89780104e-03 1.63256876e+02] [ 7.59964899e-01 -6.49868410e-01 -1.11535150e-02 -9.81464746e+01] [ 1.49094604e-02 2.74504378e-04 9.99888810e-01 -5.02957706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.746559995 meters 0.014523664940835228 Centerline is valid? [True, True] Translation: X:163.22, Y:-98.10, Z:-5.03 [[-6.50441758e-01 -7.59490704e-01 9.96941641e-03 1.63218201e+02] [ 7.59407766e-01 -6.50518100e-01 -1.12270478e-02 -9.81042403e+01] [ 1.50121242e-02 2.68311543e-04 9.99887276e-01 -5.02977559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8065599949999 meters 0.01376481013075453 Centerline is valid? [True, True] Translation: X:163.18, Y:-98.06, Z:-5.03 [[-6.52975709e-01 -7.57326912e-01 8.86975638e-03 1.63179860e+02] [ 7.57261138e-01 -6.53035918e-01 -9.98293500e-03 -9.80602127e+01] [ 1.33526148e-02 1.98107757e-04 9.99910830e-01 -5.02746806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.866559995 meters 0.013023807525203834 Centerline is valid? [True, True] Translation: X:163.14, Y:-98.02, Z:-5.03 [[-6.56418459e-01 -7.54359804e-01 7.48949089e-03 1.63142345e+02] [ 7.54312770e-01 -6.56461173e-01 -8.42458610e-03 -9.80158704e+01] [ 1.12717291e-02 1.19364795e-04 9.99936465e-01 -5.02629832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9265599949999 meters 0.012339053664395304 Centerline is valid? [True, True] Translation: X:163.11, Y:-97.97, Z:-5.03 [[-6.63575293e-01 -7.48068017e-01 7.87863509e-03 1.63108551e+02] [ 7.48015576e-01 -6.63622063e-01 -8.85755797e-03 -9.79676268e+01] [ 1.18544919e-02 1.56851316e-05 9.99929733e-01 -5.02546029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.986559995 meters 0.012496791911475885 Centerline is valid? [True, True] Translation: X:163.07, Y:-97.92, Z:-5.03 [[-6.67037596e-01 -7.44984546e-01 7.67278859e-03 1.63071908e+02] [ 7.44934668e-01 -6.67081723e-01 -8.62065463e-03 -9.79239488e+01] [ 1.15406315e-02 -3.45745196e-05 9.99933404e-01 -5.02562944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0465599949999 meters 0.012934898140872463 Centerline is valid? [True, True] Translation: X:163.03, Y:-97.88, Z:-5.03 [[-6.70666711e-01 -7.41718597e-01 7.72560902e-03 1.63034199e+02] [ 7.41667869e-01 -6.70711201e-01 -8.67511009e-03 -9.78799723e+01] [ 1.16161430e-02 -8.82715766e-05 9.99932526e-01 -5.02515635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.106559995 meters 0.013517935639783436 Centerline is valid? [True, True] Translation: X:163.00, Y:-97.84, Z:-5.03 [[-6.74268499e-01 -7.38445553e-01 7.75607768e-03 1.62995168e+02] [ 7.38394264e-01 -6.74313091e-01 -8.70435084e-03 -9.78368509e+01] [ 1.16577139e-02 -1.42026302e-04 9.99932036e-01 -5.02519326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.166559995 meters 0.013743748976092016 Centerline is valid? [True, True] Translation: X:162.96, Y:-97.79, Z:-5.03 [[-6.75878279e-01 -7.36967745e-01 8.19114682e-03 1.62955256e+02] [ 7.36910497e-01 -6.75927890e-01 -9.18733946e-03 -9.77944140e+01] [ 1.23073974e-02 -1.73381110e-04 9.99924246e-01 -5.02569593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.226559995 meters 0.01358934646053094 Centerline is valid? [True, True] Translation: X:162.92, Y:-97.75, Z:-5.03 [[-6.75316291e-01 -7.37483323e-01 8.13974470e-03 1.62915197e+02] [ 7.37426892e-01 -6.75365325e-01 -9.12446699e-03 -9.77522320e+01] [ 1.22264436e-02 -1.59434559e-04 9.99925242e-01 -5.02563366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.286559995 meters 0.012918628861286464 Centerline is valid? [True, True] Translation: X:162.87, Y:-97.71, Z:-5.03 [[-6.71662686e-01 -7.40813860e-01 8.00383816e-03 1.62871192e+02] [ 7.40759590e-01 -6.71710366e-01 -8.96736668e-03 -9.77129864e+01] [ 1.20194106e-02 -9.41257227e-05 9.99927760e-01 -5.02550388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3465599949999 meters 0.01242245412115121 Centerline is valid? [True, True] Translation: X:162.83, Y:-97.68, Z:-5.03 [[-6.65824928e-01 -7.46064688e-01 8.04027032e-03 1.62826562e+02] [ 7.46010371e-01 -6.65873472e-01 -9.00252137e-03 -9.76756354e+01] [ 1.20702660e-02 4.02190700e-06 9.99927152e-01 -5.02570874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.406559995 meters 0.01266725454690154 Centerline is valid? [True, True] Translation: X:162.78, Y:-97.64, Z:-5.03 [[-6.61303279e-01 -7.50075191e-01 8.07351312e-03 1.62783327e+02] [ 7.50020781e-01 -6.61352555e-01 -9.03472130e-03 -9.76362282e+01] [ 1.21161588e-02 8.06117988e-05 9.99926593e-01 -5.02595877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4665599949999 meters 0.013454967588736114 Centerline is valid? [True, True] Translation: X:162.74, Y:-97.60, Z:-5.02 [[-6.56052529e-01 -7.54678960e-01 7.39910528e-03 1.62740171e+02] [ 7.54633604e-01 -6.56094234e-01 -8.27527573e-03 -9.75972349e+01] [ 1.10996868e-02 1.54597911e-04 9.99938385e-01 -5.02410991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.526559995 meters 0.014157923482073528 Centerline is valid? [True, True] Translation: X:162.70, Y:-97.56, Z:-5.02 [[-6.53735469e-01 -7.56697586e-01 6.22099144e-03 1.62698409e+02] [ 7.56665652e-01 -6.53765048e-01 -6.95369931e-03 -9.75561614e+01] [ 9.32891425e-03 1.61330664e-04 9.99956472e-01 -5.02242798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5865599949999 meters 0.014272077406515133 Centerline is valid? [True, True] Translation: X:162.66, Y:-97.51, Z:-5.02 [[-6.54038748e-01 -7.56439648e-01 5.68996229e-03 1.62659554e+02] [ 7.56412958e-01 -6.54063481e-01 -6.35610481e-03 -9.75136754e+01] [ 8.52960623e-03 1.46822376e-04 9.99963612e-01 -5.02177848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.646559995 meters 0.01387149504000758 Centerline is valid? [True, True] Translation: X:162.62, Y:-97.47, Z:-5.02 [[-6.55037476e-01 -7.55574238e-01 5.78583047e-03 1.62620832e+02] [ 7.55546641e-01 -6.55063013e-01 -6.45929169e-03 -9.74708036e+01] [ 8.67055794e-03 1.40386650e-04 9.99962400e-01 -5.02217865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7065599949999 meters 0.013927224599955127 Centerline is valid? [True, True] Translation: X:162.58, Y:-97.43, Z:-5.02 [[-6.54993855e-01 -7.55608203e-01 6.26848943e-03 1.62581603e+02] [ 7.55575853e-01 -6.55023831e-01 -6.99367415e-03 -9.74288774e+01] [ 9.39048752e-03 1.55505654e-04 9.99955896e-01 -5.02268342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.766559995 meters 0.014041993726612825 Centerline is valid? [True, True] Translation: X:162.54, Y:-97.39, Z:-5.02 [[-6.54707935e-01 -7.55846788e-01 7.29062232e-03 1.62541931e+02] [ 7.55803092e-01 -6.54748500e-01 -8.12944364e-03 -9.73865685e+01] [ 1.09181379e-02 1.87863636e-04 9.99940378e-01 -5.02408812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8265599949999 meters 0.013891408596347282 Centerline is valid? [True, True] Translation: X:162.50, Y:-97.34, Z:-5.03 [[-6.55497730e-01 -7.55141187e-01 9.19314680e-03 1.62504072e+02] [ 7.55071720e-01 -6.55562153e-01 -1.02450549e-02 -9.73427984e+01] [ 1.37631421e-02 2.25874918e-04 9.99905258e-01 -5.02630770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.886559995 meters 0.013546039468668418 Centerline is valid? [True, True] Translation: X:162.47, Y:-97.30, Z:-5.03 [[-6.57092763e-01 -7.53750351e-01 9.46095761e-03 1.62467699e+02] [ 7.53676728e-01 -6.57160837e-01 -1.05367613e-02 -9.72984330e+01] [ 1.41594584e-02 2.06873967e-04 9.99899728e-01 -5.02690164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9465599949999 meters 0.012671479894335973 Centerline is valid? [True, True] Translation: X:162.43, Y:-97.25, Z:-5.03 [[-6.61654772e-01 -7.49757989e-01 8.71329856e-03 1.62433560e+02] [ 7.49695267e-01 -6.61712132e-01 -9.69855101e-03 -9.72511863e+01] [ 1.30372615e-02 1.15226136e-04 9.99915005e-01 -5.02588990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.006559995 meters 0.012334107418544243 Centerline is valid? [True, True] Translation: X:162.40, Y:-97.21, Z:-5.03 [[-6.63477484e-01 -7.48149775e-01 8.33922415e-03 1.62396770e+02] [ 7.48092269e-01 -6.63529885e-01 -9.27628437e-03 -9.72071386e+01] [ 1.24733745e-02 8.39032980e-05 9.99922201e-01 -5.02532776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0665599949999 meters 0.012062477880697284 Centerline is valid? [True, True] Translation: X:162.36, Y:-97.16, Z:-5.02 [[-6.68240024e-01 -7.43910434e-01 7.24814551e-03 1.62363016e+02] [ 7.43866791e-01 -6.68279332e-01 -8.05805555e-03 -9.71598876e+01] [ 1.08382574e-02 6.93950226e-06 9.99941264e-01 -5.02369357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.126559995 meters 0.01215884674952983 Centerline is valid? [True, True] Translation: X:162.33, Y:-97.11, Z:-5.02 [[-6.70704566e-01 -7.41691984e-01 6.95600144e-03 1.62327161e+02] [ 7.41651719e-01 -6.70740635e-01 -7.72838758e-03 -9.71145751e+01] [ 1.03977559e-02 -2.45344117e-05 9.99945942e-01 -5.02320986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1865599949999 meters 0.012310203287754642 Centerline is valid? [True, True] Translation: X:162.29, Y:-97.07, Z:-5.02 [[-6.73028460e-01 -7.39585819e-01 6.74595174e-03 1.62291992e+02] [ 7.39547891e-01 -6.73062266e-01 -7.49025849e-03 -9.70697609e+01] [ 1.00801345e-02 -5.22027564e-05 9.99949193e-01 -5.02226144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.246559995 meters 0.01220761940013071 Centerline is valid? [True, True] Translation: X:162.25, Y:-97.03, Z:-5.02 [[-6.73439404e-01 -7.39211988e-01 6.70864938e-03 1.62253335e+02] [ 7.39174502e-01 -6.73472816e-01 -7.44454928e-03 -9.70262293e+01] [ 1.00211931e-02 -5.45902656e-05 9.99949785e-01 -5.02228987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3065599949999 meters 0.012158760322725063 Centerline is valid? [True, True] Translation: X:162.21, Y:-96.98, Z:-5.02 [[-6.72600642e-01 -7.39971690e-01 7.09049523e-03 1.62214459e+02] [ 7.39929905e-01 -6.72638013e-01 -7.86377750e-03 -9.69834872e+01] [ 1.05883093e-02 -4.27123388e-05 9.99943941e-01 -5.02274701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.366559995 meters 0.012057883767835871 Centerline is valid? [True, True] Translation: X:162.18, Y:-96.94, Z:-5.02 [[-6.70850206e-01 -7.41561152e-01 6.85994619e-03 1.62175512e+02] [ 7.41522175e-01 -6.70885279e-01 -7.60299727e-03 -9.69426858e+01] [ 1.02403243e-02 -1.36700702e-05 9.99947566e-01 -5.02335583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4265599949999 meters 0.011988088948097443 Centerline is valid? [True, True] Translation: X:162.14, Y:-96.90, Z:-5.02 [[-6.69948178e-01 -7.42370982e-01 7.40025997e-03 1.62136059e+02] [ 7.42325725e-01 -6.69989049e-01 -8.19713550e-03 -9.69003181e+01] [ 1.10434087e-02 1.74735488e-06 9.99939020e-01 -5.02342045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.486559995 meters 0.011962254018938889 Centerline is valid? [True, True] Translation: X:162.10, Y:-96.86, Z:-5.02 [[-6.70360151e-01 -7.42001344e-01 7.16055461e-03 1.62096896e+02] [ 7.41958999e-01 -6.70398393e-01 -7.92708906e-03 -9.68570557e+01] [ 1.06823350e-02 -1.16669004e-06 9.99942942e-01 -5.02359773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5465599949999 meters 0.011849404644982024 Centerline is valid? [True, True] Translation: X:162.06, Y:-96.81, Z:-5.02 [[-6.71674501e-01 -7.40822945e-01 5.89311372e-03 1.62059990e+02] [ 7.40794257e-01 -6.71700352e-01 -6.51961791e-03 -9.68141607e+01] [ 8.78828911e-03 -1.34762989e-05 9.99961382e-01 -5.02266850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.606559995 meters 0.01179675453725475 Centerline is valid? [True, True] Translation: X:162.02, Y:-96.77, Z:-5.02 [[-6.72650185e-01 -7.39944350e-01 4.90791860e-03 1.62021550e+02] [ 7.39924454e-01 -6.72668089e-01 -5.42623358e-03 -9.67712282e+01] [ 7.31651110e-03 -1.84680301e-05 9.99973234e-01 -5.02129400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.666559995 meters 0.011792097858690695 Centerline is valid? [True, True] Translation: X:161.98, Y:-96.73, Z:-5.02 [[-6.72957484e-01 -7.39666632e-01 4.63660341e-03 1.61982261e+02] [ 7.39648891e-01 -6.72973456e-01 -5.12300997e-03 -9.67297428e+01] [ 6.90963056e-03 -1.81093279e-05 9.99976128e-01 -5.02163976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.726559995 meters 0.011903536902078436 Centerline is valid? [True, True] Translation: X:161.94, Y:-96.69, Z:-5.02 [[-6.71516161e-01 -7.40970967e-01 5.29823126e-03 1.61941085e+02] [ 7.40947871e-01 -6.71537062e-01 -5.85035838e-03 -9.66892657e+01] [ 7.89290436e-03 -2.89703447e-06 9.99968851e-01 -5.02275541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.786559995 meters 0.011879607985460007 Centerline is valid? [True, True] Translation: X:161.90, Y:-96.65, Z:-5.02 [[-6.69608339e-01 -7.42684489e-01 6.66500082e-03 1.61898843e+02] [ 7.42648065e-01 -6.69641508e-01 -7.35540497e-03 -9.66493014e+01] [ 9.92590638e-03 2.45094612e-05 9.99950737e-01 -5.02423516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8465599949999 meters 0.011967757990666423 Centerline is valid? [True, True] Translation: X:161.86, Y:-96.61, Z:-5.02 [[-6.68289522e-01 -7.43865552e-01 7.29071443e-03 1.61858376e+02] [ 7.43822094e-01 -6.68329289e-01 -8.04081718e-03 -9.66087024e+01] [ 1.08538849e-02 4.94006025e-05 9.99941094e-01 -5.02479160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.906559995 meters 0.012435537936602478 Centerline is valid? [True, True] Translation: X:161.82, Y:-96.57, Z:-5.03 [[-6.65802183e-01 -7.46085222e-01 8.01842013e-03 1.61816114e+02] [ 7.46032874e-01 -6.65850458e-01 -8.83846079e-03 -9.65687436e+01] [ 1.19333137e-02 9.73385302e-05 9.99928791e-01 -5.02568789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9665599949999 meters 0.013056139309402718 Centerline is valid? [True, True] Translation: X:161.77, Y:-96.53, Z:-5.03 [[-6.64364500e-01 -7.47358798e-01 8.63938216e-03 1.61774811e+02] [ 7.47298207e-01 -6.64420657e-01 -9.51737331e-03 -9.65294704e+01] [ 1.28530766e-02 1.33189837e-04 9.99917387e-01 -5.02778740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.026559995 meters 0.012923864303253828 Centerline is valid? [True, True] Translation: X:161.73, Y:-96.49, Z:-5.03 [[-6.63407203e-01 -7.48199018e-01 9.43995290e-03 1.61734466e+02] [ 7.48126845e-01 -6.63474341e-01 -1.03933900e-02 -9.64870641e+01] [ 1.40394907e-02 1.67232366e-04 9.99901428e-01 -5.02773021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0865599949999 meters 0.012819084204868757 Centerline is valid? [True, True] Translation: X:161.70, Y:-96.44, Z:-5.03 [[-6.64655022e-01 -7.47102516e-01 8.45761913e-03 1.61697869e+02] [ 7.47044560e-01 -6.64708818e-01 -9.30659589e-03 -9.64435239e+01] [ 1.25748352e-02 1.32542664e-04 9.99920925e-01 -5.02650183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.146559995 meters 0.0125240144719114 Centerline is valid? [True, True] Translation: X:161.66, Y:-96.40, Z:-5.02 [[-6.66150862e-01 -7.45780224e-01 7.40858742e-03 1.61660292e+02] [ 7.45735722e-01 -6.66192051e-01 -8.14771140e-03 -9.63987066e+01] [ 1.10119441e-02 9.72433156e-05 9.99939362e-01 -5.02445765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2065599949999 meters 0.012514708640953831 Centerline is valid? [True, True] Translation: X:161.62, Y:-96.36, Z:-5.02 [[-6.66594591e-01 -7.45388000e-01 6.95559693e-03 1.61622500e+02] [ 7.45348802e-01 -6.66630873e-01 -7.64479341e-03 -9.63558927e+01] [ 1.03351529e-02 8.83679036e-05 9.99946587e-01 -5.02420559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.266559995 meters 0.012412208100528172 Centerline is valid? [True, True] Translation: X:161.59, Y:-96.31, Z:-5.02 [[-6.67275419e-01 -7.44777366e-01 7.08456276e-03 1.61585981e+02] [ 7.44736717e-01 -6.67313022e-01 -7.78161556e-03 -9.63121657e+01] [ 1.05231921e-02 8.36532323e-05 9.99944626e-01 -5.02448106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3265599949999 meters 0.012271695751073276 Centerline is valid? [True, True] Translation: X:161.55, Y:-96.27, Z:-5.02 [[-6.68113354e-01 -7.44021576e-01 7.51268020e-03 1.61548494e+02] [ 7.43975871e-01 -6.68155587e-01 -8.24714839e-03 -9.62674242e+01] [ 1.11556956e-02 7.92228243e-05 9.99937770e-01 -5.02485547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.386559995 meters 0.012384181972673807 Centerline is valid? [True, True] Translation: X:161.51, Y:-96.22, Z:-5.03 [[-6.68408652e-01 -7.43754754e-01 7.66420848e-03 1.61510306e+02] [ 7.43707223e-01 -6.68452586e-01 -8.40870704e-03 -9.62231506e+01] [ 1.13771758e-02 7.94746703e-05 9.99935275e-01 -5.02501496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4465599949999 meters 0.012488467103802229 Centerline is valid? [True, True] Translation: X:161.47, Y:-96.18, Z:-5.03 [[-6.68286629e-01 -7.43865226e-01 7.58330100e-03 1.61472819e+02] [ 7.43818760e-01 -6.68329648e-01 -8.31469581e-03 -9.61797887e+01] [ 1.12531580e-02 8.40015098e-05 9.99936678e-01 -5.02545936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.506559995 meters 0.012683375675195141 Centerline is valid? [True, True] Translation: X:161.43, Y:-96.14, Z:-5.03 [[-6.67032514e-01 -7.44990376e-01 7.54747322e-03 1.61434586e+02] [ 7.44944478e-01 -6.67075204e-01 -8.27016973e-03 -9.61367262e+01] [ 1.11959291e-02 1.05976387e-04 9.99937318e-01 -5.02593339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5665599949999 meters 0.01306425723764051 Centerline is valid? [True, True] Translation: X:161.40, Y:-96.09, Z:-5.03 [[-6.65509438e-01 -7.46346796e-01 7.97801736e-03 1.61395710e+02] [ 7.46295671e-01 -6.65557241e-01 -8.73671230e-03 -9.60942405e+01] [ 1.18304445e-02 1.39595325e-04 9.99930008e-01 -5.02696664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.626559995 meters 0.013580435683379724 Centerline is valid? [True, True] Translation: X:161.36, Y:-96.05, Z:-5.03 [[-6.63279080e-01 -7.48327016e-01 8.21823830e-03 1.61357099e+02] [ 7.48272979e-01 -6.63329966e-01 -8.99467696e-03 -9.60513205e+01] [ 1.21823635e-02 1.83504596e-04 9.99925775e-01 -5.02719378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6865599949999 meters 0.013950595875531293 Centerline is valid? [True, True] Translation: X:161.32, Y:-96.01, Z:-5.03 [[-6.62223174e-01 -7.49263629e-01 8.03001634e-03 1.61317944e+02] [ 7.49212168e-01 -6.62271828e-01 -8.78368229e-03 -9.60079975e+01] [ 1.18993473e-02 1.99427985e-04 9.99929180e-01 -5.02710356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.746559995 meters 0.01406222057228035 Centerline is valid? [True, True] Translation: X:161.28, Y:-95.96, Z:-5.03 [[-6.61494289e-01 -7.49915126e-01 7.25330015e-03 1.61281476e+02] [ 7.49873226e-01 -6.61534026e-01 -7.92952145e-03 -9.59627011e+01] [ 1.07447729e-02 1.93722432e-04 9.99942255e-01 -5.02573816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8065599949999 meters 0.014536914165921707 Centerline is valid? [True, True] Translation: X:161.24, Y:-95.92, Z:-5.03 [[-6.62201641e-01 -7.49288653e-01 7.44993639e-03 1.61243720e+02] [ 7.49244456e-01 -6.62243519e-01 -8.14047009e-03 -9.59206681e+01] [ 1.10332340e-02 1.91190882e-04 9.99939114e-01 -5.02676658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.866559995 meters 0.013568009962673195 Centerline is valid? [True, True] Translation: X:161.21, Y:-95.88, Z:-5.03 [[-6.63279360e-01 -7.48334158e-01 7.51521927e-03 1.61207061e+02] [ 7.48289175e-01 -6.63321909e-01 -8.20705924e-03 -9.58754296e+01] [ 1.11266324e-02 1.79984226e-04 9.99938081e-01 -5.02521852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9265599949999 meters 0.01370939647218071 Centerline is valid? [True, True] Translation: X:161.17, Y:-95.83, Z:-5.03 [[-6.64420915e-01 -7.47321113e-01 7.48337268e-03 1.61168384e+02] [ 7.47276507e-01 -6.64463036e-01 -8.16676480e-03 -9.58344682e+01] [ 1.10756203e-02 1.65979258e-04 9.99938650e-01 -5.02600175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.986559995 meters 0.014102869298319517 Centerline is valid? [True, True] Translation: X:161.13, Y:-95.79, Z:-5.03 [[-6.64677389e-01 -7.47096292e-01 7.14833433e-03 1.61128210e+02] [ 7.47055631e-01 -6.64715808e-01 -7.79604885e-03 -9.57948963e+01] [ 1.05760100e-02 1.58346025e-04 9.99944060e-01 -5.02604232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0465599949999 meters 0.014056107596301104 Centerline is valid? [True, True] Translation: X:161.09, Y:-95.75, Z:-5.03 [[-6.64123150e-01 -7.47593796e-01 6.63009376e-03 1.61087877e+02] [ 7.47558886e-01 -6.64156226e-01 -7.22635566e-03 -9.57536315e+01] [ 9.80579670e-03 1.57195425e-04 9.99951910e-01 -5.02517197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.106559995 meters 0.013890310235818947 Centerline is valid? [True, True] Translation: X:161.05, Y:-95.71, Z:-5.02 [[-6.62908880e-01 -7.48665878e-01 7.15682197e-03 1.61048175e+02] [ 7.48625311e-01 -6.62947485e-01 -7.79592467e-03 -9.57115245e+01] [ 1.05811399e-02 1.89790380e-04 9.99944000e-01 -5.02495715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.166559995 meters 0.014485490165528912 Centerline is valid? [True, True] Translation: X:161.01, Y:-95.67, Z:-5.03 [[-6.62853472e-01 -7.48696118e-01 8.91053157e-03 1.61008902e+02] [ 7.48633314e-01 -6.62913316e-01 -9.70034869e-03 -9.56697889e+01] [ 1.31695234e-02 2.40810968e-04 9.99913249e-01 -5.02733100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.226559995 meters 0.014238839181799568 Centerline is valid? [True, True] Translation: X:160.97, Y:-95.63, Z:-5.03 [[-6.64751124e-01 -7.47009051e-01 9.13352176e-03 1.60970824e+02] [ 7.46942979e-01 -6.64813832e-01 -9.93754873e-03 -9.56263916e+01] [ 1.34955304e-02 2.16223256e-04 9.99908908e-01 -5.02702924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.286559995 meters 0.013470960834394917 Centerline is valid? [True, True] Translation: X:160.93, Y:-95.58, Z:-5.03 [[-6.67226148e-01 -7.44806465e-01 8.52039482e-03 1.60933001e+02] [ 7.44748853e-01 -6.67280528e-01 -9.26516468e-03 -9.55826785e+01] [ 1.25862481e-02 1.63594123e-04 9.99920777e-01 -5.02575826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3465599949999 meters 0.012663917244093562 Centerline is valid? [True, True] Translation: X:160.90, Y:-95.54, Z:-5.02 [[-6.72021059e-01 -7.40491635e-01 7.73531511e-03 1.60895988e+02] [ 7.40443918e-01 -6.72065571e-01 -8.40664851e-03 -9.55375444e+01] [ 1.14236919e-02 7.81222009e-05 9.99934744e-01 -5.02450259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.406559995 meters 0.012391023901325496 Centerline is valid? [True, True] Translation: X:160.86, Y:-95.49, Z:-5.02 [[-6.77203613e-01 -7.35755944e-01 7.64570008e-03 1.60860258e+02] [ 7.35709077e-01 -6.77246772e-01 -8.30446643e-03 -9.54914676e+01] [ 1.12880862e-02 1.19627034e-06 9.99936288e-01 -5.02289217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4665599949999 meters 0.012614248442204415 Centerline is valid? [True, True] Translation: X:160.82, Y:-95.45, Z:-5.02 [[-6.79042123e-01 -7.34063248e-01 7.27615795e-03 1.60822362e+02] [ 7.34020762e-01 -6.79081105e-01 -7.89776934e-03 -9.54500057e+01] [ 1.07385636e-02 -2.20670612e-05 9.99942340e-01 -5.02257391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.526559995 meters 0.01272163581527003 Centerline is valid? [True, True] Translation: X:160.78, Y:-95.41, Z:-5.02 [[-6.79604230e-01 -7.33532546e-01 8.25190998e-03 1.60781572e+02] [ 7.33477923e-01 -6.79654326e-01 -8.95173875e-03 -9.54091098e+01] [ 1.21748380e-02 -3.10457368e-05 9.99925883e-01 -5.02339382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5865599949999 meters 0.012764485744289861 Centerline is valid? [True, True] Translation: X:160.74, Y:-95.37, Z:-5.02 [[-6.79113440e-01 -7.33983748e-01 8.53192053e-03 1.60740976e+02] [ 7.33925458e-01 -6.79167032e-01 -9.25013546e-03 -9.53681797e+01] [ 1.25840482e-02 -2.00976271e-05 9.99920818e-01 -5.02251011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.646559995 meters 0.012731620707371737 Centerline is valid? [True, True] Translation: X:160.70, Y:-95.33, Z:-5.02 [[-6.78934918e-01 -7.34149899e-01 8.44414517e-03 1.60701134e+02] [ 7.34092884e-01 -6.78987427e-01 -9.14942763e-03 -9.53277597e+01] [ 1.24505198e-02 -1.30790118e-05 9.99922489e-01 -5.02236170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7065599949999 meters 0.013107521760138826 Centerline is valid? [True, True] Translation: X:160.66, Y:-95.29, Z:-5.02 [[-6.78109129e-01 -7.34904490e-01 9.13236182e-03 1.60659931e+02] [ 7.34837959e-01 -6.78170621e-01 -9.88855802e-03 -9.52891324e+01] [ 1.34604452e-02 5.28465119e-06 9.99909404e-01 -5.02408698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.766559995 meters 0.013073733838439131 Centerline is valid? [True, True] Translation: X:160.62, Y:-95.25, Z:-5.02 [[-6.77392811e-01 -7.35559441e-01 9.55449092e-03 1.60619353e+02] [ 7.35486766e-01 -6.77460189e-01 -1.03396866e-02 -9.52481352e+01] [ 1.40782413e-02 2.31722556e-05 9.99900896e-01 -5.02192529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8265599949999 meters 0.013235451117422435 Centerline is valid? [True, True] Translation: X:160.58, Y:-95.21, Z:-5.02 [[-6.78196325e-01 -7.34818347e-01 9.57820950e-03 1.60580427e+02] [ 7.34745335e-01 -6.78263958e-01 -1.03583859e-02 -9.52078161e+01] [ 1.41080863e-02 1.25255236e-05 9.99900476e-01 -5.02258136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.886559995 meters 0.013297208193638225 Centerline is valid? [True, True] Translation: X:160.54, Y:-95.17, Z:-5.02 [[-6.78950803e-01 -7.34116300e-01 9.95313779e-03 1.60541108e+02] [ 7.34037483e-01 -6.79023753e-01 -1.07571459e-02 -9.51659790e+01] [ 1.46554131e-02 2.40334488e-06 9.99892604e-01 -5.02281835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9465599949999 meters 0.013612237907716082 Centerline is valid? [True, True] Translation: X:160.50, Y:-95.12, Z:-5.02 [[-6.79479423e-01 -7.33624303e-01 1.01535921e-02 1.60503177e+02] [ 7.33542325e-01 -6.79555282e-01 -1.09670123e-02 -9.51234486e+01] [ 1.49455939e-02 -3.76961403e-06 9.99888308e-01 -5.02144843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.006559995 meters 0.013533486263914214 Centerline is valid? [True, True] Translation: X:160.46, Y:-95.08, Z:-5.02 [[-6.79689376e-01 -7.33428249e-01 1.02643393e-02 1.60463468e+02] [ 7.33344553e-01 -6.79766875e-01 -1.10798102e-02 -9.50818216e+01] [ 1.51036037e-02 -3.53196486e-06 9.99885934e-01 -5.02094448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0665599949999 meters 0.013478332826005992 Centerline is valid? [True, True] Translation: X:160.42, Y:-95.04, Z:-5.02 [[-6.79095783e-01 -7.33979781e-01 1.01290870e-02 1.60422245e+02] [ 7.33898431e-01 -6.79171319e-01 -1.09275978e-02 -9.50406745e+01] [ 1.49000212e-02 1.28354380e-05 9.99888988e-01 -5.01913281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.126559995 meters 0.013581523265671155 Centerline is valid? [True, True] Translation: X:160.38, Y:-95.00, Z:-5.02 [[-6.77339591e-01 -7.35602018e-01 1.00374379e-02 1.60381706e+02] [ 7.35522417e-01 -6.77413957e-01 -1.08215288e-02 -9.50013036e+01] [ 1.47598390e-02 5.29107208e-05 9.99891066e-01 -5.01948475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1865599949999 meters 0.013620803407785575 Centerline is valid? [True, True] Translation: X:160.34, Y:-94.96, Z:-5.02 [[-6.75778483e-01 -7.37038132e-01 9.91129136e-03 1.60340996e+02] [ 7.36960773e-01 -6.75851155e-01 -1.06787278e-02 -9.49611065e+01] [ 1.45691873e-02 8.77784659e-05 9.99893860e-01 -5.01837199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.246559995 meters 0.013995342485811349 Centerline is valid? [True, True] Translation: X:160.30, Y:-94.92, Z:-5.02 [[-6.72862878e-01 -7.39698167e-01 1.01078455e-02 1.60298645e+02] [ 7.39618106e-01 -6.72938777e-01 -1.08839415e-02 -9.49218443e+01] [ 1.48527928e-02 1.52545351e-04 9.99889680e-01 -5.01904286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3065599949999 meters 0.01471723365960225 Centerline is valid? [True, True] Translation: X:160.26, Y:-94.88, Z:-5.02 [[-6.70558165e-01 -7.41765075e-01 1.16756744e-02 1.60257651e+02] [ 7.41658688e-01 -6.70659764e-01 -1.25646890e-02 -9.48816141e+01] [ 1.71504525e-02 2.34010541e-04 9.99852893e-01 -5.02145993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.366559995 meters 0.014914232107869803 Centerline is valid? [True, True] Translation: X:160.22, Y:-94.84, Z:-5.02 [[-6.69620082e-01 -7.42580323e-01 1.35428755e-02 1.60218981e+02] [ 7.42437515e-01 -6.69756951e-01 -1.45657976e-02 -9.48385724e+01] [ 1.98867097e-02 3.01188261e-04 9.99802195e-01 -5.02288819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4265599949999 meters 0.014844572296218621 Centerline is valid? [True, True] Translation: X:160.18, Y:-94.80, Z:-5.02 [[-6.70441859e-01 -7.41838870e-01 1.35205310e-02 1.60180953e+02] [ 7.41696565e-01 -6.70578116e-01 -1.45325993e-02 -9.47959101e+01] [ 1.98474192e-02 2.84868535e-04 9.99802980e-01 -5.02323450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.486559995 meters 0.014198340959645173 Centerline is valid? [True, True] Translation: X:160.14, Y:-94.75, Z:-5.02 [[-6.73029513e-01 -7.39529639e-01 1.12777518e-02 1.60144989e+02] [ 7.39430422e-01 -6.73123970e-01 -1.21149695e-02 -9.47507206e+01] [ 1.65507041e-02 1.85380764e-04 9.99863011e-01 -5.02050878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5465599949999 meters 0.013689891348663597 Centerline is valid? [True, True] Translation: X:160.11, Y:-94.71, Z:-5.02 [[-6.75295549e-01 -7.37490974e-01 9.10961363e-03 1.60109160e+02] [ 7.37426128e-01 -6.75356980e-01 -9.78037161e-03 -9.47050790e+01] [ 1.33651769e-02 1.13025682e-04 9.99910676e-01 -5.01754457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.606559995 meters 0.013773151016889156 Centerline is valid? [True, True] Translation: X:160.07, Y:-94.66, Z:-5.02 [[-6.75731228e-01 -7.37094038e-01 8.92675490e-03 1.60070956e+02] [ 7.37031812e-01 -6.75790181e-01 -9.57809729e-03 -9.46623544e+01] [ 1.30925717e-02 1.07082890e-04 9.99914283e-01 -5.01806100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.666559995 meters 0.013893995365732117 Centerline is valid? [True, True] Translation: X:160.03, Y:-94.62, Z:-5.02 [[-6.73971970e-01 -7.38692553e-01 9.75175079e-03 1.60030855e+02] [ 7.38618545e-01 -6.74042498e-01 -1.04573589e-02 -9.46203320e+01] [ 1.42978676e-02 1.54857183e-04 9.99897768e-01 -5.01988039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.726559995 meters 0.01536897801971487 Centerline is valid? [True, True] Translation: X:159.99, Y:-94.58, Z:-5.02 [[-6.70031356e-01 -7.42266457e-01 9.92416438e-03 1.59990225e+02] [ 7.42190272e-01 -6.70104806e-01 -1.06371923e-02 -9.45808675e+01] [ 1.45458613e-02 2.38365894e-04 9.99894175e-01 -5.02081124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.786559995 meters 0.015124857337739996 Centerline is valid? [True, True] Translation: X:159.95, Y:-94.54, Z:-5.02 [[-6.68722722e-01 -7.43441074e-01 1.02611244e-02 1.59950785e+02] [ 7.43359860e-01 -6.68801385e-01 -1.09920568e-02 -9.45383820e+01] [ 1.50346007e-02 2.77069854e-04 9.99886936e-01 -5.02013914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8465599949999 meters 0.016413284585829187 Centerline is valid? [True, True] Translation: X:159.91, Y:-94.50, Z:-5.02 [[-6.65260672e-01 -7.46519233e-01 1.17163255e-02 1.59908775e+02] [ 7.46413949e-01 -6.65363716e-01 -1.25436388e-02 -9.44979857e+01] [ 1.71596855e-02 4.00439213e-04 9.99852682e-01 -5.02277622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.906559995 meters 0.01733240577691303 Centerline is valid? [True, True] Translation: X:159.87, Y:-94.46, Z:-5.02 [[-6.64486650e-01 -7.47203502e-01 1.20173876e-02 1.59868904e+02] [ 7.47092984e-01 -6.64595168e-01 -1.28582718e-02 -9.44571491e+01] [ 1.75944435e-02 4.33956014e-04 9.99845112e-01 -5.02436468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9665599949999 meters 0.01636176162933685 Centerline is valid? [True, True] Translation: X:159.83, Y:-94.41, Z:-5.02 [[-6.66306544e-01 -7.45610325e-01 1.00415239e-02 1.59832577e+02] [ 7.45533068e-01 -6.66382123e-01 -1.07383303e-02 -9.44111643e+01] [ 1.46981019e-02 3.31268400e-04 9.99891922e-01 -5.02171365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.026559995 meters 0.0147043895969217 Centerline is valid? [True, True] Translation: X:159.80, Y:-94.36, Z:-5.02 [[-6.70933190e-01 -7.41481980e-01 7.28897103e-03 1.59798211e+02] [ 7.41441078e-01 -6.70972758e-01 -7.79009519e-03 -9.43640219e+01] [ 1.06669162e-02 1.77709125e-04 9.99943091e-01 -5.01742665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0865599949999 meters 0.01474626424241017 Centerline is valid? [True, True] Translation: X:159.76, Y:-94.32, Z:-5.02 [[-6.73945323e-01 -7.38756915e-01 5.99351343e-03 1.59760218e+02] [ 7.38729176e-01 -6.73971964e-01 -6.40289379e-03 -9.43212414e+01] [ 8.76964209e-03 1.12382913e-04 9.99961540e-01 -5.01787472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.146559995 meters 0.014141341081166686 Centerline is valid? [True, True] Translation: X:159.72, Y:-94.28, Z:-5.02 [[-6.75218416e-01 -7.37590765e-01 6.32092105e-03 1.59722249e+02] [ 7.37559888e-01 -6.75247993e-01 -6.74976589e-03 -9.42776917e+01] [ 9.24675424e-03 1.04491586e-04 9.99957242e-01 -5.01842392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2065599949999 meters 0.01484520736431786 Centerline is valid? [True, True] Translation: X:159.68, Y:-94.24, Z:-5.02 [[-6.72967620e-01 -7.39633098e-01 7.58039223e-03 1.59679231e+02] [ 7.39588868e-01 -6.73010293e-01 -8.09027304e-03 -9.42384131e+01] [ 1.10855157e-02 1.61881917e-04 9.99938541e-01 -5.02042575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.266559995 meters 0.015181264387020242 Centerline is valid? [True, True] Translation: X:159.64, Y:-94.20, Z:-5.02 [[-6.70913687e-01 -7.41481157e-01 8.97318159e-03 1.59637583e+02] [ 7.41419420e-01 -6.70973650e-01 -9.57103359e-03 -9.41985145e+01] [ 1.31175095e-02 2.31553649e-04 9.99913935e-01 -5.02197703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3265599949999 meters 0.015755236477440756 Centerline is valid? [True, True] Translation: X:159.60, Y:-94.16, Z:-5.02 [[-6.70022224e-01 -7.42278412e-01 9.64252534e-03 1.59595682e+02] [ 7.42207283e-01 -6.70091551e-01 -1.02792622e-02 -9.41577037e+01] [ 1.40914492e-02 2.69418391e-04 9.99900674e-01 -5.02331063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.386559995 meters 0.016117383511740715 Centerline is valid? [True, True] Translation: X:159.56, Y:-94.12, Z:-5.02 [[-6.69913663e-01 -7.42382588e-01 9.15298026e-03 1.59555620e+02] [ 7.42318588e-01 -6.69976138e-01 -9.75138636e-03 -9.41164641e+01] [ 1.33715378e-02 2.61840417e-04 9.99910563e-01 -5.02306232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4465599949999 meters 0.01511482605650522 Centerline is valid? [True, True] Translation: X:159.52, Y:-94.07, Z:-5.02 [[-6.71576246e-01 -7.40897153e-01 7.53356091e-03 1.59517947e+02] [ 7.40853753e-01 -6.71618471e-01 -8.02158618e-03 -9.40719889e+01] [ 1.10028490e-02 1.94160146e-04 9.99939448e-01 -5.02066569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.506559995 meters 0.01421049607725323 Centerline is valid? [True, True] Translation: X:159.48, Y:-94.03, Z:-5.02 [[-6.73894032e-01 -7.38809035e-01 5.29562565e-03 1.59481722e+02] [ 7.38787551e-01 -6.73914829e-01 -5.63542019e-03 -9.40269034e+01] [ 7.73230001e-03 1.14666265e-04 9.99970099e-01 -5.01814414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5665599949999 meters 0.01497076324435802 Centerline is valid? [True, True] Translation: X:159.44, Y:-93.99, Z:-5.02 [[-6.73819653e-01 -7.38880265e-01 4.79894668e-03 1.59442026e+02] [ 7.38862648e-01 -6.73836733e-01 -5.10344643e-03 -9.39876554e+01] [ 7.00454241e-03 1.06959947e-04 9.99975462e-01 -5.01911109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.626559995 meters 0.014879290120960923 Centerline is valid? [True, True] Translation: X:159.40, Y:-93.95, Z:-5.02 [[-6.72664023e-01 -7.39934842e-01 4.42073632e-03 1.59401802e+02] [ 7.39919931e-01 -6.72678540e-01 -4.69860581e-03 -9.39454633e+01] [ 6.45039659e-03 1.10407828e-04 9.99979190e-01 -5.01868576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6865599949999 meters 0.01566699882605658 Centerline is valid? [True, True] Translation: X:159.36, Y:-93.91, Z:-5.02 [[-6.70681452e-01 -7.41727343e-01 5.19031860e-03 1.59359635e+02] [ 7.41706866e-01 -6.70701518e-01 -5.51346875e-03 -9.39050402e+01] [ 7.57064509e-03 1.51913715e-04 9.99971331e-01 -5.02040240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.746559995 meters 0.01583748256896302 Centerline is valid? [True, True] Translation: X:159.32, Y:-93.86, Z:-5.02 [[-6.69965744e-01 -7.42370896e-01 5.59945152e-03 1.59318487e+02] [ 7.42347114e-01 -6.69989121e-01 -5.94472272e-03 -9.38634991e+01] [ 8.16476074e-03 1.73976096e-04 9.99966653e-01 -5.02094824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8065599949999 meters 0.016182439086095714 Centerline is valid? [True, True] Translation: X:159.28, Y:-93.82, Z:-5.02 [[-6.69409239e-01 -7.42872840e-01 5.58710256e-03 1.59278067e+02] [ 7.42849207e-01 -6.69432529e-01 -5.92827747e-03 -9.38223092e+01] [ 8.14414452e-03 1.81930998e-04 9.99966819e-01 -5.02150960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.866559995 meters 0.016226223626327668 Centerline is valid? [True, True] Translation: X:159.24, Y:-93.78, Z:-5.02 [[-6.69758688e-01 -7.42556833e-01 5.71396650e-03 1.59238921e+02] [ 7.42532136e-01 -6.69783036e-01 -6.05905997e-03 -9.37803198e+01] [ 8.32631421e-03 1.84695692e-04 9.99965319e-01 -5.02115392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9265599949999 meters 0.016597856517041758 Centerline is valid? [True, True] Translation: X:159.20, Y:-93.74, Z:-5.02 [[-6.70628160e-01 -7.41774093e-01 5.39127529e-03 1.59200939e+02] [ 7.41752103e-01 -6.70649810e-01 -5.71411266e-03 -9.37394128e+01] [ 7.85423848e-03 1.66944921e-04 9.99969141e-01 -5.02088047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.986559995 meters 0.015494316354122774 Centerline is valid? [True, True] Translation: X:159.16, Y:-93.70, Z:-5.02 [[-6.71656023e-01 -7.40849195e-01 4.54501432e-03 1.59163100e+02] [ 7.40833564e-01 -6.71671387e-01 -4.81446383e-03 -9.36956018e+01] [ 6.61954773e-03 1.33435529e-04 9.99978082e-01 -5.01835213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0465599949999 meters 0.015391571552363217 Centerline is valid? [True, True] Translation: X:159.12, Y:-93.65, Z:-5.02 [[-6.72112453e-01 -7.40427048e-01 5.71287760e-03 1.59123258e+02] [ 7.40402367e-01 -6.72136712e-01 -6.04772375e-03 -9.36540223e+01] [ 8.31773301e-03 1.65077647e-04 9.99965393e-01 -5.02033816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.106559995 meters 0.015034110704181002 Centerline is valid? [True, True] Translation: X:159.08, Y:-93.61, Z:-5.02 [[-6.72351518e-01 -7.40208545e-01 5.89468948e-03 1.59083812e+02] [ 7.40182290e-01 -6.72377336e-01 -6.23661310e-03 -9.36109522e+01] [ 8.57984991e-03 1.69948484e-04 9.99963178e-01 -5.01936211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.166559995 meters 0.014619681424273135 Centerline is valid? [True, True] Translation: X:159.04, Y:-93.57, Z:-5.02 [[-6.74869138e-01 -7.37920163e-01 5.04783561e-03 1.59044098e+02] [ 7.37900860e-01 -6.74888005e-01 -5.33876169e-03 -9.35678659e+01] [ 7.34630360e-03 1.21836737e-04 9.99973008e-01 -5.01826844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.226559995 meters 0.013842338966384721 Centerline is valid? [True, True] Translation: X:159.01, Y:-93.52, Z:-5.02 [[-6.79392249e-01 -7.33757676e-01 5.08385955e-03 1.59007731e+02] [ 7.33738000e-01 -6.79411265e-01 -5.37402727e-03 -9.35238521e+01] [ 7.39726520e-03 7.91484698e-05 9.99972637e-01 -5.01813337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.286559995 meters 0.013146673826372841 Centerline is valid? [True, True] Translation: X:158.97, Y:-93.48, Z:-5.02 [[-6.83091465e-01 -7.30314828e-01 5.12857999e-03 1.58971143e+02] [ 7.30294731e-01 -6.83110716e-01 -5.41803638e-03 -9.34790580e+01] [ 7.46026025e-03 4.43605358e-05 9.99972171e-01 -5.01727364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3465599949999 meters 0.013061013335027826 Centerline is valid? [True, True] Translation: X:158.93, Y:-93.44, Z:-5.02 [[-6.87671700e-01 -7.26003038e-01 5.21745721e-03 1.58934729e+02] [ 7.25982140e-01 -6.87691493e-01 -5.50847963e-03 -9.34353491e+01] [ 7.58717388e-03 -2.44807730e-07 9.99971217e-01 -5.01760707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.406559995 meters 0.013020974347283797 Centerline is valid? [True, True] Translation: X:158.89, Y:-93.39, Z:-5.02 [[-6.90267177e-01 -7.23528605e-01 6.13044133e-03 1.58894977e+02] [ 7.23499688e-01 -6.90294399e-01 -6.46872470e-03 -9.33923475e+01] [ 8.91211667e-03 -2.97759476e-05 9.99960286e-01 -5.01772837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4665599949999 meters 0.012972505879412448 Centerline is valid? [True, True] Translation: X:158.85, Y:-93.35, Z:-5.02 [[-6.90573802e-01 -7.23232785e-01 6.49327233e-03 1.58854682e+02] [ 7.23200372e-01 -6.90604328e-01 -6.84726113e-03 -9.33514097e+01] [ 9.43644571e-03 -3.26021907e-05 9.99955475e-01 -5.01821813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.526559995 meters 0.013027824963027968 Centerline is valid? [True, True] Translation: X:158.81, Y:-93.31, Z:-5.02 [[-6.89292552e-01 -7.24449887e-01 6.93829402e-03 1.58813715e+02] [ 7.24412988e-01 -6.89327471e-01 -7.31175304e-03 -9.33124510e+01] [ 1.00797553e-02 -1.37466106e-05 9.99949198e-01 -5.01849812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5865599949999 meters 0.01292916136234471 Centerline is valid? [True, True] Translation: X:158.77, Y:-93.27, Z:-5.02 [[-6.87442672e-01 -7.26205411e-01 6.94784983e-03 1.58771377e+02] [ 7.26168545e-01 -6.87477782e-01 -7.31735320e-03 -9.32731007e+01] [ 1.00903939e-02 1.50491655e-05 9.99949091e-01 -5.01836938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.646559995 meters 0.013045015662606683 Centerline is valid? [True, True] Translation: X:158.73, Y:-93.24, Z:-5.02 [[-6.84625372e-01 -7.28867257e-01 6.37351764e-03 1.58728716e+02] [ 7.28836388e-01 -6.84655036e-01 -6.70821209e-03 -9.32364236e+01] [ 9.25305710e-03 5.26393772e-05 9.99957188e-01 -5.01717049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7065599949999 meters 0.01304762645337431 Centerline is valid? [True, True] Translation: X:158.69, Y:-93.20, Z:-5.02 [[-6.83626962e-01 -7.29805141e-01 6.21547651e-03 1.58687056e+02] [ 7.29775860e-01 -6.83655214e-01 -6.53777109e-03 -9.31972764e+01] [ 9.02054188e-03 6.65081208e-05 9.99959312e-01 -5.01668342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.766559995 meters 0.014227891789255662 Centerline is valid? [True, True] Translation: X:158.64, Y:-93.16, Z:-5.02 [[-6.80870219e-01 -7.32375187e-01 6.50618234e-03 1.58641536e+02] [ 7.32343246e-01 -6.80901295e-01 -6.84079357e-03 -9.31614597e+01] [ 9.44009546e-03 1.07066078e-04 9.99955436e-01 -5.01939574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8265599949999 meters 0.014790247196540554 Centerline is valid? [True, True] Translation: X:158.60, Y:-93.12, Z:-5.02 [[-6.77164110e-01 -7.35796760e-01 7.20393900e-03 1.58597457e+02] [ 7.35757836e-01 -6.77202405e-01 -7.57025812e-03 -9.31235079e+01] [ 1.04486962e-02 1.74047469e-04 9.99945396e-01 -5.01961369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.886559995 meters 0.014652554182818604 Centerline is valid? [True, True] Translation: X:158.56, Y:-93.08, Z:-5.02 [[-6.76563399e-01 -7.36348689e-01 7.25088108e-03 1.58557404e+02] [ 7.36309336e-01 -6.76602227e-01 -7.61499518e-03 -9.30821419e+01] [ 1.05132540e-02 1.86864411e-04 9.99944717e-01 -5.01932594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9465599949999 meters 0.015620937530917802 Centerline is valid? [True, True] Translation: X:158.52, Y:-93.04, Z:-5.02 [[-6.75889705e-01 -7.36965464e-01 7.41697770e-03 1.58515992e+02] [ 7.36924374e-01 -6.75930369e-01 -7.78481432e-03 -9.30421905e+01] [ 1.07504998e-02 2.04075801e-04 9.99942191e-01 -5.02042243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.006559995 meters 0.015517168708360828 Centerline is valid? [True, True] Translation: X:158.48, Y:-93.00, Z:-5.02 [[-6.75309013e-01 -7.37489228e-01 8.20825465e-03 1.58475735e+02] [ 7.37438999e-01 -6.75358854e-01 -8.61053142e-03 -9.30000621e+01] [ 1.18936916e-02 2.38317624e-04 9.99929239e-01 -5.02091538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0665599949999 meters 0.015389560772396952 Centerline is valid? [True, True] Translation: X:158.44, Y:-92.96, Z:-5.02 [[-6.76194431e-01 -7.36670384e-01 8.82251255e-03 1.58436924e+02] [ 7.36612360e-01 -6.76251939e-01 -9.24912382e-03 -9.29576432e+01] [ 1.27797968e-02 2.44565774e-04 9.99918305e-01 -5.02206936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.126559995 meters 0.01462398964422845 Centerline is valid? [True, True] Translation: X:158.40, Y:-92.91, Z:-5.02 [[-6.79513512e-01 -7.33610035e-01 8.81499719e-03 1.58400815e+02] [ 7.33551912e-01 -6.79570659e-01 -9.23643509e-03 -9.29129451e+01] [ 1.27663549e-02 1.89975595e-04 9.99918489e-01 -5.02204233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1865599949999 meters 0.013945271650416471 Centerline is valid? [True, True] Translation: X:158.36, Y:-92.87, Z:-5.02 [[-6.82495420e-01 -7.30840318e-01 8.51065138e-03 1.58364146e+02] [ 7.30785982e-01 -6.82548468e-01 -8.91276659e-03 -9.28676734e+01] [ 1.23227412e-02 1.36542356e-04 9.99924063e-01 -5.02150452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.246559995 meters 0.013194697648320885 Centerline is valid? [True, True] Translation: X:158.33, Y:-92.82, Z:-5.02 [[-6.86489130e-01 -7.27104355e-01 7.20634442e-03 1.58329876e+02] [ 7.27065231e-01 -6.86526950e-01 -7.54303882e-03 -9.28218750e+01] [ 1.04319260e-02 6.12683125e-05 9.99945584e-01 -5.01954924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3065599949999 meters 0.01282609731887311 Centerline is valid? [True, True] Translation: X:158.29, Y:-92.78, Z:-5.02 [[-6.89654309e-01 -7.24100663e-01 7.42726250e-03 1.58294119e+02] [ 7.24058975e-01 -6.89694302e-01 -7.76987586e-03 -9.27756768e+01] [ 1.07487129e-02 1.92477047e-05 9.99942231e-01 -5.01714845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.366559995 meters 0.012785289523239797 Centerline is valid? [True, True] Translation: X:158.26, Y:-92.73, Z:-5.02 [[-6.90999854e-01 -7.22814415e-01 7.65010159e-03 1.58255691e+02] [ 7.22770159e-01 -6.91042200e-01 -7.99844686e-03 -9.27326209e+01] [ 1.10679357e-02 2.33953415e-06 9.99938749e-01 -5.01764071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4265599949999 meters 0.01285301667260762 Centerline is valid? [True, True] Translation: X:158.22, Y:-92.69, Z:-5.02 [[-6.91326346e-01 -7.22506014e-01 7.27629038e-03 1.58218078e+02] [ 7.22466013e-01 -6.91364636e-01 -7.60256373e-03 -9.26901325e+01] [ 1.05234679e-02 1.01989929e-06 9.99944627e-01 -5.01817856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.486559995 meters 0.012820154018238246 Centerline is valid? [True, True] Translation: X:158.18, Y:-92.65, Z:-5.02 [[-6.90880924e-01 -7.22931469e-01 7.32393843e-03 1.58178161e+02] [ 7.22891013e-01 -6.90919743e-01 -7.64798349e-03 -9.26477452e+01] [ 1.05892216e-02 1.05633756e-05 9.99943933e-01 -5.01761667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5465599949999 meters 0.012934954668101866 Centerline is valid? [True, True] Translation: X:158.14, Y:-92.61, Z:-5.02 [[-6.89132947e-01 -7.24593841e-01 7.71662380e-03 1.58138818e+02] [ 7.24549095e-01 -6.89176148e-01 -8.05267361e-03 -9.26069334e+01] [ 1.11530308e-02 4.17100903e-05 9.99937802e-01 -5.01838855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.606559995 meters 0.013176044240115658 Centerline is valid? [True, True] Translation: X:158.10, Y:-92.57, Z:-5.02 [[-6.86995547e-01 -7.26621477e-01 7.63854084e-03 1.58098171e+02] [ 7.26577811e-01 -6.87038007e-01 -7.96626622e-03 -9.25661691e+01] [ 1.10364280e-02 7.72048669e-05 9.99939094e-01 -5.01888160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.666559995 meters 0.013410710511683669 Centerline is valid? [True, True] Translation: X:158.06, Y:-92.53, Z:-5.02 [[-6.85139489e-01 -7.28384222e-01 6.34861887e-03 1.58057582e+02] [ 7.28354173e-01 -6.85168896e-01 -6.61684968e-03 -9.25256497e+01] [ 9.16948509e-03 9.05780288e-05 9.99957955e-01 -5.01692524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.726559995 meters 0.013734486859575054 Centerline is valid? [True, True] Translation: X:158.02, Y:-92.49, Z:-5.02 [[-6.83876439e-01 -7.29574401e-01 5.84895149e-03 1.58016518e+02] [ 7.29548971e-01 -6.83901443e-01 -6.09227807e-03 -9.24859119e+01] [ 8.44487649e-03 1.00731109e-04 9.99964336e-01 -5.01678526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.786559995 meters 0.013779586347435275 Centerline is valid? [True, True] Translation: X:157.98, Y:-92.44, Z:-5.02 [[-6.83046553e-01 -7.30351695e-01 5.81448810e-03 1.57975991e+02] [ 7.30326621e-01 -6.83071291e-01 -6.05292522e-03 -9.24437498e+01] [ 8.39247409e-03 1.12045745e-04 9.99964776e-01 -5.01670353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8465599949999 meters 0.014410951999264598 Centerline is valid? [True, True] Translation: X:157.93, Y:-92.40, Z:-5.02 [[-6.81341281e-01 -7.31940315e-01 6.11835279e-03 1.57933633e+02] [ 7.31912647e-01 -6.81368737e-01 -6.36565474e-03 -9.24034192e+01] [ 8.82813365e-03 1.40916432e-04 9.99961021e-01 -5.01723650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.906559995 meters 0.014662722006454578 Centerline is valid? [True, True] Translation: X:157.89, Y:-92.36, Z:-5.02 [[-6.79857891e-01 -7.33314297e-01 6.58708087e-03 1.57891642e+02] [ 7.33282331e-01 -6.79889779e-01 -6.84915608e-03 -9.23638199e+01] [ 9.50107303e-03 1.73737202e-04 9.99954849e-01 -5.01786103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9665599949999 meters 0.014893828007168932 Centerline is valid? [True, True] Translation: X:157.85, Y:-92.32, Z:-5.02 [[-6.79504076e-01 -7.33641261e-01 6.68666798e-03 1.57850501e+02] [ 7.33608375e-01 -6.79536950e-01 -6.94874050e-03 -9.23224958e+01] [ 9.64172070e-03 1.83698143e-04 9.99953501e-01 -5.01789013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.026559995 meters 0.014750706013325258 Centerline is valid? [True, True] Translation: X:157.81, Y:-92.28, Z:-5.02 [[-6.80865046e-01 -7.32375442e-01 7.00009116e-03 1.57811442e+02] [ 7.32339370e-01 -6.80901007e-01 -7.27087356e-03 -9.22815877e+01] [ 1.00913784e-02 1.75958686e-04 9.99949065e-01 -5.01891193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0865599949999 meters 0.014122254786227953 Centerline is valid? [True, True] Translation: X:157.77, Y:-92.24, Z:-5.02 [[-6.83670026e-01 -7.29751370e-01 7.63101803e-03 1.57773343e+02] [ 7.29708388e-01 -6.83712596e-01 -7.92179853e-03 -9.22379668e+01] [ 1.09983665e-02 1.52521655e-04 9.99939505e-01 -5.02054678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.146559995 meters 0.013702468181723285 Centerline is valid? [True, True] Translation: X:157.74, Y:-92.20, Z:-5.02 [[-6.85725423e-01 -7.27813231e-01 8.27916400e-03 1.57735195e+02] [ 7.27762558e-01 -6.85775388e-01 -8.58933005e-03 -9.21951682e+01] [ 1.19290750e-02 1.35343589e-04 9.99928837e-01 -5.02119720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2065599949999 meters 0.01331884298510571 Centerline is valid? [True, True] Translation: X:157.70, Y:-92.15, Z:-5.02 [[-6.88586569e-01 -7.25103669e-01 8.55610446e-03 1.57698272e+02] [ 7.25049391e-01 -6.88639717e-01 -8.87244207e-03 -9.21521343e+01] [ 1.23255137e-02 9.41538947e-05 9.99924034e-01 -5.02132193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.266559995 meters 0.012700905152452644 Centerline is valid? [True, True] Translation: X:157.66, Y:-92.11, Z:-5.02 [[-6.91027117e-01 -7.22791048e-01 7.39082861e-03 1.57659357e+02] [ 7.22750459e-01 -6.91066638e-01 -7.66000074e-03 -9.21083400e+01] [ 1.06441350e-02 4.84565470e-05 9.99943348e-01 -5.01840473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3265599949999 meters 0.012750054053877512 Centerline is valid? [True, True] Translation: X:157.62, Y:-92.07, Z:-5.02 [[-6.92170081e-01 -7.21701588e-01 6.88454791e-03 1.57620271e+02] [ 7.21666350e-01 -6.92204318e-01 -7.13179023e-03 -9.20678727e+01] [ 9.91253813e-03 3.19347373e-05 9.99950869e-01 -5.01963801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.386559995 meters 0.012555710107936177 Centerline is valid? [True, True] Translation: X:157.58, Y:-92.03, Z:-5.02 [[-6.92735007e-01 -7.21158418e-01 6.98175941e-03 1.57579899e+02] [ 7.21122192e-01 -6.92770189e-01 -7.22836827e-03 -9.20261290e+01] [ 1.00495534e-02 2.73579027e-05 9.99949502e-01 -5.01840113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4465599949999 meters 0.012942263371449086 Centerline is valid? [True, True] Translation: X:157.54, Y:-91.99, Z:-5.02 [[-6.92279002e-01 -7.21586739e-01 7.89701202e-03 1.57539026e+02] [ 7.21540465e-01 -6.92324041e-01 -8.17192725e-03 -9.19871581e+01] [ 1.13640456e-02 4.07600856e-05 9.99935426e-01 -5.02158112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.506559995 meters 0.012765807389534542 Centerline is valid? [True, True] Translation: X:157.50, Y:-91.95, Z:-5.02 [[-6.92169061e-01 -7.21685923e-01 8.45108029e-03 1.57497733e+02] [ 7.21633001e-01 -6.92220649e-01 -8.73987826e-03 -9.19468845e+01] [ 1.21574594e-02 4.91050980e-05 9.99926094e-01 -5.02106463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5665599949999 meters 0.013126054154495696 Centerline is valid? [True, True] Translation: X:157.46, Y:-91.91, Z:-5.02 [[-6.93046955e-01 -7.20840902e-01 8.62041940e-03 1.57457910e+02] [ 7.20785844e-01 -6.93100564e-01 -8.90927575e-03 -9.19073502e+01] [ 1.23969879e-02 3.89298486e-05 9.99923154e-01 -5.02355190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.626559995 meters 0.013103690530560692 Centerline is valid? [True, True] Translation: X:157.42, Y:-91.87, Z:-5.02 [[-6.93675886e-01 -7.20238068e-01 8.41959900e-03 1.57418728e+02] [ 7.20185565e-01 -6.93726981e-01 -8.69640934e-03 -9.18666936e+01] [ 1.21043881e-02 3.11842071e-05 9.99926739e-01 -5.02334262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6865599949999 meters 0.012520434194470069 Centerline is valid? [True, True] Translation: X:157.38, Y:-91.83, Z:-5.02 [[-6.94980075e-01 -7.18980860e-01 8.31982756e-03 1.57378974e+02] [ 7.18929568e-01 -6.95029872e-01 -8.58792779e-03 -9.18252033e+01] [ 1.19570844e-02 1.29313392e-05 9.99928511e-01 -5.01950365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.746559995 meters 0.012698483988584194 Centerline is valid? [True, True] Translation: X:157.34, Y:-91.79, Z:-5.02 [[-6.96089940e-01 -7.17918539e-01 7.19484269e-03 1.57339249e+02] [ 7.17880162e-01 -6.96127123e-01 -7.42310080e-03 -9.17858121e+01] [ 1.03377068e-02 -2.11096190e-06 9.99946565e-01 -5.02031199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8065599949999 meters 0.012578045833987217 Centerline is valid? [True, True] Translation: X:157.30, Y:-91.75, Z:-5.02 [[-6.95153386e-01 -7.18834488e-01 6.22495910e-03 1.57297006e+02] [ 7.18805831e-01 -6.95181257e-01 -6.41853154e-03 -9.17475967e+01] [ 8.94133672e-03 1.26729644e-05 9.99960025e-01 -5.01901769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.866559995 meters 0.012596461095693656 Centerline is valid? [True, True] Translation: X:157.26, Y:-91.71, Z:-5.02 [[-6.94055235e-01 -7.19898671e-01 5.76492514e-03 1.57255246e+02] [ 7.19874161e-01 -6.94079176e-01 -5.94049900e-03 -9.17086739e+01] [ 8.27787183e-03 2.69862170e-05 9.99965738e-01 -5.01848116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9265599949999 meters 0.013023077635098709 Centerline is valid? [True, True] Translation: X:157.21, Y:-91.67, Z:-5.02 [[-6.91638372e-01 -7.22219953e-01 5.89089813e-03 1.57210976e+02] [ 7.22194474e-01 -6.91663456e-01 -6.06680079e-03 -9.16723894e+01] [ 8.45608354e-03 5.83418537e-05 9.99964245e-01 -5.01988907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.986559995 meters 0.013445993676965447 Centerline is valid? [True, True] Translation: X:157.17, Y:-91.63, Z:-5.02 [[-6.89931127e-01 -7.23853236e-01 5.61541585e-03 1.57168632e+02] [ 7.23830165e-01 -6.89953975e-01 -5.77967684e-03 -9.16342856e+01] [ 8.05801627e-03 7.70284233e-05 9.99967531e-01 -5.01946913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0465599949999 meters 0.013738241175831094 Centerline is valid? [True, True] Translation: X:157.13, Y:-91.59, Z:-5.02 [[-6.89165685e-01 -7.24583298e-01 5.45003394e-03 1.57127820e+02] [ 7.24561615e-01 -6.89187230e-01 -5.60613823e-03 -9.15946550e+01] [ 7.81820791e-03 8.53272992e-05 9.99969434e-01 -5.01902854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.106559995 meters 0.014587107225016757 Centerline is valid? [True, True] Translation: X:157.09, Y:-91.56, Z:-5.02 [[-6.87970901e-01 -7.25715768e-01 5.71527479e-03 1.57085248e+02] [ 7.25691992e-01 -6.87994632e-01 -5.87535547e-03 -9.15576191e+01] [ 8.19591648e-03 1.05455550e-04 9.99966407e-01 -5.02056803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.166559995 meters 0.014372251138657102 Centerline is valid? [True, True] Translation: X:157.04, Y:-91.52, Z:-5.02 [[-6.87523161e-01 -7.26134505e-01 6.37048737e-03 1.57044069e+02] [ 7.26105015e-01 -6.87552663e-01 -6.54546074e-03 -9.15161156e+01] [ 9.13293046e-03 1.25486968e-04 9.99958286e-01 -5.02129526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.226559995 meters 0.014508254627698627 Centerline is valid? [True, True] Translation: X:157.00, Y:-91.48, Z:-5.02 [[-6.88022016e-01 -7.25655625e-01 7.04404401e-03 1.57004385e+02] [ 7.25619589e-01 -6.88058061e-01 -7.23304464e-03 -9.14764374e+01] [ 1.00954108e-02 1.34802361e-04 9.99949031e-01 -5.02298987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.286559995 meters 0.01373067661828828 Centerline is valid? [True, True] Translation: X:156.97, Y:-91.43, Z:-5.02 [[-6.90805743e-01 -7.23009818e-01 6.65043876e-03 1.56966905e+02] [ 7.22977613e-01 -6.90837748e-01 -6.82472324e-03 -9.14343791e+01] [ 9.52871604e-03 9.35603363e-05 9.99954596e-01 -5.02317955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3465599949999 meters 0.012649693400440008 Centerline is valid? [True, True] Translation: X:156.93, Y:-91.39, Z:-5.02 [[-6.94268781e-01 -7.19692985e-01 5.73299441e-03 1.56930161e+02] [ 7.19668967e-01 -6.94292449e-01 -5.87990930e-03 -9.13885296e+01] [ 8.21210421e-03 4.36207067e-05 9.99966279e-01 -5.02106704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.406559995 meters 0.012521702765070699 Centerline is valid? [True, True] Translation: X:156.90, Y:-91.34, Z:-5.02 [[-7.00064859e-01 -7.14063642e-01 4.72319713e-03 1.56895644e+02] [ 7.14047231e-01 -7.00080792e-01 -4.84115830e-03 -9.13427008e+01] [ 6.76351471e-03 -1.65389731e-05 9.99977127e-01 -5.02029997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4665599949999 meters 0.013249153413132077 Centerline is valid? [True, True] Translation: X:156.86, Y:-91.30, Z:-5.02 [[-7.03389714e-01 -7.10788152e-01 4.80771086e-03 1.56859991e+02] [ 7.10771087e-01 -7.03406142e-01 -4.92556040e-03 -9.12984080e+01] [ 6.88280332e-03 -4.74066517e-05 9.99976312e-01 -5.02165276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.526559995 meters 0.013624149583612421 Centerline is valid? [True, True] Translation: X:156.82, Y:-91.25, Z:-5.02 [[-7.06616281e-01 -7.07573367e-01 5.77586705e-03 1.56822626e+02] [ 7.07548657e-01 -7.06639881e-01 -5.91417498e-03 -9.12538225e+01] [ 8.26617071e-03 -9.23453652e-05 9.99965830e-01 -5.02225132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5865599949999 meters 0.013899212534189504 Centerline is valid? [True, True] Translation: X:156.78, Y:-91.21, Z:-5.02 [[-7.07354444e-01 -7.06822411e-01 7.19508987e-03 1.56783760e+02] [ 7.06784068e-01 -7.07391026e-01 -7.36328551e-03 -9.12111148e+01] [ 1.02942772e-02 -1.23077846e-04 9.99947005e-01 -5.02452831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.646559995 meters 0.013555075929606359 Centerline is valid? [True, True] Translation: X:156.74, Y:-91.17, Z:-5.02 [[-7.06931382e-01 -7.07243351e-01 7.40697523e-03 1.56743497e+02] [ 7.07202785e-01 -7.06970175e-01 -7.57580040e-03 -9.11697501e+01] [ 1.05944450e-02 -1.17337530e-04 9.99943870e-01 -5.02444591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7065599949999 meters 0.013216054705194569 Centerline is valid? [True, True] Translation: X:156.70, Y:-91.13, Z:-5.02 [[-7.05217415e-01 -7.08954760e-01 7.17959381e-03 1.56704243e+02] [ 7.08916784e-01 -7.05253955e-01 -7.33834396e-03 -9.11291232e+01] [ 1.02659908e-02 -8.53934024e-05 9.99947300e-01 -5.02431184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.766559995 meters 0.012923014430900678 Centerline is valid? [True, True] Translation: X:156.66, Y:-91.09, Z:-5.02 [[-7.03037566e-01 -7.11116890e-01 7.13797504e-03 1.56663077e+02] [ 7.11079511e-01 -7.03073799e-01 -7.29122672e-03 -9.10898309e+01] [ 1.02034377e-02 -5.03384827e-05 9.99947942e-01 -5.02440833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8265599949999 meters 0.01264260992744134 Centerline is valid? [True, True] Translation: X:156.62, Y:-91.05, Z:-5.02 [[-6.99063766e-01 -7.15027268e-01 6.77176580e-03 1.56619573e+02] [ 7.14993845e-01 -6.99096564e-01 -6.91346631e-03 -9.10504320e+01] [ 9.67743513e-03 8.81707197e-06 9.99953173e-01 -5.02438967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.886559995 meters 0.01297456099317607 Centerline is valid? [True, True] Translation: X:156.58, Y:-91.01, Z:-5.02 [[-6.94847887e-01 -7.19131472e-01 6.02820986e-03 1.56576819e+02] [ 7.19105173e-01 -6.94874033e-01 -6.15045576e-03 -9.10120532e+01] [ 8.61183280e-03 6.12857004e-05 9.99962916e-01 -5.02430864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9465599949999 meters 0.013519189770634809 Centerline is valid? [True, True] Translation: X:156.53, Y:-90.97, Z:-5.02 [[-6.92307273e-01 -7.21579970e-01 5.74342397e-03 1.56533468e+02] [ 7.21556208e-01 -6.92331090e-01 -5.85661210e-03 -9.09732964e+01] [ 8.20236496e-03 8.96280795e-05 9.99966356e-01 -5.02482052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.006559995 meters 0.013917354920984074 Centerline is valid? [True, True] Translation: X:156.49, Y:-90.93, Z:-5.02 [[-6.89987909e-01 -7.23801445e-01 5.30592432e-03 1.56491013e+02] [ 7.23781254e-01 -6.90008301e-01 -5.40739360e-03 -9.09337200e+01] [ 7.57501113e-03 1.09292356e-04 9.99971303e-01 -5.02476937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0665599949999 meters 0.014637448021961347 Centerline is valid? [True, True] Translation: X:156.45, Y:-90.89, Z:-5.03 [[-6.87568017e-01 -7.26093872e-01 6.15714918e-03 1.56448471e+02] [ 7.26066806e-01 -6.87595567e-01 -6.27130241e-03 -9.08943202e+01] [ 8.78718273e-03 1.58554674e-04 9.99961379e-01 -5.02593367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.126559995 meters 0.015183345355306322 Centerline is valid? [True, True] Translation: X:156.41, Y:-90.85, Z:-5.03 [[-6.87916790e-01 -7.25759395e-01 6.61739787e-03 1.56408178e+02] [ 7.25728159e-01 -6.87948597e-01 -6.73557814e-03 -9.08548458e+01] [ 9.44083870e-03 1.68914670e-04 9.99955420e-01 -5.02739205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1865599949999 meters 0.01468741644076792 Centerline is valid? [True, True] Translation: X:156.37, Y:-90.81, Z:-5.03 [[-6.89020551e-01 -7.24713946e-01 6.35424862e-03 1.56368538e+02] [ 7.24685137e-01 -6.89049834e-01 -6.46364830e-03 -9.08129567e+01] [ 9.06269002e-03 1.51243020e-04 9.99958922e-01 -5.02727533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.246559995 meters 0.01419747911093996 Centerline is valid? [True, True] Translation: X:156.33, Y:-90.77, Z:-5.03 [[-6.90544040e-01 -7.23265962e-01 5.93945380e-03 1.56328973e+02] [ 7.23240756e-01 -6.90569571e-01 -6.03956449e-03 -9.07697305e+01] [ 8.46981748e-03 1.25069797e-04 9.99964123e-01 -5.02695678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3065599949999 meters 0.014047281519478191 Centerline is valid? [True, True] Translation: X:156.29, Y:-90.73, Z:-5.03 [[-6.92370888e-01 -7.21510623e-01 6.70623597e-03 1.56290419e+02] [ 7.21478450e-01 -6.92403355e-01 -6.81472981e-03 -9.07286430e+01] [ 9.56032024e-03 1.20084203e-04 9.99954292e-01 -5.02850513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.366559995 meters 0.013884015024628922 Centerline is valid? [True, True] Translation: X:156.25, Y:-90.69, Z:-5.03 [[-6.93240406e-01 -7.20668391e-01 7.40338795e-03 1.56252603e+02] [ 7.20629183e-01 -6.93279926e-01 -7.51837611e-03 -9.06861605e+01] [ 1.05508763e-02 1.23055304e-04 9.99944330e-01 -5.02834321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4265599949999 meters 0.014018187571110226 Centerline is valid? [True, True] Translation: X:156.21, Y:-90.65, Z:-5.03 [[-6.92870586e-01 -7.21028268e-01 6.97046361e-03 1.56212828e+02] [ 7.20993574e-01 -6.92905637e-01 -7.07422524e-03 -9.06454074e+01] [ 9.93058990e-03 1.24136880e-04 9.99950683e-01 -5.02715607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.486559995 meters 0.0147589985272452 Centerline is valid? [True, True] Translation: X:156.17, Y:-90.61, Z:-5.03 [[-6.91319754e-01 -7.22526368e-01 5.71371723e-03 1.56171104e+02] [ 7.22503137e-01 -6.91343354e-01 -5.79513599e-03 -9.06064745e+01] [ 8.13727899e-03 1.21886638e-04 9.99966884e-01 -5.02529229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5465599949999 meters 0.014905935028986662 Centerline is valid? [True, True] Translation: X:156.13, Y:-90.57, Z:-5.02 [[-6.91033977e-01 -7.22803434e-01 5.21907117e-03 1.56130759e+02] [ 7.22784086e-01 -6.91053675e-01 -5.28992838e-03 -9.05665494e+01] [ 7.43023671e-03 1.16741342e-04 9.99972389e-01 -5.02470796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.606559995 meters 0.015219458183872988 Centerline is valid? [True, True] Translation: X:156.09, Y:-90.53, Z:-5.02 [[-6.89884003e-01 -7.23899836e-01 5.39353238e-03 1.56089279e+02] [ 7.23879229e-01 -6.89905073e-01 -5.46366621e-03 -9.05254327e+01] [ 7.67617242e-03 1.34970141e-04 9.99970529e-01 -5.02393852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.666559995 meters 0.015769611679073075 Centerline is valid? [True, True] Translation: X:156.05, Y:-90.48, Z:-5.02 [[-6.88817005e-01 -7.24914624e-01 5.47003542e-03 1.56047182e+02] [ 7.24893485e-01 -6.88838708e-01 -5.53803378e-03 -9.04848147e+01] [ 7.78257381e-03 1.50501201e-04 9.99969704e-01 -5.02347743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.726559995 meters 0.016170136876179544 Centerline is valid? [True, True] Translation: X:156.01, Y:-90.45, Z:-5.02 [[-6.87741610e-01 -7.25932183e-01 5.82610067e-03 1.56005270e+02] [ 7.25908267e-01 -6.87766264e-01 -5.89516051e-03 -9.04451395e+01] [ 8.28648223e-03 1.74867461e-04 9.99965651e-01 -5.02392843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.786559995 meters 0.016998064846067473 Centerline is valid? [True, True] Translation: X:155.96, Y:-90.41, Z:-5.02 [[-6.87179039e-01 -7.26460453e-01 6.33871354e-03 1.55963788e+02] [ 7.26432189e-01 -6.87208244e-01 -6.41121154e-03 -9.04062733e+01] [ 9.01350785e-03 1.98995368e-04 9.99959358e-01 -5.02447766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8465599949999 meters 0.016716647466129143 Centerline is valid? [True, True] Translation: X:155.92, Y:-90.37, Z:-5.02 [[-6.87408073e-01 -7.26237701e-01 6.99598648e-03 1.55923880e+02] [ 7.26203304e-01 -6.87443637e-01 -7.07152602e-03 -9.03656070e+01] [ 9.94495518e-03 2.19484426e-04 9.99950524e-01 -5.02399062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.906559995 meters 0.016367866594255934 Centerline is valid? [True, True] Translation: X:155.88, Y:-90.32, Z:-5.02 [[-6.87873598e-01 -7.25800684e-01 6.57883399e-03 1.55882131e+02] [ 7.25770270e-01 -6.87905027e-01 -6.64750584e-03 -9.03245229e+01] [ 9.35037726e-03 2.02078366e-04 9.99956264e-01 -5.02251807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9665599949999 meters 0.01622275252629023 Centerline is valid? [True, True] Translation: X:155.84, Y:-90.29, Z:-5.02 [[-6.89155221e-01 -7.24588651e-01 6.03052538e-03 1.55840917e+02] [ 7.24563079e-01 -6.89181585e-01 -6.09005385e-03 -9.02856141e+01] [ 8.56891094e-03 1.72503623e-04 9.99963271e-01 -5.02149733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.026559995 meters 0.015682902093070487 Centerline is valid? [True, True] Translation: X:155.80, Y:-90.24, Z:-5.02 [[-6.90004422e-01 -7.23780528e-01 5.97034714e-03 1.55799919e+02] [ 7.23755462e-01 -6.90030232e-01 -6.02586110e-03 -9.02448352e+01] [ 8.48112095e-03 1.63200546e-04 9.99964021e-01 -5.02015653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0865599949999 meters 0.015869078401643675 Centerline is valid? [True, True] Translation: X:155.76, Y:-90.21, Z:-5.02 [[-6.91815488e-01 -7.22045165e-01 6.48930243e-03 1.55758077e+02] [ 7.22015515e-01 -6.91845905e-01 -6.54529870e-03 -9.02065023e+01] [ 9.21559858e-03 1.57238016e-04 9.99957523e-01 -5.02060012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.146559995 meters 0.014763703564043407 Centerline is valid? [True, True] Translation: X:155.72, Y:-90.16, Z:-5.02 [[-6.93605601e-01 -7.20323675e-01 6.71367873e-03 1.55717585e+02] [ 7.20291882e-01 -6.93638078e-01 -6.76918117e-03 -9.01641431e+01] [ 9.53286467e-03 1.40666320e-04 9.99954551e-01 -5.01991660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2065599949999 meters 0.014041195069106895 Centerline is valid? [True, True] Translation: X:155.68, Y:-90.12, Z:-5.02 [[-6.96760351e-01 -7.17263099e-01 7.65901359e-03 1.55676365e+02] [ 7.17221583e-01 -6.96802435e-01 -7.71793057e-03 -9.01234719e+01] [ 1.08726061e-02 1.15661836e-04 9.99940885e-01 -5.02013689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.266559995 meters 0.013623686623277608 Centerline is valid? [True, True] Translation: X:155.64, Y:-90.08, Z:-5.02 [[-6.99865069e-01 -7.14235618e-01 7.50782683e-03 1.55635532e+02] [ 7.14195596e-01 -6.99905334e-01 -7.56133586e-03 -9.00816147e+01] [ 1.06553434e-02 7.01420123e-05 9.99943228e-01 -5.01944899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3265599949999 meters 0.013344093750017293 Centerline is valid? [True, True] Translation: X:155.60, Y:-90.04, Z:-5.02 [[-7.04517782e-01 -7.09651241e-01 7.05774366e-03 1.55595335e+02] [ 7.09615686e-01 -7.04553133e-01 -7.10360004e-03 -9.00404779e+01] [ 1.00136340e-02 3.67306924e-06 9.99949862e-01 -5.01826255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.386559995 meters 0.013341247511788765 Centerline is valid? [True, True] Translation: X:155.55, Y:-90.00, Z:-5.02 [[-7.07255409e-01 -7.06922229e-01 7.12386268e-03 1.55554553e+02] [ 7.06885908e-01 -7.07291285e-01 -7.16604598e-03 -8.99989145e+01] [ 1.01044832e-02 -3.24666405e-05 9.99948948e-01 -5.01693998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4465599949999 meters 0.013775833232421333 Centerline is valid? [True, True] Translation: X:155.51, Y:-89.96, Z:-5.02 [[-7.11146026e-01 -7.03002817e-01 7.63996581e-03 1.55513206e+02] [ 7.02960862e-01 -7.11187058e-01 -7.68086388e-03 -8.99586106e+01] [ 1.08331138e-02 -9.16188713e-05 9.99941316e-01 -5.01738423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.506559995 meters 0.01453090749589176 Centerline is valid? [True, True] Translation: X:155.47, Y:-89.92, Z:-5.02 [[-7.14217159e-01 -6.99872096e-01 8.53812104e-03 1.55471236e+02] [ 6.99819533e-01 -7.14268175e-01 -8.57876651e-03 -8.99200791e+01] [ 1.21025474e-02 -1.51958363e-04 9.99926750e-01 -5.01884838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5665599949999 meters 0.014702674299053711 Centerline is valid? [True, True] Translation: X:155.43, Y:-89.88, Z:-5.02 [[-7.16005944e-01 -6.98026938e-01 9.68928181e-03 1.55427457e+02] [ 6.97959151e-01 -7.16071471e-01 -9.72996520e-03 -8.98812807e+01] [ 1.37299961e-02 -2.03990006e-04 9.99905718e-01 -5.01897777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.626559995 meters 0.01480358895452023 Centerline is valid? [True, True] Translation: X:155.38, Y:-89.84, Z:-5.02 [[-7.16366538e-01 -6.97652065e-01 1.00289251e-02 1.55384495e+02] [ 6.97579495e-01 -7.16436703e-01 -1.00647433e-02 -8.98431182e+01] [ 1.42067790e-02 -2.14072810e-04 9.99899056e-01 -5.01906022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6865599949999 meters 0.014022539235958168 Centerline is valid? [True, True] Translation: X:155.34, Y:-89.81, Z:-5.02 [[-7.14725542e-01 -6.99334292e-01 9.94724533e-03 1.55337240e+02] [ 6.99263140e-01 -7.14794738e-01 -9.97714041e-03 -8.98077500e+01] [ 1.40875950e-02 -1.75175079e-04 9.99900750e-01 -5.01883308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.746559995 meters 0.013162809348313457 Centerline is valid? [True, True] Translation: X:155.29, Y:-89.77, Z:-5.02 [[-7.10313120e-01 -7.03818906e-01 9.70667866e-03 1.55289739e+02] [ 7.03751646e-01 -7.10379435e-01 -9.73033655e-03 -8.97730411e+01] [ 1.37438197e-02 -8.04946323e-05 9.99905546e-01 -5.01878467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8065599949999 meters 0.012823759524444893 Centerline is valid? [True, True] Translation: X:155.24, Y:-89.74, Z:-5.02 [[-7.06811836e-01 -7.07349486e-01 8.58681765e-03 1.55244538e+02] [ 7.07297169e-01 -7.06863993e-01 -8.60292747e-03 -8.97373074e+01] [ 1.21549885e-02 -7.21914513e-06 9.99926125e-01 -5.01811728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.866559995 meters 0.013022602116999016 Centerline is valid? [True, True] Translation: X:155.20, Y:-89.70, Z:-5.02 [[-7.01728530e-01 -7.12403689e-01 7.61926797e-03 1.55196848e+02] [ 7.12362846e-01 -7.01769890e-01 -7.62874185e-03 -8.97037241e+01] [ 1.07817167e-02 7.43776104e-05 9.99941873e-01 -5.01720908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9265599949999 meters 0.013584211809568583 Centerline is valid? [True, True] Translation: X:155.15, Y:-89.67, Z:-5.02 [[-6.98721985e-01 -7.15354379e-01 7.46321018e-03 1.55151721e+02] [ 7.15315392e-01 -6.98761832e-01 -7.46943221e-03 -8.96675055e+01] [ 1.05582975e-02 1.19492602e-04 9.99944253e-01 -5.01699390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.986559995 meters 0.01456493163855591 Centerline is valid? [True, True] Translation: X:155.10, Y:-89.63, Z:-5.02 [[-6.94706677e-01 -7.19243576e-01 8.44466068e-03 1.55104639e+02] [ 7.19194006e-01 -6.94757970e-01 -8.44661935e-03 -8.96332295e+01] [ 1.19421720e-02 2.05426485e-04 9.99928669e-01 -5.01834385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0465599949999 meters 0.015582622599746077 Centerline is valid? [True, True] Translation: X:155.06, Y:-89.60, Z:-5.02 [[-6.91984332e-01 -7.21853217e-01 9.25294413e-03 1.55058591e+02] [ 7.21794008e-01 -6.92046137e-01 -9.24953410e-03 -8.95979706e+01] [ 1.30802702e-02 2.78186955e-04 9.99914411e-01 -5.01975390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.106559995 meters 0.015834103389619603 Centerline is valid? [True, True] Translation: X:154.69, Y:-89.96, Z:-4.02 [[-7.69425517e-01 6.38661303e-01 9.80380908e-03 1.54689672e+02] [ 6.38604794e-01 7.69487922e-01 -8.50029621e-03 -8.99630165e+01] [-1.29727229e-02 -2.79585327e-04 -9.99915812e-01 -4.02002217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.166559995 meters 0.014704612833959189 Centerline is valid? [True, True] Translation: X:154.70, Y:-89.94, Z:-4.02 [[-8.10986609e-01 5.84974501e-01 1.02739078e-02 1.54703384e+02] [ 5.84923811e-01 8.11051648e-01 -7.70447581e-03 -8.99420051e+01] [-1.28395917e-02 -2.38773402e-04 -9.99917541e-01 -4.02085341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.226559995 meters 0.013715004185571174 Centerline is valid? [True, True] Translation: X:154.72, Y:-89.92, Z:-4.02 [[-8.47792603e-01 5.30218311e-01 1.07816538e-02 1.54715751e+02] [ 5.30172783e-01 8.47861139e-01 -6.95049558e-03 -8.99223428e+01] [-1.28266253e-02 -1.76439372e-04 -9.99917720e-01 -4.02097776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.286559995 meters 0.013176622712213516 Centerline is valid? [True, True] Translation: X:155.01, Y:-89.48, Z:-5.02 [[-7.96074660e-01 -6.05114424e-01 1.00831548e-02 1.55005476e+02] [ 6.05068369e-01 -7.96138499e-01 -7.46720030e-03 -8.94806887e+01] [ 1.25460984e-02 1.56549115e-04 9.99921282e-01 -5.01887096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3465599949999 meters 0.012826328208177184 Centerline is valid? [True, True] Translation: X:154.68, Y:-89.91, Z:-4.02 [[-8.45221302e-01 5.34319537e-01 1.01775481e-02 1.54681406e+02] [ 5.34279885e-01 8.45282573e-01 -6.50968571e-03 -8.99111364e+01] [-1.20811563e-02 -6.44657984e-05 -9.99927018e-01 -4.02154041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.406559995 meters 0.012741700217229136 Centerline is valid? [True, True] Translation: X:154.97, Y:-89.45, Z:-5.02 [[-8.01727415e-01 -5.97611293e-01 9.68989135e-03 1.54974480e+02] [ 5.97568578e-01 -8.01785968e-01 -7.14535123e-03 -8.94544694e+01] [ 1.20393615e-02 6.17506242e-05 9.99927522e-01 -5.01827306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4665599949999 meters 0.01272104434960576 Centerline is valid? [True, True] Translation: X:154.65, Y:-89.90, Z:-4.02 [[-8.45252415e-01 5.34257196e-01 1.08445119e-02 1.54646543e+02] [ 5.34212842e-01 8.45321979e-01 -6.88413066e-03 -8.98958941e+01] [-1.28450006e-02 -2.55505605e-05 -9.99917499e-01 -4.02074192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.526559995 meters 0.012587797815451452 Centerline is valid? [True, True] Translation: X:154.65, Y:-89.87, Z:-4.02 [[-8.80947489e-01 4.73085564e-01 1.10259057e-02 1.54654325e+02] [ 4.73048163e-01 8.81016486e-01 -5.94865441e-03 -8.98713593e+01] [-1.25282272e-02 -2.46677188e-05 -9.99921518e-01 -4.02136923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5865599949999 meters 0.012652503782381419 Centerline is valid? [True, True] Translation: X:154.92, Y:-89.38, Z:-5.02 [[-8.43679388e-01 -5.36751308e-01 1.01549592e-02 1.54915735e+02] [ 5.36712326e-01 -8.43740501e-01 -6.46881004e-03 -8.93801166e+01] [ 1.20402926e-02 -7.30991737e-06 9.99927513e-01 -5.01720983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.646559995 meters 0.013163319310897066 Centerline is valid? [True, True] Translation: X:154.61, Y:-89.85, Z:-4.02 [[-8.86166287e-01 4.63253210e-01 1.02847434e-02 1.54611000e+02] [ 4.63220563e-01 8.86225960e-01 -5.50078657e-03 -8.98486913e+01] [-1.16628636e-02 -1.10506970e-04 -9.99931980e-01 -4.02239617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7065599949999 meters 0.014095646912970121 Centerline is valid? [True, True] Translation: X:154.87, Y:-89.36, Z:-5.02 [[-8.40488920e-01 -5.41726668e-01 1.05162569e-02 1.54870034e+02] [ 5.41686732e-01 -8.40554692e-01 -6.57992045e-03 -8.93599577e+01] [ 1.24040075e-02 1.66166611e-04 9.99923054e-01 -5.01865481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.766559995 meters 0.015244379967811476 Centerline is valid? [True, True] Translation: X:154.57, Y:-89.83, Z:-4.02 [[-8.92940571e-01 4.50051170e-01 1.05395115e-02 1.54567166e+02] [ 4.50016545e-01 8.93002734e-01 -5.58800891e-03 -8.98255980e+01] [-1.19267026e-02 -2.46805307e-04 -9.99928844e-01 -4.02208779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8265599949999 meters 0.017052322203093988 Centerline is valid? [True, True] Translation: X:154.57, Y:-89.80, Z:-4.02 [[-9.24498908e-01 3.81080239e-01 8.92302252e-03 1.54573041e+02] [ 3.81059861e-01 9.24541935e-01 -3.94883962e-03 -8.97992699e+01] [-9.75453325e-03 -2.50492193e-04 -9.99952392e-01 -4.02414846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.886559995 meters 0.018566608175712245 Centerline is valid? [True, True] Translation: X:154.57, Y:-89.77, Z:-4.03 [[-9.50477593e-01 3.10715137e-01 6.96054374e-03 1.54574300e+02] [ 3.10705103e-01 9.50503054e-01 -2.50672951e-03 -8.97740143e+01] [-7.39489689e-03 -2.19913774e-04 -9.99972633e-01 -4.02639431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9465599949999 meters 0.018896136146976543 Centerline is valid? [True, True] Translation: X:154.58, Y:-89.75, Z:-4.03 [[-9.70580365e-01 2.40692461e-01 6.39483967e-03 1.54577509e+02] [ 2.40685804e-01 9.70601409e-01 -1.80253115e-03 -8.97500740e+01] [-6.64069605e-03 -2.10354220e-04 -9.99977928e-01 -4.02672017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.006559995 meters 0.021202904012584258 Centerline is valid? [True, True] Translation: X:154.57, Y:-89.72, Z:-4.03 [[-9.85624484e-01 1.68832204e-01 6.32963443e-03 1.54571915e+02] [ 1.68827281e-01 9.85644783e-01 -1.30808103e-03 -8.97215358e+01] [-6.45961735e-03 -2.20661716e-04 -9.99979112e-01 -4.02567543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0665599949999 meters 0.0204596186153621 Centerline is valid? [True, True] Translation: X:154.57, Y:-89.70, Z:-4.02 [[-9.95332012e-01 9.62330666e-02 7.30628879e-03 1.54574414e+02] [ 9.62284904e-02 9.95358792e-01 -9.76131087e-04 -8.97002353e+01] [-7.36631487e-03 -2.68501379e-04 -9.99972832e-01 -4.02467948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.126559995 meters 0.020828582235624647 Centerline is valid? [True, True] Translation: X:154.65, Y:-89.12, Z:-5.02 [[-9.71725302e-01 -2.35950889e-01 8.78158744e-03 1.54651377e+02] [ 2.35945210e-01 -9.71764887e-01 -1.69208619e-03 -8.91231991e+01] [ 8.93288756e-03 4.27730525e-04 9.99960010e-01 -5.01632227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1865599949999 meters 0.021058902909777927 Centerline is valid? [True, True] Translation: X:154.52, Y:-89.70, Z:-4.02 [[-9.95648268e-01 9.25031461e-02 1.13002281e-02 1.54523566e+02] [ 9.24924549e-02 9.95712306e-01 -1.46619586e-03 -8.97035256e+01] [-1.13874039e-02 -4.14629528e-04 -9.99935075e-01 -4.01996874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.246559995 meters 0.019514979547872204 Centerline is valid? [True, True] Translation: X:154.52, Y:-89.68, Z:-4.02 [[-9.99620749e-01 2.46793276e-02 1.22183684e-02 1.54523408e+02] [ 2.46725026e-02 9.99695336e-01 -7.09024752e-04 -8.96844429e+01] [-1.22321442e-02 -4.07298128e-04 -9.99925102e-01 -4.01959025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3065599949999 meters 0.01859162555095857 Centerline is valid? [True, True] Translation: X:154.57, Y:-89.07, Z:-5.02 [[-9.88029305e-01 -1.53821412e-01 1.17074789e-02 1.54565057e+02] [ 1.53814993e-01 -9.88098598e-01 -1.45212909e-03 -8.90676883e+01] [ 1.17915120e-02 3.66039686e-04 9.99930411e-01 -5.01945053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.366559995 meters 0.015738892852297195 Centerline is valid? [True, True] Translation: X:154.48, Y:-89.70, Z:-4.02 [[-9.99449104e-01 3.15679162e-02 1.02447279e-02 1.54476347e+02] [ 3.15639101e-02 9.99501583e-01 -5.52530464e-04 -8.97019826e+01] [-1.02570640e-02 -2.28862406e-04 -9.99947369e-01 -4.02317140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4265599949999 meters 0.013779874025326632 Centerline is valid? [True, True] Translation: X:154.52, Y:-89.04, Z:-5.02 [[-9.90841589e-01 -1.34729769e-01 8.99079694e-03 1.54519198e+02] [ 1.34725454e-01 -9.90882370e-01 -1.08665941e-03 -8.90429936e+01] [ 9.05522755e-03 1.34581855e-04 9.99958992e-01 -5.01554119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.486559995 meters 0.012660107187304237 Centerline is valid? [True, True] Translation: X:154.43, Y:-89.72, Z:-4.03 [[-9.98992146e-01 4.38561814e-02 9.55650354e-03 1.54428645e+02] [ 4.38536593e-02 9.99037853e-01 -4.73406725e-04 -8.97223763e+01] [-9.56807059e-03 -5.38419500e-05 -9.99954224e-01 -4.02540179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5465599949999 meters 0.012436621672908979 Centerline is valid? [True, True] Translation: X:154.43, Y:-89.70, Z:-4.03 [[-9.99711134e-01 -2.19556144e-02 9.77750228e-03 1.54427715e+02] [-2.19545994e-02 9.99758946e-01 2.11140962e-04 -8.97012043e+01] [-9.77978111e-03 -3.58117487e-06 -9.99952177e-01 -4.02554267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.606559995 meters 0.012878327562510665 Centerline is valid? [True, True] Translation: X:154.42, Y:-88.99, Z:-5.01 [[-9.99156024e-01 -4.00109277e-02 9.29327599e-03 1.54417163e+02] [ 4.00089652e-02 -9.99199242e-01 -3.97071957e-04 -8.89892318e+01] [ 9.30172155e-03 -2.49224823e-05 9.99956738e-01 -5.01353896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.666559995 meters 0.01312656276755146 Centerline is valid? [True, True] Translation: X:154.36, Y:-89.71, Z:-4.03 [[-9.99825377e-01 -1.68992743e-02 7.97687654e-03 1.54360325e+02] [-1.68981199e-02 9.99857194e-01 2.12096990e-04 -8.97136148e+01] [-7.97932168e-03 7.72657361e-05 -9.99968162e-01 -4.02798199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.726559995 meters 0.0133440553482605 Centerline is valid? [True, True] Translation: X:154.34, Y:-88.99, Z:-5.01 [[-9.99491806e-01 -3.08673086e-02 7.95863151e-03 1.54343147e+02] [ 3.08657081e-02 -9.99523488e-01 -3.23882205e-04 -8.89858684e+01] [ 7.96483650e-03 -7.80688132e-05 9.99968277e-01 -5.01234046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.786559995 meters 0.013030710526099757 Centerline is valid? [True, True] Translation: X:154.29, Y:-89.71, Z:-4.03 [[-9.99665617e-01 -2.41996132e-02 9.11229700e-03 1.54287433e+02] [-2.41980029e-02 9.99707144e-01 2.86940607e-04 -8.97144400e+01] [-9.11657226e-03 6.63452693e-05 -9.99958441e-01 -4.02666335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8465599949999 meters 0.012641448370095894 Centerline is valid? [True, True] Translation: X:154.28, Y:-89.68, Z:-4.02 [[-9.94891794e-01 -1.00430667e-01 1.01979868e-02 1.54277027e+02] [-1.00425175e-01 9.94944059e-01 1.05043876e-03 -8.96823679e+01] [-1.02519227e-02 2.09382910e-05 -9.99947447e-01 -4.02480767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.906559995 meters 0.01264072962005552 Centerline is valid? [True, True] Translation: X:154.21, Y:-88.98, Z:-5.02 [[-9.99344253e-01 3.44700056e-02 1.10852671e-02 1.54205849e+02] [-3.44674928e-02 -9.99405732e-01 4.17707867e-04 -8.89755001e+01] [ 1.10930779e-02 3.53525922e-05 9.99938469e-01 -5.01695032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9665599949999 meters 0.012565242412904193 Centerline is valid? [True, True] Translation: X:154.19, Y:-89.69, Z:-4.02 [[-9.93827364e-01 -1.10434139e-01 1.05579964e-02 1.54188989e+02] [-1.10428174e-01 9.93883444e-01 1.14809119e-03 -8.96861021e+01] [-1.06202062e-02 -2.48958195e-05 -9.99943604e-01 -4.02411278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.026559995 meters 0.012534843925372954 Centerline is valid? [True, True] Translation: X:154.12, Y:-88.99, Z:-5.01 [[-9.99156571e-01 4.01782394e-02 8.47680221e-03 1.54116446e+02] [-4.01777998e-02 -9.99192522e-01 2.22215034e-04 -8.89867184e+01] [ 8.47888558e-03 -1.18551650e-04 9.99964047e-01 -5.01413048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0865599949999 meters 0.012489997532464936 Centerline is valid? [True, True] Translation: X:154.10, Y:-89.69, Z:-4.03 [[-9.93782787e-01 -1.11107462e-01 7.13465959e-03 1.54101742e+02] [-1.11104459e-01 9.93808398e-01 8.17036638e-04 -8.96942372e+01] [-7.18126348e-03 1.92644504e-05 -9.99974214e-01 -4.02634715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.146559995 meters 0.012861338331716196 Centerline is valid? [True, True] Translation: X:154.10, Y:-89.67, Z:-4.03 [[-9.84068431e-01 -1.77659414e-01 6.81590712e-03 1.54096163e+02] [-1.77654826e-01 9.84092034e-01 1.27765505e-03 -8.96681538e+01] [-6.93446735e-03 4.64212079e-05 -9.99975955e-01 -4.02548736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2065599949999 meters 0.014126750411166056 Centerline is valid? [True, True] Translation: X:154.08, Y:-89.65, Z:-4.03 [[-9.71073485e-01 -2.38661117e-01 7.56028319e-03 1.54080900e+02] [-2.38652869e-01 9.71102907e-01 1.98812796e-03 -8.96472618e+01] [-7.81630182e-03 1.26335071e-04 -9.99969444e-01 -4.02503696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.266559995 meters 0.01585521916436301 Centerline is valid? [True, True] Translation: X:154.05, Y:-89.63, Z:-4.02 [[-9.53507634e-01 -3.01235791e-01 8.95491550e-03 1.54047774e+02] [-3.01220300e-01 9.53549657e-01 3.06307245e-03 -8.96322606e+01] [-9.46166366e-03 2.23260631e-04 -9.99955213e-01 -4.02404274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3265599949999 meters 0.019528102099242307 Centerline is valid? [True, True] Translation: X:153.99, Y:-89.63, Z:-4.02 [[-9.31328687e-01 -3.64035262e-01 1.02569361e-02 1.53993339e+02] [-3.64009121e-01 9.31385104e-01 4.37593435e-03 -8.96291777e+01] [-1.11461519e-02 3.41814890e-04 -9.99937821e-01 -4.02167411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.386559995 meters 0.01979490893975908 Centerline is valid? [True, True] Translation: X:153.93, Y:-89.63, Z:-4.02 [[-9.04222587e-01 -4.26920466e-01 1.09740246e-02 1.53926403e+02] [-4.26882988e-01 9.04289067e-01 5.67439303e-03 -8.96295476e+01] [-1.23462050e-02 4.46289937e-04 -9.99923683e-01 -4.02180894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4465599949999 meters 0.021127702975471094 Centerline is valid? [True, True] Translation: X:153.85, Y:-89.64, Z:-4.02 [[-8.72205146e-01 -4.89007705e-01 1.13862686e-02 1.53851241e+02] [-4.88957794e-01 8.72279294e-01 7.00771066e-03 -8.96418776e+01] [-1.33588309e-02 5.44756509e-04 -9.99910618e-01 -4.02163062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.506559995 meters 0.020669429471876888 Centerline is valid? [True, True] Translation: X:153.77, Y:-89.66, Z:-4.02 [[-8.32312250e-01 -5.54220004e-01 9.82373889e-03 1.53769205e+02] [-5.54174597e-01 8.32370087e-01 7.11014041e-03 -8.96606591e+01] [-1.21175684e-02 4.73790425e-04 -9.99926467e-01 -4.02269539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5665599949999 meters 0.017682879264193405 Centerline is valid? [True, True] Translation: X:153.68, Y:-89.69, Z:-4.02 [[-7.82700791e-01 -6.22351630e-01 7.61055910e-03 1.53677872e+02] [-6.22318493e-01 7.82737734e-01 6.42900151e-03 -8.96874263e+01] [-9.95817135e-03 2.95792893e-04 -9.99950372e-01 -4.02448464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.626559995 meters 0.015049416057404471 Centerline is valid? [True, True] Translation: X:153.59, Y:-89.72, Z:-4.02 [[-7.26928334e-01 -6.86679607e-01 6.80549724e-03 1.53585178e+02] [-6.86647077e-01 7.26960166e-01 6.68646640e-03 -8.97245939e+01] [-9.53878552e-03 1.87607090e-04 -9.99954487e-01 -4.02476864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6865599949999 meters 0.013353394826300978 Centerline is valid? [True, True] Translation: X:153.49, Y:-89.77, Z:-4.02 [[-6.64982874e-01 -7.46831274e-01 6.38946957e-03 1.53490707e+02] [-7.46795589e-01 6.65013564e-01 7.30118641e-03 -8.97739845e+01] [-9.70183828e-03 8.35362308e-05 -9.99952933e-01 -4.02383366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.746559995 meters 0.01290764093391808 Centerline is valid? [True, True] Translation: X:153.40, Y:-89.83, Z:-4.02 [[-5.94200195e-01 -8.04291714e-01 6.40062705e-03 1.53397487e+02] [-8.04246431e-01 5.94234662e-01 8.53485899e-03 -8.98268080e+01] [-1.06679908e-02 -7.62665865e-05 -9.99943092e-01 -4.02261747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8065599949999 meters 0.014209610544360436 Centerline is valid? [True, True] Translation: X:153.31, Y:-89.89, Z:-4.02 [[-5.22737603e-01 -8.52476107e-01 5.46676828e-03 1.53311352e+02] [-8.52433043e-01 5.22766156e-01 8.57049402e-03 -8.98941480e+01] [-1.01639828e-02 -1.79934422e-04 -9.99948329e-01 -4.02305858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.866559995 meters 0.015043280619867906 Centerline is valid? [True, True] Translation: X:153.24, Y:-89.97, Z:-4.02 [[-4.53564649e-01 -8.91211940e-01 4.51529756e-03 1.53236614e+02] [-8.91172111e-01 4.53587079e-01 8.42794183e-03 -8.99662525e+01] [-9.55916302e-03 -2.01290786e-04 -9.99954290e-01 -4.02350799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9265599949999 meters 0.015378348794564766 Centerline is valid? [True, True] Translation: X:153.17, Y:-90.05, Z:-4.02 [[-3.83594821e-01 -9.23495009e-01 3.46143830e-03 1.53168717e+02] [-9.23461740e-01 3.83610391e-01 7.84111313e-03 -9.00478131e+01] [-8.56907254e-03 -1.88695451e-04 -9.99963267e-01 -4.02366229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.986559995 meters 0.015074042818528182 Centerline is valid? [True, True] Translation: X:153.11, Y:-90.14, Z:-4.02 [[-3.13558346e-01 -9.49564813e-01 2.79813259e-03 1.53107334e+02] [-9.49531746e-01 3.13570783e-01 7.92631909e-03 -9.01416379e+01] [-8.40396633e-03 -1.71552223e-04 -9.99964671e-01 -4.02365253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0465599949999 meters 0.01568888030925077 Centerline is valid? [True, True] Translation: X:153.05, Y:-90.24, Z:-4.02 [[-2.41929525e-01 -9.70290592e-01 2.50437588e-03 1.53052073e+02] [-9.70245960e-01 2.41942421e-01 9.30820237e-03 -9.02383953e+01] [-9.63757596e-03 -1.77931604e-04 -9.99953542e-01 -4.02111267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.106559995 meters 0.01419608634673113 Centerline is valid? [True, True] Translation: X:153.01, Y:-90.34, Z:-4.02 [[-1.68880362e-01 -9.85634652e-01 1.93788710e-03 1.53008520e+02] [-9.85580937e-01 1.68891393e-01 1.02914477e-02 -9.03390216e+01] [-1.04708999e-02 -1.71921176e-04 -9.99945164e-01 -4.02173179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.166559995 meters 0.01359343584451823 Centerline is valid? [True, True] Translation: X:152.97, Y:-90.45, Z:-4.02 [[-9.78929729e-02 -9.95196237e-01 1.18959282e-03 1.52973100e+02] [-9.95137212e-01 9.79001237e-02 1.08394758e-02 -9.04541988e+01] [-1.09038668e-02 -1.22699574e-04 -9.99940544e-01 -4.02158321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.226559995 meters 0.012863696703084827 Centerline is valid? [True, True] Translation: X:152.95, Y:-90.56, Z:-4.02 [[-2.95963773e-02 -9.99561878e-01 3.27238204e-04 1.52951485e+02] [-9.99510561e-01 2.95981738e-02 1.01285035e-02 -9.05582780e+01] [-1.01337516e-02 -2.73110301e-05 -9.99948652e-01 -4.02322798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.286559995 meters 0.012979062621142632 Centerline is valid? [True, True] Translation: X:152.93, Y:-90.68, Z:-4.02 [[ 4.14940529e-02 -9.99138659e-01 -4.28834408e-04 1.52932370e+02] [-9.99092796e-01 -4.14962571e-02 9.57315001e-03 -9.06750536e+01] [-9.58269928e-03 3.12165748e-05 -9.99954084e-01 -4.02416169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3465599949999 meters 0.013040065148146698 Centerline is valid? [True, True] Translation: X:152.92, Y:-90.79, Z:-4.03 [[ 1.16009626e-01 -9.93247693e-01 -8.87132573e-04 1.52916462e+02] [-9.93221165e-01 -1.16013012e-01 7.25936114e-03 -9.07871396e+01] [-7.31326263e-03 3.89630731e-05 -9.99973257e-01 -4.02676784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.406559995 meters 0.013483078015615196 Centerline is valid? [True, True] Translation: X:152.91, Y:-90.91, Z:-4.03 [[ 1.89540652e-01 -9.81871803e-01 -1.45037401e-03 1.52912747e+02] [-9.81845380e-01 -1.89546192e-01 7.20349260e-03 -9.09088838e+01] [-7.34781914e-03 5.86883375e-05 -9.99973003e-01 -4.02834063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4665599949999 meters 0.013802751300464128 Centerline is valid? [True, True] Translation: X:152.91, Y:-91.03, Z:-4.03 [[ 2.62631641e-01 -9.64893706e-01 -2.18102342e-03 1.52914740e+02] [-9.64862932e-01 -2.62640684e-01 7.70675506e-03 -9.10267308e+01] [-8.00902493e-03 8.03509255e-05 -9.99967924e-01 -4.02783688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.526559995 meters 0.013947274216498566 Centerline is valid? [True, True] Translation: X:152.92, Y:-91.15, Z:-4.03 [[ 3.34711537e-01 -9.42317455e-01 -2.44975644e-03 1.52923966e+02] [-9.42293971e-01 -3.34720492e-01 6.65322480e-03 -9.11490546e+01] [-7.08943354e-03 8.14796225e-05 -9.99974866e-01 -4.02831783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5865599949999 meters 0.013898733763672991 Centerline is valid? [True, True] Translation: X:152.94, Y:-91.27, Z:-4.03 [[ 4.05947549e-01 -9.13892925e-01 -2.51163368e-03 1.52943020e+02] [-9.13876494e-01 -4.05955313e-01 5.48059271e-03 -9.12691025e+01] [-6.02828594e-03 7.04898010e-05 -9.99981827e-01 -4.03068161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.646559995 meters 0.013407759847300074 Centerline is valid? [True, True] Translation: X:152.97, Y:-91.38, Z:-4.03 [[ 4.76417259e-01 -8.79213939e-01 -3.07333011e-03 1.52965287e+02] [-8.79196495e-01 -4.76427168e-01 5.53869425e-03 -9.13825907e+01] [-6.33391515e-03 6.33315252e-05 -9.99979939e-01 -4.03123676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7065599949999 meters 0.013391851669311533 Centerline is valid? [True, True] Translation: X:153.00, Y:-91.50, Z:-4.03 [[ 5.43701936e-01 -8.39269633e-01 -3.83242319e-03 1.52999762e+02] [-8.39249537e-01 -5.43715439e-01 5.80822674e-03 -9.14953374e+01] [-6.95841599e-03 5.84152622e-05 -9.99975788e-01 -4.03007420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.766559995 meters 0.013005111948895398 Centerline is valid? [True, True] Translation: X:153.04, Y:-91.60, Z:-4.03 [[ 6.08246023e-01 -7.93732947e-01 -4.97835635e-03 1.53038194e+02] [-7.93707012e-01 -6.08266394e-01 6.41655573e-03 -9.16032410e+01] [-8.12119856e-03 4.85118385e-05 -9.99967021e-01 -4.03000070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8265599949999 meters 0.012886310990218515 Centerline is valid? [True, True] Translation: X:153.09, Y:-91.71, Z:-4.03 [[ 6.68735719e-01 -7.43475331e-01 -6.08028179e-03 1.53086464e+02] [-7.43445056e-01 -6.68763359e-01 6.70948512e-03 -9.17063213e+01] [-9.05460635e-03 3.34830798e-05 -9.99959006e-01 -4.03026155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.886559995 meters 0.012788743617938789 Centerline is valid? [True, True] Translation: X:153.14, Y:-91.81, Z:-4.03 [[ 7.26734969e-01 -6.86893103e-01 -5.84376950e-03 1.53138515e+02] [-6.86870795e-01 -7.26758464e-01 5.53594869e-03 -9.18054849e+01] [-8.04961392e-03 -9.25290252e-06 -9.99967601e-01 -4.03079582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9465599949999 meters 0.012881414042735817 Centerline is valid? [True, True] Translation: X:153.16, Y:-91.84, Z:-4.03 [[ 7.80671449e-01 -6.24916002e-01 -5.66387922e-03 1.53156313e+02] [-6.24899212e-01 -7.80691994e-01 4.58099901e-03 -9.18354248e+01] [-7.28448475e-03 -3.69014749e-05 -9.99973467e-01 -4.03212485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.006559995 meters 0.013300386040919236 Centerline is valid? [True, True] Translation: X:153.18, Y:-91.86, Z:-4.03 [[ 8.29494868e-01 -5.58486470e-01 -5.57919026e-03 1.53175597e+02] [-5.58473328e-01 -8.29513628e-01 3.83185396e-03 -9.18644003e+01] [-6.76805295e-03 -6.26742420e-05 -9.99977095e-01 -4.03259806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0665599949999 meters 0.013648118206030983 Centerline is valid? [True, True] Translation: X:153.20, Y:-91.89, Z:-4.03 [[ 8.72205826e-01 -4.89094397e-01 -6.60809786e-03 1.53197233e+02] [-4.89079526e-01 -8.72230853e-01 3.81524993e-03 -9.18921339e+01] [-7.62980420e-03 -9.57978467e-05 -9.99970888e-01 -4.03131881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.126559995 meters 0.014664910313692828 Centerline is valid? [True, True] Translation: X:153.22, Y:-91.92, Z:-4.03 [[ 9.09577852e-01 -4.15440609e-01 -8.78813035e-03 1.53220486e+02] [-4.15419464e-01 -9.09620291e-01 4.19473843e-03 -9.19183507e+01] [-9.73652638e-03 -1.64680773e-04 -9.99952585e-01 -4.02827503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1865599949999 meters 0.01537705756153404 Centerline is valid? [True, True] Translation: X:153.25, Y:-91.94, Z:-4.03 [[ 9.39929965e-01 -3.41181569e-01 -1.12605080e-02 1.53249462e+02] [-3.41154162e-01 -9.39997386e-01 4.33042560e-03 -9.19375399e+01] [-1.20623094e-02 -2.28727617e-04 -9.99927222e-01 -4.02652833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.246559995 meters 0.01495269013572068 Centerline is valid? [True, True] Translation: X:153.28, Y:-91.95, Z:-4.03 [[ 9.63575134e-01 -2.67162727e-01 -1.21259405e-02 1.53279801e+02] [-2.67138520e-01 -9.63651401e-01 3.60394600e-03 -9.19537753e+01] [-1.26480196e-02 -2.33366946e-04 -9.99919983e-01 -4.02623029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3065599949999 meters 0.014592315768375807 Centerline is valid? [True, True] Translation: X:153.31, Y:-91.96, Z:-4.03 [[ 9.81021384e-01 -1.93433960e-01 -1.34293418e-02 1.53311695e+02] [-1.93412773e-01 -9.81113273e-01 2.87133500e-03 -9.19646479e+01] [-1.37311192e-02 -2.19434810e-04 -9.99905700e-01 -4.02576241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.366559995 meters 0.013172782387275208 Centerline is valid? [True, True] Translation: X:153.34, Y:-91.97, Z:-4.03 [[ 9.92268922e-01 -1.23559931e-01 -1.16331342e-02 1.53340750e+02] [-1.23550280e-01 -9.92337107e-01 1.54735696e-03 -9.19679532e+01] [-1.17351820e-02 -9.81172309e-05 -9.99931136e-01 -4.02827130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4265599949999 meters 0.012713788910648461 Centerline is valid? [True, True] Translation: X:153.37, Y:-91.97, Z:-4.03 [[ 9.98563448e-01 -5.28058791e-02 -9.08735150e-03 1.53370138e+02] [-5.28036032e-02 -9.98604796e-01 4.90358122e-04 -9.19689399e+01] [-9.10056659e-03 -9.80879352e-06 -9.99958589e-01 -4.03099160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.486559995 meters 0.012839520429389073 Centerline is valid? [True, True] Translation: X:153.40, Y:-91.97, Z:-4.03 [[ 9.99723278e-01 2.18877860e-02 -8.61931682e-03 1.53398527e+02] [ 2.18867808e-02 -9.99760434e-01 -2.10945488e-04 -9.19704188e+01] [-8.62186905e-03 2.22380168e-05 -9.99962831e-01 -4.03060804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5465599949999 meters 0.012782974366690276 Centerline is valid? [True, True] Translation: X:153.43, Y:-91.97, Z:-4.03 [[ 9.94920604e-01 1.00190193e-01 -9.74249243e-03 1.53427185e+02] [ 1.00185150e-01 -9.94968303e-01 -1.00561031e-03 -9.19741516e+01] [-9.79422346e-03 2.44493597e-05 -9.99952035e-01 -4.02966703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.606559995 meters 0.012813450883096475 Centerline is valid? [True, True] Translation: X:153.46, Y:-91.98, Z:-4.03 [[ 9.83447196e-01 1.80811827e-01 -1.17769377e-02 1.53455833e+02] [ 1.80798952e-01 -9.83517709e-01 -2.15768855e-03 -9.19781924e+01] [-1.19729624e-02 -7.28523302e-06 -9.99928322e-01 -4.02803569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.666559995 meters 0.012938202374557057 Centerline is valid? [True, True] Translation: X:153.48, Y:-91.98, Z:-4.03 [[ 9.65414576e-01 2.60437290e-01 -1.21290408e-02 1.53484170e+02] [ 2.60417374e-01 -9.65490764e-01 -3.22111380e-03 -9.19801697e+01] [-1.25493750e-02 -4.89027405e-05 -9.99921252e-01 -4.02664756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.726559995 meters 0.013414054643702558 Centerline is valid? [True, True] Translation: X:153.51, Y:-91.98, Z:-4.03 [[ 9.40093099e-01 3.40748500e-01 -1.07435605e-02 1.53513559e+02] [ 3.40727601e-01 -9.40154481e-01 -3.77558483e-03 -9.19809952e+01] [-1.13871314e-02 -1.11226350e-04 -9.99935158e-01 -4.02714661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.786559995 meters 0.013891532850219386 Centerline is valid? [True, True] Translation: X:153.54, Y:-91.98, Z:-4.03 [[ 9.08971308e-01 4.16719433e-01 -1.07738692e-02 1.53543334e+02] [ 4.16692234e-01 -9.09035142e-01 -4.76369442e-03 -9.19785583e+01] [-1.17789498e-02 -1.59326101e-04 -9.99930613e-01 -4.02726479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8465599949999 meters 0.013900008675902511 Centerline is valid? [True, True] Translation: X:153.57, Y:-91.97, Z:-4.03 [[ 8.73279617e-01 4.87108360e-01 -1.03998266e-02 1.53571595e+02] [ 4.87076084e-01 -8.73341524e-01 -5.60989029e-03 -9.19726416e+01] [-1.18152249e-02 -1.66503988e-04 -9.99930184e-01 -4.02797649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.906559995 meters 0.014219280286415021 Centerline is valid? [True, True] Translation: X:153.60, Y:-91.96, Z:-4.03 [[ 8.32931841e-01 5.53324027e-01 -7.55435768e-03 1.53599124e+02] [ 5.53302570e-01 -8.32966090e-01 -4.87433931e-03 -9.19646031e+01] [-8.98961284e-03 -1.19853107e-04 -9.99959585e-01 -4.02926868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9665599949999 meters 0.013257149426177927 Centerline is valid? [True, True] Translation: X:153.63, Y:-91.95, Z:-4.03 [[ 7.89921753e-01 6.13188960e-01 -4.78793955e-03 1.53626467e+02] [ 6.13178096e-01 -7.89936261e-01 -3.65050381e-03 -9.19538574e+01] [-6.02061570e-03 -5.22472835e-05 -9.99981875e-01 -4.03215303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.026559995 meters 0.012983502997411456 Centerline is valid? [True, True] Translation: X:153.65, Y:-91.94, Z:-4.03 [[ 7.42406318e-01 6.69936368e-01 -4.25702053e-03 1.53651490e+02] [ 6.69925546e-01 -7.42418522e-01 -3.80799367e-03 -9.19409499e+01] [-5.71160434e-03 -2.48082471e-05 -9.99983688e-01 -4.03200469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0865599949999 meters 0.012908575504170726 Centerline is valid? [True, True] Translation: X:153.68, Y:-91.93, Z:-4.03 [[ 6.88608917e-01 7.25119142e-01 -4.47104785e-03 1.53676638e+02] [ 7.25104043e-01 -6.88623431e-01 -4.67945660e-03 -9.19268740e+01] [-6.47203187e-03 -1.96593315e-05 -9.99979056e-01 -4.03167376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.146559995 meters 0.012974981588819457 Centerline is valid? [True, True] Translation: X:153.70, Y:-91.91, Z:-4.03 [[ 6.32813379e-01 7.74286740e-01 -5.22230075e-03 1.53699080e+02] [ 7.74260269e-01 -6.32834927e-01 -6.40238411e-03 -9.19107134e+01] [-8.26213543e-03 8.09433350e-06 -9.99965868e-01 -4.02960805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2065599949999 meters 0.013103706321291424 Centerline is valid? [True, True] Translation: X:153.72, Y:-91.89, Z:-4.03 [[ 5.73569485e-01 8.19139484e-01 -5.34346663e-03 1.53722364e+02] [ 8.19103170e-01 -5.73594373e-01 -7.71316745e-03 -9.18941685e+01] [-9.38314239e-03 4.71870279e-05 -9.99955976e-01 -4.02860383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.266559995 meters 0.013322631139151149 Centerline is valid? [True, True] Translation: X:153.74, Y:-91.88, Z:-4.03 [[ 5.09194095e-01 8.60638975e-01 -4.68279579e-03 1.53743634e+02] [ 8.60601435e-01 -5.09215623e-01 -8.03864839e-03 -9.18757382e+01] [-9.30292688e-03 6.32115105e-05 -9.99956725e-01 -4.02835349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3265599949999 meters 0.013343162827464308 Centerline is valid? [True, True] Translation: X:153.77, Y:-91.86, Z:-4.03 [[ 4.40953508e-01 8.97519306e-01 -4.37020353e-03 1.53765171e+02] [ 8.97473503e-01 -4.40975157e-01 -9.06765021e-03 -9.18569149e+01] [-1.00655423e-02 7.62702961e-05 -9.99949338e-01 -4.02772839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.386559995 meters 0.013241107017276876 Centerline is valid? [True, True] Translation: X:153.79, Y:-91.84, Z:-4.03 [[ 3.68652745e-01 9.29560465e-01 -3.53476027e-03 1.53788727e+02] [ 9.29515977e-01 -3.68669685e-01 -9.09465241e-03 -9.18380613e+01] [-9.75718828e-03 6.71524368e-05 -9.99952395e-01 -4.02725798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4465599949999 meters 0.013196708656703995 Centerline is valid? [True, True] Translation: X:153.81, Y:-91.82, Z:-4.03 [[ 2.93588028e-01 9.55928776e-01 -2.49901533e-03 1.53807430e+02] [ 9.55892704e-01 -2.93598660e-01 -8.30458322e-03 -9.18169714e+01] [-8.67229762e-03 4.93356954e-05 -9.99962394e-01 -4.02720257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.506559995 meters 0.012829566583925438 Centerline is valid? [True, True] Translation: X:153.83, Y:-91.79, Z:-4.03 [[ 2.16051882e-01 9.76380969e-01 -1.33722220e-03 1.53825507e+02] [ 9.76361566e-01 -2.16056019e-01 -6.15550844e-03 -9.17937479e+01] [-6.29903620e-03 2.42968238e-05 -9.99980161e-01 -4.02967318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5665599949999 meters 0.012648579139661836 Centerline is valid? [True, True] Translation: X:153.84, Y:-91.77, Z:-4.03 [[ 1.36321199e-01 9.90664473e-01 -6.58295594e-04 1.53841566e+02] [ 9.90652704e-01 -1.36322789e-01 -4.82891273e-03 -9.17702654e+01] [-4.87357297e-03 6.14086424e-06 -9.99988124e-01 -4.02932041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.626559995 meters 0.01260999631588995 Centerline is valid? [True, True] Translation: X:153.85, Y:-91.74, Z:-4.03 [[ 5.63420447e-02 9.98411483e-01 -2.92477840e-04 1.53853953e+02] [ 9.98398376e-01 -5.63428037e-02 -5.11572961e-03 -9.17437388e+01] [-5.12408221e-03 -3.77873422e-06 -9.99986872e-01 -4.02904475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6865599949999 meters 0.012533465352759487 Centerline is valid? [True, True] Translation: X:153.87, Y:-91.72, Z:-4.03 [[-2.37419815e-02 9.99718113e-01 1.14796970e-04 1.53865411e+02] [ 9.99703628e-01 2.37422555e-02 -5.38167358e-03 -9.17162678e+01] [-5.38288210e-03 -1.30086478e-05 -9.99985512e-01 -4.02750746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.746559995 meters 0.012655499470867625 Centerline is valid? [True, True] Translation: X:153.87, Y:-91.69, Z:-4.03 [[-1.02787931e-01 9.94703091e-01 6.34695187e-04 1.53873826e+02] [ 9.94682881e-01 1.02789888e-01 -6.34074477e-03 -9.16882638e+01] [-6.37239867e-03 -2.04315960e-05 -9.99979696e-01 -4.02674036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8065599949999 meters 0.012719401656672971 Centerline is valid? [True, True] Translation: X:153.88, Y:-91.66, Z:-4.03 [[-1.80634256e-01 9.83549512e-01 1.27422593e-03 1.53878132e+02] [ 9.83524064e-01 1.80638749e-01 -7.07515347e-03 -9.16598198e+01] [-7.18893831e-03 -2.47832172e-05 -9.99974159e-01 -4.02550664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.866559995 meters 0.012733379772262078 Centerline is valid? [True, True] Translation: X:153.88, Y:-91.63, Z:-4.03 [[-2.58098425e-01 9.66116708e-01 1.92591153e-03 1.53879137e+02] [ 9.66088832e-01 2.58105608e-01 -7.33926097e-03 -9.16312494e+01] [-7.58767122e-03 -3.36500742e-05 -9.99971213e-01 -4.02525736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9265599949999 meters 0.012953786978188213 Centerline is valid? [True, True] Translation: X:153.88, Y:-91.60, Z:-4.02 [[-3.35251446e-01 9.42125553e-01 2.43109617e-03 1.53878558e+02] [ 9.42099679e-01 3.35260257e-01 -6.98243234e-03 -9.16022079e+01] [-7.39337786e-03 -5.05356240e-05 -9.99972667e-01 -4.02476199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.986559995 meters 0.013161290254069383 Centerline is valid? [True, True] Translation: X:153.87, Y:-91.57, Z:-4.02 [[-4.09440706e-01 9.12331633e-01 3.04936259e-03 1.53874426e+02] [ 9.12305161e-01 4.09452056e-01 -6.95029681e-03 -9.15744113e+01] [-7.58954343e-03 -6.37852012e-05 -9.99971197e-01 -4.02458250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0465599949999 meters 0.0132409565874754 Centerline is valid? [True, True] Translation: X:153.87, Y:-91.54, Z:-4.02 [[-4.80778795e-01 8.76836005e-01 3.22027837e-03 1.53870885e+02] [ 8.76815408e-01 4.80789575e-01 -6.01041102e-03 -9.15443948e+01] [-6.81842106e-03 -6.60884771e-05 -9.99976752e-01 -4.02484401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.106559995 meters 0.013318832981021713 Centerline is valid? [True, True] Translation: X:153.86, Y:-91.52, Z:-4.03 [[-5.47957465e-01 8.36499897e-01 3.24644173e-03 1.53863709e+02] [ 8.36484585e-01 5.47967079e-01 -5.06164097e-03 -9.15177176e+01] [-6.01300535e-03 -5.79654941e-05 -9.99981920e-01 -4.02572744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.166559995 meters 0.013229811480816143 Centerline is valid? [True, True] Translation: X:153.85, Y:-91.49, Z:-4.03 [[-6.11257496e-01 7.91424819e-01 3.32122740e-03 1.53853353e+02] [ 7.91412694e-01 6.11266516e-01 -4.38100938e-03 -9.14906483e+01] [-5.49739466e-03 -4.94632964e-05 -9.99984888e-01 -4.02601801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.226559995 meters 0.013057769193479346 Centerline is valid? [True, True] Translation: X:153.84, Y:-91.46, Z:-4.03 [[-6.70206193e-01 7.42165539e-01 3.73794206e-03 1.53840815e+02] [ 7.42153647e-01 6.70216615e-01 -4.20164777e-03 -9.14649075e+01] [-5.62354905e-03 -4.18430280e-05 -9.99984187e-01 -4.02604591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.286559995 meters 0.01283351231409024 Centerline is valid? [True, True] Translation: X:153.83, Y:-91.44, Z:-4.03 [[-7.23966471e-01 6.89823014e-01 4.09372349e-03 1.53825319e+02] [ 6.89811804e-01 7.23978045e-01 -3.93273871e-03 -9.14406119e+01] [-5.67665960e-03 -2.32721787e-05 -9.99983887e-01 -4.02502793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3465599949999 meters 0.012762617830251314 Centerline is valid? [True, True] Translation: X:153.84, Y:-91.43, Z:-4.02 [[-7.68366461e-01 6.39995517e-01 4.32656374e-03 1.53843826e+02] [ 6.39985369e-01 7.68378642e-01 -3.60417934e-03 -9.14273253e+01] [-5.63109779e-03 -3.93039455e-07 -9.99984145e-01 -4.02499713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.406559995 meters 0.01290023345088506 Centerline is valid? [True, True] Translation: X:153.86, Y:-91.41, Z:-4.02 [[-8.10523393e-01 5.85687569e-01 4.67984207e-03 1.53860631e+02] [ 5.85677888e-01 8.10536904e-01 -3.36741318e-03 -9.14096746e+01] [-5.76543674e-03 1.15128633e-05 -9.99983380e-01 -4.02465963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4665599949999 meters 0.012943252912561752 Centerline is valid? [True, True] Translation: X:153.88, Y:-91.39, Z:-4.02 [[-8.50202715e-01 5.26429246e-01 5.25287318e-03 1.53877147e+02] [ 5.26419263e-01 8.50218942e-01 -3.24201225e-03 -9.13881133e+01] [-6.17278234e-03 8.84601430e-06 -9.99980948e-01 -4.02398870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.526559995 meters 0.012915484188896618 Centerline is valid? [True, True] Translation: X:153.88, Y:-91.36, Z:-4.02 [[-8.86303055e-01 4.63068880e-01 5.84006007e-03 1.53884881e+02] [ 4.63058794e-01 8.86322296e-01 -3.05637731e-03 -9.13599685e+01] [-6.59148866e-03 -4.58537597e-06 -9.99978276e-01 -4.02365227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5865599949999 meters 0.01307681889597698 Centerline is valid? [True, True] Translation: X:154.23, Y:-90.73, Z:-5.02 [[-8.50153752e-01 -5.26493713e-01 6.55503157e-03 1.54231408e+02] [ 5.26478739e-01 -8.50179019e-01 -3.97155768e-03 -9.07280610e+01] [ 7.66395046e-03 7.46500938e-05 9.99970629e-01 -5.01680593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.646559995 meters 0.013456043306805948 Centerline is valid? [True, True] Translation: X:153.85, Y:-91.33, Z:-4.02 [[-8.91205007e-01 4.53555005e-01 6.44154940e-03 1.53851365e+02] [ 4.53542696e-01 8.91228284e-01 -3.34197672e-03 -9.13345754e+01] [-7.25666129e-03 -5.68687024e-05 -9.99973669e-01 -4.02239822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7065599949999 meters 0.01326213134604447 Centerline is valid? [True, True] Translation: X:154.19, Y:-90.71, Z:-5.02 [[-8.50577881e-01 -5.25829768e-01 4.50814870e-03 1.54187899e+02] [ 5.25821924e-01 -8.50589824e-01 -2.87313224e-03 -9.07104005e+01] [ 5.34536388e-03 -7.33393077e-05 9.99985711e-01 -5.01531396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.766559995 meters 0.013065944089276884 Centerline is valid? [True, True] Translation: X:154.18, Y:-90.74, Z:-5.01 [[-8.14862938e-01 -5.79642598e-01 3.58477764e-03 1.54176993e+02] [ 5.79637109e-01 -8.14870823e-01 -2.52277859e-03 -9.07378551e+01] [ 4.38344065e-03 2.21513721e-05 9.99990392e-01 -5.01422520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8265599949999 meters 0.012968830431827616 Centerline is valid? [True, True] Translation: X:153.77, Y:-91.32, Z:-4.03 [[-8.57828126e-01 5.13925453e-01 3.39634295e-03 1.53769103e+02] [ 5.13921380e-01 8.57834849e-01 -2.04617007e-03 -9.13239655e+01] [-3.96508022e-03 -9.80898155e-06 -9.99992139e-01 -4.02609423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.886559995 meters 0.013040069123730054 Centerline is valid? [True, True] Translation: X:153.78, Y:-91.30, Z:-4.03 [[-8.91000075e-01 4.53983856e-01 4.18619402e-03 1.53778421e+02] [ 4.53978839e-01 8.91009909e-01 -2.13434016e-03 -9.12989452e+01] [-4.69889633e-03 -1.25374379e-06 -9.99988960e-01 -4.02592956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9465599949999 meters 0.013165899651438034 Centerline is valid? [True, True] Translation: X:154.11, Y:-90.67, Z:-5.02 [[-8.58629684e-01 -5.12572612e-01 4.93787857e-03 1.54111636e+02] [ 5.12564549e-01 -8.58643881e-01 -2.87570544e-03 -9.06677847e+01] [ 5.71388707e-03 6.18154467e-05 9.99983674e-01 -5.01502834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.006559995 meters 0.013160752322992804 Centerline is valid? [True, True] Translation: X:153.75, Y:-91.28, Z:-4.02 [[-8.91720397e-01 4.52528675e-01 7.24792675e-03 1.53748402e+02] [ 4.52513849e-01 8.91749852e-01 -3.66312421e-03 -9.12834132e+01] [-8.12100635e-03 1.33046572e-05 -9.99967024e-01 -4.02256654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0665599949999 meters 0.013264825936900088 Centerline is valid? [True, True] Translation: X:153.76, Y:-91.26, Z:-4.02 [[-9.21219089e-01 3.88959011e-01 8.14115227e-03 1.53761608e+02] [ 3.88944024e-01 9.21255061e-01 -3.41448725e-03 -9.12589980e+01] [-8.82817331e-03 2.09616915e-05 -9.99961031e-01 -4.02256806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.126559995 meters 0.013262451471577036 Centerline is valid? [True, True] Translation: X:154.04, Y:-90.61, Z:-5.02 [[-8.95147062e-01 -4.45697154e-01 8.11077786e-03 1.54039655e+02] [ 4.45678787e-01 -8.95183806e-01 -4.04622726e-03 -9.06067822e+01] [ 9.06402897e-03 -7.16680145e-06 9.99958921e-01 -5.01738835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1865599949999 meters 0.013225035246709245 Centerline is valid? [True, True] Translation: X:153.72, Y:-91.24, Z:-4.02 [[-9.22726829e-01 3.85331883e-01 9.72312202e-03 1.53720327e+02] [ 3.85310745e-01 9.22778056e-01 -4.03613399e-03 -9.12389439e+01] [-1.05275347e-02 2.21742708e-05 -9.99944584e-01 -4.02119887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.246559995 meters 0.013321335870138184 Centerline is valid? [True, True] Translation: X:153.73, Y:-91.21, Z:-4.02 [[-9.48312204e-01 3.17171445e-01 1.03071491e-02 1.53730665e+02] [ 3.17152739e-01 9.48368217e-01 -3.44468167e-03 -9.12127702e+01] [-1.08675273e-02 2.30689722e-06 -9.99940947e-01 -4.02047268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3065599949999 meters 0.013277026085095664 Centerline is valid? [True, True] Translation: X:153.74, Y:-91.19, Z:-4.02 [[-9.68955604e-01 2.47056879e-01 9.37743494e-03 1.53738059e+02] [ 2.47045121e-01 9.69000980e-01 -2.41039570e-03 -9.11854678e+01] [-9.68224849e-03 -1.89168749e-05 -9.99953126e-01 -4.02204829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.366559995 meters 0.013525732727140489 Centerline is valid? [True, True] Translation: X:153.91, Y:-90.51, Z:-5.02 [[-9.47448796e-01 -3.19798732e-01 8.33966666e-03 1.53909373e+02] [ 3.19785966e-01 -9.47485498e-01 -2.85774176e-03 -9.05113013e+01] [ 8.81561541e-03 -4.06556331e-05 9.99961141e-01 -5.01739415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4265599949999 meters 0.01374914413104714 Centerline is valid? [True, True] Translation: X:153.69, Y:-91.17, Z:-4.02 [[-9.71571384e-01 2.36590956e-01 8.58863630e-03 1.53690270e+02] [ 2.36580991e-01 9.71609342e-01 -2.17286440e-03 -9.11680440e+01] [-8.85887933e-03 -7.91847802e-05 -9.99960756e-01 -4.02189478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.486559995 meters 0.013986630394960576 Centerline is valid? [True, True] Translation: X:153.86, Y:-90.50, Z:-5.02 [[-9.47241376e-01 -3.20398464e-01 8.86567350e-03 1.53862448e+02] [ 3.20385546e-01 -9.47282857e-01 -2.87926788e-03 -9.05041509e+01] [ 9.32081353e-03 1.13071981e-04 9.99956554e-01 -5.01780972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5465599949999 meters 0.013800082360002009 Centerline is valid? [True, True] Translation: X:153.64, Y:-91.15, Z:-4.02 [[-9.72698572e-01 2.31899408e-01 8.95275642e-03 1.53639729e+02] [ 2.31888709e-01 9.72739768e-01 -2.22949178e-03 -9.11541648e+01] [-9.22572003e-03 -9.25803390e-05 -9.99957438e-01 -4.02170411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.606559995 meters 0.013704094135738967 Centerline is valid? [True, True] Translation: X:153.65, Y:-91.13, Z:-4.02 [[-9.86608486e-01 1.62828502e-01 9.51709047e-03 1.53649068e+02] [ 1.62820012e-01 9.86654382e-01 -1.66538670e-03 -9.11297827e+01] [-9.66125144e-03 -9.35118635e-05 -9.99953325e-01 -4.02214620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.666559995 meters 0.013692012746303592 Centerline is valid? [True, True] Translation: X:153.65, Y:-91.10, Z:-4.02 [[-9.95625366e-01 9.28814537e-02 1.01570779e-02 1.53652970e+02] [ 9.28756577e-02 9.95677170e-01 -1.04186204e-03 -9.11041916e+01] [-1.02099402e-02 -9.39589913e-05 -9.99947873e-01 -4.02160416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.726559995 meters 0.013744386713461624 Centerline is valid? [True, True] Translation: X:153.65, Y:-91.08, Z:-4.02 [[-9.99702439e-01 2.19058512e-02 1.07316422e-02 1.53649603e+02] [ 2.19035218e-02 9.99760033e-01 -3.34564837e-04 -9.10769882e+01] [-1.07363958e-02 -9.94045261e-05 -9.99942358e-01 -4.02093086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.786559995 meters 0.013712135323304314 Centerline is valid? [True, True] Translation: X:153.65, Y:-91.05, Z:-4.02 [[-9.98722546e-01 -4.93747269e-02 1.07429972e-02 1.53649248e+02] [-4.93729706e-02 9.98780319e-01 4.28796221e-04 -9.10506496e+01] [-1.07510659e-02 -1.02165232e-04 -9.99942200e-01 -4.02068940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8465599949999 meters 0.013546950193000404 Centerline is valid? [True, True] Translation: X:153.64, Y:-91.03, Z:-4.02 [[-9.92745084e-01 -1.19741908e-01 1.09120720e-02 1.53644625e+02] [-1.19735765e-01 9.92805049e-01 1.21686059e-03 -9.10265024e+01] [-1.09792694e-02 -9.85329188e-05 -9.99939721e-01 -4.02162695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.906559995 meters 0.013463113083800096 Centerline is valid? [True, True] Translation: X:153.63, Y:-91.00, Z:-4.02 [[-9.82137131e-01 -1.87871058e-01 1.05414165e-02 1.53633071e+02] [-1.87861019e-01 9.82193698e-01 1.94348636e-03 -9.10037995e+01] [-1.07188377e-02 -7.15511269e-05 -9.99942549e-01 -4.02127112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9665599949999 meters 0.01319750437098877 Centerline is valid? [True, True] Translation: X:153.62, Y:-90.98, Z:-4.02 [[-9.67388223e-01 -2.53090673e-01 1.02536866e-02 1.53622493e+02] [-2.53076687e-01 9.67442562e-01 2.66077464e-03 -9.09832933e+01] [-1.05932701e-02 -2.09669787e-05 -9.99943890e-01 -4.02195127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.026559995 meters 0.013259411772471318 Centerline is valid? [True, True] Translation: X:153.43, Y:-90.30, Z:-5.02 [[-9.82628016e-01 1.85323910e-01 9.86051137e-03 1.53427747e+02] [-1.85314748e-01 -9.82677489e-01 1.84283713e-03 -9.02985669e+01] [ 1.00312243e-02 -1.64747898e-05 9.99949686e-01 -5.01757244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0865599949999 meters 0.013786635524800896 Centerline is valid? [True, True] Translation: X:153.50, Y:-91.03, Z:-4.02 [[-9.68366283e-01 -2.49349188e-01 9.57725351e-03 1.53495167e+02] [-2.49336100e-01 9.68413638e-01 2.55630700e-03 -9.10259753e+01] [-9.91215599e-03 8.74864691e-05 -9.99950870e-01 -4.02343158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.146559995 meters 0.015253597071819263 Centerline is valid? [True, True] Translation: X:153.46, Y:-91.01, Z:-4.02 [[-9.50090726e-01 -3.11856267e-01 8.56038893e-03 1.53463041e+02] [-3.11842217e-01 9.50129279e-01 2.96391641e-03 -9.10120893e+01] [-9.05779208e-03 1.46498835e-04 -9.99958967e-01 -4.02348246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2065599949999 meters 0.015022672100323724 Centerline is valid? [True, True] Translation: X:153.41, Y:-91.00, Z:-4.02 [[-9.25578965e-01 -3.78465300e-01 8.22166565e-03 1.53408136e+02] [-3.78448782e-01 9.25615465e-01 3.53968314e-03 -9.10026539e+01] [-8.94974812e-03 1.64776905e-04 -9.99959937e-01 -4.02454388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.266559995 meters 0.01542669247242884 Centerline is valid? [True, True] Translation: X:153.34, Y:-91.00, Z:-4.03 [[-8.96177825e-01 -4.43627157e-01 7.76220334e-03 1.53343965e+02] [-4.43608748e-01 8.96211422e-01 4.04544400e-03 -9.10029643e+01] [-8.75124411e-03 1.82055893e-04 -9.99961691e-01 -4.02512337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3265599949999 meters 0.015711685547448673 Centerline is valid? [True, True] Translation: X:153.27, Y:-91.01, Z:-4.03 [[-8.61050655e-01 -5.08460787e-01 7.70696577e-03 1.53269485e+02] [-5.08438388e-01 8.61085124e-01 4.77654573e-03 -9.10130492e+01] [-9.06503977e-03 1.94330583e-04 -9.99958893e-01 -4.02513290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.386559995 meters 0.015552733483976653 Centerline is valid? [True, True] Translation: X:153.19, Y:-91.03, Z:-4.02 [[-8.19014462e-01 -5.73728508e-01 7.13516355e-03 1.53186168e+02] [-5.73704987e-01 8.19045525e-01 5.19767179e-03 -9.10287473e+01] [-8.82607626e-03 1.63489453e-04 -9.99961036e-01 -4.02383086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4465599949999 meters 0.014102455751142792 Centerline is valid? [True, True] Translation: X:153.10, Y:-91.05, Z:-4.02 [[-7.69212928e-01 -6.38962933e-01 6.15160723e-03 1.53096968e+02] [-6.38941545e-01 7.69237520e-01 5.22879709e-03 -9.10531477e+01] [-8.07305461e-03 9.15408967e-05 -9.99967408e-01 -4.02413590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.506559995 meters 0.013226761263956414 Centerline is valid? [True, True] Translation: X:153.01, Y:-91.09, Z:-4.02 [[-7.14801637e-01 -6.99300870e-01 6.07561817e-03 1.53008321e+02] [-6.99275075e-01 7.14827456e-01 6.00652009e-03 -9.10892038e+01] [-8.54338340e-03 4.49420463e-05 -9.99963504e-01 -4.02498665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5665599949999 meters 0.013250889309556568 Centerline is valid? [True, True] Translation: X:152.91, Y:-91.14, Z:-4.02 [[-6.52816847e-01 -7.57494320e-01 5.70258000e-03 1.52913411e+02] [-7.57465945e-01 6.52841753e-01 6.55653140e-03 -9.11362126e+01] [-8.68941762e-03 -3.92959896e-05 -9.99962246e-01 -4.02387336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.626559995 meters 0.014068339022638099 Centerline is valid? [True, True] Translation: X:152.82, Y:-91.19, Z:-4.03 [[-5.86869245e-01 -8.09669777e-01 4.39796108e-03 1.52824404e+02] [-8.09648263e-01 5.86885716e-01 5.90312367e-03 -9.11886620e+01] [-7.36068136e-03 -9.64398172e-05 -9.99972905e-01 -4.02516772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6865599949999 meters 0.01535472938047884 Centerline is valid? [True, True] Translation: X:152.74, Y:-91.25, Z:-4.03 [[-5.19771336e-01 -8.54299104e-01 3.28624834e-03 1.52743124e+02] [-8.54283352e-01 5.19781712e-01 5.18904245e-03 -9.12503256e+01] [-6.14112611e-03 -1.10271719e-04 -9.99981137e-01 -4.02686972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.746559995 meters 0.016506540712858748 Centerline is valid? [True, True] Translation: X:152.66, Y:-91.32, Z:-4.03 [[-4.49167448e-01 -8.93444018e-01 2.52780439e-03 1.52662128e+02] [-8.93431379e-01 4.49174544e-01 4.75394715e-03 -9.13246886e+01] [-5.38281102e-03 -1.23101450e-04 -9.99985505e-01 -4.02796564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8065599949999 meters 0.018016620715427006 Centerline is valid? [True, True] Translation: X:152.59, Y:-91.40, Z:-4.03 [[-3.77641248e-01 -9.25950122e-01 1.85985500e-03 1.52588735e+02] [-9.25940389e-01 3.77645809e-01 4.24728352e-03 -9.14001037e+01] [-4.63513914e-03 -1.18165410e-04 -9.99989251e-01 -4.02742161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.866559995 meters 0.018695248524942514 Centerline is valid? [True, True] Translation: X:152.52, Y:-91.49, Z:-4.03 [[-3.05395195e-01 -9.52223722e-01 1.93862955e-03 1.52522491e+02] [-9.52207618e-01 3.05401309e-01 5.54003138e-03 -9.14881175e+01] [-5.86740931e-03 -1.54078862e-04 -9.99982775e-01 -4.02584199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9265599949999 meters 0.01740866502359779 Centerline is valid? [True, True] Translation: X:152.47, Y:-91.58, Z:-4.02 [[-2.33401950e-01 -9.72377845e-01 2.20387321e-03 1.52467152e+02] [-9.72342705e-01 2.33412257e-01 8.26940280e-03 -9.15833128e+01] [-8.55539509e-03 -2.12825302e-04 -9.99963379e-01 -4.02411055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.986559995 meters 0.015027686995049257 Centerline is valid? [True, True] Translation: X:152.42, Y:-91.68, Z:-4.02 [[-1.62884749e-01 -9.86643745e-01 1.63673885e-03 1.52424030e+02] [-9.86604548e-01 1.62892870e-01 8.79653162e-03 -9.16827608e+01] [-8.94565600e-03 -1.81993152e-04 -9.99959970e-01 -4.02443606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0465599949999 meters 0.01424870229531547 Centerline is valid? [True, True] Translation: X:152.39, Y:-91.78, Z:-4.02 [[-9.23853333e-02 -9.95722833e-01 9.95229096e-04 1.52386922e+02] [-9.95680474e-01 9.23905841e-02 9.18555247e-03 -9.17782254e+01] [-9.23821412e-03 -1.42319851e-04 -9.99957317e-01 -4.02429207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.106559995 meters 0.013017128636483456 Centerline is valid? [True, True] Translation: X:152.36, Y:-91.89, Z:-4.02 [[-2.54652908e-02 -9.99675666e-01 2.86703964e-04 1.52361983e+02] [-9.99633423e-01 2.54668505e-02 9.19014948e-03 -9.18884121e+01] [-9.19447025e-03 -5.25690353e-05 -9.99957729e-01 -4.02474588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.166559995 meters 0.012934393394332437 Centerline is valid? [True, True] Translation: X:152.34, Y:-92.00, Z:-4.02 [[ 4.41160318e-02 -9.99026337e-01 -3.91516840e-04 1.52342747e+02] [-9.98989668e-01 -4.41177670e-02 8.55957402e-03 -9.19977735e+01] [-8.56851273e-03 1.35068385e-05 -9.99963290e-01 -4.02394314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.226559995 meters 0.013683805072800034 Centerline is valid? [True, True] Translation: X:152.33, Y:-92.10, Z:-4.03 [[ 1.10159408e-01 -9.93913348e-01 -1.07759460e-03 1.52333275e+02] [-9.93874018e-01 -1.10164636e-01 8.84242683e-03 -9.21027555e+01] [-8.90731887e-03 9.69167681e-05 -9.99960324e-01 -4.02510435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.286559995 meters 0.01472348113536935 Centerline is valid? [True, True] Translation: X:152.33, Y:-92.22, Z:-4.02 [[ 1.81741157e-01 -9.83344593e-01 -1.88772936e-03 1.52331310e+02] [-9.83299687e-01 -1.81750901e-01 9.39872917e-03 -9.22197538e+01] [-9.58528602e-03 1.48067770e-04 -9.99954049e-01 -4.02498571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3465599949999 meters 0.01488948912372286 Centerline is valid? [True, True] Translation: X:152.33, Y:-92.34, Z:-4.02 [[ 2.56496856e-01 -9.66540788e-01 -2.87549009e-03 1.52333367e+02] [-9.66487037e-01 -2.56512921e-01 1.01945754e-02 -9.23358048e+01] [-1.05910733e-02 1.64247348e-04 -9.99943900e-01 -4.02446261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.406559995 meters 0.013990525319609632 Centerline is valid? [True, True] Translation: X:152.34, Y:-92.46, Z:-4.02 [[ 3.32739968e-01 -9.43010523e-01 -3.90732926e-03 1.52343665e+02] [-9.42950451e-01 -3.32762879e-01 1.06448609e-02 -9.24566799e+01] [-1.13384299e-02 1.42447218e-04 -9.99935708e-01 -4.02452576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4665599949999 meters 0.013636351447291875 Centerline is valid? [True, True] Translation: X:152.36, Y:-92.58, Z:-4.02 [[ 4.07569887e-01 -9.13161199e-01 -4.83865268e-03 1.52364237e+02] [-9.13099794e-01 -4.07598596e-01 1.05901551e-02 -9.25762459e+01] [-1.16427468e-02 1.01944437e-04 -9.99932216e-01 -4.02450932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.526559995 meters 0.01335863843524925 Centerline is valid? [True, True] Translation: X:152.39, Y:-92.69, Z:-4.02 [[ 4.78883445e-01 -8.77860209e-01 -5.66573161e-03 1.52393465e+02] [-8.77800477e-01 -4.78916955e-01 1.02407574e-02 -9.26932614e+01] [-1.17033684e-02 6.92527052e-05 -9.99931511e-01 -4.02482215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5865599949999 meters 0.013100535777356365 Centerline is valid? [True, True] Translation: X:152.43, Y:-92.80, Z:-4.03 [[ 5.48324273e-01 -8.36244883e-01 -5.91500381e-03 1.52428239e+02] [-8.36196562e-01 -5.48356175e-01 8.98971122e-03 -9.28032336e+01] [-1.07611289e-02 1.68289848e-05 -9.99942097e-01 -4.02643328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.646559995 meters 0.012975046581777198 Centerline is valid? [True, True] Translation: X:152.47, Y:-92.91, Z:-4.03 [[ 6.12652771e-01 -7.90330873e-01 -5.80450463e-03 1.52470113e+02] [-7.90295266e-01 -6.12680268e-01 7.50213124e-03 -9.29100231e+01] [-9.48547139e-03 -8.92896617e-06 -9.99955012e-01 -4.02702034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7065599949999 meters 0.01305369646457907 Centerline is valid? [True, True] Translation: X:152.52, Y:-93.01, Z:-4.03 [[ 6.72774696e-01 -7.39827419e-01 -5.44051596e-03 1.52518864e+02] [-7.39802917e-01 -6.72796693e-01 6.02115124e-03 -9.30095257e+01] [-8.11497393e-03 -2.59686199e-05 -9.99967073e-01 -4.02847652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.766559995 meters 0.01310621361914269 Centerline is valid? [True, True] Translation: X:152.57, Y:-93.10, Z:-4.03 [[ 7.27685040e-01 -6.85893153e-01 -5.00663118e-03 1.52572786e+02] [-6.85876665e-01 -7.27702262e-01 4.75577547e-03 -9.31026718e+01] [-6.90529066e-03 -2.67751687e-05 -9.99976158e-01 -4.02928739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8265599949999 meters 0.01313274947700743 Centerline is valid? [True, True] Translation: X:152.59, Y:-93.13, Z:-4.03 [[ 7.79543751e-01 -6.26317727e-01 -6.13560804e-03 1.52591736e+02] [-6.26297953e-01 -7.79567895e-01 4.97704510e-03 -9.31308378e+01] [-7.90033462e-03 -3.71056490e-05 -9.99968791e-01 -4.02897497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.886559995 meters 0.013240509017259927 Centerline is valid? [True, True] Translation: X:152.61, Y:-93.16, Z:-4.03 [[ 8.26733630e-01 -5.62533411e-01 -8.22589787e-03 1.52612892e+02] [-5.62504866e-01 -8.26774551e-01 5.66723488e-03 -9.31575867e+01] [-9.98897198e-03 -5.81860822e-05 -9.99950107e-01 -4.02682632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9465599949999 meters 0.013290283588867543 Centerline is valid? [True, True] Translation: X:152.64, Y:-93.18, Z:-4.03 [[ 8.68421111e-01 -4.95742270e-01 -9.18565643e-03 1.52635294e+02] [-4.95713719e-01 -8.68469687e-01 5.32086566e-03 -9.31823310e+01] [-1.06152422e-02 -6.72961565e-05 -9.99943655e-01 -4.02645913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.006559995 meters 0.013558448813791866 Centerline is valid? [True, True] Translation: X:152.66, Y:-93.21, Z:-4.02 [[ 9.05571595e-01 -4.24074990e-01 -1.00244273e-02 1.52658805e+02] [-4.24047802e-01 -9.05627072e-01 4.80300247e-03 -9.32059399e+01] [-1.11152260e-02 -9.86262528e-05 -9.99938219e-01 -4.02492433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0665599949999 meters 0.013642412995584203 Centerline is valid? [True, True] Translation: X:152.69, Y:-93.22, Z:-4.02 [[ 9.36191532e-01 -3.51301806e-01 -1.15089533e-02 1.52686713e+02] [-3.51273702e-01 -9.36262264e-01 4.44515758e-03 -9.32248608e+01] [-1.23369905e-02 -1.18726264e-04 -9.99923889e-01 -4.02450461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.126559995 meters 0.013740274719996176 Centerline is valid? [True, True] Translation: X:152.72, Y:-93.24, Z:-4.02 [[ 9.60915265e-01 -2.76550587e-01 -1.27132678e-02 1.52716128e+02] [-2.76524530e-01 -9.60999352e-01 3.79861112e-03 -9.32394918e+01] [-1.32679503e-02 -1.34613001e-04 -9.99911968e-01 -4.02422200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1865599949999 meters 0.01403710315477053 Centerline is valid? [True, True] Translation: X:152.75, Y:-93.25, Z:-4.02 [[ 9.79961502e-01 -1.98802180e-01 -1.23752504e-02 1.52745910e+02] [-1.98784383e-01 -9.80039627e-01 2.66432230e-03 -9.32545139e+01] [-1.26579089e-02 -1.50926756e-04 -9.99919874e-01 -4.02468644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.246559995 meters 0.013909056266442125 Centerline is valid? [True, True] Translation: X:152.77, Y:-93.27, Z:-4.03 [[ 9.92686530e-01 -1.20151852e-01 -1.17041110e-02 1.52774026e+02] [-1.20141652e-01 -9.92755513e-01 1.57326101e-03 -9.32686516e+01] [-1.18083509e-02 -1.55603792e-04 -9.99930267e-01 -4.02590019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3065599949999 meters 0.01409245672443361 Centerline is valid? [True, True] Translation: X:152.80, Y:-93.28, Z:-4.03 [[ 9.99130399e-01 -4.04288314e-02 -1.01958208e-02 1.52802241e+02] [-4.04251804e-02 -9.99182409e-01 5.64012534e-04 -9.32814498e+01] [-1.02102872e-02 -1.51354173e-04 -9.99947862e-01 -4.02704590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.366559995 meters 0.014326764607684391 Centerline is valid? [True, True] Translation: X:152.83, Y:-93.29, Z:-4.03 [[ 9.99180636e-01 3.91979636e-02 -1.00785350e-02 1.52831931e+02] [ 3.91976055e-02 -9.99231451e-01 -2.33133341e-04 -9.32902118e+01] [-1.00799275e-02 -1.62112120e-04 -9.99949183e-01 -4.02742073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4265599949999 meters 0.014576776694445098 Centerline is valid? [True, True] Translation: X:152.86, Y:-93.30, Z:-4.03 [[ 9.92778773e-01 1.19471441e-01 -1.08112250e-02 1.52861710e+02] [ 1.19466533e-01 -9.92837618e-01 -1.10099782e-03 -9.32980559e+01] [-1.08653287e-02 -1.98532298e-04 -9.99940951e-01 -4.02687350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.486559995 meters 0.01509064829105517 Centerline is valid? [True, True] Translation: X:152.89, Y:-93.30, Z:-4.03 [[ 9.80027157e-01 1.98492164e-01 -1.21504024e-02 1.52892890e+02] [ 1.98480031e-01 -9.80102444e-01 -2.20851118e-03 -9.33037459e+01] [-1.23470112e-02 -2.47211313e-04 -9.99923742e-01 -4.02597506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5465599949999 meters 0.015394727587656983 Centerline is valid? [True, True] Translation: X:152.92, Y:-93.31, Z:-4.02 [[ 9.61248555e-01 2.75372083e-01 -1.30932196e-02 1.52923567e+02] [ 2.75350519e-01 -9.61337681e-01 -3.45758238e-03 -9.33058274e+01] [-1.35391270e-02 -2.81628742e-04 -9.99908302e-01 -4.02471389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.606559995 meters 0.01575762997978691 Centerline is valid? [True, True] Translation: X:152.95, Y:-93.30, Z:-4.02 [[ 9.36586013e-01 3.50199496e-01 -1.29210665e-02 1.52954074e+02] [ 3.50170432e-01 -9.36675092e-01 -4.52107341e-03 -9.33045240e+01] [-1.36861188e-02 -2.90201330e-04 -9.99906299e-01 -4.02348608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.666559995 meters 0.014696566641387422 Centerline is valid? [True, True] Translation: X:152.98, Y:-93.30, Z:-4.02 [[ 9.07309387e-01 4.20271256e-01 -1.27180240e-02 1.52983946e+02] [ 4.20233993e-01 -9.07398481e-01 -5.60249014e-03 -9.32979464e+01] [-1.38948812e-02 -2.61354115e-04 -9.99903427e-01 -4.02397750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.726559995 meters 0.013951666426687659 Centerline is valid? [True, True] Translation: X:153.01, Y:-93.29, Z:-4.02 [[ 8.74245782e-01 4.85340016e-01 -1.18060112e-02 1.53010582e+02] [ 4.85298543e-01 -8.74325475e-01 -6.34725607e-03 -9.32872491e+01] [-1.34028737e-02 -1.80378215e-04 -9.99910161e-01 -4.02341495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.786559995 meters 0.013037481298478542 Centerline is valid? [True, True] Translation: X:153.04, Y:-93.27, Z:-4.03 [[ 8.36154472e-01 5.48394187e-01 -1.04649143e-02 1.53035990e+02] [ 5.48352877e-01 -8.36219949e-01 -6.73190288e-03 -9.32735717e+01] [-1.24427065e-02 -1.09555149e-04 -9.99922581e-01 -4.02511766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8465599949999 meters 0.012410875443971688 Centerline is valid? [True, True] Translation: X:153.06, Y:-93.26, Z:-4.03 [[ 7.95313239e-01 6.06155770e-01 -7.21344814e-03 1.53060308e+02] [ 6.06130966e-01 -7.95345951e-01 -5.48360173e-03 -9.32580958e+01] [-9.06110360e-03 -1.11132384e-05 -9.99958947e-01 -4.02759899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.906559995 meters 0.01250368701410787 Centerline is valid? [True, True] Translation: X:153.08, Y:-93.24, Z:-4.03 [[ 7.47990857e-01 6.63680749e-01 -6.12711874e-03 1.53083698e+02] [ 6.63658243e-01 -7.48015951e-01 -5.46568621e-03 -9.32439292e+01] [-8.21065327e-03 2.19704540e-05 -9.99966292e-01 -4.02707759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9665599949999 meters 0.012994694457683902 Centerline is valid? [True, True] Translation: X:153.11, Y:-93.23, Z:-4.03 [[ 6.97800427e-01 7.16265155e-01 -6.22829302e-03 1.53109028e+02] [ 7.16235663e-01 -6.97828218e-01 -6.50018899e-03 -9.32301432e+01] [-9.00213750e-03 7.49090727e-05 -9.99959477e-01 -4.02597929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.026559995 meters 0.013708780944505438 Centerline is valid? [True, True] Translation: X:153.13, Y:-93.22, Z:-4.03 [[ 6.43739428e-01 7.65220732e-01 -6.06463626e-03 1.53134004e+02] [ 7.65184834e-01 -6.43767981e-01 -7.41325288e-03 -9.32157330e+01] [-9.57699343e-03 1.31635480e-04 -9.99954131e-01 -4.02572345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0865599949999 meters 0.0145000256330336 Centerline is valid? [True, True] Translation: X:153.16, Y:-93.20, Z:-4.03 [[ 5.85358309e-01 8.10754685e-01 -5.70000737e-03 1.53157000e+02] [ 8.10713206e-01 -5.85386033e-01 -8.20308134e-03 -9.31992589e+01] [-9.98739134e-03 1.80670580e-04 -9.99950108e-01 -4.02588298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.146559995 meters 0.016402727777470184 Centerline is valid? [True, True] Translation: X:153.18, Y:-93.18, Z:-4.03 [[ 5.26574449e-01 8.50116276e-01 -4.65474756e-03 1.53178587e+02] [ 8.50078992e-01 -5.26594968e-01 -7.96533874e-03 -9.31808784e+01] [-9.22263075e-03 2.37440736e-04 -9.99957442e-01 -4.02582708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2065599949999 meters 0.018119769689484 Centerline is valid? [True, True] Translation: X:153.20, Y:-93.16, Z:-4.03 [[ 4.62442656e-01 8.86643851e-01 -3.07742118e-03 1.53198893e+02] [ 8.86621041e-01 -4.62452846e-01 -6.36355740e-03 -9.31619476e+01] [-7.06537123e-03 2.14274020e-04 -9.99975017e-01 -4.02621864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.266559995 meters 0.01759632853451252 Centerline is valid? [True, True] Translation: X:153.22, Y:-93.14, Z:-4.03 [[ 3.91812629e-01 9.20042808e-01 -2.02357797e-03 1.53223185e+02] [ 9.20028206e-01 -3.91817818e-01 -5.18635953e-03 -9.31427514e+01] [-5.56454669e-03 1.70332349e-04 -9.99984503e-01 -4.02737160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3265599949999 meters 0.016599447499104972 Centerline is valid? [True, True] Translation: X:153.25, Y:-93.12, Z:-4.03 [[ 3.16432429e-01 9.48613601e-01 -1.65954094e-03 1.53248064e+02] [ 9.48597736e-01 -3.16436739e-01 -5.48865013e-03 -9.31224499e+01] [-5.73174788e-03 1.62550118e-04 -9.99983560e-01 -4.02637452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.386559995 meters 0.015508213019112585 Centerline is valid? [True, True] Translation: X:153.27, Y:-93.10, Z:-4.03 [[ 2.36389613e-01 9.71657513e-01 -1.27597014e-03 1.53271679e+02] [ 9.71639994e-01 -2.36393015e-01 -5.83649204e-03 -9.30995799e+01] [-5.97270177e-03 1.39902476e-04 -9.99982154e-01 -4.02533806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4465599949999 meters 0.012720514100763157 Centerline is valid? [True, True] Translation: X:153.31, Y:-93.08, Z:-4.03 [[ 1.45643834e-01 9.89336781e-01 -7.79414627e-04 1.53305695e+02] [ 9.89320591e-01 -1.45645909e-01 -5.66020797e-03 -9.30760169e+01] [-5.71337048e-03 5.32834483e-05 -9.99983677e-01 -4.02518823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.506559995 meters 0.012195291530614192 Centerline is valid? [True, True] Translation: X:153.33, Y:-93.05, Z:-4.02 [[ 6.13357642e-02 9.98117133e-01 -3.37009061e-04 1.53325524e+02] [ 9.98100520e-01 -6.13366877e-02 -5.75865382e-03 -9.30471828e+01] [-5.76848206e-03 1.68425133e-05 -9.99983362e-01 -4.02487446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5665599949999 meters 0.012212004966254075 Centerline is valid? [True, True] Translation: X:153.34, Y:-93.02, Z:-4.03 [[-2.34734331e-02 9.99724458e-01 7.87571109e-05 1.53343372e+02] [ 9.99716707e-01 2.34735612e-02 -3.93680727e-03 -9.30178511e+01] [-3.93757122e-03 -1.36755824e-05 -9.99992248e-01 -4.02577291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.626559995 meters 0.012377931064138068 Centerline is valid? [True, True] Translation: X:153.36, Y:-92.99, Z:-4.03 [[-1.03601037e-01 9.94618865e-01 3.73273689e-04 1.53355706e+02] [ 9.94611681e-01 1.03601707e-01 -3.78036679e-03 -9.29854763e+01] [-3.79869592e-03 -2.03875483e-05 -9.99992785e-01 -4.02601371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6865599949999 meters 0.012447641127284938 Centerline is valid? [True, True] Translation: X:153.36, Y:-92.95, Z:-4.03 [[-1.82074775e-01 9.83284434e-01 7.05192061e-04 1.53363389e+02] [ 9.83276516e-01 1.82076139e-01 -3.94620524e-03 -9.29535614e+01] [-4.00864083e-03 -2.51056387e-05 -9.99991965e-01 -4.02555324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.746559995 meters 0.012614318090041996 Centerline is valid? [True, True] Translation: X:153.37, Y:-92.92, Z:-4.03 [[-2.60285148e-01 9.65531351e-01 9.23278373e-04 1.53369113e+02] [ 9.65524867e-01 2.60286784e-01 -3.53848924e-03 -9.29200792e+01] [-3.65683945e-03 -2.95679666e-05 -9.99993313e-01 -4.02627586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8065599949999 meters 0.012919457784411085 Centerline is valid? [True, True] Translation: X:153.37, Y:-92.89, Z:-4.02 [[-3.36397988e-01 9.41718550e-01 1.60215631e-03 1.53370890e+02] [ 9.41707202e-01 3.36401800e-01 -4.62323041e-03 -9.28870330e+01] [-4.89275010e-03 -4.64832709e-05 -9.99988029e-01 -4.02496719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.866559995 meters 0.012789916362945353 Centerline is valid? [True, True] Translation: X:153.37, Y:-92.85, Z:-4.02 [[-4.09393470e-01 9.12354483e-01 2.50693406e-03 1.53368246e+02] [ 9.12336446e-01 4.09401141e-01 -5.73716313e-03 -9.28537363e+01] [-6.26066816e-03 -6.15898065e-05 -9.99980400e-01 -4.02375478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9265599949999 meters 0.012728496888359872 Centerline is valid? [True, True] Translation: X:153.36, Y:-92.82, Z:-4.02 [[-4.77861999e-01 8.78425144e-01 4.14438939e-03 1.53360811e+02] [ 8.78390843e-01 4.77879965e-01 -7.76304060e-03 -9.28213684e+01] [-8.79977072e-03 -6.92684063e-05 -9.99961279e-01 -4.02029770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.986559995 meters 0.012347931689374356 Centerline is valid? [True, True] Translation: X:153.35, Y:-92.79, Z:-4.02 [[-5.39619602e-01 8.41893417e-01 5.11470541e-03 1.53347275e+02] [ 8.41855400e-01 5.39643841e-01 -8.00063394e-03 -9.27926572e+01] [-9.49580031e-03 -1.14565299e-05 -9.99954914e-01 -4.02033749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0465599949999 meters 0.01278779579277598 Centerline is valid? [True, True] Translation: X:153.33, Y:-92.77, Z:-4.02 [[-5.96949933e-01 8.02265290e-01 4.60235187e-03 1.53330345e+02] [ 8.02242186e-01 5.96967671e-01 -6.08892429e-03 -9.27678287e+01] [-7.63238789e-03 5.74178742e-05 -9.99970871e-01 -4.02153843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.106559995 meters 0.013270943827748434 Centerline is valid? [True, True] Translation: X:153.31, Y:-92.74, Z:-4.02 [[-6.54098807e-01 7.56397244e-01 4.23797480e-03 1.53314442e+02] [ 7.56382164e-01 6.54112531e-01 -4.77697955e-03 -9.27401337e+01] [-6.38540659e-03 8.09119269e-05 -9.99979610e-01 -4.02338374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.166559995 meters 0.014250351726392661 Centerline is valid? [True, True] Translation: X:153.30, Y:-92.72, Z:-4.02 [[-7.07572813e-01 7.06629105e-01 4.00280189e-03 1.53295857e+02] [ 7.06618593e-01 7.07584128e-01 -3.85564847e-03 -9.27150007e+01] [-5.55683251e-03 1.00302209e-04 -9.99984556e-01 -4.02397241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.226559995 meters 0.014900422195705122 Centerline is valid? [True, True] Translation: X:153.31, Y:-92.70, Z:-4.02 [[-7.54868519e-01 6.55849971e-01 5.85959769e-03 1.53312834e+02] [ 6.55831726e-01 7.54891246e-01 -4.89424076e-03 -9.26961100e+01] [-7.63324666e-03 1.48401793e-04 -9.99970855e-01 -4.02216660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.286559995 meters 0.014043185941668009 Centerline is valid? [True, True] Translation: X:153.33, Y:-92.67, Z:-4.02 [[-8.00488572e-01 5.99309402e-01 6.80340880e-03 1.53329485e+02] [ 5.99289315e-01 8.00517469e-01 -4.90900350e-03 -9.26730662e+01] [-8.38825955e-03 1.47608995e-04 -9.99964807e-01 -4.02160475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3465599949999 meters 0.013601637211051041 Centerline is valid? [True, True] Translation: X:153.34, Y:-92.65, Z:-4.02 [[-8.42482440e-01 5.38682708e-01 6.65416758e-03 1.53342047e+02] [ 5.38666976e-01 8.42508710e-01 -4.11850544e-03 -9.26475542e+01] [-7.82476181e-03 1.14611815e-04 -9.99969380e-01 -4.02168337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.406559995 meters 0.012457901209873702 Centerline is valid? [True, True] Translation: X:153.35, Y:-92.62, Z:-4.02 [[-8.82244506e-01 4.70744469e-01 6.65411652e-03 1.53349518e+02] [ 4.70731512e-01 8.82269598e-01 -3.49296844e-03 -9.26160528e+01] [-7.51502027e-03 5.06501131e-05 -9.99971761e-01 -4.02149595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4665599949999 meters 0.011974638852288551 Centerline is valid? [True, True] Translation: X:153.36, Y:-92.59, Z:-4.02 [[-9.16280967e-01 4.00483627e-01 6.48494981e-03 1.53360041e+02] [ 4.00473570e-01 9.16303915e-01 -2.83827088e-03 -9.25863089e+01] [-7.07886592e-03 -3.60258340e-06 -9.99974945e-01 -4.02212697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.526559995 meters 0.013133125728930963 Centerline is valid? [True, True] Translation: X:153.36, Y:-92.55, Z:-4.02 [[-9.46102965e-01 3.23829061e-01 4.89078379e-03 1.53361940e+02] [ 3.23824396e-01 9.46115604e-01 -1.73920980e-03 -9.25505512e+01] [-5.19045354e-03 -6.17164364e-05 -9.99986528e-01 -4.02278544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5865599949999 meters 0.01608601686778329 Centerline is valid? [True, True] Translation: X:153.36, Y:-92.51, Z:-4.02 [[-9.69422481e-01 2.45379541e-01 2.98917130e-03 1.53358093e+02] [ 2.45378148e-01 9.69427087e-01 -8.29550050e-04 -9.25143587e+01] [-3.10133824e-03 -7.07071479e-05 -9.99995188e-01 -4.02380963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.646559995 meters 0.018023696978594003 Centerline is valid? [True, True] Translation: X:153.52, Y:-91.94, Z:-5.02 [[-9.33081953e-01 -3.59656578e-01 2.28369995e-03 1.53516517e+02] [ 3.59655528e-01 -9.33084747e-01 -8.69346360e-04 -9.19433289e+01] [ 2.44355173e-03 1.01739107e-05 9.99997015e-01 -5.01541626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7065599949999 meters 0.02061466336713404 Centerline is valid? [True, True] Translation: X:153.31, Y:-92.50, Z:-4.02 [[-9.73495946e-01 2.28692852e-01 2.28549056e-03 1.53310411e+02] [ 2.28692014e-01 9.73498625e-01 -6.24938273e-04 -9.24952923e+01] [-2.36784083e-03 -8.57014344e-05 -9.99997193e-01 -4.02342812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.766559995 meters 0.02164752278008918 Centerline is valid? [True, True] Translation: X:153.31, Y:-92.47, Z:-4.02 [[-9.87498199e-01 1.57615661e-01 2.14702916e-03 1.53312417e+02] [ 1.57615106e-01 9.87500530e-01 -4.26164451e-04 -9.24685029e+01] [-2.18736263e-03 -8.24323984e-05 -9.99997604e-01 -4.02285655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8265599949999 meters 0.02029008338137841 Centerline is valid? [True, True] Translation: X:153.43, Y:-91.89, Z:-5.02 [[-9.55581369e-01 -2.94711486e-01 3.06378231e-03 1.53431876e+02] [ 2.94710562e-01 -9.55586264e-01 -7.59053105e-04 -9.18944498e+01] [ 3.15140996e-03 1.77592002e-04 9.99995019e-01 -5.01801132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.886559995 meters 0.016891652634879413 Centerline is valid? [True, True] Translation: X:153.27, Y:-92.47, Z:-4.02 [[-9.86376165e-01 1.64452856e-01 4.16152968e-03 1.53268023e+02] [ 1.64450897e-01 9.86384937e-01 -8.10923355e-04 -9.24744504e+01] [-4.23822886e-03 -1.15508179e-04 -9.99991012e-01 -4.02035314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9465599949999 meters 0.01431463869071637 Centerline is valid? [True, True] Translation: X:153.28, Y:-92.46, Z:-4.02 [[-9.94585498e-01 1.03823470e-01 4.51383718e-03 1.53277183e+02] [ 1.03822039e-01 9.94595737e-01 -5.50864695e-04 -9.24586275e+01] [-4.54663590e-03 -7.92462579e-05 -9.99989661e-01 -4.01979349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.006559995 meters 0.012626082570255208 Centerline is valid? [True, True] Translation: X:153.36, Y:-91.83, Z:-5.02 [[-9.80496530e-01 -1.96482932e-01 4.58392490e-03 1.53362028e+02] [ 1.96481201e-01 -9.80507241e-01 -8.29515421e-04 -9.18264925e+01] [ 4.65755718e-03 8.73180761e-05 9.99989150e-01 -5.02078747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0665599949999 meters 0.012231029391312997 Centerline is valid? [True, True] Translation: X:153.23, Y:-92.47, Z:-4.02 [[-9.93556846e-01 1.13209849e-01 5.32211429e-03 1.53232489e+02] [ 1.13208106e-01 9.93571099e-01 -6.28504936e-04 -9.24692768e+01] [-5.35905190e-03 -2.19489011e-05 -9.99985640e-01 -4.01846943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.126559995 meters 0.012066992293878125 Centerline is valid? [True, True] Translation: X:153.32, Y:-91.81, Z:-5.02 [[-9.83442184e-01 -1.81161172e-01 4.70107000e-03 1.53321183e+02] [ 1.81159037e-01 -9.83453420e-01 -8.79561991e-04 -9.18076855e+01] [ 4.78262585e-03 -1.33570503e-05 9.99988563e-01 -5.01995400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1865599949999 meters 0.01262473884269907 Centerline is valid? [True, True] Translation: X:153.19, Y:-92.48, Z:-4.02 [[-9.92526074e-01 1.21980518e-01 3.57008289e-03 1.53189128e+02] [ 1.21979842e-01 9.92532494e-01 -4.07232319e-04 -9.24812327e+01] [-3.59309769e-03 3.12894517e-05 -9.99993544e-01 -4.02099848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.246559995 meters 0.013069038785236431 Centerline is valid? [True, True] Translation: X:153.27, Y:-91.79, Z:-5.02 [[-9.85624941e-01 -1.68910505e-01 3.56597264e-03 1.53272078e+02] [ 1.68909291e-01 -9.85631392e-01 -6.41259701e-04 -9.17909134e+01] [ 3.62305007e-03 -2.97156463e-05 9.99993436e-01 -5.01769234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3065599949999 meters 0.013214972610742694 Centerline is valid? [True, True] Translation: X:153.14, Y:-92.48, Z:-4.02 [[-9.92675118e-01 1.20755794e-01 3.76135983e-03 1.53135545e+02] [ 1.20755092e-01 9.92682243e-01 -4.13960334e-04 -9.24829919e+01] [-3.78382322e-03 4.32752284e-05 -9.99992840e-01 -4.02251302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.366559995 meters 0.012753046741707099 Centerline is valid? [True, True] Translation: X:153.22, Y:-91.78, Z:-5.02 [[-9.85575541e-01 -1.69165046e-01 4.90302188e-03 1.53216535e+02] [ 1.69163074e-01 -9.85587737e-01 -8.17108513e-04 -9.17840252e+01] [ 4.97058444e-03 2.40880895e-05 9.99987646e-01 -5.01883259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4265599949999 meters 0.012375428582419046 Centerline is valid? [True, True] Translation: X:153.08, Y:-92.47, Z:-4.02 [[-9.94092393e-01 1.08326404e-01 6.76045334e-03 1.53081855e+02] [ 1.08324029e-01 9.94115381e-01 -7.17613733e-04 -9.24748514e+01] [-6.79840716e-03 1.89451893e-05 -9.99976890e-01 -4.02007355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.486559995 meters 0.012355906747498223 Centerline is valid? [True, True] Translation: X:153.15, Y:-91.78, Z:-5.02 [[-9.84572068e-01 -1.74806371e-01 7.78308418e-03 1.53153961e+02] [ 1.74801341e-01 -9.84602828e-01 -1.32722950e-03 -9.17805876e+01] [ 7.89525487e-03 5.37404550e-05 9.99968831e-01 -5.02039771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5465599949999 meters 0.012355922178152696 Centerline is valid? [True, True] Translation: X:153.03, Y:-92.47, Z:-4.02 [[-9.95210704e-01 9.74169416e-02 8.09904831e-03 1.53025934e+02] [ 9.74134346e-02 9.95243658e-01 -8.27315038e-04 -9.24688301e+01] [-8.14112097e-03 -3.43966678e-05 -9.99966860e-01 -4.01974164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.606559995 meters 0.012261035669379493 Centerline is valid? [True, True] Translation: X:153.03, Y:-92.44, Z:-4.02 [[-9.99593498e-01 2.75319639e-02 7.40476252e-03 1.53025310e+02] [ 2.75310326e-02 9.99620923e-01 -2.27679201e-04 -9.24444308e+01] [-7.40822400e-03 -2.37258906e-05 -9.99972558e-01 -4.01947289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.666559995 meters 0.0120609762493181 Centerline is valid? [True, True] Translation: X:153.03, Y:-92.42, Z:-4.02 [[-9.99143534e-01 -4.10033443e-02 5.56097629e-03 1.53025514e+02] [-4.10027301e-02 9.99159009e-01 2.24448746e-04 -9.24206688e+01] [-5.56550271e-03 -3.75869653e-06 -9.99984513e-01 -4.02070523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.726559995 meters 0.012218571551409431 Centerline is valid? [True, True] Translation: X:153.02, Y:-92.39, Z:-4.02 [[-9.94073870e-01 -1.08629449e-01 4.09680296e-03 1.53022915e+02] [-1.08628482e-01 9.94082312e-01 4.58521861e-04 -9.23948595e+01] [-4.12236834e-03 1.07751140e-05 -9.99991503e-01 -4.02130617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.786559995 meters 0.012343562961002726 Centerline is valid? [True, True] Translation: X:152.94, Y:-91.69, Z:-5.02 [[-9.98815710e-01 4.84899852e-02 3.98721231e-03 1.52938774e+02] [-4.84896742e-02 -9.98823669e-01 1.74674286e-04 -9.16864163e+01] [ 3.99099198e-03 -1.88712050e-05 9.99992036e-01 -5.01944314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8465599949999 meters 0.012674566232792797 Centerline is valid? [True, True] Translation: X:152.92, Y:-92.41, Z:-4.02 [[-9.94031590e-01 -1.08979208e-01 4.97303416e-03 1.52923480e+02] [-1.08977632e-01 9.94044028e-01 5.87628981e-04 -9.24076580e+01] [-5.00745425e-03 4.21722852e-05 -9.99987462e-01 -4.02020097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.906559995 meters 0.014244928634328205 Centerline is valid? [True, True] Translation: X:152.92, Y:-92.38, Z:-4.02 [[-9.84985628e-01 -1.72494940e-01 6.98633358e-03 1.52921905e+02] [-1.72489796e-01 9.85010398e-01 1.33678281e-03 -9.23835436e+01] [-7.11219949e-03 1.11640604e-04 -9.99974702e-01 -4.01772254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9665599949999 meters 0.01574251995719552 Centerline is valid? [True, True] Translation: X:152.90, Y:-92.36, Z:-4.02 [[-9.72011654e-01 -2.34804445e-01 7.75996813e-03 1.52900606e+02] [-2.34795384e-01 9.72042610e-01 2.07162826e-03 -9.23597166e+01] [-8.02944720e-03 1.91642114e-04 -9.99967745e-01 -4.01681167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.026559995 meters 0.017401674336208234 Centerline is valid? [True, True] Translation: X:152.87, Y:-92.34, Z:-4.02 [[-9.54101187e-01 -2.99347090e-01 9.06887873e-03 1.52865546e+02] [-2.99330739e-01 9.54144245e-01 3.14150895e-03 -9.23434665e+01] [-9.59342001e-03 2.82723245e-04 -9.99953942e-01 -4.01574218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0865599949999 meters 0.02107581535175516 Centerline is valid? [True, True] Translation: X:152.81, Y:-92.34, Z:-4.01 [[-9.31939528e-01 -3.62473540e-01 1.00820800e-02 1.52807878e+02] [-3.62447685e-01 9.31993978e-01 4.34749948e-03 -9.23387964e+01] [-1.09722913e-02 3.97380064e-04 -9.99939724e-01 -4.01462534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.146559995 meters 0.01915789234553386 Centerline is valid? [True, True] Translation: X:152.74, Y:-92.33, Z:-4.02 [[-9.02803883e-01 -4.29903076e-01 1.13355072e-02 1.52737933e+02] [-4.29862644e-01 9.02874923e-01 5.91437730e-03 -9.23322616e+01] [-1.27771542e-02 4.66811677e-04 -9.99918260e-01 -4.01518565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2065599949999 meters 0.01809487329856979 Centerline is valid? [True, True] Translation: X:152.66, Y:-92.34, Z:-4.02 [[-8.66577538e-01 -4.98929627e-01 1.06111710e-02 1.52661416e+02] [-4.98886388e-01 8.66642406e-01 6.58122667e-03 -9.23378741e+01] [-1.24796597e-02 4.09374435e-04 -9.99922042e-01 -4.01518450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.266559995 meters 0.015538237484241902 Centerline is valid? [True, True] Translation: X:152.58, Y:-92.35, Z:-4.02 [[-8.20282736e-01 -5.71872909e-01 9.87971813e-03 1.52575698e+02] [-5.71827707e-01 8.20342192e-01 7.19448503e-03 -9.23509987e+01] [-1.22190807e-02 2.52015303e-04 -9.99925313e-01 -4.01641145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3265599949999 meters 0.0125108329046462 Centerline is valid? [True, True] Translation: X:152.48, Y:-92.37, Z:-4.02 [[-7.64978585e-01 -6.44002354e-01 8.29052030e-03 1.52481958e+02] [-6.43963900e-01 7.65023507e-01 7.03775517e-03 -9.23700866e+01] [-1.08747738e-02 4.49362069e-05 -9.99940867e-01 -4.01638416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.386559995 meters 0.012548031798940379 Centerline is valid? [True, True] Translation: X:152.39, Y:-92.40, Z:-4.02 [[-7.06901481e-01 -7.07275647e-01 7.17322714e-03 1.52393851e+02] [-7.07240247e-01 7.06937871e-01 7.07669325e-03 -9.24014783e+01] [-1.00761987e-02 -7.06699982e-05 -9.99949231e-01 -4.01671031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4465599949999 meters 0.014553780957735782 Centerline is valid? [True, True] Translation: X:152.31, Y:-92.44, Z:-4.02 [[-6.42202006e-01 -7.66521919e-01 4.55310426e-03 1.52305375e+02] [-7.66504168e-01 6.42218131e-01 5.21853328e-03 -9.24435286e+01] [-6.92420625e-03 -1.38620849e-04 -9.99976018e-01 -4.01989012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.506559995 meters 0.01603385916078822 Centerline is valid? [True, True] Translation: X:152.23, Y:-92.49, Z:-4.02 [[-5.78643382e-01 -8.15574893e-01 3.07090503e-03 1.52225081e+02] [-8.15564567e-01 5.78651517e-01 4.10595935e-03 -9.24940146e+01] [-5.12570121e-03 -1.28635126e-04 -9.99986855e-01 -4.02152816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5665599949999 meters 0.017381456099931532 Centerline is valid? [True, True] Translation: X:152.15, Y:-92.56, Z:-4.02 [[-5.12796410e-01 -8.58507330e-01 2.23747297e-03 1.52145820e+02] [-8.58500137e-01 5.12801278e-01 3.51641489e-03 -9.25550545e+01] [-4.16624696e-03 -1.17665924e-04 -9.99991314e-01 -4.02180829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.626559995 meters 0.016637236876062174 Centerline is valid? [True, True] Translation: X:152.07, Y:-92.63, Z:-4.02 [[-4.46706432e-01 -8.94675765e-01 2.93921224e-03 1.52074019e+02] [-8.94658888e-01 4.46716068e-01 5.49812443e-03 -9.26272933e+01] [-6.23203201e-03 -1.73544803e-04 -9.99980566e-01 -4.01842641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6865599949999 meters 0.015031690588246304 Centerline is valid? [True, True] Translation: X:152.01, Y:-92.71, Z:-4.01 [[-3.82702733e-01 -9.23861710e-01 4.26120958e-03 1.52011214e+02] [-9.23811076e-01 3.82726384e-01 9.67528768e-03 -9.27084705e+01] [-1.05695052e-02 -2.33793567e-04 -9.99944114e-01 -4.01470793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.746559995 meters 0.014336632053944405 Centerline is valid? [True, True] Translation: X:151.95, Y:-92.80, Z:-4.01 [[-3.18075797e-01 -9.48056718e-01 4.03063718e-03 1.51953048e+02] [-9.47987647e-01 3.18101283e-01 1.14452643e-02 -9.27977103e+01] [-1.21329105e-02 -1.80532694e-04 -9.99926377e-01 -4.01239695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8065599949999 meters 0.012537707735528321 Centerline is valid? [True, True] Translation: X:151.91, Y:-92.89, Z:-4.01 [[-2.58836902e-01 -9.65915692e-01 3.21478666e-03 1.51911561e+02] [-9.65841287e-01 2.58856865e-01 1.19888515e-02 -9.28942711e+01] [-1.24123894e-02 -1.81649617e-06 -9.99922963e-01 -4.01389952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.866559995 meters 0.013460659785644322 Centerline is valid? [True, True] Translation: X:151.87, Y:-92.99, Z:-4.02 [[-1.95021786e-01 -9.80796573e-01 2.14131523e-03 1.51872649e+02] [-9.80729956e-01 1.95033498e-01 1.14319081e-02 -9.29928180e+01] [-1.16300044e-02 1.29419137e-04 -9.99932361e-01 -4.01520114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9265599949999 meters 0.01830677537464582 Centerline is valid? [True, True] Translation: X:151.85, Y:-93.10, Z:-4.02 [[-1.41688170e-01 -9.89910770e-01 1.06299918e-03 1.51850245e+02] [-9.89862482e-01 1.41691764e-01 9.78322257e-03 -9.30958216e+01] [-9.83513562e-03 3.33943903e-04 -9.99951578e-01 -4.01745361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.986559995 meters 0.02195113075698292 Centerline is valid? [True, True] Translation: X:151.82, Y:-93.21, Z:-4.02 [[-7.46868640e-02 -9.97206989e-01 3.06544383e-04 1.51824185e+02] [-9.97158639e-01 7.46862643e-02 9.82906239e-03 -9.32106174e+01] [-9.82450437e-03 4.28428467e-04 -9.99951647e-01 -4.01749328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0465599949999 meters 0.024661471977494968 Centerline is valid? [True, True] Translation: X:151.80, Y:-93.33, Z:-4.02 [[-5.35540169e-03 -9.99985580e-01 -3.99436238e-04 1.51803973e+02] [-9.99947887e-01 5.35172715e-03 8.69381746e-03 -9.33254356e+01] [-8.69155442e-03 4.45974307e-04 -9.99962128e-01 -4.01873407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.106559995 meters 0.025553812189532964 Centerline is valid? [True, True] Translation: X:151.79, Y:-93.45, Z:-4.02 [[ 7.19234816e-02 -9.97409711e-01 -9.38978880e-04 1.51787478e+02] [-9.97380866e-01 -7.19285522e-02 7.59555711e-03 -9.34477963e+01] [-7.64342181e-03 3.90220656e-04 -9.99970713e-01 -4.01979214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.166559995 meters 0.021739804676644946 Centerline is valid? [True, True] Translation: X:151.77, Y:-93.58, Z:-4.02 [[ 1.51506913e-01 -9.88455160e-01 -1.43235139e-03 1.51773347e+02] [-9.88429957e-01 -1.51513291e-01 7.06698082e-03 -9.35750970e+01] [-7.20241393e-03 3.45082569e-04 -9.99974003e-01 -4.02114468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.226559995 meters 0.023200892725543366 Centerline is valid? [True, True] Translation: X:151.77, Y:-93.70, Z:-4.02 [[ 2.35405208e-01 -9.71895766e-01 -1.73431353e-03 1.51772467e+02] [-9.71876647e-01 -2.35411464e-01 6.10120891e-03 -9.37032897e+01] [-6.33801640e-03 2.49282471e-04 -9.99979884e-01 -4.02024675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.286559995 meters 0.01762103413996211 Centerline is valid? [True, True] Translation: X:151.77, Y:-93.83, Z:-4.02 [[ 3.19255679e-01 -9.47666582e-01 -1.96503708e-03 1.51768822e+02] [-9.47651656e-01 -3.19261685e-01 5.32127788e-03 -9.38310914e+01] [-5.67015826e-03 1.63322455e-04 -9.99983911e-01 -4.02062681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3465599949999 meters 0.014169519626677615 Centerline is valid? [True, True] Translation: X:151.78, Y:-93.96, Z:-4.02 [[ 4.00709535e-01 -9.16202511e-01 -2.19713672e-03 1.51778571e+02] [-9.16190017e-01 -4.00715547e-01 4.78581993e-03 -9.39586761e+01] [-5.26520708e-03 9.52710501e-05 -9.99986134e-01 -4.02138458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.406559995 meters 0.012936510299553006 Centerline is valid? [True, True] Translation: X:151.80, Y:-94.08, Z:-4.02 [[ 4.76668630e-01 -8.79079486e-01 -2.50501271e-03 1.51800628e+02] [-8.79067913e-01 -4.76675209e-01 4.51093374e-03 -9.40792150e+01] [-5.15954677e-03 5.18556847e-05 -9.99986688e-01 -4.02193278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4665599949999 meters 0.012334090076836841 Centerline is valid? [True, True] Translation: X:151.83, Y:-94.20, Z:-4.02 [[ 5.52052881e-01 -8.33797038e-01 -4.48509077e-03 1.51826812e+02] [-8.33769332e-01 -5.52071100e-01 6.79715995e-03 -9.42004481e+01] [-8.14354083e-03 -1.28606007e-05 -9.99966841e-01 -4.01795157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.526559995 meters 0.013197098995252534 Centerline is valid? [True, True] Translation: X:151.86, Y:-94.31, Z:-4.02 [[ 6.21324294e-01 -7.83537398e-01 -5.02669361e-03 1.51860927e+02] [-7.83510560e-01 -6.21344621e-01 6.48576393e-03 -9.43121895e+01] [-8.20514763e-03 -9.12951682e-05 -9.99966333e-01 -4.01739613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5865599949999 meters 0.014421224476471862 Centerline is valid? [True, True] Translation: X:151.90, Y:-94.41, Z:-4.02 [[ 6.82204421e-01 -7.31145124e-01 -4.89234282e-03 1.51902912e+02] [-7.31125125e-01 -6.82221954e-01 5.40896186e-03 -9.44124638e+01] [-7.29239977e-03 -1.13102936e-04 -9.99973404e-01 -4.01772374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.646559995 meters 0.014484202758709775 Centerline is valid? [True, True] Translation: X:151.95, Y:-94.51, Z:-4.02 [[ 7.37660413e-01 -6.75153186e-01 -5.02906669e-03 1.51954452e+02] [-6.75136301e-01 -7.37677544e-01 4.77659803e-03 -9.45063722e+01] [-6.93476494e-03 -1.28201787e-04 -9.99975946e-01 -4.01860887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7065599949999 meters 0.01548314940408588 Centerline is valid? [True, True] Translation: X:151.98, Y:-94.54, Z:-4.02 [[ 7.89657070e-01 -6.13523322e-01 -5.55382287e-03 1.51975736e+02] [-6.13506807e-01 -7.89676586e-01 4.50404718e-03 -9.45363869e+01] [-7.14906187e-03 -1.49344563e-04 -9.99974434e-01 -4.01744978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.766559995 meters 0.01771828080448619 Centerline is valid? [True, True] Translation: X:152.00, Y:-94.56, Z:-4.02 [[ 8.36762438e-01 -5.47528074e-01 -6.45213962e-03 1.51999532e+02] [-5.47510068e-01 -8.36787293e-01 4.44436369e-03 -9.45647373e+01] [-7.83248234e-03 -1.86265190e-04 -9.99969308e-01 -4.01605927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8265599949999 meters 0.017640749554709845 Centerline is valid? [True, True] Translation: X:152.03, Y:-94.59, Z:-4.01 [[ 8.78105220e-01 -4.78369273e-01 -9.69855697e-03 1.52029013e+02] [-4.78336382e-01 -8.78158729e-01 5.61715871e-03 -9.45881586e+01] [-1.12039486e-02 -2.93283726e-04 -9.99937191e-01 -4.01302063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.886559995 meters 0.01822855221114869 Centerline is valid? [True, True] Translation: X:152.06, Y:-94.61, Z:-4.01 [[ 9.12923479e-01 -4.07939880e-01 -1.24810609e-02 1.52061128e+02] [-4.07896234e-01 -9.13008718e-01 5.97852213e-03 -9.46067649e+01] [-1.38341950e-02 -3.66955493e-04 -9.99904236e-01 -4.01035652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9465599949999 meters 0.015658945219521443 Centerline is valid? [True, True] Translation: X:152.09, Y:-94.62, Z:-4.01 [[ 9.41293903e-01 -3.37301857e-01 -1.39013086e-02 1.52094294e+02] [-3.37259352e-01 -9.41396476e-01 5.36698599e-03 -9.46218773e+01] [-1.48969372e-02 -3.63564872e-04 -9.99888968e-01 -4.01160883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.006559995 meters 0.014370140618934471 Centerline is valid? [True, True] Translation: X:152.13, Y:-94.63, Z:-4.01 [[ 9.62837857e-01 -2.69763801e-01 -1.30672853e-02 1.52128510e+02] [-2.69735674e-01 -9.62926497e-01 3.90234683e-03 -9.46328765e+01] [-1.36355472e-02 -2.32614251e-04 -9.99907005e-01 -4.01260098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0665599949999 meters 0.012340254589567636 Centerline is valid? [True, True] Translation: X:152.17, Y:-94.63, Z:-4.01 [[ 9.78696175e-01 -2.05011566e-01 -1.11379582e-02 1.52165211e+02] [-2.04997564e-01 -9.78759549e-01 2.39677970e-03 -9.46344260e+01] [-1.13927505e-02 -6.24648243e-05 -9.99935099e-01 -4.01475806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.126559995 meters 0.012475061388448594 Centerline is valid? [True, True] Translation: X:152.20, Y:-94.63, Z:-4.02 [[ 9.90034077e-01 -1.40559749e-01 -8.68807220e-03 1.52197018e+02] [-1.40554915e-01 -9.90072196e-01 1.16759437e-03 -9.46344399e+01] [-8.76593549e-03 6.51930323e-05 -9.99961576e-01 -4.01804036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1865599949999 meters 0.01491745578282276 Centerline is valid? [True, True] Translation: X:152.23, Y:-94.63, Z:-4.02 [[ 9.97158134e-01 -7.48117644e-02 -8.88007866e-03 1.52226490e+02] [-7.48103588e-02 -9.97197658e-01 4.90810103e-04 -9.46321339e+01] [-8.89191201e-03 1.74906584e-04 -9.99960451e-01 -4.01770152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.246559995 meters 0.018231020693748465 Centerline is valid? [True, True] Translation: X:152.26, Y:-94.63, Z:-4.02 [[ 9.99928569e-01 -6.05028835e-03 -1.03078013e-02 1.52255176e+02] [-6.05307013e-03 -9.99981652e-01 -2.38694270e-04 -9.46290025e+01] [-1.03061680e-02 3.01071064e-04 -9.99946845e-01 -4.01574428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3065599949999 meters 0.01809874653650311 Centerline is valid? [True, True] Translation: X:152.28, Y:-94.63, Z:-4.02 [[ 9.97645642e-01 6.76570852e-02 -1.12112087e-02 1.52284113e+02] [ 6.76485158e-02 -9.97708561e-01 -1.14226984e-03 -9.46331870e+01] [-1.12628015e-02 3.81158907e-04 -9.99936500e-01 -4.01663993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.366559995 meters 0.019012372132630632 Centerline is valid? [True, True] Translation: X:152.31, Y:-94.64, Z:-4.02 [[ 9.89252625e-01 1.45852910e-01 -1.03040394e-02 1.52312479e+02] [ 1.45841291e-01 -9.89306224e-01 -1.87424186e-03 -9.46365686e+01] [-1.04672139e-02 3.51344277e-04 -9.99945156e-01 -4.01673620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4265599949999 meters 0.022569613659605685 Centerline is valid? [True, True] Translation: X:152.34, Y:-94.63, Z:-4.01 [[ 9.74351023e-01 2.24790688e-01 -1.04513269e-02 1.52339247e+02] [ 2.24773989e-01 -9.74407015e-01 -2.76110100e-03 -9.46322138e+01] [-1.08045160e-02 3.41095150e-04 -9.99941571e-01 -4.01443317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.486559995 meters 0.016829346510416787 Centerline is valid? [True, True] Translation: X:152.37, Y:-94.64, Z:-4.02 [[ 9.52113704e-01 3.05549291e-01 -1.09144939e-02 1.52371238e+02] [ 3.05525564e-01 -9.52176213e-01 -3.81965607e-03 -9.46390102e+01] [-1.15596147e-02 3.02089963e-04 -9.99933140e-01 -4.01547847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5465599949999 meters 0.014861011392875285 Centerline is valid? [True, True] Translation: X:152.40, Y:-94.64, Z:-4.02 [[ 9.22381614e-01 3.86156838e-01 -9.74960760e-03 1.52401782e+02] [ 3.86132995e-01 -9.22433118e-01 -4.29574905e-03 -9.46388998e+01] [-1.06521938e-02 1.97674760e-04 -9.99943244e-01 -4.01589824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.606559995 meters 0.012890336106691967 Centerline is valid? [True, True] Translation: X:152.43, Y:-94.64, Z:-4.02 [[ 8.85676203e-01 4.64229543e-01 -8.28223124e-03 1.52434689e+02] [ 4.64208187e-01 -8.85714921e-01 -4.45392551e-03 -9.46394951e+01] [-9.40333960e-03 1.00056288e-04 -9.99955783e-01 -4.01774180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.666559995 meters 0.012276865268922833 Centerline is valid? [True, True] Translation: X:152.47, Y:-94.63, Z:-4.02 [[ 8.43545334e-01 5.36987160e-01 -8.72128195e-03 1.52466163e+02] [ 5.36957832e-01 -8.43590415e-01 -5.61239393e-03 -9.46349771e+01] [-1.03709733e-02 5.13480627e-05 -9.99946219e-01 -4.01628461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.726559995 meters 0.012148271559708141 Centerline is valid? [True, True] Translation: X:152.50, Y:-94.63, Z:-4.01 [[ 7.95554959e-01 6.05822692e-01 -8.43642640e-03 1.52495265e+02] [ 6.05788715e-01 -7.95599690e-01 -6.41610731e-03 -9.46269365e+01] [-1.05990416e-02 -6.32592184e-06 -9.99943829e-01 -4.01498048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.786559995 meters 0.012119303241599069 Centerline is valid? [True, True] Translation: X:152.53, Y:-94.62, Z:-4.02 [[ 7.42078234e-01 6.70269447e-01 -7.66570803e-03 1.52528323e+02] [ 6.70234547e-01 -7.42117824e-01 -6.84011203e-03 -9.46187067e+01] [-1.02735767e-02 -6.19240934e-05 -9.99947224e-01 -4.01702724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8465599949999 meters 0.012121688154085122 Centerline is valid? [True, True] Translation: X:152.56, Y:-94.60, Z:-4.02 [[ 6.87226446e-01 7.26408355e-01 -7.12136764e-03 1.52557272e+02] [ 7.26370306e-01 -6.87263340e-01 -7.43511815e-03 -9.46049413e+01] [-1.02951869e-02 -6.31401656e-05 -9.99947001e-01 -4.01697970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.906559995 meters 0.012004764225376238 Centerline is valid? [True, True] Translation: X:152.58, Y:-94.59, Z:-4.02 [[ 6.29856805e-01 7.76689025e-01 -5.87906584e-03 1.52581651e+02] [ 7.76655757e-01 -6.29884241e-01 -7.18881450e-03 -9.45857340e+01] [-9.28660425e-03 -3.80865938e-05 -9.99956878e-01 -4.01765519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9665599949999 meters 0.012089930478485262 Centerline is valid? [True, True] Translation: X:152.60, Y:-94.57, Z:-4.02 [[ 5.69390592e-01 8.22047696e-01 -5.65147795e-03 1.52602728e+02] [ 8.22007436e-01 -5.69418638e-01 -8.13565036e-03 -9.45655034e+01] [-9.90594951e-03 -1.31941203e-05 -9.99950935e-01 -4.01659442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.026559995 meters 0.012269983868300464 Centerline is valid? [True, True] Translation: X:152.62, Y:-94.54, Z:-4.01 [[ 5.04198566e-01 8.63566184e-01 -6.10337353e-03 1.52622927e+02] [ 8.63502987e-01 -5.04235506e-01 -1.04473148e-02 -9.45434434e+01] [-1.20994854e-02 -2.76012518e-06 -9.99926799e-01 -4.01397820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0865599949999 meters 0.012219307624205276 Centerline is valid? [True, True] Translation: X:152.64, Y:-94.52, Z:-4.02 [[ 4.34567704e-01 9.00625794e-01 -4.90821819e-03 1.52639478e+02] [ 9.00568579e-01 -4.34595421e-01 -1.01515526e-02 -9.45191445e+01] [-1.12758393e-02 -8.65015826e-06 -9.99936426e-01 -4.01539690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.146559995 meters 0.012083776943441371 Centerline is valid? [True, True] Translation: X:152.66, Y:-94.50, Z:-4.02 [[ 3.60198156e-01 9.32870125e-01 -3.25845763e-03 1.52660380e+02] [ 9.32832732e-01 -3.60212893e-01 -8.35255196e-03 -9.44958727e+01] [-8.96558464e-03 -3.10221183e-05 -9.99959808e-01 -4.01854366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2065599949999 meters 0.012409079852133922 Centerline is valid? [True, True] Translation: X:152.68, Y:-94.47, Z:-4.02 [[ 2.82094213e-01 9.59382958e-01 -2.68226818e-03 1.52678589e+02] [ 9.59341918e-01 -2.82106956e-01 -8.87405464e-03 -9.44728627e+01] [-9.27030331e-03 -6.98928425e-05 -9.99957027e-01 -4.01849439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.266559995 meters 0.0127777559772219 Centerline is valid? [True, True] Translation: X:152.69, Y:-94.45, Z:-4.02 [[ 2.02783317e-01 9.79221179e-01 -2.19311186e-03 1.52694871e+02] [ 9.79169756e-01 -2.02795145e-01 -1.00358036e-02 -9.44471522e+01] [-1.02720239e-02 -1.12335262e-04 -9.99947235e-01 -4.01869593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3265599949999 meters 0.012875578132321592 Centerline is valid? [True, True] Translation: X:152.71, Y:-94.42, Z:-4.02 [[ 1.24975414e-01 9.92158882e-01 -1.37760429e-03 1.52707969e+02] [ 9.92108390e-01 -1.24982953e-01 -1.00101903e-02 -9.44194254e+01] [-1.01038763e-02 -1.15705084e-04 -9.99948948e-01 -4.01873672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.386559995 meters 0.012932884123429649 Centerline is valid? [True, True] Translation: X:152.72, Y:-94.39, Z:-4.02 [[ 4.67263852e-02 9.98907569e-01 -5.59101641e-04 1.52717524e+02] [ 9.98861770e-01 -4.67295970e-02 -9.56606985e-03 -9.43916403e+01] [-9.58174618e-03 -1.11477390e-04 -9.99954088e-01 -4.01911417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4465599949999 meters 0.012948459244483497 Centerline is valid? [True, True] Translation: X:152.72, Y:-94.36, Z:-4.02 [[-3.02179275e-02 9.99543316e-01 1.90154167e-04 1.52721463e+02] [ 9.99498101e-01 3.02183693e-02 -9.50770851e-03 -9.43639292e+01] [-9.50911264e-03 -9.72445180e-05 -9.99954783e-01 -4.01930992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.506559995 meters 0.012683399931002516 Centerline is valid? [True, True] Translation: X:152.72, Y:-94.34, Z:-4.02 [[-1.05746408e-01 9.94392572e-01 1.05350107e-03 1.52721109e+02] [ 9.94335299e-01 1.05751624e-01 -1.06726940e-02 -9.43351596e+01] [-1.07242571e-02 -8.10657520e-05 -9.99942490e-01 -4.01834658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5665599949999 meters 0.012683399931002516 Centerline is valid? [True, True] Translation: X:152.72, Y:-94.31, Z:-4.02 [[-1.83275299e-01 9.83059819e-01 1.88590646e-03 1.52721316e+02] [ 9.83003131e-01 1.83284983e-01 -1.05574337e-02 -9.43071774e+01] [-1.07242472e-02 -8.10648564e-05 -9.99942490e-01 -4.01834676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.626559995 meters 0.012868435947909302 Centerline is valid? [True, True] Translation: X:152.72, Y:-94.28, Z:-4.02 [[-2.58023851e-01 9.66134890e-01 2.65828205e-03 1.52717332e+02] [ 9.66081140e-01 2.58037537e-01 -1.01911825e-02 -9.42805195e+01] [-1.05319935e-02 -6.14519915e-05 -9.99944535e-01 -4.01774706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6865599949999 meters 0.012633478376770094 Centerline is valid? [True, True] Translation: X:152.71, Y:-94.25, Z:-4.02 [[-3.32038218e-01 9.43260156e-01 3.30163710e-03 1.52712568e+02] [ 9.43212038e-01 3.32054629e-01 -9.52757394e-03 -9.42532143e+01] [-1.00833048e-02 -4.93748056e-05 -9.99949161e-01 -4.02060177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.746559995 meters 0.012822849597175095 Centerline is valid? [True, True] Translation: X:152.71, Y:-94.22, Z:-4.02 [[-4.05265045e-01 9.14189051e-01 4.31541921e-03 1.52710294e+02] [ 9.14135728e-01 4.05288016e-01 -9.87396560e-03 -9.42233348e+01] [-1.07756589e-02 -5.66942295e-05 -9.99941939e-01 -4.02126522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8065599949999 meters 0.012906630768818754 Centerline is valid? [True, True] Translation: X:152.71, Y:-94.19, Z:-4.02 [[-4.75391828e-01 8.79758004e-01 5.33515921e-03 1.52706173e+02] [ 8.79701269e-01 4.75421761e-01 -9.99125943e-03 -9.41942354e+01] [-1.13263412e-02 -5.64167560e-05 -9.99935853e-01 -4.02078936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.866559995 meters 0.013057890683347726 Centerline is valid? [True, True] Translation: X:152.70, Y:-94.17, Z:-4.02 [[-5.42205015e-01 8.40225307e-01 5.92914437e-03 1.52698106e+02] [ 8.40174137e-01 5.42237431e-01 -9.27298353e-03 -9.41670278e+01] [-1.10063994e-02 -4.63444263e-05 -9.99939427e-01 -4.02114130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9265599949999 meters 0.013045248502472224 Centerline is valid? [True, True] Translation: X:152.69, Y:-94.14, Z:-4.02 [[-6.04467821e-01 7.96613345e-01 5.08255439e-03 1.52688394e+02] [ 7.96584969e-01 6.04489188e-01 -6.72368777e-03 -9.41392535e+01] [-8.42852858e-03 -1.55664638e-05 -9.99964479e-01 -4.02363936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.986559995 meters 0.01308220173406587 Centerline is valid? [True, True] Translation: X:152.68, Y:-94.11, Z:-4.02 [[-6.63645092e-01 7.48029217e-01 5.24231473e-03 1.52677851e+02] [ 7.48005877e-01 6.63665797e-01 -5.90911197e-03 -9.41103626e+01] [-7.89933339e-03 -2.70925596e-07 -9.99968800e-01 -4.02404438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0465599949999 meters 0.013172741384317703 Centerline is valid? [True, True] Translation: X:152.66, Y:-94.08, Z:-4.02 [[-7.20068419e-01 6.93874809e-01 6.26276939e-03 1.52664445e+02] [ 6.93848580e-01 7.20095653e-01 -6.03306933e-03 -9.40833762e+01] [-8.69598784e-03 1.19094997e-06 -9.99962189e-01 -4.02358844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.106559995 meters 0.013184331880734293 Centerline is valid? [True, True] Translation: X:152.68, Y:-94.06, Z:-4.02 [[-7.67833707e-01 6.40605649e-01 7.47003403e-03 1.52684637e+02] [ 6.40575258e-01 7.67870043e-01 -6.23986695e-03 -9.40619234e+01] [-9.73330937e-03 -6.06119268e-06 -9.99952630e-01 -4.02301013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.166559995 meters 0.013270595737712738 Centerline is valid? [True, True] Translation: X:152.71, Y:-94.04, Z:-4.02 [[-8.12103249e-01 5.83454727e-01 8.30025785e-03 1.52706305e+02] [ 5.83423950e-01 8.12145665e-01 -5.99276754e-03 -9.40394374e+01] [-1.02375270e-02 -2.41767704e-05 -9.99947595e-01 -4.02271679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.226559995 meters 0.013403368125505851 Centerline is valid? [True, True] Translation: X:152.72, Y:-94.01, Z:-4.02 [[-8.52759439e-01 5.22224637e-01 9.09767186e-03 1.52722596e+02] [ 5.22194239e-01 8.52807965e-01 -5.63486869e-03 -9.40127664e+01] [-1.07012343e-02 -5.44356284e-05 -9.99942739e-01 -4.02277566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.286559995 meters 0.013600397556911248 Centerline is valid? [True, True] Translation: X:152.73, Y:-93.98, Z:-4.02 [[-8.88652239e-01 4.58472732e-01 9.99763921e-03 1.52732295e+02] [ 4.58442654e-01 8.88708471e-01 -5.25227106e-03 -9.39832916e+01] [-1.12930097e-02 -8.40981883e-05 -9.99936228e-01 -4.02214664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3465599949999 meters 0.014108684715774821 Centerline is valid? [True, True] Translation: X:152.75, Y:-93.96, Z:-4.02 [[-9.20101085e-01 3.91528327e-01 1.09344888e-02 1.52749019e+02] [ 3.91499051e-01 9.20166047e-01 -4.78960915e-03 -9.39551831e+01] [-1.19368130e-02 -1.26082604e-04 -9.99928746e-01 -4.02076168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.406559995 meters 0.014172114782076407 Centerline is valid? [True, True] Translation: X:152.76, Y:-93.93, Z:-4.02 [[-9.45918426e-01 3.24196634e-01 1.16135673e-02 1.52759251e+02] [ 3.24170315e-01 9.45989705e-01 -4.13338739e-03 -9.39277099e+01] [-1.23263454e-02 -1.45073504e-04 -9.99924017e-01 -4.02050535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4665599949999 meters 0.01412364806274083 Centerline is valid? [True, True] Translation: X:152.76, Y:-93.90, Z:-4.02 [[-9.66624394e-01 2.55950282e-01 1.12576639e-02 1.52763765e+02] [ 2.55931203e-01 9.66689936e-01 -3.12839735e-03 -9.38987958e+01] [-1.16833846e-02 -1.42797742e-04 -9.99931737e-01 -4.02082519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.526559995 meters 0.01402211090487642 Centerline is valid? [True, True] Translation: X:152.77, Y:-93.87, Z:-4.02 [[-9.82242619e-01 1.87215011e-01 1.22464765e-02 1.52765819e+02] [ 1.87198598e-01 9.82318949e-01 -2.48328511e-03 -9.38699150e+01] [-1.24948542e-02 -1.46665243e-04 -9.99921926e-01 -4.02003758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5865599949999 meters 0.013787708008267497 Centerline is valid? [True, True] Translation: X:152.77, Y:-93.84, Z:-4.02 [[-9.92910227e-01 1.18137374e-01 1.31469064e-02 1.52772239e+02] [ 1.18125136e-01 9.92997251e-01 -1.70631237e-03 -9.38427829e+01] [-1.32564212e-02 -1.41234902e-04 -9.99912120e-01 -4.01948220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.646559995 meters 0.013598538054544404 Centerline is valid? [True, True] Translation: X:152.86, Y:-93.22, Z:-5.02 [[-9.78977654e-01 -2.03605095e-01 1.21539216e-02 1.52856467e+02] [ 2.03590407e-01 -9.79053093e-01 -2.44685131e-03 -9.32186494e+01] [ 1.23975259e-02 7.90090886e-05 9.99923145e-01 -5.02009096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7065599949999 meters 0.013214326515532018 Centerline is valid? [True, True] Translation: X:152.73, Y:-93.84, Z:-4.02 [[-9.92776930e-01 1.19411530e-01 1.16126201e-02 1.52725266e+02] [ 1.19402611e-01 9.92844843e-01 -1.46082162e-03 -9.38387170e+01] [-1.17039689e-02 -6.36928374e-05 -9.99931504e-01 -4.02022913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.766559995 meters 0.013169898880175251 Centerline is valid? [True, True] Translation: X:152.81, Y:-93.21, Z:-5.02 [[-9.81049958e-01 -1.93383938e-01 1.19846407e-02 1.52806294e+02] [ 1.93370706e-01 -9.81123154e-01 -2.26420899e-03 -9.32099633e+01] [ 1.21962701e-02 9.61763013e-05 9.99925618e-01 -5.02007054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8265599949999 meters 0.013102682672234646 Centerline is valid? [True, True] Translation: X:152.68, Y:-93.84, Z:-4.02 [[-9.92320489e-01 1.23138554e-01 1.17022812e-02 1.52679633e+02] [ 1.23130302e-01 9.92389488e-01 -1.42583769e-03 -9.38385811e+01] [-1.17887964e-02 2.60174548e-05 -9.99930509e-01 -4.02086259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.886559995 meters 0.013113329806934167 Centerline is valid? [True, True] Translation: X:152.76, Y:-93.20, Z:-5.02 [[-9.82901033e-01 -1.83748616e-01 1.19166233e-02 1.52759526e+02] [ 1.83735041e-01 -9.82973268e-01 -2.23353954e-03 -9.32028695e+01] [ 1.21241320e-02 -5.84705625e-06 9.99926500e-01 -5.01914044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9465599949999 meters 0.01313986934138464 Centerline is valid? [True, True] Translation: X:152.63, Y:-93.83, Z:-4.02 [[-9.92700981e-01 1.19886032e-01 1.31187698e-02 1.52630153e+02] [ 1.19876058e-01 9.92787660e-01 -1.54687640e-03 -9.38315411e+01] [-1.32096016e-02 3.70406827e-05 -9.99912749e-01 -4.01950315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.006559995 meters 0.012947242018146772 Centerline is valid? [True, True] Translation: X:152.70, Y:-93.20, Z:-5.02 [[-9.83053209e-01 -1.82847665e-01 1.31575123e-02 1.52703226e+02] [ 1.82830938e-01 -9.83141257e-01 -2.47331798e-03 -9.32000473e+01] [ 1.33879336e-02 -2.58028592e-05 9.99910377e-01 -5.02046364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0665599949999 meters 0.012938564550596512 Centerline is valid? [True, True] Translation: X:152.58, Y:-93.82, Z:-4.02 [[-9.93621644e-01 1.11951404e-01 1.35245086e-02 1.52578346e+02] [ 1.11940808e-01 9.93713683e-01 -1.54039769e-03 -9.38224316e+01] [-1.36119389e-02 -1.66280767e-05 -9.99907353e-01 -4.01962126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.126559995 meters 0.01300279091982466 Centerline is valid? [True, True] Translation: X:152.57, Y:-93.79, Z:-4.02 [[-9.99094399e-01 4.05856605e-02 1.27744291e-02 1.52574172e+02] [ 4.05820493e-02 9.99176062e-01 -5.41883603e-04 -9.37940849e+01] [-1.27858965e-02 -2.29803599e-05 -9.99918257e-01 -4.01838745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1865599949999 meters 0.012760355645103963 Centerline is valid? [True, True] Translation: X:152.57, Y:-93.77, Z:-4.02 [[-9.99480195e-01 -3.01504736e-02 1.14144085e-02 1.52569922e+02] [-3.01486989e-02 9.99545371e-01 3.27560768e-04 -9.37677486e+01] [-1.14190953e-02 -1.67390640e-05 -9.99934800e-01 -4.02014679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.246559995 meters 0.012732438171070472 Centerline is valid? [True, True] Translation: X:152.56, Y:-93.74, Z:-4.02 [[-9.94957980e-01 -9.98781318e-02 9.10914138e-03 1.52564916e+02] [-9.98739626e-02 9.94999678e-01 9.12591263e-04 -9.37422763e+01] [-9.15474065e-03 -1.77608556e-06 -9.99958095e-01 -4.02106647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3065599949999 meters 0.012710816180205387 Centerline is valid? [True, True] Translation: X:152.55, Y:-93.72, Z:-4.02 [[-9.85527132e-01 -1.69318480e-01 8.21736421e-03 1.52554971e+02] [-1.69312538e-01 9.85561389e-01 1.41850346e-03 -9.37163426e+01] [-8.33889574e-03 6.67085698e-06 -9.99965231e-01 -4.02099358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.366559995 meters 0.012733295043648389 Centerline is valid? [True, True] Translation: X:152.54, Y:-93.69, Z:-4.02 [[-9.71119753e-01 -2.38458167e-01 8.00804358e-03 1.52541883e+02] [-2.38449954e-01 9.71152770e-01 1.97915887e-03 -9.36918240e+01] [-8.24898030e-03 1.24826544e-05 -9.99965977e-01 -4.02043393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4265599949999 meters 0.01275857671655892 Centerline is valid? [True, True] Translation: X:152.38, Y:-93.08, Z:-5.02 [[-9.84380297e-01 1.75841113e-01 8.67948572e-03 1.52383292e+02] [-1.75834058e-01 -9.84418561e-01 1.57534310e-03 -9.30779479e+01] [ 8.82125692e-03 2.45875087e-05 9.99961092e-01 -5.01964934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.486559995 meters 0.01283857492307487 Centerline is valid? [True, True] Translation: X:152.43, Y:-93.72, Z:-4.02 [[-9.69748437e-01 -2.43950401e-01 8.72758251e-03 1.52430266e+02] [-2.43940360e-01 9.69787709e-01 2.21346938e-03 -9.37185056e+01] [-9.00387899e-03 1.74988573e-05 -9.99959464e-01 -4.01975918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5465599949999 meters 0.01283744458252018 Centerline is valid? [True, True] Translation: X:152.40, Y:-93.70, Z:-4.02 [[-9.49742584e-01 -3.12899003e-01 9.12350145e-03 1.52404515e+02] [-3.12884377e-01 9.49786404e-01 3.02536090e-03 -9.36975030e+01] [-9.61201005e-03 1.87130143e-05 -9.99953803e-01 -4.01900040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.606559995 meters 0.01294873127873487 Centerline is valid? [True, True] Translation: X:152.37, Y:-93.68, Z:-4.02 [[-9.24622229e-01 -3.80783047e-01 8.83207988e-03 1.52368055e+02] [-3.80765479e-01 9.24664410e-01 3.65775355e-03 -9.36838857e+01] [-9.55952047e-03 1.90891190e-05 -9.99954307e-01 -4.01879554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.666559995 meters 0.012895972347396555 Centerline is valid? [True, True] Translation: X:152.31, Y:-93.68, Z:-4.02 [[-8.94078826e-01 -4.47824764e-01 8.71969692e-03 1.52311085e+02] [-4.47803300e-01 8.94121346e-01 4.38447272e-03 -9.36825216e+01] [-9.75994260e-03 1.53551636e-05 -9.99952371e-01 -4.01939741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.726559995 meters 0.012813816083723499 Centerline is valid? [True, True] Translation: X:152.24, Y:-93.69, Z:-4.02 [[-8.57228074e-01 -5.14876425e-01 7.89276213e-03 1.52244393e+02] [-5.14854734e-01 8.57264409e-01 4.72608198e-03 -9.36885980e+01] [-9.19953226e-03 -1.22957968e-05 -9.99957683e-01 -4.02027032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.786559995 meters 0.01291156111945522 Centerline is valid? [True, True] Translation: X:152.17, Y:-93.70, Z:-4.02 [[-8.15194487e-01 -5.79147307e-01 6.80776594e-03 1.52172551e+02] [-5.79127460e-01 8.15222912e-01 4.79479664e-03 -9.37035074e+01] [-8.32674034e-03 -3.38724079e-05 -9.99965332e-01 -4.02079799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8465599949999 meters 0.013281320979076094 Centerline is valid? [True, True] Translation: X:152.09, Y:-93.73, Z:-4.02 [[-7.67053483e-01 -6.41558578e-01 5.61658103e-03 1.52093828e+02] [-6.41541970e-01 7.67074043e-01 4.61665914e-03 -9.37294294e+01] [-7.27019079e-03 -6.20479895e-05 -9.99973570e-01 -4.02207983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.906559995 meters 0.014007775038064952 Centerline is valid? [True, True] Translation: X:152.01, Y:-93.76, Z:-4.02 [[-7.13501399e-01 -7.00631736e-01 5.56102139e-03 1.52014125e+02] [-7.00611581e-01 7.13523062e-01 5.31523511e-03 -9.37623466e+01] [-7.69193941e-03 -1.03688301e-04 -9.99970411e-01 -4.02196230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9665599949999 meters 0.014668149501828369 Centerline is valid? [True, True] Translation: X:151.93, Y:-93.81, Z:-4.02 [[-6.56368233e-01 -7.54423564e-01 5.08219405e-03 1.51932808e+02] [-7.54402451e-01 6.56387895e-01 5.64566298e-03 -9.38056443e+01] [-7.59511185e-03 -1.28385817e-04 -9.99971149e-01 -4.02171293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.026559995 meters 0.015837609621829944 Centerline is valid? [True, True] Translation: X:151.85, Y:-93.87, Z:-4.02 [[-5.94374069e-01 -8.04173074e-01 5.01329960e-03 1.51845303e+02] [-8.04146898e-01 5.94395185e-01 6.49072996e-03 -9.38678689e+01] [-8.19955141e-03 -1.73507753e-04 -9.99966368e-01 -4.02111152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0865599949999 meters 0.01523730538037592 Centerline is valid? [True, True] Translation: X:151.77, Y:-93.93, Z:-4.02 [[-5.30527372e-01 -8.47652362e-01 5.11660513e-03 1.51774143e+02] [-8.47616694e-01 5.30552003e-01 7.77891126e-03 -9.39269719e+01] [-9.30843761e-03 -2.09994576e-04 -9.99956654e-01 -4.02161937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.146559995 meters 0.01610828653402583 Centerline is valid? [True, True] Translation: X:151.70, Y:-94.00, Z:-4.02 [[-4.64058070e-01 -8.85788956e-01 5.29460710e-03 1.51703273e+02] [-8.85737401e-01 4.64088204e-01 9.56006704e-03 -9.39956566e+01] [-1.09253665e-02 -2.53205269e-04 -9.99940284e-01 -4.01988958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2065599949999 meters 0.016165417477418502 Centerline is valid? [True, True] Translation: X:151.63, Y:-94.08, Z:-4.02 [[-3.95356993e-01 -9.18512744e-01 5.21411199e-03 1.51633948e+02] [-9.18442274e-01 3.95391269e-01 1.13812844e-02 -9.40787177e+01] [-1.25154691e-02 -2.89190488e-04 -9.99921637e-01 -4.01902588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.266559995 meters 0.01557296005229728 Centerline is valid? [True, True] Translation: X:151.57, Y:-94.17, Z:-4.02 [[-3.25354145e-01 -9.45579897e-01 4.83099086e-03 1.51573725e+02] [-9.45489116e-01 3.25389868e-01 1.31059040e-02 -9.41678498e+01] [-1.39646349e-02 -3.03589071e-04 -9.99902444e-01 -4.01805740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3265599949999 meters 0.015344681273617216 Centerline is valid? [True, True] Translation: X:151.52, Y:-94.27, Z:-4.02 [[-2.55243490e-01 -9.66869907e-01 3.65302516e-03 1.51517935e+02] [-9.66784375e-01 2.55269509e-01 1.28627177e-02 -9.42736804e+01] [-1.33690806e-02 -2.48562688e-04 -9.99910599e-01 -4.01840184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.386559995 meters 0.014796463987475191 Centerline is valid? [True, True] Translation: X:151.47, Y:-94.37, Z:-4.02 [[-1.83099967e-01 -9.83091048e-01 2.52849880e-03 1.51471360e+02] [-9.83011955e-01 1.83117313e-01 1.24717794e-02 -9.43733755e+01] [-1.27239065e-02 -2.01962166e-04 -9.99919027e-01 -4.01920969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4465599949999 meters 0.01397936496702138 Centerline is valid? [True, True] Translation: X:151.43, Y:-94.48, Z:-4.02 [[-1.09996589e-01 -9.93930948e-01 1.42174894e-03 1.51434666e+02] [-9.93864569e-01 1.10005676e-01 1.14877714e-02 -9.44761407e+01] [-1.15744520e-02 -1.49410223e-04 -9.99933003e-01 -4.02082555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.506559995 meters 0.013913902716643781 Centerline is valid? [True, True] Translation: X:151.40, Y:-94.59, Z:-4.02 [[-3.34339067e-02 -9.99440798e-01 5.15461551e-04 1.51399980e+02] [-9.99378696e-01 3.34375759e-02 1.11422474e-02 -9.45856447e+01] [-1.11532524e-02 -1.42612431e-04 -9.99937790e-01 -4.02173106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5665599949999 meters 0.014425661378078531 Centerline is valid? [True, True] Translation: X:151.37, Y:-94.70, Z:-4.02 [[ 4.58049539e-02 -9.98950343e-01 -3.45618454e-04 1.51369886e+02] [-9.98886641e-01 -4.58059365e-02 1.12824618e-02 -9.47035078e+01] [-1.12864504e-02 -1.71558985e-04 -9.99936291e-01 -4.02191392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.626559995 meters 0.015446162034774499 Centerline is valid? [True, True] Translation: X:151.35, Y:-94.82, Z:-4.02 [[ 1.23795366e-01 -9.92306807e-01 -1.38130360e-03 1.51345079e+02] [-9.92224351e-01 -1.23802888e-01 1.27938185e-02 -9.48225353e+01] [-1.28664026e-02 -2.13252368e-04 -9.99917202e-01 -4.01941204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6865599949999 meters 0.016142891980196614 Centerline is valid? [True, True] Translation: X:151.33, Y:-94.95, Z:-4.02 [[ 2.01375967e-01 -9.79511388e-01 -2.27156967e-03 1.51333031e+02] [-9.79435695e-01 -2.01388650e-01 1.21791204e-02 -9.49472487e+01] [-1.23870554e-02 -2.27725720e-04 -9.99923252e-01 -4.01935574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.746559995 meters 0.015378194934113238 Centerline is valid? [True, True] Translation: X:151.33, Y:-95.05, Z:-4.02 [[ 2.76584903e-01 -9.60984518e-01 -3.09004956e-03 1.51327453e+02] [-9.60913306e-01 -2.76602034e-01 1.17018560e-02 -9.50530842e+01] [-1.21000164e-02 -2.67286960e-04 -9.99926756e-01 -4.02273388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8065599949999 meters 0.01634730845692006 Centerline is valid? [True, True] Translation: X:151.33, Y:-95.17, Z:-4.02 [[ 3.51570260e-01 -9.36152455e-01 -4.11509061e-03 1.51330647e+02] [-9.36077834e-01 -3.51594211e-01 1.18237088e-02 -9.51722744e+01] [-1.25156360e-02 -3.04819261e-04 -9.99921630e-01 -4.02114444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.866559995 meters 0.017262627438932802 Centerline is valid? [True, True] Translation: X:151.35, Y:-95.29, Z:-4.02 [[ 4.22549238e-01 -9.06326129e-01 -5.00899142e-03 1.51345363e+02] [-9.06253529e-01 -4.22578813e-01 1.14755799e-02 -9.52914844e+01] [-1.25173116e-02 -3.09581402e-04 -9.99921608e-01 -4.02002506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9265599949999 meters 0.017222678971349242 Centerline is valid? [True, True] Translation: X:151.37, Y:-95.40, Z:-4.02 [[ 4.90314255e-01 -8.71526872e-01 -5.73084169e-03 1.51367175e+02] [-8.71460127e-01 -4.90347656e-01 1.07900084e-02 -9.53984153e+01] [-1.22138871e-02 -2.96294931e-04 -9.99925364e-01 -4.02102270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.986559995 meters 0.01697150098221076 Centerline is valid? [True, True] Translation: X:151.40, Y:-95.51, Z:-4.02 [[ 5.55136201e-01 -8.31735390e-01 -6.32770790e-03 1.51399661e+02] [-8.31675488e-01 -5.55172192e-01 9.98603366e-03 -9.55070130e+01] [-1.18187051e-02 -2.81009230e-04 -9.99930117e-01 -4.02157154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0465599949999 meters 0.01612612046461336 Centerline is valid? [True, True] Translation: X:151.44, Y:-95.61, Z:-4.02 [[ 6.16795103e-01 -7.87092562e-01 -7.00707556e-03 1.51442895e+02] [-7.87036643e-01 -6.16834843e-01 9.38609043e-03 -9.56146473e+01] [-1.17099303e-02 -2.74469387e-04 -9.99931399e-01 -4.02214532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.106559995 meters 0.01507788712166836 Centerline is valid? [True, True] Translation: X:151.49, Y:-95.71, Z:-4.02 [[ 6.72569654e-01 -7.39988657e-01 -8.17606475e-03 1.51486936e+02] [-7.39929410e-01 -6.72619301e-01 9.36715111e-03 -9.57066870e+01] [-1.24309645e-02 -2.50350805e-04 -9.99922701e-01 -4.02195310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.166559995 meters 0.013848772747467753 Centerline is valid? [True, True] Translation: X:151.54, Y:-95.80, Z:-4.02 [[ 7.22819848e-01 -6.90987791e-01 -8.20611430e-03 1.51541364e+02] [-6.90940689e-01 -7.22866410e-01 8.06954188e-03 -9.57955893e+01] [-1.15078793e-02 -1.62886765e-04 -9.99933769e-01 -4.02326764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.226559995 meters 0.013281984359290813 Centerline is valid? [True, True] Translation: X:151.56, Y:-95.82, Z:-4.02 [[ 7.71780370e-01 -6.35841000e-01 -7.82836329e-03 1.51563540e+02] [-6.35806989e-01 -7.71820065e-01 6.57723283e-03 -9.58202206e+01] [-1.02241622e-02 -9.88511000e-05 -9.99947727e-01 -4.02419075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.286559995 meters 0.012831285953732584 Centerline is valid? [True, True] Translation: X:151.59, Y:-95.84, Z:-4.03 [[ 8.16347763e-01 -5.77515855e-01 -7.19488294e-03 1.51588318e+02] [-5.77492967e-01 -8.16379468e-01 5.14182092e-03 -9.58427633e+01] [-8.84323781e-03 -4.25197112e-05 -9.99960897e-01 -4.02515601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3465599949999 meters 0.01276667999536117 Centerline is valid? [True, True] Translation: X:151.61, Y:-95.87, Z:-4.03 [[ 8.58353804e-01 -5.13000124e-01 -7.72134534e-03 1.51611838e+02] [-5.12979033e-01 -8.58388532e-01 4.65189059e-03 -9.58670146e+01] [-9.01433474e-03 -3.20797166e-05 -9.99959370e-01 -4.02529233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.406559995 meters 0.012780742379634776 Centerline is valid? [True, True] Translation: X:151.64, Y:-95.89, Z:-4.02 [[ 8.95662148e-01 -4.44641874e-01 -9.10602268e-03 1.51636899e+02] [-4.44618527e-01 -8.95708436e-01 4.55661033e-03 -9.58906819e+01] [-1.01824011e-02 -3.24770097e-05 -9.99948158e-01 -4.02436925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4665599949999 meters 0.012918570867944963 Centerline is valid? [True, True] Translation: X:151.66, Y:-95.91, Z:-4.02 [[ 9.27870331e-01 -3.72740131e-01 -1.10201389e-02 1.51662597e+02] [-3.72713269e-01 -9.27935770e-01 4.47514545e-03 -9.59109531e+01] [-1.18940474e-02 -4.50027050e-05 -9.99929262e-01 -4.02272084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.526559995 meters 0.013068872703803594 Centerline is valid? [True, True] Translation: X:151.69, Y:-95.93, Z:-4.02 [[ 9.54314684e-01 -2.98534261e-01 -1.26798378e-02 1.51690598e+02] [-2.98507104e-01 -9.54398916e-01 4.02704868e-03 -9.59320959e+01] [-1.33038354e-02 -5.80500309e-05 -9.99911498e-01 -4.02188767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5865599949999 meters 0.012992712596927136 Centerline is valid? [True, True] Translation: X:151.72, Y:-95.95, Z:-4.02 [[ 9.74497074e-01 -2.24006633e-01 -1.32846513e-02 1.51720366e+02] [-2.23985184e-01 -9.74587619e-01 3.10021458e-03 -9.59473997e+01] [-1.36415253e-02 -4.55849675e-05 -9.99906949e-01 -4.02201761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.646559995 meters 0.012909835565763047 Centerline is valid? [True, True] Translation: X:151.75, Y:-95.96, Z:-4.02 [[ 9.88814645e-01 -1.48666629e-01 -1.19930090e-02 1.51749277e+02] [-1.48655448e-01 -9.88887371e-01 1.82333158e-03 -9.59602627e+01] [-1.21308037e-02 -2.01108395e-05 -9.99926419e-01 -4.02351237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7065599949999 meters 0.01289028628101404 Centerline is valid? [True, True] Translation: X:151.78, Y:-95.97, Z:-4.02 [[ 9.97384694e-01 -7.14134853e-02 -1.11304051e-02 1.51777234e+02] [-7.14089029e-02 -9.97446798e-01 8.09087440e-04 -9.59727776e+01] [-1.11597667e-02 -1.21614142e-05 -9.99937728e-01 -4.02449161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.766559995 meters 0.01289989911657522 Centerline is valid? [True, True] Translation: X:151.81, Y:-95.98, Z:-4.03 [[ 9.99921342e-01 8.07815572e-03 -9.59442916e-03 1.51806397e+02] [ 8.07799633e-03 -9.99967371e-01 -5.53664853e-05 -9.59842309e+01] [-9.59456336e-03 -2.21416332e-05 -9.99953971e-01 -4.02513621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8265599949999 meters 0.013098271961362323 Centerline is valid? [True, True] Translation: X:151.84, Y:-95.99, Z:-4.02 [[ 9.95927007e-01 8.96311983e-02 -9.77986889e-03 1.51835525e+02] [ 8.96274213e-02 -9.95975022e-01 -8.24689480e-04 -9.59942388e+01] [-9.81442304e-03 -5.52139037e-05 -9.99951836e-01 -4.02454155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.886559995 meters 0.013376835069676869 Centerline is valid? [True, True] Translation: X:151.87, Y:-96.00, Z:-4.02 [[ 9.85385117e-01 1.70004570e-01 -1.07059043e-02 1.51866373e+02] [ 1.69995535e-01 -9.85443270e-01 -1.75501181e-03 -9.59999324e+01] [-1.08484214e-02 -9.05934224e-05 -9.99941150e-01 -4.02379954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9465599949999 meters 0.013978536876867577 Centerline is valid? [True, True] Translation: X:151.90, Y:-96.01, Z:-4.02 [[ 9.67847965e-01 2.51276549e-01 -1.14198814e-02 1.51898867e+02] [ 2.51260938e-01 -9.67915323e-01 -2.80511422e-03 -9.60065751e+01] [-1.17583376e-02 -1.54446032e-04 -9.99930856e-01 -4.02289836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.006559995 meters 0.014445928511819382 Centerline is valid? [True, True] Translation: X:151.93, Y:-96.01, Z:-4.02 [[ 9.44225953e-01 3.29109096e-01 -1.11602902e-02 1.51931769e+02] [ 3.29088480e-01 -9.44291886e-01 -3.68860415e-03 -9.60097157e+01] [-1.17525246e-02 -1.89847149e-04 -9.99930919e-01 -4.02239020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0665599949999 meters 0.0152354671254524 Centerline is valid? [True, True] Translation: X:151.96, Y:-96.01, Z:-4.02 [[ 9.14350202e-01 4.04772569e-01 -1.10849441e-02 1.51964630e+02] [ 4.04745871e-01 -9.14417363e-01 -4.65457990e-03 -9.60093458e+01] [-1.20203116e-02 -2.30669280e-04 -9.99927727e-01 -4.02205092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.126559995 meters 0.015196614500603108 Centerline is valid? [True, True] Translation: X:152.00, Y:-96.00, Z:-4.02 [[ 8.79416865e-01 4.75929313e-01 -1.08289849e-02 1.51996845e+02] [ 4.75896648e-01 -8.79483501e-01 -5.58133624e-03 -9.60047170e+01] [-1.21802351e-02 -2.45156387e-04 -9.99925788e-01 -4.02209857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1865599949999 meters 0.015415767025281656 Centerline is valid? [True, True] Translation: X:152.03, Y:-96.00, Z:-4.02 [[ 8.39493702e-01 5.43273965e-01 -1.01845168e-02 1.52027692e+02] [ 5.43237439e-01 -8.39555443e-01 -6.30423717e-03 -9.59962873e+01] [-1.19753944e-02 -2.40243420e-04 -9.99928264e-01 -4.02168272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.246559995 meters 0.015312687728108726 Centerline is valid? [True, True] Translation: X:152.06, Y:-95.98, Z:-4.02 [[ 7.94496327e-01 6.07198664e-01 -9.23957045e-03 1.52057247e+02] [ 6.07160918e-01 -7.94550018e-01 -6.77410516e-03 -9.59840145e+01] [-1.14545285e-02 -2.27904421e-04 -9.99934369e-01 -4.02249683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3065599949999 meters 0.015423595306539768 Centerline is valid? [True, True] Translation: X:152.09, Y:-95.97, Z:-4.02 [[ 7.44570529e-01 6.67493963e-01 -8.15697885e-03 1.52086273e+02] [ 6.67457033e-01 -7.44615178e-01 -7.02466179e-03 -9.59703383e+01] [-1.07627296e-02 -2.14076753e-04 -9.99942057e-01 -4.02289591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.366559995 meters 0.015131316238736326 Centerline is valid? [True, True] Translation: X:152.11, Y:-95.96, Z:-4.02 [[ 6.89718712e-01 7.24035687e-01 -7.77315866e-03 1.52114406e+02] [ 7.23993335e-01 -6.89762477e-01 -7.83436487e-03 -9.59554558e+01] [-1.10339929e-02 -2.24207006e-04 -9.99939099e-01 -4.02350095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4265599949999 meters 0.015384413242049812 Centerline is valid? [True, True] Translation: X:152.14, Y:-95.94, Z:-4.02 [[ 6.30893314e-01 7.75834104e-01 -7.42086671e-03 1.52139799e+02] [ 7.75784737e-01 -6.30936913e-01 -8.75517228e-03 -9.59387666e+01] [-1.14746600e-02 -2.33415476e-04 -9.99934137e-01 -4.02321223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.486559995 meters 0.015467196351605456 Centerline is valid? [True, True] Translation: X:152.16, Y:-95.92, Z:-4.02 [[ 5.68543522e-01 8.22624571e-01 -6.86137780e-03 1.52164066e+02] [ 8.22569565e-01 -5.68584876e-01 -9.51578886e-03 -9.59189298e+01] [-1.17291974e-02 -2.33820435e-04 -9.99931183e-01 -4.02339975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5465599949999 meters 0.015066233066258365 Centerline is valid? [True, True] Translation: X:152.19, Y:-95.90, Z:-4.02 [[ 5.03987180e-01 8.63691225e-01 -5.86432113e-03 1.52185341e+02] [ 8.63637401e-01 -5.04021256e-01 -9.64430953e-03 -9.58968201e+01] [-1.12854480e-02 -2.04038701e-04 -9.99936297e-01 -4.02367729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.606559995 meters 0.014901868817880892 Centerline is valid? [True, True] Translation: X:152.21, Y:-95.87, Z:-4.02 [[ 4.35756723e-01 9.00050095e-01 -5.08957944e-03 1.52205084e+02] [ 8.99993775e-01 -4.35786403e-01 -1.00705923e-02 -9.58739577e+01] [-1.12820071e-02 -1.92261510e-04 -9.99936338e-01 -4.02333096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.666559995 meters 0.015132571066540675 Centerline is valid? [True, True] Translation: X:152.22, Y:-95.85, Z:-4.02 [[ 3.63565532e-01 9.31559283e-01 -4.17204744e-03 1.52223225e+02] [ 9.31503864e-01 -3.63589419e-01 -1.01629448e-02 -9.58498392e+01] [-1.09842979e-02 -1.91381871e-04 -9.99939653e-01 -4.02318136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.726559995 meters 0.01488866885426589 Centerline is valid? [True, True] Translation: X:152.24, Y:-95.82, Z:-4.02 [[ 2.89588394e-01 9.57145881e-01 -3.21320277e-03 1.52239093e+02] [ 9.57093733e-01 -2.89606163e-01 -9.99286810e-03 -9.58246750e+01] [-1.04951959e-02 -1.81517611e-04 -9.99944907e-01 -4.02366033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.786559995 meters 0.014454322037742605 Centerline is valid? [True, True] Translation: X:152.25, Y:-95.80, Z:-4.02 [[ 2.15185086e-01 9.76570877e-01 -2.16835181e-03 1.52253448e+02] [ 9.76528030e-01 -2.15195959e-01 -9.14904896e-03 -9.57991338e+01] [-9.40131531e-03 -1.48717434e-04 -9.99955796e-01 -4.02422570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8465599949999 meters 0.014496541876533271 Centerline is valid? [True, True] Translation: X:152.27, Y:-95.77, Z:-4.02 [[ 1.38910238e-01 9.90304080e-01 -1.33209227e-03 1.52265759e+02] [ 9.90267061e-01 -1.38916564e-01 -8.56363042e-03 -9.57726882e+01] [-8.66564783e-03 -1.29551162e-04 -9.99962444e-01 -4.02435024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.906559995 meters 0.01449607365474966 Centerline is valid? [True, True] Translation: X:152.28, Y:-95.75, Z:-4.02 [[ 6.10465138e-02 9.98134715e-01 -6.43111277e-04 1.52276750e+02] [ 9.98098886e-01 -6.10497722e-02 -8.45806040e-03 -9.57453286e+01] [-8.48154550e-03 -1.25553548e-04 -9.99964023e-01 -4.02413235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9665599949999 meters 0.014700431721962164 Centerline is valid? [True, True] Translation: X:152.29, Y:-95.72, Z:-4.02 [[-1.84711205e-02 9.99829394e-01 2.21520279e-05 1.52286889e+02] [ 9.99791532e-01 1.84706138e-02 -8.70218987e-03 -9.57178338e+01] [-8.70111439e-03 -1.38591788e-04 -9.99962135e-01 -4.02386518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.026559995 meters 0.015280922705432737 Centerline is valid? [True, True] Translation: X:152.29, Y:-95.69, Z:-4.02 [[-9.75530451e-02 9.95230118e-01 6.44661974e-04 1.52294225e+02] [ 9.95198421e-01 9.75550840e-02 -7.94406078e-03 -9.56906412e+01] [-7.96905860e-03 -1.33400741e-04 -9.99968238e-01 -4.02367582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0865599949999 meters 0.015240572398073556 Centerline is valid? [True, True] Translation: X:152.30, Y:-95.66, Z:-4.02 [[-1.75071602e-01 9.84555161e-01 1.03413160e-03 1.52296177e+02] [ 9.84534154e-01 1.75074623e-01 -6.43240193e-03 -9.56617569e+01] [-6.51410472e-03 -1.07993033e-04 -9.99978777e-01 -4.02458401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.146559995 meters 0.015213000138126365 Centerline is valid? [True, True] Translation: X:152.30, Y:-95.63, Z:-4.02 [[-2.51925053e-01 9.67745604e-01 1.48803516e-03 1.52297436e+02] [ 9.67726143e-01 2.51929425e-01 -6.13811744e-03 -9.56325794e+01] [-6.31501601e-03 -1.06335033e-04 -9.99980054e-01 -4.02466600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2065599949999 meters 0.015068418940704282 Centerline is valid? [True, True] Translation: X:152.30, Y:-95.60, Z:-4.02 [[-3.27932308e-01 9.44698098e-01 2.43006218e-03 1.52298701e+02] [ 9.44668935e-01 3.27941282e-01 -7.42427681e-03 -9.56029428e+01] [-7.81061789e-03 -1.39055980e-04 -9.99969487e-01 -4.02320740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.266559995 meters 0.015282803409269704 Centerline is valid? [True, True] Translation: X:152.30, Y:-95.57, Z:-4.02 [[-4.01274979e-01 9.15951512e-01 3.34962958e-03 1.52297167e+02] [ 9.15916240e-01 4.01288928e-01 -8.03978981e-03 -9.55732630e+01] [-8.70822689e-03 -1.58186353e-04 -9.99962070e-01 -4.02288169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3265599949999 meters 0.015563375130746083 Centerline is valid? [True, True] Translation: X:152.29, Y:-95.54, Z:-4.02 [[-4.72200863e-01 8.81482017e-01 3.97473432e-03 1.52293045e+02] [ 8.81447842e-01 4.72217564e-01 -7.76366878e-03 -9.55433315e+01] [-8.72047377e-03 -1.62490109e-04 -9.99961963e-01 -4.02288316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.386559995 meters 0.015325647288214405 Centerline is valid? [True, True] Translation: X:152.29, Y:-95.51, Z:-4.02 [[-5.39350959e-01 8.42072389e-01 3.82557357e-03 1.52286047e+02] [ 8.42049444e-01 5.39364509e-01 -6.21776016e-03 -9.55147388e+01] [-7.29918276e-03 -1.32232802e-04 -9.99973352e-01 -4.02466459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4465599949999 meters 0.014805565825714226 Centerline is valid? [True, True] Translation: X:152.28, Y:-95.49, Z:-4.03 [[-6.01296324e-01 7.99019429e-01 3.26850772e-03 1.52275534e+02] [ 7.99006858e-01 6.01305201e-01 -4.48288504e-03 -9.54868070e+01] [-5.54728294e-03 -8.39822149e-05 -9.99984610e-01 -4.02604713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.506559995 meters 0.014236351045097392 Centerline is valid? [True, True] Translation: X:152.26, Y:-95.46, Z:-4.03 [[-6.59826974e-01 7.51407214e-01 3.94500154e-03 1.52262957e+02] [ 7.51393110e-01 6.59838763e-01 -4.60445379e-03 -9.54595029e+01] [-6.06288473e-03 -7.38958411e-05 -9.99981618e-01 -4.02555032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5665599949999 meters 0.013720008271161347 Centerline is valid? [True, True] Translation: X:152.25, Y:-95.43, Z:-4.02 [[-7.13197667e-01 7.00944995e-01 5.02012276e-03 1.52247206e+02] [ 7.00927123e-01 7.13215333e-01 -5.00572849e-03 -9.54347387e+01] [-7.08916885e-03 -5.13336747e-05 -9.99974870e-01 -4.02399840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.626559995 meters 0.013521416943734058 Centerline is valid? [True, True] Translation: X:152.27, Y:-95.42, Z:-4.02 [[-7.58778658e-01 6.51316382e-01 6.47448301e-03 1.52268233e+02] [ 6.51292302e-01 7.58806279e-01 -5.60070833e-03 -9.54191626e+01] [-8.56071145e-03 -3.29169990e-05 -9.99963356e-01 -4.02346852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6865599949999 meters 0.013460083669529116 Centerline is valid? [True, True] Translation: X:152.73, Y:-94.90, Z:-5.02 [[-7.08884189e-01 -7.05296925e-01 6.28122150e-03 1.52728919e+02] [ 7.05269842e-01 -7.08912015e-01 -6.18106414e-03 -9.48953377e+01] [ 8.81231893e-03 4.82974559e-05 9.99961170e-01 -5.01622466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.746559995 meters 0.013536123187814058 Centerline is valid? [True, True] Translation: X:152.24, Y:-95.39, Z:-4.02 [[-7.59373112e-01 6.50616770e-01 7.09195216e-03 1.52237247e+02] [ 6.50588254e-01 7.59406228e-01 -6.09142191e-03 -9.53942122e+01] [-9.34885388e-03 -1.17212453e-05 -9.99956298e-01 -4.02346904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8065599949999 meters 0.013489994134175672 Centerline is valid? [True, True] Translation: X:152.25, Y:-95.37, Z:-4.02 [[-8.03022443e-01 5.95902211e-01 7.45057944e-03 1.52251078e+02] [ 5.95876512e-01 8.03057006e-01 -5.53421308e-03 -9.53706082e+01] [-9.28108982e-03 -4.47201711e-06 -9.99956930e-01 -4.02411722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.866559995 meters 0.01345262078372833 Centerline is valid? [True, True] Translation: X:152.27, Y:-95.35, Z:-4.02 [[-8.42757370e-01 5.38230161e-01 8.26486662e-03 1.52271113e+02] [ 5.38204312e-01 8.42797896e-01 -5.27492626e-03 -9.53517523e+01] [-9.80473661e-03 2.70386715e-06 -9.99951932e-01 -4.02473705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9265599949999 meters 0.01344835482183544 Centerline is valid? [True, True] Translation: X:152.29, Y:-95.33, Z:-4.02 [[-8.78360705e-01 4.77924325e-01 8.41492489e-03 1.52286730e+02] [ 4.77902508e-01 8.78401013e-01 -4.56658423e-03 -9.53281591e+01] [-9.57416024e-03 1.04055657e-05 -9.99954167e-01 -4.02475731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.986559995 meters 0.013426661938104118 Centerline is valid? [True, True] Translation: X:152.30, Y:-95.30, Z:-4.03 [[-9.09990365e-01 4.14535790e-01 8.80993551e-03 1.52303389e+02] [ 4.14516477e-01 9.10033010e-01 -4.00144290e-03 -9.53049656e+01] [-9.67607342e-03 1.05889454e-05 -9.99953186e-01 -4.02509519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0465599949999 meters 0.013359587881902286 Centerline is valid? [True, True] Translation: X:152.31, Y:-95.28, Z:-4.03 [[-9.37214315e-01 3.48631006e-01 9.26015422e-03 1.52313949e+02] [ 3.48614063e-01 9.37260061e-01 -3.43702551e-03 -9.52777925e+01] [-9.87742636e-03 6.99048221e-06 -9.99951217e-01 -4.02560311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.106559995 meters 0.013330592274930895 Centerline is valid? [True, True] Translation: X:152.32, Y:-95.25, Z:-4.03 [[-9.59638366e-01 2.81082300e-01 9.32459336e-03 1.52322066e+02] [ 2.81069072e-01 9.59683667e-01 -2.72686942e-03 -9.52483260e+01] [-9.71513468e-03 4.04629563e-06 -9.99952807e-01 -4.02594419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.166559995 meters 0.013198445422880014 Centerline is valid? [True, True] Translation: X:152.33, Y:-95.22, Z:-4.03 [[-9.77130803e-01 2.12460978e-01 8.70212102e-03 1.52328908e+02] [ 2.12452595e-01 9.77169552e-01 -1.88734319e-03 -9.52196199e+01] [-8.90443447e-03 4.60703114e-06 -9.99960355e-01 -4.02637348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.226559995 meters 0.01316340548497575 Centerline is valid? [True, True] Translation: X:152.33, Y:-95.19, Z:-4.03 [[-9.89643178e-01 1.43270897e-01 8.93481931e-03 1.52332212e+02] [ 1.43265155e-01 9.89683510e-01 -1.28273332e-03 -9.51903198e+01] [-9.02642169e-03 1.05999988e-05 -9.99959261e-01 -4.02675392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.286559995 meters 0.013063013198494337 Centerline is valid? [True, True] Translation: X:152.43, Y:-94.53, Z:-5.01 [[-9.78350304e-01 -2.06762242e-01 8.94755089e-03 1.52431090e+02] [ 2.06753565e-01 -9.78391218e-01 -1.89414787e-03 -9.45255222e+01] [ 9.14584347e-03 -3.20209108e-06 9.99958176e-01 -5.01277316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3465599949999 meters 0.013159728772711064 Centerline is valid? [True, True] Translation: X:152.28, Y:-95.18, Z:-4.03 [[-9.90127715e-01 1.39850817e-01 9.42637575e-03 1.52280028e+02] [ 1.39844624e-01 9.90172585e-01 -1.31615190e-03 -9.51793185e+01] [-9.51780376e-03 1.50694958e-05 -9.99954705e-01 -4.02703347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.406559995 meters 0.013207071130067236 Centerline is valid? [True, True] Translation: X:152.38, Y:-94.52, Z:-5.01 [[-9.79109594e-01 -2.03070185e-01 1.03393600e-02 1.52378627e+02] [ 2.03059394e-01 -9.79164183e-01 -2.09409850e-03 -9.45243842e+01] [ 1.05491799e-02 4.91522356e-05 9.99944355e-01 -5.01382209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4665599949999 meters 0.013250654672511427 Centerline is valid? [True, True] Translation: X:152.23, Y:-95.17, Z:-4.02 [[-9.90593949e-01 1.36329343e-01 1.17447270e-02 1.52234800e+02] [ 1.36320034e-01 9.90663570e-01 -1.59333360e-03 -9.51679571e+01] [-1.18522913e-02 2.26949484e-05 -9.99929759e-01 -4.02495949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.526559995 meters 0.013314819858856804 Centerline is valid? [True, True] Translation: X:152.33, Y:-94.52, Z:-5.02 [[-9.80187385e-01 -1.97697135e-01 1.21874518e-02 1.52325185e+02] [ 1.97682012e-01 -9.80263150e-01 -2.44532358e-03 -9.45229346e+01] [ 1.24303434e-02 1.23646612e-05 9.99922740e-01 -5.01516071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5865599949999 meters 0.013193133375924062 Centerline is valid? [True, True] Translation: X:152.18, Y:-95.16, Z:-4.03 [[-9.90959979e-01 1.33660213e-01 1.15441392e-02 1.52183867e+02] [ 1.33651569e-01 9.91027218e-01 -1.52049943e-03 -9.51577411e+01] [-1.16437865e-02 3.61382402e-05 -9.99932208e-01 -4.02598385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.646559995 meters 0.012927843793638519 Centerline is valid? [True, True] Translation: X:152.27, Y:-94.52, Z:-5.01 [[-9.80607868e-01 -1.95767299e-01 9.13089449e-03 1.52271972e+02] [ 1.95757101e-01 -9.80650362e-01 -2.00624125e-03 -9.45224316e+01] [ 9.34697141e-03 -1.79898516e-04 9.99956300e-01 -5.01100572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7065599949999 meters 0.012954922398307285 Centerline is valid? [True, True] Translation: X:152.14, Y:-95.14, Z:-4.03 [[-9.92179902e-01 1.24446267e-01 9.60045980e-03 1.52135263e+02] [ 1.24440231e-01 9.92226348e-01 -1.22592726e-03 -9.51427433e+01] [-9.67839124e-03 -2.16569579e-05 -9.99953163e-01 -4.02831746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.766559995 meters 0.01307270447940003 Centerline is valid? [True, True] Translation: X:152.13, Y:-95.11, Z:-4.03 [[-9.98602879e-01 5.17201843e-02 1.08311334e-02 1.52132010e+02] [ 5.17166495e-02 9.98661615e-01 -6.06376581e-04 -9.51117814e+01] [-1.08479991e-02 -4.53794717e-05 -9.99941158e-01 -4.02699732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8265599949999 meters 0.01316871097478752 Centerline is valid? [True, True] Translation: X:152.17, Y:-94.50, Z:-5.01 [[-9.91634341e-01 -1.28587451e-01 1.12517350e-02 1.52167972e+02] [ 1.28580085e-01 -9.91698170e-01 -1.37868285e-03 -9.44960800e+01] [ 1.13356063e-02 7.95997775e-05 9.99935747e-01 -5.01356189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.886559995 meters 0.013448346860305396 Centerline is valid? [True, True] Translation: X:152.08, Y:-95.10, Z:-4.03 [[-9.98953078e-01 4.44752793e-02 1.07097098e-02 1.52079310e+02] [ 4.44718655e-02 9.99010482e-01 -5.56818407e-04 -9.51028870e+01] [-1.07238770e-02 -7.99546897e-05 -9.99942494e-01 -4.02661456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9465599949999 meters 0.013292901971358488 Centerline is valid? [True, True] Translation: X:152.07, Y:-95.07, Z:-4.03 [[-9.99576810e-01 -2.68715287e-02 1.11410143e-02 1.52071399e+02] [-2.68708256e-02 9.99638892e-01 2.12813269e-04 -9.50733584e+01] [-1.11427098e-02 -8.66450427e-05 -9.99937914e-01 -4.02657075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.006559995 meters 0.013153303097637771 Centerline is valid? [True, True] Translation: X:152.06, Y:-95.05, Z:-4.03 [[-9.95246733e-01 -9.67563687e-02 1.10519209e-02 1.52060776e+02] [-9.67512331e-02 9.95308093e-01 9.99658091e-04 -9.50458002e+01] [-1.10967896e-02 -7.43805256e-05 -9.99938426e-01 -4.02659907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0665599949999 meters 0.013114904229543168 Centerline is valid? [True, True] Translation: X:152.05, Y:-95.02, Z:-4.03 [[-9.86000096e-01 -1.66425332e-01 1.03159877e-02 1.52048489e+02] [-1.66416863e-01 9.86054058e-01 1.67998254e-03 -9.50192498e+01] [-1.04517132e-02 -6.02913692e-05 -9.99945378e-01 -4.02656610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.126559995 meters 0.0132776418901265 Centerline is valid? [True, True] Translation: X:151.96, Y:-94.43, Z:-5.01 [[-9.96024708e-01 8.84784540e-02 1.03123098e-02 1.51955683e+02] [-8.84731559e-02 -9.96078090e-01 9.69720686e-04 -9.44305405e+01] [ 1.03576652e-02 5.35031727e-05 9.99946357e-01 -5.01470795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1865599949999 meters 0.013037415171789715 Centerline is valid? [True, True] Translation: X:151.97, Y:-95.03, Z:-4.03 [[-9.85070556e-01 -1.71835146e-01 1.04250619e-02 1.51973573e+02] [-1.71826182e-01 9.85125717e-01 1.75622509e-03 -9.50304931e+01] [-1.05717778e-02 -6.12929677e-05 -9.99944115e-01 -4.02665730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.246559995 meters 0.013406251362180458 Centerline is valid? [True, True] Translation: X:151.87, Y:-94.45, Z:-5.02 [[-9.95614942e-01 9.29911141e-02 1.01754370e-02 1.51873044e+02] [-9.29858899e-02 -9.95666938e-01 9.86339764e-04 -9.44450867e+01] [ 1.02230670e-02 3.58425451e-05 9.99947742e-01 -5.01503150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3065599949999 meters 0.013095776549960985 Centerline is valid? [True, True] Translation: X:151.89, Y:-95.04, Z:-4.03 [[-9.83782820e-01 -1.79048329e-01 1.06329113e-02 1.51892898e+02] [-1.79038797e-01 9.83840276e-01 1.84944519e-03 -9.50433198e+01] [-1.07922265e-02 -8.42512441e-05 -9.99941759e-01 -4.02636962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.366559995 meters 0.013249587002784773 Centerline is valid? [True, True] Translation: X:151.79, Y:-94.46, Z:-5.01 [[-9.95292213e-01 9.62206113e-02 1.16191297e-02 1.51788131e+02] [-9.62122771e-02 -9.95360021e-01 1.27544132e-03 -9.44568851e+01] [ 1.16879410e-02 1.51533885e-04 9.99931682e-01 -5.01480187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4265599949999 meters 0.013638043995912117 Centerline is valid? [True, True] Translation: X:151.81, Y:-95.06, Z:-4.02 [[-9.82591615e-01 -1.85436832e-01 1.12649857e-02 1.51809485e+02] [-1.85425831e-01 9.82656182e-01 2.02245298e-03 -9.50604179e+01] [-1.14446451e-02 -1.01573992e-04 -9.99934503e-01 -4.02442571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.486559995 meters 0.01354717537691598 Centerline is valid? [True, True] Translation: X:151.70, Y:-94.47, Z:-5.01 [[-9.95033457e-01 9.90254463e-02 1.01183408e-02 1.51699855e+02] [-9.90203024e-02 -9.95084901e-01 1.00931521e-03 -9.44664779e+01] [ 1.01685560e-02 2.38124541e-06 9.99948299e-01 -5.01340298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5465599949999 meters 0.01395098722255577 Centerline is valid? [True, True] Translation: X:151.72, Y:-95.08, Z:-4.03 [[-9.80662062e-01 -1.95449646e-01 1.00675565e-02 1.51723841e+02] [-1.95440791e-01 9.80713728e-01 1.86553289e-03 -9.50806429e+01] [-1.02380086e-02 -1.38153886e-04 -9.99947581e-01 -4.02640374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.606559995 meters 0.014324042990178837 Centerline is valid? [True, True] Translation: X:151.60, Y:-94.48, Z:-5.01 [[-9.95051836e-01 9.88199835e-02 1.03176847e-02 1.51601060e+02] [-9.88131049e-02 -9.95105315e-01 1.17559384e-03 -9.44796801e+01] [ 1.03833550e-02 1.50254349e-04 9.99946080e-01 -5.01326263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.666559995 meters 0.014908596119743536 Centerline is valid? [True, True] Translation: X:151.63, Y:-95.10, Z:-4.03 [[-9.78323280e-01 -2.06878184e-01 9.21824196e-03 1.51630974e+02] [-2.06870737e-01 9.78366692e-01 1.76465047e-03 -9.51014566e+01] [-9.38388858e-03 -1.80585868e-04 -9.99955954e-01 -4.02682526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.726559995 meters 0.01542222157037444 Centerline is valid? [True, True] Translation: X:151.61, Y:-95.08, Z:-4.03 [[-9.60672548e-01 -2.77543753e-01 8.81592206e-03 1.51614220e+02] [-2.77533870e-01 9.60712980e-01 2.34989802e-03 -9.50805328e+01] [-9.12177027e-03 -1.89234444e-04 -9.99958378e-01 -4.02722725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.786559995 meters 0.01569061535717445 Centerline is valid? [True, True] Translation: X:151.59, Y:-95.06, Z:-4.03 [[-9.37799770e-01 -3.47081433e-01 8.12834878e-03 1.51594465e+02] [-3.47070154e-01 9.37834976e-01 2.80463243e-03 -9.50638571e+01] [-8.59648563e-03 -1.90923612e-04 -9.99963031e-01 -4.02730003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8465599949999 meters 0.017173168886525987 Centerline is valid? [True, True] Translation: X:151.56, Y:-95.05, Z:-4.03 [[-9.09201046e-01 -4.16286710e-01 7.67028861e-03 1.51560650e+02] [-4.16273825e-01 9.09233376e-01 3.28200206e-03 -9.50506502e+01] [-8.34033624e-03 -2.08940674e-04 -9.99965197e-01 -4.02699164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.906559995 meters 0.017271369014418985 Centerline is valid? [True, True] Translation: X:151.51, Y:-95.05, Z:-4.03 [[-8.74684363e-01 -4.84630351e-01 7.79019606e-03 1.51510378e+02] [-4.84613674e-01 8.74719017e-01 4.02842511e-03 -9.50495576e+01] [-8.76652972e-03 -2.51635077e-04 -9.99961542e-01 -4.02692605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9665599949999 meters 0.01897914870958724 Centerline is valid? [True, True] Translation: X:151.44, Y:-95.06, Z:-4.03 [[-8.35229191e-01 -5.49845292e-01 7.89642842e-03 1.51441839e+02] [-5.49823965e-01 8.35266467e-01 4.85147209e-03 -9.50597854e+01] [-9.26318096e-03 -2.89554478e-04 -9.99957054e-01 -4.02619864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.026559995 meters 0.018571437994585837 Centerline is valid? [True, True] Translation: X:151.37, Y:-95.08, Z:-4.03 [[-7.93096660e-01 -6.09044877e-01 7.87563148e-03 1.51371723e+02] [-6.09018432e-01 7.93135710e-01 5.68292126e-03 -9.50779250e+01] [-9.70759864e-03 -2.89298867e-04 -9.99952838e-01 -4.02562505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0865599949999 meters 0.016209702080540712 Centerline is valid? [True, True] Translation: X:151.31, Y:-95.10, Z:-4.02 [[-7.49761663e-01 -6.61668267e-01 7.24937831e-03 1.51305982e+02] [-6.61640121e-01 7.49796677e-01 6.10684526e-03 -9.51034783e+01] [-9.47626549e-03 -2.17801093e-04 -9.99955076e-01 -4.02491506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.146559995 meters 0.015248198105718725 Centerline is valid? [True, True] Translation: X:151.23, Y:-95.14, Z:-4.02 [[-7.00690908e-01 -7.13430667e-01 6.99529942e-03 1.51229775e+02] [-7.13397765e-01 7.00725801e-01 6.85421696e-03 -9.51412685e+01] [-9.79179537e-03 -1.87743469e-04 -9.99952042e-01 -4.02486649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2065599949999 meters 0.014514433680396765 Centerline is valid? [True, True] Translation: X:151.15, Y:-95.19, Z:-4.03 [[-6.46458037e-01 -7.62922588e-01 6.41333653e-03 1.51151277e+02] [-7.62887584e-01 6.46489827e-01 7.31013799e-03 -9.51902189e+01] [-9.72322622e-03 -1.66957351e-04 -9.99952714e-01 -4.02512785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.266559995 meters 0.014389797377821938 Centerline is valid? [True, True] Translation: X:151.07, Y:-95.25, Z:-4.03 [[-5.86437342e-01 -8.09974631e-01 5.68689750e-03 1.51072086e+02] [-8.09939285e-01 5.86464891e-01 7.56876966e-03 -9.52481615e+01] [-9.46567714e-03 -1.67432532e-04 -9.99955185e-01 -4.02555353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3265599949999 meters 0.014546967115244584 Centerline is valid? [True, True] Translation: X:150.99, Y:-95.31, Z:-4.03 [[-5.23759607e-01 -8.51854046e-01 4.53408249e-03 1.50993082e+02] [-8.51824476e-01 5.23779212e-01 7.09921843e-03 -9.53143724e+01] [-8.42235610e-03 -1.43958591e-04 -9.99964521e-01 -4.02525477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.386559995 meters 0.014283526677309593 Centerline is valid? [True, True] Translation: X:150.92, Y:-95.39, Z:-4.03 [[-4.59133152e-01 -8.88359440e-01 3.77537354e-03 1.50917870e+02] [-8.88331543e-01 4.59148658e-01 7.04123017e-03 -9.53897520e+01] [-7.98860098e-03 -1.20921200e-04 -9.99968083e-01 -4.02552700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4465599949999 meters 0.013634098392213185 Centerline is valid? [True, True] Translation: X:150.85, Y:-95.48, Z:-4.03 [[-3.93162765e-01 -9.19462802e-01 3.34597123e-03 1.50845104e+02] [-9.19431591e-01 3.93176991e-01 7.57651642e-03 -9.54786080e+01] [-8.28188392e-03 -9.75875068e-05 -9.99965700e-01 -4.02546379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.506559995 meters 0.012992208920870493 Centerline is valid? [True, True] Translation: X:150.78, Y:-95.56, Z:-4.03 [[-3.26558210e-01 -9.45174098e-01 2.37897326e-03 1.50784685e+02] [-9.45150064e-01 3.26566872e-01 6.74050383e-03 -9.55649571e+01] [-7.14784348e-03 -4.73198630e-05 -9.99974453e-01 -4.02619761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5665599949999 meters 0.012701682362846738 Centerline is valid? [True, True] Translation: X:150.73, Y:-95.66, Z:-4.03 [[-2.58203469e-01 -9.66089041e-01 1.71264957e-03 1.50729638e+02] [-9.66068025e-01 2.58209149e-01 6.37234496e-03 -9.56617556e+01] [-6.59847442e-03 -9.17441068e-06 -9.99978230e-01 -4.02625408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.626559995 meters 0.012931473099796986 Centerline is valid? [True, True] Translation: X:150.68, Y:-95.76, Z:-4.03 [[-1.90661143e-01 -9.81655013e-01 1.32795745e-03 1.50681584e+02] [-9.81629561e-01 1.90665762e-01 7.06910400e-03 -9.57627898e+01] [-7.19261740e-03 4.42411613e-05 -9.99974132e-01 -4.02558753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6865599949999 meters 0.013711221669257173 Centerline is valid? [True, True] Translation: X:150.64, Y:-95.87, Z:-4.02 [[-1.20540969e-01 -9.92707895e-01 9.54282450e-04 1.50637964e+02] [-9.92669446e-01 1.20544699e-01 8.73762066e-03 -9.58747642e+01] [-8.78893870e-03 1.05954226e-04 -9.99961371e-01 -4.02418949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.746559995 meters 0.01436739691812686 Centerline is valid? [True, True] Translation: X:150.60, Y:-95.98, Z:-4.02 [[-4.76073269e-02 -9.98866082e-01 3.03947000e-04 1.50604075e+02] [-9.98820448e-01 4.76080576e-02 9.54907613e-03 -9.59842884e+01] [-9.55271859e-03 1.51017510e-04 -9.99954360e-01 -4.02401748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8065599949999 meters 0.016020901873437993 Centerline is valid? [True, True] Translation: X:150.58, Y:-96.10, Z:-4.02 [[ 2.28849516e-02 -9.99738005e-01 -4.47850558e-04 1.50579486e+02] [-9.99688561e-01 -2.28882750e-02 9.94520994e-03 -9.60957718e+01] [-9.95285487e-03 2.20115432e-04 -9.99950445e-01 -4.02374339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.866559995 meters 0.01680878332370142 Centerline is valid? [True, True] Translation: X:150.56, Y:-96.21, Z:-4.02 [[ 9.59077199e-02 -9.95389661e-01 -1.06380640e-03 1.50560778e+02] [-9.95351854e-01 -9.59133520e-02 8.67843551e-03 -9.62116168e+01] [-8.74045822e-03 2.26532715e-04 -9.99961776e-01 -4.02431415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9265599949999 meters 0.017677438012490925 Centerline is valid? [True, True] Translation: X:150.55, Y:-96.33, Z:-4.03 [[ 1.72547976e-01 -9.85000044e-01 -1.45266434e-03 1.50552680e+02] [-9.84973699e-01 -1.72553989e-01 7.20646705e-03 -9.63332836e+01] [-7.34903339e-03 1.87374870e-04 -9.99972978e-01 -4.02553088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.986559995 meters 0.015031034634256 Centerline is valid? [True, True] Translation: X:150.55, Y:-96.46, Z:-4.03 [[ 2.53401253e-01 -9.67360096e-01 -1.50014663e-03 1.50546849e+02] [-9.67345569e-01 -2.53405670e-01 5.30241700e-03 -9.64627627e+01] [-5.50949228e-03 1.07521086e-04 -9.99984817e-01 -4.02780340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0465599949999 meters 0.013706868215956274 Centerline is valid? [True, True] Translation: X:150.55, Y:-96.59, Z:-4.03 [[ 3.33809204e-01 -9.42639136e-01 -1.69562910e-03 1.50550929e+02] [-9.42627867e-01 -3.33813505e-01 4.60958680e-03 -9.65863263e+01] [-4.91120081e-03 5.96247427e-05 -9.99987938e-01 -4.02731258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.106559995 meters 0.012848399504648517 Centerline is valid? [True, True] Translation: X:150.56, Y:-96.71, Z:-4.03 [[ 4.12462191e-01 -9.10972716e-01 -1.91103719e-03 1.50561709e+02] [-9.10963142e-01 -4.12466618e-01 4.17654606e-03 -9.67061512e+01] [-4.59295856e-03 1.82171041e-05 -9.99989452e-01 -4.02653609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.166559995 meters 0.012955012337931926 Centerline is valid? [True, True] Translation: X:150.58, Y:-96.83, Z:-4.03 [[ 4.90720591e-01 -8.71314343e-01 -2.14883670e-03 1.50583414e+02] [-8.71305697e-01 -4.90725294e-01 3.88178674e-03 -9.68332478e+01] [-4.43674498e-03 -3.25790216e-05 -9.99990157e-01 -4.02633146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.226559995 meters 0.01361522537418063 Centerline is valid? [True, True] Translation: X:150.61, Y:-96.94, Z:-4.03 [[ 5.59960155e-01 -8.28515978e-01 -2.42886792e-03 1.50610141e+02] [-8.28507758e-01 -5.59965420e-01 3.69111391e-03 -9.69402101e+01] [-4.41822890e-03 -5.45408062e-05 -9.99990238e-01 -4.02612057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.286559995 meters 0.014289248583220036 Centerline is valid? [True, True] Translation: X:150.65, Y:-97.05, Z:-4.03 [[ 6.22613585e-01 -7.82524951e-01 -2.65058438e-03 1.50649075e+02] [-7.82517444e-01 -6.22619224e-01 3.42821114e-03 -9.70481368e+01] [-4.33296554e-03 -6.03223111e-05 -9.99990611e-01 -4.02531478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3465599949999 meters 0.01329642779687471 Centerline is valid? [True, True] Translation: X:150.70, Y:-97.14, Z:-4.03 [[ 6.77705217e-01 -7.35328709e-01 -2.70707054e-03 1.50696083e+02] [-7.35322593e-01 -6.77710623e-01 2.99922723e-03 -9.71413517e+01] [-4.04002835e-03 -4.20218093e-05 -9.99991838e-01 -4.02517412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.406559995 meters 0.012828907853088071 Centerline is valid? [True, True] Translation: X:150.75, Y:-97.23, Z:-4.02 [[ 7.29411322e-01 -6.84067419e-01 -3.29997036e-03 1.50747469e+02] [-6.84060214e-01 -7.29418786e-01 3.13994479e-03 -9.72281387e+01] [-4.55499431e-03 -3.29328485e-05 -9.99989625e-01 -4.02490248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4665599949999 meters 0.01252897610872749 Centerline is valid? [True, True] Translation: X:150.77, Y:-97.26, Z:-4.02 [[ 7.77667803e-01 -6.28661028e-01 -4.25450178e-03 1.50770143e+02] [-6.28651524e-01 -7.77679440e-01 3.45682670e-03 -9.72550468e+01] [-5.48181079e-03 -1.36637984e-05 -9.99984975e-01 -4.02340970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.526559995 meters 0.012491228433052604 Centerline is valid? [True, True] Translation: X:150.80, Y:-97.28, Z:-4.02 [[ 8.22031417e-01 -5.69426703e-01 -4.19279405e-03 1.50796390e+02] [-5.69419350e-01 -8.22042109e-01 2.89389640e-03 -9.72786704e+01] [-5.09451515e-03 8.58430577e-06 -9.99987023e-01 -4.02386082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5865599949999 meters 0.012704966780630133 Centerline is valid? [True, True] Translation: X:150.82, Y:-97.30, Z:-4.02 [[ 8.61767357e-01 -5.07292506e-01 -3.36681947e-03 1.50824123e+02] [-5.07288743e-01 -8.61773934e-01 1.95395451e-03 -9.73001708e+01] [-3.89266374e-03 2.40953983e-05 -9.99992423e-01 -4.02490973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.646559995 meters 0.013164445086513715 Centerline is valid? [True, True] Translation: X:150.85, Y:-97.32, Z:-4.02 [[ 8.97288307e-01 -4.41430549e-01 -3.57279023e-03 1.50853305e+02] [-4.41427218e-01 -8.97295419e-01 1.71529839e-03 -9.73196455e+01] [-3.96303342e-03 3.80096599e-05 -9.99992146e-01 -4.02435504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7065599949999 meters 0.014292860568618733 Centerline is valid? [True, True] Translation: X:150.88, Y:-97.33, Z:-4.02 [[ 9.27131089e-01 -3.74713150e-01 -4.24251672e-03 1.50883888e+02] [-3.74709557e-01 -9.27140793e-01 1.64226917e-03 -9.73342482e+01] [-4.54879017e-03 6.71127627e-05 -9.99989652e-01 -4.02324229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.766559995 meters 0.014468206421328176 Centerline is valid? [True, True] Translation: X:150.91, Y:-97.35, Z:-4.02 [[ 9.52725647e-01 -3.03811626e-01 -3.51248628e-03 1.50913461e+02] [-3.03809811e-01 -9.52732120e-01 1.05225585e-03 -9.73506038e+01] [-3.66614605e-03 6.46166571e-05 -9.99993278e-01 -4.02388709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8265599949999 meters 0.015135874009365748 Centerline is valid? [True, True] Translation: X:150.94, Y:-97.36, Z:-4.02 [[ 9.73064835e-01 -2.30513132e-01 -2.91924967e-03 1.50944471e+02] [-2.30512276e-01 -9.73069213e-01 6.30845423e-04 -9.73637907e+01] [-2.98605013e-03 5.90693889e-05 -9.99995540e-01 -4.02444353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.886559995 meters 0.015168762733102217 Centerline is valid? [True, True] Translation: X:150.97, Y:-97.37, Z:-4.03 [[ 9.88286433e-01 -1.52605190e-01 -1.25823938e-03 1.50973043e+02] [-1.52605097e-01 -9.88287233e-01 1.70167476e-04 -9.73744841e+01] [-1.26947036e-03 2.38395358e-05 -9.99999194e-01 -4.02567112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9465599949999 meters 0.01420190963168507 Centerline is valid? [True, True] Translation: X:151.00, Y:-97.39, Z:-4.03 [[ 9.97395145e-01 -7.21263049e-02 -8.49157530e-04 1.51002249e+02] [-7.21262904e-02 -9.97395506e-01 4.76932913e-05 -9.73868531e+01] [-8.50385846e-04 1.36775254e-05 -9.99999638e-01 -4.02583227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.006559995 meters 0.013151924507801735 Centerline is valid? [True, True] Translation: X:151.03, Y:-97.40, Z:-4.03 [[ 9.99925845e-01 1.21360890e-02 -1.00960092e-03 1.51032141e+02] [ 1.21360726e-02 -9.99926355e-01 -2.24402457e-05 -9.74012455e+01] [-1.00979891e-03 1.01859916e-05 -9.99999490e-01 -4.02564331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0665599949999 meters 0.012399130680822802 Centerline is valid? [True, True] Translation: X:151.06, Y:-97.41, Z:-4.03 [[ 9.95245413e-01 9.73911511e-02 -1.23773161e-03 1.51063302e+02] [ 9.73910710e-02 -9.95246182e-01 -1.24943094e-04 -9.74141897e+01] [-1.24401601e-03 3.80503349e-06 -9.99999226e-01 -4.02524500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.126559995 meters 0.012397702795894864 Centerline is valid? [True, True] Translation: X:151.10, Y:-97.42, Z:-4.03 [[ 9.83788306e-01 1.79330972e-01 -9.86053435e-04 1.51095450e+02] [ 1.79330883e-01 -9.83788800e-01 -1.78381139e-04 -9.74211986e+01] [-1.00205759e-03 -1.34055458e-06 -9.99999498e-01 -4.02500301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1865599949999 meters 0.01283966970281339 Centerline is valid? [True, True] Translation: X:151.13, Y:-97.43, Z:-4.02 [[ 9.64908886e-01 2.62573823e-01 -2.41426596e-03 1.51129229e+02] [ 2.62573056e-01 -9.64911906e-01 -6.35329707e-04 -9.74265486e+01] [-2.49637492e-03 -2.08859115e-05 -9.99996884e-01 -4.02371911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.246559995 meters 0.01365601732607677 Centerline is valid? [True, True] Translation: X:151.16, Y:-97.43, Z:-4.02 [[ 9.39654593e-01 3.42112575e-01 -2.86904108e-03 1.51162644e+02] [ 3.42111113e-01 -9.39658972e-01 -1.00103389e-03 -9.74282651e+01] [-3.03838647e-03 -4.09047427e-05 -9.99995383e-01 -4.02293706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3065599949999 meters 0.014678787356075786 Centerline is valid? [True, True] Translation: X:151.20, Y:-97.43, Z:-4.02 [[ 9.07462867e-01 4.20122758e-01 -2.83076528e-03 1.51196435e+02] [ 4.20120920e-01 -9.07467280e-01 -1.24417985e-03 -9.74276333e+01] [-3.09153514e-03 -6.02167033e-05 -9.99995219e-01 -4.02258468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.366559995 meters 0.015373292877935058 Centerline is valid? [True, True] Translation: X:151.23, Y:-97.42, Z:-4.02 [[ 8.70545112e-01 4.92077158e-01 -3.35835078e-03 1.51228326e+02] [ 4.92073865e-01 -8.70551586e-01 -1.80194366e-03 -9.74213265e+01] [-3.81031292e-03 -8.38834034e-05 -9.99992737e-01 -4.02255835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4265599949999 meters 0.015492619139781982 Centerline is valid? [True, True] Translation: X:151.26, Y:-97.41, Z:-4.02 [[ 8.29758044e-01 5.58115855e-01 -2.87772629e-03 1.51257359e+02] [ 5.58112800e-01 -8.29763031e-01 -1.84803252e-03 -9.74102814e+01] [-3.41924714e-03 -7.26760266e-05 -9.99994152e-01 -4.02210474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.486559995 meters 0.014732865741950246 Centerline is valid? [True, True] Translation: X:151.29, Y:-97.39, Z:-4.02 [[ 7.84871226e-01 6.19652014e-01 -2.92245341e-03 1.51285208e+02] [ 6.19648048e-01 -7.84876664e-01 -2.21804031e-03 -9.73943503e+01] [-3.66817862e-03 -7.00165334e-05 -9.99993270e-01 -4.02156363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5465599949999 meters 0.01469948550220337 Centerline is valid? [True, True] Translation: X:151.31, Y:-97.38, Z:-4.02 [[ 7.34837700e-01 6.78226658e-01 -4.70691347e-03 1.51309503e+02] [ 6.78213714e-01 -7.34852766e-01 -4.19177136e-03 -9.73770835e+01] [-6.30185946e-03 -1.12021636e-04 -9.99980137e-01 -4.01966758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.606559995 meters 0.014566457789581889 Centerline is valid? [True, True] Translation: X:151.33, Y:-97.36, Z:-4.02 [[ 6.79874930e-01 7.33294641e-01 -7.00349336e-03 1.51331387e+02] [ 7.33258355e-01 -6.79910979e-01 -7.29703160e-03 -9.73562509e+01] [-1.01126262e-02 -1.74301175e-04 -9.99948851e-01 -4.01648111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.666559995 meters 0.01418498831758039 Centerline is valid? [True, True] Translation: X:151.35, Y:-97.34, Z:-4.02 [[ 6.20979262e-01 7.83793513e-01 -7.24467898e-03 1.51352222e+02] [ 7.83743678e-01 -6.21021492e-01 -8.84043338e-03 -9.73350116e+01] [-1.14281757e-02 -1.88245551e-04 -9.99934679e-01 -4.01592680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.726559995 meters 0.015102106238829866 Centerline is valid? [True, True] Translation: X:151.37, Y:-97.31, Z:-4.01 [[ 5.57951006e-01 8.29846222e-01 -6.77662251e-03 1.51373631e+02] [ 8.29789157e-01 -5.57992124e-01 -9.73365212e-03 -9.73148505e+01] [-1.18587364e-02 -1.92266896e-04 -9.99929664e-01 -4.01489032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.786559995 meters 0.01434572867081469 Centerline is valid? [True, True] Translation: X:151.39, Y:-97.29, Z:-4.02 [[ 4.90736940e-01 8.71293676e-01 -4.95832608e-03 1.51393299e+02] [ 8.71252557e-01 -4.90761961e-01 -8.46638701e-03 -9.72927157e+01] [-9.81006729e-03 -1.65185419e-04 -9.99951867e-01 -4.01896604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8465599949999 meters 0.013401000200061066 Centerline is valid? [True, True] Translation: X:151.41, Y:-97.27, Z:-4.02 [[ 4.23785497e-01 9.05755585e-01 -3.55985282e-03 1.51414635e+02] [ 9.05725834e-01 -4.23800433e-01 -7.34203969e-03 -9.72704733e+01] [-8.15876062e-03 -1.12800730e-04 -9.99966710e-01 -4.02052864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.906559995 meters 0.013304236303453001 Centerline is valid? [True, True] Translation: X:151.43, Y:-97.25, Z:-4.02 [[ 3.54381348e-01 9.35096281e-01 -2.96749250e-03 1.51431644e+02] [ 9.35065547e-01 -3.54393761e-01 -7.58184861e-03 -9.72471176e+01] [-8.14141927e-03 -8.79342700e-05 -9.99966854e-01 -4.01982917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9665599949999 meters 0.012637868809861584 Centerline is valid? [True, True] Translation: X:151.44, Y:-97.22, Z:-4.02 [[ 2.83547644e-01 9.58955256e-01 -2.35607534e-03 1.51443139e+02] [ 9.58923831e-01 -2.83557426e-01 -7.76355762e-03 -9.72206371e+01] [-8.11298705e-03 -5.79583196e-05 -9.99967088e-01 -4.02060371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.026559995 meters 0.012574499610312146 Centerline is valid? [True, True] Translation: X:151.46, Y:-97.20, Z:-4.02 [[ 2.07732611e-01 9.78184236e-01 -1.66244752e-03 1.51458219e+02] [ 9.78154958e-01 -2.07739256e-01 -7.56837078e-03 -9.71956333e+01] [-7.74861660e-03 -5.39338609e-05 -9.99969978e-01 -4.02154058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0865599949999 meters 0.012763812923088301 Centerline is valid? [True, True] Translation: X:151.47, Y:-97.17, Z:-4.02 [[ 1.30192371e-01 9.91488112e-01 -1.12741356e-03 1.51471923e+02] [ 9.91454803e-01 -1.30197239e-01 -8.12724682e-03 -9.71701299e+01] [-8.20485473e-03 -5.96740533e-05 -9.99966338e-01 -4.02045121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.146559995 meters 0.012762843045281452 Centerline is valid? [True, True] Translation: X:151.48, Y:-97.14, Z:-4.02 [[ 5.21515257e-02 9.98639007e-01 -5.92653948e-04 1.51484303e+02] [ 9.98589341e-01 -5.21548428e-02 -9.95992011e-03 -9.71422447e+01] [-9.97727450e-03 -7.23928866e-05 -9.99950223e-01 -4.01893308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2065599949999 meters 0.012779542861036287 Centerline is valid? [True, True] Translation: X:151.49, Y:-97.11, Z:-4.02 [[-2.52664373e-02 9.99680733e-01 2.00450759e-04 1.51493034e+02] [ 9.99624794e-01 2.52671441e-02 -1.05755997e-02 -9.71139778e+01] [-1.05772881e-02 -6.68321792e-05 -9.99944057e-01 -4.01889119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.266559995 meters 0.012774644800881977 Centerline is valid? [True, True] Translation: X:151.50, Y:-97.09, Z:-4.02 [[-1.02109035e-01 9.94772750e-01 9.59223101e-04 1.51496479e+02] [ 9.94724254e-01 1.02113529e-01 -9.82267313e-03 -9.70865288e+01] [-9.86927722e-03 -4.88211918e-05 -9.99951296e-01 -4.01907023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3265599949999 meters 0.012519946702245644 Centerline is valid? [True, True] Translation: X:151.50, Y:-97.06, Z:-4.02 [[-1.76503516e-01 9.84298662e-01 1.62869969e-03 1.51498674e+02] [ 9.84255949e-01 1.76511030e-01 -9.16965444e-03 -9.70574746e+01] [-9.31316206e-03 -1.54188876e-05 -9.99956631e-01 -4.02031378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.386559995 meters 0.01258627397117628 Centerline is valid? [True, True] Translation: X:151.50, Y:-97.03, Z:-4.02 [[-2.51187451e-01 9.67935919e-01 2.21854233e-03 1.51498614e+02] [ 9.67898249e-01 2.51197248e-01 -8.53942432e-03 -9.70290898e+01] [-8.82290725e-03 2.32700836e-06 -9.99961077e-01 -4.02043996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4465599949999 meters 0.01273208641221713 Centerline is valid? [True, True] Translation: X:151.49, Y:-97.00, Z:-4.02 [[-3.24200155e-01 9.45984363e-01 2.80076901e-03 1.51493957e+02] [ 9.45949619e-01 3.24212252e-01 -8.10770659e-03 -9.70025235e+01] [-8.57780728e-03 2.08666426e-05 -9.99963210e-01 -4.02020161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.506559995 meters 0.012668177774573406 Centerline is valid? [True, True] Translation: X:151.49, Y:-96.97, Z:-4.02 [[-3.95170377e-01 9.18602511e-01 3.13059065e-03 1.51490561e+02] [ 9.18574430e-01 3.95182776e-01 -7.18267205e-03 -9.69741633e+01] [-7.83517608e-03 3.73013007e-05 -9.99969304e-01 -4.02209510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5665599949999 meters 0.012653567803188713 Centerline is valid? [True, True] Translation: X:151.49, Y:-96.95, Z:-4.02 [[-4.66707502e-01 8.84403193e-01 3.88576734e-03 1.51486765e+02] [ 8.84373105e-01 4.66723677e-01 -7.29518529e-03 -9.69463314e+01] [-8.26546479e-03 3.17504295e-05 -9.99965840e-01 -4.02120935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.626559995 meters 0.012558331201495345 Centerline is valid? [True, True] Translation: X:151.48, Y:-96.92, Z:-4.02 [[-5.36764265e-01 8.43718840e-01 4.75850403e-03 1.51480996e+02] [ 8.43685864e-01 5.36785357e-01 -7.45941436e-03 -9.69169869e+01] [-8.84794371e-03 1.07355142e-05 -9.99960856e-01 -4.02030526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6865599949999 meters 0.01257545088469234 Centerline is valid? [True, True] Translation: X:151.48, Y:-96.89, Z:-4.02 [[-6.05813748e-01 7.95587929e-01 5.43600324e-03 1.51476277e+02] [ 7.95555289e-01 6.05838135e-01 -7.20664670e-03 -9.68857926e+01] [-9.02685918e-03 -4.12445152e-05 -9.99959256e-01 -4.02059620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.746559995 meters 0.013086425770433686 Centerline is valid? [True, True] Translation: X:151.47, Y:-96.86, Z:-4.02 [[-6.69577317e-01 7.42716569e-01 6.18989124e-03 1.51467960e+02] [ 7.42683665e-01 6.69605922e-01 -6.99162040e-03 -9.68565823e+01] [-9.33758015e-03 -8.42993244e-05 -9.99956400e-01 -4.01942758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8065599949999 meters 0.013644124494236708 Centerline is valid? [True, True] Translation: X:151.46, Y:-96.83, Z:-4.02 [[-7.29725380e-01 6.83701929e-01 7.24866949e-03 1.51457495e+02] [ 6.83666138e-01 7.29761365e-01 -6.99727755e-03 -9.68267982e+01] [-1.00738511e-02 -1.50421144e-04 -9.99949246e-01 -4.01905438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.866559995 meters 0.014098310254903173 Centerline is valid? [True, True] Translation: X:151.47, Y:-96.80, Z:-4.02 [[-7.77998635e-01 6.28205136e-01 8.74250528e-03 1.51473590e+02] [ 6.28162534e-01 7.78047727e-01 -7.31877976e-03 -9.68023192e+01] [-1.13997814e-02 -2.02286394e-04 -9.99935000e-01 -4.01829177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9265599949999 meters 0.014364278515861039 Centerline is valid? [True, True] Translation: X:151.49, Y:-96.78, Z:-4.02 [[-8.20151868e-01 5.72076052e-01 8.93893865e-03 1.51490883e+02] [ 5.72039547e-01 8.20200558e-01 -6.46546280e-03 -9.67812690e+01] [-1.10304589e-02 -1.89234971e-04 -9.99939145e-01 -4.01783683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.986559995 meters 0.013378123502734849 Centerline is valid? [True, True] Translation: X:151.51, Y:-96.77, Z:-4.02 [[-8.56589327e-01 5.15940487e-01 7.75495654e-03 1.51508817e+02] [ 5.15918058e-01 8.56624421e-01 -4.81227835e-03 -9.67650890e+01] [-9.12593439e-03 -1.21224151e-04 -9.99958350e-01 -4.01962630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0465599949999 meters 0.012777263939287716 Centerline is valid? [True, True] Translation: X:151.52, Y:-96.75, Z:-4.02 [[-8.88548193e-01 4.58744335e-01 5.97871508e-03 1.51523909e+02] [ 4.58733544e-01 8.88568305e-01 -3.14684522e-03 -9.67458127e+01] [-6.75609414e-03 -5.34864706e-05 -9.99977176e-01 -4.02136516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.106559995 meters 0.012507602821255733 Centerline is valid? [True, True] Translation: X:151.53, Y:-96.72, Z:-4.02 [[-9.17496106e-01 3.97707742e-01 5.42661658e-03 1.51534744e+02] [ 3.97700607e-01 9.17512153e-01 -2.38236537e-03 -9.67225749e+01] [-5.92647181e-03 -2.76422383e-05 -9.99982438e-01 -4.02165559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.166559995 meters 0.012297317031329563 Centerline is valid? [True, True] Translation: X:151.55, Y:-96.70, Z:-4.02 [[-9.42213690e-01 3.34965235e-01 5.62615080e-03 1.51550044e+02] [ 3.34959217e-01 9.42230487e-01 -2.00799520e-03 -9.67019284e+01] [-5.97373940e-03 -7.42949745e-06 -9.99982157e-01 -4.02151122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.226559995 meters 0.0123864642622626 Centerline is valid? [True, True] Translation: X:151.55, Y:-96.68, Z:-4.02 [[-9.63382191e-01 2.68041905e-01 6.94916680e-03 1.51554794e+02] [ 2.68034904e-01 9.63407254e-01 -1.93724990e-03 -9.66753317e+01] [-7.21414186e-03 -3.69279907e-06 -9.99973978e-01 -4.02009430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.286559995 meters 0.012444632283551351 Centerline is valid? [True, True] Translation: X:151.75, Y:-96.01, Z:-5.02 [[-9.42560286e-01 -3.33934035e-01 8.25642574e-03 1.51746968e+02] [ 3.33922149e-01 -9.42596441e-01 -2.81926289e-03 -9.60119825e+01] [ 8.72392535e-03 9.96781846e-05 9.99961941e-01 -5.02207207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3465599949999 meters 0.012549287491099318 Centerline is valid? [True, True] Translation: X:151.51, Y:-96.66, Z:-4.02 [[-9.65052468e-01 2.61878175e-01 9.67239416e-03 1.51512699e+02] [ 2.61864687e-01 9.65100938e-01 -2.65802677e-03 -9.66599074e+01] [-1.00309159e-02 -3.22768256e-05 -9.99949689e-01 -4.01697240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.406559995 meters 0.012538926381667473 Centerline is valid? [True, True] Translation: X:151.52, Y:-96.63, Z:-4.02 [[-9.81393091e-01 1.91770939e-01 9.56601476e-03 1.51516751e+02] [ 1.91761412e-01 9.81439710e-01 -1.91199478e-03 -9.66317909e+01] [-9.75513179e-03 -4.20259723e-05 -9.99952417e-01 -4.01722076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4665599949999 meters 0.012467353382824056 Centerline is valid? [True, True] Translation: X:151.65, Y:-95.96, Z:-5.02 [[-9.64103707e-01 -2.65381789e-01 8.74920069e-03 1.51654203e+02] [ 2.65370829e-01 -9.64143405e-01 -2.41183780e-03 -9.59639040e+01] [ 9.07554198e-03 -3.47912427e-06 9.99958816e-01 -5.02222014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.526559995 meters 0.012538853882153088 Centerline is valid? [True, True] Translation: X:151.47, Y:-96.62, Z:-4.02 [[-9.81855119e-01 1.89486118e-01 7.45225593e-03 1.51466648e+02] [ 1.89480497e-01 9.81883400e-01 -1.45964120e-03 -9.66245557e+01] [-7.59382813e-03 -2.10990267e-05 -9.99971166e-01 -4.01742799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5865599949999 meters 0.012514058183736205 Centerline is valid? [True, True] Translation: X:151.48, Y:-96.60, Z:-4.02 [[-9.92541486e-01 1.21768010e-01 5.82665546e-03 1.51475013e+02] [ 1.21765898e-01 9.92558589e-01 -7.17027950e-04 -9.66014227e+01] [-5.87060799e-03 -2.19205030e-06 -9.99982768e-01 -4.01897222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.646559995 meters 0.012504091151996048 Centerline is valid? [True, True] Translation: X:151.48, Y:-96.58, Z:-4.02 [[-9.98638368e-01 5.20264158e-02 3.82921340e-03 1.51477821e+02] [ 5.20260427e-02 9.98645709e-01 -1.97054271e-04 -9.65766803e+01] [-3.83427956e-03 2.43286476e-06 -9.99992649e-01 -4.02074176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7065599949999 meters 0.012538618792513759 Centerline is valid? [True, True] Translation: X:151.47, Y:-96.55, Z:-4.02 [[-9.99812222e-01 -1.91583632e-02 2.91167927e-03 1.51473094e+02] [-1.91582779e-02 9.99816462e-01 5.71803541e-05 -9.65499030e+01] [-2.91224035e-03 1.38685633e-06 -9.99995759e-01 -4.02118987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.766559995 meters 0.012512193691964567 Centerline is valid? [True, True] Translation: X:151.46, Y:-95.86, Z:-5.02 [[-9.98835623e-01 -4.81160660e-02 3.49884459e-03 1.51464110e+02] [ 4.81159015e-02 -9.98841751e-01 -1.31229695e-04 -9.58550358e+01] [ 3.50110631e-03 3.72731677e-05 9.99993870e-01 -5.01982954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8265599949999 meters 0.012528978843755548 Centerline is valid? [True, True] Translation: X:151.41, Y:-96.55, Z:-4.02 [[-9.99672111e-01 -2.53364625e-02 3.70605850e-03 1.51408754e+02] [-2.53363045e-02 9.99678980e-01 8.96008367e-05 -9.65501131e+01] [-3.70713895e-03 -4.32636901e-06 -9.99993129e-01 -4.01911506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.886559995 meters 0.012525331866503049 Centerline is valid? [True, True] Translation: X:151.40, Y:-96.52, Z:-4.02 [[-9.95353936e-01 -9.62095267e-02 3.77746997e-03 1.51403718e+02] [-9.62088509e-02 9.95361104e-01 3.60621941e-04 -9.65231586e+01] [-3.79464194e-03 -4.47957650e-06 -9.99992800e-01 -4.01856434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9465599949999 meters 0.012465987910676584 Centerline is valid? [True, True] Translation: X:151.40, Y:-96.50, Z:-4.02 [[-9.85863728e-01 -1.67473462e-01 5.03491109e-03 1.51395591e+02] [-1.67471324e-01 9.85876584e-01 8.46116486e-04 -9.64969426e+01] [-5.10550301e-03 -9.04767635e-06 -9.99986967e-01 -4.01691446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.006559995 meters 0.012523870158326058 Centerline is valid? [True, True] Translation: X:151.28, Y:-95.81, Z:-5.02 [[-9.95355149e-01 9.60877224e-02 5.93948827e-03 1.51280503e+02] [-9.60855946e-02 -9.95372867e-01 6.43232406e-04 -9.58137844e+01] [ 5.97381221e-03 6.95454248e-05 9.99982154e-01 -5.02391984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0665599949999 meters 0.012635629091219867 Centerline is valid? [True, True] Translation: X:151.29, Y:-96.51, Z:-4.01 [[-9.84008519e-01 -1.78006585e-01 6.39459420e-03 1.51294211e+02] [-1.78003105e-01 9.84029295e-01 1.11383270e-03 -9.65103606e+01] [-6.49073758e-03 -4.22367558e-05 -9.99978934e-01 -4.01498976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.126559995 meters 0.012858639395637165 Centerline is valid? [True, True] Translation: X:151.28, Y:-96.48, Z:-4.02 [[-9.67972364e-01 -2.50983373e-01 6.07035990e-03 1.51278791e+02] [-2.50978839e-01 9.67991396e-01 1.50997174e-03 -9.64845384e+01] [-6.25503395e-03 -6.19209628e-05 -9.99980435e-01 -4.01508050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1865599949999 meters 0.013171640546806829 Centerline is valid? [True, True] Translation: X:151.26, Y:-96.46, Z:-4.02 [[-9.46962634e-01 -3.21301587e-01 5.20185778e-03 1.51257414e+02] [-3.21297104e-01 9.46976920e-01 1.69834249e-03 -9.64614500e+01] [-5.47171939e-03 -6.30749659e-05 -9.99985028e-01 -4.01567182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.246559995 meters 0.0133240315591373 Centerline is valid? [True, True] Translation: X:151.22, Y:-96.44, Z:-4.02 [[-9.20414403e-01 -3.90902197e-01 5.72707687e-03 1.51222674e+02] [-3.90895211e-01 9.20432216e-01 2.33862659e-03 -9.64437200e+01] [-6.18556033e-03 -8.61813249e-05 -9.99980866e-01 -4.01548353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3065599949999 meters 0.014278917532693077 Centerline is valid? [True, True] Translation: X:151.17, Y:-96.43, Z:-4.01 [[-8.88223849e-01 -4.59378101e-01 5.49124597e-03 1.51168940e+02] [-4.59370025e-01 8.88240818e-01 2.72576013e-03 -9.64345427e+01] [-6.12970332e-03 -1.01428650e-04 -9.99981208e-01 -4.01443122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.366559995 meters 0.014198432463227747 Centerline is valid? [True, True] Translation: X:151.11, Y:-96.44, Z:-4.01 [[-8.51409106e-01 -5.24473658e-01 5.46960884e-03 1.51106285e+02] [-5.24463681e-01 8.51426667e-01 3.23694111e-03 -9.64385166e+01] [-6.35466117e-03 -1.12650052e-04 -9.99979803e-01 -4.01494503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4265599949999 meters 0.01461380961261859 Centerline is valid? [True, True] Translation: X:151.03, Y:-96.45, Z:-4.01 [[-8.09858532e-01 -5.86593344e-01 6.11604380e-03 1.51034662e+02] [-5.86577882e-01 8.09881615e-01 4.26122657e-03 -9.64530795e+01] [-7.45287857e-03 -1.36545324e-04 -9.99972218e-01 -4.01412447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.486559995 meters 0.014832920677066413 Centerline is valid? [True, True] Translation: X:150.96, Y:-96.48, Z:-4.01 [[-7.64161226e-01 -6.44994632e-01 6.28849908e-03 1.50958664e+02] [-6.44974342e-01 7.64187087e-01 5.11805587e-03 -9.64777747e+01] [-8.10670836e-03 -1.44900700e-04 -9.99967130e-01 -4.01290738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5465599949999 meters 0.014615268646811013 Centerline is valid? [True, True] Translation: X:150.88, Y:-96.51, Z:-4.01 [[-7.14142511e-01 -6.99973063e-01 6.17935718e-03 1.50881302e+02] [-6.99948612e-01 7.14169230e-01 5.85244457e-03 -9.65118764e+01] [-8.50966032e-03 -1.45753020e-04 -9.99963782e-01 -4.01340206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.606559995 meters 0.01390390549711151 Centerline is valid? [True, True] Translation: X:150.80, Y:-96.56, Z:-4.01 [[-6.59985760e-01 -7.51257795e-01 5.52460163e-03 1.50801552e+02] [-7.51233160e-01 6.60008869e-01 6.08537082e-03 -9.65558076e+01] [-8.21796834e-03 -1.34005856e-04 -9.99966223e-01 -4.01439587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.666559995 meters 0.014132399639411125 Centerline is valid? [True, True] Translation: X:150.72, Y:-96.61, Z:-4.01 [[-6.01006144e-01 -7.99226438e-01 5.35869314e-03 1.50718427e+02] [-7.99196814e-01 6.01030016e-01 6.88275452e-03 -9.66096260e+01] [-8.72161479e-03 -1.46072729e-04 -9.99961955e-01 -4.01443547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.726559995 meters 0.014318203681069747 Centerline is valid? [True, True] Translation: X:150.64, Y:-96.67, Z:-4.01 [[-5.37475779e-01 -8.43262735e-01 5.26740501e-03 1.50637748e+02] [-8.43225365e-01 5.37501562e-01 7.94069604e-03 -9.66724412e+01] [-9.52733149e-03 -1.73677720e-04 -9.99954599e-01 -4.01416299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.786559995 meters 0.015480630630218947 Centerline is valid? [True, True] Translation: X:150.56, Y:-96.75, Z:-4.01 [[-4.69380662e-01 -8.82982046e-01 4.94988014e-03 1.50556511e+02] [-8.82937678e-01 4.69406712e-01 8.85414003e-03 -9.67467303e+01] [-1.01415536e-02 -2.14473568e-04 -9.99948550e-01 -4.01269927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8465599949999 meters 0.015241532135285561 Centerline is valid? [True, True] Translation: X:150.49, Y:-96.82, Z:-4.01 [[-3.99751127e-01 -9.16610067e-01 5.00209421e-03 1.50487250e+02] [-9.16546390e-01 3.99782334e-01 1.08074234e-02 -9.68242938e+01] [-1.19059420e-02 -2.64371707e-04 -9.99929087e-01 -4.01168341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.906559995 meters 0.014843618650786563 Centerline is valid? [True, True] Translation: X:150.42, Y:-96.91, Z:-4.01 [[-3.30527882e-01 -9.43786433e-01 4.29980788e-03 1.50421444e+02] [-9.43716092e-01 3.30555756e-01 1.15251706e-02 -9.69148851e+01] [-1.22986259e-02 -2.48407671e-04 -9.99924338e-01 -4.01124683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9665599949999 meters 0.01435378880482457 Centerline is valid? [True, True] Translation: X:150.36, Y:-97.01, Z:-4.01 [[-2.59403101e-01 -9.65763714e-01 3.23715293e-03 1.50364344e+02] [-9.65698397e-01 2.59423212e-01 1.12339787e-02 -9.70096310e+01] [-1.16891616e-02 -2.11984482e-04 -9.99931657e-01 -4.01182444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.026559995 meters 0.013533394105166937 Centerline is valid? [True, True] Translation: X:150.32, Y:-97.11, Z:-4.01 [[-1.87821201e-01 -9.82200702e-01 2.23120448e-03 1.50315803e+02] [-9.82141446e-01 1.87834381e-01 1.07900694e-02 -9.71105922e+01] [-1.10171106e-02 -1.64754605e-04 -9.99939296e-01 -4.01261760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0865599949999 meters 0.013607627283427057 Centerline is valid? [True, True] Translation: X:150.27, Y:-97.22, Z:-4.01 [[-1.12657719e-01 -9.93632930e-01 1.35606058e-03 1.50269329e+02] [-9.93576372e-01 1.12665776e-01 1.06026587e-02 -9.72208620e+01] [-1.06879325e-02 -1.52878402e-04 -9.99942871e-01 -4.01188238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.146559995 meters 0.013389236651676765 Centerline is valid? [True, True] Translation: X:150.23, Y:-97.33, Z:-4.01 [[-3.80164115e-02 -9.99276951e-01 5.72131962e-04 1.50234360e+02] [-9.99212409e-01 3.80204591e-02 1.13581035e-02 -9.73293217e+01] [-1.13716438e-02 -1.39887018e-04 -9.99935331e-01 -4.01109307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2065599949999 meters 0.012840984477749066 Centerline is valid? [True, True] Translation: X:150.21, Y:-97.44, Z:-4.01 [[ 3.41204633e-02 -9.99417686e-01 -2.87218383e-04 1.50208977e+02] [-9.99359282e-01 -3.41215745e-02 1.08048018e-02 -9.74437932e+01] [-1.08083104e-02 -8.16304864e-05 -9.99941585e-01 -4.01122960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.266559995 meters 0.012417060289186635 Centerline is valid? [True, True] Translation: X:150.19, Y:-97.56, Z:-4.01 [[ 1.06734823e-01 -9.94287029e-01 -9.91195659e-04 1.50191660e+02] [-9.94241250e-01 -1.06739420e-01 9.54113714e-03 -9.75568822e+01] [-9.59242855e-03 -3.28839758e-05 -9.99953991e-01 -4.01285956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3265599949999 meters 0.012226822919499563 Centerline is valid? [True, True] Translation: X:150.18, Y:-97.67, Z:-4.01 [[ 1.77798421e-01 -9.84065648e-01 -1.58810150e-03 1.50183042e+02] [-9.84027159e-01 -1.77805513e-01 8.70341986e-03 -9.76731576e+01] [-8.84710971e-03 1.52807030e-05 -9.99960863e-01 -4.01414063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.386559995 meters 0.01253077289462581 Centerline is valid? [True, True] Translation: X:150.18, Y:-97.79, Z:-4.01 [[ 2.48748305e-01 -9.68564962e-01 -2.48891205e-03 1.50180318e+02] [-9.68518681e-01 -2.48760750e-01 9.46859242e-03 -9.77852842e+01] [-9.79009049e-03 5.52614989e-05 -9.99952074e-01 -4.01353830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4465599949999 meters 0.012813073787219633 Centerline is valid? [True, True] Translation: X:150.19, Y:-97.90, Z:-4.01 [[ 3.20259190e-01 -9.47324427e-01 -3.23755915e-03 1.50187159e+02] [-9.47278460e-01 -3.20275544e-01 9.33246399e-03 -9.79040592e+01] [-9.87778212e-03 7.80626887e-05 -9.99951211e-01 -4.01332704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.506559995 meters 0.012991804630259174 Centerline is valid? [True, True] Translation: X:150.20, Y:-98.02, Z:-4.01 [[ 3.89647696e-01 -9.20955422e-01 -3.97273977e-03 1.50203770e+02] [-9.20910248e-01 -3.89667935e-01 9.12223261e-03 -9.80231028e+01] [-9.94921889e-03 1.04079847e-04 -9.99950500e-01 -4.01387109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5665599949999 meters 0.01339038829919408 Centerline is valid? [True, True] Translation: X:150.23, Y:-98.13, Z:-4.01 [[ 4.58215412e-01 -8.88828790e-01 -4.69236643e-03 1.50227921e+02] [-8.88784722e-01 -4.58239423e-01 8.85155666e-03 -9.81342061e+01] [-1.00177457e-02 1.14583912e-04 -9.99949815e-01 -4.01364540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.626559995 meters 0.013230992841256317 Centerline is valid? [True, True] Translation: X:150.26, Y:-98.25, Z:-4.01 [[ 5.25330977e-01 -8.50884095e-01 -4.86013089e-03 1.50258353e+02] [-8.50849410e-01 -5.25353449e-01 7.68343895e-03 -9.82469633e+01] [-9.09100253e-03 9.88910069e-05 -9.99958671e-01 -4.01426964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6865599949999 meters 0.013087431967831435 Centerline is valid? [True, True] Translation: X:150.30, Y:-98.35, Z:-4.02 [[ 5.89135114e-01 -8.08022474e-01 -4.41585647e-03 1.50296775e+02] [-8.08000747e-01 -5.89151658e-01 5.92599824e-03 -9.83535812e+01] [-7.38994891e-03 7.68016729e-05 -9.99972691e-01 -4.01569754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.746559995 meters 0.012732916411234153 Centerline is valid? [True, True] Translation: X:150.34, Y:-98.46, Z:-4.02 [[ 6.50512991e-01 -7.59492000e-01 -2.17950537e-03 1.50342667e+02] [-7.59487879e-01 -6.50516642e-01 2.50225889e-03 -9.84568543e+01] [-3.31825012e-03 2.75559951e-05 -9.99994494e-01 -4.01908075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8065599949999 meters 0.012608482010087308 Centerline is valid? [True, True] Translation: X:150.39, Y:-98.55, Z:-4.02 [[ 7.06940893e-01 -7.07269542e-01 -2.08995069e-03 1.50391125e+02] [-7.07266544e-01 -7.06943982e-01 2.05962271e-03 -9.85495029e+01] [-2.93418647e-03 2.21206858e-05 -9.99995695e-01 -4.01939630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.866559995 meters 0.012188523679803004 Centerline is valid? [True, True] Translation: X:150.41, Y:-98.58, Z:-4.02 [[ 7.62947698e-01 -6.46454681e-01 -2.67491483e-03 1.50408650e+02] [-6.46450758e-01 -7.62952387e-01 2.25216982e-03 -9.85812780e+01] [-3.49675838e-03 1.09129444e-05 -9.99993886e-01 -4.01883264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9265599949999 meters 0.012146493717232691 Centerline is valid? [True, True] Translation: X:150.42, Y:-98.62, Z:-4.02 [[ 8.15434438e-01 -5.78834048e-01 -4.22155610e-03 1.50424582e+02] [-5.78826152e-01 -8.15445366e-01 3.02352457e-03 -9.86163938e+01] [-5.19256733e-03 -2.19389838e-05 -9.99986518e-01 -4.01761667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.986559995 meters 0.012574409996236605 Centerline is valid? [True, True] Translation: X:150.45, Y:-98.65, Z:-4.02 [[ 8.60201847e-01 -5.09923476e-01 -5.55260662e-03 1.50445757e+02] [-5.09912453e-01 -8.60219766e-01 3.35323193e-03 -9.86456817e+01] [-6.48635365e-03 -5.31130319e-05 -9.99978962e-01 -4.01668949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0465599949999 meters 0.012955671884940755 Centerline is valid? [True, True] Translation: X:150.47, Y:-98.67, Z:-4.02 [[ 8.98682735e-01 -4.38537485e-01 -7.36315856e-03 1.50471616e+02] [-4.38521936e-01 -8.98712894e-01 3.69399357e-03 -9.86723719e+01] [-8.23732019e-03 -9.08216954e-05 -9.99966069e-01 -4.01543653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.106559995 meters 0.013013984943973137 Centerline is valid? [True, True] Translation: X:150.50, Y:-98.69, Z:-4.01 [[ 9.30046722e-01 -3.67337056e-01 -8.75114504e-03 1.50500769e+02] [-3.67319780e-01 -9.30087887e-01 3.56396269e-03 -9.86923375e+01] [-9.44850957e-03 -1.00183146e-04 -9.99955357e-01 -4.01443753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.166559995 meters 0.012883289375728843 Centerline is valid? [True, True] Translation: X:150.53, Y:-98.71, Z:-4.01 [[ 9.55532174e-01 -2.94723050e-01 -9.82790695e-03 1.50532803e+02] [-2.94706423e-01 -9.55582709e-01 3.13205094e-03 -9.87079192e+01] [-1.03144656e-02 -9.64281426e-05 -9.99946800e-01 -4.01466408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.226559995 meters 0.012668010469816061 Centerline is valid? [True, True] Translation: X:150.57, Y:-98.72, Z:-4.02 [[ 9.75263502e-01 -2.20847837e-01 -9.34527847e-03 1.50565290e+02] [-2.20836986e-01 -9.75308273e-01 2.19042103e-03 -9.87209827e+01] [-9.59827716e-03 -7.24545533e-05 -9.99953933e-01 -4.01587936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.286559995 meters 0.012712475508344848 Centerline is valid? [True, True] Translation: X:150.60, Y:-98.73, Z:-4.02 [[ 9.89481529e-01 -1.44385134e-01 -8.90151056e-03 1.50597678e+02] [-1.44378711e-01 -9.89521566e-01 1.36327515e-03 -9.87315355e+01] [-9.00507333e-03 -6.37469564e-05 -9.99959452e-01 -4.01577738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3465599949999 meters 0.012647267575315273 Centerline is valid? [True, True] Translation: X:150.63, Y:-98.74, Z:-4.02 [[ 9.97766486e-01 -6.60871271e-02 -9.72276154e-03 1.50628235e+02] [-6.60832824e-02 -9.97813854e-01 7.16515936e-04 -9.87375396e+01] [-9.74885864e-03 -7.24035906e-05 -9.99952476e-01 -4.01620700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.406559995 meters 0.012812921189298662 Centerline is valid? [True, True] Translation: X:150.66, Y:-98.74, Z:-4.02 [[ 9.99868775e-01 1.28316771e-02 -9.88844808e-03 1.50659280e+02] [ 1.28318355e-02 -9.99917668e-01 -4.74321196e-05 -9.87412926e+01] [-9.88824258e-03 -7.94610435e-05 -9.99951107e-01 -4.01642662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4665599949999 meters 0.013073752698635366 Centerline is valid? [True, True] Translation: X:150.69, Y:-98.74, Z:-4.02 [[ 9.95673990e-01 9.24184938e-02 -9.59826715e-03 1.50690134e+02] [ 9.24150771e-02 -9.95720249e-01 -7.99837592e-04 -9.87436223e+01] [-9.63110874e-03 -9.06471115e-05 -9.99953616e-01 -4.01658779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.526559995 meters 0.013857020470519536 Centerline is valid? [True, True] Translation: X:150.72, Y:-98.74, Z:-4.02 [[ 9.84845761e-01 1.73144386e-01 -9.99240021e-03 1.50719626e+02] [ 1.73136782e-01 -9.84896444e-01 -1.62768986e-03 -9.87424947e+01] [-1.01233048e-02 -1.27028557e-04 -9.99948750e-01 -4.01617442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5865599949999 meters 0.013554302264542297 Centerline is valid? [True, True] Translation: X:150.75, Y:-98.74, Z:-4.02 [[ 9.67717246e-01 2.51829855e-01 -1.02496498e-02 1.50751415e+02] [ 2.51817434e-01 -9.67771512e-01 -2.50607342e-03 -9.87434999e+01] [-1.05504232e-02 -1.55870041e-04 -9.99944331e-01 -4.01672311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.646559995 meters 0.014003172253961383 Centerline is valid? [True, True] Translation: X:150.78, Y:-98.74, Z:-4.02 [[ 9.44478827e-01 3.28403503e-01 -1.05301288e-02 1.50782896e+02] [ 3.28385239e-01 -9.44537509e-01 -3.46829049e-03 -9.87421334e+01] [-1.10851004e-02 -1.82211934e-04 -9.99938542e-01 -4.01543901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7065599949999 meters 0.013770469033242545 Centerline is valid? [True, True] Translation: X:150.81, Y:-98.74, Z:-4.02 [[ 9.15797066e-01 4.01473181e-01 -1.16197950e-02 1.50813539e+02] [ 4.01443753e-01 -9.15870756e-01 -4.86534570e-03 -9.87367876e+01] [-1.25955363e-02 -2.09024820e-04 -9.99920651e-01 -4.01546006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.766559995 meters 0.013625212110743476 Centerline is valid? [True, True] Translation: X:150.84, Y:-98.73, Z:-4.02 [[ 8.81811445e-01 4.71472438e-01 -1.10597038e-02 1.50844254e+02] [ 4.71438196e-01 -8.81880775e-01 -5.68568271e-03 -9.87306543e+01] [-1.24339828e-02 -2.00266722e-04 -9.99922675e-01 -4.01614654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8265599949999 meters 0.01348031219494878 Centerline is valid? [True, True] Translation: X:150.87, Y:-98.72, Z:-4.02 [[ 8.42978613e-01 5.37864254e-01 -9.43940802e-03 1.50873511e+02] [ 5.37832686e-01 -8.43031445e-01 -5.82959834e-03 -9.87207219e+01] [-1.10932503e-02 -1.62595449e-04 -9.99938455e-01 -4.01691340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.886559995 meters 0.013153254300688534 Centerline is valid? [True, True] Translation: X:150.90, Y:-98.71, Z:-4.02 [[ 7.99641952e-01 6.00424736e-01 -7.92996897e-03 1.50900538e+02] [ 6.00396723e-01 -7.99681262e-01 -5.80118074e-03 -9.87084350e+01] [-9.82462001e-03 -1.22259891e-04 -9.99951730e-01 -4.01710565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9465599949999 meters 0.013012753131392127 Centerline is valid? [True, True] Translation: X:150.93, Y:-98.69, Z:-4.02 [[ 7.51274045e-01 6.59954051e-01 -6.92525089e-03 1.50926766e+02] [ 6.59927215e-01 -7.51305957e-01 -5.95232268e-03 -9.86937657e+01] [-9.13124171e-03 -9.83360007e-05 -9.99958305e-01 -4.01779959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.006559995 meters 0.012647338909860516 Centerline is valid? [True, True] Translation: X:150.95, Y:-98.68, Z:-4.02 [[ 6.99139297e-01 7.14956660e-01 -6.42015625e-03 1.50952740e+02] [ 7.14927493e-01 -6.99168770e-01 -6.45837306e-03 -9.86791153e+01] [-9.10622958e-03 -7.46438096e-05 -9.99958535e-01 -4.01792221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0665599949999 meters 0.012589437651959173 Centerline is valid? [True, True] Translation: X:150.98, Y:-98.66, Z:-4.02 [[ 6.41479584e-01 7.67115569e-01 -6.13572261e-03 1.50980015e+02] [ 7.67081552e-01 -6.41508923e-01 -7.22460486e-03 -9.86644164e+01] [-9.47822767e-03 -7.21631036e-05 -9.99955078e-01 -4.01702482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.126559995 meters 0.012840629734519328 Centerline is valid? [True, True] Translation: X:151.01, Y:-98.65, Z:-4.02 [[ 5.77909436e-01 8.16080657e-01 -5.74848042e-03 1.51005937e+02] [ 8.16041881e-01 -5.77938018e-01 -7.95585008e-03 -9.86481236e+01] [-9.81488074e-03 -9.32399401e-05 -9.99951829e-01 -4.01644155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1865599949999 meters 0.013074641904929194 Centerline is valid? [True, True] Translation: X:151.03, Y:-98.63, Z:-4.02 [[ 5.10134617e-01 8.60081992e-01 -4.65172692e-03 1.51030237e+02] [ 8.60048126e-01 -5.10155814e-01 -7.63318805e-03 -9.86294224e+01] [-8.93827312e-03 -1.06755562e-04 -9.99960047e-01 -4.01687489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.246559995 meters 0.013597266184638655 Centerline is valid? [True, True] Translation: X:151.06, Y:-98.61, Z:-4.02 [[ 4.38290424e-01 8.98825034e-01 -3.88109428e-03 1.51055726e+02] [ 8.98792393e-01 -4.38307588e-01 -7.66107695e-03 -9.86102091e+01] [-8.58708082e-03 -1.30521352e-04 -9.99963122e-01 -4.01641513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3065599949999 meters 0.0139400666166802 Centerline is valid? [True, True] Translation: X:151.08, Y:-98.59, Z:-4.02 [[ 3.65831047e-01 9.30675315e-01 -3.33204728e-03 1.51076032e+02] [ 9.30640128e-01 -3.65846195e-01 -8.09409201e-03 -9.85878483e+01] [-8.75198845e-03 -1.39866756e-04 -9.99961691e-01 -4.01514600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.366559995 meters 0.013750140088594036 Centerline is valid? [True, True] Translation: X:151.09, Y:-98.56, Z:-4.02 [[ 2.92955661e-01 9.56122313e-01 -2.66512370e-03 1.51091299e+02] [ 9.56086635e-01 -2.92967756e-01 -8.26077789e-03 -9.85626493e+01] [-8.67910938e-03 -1.28047500e-04 -9.99962328e-01 -4.01516197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4265599949999 meters 0.01305869099620608 Centerline is valid? [True, True] Translation: X:151.11, Y:-98.54, Z:-4.02 [[ 2.19068583e-01 9.75707806e-01 -1.79832624e-03 1.51105417e+02] [ 9.75678567e-01 -2.19075942e-01 -7.55421550e-03 -9.85361699e+01] [-7.76467704e-03 -9.96970825e-05 -9.99969850e-01 -4.01634506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.486559995 meters 0.012527567018571825 Centerline is valid? [True, True] Translation: X:151.12, Y:-98.51, Z:-4.02 [[ 1.45935519e-01 9.89293510e-01 -1.08416517e-03 1.51117284e+02] [ 9.89269268e-01 -1.45939533e-01 -6.92586046e-03 -9.85086446e+01] [-7.00993137e-03 -6.18022461e-05 -9.99975428e-01 -4.01553793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5465599949999 meters 0.012128882342196414 Centerline is valid? [True, True] Translation: X:151.13, Y:-98.48, Z:-4.01 [[ 7.24550664e-02 9.97371498e-01 -5.98369554e-04 1.51126087e+02] [ 9.97341231e-01 -7.24575293e-02 -7.77011240e-03 -9.84809313e+01] [-7.79304503e-03 -3.37946184e-05 -9.99969633e-01 -4.01460363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.606559995 meters 0.012058827565695285 Centerline is valid? [True, True] Translation: X:151.13, Y:-98.45, Z:-4.01 [[-2.73633631e-03 9.99996256e-01 1.27699888e-05 1.51133816e+02] [ 9.99962047e-01 2.73634833e-03 -8.27140289e-03 -9.84526015e+01] [-8.27140687e-03 -9.86383596e-06 -9.99965791e-01 -4.01353047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.666559995 meters 0.0122084231566335 Centerline is valid? [True, True] Translation: X:151.14, Y:-98.42, Z:-4.01 [[-7.71210101e-02 9.97021525e-01 6.54808452e-04 1.51138626e+02] [ 9.96988000e-01 7.71237867e-02 -8.17620146e-03 -9.84239541e+01] [-8.20235016e-03 2.22792532e-05 -9.99966360e-01 -4.01353675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.726559995 meters 0.012132183894989655 Centerline is valid? [True, True] Translation: X:151.14, Y:-98.40, Z:-4.01 [[-1.54157084e-01 9.88045586e-01 1.23027926e-03 1.51143177e+02] [ 9.88015536e-01 1.54161991e-01 -7.70597195e-03 -9.83950112e+01] [-7.80351387e-03 2.76048608e-05 -9.99969552e-01 -4.01355651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.786559995 meters 0.012216427824897957 Centerline is valid? [True, True] Translation: X:151.14, Y:-98.37, Z:-4.01 [[-2.31038678e-01 9.72943158e-01 1.65548497e-03 1.51144113e+02] [ 9.72918952e-01 2.31044608e-01 -6.86313140e-03 -9.83666619e+01] [-7.05992762e-03 2.50038997e-05 -9.99975078e-01 -4.01374058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8465599949999 meters 0.012178584866846979 Centerline is valid? [True, True] Translation: X:151.14, Y:-98.34, Z:-4.01 [[-3.09220418e-01 9.50987518e-01 2.33968906e-03 1.51144453e+02] [ 9.50960435e-01 3.09229269e-01 -7.17702311e-03 -9.83385113e+01] [-7.54875973e-03 5.66963926e-06 -9.99971508e-01 -4.01215080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.906559995 meters 0.01211500912055746 Centerline is valid? [True, True] Translation: X:151.14, Y:-98.31, Z:-4.01 [[-3.85841573e-01 9.22558705e-01 3.42294566e-03 1.51144918e+02] [ 9.22521876e-01 3.85856756e-01 -8.24329937e-03 -9.83081050e+01] [-8.92569429e-03 -2.28653501e-05 -9.99960165e-01 -4.01087373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9665599949999 meters 0.012481597883310987 Centerline is valid? [True, True] Translation: X:151.14, Y:-98.28, Z:-4.01 [[-4.61639714e-01 8.87057311e-01 4.25471519e-03 1.51144187e+02] [ 8.87018152e-01 4.61659314e-01 -8.33520714e-03 -9.82777182e+01] [-9.35803533e-03 -7.38530299e-05 -9.99956210e-01 -4.01009913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.026559995 meters 0.012745054869494447 Centerline is valid? [True, True] Translation: X:151.14, Y:-98.25, Z:-4.01 [[-5.32089118e-01 8.46674737e-01 4.80201073e-03 1.51139785e+02] [ 8.46638578e-01 5.32110777e-01 -7.82550351e-03 -9.82478082e+01] [-9.18085779e-03 -9.82977280e-05 -9.99957850e-01 -4.01056900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0865599949999 meters 0.013322322789742453 Centerline is valid? [True, True] Translation: X:151.13, Y:-98.22, Z:-4.01 [[-5.98223883e-01 8.01314894e-01 4.75673769e-03 1.51132061e+02] [ 8.01288209e-01 5.98242786e-01 -6.54023342e-03 -9.82194035e+01] [-8.08647046e-03 -1.01006011e-04 -9.99967299e-01 -4.01098337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.146559995 meters 0.013195145998153395 Centerline is valid? [True, True] Translation: X:151.12, Y:-98.19, Z:-4.01 [[-6.58986607e-01 7.52138583e-01 4.91976659e-03 1.51119555e+02] [ 7.52116564e-01 6.59004965e-01 -5.75588707e-03 -9.81927034e+01] [-7.57137535e-03 -9.28145499e-05 -9.99971332e-01 -4.01119755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2065599949999 meters 0.01286967899403252 Centerline is valid? [True, True] Translation: X:151.10, Y:-98.17, Z:-4.01 [[-7.14109794e-01 7.00019700e-01 4.42969154e-03 1.51103312e+02] [ 7.00005701e-01 7.14123530e-01 -4.42734986e-03 -9.81700604e+01] [-6.26257908e-03 -6.08045679e-05 -9.99980388e-01 -4.01088967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.266559995 meters 0.012309201043089956 Centerline is valid? [True, True] Translation: X:151.59, Y:-97.70, Z:-5.03 [[-6.53370877e-01 -7.57029186e-01 3.64821355e-03 1.51591628e+02] [ 7.57017518e-01 -6.53381062e-01 -4.20307083e-03 -9.76962690e+01] [ 5.56552093e-03 1.55974904e-05 9.99984512e-01 -5.02842064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3265599949999 meters 0.012090834725916952 Centerline is valid? [True, True] Translation: X:151.56, Y:-97.65, Z:-5.03 [[-6.58033016e-01 -7.52979956e-01 3.70615773e-03 1.51557433e+02] [ 7.52968039e-01 -6.58043453e-01 -4.23638637e-03 -9.76498977e+01] [ 5.62872685e-03 2.93621352e-06 9.99984159e-01 -5.02837772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.386559995 meters 0.01227067050066397 Centerline is valid? [True, True] Translation: X:151.52, Y:-97.61, Z:-5.03 [[-6.61887328e-01 -7.49595113e-01 3.51162741e-03 1.51521205e+02] [ 7.49584380e-01 -6.61896643e-01 -4.01148505e-03 -9.76055503e+01] [ 5.33132398e-03 -2.28900706e-05 9.99985788e-01 -5.02885300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4465599949999 meters 0.012408781916347617 Centerline is valid? [True, True] Translation: X:151.48, Y:-97.56, Z:-5.03 [[-6.63590077e-01 -7.48087103e-01 3.72780042e-03 1.51482772e+02] [ 7.48074998e-01 -6.63600547e-01 -4.25572463e-03 -9.75625583e+01] [ 5.65742311e-03 -3.53823410e-05 9.99983996e-01 -5.02921193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.506559995 meters 0.012983707040972884 Centerline is valid? [True, True] Translation: X:151.44, Y:-97.52, Z:-5.03 [[-6.66731082e-01 -7.45281226e-01 5.05565709e-03 1.51444862e+02] [ 7.45258906e-01 -6.66750245e-01 -5.76836626e-03 -9.75183797e+01] [ 7.66991568e-03 -7.81755978e-05 9.99970583e-01 -5.03079202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5665599949999 meters 0.013604303900796708 Centerline is valid? [True, True] Translation: X:151.41, Y:-97.47, Z:-5.03 [[-6.69834410e-01 -7.42493909e-01 4.96573224e-03 1.51406996e+02] [ 7.42472324e-01 -6.69852807e-01 -5.66255597e-03 -9.74742316e+01] [ 7.53072300e-03 -1.06056075e-04 9.99971638e-01 -5.03103553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.626559995 meters 0.01412931062577968 Centerline is valid? [True, True] Translation: X:151.37, Y:-97.43, Z:-5.03 [[-6.71351116e-01 -7.41121762e-01 5.11977126e-03 1.51368684e+02] [ 7.41098803e-01 -6.71370627e-01 -5.83494794e-03 -9.74310375e+01] [ 7.76167094e-03 -1.23042461e-04 9.99969870e-01 -5.03131216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6865599949999 meters 0.014128285650741527 Centerline is valid? [True, True] Translation: X:151.33, Y:-97.39, Z:-5.03 [[-6.70745064e-01 -7.41662426e-01 6.15667474e-03 1.51329627e+02] [ 7.41629288e-01 -6.70773305e-01 -7.01233875e-03 -9.73896436e+01] [ 9.33052123e-03 -1.37521307e-04 9.99956460e-01 -5.03269421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.746559995 meters 0.01296495976043717 Centerline is valid? [True, True] Translation: X:151.29, Y:-97.35, Z:-5.03 [[-6.67316250e-01 -7.44743955e-01 6.74264350e-03 1.51286728e+02] [ 7.44704393e-01 -6.67350306e-01 -7.67699618e-03 -9.73493330e+01] [ 1.02171017e-02 -1.01708062e-04 9.99947799e-01 -5.03236058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8065599949999 meters 0.012501947058807547 Centerline is valid? [True, True] Translation: X:151.25, Y:-97.31, Z:-5.03 [[-6.64375186e-01 -7.47369633e-01 6.65162854e-03 1.51245046e+02] [ 7.47331306e-01 -6.64408480e-01 -7.56904247e-03 -9.73091948e+01] [ 1.00762709e-02 -5.77137545e-05 9.99949231e-01 -5.03274734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.866559995 meters 0.012198339045288682 Centerline is valid? [True, True] Translation: X:151.20, Y:-97.27, Z:-5.03 [[-6.59932569e-01 -7.51301733e-01 5.89161432e-03 1.51202812e+02] [ 7.51271858e-01 -6.59958867e-01 -6.69993246e-03 -9.72704526e+01] [ 8.92189398e-03 4.70040550e-06 9.99960199e-01 -5.03221066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9265599949999 meters 0.012269803479518894 Centerline is valid? [True, True] Translation: X:151.16, Y:-97.23, Z:-5.03 [[-6.57558051e-01 -7.53386285e-01 5.14929966e-03 1.51162659e+02] [ 7.53363557e-01 -6.57578212e-01 -5.85205053e-03 -9.72290110e+01] [ 7.79492187e-03 3.12317727e-05 9.99969619e-01 -5.03125340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.986559995 meters 0.012468918632466507 Centerline is valid? [True, True] Translation: X:151.12, Y:-97.19, Z:-5.03 [[-6.55667721e-01 -7.55036747e-01 4.39905325e-03 1.51123308e+02] [ 7.55020217e-01 -6.55682476e-01 -4.99622891e-03 -9.71879581e+01] [ 6.65671854e-03 4.55081212e-05 9.99977843e-01 -5.03088485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0465599949999 meters 0.012514821089727141 Centerline is valid? [True, True] Translation: X:151.08, Y:-97.15, Z:-5.03 [[-6.55312891e-01 -7.55348821e-01 3.62940513e-03 1.51084877e+02] [ 7.55337589e-01 -6.55322941e-01 -4.11948807e-03 -9.71459614e+01] [ 5.49008290e-03 4.18724841e-05 9.99984929e-01 -5.03063010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.106559995 meters 0.012475630335522112 Centerline is valid? [True, True] Translation: X:151.05, Y:-97.10, Z:-5.03 [[-6.55539455e-01 -7.55155438e-01 2.87878436e-03 1.51046760e+02] [ 7.55148378e-01 -6.55545775e-01 -3.26543433e-03 -9.71026456e+01] [ 4.35308542e-03 3.32882937e-05 9.99990525e-01 -5.03016033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.166559995 meters 0.01244032608882949 Centerline is valid? [True, True] Translation: X:151.01, Y:-97.06, Z:-5.03 [[-6.55997081e-01 -7.54757013e-01 3.11135941e-03 1.51008583e+02] [ 7.54748772e-01 -6.56004459e-01 -3.52722566e-03 -9.70582520e+01] [ 4.70326395e-03 3.44449517e-05 9.99988939e-01 -5.03060716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.226559995 meters 0.012578862176514789 Centerline is valid? [True, True] Translation: X:150.97, Y:-97.02, Z:-5.03 [[-6.55769968e-01 -7.54945713e-01 4.76647703e-03 1.50970496e+02] [ 7.54926400e-01 -6.55787288e-01 -5.40033510e-03 -9.70156692e+01] [ 7.20275488e-03 5.69617747e-05 9.99974058e-01 -5.03358997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.286559995 meters 0.012715546535285881 Centerline is valid? [True, True] Translation: X:150.93, Y:-96.97, Z:-5.04 [[-6.55188253e-01 -7.55435626e-01 6.73559269e-03 1.50932749e+02] [ 7.55397132e-01 -6.55222868e-01 -7.62666167e-03 -9.69721401e+01] [ 1.01747663e-02 9.11482696e-05 9.99948232e-01 -5.03518350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3465599949999 meters 0.013330822108600279 Centerline is valid? [True, True] Translation: X:150.89, Y:-96.93, Z:-5.04 [[-6.54234455e-01 -7.56251500e-01 7.80678448e-03 1.50894079e+02] [ 7.56199889e-01 -6.54281020e-01 -8.83596209e-03 -9.69308416e+01] [ 1.17900405e-02 1.22698717e-04 9.99930488e-01 -5.03808009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.406559995 meters 0.012656976792640672 Centerline is valid? [True, True] Translation: X:150.86, Y:-96.88, Z:-5.04 [[-6.56336153e-01 -7.54431979e-01 7.43255505e-03 1.50858747e+02] [ 7.54385135e-01 -6.56378230e-01 -8.40759207e-03 -9.68840722e+01] [ 1.12215237e-02 8.88024085e-05 9.99937033e-01 -5.03595460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4665599949999 meters 0.012342008731633568 Centerline is valid? [True, True] Translation: X:150.82, Y:-96.84, Z:-5.03 [[-6.59718481e-01 -7.51480995e-01 6.91663806e-03 1.50823092e+02] [ 7.51440312e-01 -6.59754737e-01 -7.81950193e-03 -9.68375695e+01] [ 1.04394918e-02 3.87707251e-05 9.99945506e-01 -5.03497731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.526559995 meters 0.012515150379275822 Centerline is valid? [True, True] Translation: X:150.79, Y:-96.79, Z:-5.03 [[-6.66337636e-01 -7.45619383e-01 6.77425785e-03 1.50792249e+02] [ 7.45580105e-01 -6.66372068e-01 -7.65340276e-03 -9.67892617e+01] [ 1.02207017e-02 -4.89984204e-05 9.99947766e-01 -5.03452210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5865599949999 meters 0.013476912613896237 Centerline is valid? [True, True] Translation: X:150.76, Y:-96.74, Z:-5.03 [[-6.71947606e-01 -7.40572284e-01 6.25354889e-03 1.50758672e+02] [ 7.40538631e-01 -6.71976696e-01 -7.06092068e-03 -9.67419417e+01] [ 9.43136128e-03 -1.13574216e-04 9.99955517e-01 -5.03352965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.646559995 meters 0.013503475586096485 Centerline is valid? [True, True] Translation: X:150.72, Y:-96.70, Z:-5.03 [[-6.72947153e-01 -7.39669838e-01 5.53722200e-03 1.50720163e+02] [ 7.39643456e-01 -6.72969924e-01 -6.24813565e-03 -9.66993017e+01] [ 8.34794135e-03 -1.09095078e-04 9.99965149e-01 -5.03263419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7065599949999 meters 0.01367328550910876 Centerline is valid? [True, True] Translation: X:150.68, Y:-96.66, Z:-5.03 [[-6.73655031e-01 -7.39026425e-01 5.37048828e-03 1.50682168e+02] [ 7.39001618e-01 -6.73676429e-01 -6.05618820e-03 -9.66568062e+01] [ 8.09365448e-03 -1.10982117e-04 9.99967240e-01 -5.03159058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.766559995 meters 0.013705459720606897 Centerline is valid? [True, True] Translation: X:150.64, Y:-96.61, Z:-5.03 [[-6.73700464e-01 -7.38982280e-01 5.73364291e-03 1.50643768e+02] [ 7.38954038e-01 -6.73724852e-01 -6.46165620e-03 -9.66147156e+01] [ 8.63794715e-03 -1.16322199e-04 9.99962686e-01 -5.03160585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8265599949999 meters 0.013252265599623225 Centerline is valid? [True, True] Translation: X:150.60, Y:-96.57, Z:-5.03 [[-6.72300357e-01 -7.40255979e-01 5.77190223e-03 1.50603022e+02] [ 7.40227442e-01 -6.72325126e-01 -6.50065590e-03 -9.65740742e+01] [ 8.69274430e-03 -9.78728623e-05 9.99962213e-01 -5.03159776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.886559995 meters 0.012756430391238964 Centerline is valid? [True, True] Translation: X:150.56, Y:-96.54, Z:-5.03 [[-6.69638445e-01 -7.42664617e-01 5.79824618e-03 1.50559776e+02] [ 7.42635943e-01 -6.69663544e-01 -6.52641833e-03 -9.65353028e+01] [ 8.72981406e-03 -6.43546064e-05 9.99961892e-01 -5.03231396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9465599949999 meters 0.012436352124416085 Centerline is valid? [True, True] Translation: X:150.52, Y:-96.49, Z:-5.03 [[-6.67410470e-01 -7.44662804e-01 6.36976049e-03 1.50519133e+02] [ 7.44628332e-01 -6.67440864e-01 -7.16516861e-03 -9.64947536e+01] [ 9.58707299e-03 -3.90044154e-05 9.99954042e-01 -5.03205906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.006559995 meters 0.012360436799378335 Centerline is valid? [True, True] Translation: X:150.48, Y:-96.46, Z:-5.03 [[-6.63239785e-01 -7.48371183e-01 7.31849568e-03 1.50475851e+02] [ 7.48325954e-01 -6.63280161e-01 -8.22764454e-03 -9.64554309e+01] [ 1.10115451e-02 1.97190699e-05 9.99939371e-01 -5.03255161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0665599949999 meters 0.01266681699779912 Centerline is valid? [True, True] Translation: X:150.43, Y:-96.42, Z:-5.03 [[-6.60147207e-01 -7.51092719e-01 8.08657250e-03 1.50433780e+02] [ 7.51037766e-01 -6.60196729e-01 -9.08587564e-03 -9.64155211e+01] [ 1.21630638e-02 7.53059216e-05 9.99926024e-01 -5.03309186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.126559995 meters 0.013704486613184252 Centerline is valid? [True, True] Translation: X:150.39, Y:-96.38, Z:-5.03 [[-6.55164384e-01 -7.55435359e-01 8.77776063e-03 1.50389871e+02] [ 7.55371056e-01 -6.55223160e-01 -9.85791229e-03 -9.63786974e+01] [ 1.31984076e-02 1.71913291e-04 9.99912882e-01 -5.03456493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1865599949999 meters 0.014673342184970135 Centerline is valid? [True, True] Translation: X:150.35, Y:-96.34, Z:-5.03 [[-6.52357753e-01 -7.57867111e-01 8.17337400e-03 1.50348198e+02] [ 7.57811612e-01 -6.52408920e-01 -9.17401534e-03 -9.63384402e+01] [ 1.22850666e-02 2.09137696e-04 9.99924514e-01 -5.03372306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.246559995 meters 0.016314277697528187 Centerline is valid? [True, True] Translation: X:150.31, Y:-96.30, Z:-5.03 [[-6.50254041e-01 -7.59688044e-01 6.61492889e-03 1.50306905e+02] [ 7.59651829e-01 -6.50287656e-01 -7.42042423e-03 -9.62989867e+01] [ 9.93881418e-03 1.99881987e-04 9.99950589e-01 -5.03190862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3065599949999 meters 0.015564129477564768 Centerline is valid? [True, True] Translation: X:150.27, Y:-96.26, Z:-5.03 [[-6.50645831e-01 -7.59361851e-01 5.43892684e-03 1.50269139e+02] [ 7.59337378e-01 -6.50668543e-01 -6.09856847e-03 -9.62553632e+01] [ 8.16995884e-03 1.61972299e-04 9.99966612e-01 -5.02989665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.366559995 meters 0.01539635768203538 Centerline is valid? [True, True] Translation: X:150.23, Y:-96.21, Z:-5.03 [[-6.51264877e-01 -7.58830246e-01 5.54235851e-03 1.50231190e+02] [ 7.58804848e-01 -6.51288439e-01 -6.21064644e-03 -9.62123135e+01] [ 8.32250039e-03 1.60792624e-04 9.99965355e-01 -5.03004273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4265599949999 meters 0.014821945445468051 Centerline is valid? [True, True] Translation: X:150.19, Y:-96.17, Z:-5.03 [[-6.52423327e-01 -7.57825552e-01 6.65091606e-03 1.50194037e+02] [ 7.57788972e-01 -6.52457201e-01 -7.44810193e-03 -9.61683950e+01] [ 9.98380004e-03 1.80675410e-04 9.99950144e-01 -5.03109007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.486559995 meters 0.01490619088652707 Centerline is valid? [True, True] Translation: X:150.16, Y:-96.13, Z:-5.03 [[-6.52923146e-01 -7.57382481e-01 7.94626203e-03 1.50156190e+02] [ 7.57330298e-01 -6.52971464e-01 -8.89306320e-03 -9.61255292e+01] [ 1.19241326e-02 2.11458190e-04 9.99928883e-01 -5.03187398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5465599949999 meters 0.014896137814509275 Centerline is valid? [True, True] Translation: X:150.12, Y:-96.08, Z:-5.03 [[-6.54231310e-01 -7.56241645e-01 8.94243411e-03 1.50118444e+02] [ 7.56175536e-01 -6.54292386e-01 -1.00016620e-02 -9.60829861e+01] [ 1.34146399e-02 2.18649444e-04 9.99909996e-01 -5.03329619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.606559995 meters 0.013957247818669184 Centerline is valid? [True, True] Translation: X:150.08, Y:-96.04, Z:-5.03 [[-6.57531429e-01 -7.53373655e-01 8.97531437e-03 1.50082134e+02] [ 7.53306866e-01 -6.57592662e-01 -1.00328239e-02 -9.60373953e+01] [ 1.34605661e-02 1.64268923e-04 9.99909389e-01 -5.03185881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.666559995 meters 0.013203178277044904 Centerline is valid? [True, True] Translation: X:150.05, Y:-95.99, Z:-5.03 [[-6.61389608e-01 -7.49998456e-01 8.13034667e-03 1.50045956e+02] [ 7.49943433e-01 -6.61439573e-01 -9.08510648e-03 -9.59911391e+01] [ 1.21915489e-02 8.85050667e-05 9.99925676e-01 -5.02981553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.726559995 meters 0.012896252152102265 Centerline is valid? [True, True] Translation: X:150.01, Y:-95.94, Z:-5.03 [[-6.69414421e-01 -7.42855018e-01 7.12422460e-03 1.50011454e+02] [ 7.42812410e-01 -6.69452329e-01 -7.95630220e-03 -9.59444336e+01] [ 1.06797078e-02 -3.41009909e-05 9.99942970e-01 -5.02782287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.786559995 meters 0.013868169725409041 Centerline is valid? [True, True] Translation: X:149.98, Y:-95.90, Z:-5.03 [[-6.77645083e-01 -7.35353029e-01 7.28445177e-03 1.49975258e+02] [ 7.35308093e-01 -6.77684218e-01 -8.13081701e-03 -9.58979302e+01] [ 1.09155789e-02 -1.53491830e-04 9.99940412e-01 -5.02663393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8465599949999 meters 0.016091523423038368 Centerline is valid? [True, True] Translation: X:149.94, Y:-95.85, Z:-5.03 [[-6.82144732e-01 -7.31181369e-01 7.23671695e-03 1.49940101e+02] [ 7.31136837e-01 -6.82183083e-01 -8.07261354e-03 -9.58525416e+01] [ 1.08393105e-02 -2.15660463e-04 9.99941230e-01 -5.02698809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.906559995 meters 0.017082759492558483 Centerline is valid? [True, True] Translation: X:149.90, Y:-95.81, Z:-5.02 [[-6.86773300e-01 -7.26836877e-01 7.11247945e-03 1.49900297e+02] [ 7.26793678e-01 -6.86810074e-01 -7.92923572e-03 -9.58107431e+01] [ 1.06481835e-02 -2.76282287e-04 9.99943268e-01 -5.02478147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9665599949999 meters 0.01723385755988016 Centerline is valid? [True, True] Translation: X:149.86, Y:-95.77, Z:-5.02 [[-6.88556764e-01 -7.25147515e-01 7.11792180e-03 1.49859459e+02] [ 7.25104210e-01 -6.88593488e-01 -7.93051776e-03 -9.57700141e+01] [ 1.06521498e-02 -2.99376580e-04 9.99943219e-01 -5.02364997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.026559995 meters 0.01808366435290212 Centerline is valid? [True, True] Translation: X:149.82, Y:-95.73, Z:-5.02 [[-6.89368987e-01 -7.24375256e-01 7.13365160e-03 1.49818056e+02] [ 7.24331768e-01 -6.89405827e-01 -7.94332187e-03 -9.57300209e+01] [ 1.06719268e-02 -3.08749277e-04 9.99943006e-01 -5.02404251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0865599949999 meters 0.01795463617423719 Centerline is valid? [True, True] Translation: X:149.78, Y:-95.69, Z:-5.02 [[-6.88483129e-01 -7.25212994e-01 7.55609038e-03 1.49776564e+02] [ 7.25164306e-01 -6.88524522e-01 -8.40908279e-03 -9.56897271e+01] [ 1.13009296e-02 -3.10104594e-04 9.99936094e-01 -5.02404734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.146559995 meters 0.01575500054255921 Centerline is valid? [True, True] Translation: X:149.73, Y:-95.65, Z:-5.02 [[-6.84137157e-01 -7.29309652e-01 7.98635329e-03 1.49729063e+02] [ 7.29255601e-01 -6.84183723e-01 -8.88267374e-03 -9.56548741e+01] [ 1.19423526e-02 -2.52874287e-04 9.99928656e-01 -5.02392884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2065599949999 meters 0.014874806066217038 Centerline is valid? [True, True] Translation: X:149.69, Y:-95.62, Z:-5.02 [[-6.80120735e-01 -7.33053200e-01 8.29408594e-03 1.49685060e+02] [ 7.32995227e-01 -6.80171279e-01 -9.22105937e-03 -9.56177595e+01] [ 1.24009261e-02 -1.91908269e-04 9.99923087e-01 -5.02445777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.266559995 meters 0.013419261193706844 Centerline is valid? [True, True] Translation: X:149.64, Y:-95.58, Z:-5.03 [[-6.73349901e-01 -7.39276450e-01 8.38099363e-03 1.49636205e+02] [ 7.39217789e-01 -6.73402053e-01 -9.31317067e-03 -9.55848853e+01] [ 1.25287861e-02 -7.56429734e-05 9.99921509e-01 -5.02544775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3265599949999 meters 0.012769799588957763 Centerline is valid? [True, True] Translation: X:149.59, Y:-95.55, Z:-5.02 [[-6.69065741e-01 -7.43155680e-01 8.40652760e-03 1.49590936e+02] [ 7.43097040e-01 -6.69118551e-01 -9.33564644e-03 -9.55485099e+01] [ 1.25628023e-02 7.04570912e-07 9.99921085e-01 -5.02397634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.386559995 meters 0.01310951844108098 Centerline is valid? [True, True] Translation: X:149.54, Y:-95.51, Z:-5.02 [[-6.63536742e-01 -7.48104429e-01 7.66516205e-03 1.49543585e+02] [ 7.48056065e-01 -6.63581009e-01 -8.50701405e-03 -9.55139539e+01] [ 1.14505909e-02 8.92545740e-05 9.99934436e-01 -5.02320738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4465599949999 meters 0.013779818390822289 Centerline is valid? [True, True] Translation: X:149.50, Y:-95.48, Z:-5.02 [[-6.60668142e-01 -7.50644313e-01 7.12189653e-03 1.49498407e+02] [ 7.50602742e-01 -6.60706515e-01 -7.90095173e-03 -9.54785618e+01] [ 1.06362879e-02 1.25807956e-04 9.99943425e-01 -5.02352749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.506559995 meters 0.013592509026227573 Centerline is valid? [True, True] Translation: X:149.46, Y:-95.44, Z:-5.02 [[-6.60380029e-01 -7.50897443e-01 7.15872384e-03 1.49458348e+02] [ 7.50855504e-01 -6.60418816e-01 -7.93727719e-03 -9.54359184e+01] [ 1.06878371e-02 1.33547854e-04 9.99942875e-01 -5.02294158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5665599949999 meters 0.01377238205233718 Centerline is valid? [True, True] Translation: X:149.42, Y:-95.40, Z:-5.02 [[-6.60476230e-01 -7.50806235e-01 7.81966187e-03 1.49418672e+02] [ 7.50756255e-01 -6.60522502e-01 -8.66431939e-03 -9.53963247e+01] [ 1.16702876e-02 1.48083052e-04 9.99931889e-01 -5.02378100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.626559995 meters 0.013850530943822572 Centerline is valid? [True, True] Translation: X:149.38, Y:-95.36, Z:-5.03 [[-6.60944791e-01 -7.50377906e-01 9.21858014e-03 1.49377583e+02] [ 7.50308479e-01 -6.61009054e-01 -1.02086369e-02 -9.53557986e+01] [ 1.37539005e-02 1.69433436e-04 9.99905396e-01 -5.02568218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6865599949999 meters 0.014157941980253386 Centerline is valid? [True, True] Translation: X:149.34, Y:-95.31, Z:-5.03 [[-6.60665978e-01 -7.50605630e-01 1.05666689e-02 1.49336835e+02] [ 7.50514543e-01 -6.60750442e-01 -1.16950247e-02 -9.53145039e+01] [ 1.57602825e-02 2.03933747e-04 9.99875778e-01 -5.02741979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.746559995 meters 0.014063709414839417 Centerline is valid? [True, True] Translation: X:149.30, Y:-95.27, Z:-5.03 [[-6.61346529e-01 -7.49993734e-01 1.14090983e-02 1.49298021e+02] [ 7.49887587e-01 -6.61444899e-01 -1.26195193e-02 -9.52719947e+01] [ 1.70110503e-02 2.09665897e-04 9.99855280e-01 -5.02825249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8065599949999 meters 0.013126719667273717 Centerline is valid? [True, True] Translation: X:149.26, Y:-95.23, Z:-5.03 [[-6.65508696e-01 -7.46312319e-01 1.07748660e-02 1.49262350e+02] [ 7.46217268e-01 -6.65595905e-01 -1.19113149e-02 -9.52264063e+01] [ 1.60612677e-02 1.13307409e-04 9.99871003e-01 -5.02627798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.866559995 meters 0.012969205990487767 Centerline is valid? [True, True] Translation: X:149.23, Y:-95.18, Z:-5.02 [[-6.73408116e-01 -7.39213387e-01 9.22377378e-03 1.49228850e+02] [ 7.39143138e-01 -6.73471281e-01 -1.01909591e-02 -9.51780453e+01] [ 1.37452401e-02 -4.49854427e-05 9.99905529e-01 -5.02413609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9265599949999 meters 0.013819018657851435 Centerline is valid? [True, True] Translation: X:149.19, Y:-95.13, Z:-5.02 [[-6.79552086e-01 -7.33573565e-01 8.87615802e-03 1.49194213e+02] [ 7.33508098e-01 -6.79610037e-01 -9.80142914e-03 -9.51314345e+01] [ 1.32223954e-02 -1.49847832e-04 9.99912569e-01 -5.02311774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.986559995 meters 0.01656623913129834 Centerline is valid? [True, True] Translation: X:149.16, Y:-95.08, Z:-5.02 [[-6.88002359e-01 -7.25658648e-01 8.50181857e-03 1.49161468e+02] [ 7.25598046e-01 -6.88054827e-01 -9.38245322e-03 -9.50835899e+01] [ 1.26581756e-02 -2.86247007e-04 9.99919841e-01 -5.02202082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0465599949999 meters 0.017129364303270125 Centerline is valid? [True, True] Translation: X:149.12, Y:-95.04, Z:-5.02 [[-6.92284522e-01 -7.21568799e-01 8.97823074e-03 1.49123630e+02] [ 7.21500946e-01 -6.92342636e-01 -9.90247393e-03 -9.50395382e+01] [ 1.33613282e-02 -3.77527456e-04 9.99910662e-01 -5.02080609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.106559995 meters 0.01868960458896989 Centerline is valid? [True, True] Translation: X:149.09, Y:-95.00, Z:-5.02 [[-6.95963571e-01 -7.18015225e-01 9.42573763e-03 1.49086633e+02] [ 7.17940201e-01 -6.96027242e-01 -1.03896886e-02 -9.49954006e+01] [ 1.40205247e-02 -4.63728783e-04 9.99901600e-01 -5.02069820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.166559995 meters 0.019665526740528988 Centerline is valid? [True, True] Translation: X:149.05, Y:-94.95, Z:-5.02 [[-6.96836654e-01 -7.17166399e-01 9.54116989e-03 1.49048488e+02] [ 7.17089507e-01 -6.96901803e-01 -1.05126427e-02 -9.49522447e+01] [ 1.41885726e-02 -4.83721965e-04 9.99899220e-01 -5.02073066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.226559995 meters 0.018089890815322016 Centerline is valid? [True, True] Translation: X:149.01, Y:-94.91, Z:-5.02 [[-6.95665354e-01 -7.18309933e-01 8.97526788e-03 1.49005904e+02] [ 7.18242063e-01 -6.95723118e-01 -9.88346390e-03 -9.49122320e+01] [ 1.33436916e-02 -4.29168500e-04 9.99910877e-01 -5.01896864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.286559995 meters 0.01656651888053594 Centerline is valid? [True, True] Translation: X:148.96, Y:-94.87, Z:-5.02 [[-6.90793060e-01 -7.23001744e-01 8.56897043e-03 1.48961963e+02] [ 7.22940309e-01 -6.90846131e-01 -9.43043706e-03 -9.48741179e+01] [ 1.27380625e-02 -3.19626341e-04 9.99918817e-01 -5.01868255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3465599949999 meters 0.01425071427614878 Centerline is valid? [True, True] Translation: X:148.92, Y:-94.84, Z:-5.02 [[-6.82597171e-01 -7.30748434e-01 8.23584986e-03 1.48916410e+02] [ 7.30692309e-01 -6.82646833e-01 -9.05818200e-03 -9.48386180e+01] [ 1.22414291e-02 -1.65217254e-04 9.99925057e-01 -5.01874905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.406559995 meters 0.012906914652118417 Centerline is valid? [True, True] Translation: X:148.87, Y:-94.80, Z:-5.02 [[-6.76163464e-01 -7.36701008e-01 8.63677500e-03 1.48870619e+02] [ 7.36639835e-01 -6.76218619e-01 -9.49382738e-03 -9.48016670e+01] [ 1.28344603e-02 -5.71866989e-05 9.99917633e-01 -5.01860790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4665599949999 meters 0.013864337956520449 Centerline is valid? [True, True] Translation: X:148.82, Y:-94.77, Z:-5.02 [[-6.66489021e-01 -7.45460025e-01 9.04073997e-03 1.48821189e+02] [ 7.45393867e-01 -6.66550325e-01 -9.93208956e-03 -9.47693247e+01] [ 1.34300839e-02 1.19283474e-04 9.99909805e-01 -5.02101760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.526559995 meters 0.01543750743565048 Centerline is valid? [True, True] Translation: X:148.78, Y:-94.73, Z:-5.02 [[-6.59082857e-01 -7.52023344e-01 8.40705182e-03 1.48776018e+02] [ 7.51966732e-01 -6.59136430e-01 -9.23040811e-03 -9.47330229e+01] [ 1.24828765e-02 2.38219540e-04 9.99922058e-01 -5.01843938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5865599949999 meters 0.016934754065514913 Centerline is valid? [True, True] Translation: X:148.73, Y:-94.69, Z:-5.02 [[-6.54846240e-01 -7.55715967e-01 8.35340145e-03 1.48733229e+02] [ 7.55660438e-01 -6.54899444e-01 -9.16629423e-03 -9.46937484e+01] [ 1.23977529e-02 3.09821689e-04 9.99923097e-01 -5.01849052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.646559995 meters 0.01694214917002745 Centerline is valid? [True, True] Translation: X:148.70, Y:-94.65, Z:-5.02 [[-6.54700105e-01 -7.55839467e-01 8.62973352e-03 1.48695951e+02] [ 7.55780291e-01 -6.54756896e-01 -9.46351211e-03 -9.46509047e+01] [ 1.28032735e-02 3.26420143e-04 9.99917981e-01 -5.01850375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7065599949999 meters 0.016214745821077188 Centerline is valid? [True, True] Translation: X:148.66, Y:-94.61, Z:-5.02 [[-6.55803077e-01 -7.54884271e-01 8.48890649e-03 1.48658433e+02] [ 7.54826997e-01 -6.55857945e-01 -9.30376857e-03 -9.46062984e+01] [ 1.25907853e-02 3.06215734e-04 9.99920686e-01 -5.01809823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.766559995 meters 0.015061803322413449 Centerline is valid? [True, True] Translation: X:148.63, Y:-94.56, Z:-5.02 [[-6.60089076e-01 -7.51136146e-01 8.76937815e-03 1.48625162e+02] [ 7.51074765e-01 -6.60147279e-01 -9.60560533e-03 -9.45585705e+01] [ 1.30041985e-02 2.45903488e-04 9.99915412e-01 -5.01868140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8265599949999 meters 0.014042996202688974 Centerline is valid? [True, True] Translation: X:148.59, Y:-94.51, Z:-5.02 [[-6.63414807e-01 -7.48191775e-01 9.47949629e-03 1.48590866e+02] [ 7.48119831e-01 -6.63482497e-01 -1.03775625e-02 -9.45117852e+01] [ 1.40538868e-02 2.07170505e-04 9.99901218e-01 -5.01959104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.886559995 meters 0.013265083489769153 Centerline is valid? [True, True] Translation: X:148.56, Y:-94.46, Z:-5.02 [[-6.68057627e-01 -7.44029950e-01 1.08830779e-02 1.48559172e+02] [ 7.43934673e-01 -6.68146252e-01 -1.19074816e-02 -9.44628998e+01] [ 1.61310106e-02 1.41415102e-04 9.99869877e-01 -5.02127137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9465599949999 meters 0.012958023906500592 Centerline is valid? [True, True] Translation: X:148.53, Y:-94.42, Z:-5.02 [[-6.71468754e-01 -7.40944889e-01 1.14185794e-02 1.48525838e+02] [ 7.40839689e-01 -6.71565831e-01 -1.24855983e-02 -9.44164197e+01] [ 1.69194680e-02 7.56477105e-05 9.99856853e-01 -5.02161126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.006559995 meters 0.013039170211981676 Centerline is valid? [True, True] Translation: X:148.50, Y:-94.37, Z:-5.02 [[-6.76701573e-01 -7.36166342e-01 1.15801125e-02 1.48495561e+02] [ 7.36057572e-01 -6.76800647e-01 -1.26544516e-02 -9.43664740e+01] [ 1.71532090e-02 -3.96578820e-05 9.99852872e-01 -5.02155759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0665599949999 meters 0.014178146141486431 Centerline is valid? [True, True] Translation: X:148.47, Y:-94.32, Z:-5.02 [[-6.82575938e-01 -7.30727722e-01 1.12732036e-02 1.48466881e+02] [ 7.30623975e-01 -6.82669003e-01 -1.23142181e-02 -9.43157270e+01] [ 1.66942072e-02 -1.68916174e-04 9.99860628e-01 -5.02070922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.126559995 meters 0.015852140040957904 Centerline is valid? [True, True] Translation: X:148.44, Y:-94.26, Z:-5.02 [[-6.87734146e-01 -7.25889909e-01 1.02754335e-02 1.48436607e+02] [ 7.25803262e-01 -6.87810856e-01 -1.12183490e-02 -9.42648161e+01] [ 1.52108411e-02 -2.57298540e-04 9.99884275e-01 -5.01944411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1865599949999 meters 0.01732560853212895 Centerline is valid? [True, True] Translation: X:148.40, Y:-94.22, Z:-5.02 [[-6.90547754e-01 -7.23213194e-01 1.03186576e-02 1.48402991e+02] [ 7.23125607e-01 -6.90624773e-01 -1.12596533e-02 -9.42170123e+01] [ 1.52694504e-02 -3.13642745e-04 9.99883366e-01 -5.01887341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.246559995 meters 0.01724324125960696 Centerline is valid? [True, True] Translation: X:148.37, Y:-94.17, Z:-5.02 [[-6.94235383e-01 -7.19690261e-01 9.11923623e-03 1.48368811e+02] [ 7.19621626e-01 -6.94295190e-01 -9.94504783e-03 -9.41702112e+01] [ 1.34887959e-02 -3.41804483e-04 9.99908964e-01 -5.01582557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3065599949999 meters 0.018526369265148775 Centerline is valid? [True, True] Translation: X:148.33, Y:-94.13, Z:-5.02 [[-6.96351794e-01 -7.17654540e-01 8.13263393e-03 1.48334481e+02] [ 7.17599860e-01 -6.96399201e-01 -8.86528891e-03 -9.41250495e+01] [ 1.20257746e-02 -3.37382866e-04 9.99927631e-01 -5.01543315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.366559995 meters 0.018787981673266677 Centerline is valid? [True, True] Translation: X:148.30, Y:-94.08, Z:-5.02 [[-6.96146460e-01 -7.17857673e-01 7.77612263e-03 1.48296566e+02] [ 7.17807753e-01 -6.96189817e-01 -8.47157492e-03 -9.40819674e+01] [ 1.14950425e-02 -3.15695777e-04 9.99933880e-01 -5.01544370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4265599949999 meters 0.01772732918857868 Centerline is valid? [True, True] Translation: X:148.26, Y:-94.04, Z:-5.02 [[-6.94219463e-01 -7.19725099e-01 7.42424388e-03 1.48256742e+02] [ 7.19679749e-01 -6.94259109e-01 -8.08384809e-03 -9.40402198e+01] [ 1.09724973e-02 -2.68886709e-04 9.99939764e-01 -5.01544438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.486559995 meters 0.01626302694326674 Centerline is valid? [True, True] Translation: X:148.22, Y:-94.00, Z:-5.02 [[-6.89561208e-01 -7.24190251e-01 7.33624188e-03 1.48215455e+02] [ 7.24146273e-01 -6.89600205e-01 -7.98328742e-03 -9.40012619e+01] [ 1.08404928e-02 -1.92453110e-04 9.99941222e-01 -5.01681652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5465599949999 meters 0.015062076833142486 Centerline is valid? [True, True] Translation: X:148.17, Y:-93.96, Z:-5.02 [[-6.86296446e-01 -7.27282983e-01 7.52666422e-03 1.48173471e+02] [ 7.27236929e-01 -6.86337702e-01 -8.18578676e-03 -9.39618940e+01] [ 1.11192168e-02 -1.44208182e-04 9.99938169e-01 -5.01801079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.606559995 meters 0.0136780299071993 Centerline is valid? [True, True] Translation: X:148.13, Y:-93.92, Z:-5.02 [[-6.83812374e-01 -7.29617004e-01 7.72425407e-03 1.48130725e+02] [ 7.29568701e-01 -6.83855990e-01 -8.39616206e-03 -9.39224907e+01] [ 1.14082600e-02 -1.06025505e-04 9.99934918e-01 -5.01744446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.666559995 meters 0.012877130493260659 Centerline is valid? [True, True] Translation: X:148.09, Y:-93.88, Z:-5.02 [[-6.81373714e-01 -7.31901740e-01 7.05015262e-03 1.48087946e+02] [ 7.31861666e-01 -6.81410185e-01 -7.65910197e-03 -9.38827289e+01] [ 1.04097559e-02 -5.89743167e-05 9.99945815e-01 -5.01648904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.726559995 meters 0.01267750986149501 Centerline is valid? [True, True] Translation: X:148.05, Y:-93.84, Z:-5.02 [[-6.80292713e-01 -7.32911258e-01 6.55080439e-03 1.48047879e+02] [ 7.32876750e-01 -6.80324251e-01 -7.11217120e-03 -9.38417609e+01] [ 9.66926143e-03 -3.74260090e-05 9.99953251e-01 -5.01605713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.786559995 meters 0.012978589012533171 Centerline is valid? [True, True] Translation: X:148.01, Y:-93.80, Z:-5.02 [[-6.81057075e-01 -7.32203788e-01 6.23491071e-03 1.48009890e+02] [ 7.32172538e-01 -6.81085613e-01 -6.76480534e-03 -9.38000390e+01] [ 9.19972407e-03 -4.21881382e-05 9.99957681e-01 -5.01711640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8465599949999 meters 0.013290293094501995 Centerline is valid? [True, True] Translation: X:147.97, Y:-93.76, Z:-5.02 [[-6.82401093e-01 -7.30947502e-01 6.67061645e-03 1.47972042e+02] [ 7.30911717e-01 -6.82433693e-01 -7.23302721e-03 -9.37578304e+01] [ 9.83921659e-03 -6.01939465e-05 9.99951592e-01 -5.01767906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.906559995 meters 0.013571490510918776 Centerline is valid? [True, True] Translation: X:147.93, Y:-93.71, Z:-5.02 [[-6.84716853e-01 -7.28773711e-01 7.19092026e-03 1.47933979e+02] [ 7.28732050e-01 -6.84754605e-01 -7.79292674e-03 -9.37142431e+01] [ 1.06032959e-02 -9.56942088e-05 9.99943779e-01 -5.01716931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9665599949999 meters 0.013640993184563941 Centerline is valid? [True, True] Translation: X:147.89, Y:-93.67, Z:-5.02 [[-6.86667647e-01 -7.26940027e-01 6.76312962e-03 1.47894431e+02] [ 7.26903128e-01 -6.86700943e-01 -7.32516535e-03 -9.36716893e+01] [ 9.96920338e-03 -1.13813980e-04 9.99950300e-01 -5.01627978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.026559995 meters 0.014358355652507057 Centerline is valid? [True, True] Translation: X:147.86, Y:-93.63, Z:-5.02 [[-6.87195507e-01 -7.26440964e-01 6.77204127e-03 1.47857762e+02] [ 7.26403982e-01 -6.87228864e-01 -7.33097762e-03 -9.36296894e+01] [ 9.97946468e-03 -1.18577137e-04 9.99950197e-01 -5.01745542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0865599949999 meters 0.013754341724767418 Centerline is valid? [True, True] Translation: X:147.82, Y:-93.59, Z:-5.02 [[-6.86981190e-01 -7.26643340e-01 6.80453008e-03 1.47817285e+02] [ 7.26606059e-01 -6.87014879e-01 -7.36150066e-03 -9.35885245e+01] [ 1.00239988e-02 -1.12999698e-04 9.99949752e-01 -5.01648351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.146559995 meters 0.013645730896119986 Centerline is valid? [True, True] Translation: X:147.78, Y:-93.55, Z:-5.02 [[-6.85201038e-01 -7.28317149e-01 7.32578675e-03 1.47777648e+02] [ 7.28274074e-01 -6.85240192e-01 -7.92158854e-03 -9.35484935e+01] [ 1.07893523e-02 -9.27001267e-05 9.99941789e-01 -5.01759785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2065599949999 meters 0.013234502505049666 Centerline is valid? [True, True] Translation: X:147.74, Y:-93.51, Z:-5.02 [[-6.83334267e-01 -7.30066210e-01 7.59002600e-03 1.47737313e+02] [ 7.30020136e-01 -6.83376416e-01 -8.20217095e-03 -9.35078627e+01] [ 1.11749726e-02 -6.39526621e-05 9.99937556e-01 -5.01728694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.266559995 meters 0.012896350183116913 Centerline is valid? [True, True] Translation: X:147.70, Y:-93.47, Z:-5.02 [[-6.79406631e-01 -7.33719138e-01 7.92813999e-03 1.47696058e+02] [ 7.33669178e-01 -6.79452887e-01 -8.56217058e-03 -9.34683435e+01] [ 1.16690260e-02 -5.63521355e-07 9.99931915e-01 -5.01696278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3265599949999 meters 0.013353199383664102 Centerline is valid? [True, True] Translation: X:147.65, Y:-93.43, Z:-5.02 [[-6.75159992e-01 -7.37629094e-01 7.89333655e-03 1.47652957e+02] [ 7.37579895e-01 -6.75206128e-01 -8.51959943e-03 -9.34307767e+01] [ 1.16139336e-02 6.98736579e-05 9.99932554e-01 -5.01902278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.386559995 meters 0.013510787027570996 Centerline is valid? [True, True] Translation: X:147.61, Y:-93.39, Z:-5.02 [[-6.73113552e-01 -7.39500291e-01 7.58055383e-03 1.47613002e+02] [ 7.39455089e-01 -6.73156229e-01 -8.17694377e-03 -9.33897159e+01] [ 1.11497493e-02 1.01467438e-04 9.99937835e-01 -5.01745939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4465599949999 meters 0.01376058761813288 Centerline is valid? [True, True] Translation: X:147.57, Y:-93.35, Z:-5.02 [[-6.71707900e-01 -7.40784366e-01 6.85707704e-03 1.47573702e+02] [ 7.40747493e-01 -6.71742890e-01 -7.39195094e-03 -9.33483964e+01] [ 1.00820344e-02 1.14130785e-04 9.99949169e-01 -5.01546577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.506559995 meters 0.013991994246152594 Centerline is valid? [True, True] Translation: X:147.53, Y:-93.31, Z:-5.02 [[-6.71181527e-01 -7.41259212e-01 7.08083925e-03 1.47534036e+02] [ 7.41219969e-01 -6.71218865e-01 -7.62848020e-03 -9.33071156e+01] [ 1.04074741e-02 1.28364450e-04 9.99945833e-01 -5.01555350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5665599949999 meters 0.014755553091873033 Centerline is valid? [True, True] Translation: X:147.49, Y:-93.27, Z:-5.02 [[-6.69680774e-01 -7.42606553e-01 7.94786130e-03 1.47493135e+02] [ 7.42557259e-01 -6.69727914e-01 -8.55795402e-03 -9.32657206e+01] [ 1.16780973e-02 1.70644821e-04 9.99931794e-01 -5.01700947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.626559995 meters 0.016228545151677588 Centerline is valid? [True, True] Translation: X:147.45, Y:-93.22, Z:-5.02 [[-6.66847824e-01 -7.45136384e-01 9.26004471e-03 1.47452201e+02] [ 7.45069784e-01 -6.66912067e-01 -9.96555722e-03 -9.32244349e+01] [ 1.36013348e-02 2.53869359e-04 9.99907465e-01 -5.01877002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6865599949999 meters 0.017059376875224238 Centerline is valid? [True, True] Translation: X:147.41, Y:-93.18, Z:-5.02 [[-6.63368768e-01 -7.48227781e-01 9.85218172e-03 1.47412912e+02] [ 7.48152821e-01 -6.63441837e-01 -1.05965334e-02 -9.31821539e+01] [ 1.44649702e-02 3.41528227e-04 9.99895319e-01 -5.01814890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.746559995 meters 0.017486927113702703 Centerline is valid? [True, True] Translation: X:147.37, Y:-93.14, Z:-5.02 [[-6.61179441e-01 -7.50161722e-01 9.95677759e-03 1.47374315e+02] [ 7.50085473e-01 -6.61254291e-01 -1.07026168e-02 -9.31394060e+01] [ 1.46126554e-02 3.92084004e-04 9.99893153e-01 -5.01751938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8065599949999 meters 0.018761376246529363 Centerline is valid? [True, True] Translation: X:147.34, Y:-93.10, Z:-5.02 [[-6.59564673e-01 -7.51577891e-01 1.02525728e-02 1.47336794e+02] [ 7.51497313e-01 -6.59644207e-01 -1.10140509e-02 -9.30954943e+01] [ 1.50409674e-02 4.40302079e-04 9.99886781e-01 -5.01786823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.866559995 meters 0.018123670561541076 Centerline is valid? [True, True] Translation: X:147.30, Y:-93.05, Z:-5.02 [[-6.58577313e-01 -7.52446137e-01 1.00366180e-02 1.47302151e+02] [ 7.52369110e-01 -6.58653630e-01 -1.07758348e-02 -9.30485445e+01] [ 1.47188901e-02 4.54521010e-04 9.99891568e-01 -5.01533857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9265599949999 meters 0.019161346451563085 Centerline is valid? [True, True] Translation: X:147.26, Y:-93.01, Z:-5.02 [[-6.58347722e-01 -7.52657158e-01 9.24555323e-03 1.47264645e+02] [ 7.52591906e-01 -6.58412500e-01 -9.91981257e-03 -9.30062755e+01] [ 1.35536057e-02 4.27442524e-04 9.99908054e-01 -5.01537336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.986559995 meters 0.01974439470127669 Centerline is valid? [True, True] Translation: X:147.23, Y:-92.96, Z:-5.02 [[-6.57501883e-01 -7.53393777e-01 9.43885321e-03 1.47228651e+02] [ 7.53325922e-01 -6.57569472e-01 -1.01215140e-02 -9.29604595e+01] [ 1.38321874e-02 4.55618313e-04 9.99904227e-01 -5.01552608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0465599949999 meters 0.02046738480075333 Centerline is valid? [True, True] Translation: X:147.19, Y:-92.91, Z:-5.02 [[-6.57414671e-01 -7.53464364e-01 9.86930776e-03 1.47193178e+02] [ 7.53390272e-01 -6.57488571e-01 -1.05772274e-02 -9.29137228e+01] [ 1.44585210e-02 4.81815959e-04 9.99895354e-01 -5.01626050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.106559995 meters 0.020419233871015928 Centerline is valid? [True, True] Translation: X:147.16, Y:-92.87, Z:-5.02 [[-6.57865032e-01 -7.53069654e-01 9.98482466e-03 1.47157675e+02] [ 7.52993869e-01 -6.57940623e-01 -1.06943699e-02 -9.28691912e+01] [ 1.46230272e-02 4.83059769e-04 9.99892961e-01 -5.01625383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.166559995 meters 0.020147474002354854 Centerline is valid? [True, True] Translation: X:147.12, Y:-92.82, Z:-5.01 [[-6.57388515e-01 -7.53500377e-01 8.80465523e-03 1.47123588e+02] [ 7.53441565e-01 -6.57447329e-01 -9.42437269e-03 -9.28229026e+01] [ 1.28898654e-02 4.38318841e-04 9.99916826e-01 -5.01426871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.226559995 meters 0.02002877685843538 Centerline is valid? [True, True] Translation: X:147.09, Y:-92.78, Z:-5.01 [[-6.56591793e-01 -7.54202591e-01 8.10362539e-03 1.47086463e+02] [ 7.54152883e-01 -6.56641665e-01 -8.66905232e-03 -9.27780789e+01] [ 1.18593998e-02 4.19343849e-04 9.99929587e-01 -5.01371023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.286559995 meters 0.02128885916353963 Centerline is valid? [True, True] Translation: X:147.05, Y:-92.73, Z:-5.02 [[-6.55932626e-01 -7.54771329e-01 8.52237135e-03 1.47049446e+02] [ 7.54716467e-01 -6.55987830e-01 -9.11157606e-03 -9.27343479e+01] [ 1.24677283e-02 4.55393987e-04 9.99922171e-01 -5.01566679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3465599949999 meters 0.020825038445519993 Centerline is valid? [True, True] Translation: X:147.01, Y:-92.69, Z:-5.02 [[-6.56138446e-01 -7.54587939e-01 8.90969251e-03 1.47011936e+02] [ 7.54528039e-01 -6.56198762e-01 -9.51960839e-03 -9.26909288e+01] [ 1.30299109e-02 4.76431762e-04 9.99914994e-01 -5.01578354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.406559995 meters 0.019891796860384475 Centerline is valid? [True, True] Translation: X:146.98, Y:-92.64, Z:-5.02 [[-6.57554229e-01 -7.53348337e-01 9.41905708e-03 1.46977237e+02] [ 7.53281344e-01 -6.57621511e-01 -1.00580830e-02 -9.26436832e+01] [ 1.37714147e-02 4.81464938e-04 9.99905054e-01 -5.01618390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4665599949999 meters 0.018983961461405092 Centerline is valid? [True, True] Translation: X:146.94, Y:-92.60, Z:-5.01 [[-6.60214348e-01 -7.51024558e-01 8.89540065e-03 1.46943352e+02] [ 7.50964669e-01 -6.60274143e-01 -9.49329920e-03 -9.25965442e+01] [ 1.30031039e-02 4.12519256e-04 9.99915371e-01 -5.01496334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.526559995 meters 0.018333695403872113 Centerline is valid? [True, True] Translation: X:146.91, Y:-92.55, Z:-5.01 [[-6.62014809e-01 -7.49439870e-01 8.73347545e-03 1.46907129e+02] [ 7.49382072e-01 -6.62072306e-01 -9.31516163e-03 -9.25510789e+01] [ 1.27633458e-02 3.77934979e-04 9.99918474e-01 -5.01435265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5865599949999 meters 0.01795832238983004 Centerline is valid? [True, True] Translation: X:146.87, Y:-92.51, Z:-5.01 [[-6.63655796e-01 -7.47994405e-01 8.08425799e-03 1.46871356e+02] [ 7.47944831e-01 -6.63704952e-01 -8.61782277e-03 -9.25053576e+01] [ 1.18116453e-02 3.27310946e-04 9.99930187e-01 -5.01461731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.646559995 meters 0.01734281339645655 Centerline is valid? [True, True] Translation: X:146.84, Y:-92.46, Z:-5.01 [[-6.65230021e-01 -7.46601111e-01 7.47000788e-03 1.46835439e+02] [ 7.46558742e-01 -6.65271901e-01 -7.95879316e-03 -9.24586080e+01] [ 1.09116302e-02 2.82371551e-04 9.99940427e-01 -5.01387743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7065599949999 meters 0.016614732128336727 Centerline is valid? [True, True] Translation: X:146.80, Y:-92.41, Z:-5.01 [[-6.67289992e-01 -7.44762307e-01 7.29201104e-03 1.46798511e+02] [ 7.44721870e-01 -6.67329787e-01 -7.76475689e-03 -9.24132926e+01] [ 1.06490744e-02 2.49175539e-04 9.99943266e-01 -5.01311712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.766559995 meters 0.015132642816047776 Centerline is valid? [True, True] Translation: X:146.76, Y:-92.37, Z:-5.01 [[-6.71473695e-01 -7.40995552e-01 6.97627244e-03 1.46762597e+02] [ 7.40958366e-01 -6.71509909e-01 -7.42577853e-03 -9.23672288e+01] [ 1.01871049e-02 1.82912479e-04 9.99948093e-01 -5.01294293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8265599949999 meters 0.014762581142752298 Centerline is valid? [True, True] Translation: X:146.72, Y:-92.32, Z:-5.01 [[-6.73431774e-01 -7.39221351e-01 6.43737227e-03 1.46724416e+02] [ 7.39189633e-01 -6.73462525e-01 -6.84930716e-03 -9.23245263e+01] [ 9.39848307e-03 1.45897774e-04 9.99955823e-01 -5.01269964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.886559995 meters 0.014435299246108122 Centerline is valid? [True, True] Translation: X:146.68, Y:-92.28, Z:-5.01 [[-6.73884817e-01 -7.38806218e-01 6.68019506e-03 1.46684684e+02] [ 7.38772082e-01 -6.73917910e-01 -7.10358116e-03 -9.22825530e+01] [ 9.75007303e-03 1.48146122e-04 9.99952456e-01 -5.01239402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9465599949999 meters 0.014785898624379129 Centerline is valid? [True, True] Translation: X:146.64, Y:-92.24, Z:-5.02 [[-6.74695829e-01 -7.38060028e-01 7.27554849e-03 1.46643772e+02] [ 7.38019533e-01 -6.74735038e-01 -7.73283727e-03 -9.22443035e+01] [ 1.06163656e-02 1.52183846e-04 9.99943633e-01 -5.01517288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.006559995 meters 0.014831196783827008 Centerline is valid? [True, True] Translation: X:146.60, Y:-92.21, Z:-5.02 [[-6.75039787e-01 -7.37747581e-01 7.05636091e-03 1.46603744e+02] [ 7.37709522e-01 -6.75076651e-01 -7.49507434e-03 -9.22050074e+01] [ 1.02930575e-02 1.46071248e-04 9.99947014e-01 -5.01616876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0665599949999 meters 0.01414933906161979 Centerline is valid? [True, True] Translation: X:146.57, Y:-92.16, Z:-5.01 [[-6.75938502e-01 -7.36927619e-01 6.69521485e-03 1.46565986e+02] [ 7.36893360e-01 -6.75971647e-01 -7.10697045e-03 -9.21623156e+01] [ 9.76309823e-03 1.29784407e-04 9.99952331e-01 -5.01418164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.126559995 meters 0.01385885039480486 Centerline is valid? [True, True] Translation: X:146.52, Y:-92.12, Z:-5.02 [[-6.77875639e-01 -7.35147956e-01 6.48852657e-03 1.46524552e+02] [ 7.35115734e-01 -6.77906684e-01 -6.88375517e-03 -9.21212575e+01] [ 9.45919407e-03 1.03488041e-04 9.99955256e-01 -5.01542334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1865599949999 meters 0.013469940021428478 Centerline is valid? [True, True] Translation: X:146.48, Y:-92.08, Z:-5.01 [[-6.79217463e-01 -7.33909835e-01 6.32394430e-03 1.46484738e+02] [ 7.33879213e-01 -6.79246896e-01 -6.70486845e-03 -9.20798996e+01] [ 9.21628844e-03 8.69475271e-05 9.99957525e-01 -5.01491175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.246559995 meters 0.013223362439025929 Centerline is valid? [True, True] Translation: X:146.45, Y:-92.04, Z:-5.01 [[-6.80713673e-01 -7.32526670e-01 5.79423088e-03 1.46445618e+02] [ 7.32500946e-01 -6.80738330e-01 -6.13933477e-03 -9.20386144e+01] [ 8.44158150e-03 6.51504801e-05 9.99964367e-01 -5.01403376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3065599949999 meters 0.013144906243480595 Centerline is valid? [True, True] Translation: X:146.41, Y:-92.00, Z:-5.01 [[-6.81627605e-01 -7.31677624e-01 5.62686584e-03 1.46405697e+02] [ 7.31653363e-01 -6.81650828e-01 -5.95860008e-03 -9.19965723e+01] [ 8.19533211e-03 5.53690109e-05 9.99966416e-01 -5.01354662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.366559995 meters 0.013305821927525148 Centerline is valid? [True, True] Translation: X:146.37, Y:-91.96, Z:-5.01 [[-6.82200114e-01 -7.31142336e-01 5.82147747e-03 1.46365096e+02] [ 7.31116381e-01 -6.82224950e-01 -6.16077164e-03 -9.19557506e+01] [ 8.47595814e-03 5.32984283e-05 9.99964077e-01 -5.01372969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4265599949999 meters 0.013329943080591758 Centerline is valid? [True, True] Translation: X:146.32, Y:-91.91, Z:-5.01 [[-6.81505104e-01 -7.31790069e-01 5.83851131e-03 1.46324435e+02] [ 7.31764016e-01 -6.81530110e-01 -6.17527433e-03 -9.19142213e+01] [ 8.49812569e-03 6.39315104e-05 9.99963888e-01 -5.01325875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.486559995 meters 0.013807221693719781 Centerline is valid? [True, True] Translation: X:146.28, Y:-91.87, Z:-5.01 [[-6.79782820e-01 -7.33387757e-01 6.14126405e-03 1.46283504e+02] [ 7.33359031e-01 -6.79810554e-01 -6.49178284e-03 -9.18734519e+01] [ 8.93589018e-03 9.07490054e-05 9.99960070e-01 -5.01288237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5465599949999 meters 0.014261872835244018 Centerline is valid? [True, True] Translation: X:146.24, Y:-91.83, Z:-5.01 [[-6.79083782e-01 -7.34037396e-01 5.85810131e-03 1.46243382e+02] [ 7.34011317e-01 -6.79109042e-01 -6.18832879e-03 -9.18334162e+01] [ 8.52075432e-03 9.75189305e-05 9.99963693e-01 -5.01326602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.606559995 meters 0.014749792056171258 Centerline is valid? [True, True] Translation: X:146.20, Y:-91.79, Z:-5.01 [[-6.78150651e-01 -7.34905746e-01 5.02386116e-03 1.46203036e+02] [ 7.34886613e-01 -6.78169253e-01 -5.30376651e-03 -9.17922692e+01] [ 7.30479665e-03 9.52155981e-05 9.99973315e-01 -5.01236047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.666559995 meters 0.014554748802228614 Centerline is valid? [True, True] Translation: X:146.16, Y:-91.75, Z:-5.01 [[-6.77542975e-01 -7.35465220e-01 5.14072418e-03 1.46163202e+02] [ 7.35445227e-01 -6.77562468e-01 -5.42403310e-03 -9.17501021e+01] [ 7.47234946e-03 1.05705543e-04 9.99972076e-01 -5.01197552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.726559995 meters 0.015215185672698356 Centerline is valid? [True, True] Translation: X:146.12, Y:-91.71, Z:-5.01 [[-6.76279474e-01 -7.36622453e-01 5.78224380e-03 1.46122277e+02] [ 7.36597231e-01 -6.76304179e-01 -6.09725646e-03 -9.17101121e+01] [ 8.40193166e-03 1.35735380e-04 9.99964694e-01 -5.01318936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.786559995 meters 0.015881627790591286 Centerline is valid? [True, True] Translation: X:146.08, Y:-91.67, Z:-5.01 [[-6.74179182e-01 -7.38542394e-01 6.12882521e-03 1.46079923e+02] [ 7.38514169e-01 -6.74207017e-01 -6.45908369e-03 -9.16700026e+01] [ 8.90240410e-03 1.71644501e-04 9.99960358e-01 -5.01438484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8465599949999 meters 0.016005689374176558 Centerline is valid? [True, True] Translation: X:146.04, Y:-91.63, Z:-5.01 [[-6.72786084e-01 -7.39811454e-01 6.15612979e-03 1.46039651e+02] [ 7.39783065e-01 -6.72814221e-01 -6.48388526e-03 -9.16289077e+01] [ 8.93878425e-03 1.91932791e-04 9.99960030e-01 -5.01441027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.906559995 meters 0.016278867683811538 Centerline is valid? [True, True] Translation: X:146.00, Y:-91.59, Z:-5.01 [[-6.72764121e-01 -7.39832254e-01 6.05580412e-03 1.45999808e+02] [ 7.39804816e-01 -6.72791349e-01 -6.37457138e-03 -9.15863631e+01] [ 8.79040613e-03 1.91530146e-04 9.99961345e-01 -5.01397674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9665599949999 meters 0.01646641035908481 Centerline is valid? [True, True] Translation: X:145.96, Y:-91.54, Z:-5.01 [[-6.72926767e-01 -7.39691881e-01 5.04853516e-03 1.45961116e+02] [ 7.39672832e-01 -6.72945686e-01 -5.31089375e-03 -9.15435987e+01] [ 7.32581494e-03 1.60421736e-04 9.99973153e-01 -5.01252822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.026559995 meters 0.016102580846531885 Centerline is valid? [True, True] Translation: X:145.92, Y:-91.50, Z:-5.01 [[-6.73138653e-01 -7.39499327e-01 5.00998739e-03 1.45921405e+02] [ 7.39480585e-01 -6.73157278e-01 -5.26730826e-03 -9.15006749e+01] [ 7.26768038e-03 1.59159615e-04 9.99973577e-01 -5.01238681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0865599949999 meters 0.017179162154947837 Centerline is valid? [True, True] Translation: X:145.88, Y:-91.46, Z:-5.01 [[-6.74117576e-01 -7.38604513e-01 5.37284761e-03 1.45882008e+02] [ 7.38582959e-01 -6.74138967e-01 -5.64500632e-03 -9.14608962e+01] [ 7.79147308e-03 1.62895707e-04 9.99969633e-01 -5.01452377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.146559995 meters 0.015137598539005431 Centerline is valid? [True, True] Translation: X:145.85, Y:-91.41, Z:-5.01 [[-6.77624890e-01 -7.35387040e-01 5.51455137e-03 1.45847682e+02] [ 7.35364254e-01 -6.77647315e-01 -5.79055947e-03 -9.14132811e+01] [ 7.99522332e-03 1.31376727e-04 9.99968029e-01 -5.01488498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2065599949999 meters 0.014433046166971924 Centerline is valid? [True, True] Translation: X:145.81, Y:-91.37, Z:-5.01 [[-6.80968380e-01 -7.32296840e-01 4.83764041e-03 1.45811447e+02] [ 7.32279247e-01 -6.80985558e-01 -5.07685875e-03 -9.13678385e+01] [ 7.01213088e-03 8.53234002e-05 9.99975411e-01 -5.01430023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.266559995 meters 0.013887818989506308 Centerline is valid? [True, True] Translation: X:145.77, Y:-91.32, Z:-5.01 [[-6.84458374e-01 -7.29039729e-01 4.21985147e-03 1.45774693e+02] [ 7.29026296e-01 -6.84471381e-01 -4.42600039e-03 -9.13228047e+01] [ 6.11509769e-03 4.69696551e-05 9.99981302e-01 -5.01403365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3265599949999 meters 0.013540554928986702 Centerline is valid? [True, True] Translation: X:145.74, Y:-91.28, Z:-5.01 [[-6.87574093e-01 -7.26104178e-01 3.81952932e-03 1.45737704e+02] [ 7.26093140e-01 -6.87584701e-01 -4.00383181e-03 -9.12784014e+01] [ 5.53344894e-03 2.04030096e-05 9.99984690e-01 -5.01367532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.386559995 meters 0.013581106146705416 Centerline is valid? [True, True] Translation: X:145.70, Y:-91.23, Z:-5.01 [[-6.91078678e-01 -7.22768295e-01 4.03136726e-03 1.45700911e+02] [ 7.22755957e-01 -6.91090437e-01 -4.22319126e-03 -9.12349885e+01] [ 5.83842811e-03 -4.86273692e-06 9.99982956e-01 -5.01441594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4465599949999 meters 0.01370408673575491 Centerline is valid? [True, True] Translation: X:145.66, Y:-91.19, Z:-5.01 [[-6.93494133e-01 -7.20450649e-01 4.09272790e-03 1.45661246e+02] [ 7.20437906e-01 -6.93506209e-01 -4.28503712e-03 -9.11925605e+01] [ 5.92548999e-03 -2.30917830e-05 9.99982444e-01 -5.01489369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.506559995 meters 0.013792084385608864 Centerline is valid? [True, True] Translation: X:145.62, Y:-91.15, Z:-5.02 [[-6.94734589e-01 -7.19255238e-01 3.96907107e-03 1.45621560e+02] [ 7.19243249e-01 -6.94745926e-01 -4.15281392e-03 -9.11525660e+01] [ 5.74442912e-03 -3.03758963e-05 9.99983500e-01 -5.01515038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5665599949999 meters 0.013903395875731613 Centerline is valid? [True, True] Translation: X:145.58, Y:-91.11, Z:-5.02 [[-6.96006618e-01 -7.18022612e-01 4.27971687e-03 1.45580841e+02] [ 7.18008668e-01 -6.96019774e-01 -4.47502303e-03 -9.11123740e+01] [ 6.19193529e-03 -4.17718337e-05 9.99980829e-01 -5.01588239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.626559995 meters 0.013795761275718342 Centerline is valid? [True, True] Translation: X:145.54, Y:-91.07, Z:-5.01 [[-6.95401901e-01 -7.18613431e-01 3.30640914e-03 1.45539000e+02] [ 7.18605125e-01 -6.95409761e-01 -3.45514645e-03 -9.10730693e+01] [ 4.78222384e-03 -2.67128545e-05 9.99988565e-01 -5.01450598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6865599949999 meters 0.013643455158190779 Centerline is valid? [True, True] Translation: X:145.50, Y:-91.03, Z:-5.01 [[-6.94330202e-01 -7.19650331e-01 2.99544838e-03 1.45495903e+02] [ 7.19643531e-01 -6.94336663e-01 -3.12836077e-03 -9.10343649e+01] [ 4.33117549e-03 -1.64603099e-05 9.99990620e-01 -5.01369120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.746559995 meters 0.013518786372417 Centerline is valid? [True, True] Translation: X:145.45, Y:-91.00, Z:-5.01 [[-6.91494835e-01 -7.22375704e-01 2.86986026e-03 1.45450062e+02] [ 7.22369494e-01 -6.91500790e-01 -2.99529541e-03 -9.09988910e+01] [ 4.14823927e-03 1.86820382e-06 9.99991396e-01 -5.01390293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8065599949999 meters 0.013613773019230068 Centerline is valid? [True, True] Translation: X:145.41, Y:-90.96, Z:-5.01 [[-6.88622111e-01 -7.25113207e-01 3.22892500e-03 1.45406076e+02] [ 7.25105386e-01 -6.88629681e-01 -3.36782950e-03 -9.09631524e+01] [ 4.66559124e-03 2.21490542e-05 9.99989116e-01 -5.01418739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.866559995 meters 0.013899913787591638 Centerline is valid? [True, True] Translation: X:145.36, Y:-90.92, Z:-5.01 [[-6.86484747e-01 -7.27135538e-01 3.54979741e-03 1.45362375e+02] [ 7.27126123e-01 -6.86493924e-01 -3.70043305e-03 -9.09244910e+01] [ 5.12763073e-03 4.08595829e-05 9.99986853e-01 -5.01437710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9265599949999 meters 0.015526412649572077 Centerline is valid? [True, True] Translation: X:145.32, Y:-90.89, Z:-5.02 [[-6.81907607e-01 -7.31428119e-01 3.86280421e-03 1.45315073e+02] [ 7.31417049e-01 -6.81918543e-01 -4.02509316e-03 -9.08908666e+01] [ 5.57818414e-03 8.05792054e-05 9.99984439e-01 -5.01578232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.986559995 meters 0.01674428437690936 Centerline is valid? [True, True] Translation: X:145.27, Y:-90.85, Z:-5.02 [[-6.77105235e-01 -7.35876362e-01 3.80525974e-03 1.45269472e+02] [ 7.35865701e-01 -6.77115917e-01 -3.96293355e-03 -9.08543758e+01] [ 5.49283106e-03 1.16837073e-04 9.99984908e-01 -5.01549085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0465599949999 meters 0.01747342300164195 Centerline is valid? [True, True] Translation: X:145.23, Y:-90.82, Z:-5.01 [[-6.74408254e-01 -7.38349781e-01 3.62044650e-03 1.45225906e+02] [ 7.38340176e-01 -6.74417959e-01 -3.76835172e-03 -9.08152837e+01] [ 5.22405581e-03 1.31713602e-04 9.99986346e-01 -5.01484923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.106559995 meters 0.017417762506915232 Centerline is valid? [True, True] Translation: X:145.18, Y:-90.78, Z:-5.01 [[-6.73334300e-01 -7.39331318e-01 3.18171462e-03 1.45184170e+02] [ 7.39323920e-01 -6.73341805e-01 -3.30968559e-03 -9.07755146e+01] [ 4.58933568e-03 1.23792894e-04 9.99989461e-01 -5.01422990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.166559995 meters 0.019033268601967034 Centerline is valid? [True, True] Translation: X:145.14, Y:-90.74, Z:-5.02 [[-6.70813692e-01 -7.41614869e-01 4.04676375e-03 1.45140657e+02] [ 7.41602958e-01 -6.70825875e-01 -4.20699422e-03 -9.07385440e+01] [ 5.83464330e-03 1.78982639e-04 9.99982962e-01 -5.01520169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.226559995 meters 0.020685555416202844 Centerline is valid? [True, True] Translation: X:145.10, Y:-90.70, Z:-5.02 [[-6.68529569e-01 -7.43664975e-01 5.53361753e-03 1.45096713e+02] [ 7.43642799e-01 -6.68552415e-01 -5.74949300e-03 -9.07006166e+01] [ 7.97520993e-03 2.71328751e-04 9.99968161e-01 -5.01706028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.286559995 meters 0.020579991917174082 Centerline is valid? [True, True] Translation: X:145.06, Y:-90.66, Z:-5.02 [[-6.68093417e-01 -7.44049734e-01 6.41713526e-03 1.45055176e+02] [ 7.44019963e-01 -6.68124157e-01 -6.66374493e-03 -9.06596530e+01] [ 9.24560073e-03 3.22472623e-04 9.99957207e-01 -5.01817190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3465599949999 meters 0.02044242015150494 Centerline is valid? [True, True] Translation: X:145.02, Y:-90.62, Z:-5.02 [[-6.69534574e-01 -7.42754585e-01 6.25141817e-03 1.45015516e+02] [ 7.42726307e-01 -6.69563692e-01 -6.48806953e-03 -9.06174161e+01] [ 9.00476602e-03 2.99105859e-04 9.99959412e-01 -5.01787464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.406559995 meters 0.017304884054672006 Centerline is valid? [True, True] Translation: X:144.98, Y:-90.57, Z:-5.02 [[-6.74134688e-01 -7.38592171e-01 4.90181279e-03 1.44981661e+02] [ 7.38574695e-01 -6.74152481e-01 -5.08444380e-03 -9.05696531e+01] [ 7.05989964e-03 1.92754954e-04 9.99975060e-01 -5.01511529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4665599949999 meters 0.016804644207811387 Centerline is valid? [True, True] Translation: X:144.94, Y:-90.53, Z:-5.02 [[-6.78101898e-01 -7.34954913e-01 4.36941069e-03 1.44944348e+02] [ 7.34940969e-01 -6.78115961e-01 -4.52943813e-03 -9.05263319e+01] [ 6.29189994e-03 1.39838333e-04 9.99980196e-01 -5.01501666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.526559995 meters 0.01443078678035783 Centerline is valid? [True, True] Translation: X:144.91, Y:-90.48, Z:-5.02 [[-6.83724391e-01 -7.29727147e-01 4.38720250e-03 1.44910549e+02] [ 7.29712999e-01 -6.83738460e-01 -4.54507443e-03 -9.04792925e+01] [ 6.31636328e-03 9.38204458e-05 9.99980047e-01 -5.01523823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5865599949999 meters 0.013606100041845766 Centerline is valid? [True, True] Translation: X:144.87, Y:-90.43, Z:-5.02 [[-6.87379213e-01 -7.26276896e-01 5.62917988e-03 1.44874773e+02] [ 7.26253513e-01 -6.87402258e-01 -5.82849547e-03 -9.04328700e+01] [ 8.10261255e-03 8.18250300e-05 9.99967170e-01 -5.01609054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.646559995 meters 0.013368303086244067 Centerline is valid? [True, True] Translation: X:144.84, Y:-90.39, Z:-5.02 [[-6.88612350e-01 -7.25103140e-01 6.20223793e-03 1.44836904e+02] [ 7.25074743e-01 -6.88640276e-01 -6.41777052e-03 -9.03892527e+01] [ 8.92465640e-03 7.77300276e-05 9.99960171e-01 -5.01591553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7065599949999 meters 0.013372905056809109 Centerline is valid? [True, True] Translation: X:144.80, Y:-90.35, Z:-5.02 [[-6.88327684e-01 -7.25373093e-01 6.23499041e-03 1.44796872e+02] [ 7.25344443e-01 -6.88355917e-01 -6.44755564e-03 -9.03488546e+01] [ 8.96877592e-03 8.44846036e-05 9.99959776e-01 -5.01618734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.766559995 meters 0.013761387353557268 Centerline is valid? [True, True] Translation: X:144.76, Y:-90.31, Z:-5.02 [[-6.86655586e-01 -7.26947207e-01 7.20164138e-03 1.44755018e+02] [ 7.26909114e-01 -6.86693339e-01 -7.44300882e-03 -9.03079666e+01] [ 1.03559936e-02 1.24155168e-04 9.99946368e-01 -5.01757789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8265599949999 meters 0.014148424560719297 Centerline is valid? [True, True] Translation: X:144.71, Y:-90.27, Z:-5.02 [[-6.84743939e-01 -7.28736651e-01 8.28436829e-03 1.44714345e+02] [ 7.28686430e-01 -6.84794029e-01 -8.55718538e-03 -9.02663192e+01] [ 1.19090206e-02 1.77225928e-04 9.99929069e-01 -5.01807041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.886559995 meters 0.014530613382220687 Centerline is valid? [True, True] Translation: X:144.67, Y:-90.23, Z:-5.02 [[-6.83592862e-01 -7.29824486e-01 7.55109008e-03 1.44673743e+02] [ 7.29782882e-01 -6.83634542e-01 -7.79480219e-03 -9.02260996e+01] [ 1.08510235e-02 1.82185136e-04 9.99941109e-01 -5.01667894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9465599949999 meters 0.015032344640639014 Centerline is valid? [True, True] Translation: X:144.63, Y:-90.19, Z:-5.02 [[-6.83657495e-01 -7.29773229e-01 6.59271587e-03 1.44633424e+02] [ 7.29741556e-01 -6.83689263e-01 -6.80099654e-03 -9.01866553e+01] [ 9.47055426e-03 1.61426479e-04 9.99955140e-01 -5.01621276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.006559995 meters 0.014340734977338397 Centerline is valid? [True, True] Translation: X:144.60, Y:-90.14, Z:-5.01 [[-6.84751176e-01 -7.28757899e-01 5.26797536e-03 1.44595228e+02] [ 7.28737669e-01 -6.84771429e-01 -5.43139051e-03 -9.01430923e+01] [ 7.56552776e-03 1.19821047e-04 9.99971374e-01 -5.01352260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0665599949999 meters 0.013712178342095068 Centerline is valid? [True, True] Translation: X:144.56, Y:-90.10, Z:-5.01 [[-6.86667984e-01 -7.26955706e-01 4.74130835e-03 1.44555966e+02] [ 7.26939295e-01 -6.86684347e-01 -4.88564910e-03 -9.01001719e+01] [ 6.80743272e-03 9.18245302e-05 9.99976825e-01 -5.01304173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.126559995 meters 0.013124046646490127 Centerline is valid? [True, True] Translation: X:144.52, Y:-90.06, Z:-5.01 [[-6.88769720e-01 -7.24963663e-01 4.89489045e-03 1.44516524e+02] [ 7.24946140e-01 -6.88787109e-01 -5.04103390e-03 -9.00580766e+01] [ 7.02610384e-03 7.64204312e-05 9.99975314e-01 -5.01360718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1865599949999 meters 0.012740968628668033 Centerline is valid? [True, True] Translation: X:144.48, Y:-90.02, Z:-5.02 [[-6.91410986e-01 -7.22436534e-01 6.02513599e-03 1.44478414e+02] [ 7.22409924e-01 -6.91437235e-01 -6.20089067e-03 -9.00167751e+01] [ 8.64575333e-03 6.52540984e-05 9.99962623e-01 -5.01556611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.246559995 meters 0.012556685637267879 Centerline is valid? [True, True] Translation: X:144.44, Y:-89.97, Z:-5.02 [[-6.92903623e-01 -7.20998170e-01 6.79764608e-03 1.44439206e+02] [ 7.20964273e-01 -6.92936964e-01 -6.99155543e-03 -8.99746573e+01] [ 9.75123891e-03 5.63858734e-05 9.99952454e-01 -5.01598460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3065599949999 meters 0.012412433826752011 Centerline is valid? [True, True] Translation: X:144.40, Y:-89.93, Z:-5.02 [[-6.94213187e-01 -7.19727633e-01 7.75797562e-03 1.44399406e+02] [ 7.19683458e-01 -6.94256532e-01 -7.97424640e-03 -8.99337567e+01] [ 1.11253107e-02 4.74597154e-05 9.99938111e-01 -5.01651148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.366559995 meters 0.012415214360604002 Centerline is valid? [True, True] Translation: X:144.36, Y:-89.89, Z:-5.02 [[-6.95246341e-01 -7.18722752e-01 8.37439730e-03 1.44359077e+02] [ 7.18671269e-01 -6.95296774e-01 -8.60247608e-03 -8.98929785e+01] [ 1.20054867e-02 3.75987135e-05 9.99927931e-01 -5.01715896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4265599949999 meters 0.012315225072020167 Centerline is valid? [True, True] Translation: X:144.32, Y:-89.85, Z:-5.02 [[-6.96821683e-01 -7.17201359e-01 7.85831293e-03 1.44320953e+02] [ 7.17155988e-01 -6.96865992e-01 -8.06709980e-03 -8.98515994e+01] [ 1.12619260e-02 1.43061052e-05 9.99936582e-01 -5.01660479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.486559995 meters 0.012229608249121934 Centerline is valid? [True, True] Translation: X:144.28, Y:-89.81, Z:-5.01 [[-6.97844710e-01 -7.16215527e-01 6.93402230e-03 1.44281552e+02] [ 7.16180195e-01 -6.97879158e-01 -7.11393390e-03 -8.98096111e+01] [ 9.93421956e-03 1.58830939e-06 9.99950654e-01 -5.01486120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5465599949999 meters 0.012261043177239295 Centerline is valid? [True, True] Translation: X:144.24, Y:-89.77, Z:-5.01 [[-6.98036709e-01 -7.16033480e-01 6.38813396e-03 1.44241493e+02] [ 7.16003522e-01 -6.98065940e-01 -6.54983547e-03 -8.97687198e+01] [ 9.14924022e-03 1.90081853e-06 9.99958145e-01 -5.01314610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.606559995 meters 0.01235909625078316 Centerline is valid? [True, True] Translation: X:144.20, Y:-89.73, Z:-5.01 [[-6.96809329e-01 -7.17219544e-01 7.27219798e-03 1.44200088e+02] [ 7.17180833e-01 -6.96847275e-01 -7.45169408e-03 -8.97290447e+01] [ 1.04121120e-02 2.30710523e-05 9.99945792e-01 -5.01383677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.666559995 meters 0.012287686889791144 Centerline is valid? [True, True] Translation: X:144.16, Y:-89.69, Z:-5.01 [[-6.95837909e-01 -7.18159022e-01 7.56468395e-03 1.44158421e+02] [ 7.18117237e-01 -6.95879025e-01 -7.74698148e-03 -8.96883187e+01] [ 1.08276695e-02 4.16865567e-05 9.99941378e-01 -5.01325864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.726559995 meters 0.012304976559079904 Centerline is valid? [True, True] Translation: X:144.12, Y:-89.65, Z:-5.01 [[-6.95426794e-01 -7.18562255e-01 7.06119586e-03 1.44117091e+02] [ 7.18525910e-01 -6.95462640e-01 -7.22721458e-03 -8.96474799e+01] [ 1.01040015e-02 4.76535225e-05 9.99948952e-01 -5.01272921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.786559995 meters 0.01224537893604071 Centerline is valid? [True, True] Translation: X:144.08, Y:-89.61, Z:-5.01 [[-6.96148199e-01 -7.17871962e-01 6.12627612e-03 1.44077712e+02] [ 7.17844612e-01 -6.96175154e-01 -6.26633800e-03 -8.96065290e+01] [ 8.76338958e-03 3.54143888e-05 9.99961600e-01 -5.01119415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8465599949999 meters 0.012278730261552248 Centerline is valid? [True, True] Translation: X:144.04, Y:-89.57, Z:-5.01 [[-6.96065244e-01 -7.17957754e-01 5.46266258e-03 1.44038168e+02] [ 7.17936039e-01 -6.96086678e-01 -5.58400829e-03 -8.95657355e+01] [ 7.81156869e-03 3.50082440e-05 9.99969489e-01 -5.01003445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.906559995 meters 0.012459151199689393 Centerline is valid? [True, True] Translation: X:144.00, Y:-89.53, Z:-5.01 [[-6.95358671e-01 -7.18640406e-01 5.68208487e-03 1.43997232e+02] [ 7.18616964e-01 -6.95381884e-01 -5.80464554e-03 -8.95255336e+01] [ 8.12267171e-03 4.69319727e-05 9.99967009e-01 -5.01002109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9665599949999 meters 0.012784624083569403 Centerline is valid? [True, True] Translation: X:143.95, Y:-89.49, Z:-5.01 [[-6.92662240e-01 -7.21231094e-01 6.68801699e-03 1.43954369e+02] [ 7.21198776e-01 -6.92694521e-01 -6.82833616e-03 -8.94865022e+01] [ 9.55756109e-03 9.36590394e-05 9.99954321e-01 -5.01102428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.026559995 meters 0.013293198519191042 Centerline is valid? [True, True] Translation: X:143.91, Y:-89.45, Z:-5.01 [[-6.90981544e-01 -7.22834859e-01 7.36696524e-03 1.43912590e+02] [ 7.22795785e-01 -6.91020802e-01 -7.51698359e-03 -8.94475130e+01] [ 1.05242640e-02 1.30714497e-04 9.99944610e-01 -5.01266082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0865599949999 meters 0.013649863306413169 Centerline is valid? [True, True] Translation: X:143.87, Y:-89.41, Z:-5.01 [[-6.88850741e-01 -7.24854871e-01 8.37091886e-03 1.43871537e+02] [ 7.24804631e-01 -6.88901576e-01 -8.53616432e-03 -8.94069789e+01] [ 1.19542195e-02 1.87137635e-04 9.99928528e-01 -5.01291496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.146559995 meters 0.014139231366257573 Centerline is valid? [True, True] Translation: X:143.83, Y:-89.37, Z:-5.01 [[-6.87609109e-01 -7.26037038e-01 7.99579764e-03 1.43830171e+02] [ 7.25991333e-01 -6.87655567e-01 -8.14899399e-03 -8.93662942e+01] [ 1.14148262e-02 2.01557290e-04 9.99934828e-01 -5.01205432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2065599949999 meters 0.014594121669523667 Centerline is valid? [True, True] Translation: X:143.79, Y:-89.33, Z:-5.01 [[-6.87319963e-01 -7.26330733e-01 5.91047775e-03 1.43790457e+02] [ 7.26305803e-01 -6.87345359e-01 -6.01992032e-03 -8.93253176e+01] [ 8.43499259e-03 1.55202867e-04 9.99964413e-01 -5.01015635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.266559995 meters 0.014476440851009536 Centerline is valid? [True, True] Translation: X:143.75, Y:-89.28, Z:-5.01 [[-6.87799472e-01 -7.25881861e-01 5.23550512e-03 1.43751493e+02] [ 7.25862311e-01 -6.87819385e-01 -5.32911036e-03 -8.92839239e+01] [ 7.46938646e-03 1.34896550e-04 9.99972095e-01 -5.00924955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3265599949999 meters 0.01419653194236944 Centerline is valid? [True, True] Translation: X:143.71, Y:-89.24, Z:-5.01 [[-6.88267217e-01 -7.25442771e-01 4.58528439e-03 1.43712660e+02] [ 7.25427783e-01 -6.88282481e-01 -4.66461032e-03 -8.92408800e+01] [ 6.53987875e-03 1.15794325e-04 9.99978608e-01 -5.00950812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.386559995 meters 0.014800128461263901 Centerline is valid? [True, True] Translation: X:143.67, Y:-89.20, Z:-5.01 [[-6.86602364e-01 -7.27011715e-01 5.58216821e-03 1.43672315e+02] [ 7.26989581e-01 -6.86625036e-01 -5.67532286e-03 -8.91998275e+01] [ 7.95888265e-03 1.61488035e-04 9.99968315e-01 -5.01106705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4465599949999 meters 0.015965936844592694 Centerline is valid? [True, True] Translation: X:143.63, Y:-89.16, Z:-5.01 [[-6.84458584e-01 -7.29021742e-01 6.61404108e-03 1.43630426e+02] [ 7.28990797e-01 -6.84490504e-01 -6.72065562e-03 -8.91590896e+01] [ 9.42675238e-03 2.21564651e-04 9.99955543e-01 -5.01232267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.506559995 meters 0.01772045218480968 Centerline is valid? [True, True] Translation: X:143.59, Y:-89.12, Z:-5.01 [[-6.81770783e-01 -7.31527397e-01 7.50115741e-03 1.43588568e+02] [ 7.31487790e-01 -6.81811984e-01 -7.61783066e-03 -8.91188156e+01] [ 1.06870308e-02 2.93390686e-04 9.99942849e-01 -5.01444490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5665599949999 meters 0.016869527428392973 Centerline is valid? [True, True] Translation: X:143.55, Y:-89.07, Z:-5.01 [[-6.82769997e-01 -7.30599969e-01 6.98692388e-03 1.43551522e+02] [ 7.30565597e-01 -6.82805695e-01 -7.09160963e-03 -8.90738374e+01] [ 9.95184119e-03 2.62467936e-04 9.99950445e-01 -5.01411997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.626559995 meters 0.015230804285127852 Centerline is valid? [True, True] Translation: X:143.52, Y:-89.03, Z:-5.01 [[-6.87949923e-01 -7.25735274e-01 5.76331809e-03 1.43518010e+02] [ 7.25711745e-01 -6.87974045e-01 -5.84601989e-03 -8.90265973e+01] [ 8.20767610e-03 1.60738698e-04 9.99966304e-01 -5.01256277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6865599949999 meters 0.013753896147897047 Centerline is valid? [True, True] Translation: X:143.48, Y:-88.98, Z:-5.01 [[-6.92643197e-01 -7.21263563e-01 4.92688370e-03 1.43483271e+02] [ 7.21246275e-01 -6.92660713e-01 -4.99473411e-03 -8.89799597e+01] [ 7.01517850e-03 9.39279139e-05 9.99975389e-01 -5.01106607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.746559995 meters 0.012686966767521096 Centerline is valid? [True, True] Translation: X:143.45, Y:-88.93, Z:-5.01 [[-6.98416610e-01 -7.15673454e-01 5.07409255e-03 1.43449499e+02] [ 7.15654989e-01 -6.98435041e-01 -5.14105978e-03 -8.89320362e+01] [ 7.22324404e-03 4.06981054e-05 9.99973911e-01 -5.01082829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8065599949999 meters 0.012661822017462946 Centerline is valid? [True, True] Translation: X:143.41, Y:-88.89, Z:-5.01 [[-7.01766636e-01 -7.12377239e-01 6.50067166e-03 1.43414505e+02] [ 7.12346830e-01 -7.01796744e-01 -6.58213270e-03 -8.88876275e+01] [ 9.25111173e-03 1.16117291e-05 9.99957208e-01 -5.01251114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.866559995 meters 0.01273649363991394 Centerline is valid? [True, True] Translation: X:143.38, Y:-88.84, Z:-5.01 [[-7.02980688e-01 -7.11171842e-01 7.26384577e-03 1.43375919e+02] [ 7.11133856e-01 -7.03018215e-01 -7.35041765e-03 -8.88449551e+01] [ 1.03340260e-02 -1.63500271e-06 9.99946603e-01 -5.01381363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9265599949999 meters 0.012827038977743031 Centerline is valid? [True, True] Translation: X:143.34, Y:-88.80, Z:-5.01 [[-7.03720632e-01 -7.10440324e-01 7.19844804e-03 1.43338200e+02] [ 7.10403027e-01 -7.03757448e-01 -7.27965907e-03 -8.88037701e+01] [ 1.02377248e-02 -9.04701214e-06 9.99947593e-01 -5.01425432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.986559995 meters 0.012771494670360234 Centerline is valid? [True, True] Translation: X:143.30, Y:-88.76, Z:-5.01 [[-7.03390207e-01 -7.10771511e-01 6.78796701e-03 1.43298733e+02] [ 7.10738403e-01 -7.03422959e-01 -6.86028675e-03 -8.87633160e+01] [ 9.65090822e-03 -9.89687966e-07 9.99953429e-01 -5.01347159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0465599949999 meters 0.012608886493039978 Centerline is valid? [True, True] Translation: X:143.26, Y:-88.72, Z:-5.01 [[-7.03245276e-01 -7.10915369e-01 6.73948093e-03 1.43258382e+02] [ 7.10882780e-01 -7.03277569e-01 -6.80696468e-03 -8.87231414e+01] [ 9.57890157e-03 4.01518388e-06 9.99954121e-01 -5.01216136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.106559995 meters 0.0126272264519634 Centerline is valid? [True, True] Translation: X:143.22, Y:-88.68, Z:-5.01 [[-7.02130303e-01 -7.12008161e-01 7.57738826e-03 1.43216877e+02] [ 7.11967080e-01 -7.02171189e-01 -7.64845205e-03 -8.86830371e+01] [ 1.07663840e-02 2.46410397e-05 9.99942041e-01 -5.01374271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.166559995 meters 0.012845061992509942 Centerline is valid? [True, True] Translation: X:143.18, Y:-88.64, Z:-5.02 [[-7.00632902e-01 -7.13476016e-01 8.09384628e-03 1.43175775e+02] [ 7.13429287e-01 -7.00679650e-01 -8.16581729e-03 -8.86447859e+01] [ 1.14973082e-02 5.31467215e-05 9.99933902e-01 -5.01564907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.226559995 meters 0.012763990588738887 Centerline is valid? [True, True] Translation: X:143.13, Y:-88.61, Z:-5.01 [[-6.99852586e-01 -7.14246641e-01 7.62196451e-03 1.43134236e+02] [ 7.14205300e-01 -6.99894086e-01 -7.68490664e-03 -8.86054757e+01] [ 1.08234866e-02 6.53456677e-05 9.99941422e-01 -5.01420852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.286559995 meters 0.012681325721982911 Centerline is valid? [True, True] Translation: X:143.09, Y:-88.57, Z:-5.01 [[-6.99960912e-01 -7.14146341e-01 7.05168857e-03 1.43093144e+02] [ 7.14110995e-01 -6.99996429e-01 -7.10542947e-03 -8.85652809e+01] [ 1.00104733e-02 6.21654532e-05 9.99949892e-01 -5.01361034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3465599949999 meters 0.012481795111210593 Centerline is valid? [True, True] Translation: X:143.05, Y:-88.52, Z:-5.01 [[-7.00894537e-01 -7.13234035e-01 6.63769173e-03 1.43052934e+02] [ 7.13202717e-01 -7.00925965e-01 -6.68402584e-03 -8.85249009e+01] [ 9.41980520e-03 4.92225821e-05 9.99955631e-01 -5.01285726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.406559995 meters 0.012427991228846334 Centerline is valid? [True, True] Translation: X:143.01, Y:-88.48, Z:-5.01 [[-7.01453195e-01 -7.12679657e-01 7.14995991e-03 1.43012177e+02] [ 7.12643336e-01 -7.01489632e-01 -7.19528598e-03 -8.84845748e+01] [ 1.01435567e-02 4.82149451e-05 9.99948552e-01 -5.01365150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4665599949999 meters 0.012403416760531642 Centerline is valid? [True, True] Translation: X:142.97, Y:-88.44, Z:-5.01 [[-7.01632155e-01 -7.12502450e-01 7.25105053e-03 1.42970585e+02] [ 7.12465132e-01 -7.01669621e-01 -7.29241388e-03 -8.84445658e+01] [ 1.02837046e-02 4.95286101e-05 9.99947120e-01 -5.01424235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.526559995 meters 0.012489187855566044 Centerline is valid? [True, True] Translation: X:142.93, Y:-88.41, Z:-5.01 [[-7.01400230e-01 -7.12730367e-01 7.28983173e-03 1.42929835e+02] [ 7.12692711e-01 -7.01438109e-01 -7.32660851e-03 -8.84059853e+01] [ 1.03352622e-02 5.65250513e-05 9.99946588e-01 -5.01477354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5865599949999 meters 0.01265535231523688 Centerline is valid? [True, True] Translation: X:142.89, Y:-88.37, Z:-5.02 [[-7.00919591e-01 -7.13192968e-01 8.21686622e-03 1.42888584e+02] [ 7.13145214e-01 -7.00967749e-01 -8.25342226e-03 -8.83657287e+01] [ 1.16460409e-02 7.48334696e-05 9.99932180e-01 -5.01563895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.646559995 meters 0.012762471161874848 Centerline is valid? [True, True] Translation: X:142.85, Y:-88.33, Z:-5.02 [[-7.00750174e-01 -7.13351947e-01 8.84271485e-03 1.42847363e+02] [ 7.13296724e-01 -7.00805959e-01 -8.87643057e-03 -8.83254391e+01] [ 1.25290463e-02 8.73192716e-05 9.99921505e-01 -5.01638712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7065599949999 meters 0.012630081369669435 Centerline is valid? [True, True] Translation: X:142.81, Y:-88.28, Z:-5.02 [[-7.01161446e-01 -7.12950947e-01 8.57746824e-03 1.42806247e+02] [ 7.12899017e-01 -7.01213905e-01 -8.60528711e-03 -8.82844016e+01] [ 1.21497876e-02 8.11731247e-05 9.99926185e-01 -5.01585679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.766559995 meters 0.012634417776348814 Centerline is valid? [True, True] Translation: X:142.77, Y:-88.24, Z:-5.02 [[-7.01640602e-01 -7.12480136e-01 8.51600907e-03 1.42765869e+02] [ 7.12428977e-01 -7.01692276e-01 -8.53824831e-03 -8.82444658e+01] [ 1.20589501e-02 7.62699484e-05 9.99927285e-01 -5.01627211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8265599949999 meters 0.012535962957539571 Centerline is valid? [True, True] Translation: X:142.73, Y:-88.20, Z:-5.01 [[-7.02416791e-01 -7.11718843e-01 8.18167419e-03 1.42725555e+02] [ 7.11671626e-01 -7.02464436e-01 -8.19835639e-03 -8.82031503e+01] [ 1.15822599e-02 6.40021763e-05 9.99932921e-01 -5.01483440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.886559995 meters 0.012526577703506939 Centerline is valid? [True, True] Translation: X:142.69, Y:-88.16, Z:-5.01 [[-7.03202605e-01 -7.10943894e-01 8.05459610e-03 1.42685070e+02] [ 7.10898140e-01 -7.03248730e-01 -8.06586764e-03 -8.81620239e+01] [ 1.13987638e-02 5.40582511e-05 9.99935031e-01 -5.01431375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9465599949999 meters 0.012539906097548792 Centerline is valid? [True, True] Translation: X:142.64, Y:-88.12, Z:-5.01 [[-7.03810828e-01 -7.10347758e-01 7.50875005e-03 1.42643855e+02] [ 7.10308012e-01 -7.03850879e-01 -7.51446370e-03 -8.81217990e+01] [ 1.06229228e-02 4.47644080e-05 9.99943574e-01 -5.01406658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.006559995 meters 0.012514322377827078 Centerline is valid? [True, True] Translation: X:142.60, Y:-88.08, Z:-5.02 [[-7.03425018e-01 -7.10724741e-01 7.97410522e-03 1.42602452e+02] [ 7.10680000e-01 -7.03470212e-01 -7.97488848e-03 -8.80833777e+01] [ 1.12774960e-02 5.73010258e-05 9.99936405e-01 -5.01538262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0665599949999 meters 0.012423405271531978 Centerline is valid? [True, True] Translation: X:142.56, Y:-88.04, Z:-5.01 [[-7.03583103e-01 -7.10568617e-01 7.94089119e-03 1.42561371e+02] [ 7.10524288e-01 -7.03627912e-01 -7.93716630e-03 -8.80426662e+01] [ 1.12273340e-02 5.77399589e-05 9.99936970e-01 -5.01439406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.126559995 meters 0.01237312122232528 Centerline is valid? [True, True] Translation: X:142.06, Y:-88.55, Z:-4.03 [[-7.57893225e-01 6.52323817e-01 8.45555883e-03 1.42058759e+02] [ 6.52282604e-01 7.57940391e-01 -7.33268928e-03 -8.85510568e+01] [-1.11920974e-02 -4.19815971e-05 -9.99937366e-01 -4.02559701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1865599949999 meters 0.012322582187519254 Centerline is valid? [True, True] Translation: X:142.08, Y:-88.53, Z:-4.03 [[-8.00880904e-01 5.98761326e-01 8.64011064e-03 1.42079115e+02] [ 5.98726244e-01 8.00927508e-01 -6.48158739e-03 -8.85334953e+01] [-1.08010262e-02 -1.79185720e-05 -9.99941667e-01 -4.02626753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.246559995 meters 0.012290087595181732 Centerline is valid? [True, True] Translation: X:142.10, Y:-88.52, Z:-4.03 [[-8.39863553e-01 5.42732875e-01 8.38089107e-03 1.42098366e+02] [ 5.42705964e-01 8.39905367e-01 -5.40472357e-03 -8.85151129e+01] [-9.97247656e-03 9.12922599e-06 -9.99950274e-01 -4.02684866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3065599949999 meters 0.01225119089284664 Centerline is valid? [True, True] Translation: X:142.12, Y:-88.50, Z:-4.03 [[-8.75507612e-01 4.83132916e-01 8.30700732e-03 1.42116483e+02] [ 4.83111407e-01 8.75547020e-01 -4.55890240e-03 -8.84951648e+01] [-9.47573132e-03 2.18562452e-05 -9.99955104e-01 -4.02795100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.366559995 meters 0.012334182281584383 Centerline is valid? [True, True] Translation: X:142.13, Y:-88.47, Z:-4.03 [[-9.06873302e-01 4.21301944e-01 9.24588114e-03 1.42127084e+02] [ 4.21280486e-01 9.06920432e-01 -4.25225556e-03 -8.84701979e+01] [-1.01767621e-02 3.88522577e-05 -9.99948215e-01 -4.02783577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4265599949999 meters 0.012424932414141521 Centerline is valid? [True, True] Translation: X:142.14, Y:-88.45, Z:-4.03 [[-9.34073954e-01 3.56938361e-01 1.00426128e-02 1.42142899e+02] [ 3.56918324e-01 9.34127938e-01 -3.78236349e-03 -8.84480183e+01] [-1.07311558e-02 5.13852978e-05 -9.99942418e-01 -4.02723820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.486559995 meters 0.01249530684314616 Centerline is valid? [True, True] Translation: X:142.14, Y:-88.42, Z:-4.03 [[-9.57045250e-01 2.89755075e-01 1.03143717e-02 1.42141296e+02] [ 2.89738814e-01 9.57100828e-01 -3.07014983e-03 -8.84191870e+01] [-1.07614852e-02 5.02015105e-05 -9.99942092e-01 -4.02718293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5465599949999 meters 0.01244184465286511 Centerline is valid? [True, True] Translation: X:142.16, Y:-88.39, Z:-4.03 [[-9.75320368e-01 2.20544163e-01 1.05096566e-02 1.42157029e+02] [ 2.20531835e-01 9.75376989e-01 -2.33226719e-03 -8.83939229e+01] [-1.07652451e-02 4.30061522e-05 -9.99942052e-01 -4.02740860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.606559995 meters 0.012154211316237066 Centerline is valid? [True, True] Translation: X:142.16, Y:-88.36, Z:-4.03 [[-9.88850272e-01 1.48593820e-01 9.74757664e-03 1.42163088e+02] [ 1.48586769e-01 9.88898314e-01 -1.44771994e-03 -8.83648802e+01] [-9.85448435e-03 1.67826580e-05 -9.99951443e-01 -4.02758458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.666559995 meters 0.012166496479079818 Centerline is valid? [True, True] Translation: X:142.16, Y:-88.34, Z:-4.03 [[-9.97020919e-01 7.64390233e-02 1.03132249e-02 1.42164542e+02] [ 7.64349418e-02 9.97074258e-01 -7.89913154e-04 -8.83361812e+01] [-1.03434313e-02 7.30806296e-07 -9.99946505e-01 -4.02767853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.726559995 meters 0.012218787333725903 Centerline is valid? [True, True] Translation: X:142.22, Y:-87.63, Z:-5.01 [[-9.89427277e-01 -1.44674028e-01 1.01532505e-02 1.42220887e+02] [ 1.44666349e-01 -9.89479371e-01 -1.49065500e-03 -8.76323172e+01] [ 1.02620910e-02 -6.06103657e-06 9.99947343e-01 -5.01394601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.786559995 meters 0.012174128522487691 Centerline is valid? [True, True] Translation: X:142.11, Y:-88.33, Z:-4.03 [[-9.97445189e-01 7.07301769e-02 1.00168625e-02 1.42110313e+02] [ 7.07264556e-02 9.97495485e-01 -7.25697946e-04 -8.83296135e+01] [-1.00431038e-02 -1.53867465e-05 -9.99949567e-01 -4.02745523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8465599949999 meters 0.012101635538192664 Centerline is valid? [True, True] Translation: X:142.11, Y:-88.30, Z:-4.03 [[-9.99952963e-01 7.33374360e-04 9.67134496e-03 1.42106183e+02] [ 7.33288795e-04 9.99999731e-01 -1.23932447e-05 -8.83018340e+01] [-9.67135145e-03 -5.30077289e-06 -9.99953231e-01 -4.02857686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.906559995 meters 0.012028853351283153 Centerline is valid? [True, True] Translation: X:142.11, Y:-87.60, Z:-5.01 [[-9.97649993e-01 -6.78977817e-02 9.18604755e-03 1.42113801e+02] [ 6.78946776e-02 -9.97692283e-01 -6.49705623e-04 -8.76007614e+01] [ 9.20896232e-03 -2.44950738e-05 9.99957596e-01 -5.01160837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9665599949999 meters 0.012204885306431289 Centerline is valid? [True, True] Translation: X:142.04, Y:-88.30, Z:-4.03 [[-9.99956475e-01 -1.44551121e-03 9.21733776e-03 1.42039808e+02] [-1.44529742e-03 9.99998955e-01 2.98552779e-05 -8.83025312e+01] [-9.21737129e-03 1.65321840e-05 -9.99957519e-01 -4.02846248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.026559995 meters 0.01221336056772036 Centerline is valid? [True, True] Translation: X:142.04, Y:-88.28, Z:-4.03 [[-9.97453666e-01 -7.07967336e-02 8.60277292e-03 1.42043480e+02] [-7.07938385e-02 9.97490763e-01 6.40967724e-04 -8.82765820e+01] [-8.62656495e-03 3.03122890e-05 -9.99962790e-01 -4.02950392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0865599949999 meters 0.012147428272536342 Centerline is valid? [True, True] Translation: X:141.99, Y:-87.57, Z:-5.01 [[-9.99904155e-01 1.07190097e-02 8.76266687e-03 1.41994646e+02] [-1.07187895e-02 -9.99942550e-01 7.20973819e-05 -8.75738174e+01] [ 8.76293626e-03 -2.18347095e-05 9.99961605e-01 -5.00971153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.146559995 meters 0.01209520175814419 Centerline is valid? [True, True] Translation: X:141.96, Y:-88.28, Z:-4.03 [[-9.96888191e-01 -7.82660381e-02 9.40012207e-03 1.41963972e+02] [-7.82624694e-02 9.96932509e-01 7.47450688e-04 -8.82790988e+01] [-9.42978729e-03 9.44799706e-06 -9.99955539e-01 -4.02941242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2065599949999 meters 0.012068741973309259 Centerline is valid? [True, True] Translation: X:141.91, Y:-87.59, Z:-5.01 [[-9.99903224e-01 9.71193522e-03 9.96102006e-03 1.41913031e+02] [-9.71118616e-03 -9.99952838e-01 1.23565697e-04 -8.75868938e+01] [ 9.96175034e-03 2.68204186e-05 9.99950380e-01 -5.01114205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.266559995 meters 0.012152310057591225 Centerline is valid? [True, True] Translation: X:141.89, Y:-88.28, Z:-4.03 [[-9.96033286e-01 -8.83755589e-02 1.03660374e-02 1.41887811e+02] [-8.83712177e-02 9.96087225e-01 8.76984563e-04 -8.82797693e+01] [-1.04029814e-02 -4.25535302e-05 -9.99945887e-01 -4.02916206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3265599949999 meters 0.012082105450841053 Centerline is valid? [True, True] Translation: X:141.83, Y:-87.59, Z:-5.01 [[-9.99863155e-01 1.25555150e-02 1.07717362e-02 1.41832366e+02] [-1.25540469e-02 -9.99921174e-01 2.03900588e-04 -8.75948666e+01] [ 1.07734471e-02 6.86438039e-05 9.99941962e-01 -5.01072976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.386559995 meters 0.012102643540540081 Centerline is valid? [True, True] Translation: X:141.81, Y:-88.29, Z:-4.03 [[-9.95562428e-01 -9.34902383e-02 1.07250933e-02 1.41808683e+02] [-9.34852776e-02 9.95620195e-01 9.64035139e-04 -8.82866477e+01] [-1.07682474e-02 -4.28811647e-05 -9.99942020e-01 -4.02967853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4465599949999 meters 0.01201222755511741 Centerline is valid? [True, True] Translation: X:141.75, Y:-87.60, Z:-5.01 [[-9.99771542e-01 1.92349164e-02 9.32099838e-03 1.41752276e+02] [-1.92346126e-02 -9.99814990e-01 1.22249308e-04 -8.76002225e+01] [ 9.32162536e-03 -5.70644126e-05 9.99956551e-01 -5.00900722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.506559995 meters 0.011955231517002262 Centerline is valid? [True, True] Translation: X:141.73, Y:-88.29, Z:-4.03 [[-9.95211067e-01 -9.74497893e-02 7.64664256e-03 1.41732013e+02] [-9.74470717e-02 9.95240442e-01 7.28060571e-04 -8.82946323e+01] [-7.68119727e-03 -2.05689889e-05 -9.99970499e-01 -4.03256733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5665599949999 meters 0.01205386867423104 Centerline is valid? [True, True] Translation: X:141.72, Y:-88.27, Z:-4.03 [[-9.85773128e-01 -1.67922117e-01 7.31450401e-03 1.41716308e+02] [-1.67917636e-01 9.85800265e-01 1.22682548e-03 -8.82693620e+01] [-7.41665113e-03 -1.88626370e-05 -9.99972496e-01 -4.03263245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.626559995 meters 0.012071089332381818 Centerline is valid? [True, True] Translation: X:141.71, Y:-88.24, Z:-4.03 [[-9.71198181e-01 -2.38129629e-01 8.26877656e-03 1.41706345e+02] [-2.38121211e-01 9.71233381e-01 2.00238540e-03 -8.82434050e+01] [-8.50773911e-03 -2.42580274e-05 -9.99963808e-01 -4.03137203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6865599949999 meters 0.01215926787127409 Centerline is valid? [True, True] Translation: X:141.68, Y:-88.22, Z:-4.03 [[-9.51384338e-01 -3.07855959e-01 9.62026430e-03 1.41678506e+02] [-3.07840616e-01 9.51432976e-01 3.07371966e-03 -8.82223917e+01] [-1.00992996e-02 -3.72193487e-05 -9.99949000e-01 -4.03030931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.746559995 meters 0.01249463417707514 Centerline is valid? [True, True] Translation: X:141.64, Y:-88.20, Z:-4.03 [[-9.25473024e-01 -3.78694511e-01 9.49471433e-03 1.41642654e+02] [-3.78675311e-01 9.25521725e-01 3.81387351e-03 -8.82036192e+01] [-1.02318573e-02 -6.57768515e-05 -9.99947651e-01 -4.02937211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8065599949999 meters 0.012654209556665475 Centerline is valid? [True, True] Translation: X:141.58, Y:-88.20, Z:-4.03 [[-8.94362702e-01 -4.47238071e-01 9.66772059e-03 1.41584290e+02] [-4.47213054e-01 8.94414948e-01 4.73123387e-03 -8.81982887e+01] [-1.07629417e-02 -9.20917417e-05 -9.99942074e-01 -4.02965380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.866559995 meters 0.013074438123476473 Centerline is valid? [True, True] Translation: X:141.52, Y:-88.20, Z:-4.03 [[-8.57132251e-01 -5.15007846e-01 9.55107757e-03 1.41518010e+02] [-5.14977636e-01 8.57185453e-01 5.57980728e-03 -8.82003967e+01] [-1.10606893e-02 -1.35958574e-04 -9.99938820e-01 -4.02949530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9265599949999 meters 0.01395686003965974 Centerline is valid? [True, True] Translation: X:141.44, Y:-88.21, Z:-4.03 [[-8.14641640e-01 -5.79899567e-01 8.68849993e-03 1.41443811e+02] [-5.79868755e-01 8.14687955e-01 5.98013422e-03 -8.82119226e+01] [-1.05462935e-02 -1.66523283e-04 -9.99944372e-01 -4.02979572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.986559995 meters 0.013994929009288037 Centerline is valid? [True, True] Translation: X:141.37, Y:-88.23, Z:-4.03 [[-7.68049292e-01 -6.40342675e-01 7.84493842e-03 1.41368748e+02] [-6.40311612e-01 7.68089335e-01 6.30975075e-03 -8.82331168e+01] [-1.00660162e-02 -1.77005562e-04 -9.99949321e-01 -4.03081726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0465599949999 meters 0.014513846598317991 Centerline is valid? [True, True] Translation: X:141.29, Y:-88.26, Z:-4.03 [[-7.17132346e-01 -6.96911552e-01 5.95705497e-03 1.41289121e+02] [-6.96889270e-01 7.17157071e-01 5.57499216e-03 -8.82644525e+01] [-8.15742054e-03 -1.53400481e-04 -9.99966716e-01 -4.03197707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.106559995 meters 0.014296780773688537 Centerline is valid? [True, True] Translation: X:141.21, Y:-88.31, Z:-4.03 [[-6.63788721e-01 -7.47902717e-01 5.10480298e-03 1.41209116e+02] [-7.47882104e-01 6.63808337e-01 5.55427939e-03 -8.83075298e+01] [-7.54267143e-03 -1.30922780e-04 -9.99971545e-01 -4.03191711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.166559995 meters 0.013354720395354493 Centerline is valid? [True, True] Translation: X:141.13, Y:-88.36, Z:-4.03 [[-6.08765136e-01 -7.93331730e-01 5.45660539e-03 1.41130225e+02] [-7.93301548e-01 6.08789580e-01 6.92114917e-03 -8.83644004e+01] [-8.81269175e-03 -1.15379185e-04 -9.99961161e-01 -4.03109514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.226559995 meters 0.012812417421428185 Centerline is valid? [True, True] Translation: X:141.06, Y:-88.43, Z:-4.03 [[-5.50083786e-01 -8.35092890e-01 5.26239358e-03 1.41056272e+02] [-8.35056179e-01 5.50108950e-01 7.83079749e-03 -8.84259722e+01] [-9.43433312e-03 -8.67995385e-05 -9.99955492e-01 -4.03073802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.286559995 meters 0.012362018859587733 Centerline is valid? [True, True] Translation: X:140.98, Y:-88.50, Z:-4.03 [[-4.90022627e-01 -8.71698287e-01 4.46327856e-03 1.40983107e+02] [-8.71662703e-01 4.90042952e-01 7.87632949e-03 -8.85031008e+01] [-9.05298113e-03 -3.08937857e-05 -9.99959020e-01 -4.03131097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3465599949999 meters 0.012492227422598262 Centerline is valid? [True, True] Translation: X:140.92, Y:-88.58, Z:-4.03 [[-4.26305970e-01 -9.04571183e-01 3.76756907e-03 1.40916779e+02] [-9.04535624e-01 4.26322617e-01 8.02060744e-03 -8.85819297e+01] [-8.86141027e-03 1.13323946e-05 -9.99960737e-01 -4.03097093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.406559995 meters 0.012591721204471159 Centerline is valid? [True, True] Translation: X:140.85, Y:-88.68, Z:-4.03 [[-3.58343660e-01 -9.33584309e-01 3.18741269e-03 1.40851634e+02] [-9.33546504e-01 3.58357834e-01 8.40168469e-03 -8.86762050e+01] [-8.98591530e-03 3.50924748e-05 -9.99959625e-01 -4.03080064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4665599949999 meters 0.0126809678252136 Centerline is valid? [True, True] Translation: X:140.79, Y:-88.77, Z:-4.03 [[-2.85523024e-01 -9.58368439e-01 2.55707570e-03 1.40791477e+02] [-9.58328957e-01 2.85534472e-01 8.69922129e-03 -8.87741435e+01] [-9.06719238e-03 3.33082816e-05 -9.99958892e-01 -4.03028076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.526559995 meters 0.012602582624751307 Centerline is valid? [True, True] Translation: X:140.74, Y:-88.88, Z:-4.03 [[-2.08591884e-01 -9.78000925e-01 1.90196280e-03 1.40735178e+02] [-9.77959893e-01 2.08600555e-01 8.95853517e-03 -8.88792714e+01] [-9.15820618e-03 8.63438676e-06 -9.99958063e-01 -4.02958618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5865599949999 meters 0.012592749231166527 Centerline is valid? [True, True] Translation: X:140.69, Y:-88.99, Z:-4.03 [[-1.28919165e-01 -9.91654395e-01 1.18777520e-03 1.40686732e+02] [-9.91614289e-01 1.28924633e-01 8.91858025e-03 -8.89874212e+01] [-8.99728278e-03 -2.80389381e-05 -9.99959523e-01 -4.03079623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.646559995 meters 0.01283936809035302 Centerline is valid? [True, True] Translation: X:140.65, Y:-89.10, Z:-4.03 [[-4.97859330e-02 -9.98759799e-01 4.74156030e-04 1.40647257e+02] [-9.98723423e-01 4.97881666e-02 8.52423917e-03 -8.91003074e+01] [-8.53727476e-03 -4.91635333e-05 -9.99963556e-01 -4.03049821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7065599949999 meters 0.013161731584777545 Centerline is valid? [True, True] Translation: X:140.62, Y:-89.22, Z:-4.03 [[ 2.77359301e-02 -9.99615271e-01 -1.65687232e-04 1.40616788e+02] [-9.99585026e-01 -2.77363798e-02 7.77621169e-03 -8.92156624e+01] [-7.77781552e-03 -5.00619878e-05 -9.99969751e-01 -4.02983416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.766559995 meters 0.01292453373047732 Centerline is valid? [True, True] Translation: X:140.60, Y:-89.33, Z:-4.03 [[ 1.03467240e-01 -9.94632611e-01 -7.07137349e-04 1.40597997e+02] [-9.94606697e-01 -1.03469649e-01 7.17988225e-03 -8.93318898e+01] [-7.21451228e-03 -3.95590603e-05 -9.99973974e-01 -4.03120298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8265599949999 meters 0.01282097609475647 Centerline is valid? [True, True] Translation: X:140.59, Y:-89.45, Z:-4.03 [[ 1.78714359e-01 -9.83900347e-01 -1.13339543e-03 1.40588348e+02] [-9.83879484e-01 -1.78717951e-01 6.40744238e-03 -8.94526215e+01] [-6.50684289e-03 -2.99774529e-05 -9.99978830e-01 -4.03201775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.886559995 meters 0.012795744565113462 Centerline is valid? [True, True] Translation: X:140.59, Y:-89.57, Z:-4.03 [[ 2.53609838e-01 -9.67305312e-01 -1.57599818e-03 1.40586234e+02] [-9.67285937e-01 -2.53614734e-01 6.12231405e-03 -8.95712630e+01] [-6.32184326e-03 -2.82381988e-05 -9.99980017e-01 -4.03199259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9465599949999 meters 0.012952474302840638 Centerline is valid? [True, True] Translation: X:140.59, Y:-89.69, Z:-4.03 [[ 3.28198758e-01 -9.44605968e-01 -2.26743503e-03 1.40592790e+02] [-9.44582591e-01 -3.28206588e-01 6.64567590e-03 -8.96897233e+01] [-7.02173223e-03 -3.93229220e-05 -9.99975347e-01 -4.03111277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.006559995 meters 0.013102889101974702 Centerline is valid? [True, True] Translation: X:140.61, Y:-89.81, Z:-4.03 [[ 4.01080502e-01 -9.16035136e-01 -3.74973875e-03 1.40608284e+02] [-9.15993522e-01 -4.01098025e-01 8.73167214e-03 -8.98088933e+01] [-9.50253128e-03 -6.73670476e-05 -9.99954848e-01 -4.02895069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0665599949999 meters 0.013370679899223196 Centerline is valid? [True, True] Translation: X:140.64, Y:-89.93, Z:-4.03 [[ 4.71638491e-01 -8.81777436e-01 -5.06822919e-03 1.40635634e+02] [-8.81724316e-01 -4.71665712e-01 9.67917471e-03 -8.99318714e+01] [-1.09253878e-02 -9.62904304e-05 -9.99940312e-01 -4.02728805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.126559995 meters 0.0135394725807292 Centerline is valid? [True, True] Translation: X:140.66, Y:-90.04, Z:-4.03 [[ 5.38929132e-01 -8.42336943e-01 -4.88514794e-03 1.40664182e+02] [-8.42300751e-01 -5.38951264e-01 7.80899279e-03 -9.00351442e+01] [-9.21065978e-03 -9.37299269e-05 -9.99957577e-01 -4.02900820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1865599949999 meters 0.013531355793733017 Centerline is valid? [True, True] Translation: X:140.70, Y:-90.14, Z:-4.03 [[ 6.02245916e-01 -7.98295685e-01 -4.88428538e-03 1.40703412e+02] [-7.98268221e-01 -6.02265716e-01 6.62229339e-03 -9.01402967e+01] [-8.22818587e-03 -8.92793469e-05 -9.99966144e-01 -4.03090496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.246559995 meters 0.013598630157178626 Centerline is valid? [True, True] Translation: X:140.75, Y:-90.24, Z:-4.03 [[ 6.61902409e-01 -7.49576355e-01 -4.52648194e-03 1.40749513e+02] [-7.49558002e-01 -6.61917881e-01 5.24597196e-03 -9.02392122e+01] [-6.92841588e-03 -7.94607190e-05 -9.99975995e-01 -4.03282452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3065599949999 meters 0.013495615524471344 Centerline is valid? [True, True] Translation: X:140.80, Y:-90.33, Z:-4.03 [[ 7.16583801e-01 -6.97483413e-01 -4.95421618e-03 1.40803034e+02] [-6.97466016e-01 -7.16600923e-01 4.92679744e-03 -9.03349077e+01] [-6.98655538e-03 -7.50658144e-05 -9.99975591e-01 -4.03249002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.366559995 meters 0.013451354700240017 Centerline is valid? [True, True] Translation: X:140.82, Y:-90.36, Z:-4.03 [[ 7.68391141e-01 -6.39955762e-01 -5.62832145e-03 1.40822880e+02] [-6.39937894e-01 -7.68411750e-01 4.78266193e-03 -9.03617018e+01] [-7.38556040e-03 -7.31788756e-05 -9.99972724e-01 -4.03164848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4265599949999 meters 0.013541145240156248 Centerline is valid? [True, True] Translation: X:140.85, Y:-90.39, Z:-4.03 [[ 8.15985150e-01 -5.78028926e-01 -7.12704415e-03 1.40845408e+02] [-5.78005955e-01 -8.16016270e-01 5.15390354e-03 -9.03865791e+01] [-8.79488931e-03 -8.60347899e-05 -9.99961321e-01 -4.03088584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.486559995 meters 0.013448807420369784 Centerline is valid? [True, True] Translation: X:140.87, Y:-90.41, Z:-4.03 [[ 8.58171539e-01 -5.13300934e-01 -7.98510150e-03 1.40870431e+02] [-5.13277820e-01 -8.58208684e-01 4.87179607e-03 -9.04085792e+01] [-9.35358092e-03 -8.22612363e-05 -9.99956251e-01 -4.03116454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5465599949999 meters 0.013242421549938932 Centerline is valid? [True, True] Translation: X:140.90, Y:-90.43, Z:-4.03 [[ 8.94644110e-01 -4.46702578e-01 -8.28996094e-03 1.40896644e+02] [-4.46682775e-01 -8.94682515e-01 4.20662289e-03 -9.04287616e+01] [-9.29599240e-03 -6.04476344e-05 -9.99956790e-01 -4.03143464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.606559995 meters 0.01296385376264022 Centerline is valid? [True, True] Translation: X:140.92, Y:-90.45, Z:-4.03 [[ 9.25427061e-01 -3.78827027e-01 -8.65092976e-03 1.40922618e+02] [-3.78810212e-01 -9.25467494e-01 3.56940066e-03 -9.04494883e+01] [-9.35833973e-03 -2.61594329e-05 -9.99956209e-01 -4.03213316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.666559995 meters 0.012948889848812248 Centerline is valid? [True, True] Translation: X:140.95, Y:-90.47, Z:-4.03 [[ 9.51266097e-01 -3.08227846e-01 -9.40255378e-03 1.40949100e+02] [-3.08212816e-01 -9.51312564e-01 3.04382293e-03 -9.04675634e+01] [-9.88295853e-03 2.50202049e-06 -9.99951162e-01 -4.03147943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.726559995 meters 0.013256683883891389 Centerline is valid? [True, True] Translation: X:140.98, Y:-90.48, Z:-4.03 [[ 9.71233353e-01 -2.37881321e-01 -1.08743155e-02 1.40977840e+02] [-2.37867105e-01 -9.71294226e-01 2.60130393e-03 -9.04810038e+01] [-1.11809615e-02 6.01688018e-05 -9.99937489e-01 -4.03083599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.786559995 meters 0.013511461527729068 Centerline is valid? [True, True] Translation: X:141.00, Y:-90.49, Z:-4.03 [[ 9.86182157e-01 -1.65291498e-01 -1.11118999e-02 1.41004137e+02] [-1.65282239e-01 -9.86244751e-01 1.75280208e-03 -9.04941840e+01] [-1.12487762e-02 1.08017558e-04 -9.99936725e-01 -4.03228892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8465599949999 meters 0.013551986114524418 Centerline is valid? [True, True] Translation: X:141.03, Y:-90.51, Z:-4.03 [[ 9.95967427e-01 -8.90321254e-02 -1.10528359e-02 1.41031029e+02] [-8.90280110e-02 -9.96028747e-01 8.64692269e-04 -9.05073451e+01] [-1.10859277e-02 1.22806658e-04 -9.99938542e-01 -4.03279715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.906559995 meters 0.01364736289434341 Centerline is valid? [True, True] Translation: X:141.06, Y:-90.52, Z:-4.03 [[ 9.99885475e-01 -1.11164173e-02 -1.02695095e-02 1.41059074e+02] [-1.11170315e-02 -9.99938204e-01 -2.72279742e-06 -9.05200518e+01] [-1.02688446e-02 1.16888946e-04 -9.99947267e-01 -4.03302383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9665599949999 meters 0.013463236308080854 Centerline is valid? [True, True] Translation: X:141.09, Y:-90.53, Z:-4.03 [[ 9.97553246e-01 6.92346522e-02 -9.69969883e-03 1.41087336e+02] [ 6.92304962e-02 -9.97600398e-01 -7.63983262e-04 -9.05310364e+01] [-9.72931753e-03 9.05990200e-05 -9.99952665e-01 -4.03262791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.026559995 meters 0.012986314385156352 Centerline is valid? [True, True] Translation: X:141.12, Y:-90.54, Z:-4.03 [[ 9.88387233e-01 1.51600271e-01 -1.03939997e-02 1.41117430e+02] [ 1.51591356e-01 -9.88441883e-01 -1.64489103e-03 -9.05387870e+01] [-1.05232305e-02 5.01487947e-05 -9.99944628e-01 -4.03242048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0865599949999 meters 0.012765247774431634 Centerline is valid? [True, True] Translation: X:141.15, Y:-90.55, Z:-4.03 [[ 9.71909691e-01 2.35015135e-01 -1.26269455e-02 1.41149115e+02] [ 2.34995637e-01 -9.71991711e-01 -3.02732610e-03 -9.05479347e+01] [-1.29847538e-02 -2.49895247e-05 -9.99915694e-01 -4.03067539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.146559995 meters 0.012953245041468947 Centerline is valid? [True, True] Translation: X:141.18, Y:-90.55, Z:-4.03 [[ 9.49113971e-01 3.14671162e-01 -1.28347408e-02 1.41180831e+02] [ 3.14643634e-01 -9.49200744e-01 -4.16312482e-03 -9.05509640e+01] [-1.34927608e-02 -8.70895490e-05 -9.99908965e-01 -4.02960021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2065599949999 meters 0.013488063377584283 Centerline is valid? [True, True] Translation: X:141.21, Y:-90.55, Z:-4.03 [[ 9.20145616e-01 3.91411652e-01 -1.13562227e-02 1.41212328e+02] [ 3.91383512e-01 -9.20215683e-01 -4.69504863e-03 -9.05501109e+01] [-1.22878710e-02 -1.24509924e-04 -9.99924494e-01 -4.02886794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.266559995 meters 0.01288781468308068 Centerline is valid? [True, True] Translation: X:141.24, Y:-90.54, Z:-4.03 [[ 8.86855006e-01 4.61954386e-01 -9.29210568e-03 1.41243534e+02] [ 4.61930235e-01 -8.86903679e-01 -4.72470529e-03 -9.05442030e+01] [-1.04238010e-02 -1.02176025e-04 -9.99945666e-01 -4.03205278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3265599949999 meters 0.012828259087718183 Centerline is valid? [True, True] Translation: X:141.27, Y:-90.54, Z:-4.03 [[ 8.48246194e-01 5.29551354e-01 -7.33204761e-03 1.41274478e+02] [ 5.29532381e-01 -8.48277878e-01 -4.48330865e-03 -9.05364986e+01] [-8.59375595e-03 -7.96071352e-05 -9.99963070e-01 -4.03377332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.386559995 meters 0.012911334453159406 Centerline is valid? [True, True] Translation: X:141.31, Y:-90.53, Z:-4.03 [[ 8.03511873e-01 5.95247399e-01 -7.01456278e-03 1.41306392e+02] [ 5.95225695e-01 -8.03542485e-01 -5.08398935e-03 -9.05287787e+01] [-8.66273065e-03 -9.02021942e-05 -9.99962474e-01 -4.03338886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4465599949999 meters 0.01344667767036961 Centerline is valid? [True, True] Translation: X:141.34, Y:-90.52, Z:-4.03 [[ 7.53032816e-01 6.57931438e-01 -8.23417772e-03 1.41336840e+02] [ 6.57894067e-01 -7.53077821e-01 -7.01370345e-03 -9.05178830e+01] [-1.08155126e-02 -1.35667807e-04 -9.99941501e-01 -4.03064154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.506559995 meters 0.013622942932822043 Centerline is valid? [True, True] Translation: X:141.37, Y:-90.50, Z:-4.03 [[ 6.98370534e-01 7.15683156e-01 -8.73028595e-03 1.41365189e+02] [ 7.15630241e-01 -6.98425080e-01 -8.70437501e-03 -9.05030602e+01] [-1.23270252e-02 -1.68777618e-04 -9.99924005e-01 -4.02909713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5665599949999 meters 0.013415334904726154 Centerline is valid? [True, True] Translation: X:141.39, Y:-90.49, Z:-4.03 [[ 6.40874371e-01 7.67592345e-01 -9.05716395e-03 1.41391534e+02] [ 7.67519592e-01 -6.40938343e-01 -1.05695961e-02 -9.04852412e+01] [-1.39182247e-02 -1.77767531e-04 -9.99903121e-01 -4.02816942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.626559995 meters 0.01315888342733291 Centerline is valid? [True, True] Translation: X:141.41, Y:-90.46, Z:-4.03 [[ 5.81330870e-01 8.13620859e-01 -8.69004061e-03 1.41413210e+02] [ 8.13533617e-01 -5.81395800e-01 -1.19154034e-02 -9.04644089e+01] [-1.47469739e-02 -1.42848339e-04 -9.99891247e-01 -4.02716184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6865599949999 meters 0.012468624140237184 Centerline is valid? [True, True] Translation: X:141.43, Y:-90.44, Z:-4.03 [[ 5.22595303e-01 8.52553400e-01 -6.84465826e-03 1.41428558e+02] [ 8.52480873e-01 -5.22640124e-01 -1.11203243e-02 -9.04390386e+01] [-1.30579634e-02 -2.35109940e-05 -9.99914741e-01 -4.02978202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.746559995 meters 0.012581443994654301 Centerline is valid? [True, True] Translation: X:141.44, Y:-90.41, Z:-4.03 [[ 4.59401049e-01 8.88216316e-01 -4.73833397e-03 1.41442761e+02] [ 8.88168140e-01 -4.59425483e-01 -9.25097384e-03 -9.04148112e+01] [-1.03937773e-02 4.14698182e-05 -9.99945982e-01 -4.03172920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8065599949999 meters 0.013010838354359597 Centerline is valid? [True, True] Translation: X:141.46, Y:-90.39, Z:-4.03 [[ 3.93188478e-01 9.19452346e-01 -3.19458621e-03 1.41456948e+02] [ 9.19420411e-01 -3.93201448e-01 -7.66346340e-03 -9.03903579e+01] [-8.30230532e-03 7.60177428e-05 -9.99965532e-01 -4.03339612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.866559995 meters 0.01395073902001832 Centerline is valid? [True, True] Translation: X:141.47, Y:-90.37, Z:-4.03 [[ 3.26542317e-01 9.45180093e-01 -2.16937363e-03 1.41471786e+02] [ 9.45156899e-01 -3.26549504e-01 -6.62251986e-03 -9.03662777e+01] [-6.96788182e-03 1.12134527e-04 -9.99975718e-01 -4.03422608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9265599949999 meters 0.015697525922134786 Centerline is valid? [True, True] Translation: X:141.48, Y:-90.34, Z:-4.03 [[ 2.56460549e-01 9.66552861e-01 -1.88534549e-03 1.41482369e+02] [ 9.66521679e-01 -2.56467423e-01 -7.76560073e-03 -9.03414134e+01] [-7.98939330e-03 1.69342935e-04 -9.99968070e-01 -4.03327474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.986559995 meters 0.016113675955205346 Centerline is valid? [True, True] Translation: X:141.50, Y:-90.32, Z:-4.03 [[ 1.82557815e-01 9.83194128e-01 -1.39680839e-03 1.41495484e+02] [ 9.83155916e-01 -1.82563038e-01 -8.67080107e-03 -9.03167621e+01] [-8.78008628e-03 2.09642063e-04 -9.99961432e-01 -4.03314085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0465599949999 meters 0.015843923818629285 Centerline is valid? [True, True] Translation: X:141.51, Y:-90.29, Z:-4.03 [[ 1.05305065e-01 9.94439673e-01 -7.61139695e-04 1.41511415e+02] [ 9.94395816e-01 -1.05307571e-01 -9.34224297e-03 -9.02907521e+01] [-9.37045082e-03 2.26911373e-04 -9.99956071e-01 -4.03305230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.106559995 meters 0.015935373483747097 Centerline is valid? [True, True] Translation: X:141.52, Y:-90.26, Z:-4.03 [[ 2.68478747e-02 9.99639530e-01 -2.84162139e-05 1.41522894e+02] [ 9.99590732e-01 -2.68468450e-02 -9.88004726e-03 -9.02638048e+01] [-9.87724869e-03 2.36853687e-04 -9.99951191e-01 -4.03292996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.166559995 meters 0.01578919840330837 Centerline is valid? [True, True] Translation: X:141.53, Y:-90.24, Z:-4.03 [[-5.21627141e-02 9.98638356e-01 6.96523499e-04 1.41532653e+02] [ 9.98595998e-01 5.21669185e-02 -9.20024895e-03 -9.02364482e+01] [-9.22405698e-03 2.15635623e-04 -9.99957434e-01 -4.03360665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.226559995 meters 0.015481748012916954 Centerline is valid? [True, True] Translation: X:141.54, Y:-90.21, Z:-4.03 [[-1.32531357e-01 9.91177954e-01 1.30514650e-03 1.41541446e+02] [ 9.91142289e-01 1.32537662e-01 -8.41016729e-03 -9.02080685e+01] [-8.50895347e-03 1.78975003e-04 -9.99963782e-01 -4.03367340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.286559995 meters 0.01414460567302119 Centerline is valid? [True, True] Translation: X:141.55, Y:-90.18, Z:-4.03 [[-2.14453600e-01 9.76732100e-01 2.01443477e-03 1.41550856e+02] [ 9.76695028e-01 2.14463014e-01 -8.51110309e-03 -9.01779113e+01] [-8.74508934e-03 1.42251728e-04 -9.99961751e-01 -4.03408857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3465599949999 meters 0.01327775619304459 Centerline is valid? [True, True] Translation: X:141.56, Y:-90.15, Z:-4.03 [[-2.93937265e-01 9.55821342e-01 2.53902063e-03 1.41556879e+02] [ 9.55788669e-01 2.93948212e-01 -7.90373528e-03 -9.01462066e+01] [-8.30089944e-03 1.03564826e-04 -9.99965542e-01 -4.03426935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.406559995 meters 0.012273541601503624 Centerline is valid? [True, True] Translation: X:141.57, Y:-90.11, Z:-4.03 [[-3.75310757e-01 9.26895672e-01 2.49988854e-03 1.41567277e+02] [ 9.26875637e-01 3.75319082e-01 -6.09436366e-03 -9.01114966e+01] [-6.58709517e-03 2.98055425e-05 -9.99978304e-01 -4.03442092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4665599949999 meters 0.012159829213479354 Centerline is valid? [True, True] Translation: X:141.57, Y:-90.08, Z:-4.03 [[-4.49856934e-01 8.93095409e-01 3.05428890e-03 1.41566586e+02] [ 8.93074935e-01 4.49867302e-01 -6.04731876e-03 -9.00793213e+01] [-6.77485733e-03 7.28058860e-06 -9.99977050e-01 -4.03400752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.526559995 meters 0.012202569488763968 Centerline is valid? [True, True] Translation: X:141.56, Y:-90.05, Z:-4.03 [[-5.22599768e-01 8.52567385e-01 4.28218830e-03 1.41563921e+02] [ 8.52538270e-01 5.22617311e-01 -7.04586256e-03 -9.00463399e+01] [-8.24501835e-03 -3.14367280e-05 -9.99966009e-01 -4.03259634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5865599949999 meters 0.012698846924346705 Centerline is valid? [True, True] Translation: X:141.56, Y:-90.01, Z:-4.03 [[-5.91776369e-01 8.06082391e-01 5.64870371e-03 1.41557767e+02] [ 8.06044293e-01 5.91803321e-01 -7.83755155e-03 -9.00137380e+01] [-9.66063391e-03 -8.49724078e-05 -9.99953331e-01 -4.03129735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.646559995 meters 0.013204888297326602 Centerline is valid? [True, True] Translation: X:141.55, Y:-89.98, Z:-4.03 [[-6.55123430e-01 7.55491660e-01 6.75597739e-03 1.41546001e+02] [ 7.55449585e-01 6.55158254e-01 -7.97414259e-03 -8.99840484e+01] [-1.04506326e-02 -1.20247329e-04 -9.99945383e-01 -4.03037098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7065599949999 meters 0.013546842244167521 Centerline is valid? [True, True] Translation: X:141.53, Y:-89.96, Z:-4.03 [[-7.13690370e-01 7.00427947e-01 6.83714725e-03 1.41530210e+02] [ 7.00394039e-01 7.13723107e-01 -6.89325017e-03 -8.99561294e+01] [-9.70805505e-03 -1.30949085e-04 -9.99952867e-01 -4.03074091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.766559995 meters 0.013660871479100226 Centerline is valid? [True, True] Translation: X:141.51, Y:-89.93, Z:-4.03 [[-7.66205823e-01 6.42559724e-01 6.75561412e-03 1.41510499e+02] [ 6.42533381e-01 7.66235595e-01 -5.81955083e-03 -8.99326390e+01] [-8.91580098e-03 -1.18266153e-04 -9.99960247e-01 -4.03162141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8265599949999 meters 0.013121443462715978 Centerline is valid? [True, True] Translation: X:141.52, Y:-89.91, Z:-4.03 [[-8.09808602e-01 5.86654837e-01 6.79192887e-03 1.41524713e+02] [ 5.86633030e-01 8.09837076e-01 -5.05951784e-03 -8.99130219e+01] [-8.46854643e-03 -1.12871256e-04 -9.99964135e-01 -4.03300786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.886559995 meters 0.014489008480657723 Centerline is valid? [True, True] Translation: X:141.54, Y:-89.89, Z:-4.03 [[-8.50064068e-01 5.26623661e-01 7.65508769e-03 1.41536948e+02] [ 5.26600878e-01 8.50098525e-01 -4.90040835e-03 -8.98865109e+01] [-9.08824974e-03 -1.34485163e-04 -9.99958692e-01 -4.03066178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9465599949999 meters 0.015482135827751254 Centerline is valid? [True, True] Translation: X:141.55, Y:-89.86, Z:-4.03 [[-8.86545924e-01 4.62572640e-01 7.92946784e-03 1.41548039e+02] [ 4.62552520e-01 8.86581371e-01 -4.31730833e-03 -8.98610253e+01] [-9.02718718e-03 -1.59696766e-04 -9.99959241e-01 -4.03057689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.006559995 meters 0.014456665672558993 Centerline is valid? [True, True] Translation: X:141.56, Y:-89.84, Z:-4.03 [[-9.17782868e-01 3.97001174e-01 8.04206511e-03 1.41556104e+02] [ 3.96984286e-01 9.17818086e-01 -3.66581393e-03 -8.98390028e+01] [-8.83648524e-03 -1.71847749e-04 -9.99960943e-01 -4.03237467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0665599949999 meters 0.014162863580124639 Centerline is valid? [True, True] Translation: X:141.56, Y:-89.82, Z:-4.03 [[-9.43695142e-01 3.30706629e-01 8.52083343e-03 1.41561636e+02] [ 3.30691423e-01 9.43733592e-01 -3.17642615e-03 -8.98166398e+01] [-9.09186192e-03 -1.79811398e-04 -9.99958652e-01 -4.03303609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.126559995 meters 0.014223009024887797 Centerline is valid? [True, True] Translation: X:141.57, Y:-89.79, Z:-4.03 [[-9.64554253e-01 2.63751962e-01 8.36636048e-03 1.41570680e+02] [ 2.63740549e-01 9.64590522e-01 -2.45911215e-03 -8.97938921e+01] [-8.71870768e-03 -1.65398573e-04 -9.99961978e-01 -4.03290713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1865599949999 meters 0.01379498833192342 Centerline is valid? [True, True] Translation: X:141.58, Y:-89.77, Z:-4.03 [[-9.80450364e-01 1.96608593e-01 7.88324341e-03 1.41576032e+02] [ 1.96601109e-01 9.80482046e-01 -1.72083288e-03 -8.97708165e+01] [-8.06770916e-03 -1.37336824e-04 -9.99967446e-01 -4.03317079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.246559995 meters 0.013831399504684462 Centerline is valid? [True, True] Translation: X:141.58, Y:-89.75, Z:-4.03 [[-9.91750894e-01 1.27946685e-01 7.73369319e-03 1.41577508e+02] [ 1.27941834e-01 9.91781040e-01 -1.12088246e-03 -8.97462733e+01] [-7.81354347e-03 -1.22173292e-04 -9.99969466e-01 -4.03263608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3065599949999 meters 0.013691868299630943 Centerline is valid? [True, True] Translation: X:141.59, Y:-89.72, Z:-4.03 [[-9.98270776e-01 5.81650561e-02 8.50198885e-03 1.41585739e+02] [ 5.81618431e-02 9.98306972e-01 -6.24880516e-04 -8.97224300e+01] [-8.52394095e-03 -1.29308616e-04 -9.99963662e-01 -4.03227200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.366559995 meters 0.01353773762827196 Centerline is valid? [True, True] Translation: X:141.64, Y:-89.07, Z:-5.01 [[-9.87869410e-01 -1.55033287e-01 8.87182914e-03 1.41635920e+02] [ 1.55028519e-01 -9.87909233e-01 -1.22688214e-03 -8.90715993e+01] [ 8.95476950e-03 1.63387191e-04 9.99959892e-01 -5.00824814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4265599949999 meters 0.013561264658047962 Centerline is valid? [True, True] Translation: X:141.53, Y:-89.72, Z:-4.03 [[-9.98433586e-01 5.51347656e-02 9.51487234e-03 1.41528342e+02] [ 5.51309659e-02 9.98478913e-01 -6.61372071e-04 -8.97221101e+01] [-9.53686398e-03 -1.35771985e-04 -9.99954514e-01 -4.03133077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.486559995 meters 0.013191353730414891 Centerline is valid? [True, True] Translation: X:141.53, Y:-89.70, Z:-4.03 [[-9.99859768e-01 -1.45586649e-02 8.27580139e-03 1.41533522e+02] [-1.45590482e-02 9.99894011e-01 1.39366781e-05 -8.96995104e+01] [-8.27512715e-03 -1.06553067e-04 -9.99965755e-01 -4.03291226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5465599949999 meters 0.012806765224818347 Centerline is valid? [True, True] Translation: X:141.54, Y:-89.03, Z:-5.01 [[-9.96982986e-01 -7.72739132e-02 7.32587647e-03 1.41536264e+02] [ 7.72720871e-02 -9.97009900e-01 -5.32407172e-04 -8.90310399e+01] [ 7.34511255e-03 3.52848728e-05 9.99973024e-01 -5.00660988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.606559995 meters 0.013257398856402562 Centerline is valid? [True, True] Translation: X:141.47, Y:-89.70, Z:-4.03 [[-9.99829087e-01 -1.70172271e-02 7.22568806e-03 1.41472772e+02] [-1.70173535e-02 9.99855193e-01 4.39924742e-05 -8.97031814e+01] [-7.22539036e-03 -7.89771325e-05 -9.99973893e-01 -4.03242315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.666559995 meters 0.013239060239291651 Centerline is valid? [True, True] Translation: X:141.47, Y:-89.68, Z:-4.03 [[-9.96043352e-01 -8.86181535e-02 6.66812403e-03 1.41469957e+02] [-8.86166852e-02 9.96065669e-01 5.15908789e-04 -8.96780278e+01] [-6.68760831e-03 -7.70395287e-05 -9.99977635e-01 -4.03249776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.726559995 meters 0.013254384565968775 Centerline is valid? [True, True] Translation: X:141.42, Y:-89.00, Z:-5.01 [[-9.99968668e-01 -3.44869596e-03 7.12531648e-03 1.41415673e+02] [ 3.44940295e-03 -9.99994047e-01 8.69348434e-05 -8.90028870e+01] [ 7.12497425e-03 1.11510207e-04 9.99974611e-01 -5.00739224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.786559995 meters 0.013691798557857229 Centerline is valid? [True, True] Translation: X:141.39, Y:-89.69, Z:-4.03 [[-9.95138161e-01 -9.81551358e-02 8.10000179e-03 1.41394716e+02] [-9.81529642e-02 9.95171117e-01 6.66152285e-04 -8.96859761e+01] [-8.12627410e-03 -1.32125626e-04 -9.99966973e-01 -4.03168083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8465599949999 meters 0.01441855251878158 Centerline is valid? [True, True] Translation: X:141.38, Y:-89.66, Z:-4.03 [[-9.85233057e-01 -1.70999074e-01 8.66834685e-03 1.41381855e+02] [-1.70993912e-01 9.85271176e-01 1.33870033e-03 -8.96613676e+01] [-8.76958881e-03 -1.63302715e-04 -9.99961533e-01 -4.03097517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.906559995 meters 0.014565359708919997 Centerline is valid? [True, True] Translation: X:141.37, Y:-89.64, Z:-4.03 [[-9.70372268e-01 -2.41455215e-01 8.77729941e-03 1.41371985e+02] [-2.41446953e-01 9.70411948e-01 2.00495656e-03 -8.96380507e+01] [-9.00170344e-03 -1.73697963e-04 -9.99959469e-01 -4.03064598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9665599949999 meters 0.015114478011434883 Centerline is valid? [True, True] Translation: X:141.35, Y:-89.62, Z:-4.03 [[-9.50330785e-01 -3.11130923e-01 8.30353229e-03 1.41354916e+02] [-3.11120656e-01 9.50367044e-01 2.53367064e-03 -8.96167062e+01] [-8.67970672e-03 -1.75575208e-04 -9.99962315e-01 -4.02996573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.026559995 meters 0.015169155636530754 Centerline is valid? [True, True] Translation: X:141.13, Y:-88.96, Z:-5.01 [[-9.78450631e-01 2.06291852e-01 8.83375041e-03 1.41132817e+02] [-2.06281503e-01 -9.78490484e-01 2.07696221e-03 -8.89616068e+01] [ 9.07220110e-03 2.09965673e-04 9.99958825e-01 -5.01087337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0865599949999 meters 0.015370925679990561 Centerline is valid? [True, True] Translation: X:141.22, Y:-89.66, Z:-4.03 [[-9.47987045e-01 -3.18156328e-01 9.85456797e-03 1.41223172e+02] [-3.18141492e-01 9.48038240e-01 3.07998888e-03 -8.96621139e+01] [-1.03224252e-02 -2.15357401e-04 -9.99946699e-01 -4.02852596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.146559995 meters 0.015319715569569662 Centerline is valid? [True, True] Translation: X:141.19, Y:-89.64, Z:-4.03 [[-9.21745905e-01 -3.87683494e-01 9.27333114e-03 1.41193413e+02] [-3.87666385e-01 9.21792523e-01 3.64947021e-03 -8.96432260e+01] [-9.96292667e-03 -2.31074535e-04 -9.99950342e-01 -4.02939631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2065599949999 meters 0.015607404489407289 Centerline is valid? [True, True] Translation: X:141.14, Y:-89.63, Z:-4.03 [[-8.90927702e-01 -4.54054874e-01 9.05541072e-03 1.41139759e+02] [-4.54034074e-01 8.90973690e-01 4.35231477e-03 -8.96345738e+01] [-1.00443224e-02 -2.33867229e-04 -9.99949527e-01 -4.02892841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.266559995 meters 0.015128445706494716 Centerline is valid? [True, True] Translation: X:141.08, Y:-89.64, Z:-4.03 [[-8.56527982e-01 -5.16037893e-01 8.04420485e-03 1.41077475e+02] [-5.16017208e-01 8.56565734e-01 4.62425102e-03 -8.96360679e+01] [-9.27667899e-03 -1.90147731e-04 -9.99956953e-01 -4.02852445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3265599949999 meters 0.014472760482844158 Centerline is valid? [True, True] Translation: X:141.01, Y:-89.65, Z:-4.03 [[-8.17616015e-01 -5.75721425e-01 6.99237743e-03 1.41008215e+02] [-5.75701909e-01 8.17645901e-01 4.74265767e-03 -8.96491557e+01] [-8.44773837e-03 -1.47852166e-04 -9.99964306e-01 -4.02874732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.386559995 meters 0.012982323178412903 Centerline is valid? [True, True] Translation: X:140.93, Y:-89.68, Z:-4.03 [[-7.76037754e-01 -6.30649655e-01 6.81301942e-03 1.40934524e+02] [-6.30626492e-01 7.76067653e-01 5.40605528e-03 -8.96763142e+01] [-8.69669089e-03 -1.01167537e-04 -9.99962178e-01 -4.02913591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4465599949999 meters 0.012444272349638538 Centerline is valid? [True, True] Translation: X:140.86, Y:-89.71, Z:-4.03 [[-7.30823284e-01 -6.82523888e-01 7.64655583e-03 1.40857865e+02] [-6.82487299e-01 7.30863284e-01 7.06733126e-03 -8.97107161e+01] [-1.04122093e-02 -5.37069998e-05 -9.99945790e-01 -4.02709640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.506559995 meters 0.012300755784469453 Centerline is valid? [True, True] Translation: X:140.77, Y:-89.76, Z:-4.03 [[-6.79542420e-01 -7.33601740e-01 7.11235860e-03 1.40770765e+02] [-7.33561902e-01 6.79579639e-01 7.64522869e-03 -8.97610497e+01] [-1.04419672e-02 -2.20980931e-05 -9.99945481e-01 -4.02712772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5665599949999 meters 0.012276537734452109 Centerline is valid? [True, True] Translation: X:140.69, Y:-89.81, Z:-4.03 [[-6.23696734e-01 -7.81645571e-01 5.70835456e-03 1.40692378e+02] [-7.81612822e-01 6.23722856e-01 7.15513813e-03 -8.98101846e+01] [-9.15321324e-03 9.13167238e-07 -9.99958109e-01 -4.02851789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.626559995 meters 0.012297156686483448 Centerline is valid? [True, True] Translation: X:140.61, Y:-89.88, Z:-4.03 [[-5.63110949e-01 -8.26365753e-01 5.06974602e-03 1.40610667e+02] [-8.26332148e-01 5.63133770e-01 7.45246875e-03 -8.98753882e+01] [-9.01341013e-03 7.27263008e-06 -9.99959378e-01 -4.02870897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6865599949999 meters 0.012507381422821897 Centerline is valid? [True, True] Translation: X:140.53, Y:-89.95, Z:-4.03 [[-4.98685247e-01 -8.66771402e-01 4.51230447e-03 1.40532983e+02] [-8.66735757e-01 4.98705661e-01 7.86070444e-03 -8.99494639e+01] [-9.06374559e-03 9.04170280e-06 -9.99958923e-01 -4.02862133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.746559995 meters 0.012417564610174129 Centerline is valid? [True, True] Translation: X:140.46, Y:-90.03, Z:-4.03 [[-4.30339170e-01 -9.02660801e-01 3.41710247e-03 1.40456921e+02] [-9.02632320e-01 4.30352737e-01 7.17061574e-03 -9.00335063e+01] [-7.94319315e-03 1.40970203e-06 -9.99968452e-01 -4.02973481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8065599949999 meters 0.012322673205682784 Centerline is valid? [True, True] Translation: X:140.39, Y:-90.12, Z:-4.03 [[-3.59047662e-01 -9.33315787e-01 2.53364896e-03 1.40387418e+02] [-9.33292679e-01 3.59056601e-01 6.56756175e-03 -9.01228001e+01] [-7.03933245e-03 -6.56833523e-06 -9.99975224e-01 -4.03107426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.866559995 meters 0.012371290352898433 Centerline is valid? [True, True] Translation: X:140.32, Y:-90.22, Z:-4.03 [[-2.85444366e-01 -9.58393969e-01 1.58585912e-03 1.40324000e+02] [-9.58379400e-01 2.85448771e-01 5.28437664e-03 -9.02197389e+01] [-5.51719624e-03 -1.14591727e-05 -9.99984780e-01 -4.03224983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9265599949999 meters 0.012350784182970849 Centerline is valid? [True, True] Translation: X:140.27, Y:-90.32, Z:-4.03 [[-2.11301778e-01 -9.77420127e-01 1.20570998e-03 1.40269751e+02] [-9.77404539e-01 2.11305218e-01 5.52019352e-03 -9.03199635e+01] [-5.65032107e-03 -1.20396979e-05 -9.99984037e-01 -4.03186169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.986559995 meters 0.012421934673938812 Centerline is valid? [True, True] Translation: X:140.22, Y:-90.43, Z:-4.03 [[-1.36077663e-01 -9.90697881e-01 7.60063196e-04 1.40221217e+02] [-9.90682814e-01 1.36079785e-01 5.46388390e-03 -9.04313796e+01] [-5.51648744e-03 -9.46899466e-06 -9.99984784e-01 -4.03181465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0465599949999 meters 0.012510613130467111 Centerline is valid? [True, True] Translation: X:139.51, Y:-90.44, Z:-5.01 [[-2.06645868e-01 9.78415117e-01 1.15937175e-03 1.39509737e+02] [-9.78399060e-01 -2.06649119e-01 5.60539962e-03 -9.04363504e+01] [ 5.72399088e-03 2.40044367e-05 9.99983618e-01 -5.00828276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.106559995 meters 0.012586299222224873 Centerline is valid? [True, True] Translation: X:140.18, Y:-90.70, Z:-4.03 [[-1.25143747e-01 -9.92138280e-01 8.22489268e-04 1.40177900e+02] [-9.92117884e-01 1.25146448e-01 6.36175412e-03 -9.07046080e+01] [-6.41467140e-03 -1.98725676e-05 -9.99979426e-01 -4.03155574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.166559995 meters 0.012728890945697638 Centerline is valid? [True, True] Translation: X:140.14, Y:-90.82, Z:-4.03 [[-4.72248014e-02 -9.98884204e-01 4.06230913e-04 1.40138662e+02] [-9.98853370e-01 4.72265355e-02 7.84860069e-03 -9.08211832e+01] [-7.85902813e-03 -3.51165074e-05 -9.99969117e-01 -4.03045856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.226559995 meters 0.01302775258847376 Centerline is valid? [True, True] Translation: X:140.11, Y:-90.94, Z:-4.03 [[ 3.34999221e-02 -9.99438691e-01 -2.43059682e-04 1.40106924e+02] [-9.99391966e-01 -3.35007063e-02 9.66438623e-03 -9.09360212e+01] [-9.66710419e-03 -8.08442925e-05 -9.99953269e-01 -4.02946328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.286559995 meters 0.01363464095736624 Centerline is valid? [True, True] Translation: X:140.08, Y:-91.06, Z:-4.03 [[ 1.14858419e-01 -9.93381373e-01 -9.95807815e-04 1.40084050e+02] [-9.93333742e-01 -1.14862664e-01 9.72857460e-03 -9.10603675e+01] [-9.77856593e-03 -1.28239197e-04 -9.99952181e-01 -4.03006112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3465599949999 meters 0.014779026516114551 Centerline is valid? [True, True] Translation: X:140.07, Y:-91.18, Z:-4.03 [[ 1.95484099e-01 -9.80705543e-01 -1.61403241e-03 1.40069419e+02] [-9.80664913e-01 -1.95490695e-01 8.92837258e-03 -9.11781161e+01] [-9.07163280e-03 -1.62529914e-04 -9.99958839e-01 -4.03119754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.406559995 meters 0.015060355457043605 Centerline is valid? [True, True] Translation: X:140.07, Y:-91.30, Z:-4.03 [[ 2.72743110e-01 -9.62084984e-01 -1.91806124e-03 1.40067394e+02] [-9.62057008e-01 -2.72749810e-01 7.33854390e-03 -9.12970004e+01] [-7.58345374e-03 -1.56253027e-04 -9.99971233e-01 -4.03315100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4665599949999 meters 0.01553152401201462 Centerline is valid? [True, True] Translation: X:140.07, Y:-91.42, Z:-4.03 [[ 3.48508267e-01 -9.37303389e-01 -2.08432544e-03 1.40073655e+02] [-9.37283952e-01 -3.48514467e-01 6.03822074e-03 -9.14166783e+01] [-6.38606234e-03 -1.50765060e-04 -9.99979598e-01 -4.03439456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.526559995 meters 0.01596929024212037 Centerline is valid? [True, True] Translation: X:140.09, Y:-91.53, Z:-4.03 [[ 4.21273544e-01 -9.06928931e-01 -2.91816127e-03 1.40087010e+02] [-9.06903974e-01 -4.21283608e-01 6.73079240e-03 -9.15332675e+01] [-7.33372387e-03 -1.89012713e-04 -9.99973090e-01 -4.03329887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5865599949999 meters 0.01668300938129691 Centerline is valid? [True, True] Translation: X:140.11, Y:-91.65, Z:-4.03 [[ 4.89790863e-01 -8.71832234e-01 -3.66977986e-03 1.40108817e+02] [-8.71804531e-01 -4.89804567e-01 6.95314163e-03 -9.16452936e+01] [-7.85944793e-03 -2.06254529e-04 -9.99969093e-01 -4.03240640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.646559995 meters 0.016917259253347892 Centerline is valid? [True, True] Translation: X:140.14, Y:-91.76, Z:-4.03 [[ 5.55554392e-01 -8.31467474e-01 -4.59972071e-03 1.40142235e+02] [-8.31435450e-01 -5.55573385e-01 7.30111744e-03 -9.17582385e+01] [-8.62612408e-03 -2.31797003e-04 -9.99962767e-01 -4.03117671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7065599949999 meters 0.017567040851350774 Centerline is valid? [True, True] Translation: X:140.18, Y:-91.87, Z:-4.03 [[ 6.17896643e-01 -7.86230947e-01 -6.68109502e-03 1.40183824e+02] [-7.86179515e-01 -6.17932685e-01 8.99819371e-03 -9.18668777e+01] [-1.12031254e-02 -3.07413645e-04 -9.99937196e-01 -4.02868238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.766559995 meters 0.01640584867603995 Centerline is valid? [True, True] Translation: X:140.23, Y:-91.96, Z:-4.03 [[ 6.75293795e-01 -7.37501935e-01 -8.31785869e-03 1.40227307e+02] [-7.37439794e-01 -6.75344937e-01 9.57947337e-03 -9.19584927e+01] [-1.26823039e-02 -3.35038922e-04 -9.99919520e-01 -4.02849379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8265599949999 meters 0.016587219595587677 Centerline is valid? [True, True] Translation: X:140.28, Y:-92.05, Z:-4.03 [[ 7.26679975e-01 -6.86915494e-01 -9.12785821e-03 1.40279034e+02] [-6.86856298e-01 -7.26737244e-01 9.02243495e-03 -9.20500233e+01] [-1.28312049e-02 -2.86895908e-04 -9.99917636e-01 -4.02697742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.886559995 meters 0.01486100537285878 Centerline is valid? [True, True] Translation: X:140.31, Y:-92.07, Z:-4.03 [[ 7.74411040e-01 -6.32624032e-01 -8.62408132e-03 1.40308518e+02] [-6.32582125e-01 -7.74459037e-01 7.28393564e-03 -9.20686975e+01] [-1.12869905e-02 -1.85320488e-04 -9.99936283e-01 -4.02840962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9465599949999 meters 0.013702687613640274 Centerline is valid? [True, True] Translation: X:140.34, Y:-92.09, Z:-4.03 [[ 8.19070587e-01 -5.73641877e-01 -7.64004811e-03 1.40338512e+02] [-5.73615616e-01 -8.19106210e-01 5.49011757e-03 -9.20853417e+01] [-9.40737220e-03 -1.14342923e-04 -9.99955743e-01 -4.02979383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.006559995 meters 0.01262748388321156 Centerline is valid? [True, True] Translation: X:140.37, Y:-92.10, Z:-4.03 [[ 8.59650332e-01 -5.10826075e-01 -7.61754382e-03 1.40365667e+02] [-5.10805218e-01 -8.59684079e-01 4.61670266e-03 -9.21039778e+01] [-8.90701324e-03 -7.76688416e-05 -9.99960329e-01 -4.03116917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0665599949999 meters 0.012872510624556927 Centerline is valid? [True, True] Translation: X:140.39, Y:-92.12, Z:-4.03 [[ 8.97182503e-01 -4.41557352e-01 -9.52165956e-03 1.40391123e+02] [-4.41531310e-01 -8.97233022e-01 4.79660298e-03 -9.21235319e+01] [-1.06611227e-02 -9.93174496e-05 -9.99943164e-01 -4.02838828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.126559995 meters 0.013126040017591127 Centerline is valid? [True, True] Translation: X:140.42, Y:-92.14, Z:-4.03 [[ 9.29790337e-01 -3.67919121e-01 -1.12004349e-02 1.40417894e+02] [-3.67890606e-01 -9.29857785e-01 4.58272148e-03 -9.21424364e+01] [-1.21008825e-02 -1.40435346e-04 -9.99926772e-01 -4.02763701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1865599949999 meters 0.01373361122954842 Centerline is valid? [True, True] Translation: X:140.45, Y:-92.16, Z:-4.03 [[ 9.56860046e-01 -2.90329738e-01 -1.12913973e-02 1.40445431e+02] [-2.90307248e-01 -9.56926648e-01 3.61834473e-03 -9.21623862e+01] [-1.18555520e-02 -1.84275048e-04 -9.99929704e-01 -4.02766250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.246559995 meters 0.013930548314753795 Centerline is valid? [True, True] Translation: X:140.47, Y:-92.18, Z:-4.03 [[ 9.77094267e-01 -2.12556393e-01 -1.03234217e-02 1.40474562e+02] [-2.12542498e-01 -9.77148783e-01 2.43755730e-03 -9.21799945e+01] [-1.06056373e-02 -1.87557438e-04 -9.99943741e-01 -4.02844153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3065599949999 meters 0.014127302810733168 Centerline is valid? [True, True] Translation: X:140.51, Y:-92.20, Z:-4.03 [[ 9.90904012e-01 -1.34273295e-01 -8.93993217e-03 1.40505385e+02] [-1.34266272e-01 -9.90944324e-01 1.38379678e-03 -9.21963985e+01] [-9.04478199e-03 -1.70878413e-04 -9.99959081e-01 -4.02891969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.366559995 meters 0.014103796073208384 Centerline is valid? [True, True] Translation: X:140.53, Y:-92.21, Z:-4.03 [[ 9.98278706e-01 -5.78236812e-02 -9.80035935e-03 1.40532570e+02] [-5.78192166e-02 -9.98326797e-01 7.38511217e-04 -9.22081067e+01] [-9.82666479e-03 -1.70590923e-04 -9.99951703e-01 -4.02746772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4265599949999 meters 0.013591741228459731 Centerline is valid? [True, True] Translation: X:140.56, Y:-92.22, Z:-4.03 [[ 9.99762316e-01 1.92416249e-02 -1.02503950e-02 1.40561491e+02] [ 1.92423020e-02 -9.99814849e-01 -3.25761893e-05 -9.22176024e+01] [-1.02491240e-02 -1.64672750e-04 -9.99947463e-01 -4.02733728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.486559995 meters 0.01363236282564754 Centerline is valid? [True, True] Translation: X:140.59, Y:-92.23, Z:-4.03 [[ 9.95251961e-01 9.68543873e-02 -9.63124903e-03 1.40591212e+02] [ 9.68513046e-02 -9.95298551e-01 -7.87071680e-04 -9.22250866e+01] [-9.66219955e-03 -1.49464400e-04 -9.99953309e-01 -4.02785967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5465599949999 meters 0.013855823334221706 Centerline is valid? [True, True] Translation: X:140.62, Y:-92.23, Z:-4.03 [[ 9.84577517e-01 1.74768020e-01 -7.95313735e-03 1.40621669e+02] [ 1.74763360e-01 -9.84609630e-01 -1.28245700e-03 -9.22298604e+01] [-8.05486810e-03 -1.27238684e-04 -9.99967551e-01 -4.02923643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.606559995 meters 0.013460450404324049 Centerline is valid? [True, True] Translation: X:140.65, Y:-92.23, Z:-4.03 [[ 9.68096182e-01 2.50509107e-01 -5.91351868e-03 1.40652451e+02] [ 2.50505006e-01 -9.68114239e-01 -1.43616805e-03 -9.22316778e+01] [-6.08473481e-03 -9.10172290e-05 -9.99981484e-01 -4.03067136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.666559995 meters 0.013150892184843159 Centerline is valid? [True, True] Translation: X:140.68, Y:-92.23, Z:-4.03 [[ 9.46266419e-01 3.23343831e-01 -5.35088747e-03 1.40683082e+02] [ 3.23339087e-01 -9.46281545e-01 -1.75297707e-03 -9.22300205e+01] [-5.63026038e-03 -7.13677338e-05 -9.99984147e-01 -4.03064295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.726559995 meters 0.012440793392654071 Centerline is valid? [True, True] Translation: X:140.71, Y:-92.22, Z:-4.03 [[ 9.19933604e-01 3.92055083e-01 -3.86991078e-03 1.40711669e+02] [ 3.92051766e-01 -9.19941743e-01 -1.61303561e-03 -9.22235681e+01] [-4.19249128e-03 -3.33196945e-05 -9.99991211e-01 -4.03198822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.786559995 meters 0.012031761015359903 Centerline is valid? [True, True] Translation: X:140.74, Y:-92.22, Z:-4.03 [[ 8.88452730e-01 4.58954887e-01 -3.48699505e-03 1.40741161e+02] [ 4.58951413e-01 -8.88459572e-01 -1.78573037e-03 -9.22169547e+01] [-3.91762381e-03 -1.38242809e-05 -9.99992326e-01 -4.03253195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8465599949999 meters 0.01197003541431415 Centerline is valid? [True, True] Translation: X:140.77, Y:-92.21, Z:-4.03 [[ 8.50990971e-01 5.25165252e-01 -3.97817030e-03 1.40770890e+02] [ 5.25159547e-01 -8.51000269e-01 -2.44800688e-03 -9.22104363e+01] [-4.67103214e-03 -5.94236188e-06 -9.99989091e-01 -4.03141411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.906559995 meters 0.012063155427678956 Centerline is valid? [True, True] Translation: X:140.80, Y:-92.20, Z:-4.03 [[ 8.08841966e-01 5.87996289e-01 -5.91922698e-03 1.40798276e+02] [ 5.87980451e-01 -8.08863625e-01 -4.31582166e-03 -9.22007420e+01] [-7.32553451e-03 1.04279325e-05 -9.99973168e-01 -4.02865605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9665599949999 meters 0.012082905538072205 Centerline is valid? [True, True] Translation: X:140.83, Y:-92.19, Z:-4.03 [[ 7.60342929e-01 6.49490271e-01 -6.40449942e-03 1.40827697e+02] [ 6.49467091e-01 -7.60369902e-01 -5.48723276e-03 -9.21921004e+01] [-8.43369289e-03 1.26670202e-05 -9.99964436e-01 -4.02817243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.026559995 meters 0.01204753818576189 Centerline is valid? [True, True] Translation: X:140.86, Y:-92.18, Z:-4.03 [[ 7.06729988e-01 7.07457243e-01 -6.08058171e-03 1.40856284e+02] [ 7.07430965e-01 -7.06756145e-01 -6.09761090e-03 -9.21803427e+01] [-8.61128749e-03 7.77269043e-06 -9.99962922e-01 -4.02812035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0865599949999 meters 0.01193534677085622 Centerline is valid? [True, True] Translation: X:140.88, Y:-92.17, Z:-4.03 [[ 6.49053482e-01 7.60731141e-01 -4.20816463e-03 1.40883328e+02] [ 7.60715106e-01 -6.49067124e-01 -4.93935406e-03 -9.21656603e+01] [-6.48890176e-03 4.69054291e-06 -9.99978947e-01 -4.02995433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.146559995 meters 0.011945660358322141 Centerline is valid? [True, True] Translation: X:140.91, Y:-92.15, Z:-4.03 [[ 5.86396665e-01 8.10016774e-01 -3.43170446e-03 1.40908114e+02] [ 8.10002939e-01 -5.86406707e-01 -4.73427110e-03 -9.21489163e+01] [-5.84721352e-03 -3.52990809e-06 -9.99982905e-01 -4.03066637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2065599949999 meters 0.012237753612899792 Centerline is valid? [True, True] Translation: X:140.93, Y:-92.13, Z:-4.03 [[ 5.16974707e-01 8.55995925e-01 -2.85097501e-03 1.40934702e+02] [ 8.55983229e-01 -5.16982568e-01 -4.66220669e-03 -9.21316278e+01] [-5.46473431e-03 -3.01438560e-05 -9.99985068e-01 -4.03044627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.266559995 meters 0.01291862981071646 Centerline is valid? [True, True] Translation: X:140.96, Y:-92.11, Z:-4.03 [[ 4.42088992e-01 8.96967384e-01 -2.61460462e-03 1.40962473e+02] [ 8.96952654e-01 -4.42096717e-01 -5.14089053e-03 -9.21133859e+01] [-5.76711925e-03 -7.24454417e-05 -9.99983367e-01 -4.03036197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3265599949999 meters 0.014384440269229054 Centerline is valid? [True, True] Translation: X:140.99, Y:-92.09, Z:-4.03 [[ 3.64686817e-01 9.31127668e-01 -2.18904772e-03 1.40986979e+02] [ 9.31112624e-01 -3.64693371e-01 -5.29401044e-03 -9.20927149e+01] [-5.72773079e-03 -1.07594146e-04 -9.99983591e-01 -4.02973054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.386559995 meters 0.015956780035849695 Centerline is valid? [True, True] Translation: X:141.01, Y:-92.07, Z:-4.03 [[ 2.88392435e-01 9.57510314e-01 -1.94976335e-03 1.41005610e+02] [ 9.57491457e-01 -2.88398995e-01 -6.01079760e-03 -9.20687960e+01] [-6.31771049e-03 -1.33413193e-04 -9.99980034e-01 -4.02907368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4465599949999 meters 0.015022256364807885 Centerline is valid? [True, True] Translation: X:141.02, Y:-92.04, Z:-4.03 [[ 2.12064503e-01 9.77254940e-01 -1.19506279e-03 1.41018837e+02] [ 9.77242228e-01 -2.12067841e-01 -4.98582943e-03 -9.20421908e+01] [-5.12586083e-03 -1.10548383e-04 -9.99986857e-01 -4.02995129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.506559995 meters 0.01505106860482106 Centerline is valid? [True, True] Translation: X:141.03, Y:-92.01, Z:-4.03 [[ 1.35425307e-01 9.90787333e-01 -6.69225395e-04 1.41031181e+02] [ 9.90778301e-01 -1.35426930e-01 -4.23139717e-03 -9.20147381e+01] [-4.28304585e-03 -9.00157409e-05 -9.99990824e-01 -4.03047424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5665599949999 meters 0.01476589150522983 Centerline is valid? [True, True] Translation: X:141.04, Y:-91.99, Z:-4.03 [[ 5.97717512e-02 9.98212054e-01 -1.79675391e-04 1.41039332e+02] [ 9.98209440e-01 -5.97720059e-02 -2.28485141e-03 -9.19861691e+01] [-2.29150577e-03 -4.27841022e-05 -9.99997374e-01 -4.03117698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.626559995 meters 0.013196424758987128 Centerline is valid? [True, True] Translation: X:141.04, Y:-91.96, Z:-4.03 [[-1.22984308e-02 9.99924371e-01 -2.12832419e-07 1.41041440e+02] [ 9.99922644e-01 1.22984091e-02 -1.85857549e-03 -9.19577703e+01] [-1.85843231e-03 -2.30703779e-05 -9.99998273e-01 -4.03074474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6865599949999 meters 0.012409562932261791 Centerline is valid? [True, True] Translation: X:141.04, Y:-91.93, Z:-4.03 [[-8.40928935e-02 9.96457888e-01 2.50943397e-04 1.41041396e+02] [ 9.96452758e-01 8.40932658e-02 -3.19733015e-03 -9.19310099e+01] [-3.20710750e-03 -1.88195038e-05 -9.99994857e-01 -4.02869886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.746559995 meters 0.012183585144175073 Centerline is valid? [True, True] Translation: X:141.04, Y:-91.90, Z:-4.03 [[-1.58012357e-01 9.87436781e-01 8.35767185e-04 1.41040945e+02] [ 9.87422618e-01 1.58014567e-01 -5.28873077e-03 -9.19031486e+01] [-5.35435068e-03 -1.04293945e-05 -9.99985665e-01 -4.02633830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8065599949999 meters 0.012270925732063493 Centerline is valid? [True, True] Translation: X:141.04, Y:-91.88, Z:-4.02 [[-2.33169994e-01 9.72434694e-01 1.58752128e-03 1.41038831e+02] [ 9.72412118e-01 2.33175398e-01 -6.62622354e-03 -9.18762509e+01] [-6.81374057e-03 -1.31156991e-06 -9.99976786e-01 -4.02407923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.866559995 meters 0.012306003522054697 Centerline is valid? [True, True] Translation: X:141.04, Y:-91.85, Z:-4.02 [[-3.07353613e-01 9.51592389e-01 2.38379832e-03 1.41037561e+02] [ 9.51563995e-01 3.07362857e-01 -7.35101839e-03 -9.18483193e+01] [-7.72786422e-03 8.97459184e-06 -9.99970140e-01 -4.02436975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9265599949999 meters 0.012248866698249672 Centerline is valid? [True, True] Translation: X:141.04, Y:-91.82, Z:-4.02 [[-3.81286556e-01 9.24452405e-01 2.88335049e-03 1.41037509e+02] [ 9.24426093e-01 3.81297458e-01 -6.97476022e-03 -9.18194865e+01] [-7.54724807e-03 6.06212403e-06 -9.99971519e-01 -4.02457595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.986559995 meters 0.012270089723526 Centerline is valid? [True, True] Translation: X:141.03, Y:-91.79, Z:-4.03 [[-4.52931461e-01 8.91541456e-01 2.63120348e-03 1.41033829e+02] [ 8.91526437e-01 4.52939103e-01 -5.17504931e-03 -9.17912835e+01] [-5.80554594e-03 1.84481923e-06 -9.99983148e-01 -4.02541083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0465599949999 meters 0.012317302406434853 Centerline is valid? [True, True] Translation: X:141.03, Y:-91.76, Z:-4.03 [[-5.21968048e-01 8.52963131e-01 1.80374806e-03 1.41027636e+02] [ 8.52958029e-01 5.21971165e-01 -2.95017460e-03 -9.17628895e+01] [-3.45789464e-03 -1.37549028e-06 -9.99994022e-01 -4.02684961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.106559995 meters 0.012473787421214829 Centerline is valid? [True, True] Translation: X:141.02, Y:-91.73, Z:-4.03 [[-5.88554443e-01 8.08456071e-01 1.56492728e-03 1.41021483e+02] [ 8.08453188e-01 5.88556524e-01 -2.15907946e-03 -9.17331955e+01] [-2.66656906e-03 -5.56536564e-06 -9.99996445e-01 -4.02660004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.166559995 meters 0.01251811865162077 Centerline is valid? [True, True] Translation: X:141.01, Y:-91.71, Z:-4.03 [[-6.51135834e-01 7.58958545e-01 2.01297519e-03 1.41010743e+02] [ 7.58954867e-01 6.51138945e-01 -2.36309168e-03 -9.17052128e+01] [-3.10421517e-03 -1.09363529e-05 -9.99995182e-01 -4.02599491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.226559995 meters 0.01258515019476898 Centerline is valid? [True, True] Translation: X:141.00, Y:-91.68, Z:-4.03 [[-7.09645505e-01 7.04553253e-01 2.82326105e-03 1.40999374e+02] [ 7.04547563e-01 7.09651121e-01 -2.83145724e-03 -9.16773174e+01] [-3.99844278e-03 -2.02092108e-05 -9.99992006e-01 -4.02547802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.286559995 meters 0.012739103487037377 Centerline is valid? [True, True] Translation: X:140.99, Y:-91.65, Z:-4.02 [[-7.63247174e-01 6.46098310e-01 3.27491290e-03 1.40985045e+02] [ 6.46092216e-01 7.63254200e-01 -2.80610862e-03 -9.16518271e+01] [-4.31261306e-03 -2.58587419e-05 -9.99990700e-01 -4.02493330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3465599949999 meters 0.012745828901063383 Centerline is valid? [True, True] Translation: X:141.00, Y:-91.63, Z:-4.02 [[-8.07597444e-01 5.89724682e-01 3.34197568e-03 1.41002270e+02] [ 5.89719484e-01 8.07604358e-01 -2.47617885e-03 -9.16300532e+01] [-4.15925791e-03 -2.89275325e-05 -9.99991350e-01 -4.02499020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.406559995 meters 0.01294002391331261 Centerline is valid? [True, True] Translation: X:141.01, Y:-91.60, Z:-4.02 [[-8.48105428e-01 5.29811201e-01 4.15630395e-03 1.41014380e+02] [ 5.29804597e-01 8.48115611e-01 -2.64558504e-03 -9.16035653e+01] [-4.92668685e-03 -4.17060964e-05 -9.99987863e-01 -4.02438235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4665599949999 meters 0.01300195482732427 Centerline is valid? [True, True] Translation: X:141.03, Y:-91.58, Z:-4.02 [[-8.83754952e-01 4.67920634e-01 5.24074697e-03 1.41033866e+02] [ 4.67912044e-01 8.83770489e-01 -2.83581454e-03 -9.15828795e+01] [-5.95855365e-03 -5.39565167e-05 -9.99982246e-01 -4.02339326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.526559995 meters 0.013188535819455479 Centerline is valid? [True, True] Translation: X:141.04, Y:-91.55, Z:-4.02 [[-9.15444487e-01 4.02394967e-01 6.29931129e-03 1.41039872e+02] [ 4.02384865e-01 9.15466157e-01 -2.85232805e-03 -9.15546435e+01] [-6.91456875e-03 -7.64004637e-05 -9.99976091e-01 -4.02281780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5865599949999 meters 0.013669681585830918 Centerline is valid? [True, True] Translation: X:141.06, Y:-91.53, Z:-4.02 [[-9.42065286e-01 3.35373198e-01 6.14938044e-03 1.41058900e+02] [ 3.35365478e-01 9.42085352e-01 -2.27716810e-03 -9.15321087e+01] [-6.55694239e-03 -8.29511075e-05 -9.99978500e-01 -4.02235381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.646559995 meters 0.0140426684922966 Centerline is valid? [True, True] Translation: X:141.07, Y:-91.51, Z:-4.02 [[-9.63708683e-01 2.66868940e-01 6.82219700e-03 1.41067441e+02] [ 2.66861543e-01 9.63732826e-01 -1.98930816e-03 -9.15064725e+01] [-7.10565975e-03 -9.65315295e-05 -9.99974750e-01 -4.02143765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7065599949999 meters 0.013666972335238843 Centerline is valid? [True, True] Translation: X:141.08, Y:-91.48, Z:-4.02 [[-9.80144204e-01 1.98104040e-01 8.49281499e-03 1.41077265e+02] [ 1.98095501e-01 9.80180990e-01 -1.84359600e-03 -9.14840248e+01] [-8.68971962e-03 -1.24601494e-04 -9.99962236e-01 -4.02119881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.766559995 meters 0.014016061487794712 Centerline is valid? [True, True] Translation: X:141.23, Y:-90.81, Z:-5.02 [[-9.56429254e-01 -2.91811037e-01 9.45523607e-03 1.41225912e+02] [ 2.91798967e-01 -9.56475966e-01 -2.66253201e-03 -9.08146521e+01] [ 9.82066228e-03 2.12504616e-04 9.99951754e-01 -5.02072854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8265599949999 meters 0.014217874124729548 Centerline is valid? [True, True] Translation: X:141.03, Y:-91.48, Z:-4.02 [[-9.81010226e-01 1.93716006e-01 9.64596726e-03 1.41029523e+02] [ 1.93705148e-01 9.81057637e-01 -2.05647492e-03 -9.14756463e+01] [-9.86162195e-03 -1.48949417e-04 -9.99951362e-01 -4.01916382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.886559995 meters 0.014033838353441058 Centerline is valid? [True, True] Translation: X:141.18, Y:-90.80, Z:-5.02 [[-9.57776527e-01 -2.87382609e-01 8.68100890e-03 1.41179517e+02] [ 2.87371613e-01 -9.57815864e-01 -2.51535453e-03 -9.08047233e+01] [ 9.03767719e-03 8.55280021e-05 9.99959156e-01 -5.02048463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9465599949999 meters 0.014405440760348442 Centerline is valid? [True, True] Translation: X:140.99, Y:-91.47, Z:-4.02 [[-9.81605459e-01 1.90743311e-01 8.22878349e-03 1.40985348e+02] [ 1.90735577e-01 9.81639941e-01 -1.72198396e-03 -9.14652883e+01] [-8.40615946e-03 -1.20787087e-04 -9.99964660e-01 -4.01984629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.006559995 meters 0.015071930747231852 Centerline is valid? [True, True] Translation: X:140.99, Y:-91.44, Z:-4.02 [[-9.92894238e-01 1.18679211e-01 8.73370394e-03 1.40988565e+02] [ 1.18673340e-01 9.92932638e-01 -1.18917188e-03 -9.14362943e+01] [-8.81310967e-03 -1.44264084e-04 -9.99961153e-01 -4.01928850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0665599949999 meters 0.014623727893060724 Centerline is valid? [True, True] Translation: X:141.08, Y:-90.76, Z:-5.02 [[-9.75925834e-01 -2.17938131e-01 8.46985066e-03 1.41079597e+02] [ 2.17931088e-01 -9.75962578e-01 -1.75705462e-03 -9.07623883e+01] [ 8.64918649e-03 1.31088767e-04 9.99962587e-01 -5.02081662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.126559995 meters 0.01406609903004387 Centerline is valid? [True, True] Translation: X:140.94, Y:-91.43, Z:-4.02 [[-9.93289352e-01 1.15248764e-01 9.69462739e-03 1.40939557e+02] [ 1.15241747e-01 9.93336649e-01 -1.28112723e-03 -9.14312394e+01] [-9.77767701e-03 -1.55304239e-04 -9.99952185e-01 -4.01907715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1865599949999 meters 0.013080814012547293 Centerline is valid? [True, True] Translation: X:140.94, Y:-91.41, Z:-4.02 [[-9.98730171e-01 4.94174372e-02 9.79600483e-03 1.40944883e+02] [ 4.94139933e-02 9.98778206e-01 -5.93439156e-04 -9.14083533e+01] [-9.81336238e-03 -1.08625872e-04 -9.99951842e-01 -4.01940832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.246559995 meters 0.012644731687147626 Centerline is valid? [True, True] Translation: X:140.99, Y:-90.72, Z:-5.02 [[-9.91002600e-01 -1.33492716e-01 9.67166922e-03 1.40992119e+02] [ 1.33487381e-01 -9.91049789e-01 -1.19801346e-03 -9.07183895e+01] [ 9.74503181e-03 1.03811343e-04 9.99952511e-01 -5.01992308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3065599949999 meters 0.012628397705467385 Centerline is valid? [True, True] Translation: X:140.89, Y:-91.41, Z:-4.02 [[-9.98272735e-01 5.81740017e-02 8.20567758e-03 1.40892922e+02] [ 5.81721690e-02 9.98306459e-01 -4.62045465e-04 -9.14124951e+01] [-8.21865996e-03 1.60946732e-05 -9.99966226e-01 -4.02078186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.366559995 meters 0.012890279154511245 Centerline is valid? [True, True] Translation: X:140.94, Y:-90.71, Z:-5.02 [[-9.92870228e-01 -1.18907862e-01 8.34449525e-03 1.40935627e+02] [ 1.18903621e-01 -9.92905293e-01 -1.00427191e-03 -9.07117019e+01] [ 8.40470933e-03 -4.92097793e-06 9.99964680e-01 -5.01945758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4265599949999 meters 0.013706744409671099 Centerline is valid? [True, True] Translation: X:140.84, Y:-91.41, Z:-4.02 [[-9.98010859e-01 6.24798792e-02 8.40177861e-03 1.40836852e+02] [ 6.24784216e-02 9.98046220e-01 -4.36103969e-04 -9.14129728e+01] [-8.41261111e-03 8.96933696e-05 -9.99964609e-01 -4.02068607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.486559995 meters 0.014751613221519053 Centerline is valid? [True, True] Translation: X:140.83, Y:-91.39, Z:-4.02 [[-9.99942852e-01 -6.02104331e-03 8.83405575e-03 1.40832567e+02] [-6.01977586e-03 9.99981867e-01 1.70055601e-04 -9.13859272e+01] [-8.83491947e-03 1.16866847e-04 -9.99960965e-01 -4.01958811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5465599949999 meters 0.01518923837594041 Centerline is valid? [True, True] Translation: X:140.83, Y:-90.68, Z:-5.02 [[-9.99337880e-01 -3.51475198e-02 9.40492156e-03 1.40825691e+02] [ 3.51451490e-02 -9.99382131e-01 -4.17281603e-04 -9.06804245e+01] [ 9.41377696e-03 -8.64679425e-05 9.99955686e-01 -5.02175861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.606559995 meters 0.015127316342788166 Centerline is valid? [True, True] Translation: X:140.76, Y:-91.38, Z:-4.02 [[-9.99829789e-01 -1.49407709e-02 1.08243433e-02 1.40758089e+02] [-1.49388528e-02 9.99888376e-01 2.58046611e-04 -9.13793665e+01] [-1.08269905e-02 9.62994173e-05 -9.99941382e-01 -4.01647567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.666559995 meters 0.01463656513520252 Centerline is valid? [True, True] Translation: X:140.75, Y:-90.69, Z:-5.02 [[-9.99155126e-01 -3.94703127e-02 1.14511104e-02 1.40751832e+02] [ 3.94670646e-02 -9.99220742e-01 -5.09582903e-04 -9.06944211e+01] [ 1.14623005e-02 -5.72106552e-05 9.99934304e-01 -5.02247245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.726559995 meters 0.014401714234195192 Centerline is valid? [True, True] Translation: X:140.70, Y:-91.37, Z:-4.02 [[-9.99540348e-01 -2.84478717e-02 1.04791336e-02 1.40695438e+02] [-2.84463129e-02 9.99595277e-01 2.97802732e-04 -9.13711279e+01] [-1.04833643e-02 -4.26865179e-07 -9.99945048e-01 -4.01814863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.786559995 meters 0.014534605794772018 Centerline is valid? [True, True] Translation: X:140.68, Y:-91.34, Z:-4.02 [[-9.94653351e-01 -1.02850765e-01 9.29688421e-03 1.40684375e+02] [-1.02846579e-01 9.94696798e-01 9.28497349e-04 -9.13410411e+01] [-9.34307762e-03 -3.26197396e-05 -9.99956352e-01 -4.01802970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8465599949999 meters 0.01449384819248577 Centerline is valid? [True, True] Translation: X:140.62, Y:-90.68, Z:-5.02 [[-9.99611761e-01 2.63405878e-02 9.08304707e-03 1.40622079e+02] [-2.63393717e-02 -9.99653026e-01 2.53503924e-04 -9.06816775e+01] [ 9.08657293e-03 1.41637515e-05 9.99958716e-01 -5.02043958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.906559995 meters 0.015113935101381017 Centerline is valid? [True, True] Translation: X:140.61, Y:-91.34, Z:-4.02 [[-9.93420212e-01 -1.14211738e-01 8.48301040e-03 1.40611695e+02] [-1.14208313e-01 9.93456427e-01 8.88656092e-04 -9.13422041e+01] [-8.52899615e-03 -8.60213807e-05 -9.99963624e-01 -4.01992063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9665599949999 meters 0.015083395260549132 Centerline is valid? [True, True] Translation: X:140.54, Y:-90.70, Z:-5.02 [[-9.99678093e-01 2.41156506e-02 7.88325573e-03 1.40544260e+02] [-2.41146220e-02 -9.99709175e-01 2.25529621e-04 -9.06960396e+01] [ 7.88640188e-03 3.53552897e-05 9.99968901e-01 -5.01878229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.026559995 meters 0.015951543500770347 Centerline is valid? [True, True] Translation: X:140.54, Y:-91.34, Z:-4.02 [[-9.91980395e-01 -1.26155170e-01 7.73099276e-03 1.40539284e+02] [-1.26152403e-01 9.92010511e-01 8.46506320e-04 -9.13423713e+01] [-7.77601723e-03 -1.35565639e-04 -9.99969757e-01 -4.02160842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0865599949999 meters 0.01711215301048371 Centerline is valid? [True, True] Translation: X:140.47, Y:-90.71, Z:-5.02 [[-9.99733910e-01 2.12323885e-02 9.01633615e-03 1.40466245e+02] [-2.12293305e-02 -9.99774538e-01 4.34747908e-04 -9.07148459e+01] [ 9.02353405e-03 2.43221445e-04 9.99959258e-01 -5.02034634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.146559995 meters 0.01700106937851166 Centerline is valid? [True, True] Translation: X:140.46, Y:-91.35, Z:-4.02 [[-9.90807358e-01 -1.34902879e-01 1.00991127e-02 1.40464093e+02] [-1.34898112e-01 9.90858802e-01 1.15490207e-03 -9.13452624e+01] [-1.01625943e-02 -2.18065760e-04 -9.99948336e-01 -4.01985839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2065599949999 meters 0.017186309294598766 Centerline is valid? [True, True] Translation: X:140.39, Y:-90.72, Z:-5.02 [[-9.99604098e-01 2.57797769e-02 1.12716796e-02 1.40393736e+02] [-2.57745793e-02 -9.99667597e-01 6.06164851e-04 -9.07248456e+01] [ 1.12835597e-02 3.15402069e-04 9.99936289e-01 -5.02185021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.266559995 meters 0.016003172595383593 Centerline is valid? [True, True] Translation: X:140.39, Y:-91.36, Z:-4.02 [[-9.90613863e-01 -1.36262294e-01 1.08055943e-02 1.40392306e+02] [-1.36256323e-01 9.90672776e-01 1.29034710e-03 -9.13553378e+01] [-1.08806337e-02 -1.94094817e-04 -9.99940785e-01 -4.01957773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3265599949999 meters 0.014909178357785073 Centerline is valid? [True, True] Translation: X:140.39, Y:-91.33, Z:-4.02 [[-9.79292082e-01 -2.02221292e-01 9.67299984e-03 1.40389426e+02] [-2.02212780e-01 9.79339845e-01 1.86026294e-03 -9.13332868e+01] [-9.84933894e-03 -1.34263424e-04 -9.99951485e-01 -4.02174023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.386559995 meters 0.014511419208748792 Centerline is valid? [True, True] Translation: X:140.38, Y:-91.31, Z:-4.02 [[-9.63435244e-01 -2.67760431e-01 9.84283157e-03 1.40375777e+02] [-2.67747493e-01 9.63485517e-01 2.63403767e-03 -9.13114616e+01] [-1.01887167e-02 -9.76687522e-05 -9.99948089e-01 -4.02111017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4465599949999 meters 0.014072122355702236 Centerline is valid? [True, True] Translation: X:140.35, Y:-91.29, Z:-4.02 [[-9.42292328e-01 -3.34651056e-01 9.68711406e-03 1.40346952e+02] [-3.34634261e-01 9.42342116e-01 3.35368741e-03 -9.12944254e+01] [-1.02508906e-02 -8.14863433e-05 -9.99947455e-01 -4.02205799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.506559995 meters 0.014034194942088246 Centerline is valid? [True, True] Translation: X:140.31, Y:-91.28, Z:-4.02 [[-9.16072759e-01 -4.00915074e-01 8.82059231e-03 1.40307210e+02] [-4.00897206e-01 9.16115221e-01 3.78574155e-03 -9.12810435e+01] [-9.59843973e-03 -6.81361023e-05 -9.99953932e-01 -4.02207521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5665599949999 meters 0.014041976506019353 Centerline is valid? [True, True] Translation: X:140.25, Y:-91.28, Z:-4.02 [[-8.83652269e-01 -4.68049598e-01 9.39369057e-03 1.40250259e+02] [-4.68024173e-01 8.83702193e-01 4.87921337e-03 -9.12761083e+01] [-1.05849388e-02 -8.49462939e-05 -9.99943974e-01 -4.02205470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.626559995 meters 0.014249878136256803 Centerline is valid? [True, True] Translation: X:140.18, Y:-91.28, Z:-4.02 [[-8.45999589e-01 -5.33098573e-01 9.51873009e-03 1.40182805e+02] [-5.33066242e-01 8.46053131e-01 5.87213808e-03 -9.12817756e+01] [-1.11837798e-02 -1.06287272e-04 -9.99937454e-01 -4.02092516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6865599949999 meters 0.014396987397913076 Centerline is valid? [True, True] Translation: X:140.11, Y:-91.30, Z:-4.02 [[-8.02919704e-01 -5.96012268e-01 9.45127827e-03 1.40111995e+02] [-5.95972943e-01 8.02975317e-01 6.84783003e-03 -9.12956172e+01] [-1.16705339e-02 -1.34448471e-04 -9.99931888e-01 -4.02162482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.746559995 meters 0.014564661317821005 Centerline is valid? [True, True] Translation: X:140.03, Y:-91.32, Z:-4.02 [[-7.55354373e-01 -6.55270871e-01 7.73673937e-03 1.40034434e+02] [-6.55238283e-01 7.55393982e-01 6.53639760e-03 -9.13200373e+01] [-1.01273973e-02 -1.32111313e-04 -9.99948708e-01 -4.02298200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8065599949999 meters 0.014474835641644338 Centerline is valid? [True, True] Translation: X:139.95, Y:-91.35, Z:-4.02 [[-7.04138154e-01 -7.10035910e-01 6.20215338e-03 1.39954408e+02] [-7.10009791e-01 7.04165459e-01 6.09120431e-03 -9.13547752e+01] [-8.69231598e-03 -1.14540266e-04 -9.99962215e-01 -4.02397500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.866559995 meters 0.013995241031215846 Centerline is valid? [True, True] Translation: X:139.88, Y:-91.40, Z:-4.02 [[-6.49678326e-01 -7.60186536e-01 5.87399881e-03 1.39875756e+02] [-7.60156943e-01 6.49704871e-01 6.70844130e-03 -9.14000281e+01] [-8.91603239e-03 -1.06832062e-04 -9.99960246e-01 -4.02428015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9265599949999 meters 0.013877461480974851 Centerline is valid? [True, True] Translation: X:139.80, Y:-91.46, Z:-4.02 [[-5.91542265e-01 -8.06250950e-01 6.09544091e-03 1.39795045e+02] [-8.06210013e-01 5.91573660e-01 8.12532756e-03 -9.14560415e+01] [-1.01569553e-02 -1.07730822e-04 -9.99948411e-01 -4.02286244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.986559995 meters 0.01357412446245946 Centerline is valid? [True, True] Translation: X:139.72, Y:-91.52, Z:-4.02 [[-5.29403144e-01 -8.48351474e-01 5.66453328e-03 1.39718567e+02] [-8.48305008e-01 5.29433438e-01 8.87967240e-03 -9.15197985e+01] [-1.05320765e-02 -1.04325457e-04 -9.99944531e-01 -4.02307188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0465599949999 meters 0.01369373180778344 Centerline is valid? [True, True] Translation: X:139.64, Y:-91.59, Z:-4.02 [[-4.64954298e-01 -8.85319753e-01 5.14153888e-03 1.39643073e+02] [-8.85267788e-01 4.64982716e-01 9.59258859e-03 -9.15947050e+01] [-1.08832349e-02 -9.15234595e-05 -9.99940772e-01 -4.02164519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.106559995 meters 0.013453230597268787 Centerline is valid? [True, True] Translation: X:139.58, Y:-91.67, Z:-4.02 [[-3.96504484e-01 -9.18022006e-01 4.44861602e-03 1.39575701e+02] [-9.17966748e-01 3.96529429e-01 1.00727729e-02 -9.16718741e+01] [-1.10110343e-02 -8.97819781e-05 -9.99939373e-01 -4.02168420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.166559995 meters 0.013593641694271987 Centerline is valid? [True, True] Translation: X:139.51, Y:-91.76, Z:-4.02 [[-3.24683448e-01 -9.45814660e-01 3.90994989e-03 1.39508409e+02] [-9.45749966e-01 3.24706972e-01 1.10627223e-02 -9.17648294e+01] [-1.17328730e-02 -1.05952147e-04 -9.99931162e-01 -4.02003681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.226559995 meters 0.013696617002047525 Centerline is valid? [True, True] Translation: X:139.45, Y:-91.86, Z:-4.02 [[-2.50715545e-01 -9.68055035e-01 3.34127335e-03 1.39450232e+02] [-9.67975736e-01 2.50737776e-01 1.23911855e-02 -9.18614951e+01] [-1.28331330e-02 -1.27608703e-04 -9.99917644e-01 -4.01945706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.286559995 meters 0.013646162386782361 Centerline is valid? [True, True] Translation: X:139.40, Y:-91.97, Z:-4.02 [[-1.76569499e-01 -9.84285674e-01 2.21898710e-03 1.39397581e+02] [-9.84215784e-01 1.76583406e-01 1.17299539e-02 -9.19725134e+01] [-1.19374619e-02 -1.12810051e-04 -9.99928740e-01 -4.02008548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3465599949999 meters 0.013577559167260035 Centerline is valid? [True, True] Translation: X:139.36, Y:-92.07, Z:-4.02 [[-1.01605464e-01 -9.94823988e-01 1.25043660e-03 1.39357322e+02] [-9.94760040e-01 1.01613111e-01 1.12799632e-02 -9.20683772e+01] [-1.13486387e-02 -9.77784706e-05 -9.99935597e-01 -4.02065564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.406559995 meters 0.01336234755906371 Centerline is valid? [True, True] Translation: X:139.32, Y:-92.17, Z:-4.02 [[-2.66685671e-02 -9.99644264e-01 3.65341319e-04 1.39324665e+02] [-9.99585821e-01 2.66709585e-02 1.08095918e-02 -9.21747950e+01] [-1.08154904e-02 -7.69136785e-05 -9.99941508e-01 -4.02132463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4665599949999 meters 0.013186302212626174 Centerline is valid? [True, True] Translation: X:139.30, Y:-92.29, Z:-4.02 [[ 4.94218589e-02 -9.98777889e-01 -4.56964428e-04 1.39299453e+02] [-9.98721087e-01 -4.94239217e-02 1.06520610e-02 -9.22910306e+01] [-1.06616280e-02 -7.00646438e-05 -9.99943161e-01 -4.02215225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.526559995 meters 0.013176263613603483 Centerline is valid? [True, True] Translation: X:139.28, Y:-92.41, Z:-4.02 [[ 1.24013659e-01 -9.92279866e-01 -1.13172458e-03 1.39284109e+02] [-9.92235186e-01 -1.24018815e-01 9.41647819e-03 -9.24069969e+01] [-9.48413685e-03 -4.48349653e-05 -9.99955024e-01 -4.02354166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5865599949999 meters 0.013041073413722943 Centerline is valid? [True, True] Translation: X:139.28, Y:-92.52, Z:-4.02 [[ 1.98579430e-01 -9.80083105e-01 -1.82162751e-03 1.39276809e+02] [-9.80040330e-01 -1.98587782e-01 9.15666931e-03 -9.25221241e+01] [-9.33604985e-03 -3.30577455e-05 -9.99956418e-01 -4.02337158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.646559995 meters 0.013099395226094549 Centerline is valid? [True, True] Translation: X:139.28, Y:-92.64, Z:-4.02 [[ 2.72812873e-01 -9.62063253e-01 -2.72643931e-03 1.39278359e+02] [-9.62014006e-01 -2.72826494e-01 9.73424702e-03 -9.26402099e+01] [-1.01088062e-02 -3.27550896e-05 -9.99948904e-01 -4.02315257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7065599949999 meters 0.013052482974265376 Centerline is valid? [True, True] Translation: X:139.29, Y:-92.76, Z:-4.02 [[ 3.44896722e-01 -9.38632447e-01 -3.92167912e-03 1.39290424e+02] [-9.38570896e-01 -3.44919016e-01 1.07491981e-02 -9.27583785e+01] [-1.14422078e-02 -2.65893093e-05 -9.99934535e-01 -4.02192478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.766559995 meters 0.013068656375168639 Centerline is valid? [True, True] Translation: X:139.31, Y:-92.87, Z:-4.02 [[ 4.14898477e-01 -9.09854972e-01 -4.81503699e-03 1.39310587e+02] [-9.09793253e-01 -4.14926416e-01 1.05974872e-02 -9.28731824e+01] [-1.16400625e-02 -1.61931515e-05 -9.99932252e-01 -4.02090273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8265599949999 meters 0.013024753958944939 Centerline is valid? [True, True] Translation: X:139.34, Y:-92.98, Z:-4.02 [[ 4.83035609e-01 -8.75583354e-01 -5.51282715e-03 1.39337969e+02] [-8.75526055e-01 -4.83067066e-01 1.00168293e-02 -9.29839432e+01] [-1.14336342e-02 -1.18614185e-05 -9.99934634e-01 -4.02184165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.886559995 meters 0.013063532484394324 Centerline is valid? [True, True] Translation: X:139.37, Y:-93.09, Z:-4.02 [[ 5.48024959e-01 -8.36439579e-01 -6.12168992e-03 1.39372979e+02] [-8.36387298e-01 -5.48059149e-01 9.35187382e-03 -9.30901704e+01] [-1.11773256e-02 -4.95656910e-06 -9.99937532e-01 -4.02201373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9465599949999 meters 0.013012428729791633 Centerline is valid? [True, True] Translation: X:139.42, Y:-93.19, Z:-4.02 [[ 6.10076894e-01 -7.92314201e-01 -6.66265583e-03 1.39415318e+02] [-7.92266921e-01 -6.10113274e-01 8.65558572e-03 -9.31941155e+01] [-1.09229182e-02 -1.97103200e-06 -9.99940343e-01 -4.02241559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.006559995 meters 0.01286501713578652 Centerline is valid? [True, True] Translation: X:139.46, Y:-93.29, Z:-4.02 [[ 6.68963658e-01 -7.43264006e-01 -6.80012885e-03 1.39463706e+02] [-7.43225513e-01 -6.68998220e-01 7.56432428e-03 -9.32937016e+01] [-1.01715641e-02 -6.22879238e-06 -9.99948268e-01 -4.02368936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0665599949999 meters 0.012897784034348228 Centerline is valid? [True, True] Translation: X:139.51, Y:-93.38, Z:-4.02 [[ 7.24038151e-01 -6.89715494e-01 -7.82897742e-03 1.39513954e+02] [-6.89674952e-01 -7.24080477e-01 7.47820053e-03 -9.33845294e+01] [-1.08266405e-02 -1.50528596e-05 -9.99941390e-01 -4.02362872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.126559995 meters 0.013051113693797198 Centerline is valid? [True, True] Translation: X:139.53, Y:-93.41, Z:-4.02 [[ 7.77846019e-01 -6.28401943e-01 -8.15900584e-03 1.39532834e+02] [-6.28366698e-01 -7.77888807e-01 6.65555320e-03 -9.34125452e+01] [-1.05291619e-02 -5.01479968e-05 -9.99944566e-01 -4.02332055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1865599949999 meters 0.013458368905921309 Centerline is valid? [True, True] Translation: X:139.55, Y:-93.44, Z:-4.02 [[ 8.27280500e-01 -5.61722309e-01 -8.66154053e-03 1.39554437e+02] [-5.61690248e-01 -8.27325835e-01 6.00228970e-03 -9.34408625e+01] [-1.05375363e-02 -1.00474375e-04 -9.99944474e-01 -4.02324049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.246559995 meters 0.014282226326314837 Centerline is valid? [True, True] Translation: X:139.58, Y:-93.47, Z:-4.02 [[ 8.71386013e-01 -4.90475683e-01 -1.09554139e-02 1.39578257e+02] [-4.90434157e-01 -8.71454857e-01 6.38514899e-03 -9.34668929e+01] [-1.26789089e-02 -1.91020353e-04 -9.99919601e-01 -4.02243724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3065599949999 meters 0.015667533580084145 Centerline is valid? [True, True] Translation: X:139.60, Y:-93.49, Z:-4.02 [[ 9.08400674e-01 -4.17928540e-01 -1.19979296e-02 1.39603737e+02] [-4.17888537e-01 -9.08479871e-01 5.78740453e-03 -9.34901843e+01] [-1.33185990e-02 -2.43484927e-04 -9.99911274e-01 -4.02084461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.366559995 meters 0.017211246515586195 Centerline is valid? [True, True] Translation: X:139.63, Y:-93.51, Z:-4.02 [[ 9.39322104e-01 -3.42799574e-01 -1.27450529e-02 1.39633276e+02] [-3.42763792e-01 -9.39408520e-01 4.96139892e-03 -9.35076937e+01] [-1.36735767e-02 -2.91809018e-04 -9.99906470e-01 -4.01926213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4265599949999 meters 0.015713208835650763 Centerline is valid? [True, True] Translation: X:139.67, Y:-93.52, Z:-4.02 [[ 9.62676008e-01 -2.70378377e-01 -1.22652753e-02 1.39666500e+02] [-2.70353164e-01 -9.62754108e-01 3.70054699e-03 -9.35175310e+01] [-1.28089921e-02 -2.46471807e-04 -9.99917931e-01 -4.02182427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.486559995 meters 0.014111795210260295 Centerline is valid? [True, True] Translation: X:139.70, Y:-93.52, Z:-4.02 [[ 9.79498212e-01 -2.01179903e-01 -1.04832677e-02 1.39699827e+02] [-2.01166944e-01 -9.79554301e-01 2.28722702e-03 -9.35206312e+01] [-1.07290741e-02 -1.31447843e-04 -9.99942433e-01 -4.02349571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5465599949999 meters 0.013184444083833775 Centerline is valid? [True, True] Translation: X:139.73, Y:-93.52, Z:-4.02 [[ 9.91582995e-01 -1.29104055e-01 -9.76258950e-03 1.39733418e+02] [-1.29097102e-01 -9.91631049e-01 1.34165438e-03 -9.35226855e+01] [-9.85409989e-03 -7.00396592e-05 -9.99951445e-01 -4.02472535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.606559995 meters 0.012836149188217173 Centerline is valid? [True, True] Translation: X:139.76, Y:-93.52, Z:-4.02 [[ 9.98430167e-01 -5.51718593e-02 -9.65756700e-03 1.39763654e+02] [-5.51689951e-02 -9.98476873e-01 5.62939279e-04 -9.35214498e+01] [-9.67391571e-03 -2.92572921e-05 -9.99953206e-01 -4.02483836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.666559995 meters 0.012915710096516276 Centerline is valid? [True, True] Translation: X:139.79, Y:-93.52, Z:-4.02 [[ 9.99731335e-01 2.00535084e-02 -1.16238933e-02 1.39793205e+02] [ 2.00521398e-02 -9.99798908e-01 -2.34291622e-04 -9.35165632e+01] [-1.16262542e-02 1.14474285e-06 -9.99932413e-01 -4.02276620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.726559995 meters 0.01311137663623055 Centerline is valid? [True, True] Translation: X:139.82, Y:-93.51, Z:-4.02 [[ 9.95013997e-01 9.88560571e-02 -1.32146127e-02 1.39821463e+02] [ 9.88474326e-02 -9.95101744e-01 -1.30581638e-03 -9.35118113e+01] [-1.32789720e-02 -6.92496005e-06 -9.99911831e-01 -4.02076492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.786559995 meters 0.013319940951662959 Centerline is valid? [True, True] Translation: X:139.85, Y:-93.50, Z:-4.02 [[ 9.84065660e-01 1.77186127e-01 -1.48274629e-02 1.39849922e+02] [ 1.77166306e-01 -9.84177360e-01 -2.65024383e-03 -9.35041493e+01] [-1.50624397e-02 -1.89128860e-05 -9.99886555e-01 -4.01860091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8465599949999 meters 0.013454339706854227 Centerline is valid? [True, True] Translation: X:139.88, Y:-93.49, Z:-4.02 [[ 9.67453435e-01 2.52613662e-01 -1.48387370e-02 1.39876560e+02] [ 2.52583988e-01 -9.67567226e-01 -3.87184971e-03 -9.34903241e+01] [-1.53355577e-02 -2.19306320e-06 -9.99882403e-01 -4.01820369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.906559995 meters 0.013398319344967595 Centerline is valid? [True, True] Translation: X:139.90, Y:-93.47, Z:-4.02 [[ 9.45462469e-01 3.25462254e-01 -1.32302704e-02 1.39901243e+02] [ 3.25429960e-01 -9.45555033e-01 -4.58488418e-03 -9.34741200e+01] [-1.40021555e-02 2.93095653e-05 -9.99901965e-01 -4.02011416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9665599949999 meters 0.014088510234256646 Centerline is valid? [True, True] Translation: X:139.92, Y:-93.45, Z:-4.02 [[ 9.18574877e-01 3.95088880e-01 -1.11791101e-02 1.39922073e+02] [ 3.95058690e-01 -9.18642897e-01 -4.88460972e-03 -9.34533392e+01] [-1.21994651e-02 7.04751679e-05 -9.99925581e-01 -4.02127596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.026559995 meters 0.014444990892603652 Centerline is valid? [True, True] Translation: X:139.94, Y:-93.43, Z:-4.02 [[ 8.85599315e-01 4.64330332e-01 -1.05449893e-02 1.39942590e+02] [ 4.64296220e-01 -8.85662088e-01 -5.62894262e-03 -9.34305150e+01] [-1.19529860e-02 8.89890722e-05 -9.99928557e-01 -4.02116617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0865599949999 meters 0.014826615428693372 Centerline is valid? [True, True] Translation: X:139.96, Y:-93.41, Z:-4.02 [[ 8.46740748e-01 5.31907089e-01 -1.02447178e-02 1.39959951e+02] [ 5.31866799e-01 -8.46802716e-01 -6.54735672e-03 -9.34064726e+01] [-1.21578403e-02 9.50884663e-05 -9.99926086e-01 -4.02012636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.146559995 meters 0.014490414151889876 Centerline is valid? [True, True] Translation: X:139.98, Y:-93.38, Z:-4.02 [[ 8.01370891e-01 5.98063567e-01 -1.11653834e-02 1.39977873e+02] [ 5.98004071e-01 -8.01448665e-01 -8.43607665e-03 -9.33840598e+01] [-1.39937917e-02 8.34815190e-05 -9.99902079e-01 -4.01913953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2065599949999 meters 0.014376402360260877 Centerline is valid? [True, True] Translation: X:139.99, Y:-93.36, Z:-4.02 [[ 7.51438144e-01 6.59719588e-01 -1.05252765e-02 1.39992804e+02] [ 6.59653572e-01 -7.51511850e-01 -9.33296571e-03 -9.33591358e+01] [-1.40670103e-02 7.01102045e-05 -9.99901052e-01 -4.01850732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.266559995 meters 0.013960253986717427 Centerline is valid? [True, True] Translation: X:140.01, Y:-93.33, Z:-4.02 [[ 6.95372720e-01 7.18581489e-01 -9.87039837e-03 1.40006007e+02] [ 7.18508525e-01 -6.95442768e-01 -1.02399131e-02 -9.33345290e+01] [-1.42225092e-02 2.85908738e-05 -9.99898855e-01 -4.01787560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3265599949999 meters 0.013636798129951756 Centerline is valid? [True, True] Translation: X:140.02, Y:-93.31, Z:-4.02 [[ 6.35350307e-01 7.72178999e-01 -8.34150537e-03 1.40016306e+02] [ 7.72112485e-01 -6.35405062e-01 -1.01349508e-02 -9.33072554e+01] [-1.31262309e-02 -1.33634505e-06 -9.99913847e-01 -4.01878609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.386559995 meters 0.013485178861239842 Centerline is valid? [True, True] Translation: X:140.02, Y:-93.28, Z:-4.02 [[ 5.70960876e-01 8.20948979e-01 -6.81552614e-03 1.40024674e+02] [ 8.20891127e-01 -5.71001552e-01 -9.74599139e-03 -9.32796939e+01] [-1.18926377e-02 -3.02251519e-05 -9.99929280e-01 -4.01971308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4465599949999 meters 0.01369744957937498 Centerline is valid? [True, True] Translation: X:140.03, Y:-93.25, Z:-4.02 [[ 5.03780103e-01 8.63809612e-01 -6.20985624e-03 1.40027992e+02] [ 8.63745142e-01 -5.03818373e-01 -1.05535353e-02 -9.32504307e+01] [-1.22448849e-02 -4.70720708e-05 -9.99925028e-01 -4.01824864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.506559995 meters 0.013029446977823569 Centerline is valid? [True, True] Translation: X:140.04, Y:-93.23, Z:-4.02 [[ 4.35084274e-01 9.00369764e-01 -5.99687184e-03 1.40042442e+02] [ 9.00285668e-01 -4.35125598e-01 -1.23057215e-02 -9.32263122e+01] [-1.36890920e-02 -4.48718550e-05 -9.99906299e-01 -4.02133196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5665599949999 meters 0.012800692890426185 Centerline is valid? [True, True] Translation: X:140.06, Y:-93.20, Z:-4.02 [[ 3.65441623e-01 9.30821408e-01 -4.89160032e-03 1.40059505e+02] [ 9.30738479e-01 -3.65474359e-01 -1.24248036e-02 -9.32029313e+01] [-1.33530277e-02 -1.22602580e-05 -9.99910844e-01 -4.02319236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.626559995 meters 0.013112438785315046 Centerline is valid? [True, True] Translation: X:140.07, Y:-93.18, Z:-4.02 [[ 2.92697689e-01 9.56198351e-01 -3.57434426e-03 1.40073738e+02] [ 9.56126854e-01 -2.92719512e-01 -1.16930065e-02 -9.31788626e+01] [-1.22271138e-02 4.98943651e-06 -9.99925246e-01 -4.02149709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6865599949999 meters 0.012999587936807175 Centerline is valid? [True, True] Translation: X:140.08, Y:-93.15, Z:-4.02 [[ 2.20867988e-01 9.75300794e-01 -2.38618359e-03 1.40084117e+02] [ 9.75241464e-01 -2.20880872e-01 -1.07577034e-02 -9.31533479e+01] [-1.10190589e-02 4.89271159e-05 -9.99939287e-01 -4.02403327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.746559995 meters 0.013176768441230611 Centerline is valid? [True, True] Translation: X:140.10, Y:-93.13, Z:-4.02 [[ 1.47619146e-01 9.89043093e-01 -1.53221021e-03 1.40098617e+02] [ 9.88983251e-01 -1.47627070e-01 -1.08801093e-02 -9.31273796e+01] [-1.09870926e-02 9.07822043e-05 -9.99939636e-01 -4.02470529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8065599949999 meters 0.013519307157740815 Centerline is valid? [True, True] Translation: X:140.11, Y:-93.10, Z:-4.02 [[ 7.14531771e-02 9.97443696e-01 -7.19353300e-04 1.40109485e+02] [ 9.97375270e-01 -7.14567016e-02 -1.16837553e-02 -9.31015576e+01] [-1.17052907e-02 1.17376245e-04 -9.99931484e-01 -4.02380134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.866559995 meters 0.013810642036503677 Centerline is valid? [True, True] Translation: X:140.12, Y:-93.07, Z:-4.02 [[-6.07985721e-03 9.99981496e-01 2.07192115e-04 1.40118085e+02] [ 9.99906797e-01 6.08193564e-03 -1.22232030e-02 -9.30747270e+01] [-1.22242370e-02 1.32857475e-04 -9.99925272e-01 -4.02321708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9265599949999 meters 0.013581945910525894 Centerline is valid? [True, True] Translation: X:140.13, Y:-93.05, Z:-4.02 [[-8.64971350e-02 9.96251324e-01 1.24264046e-03 1.40126525e+02] [ 9.96166650e-01 8.65059850e-02 -1.29891936e-02 -9.30465235e+01] [-1.30479971e-02 1.14348954e-04 -9.99914865e-01 -4.02372232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.986559995 meters 0.012947659669025063 Centerline is valid? [True, True] Translation: X:140.14, Y:-93.02, Z:-4.03 [[-1.69402148e-01 9.85544676e-01 2.14562319e-03 1.40135998e+02] [ 9.85468860e-01 1.69415730e-01 -1.22244247e-02 -9.30170443e+01] [-1.24112190e-02 4.36010301e-05 -9.99922977e-01 -4.02531324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0465599949999 meters 0.012860147245126522 Centerline is valid? [True, True] Translation: X:140.15, Y:-92.99, Z:-4.03 [[-2.52545661e-01 9.67580009e-01 3.10097457e-03 1.40145138e+02] [ 9.67505134e-01 2.52564696e-01 -1.20370732e-02 -9.29857342e+01] [-1.24300281e-02 -3.97017915e-05 -9.99922743e-01 -4.02560513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.106559995 meters 0.013140355644658028 Centerline is valid? [True, True] Translation: X:140.15, Y:-92.95, Z:-4.03 [[-3.32191406e-01 9.43203372e-01 4.03350963e-03 1.40149276e+02] [ 9.43130137e-01 3.32215877e-01 -1.17539920e-02 -9.29542154e+01] [-1.24264008e-02 -1.00450621e-04 -9.99922784e-01 -4.02581746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.166559995 meters 0.014591953799303933 Centerline is valid? [True, True] Translation: X:140.15, Y:-92.92, Z:-4.03 [[-4.11634074e-01 9.11336733e-01 4.76940607e-03 1.40152747e+02] [ 9.11270318e-01 4.11661663e-01 -1.10037916e-02 -9.29228326e+01] [-1.19915411e-02 -1.83317377e-04 -9.99928082e-01 -4.02586591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2265599949999 meters 0.01575928739667917 Centerline is valid? [True, True] Translation: X:140.15, Y:-92.89, Z:-4.03 [[-4.86992592e-01 8.73389272e-01 5.42176632e-03 1.40150463e+02] [ 8.73329407e-01 4.87022709e-01 -1.02288125e-02 -9.28916750e+01] [-1.15742585e-02 -2.46367959e-04 -9.99932986e-01 -4.02740386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.286559995 meters 0.01813376873810189 Centerline is valid? [True, True] Translation: X:140.15, Y:-92.86, Z:-4.03 [[-5.56566069e-01 8.30779076e-01 6.35113917e-03 1.40146303e+02] [ 8.30718932e-01 5.56602230e-01 -1.00006943e-02 -9.28613676e+01] [-1.18434258e-02 -2.90035569e-04 -9.99929822e-01 -4.02605969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3465599949999 meters 0.017162733502829132 Centerline is valid? [True, True] Translation: X:140.14, Y:-92.83, Z:-4.03 [[-6.21826601e-01 7.83117316e-01 7.67781361e-03 1.40135879e+02] [ 7.83050685e-01 6.21873904e-01 -1.02211582e-02 -9.28324137e+01] [-1.27789979e-02 -3.43670867e-04 -9.99918286e-01 -4.02687572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.406559995 meters 0.017132326537802625 Centerline is valid? [True, True] Translation: X:140.12, Y:-92.81, Z:-4.03 [[-6.80192694e-01 7.32979294e-01 8.90245377e-03 1.40122370e+02] [ 7.32909841e-01 6.80250864e-01 -1.00959552e-02 -9.28062608e+01] [-1.34560280e-02 -3.42499005e-04 -9.99909405e-01 -4.02659573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4665599949999 meters 0.01663395949421994 Centerline is valid? [True, True] Translation: X:140.10, Y:-92.78, Z:-4.03 [[-7.34064540e-01 6.79008709e-01 9.81961607e-03 1.40104722e+02] [ 6.78942096e-01 7.34130146e-01 -9.51627475e-03 -9.27820586e+01] [-1.36705096e-02 -3.18609130e-04 -9.99906503e-01 -4.02712222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.526559995 meters 0.015535086890861747 Centerline is valid? [True, True] Translation: X:140.12, Y:-92.76, Z:-4.03 [[-7.77602016e-01 6.28672280e-01 1.03086866e-02 1.40122358e+02] [ 6.28612632e-01 7.77670302e-01 -8.66377215e-03 -9.27644130e+01] [-1.34634328e-02 -2.56796093e-04 -9.99909331e-01 -4.02774540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5865599949999 meters 0.01459900675782854 Centerline is valid? [True, True] Translation: X:140.55, Y:-92.26, Z:-5.01 [[-7.09240815e-01 -7.04893289e-01 1.01448651e-02 1.40550921e+02] [ 7.04827129e-01 -7.09313304e-01 -9.66207369e-03 -9.22634569e+01] [ 1.40066187e-02 2.97639096e-04 9.99901858e-01 -5.01225388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.646559995 meters 0.014776046885717535 Centerline is valid? [True, True] Translation: X:140.09, Y:-92.74, Z:-4.03 [[-7.77339620e-01 6.28973382e-01 1.16447289e-02 1.40090849e+02] [ 6.28898371e-01 7.77426802e-01 -9.71634897e-03 -9.27419402e+01] [-1.51642492e-02 -2.29551991e-04 -9.99884990e-01 -4.02757804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7065599949999 meters 0.014253061890674618 Centerline is valid? [True, True] Translation: X:140.11, Y:-92.72, Z:-4.03 [[-8.18855781e-01 5.73842865e-01 1.34005822e-02 1.40108324e+02] [ 5.73761612e-01 8.18965395e-01 -9.65893133e-03 -9.27227020e+01] [-1.65173219e-02 -2.20532120e-04 -9.99863555e-01 -4.02830292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.766559995 meters 0.014061079098521478 Centerline is valid? [True, True] Translation: X:140.13, Y:-92.70, Z:-4.03 [[-8.56476332e-01 5.16015716e-01 1.32692389e-02 1.40126283e+02] [ 5.15950530e-01 8.56579096e-01 -8.20379489e-03 -9.27025901e+01] [-1.55994398e-02 -1.80085298e-04 -9.99878305e-01 -4.02902167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8265599949999 meters 0.013556127448416796 Centerline is valid? [True, True] Translation: X:140.48, Y:-92.14, Z:-5.01 [[-8.08309475e-01 -5.88665400e-01 1.04325771e-02 1.40480522e+02] [ 5.88616311e-01 -8.08376798e-01 -7.60207541e-03 -9.21394699e+01] [ 1.29085320e-02 -4.04452633e-06 9.99916681e-01 -5.00745408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.886559995 meters 0.013448974238107803 Centerline is valid? [True, True] Translation: X:140.09, Y:-92.68, Z:-4.03 [[-8.56737964e-01 5.15635233e-01 1.09712338e-02 1.40087901e+02] [ 5.15591348e-01 8.56808202e-01 -6.72811561e-03 -9.26795144e+01] [-1.28694965e-02 -1.07558864e-04 -9.99917179e-01 -4.03385458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9465599949999 meters 0.013470751397592757 Centerline is valid? [True, True] Translation: X:140.10, Y:-92.65, Z:-4.03 [[-8.90800277e-01 4.54235122e-01 1.20549353e-02 1.40101408e+02] [ 4.54191938e-01 8.90881835e-01 -6.26417960e-03 -9.26519326e+01] [-1.35849333e-02 -1.04878489e-04 -9.99907715e-01 -4.03301895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.006559995 meters 0.013559295204932483 Centerline is valid? [True, True] Translation: X:140.12, Y:-92.63, Z:-4.03 [[-9.20597462e-01 3.90315565e-01 1.24125892e-02 1.40117801e+02] [ 3.90278624e-01 9.20681134e-01 -5.37085531e-03 -9.26275514e+01] [-1.35243651e-02 -1.00027537e-04 -9.99908537e-01 -4.03216074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0665599949999 meters 0.013267444631356925 Centerline is valid? [True, True] Translation: X:140.13, Y:-92.60, Z:-4.03 [[-9.45389189e-01 3.25659981e-01 1.35962765e-02 1.40128581e+02] [ 3.25625050e-01 9.45486949e-01 -4.77043123e-03 -9.25996531e+01] [-1.44086405e-02 -8.26259017e-05 -9.99896187e-01 -4.03303519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.126559995 meters 0.013494951264679646 Centerline is valid? [True, True] Translation: X:140.14, Y:-92.57, Z:-4.03 [[-9.66043220e-01 2.57975013e-01 1.44702816e-02 1.40135740e+02] [ 2.57944779e-01 9.66151585e-01 -3.95034694e-03 -9.25718474e+01] [-1.49995763e-02 -8.36722867e-05 -9.99887497e-01 -4.03251144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1865599949999 meters 0.013512686226879173 Centerline is valid? [True, True] Translation: X:140.14, Y:-92.54, Z:-4.03 [[-9.82180702e-01 1.87289371e-01 1.56128215e-02 1.40140956e+02] [ 1.87263861e-01 9.82304779e-01 -3.09324196e-03 -9.25398064e+01] [-1.59158805e-02 -1.14405323e-04 -9.99873328e-01 -4.03353923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.246559995 meters 0.013559489465081592 Centerline is valid? [True, True] Translation: X:140.14, Y:-92.51, Z:-4.03 [[-9.93133626e-01 1.15848636e-01 1.62694300e-02 1.40140979e+02] [ 1.15830805e-01 9.93266870e-01 -2.03727427e-03 -9.25083552e+01] [-1.63959012e-02 -1.38784420e-04 -9.99865569e-01 -4.03425456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3065599949999 meters 0.014043097027249407 Centerline is valid? [True, True] Translation: X:140.14, Y:-92.47, Z:-4.03 [[-9.98905691e-01 4.39423052e-02 1.60154156e-02 1.40136208e+02] [ 4.39341924e-02 9.99034059e-01 -8.58209822e-04 -9.24734191e+01] [-1.60376573e-02 -1.53646326e-04 -9.99871377e-01 -4.03266179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.366559995 meters 0.013672139276882765 Centerline is valid? [True, True] Translation: X:140.17, Y:-91.87, Z:-5.00 [[-9.91472525e-01 -1.29474646e-01 1.47834027e-02 1.40171558e+02] [ 1.29461306e-01 -9.91582730e-01 -1.85982474e-03 -9.18687430e+01] [ 1.48997670e-02 6.99134924e-05 9.99888990e-01 -5.00497501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4265599949999 meters 0.013329840907870072 Centerline is valid? [True, True] Translation: X:140.09, Y:-92.47, Z:-4.04 [[-9.98977102e-01 4.29234853e-02 1.42240843e-02 1.40085860e+02] [ 4.29177910e-02 9.99078358e-01 -7.05475703e-04 -9.24655060e+01] [-1.42412563e-02 -9.42877934e-05 -9.99898584e-01 -4.03674449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.486559995 meters 0.013133554924221665 Centerline is valid? [True, True] Translation: X:140.08, Y:-92.44, Z:-4.04 [[-9.99586714e-01 -2.51710595e-02 1.38858999e-02 1.40083978e+02] [-2.51693233e-02 9.99683157e-01 2.99807084e-04 -9.24353195e+01] [-1.38890467e-02 -4.98155261e-05 -9.99903541e-01 -4.03665786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5465599949999 meters 0.013050706927902158 Centerline is valid? [True, True] Translation: X:140.08, Y:-92.41, Z:-4.04 [[-9.95715757e-01 -9.14003059e-02 1.40041089e-02 1.40077182e+02] [-9.13910242e-02 9.95814232e-01 1.30265696e-03 -9.24091167e+01] [-1.40645542e-02 1.72262069e-05 -9.99901089e-01 -4.03656575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.606559995 meters 0.013173414960292422 Centerline is valid? [True, True] Translation: X:140.02, Y:-91.82, Z:-5.00 [[-9.99437899e-01 3.02846389e-02 1.43779856e-02 1.40023280e+02] [-3.02814717e-02 -9.99541315e-01 4.37988343e-04 -9.18192609e+01] [ 1.43846549e-02 2.35558549e-06 9.99896536e-01 -5.00381081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.666559995 meters 0.014045441730581254 Centerline is valid? [True, True] Translation: X:140.01, Y:-92.42, Z:-4.03 [[-9.96035455e-01 -8.76587248e-02 1.51433333e-02 1.40010500e+02] [-8.76462952e-02 9.96150554e-01 1.48380594e-03 -9.24182663e+01] [-1.52151083e-02 1.50666269e-04 -9.99884232e-01 -4.03490886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7265599949999 meters 0.013865309209415491 Centerline is valid? [True, True] Translation: X:140.00, Y:-92.39, Z:-4.04 [[-9.87543010e-01 -1.56581929e-01 1.55210549e-02 1.39998088e+02] [-1.56559667e-01 9.87664956e-01 2.64667730e-03 -9.23917640e+01] [-1.57440238e-02 1.83736489e-04 -9.99876038e-01 -4.03630480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.786559995 meters 0.01351865261525522 Centerline is valid? [True, True] Translation: X:139.98, Y:-92.36, Z:-4.04 [[-9.72819034e-01 -2.31042243e-01 1.55758893e-02 1.39979247e+02] [-2.31010781e-01 9.72943713e-01 3.81441296e-03 -9.23644931e+01] [-1.60357541e-02 1.12535173e-04 -9.99871413e-01 -4.03557521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8465599949999 meters 0.01328658423099258 Centerline is valid? [True, True] Translation: X:139.83, Y:-91.80, Z:-5.00 [[-9.84132215e-01 1.76713533e-01 1.60034668e-02 1.39834437e+02] [-1.76691822e-01 -9.84262321e-01 2.77183847e-03 -9.17954178e+01] [ 1.62414308e-02 -9.98261675e-05 9.99868094e-01 -5.00447168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.906559995 meters 0.012960007760032092 Centerline is valid? [True, True] Translation: X:139.88, Y:-92.38, Z:-4.04 [[-9.69203966e-01 -2.45749708e-01 1.58352153e-02 1.39879263e+02] [-2.45717541e-01 9.69333317e-01 3.97621129e-03 -9.23807514e+01] [-1.63267545e-02 -3.72304087e-05 -9.99866709e-01 -4.03552229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9665599949999 meters 0.01368026632852779 Centerline is valid? [True, True] Translation: X:139.85, Y:-92.36, Z:-4.04 [[-9.46841485e-01 -3.21380317e-01 1.43489751e-02 1.39852217e+02] [-3.21345763e-01 9.46950194e-01 4.71489270e-03 -9.23551132e+01] [-1.51030385e-02 -1.46726363e-04 -9.99885932e-01 -4.03592818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.026559995 meters 0.014469343652300907 Centerline is valid? [True, True] Translation: X:139.66, Y:-91.83, Z:-5.00 [[-9.72744653e-01 2.31558576e-01 1.21846282e-02 1.39663386e+02] [-2.31541296e-01 -9.72820960e-01 2.82969694e-03 -9.18275983e+01] [ 1.25087023e-02 -6.86720365e-05 9.99921761e-01 -5.00121897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0865599949999 meters 0.015157626125898122 Centerline is valid? [True, True] Translation: X:139.74, Y:-92.38, Z:-4.04 [[-9.41579744e-01 -3.36652981e-01 9.61023807e-03 1.39740924e+02] [-3.36637603e-01 9.41628765e-01 3.22385748e-03 -9.23836178e+01] [-1.01345978e-02 -1.99648608e-04 -9.99948624e-01 -4.04036556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.146559995 meters 0.015607292695148408 Centerline is valid? [True, True] Translation: X:139.55, Y:-91.87, Z:-5.00 [[-9.72865788e-01 2.31156917e-01 9.93163852e-03 1.39552379e+02] [-2.31142657e-01 -9.72916459e-01 2.57624555e-03 -9.18654538e+01] [ 1.02581716e-02 2.10715848e-04 9.99947361e-01 -5.00020331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2065599949999 meters 0.016156300368405516 Centerline is valid? [True, True] Translation: X:139.64, Y:-92.42, Z:-4.04 [[-9.38325479e-01 -3.45596560e-01 1.04073906e-02 1.39637452e+02] [-3.45578297e-01 9.38383159e-01 3.56193591e-03 -9.24172192e+01] [-1.09971128e-02 -2.54313097e-04 -9.99939498e-01 -4.03860463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.266559995 meters 0.01634388641298069 Centerline is valid? [True, True] Translation: X:139.60, Y:-92.40, Z:-4.04 [[-9.11344345e-01 -4.11479125e-01 1.16796889e-02 1.39603461e+02] [-4.11449309e-01 9.11419140e-01 4.96155411e-03 -9.24039688e+01] [-1.26866680e-02 -2.83915652e-04 -9.99919481e-01 -4.03689865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3265599949999 meters 0.015069642739401755 Centerline is valid? [True, True] Translation: X:139.56, Y:-92.40, Z:-4.04 [[-8.80268179e-01 -4.74333461e-01 1.16490726e-02 1.39558369e+02] [-4.74295806e-01 8.80345217e-01 5.98230412e-03 -9.24026284e+01] [-1.30928123e-02 -2.59074304e-04 -9.99914252e-01 -4.03754608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.386559995 meters 0.014494629906418711 Centerline is valid? [True, True] Translation: X:139.50, Y:-92.41, Z:-4.04 [[-8.44895647e-01 -5.34819745e-01 1.09172633e-02 1.39497088e+02] [-5.34778252e-01 8.44966152e-01 6.66509369e-03 -9.24122989e+01] [-1.27893417e-02 -2.07006358e-04 -9.99918192e-01 -4.03700466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4465599949999 meters 0.01377075976930651 Centerline is valid? [True, True] Translation: X:139.43, Y:-92.43, Z:-4.04 [[-8.05029672e-01 -5.93147705e-01 1.01502208e-02 1.39430919e+02] [-5.93103075e-01 8.05093643e-01 7.27798902e-03 -9.24303384e+01] [-1.24888008e-02 -1.61130078e-04 -9.99921999e-01 -4.03769095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.506559995 meters 0.012959990179828036 Centerline is valid? [True, True] Translation: X:139.37, Y:-92.46, Z:-4.04 [[-7.63305225e-01 -6.45973023e-01 9.16447078e-03 1.39365561e+02] [-6.45927516e-01 7.63360236e-01 7.66779158e-03 -9.24584506e+01] [-1.19489791e-02 -6.67184685e-05 -9.99928606e-01 -4.03783903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5665599949999 meters 0.012674985774691174 Centerline is valid? [True, True] Translation: X:139.29, Y:-92.50, Z:-4.04 [[-7.17960516e-01 -6.96033597e-01 8.36242760e-03 1.39293121e+02] [-6.95986045e-01 7.18009215e-01 8.13589291e-03 -9.24997334e+01] [-1.16671549e-02 2.11169533e-05 -9.99931936e-01 -4.03876698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.626559995 meters 0.013024658727740142 Centerline is valid? [True, True] Translation: X:139.22, Y:-92.55, Z:-4.04 [[-6.67183654e-01 -7.44854030e-01 7.64505488e-03 1.39215039e+02] [-7.44803813e-01 6.67227449e-01 8.64936187e-03 -9.25514885e+01] [-1.15435025e-02 7.66468307e-05 -9.99933369e-01 -4.03918634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6865599949999 meters 0.012976714019392288 Centerline is valid? [True, True] Translation: X:139.14, Y:-92.61, Z:-4.04 [[-6.09520378e-01 -7.92739823e-01 6.96288969e-03 1.39137606e+02] [-7.92686507e-01 6.09560141e-01 9.19431384e-03 -9.26060768e+01] [-1.15329988e-02 8.47329371e-05 -9.99933489e-01 -4.03987953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.746559995 meters 0.013269731784774762 Centerline is valid? [True, True] Translation: X:139.06, Y:-92.68, Z:-4.04 [[-5.48376759e-01 -8.36207393e-01 6.33446132e-03 1.39059326e+02] [-8.36149608e-01 5.48413336e-01 9.83090614e-03 -9.26752211e+01] [-1.16945795e-02 9.44831024e-05 -9.99931612e-01 -4.03929987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8065599949999 meters 0.01359654689373479 Centerline is valid? [True, True] Translation: X:138.99, Y:-92.75, Z:-4.04 [[-4.85637167e-01 -8.74144112e-01 5.34922103e-03 1.38987815e+02] [-8.74088295e-01 4.85666611e-01 9.87900677e-03 -9.27502587e+01] [-1.12336136e-02 1.21921366e-04 -9.99936894e-01 -4.04006844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.866559995 meters 0.014096178318199908 Centerline is valid? [True, True] Translation: X:138.92, Y:-92.83, Z:-4.04 [[-4.20941992e-01 -9.07076485e-01 4.48221709e-03 1.38919911e+02] [-9.07020971e-01 4.20965825e-01 1.00365526e-02 -9.28333364e+01] [-1.09907811e-02 1.59341543e-04 -9.99939587e-01 -4.04101776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9265599949999 meters 0.014396945856792685 Centerline is valid? [True, True] Translation: X:138.86, Y:-92.92, Z:-4.04 [[-3.51520034e-01 -9.36173682e-01 3.53608693e-03 1.38856967e+02] [-9.36121654e-01 3.51537782e-01 9.87102759e-03 -9.29190358e+01] [-1.04840644e-02 1.59656401e-04 -9.99945028e-01 -4.04086369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.986559995 meters 0.014281704046136984 Centerline is valid? [True, True] Translation: X:138.80, Y:-93.02, Z:-4.04 [[-2.78714594e-01 -9.60370284e-01 2.66303883e-03 1.38797293e+02] [-9.60321129e-01 2.78727275e-01 9.71782420e-03 -9.30172829e+01] [-1.00749711e-02 1.51126978e-04 -9.99949235e-01 -4.04128312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0465599949999 meters 0.013725712463671305 Centerline is valid? [True, True] Translation: X:138.74, Y:-93.13, Z:-4.04 [[-2.01810736e-01 -9.79422227e-01 2.12808987e-03 1.38741736e+02] [-9.79360350e-01 2.01821909e-01 1.10101344e-02 -9.31263590e+01] [-1.12130655e-02 1.37796491e-04 -9.99937122e-01 -4.04048322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.106559995 meters 0.013351638614716175 Centerline is valid? [True, True] Translation: X:138.70, Y:-93.23, Z:-4.04 [[-1.23648124e-01 -9.92325217e-01 1.34385445e-03 1.38695839e+02] [-9.92256131e-01 1.23655374e-01 1.17097696e-02 -9.32339694e+01] [-1.17860745e-02 1.14443227e-04 -9.99930535e-01 -4.03994315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.166559995 meters 0.012727392356873727 Centerline is valid? [True, True] Translation: X:138.66, Y:-93.35, Z:-4.04 [[-4.02824836e-02 -9.99188223e-01 4.65373411e-04 1.38655727e+02] [-9.99111976e-01 4.02851588e-02 1.23436778e-02 -9.33477616e+01] [-1.23524051e-02 3.22738498e-05 -9.99923706e-01 -4.03936676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2265599949999 meters 0.012779760222117565 Centerline is valid? [True, True] Translation: X:138.63, Y:-93.47, Z:-4.04 [[ 3.96663809e-02 -9.99212838e-01 -5.32523941e-04 1.38626186e+02] [-9.99119577e-01 -3.96699542e-02 1.36515873e-02 -9.34676266e+01] [-1.36619665e-02 -9.45396827e-06 -9.99906671e-01 -4.03837786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.286559995 meters 0.013021372003794903 Centerline is valid? [True, True] Translation: X:138.61, Y:-93.58, Z:-4.04 [[ 1.19787643e-01 -9.92798290e-01 -1.57373790e-03 1.38605092e+02] [-9.92705529e-01 -1.19797964e-01 1.35713060e-02 -9.35822294e+01] [-1.36620999e-02 -6.34164385e-05 -9.99906667e-01 -4.03617036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3465599949999 meters 0.01294387156130246 Centerline is valid? [True, True] Translation: X:138.60, Y:-93.70, Z:-4.04 [[ 1.96936523e-01 -9.80413303e-01 -2.40017212e-03 1.38595266e+02] [-9.80335650e-01 -1.96951133e-01 1.23395578e-02 -9.36978113e+01] [-1.25705833e-02 -7.71353176e-05 -9.99920984e-01 -4.03767569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.406559995 meters 0.01291505114174301 Centerline is valid? [True, True] Translation: X:138.60, Y:-93.82, Z:-4.04 [[ 2.72116809e-01 -9.62258935e-01 -3.19140236e-03 1.38595759e+02] [-9.62189143e-01 -2.72135510e-01 1.15895506e-02 -9.38161268e+01] [-1.20206425e-02 -8.29788123e-05 -9.99927746e-01 -4.03848928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4665599949999 meters 0.013146070136371112 Centerline is valid? [True, True] Translation: X:138.60, Y:-93.94, Z:-4.04 [[ 3.47038534e-01 -9.37843005e-01 -3.84098219e-03 1.38604689e+02] [-9.37782203e-01 -3.47059774e-01 1.06795865e-02 -9.39358050e+01] [-1.13488259e-02 -1.04223293e-04 -9.99935595e-01 -4.03838500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.526559995 meters 0.013893177944336959 Centerline is valid? [True, True] Translation: X:138.62, Y:-94.05, Z:-4.04 [[ 4.22079889e-01 -9.06544169e-01 -5.12219961e-03 1.38619505e+02] [-9.06472292e-01 -4.22110932e-01 1.14168352e-02 -9.40516953e+01] [-1.25120018e-02 -1.75684506e-04 -9.99921706e-01 -4.03688750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5865599949999 meters 0.01458693312543133 Centerline is valid? [True, True] Translation: X:138.64, Y:-94.16, Z:-4.04 [[ 4.93915197e-01 -8.69485334e-01 -6.55993113e-03 1.38644005e+02] [-8.69401725e-01 -4.93958693e-01 1.20602581e-02 -9.41643746e+01] [-1.37265526e-02 -2.53529322e-04 -9.99905754e-01 -4.03589314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.646559995 meters 0.015254670879228821 Centerline is valid? [True, True] Translation: X:138.68, Y:-94.27, Z:-4.04 [[ 5.59989600e-01 -8.28468699e-01 -7.15981459e-03 1.38675665e+02] [-8.28394928e-01 -5.60035308e-01 1.10588257e-02 -9.42706321e+01] [-1.31716399e-02 -2.61673298e-04 -9.99913216e-01 -4.03571370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7065599949999 meters 0.01472743501970286 Centerline is valid? [True, True] Translation: X:138.72, Y:-94.37, Z:-4.04 [[ 6.20804351e-01 -7.83936975e-01 -6.69161577e-03 1.38720334e+02] [-7.83887764e-01 -6.20840379e-01 8.78622920e-03 -9.43715256e+01] [-1.10422752e-02 -2.09053591e-04 -9.99939010e-01 -4.03814127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.766559995 meters 0.014247987707654916 Centerline is valid? [True, True] Translation: X:138.77, Y:-94.47, Z:-4.04 [[ 6.77824714e-01 -7.35197442e-01 -6.19505318e-03 1.38769118e+02] [-7.35164492e-01 -6.77853004e-01 6.96244386e-03 -9.44668862e+01] [-9.31810632e-03 -1.64933398e-04 -9.99956572e-01 -4.04003340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8265599949999 meters 0.01399722986380023 Centerline is valid? [True, True] Translation: X:138.82, Y:-94.56, Z:-4.04 [[ 7.30385753e-01 -6.83012682e-01 -5.50703332e-03 1.38824980e+02] [-6.82992023e-01 -7.30406504e-01 5.31364498e-03 -9.45588583e+01] [-7.65165987e-03 -1.19750761e-04 -9.99970718e-01 -4.04044883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.886559995 meters 0.013280407510493109 Centerline is valid? [True, True] Translation: X:138.85, Y:-94.58, Z:-4.04 [[ 7.78340815e-01 -6.27802674e-01 -7.02692894e-03 1.38850051e+02] [-6.27775970e-01 -7.78372529e-01 5.79121080e-03 -9.45832748e+01] [-9.10530607e-03 -9.61986069e-05 -9.99958541e-01 -4.03869326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9465599949999 meters 0.012785221749657497 Centerline is valid? [True, True] Translation: X:138.88, Y:-94.61, Z:-4.04 [[ 8.21588071e-01 -5.70034385e-01 -7.33771557e-03 1.38876352e+02] [-5.70011209e-01 -8.21620836e-01 5.14031809e-03 -9.46058052e+01] [-8.95897807e-03 -4.06439030e-05 -9.99959867e-01 -4.03841807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.006559995 meters 0.012699431461835163 Centerline is valid? [True, True] Translation: X:138.90, Y:-94.63, Z:-4.04 [[ 8.62300413e-01 -5.06338068e-01 -7.73037480e-03 1.38901618e+02] [-5.06317546e-01 -8.62335063e-01 4.55875667e-03 -9.46284718e+01] [-8.97444528e-03 -1.69933649e-05 -9.99959729e-01 -4.03830726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0665599949999 meters 0.012988450276216826 Centerline is valid? [True, True] Translation: X:138.93, Y:-94.64, Z:-4.04 [[ 8.95540698e-01 -4.44904096e-01 -8.19779903e-03 1.38930636e+02] [-4.44886060e-01 -8.95578216e-01 4.00642313e-03 -9.46442533e+01] [-9.12424429e-03 5.91715468e-05 -9.99958372e-01 -4.03848011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.126559995 meters 0.015115733881172775 Centerline is valid? [True, True] Translation: X:138.96, Y:-94.66, Z:-4.04 [[ 9.22561860e-01 -3.85761169e-01 -8.24228015e-03 1.38961054e+02] [-3.85747458e-01 -9.22598661e-01 3.25717577e-03 -9.46551475e+01] [-8.86080857e-03 1.74492477e-04 -9.99960727e-01 -4.03864788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1865599949999 meters 0.016623361196939072 Centerline is valid? [True, True] Translation: X:138.99, Y:-94.67, Z:-4.04 [[ 9.47955861e-01 -3.18304122e-01 -7.88493052e-03 1.38989753e+02] [-3.18294977e-01 -9.47988629e-01 2.42233248e-03 -9.46694076e+01] [-8.24586289e-03 2.13469511e-04 -9.99965980e-01 -4.03915923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.246559995 meters 0.01821482804839057 Centerline is valid? [True, True] Translation: X:139.02, Y:-94.68, Z:-4.04 [[ 9.68149861e-01 -2.50256549e-01 -7.58330227e-03 1.39019186e+02] [-2.50250948e-01 -9.68179525e-01 1.69395356e-03 -9.46820634e+01] [-7.76592096e-03 2.57727679e-04 -9.99969812e-01 -4.04068003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3065599949999 meters 0.019186405973386982 Centerline is valid? [True, True] Translation: X:139.05, Y:-94.69, Z:-4.04 [[ 9.84327678e-01 -1.76175070e-01 -7.83369980e-03 1.39045151e+02] [-1.76171767e-01 -9.84358809e-01 1.11518211e-03 -9.46937948e+01] [-7.90763869e-03 2.82372114e-04 -9.99968694e-01 -4.04063780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.366559995 meters 0.020124416219009213 Centerline is valid? [True, True] Translation: X:139.07, Y:-94.70, Z:-4.04 [[ 9.95041554e-01 -9.90957202e-02 -8.50551625e-03 1.39070816e+02] [-9.90947466e-02 -9.95077858e-01 5.36866948e-04 -9.47032670e+01] [-8.51685210e-03 3.08647055e-04 -9.99963683e-01 -4.03964369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4265599949999 meters 0.01865995492747254 Centerline is valid? [True, True] Translation: X:139.10, Y:-94.72, Z:-4.04 [[ 9.99796437e-01 -1.80866531e-02 -8.94191198e-03 1.39097671e+02] [-1.80886017e-02 -9.99836378e-01 -1.37079035e-04 -9.47177090e+01] [-8.93796959e-03 2.98797815e-04 -9.99960011e-01 -4.03930153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.486559995 meters 0.0176724891439116 Centerline is valid? [True, True] Translation: X:139.13, Y:-94.73, Z:-4.04 [[ 9.97962334e-01 6.31777167e-02 -8.93061143e-03 1.39125879e+02] [ 6.31727352e-02 -9.98002255e-01 -8.39079165e-04 -9.47293431e+01] [-8.96578145e-03 2.73198252e-04 -9.99959769e-01 -4.03951293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5465599949999 meters 0.017527880126082144 Centerline is valid? [True, True] Translation: X:139.15, Y:-94.74, Z:-4.04 [[ 9.89420936e-01 1.44869986e-01 -7.67448386e-03 1.39153933e+02] [ 1.44863997e-01 -9.89450678e-01 -1.33356021e-03 -9.47363844e+01] [-7.78671610e-03 2.07695987e-04 -9.99969662e-01 -4.03932633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.606559995 meters 0.0155819355630699 Centerline is valid? [True, True] Translation: X:139.18, Y:-94.74, Z:-4.04 [[ 9.73347814e-01 2.29209372e-01 -7.55624537e-03 1.39184598e+02] [ 2.29201272e-01 -9.73377132e-01 -1.93271513e-03 -9.47430631e+01] [-7.79807287e-03 1.49302997e-04 -9.99969583e-01 -4.03951024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.666559995 meters 0.013729769590912053 Centerline is valid? [True, True] Translation: X:139.22, Y:-94.75, Z:-4.04 [[ 9.49872588e-01 3.12543011e-01 -7.67683987e-03 1.39216597e+02] [ 3.12532048e-01 -9.49903605e-01 -2.61918900e-03 -9.47494552e+01] [-8.11086708e-03 8.86373402e-05 -9.99967102e-01 -4.03869056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7265599949999 meters 0.013120818212518792 Centerline is valid? [True, True] Translation: X:139.25, Y:-94.75, Z:-4.04 [[ 9.20664101e-01 3.90284872e-01 -7.43849279e-03 1.39247430e+02] [ 3.90271689e-01 -9.20694149e-01 -3.20821159e-03 -9.47488543e+01] [-8.10069324e-03 5.06520972e-05 -9.99967188e-01 -4.03827355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.786559995 meters 0.012989678501469202 Centerline is valid? [True, True] Translation: X:139.28, Y:-94.74, Z:-4.04 [[ 8.85921646e-01 4.63763155e-01 -8.15926060e-03 1.39276868e+02] [ 4.63743170e-01 -8.85959218e-01 -4.30541974e-03 -9.47435511e+01] [-9.22546718e-03 3.04631711e-05 -9.99957444e-01 -4.03692420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8465599949999 meters 0.012937896950299595 Centerline is valid? [True, True] Translation: X:139.30, Y:-94.73, Z:-4.04 [[ 8.47188855e-01 5.31241402e-01 -7.32230239e-03 1.39304158e+02] [ 5.31221217e-01 -8.47220498e-01 -4.63105566e-03 -9.47303617e+01] [-8.66381317e-03 3.36163548e-05 -9.99962468e-01 -4.03803763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.906559995 meters 0.012857754569475731 Centerline is valid? [True, True] Translation: X:139.33, Y:-94.72, Z:-4.04 [[ 8.03172602e-01 5.95702237e-01 -7.25362591e-03 1.39334562e+02] [ 5.95677517e-01 -8.03205355e-01 -5.42704418e-03 -9.47207007e+01] [-9.05905354e-03 3.80313205e-05 -9.99958965e-01 -4.03938419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9665599949999 meters 0.013027163848266977 Centerline is valid? [True, True] Translation: X:139.36, Y:-94.71, Z:-4.04 [[ 7.54852019e-01 6.55853796e-01 -7.36395846e-03 1.39364379e+02] [ 6.55821903e-01 -7.54887935e-01 -6.46816831e-03 -9.47094178e+01] [-9.80113614e-03 5.30646618e-05 -9.99951966e-01 -4.03857564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.026559995 meters 0.01308600363560586 Centerline is valid? [True, True] Translation: X:139.39, Y:-94.69, Z:-4.04 [[ 7.01784905e-01 7.12352967e-01 -7.15519790e-03 1.39392050e+02] [ 7.12315010e-01 -7.01821377e-01 -7.35393299e-03 -9.46948560e+01] [-1.02602668e-02 6.41243031e-05 -9.99947360e-01 -4.03780840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0865599949999 meters 0.013145826314132261 Centerline is valid? [True, True] Translation: X:139.42, Y:-94.68, Z:-4.04 [[ 6.42956617e-01 7.65881413e-01 -5.69649056e-03 1.39416529e+02] [ 7.65850733e-01 -6.42981850e-01 -6.85532303e-03 -9.46769407e+01] [-8.91310453e-03 4.50138345e-05 -9.99960277e-01 -4.03987646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.146559995 meters 0.012881748147688958 Centerline is valid? [True, True] Translation: X:139.44, Y:-94.66, Z:-4.04 [[ 5.79200656e-01 8.15169717e-01 -4.99326971e-03 1.39441707e+02] [ 8.15139062e-01 -5.79222178e-01 -7.06949789e-03 -9.46595750e+01] [-8.65505316e-03 2.44486250e-05 -9.99962544e-01 -4.03970620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2065599949999 meters 0.012885021450802888 Centerline is valid? [True, True] Translation: X:139.47, Y:-94.64, Z:-4.04 [[ 5.10773158e-01 8.59702421e-01 -4.74636529e-03 1.39465472e+02] [ 8.59665389e-01 -5.10795211e-01 -7.97944062e-03 -9.46402283e+01] [-9.28436508e-03 -4.60187302e-06 -9.99956899e-01 -4.03932063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.266559995 meters 0.013293886648405459 Centerline is valid? [True, True] Translation: X:139.49, Y:-94.62, Z:-4.04 [[ 4.35833971e-01 9.00018270e-01 -3.98288377e-03 1.39487191e+02] [ 8.99982048e-01 -4.35852164e-01 -8.07494810e-03 -9.46191854e+01] [-9.00354934e-03 -6.51871979e-05 -9.99959465e-01 -4.03884375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3265599949999 meters 0.013724803114478651 Centerline is valid? [True, True] Translation: X:139.51, Y:-94.60, Z:-4.04 [[ 3.59912662e-01 9.32979933e-01 -3.36450028e-03 1.39507632e+02] [ 9.32941867e-01 -3.59928372e-01 -8.42855609e-03 -9.45961916e+01] [-9.07465281e-03 -1.05339114e-04 -9.99958819e-01 -4.03980298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.386559995 meters 0.014939492737809744 Centerline is valid? [True, True] Translation: X:139.53, Y:-94.57, Z:-4.04 [[ 2.79839360e-01 9.60044109e-01 -2.28926203e-03 1.39526837e+02] [ 9.60015870e-01 -2.79848690e-01 -7.36477887e-03 -9.45715632e+01] [-7.71115956e-03 -1.36772876e-04 -9.99970259e-01 -4.03978070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4465599949999 meters 0.01604894511331268 Centerline is valid? [True, True] Translation: X:139.54, Y:-94.54, Z:-4.04 [[ 1.98151559e-01 9.80170313e-01 -1.45491316e-03 1.39543777e+02] [ 9.80149320e-01 -1.98156840e-01 -6.41697551e-03 -9.45449954e+01] [-6.57802989e-03 -1.54498444e-04 -9.99978353e-01 -4.04053823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.506559995 meters 0.01809099487166409 Centerline is valid? [True, True] Translation: X:139.56, Y:-94.52, Z:-4.04 [[ 1.14953206e-01 9.93370413e-01 -9.91726349e-04 1.39559479e+02] [ 9.93347067e-01 -1.14957307e-01 -6.81339798e-03 -9.45173481e+01] [-6.88223415e-03 -2.01906518e-04 -9.99976297e-01 -4.03958131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5665599949999 meters 0.019078320701809672 Centerline is valid? [True, True] Translation: X:139.57, Y:-94.49, Z:-4.04 [[ 3.27363912e-02 9.99463887e-01 -5.16215336e-04 1.39570015e+02] [ 9.99433513e-01 -3.27394231e-02 -7.79640330e-03 -9.44888075e+01] [-7.80912414e-03 -2.60696798e-04 -9.99969474e-01 -4.03854084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.626559995 meters 0.019322243977566638 Centerline is valid? [True, True] Translation: X:139.58, Y:-94.46, Z:-4.04 [[-4.63196906e-02 9.98926662e-01 1.02988570e-04 1.39576643e+02] [ 9.98891563e-01 4.63189269e-02 -8.37865510e-03 -9.44600965e+01] [-8.37443228e-03 -2.85222298e-04 -9.99964893e-01 -4.03844981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6865599949999 meters 0.018938945940141595 Centerline is valid? [True, True] Translation: X:139.58, Y:-94.43, Z:-4.04 [[-1.21912029e-01 9.92540632e-01 7.42544121e-04 1.39576487e+02] [ 9.92507086e-01 1.21914016e-01 -8.16441220e-03 -9.44311911e+01] [-8.19403738e-03 -2.58359754e-04 -9.99966395e-01 -4.03882359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.746559995 meters 0.018799006944063747 Centerline is valid? [True, True] Translation: X:139.58, Y:-94.40, Z:-4.04 [[-1.98491293e-01 9.80101625e-01 1.41821514e-03 1.39576937e+02] [ 9.80066471e-01 1.98496191e-01 -8.30507781e-03 -9.44024501e+01] [-8.42133056e-03 -2.58540523e-04 -9.99964507e-01 -4.03883213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8065599949999 meters 0.01837474008203143 Centerline is valid? [True, True] Translation: X:139.57, Y:-94.37, Z:-4.04 [[-2.72313980e-01 9.62206414e-01 1.97824617e-03 1.39572781e+02] [ 9.62174595e-01 2.72321069e-01 -7.82836898e-03 -9.43747869e+01] [-8.07122496e-03 -2.28356099e-04 -9.99967401e-01 -4.03892792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.866559995 meters 0.016636208484245994 Centerline is valid? [True, True] Translation: X:139.57, Y:-94.35, Z:-4.04 [[-3.43526040e-01 9.39139955e-01 2.45049546e-03 1.39565521e+02] [ 9.39111983e-01 3.43534728e-01 -7.25078646e-03 -9.43476342e+01] [-7.65133356e-03 -1.89544313e-04 -9.99970710e-01 -4.03952392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9265599949999 meters 0.01605587476030652 Centerline is valid? [True, True] Translation: X:139.56, Y:-94.32, Z:-4.04 [[-4.14362772e-01 9.10107329e-01 2.85352084e-03 1.39560182e+02] [ 9.10082914e-01 4.14372564e-01 -6.66846466e-03 -9.43200058e+01] [-7.25143931e-03 -1.66222943e-04 -9.99973694e-01 -4.04037388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.986559995 meters 0.015228077718456468 Centerline is valid? [True, True] Translation: X:139.55, Y:-94.29, Z:-4.04 [[-4.81096495e-01 8.76662545e-01 2.99076019e-03 1.39551529e+02] [ 8.76643982e-01 4.81105775e-01 -5.70640468e-03 -9.42945064e+01] [-6.44146325e-03 -1.23499369e-04 -9.99979246e-01 -4.04138847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0465599949999 meters 0.01505805522708055 Centerline is valid? [True, True] Translation: X:139.54, Y:-94.27, Z:-4.04 [[-5.47370805e-01 8.36883849e-01 3.25971794e-03 1.39543640e+02] [ 8.36867789e-01 5.47380500e-01 -5.18583068e-03 -9.42675305e+01] [-6.12424398e-03 -1.10619369e-04 -9.99981241e-01 -4.04165850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.106559995 meters 0.015392246555494368 Centerline is valid? [True, True] Translation: X:139.54, Y:-94.24, Z:-4.04 [[-6.11994491e-01 7.90852455e-01 3.89067502e-03 1.39535943e+02] [ 7.90835168e-01 6.12006845e-01 -5.23045538e-03 -9.42403614e+01] [-6.51763823e-03 -1.24127245e-04 -9.99978752e-01 -4.04021670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.166559995 meters 0.016036066005840118 Centerline is valid? [True, True] Translation: X:139.53, Y:-94.21, Z:-4.04 [[-6.73797991e-01 7.38896718e-01 5.28280835e-03 1.39526462e+02] [ 7.38871983e-01 6.73818678e-01 -6.04826017e-03 -9.42133104e+01] [-8.02869453e-03 -1.71986468e-04 -9.99967755e-01 -4.03822018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2265599949999 meters 0.01744590812890775 Centerline is valid? [True, True] Translation: X:139.51, Y:-94.19, Z:-4.04 [[-7.30728881e-01 6.82643001e-01 5.81684938e-03 1.39514003e+02] [ 6.82619306e-01 7.30752009e-01 -5.69075666e-03 -9.41882389e+01] [-8.13542957e-03 -1.87706562e-04 -9.99966889e-01 -4.03785657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.286559995 meters 0.01615586582844855 Centerline is valid? [True, True] Translation: X:139.53, Y:-94.17, Z:-4.04 [[-7.77635223e-01 6.28694145e-01 5.20884504e-03 1.39530999e+02] [ 6.28678628e-01 7.77652651e-01 -4.42015679e-03 -9.41687932e+01] [-6.82959884e-03 -1.62580059e-04 -9.99976665e-01 -4.03929768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3465599949999 meters 0.016560986652665408 Centerline is valid? [True, True] Translation: X:139.55, Y:-94.15, Z:-4.04 [[-8.20733140e-01 5.71295134e-01 4.35697237e-03 1.39553271e+02] [ 5.71286212e-01 8.20744694e-01 -3.19558563e-03 -9.41483258e+01] [-5.40158447e-03 -1.33644787e-04 -9.99985402e-01 -4.03965908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.406559995 meters 0.016798724915471963 Centerline is valid? [True, True] Translation: X:139.57, Y:-94.13, Z:-4.04 [[-8.59365961e-01 5.11345236e-01 4.02424716e-03 1.39569348e+02] [ 5.11338970e-01 8.59375375e-01 -2.53416310e-03 -9.41257290e+01] [-4.75417115e-03 -1.20019110e-04 -9.99988692e-01 -4.03977769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4665599949999 meters 0.017085517574559835 Centerline is valid? [True, True] Translation: X:139.59, Y:-94.10, Z:-4.04 [[-8.93763101e-01 4.48516131e-01 4.56062056e-03 1.39587348e+02] [ 4.48509517e-01 8.93774726e-01 -2.43960416e-03 -9.41023667e+01] [-5.17036922e-03 -1.34946450e-04 -9.99986624e-01 -4.03960523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.526559995 meters 0.016677204981085263 Centerline is valid? [True, True] Translation: X:139.60, Y:-94.08, Z:-4.04 [[-9.23354198e-01 3.83921978e-01 4.57601131e-03 1.39596400e+02] [ 3.83916553e-01 9.23365528e-01 -2.04513998e-03 -9.40760364e+01] [-5.01050528e-03 -1.31582095e-04 -9.99987439e-01 -4.03942921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5865599949999 meters 0.016695688718243482 Centerline is valid? [True, True] Translation: X:139.89, Y:-93.45, Z:-5.00 [[-8.71059954e-01 -4.91152177e-01 4.90869407e-03 1.39890775e+02] [ 4.91145513e-01 -8.71073767e-01 -2.56455742e-03 -9.34468363e+01] [ 5.53542260e-03 1.76999802e-04 9.99984664e-01 -5.00136126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.646559995 meters 0.016193461224118258 Centerline is valid? [True, True] Translation: X:139.56, Y:-94.06, Z:-4.04 [[-9.23648195e-01 3.83202567e-01 5.45931980e-03 1.39558486e+02] [ 3.83194971e-01 9.23664318e-01 -2.41681245e-03 -9.40594947e+01] [-5.96870763e-03 -1.40300565e-04 -9.99982177e-01 -4.03869121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7065599949999 meters 0.016846534913648608 Centerline is valid? [True, True] Translation: X:139.58, Y:-94.04, Z:-4.04 [[-9.47621222e-01 3.19346183e-01 5.65998891e-03 1.39576139e+02] [ 3.19339694e-01 9.47638117e-01 -2.03953820e-03 -9.40354832e+01] [-6.01493996e-03 -1.25250552e-04 -9.99981902e-01 -4.03723010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.766559995 meters 0.014480130564379658 Centerline is valid? [True, True] Translation: X:139.82, Y:-93.38, Z:-5.00 [[-9.09827151e-01 -4.14959455e-01 4.81721947e-03 1.39817942e+02] [ 4.14954034e-01 -9.09839901e-01 -2.12217334e-03 -9.33832566e+01] [ 5.26351439e-03 6.81137300e-05 9.99986145e-01 -5.00239150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8265599949999 meters 0.014099151898852804 Centerline is valid? [True, True] Translation: X:139.54, Y:-94.03, Z:-4.04 [[-9.45926621e-01 3.24346340e-01 4.72001916e-03 1.39537582e+02] [ 3.24341991e-01 9.45938396e-01 -1.68080051e-03 -9.40297486e+01] [-5.01000885e-03 -5.90135382e-05 -9.99987448e-01 -4.03802365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.886559995 meters 0.013168608912240212 Centerline is valid? [True, True] Translation: X:139.55, Y:-94.01, Z:-4.04 [[-9.63876379e-01 2.66309656e-01 4.63603098e-03 1.39550536e+02] [ 2.66306536e-01 9.63887528e-01 -1.28903049e-03 -9.40126140e+01] [-4.81189371e-03 -7.86068661e-06 -9.99988423e-01 -4.03851106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9465599949999 meters 0.01336327881184752 Centerline is valid? [True, True] Translation: X:139.56, Y:-93.99, Z:-4.04 [[-9.79094455e-01 2.03336893e-01 5.30627912e-03 1.39560944e+02] [ 2.03334041e-01 9.79108833e-01 -1.07723696e-03 -9.39902079e+01] [-5.41446678e-03 2.42304409e-05 -9.99985341e-01 -4.03753110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.006559995 meters 0.014253879571980748 Centerline is valid? [True, True] Translation: X:139.57, Y:-93.97, Z:-4.04 [[-9.90053559e-01 1.40541262e-01 6.48870106e-03 1.39567748e+02] [ 1.40538751e-01 9.90074819e-01 -8.43588822e-04 -9.39673228e+01] [-6.54285856e-03 7.67158297e-05 -9.99978592e-01 -4.03630399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0665599949999 meters 0.01495608851282897 Centerline is valid? [True, True] Translation: X:139.57, Y:-93.94, Z:-4.04 [[-9.97128088e-01 7.54158209e-02 6.93034931e-03 1.39573424e+02] [ 7.54148325e-02 9.97152165e-01 -4.04200479e-04 -9.39422745e+01] [-6.94109593e-03 1.19611481e-04 -9.99975903e-01 -4.03671745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.126559995 meters 0.01564478507411612 Centerline is valid? [True, True] Translation: X:139.61, Y:-93.21, Z:-5.00 [[-9.94382072e-01 -1.05664779e-01 6.26499765e-03 1.39611537e+02] [ 1.05661747e-01 -9.94401796e-01 -8.13875953e-04 -9.32081881e+01] [ 6.31592294e-03 -1.47333056e-04 9.99980044e-01 -5.00305900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1865599949999 meters 0.0165974012065577 Centerline is valid? [True, True] Translation: X:139.51, Y:-93.94, Z:-4.04 [[-9.97022464e-01 7.69758459e-02 4.57450039e-03 1.39513128e+02] [ 7.69755304e-02 9.97032952e-01 -2.45251722e-04 -9.39397601e+01] [-4.57980609e-03 1.07603117e-04 -9.99989507e-01 -4.03894713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.246559995 meters 0.016233322609572606 Centerline is valid? [True, True] Translation: X:139.51, Y:-93.91, Z:-4.04 [[-9.99975575e-01 4.99932075e-03 4.88418736e-03 1.39509379e+02] [ 4.99979881e-03 9.99987497e-01 8.56724713e-05 -9.39092166e+01] [-4.88369799e-03 1.10090333e-04 -9.99988069e-01 -4.03902039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3065599949999 meters 0.015558603974155727 Centerline is valid? [True, True] Translation: X:139.50, Y:-93.18, Z:-5.00 [[-9.99514228e-01 -3.07184427e-02 5.26163273e-03 1.39498146e+02] [ 3.07175299e-02 -9.99528073e-01 -2.54231734e-04 -9.31847909e+01] [ 5.26695923e-03 -9.24838750e-05 9.99986125e-01 -5.00147926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.366559995 meters 0.014480361468326762 Centerline is valid? [True, True] Translation: X:139.43, Y:-93.90, Z:-4.04 [[-9.99937022e-01 -9.55631123e-03 5.88462103e-03 1.39430655e+02] [-9.55571125e-03 9.99954335e-01 1.30065667e-04 -9.38973212e+01] [-5.88559525e-03 7.38257367e-05 -9.99982677e-01 -4.03796713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4265599949999 meters 0.013746848300239527 Centerline is valid? [True, True] Translation: X:139.43, Y:-93.86, Z:-4.04 [[-9.96197787e-01 -8.69013111e-02 6.17506368e-03 1.39426656e+02] [-8.68994004e-02 9.96216925e-01 5.77565527e-04 -9.38618746e+01] [-6.20189415e-03 3.87601686e-05 -9.99980767e-01 -4.03849323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.486559995 meters 0.01348759048565659 Centerline is valid? [True, True] Translation: X:139.36, Y:-93.18, Z:-5.00 [[-9.99565351e-01 2.88671758e-02 5.98290625e-03 1.39362774e+02] [-2.88669727e-02 -9.99583255e-01 1.20318871e-04 -9.31841476e+01] [ 5.98388617e-03 -5.24418172e-05 9.99982095e-01 -5.00128535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5465599949999 meters 0.013279493452840942 Centerline is valid? [True, True] Translation: X:139.35, Y:-93.86, Z:-4.04 [[-9.95084948e-01 -9.88833660e-02 5.29407440e-03 1.39348490e+02] [-9.88819927e-02 9.95099030e-01 5.21179144e-04 -9.38555129e+01] [-5.31966425e-03 -4.87110535e-06 -9.99985851e-01 -4.03942211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.606559995 meters 0.013412132972972023 Centerline is valid? [True, True] Translation: X:139.29, Y:-93.21, Z:-5.00 [[-9.99634040e-01 2.64592390e-02 5.62984428e-03 1.39285150e+02] [-2.64586686e-02 -9.99649893e-01 1.75788211e-04 -9.32074579e+01] [ 5.63252445e-03 2.67656955e-05 9.99984137e-01 -5.00122945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.666559995 meters 0.013624175230719883 Centerline is valid? [True, True] Translation: X:139.28, Y:-93.85, Z:-4.04 [[-9.94066194e-01 -1.08632429e-01 5.60332818e-03 1.39276507e+02] [-1.08630895e-01 9.94081986e-01 5.78351722e-04 -9.38492001e+01] [-5.63299536e-03 -3.37746614e-05 -9.99984134e-01 -4.03866020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7265599949999 meters 0.013606331371187873 Centerline is valid? [True, True] Translation: X:139.21, Y:-93.22, Z:-5.00 [[-9.99604155e-01 2.75263386e-02 5.81663584e-03 1.39211196e+02] [-2.75255958e-02 -9.99621077e-01 2.07744894e-04 -9.32248299e+01] [ 5.82015024e-03 4.75562926e-05 9.99983062e-01 -5.00124935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.786559995 meters 0.014092030917197757 Centerline is valid? [True, True] Translation: X:139.20, Y:-93.85, Z:-4.04 [[-9.93095778e-01 -1.17089874e-01 7.12302838e-03 1.39204758e+02] [-1.17087377e-01 9.93121320e-01 7.67991218e-04 -9.38480176e+01] [-7.16395535e-03 -7.13278727e-05 -9.99974336e-01 -4.03728763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8465599949999 meters 0.01464609418641048 Centerline is valid? [True, True] Translation: X:139.19, Y:-93.82, Z:-4.03 [[-9.81535640e-01 -1.91049709e-01 9.36998395e-03 1.39188458e+02] [-1.91042273e-01 9.81580354e-01 1.69061605e-03 -9.38171393e+01] [-9.52038387e-03 -1.30663131e-04 -9.99954672e-01 -4.03499284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.906559995 meters 0.015081784155410843 Centerline is valid? [True, True] Translation: X:139.17, Y:-93.79, Z:-4.04 [[-9.64820081e-01 -2.62748867e-01 9.23277778e-03 1.39172538e+02] [-2.62738356e-01 9.64864244e-01 2.35527365e-03 -9.37906329e+01] [-9.52722264e-03 -1.53389536e-04 -9.99954603e-01 -4.03550101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9665599949999 meters 0.015015363288570876 Centerline is valid? [True, True] Translation: X:139.15, Y:-93.77, Z:-4.04 [[-9.43460737e-01 -3.31380904e-01 8.27852414e-03 1.39150972e+02] [-3.31369481e-01 9.43497046e-01 2.75525236e-03 -9.37687986e+01] [-8.72380108e-03 -1.43777826e-04 -9.99961937e-01 -4.03651599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.026559995 meters 0.015143907601032344 Centerline is valid? [True, True] Translation: X:138.94, Y:-93.21, Z:-5.00 [[-9.72019797e-01 2.34770052e-01 7.78058432e-03 1.38943881e+02] [-2.34761827e-01 -9.72050932e-01 1.96708314e-03 -9.32084225e+01] [ 8.02493645e-03 8.54595687e-05 9.99967796e-01 -5.00304623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0865599949999 meters 0.01506045501689628 Centerline is valid? [True, True] Translation: X:139.03, Y:-93.81, Z:-4.04 [[-9.41186803e-01 -3.37804296e-01 7.46055127e-03 1.39034456e+02] [-3.37794811e-01 9.41216362e-01 2.53490420e-03 -9.38066463e+01] [-7.87829446e-03 -1.34317127e-04 -9.99968957e-01 -4.03766763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.146559995 meters 0.015310164285955365 Centerline is valid? [True, True] Translation: X:139.00, Y:-93.79, Z:-4.04 [[-9.14283748e-01 -4.04986746e-01 8.42402770e-03 1.39001912e+02] [-4.04971160e-01 9.14322542e-01 3.55666437e-03 -9.37898525e+01] [-9.14268034e-03 -1.59687838e-04 -9.99958192e-01 -4.03616634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2065599949999 meters 0.015335452210349943 Centerline is valid? [True, True] Translation: X:138.95, Y:-93.78, Z:-4.04 [[-8.82408051e-01 -4.70402291e-01 8.81564328e-03 1.38953581e+02] [-4.70380779e-01 8.82452069e-01 4.50203911e-03 -9.37837744e+01] [-9.89715217e-03 -1.74073600e-04 -9.99951007e-01 -4.03587602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.266559995 meters 0.015638115452355893 Centerline is valid? [True, True] Translation: X:138.89, Y:-93.79, Z:-4.04 [[-8.45016015e-01 -5.34670279e-01 8.69640951e-03 1.38890273e+02] [-5.34644241e-01 8.45060742e-01 5.28000116e-03 -9.37883057e+01] [-1.01720540e-02 -1.87799722e-04 -9.99948246e-01 -4.03550577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3265599949999 meters 0.01669766854401228 Centerline is valid? [True, True] Translation: X:138.82, Y:-93.80, Z:-4.03 [[-8.01965072e-01 -5.97301910e-01 9.08028833e-03 1.38823678e+02] [-5.97266857e-01 8.02016444e-01 6.47503547e-03 -9.37986177e+01] [-1.11500916e-02 -2.30602979e-04 -9.99937809e-01 -4.03371492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.386559995 meters 0.016514020750989452 Centerline is valid? [True, True] Translation: X:138.75, Y:-93.82, Z:-4.03 [[-7.54649531e-01 -6.56063767e-01 9.18793082e-03 1.38749074e+02] [-6.56019327e-01 7.54705416e-01 7.64054860e-03 -9.38245878e+01] [-1.19468682e-02 -2.61523767e-04 -9.99928599e-01 -4.03381254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4465599949999 meters 0.018079454905636654 Centerline is valid? [True, True] Translation: X:138.67, Y:-93.86, Z:-4.03 [[-7.01834559e-01 -7.12298072e-01 7.72718498e-03 1.38671091e+02] [-7.12258983e-01 7.01877046e-01 7.46678605e-03 -9.38585087e+01] [-1.07421111e-02 -2.63308424e-04 -9.99942267e-01 -4.03404331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.506559995 meters 0.018767694362993748 Centerline is valid? [True, True] Translation: X:138.60, Y:-93.90, Z:-4.04 [[-6.44227570e-01 -7.64805346e-01 6.60461142e-03 1.38596118e+02] [-7.64769432e-01 6.44261367e-01 7.41671987e-03 -9.39004780e+01] [-9.92744299e-03 -2.72949501e-04 -9.99950685e-01 -4.03549052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5665599949999 meters 0.018066257049215228 Centerline is valid? [True, True] Translation: X:138.52, Y:-93.95, Z:-4.04 [[-5.83971395e-01 -8.11754657e-01 5.63801365e-03 1.38521728e+02] [-8.11721141e-01 5.83998550e-01 7.38123649e-03 -9.39538729e+01] [-9.28434489e-03 -2.66063904e-04 -9.99956864e-01 -4.03717386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.626559995 meters 0.019220996120318024 Centerline is valid? [True, True] Translation: X:138.44, Y:-94.02, Z:-4.04 [[-5.19799648e-01 -8.54275734e-01 4.61482805e-03 1.38443217e+02] [-8.54246322e-01 5.19820071e-01 7.09329916e-03 -9.40205476e+01] [-8.45851359e-03 -2.55105486e-04 -9.99964194e-01 -4.03791707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6865599949999 meters 0.018913723547689523 Centerline is valid? [True, True] Translation: X:138.37, Y:-94.09, Z:-4.04 [[-4.52714864e-01 -8.91644637e-01 4.36949974e-03 1.38373140e+02] [-8.91608979e-01 4.52735862e-01 7.97925779e-03 -9.40900567e+01] [-9.09289165e-03 -2.83556591e-04 -9.99958619e-01 -4.03798118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.746559995 meters 0.020371094972213954 Centerline is valid? [True, True] Translation: X:138.30, Y:-94.17, Z:-4.04 [[-3.83184409e-01 -9.23664190e-01 3.76469061e-03 1.38299535e+02] [-9.23626796e-01 3.83202792e-01 8.31639006e-03 -9.41730317e+01] [-9.12419164e-03 -2.90458113e-04 -9.99958332e-01 -4.03712216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8065599949999 meters 0.019952424603313344 Centerline is valid? [True, True] Translation: X:138.24, Y:-94.25, Z:-4.04 [[-3.10280482e-01 -9.50638664e-01 3.48614160e-03 1.38239728e+02] [-9.50590419e-01 3.10299879e-01 9.58332227e-03 -9.42522010e+01] [-1.01920260e-02 -3.40374955e-04 -9.99948002e-01 -4.03656755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.866559995 meters 0.02053812261756248 Centerline is valid? [True, True] Translation: X:138.18, Y:-94.35, Z:-4.03 [[-2.36223659e-01 -9.71693401e-01 3.21191969e-03 1.38181516e+02] [-9.71625618e-01 2.36245142e-01 1.14843650e-02 -9.43494438e+01] [-1.19180821e-02 -4.07904740e-04 -9.99928894e-01 -4.03467858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9265599949999 meters 0.02082512449321891 Centerline is valid? [True, True] Translation: X:138.13, Y:-94.45, Z:-4.03 [[-1.61055908e-01 -9.86941647e-01 2.67953458e-03 1.38132437e+02] [-9.86849776e-01 1.61077498e-01 1.34744045e-02 -9.44462619e+01] [-1.37300637e-02 -4.74165648e-04 -9.99905626e-01 -4.03362651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.986559995 meters 0.021156126488152523 Centerline is valid? [True, True] Translation: X:138.09, Y:-94.55, Z:-4.03 [[-8.57295978e-02 -9.96317119e-01 1.62298547e-03 1.38089474e+02] [-9.96226064e-01 8.57437176e-02 1.34775437e-02 -9.45533004e+01] [-1.35670683e-02 -4.61436029e-04 -9.99907857e-01 -4.03363891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0465599949999 meters 0.02046343933539861 Centerline is valid? [True, True] Translation: X:138.06, Y:-94.66, Z:-4.03 [[-1.20394020e-02 -9.99927352e-01 5.86916360e-04 1.38057840e+02] [-9.99835376e-01 1.20462588e-02 1.35686950e-02 -9.46639815e+01] [-1.35747794e-02 -4.23460765e-04 -9.99907769e-01 -4.03375783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.106559995 meters 0.01800354526782313 Centerline is valid? [True, True] Translation: X:138.04, Y:-94.77, Z:-4.04 [[ 5.94258495e-02 -9.98232642e-01 -4.02213616e-04 1.38037903e+02] [-9.98160498e-01 -5.94263919e-02 1.20051938e-02 -9.47727209e+01] [-1.20078785e-02 -3.11945100e-04 -9.99927854e-01 -4.03528964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.166559995 meters 0.01558627381295263 Centerline is valid? [True, True] Translation: X:138.03, Y:-94.89, Z:-4.04 [[ 1.32123989e-01 -9.91232486e-01 -1.18763931e-03 1.38025883e+02] [-9.91174467e-01 -1.32129109e-01 1.07272536e-02 -9.48891247e+01] [-1.07901239e-02 -2.40169779e-04 -9.99941756e-01 -4.03729211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2265599949999 meters 0.014279208424024843 Centerline is valid? [True, True] Translation: X:138.02, Y:-95.00, Z:-4.04 [[ 2.02528884e-01 -9.79274277e-01 -1.98524433e-03 1.38020569e+02] [-9.79218097e-01 -2.02538533e-01 1.04910035e-02 -9.49950761e+01] [-1.06756584e-02 -1.80744062e-04 -9.99942997e-01 -4.03736948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.286559995 meters 0.014094379451758572 Centerline is valid? [True, True] Translation: X:138.02, Y:-95.11, Z:-4.04 [[ 2.74449825e-01 -9.61596990e-01 -2.91937036e-03 1.38022484e+02] [-9.61536264e-01 -2.74465305e-01 1.08078826e-02 -9.51117541e+01] [-1.11940932e-02 -1.59141002e-04 -9.99937332e-01 -4.03627341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3465599949999 meters 0.01363345585813318 Centerline is valid? [True, True] Translation: X:138.03, Y:-95.23, Z:-4.04 [[ 3.45870592e-01 -9.38273875e-01 -3.95842451e-03 1.38034086e+02] [-9.38207438e-01 -3.45893212e-01 1.11664293e-02 -9.52275043e+01] [-1.18463611e-02 -1.48316201e-04 -9.99929818e-01 -4.03539040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.406559995 meters 0.01363936027552457 Centerline is valid? [True, True] Translation: X:138.05, Y:-95.34, Z:-4.03 [[ 4.16607395e-01 -9.09068948e-01 -5.65036770e-03 1.38053258e+02] [-9.08979677e-01 -4.16645675e-01 1.27407953e-02 -9.53424414e+01] [-1.39364626e-02 -1.71840115e-04 -9.99902868e-01 -4.03362729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4665599949999 meters 0.013559904285333142 Centerline is valid? [True, True] Translation: X:138.08, Y:-95.45, Z:-4.03 [[ 4.84531627e-01 -8.74747974e-01 -6.71446311e-03 1.38081215e+02] [-8.74659182e-01 -4.84578120e-01 1.24643745e-02 -9.54547774e+01] [-1.41568682e-02 -1.66516824e-04 -9.99899773e-01 -4.03312913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.526559995 meters 0.013321318013029904 Centerline is valid? [True, True] Translation: X:138.12, Y:-95.56, Z:-4.03 [[ 5.49692621e-01 -8.35337023e-01 -7.07677294e-03 1.38117791e+02] [-8.35264313e-01 -5.49738152e-01 1.10222947e-02 -9.55614952e+01] [-1.30977030e-02 -1.47898196e-04 -9.99914211e-01 -4.03482959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5865599949999 meters 0.01336573714293371 Centerline is valid? [True, True] Translation: X:138.16, Y:-95.67, Z:-4.03 [[ 6.11508472e-01 -7.91206153e-01 -7.08611250e-03 1.38161121e+02] [-7.91150628e-01 -6.11549514e-01 9.37415838e-03 -9.56675400e+01] [-1.17504004e-02 -1.26194909e-04 -9.99930954e-01 -4.03495953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.646559995 meters 0.012803474152306628 Centerline is valid? [True, True] Translation: X:138.21, Y:-95.76, Z:-4.04 [[ 6.69058661e-01 -7.43173370e-01 -7.33829829e-03 1.38207893e+02] [-7.43126983e-01 -6.69098895e-01 8.30395986e-03 -9.57593195e+01] [-1.10813291e-02 -1.02548800e-04 -9.99938595e-01 -4.03642401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7065599949999 meters 0.012925326013193624 Centerline is valid? [True, True] Translation: X:138.27, Y:-95.85, Z:-4.04 [[ 7.23275118e-01 -6.90518660e-01 -7.55545746e-03 1.38265159e+02] [-6.90479676e-01 -7.23314574e-01 7.33784587e-03 -9.58546712e+01] [-1.05318920e-02 -9.03915112e-05 -9.99944534e-01 -4.03668882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.766559995 meters 0.012763471988316606 Centerline is valid? [True, True] Translation: X:138.29, Y:-95.88, Z:-4.04 [[ 7.74076359e-01 -6.33035674e-01 -8.46313188e-03 1.38286271e+02] [-6.32996736e-01 -7.74122619e-01 7.02161858e-03 -9.58798872e+01] [-1.09964369e-02 -7.81340957e-05 -9.99939534e-01 -4.03676623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8265599949999 meters 0.01260783398946809 Centerline is valid? [True, True] Translation: X:138.31, Y:-95.90, Z:-4.04 [[ 8.19954075e-01 -5.72348528e-01 -9.61653156e-03 1.38308650e+02] [-5.72308335e-01 -8.20010463e-01 6.78311275e-03 -9.59034036e+01] [-1.17679611e-02 -5.82197757e-05 -9.99930753e-01 -4.03578301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.886559995 meters 0.012552519165144493 Centerline is valid? [True, True] Translation: X:138.33, Y:-95.92, Z:-4.04 [[ 8.60405970e-01 -5.09508791e-01 -1.01172285e-02 1.38334045e+02] [-5.09473338e-01 -8.60465450e-01 6.01052326e-03 -9.59214509e+01] [-1.17679400e-02 -1.70319012e-05 -9.99930755e-01 -4.03599289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9465599949999 meters 0.012456187505528862 Centerline is valid? [True, True] Translation: X:138.36, Y:-95.94, Z:-4.04 [[ 8.97334200e-01 -4.41248303e-01 -9.55347110e-03 1.38359240e+02] [-4.41223194e-01 -8.97385054e-01 4.70721002e-03 -9.59404310e+01] [-1.06501906e-02 -8.72750381e-06 -9.99943285e-01 -4.03645932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.006559995 meters 0.012375028422363184 Centerline is valid? [True, True] Translation: X:138.38, Y:-95.96, Z:-4.04 [[ 9.28818263e-01 -3.70392278e-01 -1.03051085e-02 1.38384320e+02] [-3.70369466e-01 -9.28875428e-01 4.11070086e-03 -9.59614441e+01] [-1.10947339e-02 -1.39651663e-06 -9.99938452e-01 -4.03670669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0665599949999 meters 0.012423223146539236 Centerline is valid? [True, True] Translation: X:138.41, Y:-95.98, Z:-4.04 [[ 9.54800893e-01 -2.97056338e-01 -1.06201201e-02 1.38411257e+02] [-2.97038003e-01 -9.54859954e-01 3.30036987e-03 -9.59778379e+01] [-1.11211232e-02 3.38317432e-06 -9.99938158e-01 -4.03630331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.126559995 meters 0.012410745001514468 Centerline is valid? [True, True] Translation: X:138.44, Y:-95.99, Z:-4.04 [[ 9.74991225e-01 -2.22004385e-01 -1.03036270e-02 1.38439155e+02] [-2.21992081e-01 -9.75045667e-01 2.33731075e-03 -9.59942690e+01] [-1.05654001e-02 8.46612216e-06 -9.99944185e-01 -4.03733137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1865599949999 meters 0.01226401295703328 Centerline is valid? [True, True] Translation: X:138.46, Y:-96.01, Z:-4.04 [[ 9.89504405e-01 -1.44195707e-01 -9.41433998e-03 1.38464618e+02] [-1.44189185e-01 -9.89549189e-01 1.37144524e-03 -9.60091872e+01] [-9.51370901e-03 3.94899217e-07 -9.99954744e-01 -4.03780678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.246559995 meters 0.01230641590873659 Centerline is valid? [True, True] Translation: X:138.49, Y:-96.02, Z:-4.04 [[ 9.97874483e-01 -6.45817081e-02 -8.70168238e-03 1.38491362e+02] [-6.45791272e-02 -9.97912422e-01 5.77539258e-04 -9.60216972e+01] [-8.72081541e-03 -1.43646349e-05 -9.99961973e-01 -4.03792251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3065599949999 meters 0.01242695147991479 Centerline is valid? [True, True] Translation: X:138.52, Y:-96.03, Z:-4.04 [[ 9.99810318e-01 1.78393372e-02 -7.81576465e-03 1.38519488e+02] [ 1.78391408e-02 -9.99840865e-01 -9.48376014e-05 -9.60342116e+01] [-7.81621273e-03 -4.46069140e-05 -9.99969452e-01 -4.03885763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.366559995 meters 0.012747552222247552 Centerline is valid? [True, True] Translation: X:138.55, Y:-96.04, Z:-4.04 [[ 9.94970294e-01 9.99087555e-02 -7.23559651e-03 1.38548146e+02] [ 9.99066213e-02 -9.94996601e-01 -6.56725821e-04 -9.60442985e+01] [-7.26500659e-03 -6.94613170e-05 -9.99973607e-01 -4.03894338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4265599949999 meters 0.013474094206892355 Centerline is valid? [True, True] Translation: X:138.58, Y:-96.05, Z:-4.04 [[ 9.83323512e-01 1.81727342e-01 -7.07415629e-03 1.38577764e+02] [ 1.81723366e-01 -9.83348953e-01 -1.20626129e-03 -9.60517241e+01] [-7.17557484e-03 -9.93944046e-05 -9.99974250e-01 -4.03929105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.486559995 meters 0.01414204455650637 Centerline is valid? [True, True] Translation: X:138.61, Y:-96.05, Z:-4.04 [[ 9.65436432e-01 2.60550473e-01 -6.77841813e-03 1.38607778e+02] [ 2.60544881e-01 -9.65460221e-01 -1.71091152e-03 -9.60543958e+01] [-6.99007187e-03 -1.14305827e-04 -9.99975563e-01 -4.03902664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5465599949999 meters 0.015371898928073547 Centerline is valid? [True, True] Translation: X:138.64, Y:-96.06, Z:-4.04 [[ 9.40716232e-01 3.39133738e-01 -6.42489286e-03 1.38638585e+02] [ 3.39126827e-01 -9.40738162e-01 -2.16942097e-03 -9.60561734e+01] [-6.77986574e-03 -1.38044016e-04 -9.99977007e-01 -4.03780748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.606559995 meters 0.015273110452671386 Centerline is valid? [True, True] Translation: X:138.67, Y:-96.05, Z:-4.04 [[ 9.10684683e-01 4.13046448e-01 -6.78529324e-03 1.38669078e+02] [ 4.13036293e-01 -9.10709946e-01 -2.90093143e-03 -9.60530984e+01] [-7.37765346e-03 -1.60738546e-04 -9.99972772e-01 -4.03759890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.666559995 meters 0.016500692251193418 Centerline is valid? [True, True] Translation: X:138.70, Y:-96.05, Z:-4.04 [[ 8.74633144e-01 4.84734887e-01 -6.99662328e-03 1.38699298e+02] [ 4.84721076e-01 -8.74661109e-01 -3.66390268e-03 -9.60493172e+01] [-7.89569572e-03 -1.86840036e-04 -9.99968811e-01 -4.03611186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7265599949999 meters 0.015757636557148413 Centerline is valid? [True, True] Translation: X:138.73, Y:-96.04, Z:-4.04 [[ 8.33213111e-01 5.52900312e-01 -7.56018952e-03 1.38729476e+02] [ 5.52879969e-01 -8.33247379e-01 -4.74814228e-03 -9.60412056e+01] [-8.92475745e-03 -2.23662947e-04 -9.99960149e-01 -4.03657177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.786559995 meters 0.016097555536852777 Centerline is valid? [True, True] Translation: X:138.76, Y:-96.03, Z:-4.04 [[ 7.87880990e-01 6.15797874e-01 -6.04353657e-03 1.38758274e+02] [ 6.15781517e-01 -7.87904147e-01 -4.49205109e-03 -9.60315639e+01] [-7.52792304e-03 -1.82296456e-04 -9.99971648e-01 -4.03762700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8465599949999 meters 0.015439040904735088 Centerline is valid? [True, True] Translation: X:138.78, Y:-96.02, Z:-4.04 [[ 7.38273628e-01 6.74483042e-01 -4.96759972e-03 1.38784976e+02] [ 6.74469124e-01 -7.38290325e-01 -4.33561705e-03 -9.60180346e+01] [-6.59183099e-03 -1.49620899e-04 -9.99978262e-01 -4.03857252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.906559995 meters 0.01458306948042826 Centerline is valid? [True, True] Translation: X:138.81, Y:-96.00, Z:-4.04 [[ 6.86139744e-01 7.27458486e-01 -4.05002444e-03 1.38809211e+02] [ 7.27446733e-01 -6.86151688e-01 -4.13662305e-03 -9.60003734e+01] [-5.78815265e-03 -1.07875566e-04 -9.99983243e-01 -4.03905572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9665599949999 meters 0.01405229858114611 Centerline is valid? [True, True] Translation: X:138.83, Y:-95.98, Z:-4.04 [[ 6.29248330e-01 7.77193754e-01 -4.05076841e-03 1.38830491e+02] [ 7.77178665e-01 -6.29261360e-01 -4.84394722e-03 -9.59817314e+01] [-6.31367756e-03 -1.00125085e-04 -9.99980064e-01 -4.03865428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.026559995 meters 0.013069831479905607 Centerline is valid? [True, True] Translation: X:138.85, Y:-95.96, Z:-4.04 [[ 5.70258069e-01 8.21456895e-01 -3.78218923e-03 1.38848916e+02] [ 8.21439677e-01 -5.70270607e-01 -5.31909578e-03 -9.59598157e+01] [-6.52627925e-03 -7.35830063e-05 -9.99978701e-01 -4.03764342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0865599949999 meters 0.012413918098042159 Centerline is valid? [True, True] Translation: X:138.86, Y:-95.94, Z:-4.04 [[ 5.07777427e-01 8.61481962e-01 -3.30355215e-03 1.38864454e+02] [ 8.61464314e-01 -5.07788171e-01 -5.51446255e-03 -9.59369163e+01] [-6.42811473e-03 -4.57726810e-05 -9.99979338e-01 -4.03761322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.146559995 meters 0.012092341808708756 Centerline is valid? [True, True] Translation: X:138.88, Y:-95.91, Z:-4.04 [[ 4.41035698e-01 8.97484600e-01 -2.98428499e-03 1.38883318e+02] [ 8.97464525e-01 -4.41045794e-01 -6.00279134e-03 -9.59149223e+01] [-6.70361913e-03 -3.08446394e-05 -9.99977530e-01 -4.03802044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2065599949999 meters 0.011961630714290572 Centerline is valid? [True, True] Translation: X:138.90, Y:-95.89, Z:-4.04 [[ 3.71890038e-01 9.28273253e-01 -2.56279228e-03 1.38900798e+02] [ 9.28251451e-01 -3.71898868e-01 -6.36198685e-03 -9.58923755e+01] [-6.85876178e-03 -1.29561169e-05 -9.99976478e-01 -4.03752320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.266559995 meters 0.01193907790240783 Centerline is valid? [True, True] Translation: X:138.92, Y:-95.87, Z:-4.04 [[ 2.99645154e-01 9.54048619e-01 -2.00338017e-03 1.38916673e+02] [ 9.54027330e-01 -2.99651851e-01 -6.37343218e-03 -9.58686602e+01] [-6.68088075e-03 -1.51136598e-06 -9.99977683e-01 -4.03713911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3265599949999 meters 0.012013419818958737 Centerline is valid? [True, True] Translation: X:138.93, Y:-95.84, Z:-4.04 [[ 2.25988621e-01 9.74128979e-01 -1.36975707e-03 1.38929131e+02] [ 9.74110779e-01 -2.25992772e-01 -5.95455740e-03 -9.58437440e+01] [-6.11006212e-03 1.13670858e-05 -9.99981333e-01 -4.03757913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.386559995 meters 0.011997382958647817 Centerline is valid? [True, True] Translation: X:138.94, Y:-95.82, Z:-4.04 [[ 1.49725627e-01 9.88727147e-01 -9.30014270e-04 1.38938994e+02] [ 9.88707385e-01 -1.49728515e-01 -6.25136263e-03 -9.58194628e+01] [-6.32014159e-03 1.64772132e-05 -9.99980028e-01 -4.03720407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4465599949999 meters 0.012065306799315018 Centerline is valid? [True, True] Translation: X:138.95, Y:-95.79, Z:-4.04 [[ 7.03085896e-02 9.97525191e-01 -4.41653261e-04 1.38947511e+02] [ 9.97504907e-01 -7.03099765e-02 -6.36135230e-03 -9.57928514e+01] [-6.37666180e-03 6.70641289e-06 -9.99979669e-01 -4.03672104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.506559995 meters 0.012279695779752055 Centerline is valid? [True, True] Translation: X:138.96, Y:-95.77, Z:-4.04 [[-1.32168646e-02 9.99912651e-01 6.36475156e-05 1.38956301e+02] [ 9.99888106e-01 1.32169861e-02 -7.00625434e-03 -9.57674421e+01] [-7.00648358e-03 -2.89603210e-05 -9.99975454e-01 -4.03527992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5665599949999 meters 0.013380183261661543 Centerline is valid? [True, True] Translation: X:138.96, Y:-95.74, Z:-4.03 [[-9.77861622e-02 9.95207247e-01 6.33515924e-04 1.38961299e+02] [ 9.95181059e-01 9.77881851e-02 -7.22010775e-03 -9.57407494e+01] [-7.24745394e-03 -7.55635792e-05 -9.99973734e-01 -4.03476239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.626559995 meters 0.013344710565320977 Centerline is valid? [True, True] Translation: X:138.97, Y:-95.71, Z:-4.04 [[-1.79012673e-01 9.83845992e-01 1.23562363e-03 1.38966851e+02] [ 9.83818331e-01 1.79016906e-01 -7.37822860e-03 -9.57112740e+01] [-7.48023816e-03 -1.05167241e-04 -9.99972017e-01 -4.03602017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6865599949999 meters 0.014393065252289198 Centerline is valid? [True, True] Translation: X:138.97, Y:-95.68, Z:-4.04 [[-2.58893384e-01 9.65904517e-01 1.63706945e-03 1.38970903e+02] [ 9.65882207e-01 2.58898532e-01 -6.56600083e-03 -9.56819696e+01] [-6.76596474e-03 -1.18677915e-04 -9.99977104e-01 -4.03640490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.746559995 meters 0.015024140548405375 Centerline is valid? [True, True] Translation: X:138.97, Y:-95.65, Z:-4.04 [[-3.35917578e-01 9.41888783e-01 2.21382679e-03 1.38971432e+02] [ 9.41865539e-01 3.35924844e-01 -6.61861250e-03 -9.56522558e+01] [-6.97767629e-03 -1.38181116e-04 -9.99975646e-01 -4.03653147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8065599949999 meters 0.015028158391756473 Centerline is valid? [True, True] Translation: X:138.97, Y:-95.62, Z:-4.04 [[-4.10136429e-01 9.12018920e-01 3.09832752e-03 1.38969752e+02] [ 9.11989688e-01 4.10148096e-01 -7.30396534e-03 -9.56226564e+01] [-7.93212771e-03 -1.69979509e-04 -9.99968526e-01 -4.03574513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.866559995 meters 0.015082173147642137 Centerline is valid? [True, True] Translation: X:138.97, Y:-95.59, Z:-4.04 [[-4.80398355e-01 8.77042866e-01 3.63761562e-03 1.38965298e+02] [ 8.77014990e-01 4.80412097e-01 -6.99464490e-03 -9.55930825e+01] [-7.88215795e-03 -1.69972478e-04 -9.99968921e-01 -4.03545088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9265599949999 meters 0.015411881960575564 Centerline is valid? [True, True] Translation: X:138.96, Y:-95.57, Z:-4.04 [[-5.46603259e-01 8.37381481e-01 4.13911962e-03 1.38956386e+02] [ 8.37355233e-01 5.46618907e-01 -6.63202200e-03 -9.55661945e+01] [-7.81605345e-03 -1.59171362e-04 -9.99969442e-01 -4.03504100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.986559995 meters 0.014513118249369173 Centerline is valid? [True, True] Translation: X:138.94, Y:-95.54, Z:-4.04 [[-6.09238837e-01 7.92970980e-01 5.00646107e-03 1.38944039e+02] [ 7.92942045e-01 6.09259386e-01 -6.77600990e-03 -9.55399606e+01] [-8.42341261e-03 -1.58374910e-04 -9.99964510e-01 -4.03524695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0465599949999 meters 0.013916102042632059 Centerline is valid? [True, True] Translation: X:138.93, Y:-95.51, Z:-4.04 [[-6.67863723e-01 7.44260179e-01 5.90198011e-03 1.38930076e+02] [ 7.44229119e-01 6.67889784e-01 -6.80117315e-03 -9.55146683e+01] [-9.00371457e-03 -1.49831368e-04 -9.99959455e-01 -4.03517527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.106559995 meters 0.013632106211195118 Centerline is valid? [True, True] Translation: X:138.92, Y:-95.49, Z:-4.03 [[-7.22731093e-01 6.91099924e-01 6.37672841e-03 1.38915171e+02] [ 6.91071411e-01 7.22759212e-01 -6.27911838e-03 -9.54899495e+01] [-8.94833744e-03 -1.31339391e-04 -9.99959954e-01 -4.03485759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.166559995 meters 0.01334021558330431 Centerline is valid? [True, True] Translation: X:138.93, Y:-95.47, Z:-4.03 [[-7.68633429e-01 6.39650578e-01 7.05621825e-03 1.38934911e+02] [ 6.39622190e-01 7.68665808e-01 -6.02735988e-03 -9.54742836e+01] [-9.27927793e-03 -1.19516516e-04 -9.99956939e-01 -4.03449985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2265599949999 meters 0.012834751397681823 Centerline is valid? [True, True] Translation: X:138.95, Y:-95.46, Z:-4.04 [[-8.10218734e-01 5.86074569e-01 7.88684748e-03 1.38951727e+02] [ 5.86045630e-01 8.10257114e-01 -5.82485534e-03 -9.54591645e+01] [-9.80417386e-03 -9.73544245e-05 -9.99951933e-01 -4.03505974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.286559995 meters 0.0127561594214444 Centerline is valid? [True, True] Translation: X:138.97, Y:-95.44, Z:-4.03 [[-8.48672990e-01 5.28858433e-01 7.93189268e-03 1.38966855e+02] [ 5.28834501e-01 8.48710052e-01 -5.03172561e-03 -9.54396514e+01] [-9.39294757e-03 -7.56311082e-05 -9.99955882e-01 -4.03476994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3465599949999 meters 0.012654210342623979 Centerline is valid? [True, True] Translation: X:138.98, Y:-95.42, Z:-4.04 [[-8.84002087e-01 4.67409196e-01 8.30382468e-03 1.38982739e+02] [ 4.67387759e-01 8.84041084e-01 -4.47718366e-03 -9.54189537e+01] [-9.43359898e-03 -7.67336913e-05 -9.99955500e-01 -4.03563029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.406559995 meters 0.01305165622185184 Centerline is valid? [True, True] Translation: X:139.00, Y:-95.39, Z:-4.04 [[-9.15827628e-01 4.01476769e-01 8.72696112e-03 1.38996616e+02] [ 4.01457489e-01 9.15869201e-01 -3.93584757e-03 -9.53945021e+01] [-9.57290627e-03 -1.01054044e-04 -9.99954174e-01 -4.03503740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4665599949999 meters 0.013787721904086205 Centerline is valid? [True, True] Translation: X:139.00, Y:-95.37, Z:-4.03 [[-9.43380697e-01 3.31561945e-01 9.97680023e-03 1.39000462e+02] [ 3.31541635e-01 9.43433438e-01 -3.67321020e-03 -9.53653305e+01] [-1.06303437e-02 -1.57510933e-04 -9.99943484e-01 -4.03454922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.526559995 meters 0.014295919756354383 Centerline is valid? [True, True] Translation: X:139.25, Y:-94.70, Z:-5.01 [[-9.06305667e-01 -4.22511803e-01 9.68576633e-03 1.39252279e+02] [ 4.22489512e-01 -9.06357409e-01 -4.34281187e-03 -9.47026560e+01] [ 1.06136553e-02 1.56219674e-04 9.99943661e-01 -5.00618151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5865599949999 meters 0.01458691320861866 Centerline is valid? [True, True] Translation: X:138.95, Y:-95.35, Z:-4.03 [[-9.45639117e-01 3.25055656e-01 1.02704218e-02 1.38954269e+02] [ 3.25034213e-01 9.45694867e-01 -3.73882173e-03 -9.53493966e+01] [-1.09280103e-02 -1.97337624e-04 -9.99940268e-01 -4.03445091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.646559995 meters 0.014292359029153639 Centerline is valid? [True, True] Translation: X:138.97, Y:-95.33, Z:-4.04 [[-9.66091586e-01 2.58011120e-01 9.86457654e-03 1.38968136e+02] [ 2.57995798e-01 9.66141931e-01 -2.81736936e-03 -9.53278763e+01] [-1.02574937e-02 -1.76817540e-04 -9.99947375e-01 -4.03555883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7065599949999 meters 0.013487016752831931 Centerline is valid? [True, True] Translation: X:138.98, Y:-95.31, Z:-4.04 [[-9.81092418e-01 1.93294498e-01 9.74185926e-03 1.38979630e+02] [ 1.93283682e-01 9.81140775e-01 -2.04876667e-03 -9.53056886e+01] [-9.95415068e-03 -1.27087020e-04 -9.99950448e-01 -4.03561866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.766559995 meters 0.012791628928004594 Centerline is valid? [True, True] Translation: X:138.99, Y:-95.28, Z:-4.04 [[-9.91708571e-01 1.28211524e-01 8.71290069e-03 1.38987844e+02] [ 1.28205972e-01 9.91746843e-01 -1.19509959e-03 -9.52830742e+01] [-8.79421729e-03 -6.81446048e-05 -9.99961328e-01 -4.03589673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8265599949999 meters 0.012674638747526897 Centerline is valid? [True, True] Translation: X:139.09, Y:-94.56, Z:-5.00 [[-9.78041762e-01 -2.08240084e-01 8.38929978e-03 1.39093011e+02] [ 2.08232882e-01 -9.78077740e-01 -1.73267405e-03 -9.45634356e+01] [ 8.56619955e-03 5.23004844e-05 9.99963308e-01 -5.00336199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.886559995 meters 0.012586582502400873 Centerline is valid? [True, True] Translation: X:138.94, Y:-95.28, Z:-4.04 [[-9.91861524e-01 1.27051537e-01 8.28403356e-03 1.38939612e+02] [ 1.27046754e-01 9.91896116e-01 -1.10320466e-03 -9.52789724e+01] [-8.35706456e-03 -4.17666795e-05 -9.99965078e-01 -4.03712177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9465599949999 meters 0.012506262071225571 Centerline is valid? [True, True] Translation: X:138.94, Y:-95.25, Z:-4.04 [[-9.98368686e-01 5.64063425e-02 8.84818685e-03 1.38942429e+02] [ 5.64037397e-02 9.98407894e-01 -5.43632723e-04 -9.52508488e+01] [-8.86476393e-03 -4.36750599e-05 -9.99960706e-01 -4.03675298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.006559995 meters 0.012485867263800703 Centerline is valid? [True, True] Translation: X:138.99, Y:-94.53, Z:-5.00 [[-9.91070421e-01 -1.32964488e-01 9.99327872e-03 1.38991540e+02] [ 1.32959013e-01 -9.91120794e-01 -1.21315510e-03 -9.45276316e+01] [ 1.00658529e-02 1.26374340e-04 9.99949330e-01 -5.00464421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0665599949999 meters 0.012544757249672613 Centerline is valid? [True, True] Translation: X:138.89, Y:-95.24, Z:-4.03 [[-9.98535976e-01 5.30235174e-02 1.06962880e-02 1.38885330e+02] [ 5.30199983e-02 9.98593263e-01 -6.12501102e-04 -9.52446687e+01] [-1.07137181e-02 -4.44872146e-05 -9.99942606e-01 -4.03472257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.126559995 meters 0.012729705414294697 Centerline is valid? [True, True] Translation: X:138.93, Y:-94.53, Z:-5.01 [[-9.91630865e-01 -1.28648240e-01 1.08562348e-02 1.38928962e+02] [ 1.28641193e-01 -9.91690288e-01 -1.34784946e-03 -9.45276835e+01] [ 1.09394210e-02 5.99898623e-05 9.99940161e-01 -5.00633585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1865599949999 meters 0.012711279071263277 Centerline is valid? [True, True] Translation: X:138.83, Y:-95.24, Z:-4.03 [[-9.98805050e-01 4.74852054e-02 1.15597520e-02 1.38827560e+02] [ 4.74812903e-02 9.98871939e-01 -6.13051649e-04 -9.52375646e+01] [-1.15758228e-02 -6.34471407e-05 -9.99932996e-01 -4.03333137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.246559995 meters 0.012704498796108979 Centerline is valid? [True, True] Translation: X:138.87, Y:-94.53, Z:-5.01 [[-9.91888876e-01 -1.26623502e-01 1.10881351e-02 1.38870453e+02] [ 1.26615984e-01 -9.91950849e-01 -1.38023681e-03 -9.45278791e+01] [ 1.11736554e-02 3.48935960e-05 9.99937572e-01 -5.00507483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3065599949999 meters 0.012876848280856779 Centerline is valid? [True, True] Translation: X:138.77, Y:-95.23, Z:-4.04 [[-9.99086657e-01 4.13031947e-02 1.09497936e-02 1.38770285e+02] [ 4.12998156e-02 9.99146656e-01 -5.34636909e-04 -9.52329814e+01] [-1.09625319e-02 -8.19241445e-05 -9.99939906e-01 -4.03536194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.366559995 meters 0.01311693004499512 Centerline is valid? [True, True] Translation: X:138.77, Y:-95.20, Z:-4.04 [[-9.99450758e-01 -3.15027796e-02 1.02838519e-02 1.38767504e+02] [-3.15020915e-02 9.99503660e-01 2.28928300e-04 -9.52041545e+01] [-1.02859595e-02 -9.51602823e-05 -9.99947094e-01 -4.03574075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4265599949999 meters 0.013533649103370834 Centerline is valid? [True, True] Translation: X:138.76, Y:-95.18, Z:-4.04 [[-9.94521590e-01 -1.04102141e-01 9.46312277e-03 1.38761871e+02] [-1.04098418e-01 9.94566606e-01 8.86423051e-04 -9.51760196e+01] [-9.50398443e-03 -1.03529248e-04 -9.99954831e-01 -4.03583111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.486559995 meters 0.01324953403677778 Centerline is valid? [True, True] Translation: X:138.70, Y:-94.48, Z:-5.00 [[-9.99847021e-01 1.46018382e-02 9.62918008e-03 1.38700984e+02] [-1.46000686e-02 -9.99893381e-01 2.54044758e-04 -9.44757471e+01] [ 9.63186294e-03 1.13419205e-04 9.99953606e-01 -5.00327577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5465599949999 meters 0.013328369868679009 Centerline is valid? [True, True] Translation: X:138.68, Y:-95.19, Z:-4.04 [[-9.93926014e-01 -1.09613610e-01 9.79461648e-03 1.38680750e+02] [-1.09609371e-01 9.93974268e-01 9.70197313e-04 -9.51863028e+01] [-9.84194357e-03 -1.09277403e-04 -9.99951561e-01 -4.03633685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.606559995 meters 0.01330165111554101 Centerline is valid? [True, True] Translation: X:138.62, Y:-94.48, Z:-5.00 [[-9.99744260e-01 1.99245460e-02 1.06970531e-02 1.38616894e+02] [-1.99215218e-02 -9.99801471e-01 3.89196742e-04 -9.44822364e+01] [ 1.07026840e-02 1.75995631e-04 9.99942709e-01 -5.00465064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.666559995 meters 0.013715442685147163 Centerline is valid? [True, True] Translation: X:138.60, Y:-95.19, Z:-4.03 [[-9.93291769e-01 -1.15087445e-01 1.12401852e-02 1.38599049e+02] [-1.15081520e-01 9.93355356e-01 1.17464274e-03 -9.51937104e+01] [-1.13006848e-02 -1.26774630e-04 -9.99936137e-01 -4.03368999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7265599949999 meters 0.013337925237832778 Centerline is valid? [True, True] Translation: X:138.51, Y:-94.49, Z:-5.01 [[-9.99599835e-01 2.56283592e-02 1.19732167e-02 1.38514534e+02] [-2.56243751e-02 -9.99671524e-01 4.86073045e-04 -9.44903689e+01] [ 1.19817410e-02 1.79072341e-04 9.99928200e-01 -5.00592259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.786559995 meters 0.01333641102526136 Centerline is valid? [True, True] Translation: X:138.50, Y:-95.21, Z:-4.03 [[-9.92655772e-01 -1.20386910e-01 1.18958290e-02 1.38501663e+02] [-1.20379789e-01 9.92727040e-01 1.31548521e-03 -9.52054145e+01] [-1.19676783e-02 -1.26193406e-04 -9.99928377e-01 -4.03436792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8465599949999 meters 0.013428625591941952 Centerline is valid? [True, True] Translation: X:138.43, Y:-94.50, Z:-5.01 [[-9.99393394e-01 3.32469664e-02 1.03674228e-02 1.38431170e+02] [-3.32451225e-02 -9.99447167e-01 3.50185880e-04 -9.44987238e+01] [ 1.03733340e-02 5.30721346e-06 9.99946196e-01 -5.00566184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.906559995 meters 0.013298238663161143 Centerline is valid? [True, True] Translation: X:138.42, Y:-95.22, Z:-4.03 [[-9.92236492e-01 -1.23837649e-01 1.14446859e-02 1.38416422e+02] [-1.23830510e-01 9.92302488e-01 1.33309162e-03 -9.52154950e+01] [-1.15216773e-02 -9.44591369e-05 -9.99933619e-01 -4.03410626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9665599949999 meters 0.013049068464136598 Centerline is valid? [True, True] Translation: X:138.34, Y:-94.51, Z:-5.01 [[-9.99058069e-01 4.16169870e-02 1.22882552e-02 1.38337281e+02] [-4.16119697e-02 -9.99133626e-01 6.63813989e-04 -9.45064897e+01] [ 1.23052349e-02 1.51850220e-04 9.99924276e-01 -5.00627518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.026559995 meters 0.01299123239373696 Centerline is valid? [True, True] Translation: X:138.32, Y:-95.23, Z:-4.03 [[-9.91917302e-01 -1.26290026e-01 1.22839226e-02 1.38323801e+02] [-1.26281074e-01 9.91993360e-01 1.50477931e-03 -9.52284375e+01] [-1.23756083e-02 -5.86103025e-05 -9.99923418e-01 -4.03383203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0865599949999 meters 0.012904128180786623 Centerline is valid? [True, True] Translation: X:138.24, Y:-94.51, Z:-5.01 [[-9.98501922e-01 5.34641447e-02 1.16402774e-02 1.38236569e+02] [-5.34603927e-02 -9.98569770e-01 6.33471029e-04 -9.45136052e+01] [ 1.16574972e-02 1.02282362e-05 9.99932049e-01 -5.00570513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.146559995 meters 0.012845231908964201 Centerline is valid? [True, True] Translation: X:138.23, Y:-95.24, Z:-4.04 [[-9.92148224e-01 -1.24680171e-01 9.83648184e-03 1.38229705e+02] [-1.24673728e-01 9.92196983e-01 1.26796608e-03 -9.52434181e+01] [-9.91781784e-03 3.16594383e-05 -9.99950817e-01 -4.03616138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2065599949999 meters 0.01301326337397187 Centerline is valid? [True, True] Translation: X:138.22, Y:-95.22, Z:-4.04 [[-9.81455286e-01 -1.91527414e-01 7.92289562e-03 1.38222906e+02] [-1.91520720e-01 9.81487263e-01 1.60226661e-03 -9.52179218e+01] [-8.08309911e-03 5.51543592e-05 -9.99967330e-01 -4.03736196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.266559995 meters 0.013215206632650096 Centerline is valid? [True, True] Translation: X:138.08, Y:-94.51, Z:-5.00 [[-9.90087221e-01 1.40249398e-01 7.57641013e-03 1.38078779e+02] [-1.40245916e-01 -9.90116205e-01 9.91557683e-04 -9.45059283e+01] [ 7.64059181e-03 -8.08319884e-05 9.99970807e-01 -5.00274688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3265599949999 meters 0.01316048807747777 Centerline is valid? [True, True] Translation: X:138.12, Y:-95.24, Z:-4.04 [[-9.80513186e-01 -1.96305039e-01 7.63051487e-03 1.38115057e+02] [-1.96298576e-01 9.80542874e-01 1.59419761e-03 -9.52351580e+01] [-7.79499601e-03 6.52725702e-05 -9.99969616e-01 -4.03652768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.386559995 meters 0.012848784308037077 Centerline is valid? [True, True] Translation: X:138.09, Y:-95.21, Z:-4.04 [[-9.63272498e-01 -2.68416045e-01 7.67603876e-03 1.38093477e+02] [-2.68407136e-01 9.63303080e-01 2.18735055e-03 -9.52070392e+01] [-7.98147176e-03 4.67110521e-05 -9.99968146e-01 -4.03597072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4465599949999 meters 0.01280227619563439 Centerline is valid? [True, True] Translation: X:137.88, Y:-94.53, Z:-5.00 [[-9.76983006e-01 2.13170572e-01 7.90647224e-03 1.37875757e+02] [-2.13163926e-01 -9.77014998e-01 1.68373906e-03 -9.45312470e+01] [ 8.08366558e-03 -4.03902206e-05 9.99967326e-01 -5.00466933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.506559995 meters 0.012549472801321036 Centerline is valid? [True, True] Translation: X:137.96, Y:-95.24, Z:-4.04 [[-9.60544048e-01 -2.78029779e-01 7.38737265e-03 1.37955225e+02] [-2.78021399e-01 9.60572455e-01 2.15865100e-03 -9.52400927e+01] [-7.69627594e-03 1.96316906e-05 -9.99970383e-01 -4.03615133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5665599949999 meters 0.012545077757665118 Centerline is valid? [True, True] Translation: X:137.74, Y:-94.58, Z:-5.00 [[-9.76876699e-01 2.13691430e-01 6.92013747e-03 1.37739401e+02] [-2.13686519e-01 -9.76901207e-01 1.45006475e-03 -9.45790879e+01] [ 7.07015706e-03 -6.22056225e-05 9.99975004e-01 -5.00375510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.626559995 meters 0.012659932972821145 Centerline is valid? [True, True] Translation: X:137.82, Y:-95.27, Z:-4.04 [[-9.56582643e-01 -2.91390274e-01 6.43087802e-03 1.37821064e+02] [-2.91383915e-01 9.56604258e-01 1.92536601e-03 -9.52665784e+01] [-6.71283823e-03 -3.20827023e-05 -9.99977468e-01 -4.03604234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6865599949999 meters 0.013289350406098702 Centerline is valid? [True, True] Translation: X:137.79, Y:-95.24, Z:-4.04 [[-9.30853173e-01 -3.65335761e-01 6.49243928e-03 1.37785817e+02] [-3.65327451e-01 9.30875811e-01 2.46531589e-03 -9.52419476e+01] [-6.94432274e-03 -7.70191790e-05 -9.99975885e-01 -4.03594515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.746559995 meters 0.014526000207111069 Centerline is valid? [True, True] Translation: X:137.74, Y:-95.22, Z:-4.04 [[-8.99538506e-01 -4.36793642e-01 6.46449779e-03 1.37740950e+02] [-4.36783319e-01 8.99561726e-01 3.00544712e-03 -9.52238672e+01] [-7.12797499e-03 -1.20069383e-04 -9.99974588e-01 -4.03553343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8065599949999 meters 0.015352324520839214 Centerline is valid? [True, True] Translation: X:137.68, Y:-95.22, Z:-4.03 [[-8.63414764e-01 -5.04461372e-01 5.80247524e-03 1.37677066e+02] [-5.04451024e-01 8.63434251e-01 3.23397159e-03 -9.52200531e+01] [-6.64146961e-03 -1.34805759e-04 -9.99977936e-01 -4.03478079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.866559995 meters 0.015370178212247565 Centerline is valid? [True, True] Translation: X:137.61, Y:-95.23, Z:-4.03 [[-8.23717116e-01 -5.66966012e-01 6.29711459e-03 1.37611636e+02] [-5.66950873e-01 8.23741171e-01 4.14608856e-03 -9.52262333e+01] [-7.53788384e-03 -1.54950499e-04 -9.99971578e-01 -4.03405961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9265599949999 meters 0.01449831288991771 Centerline is valid? [True, True] Translation: X:137.54, Y:-95.25, Z:-4.03 [[-7.80561293e-01 -6.25051926e-01 5.84448752e-03 1.37540014e+02] [-6.25035711e-01 7.80583161e-01 4.50441573e-03 -9.52450392e+01] [-7.37760227e-03 -1.37040851e-04 -9.99972776e-01 -4.03444073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.986559995 meters 0.01378707033849153 Centerline is valid? [True, True] Translation: X:137.46, Y:-95.28, Z:-4.03 [[-7.33644984e-01 -6.79509783e-01 5.61170079e-03 1.37462771e+02] [-6.79491141e-01 7.33666436e-01 5.03486544e-03 -9.52760868e+01] [-7.53835685e-03 -1.19297196e-04 -9.99971579e-01 -4.03412891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0465599949999 meters 0.013270194607884683 Centerline is valid? [True, True] Translation: X:137.39, Y:-95.31, Z:-4.03 [[-6.83975096e-01 -7.29483432e-01 5.65603999e-03 1.37387725e+02] [-7.29459580e-01 6.83998476e-01 5.89972782e-03 -9.53136060e+01] [-8.17247643e-03 -9.05856507e-05 -9.99966601e-01 -4.03305510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.106559995 meters 0.012709946940143263 Centerline is valid? [True, True] Translation: X:137.31, Y:-95.37, Z:-4.03 [[-6.30817510e-01 -7.75912951e-01 5.32553201e-03 1.37310664e+02] [-7.75885994e-01 6.30839987e-01 6.46795420e-03 -9.53651039e+01] [-8.37812798e-03 -5.19069356e-05 -9.99964902e-01 -4.03271201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.166559995 meters 0.012411108814797732 Centerline is valid? [True, True] Translation: X:137.23, Y:-95.43, Z:-4.03 [[-5.73506633e-01 -8.19188803e-01 4.45494216e-03 1.37233964e+02] [-8.19164325e-01 5.73523935e-01 6.33283611e-03 -9.54254612e+01] [-7.74280439e-03 -1.74061726e-05 -9.99970024e-01 -4.03269528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2265599949999 meters 0.012597546219302163 Centerline is valid? [True, True] Translation: X:137.16, Y:-95.50, Z:-4.03 [[-5.16053768e-01 -8.56549580e-01 3.36524623e-03 1.37162588e+02] [-8.56530930e-01 5.16064739e-01 5.65252191e-03 -9.54959779e+01] [-6.57835019e-03 3.45677408e-05 -9.99978362e-01 -4.03340737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.286559995 meters 0.013128160692111222 Centerline is valid? [True, True] Translation: X:137.09, Y:-95.57, Z:-4.03 [[-4.54050645e-01 -8.90972878e-01 2.31155752e-03 1.37093218e+02] [-8.90960712e-01 4.54056526e-01 4.65639469e-03 -9.55747102e+01] [-5.19829916e-03 5.47320776e-05 -9.99986487e-01 -4.03434675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3465599949999 meters 0.014035188233092235 Centerline is valid? [True, True] Translation: X:137.03, Y:-95.66, Z:-4.04 [[-3.91318943e-01 -9.20253823e-01 1.54456065e-03 1.37028968e+02] [-9.20245900e-01 3.91321984e-01 3.81944815e-03 -9.56617025e+01] [-4.11928230e-03 7.32468061e-05 -9.99991513e-01 -4.03548595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.406559995 meters 0.014944983529238795 Centerline is valid? [True, True] Translation: X:136.97, Y:-95.76, Z:-4.04 [[-3.22795830e-01 -9.46467709e-01 1.31449041e-03 1.36966862e+02] [-9.46458679e-01 3.22798494e-01 4.13533274e-03 -9.57571439e+01] [-4.33827443e-03 9.07573044e-05 -9.99990586e-01 -4.03515070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4665599949999 meters 0.01473865031237204 Centerline is valid? [True, True] Translation: X:136.91, Y:-95.86, Z:-4.04 [[-2.48937873e-01 -9.68518930e-01 1.00861035e-03 1.36907660e+02] [-9.68509452e-01 2.48939900e-01 4.28565761e-03 -9.58629817e+01] [-4.40182388e-03 9.00138367e-05 -9.99990308e-01 -4.03523384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.526559995 meters 0.013983031567882399 Centerline is valid? [True, True] Translation: X:136.86, Y:-95.97, Z:-4.03 [[-1.70286722e-01 -9.85394294e-01 7.19199876e-04 1.36855727e+02] [-9.85383474e-01 1.70288223e-01 4.61852293e-03 -9.59672033e+01] [-4.67353741e-03 7.77854588e-05 -9.99989076e-01 -4.03482723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5865599949999 meters 0.013174438271210526 Centerline is valid? [True, True] Translation: X:136.81, Y:-96.08, Z:-4.03 [[-8.82489269e-02 -9.96098385e-01 3.66896995e-04 1.36809215e+02] [-9.96087288e-01 8.82496757e-02 4.70216746e-03 -9.60818440e+01] [-4.71619995e-03 4.94997992e-05 -9.99988877e-01 -4.03378903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.646559995 meters 0.01260244777175981 Centerline is valid? [True, True] Translation: X:136.77, Y:-96.20, Z:-4.03 [[-6.67333361e-03 -9.99977733e-01 6.35309377e-06 1.36772387e+02] [-9.99964433e-01 6.67327761e-03 5.15758554e-03 -9.61971085e+01] [-5.15751309e-03 2.80654211e-05 -9.99986700e-01 -4.03381508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7065599949999 meters 0.012476407547890247 Centerline is valid? [True, True] Translation: X:136.74, Y:-96.32, Z:-4.03 [[ 7.65483129e-02 -9.97065783e-01 -4.25687856e-04 1.36742844e+02] [-9.97049804e-01 -7.65494961e-02 5.64466693e-03 -9.63181065e+01] [-5.66069044e-03 -7.65773670e-06 -9.99983978e-01 -4.03384039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.766559995 meters 0.012666438077160891 Centerline is valid? [True, True] Translation: X:136.73, Y:-96.44, Z:-4.03 [[ 1.56051076e-01 -9.87748713e-01 -7.36353747e-04 1.36725100e+02] [-9.87737006e-01 -1.56052812e-01 4.80914005e-03 -9.64355693e+01] [-4.86513197e-03 -2.31476348e-05 -9.99988165e-01 -4.03432298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8265599949999 meters 0.01283617497122642 Centerline is valid? [True, True] Translation: X:136.72, Y:-96.55, Z:-4.03 [[ 2.32430258e-01 -9.72612591e-01 -9.60843407e-04 1.36716081e+02] [-9.72603816e-01 -2.32432243e-01 4.13157756e-03 -9.65541348e+01] [-4.24175534e-03 -2.57836761e-05 -9.99991003e-01 -4.03388686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.886559995 meters 0.01246322695218026 Centerline is valid? [True, True] Translation: X:136.72, Y:-96.67, Z:-4.03 [[ 3.03740117e-01 -9.52754065e-01 -1.27783289e-03 1.36720318e+02] [-9.52745416e-01 -3.03742805e-01 4.05978235e-03 -9.66679254e+01] [-4.25610668e-03 -1.56693420e-05 -9.99990943e-01 -4.03423292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9465599949999 meters 0.012393330031680397 Centerline is valid? [True, True] Translation: X:136.74, Y:-96.78, Z:-4.03 [[ 3.69967549e-01 -9.29042933e-01 -1.80025769e-03 1.36735083e+02] [-9.29032096e-01 -3.69971929e-01 4.48734989e-03 -9.67805129e+01] [-4.83498552e-03 1.23233361e-05 -9.99988311e-01 -4.03328394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.006559995 meters 0.012679830465908197 Centerline is valid? [True, True] Translation: X:136.76, Y:-96.89, Z:-4.03 [[ 4.36145898e-01 -8.99872191e-01 -2.60675076e-03 1.36757422e+02] [-8.99856660e-01 -4.36153687e-01 5.28715919e-03 -9.68929237e+01] [-5.89471148e-03 3.97292366e-05 -9.99982625e-01 -4.03241883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0665599949999 meters 0.01364319832270272 Centerline is valid? [True, True] Translation: X:136.78, Y:-97.00, Z:-4.03 [[ 4.98700168e-01 -8.66769047e-01 -3.09220077e-03 1.36784744e+02] [-8.66753314e-01 -4.98709748e-01 5.22299454e-03 -9.69952713e+01] [-6.06924067e-03 7.54670069e-05 -9.99981579e-01 -4.03196330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.126559995 meters 0.01400541061400087 Centerline is valid? [True, True] Translation: X:136.82, Y:-97.10, Z:-4.03 [[ 5.60235388e-01 -8.28322925e-01 -4.17645403e-03 1.36819931e+02] [-8.28301456e-01 -5.60250942e-01 5.96480694e-03 -9.71000132e+01] [-7.28064863e-03 1.17667027e-04 -9.99973489e-01 -4.03123732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1865599949999 meters 0.014184953528215947 Centerline is valid? [True, True] Translation: X:136.86, Y:-97.20, Z:-4.03 [[ 6.21129269e-01 -7.83691262e-01 -5.14168307e-03 1.36862113e+02] [-7.83666203e-01 -6.21150536e-01 6.26855223e-03 -9.72008266e+01] [-8.10636880e-03 1.35781978e-04 -9.99967134e-01 -4.03060716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.246559995 meters 0.013727011812737605 Centerline is valid? [True, True] Translation: X:136.91, Y:-97.30, Z:-4.03 [[ 6.81340065e-01 -7.31938224e-01 -6.49241357e-03 1.36911736e+02] [-7.31906728e-01 -6.81370986e-01 6.79130627e-03 -9.73026456e+01] [-9.39455889e-03 1.24652109e-04 -9.99955862e-01 -4.02968810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3065599949999 meters 0.012783221014074616 Centerline is valid? [True, True] Translation: X:136.96, Y:-97.40, Z:-4.03 [[ 7.39064285e-01 -6.73597431e-01 -7.10512251e-03 1.36961738e+02] [-6.73567163e-01 -7.39098435e-01 6.38594224e-03 -9.73951239e+01] [-9.55293922e-03 6.61553795e-05 -9.99954367e-01 -4.02949539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.366559995 meters 0.012503750542042733 Centerline is valid? [True, True] Translation: X:136.98, Y:-97.43, Z:-4.03 [[ 7.91002627e-01 -6.11763139e-01 -7.79137267e-03 1.36982128e+02] [-6.11733998e-01 -7.91040998e-01 5.97122235e-03 -9.74270247e+01] [-9.81626894e-03 4.29949833e-05 -9.99951818e-01 -4.02991048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4265599949999 meters 0.0123591649108056 Centerline is valid? [True, True] Translation: X:137.00, Y:-97.46, Z:-4.03 [[ 8.40559062e-01 -5.41665254e-01 -7.69519738e-03 1.37003740e+02] [-5.41642235e-01 -8.40594285e-01 4.99374187e-03 -9.74576752e+01] [-9.17347540e-03 -2.94910820e-05 -9.99957922e-01 -4.02996890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.486559995 meters 0.013019373892161583 Centerline is valid? [True, True] Translation: X:137.03, Y:-97.49, Z:-4.03 [[ 8.84139190e-01 -4.67179600e-01 -6.41199218e-03 1.37028336e+02] [-4.67166639e-01 -8.84162437e-01 3.48089699e-03 -9.74878541e+01] [-7.29544670e-03 -8.21286119e-05 -9.99973385e-01 -4.03116620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5465599949999 meters 0.014291834064866457 Centerline is valid? [True, True] Translation: X:137.06, Y:-97.51, Z:-4.03 [[ 9.19880253e-01 -3.92157467e-01 -5.73078530e-03 1.37056121e+02] [-3.92149172e-01 -9.19898098e-01 2.55272145e-03 -9.75124351e+01] [-6.27280728e-03 -1.00875347e-04 -9.99980321e-01 -4.03145279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.606559995 meters 0.015051076838506984 Centerline is valid? [True, True] Translation: X:137.09, Y:-97.53, Z:-4.03 [[ 9.49281914e-01 -3.14375263e-01 -5.66051180e-03 1.37087695e+02] [-3.14368880e-01 -9.49298782e-01 2.00736690e-03 -9.75336735e+01] [-6.00458346e-03 -1.26068337e-04 -9.99981964e-01 -4.03169157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.666559995 meters 0.015862977599293265 Centerline is valid? [True, True] Translation: X:137.12, Y:-97.55, Z:-4.03 [[ 9.71312549e-01 -2.37729432e-01 -6.05383651e-03 1.37120234e+02] [-2.37723906e-01 -9.71331404e-01 1.62708209e-03 -9.75506961e+01] [-6.26708682e-03 -1.41263591e-04 -9.99980352e-01 -4.03044744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7265599949999 meters 0.015890240172912608 Centerline is valid? [True, True] Translation: X:137.16, Y:-97.56, Z:-4.03 [[ 9.86968650e-01 -1.60769830e-01 -6.77832478e-03 1.37155954e+02] [-1.60764942e-01 -9.86991913e-01 1.26350199e-03 -9.75614022e+01] [-6.89328474e-03 -1.57319860e-04 -9.99976229e-01 -4.02975389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.786559995 meters 0.015749735900367042 Centerline is valid? [True, True] Translation: X:137.19, Y:-97.57, Z:-4.03 [[ 9.96423089e-01 -8.41687429e-02 -7.52661783e-03 1.37192284e+02] [-8.41650909e-02 -9.96451502e-01 8.01209638e-04 -9.75690895e+01] [-7.56734645e-03 -1.64865309e-04 -9.99971354e-01 -4.02921385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8465599949999 meters 0.014654918204160193 Centerline is valid? [True, True] Translation: X:137.22, Y:-97.57, Z:-4.03 [[ 9.99912100e-01 -1.03868540e-02 -8.24045196e-03 1.37223928e+02] [-1.03853235e-02 -9.99946045e-01 2.28504822e-04 -9.75678298e+01] [-8.24238079e-03 -1.42904977e-04 -9.99966021e-01 -4.02795209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.906559995 meters 0.01352566770874168 Centerline is valid? [True, True] Translation: X:137.26, Y:-97.56, Z:-4.03 [[ 9.97991906e-01 6.27351449e-02 -8.74396151e-03 1.37255413e+02] [ 6.27336689e-02 -9.98030205e-01 -4.43248083e-04 -9.75623891e+01] [-8.75454493e-03 -1.06182787e-04 -9.99961673e-01 -4.02744206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9665599949999 meters 0.012075441183918434 Centerline is valid? [True, True] Translation: X:137.29, Y:-97.55, Z:-4.03 [[ 9.91555827e-01 1.29435939e-01 -7.96114678e-03 1.37285771e+02] [ 1.29431819e-01 -9.91587786e-01 -1.03282392e-03 -9.75527822e+01] [-8.02786044e-03 -6.32312718e-06 -9.99967776e-01 -4.02926053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.026559995 meters 0.01265338653935477 Centerline is valid? [True, True] Translation: X:137.31, Y:-97.55, Z:-4.03 [[ 9.80216843e-01 1.97823737e-01 -6.38047429e-03 1.37313782e+02] [ 1.97819187e-01 -9.80237607e-01 -1.34266421e-03 -9.75453313e+01] [-6.51999170e-03 5.39218335e-05 -9.99978743e-01 -4.03026689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0865599949999 meters 0.01500357993517436 Centerline is valid? [True, True] Translation: X:137.34, Y:-97.53, Z:-4.03 [[ 9.65039254e-01 2.62056391e-01 -5.06813974e-03 1.37340786e+02] [ 2.62052182e-01 -9.65052556e-01 -1.48933014e-03 -9.75334446e+01] [-5.28130969e-03 1.09144972e-04 -9.99986048e-01 -4.03098261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.146559995 meters 0.017155595827971715 Centerline is valid? [True, True] Translation: X:137.37, Y:-97.52, Z:-4.03 [[ 9.44386909e-01 3.28803898e-01 -4.62197870e-03 1.37366434e+02] [ 3.28799209e-01 -9.44398208e-01 -1.76189564e-03 -9.75230507e+01] [-4.94430656e-03 1.44208241e-04 -9.99987766e-01 -4.03098952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2065599949999 meters 0.018079362836759788 Centerline is valid? [True, True] Translation: X:137.39, Y:-97.52, Z:-4.03 [[ 9.16773069e-01 3.99382946e-01 -4.51694795e-03 1.37393190e+02] [ 3.99377240e-01 -9.16784182e-01 -2.14084662e-03 -9.75165752e+01] [-4.99608407e-03 1.58704319e-04 -9.99987507e-01 -4.03012141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.266559995 meters 0.018463872293558045 Centerline is valid? [True, True] Translation: X:137.42, Y:-97.51, Z:-4.03 [[ 8.82531287e-01 4.70218316e-01 -5.76749281e-03 1.37420770e+02] [ 4.70206715e-01 -8.82550107e-01 -3.30958894e-03 -9.75096319e+01] [-6.64633074e-03 2.08901940e-04 -9.99977891e-01 -4.02847550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3265599949999 meters 0.016878383872950202 Centerline is valid? [True, True] Translation: X:137.45, Y:-97.50, Z:-4.03 [[ 8.41202187e-01 5.40688924e-01 -5.86243011e-03 1.37450311e+02] [ 5.40674129e-01 -8.41222591e-01 -4.00478510e-03 -9.75049945e+01] [-7.09695159e-03 1.99169691e-04 -9.99974797e-01 -4.02843493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.386559995 meters 0.015403734406621409 Centerline is valid? [True, True] Translation: X:137.48, Y:-97.50, Z:-4.03 [[ 7.91700020e-01 6.10886604e-01 -5.35116123e-03 1.37478804e+02] [ 6.10871439e-01 -7.91718092e-01 -4.30666690e-03 -9.74986959e+01] [-6.86749628e-03 1.40716707e-04 -9.99976409e-01 -4.02817184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4465599949999 meters 0.013251388013561544 Centerline is valid? [True, True] Translation: X:137.51, Y:-97.49, Z:-4.03 [[ 7.35518654e-01 6.77488938e-01 -4.58798146e-03 1.37510549e+02] [ 6.77475128e-01 -7.35532959e-01 -4.32626140e-03 -9.74928599e+01] [-6.30560582e-03 7.38026313e-05 -9.99980117e-01 -4.02880829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.506559995 meters 0.012457886483394022 Centerline is valid? [True, True] Translation: X:137.54, Y:-97.48, Z:-4.03 [[ 6.75718614e-01 7.37153199e-01 -3.08465181e-03 1.37540704e+02] [ 7.37145344e-01 -6.75725654e-01 -3.40326307e-03 -9.74819973e+01] [-4.59310462e-03 2.58114862e-05 -9.99989451e-01 -4.03012452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5665599949999 meters 0.012312735011412137 Centerline is valid? [True, True] Translation: X:137.57, Y:-97.47, Z:-4.03 [[ 6.09694386e-01 7.92635718e-01 -1.17223808e-03 1.37571733e+02] [ 7.92634265e-01 -6.09695513e-01 -1.51750077e-03 -9.74706639e+01] [-1.91753361e-03 -3.94436611e-06 -9.99998162e-01 -4.03203857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.626559995 meters 0.012551558154178138 Centerline is valid? [True, True] Translation: X:137.60, Y:-97.45, Z:-4.03 [[ 5.42203547e-01 8.40246685e-01 -9.06772867e-04 1.37600429e+02] [ 8.40245541e-01 -5.42204305e-01 -1.38631085e-03 -9.74547630e+01] [-1.65649925e-03 -1.02492004e-05 -9.99998628e-01 -4.03127883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6865599949999 meters 0.01316641624974557 Centerline is valid? [True, True] Translation: X:137.63, Y:-97.44, Z:-4.03 [[ 4.69874916e-01 8.82731651e-01 -1.54756434e-03 1.37629245e+02] [ 8.82727129e-01 -4.69877463e-01 -2.82573787e-03 -9.74370941e+01] [-3.22153386e-03 -3.83336758e-05 -9.99994810e-01 -4.02864121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.746559995 meters 0.013795809258359739 Centerline is valid? [True, True] Translation: X:137.65, Y:-97.42, Z:-4.03 [[ 3.96627538e-01 9.17978093e-01 -1.67870070e-03 1.37652207e+02] [ 9.17970509e-01 -3.96631085e-01 -3.73180238e-03 -9.74156707e+01] [-4.09153771e-03 -6.08621446e-05 -9.99991628e-01 -4.02711915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8065599949999 meters 0.014722253480831433 Centerline is valid? [True, True] Translation: X:137.67, Y:-97.39, Z:-4.02 [[ 3.20314825e-01 9.47309248e-01 -1.89791280e-03 1.37672946e+02] [ 9.47294471e-01 -3.20320431e-01 -5.29206225e-03 -9.73914080e+01] [-5.62115976e-03 -1.02756312e-04 -9.99984196e-01 -4.02472463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.866559995 meters 0.01499802617941866 Centerline is valid? [True, True] Translation: X:137.69, Y:-97.36, Z:-4.02 [[ 2.43925310e-01 9.69792931e-01 -1.45429129e-03 1.37687498e+02] [ 9.69778239e-01 -2.43929621e-01 -5.33916421e-03 -9.73648296e+01] [-5.53262843e-03 -1.07982768e-04 -9.99984689e-01 -4.02405852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9265599949999 meters 0.01609612294730076 Centerline is valid? [True, True] Translation: X:137.70, Y:-97.34, Z:-4.02 [[ 1.66849962e-01 9.85981780e-01 -1.01012241e-03 1.37698443e+02] [ 9.85967412e-01 -1.66852985e-01 -5.32400059e-03 -9.73380144e+01] [-5.41790952e-03 -1.07638480e-04 -9.99985317e-01 -4.02295287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.986559995 meters 0.015373226127884842 Centerline is valid? [True, True] Translation: X:137.70, Y:-97.31, Z:-4.02 [[ 8.85807436e-02 9.96068759e-01 -6.92824577e-04 1.37703931e+02] [ 9.96048696e-01 -8.85833576e-02 -6.32332388e-03 -9.73090172e+01] [-6.35983810e-03 -1.29962285e-04 -9.99979768e-01 -4.02214473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0465599949999 meters 0.016542998159777 Centerline is valid? [True, True] Translation: X:137.71, Y:-97.28, Z:-4.02 [[ 9.16725341e-03 9.99957955e-01 -2.24039571e-04 1.37709530e+02] [ 9.99931409e-01 -9.16864289e-03 -7.28790725e-03 -9.72814363e+01] [-7.28965497e-03 -1.57214111e-04 -9.99973418e-01 -4.02094217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.106559995 meters 0.015433206785489274 Centerline is valid? [True, True] Translation: X:137.71, Y:-97.25, Z:-4.02 [[-6.99773218e-02 9.97548514e-01 3.69200492e-04 1.37712956e+02] [ 9.97518510e-01 6.99780813e-02 -7.73884887e-03 -9.72520999e+01] [-7.74571314e-03 -1.73259593e-04 -9.99969987e-01 -4.02144749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.166559995 meters 0.015160698412946138 Centerline is valid? [True, True] Translation: X:137.72, Y:-97.22, Z:-4.02 [[-1.47434899e-01 9.89071293e-01 9.63287097e-04 1.37716122e+02] [ 9.89042093e-01 1.47437950e-01 -7.60198982e-03 -9.72225228e+01] [-7.66093498e-03 -1.68067113e-04 -9.99970641e-01 -4.02138026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2265599949999 meters 0.01576930331842122 Centerline is valid? [True, True] Translation: X:137.72, Y:-97.19, Z:-4.02 [[-2.22354873e-01 9.74964511e-01 1.58510661e-03 1.37718396e+02] [ 9.74934565e-01 2.22360470e-01 -7.64301681e-03 -9.71940653e+01] [-7.80413520e-03 -1.54086806e-04 -9.99969535e-01 -4.02054930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.286559995 meters 0.01431851980560355 Centerline is valid? [True, True] Translation: X:137.71, Y:-97.17, Z:-4.02 [[-2.95146899e-01 9.55449408e-01 2.17644820e-03 1.37713192e+02] [ 9.55420086e-01 2.95154895e-01 -7.48649381e-03 -9.71663469e+01] [-7.79535541e-03 -1.30193107e-04 -9.99969607e-01 -4.02149281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3465599949999 meters 0.013285337418551072 Centerline is valid? [True, True] Translation: X:137.71, Y:-97.14, Z:-4.02 [[-3.66978496e-01 9.30227332e-01 1.97319931e-03 1.37710772e+02] [ 9.30212689e-01 3.66983792e-01 -5.22014746e-03 -9.71372344e+01] [-5.58005601e-03 -8.01868306e-05 -9.99984428e-01 -4.02406788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.406559995 meters 0.014067286721607473 Centerline is valid? [True, True] Translation: X:137.71, Y:-97.11, Z:-4.03 [[-4.40967215e-01 8.97521923e-01 1.52087337e-03 1.37710495e+02] [ 8.97516108e-01 4.40969834e-01 -3.23142206e-03 -9.71078081e+01] [-3.57093142e-03 -5.99428338e-05 -9.99993622e-01 -4.02577193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4665599949999 meters 0.014357293540954419 Centerline is valid? [True, True] Translation: X:137.71, Y:-97.08, Z:-4.03 [[-5.11878853e-01 8.59055081e-01 2.09936910e-03 1.37706810e+02] [ 8.59047196e-01 5.11883152e-01 -3.68152636e-03 -9.70771879e+01] [-4.23726560e-03 -8.10383472e-05 -9.99991020e-01 -4.02554496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.526559995 meters 0.015209812380281447 Centerline is valid? [True, True] Translation: X:137.70, Y:-97.05, Z:-4.02 [[-5.79730191e-01 8.14801900e-01 3.28167718e-03 1.37701144e+02] [ 8.14787585e-01 5.79739465e-01 -4.83159499e-03 -9.70465159e+01] [-5.83931056e-03 -1.27151663e-04 -9.99982943e-01 -4.02396377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5865599949999 meters 0.01500583726574063 Centerline is valid? [True, True] Translation: X:137.69, Y:-97.02, Z:-4.02 [[-6.42602815e-01 7.66186787e-01 4.40784671e-03 1.37690962e+02] [ 7.66167018e-01 6.42617912e-01 -5.50629254e-03 -9.70174348e+01] [-7.05140984e-03 -1.61212316e-04 -9.99975126e-01 -4.02375525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.646559995 meters 0.014844146675592914 Centerline is valid? [True, True] Translation: X:137.68, Y:-96.99, Z:-4.02 [[-6.99846290e-01 7.14275774e-01 5.02886042e-03 1.37677856e+02] [ 7.14255673e-01 6.99864339e-01 -5.36098445e-03 -9.69899277e+01] [-7.34874139e-03 -1.59972992e-04 -9.99972985e-01 -4.02429241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7065599949999 meters 0.013537592379194108 Centerline is valid? [True, True] Translation: X:137.66, Y:-96.97, Z:-4.03 [[-7.49579590e-01 6.61900839e-01 4.20928462e-03 1.37659607e+02] [ 6.61889736e-01 7.49591403e-01 -3.83492071e-03 -9.69681463e+01] [-5.69358080e-03 -8.84960118e-05 -9.99983788e-01 -4.02530561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.766559995 meters 0.012399347964702045 Centerline is valid? [True, True] Translation: X:137.68, Y:-96.96, Z:-4.03 [[-7.90872254e-01 6.11969198e-01 3.84430158e-03 1.37681182e+02] [ 6.11961680e-01 7.90881596e-01 -3.03356743e-03 -9.69578549e+01] [-4.89683720e-03 -4.65990571e-05 -9.99988009e-01 -4.02617799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8265599949999 meters 0.01149448390467238 Centerline is valid? [True, True] Translation: X:137.70, Y:-96.95, Z:-4.03 [[-8.27257433e-01 5.61810291e-01 3.78628345e-03 1.37697389e+02] [ 5.61804390e-01 8.27266098e-01 -2.57497323e-03 -9.69468260e+01] [-4.57891040e-03 -3.01508517e-06 -9.99989517e-01 -4.02734480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.886559995 meters 0.011574282861891539 Centerline is valid? [True, True] Translation: X:137.71, Y:-96.93, Z:-4.03 [[-8.63387368e-01 5.04523128e-01 4.32036099e-03 1.37714646e+02] [ 5.04516882e-01 8.63398177e-01 -2.51056746e-03 -9.69275993e+01] [-4.99683116e-03 1.21028226e-05 -9.99987516e-01 -4.02674390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9465599949999 meters 0.011473992877040925 Centerline is valid? [True, True] Translation: X:137.73, Y:-96.90, Z:-4.03 [[-8.97002098e-01 4.41995870e-01 5.18522825e-03 1.37729199e+02] [ 4.41988570e-01 8.97017085e-01 -2.54029924e-03 -9.69015963e+01] [-5.77404010e-03 1.31578691e-05 -9.99983330e-01 -4.02553731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.006559995 meters 0.01148799119481496 Centerline is valid? [True, True] Translation: X:137.74, Y:-96.87, Z:-4.02 [[-9.26986119e-01 3.75038069e-01 6.57128749e-03 1.37741854e+02] [ 3.75028631e-01 9.27009410e-01 -2.66073144e-03 -9.68726139e+01] [-7.08952092e-03 -2.04015922e-06 -9.99974869e-01 -4.02340517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0665599949999 meters 0.011543248805274929 Centerline is valid? [True, True] Translation: X:138.01, Y:-96.23, Z:-5.02 [[-8.98930156e-01 -4.38034218e-01 7.11333410e-03 1.38007212e+02] [ 4.38020960e-01 -8.98958298e-01 -3.40837879e-03 -9.62304174e+01] [ 7.88757725e-03 5.18949527e-05 9.99968891e-01 -5.01668064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.126559995 meters 0.011498765377727125 Centerline is valid? [True, True] Translation: X:137.70, Y:-96.85, Z:-4.02 [[-9.29427750e-01 3.68945733e-01 6.56528235e-03 1.37700553e+02] [ 3.68936356e-01 9.29450938e-01 -2.63052741e-03 -9.68513238e+01] [-7.07262970e-03 -2.27138320e-05 -9.99974988e-01 -4.02237949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1865599949999 meters 0.01157647636827133 Centerline is valid? [True, True] Translation: X:137.96, Y:-96.22, Z:-5.02 [[-8.98800422e-01 -4.38321103e-01 5.69323742e-03 1.37956808e+02] [ 4.38312130e-01 -8.98818452e-01 -2.80476727e-03 -9.62181025e+01] [ 6.34657553e-03 -2.55109874e-05 9.99979860e-01 -5.01769007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.246559995 meters 0.011974604677774097 Centerline is valid? [True, True] Translation: X:137.66, Y:-96.82, Z:-4.02 [[-9.32909997e-01 3.60070747e-01 5.29102928e-03 1.37655117e+02] [ 3.60064642e-01 9.32924999e-01 -2.09738243e-03 -9.68246228e+01] [-5.69133955e-03 -5.15564777e-05 -9.99983803e-01 -4.02177746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3065599949999 meters 0.012408383956759141 Centerline is valid? [True, True] Translation: X:137.67, Y:-96.80, Z:-4.02 [[-9.56730278e-01 2.90923204e-01 5.55558148e-03 1.37667599e+02] [ 2.90917900e-01 9.56746406e-01 -1.75808088e-03 -9.67974422e+01] [-5.82674914e-03 -6.57911142e-05 -9.99983022e-01 -4.02079819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.366559995 meters 0.01288958423022154 Centerline is valid? [True, True] Translation: X:137.67, Y:-96.77, Z:-4.02 [[-9.75390569e-01 2.20423916e-01 5.15125131e-03 1.37667876e+02] [ 2.20420450e-01 9.75404169e-01 -1.23822689e-03 -9.67656362e+01] [-5.29748683e-03 -7.23136987e-05 -9.99985966e-01 -4.01943700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4265599949999 meters 0.0134474783171319 Centerline is valid? [True, True] Translation: X:137.83, Y:-96.13, Z:-5.02 [[-9.49699760e-01 -3.13102338e-01 6.10666048e-03 1.37831898e+02] [ 3.13096921e-01 -9.49719380e-01 -1.84841306e-03 -9.61334585e+01] [ 6.37835626e-03 1.56539157e-04 9.99979646e-01 -5.02287477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.486559995 meters 0.013130195730054648 Centerline is valid? [True, True] Translation: X:137.63, Y:-96.76, Z:-4.02 [[-9.76445820e-01 2.15637016e-01 7.36463249e-03 1.37629576e+02] [ 2.15630015e-01 9.76473586e-01 -1.74124186e-03 -9.67555754e+01] [-7.56684530e-03 -1.12192524e-04 -9.99971365e-01 -4.01581669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5465599949999 meters 0.01292370637532194 Centerline is valid? [True, True] Translation: X:137.63, Y:-96.73, Z:-4.02 [[-9.89067010e-01 1.47261433e-01 7.77945376e-03 1.37633622e+02] [ 1.47256039e-01 9.89097598e-01 -1.26484651e-03 -9.67327954e+01] [-7.88090214e-03 -1.05446405e-04 -9.99968940e-01 -4.01507713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.606559995 meters 0.012715902158580022 Centerline is valid? [True, True] Translation: X:137.64, Y:-96.71, Z:-4.02 [[-9.96851604e-01 7.90193582e-02 6.54376838e-03 1.37636311e+02] [ 7.90171759e-02 9.96873079e-01 -5.91766846e-04 -9.67087144e+01] [-6.57006757e-03 -7.28336329e-05 -9.99978414e-01 -4.01515196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.666559995 meters 0.01213657042256426 Centerline is valid? [True, True] Translation: X:137.63, Y:-96.69, Z:-4.02 [[-9.99904504e-01 1.28364531e-02 5.11950557e-03 1.37629395e+02] [ 1.28361202e-02 9.99917609e-01 -9.78764108e-05 -9.66873552e+01] [-5.12034015e-03 -3.21524749e-05 -9.99986891e-01 -4.01524183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7265599949999 meters 0.011848135336435478 Centerline is valid? [True, True] Translation: X:137.64, Y:-96.67, Z:-4.02 [[-9.98641345e-01 -5.19700180e-02 3.81858239e-03 1.37636095e+02] [-5.19696369e-02 9.98648646e-01 1.99014548e-04 -9.66684255e+01] [-3.82376492e-03 2.93815490e-07 -9.99992689e-01 -4.01565229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.786559995 meters 0.011929103509866689 Centerline is valid? [True, True] Translation: X:137.63, Y:-96.65, Z:-4.02 [[-9.92873516e-01 -1.19104606e-01 4.03401730e-03 1.37634081e+02] [-1.19103558e-01 9.92881711e-01 4.99939720e-04 -9.66452349e+01] [-4.06484712e-03 1.59110936e-05 -9.99991738e-01 -4.01542366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8465599949999 meters 0.01224475260879468 Centerline is valid? [True, True] Translation: X:137.62, Y:-96.62, Z:-4.01 [[-9.82329389e-01 -1.87118689e-01 3.94552939e-03 1.37624695e+02] [-1.87117075e-01 9.82337313e-01 7.77733854e-04 -9.66192650e+01] [-4.02136928e-03 2.57149041e-05 -9.99991914e-01 -4.01464875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.906559995 meters 0.012395725296809075 Centerline is valid? [True, True] Translation: X:137.49, Y:-95.93, Z:-5.03 [[-9.90845826e-01 1.34889114e-01 5.42917822e-03 1.37492283e+02] [-1.34886757e-01 -9.90860698e-01 7.99651019e-04 -9.59301848e+01] [ 5.48742354e-03 6.00066324e-05 9.99984942e-01 -5.02561268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9665599949999 meters 0.012739620341140468 Centerline is valid? [True, True] Translation: X:137.52, Y:-96.64, Z:-4.01 [[-9.81852905e-01 -1.89553097e-01 5.87338615e-03 1.37523724e+02] [-1.89549341e-01 9.81870470e-01 1.19471104e-03 -9.66401534e+01] [-5.99336560e-03 5.97340245e-05 -9.99982038e-01 -4.01466517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.026559995 meters 0.013354085432132422 Centerline is valid? [True, True] Translation: X:137.51, Y:-96.62, Z:-4.01 [[-9.66335604e-01 -2.57232945e-01 5.16834395e-03 1.37505216e+02] [-2.57228903e-01 9.66349423e-01 1.44348548e-03 -9.66150516e+01] [-5.36573821e-03 6.54439713e-05 -9.99985602e-01 -4.01438771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0865599949999 meters 0.013716937018041692 Centerline is valid? [True, True] Translation: X:137.47, Y:-96.60, Z:-4.02 [[-9.45885459e-01 -3.24471225e-01 4.37297448e-03 1.37474581e+02] [-3.24467439e-01 9.45895565e-01 1.56882916e-03 -9.65951622e+01] [-4.64541708e-03 6.50448603e-05 -9.99989208e-01 -4.01525916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.146559995 meters 0.01465795921262758 Centerline is valid? [True, True] Translation: X:137.42, Y:-96.59, Z:-4.02 [[-9.20045170e-01 -3.91795034e-01 3.67932393e-03 1.37421886e+02] [-3.91791638e-01 9.20052525e-01 1.63220006e-03 -9.65888899e+01] [-4.02465914e-03 6.01694295e-05 -9.99991899e-01 -4.01545247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2065599949999 meters 0.014574204442935423 Centerline is valid? [True, True] Translation: X:137.36, Y:-96.59, Z:-4.02 [[-8.89482998e-01 -4.56967051e-01 1.05383215e-03 1.37358655e+02] [-4.56966704e-01 8.89483622e-01 5.63601741e-04 -9.65875948e+01] [-1.19491386e-03 1.97479625e-05 -9.99999286e-01 -4.01813555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.266559995 meters 0.014792966731671839 Centerline is valid? [True, True] Translation: X:137.28, Y:-96.59, Z:-4.02 [[-8.52797833e-01 -5.22239319e-01 -1.39642884e-03 1.37284785e+02] [-5.22238569e-01 8.52798976e-01 -8.85903981e-04 -9.65942452e+01] [ 1.65352697e-03 -2.62279968e-05 -9.99998633e-01 -4.01963282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3265599949999 meters 0.014194957155987776 Centerline is valid? [True, True] Translation: X:137.21, Y:-96.61, Z:-4.02 [[-8.10084193e-01 -5.86311852e-01 -1.41883531e-03 1.37206080e+02] [-5.86310902e-01 8.10085435e-01 -1.05596097e-03 -9.66065296e+01] [ 1.76850025e-03 -2.35386805e-05 -9.99998436e-01 -4.01869255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.386559995 meters 0.013940141967049527 Centerline is valid? [True, True] Translation: X:137.12, Y:-96.63, Z:-4.02 [[-7.62461521e-01 -6.47032764e-01 -1.01549426e-03 1.37123431e+02] [-6.47032165e-01 7.62462197e-01 -8.81076265e-04 -9.66313594e+01] [ 1.34436120e-03 -1.47292984e-05 -9.99999096e-01 -4.01747236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4465599949999 meters 0.014056171711335913 Centerline is valid? [True, True] Translation: X:137.04, Y:-96.67, Z:-4.02 [[-7.10890730e-01 -7.03302254e-01 -5.55889539e-04 1.37037635e+02] [-7.03302031e-01 7.10890948e-01 -5.60831370e-04 -9.66707034e+01] [ 7.89610807e-04 -7.73158072e-06 -9.99999688e-01 -4.01691762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.506559995 meters 0.01365201996797001 Centerline is valid? [True, True] Translation: X:136.95, Y:-96.72, Z:-4.02 [[-6.54808885e-01 -7.55794490e-01 -1.16735864e-04 1.36952545e+02] [-7.55794477e-01 6.54808895e-01 -1.37232564e-04 -9.67156525e+01] [ 1.80159297e-04 -1.63278101e-06 -9.99999984e-01 -4.01536986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5665599949999 meters 0.013384474607097113 Centerline is valid? [True, True] Translation: X:136.87, Y:-96.78, Z:-4.01 [[-5.94374475e-01 -8.04188390e-01 1.26979643e-04 1.36866632e+02] [-8.04188371e-01 5.94374489e-01 1.73761805e-04 -9.67764363e+01] [-2.15210687e-04 1.16402932e-06 -9.99999977e-01 -4.01468345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.626559995 meters 0.013271591213906706 Centerline is valid? [True, True] Translation: X:136.79, Y:-96.84, Z:-4.01 [[-5.29576259e-01 -8.48261909e-01 8.48568788e-04 1.36789268e+02] [-8.48260802e-01 5.29576939e-01 1.37012707e-03 -9.68404570e+01] [-1.61160906e-03 5.77912528e-06 -9.99998701e-01 -4.01424928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6865599949999 meters 0.013313803452012683 Centerline is valid? [True, True] Translation: X:136.71, Y:-96.92, Z:-4.01 [[-4.57943235e-01 -8.88979975e-01 1.61161162e-03 1.36708614e+02] [-8.88974548e-01 4.57946071e-01 3.10623136e-03 -9.69189972e+01] [-3.49940869e-03 -1.02040721e-05 -9.99993877e-01 -4.01229643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.746559995 meters 0.014322540292959741 Centerline is valid? [True, True] Translation: X:136.63, Y:-97.00, Z:-4.01 [[-3.81816804e-01 -9.24236091e-01 1.89113403e-03 1.36632801e+02] [-9.24225424e-01 3.81821484e-01 4.44079501e-03 -9.70036706e+01] [-4.82641862e-03 -5.22639949e-05 -9.99988351e-01 -4.01002552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8065599949999 meters 0.014969038746468741 Centerline is valid? [True, True] Translation: X:136.57, Y:-97.10, Z:-4.01 [[-3.05147726e-01 -9.52303298e-01 1.81518416e-03 1.36567858e+02] [-9.52288203e-01 3.05153110e-01 5.36255169e-03 -9.71005885e+01] [-5.66068475e-03 -9.22080088e-05 -9.99983974e-01 -4.01071336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.866559995 meters 0.015469934826114555 Centerline is valid? [True, True] Translation: X:136.51, Y:-97.19, Z:-4.01 [[-2.29513918e-01 -9.73304591e-01 1.23896610e-03 1.36512926e+02] [-9.73292507e-01 2.29517244e-01 4.85091200e-03 -9.71939654e+01] [-5.00577901e-03 -9.25246054e-05 -9.99987467e-01 -4.01167064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9265599949999 meters 0.01595482369174017 Centerline is valid? [True, True] Translation: X:136.47, Y:-97.29, Z:-4.01 [[-1.52605380e-01 -9.88286978e-01 6.68798138e-04 1.36465355e+02] [-9.88279640e-01 1.52606825e-01 3.80931278e-03 -9.72929019e+01] [-3.86675738e-03 -7.96379571e-05 -9.99992521e-01 -4.01293796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.986559995 meters 0.015883339197356513 Centerline is valid? [True, True] Translation: X:136.43, Y:-97.40, Z:-4.01 [[-7.63670488e-02 -9.97079608e-01 5.73444975e-04 1.36426847e+02] [-9.97062273e-01 7.63691033e-02 5.88089086e-03 -9.74016147e+01] [-5.90750984e-03 -1.22654071e-04 -9.99982543e-01 -4.01207564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0465599949999 meters 0.01553694570391245 Centerline is valid? [True, True] Translation: X:136.40, Y:-97.51, Z:-4.01 [[-1.41406247e-03 -9.99998990e-01 1.46452171e-04 1.36397150e+02] [-9.99973563e-01 1.41507107e-03 7.13238108e-03 -9.75117525e+01] [-7.13258111e-03 -1.36362667e-04 -9.99974554e-01 -4.01129467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.106559995 meters 0.014354392459208807 Centerline is valid? [True, True] Translation: X:136.38, Y:-97.62, Z:-4.01 [[ 7.03318915e-02 -9.97523539e-01 -4.62848916e-04 1.36380900e+02] [-9.97489720e-01 -7.03333187e-02 8.21475610e-03 -9.76234512e+01] [-8.22696628e-03 -1.16072299e-04 -9.99966151e-01 -4.01132798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.166559995 meters 0.013468738243857258 Centerline is valid? [True, True] Translation: X:136.37, Y:-97.74, Z:-4.01 [[ 1.39675197e-01 -9.90196785e-01 -1.08030202e-03 1.36374054e+02] [-9.90163942e-01 -1.39679363e-01 8.06500414e-03 -9.77380598e+01] [-8.13683706e-03 -5.68049360e-05 -9.99966894e-01 -4.01212531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2265599949999 meters 0.013183252885478842 Centerline is valid? [True, True] Translation: X:136.37, Y:-97.86, Z:-4.01 [[ 2.11772356e-01 -9.77317993e-01 -1.41778363e-03 1.36369427e+02] [-9.77295361e-01 -2.11777101e-01 6.65102878e-03 -9.78563110e+01] [-6.80042421e-03 -2.29106731e-05 -9.99976877e-01 -4.01340694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.286559995 meters 0.013134289844004318 Centerline is valid? [True, True] Translation: X:136.37, Y:-97.98, Z:-4.01 [[ 2.85781800e-01 -9.58292697e-01 -1.96733657e-03 1.36370505e+02] [-9.58269487e-01 -2.85788571e-01 6.66959963e-03 -9.79756359e+01] [-6.95367092e-03 -2.08115853e-05 -9.99975823e-01 -4.01278592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3465599949999 meters 0.013208169703143478 Centerline is valid? [True, True] Translation: X:136.38, Y:-98.09, Z:-4.01 [[ 3.54707480e-01 -9.34971776e-01 -3.22200485e-03 1.36383871e+02] [-9.34933460e-01 -3.54722113e-01 8.46450644e-03 -9.80919048e+01] [-9.05699099e-03 9.93639062e-06 -9.99958985e-01 -4.01098926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.406559995 meters 0.013324616841550353 Centerline is valid? [True, True] Translation: X:136.40, Y:-98.21, Z:-4.01 [[ 4.23067385e-01 -9.06089184e-01 -4.04698985e-03 1.36404527e+02] [-9.06048507e-01 -4.23086739e-01 8.58574084e-03 -9.82064673e+01] [-9.49167466e-03 3.44221910e-05 -9.99954952e-01 -4.01078580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4665599949999 meters 0.013518456216306445 Centerline is valid? [True, True] Translation: X:136.43, Y:-98.32, Z:-4.01 [[ 4.89303988e-01 -8.72101306e-01 -4.57376896e-03 1.36428721e+02] [-8.72064230e-01 -4.89325362e-01 8.04168030e-03 -9.83164468e+01] [-9.25122104e-03 5.37940646e-05 -9.99957205e-01 -4.01097745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.526559995 meters 0.013541871993328916 Centerline is valid? [True, True] Translation: X:136.46, Y:-98.43, Z:-4.01 [[ 5.54928435e-01 -8.31881891e-01 -5.19141790e-03 1.36462739e+02] [-8.31846326e-01 -5.54952716e-01 7.69237282e-03 -9.84274221e+01] [-9.28013711e-03 4.97454922e-05 -9.99956937e-01 -4.01134028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5865599949999 meters 0.013409814088184889 Centerline is valid? [True, True] Translation: X:136.50, Y:-98.53, Z:-4.01 [[ 6.17320812e-01 -7.86692409e-01 -5.48357311e-03 1.36503754e+02] [-7.86661958e-01 -6.17345165e-01 6.92175441e-03 -9.85325753e+01] [-8.83054899e-03 4.07753084e-05 -9.99961009e-01 -4.01316119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.646559995 meters 0.013126108384135797 Centerline is valid? [True, True] Translation: X:136.55, Y:-98.63, Z:-4.01 [[ 6.77081890e-01 -7.35891238e-01 -4.91931931e-03 1.36549022e+02] [-7.35872001e-01 -6.77099760e-01 5.32099527e-03 -9.86344729e+01] [-7.24654372e-03 1.72398022e-05 -9.99973743e-01 -4.01472129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7065599949999 meters 0.013117341470660106 Centerline is valid? [True, True] Translation: X:136.60, Y:-98.73, Z:-4.01 [[ 7.33529023e-01 -6.79636102e-01 -5.47189623e-03 1.36596967e+02] [-6.79617092e-01 -7.33549432e-01 5.08317550e-03 -9.87281476e+01] [-7.46861596e-03 -9.86255236e-06 -9.99972109e-01 -4.01428683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.766559995 meters 0.0132234160266395 Centerline is valid? [True, True] Translation: X:136.61, Y:-98.76, Z:-4.01 [[ 7.86733961e-01 -6.17250197e-01 -7.20200841e-03 1.36614909e+02] [-6.17223789e-01 -7.86766924e-01 5.70981860e-03 -9.87599354e+01] [-9.19068866e-03 -4.68572841e-05 -9.99957764e-01 -4.01432590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8265599949999 meters 0.013614819793656193 Centerline is valid? [True, True] Translation: X:136.64, Y:-98.79, Z:-4.01 [[ 8.34195369e-01 -5.51416549e-01 -7.60763786e-03 1.36636039e+02] [-5.51392815e-01 -8.34230055e-01 5.11652662e-03 -9.87890632e+01] [-9.16785760e-03 -7.33859578e-05 -9.99957972e-01 -4.01378667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.886559995 meters 0.013534492430778462 Centerline is valid? [True, True] Translation: X:136.66, Y:-98.82, Z:-4.01 [[ 8.75191236e-01 -4.83716254e-01 -7.67373362e-03 1.36660577e+02] [-4.83696871e-01 -8.75224874e-01 4.33097479e-03 -9.88163804e+01] [-8.81120544e-03 -7.86702351e-05 -9.99961178e-01 -4.01482097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9465599949999 meters 0.013578264222704192 Centerline is valid? [True, True] Translation: X:136.69, Y:-98.84, Z:-4.01 [[ 9.10196950e-01 -4.14103167e-01 -7.75108115e-03 1.36688544e+02] [-4.14087464e-01 -9.10229950e-01 3.60697739e-03 -9.88397356e+01] [-8.54892697e-03 -7.34342803e-05 -9.99963455e-01 -4.01466561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.006559995 meters 0.013479748109416078 Centerline is valid? [True, True] Translation: X:136.72, Y:-98.86, Z:-4.01 [[ 9.39516085e-01 -3.42400956e-01 -8.43283023e-03 1.36718717e+02] [-3.42386489e-01 -9.39553926e-01 3.14822467e-03 -9.88597521e+01] [-9.00105389e-03 -7.05205790e-05 -9.99959487e-01 -4.01431045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0665599949999 meters 0.013584407532743484 Centerline is valid? [True, True] Translation: X:136.75, Y:-98.88, Z:-4.01 [[ 9.63413278e-01 -2.67868010e-01 -9.03242344e-03 1.36750360e+02] [-2.67855518e-01 -9.63455616e-01 2.58799821e-03 -9.88768381e+01] [-9.39558102e-03 -7.39273771e-05 -9.99955858e-01 -4.01370130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.126559995 meters 0.013682959392142837 Centerline is valid? [True, True] Translation: X:136.78, Y:-98.89, Z:-4.01 [[ 9.81802962e-01 -1.89608220e-01 -1.05672361e-02 1.36781792e+02] [-1.89596048e-01 -9.81859823e-01 2.15112037e-03 -9.88944260e+01] [-1.07834146e-02 -1.08470155e-04 -9.99941851e-01 -4.01328402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1865599949999 meters 0.014129054169077495 Centerline is valid? [True, True] Translation: X:136.81, Y:-98.91, Z:-4.01 [[ 9.93908629e-01 -1.09580086e-01 -1.17406104e-02 1.36814615e+02] [-1.09570657e-01 -9.93977959e-01 1.44531433e-03 -9.89087214e+01] [-1.18282856e-02 -1.50083993e-04 -9.99930032e-01 -4.01191909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.246559995 meters 0.014610683730982118 Centerline is valid? [True, True] Translation: X:136.85, Y:-98.92, Z:-4.01 [[ 9.99477227e-01 -2.91489439e-02 -1.39861472e-02 1.36845811e+02] [-2.91431600e-02 -9.99575057e-01 6.17222115e-04 -9.89177352e+01] [-1.39981953e-02 -2.09298922e-04 -9.99901999e-01 -4.01021136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3065599949999 meters 0.014567383047650777 Centerline is valid? [True, True] Translation: X:136.88, Y:-98.92, Z:-4.01 [[ 9.98657026e-01 4.98385403e-02 -1.41515072e-02 1.36877118e+02] [ 4.98366669e-02 -9.98757263e-01 -4.85220690e-04 -9.89226337e+01] [-1.41581033e-02 -2.20694899e-04 -9.99899745e-01 -4.01088613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.366559995 meters 0.01459696183748723 Centerline is valid? [True, True] Translation: X:136.91, Y:-98.93, Z:-4.01 [[ 9.91741660e-01 1.27585180e-01 -1.30576482e-02 1.36907220e+02] [ 1.27576791e-01 -9.91827597e-01 -1.47685096e-03 -9.89250569e+01] [-1.31393601e-02 -2.01198224e-04 -9.99913655e-01 -4.01169728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4265599949999 meters 0.015015840109495797 Centerline is valid? [True, True] Translation: X:136.94, Y:-98.92, Z:-4.01 [[ 9.78810117e-01 2.04423022e-01 -1.19156515e-02 1.36937135e+02] [ 2.04410118e-01 -9.78882626e-01 -2.30392533e-03 -9.89228083e+01] [-1.21349996e-02 -1.80574307e-04 -9.99926352e-01 -4.01185875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.486559995 meters 0.014767330681619575 Centerline is valid? [True, True] Translation: X:136.97, Y:-98.92, Z:-4.01 [[ 9.59229613e-01 2.82454693e-01 -9.89425409e-03 1.36968507e+02] [ 2.82441541e-01 -9.59280624e-01 -2.73128556e-03 -9.89222993e+01] [-1.02628307e-02 -1.74618388e-04 -9.99947321e-01 -4.01401427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5465599949999 meters 0.015979580723217656 Centerline is valid? [True, True] Translation: X:137.00, Y:-98.93, Z:-4.01 [[ 9.33288564e-01 3.58987934e-01 -1.00060233e-02 1.37001295e+02] [ 3.58969678e-01 -9.33342178e-01 -3.62631675e-03 -9.89262297e+01] [-1.06408475e-02 -2.07459002e-04 -9.99943363e-01 -4.01169535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.606559995 meters 0.01568920554339897 Centerline is valid? [True, True] Translation: X:137.03, Y:-98.92, Z:-4.01 [[ 9.01578680e-01 4.32494062e-01 -1.02357709e-02 1.37034358e+02] [ 4.32469179e-01 -9.01636750e-01 -4.64537054e-03 -9.89248050e+01] [-1.12380424e-02 -2.38488410e-04 -9.99936823e-01 -4.01182074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.666559995 meters 0.017407348569978838 Centerline is valid? [True, True] Translation: X:137.07, Y:-98.92, Z:-4.01 [[ 8.63337552e-01 5.04549104e-01 -8.85853623e-03 1.37067312e+02] [ 5.04525463e-01 -8.63382963e-01 -4.89046672e-03 -9.89230481e+01] [-1.01157899e-02 -2.47233529e-04 -9.99948804e-01 -4.01177111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7265599949999 meters 0.01876933992430512 Centerline is valid? [True, True] Translation: X:137.10, Y:-98.91, Z:-4.01 [[ 8.18933580e-01 5.73838436e-01 -7.56575764e-03 1.37098417e+02] [ 5.73816823e-01 -8.18968487e-01 -4.98705944e-03 -9.89128124e+01] [-9.05788348e-03 -2.57288569e-04 -9.99958943e-01 -4.01262423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.786559995 meters 0.019312688027222847 Centerline is valid? [True, True] Translation: X:137.13, Y:-98.90, Z:-4.01 [[ 7.70878622e-01 6.36936640e-01 -7.60705744e-03 1.37128393e+02] [ 6.36909209e-01 -7.70916102e-01 -5.91799069e-03 -9.88984998e+01] [-9.63378818e-03 -2.82952431e-04 -9.99953554e-01 -4.01135241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8465599949999 meters 0.01891241362578258 Centerline is valid? [True, True] Translation: X:137.15, Y:-98.88, Z:-4.01 [[ 7.20557876e-01 6.93351560e-01 -7.74346240e-03 1.37153652e+02] [ 6.93315634e-01 -7.20599429e-01 -7.06365593e-03 -9.88800627e+01] [-1.04775314e-02 -2.78890628e-04 -9.99945070e-01 -4.00930175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.906559995 meters 0.016662904203407027 Centerline is valid? [True, True] Translation: X:137.17, Y:-98.85, Z:-4.01 [[ 6.69193150e-01 7.43054614e-01 -7.09709857e-03 1.37172062e+02] [ 7.43016037e-01 -6.69230751e-01 -7.57435794e-03 -9.88532787e+01] [-1.03777582e-02 -2.04549608e-04 -9.99946129e-01 -4.00972525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9665599949999 meters 0.014239769744682265 Centerline is valid? [True, True] Translation: X:137.19, Y:-98.83, Z:-4.01 [[ 6.14492532e-01 7.88899501e-01 -6.04193942e-03 1.37188810e+02] [ 7.88863321e-01 -6.14522222e-01 -7.55641686e-03 -9.88262875e+01] [-9.67415953e-03 -1.22902661e-04 -9.99953197e-01 -4.01103179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.026559995 meters 0.0139794585380089 Centerline is valid? [True, True] Translation: X:137.21, Y:-98.80, Z:-4.01 [[ 5.53841771e-01 8.32604730e-01 -5.35309036e-03 1.37206478e+02] [ 8.32567339e-01 -5.53867634e-01 -7.89118442e-03 -9.88022069e+01] [-9.53514097e-03 -8.63406328e-05 -9.99954536e-01 -4.00965649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0865599949999 meters 0.013293984070890288 Centerline is valid? [True, True] Translation: X:137.22, Y:-98.77, Z:-4.01 [[ 4.90229036e-01 8.71581884e-01 -4.52908480e-03 1.37218631e+02] [ 8.71545601e-01 -4.90249955e-01 -7.95283130e-03 -9.87740679e+01] [-9.15192730e-03 -4.85951074e-05 -9.99958119e-01 -4.01019847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.146559995 meters 0.013027252015703946 Centerline is valid? [True, True] Translation: X:137.23, Y:-98.75, Z:-4.01 [[ 4.22073803e-01 9.06554079e-01 -3.66146599e-03 1.37234456e+02] [ 9.06520594e-01 -4.22089683e-01 -7.79177242e-03 -9.87484833e+01] [-8.60913009e-03 -3.04913078e-05 -9.99962940e-01 -4.01194727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2065599949999 meters 0.013189359224613518 Centerline is valid? [True, True] Translation: X:137.25, Y:-98.72, Z:-4.01 [[ 3.50102652e-01 9.36706897e-01 -2.88486773e-03 1.37248473e+02] [ 9.36675706e-01 -3.50114536e-01 -7.64422322e-03 -9.87240161e+01] [-8.17043074e-03 -2.59226960e-05 -9.99966621e-01 -4.01114813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.266559995 meters 0.01332613168332465 Centerline is valid? [True, True] Translation: X:137.26, Y:-98.70, Z:-4.01 [[ 2.73977732e-01 9.61733145e-01 -2.35817835e-03 1.37257213e+02] [ 9.61698821e-01 -2.73987877e-01 -8.12536702e-03 -9.86981843e+01] [-8.46054706e-03 -4.16877095e-05 -9.99964208e-01 -4.01076199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3265599949999 meters 0.014242451066037215 Centerline is valid? [True, True] Translation: X:137.27, Y:-98.67, Z:-4.01 [[ 1.93368254e-01 9.81124418e-01 -1.89617593e-03 1.37266740e+02] [ 9.81081631e-01 -1.93377531e-01 -9.16318396e-03 -9.86716637e+01] [-9.35690134e-03 -8.84344871e-05 -9.99956219e-01 -4.00929907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.386559995 meters 0.014620870355428759 Centerline is valid? [True, True] Translation: X:137.28, Y:-98.64, Z:-4.01 [[ 1.13178657e-01 9.93573801e-01 -1.30113799e-03 1.37275087e+02] [ 9.93520396e-01 -1.13186065e-01 -1.03023459e-02 -9.86430717e+01] [-1.03834117e-02 -1.26701449e-04 -9.99946083e-01 -4.00815637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4465599949999 meters 0.014987410560849686 Centerline is valid? [True, True] Translation: X:137.28, Y:-98.62, Z:-4.01 [[ 3.46807053e-02 9.99398318e-01 -4.99817678e-04 1.37277791e+02] [ 9.99342318e-01 -3.46840536e-02 -1.05805578e-02 -9.86150440e+01] [-1.05915274e-02 -1.32547749e-04 -9.99943899e-01 -4.00726987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.506559995 meters 0.014130036129575703 Centerline is valid? [True, True] Translation: X:137.27, Y:-98.59, Z:-4.01 [[-4.02998902e-02 9.99187594e-01 2.64595666e-04 1.37271980e+02] [ 9.99151648e-01 4.03006848e-02 -8.47583790e-03 -9.85874776e+01] [-8.47961547e-03 -7.72041407e-05 -9.99964044e-01 -4.00911485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5665599949999 meters 0.013519919297555786 Centerline is valid? [True, True] Translation: X:137.26, Y:-98.56, Z:-4.01 [[-1.15030970e-01 9.93361682e-01 6.66178671e-04 1.37262715e+02] [ 9.93343247e-01 1.15032894e-01 -6.05194723e-03 -9.85612189e+01] [-6.08840494e-03 -3.44172763e-05 -9.99981465e-01 -4.01059440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.626559995 meters 0.013509822609009894 Centerline is valid? [True, True] Translation: X:137.25, Y:-98.54, Z:-4.01 [[-1.92071112e-01 9.81380391e-01 1.10258359e-03 1.37252482e+02] [ 9.81363288e-01 1.92074274e-01 -5.79400905e-03 -9.85357821e+01] [-5.89790481e-03 -3.08267077e-05 -9.99982607e-01 -4.01017564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6865599949999 meters 0.013999643277960097 Centerline is valid? [True, True] Translation: X:137.24, Y:-98.51, Z:-4.01 [[-2.70145803e-01 9.62817479e-01 1.93598820e-03 1.37240483e+02] [ 9.62791364e-01 2.70152735e-01 -7.09148645e-03 -9.85097081e+01] [-7.35081961e-03 -5.17825789e-05 -9.99972981e-01 -4.00822259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.746559995 meters 0.015361560214981687 Centerline is valid? [True, True] Translation: X:137.23, Y:-98.49, Z:-4.00 [[-3.48184883e-01 9.37418811e-01 3.64130104e-03 1.37226937e+02] [ 9.37364033e-01 3.48203904e-01 -1.01346787e-02 -9.84850511e+01] [-1.07683537e-02 -1.15517286e-04 -9.99942013e-01 -4.00391320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8065599949999 meters 0.016260784428695305 Centerline is valid? [True, True] Translation: X:137.21, Y:-98.46, Z:-4.00 [[-4.21680565e-01 9.06726355e-01 5.72869719e-03 1.37207415e+02] [ 9.06637254e-01 4.21719444e-01 -1.27122322e-02 -9.84640051e+01] [-1.39424190e-02 -1.66650966e-04 -9.99902786e-01 -4.00008631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.866559995 meters 0.01592007066727523 Centerline is valid? [True, True] Translation: X:137.18, Y:-98.45, Z:-4.00 [[-4.90331862e-01 8.71510505e-01 6.64118673e-03 1.37181379e+02] [ 8.71426457e-01 4.90376813e-01 -1.21041700e-02 -9.84453505e+01] [-1.38055953e-02 -1.47754379e-04 -9.99904687e-01 -3.99968351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9265599949999 meters 0.014456201643375773 Centerline is valid? [True, True] Translation: X:137.15, Y:-98.43, Z:-4.00 [[-5.53644354e-01 8.32726127e-01 6.71764849e-03 1.37149655e+02] [ 8.32663081e-01 5.53685101e-01 -1.02470896e-02 -9.84316769e+01] [-1.22524811e-02 -7.97054038e-05 -9.99924932e-01 -4.00199586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.986559995 meters 0.014163083988250405 Centerline is valid? [True, True] Translation: X:137.12, Y:-98.42, Z:-4.00 [[-6.15814195e-01 7.87858906e-01 7.15687587e-03 1.37119478e+02] [ 7.87804652e-01 6.15855779e-01 -9.24606035e-03 -9.84197183e+01] [-1.16921944e-02 -5.56351117e-05 -9.99931642e-01 -4.00278837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0465599949999 meters 0.012941527926396183 Centerline is valid? [True, True] Translation: X:137.10, Y:-98.40, Z:-4.01 [[-6.72214229e-01 7.40324802e-01 6.87151673e-03 1.37102965e+02] [ 7.40286105e-01 6.72249349e-01 -7.56938803e-03 -9.83958091e+01] [-1.02231783e-02 -1.36198669e-06 -9.99947742e-01 -4.00978370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.106559995 meters 0.01307015113323783 Centerline is valid? [True, True] Translation: X:137.09, Y:-98.37, Z:-4.01 [[-7.26858820e-01 6.86739988e-01 8.02774431e-03 1.37086626e+02] [ 6.86698393e-01 7.26903150e-01 -7.55832249e-03 -9.83714943e+01] [-1.10259949e-02 1.88057519e-05 -9.99939212e-01 -4.00924536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.166559995 meters 0.013136864422547672 Centerline is valid? [True, True] Translation: X:137.10, Y:-98.35, Z:-4.01 [[-7.74505620e-01 6.32487066e-01 1.00576154e-02 1.37104882e+02] [ 6.32433797e-01 7.74570921e-01 -8.20859898e-03 -9.83504256e+01] [-1.29821691e-02 3.16985332e-06 -9.99915728e-01 -4.00828115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2265599949999 meters 0.013566793255895488 Centerline is valid? [True, True] Translation: X:137.53, Y:-97.83, Z:-5.04 [[-7.27287759e-01 -6.86229243e-01 1.19139537e-02 1.37530842e+02] [ 6.86141678e-01 -7.27385308e-01 -1.09641004e-02 -9.78274646e+01] [ 1.61899213e-02 2.00604169e-04 9.99868915e-01 -5.03546989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.286559995 meters 0.014024988088099441 Centerline is valid? [True, True] Translation: X:137.07, Y:-98.31, Z:-4.00 [[-7.82560632e-01 6.22398785e-01 1.47854533e-02 1.37070503e+02] [ 6.22283487e-01 7.82700276e-01 -1.19808229e-02 -9.83110701e+01] [-1.90294280e-02 -1.74976900e-04 -9.99818909e-01 -4.00320450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3465599949999 meters 0.01468223318188243 Centerline is valid? [True, True] Translation: X:137.09, Y:-98.29, Z:-4.00 [[-8.25985713e-01 5.63488560e-01 1.51077920e-02 1.37087745e+02] [ 5.63389584e-01 8.26123839e-01 -1.05630869e-02 -9.82874232e+01] [-1.84330858e-02 -2.13386231e-04 -9.99830074e-01 -4.00274365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.406559995 meters 0.01400748729878071 Centerline is valid? [True, True] Translation: X:137.10, Y:-98.27, Z:-4.01 [[-8.63936810e-01 5.03434393e-01 1.29228912e-02 1.37103402e+02] [ 5.03375004e-01 8.64033437e-01 -7.73464047e-03 -9.82668606e+01] [-1.50596941e-02 -1.77180186e-04 -9.99886581e-01 -4.00795664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4665599949999 meters 0.013565644983895765 Centerline is valid? [True, True] Translation: X:137.12, Y:-98.25, Z:-4.01 [[-8.96021061e-01 4.43901745e-01 9.87414297e-03 1.37118657e+02] [ 4.43873628e-01 8.96075461e-01 -4.99697578e-03 -9.82462075e+01] [-1.10661435e-02 -9.45238804e-05 -9.99938764e-01 -4.01065215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.526559995 meters 0.01321499230024311 Centerline is valid? [True, True] Translation: X:137.13, Y:-98.22, Z:-4.01 [[-9.24363214e-01 3.81413973e-01 8.71952481e-03 1.37127187e+02] [ 3.81396401e-01 9.24404337e-01 -3.66171900e-03 -9.82227657e+01] [-9.45699734e-03 -5.91629681e-05 -9.99955280e-01 -4.01204360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5865599949999 meters 0.013065367075817989 Centerline is valid? [True, True] Translation: X:137.39, Y:-97.61, Z:-5.03 [[-8.92020453e-01 -4.51903519e-01 9.09513120e-03 1.37390520e+02] [ 4.51881216e-01 -8.92066813e-01 -4.49087640e-03 -9.76092499e+01] [ 1.01429076e-02 1.03965347e-04 9.99948554e-01 -5.02801231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.646559995 meters 0.013164499177928885 Centerline is valid? [True, True] Translation: X:137.08, Y:-98.21, Z:-4.01 [[-9.24761245e-01 3.80387288e-01 1.10522101e-02 1.37083839e+02] [ 3.80359552e-01 9.24827286e-01 -4.59370362e-03 -9.82068055e+01] [-1.19687719e-02 -4.42654177e-05 -9.99928371e-01 -4.00940013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7065599949999 meters 0.013410739718735784 Centerline is valid? [True, True] Translation: X:137.10, Y:-98.18, Z:-4.01 [[-9.49409995e-01 3.13745149e-01 1.35883605e-02 1.37097564e+02] [ 3.13712135e-01 9.49507229e-01 -4.55173517e-03 -9.81821614e+01] [-1.43303314e-02 -5.86292696e-05 -9.99897314e-01 -4.00745693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.766559995 meters 0.013390176988710223 Centerline is valid? [True, True] Translation: X:137.11, Y:-98.16, Z:-4.01 [[-9.69159570e-01 2.45947997e-01 1.54696809e-02 1.37105200e+02] [ 2.45915681e-01 9.69283023e-01 -3.98736196e-03 -9.81559940e+01] [-1.59751828e-02 -6.01528902e-05 -9.99872387e-01 -4.00721378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8265599949999 meters 0.013224895863929621 Centerline is valid? [True, True] Translation: X:137.28, Y:-97.51, Z:-5.03 [[-9.48933260e-01 -3.15169972e-01 1.39124695e-02 1.37277626e+02] [ 3.15135746e-01 -9.49035241e-01 -4.64475917e-03 -9.75118836e+01] [ 1.46673124e-02 -2.32500182e-05 9.99892429e-01 -5.03179046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.886559995 meters 0.013217274849502022 Centerline is valid? [True, True] Translation: X:137.06, Y:-98.15, Z:-4.01 [[-9.68807421e-01 2.47458091e-01 1.32918599e-02 1.37060993e+02] [ 2.47435097e-01 9.68898598e-01 -3.37345657e-03 -9.81493226e+01] [-1.37132535e-02 2.06428771e-05 -9.99905969e-01 -4.00916317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9465599949999 meters 0.01338642396123375 Centerline is valid? [True, True] Translation: X:137.23, Y:-97.49, Z:-5.03 [[-9.51731765e-01 -3.06651316e-01 1.31003272e-02 1.37233223e+02] [ 3.06622019e-01 -9.51821921e-01 -4.23882880e-03 -9.74948399e+01] [ 1.37690210e-02 -1.73792408e-05 9.99905202e-01 -5.03050367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.006559995 meters 0.013342649094030035 Centerline is valid? [True, True] Translation: X:137.02, Y:-98.14, Z:-4.01 [[-9.69288385e-01 2.45579656e-01 1.30636775e-02 1.37017368e+02] [ 2.45557981e-01 9.69376413e-01 -3.26306360e-03 -9.81438468e+01] [-1.34649629e-02 4.50406289e-05 -9.99909342e-01 -4.01029341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0665599949999 meters 0.013148995609082005 Centerline is valid? [True, True] Translation: X:137.19, Y:-97.48, Z:-5.03 [[-9.52241419e-01 -3.05109759e-01 1.20131228e-02 1.37185775e+02] [ 3.05084226e-01 -9.52317188e-01 -3.94829526e-03 -9.74848061e+01] [ 1.26449667e-02 -9.47160080e-05 9.99920045e-01 -5.02756490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.126559995 meters 0.013023743448668476 Centerline is valid? [True, True] Translation: X:136.97, Y:-98.13, Z:-4.01 [[-9.71290643e-01 2.37622127e-01 1.14110542e-02 1.36969786e+02] [ 2.37605580e-01 9.71357671e-01 -2.80420021e-03 -9.81289799e+01] [-1.17505551e-02 -1.23632730e-05 -9.99930960e-01 -4.01337522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1865599949999 meters 0.01296865681388525 Centerline is valid? [True, True] Translation: X:136.97, Y:-98.10, Z:-4.02 [[-9.86116558e-01 1.65678576e-01 1.11688598e-02 1.36973308e+02] [ 1.65667490e-01 9.86179805e-01 -1.91707270e-03 -9.81004554e+01] [-1.13321219e-02 -4.01401660e-05 -9.99935789e-01 -4.01530798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.246559995 meters 0.013242228324055104 Centerline is valid? [True, True] Translation: X:137.09, Y:-97.44, Z:-5.02 [[-9.70083329e-01 -2.42512276e-01 1.12307679e-02 1.37085353e+02] [ 2.42496699e-01 -9.70148336e-01 -2.74923249e-03 -9.74423194e+01] [ 1.15622334e-02 5.64395316e-05 9.99933154e-01 -5.02389931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3065599949999 meters 0.013719865033170613 Centerline is valid? [True, True] Translation: X:136.92, Y:-98.08, Z:-4.02 [[-9.88095555e-01 1.53312252e-01 1.27486061e-02 1.36918935e+02] [ 1.53297421e-01 9.88177782e-01 -2.13833796e-03 -9.80834831e+01] [-1.29257227e-02 -1.58553799e-04 -9.99916447e-01 -4.01529549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.366559995 meters 0.014314139323686557 Centerline is valid? [True, True] Translation: X:136.92, Y:-98.05, Z:-4.01 [[-9.96684094e-01 8.02094075e-02 1.36845817e-02 1.36918443e+02] [ 8.01990283e-02 9.96778014e-01 -1.30643528e-03 -9.80537032e+01] [-1.37452786e-02 -2.04613105e-04 -9.99905508e-01 -4.01479923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4265599949999 meters 0.014730107731381687 Centerline is valid? [True, True] Translation: X:136.98, Y:-97.41, Z:-5.02 [[-9.83688397e-01 -1.79320423e-01 1.41888251e-02 1.36980205e+02] [ 1.79305521e-01 -9.83790689e-01 -2.32590898e-03 -9.74082707e+01] [ 1.43759170e-02 2.56165001e-04 9.99896628e-01 -5.02492014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.486559995 meters 0.015108170080184445 Centerline is valid? [True, True] Translation: X:136.86, Y:-98.05, Z:-4.02 [[-9.97277688e-01 7.24883214e-02 1.35150413e-02 1.36862430e+02] [ 7.24782141e-02 9.97369229e-01 -1.23680594e-03 -9.80461893e+01] [-1.35691403e-02 -2.53892912e-04 -9.99907903e-01 -4.01537078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5465599949999 meters 0.01465981896054241 Centerline is valid? [True, True] Translation: X:136.87, Y:-98.02, Z:-4.02 [[-9.99924647e-01 1.86768015e-03 1.21331160e-02 1.36868498e+02] [ 1.86484347e-03 9.99998231e-01 -2.45105883e-04 -9.80209217e+01] [-1.21335523e-02 -2.22461051e-04 -9.99926361e-01 -4.01694102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.606559995 meters 0.01421762432887071 Centerline is valid? [True, True] Translation: X:136.88, Y:-97.37, Z:-5.02 [[-9.94580170e-01 -1.03300894e-01 1.17987253e-02 1.36884340e+02] [ 1.03295995e-01 -9.94650132e-01 -1.02544190e-03 -9.73728019e+01] [ 1.18415328e-02 1.98876894e-04 9.99929867e-01 -5.02309880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.666559995 meters 0.014555024741603117 Centerline is valid? [True, True] Translation: X:136.81, Y:-98.02, Z:-4.02 [[-9.99922763e-01 1.32336454e-03 1.23578808e-02 1.36811819e+02] [ 1.32102200e-03 9.99999108e-01 -1.97719405e-04 -9.80223057e+01] [-1.23581314e-02 -1.81379102e-04 -9.99923619e-01 -4.01515449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7265599949999 meters 0.014163709395342046 Centerline is valid? [True, True] Translation: X:136.81, Y:-98.00, Z:-4.02 [[-9.97459364e-01 -6.99150716e-02 1.36638071e-02 1.36805900e+02] [-6.99112995e-02 9.97552927e-01 7.54103290e-04 -9.79972936e+01] [-1.36830940e-02 -2.03067126e-04 -9.99906362e-01 -4.01517023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.786559995 meters 0.014029223786905411 Centerline is valid? [True, True] Translation: X:136.80, Y:-97.97, Z:-4.01 [[-9.90019339e-01 -1.40196306e-01 1.43772101e-02 1.36797266e+02] [-1.40184562e-01 9.90123706e-01 1.82637993e-03 -9.79719382e+01] [-1.44912683e-02 -2.07311456e-04 -9.99894975e-01 -4.01463319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8465599949999 meters 0.01400974124646138 Centerline is valid? [True, True] Translation: X:136.79, Y:-97.95, Z:-4.01 [[-9.77666760e-01 -2.09708645e-01 1.37837329e-02 1.36789007e+02] [-2.09690565e-01 9.77763902e-01 2.76039163e-03 -9.79467616e+01] [-1.40561145e-02 -1.91575601e-04 -9.99901190e-01 -4.01469803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.906559995 meters 0.013116196921092543 Centerline is valid? [True, True] Translation: X:136.77, Y:-97.93, Z:-4.02 [[-9.61375356e-01 -2.74975900e-01 1.20697466e-02 1.36772107e+02] [-2.74955775e-01 9.61451112e-01 3.32887994e-03 -9.79284129e+01] [-1.25198331e-02 -1.18343407e-04 -9.99921617e-01 -4.01655487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9665599949999 meters 0.012606048561752027 Centerline is valid? [True, True] Translation: X:136.75, Y:-97.92, Z:-4.02 [[-9.41313984e-01 -3.37329986e-01 1.16817874e-02 1.36747313e+02] [-3.37304471e-01 9.41386467e-01 4.14901123e-03 -9.79157678e+01] [-1.23966624e-02 -3.47968107e-05 -9.99923158e-01 -4.01846929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.026559995 meters 0.01291686682002117 Centerline is valid? [True, True] Translation: X:136.70, Y:-97.91, Z:-4.02 [[-9.16012175e-01 -4.00995376e-01 1.11536803e-02 1.36697253e+02] [-4.00965344e-01 9.16080077e-01 4.90766576e-03 -9.79106210e+01] [-1.21856156e-02 2.32423253e-05 -9.99925752e-01 -4.01695654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0865599949999 meters 0.013385051268718806 Centerline is valid? [True, True] Translation: X:136.64, Y:-97.92, Z:-4.02 [[-8.87501995e-01 -4.60672610e-01 1.09979814e-02 1.36636506e+02] [-4.60635580e-01 8.87570128e-01 5.84213211e-03 -9.79157703e+01] [-1.24527900e-02 1.18842354e-04 -9.99922454e-01 -4.01882400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.146559995 meters 0.014694303351441701 Centerline is valid? [True, True] Translation: X:136.56, Y:-97.93, Z:-4.02 [[-8.54162593e-01 -5.19882674e-01 1.13256249e-02 1.36563412e+02] [-5.19833673e-01 8.54237649e-01 7.14089445e-03 -9.79323892e+01] [-1.33872024e-02 2.12043757e-04 -9.99910365e-01 -4.01866170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2065599949999 meters 0.015541921892776612 Centerline is valid? [True, True] Translation: X:136.49, Y:-97.95, Z:-4.02 [[-8.14377489e-01 -5.80226050e-01 1.12710427e-02 1.36487845e+02] [-5.80166063e-01 8.14455440e-01 8.34716434e-03 -9.79539122e+01] [-1.40230042e-02 2.58666284e-04 -9.99901639e-01 -4.01836227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.266559995 meters 0.014970825819510352 Centerline is valid? [True, True] Translation: X:136.41, Y:-97.98, Z:-4.02 [[-7.68834979e-01 -6.39363410e-01 1.03539634e-02 1.36405257e+02] [-6.39300854e-01 7.68904651e-01 8.94736936e-03 -9.79823171e+01] [-1.36818312e-02 2.59752887e-04 -9.99906366e-01 -4.01965826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3265599949999 meters 0.014507191214198788 Centerline is valid? [True, True] Translation: X:136.32, Y:-98.02, Z:-4.02 [[-7.17009783e-01 -6.97002681e-01 9.17793063e-03 1.36317793e+02] [-6.96941635e-01 7.17068487e-01 9.22725080e-03 -9.80234137e+01] [-1.30126234e-02 2.19547114e-04 -9.99915308e-01 -4.02013466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.386559995 meters 0.01355752292925463 Centerline is valid? [True, True] Translation: X:136.23, Y:-98.08, Z:-4.02 [[-6.57404542e-01 -7.53497394e-01 7.80671495e-03 1.36225633e+02] [-7.53442032e-01 6.57450881e-01 9.13468127e-03 -9.80761951e+01] [-1.20154902e-02 1.23273774e-04 -9.99927804e-01 -4.02007464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4465599949999 meters 0.012583681779125689 Centerline is valid? [True, True] Translation: X:136.13, Y:-98.14, Z:-4.02 [[-5.91465464e-01 -8.06299131e-01 7.09347485e-03 1.36134988e+02] [-8.06240781e-01 5.91507998e-01 9.70003439e-03 -9.81351300e+01] [-1.20169764e-02 1.81866295e-05 -9.99927793e-01 -4.01943613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.506559995 meters 0.01264614116746285 Centerline is valid? [True, True] Translation: X:136.05, Y:-98.20, Z:-4.02 [[-5.23421519e-01 -8.52050798e-01 6.27307188e-03 1.36049322e+02] [-8.51990864e-01 5.23459106e-01 1.01060599e-02 -9.82040458e+01] [-1.18945730e-02 -5.48707145e-05 -9.99929256e-01 -4.01948812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5665599949999 meters 0.013163306319779574 Centerline is valid? [True, True] Translation: X:135.97, Y:-98.28, Z:-4.02 [[-4.52023383e-01 -8.91991849e-01 5.04005912e-03 1.35970473e+02] [-8.91939176e-01 4.52051466e-01 9.69422707e-03 -9.82767807e+01] [-1.09255377e-02 -1.13408865e-04 -9.99940308e-01 -4.01998950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.626559995 meters 0.013313489737464409 Centerline is valid? [True, True] Translation: X:135.90, Y:-98.36, Z:-4.02 [[-3.81073422e-01 -9.24537073e-01 3.77462447e-03 1.35899238e+02] [-9.24494742e-01 3.81092098e-01 8.84790257e-03 -9.83592512e+01] [-9.61869350e-03 -1.17919961e-04 -9.99953732e-01 -4.02106771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6865599949999 meters 0.013353176058358406 Centerline is valid? [True, True] Translation: X:135.83, Y:-98.45, Z:-4.02 [[-3.09792425e-01 -9.50799600e-01 2.96202022e-03 1.35833374e+02] [-9.50759484e-01 3.09806565e-01 8.73473597e-03 -9.84512514e+01] [-9.22263678e-03 -1.10213786e-04 -9.99957465e-01 -4.02081968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.746559995 meters 0.012933282774145429 Centerline is valid? [True, True] Translation: X:135.77, Y:-98.56, Z:-4.02 [[-2.39064060e-01 -9.71001421e-01 2.14855371e-03 1.35774939e+02] [-9.70965120e-01 2.39073701e-01 8.39650237e-03 -9.85553762e+01] [-8.66667842e-03 -7.88687706e-05 -9.99962441e-01 -4.02090299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8065599949999 meters 0.012857404572429563 Centerline is valid? [True, True] Translation: X:135.73, Y:-98.65, Z:-4.02 [[-1.66107093e-01 -9.86106569e-01 1.50584772e-03 1.35727169e+02] [-9.86069297e-01 1.66113908e-01 8.57381636e-03 -9.86494453e+01] [-8.70483889e-03 -6.06984922e-05 -9.99962110e-01 -4.02028834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.866559995 meters 0.01258056580364618 Centerline is valid? [True, True] Translation: X:135.68, Y:-98.76, Z:-4.02 [[-9.11059310e-02 -9.95840719e-01 9.85402097e-04 1.35684842e+02] [-9.95789428e-01 9.11112398e-02 1.01072716e-02 -9.87557800e+01] [-1.01550138e-02 -6.04206045e-05 -9.99948435e-01 -4.01951033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9265599949999 meters 0.012860032435638298 Centerline is valid? [True, True] Translation: X:135.65, Y:-98.87, Z:-4.02 [[-1.30530223e-02 -9.99914766e-01 2.80553092e-04 1.35648503e+02] [-9.99821213e-01 1.30556389e-02 1.36781856e-02 -9.88702833e+01] [-1.36806826e-02 -1.01961270e-04 -9.99906410e-01 -4.01581594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.986559995 meters 0.013170923029382369 Centerline is valid? [True, True] Translation: X:135.62, Y:-98.99, Z:-4.01 [[ 6.49208986e-02 -9.97890008e-01 -8.99510610e-04 1.35622171e+02] [-9.97761995e-01 -6.49269785e-02 1.59840171e-02 -9.89862669e+01] [-1.60086935e-02 -1.40199255e-04 -9.99871843e-01 -4.01360699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0465599949999 meters 0.013065044850488363 Centerline is valid? [True, True] Translation: X:135.61, Y:-99.10, Z:-4.01 [[ 1.40891778e-01 -9.90022929e-01 -2.02658865e-03 1.35606337e+02] [-9.89906903e-01 -1.40906293e-01 1.51571506e-02 -9.91005689e+01] [-1.52914857e-02 -1.29383797e-04 -9.99883070e-01 -4.01447518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.106559995 meters 0.012851330891574853 Centerline is valid? [True, True] Translation: X:135.60, Y:-99.22, Z:-4.02 [[ 2.15108068e-01 -9.76586590e-01 -2.67423251e-03 1.35600315e+02] [-9.76505693e-01 -2.15124670e-01 1.25700916e-02 -9.92172961e+01] [-1.28510762e-02 -9.25248339e-05 -9.99917417e-01 -4.01657768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.166559995 meters 0.012517474918170766 Centerline is valid? [True, True] Translation: X:135.60, Y:-99.34, Z:-4.02 [[ 2.85693151e-01 -9.58316820e-01 -2.88025900e-03 1.35604834e+02] [-9.58266890e-01 -2.85707667e-01 9.78249708e-03 -9.93352294e+01] [-1.01976436e-02 -3.47355781e-05 -9.99948002e-01 -4.01777283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2265599949999 meters 0.012272084866433853 Centerline is valid? [True, True] Translation: X:135.62, Y:-99.45, Z:-4.02 [[ 3.55757083e-01 -9.34572613e-01 -3.30599571e-03 1.35616788e+02] [-9.34532088e-01 -3.55772444e-01 8.70316578e-03 -9.94478781e+01] [-9.30992255e-03 -6.65380083e-06 -9.99956662e-01 -4.01936414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.286559995 meters 0.012307971972543621 Centerline is valid? [True, True] Translation: X:135.64, Y:-99.56, Z:-4.02 [[ 4.23787853e-01 -9.05753303e-01 -3.84833852e-03 1.35636588e+02] [-9.05716355e-01 -4.23805325e-01 8.18106696e-03 -9.95588895e+01] [-9.04097478e-03 1.84663370e-05 -9.99959129e-01 -4.02016538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3465599949999 meters 0.012198758362121908 Centerline is valid? [True, True] Translation: X:135.66, Y:-99.67, Z:-4.02 [[ 4.92590238e-01 -8.70250171e-01 -4.41567116e-03 1.35662257e+02] [-8.70215395e-01 -4.92610029e-01 7.77982618e-03 -9.96707594e+01] [-8.94559896e-03 1.03186000e-05 -9.99959987e-01 -4.02049698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.406559995 meters 0.012304878256051898 Centerline is valid? [True, True] Translation: X:135.70, Y:-99.78, Z:-4.02 [[ 5.59120505e-01 -8.29067142e-01 -5.65117229e-03 1.35696774e+02] [-8.29024662e-01 -5.59149063e-01 8.39256215e-03 -9.97818164e+01] [-1.01178452e-02 -7.49238908e-06 -9.99948813e-01 -4.01857482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4665599949999 meters 0.012510896060300664 Centerline is valid? [True, True] Translation: X:135.74, Y:-99.89, Z:-4.02 [[ 6.22837460e-01 -7.82308930e-01 -8.13856538e-03 1.35740312e+02] [-7.82241195e-01 -6.22890629e-01 1.02945385e-02 -9.98888472e+01] [-1.31229455e-02 -4.55031052e-05 -9.99913889e-01 -4.01592677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.526559995 meters 0.012674124618486165 Centerline is valid? [True, True] Translation: X:135.79, Y:-99.98, Z:-4.02 [[ 6.80972735e-01 -7.32251405e-01 -9.16588037e-03 1.35787207e+02] [-7.32183992e-01 -6.81034417e-01 9.93605640e-03 -9.99848577e+01] [-1.35179713e-02 -5.50726242e-05 -9.99908627e-01 -4.01521670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5865599949999 meters 0.012401063604176976 Centerline is valid? [True, True] Translation: X:135.84, Y:-100.07, Z:-4.02 [[ 7.33549614e-01 -6.79580810e-01 -8.65365793e-03 1.35841321e+02] [-6.79533042e-01 -7.33600655e-01 8.05747243e-03 -1.00074122e+02] [-1.18240328e-02 -3.01092917e-05 -9.99930093e-01 -4.01640573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.646559995 meters 0.01235932773847206 Centerline is valid? [True, True] Translation: X:135.87, Y:-100.10, Z:-4.02 [[ 7.82812868e-01 -6.22202621e-01 -8.24088165e-03 1.35866246e+02] [-6.22168155e-01 -7.82856244e-01 6.54891862e-03 -1.00097694e+02] [-1.05261800e-02 6.36372200e-07 -9.99944598e-01 -4.01723254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7065599949999 meters 0.012487977211827967 Centerline is valid? [True, True] Translation: X:135.89, Y:-100.12, Z:-4.02 [[ 8.25604906e-01 -5.64195840e-01 -7.71964937e-03 1.35892322e+02] [-5.64171833e-01 -8.25640994e-01 5.20504043e-03 -1.00120005e+02] [-9.31032114e-03 5.79018150e-05 -9.99956656e-01 -4.01964043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.766559995 meters 0.013116528807645992 Centerline is valid? [True, True] Translation: X:135.92, Y:-100.14, Z:-4.02 [[ 8.66189204e-01 -4.99654536e-01 -7.84899749e-03 1.35916435e+02] [-4.99634800e-01 -8.66224762e-01 4.44159706e-03 -1.00141856e+02] [-9.01826010e-03 7.43688661e-05 -9.99959332e-01 -4.01872888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8265599949999 meters 0.01338930143680372 Centerline is valid? [True, True] Translation: X:135.94, Y:-100.16, Z:-4.02 [[ 9.00683321e-01 -4.34412936e-01 -7.41325608e-03 1.35943323e+02] [-4.34399165e-01 -9.00713823e-01 3.46046277e-03 -1.00162117e+02] [-8.18049201e-03 1.03531151e-04 -9.99966534e-01 -4.02028905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.886559995 meters 0.013657627193327276 Centerline is valid? [True, True] Translation: X:135.97, Y:-100.18, Z:-4.02 [[ 9.31627724e-01 -3.63337416e-01 -7.46369991e-03 1.35971657e+02] [-3.63326670e-01 -9.31657615e-01 2.79637274e-03 -1.00180401e+02] [-7.96963970e-03 1.06582867e-04 -9.99968236e-01 -4.01979431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9465599949999 meters 0.013259310709640001 Centerline is valid? [True, True] Translation: X:136.00, Y:-100.20, Z:-4.02 [[ 9.57657691e-01 -2.87768816e-01 -8.99201630e-03 1.35999815e+02] [-2.87757202e-01 -9.57699899e-01 2.58762366e-03 -1.00199917e+02] [-9.35629050e-03 1.09459752e-04 -9.99956223e-01 -4.01908972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.006559995 meters 0.012701448654498727 Centerline is valid? [True, True] Translation: X:136.03, Y:-100.22, Z:-4.02 [[ 9.78304958e-01 -2.06880911e-01 -1.09406792e-02 1.36029829e+02] [-2.06868794e-01 -9.78366130e-01 2.24020499e-03 -1.00218430e+02] [-1.11674456e-02 7.16814660e-05 -9.99937640e-01 -4.01673341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0665599949999 meters 0.012522285166111416 Centerline is valid? [True, True] Translation: X:136.06, Y:-100.23, Z:-4.02 [[ 9.91996591e-01 -1.25699831e-01 -1.19296415e-02 1.36057829e+02] [-1.25691094e-01 -9.92068320e-01 1.48237881e-03 -1.00232495e+02] [-1.20213541e-02 2.89349563e-05 -9.99927741e-01 -4.01566838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.126559995 meters 0.012599292041888435 Centerline is valid? [True, True] Translation: X:136.09, Y:-100.24, Z:-4.02 [[ 9.99081097e-01 -4.09693761e-02 -1.25885846e-02 1.36087125e+02] [-4.09654414e-02 -9.99160401e-01 5.70368107e-04 -1.00244531e+02] [-1.26013828e-02 -5.41470712e-05 -9.99920598e-01 -4.01506676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1865599949999 meters 0.013280897383354232 Centerline is valid? [True, True] Translation: X:136.12, Y:-100.26, Z:-4.02 [[ 9.98883018e-01 4.55368001e-02 -1.26141423e-02 1.36117550e+02] [ 4.55351533e-02 -9.98962650e-01 -4.17876757e-04 -1.00257352e+02] [-1.26200858e-02 -1.56976907e-04 -9.99920351e-01 -4.01563310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.246559995 meters 0.014639903716763202 Centerline is valid? [True, True] Translation: X:136.15, Y:-100.27, Z:-4.02 [[ 9.91596886e-01 1.28803876e-01 -1.20489535e-02 1.36147465e+02] [ 1.28797000e-01 -9.91670064e-01 -1.34817775e-03 -1.00266207e+02] [-1.21222370e-02 -2.15020209e-04 -9.99926500e-01 -4.01505119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3065599949999 meters 0.015405289139106004 Centerline is valid? [True, True] Translation: X:136.18, Y:-100.27, Z:-4.02 [[ 9.77217079e-01 2.11963541e-01 -1.08737266e-02 1.36179823e+02] [ 2.11953410e-01 -9.77277539e-01 -2.08902382e-03 -1.00273256e+02] [-1.10694457e-02 -2.63293679e-04 -9.99938697e-01 -4.01740368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.366559995 meters 0.01687922890029762 Centerline is valid? [True, True] Translation: X:136.21, Y:-100.28, Z:-4.02 [[ 9.56820602e-01 2.90520724e-01 -9.59393844e-03 1.36212064e+02] [ 2.90508880e-01 -9.56868663e-01 -2.63667171e-03 -1.00277864e+02] [-9.94614683e-03 -2.64302497e-04 -9.99950501e-01 -4.01772097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4265599949999 meters 0.017178476902647618 Centerline is valid? [True, True] Translation: X:136.24, Y:-100.28, Z:-4.02 [[ 9.30806436e-01 3.65407103e-01 -8.77654039e-03 1.36243846e+02] [ 3.65393448e-01 -9.30847777e-01 -3.16938717e-03 -1.00275115e+02] [-9.32773969e-03 -2.56804376e-04 -9.99956463e-01 -4.01920576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.486559995 meters 0.01711837863675134 Centerline is valid? [True, True] Translation: X:136.27, Y:-100.27, Z:-4.02 [[ 8.99804896e-01 4.36204178e-01 -8.77858591e-03 1.36274476e+02] [ 4.36186170e-01 -8.99847681e-01 -3.97185859e-03 -1.00268663e+02] [-9.63193148e-03 -2.55199958e-04 -9.99953579e-01 -4.01811526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5465599949999 meters 0.016572002456386615 Centerline is valid? [True, True] Translation: X:136.30, Y:-100.26, Z:-4.02 [[ 8.63195203e-01 5.04771563e-01 -9.98554021e-03 1.36304699e+02] [ 5.04741709e-01 -8.63252907e-01 -5.49770167e-03 -1.00260399e+02] [-1.13951301e-02 -2.94528930e-04 -9.99935030e-01 -4.01654025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.606559995 meters 0.017633814497452865 Centerline is valid? [True, True] Translation: X:136.33, Y:-100.25, Z:-4.01 [[ 8.21287226e-01 5.70360134e-01 -1.32894998e-02 1.36333357e+02] [ 5.70293327e-01 -8.21394641e-01 -8.73869723e-03 -1.00250121e+02] [-1.59001285e-02 -4.01932675e-04 -9.99873504e-01 -4.01185564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.666559995 meters 0.01643860451133343 Centerline is valid? [True, True] Translation: X:136.36, Y:-100.24, Z:-4.01 [[ 7.74273901e-01 6.32711625e-01 -1.32637025e-02 1.36361099e+02] [ 6.32628000e-01 -7.74387386e-01 -1.02951309e-02 -1.00235461e+02] [-1.67850930e-02 -4.19738427e-04 -9.99859032e-01 -4.01242016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7265599949999 meters 0.015678186533330234 Centerline is valid? [True, True] Translation: X:136.39, Y:-100.22, Z:-4.02 [[ 7.22978324e-01 6.90783190e-01 -1.09966905e-02 1.36388149e+02] [ 6.90710763e-01 -7.23061861e-01 -1.00093226e-02 -1.00220564e+02] [-1.48655593e-02 -3.59009217e-04 -9.99889437e-01 -4.01558297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.786559995 meters 0.017630280287058583 Centerline is valid? [True, True] Translation: X:136.42, Y:-100.21, Z:-4.02 [[ 6.67266788e-01 7.44770197e-01 -8.50803293e-03 1.36416292e+02] [ 7.44715147e-01 -6.67320964e-01 -9.05986411e-03 -1.00207765e+02] [-1.24251055e-02 -2.90714560e-04 -9.99922763e-01 -4.01538999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8465599949999 meters 0.015393613734211204 Centerline is valid? [True, True] Translation: X:136.44, Y:-100.19, Z:-4.02 [[ 6.07706610e-01 7.94135625e-01 -6.42534152e-03 1.36438756e+02] [ 7.94095186e-01 -6.07740533e-01 -8.01753478e-03 -1.00187759e+02] [-1.02719505e-02 -2.30023891e-04 -9.99947216e-01 -4.01895723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.906559995 meters 0.015075468762402464 Centerline is valid? [True, True] Translation: X:136.46, Y:-100.17, Z:-4.02 [[ 5.43974786e-01 8.39081192e-01 -5.84683386e-03 1.36463597e+02] [ 8.39037175e-01 -5.44006159e-01 -8.59753729e-03 -1.00169578e+02] [-1.03947455e-02 -2.28867449e-04 -9.99945947e-01 -4.01847971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9665599949999 meters 0.015728710781065938 Centerline is valid? [True, True] Translation: X:136.49, Y:-100.15, Z:-4.02 [[ 4.76579657e-01 8.79115644e-01 -5.24548940e-03 1.36487478e+02] [ 8.79067673e-01 -4.76608467e-01 -9.18676047e-03 -1.00150843e+02] [-1.05762695e-02 -2.32917007e-04 -9.99944043e-01 -4.01760515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.026559995 meters 0.01547225890939241 Centerline is valid? [True, True] Translation: X:136.51, Y:-100.13, Z:-4.02 [[ 4.05962150e-01 9.13876124e-01 -5.01630007e-03 1.36509639e+02] [ 9.13814180e-01 -4.05993055e-01 -1.06435182e-02 -1.00129713e+02] [-1.17634402e-02 -2.63100590e-04 -9.99930774e-01 -4.01732795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0865599949999 meters 0.015462832924772943 Centerline is valid? [True, True] Translation: X:136.53, Y:-100.11, Z:-4.02 [[ 3.33982751e-01 9.42568268e-01 -4.53671521e-03 1.36528747e+02] [ 9.42492184e-01 -3.34013449e-01 -1.19791325e-02 -1.00106050e+02] [-1.28064741e-02 -2.74995002e-04 -9.99917956e-01 -4.01642292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.146559995 meters 0.014470709209953006 Centerline is valid? [True, True] Translation: X:136.54, Y:-100.08, Z:-4.02 [[ 2.62667611e-01 9.64877978e-01 -4.02662188e-03 1.36544350e+02] [ 9.64779129e-01 -2.62698347e-01 -1.38134461e-02 -1.00079985e+02] [-1.43860768e-02 -2.56455868e-04 -9.99896482e-01 -4.01574210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2065599949999 meters 0.013346949350557791 Centerline is valid? [True, True] Translation: X:136.55, Y:-100.05, Z:-4.02 [[ 1.94439227e-01 9.80910503e-01 -2.82367190e-03 1.36553758e+02] [ 9.80816734e-01 -1.94459684e-01 -1.35633991e-02 -1.00053708e+02] [-1.38535710e-02 -1.32247810e-04 -9.99904026e-01 -4.01604366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.266559995 meters 0.012704350368405337 Centerline is valid? [True, True] Translation: X:136.56, Y:-100.03, Z:-4.02 [[ 1.24303051e-01 9.92242954e-01 -1.63471377e-03 1.36559655e+02] [ 9.92160206e-01 -1.24313796e-01 -1.28142946e-02 -1.00026095e+02] [-1.29181110e-02 -2.90420335e-05 -9.99916557e-01 -4.01764792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3265599949999 meters 0.01334544681445694 Centerline is valid? [True, True] Translation: X:136.56, Y:-100.00, Z:-4.02 [[ 5.72845569e-02 9.98357725e-01 -5.77336088e-04 1.36562115e+02] [ 9.98286891e-01 -5.72873700e-02 -1.18928969e-02 -9.99981115e+01] [-1.19064395e-02 1.04932281e-04 -9.99929110e-01 -4.02007342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.386559995 meters 0.014334787624169482 Centerline is valid? [True, True] Translation: X:136.57, Y:-99.97, Z:-4.02 [[-1.30742580e-02 9.99914465e-01 3.54662659e-04 1.36569977e+02] [ 9.99844141e-01 1.30775453e-02 -1.18605374e-02 -9.99708528e+01] [-1.18641610e-02 1.99539655e-04 -9.99929599e-01 -4.02060135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4465599949999 meters 0.015965588574147208 Centerline is valid? [True, True] Translation: X:136.57, Y:-99.94, Z:-4.02 [[-8.78433488e-02 9.96133502e-01 1.26177117e-03 1.36574776e+02] [ 9.96065911e-01 8.78520899e-02 -1.16064873e-02 -9.99446404e+01] [-1.16724601e-02 2.37254538e-04 -9.99931846e-01 -4.01988448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.506559995 meters 0.016502569160749523 Centerline is valid? [True, True] Translation: X:136.58, Y:-99.92, Z:-4.02 [[-1.63387453e-01 9.86559501e-01 2.21143408e-03 1.36578589e+02] [ 9.86490061e-01 1.63402197e-01 -1.17081936e-02 -9.99170150e+01] [-1.19121828e-02 2.68585816e-04 -9.99929011e-01 -4.02058518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5665599949999 meters 0.015448025678965251 Centerline is valid? [True, True] Translation: X:136.59, Y:-99.89, Z:-4.02 [[-2.41353220e-01 9.70431770e-01 3.28688659e-03 1.36586181e+02] [ 9.70356277e-01 2.41375452e-01 -1.21072991e-02 -9.98869598e+01] [-1.25426814e-02 2.67315426e-04 -9.99921302e-01 -4.02087821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.626559995 meters 0.014969786859137895 Centerline is valid? [True, True] Translation: X:136.59, Y:-99.86, Z:-4.02 [[-3.20564918e-01 9.47216005e-01 4.46912845e-03 1.36590617e+02] [ 9.47133612e-01 3.20595989e-01 -1.24952962e-02 -9.98581880e+01] [-1.32685292e-02 2.27308169e-04 -9.99911943e-01 -4.02055031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6865599949999 meters 0.014723708476616745 Centerline is valid? [True, True] Translation: X:136.59, Y:-99.83, Z:-4.02 [[-3.95721944e-01 9.18354129e-01 5.46229780e-03 1.36588295e+02] [ 9.18273533e-01 3.95759590e-01 -1.21682273e-02 -9.98295147e+01] [-1.33364985e-02 2.00648948e-04 -9.99911045e-01 -4.02046946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.746559995 meters 0.013526106118721695 Centerline is valid? [True, True] Translation: X:136.59, Y:-99.80, Z:-4.02 [[-4.71881866e-01 8.81640169e-01 6.17383191e-03 1.36588637e+02] [ 8.81567863e-01 4.71922238e-01 -1.12917704e-02 -9.97977198e+01] [-1.28688470e-02 1.14270105e-04 -9.99917186e-01 -4.02134735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8065599949999 meters 0.012972945998646897 Centerline is valid? [True, True] Translation: X:136.58, Y:-99.77, Z:-4.02 [[-5.43184045e-01 8.39587440e-01 6.63505075e-03 1.36583980e+02] [ 8.39526024e-01 5.43224565e-01 -1.01551448e-02 -9.97678692e+01] [-1.21304546e-02 5.41851216e-05 -9.99926422e-01 -4.02092601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.866559995 meters 0.012503335339490967 Centerline is valid? [True, True] Translation: X:136.58, Y:-99.73, Z:-4.02 [[-6.11067997e-01 7.91546471e-01 7.07729115e-03 1.36580394e+02] [ 7.91493317e-01 6.11108979e-01 -9.17305075e-03 -9.97339233e+01] [-1.15858921e-02 -3.72909540e-06 -9.99932881e-01 -4.02280256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9265599949999 meters 0.012673734099951333 Centerline is valid? [True, True] Translation: X:136.57, Y:-99.70, Z:-4.02 [[-6.72381376e-01 7.40164942e-01 7.69056491e-03 1.36571213e+02] [ 7.40116151e-01 6.72425356e-01 -8.49852692e-03 -9.97040912e+01] [-1.14616425e-02 -2.23399307e-05 -9.99934313e-01 -4.02166629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.986559995 meters 0.012525120235509809 Centerline is valid? [True, True] Translation: X:136.56, Y:-99.68, Z:-4.02 [[-7.28164596e-01 6.85361146e-01 7.51136385e-03 1.36556205e+02] [ 6.85324428e-01 7.28203337e-01 -7.09426070e-03 -9.96763570e+01] [-1.03319309e-02 -1.80683424e-05 -9.99946624e-01 -4.02315452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0465599949999 meters 0.012506271235386552 Centerline is valid? [True, True] Translation: X:136.58, Y:-99.65, Z:-4.02 [[-7.73276511e-01 6.34016779e-01 8.13399297e-03 1.36577531e+02] [ 6.33981806e-01 7.73319290e-01 -6.65924046e-03 -9.96549713e+01] [-1.05122439e-02 7.36931877e-06 -9.99944745e-01 -4.02458708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.106559995 meters 0.012858695420185405 Centerline is valid? [True, True] Translation: X:136.59, Y:-99.63, Z:-4.02 [[-8.13931768e-01 5.80878531e-01 9.75756807e-03 1.36593575e+02] [ 5.80837602e-01 8.13990251e-01 -6.89570669e-03 -9.96313865e+01] [-1.19481333e-02 5.49277012e-05 -9.99928617e-01 -4.02350848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.166559995 meters 0.013206961087404382 Centerline is valid? [True, True] Translation: X:136.60, Y:-99.61, Z:-4.02 [[-8.51376158e-01 5.24450700e-01 1.04929123e-02 1.36604758e+02] [ 5.24412245e-01 8.51440811e-01 -6.35162884e-03 -9.96056608e+01] [-1.22652100e-02 9.49863436e-05 -9.99924775e-01 -4.02361032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2265599949999 meters 0.013743285751737139 Centerline is valid? [True, True] Translation: X:136.94, Y:-99.07, Z:-5.01 [[-8.24834513e-01 -5.65301988e-01 9.03818307e-03 1.36942478e+02] [ 5.65265987e-01 -8.24884015e-01 -6.38166006e-03 -9.90697254e+01] [ 1.10630179e-02 -1.54835996e-04 9.99938791e-01 -5.01407665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.286559995 meters 0.01356844159102478 Centerline is valid? [True, True] Translation: X:136.58, Y:-99.58, Z:-4.03 [[-8.51869252e-01 5.23662980e-01 9.79083982e-03 1.36576244e+02] [ 5.23629998e-01 8.51925507e-01 -5.87840947e-03 -9.95846575e+01] [-1.14193716e-02 1.19141155e-04 -9.99934790e-01 -4.02731497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3465599949999 meters 0.01359178263002163 Centerline is valid? [True, True] Translation: X:136.59, Y:-99.56, Z:-4.03 [[-8.87497605e-01 4.60687850e-01 1.07101415e-02 1.36589749e+02] [ 4.60655767e-01 8.87562220e-01 -5.43792062e-03 -9.95560527e+01] [-1.20111009e-02 1.07546921e-04 -9.99927858e-01 -4.02649638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.406559995 meters 0.013227929063680801 Centerline is valid? [True, True] Translation: X:136.60, Y:-99.52, Z:-4.03 [[-9.18870561e-01 3.94396552e-01 1.13248266e-02 1.36600767e+02] [ 3.94367670e-01 9.18940343e-01 -4.77361087e-03 -9.95236308e+01] [-1.22895357e-02 7.98149720e-05 -9.99924478e-01 -4.02664770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4665599949999 meters 0.013118802153128698 Centerline is valid? [True, True] Translation: X:136.61, Y:-99.49, Z:-4.03 [[-9.44814395e-01 3.27429078e-01 1.07683759e-02 1.36608047e+02] [ 3.27408579e-01 9.44875756e-01 -3.66433337e-03 -9.94941464e+01] [-1.13745867e-02 6.35437524e-05 -9.99935305e-01 -4.02772974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.526559995 meters 0.013055303684952927 Centerline is valid? [True, True] Translation: X:136.61, Y:-99.46, Z:-4.03 [[-9.66035040e-01 2.58198722e-01 1.04747975e-02 1.36612142e+02] [ 2.58184042e-01 9.66091827e-01 -2.75360260e-03 -9.94601924e+01] [-1.08305930e-02 4.43489705e-05 -9.99941346e-01 -4.02888597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5865599949999 meters 0.012889514704695683 Centerline is valid? [True, True] Translation: X:136.61, Y:-99.43, Z:-4.03 [[-9.82291913e-01 1.87029943e-01 1.10633600e-02 1.36613180e+02] [ 1.87018349e-01 9.82354213e-01 -2.08266654e-03 -9.94273322e+01] [-1.12576593e-02 2.32648233e-05 -9.99936630e-01 -4.02959928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.646559995 meters 0.012737264574950375 Centerline is valid? [True, True] Translation: X:136.71, Y:-98.87, Z:-5.01 [[-9.67535145e-01 -2.52498805e-01 1.09588806e-02 1.36713936e+02] [ 2.52482393e-01 -9.67597206e-01 -2.87889352e-03 -9.88692338e+01] [ 1.13306994e-02 -1.85062598e-05 9.99935805e-01 -5.01042746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7065599949999 meters 0.0129121409999548 Centerline is valid? [True, True] Translation: X:136.56, Y:-99.40, Z:-4.03 [[-9.84289016e-01 1.76166575e-01 1.18520233e-02 1.36557816e+02] [ 1.76153041e-01 9.84360368e-01 -2.18455082e-03 -9.94048597e+01] [-1.20515068e-02 -6.24594253e-05 -9.99927376e-01 -4.02866685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.766559995 meters 0.013011039381785766 Centerline is valid? [True, True] Translation: X:136.66, Y:-98.87, Z:-5.01 [[-9.67294385e-01 -2.53344982e-01 1.25655526e-02 1.36658123e+02] [ 2.53325296e-01 -9.67375989e-01 -3.16066763e-03 -9.88668066e+01] [ 1.29563531e-02 1.25876268e-04 9.99916055e-01 -5.01196915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8265599949999 meters 0.013132852575577609 Centerline is valid? [True, True] Translation: X:136.51, Y:-99.40, Z:-4.03 [[-9.85036448e-01 1.71757521e-01 1.42319907e-02 1.36514766e+02] [ 1.71738338e-01 9.85139252e-01 -2.56843256e-03 -9.93955994e+01] [-1.44616403e-02 -8.58212607e-05 -9.99895421e-01 -4.02687148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.886559995 meters 0.012821110305941245 Centerline is valid? [True, True] Translation: X:136.52, Y:-99.37, Z:-4.03 [[-9.94418748e-01 1.04652032e-01 1.33905358e-02 1.36515139e+02] [ 1.04642059e-01 9.94508899e-01 -1.44517627e-03 -9.93712500e+01] [-1.34682476e-02 -3.58971406e-05 -9.99909298e-01 -4.02817604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9465599949999 meters 0.01265522470990595 Centerline is valid? [True, True] Translation: X:136.51, Y:-99.34, Z:-4.03 [[-9.99286728e-01 3.56735839e-02 1.23867341e-02 1.36511350e+02] [ 3.56707290e-02 9.99363495e-01 -4.51403650e-04 -9.93449637e+01] [-1.23949531e-02 -9.23783959e-06 -9.99923180e-01 -4.02944372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.006559995 meters 0.012594488410588993 Centerline is valid? [True, True] Translation: X:136.50, Y:-99.32, Z:-4.03 [[-9.99347681e-01 -3.41330457e-02 1.17960848e-02 1.36502984e+02] [-3.41305938e-02 9.99417298e-01 4.09161116e-04 -9.93188000e+01] [-1.18031771e-02 6.28683299e-06 -9.99930340e-01 -4.02950495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0665599949999 meters 0.01269443649317849 Centerline is valid? [True, True] Translation: X:136.48, Y:-98.76, Z:-5.01 [[-9.99352284e-01 -3.38510012e-02 1.22115534e-02 1.36481521e+02] [ 3.38487345e-02 -9.99426890e-01 -3.92308239e-04 -9.87649986e+01] [ 1.22178349e-02 2.12914957e-05 9.99925359e-01 -5.01150165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.126559995 meters 0.012841694290067231 Centerline is valid? [True, True] Translation: X:136.44, Y:-99.32, Z:-4.03 [[-9.98982467e-01 -4.29629953e-02 1.37190604e-02 1.36442693e+02] [-4.29597319e-02 9.99076663e-01 5.32616423e-04 -9.93204106e+01] [-1.37292758e-02 -5.72926866e-05 -9.99905747e-01 -4.02791084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1865599949999 meters 0.013547836426829678 Centerline is valid? [True, True] Translation: X:136.41, Y:-98.77, Z:-5.01 [[-9.99136910e-01 -3.91901025e-02 1.37684643e-02 1.36413980e+02] [ 3.91872215e-02 -9.99231771e-01 -4.79077051e-04 -9.87710711e+01] [ 1.37766621e-02 6.08842975e-05 9.99905095e-01 -5.01248657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.246559995 meters 0.014428482084812302 Centerline is valid? [True, True] Translation: X:136.38, Y:-99.32, Z:-4.03 [[-9.98243319e-01 -5.78130529e-02 1.29586902e-02 1.36378117e+02] [-5.78106958e-02 9.98327408e-01 5.56726108e-04 -9.93174109e+01] [-1.29692017e-02 -1.93402782e-04 -9.99915878e-01 -4.02704969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3065599949999 meters 0.01571202710344737 Centerline is valid? [True, True] Translation: X:136.36, Y:-99.29, Z:-4.03 [[-9.91187954e-01 -1.31944205e-01 1.17118474e-02 1.36364423e+02] [-1.31937554e-01 9.91257121e-01 1.34211128e-03 -9.92900483e+01] [-1.17865359e-02 -2.14947961e-04 -9.99930513e-01 -4.02715976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.366559995 meters 0.015335692314177038 Centerline is valid? [True, True] Translation: X:136.30, Y:-98.75, Z:-5.01 [[-9.99586986e-01 2.63938822e-02 1.13675096e-02 1.36299413e+02] [-2.63901325e-02 -9.99651605e-01 4.79764039e-04 -9.87509327e+01] [ 1.13762120e-02 1.79575805e-04 9.99935273e-01 -5.01107580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4265599949999 meters 0.015262841736836492 Centerline is valid? [True, True] Translation: X:136.30, Y:-99.31, Z:-4.03 [[-9.90269424e-01 -1.38768790e-01 1.04733453e-02 1.36298574e+02] [-1.38763334e-01 9.90324783e-01 1.24936847e-03 -9.93066110e+01] [-1.05453867e-02 -2.16104908e-04 -9.99944373e-01 -4.03031323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.486559995 meters 0.01575461722083198 Centerline is valid? [True, True] Translation: X:136.28, Y:-99.28, Z:-4.03 [[-9.77798670e-01 -2.09332754e-01 9.46352535e-03 1.36284795e+02] [-2.09324942e-01 9.77844444e-01 1.81967328e-03 -9.92829242e+01] [-9.63477290e-03 -2.01677780e-04 -9.99953564e-01 -4.03122182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5465599949999 meters 0.015842214281077075 Centerline is valid? [True, True] Translation: X:136.18, Y:-98.73, Z:-5.01 [[-9.94869884e-01 1.00823597e-01 8.27749131e-03 1.36177750e+02] [-1.00819384e-01 -9.94904314e-01 9.25767381e-04 -9.87318685e+01] [ 8.32865101e-03 8.64865118e-05 9.99965312e-01 -5.00698233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.606559995 meters 0.016160407225258612 Centerline is valid? [True, True] Translation: X:136.21, Y:-99.30, Z:-4.03 [[-9.76539704e-01 -2.15184184e-01 8.12241296e-03 1.36211556e+02] [-2.15178275e-01 9.76573466e-01 1.60485034e-03 -9.93008684e+01] [-8.27747139e-03 -1.80566742e-04 -9.99965725e-01 -4.03268685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.666559995 meters 0.01708102322409871 Centerline is valid? [True, True] Translation: X:136.10, Y:-98.75, Z:-5.01 [[-9.94542835e-01 1.03716498e-01 1.12888509e-02 1.36101129e+02] [-1.03704522e-01 -9.94606794e-01 1.64270209e-03 -9.87456961e+01] [ 1.13983431e-02 4.63032705e-04 9.99934930e-01 -5.01056456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7265599949999 meters 0.01758415008011362 Centerline is valid? [True, True] Translation: X:136.13, Y:-99.32, Z:-4.03 [[-9.74650351e-01 -2.23322718e-01 1.35520052e-02 1.36132758e+02] [-2.23306086e-01 9.74744501e-01 2.74762740e-03 -9.93182135e+01] [-1.38233502e-02 -3.48269234e-04 -9.99904392e-01 -4.02753034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.786559995 meters 0.01667356011839544 Centerline is valid? [True, True] Translation: X:136.12, Y:-99.30, Z:-4.03 [[-9.56129161e-01 -2.92587805e-01 1.44707904e-02 1.36119731e+02] [-2.92560333e-01 9.56238584e-01 4.02757773e-03 -9.93000212e+01] [-1.50159483e-02 -3.82694750e-04 -9.99887181e-01 -4.02794587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8465599949999 meters 0.015943465821405007 Centerline is valid? [True, True] Translation: X:136.10, Y:-99.29, Z:-4.03 [[-9.33606108e-01 -3.58040983e-01 1.36487973e-02 1.36097097e+02] [-3.58007901e-01 9.33705813e-01 4.87838360e-03 -9.92864136e+01] [-1.44906227e-02 -3.31888554e-04 -9.99894950e-01 -4.02891983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.906559995 meters 0.014746602976674825 Centerline is valid? [True, True] Translation: X:136.06, Y:-99.28, Z:-4.03 [[-9.07595481e-01 -4.19684494e-01 1.16348008e-02 1.36062309e+02] [-4.19653145e-01 9.07670026e-01 5.13440819e-03 -9.92803534e+01] [-1.27153915e-02 -2.22615086e-04 -9.99919131e-01 -4.03080938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9665599949999 meters 0.013747397114910442 Centerline is valid? [True, True] Translation: X:136.01, Y:-99.28, Z:-4.03 [[-8.76568185e-01 -4.81172412e-01 1.00661295e-02 1.36006923e+02] [-4.81142625e-01 8.76625968e-01 5.35596737e-03 -9.92845021e+01] [-1.14013742e-02 -1.48373355e-04 -9.99934991e-01 -4.03251036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.026559995 meters 0.012999494978662636 Centerline is valid? [True, True] Translation: X:135.95, Y:-99.30, Z:-4.03 [[-8.42370742e-01 -5.38826411e-01 8.81090031e-03 1.35945309e+02] [-5.38797729e-01 8.42416818e-01 5.55989277e-03 -9.92984906e+01] [-1.04182677e-02 -6.38020749e-05 -9.99945726e-01 -4.03312260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0865599949999 meters 0.012844999486106495 Centerline is valid? [True, True] Translation: X:135.88, Y:-99.32, Z:-4.03 [[-8.01756912e-01 -5.97582389e-01 9.00793657e-03 1.35876028e+02] [-5.97545170e-01 8.01807513e-01 6.66950516e-03 -9.93192299e+01] [-1.12082100e-02 -3.53271293e-05 -9.99937185e-01 -4.03377986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.146559995 meters 0.012885227675572578 Centerline is valid? [True, True] Translation: X:135.80, Y:-99.35, Z:-4.03 [[-7.55702869e-01 -6.54843675e-01 9.64030868e-03 1.35798850e+02] [-6.54790792e-01 7.55764355e-01 8.32212779e-03 -9.93520341e+01] [-1.27354944e-02 -2.33295058e-05 -9.99918900e-01 -4.03307249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2065599949999 meters 0.012957341842023266 Centerline is valid? [True, True] Translation: X:135.72, Y:-99.39, Z:-4.03 [[-7.03339267e-01 -7.10786924e-01 9.78895818e-03 1.35716732e+02] [-7.10719017e-01 7.03407383e-01 9.82508807e-03 -9.93926350e+01] [-1.38691696e-02 -4.68284924e-05 -9.99903817e-01 -4.03239455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.266559995 meters 0.01322208072996972 Centerline is valid? [True, True] Translation: X:135.63, Y:-99.44, Z:-4.03 [[-6.44456556e-01 -7.64577367e-01 9.85886176e-03 1.35633251e+02] [-7.64490691e-01 6.44531951e-01 1.15129183e-02 -9.94429191e+01] [-1.51568682e-02 -1.17432332e-04 -9.99885121e-01 -4.03094179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3265599949999 meters 0.01392425057049458 Centerline is valid? [True, True] Translation: X:135.55, Y:-99.50, Z:-4.03 [[-5.80778437e-01 -8.14007425e-01 9.39783848e-03 1.35552556e+02] [-8.13906438e-01 5.80854432e-01 1.28233593e-02 -9.95008183e+01] [-1.58970858e-02 -2.01430662e-04 -9.99873613e-01 -4.02996233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.386559995 meters 0.015113323955591885 Centerline is valid? [True, True] Translation: X:135.47, Y:-99.57, Z:-4.03 [[-5.14616751e-01 -8.57382915e-01 8.00860908e-03 1.35472880e+02] [-8.57286350e-01 5.14679006e-01 1.28699168e-02 -9.95678729e+01] [-1.51563097e-02 -2.42596494e-04 -9.99885107e-01 -4.02898355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4465599949999 meters 0.015547968630801712 Centerline is valid? [True, True] Translation: X:135.40, Y:-99.65, Z:-4.03 [[-4.43567208e-01 -8.96216812e-01 6.59984202e-03 1.35397340e+02] [-8.96127506e-01 4.43616203e-01 1.26553681e-02 -9.96469355e+01] [-1.42697505e-02 -3.00793673e-04 -9.99898137e-01 -4.03114122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.506559995 meters 0.01717307973353352 Centerline is valid? [True, True] Translation: X:135.32, Y:-99.74, Z:-4.03 [[-3.69047060e-01 -9.29398455e-01 4.77282407e-03 1.35324179e+02] [-9.29331659e-01 3.69077781e-01 1.11471321e-02 -9.97364188e+01] [-1.21216707e-02 -3.21720180e-04 -9.99926478e-01 -4.03229501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5665599949999 meters 0.018957615026863068 Centerline is valid? [True, True] Translation: X:135.26, Y:-99.82, Z:-4.03 [[-2.93581200e-01 -9.55927139e-01 3.65840102e-03 1.35261992e+02] [-9.55866831e-01 2.93603793e-01 1.07431305e-02 -9.98215053e+01] [-1.13437704e-02 -3.42963041e-04 -9.99935599e-01 -4.03217426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.626559995 meters 0.01844298802684138 Centerline is valid? [True, True] Translation: X:135.21, Y:-99.92, Z:-4.03 [[-2.17896016e-01 -9.75968296e-01 2.68531693e-03 1.35207248e+02] [-9.75912506e-01 2.17912288e-01 1.04410048e-02 -9.99195035e+01] [-1.07752532e-02 -3.45581021e-04 -9.99941886e-01 -4.03296335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6865599949999 meters 0.01925968817347314 Centerline is valid? [True, True] Translation: X:135.16, Y:-100.02, Z:-4.03 [[-1.41554475e-01 -9.89928736e-01 1.85151989e-03 1.35157485e+02] [-9.89873492e-01 1.41566147e-01 1.04640789e-02 -1.00024224e+02] [-1.06208050e-02 -3.51533263e-04 -9.99943536e-01 -4.03232934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.746559995 meters 0.021581935611080887 Centerline is valid? [True, True] Translation: X:135.11, Y:-100.15, Z:-4.03 [[-6.47852157e-02 -9.97898677e-01 1.05146546e-03 1.35112460e+02] [-9.97842048e-01 6.47927473e-02 1.06370618e-02 -1.00149082e+02] [-1.06828372e-02 -3.60072111e-04 -9.99942872e-01 -4.03074968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8065599949999 meters 0.022229136251138128 Centerline is valid? [True, True] Translation: X:135.08, Y:-100.25, Z:-4.03 [[ 1.20245538e-02 -9.99927671e-01 2.51307988e-04 1.35081212e+02] [-9.99860557e-01 -1.20208335e-02 1.15916426e-02 -1.00252154e+02] [-1.15877833e-02 -3.90657276e-04 -9.99932783e-01 -4.02975818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.866559995 meters 0.021002046082027586 Centerline is valid? [True, True] Translation: X:135.06, Y:-100.36, Z:-4.03 [[ 9.02026057e-02 -9.95923167e-01 -7.31858527e-04 1.35059592e+02] [-9.95835122e-01 -9.02043686e-02 1.32507577e-02 -1.00360714e+02] [-1.32627534e-02 -4.66442448e-04 -9.99911937e-01 -4.02890884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9265599949999 meters 0.019335586998471346 Centerline is valid? [True, True] Translation: X:135.05, Y:-100.47, Z:-4.03 [[ 1.65780656e-01 -9.86160883e-01 -1.86752297e-03 1.35048058e+02] [-9.86060692e-01 -1.65790450e-01 1.40655120e-02 -1.00472061e+02] [-1.41804752e-02 -4.90298810e-04 -9.99899332e-01 -4.02869320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.986559995 meters 0.0213255034564424 Centerline is valid? [True, True] Translation: X:135.04, Y:-100.59, Z:-4.03 [[ 2.39729861e-01 -9.70835584e-01 -2.80415046e-03 1.35040403e+02] [-9.70745535e-01 -2.39745839e-01 1.32302075e-02 -1.00588685e+02] [-1.35166396e-02 -4.49559277e-04 -9.99908545e-01 -4.02804870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0465599949999 meters 0.020771125529797013 Centerline is valid? [True, True] Translation: X:135.05, Y:-100.72, Z:-4.03 [[ 3.11157687e-01 -9.50353526e-01 -3.01150170e-03 1.35049678e+02] [-9.50298297e-01 -3.11172087e-01 1.02508182e-02 -1.00717699e+02] [-1.06789965e-02 -3.27795956e-04 -9.99942924e-01 -4.03070714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.106559995 meters 0.017004804576646177 Centerline is valid? [True, True] Translation: X:135.06, Y:-100.81, Z:-4.03 [[ 3.80870703e-01 -9.24622140e-01 -3.37708923e-03 1.35061187e+02] [-9.24579365e-01 -3.80885582e-01 8.89779051e-03 -1.00814183e+02] [-9.51337870e-03 -2.66520710e-04 -9.99954711e-01 -4.03301512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.166559995 meters 0.01666133558839014 Centerline is valid? [True, True] Translation: X:135.08, Y:-100.93, Z:-4.03 [[ 4.48967260e-01 -8.93541323e-01 -3.50775056e-03 1.35080763e+02] [-8.93510222e-01 -4.48980911e-01 7.45815813e-03 -1.00926229e+02] [-8.23908552e-03 -2.14257838e-04 -9.99966035e-01 -4.03341090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2265599949999 meters 0.017313702424252193 Centerline is valid? [True, True] Translation: X:135.11, Y:-101.04, Z:-4.03 [[ 5.16310396e-01 -8.56392157e-01 -4.00610745e-03 1.35107518e+02] [-8.56363116e-01 -5.16325894e-01 7.05584790e-03 -1.01039116e+02] [-8.11102981e-03 -2.12324961e-04 -9.99967083e-01 -4.03375095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.286559995 meters 0.01857054810191947 Centerline is valid? [True, True] Translation: X:135.14, Y:-101.15, Z:-4.03 [[ 5.81346993e-01 -8.13641224e-01 -4.86128392e-03 1.35141045e+02] [-8.13609275e-01 -5.81367269e-01 7.21431404e-03 -1.01152046e+02] [-8.69605466e-03 -2.38834094e-04 -9.99962160e-01 -4.03273499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3465599949999 meters 0.01749832460038308 Centerline is valid? [True, True] Translation: X:135.19, Y:-101.26, Z:-4.03 [[ 6.42741527e-01 -7.66061385e-01 -5.76933312e-03 1.35187488e+02] [-7.66026738e-01 -6.42767364e-01 7.29061727e-03 -1.01259974e+02] [-9.29339940e-03 -2.66519041e-04 -9.99956780e-01 -4.03347303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.406559995 meters 0.0181677687585699 Centerline is valid? [True, True] Translation: X:135.23, Y:-101.35, Z:-4.03 [[ 6.99862317e-01 -7.14243874e-01 -6.95886624e-03 1.35230020e+02] [-7.14204215e-01 -6.99896847e-01 7.53278160e-03 -1.01354535e+02] [-1.02507317e-02 -3.01858383e-04 -9.99947414e-01 -4.03305112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4665599949999 meters 0.01771526177041604 Centerline is valid? [True, True] Translation: X:135.28, Y:-101.45, Z:-4.03 [[ 7.52192919e-01 -6.58897202e-01 -7.76465961e-03 1.35284428e+02] [-6.58857756e-01 -7.52232929e-01 7.21649605e-03 -1.01447236e+02] [-1.05957617e-02 -3.12391018e-04 -9.99943815e-01 -4.03310141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.526559995 meters 0.017929566588694382 Centerline is valid? [True, True] Translation: X:135.30, Y:-101.48, Z:-4.03 [[ 8.01231392e-01 -5.98301202e-01 -7.99549582e-03 1.35304469e+02] [-5.98267664e-01 -8.01271229e-01 6.34194700e-03 -1.01475573e+02] [-1.02009553e-02 -2.97920414e-04 -9.99947925e-01 -4.03348471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5865599949999 meters 0.017097050035215593 Centerline is valid? [True, True] Translation: X:135.33, Y:-101.50, Z:-4.04 [[ 8.44733747e-01 -5.35138378e-01 -7.19813981e-03 1.35326650e+02] [-5.35116509e-01 -8.44764380e-01 4.84392479e-03 -1.01501812e+02] [-8.67290218e-03 -2.39983286e-04 -9.99962361e-01 -4.03543034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.646559995 meters 0.01625304119363422 Centerline is valid? [True, True] Translation: X:135.35, Y:-101.53, Z:-4.04 [[ 8.82947777e-01 -4.69418061e-01 -7.06452411e-03 1.35350906e+02] [-4.69401154e-01 -8.82976014e-01 3.98940979e-03 -1.01526702e+02] [-8.11050635e-03 -2.06344736e-04 -9.99967088e-01 -4.03579835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7065599949999 meters 0.017759887811144157 Centerline is valid? [True, True] Translation: X:135.37, Y:-101.55, Z:-4.03 [[ 9.16667942e-01 -3.99560435e-01 -8.44651469e-03 1.35374753e+02] [-3.99541140e-01 -9.16706826e-01 3.93343305e-03 -1.01551484e+02] [-9.31462190e-03 -2.30921863e-04 -9.99956591e-01 -4.03403338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.766559995 meters 0.016079847679517797 Centerline is valid? [True, True] Translation: X:135.40, Y:-101.57, Z:-4.03 [[ 9.44920686e-01 -3.27142961e-01 -1.01183234e-02 1.35403116e+02] [-3.27121219e-01 -9.44974822e-01 3.78074905e-03 -1.01571458e+02] [-1.07984063e-02 -2.62589701e-04 -9.99941661e-01 -4.03396915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8265599949999 meters 0.016351347343446464 Centerline is valid? [True, True] Translation: X:135.43, Y:-101.59, Z:-4.03 [[ 9.67619307e-01 -2.52184977e-01 -1.07523646e-02 1.35433002e+02] [-2.52166266e-01 -9.67679008e-01 3.08405964e-03 -1.01591536e+02] [-1.11825910e-02 -2.72812020e-04 -9.99937436e-01 -4.03323266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.886559995 meters 0.015961494308919234 Centerline is valid? [True, True] Translation: X:135.46, Y:-101.61, Z:-4.03 [[ 9.84253415e-01 -1.76449700e-01 -1.05223134e-02 1.35464361e+02] [-1.76436844e-01 -9.84309625e-01 2.14510916e-03 -1.01607374e+02] [-1.07357182e-02 -2.54807249e-04 -9.99942338e-01 -4.03360712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9465599949999 meters 0.015621512846914173 Centerline is valid? [True, True] Translation: X:135.50, Y:-101.62, Z:-4.03 [[ 9.94867220e-01 -1.00771669e-01 -9.18073039e-03 1.35495764e+02] [-1.00765509e-01 -9.94909559e-01 1.13230783e-03 -1.01619174e+02] [-9.24810097e-03 -2.01394973e-04 -9.99957215e-01 -4.03406326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.006559995 meters 0.01538319078138118 Centerline is valid? [True, True] Translation: X:135.53, Y:-101.63, Z:-4.03 [[ 9.99686981e-01 -2.35088915e-02 -8.55993799e-03 1.35525066e+02] [-2.35064999e-02 -9.99723612e-01 3.79909750e-04 -1.01628529e+02] [-8.56650338e-03 -1.78576650e-04 -9.99963291e-01 -4.03469825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0665599949999 meters 0.015003327382474122 Centerline is valid? [True, True] Translation: X:135.56, Y:-101.64, Z:-4.03 [[ 9.98484011e-01 5.43624113e-02 -8.62602236e-03 1.35555566e+02] [ 5.43619041e-02 -9.98521255e-01 -2.93431094e-04 -1.01637434e+02] [-8.62921829e-03 -1.75940745e-04 -9.99962752e-01 -4.03494570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.126559995 meters 0.015521757569156426 Centerline is valid? [True, True] Translation: X:135.59, Y:-101.64, Z:-4.03 [[ 9.91086098e-01 1.32918675e-01 -8.99850571e-03 1.35585497e+02] [ 1.32914931e-01 -9.91126929e-01 -1.01553783e-03 -1.01644694e+02] [-9.05364527e-03 -1.89550342e-04 -9.99958997e-01 -4.03417229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1865599949999 meters 0.015130150995076573 Centerline is valid? [True, True] Translation: X:135.62, Y:-101.65, Z:-4.03 [[ 9.77622007e-01 2.10153847e-01 -9.51696947e-03 1.35617381e+02] [ 2.10145906e-01 -9.77668308e-01 -1.83805423e-03 -1.01648682e+02] [-9.69071360e-03 -2.03029914e-04 -9.99953023e-01 -4.03470583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.246559995 meters 0.015679207483603342 Centerline is valid? [True, True] Translation: X:135.65, Y:-101.65, Z:-4.03 [[ 9.58299273e-01 2.85572641e-01 -1.05247640e-02 1.35648893e+02] [ 2.85557967e-01 -9.58357041e-01 -2.90354000e-03 -1.01651720e+02] [-1.09156533e-02 -2.22969949e-04 -9.99940398e-01 -4.03317916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3065599949999 meters 0.01585590369988953 Centerline is valid? [True, True] Translation: X:135.68, Y:-101.65, Z:-4.03 [[ 9.33243175e-01 3.59088959e-01 -1.05969766e-02 1.35678896e+02] [ 3.59068508e-01 -9.33303311e-01 -3.83881885e-03 -1.01647419e+02] [-1.12686708e-02 -2.22489065e-04 -9.99936482e-01 -4.03227084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.366559995 meters 0.01457193584990374 Centerline is valid? [True, True] Translation: X:135.71, Y:-101.64, Z:-4.03 [[ 9.03561627e-01 4.28320978e-01 -1.08409393e-02 1.35708063e+02] [ 4.28292782e-01 -9.03626638e-01 -4.91862953e-03 -1.01638332e+02] [-1.19029138e-02 -1.98811157e-04 -9.99929138e-01 -4.03315550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4265599949999 meters 0.013927828935440253 Centerline is valid? [True, True] Translation: X:135.73, Y:-101.63, Z:-4.03 [[ 8.70559107e-01 4.91943386e-01 -1.08879011e-02 1.35734743e+02] [ 4.91906710e-01 -8.70627181e-01 -6.00833898e-03 -1.01625613e+02] [-1.24350653e-02 -1.25217415e-04 -9.99922674e-01 -4.03112477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.486559995 meters 0.012941288675718728 Centerline is valid? [True, True] Translation: X:135.76, Y:-101.61, Z:-4.03 [[ 8.32507313e-01 5.53925803e-01 -9.88836174e-03 1.35761175e+02] [ 5.53887486e-01 -8.32566035e-01 -6.51537243e-03 -1.01610887e+02] [-1.18417470e-02 -5.29446332e-05 -9.99929883e-01 -4.03315183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5465599949999 meters 0.012871779883085108 Centerline is valid? [True, True] Translation: X:135.79, Y:-101.60, Z:-4.04 [[ 7.91696129e-01 6.10854740e-01 -8.58641079e-03 1.35786442e+02] [ 6.10818249e-01 -7.91742689e-01 -6.67689224e-03 -1.01595423e+02] [-1.08768392e-02 4.13333397e-05 -9.99940845e-01 -4.03540043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.606559995 meters 0.013655715300941224 Centerline is valid? [True, True] Translation: X:135.81, Y:-101.58, Z:-4.04 [[ 7.45822718e-01 6.66103460e-01 -7.39282239e-03 1.35810256e+02] [ 6.66069361e-01 -7.45859350e-01 -6.74062495e-03 -1.01578705e+02] [-1.00039593e-02 1.03178737e-04 -9.99949954e-01 -4.03551219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.666559995 meters 0.014451597730524459 Centerline is valid? [True, True] Translation: X:135.83, Y:-101.56, Z:-4.03 [[ 6.93422700e-01 7.20498307e-01 -6.86655476e-03 1.35832784e+02] [ 7.20461085e-01 -6.93456684e-01 -7.32478504e-03 -1.01562594e+02] [-1.00391535e-02 1.32086721e-04 -9.99949598e-01 -4.03447900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7265599949999 meters 0.014640791259032941 Centerline is valid? [True, True] Translation: X:135.86, Y:-101.55, Z:-4.03 [[ 6.37081798e-01 7.70768879e-01 -6.48980748e-03 1.35856471e+02] [ 7.70726205e-01 -6.37114830e-01 -8.11237376e-03 -1.01546043e+02] [-1.03875178e-02 1.66380968e-04 -9.99946034e-01 -4.03473813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.786559995 meters 0.014948394685831637 Centerline is valid? [True, True] Translation: X:135.88, Y:-101.53, Z:-4.04 [[ 5.75906295e-01 8.17500369e-01 -5.00851769e-03 1.35877397e+02] [ 8.17467087e-01 -5.75928053e-01 -7.37832257e-03 -1.01527718e+02] [-8.91632726e-03 1.54924051e-04 -9.99960237e-01 -4.03569174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8465599949999 meters 0.014941042507687323 Centerline is valid? [True, True] Translation: X:135.90, Y:-101.51, Z:-4.04 [[ 5.09400507e-01 8.60521622e-01 -3.69611873e-03 1.35896475e+02] [ 8.60497188e-01 -5.09413901e-01 -6.48591001e-03 -1.01508371e+02] [-7.46412006e-03 1.23426074e-04 -9.99972135e-01 -4.03654728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.906559995 meters 0.014150074062383774 Centerline is valid? [True, True] Translation: X:135.92, Y:-101.49, Z:-4.04 [[ 4.38699359e-01 8.98629254e-01 -2.88729566e-03 1.35918403e+02] [ 8.98608279e-01 -4.38708849e-01 -6.14054136e-03 -1.01489137e+02] [-6.78475225e-03 9.93037758e-05 -9.99976978e-01 -4.03735895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9665599949999 meters 0.01328484004522791 Centerline is valid? [True, True] Translation: X:135.94, Y:-101.47, Z:-4.04 [[ 3.62708199e-01 9.31900361e-01 -2.11659079e-03 1.35941687e+02] [ 9.31883512e-01 -3.62714370e-01 -5.60413835e-03 -1.01468851e+02] [-5.99021644e-03 6.02508663e-05 -9.99982057e-01 -4.03731570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.026559995 meters 0.01261556140483631 Centerline is valid? [True, True] Translation: X:135.96, Y:-101.45, Z:-4.04 [[ 2.82223722e-01 9.59347369e-01 -1.54825304e-03 1.35964382e+02] [ 9.59332565e-01 -2.82227968e-01 -5.32953696e-03 -1.01446909e+02] [-5.54983757e-03 1.88321976e-05 -9.99984599e-01 -4.03748783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0865599949999 meters 0.012555237739657681 Centerline is valid? [True, True] Translation: X:135.98, Y:-101.42, Z:-4.04 [[ 2.02150068e-01 9.79353702e-01 -1.29480387e-03 1.35981767e+02] [ 9.79333766e-01 -2.02154215e-01 -6.24890843e-03 -1.01422369e+02] [-6.38164166e-03 -4.82788392e-06 -9.99979637e-01 -4.03719786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.146559995 meters 0.012676844022872882 Centerline is valid? [True, True] Translation: X:136.00, Y:-101.40, Z:-4.04 [[ 1.20977973e-01 9.92654867e-01 -8.03373950e-04 1.36000002e+02] [ 9.92634574e-01 -1.20980637e-01 -6.34730458e-03 -1.01395985e+02] [-6.39787548e-03 -2.95727155e-05 -9.99979533e-01 -4.03670758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2065599949999 meters 0.0126323170181535 Centerline is valid? [True, True] Translation: X:136.01, Y:-101.37, Z:-4.04 [[ 4.24027892e-02 9.99100571e-01 -2.28010661e-04 1.36011948e+02] [ 9.99089056e-01 -4.24033952e-02 -4.79692427e-03 -1.01368294e+02] [-4.80227820e-03 -2.43999876e-05 -9.99988469e-01 -4.03739892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.266559995 meters 0.012556369365056328 Centerline is valid? [True, True] Translation: X:136.02, Y:-101.34, Z:-4.04 [[-3.46989176e-02 9.99397805e-01 1.08158623e-04 1.36019717e+02] [ 9.99391678e-01 3.46990836e-02 -3.49952708e-03 -1.01340229e+02] [-3.50117269e-03 -1.33369745e-05 -9.99993871e-01 -4.03799446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3265599949999 meters 0.012567701634290229 Centerline is valid? [True, True] Translation: X:136.02, Y:-101.31, Z:-4.04 [[-1.08411602e-01 9.94106002e-01 4.25606637e-04 1.36021609e+02] [ 9.94098435e-01 1.08412438e-01 -3.87885814e-03 -1.01311726e+02] [-3.90213721e-03 2.58166585e-06 -9.99992387e-01 -4.03702082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.386559995 meters 0.012608229780648201 Centerline is valid? [True, True] Translation: X:136.03, Y:-101.28, Z:-4.04 [[-1.84218987e-01 9.82884845e-01 8.63565264e-04 1.36025282e+02] [ 9.82874330e-01 1.84221011e-01 -4.54649875e-03 -1.01282313e+02] [-4.62777159e-03 1.12247353e-05 -9.99989292e-01 -4.03702864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4465599949999 meters 0.01296464391552829 Centerline is valid? [True, True] Translation: X:136.02, Y:-101.25, Z:-4.04 [[-2.55747186e-01 9.66742478e-01 1.53568185e-03 1.36022958e+02] [ 9.66726069e-01 2.55751793e-01 -5.63280302e-03 -1.01254676e+02] [-5.83822334e-03 4.40101538e-05 -9.99982957e-01 -4.03615933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.506559995 meters 0.013294178422031816 Centerline is valid? [True, True] Translation: X:136.02, Y:-101.23, Z:-4.03 [[-3.29172562e-01 9.44266041e-01 2.65858228e-03 1.36019624e+02] [ 9.44236988e-01 3.29183290e-01 -7.40758827e-03 -1.01227706e+02] [-7.86989491e-03 7.19569160e-05 -9.99969029e-01 -4.03444471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5665599949999 meters 0.01315789882535629 Centerline is valid? [True, True] Translation: X:136.02, Y:-101.20, Z:-4.03 [[-4.03036124e-01 9.15177390e-01 3.49692070e-03 1.36015940e+02] [ 9.15144431e-01 4.03051288e-01 -7.76723427e-03 -1.01200174e+02] [-8.51783557e-03 6.97115153e-05 -9.99963720e-01 -4.03373187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.626559995 meters 0.012705385369393862 Centerline is valid? [True, True] Translation: X:136.01, Y:-101.17, Z:-4.03 [[-4.76779999e-01 8.79012753e-01 4.17279690e-03 1.36010121e+02] [ 8.78979797e-01 4.76798257e-01 -7.61170121e-03 -1.01173159e+02] [-8.68036473e-03 3.86972729e-05 -9.99962324e-01 -4.03341414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6865599949999 meters 0.012466695196822827 Centerline is valid? [True, True] Translation: X:136.00, Y:-101.15, Z:-4.03 [[-5.47777143e-01 8.36612513e-01 4.43907611e-03 1.36000834e+02] [ 8.36585063e-01 5.47795130e-01 -6.77700597e-03 -1.01146391e+02] [-8.10143227e-03 1.37580241e-06 -9.99967183e-01 -4.03453950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.746559995 meters 0.012439649854773837 Centerline is valid? [True, True] Translation: X:135.99, Y:-101.12, Z:-4.04 [[-6.14867388e-01 7.88616835e-01 4.64570589e-03 1.35992649e+02] [ 7.88593958e-01 6.14884938e-01 -6.00694532e-03 -1.01118277e+02] [-7.59375278e-03 -2.98991887e-05 -9.99971167e-01 -4.03619732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8065599949999 meters 0.013446699132150916 Centerline is valid? [True, True] Translation: X:135.98, Y:-101.09, Z:-4.04 [[-6.80849314e-01 7.32410541e-01 4.36017001e-03 1.35984010e+02] [ 7.32394771e-01 6.80863270e-01 -4.80699808e-03 -1.01089026e+02] [-6.48937568e-03 -7.94756299e-05 -9.99978941e-01 -4.03692950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.866559995 meters 0.015487558343207584 Centerline is valid? [True, True] Translation: X:135.97, Y:-101.06, Z:-4.04 [[-7.41734090e-01 6.70676132e-01 4.90565744e-03 1.35971463e+02] [ 6.70660215e-01 7.41750299e-01 -4.62267017e-03 -1.01060523e+02] [-6.73908743e-03 -1.38762775e-04 -9.99977283e-01 -4.03641532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9265599949999 meters 0.016969653266051404 Centerline is valid? [True, True] Translation: X:135.99, Y:-101.04, Z:-4.04 [[-7.89748443e-01 6.13409190e-01 5.15390510e-03 1.35991503e+02] [ 6.13394765e-01 7.89765243e-01 -4.20988098e-03 -1.01039868e+02] [-6.65275480e-03 -1.63368537e-04 -9.99977857e-01 -4.03595788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.986559995 meters 0.01790566086130549 Centerline is valid? [True, True] Translation: X:136.01, Y:-101.02, Z:-4.04 [[-8.32336256e-01 5.54244391e-01 5.43251121e-03 1.36007106e+02] [ 5.54231178e-01 8.32353966e-01 -3.83108289e-03 -1.01018491e+02] [-6.64512845e-03 -1.77882102e-04 -9.99977905e-01 -4.03511212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0465599949999 meters 0.017667806645381822 Centerline is valid? [True, True] Translation: X:136.01, Y:-100.99, Z:-4.03 [[-8.68879847e-01 4.94993289e-01 5.42736586e-03 1.36005594e+02] [ 4.94982456e-01 8.68896782e-01 -3.27874423e-03 -1.00989991e+02] [-6.33877712e-03 -1.62383902e-04 -9.99979897e-01 -4.03487209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.106559995 meters 0.017506482578869418 Centerline is valid? [True, True] Translation: X:136.03, Y:-100.98, Z:-4.04 [[-9.01212134e-01 4.33340181e-01 5.74252972e-03 1.36033185e+02] [ 4.33330266e-01 9.01230416e-01 -2.93569819e-03 -1.00978019e+02] [-6.44749843e-03 -1.57274900e-04 -9.99979202e-01 -4.03500864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.166559995 meters 0.017572086223351525 Centerline is valid? [True, True] Translation: X:136.05, Y:-100.96, Z:-4.03 [[-9.29362268e-01 3.69091427e-01 7.56927032e-03 1.36046798e+02] [ 3.69077472e-01 9.29393071e-01 -3.21551463e-03 -1.00957443e+02] [-8.22164628e-03 -1.94730817e-04 -9.99966183e-01 -4.03249655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2265599949999 meters 0.017385748800812645 Centerline is valid? [True, True] Translation: X:136.32, Y:-100.32, Z:-5.01 [[-8.81353207e-01 -4.72380695e-01 8.54426751e-03 1.36323992e+02] [ 4.72361820e-01 -8.81394569e-01 -4.23372528e-03 -1.00319361e+02] [ 9.53080107e-03 3.04578404e-04 9.99954535e-01 -5.00942166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.286559995 meters 0.016215428150318668 Centerline is valid? [True, True] Translation: X:136.01, Y:-100.95, Z:-4.03 [[-9.29573337e-01 3.68497649e-01 1.01436226e-02 1.36007000e+02] [ 3.68473028e-01 9.29628652e-01 -4.26579893e-03 -1.00949812e+02] [-1.10017390e-02 -2.27721624e-04 -9.99939453e-01 -4.03002825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3465599949999 meters 0.01651695748588317 Centerline is valid? [True, True] Translation: X:136.02, Y:-100.93, Z:-4.03 [[-9.52753783e-01 3.03595172e-01 9.49736004e-03 1.36018562e+02] [ 3.03578113e-01 9.52801100e-01 -3.22383317e-03 -1.00925947e+02] [-1.00278353e-02 -1.88328612e-04 -9.99949702e-01 -4.03041229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.406559995 meters 0.015155234325167096 Centerline is valid? [True, True] Translation: X:136.25, Y:-100.25, Z:-5.01 [[-9.16255816e-01 -4.00499140e-01 8.70156829e-03 1.36253487e+02] [ 4.00482542e-01 -9.16297124e-01 -3.64898920e-03 -1.00254401e+02] [ 9.43463903e-03 1.41418604e-04 9.99955483e-01 -5.00824259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4665599949999 meters 0.014785784073174645 Centerline is valid? [True, True] Translation: X:135.98, Y:-100.92, Z:-4.03 [[-9.52832900e-01 3.03394046e-01 7.84330473e-03 1.35978947e+02] [ 3.03382669e-01 9.52865172e-01 -2.63058137e-03 -1.00915516e+02] [-8.27171464e-03 -1.26981761e-04 -9.99965781e-01 -4.03243311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.526559995 meters 0.01470662446498142 Centerline is valid? [True, True] Translation: X:135.99, Y:-100.89, Z:-4.03 [[-9.71771335e-01 2.35805474e-01 7.50004298e-03 1.35988585e+02] [ 2.35797548e-01 9.71800270e-01 -1.93668406e-03 -1.00891084e+02] [-7.74522450e-03 -1.13522312e-04 -9.99969999e-01 -4.03372211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5865599949999 meters 0.014394885641490164 Centerline is valid? [True, True] Translation: X:135.98, Y:-100.86, Z:-4.03 [[-9.86059509e-01 1.66272309e-01 6.33747741e-03 1.35982050e+02] [ 1.66268257e-01 9.86079870e-01 -1.16477721e-03 -1.00862439e+02] [-6.44292910e-03 -9.48183228e-05 -9.99979240e-01 -4.03473712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.646559995 meters 0.014823067240725742 Centerline is valid? [True, True] Translation: X:136.11, Y:-100.16, Z:-5.01 [[-9.65354832e-01 -2.60880625e-01 5.59895846e-03 1.36113389e+02] [ 2.60876501e-01 -9.65371067e-01 -1.46753256e-03 -1.00160718e+02] [ 5.78792331e-03 4.39470465e-05 9.99983249e-01 -5.00532329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7065599949999 meters 0.013982313857181716 Centerline is valid? [True, True] Translation: X:135.95, Y:-100.86, Z:-4.04 [[-9.86555121e-01 1.63340169e-01 5.38345012e-03 1.35948968e+02] [ 1.63337320e-01 9.86569807e-01 -9.67581663e-04 -1.00856487e+02] [-5.46919430e-03 -7.52543279e-05 -9.99985041e-01 -4.03564730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.766559995 meters 0.014109222547443647 Centerline is valid? [True, True] Translation: X:136.08, Y:-100.16, Z:-5.01 [[-9.67405747e-01 -2.53184973e-01 4.84661340e-03 1.36079836e+02] [ 2.53182005e-01 -9.67417887e-01 -1.22649291e-03 -1.00156940e+02] [ 4.99923007e-03 4.05590095e-05 9.99987503e-01 -5.00546765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8265599949999 meters 0.013166951214186998 Centerline is valid? [True, True] Translation: X:135.90, Y:-100.85, Z:-4.03 [[-9.86039435e-01 1.66426033e-01 5.34860552e-03 1.35900407e+02] [ 1.66423382e-01 9.86053941e-01 -9.39989164e-04 -1.00850148e+02] [-5.43045222e-03 -3.67333643e-05 -9.99985254e-01 -4.03410866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.886559995 meters 0.012927193941576024 Centerline is valid? [True, True] Translation: X:135.91, Y:-100.83, Z:-4.03 [[-9.95049172e-01 9.91809726e-02 6.34658780e-03 1.35909747e+02] [ 9.91788061e-02 9.95069412e-01 -6.55963713e-04 -1.00825608e+02] [-6.38035451e-03 -2.32691490e-05 -9.99979645e-01 -4.03333647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9465599949999 meters 0.012982453328705852 Centerline is valid? [True, True] Translation: X:135.91, Y:-100.80, Z:-4.03 [[-9.99404982e-01 3.37153244e-02 7.27726518e-03 1.35912766e+02] [ 3.37145242e-02 9.99431477e-01 -2.32645466e-04 -1.00801738e+02] [-7.28097160e-03 1.28424951e-05 -9.99973493e-01 -4.03293907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.006559995 meters 0.013702364698181526 Centerline is valid? [True, True] Translation: X:135.92, Y:-100.07, Z:-5.01 [[-9.95857586e-01 -9.05999205e-02 7.70219011e-03 1.35923845e+02] [ 9.05973065e-02 -9.95887370e-01 -6.88323432e-04 -1.00072570e+02] [ 7.73287590e-03 1.23255668e-05 9.99970101e-01 -5.00827965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0665599949999 meters 0.013782513700942524 Centerline is valid? [True, True] Translation: X:135.85, Y:-100.80, Z:-4.03 [[-9.99260081e-01 3.79034964e-02 6.52803829e-03 1.35846291e+02] [ 3.79031482e-02 9.99281402e-01 -1.77094492e-04 -1.00803029e+02] [-6.53005975e-03 7.04697462e-05 -9.99978676e-01 -4.03324619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.126559995 meters 0.013684971517285038 Centerline is valid? [True, True] Translation: X:135.87, Y:-100.07, Z:-5.01 [[-9.96487906e-01 -8.35130580e-02 6.11743011e-03 1.35868517e+02] [ 8.35109226e-02 -9.96506679e-01 -6.04124089e-04 -1.00072186e+02] [ 6.14651221e-03 -9.11301158e-05 9.99981106e-01 -5.00648475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1865599949999 meters 0.013544490070534305 Centerline is valid? [True, True] Translation: X:135.78, Y:-100.80, Z:-4.03 [[-9.99507683e-01 3.08906915e-02 5.49148928e-03 1.35780746e+02] [ 3.08904759e-02 9.99522768e-01 -1.24106433e-04 -1.00798968e+02] [-5.49270230e-03 4.55893837e-05 -9.99984914e-01 -4.03368585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.246559995 meters 0.013125902411255438 Centerline is valid? [True, True] Translation: X:135.78, Y:-100.77, Z:-4.03 [[-9.99014991e-01 -4.40859387e-02 5.04760737e-03 1.35776789e+02] [-4.40852630e-02 9.99027742e-01 2.45097599e-04 -1.00767798e+02] [-5.05350516e-03 2.23310763e-05 -9.99987231e-01 -4.03321916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3065599949999 meters 0.01303807969152404 Centerline is valid? [True, True] Translation: X:135.74, Y:-100.05, Z:-5.01 [[-9.99846193e-01 -1.68348267e-02 4.91726949e-03 1.35742702e+02] [ 1.68344711e-02 -9.99858284e-01 -1.13694356e-04 -1.00052366e+02] [ 4.91848665e-03 -3.08972373e-05 9.99987904e-01 -5.00735971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.366559995 meters 0.013440166875792381 Centerline is valid? [True, True] Translation: X:135.70, Y:-100.76, Z:-4.03 [[-9.98171779e-01 -6.01961474e-02 5.43361839e-03 1.35695860e+02] [-6.01954668e-02 9.98186567e-01 2.88872263e-04 -1.00760965e+02] [-5.44115389e-03 -3.87350548e-05 -9.99985196e-01 -4.03103019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4265599949999 meters 0.014469095954851775 Centerline is valid? [True, True] Translation: X:135.69, Y:-100.73, Z:-4.03 [[-9.90265932e-01 -1.39063989e-01 5.88143276e-03 1.35692058e+02] [-1.39062078e-01 9.90283393e-01 7.34623149e-04 -1.00727454e+02] [-5.92644482e-03 -9.04119851e-05 -9.99982434e-01 -4.03041278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.486559995 meters 0.015440589686518066 Centerline is valid? [True, True] Translation: X:135.60, Y:-100.05, Z:-5.01 [[-9.99265033e-01 3.76829280e-02 7.02789223e-03 1.35602494e+02] [-3.76806915e-02 -9.99289729e-01 4.50419793e-04 -1.00053074e+02] [ 7.03987366e-03 1.85272910e-04 9.99975203e-01 -5.01077194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5465599949999 meters 0.015663945337631678 Centerline is valid? [True, True] Translation: X:135.60, Y:-100.73, Z:-4.03 [[-9.88594875e-01 -1.50470114e-01 6.23843188e-03 1.35604262e+02] [-1.50467983e-01 9.88614549e-01 8.12344918e-04 -1.00732785e+02] [-6.28963816e-03 -1.35604238e-04 -9.99980211e-01 -4.02920218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.606559995 meters 0.015777043808544975 Centerline is valid? [True, True] Translation: X:135.52, Y:-100.07, Z:-5.01 [[-9.99141950e-01 4.11059440e-02 5.06613255e-03 1.35517963e+02] [-4.11052666e-02 -9.99154793e-01 2.37801629e-04 -1.00065430e+02] [ 5.07162568e-03 2.93528543e-05 9.99987139e-01 -5.01031063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.666559995 meters 0.01487200547826225 Centerline is valid? [True, True] Translation: X:135.52, Y:-100.75, Z:-4.03 [[-9.88062217e-01 -1.53969631e-01 5.13884081e-03 1.35522328e+02] [-1.53968077e-01 9.88075575e-01 6.99084023e-04 -1.00745092e+02] [-5.18520080e-03 -1.00478928e-04 -9.99986552e-01 -4.02926361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7265599949999 meters 0.015337998742959684 Centerline is valid? [True, True] Translation: X:135.51, Y:-100.72, Z:-4.03 [[-9.74801497e-01 -2.23017733e-01 5.01322136e-03 1.35508509e+02] [-2.23015282e-01 9.74814383e-01 1.04988348e-03 -1.00719783e+02] [-5.12110292e-03 -9.45969878e-05 -9.99986883e-01 -4.02871941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.786559995 meters 0.014921993653547322 Centerline is valid? [True, True] Translation: X:135.49, Y:-100.70, Z:-4.03 [[-9.56655264e-01 -2.91172324e-01 5.42066602e-03 1.35494998e+02] [-2.91168233e-01 9.56670616e-01 1.54660557e-03 -1.00697019e+02] [-5.63612064e-03 -9.87573838e-05 -9.99984112e-01 -4.02821752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8465599949999 meters 0.014270593722715691 Centerline is valid? [True, True] Translation: X:135.47, Y:-100.68, Z:-4.03 [[-9.34038700e-01 -3.57112732e-01 6.49643172e-03 1.35469547e+02] [-3.57104877e-01 9.34061286e-01 2.37084186e-03 -1.00680527e+02] [-6.91472318e-03 -1.05449401e-04 -9.99976088e-01 -4.02699248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.906559995 meters 0.014028843223284983 Centerline is valid? [True, True] Translation: X:135.42, Y:-100.67, Z:-4.03 [[-9.06508954e-01 -4.22128837e-01 6.98295771e-03 1.35422743e+02] [-4.22117162e-01 9.06535843e-01 3.14120687e-03 -1.00673321e+02] [-7.65629546e-03 -1.00094133e-04 -9.99970685e-01 -4.02608362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9665599949999 meters 0.013694016557859802 Centerline is valid? [True, True] Translation: X:135.37, Y:-100.68, Z:-4.03 [[-8.73919879e-01 -4.86006448e-01 7.85989090e-03 1.35365070e+02] [-4.85987812e-01 8.73955218e-01 4.25721129e-03 -1.00675802e+02] [-8.93822480e-03 -9.93496004e-05 -9.99960048e-01 -4.02519731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.026559995 meters 0.013442713988988256 Centerline is valid? [True, True] Translation: X:135.30, Y:-100.69, Z:-4.03 [[-8.36201067e-01 -5.48362404e-01 8.15168327e-03 1.35295907e+02] [-5.48337458e-01 8.36240794e-01 5.23132799e-03 -1.00688465e+02] [-9.68543368e-03 -9.54312379e-05 -9.99953091e-01 -4.02584143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0865599949999 meters 0.013453789163224284 Centerline is valid? [True, True] Translation: X:135.22, Y:-100.71, Z:-4.03 [[-7.93410848e-01 -6.08645245e-01 7.08459089e-03 1.35219878e+02] [-6.08621895e-01 7.93442474e-01 5.33191789e-03 -1.00710256e+02] [-8.86646179e-03 -8.14356376e-05 -9.99960689e-01 -4.02685825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.146559995 meters 0.0133137413877814 Centerline is valid? [True, True] Translation: X:135.14, Y:-100.74, Z:-4.03 [[-7.46446776e-01 -6.65427808e-01 4.80038041e-03 1.35142578e+02] [-6.65414478e-01 7.46462209e-01 4.21217793e-03 -1.00741529e+02] [-6.38620289e-03 -5.00759948e-05 -9.99979607e-01 -4.02928851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2065599949999 meters 0.013006422381949496 Centerline is valid? [True, True] Translation: X:135.06, Y:-100.78, Z:-4.03 [[-6.95379007e-01 -7.18635098e-01 3.41054239e-03 1.35060616e+02] [-7.18626667e-01 6.95387370e-01 3.48119669e-03 -1.00783935e+02] [-4.87335823e-03 -3.01556081e-05 -9.99988125e-01 -4.03054733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.266559995 meters 0.012835334026321388 Centerline is valid? [True, True] Translation: X:134.98, Y:-100.83, Z:-4.03 [[-6.40902614e-01 -7.67615179e-01 3.28272153e-03 1.34980746e+02] [-7.67605260e-01 6.40911021e-01 3.90240410e-03 -1.00833993e+02] [-5.09947703e-03 -1.87733263e-05 -9.99986997e-01 -4.03005850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3265599949999 meters 0.012811153278054028 Centerline is valid? [True, True] Translation: X:134.89, Y:-100.90, Z:-4.03 [[-5.81791631e-01 -8.13328920e-01 3.81645804e-03 1.34894716e+02] [-8.13311604e-01 5.81804148e-01 5.30729706e-03 -1.00902620e+02] [-6.53700931e-03 -1.62286004e-05 -9.99978633e-01 -4.02968864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.386559995 meters 0.01286972474579704 Centerline is valid? [True, True] Translation: X:134.82, Y:-100.97, Z:-4.03 [[-5.19518329e-01 -8.54446673e-01 4.64632261e-03 1.34818422e+02] [-8.54412635e-01 5.19539106e-01 7.62666915e-03 -1.00969181e+02] [-8.93052838e-03 -7.68233234e-06 -9.99960122e-01 -4.02761293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4465599949999 meters 0.012853369965533988 Centerline is valid? [True, True] Translation: X:134.74, Y:-101.05, Z:-4.03 [[-4.53726207e-01 -8.91129297e-01 4.59408866e-03 1.34743864e+02] [-8.91083572e-01 4.53749464e-01 9.02721342e-03 -1.01046879e+02] [-1.01289796e-02 2.16636266e-06 -9.99948701e-01 -4.02664839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.506559995 meters 0.012900684315991146 Centerline is valid? [True, True] Translation: X:134.67, Y:-101.14, Z:-4.03 [[-3.85991272e-01 -9.22493687e-01 4.01689194e-03 1.34674767e+02] [-9.22443149e-01 3.86012172e-01 9.65609528e-03 -1.01135700e+02] [-1.04582561e-02 2.18140514e-05 -9.99945311e-01 -4.02652638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5665599949999 meters 0.01293802301018992 Centerline is valid? [True, True] Translation: X:134.61, Y:-101.23, Z:-4.03 [[-3.15775474e-01 -9.48830528e-01 2.54551485e-03 1.34612205e+02] [-9.48798903e-01 3.15785732e-01 7.74674112e-03 -1.01229485e+02] [-8.15418173e-03 3.10491532e-05 -9.99966754e-01 -4.02863042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.626559995 meters 0.012843077603014274 Centerline is valid? [True, True] Translation: X:134.55, Y:-101.33, Z:-4.03 [[-2.42037177e-01 -9.70265428e-01 1.73337833e-03 1.34553067e+02] [-9.70239733e-01 2.42043382e-01 7.06129711e-03 -1.01332425e+02] [-7.27088522e-03 2.73038863e-05 -9.99973566e-01 -4.02912511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6865599949999 meters 0.012673343246180307 Centerline is valid? [True, True] Translation: X:134.50, Y:-101.44, Z:-4.03 [[-1.64652036e-01 -9.86351000e-01 1.18830057e-03 1.34500104e+02] [-9.86324809e-01 1.64656324e-01 7.18793583e-03 -1.01440142e+02] [-7.28548890e-03 1.14579365e-05 -9.99973460e-01 -4.02955588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.746559995 meters 0.012766342396738609 Centerline is valid? [True, True] Translation: X:134.45, Y:-101.55, Z:-4.03 [[-8.34329654e-02 -9.96513056e-01 8.18260317e-04 1.34453459e+02] [-9.96468827e-01 8.34369716e-02 9.38874677e-03 -1.01554159e+02] [-9.42428190e-03 -3.20399140e-05 -9.99955590e-01 -4.02767159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8065599949999 meters 0.013114817548243195 Centerline is valid? [True, True] Translation: X:134.42, Y:-101.67, Z:-4.03 [[-8.67261347e-04 -9.99999619e-01 1.03084230e-04 1.34415422e+02] [-9.99947476e-01 8.68268855e-04 1.02123114e-02 -1.01671759e+02] [-1.02123970e-02 -9.42220728e-05 -9.99947848e-01 -4.02730069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.866559995 meters 0.013525763247961443 Centerline is valid? [True, True] Translation: X:134.39, Y:-101.79, Z:-4.03 [[ 7.93963445e-02 -9.96842913e-01 -6.54131219e-04 1.34388563e+02] [-9.96794892e-01 -7.93989408e-02 9.78524454e-03 -1.01791492e+02] [-9.80628899e-03 -1.24877988e-04 -9.99951909e-01 -4.02770114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9265599949999 meters 0.014231516924503166 Centerline is valid? [True, True] Translation: X:134.37, Y:-101.91, Z:-4.03 [[ 1.58079236e-01 -9.87425440e-01 -1.39848464e-03 1.34370877e+02] [-9.87378121e-01 -1.58085353e-01 9.66789142e-03 -1.01909365e+02] [-9.76740188e-03 -1.47459749e-04 -9.99952287e-01 -4.02695073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.986559995 meters 0.014162125893427536 Centerline is valid? [True, True] Translation: X:134.37, Y:-102.02, Z:-4.03 [[ 2.35125746e-01 -9.71962750e-01 -2.07270154e-03 1.34365230e+02] [-9.71918701e-01 -2.35134826e-01 9.25483561e-03 -1.02023884e+02] [-9.48271978e-03 -1.61552734e-04 -9.99955025e-01 -4.02782683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0465599949999 meters 0.014522685062565875 Centerline is valid? [True, True] Translation: X:134.37, Y:-102.14, Z:-4.03 [[ 3.09552691e-01 -9.50878642e-01 -2.63420700e-03 1.34368719e+02] [-9.50839755e-01 -3.09563859e-01 8.60097055e-03 -1.02144277e+02] [-8.99393448e-03 -1.57744843e-04 -9.99959541e-01 -4.02825843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.106559995 meters 0.014231218598897174 Centerline is valid? [True, True] Translation: X:134.38, Y:-102.26, Z:-4.03 [[ 3.81031941e-01 -9.24555944e-01 -3.31146395e-03 1.34382760e+02] [-9.24517465e-01 -3.81046299e-01 8.43651721e-03 -1.02264087e+02] [-9.06185323e-03 -1.53076269e-04 -9.99958929e-01 -4.02780130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.166559995 meters 0.01399743256330624 Centerline is valid? [True, True] Translation: X:134.40, Y:-102.37, Z:-4.03 [[ 4.50121881e-01 -8.92953976e-01 -4.84667388e-03 1.34403833e+02] [-8.92897869e-01 -4.50147938e-01 1.00115287e-02 -1.02374764e+02] [-1.11215546e-02 -1.78823341e-04 -9.99938138e-01 -4.02600780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2265599949999 meters 0.014090820634021149 Centerline is valid? [True, True] Translation: X:134.43, Y:-102.49, Z:-4.03 [[ 5.16914921e-01 -8.56014457e-01 -6.18176067e-03 1.34433552e+02] [-8.55948729e-01 -5.16951848e-01 1.06094617e-02 -1.02486488e+02] [-1.22775252e-02 -1.92918856e-04 -9.99924610e-01 -4.02536886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.286559995 meters 0.013727566198284403 Centerline is valid? [True, True] Translation: X:134.47, Y:-102.59, Z:-4.02 [[ 5.79606638e-01 -8.14858083e-01 -7.90247431e-03 1.34472003e+02] [-8.14777684e-01 -5.79660474e-01 1.14481605e-02 -1.02590382e+02] [-1.39093781e-02 -1.96670110e-04 -9.99903241e-01 -4.02481525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3465599949999 meters 0.013546218167984085 Centerline is valid? [True, True] Translation: X:134.52, Y:-102.70, Z:-4.03 [[ 6.38560461e-01 -7.69523937e-01 -8.57018257e-03 1.34520581e+02] [-7.69451171e-01 -6.38617948e-01 1.05835803e-02 -1.02695102e+02] [-1.36173908e-02 -1.63918911e-04 -9.99907266e-01 -4.02510409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.406559995 meters 0.012867347522641811 Centerline is valid? [True, True] Translation: X:134.57, Y:-102.78, Z:-4.03 [[ 6.92400339e-01 -7.21469293e-01 -7.98936605e-03 1.34573411e+02] [-7.21419739e-01 -6.92446425e-01 8.45627561e-03 -1.02784861e+02] [-1.16331511e-02 -9.14417293e-05 -9.99932328e-01 -4.02816498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4665599949999 meters 0.012747055996472129 Centerline is valid? [True, True] Translation: X:134.63, Y:-102.87, Z:-4.03 [[ 7.44246769e-01 -6.67871274e-01 -6.68644749e-03 1.34626382e+02] [-6.67843643e-01 -7.44276802e-01 6.07536297e-03 -1.02872360e+02] [-9.03412816e-03 -5.60678075e-05 -9.99959190e-01 -4.02994293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.526559995 meters 0.012826596431429908 Centerline is valid? [True, True] Translation: X:134.64, Y:-102.90, Z:-4.03 [[ 7.95042123e-01 -6.06529194e-01 -5.51001324e-03 1.34644037e+02] [-6.06514164e-01 -7.95061214e-01 4.27020233e-03 -1.02901550e+02] [-6.97080019e-03 -5.30896449e-05 -9.99975702e-01 -4.03014804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5865599949999 meters 0.012928310560981133 Centerline is valid? [True, True] Translation: X:134.66, Y:-102.93, Z:-4.03 [[ 8.40868282e-01 -5.41203178e-01 -6.29706624e-03 1.34664833e+02] [-5.41187384e-01 -8.40891857e-01 4.13514725e-03 -1.02928064e+02] [-7.53310655e-03 -6.92213557e-05 -9.99971623e-01 -4.02964917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.646559995 meters 0.013026036363998619 Centerline is valid? [True, True] Translation: X:134.69, Y:-102.95, Z:-4.03 [[ 8.80932573e-01 -4.73187896e-01 -7.14267350e-03 1.34687320e+02] [-4.73171598e-01 -8.80961525e-01 3.92820168e-03 -1.02954095e+02] [-8.15119803e-03 -8.07705779e-05 -9.99966775e-01 -4.02901883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7065599949999 meters 0.013104640941801032 Centerline is valid? [True, True] Translation: X:134.71, Y:-102.98, Z:-4.03 [[ 9.15263187e-01 -4.02786156e-01 -7.52409309e-03 1.34710939e+02] [-4.02771804e-01 -9.15294109e-01 3.40118963e-03 -1.02977207e+02] [-8.25671017e-03 -8.24911149e-05 -9.99965909e-01 -4.02804558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.766559995 meters 0.012785257498026685 Centerline is valid? [True, True] Translation: X:134.74, Y:-103.00, Z:-4.03 [[ 9.43400408e-01 -3.31574431e-01 -7.35303499e-03 1.34737828e+02] [-3.31563821e-01 -9.43429061e-01 2.65328261e-03 -1.02997810e+02] [-7.81682757e-03 -6.51075221e-05 -9.99969446e-01 -4.02713955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8265599949999 meters 0.01229178236446896 Centerline is valid? [True, True] Translation: X:134.77, Y:-103.01, Z:-4.03 [[ 9.65295154e-01 -2.61042122e-01 -7.89158415e-03 1.34767257e+02] [-2.61033123e-01 -9.65327411e-01 2.16769806e-03 -1.03012849e+02] [-8.18382300e-03 -3.25035734e-05 -9.99966511e-01 -4.02652967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.886559995 meters 0.012273613097661682 Centerline is valid? [True, True] Translation: X:134.80, Y:-103.02, Z:-4.03 [[ 9.82120121e-01 -1.88127805e-01 -6.92791213e-03 1.34798432e+02] [-1.88123094e-01 -9.82144556e-01 1.33135345e-03 -1.03024782e+02] [-7.05467579e-03 -4.24874178e-06 -9.99975116e-01 -4.02702091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9465599949999 meters 0.012338223999827121 Centerline is valid? [True, True] Translation: X:134.83, Y:-103.04, Z:-4.03 [[ 9.93339025e-01 -1.15137338e-01 -4.57976817e-03 1.34825556e+02] [-1.15136197e-01 -9.93349583e-01 5.12922824e-04 -1.03037053e+02] [-4.60836737e-03 1.77908336e-05 -9.99989381e-01 -4.02771268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.006559995 meters 0.012435721428663386 Centerline is valid? [True, True] Translation: X:134.85, Y:-103.05, Z:-4.03 [[ 9.99240082e-01 -3.87987883e-02 -3.72989077e-03 1.34852867e+02] [-3.87985965e-02 -9.99247043e-01 1.23802410e-04 -1.03045245e+02] [-3.73188571e-03 2.10061967e-05 -9.99993036e-01 -4.02840916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0665599949999 meters 0.01227211792062411 Centerline is valid? [True, True] Translation: X:134.88, Y:-103.05, Z:-4.03 [[ 9.99143871e-01 4.13057117e-02 -2.31591079e-03 1.34881941e+02] [ 4.13055799e-02 -9.99146555e-01 -1.04711640e-04 -1.03054553e+02] [-2.31825947e-03 8.96195478e-06 -9.99997313e-01 -4.02921267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.126559995 meters 0.01221662573808221 Centerline is valid? [True, True] Translation: X:134.91, Y:-103.06, Z:-4.03 [[ 9.92607502e-01 1.21358561e-01 -1.56449393e-03 1.34911259e+02] [ 1.21358405e-01 -9.92608734e-01 -1.94263170e-04 -1.03061078e+02] [-1.57650584e-03 2.96259128e-06 -9.99998757e-01 -4.02942098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1865599949999 meters 0.012220406339664244 Centerline is valid? [True, True] Translation: X:134.94, Y:-103.07, Z:-4.03 [[ 9.79132061e-01 2.03199955e-01 -3.19141697e-03 1.34943162e+02] [ 2.03198905e-01 -9.79137262e-01 -6.53456802e-04 -1.03071054e+02] [-3.25761767e-03 -8.67192702e-06 -9.99994694e-01 -4.02758991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.246559995 meters 0.012452834276712298 Centerline is valid? [True, True] Translation: X:134.98, Y:-103.08, Z:-4.03 [[ 9.59048493e-01 2.83200337e-01 -4.85355632e-03 1.34975474e+02] [ 2.83196890e-01 -9.59060774e-01 -1.39766109e-03 -1.03077000e+02] [-5.05067358e-03 -3.40872917e-05 -9.99987245e-01 -4.02618888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3065599949999 meters 0.012644130240285045 Centerline is valid? [True, True] Translation: X:135.01, Y:-103.08, Z:-4.03 [[ 9.33400007e-01 3.58783647e-01 -6.22264331e-03 1.35007411e+02] [ 3.58776064e-01 -9.33420747e-01 -2.33337011e-03 -1.03078073e+02] [-6.64551940e-03 -5.45677993e-05 -9.99977917e-01 -4.02587445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.366559995 meters 0.012636014397791374 Centerline is valid? [True, True] Translation: X:135.04, Y:-103.08, Z:-4.02 [[ 9.02425840e-01 4.30785787e-01 -7.15611253e-03 1.35038840e+02] [ 4.30772816e-01 -9.02454210e-01 -3.34356280e-03 -1.03076076e+02] [-7.89842321e-03 -6.53412768e-05 -9.99968805e-01 -4.02468149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4265599949999 meters 0.012548613146471226 Centerline is valid? [True, True] Translation: X:135.07, Y:-103.07, Z:-4.02 [[ 8.66535914e-01 4.99060573e-01 -7.35211470e-03 1.35068964e+02] [ 4.99043192e-01 -8.66567101e-01 -4.16557616e-03 -1.03067796e+02] [-8.44997555e-03 -5.94014424e-05 -9.99964297e-01 -4.02390828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.486559995 meters 0.012263580202259906 Centerline is valid? [True, True] Translation: X:135.10, Y:-103.05, Z:-4.02 [[ 8.26871447e-01 5.62348450e-01 -6.91599313e-03 1.35096577e+02] [ 5.62329067e-01 -8.26900369e-01 -4.66902568e-03 -1.03054086e+02] [-8.34445663e-03 -2.83799463e-05 -9.99965184e-01 -4.02473940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5465599949999 meters 0.012301828387292562 Centerline is valid? [True, True] Translation: X:135.12, Y:-103.04, Z:-4.03 [[ 7.83815954e-01 6.20963475e-01 -6.07559711e-03 1.35121405e+02] [ 6.20944650e-01 -7.83839500e-01 -4.83517044e-03 -1.03036947e+02] [-7.76475724e-03 1.72742122e-05 -9.99969854e-01 -4.02565605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.606559995 meters 0.012460808952954096 Centerline is valid? [True, True] Translation: X:135.15, Y:-103.02, Z:-4.03 [[ 7.35783418e-01 6.77200936e-01 -4.65342561e-03 1.35147647e+02] [ 6.77187031e-01 -7.35798132e-01 -4.33993172e-03 -1.03022064e+02] [-6.36298769e-03 4.20103185e-05 -9.99979755e-01 -4.02777321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.666559995 meters 0.012663634843546314 Centerline is valid? [True, True] Translation: X:135.17, Y:-103.01, Z:-4.03 [[ 6.81567227e-01 7.31742926e-01 -4.29017781e-03 1.35171970e+02] [ 7.31727955e-01 -6.81580727e-01 -4.68103501e-03 -1.03006116e+02] [-6.34941677e-03 5.11970176e-05 -9.99979841e-01 -4.02826652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7265599949999 meters 0.012673541378257618 Centerline is valid? [True, True] Translation: X:135.20, Y:-102.99, Z:-4.03 [[ 6.21800595e-01 7.83164867e-01 -4.10018616e-03 1.35197107e+02] [ 7.83147301e-01 -6.21814111e-01 -5.24560371e-03 -1.02990438e+02] [-6.65772614e-03 5.06697844e-05 -9.99977836e-01 -4.02790376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.786559995 meters 0.012404752086392055 Centerline is valid? [True, True] Translation: X:135.22, Y:-102.97, Z:-4.03 [[ 5.53983894e-01 8.32514956e-01 -4.54900490e-03 1.35223441e+02] [ 8.32486632e-01 -5.54002570e-01 -6.86725491e-03 -1.02973894e+02] [-8.23725283e-03 1.73628452e-05 -9.99966073e-01 -4.02667544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8465599949999 meters 0.012466236560666467 Centerline is valid? [True, True] Translation: X:135.25, Y:-102.95, Z:-4.03 [[ 4.83856506e-01 8.75137303e-01 -4.19305375e-03 1.35247031e+02] [ 8.75104685e-01 -4.83874674e-01 -7.55582764e-03 -1.02954623e+02] [-8.64129914e-03 -1.34246139e-05 -9.99962663e-01 -4.02628191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.906559995 meters 0.01270262839445898 Centerline is valid? [True, True] Translation: X:135.27, Y:-102.93, Z:-4.03 [[ 4.08592364e-01 9.12709053e-01 -3.80333811e-03 1.35271563e+02] [ 9.12671027e-01 -4.08610060e-01 -8.33163415e-03 -1.02934755e+02] [-9.15844013e-03 -6.69544036e-05 -9.99958058e-01 -4.02668182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9665599949999 meters 0.013689976786820584 Centerline is valid? [True, True] Translation: X:135.29, Y:-102.91, Z:-4.03 [[ 3.30086954e-01 9.43945593e-01 -3.05303435e-03 1.35294309e+02] [ 9.43908506e-01 -3.30101051e-01 -8.36833813e-03 -1.02912690e+02] [-8.90706575e-03 -1.19505849e-04 -9.99960324e-01 -4.02667231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.026559995 meters 0.01430863116183534 Centerline is valid? [True, True] Translation: X:135.31, Y:-102.89, Z:-4.03 [[ 2.51246388e-01 9.67920552e-01 -2.24868400e-03 1.35314736e+02] [ 9.67886839e-01 -2.51256408e-01 -8.07990747e-03 -1.02887979e+02] [-8.38570477e-03 -1.46424080e-04 -9.99964829e-01 -4.02684411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0865599949999 meters 0.014269067180030213 Centerline is valid? [True, True] Translation: X:135.33, Y:-102.86, Z:-4.03 [[ 1.73949763e-01 9.84753167e-01 -1.63699979e-03 1.35330926e+02] [ 9.84717566e-01 -1.73957397e-01 -8.37494201e-03 -1.02861619e+02] [-8.53201889e-03 -1.55163269e-04 -9.99963590e-01 -4.02716910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.146559995 meters 0.014509859093525646 Centerline is valid? [True, True] Translation: X:135.34, Y:-102.83, Z:-4.03 [[ 9.62242781e-02 9.95359228e-01 -9.45955109e-04 1.35342035e+02] [ 9.95325313e-01 -9.62288096e-02 -8.21814511e-03 -1.02834830e+02] [-8.27103471e-03 -1.50747984e-04 -9.99965783e-01 -4.02782097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2065599949999 meters 0.01401463803929213 Centerline is valid? [True, True] Translation: X:135.35, Y:-102.81, Z:-4.03 [[ 1.88982717e-02 9.99821359e-01 -3.25344153e-04 1.35352393e+02] [ 9.99781002e-01 -1.89004324e-02 -8.98452601e-03 -1.02805816e+02] [-8.98907015e-03 -1.55480890e-04 -9.99959585e-01 -4.02742242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.266559995 meters 0.014224514288434489 Centerline is valid? [True, True] Translation: X:135.36, Y:-102.78, Z:-4.03 [[-5.91691086e-02 9.98247882e-01 4.26915280e-04 1.35360776e+02] [ 9.98196735e-01 5.91703992e-02 -1.01064950e-02 -1.02778185e+02] [-1.01140479e-02 -1.71846860e-04 -9.99948837e-01 -4.02618562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3265599949999 meters 0.01440934629610239 Centerline is valid? [True, True] Translation: X:135.36, Y:-102.75, Z:-4.03 [[-1.36796727e-01 9.90598276e-01 1.30846756e-03 1.35363043e+02] [ 9.90539489e-01 1.36802866e-01 -1.07933591e-02 -1.02750380e+02] [-1.08708850e-02 -1.80407410e-04 -9.99940894e-01 -4.02567092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.386559995 meters 0.014130065424588254 Centerline is valid? [True, True] Translation: X:135.36, Y:-102.72, Z:-4.03 [[-2.14533745e-01 9.76713892e-01 2.29020227e-03 1.35364802e+02] [ 9.76647954e-01 2.14545877e-01 -1.13508166e-02 -1.02720943e+02] [-1.15778537e-02 -1.98411830e-04 -9.99932955e-01 -4.02626447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4465599949999 meters 0.01482290427655794 Centerline is valid? [True, True] Translation: X:135.37, Y:-102.69, Z:-4.03 [[-2.91855316e-01 9.56456723e-01 3.31844065e-03 1.35365905e+02] [ 9.56385823e-01 2.91874094e-01 -1.16478079e-02 -1.02692342e+02] [-1.21091911e-02 -2.25765079e-04 -9.99926656e-01 -4.02507419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.506559995 meters 0.014893513445680578 Centerline is valid? [True, True] Translation: X:135.36, Y:-102.66, Z:-4.03 [[-3.68439583e-01 9.29639826e-01 4.69763786e-03 1.35364020e+02] [ 9.29554006e-01 3.68469416e-01 -1.26348605e-02 -1.02662164e+02] [-1.34768054e-02 -2.88474641e-04 -9.99909142e-01 -4.02526395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5665599949999 meters 0.01547820052401406 Centerline is valid? [True, True] Translation: X:135.36, Y:-102.63, Z:-4.02 [[-4.41215756e-01 8.97379814e-01 6.17460613e-03 1.35359670e+02] [ 8.97281177e-01 4.41258835e-01 -1.33089927e-02 -1.02632554e+02] [-1.46678209e-02 -3.31779426e-04 -9.99892367e-01 -4.02438963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.626559995 meters 0.015638665844491202 Centerline is valid? [True, True] Translation: X:135.35, Y:-102.61, Z:-4.02 [[-5.09066811e-01 8.60702623e-01 6.47898861e-03 1.35351429e+02] [ 8.60625756e-01 5.09107961e-01 -1.15062066e-02 -1.02606306e+02] [-1.32019268e-02 -2.81443407e-04 -9.99912811e-01 -4.02474299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6865599949999 meters 0.014950609483334161 Centerline is valid? [True, True] Translation: X:135.34, Y:-102.58, Z:-4.03 [[-5.72486044e-01 8.19888717e-01 6.49778824e-03 1.35336834e+02] [ 8.19831621e-01 5.72522879e-01 -9.67815286e-03 -1.02582181e+02] [-1.16551408e-02 -2.13515179e-04 -9.99932054e-01 -4.02583051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.746559995 meters 0.013678027337309795 Centerline is valid? [True, True] Translation: X:135.32, Y:-102.56, Z:-4.03 [[-6.30690957e-01 7.76009908e-01 6.12697278e-03 1.35318091e+02] [ 7.75971329e-01 6.30720704e-01 -7.73888488e-03 -1.02562191e+02] [-9.86985993e-03 -1.26489501e-04 -9.99951284e-01 -4.02724270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8065599949999 meters 0.012394510134821828 Centerline is valid? [True, True] Translation: X:135.30, Y:-102.54, Z:-4.03 [[-6.85833690e-01 7.27735122e-01 5.80874447e-03 1.35302464e+02] [ 7.27708203e-01 6.85858286e-01 -6.25968710e-03 -1.02539159e+02] [-8.53936968e-03 -6.60333041e-05 -9.99963537e-01 -4.02900600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.866559995 meters 0.01236017323568511 Centerline is valid? [True, True] Translation: X:135.29, Y:-102.51, Z:-4.03 [[-7.39721417e-01 6.72877517e-01 6.93337191e-03 1.35288758e+02] [ 6.72847219e-01 7.39753907e-01 -6.38564807e-03 -1.02514302e+02] [-9.42574798e-03 -5.85006357e-05 -9.99955575e-01 -4.02733052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9265599949999 meters 0.012732705858150025 Centerline is valid? [True, True] Translation: X:135.31, Y:-102.49, Z:-4.03 [[-7.86733995e-01 6.17239313e-01 8.07784044e-03 1.35310041e+02] [ 6.17205661e-01 7.86775459e-01 -6.44588628e-03 -1.02492548e+02] [-1.03341010e-02 -8.55090184e-05 -9.99946598e-01 -4.02523845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.986559995 meters 0.012780100981765156 Centerline is valid? [True, True] Translation: X:135.33, Y:-102.47, Z:-4.02 [[-8.29094363e-01 5.59026148e-01 9.60743815e-03 1.35326818e+02] [ 5.58987075e-01 8.29150019e-01 -6.61031361e-03 -1.02468938e+02] [-1.16613457e-02 -1.10140010e-04 -9.99931998e-01 -4.02357368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0465599949999 meters 0.012933389461633677 Centerline is valid? [True, True] Translation: X:135.34, Y:-102.44, Z:-4.02 [[-8.66729937e-01 4.98685454e-01 9.59344057e-03 1.35340179e+02] [ 4.98653516e-01 8.66783022e-01 -5.64486688e-03 -1.02443769e+02] [-1.11304444e-02 -1.08772250e-04 -9.99938049e-01 -4.02350832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.106559995 meters 0.012948270082025206 Centerline is valid? [True, True] Translation: X:135.36, Y:-102.42, Z:-4.02 [[-8.99773335e-01 4.36274549e-01 8.51251400e-03 1.35359904e+02] [ 4.36254071e-01 8.99813597e-01 -4.22802983e-03 -1.02420606e+02] [-9.50425766e-03 -9.06496160e-05 -9.99954829e-01 -4.02378393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.166559995 meters 0.01234318743718811 Centerline is valid? [True, True] Translation: X:135.37, Y:-102.39, Z:-4.03 [[-9.27919874e-01 3.72706272e-01 7.39884203e-03 1.35368203e+02] [ 3.72693862e-01 9.27949368e-01 -3.04219037e-03 -1.02394311e+02] [-7.99959422e-03 -6.54058921e-05 -9.99968001e-01 -4.02540599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2265599949999 meters 0.012420711806400675 Centerline is valid? [True, True] Translation: X:135.38, Y:-102.37, Z:-4.02 [[-9.51728299e-01 3.06849678e-01 7.51795226e-03 1.35376414e+02] [ 3.06839622e-01 9.51757990e-01 -2.48494587e-03 -1.02366602e+02] [-7.91777597e-03 -5.81876772e-05 -9.99968652e-01 -4.02464863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.286559995 meters 0.012476630711585683 Centerline is valid? [True, True] Translation: X:135.60, Y:-101.72, Z:-5.02 [[-9.23536572e-01 -3.83428048e-01 7.94557073e-03 1.35604364e+02] [ 3.83414811e-01 -9.23570745e-01 -3.18770538e-03 -1.01715379e+02] [ 8.56055233e-03 1.02487000e-04 9.99963353e-01 -5.01625566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3465599949999 meters 0.012423470174088689 Centerline is valid? [True, True] Translation: X:135.34, Y:-102.35, Z:-4.02 [[-9.52519402e-01 3.04356939e-01 8.58153551e-03 1.35342528e+02] [ 3.04344052e-01 9.52558056e-01 -2.80137430e-03 -1.02353752e+02] [-9.02702850e-03 -5.66240833e-05 -9.99959254e-01 -4.02307372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.406559995 meters 0.012295102760082645 Centerline is valid? [True, True] Translation: X:135.56, Y:-101.70, Z:-5.02 [[-9.25719478e-01 -3.78135044e-01 7.57205911e-03 1.35560495e+02] [ 3.78122395e-01 -9.25750446e-01 -3.09289077e-03 -1.01703603e+02] [ 8.17936749e-03 1.58993893e-08 9.99966548e-01 -5.01715702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4665599949999 meters 0.012153962329085218 Centerline is valid? [True, True] Translation: X:135.30, Y:-102.34, Z:-4.02 [[-9.52991929e-01 3.02903954e-01 7.45501571e-03 1.35300606e+02] [ 3.02894423e-01 9.53021088e-01 -2.40311371e-03 -1.02340945e+02] [-7.83269982e-03 -3.20652879e-05 -9.99969323e-01 -4.02376255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.526559995 meters 0.012190274423074762 Centerline is valid? [True, True] Translation: X:135.31, Y:-102.32, Z:-4.02 [[-9.71786469e-01 2.35748993e-01 7.31242327e-03 1.35308372e+02] [ 2.35742148e-01 9.71813980e-01 -1.79668966e-03 -1.02316156e+02] [-7.52988294e-03 -2.21523362e-05 -9.99971650e-01 -4.02406255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5865599949999 meters 0.01226957200738847 Centerline is valid? [True, True] Translation: X:135.31, Y:-102.29, Z:-4.02 [[-9.86147378e-01 1.65702144e-01 7.49317113e-03 1.35309224e+02] [ 1.65697156e-01 9.86175846e-01 -1.28602122e-03 -1.02288655e+02] [-7.60268085e-03 -2.66093109e-05 -9.99971099e-01 -4.02335686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.646559995 meters 0.012522434720505298 Centerline is valid? [True, True] Translation: X:135.43, Y:-101.61, Z:-5.02 [[-9.70668596e-01 -2.40292413e-01 7.87616219e-03 1.35427479e+02] [ 2.40285009e-01 -9.70700547e-01 -1.88729290e-03 -1.01611338e+02] [ 8.09889711e-03 6.05877563e-05 9.99967202e-01 -5.01727533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7065599949999 meters 0.01290816285161889 Centerline is valid? [True, True] Translation: X:135.26, Y:-102.28, Z:-4.02 [[-9.87676428e-01 1.56292794e-01 8.23630484e-03 1.35257161e+02] [ 1.56286709e-01 9.87710766e-01 -1.38123967e-03 -1.02278106e+02] [-8.35096477e-03 -7.69928823e-05 -9.99965127e-01 -4.02290213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.766559995 meters 0.014009758242996087 Centerline is valid? [True, True] Translation: X:135.25, Y:-102.25, Z:-4.02 [[-9.96744452e-01 8.02685604e-02 7.57994056e-03 1.35250312e+02] [ 8.02653763e-02 9.96773267e-01 -7.23838628e-04 -1.02246373e+02] [-7.61358360e-03 -1.13075355e-04 -9.99971010e-01 -4.02309340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8265599949999 meters 0.015022476617861196 Centerline is valid? [True, True] Translation: X:135.32, Y:-101.58, Z:-5.02 [[-9.83521388e-01 -1.80639138e-01 7.42833359e-03 1.35324041e+02] [ 1.80634802e-01 -9.83549435e-01 -1.25613542e-03 -1.01577528e+02] [ 7.53304052e-03 1.06379514e-04 9.99971621e-01 -5.01689084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.886559995 meters 0.016523833604449065 Centerline is valid? [True, True] Translation: X:135.21, Y:-102.24, Z:-4.02 [[-9.97609028e-01 6.86339200e-02 8.10017173e-03 1.35205927e+02] [ 6.86301623e-02 9.97641895e-01 -7.41287278e-04 -1.02235675e+02] [-8.13194813e-03 -1.83598780e-04 -9.99966918e-01 -4.02222592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9465599949999 meters 0.01668681455064491 Centerline is valid? [True, True] Translation: X:135.20, Y:-102.21, Z:-4.02 [[-9.99955429e-01 -5.57020015e-03 7.62320841e-03 1.35201200e+02] [-5.57153702e-03 9.99984467e-01 -1.54142571e-04 -1.02207240e+02] [-7.62223140e-03 -1.96608689e-04 -9.99970931e-01 -4.02368085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.006559995 meters 0.018020944285352867 Centerline is valid? [True, True] Translation: X:135.20, Y:-102.18, Z:-4.02 [[-9.96909118e-01 -7.82511674e-02 6.99753115e-03 1.35199326e+02] [-7.82505914e-02 9.96933658e-01 3.56480982e-04 -1.02177202e+02] [-7.00396938e-03 -1.92181809e-04 -9.99975453e-01 -4.02382866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0665599949999 meters 0.018476786250604886 Centerline is valid? [True, True] Translation: X:135.17, Y:-101.53, Z:-5.02 [[-9.98927542e-01 -4.55394416e-02 8.36214488e-03 1.35165334e+02] [ 4.55405238e-02 -9.98962490e-01 -6.10467644e-05 -1.01527889e+02] [ 8.35624911e-03 3.19835164e-04 9.99965035e-01 -5.01703615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.126559995 meters 0.01775555977529763 Centerline is valid? [True, True] Translation: X:135.13, Y:-102.18, Z:-4.02 [[-9.96364538e-01 -8.46257069e-02 9.80801002e-03 1.35129496e+02] [-8.46244485e-02 9.96412769e-01 5.43992706e-04 -1.02178193e+02] [-9.81886219e-03 -2.87982397e-04 -9.99951752e-01 -4.02229807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1865599949999 meters 0.017939185504179597 Centerline is valid? [True, True] Translation: X:135.12, Y:-102.15, Z:-4.02 [[-9.87924590e-01 -1.54611846e-01 1.00091197e-02 1.35119619e+02] [-1.54606871e-01 9.87975249e-01 1.27358926e-03 -1.02152028e+02] [-1.00856745e-02 -2.89268539e-04 -9.99949096e-01 -4.02194961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.246559995 meters 0.016598910050801375 Centerline is valid? [True, True] Translation: X:135.05, Y:-101.51, Z:-5.02 [[-9.99400857e-01 3.31853715e-02 9.83151517e-03 1.35045880e+02] [-3.31811360e-02 -9.99449178e-01 5.93661981e-04 -1.01507071e+02] [ 9.84580065e-03 2.67085451e-04 9.99951493e-01 -5.01730588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3065599949999 meters 0.014977664303867598 Centerline is valid? [True, True] Translation: X:135.05, Y:-102.17, Z:-4.02 [[-9.88514531e-01 -1.50842240e-01 9.25426804e-03 1.35046697e+02] [-1.50837350e-01 9.88557831e-01 1.22812577e-03 -1.02169083e+02] [-9.33363238e-03 -1.81869101e-04 -9.99956424e-01 -4.02315454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.366559995 meters 0.013888035962224828 Centerline is valid? [True, True] Translation: X:135.04, Y:-102.15, Z:-4.02 [[-9.76423521e-01 -2.15703091e-01 8.32366053e-03 1.35041011e+02] [-2.15696302e-01 9.76458992e-01 1.71565259e-03 -1.02146590e+02] [-8.49778474e-03 -1.20179251e-04 -9.99963886e-01 -4.02355635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4265599949999 meters 0.012867826587385483 Centerline is valid? [True, True] Translation: X:135.03, Y:-102.13, Z:-4.02 [[-9.60746309e-01 -2.77305319e-01 8.26381206e-03 1.35027534e+02] [-2.77295524e-01 9.60781847e-01 2.33134557e-03 -1.02127904e+02] [-8.58621514e-03 -5.16864445e-05 -9.99963136e-01 -4.02297768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.486559995 meters 0.012662997328615047 Centerline is valid? [True, True] Translation: X:135.00, Y:-102.12, Z:-4.02 [[-9.40753449e-01 -3.38962506e-01 9.34712082e-03 1.34997756e+02] [-3.38945632e-01 9.40799883e-01 3.38220629e-03 -1.02115492e+02] [-9.94021129e-03 1.36564581e-05 -9.99950595e-01 -4.02142371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5465599949999 meters 0.012949877070113051 Centerline is valid? [True, True] Translation: X:134.95, Y:-102.11, Z:-4.02 [[-9.14934376e-01 -4.03487999e-01 9.61881161e-03 1.34945425e+02] [-4.03465072e-01 9.14984935e-01 4.30164961e-03 -1.02110880e+02] [-1.05367317e-02 5.48725872e-05 -9.99944486e-01 -4.02149549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.606559995 meters 0.013404735588354056 Centerline is valid? [True, True] Translation: X:134.88, Y:-102.11, Z:-4.02 [[-8.84041248e-01 -4.67312376e-01 9.49816697e-03 1.34883084e+02] [-4.67284340e-01 8.84092267e-01 5.11954912e-03 -1.02113540e+02] [-1.07896846e-02 8.75479108e-05 -9.99941786e-01 -4.02130003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.666559995 meters 0.013432476477883041 Centerline is valid? [True, True] Translation: X:134.81, Y:-102.13, Z:-4.02 [[-8.47889166e-01 -5.30090256e-01 9.39584144e-03 1.34807941e+02] [-5.30056272e-01 8.47941217e-01 6.00333412e-03 -1.02126129e+02] [-1.11494301e-02 1.09837272e-04 -9.99937837e-01 -4.02141259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7265599949999 meters 0.013387458651565112 Centerline is valid? [True, True] Translation: X:134.73, Y:-102.15, Z:-4.02 [[-8.05846293e-01 -5.92057070e-01 8.95422944e-03 1.34731702e+02] [-5.92019027e-01 8.05896032e-01 6.71251597e-03 -1.02145173e+02] [-1.11903705e-02 1.08181905e-04 -9.99937380e-01 -4.02098471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.786559995 meters 0.013515286824152532 Centerline is valid? [True, True] Translation: X:134.65, Y:-102.18, Z:-4.02 [[-7.58006930e-01 -6.52188399e-01 8.70553056e-03 1.34645621e+02] [-6.52144019e-01 7.58056914e-01 7.60878538e-03 -1.02178622e+02] [-1.15616492e-02 9.02523650e-05 -9.99933158e-01 -4.01914249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8465599949999 meters 0.01277384506991813 Centerline is valid? [True, True] Translation: X:134.56, Y:-102.22, Z:-4.02 [[-7.04299763e-01 -7.09850193e-01 8.63406862e-03 1.34560608e+02] [-7.09795920e-01 7.04352682e-01 8.77790178e-03 -1.02216349e+02] [-1.23124247e-02 5.38474701e-05 -9.99924198e-01 -4.01950203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.906559995 meters 0.012660400228477066 Centerline is valid? [True, True] Translation: X:134.47, Y:-102.27, Z:-4.02 [[-6.45497028e-01 -7.63724507e-01 7.64620036e-03 1.34474532e+02] [-7.63670893e-01 6.45542313e-01 9.04923367e-03 -1.02266050e+02] [-1.18470674e-02 2.07278477e-06 -9.99929821e-01 -4.01886676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9665599949999 meters 0.01264640341481011 Centerline is valid? [True, True] Translation: X:134.39, Y:-102.33, Z:-4.02 [[-5.81963765e-01 -8.13192270e-01 6.04228420e-03 1.34389126e+02] [-8.13149289e-01 5.81995129e-01 8.36088096e-03 -1.02326057e+02] [-1.03155837e-02 -4.75493359e-05 -9.99946792e-01 -4.02026234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.026559995 meters 0.012915333055241361 Centerline is valid? [True, True] Translation: X:134.31, Y:-102.40, Z:-4.02 [[-5.15705216e-01 -8.56752814e-01 4.76929422e-03 1.34306783e+02] [-8.56717486e-01 5.15727264e-01 7.78060442e-03 -1.02395188e+02] [-9.12570979e-03 -7.34394640e-05 -9.99958357e-01 -4.02065933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0865599949999 meters 0.01340125968608391 Centerline is valid? [True, True] Translation: X:134.23, Y:-102.47, Z:-4.02 [[-4.45101125e-01 -8.95473017e-01 3.61448135e-03 1.34229849e+02] [-8.95445281e-01 4.45115790e-01 7.04862139e-03 -1.02468649e+02] [-7.92071298e-03 -9.92209513e-05 -9.99968626e-01 -4.02106715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.146559995 meters 0.013732888371665343 Centerline is valid? [True, True] Translation: X:134.16, Y:-102.55, Z:-4.02 [[-3.73428825e-01 -9.27654409e-01 2.86554928e-03 1.34158616e+02] [-9.27629316e-01 3.73439803e-01 6.82396526e-03 -1.02554696e+02] [-7.40039162e-03 -1.09902194e-04 -9.99972611e-01 -4.02128232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2065599949999 meters 0.014629129929704596 Centerline is valid? [True, True] Translation: X:134.09, Y:-102.65, Z:-4.02 [[-2.99604345e-01 -9.54059846e-01 2.65469280e-03 1.34091309e+02] [-9.54026506e-01 2.99616072e-01 7.97718828e-03 -1.02647710e+02] [-8.40610365e-03 -1.42647030e-04 -9.99964658e-01 -4.01997251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.266559995 meters 0.014646766758926935 Centerline is valid? [True, True] Translation: X:134.03, Y:-102.74, Z:-4.02 [[-2.25534794e-01 -9.74232257e-01 2.35933478e-03 1.34034848e+02] [-9.74186474e-01 2.25547072e-01 9.44633780e-03 -1.02744403e+02] [-9.73506805e-03 -1.67954184e-04 -9.99952599e-01 -4.01882380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3265599949999 meters 0.014634288255578817 Centerline is valid? [True, True] Translation: X:133.99, Y:-102.85, Z:-4.02 [[-1.51920981e-01 -9.88390666e-01 1.97656259e-03 1.33985840e+02] [-9.88322141e-01 1.51933726e-01 1.16399823e-02 -1.02848183e+02] [-1.18051563e-02 -1.85123054e-04 -9.99930300e-01 -4.01657514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.386559995 meters 0.013811842707712576 Centerline is valid? [True, True] Translation: X:133.95, Y:-102.96, Z:-4.02 [[-7.85391059e-02 -9.96910394e-01 1.12955282e-03 1.33948948e+02] [-9.96834334e-01 7.85470678e-02 1.23153740e-02 -1.02957100e+02] [-1.23660474e-02 -1.58738577e-04 -9.99923525e-01 -4.01740393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4465599949999 meters 0.013213751740871523 Centerline is valid? [True, True] Translation: X:133.92, Y:-103.07, Z:-4.02 [[-5.30610526e-03 -9.99985906e-01 1.79385046e-04 1.33921475e+02] [-9.99910551e-01 5.30790768e-03 1.22766306e-02 -1.03065167e+02] [-1.22774097e-02 -1.14227906e-04 -9.99924623e-01 -4.01845846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.506559995 meters 0.012956359876433366 Centerline is valid? [True, True] Translation: X:133.90, Y:-103.18, Z:-4.02 [[ 6.87600103e-02 -9.97633001e-01 -6.75123164e-04 1.33902294e+02] [-9.97574262e-01 -6.87632880e-02 1.08260248e-02 -1.03183090e+02] [-1.08468233e-02 -7.09120844e-05 -9.99941169e-01 -4.02066057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5665599949999 meters 0.01296489034175374 Centerline is valid? [True, True] Translation: X:133.89, Y:-103.30, Z:-4.02 [[ 1.44336850e-01 -9.89527684e-01 -1.35537045e-03 1.33889346e+02] [-9.89480375e-01 -1.44343202e-01 9.67608999e-03 -1.03302638e+02] [-9.77039743e-03 -5.55038881e-05 -9.99952267e-01 -4.02193905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.626559995 meters 0.012894055802920187 Centerline is valid? [True, True] Translation: X:133.89, Y:-103.42, Z:-4.02 [[ 2.19654785e-01 -9.75575357e-01 -2.12101677e-03 1.33885069e+02] [-9.75527497e-01 -2.19665019e-01 9.66343789e-03 -1.03419429e+02] [-9.89332505e-03 -5.35101919e-05 -9.99951058e-01 -4.02276527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6865599949999 meters 0.01291800831301681 Centerline is valid? [True, True] Translation: X:133.89, Y:-103.54, Z:-4.02 [[ 2.93483664e-01 -9.55959422e-01 -2.98694989e-03 1.33889801e+02] [-9.55908138e-01 -2.93498859e-01 9.90210927e-03 -1.03537978e+02] [-1.03426810e-02 -5.08576026e-05 -9.99946512e-01 -4.02293307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.746559995 meters 0.012855186928619564 Centerline is valid? [True, True] Translation: X:133.90, Y:-103.65, Z:-4.02 [[ 3.64821410e-01 -9.31069140e-01 -3.94916505e-03 1.33904014e+02] [-9.31013430e-01 -3.64842782e-01 1.01852133e-02 -1.03653445e+02] [-1.09239621e-02 -3.90581640e-05 -9.99940331e-01 -4.02402652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8065599949999 meters 0.012787279712642792 Centerline is valid? [True, True] Translation: X:133.93, Y:-103.77, Z:-4.02 [[ 4.33290394e-01 -9.01242648e-01 -4.59603822e-03 1.33927398e+02] [-9.01191564e-01 -4.33314769e-01 9.59563328e-03 -1.03771043e+02] [-1.06395252e-02 -1.57848564e-05 -9.99943399e-01 -4.02458386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.866559995 meters 0.01293172209882816 Centerline is valid? [True, True] Translation: X:133.96, Y:-103.88, Z:-4.03 [[ 4.96748456e-01 -8.67880692e-01 -4.90673099e-03 1.33956573e+02] [-8.67839046e-01 -4.96772688e-01 8.50212438e-03 -1.03876939e+02] [-9.81635953e-03 3.48355809e-05 -9.99951818e-01 -4.02598116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9265599949999 meters 0.013076224774705278 Centerline is valid? [True, True] Translation: X:133.99, Y:-103.98, Z:-4.03 [[ 5.60263334e-01 -8.28295996e-01 -5.54430987e-03 1.33993537e+02] [-8.28256368e-01 -5.60290763e-01 8.10239461e-03 -1.03984604e+02] [-9.81760663e-03 5.26353424e-05 -9.99951805e-01 -4.02630758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.986559995 meters 0.013626810930006495 Centerline is valid? [True, True] Translation: X:134.04, Y:-104.09, Z:-4.03 [[ 6.18059134e-01 -7.86101509e-01 -6.87924356e-03 1.34038168e+02] [-7.86054859e-01 -6.18097407e-01 8.56472459e-03 -1.04085637e+02] [-1.09847855e-02 1.13956562e-04 -9.99939659e-01 -4.02606130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0465599949999 meters 0.014398625305388954 Centerline is valid? [True, True] Translation: X:134.09, Y:-104.18, Z:-4.02 [[ 6.73295627e-01 -7.39316566e-01 -9.16589895e-03 1.34086403e+02] [-7.39251929e-01 -6.73357986e-01 9.77794374e-03 -1.04182092e+02] [-1.34009271e-02 1.92461715e-04 -9.99910185e-01 -4.02465531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.106559995 meters 0.01455168745939308 Centerline is valid? [True, True] Translation: X:134.14, Y:-104.27, Z:-4.03 [[ 7.26317162e-01 -6.87280559e-01 -1.04313904e-02 1.34139061e+02] [-6.87214181e-01 -7.26392030e-01 9.55448819e-03 -1.04273401e+02] [-1.41438928e-02 2.29010673e-04 -9.99899944e-01 -4.02510499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.166559995 meters 0.014692051205782822 Centerline is valid? [True, True] Translation: X:134.16, Y:-104.30, Z:-4.03 [[ 7.77422436e-01 -6.28878199e-01 -1.12502350e-02 1.34156398e+02] [-6.28816787e-01 -7.77503797e-01 8.79169020e-03 -1.04302025e+02] [-1.42760027e-02 2.39479403e-04 -9.99898064e-01 -4.02647298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2265599949999 meters 0.014666618415422201 Centerline is valid? [True, True] Translation: X:134.18, Y:-104.33, Z:-4.03 [[ 8.24897460e-01 -5.65148973e-01 -1.22808243e-02 1.34176239e+02] [-5.65090465e-01 -8.24988840e-01 8.13511064e-03 -1.04329580e+02] [-1.47290924e-02 2.29144585e-04 -9.99891495e-01 -4.02641832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.286559995 meters 0.014020996175886116 Centerline is valid? [True, True] Translation: X:134.20, Y:-104.36, Z:-4.03 [[ 8.68578118e-01 -4.95398844e-01 -1.23304285e-02 1.34198031e+02] [-4.95351573e-01 -8.68665620e-01 6.84539678e-03 -1.04357570e+02] [-1.41022210e-02 1.62135303e-04 -9.99900546e-01 -4.02676289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3465599949999 meters 0.012831995837499508 Centerline is valid? [True, True] Translation: X:134.22, Y:-104.39, Z:-4.03 [[ 9.07712446e-01 -4.19401931e-01 -1.26544704e-02 1.34220063e+02] [-4.19362086e-01 -9.07800648e-01 5.78137979e-03 -1.04388450e+02] [-1.39124583e-02 5.89746976e-05 -9.99903215e-01 -4.02760338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.406559995 meters 0.012750710537543388 Centerline is valid? [True, True] Translation: X:134.24, Y:-104.41, Z:-4.03 [[ 9.39963948e-01 -3.41029678e-01 -1.29048509e-02 1.34244996e+02] [-3.40997080e-01 -9.40052529e-01 4.71528566e-03 -1.04413644e+02] [-1.37392901e-02 -3.16820609e-05 -9.99905611e-01 -4.02790699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4665599949999 meters 0.013499537749220738 Centerline is valid? [True, True] Translation: X:134.27, Y:-104.44, Z:-4.03 [[ 9.66438083e-01 -2.56586403e-01 -1.26826684e-02 1.34271698e+02] [-2.56562061e-01 -9.66521283e-01 3.53817985e-03 -1.04443004e+02] [-1.31659178e-02 -1.65540205e-04 -9.99913312e-01 -4.02892571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.526559995 meters 0.015043021186684474 Centerline is valid? [True, True] Translation: X:134.30, Y:-104.47, Z:-4.03 [[ 9.84905944e-01 -1.72599823e-01 -1.30224127e-02 1.34302192e+02] [-1.72581101e-01 -9.84991994e-01 2.55642664e-03 -1.04467938e+02] [-1.32682111e-02 -2.70417453e-04 -9.99911937e-01 -4.02886696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5865599949999 meters 0.0173710140891815 Centerline is valid? [True, True] Translation: X:134.34, Y:-104.49, Z:-4.03 [[ 9.95662538e-01 -9.20207200e-02 -1.37221256e-02 1.34335209e+02] [-9.20074949e-02 -9.95757040e-01 1.59332547e-03 -1.04486495e+02] [-1.38105221e-02 -3.23876084e-04 -9.99904578e-01 -4.02725640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.646559995 meters 0.016448950103871582 Centerline is valid? [True, True] Translation: X:134.37, Y:-104.50, Z:-4.03 [[ 9.99817773e-01 -1.18953187e-02 -1.49305701e-02 1.34366875e+02] [-1.18883464e-02 -9.99929177e-01 5.55651713e-04 -1.04498067e+02] [-1.49361223e-02 -3.78050669e-04 -9.99888378e-01 -4.02871390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7065599949999 meters 0.016916610301728325 Centerline is valid? [True, True] Translation: X:134.40, Y:-104.51, Z:-4.03 [[ 9.97662695e-01 6.64008662e-02 -1.61267252e-02 1.34398789e+02] [ 6.63987915e-02 -9.97792944e-01 -6.64635664e-04 -1.04505865e+02] [-1.61352650e-02 -4.07712859e-04 -9.99869735e-01 -4.02749570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.766559995 meters 0.016450702351180277 Centerline is valid? [True, True] Translation: X:134.43, Y:-104.51, Z:-4.03 [[ 9.89760125e-01 1.41579665e-01 -1.81684530e-02 1.34432556e+02] [ 1.41563441e-01 -9.89926780e-01 -2.18251188e-03 -1.04507848e+02] [-1.82944375e-02 -4.11825489e-04 -9.99832558e-01 -4.02599251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8265599949999 meters 0.015391168426911026 Centerline is valid? [True, True] Translation: X:134.47, Y:-104.51, Z:-4.03 [[ 9.76300039e-01 2.15690160e-01 -1.77760528e-02 1.34465197e+02] [ 2.15660980e-01 -9.76461792e-01 -3.56524422e-03 -1.04506340e+02] [-1.81266245e-02 -3.52852911e-04 -9.99835637e-01 -4.02723737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.886559995 meters 0.013595908807748705 Centerline is valid? [True, True] Translation: X:134.50, Y:-104.50, Z:-4.03 [[ 9.58259409e-01 2.85481858e-01 -1.54601011e-02 1.34497562e+02] [ 2.85448267e-01 -9.58384090e-01 -4.38436562e-03 -1.04502620e+02] [-1.60683717e-02 -2.11699454e-04 -9.99870873e-01 -4.03063118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9465599949999 meters 0.012750360222427233 Centerline is valid? [True, True] Translation: X:134.53, Y:-104.50, Z:-4.03 [[ 9.36095216e-01 3.51456611e-01 -1.42827421e-02 1.34529341e+02] [ 3.51416800e-01 -9.36204169e-01 -5.29027527e-03 -1.04495769e+02] [-1.52308649e-02 -6.69941557e-05 -9.99884001e-01 -4.03134764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.006559995 meters 0.013083000941129456 Centerline is valid? [True, True] Translation: X:134.56, Y:-104.49, Z:-4.03 [[ 9.09779143e-01 4.14842907e-01 -1.43969992e-02 1.34559028e+02] [ 4.14789503e-01 -9.09893046e-01 -6.65680120e-03 -1.04485644e+02] [-1.58612562e-02 8.44947500e-05 -9.99874199e-01 -4.03157741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0665599949999 meters 0.014024005336238555 Centerline is valid? [True, True] Translation: X:134.59, Y:-104.48, Z:-4.03 [[ 8.77620858e-01 4.79147452e-01 -1.41191086e-02 1.34589424e+02] [ 4.79081954e-01 -8.77734403e-01 -7.92458331e-03 -1.04475320e+02] [-1.61898713e-02 1.90569447e-04 -9.99868917e-01 -4.03154787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.126559995 meters 0.0158989134437015 Centerline is valid? [True, True] Translation: X:134.62, Y:-104.46, Z:-4.03 [[ 8.42670724e-01 5.38281625e-01 -1.26072542e-02 1.34617817e+02] [ 5.38215592e-01 -8.42764965e-01 -8.43742824e-03 -1.04462411e+02] [-1.51666647e-02 3.24552991e-04 -9.99884927e-01 -4.03291993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1865599949999 meters 0.01703986394798268 Centerline is valid? [True, True] Translation: X:134.65, Y:-104.45, Z:-4.03 [[ 8.02401713e-01 5.96673902e-01 -1.14781019e-02 1.34647786e+02] [ 5.96605289e-01 -8.02483694e-01 -9.05816201e-03 -1.04451505e+02] [-1.46157584e-02 4.20388431e-04 -9.99893096e-01 -4.03458539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.246559995 meters 0.018150581162700664 Centerline is valid? [True, True] Translation: X:134.68, Y:-104.44, Z:-4.03 [[ 7.55427545e-01 6.55142712e-01 -1.08282897e-02 1.34677215e+02] [ 6.55066306e-01 -7.55504999e-01 -1.00165394e-02 -1.04438195e+02] [-1.47430897e-02 4.73522020e-04 -9.99891203e-01 -4.03417389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3065599949999 meters 0.018226956957915316 Centerline is valid? [True, True] Translation: X:134.71, Y:-104.43, Z:-4.03 [[ 7.02199488e-01 7.11903353e-01 -1.04640364e-02 1.34708734e+02] [ 7.11813461e-01 -7.02277270e-01 -1.13240346e-02 -1.04426777e+02] [-1.54102731e-02 5.03289357e-04 -9.99881128e-01 -4.03379520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.366559995 meters 0.01738060662351447 Centerline is valid? [True, True] Translation: X:134.74, Y:-104.41, Z:-4.03 [[ 6.42182251e-01 7.66490196e-01 -9.73327309e-03 1.34740341e+02] [ 7.66390870e-01 -6.42255836e-01 -1.23480756e-02 -1.04413807e+02] [-1.57159303e-02 4.70223334e-04 -9.99876387e-01 -4.03392380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4265599949999 meters 0.015855861854457667 Centerline is valid? [True, True] Translation: X:134.77, Y:-104.40, Z:-4.03 [[ 5.74063905e-01 8.18767239e-01 -8.41668863e-03 1.34773556e+02] [ 8.18670448e-01 -5.74125503e-01 -1.25938508e-02 -1.04399490e+02] [-1.51436681e-02 3.39180937e-04 -9.99885271e-01 -4.03370666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.486559995 meters 0.013579373985268487 Centerline is valid? [True, True] Translation: X:134.81, Y:-104.38, Z:-4.03 [[ 4.99134060e-01 8.66494804e-01 -7.20726373e-03 1.34809348e+02] [ 8.66399362e-01 -4.99186061e-01 -1.28616449e-02 -1.04384179e+02] [-1.47423140e-02 1.75316314e-04 -9.99891311e-01 -4.03435580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5465599949999 meters 0.012644211460437723 Centerline is valid? [True, True] Translation: X:134.84, Y:-104.36, Z:-4.03 [[ 4.21749833e-01 9.06692372e-01 -6.00184799e-03 1.34841152e+02] [ 9.06599094e-01 -4.21792534e-01 -1.30054556e-02 -1.04363345e+02] [-1.43234821e-02 4.37787867e-05 -9.99897413e-01 -4.03360922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.606559995 meters 0.013132423325401668 Centerline is valid? [True, True] Translation: X:134.87, Y:-104.34, Z:-4.03 [[ 3.36296835e-01 9.41742911e-01 -4.97283505e-03 1.34874746e+02] [ 9.41646763e-01 -3.36333563e-01 -1.34576254e-02 -1.04341198e+02] [-1.43461546e-02 -1.56897208e-04 -9.99897076e-01 -4.03395826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.666559995 meters 0.015578909042738858 Centerline is valid? [True, True] Translation: X:134.90, Y:-104.31, Z:-4.03 [[ 2.50535404e-01 9.68100577e-01 -3.64461347e-03 1.34903503e+02] [ 9.68014815e-01 -2.50561734e-01 -1.28893206e-02 -1.04314032e+02] [-1.33913594e-02 -2.98808692e-04 -9.99910287e-01 -4.03470325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7265599949999 meters 0.017224847496197297 Centerline is valid? [True, True] Translation: X:134.92, Y:-104.28, Z:-4.03 [[ 1.69645996e-01 9.85501798e-01 -2.53806891e-03 1.34923633e+02] [ 9.85419979e-01 -1.69664628e-01 -1.27035290e-02 -1.04282628e+02] [-1.29499712e-02 -3.45960976e-04 -9.99916086e-01 -4.03472843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.786559995 meters 0.020409986359150426 Centerline is valid? [True, True] Translation: X:134.94, Y:-104.25, Z:-4.03 [[ 8.93675259e-02 9.95997374e-01 -1.63570431e-03 1.34941402e+02] [ 9.95903223e-01 -8.93815780e-02 -1.37005135e-02 -1.04250548e+02] [-1.37918773e-02 -4.04622205e-04 -9.99904806e-01 -4.03217207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8465599949999 meters 0.01825076558491974 Centerline is valid? [True, True] Translation: X:134.95, Y:-104.22, Z:-4.03 [[ 1.07834705e-02 9.99941698e-01 -5.64080500e-04 1.34946856e+02] [ 9.99844416e-01 -1.07902930e-02 -1.39539611e-02 -1.04215722e+02] [-1.39592341e-02 -4.13520611e-04 -9.99902480e-01 -4.03362770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.906559995 meters 0.01794246248201785 Centerline is valid? [True, True] Translation: X:134.95, Y:-104.18, Z:-4.03 [[-6.70823352e-02 9.97747278e-01 5.74067366e-04 1.34952490e+02] [ 9.97632946e-01 6.70833423e-02 -1.51105734e-02 -1.04180301e+02] [-1.51150438e-02 -4.40944028e-04 -9.99885664e-01 -4.03288890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9665599949999 meters 0.01665618871660053 Centerline is valid? [True, True] Translation: X:134.95, Y:-104.14, Z:-4.03 [[-1.41805191e-01 9.89892793e-01 1.88303507e-03 1.34953737e+02] [ 9.89761875e-01 1.41817071e-01 -1.61043168e-02 -1.04144870e+02] [-1.62085936e-02 -4.19919393e-04 -9.99868544e-01 -4.03213574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.026559995 meters 0.015654546212323067 Centerline is valid? [True, True] Translation: X:134.95, Y:-104.11, Z:-4.03 [[-2.14241784e-01 9.76775572e-01 3.15276360e-03 1.34949084e+02] [ 9.76644914e-01 2.14264704e-01 -1.59796552e-02 -1.04110966e+02] [-1.62840628e-02 -3.44379309e-04 -9.99867347e-01 -4.03205545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0865599949999 meters 0.014700655077099773 Centerline is valid? [True, True] Translation: X:134.94, Y:-104.08, Z:-4.03 [[-2.87036961e-01 9.57909528e-01 4.37247045e-03 1.34941878e+02] [ 9.57782429e-01 2.87070114e-01 -1.56067065e-02 -1.04076886e+02] [-1.62050184e-02 -2.91826227e-04 -9.99868648e-01 -4.03262782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.146559995 meters 0.01359244536187175 Centerline is valid? [True, True] Translation: X:134.93, Y:-104.05, Z:-4.03 [[-3.56085720e-01 9.34438476e-01 5.26254607e-03 1.34929570e+02] [ 9.34328347e-01 3.56124554e-01 -1.43472247e-02 -1.04045308e+02] [-1.52807206e-02 -1.91895854e-04 -9.99883225e-01 -4.03307418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2065599949999 meters 0.012489806801344764 Centerline is valid? [True, True] Translation: X:134.92, Y:-104.02, Z:-4.03 [[-4.22128773e-01 9.06515970e-01 6.00797530e-03 1.34916235e+02] [ 9.06421305e-01 4.22171517e-01 -1.31006924e-02 -1.04015096e+02] [-1.44123829e-02 -8.44223871e-05 -9.99896133e-01 -4.03485472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.266559995 meters 0.012361349974623665 Centerline is valid? [True, True] Translation: X:134.90, Y:-103.99, Z:-4.04 [[-4.85283270e-01 8.74331778e-01 6.64004352e-03 1.34899832e+02] [ 8.74250585e-01 4.85328694e-01 -1.19152363e-02 -1.03986903e+02] [-1.36404734e-02 2.27971098e-05 -9.99906964e-01 -4.03565194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3265599949999 meters 0.012670156972941894 Centerline is valid? [True, True] Translation: X:134.88, Y:-103.96, Z:-4.04 [[-5.48955731e-01 8.35814254e-01 7.88280114e-03 1.34884541e+02] [ 8.35730179e-01 5.49012319e-01 -1.18550253e-02 -1.03958975e+02] [-1.42363541e-02 8.00107078e-05 -9.99898655e-01 -4.03519938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.386559995 meters 0.012831192578535109 Centerline is valid? [True, True] Translation: X:134.87, Y:-103.93, Z:-4.04 [[-6.10703020e-01 7.91816750e-01 8.24963005e-03 1.34869145e+02] [ 7.91746920e-01 6.10758727e-01 -1.05162483e-02 -1.03930673e+02] [-1.33654751e-02 1.09314585e-04 -9.99910672e-01 -4.03633659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4465599949999 meters 0.012836254776383182 Centerline is valid? [True, True] Translation: X:134.85, Y:-103.90, Z:-4.04 [[-6.71437292e-01 7.41008336e-01 8.86615625e-03 1.34853553e+02] [ 7.40945635e-01 6.71495820e-01 -9.63997828e-03 -1.03903999e+02] [-1.30968911e-02 9.66988580e-05 -9.99914227e-01 -4.03601619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.506559995 meters 0.012519457068079042 Centerline is valid? [True, True] Translation: X:134.84, Y:-103.88, Z:-4.04 [[-7.29516116e-01 6.83889727e-01 1.00536969e-02 1.34835942e+02] [ 6.83825897e-01 7.29585387e-01 -9.34373727e-03 -1.03876967e+02] [-1.37251163e-02 5.85713660e-05 -9.99905804e-01 -4.03564446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5665599949999 meters 0.012442279334322069 Centerline is valid? [True, True] Translation: X:134.85, Y:-103.86, Z:-4.03 [[-7.77807095e-01 6.28411235e-01 1.07444759e-02 1.34850547e+02] [ 6.28351649e-01 7.77881302e-01 -8.65366568e-03 -1.03855810e+02] [-1.37959876e-02 2.04265682e-05 -9.99904831e-01 -4.03460410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.626559995 meters 0.012320504340919027 Centerline is valid? [True, True] Translation: X:134.86, Y:-103.83, Z:-4.04 [[-8.22879167e-01 5.68129720e-01 9.92462033e-03 1.34863296e+02] [ 5.68087881e-01 8.22939014e-01 -6.89486357e-03 -1.03833675e+02] [-1.20845342e-02 -3.55830537e-05 -9.99926979e-01 -4.03633948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6865599949999 meters 0.012579682899945134 Centerline is valid? [True, True] Translation: X:134.87, Y:-103.81, Z:-4.04 [[-8.63402378e-01 5.04438003e-01 8.86761157e-03 1.34869719e+02] [ 5.04410463e-01 8.63447911e-01 -5.27162743e-03 -1.03806713e+02] [-1.03159299e-02 -7.86196079e-05 -9.99946786e-01 -4.03758233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.746559995 meters 0.012919908000590808 Centerline is valid? [True, True] Translation: X:134.89, Y:-103.79, Z:-4.04 [[-8.98292690e-01 4.39306993e-01 8.92235412e-03 1.34885841e+02] [ 4.39284138e-01 8.98336994e-01 -4.48232752e-03 -1.03785512e+02] [-9.98439860e-03 -1.06993404e-04 -9.99950149e-01 -4.03758594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8065599949999 meters 0.013081041880466238 Centerline is valid? [True, True] Translation: X:134.89, Y:-103.76, Z:-4.04 [[-9.27909641e-01 3.72703197e-01 8.71925741e-03 1.34892552e+02] [ 3.72685524e-01 9.27950598e-01 -3.63150354e-03 -1.03761022e+02] [-9.44451310e-03 -1.20166133e-04 -9.99955392e-01 -4.03816734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.866559995 meters 0.013352204169799002 Centerline is valid? [True, True] Translation: X:134.90, Y:-103.74, Z:-4.04 [[-9.52261816e-01 3.05153648e-01 8.87048171e-03 1.34896930e+02] [ 3.05139159e-01 9.52303121e-01 -2.97633277e-03 -1.03737253e+02] [-9.35562623e-03 -1.27516718e-04 -9.99956227e-01 -4.03696145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9265599949999 meters 0.013156583466367684 Centerline is valid? [True, True] Translation: X:135.11, Y:-103.12, Z:-5.00 [[-9.19834142e-01 -3.92193479e-01 9.45652604e-03 1.35111140e+02] [ 3.92174868e-01 -9.19882731e-01 -3.82538348e-03 -1.03120803e+02] [ 1.01991855e-02 1.89893527e-04 9.99947969e-01 -5.00442990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.986559995 meters 0.013589324444245534 Centerline is valid? [True, True] Translation: X:134.85, Y:-103.73, Z:-4.03 [[-9.52419208e-01 3.04619420e-01 1.02303869e-02 1.34854711e+02] [ 3.04600570e-01 9.52474145e-01 -3.39061304e-03 -1.03733315e+02] [-1.07770256e-02 -1.13103301e-04 -9.99941920e-01 -4.03290738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0465599949999 meters 0.012616647707241488 Centerline is valid? [True, True] Translation: X:134.87, Y:-103.72, Z:-4.03 [[-9.70741063e-01 2.39887158e-01 1.07675228e-02 1.34865818e+02] [ 2.39871491e-01 9.70800775e-01 -2.74274730e-03 -1.03717871e+02] [-1.11110693e-02 -7.96756745e-05 -9.99938267e-01 -4.03355626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.106559995 meters 0.01233009042646395 Centerline is valid? [True, True] Translation: X:134.86, Y:-103.70, Z:-4.03 [[-9.84478916e-01 1.75186660e-01 1.05307836e-02 1.34863700e+02] [ 1.75176362e-01 9.84535237e-01 -1.89967759e-03 -1.03700440e+02] [-1.07007257e-02 -2.54481813e-05 -9.99942745e-01 -4.03448587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.166559995 meters 0.01228820863694826 Centerline is valid? [True, True] Translation: X:134.87, Y:-103.68, Z:-4.03 [[-9.94128134e-01 1.07705088e-01 1.04339092e-02 1.34873582e+02] [ 1.07699209e-01 9.94182888e-01 -1.12534266e-03 -1.03680955e+02] [-1.04944191e-02 4.98896692e-06 -9.99944932e-01 -4.03458125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2265599949999 meters 0.012545945530150555 Centerline is valid? [True, True] Translation: X:134.96, Y:-102.96, Z:-5.01 [[-9.85194132e-01 -1.71064505e-01 1.13779614e-02 1.34957973e+02] [ 1.71053787e-01 -9.85259830e-01 -1.91580625e-03 -1.02962886e+02] [ 1.15379748e-02 5.88023189e-05 9.99933434e-01 -5.00636518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.286559995 meters 0.012554195033638686 Centerline is valid? [True, True] Translation: X:134.82, Y:-103.69, Z:-4.03 [[-9.94205825e-01 1.06781290e-01 1.23504963e-02 1.34817650e+02] [ 1.06773607e-01 9.94282532e-01 -1.28163561e-03 -1.03687507e+02] [-1.24167374e-02 4.44974458e-05 -9.99922908e-01 -4.03413715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3465599949999 meters 0.01236602532625708 Centerline is valid? [True, True] Translation: X:134.82, Y:-103.66, Z:-4.03 [[-9.99427659e-01 3.18505123e-02 1.13973325e-02 1.34822270e+02] [ 3.18483777e-02 9.99492644e-01 -3.68790136e-04 -1.03659170e+02] [-1.14032961e-02 -5.59251355e-06 -9.99934980e-01 -4.03437250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.406559995 meters 0.012566674510364521 Centerline is valid? [True, True] Translation: X:134.82, Y:-103.63, Z:-4.03 [[-9.98987935e-01 -4.33455473e-02 1.20112332e-02 1.34818679e+02] [-4.33430797e-02 9.99060139e-01 4.65794489e-04 -1.03631042e+02] [-1.20201344e-02 -5.52807634e-05 -9.99927754e-01 -4.03404594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4665599949999 meters 0.012777243702530605 Centerline is valid? [True, True] Translation: X:134.81, Y:-103.60, Z:-4.03 [[-9.93183799e-01 -1.15977520e-01 1.16256302e-02 1.34814519e+02] [-1.15970490e-01 9.93251836e-01 1.27934751e-03 -1.03602924e+02] [-1.16955541e-02 -7.76028092e-05 -9.99931602e-01 -4.03396210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.526559995 meters 0.012851861466175195 Centerline is valid? [True, True] Translation: X:134.73, Y:-102.88, Z:-5.01 [[-9.99336473e-01 3.47229132e-02 1.09969539e-02 1.34729542e+02] [-3.47205160e-02 -9.99396978e-01 4.08879945e-04 -1.02877334e+02] [ 1.10045200e-02 2.67887263e-05 9.99939448e-01 -5.00565079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5865599949999 meters 0.01280645615382167 Centerline is valid? [True, True] Translation: X:134.72, Y:-103.61, Z:-4.03 [[-9.92401796e-01 -1.22393190e-01 1.25929686e-02 1.34717340e+02] [-1.22384452e-01 9.92481687e-01 1.46507707e-03 -1.03611668e+02] [-1.26776062e-02 -8.72384409e-05 -9.99919632e-01 -4.03359095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.646559995 meters 0.012657464852618846 Centerline is valid? [True, True] Translation: X:134.64, Y:-102.89, Z:-5.01 [[-9.98921979e-01 4.42463188e-02 1.40407464e-02 1.34636935e+02] [-4.42393426e-02 -9.99020635e-01 8.07208917e-04 -1.02885398e+02] [ 1.40627114e-02 1.85185338e-04 9.99901098e-01 -5.00734827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7065599949999 meters 0.012566442306685821 Centerline is valid? [True, True] Translation: X:134.62, Y:-103.63, Z:-4.03 [[-9.92238504e-01 -1.23610583e-01 1.35342289e-02 1.34621013e+02] [-1.23599464e-01 9.92330803e-01 1.65821026e-03 -1.03625369e+02] [-1.36354046e-02 -2.74833709e-05 -9.99907033e-01 -4.03377982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.766559995 meters 0.012505903697806898 Centerline is valid? [True, True] Translation: X:134.62, Y:-103.60, Z:-4.03 [[-9.81393997e-01 -1.91581944e-01 1.27350107e-02 1.34615167e+02] [-1.91565739e-01 9.81476622e-01 2.49179894e-03 -1.03599699e+02] [-1.29764990e-02 5.84477780e-06 -9.99915802e-01 -4.03424633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8265599949999 meters 0.012588500312173987 Centerline is valid? [True, True] Translation: X:134.60, Y:-103.58, Z:-4.04 [[-9.65836203e-01 -2.58909999e-01 1.12267971e-02 1.34596966e+02] [-2.58892098e-01 9.65901450e-01 3.04475218e-03 -1.03577305e+02] [-1.16322964e-02 3.42028297e-05 -9.99932342e-01 -4.03538231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.886559995 meters 0.0124480972542609 Centerline is valid? [True, True] Translation: X:134.57, Y:-103.56, Z:-4.04 [[-9.44838866e-01 -3.27409899e-01 9.07061660e-03 1.34570361e+02] [-3.27394485e-01 9.44882404e-01 3.17712453e-03 -1.03557116e+02] [-9.61088803e-03 3.22008832e-05 -9.99953814e-01 -4.03748572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9465599949999 meters 0.012292346301923239 Centerline is valid? [True, True] Translation: X:134.52, Y:-103.55, Z:-4.04 [[-9.17965424e-01 -3.96571275e-01 8.40856904e-03 1.34516211e+02] [-3.96554471e-01 9.18003934e-01 3.65076700e-03 -1.03546840e+02] [-9.16688878e-03 1.68222358e-05 -9.99957983e-01 -4.03747302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.006559995 meters 0.012233774154478554 Centerline is valid? [True, True] Translation: X:134.46, Y:-103.54, Z:-4.04 [[-8.84485253e-01 -4.66481436e-01 8.99487534e-03 1.34456839e+02] [-4.66457535e-01 8.84530989e-01 4.72210440e-03 -1.03541143e+02] [-1.01590200e-02 -1.90956738e-05 -9.99948396e-01 -4.03589614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0665599949999 meters 0.012335750753830043 Centerline is valid? [True, True] Translation: X:134.38, Y:-103.55, Z:-4.04 [[-8.45436249e-01 -5.33987738e-01 9.72854091e-03 1.34384942e+02] [-5.33953275e-01 8.45492219e-01 6.06695220e-03 -1.03549296e+02] [-1.14650837e-02 -6.53649701e-05 -9.99934272e-01 -4.03549861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.126559995 meters 0.012492549520042879 Centerline is valid? [True, True] Translation: X:134.30, Y:-103.57, Z:-4.04 [[-8.01853403e-01 -5.97462207e-01 8.36846000e-03 1.34304033e+02] [-5.97430786e-01 8.01897065e-01 6.12804830e-03 -1.03569441e+02] [-1.03719208e-02 -8.57792464e-05 -9.99946207e-01 -4.03590225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1865599949999 meters 0.012970123906354422 Centerline is valid? [True, True] Translation: X:134.22, Y:-103.59, Z:-4.04 [[-7.52528016e-01 -6.58533903e-01 5.88930879e-03 1.34224495e+02] [-6.58514692e-01 7.52551054e-01 5.03101269e-03 -1.03594431e+02] [-7.74509796e-03 -9.22183697e-05 -9.99970002e-01 -4.03738510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.246559995 meters 0.013815051294837616 Centerline is valid? [True, True] Translation: X:134.14, Y:-103.63, Z:-4.04 [[-6.98189515e-01 -7.15899317e-01 4.42375704e-03 1.34139333e+02] [-7.15885835e-01 6.98203522e-01 4.39463139e-03 -1.03633203e+02] [-6.23479635e-03 -9.86194460e-05 -9.99980559e-01 -4.03823744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3065599949999 meters 0.01371515367412719 Centerline is valid? [True, True] Translation: X:134.06, Y:-103.68, Z:-4.04 [[-6.40717885e-01 -7.67768592e-01 3.46140979e-03 1.34058272e+02] [-7.67758171e-01 6.40727228e-01 4.00133613e-03 -1.03681135e+02] [-5.28991971e-03 -9.37980339e-05 -9.99986004e-01 -4.03898049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.366559995 meters 0.014827624928469719 Centerline is valid? [True, True] Translation: X:133.96, Y:-103.75, Z:-4.04 [[-5.79129013e-01 -8.15229405e-01 3.25619166e-03 1.33964466e+02] [-8.15217563e-01 5.79138157e-01 4.39553004e-03 -1.03750655e+02] [-5.46915017e-03 -1.08925653e-04 -9.99985038e-01 -4.03858028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4265599949999 meters 0.01452035122834368 Centerline is valid? [True, True] Translation: X:133.90, Y:-103.81, Z:-4.04 [[-5.14311350e-01 -8.57596173e-01 3.55506636e-03 1.33895041e+02] [-8.57577544e-01 5.14323618e-01 5.65441351e-03 -1.03806133e+02] [-6.67765798e-03 -1.40616035e-04 -9.99977694e-01 -4.03830111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.486559995 meters 0.014789092834940107 Centerline is valid? [True, True] Translation: X:133.82, Y:-103.88, Z:-4.04 [[-4.47676475e-01 -8.94188520e-01 3.55870284e-03 1.33818872e+02] [-8.94163035e-01 4.47690592e-01 6.75288491e-03 -1.03883541e+02] [-7.63154994e-03 -1.58952811e-04 -9.99970867e-01 -4.03731584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5465599949999 meters 0.014559608268885305 Centerline is valid? [True, True] Translation: X:133.74, Y:-103.98, Z:-4.04 [[-3.80034148e-01 -9.24967154e-01 3.13200210e-03 1.33744554e+02] [-9.24938890e-01 3.80047025e-01 7.23247715e-03 -1.03978196e+02] [-7.88011189e-03 -1.48322247e-04 -9.99968940e-01 -4.03654175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.606559995 meters 0.014097830998336839 Centerline is valid? [True, True] Translation: X:133.69, Y:-104.05, Z:-4.04 [[-3.09981003e-01 -9.50740484e-01 2.07592707e-03 1.33689451e+02] [-9.50721439e-01 3.09987935e-01 6.01882877e-03 -1.04054871e+02] [-6.36585652e-03 -1.07905791e-04 -9.99979732e-01 -4.03865958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.666559995 meters 0.013898706708866294 Centerline is valid? [True, True] Translation: X:133.63, Y:-104.16, Z:-4.04 [[-2.36994302e-01 -9.71510047e-01 1.38926066e-03 1.33631269e+02] [-9.71495486e-01 2.36998357e-01 5.31977948e-03 -1.04156412e+02] [-5.49747170e-03 -8.89030312e-05 -9.99984885e-01 -4.04017150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7265599949999 meters 0.013944047845162295 Centerline is valid? [True, True] Translation: X:133.58, Y:-104.26, Z:-4.04 [[-1.61150256e-01 -9.86929417e-01 9.59222959e-04 1.33579676e+02] [-9.86915146e-01 1.61153085e-01 5.30819440e-03 -1.04261491e+02] [-5.39339495e-03 -9.12547797e-05 -9.99985451e-01 -4.04055002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.786559995 meters 0.014276486171520721 Centerline is valid? [True, True] Translation: X:133.53, Y:-104.38, Z:-4.04 [[-8.35496712e-02 -9.96503407e-01 6.42631928e-04 1.33534660e+02] [-9.96483578e-01 8.35520634e-02 6.28734806e-03 -1.04376280e+02] [-6.31905699e-03 -1.15066300e-04 -9.99980028e-01 -4.03966067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8465599949999 meters 0.01516349605906834 Centerline is valid? [True, True] Translation: X:133.50, Y:-104.49, Z:-4.04 [[-3.75483330e-03 -9.99992929e-01 2.08197780e-04 1.33497629e+02] [-9.99957945e-01 3.75644382e-03 8.36639637e-03 -1.04489099e+02] [-8.36711929e-03 -1.76774600e-04 -9.99964979e-01 -4.03838755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.906559995 meters 0.015694866191126793 Centerline is valid? [True, True] Translation: X:133.47, Y:-104.61, Z:-4.04 [[ 7.60966861e-02 -9.97100302e-01 -5.31485026e-04 1.33469579e+02] [-9.97048168e-01 -7.60981439e-02 1.01991631e-02 -1.04609354e+02] [-1.02100336e-02 -2.46206342e-04 -9.99947846e-01 -4.03754586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9665599949999 meters 0.01613865969866188 Centerline is valid? [True, True] Translation: X:133.45, Y:-104.71, Z:-4.04 [[ 1.53668693e-01 -9.88121512e-01 -1.34556202e-03 1.33450584e+02] [-9.88066902e-01 -1.53674352e-01 1.03919026e-02 -1.04713658e+02] [-1.04752409e-02 -2.67404807e-04 -9.99945097e-01 -4.03801978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.026559995 meters 0.01719274090368925 Centerline is valid? [True, True] Translation: X:133.44, Y:-104.83, Z:-4.04 [[ 2.30790216e-01 -9.73001646e-01 -1.91651161e-03 1.33440267e+02] [-9.72958318e-01 -2.30798032e-01 9.18587097e-03 -1.04832005e+02] [-9.38019468e-03 -2.55323229e-04 -9.99955972e-01 -4.03906323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0865599949999 meters 0.016897582482962258 Centerline is valid? [True, True] Translation: X:133.44, Y:-104.96, Z:-4.04 [[ 3.05338862e-01 -9.52239897e-01 -2.71257016e-03 1.33444279e+02] [-9.52194080e-01 -3.05350791e-01 9.34496748e-03 -1.04958911e+02] [-9.72693631e-03 -2.70488490e-04 -9.99952656e-01 -4.03979245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.146559995 meters 0.017370511073785996 Centerline is valid? [True, True] Translation: X:133.45, Y:-105.07, Z:-4.04 [[ 3.77539664e-01 -9.25985777e-01 -3.76065503e-03 1.33451217e+02] [-9.25931738e-01 -3.77558277e-01 1.00082339e-02 -1.05070283e+02] [-1.06873487e-02 -2.96395436e-04 -9.99942845e-01 -4.03896365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2065599949999 meters 0.01615862546009314 Centerline is valid? [True, True] Translation: X:133.47, Y:-105.18, Z:-4.04 [[ 4.45964797e-01 -8.95037371e-01 -4.84826651e-03 1.33473046e+02] [-8.94977009e-01 -4.45991050e-01 1.03989116e-02 -1.05184884e+02] [-1.14696979e-02 -2.98461433e-04 -9.99934176e-01 -4.03910689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.266559995 meters 0.015760712165312836 Centerline is valid? [True, True] Translation: X:133.51, Y:-105.30, Z:-4.04 [[ 5.09488373e-01 -8.60459755e-01 -5.53242675e-03 1.33506777e+02] [-8.60403737e-01 -5.09518352e-01 9.82130778e-03 -1.05304553e+02] [-1.12697130e-02 -2.43721467e-04 -9.99936465e-01 -4.03968281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3265599949999 meters 0.014286104696116636 Centerline is valid? [True, True] Translation: X:133.54, Y:-105.40, Z:-4.04 [[ 5.70755185e-01 -8.21099425e-01 -5.85262657e-03 1.33536024e+02] [-8.21052860e-01 -5.70785161e-01 8.74653348e-03 -1.05395108e+02] [-1.05223660e-02 -1.86813552e-04 -9.99944621e-01 -4.04141946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.386559995 meters 0.013216761157080436 Centerline is valid? [True, True] Translation: X:133.58, Y:-105.49, Z:-4.04 [[ 6.27183331e-01 -7.78844500e-01 -6.50488695e-03 1.33576552e+02] [-7.78800570e-01 -6.27217051e-01 8.27308077e-03 -1.05491826e+02] [-1.05234195e-02 -1.22728694e-04 -9.99944620e-01 -4.04116888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4465599949999 meters 0.012489552885124133 Centerline is valid? [True, True] Translation: X:133.63, Y:-105.59, Z:-4.04 [[ 6.81847921e-01 -7.31453454e-01 -7.69781380e-03 1.33626728e+02] [-7.31405403e-01 -6.81891367e-01 8.38452115e-03 -1.05588036e+02] [-1.13819597e-02 -8.67457152e-05 -9.99935220e-01 -4.04140150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.506559995 meters 0.012493997856527944 Centerline is valid? [True, True] Translation: X:133.68, Y:-105.68, Z:-4.04 [[ 7.33951178e-01 -6.79138263e-01 -9.32138095e-03 1.33679192e+02] [-6.79082331e-01 -7.34010365e-01 8.71618497e-03 -1.05678637e+02] [-1.27614849e-02 -6.72691198e-05 -9.99918567e-01 -4.04009976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5665599949999 meters 0.012397410422144095 Centerline is valid? [True, True] Translation: X:133.70, Y:-105.71, Z:-4.04 [[ 7.83478217e-01 -6.21330530e-01 -1.05003324e-02 1.33697956e+02] [-6.21273999e-01 -7.83548576e-01 8.38136511e-03 -1.05707108e+02] [-1.34351185e-02 -4.30335243e-05 -9.99909744e-01 -4.04059524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.626559995 meters 0.01253172858218139 Centerline is valid? [True, True] Translation: X:133.72, Y:-105.73, Z:-4.04 [[ 8.29197868e-01 -5.58850987e-01 -1.07921262e-02 1.33718931e+02] [-5.58803173e-01 -8.29268095e-01 7.31028054e-03 -1.05732108e+02] [-1.30349234e-02 -3.09946832e-05 -9.99915041e-01 -4.03943766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6865599949999 meters 0.01232616724313704 Centerline is valid? [True, True] Translation: X:133.74, Y:-105.76, Z:-4.04 [[ 8.68962735e-01 -4.94755320e-01 -1.09972140e-02 1.33742187e+02] [-4.94715778e-01 -8.69032320e-01 6.25503178e-03 -1.05756985e+02] [-1.26516447e-02 5.10575864e-06 -9.99919965e-01 -4.04085980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.746559995 meters 0.012381315168289614 Centerline is valid? [True, True] Translation: X:133.77, Y:-105.78, Z:-4.04 [[ 9.03915987e-01 -4.27564864e-01 -1.11433791e-02 1.33766285e+02] [-4.27532858e-01 -9.03984671e-01 5.23159387e-03 -1.05780851e+02] [-1.23102896e-02 3.52393789e-05 -9.99924225e-01 -4.04199037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8065599949999 meters 0.01257133923610612 Centerline is valid? [True, True] Translation: X:133.79, Y:-105.80, Z:-4.04 [[ 9.34328661e-01 -3.56238555e-01 -1.11375606e-02 1.33791195e+02] [-3.56213793e-01 -9.34395040e-01 4.20045498e-03 -1.05802718e+02] [-1.19032454e-02 4.27472114e-05 -9.99929153e-01 -4.04210308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.866559995 meters 0.012506682965510591 Centerline is valid? [True, True] Translation: X:133.82, Y:-105.82, Z:-4.04 [[ 9.59555318e-01 -2.81321692e-01 -1.05687175e-02 1.33819390e+02] [-2.81304982e-01 -9.59613518e-01 3.06631378e-03 -1.05823455e+02] [-1.10045048e-02 3.07352117e-05 -9.99939448e-01 -4.04329564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9265599949999 meters 0.012419096386457409 Centerline is valid? [True, True] Translation: X:133.85, Y:-105.85, Z:-4.04 [[ 9.79153225e-01 -2.02891000e-01 -9.70585520e-03 1.33847922e+02] [-2.02881049e-01 -9.79201329e-01 2.00944425e-03 -1.05845877e+02] [-9.91168446e-03 1.58026969e-06 -9.99950878e-01 -4.04433480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.986559995 meters 0.012535797784999872 Centerline is valid? [True, True] Translation: X:133.87, Y:-105.86, Z:-4.04 [[ 9.92535968e-01 -1.21511005e-01 -1.03647822e-02 1.33874086e+02] [-1.21503945e-01 -9.92590084e-01 1.31049894e-03 -1.05864562e+02] [-1.04472201e-02 -4.13554050e-05 -9.99945425e-01 -4.04365595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0465599949999 meters 0.012877829384109404 Centerline is valid? [True, True] Translation: X:133.90, Y:-105.88, Z:-4.04 [[ 9.99158425e-01 -3.96464551e-02 -1.05166917e-02 1.33902878e+02] [-3.96433982e-02 -9.99213767e-01 4.99057242e-04 -1.05880946e+02] [-1.05282090e-02 -8.17198513e-05 -9.99944574e-01 -4.04293246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.106559995 meters 0.013243215423628102 Centerline is valid? [True, True] Translation: X:133.93, Y:-105.89, Z:-4.04 [[ 9.99101916e-01 4.08925854e-02 -1.10976268e-02 1.33933764e+02] [ 4.08912854e-02 -9.99163542e-01 -3.44120382e-04 -1.05891082e+02] [-1.11024160e-02 -1.09984889e-04 -9.99938360e-01 -4.04225910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.166559995 meters 0.013484653535940192 Centerline is valid? [True, True] Translation: X:133.96, Y:-105.90, Z:-4.04 [[ 9.92596743e-01 1.20828989e-01 -1.23313465e-02 1.33964772e+02] [ 1.20821493e-01 -9.92673327e-01 -1.35381480e-03 -1.05899632e+02] [-1.24045788e-02 -1.46099530e-04 -9.99923050e-01 -4.04191125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2265599949999 meters 0.013684332278145892 Centerline is valid? [True, True] Translation: X:134.00, Y:-105.90, Z:-4.04 [[ 9.79986499e-01 1.98675350e-01 -1.24324707e-02 1.33995177e+02] [ 1.98661375e-01 -9.80065345e-01 -2.36157895e-03 -1.05903753e+02] [-1.26538212e-02 -1.55536224e-04 -9.99919925e-01 -4.04143359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.286559995 meters 0.013389577439972983 Centerline is valid? [True, True] Translation: X:134.03, Y:-105.90, Z:-4.04 [[ 9.61594638e-01 2.74209439e-01 -1.20389217e-02 1.34027124e+02] [ 2.74189844e-01 -9.61669986e-01 -3.28132602e-03 -1.05904938e+02] [-1.24772402e-02 -1.45644558e-04 -9.99922146e-01 -4.04263781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3465599949999 meters 0.01322105410090436 Centerline is valid? [True, True] Translation: X:134.06, Y:-105.90, Z:-4.04 [[ 9.37777077e-01 3.47029993e-01 -1.20140761e-02 1.34058559e+02] [ 3.47003250e-01 -9.37854023e-01 -4.31003380e-03 -1.05903019e+02] [-1.27631606e-02 -1.27072555e-04 -9.99918540e-01 -4.04227781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.406559995 meters 0.013049268871434417 Centerline is valid? [True, True] Translation: X:134.09, Y:-105.90, Z:-4.04 [[ 9.08219238e-01 4.18339057e-01 -1.14127002e-02 1.34090198e+02] [ 4.18307553e-01 -9.08290934e-01 -5.13516304e-03 -1.05898179e+02] [-1.25142914e-02 -1.10164811e-04 -9.99921687e-01 -4.04229071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4665599949999 meters 0.012808189819048634 Centerline is valid? [True, True] Translation: X:134.12, Y:-105.89, Z:-4.04 [[ 8.73546685e-01 4.86611178e-01 -1.12138716e-02 1.34121585e+02] [ 4.86572403e-01 -8.73618654e-01 -6.14353103e-03 -1.05891825e+02] [-1.27861583e-02 -8.96993020e-05 -9.99918250e-01 -4.04264228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.526559995 meters 0.012654056433480708 Centerline is valid? [True, True] Translation: X:134.15, Y:-105.88, Z:-4.04 [[ 8.34308850e-01 5.51188456e-01 -1.09557395e-02 1.34151076e+02] [ 5.51141804e-01 -8.34380778e-01 -7.17137966e-03 -1.05882139e+02] [-1.30940401e-02 -5.50205153e-05 -9.99914268e-01 -4.04278928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5865599949999 meters 0.012475618291971951 Centerline is valid? [True, True] Translation: X:134.18, Y:-105.87, Z:-4.04 [[ 7.90186613e-01 6.12792507e-01 -9.51102487e-03 1.34179100e+02] [ 6.12748426e-01 -7.90243850e-01 -7.35007124e-03 -1.05869046e+02] [-1.20200975e-02 -1.99376174e-05 -9.99927756e-01 -4.04356835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.646559995 meters 0.012608712315797457 Centerline is valid? [True, True] Translation: X:134.20, Y:-105.85, Z:-4.04 [[ 7.43148023e-01 6.69072465e-01 -8.54712526e-03 1.34204305e+02] [ 6.69027620e-01 -7.43197172e-01 -7.74644059e-03 -1.05851715e+02] [-1.15351294e-02 3.84891344e-05 -9.99933467e-01 -4.04389914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7065599949999 meters 0.013018078901653763 Centerline is valid? [True, True] Translation: X:134.23, Y:-105.83, Z:-4.04 [[ 6.91373155e-01 7.22454831e-01 -7.88534425e-03 1.34227676e+02] [ 7.22406455e-01 -6.91418116e-01 -8.36079042e-03 -1.05832871e+02] [-1.14923633e-02 8.40024679e-05 -9.99933957e-01 -4.04357196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.766559995 meters 0.013787819108128449 Centerline is valid? [True, True] Translation: X:134.25, Y:-105.81, Z:-4.04 [[ 6.36523703e-01 7.71224843e-01 -7.05809309e-03 1.34248223e+02] [ 7.71175007e-01 -6.36562819e-01 -8.76846978e-03 -1.05812119e+02] [-1.12553814e-02 1.38313870e-04 -9.99936647e-01 -4.04360776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8265599949999 meters 0.014502260517005575 Centerline is valid? [True, True] Translation: X:134.27, Y:-105.79, Z:-4.04 [[ 5.76465139e-01 8.17098633e-01 -6.14558041e-03 1.34268581e+02] [ 8.17049136e-01 -5.76497873e-01 -8.99512076e-03 -1.05791364e+02] [-1.08928149e-02 1.64132369e-04 -9.99940658e-01 -4.04332301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.886559995 meters 0.01500273110982181 Centerline is valid? [True, True] Translation: X:134.29, Y:-105.77, Z:-4.04 [[ 5.14302517e-01 8.57593048e-01 -5.20436882e-03 1.34289563e+02] [ 8.57545114e-01 -5.14328809e-01 -9.06939735e-03 -1.05770751e+02] [-1.04546089e-02 2.01432826e-04 -9.99945329e-01 -4.04416915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9465599949999 meters 0.016931883831599017 Centerline is valid? [True, True] Translation: X:134.31, Y:-105.75, Z:-4.04 [[ 4.50932763e-01 8.92548414e-01 -4.11963673e-03 1.34305305e+02] [ 8.92506113e-01 -4.50951515e-01 -8.69303901e-03 -1.05748525e+02] [-9.61671461e-03 2.43175133e-04 -9.99953729e-01 -4.04412385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.006559995 meters 0.018604155837055117 Centerline is valid? [True, True] Translation: X:134.32, Y:-105.72, Z:-4.04 [[ 3.83532344e-01 9.23521517e-01 -3.30888353e-03 1.34319616e+02] [ 9.23480750e-01 -3.83546519e-01 -8.68174666e-03 -1.05724504e+02] [-9.28689061e-03 2.74040401e-04 -9.99956838e-01 -4.04404389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0665599949999 meters 0.01733181453013873 Centerline is valid? [True, True] Translation: X:134.34, Y:-105.70, Z:-4.05 [[ 3.13952400e-01 9.49435725e-01 -2.38617696e-03 1.34343217e+02] [ 9.49401035e-01 -3.13961339e-01 -8.12115908e-03 -1.05703427e+02] [-8.45968588e-03 2.84218506e-04 -9.99964176e-01 -4.04541573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.126559995 meters 0.01844248966646459 Centerline is valid? [True, True] Translation: X:134.36, Y:-105.68, Z:-4.05 [[ 2.39195951e-01 9.70969861e-01 -1.68113711e-03 1.34359800e+02] [ 9.70937033e-01 -2.39201696e-01 -7.98913905e-03 -1.05679905e+02] [-8.15934408e-03 2.78691431e-04 -9.99966673e-01 -4.04538679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1865599949999 meters 0.018131520230633393 Centerline is valid? [True, True] Translation: X:134.38, Y:-105.65, Z:-4.04 [[ 1.60240030e-01 9.87077487e-01 -1.08067541e-03 1.34378443e+02] [ 9.87042369e-01 -1.60243450e-01 -8.33062894e-03 -1.05654803e+02] [-8.39614743e-03 2.68227820e-04 -9.99964716e-01 -4.04451240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.246559995 meters 0.01792786970946649 Centerline is valid? [True, True] Translation: X:134.39, Y:-105.63, Z:-4.04 [[ 7.84192283e-02 9.96920394e-01 -3.90320925e-04 1.34393834e+02] [ 9.96890683e-01 -7.84199058e-02 -7.69964778e-03 -1.05628623e+02] [-7.70654483e-03 2.14693144e-04 -9.99970281e-01 -4.04423224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3065599949999 meters 0.015955861905592224 Centerline is valid? [True, True] Translation: X:134.41, Y:-105.60, Z:-4.04 [[-3.05776604e-03 9.99995308e-01 1.87373545e-04 1.34412582e+02] [ 9.99972492e-01 3.05896237e-03 -6.75700118e-03 -1.05600235e+02] [-6.75754264e-03 1.66707063e-04 -9.99977154e-01 -4.04496598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.366559995 meters 0.015882464651877714 Centerline is valid? [True, True] Translation: X:134.42, Y:-105.57, Z:-4.04 [[-8.37297922e-02 9.96488288e-01 6.43843401e-04 1.34422831e+02] [ 9.96469964e-01 8.37321580e-02 -6.04449161e-03 -1.05571178e+02] [-6.07717549e-03 1.35466584e-04 -9.99981525e-01 -4.04490394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4265599949999 meters 0.0142767194370516 Centerline is valid? [True, True] Translation: X:134.44, Y:-105.54, Z:-4.05 [[-1.66927736e-01 9.85968714e-01 9.09167900e-04 1.34437148e+02] [ 9.85956675e-01 1.66930191e-01 -4.87298563e-03 -1.05539208e+02] [-4.95637894e-03 8.29637033e-05 -9.99987714e-01 -4.04536463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.486559995 meters 0.013351763876861567 Centerline is valid? [True, True] Translation: X:134.45, Y:-105.51, Z:-4.05 [[-2.49047323e-01 9.68490225e-01 1.45452719e-03 1.34445393e+02] [ 9.68475151e-01 2.49051563e-01 -5.40383101e-03 -1.05506337e+02] [-5.59580978e-03 6.28637925e-05 -9.99984341e-01 -4.04530215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5465599949999 meters 0.012596027059874249 Centerline is valid? [True, True] Translation: X:134.45, Y:-105.47, Z:-4.04 [[-3.30175865e-01 9.43917052e-01 2.12050653e-03 1.34453195e+02] [ 9.43898185e-01 3.30182673e-01 -5.96819808e-03 -1.05471987e+02] [-6.33363845e-03 3.09873021e-05 -9.99979942e-01 -4.04494151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.606559995 meters 0.012465979688375983 Centerline is valid? [True, True] Translation: X:134.46, Y:-105.44, Z:-4.04 [[-4.09139459e-01 9.12466340e-01 3.17520912e-03 1.34456670e+02] [ 9.12438619e-01 4.09151780e-01 -7.11245239e-03 -1.05438301e+02] [-7.78901586e-03 -1.28014987e-05 -9.99969665e-01 -4.04279094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.666559995 meters 0.0136331903617366 Centerline is valid? [True, True] Translation: X:134.45, Y:-105.41, Z:-4.04 [[-4.86825603e-01 8.73487177e-01 4.58088233e-03 1.34452672e+02] [ 8.73446612e-01 4.86847145e-01 -8.41860045e-03 -1.05406460e+02] [-9.58372902e-03 -9.72340890e-05 -9.99954070e-01 -4.04129277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7265599949999 meters 0.014254439747164647 Centerline is valid? [True, True] Translation: X:134.45, Y:-105.37, Z:-4.04 [[-5.59026193e-01 8.29132005e-01 5.46208539e-03 1.34445894e+02] [ 8.29089506e-01 5.59052852e-01 -8.39638529e-03 -1.05372437e+02] [-1.00153062e-02 -1.65241624e-04 -9.99949832e-01 -4.04301593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.786559995 meters 0.01502672040340635 Centerline is valid? [True, True] Translation: X:134.43, Y:-105.34, Z:-4.04 [[-6.24631827e-01 7.80899193e-01 5.61516494e-03 1.34434328e+02] [ 7.80865020e-01 6.24657040e-01 -7.30773600e-03 -1.05340238e+02] [-9.21415746e-03 -1.79958609e-04 -9.99957533e-01 -4.04380490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8465599949999 meters 0.01621444673163212 Centerline is valid? [True, True] Translation: X:134.42, Y:-105.31, Z:-4.04 [[-6.86165159e-01 7.27424075e-01 5.62053063e-03 1.34419971e+02] [ 7.27397374e-01 6.86188152e-01 -6.23549362e-03 -1.05309130e+02] [-8.39258970e-03 -1.90219249e-04 -9.99964764e-01 -4.04452635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.906559995 meters 0.018162021221979626 Centerline is valid? [True, True] Translation: X:134.40, Y:-105.28, Z:-4.04 [[-7.43254103e-01 6.68980709e-01 6.17661719e-03 1.34402356e+02] [ 6.68955112e-01 7.43279734e-01 -5.85627411e-03 -1.05281249e+02] [-8.50868878e-03 -2.20820118e-04 -9.99963776e-01 -4.04413414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9665599949999 meters 0.017493355255472916 Centerline is valid? [True, True] Translation: X:134.42, Y:-105.26, Z:-4.04 [[-7.90186648e-01 6.12820958e-01 7.45223005e-03 1.34418172e+02] [ 6.12790415e-01 7.90221741e-01 -6.12436781e-03 -1.05260222e+02] [-9.64205515e-03 -2.72738527e-04 -9.99953477e-01 -4.04363549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.026559995 meters 0.01852398923973085 Centerline is valid? [True, True] Translation: X:134.43, Y:-105.23, Z:-4.04 [[-8.33292388e-01 5.52755157e-01 9.24842106e-03 1.34428785e+02] [ 5.52716317e-01 8.33343632e-01 -6.56232904e-03 -1.05231881e+02] [-1.13344740e-02 -3.56585614e-04 -9.99935699e-01 -4.04181024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0865599949999 meters 0.01882725100176543 Centerline is valid? [True, True] Translation: X:134.44, Y:-105.21, Z:-4.04 [[-8.70631197e-01 4.91830059e-01 1.02230670e-02 1.34438960e+02] [ 4.91790938e-01 8.70691131e-01 -6.21514511e-03 -1.05206937e+02] [-1.19579290e-02 -3.83487499e-04 -9.99928428e-01 -4.04136418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.146559995 meters 0.01824280464560996 Centerline is valid? [True, True] Translation: X:134.45, Y:-105.19, Z:-4.04 [[-9.02300002e-01 4.30972824e-01 1.08227323e-02 1.34447151e+02] [ 4.30936969e-01 9.02364834e-01 -5.57100359e-03 -1.05185347e+02] [-1.21670042e-02 -3.62801084e-04 -9.99925913e-01 -4.04051398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2065599949999 meters 0.017256008592248552 Centerline is valid? [True, True] Translation: X:134.46, Y:-105.17, Z:-4.04 [[-9.29422461e-01 3.68866344e-01 1.05598084e-02 1.34458747e+02] [ 3.68838767e-01 9.29482397e-01 -4.52082615e-03 -1.05166323e+02] [-1.14827366e-02 -3.06890667e-04 -9.99934024e-01 -4.04061712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.266559995 meters 0.016316819019431886 Centerline is valid? [True, True] Translation: X:134.68, Y:-104.64, Z:-5.00 [[-8.79962280e-01 -4.74931981e-01 1.02956476e-02 1.34684889e+02] [ 4.74903582e-01 -8.80022453e-01 -5.20297451e-03 -1.04641401e+02] [ 1.15314600e-02 3.11018602e-04 9.99933462e-01 -4.99972424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3265599949999 meters 0.015474883849116362 Centerline is valid? [True, True] Translation: X:134.41, Y:-105.16, Z:-4.04 [[-9.29200833e-01 3.69419265e-01 1.07340039e-02 1.34412951e+02] [ 3.69391342e-01 9.29262793e-01 -4.54952781e-03 -1.05162075e+02] [-1.16553937e-02 -2.62376912e-04 -9.99932039e-01 -4.04196801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.386559995 meters 0.016373618059434596 Centerline is valid? [True, True] Translation: X:134.42, Y:-105.14, Z:-4.04 [[-9.52999119e-01 3.02783636e-01 1.07120704e-02 1.34420848e+02] [ 3.02761512e-01 9.53059288e-01 -3.66898252e-03 -1.05136929e+02] [-1.13201461e-02 -2.53334476e-04 -9.99935893e-01 -4.04115007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4465599949999 meters 0.015888456126485755 Centerline is valid? [True, True] Translation: X:134.42, Y:-105.11, Z:-4.04 [[-9.72109633e-01 2.34275459e-01 1.08568008e-02 1.34422595e+02] [ 2.34257925e-01 9.72170224e-01 -2.87746644e-03 -1.05114757e+02] [-1.12287782e-02 -2.53921218e-04 -9.99936923e-01 -4.04178159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.506559995 meters 0.01551397239552866 Centerline is valid? [True, True] Translation: X:134.43, Y:-105.09, Z:-4.04 [[-9.86176243e-01 1.65326063e-01 1.11225673e-02 1.34425211e+02] [ 1.65312690e-01 9.86238932e-01 -2.11758269e-03 -1.05091527e+02] [-1.13196005e-02 -2.49608219e-04 -9.99935900e-01 -4.04191060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5665599949999 meters 0.014935414644368929 Centerline is valid? [True, True] Translation: X:134.43, Y:-105.07, Z:-4.04 [[-9.95229987e-01 9.68337650e-02 1.18530487e-02 1.34429480e+02] [ 9.68240147e-02 9.95300540e-01 -1.39506052e-03 -1.05070382e+02] [-1.19324348e-02 -2.40746299e-04 -9.99928777e-01 -4.04155646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.626559995 meters 0.014062057504470557 Centerline is valid? [True, True] Translation: X:134.42, Y:-105.05, Z:-4.04 [[-9.99462735e-01 3.05604591e-02 1.18448548e-02 1.34423370e+02] [ 3.05561213e-02 9.99532903e-01 -5.47064513e-04 -1.05050971e+02] [-1.18560407e-02 -1.84837774e-04 -9.99929698e-01 -4.04182945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6865599949999 meters 0.013085146449395962 Centerline is valid? [True, True] Translation: X:134.46, Y:-104.41, Z:-5.00 [[-9.92284052e-01 -1.23473644e-01 1.12525626e-02 1.34462386e+02] [ 1.23467358e-01 -9.92347841e-01 -1.25434474e-03 -1.04409780e+02] [ 1.13213347e-02 1.44657885e-04 9.99935901e-01 -4.99789434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.746559995 meters 0.012189216675115794 Centerline is valid? [True, True] Translation: X:134.38, Y:-105.07, Z:-4.04 [[-9.99089930e-01 4.13877623e-02 1.03133393e-02 1.34377550e+02] [ 4.13855043e-02 9.99143160e-01 -4.32353110e-04 -1.05068042e+02] [-1.03223965e-02 -5.13689201e-06 -9.99946723e-01 -4.04315609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8065599949999 meters 0.013444185251827744 Centerline is valid? [True, True] Translation: X:134.41, Y:-104.39, Z:-5.00 [[-9.94901263e-01 -1.00405532e-01 9.49774019e-03 1.34414051e+02] [ 1.00400589e-01 -9.94946595e-01 -9.97016903e-04 -1.04385715e+02] [ 9.54985028e-03 -3.83546688e-05 9.99954398e-01 -4.99797396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.866559995 meters 0.013425861482856684 Centerline is valid? [True, True] Translation: X:134.32, Y:-105.08, Z:-4.04 [[-9.98617396e-01 5.15149170e-02 1.04647082e-02 1.34320133e+02] [ 5.15136444e-02 9.98672214e-01 -3.91303847e-04 -1.05082879e+02] [-1.04709713e-02 1.48312427e-04 -9.99945167e-01 -4.04486290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9265599949999 meters 0.014310053284078481 Centerline is valid? [True, True] Translation: X:134.32, Y:-105.06, Z:-4.04 [[-9.99801574e-01 -1.65258796e-02 1.11224370e-02 1.34321715e+02] [-1.65227257e-02 9.99863420e-01 3.75400811e-04 -1.05059512e+02] [-1.11271217e-02 1.91553346e-04 -9.99938073e-01 -4.04368042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.986559995 meters 0.015405040650486012 Centerline is valid? [True, True] Translation: X:134.31, Y:-104.34, Z:-5.00 [[-9.99885843e-01 -1.07599503e-02 1.06077924e-02 1.34305651e+02] [ 1.07570763e-02 -9.99942087e-01 -3.27951214e-04 -1.04342569e+02] [ 1.06107069e-02 -2.13804942e-04 9.99943682e-01 -4.99624076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0465599949999 meters 0.017239877325419248 Centerline is valid? [True, True] Translation: X:134.25, Y:-105.07, Z:-4.05 [[-9.99908147e-01 -1.05892295e-02 8.45971484e-03 1.34247420e+02] [-1.05868069e-02 9.99943903e-01 3.31103415e-04 -1.05071940e+02] [-8.46274641e-03 2.41511635e-04 -9.99964161e-01 -4.04583417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.106559995 meters 0.018811628862260964 Centerline is valid? [True, True] Translation: X:134.22, Y:-104.34, Z:-4.99 [[-9.99961073e-01 4.07419373e-03 7.82649785e-03 1.34224343e+02] [-4.07612722e-03 -9.99991666e-01 -2.31108628e-04 -1.04336667e+02] [ 7.82549105e-03 -2.63001433e-04 9.99969346e-01 -4.99424590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.166559995 meters 0.018362696366983088 Centerline is valid? [True, True] Translation: X:134.16, Y:-105.08, Z:-4.05 [[-9.99908110e-01 -1.10188571e-02 7.89660279e-03 1.34164185e+02] [-1.10164224e-02 9.99939256e-01 3.51763007e-04 -1.05077023e+02] [-7.89999914e-03 2.64738372e-04 -9.99968760e-01 -4.04633453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2265599949999 meters 0.01949163891987593 Centerline is valid? [True, True] Translation: X:134.16, Y:-105.05, Z:-4.05 [[-9.96301809e-01 -8.54749773e-02 8.75976989e-03 1.34157871e+02] [-8.54693209e-02 9.96340282e-01 1.01874109e-03 -1.05049043e+02] [-8.81478847e-03 2.66282004e-04 -9.99961114e-01 -4.04518718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.286559995 meters 0.017124806576485598 Centerline is valid? [True, True] Translation: X:134.07, Y:-104.33, Z:-5.00 [[-9.97171783e-01 7.46322920e-02 8.85758628e-03 1.34072087e+02] [-7.46316999e-02 -9.97211087e-01 3.97823943e-04 -1.04325470e+02] [ 8.86257375e-03 -2.64357910e-04 9.99960692e-01 -4.99500410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3465599949999 meters 0.01585856864103996 Centerline is valid? [True, True] Translation: X:134.06, Y:-105.05, Z:-4.05 [[-9.94839511e-01 -1.01128789e-01 8.20454354e-03 1.34055365e+02] [-1.01123955e-01 9.94873329e-01 1.00297193e-03 -1.05046316e+02] [-8.26391087e-03 1.68120213e-04 -9.99965839e-01 -4.04540552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.406559995 meters 0.015274850925122969 Centerline is valid? [True, True] Translation: X:134.04, Y:-105.02, Z:-4.05 [[-9.84636625e-01 -1.74450881e-01 7.58992897e-03 1.34042257e+02] [-1.74444633e-01 9.84665868e-01 1.48257577e-03 -1.05016340e+02] [-7.73218065e-03 1.35776026e-04 -9.99970097e-01 -4.04517579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4665599949999 meters 0.014986343300979485 Centerline is valid? [True, True] Translation: X:134.02, Y:-104.99, Z:-4.05 [[-9.69335183e-01 -2.45627171e-01 7.52299505e-03 1.34022459e+02] [-2.45618756e-01 9.69364368e-01 2.03709109e-03 -1.04990832e+02] [-7.79288826e-03 1.26835378e-04 -9.99969627e-01 -4.04518186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.526559995 meters 0.01398250503139516 Centerline is valid? [True, True] Translation: X:133.99, Y:-104.96, Z:-4.05 [[-9.47672494e-01 -3.19163310e-01 7.18507100e-03 1.33992204e+02] [-3.19153431e-01 9.47699728e-01 2.51266685e-03 -1.04964944e+02] [-7.61124090e-03 8.80452042e-05 -9.99971030e-01 -4.04569319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5865599949999 meters 0.01268518554976129 Centerline is valid? [True, True] Translation: X:133.95, Y:-104.94, Z:-4.05 [[-9.19797494e-01 -3.92347313e-01 6.01305055e-03 1.33946111e+02] [-3.92338674e-01 9.19817148e-01 2.60378281e-03 -1.04944667e+02] [-6.55249419e-03 3.58006165e-05 -9.99978532e-01 -4.04658531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.646559995 meters 0.012272563809687248 Centerline is valid? [True, True] Translation: X:133.88, Y:-104.94, Z:-4.05 [[-8.86589183e-01 -4.62517813e-01 6.07397798e-03 1.33883557e+02] [-4.62506906e-01 8.86609989e-01 3.17644649e-03 -1.04938102e+02] [-6.85441263e-03 6.94634063e-06 -9.99976508e-01 -4.04614682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7065599949999 meters 0.012692127231984499 Centerline is valid? [True, True] Translation: X:133.81, Y:-104.94, Z:-4.04 [[-8.46473080e-01 -5.32382843e-01 7.19956935e-03 1.33812330e+02] [-5.32364086e-01 8.46503696e-01 4.46915711e-03 -1.04937542e+02] [-8.47376463e-03 -4.97709754e-05 -9.99964096e-01 -4.04424664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.766559995 meters 0.013624655247236944 Centerline is valid? [True, True] Translation: X:133.74, Y:-104.95, Z:-4.04 [[-8.02373558e-01 -5.96774411e-01 7.54828510e-03 1.33735922e+02] [-5.96749086e-01 8.02409057e-01 5.49859290e-03 -1.04949679e+02] [-9.33823187e-03 -9.25066841e-05 -9.99956394e-01 -4.04292841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8265599949999 meters 0.013338613091435154 Centerline is valid? [True, True] Translation: X:133.66, Y:-104.97, Z:-4.05 [[-7.53531958e-01 -6.57366275e-01 7.69207725e-03 1.33659570e+02] [-6.57333835e-01 7.53571206e-01 6.53197735e-03 -1.04974895e+02] [-1.00904295e-02 -1.34208957e-04 -9.99949081e-01 -4.04532870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.886559995 meters 0.013318810005146469 Centerline is valid? [True, True] Translation: X:133.58, Y:-105.01, Z:-4.05 [[-7.01748164e-01 -7.12392280e-01 6.83764133e-03 1.33582147e+02] [-7.12360329e-01 7.01781463e-01 6.74840518e-03 -1.05009061e+02] [-9.60604169e-03 -1.35183479e-04 -9.99953852e-01 -4.04599045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9465599949999 meters 0.01320311322944279 Centerline is valid? [True, True] Translation: X:133.50, Y:-105.05, Z:-4.05 [[-6.46979752e-01 -7.62492382e-01 4.75066383e-03 1.33504459e+02] [-7.62472904e-01 6.46997186e-01 5.45086299e-03 -1.05053475e+02] [-7.22990763e-03 -9.56544623e-05 -9.99973859e-01 -4.04721915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.006559995 meters 0.012941899376663344 Centerline is valid? [True, True] Translation: X:133.43, Y:-105.11, Z:-4.05 [[-5.89190098e-01 -8.07984942e-01 3.91945903e-03 1.33426600e+02] [-8.07967897e-01 5.89203129e-01 5.24885593e-03 -1.05111290e+02] [-6.55035409e-03 -7.42231312e-05 -9.99978543e-01 -4.04809329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0665599949999 meters 0.012879244527948367 Centerline is valid? [True, True] Translation: X:133.35, Y:-105.18, Z:-4.05 [[-5.26557530e-01 -8.50132510e-01 3.44712148e-03 1.33350981e+02] [-8.50115174e-01 5.26568809e-01 5.42955608e-03 -1.05176480e+02] [-6.43098879e-03 -7.14766377e-05 -9.99979318e-01 -4.04826488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.126559995 meters 0.013094536643756611 Centerline is valid? [True, True] Translation: X:133.28, Y:-105.25, Z:-4.05 [[-4.59195309e-01 -8.88328013e-01 3.60684621e-03 1.33275480e+02] [-8.88302250e-01 4.59209464e-01 6.76616410e-03 -1.05252862e+02] [-7.66687102e-03 -9.69787903e-05 -9.99970604e-01 -4.04749607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1865599949999 meters 0.013295153780176183 Centerline is valid? [True, True] Translation: X:133.21, Y:-105.33, Z:-4.05 [[-3.88655069e-01 -9.21375348e-01 3.83476518e-03 1.33207805e+02] [-9.21333974e-01 3.88673962e-01 8.73268053e-03 -1.05333674e+02] [-9.53654994e-03 -1.39098889e-04 -9.99954516e-01 -4.04566386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.246559995 meters 0.013089401499229653 Centerline is valid? [True, True] Translation: X:133.15, Y:-105.42, Z:-4.05 [[-3.18194281e-01 -9.48019158e-01 3.47486760e-03 1.33147280e+02] [-9.47967427e-01 3.18213223e-01 9.90466699e-03 -1.05422329e+02] [-1.04955629e-02 -1.42452899e-04 -9.99944910e-01 -4.04503499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3065599949999 meters 0.012342456041859016 Centerline is valid? [True, True] Translation: X:133.10, Y:-105.52, Z:-4.04 [[-2.51034385e-01 -9.67973972e-01 2.85094632e-03 1.33097553e+02] [-9.67915090e-01 2.51050560e-01 1.06768275e-02 -1.05518541e+02] [-1.10506228e-02 -7.92231364e-05 -9.99938937e-01 -4.04445504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.366559995 meters 0.012120852223085144 Centerline is valid? [True, True] Translation: X:133.05, Y:-105.62, Z:-4.05 [[-1.83103061e-01 -9.83092061e-01 1.80820192e-03 1.33053997e+02] [-9.83044175e-01 1.83111989e-01 9.70306701e-03 -1.05622521e+02] [-9.87011159e-03 -8.81090986e-07 -9.99951289e-01 -4.04532526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4265599949999 meters 0.012890011944755336 Centerline is valid? [True, True] Translation: X:133.02, Y:-105.73, Z:-4.05 [[-1.17273382e-01 -9.93099302e-01 8.54925424e-04 1.33021633e+02] [-9.93067666e-01 1.17276470e-01 7.92720913e-03 -1.05730288e+02] [-7.97276848e-03 8.06518283e-05 -9.99968214e-01 -4.04763653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.486559995 meters 0.01389346925326337 Centerline is valid? [True, True] Translation: X:132.99, Y:-105.84, Z:-4.05 [[-4.64631016e-02 -9.98919984e-01 2.15085511e-04 1.32993413e+02] [-9.98895082e-01 4.64634622e-02 7.05427165e-03 -1.05839260e+02] [-7.05664654e-03 1.12915481e-04 -9.99975095e-01 -4.04857134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5465599949999 meters 0.014269685970590548 Centerline is valid? [True, True] Translation: X:132.97, Y:-105.96, Z:-4.05 [[ 2.89312370e-02 -9.99581344e-01 -3.46224888e-04 1.32969403e+02] [-9.99553712e-01 -2.89330120e-02 7.43354466e-03 -1.05956446e+02] [-7.44044989e-03 1.31008730e-04 -9.99972311e-01 -4.04851469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.606559995 meters 0.01421098944503821 Centerline is valid? [True, True] Translation: X:132.95, Y:-106.08, Z:-4.04 [[ 1.07772562e-01 -9.94174654e-01 -1.35377410e-03 1.32953469e+02] [-9.94114933e-01 -1.07780928e-01 1.08981990e-02 -1.06080080e+02] [-1.09806242e-02 1.71280226e-04 -9.99939697e-01 -4.04491937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.666559995 meters 0.014167677648006473 Centerline is valid? [True, True] Translation: X:132.95, Y:-106.21, Z:-4.04 [[ 1.87273355e-01 -9.82305084e-01 -2.32641630e-03 1.32948315e+02] [-9.82238425e-01 -1.87287751e-01 1.14444024e-02 -1.06206508e+02] [-1.16776039e-02 1.41863853e-04 -9.99931804e-01 -4.04373722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7265599949999 meters 0.013395899846341083 Centerline is valid? [True, True] Translation: X:132.26, Y:-106.46, Z:-5.00 [[ 1.42692451e-01 9.89765892e-01 -1.53107187e-03 1.32264964e+02] [-9.89697885e-01 1.42700596e-01 1.16032754e-02 -1.06456365e+02] [ 1.17030110e-02 -1.40401211e-04 9.99931508e-01 -4.99621383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.786559995 meters 0.01282470164694359 Centerline is valid? [True, True] Translation: X:133.00, Y:-106.49, Z:-4.05 [[ 2.02392719e-01 -9.79302163e-01 -2.11200936e-03 1.33000438e+02] [-9.79252065e-01 -2.02403729e-01 9.90572363e-03 -1.06487510e+02] [-1.01281751e-02 6.33431839e-05 -9.99948707e-01 -4.04516161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8465599949999 meters 0.012432629161059694 Centerline is valid? [True, True] Translation: X:132.32, Y:-106.74, Z:-4.99 [[ 1.45218636e-01 9.89399068e-01 -1.01574145e-03 1.32322695e+02] [-9.89365184e-01 1.45222071e-01 8.19044878e-03 -1.06742053e+02] [ 8.25113046e-03 -1.84466575e-04 9.99965942e-01 -4.99313971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.906559995 meters 0.012260786161210475 Centerline is valid? [True, True] Translation: X:133.05, Y:-106.77, Z:-4.05 [[ 2.20547514e-01 -9.75375426e-01 -1.25395698e-03 1.33053854e+02] [-9.75359247e-01 -2.20551078e-01 5.61792708e-03 -1.06770920e+02] [-5.75614959e-03 -1.59613113e-05 -9.99983433e-01 -4.04909900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9665599949999 meters 0.013391951719657177 Centerline is valid? [True, True] Translation: X:133.05, Y:-106.89, Z:-4.05 [[ 3.03919951e-01 -9.52695708e-01 -1.88422310e-03 1.33050382e+02] [-9.52675732e-01 -3.03925782e-01 6.16998779e-03 -1.06888521e+02] [-6.45078487e-03 -8.01287699e-05 -9.99979190e-01 -4.04754286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.026559995 meters 0.015227546503688573 Centerline is valid? [True, True] Translation: X:133.06, Y:-107.02, Z:-4.05 [[ 3.85302064e-01 -9.22786152e-01 -2.83493922e-03 1.33061180e+02] [-9.22757759e-01 -3.85312453e-01 7.24091225e-03 -1.07019682e+02] [-7.77415094e-03 -1.73976271e-04 -9.99969766e-01 -4.04643010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0865599949999 meters 0.01710380221825032 Centerline is valid? [True, True] Translation: X:133.08, Y:-107.13, Z:-4.05 [[ 4.61061643e-01 -8.87360587e-01 -3.65374420e-03 1.33077399e+02] [-8.87328363e-01 -4.61076054e-01 7.56625935e-03 -1.07133569e+02] [-8.39865430e-03 -2.46441104e-04 -9.99964700e-01 -4.04555269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.146559995 meters 0.018684827341546507 Centerline is valid? [True, True] Translation: X:133.11, Y:-107.25, Z:-4.04 [[ 5.29324015e-01 -8.48408853e-01 -4.30191968e-03 1.33105293e+02] [-8.48376614e-01 -5.29341428e-01 7.40091414e-03 -1.07247447e+02] [-8.55618538e-03 -2.67833534e-04 -9.99963359e-01 -4.04466861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2065599949999 meters 0.01927678740890112 Centerline is valid? [True, True] Translation: X:133.14, Y:-107.35, Z:-4.04 [[ 5.92530378e-01 -8.05533362e-01 -4.87390460e-03 1.33141895e+02] [-8.05502314e-01 -5.92550362e-01 7.07746536e-03 -1.07352920e+02] [-8.58916840e-03 -2.67671791e-04 -9.99963077e-01 -4.04407887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.266559995 meters 0.016820063546344032 Centerline is valid? [True, True] Translation: X:133.19, Y:-107.45, Z:-4.04 [[ 6.49568154e-01 -7.60285960e-01 -5.14513800e-03 1.33188925e+02] [-7.60259320e-01 -6.49588492e-01 6.36847264e-03 -1.07448733e+02] [-8.18408277e-03 -2.25117901e-04 -9.99966485e-01 -4.04481206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3265599949999 meters 0.01687057734955591 Centerline is valid? [True, True] Translation: X:133.24, Y:-107.54, Z:-4.04 [[ 7.03483507e-01 -7.10688721e-01 -5.70062721e-03 1.33238389e+02] [-7.10663028e-01 -7.03506575e-01 6.04637293e-03 -1.07542842e+02] [-8.30751777e-03 -2.02298639e-04 -9.99965472e-01 -4.04379229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.386559995 meters 0.01590468970919495 Centerline is valid? [True, True] Translation: X:133.30, Y:-107.63, Z:-4.04 [[ 7.52664476e-01 -6.58370488e-01 -6.66980112e-03 1.33299701e+02] [-6.58342507e-01 -7.52694007e-01 6.07252198e-03 -1.07631112e+02] [-9.01828859e-03 -1.79557984e-04 -9.99959318e-01 -4.04232463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4465599949999 meters 0.015373682720356404 Centerline is valid? [True, True] Translation: X:133.33, Y:-107.65, Z:-4.04 [[ 8.00298377e-01 -5.99556497e-01 -7.38347513e-03 1.33327489e+02] [-5.99529100e-01 -8.00332419e-01 5.73385340e-03 -1.07648161e+02] [-9.34700357e-03 -1.62185362e-04 -9.99956303e-01 -4.04153703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.506559995 meters 0.015373682720356404 Centerline is valid? [True, True] Translation: X:133.35, Y:-107.67, Z:-4.04 [[ 8.44713252e-01 -5.35162163e-01 -7.80906122e-03 1.33353454e+02] [-5.35137511e-01 -8.44749332e-01 5.13914526e-03 -1.07667099e+02] [-9.34697534e-03 -1.62182521e-04 -9.99956303e-01 -4.04153760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5665599949999 meters 0.015316043744886723 Centerline is valid? [True, True] Translation: X:133.38, Y:-107.68, Z:-4.04 [[ 8.83756335e-01 -4.67872504e-01 -8.37019842e-03 1.33381705e+02] [-4.67849781e-01 -8.83795957e-01 4.61394379e-03 -1.07682520e+02] [-9.55628496e-03 -1.61606555e-04 -9.99954325e-01 -4.04120648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.626559995 meters 0.013936548316482453 Centerline is valid? [True, True] Translation: X:133.41, Y:-107.70, Z:-4.04 [[ 9.17343193e-01 -3.98001321e-01 -8.74153772e-03 1.33409865e+02] [-3.97981626e-01 -9.17384829e-01 3.96248272e-03 -1.07699003e+02] [-9.59642744e-03 -1.55985155e-04 -9.99953941e-01 -4.04246695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6865599949999 meters 0.013817581437743812 Centerline is valid? [True, True] Translation: X:133.44, Y:-107.72, Z:-4.04 [[ 9.45492064e-01 -3.25526072e-01 -8.80525216e-03 1.33437244e+02] [-3.25510500e-01 -9.45533053e-01 3.18745095e-03 -1.07716877e+02] [-9.36325535e-03 -1.47507544e-04 -9.99956153e-01 -4.04264576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.746559995 meters 0.014066066107828762 Centerline is valid? [True, True] Translation: X:133.46, Y:-107.73, Z:-4.04 [[ 9.68139733e-01 -2.50265950e-01 -8.50952052e-03 1.33463935e+02] [-2.50254991e-01 -9.68177119e-01 2.34643951e-03 -1.07732193e+02] [-8.82595698e-03 -1.42131343e-04 -9.99961040e-01 -4.04245889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8065599949999 meters 0.014309896270614112 Centerline is valid? [True, True] Translation: X:133.49, Y:-107.75, Z:-4.04 [[ 9.84966927e-01 -1.72486493e-01 -9.41074290e-03 1.33492823e+02] [-1.72476996e-01 -9.85011869e-01 1.81762405e-03 -1.07745416e+02] [-9.58320905e-03 -1.67162909e-04 -9.99954066e-01 -4.04240813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.866559995 meters 0.014882799216121819 Centerline is valid? [True, True] Translation: X:133.52, Y:-107.76, Z:-4.04 [[ 9.95517286e-01 -9.40458264e-02 -1.00356873e-02 1.33518238e+02] [-9.40391823e-02 -9.95567852e-01 1.13293785e-03 -1.07756400e+02] [-1.00977557e-02 -1.84111392e-04 -9.99948999e-01 -4.04095748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9265599949999 meters 0.014438188932777896 Centerline is valid? [True, True] Translation: X:133.55, Y:-107.76, Z:-4.04 [[ 9.99799082e-01 -1.74258558e-02 -9.90634404e-03 1.33545947e+02] [-1.74233687e-02 -9.99848145e-01 3.37314799e-04 -1.07763136e+02] [-9.91071771e-03 -1.64645142e-04 -9.99950874e-01 -4.04079535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.986559995 meters 0.01400967752679047 Centerline is valid? [True, True] Translation: X:133.57, Y:-107.77, Z:-4.04 [[ 9.98158775e-01 6.02011344e-02 -7.40834033e-03 1.33573504e+02] [ 6.02003553e-02 -9.98186260e-01 -3.28324693e-04 -1.07770243e+02] [-7.41466904e-03 -1.18264546e-04 -9.99972504e-01 -4.04367323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0465599949999 meters 0.013973668957202973 Centerline is valid? [True, True] Translation: X:133.60, Y:-107.78, Z:-4.04 [[ 9.90306213e-01 1.38750830e-01 -6.46626023e-03 1.33602390e+02] [ 1.38748583e-01 -9.90327317e-01 -7.96947766e-04 -1.07778114e+02] [-6.51429131e-03 -1.07962119e-04 -9.99978776e-01 -4.04493294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.106559995 meters 0.014523316558204671 Centerline is valid? [True, True] Translation: X:133.63, Y:-107.78, Z:-4.04 [[ 9.76072577e-01 2.17359409e-01 -6.10012188e-03 1.33631175e+02] [ 2.17355885e-01 -9.76091632e-01 -1.24290045e-03 -1.07783090e+02] [-6.22443403e-03 -1.12736341e-04 -9.99980622e-01 -4.04416092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.166559995 meters 0.014912504817382955 Centerline is valid? [True, True] Translation: X:133.66, Y:-107.79, Z:-4.04 [[ 9.55645401e-01 2.94401519e-01 -8.34349638e-03 1.33661136e+02] [ 2.94391834e-01 -9.55681808e-01 -2.39392545e-03 -1.07785395e+02] [-8.67850299e-03 -1.68513350e-04 -9.99962327e-01 -4.04227056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2265599949999 meters 0.015304677058524651 Centerline is valid? [True, True] Translation: X:133.69, Y:-107.78, Z:-4.04 [[ 9.29466957e-01 3.68784426e-01 -9.44578310e-03 1.33690122e+02] [ 3.68767567e-01 -9.29514931e-01 -3.53192154e-03 -1.07784387e+02] [-1.00825141e-02 -2.00494084e-04 -9.99949150e-01 -4.04073353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.286559995 meters 0.015327077554920087 Centerline is valid? [True, True] Translation: X:133.72, Y:-107.78, Z:-4.04 [[ 8.97851696e-01 4.40205142e-01 -9.04241339e-03 1.33719228e+02] [ 4.40185011e-01 -8.97897207e-01 -4.21451585e-03 -1.07779071e+02] [-9.97440928e-03 -1.96324635e-04 -9.99950235e-01 -4.04128971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3465599949999 meters 0.014891028526626928 Centerline is valid? [True, True] Translation: X:133.75, Y:-107.77, Z:-4.04 [[ 8.61832422e-01 5.07138640e-01 -7.43477982e-03 1.33746658e+02] [ 5.07121247e-01 -8.61864477e-01 -4.20277092e-03 -1.07769820e+02] [-8.53916016e-03 -1.48250571e-04 -9.99963530e-01 -4.04187191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.406559995 meters 0.01350874993156076 Centerline is valid? [True, True] Translation: X:133.77, Y:-107.76, Z:-4.04 [[ 8.21765908e-01 5.69776723e-01 -7.43490950e-03 1.33773332e+02] [ 5.69754719e-01 -8.21799532e-01 -5.00886876e-03 -1.07758183e+02] [-8.96394198e-03 -1.19957186e-04 -9.99959816e-01 -4.04180712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4665599949999 meters 0.012992903051058217 Centerline is valid? [True, True] Translation: X:133.80, Y:-107.75, Z:-4.04 [[ 7.76424530e-01 6.30160625e-01 -7.90800990e-03 1.33800140e+02] [ 6.30129332e-01 -7.76464793e-01 -6.28083911e-03 -1.07747011e+02] [-1.00982288e-02 -1.06471442e-04 -9.99949006e-01 -4.04115871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.526559995 meters 0.012540034174168036 Centerline is valid? [True, True] Translation: X:133.83, Y:-107.73, Z:-4.04 [[ 7.27302272e-01 6.86276128e-01 -7.51538014e-03 1.33826831e+02] [ 6.86240476e-01 -7.27341097e-01 -6.99557258e-03 -1.07734548e+02] [-1.02671393e-02 -6.94622192e-05 -9.99947289e-01 -4.04082991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5865599949999 meters 0.012456117192571942 Centerline is valid? [True, True] Translation: X:133.85, Y:-107.72, Z:-4.04 [[ 6.73578460e-01 7.39086102e-01 -6.61760365e-03 1.33849912e+02] [ 7.39050965e-01 -6.73610966e-01 -7.20681254e-03 -1.07720184e+02] [-9.78414537e-03 -3.63926714e-05 -9.99952133e-01 -4.04144682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.646559995 meters 0.012291017938570273 Centerline is valid? [True, True] Translation: X:133.87, Y:-107.70, Z:-4.04 [[ 6.15640731e-01 7.88005985e-01 -5.74966481e-03 1.33872052e+02] [ 7.87971785e-01 -6.15667579e-01 -7.34154680e-03 -1.07703268e+02] [-9.32506503e-03 -1.08184049e-05 -9.99956521e-01 -4.04220489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7065599949999 meters 0.012254008555850791 Centerline is valid? [True, True] Translation: X:133.89, Y:-107.69, Z:-4.04 [[ 5.53015331e-01 8.33157517e-01 -4.75346159e-03 1.33894068e+02] [ 8.33126743e-01 -5.53035760e-01 -7.16091476e-03 -1.07685718e+02] [-8.59500420e-03 -1.40328031e-07 -9.99963062e-01 -4.04232215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.766559995 meters 0.012134377276079718 Centerline is valid? [True, True] Translation: X:133.92, Y:-107.67, Z:-4.04 [[ 4.87068637e-01 8.73356219e-01 -3.61360843e-03 1.33915693e+02] [ 8.73332064e-01 -4.87082042e-01 -6.49545844e-03 -1.07667765e+02] [-7.43297280e-03 7.85398015e-06 -9.99972375e-01 -4.04256562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8265599949999 meters 0.012107196271584485 Centerline is valid? [True, True] Translation: X:133.93, Y:-107.65, Z:-4.04 [[ 4.16838259e-01 9.08975211e-01 -3.15142147e-03 1.33934881e+02] [ 9.08949142e-01 -4.16850171e-01 -6.88417915e-03 -1.07647693e+02] [-7.57121878e-03 5.10740494e-06 -9.99971338e-01 -4.04233928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.886559995 meters 0.012163606551532155 Centerline is valid? [True, True] Translation: X:133.95, Y:-107.63, Z:-4.04 [[ 3.41481247e-01 9.39883873e-01 -2.97727588e-03 1.33954647e+02] [ 9.39848672e-01 -3.41494225e-01 -8.13438213e-03 -1.07627268e+02] [-8.66209709e-03 -2.04498377e-05 -9.99962483e-01 -4.04080742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9465599949999 meters 0.012268920810745444 Centerline is valid? [True, True] Translation: X:133.97, Y:-107.61, Z:-4.04 [[ 2.64482684e-01 9.64387221e-01 -2.48949893e-03 1.33973535e+02] [ 9.64346069e-01 -2.64494397e-01 -8.90914235e-03 -1.07605469e+02] [-9.25032155e-03 -4.44246221e-05 -9.99957214e-01 -4.04025516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.006559995 meters 0.012463867777179281 Centerline is valid? [True, True] Translation: X:133.99, Y:-107.58, Z:-4.04 [[ 1.86278125e-01 9.82495232e-01 -1.89169481e-03 1.33989931e+02] [ 9.82448110e-01 -1.86287718e-01 -9.62277361e-03 -1.07582114e+02] [-9.80672870e-03 -6.59797651e-05 -9.99951911e-01 -4.03898871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0665599949999 meters 0.012335967751554338 Centerline is valid? [True, True] Translation: X:134.00, Y:-107.56, Z:-4.04 [[ 1.09428560e-01 9.93994065e-01 -1.09040876e-03 1.34003147e+02] [ 9.93949819e-01 -1.09433978e-01 -9.37883780e-03 -1.07557059e+02] [-9.44183688e-03 -5.74988702e-05 -9.99955423e-01 -4.03982833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.126559995 meters 0.012372625091556531 Centerline is valid? [True, True] Translation: X:134.01, Y:-107.53, Z:-4.04 [[ 3.27111234e-02 9.99464808e-01 -2.83257243e-04 1.34011540e+02] [ 9.99436019e-01 -3.27123311e-02 -7.58602051e-03 -1.07531625e+02] [-7.59122654e-03 -3.49502382e-05 -9.99971186e-01 -4.04107970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1865599949999 meters 0.012339302681624153 Centerline is valid? [True, True] Translation: X:134.02, Y:-107.50, Z:-4.04 [[-4.55433581e-02 9.98962328e-01 2.64141264e-04 1.34020713e+02] [ 9.98941674e-01 4.55441150e-02 -6.42390546e-03 -1.07504653e+02] [-6.42926963e-03 -2.87045107e-05 -9.99979332e-01 -4.04163152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.246559995 meters 0.012402569596366462 Centerline is valid? [True, True] Translation: X:134.03, Y:-107.48, Z:-4.04 [[-1.24342689e-01 9.92238992e-01 8.23082550e-04 1.34027758e+02] [ 9.92215332e-01 1.24345409e-01 -6.85229322e-03 -1.07477019e+02] [-6.90145905e-03 -3.53574412e-05 -9.99976184e-01 -4.04080496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3065599949999 meters 0.012584295862142166 Centerline is valid? [True, True] Translation: X:134.03, Y:-107.45, Z:-4.04 [[-2.02767442e-01 9.79225628e-01 1.59161510e-03 1.34031331e+02] [ 9.79193485e-01 2.02773682e-01 -7.93425389e-03 -1.07449731e+02] [-8.09216241e-03 -5.03092256e-05 -9.99967257e-01 -4.03921797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.366559995 meters 0.012751633450412001 Centerline is valid? [True, True] Translation: X:134.03, Y:-107.42, Z:-4.04 [[-2.79822735e-01 9.60049033e-01 2.25623705e-03 1.34031949e+02] [ 9.60016081e-01 2.79831824e-01 -7.95445616e-03 -1.07422431e+02] [-8.26803488e-03 -5.98138240e-05 -9.99965817e-01 -4.03884000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4265599949999 meters 0.01291276489407241 Centerline is valid? [True, True] Translation: X:134.03, Y:-107.40, Z:-4.04 [[-3.55211185e-01 9.34781119e-01 3.04518724e-03 1.34028918e+02] [ 9.34744992e-01 3.55224230e-01 -8.21867631e-03 -1.07396309e+02] [-8.76438773e-03 -7.28922335e-05 -9.99961589e-01 -4.03863389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.486559995 meters 0.01307683440821606 Centerline is valid? [True, True] Translation: X:134.03, Y:-107.37, Z:-4.04 [[-4.29406206e-01 9.03104425e-01 3.56471795e-03 1.34026944e+02] [ 9.03071555e-01 4.29420993e-01 -7.70572677e-03 -1.07367630e+02] [-8.48984067e-03 -8.96915193e-05 -9.99963957e-01 -4.04008706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5465599949999 meters 0.013547446835345754 Centerline is valid? [True, True] Translation: X:134.02, Y:-107.34, Z:-4.04 [[-5.01225878e-01 8.65305463e-01 4.36738766e-03 1.34023478e+02] [ 8.65270527e-01 5.01244891e-01 -7.77647895e-03 -1.07340255e+02] [-8.91816048e-03 -1.18800664e-04 -9.99960225e-01 -4.04001943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.606559995 meters 0.013606730960413309 Centerline is valid? [True, True] Translation: X:134.02, Y:-107.31, Z:-4.04 [[-5.68452146e-01 8.22697483e-01 5.56853167e-03 1.34017296e+02] [ 8.22655483e-01 5.68479401e-01 -8.31422662e-03 -1.07312552e+02] [-1.00056889e-02 -1.45256853e-04 -9.99949931e-01 -4.03945872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.666559995 meters 0.013350538405459623 Centerline is valid? [True, True] Translation: X:134.01, Y:-107.29, Z:-4.04 [[-6.30407041e-01 7.76234432e-01 6.86075119e-03 1.34007613e+02] [ 7.76185857e-01 6.30444355e-01 -8.68507579e-03 -1.07286288e+02] [-1.10669767e-02 -1.49914885e-04 -9.99938748e-01 -4.03903205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7265599949999 meters 0.012856182390952273 Centerline is valid? [True, True] Translation: X:133.99, Y:-107.26, Z:-4.04 [[-6.86847054e-01 7.26774010e-01 6.37665507e-03 1.33993864e+02] [ 7.26741392e-01 6.86876647e-01 -6.88623008e-03 -1.07262820e+02] [-9.38470850e-03 -9.56076612e-05 -9.99955958e-01 -4.04088363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.786559995 meters 0.012677004975187261 Centerline is valid? [True, True] Translation: X:133.98, Y:-107.24, Z:-4.04 [[-7.39892513e-01 6.72695219e-01 6.34127232e-03 1.33978861e+02] [ 6.72669755e-01 7.39919684e-01 -5.85346675e-03 -1.07241092e+02] [-8.62963130e-03 -6.53541311e-05 -9.99962762e-01 -4.04164925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8465599949999 meters 0.0123014468897774 Centerline is valid? [True, True] Translation: X:134.01, Y:-107.24, Z:-4.04 [[-7.81792581e-01 6.23495324e-01 7.34449529e-03 1.34007604e+02] [ 6.23467641e-01 7.81827079e-01 -5.87535812e-03 -1.07237119e+02] [-9.40538361e-03 -1.42562413e-05 -9.99955768e-01 -4.04061144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.906559995 meters 0.012412671204685945 Centerline is valid? [True, True] Translation: X:134.02, Y:-107.22, Z:-4.04 [[-8.22146793e-01 5.69211690e-01 8.52661866e-03 1.34023557e+02] [ 5.69181294e-01 8.22191007e-01 -5.88244941e-03 -1.07218503e+02] [-1.03588682e-02 1.69549294e-05 -9.99946345e-01 -4.03973382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9665599949999 meters 0.012713839629799705 Centerline is valid? [True, True] Translation: X:134.04, Y:-107.20, Z:-4.04 [[-8.58448722e-01 5.12822858e-01 8.86041122e-03 1.34042597e+02] [ 5.12796211e-01 8.58494445e-01 -5.22808817e-03 -1.07203408e+02] [-1.02876969e-02 5.55396882e-05 -9.99947079e-01 -4.04030619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.026559995 meters 0.01257374416446414 Centerline is valid? [True, True] Translation: X:134.06, Y:-107.18, Z:-4.04 [[-8.92547627e-01 4.50865784e-01 8.87569331e-03 1.34061223e+02] [ 4.50844101e-01 8.92591755e-01 -4.42209972e-03 -1.07181170e+02] [-9.91614413e-03 5.46193593e-05 -9.99950832e-01 -4.04207656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0865599949999 meters 0.012416744786156505 Centerline is valid? [True, True] Translation: X:134.07, Y:-107.15, Z:-4.04 [[-9.23224495e-01 3.84146513e-01 9.38021597e-03 1.34072980e+02] [ 3.84127013e-01 9.23272146e-01 -3.87067179e-03 -1.07152185e+02] [-1.01473972e-02 2.96953359e-05 -9.99948513e-01 -4.04185858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.146559995 meters 0.012433407272423593 Centerline is valid? [True, True] Translation: X:134.08, Y:-107.12, Z:-4.04 [[-9.48979251e-01 3.15151438e-01 1.08605808e-02 1.34079734e+02] [ 3.15130822e-01 9.49041396e-01 -3.60466431e-03 -1.07122902e+02] [-1.14431559e-02 1.75210393e-06 -9.99934525e-01 -4.04069007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2065599949999 meters 0.012377852351358158 Centerline is valid? [True, True] Translation: X:134.32, Y:-106.42, Z:-5.00 [[-9.25338906e-01 -3.78987594e-01 1.07848325e-02 1.34321842e+02] [ 3.78961997e-01 -9.25401752e-01 -4.40472309e-03 -1.06423290e+02] [ 1.16496383e-02 1.11800158e-05 9.99932141e-01 -4.99991672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.266559995 meters 0.012350811342070275 Centerline is valid? [True, True] Translation: X:134.04, Y:-107.10, Z:-4.04 [[-9.51088470e-01 3.08743954e-01 1.03871228e-02 1.34040915e+02] [ 3.08725183e-01 9.51145189e-01 -3.40458853e-03 -1.07104489e+02] [-1.09308080e-02 -3.12984974e-05 -9.99940256e-01 -4.04155441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3265599949999 meters 0.012387462701656679 Centerline is valid? [True, True] Translation: X:134.27, Y:-106.42, Z:-5.00 [[-9.25009665e-01 -3.79841238e-01 8.81784506e-03 1.34271045e+02] [ 3.79823352e-01 -9.25051691e-01 -3.68664512e-03 -1.06416151e+02] [ 9.55730233e-03 -6.09588963e-05 9.99954326e-01 -4.99744134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.386559995 meters 0.01264557647923432 Centerline is valid? [True, True] Translation: X:134.00, Y:-107.08, Z:-4.04 [[-9.54045197e-01 2.99525499e-01 9.06846908e-03 1.33998211e+02] [ 2.99511138e-01 9.54088292e-01 -2.93425814e-03 -1.07081326e+02] [-9.53100530e-03 -8.33073901e-05 -9.99954576e-01 -4.04297040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4465599949999 meters 0.012900438127467792 Centerline is valid? [True, True] Translation: X:134.01, Y:-107.05, Z:-4.04 [[-9.73458643e-01 2.28702183e-01 8.57801084e-03 1.34006076e+02] [ 2.28692401e-01 9.73496431e-01 -2.11767380e-03 -1.07049099e+02] [-8.83497956e-03 -9.97419741e-05 -9.99960966e-01 -4.04281427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.506559995 meters 0.013155382954524127 Centerline is valid? [True, True] Translation: X:134.01, Y:-107.02, Z:-4.04 [[-9.87483987e-01 1.57513889e-01 8.04676008e-03 1.34011501e+02] [ 1.57507791e-01 9.87516766e-01 -1.38999146e-03 -1.07017836e+02] [-8.16525345e-03 -1.05166910e-04 -9.99966658e-01 -4.04390160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5665599949999 meters 0.013265939334296812 Centerline is valid? [True, True] Translation: X:134.01, Y:-106.99, Z:-4.04 [[-9.96247633e-01 8.60802472e-02 8.99142878e-03 1.34007196e+02] [ 8.60756043e-02 9.96288199e-01 -9.02801837e-04 -1.06986655e+02] [-9.03576779e-03 -1.25471528e-04 -9.99959169e-01 -4.04397225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.626559995 meters 0.014065911898340902 Centerline is valid? [True, True] Translation: X:134.08, Y:-106.32, Z:-5.00 [[-9.83043901e-01 -1.83061681e-01 1.06353331e-02 1.34080443e+02] [ 1.83053880e-01 -9.83101394e-01 -1.71063716e-03 -1.06315621e+02] [ 1.07687629e-02 2.65207569e-04 9.99941980e-01 -4.99895815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6865599949999 meters 0.014687757773519947 Centerline is valid? [True, True] Translation: X:133.96, Y:-106.97, Z:-4.04 [[-9.97023698e-01 7.61587612e-02 1.19828727e-02 1.33957505e+02] [ 7.61503583e-02 9.97095675e-01 -1.15661784e-03 -1.06968662e+02] [-1.20361572e-02 -2.40675344e-04 -9.99927534e-01 -4.04112466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.746559995 meters 0.01568949792780886 Centerline is valid? [True, True] Translation: X:133.96, Y:-106.94, Z:-4.04 [[-9.99932636e-01 4.46668898e-03 1.07131548e-02 1.33956932e+02] [ 4.46405596e-03 9.99990000e-01 -2.69674494e-04 -1.06937189e+02] [-1.07142522e-02 -2.21832205e-04 -9.99942576e-01 -4.04182374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8065599949999 meters 0.01383533943997013 Centerline is valid? [True, True] Translation: X:133.96, Y:-106.91, Z:-4.05 [[-9.97944628e-01 -6.35219501e-02 8.45467477e-03 1.33957991e+02] [-6.35209375e-02 9.97980430e-01 3.88514822e-04 -1.06913619e+02] [-8.46227919e-03 -1.49332588e-04 -9.99964183e-01 -4.04562882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.866559995 meters 0.013267488745437829 Centerline is valid? [True, True] Translation: X:133.95, Y:-106.89, Z:-4.05 [[-9.91362949e-01 -1.30880633e-01 8.35244737e-03 1.33946107e+02] [-1.30877000e-01 9.91398127e-01 9.82423139e-04 -1.06887280e+02] [-8.40918084e-03 -1.19205354e-04 -9.99964635e-01 -4.04552091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9265599949999 meters 0.012496556930992027 Centerline is valid? [True, True] Translation: X:133.94, Y:-106.86, Z:-4.04 [[-9.80554828e-01 -1.96015804e-01 9.48862495e-03 1.33939243e+02] [-1.96007481e-01 9.80600733e-01 1.80842708e-03 -1.06861739e+02] [-9.65903287e-03 -8.65795726e-05 -9.99953347e-01 -4.04354410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.986559995 meters 0.012135706914789449 Centerline is valid? [True, True] Translation: X:133.93, Y:-106.84, Z:-4.04 [[-9.65108654e-01 -2.61634305e-01 1.06196419e-02 1.33926640e+02] [-2.61619076e-01 9.65167078e-01 2.82340524e-03 -1.06839098e+02] [-1.09884284e-02 -5.34080623e-05 -9.99939624e-01 -4.04293202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0465599949999 meters 0.012082270262384814 Centerline is valid? [True, True] Translation: X:133.90, Y:-106.82, Z:-4.04 [[-9.45753657e-01 -3.24697578e-01 1.10228397e-02 1.33903634e+02] [-3.24675365e-01 9.45817891e-01 3.79802902e-03 -1.06820730e+02] [-1.16588098e-02 1.31553295e-05 -9.99932034e-01 -4.04308770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.106559995 meters 0.01243776313168152 Centerline is valid? [True, True] Translation: X:133.86, Y:-106.81, Z:-4.04 [[-9.21507629e-01 -3.88211459e-01 1.07495364e-02 1.33859173e+02] [-3.88184181e-01 9.21570322e-01 4.60260027e-03 -1.06810348e+02] [-1.16932359e-02 6.85312828e-05 -9.99931629e-01 -4.04321752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.166559995 meters 0.012607571731627461 Centerline is valid? [True, True] Translation: X:133.80, Y:-106.81, Z:-4.04 [[-8.91047282e-01 -4.53799448e-01 1.00400209e-02 1.33800965e+02] [-4.53769673e-01 8.91103841e-01 5.19894763e-03 -1.06808335e+02] [-1.13059808e-02 7.66511607e-05 -9.99936082e-01 -4.04346592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2265599949999 meters 0.012405904467817296 Centerline is valid? [True, True] Translation: X:133.73, Y:-106.82, Z:-4.05 [[-8.55733598e-01 -5.17346284e-01 8.53421162e-03 1.33732375e+02] [-5.17319624e-01 8.55776149e-01 5.25261544e-03 -1.06815533e+02] [-1.00207958e-02 7.99243579e-05 -9.99949787e-01 -4.04550820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.286559995 meters 0.012150337164560831 Centerline is valid? [True, True] Translation: X:133.66, Y:-106.83, Z:-4.05 [[-8.14039440e-01 -5.80756187e-01 7.87661325e-03 1.33659239e+02] [-5.80728255e-01 8.14077544e-01 5.69615518e-03 -1.06828204e+02] [-9.72025133e-03 6.27231083e-05 -9.99952755e-01 -4.04528751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3465599949999 meters 0.011857125040002931 Centerline is valid? [True, True] Translation: X:133.58, Y:-106.85, Z:-4.04 [[-7.65885090e-01 -6.42934605e-01 7.42447777e-03 1.33577091e+02] [-6.42904105e-01 7.65921075e-01 6.26245062e-03 -1.06852500e+02] [-9.71291021e-03 2.30903230e-05 -9.99952828e-01 -4.04462125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.406559995 meters 0.011838125236942647 Centerline is valid? [True, True] Translation: X:133.49, Y:-106.89, Z:-4.04 [[-7.13169083e-01 -7.00958165e-01 6.89282973e-03 1.33493942e+02] [-7.00925567e-01 7.13202392e-01 6.76005715e-03 -1.06887396e+02] [-9.65449990e-03 -1.02968311e-05 -9.99953394e-01 -4.04460799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4665599949999 meters 0.012061959244473345 Centerline is valid? [True, True] Translation: X:133.41, Y:-106.93, Z:-4.04 [[-6.54249292e-01 -7.56259406e-01 5.43829135e-03 1.33405881e+02] [-7.56233995e-01 6.54271891e-01 6.19975668e-03 -1.06931721e+02] [-8.24674547e-03 -5.64343761e-05 -9.99965993e-01 -4.04494050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.526559995 meters 0.012420015354177291 Centerline is valid? [True, True] Translation: X:133.32, Y:-106.98, Z:-4.04 [[-5.93021808e-01 -8.05174013e-01 4.46590234e-03 1.33324012e+02] [-8.05152102e-01 5.93038620e-01 5.94038520e-03 -1.06984633e+02] [-7.43149634e-03 -7.29526831e-05 -9.99972383e-01 -4.04478594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5865599949999 meters 0.01294151077121318 Centerline is valid? [True, True] Translation: X:133.24, Y:-107.05, Z:-4.04 [[-5.27122566e-01 -8.49779971e-01 3.97506655e-03 1.33241285e+02] [-8.49757256e-01 5.27137544e-01 6.21416601e-03 -1.07048887e+02] [-7.37608063e-03 -1.02214513e-04 -9.99972791e-01 -4.04385214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.646559995 meters 0.013728120079836975 Centerline is valid? [True, True] Translation: X:133.16, Y:-107.12, Z:-4.04 [[-4.57846390e-01 -8.89024207e-01 3.55569426e-03 1.33163494e+02] [-8.88999619e-01 4.57860177e-01 6.61328848e-03 -1.07120994e+02] [-7.50738435e-03 -1.33140589e-04 -9.99971810e-01 -4.04326025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7065599949999 meters 0.0146160869387074 Centerline is valid? [True, True] Translation: X:133.09, Y:-107.20, Z:-4.04 [[-3.86012107e-01 -9.22487837e-01 3.29290558e-03 1.33092627e+02] [-9.22457961e-01 3.86026114e-01 7.42625495e-03 -1.07197840e+02] [-8.12177741e-03 -1.70942648e-04 -9.99967003e-01 -4.04306265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.766559995 meters 0.017242926471344282 Centerline is valid? [True, True] Translation: X:133.02, Y:-107.28, Z:-4.04 [[-3.11311072e-01 -9.50303973e-01 2.78835821e-03 1.33022331e+02] [-9.50271599e-01 3.11323491e-01 7.84685348e-03 -1.07284723e+02] [-8.32497745e-03 -2.06885243e-04 -9.99965325e-01 -4.04165094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8265599949999 meters 0.016200555521449438 Centerline is valid? [True, True] Translation: X:132.97, Y:-107.38, Z:-4.04 [[-2.37674712e-01 -9.71342444e-01 2.14217216e-03 1.32966991e+02] [-9.71310476e-01 2.37684275e-01 7.88319797e-03 -1.07378043e+02] [-8.16644541e-03 -2.07077452e-04 -9.99966633e-01 -4.04204651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.886559995 meters 0.01578591829309511 Centerline is valid? [True, True] Translation: X:132.92, Y:-107.48, Z:-4.04 [[-1.62699211e-01 -9.86674554e-01 1.51378524e-03 1.32918140e+02] [-9.86642864e-01 1.62706122e-01 7.91051468e-03 -1.07479897e+02] [-8.05140567e-03 -2.06530906e-04 -9.99967566e-01 -4.04215525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9465599949999 meters 0.016780399071274377 Centerline is valid? [True, True] Translation: X:132.88, Y:-107.58, Z:-4.04 [[-8.72327543e-02 -9.96187554e-01 8.96163502e-04 1.32876814e+02] [-9.96156114e-01 8.72371234e-02 7.91714573e-03 -1.07582091e+02] [-7.96514077e-03 -2.02084322e-04 -9.99968257e-01 -4.04182277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.006559995 meters 0.016584719358629277 Centerline is valid? [True, True] Translation: X:132.84, Y:-107.69, Z:-4.04 [[-1.06190831e-02 -9.99943579e-01 2.73278635e-04 1.32844093e+02] [-9.99915205e-01 1.06208412e-02 7.53526481e-03 -1.07690301e+02] [-7.53774211e-03 -1.93237858e-04 -9.99971572e-01 -4.04234696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0665599949999 meters 0.017062895887183623 Centerline is valid? [True, True] Translation: X:132.82, Y:-107.80, Z:-4.04 [[ 6.79093366e-02 -9.97691457e-01 -2.81888009e-04 1.32818374e+02] [-9.97666984e-01 -6.79096459e-02 6.99063162e-03 -1.07800632e+02] [-6.99363636e-03 -1.93498796e-04 -9.99975526e-01 -4.04335605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.126559995 meters 0.017939370199653113 Centerline is valid? [True, True] Translation: X:132.80, Y:-107.92, Z:-4.04 [[ 1.47881382e-01 -9.89004763e-01 -8.22039909e-04 1.32800922e+02] [-9.88979981e-01 -1.47883499e-01 7.00489144e-03 -1.07917434e+02] [-7.04943713e-03 -2.22912013e-04 -9.99975128e-01 -4.04338806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1865599949999 meters 0.020177483570158354 Centerline is valid? [True, True] Translation: X:132.79, Y:-108.04, Z:-4.04 [[ 2.26644326e-01 -9.73976460e-01 -1.48470221e-03 1.32790172e+02] [-9.73946978e-01 -2.26649025e-01 7.58310623e-03 -1.08038024e+02] [-7.72227327e-03 -2.72646767e-04 -9.99970146e-01 -4.04266623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.246559995 meters 0.020860803660607 Centerline is valid? [True, True] Translation: X:132.79, Y:-108.15, Z:-4.04 [[ 3.02267691e-01 -9.53220392e-01 -2.26440006e-03 1.32789255e+02] [-9.53185290e-01 -3.02276007e-01 8.18644118e-03 -1.08149361e+02] [-8.48795648e-03 -3.16103847e-04 -9.99963927e-01 -4.04250624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3065599949999 meters 0.02167052233259396 Centerline is valid? [True, True] Translation: X:132.80, Y:-108.27, Z:-4.04 [[ 3.75622284e-01 -9.26767638e-01 -3.10574149e-03 1.32798379e+02] [-9.26727759e-01 -3.75634957e-01 8.60470964e-03 -1.08265483e+02] [-9.14119149e-03 -3.53943840e-04 -9.99958156e-01 -4.04279293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.366559995 meters 0.02170375193981894 Centerline is valid? [True, True] Translation: X:132.82, Y:-108.38, Z:-4.04 [[ 4.46317483e-01 -8.94866656e-01 -3.79104341e-03 1.32816069e+02] [-8.94827077e-01 -4.46333432e-01 8.42435299e-03 -1.08379541e+02] [-9.23074201e-03 -3.67607730e-04 -9.99957328e-01 -4.04281117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4265599949999 meters 0.021592201708440246 Centerline is valid? [True, True] Translation: X:132.84, Y:-108.49, Z:-4.04 [[ 5.13634127e-01 -8.57996828e-01 -4.62888353e-03 1.32840517e+02] [-8.57954921e-01 -5.13654837e-01 8.48894650e-03 -1.08487641e+02] [-9.66113759e-03 -3.88839226e-04 -9.99953255e-01 -4.04237817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.486559995 meters 0.022718190855581345 Centerline is valid? [True, True] Translation: X:132.87, Y:-108.59, Z:-4.04 [[ 5.78294299e-01 -8.15813332e-01 -4.93060983e-03 1.32872518e+02] [-8.15778019e-01 -5.78315198e-01 7.59969552e-03 -1.08593634e+02] [-9.05137952e-03 -3.72577474e-04 -9.99958966e-01 -4.04279325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5465599949999 meters 0.022896479853254444 Centerline is valid? [True, True] Translation: X:132.91, Y:-108.69, Z:-4.04 [[ 6.38892023e-01 -7.69278786e-01 -5.20890188e-03 1.32912990e+02] [-7.69248575e-01 -6.38913158e-01 6.82691162e-03 -1.08694761e+02] [-8.57983423e-03 -3.54719022e-04 -9.99963130e-01 -4.04388670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.606559995 meters 0.022593097077518696 Centerline is valid? [True, True] Translation: X:132.96, Y:-108.79, Z:-4.04 [[ 6.95089293e-01 -7.18902178e-01 -5.52581482e-03 1.32958859e+02] [-7.18875515e-01 -6.95111175e-01 6.20074689e-03 -1.08790870e+02] [-8.29878607e-03 -3.37699794e-04 -9.99965508e-01 -4.04414436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.666559995 meters 0.021073719195784796 Centerline is valid? [True, True] Translation: X:133.01, Y:-108.88, Z:-4.05 [[ 7.47401512e-01 -6.64350065e-01 -5.47450970e-03 1.33014199e+02] [-6.64329191e-01 -7.47421499e-01 5.27531846e-03 -1.08881858e+02] [-7.59642441e-03 -3.05904394e-04 -9.99971100e-01 -4.04517193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7265599949999 meters 0.02089448554303029 Centerline is valid? [True, True] Translation: X:133.04, Y:-108.91, Z:-4.04 [[ 7.96691882e-01 -6.04351844e-01 -6.39482930e-03 1.33037100e+02] [-6.04329013e-01 -7.96717479e-01 5.26337881e-03 -1.08911491e+02] [-8.27580497e-03 -3.28710297e-04 -9.99965701e-01 -4.04410423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.786559995 meters 0.020413212720202134 Centerline is valid? [True, True] Translation: X:133.06, Y:-108.94, Z:-4.04 [[ 8.40522343e-01 -5.41732685e-01 -6.92027564e-03 1.33062758e+02] [-5.41711154e-01 -8.40550770e-01 4.84042686e-03 -1.08938637e+02] [-8.43906045e-03 -3.19696419e-04 -9.99964339e-01 -4.04320526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8465599949999 meters 0.0208077841506897 Centerline is valid? [True, True] Translation: X:133.09, Y:-108.96, Z:-4.04 [[ 8.79536007e-01 -4.75774756e-01 -7.40230609e-03 1.33089420e+02] [-4.75754894e-01 -8.79567101e-01 4.35843119e-03 -1.08962305e+02] [-8.58445644e-03 -3.11713816e-04 -9.99963104e-01 -4.04332746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.906559995 meters 0.01939031382634342 Centerline is valid? [True, True] Translation: X:133.12, Y:-108.98, Z:-4.04 [[ 9.13450428e-01 -4.06874871e-01 -7.82017990e-03 1.33118571e+02] [-4.06857097e-01 -9.13483852e-01 3.81514403e-03 -1.08983660e+02] [-8.69589429e-03 -3.03249260e-04 -9.99962144e-01 -4.04301562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9665599949999 meters 0.02056281830611354 Centerline is valid? [True, True] Translation: X:133.15, Y:-109.01, Z:-4.04 [[ 9.42163724e-01 -3.35045449e-01 -8.48904594e-03 1.33148008e+02] [-3.35028866e-01 -9.42201916e-01 3.34783717e-03 -1.09005905e+02] [-9.12007296e-03 -3.10135296e-04 -9.99958363e-01 -4.04104861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.026559995 meters 0.01981519222619637 Centerline is valid? [True, True] Translation: X:133.18, Y:-109.02, Z:-4.04 [[ 9.65437487e-01 -2.60481760e-01 -8.92818742e-03 1.33180754e+02] [-2.60467582e-01 -9.65478717e-01 2.73595102e-03 -1.09022107e+02] [-9.33264027e-03 -3.15886285e-04 -9.99956400e-01 -4.04058207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0865599949999 meters 0.019792585122666295 Centerline is valid? [True, True] Translation: X:133.21, Y:-109.04, Z:-4.04 [[ 9.82780090e-01 -1.84547882e-01 -9.23981609e-03 1.33214443e+02] [-1.84536684e-01 -9.82823473e-01 2.05763493e-03 -1.09035859e+02] [-9.46084030e-03 -3.17117618e-04 -9.99955195e-01 -4.04076974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.146559995 meters 0.020175596911349448 Centerline is valid? [True, True] Translation: X:133.25, Y:-109.05, Z:-4.04 [[ 9.93982006e-01 -1.09202207e-01 -8.64003184e-03 1.33249244e+02] [-1.09195679e-01 -9.94019518e-01 1.22517058e-03 -1.09045641e+02] [-8.72215162e-03 -2.74343368e-04 -9.99961924e-01 -4.04128433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2065599949999 meters 0.017528787850401198 Centerline is valid? [True, True] Translation: X:133.28, Y:-109.05, Z:-4.04 [[ 9.99408207e-01 -3.34999502e-02 -7.80953116e-03 1.33281646e+02] [-3.34971510e-02 -9.99438693e-01 4.88997517e-04 -1.09051130e+02] [-7.82152901e-03 -2.27111087e-04 -9.99969386e-01 -4.04246741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.266559995 meters 0.016792374730798528 Centerline is valid? [True, True] Translation: X:133.31, Y:-109.06, Z:-4.04 [[ 9.99156836e-01 4.04471189e-02 -7.04609291e-03 1.33313677e+02] [ 4.04473394e-02 -9.99181665e-01 -1.11256951e-04 -1.09055195e+02] [-7.04482688e-03 -1.73832568e-04 -9.99975170e-01 -4.04302480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3265599949999 meters 0.01427282017170511 Centerline is valid? [True, True] Translation: X:133.35, Y:-109.06, Z:-4.04 [[ 9.93650877e-01 1.12330699e-01 -6.30467246e-03 1.33345699e+02] [ 1.12329184e-01 -9.93670871e-01 -5.95042537e-04 -1.09055822e+02] [-6.33161092e-03 -1.16934173e-04 -9.99979948e-01 -4.04365901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.386559995 meters 0.012720843366034778 Centerline is valid? [True, True] Translation: X:133.38, Y:-109.05, Z:-4.04 [[ 9.83292643e-01 1.81907598e-01 -6.72337515e-03 1.33377576e+02] [ 1.81903842e-01 -9.83315626e-01 -1.17123360e-03 -1.09053340e+02] [-6.82425614e-03 -7.13423826e-05 -9.99976712e-01 -4.04256247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4465599949999 meters 0.012130753546504136 Centerline is valid? [True, True] Translation: X:133.41, Y:-109.05, Z:-4.04 [[ 9.68020302e-01 2.50747505e-01 -7.89837640e-03 1.33408243e+02] [ 2.50739337e-01 -9.68052524e-01 -2.02397157e-03 -1.09047370e+02] [-8.15354903e-03 -2.11880935e-05 -9.99966759e-01 -4.04128843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.506559995 meters 0.012346198771265485 Centerline is valid? [True, True] Translation: X:133.44, Y:-109.04, Z:-4.04 [[ 9.47324922e-01 3.20161117e-01 -8.50596383e-03 1.33439174e+02] [ 3.20147930e-01 -9.47363108e-01 -2.90596042e-03 -1.09041354e+02] [-8.98861186e-03 2.97220137e-05 -9.99959601e-01 -4.04071243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5665599949999 meters 0.012646780860617667 Centerline is valid? [True, True] Translation: X:133.47, Y:-109.03, Z:-4.04 [[ 9.20333346e-01 3.91050378e-01 -8.13227950e-03 1.33468254e+02] [ 3.91034617e-01 -9.20369273e-01 -3.51131790e-03 -1.09034005e+02] [-8.85780237e-03 5.15801595e-05 -9.99960768e-01 -4.04011762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.626559995 meters 0.012930544229640186 Centerline is valid? [True, True] Translation: X:133.50, Y:-109.02, Z:-4.04 [[ 8.88032274e-01 4.59716076e-01 -7.73369822e-03 1.33498008e+02] [ 4.59697934e-01 -8.88065946e-01 -4.08472615e-03 -1.09024761e+02] [-8.74584830e-03 7.22035638e-05 -9.99961752e-01 -4.04127505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6865599949999 meters 0.012988113976634259 Centerline is valid? [True, True] Translation: X:133.53, Y:-109.01, Z:-4.04 [[ 8.49751237e-01 5.27134053e-01 -7.24740390e-03 1.33526788e+02] [ 5.27114098e-01 -8.49782139e-01 -4.58737424e-03 -1.09014684e+02] [-8.57687557e-03 7.79181707e-05 -9.99963215e-01 -4.04177518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.746559995 meters 0.013013378163499253 Centerline is valid? [True, True] Translation: X:133.55, Y:-109.00, Z:-4.04 [[ 8.05324673e-01 5.92791584e-01 -7.09293655e-03 1.33554536e+02] [ 5.92767802e-01 -8.05355904e-01 -5.31035588e-03 -1.09002866e+02] [-8.86027260e-03 7.20961988e-05 -9.99960744e-01 -4.04152002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8065599949999 meters 0.012576411934213575 Centerline is valid? [True, True] Translation: X:133.58, Y:-108.99, Z:-4.04 [[ 7.53861254e-01 6.57005281e-01 -6.10488278e-03 1.33580660e+02] [ 6.56983372e-01 -7.53885972e-01 -5.36564191e-03 -1.08989622e+02] [-8.12764056e-03 3.41430620e-05 -9.99966970e-01 -4.04203116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.866559995 meters 0.012203668425270011 Centerline is valid? [True, True] Translation: X:133.61, Y:-108.98, Z:-4.04 [[ 6.95889062e-01 7.18130227e-01 -5.23360811e-03 1.33611730e+02] [ 7.18110057e-01 -6.95908742e-01 -5.38232117e-03 -1.08977586e+02] [-7.50732116e-03 -1.28081905e-05 -9.99971820e-01 -4.04264882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9265599949999 meters 0.012522388002500969 Centerline is valid? [True, True] Translation: X:133.64, Y:-108.96, Z:-4.04 [[ 6.32570200e-01 7.74486803e-01 -5.01338987e-03 1.33642783e+02] [ 7.74463276e-01 -6.32590064e-01 -6.03703176e-03 -1.08963899e+02] [-7.84702204e-03 -6.38399513e-05 -9.99969210e-01 -4.04254431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.986559995 meters 0.013095063557700895 Centerline is valid? [True, True] Translation: X:133.67, Y:-108.95, Z:-4.04 [[ 5.66434459e-01 8.24093749e-01 -4.63644446e-03 1.33671367e+02] [ 8.24067581e-01 -5.66453425e-01 -6.56810899e-03 -1.08946413e+02] [-8.03906741e-03 -1.00340313e-04 -9.99967681e-01 -4.04201286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0465599949999 meters 0.014404872946174896 Centerline is valid? [True, True] Translation: X:133.70, Y:-108.93, Z:-4.04 [[ 4.94297221e-01 8.69282329e-01 -4.29992715e-03 1.33698534e+02] [ 8.69252246e-01 -4.94315897e-01 -7.23372947e-03 -1.08927036e+02] [-8.41367555e-03 -1.62108962e-04 -9.99964591e-01 -4.04191769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.106559995 meters 0.01613084952817142 Centerline is valid? [True, True] Translation: X:133.72, Y:-108.91, Z:-4.04 [[ 4.19437678e-01 9.07776095e-01 -3.82039604e-03 1.33722547e+02] [ 9.07743025e-01 -4.19455021e-01 -7.75157092e-03 -1.08905308e+02] [-8.63917508e-03 -2.16636952e-04 -9.99962658e-01 -4.04117761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.166559995 meters 0.016907647130197684 Centerline is valid? [True, True] Translation: X:133.74, Y:-108.88, Z:-4.04 [[ 3.44615145e-01 9.38738131e-01 -3.33509519e-03 1.33742570e+02] [ 9.38700930e-01 -3.44631193e-01 -8.36094510e-03 -1.08880421e+02] [-8.99811581e-03 -2.49348641e-04 -9.99959485e-01 -4.04049120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2265599949999 meters 0.017803836494709003 Centerline is valid? [True, True] Translation: X:133.76, Y:-108.85, Z:-4.04 [[ 2.67992858e-01 9.63417230e-01 -2.65874985e-03 1.33759135e+02] [ 9.63379242e-01 -2.68005913e-01 -8.55956159e-03 -1.08853776e+02] [-8.95898980e-03 -2.67483041e-04 -9.99959832e-01 -4.03999129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.286559995 meters 0.018146554632540012 Centerline is valid? [True, True] Translation: X:133.77, Y:-108.82, Z:-4.04 [[ 1.90301951e-01 9.81723723e-01 -1.92346112e-03 1.33771816e+02] [ 9.81687049e-01 -1.90311476e-01 -8.49003860e-03 -1.08824861e+02] [-8.70092902e-03 -2.72565968e-04 -9.99962109e-01 -4.04061512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3465599949999 meters 0.018046925990926353 Centerline is valid? [True, True] Translation: X:133.78, Y:-108.80, Z:-4.04 [[ 1.11614430e-01 9.93750742e-01 -1.29665939e-03 1.33783555e+02] [ 9.93710764e-01 -1.11621577e-01 -8.91863354e-03 -1.08795801e+02] [-9.00763387e-03 -2.93056197e-04 -9.99959388e-01 -4.04043924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.406559995 meters 0.018745719830650084 Centerline is valid? [True, True] Translation: X:133.79, Y:-108.77, Z:-4.04 [[ 3.23729834e-02 9.99475674e-01 -6.06271949e-04 1.33792242e+02] [ 9.99433614e-01 -3.23771861e-02 -9.17436514e-03 -1.08766323e+02] [-9.18918416e-03 -3.08926995e-04 -9.99957731e-01 -4.03909178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4665599949999 meters 0.018391311153513244 Centerline is valid? [True, True] Translation: X:133.79, Y:-108.74, Z:-4.04 [[-4.50562919e-02 9.98984443e-01 1.14588286e-04 1.33794989e+02] [ 9.98941779e-01 4.50554272e-02 -9.23747823e-03 -1.08735870e+02] [-9.23325987e-03 -3.01739489e-04 -9.99957327e-01 -4.03898643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.526559995 meters 0.017486560826176455 Centerline is valid? [True, True] Translation: X:133.80, Y:-108.71, Z:-4.04 [[-1.21205486e-01 9.92627190e-01 7.01487436e-04 1.33795600e+02] [ 9.92597306e-01 1.21207283e-01 -7.70602642e-03 -1.08705917e+02] [-7.73423674e-03 -2.37718137e-04 -9.99970062e-01 -4.03971507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5865599949999 meters 0.017148116177418862 Centerline is valid? [True, True] Translation: X:133.80, Y:-108.68, Z:-4.04 [[-1.97454273e-01 9.80311352e-01 1.20983834e-03 1.33796325e+02] [ 9.80285782e-01 1.97457865e-01 -7.08364881e-03 -1.08676728e+02] [-7.18307344e-03 -2.12709402e-04 -9.99974179e-01 -4.04030189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.646559995 meters 0.01699579485896448 Centerline is valid? [True, True] Translation: X:133.79, Y:-108.65, Z:-4.04 [[-2.71541345e-01 9.62425190e-01 1.74688899e-03 1.33793367e+02] [ 9.62400393e-01 2.71546894e-01 -6.91146107e-03 -1.08649128e+02] [-7.12612651e-03 -1.95540787e-04 -9.99974590e-01 -4.03945255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7065599949999 meters 0.015980981428254177 Centerline is valid? [True, True] Translation: X:133.79, Y:-108.62, Z:-4.04 [[-3.43277355e-01 9.39231478e-01 2.21089982e-03 1.33786811e+02] [ 9.39208719e-01 3.43284433e-01 -6.54063026e-03 -1.08621373e+02] [-6.90213332e-03 -1.68753873e-04 -9.99976166e-01 -4.03928098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.766559995 meters 0.014601401758698555 Centerline is valid? [True, True] Translation: X:133.78, Y:-108.59, Z:-4.04 [[-4.11226713e-01 9.11530368e-01 2.23113740e-03 1.33778060e+02] [ 9.11515462e-01 4.11232751e-01 -5.21411147e-03 -1.08594758e+02] [-5.67033771e-03 -1.10465685e-04 -9.99983917e-01 -4.03976776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8265599949999 meters 0.013141932747657778 Centerline is valid? [True, True] Translation: X:133.77, Y:-108.57, Z:-4.04 [[-4.75883901e-01 8.79505265e-01 2.23638055e-03 1.33766992e+02] [ 8.79494917e-01 4.75889152e-01 -4.26686592e-03 -1.08570383e+02] [-4.81700028e-03 -6.36474775e-05 -9.99988396e-01 -4.04020774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.886559995 meters 0.01237029336753098 Centerline is valid? [True, True] Translation: X:133.76, Y:-108.54, Z:-4.04 [[-5.39823758e-01 8.41775432e-01 2.10541006e-03 1.33757714e+02] [ 8.41768769e-01 5.39827862e-01 -3.34955629e-03 -1.08544487e+02] [-3.95613321e-03 -3.59016269e-05 -9.99992174e-01 -4.04078550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9465599949999 meters 0.01215968938842212 Centerline is valid? [True, True] Translation: X:133.75, Y:-108.52, Z:-4.04 [[-6.01168390e-01 7.99120187e-01 1.86893327e-03 1.33746753e+02] [ 7.99116238e-01 6.01171295e-01 -2.51259960e-03 -1.08519417e+02] [-3.13141810e-03 -1.70005314e-05 -9.99995097e-01 -4.04086529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.006559995 meters 0.012056265338558192 Centerline is valid? [True, True] Translation: X:133.73, Y:-108.50, Z:-4.04 [[-6.60415847e-01 7.50897872e-01 1.81515674e-03 1.33734564e+02] [ 7.50894996e-01 6.60418341e-01 -2.07829170e-03 -1.08496954e+02] [-2.75934761e-03 -9.54465969e-06 -9.99996193e-01 -4.04116750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0665599949999 meters 0.012056312103295441 Centerline is valid? [True, True] Translation: X:133.72, Y:-108.47, Z:-4.04 [[-7.17194572e-01 6.96870799e-01 1.74233829e-03 1.33722412e+02] [ 6.96868714e-01 7.17196688e-01 -1.70472145e-03 -1.08472093e+02] [-2.43756985e-03 -8.43592561e-06 -9.99997029e-01 -4.04132214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.126559995 meters 0.012340110963196694 Centerline is valid? [True, True] Translation: X:133.74, Y:-108.45, Z:-4.04 [[-7.67113352e-01 6.41507084e-01 2.40142244e-03 1.33742717e+02] [ 6.41503847e-01 7.67117111e-01 -2.03795041e-03 -1.08450385e+02] [-3.14953187e-03 -2.28172392e-05 -9.99995040e-01 -4.04002421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1865599949999 meters 0.01298128092174796 Centerline is valid? [True, True] Translation: X:134.23, Y:-107.89, Z:-5.00 [[-7.08438407e-01 -7.05767182e-01 2.77645744e-03 1.34225938e+02] [ 7.05762158e-01 -7.08443844e-01 -2.66399588e-03 -1.07889015e+02] [ 3.84712504e-03 7.22415947e-05 9.99992597e-01 -5.00153526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.246559995 meters 0.013623651205458007 Centerline is valid? [True, True] Translation: X:133.71, Y:-108.42, Z:-4.04 [[-7.75179137e-01 6.31734750e-01 2.91737080e-03 1.33711303e+02] [ 6.31729969e-01 7.75184625e-01 -2.45834425e-03 -1.08418005e+02] [-3.81452247e-03 -6.26666083e-05 -9.99992723e-01 -4.03930965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3065599949999 meters 0.014222916731997404 Centerline is valid? [True, True] Translation: X:133.73, Y:-108.39, Z:-4.04 [[-8.18904152e-01 5.73923176e-01 2.85951758e-03 1.33726359e+02] [ 5.73919402e-01 8.18909142e-01 -2.08252256e-03 -1.08392759e+02] [-3.53689305e-03 -6.42537584e-05 -9.99993743e-01 -4.03910847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.366559995 meters 0.014046602184204294 Centerline is valid? [True, True] Translation: X:133.75, Y:-108.37, Z:-4.04 [[-8.56620416e-01 5.15942171e-01 2.26700088e-03 1.33747979e+02] [ 5.15940226e-01 8.56623415e-01 -1.41716199e-03 -1.08374179e+02] [-2.67313966e-03 -4.43329495e-05 -9.99996426e-01 -4.03980671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4265599949999 meters 0.014505046274809308 Centerline is valid? [True, True] Translation: X:134.14, Y:-107.76, Z:-5.00 [[-8.00240979e-01 -5.99673995e-01 2.33998268e-03 1.34141083e+02] [ 5.99671649e-01 -8.00244398e-01 -1.67835257e-03 -1.07764076e+02] [ 2.87902242e-03 6.01347680e-05 9.99995854e-01 -5.00115807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.486559995 meters 0.015294470152707046 Centerline is valid? [True, True] Translation: X:133.72, Y:-108.35, Z:-4.04 [[-8.59929728e-01 5.10401435e-01 3.35247580e-03 1.33715012e+02] [ 5.10397207e-01 8.59936259e-01 -2.07891501e-03 -1.08348825e+02] [-3.94399670e-03 -7.66265290e-05 -9.99992220e-01 -4.03763344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5465599949999 meters 0.014459940256463 Centerline is valid? [True, True] Translation: X:133.73, Y:-108.33, Z:-4.04 [[-8.94252220e-01 4.47549538e-01 3.51815059e-03 1.33730924e+02] [ 4.47545719e-01 8.94259137e-01 -1.85074646e-03 -1.08328085e+02] [-3.97443904e-03 -8.05008949e-05 -9.99992099e-01 -4.03762635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.606559995 meters 0.016663180074807396 Centerline is valid? [True, True] Translation: X:133.74, Y:-108.30, Z:-4.04 [[-9.24212406e-01 3.81858171e-01 3.97055170e-03 1.33739957e+02] [ 3.81854210e-01 9.24220930e-01 -1.74194621e-03 -1.08297796e+02] [-4.33484338e-03 -9.37564109e-05 -9.99990600e-01 -4.03683414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.666559995 meters 0.017146712477998864 Centerline is valid? [True, True] Translation: X:133.75, Y:-108.27, Z:-4.04 [[-9.49002732e-01 3.15237055e-01 4.40611797e-03 1.33753379e+02] [ 3.15233155e-01 9.49012955e-01 -1.57139698e-03 -1.08273053e+02] [-4.67682559e-03 -1.02305558e-04 -9.99989058e-01 -4.03594396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7265599949999 meters 0.014813467500520865 Centerline is valid? [True, True] Translation: X:133.75, Y:-108.25, Z:-4.04 [[-9.69003095e-01 2.47019031e-01 3.82110382e-03 1.33751296e+02] [ 2.47016753e-01 9.69010625e-01 -1.06443720e-03 -1.08247331e+02] [-3.96562645e-03 -8.75662803e-05 -9.99992133e-01 -4.03656689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.786559995 meters 0.016911137517461712 Centerline is valid? [True, True] Translation: X:133.94, Y:-107.56, Z:-5.00 [[-9.35334168e-01 -3.53750524e-01 3.24986687e-03 1.33940155e+02] [ 3.53748555e-01 -9.35339812e-01 -1.18133062e-03 -1.07562848e+02] [ 3.45762619e-03 4.46968148e-05 9.99994021e-01 -5.00435676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8465599949999 meters 0.01537886066323337 Centerline is valid? [True, True] Translation: X:133.72, Y:-108.24, Z:-4.04 [[-9.70389601e-01 2.41520499e-01 3.44550535e-03 1.33718723e+02] [ 2.41518663e-01 9.70395714e-01 -9.45716924e-04 -1.08236874e+02] [-3.57191365e-03 -8.55600225e-05 -9.99993617e-01 -4.03657920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.906559995 meters 0.01626955991151744 Centerline is valid? [True, True] Translation: X:133.73, Y:-108.21, Z:-4.04 [[-9.85404508e-01 1.70195215e-01 3.39766614e-03 1.33725309e+02] [ 1.70193888e-01 9.85410362e-01 -6.77923460e-04 -1.08207774e+02] [-3.46347475e-03 -8.97668227e-05 -9.99993998e-01 -4.03629715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9665599949999 meters 0.016595064675034216 Centerline is valid? [True, True] Translation: X:133.87, Y:-107.52, Z:-5.00 [[-9.57614152e-01 -2.88037675e-01 3.07150773e-03 1.33867827e+02] [ 2.88036410e-01 -9.57619075e-01 -8.56210621e-04 -1.07521705e+02] [ 3.18795531e-03 6.47866539e-05 9.99994916e-01 -5.00367859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.026559995 meters 0.017659374979599553 Centerline is valid? [True, True] Translation: X:133.68, Y:-108.19, Z:-4.04 [[-9.86742170e-01 1.62255001e-01 3.63377018e-03 1.33680252e+02] [ 1.62253482e-01 9.86748855e-01 -7.10877915e-04 -1.08194019e+02] [-3.70096206e-03 -1.11861353e-04 -9.99993145e-01 -4.03647298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0865599949999 meters 0.017746629253643755 Centerline is valid? [True, True] Translation: X:133.68, Y:-108.17, Z:-4.04 [[-9.96001012e-01 8.92655184e-02 3.69483761e-03 1.33682979e+02] [ 8.92644488e-02 9.96007858e-01 -4.53719782e-04 -1.08165724e+02] [-3.72058883e-03 -1.22087719e-04 -9.99993071e-01 -4.03600147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.146559995 meters 0.01926661536713661 Centerline is valid? [True, True] Translation: X:133.77, Y:-107.49, Z:-5.01 [[-9.75020628e-01 -2.22082167e-01 3.77966993e-03 1.33769004e+02] [ 2.22081031e-01 -9.75027945e-01 -7.23104552e-04 -1.07485927e+02] [ 3.84587243e-03 1.34351138e-04 9.99992596e-01 -5.00508825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2065599949999 meters 0.019562708481351842 Centerline is valid? [True, True] Translation: X:133.63, Y:-108.15, Z:-4.03 [[-9.96573178e-01 8.26180966e-02 4.01878591e-03 1.33634033e+02] [ 8.26168414e-02 9.96581271e-01 -4.77638814e-04 -1.08154984e+02] [-4.04450838e-03 -1.43982633e-04 -9.99991811e-01 -4.03443296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.266559995 meters 0.021361725936339296 Centerline is valid? [True, True] Translation: X:133.69, Y:-107.48, Z:-5.01 [[-9.75675336e-01 -2.19190965e-01 3.59981274e-03 1.33691379e+02] [ 2.19189876e-01 -9.75681971e-01 -6.99255434e-04 -1.07481837e+02] [ 3.66554287e-03 1.06796228e-04 9.99993276e-01 -5.00633320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3265599949999 meters 0.01931221264725721 Centerline is valid? [True, True] Translation: X:133.57, Y:-108.15, Z:-4.03 [[-9.96760697e-01 8.03861373e-02 2.48618951e-03 1.33574233e+02] [ 8.03856746e-02 9.96763794e-01 -2.85633543e-04 -1.08148111e+02] [-2.50110466e-03 -8.48542684e-05 -9.99996869e-01 -4.03484277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.386559995 meters 0.01881026094318379 Centerline is valid? [True, True] Translation: X:133.66, Y:-107.48, Z:-5.01 [[-9.77131567e-01 -2.12624052e-01 2.21682941e-03 1.33663406e+02] [ 2.12623646e-01 -9.77134079e-01 -4.19764831e-04 -1.07476274e+02] [ 2.25539167e-03 6.11848856e-05 9.99997455e-01 -5.00635703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4465599949999 meters 0.01755125305903632 Centerline is valid? [True, True] Translation: X:133.54, Y:-108.15, Z:-4.03 [[-9.96728646e-01 8.07754146e-02 2.70899779e-03 1.33536128e+02] [ 8.07748957e-02 9.96732324e-01 -3.00574046e-04 -1.08147491e+02] [-2.72442466e-03 -8.07717475e-05 -9.99996286e-01 -4.03343564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.506559995 meters 0.016757200774630002 Centerline is valid? [True, True] Translation: X:133.54, Y:-108.12, Z:-4.03 [[-9.99918320e-01 1.25302882e-02 2.51914847e-03 1.33542217e+02] [ 1.25300772e-02 9.99921491e-01 -9.95322015e-05 -1.08123561e+02] [-2.52019786e-03 -6.79589470e-05 -9.99996822e-01 -4.03340011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5665599949999 meters 0.015689640683215423 Centerline is valid? [True, True] Translation: X:133.54, Y:-108.10, Z:-4.03 [[-9.98503846e-01 -5.45969826e-02 3.03944871e-03 1.33540899e+02] [-5.45969435e-02 9.98508470e-01 9.58968849e-05 -1.08099913e+02] [-3.04015096e-03 -7.01912009e-05 -9.99995376e-01 -4.03319992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.626559995 meters 0.015232707467940169 Centerline is valid? [True, True] Translation: X:133.54, Y:-108.08, Z:-4.03 [[-9.92554966e-01 -1.21748504e-01 3.45571090e-03 1.33535045e+02] [-1.21748001e-01 9.92560979e-01 3.56256621e-04 -1.08075450e+02] [-3.47337751e-03 -6.71216164e-05 -9.99993966e-01 -4.03250725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6865599949999 meters 0.01378061420132115 Centerline is valid? [True, True] Translation: X:133.47, Y:-107.38, Z:-5.01 [[-9.99814911e-01 1.87902410e-02 4.13177053e-03 1.33472356e+02] [-1.87895766e-02 -9.99823440e-01 1.99550505e-04 -1.07376851e+02] [ 4.13479063e-03 1.21879352e-04 9.99991444e-01 -5.00842639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.746559995 meters 0.013405000275695408 Centerline is valid? [True, True] Translation: X:133.46, Y:-108.09, Z:-4.03 [[-9.92535255e-01 -1.21862485e-01 4.82722045e-03 1.33458056e+02] [-1.21861380e-01 9.92546991e-01 5.23517672e-04 -1.08089467e+02] [-4.85504030e-03 -6.86420012e-05 -9.99988212e-01 -4.03124249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8065599949999 meters 0.013550647609093368 Centerline is valid? [True, True] Translation: X:133.45, Y:-108.06, Z:-4.03 [[-9.81507950e-01 -1.91365476e-01 4.62591242e-03 1.33446665e+02] [-1.91363651e-01 9.81518849e-01 8.38093666e-04 -1.08064496e+02] [-4.70080243e-03 -6.26358919e-05 -9.99988949e-01 -4.03140383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.866559995 meters 0.013063935604163876 Centerline is valid? [True, True] Translation: X:133.44, Y:-108.04, Z:-4.03 [[-9.65427066e-01 -2.60636216e-01 4.39796101e-03 1.33439284e+02] [-2.60633790e-01 9.65437082e-01 1.12625371e-03 -1.08040174e+02] [-4.53949715e-03 -5.89414278e-05 -9.99989695e-01 -4.03201395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9265599949999 meters 0.01330204176530247 Centerline is valid? [True, True] Translation: X:133.25, Y:-107.35, Z:-5.01 [[-9.85317502e-01 1.70683042e-01 4.08904406e-03 1.33254410e+02] [-1.70681451e-01 -9.85325986e-01 7.37507648e-04 -1.07351239e+02] [ 4.15492142e-03 2.87552208e-05 9.99991368e-01 -5.00908764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.986559995 meters 0.012842897246921366 Centerline is valid? [True, True] Translation: X:133.32, Y:-108.07, Z:-4.03 [[-9.64314478e-01 -2.64735881e-01 3.53577956e-03 1.33324673e+02] [-2.64734248e-01 9.64320959e-01 9.30506728e-04 -1.08069992e+02] [-3.65596486e-03 -3.87408357e-05 -9.99993316e-01 -4.03199671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0465599949999 meters 0.012728523188207755 Centerline is valid? [True, True] Translation: X:133.30, Y:-108.05, Z:-4.03 [[-9.43042174e-01 -3.32652443e-01 3.71620217e-03 1.33299825e+02] [-3.32650021e-01 9.43049495e-01 1.27013664e-03 -1.08049633e+02] [-3.92707663e-03 -3.84023108e-05 -9.99992288e-01 -4.03165130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.106559995 meters 0.012629623691242394 Centerline is valid? [True, True] Translation: X:133.26, Y:-108.04, Z:-4.03 [[-9.16694402e-01 -3.99569541e-01 3.94409069e-03 1.33256710e+02] [-3.99566025e-01 9.16702886e-01 1.67684073e-03 -1.08037514e+02] [-4.28557380e-03 -3.87741272e-05 -9.99990816e-01 -4.03132230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.166559995 meters 0.012411457007648388 Centerline is valid? [True, True] Translation: X:133.20, Y:-108.04, Z:-4.03 [[-8.85450184e-01 -4.64725891e-01 2.79612336e-03 1.33196845e+02] [-4.64723659e-01 8.85454599e-01 1.44033503e-03 -1.08036428e+02] [-3.14520127e-03 -2.40797573e-05 -9.99995054e-01 -4.03221825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2265599949999 meters 0.012170885935969144 Centerline is valid? [True, True] Translation: X:133.13, Y:-108.05, Z:-4.03 [[-8.50106783e-01 -5.26604390e-01 2.50465357e-03 1.33128479e+02] [-5.26602155e-01 8.50110473e-01 1.53457059e-03 -1.08045127e+02] [-2.93734384e-03 -1.44070963e-05 -9.99995686e-01 -4.03252547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.286559995 meters 0.012095477897316126 Centerline is valid? [True, True] Translation: X:133.06, Y:-108.06, Z:-4.03 [[-8.09794360e-01 -5.86707968e-01 2.61812565e-03 1.33058397e+02] [-5.86704935e-01 8.09798592e-01 1.88679597e-03 -1.08059742e+02] [-3.22715270e-03 -8.15050213e-06 -9.99994793e-01 -4.03174024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3465599949999 meters 0.012045241871807227 Centerline is valid? [True, True] Translation: X:132.98, Y:-108.09, Z:-4.03 [[-7.65761795e-01 -6.43118057e-01 2.83519228e-03 1.32977428e+02] [-6.43113632e-01 7.65767044e-01 2.38559166e-03 -1.08089147e+02] [-3.70531389e-03 3.44414275e-06 -9.99993135e-01 -4.03069649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.406559995 meters 0.012236672772507349 Centerline is valid? [True, True] Translation: X:132.90, Y:-108.13, Z:-4.03 [[-7.16937025e-01 -6.97128335e-01 3.65875308e-03 1.32895422e+02] [-6.97119129e-01 7.16946361e-01 3.58273177e-03 -1.08127606e+02] [-5.12075354e-03 1.80062966e-05 -9.99986889e-01 -4.02918425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4665599949999 meters 0.012292468966140228 Centerline is valid? [True, True] Translation: X:132.81, Y:-108.18, Z:-4.03 [[-6.63139744e-01 -7.48485065e-01 3.97335586e-03 1.32809069e+02] [-7.48471372e-01 6.63151646e-01 4.52754918e-03 -1.08179436e+02] [-6.02374042e-03 2.84546846e-05 -9.99981857e-01 -4.02871174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.526559995 meters 0.012317661569429804 Centerline is valid? [True, True] Translation: X:132.73, Y:-108.23, Z:-4.03 [[-6.04236224e-01 -7.96797523e-01 3.50617718e-03 1.32726812e+02] [-7.96783855e-01 6.04246396e-01 4.66709741e-03 -1.08234109e+02] [-5.83732658e-03 2.63639470e-05 -9.99982962e-01 -4.02863188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5865599949999 meters 0.01216581690325383 Centerline is valid? [True, True] Translation: X:132.64, Y:-108.30, Z:-4.03 [[-5.40100775e-01 -8.41594767e-01 3.06614339e-03 1.32640811e+02] [-8.41581065e-01 5.40109478e-01 4.80249225e-03 -1.08304346e+02] [-5.69780545e-03 1.34215672e-05 -9.99983767e-01 -4.02880236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.646559995 meters 0.012074226894415247 Centerline is valid? [True, True] Translation: X:132.56, Y:-108.38, Z:-4.03 [[-4.72906666e-01 -8.81108570e-01 2.64056765e-03 1.32563219e+02] [-8.81094789e-01 4.72914038e-01 4.92806025e-03 -1.08379842e+02] [-5.59091763e-03 3.92215166e-06 -9.99984371e-01 -4.02851870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7065599949999 meters 0.012039702255412107 Centerline is valid? [True, True] Translation: X:132.49, Y:-108.47, Z:-4.03 [[-4.01715331e-01 -9.15761384e-01 2.42476710e-03 1.32487609e+02] [-9.15744893e-01 4.01722649e-01 5.49590268e-03 -1.08465960e+02] [-6.00701931e-03 -1.26797216e-05 -9.99981958e-01 -4.02937627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.766559995 meters 0.012244335983682618 Centerline is valid? [True, True] Translation: X:132.42, Y:-108.56, Z:-4.03 [[-3.27128077e-01 -9.44978468e-01 1.70759748e-03 1.32416734e+02] [-9.44966062e-01 3.27132532e-01 4.84226915e-03 -1.08557710e+02] [-5.13445077e-03 -2.95794682e-05 -9.99986818e-01 -4.02974701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8265599949999 meters 0.012495644234383868 Centerline is valid? [True, True] Translation: X:132.35, Y:-108.66, Z:-4.03 [[-2.51259940e-01 -9.67918765e-01 1.30624593e-03 1.32354632e+02] [-9.67906555e-01 2.51263332e-01 4.86198128e-03 -1.08655283e+02] [-5.03421462e-03 -4.27028774e-05 -9.99987327e-01 -4.03002133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.886559995 meters 0.012899562703845355 Centerline is valid? [True, True] Translation: X:132.30, Y:-108.76, Z:-4.03 [[-1.73435581e-01 -9.84844837e-01 8.63660891e-04 1.32298910e+02] [-9.84834126e-01 1.73437723e-01 4.59357393e-03 -1.08759524e+02] [-4.67374894e-03 -5.38735575e-05 -9.99989077e-01 -4.02974424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9465599949999 meters 0.013139451909349889 Centerline is valid? [True, True] Translation: X:132.25, Y:-108.87, Z:-4.03 [[-9.63776494e-02 -9.95344692e-01 5.41243210e-04 1.32252416e+02] [-9.95332439e-01 9.63791488e-02 4.93920018e-03 -1.08865234e+02] [-4.96837124e-03 -6.26884204e-05 -9.99987656e-01 -4.02853072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.006559995 meters 0.013075706267973252 Centerline is valid? [True, True] Translation: X:132.22, Y:-108.98, Z:-4.03 [[-2.03945184e-02 -9.99791992e-01 1.91816810e-04 1.32216909e+02] [-9.99774408e-01 2.03952974e-02 5.93006313e-03 -1.08979118e+02] [-5.93274179e-03 -7.08327559e-05 -9.99982399e-01 -4.02823611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0665599949999 meters 0.01260775305551713 Centerline is valid? [True, True] Translation: X:132.19, Y:-109.09, Z:-4.03 [[ 5.42217011e-02 -9.98528864e-01 -3.38436998e-04 1.32192168e+02] [-9.98499893e-01 -5.42227061e-02 7.60665546e-03 -1.09094810e+02] [-7.61381600e-03 -7.45164919e-05 -9.99971012e-01 -4.02717382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.126559995 meters 0.01248253666744807 Centerline is valid? [True, True] Translation: X:132.18, Y:-109.21, Z:-4.03 [[ 1.29156142e-01 -9.91623707e-01 -1.05604189e-03 1.32175009e+02] [-9.91585879e-01 -1.29160439e-01 8.66170778e-03 -1.09209295e+02] [-8.72555361e-03 -7.15565299e-05 -9.99961929e-01 -4.02571673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1865599949999 meters 0.012346208104905753 Centerline is valid? [True, True] Translation: X:132.17, Y:-109.33, Z:-4.03 [[ 2.03265376e-01 -9.79121816e-01 -1.91198611e-03 1.32168840e+02] [-9.79075517e-01 -2.03274358e-01 9.52196672e-03 -1.09327509e+02] [-9.71182310e-03 -6.35073547e-05 -9.99952837e-01 -4.02549897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.246559995 meters 0.012413109259638668 Centerline is valid? [True, True] Translation: X:132.17, Y:-109.45, Z:-4.03 [[ 2.77364433e-01 -9.60761290e-01 -2.59129593e-03 1.32170926e+02] [-9.60717405e-01 -2.77376531e-01 9.18299529e-03 -1.09446421e+02] [-9.54143108e-03 -5.75331763e-05 -9.99954478e-01 -4.02518907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3065599949999 meters 0.012316014169335341 Centerline is valid? [True, True] Translation: X:132.18, Y:-109.56, Z:-4.03 [[ 3.51034330e-01 -9.36356779e-01 -3.29870187e-03 1.32181451e+02] [-9.36313671e-01 -3.51049822e-01 8.98509659e-03 -1.09562308e+02] [-9.57126481e-03 -6.54576966e-05 -9.99954192e-01 -4.02671392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.366559995 meters 0.01233814005724246 Centerline is valid? [True, True] Translation: X:132.20, Y:-109.68, Z:-4.03 [[ 4.23426295e-01 -9.05923203e-01 -3.65003985e-03 1.32200992e+02] [-9.05887980e-01 -4.23442020e-01 7.98891699e-03 -1.09678106e+02] [-8.78292551e-03 -7.61902980e-05 -9.99961427e-01 -4.02766223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4265599949999 meters 0.012466534319987442 Centerline is valid? [True, True] Translation: X:132.23, Y:-109.79, Z:-4.03 [[ 4.92257430e-01 -8.70440563e-01 -3.98104584e-03 1.32230963e+02] [-8.70410813e-01 -4.92273522e-01 7.19693832e-03 -1.09794877e+02] [-8.22427050e-03 -7.76010140e-05 -9.99966177e-01 -4.02825974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.486559995 meters 0.012370469619166729 Centerline is valid? [True, True] Translation: X:132.27, Y:-109.90, Z:-4.03 [[ 5.57462370e-01 -8.30191806e-01 -4.15583066e-03 1.32265906e+02] [-8.30167777e-01 -5.57477856e-01 6.31677832e-03 -1.09899830e+02] [-7.56092117e-03 -7.13295136e-05 -9.99971413e-01 -4.02846315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5465599949999 meters 0.012233873143835368 Centerline is valid? [True, True] Translation: X:132.31, Y:-110.00, Z:-4.03 [[ 6.18556713e-01 -7.85728808e-01 -4.22291669e-03 1.32310113e+02] [-7.85709849e-01 -6.18571125e-01 5.45856547e-03 -1.10003836e+02] [-6.90112647e-03 -5.84450828e-05 -9.99976185e-01 -4.02833788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.606559995 meters 0.01210191405186286 Centerline is valid? [True, True] Translation: X:132.36, Y:-110.10, Z:-4.03 [[ 6.75602265e-01 -7.37252512e-01 -4.50707947e-03 1.32360608e+02] [-7.37235645e-01 -6.75617297e-01 4.98715201e-03 -1.10099704e+02] [-6.72185120e-03 -4.65515480e-05 -9.99977407e-01 -4.02916346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.666559995 meters 0.012088592882117395 Centerline is valid? [True, True] Translation: X:132.41, Y:-110.19, Z:-4.03 [[ 7.29014817e-01 -6.84475010e-01 -5.59975280e-03 1.32413516e+02] [-6.84454347e-01 -7.29036322e-01 5.31870231e-03 -1.10189763e+02] [-7.72294200e-03 -4.46376526e-05 -9.99970177e-01 -4.02825595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7265599949999 meters 0.011953278271320616 Centerline is valid? [True, True] Translation: X:132.43, Y:-110.22, Z:-4.03 [[ 7.79818250e-01 -6.25969247e-01 -6.78222752e-03 1.32433904e+02] [-6.25945079e-01 -7.79847741e-01 5.50073972e-03 -1.10215830e+02] [-8.73239871e-03 -4.42752834e-05 -9.99961871e-01 -4.02750205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.786559995 meters 0.011994776280863513 Centerline is valid? [True, True] Translation: X:132.46, Y:-110.24, Z:-4.03 [[ 8.26368908e-01 -5.63084301e-01 -7.10615738e-03 1.32455471e+02] [-5.63063028e-01 -8.26399460e-01 4.89475618e-03 -1.10240325e+02] [-8.62868499e-03 -4.36598291e-05 -9.99962771e-01 -4.02747059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8465599949999 meters 0.011941763835719295 Centerline is valid? [True, True] Translation: X:132.48, Y:-110.26, Z:-4.03 [[ 8.68151142e-01 -4.96245829e-01 -7.32606954e-03 1.32479431e+02] [-4.96227697e-01 -8.68182052e-01 4.24241292e-03 -1.10261970e+02] [-8.46564181e-03 -4.76570080e-05 -9.99964165e-01 -4.02785806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.906559995 meters 0.012490082462944144 Centerline is valid? [True, True] Translation: X:132.50, Y:-110.28, Z:-4.03 [[ 9.05929951e-01 -4.23361791e-01 -7.46443296e-03 1.32503857e+02] [-4.23346706e-01 -9.05960699e-01 3.57468575e-03 -1.10284329e+02] [-8.27586826e-03 -7.83717777e-05 -9.99965751e-01 -4.02772810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9665599949999 meters 0.013451113042342923 Centerline is valid? [True, True] Translation: X:132.53, Y:-110.31, Z:-4.03 [[ 9.38087341e-01 -3.46307119e-01 -7.96991360e-03 1.32530378e+02] [-3.46293475e-01 -9.38121188e-01 3.07661497e-03 -1.10306019e+02] [-8.54219848e-03 -1.26204482e-04 -9.99963507e-01 -4.02699589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.026559995 meters 0.013877484431993931 Centerline is valid? [True, True] Translation: X:132.56, Y:-110.33, Z:-4.03 [[ 9.63446118e-01 -2.67775426e-01 -8.24012195e-03 1.32557538e+02] [-2.67764174e-01 -9.63481341e-01 2.46026808e-03 -1.10326557e+02] [-8.59800308e-03 -1.63926282e-04 -9.99963023e-01 -4.02751825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0865599949999 meters 0.014309265809043162 Centerline is valid? [True, True] Translation: X:132.59, Y:-110.34, Z:-4.03 [[ 9.81739514e-01 -1.90054667e-01 -8.17011099e-03 1.32587311e+02] [-1.90046620e-01 -9.81773494e-01 1.75740860e-03 -1.10344947e+02] [-8.35520212e-03 -1.72615487e-04 -9.99965080e-01 -4.02795536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.146559995 meters 0.014251994229915736 Centerline is valid? [True, True] Translation: X:132.62, Y:-110.36, Z:-4.03 [[ 9.93534870e-01 -1.13264123e-01 -7.72661148e-03 1.32616641e+02] [-1.13259480e-01 -9.93564902e-01 1.03734091e-03 -1.10360077e+02] [-7.79438349e-03 -1.55522369e-04 -9.99969611e-01 -4.02779930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2065599949999 meters 0.013963132161804021 Centerline is valid? [True, True] Translation: X:132.64, Y:-110.37, Z:-4.03 [[ 9.99274197e-01 -3.72886936e-02 -7.78667993e-03 1.32644227e+02] [-3.72864802e-02 -9.99304525e-01 4.29284057e-04 -1.10369024e+02] [-7.79727193e-03 -1.38634595e-04 -9.99969591e-01 -4.02811359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.266559995 meters 0.013354616877359353 Centerline is valid? [True, True] Translation: X:132.67, Y:-110.38, Z:-4.03 [[ 9.99164807e-01 4.01475248e-02 -7.60694860e-03 1.32674038e+02] [ 4.01473403e-02 -9.99193755e-01 -1.77017688e-04 -1.10377104e+02] [-7.60792236e-03 -1.28528910e-04 -9.99971051e-01 -4.02852604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3265599949999 meters 0.013695114566413884 Centerline is valid? [True, True] Translation: X:132.70, Y:-110.38, Z:-4.03 [[ 9.92964158e-01 1.18167479e-01 -7.65685058e-03 1.32702951e+02] [ 1.18164969e-01 -9.92993671e-01 -7.80987497e-04 -1.10383286e+02] [-7.69549149e-03 -1.29278921e-04 -9.99970381e-01 -4.02812046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.386559995 meters 0.013821958327981713 Centerline is valid? [True, True] Translation: X:132.73, Y:-110.39, Z:-4.03 [[ 9.80538001e-01 1.96104564e-01 -9.39295792e-03 1.32733726e+02] [ 1.96097185e-01 -9.80582976e-01 -1.70924879e-03 -1.10387349e+02] [-9.54576611e-03 -1.65949220e-04 -9.99954424e-01 -4.02593341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4465599949999 meters 0.013682686359597062 Centerline is valid? [True, True] Translation: X:132.76, Y:-110.39, Z:-4.03 [[ 9.62084601e-01 2.72565803e-01 -1.00550705e-02 1.32764575e+02] [ 2.72552909e-01 -9.62137126e-01 -2.65757265e-03 -1.10388557e+02] [-1.03987200e-02 -1.83728983e-04 -9.99945915e-01 -4.02533085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.506559995 meters 0.013758759737632818 Centerline is valid? [True, True] Translation: X:132.79, Y:-110.39, Z:-4.03 [[ 9.37795748e-01 3.47046304e-01 -9.89936800e-03 1.32794910e+02] [ 3.47029047e-01 -9.37847977e-01 -3.46582625e-03 -1.10386081e+02] [-1.04869044e-02 -1.85131124e-04 -9.99944994e-01 -4.02571920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5665599949999 meters 0.013188023527696076 Centerline is valid? [True, True] Translation: X:132.82, Y:-110.38, Z:-4.03 [[ 9.08643692e-01 4.17497944e-01 -7.88086132e-03 1.32824197e+02] [ 4.17483515e-01 -9.08677858e-01 -3.47354619e-03 -1.10380899e+02] [-8.61136258e-03 -1.33913848e-04 -9.99962913e-01 -4.02720280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.626559995 meters 0.012716696761057971 Centerline is valid? [True, True] Translation: X:132.85, Y:-110.37, Z:-4.03 [[ 8.74291534e-01 4.85345422e-01 -7.35757737e-03 1.32853185e+02] [ 4.85329299e-01 -8.74322486e-01 -3.95756841e-03 -1.10373971e+02] [-8.35368305e-03 -1.10779310e-04 -9.99965101e-01 -4.02728684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6865599949999 meters 0.012352414932386003 Centerline is valid? [True, True] Translation: X:132.88, Y:-110.36, Z:-4.03 [[ 8.35192553e-01 5.49915186e-01 -6.83280826e-03 1.32881048e+02] [ 5.49897611e-01 -8.35220498e-01 -4.39736025e-03 -1.10364328e+02] [-8.12507670e-03 -8.47024039e-05 -9.99966987e-01 -4.02736414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.746559995 meters 0.012059054366430337 Centerline is valid? [True, True] Translation: X:132.91, Y:-110.35, Z:-4.03 [[ 7.91688516e-01 6.10888053e-01 -6.71421411e-03 1.32906159e+02] [ 6.10866712e-01 -7.91716985e-01 -5.10657078e-03 -1.10351798e+02] [-8.43530043e-03 -5.86764505e-05 -9.99964421e-01 -4.02735432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8065599949999 meters 0.01188656544929468 Centerline is valid? [True, True] Translation: X:132.93, Y:-110.34, Z:-4.03 [[ 7.41955304e-01 6.70421141e-01 -6.14991035e-03 1.32934415e+02] [ 6.70398679e-01 -7.41980789e-01 -5.48818584e-03 -1.10340740e+02] [-8.24251114e-03 -5.09031841e-05 -9.99966029e-01 -4.02752575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.866559995 meters 0.01182694352575438 Centerline is valid? [True, True] Translation: X:132.96, Y:-110.33, Z:-4.03 [[ 6.87520658e-01 7.26140737e-01 -5.91386020e-03 1.32960352e+02] [ 7.26114481e-01 -6.87546091e-01 -6.17523318e-03 -1.10328517e+02] [-8.55013984e-03 -4.85391525e-05 -9.99963446e-01 -4.02702381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9265599949999 meters 0.011988213081599891 Centerline is valid? [True, True] Translation: X:132.98, Y:-110.31, Z:-4.03 [[ 6.28454816e-01 7.77824324e-01 -5.81931951e-03 1.32984485e+02] [ 7.77791760e-01 -6.28481756e-01 -7.11756392e-03 -1.10313606e+02] [-9.19355049e-03 -5.31514394e-05 -9.99957737e-01 -4.02551067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.986559995 meters 0.011985361732618716 Centerline is valid? [True, True] Translation: X:133.01, Y:-110.30, Z:-4.03 [[ 5.65343139e-01 8.24839108e-01 -5.25172947e-03 1.33006211e+02] [ 8.24804441e-01 -5.65367529e-01 -7.56250463e-03 -1.10295179e+02] [-9.20700689e-03 -5.62396822e-05 -9.99957613e-01 -4.02565513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0465599949999 meters 0.012075419288460202 Centerline is valid? [True, True] Translation: X:133.03, Y:-110.28, Z:-4.03 [[ 4.98418932e-01 8.66924633e-01 -4.49984294e-03 1.33030409e+02] [ 8.66890395e-01 -4.98439240e-01 -7.70494147e-03 -1.10276394e+02] [-8.92250186e-03 -6.05819335e-05 -9.99960192e-01 -4.02586580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.106559995 meters 0.01228331779247529 Centerline is valid? [True, True] Translation: X:133.05, Y:-110.26, Z:-4.03 [[ 4.27378247e-01 9.04064603e-01 -3.87668222e-03 1.33051646e+02] [ 9.04029022e-01 -4.27395822e-01 -8.02114078e-03 -1.10255342e+02] [-8.90850724e-03 -7.65721470e-05 -9.99960316e-01 -4.02558321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.166559995 meters 0.012450428884251451 Centerline is valid? [True, True] Translation: X:133.07, Y:-110.23, Z:-4.03 [[ 3.53717379e-01 9.35346330e-01 -3.35543249e-03 1.33072677e+02] [ 9.35306747e-01 -3.53733281e-01 -8.60548639e-03 -1.10233021e+02] [-9.23603826e-03 -9.44485516e-05 -9.99957342e-01 -4.02620456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2265599949999 meters 0.012912115919730684 Centerline is valid? [True, True] Translation: X:133.09, Y:-110.21, Z:-4.03 [[ 2.77308290e-01 9.60778014e-01 -2.39177803e-03 1.33090974e+02] [ 9.60745407e-01 -2.77318585e-01 -7.91611373e-03 -1.10210426e+02] [-8.26891252e-03 -1.02685801e-04 -9.99965807e-01 -4.02653644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.286559995 meters 0.014145802298996207 Centerline is valid? [True, True] Translation: X:133.11, Y:-110.19, Z:-4.03 [[ 1.99249512e-01 9.79947673e-01 -1.47980585e-03 1.33108107e+02] [ 9.79924257e-01 -1.99254982e-01 -6.77509892e-03 -1.10185772e+02] [-6.93410111e-03 -1.00162491e-04 -9.99975954e-01 -4.02611574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3465599949999 meters 0.013697112285730013 Centerline is valid? [True, True] Translation: X:133.12, Y:-110.16, Z:-4.03 [[ 1.19650974e-01 9.92815555e-01 -9.58271245e-04 1.33121177e+02] [ 9.92791104e-01 -1.19654753e-01 -6.96876804e-03 -1.10159008e+02] [-7.03336302e-03 -1.17543284e-04 -9.99975259e-01 -4.02749380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.406559995 meters 0.014335267072029107 Centerline is valid? [True, True] Translation: X:133.13, Y:-110.13, Z:-4.03 [[ 3.96004560e-02 9.99215481e-01 -4.75251902e-04 1.33133460e+02] [ 9.99182252e-01 -3.96030156e-02 -8.15039624e-03 -1.10131352e+02] [-8.16282351e-03 -1.52103858e-04 -9.99966672e-01 -4.02666558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4665599949999 meters 0.01472404802666987 Centerline is valid? [True, True] Translation: X:133.14, Y:-110.10, Z:-4.03 [[-4.11272153e-02 9.99153902e-01 1.80252331e-04 1.33144393e+02] [ 9.99113824e-01 4.11271804e-02 -8.95110503e-03 -1.10102484e+02] [-8.95094479e-03 -1.88041429e-04 -9.99959922e-01 -4.02554749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.526559995 meters 0.015766298459222852 Centerline is valid? [True, True] Translation: X:133.15, Y:-110.07, Z:-4.02 [[-1.19886236e-01 9.92787161e-01 9.71482360e-04 1.33151901e+02] [ 9.92738542e-01 1.19889982e-01 -9.82753505e-03 -1.10073412e+02] [-9.87312162e-03 -2.13758208e-04 -9.99951237e-01 -4.02405139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5865599949999 meters 0.014470459950822603 Centerline is valid? [True, True] Translation: X:133.15, Y:-110.04, Z:-4.02 [[-1.95120388e-01 9.80777677e-01 1.78426045e-03 1.33151469e+02] [ 9.80726945e-01 1.95128446e-01 -9.97737872e-03 -1.10043850e+02] [-1.01337503e-02 -1.96917700e-04 -9.99948633e-01 -4.02479396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.646559995 meters 0.013587981902732653 Centerline is valid? [True, True] Translation: X:133.15, Y:-110.02, Z:-4.02 [[-2.66363278e-01 9.63869138e-01 2.62465300e-03 1.33147700e+02] [ 9.63816728e-01 2.66376168e-01 -1.00524135e-02 -1.10016751e+02] [-1.03883561e-02 -1.47909334e-04 -9.99946029e-01 -4.02492081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7065599949999 meters 0.012894286747853112 Centerline is valid? [True, True] Translation: X:133.15, Y:-109.99, Z:-4.03 [[-3.38991540e-01 9.40783562e-01 3.32047837e-03 1.33145235e+02] [ 9.40734839e-01 3.39007780e-01 -9.57535090e-03 -1.09987757e+02] [-1.01340007e-02 -1.22273261e-04 -9.99948642e-01 -4.02548355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.766559995 meters 0.012283617894125909 Centerline is valid? [True, True] Translation: X:133.14, Y:-109.96, Z:-4.02 [[-4.05144586e-01 9.14242938e-01 4.20892549e-03 1.33136786e+02] [ 9.14192262e-01 4.05166445e-01 -9.62599869e-03 -1.09960365e+02] [-1.05058167e-02 -5.21541378e-05 -9.99944811e-01 -4.02495012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8265599949999 meters 0.012206786860923453 Centerline is valid? [True, True] Translation: X:133.13, Y:-109.93, Z:-4.02 [[-4.71206601e-01 8.82008536e-01 5.02811907e-03 1.33127901e+02] [ 8.81958306e-01 4.71233427e-01 -9.41294044e-03 -1.09934300e+02] [-1.06717116e-02 -8.48293845e-07 -9.99943056e-01 -4.02490946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.886559995 meters 0.012791938577618714 Centerline is valid? [True, True] Translation: X:133.11, Y:-109.91, Z:-4.03 [[-5.32153987e-01 8.46628819e-01 5.63700668e-03 1.33113877e+02] [ 8.46582948e-01 5.32183836e-01 -8.81340044e-03 -1.09911248e+02] [-1.04616027e-02 8.21075495e-05 -9.99945273e-01 -4.02558483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9465599949999 meters 0.013528435926146862 Centerline is valid? [True, True] Translation: X:133.10, Y:-109.89, Z:-4.03 [[-5.92098014e-01 8.05846828e-01 5.55266249e-03 1.33102832e+02] [ 8.05813378e-01 5.92124036e-01 -7.34338899e-03 -1.09885288e+02] [-9.20551165e-03 1.26403687e-04 -9.99957620e-01 -4.02694934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.006559995 meters 0.013854678487602494 Centerline is valid? [True, True] Translation: X:133.09, Y:-109.86, Z:-4.03 [[-6.52393704e-01 7.57855343e-01 6.14275443e-03 1.33091407e+02] [ 7.57823742e-01 6.52422608e-01 -6.92224756e-03 -1.09859870e+02] [-9.25373417e-03 1.39094420e-04 -9.99957174e-01 -4.02670554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0665599949999 meters 0.013591199950988196 Centerline is valid? [True, True] Translation: X:133.08, Y:-109.83, Z:-4.03 [[-7.10744277e-01 7.03417393e-01 6.82236793e-03 1.33079177e+02] [ 7.03386717e-01 7.10777008e-01 -6.57047427e-03 -1.09834025e+02] [-9.47096814e-03 1.28836006e-04 -9.99955141e-01 -4.02650761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.126559995 meters 0.012937154605962896 Centerline is valid? [True, True] Translation: X:133.10, Y:-109.81, Z:-4.03 [[-7.61683256e-01 6.47902754e-01 7.78716729e-03 1.33096321e+02] [ 6.47870118e-01 7.61723056e-01 -6.50362415e-03 -1.09807145e+02] [-1.01453809e-02 9.13713768e-05 -9.99948530e-01 -4.02628421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1865599949999 meters 0.012349749431577255 Centerline is valid? [True, True] Translation: X:133.12, Y:-109.78, Z:-4.03 [[-8.08722024e-01 5.88131735e-01 8.35166159e-03 1.33117841e+02] [ 5.88100868e-01 8.08765145e-01 -6.02571773e-03 -1.09783069e+02] [-1.02984486e-02 3.84887905e-05 -9.99946969e-01 -4.02608331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.246559995 meters 0.01219726959204317 Centerline is valid? [True, True] Translation: X:133.13, Y:-109.76, Z:-4.03 [[-8.50169718e-01 5.26444289e-01 8.23779318e-03 1.33131241e+02] [ 5.26419601e-01 8.50209627e-01 -5.09829011e-03 -1.09756577e+02] [-9.68781679e-03 2.12393928e-06 -9.99953072e-01 -4.02661907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3065599949999 meters 0.012359741775978554 Centerline is valid? [True, True] Translation: X:133.15, Y:-109.73, Z:-4.03 [[-8.87873105e-01 4.60018714e-01 8.00829602e-03 1.33147072e+02] [ 4.59999516e-01 8.87909219e-01 -4.20291424e-03 -1.09729470e+02] [-9.04405906e-03 -4.78422157e-05 -9.99959101e-01 -4.02755642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.366559995 meters 0.012659534513660205 Centerline is valid? [True, True] Translation: X:133.16, Y:-109.70, Z:-4.03 [[-9.19677976e-01 3.92594735e-01 7.86095296e-03 1.33156479e+02] [ 3.92579671e-01 9.19711568e-01 -3.43998619e-03 -1.09699663e+02] [-8.58032984e-03 -7.76292030e-05 -9.99963185e-01 -4.02751895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4265599949999 meters 0.01366502440241608 Centerline is valid? [True, True] Translation: X:133.17, Y:-109.67, Z:-4.03 [[-9.46649588e-01 3.22176725e-01 7.53103379e-03 1.33167719e+02] [ 3.22165614e-01 9.46679537e-01 -2.67786015e-03 -1.09670104e+02] [-7.99221979e-03 -1.08755077e-04 -9.99968056e-01 -4.02696067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.486559995 meters 0.014454917845908246 Centerline is valid? [True, True] Translation: X:133.17, Y:-109.64, Z:-4.03 [[-9.67749188e-01 2.51771842e-01 8.51169865e-03 1.33172774e+02] [ 2.51760801e-01 9.67786608e-01 -2.36210163e-03 -1.09640639e+02] [-8.83221865e-03 -1.43009856e-04 -9.99960985e-01 -4.02528296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5465599949999 meters 0.014882451228457398 Centerline is valid? [True, True] Translation: X:133.18, Y:-109.61, Z:-4.02 [[-9.83264674e-01 1.81906041e-01 1.00386120e-02 1.33175282e+02] [ 1.81894768e-01 9.83315902e-01 -2.03242406e-03 -1.09612898e+02] [-1.02408370e-02 -1.72439782e-04 -9.99947546e-01 -4.02377659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.606559995 meters 0.013945707827578131 Centerline is valid? [True, True] Translation: X:133.18, Y:-109.59, Z:-4.02 [[-9.93571014e-01 1.12569189e-01 1.20339941e-02 1.33182093e+02] [ 1.12558571e-01 9.93643870e-01 -1.55813243e-03 -1.09589951e+02] [-1.21329022e-02 -1.93586030e-04 -9.99926375e-01 -4.02384050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.666559995 meters 0.01356951740658427 Centerline is valid? [True, True] Translation: X:133.27, Y:-108.92, Z:-5.02 [[-9.78148731e-01 -2.07549831e-01 1.21707535e-02 1.33272507e+02] [ 2.07536480e-01 -9.78224423e-01 -2.36375594e-03 -1.08920564e+02] [ 1.23963255e-02 2.13770473e-04 9.99923140e-01 -5.01752627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7265599949999 meters 0.01303023653032401 Centerline is valid? [True, True] Translation: X:133.13, Y:-109.59, Z:-4.02 [[-9.93273017e-01 1.15072733e-01 1.29220672e-02 1.33132998e+02] [ 1.15061365e-01 9.93357061e-01 -1.62223728e-03 -1.09591103e+02] [-1.30229020e-02 -1.24493828e-04 -9.99915191e-01 -4.02301801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.786559995 meters 0.012500940724988426 Centerline is valid? [True, True] Translation: X:133.14, Y:-109.57, Z:-4.02 [[-9.98584871e-01 5.13581034e-02 1.38058406e-02 1.33136900e+02] [ 5.13527181e-02 9.98680301e-01 -7.44525220e-04 -1.09572330e+02] [-1.38258585e-02 -3.45041788e-05 -9.99904418e-01 -4.02272436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8465599949999 meters 0.012599296759749625 Centerline is valid? [True, True] Translation: X:133.14, Y:-109.55, Z:-4.02 [[-9.99804042e-01 -1.47204395e-02 1.32358341e-02 1.33140499e+02] [-1.47187130e-02 9.99891648e-01 2.27848716e-04 -1.09550543e+02] [-1.32377540e-02 3.29896240e-05 -9.99912377e-01 -4.02307954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.906559995 meters 0.012804531597879004 Centerline is valid? [True, True] Translation: X:133.13, Y:-108.84, Z:-5.01 [[-9.99009252e-01 -4.31445666e-02 1.09115340e-02 1.33130596e+02] [ 4.31401607e-02 -9.99068826e-01 -6.38938803e-04 -1.08835828e+02] [ 1.09289402e-02 -1.67580445e-04 9.99940263e-01 -5.01455194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9665599949999 meters 0.01305894503920699 Centerline is valid? [True, True] Translation: X:133.07, Y:-109.56, Z:-4.03 [[-9.99862199e-01 -1.25513325e-02 1.08649355e-02 1.33070326e+02] [-1.25494627e-02 9.99921224e-01 2.40258711e-04 -1.09555502e+02] [-1.08670951e-02 1.03876500e-04 -9.99940946e-01 -4.02658067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.026559995 meters 0.013725086732585321 Centerline is valid? [True, True] Translation: X:133.07, Y:-109.53, Z:-4.03 [[-9.96714690e-01 -8.01361628e-02 1.17482694e-02 1.33069102e+02] [-8.01287725e-02 9.96783914e-01 1.09916624e-03 -1.09528622e+02] [-1.17985689e-02 1.54180729e-04 -9.99930383e-01 -4.02618883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0865599949999 meters 0.014269184192181266 Centerline is valid? [True, True] Translation: X:133.07, Y:-109.50, Z:-4.03 [[-9.88996142e-01 -1.47395511e-01 1.26962190e-02 1.33065450e+02] [-1.47380585e-01 9.89077609e-01 2.10845733e-03 -1.09501857e+02] [-1.28683231e-02 2.14079973e-04 -9.99917177e-01 -4.02536590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.146559995 meters 0.01624453302799083 Centerline is valid? [True, True] Translation: X:133.05, Y:-109.48, Z:-4.03 [[-9.77689710e-01 -2.09629261e-01 1.33568194e-02 1.33049412e+02] [-2.09604869e-01 9.77780882e-01 3.21633721e-03 -1.09479592e+02] [-1.37342811e-02 3.44925406e-04 -9.99905621e-01 -4.02508555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2065599949999 meters 0.018037107993760775 Centerline is valid? [True, True] Translation: X:133.02, Y:-109.46, Z:-4.03 [[-9.61852895e-01 -2.73248973e-01 1.31911947e-02 1.33018396e+02] [-2.73216961e-01 9.61943244e-01 4.20567534e-03 -1.09462368e+02] [-1.38383771e-02 4.41182861e-04 -9.99904148e-01 -4.02624665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.266559995 meters 0.02108607527924745 Centerline is valid? [True, True] Translation: X:132.97, Y:-109.45, Z:-4.03 [[-9.42398322e-01 -3.34289313e-01 1.16643606e-02 1.32965112e+02] [-3.34256822e-01 9.42470363e-01 4.68965479e-03 -1.09454519e+02] [-1.25610157e-02 5.20630694e-04 -9.99920972e-01 -4.02768538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3265599949999 meters 0.023082584956859487 Centerline is valid? [True, True] Translation: X:132.91, Y:-109.45, Z:-4.03 [[-9.16886354e-01 -3.99021184e-01 1.00751439e-02 1.32906906e+02] [-3.98990953e-01 9.16941567e-01 4.93789992e-03 -1.09450555e+02] [-1.12086449e-02 5.07601784e-04 -9.99937052e-01 -4.02869559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.386559995 meters 0.02213413160512066 Centerline is valid? [True, True] Translation: X:132.83, Y:-109.45, Z:-4.03 [[-8.84584433e-01 -4.66306595e-01 8.27896059e-03 1.32830558e+02] [-4.66281570e-01 8.84623069e-01 4.84997980e-03 -1.09452974e+02] [-9.58533709e-03 4.29889885e-04 -9.99953967e-01 -4.03048169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4465599949999 meters 0.018392838155378153 Centerline is valid? [True, True] Translation: X:132.74, Y:-109.46, Z:-4.03 [[-8.43404019e-01 -5.37217072e-01 8.21453690e-03 1.32741336e+02] [-5.37187261e-01 8.43443940e-01 5.67149004e-03 -1.09461297e+02] [-9.97532264e-03 3.70612913e-04 -9.99950177e-01 -4.03109719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.506559995 meters 0.01694974066897251 Centerline is valid? [True, True] Translation: X:132.65, Y:-109.48, Z:-4.03 [[-7.95681778e-01 -6.05654951e-01 8.51986386e-03 1.32654400e+02] [-6.05615989e-01 7.95727330e-01 6.87682378e-03 -1.09481086e+02] [-1.09444709e-02 3.11997600e-04 -9.99940059e-01 -4.02952168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5665599949999 meters 0.015719173831265185 Centerline is valid? [True, True] Translation: X:132.57, Y:-109.52, Z:-4.03 [[-7.44801093e-01 -6.67230336e-01 8.66087176e-03 1.32565257e+02] [-6.67180790e-01 7.44851394e-01 8.13603060e-03 -1.09515147e+02] [-1.18796688e-02 2.81357224e-04 -9.99929395e-01 -4.02941421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.626559995 meters 0.013255969120299044 Centerline is valid? [True, True] Translation: X:132.47, Y:-109.55, Z:-4.03 [[-6.82128294e-01 -7.31182158e-01 8.58152073e-03 1.32468305e+02] [-7.31122149e-01 6.82182262e-01 9.36828407e-03 -1.09553441e+02] [-1.27040834e-02 1.16231751e-04 -9.99919293e-01 -4.02789261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6865599949999 meters 0.012468996616995158 Centerline is valid? [True, True] Translation: X:132.38, Y:-109.60, Z:-4.03 [[-6.18739416e-01 -7.85562292e-01 7.30898211e-03 1.32377449e+02] [-7.85507301e-01 6.18782584e-01 9.29485017e-03 -1.09602477e+02] [-1.18243546e-02 9.83135494e-06 -9.99930090e-01 -4.02814048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.746559995 meters 0.012835444627696074 Centerline is valid? [True, True] Translation: X:132.29, Y:-109.66, Z:-4.03 [[-5.49849006e-01 -8.35242829e-01 5.95704513e-03 1.32288446e+02] [-8.35195652e-01 5.49881267e-01 8.87779975e-03 -1.09659039e+02] [-1.06907861e-02 -9.38488243e-05 -9.99942848e-01 -4.02911712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8065599949999 meters 0.01360622126430729 Centerline is valid? [True, True] Translation: X:132.21, Y:-109.73, Z:-4.03 [[-4.79735221e-01 -8.77397827e-01 5.21259281e-03 1.32206206e+02] [-8.77349619e-01 4.79763512e-01 9.19888536e-03 -1.09727304e+02] [-1.05718939e-02 -1.60237018e-04 -9.99944103e-01 -4.02991903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.866559995 meters 0.014487430464639389 Centerline is valid? [True, True] Translation: X:132.13, Y:-109.81, Z:-4.03 [[-4.09106221e-01 -9.12475228e-01 4.58898722e-03 1.32130139e+02] [-9.12423144e-01 4.09131910e-01 9.75122444e-03 -1.09805768e+02] [-1.07752518e-02 -1.97811569e-04 -9.99941926e-01 -4.02981018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9265599949999 meters 0.014919202137142425 Centerline is valid? [True, True] Translation: X:132.06, Y:-109.88, Z:-4.03 [[-3.37385492e-01 -9.41357855e-01 4.05205028e-03 1.32063128e+02] [-9.41297800e-01 3.37409748e-01 1.06354819e-02 -1.09883508e+02] [-1.13789957e-02 -2.25928731e-04 -9.99935232e-01 -4.02886523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.986559995 meters 0.014501733644182703 Centerline is valid? [True, True] Translation: X:132.01, Y:-109.97, Z:-4.03 [[-2.65899394e-01 -9.63994220e-01 3.55761226e-03 1.32005582e+02] [-9.63919446e-01 2.65923087e-01 1.20088579e-02 -1.09970432e+02] [-1.25225209e-02 -2.36103600e-04 -9.99921562e-01 -4.02901404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0465599949999 meters 0.013421867478752533 Centerline is valid? [True, True] Translation: X:131.96, Y:-110.07, Z:-4.03 [[-1.97386839e-01 -9.80321281e-01 2.93629017e-03 1.31957369e+02] [-9.80226355e-01 1.97408591e-01 1.36433361e-02 -1.10066156e+02] [-1.39545017e-02 -1.85214013e-04 -9.99902614e-01 -4.02879504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.106559995 meters 0.012290828666522584 Centerline is valid? [True, True] Translation: X:131.92, Y:-110.16, Z:-4.03 [[-1.31863406e-01 -9.91266077e-01 1.89914115e-03 1.31919864e+02] [-9.91168311e-01 1.31877073e-01 1.39218112e-02 -1.10163280e+02] [-1.40506724e-02 -4.65910777e-05 -9.99901283e-01 -4.02890885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.166559995 meters 0.012633579558682828 Centerline is valid? [True, True] Translation: X:131.89, Y:-110.27, Z:-4.03 [[-6.36002275e-02 -9.97975141e-01 7.93360063e-04 1.31888919e+02] [-9.97885091e-01 6.36051463e-02 1.34063864e-02 -1.10272063e+02] [-1.34297022e-02 6.09670481e-05 -9.99909816e-01 -4.02948830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2265599949999 meters 0.013677812374256573 Centerline is valid? [True, True] Translation: X:131.87, Y:-110.38, Z:-4.03 [[ 3.65410373e-03 -9.99993302e-01 -2.06853529e-04 1.31867902e+02] [-9.99923242e-01 -3.65629650e-03 1.18381409e-02 -1.10380953e+02] [-1.18388179e-02 1.63579857e-04 -9.99929905e-01 -4.03239523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.286559995 meters 0.014434499336461685 Centerline is valid? [True, True] Translation: X:131.25, Y:-110.50, Z:-5.01 [[-3.34502926e-02 9.99440213e-01 5.82183318e-04 1.31248773e+02] [-9.99384904e-01 -3.34545677e-02 1.05169295e-02 -1.10498480e+02] [ 1.05305190e-02 -2.30030851e-04 9.99944526e-01 -5.00774634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3465599949999 meters 0.015357458713265965 Centerline is valid? [True, True] Translation: X:131.87, Y:-110.65, Z:-4.03 [[ 1.12241794e-02 -9.99936965e-01 -2.90949026e-04 1.31874611e+02] [-9.99877750e-01 -1.12266815e-02 1.08833122e-02 -1.10649791e+02] [-1.08858925e-02 1.68757209e-04 -9.99940733e-01 -4.03090180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.406559995 meters 0.013411721414459295 Centerline is valid? [True, True] Translation: X:131.85, Y:-110.77, Z:-4.03 [[ 9.27916551e-02 -9.95684786e-01 -1.23108406e-03 1.31850430e+02] [-9.95613840e-01 -9.27997402e-02 1.18865793e-02 -1.10768382e+02] [-1.19495305e-02 1.22708961e-04 -9.99928594e-01 -4.03207960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4665599949999 meters 0.012844498769500839 Centerline is valid? [True, True] Translation: X:131.84, Y:-110.89, Z:-4.03 [[ 1.73079999e-01 -9.84905128e-01 -2.28113441e-03 1.31836721e+02] [-9.84825092e-01 -1.73095015e-01 1.25560361e-02 -1.10888207e+02] [-1.27613574e-02 7.33196844e-05 -9.99918568e-01 -4.03194671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.526559995 meters 0.012658141415880834 Centerline is valid? [True, True] Translation: X:131.83, Y:-111.01, Z:-4.03 [[ 2.54025813e-01 -9.67191577e-01 -3.36732890e-03 1.31830610e+02] [-9.67106145e-01 -2.54048130e-01 1.28550081e-02 -1.11008433e+02] [-1.32887192e-02 -8.93941260e-06 -9.99911701e-01 -4.03146981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5865599949999 meters 0.01271101893571477 Centerline is valid? [True, True] Translation: X:131.83, Y:-111.13, Z:-4.03 [[ 3.31642869e-01 -9.43396694e-01 -3.96041211e-03 1.31834554e+02] [-9.43326998e-01 -3.31666509e-01 1.14674113e-02 -1.11125987e+02] [-1.21318540e-02 -6.71215147e-05 -9.99926404e-01 -4.03267562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.646559995 meters 0.013164864964819315 Centerline is valid? [True, True] Translation: X:131.85, Y:-111.24, Z:-4.03 [[ 4.04311836e-01 -9.14609036e-01 -4.71714646e-03 1.31848826e+02] [-9.14544252e-01 -4.04339343e-01 1.08860667e-02 -1.11239819e+02] [-1.18638229e-02 -8.73264322e-05 -9.99929619e-01 -4.03253016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7065599949999 meters 0.013269676329215814 Centerline is valid? [True, True] Translation: X:131.87, Y:-111.35, Z:-4.03 [[ 4.74038812e-01 -8.80487178e-01 -5.43449586e-03 1.31872141e+02] [-8.80426834e-01 -4.74069951e-01 1.03088067e-02 -1.11350597e+02] [-1.16531033e-02 -1.02098494e-04 -9.99932095e-01 -4.03301892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.766559995 meters 0.01340026874850639 Centerline is valid? [True, True] Translation: X:131.90, Y:-111.46, Z:-4.03 [[ 5.40033594e-01 -8.41618347e-01 -6.50192504e-03 1.31902831e+02] [-8.41554828e-01 -5.40072722e-01 1.03405158e-02 -1.11457382e+02] [-1.22142801e-02 -1.12499493e-04 -9.99925397e-01 -4.03281493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8265599949999 meters 0.013314651420754001 Centerline is valid? [True, True] Translation: X:131.94, Y:-111.56, Z:-4.03 [[ 6.02180473e-01 -7.98328176e-01 -7.12754337e-03 1.31942789e+02] [-7.98270160e-01 -6.02222644e-01 9.62489077e-03 -1.11560249e+02] [-1.19761895e-02 -1.06216090e-04 -9.99928277e-01 -4.03266466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.886559995 meters 0.013282944479713359 Centerline is valid? [True, True] Translation: X:131.99, Y:-111.65, Z:-4.03 [[ 6.60003559e-01 -7.51229675e-01 -7.01986227e-03 1.31987023e+02] [-7.51185888e-01 -6.60040885e-01 8.11123287e-03 -1.11654197e+02] [-1.07267949e-02 -8.02210890e-05 -9.99942463e-01 -4.03296530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9465599949999 meters 0.013186713146581411 Centerline is valid? [True, True] Translation: X:132.04, Y:-111.75, Z:-4.03 [[ 7.14757709e-01 -6.99330972e-01 -7.59007540e-03 1.32039066e+02] [-6.99290415e-01 -7.14798003e-01 7.53195087e-03 -1.11747703e+02] [-1.06926973e-02 -7.58529646e-05 -9.99942829e-01 -4.03268168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.006559995 meters 0.013310759171527874 Centerline is valid? [True, True] Translation: X:132.06, Y:-111.78, Z:-4.03 [[ 7.67325070e-01 -6.41200552e-01 -8.60749657e-03 1.32060870e+02] [-6.41159018e-01 -7.67373341e-01 7.29851347e-03 -1.11777303e+02] [-1.12849743e-02 -8.15583056e-05 -9.99936319e-01 -4.03126016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0665599949999 meters 0.013456495864986158 Centerline is valid? [True, True] Translation: X:132.08, Y:-111.80, Z:-4.03 [[ 8.15225972e-01 -5.79060846e-01 -9.75455766e-03 1.32084637e+02] [-5.79018076e-01 -8.15284324e-01 7.03841160e-03 -1.11803942e+02] [-1.20284065e-02 -8.98307328e-05 -9.99927652e-01 -4.03035615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.126559995 meters 0.01377102051491191 Centerline is valid? [True, True] Translation: X:132.11, Y:-111.83, Z:-4.03 [[ 8.58335880e-01 -5.12967221e-01 -1.11421308e-02 1.32112523e+02] [-5.12922387e-01 -8.58408189e-01 6.78274683e-03 -1.11827001e+02] [-1.30438231e-02 -1.06826637e-04 -9.99914920e-01 -4.02951389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1865599949999 meters 0.014156779029464136 Centerline is valid? [True, True] Translation: X:132.14, Y:-111.85, Z:-4.03 [[ 8.96350905e-01 -4.43178750e-01 -1.21511290e-02 1.32140460e+02] [-4.43136084e-01 -8.96433254e-01 6.15078667e-03 -1.11848107e+02] [-1.36185741e-02 -1.28659469e-04 -9.99907255e-01 -4.02775100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.246559995 meters 0.014186701668301702 Centerline is valid? [True, True] Translation: X:132.17, Y:-111.87, Z:-4.03 [[ 9.29231055e-01 -3.69312204e-01 -1.17533779e-02 1.32170642e+02] [-3.69280571e-01 -9.29305371e-01 4.83603651e-03 -1.11868243e+02] [-1.27084845e-02 -1.53501213e-04 -9.99919232e-01 -4.02990600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3065599949999 meters 0.014654144397753515 Centerline is valid? [True, True] Translation: X:132.20, Y:-111.89, Z:-4.03 [[ 9.56096150e-01 -2.92825044e-01 -1.15605528e-02 1.32202191e+02] [-2.92801339e-01 -9.56166022e-01 3.73026767e-03 -1.11886303e+02] [-1.21461236e-02 -1.81549213e-04 -9.99926217e-01 -4.03095074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.366559995 meters 0.015626561577051296 Centerline is valid? [True, True] Translation: X:132.23, Y:-111.90, Z:-4.03 [[ 9.76780870e-01 -2.13896612e-01 -1.21396871e-02 1.32234971e+02] [-2.13877173e-01 -9.76856278e-01 2.89274800e-03 -1.11900826e+02] [-1.24774785e-02 -2.29178950e-04 -9.99922127e-01 -4.03044541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4265599949999 meters 0.015924372915895695 Centerline is valid? [True, True] Translation: X:132.27, Y:-111.91, Z:-4.03 [[ 9.90794240e-01 -1.34869030e-01 -1.17097896e-02 1.32269040e+02] [-1.34856725e-01 -9.90863404e-01 1.83780622e-03 -1.11913253e+02] [-1.18506652e-02 -2.41743936e-04 -9.99929749e-01 -4.03117896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.486559995 meters 0.016523075462136487 Centerline is valid? [True, True] Translation: X:132.30, Y:-111.92, Z:-4.03 [[ 9.98414475e-01 -5.52088551e-02 -1.09780909e-02 1.32299372e+02] [-5.52028452e-02 -9.98474799e-01 8.49941688e-04 -1.11922217e+02] [-1.10082714e-02 -2.42572232e-04 -9.99939378e-01 -4.03147943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5465599949999 meters 0.016943249716501973 Centerline is valid? [True, True] Translation: X:132.33, Y:-111.93, Z:-4.03 [[ 9.99658901e-01 2.40165929e-02 -1.02608830e-02 1.32330139e+02] [ 2.40177391e-02 -9.99711532e-01 -1.15174047e-05 -1.11927512e+02] [-1.02581996e-02 -2.34929734e-04 -9.99947356e-01 -4.03137987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.606559995 meters 0.016586344136294656 Centerline is valid? [True, True] Translation: X:132.36, Y:-111.93, Z:-4.03 [[ 9.94708751e-01 1.02300774e-01 -9.43671847e-03 1.32360876e+02] [ 1.02298242e-01 -9.94753489e-01 -7.51825653e-04 -1.11928409e+02] [-9.46412097e-03 -2.17512158e-04 -9.99955191e-01 -4.03189960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.666559995 meters 0.016627905022376172 Centerline is valid? [True, True] Translation: X:132.39, Y:-111.93, Z:-4.03 [[ 9.83845303e-01 1.78783817e-01 -9.20690125e-03 1.32390549e+02] [ 1.78777929e-01 -9.83888360e-01 -1.46524508e-03 -1.11927224e+02] [-9.32052508e-03 -2.04416255e-04 -9.99956542e-01 -4.03152156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7265599949999 meters 0.015884748488401226 Centerline is valid? [True, True] Translation: X:132.42, Y:-111.92, Z:-4.03 [[ 9.67413355e-01 2.53032194e-01 -9.27945937e-03 1.32419951e+02] [ 2.53022407e-01 -9.67457841e-01 -2.23339343e-03 -1.11921487e+02] [-9.54260617e-03 -1.87296518e-04 -9.99954451e-01 -4.03158282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.786559995 meters 0.015830173182486643 Centerline is valid? [True, True] Translation: X:132.45, Y:-111.92, Z:-4.03 [[ 9.44851646e-01 3.27375656e-01 -8.97477192e-03 1.32449355e+02] [ 3.27362680e-01 -9.44894252e-01 -2.92023914e-03 -1.11915876e+02] [-9.43622561e-03 -1.78812632e-04 -9.99955462e-01 -4.03165877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8465599949999 meters 0.015933417034098195 Centerline is valid? [True, True] Translation: X:132.48, Y:-111.91, Z:-4.03 [[ 9.15487356e-01 4.02267169e-01 -8.00153685e-03 1.32480329e+02] [ 4.02253537e-01 -9.15522305e-01 -3.31674576e-03 -1.11914409e+02] [-8.65980339e-03 -1.82207687e-04 -9.99962487e-01 -4.03223775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.906559995 meters 0.015577383913295953 Centerline is valid? [True, True] Translation: X:132.51, Y:-111.91, Z:-4.03 [[ 8.81491348e-01 4.72112599e-01 -9.09375701e-03 1.32511165e+02] [ 4.72089899e-01 -8.81538230e-01 -4.63430446e-03 -1.11909371e+02] [-1.02044080e-02 -2.07971546e-04 -9.99947912e-01 -4.03095676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9665599949999 meters 0.015409248930232404 Centerline is valid? [True, True] Translation: X:132.54, Y:-111.90, Z:-4.03 [[ 8.43525751e-01 5.37013253e-01 -9.00407282e-03 1.32538628e+02] [ 5.36984950e-01 -8.43573786e-01 -5.51640244e-03 -1.11900981e+02] [-1.05579810e-02 -1.81824082e-04 -9.99944246e-01 -4.02980986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.026559995 meters 0.014194255027538127 Centerline is valid? [True, True] Translation: X:132.56, Y:-111.89, Z:-4.03 [[ 8.02030546e-01 5.97247112e-01 -6.54905012e-03 1.32563925e+02] [ 5.97228187e-01 -8.02057278e-01 -4.75556094e-03 -1.11886934e+02] [-8.09295835e-03 -9.71721903e-05 -9.99967247e-01 -4.03226620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0865599949999 meters 0.013744687146601561 Centerline is valid? [True, True] Translation: X:132.59, Y:-111.87, Z:-4.03 [[ 7.55111114e-01 6.55579403e-01 -4.78033303e-03 1.32589806e+02] [ 6.55566712e-01 -7.55126244e-01 -4.07948158e-03 -1.11874007e+02] [-6.28417902e-03 -5.33653235e-05 -9.99980253e-01 -4.03411604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.146559995 meters 0.013609985018386046 Centerline is valid? [True, True] Translation: X:132.62, Y:-111.86, Z:-4.03 [[ 7.02713580e-01 7.11456998e-01 -4.75031256e-03 1.32616040e+02] [ 7.11441178e-01 -7.02729634e-01 -4.74471383e-03 -1.11861005e+02] [-6.71384526e-03 -4.53931198e-05 -9.99977461e-01 -4.03340352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2065599949999 meters 0.013484418549115283 Centerline is valid? [True, True] Translation: X:132.64, Y:-111.85, Z:-4.03 [[ 6.47558815e-01 7.61997054e-01 -5.29818386e-03 1.32639946e+02] [ 7.61971883e-01 -6.47580488e-01 -6.19365827e-03 -1.11845082e+02] [-8.15054985e-03 -2.63091234e-05 -9.99966783e-01 -4.03149667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.266559995 meters 0.013311368865584197 Centerline is valid? [True, True] Translation: X:132.66, Y:-111.83, Z:-4.03 [[ 5.88400037e-01 8.08553773e-01 -5.11778918e-03 1.32661491e+02] [ 8.08523205e-01 -5.88422294e-01 -7.03069174e-03 -1.11826293e+02] [-8.69611358e-03 -9.92025249e-07 -9.99962188e-01 -4.03159464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3265599949999 meters 0.013498807495562396 Centerline is valid? [True, True] Translation: X:132.68, Y:-111.81, Z:-4.03 [[ 5.26885258e-01 8.49921795e-01 -4.98676712e-03 1.32682633e+02] [ 8.49883016e-01 -5.26908855e-01 -8.11897700e-03 -1.11807009e+02] [-9.52806726e-03 3.96006132e-05 -9.99954606e-01 -4.03188151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.386559995 meters 0.01355807050721923 Centerline is valid? [True, True] Translation: X:132.70, Y:-111.79, Z:-4.03 [[ 4.61156764e-01 8.87306536e-01 -4.64218461e-03 1.32703015e+02] [ 8.87260029e-01 -4.61180123e-01 -9.08490703e-03 -1.11787095e+02] [-1.02019807e-02 7.07414763e-05 -9.99947956e-01 -4.03120597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4465599949999 meters 0.013489511647111565 Centerline is valid? [True, True] Translation: X:132.72, Y:-111.77, Z:-4.03 [[ 3.90522411e-01 9.20584486e-01 -4.05600987e-03 1.32724102e+02] [ 9.20532779e-01 -3.90543466e-01 -9.75719708e-03 -1.11766457e+02] [-1.05663724e-02 7.67140954e-05 -9.99944171e-01 -4.03117798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.506559995 meters 0.013437660409224644 Centerline is valid? [True, True] Translation: X:132.74, Y:-111.74, Z:-4.03 [[ 3.16670373e-01 9.48530564e-01 -3.10550386e-03 1.32743630e+02] [ 9.48482852e-01 -3.16685593e-01 -9.51394520e-03 -1.11744717e+02] [-1.00077361e-02 6.72674136e-05 -9.99949919e-01 -4.03211569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5665599949999 meters 0.013334334247145993 Centerline is valid? [True, True] Translation: X:132.76, Y:-111.72, Z:-4.03 [[ 2.40028996e-01 9.70763201e-01 -2.21094353e-03 1.32759659e+02] [ 9.70720077e-01 -2.40039173e-01 -9.15031416e-03 -1.11721728e+02] [-9.41350132e-03 5.01334422e-05 -9.99955691e-01 -4.03249983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.626559995 meters 0.01290365857419863 Centerline is valid? [True, True] Translation: X:132.78, Y:-111.70, Z:-4.03 [[ 1.60241413e-01 9.87076879e-01 -1.38698143e-03 1.32778236e+02] [ 9.87038819e-01 -1.60247414e-01 -8.66806027e-03 -1.11696765e+02] [-8.77830207e-03 1.99777165e-05 -9.99961470e-01 -4.03405913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6865599949999 meters 0.012758945625792445 Centerline is valid? [True, True] Translation: X:132.79, Y:-111.67, Z:-4.03 [[ 7.84640806e-02 9.96916661e-01 -7.48044960e-04 1.32793566e+02] [ 9.96873279e-01 -7.84676446e-02 -9.30022971e-03 -1.11670249e+02] [-9.33025128e-03 -1.59720590e-05 -9.99956472e-01 -4.03425460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.746559995 meters 0.012787688719009857 Centerline is valid? [True, True] Translation: X:132.81, Y:-111.64, Z:-4.03 [[-2.56891141e-03 9.99996700e-01 -1.79189266e-05 1.32806450e+02] [ 9.99949348e-01 2.56861539e-03 -9.73159695e-03 -1.11642395e+02] [-9.73151881e-03 -4.29176295e-05 -9.99952647e-01 -4.03408486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8065599949999 meters 0.012990070822390253 Centerline is valid? [True, True] Translation: X:132.82, Y:-111.61, Z:-4.03 [[-8.39617175e-02 9.96468695e-01 7.54390459e-04 1.32817405e+02] [ 9.96420178e-01 8.39650740e-02 -9.83335072e-03 -1.11613951e+02] [-9.86196862e-03 -7.39351396e-05 -9.99951367e-01 -4.03366410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.866559995 meters 0.013136509526267205 Centerline is valid? [True, True] Translation: X:132.82, Y:-111.59, Z:-4.03 [[-1.62562024e-01 9.86697123e-01 1.54146840e-03 1.32822163e+02] [ 9.86647787e-01 1.62569311e-01 -9.86727419e-03 -1.11585749e+02] [-9.98660651e-03 -8.31576787e-05 -9.99950129e-01 -4.03333847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9265599949999 meters 0.013082641053198273 Centerline is valid? [True, True] Translation: X:132.82, Y:-111.56, Z:-4.03 [[-2.39320523e-01 9.70937599e-01 2.42186503e-03 1.32822093e+02] [ 9.70884159e-01 2.39332761e-01 -1.01872055e-02 -1.11556567e+02] [-1.04707725e-02 -8.66569553e-05 -9.99945176e-01 -4.03296249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.986559995 meters 0.013282536646546482 Centerline is valid? [True, True] Translation: X:132.82, Y:-111.53, Z:-4.03 [[-3.15834448e-01 9.48808132e-01 3.42498924e-03 1.32819463e+02] [ 9.48748640e-01 3.15853000e-01 -1.06254763e-02 -1.11527361e+02] [-1.11633314e-02 -1.06437550e-04 -9.99937682e-01 -4.03234120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0465599949999 meters 0.0131888191737975 Centerline is valid? [True, True] Translation: X:132.82, Y:-111.50, Z:-4.03 [[-3.89976721e-01 9.20813742e-01 4.49542994e-03 1.32817396e+02] [ 9.20748884e-01 3.90002611e-01 -1.09296073e-02 -1.11497728e+02] [-1.18173620e-02 -1.23130309e-04 -9.99930165e-01 -4.03298666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.106559995 meters 0.013163709908115016 Centerline is valid? [True, True] Translation: X:132.81, Y:-111.47, Z:-4.03 [[-4.60269560e-01 8.87761291e-01 5.64115282e-03 1.32811437e+02] [ 8.87691366e-01 4.60304113e-01 -1.11428292e-02 -1.11468886e+02] [-1.24888183e-02 -1.21102447e-04 -9.99922004e-01 -4.03156309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.166559995 meters 0.01261571787952158 Centerline is valid? [True, True] Translation: X:132.80, Y:-111.44, Z:-4.03 [[-5.25478266e-01 8.50783056e-01 6.38614837e-03 1.32801740e+02] [ 8.50718451e-01 5.25517065e-01 -1.04848224e-02 -1.11442149e+02] [-1.22763392e-02 -7.67320556e-05 -9.99924640e-01 -4.03246547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2265599949999 meters 0.012457544473580199 Centerline is valid? [True, True] Translation: X:132.79, Y:-111.42, Z:-4.03 [[-5.88109566e-01 8.08753808e-01 6.66452734e-03 1.32789827e+02] [ 8.08701164e-01 5.88147325e-01 -9.22776748e-03 -1.11417527e+02] [-1.13827160e-02 -3.73273194e-05 -9.99935214e-01 -4.03290107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.286559995 meters 0.012396220507965945 Centerline is valid? [True, True] Translation: X:132.77, Y:-111.39, Z:-4.03 [[-6.46180970e-01 7.63153232e-01 6.87738130e-03 1.32774420e+02] [ 7.63110237e-01 6.46217568e-01 -8.10072126e-03 -1.11394431e+02] [-1.06263762e-02 1.36681518e-05 -9.99943538e-01 -4.03375606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3465599949999 meters 0.012635265992068333 Centerline is valid? [True, True] Translation: X:132.76, Y:-111.37, Z:-4.03 [[-7.01828365e-01 7.12304578e-01 7.68987439e-03 1.32757710e+02] [ 7.12262556e-01 7.01870491e-01 -7.73721275e-03 -1.11373813e+02] [-1.09085480e-02 4.70142147e-05 -9.99940499e-01 -4.03259428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.406559995 meters 0.012453689786083584 Centerline is valid? [True, True] Translation: X:132.74, Y:-111.35, Z:-4.03 [[-7.55082221e-01 6.55576469e-01 8.38644864e-03 1.32743610e+02] [ 6.55536827e-01 7.55128791e-01 -7.20960278e-03 -1.11348324e+02] [-1.10592947e-02 5.37830481e-05 -9.99938843e-01 -4.03326571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4665599949999 meters 0.01256786970359473 Centerline is valid? [True, True] Translation: X:132.76, Y:-111.33, Z:-4.03 [[-7.99779380e-01 6.00220979e-01 9.36592941e-03 1.32764188e+02] [ 6.00180590e-01 7.99834217e-01 -6.96315186e-03 -1.11333179e+02] [-1.16706206e-02 5.22637666e-05 -9.99931895e-01 -4.03260627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.526559995 meters 0.012429188441462397 Centerline is valid? [True, True] Translation: X:132.78, Y:-111.31, Z:-4.03 [[-8.41276799e-01 5.40523111e-01 9.38691630e-03 1.32782380e+02] [ 5.40489826e-01 8.41329166e-01 -5.99849863e-03 -1.11312687e+02] [-1.11398136e-02 2.71350345e-05 -9.99937950e-01 -4.03261861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5865599949999 meters 0.012183979543386727 Centerline is valid? [True, True] Translation: X:132.79, Y:-111.29, Z:-4.03 [[-8.79562908e-01 4.75704280e-01 8.63302963e-03 1.32793658e+02] [ 4.75681142e-01 8.79605274e-01 -4.69183863e-03 -1.11285148e+02] [-9.82558611e-03 -2.01978369e-05 -9.99951728e-01 -4.03362352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.646559995 meters 0.012526844456695508 Centerline is valid? [True, True] Translation: X:132.81, Y:-111.26, Z:-4.03 [[-9.13382854e-01 4.07004850e-01 8.87773724e-03 1.32807473e+02] [ 4.06984819e-01 9.13425994e-01 -4.03865801e-03 -1.11259032e+02] [-9.75290935e-03 -7.57366967e-05 -9.99952436e-01 -4.03353972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7065599949999 meters 0.013206428041816364 Centerline is valid? [True, True] Translation: X:132.82, Y:-111.23, Z:-4.03 [[-9.41205482e-01 3.37716588e-01 8.93012866e-03 1.32818817e+02] [ 3.37700270e-01 9.41247839e-01 -3.32169817e-03 -1.11232389e+02] [-9.52725688e-03 -1.10693670e-04 -9.99954609e-01 -4.03249125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.766559995 meters 0.014159985174803673 Centerline is valid? [True, True] Translation: X:132.82, Y:-111.20, Z:-4.03 [[-9.63866799e-01 2.66254765e-01 8.31829210e-03 1.32822046e+02] [ 2.66243631e-01 9.63902683e-01 -2.43865719e-03 -1.11204033e+02] [-8.66732817e-03 -1.35848404e-04 -9.99962429e-01 -4.03288630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8265599949999 meters 0.014579323307282658 Centerline is valid? [True, True] Translation: X:132.83, Y:-111.18, Z:-4.03 [[-9.80700490e-01 1.95365953e-01 7.66115102e-03 1.32831827e+02] [ 1.95358891e-01 9.80730404e-01 -1.66688984e-03 -1.11178652e+02] [-7.83917726e-03 -1.38045714e-04 -9.99969264e-01 -4.03348823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.886559995 meters 0.015185275962172095 Centerline is valid? [True, True] Translation: X:132.83, Y:-111.15, Z:-4.03 [[-9.92247284e-01 1.24092203e-01 6.81566569e-03 1.32831314e+02] [ 1.24088372e-01 9.92270683e-01 -9.83678404e-04 -1.11150210e+02] [-6.88505207e-03 -1.30307363e-04 -9.99976289e-01 -4.03367168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9465599949999 meters 0.014333275234813798 Centerline is valid? [True, True] Translation: X:132.94, Y:-110.45, Z:-5.01 [[-9.73746462e-01 -2.27530637e-01 6.90202713e-03 1.32942876e+02] [ 2.27525969e-01 -9.73770912e-01 -1.46461016e-03 -1.10453507e+02] [ 7.05423693e-03 1.44231446e-04 9.99975108e-01 -5.00684623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.006559995 meters 0.014833010500115137 Centerline is valid? [True, True] Translation: X:132.79, Y:-111.14, Z:-4.03 [[-9.92453617e-01 1.22356611e-01 8.04226725e-03 1.32785416e+02] [ 1.22351481e-01 9.92486192e-01 -1.12866030e-03 -1.11143428e+02] [-8.11993825e-03 -1.36159692e-04 -9.99967024e-01 -4.03138972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0665599949999 meters 0.013704957061605698 Centerline is valid? [True, True] Translation: X:132.79, Y:-111.12, Z:-4.03 [[-9.98579686e-01 5.25133897e-02 8.99750986e-03 1.32791822e+02] [ 5.25099677e-02 9.98620210e-01 -6.16313334e-04 -1.11118399e+02] [-9.01745989e-03 -1.42979024e-04 -9.99959332e-01 -4.03201130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.126559995 meters 0.01403182363596915 Centerline is valid? [True, True] Translation: X:132.79, Y:-111.09, Z:-4.03 [[-9.99765704e-01 -1.93384490e-02 9.72427045e-03 1.32790060e+02] [-1.93391161e-02 9.99812982e-01 2.54366414e-05 -1.11090075e+02] [-9.72294374e-03 -1.62628113e-04 -9.99952718e-01 -4.03158493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1865599949999 meters 0.014043595475547213 Centerline is valid? [True, True] Translation: X:132.78, Y:-111.06, Z:-4.03 [[-9.95776227e-01 -9.12053219e-02 1.05496215e-02 1.32782483e+02] [-9.12021879e-02 9.95832092e-01 7.78782782e-04 -1.11063298e+02] [-1.05766808e-02 -1.86655180e-04 -9.99944048e-01 -4.03122835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.246559995 meters 0.01434588121725285 Centerline is valid? [True, True] Translation: X:132.74, Y:-110.36, Z:-5.01 [[-9.99891981e-01 -1.02753924e-02 1.05092049e-02 1.32735422e+02] [ 1.02767270e-02 -9.99947190e-01 7.29967312e-05 -1.10363188e+02] [ 1.05078999e-02 1.80989076e-04 9.99944774e-01 -5.01033602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3065599949999 meters 0.013595533803554202 Centerline is valid? [True, True] Translation: X:132.71, Y:-111.07, Z:-4.03 [[-9.95616469e-01 -9.29637433e-02 1.02756506e-02 1.32709262e+02] [-9.29603035e-02 9.95669484e-01 8.12912287e-04 -1.11071364e+02] [-1.03067231e-02 -1.45878737e-04 -9.99946874e-01 -4.03148760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.366559995 meters 0.013587935651224244 Centerline is valid? [True, True] Translation: X:132.70, Y:-111.05, Z:-4.03 [[-9.86735138e-01 -1.62033077e-01 9.95234633e-03 1.32702531e+02] [-1.62026129e-01 9.86785319e-01 1.50581909e-03 -1.11045134e+02] [-1.00648217e-02 -1.26695550e-04 -9.99949340e-01 -4.03143334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4265599949999 meters 0.013149153663166718 Centerline is valid? [True, True] Translation: X:132.60, Y:-110.34, Z:-5.01 [[-9.97397678e-01 7.14448078e-02 9.67017168e-03 1.32598236e+02] [-7.14404929e-02 -9.97444550e-01 7.91346571e-04 -1.10344824e+02] [ 9.70199765e-03 9.84454002e-05 9.99952930e-01 -5.00846731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.486559995 meters 0.013021477659596358 Centerline is valid? [True, True] Translation: X:132.61, Y:-111.06, Z:-4.03 [[-9.86155948e-01 -1.65527753e-01 9.84931362e-03 1.32606300e+02] [-1.65520498e-01 9.86205127e-01 1.55290463e-03 -1.11061159e+02] [-9.97049241e-03 -9.88571561e-05 -9.99950289e-01 -4.03334608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5465599949999 meters 0.013046800705260053 Centerline is valid? [True, True] Translation: X:132.60, Y:-111.03, Z:-4.03 [[-9.71890080e-01 -2.35224334e-01 9.95912566e-03 1.32598794e+02] [-2.35213058e-01 9.71941100e-01 2.30545604e-03 -1.11034358e+02] [-1.02219829e-02 -1.01866549e-04 -9.99947749e-01 -4.03294386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.606559995 meters 0.013325684941490841 Centerline is valid? [True, True] Translation: X:132.58, Y:-111.01, Z:-4.03 [[-9.52272646e-01 -3.05099166e-01 9.55541492e-03 1.32575497e+02] [-3.05084959e-01 9.52320580e-01 2.94629496e-03 -1.11010716e+02] [-9.99873041e-03 -1.09537271e-04 -9.99950005e-01 -4.03282933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.666559995 meters 0.013382656912371504 Centerline is valid? [True, True] Translation: X:132.54, Y:-110.99, Z:-4.03 [[-9.27549572e-01 -3.73579656e-01 9.48858210e-03 1.32542048e+02] [-3.73561404e-01 9.27598096e-01 3.69471384e-03 -1.10992135e+02] [-1.01818606e-02 -1.17537806e-04 -9.99948157e-01 -4.03252879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7265599949999 meters 0.013576882951512463 Centerline is valid? [True, True] Translation: X:132.48, Y:-110.99, Z:-4.03 [[-8.97177952e-01 -4.41545256e-01 1.04647268e-02 1.32484788e+02] [-4.41517154e-01 8.97238968e-01 4.98371805e-03 -1.10985841e+02] [-1.15898978e-02 -1.49074454e-04 -9.99932824e-01 -4.03181724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.786559995 meters 0.013847654769334037 Centerline is valid? [True, True] Translation: X:132.42, Y:-110.99, Z:-4.03 [[-8.61677303e-01 -5.07336732e-01 1.10302508e-02 1.32423679e+02] [-5.07297760e-01 8.61747881e-01 6.29069766e-03 -1.10985558e+02] [-1.26967972e-02 -1.75070132e-04 -9.99919377e-01 -4.03036676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8465599949999 meters 0.01411227820481817 Centerline is valid? [True, True] Translation: X:132.35, Y:-111.00, Z:-4.03 [[-8.21403385e-01 -5.70246803e-01 1.07267346e-02 1.32349786e+02] [-5.70201110e-01 8.21473401e-01 7.22117105e-03 -1.10997826e+02] [-1.29295769e-02 -1.84901651e-04 -9.99916392e-01 -4.02945801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.906559995 meters 0.014227406409683617 Centerline is valid? [True, True] Translation: X:132.27, Y:-111.02, Z:-4.03 [[-7.76695211e-01 -6.29804430e-01 9.53570634e-03 1.32273338e+02] [-6.29759656e-01 7.76753726e-01 7.51161079e-03 -1.11019038e+02] [-1.21377412e-02 -1.70971024e-04 -9.99926320e-01 -4.03014946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9665599949999 meters 0.01371586486457277 Centerline is valid? [True, True] Translation: X:132.19, Y:-111.05, Z:-4.03 [[-7.28328728e-01 -6.85181103e-01 8.00748208e-03 1.32192088e+02] [-6.85141745e-01 7.28372732e-01 7.34520639e-03 -1.11054518e+02] [-1.08652282e-02 -1.36535421e-04 -9.99940962e-01 -4.03134766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.026559995 meters 0.013677020935503208 Centerline is valid? [True, True] Translation: X:132.11, Y:-111.10, Z:-4.03 [[-6.76177141e-01 -7.36702776e-01 7.31389296e-03 1.32110472e+02] [-7.36661470e-01 6.76216686e-01 7.80203586e-03 -1.11099048e+02] [-1.06935579e-02 -1.12304841e-04 -9.99942816e-01 -4.03121351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0865599949999 meters 0.01300958792041169 Centerline is valid? [True, True] Translation: X:132.03, Y:-111.15, Z:-4.03 [[-6.19676167e-01 -7.84831827e-01 6.36009922e-03 1.32032874e+02] [-7.84791995e-01 6.19708798e-01 7.90762667e-03 -1.11151646e+02] [-1.01475665e-02 -9.11871653e-05 -9.99948508e-01 -4.03270139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.146559995 meters 0.012676832117659388 Centerline is valid? [True, True] Translation: X:131.95, Y:-111.22, Z:-4.03 [[-5.60178800e-01 -8.28350789e-01 5.88919339e-03 1.31952591e+02] [-8.28306330e-01 5.60209751e-01 8.58246976e-03 -1.11218124e+02] [-1.04084792e-02 -7.03385530e-05 -9.99945828e-01 -4.03258509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2065599949999 meters 0.012621666199232426 Centerline is valid? [True, True] Translation: X:131.88, Y:-111.29, Z:-4.03 [[-4.97929273e-01 -8.67196360e-01 6.07565891e-03 1.31878927e+02] [-8.67132969e-01 4.97966336e-01 1.04853270e-02 -1.11288562e+02] [-1.21183110e-02 -4.74529132e-05 -9.99926569e-01 -4.03070975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.266559995 meters 0.01259751311633646 Centerline is valid? [True, True] Translation: X:131.80, Y:-111.37, Z:-4.03 [[-4.30866395e-01 -9.02399537e-01 5.40609290e-03 1.31804096e+02] [-9.02329685e-01 4.30900307e-01 1.12278806e-02 -1.11371497e+02] [-1.24615213e-02 -4.03616830e-05 -9.99922351e-01 -4.03004651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3265599949999 meters 0.012724979508679209 Centerline is valid? [True, True] Translation: X:131.73, Y:-111.47, Z:-4.03 [[-3.60362293e-01 -9.32800949e-01 4.62688936e-03 1.31732074e+02] [-9.32725671e-01 3.60391993e-01 1.18505126e-02 -1.11466076e+02] [-1.27216633e-02 -4.51405860e-05 -9.99919075e-01 -4.02941147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.386559995 meters 0.012497197225930115 Centerline is valid? [True, True] Translation: X:131.67, Y:-111.56, Z:-4.03 [[-2.89821359e-01 -9.57072780e-01 3.90816778e-03 1.31673831e+02] [-9.56986661e-01 2.89847707e-01 1.28388919e-02 -1.11557288e+02] [-1.34205275e-02 -1.90793286e-05 -9.99909941e-01 -4.03034299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4465599949999 meters 0.012621786036707126 Centerline is valid? [True, True] Translation: X:131.62, Y:-111.66, Z:-4.03 [[-2.18556098e-01 -9.75820539e-01 2.74017068e-03 1.31620625e+02] [-9.75742679e-01 2.18573274e-01 1.23267456e-02 -1.11660771e+02] [-1.26276196e-02 2.03839361e-05 -9.99920268e-01 -4.03031544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.506559995 meters 0.012790518339887414 Centerline is valid? [True, True] Translation: X:131.57, Y:-111.76, Z:-4.03 [[-1.47422143e-01 -9.89072531e-01 1.49701929e-03 1.31574410e+02] [-9.89016943e-01 1.47429729e-01 1.04862867e-02 -1.11763788e+02] [-1.05924033e-02 6.53334222e-05 -9.99943897e-01 -4.03173037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5665599949999 meters 0.013368652873088999 Centerline is valid? [True, True] Translation: X:131.54, Y:-111.88, Z:-4.03 [[-7.47580479e-02 -9.97201471e-01 6.77958587e-04 1.31537819e+02] [-9.97146743e-01 7.47610482e-02 1.04478725e-02 -1.11875025e+02] [-1.04693188e-02 1.05038360e-04 -9.99945190e-01 -4.03156993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.626559995 meters 0.014468652534925897 Centerline is valid? [True, True] Translation: X:131.51, Y:-111.99, Z:-4.03 [[-2.55756045e-03 -9.99996719e-01 -1.48064954e-04 1.31509314e+02] [-9.99923484e-01 2.55558103e-03 1.21035511e-02 -1.11989995e+02] [-1.21031330e-02 1.79009188e-04 -9.99926738e-01 -4.03072331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6865599949999 meters 0.015024483739844743 Centerline is valid? [True, True] Translation: X:131.49, Y:-112.11, Z:-4.03 [[ 7.27162820e-02 -9.97352136e-01 -1.02959304e-03 1.31486618e+02] [-9.97285675e-01 -7.27233239e-02 1.15152474e-02 -1.12109333e+02] [-1.15596320e-02 1.89452415e-04 -9.99933167e-01 -4.03009326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.746559995 meters 0.014284562396110255 Centerline is valid? [True, True] Translation: X:131.47, Y:-112.23, Z:-4.03 [[ 1.49462112e-01 -9.88765732e-01 -1.84529781e-03 1.31471581e+02] [-9.88704476e-01 -1.49473395e-01 1.10074376e-02 -1.12229331e+02] [-1.11596001e-02 1.79259335e-04 -9.99937714e-01 -4.03098766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8065599949999 meters 0.014293602429517315 Centerline is valid? [True, True] Translation: X:131.47, Y:-112.35, Z:-4.03 [[ 2.27664631e-01 -9.73735986e-01 -2.65453135e-03 1.31467799e+02] [-9.73677110e-01 -2.27680059e-01 1.07086794e-02 -1.12352664e+02] [-1.10318103e-02 1.46668878e-04 -9.99939137e-01 -4.02954749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.866559995 meters 0.01323685713557359 Centerline is valid? [True, True] Translation: X:131.47, Y:-112.48, Z:-4.03 [[ 3.06424875e-01 -9.51887518e-01 -3.73476494e-03 1.31469404e+02] [-9.51820744e-01 -3.06447618e-01 1.12750897e-02 -1.12475415e+02] [-1.18771269e-02 9.98588024e-05 -9.99929460e-01 -4.02826028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9265599949999 meters 0.012590291041332588 Centerline is valid? [True, True] Translation: X:131.48, Y:-112.60, Z:-4.03 [[ 3.82495272e-01 -9.23946730e-01 -4.45061438e-03 1.31481732e+02] [-9.23885626e-01 -3.82521161e-01 1.06259445e-02 -1.12595675e+02] [-1.15202608e-02 4.74851473e-05 -9.99933639e-01 -4.02880223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.986559995 meters 0.012447806436410951 Centerline is valid? [True, True] Translation: X:131.50, Y:-112.72, Z:-4.03 [[ 4.58158545e-01 -8.88855914e-01 -5.09039918e-03 1.31502954e+02] [-8.88800332e-01 -4.58186822e-01 9.94016119e-03 -1.12716672e+02] [-1.11677249e-02 -2.98213133e-05 -9.99937639e-01 -4.02888278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0465599949999 meters 0.012690167407603018 Centerline is valid? [True, True] Translation: X:131.53, Y:-112.83, Z:-4.03 [[ 5.28768757e-01 -8.48747251e-01 -5.63079855e-03 1.31531819e+02] [-8.48697534e-01 -5.28798732e-01 9.18683988e-03 -1.12829369e+02] [-1.07748642e-02 -7.88690658e-05 -9.99941946e-01 -4.02898738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.106559995 meters 0.013511955506832143 Centerline is valid? [True, True] Translation: X:131.57, Y:-112.94, Z:-4.03 [[ 5.97413619e-01 -8.01917037e-01 -5.10224998e-03 1.31567729e+02] [-8.01886033e-01 -5.97435395e-01 7.05264415e-03 -1.12939566e+02] [-8.70390023e-03 -1.21922673e-04 -9.99962113e-01 -4.02949700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.166559995 meters 0.014653256773081297 Centerline is valid? [True, True] Translation: X:131.62, Y:-113.05, Z:-4.03 [[ 6.60899935e-01 -7.50457051e-01 -5.04876755e-03 1.31615326e+02] [-7.50433382e-01 -6.60919202e-01 5.96214054e-03 -1.13049030e+02] [-7.81115783e-03 -1.51614590e-04 -9.99969481e-01 -4.02956925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2265599949999 meters 0.015434329790961456 Centerline is valid? [True, True] Translation: X:131.66, Y:-113.14, Z:-4.03 [[ 7.17734035e-01 -6.96291896e-01 -5.95399533e-03 1.31663091e+02] [-6.96265789e-01 -7.17758707e-01 6.03236993e-03 -1.13142244e+02] [-8.47382228e-03 -1.84073952e-04 -9.99964080e-01 -4.02809856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.286559995 meters 0.015333089275837685 Centerline is valid? [True, True] Translation: X:131.72, Y:-113.23, Z:-4.03 [[ 7.68093999e-01 -6.40302773e-01 -6.63086263e-03 1.31718652e+02] [-6.40276814e-01 -7.68122597e-01 5.76864145e-03 -1.13230384e+02] [-8.78699254e-03 -1.85271277e-04 -9.99961377e-01 -4.02699554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3465599949999 meters 0.014362079313761652 Centerline is valid? [True, True] Translation: X:131.74, Y:-113.25, Z:-4.03 [[ 8.13981034e-01 -5.80846002e-01 -7.26617681e-03 1.31743505e+02] [-5.80821069e-01 -8.14013449e-01 5.38424734e-03 -1.13253471e+02] [-9.04218419e-03 -1.62326636e-04 -9.99959105e-01 -4.02666018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.406559995 meters 0.013321843722735153 Centerline is valid? [True, True] Translation: X:131.77, Y:-113.28, Z:-4.03 [[ 8.54586143e-01 -5.19258298e-01 -7.30369215e-03 1.31769537e+02] [-5.19238169e-01 -8.54617345e-01 4.57358764e-03 -1.13275022e+02] [-8.61673533e-03 -1.16168877e-04 -9.99962869e-01 -4.02668095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4665599949999 meters 0.012275540012753473 Centerline is valid? [True, True] Translation: X:131.80, Y:-113.29, Z:-4.03 [[ 8.87535438e-01 -4.60684933e-01 -7.08787994e-03 1.31799187e+02] [-4.60670067e-01 -8.87563740e-01 3.70103116e-03 -1.13288689e+02] [-7.99595451e-03 -1.96221875e-05 -9.99968032e-01 -4.02711134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.526559995 meters 0.012515420057654188 Centerline is valid? [True, True] Translation: X:131.83, Y:-113.30, Z:-4.03 [[ 9.17115934e-01 -3.98568583e-01 -6.43803300e-03 1.31828142e+02] [-3.98559137e-01 -9.17138530e-01 2.74442402e-03 -1.13303907e+02] [-6.99840931e-03 4.89818737e-05 -9.99975510e-01 -4.02772899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5865599949999 meters 0.01377059495513798 Centerline is valid? [True, True] Translation: X:131.86, Y:-113.32, Z:-4.03 [[ 9.42553778e-01 -3.34031324e-01 -3.93077253e-03 1.31855885e+02] [-3.34028710e-01 -9.42561972e-01 1.32312453e-03 -1.13317677e+02] [-4.14696175e-03 6.58748491e-05 -9.99991399e-01 -4.02966835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.646559995 meters 0.01547304775275522 Centerline is valid? [True, True] Translation: X:131.88, Y:-113.33, Z:-4.03 [[ 9.63924850e-01 -2.66146928e-01 -3.83350468e-03 1.31884030e+02] [-2.66145196e-01 -9.63932469e-01 9.64355312e-04 -1.13331745e+02] [-3.95189983e-03 9.07028050e-05 -9.99992187e-01 -4.02925770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7065599949999 meters 0.017088176716968672 Centerline is valid? [True, True] Translation: X:131.91, Y:-113.35, Z:-4.03 [[ 9.80018330e-01 -1.98850127e-01 -4.76443529e-03 1.31909360e+02] [-1.98848544e-01 -9.80029899e-01 8.08531757e-04 -1.13346608e+02] [-4.83006568e-03 1.55025079e-04 -9.99988323e-01 -4.02816521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.766559995 meters 0.019084744487597814 Centerline is valid? [True, True] Translation: X:131.93, Y:-113.36, Z:-4.03 [[ 9.91779135e-01 -1.27867586e-01 -4.90191522e-03 1.31934985e+02] [-1.27866966e-01 -9.91791230e-01 4.41001732e-04 -1.13359940e+02] [-4.91806635e-03 1.89416710e-04 -9.99987888e-01 -4.02828943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8265599949999 meters 0.02203936056188748 Centerline is valid? [True, True] Translation: X:131.96, Y:-113.37, Z:-4.03 [[ 9.98269725e-01 -5.86833441e-02 -3.71763190e-03 1.31961282e+02] [-5.86835937e-02 -9.98276632e-01 4.20197751e-05 -1.13372404e+02] [-3.71369091e-03 1.76216931e-04 -9.99993089e-01 -4.02870303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.886559995 meters 0.02460230111032981 Centerline is valid? [True, True] Translation: X:131.99, Y:-113.38, Z:-4.03 [[ 9.99913973e-01 1.27506563e-02 -3.07702743e-03 1.31988613e+02] [ 1.27500800e-02 -9.99918693e-01 -2.06863131e-04 -1.13382669e+02] [-3.07941489e-03 1.67612989e-04 -9.99995245e-01 -4.02969923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9465599949999 meters 0.025892343377484094 Centerline is valid? [True, True] Translation: X:132.02, Y:-113.39, Z:-4.03 [[ 9.96019356e-01 8.90895052e-02 -2.91593417e-03 1.32016850e+02] [ 8.90886350e-02 -9.96023610e-01 -4.27217763e-04 -1.13391635e+02] [-2.94239989e-03 1.65740566e-04 -9.99995657e-01 -4.02996589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.006559995 meters 0.025111384290087167 Centerline is valid? [True, True] Translation: X:132.05, Y:-113.41, Z:-4.03 [[ 9.85770545e-01 1.68083159e-01 -2.11744674e-03 1.32048018e+02] [ 1.68082510e-01 -9.85772812e-01 -4.82090215e-04 -1.13405821e+02] [-2.16835267e-03 1.19324571e-04 -9.99997642e-01 -4.03003827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0665599949999 meters 0.024330195108558668 Centerline is valid? [True, True] Translation: X:132.08, Y:-113.41, Z:-4.03 [[ 9.68610478e-01 2.48575798e-01 -1.95311336e-03 1.32079585e+02] [ 2.48575074e-01 -9.68612442e-01 -6.08999099e-04 -1.13413622e+02] [-2.04319233e-03 1.04387612e-04 -9.99997907e-01 -4.03047347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.126559995 meters 0.01970110782265151 Centerline is valid? [True, True] Translation: X:132.12, Y:-113.43, Z:-4.03 [[ 9.42685038e-01 3.33677481e-01 -2.06334624e-03 1.32116973e+02] [ 3.33676472e-01 -9.42687292e-01 -8.25690957e-04 -1.13430051e+02] [-2.22060475e-03 8.98764193e-05 -9.99997530e-01 -4.03072878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1865599949999 meters 0.01758259010857061 Centerline is valid? [True, True] Translation: X:132.15, Y:-113.44, Z:-4.03 [[ 9.09932954e-01 4.14749546e-01 -2.19862703e-03 1.32153716e+02] [ 4.14748129e-01 -9.09935607e-01 -1.08671378e-03 -1.13437264e+02] [-2.45132307e-03 7.69602321e-05 -9.99996993e-01 -4.03059494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.246559995 meters 0.015087438367585568 Centerline is valid? [True, True] Translation: X:132.19, Y:-113.44, Z:-4.03 [[ 8.69995682e-01 4.93055393e-01 -1.97279468e-03 1.32192117e+02] [ 4.93053995e-01 -8.69997918e-01 -1.17555977e-03 -1.13441360e+02] [-2.29594334e-03 5.00376290e-05 -9.99997363e-01 -4.03008791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3065599949999 meters 0.012369836964008436 Centerline is valid? [True, True] Translation: X:132.23, Y:-113.45, Z:-4.03 [[ 8.21019331e-01 5.70894148e-01 -2.67042780e-03 1.32234034e+02] [ 5.70891022e-01 -8.21023673e-01 -1.88937220e-03 -1.13446138e+02] [-3.27111597e-03 2.66878417e-05 -9.99994650e-01 -4.02941296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.366559995 meters 0.01211378472537648 Centerline is valid? [True, True] Translation: X:132.28, Y:-113.44, Z:-4.03 [[ 7.65435965e-01 6.43498047e-01 -4.24828589e-03 1.32275906e+02] [ 6.43488333e-01 -7.65447753e-01 -3.53583835e-03 -1.13444024e+02] [-5.52714597e-03 -2.72645665e-05 -9.99984725e-01 -4.02829684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4265599949999 meters 0.013183969048112754 Centerline is valid? [True, True] Translation: X:132.31, Y:-113.43, Z:-4.03 [[ 7.07147846e-01 7.07049864e-01 -4.73426856e-03 1.32312793e+02] [ 7.07034819e-01 -7.07163688e-01 -4.61335661e-03 -1.13432619e+02] [-6.60977599e-03 -8.49675221e-05 -9.99978152e-01 -4.02724184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.486559995 meters 0.015470779537277842 Centerline is valid? [True, True] Translation: X:132.35, Y:-113.42, Z:-4.03 [[ 6.43355519e-01 7.65546723e-01 -5.64711452e-03 1.32348574e+02] [ 7.65519662e-01 -6.43380278e-01 -6.43940815e-03 -1.13417526e+02] [-8.56290992e-03 -1.80148425e-04 -9.99963321e-01 -4.02607947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5465599949999 meters 0.016415420320595665 Centerline is valid? [True, True] Translation: X:132.38, Y:-113.39, Z:-4.03 [[ 5.80517569e-01 8.14227704e-01 -5.70950138e-03 1.32375955e+02] [ 8.14191853e-01 -5.80545607e-01 -7.64359367e-03 -1.13394419e+02] [-9.53825167e-03 -2.11389093e-04 -9.99954488e-01 -4.02517001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.606559995 meters 0.014457581256183528 Centerline is valid? [True, True] Translation: X:132.40, Y:-113.37, Z:-4.03 [[ 5.18316209e-01 8.55172910e-01 -5.25377584e-03 1.32398910e+02] [ 8.55132445e-01 -5.18342804e-01 -8.32098377e-03 -1.13365661e+02] [-9.83913680e-03 -1.79773416e-04 -9.99951578e-01 -4.02620734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.666559995 meters 0.01289781583962747 Centerline is valid? [True, True] Translation: X:132.42, Y:-113.34, Z:-4.03 [[ 4.54998954e-01 8.90480327e-01 -4.55408362e-03 1.32419051e+02] [ 8.90438357e-01 -4.55021728e-01 -8.64631464e-03 -1.13335407e+02] [-9.77158009e-03 -1.21066622e-04 -9.99952250e-01 -4.02725626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7265599949999 meters 0.013056243208572495 Centerline is valid? [True, True] Translation: X:132.44, Y:-113.31, Z:-4.03 [[ 3.86310212e-01 9.22359912e-01 -4.07599060e-03 1.32439246e+02] [ 9.22311287e-01 -3.86331701e-01 -9.47138231e-03 -1.13306912e+02] [-1.03107077e-02 -1.00440426e-04 -9.99946838e-01 -4.02578137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.786559995 meters 0.012528274069124228 Centerline is valid? [True, True] Translation: X:132.45, Y:-113.27, Z:-4.03 [[ 3.15190018e-01 9.49021610e-01 -3.63821420e-03 1.32452759e+02] [ 9.48961382e-01 -3.15211005e-01 -1.06919439e-02 -1.13274263e+02] [-1.12936910e-02 -8.25307753e-05 -9.99936221e-01 -4.02577564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8465599949999 meters 0.012254914560711995 Centerline is valid? [True, True] Translation: X:132.46, Y:-113.24, Z:-4.03 [[ 2.41439163e-01 9.70411817e-01 -2.83475344e-03 1.32464052e+02] [ 9.70348106e-01 -2.41455795e-01 -1.11199089e-02 -1.13241455e+02] [-1.14753586e-02 -6.59161339e-05 -9.99934154e-01 -4.02727687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.906559995 meters 0.012202554330453697 Centerline is valid? [True, True] Translation: X:132.48, Y:-113.21, Z:-4.03 [[ 1.65391509e-01 9.86226102e-01 -1.92983145e-03 1.32476503e+02] [ 9.86162950e-01 -1.65402757e-01 -1.11608541e-02 -1.13208886e+02] [-1.13263251e-02 -5.72177785e-05 -9.99935854e-01 -4.02761983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9665599949999 meters 0.012205445277813802 Centerline is valid? [True, True] Translation: X:132.48, Y:-113.18, Z:-4.03 [[ 8.89412067e-02 9.96036286e-01 -1.08547917e-03 1.32483269e+02] [ 9.95967999e-01 -8.89478195e-02 -1.16632188e-02 -1.13176516e+02] [-1.17135401e-02 -4.37617706e-05 -9.99931393e-01 -4.02682309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.026559995 meters 0.012036334046083253 Centerline is valid? [True, True] Translation: X:132.49, Y:-113.14, Z:-4.03 [[ 1.37094953e-02 9.99906006e-01 -1.69996310e-04 1.32486163e+02] [ 9.99836461e-01 -1.37105468e-02 -1.17928962e-02 -1.13142902e+02] [-1.17941185e-02 -8.29385275e-06 -9.99930447e-01 -4.02820253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0865599949999 meters 0.01227696087391474 Centerline is valid? [True, True] Translation: X:132.49, Y:-113.11, Z:-4.03 [[-5.90000532e-02 9.98257704e-01 7.42418634e-04 1.32485164e+02] [ 9.98190489e-01 5.90046960e-02 -1.15842285e-02 -1.13110700e+02] [-1.16078515e-02 5.76051238e-05 -9.99932625e-01 -4.02949241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.146559995 meters 0.012727996306984167 Centerline is valid? [True, True] Translation: X:132.48, Y:-113.08, Z:-4.03 [[-1.33607027e-01 9.91033160e-01 1.56174661e-03 1.32484250e+02] [ 9.90973332e-01 1.33616122e-01 -1.08897669e-02 -1.13078296e+02] [-1.10007947e-02 9.26998542e-05 -9.99939485e-01 -4.03044868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2065599949999 meters 0.01355165125853014 Centerline is valid? [True, True] Translation: X:132.48, Y:-113.05, Z:-4.03 [[-2.06851510e-01 9.78369452e-01 2.38095749e-03 1.32478995e+02] [ 9.78312007e-01 2.06865167e-01 -1.06028231e-02 -1.13048832e+02] [-1.08660154e-02 1.36109331e-04 -9.99940954e-01 -4.03068513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.266559995 meters 0.013627229165424581 Centerline is valid? [True, True] Translation: X:132.48, Y:-113.02, Z:-4.03 [[-2.81689501e-01 9.59500529e-01 3.12417278e-03 1.32475649e+02] [ 9.59447139e-01 2.81706787e-01 -1.01229500e-02 -1.13017238e+02] [-1.05930766e-02 1.45949903e-04 -9.99943881e-01 -4.03132530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3265599949999 meters 0.013413351587890735 Centerline is valid? [True, True] Translation: X:132.47, Y:-112.99, Z:-4.03 [[-3.57084653e-01 9.34062579e-01 4.20102339e-03 1.32471739e+02] [ 9.34002592e-01 3.57109336e-01 -1.05867768e-02 -1.12985262e+02] [-1.13889367e-02 1.43391217e-04 -9.99935134e-01 -4.03197917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.386559995 meters 0.013079274182228085 Centerline is valid? [True, True] Translation: X:132.47, Y:-112.95, Z:-4.03 [[-4.31755357e-01 9.01976101e-01 5.14045425e-03 1.32467370e+02] [ 9.01915282e-01 4.31785942e-01 -1.04749489e-02 -1.12953622e+02] [-1.16677294e-02 1.13638944e-04 -9.99931923e-01 -4.03174496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4465599949999 meters 0.012280723801366161 Centerline is valid? [True, True] Translation: X:132.46, Y:-112.92, Z:-4.03 [[-5.06752118e-01 8.62072189e-01 5.81646342e-03 1.32462896e+02] [ 8.62016224e-01 5.06785497e-01 -9.82297110e-03 -1.12920590e+02] [-1.14158095e-02 3.60744186e-05 -9.99934837e-01 -4.03234404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.506559995 meters 0.012268740339992035 Centerline is valid? [True, True] Translation: X:132.45, Y:-112.89, Z:-4.03 [[-5.78290676e-01 8.15802014e-01 6.85333698e-03 1.32454856e+02] [ 8.15743839e-01 5.78331282e-01 -9.74252574e-03 -1.12889375e+02] [-1.19114713e-02 -4.34443749e-05 -9.99929055e-01 -4.03095032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5665599949999 meters 0.012865712130857972 Centerline is valid? [True, True] Translation: X:132.44, Y:-112.86, Z:-4.03 [[-6.45992185e-01 7.63303684e-01 7.84748973e-03 1.32444908e+02] [ 7.63244822e-01 6.46039835e-01 -9.48019457e-03 -1.12857603e+02] [-1.23060584e-02 -1.34575700e-04 -9.99924269e-01 -4.03098296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.626559995 meters 0.0137722342797239 Centerline is valid? [True, True] Translation: X:132.43, Y:-112.83, Z:-4.03 [[-7.07402439e-01 7.06761662e-01 8.35123718e-03 1.32431236e+02] [ 7.06709176e-01 7.07451706e-01 -8.61534071e-03 -1.12826768e+02] [-1.19970895e-02 -1.92617082e-04 -9.99928014e-01 -4.03120184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6865599949999 meters 0.015380167979569561 Centerline is valid? [True, True] Translation: X:132.41, Y:-112.80, Z:-4.03 [[-7.64729258e-01 6.44287077e-01 9.12823993e-03 1.32414274e+02] [ 6.44236869e-01 7.64783687e-01 -8.04787004e-03 -1.12798887e+02] [-1.21662676e-02 -2.73692974e-04 -9.99925951e-01 -4.03152278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.746559995 meters 0.016061407808879994 Centerline is valid? [True, True] Translation: X:132.43, Y:-112.78, Z:-4.03 [[-8.09903648e-01 5.86490374e-01 9.22616344e-03 1.32428834e+02] [ 5.86448195e-01 8.09956145e-01 -7.03974690e-03 -1.12777404e+02] [-1.16015316e-02 -2.90849802e-04 -9.99932658e-01 -4.03193069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8065599949999 meters 0.01739305940456428 Centerline is valid? [True, True] Translation: X:132.44, Y:-112.75, Z:-4.03 [[-8.50699157e-01 5.25562511e-01 9.74632010e-03 1.32441902e+02] [ 5.25523663e-01 8.50754926e-01 -6.39808078e-03 -1.12754525e+02] [-1.16543212e-02 -3.20920085e-04 -9.99932035e-01 -4.03086807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.866559995 meters 0.018505079058387514 Centerline is valid? [True, True] Translation: X:132.45, Y:-112.73, Z:-4.03 [[-8.86857366e-01 4.61901709e-01 1.14378316e-02 1.32453981e+02] [ 4.61857560e-01 8.86931033e-01 -6.39818596e-03 -1.12732494e+02] [-1.30999008e-02 -3.91629359e-04 -9.99914116e-01 -4.02947579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9265599949999 meters 0.01809462116525047 Centerline is valid? [True, True] Translation: X:132.46, Y:-112.71, Z:-4.03 [[-9.17748496e-01 3.96925625e-01 1.37020419e-02 1.32461900e+02] [ 3.96873695e-01 9.17850657e-01 -6.43756621e-03 -1.12710639e+02] [-1.51316632e-02 -4.70086699e-04 -9.99885399e-01 -4.02884050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.986559995 meters 0.019086819219431193 Centerline is valid? [True, True] Translation: X:132.47, Y:-112.69, Z:-4.03 [[-9.43415479e-01 3.31239458e-01 1.57370446e-02 1.32470265e+02] [ 3.31184166e-01 9.43546582e-01 -6.07418747e-03 -1.12690537e+02] [-1.68606452e-02 -5.18622510e-04 -9.99857715e-01 -4.02732277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0465599949999 meters 0.016735483090696616 Centerline is valid? [True, True] Translation: X:132.71, Y:-112.09, Z:-5.01 [[-8.94714431e-01 -4.46406593e-01 1.43958208e-02 1.32705026e+02] [ 4.46356521e-01 -8.94830133e-01 -6.69990526e-03 -1.12090489e+02] [ 1.58726961e-02 4.31166552e-04 9.99873928e-01 -5.01127240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.106559995 meters 0.01617841410892494 Centerline is valid? [True, True] Translation: X:132.42, Y:-112.69, Z:-4.03 [[-9.42826699e-01 3.32984039e-01 1.41225407e-02 1.32424357e+02] [ 3.32940614e-01 9.42932386e-01 -5.39094228e-03 -1.12690227e+02] [-1.51116987e-02 -3.80756952e-04 -9.99885739e-01 -4.03004434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.166559995 meters 0.014789750968410268 Centerline is valid? [True, True] Translation: X:132.44, Y:-112.68, Z:-4.03 [[-9.62497070e-01 2.71036542e-01 1.17721077e-02 1.32435326e+02] [ 2.71013245e-01 9.62569030e-01 -3.56155331e-03 -1.12677478e+02] [-1.22967774e-02 -2.37587528e-04 -9.99924364e-01 -4.03214643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2265599949999 meters 0.013917063949493264 Centerline is valid? [True, True] Translation: X:132.64, Y:-112.01, Z:-5.01 [[-9.29771203e-01 -3.67981560e-01 1.07275622e-02 1.32642729e+02] [ 3.67959213e-01 -9.29833072e-01 -4.05911765e-03 -1.12014840e+02] [ 1.14685225e-02 1.73254628e-04 9.99934219e-01 -5.00782949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.286559995 meters 0.014027117007453153 Centerline is valid? [True, True] Translation: X:132.39, Y:-112.68, Z:-4.03 [[-9.62357545e-01 2.71549017e-01 1.13616751e-02 1.32391187e+02] [ 2.71527893e-01 9.62424594e-01 -3.39173398e-03 -1.12677386e+02] [-1.18557776e-02 -1.79049074e-04 -9.99929702e-01 -4.03209636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3465599949999 meters 0.014741309278155996 Centerline is valid? [True, True] Translation: X:132.40, Y:-112.65, Z:-4.03 [[-9.79316893e-01 2.01939571e-01 1.26029067e-02 1.32396747e+02] [ 2.01920155e-01 9.79397962e-01 -2.80765892e-03 -1.12648057e+02] [-1.29102386e-02 -2.04806936e-04 -9.99916638e-01 -4.02951959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.406559995 meters 0.013883321869212786 Centerline is valid? [True, True] Translation: X:132.56, Y:-111.96, Z:-5.01 [[-9.54254481e-01 -2.98737672e-01 1.24173031e-02 1.32556328e+02] [ 2.98715207e-01 -9.54335245e-01 -3.66940975e-03 -1.11963682e+02] [ 1.29464609e-02 2.07686567e-04 9.99916170e-01 -5.00961382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4665599949999 meters 0.014846127638974926 Centerline is valid? [True, True] Translation: X:132.35, Y:-112.63, Z:-4.03 [[-9.80851699e-01 1.94387984e-01 1.19689872e-02 1.32350017e+02] [ 1.94370498e-01 9.80924693e-01 -2.61844649e-03 -1.12632608e+02] [-1.22496696e-02 -2.41889694e-04 -9.99924941e-01 -4.03106676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.526559995 meters 0.01538578684033922 Centerline is valid? [True, True] Translation: X:132.50, Y:-111.96, Z:-5.01 [[-9.53901628e-01 -2.99867680e-01 1.22906233e-02 1.32502060e+02] [ 2.99846666e-01 -9.53980761e-01 -3.56165772e-03 -1.11960787e+02] [ 1.27930442e-02 2.87831307e-04 9.99918124e-01 -5.01039851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5865599949999 meters 0.016402473706523982 Centerline is valid? [True, True] Translation: X:132.30, Y:-112.62, Z:-4.03 [[-9.81908156e-01 1.88939281e-01 1.25825793e-02 1.32303977e+02] [ 1.88920152e-01 9.81988733e-01 -2.70267061e-03 -1.12617931e+02] [-1.28665917e-02 -2.76671525e-04 -9.99917184e-01 -4.02881216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.646559995 meters 0.014241577714300275 Centerline is valid? [True, True] Translation: X:132.31, Y:-112.60, Z:-4.03 [[-9.92483494e-01 1.21847011e-01 1.13938454e-02 1.32311423e+02] [ 1.21836524e-01 9.92548871e-01 -1.61260707e-03 -1.12596458e+02] [-1.15054398e-02 -2.12299378e-04 -9.99933788e-01 -4.03111884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7065599949999 meters 0.013962715400627853 Centerline is valid? [True, True] Translation: X:132.41, Y:-111.91, Z:-5.01 [[-9.74927220e-01 -2.22322335e-01 9.47074801e-03 1.32409780e+02] [ 2.22312528e-01 -9.74973217e-01 -2.08932256e-03 -1.11913138e+02] [ 9.69822873e-03 6.85285031e-05 9.99952969e-01 -5.00798209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.766559995 meters 0.013395486885515642 Centerline is valid? [True, True] Translation: X:132.26, Y:-112.59, Z:-4.03 [[-9.92270240e-01 1.23855376e-01 7.72124597e-03 1.32257732e+02] [ 1.23850862e-01 9.92300275e-01 -1.06190488e-03 -1.12590989e+02] [-7.79331713e-03 -9.74136426e-05 -9.99969627e-01 -4.03379491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8265599949999 meters 0.013019239263783993 Centerline is valid? [True, True] Translation: X:132.37, Y:-111.91, Z:-5.01 [[-9.77081726e-01 -2.12714820e-01 7.98159959e-03 1.32366506e+02] [ 2.12708751e-01 -9.77114318e-01 -1.61148444e-03 -1.11905484e+02] [ 8.14172186e-03 1.23204079e-04 9.99966848e-01 -5.00776902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.886559995 meters 0.012857481387655202 Centerline is valid? [True, True] Translation: X:132.22, Y:-112.59, Z:-4.03 [[-9.92194801e-01 1.24282805e-01 1.01617944e-02 1.32219817e+02] [ 1.24275417e-01 9.92246833e-01 -1.35775725e-03 -1.12589718e+02] [-1.02517542e-02 -8.42984452e-05 -9.99947446e-01 -4.03030039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9465599949999 meters 0.012780297675762609 Centerline is valid? [True, True] Translation: X:132.22, Y:-112.56, Z:-4.03 [[-9.98404397e-01 5.51943215e-02 1.19267465e-02 1.32216528e+02] [ 5.51894428e-02 9.98475629e-01 -7.38048248e-04 -1.12564092e+02] [-1.19493018e-02 -7.86401217e-05 -9.99928602e-01 -4.02917194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.006559995 meters 0.012606190538495616 Centerline is valid? [True, True] Translation: X:132.27, Y:-111.86, Z:-5.01 [[-9.91202354e-01 -1.31765609e-01 1.24786955e-02 1.32271919e+02] [ 1.31756700e-01 -9.91280894e-01 -1.53691892e-03 -1.11860495e+02] [ 1.25724054e-02 1.20754087e-04 9.99920957e-01 -5.01169421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0665599949999 meters 0.012557488475777511 Centerline is valid? [True, True] Translation: X:132.17, Y:-112.57, Z:-4.03 [[-9.98364892e-01 5.59588024e-02 1.16685175e-02 1.32168072e+02] [ 5.59547587e-02 9.98433078e-01 -6.72977308e-04 -1.12568495e+02] [-1.16878928e-02 -1.89678382e-05 -9.99931694e-01 -4.02969728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.126559995 meters 0.012550836077872647 Centerline is valid? [True, True] Translation: X:132.21, Y:-111.85, Z:-5.01 [[-9.91860613e-01 -1.26848575e-01 1.10437360e-02 1.32209832e+02] [ 1.26840513e-01 -9.91922093e-01 -1.43015783e-03 -1.11854161e+02] [ 1.11359392e-02 -1.77240758e-05 9.99937993e-01 -5.00961764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1865599949999 meters 0.012566036199805317 Centerline is valid? [True, True] Translation: X:132.11, Y:-112.56, Z:-4.03 [[-9.98702696e-01 4.96036191e-02 1.15068120e-02 1.32107228e+02] [ 4.95998252e-02 9.98768982e-01 -6.15034910e-04 -1.12564197e+02] [-1.15231549e-02 -4.35011586e-05 -9.99933605e-01 -4.03101163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.246559995 meters 0.012510179437960777 Centerline is valid? [True, True] Translation: X:132.11, Y:-112.54, Z:-4.03 [[-9.99691041e-01 -2.17146451e-02 1.20953561e-02 1.32107849e+02] [-2.17136392e-02 9.99764208e-01 2.14500257e-04 -1.12537530e+02] [-1.20971619e-02 -4.82002127e-05 -9.99926826e-01 -4.03071409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3065599949999 meters 0.012666841681105257 Centerline is valid? [True, True] Translation: X:132.10, Y:-111.82, Z:-5.01 [[-9.98502887e-01 -5.33386179e-02 1.21233938e-02 1.32098240e+02] [ 5.33353069e-02 -9.98576481e-01 -5.96486396e-04 -1.11824161e+02] [ 1.21379517e-02 5.10115403e-05 9.99926331e-01 -5.01083109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.366559995 meters 0.01248352477729539 Centerline is valid? [True, True] Translation: X:132.04, Y:-112.54, Z:-4.03 [[-9.99617929e-01 -2.53152898e-02 1.10964785e-02 1.32042532e+02] [-2.53140995e-02 9.99679516e-01 2.47731613e-04 -1.12539244e+02] [-1.10991937e-02 -3.32603987e-05 -9.99938402e-01 -4.03034867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4265599949999 meters 0.012368386106231574 Centerline is valid? [True, True] Translation: X:132.02, Y:-111.83, Z:-5.01 [[-9.98766040e-01 -4.82418560e-02 1.17949843e-02 1.32020187e+02] [ 4.82394540e-02 -9.98835681e-01 -4.88228234e-04 -1.11825469e+02] [ 1.18048042e-02 8.13578245e-05 9.99930318e-01 -5.01010507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.486559995 meters 0.012449725270808525 Centerline is valid? [True, True] Translation: X:131.97, Y:-112.54, Z:-4.03 [[-9.99458825e-01 -3.04450026e-02 1.24562654e-02 1.31967630e+02] [-3.04431336e-02 9.99536443e-01 3.39674028e-04 -1.12541330e+02] [-1.24608326e-02 -3.97175469e-05 -9.99922360e-01 -4.03051806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5465599949999 meters 0.01253415691371206 Centerline is valid? [True, True] Translation: X:131.96, Y:-112.51, Z:-4.03 [[-9.94728961e-01 -1.01766258e-01 1.25667562e-02 1.31960445e+02] [-1.01758698e-01 9.94808337e-01 1.24123400e-03 -1.12514630e+02] [-1.26278296e-02 -4.40853419e-05 -9.99920265e-01 -4.02991689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.606559995 meters 0.012562027581075764 Centerline is valid? [True, True] Translation: X:131.89, Y:-111.80, Z:-5.01 [[-9.99565849e-01 2.62272360e-02 1.34255938e-02 1.31894991e+02] [-2.62235099e-02 -9.99656002e-01 4.53535141e-04 -1.11804319e+02] [ 1.34328704e-02 1.01272047e-04 9.99909770e-01 -5.01087771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.666559995 meters 0.012737352732320623 Centerline is valid? [True, True] Translation: X:131.87, Y:-112.52, Z:-4.03 [[-9.93771545e-01 -1.10615526e-01 1.35026730e-02 1.31874807e+02] [-1.10606583e-01 9.93863269e-01 1.40958280e-03 -1.12519656e+02] [-1.35757325e-02 -9.26812456e-05 -9.99907841e-01 -4.02983531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7265599949999 meters 0.012744240207110069 Centerline is valid? [True, True] Translation: X:131.87, Y:-112.49, Z:-4.03 [[-9.83284953e-01 -1.81576852e-01 1.34367892e-02 1.31865329e+02] [-1.81561288e-01 9.83376752e-01 2.37949113e-03 -1.12492810e+02] [-1.36454866e-02 -9.98829260e-05 -9.99906891e-01 -4.02996480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.786559995 meters 0.012738211588731249 Centerline is valid? [True, True] Translation: X:131.85, Y:-112.47, Z:-4.03 [[-9.68037168e-01 -2.50462348e-01 1.31397545e-02 1.31850423e+02] [-2.50440506e-01 9.68126337e-01 3.30878585e-03 -1.12469192e+02] [-1.35496687e-02 -8.76990915e-05 -9.99908195e-01 -4.03022817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8465599949999 meters 0.012510296300394365 Centerline is valid? [True, True] Translation: X:131.83, Y:-112.45, Z:-4.03 [[-9.48136551e-01 -3.17623906e-01 1.23343279e-02 1.31825230e+02] [-3.17597846e-01 9.48216774e-01 4.06910756e-03 -1.12450761e+02] [-1.29880624e-02 -5.92863600e-05 -9.99915650e-01 -4.03156812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.906559995 meters 0.012507606764641925 Centerline is valid? [True, True] Translation: X:131.78, Y:-112.44, Z:-4.03 [[-9.23092700e-01 -3.84407505e-01 1.14340294e-02 1.31781186e+02] [-3.84378527e-01 9.23163511e-01 4.72011533e-03 -1.12439502e+02] [-1.23699265e-02 -3.78913775e-05 -9.99923489e-01 -4.03153364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9665599949999 meters 0.012657399140134876 Centerline is valid? [True, True] Translation: X:131.72, Y:-112.44, Z:-4.03 [[-8.93368742e-01 -4.49168787e-01 1.18191075e-02 1.31717579e+02] [-4.49129621e-01 8.93446921e-01 5.93149954e-03 -1.12440258e+02] [-1.32239896e-02 -9.29496400e-06 -9.99912559e-01 -4.03060973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.026559995 meters 0.01254429963252776 Centerline is valid? [True, True] Translation: X:131.65, Y:-112.45, Z:-4.03 [[-8.58148995e-01 -5.13277692e-01 1.12389196e-02 1.31649977e+02] [-5.13233630e-01 8.58222588e-01 6.72530381e-03 -1.12446986e+02] [-1.30974431e-02 3.12119434e-06 -9.99914225e-01 -4.03125196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0865599949999 meters 0.012663992688515273 Centerline is valid? [True, True] Translation: X:131.57, Y:-112.46, Z:-4.03 [[-8.18909542e-01 -5.73825930e-01 1.05339578e-02 1.31574786e+02] [-5.73777918e-01 8.18977290e-01 7.42293042e-03 -1.12463798e+02] [-1.28865422e-02 3.45561530e-05 -9.99916965e-01 -4.03102721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.146559995 meters 0.01267213477522047 Centerline is valid? [True, True] Translation: X:131.49, Y:-112.49, Z:-4.03 [[-7.75129357e-01 -6.31728390e-01 9.68096665e-03 1.31494760e+02] [-6.31678095e-01 7.75189807e-01 7.97161546e-03 -1.12492179e+02] [-1.25404825e-02 6.37785923e-05 -9.99921363e-01 -4.03258351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2065599949999 meters 0.013107834398216542 Centerline is valid? [True, True] Translation: X:131.41, Y:-112.53, Z:-4.03 [[-7.27981451e-01 -6.85554157e-01 7.64882638e-03 1.31414298e+02] [-6.85514952e-01 7.28021626e-01 7.33232394e-03 -1.12530000e+02] [-1.05952162e-02 9.44109732e-05 -9.99943865e-01 -4.03359517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.266559995 meters 0.013211109893500973 Centerline is valid? [True, True] Translation: X:131.33, Y:-112.58, Z:-4.03 [[-6.75178244e-01 -7.37624485e-01 6.66768589e-03 1.31327003e+02] [-7.37587000e-01 6.75211158e-01 7.43702131e-03 -1.12579855e+02] [-9.98782493e-03 1.03316558e-04 -9.99950115e-01 -4.03421666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3265599949999 meters 0.013231722670017314 Centerline is valid? [True, True] Translation: X:131.24, Y:-112.63, Z:-4.03 [[-6.17122551e-01 -7.86847830e-01 5.49998678e-03 1.31242006e+02] [-7.86815260e-01 6.17147052e-01 7.15975018e-03 -1.12634362e+02] [-9.02793452e-03 9.09697659e-05 -9.99959243e-01 -4.03468422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.386559995 meters 0.012944889741942788 Centerline is valid? [True, True] Translation: X:131.16, Y:-112.70, Z:-4.03 [[-5.53182947e-01 -8.33046377e-01 4.72867220e-03 1.31156510e+02] [-8.33014970e-01 5.53203154e-01 7.23393082e-03 -1.12700172e+02] [-8.64211624e-03 6.26324421e-05 -9.99962654e-01 -4.03464001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4465599949999 meters 0.0125317601858384 Centerline is valid? [True, True] Translation: X:131.07, Y:-112.78, Z:-4.03 [[-4.83731754e-01 -8.75205388e-01 4.37262710e-03 1.31072644e+02] [-8.75169273e-01 4.83751516e-01 7.95070975e-03 -1.12775546e+02] [-9.07376900e-03 1.92218913e-05 -9.99958832e-01 -4.03490499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.506559995 meters 0.01248450527164573 Centerline is valid? [True, True] Translation: X:131.00, Y:-112.86, Z:-4.04 [[-4.12092277e-01 -9.11134676e-01 3.68200481e-03 1.30995205e+02] [-9.11098643e-01 4.12108725e-01 8.10317596e-03 -1.12859265e+02] [-8.90047091e-03 -1.54133562e-05 -9.99960390e-01 -4.03544053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5665599949999 meters 0.012538194883987623 Centerline is valid? [True, True] Translation: X:130.92, Y:-112.95, Z:-4.04 [[-3.36798556e-01 -9.41573314e-01 2.53529308e-03 1.30923976e+02] [-9.41547712e-01 3.36808095e-01 6.94359149e-03 -1.12947867e+02] [-7.39180768e-03 -4.85078088e-05 -9.99972679e-01 -4.03652741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.626559995 meters 0.012762878164630039 Centerline is valid? [True, True] Translation: X:130.86, Y:-113.04, Z:-4.04 [[-2.61470856e-01 -9.65210113e-01 1.55878664e-03 1.30861592e+02] [-9.65194133e-01 2.61475497e-01 5.55423492e-03 -1.13043155e+02] [-5.76858823e-03 -5.22611576e-05 -9.99983360e-01 -4.03768532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6865599949999 meters 0.013189865384350756 Centerline is valid? [True, True] Translation: X:130.80, Y:-113.15, Z:-4.04 [[-1.84726734e-01 -9.82789463e-01 9.51421956e-04 1.30804903e+02] [-9.82777909e-01 1.84729176e-01 4.76591469e-03 -1.13145847e+02] [-4.85964613e-03 -5.46446235e-05 -9.99988190e-01 -4.03812480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.746559995 meters 0.0131852311688262 Centerline is valid? [True, True] Translation: X:130.76, Y:-113.25, Z:-4.04 [[-1.08145031e-01 -9.94134935e-01 6.19444081e-04 1.30757466e+02] [-9.94121746e-01 1.08146788e-01 5.12114804e-03 -1.13254138e+02] [-5.15810306e-03 -6.19761162e-05 -9.99986695e-01 -4.03785880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8065599949999 meters 0.013581703212259827 Centerline is valid? [True, True] Translation: X:130.72, Y:-113.36, Z:-4.04 [[-3.00718566e-02 -9.99547707e-01 2.56492137e-04 1.30717502e+02] [-9.99530569e-01 3.00728431e-02 5.85374471e-03 -1.13364173e+02] [-5.85881055e-03 -8.03387605e-05 -9.99982834e-01 -4.03719636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.866559995 meters 0.013793503736704744 Centerline is valid? [True, True] Translation: X:130.69, Y:-113.48, Z:-4.04 [[ 4.75325901e-02 -9.98869660e-01 -2.35006875e-04 1.30687837e+02] [-9.98844095e-01 -4.75330551e-02 7.14718160e-03 -1.13483738e+02] [-7.15027345e-03 -1.04988824e-04 -9.99974431e-01 -4.03622111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9265599949999 meters 0.013524952540670996 Centerline is valid? [True, True] Translation: X:130.67, Y:-113.59, Z:-4.03 [[ 1.24239244e-01 -9.92251771e-01 -1.01653483e-03 1.30667643e+02] [-9.92208774e-01 -1.24243325e-01 9.23828513e-03 -1.13594511e+02] [-9.29300245e-03 -1.39142784e-04 -9.99956809e-01 -4.03458971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.986559995 meters 0.013098127914636468 Centerline is valid? [True, True] Translation: X:130.66, Y:-113.70, Z:-4.03 [[ 1.94175883e-01 -9.80964955e-01 -1.86646060e-03 1.30656784e+02] [-9.80913292e-01 -1.94184814e-01 1.00683816e-02 -1.13702388e+02] [-1.02391678e-02 -1.24200872e-04 -9.99947571e-01 -4.03414990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0465599949999 meters 0.012600626836959802 Centerline is valid? [True, True] Translation: X:130.66, Y:-113.82, Z:-4.04 [[ 2.65589708e-01 -9.64083183e-01 -2.39247090e-03 1.30658521e+02] [-9.64041247e-01 -2.65600471e-01 8.99242332e-03 -1.13817505e+02] [-9.30488549e-03 -8.18544527e-05 -9.99956705e-01 -4.03543422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.106559995 meters 0.012113864517292504 Centerline is valid? [True, True] Translation: X:130.67, Y:-113.93, Z:-4.04 [[ 3.34785192e-01 -9.42290522e-01 -2.72917512e-03 1.30667906e+02] [-9.42258283e-01 -3.34796314e-01 7.79462095e-03 -1.13929514e+02] [-8.25851521e-03 -3.79358078e-05 -9.99965897e-01 -4.03653559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.166559995 meters 0.01195712144392818 Centerline is valid? [True, True] Translation: X:130.69, Y:-114.04, Z:-4.04 [[ 4.00272398e-01 -9.16391646e-01 -2.89113653e-03 1.30687084e+02] [-9.16367964e-01 -4.00282839e-01 6.58813538e-03 -1.14040148e+02] [-7.19458456e-03 1.22961440e-05 -9.99974119e-01 -4.03730615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2265599949999 meters 0.012292559284958784 Centerline is valid? [True, True] Translation: X:130.71, Y:-114.15, Z:-4.04 [[ 4.64712617e-01 -8.85453894e-01 -3.68581862e-03 1.30714260e+02] [-8.85426952e-01 -4.64727230e-01 6.90751133e-03 -1.14149723e+02] [-7.82918309e-03 5.35154788e-05 -9.99969350e-01 -4.03673814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.286559995 meters 0.01248364320265872 Centerline is valid? [True, True] Translation: X:130.75, Y:-114.26, Z:-4.04 [[ 5.28940861e-01 -8.48645361e-01 -4.75575019e-03 1.30746000e+02] [-8.48612449e-01 -5.28962234e-01 7.47435823e-03 -1.14256898e+02] [-8.85869168e-03 8.22953416e-05 -9.99960758e-01 -4.03665999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3465599949999 meters 0.012599919396551484 Centerline is valid? [True, True] Translation: X:130.79, Y:-114.36, Z:-4.04 [[ 5.91648783e-01 -8.06178245e-01 -5.32491485e-03 1.30786157e+02] [-8.06146937e-01 -5.91672738e-01 7.10536367e-03 -1.14362519e+02] [-8.87879656e-03 8.87840298e-05 -9.99960579e-01 -4.03647238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.406559995 meters 0.01264705423730186 Centerline is valid? [True, True] Translation: X:130.84, Y:-114.47, Z:-4.04 [[ 6.51381071e-01 -7.58730011e-01 -5.60994815e-03 1.30836160e+02] [-7.58702992e-01 -6.51405222e-01 6.40367224e-03 -1.14466212e+02] [-8.51300783e-03 8.50535651e-05 -9.99963760e-01 -4.03700035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4665599949999 meters 0.012460665023428854 Centerline is valid? [True, True] Translation: X:130.89, Y:-114.56, Z:-4.04 [[ 7.08633215e-01 -7.05551038e-01 -6.05800335e-03 1.30886101e+02] [-7.05526066e-01 -7.08659106e-01 5.93655456e-03 -1.14559932e+02] [-8.48160147e-03 6.72395280e-05 -9.99964028e-01 -4.03606981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.526559995 meters 0.012024874213790029 Centerline is valid? [True, True] Translation: X:130.90, Y:-114.59, Z:-4.04 [[ 7.63293547e-01 -6.46013349e-01 -7.05078997e-03 1.30902898e+02] [-6.45986385e-01 -7.63326110e-01 5.90255677e-03 -1.14591620e+02] [-9.19518256e-03 4.93308292e-05 -9.99957722e-01 -4.03560840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5865599949999 meters 0.011929312428384981 Centerline is valid? [True, True] Translation: X:130.92, Y:-114.62, Z:-4.04 [[ 8.14418813e-01 -5.80227933e-01 -7.58575394e-03 1.30923172e+02] [-5.80202792e-01 -8.14454140e-01 5.40133434e-03 -1.14621342e+02] [-9.31225376e-03 2.32731656e-06 -9.99956640e-01 -4.03503649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.646559995 meters 0.011959050782925683 Centerline is valid? [True, True] Translation: X:130.95, Y:-114.65, Z:-4.04 [[ 8.59063783e-01 -5.11816416e-01 -7.30564755e-03 1.30946106e+02] [-5.11797642e-01 -8.59094847e-01 4.38389282e-03 -1.14646967e+02] [-8.51999248e-03 -2.70303623e-05 -9.99963704e-01 -4.03516647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7065599949999 meters 0.012200598431036859 Centerline is valid? [True, True] Translation: X:130.97, Y:-114.67, Z:-4.04 [[ 8.98288244e-01 -4.39371081e-01 -5.59326142e-03 1.30970583e+02] [-4.39362247e-01 -8.98305656e-01 2.78656176e-03 -1.14672934e+02] [-6.24879303e-03 -4.56677611e-05 -9.99980475e-01 -4.03653614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.766559995 meters 0.01235501458163279 Centerline is valid? [True, True] Translation: X:131.00, Y:-114.70, Z:-4.04 [[ 9.30276820e-01 -3.66825103e-01 -4.93786379e-03 1.30997702e+02] [-3.66819679e-01 -9.30289924e-01 1.99525448e-03 -1.14695923e+02] [-5.32555436e-03 -4.48333798e-05 -9.99985818e-01 -4.03684488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8265599949999 meters 0.012410060625845683 Centerline is valid? [True, True] Translation: X:131.03, Y:-114.71, Z:-4.04 [[ 9.56049544e-01 -2.93166537e-01 -4.75940014e-03 1.31027093e+02] [-2.93162689e-01 -9.56061389e-01 1.50263523e-03 -1.14713401e+02] [-4.99080108e-03 -4.13151845e-05 -9.99987545e-01 -4.03638690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.886559995 meters 0.012429873926137808 Centerline is valid? [True, True] Translation: X:131.06, Y:-114.73, Z:-4.03 [[ 9.75920498e-01 -2.18046037e-01 -5.92515970e-03 1.31059153e+02] [-2.18041725e-01 -9.75938484e-01 1.37209995e-03 -1.14727406e+02] [-6.08177233e-03 -4.71284265e-05 -9.99981505e-01 -4.03494354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9465599949999 meters 0.012491308338455335 Centerline is valid? [True, True] Translation: X:131.09, Y:-114.74, Z:-4.03 [[ 9.89970246e-01 -1.41110810e-01 -6.83023617e-03 1.31092223e+02] [-1.41107078e-01 -9.89993806e-01 1.02764522e-03 -1.14738764e+02] [-6.90690336e-03 -5.35435236e-05 -9.99976146e-01 -4.03435372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.006559995 meters 0.01251760949306923 Centerline is valid? [True, True] Translation: X:131.12, Y:-114.75, Z:-4.03 [[ 9.98037734e-01 -6.20118873e-02 -8.67219190e-03 1.31121785e+02] [-6.20088735e-02 -9.98075408e-01 6.16234982e-04 -1.14750045e+02] [-8.69371537e-03 -7.72729148e-05 -9.99962206e-01 -4.03254740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0665599949999 meters 0.012779019528894214 Centerline is valid? [True, True] Translation: X:131.15, Y:-114.76, Z:-4.03 [[ 9.99798698e-01 1.76759344e-02 -9.49346563e-03 1.31152489e+02] [ 1.76760575e-02 -9.99843764e-01 -7.09359609e-05 -1.14758060e+02] [-9.49323626e-03 -9.68853634e-05 -9.99954934e-01 -4.03151894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.126559995 meters 0.01295727253147062 Centerline is valid? [True, True] Translation: X:131.18, Y:-114.76, Z:-4.03 [[ 9.95242151e-01 9.68854555e-02 -1.03086627e-02 1.31182576e+02] [ 9.68814593e-02 -9.95295532e-01 -8.87495320e-04 -1.14762596e+02] [-1.03461513e-02 -1.15445534e-04 -9.99946471e-01 -4.03052675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1865599949999 meters 0.01302772369597255 Centerline is valid? [True, True] Translation: X:131.21, Y:-114.76, Z:-4.03 [[ 9.84588612e-01 1.74589837e-01 -1.01810449e-02 1.31212966e+02] [ 1.74581718e-01 -9.84641242e-01 -1.68762893e-03 -1.14761854e+02] [-1.03193195e-02 -1.15804083e-04 -9.99946748e-01 -4.03058171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.246559995 meters 0.012962503031803064 Centerline is valid? [True, True] Translation: X:131.24, Y:-114.76, Z:-4.03 [[ 9.68089411e-01 2.50442812e-01 -9.01615313e-03 1.31242529e+02] [ 2.50432887e-01 -9.68131390e-01 -2.23183712e-03 -1.14757933e+02] [-9.28776842e-03 -9.73233717e-05 -9.99956863e-01 -4.03167476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3065599949999 meters 0.012622517710533259 Centerline is valid? [True, True] Translation: X:131.27, Y:-114.75, Z:-4.03 [[ 9.45710638e-01 3.24929841e-01 -7.21024432e-03 1.31271913e+02] [ 3.24921006e-01 -9.45738121e-01 -2.39736282e-03 -1.14753040e+02] [-7.59797763e-03 -7.55483182e-05 -9.99971132e-01 -4.03421300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.366559995 meters 0.012973288202449378 Centerline is valid? [True, True] Translation: X:131.30, Y:-114.75, Z:-4.03 [[ 9.16788676e-01 3.99330686e-01 -5.79021054e-03 1.31301522e+02] [ 3.99323214e-01 -9.16806958e-01 -2.44394520e-03 -1.14748052e+02] [-6.28444762e-03 -7.15842014e-05 -9.99980250e-01 -4.03465954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4265599949999 meters 0.013382552872842526 Centerline is valid? [True, True] Translation: X:131.33, Y:-114.74, Z:-4.03 [[ 8.81520366e-01 4.72112649e-01 -5.61170122e-03 1.31331600e+02] [ 4.72103715e-01 -8.81538223e-01 -2.90567087e-03 -1.14742541e+02] [-6.31873310e-03 -8.78969439e-05 -9.99980033e-01 -4.03444584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.486559995 meters 0.014109716243841058 Centerline is valid? [True, True] Translation: X:131.36, Y:-114.73, Z:-4.03 [[ 8.39837938e-01 5.42800461e-01 -6.31646351e-03 1.31360435e+02] [ 5.42786278e-01 -8.39861681e-01 -3.92608236e-03 -1.14734649e+02] [-7.43603497e-03 -1.31216798e-04 -9.99972344e-01 -4.03315316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5465599949999 meters 0.014158379015147287 Centerline is valid? [True, True] Translation: X:131.39, Y:-114.72, Z:-4.03 [[ 7.94093657e-01 6.07765077e-01 -6.07240752e-03 1.31387712e+02] [ 6.07748662e-01 -7.94116862e-01 -4.46917146e-03 -1.14722717e+02] [-7.53840754e-03 -1.41556835e-04 -9.99971576e-01 -4.03294462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.606559995 meters 0.014047691286524321 Centerline is valid? [True, True] Translation: X:131.41, Y:-114.71, Z:-4.03 [[ 7.45214079e-01 6.66797204e-01 -6.12086643e-03 1.31411847e+02] [ 6.66776223e-01 -7.45239203e-01 -5.29147572e-03 -1.14709227e+02] [-8.08985084e-03 -1.37965994e-04 -9.99967267e-01 -4.03253329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.666559995 meters 0.013142059110909878 Centerline is valid? [True, True] Translation: X:131.44, Y:-114.69, Z:-4.03 [[ 6.93949755e-01 7.19995049e-01 -6.39276321e-03 1.31435370e+02] [ 7.19966008e-01 -6.93979190e-01 -6.46769070e-03 -1.14692369e+02] [-9.09314992e-03 -1.14319831e-04 -9.99958650e-01 -4.03178185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7265599949999 meters 0.012891321635849462 Centerline is valid? [True, True] Translation: X:131.46, Y:-114.68, Z:-4.03 [[ 6.36240918e-01 7.71468858e-01 -5.77025390e-03 1.31462110e+02] [ 7.71438596e-01 -6.36267075e-01 -6.83387858e-03 -1.14678265e+02] [-8.94354707e-03 -1.03403387e-04 -9.99960000e-01 -4.03130434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.786559995 meters 0.012996160151260826 Centerline is valid? [True, True] Translation: X:131.49, Y:-114.66, Z:-4.03 [[ 5.73597738e-01 8.19122655e-01 -4.86946476e-03 1.31487681e+02] [ 8.19094596e-01 -5.73618398e-01 -6.78059444e-03 -1.14663080e+02] [-8.34735309e-03 -9.92186314e-05 -9.99965155e-01 -4.03190825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8465599949999 meters 0.013076505552613601 Centerline is valid? [True, True] Translation: X:131.51, Y:-114.64, Z:-4.03 [[ 5.07768280e-01 8.61486402e-01 -3.54296420e-03 1.31509227e+02] [ 8.61466532e-01 -5.07780634e-01 -5.85173971e-03 -1.14643392e+02] [-6.84024280e-03 -8.08172713e-05 -9.99976602e-01 -4.03340638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.906559995 meters 0.012637542867348925 Centerline is valid? [True, True] Translation: X:131.53, Y:-114.62, Z:-4.03 [[ 4.40840649e-01 8.97580948e-01 -2.82205955e-03 1.31527685e+02] [ 8.97563410e-01 -4.40849678e-01 -5.61120363e-03 -1.14621855e+02] [-6.28061352e-03 -5.93307437e-05 -9.99980275e-01 -4.03300376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9665599949999 meters 0.012269693878217433 Centerline is valid? [True, True] Translation: X:131.54, Y:-114.60, Z:-4.03 [[ 3.72172590e-01 9.28160432e-01 -2.40324956e-03 1.31544386e+02] [ 9.28141764e-01 -3.72180347e-01 -5.88683670e-03 -1.14599162e+02] [-6.35837115e-03 -3.96370243e-05 -9.99979785e-01 -4.03204498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.026559995 meters 0.012070237739338482 Centerline is valid? [True, True] Translation: X:131.56, Y:-114.57, Z:-4.03 [[ 3.04679180e-01 9.52452616e-01 -2.14748905e-03 1.31555995e+02] [ 9.52428883e-01 -3.04686748e-01 -6.72376636e-03 -1.14574391e+02] [-7.05838032e-03 3.26102271e-06 -9.99975089e-01 -4.03137206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0865599949999 meters 0.012367277666894827 Centerline is valid? [True, True] Translation: X:131.57, Y:-114.55, Z:-4.03 [[ 2.34206341e-01 9.72185432e-01 -1.69549801e-03 1.31567195e+02] [ 9.72158636e-01 -2.34212474e-01 -7.21825266e-03 -1.14550035e+02] [-7.41458686e-03 4.22675141e-05 -9.99972511e-01 -4.03215758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.146559995 meters 0.01315930660387193 Centerline is valid? [True, True] Translation: X:131.58, Y:-114.52, Z:-4.03 [[ 1.64547578e-01 9.86368579e-01 -1.05915997e-03 1.31577902e+02] [ 9.86344446e-01 -1.64550962e-01 -6.90034154e-03 -1.14524849e+02] [-6.98056587e-03 9.07379351e-05 -9.99975631e-01 -4.03268079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2065599949999 meters 0.01379992713379449 Centerline is valid? [True, True] Translation: X:131.59, Y:-114.50, Z:-4.03 [[ 9.01699604e-02 9.95926256e-01 -5.20797433e-04 1.31589360e+02] [ 9.95901437e-01 -9.01713905e-02 -7.03193365e-03 -1.14500061e+02] [-7.05024838e-03 1.15406266e-04 -9.99975140e-01 -4.03208944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.266559995 meters 0.014199562193673892 Centerline is valid? [True, True] Translation: X:131.60, Y:-114.47, Z:-4.03 [[ 1.32353236e-02 9.99912409e-01 3.28352002e-05 1.31600972e+02] [ 9.99885789e-01 -1.32347317e-02 -7.29730087e-03 -1.14474777e+02] [-7.29622713e-03 1.29413589e-04 -9.99973374e-01 -4.03181977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3265599949999 meters 0.014249928052746472 Centerline is valid? [True, True] Translation: X:131.61, Y:-114.45, Z:-4.03 [[-6.69983715e-02 9.97752911e-01 5.89058898e-04 1.31610445e+02] [ 9.97727750e-01 6.70008658e-02 -7.08660677e-03 -1.14449334e+02] [-7.11014999e-03 1.12929296e-04 -9.99974716e-01 -4.03172141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.386559995 meters 0.014070777085456912 Centerline is valid? [True, True] Translation: X:131.61, Y:-114.42, Z:-4.03 [[-1.47059811e-01 9.89126943e-01 1.14162081e-03 1.31614711e+02] [ 9.89102079e-01 1.47064210e-01 -7.01399067e-03 -1.14423925e+02] [-7.10561871e-03 9.77033765e-05 -9.99974750e-01 -4.03168193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4465599949999 meters 0.012959363773325535 Centerline is valid? [True, True] Translation: X:131.62, Y:-114.40, Z:-4.03 [[-2.29573389e-01 9.73289996e-01 1.62589018e-03 1.31619833e+02] [ 9.73267269e-01 2.29579140e-01 -6.65147455e-03 -1.14396140e+02] [-6.84708410e-03 5.54241370e-05 -9.99976557e-01 -4.03144503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.506559995 meters 0.012240954364120982 Centerline is valid? [True, True] Translation: X:131.63, Y:-114.37, Z:-4.03 [[-3.10628716e-01 9.50528340e-01 2.38218188e-03 1.31628853e+02] [ 9.50500824e-01 3.10637850e-01 -7.23256509e-03 -1.14365117e+02] [-7.61475395e-03 1.76234347e-05 -9.99971007e-01 -4.03197768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5665599949999 meters 0.012344605243242608 Centerline is valid? [True, True] Translation: X:131.63, Y:-114.33, Z:-4.03 [[-3.91282634e-01 9.20265486e-01 3.05554173e-03 1.31634975e+02] [ 9.20236562e-01 3.91294562e-01 -7.29631969e-03 -1.14333280e+02] [-7.91016804e-03 -4.31019736e-05 -9.99968713e-01 -4.03144408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.626559995 meters 0.01284444016836888 Centerline is valid? [True, True] Translation: X:131.64, Y:-114.30, Z:-4.03 [[-4.66652313e-01 8.84434428e-01 3.37063838e-03 1.31636507e+02] [ 8.84410148e-01 4.66664480e-01 -6.55391324e-03 -1.14301632e+02] [-7.36946372e-03 -7.73719901e-05 -9.99972842e-01 -4.03079960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6865599949999 meters 0.013006469341708649 Centerline is valid? [True, True] Translation: X:131.63, Y:-114.27, Z:-4.03 [[-5.35814096e-01 8.44327286e-01 3.83255211e-03 1.31630990e+02] [ 8.44304505e-01 5.35827796e-01 -6.20286593e-03 -1.14271335e+02] [-7.29083690e-03 -8.77419955e-05 -9.99973418e-01 -4.03093955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.746559995 meters 0.013216692282025367 Centerline is valid? [True, True] Translation: X:131.62, Y:-114.24, Z:-4.03 [[-6.00505674e-01 7.99612110e-01 3.66199042e-03 1.31621942e+02] [ 7.99596460e-01 6.00516834e-01 -5.00326190e-03 -1.14242076e+02] [-6.19975570e-03 -7.63725817e-05 -9.99980778e-01 -4.03197153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8065599949999 meters 0.013330911770927737 Centerline is valid? [True, True] Translation: X:131.61, Y:-114.21, Z:-4.03 [[-6.61451743e-01 7.49977255e-01 3.96342427e-03 1.31610256e+02] [ 7.49963095e-01 6.61463613e-01 -4.60917737e-03 -1.14213651e+02] [-6.07843913e-03 -7.63264688e-05 -9.99981523e-01 -4.03214188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.866559995 meters 0.013287426038793109 Centerline is valid? [True, True] Translation: X:131.60, Y:-114.18, Z:-4.03 [[-7.18602930e-01 6.95406471e-01 4.43488531e-03 1.31598924e+02] [ 6.95392514e-01 7.18616611e-01 -4.40665559e-03 -1.14184427e+02] [-6.25139906e-03 -8.26495763e-05 -9.99980456e-01 -4.03152452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9265599949999 meters 0.013463868541628664 Centerline is valid? [True, True] Translation: X:131.62, Y:-114.16, Z:-4.03 [[-7.65962760e-01 6.42852475e-01 6.46114734e-03 1.31615956e+02] [ 6.42828359e-01 7.65990002e-01 -5.56938728e-03 -1.14162292e+02] [-8.52946866e-03 -1.12534506e-04 -9.99963617e-01 -4.02899567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.986559995 meters 0.013231692243996 Centerline is valid? [True, True] Translation: X:131.63, Y:-114.14, Z:-4.03 [[-8.08602872e-01 5.88301419e-01 7.92688803e-03 1.31633669e+02] [ 5.88271731e-01 8.08641717e-01 -5.91130990e-03 -1.14143740e+02] [-9.88764435e-03 -1.16738010e-04 -9.99951109e-01 -4.02777213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0465599949999 meters 0.012574078751847998 Centerline is valid? [True, True] Translation: X:132.05, Y:-113.61, Z:-5.01 [[-7.54358914e-01 -6.56422189e-01 7.24840959e-03 1.32048357e+02] [ 6.56393060e-01 -7.54393731e-01 -6.18455011e-03 -1.13613485e+02] [ 9.52783068e-03 9.24352560e-05 9.99954605e-01 -5.01277728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.106559995 meters 0.012152831960426335 Centerline is valid? [True, True] Translation: X:131.60, Y:-114.13, Z:-4.03 [[-8.05184954e-01 5.92990219e-01 6.30788069e-03 1.31599989e+02] [ 5.92971838e-01 8.05209662e-01 -4.66900827e-03 -1.14131625e+02] [-7.84784272e-03 -1.90196060e-05 -9.99969205e-01 -4.02903158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.166559995 meters 0.01215042566256461 Centerline is valid? [True, True] Translation: X:131.62, Y:-114.12, Z:-4.03 [[-8.43136291e-01 5.37658254e-01 6.69306478e-03 1.31619274e+02] [ 5.37641410e-01 8.43162856e-01 -4.25596699e-03 -1.14116643e+02] [-7.93159940e-03 1.01085641e-05 -9.99968544e-01 -4.02984040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2265599949999 meters 0.01236351855838372 Centerline is valid? [True, True] Translation: X:131.63, Y:-114.10, Z:-4.03 [[-8.77055868e-01 4.80335805e-01 7.10765173e-03 1.31634305e+02] [ 4.80320443e-01 8.77084667e-01 -3.84176566e-03 -1.14098361e+02] [-8.07934995e-03 4.45073140e-05 -9.99967361e-01 -4.02939510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.286559995 meters 0.012669646926565758 Centerline is valid? [True, True] Translation: X:131.65, Y:-114.08, Z:-4.03 [[-9.07917173e-01 4.19078690e-01 7.71095034e-03 1.31649393e+02] [ 4.19064188e-01 9.07949915e-01 -3.48696543e-03 -1.14079093e+02] [-8.46246960e-03 6.55073452e-05 -9.99964191e-01 -4.02894735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3465599949999 meters 0.012640196951618396 Centerline is valid? [True, True] Translation: X:131.66, Y:-114.05, Z:-4.03 [[-9.35472437e-01 3.53297398e-01 8.50103309e-03 1.31658865e+02] [ 3.53283455e-01 9.35511060e-01 -3.13940475e-03 -1.14053919e+02] [-9.06195401e-03 6.64477347e-05 -9.99958937e-01 -4.02894367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.406559995 meters 0.01242866310088362 Centerline is valid? [True, True] Translation: X:131.67, Y:-114.03, Z:-4.03 [[-9.59011923e-01 2.83224937e-01 8.93125171e-03 1.31671736e+02] [ 2.83212998e-01 9.59053509e-01 -2.60076807e-03 -1.14027184e+02] [-9.30215067e-03 3.52789783e-05 -9.99956733e-01 -4.02864056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4665599949999 meters 0.012280754077750517 Centerline is valid? [True, True] Translation: X:131.87, Y:-113.35, Z:-5.01 [[-9.39130271e-01 -3.43448717e-01 8.79279265e-03 1.31869166e+02] [ 3.43433357e-01 -9.39171432e-01 -3.24832444e-03 -1.13350922e+02] [ 9.37357252e-03 -3.08615139e-05 9.99956067e-01 -5.01198337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.526559995 meters 0.012358683054673022 Centerline is valid? [True, True] Translation: X:131.62, Y:-114.01, Z:-4.03 [[-9.62326840e-01 2.71761663e-01 8.52364109e-03 1.31622944e+02] [ 2.71750644e-01 9.62364587e-01 -2.44752194e-03 -1.14008899e+02] [-8.86799296e-03 -3.90110989e-05 -9.99960678e-01 -4.02893190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5865599949999 meters 0.012434014300677391 Centerline is valid? [True, True] Translation: X:131.63, Y:-113.98, Z:-4.03 [[-9.79717287e-01 2.00245758e-01 7.46153397e-03 1.31627937e+02] [ 2.00239533e-01 9.79745698e-01 -1.57986601e-03 -1.13981489e+02] [-7.62676728e-03 -5.37279639e-05 -9.99970914e-01 -4.03046156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.646559995 meters 0.012495739403849845 Centerline is valid? [True, True] Translation: X:131.78, Y:-113.30, Z:-5.01 [[-9.59890847e-01 -2.80295328e-01 6.64009848e-03 1.31776615e+02] [ 2.80288646e-01 -9.59913814e-01 -1.93536763e-03 -1.13302359e+02] [ 6.91639676e-03 3.40253348e-06 9.99976081e-01 -5.00953257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7065599949999 meters 0.012652354294554193 Centerline is valid? [True, True] Translation: X:131.58, Y:-113.97, Z:-4.03 [[-9.80930135e-01 1.94250518e-01 6.54267186e-03 1.31582443e+02] [ 1.94245774e-01 9.80951952e-01 -1.35908521e-03 -1.13971968e+02] [-6.68204974e-03 -6.22812751e-05 -9.99977673e-01 -4.03146582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.766559995 meters 0.01279601621571203 Centerline is valid? [True, True] Translation: X:131.73, Y:-113.29, Z:-5.01 [[-9.60266560e-01 -2.78988009e-01 7.33654384e-03 1.31725799e+02] [ 2.78980896e-01 -9.60294577e-01 -1.99635178e-03 -1.13294627e+02] [ 7.60220147e-03 1.29725715e-04 9.99971094e-01 -5.01067916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8265599949999 meters 0.01336798386746051 Centerline is valid? [True, True] Translation: X:131.53, Y:-113.96, Z:-4.03 [[-9.81820944e-01 1.89647965e-01 7.82834674e-03 1.31528620e+02] [ 1.89641269e-01 9.81852149e-01 -1.59572997e-03 -1.13958400e+02] [-7.98890601e-03 -8.21434909e-05 -9.99968085e-01 -4.02751127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.886559995 meters 0.012729190071383624 Centerline is valid? [True, True] Translation: X:131.54, Y:-113.94, Z:-4.03 [[-9.92560609e-01 1.21393710e-01 9.32766833e-03 1.31536878e+02] [ 1.21387599e-01 9.92604433e-01 -1.22059881e-03 -1.13936440e+02] [-9.40685796e-03 -7.92550334e-05 -9.99955751e-01 -4.02816862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9465599949999 meters 0.012445330937821871 Centerline is valid? [True, True] Translation: X:131.63, Y:-113.24, Z:-5.01 [[-9.79309453e-01 -2.02136649e-01 9.68346427e-03 1.31631466e+02] [ 2.02127889e-01 -9.79357321e-01 -1.88515619e-03 -1.13244401e+02] [ 9.86463079e-03 1.11146910e-04 9.99951337e-01 -5.01223936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.006559995 meters 0.012385536445607767 Centerline is valid? [True, True] Translation: X:131.49, Y:-113.94, Z:-4.03 [[-9.92641453e-01 1.20699194e-01 9.72888942e-03 1.31490032e+02] [ 1.20692894e-01 9.92689127e-01 -1.23419843e-03 -1.13935519e+02] [-9.80672949e-03 -5.09086997e-05 -9.99951912e-01 -4.02831311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0665599949999 meters 0.012404413978292244 Centerline is valid? [True, True] Translation: X:131.58, Y:-113.24, Z:-5.01 [[-9.80275231e-01 -1.97406909e-01 9.53858015e-03 1.31582045e+02] [ 1.97398011e-01 -9.80321636e-01 -1.87486636e-03 -1.13235326e+02] [ 9.72098808e-03 4.50116943e-05 9.99952749e-01 -5.01174004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.126559995 meters 0.012405190651470959 Centerline is valid? [True, True] Translation: X:131.44, Y:-113.93, Z:-4.03 [[-9.93181802e-01 1.16196052e-01 9.40140278e-03 1.31438756e+02] [ 1.16190326e-01 9.93226296e-01 -1.15483382e-03 -1.13932781e+02] [-9.47190759e-03 -5.46078862e-05 -9.99955139e-01 -4.02892876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1865599949999 meters 0.012970423154864621 Centerline is valid? [True, True] Translation: X:131.53, Y:-113.23, Z:-5.01 [[-9.80589928e-01 -1.95817988e-01 9.93528128e-03 1.31525850e+02] [ 1.95808970e-01 -9.80640253e-01 -1.88188703e-03 -1.13228518e+02] [ 1.01114441e-02 1.00057728e-04 9.99948873e-01 -5.01328562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.246559995 meters 0.01318229111921829 Centerline is valid? [True, True] Translation: X:131.38, Y:-113.93, Z:-4.03 [[-9.94160886e-01 1.07434629e-01 1.00962208e-02 1.31384888e+02] [ 1.07427980e-01 9.94212145e-01 -1.20014840e-03 -1.13927635e+02] [-1.01667228e-02 -1.08523988e-04 -9.99948312e-01 -4.02858379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3065599949999 meters 0.013421187526838399 Centerline is valid? [True, True] Translation: X:131.47, Y:-113.22, Z:-5.01 [[-9.80305412e-01 -1.97242442e-01 9.83458744e-03 1.31471528e+02] [ 1.97233505e-01 -9.80354737e-01 -1.88002627e-03 -1.13220675e+02] [ 1.00122054e-02 9.67102287e-05 9.99949872e-01 -5.01140272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.366559995 meters 0.013892016915156302 Centerline is valid? [True, True] Translation: X:131.33, Y:-113.92, Z:-4.03 [[-9.95129180e-01 9.82276301e-02 8.32156690e-03 1.31331731e+02] [ 9.82230681e-02 9.95163964e-01 -9.56128475e-04 -1.13921551e+02] [-8.37524174e-03 -1.34101512e-04 -9.99964918e-01 -4.03035620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4265599949999 meters 0.014222304428803997 Centerline is valid? [True, True] Translation: X:131.42, Y:-113.22, Z:-5.01 [[-9.80166954e-01 -1.98051514e-01 6.95268615e-03 1.31416226e+02] [ 1.98046746e-01 -9.80191612e-01 -1.37468476e-03 -1.13215826e+02] [ 7.08722304e-03 2.95362906e-05 9.99974885e-01 -5.00909621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.486559995 meters 0.014106995753606542 Centerline is valid? [True, True] Translation: X:131.28, Y:-113.92, Z:-4.03 [[-9.95723665e-01 9.21092549e-02 7.08994001e-03 1.31282236e+02] [ 9.21059941e-02 9.95748898e-01 -7.85765909e-04 -1.13917764e+02] [-7.13217627e-03 -1.29379738e-04 -9.99974557e-01 -4.03209261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5465599949999 meters 0.014818991929979554 Centerline is valid? [True, True] Translation: X:131.28, Y:-113.89, Z:-4.03 [[-9.99750086e-01 2.06524177e-02 8.55821903e-03 1.31281210e+02] [ 2.06502905e-02 9.99786703e-01 -3.36854396e-04 -1.13889606e+02] [-8.56335045e-03 -1.60040502e-04 -9.99963321e-01 -4.03056154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.606559995 meters 0.014790494709818981 Centerline is valid? [True, True] Translation: X:131.31, Y:-113.18, Z:-5.01 [[-9.91967939e-01 -1.26134498e-01 9.47086597e-03 1.31308263e+02] [ 1.26131057e-01 -9.92013120e-01 -9.62162264e-04 -1.13179653e+02] [ 9.51658516e-03 2.40136217e-04 9.99954687e-01 -5.01116182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.666559995 meters 0.015507794953665482 Centerline is valid? [True, True] Translation: X:131.22, Y:-113.88, Z:-4.03 [[-9.99846680e-01 1.36480436e-02 1.09703272e-02 1.31220268e+02] [ 1.36446315e-02 9.99906833e-01 -3.85813179e-04 -1.13884630e+02] [-1.09745708e-02 -2.36067953e-04 -9.99939750e-01 -4.02900912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7265599949999 meters 0.01599178859481923 Centerline is valid? [True, True] Translation: X:131.25, Y:-113.18, Z:-5.01 [[-9.92126647e-01 -1.24775807e-01 1.07570184e-02 1.31249807e+02] [ 1.24770897e-01 -9.92184937e-01 -1.12898821e-03 -1.13183006e+02] [ 1.08138221e-02 2.22063554e-04 9.99941504e-01 -5.01158814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.786559995 meters 0.015539257500887112 Centerline is valid? [True, True] Translation: X:131.17, Y:-113.88, Z:-4.03 [[-9.99920927e-01 7.52396132e-03 1.00762210e-02 1.31166482e+02] [ 7.52119614e-03 9.99971667e-01 -3.12292452e-04 -1.13880693e+02] [-1.00782852e-02 -2.36482524e-04 -9.99949185e-01 -4.03070831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8465599949999 meters 0.01545004703862124 Centerline is valid? [True, True] Translation: X:131.18, Y:-113.18, Z:-5.01 [[-9.92446733e-01 -1.22399227e-01 8.24080594e-03 1.31177513e+02] [ 1.22395666e-01 -9.92480943e-01 -9.36984489e-04 -1.13181947e+02] [ 8.29352904e-03 7.87317356e-05 9.99965605e-01 -5.00764204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.906559995 meters 0.016115870422986626 Centerline is valid? [True, True] Translation: X:131.10, Y:-113.88, Z:-4.03 [[-9.99968525e-01 1.57994428e-03 7.77512241e-03 1.31102147e+02] [ 1.57838164e-03 9.99998733e-01 -2.07111475e-04 -1.13875084e+02] [-7.77543979e-03 -1.94832845e-04 -9.99969752e-01 -4.03355663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9665599949999 meters 0.01617327698855366 Centerline is valid? [True, True] Translation: X:131.12, Y:-113.19, Z:-5.01 [[-9.92795902e-01 -1.19538389e-01 8.17748727e-03 1.31123693e+02] [ 1.19536272e-01 -9.92829552e-01 -7.48975237e-04 -1.13186018e+02] [ 8.20838231e-03 2.33926794e-04 9.99966283e-01 -5.00735638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.026559995 meters 0.01682743800966913 Centerline is valid? [True, True] Translation: X:131.05, Y:-113.87, Z:-4.03 [[-9.99950343e-01 -4.12999643e-03 9.06948801e-03 1.31045429e+02] [-4.13201342e-03 9.99991442e-01 -2.03666496e-04 -1.13867777e+02] [-9.06856926e-03 -2.41131629e-04 -9.99958851e-01 -4.03245734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0865599949999 meters 0.016929101406006737 Centerline is valid? [True, True] Translation: X:131.05, Y:-113.84, Z:-4.03 [[-9.97092127e-01 -7.56176994e-02 9.44738734e-03 1.31046733e+02] [-7.56167295e-02 9.97136850e-01 4.60322662e-04 -1.13839527e+02] [-9.45514660e-03 -2.55396431e-04 -9.99955267e-01 -4.03256703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.146559995 meters 0.016262066200450242 Centerline is valid? [True, True] Translation: X:131.02, Y:-113.17, Z:-5.01 [[-9.98933632e-01 -4.52092699e-02 9.36590544e-03 1.31015212e+02] [ 4.52096002e-02 -9.98977508e-01 -1.76561997e-04 -1.13165448e+02] [ 9.36431111e-03 2.47055124e-04 9.99956123e-01 -5.00808082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2065599949999 meters 0.016397728137640233 Centerline is valid? [True, True] Translation: X:130.98, Y:-113.84, Z:-4.03 [[-9.96888233e-01 -7.82337904e-02 9.66052917e-03 1.30975574e+02] [-7.82324688e-02 9.96935011e-01 5.15203579e-04 -1.13840549e+02] [-9.67122608e-03 -2.42166662e-04 -9.99953203e-01 -4.03230039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.266559995 meters 0.014806700312471744 Centerline is valid? [True, True] Translation: X:130.95, Y:-113.17, Z:-5.01 [[-9.99290980e-01 -3.64076259e-02 9.59285082e-03 1.30950222e+02] [ 3.64082055e-02 -9.99336995e-01 -1.14261957e-04 -1.13169902e+02] [ 9.59065072e-03 2.35077541e-04 9.99953981e-01 -5.00773470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3265599949999 meters 0.014323001977540053 Centerline is valid? [True, True] Translation: X:130.92, Y:-113.84, Z:-4.03 [[-9.97001663e-01 -7.67142639e-02 1.01294242e-02 1.30919089e+02] [-7.67122628e-02 9.97053100e-01 5.86513335e-04 -1.13844463e+02] [-1.01445678e-02 -1.92296285e-04 -9.99948524e-01 -4.03231281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.386559995 meters 0.01338392412842335 Centerline is valid? [True, True] Translation: X:130.92, Y:-113.82, Z:-4.03 [[-9.89587433e-01 -1.43545825e-01 1.05503074e-02 1.30915402e+02] [-1.43539384e-01 9.89643658e-01 1.36912171e-03 -1.13819265e+02] [-1.06375765e-02 -1.59518989e-04 -9.99943407e-01 -4.03222125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4465599949999 meters 0.012685587959292317 Centerline is valid? [True, True] Translation: X:130.91, Y:-113.79, Z:-4.03 [[-9.77680108e-01 -2.09831959e-01 1.05903032e-02 1.30908800e+02] [-2.09820975e-01 9.77737457e-01 2.15032791e-03 -1.13794692e+02] [-1.08057437e-02 -1.19734920e-04 -9.99941609e-01 -4.03215058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.506559995 meters 0.012040497525893243 Centerline is valid? [True, True] Translation: X:130.89, Y:-113.77, Z:-4.03 [[-9.62282907e-01 -2.71863398e-01 1.00945816e-02 1.30893008e+02] [-2.71848827e-01 9.62335852e-01 2.81491362e-03 -1.13774342e+02] [-1.04796498e-02 -3.54569257e-05 -9.99945086e-01 -4.03207141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5665599949999 meters 0.011999072748321555 Centerline is valid? [True, True] Translation: X:130.87, Y:-113.76, Z:-4.03 [[-9.42031556e-01 -3.35415549e-01 8.54144211e-03 1.30866680e+02] [-3.35401579e-01 9.42070278e-01 3.06134342e-03 -1.13757011e+02] [-9.07346092e-03 1.90689382e-05 -9.99958835e-01 -4.03276938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.626559995 meters 0.012854423486527383 Centerline is valid? [True, True] Translation: X:130.81, Y:-113.75, Z:-4.03 [[-9.18316700e-01 -3.95777332e-01 7.39874761e-03 1.30814248e+02] [-3.95763740e-01 9.18346501e-01 3.28116060e-03 -1.13752958e+02] [-8.09322297e-03 8.49885542e-05 -9.99967246e-01 -4.03346604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6865599949999 meters 0.01354693419007334 Centerline is valid? [True, True] Translation: X:130.75, Y:-113.75, Z:-4.03 [[-8.88377523e-01 -4.59062263e-01 6.87126555e-03 1.30753174e+02] [-4.59047561e-01 8.88404089e-01 3.67572462e-03 -1.13753332e+02] [-7.79184688e-03 1.11193445e-04 -9.99969637e-01 -4.03305621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.746559995 meters 0.014319840538400394 Centerline is valid? [True, True] Translation: X:130.68, Y:-113.76, Z:-4.03 [[-8.53342749e-01 -5.21290520e-01 7.89601138e-03 1.30680474e+02] [-5.21266460e-01 8.53379264e-01 5.01085094e-03 -1.13763427e+02] [-9.35040147e-03 1.60047412e-04 -9.99956271e-01 -4.03195413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8065599949999 meters 0.013927861842036381 Centerline is valid? [True, True] Translation: X:130.60, Y:-113.78, Z:-4.03 [[-8.11866704e-01 -5.83784368e-01 8.26235355e-03 1.30598024e+02] [-5.83751973e-01 8.11908728e-01 6.15232785e-03 -1.13781618e+02] [-1.02999098e-02 1.71704947e-04 -9.99946940e-01 -4.03140345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.866559995 meters 0.013740181965704203 Centerline is valid? [True, True] Translation: X:130.51, Y:-113.81, Z:-4.03 [[-7.64656996e-01 -6.44391241e-01 7.72052850e-03 1.30514481e+02] [-6.44356384e-01 7.64695956e-01 6.70404385e-03 -1.13809575e+02] [-1.02238841e-02 1.51522205e-04 -9.99947723e-01 -4.03113483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9265599949999 meters 0.013011130391513205 Centerline is valid? [True, True] Translation: X:130.42, Y:-113.85, Z:-4.03 [[-7.11155956e-01 -7.02997929e-01 7.14961112e-03 1.30422855e+02] [-7.02960878e-01 7.11191887e-01 7.21830513e-03 -1.13849228e+02] [-1.01591990e-02 1.07443775e-04 -9.99948388e-01 -4.03104830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.986559995 meters 0.01284817183017442 Centerline is valid? [True, True] Translation: X:130.34, Y:-113.89, Z:-4.03 [[-6.52360822e-01 -7.57884976e-01 5.97669797e-03 1.30338496e+02] [-7.57852446e-01 6.52388198e-01 7.02200639e-03 -1.13893481e+02] [-9.22100036e-03 5.14266855e-05 -9.99957484e-01 -4.03071512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0465599949999 meters 0.012032319228575747 Centerline is valid? [True, True] Translation: X:130.25, Y:-113.95, Z:-4.03 [[-5.88591431e-01 -8.08418519e-01 4.43004434e-03 1.30247629e+02] [-8.08395657e-01 5.88608102e-01 6.07982053e-03 -1.13951481e+02] [-7.52259950e-03 -2.69833746e-06 -9.99971705e-01 -4.03402373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.106559995 meters 0.012307312066848725 Centerline is valid? [True, True] Translation: X:130.17, Y:-114.01, Z:-4.03 [[-5.21839540e-01 -8.53033663e-01 4.13089433e-03 1.30167195e+02] [-8.53007529e-01 5.21855888e-01 6.67734235e-03 -1.14012773e+02] [-7.85172934e-03 -3.91827088e-05 -9.99969174e-01 -4.03351946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.166559995 meters 0.012654275887229097 Centerline is valid? [True, True] Translation: X:130.09, Y:-114.08, Z:-4.03 [[-4.51836241e-01 -8.92091888e-01 4.00931695e-03 1.30090223e+02] [-8.92058354e-01 4.51854021e-01 7.73535996e-03 -1.14083504e+02] [-8.71227786e-03 -8.14287169e-05 -9.99962044e-01 -4.03282127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2265599949999 meters 0.013622261177434059 Centerline is valid? [True, True] Translation: X:130.01, Y:-114.17, Z:-4.03 [[-3.77529547e-01 -9.25990737e-01 3.54926519e-03 1.30014763e+02] [-9.25953165e-01 3.77546205e-01 8.34259233e-03 -1.14165498e+02] [-9.06517482e-03 -1.36878238e-04 -9.99958901e-01 -4.03250192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.286559995 meters 0.014587420009101564 Centerline is valid? [True, True] Translation: X:129.95, Y:-114.25, Z:-4.03 [[-3.03164116e-01 -9.52935493e-01 2.33785875e-03 1.29947195e+02] [-9.52910439e-01 3.03173101e-01 6.91126290e-03 -1.14254339e+02] [-7.29476360e-03 -1.32523108e-04 -9.99973384e-01 -4.03313437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3465599949999 meters 0.014137886575257877 Centerline is valid? [True, True] Translation: X:129.89, Y:-114.35, Z:-4.03 [[-2.29129419e-01 -9.73394445e-01 1.72157989e-03 1.29891610e+02] [-9.73371089e-01 2.29135849e-01 6.74435420e-03 -1.14349525e+02] [-6.95939259e-03 -1.30406138e-04 -9.99975775e-01 -4.03391351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.406559995 meters 0.015320996371391964 Centerline is valid? [True, True] Translation: X:129.84, Y:-114.46, Z:-4.03 [[-1.54334622e-01 -9.88017555e-01 1.46118297e-03 1.29839483e+02] [-9.87982465e-01 1.54341458e-01 8.32841564e-03 -1.14457573e+02] [-8.45414197e-03 -1.58260271e-04 -9.99964251e-01 -4.03147500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4665599949999 meters 0.015756880255532117 Centerline is valid? [True, True] Translation: X:129.80, Y:-114.55, Z:-4.03 [[-7.87502510e-02 -9.96893893e-01 9.81754528e-04 1.29799406e+02] [-9.96843086e-01 7.87561509e-02 1.00663307e-02 -1.14554321e+02] [-1.01123828e-02 -1.85929146e-04 -9.99948851e-01 -4.02940749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.526559995 meters 0.013584570012136195 Centerline is valid? [True, True] Translation: X:129.77, Y:-114.67, Z:-4.03 [[-2.97860331e-03 -9.99995537e-01 2.32202567e-04 1.29771268e+02] [-9.99932697e-01 2.98101966e-03 1.12122481e-02 -1.14667144e+02] [-1.12128903e-02 -1.98790100e-04 -9.99937114e-01 -4.03050968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5865599949999 meters 0.013737191691212847 Centerline is valid? [True, True] Translation: X:129.75, Y:-114.78, Z:-4.03 [[ 7.28692166e-02 -9.97341304e-01 -6.32816340e-04 1.29748438e+02] [-9.97277153e-01 -7.28717079e-02 1.13134887e-02 -1.14775810e+02] [-1.13295239e-02 -1.93311778e-04 -9.99935800e-01 -4.03030027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.646559995 meters 0.013624539127749585 Centerline is valid? [True, True] Translation: X:129.73, Y:-114.89, Z:-4.03 [[ 1.48765237e-01 -9.88871404e-01 -1.50013584e-03 1.29733817e+02] [-9.88807285e-01 -1.48772676e-01 1.12624733e-02 -1.14894174e+02] [-1.13603171e-02 -1.92119269e-04 -9.99935451e-01 -4.03044491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7065599949999 meters 0.014268275303303954 Centerline is valid? [True, True] Translation: X:129.73, Y:-115.01, Z:-4.03 [[ 2.24197663e-01 -9.74540606e-01 -2.45248459e-03 1.29728174e+02] [-9.74472047e-01 -2.24210986e-01 1.15613375e-02 -1.15009132e+02] [-1.18168668e-02 -2.02147173e-04 -9.99930158e-01 -4.02889820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.766559995 meters 0.01410557853733514 Centerline is valid? [True, True] Translation: X:129.73, Y:-115.12, Z:-4.03 [[ 2.98847998e-01 -9.54295579e-01 -3.13407089e-03 1.29733693e+02] [-9.54235853e-01 -2.98864364e-01 1.06783928e-02 -1.15122987e+02] [-1.11270052e-02 -2.00573501e-04 -9.99938073e-01 -4.03037027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8265599949999 meters 0.013990289482559306 Centerline is valid? [True, True] Translation: X:129.75, Y:-115.24, Z:-4.03 [[ 3.71706692e-01 -9.28343573e-01 -3.51377597e-03 1.29746988e+02] [-9.28297263e-01 -3.71723253e-01 9.27444280e-03 -1.15236743e+02] [-9.91602159e-03 -1.85543838e-04 -9.99950818e-01 -4.03137338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.886559995 meters 0.014363218587192562 Centerline is valid? [True, True] Translation: X:129.77, Y:-115.35, Z:-4.03 [[ 4.42203168e-01 -8.96907680e-01 -3.60174409e-03 1.29769785e+02] [-8.96874848e-01 -4.42217806e-01 7.67589383e-03 -1.15351079e+02] [-8.47732349e-03 -1.63990886e-04 -9.99964053e-01 -4.03182050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9465599949999 meters 0.014661088893818808 Centerline is valid? [True, True] Translation: X:129.80, Y:-115.46, Z:-4.03 [[ 5.09847537e-01 -8.60255557e-01 -3.98315269e-03 1.29798919e+02] [-8.60226818e-01 -5.09863071e-01 7.03348322e-03 -1.15461024e+02] [-8.08145549e-03 -1.59589329e-04 -9.99967332e-01 -4.03182011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.006559995 meters 0.014291223951977437 Centerline is valid? [True, True] Translation: X:129.84, Y:-115.56, Z:-4.03 [[ 5.73399178e-01 -8.19260781e-01 -5.01557250e-03 1.29836259e+02] [-8.19226808e-01 -5.73421088e-01 7.46279019e-03 -1.15564810e+02] [-8.99000636e-03 -1.70266305e-04 -9.99959575e-01 -4.03079836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0665599949999 meters 0.01362439958017136 Centerline is valid? [True, True] Translation: X:129.88, Y:-115.67, Z:-4.03 [[ 6.33068297e-01 -7.74071938e-01 -6.09649106e-03 1.29884257e+02] [-7.74033406e-01 -6.33097627e-01 7.72533131e-03 -1.15666333e+02] [-9.83963620e-03 -1.71774592e-04 -9.99951575e-01 -4.03065468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.126559995 meters 0.013889721715136973 Centerline is valid? [True, True] Translation: X:129.93, Y:-115.76, Z:-4.03 [[ 6.89028574e-01 -7.24706312e-01 -6.35504552e-03 1.29934456e+02] [-7.24673493e-01 -6.89057864e-01 6.89842625e-03 -1.15764015e+02] [-9.37832713e-03 -1.47879766e-04 -9.99956012e-01 -4.03024962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1865599949999 meters 0.012947567674871876 Centerline is valid? [True, True] Translation: X:129.99, Y:-115.85, Z:-4.03 [[ 7.41108948e-01 -6.71353587e-01 -6.47216623e-03 1.29988890e+02] [-6.71326504e-01 -7.41137198e-01 6.03148644e-03 -1.15847720e+02] [-8.84602320e-03 -1.25051844e-04 -9.99960865e-01 -4.03146802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.246559995 meters 0.01279152070133987 Centerline is valid? [True, True] Translation: X:130.01, Y:-115.87, Z:-4.03 [[ 7.90837680e-01 -6.11986006e-01 -6.99229837e-03 1.30011233e+02] [-6.11960750e-01 -7.90868582e-01 5.56110170e-03 -1.15873523e+02] [-8.93330552e-03 -1.18916608e-04 -9.99960090e-01 -4.03093953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3065599949999 meters 0.014133486111068103 Centerline is valid? [True, True] Translation: X:130.03, Y:-115.90, Z:-4.03 [[ 8.36748098e-01 -5.47534298e-01 -7.66900073e-03 1.30032016e+02] [-5.47509856e-01 -8.36783231e-01 5.17512247e-03 -1.15899531e+02] [-9.25084826e-03 -1.31420403e-04 -9.99957201e-01 -4.02928338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.366559995 meters 0.01393169925252567 Centerline is valid? [True, True] Translation: X:130.06, Y:-115.92, Z:-4.03 [[ 8.77650301e-01 -4.79243784e-01 -7.43940922e-03 1.30060196e+02] [-4.79225276e-01 -8.77681820e-01 4.21388025e-03 -1.15917706e+02] [-8.54891014e-03 -1.33160333e-04 -9.99963449e-01 -4.02981385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4265599949999 meters 0.013694047826954906 Centerline is valid? [True, True] Translation: X:130.09, Y:-115.93, Z:-4.03 [[ 9.12583504e-01 -4.08824230e-01 -7.35501978e-03 1.30089285e+02] [-4.08809808e-01 -9.12613134e-01 3.43639111e-03 -1.15934495e+02] [-8.11716760e-03 -1.29189615e-04 -9.99967047e-01 -4.03130667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.486559995 meters 0.013548295924652495 Centerline is valid? [True, True] Translation: X:130.12, Y:-115.95, Z:-4.03 [[ 9.41733575e-01 -3.36291034e-01 -6.79808751e-03 1.30117600e+02] [-3.36281390e-01 -9.41758105e-01 2.54934365e-03 -1.15951506e+02] [-7.25947542e-03 -1.14732185e-04 -9.99973643e-01 -4.03206106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5465599949999 meters 0.013364217155129721 Centerline is valid? [True, True] Translation: X:130.15, Y:-115.97, Z:-4.03 [[ 9.65032194e-01 -2.62066760e-01 -5.82043385e-03 1.30146463e+02] [-2.62061412e-01 -9.65049742e-01 1.67688005e-03 -1.15967246e+02] [-6.05646271e-03 -9.29321179e-05 -9.99981655e-01 -4.03235218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.606559995 meters 0.013072042048623812 Centerline is valid? [True, True] Translation: X:130.18, Y:-115.98, Z:-4.03 [[ 9.82429617e-01 -1.86548276e-01 -5.63811158e-03 1.30176133e+02] [-1.86544714e-01 -9.82445792e-01 1.15594871e-03 -1.15982510e+02] [-5.75477924e-03 -8.38783427e-05 -9.99983438e-01 -4.03248749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.666559995 meters 0.012865656437733467 Centerline is valid? [True, True] Translation: X:130.20, Y:-115.99, Z:-4.03 [[ 9.93854618e-01 -1.10554672e-01 -5.53733500e-03 1.30203274e+02] [-1.10552547e-01 -9.93870041e-01 6.89376359e-04 -1.15994542e+02] [-5.57960514e-03 -7.29733917e-05 -9.99984431e-01 -4.03233210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7265599949999 meters 0.01293703750286576 Centerline is valid? [True, True] Translation: X:130.23, Y:-116.00, Z:-4.03 [[ 9.99443682e-01 -3.27048845e-02 -6.53587585e-03 1.30231334e+02] [-3.27036365e-02 -9.99465049e-01 2.97757119e-04 -1.16004389e+02] [-6.54211759e-03 -8.38445635e-05 -9.99978597e-01 -4.03114212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.786559995 meters 0.012960971810185372 Centerline is valid? [True, True] Translation: X:130.26, Y:-116.01, Z:-4.03 [[ 9.98936013e-01 4.53896054e-02 -8.16251291e-03 1.30259936e+02] [ 4.53889312e-02 -9.98969355e-01 -2.67914283e-04 -1.16011852e+02] [-8.16626078e-03 -1.02858512e-04 -9.99966650e-01 -4.02992706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8465599949999 meters 0.012777293580402612 Centerline is valid? [True, True] Translation: X:130.29, Y:-116.02, Z:-4.03 [[ 9.92371511e-01 1.22957764e-01 -8.95395057e-03 1.30289066e+02] [ 1.22953751e-01 -9.92411899e-01 -9.99360262e-04 -1.16017997e+02] [-9.00888619e-03 -1.09185160e-04 -9.99959413e-01 -4.02981339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.906559995 meters 0.012839229485660656 Centerline is valid? [True, True] Translation: X:130.32, Y:-116.02, Z:-4.03 [[ 9.79683971e-01 2.00302859e-01 -9.90358779e-03 1.30318875e+02] [ 2.00293886e-01 -9.79734020e-01 -1.89989848e-03 -1.16022695e+02] [-1.00834370e-02 -1.22328002e-04 -9.99949153e-01 -4.02852290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9665599949999 meters 0.012696926690602704 Centerline is valid? [True, True] Translation: X:130.35, Y:-116.02, Z:-4.03 [[ 9.61137199e-01 2.75886535e-01 -1.00947605e-02 1.30348684e+02] [ 2.75872647e-01 -9.61190202e-01 -2.77093950e-03 -1.16024504e+02] [-1.04674498e-02 -1.21615273e-04 -9.99945207e-01 -4.02840803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.026559995 meters 0.012500044167105982 Centerline is valid? [True, True] Translation: X:130.38, Y:-116.02, Z:-4.03 [[ 9.37027439e-01 3.49122424e-01 -9.64947145e-03 1.30378310e+02] [ 3.49105077e-01 -9.37077116e-01 -3.48194519e-03 -1.16022890e+02] [-1.02579240e-02 -1.06001289e-04 -9.99947381e-01 -4.02900862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0865599949999 meters 0.012222265265304203 Centerline is valid? [True, True] Translation: X:130.41, Y:-116.02, Z:-4.03 [[ 9.07569401e-01 4.19828897e-01 -7.84094847e-03 1.30407971e+02] [ 4.19813930e-01 -9.07603268e-01 -3.54573444e-03 -1.16018422e+02] [-8.60507224e-03 -7.37393114e-05 -9.99962973e-01 -4.03095814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.146559995 meters 0.012221687138247452 Centerline is valid? [True, True] Translation: X:130.44, Y:-116.02, Z:-4.03 [[ 8.71737036e-01 4.89932806e-01 -6.35488972e-03 1.30438887e+02] [ 4.89920329e-01 -8.71760197e-01 -3.49711726e-03 -1.16016817e+02] [-7.25329239e-03 -6.48230310e-05 -9.99973692e-01 -4.03140881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2065599949999 meters 0.012443910736485419 Centerline is valid? [True, True] Translation: X:130.47, Y:-116.01, Z:-4.03 [[ 8.29718977e-01 5.58150453e-01 -5.87289372e-03 1.30470412e+02] [ 5.58137114e-01 -8.29739758e-01 -3.85948352e-03 -1.16012233e+02] [-7.02714589e-03 -7.55932370e-05 -9.99975306e-01 -4.03135569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.266559995 meters 0.012898936757762281 Centerline is valid? [True, True] Translation: X:130.50, Y:-116.00, Z:-4.03 [[ 7.82194883e-01 6.23002300e-01 -6.26884072e-03 1.30499445e+02] [ 6.22983333e-01 -7.82219997e-01 -4.86245481e-03 -1.16004175e+02] [-7.93293310e-03 -1.01996015e-04 -9.99968529e-01 -4.03013928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3265599949999 meters 0.013202664123308618 Centerline is valid? [True, True] Translation: X:130.53, Y:-115.99, Z:-4.03 [[ 7.29037432e-01 6.84445233e-01 -6.25670637e-03 1.30529979e+02] [ 6.84421584e-01 -7.29064267e-01 -5.69122786e-03 -1.15994848e+02] [-8.45687483e-03 -1.33106744e-04 -9.99964231e-01 -4.02955032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.386559995 meters 0.013852826247680059 Centerline is valid? [True, True] Translation: X:130.56, Y:-115.98, Z:-4.03 [[ 6.71741748e-01 7.40758642e-01 -6.29748479e-03 1.30558942e+02] [ 7.40728350e-01 -6.71771247e-01 -6.70104037e-03 -1.15981820e+02] [-9.19432277e-03 -1.63356940e-04 -9.99957718e-01 -4.02849738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4465599949999 meters 0.014265696545835403 Centerline is valid? [True, True] Translation: X:130.58, Y:-115.96, Z:-4.03 [[ 6.11044692e-01 7.91573357e-01 -6.00038244e-03 1.30583843e+02] [ 7.91538021e-01 -6.11074127e-01 -7.48151575e-03 -1.15964185e+02] [-9.58884700e-03 -1.77990353e-04 -9.99954010e-01 -4.02850767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.506559995 meters 0.014590247004494766 Centerline is valid? [True, True] Translation: X:130.61, Y:-115.94, Z:-4.03 [[ 5.46744132e-01 8.37284333e-01 -5.07937109e-03 1.30606719e+02] [ 8.37251092e-01 -5.46767698e-01 -7.46279478e-03 -1.15944284e+02] [-9.02571719e-03 -1.72469740e-04 -9.99959253e-01 -4.02880293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5665599949999 meters 0.01394860393776162 Centerline is valid? [True, True] Translation: X:130.63, Y:-115.92, Z:-4.03 [[ 4.79660506e-01 8.77442658e-01 -4.49237821e-03 1.30629151e+02] [ 8.77407463e-01 -4.79681512e-01 -7.86075870e-03 -1.15923080e+02] [-9.05227578e-03 -1.71150675e-04 -9.99959013e-01 -4.02937092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.626559995 meters 0.01436649297894508 Centerline is valid? [True, True] Translation: X:130.65, Y:-115.90, Z:-4.03 [[ 4.10291924e-01 9.11946644e-01 -3.72230942e-03 1.30649954e+02] [ 9.11912520e-01 -4.10308778e-01 -7.89068427e-03 -1.15901884e+02] [-8.72317927e-03 -1.56936533e-04 -9.99961940e-01 -4.02938068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6865599949999 meters 0.013583709424984788 Centerline is valid? [True, True] Translation: X:130.67, Y:-115.88, Z:-4.03 [[ 3.38756114e-01 9.40869645e-01 -2.93367632e-03 1.30666493e+02] [ 9.40837833e-01 -3.38768788e-01 -7.73817467e-03 -1.15876689e+02] [-8.27445163e-03 -1.38759693e-04 -9.99965757e-01 -4.03059751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.746559995 meters 0.013158019607254956 Centerline is valid? [True, True] Translation: X:130.68, Y:-115.85, Z:-4.03 [[ 2.66008095e-01 9.63968422e-01 -2.13874159e-03 1.30681946e+02] [ 9.63940579e-01 -2.66016669e-01 -7.32746867e-03 -1.15851685e+02] [-7.63238932e-03 -1.12453825e-04 -9.99970867e-01 -4.03148618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8065599949999 meters 0.012866431591998009 Centerline is valid? [True, True] Translation: X:130.70, Y:-115.83, Z:-4.03 [[ 1.91357786e-01 9.81519088e-01 -1.57377830e-03 1.30695684e+02] [ 9.81490084e-01 -1.91364231e-01 -7.54622803e-03 -1.15825653e+02] [-7.70793174e-03 -1.00618313e-04 -9.99970288e-01 -4.03114731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.866559995 meters 0.012904202723173977 Centerline is valid? [True, True] Translation: X:130.71, Y:-115.80, Z:-4.03 [[ 1.14756109e-01 9.93393207e-01 -9.85922210e-04 1.30705949e+02] [ 9.93363282e-01 -1.14760305e-01 -7.71118864e-03 -1.15798447e+02] [-7.77338714e-03 -9.44729206e-05 -9.99969782e-01 -4.03068571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9265599949999 meters 0.012357676757355109 Centerline is valid? [True, True] Translation: X:130.72, Y:-115.77, Z:-4.03 [[ 3.83931673e-02 9.99262632e-01 -3.97473068e-04 1.30715130e+02] [ 9.99229419e-01 -3.83951321e-02 -8.14756270e-03 -1.15770574e+02] [-8.15681598e-03 -8.43560444e-05 -9.99966729e-01 -4.03098725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.986559995 meters 0.012186951980437559 Centerline is valid? [True, True] Translation: X:130.72, Y:-115.74, Z:-4.03 [[-3.83973899e-02 9.99262517e-01 2.48654660e-04 1.30722441e+02] [ 9.99227342e-01 3.83981247e-02 -8.38471875e-03 -1.15741802e+02] [-8.38808303e-03 -7.34887798e-05 -9.99964817e-01 -4.03054331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0465599949999 meters 0.012007288003771587 Centerline is valid? [True, True] Translation: X:130.73, Y:-115.71, Z:-4.03 [[-1.14965178e-01 9.93369111e-01 9.04180874e-04 1.30728687e+02] [ 9.93334140e-01 1.14968717e-01 -8.33543078e-03 -1.15712993e+02] [-8.38411198e-03 -6.01305488e-05 -9.99964851e-01 -4.03098505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.106559995 meters 0.012064542535194487 Centerline is valid? [True, True] Translation: X:130.73, Y:-115.68, Z:-4.03 [[-1.92114531e-01 9.81371462e-01 1.43518848e-03 1.30732549e+02] [ 9.81341979e-01 1.92119885e-01 -7.60727475e-03 -1.15683691e+02] [-7.74129059e-03 -5.30573196e-05 -9.99970034e-01 -4.03084163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.166559995 meters 0.012256016244024337 Centerline is valid? [True, True] Translation: X:130.73, Y:-115.66, Z:-4.03 [[-2.69621212e-01 9.62964020e-01 2.16780445e-03 1.30734272e+02] [ 9.62930868e-01 2.69629918e-01 -7.99062880e-03 -1.15655226e+02] [-8.27919297e-03 -6.69971943e-05 -9.99965725e-01 -4.03001384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2265599949999 meters 0.012309705272483281 Centerline is valid? [True, True] Translation: X:130.74, Y:-115.62, Z:-4.03 [[-3.45991119e-01 9.38233344e-01 2.88745258e-03 1.30736525e+02] [ 9.38198581e-01 3.46003156e-01 -8.07702290e-03 -1.15624463e+02] [-8.57719992e-03 -8.55742803e-05 -9.99963212e-01 -4.03011400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.286559995 meters 0.012595308464367943 Centerline is valid? [True, True] Translation: X:130.74, Y:-115.59, Z:-4.03 [[-4.19694999e-01 9.07657586e-01 3.71671173e-03 1.30735138e+02] [ 9.07619794e-01 4.19711443e-01 -8.28334204e-03 -1.15594456e+02] [-9.07838469e-03 -1.03116098e-04 -9.99958785e-01 -4.03008562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3465599949999 meters 0.013123526349908567 Centerline is valid? [True, True] Translation: X:130.73, Y:-115.56, Z:-4.03 [[-4.91124786e-01 8.71078080e-01 4.40711162e-03 1.30730141e+02] [ 8.71040769e-01 4.91144545e-01 -8.06324136e-03 -1.15564689e+02] [-9.18824164e-03 -1.21283798e-04 -9.99957780e-01 -4.03018972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.406559995 meters 0.013608741615132218 Centerline is valid? [True, True] Translation: X:130.72, Y:-115.54, Z:-4.03 [[-5.59189368e-01 8.29028594e-01 4.34066201e-03 1.30722000e+02] [ 8.29001973e-01 5.59206202e-01 -6.64478060e-03 -1.15536484e+02] [-7.93603823e-03 -1.17273295e-04 -9.99968502e-01 -4.03175866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4665599949999 meters 0.013510454939929124 Centerline is valid? [True, True] Translation: X:130.71, Y:-115.51, Z:-4.03 [[-6.22978656e-01 7.82225956e-01 4.48861499e-03 1.30711187e+02] [ 7.82204323e-01 6.22994816e-01 -5.81865826e-03 -1.15508516e+02] [-7.34788939e-03 -1.13885856e-04 -9.99972997e-01 -4.03250732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.526559995 meters 0.013691826296963552 Centerline is valid? [True, True] Translation: X:130.70, Y:-115.48, Z:-4.03 [[-6.83240301e-01 7.30180541e-01 4.36676471e-03 1.30699407e+02] [ 7.30164599e-01 6.83254247e-01 -4.82629634e-03 -1.15480060e+02] [-6.50767820e-03 -1.09063165e-04 -9.99978819e-01 -4.03345307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5865599949999 meters 0.01424864769378897 Centerline is valid? [True, True] Translation: X:130.68, Y:-115.45, Z:-4.03 [[-7.39272840e-01 6.73387138e-01 5.04289495e-03 1.30684756e+02] [ 6.73370300e-01 7.39290028e-01 -4.76370308e-03 -1.15452522e+02] [-6.93597834e-03 -1.25940615e-04 -9.99975938e-01 -4.03299241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.646559995 meters 0.014253983266823188 Centerline is valid? [True, True] Translation: X:130.71, Y:-115.43, Z:-4.03 [[-7.85804532e-01 6.18446758e-01 5.90307080e-03 1.30705352e+02] [ 6.18427884e-01 7.85826690e-01 -4.83388130e-03 -1.15434036e+02] [-7.62828880e-03 -1.47862247e-04 -9.99970893e-01 -4.03232882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7065599949999 meters 0.014870805277216308 Centerline is valid? [True, True] Translation: X:130.72, Y:-115.41, Z:-4.03 [[-8.28536332e-01 5.59893751e-01 6.82164688e-03 1.30724176e+02] [ 5.59873006e-01 8.28564395e-01 -4.82295082e-03 -1.15412394e+02] [-8.35251374e-03 -1.76734037e-04 -9.99965102e-01 -4.03104705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.766559995 meters 0.015806892846063975 Centerline is valid? [True, True] Translation: X:130.74, Y:-115.39, Z:-4.03 [[-8.66609822e-01 4.98925618e-01 7.78740077e-03 1.30739085e+02] [ 4.98903353e-01 8.66644787e-01 -4.71790015e-03 -1.15388277e+02] [-9.10279153e-03 -2.03418253e-04 -9.99958548e-01 -4.02980791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8265599949999 meters 0.014734316231599433 Centerline is valid? [True, True] Translation: X:130.75, Y:-115.37, Z:-4.03 [[-8.99600082e-01 4.36631640e-01 8.51491426e-03 1.30753467e+02] [ 4.36609854e-01 8.99640354e-01 -4.36685394e-03 -1.15369164e+02] [-9.56706708e-03 -2.10726693e-04 -9.99954212e-01 -4.03021281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.886559995 meters 0.014550735302320681 Centerline is valid? [True, True] Translation: X:130.76, Y:-115.35, Z:-4.03 [[-9.27609091e-01 3.73453756e-01 8.58297318e-03 1.30764444e+02] [ 3.73435875e-01 9.27648779e-01 -3.65934072e-03 -1.15346674e+02] [-9.32857913e-03 -1.89247622e-04 -9.99956470e-01 -4.03052575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9465599949999 meters 0.014571132932407952 Centerline is valid? [True, True] Translation: X:130.77, Y:-115.32, Z:-4.03 [[-9.51278062e-01 3.08225637e-01 8.18575397e-03 1.30771402e+02] [ 3.08212751e-01 9.51313266e-01 -2.82310216e-03 -1.15321945e+02] [-8.65736880e-03 -1.62601404e-04 -9.99962511e-01 -4.03089134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.006559995 meters 0.013921616940781348 Centerline is valid? [True, True] Translation: X:130.99, Y:-114.69, Z:-5.01 [[-9.14941697e-01 -4.03523478e-01 7.10595875e-03 1.30994064e+02] [ 4.03512075e-01 -9.14969286e-01 -3.03500273e-03 -1.14685756e+02] [ 7.72642886e-03 9.04896071e-05 9.99970147e-01 -5.00917491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0665599949999 meters 0.013271019159320026 Centerline is valid? [True, True] Translation: X:130.73, Y:-115.32, Z:-4.03 [[-9.50524281e-01 3.10583638e-01 6.43388177e-03 1.30729377e+02] [ 3.10575915e-01 9.50546052e-01 -2.19197964e-03 -1.15317016e+02] [-6.79649393e-03 -8.53211581e-05 -9.99976900e-01 -4.03136045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.126559995 meters 0.013078225762448298 Centerline is valid? [True, True] Translation: X:130.96, Y:-114.67, Z:-5.01 [[-9.18646036e-01 -3.95033096e-01 6.18981442e-03 1.30959069e+02] [ 3.95024705e-01 -9.18666886e-01 -2.57604536e-03 -1.14667897e+02] [ 6.70400071e-03 7.86557518e-05 9.99977525e-01 -5.01007937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1865599949999 meters 0.012728714574757334 Centerline is valid? [True, True] Translation: X:130.69, Y:-115.31, Z:-4.03 [[-9.50037771e-01 3.12044008e-01 7.53460923e-03 1.30689892e+02] [ 3.12033713e-01 9.50067647e-01 -2.53548121e-03 -1.15312089e+02] [-7.94957018e-03 -5.77508270e-05 -9.99968400e-01 -4.03046997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.246559995 meters 0.01268387054684133 Centerline is valid? [True, True] Translation: X:130.70, Y:-115.29, Z:-4.03 [[-9.69159954e-01 2.46284107e-01 8.55114244e-03 1.30700547e+02] [ 2.46274129e-01 9.69197677e-01 -2.21737623e-03 -1.15290529e+02] [-8.83385192e-03 -4.30670922e-05 -9.99960980e-01 -4.02974115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3065599949999 meters 0.012680867988800287 Centerline is valid? [True, True] Translation: X:130.71, Y:-115.27, Z:-4.03 [[-9.83932122e-01 1.78304805e-01 9.21820321e-03 1.30705936e+02] [ 1.78296669e-01 9.83975302e-01 -1.70364377e-03 -1.15266347e+02] [-9.37425216e-03 -3.26949094e-05 -9.99956060e-01 -4.02914572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.366559995 meters 0.012572727353869077 Centerline is valid? [True, True] Translation: X:130.71, Y:-115.24, Z:-4.03 [[-9.93971347e-01 1.09248465e-01 9.25924562e-03 1.30710479e+02] [ 1.09243525e-01 9.94014473e-01 -1.03912209e-03 -1.15241261e+02] [-9.31734665e-03 -2.13449491e-05 -9.99956592e-01 -4.02920440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4265599949999 meters 0.01259472403311987 Centerline is valid? [True, True] Translation: X:130.79, Y:-114.53, Z:-5.01 [[-9.83691635e-01 -1.79642914e-01 8.89896530e-03 1.30794338e+02] [ 1.79635597e-01 -9.83731886e-01 -1.62139311e-03 -1.14530160e+02] [ 9.04546770e-03 3.62010257e-06 9.99959089e-01 -5.01156006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.486559995 meters 0.012483469633580584 Centerline is valid? [True, True] Translation: X:130.66, Y:-115.24, Z:-4.03 [[-9.94277876e-01 1.06524587e-01 8.00114495e-03 1.30655966e+02] [ 1.06521070e-01 9.94310069e-01 -8.65639154e-04 -1.15238474e+02] [-8.04783083e-03 -8.39534042e-06 -9.99967616e-01 -4.02963053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5465599949999 meters 0.012558666766825011 Centerline is valid? [True, True] Translation: X:130.73, Y:-114.52, Z:-5.01 [[-9.84341989e-01 -1.76115863e-01 7.35201401e-03 1.30733949e+02] [ 1.76110729e-01 -9.84369444e-01 -1.34501261e-03 -1.14521736e+02] [ 7.47397600e-03 -2.91838448e-05 9.99972069e-01 -5.01060142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.606559995 meters 0.012772603894785205 Centerline is valid? [True, True] Translation: X:130.60, Y:-115.23, Z:-4.03 [[-9.95030718e-01 9.92682171e-02 7.72603511e-03 1.30595944e+02] [ 9.92649607e-02 9.95060712e-01 -8.04762425e-04 -1.15232773e+02] [-7.76776133e-03 -3.38387611e-05 -9.99969830e-01 -4.02907762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.666559995 meters 0.012951821610114503 Centerline is valid? [True, True] Translation: X:130.61, Y:-115.21, Z:-4.03 [[-9.99625575e-01 2.61932012e-02 7.91365285e-03 1.30605935e+02] [ 2.61919712e-02 9.99656898e-01 -2.59043776e-04 -1.15205491e+02] [-7.91772284e-03 -5.16726159e-05 -9.99968653e-01 -4.02859658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7265599949999 meters 0.013451318514419889 Centerline is valid? [True, True] Translation: X:130.60, Y:-115.18, Z:-4.03 [[-9.98798399e-01 -4.83952390e-02 7.72389566e-03 1.30603418e+02] [-4.83943921e-02 9.98828261e-01 2.96616439e-04 -1.15176371e+02] [-7.72920009e-03 -7.75332100e-05 -9.99970126e-01 -4.02815108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.786559995 meters 0.013667254149181697 Centerline is valid? [True, True] Translation: X:130.58, Y:-114.46, Z:-5.01 [[-9.99099039e-01 -4.19398493e-02 6.49306254e-03 1.30576628e+02] [ 4.19388440e-02 -9.99120137e-01 -2.90967779e-04 -1.14463125e+02] [ 6.49955268e-03 -1.83940911e-05 9.99978878e-01 -5.01153784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8465599949999 meters 0.014114017969876975 Centerline is valid? [True, True] Translation: X:130.53, Y:-115.18, Z:-4.03 [[-9.98274733e-01 -5.83979273e-02 6.10247922e-03 1.30533485e+02] [-5.83974104e-02 9.98293380e-01 2.63006212e-04 -1.15177947e+02] [-6.10742362e-03 -9.38165273e-05 -9.99981345e-01 -4.02931488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.906559995 meters 0.01465741942381039 Centerline is valid? [True, True] Translation: X:130.53, Y:-115.15, Z:-4.03 [[-9.91364979e-01 -1.30977047e-01 6.36331912e-03 1.30525147e+02] [-1.30975061e-01 9.91385395e-01 7.29698108e-04 -1.15150988e+02] [-6.40407535e-03 -1.10038959e-04 -9.99979488e-01 -4.02930164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9665599949999 meters 0.016116555539438512 Centerline is valid? [True, True] Translation: X:130.50, Y:-115.12, Z:-4.03 [[-9.78962281e-01 -2.03930482e-01 6.72389258e-03 1.30504212e+02] [-2.03926631e-01 9.78985362e-01 1.26069370e-03 -1.15124580e+02] [-6.83968629e-03 -1.37009188e-04 -9.99976600e-01 -4.02835391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.026559995 meters 0.01588071977143988 Centerline is valid? [True, True] Translation: X:130.49, Y:-115.10, Z:-4.03 [[-9.61127441e-01 -2.76005340e-01 7.42258221e-03 1.30494281e+02] [-2.75998518e-01 9.61156086e-01 1.94859070e-03 -1.15099579e+02] [-7.67208150e-03 -1.75777693e-04 -9.99970554e-01 -4.02812787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0865599949999 meters 0.0166666047594101 Centerline is valid? [True, True] Translation: X:130.47, Y:-115.08, Z:-4.03 [[-9.38616699e-01 -3.44847519e-01 8.88151272e-03 1.30470154e+02] [-3.44834285e-01 9.38658692e-01 3.02907127e-03 -1.15076895e+02] [-9.38127683e-03 -2.19513216e-04 -9.99955971e-01 -4.02572214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.146559995 meters 0.015816173270740683 Centerline is valid? [True, True] Translation: X:130.43, Y:-115.07, Z:-4.03 [[-9.11687428e-01 -4.10774991e-01 9.48370578e-03 1.30430243e+02] [-4.10755379e-01 9.11736724e-01 4.02058144e-03 -1.15066437e+02] [-1.02981971e-02 -2.29969606e-04 -9.99946946e-01 -4.02610540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2065599949999 meters 0.0156525104465431 Centerline is valid? [True, True] Translation: X:130.37, Y:-115.07, Z:-4.03 [[-8.80507138e-01 -4.73952528e-01 8.72817759e-03 1.30366167e+02] [-4.73931382e-01 8.80550376e-01 4.48120192e-03 -1.15068720e+02] [-9.80947704e-03 -1.90826982e-04 -9.99951868e-01 -4.02648667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.266559995 meters 0.01422563243885248 Centerline is valid? [True, True] Translation: X:130.32, Y:-115.07, Z:-4.03 [[-8.45048125e-01 -5.34638857e-01 7.41350468e-03 1.30316366e+02] [-5.34619650e-01 8.45080633e-01 4.53370244e-03 -1.15071077e+02] [-8.68890271e-03 -1.32208534e-04 -9.99962242e-01 -4.02777104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3265599949999 meters 0.013317838927328199 Centerline is valid? [True, True] Translation: X:130.24, Y:-115.09, Z:-4.03 [[-8.06441410e-01 -5.91278554e-01 6.47489885e-03 1.30243889e+02] [-5.91260217e-01 8.06467400e-01 4.65721428e-03 -1.15093350e+02] [-7.97550577e-03 -7.25796475e-05 -9.99968193e-01 -4.02870997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.386559995 meters 0.013130606805277969 Centerline is valid? [True, True] Translation: X:130.17, Y:-115.12, Z:-4.03 [[-7.62478829e-01 -6.46984333e-01 6.10800480e-03 1.30166582e+02] [-6.46963988e-01 7.62503292e-01 5.13108149e-03 -1.15122691e+02] [-7.97710311e-03 -3.93181400e-05 -9.99968182e-01 -4.02855821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4465599949999 meters 0.012916573713792212 Centerline is valid? [True, True] Translation: X:130.08, Y:-115.17, Z:-4.03 [[-7.14524059e-01 -6.99589345e-01 5.48785040e-03 1.30079814e+02] [-6.99568774e-01 7.14545134e-01 5.36498030e-03 -1.15168419e+02] [-7.67459985e-03 -5.72127571e-06 -9.99970550e-01 -4.02939212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.506559995 meters 0.01296057510373583 Centerline is valid? [True, True] Translation: X:130.00, Y:-115.21, Z:-4.03 [[-6.60362039e-01 -7.50924584e-01 5.85203842e-03 1.30000234e+02] [-7.50895054e-01 6.60387968e-01 6.65954027e-03 -1.15211718e+02] [-8.86542827e-03 3.44088656e-06 -9.99960701e-01 -4.02945787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5665599949999 meters 0.012913858541872318 Centerline is valid? [True, True] Translation: X:129.91, Y:-115.28, Z:-4.03 [[-6.01449664e-01 -7.98887655e-01 6.06770099e-03 1.29911001e+02] [-7.98846946e-01 6.01480270e-01 8.06478810e-03 -1.15275934e+02] [-1.00924621e-02 3.39968551e-06 -9.99949070e-01 -4.02854743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.626559995 meters 0.01295620794739874 Centerline is valid? [True, True] Translation: X:129.83, Y:-115.34, Z:-4.03 [[-5.37736925e-01 -8.43093277e-01 5.72065556e-03 1.29829766e+02] [-8.43045786e-01 5.37767353e-01 8.94850124e-03 -1.15341440e+02] [-1.06208030e-02 -1.08350218e-05 -9.99943598e-01 -4.02799300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6865599949999 meters 0.013003669526133991 Centerline is valid? [True, True] Translation: X:129.75, Y:-115.41, Z:-4.03 [[-4.69344026e-01 -8.83000459e-01 5.13565864e-03 1.29748926e+02] [-8.82948592e-01 4.69372121e-01 9.57053499e-03 -1.15414183e+02] [-1.08613218e-02 -4.26491376e-05 -9.99941013e-01 -4.02736760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.746559995 meters 0.013127308588374242 Centerline is valid? [True, True] Translation: X:129.67, Y:-115.50, Z:-4.03 [[-3.98481374e-01 -9.17167144e-01 4.12613296e-03 1.29673575e+02] [-9.17119625e-01 3.98502731e-01 9.33631453e-03 -1.15497961e+02] [-1.02072362e-02 -6.38100623e-05 -9.99947903e-01 -4.02801103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8065599949999 meters 0.013247865034486066 Centerline is valid? [True, True] Translation: X:129.60, Y:-115.59, Z:-4.03 [[-3.24546681e-01 -9.45865373e-01 2.85438988e-03 1.29603103e+02] [-9.45830862e-01 3.24559224e-01 8.08028847e-03 -1.15590274e+02] [-8.56928363e-03 -7.73392321e-05 -9.99963280e-01 -4.02942129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.866559995 meters 0.013508627747125166 Centerline is valid? [True, True] Translation: X:129.54, Y:-115.68, Z:-4.03 [[-2.48730459e-01 -9.68570572e-01 2.05097162e-03 1.29541391e+02] [-9.68540589e-01 2.48738898e-01 7.62152500e-03 -1.15684267e+02] [-7.89214125e-03 -9.07438462e-05 -9.99968853e-01 -4.03032212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9265599949999 meters 0.013935254862825826 Centerline is valid? [True, True] Translation: X:129.48, Y:-115.79, Z:-4.03 [[-1.72481895e-01 -9.85011686e-01 1.40521798e-03 1.29484999e+02] [-9.84983447e-01 1.72487592e-01 7.45927534e-03 -1.15792071e+02] [-7.58985604e-03 -9.75265030e-05 -9.99971192e-01 -4.02955356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.986559995 meters 0.014021248591283335 Centerline is valid? [True, True] Translation: X:129.44, Y:-115.90, Z:-4.03 [[-9.51914663e-02 -9.95458553e-01 9.24478328e-04 1.29438406e+02] [-9.95423045e-01 9.51958800e-02 8.40866674e-03 -1.15897195e+02] [-8.45848575e-03 -1.19813716e-04 -9.99964219e-01 -4.02889191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0465599949999 meters 0.013965126066277655 Centerline is valid? [True, True] Translation: X:129.40, Y:-116.01, Z:-4.03 [[-1.92368045e-02 -9.99814902e-01 3.27630942e-04 1.29401229e+02] [-9.99764809e-01 1.92391207e-02 1.00091854e-02 -1.16009992e+02] [-1.00136361e-02 -1.35009143e-04 -9.99949853e-01 -4.02737879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.106559995 meters 0.013872329949896114 Centerline is valid? [True, True] Translation: X:129.37, Y:-116.12, Z:-4.03 [[ 5.58354304e-02 -9.98439875e-01 -4.69864820e-04 1.29373100e+02] [-9.98383045e-01 -5.58372658e-02 1.06534401e-02 -1.16123500e+02] [-1.06630553e-02 -1.25734341e-04 -9.99943140e-01 -4.02623484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.166559995 meters 0.013052221861883453 Centerline is valid? [True, True] Translation: X:129.36, Y:-116.24, Z:-4.03 [[ 1.29868747e-01 -9.91530334e-01 -1.30622956e-03 1.29356851e+02] [-9.91472075e-01 -1.29875276e-01 1.07488401e-02 -1.16238850e+02] [-1.08274479e-02 -1.00848262e-04 -9.99941376e-01 -4.02713173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2265599949999 meters 0.013021467341538697 Centerline is valid? [True, True] Translation: X:129.35, Y:-116.36, Z:-4.03 [[ 2.03445181e-01 -9.79083929e-01 -2.17234119e-03 1.29348790e+02] [-9.79023877e-01 -2.03456763e-01 1.08440446e-02 -1.16358066e+02] [-1.10592073e-02 -7.93947164e-05 -9.99938842e-01 -4.02598069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.286559995 meters 0.012995277037636198 Centerline is valid? [True, True] Translation: X:129.35, Y:-116.48, Z:-4.02 [[ 2.76089067e-01 -9.61126422e-01 -3.29066110e-03 1.29349764e+02] [-9.61055377e-01 -2.76108669e-01 1.16860824e-02 -1.16475632e+02] [-1.21403827e-02 -6.38920577e-05 -9.99926301e-01 -4.02432339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3465599949999 meters 0.012894135431342725 Centerline is valid? [True, True] Translation: X:129.36, Y:-116.60, Z:-4.02 [[ 3.48666118e-01 -9.37237009e-01 -4.32754952e-03 1.29361207e+02] [-9.37162611e-01 -3.48692968e-01 1.18090750e-02 -1.16596580e+02] [-1.25768882e-02 -6.18067345e-05 -9.99920906e-01 -4.02466412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.406559995 meters 0.012837468655422223 Centerline is valid? [True, True] Translation: X:129.38, Y:-116.71, Z:-4.02 [[ 4.19729820e-01 -9.07632299e-01 -5.52160423e-03 1.29378103e+02] [-9.07551603e-01 -4.19766132e-01 1.21029917e-02 -1.16707771e+02] [-1.33028487e-02 -6.88457793e-05 -9.99911511e-01 -4.02454475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4665599949999 meters 0.012938297709822875 Centerline is valid? [True, True] Translation: X:129.41, Y:-116.82, Z:-4.02 [[ 4.88179772e-01 -8.72720276e-01 -6.31111363e-03 1.29405215e+02] [-8.72645493e-01 -4.88220560e-01 1.14249427e-02 -1.16822276e+02] [-1.30519946e-02 -7.00610523e-05 -9.99914817e-01 -4.02438476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.526559995 meters 0.012786956057679258 Centerline is valid? [True, True] Translation: X:129.44, Y:-116.93, Z:-4.03 [[ 5.53322448e-01 -8.32938760e-01 -6.87689258e-03 1.29439946e+02] [-8.32872979e-01 -5.53365176e-01 1.04681943e-02 -1.16931168e+02] [-1.25247977e-02 -6.47089031e-05 -9.99921560e-01 -4.02566966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5865599949999 meters 0.012525347719223255 Centerline is valid? [True, True] Translation: X:129.48, Y:-117.03, Z:-4.03 [[ 6.14838001e-01 -7.88624596e-01 -6.74378073e-03 1.29481277e+02] [-7.88576266e-01 -6.14874982e-01 8.73094530e-03 -1.17034432e+02] [-1.10320203e-02 -5.01315284e-05 -9.99939144e-01 -4.02717391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.646559995 meters 0.012498148159447135 Centerline is valid? [True, True] Translation: X:129.53, Y:-117.13, Z:-4.03 [[ 6.72685984e-01 -7.39898720e-01 -6.59174367e-03 1.29527028e+02] [-7.39862642e-01 -6.72718279e-01 7.30672913e-03 -1.17131823e+02] [-9.84062599e-03 -3.81493938e-05 -9.99951579e-01 -4.02738329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7065599949999 meters 0.012270917954737266 Centerline is valid? [True, True] Translation: X:129.58, Y:-117.22, Z:-4.03 [[ 7.26756555e-01 -6.86863969e-01 -6.54200003e-03 1.29577703e+02] [-6.86835751e-01 -7.26785998e-01 6.22599267e-03 -1.17223026e+02] [-9.03104406e-03 -3.15014816e-05 -9.99959219e-01 -4.02888577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.766559995 meters 0.01241423181538494 Centerline is valid? [True, True] Translation: X:129.60, Y:-117.25, Z:-4.03 [[ 7.79390088e-01 -6.26501278e-01 -6.87304918e-03 1.29595611e+02] [-6.26476383e-01 -7.79420391e-01 5.58531773e-03 -1.17253896e+02] [-8.85620337e-03 -4.73382891e-05 -9.99960782e-01 -4.02847742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8265599949999 meters 0.01289361319260211 Centerline is valid? [True, True] Translation: X:129.62, Y:-117.28, Z:-4.03 [[ 8.28426359e-01 -5.60033977e-01 -8.46832945e-03 1.29615159e+02] [-5.60003482e-01 -8.28469634e-01 5.84515242e-03 -1.17283587e+02] [-1.02892378e-02 -9.99843602e-05 -9.99947059e-01 -4.02634928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.886559995 meters 0.01335080721482593 Centerline is valid? [True, True] Translation: X:129.64, Y:-117.31, Z:-4.02 [[ 8.70780476e-01 -4.91575232e-01 -9.75468492e-03 1.29638727e+02] [-4.91542648e-01 -8.70835101e-01 5.66152731e-03 -1.17308059e+02] [-1.12777886e-02 -1.35103792e-04 -9.99936395e-01 -4.02460257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9465599949999 meters 0.013277988910215059 Centerline is valid? [True, True] Translation: X:129.67, Y:-117.33, Z:-4.02 [[ 9.06430079e-01 -4.22234276e-01 -1.01354900e-02 1.29666662e+02] [-4.22206255e-01 -9.06486734e-01 4.86614382e-03 -1.17328448e+02] [-1.12423400e-02 -1.31551847e-04 -9.99936794e-01 -4.02409171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.006559995 meters 0.012754441868475592 Centerline is valid? [True, True] Translation: X:129.70, Y:-117.34, Z:-4.03 [[ 9.35242052e-01 -3.53898517e-01 -8.83988142e-03 1.29697140e+02] [-3.53881980e-01 -9.35283826e-01 3.42202436e-03 -1.17341777e+02] [-9.47884746e-03 -7.21463515e-05 -9.99955072e-01 -4.02575362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0665599949999 meters 0.012047642115193958 Centerline is valid? [True, True] Translation: X:129.73, Y:-117.36, Z:-4.03 [[ 9.58341101e-01 -2.85530441e-01 -7.39606625e-03 1.29728795e+02] [-2.85521845e-01 -9.58369640e-01 2.21565530e-03 -1.17355912e+02] [-7.72080238e-03 -1.16150590e-05 -9.99970194e-01 -4.02862784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.126559995 meters 0.012205381706655777 Centerline is valid? [True, True] Translation: X:129.76, Y:-117.37, Z:-4.03 [[ 9.76791600e-01 -2.14070737e-01 -7.20343792e-03 1.29759937e+02] [-2.14065079e-01 -9.76818161e-01 1.55666938e-03 -1.17369454e+02] [-7.36968634e-03 2.14629339e-05 -9.99972843e-01 -4.02932560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1865599949999 meters 0.013290557915996407 Centerline is valid? [True, True] Translation: X:129.79, Y:-117.38, Z:-4.03 [[ 9.89758414e-01 -1.42553781e-01 -7.52999903e-03 1.29788183e+02] [-1.42550158e-01 -9.89787056e-01 1.01842617e-03 -1.17377092e+02] [-7.59827607e-03 6.54066731e-05 -9.99971131e-01 -4.02777313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.246559995 meters 0.013079794198582292 Centerline is valid? [True, True] Translation: X:129.82, Y:-117.39, Z:-4.03 [[ 9.97733225e-01 -6.67953983e-02 -8.17228731e-03 1.29816642e+02] [-6.67938828e-02 -9.97766690e-01 4.58551621e-04 -1.17387969e+02] [-8.18466520e-03 8.83466133e-05 -9.99966501e-01 -4.02869420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3065599949999 meters 0.014258859116451849 Centerline is valid? [True, True] Translation: X:129.85, Y:-117.39, Z:-4.03 [[ 9.99886426e-01 1.17396242e-02 -9.45072626e-03 1.29845498e+02] [ 1.17381576e-02 -9.99931083e-01 -2.10639916e-04 -1.17392768e+02] [-9.45254778e-03 9.96818784e-05 -9.99955319e-01 -4.02580681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.366559995 meters 0.01286935500914075 Centerline is valid? [True, True] Translation: X:129.88, Y:-117.40, Z:-4.03 [[ 9.95733302e-01 9.16880762e-02 -1.04157550e-02 1.29876252e+02] [ 9.16820881e-02 -9.95787773e-01 -1.05195480e-03 -1.17403284e+02] [-1.04683331e-02 9.25282688e-05 -9.99945201e-01 -4.02737204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4265599949999 meters 0.01224949384848423 Centerline is valid? [True, True] Translation: X:129.91, Y:-117.41, Z:-4.03 [[ 9.84618591e-01 1.74371475e-01 -1.09917901e-02 1.29908454e+02] [ 1.74360132e-01 -9.84679941e-01 -1.98930676e-03 -1.17412890e+02] [-1.11702736e-02 4.21784535e-05 -9.99937610e-01 -4.02718010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.486559995 meters 0.012232958936282491 Centerline is valid? [True, True] Translation: X:129.94, Y:-117.42, Z:-4.03 [[ 9.65880225e-01 2.58780733e-01 -1.03885973e-02 1.29941316e+02] [ 2.58766287e-01 -9.65936090e-01 -2.73463525e-03 -1.17420064e+02] [-1.07423920e-02 -4.68886518e-05 -9.99942298e-01 -4.02729352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5465599949999 meters 0.013331809643682305 Centerline is valid? [True, True] Translation: X:129.98, Y:-117.42, Z:-4.03 [[ 9.39599535e-01 3.42148257e-01 -9.34258223e-03 1.29975326e+02] [ 3.42132752e-01 -9.39645972e-01 -3.26002482e-03 -1.17424624e+02] [-9.89413157e-03 -1.33285561e-04 -9.99951043e-01 -4.02871952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.606559995 meters 0.014141701017401111 Centerline is valid? [True, True] Translation: X:130.01, Y:-117.42, Z:-4.03 [[ 9.07739661e-01 4.19470552e-01 -7.29140384e-03 1.30009583e+02] [ 4.19458334e-01 -9.07768932e-01 -3.20496624e-03 -1.17424864e+02] [-7.96329883e-03 -1.49165141e-04 -9.99968281e-01 -4.03033191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.666559995 meters 0.01626107685682639 Centerline is valid? [True, True] Translation: X:130.04, Y:-117.42, Z:-4.03 [[ 8.68399080e-01 4.95838329e-01 -5.23356397e-03 1.30044701e+02] [ 4.95830399e-01 -8.68414836e-01 -2.80863697e-03 -1.17424128e+02] [-5.93753445e-03 -1.55942348e-04 -9.99982361e-01 -4.03207898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7265599949999 meters 0.01932292654882501 Centerline is valid? [True, True] Translation: X:130.08, Y:-117.42, Z:-4.03 [[ 8.23025025e-01 5.67982986e-01 -5.01352002e-03 1.30079964e+02] [ 5.67973895e-01 -8.23040271e-01 -3.21961786e-03 -1.17421053e+02] [-5.95501705e-03 -1.97722426e-04 -9.99982249e-01 -4.03128498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.786559995 meters 0.02155513342191924 Centerline is valid? [True, True] Translation: X:130.11, Y:-117.41, Z:-4.03 [[ 7.72961082e-01 6.34429382e-01 -5.52498613e-03 1.30112683e+02] [ 6.34415580e-01 -7.72980783e-01 -4.19312523e-03 -1.17411346e+02] [-6.93094995e-03 -2.64014666e-04 -9.99975946e-01 -4.03006029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8465599949999 meters 0.022892612243614163 Centerline is valid? [True, True] Translation: X:130.14, Y:-117.40, Z:-4.03 [[ 7.20260919e-01 6.93678015e-01 -5.91776368e-03 1.30141586e+02] [ 6.93658071e-01 -7.20285163e-01 -5.26925160e-03 -1.17395442e+02] [-7.91764137e-03 -3.09668538e-04 -9.99968607e-01 -4.02909354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.906559995 meters 0.021320493664396416 Centerline is valid? [True, True] Translation: X:130.17, Y:-117.38, Z:-4.03 [[ 6.64004171e-01 7.47699384e-01 -6.64017887e-03 1.30167845e+02] [ 7.47667476e-01 -6.64037268e-01 -6.91752066e-03 -1.17375288e+02] [-9.58155217e-03 -3.71383195e-04 -9.99954027e-01 -4.02825924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9665599949999 meters 0.01939183474636366 Centerline is valid? [True, True] Translation: X:130.19, Y:-117.35, Z:-4.03 [[ 6.05758664e-01 7.95619625e-01 -6.77155135e-03 1.30192304e+02] [ 7.95576823e-01 -6.05796390e-01 -8.26152155e-03 -1.17353332e+02] [-1.06752100e-02 -3.82801056e-04 -9.99942945e-01 -4.02779308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.026559995 meters 0.018566725999026035 Centerline is valid? [True, True] Translation: X:130.22, Y:-117.33, Z:-4.03 [[ 5.44012896e-01 8.39055796e-01 -5.94478738e-03 1.30215416e+02] [ 8.39012419e-01 -5.44045269e-01 -8.53848312e-03 -1.17330565e+02] [-1.03984972e-02 -3.42705512e-04 -9.99945875e-01 -4.02817669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0865599949999 meters 0.017642365523772827 Centerline is valid? [True, True] Translation: X:130.24, Y:-117.30, Z:-4.03 [[ 4.79882484e-01 8.77322103e-01 -4.32772496e-03 1.30235166e+02] [ 8.77291013e-01 -4.79901933e-01 -7.39008309e-03 -1.17304828e+02] [-8.56036681e-03 -2.50302779e-04 -9.99963328e-01 -4.02998697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.146559995 meters 0.016742608124769874 Centerline is valid? [True, True] Translation: X:130.25, Y:-117.28, Z:-4.03 [[ 4.11477619e-01 9.11415039e-01 -2.96586649e-03 1.30253388e+02] [ 9.11394514e-01 -4.11488266e-01 -6.11935502e-03 -1.17278660e+02] [-6.79769146e-03 -1.85096816e-04 -9.99976878e-01 -4.03192802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2065599949999 meters 0.017610516323386297 Centerline is valid? [True, True] Translation: X:130.27, Y:-117.25, Z:-4.03 [[ 3.37521035e-01 9.41315322e-01 -2.23968701e-03 1.30273100e+02] [ 9.41297927e-01 -3.37528421e-01 -5.72522634e-03 -1.17253520e+02] [-6.14520129e-03 -1.75828417e-04 -9.99981103e-01 -4.03206025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.266559995 meters 0.01765325909893402 Centerline is valid? [True, True] Translation: X:130.29, Y:-117.23, Z:-4.03 [[ 2.61713922e-01 9.65143953e-01 -1.72424285e-03 1.30290835e+02] [ 9.65127223e-01 -2.61719543e-01 -5.68546303e-03 -1.17227027e+02] [-5.93855832e-03 -1.76148888e-04 -9.99982351e-01 -4.03200380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3265599949999 meters 0.019719533915096815 Centerline is valid? [True, True] Translation: X:130.31, Y:-117.20, Z:-4.03 [[ 1.82361727e-01 9.83229903e-01 -1.77715714e-03 1.30308324e+02] [ 9.83196621e-01 -1.82370185e-01 -8.09440525e-03 -1.17200707e+02] [-8.28276177e-03 -2.71185176e-04 -9.99965661e-01 -4.02894096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.386559995 meters 0.0190328257867568 Centerline is valid? [True, True] Translation: X:130.32, Y:-117.17, Z:-4.03 [[ 1.04099941e-01 9.94565917e-01 -1.35628991e-03 1.30319713e+02] [ 9.94517823e-01 -1.04108252e-01 -9.78625532e-03 -1.17170578e+02] [-9.87427697e-03 -3.30105893e-04 -9.99951194e-01 -4.02786813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4465599949999 meters 0.018520230056088764 Centerline is valid? [True, True] Translation: X:130.33, Y:-117.14, Z:-4.03 [[ 2.76308613e-02 9.99618034e-01 -5.67620257e-04 1.30326703e+02] [ 9.99572358e-01 -2.76350276e-02 -9.56069456e-03 -1.17139943e+02] [-9.57272889e-03 -3.03207294e-04 -9.99954134e-01 -4.02821209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.506559995 meters 0.016825392236233794 Centerline is valid? [True, True] Translation: X:130.33, Y:-117.11, Z:-4.03 [[-4.77897568e-02 9.98857404e-01 1.57665475e-04 1.30332086e+02] [ 9.98823411e-01 4.77894317e-02 -8.24404534e-03 -1.17109044e+02] [-8.24216047e-03 -2.36500954e-04 -9.99966005e-01 -4.02900559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5665599949999 meters 0.015967888055042994 Centerline is valid? [True, True] Translation: X:130.33, Y:-117.08, Z:-4.03 [[-1.21143335e-01 9.92634828e-01 6.25627910e-04 1.30333758e+02] [ 9.92614248e-01 1.21144854e-01 -6.39373968e-03 -1.17079846e+02] [-6.42244028e-03 -1.53551773e-04 -9.99979364e-01 -4.02989684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.626559995 meters 0.015488499147468044 Centerline is valid? [True, True] Translation: X:130.33, Y:-117.05, Z:-4.03 [[-1.96825837e-01 9.80437878e-01 1.07604294e-03 1.30334913e+02] [ 9.80419217e-01 1.96828731e-01 -6.05053241e-03 -1.17048952e+02] [-6.14396732e-03 -1.35927926e-04 -9.99981116e-01 -4.02996690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6865599949999 meters 0.01614776593731612 Centerline is valid? [True, True] Translation: X:130.34, Y:-117.02, Z:-4.03 [[-2.74388215e-01 9.61617288e-01 1.81640311e-03 1.30337252e+02] [ 9.61591923e-01 2.74394174e-01 -6.98650474e-03 -1.17018055e+02] [-7.21675417e-03 -1.70376002e-04 -9.99973944e-01 -4.02810122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.746559995 meters 0.016110041085625845 Centerline is valid? [True, True] Translation: X:130.34, Y:-116.99, Z:-4.03 [[-3.50227402e-01 9.36660793e-01 2.70676576e-03 1.30336798e+02] [ 9.36628062e-01 3.50237799e-01 -7.83304883e-03 -1.16986811e+02] [-8.28492141e-03 -2.08115574e-04 -9.99965658e-01 -4.02692344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8065599949999 meters 0.0164525906569225 Centerline is valid? [True, True] Translation: X:130.33, Y:-116.95, Z:-4.03 [[-4.24413364e-01 9.05460829e-01 3.73947995e-03 1.30334647e+02] [ 9.05420238e-01 4.24429762e-01 -8.57727465e-03 -1.16954535e+02] [-9.35353280e-03 -2.54509166e-04 -9.99956222e-01 -4.02614816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.866559995 meters 0.016928282946685407 Centerline is valid? [True, True] Translation: X:130.33, Y:-116.92, Z:-4.03 [[-4.94444476e-01 8.69197799e-01 4.45500800e-03 1.30329089e+02] [ 8.69157624e-01 4.94464476e-01 -8.36105091e-03 -1.16923186e+02] [-9.47025024e-03 -2.61971265e-04 -9.99955122e-01 -4.02585271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9265599949999 meters 0.0172318330915456 Centerline is valid? [True, True] Translation: X:130.32, Y:-116.89, Z:-4.03 [[-5.60507976e-01 8.28135140e-01 4.79574853e-03 1.30319726e+02] [ 8.28101073e-01 5.60528440e-01 -7.51540451e-03 -1.16894308e+02] [-8.91192401e-03 -2.41079668e-04 -9.99960259e-01 -4.02560260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.986559995 meters 0.016228455118163627 Centerline is valid? [True, True] Translation: X:130.31, Y:-116.87, Z:-4.03 [[-6.22060217e-01 7.82952491e-01 5.14613943e-03 1.30305877e+02] [ 7.82922812e-01 6.22081466e-01 -6.82048791e-03 -1.16866362e+02] [-8.54143596e-03 -2.13724237e-04 -9.99963498e-01 -4.02593998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0465599949999 meters 0.01555182354278714 Centerline is valid? [True, True] Translation: X:130.29, Y:-116.84, Z:-4.03 [[-6.80673068e-01 7.32565013e-01 5.71637944e-03 1.30292076e+02] [ 7.32536604e-01 6.80697039e-01 -6.45477672e-03 -1.16838733e+02] [-8.61966615e-03 -2.06135493e-04 -9.99962829e-01 -4.02649240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.106559995 meters 0.015293281033595568 Centerline is valid? [True, True] Translation: X:130.28, Y:-116.81, Z:-4.03 [[-7.36305843e-01 6.76617917e-01 6.47302043e-03 1.30278123e+02] [ 6.76589115e-01 7.36334262e-01 -6.24683644e-03 -1.16809453e+02] [-8.99302818e-03 -2.20007001e-04 -9.99959538e-01 -4.02641471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.166559995 meters 0.01663695980778138 Centerline is valid? [True, True] Translation: X:130.30, Y:-116.79, Z:-4.02 [[-7.83615437e-01 6.21190052e-01 8.35263815e-03 1.30297903e+02] [ 6.21150786e-01 7.83659898e-01 -6.99044587e-03 -1.16787847e+02] [-1.08880230e-02 -2.89573546e-04 -9.99940682e-01 -4.02440310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2265599949999 meters 0.016387200929291548 Centerline is valid? [True, True] Translation: X:130.31, Y:-116.77, Z:-4.02 [[-8.25932336e-01 5.63702235e-01 8.69296458e-03 1.30312691e+02] [ 5.63667267e-01 8.25978030e-01 -6.28537076e-03 -1.16766633e+02] [-1.07232753e-02 -2.91351358e-04 -9.99942462e-01 -4.02480197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.286559995 meters 0.015781803817877048 Centerline is valid? [True, True] Translation: X:130.33, Y:-116.75, Z:-4.03 [[-8.62771585e-01 5.05522323e-01 8.50718449e-03 1.30327917e+02] [ 5.05494844e-01 8.62813489e-01 -5.27688419e-03 -1.16747464e+02] [-1.00076963e-02 -2.52407837e-04 -9.99949890e-01 -4.02516489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3465599949999 meters 0.015281470141729727 Centerline is valid? [True, True] Translation: X:130.34, Y:-116.73, Z:-4.03 [[-8.95272204e-01 4.45452161e-01 7.74935498e-03 1.30339578e+02] [ 4.45433551e-01 8.95305720e-01 -4.07662973e-03 -1.16726553e+02] [-8.75398536e-03 -1.97870584e-04 -9.99961664e-01 -4.02579776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.406559995 meters 0.0145102203365245 Centerline is valid? [True, True] Translation: X:130.35, Y:-116.71, Z:-4.03 [[-9.22990625e-01 3.84741058e-01 7.91352520e-03 1.30351515e+02] [ 3.84725425e-01 9.23024535e-01 -3.47198102e-03 -1.16707128e+02] [-8.64019157e-03 -1.60071587e-04 -9.99962660e-01 -4.02556846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4665599949999 meters 0.01350173789821992 Centerline is valid? [True, True] Translation: X:130.36, Y:-116.69, Z:-4.03 [[-9.46585932e-01 3.22337334e-01 8.58584474e-03 1.30362908e+02] [ 3.22322816e-01 9.46624860e-01 -3.06210268e-03 -1.16687674e+02] [-9.11460409e-03 -1.31129664e-04 -9.99958453e-01 -4.02551915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.526559995 meters 0.013103054735427335 Centerline is valid? [True, True] Translation: X:130.37, Y:-116.66, Z:-4.03 [[-9.66286288e-01 2.57305678e-01 9.19767970e-03 1.30367227e+02] [ 2.57292945e-01 9.66330056e-01 -2.56207068e-03 -1.16664131e+02] [-9.54722967e-03 -1.09195671e-04 -9.99954418e-01 -4.02517231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5865599949999 meters 0.012549963047085609 Centerline is valid? [True, True] Translation: X:130.38, Y:-116.64, Z:-4.03 [[-9.81295449e-01 1.92268049e-01 9.60408604e-03 1.30375845e+02] [ 1.92258131e-01 9.81342444e-01 -1.95414916e-03 -1.16643193e+02] [-9.80061771e-03 -7.11340408e-05 -9.99951970e-01 -4.02595145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.646559995 meters 0.01241567667669388 Centerline is valid? [True, True] Translation: X:130.38, Y:-116.62, Z:-4.03 [[-9.92163977e-01 1.24596114e-01 9.29790101e-03 1.30381980e+02] [ 1.24590218e-01 9.92207542e-01 -1.21289717e-03 -1.16618602e+02] [-9.37656978e-03 -4.49653628e-05 -9.99956038e-01 -4.02523558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7065599949999 meters 0.012279200086075368 Centerline is valid? [True, True] Translation: X:130.47, Y:-115.93, Z:-5.01 [[-9.79788659e-01 -1.99787014e-01 9.96661033e-03 1.30474099e+02] [ 1.99777688e-01 -9.79839344e-01 -1.93282705e-03 -1.15933497e+02] [ 1.01518307e-02 9.73443474e-05 9.99948464e-01 -5.01425747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.766559995 meters 0.012324902373436473 Centerline is valid? [True, True] Translation: X:130.33, Y:-116.62, Z:-4.03 [[-9.92681025e-01 1.20326592e-01 1.02904595e-02 1.30331047e+02] [ 1.20319567e-01 9.92734359e-01 -1.30136157e-03 -1.16615535e+02] [-1.03722811e-02 -5.36933111e-05 -9.99946205e-01 -4.02618837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8265599949999 meters 0.012594942689466496 Centerline is valid? [True, True] Translation: X:130.31, Y:-116.59, Z:-4.03 [[-9.98825119e-01 4.74285900e-02 9.94533859e-03 1.30313168e+02] [ 4.74255064e-02 9.98874629e-01 -5.45793342e-04 -1.16585076e+02] [-9.96003260e-03 -7.34893808e-05 -9.99950395e-01 -4.02585737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.886559995 meters 0.013190632558424873 Centerline is valid? [True, True] Translation: X:130.37, Y:-115.90, Z:-5.01 [[-9.90949430e-01 -1.33908772e-01 9.36316706e-03 1.30369255e+02] [ 1.33903117e-01 -9.90993663e-01 -1.23104303e-03 -1.15898483e+02] [ 9.44368668e-03 3.38558697e-05 9.99955407e-01 -5.01338020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9465599949999 meters 0.014569919705157837 Centerline is valid? [True, True] Translation: X:130.27, Y:-116.58, Z:-4.03 [[-9.99416261e-01 3.30210167e-02 8.76071363e-03 1.30272494e+02] [ 3.30183888e-02 9.99454646e-01 -4.44468599e-04 -1.16578523e+02] [-8.77061275e-03 -1.54944496e-04 -9.99961525e-01 -4.02700454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.006559995 meters 0.015535873023652995 Centerline is valid? [True, True] Translation: X:130.26, Y:-116.55, Z:-4.03 [[-9.99070443e-01 -4.21613122e-02 8.98181431e-03 1.30261982e+02] [-4.21613761e-02 9.99110797e-01 1.82322375e-04 -1.16549342e+02] [-8.98151461e-03 -1.96532754e-04 -9.99959646e-01 -4.02688116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0665599949999 meters 0.01715400865895205 Centerline is valid? [True, True] Translation: X:130.25, Y:-115.88, Z:-5.01 [[-9.97117651e-01 -7.52841057e-02 9.41774810e-03 1.30253221e+02] [ 7.52830004e-02 -9.97162097e-01 -4.72323284e-04 -1.15877068e+02] [ 9.42657988e-03 2.38034450e-04 9.99955541e-01 -5.01372084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.126559995 meters 0.01794814602345802 Centerline is valid? [True, True] Translation: X:130.20, Y:-116.55, Z:-4.03 [[-9.98413675e-01 -5.54382528e-02 9.83538298e-03 1.30202449e+02] [-5.54385498e-02 9.98462072e-01 2.42642563e-04 -1.16546241e+02] [-9.83370855e-03 -3.03001716e-04 -9.99951602e-01 -4.02704928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1865599949999 meters 0.017958946436408926 Centerline is valid? [True, True] Translation: X:130.20, Y:-116.52, Z:-4.03 [[-9.91902131e-01 -1.26640864e-01 9.60493053e-03 1.30196314e+02] [-1.26637856e-01 9.91948588e-01 9.23132020e-04 -1.16520286e+02] [-9.64450351e-03 -3.00691193e-04 -9.99953446e-01 -4.02731742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.246559995 meters 0.018514010654543844 Centerline is valid? [True, True] Translation: X:130.18, Y:-116.50, Z:-4.03 [[-9.80236891e-01 -1.97583958e-01 9.80903940e-03 1.30178874e+02] [-1.97577300e-01 9.80285917e-01 1.65287588e-03 -1.16495350e+02] [-9.94224494e-03 -3.17833614e-04 -9.99950524e-01 -4.02676113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3065599949999 meters 0.01810815990142365 Centerline is valid? [True, True] Translation: X:130.17, Y:-116.47, Z:-4.03 [[-9.63732536e-01 -2.66620553e-01 1.15360414e-02 1.30174324e+02] [-2.66606093e-01 9.63801505e-01 2.80193645e-03 -1.16471383e+02] [-1.18655079e-02 -3.75261609e-04 -9.99929532e-01 -4.02574559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.366559995 meters 0.01794639468012417 Centerline is valid? [True, True] Translation: X:130.01, Y:-115.82, Z:-5.02 [[-9.90075460e-01 1.40013240e-01 1.21192167e-02 1.30014176e+02] [-1.39997580e-01 -9.90149544e-01 2.13524548e-03 -1.15817787e+02] [ 1.22987995e-02 4.17393154e-04 9.99924280e-01 -5.01524895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4265599949999 meters 0.01676284907429158 Centerline is valid? [True, True] Translation: X:130.08, Y:-116.50, Z:-4.03 [[-9.63293898e-01 -2.68184986e-01 1.19029182e-02 1.30076418e+02] [-2.68168701e-01 9.63367378e-01 2.97355260e-03 -1.16501041e+02] [-1.22643453e-02 -3.27585054e-04 -9.99924736e-01 -4.02600733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.486559995 meters 0.016466730541750497 Centerline is valid? [True, True] Translation: X:130.05, Y:-116.48, Z:-4.03 [[-9.42355003e-01 -3.34434661e-01 1.09775635e-02 1.30053875e+02] [-3.34415458e-01 9.42418897e-01 3.59496427e-03 -1.16482154e+02] [-1.15477440e-02 -2.83334384e-04 -9.99933282e-01 -4.02677547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5465599949999 meters 0.01627459747077382 Centerline is valid? [True, True] Translation: X:130.02, Y:-116.47, Z:-4.03 [[-9.15724050e-01 -4.01683108e-01 1.00072061e-02 1.30020806e+02] [-4.01662277e-01 9.15778691e-01 4.09939562e-03 -1.16466326e+02] [-1.08110440e-02 -2.65602015e-04 -9.99941524e-01 -4.02782618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.606559995 meters 0.01647694713367604 Centerline is valid? [True, True] Translation: X:129.96, Y:-116.46, Z:-4.03 [[-8.83918382e-01 -4.67533980e-01 1.00136118e-02 1.29964857e+02] [-4.67507456e-01 8.83975058e-01 4.98751742e-03 -1.16461186e+02] [-1.11836170e-02 -2.72879873e-04 -9.99937424e-01 -4.02732760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.666559995 meters 0.016528247563351393 Centerline is valid? [True, True] Translation: X:129.90, Y:-116.46, Z:-4.03 [[-8.47118147e-01 -5.31324050e-01 9.25193465e-03 1.29900554e+02] [-5.31295723e-01 8.47168628e-01 5.49271633e-03 -1.16464507e+02] [-1.07563611e-02 -2.62533630e-04 -9.99942114e-01 -4.02716052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7265599949999 meters 0.01676386344537128 Centerline is valid? [True, True] Translation: X:129.83, Y:-116.48, Z:-4.03 [[-8.05092376e-01 -5.93094245e-01 8.09217159e-03 1.29831353e+02] [-5.93067321e-01 8.05133005e-01 5.65650237e-03 -1.16476275e+02] [-9.87011344e-03 -2.45195604e-04 -9.99951259e-01 -4.02789186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.786559995 meters 0.018548015138154163 Centerline is valid? [True, True] Translation: X:129.75, Y:-116.50, Z:-4.03 [[-7.57794991e-01 -6.52458544e-01 6.67836814e-03 1.29751287e+02] [-6.52435812e-01 7.57824384e-01 5.45105779e-03 -1.16498176e+02] [-8.61761945e-03 -2.26422248e-04 -9.99962842e-01 -4.02857277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8465599949999 meters 0.016740277668333376 Centerline is valid? [True, True] Translation: X:129.68, Y:-116.53, Z:-4.03 [[-7.05753843e-01 -7.08422204e-01 7.03516915e-03 1.29675397e+02] [-7.08390743e-01 7.05788856e-01 6.68177778e-03 -1.16531171e+02] [-9.69886373e-03 -2.67958354e-04 -9.99952929e-01 -4.02882696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.906559995 meters 0.017325668870793412 Centerline is valid? [True, True] Translation: X:129.59, Y:-116.58, Z:-4.03 [[-6.50157612e-01 -7.59762369e-01 7.49812556e-03 1.29590572e+02] [-7.59717315e-01 6.50200772e-01 8.27993507e-03 -1.16576902e+02] [-1.11660701e-02 -3.13193003e-04 -9.99937608e-01 -4.02760491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9665599949999 meters 0.01689432225099143 Centerline is valid? [True, True] Translation: X:129.51, Y:-116.63, Z:-4.03 [[-5.91383020e-01 -8.06361030e-01 6.92918312e-03 1.29507621e+02] [-8.06311735e-01 5.91423531e-01 8.92152007e-03 -1.16634003e+02] [-1.12920481e-02 -3.11046176e-04 -9.99936194e-01 -4.02824493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.026559995 meters 0.01642735033509574 Centerline is valid? [True, True] Translation: X:129.44, Y:-116.69, Z:-4.03 [[-5.31780214e-01 -8.46868156e-01 4.91235410e-03 1.29435009e+02] [-8.46835613e-01 5.31802861e-01 7.42711062e-03 -1.16691184e+02] [-8.90218744e-03 -2.10365921e-04 -9.99960353e-01 -4.03039374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0865599949999 meters 0.013552309761616246 Centerline is valid? [True, True] Translation: X:129.37, Y:-116.76, Z:-4.03 [[-4.72583005e-01 -8.81278270e-01 3.73013927e-03 1.29367943e+02] [-8.81252821e-01 4.72597710e-01 6.69850202e-03 -1.16763697e+02] [-7.66609956e-03 -1.21597542e-04 -9.99970608e-01 -4.03261651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.146559995 meters 0.012450571878391539 Centerline is valid? [True, True] Translation: X:129.30, Y:-116.85, Z:-4.03 [[-4.10519241e-01 -9.11845654e-01 3.38458149e-03 1.29300478e+02] [-9.11816056e-01 4.10533187e-01 7.34728798e-03 -1.16846838e+02] [-8.08907564e-03 -6.99126576e-05 -9.99967281e-01 -4.03189954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2065599949999 meters 0.012043025656252176 Centerline is valid? [True, True] Translation: X:129.24, Y:-116.93, Z:-4.03 [[-3.49468192e-01 -9.36942707e-01 3.21667758e-03 1.29242047e+02] [-9.36902535e-01 3.49482995e-01 8.67614404e-03 -1.16934834e+02] [-9.25322400e-03 1.83229904e-05 -9.99957188e-01 -4.03233759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.266559995 meters 0.013029377759486784 Centerline is valid? [True, True] Translation: X:129.19, Y:-117.03, Z:-4.03 [[-2.83917029e-01 -9.58845516e-01 2.52912291e-03 1.29186616e+02] [-9.58804672e-01 2.83928280e-01 8.85063915e-03 -1.17029932e+02] [-9.20448519e-03 8.79123123e-05 -9.99957634e-01 -4.03283479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3265599949999 meters 0.013651942041412637 Centerline is valid? [True, True] Translation: X:129.13, Y:-117.14, Z:-4.03 [[-2.12353955e-01 -9.77190787e-01 1.99095508e-03 1.29133982e+02] [-9.77142174e-01 2.12363252e-01 9.74791099e-03 -1.17135422e+02] [-9.94837450e-03 1.24561276e-04 -9.99950506e-01 -4.03269190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.386559995 meters 0.013575079579386974 Centerline is valid? [True, True] Translation: X:129.09, Y:-117.25, Z:-4.03 [[-1.38133308e-01 -9.90412807e-01 1.28853399e-03 1.29087360e+02] [-9.90359374e-01 1.38139242e-01 1.02888045e-02 -1.17245042e+02] [-1.03681609e-02 1.45114884e-04 -9.99946239e-01 -4.03352439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4465599949999 meters 0.013195591743401848 Centerline is valid? [True, True] Translation: X:129.04, Y:-117.36, Z:-4.03 [[-5.91923317e-02 -9.98246457e-01 5.27799035e-04 1.29044795e+02] [-9.98185207e-01 5.91945469e-02 1.10588828e-02 -1.17360328e+02] [-1.10707334e-02 1.27759870e-04 -9.99938709e-01 -4.03333847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.506559995 meters 0.012910779447311548 Centerline is valid? [True, True] Translation: X:129.01, Y:-117.48, Z:-4.03 [[ 2.01246239e-02 -9.99797419e-01 -3.45903458e-04 1.29012079e+02] [-9.99727396e-01 -2.01273084e-02 1.18332602e-02 -1.17480049e+02] [-1.18378252e-02 1.07669251e-04 -9.99929925e-01 -4.03251214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5665599949999 meters 0.012503792412550238 Centerline is valid? [True, True] Translation: X:128.99, Y:-117.61, Z:-4.03 [[ 1.00814097e-01 -9.94904381e-01 -1.33840603e-03 1.28987807e+02] [-9.94824963e-01 -1.00822961e-01 1.25707791e-02 -1.17605025e+02] [-1.26416652e-02 6.41679822e-05 -9.99920089e-01 -4.03240117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.626559995 meters 0.012388227264278687 Centerline is valid? [True, True] Translation: X:128.97, Y:-117.72, Z:-4.03 [[ 1.80709043e-01 -9.83533410e-01 -2.50476967e-03 1.28971244e+02] [-9.83440224e-01 -1.80726401e-01 1.35385924e-02 -1.17719447e+02] [-1.37683360e-02 1.67451612e-05 -9.99905212e-01 -4.03251409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6865599949999 meters 0.012333375929967883 Centerline is valid? [True, True] Translation: X:128.97, Y:-117.85, Z:-4.03 [[ 2.57866834e-01 -9.66174345e-01 -3.43957596e-03 1.28966690e+02] [-9.66087634e-01 -2.57889772e-01 1.29440754e-02 -1.17845078e+02] [-1.33932651e-02 -1.49159500e-05 -9.99910306e-01 -4.03284773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.746559995 meters 0.012273635434361203 Centerline is valid? [True, True] Translation: X:128.97, Y:-117.96, Z:-4.03 [[ 3.34395929e-01 -9.42424809e-01 -3.85252608e-03 1.28967961e+02] [-9.42360411e-01 -3.34418116e-01 1.10172546e-02 -1.17962970e+02] [-1.16712886e-02 -5.36570441e-05 -9.99931887e-01 -4.03458775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8065599949999 meters 0.01258032780914256 Centerline is valid? [True, True] Translation: X:128.98, Y:-118.08, Z:-4.04 [[ 4.09261943e-01 -9.12407028e-01 -4.25186235e-03 1.28979604e+02] [-9.12355437e-01 -4.09284018e-01 9.70305834e-03 -1.18083366e+02] [-1.05933579e-02 -9.18827703e-05 -9.99943885e-01 -4.03530988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.866559995 meters 0.01349930225327889 Centerline is valid? [True, True] Translation: X:129.00, Y:-118.20, Z:-4.03 [[ 4.81670034e-01 -8.76334561e-01 -5.63162151e-03 1.28998427e+02] [-8.76270792e-01 -4.81702929e-01 1.05729318e-02 -1.18200442e+02] [-1.19781942e-02 -1.57839005e-04 -9.99928246e-01 -4.03384974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9265599949999 meters 0.014363385183416726 Centerline is valid? [True, True] Translation: X:129.03, Y:-118.31, Z:-4.03 [[ 5.49588032e-01 -8.35402661e-01 -7.44240105e-03 1.29025800e+02] [-8.35320467e-01 -5.49638376e-01 1.17206549e-02 -1.18310122e+02] [-1.38820955e-02 -2.24741727e-04 -9.99903614e-01 -4.03160399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.986559995 meters 0.01465392854095173 Centerline is valid? [True, True] Translation: X:129.06, Y:-118.42, Z:-4.03 [[ 6.14005704e-01 -7.89246123e-01 -9.35699938e-03 1.29064312e+02] [-7.89146896e-01 -6.14076922e-01 1.25183847e-02 -1.18419260e+02] [-1.56260040e-02 -3.02312583e-04 -9.99877861e-01 -4.03106450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0465599949999 meters 0.014693706340178914 Centerline is valid? [True, True] Translation: X:129.11, Y:-118.52, Z:-4.03 [[ 6.72558618e-01 -7.39972508e-01 -1.02758370e-02 1.29110247e+02] [-7.39879043e-01 -6.72637043e-01 1.17648112e-02 -1.18519448e+02] [-1.56175454e-02 -3.09648750e-04 -9.99877991e-01 -4.03123473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.106559995 meters 0.014793678274129028 Centerline is valid? [True, True] Translation: X:129.16, Y:-118.61, Z:-4.03 [[ 7.25690668e-01 -6.87922202e-01 -1.16661294e-02 1.29155343e+02] [-6.87826646e-01 -7.25784372e-01 1.14695266e-02 -1.18607245e+02] [-1.63572364e-02 -2.99053730e-04 -9.99866167e-01 -4.03032196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.166559995 meters 0.013428669559452384 Centerline is valid? [True, True] Translation: X:129.18, Y:-118.63, Z:-4.03 [[ 7.73622387e-01 -6.33541556e-01 -1.15542070e-02 1.29181465e+02] [-6.33467245e-01 -7.73708641e-01 9.70504377e-03 -1.18632295e+02] [-1.50881384e-02 -1.88827415e-04 -9.99886150e-01 -4.03107837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2265599949999 meters 0.012422161515400357 Centerline is valid? [True, True] Translation: X:129.21, Y:-118.65, Z:-4.03 [[ 8.15860775e-01 -5.78154143e-01 -1.04394606e-02 1.29209923e+02] [-5.78106031e-01 -8.15927561e-01 7.45870844e-03 -1.18654954e+02] [-1.28301268e-02 -5.01524831e-05 -9.99917689e-01 -4.03308318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.286559995 meters 0.012547459928883387 Centerline is valid? [True, True] Translation: X:129.24, Y:-118.68, Z:-4.03 [[ 8.55719104e-01 -5.17335914e-01 -1.04099705e-02 1.29237508e+02] [-5.17297914e-01 -8.55782421e-01 6.27030262e-03 -1.18675589e+02] [-1.21525225e-02 1.94383063e-05 -9.99926155e-01 -4.03310168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3465599949999 meters 0.012945693789719513 Centerline is valid? [True, True] Translation: X:129.27, Y:-118.70, Z:-4.03 [[ 8.90390095e-01 -4.55079810e-01 -1.03849133e-02 1.29266300e+02] [-4.55050162e-01 -8.90450648e-01 5.19548894e-03 -1.18695235e+02] [-1.16116149e-02 9.96446138e-05 -9.99932578e-01 -4.03435911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.406559995 meters 0.014259408788358878 Centerline is valid? [True, True] Translation: X:129.30, Y:-118.71, Z:-4.03 [[ 9.20562460e-01 -3.90411739e-01 -1.19763048e-02 1.29295868e+02] [-3.90381512e-01 -9.20640339e-01 4.86222107e-03 -1.18713259e+02] [-1.29241375e-02 1.99349788e-04 -9.99916460e-01 -4.03316510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4665599949999 meters 0.015967038235995157 Centerline is valid? [True, True] Translation: X:129.33, Y:-118.73, Z:-4.03 [[ 9.46354147e-01 -3.22876094e-01 -1.28396640e-02 1.29326135e+02] [-3.22850494e-01 -9.46441200e-01 4.07597713e-03 -1.18727353e+02] [-1.34680226e-02 2.87974010e-04 -9.99909261e-01 -4.03265128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.526559995 meters 0.017256567239148462 Centerline is valid? [True, True] Translation: X:129.36, Y:-118.74, Z:-4.03 [[ 9.66833660e-01 -2.55060624e-01 -1.32948277e-02 1.29357279e+02] [-2.55042071e-01 -9.66924984e-01 3.10128302e-03 -1.18742879e+02] [-1.36461162e-02 3.92315568e-04 -9.99906811e-01 -4.03349389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5865599949999 meters 0.01965143391162552 Centerline is valid? [True, True] Translation: X:129.39, Y:-118.76, Z:-4.03 [[ 9.81848470e-01 -1.89285032e-01 -1.20316077e-02 1.29385899e+02] [-1.89276816e-01 -9.81922066e-01 1.82824544e-03 -1.18756492e+02] [-1.21601606e-02 4.82244419e-04 -9.99925946e-01 -4.03469149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.646559995 meters 0.02219531006577927 Centerline is valid? [True, True] Translation: X:129.42, Y:-118.77, Z:-4.04 [[ 9.92815469e-01 -1.19139452e-01 -1.11011918e-02 1.29415102e+02] [-1.19137880e-01 -9.92877393e-01 8.05140220e-04 -1.18768434e+02] [-1.11180463e-02 5.23216790e-04 -9.99938056e-01 -4.03629266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7065599949999 meters 0.022389853982104642 Centerline is valid? [True, True] Translation: X:129.45, Y:-118.78, Z:-4.04 [[ 9.99118730e-01 -4.05774431e-02 -1.07347782e-02 1.29445118e+02] [-4.05804673e-02 -9.99176272e-01 -6.39680715e-05 -1.18784137e+02] [-1.07233400e-02 4.99534014e-04 -9.99942379e-01 -4.03665479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.766559995 meters 0.020920580843985282 Centerline is valid? [True, True] Translation: X:129.48, Y:-118.80, Z:-4.04 [[ 9.99011377e-01 4.31498146e-02 -1.06940629e-02 1.29476678e+02] [ 4.31426072e-02 -9.99068515e-01 -9.03849416e-04 -1.18799351e+02] [-1.07231025e-02 4.41586094e-04 -9.99942408e-01 -4.03690213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8265599949999 meters 0.01695695493899851 Centerline is valid? [True, True] Translation: X:129.51, Y:-118.82, Z:-4.04 [[ 9.90762138e-01 1.35170308e-01 -1.09258385e-02 1.29511311e+02] [ 1.35158742e-01 -9.90822334e-01 -1.79357506e-03 -1.18819728e+02] [-1.10680028e-02 3.00283683e-04 -9.99938703e-01 -4.03634620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.886559995 meters 0.013190024791998383 Centerline is valid? [True, True] Translation: X:129.55, Y:-118.84, Z:-4.04 [[ 9.73152108e-01 2.29887164e-01 -1.12635532e-02 1.29548706e+02] [ 2.29870510e-01 -9.73217284e-01 -2.76908894e-03 -1.18838311e+02] [-1.15984627e-02 1.05586018e-04 -9.99932730e-01 -4.03607610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9465599949999 meters 0.012430742643274756 Centerline is valid? [True, True] Translation: X:129.59, Y:-118.85, Z:-4.04 [[ 9.48140248e-01 3.17673477e-01 -1.06598102e-02 1.29588443e+02] [ 3.17653917e-01 -9.48200169e-01 -3.52545069e-03 -1.18851482e+02] [-1.12275760e-02 -4.35087764e-05 -9.99936968e-01 -4.03683422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.006559995 meters 0.015532524327526253 Centerline is valid? [True, True] Translation: X:129.63, Y:-118.86, Z:-4.04 [[ 9.13806784e-01 4.06028279e-01 -9.90950865e-03 1.29628905e+02] [ 4.06006994e-01 -9.13860486e-01 -4.16317995e-03 -1.18863270e+02] [-1.07462772e-02 -2.18987737e-04 -9.99942233e-01 -4.03606789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0665599949999 meters 0.01801800962239058 Centerline is valid? [True, True] Translation: X:129.67, Y:-118.86, Z:-4.04 [[ 8.74757929e-01 4.84484436e-01 -8.56725938e-03 1.29668230e+02] [ 4.84464377e-01 -8.74799834e-01 -4.41792409e-03 -1.18861560e+02] [-9.63505255e-03 -2.85917850e-04 -9.99953541e-01 -4.03771399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.126559995 meters 0.01824017532634093 Centerline is valid? [True, True] Translation: X:129.70, Y:-118.85, Z:-4.04 [[ 8.33041343e-01 5.53148049e-01 -8.32806694e-03 1.29704609e+02] [ 5.53124093e-01 -8.33082913e-01 -5.15728481e-03 -1.18852447e+02] [-9.79071229e-03 -3.10223009e-04 -9.99952022e-01 -4.03834112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1865599949999 meters 0.017648671636237373 Centerline is valid? [True, True] Translation: X:129.74, Y:-118.84, Z:-4.04 [[ 7.87917109e-01 6.15723677e-01 -8.42511821e-03 1.29739529e+02] [ 6.15692745e-01 -7.87962088e-01 -6.17990652e-03 -1.18838723e+02] [-1.04437885e-02 -3.18030081e-04 -9.99945412e-01 -4.03757367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.246559995 meters 0.01716756505922463 Centerline is valid? [True, True] Translation: X:129.77, Y:-118.82, Z:-4.04 [[ 7.39656829e-01 6.72911896e-01 -9.86685307e-03 1.29770350e+02] [ 6.72858278e-01 -7.39722554e-01 -8.50184872e-03 -1.18821278e+02] [-1.30197289e-02 -3.50543297e-04 -9.99915178e-01 -4.03531496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3065599949999 meters 0.016427044309771318 Centerline is valid? [True, True] Translation: X:129.80, Y:-118.80, Z:-4.03 [[ 6.86859774e-01 7.26713500e-01 -1.05422473e-02 1.29799881e+02] [ 7.26635833e-01 -6.86940580e-01 -1.06304081e-02 -1.18799068e+02] [-1.49671585e-02 -3.58774947e-04 -9.99887921e-01 -4.03378910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.366559995 meters 0.015391513355876518 Centerline is valid? [True, True] Translation: X:129.82, Y:-118.77, Z:-4.03 [[ 6.31992373e-01 7.74906395e-01 -1.02819648e-02 1.29822354e+02] [ 7.74811405e-01 -6.32075937e-01 -1.21365730e-02 -1.18771353e+02] [-1.59036905e-02 -2.96362007e-04 -9.99873484e-01 -4.03344854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4265599949999 meters 0.014207464755498547 Centerline is valid? [True, True] Translation: X:129.84, Y:-118.74, Z:-4.03 [[ 5.73889460e-01 8.18885237e-01 -8.82358685e-03 1.29840870e+02] [ 8.18793736e-01 -5.73957253e-01 -1.22429313e-02 -1.18741447e+02] [-1.50899174e-02 -1.98608381e-04 -9.99886121e-01 -4.03448478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.486559995 meters 0.013739703673188428 Centerline is valid? [True, True] Translation: X:129.86, Y:-118.71, Z:-4.04 [[ 5.10594671e-01 8.59790610e-01 -7.29309659e-03 1.29858289e+02] [ 8.59706874e-01 -5.10646734e-01 -1.20001675e-02 -1.18712299e+02] [-1.40418272e-02 -1.42703709e-04 -9.99901399e-01 -4.03516696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5465599949999 meters 0.013279788614433746 Centerline is valid? [True, True] Translation: X:129.87, Y:-118.68, Z:-4.04 [[ 4.45512083e-01 8.95256537e-01 -5.89215246e-03 1.29867619e+02] [ 8.95180536e-01 -4.45551038e-01 -1.16653740e-02 -1.18680426e+02] [-1.30687569e-02 -7.74751434e-05 -9.99914597e-01 -4.03522878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.606559995 meters 0.01316479512510992 Centerline is valid? [True, True] Translation: X:129.88, Y:-118.65, Z:-4.04 [[ 3.75554762e-01 9.26786872e-01 -4.97142432e-03 1.29877749e+02] [ 9.26707640e-01 -3.75587661e-01 -1.21185562e-02 -1.18648901e+02] [-1.30985244e-02 -5.58754026e-05 -9.99914209e-01 -4.03517911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.666559995 meters 0.012716685478585213 Centerline is valid? [True, True] Translation: X:129.89, Y:-118.62, Z:-4.04 [[ 3.02934729e-01 9.53002948e-01 -3.99125730e-03 1.29891604e+02] [ 9.52921989e-01 -3.02961019e-01 -1.24219520e-02 -1.18619967e+02] [-1.30473523e-02 -4.03161770e-05 -9.99914879e-01 -4.03767636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7265599949999 meters 0.013173801618350087 Centerline is valid? [True, True] Translation: X:129.90, Y:-118.59, Z:-4.03 [[ 2.27761413e-01 9.73711564e-01 -3.24496759e-03 1.29903473e+02] [ 9.73615101e-01 -2.27784524e-01 -1.37056797e-02 -1.18591337e+02] [-1.40845322e-02 -3.77244794e-05 -9.99900807e-01 -4.03460985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.786559995 meters 0.012621184990083363 Centerline is valid? [True, True] Translation: X:129.92, Y:-118.56, Z:-4.04 [[ 1.50006401e-01 9.88682581e-01 -2.19856331e-03 1.29917244e+02] [ 9.88581229e-01 -1.50022503e-01 -1.41563608e-02 -1.18562068e+02] [-1.43259813e-02 -4.99136825e-05 -9.99897377e-01 -4.03854240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8465599949999 meters 0.012976237144369485 Centerline is valid? [True, True] Translation: X:129.93, Y:-118.53, Z:-4.04 [[ 6.97787609e-02 9.97561905e-01 -1.08211209e-03 1.29929238e+02] [ 9.97459854e-01 -6.97871007e-02 -1.42688536e-02 -1.18532830e+02] [-1.43095822e-02 -8.37004456e-05 -9.99897609e-01 -4.03661267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.906559995 meters 0.012877680408324798 Centerline is valid? [True, True] Translation: X:129.94, Y:-118.50, Z:-4.04 [[-1.03695934e-02 9.99946234e-01 3.97368889e-05 1.29938563e+02] [ 9.99840730e-01 1.03690766e-02 -1.45257369e-02 -1.18501486e+02] [-1.45253679e-02 -1.10895425e-04 -9.99894495e-01 -4.03804605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9665599949999 meters 0.013304641008996459 Centerline is valid? [True, True] Translation: X:129.94, Y:-118.47, Z:-4.04 [[-9.01185660e-02 9.95930338e-01 1.18585798e-03 1.29944550e+02] [ 9.95823536e-01 9.01262690e-02 -1.45856716e-02 -1.18470770e+02] [-1.46331898e-02 -1.33534526e-04 -9.99892920e-01 -4.03740309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.026559995 meters 0.013135676241946727 Centerline is valid? [True, True] Translation: X:129.95, Y:-118.44, Z:-4.04 [[-1.69066055e-01 9.85602247e-01 2.20914536e-03 1.29947731e+02] [ 9.85506619e-01 1.69080427e-01 -1.37299899e-02 -1.18438928e+02] [-1.39058322e-02 -1.44147865e-04 -9.99903299e-01 -4.03911111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0865599949999 meters 0.013374989958129947 Centerline is valid? [True, True] Translation: X:129.95, Y:-118.41, Z:-4.04 [[-2.47164548e-01 9.68968438e-01 3.13884981e-03 1.29948103e+02] [ 9.68882028e-01 2.47184428e-01 -1.29411988e-02 -1.18407608e+02] [-1.33154880e-02 -1.57430388e-04 -9.99911333e-01 -4.04027832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.146559995 meters 0.013702686831238167 Centerline is valid? [True, True] Translation: X:129.95, Y:-118.38, Z:-4.04 [[-3.24084047e-01 9.46020146e-01 3.92614937e-03 1.29945370e+02] [ 9.45944153e-01 3.24107782e-01 -1.19918927e-02 -1.18377028e+02] [-1.26170677e-02 -1.72463091e-04 -9.99920387e-01 -4.04001638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2065599949999 meters 0.014186357057675607 Centerline is valid? [True, True] Translation: X:129.94, Y:-118.35, Z:-4.04 [[-3.99293810e-01 9.16809316e-01 5.01306887e-03 1.29941836e+02] [ 9.16730414e-01 3.99325224e-01 -1.20296972e-02 -1.18345488e+02] [-1.30307833e-02 -2.07750908e-04 -9.99915074e-01 -4.03974327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.266559995 meters 0.014742737776905742 Centerline is valid? [True, True] Translation: X:129.94, Y:-118.31, Z:-4.04 [[-4.73319725e-01 8.80869013e-01 6.18225205e-03 1.29936422e+02] [ 8.80786308e-01 4.73360021e-01 -1.20735364e-02 -1.18314638e+02] [-1.35616350e-02 -2.69399964e-04 -9.99908001e-01 -4.03910444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3265599949999 meters 0.015910615919276474 Centerline is valid? [True, True] Translation: X:129.93, Y:-118.28, Z:-4.04 [[-5.43910736e-01 8.39109408e-01 7.51751632e-03 1.29928506e+02] [ 8.39020553e-01 5.43962580e-01 -1.22156633e-02 -1.18284282e+02] [-1.43395256e-02 -3.36879735e-04 -9.99897127e-01 -4.03871445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.386559995 meters 0.015316306976816074 Centerline is valid? [True, True] Translation: X:129.92, Y:-118.26, Z:-4.04 [[-6.08907832e-01 7.93190984e-01 8.90586491e-03 1.29917438e+02] [ 7.93097040e-01 6.08972843e-01 -1.22132195e-02 -1.18255224e+02] [-1.51108455e-02 -3.73509913e-04 -9.99885755e-01 -4.03917828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4465599949999 meters 0.01568232883324266 Centerline is valid? [True, True] Translation: X:129.91, Y:-118.23, Z:-4.04 [[-6.68477962e-01 7.43663589e-01 1.00836873e-02 1.29905563e+02] [ 7.43570553e-01 6.68553910e-01 -1.17687520e-02 -1.18227519e+02] [-1.54934809e-02 -3.69218455e-04 -9.99879901e-01 -4.03792527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.506559995 meters 0.015077592179924337 Centerline is valid? [True, True] Translation: X:129.89, Y:-118.20, Z:-4.04 [[-7.22478911e-01 6.91295174e-01 1.16277888e-02 1.29886477e+02] [ 6.91198033e-01 7.22572396e-01 -1.15936388e-02 -1.18203501e+02] [-1.64165458e-02 -3.39054811e-04 -9.99865182e-01 -4.03684137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5665599949999 meters 0.01438899902464381 Centerline is valid? [True, True] Translation: X:129.90, Y:-118.19, Z:-4.04 [[-7.67163502e-01 6.41309395e-01 1.35063717e-02 1.29902555e+02] [ 6.41203041e-01 7.67282327e-01 -1.16829353e-02 -1.18191652e+02] [-1.78555765e-02 -3.02395003e-04 -9.99840531e-01 -4.03609454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.626559995 meters 0.013614258427767994 Centerline is valid? [True, True] Translation: X:129.92, Y:-118.18, Z:-4.04 [[-8.07940738e-01 5.89081139e-01 1.46688624e-02 1.29917258e+02] [ 5.88978933e-01 8.08073858e-01 -1.09752657e-02 -1.18180261e+02] [-1.83188462e-02 -2.27713372e-04 -9.99832170e-01 -4.03651531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6865599949999 meters 0.013259291816851185 Centerline is valid? [True, True] Translation: X:129.93, Y:-118.16, Z:-4.04 [[-8.46171280e-01 5.32720148e-01 1.42621641e-02 1.29929623e+02] [ 5.32641230e-01 8.46291449e-01 -9.17077958e-03 -1.18162613e+02] [-1.69554066e-02 -1.63433686e-04 -9.99856233e-01 -4.03705513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.746559995 meters 0.012443200602923952 Centerline is valid? [True, True] Translation: X:129.95, Y:-118.15, Z:-4.04 [[-8.79611462e-01 4.75540114e-01 1.20530460e-02 1.29945862e+02] [ 4.75494403e-01 8.79694035e-01 -6.59372672e-03 -1.18150736e+02] [-1.37385742e-02 -6.87616985e-05 -9.99905619e-01 -4.03965088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8065599949999 meters 0.012188916014030176 Centerline is valid? [True, True] Translation: X:129.95, Y:-118.13, Z:-4.04 [[-9.09470270e-01 4.15618118e-01 1.11985799e-02 1.29954372e+02] [ 4.15586419e-01 9.09539213e-01 -5.13314099e-03 -1.18134271e+02] [-1.23189740e-02 -1.44613938e-05 -9.99924119e-01 -4.04153297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.866559995 meters 0.012053336862894892 Centerline is valid? [True, True] Translation: X:129.97, Y:-118.12, Z:-4.04 [[-9.36232228e-01 3.51192105e-01 1.15464942e-02 1.29970742e+02] [ 3.51165387e-01 9.36303426e-01 -4.33191216e-03 -1.18115536e+02] [-1.23323555e-02 -9.46652831e-07 -9.99923954e-01 -4.04206388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9265599949999 meters 0.012011252646351165 Centerline is valid? [True, True] Translation: X:129.98, Y:-118.09, Z:-4.04 [[-9.59759353e-01 2.80528953e-01 1.28643070e-02 1.29977564e+02] [ 2.80503058e-01 9.59845563e-01 -3.81187956e-03 -1.18089457e+02] [-1.34170906e-02 -5.00096015e-05 -9.99909986e-01 -4.04152594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.986559995 meters 0.012612757640020384 Centerline is valid? [True, True] Translation: X:129.98, Y:-118.06, Z:-4.04 [[-9.78736732e-01 2.04586194e-01 1.47952005e-02 1.29977805e+02] [ 2.04560226e-01 9.78848538e-01 -3.26388115e-03 -1.18057513e+02] [-1.51500054e-02 -1.67970818e-04 -9.99885218e-01 -4.04000357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0465599949999 meters 0.013308113904120903 Centerline is valid? [True, True] Translation: X:130.14, Y:-117.35, Z:-5.00 [[-9.55072190e-01 -2.95998008e-01 1.49094458e-02 1.30141968e+02] [ 2.95965197e-01 -9.55188536e-01 -4.41169745e-03 -1.17345806e+02] [ 1.55471854e-02 1.99187525e-04 9.99879115e-01 -5.00049911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.106559995 meters 0.013281696160441525 Centerline is valid? [True, True] Translation: X:129.93, Y:-118.04, Z:-4.04 [[-9.80594875e-01 1.95519819e-01 1.43419440e-02 1.29934801e+02] [ 1.95495295e-01 9.80699720e-01 -3.10610619e-03 -1.18043098e+02] [-1.46724458e-02 -2.42049240e-04 -9.99892325e-01 -4.04059600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.166559995 meters 0.012966489890277743 Centerline is valid? [True, True] Translation: X:129.94, Y:-118.02, Z:-4.04 [[-9.91849393e-01 1.26770188e-01 1.28101897e-02 1.29938971e+02] [ 1.26757063e-01 9.91932095e-01 -1.83470254e-03 -1.18016030e+02] [-1.29394239e-02 -1.95966589e-04 -9.99916263e-01 -4.04215413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2265599949999 meters 0.012758707583648592 Centerline is valid? [True, True] Translation: X:129.94, Y:-117.99, Z:-4.04 [[-9.98298309e-01 5.70521225e-02 1.20640778e-02 1.29942320e+02] [ 5.70458869e-02 9.98371187e-01 -8.60643677e-04 -1.17988781e+02] [-1.20935292e-02 -1.70973113e-04 -9.99926856e-01 -4.04274307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.286559995 meters 0.012444391097847205 Centerline is valid? [True, True] Translation: X:129.94, Y:-117.96, Z:-4.04 [[-9.99830783e-01 -1.38671829e-02 1.20874959e-02 1.29935764e+02] [-1.38682187e-02 9.99903832e-01 -1.87225441e-06 -1.17961552e+02] [-1.20863075e-02 -1.69503974e-04 -9.99926944e-01 -4.04318085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3465599949999 meters 0.012517652741654003 Centerline is valid? [True, True] Translation: X:129.94, Y:-117.24, Z:-5.00 [[-9.96502336e-01 -8.27008666e-02 1.19858406e-02 1.29944911e+02] [ 8.26968590e-02 -9.96574403e-01 -8.30437585e-04 -1.17241801e+02] [ 1.20134599e-02 1.63658377e-04 9.99927822e-01 -4.99800752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.406559995 meters 0.013098747417637838 Centerline is valid? [True, True] Translation: X:129.87, Y:-117.96, Z:-4.04 [[-9.99695696e-01 -2.12728387e-02 1.24892585e-02 1.29872815e+02] [-2.12738282e-02 9.99773685e-01 5.36341769e-05 -1.17957800e+02] [-1.24875729e-02 -2.12076484e-04 -9.99922005e-01 -4.04088915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4665599949999 meters 0.013525199680946539 Centerline is valid? [True, True] Translation: X:129.87, Y:-117.93, Z:-4.04 [[-9.95414273e-01 -9.46809649e-02 1.36359643e-02 1.29868806e+02] [-9.46757336e-02 9.95507632e-01 1.03010965e-03 -1.17928847e+02] [-1.36722383e-02 -2.65609074e-04 -9.99906495e-01 -4.03970986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.526559995 meters 0.014001232190604224 Centerline is valid? [True, True] Translation: X:129.86, Y:-117.90, Z:-4.04 [[-9.85762982e-01 -1.67582572e-01 1.36902893e-02 1.29864627e+02] [-1.67570643e-01 9.85857997e-01 2.02205462e-03 -1.17899914e+02] [-1.38355423e-02 -3.00823982e-04 -9.99904239e-01 -4.03894171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5865599949999 meters 0.014140627317829328 Centerline is valid? [True, True] Translation: X:129.76, Y:-117.20, Z:-5.00 [[-9.98326460e-01 5.63103521e-02 1.31690508e-02 1.29762871e+02] [-5.63022234e-02 -9.98413283e-01 9.87483980e-04 -1.17204604e+02] [ 1.32037608e-02 2.44384547e-04 9.99912797e-01 -5.00095692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.646559995 meters 0.014160213472574 Centerline is valid? [True, True] Translation: X:129.77, Y:-117.91, Z:-4.04 [[-9.84962108e-01 -1.72410850e-01 1.11420507e-02 1.29768890e+02] [-1.72402511e-01 9.85025098e-01 1.71184693e-03 -1.17911108e+02] [-1.12703406e-02 -2.34813169e-04 -9.99936460e-01 -4.03968471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7065599949999 meters 0.014470519637942502 Centerline is valid? [True, True] Translation: X:129.66, Y:-117.22, Z:-5.00 [[-9.97733422e-01 6.64032602e-02 1.08915715e-02 1.29662292e+02] [-6.63970511e-02 -9.97792847e-01 9.31095876e-04 -1.17219763e+02] [ 1.09293599e-02 2.05817246e-04 9.99940252e-01 -5.00143422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.766559995 meters 0.012717680983940237 Centerline is valid? [True, True] Translation: X:129.68, Y:-117.93, Z:-4.04 [[-9.84500044e-01 -1.75095706e-01 1.00576825e-02 1.29676764e+02] [-1.75088399e-01 9.84551402e-01 1.60936679e-03 -1.17928526e+02] [-1.01840986e-02 -1.76561846e-04 -9.99948125e-01 -4.04057377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8265599949999 meters 0.012582095486943074 Centerline is valid? [True, True] Translation: X:129.67, Y:-117.90, Z:-4.04 [[-9.69531022e-01 -2.44793506e-01 9.25939388e-03 1.29665626e+02] [-2.44783961e-01 9.69575223e-01 2.16799376e-03 -1.17903940e+02] [-9.50838967e-03 -1.64613897e-04 -9.99954781e-01 -4.04009828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.886559995 meters 0.01263141713832526 Centerline is valid? [True, True] Translation: X:129.64, Y:-117.88, Z:-4.04 [[-9.49514473e-01 -3.13594134e-01 8.99916919e-03 1.29644847e+02] [-3.13581674e-01 9.49557103e-01 2.80015324e-03 -1.17881872e+02] [-9.42333666e-03 -1.63188514e-04 -9.99955586e-01 -4.03988344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9465599949999 meters 0.012762673628751706 Centerline is valid? [True, True] Translation: X:129.61, Y:-117.86, Z:-4.04 [[-9.24543131e-01 -3.80976493e-01 8.76985430e-03 1.29612935e+02] [-3.80960986e-01 9.24584710e-01 3.44100956e-03 -1.17864947e+02] [-9.41941695e-03 -1.59610593e-04 -9.99955624e-01 -4.03908207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.006559995 meters 0.012641983877677837 Centerline is valid? [True, True] Translation: X:129.56, Y:-117.86, Z:-4.04 [[-8.94718481e-01 -4.46554993e-01 8.21445967e-03 1.29558330e+02] [-4.46537613e-01 8.94756178e-01 3.94235175e-03 -1.17859704e+02] [-9.11041540e-03 -1.40770242e-04 -9.99958489e-01 -4.03806072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0665599949999 meters 0.012573312832599786 Centerline is valid? [True, True] Translation: X:129.50, Y:-117.86, Z:-4.04 [[-8.59694868e-01 -5.10751453e-01 7.59519258e-03 1.29495389e+02] [-5.10732848e-01 8.59728409e-01 4.36137643e-03 -1.17862756e+02] [-8.75738218e-03 -1.29661406e-04 -9.99961645e-01 -4.03828207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.126559995 meters 0.012550136282577734 Centerline is valid? [True, True] Translation: X:129.42, Y:-117.88, Z:-4.04 [[-8.18915068e-01 -5.73876582e-01 6.61659768e-03 1.29423055e+02] [-5.73859084e-01 8.18941788e-01 4.48324823e-03 -1.17875703e+02] [-7.99143951e-03 -1.25595157e-04 -9.99968060e-01 -4.03914735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1865599949999 meters 0.013360852512773629 Centerline is valid? [True, True] Translation: X:129.34, Y:-117.90, Z:-4.04 [[-7.72280882e-01 -6.35252288e-01 6.06379822e-03 1.29340772e+02] [-6.35234135e-01 7.72304674e-01 4.80457497e-03 -1.17899109e+02] [-7.73521695e-03 -1.41450226e-04 -9.99970073e-01 -4.03877230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.246559995 meters 0.013558690982284141 Centerline is valid? [True, True] Translation: X:129.26, Y:-117.93, Z:-4.04 [[-7.21034983e-01 -6.92868833e-01 6.42910613e-03 1.29262989e+02] [-6.92843465e-01 7.21063623e-01 5.93163481e-03 -1.17928246e+02] [-8.74563945e-03 -1.77447968e-04 -9.99961740e-01 -4.03791006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3065599949999 meters 0.013822122282305995 Centerline is valid? [True, True] Translation: X:129.18, Y:-117.97, Z:-4.04 [[-6.65994542e-01 -7.45927038e-01 6.64256610e-03 1.29180436e+02] [-7.45893030e-01 6.66027634e-01 7.12587572e-03 -1.17971520e+02] [-9.73951595e-03 -2.08849420e-04 -9.99952548e-01 -4.03747176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.366559995 meters 0.013559833620140337 Centerline is valid? [True, True] Translation: X:129.10, Y:-118.03, Z:-4.04 [[-6.07406506e-01 -7.94364456e-01 6.51522227e-03 1.29099747e+02] [-7.94322726e-01 6.07441404e-01 8.14541493e-03 -1.18025113e+02] [-1.04280439e-02 -2.27611083e-04 -9.99945601e-01 -4.03792153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4265599949999 meters 0.014093051157442402 Centerline is valid? [True, True] Translation: X:129.01, Y:-118.10, Z:-4.04 [[-5.45448457e-01 -8.38129009e-01 5.07397230e-03 1.29012704e+02] [-8.38096050e-01 5.45472021e-01 7.43541468e-03 -1.18095041e+02] [-8.99954666e-03 -1.96840682e-04 -9.99959484e-01 -4.03867667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.486559995 meters 0.013734349068959517 Centerline is valid? [True, True] Translation: X:128.94, Y:-118.16, Z:-4.04 [[-4.80498555e-01 -8.76988094e-01 3.60863875e-03 1.28938388e+02] [-8.76965730e-01 4.80512081e-01 6.26484707e-03 -1.18163527e+02] [-7.22819080e-03 -1.54402556e-04 -9.99973864e-01 -4.04007355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5465599949999 meters 0.012955406081135448 Centerline is valid? [True, True] Translation: X:128.87, Y:-118.24, Z:-4.04 [[-4.13597196e-01 -9.10455175e-01 2.95541298e-03 1.28869326e+02] [-9.10434227e-01 4.13607732e-01 6.17755198e-03 -1.18239816e+02] [-6.84676583e-03 -1.35690955e-04 -9.99976551e-01 -4.04046846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.606559995 meters 0.012844143542683518 Centerline is valid? [True, True] Translation: X:128.80, Y:-118.33, Z:-4.04 [[-3.44094816e-01 -9.38931169e-01 2.64927650e-03 1.28802691e+02] [-9.38906296e-01 3.44104988e-01 6.83553345e-03 -1.18326245e+02] [-7.32972467e-03 -1.35350766e-04 -9.99973128e-01 -4.03954708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.666559995 meters 0.012685718766716194 Centerline is valid? [True, True] Translation: X:128.74, Y:-118.43, Z:-4.04 [[-2.72356305e-01 -9.62193323e-01 2.46022580e-03 1.28740011e+02] [-9.62158818e-01 2.72367377e-01 8.14988306e-03 -1.18428687e+02] [-8.51184831e-03 -1.47455907e-04 -9.99963763e-01 -4.03826293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7265599949999 meters 0.013426738094535144 Centerline is valid? [True, True] Translation: X:128.69, Y:-118.52, Z:-4.04 [[-1.97761330e-01 -9.80247983e-01 2.08503461e-03 1.28685457e+02] [-9.80202106e-01 1.97772250e-01 9.48514038e-03 -1.18521773e+02] [-9.71015172e-03 -1.67961333e-04 -9.99952841e-01 -4.03563907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.786559995 meters 0.012853401037865848 Centerline is valid? [True, True] Translation: X:128.64, Y:-118.63, Z:-4.03 [[-1.21318796e-01 -9.92612276e-01 1.61865252e-03 1.28638460e+02] [-9.92545441e-01 1.21329414e-01 1.15204461e-02 -1.18627653e+02] [-1.16317264e-02 -2.08939516e-04 -9.99932327e-01 -4.03368381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8465599949999 meters 0.012319326491806299 Centerline is valid? [True, True] Translation: X:128.60, Y:-118.74, Z:-4.03 [[-4.62423956e-02 -9.98930003e-01 7.00152497e-04 1.28600900e+02] [-9.98867786e-01 4.62473307e-02 1.11503885e-02 -1.18740294e+02] [-1.11708378e-02 -1.83739097e-04 -9.99937587e-01 -4.03332362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.906559995 meters 0.01160523508757441 Centerline is valid? [True, True] Translation: X:128.57, Y:-118.85, Z:-4.03 [[ 2.77034310e-02 -9.99616176e-01 -1.43885330e-04 1.28574153e+02] [-9.99565206e-01 -2.77034716e-02 1.00953483e-02 -1.18852885e+02] [-1.00954596e-02 -1.35853016e-04 -9.99949030e-01 -4.03331406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9665599949999 meters 0.010835653185779026 Centerline is valid? [True, True] Translation: X:128.56, Y:-118.97, Z:-4.03 [[ 9.78290737e-02 -9.95202991e-01 -6.91721844e-04 1.28559525e+02] [-9.95174305e-01 -9.78315059e-02 7.55635782e-03 -1.18967658e+02] [-7.58778210e-03 -5.08476805e-05 -9.99971211e-01 -4.03378839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.026559995 meters 0.010695760965809212 Centerline is valid? [True, True] Translation: X:128.55, Y:-119.09, Z:-4.03 [[ 1.68360148e-01 -9.85725064e-01 -9.79011287e-04 1.28552047e+02] [-9.85708247e-01 -1.68362994e-01 5.75787282e-03 -1.19086609e+02] [-5.84050882e-03 -4.37681960e-06 -9.99982944e-01 -4.03435041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0865599949999 meters 0.010880518019513988 Centerline is valid? [True, True] Translation: X:128.55, Y:-119.21, Z:-4.03 [[ 2.40328462e-01 -9.70690695e-01 -1.34369792e-03 1.28550459e+02] [-9.70675882e-01 -2.40332217e-01 5.36266645e-03 -1.19207547e+02] [-5.52842433e-03 1.54937893e-05 -9.99984718e-01 -4.03311409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.146559995 meters 0.01100567180869833 Centerline is valid? [True, True] Translation: X:128.56, Y:-119.32, Z:-4.03 [[ 3.12196341e-01 -9.50015540e-01 -1.97927635e-03 1.28556297e+02] [-9.49997077e-01 -3.12202614e-01 5.92293886e-03 -1.19321012e+02] [-6.24481921e-03 3.11869101e-05 -9.99980500e-01 -4.03240983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2065599949999 meters 0.011158373614934191 Centerline is valid? [True, True] Translation: X:128.57, Y:-119.44, Z:-4.03 [[ 3.82626946e-01 -9.23899452e-01 -2.53421554e-03 1.28572066e+02] [-9.23879945e-01 -3.82635335e-01 6.00391937e-03 -1.19439933e+02] [-6.51669823e-03 4.40495826e-05 -9.99978765e-01 -4.03239137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.266559995 meters 0.011293241174421294 Centerline is valid? [True, True] Translation: X:128.59, Y:-119.56, Z:-4.03 [[ 4.52310008e-01 -8.91855610e-01 -3.03763193e-03 1.28594534e+02] [-8.91836169e-01 -4.52320206e-01 5.88884750e-03 -1.19558801e+02] [-6.62598399e-03 4.54853636e-05 -9.99978047e-01 -4.03141950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3265599949999 meters 0.011306328668396587 Centerline is valid? [True, True] Translation: X:128.62, Y:-119.67, Z:-4.03 [[ 5.19948736e-01 -8.54191739e-01 -3.12807347e-03 1.28622291e+02] [-8.54176706e-01 -5.19958144e-01 5.06794800e-03 -1.19669544e+02] [-5.95546659e-03 3.68543346e-05 -9.99982265e-01 -4.03105072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.386559995 meters 0.011128643246056091 Centerline is valid? [True, True] Translation: X:128.66, Y:-119.78, Z:-4.03 [[ 5.84470343e-01 -8.11409197e-01 -3.08752057e-03 1.28662290e+02] [-8.11398130e-01 -5.84478498e-01 4.23791833e-03 -1.19783074e+02] [-5.24327529e-03 2.82708404e-05 -9.99986254e-01 -4.03149619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4465599949999 meters 0.011108205559486384 Centerline is valid? [True, True] Translation: X:128.70, Y:-119.89, Z:-4.03 [[ 6.46143059e-01 -7.63210428e-01 -2.99837818e-03 1.28701586e+02] [-7.63202327e-01 -6.46150015e-01 3.51644087e-03 -1.19885111e+02] [-4.62118645e-03 1.62453494e-05 -9.99989322e-01 -4.03050852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.506559995 meters 0.011044293158101418 Centerline is valid? [True, True] Translation: X:128.75, Y:-119.99, Z:-4.03 [[ 7.04757793e-01 -7.09441795e-01 -2.96519099e-03 1.28748348e+02] [-7.09435520e-01 -7.04764031e-01 2.98386133e-03 -1.19985010e+02] [-4.20663589e-03 7.12288386e-07 -9.99991152e-01 -4.02980912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5665599949999 meters 0.011112002680015987 Centerline is valid? [True, True] Translation: X:128.81, Y:-120.08, Z:-4.03 [[ 7.58165598e-01 -6.52054956e-01 -3.04302583e-03 1.28805111e+02] [-6.52049656e-01 -7.58171705e-01 2.62908288e-03 -1.20080661e+02] [-4.02144260e-03 -9.07624579e-06 -9.99991914e-01 -4.02918500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.626559995 meters 0.011415380510793018 Centerline is valid? [True, True] Translation: X:128.82, Y:-120.11, Z:-4.03 [[ 8.08575637e-01 -5.88386584e-01 -2.58201785e-03 1.28823898e+02] [-5.88383519e-01 -8.08579759e-01 1.89932376e-03 -1.20111038e+02] [-3.20530399e-03 -1.65301753e-05 -9.99994863e-01 -4.02941977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6865599949999 meters 0.011569782890658142 Centerline is valid? [True, True] Translation: X:128.85, Y:-120.14, Z:-4.03 [[ 8.53000390e-01 -5.21908081e-01 -1.51325215e-03 1.28845297e+02] [-5.21907236e-01 -8.53001732e-01 9.39516348e-04 -1.20141311e+02] [-1.78114788e-03 -1.16305664e-05 -9.99998414e-01 -4.02928200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.746559995 meters 0.011760092030937844 Centerline is valid? [True, True] Translation: X:128.87, Y:-120.17, Z:-4.03 [[ 8.91466044e-01 -4.53085047e-01 -1.49414889e-03 1.28870891e+02] [-4.53084388e-01 -8.91467296e-01 7.72882705e-04 -1.20166882e+02] [-1.68216647e-03 -1.20231539e-05 -9.99998585e-01 -4.02932823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8065599949999 meters 0.01196277345520489 Centerline is valid? [True, True] Translation: X:128.90, Y:-120.19, Z:-4.03 [[ 9.24322362e-01 -3.81610562e-01 -1.24478275e-03 1.28898113e+02] [-3.81610202e-01 -9.24323200e-01 5.24728453e-04 -1.20187755e+02] [-1.35082349e-03 -9.99644746e-06 -9.99999088e-01 -4.02966138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.866559995 meters 0.012152013419216552 Centerline is valid? [True, True] Translation: X:128.93, Y:-120.21, Z:-4.03 [[ 9.51723510e-01 -3.06949384e-01 -2.10612086e-03 1.28927624e+02] [-3.06948585e-01 -9.51725841e-01 7.00359800e-04 -1.20207003e+02] [-2.21942465e-03 -2.00780700e-05 -9.99997537e-01 -4.03052414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9265599949999 meters 0.012314487345682777 Centerline is valid? [True, True] Translation: X:128.96, Y:-120.23, Z:-4.03 [[ 9.73106698e-01 -2.30343732e-01 -2.26255048e-03 1.28958107e+02] [-2.30343052e-01 -9.73109328e-01 5.60416305e-04 -1.20226917e+02] [-2.33079736e-03 -2.41820768e-05 -9.99997283e-01 -4.03027833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.986559995 meters 0.012980350798725192 Centerline is valid? [True, True] Translation: X:128.99, Y:-120.24, Z:-4.03 [[ 9.88596968e-01 -1.50547958e-01 -3.36854357e-03 1.28989501e+02] [-1.50546924e-01 -9.88602706e-01 5.59922653e-04 -1.20244748e+02] [-3.41444650e-03 -4.64139632e-05 -9.99994170e-01 -4.02958279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0465599949999 meters 0.013351228647416995 Centerline is valid? [True, True] Translation: X:129.02, Y:-120.26, Z:-4.03 [[ 9.97520111e-01 -7.02015521e-02 -5.03690925e-03 1.29019643e+02] [-7.02002427e-02 -9.97532824e-01 4.36505694e-04 -1.20258562e+02] [-5.05512569e-03 -8.18309564e-05 -9.99987219e-01 -4.02876606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.106559995 meters 0.01369169252402739 Centerline is valid? [True, True] Translation: X:129.05, Y:-120.27, Z:-4.03 [[ 9.99943978e-01 9.12473767e-03 -5.36478909e-03 1.29050955e+02] [ 9.12510117e-03 -9.99958365e-01 4.32821946e-05 -1.20268196e+02] [-5.36417079e-03 -9.22340130e-05 -9.99985609e-01 -4.02887756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.166559995 meters 0.013682190495352235 Centerline is valid? [True, True] Translation: X:129.08, Y:-120.27, Z:-4.03 [[ 9.96144559e-01 8.76151457e-02 -4.42772624e-03 1.29083001e+02] [ 8.76146233e-02 -9.96154396e-01 -3.12205579e-04 -1.20273753e+02] [-4.43805289e-03 -7.69316772e-05 -9.99990149e-01 -4.03036430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2265599949999 meters 0.013487115586422684 Centerline is valid? [True, True] Translation: X:129.12, Y:-120.28, Z:-4.03 [[ 9.86455590e-01 1.63995336e-01 -3.30133506e-03 1.29115267e+02] [ 1.63994597e-01 -9.86461113e-01 -4.95153546e-04 -1.20275577e+02] [-3.33784153e-03 -5.29541300e-05 -9.99994428e-01 -4.03150897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.286559995 meters 0.013095471204471224 Centerline is valid? [True, True] Translation: X:129.15, Y:-120.28, Z:-4.03 [[ 9.70947167e-01 2.39263905e-01 -3.79247508e-03 1.29147303e+02] [ 2.39262306e-01 -9.70954572e-01 -8.76679096e-04 -1.20275036e+02] [-3.89207868e-03 -5.61872476e-05 -9.99992424e-01 -4.03120842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3465599949999 meters 0.012290676948090743 Centerline is valid? [True, True] Translation: X:129.18, Y:-120.27, Z:-4.03 [[ 9.50587341e-01 3.10422647e-01 -4.63537263e-03 1.29178125e+02] [ 3.10419208e-01 -9.50598642e-01 -1.46196280e-03 -1.20269961e+02] [-4.86020529e-03 -4.91853697e-05 -9.99988188e-01 -4.03056203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.406559995 meters 0.011697889975773647 Centerline is valid? [True, True] Translation: X:129.21, Y:-120.26, Z:-4.03 [[ 9.25508708e-01 3.78688604e-01 -5.34529402e-03 1.29207900e+02] [ 3.78682452e-01 -9.25524144e-01 -2.15871306e-03 -1.20261777e+02] [-5.76467870e-03 -2.62613061e-05 -9.99983384e-01 -4.03108306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4665599949999 meters 0.011634775998563374 Centerline is valid? [True, True] Translation: X:129.24, Y:-120.25, Z:-4.03 [[ 8.95371512e-01 4.45268343e-01 -6.77925819e-03 1.29237052e+02] [ 4.45255536e-01 -8.95397176e-01 -3.37703313e-03 -1.20251932e+02] [-7.57381458e-03 5.19702288e-06 -9.99971318e-01 -4.03088239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.526559995 meters 0.011846321498235121 Centerline is valid? [True, True] Translation: X:129.27, Y:-120.24, Z:-4.03 [[ 8.59281193e-01 5.11459481e-01 -6.71051361e-03 1.29266271e+02] [ 5.11443628e-01 -8.59307395e-01 -4.02701431e-03 -1.20243304e+02] [-7.82604861e-03 2.82882319e-05 -9.99969376e-01 -4.03082105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5865599949999 meters 0.012102234452970656 Centerline is valid? [True, True] Translation: X:129.29, Y:-120.23, Z:-4.03 [[ 8.18672366e-01 5.74229558e-01 -5.99761423e-03 1.29293947e+02] [ 5.74213674e-01 -8.18694333e-01 -4.27140993e-03 -1.20230587e+02] [-7.36298262e-03 5.29731711e-05 -9.99972892e-01 -4.03149395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.646559995 meters 0.012511353345527484 Centerline is valid? [True, True] Translation: X:129.32, Y:-120.22, Z:-4.03 [[ 7.72172820e-01 6.35388522e-01 -5.52839027e-03 1.29320509e+02] [ 6.35371651e-01 -7.72192607e-01 -4.63069085e-03 -1.20216981e+02] [-7.21126990e-03 6.31111580e-05 -9.99973997e-01 -4.03170445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7065599949999 meters 0.01227439714264245 Centerline is valid? [True, True] Translation: X:129.35, Y:-120.20, Z:-4.03 [[ 7.19309631e-01 6.94668961e-01 -5.35621115e-03 1.29347324e+02] [ 6.94649106e-01 -7.19329571e-01 -5.25241851e-03 -1.20203602e+02] [-7.50157318e-03 5.74279343e-05 -9.99971861e-01 -4.03232809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.766559995 meters 0.012066317513037368 Centerline is valid? [True, True] Translation: X:129.37, Y:-120.19, Z:-4.03 [[ 6.58914065e-01 7.52194358e-01 -5.99187385e-03 1.29373100e+02] [ 7.52162939e-01 -6.58941308e-01 -6.87504970e-03 -1.20189270e+02] [-9.11966679e-03 2.32014953e-05 -9.99958415e-01 -4.03143149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8265599949999 meters 0.012086077575846843 Centerline is valid? [True, True] Translation: X:129.40, Y:-120.17, Z:-4.03 [[ 5.92247707e-01 8.05730863e-01 -6.35851692e-03 1.29401912e+02] [ 8.05685318e-01 -5.92281837e-01 -8.56701445e-03 -1.20174789e+02] [-1.06687420e-02 -4.91690668e-05 -9.99943086e-01 -4.03093758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.886559995 meters 0.012587102240915343 Centerline is valid? [True, True] Translation: X:129.43, Y:-120.16, Z:-4.03 [[ 5.21745314e-01 8.53085716e-01 -5.15641575e-03 1.29429709e+02] [ 8.53046089e-01 -5.21770783e-01 -8.22313876e-03 -1.20157865e+02] [-9.70550929e-03 -1.08276171e-04 -9.99952895e-01 -4.03197953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9465599949999 meters 0.013790829960564422 Centerline is valid? [True, True] Translation: X:129.45, Y:-120.14, Z:-4.03 [[ 4.48489925e-01 8.93779375e-01 -3.90074740e-03 1.29452768e+02] [ 8.93748233e-01 -4.48506866e-01 -7.46242671e-03 -1.20138662e+02] [-8.41927508e-03 -1.39462900e-04 -9.99964548e-01 -4.03275991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.006559995 meters 0.01473075035053106 Centerline is valid? [True, True] Translation: X:129.47, Y:-120.11, Z:-4.03 [[ 3.74445919e-01 9.27243651e-01 -3.07669100e-03 1.29471899e+02] [ 9.27215622e-01 -3.74458528e-01 -7.21118005e-03 -1.20114686e+02] [-7.83861409e-03 -1.52559012e-04 -9.99969266e-01 -4.03316465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0665599949999 meters 0.016213466408244594 Centerline is valid? [True, True] Translation: X:129.49, Y:-120.09, Z:-4.03 [[ 2.96974102e-01 9.54881530e-01 -2.76517355e-03 1.29488871e+02] [ 9.54846257e-01 -2.96986907e-01 -8.20997207e-03 -1.20089829e+02] [-8.66077104e-03 -2.02166528e-04 -9.99962474e-01 -4.03156821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.126559995 meters 0.016129648121882178 Centerline is valid? [True, True] Translation: X:129.50, Y:-120.06, Z:-4.03 [[ 2.17575387e-01 9.76040236e-01 -2.53145196e-03 1.29504264e+02] [ 9.75988413e-01 -2.17589931e-01 -1.00617961e-02 -1.20063872e+02] [-1.03715363e-02 -2.81468601e-04 -9.99946175e-01 -4.03062262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1865599949999 meters 0.016679828789036424 Centerline is valid? [True, True] Translation: X:129.52, Y:-120.04, Z:-4.03 [[ 1.38284159e-01 9.90390603e-01 -1.98637785e-03 1.29519685e+02] [ 9.90321470e-01 -1.38297986e-01 -1.17069501e-02 -1.20036917e+02] [-1.18691655e-02 -3.48266882e-04 -9.99929498e-01 -4.02922258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.246559995 meters 0.01727663068959871 Centerline is valid? [True, True] Translation: X:129.53, Y:-120.01, Z:-4.03 [[ 5.89480469e-02 9.98260341e-01 -1.19151379e-03 1.29531170e+02] [ 9.98172452e-01 -5.89586752e-02 -1.32525736e-02 -1.20008920e+02] [-1.32997687e-02 -4.08122912e-04 -9.99911471e-01 -4.02803063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3065599949999 meters 0.016950372888789544 Centerline is valid? [True, True] Translation: X:129.54, Y:-119.98, Z:-4.03 [[-1.62663893e-02 9.99867682e-01 -1.51112420e-04 1.29535844e+02] [ 9.99777440e-01 1.62628902e-02 -1.34383706e-02 -1.19981299e+02] [-1.34341349e-02 -3.69672555e-04 -9.99909690e-01 -4.02805897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.366559995 meters 0.01469887325425694 Centerline is valid? [True, True] Translation: X:129.54, Y:-119.95, Z:-4.03 [[-8.74587280e-02 9.96167768e-01 8.65473906e-04 1.29535184e+02] [ 9.96084711e-01 8.74626142e-02 -1.28661871e-02 -1.19952747e+02] [-1.28925775e-02 -2.63175031e-04 -9.99916853e-01 -4.02916771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4265599949999 meters 0.013650627315101102 Centerline is valid? [True, True] Translation: X:129.53, Y:-119.92, Z:-4.03 [[-1.60059102e-01 9.87105855e-01 1.76474755e-03 1.29533467e+02] [ 9.87032449e-01 1.60068724e-01 -1.20394288e-02 -1.19924830e+02] [-1.21666716e-02 -1.85157076e-04 -9.99925966e-01 -4.03052675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.486559995 meters 0.012743719359745167 Centerline is valid? [True, True] Translation: X:129.53, Y:-119.90, Z:-4.03 [[-2.31812670e-01 9.72757590e-01 2.35752079e-03 1.29531284e+02] [ 9.72702543e-01 2.31824633e-01 -1.03490547e-02 -1.19897236e+02] [-1.06136529e-02 -1.05875524e-04 -9.99943668e-01 -4.03185337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5465599949999 meters 0.0126531595397303 Centerline is valid? [True, True] Translation: X:129.53, Y:-119.87, Z:-4.03 [[-3.05555905e-01 9.52168050e-01 3.40487893e-03 1.29531386e+02] [ 9.52105495e-01 3.05574861e-01 -1.09146672e-02 -1.19869206e+02] [-1.14330428e-02 -9.32370813e-05 -9.99934636e-01 -4.03033139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.606559995 meters 0.012490027412173024 Centerline is valid? [True, True] Translation: X:129.53, Y:-119.84, Z:-4.03 [[-3.78881179e-01 9.25431876e-01 4.98941522e-03 1.29532129e+02] [ 9.25347974e-01 3.78914016e-01 -1.24617524e-02 -1.19840293e+02] [-1.34230622e-02 -1.04578169e-04 -9.99909901e-01 -4.03016387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.666559995 meters 0.012557542396530346 Centerline is valid? [True, True] Translation: X:129.53, Y:-119.81, Z:-4.03 [[-4.49834130e-01 8.93092113e-01 5.97771243e-03 1.29529931e+02] [ 8.93010309e-01 4.49873835e-01 -1.20880379e-02 -1.19812709e+02] [-1.34849477e-02 -9.94531706e-05 -9.99909069e-01 -4.02961955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7265599949999 meters 0.012382009254254863 Centerline is valid? [True, True] Translation: X:129.53, Y:-119.78, Z:-4.03 [[-5.17764575e-01 8.55500268e-01 6.25590950e-03 1.29525655e+02] [ 8.55435930e-01 5.17802361e-01 -1.04921318e-02 -1.19783815e+02] [-1.22153462e-02 -8.09243858e-05 -9.99925387e-01 -4.03111104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.786559995 meters 0.01221831289987266 Centerline is valid? [True, True] Translation: X:129.52, Y:-119.76, Z:-4.03 [[-5.81721647e-01 8.13364831e-01 6.12999485e-03 1.29519916e+02] [ 8.13318755e-01 5.81753942e-01 -8.65762131e-03 -1.19755258e+02] [-1.06079534e-02 -5.06859517e-05 -9.99943733e-01 -4.03191110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8465599949999 meters 0.012157936870602785 Centerline is valid? [True, True] Translation: X:129.51, Y:-119.73, Z:-4.03 [[-6.41536765e-01 7.67057928e-01 7.26048748e-03 1.29509164e+02] [ 7.67008400e-01 6.41577848e-01 -8.71662997e-03 -1.19728701e+02] [-1.13443281e-02 -2.31837042e-05 -9.99935651e-01 -4.03092680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.906559995 meters 0.01212293437328281 Centerline is valid? [True, True] Translation: X:129.49, Y:-119.70, Z:-4.03 [[-6.97290668e-01 7.16746311e-01 7.77493509e-03 1.29494320e+02] [ 7.16701981e-01 6.97334013e-01 -7.97152573e-03 -1.19704686e+02] [-1.11352883e-02 1.38408861e-05 -9.99938001e-01 -4.03126301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9665599949999 meters 0.012265829322776072 Centerline is valid? [True, True] Translation: X:129.48, Y:-119.68, Z:-4.03 [[-7.50445813e-01 6.60889884e-01 7.45941677e-03 1.29479096e+02] [ 6.60857570e-01 7.50482885e-01 -6.53537979e-03 -1.19682883e+02] [-9.91733101e-03 2.51636451e-05 -9.99950822e-01 -4.03181217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.026559995 meters 0.012108789542475022 Centerline is valid? [True, True] Translation: X:129.50, Y:-119.66, Z:-4.03 [[-7.95218757e-01 6.06284695e-01 6.78221907e-03 1.29499111e+02] [ 6.06262891e-01 7.95247678e-01 -5.14185579e-03 -1.19663816e+02] [-8.51097243e-03 2.29075690e-05 -9.99963781e-01 -4.03291172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0865599949999 meters 0.011920658849519256 Centerline is valid? [True, True] Translation: X:129.52, Y:-119.64, Z:-4.03 [[-8.36749189e-01 5.47546103e-01 6.63774013e-03 1.29520824e+02] [ 5.47528970e-01 8.36775516e-01 -4.33152481e-03 -1.19644780e+02] [-7.92600796e-03 9.95514524e-06 -9.99968589e-01 -4.03356060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.146559995 meters 0.01213349912098516 Centerline is valid? [True, True] Translation: X:129.54, Y:-119.61, Z:-4.03 [[-8.76586376e-01 4.81209663e-01 5.79532823e-03 1.29536018e+02] [ 4.81198874e-01 8.76605532e-01 -3.22257785e-03 -1.19614381e+02] [-6.63095239e-03 -3.61624197e-05 -9.99978014e-01 -4.03317509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2065599949999 meters 0.01253425677601684 Centerline is valid? [True, True] Translation: X:129.55, Y:-119.59, Z:-4.03 [[-9.10337478e-01 4.13826429e-01 5.77604221e-03 1.29548964e+02] [ 4.13817653e-01 9.10355800e-01 -2.69582092e-03 -1.19586437e+02] [-6.37385547e-03 -6.38785906e-05 -9.99979685e-01 -4.03347045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.266559995 meters 0.013822405437380125 Centerline is valid? [True, True] Translation: X:129.56, Y:-119.55, Z:-4.03 [[-9.39651871e-01 3.42062040e-01 6.92259606e-03 1.29559243e+02] [ 3.42051784e-01 9.39677362e-01 -2.65184492e-03 -1.19554010e+02] [-7.41210229e-03 -1.23924712e-04 -9.99972522e-01 -4.03171384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3265599949999 meters 0.015277131006941938 Centerline is valid? [True, True] Translation: X:129.57, Y:-119.52, Z:-4.03 [[-9.62813322e-01 2.70053696e-01 7.84277030e-03 1.29566771e+02] [ 2.70043241e-01 9.62845247e-01 -2.38275822e-03 -1.19522848e+02] [-8.19484677e-03 -1.76264242e-04 -9.99966406e-01 -4.03025795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.386559995 meters 0.015902912406553404 Centerline is valid? [True, True] Translation: X:129.58, Y:-119.50, Z:-4.03 [[-9.79973875e-01 1.98935174e-01 8.71784961e-03 1.29576824e+02] [ 1.98925365e-01 9.80012628e-01 -1.98696861e-03 -1.19495748e+02] [-8.93888065e-03 -2.12975913e-04 -9.99960025e-01 -4.02906476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4465599949999 meters 0.01600845674363671 Centerline is valid? [True, True] Translation: X:129.58, Y:-119.47, Z:-4.03 [[-9.91578133e-01 1.29197400e-01 8.99105345e-03 1.29577680e+02] [ 1.29190122e-01 9.91618871e-01 -1.38798164e-03 -1.19468255e+02] [-9.09502189e-03 -2.14736946e-04 -9.99958616e-01 -4.02840675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.506559995 meters 0.015387690783625181 Centerline is valid? [True, True] Translation: X:129.58, Y:-119.44, Z:-4.03 [[-9.98144859e-01 6.01834196e-02 9.20848859e-03 1.29580852e+02] [ 6.01789829e-02 9.98187315e-01 -7.58390509e-04 -1.19443493e+02] [-9.23743904e-03 -2.02826110e-04 -9.99957313e-01 -4.02826819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5665599949999 meters 0.014219109941239639 Centerline is valid? [True, True] Translation: X:129.64, Y:-118.77, Z:-5.01 [[-9.85852422e-01 -1.67330314e-01 9.77591345e-03 1.29640065e+02] [ 1.67324649e-01 -9.85900858e-01 -1.40032941e-03 -1.18766821e+02] [ 9.87239901e-03 2.55233146e-04 9.99951234e-01 -5.01183857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.626559995 meters 0.01391296232950703 Centerline is valid? [True, True] Translation: X:129.53, Y:-119.45, Z:-4.03 [[-9.97919578e-01 6.37230059e-02 9.79253394e-03 1.29530862e+02] [ 6.37185473e-02 9.97967614e-01 -7.66939806e-04 -1.19447551e+02] [-9.82150344e-03 -1.41378211e-04 -9.99951758e-01 -4.02741800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6865599949999 meters 0.012241331500777365 Centerline is valid? [True, True] Translation: X:129.60, Y:-118.75, Z:-5.01 [[-9.88472836e-01 -1.51169234e-01 8.32560821e-03 1.29596913e+02] [ 1.51164232e-01 -9.88507896e-01 -1.23047705e-03 -1.18752251e+02] [ 8.41593973e-03 4.22410344e-05 9.99964585e-01 -5.01021368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.746559995 meters 0.012089699411227811 Centerline is valid? [True, True] Translation: X:129.49, Y:-119.46, Z:-4.03 [[-9.96992428e-01 7.71941137e-02 6.86790593e-03 1.29486362e+02] [ 7.71924432e-02 9.97016082e-01 -5.08371648e-04 -1.19461945e+02] [-6.88665597e-03 2.33077555e-05 -9.99976286e-01 -4.03171254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8065599949999 meters 0.013400213563033492 Centerline is valid? [True, True] Translation: X:129.49, Y:-119.44, Z:-4.03 [[-9.99844605e-01 1.64694236e-02 6.28685431e-03 1.29491439e+02] [ 1.64696389e-02 9.99864366e-01 -1.75378206e-05 -1.19442562e+02] [-6.28629043e-03 8.60071248e-05 -9.99980237e-01 -4.03219557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.866559995 meters 0.014582469717208842 Centerline is valid? [True, True] Translation: X:129.49, Y:-119.42, Z:-4.03 [[-9.98762068e-01 -4.94403379e-02 5.47576002e-03 1.29491147e+02] [-4.94390237e-02 9.98777073e-01 3.75195666e-04 -1.19415537e+02] [-5.48761337e-03 1.04014970e-04 -9.99984938e-01 -4.03261306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9265599949999 meters 0.01690976014213124 Centerline is valid? [True, True] Translation: X:129.49, Y:-119.39, Z:-4.03 [[-9.93857394e-01 -1.10460399e-01 6.78096155e-03 1.29488610e+02] [-1.10456465e-01 9.93880506e-01 9.53171665e-04 -1.19391508e+02] [-6.84475322e-03 1.98315665e-04 -9.99976555e-01 -4.03146192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.986559995 meters 0.019805587302136274 Centerline is valid? [True, True] Translation: X:129.48, Y:-119.37, Z:-4.03 [[-9.84764929e-01 -1.73759451e-01 6.75933670e-03 1.29479655e+02] [-1.73753588e-01 9.84788094e-01 1.44969915e-03 -1.19368499e+02] [-6.90841324e-03 2.53153879e-04 -9.99976105e-01 -4.03057379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0465599949999 meters 0.021682526676780625 Centerline is valid? [True, True] Translation: X:129.45, Y:-119.34, Z:-4.03 [[-9.71931850e-01 -2.35177762e-01 6.31653124e-03 1.29452720e+02] [-2.35170755e-01 9.71952328e-01 1.84057656e-03 -1.19344851e+02] [-6.57222993e-03 3.03451563e-04 -9.99978357e-01 -4.03055209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.106559995 meters 0.024222663480287673 Centerline is valid? [True, True] Translation: X:129.40, Y:-119.33, Z:-4.03 [[-9.53337159e-01 -3.01851559e-01 5.82219616e-03 1.29401145e+02] [-3.01843926e-01 9.53354887e-01 2.16898991e-03 -1.19332393e+02] [-6.20533215e-03 3.10384134e-04 -9.99980699e-01 -4.03014084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.166559995 meters 0.02354387842382865 Centerline is valid? [True, True] Translation: X:129.34, Y:-119.32, Z:-4.03 [[-9.28082688e-01 -3.72334528e-01 5.43352284e-03 1.29338650e+02] [-3.72326291e-01 9.28098548e-01 2.49381013e-03 -1.19322859e+02] [-5.97137628e-03 2.91418606e-04 -9.99982129e-01 -4.03046190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2265599949999 meters 0.020582375478995562 Centerline is valid? [True, True] Translation: X:129.26, Y:-119.32, Z:-4.03 [[-8.94551093e-01 -4.46935580e-01 5.18944802e-03 1.29261038e+02] [-4.46926479e-01 8.94566112e-01 2.86228726e-03 -1.19315841e+02] [-5.92156236e-03 2.41160464e-04 -9.99982438e-01 -4.02992536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.286559995 meters 0.01677823480119198 Centerline is valid? [True, True] Translation: X:129.18, Y:-119.32, Z:-4.03 [[-8.51592260e-01 -5.24183308e-01 4.74153636e-03 1.29176444e+02] [-5.24174202e-01 8.51605447e-01 3.09333372e-03 -1.19316057e+02] [-5.65939209e-03 1.48868012e-04 -9.99983974e-01 -4.02949757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3465599949999 meters 0.013733037538892434 Centerline is valid? [True, True] Translation: X:129.09, Y:-119.33, Z:-4.03 [[-8.03941622e-01 -5.94687437e-01 4.97200968e-03 1.29088707e+02] [-5.94675316e-01 8.03956991e-01 3.79814903e-03 -1.19329151e+02] [-6.25599345e-03 9.67586635e-05 -9.99980426e-01 -4.02969834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.406559995 meters 0.012165452000911374 Centerline is valid? [True, True] Translation: X:129.00, Y:-119.35, Z:-4.03 [[-7.47231562e-01 -6.64551033e-01 4.11309660e-03 1.28995749e+02] [-6.64540974e-01 7.47242882e-01 3.65649587e-03 -1.19347255e+02] [-5.50341026e-03 -1.07209831e-06 -9.99984856e-01 -4.03022719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4665599949999 meters 0.012692098203532141 Centerline is valid? [True, True] Translation: X:128.91, Y:-119.38, Z:-4.03 [[-6.89233185e-01 -7.24532413e-01 3.22472256e-03 1.28907611e+02] [-7.24524767e-01 6.89240727e-01 3.32898902e-03 -1.19378202e+02] [-4.63457057e-03 -4.19416554e-05 -9.99989259e-01 -4.03028904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.526559995 meters 0.014573436185519569 Centerline is valid? [True, True] Translation: X:128.82, Y:-119.42, Z:-4.03 [[-6.24840457e-01 -7.80745688e-01 3.25168500e-03 1.28817550e+02] [-7.80735944e-01 6.24848910e-01 3.90206670e-03 -1.19419948e+02] [-5.07833358e-03 -1.00538216e-04 -9.99987100e-01 -4.03045609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5865599949999 meters 0.016525935298548386 Centerline is valid? [True, True] Translation: X:128.74, Y:-119.47, Z:-4.03 [[-5.61893427e-01 -8.27202590e-01 3.41350929e-03 1.28737987e+02] [-8.27188759e-01 5.61903779e-01 4.78541937e-03 -1.19469607e+02] [-5.87657507e-03 -1.34720825e-04 -9.99982724e-01 -4.02912482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.646559995 meters 0.017624442634228243 Centerline is valid? [True, True] Translation: X:128.66, Y:-119.53, Z:-4.03 [[-4.92534417e-01 -8.70283231e-01 4.11645431e-03 1.28656617e+02] [-8.70256708e-01 4.92551564e-01 6.79855037e-03 -1.19532650e+02] [-7.94423039e-03 -2.33851928e-04 -9.99968417e-01 -4.02745490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7065599949999 meters 0.018910815644432727 Centerline is valid? [True, True] Translation: X:128.58, Y:-119.60, Z:-4.03 [[-4.22932927e-01 -9.06148284e-01 4.79860223e-03 1.28584290e+02] [-9.06098861e-01 4.22960009e-01 9.47023353e-03 -1.19598647e+02] [-1.06110527e-02 -3.42734431e-04 -9.99943643e-01 -4.02555196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.766559995 meters 0.01887949444206182 Centerline is valid? [True, True] Translation: X:128.52, Y:-119.68, Z:-4.02 [[-3.54463822e-01 -9.35056913e-01 4.89583568e-03 1.28518630e+02] [-9.34982547e-01 3.54497411e-01 1.17992775e-02 -1.19677576e+02] [-1.27685571e-02 -3.95103893e-04 -9.99918401e-01 -4.02385541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8265599949999 meters 0.017083956776768806 Centerline is valid? [True, True] Translation: X:128.46, Y:-119.77, Z:-4.02 [[-2.87298313e-01 -9.57830270e-01 4.56656059e-03 1.28461684e+02] [-9.57729524e-01 2.87334351e-01 1.38970766e-02 -1.19766887e+02] [-1.46231704e-02 -3.80923224e-04 -9.99893003e-01 -4.02156304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.886559995 meters 0.01547456992833248 Centerline is valid? [True, True] Translation: X:128.42, Y:-119.86, Z:-4.02 [[-2.17925723e-01 -9.75958265e-01 3.72078511e-03 1.28415079e+02] [-9.75841250e-01 2.17957224e-01 1.51163131e-02 -1.19855448e+02] [-1.55638627e-02 -3.36662134e-04 -9.99878819e-01 -4.02198186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9465599949999 meters 0.014121876386239813 Centerline is valid? [True, True] Translation: X:128.38, Y:-119.95, Z:-4.02 [[-1.49184948e-01 -9.88805984e-01 2.56454331e-03 1.28376814e+02] [-9.88686267e-01 1.49206796e-01 1.53881981e-02 -1.19954999e+02] [-1.55985897e-02 -2.39841215e-04 -9.99878306e-01 -4.02277380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.006559995 meters 0.013533457769527451 Centerline is valid? [True, True] Translation: X:128.34, Y:-120.06, Z:-4.02 [[-7.78131406e-02 -9.96967125e-01 1.29114837e-03 1.28344948e+02] [-9.96861494e-01 7.78236919e-02 1.45132871e-02 -1.20058814e+02] [-1.45697520e-02 -1.57771647e-04 -9.99893843e-01 -4.02381492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0665599949999 meters 0.013034495288430778 Centerline is valid? [True, True] Translation: X:128.32, Y:-120.17, Z:-4.03 [[-2.38791490e-03 -9.99997135e-01 1.67533360e-04 1.28318114e+02] [-9.99903643e-01 2.38998259e-03 1.36745310e-02 -1.20167589e+02] [-1.36748922e-02 -1.34863601e-04 -9.99906485e-01 -4.02611362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.126559995 meters 0.013399307980961731 Centerline is valid? [True, True] Translation: X:128.30, Y:-120.29, Z:-4.03 [[ 7.59529801e-02 -9.97111081e-01 -7.98680996e-04 1.28297898e+02] [-9.97033776e-01 -7.59570374e-02 1.24168801e-02 -1.20285377e+02] [-1.24416742e-02 -1.46787120e-04 -9.99922589e-01 -4.02686705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1865599949999 meters 0.013641529476565911 Centerline is valid? [True, True] Translation: X:128.29, Y:-120.40, Z:-4.03 [[ 1.52874616e-01 -9.88243804e-01 -1.88057351e-03 1.28286501e+02] [-9.88154781e-01 -1.52886088e-01 1.32654421e-02 -1.20400583e+02] [-1.33970045e-02 -1.69651665e-04 -9.99910242e-01 -4.02560355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.246559995 meters 0.013329433878403246 Centerline is valid? [True, True] Translation: X:128.29, Y:-120.51, Z:-4.03 [[ 2.26757978e-01 -9.73947026e-01 -2.83032051e-03 1.28286514e+02] [-9.73862819e-01 -2.26775592e-01 1.28078016e-02 -1.20513763e+02] [-1.31159678e-02 -1.47927269e-04 -9.99913971e-01 -4.02676374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3065599949999 meters 0.013119269846982834 Centerline is valid? [True, True] Translation: X:128.29, Y:-120.63, Z:-4.03 [[ 2.99091228e-01 -9.54217024e-01 -3.78253489e-03 1.28292352e+02] [-9.54135327e-01 -2.99115119e-01 1.24869365e-02 -1.20628739e+02] [-1.30466607e-02 -1.25682998e-04 -9.99914881e-01 -4.02733801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.366559995 meters 0.012865654571334 Centerline is valid? [True, True] Translation: X:128.31, Y:-120.74, Z:-4.03 [[ 3.68691850e-01 -9.29540832e-01 -4.49020265e-03 1.28310468e+02] [-9.29469084e-01 -3.68719182e-01 1.15493066e-02 -1.20744481e+02] [-1.23911759e-02 -8.46306660e-05 -9.99923223e-01 -4.02806641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4265599949999 meters 0.012908808158393945 Centerline is valid? [True, True] Translation: X:128.33, Y:-120.85, Z:-4.03 [[ 4.36257183e-01 -8.99809110e-01 -4.82039064e-03 1.28333835e+02] [-8.99753070e-01 -4.36283812e-01 1.00423691e-02 -1.20854930e+02] [-1.11392736e-02 -4.38943934e-05 -9.99937955e-01 -4.02626782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.486559995 meters 0.012546684846222157 Centerline is valid? [True, True] Translation: X:128.37, Y:-120.96, Z:-4.03 [[ 5.01918670e-01 -8.64897361e-01 -5.49580849e-03 1.28365739e+02] [-8.64845115e-01 -5.01948758e-01 9.50644202e-03 -1.20963599e+02] [-1.09807109e-02 -1.84376077e-05 -9.99939710e-01 -4.02832444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5465599949999 meters 0.012487104069580682 Centerline is valid? [True, True] Translation: X:128.41, Y:-121.07, Z:-4.03 [[ 5.64789185e-01 -8.25213264e-01 -6.02043548e-03 1.28405230e+02] [-8.25166485e-01 -5.64821271e-01 8.78655882e-03 -1.21067376e+02] [-1.06512549e-02 5.30819086e-06 -9.99943274e-01 -4.02847441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.606559995 meters 0.012491031905707614 Centerline is valid? [True, True] Translation: X:128.46, Y:-121.18, Z:-4.03 [[ 6.27450073e-01 -7.78629051e-01 -6.57319016e-03 1.28456243e+02] [-7.78586125e-01 -6.27484502e-01 8.17594481e-03 -1.21176736e+02] [-1.04906031e-02 -1.22025117e-05 -9.99944972e-01 -4.02888660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.666559995 meters 0.012595420836581104 Centerline is valid? [True, True] Translation: X:128.50, Y:-121.27, Z:-4.03 [[ 6.87370916e-01 -7.26272295e-01 -7.05528468e-03 1.28500321e+02] [-7.26233350e-01 -6.87407122e-01 7.52128569e-03 -1.21269659e+02] [-1.03123544e-02 -4.61299996e-05 -9.99946825e-01 -4.02849825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7265599949999 meters 0.01366180429869696 Centerline is valid? [True, True] Translation: X:128.56, Y:-121.37, Z:-4.03 [[ 7.45707810e-01 -6.66227963e-01 -7.75655466e-03 1.28558350e+02] [-6.66190127e-01 -7.45748138e-01 7.10133610e-03 -1.21370314e+02] [-1.05155449e-02 -1.28181656e-04 -9.99944702e-01 -4.02688881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.786559995 meters 0.014413028196081734 Centerline is valid? [True, True] Translation: X:128.58, Y:-121.40, Z:-4.03 [[ 7.98665738e-01 -6.01708740e-01 -8.92363199e-03 1.28578785e+02] [-6.01668395e-01 -7.98715565e-01 6.97054398e-03 -1.21398850e+02] [-1.13216810e-02 -1.98067314e-04 -9.99935888e-01 -4.02707291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8465599949999 meters 0.01636299153710305 Centerline is valid? [True, True] Translation: X:128.60, Y:-121.43, Z:-4.03 [[ 8.47082371e-01 -5.31392514e-01 -8.57049218e-03 1.28601365e+02] [-5.31362271e-01 -8.47125689e-01 5.67488692e-03 -1.21426104e+02] [-1.02758765e-02 -2.53060475e-04 -9.99947170e-01 -4.02788535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.906559995 meters 0.017615334583211566 Centerline is valid? [True, True] Translation: X:128.63, Y:-121.45, Z:-4.03 [[ 8.88591610e-01 -4.58637083e-01 -7.54827021e-03 1.28625808e+02] [-4.58618029e-01 -8.88623631e-01 4.18872590e-03 -1.21451899e+02] [-8.62867631e-03 -2.60293885e-04 -9.99962738e-01 -4.02941735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9665599949999 meters 0.01884221481884404 Centerline is valid? [True, True] Translation: X:128.65, Y:-121.47, Z:-4.03 [[ 9.22675580e-01 -3.85508059e-01 -7.30137581e-03 1.28652571e+02] [-3.85493733e-01 -9.22704432e-01 3.33375536e-03 -1.21474815e+02] [-8.02220138e-03 -2.61340044e-04 -9.99967788e-01 -4.02960125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.026559995 meters 0.019395630060676614 Centerline is valid? [True, True] Translation: X:128.68, Y:-121.49, Z:-4.03 [[ 9.49779268e-01 -3.12770298e-01 -9.69957916e-03 1.28681609e+02] [-3.12750422e-01 -9.49828738e-01 3.54145349e-03 -1.21490927e+02] [-1.03206005e-02 -3.30051625e-04 -9.99946687e-01 -4.02708944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0865599949999 meters 0.01719669096646508 Centerline is valid? [True, True] Translation: X:128.71, Y:-121.50, Z:-4.03 [[ 9.70524539e-01 -2.40707660e-01 -1.19139164e-02 1.28712907e+02] [-2.40685014e-01 -9.70597597e-01 3.32090316e-03 -1.21503228e+02] [-1.23629855e-02 -3.55516882e-04 -9.99923512e-01 -4.02617551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.146559995 meters 0.015918481733668777 Centerline is valid? [True, True] Translation: X:128.74, Y:-121.51, Z:-4.02 [[ 9.85175227e-01 -1.70966886e-01 -1.41455259e-02 1.28743725e+02] [-1.70944688e-01 -9.85276725e-01 2.77272550e-03 -1.21511212e+02] [-1.44113017e-02 -3.13517964e-04 -9.99896103e-01 -4.02427926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2065599949999 meters 0.014875121632287566 Centerline is valid? [True, True] Translation: X:128.77, Y:-121.52, Z:-4.03 [[ 9.95228604e-01 -9.65472559e-02 -1.40944327e-02 1.28771719e+02] [-9.65338299e-02 -9.95328367e-01 1.63140829e-03 -1.21519694e+02] [-1.41860967e-02 -2.63034621e-04 -9.99899338e-01 -4.02548290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.266559995 meters 0.01379820457526302 Centerline is valid? [True, True] Translation: X:128.80, Y:-121.52, Z:-4.03 [[ 9.99639044e-01 -2.35725781e-02 -1.28885439e-02 1.28800253e+02] [-2.35684102e-02 -9.99722114e-01 4.75192361e-04 -1.21523553e+02] [-1.28961639e-02 -1.71258347e-04 -9.99916826e-01 -4.02827216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3265599949999 meters 0.012712451578601467 Centerline is valid? [True, True] Translation: X:128.83, Y:-121.52, Z:-4.03 [[ 9.98870570e-01 4.60640355e-02 -1.16485793e-02 1.28828342e+02] [ 4.60615200e-02 -9.98938488e-01 -4.84289114e-04 -1.21522350e+02] [-1.16585225e-02 -5.28091234e-05 -9.99932036e-01 -4.02971124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.386559995 meters 0.012747531854956548 Centerline is valid? [True, True] Translation: X:128.86, Y:-121.52, Z:-4.03 [[ 9.93400293e-01 1.14190171e-01 -1.07917639e-02 1.28856930e+02] [ 1.14182781e-01 -9.93458908e-01 -1.30048364e-03 -1.21522979e+02] [-1.08696764e-02 5.96672151e-05 -9.99940922e-01 -4.03182913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4465599949999 meters 0.013580180660726322 Centerline is valid? [True, True] Translation: X:128.88, Y:-121.52, Z:-4.03 [[ 9.82500989e-01 1.85960216e-01 -1.05169044e-02 1.28883668e+02] [ 1.85948243e-01 -9.82557267e-01 -2.11360314e-03 -1.21523786e+02] [-1.07265069e-02 1.21017289e-04 -9.99942462e-01 -4.03223908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.506559995 meters 0.014001326158142058 Centerline is valid? [True, True] Translation: X:128.91, Y:-121.53, Z:-4.03 [[ 9.66037561e-01 2.58194878e-01 -1.03361360e-02 1.28913055e+02] [ 2.58178249e-01 -9.66092841e-01 -2.93512320e-03 -1.21526689e+02] [-1.07435008e-02 1.66873774e-04 -9.99942273e-01 -4.03284323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5665599949999 meters 0.014767365873778903 Centerline is valid? [True, True] Translation: X:128.94, Y:-121.53, Z:-4.03 [[ 9.43779920e-01 3.30390126e-01 -1.10375762e-02 1.28942948e+02] [ 3.30364846e-01 -9.43844435e-01 -4.09275717e-03 -1.21529007e+02] [-1.17699615e-02 2.16234862e-04 -9.99930708e-01 -4.03236578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.626559995 meters 0.014964810098103373 Centerline is valid? [True, True] Translation: X:128.97, Y:-121.53, Z:-4.03 [[ 9.15042120e-01 4.03203477e-01 -1.11747773e-02 1.28972426e+02] [ 4.03170373e-01 -9.15110324e-01 -5.17159786e-03 -1.21528077e+02] [-1.23113604e-02 2.26890715e-04 -9.99924187e-01 -4.03173979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6865599949999 meters 0.014807228978486225 Centerline is valid? [True, True] Translation: X:129.00, Y:-121.53, Z:-4.03 [[ 8.79817008e-01 4.75184921e-01 -1.10147295e-02 1.29002908e+02] [ 4.75144685e-01 -8.79885928e-01 -6.18718530e-03 -1.21526326e+02] [-1.26317627e-02 2.10000663e-04 -9.99920194e-01 -4.03126910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.746559995 meters 0.013911257469753982 Centerline is valid? [True, True] Translation: X:129.04, Y:-121.52, Z:-4.03 [[ 8.37963236e-01 5.45633452e-01 -1.00871506e-02 1.29035190e+02] [ 5.45591636e-01 -8.38023932e-01 -6.75690807e-03 -1.21524140e+02] [-1.21400687e-02 1.58575528e-04 -9.99926294e-01 -4.03159748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8065599949999 meters 0.01270847945298954 Centerline is valid? [True, True] Translation: X:129.07, Y:-121.52, Z:-4.03 [[ 7.88090903e-01 6.15498938e-01 -8.58986760e-03 1.29068860e+02] [ 6.15461540e-01 -7.88137712e-01 -6.78520222e-03 -1.21520010e+02] [-1.09462834e-02 6.06229938e-05 -9.99940086e-01 -4.03329820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.866559995 meters 0.012501939268257729 Centerline is valid? [True, True] Translation: X:129.10, Y:-121.51, Z:-4.03 [[ 7.33258161e-01 6.79913637e-01 -7.06514644e-03 1.29101260e+02] [ 6.79882169e-01 -7.33292197e-01 -6.54136783e-03 -1.21511813e+02] [-9.62838195e-03 -6.95573536e-06 -9.99953646e-01 -4.03411066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9265599949999 meters 0.0132104741548994 Centerline is valid? [True, True] Translation: X:129.14, Y:-121.50, Z:-4.03 [[ 6.70344498e-01 7.42023930e-01 -6.22418937e-03 1.29136559e+02] [ 7.41993307e-01 -6.70373386e-01 -6.74202474e-03 -1.21504326e+02] [-9.17527460e-03 -9.88276681e-05 -9.99957901e-01 -4.03402054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.986559995 meters 0.015292252853775173 Centerline is valid? [True, True] Translation: X:129.17, Y:-121.49, Z:-4.03 [[ 6.05043978e-01 7.96171192e-01 -5.76343750e-03 1.29167947e+02] [ 7.96137577e-01 -6.05071406e-01 -7.31793507e-03 -1.21491604e+02] [-9.31362032e-03 -1.60816623e-04 -9.99956614e-01 -4.03234648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0465599949999 meters 0.01725057565363981 Centerline is valid? [True, True] Translation: X:129.20, Y:-121.47, Z:-4.03 [[ 5.33591012e-01 8.45721397e-01 -5.99588601e-03 1.29198468e+02] [ 8.45673772e-01 -5.33624625e-01 -8.97951229e-03 -1.21473951e+02] [-1.07937181e-02 -2.79176489e-04 -9.99941707e-01 -4.03128518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.106559995 meters 0.018460498867881744 Centerline is valid? [True, True] Translation: X:129.22, Y:-121.45, Z:-4.03 [[ 4.61807917e-01 8.86957592e-01 -6.29908901e-03 1.29224935e+02] [ 8.86886307e-01 -4.61850710e-01 -1.12516511e-02 -1.21451981e+02] [-1.28889761e-02 -3.90474250e-04 -9.99916858e-01 -4.02934384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.166559995 meters 0.019789280688350917 Centerline is valid? [True, True] Translation: X:129.25, Y:-121.43, Z:-4.03 [[ 3.90718814e-01 9.20492293e-01 -5.72257573e-03 1.29246109e+02] [ 9.20408687e-01 -3.90760496e-01 -1.24130226e-02 -1.21427130e+02] [-1.36622482e-02 -4.17106949e-04 -9.99906580e-01 -4.02805663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2265599949999 meters 0.01783923288920319 Centerline is valid? [True, True] Translation: X:129.26, Y:-121.40, Z:-4.03 [[ 3.19606917e-01 9.47539979e-01 -4.40532236e-03 1.29260683e+02] [ 9.47464873e-01 -3.19637075e-01 -1.19354563e-02 -1.21398449e+02] [-1.27174264e-02 -3.59233779e-04 -9.99919066e-01 -4.02975415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.286559995 meters 0.014684594245849412 Centerline is valid? [True, True] Translation: X:129.27, Y:-121.37, Z:-4.03 [[ 2.54560508e-01 9.67051832e-01 -3.11487750e-03 1.29268967e+02] [ 9.66988913e-01 -2.54579483e-01 -1.10331136e-02 -1.21367818e+02] [-1.14625766e-02 -2.03457001e-04 -9.99934282e-01 -4.03111483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3465599949999 meters 0.013363302748794034 Centerline is valid? [True, True] Translation: X:129.28, Y:-121.34, Z:-4.03 [[ 1.85008418e-01 9.82734206e-01 -2.31628384e-03 1.29276853e+02] [ 9.82665516e-01 -1.85022874e-01 -1.16197751e-02 -1.21337536e+02] [-1.18477159e-02 -1.26376047e-04 -9.99929805e-01 -4.03089985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.406559995 meters 0.012552142583697542 Centerline is valid? [True, True] Translation: X:129.28, Y:-121.31, Z:-4.03 [[ 1.18202008e-01 9.92988464e-01 -1.48153023e-03 1.29281534e+02] [ 9.92910321e-01 -1.18211292e-01 -1.24573159e-02 -1.21307291e+02] [-1.25451046e-02 1.45308744e-06 -9.99921307e-01 -4.03198488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4665599949999 meters 0.012844914901018158 Centerline is valid? [True, True] Translation: X:129.29, Y:-121.28, Z:-4.03 [[ 4.49434008e-02 9.98989409e-01 -5.01825116e-04 1.29287573e+02] [ 9.98910571e-01 -4.49461585e-02 -1.25504809e-02 -1.21277303e+02] [-1.25603526e-02 6.27828788e-05 -9.99921114e-01 -4.03279018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.526559995 meters 0.013100522572751933 Centerline is valid? [True, True] Translation: X:129.30, Y:-121.25, Z:-4.03 [[-3.07956174e-02 9.99525544e-01 5.62395357e-04 1.29295683e+02] [ 9.99418712e-01 3.08005486e-02 -1.46138441e-02 -1.21247283e+02] [-1.46242326e-02 1.12026091e-04 -9.99893054e-01 -4.03247568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5865599949999 meters 0.013078518526332697 Centerline is valid? [True, True] Translation: X:129.30, Y:-121.22, Z:-4.03 [[-1.09609648e-01 9.93973266e-01 1.69482618e-03 1.29302732e+02] [ 9.93868427e-01 1.09622703e-01 -1.44365127e-02 -1.21217363e+02] [-1.45352991e-02 1.02053148e-04 -9.99894352e-01 -4.03193783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.646559995 meters 0.01264923196587192 Centerline is valid? [True, True] Translation: X:129.31, Y:-121.19, Z:-4.03 [[-1.89781254e-01 9.81822720e-01 2.68732705e-03 1.29307989e+02] [ 9.81728729e-01 1.89800270e-01 -1.35853084e-02 -1.21187093e+02] [-1.38484199e-02 5.99892982e-05 -9.99904104e-01 -4.03273695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7065599949999 meters 0.012498367984410508 Centerline is valid? [True, True] Translation: X:129.31, Y:-121.16, Z:-4.03 [[-2.71532811e-01 9.62421610e-01 3.81794623e-03 1.29311905e+02] [ 9.62325522e-01 2.71559650e-01 -1.35994830e-02 -1.21156323e+02] [-1.41252365e-02 -1.85987454e-05 -9.99900234e-01 -4.03288392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.766559995 meters 0.012641563023772184 Centerline is valid? [True, True] Translation: X:129.31, Y:-121.12, Z:-4.03 [[-3.51626596e-01 9.36129150e-01 4.57718534e-03 1.29314227e+02] [ 9.36046269e-01 3.51656373e-01 -1.24570157e-02 -1.21123491e+02] [-1.32709720e-02 -9.57607871e-05 -9.99911932e-01 -4.03466134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8265599949999 meters 0.012976961079351862 Centerline is valid? [True, True] Translation: X:129.31, Y:-121.09, Z:-4.04 [[-4.27186548e-01 9.04147106e-01 5.44642921e-03 1.29312005e+02] [ 9.04069332e-01 4.27221243e-01 -1.18596894e-02 -1.21091811e+02] [-1.30497341e-02 -1.42350179e-04 -9.99914839e-01 -4.03508689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.886559995 meters 0.013538618254095192 Centerline is valid? [True, True] Translation: X:129.31, Y:-121.06, Z:-4.04 [[-5.00461981e-01 8.65737159e-01 6.08094569e-03 1.29308306e+02] [ 8.65668581e-01 5.00498887e-01 -1.08982645e-02 -1.21059208e+02] [-1.24785391e-02 -1.90083430e-04 -9.99922122e-01 -4.03529220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9465599949999 meters 0.014399948176673961 Centerline is valid? [True, True] Translation: X:129.30, Y:-121.03, Z:-4.04 [[-5.68746640e-01 8.22485286e-01 6.72406640e-03 1.29300236e+02] [ 8.22423303e-01 5.68786346e-01 -1.00996572e-02 -1.21028449e+02] [-1.21313766e-02 -2.14117192e-04 -9.99926389e-01 -4.03500665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.006559995 meters 0.013981288364800615 Centerline is valid? [True, True] Translation: X:129.29, Y:-121.00, Z:-4.04 [[-6.31434080e-01 7.75391075e-01 7.72554990e-03 1.29287088e+02] [ 7.75328710e-01 6.31481300e-01 -9.83665738e-03 -1.20999414e+02] [-1.25057966e-02 -2.21360065e-04 -9.99921775e-01 -4.03532716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0665599949999 meters 0.013813366664550462 Centerline is valid? [True, True] Translation: X:129.27, Y:-120.97, Z:-4.03 [[-6.88998264e-01 7.24705677e-01 9.11453534e-03 1.29269815e+02] [ 7.24638097e-01 6.89058514e-01 -9.89915928e-03 -1.20972882e+02] [-1.34544251e-02 -2.15764018e-04 -9.99909462e-01 -4.03457207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.126559995 meters 0.013464668100980681 Centerline is valid? [True, True] Translation: X:129.25, Y:-120.95, Z:-4.03 [[-7.42803212e-01 6.69420158e-01 1.09563224e-02 1.29251421e+02] [ 6.69342914e-01 7.42883977e-01 -1.01715445e-02 -1.20946337e+02] [-1.49483133e-02 -2.21919194e-04 -9.99888243e-01 -4.03347109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1865599949999 meters 0.012900517915758079 Centerline is valid? [True, True] Translation: X:129.27, Y:-120.93, Z:-4.03 [[-7.87336600e-01 6.16393785e-01 1.26404163e-02 1.29268147e+02] [ 6.16309934e-01 7.87438032e-01 -1.01690792e-02 -1.20930346e+02] [-1.62217018e-02 -2.16074124e-04 -9.99868396e-01 -4.03294951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.246559995 meters 0.013299485950301372 Centerline is valid? [True, True] Translation: X:129.28, Y:-120.91, Z:-4.03 [[-8.28802187e-01 5.59384323e-01 1.32707892e-02 1.29278106e+02] [ 5.59308557e-01 8.28908400e-01 -9.20884492e-03 -1.20906367e+02] [-1.61515521e-02 -2.09844835e-04 -9.99869533e-01 -4.03156868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3065599949999 meters 0.013182854394562816 Centerline is valid? [True, True] Translation: X:129.30, Y:-120.89, Z:-4.03 [[-8.66255482e-01 4.99391352e-01 1.44816405e-02 1.29298141e+02] [ 4.99317275e-01 8.66376493e-01 -8.60413827e-03 -1.20891185e+02] [-1.68433852e-02 -2.22448651e-04 -9.99858115e-01 -4.03167343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.366559995 meters 0.013445124642361164 Centerline is valid? [True, True] Translation: X:129.31, Y:-120.87, Z:-4.03 [[-8.99935196e-01 4.35779707e-01 1.45839297e-02 1.29306050e+02] [ 4.35718256e-01 9.00053328e-01 -7.32180413e-03 -1.20869199e+02] [-1.63170081e-02 -2.34664812e-04 -9.99866841e-01 -4.03264997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4265599949999 meters 0.013329474748205603 Centerline is valid? [True, True] Translation: X:129.31, Y:-120.85, Z:-4.03 [[-9.28695140e-01 3.70557062e-01 1.45876925e-02 1.29314896e+02] [ 3.70507378e-01 9.28809673e-01 -6.07236993e-03 -1.20845113e+02] [-1.57993495e-02 -2.34532732e-04 -9.99875155e-01 -4.03334623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.486559995 meters 0.013810207846099353 Centerline is valid? [True, True] Translation: X:129.57, Y:-120.24, Z:-5.01 [[-8.87803121e-01 -4.60043040e-01 1.28849012e-02 1.29572652e+02] [ 4.59996708e-01 -8.87896607e-01 -6.53024182e-03 -1.20244863e+02] [ 1.44446523e-02 1.29443052e-04 9.99895662e-01 -5.00650333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5465599949999 meters 0.013718737214663088 Centerline is valid? [True, True] Translation: X:129.27, Y:-120.83, Z:-4.03 [[-9.31323497e-01 3.63991474e-01 1.21140310e-02 1.29271289e+02] [ 3.63957334e-01 9.31402249e-01 -4.99098863e-03 -1.20829773e+02] [-1.30997131e-02 -2.39234556e-04 -9.99914167e-01 -4.03479321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.606559995 meters 0.015391764052806779 Centerline is valid? [True, True] Translation: X:129.53, Y:-120.23, Z:-5.01 [[-8.86481688e-01 -4.62628504e-01 1.11840895e-02 1.29525206e+02] [ 4.62594386e-01 -8.86552216e-01 -5.62163921e-03 -1.20225892e+02] [ 1.25160099e-02 1.90216808e-04 9.99921654e-01 -5.00646902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.666559995 meters 0.016188726665538212 Centerline is valid? [True, True] Translation: X:129.23, Y:-120.81, Z:-4.03 [[-9.35674323e-01 3.52666655e-01 1.18233256e-02 1.29226706e+02] [ 3.52633884e-01 9.35748959e-01 -4.81966855e-03 -1.20812884e+02] [-1.27634010e-02 -3.40334891e-04 -9.99918487e-01 -4.03347340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7265599949999 meters 0.016707221978561473 Centerline is valid? [True, True] Translation: X:129.24, Y:-120.79, Z:-4.03 [[-9.58995100e-01 2.83148274e-01 1.24681034e-02 1.29236680e+02] [ 2.83119145e-01 9.59076071e-01 -4.07927116e-03 -1.20788882e+02] [-1.31128982e-02 -3.82042286e-04 -9.99913949e-01 -4.03327059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.786559995 meters 0.018526982282651736 Centerline is valid? [True, True] Translation: X:129.44, Y:-120.16, Z:-5.01 [[-9.14916508e-01 -4.03453512e-01 1.23712497e-02 1.29438931e+02] [ 4.03422557e-01 -9.15000055e-01 -5.01392341e-03 -1.20161712e+02] [ 1.33425792e-02 4.03519913e-04 9.99910902e-01 -5.00761238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8465599949999 meters 0.019582077006861445 Centerline is valid? [True, True] Translation: X:129.18, Y:-120.77, Z:-4.03 [[-9.61057008e-01 2.76066806e-01 1.25118764e-02 1.29181842e+02] [ 2.76037537e-01 9.61138352e-01 -4.04302951e-03 -1.20771505e+02] [-1.31417905e-02 -4.31834311e-04 -9.99913550e-01 -4.03202315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.906559995 meters 0.01856040836640693 Centerline is valid? [True, True] Translation: X:129.20, Y:-120.75, Z:-4.03 [[-9.78266180e-01 2.06983432e-01 1.23749937e-02 1.29195542e+02] [ 2.06961390e-01 9.78344357e-01 -3.05004288e-03 -1.20751696e+02] [-1.27383136e-02 -4.22607905e-04 -9.99918775e-01 -4.03183630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9665599949999 meters 0.019239132590243523 Centerline is valid? [True, True] Translation: X:129.35, Y:-120.10, Z:-5.01 [[-9.42354774e-01 -3.34400107e-01 1.20020138e-02 1.29352107e+02] [ 3.34378480e-01 -9.42431112e-01 -3.82504582e-03 -1.20102747e+02] [ 1.25901669e-02 4.08664934e-04 9.99920657e-01 -5.00917077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.026559995 meters 0.017263074826886538 Centerline is valid? [True, True] Translation: X:129.13, Y:-120.74, Z:-4.03 [[-9.77915901e-01 2.08693660e-01 1.12892731e-02 1.29126335e+02] [ 2.08675943e-01 9.77981008e-01 -2.73830684e-03 -1.20743776e+02] [-1.16121619e-02 -3.22034100e-04 -9.99932525e-01 -4.03197323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0865599949999 meters 0.016484826971676404 Centerline is valid? [True, True] Translation: X:129.16, Y:-120.73, Z:-4.03 [[-9.90184516e-01 1.39344711e-01 1.08478764e-02 1.29159622e+02] [ 1.39333038e-01 9.90243890e-01 -1.82815976e-03 -1.20726631e+02] [-1.09967877e-02 -2.98747911e-04 -9.99939489e-01 -4.03335876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.146559995 meters 0.015704645740418136 Centerline is valid? [True, True] Translation: X:129.16, Y:-120.70, Z:-4.03 [[-9.97435719e-01 7.08208745e-02 1.03145243e-02 1.29164208e+02] [ 7.08143951e-02 9.97489016e-01 -9.92506374e-04 -1.20702807e+02] [-1.03589149e-02 -2.59544509e-04 -9.99946311e-01 -4.03321053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2065599949999 meters 0.01541656726878927 Centerline is valid? [True, True] Translation: X:129.24, Y:-120.01, Z:-5.01 [[-9.82407373e-01 -1.86470346e-01 1.02255935e-02 1.29235783e+02] [ 1.86462989e-01 -9.82460555e-01 -1.67664934e-03 -1.20010360e+02] [ 1.03588877e-02 2.59542054e-04 9.99946312e-01 -5.00686320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.266559995 meters 0.014489087210828897 Centerline is valid? [True, True] Translation: X:129.11, Y:-120.70, Z:-4.03 [[-9.97376081e-01 7.17379081e-02 9.72755791e-03 1.29114436e+02] [ 7.17325779e-02 9.97423498e-01 -8.96194792e-04 -1.20704342e+02] [-9.76678597e-03 -1.96060444e-04 -9.99952285e-01 -4.03303443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3265599949999 meters 0.013193812240578043 Centerline is valid? [True, True] Translation: X:129.11, Y:-120.68, Z:-4.03 [[-9.99931670e-01 7.11518766e-03 9.27517057e-03 1.29113929e+02] [ 7.11370417e-03 9.99974679e-01 -1.92923482e-04 -1.20682640e+02] [-9.27630840e-03 -1.26929480e-04 -9.99956966e-01 -4.03307752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.386559995 meters 0.012883158885974869 Centerline is valid? [True, True] Translation: X:129.14, Y:-119.97, Z:-5.01 [[-9.95098436e-01 -9.85144441e-02 8.60278851e-03 1.29139037e+02] [ 9.85114474e-02 -9.95135618e-01 -7.72417123e-04 -1.19965365e+02] [ 8.63703551e-03 7.88420781e-05 9.99962697e-01 -5.00610466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4465599949999 meters 0.012499536701908046 Centerline is valid? [True, True] Translation: X:129.06, Y:-120.69, Z:-4.03 [[-9.99933484e-01 8.28140113e-03 8.02782367e-03 1.29057623e+02] [ 8.28062262e-03 9.99965707e-01 -1.30210496e-04 -1.20686218e+02] [-8.02862669e-03 -6.37264570e-05 -9.99967768e-01 -4.03435034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.506559995 meters 0.012615917223310067 Centerline is valid? [True, True] Translation: X:129.06, Y:-120.66, Z:-4.03 [[-9.98043353e-01 -6.19435274e-02 8.51269344e-03 1.29056056e+02] [-6.19417922e-02 9.98079654e-01 4.67591923e-04 -1.20657582e+02] [-8.52531042e-03 -6.06144780e-05 -9.99963657e-01 -4.03265889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5665599949999 meters 0.012589272619225308 Centerline is valid? [True, True] Translation: X:129.02, Y:-119.94, Z:-5.01 [[-9.99764311e-01 -1.99278501e-02 8.61409620e-03 1.29023036e+02] [ 1.99276887e-02 -9.99801418e-01 -1.04571962e-04 -1.19938281e+02] [ 8.61446949e-03 6.71117125e-05 9.99962893e-01 -5.00706584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.626559995 meters 0.012672711254018238 Centerline is valid? [True, True] Translation: X:128.98, Y:-120.66, Z:-4.03 [[-9.97738659e-01 -6.65989243e-02 9.06380188e-03 1.28980595e+02] [-6.65967715e-02 9.97779825e-01 5.39468205e-04 -1.20661378e+02] [-9.07960665e-03 -6.53716594e-05 -9.99958777e-01 -4.03301934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6865599949999 meters 0.012832345647822518 Centerline is valid? [True, True] Translation: X:128.95, Y:-119.95, Z:-5.01 [[-9.99814507e-01 -1.67693783e-02 9.47307807e-03 1.28949880e+02] [ 1.67695227e-02 -9.99859380e-01 -6.41959547e-05 -1.19945302e+02] [ 9.47282249e-03 9.46749505e-05 9.99955127e-01 -5.00623355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.746559995 meters 0.0129140091576896 Centerline is valid? [True, True] Translation: X:128.92, Y:-120.66, Z:-4.03 [[-9.97231359e-01 -7.36924354e-02 9.95199922e-03 1.28915026e+02] [-7.36897039e-02 9.97281012e-01 6.41379122e-04 -1.20660349e+02] [-9.97220464e-03 -9.37565020e-05 -9.99950272e-01 -4.03374134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8065599949999 meters 0.013060184835208924 Centerline is valid? [True, True] Translation: X:128.87, Y:-119.95, Z:-5.01 [[-9.99857895e-01 -1.30389714e-02 1.06853067e-02 1.28873890e+02] [ 1.30398039e-02 -9.99914978e-01 8.23996922e-06 -1.19953853e+02] [ 1.06842907e-02 1.47573102e-04 9.99942911e-01 -5.00681356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.866559995 meters 0.013021004443726248 Centerline is valid? [True, True] Translation: X:128.84, Y:-120.66, Z:-4.03 [[-9.96878904e-01 -7.81768953e-02 1.09919595e-02 1.28840321e+02] [-7.81732406e-02 9.96939498e-01 7.62406939e-04 -1.20663226e+02] [-1.10179211e-02 -9.92496974e-05 -9.99939296e-01 -4.03330870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9265599949999 meters 0.012579755898408552 Centerline is valid? [True, True] Translation: X:128.79, Y:-119.96, Z:-5.01 [[-9.99915224e-01 -5.75038639e-03 1.16823971e-02 1.28794608e+02] [ 5.75172181e-03 -9.99983455e-01 8.07152989e-05 -1.19959665e+02] [ 1.16817397e-02 1.47902354e-04 9.99931755e-01 -5.00500317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.986559995 meters 0.012436161892769674 Centerline is valid? [True, True] Translation: X:128.76, Y:-120.67, Z:-4.03 [[-9.96677087e-01 -8.05452685e-02 1.21344064e-02 1.28763874e+02] [-8.05402012e-02 9.96750949e-01 9.06485019e-04 -1.20667933e+02] [-1.21679942e-02 -7.38346830e-05 -9.99925965e-01 -4.03492950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0465599949999 meters 0.01243262403402706 Centerline is valid? [True, True] Translation: X:128.72, Y:-119.97, Z:-5.00 [[-9.99921748e-01 1.26550234e-03 1.24457128e-02 1.28715348e+02] [-1.26423741e-03 -9.99999195e-01 1.09502942e-04 -1.19965843e+02] [ 1.24458414e-02 9.37600373e-05 9.99922543e-01 -5.00492405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.106559995 meters 0.012346898607295887 Centerline is valid? [True, True] Translation: X:128.68, Y:-120.67, Z:-4.03 [[-9.96387857e-01 -8.38422092e-02 1.34804381e-02 1.28684914e+02] [-8.38352818e-02 9.96479042e-01 1.07915735e-03 -1.20673997e+02] [-1.35234530e-02 -5.48770426e-05 -9.99908552e-01 -4.03466863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.166559995 meters 0.012421233543049042 Centerline is valid? [True, True] Translation: X:128.68, Y:-120.65, Z:-4.03 [[-9.88105322e-01 -1.53109874e-01 1.43261801e-02 1.28676411e+02] [-1.53094333e-01 9.88209171e-01 2.18180265e-03 -1.20648168e+02] [-1.44913181e-02 -3.74061795e-05 -9.99894995e-01 -4.03395069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2265599949999 meters 0.012441825683772462 Centerline is valid? [True, True] Translation: X:128.67, Y:-120.62, Z:-4.03 [[-9.74907646e-01 -2.22118082e-01 1.47864621e-02 1.28665002e+02] [-2.22092879e-01 9.75019773e-01 3.34604881e-03 -1.20623573e+02] [-1.51603109e-02 -2.18793751e-05 -9.99885076e-01 -4.03451184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.286559995 meters 0.012463072217930726 Centerline is valid? [True, True] Translation: X:128.64, Y:-120.60, Z:-4.04 [[-9.56753829e-01 -2.90518713e-01 1.48656832e-02 1.28641095e+02] [-2.90483734e-01 9.56869310e-01 4.50813441e-03 -1.20603317e+02] [-1.55342135e-02 -5.06431859e-06 -9.99879337e-01 -4.03536498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3465599949999 meters 0.012448269265208317 Centerline is valid? [True, True] Translation: X:128.60, Y:-120.59, Z:-4.04 [[-9.33741700e-01 -3.57633786e-01 1.49837568e-02 1.28603173e+02] [-3.57587439e-01 9.33861914e-01 5.75746010e-03 -1.20589387e+02] [-1.60518221e-02 1.79773428e-05 -9.99871161e-01 -4.03663532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.406559995 meters 0.01251194254840975 Centerline is valid? [True, True] Translation: X:128.54, Y:-120.59, Z:-4.04 [[-9.05321161e-01 -4.24499399e-01 1.39231946e-02 1.28544380e+02] [-4.24448661e-01 9.05428219e-01 6.56313929e-03 -1.20585840e+02] [-1.53925020e-02 3.20675768e-05 -9.99881528e-01 -4.03734591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4665599949999 meters 0.012475346031180303 Centerline is valid? [True, True] Translation: X:128.48, Y:-120.59, Z:-4.04 [[-8.72425374e-01 -4.88580187e-01 1.27815671e-02 1.28478086e+02] [-4.88526768e-01 8.72518996e-01 7.22492239e-03 -1.20589859e+02] [-1.46821140e-02 5.90679448e-05 -9.99892210e-01 -4.03959894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.526559995 meters 0.012477396715365626 Centerline is valid? [True, True] Translation: X:128.40, Y:-120.60, Z:-4.04 [[-8.34525302e-01 -5.50834787e-01 1.21884152e-02 1.28404409e+02] [-5.50774612e-01 8.34614301e-01 8.14221959e-03 -1.20604524e+02] [-1.46576434e-02 8.18186241e-05 -9.99892568e-01 -4.04191769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5865599949999 meters 0.012680925963338998 Centerline is valid? [True, True] Translation: X:128.32, Y:-120.63, Z:-4.04 [[-7.91772165e-01 -6.10701883e-01 1.18342359e-02 1.28323842e+02] [-6.10631726e-01 7.91860594e-01 9.25719397e-03 -1.20630512e+02] [-1.50244509e-02 1.03228587e-04 -9.99887121e-01 -4.04254228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.646559995 meters 0.013158029094291911 Centerline is valid? [True, True] Translation: X:128.24, Y:-120.67, Z:-4.04 [[-7.45224082e-01 -6.66701102e-01 1.22763018e-02 1.28238635e+02] [-6.66607224e-01 7.45325175e-01 1.11889476e-02 -1.20665628e+02] [-1.66095205e-02 1.54801739e-04 -9.99862040e-01 -4.04221377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7065599949999 meters 0.013472510648496347 Centerline is valid? [True, True] Translation: X:128.15, Y:-120.71, Z:-4.04 [[-6.94008347e-01 -7.19862347e-01 1.22725246e-02 1.28154882e+02] [-7.19744713e-01 6.94116821e-01 1.30148506e-02 -1.20709244e+02] [-1.78874667e-02 1.99330240e-04 -9.99839987e-01 -4.04223891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.766559995 meters 0.014617225728022643 Centerline is valid? [True, True] Translation: X:128.07, Y:-120.77, Z:-4.04 [[-6.40002454e-01 -7.68280281e-01 1.19276185e-02 1.28071211e+02] [-7.68138813e-01 6.40113532e-01 1.47455220e-02 -1.20765663e+02] [-1.89637238e-02 2.75103528e-04 -9.99820135e-01 -4.04235871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8265599949999 meters 0.01541282827002005 Centerline is valid? [True, True] Translation: X:127.99, Y:-120.83, Z:-4.04 [[-5.81601322e-01 -8.13402551e-01 1.07792734e-02 1.27988703e+02] [-8.13252625e-01 5.81701117e-01 1.56198238e-02 -1.20831770e+02] [-1.89755199e-02 3.18237765e-04 -9.99819898e-01 -4.04300044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.886559995 meters 0.014867106124499508 Centerline is valid? [True, True] Translation: X:127.91, Y:-120.91, Z:-4.05 [[-5.19425901e-01 -8.54468950e-01 8.91888558e-03 1.27905693e+02] [-8.54332032e-01 5.19502364e-01 1.52994813e-02 -1.20906566e+02] [-1.77063139e-02 3.27257213e-04 -9.99843177e-01 -4.04632069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9465599949999 meters 0.014661331486741494 Centerline is valid? [True, True] Translation: X:127.83, Y:-120.99, Z:-4.05 [[-4.51647698e-01 -8.92167611e-01 7.16318022e-03 1.27829800e+02] [-8.92045249e-01 4.51704409e-01 1.47783819e-02 -1.20985152e+02] [-1.64204337e-02 2.84741265e-04 -9.99865135e-01 -4.04791690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.006559995 meters 0.013780473188203848 Centerline is valid? [True, True] Translation: X:127.75, Y:-121.07, Z:-4.05 [[-3.77811236e-01 -9.25864477e-01 5.80002355e-03 1.27753839e+02] [-9.25747179e-01 3.77855701e-01 1.47387388e-02 -1.21073844e+02] [-1.58376466e-02 1.99105690e-04 -9.99874557e-01 -4.04915773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0665599949999 meters 0.013056703705374071 Centerline is valid? [True, True] Translation: X:127.68, Y:-121.17, Z:-4.05 [[-2.98784032e-01 -9.54307077e-01 5.10935136e-03 1.27680803e+02] [-9.54162498e-01 2.98827702e-01 1.66112266e-02 -1.21172769e+02] [-1.73790268e-02 8.80178124e-05 -9.99848969e-01 -4.04728149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.126559995 meters 0.012918956000367052 Centerline is valid? [True, True] Translation: X:127.62, Y:-121.28, Z:-4.05 [[-2.19013442e-01 -9.75712978e-01 4.15902359e-03 1.27617137e+02] [-9.75538803e-01 2.19052927e-01 1.84352698e-02 -1.21275542e+02] [-1.88985783e-02 -1.97170006e-05 -9.99821406e-01 -4.04565326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1865599949999 meters 0.013112991648519551 Centerline is valid? [True, True] Translation: X:127.57, Y:-121.38, Z:-4.04 [[-1.41832917e-01 -9.89887033e-01 2.66199512e-03 1.27566228e+02] [-9.89720010e-01 1.41857885e-01 1.81835612e-02 -1.21381741e+02] [-1.83772964e-02 -5.56023074e-05 -9.99831122e-01 -4.04432436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.246559995 meters 0.012834850488970099 Centerline is valid? [True, True] Translation: X:127.52, Y:-121.50, Z:-4.05 [[-6.35038670e-02 -9.97980918e-01 1.16010997e-03 1.27523832e+02] [-9.97838679e-01 6.35144023e-02 1.68490889e-02 -1.21496901e+02] [-1.68887529e-02 -8.76202979e-05 -9.99857371e-01 -4.04656688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3065599949999 meters 0.012623720529450688 Centerline is valid? [True, True] Translation: X:127.49, Y:-121.60, Z:-4.05 [[ 1.41763311e-02 -9.99899503e-01 -1.26039745e-04 1.27491991e+02] [-9.99775385e-01 -1.41765573e-02 1.57545189e-02 -1.21604524e+02] [-1.57547225e-02 -9.73298428e-05 -9.99875882e-01 -4.04776972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.366559995 meters 0.012889199850068088 Centerline is valid? [True, True] Translation: X:127.47, Y:-121.72, Z:-4.05 [[ 9.22886459e-02 -9.95731529e-01 -1.23586098e-03 1.27468326e+02] [-9.95625049e-01 -9.22968506e-02 1.45620747e-02 -1.21720047e+02] [-1.46139830e-02 -1.13460011e-04 -9.99893204e-01 -4.04652175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4265599949999 meters 0.01323782848231765 Centerline is valid? [True, True] Translation: X:127.46, Y:-121.84, Z:-4.05 [[ 1.70357289e-01 -9.85379600e-01 -2.33192441e-03 1.27455041e+02] [-9.85275474e-01 -1.70373189e-01 1.43253754e-02 -1.21836137e+02] [-1.45132301e-02 -1.42844187e-04 -9.99894667e-01 -4.04639961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.486559995 meters 0.013463632546464448 Centerline is valid? [True, True] Translation: X:127.45, Y:-121.96, Z:-4.05 [[ 2.45459101e-01 -9.69400433e-01 -3.55393282e-03 1.27452153e+02] [-9.69289746e-01 -2.45484781e-01 1.46495923e-02 -1.21957192e+02] [-1.50737575e-02 -1.51085098e-04 -9.99886373e-01 -4.04516287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5465599949999 meters 0.013110597045458042 Centerline is valid? [True, True] Translation: X:127.46, Y:-122.07, Z:-4.05 [[ 3.17762074e-01 -9.48160226e-01 -4.41023988e-03 1.27457565e+02] [-9.48063424e-01 -3.17792653e-01 1.35489464e-02 -1.22068721e+02] [-1.42481139e-02 -1.24154174e-04 -9.99898483e-01 -4.04611316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.606559995 meters 0.012927834949949658 Centerline is valid? [True, True] Translation: X:127.47, Y:-122.18, Z:-4.05 [[ 3.87178639e-01 -9.21988172e-01 -5.52378892e-03 1.27473918e+02] [-9.21890988e-01 -3.87218029e-01 1.33866832e-02 -1.22182687e+02] [-1.44812742e-02 -9.07065442e-05 -9.99895137e-01 -4.04571780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.666559995 meters 0.012736472304876581 Centerline is valid? [True, True] Translation: X:127.50, Y:-122.29, Z:-4.05 [[ 4.50552229e-01 -8.92728838e-01 -6.15716315e-03 1.27502446e+02] [-8.92645715e-01 -4.50594298e-01 1.21821938e-02 -1.22293943e+02] [-1.36497783e-02 7.45075199e-06 -9.99906837e-01 -4.04655379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7265599949999 meters 0.013644490839152881 Centerline is valid? [True, True] Translation: X:127.54, Y:-122.40, Z:-4.05 [[ 5.11680773e-01 -8.59148425e-01 -6.83890694e-03 1.27536169e+02] [-8.59074241e-01 -5.11726465e-01 1.12904139e-02 -1.22395965e+02] [-1.31997910e-02 9.80410741e-05 -9.99912874e-01 -4.04609015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.786559995 meters 0.014906904027453906 Centerline is valid? [True, True] Translation: X:127.58, Y:-122.49, Z:-4.05 [[ 5.65742698e-01 -8.24547729e-01 -7.49949650e-03 1.27577882e+02] [-8.24481199e-01 -5.65792344e-01 1.04773737e-02 -1.22491812e+02] [-1.28822524e-02 2.55696214e-04 -9.99916988e-01 -4.04885035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8465599949999 meters 0.017536290856792074 Centerline is valid? [True, True] Translation: X:127.63, Y:-122.59, Z:-4.05 [[ 6.20883031e-01 -7.83862178e-01 -8.02168120e-03 1.27625950e+02] [-7.83803855e-01 -6.20934751e-01 9.56825988e-03 -1.22585142e+02] [-1.24811377e-02 3.46654451e-04 -9.99922048e-01 -4.04929286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.906559995 meters 0.019867045359038753 Centerline is valid? [True, True] Translation: X:127.68, Y:-122.68, Z:-4.05 [[ 6.71328976e-01 -7.41122199e-01 -7.43591814e-03 1.27681354e+02] [-7.41083267e-01 -6.71370035e-01 7.60714059e-03 -1.22677095e+02] [-1.06300734e-02 4.03740602e-04 -9.99943418e-01 -4.05076997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9665599949999 meters 0.0219112644641469 Centerline is valid? [True, True] Translation: X:127.74, Y:-122.76, Z:-4.05 [[ 7.22047980e-01 -6.91797086e-01 -7.96904953e-03 1.27738493e+02] [-6.91761836e-01 -7.22091809e-01 6.99871066e-03 -1.22764372e+02] [-1.05960730e-02 4.59279432e-04 -9.99943755e-01 -4.05007315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.026559995 meters 0.023210688604845375 Centerline is valid? [True, True] Translation: X:127.76, Y:-122.79, Z:-4.05 [[ 7.73310917e-01 -6.33963755e-01 -8.95453517e-03 1.27758644e+02] [-6.33928534e-01 -7.73362601e-01 6.70086563e-03 -1.22787537e+02] [-1.11732086e-02 4.94682809e-04 -9.99937455e-01 -4.04974402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0865599949999 meters 0.020829699703968776 Centerline is valid? [True, True] Translation: X:127.78, Y:-122.82, Z:-4.05 [[ 8.22068239e-01 -5.69322276e-01 -8.71531729e-03 1.27776540e+02] [-5.69295725e-01 -8.22114325e-01 5.51488478e-03 -1.22818251e+02] [-1.03047339e-02 4.27981256e-04 -9.99946813e-01 -4.05100427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.146559995 meters 0.019722955660049616 Centerline is valid? [True, True] Translation: X:127.80, Y:-122.85, Z:-4.05 [[ 8.68228013e-01 -4.96109412e-01 -7.45450721e-03 1.27795608e+02] [-4.96093866e-01 -8.68259969e-01 3.93729994e-03 -1.22846954e+02] [-8.42578176e-03 2.79661201e-04 -9.99964463e-01 -4.05070630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2065599949999 meters 0.01770147398777024 Centerline is valid? [True, True] Translation: X:127.82, Y:-122.87, Z:-4.05 [[ 9.05714966e-01 -4.23831192e-01 -6.89361139e-03 1.27818998e+02] [-4.23820795e-01 -9.05741172e-01 2.97718119e-03 -1.22873136e+02] [-7.50564991e-03 2.25178302e-04 -9.99971807e-01 -4.05112501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.266559995 meters 0.014471942437338198 Centerline is valid? [True, True] Translation: X:127.84, Y:-122.91, Z:-4.05 [[ 9.39698635e-01 -3.41960403e-01 -5.43670469e-03 1.27842470e+02] [-3.41955371e-01 -9.39714356e-01 1.85853343e-03 -1.22905467e+02] [-5.74449428e-03 1.12649047e-04 -9.99983494e-01 -4.05118922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3265599949999 meters 0.013603772105413744 Centerline is valid? [True, True] Translation: X:127.87, Y:-122.93, Z:-4.05 [[ 9.64939278e-01 -2.62445097e-01 -3.84207031e-03 1.27870586e+02] [-2.62443253e-01 -9.64946925e-01 9.85497713e-04 -1.22929762e+02] [-3.96603298e-03 5.73799793e-05 -9.99992134e-01 -4.05025765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.386559995 meters 0.012718904075329095 Centerline is valid? [True, True] Translation: X:127.90, Y:-122.96, Z:-4.05 [[ 9.83361290e-01 -1.81654405e-01 -1.50005241e-03 1.27900778e+02] [-1.81654218e-01 -9.83362434e-01 2.61318091e-04 -1.22955222e+02] [-1.52256477e-03 1.55207531e-05 -9.99998841e-01 -4.05021091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4465599949999 meters 0.012654739423238444 Centerline is valid? [True, True] Translation: X:127.93, Y:-122.97, Z:-4.05 [[ 9.94743088e-01 -1.02381965e-01 -2.03025375e-03 1.27928904e+02] [-1.02381786e-01 -9.94745160e-01 1.91958074e-04 -1.22972350e+02] [-2.03923814e-03 1.69120385e-05 -9.99997921e-01 -4.04844774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.506559995 meters 0.012658748609689706 Centerline is valid? [True, True] Translation: X:127.96, Y:-122.99, Z:-4.05 [[ 9.99695718e-01 -2.45912672e-02 -1.93393920e-03 1.27959840e+02] [-2.45912539e-02 -9.99697589e-01 3.06543187e-05 -1.22987766e+02] [-1.93410818e-03 1.69129987e-05 -9.99998130e-01 -4.04637959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5665599949999 meters 0.012725721963802637 Centerline is valid? [True, True] Translation: X:127.99, Y:-123.00, Z:-4.05 [[ 9.98615000e-01 5.25752539e-02 -1.98083967e-03 1.27992816e+02] [ 5.25751113e-02 -9.98616965e-01 -1.23999102e-04 -1.22999102e+02] [-1.98461939e-03 1.96844974e-05 -9.99998031e-01 -4.04540722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.626559995 meters 0.01303970938135827 Centerline is valid? [True, True] Translation: X:128.03, Y:-123.01, Z:-4.05 [[ 9.91675734e-01 1.28755993e-01 -1.06489402e-03 1.28026302e+02] [ 1.28755904e-01 -9.91676305e-01 -1.51456642e-04 -1.23005866e+02] [-1.07553112e-03 1.30844836e-05 -9.99999422e-01 -4.04500794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6865599949999 meters 0.013077623036710721 Centerline is valid? [True, True] Translation: X:128.06, Y:-123.01, Z:-4.04 [[ 9.78833717e-01 2.04655758e-01 -7.58659784e-04 1.28059555e+02] [ 2.04655688e-01 -9.78834011e-01 -1.69621170e-04 -1.23009791e+02] [-7.77315948e-04 1.07668807e-05 -9.99999698e-01 -4.04412821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.746559995 meters 0.012952973789194425 Centerline is valid? [True, True] Translation: X:128.09, Y:-123.01, Z:-4.04 [[ 9.59523933e-01 2.81621918e-01 -1.70813326e-03 1.28093676e+02] [ 2.81621431e-01 -9.59525453e-01 -5.24007314e-04 -1.23013150e+02] [-1.78656929e-03 2.17506256e-05 -9.99998404e-01 -4.04307169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8065599949999 meters 0.012553846925548902 Centerline is valid? [True, True] Translation: X:128.13, Y:-123.01, Z:-4.04 [[ 9.33410948e-01 3.58807097e-01 -1.21258876e-03 1.28127022e+02] [ 3.58806777e-01 -9.33411735e-01 -4.79017282e-04 -1.23012373e+02] [-1.30371938e-03 1.20349116e-05 -9.99999150e-01 -4.04283162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.866559995 meters 0.012163070500366087 Centerline is valid? [True, True] Translation: X:128.16, Y:-123.01, Z:-4.04 [[ 9.01322751e-01 4.33147586e-01 -6.83603484e-04 1.28160070e+02] [ 4.33147456e-01 -9.01323010e-01 -3.34505958e-04 -1.23006990e+02] [-7.61037998e-04 5.39671975e-06 -9.99999710e-01 -4.04332442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9265599949999 meters 0.011972429258880294 Centerline is valid? [True, True] Translation: X:128.19, Y:-123.00, Z:-4.04 [[ 8.62217684e-01 5.06537921e-01 -3.08210038e-05 1.28194352e+02] [ 5.06537920e-01 -8.62217684e-01 -1.91339649e-05 -1.23001113e+02] [-3.62664938e-05 8.85635674e-07 -9.99999999e-01 -4.04355381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.986559995 meters 0.011905914123160968 Centerline is valid? [True, True] Translation: X:128.23, Y:-122.99, Z:-4.04 [[ 8.17913311e-01 5.75341477e-01 3.19523217e-05 1.28227558e+02] [ 5.75341477e-01 -8.17913311e-01 2.13406864e-05 -1.22991599e+02] [ 3.84124108e-05 9.28664481e-07 -9.99999999e-01 -4.04366882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0465599949999 meters 0.012585186070256955 Centerline is valid? [True, True] Translation: X:128.26, Y:-122.98, Z:-4.04 [[ 7.65904630e-01 6.42954139e-01 2.71135934e-04 1.28260499e+02] [ 6.42954101e-01 -7.65904678e-01 2.22293296e-04 -1.22980375e+02] [ 3.50588675e-04 4.07249565e-06 -9.99999939e-01 -4.04312728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.106559995 meters 0.01349545071161008 Centerline is valid? [True, True] Translation: X:128.29, Y:-122.97, Z:-4.04 [[ 7.09785115e-01 7.04418262e-01 4.48387880e-05 1.28291464e+02] [ 7.04418261e-01 -7.09785117e-01 4.21019453e-05 -1.22965429e+02] [ 6.14832830e-05 1.70192692e-06 -9.99999998e-01 -4.04270959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.166559995 meters 0.015071499793598989 Centerline is valid? [True, True] Translation: X:128.32, Y:-122.95, Z:-4.04 [[ 6.47513094e-01 7.62054323e-01 -3.74037526e-05 1.28322082e+02] [ 7.62054322e-01 -6.47513095e-01 -4.34811345e-05 -1.22947709e+02] [-5.73544066e-05 -3.49087375e-07 -9.99999998e-01 -4.04177350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2265599949999 meters 0.016028834100715428 Centerline is valid? [True, True] Translation: X:128.35, Y:-122.93, Z:-4.04 [[ 5.82329833e-01 8.12952611e-01 -1.32599126e-04 1.28349390e+02] [ 8.12952592e-01 -5.82329848e-01 -1.77068036e-04 -1.22926775e+02] [-2.21164352e-04 -4.68480305e-06 -9.99999976e-01 -4.04082654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.286559995 meters 0.01879741225580548 Centerline is valid? [True, True] Translation: X:128.37, Y:-122.90, Z:-4.04 [[ 5.14867333e-01 8.57269791e-01 -3.67035040e-04 1.28374374e+02] [ 8.57269598e-01 -5.14867463e-01 -5.76524925e-04 -1.22904480e+02] [-6.83211802e-04 -1.78141308e-05 -9.99999767e-01 -4.04054367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3465599949999 meters 0.017441822387506575 Centerline is valid? [True, True] Translation: X:128.39, Y:-122.88, Z:-4.04 [[ 4.45228581e-01 8.95416946e-01 5.47088024e-05 1.28392343e+02] [ 8.95416940e-01 -4.45228585e-01 1.00884810e-04 -1.22876398e+02] [ 1.14691891e-04 4.07038769e-06 -9.99999993e-01 -4.04059532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.406559995 meters 0.017435689800026827 Centerline is valid? [True, True] Translation: X:128.41, Y:-122.85, Z:-4.04 [[ 3.73084306e-01 9.27797434e-01 -1.49188996e-04 1.28410835e+02] [ 9.27797370e-01 -3.73084336e-01 -3.44043923e-04 -1.22849028e+02] [-3.74863147e-04 -1.00597696e-05 -9.99999930e-01 -4.04054020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4665599949999 meters 0.017444254496161597 Centerline is valid? [True, True] Translation: X:128.43, Y:-122.82, Z:-4.04 [[ 2.98554770e-01 9.54392337e-01 -5.62855374e-04 1.28426027e+02] [ 9.54390946e-01 -2.98555297e-01 -1.63016076e-03 -1.22821016e+02] [-1.72385639e-03 -5.04918010e-05 -9.99998513e-01 -4.03970225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.526559995 meters 0.0184806512183548 Centerline is valid? [True, True] Translation: X:128.44, Y:-122.79, Z:-4.04 [[ 2.22950102e-01 9.74829630e-01 -6.66977133e-04 1.28439552e+02] [ 9.74826253e-01 -2.22951086e-01 -2.56685273e-03 -1.22792946e+02] [-2.65094737e-03 -7.79067422e-05 -9.99996483e-01 -4.03853066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5865599949999 meters 0.01779068269234645 Centerline is valid? [True, True] Translation: X:128.45, Y:-122.76, Z:-4.04 [[ 1.46244006e-01 9.89248292e-01 -7.13146708e-04 1.28446597e+02] [ 9.89240165e-01 -1.46245696e-01 -4.01152562e-03 -1.22762657e+02] [-4.07268950e-03 -1.18811792e-04 -9.99991700e-01 -4.03728798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.646559995 meters 0.01719997375261547 Centerline is valid? [True, True] Translation: X:128.45, Y:-122.73, Z:-4.04 [[ 6.93949844e-02 9.97589179e-01 -4.08056390e-04 1.28451194e+02] [ 9.97580465e-01 -6.93960845e-02 -4.17122259e-03 -1.22732671e+02] [-4.18948404e-03 -1.17607157e-04 -9.99991217e-01 -4.03716110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7065599949999 meters 0.016872054290679717 Centerline is valid? [True, True] Translation: X:128.46, Y:-122.70, Z:-4.04 [[-8.40730125e-03 9.99964655e-01 -7.23097867e-05 1.28455633e+02] [ 9.99957465e-01 8.40696647e-03 -3.79360063e-03 -1.22702837e+02] [-3.79285864e-03 -1.04200654e-04 -9.99992802e-01 -4.03817225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.766559995 meters 0.017254218231740354 Centerline is valid? [True, True] Translation: X:128.46, Y:-122.67, Z:-4.04 [[-8.60319632e-02 9.96292369e-01 1.28749537e-04 1.28455714e+02] [ 9.96290026e-01 8.60320402e-02 -2.16143909e-03 -1.22674852e+02] [-2.16450186e-03 -5.76809684e-05 -9.99997656e-01 -4.03956134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8265599949999 meters 0.017188104377764118 Centerline is valid? [True, True] Translation: X:128.45, Y:-122.65, Z:-4.04 [[-1.63849436e-01 9.86485357e-01 5.72769978e-05 1.28454503e+02] [ 9.86485273e-01 1.63849445e-01 -4.07956359e-04 -1.22646370e+02] [-4.11827779e-04 -1.03405043e-05 -9.99999915e-01 -4.04101764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.886559995 meters 0.01746406992636111 Centerline is valid? [True, True] Translation: X:128.45, Y:-122.62, Z:-4.04 [[-2.41345735e-01 9.70439194e-01 8.32357502e-05 1.28453812e+02] [ 9.70439121e-01 2.41345749e-01 -3.75700385e-04 -1.22617555e+02] [-3.84682974e-04 -9.89845745e-06 -9.99999926e-01 -4.04113444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9465599949999 meters 0.017746620672025655 Centerline is valid? [True, True] Translation: X:128.45, Y:-122.59, Z:-4.04 [[-3.16796813e-01 9.48493310e-01 4.69982430e-04 1.28450340e+02] [ 9.48492048e-01 3.16797159e-01 -1.54738697e-03 -1.22589760e+02] [-1.61657529e-03 -4.44326632e-05 -9.99998692e-01 -4.03946199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.006559995 meters 0.017191588170791614 Centerline is valid? [True, True] Translation: X:128.44, Y:-122.56, Z:-4.04 [[-3.89168088e-01 9.21165810e-01 1.32290794e-03 1.28444310e+02] [ 9.21159613e-01 3.89170324e-01 -3.38015765e-03 -1.22562292e+02] [-3.62852217e-03 -9.68401185e-05 -9.99993412e-01 -4.03776081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0665599949999 meters 0.015594507343039176 Centerline is valid? [True, True] Translation: X:128.43, Y:-122.54, Z:-4.04 [[-4.56350588e-01 8.89796923e-01 2.36159647e-03 1.28434300e+02] [ 8.89783598e-01 4.56356682e-01 -4.87106749e-03 -1.22536745e+02] [-5.41199119e-03 -1.21604703e-04 -9.99985348e-01 -4.03636638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.126559995 meters 0.015011274322017043 Centerline is valid? [True, True] Translation: X:128.43, Y:-122.51, Z:-4.04 [[-5.22567689e-01 8.52593292e-01 2.77286615e-03 1.28425883e+02] [ 8.52580155e-01 5.22575034e-01 -4.73422723e-03 -1.22510464e+02] [-5.48540100e-03 -1.09863530e-04 -9.99984949e-01 -4.03611276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1865599949999 meters 0.01379375425770538 Centerline is valid? [True, True] Translation: X:128.41, Y:-122.49, Z:-4.04 [[-5.82732486e-01 8.12658173e-01 3.08924894e-03 1.28411636e+02] [ 8.12646068e-01 5.82740670e-01 -4.43618156e-03 -1.22488226e+02] [-5.40533019e-03 -7.46411060e-05 -9.99985388e-01 -4.03650627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.246559995 meters 0.012671089281229548 Centerline is valid? [True, True] Translation: X:128.39, Y:-122.47, Z:-4.04 [[-6.37690124e-01 7.70288082e-01 2.75271731e-03 1.28394313e+02] [ 7.70280765e-01 6.37696065e-01 -3.35755082e-03 -1.22470179e+02] [-4.34167838e-03 -2.07117974e-05 -9.99990575e-01 -4.03751377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3065599949999 meters 0.012559272168353576 Centerline is valid? [True, True] Translation: X:128.38, Y:-122.45, Z:-4.04 [[-6.91643500e-01 7.22233292e-01 2.88806506e-03 1.28379137e+02] [ 7.22227032e-01 6.91649529e-01 -3.00724141e-03 -1.22448195e+02] [-4.16945870e-03 5.89968615e-06 -9.99991308e-01 -4.03837240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.366559995 meters 0.0127590029832363 Centerline is valid? [True, True] Translation: X:128.37, Y:-122.43, Z:-4.04 [[-7.43310595e-01 6.68934010e-01 4.08033999e-03 1.28365003e+02] [ 6.68924153e-01 7.43321794e-01 -3.63156401e-03 -1.22425795e+02] [-5.46228232e-03 3.00579675e-05 -9.99985081e-01 -4.03746040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4265599949999 meters 0.013125338455793835 Centerline is valid? [True, True] Translation: X:128.39, Y:-122.41, Z:-4.04 [[-7.86913673e-01 6.17046348e-01 4.54717260e-03 1.28387479e+02] [ 6.17036399e-01 7.86926809e-01 -3.50432064e-03 -1.22410157e+02] [-5.74062028e-03 4.81731813e-05 -9.99983521e-01 -4.03732791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.486559995 meters 0.013682234477090213 Centerline is valid? [True, True] Translation: X:128.41, Y:-122.39, Z:-4.04 [[-8.26332799e-01 5.63155831e-01 5.44201437e-03 1.28406605e+02] [ 5.63144263e-01 8.26350715e-01 -3.61042629e-03 -1.22389322e+02] [-6.53024508e-03 8.12255115e-05 -9.99978674e-01 -4.03681114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5465599949999 meters 0.014619531217261653 Centerline is valid? [True, True] Translation: X:128.42, Y:-122.37, Z:-4.04 [[-8.62243033e-01 5.06458190e-01 6.08713693e-03 1.28424559e+02] [ 5.06446489e-01 8.62264512e-01 -3.44455535e-03 -1.22369277e+02] [-6.99324542e-03 1.12765272e-04 -9.99975541e-01 -4.03695064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6065599949999 meters 0.0158652396174885 Centerline is valid? [True, True] Translation: X:128.81, Y:-121.71, Z:-5.00 [[-8.46738059e-01 -5.31988619e-01 4.77171676e-03 1.28807416e+02] [ 5.31979089e-01 -8.46751489e-01 -3.18832373e-03 -1.21714943e+02] [ 5.73661021e-03 -1.61221512e-04 9.99983533e-01 -5.00186516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.666559995 meters 0.015975515479842328 Centerline is valid? [True, True] Translation: X:128.39, Y:-122.35, Z:-4.04 [[-8.60791013e-01 5.08935125e-01 4.88566975e-03 1.28394324e+02] [ 5.08927759e-01 8.60804869e-01 -2.74120444e-03 -1.22347960e+02] [-5.60070353e-03 1.26848808e-04 -9.99984308e-01 -4.03832096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7265599949999 meters 0.015119862098424754 Centerline is valid? [True, True] Translation: X:128.41, Y:-122.32, Z:-4.04 [[-8.95723767e-01 4.44583045e-01 4.98493201e-03 1.28408937e+02] [ 4.44576849e-01 8.95737631e-01 -2.34986046e-03 -1.22319187e+02] [-5.50989931e-03 1.11359504e-04 -9.99984814e-01 -4.03822442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.786559995 meters 0.013674215108170764 Centerline is valid? [True, True] Translation: X:128.42, Y:-122.28, Z:-4.04 [[-9.27796123e-01 3.73052830e-01 5.09322401e-03 1.28421873e+02] [ 3.73047617e-01 9.27810100e-01 -1.97342371e-03 -1.22284036e+02] [-5.46173598e-03 6.90802169e-05 -9.99985082e-01 -4.03735232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8465599949999 meters 0.012609868094231527 Centerline is valid? [True, True] Translation: X:128.43, Y:-122.25, Z:-4.04 [[-9.54312918e-01 2.98766185e-01 5.06179204e-03 1.28426512e+02] [ 2.98762119e-01 9.54326342e-01 -1.55886244e-03 -1.22245827e+02] [-5.29633686e-03 2.46291537e-05 -9.99985974e-01 -4.03701010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.906559995 meters 0.012389207257228982 Centerline is valid? [True, True] Translation: X:128.43, Y:-122.21, Z:-4.04 [[-9.74113765e-01 2.25994849e-01 5.35728475e-03 1.28433736e+02] [ 2.25991436e-01 9.74128497e-01 -1.24216460e-03 -1.22213738e+02] [-5.49940654e-03 6.90835713e-07 -9.99984878e-01 -4.03669275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9665599949999 meters 0.012566312547935854 Centerline is valid? [True, True] Translation: X:128.44, Y:-122.18, Z:-4.04 [[-9.88474872e-01 1.51302107e-01 5.00995747e-03 1.28438676e+02] [ 1.51300035e-01 9.88487568e-01 -7.92282535e-04 -1.22180188e+02] [-5.07215469e-03 -2.51446375e-05 -9.99987136e-01 -4.03751955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.026559995 meters 0.012837496893012196 Centerline is valid? [True, True] Translation: X:128.54, Y:-121.52, Z:-5.00 [[-9.72850425e-01 -2.31415916e-01 2.95362876e-03 1.28541435e+02] [ 2.31414474e-01 -9.72854902e-01 -8.25813794e-04 -1.21520023e+02] [ 3.06455867e-03 -1.19880857e-04 9.99995297e-01 -5.00158770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0865599949999 meters 0.01323586682229905 Centerline is valid? [True, True] Translation: X:128.39, Y:-122.16, Z:-4.04 [[-9.89994524e-01 1.41084230e-01 2.46644557e-03 1.28386701e+02] [ 1.41083723e-01 9.89997596e-01 -3.79191111e-04 -1.22163740e+02] [-2.49527307e-03 -2.74217996e-05 -9.99996886e-01 -4.03868743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.146559995 meters 0.01387187498661616 Centerline is valid? [True, True] Translation: X:128.39, Y:-122.13, Z:-4.04 [[-9.97755623e-01 6.69240594e-02 2.21065112e-03 1.28386856e+02] [ 6.69238236e-02 9.97758072e-01 -1.80546002e-04 -1.22133991e+02] [-2.21777787e-03 -3.21955625e-05 -9.99997540e-01 -4.03853665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2065599949999 meters 0.014501850900030394 Centerline is valid? [True, True] Translation: X:128.38, Y:-122.10, Z:-4.04 [[-9.99970302e-01 -6.91917222e-03 3.39411819e-03 1.28376168e+02] [-6.91933506e-03 9.99976060e-01 -3.62377858e-05 -1.22104313e+02] [-3.39378620e-03 -5.97217506e-05 -9.99994239e-01 -4.03749443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.266559995 meters 0.014691527548203957 Centerline is valid? [True, True] Translation: X:128.39, Y:-121.46, Z:-5.00 [[-9.95183628e-01 -9.79328534e-02 4.32468372e-03 1.28388454e+02] [ 9.79325342e-02 -9.95193015e-01 -2.86017559e-04 -1.21458916e+02] [ 4.33190554e-03 1.38887245e-04 9.99990608e-01 -5.00348057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3265599949999 meters 0.015079311742471065 Centerline is valid? [True, True] Translation: X:128.32, Y:-122.10, Z:-4.03 [[-9.99896214e-01 -1.28888890e-02 6.43727470e-03 1.28324629e+02] [-1.28894357e-02 9.99916927e-01 -4.34503553e-05 -1.22103409e+02] [-6.43617990e-03 -1.26418684e-04 -9.99979280e-01 -4.03432452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.386559995 meters 0.014772942832148892 Centerline is valid? [True, True] Translation: X:128.32, Y:-122.08, Z:-4.03 [[-9.96627861e-01 -8.17735870e-02 6.78139234e-03 1.28319081e+02] [-8.17725080e-02 9.96650925e-01 4.36686043e-04 -1.22079725e+02] [-6.79439033e-03 -1.19317983e-04 -9.99976911e-01 -4.03370022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4465599949999 meters 0.013762390975429944 Centerline is valid? [True, True] Translation: X:128.32, Y:-122.06, Z:-4.04 [[-9.88879888e-01 -1.48626124e-01 5.18101453e-03 1.28316342e+02] [-1.48624461e-01 9.88893458e-01 7.06602041e-04 -1.22059412e+02] [-5.22849090e-03 -7.12809449e-05 -9.99986329e-01 -4.03560191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.506559995 meters 0.013203634781501876 Centerline is valid? [True, True] Translation: X:128.23, Y:-121.40, Z:-5.00 [[-9.98385099e-01 5.66975917e-02 3.54651327e-03 1.28229860e+02] [-5.66974436e-02 -9.98391396e-01 1.42346334e-04 -1.21396399e+02] [ 3.54887903e-03 -5.89617774e-05 9.99993701e-01 -5.00243263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5665599949999 meters 0.01288081811821348 Centerline is valid? [True, True] Translation: X:128.23, Y:-122.08, Z:-4.04 [[-9.88933159e-01 -1.48357455e-01 1.12830265e-03 1.28234032e+02] [-1.48357366e-01 9.88933802e-01 1.62074572e-04 -1.22081302e+02] [-1.13986160e-03 -7.11109044e-06 -9.99999350e-01 -4.03838768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.626559995 meters 0.012929093009511063 Centerline is valid? [True, True] Translation: X:128.22, Y:-122.06, Z:-4.04 [[-9.75853513e-01 -2.18424643e-01 7.71900958e-04 1.28219724e+02] [-2.18424578e-01 9.75853819e-01 1.68213071e-04 -1.22058389e+02] [-7.90004377e-04 -4.45082462e-06 -9.99999688e-01 -4.03798183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6865599949999 meters 0.013482199525759036 Centerline is valid? [True, True] Translation: X:128.20, Y:-122.03, Z:-4.04 [[-9.56727489e-01 -2.90972028e-01 2.79111398e-03 1.28204843e+02] [-2.90970886e-01 9.56731560e-01 8.16021320e-04 -1.22034288e+02] [-2.90778621e-03 -3.14228768e-05 -9.99995772e-01 -4.03518877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.746559995 meters 0.014087963567748297 Centerline is valid? [True, True] Translation: X:127.99, Y:-121.38, Z:-5.01 [[-9.79901431e-01 1.99407024e-01 5.47945678e-03 1.27994504e+02] [-1.99402436e-01 -9.79916717e-01 1.37674032e-03 -1.21376696e+02] [ 5.64394299e-03 2.56452775e-04 9.99984040e-01 -5.00720733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8065599949999 meters 0.014458817048218798 Centerline is valid? [True, True] Translation: X:128.08, Y:-122.07, Z:-4.03 [[-9.53101438e-01 -3.02602218e-01 5.43562451e-03 1.28078660e+02] [-3.02597868e-01 9.53116933e-01 1.62540824e-03 -1.22073318e+02] [-5.67263791e-03 -9.56294537e-05 -9.99983906e-01 -4.03212412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.866559995 meters 0.014504850808758156 Centerline is valid? [True, True] Translation: X:128.05, Y:-122.06, Z:-4.03 [[-9.28970524e-01 -3.70138464e-01 3.35912575e-03 1.28051587e+02] [-3.70136273e-01 9.28976595e-01 1.27476121e-03 -1.22056935e+02] [-3.59238736e-03 -5.91186954e-05 -9.99993546e-01 -4.03321317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9265599949999 meters 0.014344126079719927 Centerline is valid? [True, True] Translation: X:128.00, Y:-122.05, Z:-4.03 [[-8.99709453e-01 -4.36483134e-01 2.31811366e-03 1.28004155e+02] [-4.36481802e-01 8.99712438e-01 1.07917093e-03 -1.22053507e+02] [-2.55667561e-03 -4.08741408e-05 -9.99996731e-01 -4.03404983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.986559995 meters 0.014583322511133843 Centerline is valid? [True, True] Translation: X:127.94, Y:-122.06, Z:-4.03 [[-8.65085663e-01 -5.01615818e-01 2.89264919e-03 1.27944678e+02] [-5.01613219e-01 8.65090497e-01 1.61553237e-03 -1.22055915e+02] [-3.31277992e-03 -5.34171845e-05 -9.99994511e-01 -4.03282606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0465599949999 meters 0.014260562777159954 Centerline is valid? [True, True] Translation: X:127.88, Y:-122.07, Z:-4.03 [[-8.25665824e-01 -5.64152553e-01 2.80079107e-03 1.27876195e+02] [-5.64149525e-01 8.25670572e-01 1.84919938e-03 -1.22069323e+02] [-3.35576132e-03 -5.32442256e-05 -9.99994368e-01 -4.03226407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1065599949999 meters 0.013837554667059803 Centerline is valid? [True, True] Translation: X:127.80, Y:-122.09, Z:-4.03 [[-7.82409274e-01 -6.22755855e-01 3.29736313e-03 1.27799685e+02] [-6.22750637e-01 7.82416220e-01 2.54992051e-03 -1.22094270e+02] [-4.16788832e-03 -5.83535387e-05 -9.99991313e-01 -4.03159576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.166559995 meters 0.013328420669377023 Centerline is valid? [True, True] Translation: X:127.72, Y:-122.13, Z:-4.03 [[-7.36146796e-01 -6.76813830e-01 3.30677920e-03 1.27721456e+02] [-6.76807271e-01 7.36154221e-01 2.97994611e-03 -1.22126690e+02] [-4.45116821e-03 -4.43744291e-05 -9.99990093e-01 -4.03086129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2265599949999 meters 0.012897512654964418 Centerline is valid? [True, True] Translation: X:127.64, Y:-122.17, Z:-4.03 [[-6.84428277e-01 -7.29075187e-01 2.70288491e-03 1.27638588e+02] [-7.29069682e-01 6.84433614e-01 2.83320012e-03 -1.22169772e+02] [-3.91556119e-03 -3.14691636e-05 -9.99992334e-01 -4.03054545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.286559995 meters 0.012691749332980772 Centerline is valid? [True, True] Translation: X:127.56, Y:-122.22, Z:-4.03 [[-6.28028733e-01 -7.78185844e-01 2.58891744e-03 1.27555221e+02] [-7.78179420e-01 6.28034068e-01 3.16210881e-03 -1.22224526e+02] [-4.08663666e-03 -2.87470876e-05 -9.99991649e-01 -4.03057965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3465599949999 meters 0.012431030234456183 Centerline is valid? [True, True] Translation: X:127.48, Y:-122.29, Z:-4.03 [[-5.69785214e-01 -8.21790010e-01 2.44744005e-03 1.27477410e+02] [-8.21782548e-01 5.69790470e-01 3.50195670e-03 -1.22285964e+02] [-4.27240105e-03 -1.59003710e-05 -9.99990873e-01 -4.02986095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.406559995 meters 0.01234848247848366 Centerline is valid? [True, True] Translation: X:127.40, Y:-122.36, Z:-4.03 [[-5.09522439e-01 -8.60455577e-01 1.75628541e-03 1.27401720e+02] [-8.60450441e-01 5.09525466e-01 2.97286815e-03 -1.22356959e+02] [-3.45289312e-03 3.54647757e-06 -9.99994039e-01 -4.03040137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4665599949999 meters 0.01273444392577397 Centerline is valid? [True, True] Translation: X:127.33, Y:-122.44, Z:-4.03 [[-4.46968896e-01 -8.94548617e-01 1.25607712e-03 1.27329363e+02] [-8.94544970e-01 4.46970661e-01 2.55450958e-03 -1.22438959e+02] [-2.84656264e-03 1.81688600e-05 -9.99995948e-01 -4.03162094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.526559995 meters 0.012907033635030192 Centerline is valid? [True, True] Translation: X:127.26, Y:-122.53, Z:-4.03 [[-3.79711073e-01 -9.25104183e-01 1.32373236e-03 1.27261649e+02] [-9.25098260e-01 3.79713379e-01 3.31046017e-03 -1.22527272e+02] [-3.56515944e-03 3.24358808e-05 -9.99993644e-01 -4.03037345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5865599949999 meters 0.013646038279733767 Centerline is valid? [True, True] Translation: X:127.20, Y:-122.63, Z:-4.03 [[-3.11208576e-01 -9.50340018e-01 1.75299410e-03 1.27198800e+02] [-9.50323561e-01 3.11213504e-01 5.59328018e-03 -1.22625576e+02] [-5.86107342e-03 7.47651663e-05 -9.99982821e-01 -4.02777834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.646559995 meters 0.013837961609443627 Centerline is valid? [True, True] Translation: X:127.14, Y:-122.73, Z:-4.03 [[-2.39099159e-01 -9.70994049e-01 1.46575607e-03 1.27141459e+02] [-9.70973285e-01 2.39103633e-01 6.35084342e-03 -1.22726845e+02] [-6.51709877e-03 9.52713339e-05 -9.99978759e-01 -4.02709147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7065599949999 meters 0.013879247114039393 Centerline is valid? [True, True] Translation: X:127.09, Y:-122.84, Z:-4.03 [[-1.63071544e-01 -9.86613816e-01 9.21409998e-04 1.27090973e+02] [-9.86594987e-01 1.63074125e-01 6.09605916e-03 -1.22836817e+02] [-6.16471432e-03 8.50352977e-05 -9.99980994e-01 -4.02709879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.766559995 meters 0.012947473170809748 Centerline is valid? [True, True] Translation: X:127.04, Y:-122.95, Z:-4.03 [[-8.01473406e-02 -9.96782967e-01 3.45811841e-04 1.27043899e+02] [-9.96771800e-01 8.01480797e-02 4.71854147e-03 -1.22951005e+02] [-4.73107792e-03 3.34830588e-05 -9.99988808e-01 -4.02814895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8265599949999 meters 0.013178370329923753 Centerline is valid? [True, True] Translation: X:127.00, Y:-123.06, Z:-4.03 [[ 8.70607296e-03 -9.99962101e-01 -1.24537073e-05 1.27000592e+02] [-9.99956113e-01 -8.70606393e-03 3.46069495e-03 -1.23063849e+02] [-3.46067222e-03 -1.76759020e-05 -9.99994012e-01 -4.02760086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.886559995 meters 0.013178370329923753 Centerline is valid? [True, True] Translation: X:126.98, Y:-123.18, Z:-4.03 [[ 8.55731605e-02 -9.96331851e-01 -2.78535143e-04 1.26978403e+02] [-9.96325879e-01 -8.55736120e-02 3.44952831e-03 -1.23182043e+02] [-3.46071018e-03 -1.76752682e-05 -9.99994012e-01 -4.02759899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9465599949999 meters 0.014114868719006541 Centerline is valid? [True, True] Translation: X:126.29, Y:-123.36, Z:-5.01 [[-1.35924908e-03 9.99999072e-01 8.84299501e-05 1.26289146e+02] [-9.99996661e-01 -1.35944014e-03 2.19760297e-03 -1.23356670e+02] [ 2.19772114e-03 -8.54425650e-05 9.99997581e-01 -5.01081948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.006559995 meters 0.01525799171549293 Centerline is valid? [True, True] Translation: X:126.99, Y:-123.47, Z:-4.03 [[ 1.07330033e-01 -9.94223430e-01 -1.86631458e-04 1.26988668e+02] [-9.94221309e-01 -1.07330190e-01 2.05392799e-03 -1.23469600e+02] [-2.06209452e-03 -3.48951865e-05 -9.99997873e-01 -4.02890928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0665599949999 meters 0.0158447518176104 Centerline is valid? [True, True] Translation: X:126.97, Y:-123.59, Z:-4.03 [[ 1.88150774e-01 -9.82140030e-01 -4.97252541e-04 1.26973789e+02] [-9.82135613e-01 -1.88151419e-01 2.94629787e-03 -1.23593155e+02] [-2.98723585e-03 -6.59787953e-05 -9.99995536e-01 -4.02820124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.126559995 meters 0.016676679318007873 Centerline is valid? [True, True] Translation: X:126.97, Y:-123.71, Z:-4.03 [[ 2.65624150e-01 -9.64075487e-01 -1.50512927e-03 1.26968594e+02] [-9.64056502e-01 -2.65628369e-01 6.05227934e-03 -1.23713372e+02] [-6.23465918e-03 -1.56601895e-04 -9.99980552e-01 -4.02535912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1865599949999 meters 0.01635610001212621 Centerline is valid? [True, True] Translation: X:126.98, Y:-123.83, Z:-4.02 [[ 3.37863136e-01 -9.41192200e-01 -2.39652591e-03 1.26975279e+02] [-9.41164533e-01 -3.37871585e-01 7.21894292e-03 -1.23830726e+02] [-7.60413079e-03 -1.83489501e-04 -9.99971071e-01 -4.02366780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.246559995 meters 0.01433262439200983 Centerline is valid? [True, True] Translation: X:127.00, Y:-123.94, Z:-4.02 [[ 4.00514097e-01 -9.16285930e-01 -2.92453972e-03 1.26996962e+02] [-9.16259454e-01 -4.00524759e-01 6.96633422e-03 -1.23938097e+02] [-7.55450459e-03 -1.10477887e-04 -9.99971458e-01 -4.02457403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3065599949999 meters 0.012764503278547069 Centerline is valid? [True, True] Translation: X:127.03, Y:-124.04, Z:-4.03 [[ 4.60254014e-01 -8.87783493e-01 -2.59088153e-03 1.27028099e+02] [-8.87769158e-01 -4.60261306e-01 5.04501454e-03 -1.24041566e+02] [-5.67136315e-03 -2.18834815e-05 -9.99983918e-01 -4.02645413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.366559995 meters 0.013036162783029428 Centerline is valid? [True, True] Translation: X:127.07, Y:-124.15, Z:-4.03 [[ 5.18827705e-01 -8.54873681e-01 -2.96671654e-03 1.27066980e+02] [-8.54860067e-01 -5.18836186e-01 4.82466357e-03 -1.24146291e+02] [-5.66371780e-03 3.29583745e-05 -9.99983961e-01 -4.02717167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4265599949999 meters 0.013217753787087566 Centerline is valid? [True, True] Translation: X:127.11, Y:-124.25, Z:-4.03 [[ 5.80999445e-01 -8.13895322e-01 -3.74835789e-03 1.27106984e+02] [-8.13878947e-01 -5.81011534e-01 5.16299403e-03 -1.24250719e+02] [-6.37997585e-03 5.10129069e-05 -9.99979647e-01 -4.02664698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.486559995 meters 0.01336987430266209 Centerline is valid? [True, True] Translation: X:127.16, Y:-124.36, Z:-4.03 [[ 6.41233397e-01 -7.67326305e-01 -5.48384735e-03 1.27156725e+02] [-7.67299180e-01 -6.41256842e-01 6.45223205e-03 -1.24358258e+02] [-8.46752201e-03 7.03648969e-05 -9.99964147e-01 -4.02506316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5465599949999 meters 0.012880830163328885 Centerline is valid? [True, True] Translation: X:127.20, Y:-124.45, Z:-4.02 [[ 7.00515208e-01 -7.13597975e-01 -7.50817862e-03 1.27203048e+02] [-7.13557739e-01 -7.00555442e-01 7.57802988e-03 -1.24454005e+02] [-1.06675622e-02 4.89937797e-05 -9.99943099e-01 -4.02471280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6065599949999 meters 0.012951626425897958 Centerline is valid? [True, True] Translation: X:127.26, Y:-124.55, Z:-4.02 [[ 7.53857443e-01 -6.56984362e-01 -8.39664214e-03 1.27260592e+02] [-6.56944101e-01 -7.53904203e-01 7.27334599e-03 -1.24546473e+02] [-1.11087384e-02 3.30585107e-05 -9.99938296e-01 -4.02451131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.666559995 meters 0.012534859255494196 Centerline is valid? [True, True] Translation: X:127.28, Y:-124.58, Z:-4.03 [[ 8.04778419e-01 -5.93531505e-01 -7.21446135e-03 1.27278097e+02] [-5.93507645e-01 -8.04810756e-01 5.32189574e-03 -1.24576179e+02] [-8.96498888e-03 -1.10887907e-06 -9.99959814e-01 -4.02554141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7265599949999 meters 0.012574786841223677 Centerline is valid? [True, True] Translation: X:127.30, Y:-124.60, Z:-4.03 [[ 8.50700551e-01 -5.25624036e-01 -5.28632773e-03 1.27297793e+02] [-5.25613714e-01 -8.50716975e-01 3.29419490e-03 -1.24604682e+02] [-6.22867675e-03 -2.38070671e-05 -9.99980601e-01 -4.02627284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.786559995 meters 0.012781509453364061 Centerline is valid? [True, True] Translation: X:127.32, Y:-124.63, Z:-4.03 [[ 8.90173059e-01 -4.55596467e-01 -4.87680076e-03 1.27321553e+02] [-4.55589429e-01 -8.90186417e-01 2.53275734e-03 -1.24629032e+02] [-5.49517709e-03 -3.27734783e-05 -9.99984901e-01 -4.02625953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8465599949999 meters 0.012969770443693608 Centerline is valid? [True, True] Translation: X:127.35, Y:-124.65, Z:-4.03 [[ 9.24298420e-01 -3.81632061e-01 -5.42225879e-03 1.27346552e+02] [-3.81625150e-01 -9.24314323e-01 2.29729140e-03 -1.24653906e+02] [-5.88859152e-03 -5.41124905e-05 -9.99982661e-01 -4.02615175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.906559995 meters 0.012993291881443282 Centerline is valid? [True, True] Translation: X:127.37, Y:-124.68, Z:-4.03 [[ 9.51631273e-01 -3.07206468e-01 -4.70171073e-03 1.27374077e+02] [-3.07202457e-01 -9.51642887e-01 1.57071430e-03 -1.24676401e+02] [-4.95688316e-03 -5.03637599e-05 -9.99987713e-01 -4.02602907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9665599949999 meters 0.013447012642812792 Centerline is valid? [True, True] Translation: X:127.40, Y:-124.70, Z:-4.03 [[ 9.73231131e-01 -2.29761607e-01 -5.54700791e-03 1.27402872e+02] [-2.29757460e-01 -9.73246936e-01 1.38235321e-03 -1.24699047e+02] [-5.71622015e-03 -7.08827310e-05 -9.99983660e-01 -4.02548282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.026559995 meters 0.012982053469833854 Centerline is valid? [True, True] Translation: X:127.43, Y:-124.71, Z:-4.02 [[ 9.87895246e-01 -1.55030825e-01 -5.33165591e-03 1.27434091e+02] [-1.55028261e-01 -9.87909632e-01 8.93278641e-04 -1.24714642e+02] [-5.40567995e-03 -5.59083772e-05 -9.99985388e-01 -4.02480693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0865599949999 meters 0.012350867661051644 Centerline is valid? [True, True] Translation: X:127.46, Y:-124.72, Z:-4.02 [[ 9.96418203e-01 -8.44223351e-02 -4.86150735e-03 1.27462705e+02] [-8.44212577e-02 -9.96430062e-01 4.26758996e-04 -1.24722708e+02] [-4.88018006e-03 -1.48158671e-05 -9.99988092e-01 -4.02439585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.146559995 meters 0.01236011133688949 Centerline is valid? [True, True] Translation: X:127.49, Y:-124.73, Z:-4.02 [[ 9.99905374e-01 -1.30007285e-02 -4.49703902e-03 1.27491935e+02] [-1.30006749e-02 -9.99915487e-01 4.11618723e-05 -1.24728372e+02] [-4.49719410e-03 1.73065650e-05 -9.99989887e-01 -4.02433723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2065599949999 meters 0.01340070216591965 Centerline is valid? [True, True] Translation: X:127.52, Y:-124.73, Z:-4.02 [[ 9.98379564e-01 5.66902709e-02 -4.94565400e-03 1.27521564e+02] [ 5.66892689e-02 -9.98391812e-01 -3.42678818e-04 -1.24728661e+02] [-4.95712701e-03 6.17580195e-05 -9.99987712e-01 -4.02403787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.266559995 meters 0.014214799341213825 Centerline is valid? [True, True] Translation: X:127.55, Y:-124.73, Z:-4.02 [[ 9.91433436e-01 1.30421558e-01 -7.06824267e-03 1.27550801e+02] [ 1.30417386e-01 -9.91458624e-01 -1.04984920e-03 -1.24732586e+02] [-7.14479312e-03 1.19033864e-04 -9.99974469e-01 -4.02137424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3265599949999 meters 0.014757064776553344 Centerline is valid? [True, True] Translation: X:127.58, Y:-124.73, Z:-4.02 [[ 9.78164946e-01 2.07655698e-01 -8.51175621e-03 1.27579198e+02] [ 2.07646544e-01 -9.78201968e-01 -1.95522311e-03 -1.24734186e+02] [-8.73222990e-03 1.45093954e-04 -9.99961863e-01 -4.01946934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.386559995 meters 0.013961081987075675 Centerline is valid? [True, True] Translation: X:127.61, Y:-124.74, Z:-4.02 [[ 9.57936901e-01 2.86877668e-01 -7.62215855e-03 1.27609605e+02] [ 2.86867707e-01 -9.57967219e-01 -2.39289826e-03 -1.24735522e+02] [-7.98824710e-03 1.05694400e-04 -9.99968088e-01 -4.02062858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4465599949999 meters 0.013672717259174724 Centerline is valid? [True, True] Translation: X:127.64, Y:-124.73, Z:-4.02 [[ 9.31921935e-01 3.62603483e-01 -6.34200755e-03 1.27639084e+02] [ 3.62594510e-01 -9.31943511e-01 -2.55218556e-03 -1.24732399e+02] [-6.83582416e-03 7.88605897e-05 -9.99976632e-01 -4.02105364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.506559995 meters 0.012802993207076854 Centerline is valid? [True, True] Translation: X:127.67, Y:-124.73, Z:-4.02 [[ 8.99068416e-01 4.37779782e-01 -4.98465568e-03 1.27670199e+02] [ 4.37772783e-01 -8.99082233e-01 -2.47574969e-03 -1.24730086e+02] [-5.56544852e-03 4.37217600e-05 -9.99984512e-01 -4.02170401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5665599949999 meters 0.012377525946319542 Centerline is valid? [True, True] Translation: X:127.70, Y:-124.73, Z:-4.02 [[ 8.60283733e-01 5.09795339e-01 -4.53992879e-03 1.27701603e+02] [ 5.09788096e-01 -8.60295712e-01 -2.71749567e-03 -1.24727077e+02] [-5.29104790e-03 2.34156617e-05 -9.99986002e-01 -4.02207901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.626559995 meters 0.012441085546277004 Centerline is valid? [True, True] Translation: X:127.73, Y:-124.72, Z:-4.02 [[ 8.13152871e-01 5.82032782e-01 -4.49995805e-03 1.27734041e+02] [ 5.82024001e-01 -8.13165322e-01 -3.19717291e-03 -1.24722504e+02] [-5.52006928e-03 -1.92932599e-05 -9.99984764e-01 -4.02175361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6865599949999 meters 0.013636383206437898 Centerline is valid? [True, True] Translation: X:127.77, Y:-124.72, Z:-4.02 [[ 7.58781190e-01 6.51329587e-01 -4.56879864e-03 1.27768234e+02] [ 6.51318402e-01 -7.58794941e-01 -3.81803932e-03 -1.24717442e+02] [-5.95358327e-03 -7.86862100e-05 -9.99982274e-01 -4.02130843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.746559995 meters 0.015240858021335025 Centerline is valid? [True, True] Translation: X:127.80, Y:-124.71, Z:-4.02 [[ 7.00187415e-01 7.13939052e-01 -5.34921457e-03 1.27800746e+02] [ 7.13919890e-01 -7.00207831e-01 -5.23302813e-03 -1.24707160e+02] [-7.48162507e-03 -1.54810242e-04 -9.99972000e-01 -4.02041952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8065599949999 meters 0.016426816775617196 Centerline is valid? [True, True] Translation: X:127.83, Y:-124.69, Z:-4.02 [[ 6.39888484e-01 7.68454088e-01 -4.58731069e-03 1.27828043e+02] [ 7.68436160e-01 -6.39904906e-01 -5.25166589e-03 -1.24691967e+02] [-6.97110673e-03 -1.64574882e-04 -9.99975688e-01 -4.02064307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.866559995 meters 0.016150139566032982 Centerline is valid? [True, True] Translation: X:127.85, Y:-124.67, Z:-4.02 [[ 5.77391906e-01 8.16458464e-01 -3.76332200e-03 1.27853827e+02] [ 8.16442804e-01 -5.77404151e-01 -5.05905595e-03 -1.24673330e+02] [-6.30346679e-03 -1.51479210e-04 -9.99980122e-01 -4.02131011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9265599949999 meters 0.017982381361448002 Centerline is valid? [True, True] Translation: X:127.88, Y:-124.66, Z:-4.02 [[ 5.12134442e-01 8.58898109e-01 -3.51435516e-03 1.27879622e+02] [ 8.58879929e-01 -5.12146477e-01 -5.59056546e-03 -1.24655265e+02] [-6.60159071e-03 -1.55287985e-04 -9.99978197e-01 -4.02007456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.986559995 meters 0.015447108270067421 Centerline is valid? [True, True] Translation: X:127.90, Y:-124.63, Z:-4.02 [[ 4.46380810e-01 8.94835383e-01 -3.71618879e-03 1.27896120e+02] [ 8.94807325e-01 -4.46396249e-01 -7.08798505e-03 -1.24629722e+02] [-8.00147255e-03 -1.61332440e-04 -9.99967975e-01 -4.01945313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0465599949999 meters 0.014536685705220076 Centerline is valid? [True, True] Translation: X:127.91, Y:-124.60, Z:-4.02 [[ 3.78888858e-01 9.25435097e-01 -3.62137671e-03 1.27913220e+02] [ 9.25396457e-01 -3.78906136e-01 -8.45801348e-03 -1.24604154e+02] [-9.19950438e-03 -1.46562100e-04 -9.99957673e-01 -4.01888747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1065599949999 meters 0.013158525778013614 Centerline is valid? [True, True] Translation: X:127.92, Y:-124.58, Z:-4.02 [[ 3.14730528e-01 9.49176827e-01 -2.83651665e-03 1.27922744e+02] [ 9.49139773e-01 -3.14743305e-01 -8.38708300e-03 -1.24577237e+02] [-8.85359946e-03 -5.25797129e-05 -9.99960805e-01 -4.01935561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.166559995 meters 0.01323422776092171 Centerline is valid? [True, True] Translation: X:127.93, Y:-124.55, Z:-4.02 [[ 2.51910535e-01 9.67748288e-01 -2.08153764e-03 1.27931000e+02] [ 9.67713287e-01 -2.51919128e-01 -8.23084298e-03 -1.24550150e+02] [-8.48976335e-03 5.91044282e-05 -9.99963960e-01 -4.02050329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2265599949999 meters 0.01598631605233566 Centerline is valid? [True, True] Translation: X:127.93, Y:-124.52, Z:-4.02 [[ 1.90324444e-01 9.81719843e-01 -1.65982337e-03 1.27934441e+02] [ 9.81671853e-01 -1.90331556e-01 -9.70934539e-03 -1.24522566e+02] [-9.84777380e-03 2.18523884e-04 -9.99951486e-01 -4.02002647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.286559995 meters 0.018759908932234507 Centerline is valid? [True, True] Translation: X:127.94, Y:-124.50, Z:-4.02 [[ 1.23370301e-01 9.92360226e-01 -9.75076836e-04 1.27940130e+02] [ 9.92302609e-01 -1.23373651e-01 -1.06992347e-02 -1.24496301e+02] [-1.07377938e-02 3.52396523e-04 -9.99942286e-01 -4.02006305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3465599949999 meters 0.021758320699266292 Centerline is valid? [True, True] Translation: X:127.95, Y:-124.47, Z:-4.02 [[ 5.73768233e-02 9.98352585e-01 -1.26917072e-04 1.27947015e+02] [ 9.98300660e-01 -5.73751348e-02 -1.01925063e-02 -1.24470134e+02] [-1.01829969e-02 4.58112238e-04 -9.99948047e-01 -4.02187462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.406559995 meters 0.023532675693145832 Centerline is valid? [True, True] Translation: X:127.96, Y:-124.44, Z:-4.02 [[-1.36305862e-02 9.99906898e-01 6.34939575e-04 1.27955541e+02] [ 9.99860851e-01 1.36360604e-02 -9.60924186e-03 -1.24444144e+02] [-9.61700529e-03 5.03871624e-04 -9.99953629e-01 -4.02352422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4665599949999 meters 0.02688330041205987 Centerline is valid? [True, True] Translation: X:127.96, Y:-124.42, Z:-4.02 [[-9.04016185e-02 9.95904289e-01 1.48144330e-03 1.27962036e+02] [ 9.95852320e-01 9.04120577e-02 -1.01890148e-02 -1.24418918e+02] [-1.02812239e-02 5.54195314e-04 -9.99946993e-01 -4.02250914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.526559995 meters 0.024197295808732523 Centerline is valid? [True, True] Translation: X:127.98, Y:-124.39, Z:-4.02 [[-1.74367891e-01 9.84678243e-01 2.14391410e-03 1.27977350e+02] [ 9.84632875e-01 1.74380462e-01 -9.46344115e-03 -1.24389455e+02] [-9.69230134e-03 4.60848029e-04 -9.99952922e-01 -4.02294558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5865599949999 meters 0.022117811164879406 Centerline is valid? [True, True] Translation: X:127.99, Y:-124.36, Z:-4.02 [[-2.57426935e-01 9.66293971e-01 2.70844952e-03 1.27986461e+02] [ 9.66254713e-01 2.57440913e-01 -8.71813479e-03 -1.24358888e+02] [-9.12154680e-03 3.72769393e-04 -9.99958328e-01 -4.02351267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.646559995 meters 0.020330889355935362 Centerline is valid? [True, True] Translation: X:127.99, Y:-124.33, Z:-4.02 [[-3.39163315e-01 9.40721293e-01 3.41989043e-03 1.27991107e+02] [ 9.40682289e-01 3.39180415e-01 -8.57188233e-03 -1.24328064e+02] [-9.22371208e-03 3.09762338e-04 -9.99957413e-01 -4.02431565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7065599949999 meters 0.015851242098141177 Centerline is valid? [True, True] Translation: X:128.00, Y:-124.29, Z:-4.03 [[-4.22081431e-01 9.06549284e-01 3.95741751e-03 1.28004969e+02] [ 9.06513764e-01 4.22099936e-01 -8.02746389e-03 -1.24289791e+02] [-8.94771732e-03 1.99209992e-04 -9.99959949e-01 -4.02520652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.766559995 meters 0.014843833172669562 Centerline is valid? [True, True] Translation: X:128.01, Y:-124.25, Z:-4.02 [[-5.01913431e-01 8.64905814e-01 4.56513756e-03 1.28010937e+02] [ 8.64871737e-01 5.01934182e-01 -7.67822974e-03 -1.24253125e+02] [-8.93234414e-03 9.44518215e-05 -9.99960101e-01 -4.02333274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8265599949999 meters 0.013596033563632292 Centerline is valid? [True, True] Translation: X:128.01, Y:-124.22, Z:-4.03 [[-5.73941378e-01 8.18883228e-01 4.64250640e-03 1.28010095e+02] [ 8.18856837e-01 5.73960153e-01 -6.57439564e-03 -1.24216237e+02] [-8.04827602e-03 2.82304126e-05 -9.99967612e-01 -4.02567930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.886559995 meters 0.013636809116796845 Centerline is valid? [True, True] Translation: X:128.01, Y:-124.18, Z:-4.03 [[-6.41576075e-01 7.67044109e-01 4.84506647e-03 1.28005351e+02] [ 7.67021942e-01 6.41594369e-01 -5.83150500e-03 -1.24179497e+02] [-7.58158892e-03 -2.50817912e-05 -9.99971259e-01 -4.02668107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9465599949999 meters 0.014753374635701871 Centerline is valid? [True, True] Translation: X:128.00, Y:-124.14, Z:-4.02 [[-7.06504525e-01 7.07670896e-01 7.29784108e-03 1.27999653e+02] [ 7.07631147e-01 7.06542203e-01 -7.50171980e-03 -1.24141554e+02] [-1.04649815e-02 -1.35819337e-04 -9.99945231e-01 -4.02293450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.006559995 meters 0.016155918986710798 Centerline is valid? [True, True] Translation: X:127.98, Y:-124.11, Z:-4.02 [[-7.63683051e-01 6.45531231e-01 8.81066716e-03 1.27984839e+02] [ 6.45484870e-01 7.63733841e-01 -7.73967144e-03 -1.24108583e+02] [-1.17252043e-02 -2.23503549e-04 -9.99931233e-01 -4.02136318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0665599949999 meters 0.017697168618605548 Centerline is valid? [True, True] Translation: X:128.00, Y:-124.08, Z:-4.02 [[-8.10921887e-01 5.85060622e-01 1.04767095e-02 1.28003050e+02] [ 5.85006473e-01 8.10989494e-01 -7.96664557e-03 -1.24079442e+02] [-1.31574719e-02 -3.31384414e-04 -9.99913382e-01 -4.02022596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.126559995 meters 0.017679080776206318 Centerline is valid? [True, True] Translation: X:128.02, Y:-124.05, Z:-4.02 [[-8.50320109e-01 5.26145392e-01 1.12578267e-02 1.28016689e+02] [ 5.26093964e-01 8.50394562e-01 -7.36409464e-03 -1.24053677e+02] [-1.34481790e-02 -3.39163106e-04 -9.99909512e-01 -4.01961076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1865599949999 meters 0.01599937412625119 Centerline is valid? [True, True] Translation: X:128.03, Y:-124.04, Z:-4.02 [[-8.82371416e-01 4.70437555e-01 1.04494340e-02 1.28027239e+02] [ 4.70401574e-01 8.82433260e-01 -5.82249593e-03 -1.24035808e+02] [-1.19600488e-02 -2.22173786e-04 -9.99928451e-01 -4.02133649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.246559995 meters 0.014509698384374187 Centerline is valid? [True, True] Translation: X:128.04, Y:-124.02, Z:-4.02 [[-9.10599714e-01 4.13165067e-01 1.01384245e-02 1.28037297e+02] [ 4.13137882e-01 9.10656143e-01 -4.74130182e-03 -1.24018620e+02] [-1.11915588e-02 -1.28860859e-04 -9.99937364e-01 -4.02258282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3065599949999 meters 0.013590108601734418 Centerline is valid? [True, True] Translation: X:128.05, Y:-124.01, Z:-4.03 [[-9.33205609e-01 3.59246843e-01 8.30649870e-03 1.28047904e+02] [ 3.59232690e-01 9.33242576e-01 -3.18882566e-03 -1.24006363e+02] [-8.89755380e-03 8.13587807e-06 -9.99960416e-01 -4.02547967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.366559995 meters 0.014983048510367398 Centerline is valid? [True, True] Translation: X:128.06, Y:-123.99, Z:-4.03 [[-9.52537854e-01 3.04305432e-01 8.35711852e-03 1.28057658e+02] [ 3.04294812e-01 9.52574506e-01 -2.54506513e-03 -1.23993723e+02] [-8.73525519e-03 1.18756932e-04 -9.99961840e-01 -4.02553259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4265599949999 meters 0.016153141007488495 Centerline is valid? [True, True] Translation: X:128.06, Y:-123.97, Z:-4.03 [[-9.69748748e-01 2.43966089e-01 8.24096589e-03 1.28064229e+02] [ 2.43958891e-01 9.69783746e-01 -1.88312365e-03 -1.23974037e+02] [-8.45137308e-03 1.84300097e-04 -9.99964270e-01 -4.02607682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.486559995 meters 0.019234290691854988 Centerline is valid? [True, True] Translation: X:128.07, Y:-123.96, Z:-4.02 [[-9.82744895e-01 1.84698669e-01 9.94353088e-03 1.28066625e+02] [ 1.84692532e-01 9.82795145e-01 -1.53997552e-03 -1.23957198e+02] [-1.00568853e-02 3.23092814e-04 -9.99949376e-01 -4.02494104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5465599949999 meters 0.022306772490765528 Centerline is valid? [True, True] Translation: X:128.08, Y:-123.94, Z:-4.02 [[-9.92358733e-01 1.22894284e-01 1.10063474e-02 1.28076990e+02] [ 1.22891722e-01 9.92419666e-01 -9.11367563e-04 -1.23939111e+02] [-1.10349174e-02 4.48185416e-04 -9.99939013e-01 -4.02464569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6065599949999 meters 0.024066974773415593 Centerline is valid? [True, True] Translation: X:128.14, Y:-123.26, Z:-5.01 [[-9.94496415e-01 -1.04378786e-01 9.05260188e-03 1.28136845e+02] [ 1.04370019e-01 -9.94537498e-01 -1.43683169e-03 -1.23259543e+02] [ 9.15312677e-03 -4.84103732e-04 9.99957992e-01 -5.01268937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.666559995 meters 0.02051017749253464 Centerline is valid? [True, True] Translation: X:128.02, Y:-123.93, Z:-4.03 [[-9.92867131e-01 1.18914861e-01 8.60910855e-03 1.28018314e+02] [ 1.18913460e-01 9.92904392e-01 -6.76268190e-04 -1.23933756e+02] [-8.62844003e-03 3.52294429e-04 -9.99962712e-01 -4.02732266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7265599949999 meters 0.01630203239144972 Centerline is valid? [True, True] Translation: X:128.06, Y:-123.27, Z:-5.01 [[-9.92295717e-01 -1.23625999e-01 8.11314846e-03 1.28061490e+02] [ 1.23618815e-01 -9.92328814e-01 -1.38292008e-03 -1.23272562e+02] [ 8.22187587e-03 -3.69327870e-04 9.99966132e-01 -5.01311330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.786559995 meters 0.014962772337624592 Centerline is valid? [True, True] Translation: X:127.95, Y:-123.91, Z:-4.03 [[-9.95825224e-01 9.09073506e-02 8.24485371e-03 1.27950732e+02] [ 9.09053866e-02 9.95859345e-01 -6.13423472e-04 -1.23911437e+02] [-8.26647932e-03 1.38639048e-04 -9.99965823e-01 -4.02639518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8465599949999 meters 0.014962772337624592 Centerline is valid? [True, True] Translation: X:127.95, Y:-123.88, Z:-4.03 [[-9.99767190e-01 1.99301398e-02 8.26768749e-03 1.27947105e+02] [ 1.99306047e-02 9.99801365e-01 -2.61616761e-05 -1.23883921e+02] [-8.26656665e-03 1.38624426e-04 -9.99965822e-01 -4.02639416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.906559995 meters 0.012934454255802117 Centerline is valid? [True, True] Translation: X:127.94, Y:-123.25, Z:-5.01 [[-9.97604369e-01 -6.86958163e-02 8.14909415e-03 1.27938516e+02] [ 6.86923437e-02 -9.97637642e-01 -7.05602869e-04 -1.23254451e+02] [ 8.17831504e-03 -1.44132129e-04 9.99966547e-01 -5.01351360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9665599949999 meters 0.0129534001157676 Centerline is valid? [True, True] Translation: X:127.88, Y:-123.87, Z:-4.03 [[-9.99953357e-01 -5.77353582e-03 7.74276190e-03 1.27875736e+02] [-5.77364661e-03 9.99983332e-01 8.04281090e-06 -1.23865315e+02] [-7.74267929e-03 -3.66615353e-05 -9.99970024e-01 -4.02574007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.026559995 meters 0.013552200161336667 Centerline is valid? [True, True] Translation: X:127.87, Y:-123.27, Z:-5.01 [[-9.96884342e-01 -7.85252388e-02 7.44276109e-03 1.27873731e+02] [ 7.85231652e-02 -9.96912126e-01 -5.70867776e-04 -1.23267909e+02] [ 7.46460631e-03 1.53400111e-05 9.99972139e-01 -5.01421736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0865599949999 meters 0.01383597541073116 Centerline is valid? [True, True] Translation: X:127.82, Y:-123.86, Z:-4.02 [[-9.99828720e-01 -1.69070012e-02 7.52889532e-03 1.27818729e+02] [-1.69071871e-02 9.99857063e-01 3.89674375e-05 -1.23858549e+02] [-7.52847798e-03 -8.83316783e-05 -9.99971657e-01 -4.02461414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.146559995 meters 0.013738374452219444 Centerline is valid? [True, True] Translation: X:127.81, Y:-123.83, Z:-4.02 [[-9.95993229e-01 -8.90889210e-02 7.78788816e-03 1.27808543e+02] [-8.90869886e-02 9.96023671e-01 5.95376939e-04 -1.23833052e+02] [-7.80996244e-03 -1.00808104e-04 -9.99969497e-01 -4.02486901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2065599949999 meters 0.014174054357580198 Centerline is valid? [True, True] Translation: X:127.76, Y:-123.24, Z:-5.02 [[-9.99934599e-01 -7.27013938e-03 8.82847718e-03 1.27764155e+02] [ 7.27147746e-03 -9.99973555e-01 1.19474066e-04 -1.23243761e+02] [ 8.82737512e-03 1.83662325e-04 9.99961021e-01 -5.01585875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.266559995 meters 0.014353365357757322 Centerline is valid? [True, True] Translation: X:127.74, Y:-123.84, Z:-4.02 [[-9.95251148e-01 -9.68801259e-02 9.45483450e-03 1.27742555e+02] [-9.68772314e-02 9.95296045e-01 7.64736106e-04 -1.23838632e+02] [-9.48444711e-03 -1.54853702e-04 -9.99955010e-01 -4.02277135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3265599949999 meters 0.014686159663494952 Centerline is valid? [True, True] Translation: X:127.69, Y:-123.25, Z:-5.02 [[-9.99922470e-01 -5.72981619e-03 1.10554949e-02 1.27692804e+02] [ 5.73264163e-03 -9.99983543e-01 2.23896351e-04 -1.23248018e+02] [ 1.10540301e-02 2.87256183e-04 9.99938861e-01 -5.01794849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.386559995 meters 0.015371082345645253 Centerline is valid? [True, True] Translation: X:127.67, Y:-123.85, Z:-4.02 [[-9.94347493e-01 -1.05450527e-01 1.23794103e-02 1.27674377e+02] [-1.05445541e-01 9.94424518e-01 1.05660762e-03 -1.23848687e+02] [-1.24218090e-02 -2.54718481e-04 -9.99922814e-01 -4.02012644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4465599949999 meters 0.014881006175920121 Centerline is valid? [True, True] Translation: X:127.63, Y:-123.24, Z:-5.02 [[-9.99919765e-01 -2.80698134e-03 1.23525317e-02 1.27626651e+02] [ 2.80983903e-03 -9.99996030e-01 2.13996105e-04 -1.23243228e+02] [ 1.23518820e-02 2.48687561e-04 9.99923682e-01 -5.01804309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.506559995 meters 0.015231898279252093 Centerline is valid? [True, True] Translation: X:127.61, Y:-123.87, Z:-4.02 [[-9.94180573e-01 -1.07207467e-01 1.05615564e-02 1.27613440e+02] [-1.07203415e-01 9.94236654e-01 9.50629319e-04 -1.23865379e+02] [-1.06026011e-02 -1.87137719e-04 -9.99943773e-01 -4.02209185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5665599949999 meters 0.013268330988206007 Centerline is valid? [True, True] Translation: X:127.61, Y:-123.85, Z:-4.02 [[-9.85193700e-01 -1.71250091e-01 8.17185352e-03 1.27609290e+02] [-1.71244967e-01 9.85227587e-01 1.32785926e-03 -1.23849542e+02] [-8.27853154e-03 -9.11902164e-05 -9.99965728e-01 -4.02437092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.626559995 meters 0.012453207077264989 Centerline is valid? [True, True] Translation: X:127.60, Y:-123.84, Z:-4.02 [[-9.72558342e-01 -2.32539670e-01 7.45474016e-03 1.27600203e+02] [-2.32532969e-01 9.72586912e-01 1.76541197e-03 -1.23835086e+02] [-7.66091103e-03 -1.65067202e-05 -9.99970655e-01 -4.02472288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6865599949999 meters 0.012572021411680633 Centerline is valid? [True, True] Translation: X:127.58, Y:-123.82, Z:-4.02 [[-9.55427662e-01 -2.95130980e-01 7.46233967e-03 1.27578974e+02] [-2.95121662e-01 9.55456803e-01 2.34562409e-03 -1.23820706e+02] [-7.82220955e-03 3.87760525e-05 -9.99969405e-01 -4.02496941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.746559995 meters 0.012979463113055159 Centerline is valid? [True, True] Translation: X:127.54, Y:-123.81, Z:-4.02 [[-9.32943177e-01 -3.59930252e-01 8.20016883e-03 1.27539351e+02] [-3.59915616e-01 9.32979211e-01 3.24677241e-03 -1.23809789e+02] [-8.81919866e-03 7.76853537e-05 -9.99961107e-01 -4.02418713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8065599949999 meters 0.015085119358985622 Centerline is valid? [True, True] Translation: X:127.49, Y:-123.82, Z:-4.02 [[-9.09240159e-01 -4.16184205e-01 8.54645247e-03 1.27485990e+02] [-4.16163709e-01 9.09280301e-01 4.13530454e-03 -1.23816304e+02] [-9.49216931e-03 2.03261597e-04 -9.99954928e-01 -4.02416769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.866559995 meters 0.018847842719935306 Centerline is valid? [True, True] Translation: X:127.42, Y:-123.83, Z:-4.02 [[-8.81327240e-01 -4.72429528e-01 8.52277504e-03 1.27422739e+02] [-4.72403836e-01 8.81368388e-01 4.93766168e-03 -1.23832363e+02] [-9.84440167e-03 3.25504112e-04 -9.99951490e-01 -4.02446877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9265599949999 meters 0.021155497207091485 Centerline is valid? [True, True] Translation: X:127.35, Y:-123.85, Z:-4.02 [[-8.46670629e-01 -5.32057204e-01 7.99861669e-03 1.27347794e+02] [-5.32029197e-01 8.46708326e-01 5.47215893e-03 -1.23853539e+02] [-9.68399692e-03 3.77618630e-04 -9.99953038e-01 -4.02480079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.986559995 meters 0.020395280482494494 Centerline is valid? [True, True] Translation: X:127.27, Y:-123.88, Z:-4.03 [[-8.06449331e-01 -5.91259833e-01 7.16143623e-03 1.27265398e+02] [-5.91232156e-01 8.06481034e-01 5.73412298e-03 -1.23880141e+02] [-9.16591908e-03 3.90208263e-04 -9.99957916e-01 -4.02544585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0465599949999 meters 0.01994500253025357 Centerline is valid? [True, True] Translation: X:127.18, Y:-123.92, Z:-4.03 [[-7.57722281e-01 -6.52542755e-01 6.70060694e-03 1.27175412e+02] [-6.52512927e-01 7.57751820e-01 6.24976864e-03 -1.23919091e+02] [-9.15563835e-03 3.63356296e-04 -9.99958020e-01 -4.02620770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1065599949999 meters 0.018771320667548715 Centerline is valid? [True, True] Translation: X:127.09, Y:-123.96, Z:-4.03 [[-7.03058785e-01 -7.11104199e-01 6.25798905e-03 1.27085451e+02] [-7.11071846e-01 7.03086561e-01 6.79096853e-03 -1.23964805e+02] [-9.22899424e-03 3.24570255e-04 -9.99957359e-01 -4.02674256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.166559995 meters 0.016491709497784897 Centerline is valid? [True, True] Translation: X:126.99, Y:-124.02, Z:-4.03 [[-6.39030380e-01 -7.69160043e-01 5.74473555e-03 1.26990945e+02] [-7.69125728e-01 6.39056161e-01 7.26898527e-03 -1.24020073e+02] [-9.26222167e-03 2.26678509e-04 -9.99957079e-01 -4.02693717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2265599949999 meters 0.013976110979526779 Centerline is valid? [True, True] Translation: X:126.90, Y:-124.08, Z:-4.03 [[-5.72318127e-01 -8.20018532e-01 4.64418445e-03 1.26899027e+02] [-8.19989567e-01 5.72336953e-01 6.89365542e-03 -1.24084680e+02] [-8.31096358e-03 1.37181155e-04 -9.99965454e-01 -4.02815972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.286559995 meters 0.012544114605152349 Centerline is valid? [True, True] Translation: X:126.81, Y:-124.16, Z:-4.03 [[-4.99270647e-01 -8.66435977e-01 4.18554069e-03 1.26809818e+02] [-8.66404677e-01 4.99288189e-01 7.36479797e-03 -1.24157363e+02] [-8.47091696e-03 5.06554248e-05 -9.99964120e-01 -4.02731721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3465599949999 meters 0.01225710346733311 Centerline is valid? [True, True] Translation: X:126.73, Y:-124.24, Z:-4.03 [[-4.26792398e-01 -9.04341375e-01 3.86349682e-03 1.26729975e+02] [-9.04304263e-01 4.26809885e-01 8.19286108e-03 -1.24241084e+02] [-9.05812189e-03 2.87418976e-06 -9.99958974e-01 -4.02740391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.406559995 meters 0.012458639995902637 Centerline is valid? [True, True] Translation: X:126.66, Y:-124.33, Z:-4.03 [[-3.50672852e-01 -9.36492064e-01 3.34155707e-03 1.26655806e+02] [-9.36451104e-01 3.50688767e-01 8.75893896e-03 -1.24330577e+02] [-9.37452335e-03 -5.76827002e-05 -9.99956057e-01 -4.02696802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4665599949999 meters 0.012882671435246752 Centerline is valid? [True, True] Translation: X:126.59, Y:-124.42, Z:-4.03 [[-2.74649755e-01 -9.61540004e-01 2.88657084e-03 1.26592108e+02] [-9.61490645e-01 2.74664906e-01 9.74318493e-03 -1.24422167e+02] [-1.01613018e-02 -9.94474956e-05 -9.99948368e-01 -4.02614652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.526559995 meters 0.013159460235196114 Centerline is valid? [True, True] Translation: X:126.54, Y:-124.52, Z:-4.02 [[-1.99605674e-01 -9.79873003e-01 2.54423099e-03 1.26537821e+02] [-9.79801397e-01 1.99621847e-01 1.18465366e-02 -1.24522821e+02] [-1.21159855e-02 -1.28205146e-04 -9.99926591e-01 -4.02430633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5865599949999 meters 0.013327806265199122 Centerline is valid? [True, True] Translation: X:126.49, Y:-124.63, Z:-4.02 [[-1.24904755e-01 -9.92167449e-01 1.59852933e-03 1.26491504e+02] [-9.92097663e-01 1.24914930e-01 1.17680834e-02 -1.24632527e+02] [-1.18755895e-02 -1.16007630e-04 -9.99929476e-01 -4.02342590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.646559995 meters 0.012913156527061828 Centerline is valid? [True, True] Translation: X:126.46, Y:-124.74, Z:-4.03 [[-5.01009916e-02 -9.98743961e-01 6.24760111e-04 1.26456900e+02] [-9.98686646e-01 5.01048098e-02 1.07000904e-02 -1.24740760e+02] [-1.07179542e-02 -8.78544410e-05 -9.99942557e-01 -4.02581899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7065599949999 meters 0.012796075921498451 Centerline is valid? [True, True] Translation: X:126.43, Y:-124.85, Z:-4.03 [[ 2.60954440e-02 -9.99659436e-01 -1.98416284e-04 1.26428745e+02] [-9.99601244e-01 -2.60960659e-02 1.07864543e-02 -1.24852043e+02] [-1.07879587e-02 -8.31401485e-05 -9.99941805e-01 -4.02632696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.766559995 meters 0.01273583442849338 Centerline is valid? [True, True] Translation: X:126.41, Y:-124.97, Z:-4.02 [[ 1.00701606e-01 -9.94915967e-01 -1.18519408e-03 1.26412277e+02] [-9.94838419e-01 -1.00708555e-01 1.24220512e-02 -1.24973676e+02] [-1.24782563e-02 -7.18438965e-05 -9.99922141e-01 -4.02497521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8265599949999 meters 0.012790378072181563 Centerline is valid? [True, True] Translation: X:126.40, Y:-125.09, Z:-4.02 [[ 1.76406032e-01 -9.84314671e-01 -2.35387983e-03 1.26402198e+02] [-9.84221380e-01 -1.76421720e-01 1.35518247e-02 -1.25087532e+02] [-1.37545354e-02 -7.38847653e-05 -9.99905399e-01 -4.02374465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.886559995 meters 0.012649322713094904 Centerline is valid? [True, True] Translation: X:126.40, Y:-125.20, Z:-4.02 [[ 2.50578697e-01 -9.68090216e-01 -3.41314504e-03 1.26402092e+02] [-9.67996804e-01 -2.50601933e-01 1.34483969e-02 -1.25199554e+02] [-1.38746022e-02 -6.59682797e-05 -9.99903741e-01 -4.02369126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9465599949999 meters 0.012962593133127039 Centerline is valid? [True, True] Translation: X:126.41, Y:-125.31, Z:-4.02 [[ 3.25295091e-01 -9.45601754e-01 -4.51961292e-03 1.26410791e+02] [-9.45506658e-01 -3.25326475e-01 1.34105771e-02 -1.25314743e+02] [-1.41514149e-02 -8.90707779e-05 -9.99899860e-01 -4.02394217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.006559995 meters 0.013642130006372656 Centerline is valid? [True, True] Translation: X:126.43, Y:-125.44, Z:-4.02 [[ 4.00823969e-01 -9.16137868e-01 -5.61726260e-03 1.26429379e+02] [-9.16042505e-01 -4.00863299e-01 1.32191306e-02 -1.25437691e+02] [-1.43623006e-02 -1.52893105e-04 -9.99896845e-01 -4.02373414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0665599949999 meters 0.014836969550515753 Centerline is valid? [True, True] Translation: X:126.45, Y:-125.55, Z:-4.02 [[ 4.73560293e-01 -8.80738042e-01 -6.41483794e-03 1.26450924e+02] [-8.80651247e-01 -4.73603694e-01 1.23662017e-02 -1.25551171e+02] [-1.39294752e-02 -2.06907080e-04 -9.99902959e-01 -4.02376117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.126559995 meters 0.015425356523284759 Centerline is valid? [True, True] Translation: X:126.48, Y:-125.66, Z:-4.03 [[ 5.44439370e-01 -8.38773164e-01 -6.73435522e-03 1.26482806e+02] [-8.38702928e-01 -5.44480954e-01 1.08576732e-02 -1.25662283e+02] [-1.27738531e-02 -2.63221327e-04 -9.99918376e-01 -4.02683391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1865599949999 meters 0.015818159832068808 Centerline is valid? [True, True] Translation: X:126.53, Y:-125.78, Z:-4.03 [[ 6.10257547e-01 -7.92175819e-01 -6.57252880e-03 1.26528266e+02] [-7.92124943e-01 -6.10292877e-01 8.98217172e-03 -1.25776209e+02] [-1.11266268e-02 -2.75174082e-04 -9.99938059e-01 -4.02928956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.246559995 meters 0.016895253790085843 Centerline is valid? [True, True] Translation: X:126.57, Y:-125.87, Z:-4.03 [[ 6.70599619e-01 -7.41789117e-01 -6.71245949e-03 1.26567931e+02] [-7.41747746e-01 -6.70633155e-01 7.83920314e-03 -1.25870997e+02] [-1.03166335e-02 -2.78014944e-04 -9.99946744e-01 -4.03017291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3065599949999 meters 0.017120068566683536 Centerline is valid? [True, True] Translation: X:126.63, Y:-125.98, Z:-4.03 [[ 7.26150821e-01 -6.87485835e-01 -8.25901044e-03 1.26631853e+02] [-6.87436087e-01 -7.26197711e-01 8.27718197e-03 -1.25979975e+02] [-1.16881198e-02 -3.32940670e-04 -9.99931636e-01 -4.02933565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.366559995 meters 0.0170755875386173 Centerline is valid? [True, True] Translation: X:126.67, Y:-126.06, Z:-4.03 [[ 7.76012528e-01 -6.30629663e-01 -1.05254534e-02 1.26674683e+02] [-6.30564775e-01 -7.76083808e-01 9.05472669e-03 -1.26056822e+02] [-1.38788132e-02 -3.89601175e-04 -9.99903609e-01 -4.02652970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4265599949999 meters 0.01674368979137075 Centerline is valid? [True, True] Translation: X:126.70, Y:-126.08, Z:-4.03 [[ 8.21721187e-01 -5.69758958e-01 -1.22073794e-02 1.26698023e+02] [-5.69688932e-01 -8.21811764e-01 8.94122993e-03 -1.26082188e+02] [-1.51265138e-02 -3.92789137e-04 -9.99885511e-01 -4.02552747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.486559995 meters 0.01569655066892375 Centerline is valid? [True, True] Translation: X:126.72, Y:-126.10, Z:-4.03 [[ 8.62511086e-01 -5.05912234e-01 -1.12888276e-02 1.26724103e+02] [-5.05864149e-01 -8.62584903e-01 6.98195989e-03 -1.26103846e+02] [-1.32698312e-02 -3.11404662e-04 -9.99911903e-01 -4.02841416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5465599949999 meters 0.01564670562206642 Centerline is valid? [True, True] Translation: X:126.75, Y:-126.12, Z:-4.03 [[ 8.98052427e-01 -4.39786270e-01 -9.48022078e-03 1.26750033e+02] [-4.39759216e-01 -8.98102439e-01 4.88277995e-03 -1.26124272e+02] [-1.06615890e-02 -2.15977926e-04 -9.99943140e-01 -4.02972866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6065599949999 meters 0.014215514439496773 Centerline is valid? [True, True] Translation: X:126.78, Y:-126.14, Z:-4.03 [[ 9.28856132e-01 -3.70318264e-01 -9.52207108e-03 1.26777770e+02] [-3.70296748e-01 -9.28904919e-01 3.99623670e-03 -1.26143446e+02] [-1.03249781e-02 -1.85937002e-04 -9.99946679e-01 -4.03139272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.666559995 meters 0.014085243725331492 Centerline is valid? [True, True] Translation: X:126.81, Y:-126.16, Z:-4.03 [[ 9.54813297e-01 -2.97041389e-01 -9.89856415e-03 1.26805756e+02] [-2.97023438e-01 -9.54864587e-01 3.27068336e-03 -1.26163236e+02] [-1.04233167e-02 -1.82786410e-04 -9.99945659e-01 -4.03133237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7265599949999 meters 0.0140390206308965 Centerline is valid? [True, True] Translation: X:126.83, Y:-126.18, Z:-4.03 [[ 9.74802333e-01 -2.22752779e-01 -1.19000172e-02 1.26834904e+02] [-2.22733675e-01 -9.74874946e-01 2.92419771e-03 -1.26180923e+02] [-1.22524017e-02 -1.99980200e-04 -9.99924917e-01 -4.02945430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.786559995 meters 0.013869932468028654 Centerline is valid? [True, True] Translation: X:126.87, Y:-126.20, Z:-4.03 [[ 9.89099482e-01 -1.46642412e-01 -1.33498002e-02 1.26866175e+02] [-1.46626192e-01 -9.89189547e-01 2.19109751e-03 -1.26195537e+02] [-1.35267906e-02 -2.09783048e-04 -9.99908487e-01 -4.02859216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8465599949999 meters 0.01342375567487321 Centerline is valid? [True, True] Translation: X:126.89, Y:-126.21, Z:-4.03 [[ 9.97415301e-01 -7.03581480e-02 -1.45755996e-02 1.26894885e+02] [-7.03476569e-02 -9.97521774e-01 1.23186869e-03 -1.26206400e+02] [-1.46261499e-02 -2.03325400e-04 -9.99893012e-01 -4.02878693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.906559995 meters 0.013379861075912452 Centerline is valid? [True, True] Translation: X:126.92, Y:-126.22, Z:-4.03 [[ 9.99872237e-01 6.21889033e-03 -1.47253550e-02 1.26922828e+02] [ 6.22085499e-03 -9.99980646e-01 8.76187334e-05 -1.26215147e+02] [-1.47245251e-02 -1.79211837e-04 -9.99891572e-01 -4.02813936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9665599949999 meters 0.013425044346514344 Centerline is valid? [True, True] Translation: X:126.95, Y:-126.22, Z:-4.03 [[ 9.96437677e-01 8.32271047e-02 -1.36090055e-02 1.26951756e+02] [ 8.32213794e-02 -9.96530595e-01 -9.87445198e-04 -1.26219713e+02] [-1.36439725e-02 -1.48632608e-04 -9.99906906e-01 -4.02752966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.026559995 meters 0.012814866502448917 Centerline is valid? [True, True] Translation: X:126.98, Y:-126.22, Z:-4.03 [[ 9.87151205e-01 1.59292787e-01 -1.25819959e-02 1.26981957e+02] [ 1.59281352e-01 -9.87231378e-01 -1.91219145e-03 -1.26222180e+02] [-1.27259395e-02 -1.16455229e-04 -9.99919015e-01 -4.03021579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0865599949999 meters 0.012667066934411905 Centerline is valid? [True, True] Translation: X:127.01, Y:-126.22, Z:-4.03 [[ 9.72141989e-01 2.34125547e-01 -1.11884791e-02 1.27012822e+02] [ 2.34111006e-01 -9.72206368e-01 -2.61060821e-03 -1.26222794e+02] [-1.14887207e-02 -8.14642296e-05 -9.99933999e-01 -4.03144693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.146559995 meters 0.01254496835637873 Centerline is valid? [True, True] Translation: X:127.04, Y:-126.22, Z:-4.03 [[ 9.51252956e-01 3.08225098e-01 -1.07285443e-02 1.27043321e+02] [ 3.08206265e-01 -9.51313452e-01 -3.40788254e-03 -1.26222022e+02] [-1.12566035e-02 -6.48462345e-05 -9.99936640e-01 -4.03241949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2065599949999 meters 0.012517642531912647 Centerline is valid? [True, True] Translation: X:127.07, Y:-126.22, Z:-4.03 [[ 9.24647155e-01 3.80681298e-01 -1.04588623e-02 1.27074222e+02] [ 3.80657579e-01 -9.24706303e-01 -4.24982802e-03 -1.26218768e+02] [-1.12892059e-02 -5.16537936e-05 -9.99936274e-01 -4.03189114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.266559995 meters 0.012469136074419254 Centerline is valid? [True, True] Translation: X:127.10, Y:-126.21, Z:-4.03 [[ 8.92745255e-01 4.50448830e-01 -1.00877195e-02 1.27102805e+02] [ 4.50420495e-01 -8.92802246e-01 -5.05240349e-03 -1.26211392e+02] [-1.12821878e-02 -3.32063634e-05 -9.99936354e-01 -4.03146126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3265599949999 meters 0.012639806526451178 Centerline is valid? [True, True] Translation: X:127.13, Y:-126.20, Z:-4.03 [[ 8.57493698e-01 5.14394053e-01 -1.01644787e-02 1.27128947e+02] [ 5.14357530e-01 -8.57553939e-01 -6.12971684e-03 -1.26197708e+02] [-1.18696786e-02 2.80173997e-05 -9.99929553e-01 -4.03031640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.386559995 meters 0.01323443541993997 Centerline is valid? [True, True] Translation: X:127.16, Y:-126.18, Z:-4.03 [[ 8.18287544e-01 5.74710182e-01 -1.06631623e-02 1.27155526e+02] [ 5.74659565e-01 -8.18357009e-01 -7.62829613e-03 -1.26184398e+02] [-1.31103331e-02 1.14451493e-04 -9.99914049e-01 -4.03081346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4465599949999 meters 0.013738186367820758 Centerline is valid? [True, True] Translation: X:127.18, Y:-126.17, Z:-4.03 [[ 7.72680222e-01 6.34715206e-01 -1.00936587e-02 1.27181991e+02] [ 6.34658431e-01 -7.72746131e-01 -8.49078713e-03 -1.26170729e+02] [-1.31890674e-02 1.54637685e-04 -9.99913009e-01 -4.03111941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.506559995 meters 0.01419101571458644 Centerline is valid? [True, True] Translation: X:127.21, Y:-126.16, Z:-4.03 [[ 7.21562882e-01 6.92283956e-01 -9.48318489e-03 1.27209037e+02] [ 6.92220977e-01 -7.21625175e-01 -9.33949932e-03 -1.26157491e+02] [-1.33088905e-02 1.74576544e-04 -9.99911418e-01 -4.03130954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5665599949999 meters 0.013720541535208441 Centerline is valid? [True, True] Translation: X:127.24, Y:-126.14, Z:-4.03 [[ 6.63185934e-01 7.48400935e-01 -8.96977296e-03 1.27236249e+02] [ 7.48329554e-01 -6.63246575e-01 -1.03372694e-02 -1.26143511e+02] [-1.36855933e-02 1.43185474e-04 -9.99906338e-01 -4.03089134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.626559995 meters 0.013127578312772068 Centerline is valid? [True, True] Translation: X:127.26, Y:-126.13, Z:-4.03 [[ 5.98702663e-01 8.00931050e-01 -8.03589964e-03 1.27262009e+02] [ 8.00857184e-01 -5.98756585e-01 -1.08776590e-02 -1.26127089e+02] [-1.35238027e-02 7.68754485e-05 -9.99908546e-01 -4.03133357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6865599949999 meters 0.012706139350517736 Centerline is valid? [True, True] Translation: X:127.29, Y:-126.11, Z:-4.03 [[ 5.30651285e-01 8.47560956e-01 -7.04554301e-03 1.27287372e+02] [ 8.47485754e-01 -5.30698055e-01 -1.12903378e-02 -1.26109665e+02] [-1.33083054e-02 2.02349136e-05 -9.99911440e-01 -4.03237007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.746559995 meters 0.012887664892223578 Centerline is valid? [True, True] Translation: X:127.32, Y:-126.09, Z:-4.03 [[ 4.55648936e-01 8.90140913e-01 -5.76216761e-03 1.27315026e+02] [ 8.90071927e-01 -4.55685362e-01 -1.10822157e-02 -1.26092334e+02] [-1.24904690e-02 -7.91438388e-05 -9.99921988e-01 -4.03366237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8065599949999 meters 0.01402729971739905 Centerline is valid? [True, True] Translation: X:127.34, Y:-126.07, Z:-4.03 [[ 3.77257757e-01 9.26098011e-01 -4.36558438e-03 1.27341118e+02] [ 9.26040801e-01 -3.77282982e-01 -1.02949698e-02 -1.26071383e+02] [-1.11812118e-02 -1.58852020e-04 -9.99937476e-01 -4.03424200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.866559995 meters 0.014729016709187193 Centerline is valid? [True, True] Translation: X:127.36, Y:-126.05, Z:-4.03 [[ 2.99018557e-01 9.54240429e-01 -3.62036791e-03 1.27363624e+02] [ 9.54179017e-01 -2.99040394e-01 -1.08280192e-02 -1.26047523e+02] [-1.14151699e-02 -2.16700426e-04 -9.99934821e-01 -4.03456919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9265599949999 meters 0.01631703277139662 Centerline is valid? [True, True] Translation: X:127.38, Y:-126.02, Z:-4.03 [[ 2.18888661e-01 9.75745780e-01 -2.81544965e-03 1.27383097e+02] [ 9.75680412e-01 -2.18906595e-01 -1.12976112e-02 -1.26022447e+02] [-1.16399169e-02 -2.74060101e-04 -9.99932216e-01 -4.03356777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.986559995 meters 0.017126377717504554 Centerline is valid? [True, True] Translation: X:127.40, Y:-125.99, Z:-4.03 [[ 1.40317889e-01 9.90104508e-01 -1.98830598e-03 1.27396243e+02] [ 9.90033245e-01 -1.40331652e-01 -1.18828226e-02 -1.25993794e+02] [-1.20442585e-02 -3.01116450e-04 -9.99927420e-01 -4.03286656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0465599949999 meters 0.015924456551399114 Centerline is valid? [True, True] Translation: X:127.41, Y:-125.96, Z:-4.03 [[ 6.35824623e-02 9.97975926e-01 -1.14982597e-03 1.27405388e+02] [ 9.97889775e-01 -6.35920859e-02 -1.31165682e-02 -1.25964206e+02] [-1.31631391e-02 -3.13415881e-04 -9.99913313e-01 -4.03319806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1065599949999 meters 0.015597265201368001 Centerline is valid? [True, True] Translation: X:127.41, Y:-125.93, Z:-4.03 [[-1.38419222e-02 9.99904189e-01 -1.21703466e-04 1.27414823e+02] [ 9.99813312e-01 1.38390229e-02 -1.34841930e-02 -1.25934311e+02] [-1.34812168e-02 -3.08327895e-04 -9.99909077e-01 -4.03281711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.166559995 meters 0.015195560831289746 Centerline is valid? [True, True] Translation: X:127.42, Y:-125.90, Z:-4.03 [[-8.96696316e-02 9.95971142e-01 9.17374996e-04 1.27419640e+02] [ 9.95883745e-01 8.96739184e-02 -1.31967781e-02 -1.25904339e+02] [-1.32258747e-02 -2.69751380e-04 -9.99912498e-01 -4.03302733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2265599949999 meters 0.014200465478452178 Centerline is valid? [True, True] Translation: X:127.42, Y:-125.88, Z:-4.04 [[-1.63086692e-01 9.86610356e-01 1.65444425e-03 1.27418625e+02] [ 9.86547828e-01 1.63094984e-01 -1.11089249e-02 -1.25875234e+02] [-1.12300120e-02 -1.79529438e-04 -9.99936925e-01 -4.03558180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.286559995 meters 0.01405334480812193 Centerline is valid? [True, True] Translation: X:127.42, Y:-125.85, Z:-4.04 [[-2.37833067e-01 9.71303510e-01 2.21879105e-03 1.27417055e+02] [ 9.71255718e-01 2.37843377e-01 -9.63633164e-03 -1.25846881e+02] [-9.88752751e-03 -1.36824814e-04 -9.99951108e-01 -4.03652495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3465599949999 meters 0.013658765147705811 Centerline is valid? [True, True] Translation: X:127.41, Y:-125.82, Z:-4.04 [[-3.12068487e-01 9.50054832e-01 3.01253255e-03 1.27414937e+02] [ 9.50006562e-01 3.12083001e-01 -9.57767730e-03 -1.25817600e+02] [-1.00394788e-02 -1.26965573e-04 -9.99949595e-01 -4.03635701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.406559995 meters 0.013853732198758888 Centerline is valid? [True, True] Translation: X:127.41, Y:-125.79, Z:-4.03 [[-3.85193505e-01 9.22825926e-01 4.27489717e-03 1.27411327e+02] [ 9.22764974e-01 3.85217200e-01 -1.06071942e-02 -1.25788027e+02] [-1.14353577e-02 -1.41096949e-04 -9.99934604e-01 -4.03460658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4665599949999 meters 0.014171339887124053 Centerline is valid? [True, True] Translation: X:127.41, Y:-125.76, Z:-4.03 [[-4.55214842e-01 8.90366406e-01 5.20673060e-03 1.27405699e+02] [ 8.90304858e-01 4.55244599e-01 -1.04697177e-02 -1.25760613e+02] [-1.16922209e-02 -1.30393355e-04 -9.99931635e-01 -4.03334913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.526559995 meters 0.01355692003849803 Centerline is valid? [True, True] Translation: X:127.40, Y:-125.73, Z:-4.04 [[-5.22213282e-01 8.52796661e-01 5.58063114e-03 1.27395235e+02] [ 8.52745826e-01 5.22243090e-01 -9.31184402e-03 -1.25733365e+02] [-1.08555555e-02 -1.03908718e-04 -9.99941071e-01 -4.03554808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5865599949999 meters 0.013168560485524965 Centerline is valid? [True, True] Translation: X:127.38, Y:-125.71, Z:-4.04 [[-5.84267359e-01 8.11541093e-01 5.71906534e-03 1.27382831e+02] [ 8.11501281e-01 5.84295346e-01 -8.03864580e-03 -1.25708144e+02] [-9.86531466e-03 -5.56895008e-05 -9.99951335e-01 -4.03645261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.646559995 meters 0.012883831577912438 Centerline is valid? [True, True] Translation: X:127.37, Y:-125.68, Z:-4.04 [[-6.44351257e-01 7.64707839e-01 5.77737281e-03 1.27372171e+02] [ 7.64676670e-01 6.44377157e-01 -6.90435141e-03 -1.25679091e+02] [-9.00261871e-03 -3.10053129e-05 -9.99959475e-01 -4.03825084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7065599949999 meters 0.012780909024110332 Centerline is valid? [True, True] Translation: X:127.36, Y:-125.65, Z:-4.04 [[-7.00099431e-01 7.14018533e-01 6.19039508e-03 1.27361072e+02] [ 7.13990577e-01 7.00126799e-01 -6.31839930e-03 -1.25651626e+02] [-8.84551569e-03 -3.62400533e-06 -9.99960878e-01 -4.03799601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.766559995 meters 0.013009117073750739 Centerline is valid? [True, True] Translation: X:127.35, Y:-125.62, Z:-4.04 [[-7.52019441e-01 6.59094177e-01 7.85025581e-03 1.27347187e+02] [ 6.59058613e-01 7.52060413e-01 -6.84688932e-03 -1.25624053e+02] [-1.04166115e-02 2.47848196e-05 -9.99945745e-01 -4.03632039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8265599949999 meters 0.01303541602671815 Centerline is valid? [True, True] Translation: X:127.37, Y:-125.60, Z:-4.04 [[-7.95666380e-01 6.05653079e-01 9.96791281e-03 1.27366019e+02] [ 6.05606362e-01 7.95728814e-01 -7.52255832e-03 -1.25602061e+02] [-1.24878161e-02 5.11846648e-05 -9.99922023e-01 -4.03544827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.886559995 meters 0.01317636208337256 Centerline is valid? [True, True] Translation: X:127.38, Y:-125.58, Z:-4.03 [[-8.36187372e-01 5.48333235e-01 1.10155533e-02 1.27384009e+02] [ 5.48286631e-01 8.36259923e-01 -7.14918755e-03 -1.25579171e+02] [-1.31320029e-02 6.16202906e-05 -9.99913770e-01 -4.03470135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9465599949999 meters 0.013030996923514981 Centerline is valid? [True, True] Translation: X:127.40, Y:-125.55, Z:-4.04 [[-8.72672282e-01 4.88191260e-01 1.06010398e-02 1.27399237e+02] [ 4.88156124e-01 8.72736667e-01 -5.85740130e-03 -1.25552265e+02] [-1.21114483e-02 6.33707543e-05 -9.99926652e-01 -4.03610164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.006559995 meters 0.013053962954639228 Centerline is valid? [True, True] Translation: X:127.41, Y:-125.52, Z:-4.04 [[-9.05153803e-01 4.24966293e-01 1.00120921e-02 1.27411595e+02] [ 4.24940971e-01 9.05209173e-01 -4.63948115e-03 -1.25524936e+02] [-1.10346607e-02 5.51041165e-05 -9.99939115e-01 -4.03688644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0665599949999 meters 0.013083541912092964 Centerline is valid? [True, True] Translation: X:127.42, Y:-125.50, Z:-4.04 [[-9.33227759e-01 3.59159854e-01 9.49471633e-03 1.27424269e+02] [ 3.59141752e-01 9.33276056e-01 -3.60614611e-03 -1.25496133e+02] [-1.01563743e-02 4.45934114e-05 -9.99948422e-01 -4.03714939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.126559995 meters 0.012770346882121211 Centerline is valid? [True, True] Translation: X:127.65, Y:-124.90, Z:-5.00 [[-9.09457438e-01 -4.15691667e-01 9.35984542e-03 1.27652368e+02] [ 4.15669251e-01 -9.09505600e-01 -4.31703721e-03 -1.24899282e+02] [ 1.03073882e-02 -3.55616609e-05 9.99946877e-01 -5.00149132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1865599949999 meters 0.012726921758771697 Centerline is valid? [True, True] Translation: X:127.38, Y:-125.47, Z:-4.04 [[-9.36381660e-01 3.50851835e-01 9.61133263e-03 1.27380717e+02] [ 3.50833260e-01 9.36430985e-01 -3.61017730e-03 -1.25469073e+02] [-1.02669870e-02 -8.52864740e-06 -9.99947293e-01 -4.03710606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.246559995 meters 0.012998407562613274 Centerline is valid? [True, True] Translation: X:127.38, Y:-125.43, Z:-4.04 [[-9.60227713e-01 2.78994919e-01 1.11612689e-02 1.27384736e+02] [ 2.78975272e-01 9.60292576e-01 -3.31159159e-03 -1.25434112e+02] [-1.16420009e-02 -6.61640028e-05 -9.99932227e-01 -4.03575177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3065599949999 meters 0.013470007861256364 Centerline is valid? [True, True] Translation: X:127.39, Y:-125.40, Z:-4.03 [[-9.78478491e-01 2.05953199e-01 1.27719510e-02 1.27390667e+02] [ 2.05933897e-01 9.78561834e-01 -2.82274589e-03 -1.25401850e+02] [-1.30794973e-02 -1.31818502e-04 -9.99914451e-01 -4.03436617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.366559995 meters 0.013496518985314364 Centerline is valid? [True, True] Translation: X:127.52, Y:-124.82, Z:-5.00 [[-9.56269125e-01 -2.92206217e-01 1.28408247e-02 1.27519079e+02] [ 2.92182037e-01 -9.56355323e-01 -3.76219798e-03 -1.24820198e+02] [ 1.33797287e-02 1.54184548e-04 9.99910476e-01 -5.00448695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4265599949999 meters 0.013521004648765836 Centerline is valid? [True, True] Translation: X:127.34, Y:-125.39, Z:-4.03 [[-9.79387443e-01 2.01533653e-01 1.35802552e-02 1.27342374e+02] [ 2.01512154e-01 9.79481579e-01 -2.94746619e-03 -1.25389496e+02] [-1.38956234e-02 -1.50124895e-04 -9.99903440e-01 -4.03460669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.486559995 meters 0.013588617895542967 Centerline is valid? [True, True] Translation: X:127.47, Y:-124.81, Z:-5.00 [[-9.58022205e-01 -2.86386841e-01 1.32677386e-02 1.27469644e+02] [ 2.86361453e-01 -9.58114062e-01 -3.81599708e-03 -1.24809890e+02] [ 1.38048583e-02 1.43558977e-04 9.99904698e-01 -5.00483418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5465599949999 meters 0.013199004292347882 Centerline is valid? [True, True] Translation: X:127.29, Y:-125.38, Z:-4.04 [[-9.79638045e-01 2.00358598e-01 1.28737522e-02 1.27293434e+02] [ 2.00339849e-01 9.79722624e-01 -2.74309628e-03 -1.25381563e+02] [-1.31623092e-02 -1.08115909e-04 -9.99913367e-01 -4.03574750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6065599949999 meters 0.01312342809063718 Centerline is valid? [True, True] Translation: X:127.30, Y:-125.36, Z:-4.04 [[-9.91362910e-01 1.30653864e-01 1.13643513e-02 1.27297514e+02] [ 1.30644233e-01 9.91428041e-01 -1.58895079e-03 -1.25355388e+02] [-1.14745391e-02 -9.05399237e-05 -9.99934161e-01 -4.03683131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.666559995 meters 0.013055901452494332 Centerline is valid? [True, True] Translation: X:127.29, Y:-125.33, Z:-4.04 [[-9.98157183e-01 5.97725119e-02 1.04634982e-02 1.27291124e+02] [ 5.97683388e-02 9.98212021e-01 -7.11358512e-04 -1.25329042e+02] [-1.04873094e-02 -8.46617015e-05 -9.99945003e-01 -4.03776823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7265599949999 meters 0.013251753299283372 Centerline is valid? [True, True] Translation: X:127.33, Y:-124.73, Z:-5.00 [[-9.89469811e-01 -1.44349741e-01 1.06134227e-02 1.27334646e+02] [ 1.44342534e-01 -9.89526726e-01 -1.44602586e-03 -1.24729542e+02] [ 1.07109988e-02 1.01169386e-04 9.99942631e-01 -5.00174479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.786559995 meters 0.013357472396479735 Centerline is valid? [True, True] Translation: X:127.24, Y:-125.33, Z:-4.04 [[-9.98480962e-01 5.39762983e-02 1.10601717e-02 1.27243472e+02] [ 5.39717656e-02 9.98542211e-01 -7.08105145e-04 -1.25328335e+02] [-1.10822692e-02 -1.10092512e-04 -9.99938584e-01 -4.03695042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8465599949999 meters 0.014091050251111525 Centerline is valid? [True, True] Translation: X:127.28, Y:-124.73, Z:-5.00 [[-9.89605647e-01 -1.43326513e-01 1.17547170e-02 1.27280551e+02] [ 1.43318430e-01 -9.89675443e-01 -1.53147827e-03 -1.24725934e+02] [ 1.18528562e-02 1.69108037e-04 9.99929738e-01 -5.00354062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.906559995 meters 0.013842951113829507 Centerline is valid? [True, True] Translation: X:127.19, Y:-125.33, Z:-4.04 [[-9.98876690e-01 4.59677156e-02 1.15033915e-02 1.27191037e+02] [ 4.59627987e-02 9.98942913e-01 -6.91576534e-04 -1.25326939e+02] [-1.15230217e-02 -1.62071609e-04 -9.99933595e-01 -4.03642590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9665599949999 meters 0.01557463305026908 Centerline is valid? [True, True] Translation: X:127.18, Y:-125.30, Z:-4.03 [[-9.99534636e-01 -2.83491845e-02 1.12620891e-02 1.27181457e+02] [-2.83495820e-02 9.99598062e-01 1.24378074e-04 -1.25297767e+02] [-1.12610884e-02 -1.94955325e-04 -9.99936573e-01 -4.03462819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.026559995 meters 0.015294705038582294 Centerline is valid? [True, True] Translation: X:127.17, Y:-125.27, Z:-4.04 [[-9.94757687e-01 -1.01580310e-01 1.17722194e-02 1.27172779e+02] [-1.01575950e-01 9.94827315e-01 9.69209886e-04 -1.25274896e+02] [-1.18097780e-02 -2.31645385e-04 -9.99930235e-01 -4.03531361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0865599949999 meters 0.01593264378368913 Centerline is valid? [True, True] Translation: X:127.16, Y:-125.25, Z:-4.04 [[-9.84880154e-01 -1.72876824e-01 1.11662552e-02 1.27161908e+02] [-1.72868362e-01 9.84943425e-01 1.72595769e-03 -1.25249792e+02] [-1.12965078e-02 -2.30430766e-04 -9.99936166e-01 -4.03539368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.146559995 meters 0.015278779719783041 Centerline is valid? [True, True] Translation: X:127.15, Y:-125.23, Z:-4.04 [[-9.70006059e-01 -2.42929597e-01 8.57070082e-03 1.27146989e+02] [-2.42921770e-01 9.70043905e-01 1.95857334e-03 -1.25229708e+02] [-8.78975153e-03 -1.82181801e-04 -9.99961353e-01 -4.03807663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2065599949999 meters 0.014504824393730409 Centerline is valid? [True, True] Translation: X:127.13, Y:-125.21, Z:-4.04 [[-9.50780019e-01 -3.09791093e-01 6.84360469e-03 1.27131846e+02] [-3.09784081e-01 9.50804639e-01 2.08859283e-03 -1.25210516e+02] [-7.15395854e-03 -1.34247461e-04 -9.99974401e-01 -4.03924933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.266559995 meters 0.014151847038208046 Centerline is valid? [True, True] Translation: X:127.10, Y:-125.19, Z:-4.04 [[-9.26862805e-01 -3.75332952e-01 7.10753404e-03 1.27104894e+02] [-3.75322954e-01 9.26890047e-01 2.74242920e-03 -1.25194943e+02] [-7.61722661e-03 -1.25765047e-04 -9.99970981e-01 -4.03855446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3265599949999 meters 0.013277149819505535 Centerline is valid? [True, True] Translation: X:127.06, Y:-125.19, Z:-4.04 [[-8.99153371e-01 -4.37562826e-01 7.87331279e-03 1.27057853e+02] [-4.37547056e-01 8.99187835e-01 3.71644586e-03 -1.25193360e+02] [-8.70576564e-03 -1.03290008e-04 -9.99962099e-01 -4.03732695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.386559995 meters 0.01295979201782919 Centerline is valid? [True, True] Translation: X:127.00, Y:-125.20, Z:-4.04 [[-8.65811587e-01 -5.00294749e-01 8.68684172e-03 1.27000350e+02] [-5.00270638e-01 8.65855159e-01 4.91255719e-03 -1.25197235e+02] [-9.97927328e-03 -9.24229116e-05 -9.99950202e-01 -4.03631911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4465599949999 meters 0.012641930002701599 Centerline is valid? [True, True] Translation: X:126.93, Y:-125.21, Z:-4.04 [[-8.27771217e-01 -5.61003494e-01 8.36015424e-03 1.26931326e+02] [-5.60975718e-01 8.27813430e-01 5.58293415e-03 -1.25213081e+02] [-1.00526935e-02 -6.84513282e-05 -9.99949468e-01 -4.03632131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.506559995 meters 0.012353068828399637 Centerline is valid? [True, True] Translation: X:126.86, Y:-125.24, Z:-4.04 [[-7.85436579e-01 -6.18893803e-01 7.73566437e-03 1.26860777e+02] [-6.18864262e-01 7.85474671e-01 6.04699184e-03 -1.25239450e+02] [-9.81861421e-03 -3.77976390e-05 -9.99951796e-01 -4.03708670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5665599949999 meters 0.012335393042515208 Centerline is valid? [True, True] Translation: X:126.78, Y:-125.28, Z:-4.04 [[-7.37801100e-01 -6.74983164e-01 6.87493656e-03 1.26779716e+02] [-6.74954157e-01 7.37833130e-01 6.25766777e-03 -1.25278058e+02] [-9.29637635e-03 -2.33528523e-05 -9.99956788e-01 -4.03741170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.626559995 meters 0.0121972636815869 Centerline is valid? [True, True] Translation: X:126.71, Y:-125.32, Z:-4.04 [[-6.85402783e-01 -7.28136789e-01 6.31203893e-03 1.26705489e+02] [-7.28106120e-01 6.85431847e-01 6.68290413e-03 -1.25321256e+02] [-9.19254086e-03 -1.53530898e-05 -9.99957748e-01 -4.03803956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6865599949999 meters 0.012356528131111435 Centerline is valid? [True, True] Translation: X:126.62, Y:-125.38, Z:-4.04 [[-6.27263915e-01 -7.78786619e-01 5.60205268e-03 1.26624046e+02] [-7.78755956e-01 6.27288930e-01 6.91077777e-03 -1.25378218e+02] [-8.89612689e-03 -2.77503699e-05 -9.99960428e-01 -4.03800623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.746559995 meters 0.012618649591288588 Centerline is valid? [True, True] Translation: X:126.54, Y:-125.44, Z:-4.04 [[-5.64332114e-01 -8.25531598e-01 5.18128573e-03 1.26543141e+02] [-8.25497629e-01 5.64355897e-01 7.48913861e-03 -1.25443136e+02] [-9.10660972e-03 -5.07776624e-05 -9.99958533e-01 -4.03841414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8065599949999 meters 0.013049556104670748 Centerline is valid? [True, True] Translation: X:126.46, Y:-125.52, Z:-4.04 [[-4.96064847e-01 -8.68274260e-01 4.41324043e-03 1.26463186e+02] [-8.68241453e-01 4.96084470e-01 7.54833430e-03 -1.25519055e+02] [-8.74336442e-03 -8.72949832e-05 -9.99961772e-01 -4.03806844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.866559995 meters 0.013116069838165495 Centerline is valid? [True, True] Translation: X:126.39, Y:-125.60, Z:-4.04 [[-4.26709835e-01 -9.04380361e-01 3.85732208e-03 1.26390607e+02] [-9.04345585e-01 4.26727256e-01 7.93163416e-03 -1.25600741e+02] [-8.81923863e-03 -1.03845892e-04 -9.99961104e-01 -4.03826948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9265599949999 meters 0.013257564207590994 Centerline is valid? [True, True] Translation: X:126.32, Y:-125.69, Z:-4.04 [[-3.56008123e-01 -9.34477156e-01 3.26523562e-03 1.26323707e+02] [-9.34440577e-01 3.56023080e-01 8.26886319e-03 -1.25693684e+02] [-8.88956300e-03 -1.07386193e-04 -9.99960481e-01 -4.03777017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.986559995 meters 0.013184365004467898 Centerline is valid? [True, True] Translation: X:126.26, Y:-125.79, Z:-4.04 [[-2.83997202e-01 -9.58822320e-01 2.31274399e-03 1.26263419e+02] [-9.58793043e-01 2.84006605e-01 7.49328963e-03 -1.25792482e+02] [-7.84156791e-03 -8.93695638e-05 -9.99969250e-01 -4.03900579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0465599949999 meters 0.013480195614792755 Centerline is valid? [True, True] Translation: X:126.21, Y:-125.89, Z:-4.04 [[-2.08351894e-01 -9.78052330e-01 1.76839882e-03 1.26207271e+02] [-9.78021116e-01 2.08359374e-01 7.81457127e-03 -1.25890695e+02] [-8.01152211e-03 -1.01350663e-04 -9.99967902e-01 -4.03824749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1065599949999 meters 0.01389878295501585 Centerline is valid? [True, True] Translation: X:126.16, Y:-126.00, Z:-4.04 [[-1.32611796e-01 -9.91167255e-01 1.25898846e-03 1.26158070e+02] [-9.91130112e-01 1.32617727e-01 8.58131695e-03 -1.25998482e+02] [-8.67248455e-03 -1.09837527e-04 -9.99962387e-01 -4.03659251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.166559995 meters 0.013693620945713048 Centerline is valid? [True, True] Translation: X:126.12, Y:-126.12, Z:-4.04 [[-5.53217876e-02 -9.98468390e-01 6.12021795e-04 1.26117952e+02] [-9.98428891e-01 5.53250434e-02 8.88193594e-03 -1.26122758e+02] [-8.90219241e-03 -1.19695668e-04 -9.99960368e-01 -4.03698113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2265599949999 meters 0.013758133547665707 Centerline is valid? [True, True] Translation: X:126.09, Y:-126.23, Z:-4.04 [[ 2.28017297e-02 -9.99740004e-01 -7.24587811e-05 1.26086476e+02] [-9.99701798e-01 -2.28014919e-02 8.74114790e-03 -1.26225562e+02] [-8.74052741e-03 -1.26876118e-04 -9.99961793e-01 -4.03690646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.286559995 meters 0.014135071171329446 Centerline is valid? [True, True] Translation: X:126.06, Y:-126.34, Z:-4.04 [[ 1.01116751e-01 -9.94874277e-01 -7.59067991e-04 1.26062452e+02] [-9.94834681e-01 -1.01119500e-01 8.87718065e-03 -1.26341615e+02] [-8.90843525e-03 -1.42484503e-04 -9.99960309e-01 -4.03667352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3465599949999 meters 0.014458734937170967 Centerline is valid? [True, True] Translation: X:126.05, Y:-126.46, Z:-4.04 [[ 1.78259778e-01 -9.83982291e-01 -1.51714292e-03 1.26048777e+02] [-9.83938663e-01 -1.78266163e-01 9.26726403e-03 -1.26462017e+02] [-9.38927894e-03 -1.59204848e-04 -9.99955907e-01 -4.03673432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.406559995 meters 0.014386114319654057 Centerline is valid? [True, True] Translation: X:126.04, Y:-126.58, Z:-4.04 [[ 2.53620615e-01 -9.67301534e-01 -2.07996392e-03 1.26044877e+02] [-9.67263935e-01 -2.53629099e-01 8.52999395e-03 -1.26580254e+02] [-8.77861560e-03 -1.51508226e-04 -9.99961456e-01 -4.03765478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4665599949999 meters 0.014291146427371362 Centerline is valid? [True, True] Translation: X:126.05, Y:-126.70, Z:-4.04 [[ 3.27168194e-01 -9.44963223e-01 -2.34083231e-03 1.26051157e+02] [-9.44936139e-01 -3.27176543e-01 7.15558154e-03 -1.26702293e+02] [-7.52762682e-03 -1.29141645e-04 -9.99971659e-01 -4.03833242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.526559995 meters 0.0142733579188031 Centerline is valid? [True, True] Translation: X:126.06, Y:-126.81, Z:-4.04 [[ 3.98681166e-01 -9.17085767e-01 -2.65023637e-03 1.26064002e+02] [-9.17063487e-01 -3.98689957e-01 6.39375446e-03 -1.26812965e+02] [-6.92024384e-03 -1.18634478e-04 -9.99976048e-01 -4.03839342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5865599949999 meters 0.014645593326846682 Centerline is valid? [True, True] Translation: X:126.09, Y:-126.94, Z:-4.04 [[ 4.68294559e-01 -8.83566308e-01 -3.28426605e-03 1.26091799e+02] [-8.83542626e-01 -4.68306058e-01 6.47025146e-03 -1.26937840e+02] [-7.25493788e-03 -1.28194508e-04 -9.99973674e-01 -4.03811655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.646559995 meters 0.015459707427492374 Centerline is valid? [True, True] Translation: X:126.12, Y:-127.04, Z:-4.04 [[ 5.36341690e-01 -8.43990567e-01 -4.18505039e-03 1.26117051e+02] [-8.43962527e-01 -5.36357994e-01 6.88154159e-03 -1.27042294e+02] [-8.05264142e-03 -1.58831948e-04 -9.99967564e-01 -4.03710592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7065599949999 meters 0.015389907332945554 Centerline is valid? [True, True] Translation: X:126.16, Y:-127.15, Z:-4.04 [[ 6.00327615e-01 -7.99739073e-01 -4.91631043e-03 1.26157699e+02] [-7.99709814e-01 -6.00347719e-01 6.84314785e-03 -1.27153202e+02] [-8.42422847e-03 -1.76508926e-04 -9.99964500e-01 -4.03662065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.766559995 meters 0.01570237352669412 Centerline is valid? [True, True] Translation: X:126.20, Y:-127.25, Z:-4.04 [[ 6.59708914e-01 -7.51497728e-01 -5.94246493e-03 1.26200545e+02] [-7.51464566e-01 -6.59735649e-01 7.06254503e-03 -1.27251647e+02] [-9.22794251e-03 -1.93672088e-04 -9.99957403e-01 -4.03624319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8265599949999 meters 0.015090181447651193 Centerline is valid? [True, True] Translation: X:126.25, Y:-127.35, Z:-4.04 [[ 7.14176129e-01 -6.99938842e-01 -6.17047226e-03 1.26254713e+02] [-6.99910601e-01 -7.14202764e-01 6.28987124e-03 -1.27348050e+02] [-8.80949354e-03 -1.73296950e-04 -9.99961181e-01 -4.03677679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.886559995 meters 0.01455581636996993 Centerline is valid? [True, True] Translation: X:126.31, Y:-127.43, Z:-4.04 [[ 7.63589120e-01 -6.45673477e-01 -6.11685792e-03 1.26307633e+02] [-6.45651311e-01 -7.63613608e-01 5.35185818e-03 -1.27431209e+02] [-8.12646883e-03 -1.37263341e-04 -9.99966970e-01 -4.03743798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9465599949999 meters 0.013797262146304154 Centerline is valid? [True, True] Translation: X:126.33, Y:-127.45, Z:-4.04 [[ 8.09259592e-01 -5.87421211e-01 -5.93573860e-03 1.26330770e+02] [-5.87404560e-01 -8.09281355e-01 4.42393050e-03 -1.27454235e+02] [-7.40239320e-03 -9.34282710e-05 -9.99972598e-01 -4.03775731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.006559995 meters 0.013177524344996737 Centerline is valid? [True, True] Translation: X:126.36, Y:-127.48, Z:-4.04 [[ 8.50841403e-01 -5.25388716e-01 -5.96698532e-03 1.26355394e+02] [-5.25375268e-01 -8.50862323e-01 3.75954180e-03 -1.27475322e+02] [-7.05230384e-03 -6.38673063e-05 -9.99975130e-01 -4.03816081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0665599949999 meters 0.012926804663472154 Centerline is valid? [True, True] Translation: X:126.38, Y:-127.50, Z:-4.04 [[ 8.87224708e-01 -4.61297469e-01 -6.07959607e-03 1.26380142e+02] [-4.61286401e-01 -8.87245538e-01 3.19563867e-03 -1.27496335e+02] [-6.86823452e-03 -3.08145890e-05 -9.99976413e-01 -4.03844207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.126559995 meters 0.012692157976037012 Centerline is valid? [True, True] Translation: X:126.41, Y:-127.51, Z:-4.04 [[ 9.19260642e-01 -3.93585363e-01 -7.10169873e-03 1.26406110e+02] [-3.93573540e-01 -9.19288074e-01 3.05065456e-03 -1.27514910e+02] [-7.72919992e-03 -9.30596383e-06 -9.99970129e-01 -4.03780044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1865599949999 meters 0.012891306725747445 Centerline is valid? [True, True] Translation: X:126.43, Y:-127.53, Z:-4.04 [[ 9.45210557e-01 -3.26366851e-01 -7.85369507e-03 1.26432927e+02] [-3.26355945e-01 -9.45243184e-01 2.66840003e-03 -1.27533901e+02] [-8.29452905e-03 4.09002012e-05 -9.99965599e-01 -4.03780803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.246559995 meters 0.013444851005174166 Centerline is valid? [True, True] Translation: X:126.46, Y:-127.55, Z:-4.04 [[ 9.66268196e-01 -2.57416587e-01 -7.90403106e-03 1.26460595e+02] [-2.57408740e-01 -9.66300519e-01 2.01194974e-03 -1.27550315e+02] [-8.15557855e-03 9.04836348e-05 -9.99966739e-01 -4.03815286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3065599949999 meters 0.014270841113238718 Centerline is valid? [True, True] Translation: X:126.49, Y:-127.57, Z:-4.04 [[ 9.82654609e-01 -1.85268580e-01 -8.09152012e-03 1.26486683e+02] [-1.85263361e-01 -9.82687914e-01 1.39640753e-03 -1.27565287e+02] [-8.21014947e-03 1.26875920e-04 -9.99966288e-01 -4.03797841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.366559995 meters 0.014249386177560318 Centerline is valid? [True, True] Translation: X:126.51, Y:-127.58, Z:-4.04 [[ 9.94075718e-01 -1.08382101e-01 -8.17239512e-03 1.26512890e+02] [-1.08379531e-01 -9.94109301e-01 7.57978333e-04 -1.27579989e+02] [-8.20640528e-03 1.32232496e-04 -9.99966318e-01 -4.03809787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4265599949999 meters 0.014376864635229405 Centerline is valid? [True, True] Translation: X:126.54, Y:-127.59, Z:-4.04 [[ 9.99516141e-01 -2.99461369e-02 -8.40911383e-03 1.26540364e+02] [-2.99461983e-02 -9.99551505e-01 1.18635056e-04 -1.27592189e+02] [-8.40889505e-03 1.33243338e-04 -9.99964636e-01 -4.03778765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.486559995 meters 0.013664520181284664 Centerline is valid? [True, True] Translation: X:126.57, Y:-127.61, Z:-4.04 [[ 9.98581992e-01 5.25122159e-02 -8.74481849e-03 1.26569204e+02] [ 5.25092993e-02 -9.98620277e-01 -5.62948222e-04 -1.27605629e+02] [-8.76231471e-03 1.02965666e-04 -9.99961605e-01 -4.03772089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5465599949999 meters 0.013087522568864378 Centerline is valid? [True, True] Translation: X:126.60, Y:-127.62, Z:-4.04 [[ 9.90806254e-01 1.34977940e-01 -9.16095876e-03 1.26598983e+02] [ 1.34971547e-01 -9.90848602e-01 -1.31533187e-03 -1.27617566e+02] [-9.25466396e-03 6.67702617e-05 -9.99957173e-01 -4.03758992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6065599949999 meters 0.012777357996201449 Centerline is valid? [True, True] Translation: X:126.63, Y:-127.63, Z:-4.04 [[ 9.75392862e-01 2.20277013e-01 -9.31678602e-03 1.26630322e+02] [ 2.20267072e-01 -9.75437357e-01 -2.09270567e-03 -1.27628709e+02] [-9.54891609e-03 -1.09710101e-05 -9.99954408e-01 -4.03648418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.666559995 meters 0.01346306024460045 Centerline is valid? [True, True] Translation: X:126.66, Y:-127.64, Z:-4.04 [[ 9.52579116e-01 3.04185260e-01 -8.02211533e-03 1.26663066e+02] [ 3.04175196e-01 -9.52612891e-01 -2.47575893e-03 -1.27636578e+02] [-8.39505985e-03 -8.17722472e-05 -9.99964758e-01 -4.03653183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7265599949999 meters 0.01437606252916703 Centerline is valid? [True, True] Translation: X:126.70, Y:-127.64, Z:-4.04 [[ 9.23904214e-01 3.82559018e-01 -7.04277912e-03 1.26696284e+02] [ 3.82548828e-01 -9.23931050e-01 -2.79447910e-03 -1.27637901e+02] [-7.57609549e-03 -1.12375882e-04 -9.99971295e-01 -4.03664194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.786559995 meters 0.015945247730326705 Centerline is valid? [True, True] Translation: X:126.73, Y:-127.64, Z:-4.04 [[ 8.88516624e-01 4.58802223e-01 -6.22333478e-03 1.26729562e+02] [ 4.58792086e-01 -8.88538407e-01 -3.05319260e-03 -1.27636291e+02] [-6.93048352e-03 -1.42404365e-04 -9.99975974e-01 -4.03717621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8465599949999 meters 0.016476249418212286 Centerline is valid? [True, True] Translation: X:126.76, Y:-127.63, Z:-4.04 [[ 8.47788772e-01 5.30289802e-01 -6.85014156e-03 1.26762958e+02] [ 5.30274337e-01 -8.47816424e-01 -4.05454935e-03 -1.27631964e+02] [-7.95774869e-03 -1.95052859e-04 -9.99968318e-01 -4.03578677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.906559995 meters 0.01720726687129851 Centerline is valid? [True, True] Translation: X:126.79, Y:-127.62, Z:-4.03 [[ 8.02642592e-01 5.96421770e-01 -6.77811135e-03 1.26794897e+02] [ 5.96402772e-01 -8.02671181e-01 -4.76539256e-03 -1.27623246e+02] [-8.28277851e-03 -2.17577361e-04 -9.99965674e-01 -4.03490439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9665599949999 meters 0.018610896200123725 Centerline is valid? [True, True] Translation: X:126.82, Y:-127.61, Z:-4.03 [[ 7.53808313e-01 6.57057115e-01 -6.99817493e-03 1.26824443e+02] [ 6.57031657e-01 -7.53840761e-01 -5.78871264e-03 -1.27611566e+02] [-9.07902434e-03 -2.34442764e-04 -9.99958757e-01 -4.03310196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.026559995 meters 0.01593461143446825 Centerline is valid? [True, True] Translation: X:126.85, Y:-127.59, Z:-4.03 [[ 7.03587653e-01 7.10575270e-01 -6.87031705e-03 1.26848321e+02] [ 7.10544141e-01 -7.03621167e-01 -6.65415485e-03 -1.27590626e+02] [-9.56237837e-03 -1.99882334e-04 -9.99954259e-01 -4.03363127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0865599949999 meters 0.014535567713018779 Centerline is valid? [True, True] Translation: X:126.87, Y:-127.57, Z:-4.03 [[ 6.50628666e-01 7.59369280e-01 -6.37462633e-03 1.26870029e+02] [ 7.59334932e-01 -6.50659879e-01 -7.22386285e-03 -1.27569564e+02] [-9.63329312e-03 -1.40424198e-04 -9.99953589e-01 -4.03390668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.146559995 meters 0.012994977102555361 Centerline is valid? [True, True] Translation: X:126.89, Y:-127.54, Z:-4.04 [[ 6.00743597e-01 7.99424913e-01 -5.19025877e-03 1.26885826e+02] [ 7.99395097e-01 -6.00766018e-01 -6.90438689e-03 -1.27543460e+02] [-8.63766998e-03 -1.30119306e-06 -9.99962695e-01 -4.03646229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2065599949999 meters 0.01470557573663104 Centerline is valid? [True, True] Translation: X:126.90, Y:-127.52, Z:-4.04 [[ 5.49544166e-01 8.35455350e-01 -3.94564496e-03 1.26897820e+02] [ 8.35432294e-01 -5.49558318e-01 -6.20782059e-03 -1.27517631e+02] [-7.35471893e-03 1.15152369e-04 -9.99972947e-01 -4.03822235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.266559995 meters 0.016360956861277403 Centerline is valid? [True, True] Translation: X:126.92, Y:-127.50, Z:-4.04 [[ 4.89937530e-01 8.71750535e-01 -3.49581841e-03 1.26916454e+02] [ 8.71725656e-01 -4.89949969e-01 -6.58852425e-03 -1.27495843e+02] [-7.45632567e-03 1.80570703e-04 -9.99972185e-01 -4.03892932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3265599949999 meters 0.01961054416670746 Centerline is valid? [True, True] Translation: X:126.93, Y:-127.47, Z:-4.04 [[ 4.27910587e-01 9.03814929e-01 -3.33222323e-03 1.26930301e+02] [ 9.03782352e-01 -4.27923473e-01 -7.67864197e-03 -1.27473638e+02] [-8.36600778e-03 2.74167640e-04 -9.99964967e-01 -4.03811756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.386559995 meters 0.02066767344329974 Centerline is valid? [True, True] Translation: X:126.95, Y:-127.45, Z:-4.04 [[ 3.60127615e-01 9.32897906e-01 -3.09792831e-03 1.26947635e+02] [ 9.32854427e-01 -3.60140764e-01 -9.01376975e-03 -1.27450907e+02] [-9.52461719e-03 3.56191269e-04 -9.99954576e-01 -4.03793715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4465599949999 meters 0.021409684013918424 Centerline is valid? [True, True] Translation: X:126.96, Y:-127.43, Z:-4.04 [[ 2.86705911e-01 9.58015588e-01 -2.41941970e-03 1.26962276e+02] [ 9.57969811e-01 -2.86715881e-01 -9.37255116e-03 -1.27427160e+02] [-9.67273617e-03 3.69434789e-04 -9.99953150e-01 -4.03796132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.506559995 meters 0.020422010747356143 Centerline is valid? [True, True] Translation: X:126.98, Y:-127.40, Z:-4.04 [[ 2.09041878e-01 9.77905173e-01 -1.72208579e-03 1.26981363e+02] [ 9.77856316e-01 -2.09048660e-01 -9.78180890e-03 -1.27403135e+02] [-9.92568125e-03 3.60855237e-04 -9.99950674e-01 -4.03787638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5665599949999 meters 0.01811715261819483 Centerline is valid? [True, True] Translation: X:127.00, Y:-127.38, Z:-4.04 [[ 1.28233590e-01 9.91743601e-01 -8.81540619e-04 1.27002401e+02] [ 9.91701251e-01 -1.28236265e-01 -9.16996835e-03 -1.27378205e+02] [-9.20730290e-03 3.01673022e-04 -9.99957566e-01 -4.03901933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.626559995 meters 0.016524734233219037 Centerline is valid? [True, True] Translation: X:127.02, Y:-127.35, Z:-4.04 [[ 4.12893139e-02 9.99147222e-01 -1.44869756e-04 1.27021676e+02] [ 9.99112650e-01 -4.12890907e-02 -8.31403793e-03 -1.27351810e+02] [-8.31292945e-03 1.98539716e-04 -9.99965427e-01 -4.03961715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6865599949999 meters 0.013647568321024725 Centerline is valid? [True, True] Translation: X:127.04, Y:-127.32, Z:-4.04 [[-4.79985382e-02 9.98847295e-01 4.71210063e-04 1.27044453e+02] [ 9.98817483e-01 4.80007465e-02 -7.71783994e-03 -1.27321931e+02] [-7.73156198e-03 1.00207815e-04 -9.99970106e-01 -4.04097304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.746559995 meters 0.012347282878474163 Centerline is valid? [True, True] Translation: X:127.06, Y:-127.29, Z:-4.04 [[-1.37387867e-01 9.90516755e-01 1.06409290e-03 1.27064480e+02] [ 9.90487711e-01 1.37391987e-01 -7.58523109e-03 -1.27289738e+02] [-7.65949632e-03 1.18522237e-05 -9.99970666e-01 -4.04069279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8065599949999 meters 0.012574531513937094 Centerline is valid? [True, True] Translation: X:127.07, Y:-127.26, Z:-4.04 [[-2.20288262e-01 9.75433530e-01 1.58438173e-03 1.27074672e+02] [ 9.75407253e-01 2.20293958e-01 -7.15976150e-03 -1.27257727e+02] [-7.33290116e-03 -3.17939873e-05 -9.99973113e-01 -4.04074815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.866559995 meters 0.01280165565944515 Centerline is valid? [True, True] Translation: X:127.08, Y:-127.22, Z:-4.04 [[-3.01393407e-01 9.53497040e-01 2.32557382e-03 1.27084889e+02] [ 9.53466590e-01 3.01402369e-01 -7.62059363e-03 -1.27221721e+02] [-7.96714693e-03 -7.94397405e-05 -9.99968259e-01 -4.03979914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9265599949999 meters 0.013152523397276532 Centerline is valid? [True, True] Translation: X:127.09, Y:-127.19, Z:-4.04 [[-3.76670011e-01 9.26341316e-01 3.38656125e-03 1.27086199e+02] [ 9.26301265e-01 3.76685219e-01 -8.61465312e-03 -1.27187989e+02] [-9.25577668e-03 -1.07905517e-04 -9.99957159e-01 -4.03805612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.986559995 meters 0.013320873748614867 Centerline is valid? [True, True] Translation: X:127.08, Y:-127.15, Z:-4.04 [[-4.48538361e-01 8.93749847e-01 4.95472221e-03 1.27083145e+02] [ 8.93691876e-01 4.48565705e-01 -1.01803405e-02 -1.27153440e+02] [-1.13211962e-02 -1.38278255e-04 -9.99935904e-01 -4.03669406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0465599949999 meters 0.013365221100110644 Centerline is valid? [True, True] Translation: X:127.08, Y:-127.12, Z:-4.04 [[-5.17628724e-01 8.55578600e-01 6.76487391e-03 1.27075510e+02] [ 8.55501191e-01 5.17672899e-01 -1.15101177e-02 -1.27120931e+02] [-1.33498023e-02 -1.70609865e-04 -9.99910873e-01 -4.03595733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1065599949999 meters 0.01328843521191047 Centerline is valid? [True, True] Translation: X:127.07, Y:-127.09, Z:-4.04 [[-5.83638666e-01 8.11974905e-01 7.91588446e-03 1.27065812e+02] [ 8.11895853e-01 5.83692315e-01 -1.13316163e-02 -1.27087942e+02] [-1.38214290e-02 -1.86695637e-04 -9.99904462e-01 -4.03631280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.166559995 meters 0.014120233652736153 Centerline is valid? [True, True] Translation: X:127.05, Y:-127.06, Z:-4.04 [[-6.46830318e-01 7.62582800e-01 8.83245677e-03 1.27054466e+02] [ 7.62507170e-01 6.46890583e-01 -1.07419454e-02 -1.27056396e+02] [-1.39052559e-02 -2.13404317e-04 -9.99903295e-01 -4.03510808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2265599949999 meters 0.014114695440200505 Centerline is valid? [True, True] Translation: X:127.04, Y:-127.03, Z:-4.04 [[-7.05271236e-01 7.08872371e-01 9.61489152e-03 1.27035934e+02] [ 7.08802081e-01 7.05336736e-01 -9.98493568e-03 -1.27028270e+02] [-1.38597812e-02 -2.27032804e-04 -9.99903923e-01 -4.03644646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.286559995 meters 0.014448250527280656 Centerline is valid? [True, True] Translation: X:127.02, Y:-127.00, Z:-4.04 [[-7.58766375e-01 6.51284799e-01 1.00845461e-02 1.27016609e+02] [ 6.51223327e-01 7.58833354e-01 -8.95091458e-03 -1.27002500e+02] [-1.34820846e-02 -2.24361330e-04 -9.99909087e-01 -4.03646902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3465599949999 meters 0.01449305513103275 Centerline is valid? [True, True] Translation: X:127.41, Y:-126.56, Z:-5.00 [[-6.88099683e-01 -7.25557286e-01 9.24398641e-03 1.27407881e+02] [ 7.25495770e-01 -6.88161742e-01 -9.45008538e-03 -1.26562358e+02] [ 1.32179361e-02 2.03872289e-04 9.99912619e-01 -5.00054221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.406559995 meters 0.015354904380800335 Centerline is valid? [True, True] Translation: X:127.37, Y:-126.52, Z:-5.00 [[-6.86395751e-01 -7.27168404e-01 9.32655860e-03 1.27366401e+02] [ 7.27106773e-01 -6.86459054e-01 -9.47139876e-03 -1.26521356e+02] [ 1.32896025e-02 2.80276063e-04 9.99911650e-01 -5.00022557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4665599949999 meters 0.016122009136771687 Centerline is valid? [True, True] Translation: X:127.33, Y:-126.48, Z:-5.00 [[-6.83718393e-01 -7.29682677e-01 9.60994198e-03 1.27326257e+02] [ 7.29617566e-01 -6.83785839e-01 -9.75361371e-03 -1.26479015e+02] [ 1.36881852e-02 3.42857390e-04 9.99906254e-01 -4.99999690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.526559995 meters 0.01669210006956366 Centerline is valid? [True, True] Translation: X:127.29, Y:-126.44, Z:-5.00 [[-6.83475793e-01 -7.29905507e-01 9.93940757e-03 1.27288027e+02] [ 7.29835959e-01 -6.83547964e-01 -1.00823222e-02 -1.26435243e+02] [ 1.41532043e-02 3.63113902e-04 9.99899773e-01 -5.00002903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5865599949999 meters 0.015884619109892237 Centerline is valid? [True, True] Translation: X:127.25, Y:-126.39, Z:-5.00 [[-6.85691039e-01 -7.27829263e-01 9.61050660e-03 1.27251412e+02] [ 7.27764114e-01 -6.85758314e-01 -9.74317371e-03 -1.26389959e+02] [ 1.36818517e-02 3.13374910e-04 9.99906350e-01 -4.99911961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.646559995 meters 0.014151958317479068 Centerline is valid? [True, True] Translation: X:127.22, Y:-126.34, Z:-5.00 [[-6.91456026e-01 -7.22364743e-01 8.81718829e-03 1.27219608e+02] [ 7.22309528e-01 -6.91512214e-01 -8.93332598e-03 -1.26341100e+02] [ 1.25503131e-02 1.91737033e-04 9.99921223e-01 -4.99745772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7065599949999 meters 0.013141125517955621 Centerline is valid? [True, True] Translation: X:127.18, Y:-126.29, Z:-5.00 [[-6.96451349e-01 -7.17554578e-01 8.42299350e-03 1.27184676e+02] [ 7.17503893e-01 -6.96502274e-01 -8.52919575e-03 -1.26293785e+02] [ 1.19867976e-02 1.03360738e-04 9.99928150e-01 -4.99738006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.766559995 meters 0.012763325272307197 Centerline is valid? [True, True] Translation: X:127.15, Y:-126.24, Z:-5.00 [[-7.05078202e-01 -7.09075434e-01 8.76117051e-03 1.27153786e+02] [ 7.09020002e-01 -7.05132631e-01 -8.86622823e-03 -1.26243550e+02] [ 1.24646118e-02 -3.95391225e-05 9.99922313e-01 -4.99769418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8265599949999 meters 0.014712784178762294 Centerline is valid? [True, True] Translation: X:127.12, Y:-126.19, Z:-5.00 [[-7.14341266e-01 -6.99736605e-01 9.23248212e-03 1.27123458e+02] [ 6.99674309e-01 -7.14400895e-01 -9.33930502e-03 -1.26192863e+02] [ 1.31307471e-02 -2.11720425e-04 9.99913766e-01 -4.99739722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.886559995 meters 0.016111706800390296 Centerline is valid? [True, True] Translation: X:127.09, Y:-126.15, Z:-5.00 [[-7.20295349e-01 -6.93606610e-01 9.19135179e-03 1.27087839e+02] [ 6.93544435e-01 -7.20353920e-01 -9.29231351e-03 -1.26146416e+02] [ 1.30662364e-02 -3.18599325e-04 9.99914582e-01 -4.99679314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9465599949999 meters 0.018941195138731836 Centerline is valid? [True, True] Translation: X:127.05, Y:-126.10, Z:-5.00 [[-7.27407112e-01 -6.86143408e-01 9.27992412e-03 1.27054912e+02] [ 6.86079494e-01 -7.27466163e-01 -9.37601642e-03 -1.26098346e+02] [ 1.31841227e-02 -4.53415386e-04 9.99912983e-01 -4.99692879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.006559995 meters 0.020074987315854005 Centerline is valid? [True, True] Translation: X:127.02, Y:-126.05, Z:-5.00 [[-7.30495808e-01 -6.82852383e-01 9.40728589e-03 1.27018850e+02] [ 6.82786507e-01 -7.30556197e-01 -9.49890003e-03 -1.26052974e+02] [ 1.33588975e-02 -5.15738781e-04 9.99910633e-01 -4.99734135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0665599949999 meters 0.020044868851508798 Centerline is valid? [True, True] Translation: X:126.98, Y:-126.01, Z:-5.00 [[-7.29776572e-01 -6.83622350e-01 9.30792678e-03 1.26979114e+02] [ 6.83557986e-01 -7.29835762e-01 -9.39366208e-03 -1.26009865e+02] [ 1.32149752e-02 -4.92766826e-04 9.99912557e-01 -4.99752546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.126559995 meters 0.018283037095248974 Centerline is valid? [True, True] Translation: X:126.94, Y:-125.97, Z:-5.00 [[-7.25507182e-01 -6.88161341e-01 8.56137257e-03 1.26937289e+02] [ 6.88107263e-01 -7.25557598e-01 -8.63513842e-03 -1.25969910e+02] [ 1.21541374e-02 -3.73712290e-04 9.99926066e-01 -4.99764471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1865599949999 meters 0.0158944115262334 Centerline is valid? [True, True] Translation: X:126.89, Y:-125.93, Z:-5.00 [[-7.20983255e-01 -6.92901850e-01 8.37686936e-03 1.26893545e+02] [ 6.92850454e-01 -7.21031862e-01 -8.44413477e-03 -1.25931285e+02] [ 1.18909463e-02 -2.84162041e-04 9.99929260e-01 -4.99699586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.246559995 meters 0.013484179894877902 Centerline is valid? [True, True] Translation: X:126.85, Y:-125.90, Z:-5.00 [[-7.12272589e-01 -7.01857484e-01 7.98947742e-03 1.26848255e+02] [ 7.01811323e-01 -7.12317385e-01 -8.05050185e-03 -1.25895006e+02] [ 1.13413486e-02 -1.27046075e-04 9.99935677e-01 -4.99716931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3065599949999 meters 0.012643636893611341 Centerline is valid? [True, True] Translation: X:126.80, Y:-125.86, Z:-5.00 [[-7.01885914e-01 -7.12256684e-01 6.82490665e-03 1.26801310e+02] [ 7.12223523e-01 -7.01919094e-01 -6.87309793e-03 -1.25859956e+02] [ 9.68594223e-03 3.67284303e-05 9.99953090e-01 -4.99702743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.366559995 meters 0.013828218828879803 Centerline is valid? [True, True] Translation: X:126.76, Y:-125.82, Z:-5.00 [[-6.94934932e-01 -7.19049182e-01 5.80643165e-03 1.26755213e+02] [ 7.19025441e-01 -6.94959180e-01 -5.84411557e-03 -1.25823567e+02] [ 8.23743949e-03 1.13692023e-04 9.99966065e-01 -4.99762762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4265599949999 meters 0.01701351848800713 Centerline is valid? [True, True] Translation: X:126.71, Y:-125.79, Z:-5.00 [[-6.86992485e-01 -7.26649163e-01 4.72438711e-03 1.26708862e+02] [ 7.26633642e-01 -6.87008709e-01 -4.75231257e-03 -1.25787870e+02] [ 6.69895904e-03 1.68095585e-04 9.99977548e-01 -4.99803354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.486559995 meters 0.01815905896837165 Centerline is valid? [True, True] Translation: X:126.67, Y:-125.75, Z:-5.00 [[-6.83719811e-01 -7.29729599e-01 4.68313266e-03 1.26667932e+02] [ 7.29714439e-01 -6.83735821e-01 -4.70791952e-03 -1.25747533e+02] [ 6.63753378e-03 1.98451672e-04 9.99977952e-01 -4.99790095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5465599949999 meters 0.01739717234357434 Centerline is valid? [True, True] Translation: X:126.63, Y:-125.71, Z:-5.00 [[-6.84700110e-01 -7.28801468e-01 5.84637720e-03 1.26627367e+02] [ 7.28777835e-01 -6.84725028e-01 -5.87393647e-03 -1.25705530e+02] [ 8.28409432e-03 2.38825174e-04 9.99965658e-01 -5.00043925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6065599949999 meters 0.016786695327278684 Centerline is valid? [True, True] Translation: X:126.59, Y:-125.66, Z:-5.00 [[-6.86121756e-01 -7.27456657e-01 6.61424986e-03 1.26587221e+02] [ 7.27426383e-01 -6.86153589e-01 -6.64160046e-03 -1.25663624e+02] [ 9.36986775e-03 2.54433280e-04 9.99956070e-01 -5.00200944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.666559995 meters 0.015933363544816 Centerline is valid? [True, True] Translation: X:126.55, Y:-125.62, Z:-5.00 [[-6.89440168e-01 -7.24305145e-01 7.36962941e-03 1.26549747e+02] [ 7.24267422e-01 -6.89479514e-01 -7.39606225e-03 -1.25618574e+02] [ 1.04382144e-02 2.38440084e-04 9.99945492e-01 -5.00286440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7265599949999 meters 0.014384603541968178 Centerline is valid? [True, True] Translation: X:126.52, Y:-125.57, Z:-5.00 [[-6.94546465e-01 -7.19405406e-01 7.81470734e-03 1.26515270e+02] [ 7.19362727e-01 -6.94590405e-01 -7.83811084e-03 -1.25571399e+02] [ 1.10668000e-02 1.77677008e-04 9.99938745e-01 -5.00298721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.786559995 meters 0.013961021001625908 Centerline is valid? [True, True] Translation: X:126.48, Y:-125.53, Z:-5.00 [[-6.96304144e-01 -7.17716921e-01 6.55435076e-03 1.26475098e+02] [ 7.17686859e-01 -6.96334980e-01 -6.57024762e-03 -1.25529151e+02] [ 9.27960160e-03 1.29080769e-04 9.99956935e-01 -5.00165050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8465599949999 meters 0.013749541216174041 Centerline is valid? [True, True] Translation: X:126.43, Y:-125.49, Z:-5.00 [[-6.97651480e-01 -7.16421512e-01 4.75713169e-03 1.26434304e+02] [ 7.16405664e-01 -6.97667694e-01 -4.76583245e-03 -1.25488350e+02] [ 6.73324199e-03 8.31460257e-05 9.99977328e-01 -4.99979130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.906559995 meters 0.013618122601245891 Centerline is valid? [True, True] Translation: X:126.39, Y:-125.45, Z:-5.00 [[-6.98680573e-01 -7.15424597e-01 3.61978376e-03 1.26393161e+02] [ 7.15415419e-01 -6.98689948e-01 -3.62427855e-03 -1.25447796e+02] [ 5.12200455e-03 5.74361010e-05 9.99986881e-01 -4.99793484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9665599949999 meters 0.01324365709732809 Centerline is valid? [True, True] Translation: X:126.35, Y:-125.41, Z:-5.00 [[-7.00046162e-01 -7.14087602e-01 3.77725951e-03 1.26353056e+02] [ 7.14077602e-01 -7.00056350e-01 -3.77954241e-03 -1.25407055e+02] [ 5.34321888e-03 5.14022605e-05 9.99985724e-01 -4.99795845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.026559995 meters 0.012920051906655707 Centerline is valid? [True, True] Translation: X:126.31, Y:-125.37, Z:-5.00 [[-7.02305877e-01 -7.11863360e-01 4.12452230e-03 1.26313340e+02] [ 7.11851410e-01 -7.02317987e-01 -4.12500122e-03 -1.25366866e+02] [ 5.83316343e-03 3.90344155e-05 9.99982986e-01 -4.99929957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0865599949999 meters 0.01264877713295957 Centerline is valid? [True, True] Translation: X:126.27, Y:-125.33, Z:-5.00 [[-7.04931937e-01 -7.09254692e-01 5.36159097e-03 1.26273677e+02] [ 7.09234447e-01 -7.04952326e-01 -5.35883420e-03 -1.25325020e+02] [ 7.58044432e-03 2.50116423e-05 9.99971268e-01 -5.00048379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.146559995 meters 0.012595122617693924 Centerline is valid? [True, True] Translation: X:125.76, Y:-125.84, Z:-4.04 [[-7.56736383e-01 6.53689386e-01 6.34296915e-03 1.25759190e+02] [ 6.53666262e-01 7.56762966e-01 -5.49824727e-03 -1.25844376e+02] [-8.39427003e-03 -1.45388124e-05 -9.99964767e-01 -4.03775655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2065599949999 meters 0.012883580858099245 Centerline is valid? [True, True] Translation: X:125.78, Y:-125.83, Z:-4.04 [[-7.99028746e-01 6.01258374e-01 6.43676147e-03 1.25779726e+02] [ 6.01239006e-01 7.99054671e-01 -4.82597451e-03 -1.25826558e+02] [-8.04498190e-03 1.39397047e-05 -9.99967639e-01 -4.03691840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.266559995 meters 0.012645842154962466 Centerline is valid? [True, True] Translation: X:125.80, Y:-125.81, Z:-4.04 [[-8.38966201e-01 5.44149093e-01 6.12198865e-03 1.25797711e+02] [ 5.44134786e-01 8.38988536e-01 -3.94594672e-03 -1.25806399e+02] [-7.28346163e-03 2.06710598e-05 -9.99973475e-01 -4.03753451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3265599949999 meters 0.012383195297997267 Centerline is valid? [True, True] Translation: X:126.20, Y:-125.20, Z:-5.00 [[-8.03750768e-01 -5.94953076e-01 3.94221273e-03 1.26201180e+02] [ 5.94945001e-01 -8.03760422e-01 -3.10328108e-03 -1.25197209e+02] [ 5.01490119e-03 -1.48864789e-04 9.99987414e-01 -4.99895952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.386559995 meters 0.012254669432544912 Centerline is valid? [True, True] Translation: X:125.76, Y:-125.78, Z:-4.04 [[-8.42071077e-01 5.39361181e-01 2.41197986e-03 1.25762645e+02] [ 5.39358981e-01 8.42074532e-01 -1.54035506e-03 -1.25783013e+02] [-2.86187453e-03 3.83455523e-06 -9.99995905e-01 -4.04062839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4465599949999 meters 0.012598519675845743 Centerline is valid? [True, True] Translation: X:125.78, Y:-125.75, Z:-4.04 [[-8.81175734e-01 4.72786427e-01 1.52345030e-03 1.25777403e+02] [ 4.72785705e-01 8.81177051e-01 -8.26295121e-04 -1.25753575e+02] [-1.73309056e-03 -7.84568547e-06 -9.99998498e-01 -4.04058930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.506559995 meters 0.013683344262570727 Centerline is valid? [True, True] Translation: X:125.79, Y:-125.72, Z:-4.04 [[-9.16210410e-01 4.00696372e-01 9.49834968e-04 1.25789039e+02] [ 4.00696142e-01 9.16210902e-01 -4.30124337e-04 -1.25720666e+02] [-1.04259842e-03 -1.34891885e-05 -9.99999456e-01 -4.04001330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5665599949999 meters 0.014944121019617907 Centerline is valid? [True, True] Translation: X:125.80, Y:-125.69, Z:-4.04 [[-9.43985149e-01 3.29982719e-01 1.85542268e-03 1.25799047e+02] [ 3.29982002e-01 9.43986972e-01 -6.88830262e-04 -1.25689756e+02] [-1.97879692e-03 -3.79894448e-05 -9.99998042e-01 -4.03783307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.626559995 meters 0.015988450735724195 Centerline is valid? [True, True] Translation: X:126.04, Y:-125.05, Z:-5.00 [[-9.01237017e-01 -4.33310434e-01 3.72908862e-03 1.26040609e+02] [ 4.33307693e-01 -9.01244707e-01 -1.55608956e-03 -1.25047042e+02] [ 4.03509122e-03 2.13437275e-04 9.99991836e-01 -5.00310040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6865599949999 meters 0.015521402500706953 Centerline is valid? [True, True] Translation: X:125.76, Y:-125.67, Z:-4.04 [[-9.46263846e-01 3.23365628e-01 4.40503919e-03 1.25755769e+02] [ 3.23361582e-01 9.46274093e-01 -1.62113416e-03 -1.25673118e+02] [-4.69259353e-03 -1.09600201e-04 -9.99988984e-01 -4.03533102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.746559995 meters 0.014655141816744901 Centerline is valid? [True, True] Translation: X:125.76, Y:-125.65, Z:-4.04 [[-9.65861962e-01 2.59025235e-01 4.07395078e-03 1.25762764e+02] [ 2.59022566e-01 9.65870551e-01 -1.17890995e-03 -1.25650351e+02] [-4.24027651e-03 -8.34190952e-05 -9.99991007e-01 -4.03518942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8065599949999 meters 0.01357046622606887 Centerline is valid? [True, True] Translation: X:125.77, Y:-125.63, Z:-4.03 [[-9.80889479e-01 1.94516060e-01 4.39689264e-03 1.25773641e+02] [ 1.94513798e-01 9.80899331e-01 -9.40655190e-04 -1.25630137e+02] [-4.49588159e-03 -6.74224938e-05 -9.99989891e-01 -4.03453118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.866559995 meters 0.01304912975943649 Centerline is valid? [True, True] Translation: X:125.93, Y:-124.94, Z:-5.00 [[-9.58033751e-01 -2.86623241e-01 4.29522197e-03 1.25930267e+02] [ 2.86620664e-01 -9.58043378e-01 -1.21715496e-03 -1.24941943e+02] [ 4.46387386e-03 6.50238405e-05 9.99990035e-01 -5.00427224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9265599949999 meters 0.012493923557417482 Centerline is valid? [True, True] Translation: X:125.72, Y:-125.63, Z:-4.03 [[-9.80342586e-01 1.97225843e-01 5.51190510e-03 1.25723532e+02] [ 1.97222450e-01 9.80358080e-01 -1.15786042e-03 -1.25629198e+02] [-5.63200070e-03 -4.80284534e-05 -9.99984139e-01 -4.03343746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.986559995 meters 0.012319138634104016 Centerline is valid? [True, True] Translation: X:125.88, Y:-124.92, Z:-5.01 [[-9.60109329e-01 -2.79534896e-01 7.09353949e-03 1.25883568e+02] [ 2.79528570e-01 -9.60135518e-01 -1.88828671e-03 -1.24923503e+02] [ 7.33860124e-03 1.69885259e-04 9.99973058e-01 -5.00638544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0465599949999 meters 0.01253263508511491 Centerline is valid? [True, True] Translation: X:125.68, Y:-125.63, Z:-4.03 [[-9.81274748e-01 1.92466056e-01 7.52898620e-03 1.25680326e+02] [ 1.92459806e-01 9.81303629e-01 -1.55285977e-03 -1.25627503e+02] [-7.68709427e-03 -7.47548611e-05 -9.99970451e-01 -4.03197772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1065599949999 meters 0.012855594281574515 Centerline is valid? [True, True] Translation: X:125.83, Y:-124.91, Z:-5.01 [[-9.60007661e-01 -2.79888427e-01 6.91087337e-03 1.25834201e+02] [ 2.79881453e-01 -9.60032534e-01 -1.97614454e-03 -1.24912540e+02] [ 7.18776327e-03 3.71113822e-05 9.99974167e-01 -5.00616857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.166559995 meters 0.013818799783616947 Centerline is valid? [True, True] Translation: X:125.63, Y:-125.61, Z:-4.03 [[-9.83502352e-01 1.80787342e-01 6.24984769e-03 1.25631219e+02] [ 1.80782959e-01 9.83522203e-01 -1.26401350e-03 -1.25614297e+02] [-6.37538161e-03 -1.13294286e-04 -9.99979671e-01 -4.03326128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2265599949999 meters 0.014792035978984343 Centerline is valid? [True, True] Translation: X:125.63, Y:-125.58, Z:-4.03 [[-9.94289194e-01 1.06570629e-01 5.63020565e-03 1.25630384e+02] [ 1.06568216e-01 9.94305127e-01 -7.27713688e-04 -1.25584200e+02] [-5.67569525e-03 -1.23556888e-04 -9.99983886e-01 -4.03484942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.286559995 meters 0.014691219448756107 Centerline is valid? [True, True] Translation: X:125.73, Y:-124.87, Z:-5.00 [[-9.76003674e-01 -2.17662366e-01 6.31839162e-03 1.25730807e+02] [ 2.17659055e-01 -9.76024108e-01 -1.21532441e-03 -1.24873148e+02] [ 6.43143293e-03 1.89094056e-04 9.99979300e-01 -5.00418391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3465599949999 meters 0.01496360608257428 Centerline is valid? [True, True] Translation: X:125.58, Y:-125.58, Z:-4.03 [[-9.94850940e-01 1.01098175e-01 7.12510051e-03 1.25583365e+02] [ 1.01094367e-01 9.94876440e-01 -8.93501964e-04 -1.25575413e+02] [-7.17892605e-03 -1.68593743e-04 -9.99974217e-01 -4.03361966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.406559995 meters 0.015139317506294454 Centerline is valid? [True, True] Translation: X:125.59, Y:-125.55, Z:-4.03 [[-9.99487179e-01 3.09378046e-02 8.26023767e-03 1.25586947e+02] [ 3.09351849e-02 9.99521294e-01 -4.44748741e-04 -1.25547722e+02] [-8.27004299e-03 -1.88988684e-04 -9.99965785e-01 -4.03325726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4665599949999 meters 0.014768646975725807 Centerline is valid? [True, True] Translation: X:125.63, Y:-124.84, Z:-5.01 [[-9.89778633e-01 -1.42324509e-01 9.05497804e-03 1.25628219e+02] [ 1.42320961e-01 -9.89820017e-01 -1.03826609e-03 -1.24838696e+02] [ 9.11056922e-03 2.61059588e-04 9.99958464e-01 -5.00593037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.526559995 meters 0.013871485965048126 Centerline is valid? [True, True] Translation: X:125.53, Y:-125.55, Z:-4.03 [[-9.99429492e-01 3.24384747e-02 9.40402369e-03 1.25532852e+02] [ 3.24355223e-02 9.99473721e-01 -4.66337973e-04 -1.25547732e+02] [-9.41420185e-03 -1.61047504e-04 -9.99955673e-01 -4.03313046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5865599949999 meters 0.01280929362522717 Centerline is valid? [True, True] Translation: X:125.53, Y:-125.52, Z:-4.03 [[-9.99362371e-01 -3.46428213e-02 8.64439496e-03 1.25532913e+02] [-3.46425082e-02 9.99399751e-01 1.85999544e-04 -1.25524995e+02] [-8.64564972e-03 -1.13582578e-04 -9.99962619e-01 -4.03477300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.646559995 meters 0.011923079946203301 Centerline is valid? [True, True] Translation: X:125.54, Y:-125.50, Z:-4.04 [[-9.95045980e-01 -9.92003999e-02 6.54044891e-03 1.25536427e+02] [-9.91985463e-02 9.95067475e-01 6.08010889e-04 -1.25503483e+02] [-6.56850290e-03 -4.38042328e-05 -9.99978426e-01 -4.03677935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7065599949999 meters 0.011708028340423558 Centerline is valid? [True, True] Translation: X:125.47, Y:-124.77, Z:-5.00 [[-9.99737244e-01 2.23126937e-02 5.25228048e-03 1.25473364e+02] [-2.23126319e-02 -9.99751040e-01 7.03732030e-05 -1.24769311e+02] [ 5.25254308e-03 -4.68374889e-05 9.99986204e-01 -5.00135611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.766559995 meters 0.011652035074632435 Centerline is valid? [True, True] Translation: X:125.45, Y:-125.52, Z:-4.04 [[-9.94989924e-01 -9.98421746e-02 5.15670445e-03 1.25447657e+02] [-9.98408745e-02 9.95003287e-01 5.09571602e-04 -1.25515229e+02] [-5.18181461e-03 -7.83127228e-06 -9.99986574e-01 -4.03662951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8265599949999 meters 0.0117477984656384 Centerline is valid? [True, True] Translation: X:125.38, Y:-124.78, Z:-5.00 [[-9.99589428e-01 2.79475146e-02 6.31764940e-03 1.25381436e+02] [-2.79464089e-02 -9.99609388e-01 2.63234677e-04 -1.24776520e+02] [ 6.32253841e-03 8.65709868e-05 9.99980009e-01 -5.00290712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.886559995 meters 0.012076444278433598 Centerline is valid? [True, True] Translation: X:125.36, Y:-125.52, Z:-4.04 [[-9.93790829e-01 -1.11078074e-01 6.43820018e-03 1.25361095e+02] [-1.11076057e-01 9.93811682e-01 6.71087942e-04 -1.25519534e+02] [-6.47290170e-03 -4.82088473e-05 -9.99979049e-01 -4.03534195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9465599949999 meters 0.012852983682881727 Centerline is valid? [True, True] Translation: X:125.29, Y:-124.79, Z:-5.00 [[-9.99708478e-01 2.32376661e-02 6.55512645e-03 1.25286705e+02] [-2.32368061e-02 -9.99729968e-01 2.07327393e-04 -1.24793610e+02] [ 6.55817416e-03 5.49467497e-05 9.99978493e-01 -5.00374177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.006559995 meters 0.013698767611923858 Centerline is valid? [True, True] Translation: X:125.27, Y:-125.52, Z:-4.03 [[-9.92159480e-01 -1.24796684e-01 6.73452623e-03 1.25273234e+02] [-1.24794541e-01 9.92182330e-01 7.39165772e-04 -1.25521000e+02] [-6.77412336e-03 -1.07061781e-04 -9.99977050e-01 -4.03419132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0665599949999 meters 0.014288436821564554 Centerline is valid? [True, True] Translation: X:125.20, Y:-124.81, Z:-5.00 [[-9.99693737e-01 2.40052348e-02 6.01500975e-03 1.25195003e+02] [-2.40045369e-02 -9.99711832e-01 1.88210089e-04 -1.24807256e+02] [ 6.01779445e-03 4.37649244e-05 9.99981892e-01 -5.00406121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.126559995 meters 0.014982550626061906 Centerline is valid? [True, True] Translation: X:125.18, Y:-125.53, Z:-4.04 [[-9.91131197e-01 -1.32800211e-01 4.80147940e-03 1.25183053e+02] [-1.32799094e-01 9.91142823e-01 5.52221472e-04 -1.25526940e+02] [-4.83228697e-03 -9.03081841e-05 -9.99988320e-01 -4.03534207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1865599949999 meters 0.01415481321431869 Centerline is valid? [True, True] Translation: X:125.19, Y:-125.50, Z:-4.04 [[-9.79081866e-01 -2.03448383e-01 2.73048140e-03 1.25186212e+02] [-2.03447741e-01 9.79085672e-01 5.13778879e-04 -1.25499318e+02] [-2.77790269e-03 -5.24786902e-05 -9.99996140e-01 -4.03730616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.246559995 meters 0.013897354950337745 Centerline is valid? [True, True] Translation: X:125.17, Y:-125.47, Z:-4.04 [[-9.62544851e-01 -2.71122470e-01 1.28879369e-04 1.25172198e+02] [-2.71122468e-01 9.62544859e-01 3.54040770e-05 -1.25474217e+02] [-1.33651015e-04 -8.64080561e-07 -9.99999991e-01 -4.03841388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3065599949999 meters 0.013561782949559589 Centerline is valid? [True, True] Translation: X:125.15, Y:-125.45, Z:-4.04 [[-9.41009458e-01 -3.38380192e-01 2.13182708e-04 1.25149884e+02] [-3.38380184e-01 9.41009482e-01 7.43315231e-05 -1.25452855e+02] [-2.25759265e-04 -2.19013781e-06 -9.99999975e-01 -4.03775896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.366559995 meters 0.012994679959576302 Centerline is valid? [True, True] Translation: X:125.11, Y:-125.44, Z:-4.03 [[-9.15106144e-01 -4.03208171e-01 1.97912283e-03 1.25108798e+02] [-4.03207293e-01 9.15108283e-01 8.41917735e-04 -1.25439553e+02] [-2.15057980e-03 -2.75526659e-05 -9.99997687e-01 -4.03493736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4265599949999 meters 0.012386704819476646 Centerline is valid? [True, True] Translation: X:125.05, Y:-125.44, Z:-4.03 [[-8.83880347e-01 -4.67704829e-01 2.77954503e-03 1.25045928e+02] [-4.67702639e-01 8.83884716e-01 1.43174552e-03 -1.25440468e+02] [-3.12643166e-03 -3.45088153e-05 -9.99995112e-01 -4.03382951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.486559995 meters 0.01194184615138253 Centerline is valid? [True, True] Translation: X:124.98, Y:-125.45, Z:-4.03 [[-8.48501089e-01 -5.29179723e-01 3.83711105e-03 1.24977599e+02] [-5.29174506e-01 8.48509764e-01 2.34994857e-03 -1.25449881e+02] [-4.49937132e-03 -3.65674298e-05 -9.99989877e-01 -4.03320735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5465599949999 meters 0.011746351185482538 Centerline is valid? [True, True] Translation: X:124.91, Y:-125.47, Z:-4.03 [[-8.08516635e-01 -5.88455443e-01 4.58725240e-03 1.24907775e+02] [-5.88446170e-01 8.08529648e-01 3.30360569e-03 -1.25466095e+02] [-5.65295431e-03 -2.83309462e-05 -9.99984022e-01 -4.03216163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6065599949999 meters 0.011532257676482107 Centerline is valid? [True, True] Translation: X:124.83, Y:-125.50, Z:-4.03 [[-7.64597782e-01 -6.44499410e-01 3.27750533e-03 1.24830142e+02] [-6.44493516e-01 7.64604806e-01 2.75647776e-03 -1.25495921e+02] [-4.28254462e-03 -4.73414901e-06 -9.99990830e-01 -4.03273991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.666559995 meters 0.011744939726787407 Centerline is valid? [True, True] Translation: X:124.75, Y:-125.54, Z:-4.03 [[-7.15824515e-01 -6.98275655e-01 2.52456373e-03 1.24748636e+02] [-6.98271281e-01 7.15828967e-01 2.47148305e-03 -1.25536004e+02] [-3.53293229e-03 6.31781212e-06 -9.99993759e-01 -4.03338525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7265599949999 meters 0.011758597081141043 Centerline is valid? [True, True] Translation: X:124.66, Y:-125.59, Z:-4.03 [[-6.63030373e-01 -7.48590849e-01 1.57041547e-03 1.24664528e+02] [-7.48588708e-01 6.63032233e-01 1.79018479e-03 -1.25588989e+02] [-2.38135203e-03 1.13516050e-05 -9.99997165e-01 -4.03457607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.786559995 meters 0.01185108938090953 Centerline is valid? [True, True] Translation: X:124.58, Y:-125.65, Z:-4.04 [[-6.04874375e-01 -7.96320627e-01 6.70499461e-04 1.24584247e+02] [-7.96320125e-01 6.04874747e-01 8.94267703e-04 -1.25645161e+02] [-1.11769201e-03 6.98740387e-06 -9.99999375e-01 -4.03549874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8465599949999 meters 0.011834008501378166 Centerline is valid? [True, True] Translation: X:124.50, Y:-125.71, Z:-4.03 [[-5.42540555e-01 -8.40029043e-01 9.75811737e-04 1.24501314e+02] [-8.40027650e-01 5.42541433e-01 1.52996889e-03 -1.25714982e+02] [-1.81463660e-03 1.03613323e-05 -9.99998354e-01 -4.03403399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.906559995 meters 0.011896218900354066 Centerline is valid? [True, True] Translation: X:124.42, Y:-125.79, Z:-4.03 [[-4.76827806e-01 -8.78996292e-01 8.72897204e-04 1.24423339e+02] [-8.78994779e-01 4.76828605e-01 1.63110550e-03 -1.25793074e+02] [-1.84995804e-03 1.04843734e-05 -9.99998289e-01 -4.03283860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9665599949999 meters 0.011826016417437276 Centerline is valid? [True, True] Translation: X:124.35, Y:-125.88, Z:-4.03 [[-4.07618884e-01 -9.13151739e-01 8.64067349e-04 1.24350704e+02] [-9.13149633e-01 4.07619800e-01 1.96138132e-03 -1.25877963e+02] [-2.14324972e-03 1.04732823e-05 -9.99997703e-01 -4.03217590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.026559995 meters 0.011781474451085384 Centerline is valid? [True, True] Translation: X:124.28, Y:-125.97, Z:-4.03 [[-3.34930240e-01 -9.42242504e-01 8.92898824e-04 1.24283441e+02] [-9.42239094e-01 3.34931431e-01 2.53496522e-03 -1.25968505e+02] [-2.68761186e-03 7.71233178e-06 -9.99996388e-01 -4.03114262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0865599949999 meters 0.011825459374959673 Centerline is valid? [True, True] Translation: X:124.22, Y:-126.07, Z:-4.03 [[-2.59464904e-01 -9.65752251e-01 7.43245812e-04 1.24220719e+02] [-9.65748273e-01 2.59465969e-01 2.77193159e-03 -1.26072797e+02] [-2.86984617e-03 1.43060436e-06 -9.99995882e-01 -4.03062513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.146559995 meters 0.011878267838135125 Centerline is valid? [True, True] Translation: X:124.16, Y:-126.19, Z:-4.03 [[-1.80293635e-01 -9.83612756e-01 3.88663830e-04 1.24163755e+02] [-9.83610564e-01 1.80294053e-01 2.07657176e-03 -1.26188420e+02] [-2.11261625e-03 -7.90117989e-06 -9.99997768e-01 -4.03076293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2065599949999 meters 0.012841768683491081 Centerline is valid? [True, True] Translation: X:124.12, Y:-126.29, Z:-4.03 [[-9.69215121e-02 -9.95292019e-01 1.34394683e-04 1.24115373e+02] [-9.95291241e-01 9.69216043e-02 1.24417410e-03 -1.26288240e+02] [-1.25134230e-03 -1.31746164e-05 -9.99999217e-01 -4.02945256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.266559995 meters 0.013142545066197957 Centerline is valid? [True, True] Translation: X:124.08, Y:-126.40, Z:-4.03 [[-1.85889552e-02 -9.99827210e-01 2.27308551e-05 1.24079280e+02] [-9.99826922e-01 1.85889671e-02 7.59248112e-04 -1.26403021e+02] [-7.59539465e-04 -8.61329175e-06 -9.99999712e-01 -4.02915128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3265599949999 meters 0.014155392146568501 Centerline is valid? [True, True] Translation: X:124.05, Y:-126.52, Z:-4.03 [[ 6.18751034e-02 -9.98083900e-01 -2.00015112e-05 1.24051122e+02] [-9.98083814e-01 -6.18751064e-02 4.13703106e-04 -1.26515816e+02] [-4.14148005e-04 -5.63473790e-06 -9.99999914e-01 -4.02986920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.386559995 meters 0.01511933267783809 Centerline is valid? [True, True] Translation: X:124.03, Y:-126.64, Z:-4.03 [[ 1.41186155e-01 -9.89983064e-01 -5.45874224e-05 1.24031192e+02] [-9.89982969e-01 -1.41186166e-01 4.34439977e-04 -1.26639548e+02] [-4.37795209e-04 -7.29629161e-06 -9.99999904e-01 -4.02948154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4465599949999 meters 0.015071662164036433 Centerline is valid? [True, True] Translation: X:124.02, Y:-126.76, Z:-4.03 [[ 2.18418210e-01 -9.75855224e-01 -2.60950668e-04 1.24023186e+02] [-9.75854371e-01 -2.18418364e-01 1.29018752e-03 -1.26763141e+02] [-1.31603265e-03 -2.71505974e-05 -9.99999134e-01 -4.02820938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.506559995 meters 0.016568570883887742 Centerline is valid? [True, True] Translation: X:124.02, Y:-126.87, Z:-4.03 [[ 2.92409095e-01 -9.56293205e-01 -4.76154676e-04 1.24020176e+02] [-9.56291731e-01 -2.92409480e-01 1.67992323e-03 -1.26873509e+02] [-1.74573132e-03 -3.58820532e-05 -9.99998476e-01 -4.02813588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5665599949999 meters 0.014350726539297162 Centerline is valid? [True, True] Translation: X:124.03, Y:-126.98, Z:-4.03 [[ 3.62996937e-01 -9.31790159e-01 -5.69292465e-04 1.24034177e+02] [-9.31788879e-01 -3.62997382e-01 1.54465276e-03 -1.26983835e+02] [-1.64594391e-03 -3.02438329e-05 -9.99998645e-01 -4.02835538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.626559995 meters 0.014006367682364008 Centerline is valid? [True, True] Translation: X:124.05, Y:-127.10, Z:-4.03 [[ 4.31138250e-01 -9.02285504e-01 -8.24311551e-04 1.24054115e+02] [-9.02283712e-01 -4.31139036e-01 1.79828929e-03 -1.27097709e+02] [-1.97796325e-03 -3.15484117e-05 -9.99998043e-01 -4.02768482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6865599949999 meters 0.01357130405765727 Centerline is valid? [True, True] Translation: X:124.08, Y:-127.21, Z:-4.03 [[ 4.97313219e-01 -8.67570296e-01 -1.15939270e-03 1.24083784e+02] [-8.67567779e-01 -4.97314570e-01 2.09007275e-03 -1.27210576e+02] [-2.38986791e-03 -3.35690535e-05 -9.99997144e-01 -4.02755508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.746559995 meters 0.012978479773646454 Centerline is valid? [True, True] Translation: X:124.12, Y:-127.32, Z:-4.03 [[ 5.59857860e-01 -8.28587033e-01 -1.64481845e-03 1.24124743e+02] [-8.28583281e-01 -5.59860275e-01 2.49382998e-03 -1.27324451e+02] [-2.98722369e-03 -3.33212498e-05 -9.99995538e-01 -4.02684425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8065599949999 meters 0.012506750344168462 Centerline is valid? [True, True] Translation: X:124.16, Y:-127.42, Z:-4.03 [[ 6.19599492e-01 -7.84915596e-01 -1.99409804e-03 1.24162231e+02] [-7.84911387e-01 -6.19602700e-01 2.57080391e-03 -1.27418687e+02] [-3.25341261e-03 -2.76785338e-05 -9.99994707e-01 -4.02582600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.866559995 meters 0.012398077089134438 Centerline is valid? [True, True] Translation: X:124.21, Y:-127.52, Z:-4.02 [[ 6.76473360e-01 -7.36460762e-01 -3.05591893e-03 1.24212876e+02] [-7.36453037e-01 -6.76480262e-01 3.37324079e-03 -1.27518111e+02] [-4.55152832e-03 -3.13667563e-05 -9.99989641e-01 -4.02412458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9265599949999 meters 0.012345641518998722 Centerline is valid? [True, True] Translation: X:124.27, Y:-127.61, Z:-4.02 [[ 7.30217093e-01 -6.83207258e-01 -3.29242087e-03 1.24270610e+02] [-6.83200138e-01 -7.30224515e-01 3.11927337e-03 -1.27613366e+02] [-4.53531664e-03 -2.83643423e-05 -9.99989715e-01 -4.02427327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.986559995 meters 0.012266330369520826 Centerline is valid? [True, True] Translation: X:124.29, Y:-127.64, Z:-4.02 [[ 7.81226010e-01 -6.24242122e-01 -2.77391890e-03 1.24289473e+02] [-6.24238091e-01 -7.81230934e-01 2.24350599e-03 -1.27639898e+02] [-3.56756219e-03 -2.10993930e-05 -9.99993636e-01 -4.02479567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0465599949999 meters 0.01221881614278566 Centerline is valid? [True, True] Translation: X:124.31, Y:-127.67, Z:-4.03 [[ 8.28001632e-01 -5.60721909e-01 -2.05845867e-03 1.24309035e+02] [-5.60720129e-01 -8.28004191e-01 1.41332742e-03 -1.27667358e+02] [-2.49689606e-03 -1.60181987e-05 -9.99996883e-01 -4.02576979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1065599949999 meters 0.012411385988562075 Centerline is valid? [True, True] Translation: X:124.33, Y:-127.69, Z:-4.03 [[ 8.70082661e-01 -4.92905832e-01 6.89288186e-05 1.24329747e+02] [-4.92905830e-01 -8.70082663e-01 -4.15844072e-05 -1.27694045e+02] [ 8.04709664e-05 2.20645507e-06 -9.99999997e-01 -4.02711516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.166559995 meters 0.012614404150536128 Centerline is valid? [True, True] Translation: X:124.35, Y:-127.72, Z:-4.03 [[ 9.06843202e-01 -4.21467919e-01 4.47745583e-04 1.24352091e+02] [-4.21467864e-01 -9.06843313e-01 -2.15633086e-04 -1.27721168e+02] [ 4.96917516e-04 6.83502379e-06 -9.99999877e-01 -4.02644456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2265599949999 meters 0.01321430509628658 Centerline is valid? [True, True] Translation: X:124.38, Y:-127.74, Z:-4.02 [[ 9.37589258e-01 -3.47744692e-01 -1.11686678e-04 1.24377591e+02] [-3.47744690e-01 -9.37589265e-01 4.13879433e-05 -1.27743510e+02] [-1.19108668e-04 3.35580457e-08 -9.99999993e-01 -4.02471146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.286559995 meters 0.01338015470075511 Centerline is valid? [True, True] Translation: X:124.41, Y:-127.76, Z:-4.02 [[ 9.62461082e-01 -2.71416090e-01 -1.40431464e-03 1.24405673e+02] [-2.71415772e-01 -9.62462106e-01 4.16411486e-04 -1.27763432e+02] [-1.46462040e-03 -1.96267085e-05 -9.99998927e-01 -4.02269999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3465599949999 meters 0.013559770311231845 Centerline is valid? [True, True] Translation: X:124.44, Y:-127.78, Z:-4.02 [[ 9.81017768e-01 -1.93914298e-01 -1.17629798e-03 1.24435043e+02] [-1.93914137e-01 -9.81018473e-01 2.50502789e-04 -1.27782880e+02] [-1.20254612e-03 -1.76468794e-05 -9.99999277e-01 -4.02178385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.406559995 meters 0.014056452638097442 Centerline is valid? [True, True] Translation: X:124.47, Y:-127.80, Z:-4.02 [[ 9.93142766e-01 -1.16906399e-01 -5.84003853e-04 1.24465356e+02] [-1.16906374e-01 -9.93142937e-01 7.65308037e-05 -1.27797643e+02] [-5.88946243e-04 -7.73224106e-06 -9.99999827e-01 -4.02159031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4665599949999 meters 0.013421029037864903 Centerline is valid? [True, True] Translation: X:124.49, Y:-127.80, Z:-4.02 [[ 9.99117754e-01 -4.19883692e-02 8.31422470e-04 1.24494898e+02] [-4.19883447e-02 -9.99118100e-01 -4.68398402e-05 -1.27801505e+02] [ 8.32655966e-04 1.18884626e-05 -9.99999653e-01 -4.02250229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.526559995 meters 0.012543640997888638 Centerline is valid? [True, True] Translation: X:124.52, Y:-127.81, Z:-4.02 [[ 9.99448205e-01 3.31823324e-02 1.48951702e-03 1.24524704e+02] [ 3.31823184e-02 -9.99449315e-01 3.40821792e-05 -1.27807240e+02] [ 1.48982769e-03 1.53622552e-05 -9.99998890e-01 -4.02247190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5865599949999 meters 0.011990371531776305 Centerline is valid? [True, True] Translation: X:124.55, Y:-127.81, Z:-4.02 [[ 9.94267293e-01 1.06904358e-01 2.00188685e-03 1.24553989e+02] [ 1.06904164e-01 -9.94269309e-01 2.03958664e-04 -1.27810820e+02] [ 2.01221872e-03 1.12206108e-05 -9.99997975e-01 -4.02211023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.646559995 meters 0.011758892745486735 Centerline is valid? [True, True] Translation: X:124.58, Y:-127.81, Z:-4.02 [[ 9.83185445e-01 1.82609669e-01 -2.99189036e-04 1.24583605e+02] [ 1.82609660e-01 -9.83185491e-01 -5.61543494e-05 -1.27813403e+02] [-3.04412647e-04 5.75330623e-07 -9.99999954e-01 -4.02038352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7065599949999 meters 0.011801600870696016 Centerline is valid? [True, True] Translation: X:124.61, Y:-127.82, Z:-4.02 [[ 9.65838544e-01 2.59137117e-01 -1.96497635e-03 1.24614276e+02] [ 2.59136590e-01 -9.65840543e-01 -5.22319637e-04 -1.27815141e+02] [-2.03320623e-03 -4.72083420e-06 -9.99997933e-01 -4.01865783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.766559995 meters 0.01192448357908794 Centerline is valid? [True, True] Translation: X:124.65, Y:-127.82, Z:-4.02 [[ 9.42076172e-01 3.35369840e-01 -4.42239580e-03 1.24645309e+02] [ 3.35366244e-01 -9.42086551e-01 -1.55316439e-03 -1.27815843e+02] [-4.68716410e-03 -1.99231119e-05 -9.99989015e-01 -4.01646810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8265599949999 meters 0.011873305864959903 Centerline is valid? [True, True] Translation: X:124.68, Y:-127.81, Z:-4.02 [[ 9.12825645e-01 4.08332781e-01 -3.69900751e-03 1.24676437e+02] [ 4.08329508e-01 -9.12833139e-01 -1.63498417e-03 -1.27813885e+02] [-4.04419427e-03 -1.79584381e-05 -9.99991822e-01 -4.01667221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.886559995 meters 0.01191863762751671 Centerline is valid? [True, True] Translation: X:124.71, Y:-127.81, Z:-4.02 [[ 8.78001864e-01 4.78647926e-01 -2.98150000e-03 1.24706310e+02] [ 4.78645225e-01 -8.78006926e-01 -1.60802101e-03 -1.27807927e+02] [-3.38745357e-03 -1.52352906e-05 -9.99994263e-01 -4.01731346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9465599949999 meters 0.01197134353715527 Centerline is valid? [True, True] Translation: X:124.74, Y:-127.80, Z:-4.02 [[ 8.37500366e-01 5.46434004e-01 -1.73676629e-03 1.24736603e+02] [ 5.46432853e-01 -8.37502167e-01 -1.12126352e-03 -1.27799936e+02] [-2.06724205e-03 -9.96755237e-06 -9.99997863e-01 -4.01815159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.006559995 meters 0.012213654816223916 Centerline is valid? [True, True] Translation: X:124.77, Y:-127.79, Z:-4.02 [[ 7.91258256e-01 6.11481606e-01 -7.86806052e-04 1.24765494e+02] [ 6.11481310e-01 -7.91258647e-01 -6.01159248e-04 -1.27789060e+02] [-9.90164915e-04 -5.44497777e-06 -9.99999510e-01 -4.01859077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0665599949999 meters 0.012403798422546018 Centerline is valid? [True, True] Translation: X:124.79, Y:-127.78, Z:-4.02 [[ 7.39910100e-01 6.72705506e-01 -5.88702454e-04 1.24794438e+02] [ 6.72705298e-01 -7.39910334e-01 -5.28095771e-04 -1.27777841e+02] [-7.90839962e-04 -5.27986542e-06 -9.99999687e-01 -4.01772240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.126559995 meters 0.013276094597983762 Centerline is valid? [True, True] Translation: X:124.82, Y:-127.77, Z:-4.02 [[ 6.82810642e-01 7.30593640e-01 -1.60022349e-03 1.24822309e+02] [ 7.30591719e-01 -6.82812516e-01 -1.67548496e-03 -1.27765458e+02] [-2.31675128e-03 -2.50710695e-05 -9.99997316e-01 -4.01543278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1865599949999 meters 0.01313790649831324 Centerline is valid? [True, True] Translation: X:124.85, Y:-127.75, Z:-4.02 [[ 6.22469777e-01 7.82642727e-01 -1.31884386e-03 1.24847878e+02] [ 7.82641055e-01 -6.22471173e-01 -1.61782469e-03 -1.27748636e+02] [-2.08712101e-03 -2.51343749e-05 -9.99997822e-01 -4.01539652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.246559995 meters 0.01327285178193436 Centerline is valid? [True, True] Translation: X:124.87, Y:-127.73, Z:-4.01 [[ 5.59013015e-01 8.29158256e-01 -1.01785528e-03 1.24873780e+02] [ 8.29156952e-01 -5.59013941e-01 -1.47052489e-03 -1.27730957e+02] [-1.78829314e-03 -2.19192329e-05 -9.99998401e-01 -4.01433072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3065599949999 meters 0.01321667131722531 Centerline is valid? [True, True] Translation: X:124.90, Y:-127.71, Z:-4.01 [[ 4.92777666e-01 8.70154725e-01 -9.62338141e-04 1.24896198e+02] [ 8.70153155e-01 -4.92778605e-01 -1.65335641e-03 -1.27710607e+02] [-1.91289554e-03 -2.26444558e-05 -9.99998170e-01 -4.01347842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.366559995 meters 0.013001470634185682 Centerline is valid? [True, True] Translation: X:124.92, Y:-127.69, Z:-4.01 [[ 4.24159010e-01 9.05587726e-01 -6.67646789e-05 1.24917016e+02] [ 9.05587715e-01 -4.24159015e-01 -1.41691248e-04 -1.27687896e+02] [-1.56632696e-04 -3.61653574e-07 -9.99999988e-01 -4.01401020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4265599949999 meters 0.013043440104812832 Centerline is valid? [True, True] Translation: X:124.94, Y:-127.66, Z:-4.01 [[ 3.52449899e-01 9.35830630e-01 3.16247010e-04 1.24935918e+02] [ 9.35830281e-01 -3.52450041e-01 8.08927111e-04 -1.27664361e+02] [ 8.68480039e-04 1.08472497e-05 -9.99999623e-01 -4.01416316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.486559995 meters 0.013008065059519064 Centerline is valid? [True, True] Translation: X:124.95, Y:-127.64, Z:-4.01 [[ 2.78018414e-01 9.60575738e-01 -1.13693050e-04 1.24954922e+02] [ 9.60575662e-01 -2.78018437e-01 -3.82311704e-04 -1.27639416e+02] [-3.98848111e-04 -2.92108317e-06 -9.99999921e-01 -4.01125782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5465599949999 meters 0.013002400982056125 Centerline is valid? [True, True] Translation: X:124.97, Y:-127.61, Z:-4.01 [[ 2.01468059e-01 9.79494874e-01 -6.42665704e-04 1.24969948e+02] [ 9.79490400e-01 -2.01469082e-01 -2.96073550e-03 -1.27612946e+02] [-3.02950251e-03 -3.29912532e-05 -9.99995411e-01 -4.00847672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6065599949999 meters 0.013145810499326598 Centerline is valid? [True, True] Translation: X:124.98, Y:-127.59, Z:-4.01 [[ 1.23298865e-01 9.92369425e-01 -5.61214054e-04 1.24983196e+02] [ 9.92360882e-01 -1.23300133e-01 -4.11798521e-03 -1.27585497e+02] [-4.15576038e-03 -4.91839707e-05 -9.99991364e-01 -4.00735875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.666559995 meters 0.013104700898459725 Centerline is valid? [True, True] Translation: X:124.99, Y:-127.56, Z:-4.01 [[ 4.44720083e-02 9.99010604e-01 -2.33557638e-04 1.24994912e+02] [ 9.99002236e-01 -4.44725918e-02 -4.08919908e-03 -1.27557555e+02] [-4.09554016e-03 -5.14697075e-05 -9.99991612e-01 -4.00781636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7265599949999 meters 0.013594224259998896 Centerline is valid? [True, True] Translation: X:125.00, Y:-127.53, Z:-4.01 [[-3.33719100e-02 9.99443000e-01 7.22818640e-05 1.25004627e+02] [ 9.99437330e-01 3.33719642e-02 -3.36692038e-03 -1.27529366e+02] [-3.36745719e-03 -4.01193708e-05 -9.99994329e-01 -4.00770877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.786559995 meters 0.013236690436866682 Centerline is valid? [True, True] Translation: X:125.00, Y:-127.50, Z:-4.01 [[-1.09931856e-01 9.93939113e-01 1.63691161e-04 1.25004772e+02] [ 9.93937784e-01 1.09931977e-01 -1.62546085e-03 -1.27500954e+02] [-1.63360401e-03 -1.59910988e-05 -9.99998666e-01 -4.00966869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8465599949999 meters 0.01287062004532096 Centerline is valid? [True, True] Translation: X:125.01, Y:-127.47, Z:-4.01 [[-1.86918134e-01 9.82375475e-01 1.91994386e-04 1.25008741e+02] [ 9.82374904e-01 1.86918232e-01 -1.05990502e-03 -1.27471048e+02] [-1.07711195e-03 -9.50500315e-06 -9.99999420e-01 -4.01014674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.906559995 meters 0.012885675521446354 Centerline is valid? [True, True] Translation: X:125.01, Y:-127.44, Z:-4.01 [[-2.63653065e-01 9.64617492e-01 3.93978410e-04 1.25010887e+02] [ 9.64616330e-01 2.63653359e-01 -1.49770154e-03 -1.27440559e+02] [-1.54858283e-03 -1.48355926e-05 -9.99998801e-01 -4.00975499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9665599949999 meters 0.013208086199593452 Centerline is valid? [True, True] Translation: X:125.01, Y:-127.41, Z:-4.01 [[-3.40395622e-01 9.40282111e-01 6.10334055e-04 1.25014296e+02] [ 9.40280482e-01 3.40396168e-01 -1.75042679e-03 -1.27409190e+02] [-1.85365037e-03 -2.19524152e-05 -9.99998282e-01 -4.00940790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.026559995 meters 0.01379111153721111 Centerline is valid? [True, True] Translation: X:125.02, Y:-127.38, Z:-4.01 [[-4.14715532e-01 9.09950566e-01 9.97359830e-04 1.25015362e+02] [ 9.09947731e-01 4.14716730e-01 -2.27161232e-03 -1.27378842e+02] [-2.48067672e-03 -3.45275962e-05 -9.99996923e-01 -4.00872323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0865599949999 meters 0.013705268111760446 Centerline is valid? [True, True] Translation: X:125.01, Y:-127.35, Z:-4.01 [[-4.85453993e-01 8.74260828e-01 1.55729518e-03 1.25010947e+02] [ 8.74256001e-01 4.85456489e-01 -2.90563243e-03 -1.27347798e+02] [-3.29627966e-03 -4.90762110e-05 -9.99994566e-01 -4.00765995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.146559995 meters 0.014124365879633952 Centerline is valid? [True, True] Translation: X:125.00, Y:-127.32, Z:-4.01 [[-5.53325522e-01 8.32961036e-01 2.60380746e-03 1.25004005e+02] [ 8.32951145e-01 5.53331643e-01 -4.05992968e-03 -1.27318883e+02] [-4.82253229e-03 -7.76183048e-05 -9.99988369e-01 -4.00577302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2065599949999 meters 0.014094848869079883 Centerline is valid? [True, True] Translation: X:124.99, Y:-127.29, Z:-4.01 [[-6.16673580e-01 7.87214019e-01 2.78996842e-03 1.24993414e+02] [ 7.87205420e-01 6.16679887e-01 -3.68023581e-03 -1.27289791e+02] [-4.61765064e-03 -7.32259323e-05 -9.99989336e-01 -4.00516757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.266559995 meters 0.013682648468278663 Centerline is valid? [True, True] Translation: X:124.98, Y:-127.26, Z:-4.01 [[-6.75207582e-01 7.37624040e-01 2.34441376e-03 1.24979300e+02] [ 7.37619336e-01 6.75211650e-01 -2.63477835e-03 -1.27262072e+02] [-3.52645134e-03 -4.97373964e-05 -9.99993781e-01 -4.00569016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3265599949999 meters 0.013118317718730984 Centerline is valid? [True, True] Translation: X:124.96, Y:-127.24, Z:-4.01 [[-7.29332573e-01 6.84157839e-01 1.43154308e-03 1.24963689e+02] [ 6.84156460e-01 7.29333977e-01 -1.37407578e-03 -1.27235965e+02] [-1.98415773e-03 -2.27587760e-05 -9.99998031e-01 -4.00727068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.386559995 meters 0.013745736357802943 Centerline is valid? [True, True] Translation: X:124.98, Y:-127.22, Z:-4.01 [[-7.75382269e-01 6.31491195e-01 1.09852446e-03 1.24983085e+02] [ 6.31490534e-01 7.75383047e-01 -9.14029960e-04 -1.27215636e+02] [-1.42897912e-03 -1.50148268e-05 -9.99998979e-01 -4.00747490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4465599949999 meters 0.013360080701102069 Centerline is valid? [True, True] Translation: X:125.00, Y:-127.19, Z:-4.01 [[-8.18319184e-01 5.74761374e-01 1.75383788e-03 1.24998230e+02] [ 5.74759990e-01 8.18321064e-01 -1.26117614e-03 -1.27193187e+02] [-2.16007781e-03 -2.40087873e-05 -9.99997667e-01 -4.00599583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.506559995 meters 0.013473042442546107 Centerline is valid? [True, True] Translation: X:125.39, Y:-126.66, Z:-5.03 [[-7.62621170e-01 -6.46837713e-01 3.15035407e-03 1.25385463e+02] [ 6.46833024e-01 -7.62627661e-01 -2.46784016e-03 -1.26663147e+02] [ 3.99883924e-03 1.55725893e-04 9.99991993e-01 -5.03468003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5665599949999 meters 0.013771194577048708 Centerline is valid? [True, True] Translation: X:125.37, Y:-126.69, Z:-5.04 [[-7.16767536e-01 -6.97294709e-01 4.93841138e-03 1.25370690e+02] [ 6.97279004e-01 -7.16784543e-01 -4.68069963e-03 -1.26690080e+02] [ 6.80360403e-03 8.84770279e-05 9.99976851e-01 -5.03657402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.626559995 meters 0.01382444037843347 Centerline is valid? [True, True] Translation: X:124.92, Y:-127.16, Z:-4.00 [[-7.80789352e-01 6.24774054e-01 5.03679280e-03 1.24917704e+02] [ 6.24760355e-01 7.80805594e-01 -4.13811792e-03 -1.27164906e+02] [-6.51814469e-03 -8.42099508e-05 -9.99978753e-01 -4.00275788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6865599949999 meters 0.013782523834882961 Centerline is valid? [True, True] Translation: X:124.93, Y:-127.14, Z:-4.00 [[-8.22857305e-01 5.68225349e-01 5.08015722e-03 1.24932780e+02] [ 5.68213932e-01 8.22872983e-01 -3.60299879e-03 -1.27142201e+02] [-6.22763938e-03 -7.81377646e-05 -9.99980605e-01 -4.00347692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.746559995 meters 0.013629383763534859 Centerline is valid? [True, True] Translation: X:124.95, Y:-127.12, Z:-4.00 [[-8.60691145e-01 5.09102541e-01 5.03540022e-03 1.24949357e+02] [ 5.09093352e-01 8.60705872e-01 -3.05964162e-03 -1.27120589e+02] [-5.89166986e-03 -6.99176747e-05 -9.99982642e-01 -4.00424017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8065599949999 meters 0.01335756956324543 Centerline is valid? [True, True] Translation: X:124.96, Y:-127.10, Z:-4.01 [[-8.94340447e-01 4.47361140e-01 4.81410131e-03 1.24960051e+02] [ 4.47354288e-01 8.94353402e-01 -2.47672081e-03 -1.27095886e+02] [-5.41349653e-03 -6.14227352e-05 -9.99985345e-01 -4.00550433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.866559995 meters 0.01332972647026987 Centerline is valid? [True, True] Translation: X:125.26, Y:-126.52, Z:-5.03 [[-8.50479640e-01 -5.25989320e-01 4.42915846e-03 1.25261407e+02] [ 5.25982460e-01 -8.50491172e-01 -2.68672049e-03 -1.26517640e+02] [ 5.18014645e-03 4.46585873e-05 9.99986582e-01 -5.03206106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9265599949999 meters 0.013401006988593344 Centerline is valid? [True, True] Translation: X:124.93, Y:-127.08, Z:-4.01 [[-8.95966828e-01 4.44090688e-01 5.18688535e-03 1.24925943e+02] [ 4.44082818e-01 8.95981839e-01 -2.64473770e-03 -1.27076378e+02] [-5.82185846e-03 -6.61905926e-05 -9.99983051e-01 -4.00661804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.986559995 meters 0.01358619961237214 Centerline is valid? [True, True] Translation: X:124.93, Y:-127.05, Z:-4.01 [[-9.25254573e-01 3.79287467e-01 6.70765001e-03 1.24929942e+02] [ 3.79276831e-01 9.25278882e-01 -2.84174549e-03 -1.27046474e+02] [-7.28428536e-03 -8.52817749e-05 -9.99973466e-01 -4.00559881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0465599949999 meters 0.013384726364278642 Centerline is valid? [True, True] Translation: X:124.94, Y:-127.02, Z:-4.01 [[-9.49883332e-01 3.12491508e-01 8.40912905e-03 1.24942841e+02] [ 3.12478266e-01 9.49920547e-01 -2.87873136e-03 -1.27021613e+02] [-8.88758357e-03 -1.06788874e-04 -9.99960499e-01 -4.00588505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1065599949999 meters 0.013323369026710465 Centerline is valid? [True, True] Translation: X:124.95, Y:-127.00, Z:-4.01 [[-9.69441239e-01 2.45153015e-01 9.14782445e-03 1.24951841e+02] [ 2.45141064e-01 9.69484393e-01 -2.42290136e-03 -1.26995908e+02] [-9.46265461e-03 -1.06353070e-04 -9.99955222e-01 -4.00593874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.166559995 meters 0.013051817230530977 Centerline is valid? [True, True] Translation: X:124.95, Y:-126.97, Z:-4.01 [[-9.83773436e-01 1.79168142e-01 9.41300145e-03 1.24954212e+02] [ 1.79159215e-01 9.83818465e-01 -1.79004117e-03 -1.26968787e+02] [-9.58140298e-03 -7.45690054e-05 -9.99954095e-01 -4.00625584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2265599949999 meters 0.01270578150545673 Centerline is valid? [True, True] Translation: X:124.96, Y:-126.94, Z:-4.01 [[-9.93487257e-01 1.13663912e-01 7.97400380e-03 1.24959846e+02] [ 1.13660058e-01 9.93519257e-01 -9.36334406e-04 -1.26944792e+02] [-8.02875377e-03 -2.39105686e-05 -9.99967769e-01 -4.00787392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.286559995 meters 0.012709536551997906 Centerline is valid? [True, True] Translation: X:124.96, Y:-126.92, Z:-4.01 [[-9.98885061e-01 4.66227779e-02 7.41292129e-03 1.24961561e+02] [ 4.66215370e-02 9.98912567e-01 -3.40209022e-04 -1.26919223e+02] [-7.42072173e-03 5.77207437e-06 -9.99972466e-01 -4.00854898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3465599949999 meters 0.012882222206761655 Centerline is valid? [True, True] Translation: X:124.96, Y:-126.89, Z:-4.01 [[-9.99715310e-01 -2.26507156e-02 7.49962585e-03 1.24957754e+02] [-2.26499338e-02 9.99743439e-01 1.89173802e-04 -1.26891315e+02] [-7.50198667e-03 1.92539171e-05 -9.99971860e-01 -4.00810759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.406559995 meters 0.012958209628225014 Centerline is valid? [True, True] Translation: X:124.95, Y:-126.86, Z:-4.01 [[-9.95617698e-01 -9.31320151e-02 8.47511697e-03 1.24951048e+02] [-9.31284179e-02 9.95653769e-01 8.18959817e-04 -1.26863215e+02] [-8.51455353e-03 2.60966529e-05 -9.99963750e-01 -4.00716638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4665599949999 meters 0.013281290472859456 Centerline is valid? [True, True] Translation: X:124.94, Y:-126.84, Z:-4.00 [[-9.86540620e-01 -1.63215665e-01 9.91226298e-03 1.24937395e+02] [-1.63207059e-01 9.86590414e-01 1.67639323e-03 -1.26836588e+02] [-1.00529573e-02 3.60787205e-05 -9.99949467e-01 -4.00455016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.526559995 meters 0.013372067202805475 Centerline is valid? [True, True] Translation: X:124.92, Y:-126.81, Z:-4.00 [[-9.72330074e-01 -2.33361463e-01 1.08006539e-02 1.24924223e+02] [-2.33346633e-01 9.72390059e-01 2.63113020e-03 -1.26810561e+02] [-1.11164528e-02 3.80308110e-05 -9.99938210e-01 -4.00438315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5865599949999 meters 0.013133613285005223 Centerline is valid? [True, True] Translation: X:124.77, Y:-126.19, Z:-5.03 [[-9.84760549e-01 1.73532689e-01 1.15354373e-02 1.24766639e+02] [-1.73520786e-01 -9.84828110e-01 2.03254181e-03 -1.26192402e+02] [ 1.17131354e-02 -7.11602062e-08 9.99931399e-01 -5.03262483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.646559995 meters 0.013216807951730487 Centerline is valid? [True, True] Translation: X:124.82, Y:-126.83, Z:-4.01 [[-9.70773618e-01 -2.39708428e-01 1.17665860e-02 1.24816347e+02] [-2.39690382e-01 9.70844925e-01 2.94153016e-03 -1.26831936e+02] [-1.21286399e-02 3.52223783e-05 -9.99926445e-01 -4.00532182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7065599949999 meters 0.013008560406256033 Centerline is valid? [True, True] Translation: X:124.79, Y:-126.81, Z:-4.01 [[-9.50937475e-01 -3.09194553e-01 1.08003014e-02 1.24790447e+02] [-3.09174287e-01 9.50998805e-01 3.54018521e-03 -1.26809692e+02] [-1.13656797e-02 2.73193185e-05 -9.99935408e-01 -4.00709228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.766559995 meters 0.013097115847980434 Centerline is valid? [True, True] Translation: X:124.75, Y:-126.79, Z:-4.01 [[-9.26071023e-01 -3.77211269e-01 1.02038442e-02 1.24754351e+02] [-3.77188102e-01 9.26127237e-01 4.18059994e-03 -1.26793835e+02] [-1.10270274e-02 2.27638566e-05 -9.99939200e-01 -4.00728510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8265599949999 meters 0.01293418595541298 Centerline is valid? [True, True] Translation: X:124.70, Y:-126.79, Z:-4.01 [[-8.95383436e-01 -4.45194094e-01 9.52481485e-03 1.24699060e+02] [-4.45168835e-01 8.95434095e-01 4.74235290e-03 -1.26787094e+02] [-1.06401115e-02 6.07350164e-06 -9.99943392e-01 -4.00781732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.886559995 meters 0.012908869251235093 Centerline is valid? [True, True] Translation: X:124.63, Y:-126.79, Z:-4.01 [[-8.58991136e-01 -5.11912233e-01 8.94959339e-03 1.24628807e+02] [-5.11884673e-01 8.59037756e-01 5.31181180e-03 -1.26792247e+02] [-1.04072201e-02 -1.83604391e-05 -9.99945843e-01 -4.00846682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9465599949999 meters 0.012976518515150722 Centerline is valid? [True, True] Translation: X:124.56, Y:-126.80, Z:-4.01 [[-8.18240313e-01 -5.74806638e-01 8.95088740e-03 1.24560482e+02] [-5.74772629e-01 8.18289269e-01 6.25270602e-03 -1.26802247e+02] [-1.09185120e-02 -2.85089540e-05 -9.99940391e-01 -4.00866108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.006559995 meters 0.012893834839345615 Centerline is valid? [True, True] Translation: X:124.48, Y:-126.83, Z:-4.01 [[-7.73386741e-01 -6.33873484e-01 8.79518950e-03 1.24482381e+02] [-6.33832901e-01 7.73436750e-01 7.17269917e-03 -1.26825899e+02] [-1.13491066e-02 -2.74100487e-05 -9.99935596e-01 -4.00778984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0665599949999 meters 0.012830921031818859 Centerline is valid? [True, True] Translation: X:124.41, Y:-126.86, Z:-4.01 [[-7.25882726e-01 -6.87771082e-01 8.07510543e-03 1.24406116e+02] [-6.87728423e-01 7.25927641e-01 7.66006220e-03 -1.26858653e+02] [-1.11303115e-02 6.82730385e-06 -9.99938056e-01 -4.00821466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.126559995 meters 0.013033634422132897 Centerline is valid? [True, True] Translation: X:124.33, Y:-126.90, Z:-4.01 [[-6.74518912e-01 -7.38215556e-01 7.87596922e-03 1.24328166e+02] [-7.38164454e-01 6.74564890e-01 8.68605191e-03 -1.26902546e+02] [-1.17250309e-02 4.51457551e-05 -9.99931258e-01 -4.00802347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1865599949999 meters 0.013094317855819293 Centerline is valid? [True, True] Translation: X:124.25, Y:-126.96, Z:-4.01 [[-6.18217214e-01 -7.85972072e-01 7.44160074e-03 1.24245768e+02] [-7.85913847e-01 6.18261997e-01 9.56698402e-03 -1.26959069e+02] [-1.21202412e-02 6.60171455e-05 -9.99926545e-01 -4.00740260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.246559995 meters 0.013093389516751548 Centerline is valid? [True, True] Translation: X:124.17, Y:-127.02, Z:-4.01 [[-5.56794491e-01 -8.30621667e-01 6.89509946e-03 1.24167837e+02] [-8.30556533e-01 5.56837178e-01 1.04020525e-02 -1.27019687e+02] [-1.24796179e-02 6.50356231e-05 -9.99922124e-01 -4.00715314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3065599949999 meters 0.012974363362540643 Centerline is valid? [True, True] Translation: X:124.09, Y:-127.10, Z:-4.01 [[-4.90733183e-01 -8.71289413e-01 5.97506027e-03 1.24087125e+02] [-8.71223826e-01 4.90769555e-01 1.06905634e-02 -1.27098463e+02] [-1.22469524e-02 4.05993334e-05 -9.99925002e-01 -4.00745714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.366559995 meters 0.012988739681959878 Centerline is valid? [True, True] Translation: X:124.02, Y:-127.17, Z:-4.01 [[-4.19973278e-01 -9.07522098e-01 5.10767282e-03 1.24016303e+02] [-9.07455053e-01 4.20004336e-01 1.10310670e-02 -1.27173235e+02] [-1.21561818e-02 -2.23014598e-06 -9.99926111e-01 -4.00720608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4265599949999 meters 0.012982876457844152 Centerline is valid? [True, True] Translation: X:123.95, Y:-127.26, Z:-4.01 [[-3.45752944e-01 -9.38315031e-01 4.45017341e-03 1.23947290e+02] [-9.38239413e-01 3.45781578e-01 1.19123413e-02 -1.27262111e+02] [-1.27163169e-02 -5.66010122e-05 -9.99919143e-01 -4.00692107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.486559995 meters 0.013336196320363675 Centerline is valid? [True, True] Translation: X:123.89, Y:-127.36, Z:-4.01 [[-2.69724208e-01 -9.62932392e-01 3.17191008e-03 1.23885723e+02] [-9.62869867e-01 2.69742841e-01 1.09735517e-02 -1.27355894e+02] [-1.14223885e-02 -9.43040857e-05 -9.99934758e-01 -4.00768213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5465599949999 meters 0.01349278247070345 Centerline is valid? [True, True] Translation: X:123.83, Y:-127.46, Z:-4.01 [[-1.93104264e-01 -9.81175852e-01 2.16556640e-03 1.23831779e+02] [-9.81120618e-01 1.93116373e-01 1.04115287e-02 -1.27456802e+02] [-1.06337469e-02 -1.14171262e-04 -9.99943454e-01 -4.00845059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6065599949999 meters 0.014096842785030265 Centerline is valid? [True, True] Translation: X:123.79, Y:-127.56, Z:-4.01 [[-1.14379674e-01 -9.93436237e-01 1.31639408e-03 1.23786064e+02] [-9.93384181e-01 1.14387158e-01 1.01709329e-02 -1.27562111e+02] [-1.02547519e-02 -1.44337069e-04 -9.99947408e-01 -4.00919627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.666559995 meters 0.01504795418422014 Centerline is valid? [True, True] Translation: X:123.75, Y:-127.67, Z:-4.01 [[-3.57541869e-02 -9.99360500e-01 4.78213845e-04 1.23749200e+02] [-9.99318776e-01 3.57570645e-02 9.13327867e-03 -1.27671976e+02] [-9.14453746e-03 -1.51335122e-04 -9.99958176e-01 -4.00997164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7265599949999 meters 0.014907075913582238 Centerline is valid? [True, True] Translation: X:123.72, Y:-127.78, Z:-4.01 [[ 4.27323834e-02 -9.99086533e-01 -2.08389124e-04 1.23721751e+02] [-9.99049235e-01 -4.27325890e-02 8.63433502e-03 -1.27782112e+02] [-8.63535284e-03 -1.60774719e-04 -9.99962702e-01 -4.01062105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.786559995 meters 0.015271678832235252 Centerline is valid? [True, True] Translation: X:123.70, Y:-127.90, Z:-4.01 [[ 1.21284671e-01 -9.92617363e-01 -8.94327595e-04 1.23702401e+02] [-9.92577847e-01 -1.21287825e-01 8.85901125e-03 -1.27900165e+02] [-8.90207943e-03 -1.86772511e-04 -9.99960358e-01 -4.01009257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8465599949999 meters 0.01701148046525481 Centerline is valid? [True, True] Translation: X:123.69, Y:-128.01, Z:-4.01 [[ 1.99281987e-01 -9.79940607e-01 -1.75982135e-03 1.23691020e+02] [-9.79891128e-01 -1.99289615e-01 9.85018877e-03 -1.28011081e+02] [-1.00033141e-02 -2.38531861e-04 -9.99949937e-01 -4.00911647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.906559995 meters 0.017157061611464765 Centerline is valid? [True, True] Translation: X:123.69, Y:-128.12, Z:-4.01 [[ 2.75309865e-01 -9.61349300e-01 -3.46444402e-03 1.23691837e+02] [-9.61256233e-01 -2.75331435e-01 1.33811613e-02 -1.28124024e+02] [-1.38178403e-02 -3.53747294e-04 -9.99904467e-01 -4.00610482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9665599949999 meters 0.016614839580761476 Centerline is valid? [True, True] Translation: X:123.70, Y:-128.24, Z:-4.01 [[ 3.47285015e-01 -9.37747540e-01 -4.76127892e-03 1.23703852e+02] [-9.37644562e-01 -3.47317461e-01 1.39016616e-02 -1.28239386e+02] [-1.46899243e-02 -3.63451458e-04 -9.99892031e-01 -4.00545310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.026559995 meters 0.01594266214264083 Centerline is valid? [True, True] Translation: X:123.73, Y:-128.35, Z:-4.01 [[ 4.12943064e-01 -9.10739327e-01 -5.64829266e-03 1.23725479e+02] [-9.10644898e-01 -4.12981601e-01 1.31174062e-02 -1.28349464e+02] [-1.42791786e-02 -2.73153008e-04 -9.99898010e-01 -4.00524819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0865599949999 meters 0.013673938021435125 Centerline is valid? [True, True] Translation: X:123.76, Y:-128.45, Z:-4.01 [[ 4.74298171e-01 -8.80342949e-01 -6.12673099e-03 1.23757478e+02] [-8.80265543e-01 -4.74337719e-01 1.16748672e-02 -1.28450983e+02] [-1.31840266e-02 -1.44217963e-04 -9.99913077e-01 -4.00730819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.146559995 meters 0.013215432835314848 Centerline is valid? [True, True] Translation: X:123.79, Y:-128.56, Z:-4.01 [[ 5.38025398e-01 -8.42909765e-01 -5.63907401e-03 1.23791009e+02] [-8.42861747e-01 -5.38054942e-01 8.99749302e-03 -1.28559588e+02] [-1.06182064e-02 -8.79199918e-05 -9.99943621e-01 -4.00969617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2065599949999 meters 0.01306134297298156 Centerline is valid? [True, True] Translation: X:123.83, Y:-128.66, Z:-4.01 [[ 5.99663988e-01 -8.00235311e-01 -5.15258748e-03 1.23828008e+02] [-8.00204917e-01 -5.99686121e-01 6.97472902e-03 -1.28662183e+02] [-8.67135964e-03 -5.93679824e-05 -9.99962401e-01 -4.01103589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.266559995 meters 0.012971728273680094 Centerline is valid? [True, True] Translation: X:123.88, Y:-128.77, Z:-4.01 [[ 6.59165842e-01 -7.51972000e-01 -6.20521802e-03 1.23875782e+02] [-7.51937699e-01 -6.59195045e-01 7.18258397e-03 -1.28766004e+02] [-9.49155100e-03 -6.85766501e-05 -9.99954952e-01 -4.01035248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3265599949999 meters 0.013171215143305758 Centerline is valid? [True, True] Translation: X:123.93, Y:-128.86, Z:-4.01 [[ 7.14638673e-01 -6.99452651e-01 -7.58659540e-03 1.23926346e+02] [-6.99412039e-01 -7.14678937e-01 7.53769954e-03 -1.28859510e+02] [-1.06942439e-02 -8.05754364e-05 -9.99942812e-01 -4.00935458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.386559995 meters 0.013241495037570154 Centerline is valid? [True, True] Translation: X:123.94, Y:-128.89, Z:-4.01 [[ 7.67471033e-01 -6.41023365e-01 -8.78968722e-03 1.23944855e+02] [-6.40979942e-01 -7.67521359e-01 7.46172211e-03 -1.28890025e+02] [-1.15294109e-02 -9.26423704e-05 -9.99933530e-01 -4.00810056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4465599949999 meters 0.013341218186122147 Centerline is valid? [True, True] Translation: X:123.97, Y:-128.92, Z:-4.01 [[ 8.15003595e-01 -5.79380073e-01 -9.37398338e-03 1.23965892e+02] [-5.79340500e-01 -8.15057497e-01 6.77213688e-03 -1.28919051e+02] [-1.15639766e-02 -8.85876814e-05 -9.99933131e-01 -4.00752451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.506559995 meters 0.013279777988763711 Centerline is valid? [True, True] Translation: X:123.99, Y:-128.94, Z:-4.01 [[ 8.57499910e-01 -5.14403660e-01 -9.09834734e-03 1.23992050e+02] [-5.14373775e-01 -8.57548173e-01 5.54525532e-03 -1.28942185e+02] [-1.06547708e-02 -7.51046668e-05 -9.99943234e-01 -4.00875967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5665599949999 meters 0.013325677854352819 Centerline is valid? [True, True] Translation: X:124.02, Y:-128.97, Z:-4.01 [[ 8.95994498e-01 -4.44016513e-01 -6.57228678e-03 1.24018080e+02] [-4.44004025e-01 -8.96018600e-01 3.33079414e-03 -1.28967001e+02] [-7.36781879e-03 -6.62514386e-05 -9.99972855e-01 -4.01182708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.626559995 meters 0.014252143924155379 Centerline is valid? [True, True] Translation: X:124.04, Y:-128.99, Z:-4.01 [[ 9.29980082e-01 -3.67533743e-01 -7.48295991e-03 1.24043836e+02] [-3.67520831e-01 -9.30010180e-01 3.08293729e-03 -1.28991828e+02] [-8.09231237e-03 -1.16926627e-04 -9.99967250e-01 -4.01074033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6865599949999 meters 0.014919013274534654 Centerline is valid? [True, True] Translation: X:124.07, Y:-129.01, Z:-4.01 [[ 9.57207151e-01 -2.89276400e-01 -8.58106340e-03 1.24073332e+02] [-2.89263160e-01 -9.57245598e-01 2.77294840e-03 -1.29013757e+02] [-9.01633370e-03 -1.72100522e-04 -9.99959337e-01 -4.01073816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.746559995 meters 0.016815069539420833 Centerline is valid? [True, True] Translation: X:124.10, Y:-129.04, Z:-4.01 [[ 9.78207421e-01 -2.07386498e-01 -1.00539587e-02 1.24104075e+02] [-2.07372777e-01 -9.78259051e-01 2.39995211e-03 -1.29035197e+02] [-1.03330938e-02 -2.62733626e-04 -9.99946578e-01 -4.00956000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8065599949999 meters 0.01724917536164761 Centerline is valid? [True, True] Translation: X:124.14, Y:-129.05, Z:-4.01 [[ 9.91710449e-01 -1.28050164e-01 -1.06555635e-02 1.24136691e+02] [-1.28039532e-01 -9.91767647e-01 1.67687025e-03 -1.29051539e+02] [-1.07825667e-02 -2.98636375e-04 -9.99941822e-01 -4.00927130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.866559995 meters 0.01846115301943619 Centerline is valid? [True, True] Translation: X:124.17, Y:-129.07, Z:-4.01 [[ 9.98855078e-01 -4.63596068e-02 -1.18033971e-02 1.24168150e+02] [-4.63519764e-02 -9.98924746e-01 9.19345949e-04 -1.29066690e+02] [-1.18333260e-02 -3.71182583e-04 -9.99929915e-01 -4.00792409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9265599949999 meters 0.019807754853744648 Centerline is valid? [True, True] Translation: X:124.20, Y:-129.08, Z:-4.01 [[ 9.99321440e-01 3.44341024e-02 -1.30748453e-02 1.24200019e+02] [ 3.44369407e-02 -9.99406873e-01 -8.05679890e-06 -1.29076152e+02] [-1.30673677e-02 -4.42206342e-04 -9.99914521e-01 -4.00657142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.986559995 meters 0.01968011064443726 Centerline is valid? [True, True] Translation: X:124.23, Y:-129.08, Z:-4.01 [[ 9.93682548e-01 1.11501090e-01 -1.27476127e-02 1.24232250e+02] [ 1.11497313e-01 -9.93764223e-01 -1.00884800e-03 -1.29079257e+02] [-1.27806091e-02 -4.18849909e-04 -9.99918237e-01 -4.00715639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0465599949999 meters 0.01815642179808025 Centerline is valid? [True, True] Translation: X:124.26, Y:-129.08, Z:-4.01 [[ 9.82867774e-01 1.83932024e-01 -1.18300490e-02 1.24264601e+02] [ 1.83922745e-01 -9.82938910e-01 -1.87689452e-03 -1.29075430e+02] [-1.19734364e-02 -3.31075947e-04 -9.99928261e-01 -4.00804850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1065599949999 meters 0.015178483983009573 Centerline is valid? [True, True] Translation: X:124.30, Y:-129.07, Z:-4.01 [[ 9.67503265e-01 2.52639101e-01 -1.05316730e-02 1.24295645e+02] [ 2.52626530e-01 -9.67560561e-01 -2.52928059e-03 -1.29067025e+02] [-1.08290266e-02 -2.13492769e-04 -9.99941342e-01 -4.01010907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.166559995 meters 0.013590443984676577 Centerline is valid? [True, True] Translation: X:124.33, Y:-129.06, Z:-4.01 [[ 9.47610856e-01 3.19238102e-01 -1.09863451e-02 1.24325027e+02] [ 3.19218186e-01 -9.47674532e-01 -3.56813305e-03 -1.29056424e+02] [-1.15505635e-02 -1.25839536e-04 -9.99933282e-01 -4.01055692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2265599949999 meters 0.013342956323575891 Centerline is valid? [True, True] Translation: X:124.35, Y:-129.05, Z:-4.01 [[ 9.21457216e-01 3.88333193e-01 -1.06738456e-02 1.24354827e+02] [ 3.88308078e-01 -9.21519032e-01 -4.41705631e-03 -1.29052074e+02] [-1.15514414e-02 -7.46120592e-05 -9.99933277e-01 -4.00840237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.286559995 meters 0.012943448903659512 Centerline is valid? [True, True] Translation: X:124.38, Y:-129.04, Z:-4.01 [[ 8.90321489e-01 4.55194023e-01 -1.12270860e-02 1.24384905e+02] [ 4.55158164e-01 -8.90392274e-01 -5.71357513e-03 -1.29044023e+02] [-1.25972959e-02 -2.31811478e-05 -9.99920651e-01 -4.01096892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3465599949999 meters 0.013388789027594418 Centerline is valid? [True, True] Translation: X:124.41, Y:-129.03, Z:-4.01 [[ 8.55155965e-01 5.18188666e-01 -1.37398170e-02 1.24414592e+02] [ 5.18120464e-01 -8.55266334e-01 -8.40731822e-03 -1.29033718e+02] [-1.61077799e-02 7.06879718e-05 -9.99870259e-01 -4.00941129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.406559995 meters 0.015462071001977905 Centerline is valid? [True, True] Translation: X:124.44, Y:-129.02, Z:-4.01 [[ 8.19577130e-01 5.72832644e-01 -1.24936254e-02 1.24441435e+02] [ 5.72761042e-01 -8.19672306e-01 -9.06088434e-03 -1.29021716e+02] [-1.54310491e-02 2.70231667e-04 -9.99880898e-01 -4.01010016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4665599949999 meters 0.017061445790523766 Centerline is valid? [True, True] Translation: X:124.47, Y:-129.01, Z:-4.01 [[ 7.75943209e-01 6.30725655e-01 -9.86328472e-03 1.24468913e+02] [ 6.30669696e-01 -7.76005835e-01 -8.40701269e-03 -1.29008159e+02] [-1.29564851e-02 3.02889628e-04 -9.99916015e-01 -4.01392432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.526559995 meters 0.016159981053179583 Centerline is valid? [True, True] Translation: X:124.50, Y:-129.00, Z:-4.02 [[ 7.23977319e-01 6.89763660e-01 -9.10683843e-03 1.24499581e+02] [ 6.89703889e-01 -7.24034533e-01 -9.08517627e-03 -1.28997084e+02] [-1.28602900e-02 2.96439676e-04 -9.99917259e-01 -4.01550992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5865599949999 meters 0.01643725633879958 Centerline is valid? [True, True] Translation: X:124.53, Y:-128.98, Z:-4.02 [[ 6.67087130e-01 7.44937303e-01 -7.94829726e-03 1.24526616e+02] [ 7.44879538e-01 -6.67134425e-01 -9.28074421e-03 -1.28982524e+02] [-1.22161553e-02 2.70541023e-04 -9.99925343e-01 -4.01564282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.646559995 meters 0.015464588841786966 Centerline is valid? [True, True] Translation: X:124.56, Y:-128.97, Z:-4.02 [[ 6.03654623e-01 7.97212472e-01 -7.30558004e-03 1.24558130e+02] [ 7.97149483e-01 -6.03698785e-01 -1.00239382e-02 -1.28968540e+02] [-1.24015783e-02 2.27357251e-04 -9.99923072e-01 -4.01634454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7065599949999 meters 0.013971406433862165 Centerline is valid? [True, True] Translation: X:124.59, Y:-128.96, Z:-4.02 [[ 5.32139348e-01 8.46624102e-01 -7.43941154e-03 1.24593038e+02] [ 8.46537704e-01 -5.32191329e-01 -1.20956736e-02 -1.28955113e+02] [-1.41996791e-02 1.38841493e-04 -9.99899170e-01 -4.01514662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.766559995 meters 0.013185291291612812 Centerline is valid? [True, True] Translation: X:124.63, Y:-128.94, Z:-4.02 [[ 4.57297973e-01 8.89291998e-01 -6.18920465e-03 1.24625857e+02] [ 8.89209767e-01 -4.57339854e-01 -1.20933388e-02 -1.28937269e+02] [-1.35850794e-02 2.67580892e-05 -9.99907718e-01 -4.01682411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8265599949999 meters 0.013165796085708443 Centerline is valid? [True, True] Translation: X:124.65, Y:-128.91, Z:-4.02 [[ 3.81769192e-01 9.24244113e-01 -5.01024667e-03 1.24653574e+02] [ 9.24165826e-01 -3.81802066e-01 -1.20295243e-02 -1.28914246e+02] [-1.30311395e-02 -3.77969813e-05 -9.99915090e-01 -4.01686296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.886559995 meters 0.013917017821764136 Centerline is valid? [True, True] Translation: X:124.69, Y:-128.89, Z:-4.02 [[ 2.99646472e-01 9.54042331e-01 -3.90165438e-03 1.24685288e+02] [ 9.53967828e-01 -2.99671835e-01 -1.19237324e-02 -1.28890447e+02] [-1.25449614e-02 -1.49148420e-04 -9.99921298e-01 -4.01659549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9465599949999 meters 0.01528526554403515 Centerline is valid? [True, True] Translation: X:124.71, Y:-128.86, Z:-4.02 [[ 2.18860990e-01 9.75751958e-01 -2.82539980e-03 1.24709285e+02] [ 9.75682383e-01 -2.18879129e-01 -1.16539110e-02 -1.28863510e+02] [-1.19897475e-02 -2.06106309e-04 -9.99928099e-01 -4.01600961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.006559995 meters 0.016012760732680625 Centerline is valid? [True, True] Translation: X:124.73, Y:-128.83, Z:-4.02 [[ 1.37525083e-01 9.90496451e-01 -1.90574099e-03 1.24729882e+02] [ 9.90425622e-01 -1.37538045e-01 -1.18479042e-02 -1.28833272e+02] [-1.19974189e-02 -2.58110702e-04 -9.99927995e-01 -4.01566461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0665599949999 meters 0.017193242721484196 Centerline is valid? [True, True] Translation: X:124.75, Y:-128.80, Z:-4.01 [[ 5.63937570e-02 9.98407772e-01 -1.29038997e-03 1.24745382e+02] [ 9.98281534e-01 -5.64071522e-02 -1.58812139e-02 -1.28799925e+02] [-1.59287146e-02 -3.92571157e-04 -9.99873053e-01 -4.01162677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.126559995 meters 0.01756838811133699 Centerline is valid? [True, True] Translation: X:124.75, Y:-128.77, Z:-4.01 [[-2.14849603e-02 9.99769171e-01 -4.50905498e-05 1.24754090e+02] [ 9.99628787e-01 2.14811877e-02 -1.67584888e-02 -1.28766837e+02] [-1.67536518e-02 -4.05129278e-04 -9.99859566e-01 -4.00968970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1865599949999 meters 0.01756838811133699 Centerline is valid? [True, True] Translation: X:124.76, Y:-128.73, Z:-4.01 [[-9.97457784e-02 9.95012146e-01 1.26817587e-03 1.24757324e+02] [ 9.94871898e-01 9.97530172e-02 -1.67105178e-02 -1.28732567e+02] [-1.67536725e-02 -4.05131067e-04 -9.99859565e-01 -4.00968932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.246559995 meters 0.01685497065741918 Centerline is valid? [True, True] Translation: X:124.76, Y:-128.70, Z:-4.01 [[-1.75140510e-01 9.84540180e-01 2.53696754e-03 1.24755231e+02] [ 9.84404843e-01 1.75158509e-01 -1.63279475e-02 -1.28698176e+02] [-1.65198918e-02 -3.62281914e-04 -9.99863472e-01 -4.01029358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3065599949999 meters 0.015112169997302182 Centerline is valid? [True, True] Translation: X:124.75, Y:-128.67, Z:-4.01 [[-2.46267834e-01 9.69196646e-01 3.16465297e-03 1.24747493e+02] [ 9.69104573e-01 2.46288066e-01 -1.33609976e-02 -1.28665326e+02] [-1.37288503e-02 -2.23504286e-04 -9.99905730e-01 -4.01390383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.366559995 meters 0.013522134596401269 Centerline is valid? [True, True] Translation: X:124.74, Y:-128.63, Z:-4.02 [[-3.13904556e-01 9.49447090e-01 3.76208065e-03 1.24739532e+02] [ 9.49374925e-01 3.13927082e-01 -1.17063319e-02 -1.28632892e+02] [-1.22955618e-02 -1.03045894e-04 -9.99924401e-01 -4.01586749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4265599949999 meters 0.01326738974290836 Centerline is valid? [True, True] Translation: X:124.73, Y:-128.60, Z:-4.02 [[-3.80237298e-01 9.24876438e-01 4.81369786e-03 1.24729555e+02] [ 9.24802031e-01 3.80267767e-01 -1.17315162e-02 -1.28601684e+02] [-1.26806971e-02 -9.04248180e-06 -9.99919597e-01 -4.01537498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.486559995 meters 0.013204124982722519 Centerline is valid? [True, True] Translation: X:124.72, Y:-128.57, Z:-4.02 [[-4.48716397e-01 8.93656008e-01 5.70395918e-03 1.24720862e+02] [ 8.93584673e-01 4.48752648e-01 -1.12912454e-02 -1.28570063e+02] [-1.26501561e-02 3.04035371e-05 -9.99919983e-01 -4.01588024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5465599949999 meters 0.013286725444598236 Centerline is valid? [True, True] Translation: X:124.71, Y:-128.54, Z:-4.02 [[-5.16260589e-01 8.56407148e-01 6.46544189e-03 1.24710011e+02] [ 8.56341099e-01 5.16301071e-01 -1.06360765e-02 -1.28538982e+02] [-1.24469265e-02 4.56364800e-05 -9.99922533e-01 -4.01562042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6065599949999 meters 0.013354754531142111 Centerline is valid? [True, True] Translation: X:124.70, Y:-128.51, Z:-4.02 [[-5.81874086e-01 8.13248123e-01 7.07377268e-03 1.24697427e+02] [ 8.13188921e-01 5.81917080e-01 -9.81276684e-03 -1.28508653e+02] [-1.20965634e-02 4.25188432e-05 -9.99926833e-01 -4.01558336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.666559995 meters 0.013154633472897791 Centerline is valid? [True, True] Translation: X:124.69, Y:-128.48, Z:-4.02 [[-6.45224511e-01 7.63954380e-01 7.68352640e-03 1.24685755e+02] [ 7.63900575e-01 6.45270258e-01 -9.06678698e-03 -1.28476852e+02] [-1.18845627e-02 1.93370348e-05 -9.99929376e-01 -4.01640108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7265599949999 meters 0.013159120103417412 Centerline is valid? [True, True] Translation: X:124.67, Y:-128.45, Z:-4.02 [[-7.04887397e-01 7.09272330e-01 8.15594444e-03 1.24671275e+02] [ 7.09224681e-01 7.04934579e-01 -8.22135337e-03 -1.28447712e+02] [-1.15805857e-02 -1.07312806e-05 -9.99932943e-01 -4.01587858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.786559995 meters 0.013221183727150431 Centerline is valid? [True, True] Translation: X:124.65, Y:-128.42, Z:-4.02 [[-7.59677362e-01 6.50250906e-01 8.00403608e-03 1.24653137e+02] [ 6.50214359e-01 7.59719526e-01 -6.89412673e-03 -1.28420520e+02] [-1.05637347e-02 -3.29728154e-05 -9.99944202e-01 -4.01599684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8465599949999 meters 0.013240621982368505 Centerline is valid? [True, True] Translation: X:124.66, Y:-128.39, Z:-4.02 [[-8.04831680e-01 5.93455427e-01 7.52480810e-03 1.24664026e+02] [ 5.93428959e-01 8.04866855e-01 -5.60502970e-03 -1.28394936e+02] [-9.38280393e-03 -4.56664287e-05 -9.99955980e-01 -4.01738552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.906559995 meters 0.013302731977224968 Centerline is valid? [True, True] Translation: X:124.68, Y:-128.38, Z:-4.02 [[-8.45175897e-01 5.34443325e-01 6.93074687e-03 1.24679048e+02] [ 5.34424915e-01 8.45204313e-01 -4.43611371e-03 -1.28376261e+02] [-8.22874851e-03 -4.53325777e-05 -9.99966142e-01 -4.01729883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9665599949999 meters 0.01331334379740778 Centerline is valid? [True, True] Translation: X:125.00, Y:-127.87, Z:-5.02 [[-8.01459548e-01 -5.98018643e-01 6.02458150e-03 1.25002988e+02] [ 5.98001742e-01 -8.01482191e-01 -4.49593051e-03 -1.27871109e+02] [ 7.51724505e-03 -5.96203786e-07 9.99971745e-01 -5.02105723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.026559995 meters 0.013234911886204903 Centerline is valid? [True, True] Translation: X:124.99, Y:-127.89, Z:-5.02 [[-7.61046821e-01 -6.48678076e-01 4.94869834e-03 1.24991201e+02] [ 6.48664466e-01 -7.61062910e-01 -4.20213097e-03 -1.27892775e+02] [ 6.49210099e-03 1.20263512e-05 9.99978926e-01 -5.02076533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0865599949999 meters 0.013154176211105076 Centerline is valid? [True, True] Translation: X:124.59, Y:-128.36, Z:-4.02 [[-8.06841352e-01 5.90749725e-01 4.66863559e-03 1.24590300e+02] [ 5.90739790e-01 8.06854859e-01 -3.42605197e-03 -1.28363658e+02] [-5.79085057e-03 -6.33159543e-06 -9.99983233e-01 -4.01757770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.146559995 meters 0.013112383296244288 Centerline is valid? [True, True] Translation: X:124.60, Y:-128.34, Z:-4.02 [[-8.47519081e-01 5.30739187e-01 5.22714234e-03 1.24604118e+02] [ 5.30728963e-01 8.47535200e-01 -3.29441941e-03 -1.28343211e+02] [-6.17866461e-03 -1.78874789e-05 -9.99980912e-01 -4.01645600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2065599949999 meters 0.013240560697629328 Centerline is valid? [True, True] Translation: X:124.61, Y:-128.32, Z:-4.01 [[-8.84514082e-01 4.66463477e-01 6.83100921e-03 1.24611540e+02] [ 4.66449145e-01 8.84540458e-01 -3.65692419e-03 -1.28315805e+02] [-7.74812558e-03 -4.82825399e-05 -9.99969982e-01 -4.01499408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.266559995 meters 0.013862771464086926 Centerline is valid? [True, True] Translation: X:124.62, Y:-128.29, Z:-4.01 [[-9.17167017e-01 3.98410213e-01 8.60031201e-03 1.24621698e+02] [ 3.98391651e-01 9.17207333e-01 -3.84717917e-03 -1.28288567e+02] [-9.42102472e-03 -1.02213334e-04 -9.99955616e-01 -4.01295027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3265599949999 meters 0.015272618086691652 Centerline is valid? [True, True] Translation: X:124.63, Y:-128.26, Z:-4.01 [[-9.45133365e-01 3.26504981e-01 1.08360431e-02 1.24631756e+02] [ 3.26480986e-01 9.45195458e-01 -3.96382249e-03 -1.28260279e+02] [-1.15363865e-02 -2.08578844e-04 -9.99933432e-01 -4.01043506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.386559995 meters 0.017018023135853245 Centerline is valid? [True, True] Translation: X:124.63, Y:-128.23, Z:-4.01 [[-9.67436126e-01 2.52865695e-01 1.12375318e-02 1.24633180e+02] [ 2.52845232e-01 9.67501349e-01 -3.22933948e-03 -1.28232390e+02] [-1.16889164e-02 -2.82823339e-04 -9.99931642e-01 -4.00976060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4465599949999 meters 0.017178880446563786 Centerline is valid? [True, True] Translation: X:124.63, Y:-128.21, Z:-4.01 [[-9.83644200e-01 1.79811316e-01 1.05819541e-02 1.24632805e+02] [ 1.79797583e-01 9.83701072e-01 -2.24291696e-03 -1.28208508e+02] [-1.08127814e-02 -3.03622502e-04 -9.99941494e-01 -4.01185834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.506559995 meters 0.018034812668398757 Centerline is valid? [True, True] Translation: X:124.64, Y:-128.18, Z:-4.01 [[-9.94145445e-01 1.07634868e-01 9.46409923e-03 1.24636106e+02] [ 1.07627243e-01 9.94190451e-01 -1.31281655e-03 -1.28183634e+02] [-9.55042192e-03 -2.86535681e-04 -9.99954353e-01 -4.01281121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5665599949999 meters 0.022186346109456887 Centerline is valid? [True, True] Translation: X:124.63, Y:-128.15, Z:-4.01 [[-9.99376265e-01 3.42779180e-02 8.49146821e-03 1.24633422e+02] [ 3.42743275e-02 9.99412301e-01 -5.68044397e-04 -1.28154485e+02] [-8.50594916e-03 -2.76650726e-04 -9.99963786e-01 -4.01301370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.626559995 meters 0.02015314008293126 Centerline is valid? [True, True] Translation: X:124.67, Y:-127.53, Z:-5.02 [[-9.85883191e-01 -1.67204264e-01 8.77878036e-03 1.24673888e+02] [ 1.67200431e-01 -9.85922227e-01 -1.17391766e-03 -1.27528313e+02] [ 8.85147872e-03 3.10470169e-04 9.99960777e-01 -5.02493398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6865599949999 meters 0.020742267785413698 Centerline is valid? [True, True] Translation: X:124.58, Y:-128.16, Z:-4.01 [[-9.99547983e-01 2.83707681e-02 9.94629305e-03 1.24580534e+02] [ 2.83659435e-02 9.99597410e-01 -6.25821770e-04 -1.28160504e+02] [-9.96004382e-03 -3.43402901e-04 -9.99950339e-01 -4.01215825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.746559995 meters 0.021141340717798048 Centerline is valid? [True, True] Translation: X:124.57, Y:-128.14, Z:-4.01 [[-9.98969830e-01 -4.37483472e-02 1.20565388e-02 1.24571553e+02] [-4.37503435e-02 9.99042491e-01 9.82509952e-05 -1.28135693e+02] [-1.20492928e-02 -4.29327933e-04 -9.99927313e-01 -4.01002931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8065599949999 meters 0.021145146729921124 Centerline is valid? [True, True] Translation: X:124.56, Y:-128.11, Z:-4.01 [[-9.93255575e-01 -1.15165004e-01 1.34307314e-02 1.24558037e+02] [-1.15161096e-01 9.93346256e-01 1.06662960e-03 -1.28112040e+02] [-1.34642052e-02 -4.87261947e-04 -9.99909235e-01 -4.00916844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.866559995 meters 0.018609843547913507 Centerline is valid? [True, True] Translation: X:124.52, Y:-127.46, Z:-5.03 [[-9.99658042e-01 -2.19426148e-02 1.42239348e-02 1.24522735e+02] [ 2.19483933e-02 -9.99759074e-01 2.50259374e-04 -1.27459168e+02] [ 1.42150166e-02 5.62366311e-04 9.99898803e-01 -5.02847939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9265599949999 meters 0.017173214914045217 Centerline is valid? [True, True] Translation: X:124.50, Y:-128.13, Z:-4.01 [[-9.93542441e-01 -1.12636883e-01 1.36510627e-02 1.24504940e+02] [-1.12631671e-01 9.93636140e-01 1.15239752e-03 -1.28130583e+02] [-1.36939917e-02 -3.92586163e-04 -9.99906156e-01 -4.01060821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.986559995 meters 0.018184680030569122 Centerline is valid? [True, True] Translation: X:124.45, Y:-127.46, Z:-5.03 [[-9.99875707e-01 -8.42865040e-03 1.33240178e-02 1.24451888e+02] [ 8.43268031e-03 -9.99964414e-01 2.46301121e-04 -1.27459036e+02] [ 1.33214677e-02 3.58627690e-04 9.99911201e-01 -5.02901269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0465599949999 meters 0.015478578526729948 Centerline is valid? [True, True] Translation: X:124.43, Y:-128.14, Z:-4.01 [[-9.93826938e-01 -1.10339877e-01 1.15381347e-02 1.24432696e+02] [-1.10335328e-01 9.93893883e-01 1.03199126e-03 -1.28142274e+02] [-1.15815513e-02 -2.47443165e-04 -9.99932901e-01 -4.01255279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1065599949999 meters 0.014898400087402652 Centerline is valid? [True, True] Translation: X:124.38, Y:-127.46, Z:-5.02 [[-9.99936092e-01 2.67849973e-03 1.09835267e-02 1.24381027e+02] [-2.67617995e-03 -9.99996394e-01 2.25897952e-04 -1.27459445e+02] [ 1.09840922e-02 1.96489621e-04 9.99939654e-01 -5.02474336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.166559995 meters 0.014474572269890929 Centerline is valid? [True, True] Translation: X:124.36, Y:-128.15, Z:-4.01 [[-9.93694235e-01 -1.11586133e-01 1.09682894e-02 1.24362837e+02] [-1.11581470e-01 9.93754747e-01 1.03803165e-03 -1.28149603e+02] [-1.10156196e-02 -1.92371786e-04 -9.99939308e-01 -4.01356912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2265599949999 meters 0.014129754669171308 Centerline is valid? [True, True] Translation: X:124.36, Y:-128.12, Z:-4.01 [[-9.83573837e-01 -1.80170581e-01 1.10031626e-02 1.24355322e+02] [-1.80161287e-01 9.83635365e-01 1.83832801e-03 -1.28124333e+02] [-1.11543125e-02 -1.74212601e-04 -9.99937774e-01 -4.01364904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.286559995 meters 0.013984939145013515 Centerline is valid? [True, True] Translation: X:124.34, Y:-128.10, Z:-4.01 [[-9.68869056e-01 -2.47331366e-01 1.09520273e-02 1.24344600e+02] [-2.47317271e-01 9.68930944e-01 2.64451588e-03 -1.28098881e+02] [-1.12658299e-02 -1.46435895e-04 -9.99936528e-01 -4.01296165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3465599949999 meters 0.013369990913120484 Centerline is valid? [True, True] Translation: X:124.32, Y:-128.08, Z:-4.01 [[-9.49814933e-01 -3.12635926e-01 1.05057511e-02 1.24320681e+02] [-3.12617976e-01 9.49873027e-01 3.35168991e-03 -1.28078116e+02] [-1.10269883e-02 -1.00801520e-04 -9.99939196e-01 -4.01348822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.406559995 meters 0.012934214951327837 Centerline is valid? [True, True] Translation: X:124.28, Y:-128.06, Z:-4.01 [[-9.25882056e-01 -3.77692187e-01 9.54096403e-03 1.24284337e+02] [-3.77672817e-01 9.25931212e-01 3.82559132e-03 -1.28063933e+02] [-1.02791723e-02 -6.13163989e-05 -9.99947166e-01 -4.01443708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4665599949999 meters 0.012602036048631367 Centerline is valid? [True, True] Translation: X:124.23, Y:-128.06, Z:-4.02 [[-8.96620331e-01 -4.42708496e-01 9.00940813e-03 1.24225005e+02] [-4.42686564e-01 8.96665593e-01 4.40675118e-03 -1.28062028e+02] [-1.00293325e-02 -3.71612337e-05 -9.99949704e-01 -4.01543341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.526559995 meters 0.012542670929371964 Centerline is valid? [True, True] Translation: X:124.16, Y:-128.07, Z:-4.02 [[-8.62356232e-01 -5.06229973e-01 8.54067909e-03 1.24160487e+02] [-5.06205379e-01 8.62398524e-01 4.99001546e-03 -1.28065515e+02] [-9.89156443e-03 -2.01667717e-05 -9.99951077e-01 -4.01538001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5865599949999 meters 0.012666568737431378 Centerline is valid? [True, True] Translation: X:124.08, Y:-128.08, Z:-4.01 [[-8.23164676e-01 -5.67744477e-01 8.13176282e-03 1.24083199e+02] [-5.67716862e-01 8.23204840e-01 5.59959524e-03 -1.28080842e+02] [-9.87324578e-03 -7.14986591e-06 -9.99951258e-01 -4.01439801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.646559995 meters 0.0126335864397922 Centerline is valid? [True, True] Translation: X:124.01, Y:-128.10, Z:-4.02 [[-7.79106199e-01 -6.26841487e-01 7.95495478e-03 1.24008831e+02] [-6.26808755e-01 7.79146809e-01 6.40587845e-03 -1.28102559e+02] [-1.02135480e-02 4.62431362e-06 -9.99947840e-01 -4.01507755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7065599949999 meters 0.012639861573391966 Centerline is valid? [True, True] Translation: X:123.93, Y:-128.14, Z:-4.02 [[-7.31456038e-01 -6.81845768e-01 7.64285976e-03 1.23925129e+02] [-6.81808135e-01 7.31495966e-01 7.16369645e-03 -1.28138533e+02] [-1.04752572e-02 2.89650623e-05 -9.99945133e-01 -4.01510512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.766559995 meters 0.012781027371837072 Centerline is valid? [True, True] Translation: X:123.84, Y:-128.18, Z:-4.02 [[-6.79443849e-01 -7.33690388e-01 7.38040097e-03 1.23843167e+02] [-7.33646261e-01 6.79483930e-01 8.04687377e-03 -1.28180654e+02] [-1.09187778e-02 5.27953142e-05 -9.99940387e-01 -4.01537769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8265599949999 meters 0.01282420007279211 Centerline is valid? [True, True] Translation: X:123.76, Y:-128.24, Z:-4.02 [[-6.22288651e-01 -7.82758993e-01 6.72261909e-03 1.23757475e+02] [-7.82712340e-01 6.22324960e-01 8.54619564e-03 -1.28235837e+02] [-1.08732651e-02 5.63236363e-05 -9.99940883e-01 -4.01516124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.886559995 meters 0.012655230186517383 Centerline is valid? [True, True] Translation: X:123.67, Y:-128.30, Z:-4.02 [[-5.59778676e-01 -8.28622378e-01 5.72615695e-03 1.23672736e+02] [-8.28578369e-01 5.59807962e-01 8.54002430e-03 -1.28298145e+02] [-1.02820035e-02 3.59537090e-05 -9.99947138e-01 -4.01534346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9465599949999 meters 0.012508400736626369 Centerline is valid? [True, True] Translation: X:123.59, Y:-128.37, Z:-4.02 [[-4.93106237e-01 -8.69957186e-01 4.55335662e-03 1.23591312e+02] [-8.69919926e-01 4.93127260e-01 8.05160533e-03 -1.28371454e+02] [-9.24993619e-03 9.24115596e-06 -9.99957218e-01 -4.01554266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.006559995 meters 0.012646836869855346 Centerline is valid? [True, True] Translation: X:123.51, Y:-128.45, Z:-4.02 [[-4.20498347e-01 -9.07284240e-01 4.05560286e-03 1.23512273e+02] [-9.07243048e-01 4.20517902e-01 8.64563474e-03 -1.28448658e+02] [-9.54950176e-03 -4.39423850e-05 -9.99954402e-01 -4.01604185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0665599949999 meters 0.013485215148650727 Centerline is valid? [True, True] Translation: X:123.44, Y:-128.53, Z:-4.01 [[-3.44899657e-01 -9.38630070e-01 4.22127210e-03 1.23437592e+02] [-9.38564066e-01 3.44925467e-01 1.11318133e-02 -1.28534836e+02] [-1.19046790e-02 -1.22575694e-04 -9.99929129e-01 -4.01339138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.126559995 meters 0.014253046182548176 Centerline is valid? [True, True] Translation: X:123.37, Y:-128.63, Z:-4.01 [[-2.69585712e-01 -9.62968982e-01 3.77943827e-03 1.23371868e+02] [-9.62883398e-01 2.69612145e-01 1.28394822e-02 -1.28630810e+02] [-1.33830055e-02 -1.77817421e-04 -9.99910428e-01 -4.01160577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1865599949999 meters 0.014903515860012836 Centerline is valid? [True, True] Translation: X:123.32, Y:-128.72, Z:-4.01 [[-1.93896545e-01 -9.81017734e-01 2.88695724e-03 1.23316454e+02] [-9.80924161e-01 1.93917929e-01 1.35509358e-02 -1.28724803e+02] [-1.38535411e-02 -2.04406467e-04 -9.99904014e-01 -4.01132877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.246559995 meters 0.013875582894604936 Centerline is valid? [True, True] Translation: X:123.27, Y:-128.83, Z:-4.01 [[-1.19268973e-01 -9.92860442e-01 1.74754231e-03 1.23272322e+02] [-9.92775142e-01 1.19281636e-01 1.30156839e-02 -1.28830063e+02] [-1.31312074e-02 -1.82549314e-04 -9.99913765e-01 -4.01370192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3065599949999 meters 0.013218005099448944 Centerline is valid? [True, True] Translation: X:123.24, Y:-128.94, Z:-4.02 [[-4.60411474e-02 -9.98939323e-01 6.65021248e-04 1.23236745e+02] [-9.98871159e-01 4.60457749e-02 1.16702073e-02 -1.28939002e+02] [-1.16884504e-02 -1.26960812e-04 -9.99931680e-01 -4.01549359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.366559995 meters 0.013081731451905082 Centerline is valid? [True, True] Translation: X:123.21, Y:-129.05, Z:-4.01 [[ 2.75453238e-02 -9.99620531e-01 -2.22238318e-04 1.23208424e+02] [-9.99556732e-01 -2.75460767e-02 1.12939574e-02 -1.29049015e+02] [-1.12957935e-02 -8.89559085e-05 -9.99936197e-01 -4.01477275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4265599949999 meters 0.01279442027132663 Centerline is valid? [True, True] Translation: X:123.19, Y:-129.17, Z:-4.02 [[ 1.02608292e-01 -9.94721182e-01 -1.14371003e-03 1.23188851e+02] [-9.94650680e-01 -1.02614637e-01 1.18431660e-02 -1.29167376e+02] [-1.18980094e-02 -7.76150762e-05 -9.99929213e-01 -4.01544085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.486559995 meters 0.012829421184827383 Centerline is valid? [True, True] Translation: X:123.17, Y:-129.27, Z:-4.01 [[ 1.78444674e-01 -9.83947411e-01 -2.23384032e-03 1.23174805e+02] [-9.83863756e-01 -1.78458632e-01 1.28306612e-02 -1.29271100e+02] [-1.30233440e-02 -9.17686284e-05 -9.99915189e-01 -4.01483307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5465599949999 meters 0.01319207675030043 Centerline is valid? [True, True] Translation: X:123.17, Y:-129.39, Z:-4.01 [[ 2.54201077e-01 -9.67143096e-01 -4.00541651e-03 1.23171260e+02] [-9.67014763e-01 -2.54232598e-01 1.57554709e-02 -1.29389907e+02] [-1.62561023e-02 -1.31760773e-04 -9.99867852e-01 -4.01255213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6065599949999 meters 0.01315456576363848 Centerline is valid? [True, True] Translation: X:123.18, Y:-129.51, Z:-4.01 [[ 3.26436201e-01 -9.45203383e-01 -5.47469120e-03 1.23177456e+02] [-9.45064171e-01 -3.26482083e-01 1.62222627e-02 -1.29505499e+02] [-1.71207261e-02 -1.21599293e-04 -9.99853422e-01 -4.01239666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.666559995 meters 0.012858380454893367 Centerline is valid? [True, True] Translation: X:123.20, Y:-129.62, Z:-4.01 [[ 3.92312921e-01 -9.19808074e-01 -6.60893142e-03 1.23195305e+02] [-9.19676743e-01 -3.92368584e-01 1.55429080e-02 -1.29617315e+02] [-1.68896293e-02 -1.96031029e-05 -9.99857360e-01 -4.01373257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7265599949999 meters 0.013074562399997512 Centerline is valid? [True, True] Translation: X:123.22, Y:-129.72, Z:-4.02 [[ 4.55717982e-01 -8.90096444e-01 -7.03150285e-03 1.23219949e+02] [-8.89993231e-01 -4.55772218e-01 1.35548446e-02 -1.29722527e+02] [-1.52698826e-02 8.08035099e-05 -9.99883405e-01 -4.01574697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.786559995 meters 0.014801059290068553 Centerline is valid? [True, True] Translation: X:123.25, Y:-129.82, Z:-4.02 [[ 5.12752078e-01 -8.58508664e-01 -6.94125303e-03 1.23254741e+02] [-8.58435700e-01 -5.12799012e-01 1.11947500e-02 -1.29822825e+02] [-1.31702575e-02 2.18488093e-04 -9.99913245e-01 -4.01794177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8465599949999 meters 0.016253389020286082 Centerline is valid? [True, True] Translation: X:123.29, Y:-129.92, Z:-4.02 [[ 5.70356979e-01 -8.21367160e-01 -6.99321757e-03 1.23293437e+02] [-8.21311525e-01 -5.70399776e-01 9.56421158e-03 -1.29923525e+02] [-1.18446590e-02 2.88595369e-04 -9.99929808e-01 -4.02033669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.906559995 meters 0.01697513097158925 Centerline is valid? [True, True] Translation: X:123.34, Y:-130.02, Z:-4.02 [[ 6.30399981e-01 -7.76228520e-01 -8.07145877e-03 1.23336571e+02] [-7.76171204e-01 -6.30451573e-01 9.43802501e-03 -1.30022666e+02] [-1.24147281e-02 3.15103083e-04 -9.99922885e-01 -4.02040976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9665599949999 meters 0.016098898555005726 Centerline is valid? [True, True] Translation: X:123.38, Y:-130.12, Z:-4.02 [[ 6.89562888e-01 -7.24164954e-01 -9.38845497e-03 1.23381159e+02] [-7.24103673e-01 -6.89626733e-01 9.42552187e-03 -1.30120612e+02] [-1.33001621e-02 2.98724645e-04 -9.99911504e-01 -4.02029872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.026559995 meters 0.015321469812267636 Centerline is valid? [True, True] Translation: X:123.43, Y:-130.22, Z:-4.02 [[ 7.44848492e-01 -6.67139106e-01 -1.12310505e-02 1.23433031e+02] [-6.67068833e-01 -7.44933109e-01 9.68689842e-03 -1.30216460e+02] [-1.48288901e-02 2.76612045e-04 -9.99890008e-01 -4.01939243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0865599949999 meters 0.01495999064487342 Centerline is valid? [True, True] Translation: X:123.45, Y:-130.25, Z:-4.02 [[ 7.95608735e-01 -6.05680218e-01 -1.25783469e-02 1.23453671e+02] [-6.05609831e-01 -7.95708114e-01 9.23747778e-03 -1.30248256e+02] [-1.56036502e-02 2.68152523e-04 -9.99878220e-01 -4.01934297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.146559995 meters 0.014378975395845268 Centerline is valid? [True, True] Translation: X:123.47, Y:-130.28, Z:-4.02 [[ 8.41115442e-01 -5.40722139e-01 -1.20158998e-02 1.23474788e+02] [-5.40670816e-01 -8.41201234e-01 7.45336035e-03 -1.30281442e+02] [-1.41379867e-02 2.27509842e-04 -9.99900028e-01 -4.02159482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2065599949999 meters 0.014080348884572692 Centerline is valid? [True, True] Translation: X:123.50, Y:-130.31, Z:-4.02 [[ 8.81541263e-01 -4.71979245e-01 -1.09815223e-02 1.23499038e+02] [-4.71945168e-01 -8.81609641e-01 5.67441631e-03 -1.30313696e+02] [-1.23596227e-02 1.80444272e-04 -9.99923601e-01 -4.02271558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.266559995 meters 0.01391852220220253 Centerline is valid? [True, True] Translation: X:123.53, Y:-130.34, Z:-4.02 [[ 9.16138973e-01 -4.00704312e-01 -1.11998524e-02 1.23527598e+02] [-4.00676568e-01 -9.16207415e-01 4.71816209e-03 -1.30341021e+02] [-1.21519757e-02 1.65026267e-04 -9.99926148e-01 -4.02339422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3265599949999 meters 0.01366308613370176 Centerline is valid? [True, True] Translation: X:123.56, Y:-130.37, Z:-4.02 [[ 9.45566313e-01 -3.25214065e-01 -1.18389490e-02 1.23557315e+02] [-3.25190360e-01 -9.45640415e-01 3.92888795e-03 -1.30367448e+02] [-1.24731183e-02 1.34887996e-04 -9.99922199e-01 -4.02240699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.386559995 meters 0.013346282061979062 Centerline is valid? [True, True] Translation: X:123.59, Y:-130.39, Z:-4.02 [[ 9.68410292e-01 -2.49034983e-01 -1.27704526e-02 1.23592023e+02] [-2.49015037e-01 -9.68494482e-01 3.15429805e-03 -1.30386499e+02] [-1.31536435e-02 1.25380041e-04 -9.99913479e-01 -4.02239168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4465599949999 meters 0.012507141179782976 Centerline is valid? [True, True] Translation: X:123.63, Y:-130.41, Z:-4.02 [[ 9.86001019e-01 -1.66130646e-01 -1.42337050e-02 1.23626226e+02] [-1.66113980e-01 -9.86103750e-01 2.35354251e-03 -1.30414685e+02] [-1.44269054e-02 4.38220751e-05 -9.99895926e-01 -4.02179049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.506559995 meters 0.012441145136273072 Centerline is valid? [True, True] Translation: X:123.66, Y:-130.44, Z:-4.02 [[ 9.96539553e-01 -8.16791886e-02 -1.54087477e-02 1.23661959e+02] [-8.16685259e-02 -9.96658671e-01 1.32102070e-03 -1.30438154e+02] [-1.54651619e-02 -5.80396721e-05 -9.99880406e-01 -4.02224366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5665599949999 meters 0.012865072495323131 Centerline is valid? [True, True] Translation: X:123.70, Y:-130.45, Z:-4.02 [[ 9.99882779e-01 -1.09658064e-04 -1.53106410e-02 1.23697249e+02] [-1.07986383e-04 -9.99999988e-01 1.10010900e-04 -1.30452905e+02] [-1.53106529e-02 -1.08344664e-04 -9.99882779e-01 -4.02157559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.626559995 meters 0.012951619585848194 Centerline is valid? [True, True] Translation: X:123.74, Y:-130.46, Z:-4.02 [[ 9.96600856e-01 8.10531174e-02 -1.47351939e-02 1.23735441e+02] [ 8.10464400e-02 -9.96709773e-01 -1.05073253e-03 -1.30463377e+02] [-1.47718769e-02 -1.47074072e-04 -9.99890879e-01 -4.02258223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6865599949999 meters 0.013489381395272877 Centerline is valid? [True, True] Translation: X:123.77, Y:-130.47, Z:-4.02 [[ 9.86564316e-01 1.62719242e-01 -1.46047251e-02 1.23774329e+02] [ 1.62704493e-01 -9.86672390e-01 -2.20041850e-03 -1.30473539e+02] [-1.47681294e-02 -2.05400024e-04 -9.99890924e-01 -4.02316787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.746559995 meters 0.014218198968434348 Centerline is valid? [True, True] Translation: X:123.81, Y:-130.48, Z:-4.02 [[ 9.69941523e-01 2.42909382e-01 -1.44386651e-02 1.23814671e+02] [ 2.42886423e-01 -9.70048950e-01 -3.34959523e-03 -1.30478685e+02] [-1.48198601e-02 -2.58044236e-04 -9.99890147e-01 -4.02390580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8065599949999 meters 0.014441626000130424 Centerline is valid? [True, True] Translation: X:123.86, Y:-130.48, Z:-4.02 [[ 9.47388372e-01 3.19767748e-01 -1.42779351e-02 1.23855281e+02] [ 3.19735995e-01 -9.47495913e-01 -4.51544262e-03 -1.30479028e+02] [-1.49721781e-02 -2.87291943e-04 -9.99887869e-01 -4.02420330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.866559995 meters 0.015033540528002227 Centerline is valid? [True, True] Translation: X:123.90, Y:-130.48, Z:-4.02 [[ 9.18920654e-01 3.94167474e-01 -1.47252771e-02 1.23895256e+02] [ 3.94122524e-01 -9.19038572e-01 -5.96153783e-03 -1.30476077e+02] [-1.58829420e-02 -3.25383142e-04 -9.99873805e-01 -4.02350904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9265599949999 meters 0.01532431203983613 Centerline is valid? [True, True] Translation: X:123.93, Y:-130.47, Z:-4.02 [[ 8.85357909e-01 4.64692328e-01 -1.42272162e-02 1.23932364e+02] [ 4.64638150e-01 -8.85472155e-01 -7.10303530e-03 -1.30466334e+02] [-1.58985298e-02 -3.21778929e-04 -9.99873559e-01 -4.02345856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.986559995 meters 0.01511687886254603 Centerline is valid? [True, True] Translation: X:123.97, Y:-130.45, Z:-4.02 [[ 8.46923933e-01 5.31543937e-01 -1.34496937e-02 1.23968390e+02] [ 5.31482478e-01 -8.47030669e-01 -8.08833279e-03 -1.30450939e+02] [-1.56916073e-02 -2.98073921e-04 -9.99876835e-01 -4.02397639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0465599949999 meters 0.013998593284934661 Centerline is valid? [True, True] Translation: X:124.00, Y:-130.43, Z:-4.03 [[ 8.04526547e-01 5.93783592e-01 -1.25730513e-02 1.24002588e+02] [ 5.93715848e-01 -8.04624748e-01 -8.97254399e-03 -1.30432441e+02] [-1.54443376e-02 -2.46169979e-04 -9.99880699e-01 -4.02533799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1065599949999 meters 0.013508921911565707 Centerline is valid? [True, True] Translation: X:124.04, Y:-130.41, Z:-4.03 [[ 7.57332600e-01 6.52930894e-01 -1.13393585e-02 1.24035747e+02] [ 6.52861576e-01 -7.57417460e-01 -9.51599091e-03 -1.30411586e+02] [-1.48019125e-02 -1.96261300e-04 -9.99890426e-01 -4.02598191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.166559995 meters 0.012778704209941025 Centerline is valid? [True, True] Translation: X:124.06, Y:-130.39, Z:-4.03 [[ 7.07685997e-01 7.06470606e-01 -8.93381202e-03 1.24063365e+02] [ 7.06416084e-01 -7.07742378e-01 -8.77739395e-03 -1.30385964e+02] [-1.25238082e-02 -9.93497244e-05 -9.99921569e-01 -4.02829793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2265599949999 meters 0.01212666335401104 Centerline is valid? [True, True] Translation: X:124.09, Y:-130.36, Z:-4.03 [[ 6.55073314e-01 7.55527596e-01 -7.55017955e-03 1.24091119e+02] [ 7.55477718e-01 -6.55116823e-01 -8.68134627e-03 -1.30360852e+02] [-1.15052463e-02 -1.70741457e-05 -9.99933812e-01 -4.03009602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.286559995 meters 0.012591033160685985 Centerline is valid? [True, True] Translation: X:124.12, Y:-130.33, Z:-4.03 [[ 6.00923568e-01 7.99276789e-01 -6.89056704e-03 1.24115064e+02] [ 7.99222637e-01 -6.00963067e-01 -9.30425163e-03 -1.30333071e+02] [-1.15776487e-02 8.40469374e-05 -9.99932973e-01 -4.03019314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3465599949999 meters 0.013508385149120948 Centerline is valid? [True, True] Translation: X:124.14, Y:-130.30, Z:-4.03 [[ 5.41249993e-01 8.40838613e-01 -6.23466055e-03 1.24137890e+02] [ 8.40779569e-01 -5.41285879e-01 -9.96560376e-03 -1.30304571e+02] [-1.17541982e-02 1.51907756e-04 -9.99930906e-01 -4.02993434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.406559995 meters 0.014969598466365487 Centerline is valid? [True, True] Translation: X:124.16, Y:-130.28, Z:-4.03 [[ 4.79594140e-01 8.77474518e-01 -5.28496058e-03 1.24158770e+02] [ 8.77416016e-01 -4.79623206e-01 -1.01348606e-02 -1.30275133e+02] [-1.14278716e-02 2.23510684e-04 -9.99934675e-01 -4.03011841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4665599949999 meters 0.015231461364566514 Centerline is valid? [True, True] Translation: X:124.18, Y:-130.25, Z:-4.03 [[ 4.11409645e-01 9.11440547e-01 -4.26991685e-03 1.24181582e+02] [ 9.11385324e-01 -4.11431735e-01 -1.00359119e-02 -1.30246935e+02] [-1.09039163e-02 2.37331392e-04 -9.99940522e-01 -4.03074631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.526559995 meters 0.01632105323569461 Centerline is valid? [True, True] Translation: X:124.20, Y:-130.22, Z:-4.03 [[ 3.38533485e-01 9.40949393e-01 -3.05281152e-03 1.24200549e+02] [ 9.40905465e-01 -3.38547186e-01 -9.09441191e-03 -1.30218042e+02] [-9.59090212e-03 2.06355916e-04 -9.99953985e-01 -4.02975416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5865599949999 meters 0.014279767445025888 Centerline is valid? [True, True] Translation: X:124.23, Y:-130.19, Z:-4.03 [[ 2.61295973e-01 9.65256641e-01 -2.00808138e-03 1.24226607e+02] [ 9.65223358e-01 -2.61303642e-01 -8.01727682e-03 -1.30189131e+02] [-8.26344867e-03 1.56635097e-04 -9.99965845e-01 -4.03169746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.646559995 meters 0.013995646707422047 Centerline is valid? [True, True] Translation: X:124.25, Y:-130.16, Z:-4.03 [[ 1.81553883e-01 9.83380087e-01 -1.33874312e-03 1.24245884e+02] [ 9.83348017e-01 -1.81558775e-01 -7.94288139e-03 -1.30158098e+02] [-8.05393196e-03 1.25610566e-04 -9.99967559e-01 -4.03129606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7065599949999 meters 0.013331630650817088 Centerline is valid? [True, True] Translation: X:124.26, Y:-130.12, Z:-4.03 [[ 1.00709868e-01 9.94915620e-01 -6.56481621e-04 1.24262625e+02] [ 9.94888161e-01 -1.00711966e-01 -7.39239576e-03 -1.30123835e+02] [-7.42092557e-03 9.13614087e-05 -9.99972460e-01 -4.03120791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.766559995 meters 0.012491161466678873 Centerline is valid? [True, True] Translation: X:124.28, Y:-130.09, Z:-4.03 [[ 1.66930499e-02 9.99860659e-01 -6.37309566e-05 1.24277852e+02] [ 9.99841108e-01 -1.66931221e-02 -6.25283905e-03 -1.30088273e+02] [-6.25303165e-03 4.06581243e-05 -9.99980449e-01 -4.03055768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8265599949999 meters 0.012141732109595182 Centerline is valid? [True, True] Translation: X:124.29, Y:-130.05, Z:-4.03 [[-6.57940195e-02 9.97833150e-01 3.90656719e-04 1.24289287e+02] [ 9.97816777e-01 6.57951778e-02 -5.71611967e-03 -1.30050917e+02] [-5.72943703e-03 1.37173391e-05 -9.99983587e-01 -4.03026523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.886559995 meters 0.012230739519737258 Centerline is valid? [True, True] Translation: X:124.30, Y:-130.01, Z:-4.03 [[-1.50062976e-01 9.88675960e-01 9.73876100e-04 1.24299531e+02] [ 9.88653962e-01 1.50066134e-01 -6.59539932e-03 -1.30012707e+02] [-6.66685858e-03 -2.68987885e-05 -9.99977776e-01 -4.02866157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9465599949999 meters 0.012869612022543003 Centerline is valid? [True, True] Translation: X:124.31, Y:-129.97, Z:-4.03 [[-2.34622073e-01 9.72085195e-01 1.69019825e-03 1.24307566e+02] [ 9.72057140e-01 2.34628144e-01 -7.38588632e-03 -1.29972644e+02] [-7.57627882e-03 -8.99226784e-05 -9.99971296e-01 -4.02785589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.006559995 meters 0.016188148762310884 Centerline is valid? [True, True] Translation: X:124.31, Y:-129.93, Z:-4.03 [[-3.17013918e-01 9.48418516e-01 2.11996468e-03 1.24312665e+02] [ 9.48394340e-01 3.17020977e-01 -6.77316513e-03 -1.29932556e+02] [-7.09586849e-03 -1.36625117e-04 -9.99974815e-01 -4.02708767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0665599949999 meters 0.015545103820157778 Centerline is valid? [True, True] Translation: X:124.30, Y:-129.89, Z:-4.03 [[-3.93763796e-01 9.19208188e-01 2.52590096e-03 1.24304609e+02] [ 9.19186670e-01 3.93771867e-01 -6.29147267e-03 -1.29894572e+02] [-6.77780193e-03 -1.55579672e-04 -9.99977018e-01 -4.02846753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.126559995 meters 0.016804082462188914 Centerline is valid? [True, True] Translation: X:124.29, Y:-129.86, Z:-4.03 [[-4.67516600e-01 8.83978256e-01 3.26671508e-03 1.24294105e+02] [ 8.83953708e-01 4.67527973e-01 -6.59072632e-03 -1.29857336e+02] [-7.35333944e-03 -1.93649057e-04 -9.99972945e-01 -4.02742749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1865599949999 meters 0.016422873093888856 Centerline is valid? [True, True] Translation: X:124.28, Y:-129.82, Z:-4.03 [[-5.35082591e-01 8.44788259e-01 4.40659165e-03 1.24277563e+02] [ 8.44756097e-01 5.35100689e-01 -7.37494292e-03 -1.29823544e+02] [-8.58823542e-03 -2.23708398e-04 -9.99963095e-01 -4.02677636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.246559995 meters 0.016188524903949637 Centerline is valid? [True, True] Translation: X:124.26, Y:-129.79, Z:-4.03 [[-5.97968169e-01 8.01502868e-01 5.21744685e-03 1.24258247e+02] [ 8.01469150e-01 5.97990891e-01 -7.35503204e-03 -1.29792762e+02] [-9.01506497e-03 -2.16452350e-04 -9.99959340e-01 -4.02644609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3065599949999 meters 0.01584656794566864 Centerline is valid? [True, True] Translation: X:124.24, Y:-129.76, Z:-4.03 [[-6.57670231e-01 7.53282131e-01 5.99150750e-03 1.24236739e+02] [ 7.53247933e-01 6.57697489e-01 -7.18079540e-03 -1.29762393e+02] [-9.34976430e-03 -2.09504729e-04 -9.99956268e-01 -4.02637296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.366559995 meters 0.013473017853597342 Centerline is valid? [True, True] Translation: X:124.21, Y:-129.74, Z:-4.03 [[-7.09583423e-01 7.04598539e-01 5.68024200e-03 1.24207668e+02] [ 7.04574563e-01 7.09606147e-01 -5.81394644e-03 -1.29739867e+02] [-8.12723281e-03 -1.23325989e-04 -9.99966966e-01 -4.02810088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4265599949999 meters 0.011947928084013995 Centerline is valid? [True, True] Translation: X:124.18, Y:-129.72, Z:-4.03 [[-7.55543331e-01 6.55079992e-01 4.94762502e-03 1.24176598e+02] [ 6.55065699e-01 7.55559530e-01 -4.32744749e-03 -1.29720959e+02] [-6.57304950e-03 -2.85546523e-05 -9.99978397e-01 -4.02952143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.486559995 meters 0.012493762552068651 Centerline is valid? [True, True] Translation: X:124.19, Y:-129.72, Z:-4.03 [[-7.91749045e-01 6.10829439e-01 4.56586244e-03 1.24193071e+02] [ 6.10819632e-01 7.91762208e-01 -3.46166289e-03 -1.29719559e+02] [-5.72956293e-03 4.81501241e-05 -9.99983585e-01 -4.03006190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5465599949999 meters 0.013231661229300506 Centerline is valid? [True, True] Translation: X:124.21, Y:-129.71, Z:-4.03 [[-8.29261290e-01 5.58839392e-01 4.92410178e-03 1.24207468e+02] [ 5.58830167e-01 8.29275904e-01 -3.21235668e-03 -1.29705055e+02] [-5.87863042e-03 8.78535753e-05 -9.99982717e-01 -4.03062979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6065599949999 meters 0.014378567222558631 Centerline is valid? [True, True] Translation: X:124.22, Y:-129.69, Z:-4.03 [[-8.64532026e-01 5.02540409e-01 6.12484797e-03 1.24221423e+02] [ 5.02528877e-01 8.64553711e-01 -3.40705980e-03 -1.29690344e+02] [-7.00744527e-03 1.32400662e-04 -9.99975439e-01 -4.02967506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.666559995 meters 0.014565668598204101 Centerline is valid? [True, True] Translation: X:124.23, Y:-129.66, Z:-4.03 [[-8.98386131e-01 4.39141175e-01 7.57548910e-03 1.24226930e+02] [ 4.39126962e-01 8.98418057e-01 -3.53625223e-03 -1.29664574e+02] [-8.35887016e-03 1.49681554e-04 -9.99965053e-01 -4.02886478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7265599949999 meters 0.013388373938707895 Centerline is valid? [True, True] Translation: X:124.23, Y:-129.64, Z:-4.03 [[-9.28990656e-01 3.70014291e-01 8.11083795e-03 1.24234490e+02] [ 3.70001263e-01 9.29026055e-01 -3.10708741e-03 -1.29636251e+02] [-8.68484653e-03 1.14565113e-04 -9.99962280e-01 -4.02882915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.786559995 meters 0.012626477540925636 Centerline is valid? [True, True] Translation: X:124.23, Y:-129.60, Z:-4.03 [[-9.54353258e-01 2.98575779e-01 7.89710075e-03 1.24231962e+02] [ 2.98566150e-01 9.54385928e-01 -2.39880154e-03 -1.29604450e+02] [-8.25310586e-03 6.85029102e-05 -9.99965940e-01 -4.02874065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8465599949999 meters 0.012307396640164739 Centerline is valid? [True, True] Translation: X:124.40, Y:-129.04, Z:-5.01 [[-9.36371085e-01 -3.50945394e-01 6.82062624e-03 1.24402698e+02] [ 3.50935127e-01 -9.36395918e-01 -2.68724202e-03 -1.29040287e+02] [ 7.32988178e-03 -1.22658389e-04 9.99973129e-01 -5.00831415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.906559995 meters 0.012234991849964492 Centerline is valid? [True, True] Translation: X:124.18, Y:-129.59, Z:-4.03 [[-9.58023207e-01 2.86624494e-01 6.15906228e-03 1.24183850e+02] [ 2.86618553e-01 9.58043005e-01 -1.84547659e-03 -1.29586663e+02] [-6.42960533e-03 -2.70788733e-06 -9.99979330e-01 -4.03051163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9665599949999 meters 0.012696938290467032 Centerline is valid? [True, True] Translation: X:124.19, Y:-129.55, Z:-4.03 [[-9.77747760e-01 2.09738260e-01 4.37947404e-03 1.24185443e+02] [ 2.09735975e-01 9.77757568e-01 -9.79921122e-04 -1.29553212e+02] [-4.48759084e-03 -3.95824259e-05 -9.99989930e-01 -4.03163228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.026559995 meters 0.014487460642392118 Centerline is valid? [True, True] Translation: X:124.30, Y:-129.00, Z:-5.01 [[-9.53442969e-01 -3.01528139e-01 5.22371463e-03 1.24301631e+02] [ 3.01524285e-01 -9.53457271e-01 -1.52898067e-03 -1.28998789e+02] [ 5.44161939e-03 1.17280953e-04 9.99985187e-01 -5.00842219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0865599949999 meters 0.01703928831389533 Centerline is valid? [True, True] Translation: X:124.13, Y:-129.53, Z:-4.03 [[-9.81904738e-01 1.89230137e-01 7.41889676e-03 1.24133300e+02] [ 1.89223206e-01 9.81932745e-01 -1.63170501e-03 -1.29532291e+02] [-7.59362542e-03 -1.98351452e-04 -9.99971148e-01 -4.02738399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.146559995 meters 0.018807791355382505 Centerline is valid? [True, True] Translation: X:124.24, Y:-128.99, Z:-5.01 [[-9.51337822e-01 -3.08039429e-01 8.24975471e-03 1.24242634e+02] [ 3.08030467e-01 -9.51373548e-01 -2.36742001e-03 -1.28991410e+02] [ 8.57785711e-03 2.88959603e-04 9.99963168e-01 -5.01209847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2065599949999 meters 0.019645174710836516 Centerline is valid? [True, True] Translation: X:124.08, Y:-129.52, Z:-4.03 [[-9.83341576e-01 1.81569059e-01 8.48660452e-03 1.24079642e+02] [ 1.81559987e-01 9.83378161e-01 -1.83392246e-03 -1.29522036e+02] [-8.67852512e-03 -2.62544394e-04 -9.99962306e-01 -4.02634817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.266559995 meters 0.01821140613520329 Centerline is valid? [True, True] Translation: X:124.20, Y:-128.97, Z:-5.01 [[-9.52439604e-01 -3.04605585e-01 8.61612715e-03 1.24196934e+02] [ 3.04595843e-01 -9.52478532e-01 -2.45313560e-03 -1.28974234e+02] [ 8.95391495e-03 2.87973007e-04 9.99959871e-01 -5.01140523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3265599949999 meters 0.01718120149668208 Centerline is valid? [True, True] Translation: X:124.03, Y:-129.53, Z:-4.03 [[-9.83215766e-01 1.82161040e-01 1.02035739e-02 1.24033343e+02] [ 1.82148374e-01 9.83268673e-01 -2.16502898e-03 -1.29526834e+02] [-1.04272385e-02 -2.70126238e-04 -9.99945598e-01 -4.02602258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.386559995 meters 0.016009783732364384 Centerline is valid? [True, True] Translation: X:124.03, Y:-129.51, Z:-4.03 [[-9.93386858e-01 1.14388316e-01 9.89261296e-03 1.24032737e+02] [ 1.14380290e-01 9.93436087e-01 -1.37523067e-03 -1.29505382e+02] [-9.98498902e-03 -2.34616142e-04 -9.99950121e-01 -4.02663997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4465599949999 meters 0.015477845480997085 Centerline is valid? [True, True] Translation: X:124.04, Y:-129.49, Z:-4.03 [[-9.98897769e-01 4.58619173e-02 9.99653860e-03 1.24036757e+02] [ 4.58574943e-02 9.98947766e-01 -6.71336966e-04 -1.29486880e+02] [-1.00168087e-02 -2.12180786e-04 -9.99949808e-01 -4.02729087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.506559995 meters 0.014045886567372864 Centerline is valid? [True, True] Translation: X:124.03, Y:-129.47, Z:-4.03 [[-9.99709895e-01 -2.17297569e-02 1.03896285e-02 1.24033010e+02] [-2.17304986e-02 9.99763864e-01 4.15087453e-05 -1.29470346e+02] [-1.03880771e-02 -1.84275104e-04 -9.99946026e-01 -4.02779504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5665599949999 meters 0.013474851747023444 Centerline is valid? [True, True] Translation: X:124.03, Y:-129.45, Z:-4.03 [[-9.96063792e-01 -8.80780900e-02 9.95851431e-03 1.24031196e+02] [-8.80749934e-02 9.96113564e-01 7.49937516e-04 -1.29453664e+02] [-9.98586425e-03 -1.30110476e-04 -9.99950132e-01 -4.02797739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.626559995 meters 0.01288407396178823 Centerline is valid? [True, True] Translation: X:123.98, Y:-128.80, Z:-5.01 [[-9.99953518e-01 -2.30245751e-03 9.36271133e-03 1.23984843e+02] [ 2.30313197e-03 -9.99997346e-01 6.12553369e-05 -1.28799555e+02] [ 9.36254544e-03 8.28160494e-05 9.99956167e-01 -5.00976552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6865599949999 meters 0.012474152646779924 Centerline is valid? [True, True] Translation: X:123.96, Y:-129.47, Z:-4.03 [[-9.96207733e-01 -8.64775729e-02 9.58028812e-03 1.23959243e+02] [-8.64741566e-02 9.96253796e-01 7.71040455e-04 -1.29474884e+02] [-9.61107611e-03 -6.03308714e-05 -9.99953811e-01 -4.02839843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.746559995 meters 0.012485406720290958 Centerline is valid? [True, True] Translation: X:123.91, Y:-128.79, Z:-5.01 [[-9.99912639e-01 8.12841472e-03 1.04231769e-02 1.23911418e+02] [-8.12674385e-03 -9.99966957e-01 2.02648403e-04 -1.28789661e+02] [ 1.04244797e-02 1.17924210e-04 9.99945657e-01 -5.01038036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8065599949999 meters 0.012597455757754249 Centerline is valid? [True, True] Translation: X:123.88, Y:-129.49, Z:-4.03 [[-9.95889284e-01 -8.98887447e-02 1.11601248e-02 1.23882353e+02] [-8.98836682e-02 9.95951812e-01 9.56639916e-04 -1.29494251e+02] [-1.12009377e-02 -5.04055177e-05 -9.99937266e-01 -4.02809643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.866559995 meters 0.012688987916598235 Centerline is valid? [True, True] Translation: X:123.88, Y:-129.47, Z:-4.03 [[-9.86621941e-01 -1.62687306e-01 1.04873865e-02 1.23878385e+02] [-1.62678878e-01 9.86677676e-01 1.65743282e-03 -1.29470319e+02] [-1.06173134e-02 -7.08166885e-05 -9.99943632e-01 -4.02956791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9265599949999 meters 0.012820675835989868 Centerline is valid? [True, True] Translation: X:123.77, Y:-128.77, Z:-5.01 [[-9.96701166e-01 8.04629869e-02 1.06063196e-02 1.23765277e+02] [-8.04576516e-02 -9.96757595e-01 9.29459630e-04 -1.28765600e+02] [ 1.06467167e-02 7.30339317e-05 9.99943319e-01 -5.00824749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.986559995 meters 0.013430617002610612 Centerline is valid? [True, True] Translation: X:123.77, Y:-129.49, Z:-4.03 [[-9.84515766e-01 -1.74934701e-01 1.12497195e-02 1.23774704e+02] [-1.74924981e-01 9.84580027e-01 1.84985455e-03 -1.29485441e+02] [-1.13998529e-02 -1.46645999e-04 -9.99935009e-01 -4.03040452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0465599949999 meters 0.014803870331593654 Centerline is valid? [True, True] Translation: X:123.75, Y:-129.46, Z:-4.03 [[-9.68809409e-01 -2.47584917e-01 1.04899164e-02 1.23754945e+02] [-2.47572320e-01 9.68866183e-01 2.50339134e-03 -1.29456687e+02] [-1.07831272e-02 -1.71703860e-04 -9.99941846e-01 -4.03020318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1065599949999 meters 0.013876596156647387 Centerline is valid? [True, True] Translation: X:123.73, Y:-129.44, Z:-4.03 [[-9.48716361e-01 -3.15959043e-01 1.03512859e-02 1.23733737e+02] [-3.15942153e-01 9.48772815e-01 3.27120554e-03 -1.29435405e+02] [-1.08545856e-02 -1.66961330e-04 -9.99941073e-01 -4.03201407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.166559995 meters 0.013265440126509955 Centerline is valid? [True, True] Translation: X:123.70, Y:-129.42, Z:-4.03 [[-9.24794199e-01 -3.80352073e-01 9.38028329e-03 1.23697673e+02] [-3.80333802e-01 9.24841763e-01 3.72990396e-03 -1.29421345e+02] [-1.00939544e-02 -1.18245260e-04 -9.99949048e-01 -4.03289562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2265599949999 meters 0.012804583179181341 Centerline is valid? [True, True] Translation: X:123.64, Y:-129.42, Z:-4.03 [[-8.95627174e-01 -4.44728944e-01 8.25416177e-03 1.23644183e+02] [-4.44710880e-01 8.95665206e-01 4.00908982e-03 -1.29417248e+02] [-9.17592378e-03 -8.00657635e-05 -9.99957897e-01 -4.03341208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.286559995 meters 0.01248954311424841 Centerline is valid? [True, True] Translation: X:123.58, Y:-129.42, Z:-4.03 [[-8.61989015e-01 -5.06868828e-01 7.67652616e-03 1.23581028e+02] [-5.06849228e-01 8.62023195e-01 4.45765978e-03 -1.29422711e+02] [-8.87679239e-03 -4.83875967e-05 -9.99960599e-01 -4.03400681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3465599949999 meters 0.012584217344385716 Centerline is valid? [True, True] Translation: X:123.50, Y:-129.44, Z:-4.03 [[-8.24583713e-01 -5.65667516e-01 9.05325166e-03 1.23504555e+02] [-5.65633523e-01 8.24633410e-01 6.20136657e-03 -1.29438231e+02] [-1.09735254e-02 -7.27675612e-06 -9.99939789e-01 -4.03130869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.406559995 meters 0.012594166727898095 Centerline is valid? [True, True] Translation: X:123.43, Y:-129.46, Z:-4.03 [[-7.79893047e-01 -6.25846215e-01 9.12966165e-03 1.23425236e+02] [-6.25803480e-01 7.79946482e-01 7.31365550e-03 -1.29461876e+02] [-1.16978711e-02 -9.50496153e-06 -9.99931578e-01 -4.03054860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4665599949999 meters 0.012607017180397865 Centerline is valid? [True, True] Translation: X:123.34, Y:-129.49, Z:-4.03 [[-7.29269928e-01 -6.84171462e-01 8.64771687e-03 1.23341583e+02] [-6.84123915e-01 7.29321197e-01 8.06600836e-03 -1.29494945e+02] [-1.18254960e-02 -3.38125827e-05 -9.99930076e-01 -4.03139971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.526559995 meters 0.013021267459446003 Centerline is valid? [True, True] Translation: X:123.25, Y:-129.54, Z:-4.03 [[-6.71779788e-01 -7.40695345e-01 9.07323027e-03 1.23249646e+02] [-7.40629986e-01 6.71841049e-01 9.84016254e-03 -1.29540332e+02] [-1.33843311e-02 -1.09484110e-04 -9.99910420e-01 -4.03082687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5865599949999 meters 0.013593815070137702 Centerline is valid? [True, True] Translation: X:123.17, Y:-129.59, Z:-4.03 [[-6.10965640e-01 -7.91605435e-01 9.04556790e-03 1.23166083e+02] [-7.91522826e-01 6.11032573e-01 1.14372726e-02 -1.29589722e+02] [-1.45809438e-02 -1.71992898e-04 -9.99893678e-01 -4.02973259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.646559995 meters 0.014301145014180106 Centerline is valid? [True, True] Translation: X:123.08, Y:-129.65, Z:-4.03 [[-5.46310367e-01 -8.37547933e-01 7.64480349e-03 1.23081063e+02] [-8.37471261e-01 5.46363813e-01 1.13345397e-02 -1.29654021e+02] [-1.36700642e-02 -2.10126695e-04 -9.99906538e-01 -4.03059654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7065599949999 meters 0.014802306090918467 Centerline is valid? [True, True] Translation: X:123.00, Y:-129.72, Z:-4.03 [[-4.79139726e-01 -8.77716240e-01 6.27098130e-03 1.23004860e+02] [-8.77647075e-01 4.79180709e-01 1.10208894e-02 -1.29722481e+02] [-1.26781468e-02 -2.23162485e-04 -9.99919604e-01 -4.03303966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.766559995 meters 0.014633145639274031 Centerline is valid? [True, True] Translation: X:122.93, Y:-129.80, Z:-4.03 [[-4.10474582e-01 -9.11859611e-01 4.76108066e-03 1.22932821e+02] [-9.11803905e-01 4.10502143e-01 1.00811663e-02 -1.29803547e+02] [-1.11470421e-02 -2.03109423e-04 -9.99937849e-01 -4.03457136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8265599949999 meters 0.014312122454292149 Centerline is valid? [True, True] Translation: X:122.87, Y:-129.89, Z:-4.04 [[-3.41725314e-01 -9.39791983e-01 3.85200806e-03 1.22867649e+02] [-9.39737862e-01 3.41746980e-01 1.00872532e-02 -1.29892191e+02] [-1.07963318e-02 -1.72808055e-04 -9.99941703e-01 -4.03506666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.886559995 meters 0.013892016747054101 Centerline is valid? [True, True] Translation: X:122.81, Y:-129.99, Z:-4.04 [[-2.70833985e-01 -9.62620498e-01 3.27558125e-03 1.22808686e+02] [-9.62557104e-01 2.70853744e-01 1.10485447e-02 -1.29987907e+02] [-1.15227591e-02 -1.60612603e-04 -9.99933598e-01 -4.03506988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9465599949999 meters 0.01354002817546905 Centerline is valid? [True, True] Translation: X:122.76, Y:-130.09, Z:-4.03 [[-2.00007775e-01 -9.79790957e-01 2.56334942e-03 1.22756841e+02] [-9.79718266e-01 2.00024162e-01 1.19354369e-02 -1.30087566e+02] [-1.22069650e-02 -1.24180062e-04 -9.99925485e-01 -4.03325355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.006559995 meters 0.013165563254342129 Centerline is valid? [True, True] Translation: X:122.71, Y:-130.19, Z:-4.03 [[-1.28619560e-01 -9.91692317e-01 1.83233268e-03 1.22714887e+02] [-9.91600272e-01 1.28632587e-01 1.35114337e-02 -1.30193299e+02] [-1.36348827e-02 -7.91069304e-05 -9.99907038e-01 -4.03218760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0665599949999 meters 0.013142510452059365 Centerline is valid? [True, True] Translation: X:122.68, Y:-130.30, Z:-4.03 [[-5.47147439e-02 -9.98501641e-01 8.77092125e-04 1.22679486e+02] [-9.98387291e-01 5.47217517e-02 1.51111848e-02 -1.30304332e+02] [-1.51365388e-02 -4.88730256e-05 -9.99885435e-01 -4.03139124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.126559995 meters 0.013196294492237009 Centerline is valid? [True, True] Translation: X:122.65, Y:-130.42, Z:-4.03 [[ 2.00760287e-02 -9.99798411e-01 -3.02402660e-04 1.22652769e+02] [-9.99670767e-01 -2.00782977e-02 1.59755813e-02 -1.30418144e+02] [-1.59784325e-02 -1.84231290e-05 -9.99872337e-01 -4.03080299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1865599949999 meters 0.01320089000282158 Centerline is valid? [True, True] Translation: X:122.64, Y:-130.54, Z:-4.03 [[ 9.45642019e-02 -9.95517679e-01 -1.47030139e-03 1.22635276e+02] [-9.95400361e-01 -9.45756297e-02 1.52830395e-02 -1.30537029e+02] [-1.53535907e-02 1.83100940e-05 -9.99882127e-01 -4.03181935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.246559995 meters 0.013102614015522223 Centerline is valid? [True, True] Translation: X:122.63, Y:-130.66, Z:-4.03 [[ 1.69950370e-01 -9.85450265e-01 -2.15547567e-03 1.22626483e+02] [-9.85372942e-01 -1.69964037e-01 1.23447069e-02 -1.30659569e+02] [-1.25314480e-02 2.59599035e-05 -9.99921478e-01 -4.03372824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3065599949999 meters 0.013126584474587824 Centerline is valid? [True, True] Translation: X:122.62, Y:-130.78, Z:-4.03 [[ 2.45775443e-01 -9.69322524e-01 -2.87669348e-03 1.22624344e+02] [-9.69256950e-01 -2.45792277e-01 1.12747948e-02 -1.30776222e+02] [-1.16359816e-02 1.71874602e-05 -9.99932300e-01 -4.03413350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.366559995 meters 0.013153597470885467 Centerline is valid? [True, True] Translation: X:122.63, Y:-130.90, Z:-4.03 [[ 3.22736125e-01 -9.46482012e-01 -3.63243049e-03 1.22631799e+02] [-9.46421278e-01 -3.22756565e-01 1.07221155e-02 -1.30899244e+02] [-1.13206803e-02 -2.26045044e-05 -9.99935919e-01 -4.03466792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4265599949999 meters 0.013793975590703646 Centerline is valid? [True, True] Translation: X:122.64, Y:-131.02, Z:-4.03 [[ 4.01330832e-01 -9.15920666e-01 -4.78508674e-03 1.22644056e+02] [-9.15852098e-01 -4.01359341e-01 1.12077936e-02 -1.31018493e+02] [-1.21859890e-02 -1.15601400e-04 -9.99925741e-01 -4.03423238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.486559995 meters 0.014969247962777935 Centerline is valid? [True, True] Translation: X:122.67, Y:-131.14, Z:-4.03 [[ 4.76350345e-01 -8.79233966e-01 -6.16293360e-03 1.22667834e+02] [-8.79154403e-01 -4.76390161e-01 1.18300773e-02 -1.31142039e+02] [-1.33373667e-02 -2.17091178e-04 -9.99911030e-01 -4.03270273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5465599949999 meters 0.015637871935766188 Centerline is valid? [True, True] Translation: X:122.70, Y:-131.25, Z:-4.03 [[ 5.45082720e-01 -8.38349904e-01 -7.36664167e-03 1.22699234e+02] [-8.38266488e-01 -5.45132428e-01 1.18292475e-02 -1.31252732e+02] [-1.39328437e-02 -2.72709540e-04 -9.99902896e-01 -4.03247822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6065599949999 meters 0.016486421891788075 Centerline is valid? [True, True] Translation: X:122.74, Y:-131.36, Z:-4.03 [[ 6.10894160e-01 -7.91670626e-01 -8.12072987e-03 1.22739620e+02] [-7.91593498e-01 -6.10948046e-01 1.10552671e-02 -1.31362258e+02] [-1.37134743e-02 -3.25281142e-04 -9.99905913e-01 -4.03280624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.666559995 meters 0.01678799386043536 Centerline is valid? [True, True] Translation: X:122.78, Y:-131.46, Z:-4.03 [[ 6.70928300e-01 -7.41478629e-01 -8.04110871e-03 1.22782048e+02] [-7.41419661e-01 -6.70976410e-01 9.35641664e-03 -1.31461101e+02] [-1.23329772e-02 -3.15648606e-04 -9.99923896e-01 -4.03318726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7265599949999 meters 0.016785983084822854 Centerline is valid? [True, True] Translation: X:122.84, Y:-131.56, Z:-4.03 [[ 7.25972865e-01 -6.87666692e-01 -8.82720693e-03 1.22837625e+02] [-6.87610283e-01 -7.26026454e-01 8.81400854e-03 -1.31561190e+02] [-1.24698858e-02 -3.29052776e-04 -9.99922194e-01 -4.03239982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.786559995 meters 0.017505181055967982 Centerline is valid? [True, True] Translation: X:122.86, Y:-131.59, Z:-4.03 [[ 7.76980869e-01 -6.29447231e-01 -9.84446535e-03 1.22855074e+02] [-6.29391260e-01 -7.77043161e-01 8.40050445e-03 -1.31590953e+02] [-1.29372487e-02 -3.31010802e-04 -9.99916256e-01 -4.03054980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8465599949999 meters 0.017247163136350645 Centerline is valid? [True, True] Translation: X:122.88, Y:-131.62, Z:-4.03 [[ 8.23331326e-01 -5.67477085e-01 -9.76139897e-03 1.22877959e+02] [-5.67432870e-01 -8.23389136e-01 7.09012667e-03 -1.31616755e+02] [-1.20609143e-02 -2.98584764e-04 -9.99927220e-01 -4.03124426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.906559995 meters 0.016571793814606637 Centerline is valid? [True, True] Translation: X:122.90, Y:-131.64, Z:-4.03 [[ 8.64927977e-01 -5.01797073e-01 -9.96458368e-03 1.22901538e+02] [-5.01759969e-01 -8.64985328e-01 6.10877012e-03 -1.31641649e+02] [-1.16845816e-02 -2.83816980e-04 -9.99931693e-01 -4.03183314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9665599949999 meters 0.015874563011463744 Centerline is valid? [True, True] Translation: X:122.93, Y:-131.66, Z:-4.03 [[ 9.00140222e-01 -4.35456906e-01 -1.11742808e-02 1.22927572e+02] [-4.35419671e-01 -9.00209538e-01 5.70065708e-03 -1.31663209e+02] [-1.25415846e-02 -2.65889068e-04 -9.99921316e-01 -4.03063430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.026559995 meters 0.014963087954119925 Centerline is valid? [True, True] Translation: X:122.96, Y:-131.68, Z:-4.03 [[ 9.29538958e-01 -3.68564401e-01 -1.08447255e-02 1.22955508e+02] [-3.68536953e-01 -9.29602198e-01 4.50193004e-03 -1.31678525e+02] [-1.17405318e-02 -1.88037277e-04 -9.99931060e-01 -4.03115606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0865599949999 meters 0.014101658691806329 Centerline is valid? [True, True] Translation: X:122.98, Y:-131.70, Z:-4.03 [[ 9.54386105e-01 -2.98430289e-01 -9.30187991e-03 1.22984829e+02] [-2.98414897e-01 -9.54431427e-01 3.03328253e-03 -1.31695686e+02] [-9.78322989e-03 -1.19103165e-04 -9.99952136e-01 -4.03230956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.146559995 meters 0.013994782105556077 Centerline is valid? [True, True] Translation: X:123.01, Y:-131.71, Z:-4.03 [[ 9.74542451e-01 -2.24018725e-01 -9.08966350e-03 1.23014871e+02] [-2.24007990e-01 -9.74584835e-01 2.19551538e-03 -1.31711786e+02] [-9.35048476e-03 -1.03465681e-04 -9.99956278e-01 -4.03189610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2065599949999 meters 0.013446137694563298 Centerline is valid? [True, True] Translation: X:123.05, Y:-131.72, Z:-4.03 [[ 9.88646204e-01 -1.49977151e-01 -9.24868904e-03 1.23045481e+02] [-1.49969866e-01 -9.88689460e-01 1.48017787e-03 -1.31724102e+02] [-9.36607423e-03 -7.63475825e-05 -9.99956135e-01 -4.03146852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.266559995 meters 0.01348971703949822 Centerline is valid? [True, True] Translation: X:123.07, Y:-131.73, Z:-4.03 [[ 9.97305155e-01 -7.27695391e-02 -9.32853985e-03 1.23072897e+02] [-7.27657009e-02 -9.97348780e-01 7.50644964e-04 -1.31734031e+02] [-9.35843193e-03 -6.98243525e-05 -9.99956207e-01 -4.03182174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3265599949999 meters 0.013399417837284273 Centerline is valid? [True, True] Translation: X:123.10, Y:-131.74, Z:-4.03 [[ 9.99940344e-01 5.85503172e-03 -9.22100969e-03 1.23101588e+02] [ 5.85544495e-03 -9.99982857e-01 1.78175396e-05 -1.31744197e+02] [-9.22074729e-03 -7.18095914e-05 -9.99957485e-01 -4.03223572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.386559995 meters 0.013420605422567499 Centerline is valid? [True, True] Translation: X:123.13, Y:-131.75, Z:-4.03 [[ 9.96349360e-01 8.48416593e-02 -9.47871524e-03 1.23131585e+02] [ 8.48385967e-02 -9.96394443e-01 -7.25458290e-04 -1.31753932e+02] [-9.50608827e-03 -8.13509958e-05 -9.99954813e-01 -4.03183100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4465599949999 meters 0.013453923490737003 Centerline is valid? [True, True] Translation: X:123.16, Y:-131.76, Z:-4.03 [[ 9.86743346e-01 1.62058769e-01 -8.63273369e-03 1.23160426e+02] [ 1.62053185e-01 -9.86781106e-01 -1.34716705e-03 -1.31758152e+02] [-8.73693873e-03 -6.96538599e-05 -9.99961830e-01 -4.03177998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.506559995 meters 0.01288268095895049 Centerline is valid? [True, True] Translation: X:123.19, Y:-131.76, Z:-4.03 [[ 9.71854083e-01 2.35482726e-01 -6.89396854e-03 1.23190497e+02] [ 2.35477036e-01 -9.71878534e-01 -1.63726992e-03 -1.31757633e+02] [-7.08564882e-03 -3.21838169e-05 -9.99974896e-01 -4.03384370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5665599949999 meters 0.012728374916988291 Centerline is valid? [True, True] Translation: X:123.22, Y:-131.76, Z:-4.03 [[ 9.51382657e-01 3.07958275e-01 -5.72200453e-03 1.23220345e+02] [ 3.07952762e-01 -9.51399864e-01 -1.84273310e-03 -1.31756878e+02] [-6.01139924e-03 -8.96278593e-06 -9.99981931e-01 -4.03403326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.626559995 meters 0.012694214638935988 Centerline is valid? [True, True] Translation: X:123.25, Y:-131.75, Z:-4.03 [[ 9.26385069e-01 3.76555109e-01 -4.11745333e-03 1.23249817e+02] [ 3.76551307e-01 -9.26394219e-01 -1.69219021e-03 -1.31754130e+02] [-4.45158783e-03 1.71873115e-05 -9.99990092e-01 -4.03418147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6865599949999 meters 0.013147970176321803 Centerline is valid? [True, True] Translation: X:123.28, Y:-131.75, Z:-4.03 [[ 8.96154592e-01 4.43725004e-01 -3.88181252e-03 1.23279003e+02] [ 4.43720661e-01 -8.96162998e-01 -1.96358424e-03 -1.31746940e+02] [-4.35002817e-03 3.72346205e-05 -9.99990538e-01 -4.03435395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.746559995 meters 0.01372010702678577 Centerline is valid? [True, True] Translation: X:123.31, Y:-131.74, Z:-4.03 [[ 8.59837721e-01 5.10544949e-01 -4.79055678e-03 1.23306086e+02] [ 5.10536629e-01 -8.59851064e-01 -2.91532800e-03 -1.31739209e+02] [-5.60757133e-03 6.09542748e-05 -9.99984276e-01 -4.03270924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8065599949999 meters 0.013437511081992702 Centerline is valid? [True, True] Translation: X:123.34, Y:-131.73, Z:-4.03 [[ 8.16396777e-01 5.77461711e-01 -5.85455366e-03 1.23336769e+02] [ 5.77446262e-01 -8.16417766e-01 -4.22451576e-03 -1.31733229e+02] [-7.21925771e-03 6.81909248e-05 -9.99973939e-01 -4.03049120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.866559995 meters 0.013099659554924703 Centerline is valid? [True, True] Translation: X:123.37, Y:-131.73, Z:-4.03 [[ 7.66356669e-01 6.42382510e-01 -6.49358818e-03 1.23369275e+02] [ 6.42358901e-01 -7.66384178e-01 -5.50762467e-03 -1.31727100e+02] [-8.51458500e-03 4.95907315e-05 -9.99963749e-01 -4.02941066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9265599949999 meters 0.013004768620242642 Centerline is valid? [True, True] Translation: X:123.40, Y:-131.71, Z:-4.03 [[ 7.12809308e-01 7.01329842e-01 -6.27243472e-03 1.23397028e+02] [ 7.01302191e-01 -7.12836903e-01 -6.22788942e-03 -1.31714903e+02] [-8.83902765e-03 4.04253315e-05 -9.99960934e-01 -4.02903804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.986559995 meters 0.012951950529337754 Centerline is valid? [True, True] Translation: X:123.43, Y:-131.70, Z:-4.03 [[ 6.52599901e-01 7.57676430e-01 -6.30837267e-03 1.23426459e+02] [ 7.57640962e-01 -6.52630391e-01 -7.33114701e-03 -1.31701631e+02] [-9.67167301e-03 4.82427599e-06 -9.99953228e-01 -4.02847209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0465599949999 meters 0.013024831023320669 Centerline is valid? [True, True] Translation: X:123.46, Y:-131.69, Z:-4.03 [[ 5.87239603e-01 8.09396960e-01 -5.11951657e-03 1.23455295e+02] [ 8.09366781e-01 -5.87261918e-01 -6.98962182e-03 -1.31686104e+02] [-8.66387578e-03 -3.89838992e-05 -9.99962467e-01 -4.02919146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1065599949999 meters 0.013620857393107965 Centerline is valid? [True, True] Translation: X:123.48, Y:-131.67, Z:-4.03 [[ 5.17212426e-01 8.55847313e-01 -4.08453936e-03 1.23481599e+02] [ 8.55821822e-01 -5.17228548e-01 -6.60598257e-03 -1.31668312e+02] [-7.76635279e-03 -7.89416430e-05 -9.99969838e-01 -4.03000035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.166559995 meters 0.014199705020847192 Centerline is valid? [True, True] Translation: X:123.51, Y:-131.65, Z:-4.03 [[ 4.45020935e-01 8.95514452e-01 -3.19912465e-03 1.23505989e+02] [ 8.95492896e-01 -4.45032423e-01 -6.21421188e-03 -1.31647083e+02] [-6.98863074e-03 -9.93390174e-05 -9.99975574e-01 -4.03037994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2265599949999 meters 0.015500068047331703 Centerline is valid? [True, True] Translation: X:123.53, Y:-131.62, Z:-4.03 [[ 3.68391390e-01 9.29667887e-01 -2.32453526e-03 1.23528650e+02] [ 9.29651361e-01 -3.68398705e-01 -5.54444545e-03 -1.31624674e+02] [-6.01084866e-03 -1.18481401e-04 -9.99981928e-01 -4.03138202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.286559995 meters 0.016005773004927126 Centerline is valid? [True, True] Translation: X:123.55, Y:-131.60, Z:-4.03 [[ 2.91745848e-01 9.56493606e-01 -2.08362671e-03 1.23548973e+02] [ 9.56472754e-01 -2.91753250e-01 -6.31765244e-03 -1.31599431e+02] [-6.65069903e-03 -1.49783312e-04 -9.99977873e-01 -4.03092339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3465599949999 meters 0.017196378524376398 Centerline is valid? [True, True] Translation: X:123.57, Y:-131.57, Z:-4.03 [[ 2.13002961e-01 9.77049271e-01 -2.11212296e-03 1.23565066e+02] [ 9.77011236e-01 -2.13013312e-01 -8.62404326e-03 -1.31573862e+02] [-8.87602548e-03 -2.26621120e-04 -9.99960582e-01 -4.02875621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.406559995 meters 0.018346852906532957 Centerline is valid? [True, True] Translation: X:123.58, Y:-131.55, Z:-4.03 [[ 1.34201096e-01 9.90952622e-01 -1.72237275e-03 1.23575533e+02] [ 9.90896474e-01 -1.34211834e-01 -1.05528235e-02 -1.31545669e+02] [-1.06885109e-02 -2.90492609e-04 -9.99942834e-01 -4.02737331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4665599949999 meters 0.01736414324369392 Centerline is valid? [True, True] Translation: X:123.58, Y:-131.52, Z:-4.03 [[ 5.61720765e-02 9.98420556e-01 -1.04463618e-03 1.23583351e+02] [ 9.98342431e-01 -5.61807540e-02 -1.24944978e-02 -1.31516456e+02] [-1.25334519e-02 -3.41062741e-04 -9.99921395e-01 -4.02654533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.526559995 meters 0.017355876192861067 Centerline is valid? [True, True] Translation: X:123.59, Y:-131.49, Z:-4.03 [[-2.15446930e-02 9.99767884e-01 -6.47438089e-05 1.23588650e+02] [ 9.99683807e-01 2.15420413e-02 -1.29701946e-02 -1.31486644e+02] [-1.29657893e-02 -3.44162199e-04 -9.99915881e-01 -4.02669903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5865599949999 meters 0.016811992799470096 Centerline is valid? [True, True] Translation: X:123.59, Y:-131.46, Z:-4.03 [[-9.71108128e-02 9.95273152e-01 9.17798645e-04 1.23587297e+02] [ 9.95194927e-01 9.71146904e-02 -1.24817278e-02 -1.31457542e+02] [-1.25118603e-02 -2.98722178e-04 -9.99921679e-01 -4.02829985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.646559995 meters 0.01622286463147643 Centerline is valid? [True, True] Translation: X:123.58, Y:-131.43, Z:-4.03 [[-1.71965025e-01 9.85101317e-01 1.85081303e-03 1.23584321e+02] [ 9.85027095e-01 1.71974793e-01 -1.20951259e-02 -1.31428888e+02] [-1.22332176e-02 -2.56837641e-04 -9.99925138e-01 -4.02936496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7065599949999 meters 0.015517414700055724 Centerline is valid? [True, True] Translation: X:123.58, Y:-131.40, Z:-4.03 [[-2.45108716e-01 9.69492577e-01 2.42090594e-03 1.23577519e+02] [ 9.69437583e-01 2.45120602e-01 -1.03277757e-02 -1.31400932e+02] [-1.06061158e-02 -1.84510657e-04 -9.99943737e-01 -4.03161053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.766559995 meters 0.014142496185305237 Centerline is valid? [True, True] Translation: X:123.57, Y:-131.37, Z:-4.03 [[-3.17449852e-01 9.48268992e-01 3.39267614e-03 1.23572059e+02] [ 9.48209319e-01 3.17467940e-01 -1.06392436e-02 -1.31372744e+02] [-1.11659307e-02 -1.60459182e-04 -9.99937646e-01 -4.03335400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8265599949999 meters 0.013933984601672224 Centerline is valid? [True, True] Translation: X:123.57, Y:-131.35, Z:-4.03 [[-3.87353786e-01 9.21917877e-01 4.94709967e-03 1.23566505e+02] [ 9.21838018e-01 3.87385350e-01 -1.21350383e-02 -1.31346656e+02] [-1.31039427e-02 -1.40128474e-04 -9.99914130e-01 -4.03159677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.886559995 meters 0.013463071318207157 Centerline is valid? [True, True] Translation: X:123.56, Y:-131.32, Z:-4.03 [[-4.56027228e-01 8.89945046e-01 6.08124044e-03 1.23558854e+02] [ 8.89862705e-01 4.56067761e-01 -1.21063843e-02 -1.31319969e+02] [-1.35474744e-02 -1.09371808e-04 -9.99908223e-01 -4.03184154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9465599949999 meters 0.013029536550218102 Centerline is valid? [True, True] Translation: X:123.55, Y:-131.30, Z:-4.03 [[-5.19278065e-01 8.54573633e-01 7.36179526e-03 1.23547427e+02] [ 8.54486922e-01 5.19330246e-01 -1.21735785e-02 -1.31295235e+02] [-1.42264222e-02 -3.09145308e-05 -9.99898799e-01 -4.03258054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.006559995 meters 0.013099012136997481 Centerline is valid? [True, True] Translation: X:123.54, Y:-131.27, Z:-4.03 [[-5.82723322e-01 8.12630475e-01 8.07715311e-03 1.23536455e+02] [ 8.12552465e-01 5.82779298e-01 -1.12596829e-02 -1.31269467e+02] [-1.38571591e-02 1.83082691e-06 -9.99903985e-01 -4.03300798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0665599949999 meters 0.013556482396802533 Centerline is valid? [True, True] Translation: X:123.52, Y:-131.25, Z:-4.03 [[-6.39674912e-01 7.68595776e-01 8.74866875e-03 1.23520028e+02] [ 7.68525793e-01 6.39734730e-01 -1.03721504e-02 -1.31247751e+02] [-1.35688182e-02 8.87732150e-05 -9.99907935e-01 -4.03310069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.126559995 meters 0.01410699034821129 Centerline is valid? [True, True] Translation: X:123.50, Y:-131.23, Z:-4.03 [[-6.95034388e-01 7.18918859e-01 9.10353702e-03 1.23503013e+02] [ 7.18859757e-01 6.95093991e-01 -9.21916607e-03 -1.31227207e+02] [-1.29556462e-02 1.36528962e-04 -9.99916063e-01 -4.03319910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1865599949999 meters 0.013870377965398696 Centerline is valid? [True, True] Translation: X:123.49, Y:-131.20, Z:-4.03 [[-7.49841210e-01 6.61557114e-01 8.96347367e-03 1.23487692e+02] [ 6.61511653e-01 7.49894774e-01 -7.75635469e-03 -1.31204448e+02] [-1.18529337e-02 1.13407895e-04 -9.99929745e-01 -4.03358661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.246559995 meters 0.013263240292001524 Centerline is valid? [True, True] Translation: X:123.50, Y:-131.18, Z:-4.03 [[-7.95594873e-01 6.05757797e-01 9.28922561e-03 1.23501090e+02] [ 6.05717896e-01 7.95649095e-01 -6.95329431e-03 -1.31176632e+02] [-1.16029762e-02 9.46448899e-05 -9.99932679e-01 -4.03453202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3065599949999 meters 0.012678635397818385 Centerline is valid? [True, True] Translation: X:123.94, Y:-130.61, Z:-5.00 [[-7.59741544e-01 -6.50168611e-01 8.57696420e-03 1.23939819e+02] [ 6.50125582e-01 -7.59789949e-01 -7.48074435e-03 -1.30605689e+02] [ 1.13804364e-02 -1.07328427e-04 9.99935235e-01 -5.00421046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.366559995 meters 0.01250389489601886 Centerline is valid? [True, True] Translation: X:123.48, Y:-131.14, Z:-4.03 [[-8.03697736e-01 5.94961668e-01 9.51647634e-03 1.23476614e+02] [ 5.94919650e-01 8.03754075e-01 -7.07086692e-03 -1.31144403e+02] [-1.18558014e-02 -2.13009580e-05 -9.99929717e-01 -4.03298312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4265599949999 meters 0.012744698595229935 Centerline is valid? [True, True] Translation: X:123.49, Y:-131.11, Z:-4.03 [[-8.46628347e-01 5.32080457e-01 1.05275989e-02 1.23492569e+02] [ 5.32038010e-01 8.46693793e-01 -6.72134541e-03 -1.31113775e+02] [-1.24899492e-02 -8.93988063e-05 -9.99921994e-01 -4.03194047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.486559995 meters 0.012942058507257301 Centerline is valid? [True, True] Translation: X:123.51, Y:-131.09, Z:-4.03 [[-8.83247209e-01 4.68788679e-01 1.05613642e-02 1.23510734e+02] [ 4.68753611e-01 8.83310342e-01 -5.73504582e-03 -1.31087904e+02] [-1.20174868e-02 -1.14785583e-04 -9.99927781e-01 -4.03143749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5465599949999 meters 0.013206793515499641 Centerline is valid? [True, True] Translation: X:123.52, Y:-131.06, Z:-4.03 [[-9.14920976e-01 4.03503432e-01 1.02267929e-02 1.23523587e+02] [ 4.03476678e-01 9.14978122e-01 -4.64826144e-03 -1.31058705e+02] [-1.12328812e-02 -1.26519481e-04 -9.99936901e-01 -4.03141862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6065599949999 meters 0.012983320199292063 Centerline is valid? [True, True] Translation: X:123.54, Y:-131.03, Z:-4.03 [[-9.40930586e-01 3.38450218e-01 1.00539892e-02 1.23535282e+02] [ 3.38429622e-01 9.40984292e-01 -3.73539244e-03 -1.31032044e+02] [-1.07248903e-02 -1.12177216e-04 -9.99942480e-01 -4.03101372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.666559995 meters 0.01235734010401485 Centerline is valid? [True, True] Translation: X:123.77, Y:-130.41, Z:-5.01 [[-9.08670067e-01 -4.17417143e-01 9.03539724e-03 1.23771007e+02] [ 4.17397125e-01 -9.08714986e-01 -4.08835029e-03 -1.30408863e+02] [ 9.91714837e-03 5.63872968e-05 9.99950822e-01 -5.00700944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7265599949999 meters 0.012339800279564673 Centerline is valid? [True, True] Translation: X:123.50, Y:-131.02, Z:-4.03 [[-9.40468818e-01 3.39752230e-01 9.31801511e-03 1.23495469e+02] [ 3.39734992e-01 9.40514976e-01 -3.42276103e-03 -1.31018674e+02] [-9.92662344e-03 -5.33442262e-05 -9.99950728e-01 -4.02999367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.786559995 meters 0.012333654779684237 Centerline is valid? [True, True] Translation: X:123.50, Y:-130.99, Z:-4.03 [[-9.61666803e-01 2.74033010e-01 1.01424889e-02 1.23504567e+02] [ 2.74017364e-01 9.61720286e-01 -2.92847767e-03 -1.30992006e+02] [-1.05567369e-02 -3.70016847e-05 -9.99944275e-01 -4.02814350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8465599949999 meters 0.012384245115832027 Centerline is valid? [True, True] Translation: X:123.69, Y:-130.35, Z:-5.01 [[-9.38841703e-01 -3.44196704e-01 1.02414093e-02 1.23690598e+02] [ 3.44176906e-01 -9.38897559e-01 -3.69219080e-03 -1.30354728e+02] [ 1.08864741e-02 5.84738802e-05 9.99940739e-01 -5.00988435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.906559995 meters 0.012355184593919493 Centerline is valid? [True, True] Translation: X:123.46, Y:-130.98, Z:-4.03 [[-9.62182070e-01 2.72207004e-01 1.04408293e-02 1.23461456e+02] [ 2.72190772e-01 9.62238716e-01 -2.97263270e-03 -1.30979966e+02] [-1.08557417e-02 -1.83164773e-05 -9.99941075e-01 -4.02843265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9665599949999 meters 0.012353950293243144 Centerline is valid? [True, True] Translation: X:123.47, Y:-130.95, Z:-4.03 [[-9.78424557e-01 2.06380153e-01 9.62389312e-03 1.23468143e+02] [ 2.06370312e-01 9.78471886e-01 -2.01538387e-03 -1.30954408e+02] [-9.83264408e-03 1.41847638e-05 -9.99951658e-01 -4.02879712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.026559995 meters 0.012590978002429285 Centerline is valid? [True, True] Translation: X:123.47, Y:-130.93, Z:-4.03 [[-9.89957908e-01 1.41172870e-01 7.31859375e-03 1.23473970e+02] [ 1.41169354e-01 9.89984959e-01 -9.97407742e-04 -1.30930959e+02] [-7.38610465e-03 4.57694706e-05 -9.99972721e-01 -4.03046726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0865599949999 meters 0.013054894134320132 Centerline is valid? [True, True] Translation: X:123.57, Y:-130.27, Z:-5.01 [[-9.81401213e-01 -1.91848179e-01 6.77758793e-03 1.23568741e+02] [ 1.91843105e-01 -9.81424613e-01 -1.39712505e-03 -1.30265139e+02] [ 6.91972750e-03 -7.09067052e-05 9.99976056e-01 -5.00815644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.146559995 meters 0.014349185691401551 Centerline is valid? [True, True] Translation: X:123.43, Y:-130.93, Z:-4.03 [[-9.89144451e-01 1.46751591e-01 7.56477640e-03 1.23426193e+02] [ 1.46748230e-01 9.89173370e-01 -1.00047229e-03 -1.30931617e+02] [-7.62969627e-03 1.20505933e-04 -9.99970886e-01 -4.02852386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2065599949999 meters 0.015159075904866122 Centerline is valid? [True, True] Translation: X:123.43, Y:-130.91, Z:-4.03 [[-9.96612460e-01 8.18980614e-02 7.50418800e-03 1.23429440e+02] [ 8.18969647e-02 9.96640698e-01 -4.53825840e-04 -1.30906823e+02] [-7.51614662e-03 1.62281734e-04 -9.99971740e-01 -4.02817974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.266559995 meters 0.016319296151191317 Centerline is valid? [True, True] Translation: X:123.42, Y:-130.88, Z:-4.03 [[-9.99860742e-01 1.50936201e-02 7.11896688e-03 1.23422675e+02] [ 1.50945465e-02 9.99886068e-01 7.64240127e-05 -1.30882042e+02] [-7.11700228e-03 1.83870947e-04 -9.99974657e-01 -4.02865399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3265599949999 meters 0.01804999140398744 Centerline is valid? [True, True] Translation: X:123.42, Y:-130.86, Z:-4.03 [[-9.98765659e-01 -4.92992779e-02 6.06134843e-03 1.23423305e+02] [-4.92971640e-02 9.98784032e-01 4.97755752e-04 -1.30858022e+02] [-6.07851702e-03 1.98334064e-04 -9.99981506e-01 -4.02980986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.386559995 meters 0.01992960292878985 Centerline is valid? [True, True] Translation: X:123.42, Y:-130.83, Z:-4.03 [[-9.93148910e-01 -1.16740989e-01 5.17532640e-03 1.23420604e+02] [-1.16738407e-01 9.93162376e-01 7.99306414e-04 -1.30832638e+02] [-5.23325129e-03 1.89670934e-04 -9.99986289e-01 -4.02971436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4465599949999 meters 0.01903701228412666 Centerline is valid? [True, True] Translation: X:123.41, Y:-130.80, Z:-4.03 [[-9.82645615e-01 -1.85433105e-01 4.70722928e-03 1.23406729e+02] [-1.85430075e-01 9.82656873e-01 1.07609137e-03 -1.30803142e+02] [-4.82513417e-03 1.84554592e-04 -9.99988342e-01 -4.02964226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.506559995 meters 0.019811298416219383 Centerline is valid? [True, True] Translation: X:123.38, Y:-130.78, Z:-4.03 [[-9.65972909e-01 -2.58589362e-01 5.28022853e-03 1.23376601e+02] [-2.58584396e-01 9.65987321e-01 1.61428498e-03 -1.30779400e+02] [-5.51807074e-03 1.93970854e-04 -9.99984757e-01 -4.02864207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5665599949999 meters 0.018754760120590033 Centerline is valid? [True, True] Translation: X:123.33, Y:-130.76, Z:-4.03 [[-9.43300649e-01 -3.31891729e-01 5.63617251e-03 1.23334206e+02] [-3.31884631e-01 9.43317469e-01 2.17834585e-03 -1.30759341e+02] [-6.03967496e-03 1.84276020e-04 -9.99981744e-01 -4.02814472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.626559995 meters 0.015093971587965745 Centerline is valid? [True, True] Translation: X:123.27, Y:-130.74, Z:-4.03 [[-9.12931746e-01 -4.08058630e-01 6.61670534e-03 1.23273101e+02] [-4.08046656e-01 9.12955711e-01 3.13004393e-03 -1.30741961e+02] [-7.31800037e-03 1.57591987e-04 -9.99973211e-01 -4.02783047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6865599949999 meters 0.013609024968672641 Centerline is valid? [True, True] Translation: X:123.20, Y:-130.74, Z:-4.03 [[-8.75625947e-01 -4.82936016e-01 7.21148765e-03 1.23200176e+02] [-4.82918762e-01 8.75655638e-01 4.08329862e-03 -1.30737575e+02] [-8.28675179e-03 9.28795313e-05 -9.99965660e-01 -4.02730606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.746559995 meters 0.012994627483475149 Centerline is valid? [True, True] Translation: X:123.13, Y:-130.74, Z:-4.03 [[-8.33639430e-01 -5.52266259e-01 6.87603486e-03 1.23127362e+02] [-5.52247151e-01 8.33667786e-01 4.59417795e-03 -1.30742618e+02] [-8.26953823e-03 3.26172244e-05 -9.99965806e-01 -4.02766102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8065599949999 meters 0.01325108363291298 Centerline is valid? [True, True] Translation: X:123.04, Y:-130.76, Z:-4.03 [[-7.84243525e-01 -6.20426719e-01 5.72544287e-03 1.23043904e+02] [-6.20410611e-01 7.84264423e-01 4.47088851e-03 -1.30757283e+02] [-7.26411983e-03 -4.58601400e-05 -9.99973615e-01 -4.02884637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.866559995 meters 0.014830442946210942 Centerline is valid? [True, True] Translation: X:122.96, Y:-130.78, Z:-4.03 [[-7.30081018e-01 -6.83339502e-01 5.36962384e-03 1.22964188e+02] [-6.83322109e-01 7.30100756e-01 4.87658443e-03 -1.30778300e+02] [-7.25272920e-03 -1.08880963e-04 -9.99973693e-01 -4.02892294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9265599949999 meters 0.015079457138814574 Centerline is valid? [True, True] Translation: X:122.89, Y:-130.82, Z:-4.03 [[-6.75536913e-01 -7.37307354e-01 5.26725963e-03 1.22885012e+02] [-7.37286430e-01 6.75557435e-01 5.55620320e-03 -1.30815595e+02] [-7.65496589e-03 -1.30058686e-04 -9.99970692e-01 -4.02863489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.986559995 meters 0.01628111810445919 Centerline is valid? [True, True] Translation: X:122.80, Y:-130.86, Z:-4.03 [[-6.14239887e-01 -7.89095438e-01 6.14424755e-03 1.22804587e+02] [-7.89059436e-01 6.14270578e-01 7.54080443e-03 -1.30860871e+02] [-9.72464487e-03 -2.16313645e-04 -9.99952691e-01 -4.02741772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0465599949999 meters 0.016847494296313884 Centerline is valid? [True, True] Translation: X:122.73, Y:-130.92, Z:-4.03 [[-5.51624682e-01 -8.34068579e-01 6.30999082e-03 1.22726043e+02] [-8.34019442e-01 5.51660706e-01 9.05730569e-03 -1.30918263e+02] [-1.10353881e-02 -2.66421647e-04 -9.99939073e-01 -4.02648727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1065599949999 meters 0.017283078527211056 Centerline is valid? [True, True] Translation: X:122.65, Y:-130.99, Z:-4.02 [[-4.87589704e-01 -8.73049710e-01 6.36267827e-03 1.22651416e+02] [-8.72983138e-01 4.87631127e-01 1.07854024e-02 -1.30985695e+02] [-1.25188324e-02 -2.95659673e-04 -9.99921593e-01 -4.02454036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.166559995 meters 0.016209536139444956 Centerline is valid? [True, True] Translation: X:122.59, Y:-131.06, Z:-4.02 [[-4.23688710e-01 -9.05790978e-01 5.52996506e-03 1.22586760e+02] [-9.05721259e-01 4.23724726e-01 1.12408855e-02 -1.31062096e+02] [-1.25250756e-02 -2.45970650e-04 -9.99921528e-01 -4.02491557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2265599949999 meters 0.014718061387552616 Centerline is valid? [True, True] Translation: X:122.53, Y:-131.15, Z:-4.03 [[-3.59169288e-01 -9.33263418e-01 4.10067773e-03 1.22530505e+02] [-9.33207310e-01 3.59192664e-01 1.02345906e-02 -1.31145324e+02] [-1.10245024e-02 -1.50831824e-04 -9.99939217e-01 -4.02613380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.286559995 meters 0.014114916336025683 Centerline is valid? [True, True] Translation: X:122.48, Y:-131.24, Z:-4.03 [[-2.89664375e-01 -9.57123090e-01 3.15284537e-03 1.22476174e+02] [-9.57070650e-01 2.89681510e-01 1.00196557e-02 -1.31235874e+02] [-1.05033648e-02 -1.15158455e-04 -9.99944832e-01 -4.02693755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3465599949999 meters 0.01391119762233937 Centerline is valid? [True, True] Translation: X:122.43, Y:-131.34, Z:-4.03 [[-2.17379812e-01 -9.76083953e-01 2.47670637e-03 1.22427364e+02] [-9.76025856e-01 2.17393896e-01 1.06499617e-02 -1.31336067e+02] [-1.09336776e-02 -1.02242785e-04 -9.99940220e-01 -4.02612624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.406559995 meters 0.014182852031291953 Centerline is valid? [True, True] Translation: X:122.38, Y:-131.44, Z:-4.03 [[-1.40140323e-01 -9.90129932e-01 1.84597133e-03 1.22384019e+02] [-9.90056606e-01 1.40152411e-01 1.20506595e-02 -1.31444305e+02] [-1.21904360e-02 -1.38832801e-04 -9.99925684e-01 -4.02507361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4665599949999 meters 0.014954284845356934 Centerline is valid? [True, True] Translation: X:122.35, Y:-131.56, Z:-4.02 [[-6.06219255e-02 -9.98160355e-01 9.42383563e-04 1.22347357e+02] [-9.98082386e-01 6.06289701e-02 1.24770937e-02 -1.31555672e+02] [-1.25112760e-02 -1.84190992e-04 -9.99921714e-01 -4.02432544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.526559995 meters 0.01565663243250955 Centerline is valid? [True, True] Translation: X:122.32, Y:-131.67, Z:-4.03 [[ 2.00602855e-02 -9.99798772e-01 -1.47834412e-05 1.22319507e+02] [-9.99730746e-01 -2.00590931e-02 1.16648734e-02 -1.31671261e+02] [-1.16628226e-02 -2.19221230e-04 -9.99931963e-01 -4.02572302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5865599949999 meters 0.01729259067467398 Centerline is valid? [True, True] Translation: X:122.30, Y:-131.79, Z:-4.02 [[ 9.95930882e-02 -9.95027882e-01 -8.55161674e-04 1.22296868e+02] [-9.94967690e-01 -9.95964718e-02 1.09471223e-02 -1.31790257e+02] [-1.09778630e-02 -2.39399478e-04 -9.99939713e-01 -4.02471601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.646559995 meters 0.019736741521559634 Centerline is valid? [True, True] Translation: X:122.28, Y:-131.91, Z:-4.02 [[ 1.80385170e-01 -9.83594384e-01 -1.81039388e-03 1.22283488e+02] [-9.83525913e-01 -1.80393982e-01 1.16099214e-02 -1.31905403e+02] [-1.17460377e-02 -3.13688356e-04 -9.99930964e-01 -4.02334447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7065599949999 meters 0.018874629963554337 Centerline is valid? [True, True] Translation: X:122.29, Y:-132.02, Z:-4.02 [[ 2.58430916e-01 -9.66025545e-01 -2.84765535e-03 1.22286433e+02] [-9.65950099e-01 -2.58446339e-01 1.20787709e-02 -1.32024530e+02] [-1.24043674e-02 -3.70834873e-04 -9.99922994e-01 -4.02460304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.766559995 meters 0.018351108965797294 Centerline is valid? [True, True] Translation: X:122.30, Y:-132.14, Z:-4.03 [[ 3.32689996e-01 -9.43029265e-01 -3.62935435e-03 1.22295285e+02] [-9.42960498e-01 -3.32709588e-01 1.13942591e-02 -1.32140871e+02] [-1.19526408e-02 -3.68418236e-04 -9.99928497e-01 -4.02568755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8265599949999 meters 0.01889436128791818 Centerline is valid? [True, True] Translation: X:122.31, Y:-132.26, Z:-4.03 [[ 4.04711911e-01 -9.14436179e-01 -3.83975272e-03 1.22313481e+02] [-9.14387193e-01 -4.04729997e-01 9.47055843e-03 -1.32260888e+02] [-1.02142844e-02 -3.21827087e-04 -9.99947781e-01 -4.02702887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.886559995 meters 0.018725552493429817 Centerline is valid? [True, True] Translation: X:122.34, Y:-132.37, Z:-4.03 [[ 4.72192921e-01 -8.81485029e-01 -4.24122409e-03 1.22339142e+02] [-8.81443931e-01 -4.72211883e-01 8.51667044e-03 -1.32373399e+02] [-9.51007391e-03 -2.83110262e-04 -9.99954738e-01 -4.02659046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9465599949999 meters 0.017796224183999065 Centerline is valid? [True, True] Translation: X:122.37, Y:-132.48, Z:-4.03 [[ 5.35559364e-01 -8.44483393e-01 -4.89567344e-03 1.22368019e+02] [-8.44443714e-01 -5.35581680e-01 8.19009511e-03 -1.32476230e+02] [-9.53843231e-03 -2.52161460e-04 -9.99954476e-01 -4.02574070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.006559995 meters 0.016615156877533996 Centerline is valid? [True, True] Translation: X:122.41, Y:-132.58, Z:-4.03 [[ 5.95462212e-01 -8.03364075e-01 -5.56033704e-03 1.22405743e+02] [-8.03325612e-01 -5.95488133e-01 7.86412918e-03 -1.32579352e+02] [-9.62887358e-03 -2.16030602e-04 -9.99953618e-01 -4.02528286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0665599949999 meters 0.01654550216611967 Centerline is valid? [True, True] Translation: X:122.45, Y:-132.68, Z:-4.02 [[ 6.54173050e-01 -7.56321031e-01 -6.00984692e-03 1.22448632e+02] [-7.56286279e-01 -6.54200625e-01 7.25298478e-03 -1.32680822e+02] [-9.41723054e-03 -1.99542404e-04 -9.99955637e-01 -4.02446963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.126559995 meters 0.016257580259985038 Centerline is valid? [True, True] Translation: X:122.50, Y:-132.78, Z:-4.02 [[ 7.09997737e-01 -7.04172344e-01 -6.67256701e-03 1.22499603e+02] [-7.04138521e-01 -7.10029062e-01 6.90469588e-03 -1.32776731e+02] [-9.59981237e-03 -2.03906987e-04 -9.99953900e-01 -4.02457283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1865599949999 meters 0.016647240556451694 Centerline is valid? [True, True] Translation: X:122.55, Y:-132.87, Z:-4.02 [[ 7.61525035e-01 -6.48094290e-01 -7.30838667e-03 1.22553987e+02] [-6.48061807e-01 -7.61560075e-01 6.49200073e-03 -1.32867782e+02] [-9.77320410e-03 -2.07534804e-04 -9.99952220e-01 -4.02370910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.246559995 meters 0.01648992690219163 Centerline is valid? [True, True] Translation: X:122.58, Y:-132.90, Z:-4.02 [[ 8.09523750e-01 -5.87026458e-01 -8.44010134e-03 1.22575336e+02] [-5.86991715e-01 -8.09567718e-01 6.39038912e-03 -1.32895247e+02] [-1.05841611e-02 -2.18902208e-04 -9.99943962e-01 -4.02288789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3065599949999 meters 0.015515172264236389 Centerline is valid? [True, True] Translation: X:122.60, Y:-132.92, Z:-4.02 [[ 8.51069191e-01 -5.24983224e-01 -8.59342453e-03 1.22599668e+02] [-5.24954378e-01 -8.51112557e-01 5.50607829e-03 -1.32918310e+02] [-1.02045703e-02 -1.74897770e-04 -9.99947917e-01 -4.02479533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.366559995 meters 0.015156437936318103 Centerline is valid? [True, True] Translation: X:122.62, Y:-132.94, Z:-4.03 [[ 8.87820135e-01 -4.60112639e-01 -8.47152907e-03 1.22624698e+02] [-4.60090300e-01 -8.87860543e-01 4.53572179e-03 -1.32938397e+02] [-9.60847932e-03 -1.29236784e-04 -9.99953829e-01 -4.02502491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4265599949999 meters 0.014020429624515945 Centerline is valid? [True, True] Translation: X:122.65, Y:-132.96, Z:-4.03 [[ 9.18759144e-01 -3.94712273e-01 -9.15731174e-03 1.22653229e+02] [-3.94691849e-01 -9.18804776e-01 4.01605102e-03 -1.32955146e+02] [-9.99896638e-03 -7.54672906e-05 -9.99950006e-01 -4.02673335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.486559995 meters 0.013645913901668047 Centerline is valid? [True, True] Translation: X:122.68, Y:-132.97, Z:-4.03 [[ 9.44724842e-01 -3.27733536e-01 -9.25760261e-03 1.22681612e+02] [-3.27717686e-01 -9.44770199e-01 3.22315303e-03 -1.32971130e+02] [-9.80264240e-03 -1.11126295e-05 -9.99951953e-01 -4.02795231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5465599949999 meters 0.013823480121172755 Centerline is valid? [True, True] Translation: X:122.71, Y:-132.98, Z:-4.03 [[ 9.66239222e-01 -2.57488308e-01 -9.02976083e-03 1.22711125e+02] [-2.57477393e-01 -9.66281414e-01 2.37106219e-03 -1.32984743e+02] [-9.33581085e-03 3.39459876e-05 -9.99956420e-01 -4.02921305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6065599949999 meters 0.014865304924165657 Centerline is valid? [True, True] Translation: X:122.74, Y:-132.99, Z:-4.03 [[ 9.81873356e-01 -1.89350604e-01 -8.42984784e-03 1.22739616e+02] [-1.89344526e-01 -9.81909537e-01 1.52068991e-03 -1.32991254e+02] [-8.56529154e-03 1.03020636e-04 -9.99963312e-01 -4.03053889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.666559995 meters 0.01551717526387933 Centerline is valid? [True, True] Translation: X:122.77, Y:-133.00, Z:-4.03 [[ 9.92803667e-01 -1.19488933e-01 -7.95454920e-03 1.22766294e+02] [-1.19486364e-01 -9.92835520e-01 7.99089612e-04 -1.33001982e+02] [-7.99304136e-03 1.57121063e-04 -9.99968043e-01 -4.03238950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7265599949999 meters 0.016263625294231254 Centerline is valid? [True, True] Translation: X:122.79, Y:-133.01, Z:-4.03 [[ 9.98913428e-01 -4.54230624e-02 -1.04263794e-02 1.22793639e+02] [-4.54231691e-02 -9.98967809e-01 2.26692170e-04 -1.33013425e+02] [-1.04259145e-02 2.47153344e-04 -9.99945618e-01 -4.03147723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.786559995 meters 0.01637710466186081 Centerline is valid? [True, True] Translation: X:122.82, Y:-133.02, Z:-4.03 [[ 9.99402715e-01 3.25155741e-02 -1.17026141e-02 1.22821657e+02] [ 3.25100372e-02 -9.99471189e-01 -6.63110374e-04 -1.33024551e+02] [-1.17179870e-02 2.82261889e-04 -9.99931302e-01 -4.03048560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8465599949999 meters 0.01632512438952743 Centerline is valid? [True, True] Translation: X:122.85, Y:-133.03, Z:-4.03 [[ 9.93754805e-01 1.11004843e-01 -1.13715529e-02 1.22850688e+02] [ 1.10994432e-01 -9.93819828e-01 -1.54451640e-03 -1.33033094e+02] [-1.14727235e-02 2.72691534e-04 -9.99934149e-01 -4.03058110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.906559995 meters 0.015677523552030826 Centerline is valid? [True, True] Translation: X:122.88, Y:-133.04, Z:-4.03 [[ 9.81531313e-01 1.91047542e-01 -9.85483518e-03 1.22881468e+02] [ 1.91035732e-01 -9.81580761e-01 -2.13496017e-03 -1.33042666e+02] [-1.00811955e-02 2.12904615e-04 -9.99949161e-01 -4.03153720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9665599949999 meters 0.014727874998284901 Centerline is valid? [True, True] Translation: X:122.91, Y:-133.05, Z:-4.03 [[ 9.62154771e-01 2.72351933e-01 -9.08963918e-03 1.22910913e+02] [ 2.72338295e-01 -9.62197694e-01 -2.72961953e-03 -1.33049287e+02] [-9.48944701e-03 1.50859614e-04 -9.99954963e-01 -4.03215872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.026559995 meters 0.013352900480081881 Centerline is valid? [True, True] Translation: X:122.94, Y:-133.06, Z:-4.03 [[ 9.35594976e-01 3.52967781e-01 -8.70553980e-03 1.22944496e+02] [ 3.52951632e-01 -9.35635473e-01 -3.37750503e-03 -1.33057259e+02] [-9.33736231e-03 8.73422607e-05 -9.99956402e-01 -4.03302013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0865599949999 meters 0.01274785497521099 Centerline is valid? [True, True] Translation: X:122.98, Y:-133.06, Z:-4.03 [[ 9.01212438e-01 4.33300602e-01 -8.16887419e-03 1.22978800e+02] [ 4.33282776e-01 -9.01249460e-01 -3.93031173e-03 -1.33061956e+02] [-9.06519989e-03 2.61332910e-06 -9.99958910e-01 -4.03244263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.146559995 meters 0.01331483251866641 Centerline is valid? [True, True] Translation: X:123.01, Y:-133.06, Z:-4.03 [[ 8.59696041e-01 5.10727877e-01 -8.93042428e-03 1.23013970e+02] [ 5.10701470e-01 -8.59742419e-01 -5.19435193e-03 -1.33064087e+02] [-1.03307649e-02 -9.52170205e-05 -9.99946632e-01 -4.03125689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2065599949999 meters 0.014030174476718935 Centerline is valid? [True, True] Translation: X:123.05, Y:-133.06, Z:-4.03 [[ 8.14137533e-01 5.80599569e-01 -9.17700301e-03 1.23047502e+02] [ 5.80564883e-01 -8.14189238e-01 -6.34839012e-03 -1.33058317e+02] [-1.11576897e-02 -1.59383001e-04 -9.99937738e-01 -4.03020686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.266559995 meters 0.014941875396047879 Centerline is valid? [True, True] Translation: X:123.08, Y:-133.05, Z:-4.03 [[ 7.63976277e-01 6.45178799e-01 -9.19594678e-03 1.23077775e+02] [ 6.45135348e-01 -7.64031592e-01 -7.49061094e-03 -1.33047577e+02] [-1.18587772e-02 -2.09981260e-04 -9.99929660e-01 -4.02995614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3265599949999 meters 0.014807775881151983 Centerline is valid? [True, True] Translation: X:123.11, Y:-133.03, Z:-4.03 [[ 7.11099565e-01 7.03045407e-01 -8.03512024e-03 1.23105785e+02] [ 7.03003639e-01 -7.11144933e-01 -7.66595469e-03 -1.33031723e+02] [-1.11036493e-02 -1.97461719e-04 -9.99938333e-01 -4.03075133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.386559995 meters 0.014728948153058335 Centerline is valid? [True, True] Translation: X:123.13, Y:-133.01, Z:-4.03 [[ 6.54080024e-01 7.56385740e-01 -7.74172737e-03 1.23132593e+02] [ 7.56336398e-01 -6.54125807e-01 -8.64187784e-03 -1.33014101e+02] [-1.16006568e-02 -2.02870536e-04 -9.99932690e-01 -4.03039653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4465599949999 meters 0.015175398176572987 Centerline is valid? [True, True] Translation: X:123.16, Y:-132.99, Z:-4.03 [[ 5.93775679e-01 8.04586720e-01 -8.40557064e-03 1.23155630e+02] [ 8.04511433e-01 -5.93835128e-01 -1.10088898e-02 -1.32993798e+02] [-1.38491296e-02 -2.25566691e-04 -9.99904071e-01 -4.02762513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.506559995 meters 0.014740961118208702 Centerline is valid? [True, True] Translation: X:123.17, Y:-132.97, Z:-4.03 [[ 5.30873337e-01 8.47416698e-01 -7.64456786e-03 1.23171087e+02] [ 8.47334148e-01 -5.30928339e-01 -1.18296751e-02 -1.32967159e+02] [-1.40833819e-02 -1.97444315e-04 -9.99900805e-01 -4.02787126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5665599949999 meters 0.01387803431035134 Centerline is valid? [True, True] Translation: X:123.19, Y:-132.94, Z:-4.03 [[ 4.64372298e-01 8.85616864e-01 -6.41403620e-03 1.23189076e+02] [ 8.85537300e-01 -4.64416562e-01 -1.18721048e-02 -1.32942977e+02] [-1.34929209e-02 -1.66791703e-04 -9.99908953e-01 -4.02995724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.626559995 meters 0.013568580357119771 Centerline is valid? [True, True] Translation: X:123.21, Y:-132.92, Z:-4.03 [[ 3.95422832e-01 9.18484071e-01 -5.27208295e-03 1.23205183e+02] [ 9.18406946e-01 -3.95457953e-01 -1.19033211e-02 -1.32917518e+02] [-1.30178979e-02 -1.35072680e-04 -9.99915255e-01 -4.03041489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6865599949999 meters 0.013502250260516937 Centerline is valid? [True, True] Translation: X:123.22, Y:-132.89, Z:-4.03 [[ 3.23225740e-01 9.46311706e-01 -4.39033575e-03 1.23219279e+02] [ 9.46229555e-01 -3.23255532e-01 -1.24695730e-02 -1.32891873e+02] [-1.32193032e-02 -1.23778476e-04 -9.99912614e-01 -4.03036628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.746559995 meters 0.013371013486569947 Centerline is valid? [True, True] Translation: X:123.23, Y:-132.86, Z:-4.03 [[ 2.50095560e-01 9.68215125e-01 -3.41808323e-03 1.23229499e+02] [ 9.68129945e-01 -2.50118898e-01 -1.28431290e-02 -1.32864982e+02] [-1.32898389e-02 -9.71391948e-05 -9.99911682e-01 -4.03042794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8065599949999 meters 0.013036222021542768 Centerline is valid? [True, True] Translation: X:123.24, Y:-132.84, Z:-4.03 [[ 1.75165676e-01 9.84536032e-01 -2.40566147e-03 1.23238683e+02] [ 9.84448958e-01 -1.75182178e-01 -1.30940214e-02 -1.32837955e+02] [-1.33129649e-02 -7.46278274e-05 -9.99911376e-01 -4.03181139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.866559995 meters 0.012998397123848678 Centerline is valid? [True, True] Translation: X:123.25, Y:-132.81, Z:-4.03 [[ 9.77892977e-02 9.95206280e-01 -1.30932404e-03 1.23248099e+02] [ 9.95126143e-01 -9.77980391e-02 -1.26294493e-02 -1.32811655e+02] [-1.26969565e-02 -6.79176107e-05 -9.99919388e-01 -4.03300810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9265599949999 meters 0.013281179289298567 Centerline is valid? [True, True] Translation: X:123.26, Y:-132.79, Z:-4.03 [[ 1.81616864e-02 9.99835022e-01 -2.86384734e-04 1.23256037e+02] [ 9.99768801e-01 -1.81637796e-02 -1.15074506e-02 -1.32785960e+02] [-1.15107539e-02 -7.73238132e-05 -9.99933746e-01 -4.03278622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.986559995 meters 0.013618152693768898 Centerline is valid? [True, True] Translation: X:123.27, Y:-132.76, Z:-4.03 [[-6.44029179e-02 9.97923800e-01 5.95076371e-04 1.23265432e+02] [ 9.97861984e-01 6.44055523e-02 -1.11078718e-02 -1.32758627e+02] [-1.11231359e-02 -1.21575268e-04 -9.99938129e-01 -4.03335540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0465599949999 meters 0.014626945309928325 Centerline is valid? [True, True] Translation: X:123.27, Y:-132.73, Z:-4.03 [[-1.46418114e-01 9.89221406e-01 1.65680013e-03 1.23271306e+02] [ 9.89142594e-01 1.46427365e-01 -1.24882502e-02 -1.32730507e+02] [-1.25962453e-02 -1.89694469e-04 -9.99920646e-01 -4.03151469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1065599949999 meters 0.014511778047434703 Centerline is valid? [True, True] Translation: X:123.28, Y:-132.70, Z:-4.03 [[-2.25432975e-01 9.74254970e-01 2.68819449e-03 1.23275909e+02] [ 9.74173611e-01 2.25448895e-01 -1.25924952e-02 -1.32702154e+02] [-1.28743515e-02 -2.19995511e-04 -9.99917098e-01 -4.03247615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.166559995 meters 0.014569748914102598 Centerline is valid? [True, True] Translation: X:123.28, Y:-132.67, Z:-4.03 [[-3.01338172e-01 9.53510845e-01 3.51788228e-03 1.23278100e+02] [ 9.53437308e-01 3.01358629e-01 -1.18438643e-02 -1.32672587e+02] [-1.23533972e-02 -2.14928202e-04 -9.99923671e-01 -4.03287922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2265599949999 meters 0.01440613239168169 Centerline is valid? [True, True] Translation: X:123.28, Y:-132.64, Z:-4.03 [[-3.74797990e-01 9.27098594e-01 3.82936391e-03 1.23278013e+02] [ 9.27045135e-01 3.74817508e-01 -9.95753111e-03 -1.32643050e+02] [-1.06669257e-02 -1.82069464e-04 -9.99943090e-01 -4.03430302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.286559995 meters 0.014123808696908614 Centerline is valid? [True, True] Translation: X:123.27, Y:-132.62, Z:-4.03 [[-4.44395300e-01 8.95819919e-01 4.41480116e-03 1.23272576e+02] [ 8.95772242e-01 4.44417203e-01 -9.24343751e-03 -1.32616447e+02] [-1.02424690e-02 -1.53083859e-04 -9.99947533e-01 -4.03427918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3465599949999 meters 0.013668360126229125 Centerline is valid? [True, True] Translation: X:123.26, Y:-132.59, Z:-4.03 [[-5.11531544e-01 8.59248963e-01 5.16705068e-03 1.23263210e+02] [ 8.59202450e-01 5.11557622e-01 -8.94140044e-03 -1.32589728e+02] [-1.03261332e-02 -1.34265770e-04 -9.99946675e-01 -4.03358536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.406559995 meters 0.013108618250018076 Centerline is valid? [True, True] Translation: X:123.25, Y:-132.56, Z:-4.03 [[-5.75235113e-01 8.17961471e-01 6.60279407e-03 1.23253767e+02] [ 8.17905122e-01 5.75272994e-01 -9.60176347e-03 -1.32563043e+02] [-1.16522817e-02 -1.22812407e-04 -9.99932102e-01 -4.03247219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4665599949999 meters 0.013553697731321864 Centerline is valid? [True, True] Translation: X:123.24, Y:-132.54, Z:-4.03 [[-6.37772676e-01 7.70185223e-01 7.79326630e-03 1.23244647e+02] [ 7.70125134e-01 6.37820275e-01 -9.62157641e-03 -1.32536856e+02] [-1.23810992e-02 -1.34588285e-04 -9.99923342e-01 -4.03067577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.526559995 meters 0.013463025076022407 Centerline is valid? [True, True] Translation: X:123.23, Y:-132.51, Z:-4.03 [[-6.97565313e-01 7.16464138e-01 9.04282789e-03 1.23233354e+02] [ 7.16400776e-01 6.97623903e-01 -9.52980724e-03 -1.32510069e+02] [-1.31362580e-02 -1.69374055e-04 -9.99913701e-01 -4.03168059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5865599949999 meters 0.014296060834292492 Centerline is valid? [True, True] Translation: X:123.22, Y:-132.48, Z:-4.03 [[-7.54128693e-01 6.56643762e-01 1.04347392e-02 1.23220493e+02] [ 6.56576535e-01 7.54200844e-01 -9.39891980e-03 -1.32482619e+02] [-1.40416312e-02 -2.36790179e-04 -9.99901383e-01 -4.03049720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.646559995 meters 0.014654882528116808 Centerline is valid? [True, True] Translation: X:123.25, Y:-132.47, Z:-4.03 [[-7.97698284e-01 6.02962932e-01 1.06372485e-02 1.23245929e+02] [ 6.02906081e-01 7.97769181e-01 -8.28203680e-03 -1.32465463e+02] [-1.34798302e-02 -1.93304716e-04 -9.99909124e-01 -4.03109526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7065599949999 meters 0.014882547663620417 Centerline is valid? [True, True] Translation: X:123.26, Y:-132.44, Z:-4.03 [[-8.38362462e-01 5.45008163e-01 1.06997631e-02 1.23260302e+02] [ 5.44960077e-01 8.38430703e-01 -7.24365541e-03 -1.32443587e+02] [-1.29188613e-02 -2.41865051e-04 -9.99916519e-01 -4.03133232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.766559995 meters 0.014680150631498773 Centerline is valid? [True, True] Translation: X:123.27, Y:-132.42, Z:-4.03 [[-8.74567651e-01 4.84794323e-01 1.02901615e-02 1.23273662e+02] [ 4.84757844e-01 8.74628160e-01 -5.95102073e-03 -1.32421314e+02] [-1.18850861e-02 -2.16333727e-04 -9.99929347e-01 -4.03216706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8265599949999 meters 0.01465453710095383 Centerline is valid? [True, True] Translation: X:123.63, Y:-131.82, Z:-5.01 [[-8.19433605e-01 -5.73099066e-01 9.27513066e-03 1.23628858e+02] [ 5.73064595e-01 -8.19486079e-01 -6.28772845e-03 -1.31818142e+02] [ 1.12043318e-02 1.62873010e-04 9.99937216e-01 -5.00573873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.886559995 meters 0.014224184101803188 Centerline is valid? [True, True] Translation: X:123.24, Y:-132.40, Z:-4.03 [[-8.76640401e-01 4.81049479e-01 9.64393996e-03 1.23237147e+02] [ 4.81017724e-01 8.76693421e-01 -5.53123184e-03 -1.32402730e+02] [-1.11155749e-02 -2.09995251e-04 -9.99938198e-01 -4.03269977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9465599949999 meters 0.015627634620210447 Centerline is valid? [True, True] Translation: X:123.25, Y:-132.37, Z:-4.03 [[-9.08759340e-01 4.17196799e-01 1.01633568e-02 1.23248533e+02] [ 4.17167983e-01 9.08816143e-01 -4.90835566e-03 -1.32374372e+02] [-1.12843730e-02 -2.20686995e-04 -9.99936305e-01 -4.03056185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.006559995 meters 0.014897244056144095 Centerline is valid? [True, True] Translation: X:123.26, Y:-132.35, Z:-4.03 [[-9.36661540e-01 3.50117439e-01 9.10707085e-03 1.23263712e+02] [ 3.50098709e-01 9.36705789e-01 -3.62753146e-03 -1.32352153e+02] [-9.80070801e-03 -2.09395460e-04 -9.99951950e-01 -4.03223616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0665599949999 meters 0.015269485622619088 Centerline is valid? [True, True] Translation: X:123.52, Y:-131.71, Z:-5.01 [[-8.92143380e-01 -4.51676391e-01 8.28420180e-03 1.23521913e+02] [ 4.51658575e-01 -8.92181827e-01 -4.01489291e-03 -1.31707164e+02] [ 9.20444663e-03 1.59770648e-04 9.99957625e-01 -5.00585692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.126559995 meters 0.015979347191681544 Centerline is valid? [True, True] Translation: X:123.22, Y:-132.34, Z:-4.03 [[-9.38644320e-01 3.44786737e-01 8.30340668e-03 1.23221878e+02] [ 3.44771274e-01 9.38681023e-01 -3.27199361e-03 -1.32335418e+02] [-8.92239028e-03 -2.08462119e-04 -9.99960173e-01 -4.03166304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1865599949999 meters 0.016031003491541955 Centerline is valid? [True, True] Translation: X:123.23, Y:-132.31, Z:-4.03 [[-9.60546850e-01 2.78001238e-01 8.06600386e-03 1.23228332e+02] [ 2.77989748e-01 9.60580697e-01 -2.53473970e-03 -1.32310297e+02] [-8.45270838e-03 -1.92469850e-04 -9.99964257e-01 -4.03108897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.246559995 meters 0.01604469585979104 Centerline is valid? [True, True] Translation: X:123.42, Y:-131.64, Z:-5.01 [[-9.23631758e-01 -3.83202753e-01 7.74760131e-03 1.23417626e+02] [ 3.83190908e-01 -9.23664234e-01 -3.01838014e-03 -1.31639549e+02] [ 8.31283381e-03 1.80938630e-04 9.99965431e-01 -5.00780941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3065599949999 meters 0.014978976208822124 Centerline is valid? [True, True] Translation: X:123.19, Y:-132.30, Z:-4.03 [[-9.60831267e-01 2.77028958e-01 7.63103485e-03 1.23188704e+02] [ 2.77018898e-01 9.60861557e-01 -2.36619761e-03 -1.32300845e+02] [-7.98787329e-03 -1.59575779e-04 -9.99968084e-01 -4.03084854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.366559995 meters 0.014574100945327902 Centerline is valid? [True, True] Translation: X:123.20, Y:-132.28, Z:-4.03 [[-9.77741764e-01 2.09652087e-01 8.18806986e-03 1.23196494e+02] [ 2.09643397e-01 9.77776037e-01 -1.91522437e-03 -1.32276239e+02] [-8.40762929e-03 -1.56020069e-04 -9.99964643e-01 -4.03071433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4265599949999 meters 0.01435158099954006 Centerline is valid? [True, True] Translation: X:123.36, Y:-131.59, Z:-5.01 [[-9.51213642e-01 -3.08446816e-01 7.29175261e-03 1.23363780e+02] [ 3.08438518e-01 -9.51241585e-01 -2.26453823e-03 -1.31594199e+02] [ 7.63470792e-03 9.49977123e-05 9.99970851e-01 -5.00754287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.486559995 meters 0.013602838369696953 Centerline is valid? [True, True] Translation: X:123.15, Y:-132.27, Z:-4.03 [[-9.77187671e-01 2.12263908e-01 6.94899051e-03 1.23150135e+02] [ 2.12257914e-01 9.77212375e-01 -1.59753436e-03 -1.32270148e+02] [-7.12973840e-03 -8.61126512e-05 -9.99974579e-01 -4.03052564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5465599949999 meters 0.012560047272180545 Centerline is valid? [True, True] Translation: X:123.32, Y:-131.58, Z:-5.01 [[-9.55357225e-01 -2.95366966e-01 7.13641452e-03 1.23324285e+02] [ 2.95359563e-01 -9.55383873e-01 -2.09392731e-03 -1.31577686e+02] [ 7.43649230e-03 1.07359692e-04 9.99972343e-01 -5.00732839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6065599949999 meters 0.012310445353497098 Centerline is valid? [True, True] Translation: X:123.12, Y:-132.27, Z:-4.03 [[-9.75795671e-01 2.18574144e-01 6.93916962e-03 1.23115120e+02] [ 2.18568523e-01 9.75820344e-01 -1.56769790e-03 -1.32272787e+02] [-7.11404111e-03 -1.30687708e-05 -9.99974695e-01 -4.03101442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.666559995 meters 0.012271421627163827 Centerline is valid? [True, True] Translation: X:123.28, Y:-131.56, Z:-5.01 [[-9.58407312e-01 -2.85323480e-01 6.77763609e-03 1.23281960e+02] [ 2.85316421e-01 -9.58431277e-01 -2.00701796e-03 -1.31564084e+02] [ 7.06854776e-03 1.02301873e-05 9.99975018e-01 -5.00651246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7265599949999 meters 0.01230775277733706 Centerline is valid? [True, True] Translation: X:123.07, Y:-132.26, Z:-4.03 [[-9.76447476e-01 2.15618874e-01 7.66995582e-03 1.23068859e+02] [ 2.15612154e-01 9.76477599e-01 -1.70231597e-03 -1.32262425e+02] [-7.85659150e-03 -8.48643512e-06 -9.99969137e-01 -4.03138744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.786559995 meters 0.01228560594738791 Centerline is valid? [True, True] Translation: X:123.23, Y:-131.56, Z:-5.01 [[-9.58878850e-01 -2.83698613e-01 8.15155266e-03 1.23226946e+02] [ 2.83688797e-01 -9.58913497e-01 -2.36052946e-03 -1.31556833e+02] [ 8.48631280e-03 4.90423980e-05 9.99963989e-01 -5.00738229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8465599949999 meters 0.012366723772317208 Centerline is valid? [True, True] Translation: X:123.02, Y:-132.25, Z:-4.03 [[-9.77442145e-01 2.11060959e-01 7.75397839e-03 1.23017615e+02] [ 2.11054193e-01 9.77472901e-01 -1.69009120e-03 -1.32247260e+02] [-7.93601601e-03 -1.54567189e-05 -9.99968509e-01 -4.03114838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.906559995 meters 0.012407254196059848 Centerline is valid? [True, True] Translation: X:123.03, Y:-132.22, Z:-4.03 [[-9.90173554e-01 1.39631025e-01 7.71420947e-03 1.23028185e+02] [ 1.39626569e-01 9.90203603e-01 -1.11579757e-03 -1.32218606e+02] [-7.79443797e-03 -2.77246465e-05 -9.99969623e-01 -4.03157068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9665599949999 meters 0.012613611255262051 Centerline is valid? [True, True] Translation: X:123.13, Y:-131.52, Z:-5.01 [[-9.76233558e-01 -2.16593766e-01 7.42844405e-03 1.23128001e+02] [ 2.16587608e-01 -9.76261820e-01 -1.63329589e-03 -1.31518683e+02] [ 7.60586802e-03 1.44306724e-05 9.99971075e-01 -5.00624602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.026559995 meters 0.013181118379892495 Centerline is valid? [True, True] Translation: X:122.97, Y:-132.20, Z:-4.03 [[-9.91675415e-01 1.28538555e-01 7.59679115e-03 1.22970681e+02] [ 1.28534141e-01 9.91704509e-01 -1.06853148e-03 -1.32202623e+02] [-7.67111953e-03 -8.31893743e-05 -9.99970573e-01 -4.03152805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0865599949999 meters 0.014035852815331347 Centerline is valid? [True, True] Translation: X:122.97, Y:-132.17, Z:-4.03 [[-9.98549507e-01 5.32342983e-02 8.06170813e-03 1.22970058e+02] [ 5.32315539e-02 9.98582042e-01 -5.54764904e-04 -1.32170567e+02] [-8.07980948e-03 -1.24822971e-04 -9.99967350e-01 -4.03050219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.146559995 meters 0.015058148756486376 Centerline is valid? [True, True] Translation: X:123.02, Y:-131.49, Z:-5.01 [[-9.87984945e-01 -1.54160912e-01 1.09618716e-02 1.23021582e+02] [ 1.54155568e-01 -9.88045685e-01 -1.33588063e-03 -1.31491473e+02] [ 1.10367705e-02 3.70003587e-04 9.99939025e-01 -5.01036281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2065599949999 meters 0.01604972050316399 Centerline is valid? [True, True] Translation: X:122.92, Y:-132.16, Z:-4.03 [[-9.98928478e-01 4.45742667e-02 1.24511508e-02 1.22915701e+02] [ 4.45676544e-02 9.99006042e-01 -8.08159919e-04 -1.32162023e+02] [-1.24747980e-02 -2.52375370e-04 -9.99922155e-01 -4.02594410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.266559995 meters 0.014628590337858786 Centerline is valid? [True, True] Translation: X:122.91, Y:-132.14, Z:-4.03 [[-9.99575596e-01 -2.61960645e-02 1.27433837e-02 1.22914334e+02] [-2.61971791e-02 9.99656792e-01 7.94845922e-05 -1.32138649e+02] [-1.27410922e-02 -2.54389846e-04 -9.99918797e-01 -4.02707806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3265599949999 meters 0.01391185633123519 Centerline is valid? [True, True] Translation: X:122.91, Y:-132.12, Z:-4.03 [[-9.95524714e-01 -9.36735079e-02 1.24827118e-02 1.22912146e+02] [-9.36687425e-02 9.95602949e-01 9.67148634e-04 -1.32115628e+02] [-1.25184208e-02 -2.06419546e-04 -9.99921620e-01 -4.02756557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.386559995 meters 0.013017392858313118 Centerline is valid? [True, True] Translation: X:122.86, Y:-131.42, Z:-5.01 [[-9.99942887e-01 -2.88942826e-04 1.06836002e-02 1.22861862e+02] [ 2.89638861e-04 -9.99999956e-01 6.36026068e-05 -1.31423514e+02] [ 1.06835814e-02 6.66933601e-05 9.99942927e-01 -5.00979327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4465599949999 meters 0.012367048914218085 Centerline is valid? [True, True] Translation: X:122.83, Y:-132.14, Z:-4.03 [[-9.96279017e-01 -8.56789330e-02 9.34028266e-03 1.22833993e+02] [-8.56754046e-02 9.96322799e-01 7.77974771e-04 -1.32135906e+02] [-9.37259261e-03 -2.51525556e-05 -9.99956076e-01 -4.02960380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.506559995 meters 0.012654239923367018 Centerline is valid? [True, True] Translation: X:122.78, Y:-131.41, Z:-5.01 [[-9.99757277e-01 1.95267927e-02 1.02025571e-02 1.22775745e+02] [-1.95249897e-02 -9.99809331e-01 2.76302385e-04 -1.31414682e+02] [ 1.02060071e-02 7.70304989e-05 9.99947914e-01 -5.00970396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5665599949999 meters 0.012722751763948905 Centerline is valid? [True, True] Translation: X:122.75, Y:-132.15, Z:-4.03 [[-9.96387307e-01 -8.42064504e-02 1.10276102e-02 1.22746646e+02] [-8.42007123e-02 9.96448328e-01 9.84410744e-04 -1.32150088e+02] [-1.10713375e-02 5.23217380e-05 -9.99938710e-01 -4.02823438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.626559995 meters 0.01284955871438317 Centerline is valid? [True, True] Translation: X:122.74, Y:-132.12, Z:-4.03 [[-9.87762070e-01 -1.55497664e-01 1.21065709e-02 1.22737486e+02] [-1.55485350e-01 9.87836259e-01 1.95758823e-03 -1.32122531e+02] [-1.22637101e-02 5.12370023e-05 -9.99924797e-01 -4.02751188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6865599949999 meters 0.012989152471772233 Centerline is valid? [True, True] Translation: X:122.72, Y:-132.10, Z:-4.03 [[-9.74234544e-01 -2.25148079e-01 1.32436948e-02 1.22723180e+02] [-2.25126394e-01 9.74324555e-01 3.12543431e-03 -1.32098052e+02] [-1.36073426e-02 6.34008096e-05 -9.99907414e-01 -4.02690103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.746559995 meters 0.013248937687192534 Centerline is valid? [True, True] Translation: X:122.70, Y:-132.08, Z:-4.03 [[-9.56465579e-01 -2.91529916e-01 1.35611283e-02 1.22699446e+02] [-2.91498936e-01 9.56561705e-01 4.25147414e-03 -1.32078051e+02] [-1.42114879e-02 1.13334211e-04 -9.99899005e-01 -4.02782303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8065599949999 meters 0.01347121050328017 Centerline is valid? [True, True] Translation: X:122.65, Y:-132.07, Z:-4.03 [[-9.33815142e-01 -3.57578533e-01 1.12638115e-02 1.22653727e+02] [-3.57550785e-01 9.33883063e-01 4.45665083e-03 -1.32065250e+02] [-1.21126855e-02 1.34303373e-04 -9.99926630e-01 -4.02989425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.866559995 meters 0.013321006797802985 Centerline is valid? [True, True] Translation: X:122.59, Y:-132.06, Z:-4.03 [[-9.05292022e-01 -4.24703129e-01 8.57945056e-03 1.22590788e+02] [-4.24682898e-01 9.05332668e-01 4.14683789e-03 -1.32061198e+02] [-9.52843190e-03 1.10553329e-04 -9.99954597e-01 -4.03256767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9265599949999 meters 0.013326062988431038 Centerline is valid? [True, True] Translation: X:122.52, Y:-132.06, Z:-4.03 [[-8.70607602e-01 -4.91919754e-01 7.57350706e-03 1.22522699e+02] [-4.91900265e-01 8.70640539e-01 4.37966869e-03 -1.32064160e+02] [-8.74824781e-03 8.75627325e-05 -9.99961730e-01 -4.03280427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.986559995 meters 0.012457641785910464 Centerline is valid? [True, True] Translation: X:122.44, Y:-132.07, Z:-4.03 [[-8.28659222e-01 -5.59709790e-01 6.98883233e-03 1.22443508e+02] [-5.59689490e-01 8.28688693e-01 4.76713425e-03 -1.32072657e+02] [-8.45977804e-03 3.87537562e-05 -9.99964215e-01 -4.03292037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0465599949999 meters 0.012254771067905082 Centerline is valid? [True, True] Translation: X:122.36, Y:-132.09, Z:-4.03 [[-7.80395817e-01 -6.25244183e-01 7.21674020e-03 1.22358541e+02] [-6.25217698e-01 7.80429184e-01 5.75493807e-03 -1.32092385e+02] [-9.23039622e-03 -2.09040934e-05 -9.99957399e-01 -4.03240573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1065599949999 meters 0.01250986795743927 Centerline is valid? [True, True] Translation: X:122.27, Y:-132.12, Z:-4.03 [[-7.27354881e-01 -6.86238764e-01 5.58890578e-03 1.22272058e+02] [-6.86219170e-01 7.27376350e-01 5.18606753e-03 -1.32122264e+02] [-7.62411846e-03 -6.31027574e-05 -9.99970934e-01 -4.03375757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.166559995 meters 0.012959043587390988 Centerline is valid? [True, True] Translation: X:122.18, Y:-132.17, Z:-4.03 [[-6.71890569e-01 -7.40637122e-01 4.44032901e-03 1.22180884e+02] [-7.40621649e-01 6.71905237e-01 4.78797819e-03 -1.32169888e+02] [-6.52963470e-03 -7.16064075e-05 -9.99978679e-01 -4.03447071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2265599949999 meters 0.012923280040513291 Centerline is valid? [True, True] Translation: X:122.11, Y:-132.21, Z:-4.03 [[-6.14077904e-01 -7.89238292e-01 3.35354190e-03 1.22106378e+02] [-7.89227039e-01 6.14087058e-01 4.21497807e-03 -1.32214342e+02] [-5.38598877e-03 -5.83810462e-05 -9.99985494e-01 -4.03481192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.286559995 meters 0.012724161220345148 Centerline is valid? [True, True] Translation: X:122.03, Y:-132.28, Z:-4.03 [[-5.53690301e-01 -8.32715904e-01 3.35758473e-03 1.22026538e+02] [-8.32701206e-01 5.53700478e-01 4.94796924e-03 -1.32277600e+02] [-5.97934895e-03 -5.62222751e-05 -9.99982122e-01 -4.03419649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3465599949999 meters 0.012336339431166424 Centerline is valid? [True, True] Translation: X:121.95, Y:-132.35, Z:-4.03 [[-4.91206043e-01 -8.71035063e-01 3.81336897e-03 1.21951641e+02] [-8.71009614e-01 4.91220842e-01 6.65853252e-03 -1.32349880e+02] [-7.67302161e-03 -5.07696315e-05 -9.99970561e-01 -4.03297601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.406559995 meters 0.012309825357473853 Centerline is valid? [True, True] Translation: X:121.88, Y:-132.43, Z:-4.03 [[-4.24557772e-01 -9.05391056e-01 4.21122090e-03 1.21880934e+02] [-9.05347730e-01 4.24578654e-01 8.85744780e-03 -1.32429928e+02] [-9.80744851e-03 -5.21209752e-05 -9.99951905e-01 -4.03106004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4665599949999 meters 0.012494861942304475 Centerline is valid? [True, True] Translation: X:121.81, Y:-132.52, Z:-4.03 [[-3.54538553e-01 -9.35033470e-01 3.85038854e-03 1.21814967e+02] [-9.34979951e-01 3.54559456e-01 1.00041138e-02 -1.32520879e+02] [-1.07193729e-02 -5.31920556e-05 -9.99942545e-01 -4.03025724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.526559995 meters 0.012559659557349414 Centerline is valid? [True, True] Translation: X:121.76, Y:-132.62, Z:-4.03 [[-2.82816743e-01 -9.59168576e-01 3.21459661e-03 1.21757072e+02] [-9.59108460e-01 2.82835008e-01 1.07386936e-02 -1.32618348e+02] [-1.12094179e-02 -4.60644719e-05 -9.99937171e-01 -4.02950675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5865599949999 meters 0.012327396676785691 Centerline is valid? [True, True] Translation: X:121.71, Y:-132.72, Z:-4.03 [[-2.10029793e-01 -9.77692632e-01 2.14571085e-03 1.21707889e+02] [-9.77642861e-01 2.10040752e-01 9.86503808e-03 -1.32722536e+02] [-1.00956618e-02 -2.57869834e-05 -9.99949037e-01 -4.03051261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.646559995 meters 0.012312793966243622 Centerline is valid? [True, True] Translation: X:121.67, Y:-132.83, Z:-4.03 [[-1.37000735e-01 -9.90570246e-01 1.17742445e-03 1.21668104e+02] [-9.90533581e-01 1.37005794e-01 8.52274930e-03 -1.32831720e+02] [-8.60369584e-03 1.34445552e-06 -9.99962988e-01 -4.03151390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7065599949999 meters 0.01219931703071404 Centerline is valid? [True, True] Translation: X:121.63, Y:-132.94, Z:-4.03 [[-6.19599373e-02 -9.98078525e-01 4.73129016e-04 1.21633941e+02] [-9.98047778e-01 6.19617423e-02 7.83427957e-03 -1.32941732e+02] [-7.84854210e-03 1.32061081e-05 -9.99969200e-01 -4.03230745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.766559995 meters 0.01229114651879526 Centerline is valid? [True, True] Translation: X:121.61, Y:-133.06, Z:-4.03 [[ 1.49071709e-02 -9.99888871e-01 -1.47090703e-04 1.21607795e+02] [-9.99850155e-01 -1.49078881e-02 8.79905782e-03 -1.33059706e+02] [-8.80027280e-03 1.58996034e-05 -9.99961277e-01 -4.03176579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8265599949999 meters 0.01222885045563709 Centerline is valid? [True, True] Translation: X:121.59, Y:-133.18, Z:-4.03 [[ 9.25657198e-02 -9.95706183e-01 -8.86215487e-04 1.21588505e+02] [-9.95661598e-01 -9.25699614e-02 9.42250589e-03 -1.33180191e+02] [-9.46408430e-03 1.01696886e-05 -9.99955215e-01 -4.03117955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.886559995 meters 0.012263311701865539 Centerline is valid? [True, True] Translation: X:121.58, Y:-133.30, Z:-4.03 [[ 1.71489036e-01 -9.85184762e-01 -1.57988013e-03 1.21577891e+02] [-9.85142198e-01 -1.71496312e-01 9.15775297e-03 -1.33301887e+02] [-9.29302229e-03 -1.40476356e-05 -9.99956819e-01 -4.03103246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9465599949999 meters 0.0123393745577862 Centerline is valid? [True, True] Translation: X:121.58, Y:-133.43, Z:-4.03 [[ 2.49515712e-01 -9.68368332e-01 -2.16392560e-03 1.21576106e+02] [-9.68330570e-01 -2.49525092e-01 8.55199395e-03 -1.33429212e+02] [-8.82143385e-03 -3.84615510e-05 -9.99961090e-01 -4.03157837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.006559995 meters 0.012882999601278105 Centerline is valid? [True, True] Translation: X:121.58, Y:-133.54, Z:-4.03 [[ 3.26116986e-01 -9.45323938e-01 -3.21920667e-03 1.21579811e+02] [-9.45275621e-01 -3.26132867e-01 9.55794428e-03 -1.33544609e+02] [-1.00852426e-02 -7.39704013e-05 -9.99949140e-01 -4.02964995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0665599949999 meters 0.012975592046100303 Centerline is valid? [True, True] Translation: X:121.60, Y:-133.67, Z:-4.03 [[ 4.01968612e-01 -9.15645302e-01 -3.86213119e-03 1.21595925e+02] [-9.15600192e-01 -4.01987148e-01 9.08957967e-03 -1.33666671e+02] [-9.87535802e-03 -1.17557661e-04 -9.99951231e-01 -4.03064584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.126559995 meters 0.013193489700147096 Centerline is valid? [True, True] Translation: X:121.62, Y:-133.78, Z:-4.03 [[ 4.72702625e-01 -8.81211425e-01 -4.31896145e-03 1.21620233e+02] [-8.81172125e-01 -4.72722338e-01 8.32331197e-03 -1.33781782e+02] [-9.37626715e-03 -1.28702979e-04 -9.99956034e-01 -4.03103250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1865599949999 meters 0.013244732984483318 Centerline is valid? [True, True] Translation: X:121.65, Y:-133.90, Z:-4.03 [[ 5.39229567e-01 -8.42146936e-01 -4.47336892e-03 1.21654776e+02] [-8.42116102e-01 -5.39248109e-01 7.20750503e-03 -1.33895423e+02] [-8.48203401e-03 -1.19403824e-04 -9.99964020e-01 -4.03196829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.246559995 meters 0.013256663842988497 Centerline is valid? [True, True] Translation: X:121.69, Y:-134.00, Z:-4.03 [[ 6.01528069e-01 -7.98839157e-01 -4.47031484e-03 1.21691828e+02] [-7.98815850e-01 -6.01544671e-01 6.10300282e-03 -1.34000040e+02] [-7.56441170e-03 -1.00169152e-04 -9.99971384e-01 -4.03250264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3065599949999 meters 0.013216889971403108 Centerline is valid? [True, True] Translation: X:121.74, Y:-134.11, Z:-4.03 [[ 6.60563099e-01 -7.50753485e-01 -5.05938794e-03 1.21739895e+02] [-7.50730300e-01 -6.60582466e-01 5.90103969e-03 -1.34105951e+02] [-7.77236907e-03 -9.97732343e-05 -9.99969790e-01 -4.03193434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.366559995 meters 0.0134903411224933 Centerline is valid? [True, True] Translation: X:121.79, Y:-134.20, Z:-4.03 [[ 7.16207449e-01 -6.97864911e-01 -5.60863433e-03 1.21785941e+02] [-6.97842361e-01 -7.16229401e-01 5.61104191e-03 -1.34199221e+02] [-7.93281808e-03 -1.04727388e-04 -9.99968529e-01 -4.03104407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4265599949999 meters 0.013380427519627513 Centerline is valid? [True, True] Translation: X:121.84, Y:-134.29, Z:-4.03 [[ 7.67512348e-01 -6.41003242e-01 -6.29606236e-03 1.21843098e+02] [-6.40980462e-01 -7.67538163e-01 5.40516103e-03 -1.34290726e+02] [-8.29719388e-03 -1.12874872e-04 -9.99965571e-01 -4.03014712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.486559995 meters 0.01316581169181691 Centerline is valid? [True, True] Translation: X:121.86, Y:-134.32, Z:-4.03 [[ 8.14893470e-01 -5.79545436e-01 -8.70169362e-03 1.21863110e+02] [-5.79510551e-01 -8.14939916e-01 6.36032594e-03 -1.34318063e+02] [-1.07774553e-02 -1.40264812e-04 -9.99941912e-01 -4.02871401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5465599949999 meters 0.013766876194403676 Centerline is valid? [True, True] Translation: X:121.88, Y:-134.34, Z:-4.03 [[ 8.57331395e-01 -5.14675049e-01 -9.61629509e-03 1.21883481e+02] [-5.14640850e-01 -8.57385313e-01 5.93469619e-03 -1.34343173e+02] [-1.12993102e-02 -1.39063080e-04 -9.99936151e-01 -4.02634142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6065599949999 meters 0.012924607173975994 Centerline is valid? [True, True] Translation: X:121.91, Y:-134.36, Z:-4.03 [[ 8.93905792e-01 -4.48125681e-01 -1.07614805e-02 1.21909642e+02] [-4.48091575e-01 -8.93970558e-01 5.53005159e-03 -1.34361803e+02] [-1.20986048e-02 -1.21216417e-04 -9.99926802e-01 -4.02755441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.666559995 meters 0.01266235697345 Centerline is valid? [True, True] Translation: X:121.94, Y:-134.38, Z:-4.03 [[ 9.25440270e-01 -3.78755528e-01 -1.02252664e-02 1.21936432e+02] [-3.78731350e-01 -9.25496754e-01 4.28045175e-03 -1.34380551e+02] [-1.10846957e-02 -8.86734643e-05 -9.99938559e-01 -4.02881428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7265599949999 meters 0.012350253829391963 Centerline is valid? [True, True] Translation: X:121.96, Y:-134.40, Z:-4.03 [[ 9.51382492e-01 -3.07883973e-01 -8.87768640e-03 1.21963999e+02] [-3.07870089e-01 -9.51423910e-01 2.92423635e-03 -1.34397663e+02] [-9.34676862e-03 -4.88931603e-05 -9.99956317e-01 -4.03164834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.786559995 meters 0.012244177845853492 Centerline is valid? [True, True] Translation: X:121.99, Y:-134.41, Z:-4.03 [[ 9.72146106e-01 -2.34233551e-01 -8.16045262e-03 1.21992682e+02] [-2.34225041e-01 -9.72180355e-01 1.99678596e-03 -1.34414310e+02] [-8.40114599e-03 -2.97853479e-05 -9.99964709e-01 -4.03199691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8465599949999 meters 0.012233819040257943 Centerline is valid? [True, True] Translation: X:122.02, Y:-134.43, Z:-4.03 [[ 9.87334557e-01 -1.58483513e-01 -7.31090045e-03 1.22019890e+02] [-1.58479035e-01 -9.87361624e-01 1.19146895e-03 -1.34428312e+02] [-7.40733072e-03 -1.77540215e-05 -9.99972565e-01 -4.03144629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.906559995 meters 0.012176441042306056 Centerline is valid? [True, True] Translation: X:122.05, Y:-134.44, Z:-4.03 [[ 9.96748546e-01 -8.02004805e-02 -7.76014874e-03 1.22046142e+02] [-8.01978755e-02 -9.96778753e-01 6.46801522e-04 -1.34442637e+02] [-7.78702518e-03 -2.23510341e-05 -9.99969680e-01 -4.03142768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9665599949999 meters 0.01227109982240698 Centerline is valid? [True, True] Translation: X:122.07, Y:-134.45, Z:-4.03 [[ 9.99967924e-01 -1.81577151e-03 -7.80089943e-03 1.22074106e+02] [-1.81553232e-03 -9.99998351e-01 3.77426482e-05 -1.34453046e+02] [-7.80095510e-03 -2.35786525e-05 -9.99969572e-01 -4.03060661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.026559995 meters 0.012281137670902371 Centerline is valid? [True, True] Translation: X:122.10, Y:-134.46, Z:-4.03 [[ 9.97063453e-01 7.61017600e-02 -8.54356805e-03 1.22102553e+02] [ 7.60991604e-02 -9.97100056e-01 -6.29415680e-04 -1.34461457e+02] [-8.56669182e-03 -2.25909835e-05 -9.99963305e-01 -4.02867872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0865599949999 meters 0.012205069894259133 Centerline is valid? [True, True] Translation: X:122.13, Y:-134.47, Z:-4.03 [[ 9.88228605e-01 1.52759267e-01 -8.29643778e-03 1.22131760e+02] [ 1.52753989e-01 -9.88263430e-01 -1.26996998e-03 -1.34466212e+02] [-8.39306574e-03 -1.22933009e-05 -9.99964778e-01 -4.02809951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.146559995 meters 0.012057711275409113 Centerline is valid? [True, True] Translation: X:122.16, Y:-134.47, Z:-4.03 [[ 9.73641874e-01 2.27947540e-01 -7.83705036e-03 1.22160886e+02] [ 2.27940137e-01 -9.73673415e-01 -1.83715026e-03 -1.34469324e+02] [-8.04950147e-03 2.34809267e-06 -9.99967602e-01 -4.02872922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2065599949999 meters 0.012236275223142211 Centerline is valid? [True, True] Translation: X:122.19, Y:-134.47, Z:-4.03 [[ 9.53818553e-01 3.00293905e-01 -7.33072506e-03 1.22189792e+02] [ 3.00284810e-01 -9.53846722e-01 -2.33731426e-03 -1.34469178e+02] [-7.69426930e-03 2.80683243e-05 -9.99970398e-01 -4.02855331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.266559995 meters 0.012378093415264971 Centerline is valid? [True, True] Translation: X:122.22, Y:-134.47, Z:-4.03 [[ 9.28100164e-01 3.72271158e-01 -6.65369679e-03 1.22218655e+02] [ 3.72261282e-01 -9.28124013e-01 -2.71183553e-03 -1.34466791e+02] [-7.18499392e-03 3.99412969e-05 -9.99974187e-01 -4.02902332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3265599949999 meters 0.012617053040277392 Centerline is valid? [True, True] Translation: X:122.25, Y:-134.46, Z:-4.03 [[ 8.97460052e-01 4.41061425e-01 -5.50225151e-03 1.22248231e+02] [ 4.41052773e-01 -8.97476917e-01 -2.76320185e-03 -1.34462933e+02] [-6.15688547e-03 5.30799851e-05 -9.99981045e-01 -4.02952908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.386559995 meters 0.013047375857522995 Centerline is valid? [True, True] Translation: X:122.28, Y:-134.46, Z:-4.03 [[ 8.60956694e-01 5.08655916e-01 -4.76760451e-03 1.22276997e+02] [ 5.08647753e-01 -8.60969892e-01 -2.88225512e-03 -1.34455853e+02] [-5.57084006e-03 5.64655120e-05 -9.99984481e-01 -4.02963948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4465599949999 meters 0.013071361722311168 Centerline is valid? [True, True] Translation: X:122.31, Y:-134.45, Z:-4.03 [[ 8.18841640e-01 5.74003319e-01 -4.30800446e-03 1.22306162e+02] [ 5.73995009e-01 -8.18852970e-01 -3.08918813e-03 -1.34448976e+02] [-5.30082649e-03 5.67828152e-05 -9.99985949e-01 -4.02921626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.506559995 meters 0.013046179723496512 Centerline is valid? [True, True] Translation: X:122.33, Y:-134.44, Z:-4.03 [[ 7.70908532e-01 6.36932623e-01 -4.10730198e-03 1.22332682e+02] [ 6.36923213e-01 -7.70919471e-01 -3.46266827e-03 -1.34439017e+02] [-5.37188545e-03 5.33645374e-05 -9.99985570e-01 -4.02863636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5665599949999 meters 0.012913415729792373 Centerline is valid? [True, True] Translation: X:122.36, Y:-134.42, Z:-4.03 [[ 7.17841561e-01 6.96194264e-01 -4.12794759e-03 1.22357644e+02] [ 6.96182344e-01 -7.17853428e-01 -4.07422566e-03 -1.34423937e+02] [-5.79971386e-03 5.08442736e-05 -9.99983180e-01 -4.02809112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.626559995 meters 0.01246736084722639 Centerline is valid? [True, True] Translation: X:122.39, Y:-134.41, Z:-4.03 [[ 6.58717310e-01 7.52377222e-01 -4.47450795e-03 1.22387638e+02] [ 7.52359472e-01 -6.58732505e-01 -5.16829504e-03 -1.34412571e+02] [-6.83601130e-03 3.80069650e-05 -9.99976634e-01 -4.02781947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6865599949999 meters 0.012219629576019667 Centerline is valid? [True, True] Translation: X:122.42, Y:-134.40, Z:-4.03 [[ 5.94910152e-01 8.03778329e-01 -4.72323142e-03 1.22415289e+02] [ 8.03752781e-01 -5.94928902e-01 -6.40852737e-03 -1.34398332e+02] [-7.96102230e-03 1.61876086e-05 -9.99968310e-01 -4.02684580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.746559995 meters 0.01222121299700362 Centerline is valid? [True, True] Translation: X:122.44, Y:-134.38, Z:-4.03 [[ 5.28585140e-01 8.48869351e-01 -4.30994935e-03 1.22438667e+02] [ 8.48841111e-01 -5.28602711e-01 -6.92410844e-03 -1.34380368e+02] [-8.15591434e-03 1.51862930e-06 -9.99966740e-01 -4.02632687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8065599949999 meters 0.012177338886076286 Centerline is valid? [True, True] Translation: X:122.46, Y:-134.36, Z:-4.03 [[ 4.60532195e-01 8.87636465e-01 -3.40621280e-03 1.22461384e+02] [ 8.87612157e-01 -4.60544792e-01 -6.56908709e-03 -1.34360265e+02] [-7.39967481e-03 1.88020540e-06 -9.99972622e-01 -4.02756652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.866559995 meters 0.012117043860689044 Centerline is valid? [True, True] Translation: X:122.48, Y:-134.34, Z:-4.03 [[ 3.90367519e-01 9.20655834e-01 -2.45671467e-03 1.22481938e+02] [ 9.20637493e-01 -3.90375249e-01 -5.81125710e-03 -1.34338377e+02] [-6.30920835e-03 6.78238182e-06 -9.99980097e-01 -4.02796826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9265599949999 meters 0.012114989245049758 Centerline is valid? [True, True] Translation: X:122.50, Y:-134.31, Z:-4.03 [[ 3.18421146e-01 9.47947333e-01 -1.95625549e-03 1.22501704e+02] [ 9.47929142e-01 -3.18427155e-01 -5.87276234e-03 -1.34314615e+02] [-6.18999427e-03 1.56201251e-05 -9.99980842e-01 -4.02849152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.986559995 meters 0.012205537516420303 Centerline is valid? [True, True] Translation: X:122.52, Y:-134.29, Z:-4.03 [[ 2.43945995e-01 9.69787481e-01 -1.61066823e-03 1.22517487e+02] [ 9.69765740e-01 -2.43951311e-01 -6.49358992e-03 -1.34289335e+02] [-6.69032684e-03 2.21143776e-05 -9.99977619e-01 -4.02809534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0465599949999 meters 0.012370488064292659 Centerline is valid? [True, True] Translation: X:122.53, Y:-134.26, Z:-4.03 [[ 1.66833442e-01 9.85984108e-01 -1.39327845e-03 1.22530777e+02] [ 9.85948472e-01 -1.66839258e-01 -8.38283582e-03 -1.34264019e+02] [-8.49779644e-03 2.48365894e-05 -9.99963893e-01 -4.02627629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1065599949999 meters 0.01244419665717557 Centerline is valid? [True, True] Translation: X:122.54, Y:-134.24, Z:-4.03 [[ 8.87847671e-02 9.96050451e-01 -8.73806263e-04 1.22544259e+02] [ 9.95999250e-01 -8.87890631e-02 -1.00992760e-02 -1.34236519e+02] [-1.01369729e-02 2.63514873e-05 -9.99948619e-01 -4.02512381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.166559995 meters 0.012632086255306235 Centerline is valid? [True, True] Translation: X:122.55, Y:-134.21, Z:-4.02 [[ 1.06984087e-02 9.99942766e-01 -9.71012650e-05 1.22551565e+02] [ 9.99866125e-01 -1.06987909e-02 -1.23801444e-02 -1.34208583e+02] [-1.23804747e-02 3.53595793e-05 -9.99923358e-01 -4.02264313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2265599949999 meters 0.01278045211063249 Centerline is valid? [True, True] Translation: X:122.55, Y:-134.18, Z:-4.02 [[-6.70141327e-02 9.97751642e-01 8.75475664e-04 1.22553882e+02] [ 9.97674757e-01 6.70198370e-02 -1.23863376e-02 -1.34181187e+02] [-1.24171629e-02 4.33803006e-05 -9.99922903e-01 -4.02315578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.286559995 meters 0.012606737997542625 Centerline is valid? [True, True] Translation: X:122.56, Y:-134.15, Z:-4.03 [[-1.44773886e-01 9.89463312e-01 1.69571109e-03 1.22557727e+02] [ 9.89398829e-01 1.44783810e-01 -1.12962198e-02 -1.34152906e+02] [-1.14227065e-02 4.23369331e-05 -9.99934758e-01 -4.02532850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3465599949999 meters 0.012504692000673456 Centerline is valid? [True, True] Translation: X:122.56, Y:-134.12, Z:-4.03 [[-2.22624955e-01 9.74902316e-01 1.89822530e-03 1.22558543e+02] [ 9.74867800e-01 2.22633046e-01 -8.20359031e-03 -1.34124401e+02] [-8.42030688e-03 2.41948018e-05 -9.99964548e-01 -4.02771761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.406559995 meters 0.01244347815239366 Centerline is valid? [True, True] Translation: X:122.56, Y:-134.10, Z:-4.03 [[-3.02697458e-01 9.53083634e-01 2.41583389e-03 1.22559197e+02] [ 9.53052915e-01 3.02707098e-01 -7.65210924e-03 -1.34097070e+02] [-8.02439015e-03 -1.38564846e-05 -9.99967804e-01 -4.02765168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4665599949999 meters 0.012545837131461613 Centerline is valid? [True, True] Translation: X:122.56, Y:-134.07, Z:-4.03 [[-3.78739608e-01 9.25498112e-01 3.09085381e-03 1.22557693e+02] [ 9.25466540e-01 3.78752218e-01 -7.64465613e-03 -1.34068118e+02] [-8.24578255e-03 -3.48522857e-05 -9.99966002e-01 -4.02766541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.526559995 meters 0.013265395167055606 Centerline is valid? [True, True] Translation: X:122.56, Y:-134.04, Z:-4.03 [[-4.56875021e-01 8.89520692e-01 4.26070557e-03 1.22558471e+02] [ 8.89479670e-01 4.56894874e-01 -8.54343003e-03 -1.34037036e+02] [-9.54625232e-03 -1.13468787e-04 -9.99954427e-01 -4.02617287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5865599949999 meters 0.015165582163815288 Centerline is valid? [True, True] Translation: X:122.56, Y:-134.01, Z:-4.02 [[-5.30246659e-01 8.47825735e-01 5.47759259e-03 1.22556235e+02] [ 8.47776748e-01 5.30274917e-01 -9.11582635e-03 -1.34006711e+02] [-1.06332621e-02 -1.89860839e-04 -9.99943447e-01 -4.02357917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.646559995 meters 0.01511702567021259 Centerline is valid? [True, True] Translation: X:122.55, Y:-133.98, Z:-4.02 [[-5.97056033e-01 8.02171168e-01 6.74620430e-03 1.22547215e+02] [ 8.02115426e-01 5.97094098e-01 -9.45952512e-03 -1.33978161e+02] [-1.16162771e-02 -2.36632005e-04 -9.99932501e-01 -4.02362526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7065599949999 meters 0.01691127922092628 Centerline is valid? [True, True] Translation: X:122.54, Y:-133.95, Z:-4.02 [[-6.59196459e-01 7.51931646e-01 7.66992637e-03 1.22537358e+02] [ 7.51876077e-01 6.59241026e-01 -9.14517672e-03 -1.33950691e+02] [-1.19328779e-02 -2.61633961e-04 -9.99928767e-01 -4.02129674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.766559995 meters 0.015016412515294033 Centerline is valid? [True, True] Translation: X:122.52, Y:-133.93, Z:-4.02 [[-7.14924689e-01 6.99153305e-01 8.20645744e-03 1.22519995e+02] [ 6.99103398e-01 7.14971748e-01 -8.35696077e-03 -1.33927442e+02] [-1.17101820e-02 -2.37435303e-04 -9.99931405e-01 -4.02308811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8265599949999 meters 0.013607262165183572 Centerline is valid? [True, True] Translation: X:122.50, Y:-133.91, Z:-4.03 [[-7.63991838e-01 6.45188559e-01 6.94230518e-03 1.22501015e+02] [ 6.45160288e-01 7.64023367e-01 -6.04130248e-03 -1.33905556e+02] [-9.20186262e-03 -1.36606176e-04 -9.99957653e-01 -4.02519688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.886559995 meters 0.012646958800020678 Centerline is valid? [True, True] Translation: X:122.52, Y:-133.89, Z:-4.03 [[-8.03383504e-01 5.95431432e-01 6.02944916e-03 1.22515446e+02] [ 5.95414130e-01 8.03406128e-01 -4.53954607e-03 -1.33890669e+02] [-7.54708482e-03 -5.69772065e-05 -9.99971519e-01 -4.02678954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9465599949999 meters 0.012350909095683368 Centerline is valid? [True, True] Translation: X:122.96, Y:-133.33, Z:-5.01 [[-7.56058275e-01 -6.54478627e-01 5.79755574e-03 1.22957438e+02] [ 6.54460003e-01 -7.56080501e-01 -4.93771568e-03 -1.33333624e+02] [ 7.61504822e-03 6.10675489e-05 9.99971003e-01 -5.01132849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.006559995 meters 0.012421201552510539 Centerline is valid? [True, True] Translation: X:122.49, Y:-133.88, Z:-4.03 [[-7.99677557e-01 6.00383435e-01 7.45228756e-03 1.22487030e+02] [ 6.00357603e-01 7.99712280e-01 -5.56940873e-03 -1.33881006e+02] [-9.30346662e-03 2.03063320e-05 -9.99956722e-01 -4.02616967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0665599949999 meters 0.012542162290794056 Centerline is valid? [True, True] Translation: X:122.92, Y:-133.31, Z:-5.01 [[-7.61229011e-01 -6.48434838e-01 7.91538170e-03 1.22924224e+02] [ 6.48400314e-01 -7.61270162e-01 -6.69131781e-03 -1.33309170e+02] [ 1.03646275e-02 3.87107326e-05 9.99946285e-01 -5.01331500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.126559995 meters 0.012598679726354492 Centerline is valid? [True, True] Translation: X:122.45, Y:-133.85, Z:-4.03 [[-8.00449896e-01 5.99335306e-01 8.78385195e-03 1.22453247e+02] [ 5.99299871e-01 8.00498088e-01 -6.51727860e-03 -1.33854917e+02] [-1.09374919e-02 4.74063653e-05 -9.99940183e-01 -4.02569647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1865599949999 meters 0.012845986907273416 Centerline is valid? [True, True] Translation: X:122.47, Y:-133.84, Z:-4.02 [[-8.39755272e-01 5.42886011e-01 9.26615994e-03 1.22472859e+02] [ 5.42853865e-01 8.39806391e-01 -5.90822575e-03 -1.33835050e+02] [-1.09892734e-02 6.87070148e-05 -9.99939614e-01 -4.02467550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.246559995 meters 0.012980116908467934 Centerline is valid? [True, True] Translation: X:122.49, Y:-133.81, Z:-4.02 [[-8.75616550e-01 4.82918302e-01 9.25046719e-03 1.22488650e+02] [ 4.82892265e-01 8.75665409e-01 -5.01521754e-03 -1.33810967e+02] [-1.05222545e-02 7.55715767e-05 -9.99944637e-01 -4.02426581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3065599949999 meters 0.01301323295560978 Centerline is valid? [True, True] Translation: X:122.50, Y:-133.79, Z:-4.03 [[-9.07546197e-01 4.19843724e-01 9.54718822e-03 1.22503712e+02] [ 4.19821387e-01 9.07596409e-01 -4.33144933e-03 -1.33785666e+02] [-1.04835256e-02 7.71234285e-05 -9.99945043e-01 -4.02500424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.366559995 meters 0.013024332883312065 Centerline is valid? [True, True] Translation: X:122.52, Y:-133.76, Z:-4.03 [[-9.34965366e-01 3.54611156e-01 9.52323821e-03 1.22518227e+02] [ 3.54593585e-01 9.35013862e-01 -3.53082051e-03 -1.33760789e+02] [-1.01564281e-02 7.56842903e-05 -9.99948419e-01 -4.02501396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4265599949999 meters 0.013115478000232227 Centerline is valid? [True, True] Translation: X:122.53, Y:-133.73, Z:-4.02 [[-9.57713428e-01 2.87579546e-01 9.11015022e-03 1.22526563e+02] [ 2.87567248e-01 9.57756754e-01 -2.66051588e-03 -1.33732406e+02] [-9.49041785e-03 7.17690409e-05 -9.99954962e-01 -4.02495916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.486559995 meters 0.012822511016254218 Centerline is valid? [True, True] Translation: X:122.54, Y:-133.70, Z:-4.03 [[-9.75591392e-01 2.19456103e-01 7.77520045e-03 1.22538170e+02] [ 2.19449638e-01 9.75622373e-01 -1.68566254e-03 -1.33703625e+02] [-7.95558845e-03 6.17470572e-05 -9.99968352e-01 -4.02624479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5465599949999 meters 0.012838827480237172 Centerline is valid? [True, True] Translation: X:122.54, Y:-133.68, Z:-4.03 [[-9.88656913e-01 1.50017720e-01 7.22440087e-03 1.22542976e+02] [ 1.50014150e-01 9.88683306e-01 -1.03666062e-03 -1.33675182e+02] [-7.29816201e-03 5.88606676e-05 -9.99973366e-01 -4.02689872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6065599949999 meters 0.012894166914842417 Centerline is valid? [True, True] Translation: X:122.54, Y:-133.65, Z:-4.03 [[-9.96768434e-01 7.99697807e-02 7.58436306e-03 1.22544954e+02] [ 7.99679618e-02 9.96797286e-01 -5.43261807e-04 -1.33645863e+02] [-7.60351705e-03 6.49998349e-05 -9.99971091e-01 -4.02722548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.666559995 meters 0.01303457582029695 Centerline is valid? [True, True] Translation: X:122.60, Y:-132.96, Z:-5.01 [[-9.91543070e-01 -1.29523628e-01 8.12219708e-03 1.22596153e+02] [ 1.29519017e-01 -9.91576335e-01 -1.09339047e-03 -1.32961330e+02] [ 8.19539832e-03 -3.21647600e-05 9.99966417e-01 -5.01134958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7265599949999 meters 0.01330855186117326 Centerline is valid? [True, True] Translation: X:122.49, Y:-133.64, Z:-4.03 [[-9.97125884e-01 7.51545846e-02 9.57917658e-03 1.22488635e+02] [ 7.51518464e-02 9.97171892e-01 -6.45992706e-04 -1.33638562e+02] [-9.60063495e-03 7.57567593e-05 -9.99953910e-01 -4.02510259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.786559995 meters 0.012963161953000351 Centerline is valid? [True, True] Translation: X:122.49, Y:-133.61, Z:-4.03 [[-9.99952740e-01 2.19285528e-03 9.47144378e-03 1.22486184e+02] [ 2.19329197e-03 9.99997594e-01 3.57194481e-05 -1.33608092e+02] [-9.47134266e-03 5.64914015e-05 -9.99955144e-01 -4.02562650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8465599949999 meters 0.012799240055449902 Centerline is valid? [True, True] Translation: X:122.48, Y:-132.94, Z:-5.01 [[-9.98234048e-01 -5.86708355e-02 9.30155577e-03 1.22484448e+02] [ 5.86676769e-02 -9.98277381e-01 -6.12306874e-04 -1.32936003e+02] [ 9.32145729e-03 -6.55249011e-05 9.99956552e-01 -5.01267225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.906559995 meters 0.012727251792667885 Centerline is valid? [True, True] Translation: X:122.42, Y:-133.60, Z:-4.03 [[-9.99934982e-01 -6.10393157e-03 9.63193438e-03 1.22415824e+02] [-6.10346374e-03 9.99981371e-01 7.79650222e-05 -1.33604933e+02] [-9.63223084e-03 1.91717908e-05 -9.99953609e-01 -4.02559559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9665599949999 meters 0.01258089567837963 Centerline is valid? [True, True] Translation: X:122.42, Y:-132.94, Z:-5.01 [[-9.98162810e-01 -5.99992150e-02 8.43202914e-03 1.22416817e+02] [ 5.99962526e-02 -9.98198420e-01 -6.04067180e-04 -1.32940875e+02] [ 8.45308171e-03 -9.70672441e-05 9.99964267e-01 -5.01144380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.026559995 meters 0.012645375136815976 Centerline is valid? [True, True] Translation: X:122.36, Y:-133.60, Z:-4.03 [[-9.99855508e-01 -1.51611370e-02 7.68787865e-03 1.22357999e+02] [-1.51608435e-02 9.99885063e-01 9.64622405e-05 -1.33602146e+02] [-7.68845751e-03 -2.01064225e-05 -9.99970443e-01 -4.02735776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0865599949999 meters 0.012712138700914966 Centerline is valid? [True, True] Translation: X:122.35, Y:-132.94, Z:-5.01 [[-9.98234047e-01 -5.90624663e-02 6.35712345e-03 1.22349560e+02] [ 5.90608145e-02 -9.98254286e-01 -4.47429672e-04 -1.32944425e+02] [ 6.37245203e-03 -7.11826435e-05 9.99979693e-01 -5.01106831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.146559995 meters 0.012729473567781218 Centerline is valid? [True, True] Translation: X:122.29, Y:-133.60, Z:-4.03 [[-9.99721225e-01 -2.27635584e-02 6.26846805e-03 1.22287773e+02] [-2.27633442e-02 9.99740876e-01 1.05524345e-04 -1.33601857e+02] [-6.26924585e-03 -3.71963691e-05 -9.99980347e-01 -4.02787683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2065599949999 meters 0.013238947561893921 Centerline is valid? [True, True] Translation: X:122.28, Y:-132.95, Z:-5.01 [[-9.98187243e-01 -5.98680279e-02 6.16831602e-03 1.22283572e+02] [ 5.98670727e-02 -9.98206301e-01 -3.39539558e-04 -1.32948608e+02] [ 6.17757948e-03 3.03549682e-05 9.99980918e-01 -5.01065501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.266559995 meters 0.01346242425440877 Centerline is valid? [True, True] Translation: X:122.22, Y:-133.60, Z:-4.03 [[-9.99433007e-01 -3.31589992e-02 5.84347826e-03 1.22224953e+02] [-3.31588471e-02 9.99450087e-01 1.22925618e-04 -1.33598892e+02] [-5.84434095e-03 -7.09070824e-05 -9.99982919e-01 -4.02829879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3265599949999 meters 0.013663655142039315 Centerline is valid? [True, True] Translation: X:122.23, Y:-133.57, Z:-4.03 [[-9.94516792e-01 -1.04414562e-01 5.82656121e-03 1.22228670e+02] [-1.04413197e-01 9.94533858e-01 5.38756936e-04 -1.33571621e+02] [-5.85096646e-03 -7.25670658e-05 -9.99982880e-01 -4.02828441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.386559995 meters 0.013793691565048552 Centerline is valid? [True, True] Translation: X:122.22, Y:-133.55, Z:-4.03 [[-9.84578786e-01 -1.74828070e-01 6.30558586e-03 1.22219168e+02] [-1.74824995e-01 9.84598974e-01 1.03995264e-03 -1.33545828e+02] [-6.39028629e-03 -7.84587100e-05 -9.99979579e-01 -4.02791325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4465599949999 meters 0.013562928624502764 Centerline is valid? [True, True] Translation: X:122.20, Y:-133.52, Z:-4.03 [[-9.69772372e-01 -2.43881117e-01 7.97159580e-03 1.22204903e+02] [-2.43873680e-01 9.69805131e-01 1.90703986e-03 -1.33521696e+02] [-8.19598552e-03 -9.46678275e-05 -9.99966408e-01 -4.02704269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.506559995 meters 0.013483664765354949 Centerline is valid? [True, True] Translation: X:122.18, Y:-133.50, Z:-4.03 [[-9.50138942e-01 -3.11675113e-01 9.72701661e-03 1.22184324e+02] [-3.11659930e-01 9.50188725e-01 3.07829953e-03 -1.33500976e+02] [-1.02019309e-02 -1.06709054e-04 -9.99947953e-01 -4.02594685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5665599949999 meters 0.01338381974409918 Centerline is valid? [True, True] Translation: X:122.15, Y:-133.49, Z:-4.03 [[-9.25955476e-01 -3.77496399e-01 1.01451684e-02 1.22152578e+02] [-3.77474839e-01 9.26011047e-01 4.03560644e-03 -1.33486317e+02] [-1.09179650e-02 -9.27539385e-05 -9.99940393e-01 -4.02583257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.626559995 meters 0.013214640178557446 Centerline is valid? [True, True] Translation: X:122.10, Y:-133.48, Z:-4.03 [[-8.96779415e-01 -4.42380819e-01 9.26779448e-03 1.22099516e+02] [-4.42357992e-01 8.96827300e-01 4.49448936e-03 -1.33483152e+02] [-1.02998870e-02 -6.91174162e-05 -9.99946952e-01 -4.02708842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6865599949999 meters 0.012999283810082488 Centerline is valid? [True, True] Translation: X:122.04, Y:-133.49, Z:-4.03 [[-8.63084427e-01 -5.04994187e-01 8.13280294e-03 1.22039623e+02] [-5.04972183e-01 8.63122743e-01 4.71430722e-03 -1.33488812e+02] [-9.40030493e-03 -3.79941026e-05 -9.99955815e-01 -4.02800260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.746559995 meters 0.012963547235489113 Centerline is valid? [True, True] Translation: X:121.97, Y:-133.50, Z:-4.03 [[-8.23990597e-01 -5.66553071e-01 7.55738861e-03 1.21970575e+02] [-5.66529514e-01 8.24025253e-01 5.16644617e-03 -1.33503154e+02] [-9.15454500e-03 -2.43806319e-05 -9.99958096e-01 -4.02803757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8065599949999 meters 0.012947261655816595 Centerline is valid? [True, True] Translation: X:121.89, Y:-133.53, Z:-4.03 [[-7.80251713e-01 -6.25420627e-01 7.50359632e-03 1.21894294e+02] [-6.25391857e-01 7.80287792e-01 5.99892204e-03 -1.33530134e+02] [-9.60681420e-03 -1.20188390e-05 -9.99953853e-01 -4.02901377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.866559995 meters 0.013031473804675816 Centerline is valid? [True, True] Translation: X:121.81, Y:-133.57, Z:-4.03 [[-7.31301272e-01 -6.82007500e-01 8.01377111e-03 1.21813971e+02] [-6.81966716e-01 7.31345179e-01 7.45843179e-03 -1.33568642e+02] [-1.09475393e-02 -1.07645160e-05 -9.99940074e-01 -4.02801147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9265599949999 meters 0.013070232062138424 Centerline is valid? [True, True] Translation: X:121.73, Y:-133.62, Z:-4.03 [[-6.77532188e-01 -7.35446123e-01 8.31470161e-03 1.21731575e+02] [-7.35391042e-01 6.77583206e-01 9.00082071e-03 -1.33615794e+02] [-1.22535209e-02 -1.62113275e-05 -9.99924923e-01 -4.02722041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.986559995 meters 0.013049198481090185 Centerline is valid? [True, True] Translation: X:121.65, Y:-133.68, Z:-4.03 [[-6.18723629e-01 -7.85566723e-01 8.12370740e-03 1.21646804e+02] [-7.85499826e-01 6.18776957e-01 1.02519137e-02 -1.33676882e+02] [-1.30803252e-02 -3.80695127e-05 -9.99914448e-01 -4.02667608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0465599949999 meters 0.013140635562709675 Centerline is valid? [True, True] Translation: X:121.57, Y:-133.74, Z:-4.03 [[-5.56251571e-01 -8.30979934e-01 7.51924964e-03 1.21567267e+02] [-8.30905391e-01 5.56302387e-01 1.11303996e-02 -1.33741948e+02] [-1.34321153e-02 -5.64827850e-05 -9.99909784e-01 -4.02594938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1065599949999 meters 0.01307835214484613 Centerline is valid? [True, True] Translation: X:121.50, Y:-133.81, Z:-4.03 [[-4.90114046e-01 -8.71635135e-01 6.35721332e-03 1.21495479e+02] [-8.71563719e-01 4.90155268e-01 1.11578325e-02 -1.33812422e+02] [-1.28415805e-02 -7.21060444e-05 -9.99917541e-01 -4.02624332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.166559995 meters 0.013186715844360805 Centerline is valid? [True, True] Translation: X:121.42, Y:-133.91, Z:-4.03 [[-4.20927016e-01 -9.07081147e-01 4.92346558e-03 1.21418031e+02] [-9.07021352e-01 4.20955801e-01 1.04153575e-02 -1.33906595e+02] [-1.15201358e-02 -8.15830673e-05 -9.99933638e-01 -4.02712104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2265599949999 meters 0.013657660678922155 Centerline is valid? [True, True] Translation: X:121.35, Y:-133.99, Z:-4.03 [[-3.45830176e-01 -9.38290392e-01 3.55375344e-03 1.21352399e+02] [-9.38244309e-01 3.45848415e-01 9.30004931e-03 -1.33987198e+02] [-9.95520691e-03 -1.18051248e-04 -9.99950439e-01 -4.02855852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.286559995 meters 0.014822798975392886 Centerline is valid? [True, True] Translation: X:121.29, Y:-134.08, Z:-4.03 [[-2.68701826e-01 -9.63219387e-01 2.78238169e-03 1.21287085e+02] [-9.63173749e-01 2.68716184e-01 9.37777074e-03 -1.34084614e+02] [-9.78052157e-03 -1.60092877e-04 -9.99952157e-01 -4.02749865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3465599949999 meters 0.014551095072600195 Centerline is valid? [True, True] Translation: X:121.23, Y:-134.19, Z:-4.03 [[-1.93467836e-01 -9.81104375e-01 2.09801735e-03 1.21232996e+02] [-9.81055835e-01 1.93479137e-01 9.76073429e-03 -1.34188984e+02] [-9.98222171e-03 -1.69884024e-04 -9.99950162e-01 -4.02727791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.406559995 meters 0.014568479816812715 Centerline is valid? [True, True] Translation: X:121.19, Y:-134.30, Z:-4.03 [[-1.18614211e-01 -9.92939424e-01 1.40351618e-03 1.21185254e+02] [-9.92885598e-01 1.18622397e-01 1.03400815e-02 -1.34301017e+02] [-1.04335630e-02 -1.67050399e-04 -9.99945555e-01 -4.02631013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4665599949999 meters 0.013800417795303202 Centerline is valid? [True, True] Translation: X:121.15, Y:-134.41, Z:-4.03 [[-4.36001858e-02 -9.99048862e-01 6.28851718e-04 1.21148396e+02] [-9.98990221e-01 4.36044408e-02 1.08255201e-02 -1.34406217e+02] [-1.08426443e-02 -1.56222028e-04 -9.99941205e-01 -4.02662919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.526559995 meters 0.013586244951812713 Centerline is valid? [True, True] Translation: X:121.12, Y:-134.52, Z:-4.03 [[ 3.17836772e-02 -9.99494751e-01 -2.01291503e-04 1.21119007e+02] [-9.99437854e-01 -3.17840159e-02 1.06654341e-02 -1.34518640e+02] [-1.06664433e-02 -1.37808368e-04 -9.99943102e-01 -4.02683358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5865599949999 meters 0.013046081090238606 Centerline is valid? [True, True] Translation: X:121.10, Y:-134.63, Z:-4.03 [[ 1.04918674e-01 -9.94480366e-01 -9.34084949e-04 1.21099778e+02] [-9.94432859e-01 -1.04922793e-01 9.72091321e-03 -1.34634722e+02] [-9.76526413e-03 -9.10205604e-05 -9.99952315e-01 -4.02677441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.646559995 meters 0.012888883970549785 Centerline is valid? [True, True] Translation: X:121.09, Y:-134.76, Z:-4.03 [[ 1.78086421e-01 -9.84013241e-01 -1.77991247e-03 1.21091530e+02] [-9.83960321e-01 -1.78095303e-01 1.02054146e-02 -1.34764796e+02] [-1.03592571e-02 -6.60825076e-05 -9.99946339e-01 -4.02572346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7065599949999 meters 0.012689571340715577 Centerline is valid? [True, True] Translation: X:121.09, Y:-134.87, Z:-4.02 [[ 2.50010194e-01 -9.68239355e-01 -2.73012939e-03 1.21087958e+02] [-9.68180136e-01 -2.50025098e-01 1.07086546e-02 -1.34868207e+02] [-1.10511417e-02 -3.40157818e-05 -9.99938934e-01 -4.02464218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.766559995 meters 0.012695868449000104 Centerline is valid? [True, True] Translation: X:121.10, Y:-134.99, Z:-4.02 [[ 3.23128470e-01 -9.46348183e-01 -3.62059463e-03 1.21096392e+02] [-9.46287778e-01 -3.23148752e-01 1.06923083e-02 -1.34993316e+02] [-1.12886371e-02 -2.88647615e-05 -9.99936281e-01 -4.02412397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8265599949999 meters 0.012766996214899342 Centerline is valid? [True, True] Translation: X:121.11, Y:-135.11, Z:-4.02 [[ 3.96065900e-01 -9.18212686e-01 -4.15525137e-03 1.21108830e+02] [-9.18161019e-01 -3.96087694e-01 9.74077889e-03 -1.35105523e+02] [-1.05899507e-02 -4.28005246e-05 -9.99943924e-01 -4.02388733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.886559995 meters 0.01306708569338828 Centerline is valid? [True, True] Translation: X:121.13, Y:-135.23, Z:-4.02 [[ 4.69693083e-01 -8.82819271e-01 -4.30609742e-03 1.21131367e+02] [-8.82780512e-01 -4.69712814e-01 8.27283466e-03 -1.35225092e+02] [-9.32604701e-03 -8.43543269e-05 -9.99956508e-01 -4.02486731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9465599949999 meters 0.013240424451167928 Centerline is valid? [True, True] Translation: X:121.16, Y:-135.33, Z:-4.03 [[ 5.38275125e-01 -8.42757852e-01 -4.36948829e-03 1.21160702e+02] [-8.42728598e-01 -5.38292851e-01 7.02258352e-03 -1.35334819e+02] [-8.27040171e-03 -9.77892798e-05 -9.99965795e-01 -4.02568431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.006559995 meters 0.013921243272312069 Centerline is valid? [True, True] Translation: X:121.20, Y:-135.45, Z:-4.03 [[ 6.04331669e-01 -7.96722772e-01 -4.00739085e-03 1.21198381e+02] [-7.96704067e-01 -6.04344946e-01 5.46048272e-03 -1.35445567e+02] [-6.77233734e-03 -1.07238047e-04 -9.99977062e-01 -4.02576447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0665599949999 meters 0.014900805045238151 Centerline is valid? [True, True] Translation: X:121.24, Y:-135.55, Z:-4.02 [[ 6.65831855e-01 -7.46087519e-01 -4.62112106e-03 1.21240855e+02] [-7.46068117e-01 -6.65847877e-01 5.38235969e-03 -1.35550319e+02] [-7.09267504e-03 -1.36075450e-04 -9.99974837e-01 -4.02434869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.126559995 meters 0.014913090756167039 Centerline is valid? [True, True] Translation: X:121.29, Y:-135.65, Z:-4.02 [[ 7.21538154e-01 -6.92350046e-01 -5.84007647e-03 1.21292640e+02] [-6.92325456e-01 -7.21561768e-01 5.83762906e-03 -1.35648184e+02] [-8.25565865e-03 -1.68838496e-04 -9.99965907e-01 -4.02316381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1865599949999 meters 0.015245148442327562 Centerline is valid? [True, True] Translation: X:121.31, Y:-135.68, Z:-4.02 [[ 7.73708361e-01 -6.33500797e-01 -7.21886767e-03 1.21310954e+02] [-6.33470818e-01 -7.73742012e-01 6.16625909e-03 -1.35677743e+02] [-9.49187124e-03 -1.97944207e-04 -9.99954932e-01 -4.02159922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.246559995 meters 0.014973420404169263 Centerline is valid? [True, True] Translation: X:121.33, Y:-135.71, Z:-4.02 [[ 8.20617259e-01 -5.71424272e-01 -7.84961638e-03 1.21333536e+02] [-5.71395807e-01 -8.20654777e-01 5.70693434e-03 -1.35705075e+02] [-9.70290597e-03 -1.97970931e-04 -9.99952906e-01 -4.02138526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3065599949999 meters 0.014234513934084966 Centerline is valid? [True, True] Translation: X:121.36, Y:-135.73, Z:-4.02 [[ 8.60798361e-01 -5.08878680e-01 -8.28681612e-03 1.21359179e+02] [-5.08853300e-01 -8.60838233e-01 5.08486810e-03 -1.35728816e+02] [-9.72118911e-03 -1.60272393e-04 -9.99952735e-01 -4.02060747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.366559995 meters 0.01315452795836367 Centerline is valid? [True, True] Translation: X:121.39, Y:-135.75, Z:-4.02 [[ 8.95389149e-01 -4.45211442e-01 -8.06491584e-03 1.21387558e+02] [-4.45192407e-01 -8.95425465e-01 4.11801298e-03 -1.35748122e+02] [-9.05491752e-03 -9.67848417e-05 -9.99958999e-01 -4.02074728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4265599949999 meters 0.012286391966426228 Centerline is valid? [True, True] Translation: X:121.42, Y:-135.76, Z:-4.02 [[ 9.22721084e-01 -3.85402475e-01 -7.12266875e-03 1.21418120e+02] [-3.85391107e-01 -9.22748575e-01 2.96020002e-03 -1.35761705e+02] [-7.71330085e-03 1.35742262e-05 -9.99970252e-01 -4.02219364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.486559995 meters 0.012999658310442856 Centerline is valid? [True, True] Translation: X:121.45, Y:-135.78, Z:-4.02 [[ 9.47191330e-01 -3.20592782e-01 -6.98944127e-03 1.21447840e+02] [-3.20584667e-01 -9.47217114e-01 2.28244772e-03 -1.35776276e+02] [-7.35225466e-03 7.87930153e-05 -9.99972969e-01 -4.02264405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5465599949999 meters 0.014595467016389653 Centerline is valid? [True, True] Translation: X:121.48, Y:-135.79, Z:-4.02 [[ 9.67266609e-01 -2.53707279e-01 -5.28437271e-03 1.21477982e+02] [-2.53704077e-01 -9.67281038e-01 1.27881531e-03 -1.35789097e+02] [-5.43591827e-03 1.03711552e-04 -9.99985220e-01 -4.02351840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6065599949999 meters 0.015255461317399525 Centerline is valid? [True, True] Translation: X:121.50, Y:-135.80, Z:-4.02 [[ 9.83768919e-01 -1.79320731e-01 -6.54137568e-03 1.21504175e+02] [-1.79317718e-01 -9.83790656e-01 1.04903355e-03 -1.35801729e+02] [-6.62345773e-03 1.40977954e-04 -9.99978055e-01 -4.02311856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.666559995 meters 0.015300049573877265 Centerline is valid? [True, True] Translation: X:121.53, Y:-135.81, Z:-4.02 [[ 9.94892060e-01 -1.00690041e-01 -7.16269796e-03 1.21531195e+02] [-1.00688481e-01 -9.94917833e-01 5.78928293e-04 -1.35813419e+02] [-7.18458825e-03 1.45230016e-04 -9.99974180e-01 -4.02258673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7265599949999 meters 0.014334652447942265 Centerline is valid? [True, True] Translation: X:121.56, Y:-135.83, Z:-4.02 [[ 9.99791058e-01 -1.88179684e-02 -7.98270261e-03 1.21559212e+02] [-1.88184231e-02 -9.99822918e-01 1.81478838e-05 -1.35828135e+02] [-7.98163052e-03 1.32077783e-04 -9.99968138e-01 -4.02130880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.786559995 meters 0.013504811476475852 Centerline is valid? [True, True] Translation: X:121.59, Y:-135.84, Z:-4.02 [[ 9.97934195e-01 6.37898105e-02 -7.62910311e-03 1.21588347e+02] [ 6.37872265e-02 -9.97963352e-01 -5.81802349e-04 -1.35840523e+02] [-7.65067837e-03 9.39611307e-05 -9.99970729e-01 -4.02107239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8465599949999 meters 0.012341219081971716 Centerline is valid? [True, True] Translation: X:121.62, Y:-135.85, Z:-4.02 [[ 9.88486303e-01 1.51169512e-01 -6.52745727e-03 1.21619986e+02] [ 1.51166095e-01 -9.88507854e-01 -1.01651446e-03 -1.35854411e+02] [-6.60610877e-03 1.80803910e-05 -9.99978179e-01 -4.02247029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.906559995 meters 0.01275356258849838 Centerline is valid? [True, True] Translation: X:121.65, Y:-135.87, Z:-4.02 [[ 9.70904270e-01 2.39416211e-01 -4.97761611e-03 1.21653236e+02] [ 2.39413306e-01 -9.70917028e-01 -1.18030290e-03 -1.35867289e+02] [-5.11543589e-03 -4.57463973e-05 -9.99986915e-01 -4.02335070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9665599949999 meters 0.013991854141921976 Centerline is valid? [True, True] Translation: X:121.69, Y:-135.87, Z:-4.02 [[ 9.47072005e-01 3.20997435e-01 -3.90699850e-03 1.21686990e+02] [ 3.20994981e-01 -9.47080062e-01 -1.25674868e-03 -1.35872394e+02] [-4.10365348e-03 -6.38954139e-05 -9.99991578e-01 -4.02349094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.026559995 meters 0.015412336608120643 Centerline is valid? [True, True] Translation: X:121.72, Y:-135.87, Z:-4.02 [[ 9.16620263e-01 3.99750959e-01 -2.54254412e-03 1.21721439e+02] [ 3.99749601e-01 -9.16623787e-01 -1.04377859e-03 -1.35874836e+02] [-2.74780792e-03 -5.96323911e-05 -9.99996223e-01 -4.02401873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0865599949999 meters 0.01585120193200201 Centerline is valid? [True, True] Translation: X:121.76, Y:-135.87, Z:-4.02 [[ 8.81575899e-01 4.72036605e-01 -2.31892959e-03 1.21755018e+02] [ 4.72035154e-01 -8.81578947e-01 -1.17188287e-03 -1.35872286e+02] [-2.59749112e-03 -6.15125932e-05 -9.99996625e-01 -4.02402693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.146559995 meters 0.01617291763105321 Centerline is valid? [True, True] Translation: X:121.79, Y:-135.86, Z:-4.02 [[ 8.41776696e-01 5.39817502e-01 -3.00966773e-03 1.21787456e+02] [ 5.39814407e-01 -8.41782072e-01 -1.82989817e-03 -1.35864915e+02] [-3.52129539e-03 -8.42963636e-05 -9.99993797e-01 -4.02287003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2065599949999 meters 0.015571084895465362 Centerline is valid? [True, True] Translation: X:121.82, Y:-135.85, Z:-4.02 [[ 7.97908791e-01 6.02760487e-01 -4.62135114e-03 1.21818815e+02] [ 6.02751291e-01 -7.97922164e-01 -3.33194134e-03 -1.35853289e+02] [-5.69584108e-03 -1.26940079e-04 -9.99983771e-01 -4.02048026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.266559995 meters 0.014372951542399285 Centerline is valid? [True, True] Translation: X:121.85, Y:-135.84, Z:-4.02 [[ 7.50674760e-01 6.60642643e-01 -6.22115577e-03 1.21847589e+02] [ 6.60621623e-01 -7.50700523e-01 -5.27223191e-03 -1.35838315e+02] [-8.15328611e-03 -1.52098594e-04 -9.99966750e-01 -4.01872490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3265599949999 meters 0.013769507369046582 Centerline is valid? [True, True] Translation: X:121.88, Y:-135.82, Z:-4.02 [[ 6.98919623e-01 7.15170751e-01 -6.49290668e-03 1.21875607e+02] [ 7.15141762e-01 -6.98949767e-01 -6.44076137e-03 -1.35821496e+02] [-9.14445976e-03 -1.41774215e-04 -9.99958179e-01 -4.01767086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.386559995 meters 0.013369158905547653 Centerline is valid? [True, True] Translation: X:121.90, Y:-135.80, Z:-4.02 [[ 6.45170876e-01 7.64010565e-01 -6.51135520e-03 1.21897957e+02] [ 7.63973170e-01 -6.45203725e-01 -7.55969253e-03 -1.35800596e+02] [-9.97683559e-03 -9.72072220e-05 -9.99950225e-01 -4.01570312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4465599949999 meters 0.01257441289132062 Centerline is valid? [True, True] Translation: X:121.92, Y:-135.78, Z:-4.02 [[ 5.86931166e-01 8.09614888e-01 -5.96148726e-03 1.21918369e+02] [ 8.09574062e-01 -5.86961438e-01 -8.13069013e-03 -1.35778299e+02] [-1.00818909e-02 -5.41100237e-05 -9.99949175e-01 -4.01676200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.506559995 meters 0.012623118247070658 Centerline is valid? [True, True] Translation: X:121.94, Y:-135.75, Z:-4.02 [[ 5.27199227e-01 8.49725202e-01 -5.29688571e-03 1.21935972e+02] [ 8.49682111e-01 -5.27225836e-01 -8.55736734e-03 -1.35753851e+02] [-1.00640657e-02 1.07684136e-05 -9.99949356e-01 -4.01693628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5665599949999 meters 0.012928658823028403 Centerline is valid? [True, True] Translation: X:121.95, Y:-135.73, Z:-4.02 [[ 4.63289332e-01 8.86196798e-01 -4.26971575e-03 1.21952144e+02] [ 8.86158064e-01 -4.63309003e-01 -8.28571994e-03 -1.35729316e+02] [-9.32097623e-03 5.50426087e-05 -9.99956557e-01 -4.01744069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.626559995 meters 0.013186604740307065 Centerline is valid? [True, True] Translation: X:121.97, Y:-135.70, Z:-4.02 [[ 3.94461935e-01 9.18906381e-01 -3.29327909e-03 1.21967700e+02] [ 9.18872892e-01 -3.94475676e-01 -7.84538897e-03 -1.35704931e+02] [-8.50829648e-03 6.86024283e-05 -9.99963801e-01 -4.01822323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6865599949999 meters 0.013174881853356931 Centerline is valid? [True, True] Translation: X:121.98, Y:-135.68, Z:-4.02 [[ 3.21763460e-01 9.46817051e-01 -2.39748262e-03 1.21983180e+02] [ 9.46789226e-01 -3.21772385e-01 -7.25904568e-03 -1.35681078e+02] [-7.64443192e-03 6.57849385e-05 -9.99970779e-01 -4.01896844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.746559995 meters 0.012863394510991898 Centerline is valid? [True, True] Translation: X:122.00, Y:-135.66, Z:-4.02 [[ 2.43578646e-01 9.69879479e-01 -1.80005246e-03 1.21998156e+02] [ 9.69851721e-01 -2.43585294e-01 -7.33790175e-03 -1.35657166e+02] [-7.55534663e-03 4.15721959e-05 -9.99971457e-01 -4.01824130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8065599949999 meters 0.012773286908614397 Centerline is valid? [True, True] Translation: X:122.01, Y:-135.63, Z:-4.02 [[ 1.64577761e-01 9.86363317e-01 -1.25232753e-03 1.22009121e+02] [ 9.86333608e-01 -1.64582524e-01 -7.65543963e-03 -1.35631230e+02] [-7.75715605e-03 2.47023857e-05 -9.99969913e-01 -4.01748933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.866559995 meters 0.012466110353994178 Centerline is valid? [True, True] Translation: X:122.02, Y:-135.60, Z:-4.02 [[ 8.27195219e-02 9.96572669e-01 -6.29181190e-04 1.22022952e+02] [ 9.96544457e-01 -8.27219144e-02 -7.49869490e-03 -1.35604662e+02] [-7.52504147e-03 -6.71856991e-06 -9.99971687e-01 -4.01776651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9265599949999 meters 0.012477061164679714 Centerline is valid? [True, True] Translation: X:122.04, Y:-135.58, Z:-4.02 [[ 1.81007550e-03 9.99998361e-01 -3.95870549e-05 1.22035541e+02] [ 9.99970697e-01 -1.81031989e-03 -7.43822025e-03 -1.35576570e+02] [-7.43827973e-03 -2.61221546e-05 -9.99972335e-01 -4.01821809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.986559995 meters 0.012770735591637005 Centerline is valid? [True, True] Translation: X:122.05, Y:-135.55, Z:-4.02 [[-8.11647385e-02 9.96700561e-01 5.26648510e-04 1.22047460e+02] [ 9.96674582e-01 8.11664255e-02 -7.19647041e-03 -1.35547757e+02] [-7.21547227e-03 -5.92024546e-05 -9.99973966e-01 -4.01883265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0465599949999 meters 0.013225985115934515 Centerline is valid? [True, True] Translation: X:122.06, Y:-135.52, Z:-4.02 [[-1.63059726e-01 9.86615707e-01 9.85945060e-04 1.22056815e+02] [ 9.86594565e-01 1.63062686e-01 -6.45948540e-03 -1.35518064e+02] [-6.53380061e-03 -8.05538786e-05 -9.99978651e-01 -4.01936169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1065599949999 meters 0.013460661581022226 Centerline is valid? [True, True] Translation: X:122.06, Y:-135.49, Z:-4.02 [[-2.41452935e-01 9.70411567e-01 1.36799839e-03 1.22062745e+02] [ 9.70393958e-01 2.41456796e-01 -5.84654317e-03 -1.35487631e+02] [-6.00386563e-03 -8.41676364e-05 -9.99981973e-01 -4.01933986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.166559995 meters 0.013590219546550824 Centerline is valid? [True, True] Translation: X:122.06, Y:-135.46, Z:-4.02 [[-3.16999752e-01 9.48424128e-01 1.68241551e-03 1.22064300e+02] [ 9.48409411e-01 3.17004206e-01 -5.28411878e-03 -1.35456545e+02] [-5.54491854e-03 -7.94456405e-05 -9.99984624e-01 -4.01951319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2265599949999 meters 0.0139352634072353 Centerline is valid? [True, True] Translation: X:122.06, Y:-135.43, Z:-4.02 [[-3.90289120e-01 9.20690890e-01 1.63941312e-03 1.22063476e+02] [ 9.20682086e-01 3.90292559e-01 -4.02688120e-03 -1.35426801e+02] [-4.34736358e-03 -6.22696333e-05 -9.99990548e-01 -4.01990174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.286559995 meters 0.013510967726870604 Centerline is valid? [True, True] Translation: X:122.06, Y:-135.40, Z:-4.02 [[-4.60790011e-01 8.87507289e-01 1.83788975e-03 1.22058512e+02] [ 8.87499731e-01 4.60793673e-01 -3.66306724e-03 -1.35396644e+02] [-4.09788684e-03 -5.67781352e-05 -9.99991602e-01 -4.01989352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3465599949999 meters 0.013652863756079946 Centerline is valid? [True, True] Translation: X:122.05, Y:-135.37, Z:-4.02 [[-5.28572805e-01 8.48884694e-01 2.35912617e-03 1.22052370e+02] [ 8.48875715e-01 5.28578066e-01 -3.90485834e-03 -1.35368159e+02] [-4.56175683e-03 -6.13970067e-05 -9.99989593e-01 -4.01862394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.406559995 meters 0.013414982137793246 Centerline is valid? [True, True] Translation: X:122.04, Y:-135.34, Z:-4.02 [[-5.92800933e-01 8.05340101e-01 3.79163598e-03 1.22041378e+02] [ 8.05322732e-01 5.92813053e-01 -5.28981753e-03 -1.35340767e+02] [-6.50783348e-03 -8.23181176e-05 -9.99978820e-01 -4.01671497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4665599949999 meters 0.012970913998744872 Centerline is valid? [True, True] Translation: X:122.03, Y:-135.31, Z:-4.02 [[-6.52287756e-01 7.57957148e-01 4.65239756e-03 1.22027258e+02] [ 7.57937054e-01 6.52304343e-01 -5.51963339e-03 -1.35314900e+02] [-7.21842472e-03 -7.41647844e-05 -9.99973944e-01 -4.01546807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.526559995 meters 0.012672482790497383 Centerline is valid? [True, True] Translation: X:122.01, Y:-135.29, Z:-4.01 [[-7.07712393e-01 7.06480942e-01 5.27704867e-03 1.22011211e+02] [ 7.06460705e-01 7.07732065e-01 -5.34761859e-03 -1.35292395e+02] [-7.51272717e-03 -5.65484249e-05 -9.99971778e-01 -4.01495887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5865599949999 meters 0.012238626177585681 Centerline is valid? [True, True] Translation: X:121.99, Y:-135.27, Z:-4.02 [[-7.57321658e-01 6.53020824e-01 5.26407860e-03 1.21990489e+02] [ 6.53004917e-01 7.57339952e-01 -4.55799784e-03 -1.35272312e+02] [-6.96316454e-03 -1.44012675e-05 -9.99975757e-01 -4.01538170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.646559995 meters 0.012150725781935084 Centerline is valid? [True, True] Translation: X:122.00, Y:-135.25, Z:-4.02 [[-7.98539433e-01 6.01930070e-01 3.86836466e-03 1.22002721e+02] [ 6.01923097e-01 7.98548803e-01 -2.89743651e-03 -1.35253237e+02] [-4.83313213e-03 1.47407238e-05 -9.99988320e-01 -4.01672777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7065599949999 meters 0.012132559306532186 Centerline is valid? [True, True] Translation: X:122.03, Y:-135.24, Z:-4.02 [[-8.38068646e-01 5.45558706e-01 2.57743022e-03 1.22026818e+02] [ 5.45556181e-01 8.38072609e-01 -1.65973001e-03 -1.35237562e+02] [-3.06555383e-03 1.51653070e-05 -9.99995301e-01 -4.01786545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.766559995 meters 0.012562296805442328 Centerline is valid? [True, True] Translation: X:122.42, Y:-134.65, Z:-5.02 [[-8.07407311e-01 -5.89990013e-01 2.28423943e-03 1.22416064e+02] [ 5.89987560e-01 -8.07410542e-01 -1.70172816e-03 -1.34646903e+02] [ 2.84832161e-03 -2.63149114e-05 9.99995943e-01 -5.02094985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8265599949999 meters 0.012788271345271293 Centerline is valid? [True, True] Translation: X:121.99, Y:-135.22, Z:-4.02 [[-8.37152548e-01 5.46965118e-01 2.18428360e-03 1.21992600e+02] [ 5.46963338e-01 8.37155397e-01 -1.39560252e-03 -1.35221230e+02] [-2.59193070e-03 2.63908478e-05 -9.99996641e-01 -4.01711302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.886559995 meters 0.0128807114241361 Centerline is valid? [True, True] Translation: X:122.37, Y:-134.62, Z:-5.02 [[-8.11131191e-01 -5.84859571e-01 2.33951878e-03 1.22373956e+02] [ 5.84857097e-01 -8.11134564e-01 -1.70147804e-03 -1.34621192e+02] [ 2.89279026e-03 -1.18377487e-05 9.99995816e-01 -5.02195184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9465599949999 meters 0.012719295100072673 Centerline is valid? [True, True] Translation: X:122.36, Y:-134.65, Z:-5.02 [[-7.69161330e-01 -6.39052410e-01 1.69290455e-03 1.22362110e+02] [ 6.39050799e-01 -7.69163192e-01 -1.43529472e-03 -1.34653488e+02] [ 2.21934842e-03 -2.21211942e-05 9.99997537e-01 -5.02194260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.006559995 meters 0.012510849903311166 Centerline is valid? [True, True] Translation: X:121.91, Y:-135.19, Z:-4.02 [[-8.01393183e-01 5.98135739e-01 1.61394968e-03 1.21907140e+02] [ 5.98134570e-01 8.01394808e-01 -1.18274523e-03 -1.35190926e+02] [-2.00085308e-03 1.75151324e-05 -9.99997998e-01 -4.01646528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0665599949999 meters 0.012585877150425327 Centerline is valid? [True, True] Translation: X:121.92, Y:-135.17, Z:-4.02 [[-8.42228130e-01 5.39118463e-01 1.74936147e-03 1.21922366e+02] [ 5.39117340e-01 8.42229946e-01 -1.10054072e-03 -1.35166226e+02] [-2.06668644e-03 1.62047491e-05 -9.99997864e-01 -4.01588181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.126559995 meters 0.012538684438675493 Centerline is valid? [True, True] Translation: X:121.94, Y:-135.14, Z:-4.02 [[-8.78806899e-01 4.77173740e-01 1.91209948e-03 1.21940423e+02] [ 4.77172646e-01 8.78808979e-01 -1.02183977e-03 -1.35142372e+02] [-2.16796530e-03 1.44017275e-05 -9.99997650e-01 -4.01513972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1865599949999 meters 0.012323821341671627 Centerline is valid? [True, True] Translation: X:122.27, Y:-134.54, Z:-5.02 [[-8.50831994e-01 -5.25435674e-01 1.50670715e-03 1.22269781e+02] [ 5.25434776e-01 -8.50833328e-01 -9.71898389e-04 -1.34536414e+02] [ 1.79262674e-03 -3.52459127e-05 9.99998393e-01 -5.02347491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.246559995 meters 0.012159011504788375 Centerline is valid? [True, True] Translation: X:121.90, Y:-135.12, Z:-4.01 [[-8.83835789e-01 4.67795773e-01 1.18899874e-03 1.21901402e+02] [ 4.67795349e-01 8.83836588e-01 -6.29953671e-04 -1.35115854e+02] [-1.34557025e-03 -5.67519914e-07 -9.99999095e-01 -4.01497300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3065599949999 meters 0.012398343883580616 Centerline is valid? [True, True] Translation: X:121.91, Y:-135.09, Z:-4.01 [[-9.16407854e-01 4.00244981e-01 7.75391591e-04 1.21909820e+02] [ 4.00244834e-01 9.16408182e-01 -3.42955538e-04 -1.35085675e+02] [-8.47841431e-04 -3.94066985e-06 -9.99999641e-01 -4.01465752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.366559995 meters 0.012881609916317158 Centerline is valid? [True, True] Translation: X:121.92, Y:-135.06, Z:-4.01 [[-9.44136245e-01 3.29554960e-01 5.27938341e-04 1.21922049e+02] [ 3.29554905e-01 9.44136393e-01 -1.90119098e-04 -1.35056582e+02] [-5.61100493e-04 -5.51366156e-06 -9.99999843e-01 -4.01304599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4265599949999 meters 0.013473376703554127 Centerline is valid? [True, True] Translation: X:121.93, Y:-135.03, Z:-4.01 [[-9.65906715e-01 2.58887187e-01 1.28164951e-03 1.21926869e+02] [ 2.58886936e-01 9.65907565e-01 -3.60988732e-04 -1.35028202e+02] [-1.33141031e-03 -1.68791256e-05 -9.99999114e-01 -4.01196803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.486559995 meters 0.013807266331157714 Centerline is valid? [True, True] Translation: X:121.92, Y:-135.00, Z:-4.01 [[-9.81992861e-01 1.88914063e-01 1.22424435e-03 1.21924683e+02] [ 1.88913895e-01 9.81993624e-01 -2.52841661e-04 -1.34999115e+02] [-1.24996549e-03 -1.70119376e-05 -9.99999219e-01 -4.01149316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5465599949999 meters 0.014353565707344227 Centerline is valid? [True, True] Translation: X:121.93, Y:-134.97, Z:-4.01 [[-9.93108100e-01 1.17169697e-01 2.75033694e-03 1.21928601e+02] [ 1.17169130e-01 9.93111907e-01 -3.66911439e-04 -1.34972332e+02] [-2.77438327e-03 -4.21281343e-05 -9.99996151e-01 -4.01012482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6065599949999 meters 0.014398722572475814 Centerline is valid? [True, True] Translation: X:121.93, Y:-134.95, Z:-4.01 [[-9.98914553e-01 4.63508555e-02 4.61673668e-03 1.21932174e+02] [ 4.63500347e-02 9.98925219e-01 -2.84676640e-04 -1.34946938e+02] [-4.62496971e-03 -7.03817325e-05 -9.99989302e-01 -4.00810406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.666559995 meters 0.013504609613888776 Centerline is valid? [True, True] Translation: X:121.93, Y:-134.92, Z:-4.01 [[-9.99718129e-01 -2.31199325e-02 5.39737737e-03 1.21927340e+02] [-2.31199919e-02 9.99732696e-01 5.14067458e-05 -1.34924659e+02] [-5.39712315e-03 -7.33950651e-05 -9.99985433e-01 -4.00830591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7265599949999 meters 0.012928434099936227 Centerline is valid? [True, True] Translation: X:121.93, Y:-134.25, Z:-5.03 [[-9.97748616e-01 -6.68721719e-02 5.08050780e-03 1.21925396e+02] [ 6.68715626e-02 -9.97761550e-01 -2.89892693e-04 -1.34247640e+02] [ 5.08852109e-03 5.05014625e-05 9.99987052e-01 -5.02913141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.786559995 meters 0.012223137799028722 Centerline is valid? [True, True] Translation: X:121.87, Y:-134.94, Z:-4.01 [[-9.99849897e-01 -1.64562743e-02 5.41991389e-03 1.21871358e+02] [-1.64560986e-02 9.99864586e-01 7.70041369e-05 -1.34940876e+02] [-5.42044716e-03 -1.21980593e-05 -9.99985309e-01 -4.01024328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8465599949999 meters 0.012239153403384115 Centerline is valid? [True, True] Translation: X:121.86, Y:-134.92, Z:-4.01 [[-9.96391435e-01 -8.47139517e-02 5.25873850e-03 1.21863973e+02] [-8.47127567e-02 9.96405312e-01 4.49970631e-04 -1.34915564e+02] [-5.27795377e-03 2.86464724e-06 -9.99986072e-01 -4.01031241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.906559995 meters 0.012355745872783508 Centerline is valid? [True, True] Translation: X:121.86, Y:-134.89, Z:-4.01 [[-9.87932991e-01 -1.54763019e-01 6.06746216e-03 1.21859307e+02] [-1.54760053e-01 9.87951622e-01 9.58062463e-04 -1.34888442e+02] [-6.14263172e-03 7.50074755e-06 -9.99981134e-01 -4.01027593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9665599949999 meters 0.012491989171052853 Centerline is valid? [True, True] Translation: X:121.85, Y:-134.86, Z:-4.01 [[-9.74475725e-01 -2.24368170e-01 7.48239916e-03 1.21846223e+02] [-2.24361455e-01 9.74504451e-01 1.73586653e-03 -1.34863777e+02] [-7.68110448e-03 1.27978359e-05 -9.99970500e-01 -4.00951007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.026559995 meters 0.012821597557182969 Centerline is valid? [True, True] Translation: X:121.82, Y:-134.84, Z:-4.01 [[-9.56708713e-01 -2.90931754e-01 8.19464903e-03 1.21822096e+02] [-2.90920717e-01 9.56743807e-01 2.53450645e-03 -1.34843599e+02] [-8.57754812e-03 4.07912406e-05 -9.99963211e-01 -4.00867063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0865599949999 meters 0.012819385966552356 Centerline is valid? [True, True] Translation: X:121.78, Y:-134.83, Z:-4.01 [[-9.33571275e-01 -3.58300129e-01 8.10507789e-03 1.21782576e+02] [-3.58286136e-01 9.33606456e-01 3.16695826e-03 -1.34827961e+02] [-8.70167460e-03 5.26442194e-05 -9.99962138e-01 -4.00980237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.146559995 meters 0.013307933664654893 Centerline is valid? [True, True] Translation: X:121.72, Y:-134.83, Z:-4.01 [[-9.06574952e-01 -4.21986920e-01 6.99258859e-03 1.21720226e+02] [-4.21973692e-01 9.06601915e-01 3.34217323e-03 -1.34825125e+02] [-7.74984760e-03 7.92421060e-05 -9.99969966e-01 -4.01109565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2065599949999 meters 0.013724300369214452 Centerline is valid? [True, True] Translation: X:121.66, Y:-134.83, Z:-4.01 [[-8.73908338e-01 -4.86040984e-01 6.95551416e-03 1.21658966e+02] [-4.86024678e-01 8.73936011e-01 3.98251027e-03 -1.34826080e+02] [-8.01433752e-03 9.97974020e-05 -9.99967880e-01 -4.01207358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.266559995 meters 0.013701277198256838 Centerline is valid? [True, True] Translation: X:121.26, Y:-134.25, Z:-5.03 [[-8.94355701e-01 4.47285731e-01 7.95961159e-03 1.21255043e+02] [-4.47268535e-01 -8.94391118e-01 3.92234880e-03 -1.34248070e+02] [ 8.87341656e-03 -5.21088071e-05 9.99960629e-01 -5.02708877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3265599949999 meters 0.01296764523729222 Centerline is valid? [True, True] Translation: X:121.47, Y:-134.92, Z:-4.01 [[-8.66823584e-01 -4.98559810e-01 7.41553024e-03 1.21473123e+02] [-4.98541056e-01 8.66855301e-01 4.32456333e-03 -1.34920678e+02] [-8.58424517e-03 5.16872078e-05 -9.99963153e-01 -4.01139644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.386559995 meters 0.012706956844194789 Centerline is valid? [True, True] Translation: X:121.40, Y:-134.93, Z:-4.01 [[-8.24949428e-01 -5.65160707e-01 7.19845670e-03 1.21397181e+02] [-5.65139051e-01 8.24980833e-01 4.94746726e-03 -1.34932209e+02] [-8.73470290e-03 1.32812927e-05 -9.99961852e-01 -4.01181354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4465599949999 meters 0.012800980834748024 Centerline is valid? [True, True] Translation: X:121.32, Y:-134.95, Z:-4.01 [[-7.76628195e-01 -6.29920352e-01 6.99984331e-03 1.21315063e+02] [-6.29895272e-01 7.76659738e-01 5.62120924e-03 -1.34954722e+02] [-8.97741057e-03 -4.35786250e-05 -9.99959701e-01 -4.01253090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.506559995 meters 0.013363736429371135 Centerline is valid? [True, True] Translation: X:121.23, Y:-134.99, Z:-4.01 [[-7.23313200e-01 -6.90490506e-01 6.39346186e-03 1.21231850e+02] [-6.90464668e-01 7.23341450e-01 5.97403782e-03 -1.34985458e+02] [-8.74967236e-03 -9.33591057e-05 -9.99961717e-01 -4.01245673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5665599949999 meters 0.01388854195864742 Centerline is valid? [True, True] Translation: X:121.14, Y:-135.03, Z:-4.01 [[-6.66658049e-01 -7.45343288e-01 5.51613276e-03 1.21143884e+02] [-7.45319231e-01 6.66680860e-01 5.98956971e-03 -1.35031892e+02] [-8.14178572e-03 -1.18284972e-04 -9.99966848e-01 -4.01245530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.626559995 meters 0.014838197683651943 Centerline is valid? [True, True] Translation: X:121.06, Y:-135.08, Z:-4.01 [[-6.05242474e-01 -7.96025602e-01 4.97888563e-03 1.21062193e+02] [-7.96000685e-01 6.05262934e-01 6.30001409e-03 -1.35082789e+02] [-8.02850743e-03 -1.50160262e-04 -9.99967760e-01 -4.01169595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6865599949999 meters 0.014959804638055865 Centerline is valid? [True, True] Translation: X:120.99, Y:-135.14, Z:-4.01 [[-5.42387678e-01 -8.40115705e-01 4.60535081e-03 1.20987676e+02] [-8.40087928e-01 5.42407205e-01 6.83353629e-03 -1.35141946e+02] [-8.23893662e-03 -1.62473747e-04 -9.99966046e-01 -4.01137851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.746559995 meters 0.01497730338144286 Centerline is valid? [True, True] Translation: X:120.91, Y:-135.21, Z:-4.01 [[-4.77922529e-01 -8.78390058e-01 4.57860414e-03 1.20912713e+02] [-8.78353170e-01 4.77944429e-01 8.05182115e-03 -1.35214836e+02] [-9.26095798e-03 -1.73484733e-04 -9.99957101e-01 -4.01014508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8065599949999 meters 0.014166542927012601 Centerline is valid? [True, True] Translation: X:120.85, Y:-135.30, Z:-4.01 [[-4.14067604e-01 -9.10234580e-01 4.58571390e-03 1.20845787e+02] [-9.10182674e-01 4.14092969e-01 9.72177933e-03 -1.35296199e+02] [-1.07480116e-02 -1.48363465e-04 -9.99942228e-01 -4.00861659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.866559995 meters 0.01310071868429884 Centerline is valid? [True, True] Translation: X:120.79, Y:-135.39, Z:-4.01 [[-3.50621799e-01 -9.36508982e-01 3.90907125e-03 1.20787584e+02] [-9.36452860e-01 3.50643583e-01 1.02527563e-02 -1.35386088e+02] [-1.09724891e-02 -6.58211052e-05 -9.99939798e-01 -4.00857473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9265599949999 meters 0.01284528292670994 Centerline is valid? [True, True] Translation: X:120.73, Y:-135.48, Z:-4.01 [[-2.83349288e-01 -9.59011862e-01 3.07073069e-03 1.20733523e+02] [-9.58955667e-01 2.83365927e-01 1.03817667e-02 -1.35480078e+02] [-1.08263779e-02 -3.02838723e-06 -9.99941393e-01 -4.00840089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.986559995 meters 0.013137668205464262 Centerline is valid? [True, True] Translation: X:120.69, Y:-135.58, Z:-4.01 [[-2.16237004e-01 -9.76338544e-01 2.14596308e-03 1.20685504e+02] [-9.76287022e-01 2.16247640e-01 1.00304250e-02 -1.35584052e+02] [-1.02571500e-02 7.38731568e-05 -9.99947391e-01 -4.00895028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0465599949999 meters 0.013293596623638526 Centerline is valid? [True, True] Translation: X:120.64, Y:-135.69, Z:-4.01 [[-1.40277824e-01 -9.90111229e-01 1.37380116e-03 1.20637745e+02] [-9.90058717e-01 1.40284533e-01 1.01973530e-02 -1.35691699e+02] [-1.02892368e-02 7.03186791e-05 -9.99947062e-01 -4.00877663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1065599949999 meters 0.013196999016240942 Centerline is valid? [True, True] Translation: X:120.60, Y:-135.80, Z:-4.01 [[-6.27803401e-02 -9.98027132e-01 6.87657576e-04 1.20599324e+02] [-9.97954407e-01 6.27840669e-02 1.20483605e-02 -1.35804227e+02] [-1.20677646e-02 7.01492628e-05 -9.99927179e-01 -4.00809905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.166559995 meters 0.013001148700915984 Centerline is valid? [True, True] Translation: X:120.57, Y:-135.92, Z:-4.01 [[ 1.71696328e-02 -9.99852560e-01 -2.50869301e-04 1.20567058e+02] [-9.99773237e-01 -1.71714307e-02 1.25943482e-02 -1.35923126e+02] [-1.25967991e-02 3.45720789e-05 -9.99920657e-01 -4.00770691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2265599949999 meters 0.012839694405135927 Centerline is valid? [True, True] Translation: X:120.54, Y:-136.04, Z:-4.01 [[ 9.72412408e-02 -9.95260127e-01 -1.19154819e-03 1.20542270e+02] [-9.95184544e-01 -9.72485406e-02 1.22656333e-02 -1.36042339e+02] [-1.23233720e-02 -6.91505264e-06 -9.99924064e-01 -4.00738226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.286559995 meters 0.013033206846536919 Centerline is valid? [True, True] Translation: X:120.53, Y:-136.16, Z:-4.01 [[ 1.79134238e-01 -9.83822559e-01 -2.02439177e-03 1.20526210e+02] [-9.83754888e-01 -1.79145661e-01 1.15391841e-02 -1.36164373e+02] [-1.17151707e-02 -7.55576621e-05 -9.99931372e-01 -4.00808681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3465599949999 meters 0.013366950559058604 Centerline is valid? [True, True] Translation: X:120.52, Y:-136.29, Z:-4.01 [[ 2.57370041e-01 -9.66309007e-01 -2.75046591e-03 1.20521610e+02] [-9.66249209e-01 -2.57384714e-01 1.07505509e-02 -1.36285131e+02] [-1.10962820e-02 -1.09234198e-04 -9.99938428e-01 -4.00877022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.406559995 meters 0.013942029707759276 Centerline is valid? [True, True] Translation: X:120.53, Y:-136.41, Z:-4.01 [[ 3.34639268e-01 -9.42341021e-01 -3.15597673e-03 1.20526222e+02] [-9.42295169e-01 -3.34654121e-01 9.29702017e-03 -1.36407936e+02] [-9.81712410e-03 -1.37286397e-04 -9.99951802e-01 -4.00991675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4665599949999 meters 0.014059236815018278 Centerline is valid? [True, True] Translation: X:120.54, Y:-136.52, Z:-4.01 [[ 4.07352146e-01 -9.13264312e-01 -3.53902231e-03 1.20540245e+02] [-9.13226807e-01 -4.07367495e-01 8.27790605e-03 -1.36524534e+02] [-9.00159883e-03 -1.40092757e-04 -9.99959475e-01 -4.01037285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.526559995 meters 0.014539724374147401 Centerline is valid? [True, True] Translation: X:120.56, Y:-136.64, Z:-4.01 [[ 4.78065119e-01 -8.78314741e-01 -4.11804902e-03 1.20563269e+02] [-8.78279244e-01 -4.78082829e-01 7.89797002e-03 -1.36639334e+02] [-8.90567202e-03 -1.58946999e-04 -9.99960331e-01 -4.01113915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5865599949999 meters 0.01480701534202652 Centerline is valid? [True, True] Translation: X:120.59, Y:-136.75, Z:-4.01 [[ 5.45752552e-01 -8.37927651e-01 -5.60394296e-03 1.20592794e+02] [-8.37879397e-01 -5.45781281e-01 8.99494779e-03 -1.36749717e+02] [-1.05956426e-02 -2.13587361e-04 -9.99943842e-01 -4.01012243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.646559995 meters 0.015083834441153923 Centerline is valid? [True, True] Translation: X:120.64, Y:-136.86, Z:-4.01 [[ 6.09018792e-01 -7.93122729e-01 -7.24205481e-03 1.20637299e+02] [-7.93061512e-01 -6.09061794e-01 9.85744051e-03 -1.36864522e+02] [-1.22290190e-02 -2.59971570e-04 -9.99925189e-01 -4.00873051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7065599949999 meters 0.015173705628516986 Centerline is valid? [True, True] Translation: X:120.68, Y:-136.96, Z:-4.01 [[ 6.67033707e-01 -7.44962286e-01 -9.86038586e-03 1.20679559e+02] [-7.44873993e-01 -6.67106512e-01 1.14732983e-02 -1.36957800e+02] [-1.51251022e-02 -3.08331725e-04 -9.99885562e-01 -4.00701424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.766559995 meters 0.014152482788918444 Centerline is valid? [True, True] Translation: X:120.73, Y:-137.04, Z:-4.01 [[ 7.18580401e-01 -6.95340802e-01 -1.19739950e-02 1.20731129e+02] [-6.95238048e-01 -7.18680109e-01 1.19565243e-02 -1.37043571e+02] [-1.69193312e-02 -2.66947098e-04 -9.99856822e-01 -4.00789328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8265599949999 meters 0.013621893998270952 Centerline is valid? [True, True] Translation: X:120.75, Y:-137.07, Z:-4.01 [[ 7.68153207e-01 -6.40126620e-01 -1.33626759e-02 1.20754684e+02] [-6.40025096e-01 -7.68269398e-01 1.14021512e-02 -1.37068464e+02] [-1.75649555e-02 -2.06151078e-04 -9.99845703e-01 -4.00810893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.886559995 meters 0.013377303023260949 Centerline is valid? [True, True] Translation: X:120.78, Y:-137.09, Z:-4.01 [[ 8.13877967e-01 -5.80842116e-01 -1.50030198e-02 1.20778639e+02] [-5.80739906e-01 -8.14016224e-01 1.08972163e-02 -1.37092893e+02] [-1.85422637e-02 -1.56152001e-04 -9.99828065e-01 -4.00891905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9465599949999 meters 0.013240548155898153 Centerline is valid? [True, True] Translation: X:120.81, Y:-137.11, Z:-4.01 [[ 8.54132961e-01 -5.19727782e-01 -1.84368368e-02 1.20805732e+02] [-5.19604871e-01 -8.54331919e-01 1.13026906e-02 -1.37113666e+02] [-2.16255005e-02 -7.41303831e-05 -9.99766139e-01 -4.00903314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.006559995 meters 0.013132735107795881 Centerline is valid? [True, True] Translation: X:120.83, Y:-137.14, Z:-4.01 [[ 8.91504095e-01 -4.52599379e-01 -1.93455741e-02 1.20831093e+02] [-4.52491759e-01 -8.91713968e-01 9.86956894e-03 -1.37135810e+02] [-2.17176794e-02 -4.50482673e-05 -9.99764142e-01 -4.00972286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0665599949999 meters 0.01311895353777747 Centerline is valid? [True, True] Translation: X:120.86, Y:-137.16, Z:-4.01 [[ 9.23139736e-01 -3.83945845e-01 -1.99653726e-02 1.20858713e+02] [-3.83856358e-01 -9.23355613e-01 8.28906970e-03 -1.37156174e+02] [-2.16176928e-02 1.18656127e-05 -9.99766310e-01 -4.01167507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.126559995 meters 0.013357811058604414 Centerline is valid? [True, True] Translation: X:120.89, Y:-137.17, Z:-4.01 [[ 9.48644495e-01 -3.15678808e-01 -2.05064232e-02 1.20887877e+02] [-3.15607977e-01 -9.48866099e-01 6.68811513e-03 -1.37174012e+02] [-2.15691460e-02 1.27347127e-04 -9.99767351e-01 -4.01359690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1865599949999 meters 0.013659835481870448 Centerline is valid? [True, True] Translation: X:120.92, Y:-137.19, Z:-4.02 [[ 9.69238171e-01 -2.45259840e-01 -2.06150275e-02 1.20916826e+02] [-2.45209405e-01 -9.69457353e-01 4.97891297e-03 -1.37191626e+02] [-2.12065173e-02 2.29246112e-04 -9.99775090e-01 -4.01606615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.246559995 meters 0.01382977336684624 Centerline is valid? [True, True] Translation: X:120.94, Y:-137.21, Z:-4.02 [[ 9.85425733e-01 -1.68791591e-01 -2.11074225e-02 1.20943917e+02] [-1.68757980e-01 -9.85651736e-01 3.37645432e-03 -1.37208976e+02] [-2.13744847e-02 2.34801015e-04 -9.99771512e-01 -4.01525031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3065599949999 meters 0.013088292316101138 Centerline is valid? [True, True] Translation: X:120.97, Y:-137.23, Z:-4.02 [[ 9.95940960e-01 -8.75126705e-02 -2.10508106e-02 1.20972256e+02] [-8.74964428e-02 -9.96163394e-01 1.69245887e-03 -1.37226773e+02] [-2.11181585e-02 1.56281932e-04 -9.99776975e-01 -4.01659482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.366559995 meters 0.012604438387528765 Centerline is valid? [True, True] Translation: X:121.00, Y:-137.24, Z:-4.02 [[ 9.99798533e-01 -4.77229101e-03 -1.94966117e-02 1.21001401e+02] [-4.77248682e-03 -9.99988611e-01 3.64850801e-05 -1.37239736e+02] [-1.94965638e-02 5.65695930e-05 -9.99809922e-01 -4.01709698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4265599949999 meters 0.012197292825278665 Centerline is valid? [True, True] Translation: X:121.03, Y:-137.25, Z:-4.02 [[ 9.96516226e-01 8.15036895e-02 -1.76793568e-02 1.21032462e+02] [ 8.14924847e-02 -9.96673036e-01 -1.35448272e-03 -1.37254281e+02] [-1.77309336e-02 -9.09707079e-05 -9.99842791e-01 -4.01787973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.486559995 meters 0.01281467131705502 Centerline is valid? [True, True] Translation: X:121.07, Y:-137.27, Z:-4.02 [[ 9.85867955e-01 1.66825023e-01 -1.52900873e-02 1.21065684e+02] [ 1.66808060e-01 -9.85986497e-01 -2.38711481e-03 -1.37267057e+02] [-1.54740501e-02 -1.97129802e-04 -9.99880250e-01 -4.01756279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5465599949999 meters 0.01345625490018506 Centerline is valid? [True, True] Translation: X:121.10, Y:-137.27, Z:-4.02 [[ 9.68925227e-01 2.47034254e-01 -1.25691289e-02 1.21098835e+02] [ 2.47016302e-01 -9.69006725e-01 -2.98561004e-03 -1.37270937e+02] [-1.29171184e-02 -2.11946861e-04 -9.99916548e-01 -4.01862044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6065599949999 meters 0.014795494774153576 Centerline is valid? [True, True] Translation: X:121.13, Y:-137.27, Z:-4.02 [[ 9.45970636e-01 3.24099832e-01 -9.94258256e-03 1.21131754e+02] [ 3.24084073e-01 -9.46022865e-01 -3.20190384e-03 -1.37271814e+02] [-1.04436469e-02 -1.93325643e-04 -9.99945445e-01 -4.01893771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.666559995 meters 0.013541378680164461 Centerline is valid? [True, True] Translation: X:121.16, Y:-137.27, Z:-4.02 [[ 9.17772163e-01 3.97006910e-01 -8.93144921e-03 1.21163779e+02] [ 3.96989980e-01 -9.17815603e-01 -3.67069130e-03 -1.37266706e+02] [-9.65471325e-03 -1.76837551e-04 -9.99953377e-01 -4.02013765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7265599949999 meters 0.013471828691188686 Centerline is valid? [True, True] Translation: X:121.20, Y:-137.26, Z:-4.02 [[ 8.84307835e-01 4.66799825e-01 -9.87809604e-03 1.21195459e+02] [ 4.66773120e-01 -8.84362983e-01 -4.99679890e-03 -1.37259863e+02] [-1.10683273e-02 -1.92121300e-04 -9.99938726e-01 -4.01783408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.786559995 meters 0.01287223641430109 Centerline is valid? [True, True] Translation: X:121.23, Y:-137.25, Z:-4.02 [[ 8.46723132e-01 5.31912404e-01 -1.13636513e-02 1.21225567e+02] [ 5.31867490e-01 -8.46799362e-01 -6.91474165e-03 -1.37247919e+02] [-1.33007695e-02 -1.89084977e-04 -9.99911523e-01 -4.01532876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8465599949999 meters 0.012230682431296658 Centerline is valid? [True, True] Translation: X:121.25, Y:-137.23, Z:-4.01 [[ 8.04943759e-01 5.93228085e-01 -1.20823825e-02 1.21253854e+02] [ 5.93164048e-01 -8.05034420e-01 -8.71756387e-03 -1.37233472e+02] [-1.48982375e-02 -1.49686276e-04 -9.99889004e-01 -4.01418000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.906559995 meters 0.011659719817925263 Centerline is valid? [True, True] Translation: X:121.28, Y:-137.21, Z:-4.01 [[ 7.63135877e-01 6.46116377e-01 -1.25403886e-02 1.21277565e+02] [ 6.46028841e-01 -7.63238906e-01 -1.06352713e-02 -1.37213659e+02] [-1.64429354e-02 1.47043316e-05 -9.99864806e-01 -4.01399709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9665599949999 meters 0.01384860514977822 Centerline is valid? [True, True] Translation: X:121.30, Y:-137.19, Z:-4.01 [[ 7.21367381e-01 6.92467313e-01 -1.08684485e-02 1.21296581e+02] [ 6.92383298e-01 -7.21449204e-01 -1.07895741e-02 -1.37190645e+02] [-1.53124609e-02 2.58114616e-04 -9.99882724e-01 -4.01463236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.026559995 meters 0.017858794568857195 Centerline is valid? [True, True] Translation: X:121.31, Y:-137.17, Z:-4.02 [[ 6.73985597e-01 7.38684948e-01 -9.37888149e-03 1.21313607e+02] [ 7.38604692e-01 -6.74050721e-01 -1.08965337e-02 -1.37167847e+02] [-1.43709473e-02 4.16820910e-04 -9.99896646e-01 -4.01560323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0865599949999 meters 0.02448167214186459 Centerline is valid? [True, True] Translation: X:121.32, Y:-137.14, Z:-4.02 [[ 6.27284465e-01 7.78758203e-01 -7.06125788e-03 1.21324314e+02] [ 7.78698745e-01 -6.27323969e-01 -9.63860980e-03 -1.37141291e+02] [-1.19358428e-02 5.47557546e-04 -9.99928615e-01 -4.01788622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.146559995 meters 0.024096025671928777 Centerline is valid? [True, True] Translation: X:121.35, Y:-137.12, Z:-4.02 [[ 5.71209379e-01 8.20784630e-01 -5.69539915e-03 1.21347539e+02] [ 8.20733185e-01 -5.71237472e-01 -9.20816605e-03 -1.37124227e+02] [-1.08113466e-02 5.85387723e-04 -9.99941384e-01 -4.02026009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2065599949999 meters 0.02696486734853769 Centerline is valid? [True, True] Translation: X:121.37, Y:-137.10, Z:-4.02 [[ 5.10167754e-01 8.60059961e-01 -5.07221034e-03 1.21367258e+02] [ 8.60003808e-01 -5.10192537e-01 -9.85013855e-03 -1.37104764e+02] [-1.10595136e-02 6.63102849e-04 -9.99938622e-01 -4.01985606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.266559995 meters 0.026308030630944054 Centerline is valid? [True, True] Translation: X:121.39, Y:-137.09, Z:-4.02 [[ 4.38912916e-01 8.98519547e-01 -4.25160694e-03 1.21392348e+02] [ 8.98462576e-01 -4.38933056e-01 -1.01376524e-02 -1.37087259e+02] [-1.09750497e-02 6.29636867e-04 -9.99939574e-01 -4.01928380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3265599949999 meters 0.02290643275381665 Centerline is valid? [True, True] Translation: X:121.42, Y:-137.07, Z:-4.02 [[ 3.61512748e-01 9.32362251e-01 -3.02759901e-03 1.21421335e+02] [ 9.32317226e-01 -3.61525087e-01 -9.17617837e-03 -1.37069071e+02] [-9.65007532e-03 4.94622747e-04 -9.99953315e-01 -4.02021524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.386559995 meters 0.019327108724818225 Centerline is valid? [True, True] Translation: X:121.45, Y:-137.05, Z:-4.02 [[ 2.75013777e-01 9.61439371e-01 -1.32579437e-03 1.21452335e+02] [ 9.61424170e-01 -2.75016890e-01 -5.41080452e-03 -1.37048731e+02] [-5.56677634e-03 2.13395036e-04 -9.99984483e-01 -4.02175991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4465599949999 meters 0.015737764491991463 Centerline is valid? [True, True] Translation: X:121.48, Y:-137.02, Z:-4.02 [[ 1.84533716e-01 9.82825895e-01 -7.53211805e-04 1.21481045e+02] [ 9.82815079e-01 -1.84535220e-01 -4.61222276e-03 -1.37024295e+02] [-4.67200607e-03 1.10842685e-04 -9.99989080e-01 -4.01991418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.506559995 meters 0.012835590237172501 Centerline is valid? [True, True] Translation: X:121.51, Y:-137.00, Z:-4.02 [[ 9.32966725e-02 9.95638324e-01 -2.43031239e-04 1.21509379e+02] [ 9.95634093e-01 -9.32969846e-02 -2.90270443e-03 -1.36996636e+02] [-2.91271786e-03 2.88424775e-05 -9.99995758e-01 -4.01967707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5665599949999 meters 0.01215404566209185 Centerline is valid? [True, True] Translation: X:121.53, Y:-136.97, Z:-4.02 [[ 5.58632347e-03 9.99984396e-01 -9.95940482e-06 1.21528189e+02] [ 9.99982543e-01 -5.58633229e-03 -1.92527233e-03 -1.36966635e+02] [-1.92529792e-03 7.95963006e-07 -9.99998147e-01 -4.01956821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.626559995 meters 0.013318197797059322 Centerline is valid? [True, True] Translation: X:121.55, Y:-136.93, Z:-4.02 [[-8.55904698e-02 9.96330403e-01 3.81456223e-06 1.21549491e+02] [ 9.96330401e-01 8.55904699e-02 -5.73522234e-05 -1.36933756e+02] [-5.74682546e-05 -1.10823945e-06 -9.99999998e-01 -4.01988715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6865599949999 meters 0.015663984633857906 Centerline is valid? [True, True] Translation: X:121.56, Y:-136.90, Z:-4.02 [[-1.71978350e-01 9.85100720e-01 -1.39709301e-04 1.21561990e+02] [ 9.85100299e-01 1.71978406e-01 9.10575966e-04 -1.36898683e+02] [ 9.21036022e-04 1.89716785e-05 -9.99999576e-01 -4.01969375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.746559995 meters 0.016704875916521773 Centerline is valid? [True, True] Translation: X:121.56, Y:-136.86, Z:-4.02 [[-2.50901709e-01 9.68012544e-01 -2.16188326e-04 1.21564951e+02] [ 9.68012107e-01 2.50901801e-01 9.20732363e-04 -1.36863753e+02] [ 9.45522517e-04 2.17404062e-05 -9.99999553e-01 -4.01954062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8065599949999 meters 0.016693279262030174 Centerline is valid? [True, True] Translation: X:121.56, Y:-136.83, Z:-4.02 [[-3.25204791e-01 9.45643613e-01 2.30240109e-05 1.21561653e+02] [ 9.45643611e-01 3.25204792e-01 -7.35470747e-05 -1.36829455e+02] [-7.70368407e-05 -2.14535228e-06 -9.99999997e-01 -4.01721751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.866559995 meters 0.016009667276496182 Centerline is valid? [True, True] Translation: X:121.55, Y:-136.80, Z:-4.02 [[-3.96297201e-01 9.18122230e-01 3.14784155e-04 1.21552630e+02] [ 9.18121905e-01 3.96297326e-01 -7.73500929e-04 -1.36797389e+02] [-8.34916517e-04 -1.75260257e-05 -9.99999651e-01 -4.01578248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9265599949999 meters 0.01518107387022629 Centerline is valid? [True, True] Translation: X:121.54, Y:-136.77, Z:-4.01 [[-4.64874383e-01 8.85376009e-01 1.06310132e-03 1.21540118e+02] [ 8.85373477e-01 4.64875596e-01 -2.11801382e-03 -1.36766543e+02] [-2.36944848e-03 -4.33686520e-05 -9.99997192e-01 -4.01406052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.986559995 meters 0.014250075188719917 Centerline is valid? [True, True] Translation: X:121.52, Y:-136.74, Z:-4.01 [[-5.28960944e-01 8.48640257e-01 3.16779777e-03 1.21521692e+02] [ 8.48624081e-01 5.28970422e-01 -5.24038674e-03 -1.36739643e+02] [-6.12287447e-03 -8.36904400e-05 -9.99981252e-01 -4.01020088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0465599949999 meters 0.01352841037891357 Centerline is valid? [True, True] Translation: X:121.50, Y:-136.72, Z:-4.01 [[-5.90079125e-01 8.07335635e-01 3.97471215e-03 1.21500332e+02] [ 8.07316613e-01 5.90092508e-01 -5.54247997e-03 -1.36716593e+02] [-6.82008945e-03 -6.16505849e-05 -9.99976741e-01 -4.00923865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1065599949999 meters 0.01285595921720774 Centerline is valid? [True, True] Translation: X:121.48, Y:-136.69, Z:-4.01 [[-6.49183926e-01 7.60622813e-01 3.62862193e-03 1.21482418e+02] [ 7.60610640e-01 6.49194066e-01 -4.30337412e-03 -1.36689909e+02] [-5.62892435e-03 -3.37128617e-05 -9.99984157e-01 -4.01130785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.166559995 meters 0.012766061091961475 Centerline is valid? [True, True] Translation: X:121.46, Y:-136.67, Z:-4.01 [[-7.04262646e-01 7.09934156e-01 2.76035312e-03 1.21462554e+02] [ 7.09928649e-01 7.04268056e-01 -2.79636030e-03 -1.36665520e+02] [-3.92926022e-03 -9.71834232e-06 -9.99992280e-01 -4.01297193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2265599949999 meters 0.012791573730259315 Centerline is valid? [True, True] Translation: X:121.44, Y:-136.64, Z:-4.01 [[-7.57023042e-01 6.53380966e-01 3.07054719e-03 1.21442398e+02] [ 6.53375560e-01 7.57029269e-01 -2.65770186e-03 -1.36642911e+02] [-4.06098590e-03 -5.72105505e-06 -9.99991754e-01 -4.01196838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.286559995 meters 0.012833409065216215 Centerline is valid? [True, True] Translation: X:121.45, Y:-136.62, Z:-4.01 [[-8.03217788e-01 5.95673310e-01 3.80692694e-03 1.21453984e+02] [ 5.95666492e-01 8.03226809e-01 -2.85011696e-03 -1.36622872e+02] [-4.75556438e-03 -2.16058301e-05 -9.99988692e-01 -4.01290108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3465599949999 meters 0.013048544898116136 Centerline is valid? [True, True] Translation: X:121.46, Y:-136.60, Z:-4.01 [[-8.45212945e-01 5.34416112e-01 3.80743023e-03 1.21461704e+02] [ 5.34410496e-01 8.45221520e-01 -2.45032798e-03 -1.36596684e+02] [-4.52761672e-03 -3.63182555e-05 -9.99989750e-01 -4.01343382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.406559995 meters 0.01320866253232517 Centerline is valid? [True, True] Translation: X:121.48, Y:-136.58, Z:-4.01 [[-8.81664866e-01 4.71859883e-01 3.91348464e-03 1.21481170e+02] [ 4.71855015e-01 8.81673550e-01 -2.14386821e-03 -1.36577183e+02] [-4.46202130e-03 -4.35759199e-05 -9.99990044e-01 -4.01362768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4665599949999 meters 0.014239713354104011 Centerline is valid? [True, True] Translation: X:121.49, Y:-136.55, Z:-4.01 [[-9.15142929e-01 4.03105736e-01 4.38000491e-03 1.21486514e+02] [ 4.03100729e-01 9.15153408e-01 -2.01057663e-03 -1.36549941e+02] [-4.81885140e-03 -7.43818161e-05 -9.99988387e-01 -4.01353135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.526559995 meters 0.015031851791306903 Centerline is valid? [True, True] Translation: X:121.49, Y:-136.53, Z:-4.01 [[-9.42605588e-01 3.33873482e-01 4.81705856e-03 1.21493199e+02] [ 3.33868590e-01 9.42617891e-01 -1.81011903e-03 -1.36525180e+02] [-5.14499633e-03 -9.79637633e-05 -9.99986760e-01 -4.01289600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5865599949999 meters 0.015274266259421389 Centerline is valid? [True, True] Translation: X:121.50, Y:-136.50, Z:-4.01 [[-9.64401983e-01 2.64384162e-01 5.46167551e-03 1.21499767e+02] [ 2.64379219e-01 9.64417441e-01 -1.62116875e-03 -1.36503043e+02] [-5.69594647e-03 -1.19504851e-04 -9.99983771e-01 -4.01345444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.646559995 meters 0.015656101454739998 Centerline is valid? [True, True] Translation: X:121.50, Y:-136.48, Z:-4.01 [[-9.80809904e-01 1.94905350e-01 4.88235014e-03 1.21504624e+02] [ 1.94902389e-01 9.80822050e-01 -1.07971150e-03 -1.36478774e+02] [-4.99915822e-03 -1.07410027e-04 -9.99987498e-01 -4.01381954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7065599949999 meters 0.01583597759667203 Centerline is valid? [True, True] Translation: X:121.65, Y:-135.83, Z:-5.02 [[-9.53650248e-01 -3.00872528e-01 5.18905221e-03 1.21652323e+02] [ 3.00868873e-01 -9.53664355e-01 -1.48969168e-03 -1.35833436e+02] [ 5.39682143e-03 1.40579450e-04 9.99985427e-01 -5.02461702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.766559995 meters 0.014969259654718445 Centerline is valid? [True, True] Translation: X:121.46, Y:-136.48, Z:-4.01 [[-9.80849195e-01 1.94682502e-01 5.79487472e-03 1.21458299e+02] [ 1.94678462e-01 9.80866307e-01 -1.25873136e-03 -1.36479038e+02] [-5.92905034e-03 -1.06488349e-04 -9.99982417e-01 -4.01297979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8265599949999 meters 0.01406231591642878 Centerline is valid? [True, True] Translation: X:121.46, Y:-136.46, Z:-4.01 [[-9.91647614e-01 1.28810910e-01 6.53910676e-03 1.21463506e+02] [ 1.28807503e-01 9.91669169e-01 -9.41135215e-04 -1.36458902e+02] [-6.60585906e-03 -9.09884730e-05 -9.99978177e-01 -4.01205891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.886559995 meters 0.013571320756503634 Centerline is valid? [True, True] Translation: X:121.57, Y:-135.77, Z:-5.03 [[-9.75535132e-01 -2.19753194e-01 6.30398002e-03 1.21569551e+02] [ 2.19749128e-01 -9.75555497e-01 -1.33917103e-03 -1.35774942e+02] [ 6.44416947e-03 7.88857256e-05 9.99979233e-01 -5.02600025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9465599949999 meters 0.013102761753104696 Centerline is valid? [True, True] Translation: X:121.42, Y:-136.46, Z:-4.01 [[-9.91647027e-01 1.28828757e-01 6.27103425e-03 1.21418743e+02] [ 1.28825783e-01 9.91666853e-01 -8.77664705e-04 -1.36456844e+02] [-6.33184525e-03 -6.24626983e-05 -9.99979952e-01 -4.01293271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.006559995 meters 0.013067873773398865 Centerline is valid? [True, True] Translation: X:121.42, Y:-136.43, Z:-4.01 [[-9.98240237e-01 5.87736825e-02 7.87927200e-03 1.21418855e+02] [ 5.87712742e-02 9.98271330e-01 -5.37038858e-04 -1.36428198e+02] [-7.89721509e-03 -7.30189424e-05 -9.99968814e-01 -4.01127397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0665599949999 meters 0.013102120356019162 Centerline is valid? [True, True] Translation: X:121.47, Y:-135.74, Z:-5.03 [[-9.89567514e-01 -1.43786959e-01 9.02475912e-03 1.21467986e+02] [ 1.43782458e-01 -9.89608652e-01 -1.14892247e-03 -1.35737435e+02] [ 9.09617978e-03 1.60665699e-04 9.99958616e-01 -5.02833117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.126559995 meters 0.013038667573521253 Centerline is valid? [True, True] Translation: X:121.37, Y:-136.42, Z:-4.01 [[-9.98376366e-01 5.60087205e-02 1.03756677e-02 1.21366583e+02] [ 5.60048472e-02 9.98430276e-01 -6.63707091e-04 -1.36424091e+02] [-1.03965541e-02 -8.15417914e-05 -9.99945951e-01 -4.00940142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1865599949999 meters 0.012852137947473778 Centerline is valid? [True, True] Translation: X:121.41, Y:-135.74, Z:-5.03 [[-9.90557879e-01 -1.36649950e-01 1.10399320e-02 1.21411947e+02] [ 1.36642956e-01 -9.90619389e-01 -1.38886644e-03 -1.35735537e+02] [ 1.11261592e-02 1.32776343e-04 9.99938094e-01 -5.02915980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.246559995 meters 0.01283613327910283 Centerline is valid? [True, True] Translation: X:121.31, Y:-136.42, Z:-4.01 [[-9.98413646e-01 5.50878499e-02 1.16413595e-02 1.21309769e+02] [ 5.50834735e-02 9.98481510e-01 -6.96472770e-04 -1.36419985e+02] [-1.16620494e-02 -5.41213989e-05 -9.99931995e-01 -4.00982981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3065599949999 meters 0.012682458191472552 Centerline is valid? [True, True] Translation: X:121.31, Y:-136.39, Z:-4.01 [[-9.99820407e-01 -1.48325407e-02 1.17962020e-02 1.21309764e+02] [-1.48319999e-02 9.99889991e-01 1.33337374e-04 -1.36391255e+02] [-1.17968820e-02 -4.16478390e-05 -9.99930414e-01 -4.01104479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.366559995 meters 0.012814409193409072 Centerline is valid? [True, True] Translation: X:121.29, Y:-135.71, Z:-5.03 [[-9.98158191e-01 -5.94815457e-02 1.19236021e-02 1.21288866e+02] [ 5.94779186e-02 -9.98229404e-01 -6.58882567e-04 -1.35708294e+02] [ 1.19416816e-02 5.15220044e-05 9.99928694e-01 -5.02762218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4265599949999 meters 0.012723560120240708 Centerline is valid? [True, True] Translation: X:121.24, Y:-136.39, Z:-4.01 [[-9.99713434e-01 -2.05664016e-02 1.22504070e-02 1.21240314e+02] [-2.05655258e-02 9.99788488e-01 1.97477942e-04 -1.36387891e+02] [-1.22518773e-02 -5.45147090e-05 -9.99924942e-01 -4.01188179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.486559995 meters 0.012978558002139871 Centerline is valid? [True, True] Translation: X:121.23, Y:-135.71, Z:-5.03 [[-9.98200662e-01 -5.84695110e-02 1.32949155e-02 1.21231759e+02] [ 5.84660762e-02 -9.98289186e-01 -6.47206367e-04 -1.35714588e+02] [ 1.33100123e-02 1.31259721e-04 9.99911409e-01 -5.02747993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5465599949999 meters 0.013774773449703133 Centerline is valid? [True, True] Translation: X:121.17, Y:-136.38, Z:-4.01 [[-9.99369285e-01 -3.26072540e-02 1.40640848e-02 1.21171623e+02] [-3.26064227e-02 9.99468228e-01 2.88466861e-04 -1.36383187e+02] [-1.40660120e-02 -1.70294574e-04 -9.99901054e-01 -4.01099668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6065599949999 meters 0.014377346723009768 Centerline is valid? [True, True] Translation: X:121.16, Y:-136.35, Z:-4.01 [[-9.94126751e-01 -1.07365578e-01 1.35881032e-02 1.21161196e+02] [-1.07358538e-01 9.94219586e-01 1.24861122e-03 -1.36353860e+02] [-1.36436162e-02 -2.17521076e-04 -9.99906898e-01 -4.01160096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.666559995 meters 0.01443933388693514 Centerline is valid? [True, True] Translation: X:121.15, Y:-136.33, Z:-4.01 [[-9.83672101e-01 -1.79543045e-01 1.23892509e-02 1.21152326e+02] [-1.79531646e-01 9.83750093e-01 2.03530871e-03 -1.36327660e+02] [-1.25533522e-02 -2.22186208e-04 -9.99921179e-01 -4.01301023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7265599949999 meters 0.015089676910547028 Centerline is valid? [True, True] Translation: X:121.14, Y:-136.30, Z:-4.01 [[-9.67918379e-01 -2.50957721e-01 1.24190910e-02 1.21140748e+02] [-2.50940356e-01 9.67998017e-01 2.96268489e-03 -1.36302235e+02] [-1.27651641e-02 -2.48813951e-04 -9.99918491e-01 -4.01234024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.786559995 meters 0.01525882907942229 Centerline is valid? [True, True] Translation: X:121.12, Y:-136.28, Z:-4.01 [[-9.47369023e-01 -3.19881592e-01 1.29499276e-02 1.21120969e+02] [-3.19855576e-01 9.47457490e-01 4.08848834e-03 -1.36280043e+02] [-1.35773380e-02 -2.68799327e-04 -9.99907788e-01 -4.01152260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8465599949999 meters 0.01513190174297282 Centerline is valid? [True, True] Translation: X:121.08, Y:-136.27, Z:-4.01 [[-9.21860182e-01 -3.87263279e-01 1.41759586e-02 1.21084107e+02] [-3.87222517e-01 9.21969122e-01 5.62679400e-03 -1.36267183e+02] [-1.52488468e-02 -3.02133046e-04 -9.99883684e-01 -4.01094990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.906559995 meters 0.015666105860174025 Centerline is valid? [True, True] Translation: X:121.03, Y:-136.26, Z:-4.01 [[-8.91581624e-01 -4.52646708e-01 1.38984136e-02 1.21032879e+02] [-4.52596732e-01 8.91689898e-01 6.73229304e-03 -1.36262136e+02] [-1.54404253e-02 -2.87987799e-04 -9.99880748e-01 -4.00960150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9665599949999 meters 0.015032569499525788 Centerline is valid? [True, True] Translation: X:120.97, Y:-136.27, Z:-4.01 [[-8.56735934e-01 -5.15587610e-01 1.31512883e-02 1.20969287e+02] [-5.15531458e-01 8.56836829e-01 7.61350873e-03 -1.36269385e+02] [-1.51939389e-02 -2.57136304e-04 -9.99884532e-01 -4.01037517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.026559995 meters 0.014731001744320673 Centerline is valid? [True, True] Translation: X:120.90, Y:-136.28, Z:-4.01 [[-8.16820994e-01 -5.76757454e-01 1.24219203e-02 1.20903174e+02] [-5.76695122e-01 8.16915408e-01 8.48248063e-03 -1.36280873e+02] [-1.50399920e-02 -2.34992581e-04 -9.99886865e-01 -4.01085958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0865599949999 meters 0.014052113948708263 Centerline is valid? [True, True] Translation: X:120.83, Y:-136.30, Z:-4.01 [[-7.72701305e-01 -6.34661193e-01 1.17415677e-02 1.20829116e+02] [-6.34591952e-01 7.72790482e-01 9.37686950e-03 -1.36304331e+02] [-1.50249070e-02 -2.05585101e-04 -9.99887099e-01 -4.01134998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.146559995 meters 0.013669320476441508 Centerline is valid? [True, True] Translation: X:120.75, Y:-136.34, Z:-4.01 [[-7.24391244e-01 -6.89296236e-01 1.13147651e-02 1.20747270e+02] [-6.89216006e-01 7.24479583e-01 1.05180837e-02 -1.36340543e+02] [-1.54473918e-02 -1.79109478e-04 -9.99880666e-01 -4.01119255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2065599949999 meters 0.01367398468971614 Centerline is valid? [True, True] Translation: X:120.67, Y:-136.38, Z:-4.01 [[-6.71916290e-01 -7.40554526e-01 1.03679158e-02 1.20666348e+02] [-7.40469698e-01 6.71996260e-01 1.12095594e-02 -1.36384460e+02] [-1.52684906e-02 -1.45241911e-04 -9.99883419e-01 -4.01073288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.266559995 meters 0.013329066529184232 Centerline is valid? [True, True] Translation: X:120.58, Y:-136.44, Z:-4.01 [[-6.14517569e-01 -7.88846004e-01 9.49421556e-03 1.20582297e+02] [-7.88755259e-01 6.14590891e-01 1.19657025e-02 -1.36440821e+02] [-1.52741550e-02 -1.35478048e-04 -9.99883334e-01 -4.01278080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3265599949999 meters 0.01358676653339856 Centerline is valid? [True, True] Translation: X:120.50, Y:-136.50, Z:-4.01 [[-5.53181146e-01 -8.33015692e-01 8.68775472e-03 1.20501714e+02] [-8.32916721e-01 5.53249347e-01 1.28411535e-02 -1.36500353e+02] [-1.55033770e-02 -1.32692177e-04 -9.99879807e-01 -4.01094688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.386559995 meters 0.013276638080259216 Centerline is valid? [True, True] Translation: X:120.42, Y:-136.57, Z:-4.01 [[-4.89920431e-01 -8.71736682e-01 7.28895798e-03 1.20424417e+02] [-8.71643192e-01 4.89974640e-01 1.27670907e-02 -1.36572781e+02] [-1.47009458e-02 -9.85120399e-05 -9.99891930e-01 -4.01096283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4465599949999 meters 0.012746710976346562 Centerline is valid? [True, True] Translation: X:120.36, Y:-136.65, Z:-4.01 [[-4.24475280e-01 -9.05419829e-01 5.97239922e-03 1.20355775e+02] [-9.05332064e-01 4.24517290e-01 1.26065281e-02 -1.36650434e+02] [-1.39495873e-02 -5.58449705e-05 -9.99902698e-01 -4.01288759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.506559995 meters 0.012574147720310723 Centerline is valid? [True, True] Translation: X:120.29, Y:-136.74, Z:-4.01 [[-3.56111030e-01 -9.34432536e-01 4.55750856e-03 1.20289508e+02] [-9.34356900e-01 3.56140191e-01 1.18889462e-02 -1.36738515e+02] [-1.27325301e-02 -2.45547066e-05 -9.99918938e-01 -4.01436792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5665599949999 meters 0.012605437951091803 Centerline is valid? [True, True] Translation: X:120.23, Y:-136.84, Z:-4.01 [[-2.85096161e-01 -9.58492615e-01 3.47645630e-03 1.20226961e+02] [-9.58421586e-01 2.85117356e-01 1.16686078e-02 -1.36838467e+02] [-1.21754724e-02 -5.23548415e-06 -9.99925876e-01 -4.01418622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.626559995 meters 0.012874315648179384 Centerline is valid? [True, True] Translation: X:120.18, Y:-136.94, Z:-4.01 [[-2.14293716e-01 -9.76766085e-01 2.49362199e-03 1.20176699e+02] [-9.76697941e-01 2.14308221e-01 1.15376914e-02 -1.36937118e+02] [-1.18040294e-02 3.69393112e-05 -9.99930329e-01 -4.01353122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6865599949999 meters 0.013334814520957961 Centerline is valid? [True, True] Translation: X:120.13, Y:-137.04, Z:-4.01 [[-1.42906178e-01 -9.89734935e-01 1.60716956e-03 1.20133366e+02] [-9.89665347e-01 1.42915189e-01 1.17366552e-02 -1.37042645e+02] [-1.18458666e-02 8.66805153e-05 -9.99929832e-01 -4.01445390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.746559995 meters 0.013826374293369473 Centerline is valid? [True, True] Translation: X:120.10, Y:-137.16, Z:-4.01 [[-6.86229723e-02 -9.97642426e-01 6.91064935e-04 1.20096362e+02] [-9.97574516e-01 6.86263646e-02 1.16407693e-02 -1.37158519e+02] [-1.16607506e-02 1.09435418e-04 -9.99932005e-01 -4.01489274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8065599949999 meters 0.013852407501252138 Centerline is valid? [True, True] Translation: X:120.07, Y:-137.27, Z:-4.01 [[ 8.90549097e-03 -9.99960325e-01 -2.00321748e-04 1.20065484e+02] [-9.99895158e-01 -8.90719765e-03 1.14164258e-02 -1.37271691e+02] [-1.14177571e-02 9.86318695e-05 -9.99934810e-01 -4.01467512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.866559995 meters 0.013037361889095152 Centerline is valid? [True, True] Translation: X:120.04, Y:-137.39, Z:-4.01 [[ 8.96006685e-02 -9.95977234e-01 -1.03384935e-03 1.20040473e+02] [-9.95917245e-01 -8.96066187e-02 1.09314086e-02 -1.37392138e+02] [-1.09800739e-02 5.01668763e-05 -9.99939716e-01 -4.01478481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9265599949999 meters 0.012683638940375396 Centerline is valid? [True, True] Translation: X:120.02, Y:-137.52, Z:-4.01 [[ 1.71660633e-01 -9.85154198e-01 -1.95780137e-03 1.20023222e+02] [-9.85089040e-01 -1.71671796e-01 1.13304158e-02 -1.37516238e+02] [-1.14983060e-02 -1.63776785e-05 -9.99933892e-01 -4.01405634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.986559995 meters 0.013299013689556424 Centerline is valid? [True, True] Translation: X:120.02, Y:-137.64, Z:-4.01 [[ 2.51339737e-01 -9.67894050e-01 -3.07311826e-03 1.20015546e+02] [-9.67817852e-01 -2.51358511e-01 1.21451042e-02 -1.37637291e+02] [-1.25276285e-02 -7.83285708e-05 -9.99921523e-01 -4.01260123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0465599949999 meters 0.014998369796130838 Centerline is valid? [True, True] Translation: X:120.02, Y:-137.76, Z:-4.01 [[ 3.30660023e-01 -9.43739279e-01 -4.48577361e-03 1.20015883e+02] [-9.43645040e-01 -3.30690401e-01 1.33378200e-02 -1.37761320e+02] [-1.40708269e-02 -1.77305836e-04 -9.99900985e-01 -4.01079149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1065599949999 meters 0.014366900324146607 Centerline is valid? [True, True] Translation: X:120.03, Y:-137.88, Z:-4.01 [[ 4.06083408e-01 -9.13819970e-01 -5.41559706e-03 1.20031206e+02] [-9.13730751e-01 -4.06119448e-01 1.27713533e-02 -1.37878265e+02] [-1.38700970e-02 -2.37837112e-04 -9.99903777e-01 -4.01499160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.166559995 meters 0.014675749621620854 Centerline is valid? [True, True] Translation: X:120.05, Y:-137.99, Z:-4.02 [[ 4.77003731e-01 -8.78883794e-01 -5.54226460e-03 1.20052055e+02] [-8.78818565e-01 -4.77035868e-01 1.07103023e-02 -1.37989574e+02] [-1.20569701e-02 -2.38209141e-04 -9.99927284e-01 -4.01697772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2265599949999 meters 0.014976366052795708 Centerline is valid? [True, True] Translation: X:120.08, Y:-138.10, Z:-4.02 [[ 5.43485538e-01 -8.39399385e-01 -5.66948300e-03 1.20081487e+02] [-8.39349360e-01 -5.43515062e-01 9.16670543e-03 -1.38099248e+02] [-1.07759763e-02 -2.23294895e-04 -9.99941913e-01 -4.01743304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.286559995 meters 0.014602053202092355 Centerline is valid? [True, True] Translation: X:120.12, Y:-138.20, Z:-4.02 [[ 6.05047085e-01 -7.96167156e-01 -5.99029355e-03 1.20120987e+02] [-7.96124835e-01 -6.05076705e-01 8.21147238e-03 -1.38204386e+02] [-1.01622917e-02 -1.99305966e-04 -9.99948343e-01 -4.01848659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3465599949999 meters 0.014618580006725062 Centerline is valid? [True, True] Translation: X:120.16, Y:-138.30, Z:-4.02 [[ 6.61835128e-01 -7.49619404e-01 -6.70914446e-03 1.20163205e+02] [-7.49578200e-01 -6.61869110e-01 7.86150011e-03 -1.38301006e+02] [-1.03337085e-02 -1.73988503e-04 -9.99946591e-01 -4.01764850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.406559995 meters 0.013761676510406216 Centerline is valid? [True, True] Translation: X:120.22, Y:-138.39, Z:-4.02 [[ 7.14627056e-01 -6.99455925e-01 -8.34150763e-03 1.20216291e+02] [-6.99405641e-01 -7.14675719e-01 8.38842022e-03 -1.38394767e+02] [-1.18288032e-02 -1.60494557e-04 -9.99930024e-01 -4.01580326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4665599949999 meters 0.013063642351781707 Centerline is valid? [True, True] Translation: X:120.27, Y:-138.48, Z:-4.01 [[ 7.63005692e-01 -6.46304371e-01 -1.06289611e-02 1.20269258e+02] [-6.46239206e-01 -7.63079709e-01 9.17859663e-03 -1.38476135e+02] [-1.40429116e-02 -1.34470099e-04 -9.99901384e-01 -4.01426674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.526559995 meters 0.012533650122498399 Centerline is valid? [True, True] Translation: X:120.29, Y:-138.50, Z:-4.02 [[ 8.08147224e-01 -5.88864818e-01 -1.16743548e-02 1.20294994e+02] [-5.88802243e-01 -8.08231540e-01 8.58466377e-03 -1.38499102e+02] [-1.44907883e-02 -6.37858705e-05 -9.99895001e-01 -4.01539889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5865599949999 meters 0.012785015038983745 Centerline is valid? [True, True] Translation: X:120.32, Y:-138.52, Z:-4.01 [[ 8.48556221e-01 -5.28932866e-01 -1.35041966e-02 1.20323460e+02] [-5.28866353e-01 -8.48663669e-01 8.38796511e-03 -1.38518152e+02] [-1.58971915e-02 2.42552442e-05 -9.99873631e-01 -4.01415469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.646559995 meters 0.01296822649194191 Centerline is valid? [True, True] Translation: X:120.35, Y:-138.54, Z:-4.02 [[ 8.85171326e-01 -4.65053712e-01 -1.40274319e-02 1.20350356e+02] [-4.64997063e-01 -8.85282461e-01 7.25917948e-03 -1.38538863e+02] [-1.57941478e-02 9.70971162e-05 -9.99875260e-01 -4.01553483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7065599949999 meters 0.013068700528387697 Centerline is valid? [True, True] Translation: X:120.38, Y:-138.56, Z:-4.02 [[ 9.17892011e-01 -3.96579938e-01 -1.40928325e-02 1.20378073e+02] [-3.96535371e-01 -9.18000183e-01 5.94676496e-03 -1.38559915e+02] [-1.52955905e-02 1.29818513e-04 -9.99883007e-01 -4.01701554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.766559995 meters 0.013929571880670488 Centerline is valid? [True, True] Translation: X:120.41, Y:-138.58, Z:-4.02 [[ 9.45635316e-01 -3.24969102e-01 -1.29973581e-02 1.20406504e+02] [-3.24940385e-01 -9.45724624e-01 4.32228069e-03 -1.38577475e+02] [-1.36965293e-02 1.36065272e-04 -9.99906189e-01 -4.01593129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8265599949999 meters 0.01353099273298117 Centerline is valid? [True, True] Translation: X:120.44, Y:-138.59, Z:-4.02 [[ 9.67917542e-01 -2.50934600e-01 -1.29406037e-02 1.20436285e+02] [-2.50914166e-01 -9.68004032e-01 3.20556324e-03 -1.38594132e+02] [-1.33309433e-02 1.44259910e-04 -9.99911129e-01 -4.01758211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.886559995 meters 0.013601440239576944 Centerline is valid? [True, True] Translation: X:120.47, Y:-138.61, Z:-4.02 [[ 9.84620502e-01 -1.74287432e-01 -1.20978866e-02 1.20466573e+02] [-1.74275910e-01 -9.84694813e-01 2.00833671e-03 -1.38605999e+02] [-1.22627540e-02 1.30920696e-04 -9.99924801e-01 -4.01802920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9465599949999 meters 0.013113960676876141 Centerline is valid? [True, True] Translation: X:120.49, Y:-138.62, Z:-4.02 [[ 9.95551711e-01 -9.33713633e-02 -1.25928636e-02 1.20494422e+02] [-9.33650808e-02 -9.95631347e-01 1.08714934e-03 -1.38618701e+02] [-1.26393584e-02 9.34203371e-05 -9.99920116e-01 -4.01759410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.006559995 meters 0.012561388639425559 Centerline is valid? [True, True] Translation: X:120.52, Y:-138.63, Z:-4.02 [[ 9.99856066e-01 -1.16706961e-02 -1.23143478e-02 1.20523411e+02] [-1.16704035e-02 -9.99931894e-01 9.56226112e-05 -1.38632825e+02] [-1.23146251e-02 4.81045591e-05 -9.99924171e-01 -4.01816720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0665599949999 meters 0.012337267019644552 Centerline is valid? [True, True] Translation: X:120.55, Y:-138.64, Z:-4.02 [[ 9.97294074e-01 7.27158806e-02 -1.08134637e-02 1.20552986e+02] [ 7.27118674e-02 -9.97352696e-01 -7.64333917e-04 -1.38643381e+02] [-1.08404164e-02 -2.40014519e-05 -9.99941241e-01 -4.01889110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.126559995 meters 0.012558265465038488 Centerline is valid? [True, True] Translation: X:120.58, Y:-138.65, Z:-4.02 [[ 9.87711685e-01 1.56069386e-01 -8.24466377e-03 1.20584005e+02] [ 1.56064497e-01 -9.87746092e-01 -1.23707793e-03 -1.38652338e+02] [-8.33670442e-03 -6.48229795e-05 -9.99965247e-01 -4.01998164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1865599949999 meters 0.0128933194657396 Centerline is valid? [True, True] Translation: X:120.62, Y:-138.66, Z:-4.02 [[ 9.71610470e-01 2.36458450e-01 -7.77794171e-03 1.20616121e+02] [ 2.36451624e-01 -9.71641597e-01 -1.79909343e-03 -1.38657826e+02] [-7.98278255e-03 -9.10889285e-05 -9.99968133e-01 -4.01943589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.246559995 meters 0.013077619173123292 Centerline is valid? [True, True] Translation: X:120.65, Y:-138.66, Z:-4.02 [[ 9.49738945e-01 3.12946657e-01 -7.76693915e-03 1.20647896e+02] [ 3.12937075e-01 -9.49770698e-01 -2.45112070e-03 -1.38657633e+02] [-8.14388125e-03 -1.02638427e-04 -9.99966833e-01 -4.01946107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3065599949999 meters 0.013184369312453717 Centerline is valid? [True, True] Translation: X:120.68, Y:-138.65, Z:-4.02 [[ 9.22224639e-01 3.86583427e-01 -7.41411053e-03 1.20679764e+02] [ 3.86571828e-01 -9.22254435e-01 -2.99632230e-03 -1.38654992e+02] [-7.99602486e-03 -1.02804012e-04 -9.99968026e-01 -4.01803409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.366559995 meters 0.013024176629609769 Centerline is valid? [True, True] Translation: X:120.71, Y:-138.65, Z:-4.02 [[ 8.89586698e-01 4.56698224e-01 -7.88915401e-03 1.20709335e+02] [ 4.56681301e-01 -8.89621673e-01 -3.93303037e-03 -1.38645199e+02] [-8.81457038e-03 -1.04057615e-04 -9.99961146e-01 -4.01624127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4265599949999 meters 0.013210563876881562 Centerline is valid? [True, True] Translation: X:120.74, Y:-138.63, Z:-4.02 [[ 8.50848045e-01 5.25346953e-01 -8.25732043e-03 1.20738260e+02] [ 5.25323556e-01 -8.50888104e-01 -4.95957423e-03 -1.38634723e+02] [-9.63155293e-03 -1.17920893e-04 -9.99953609e-01 -4.01522462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.486559995 meters 0.013366527075364027 Centerline is valid? [True, True] Translation: X:120.77, Y:-138.62, Z:-4.01 [[ 8.06806956e-01 5.90760401e-01 -8.04269767e-03 1.20766924e+02] [ 5.90732598e-01 -8.06847032e-01 -5.73275451e-03 -1.38622591e+02] [-9.87591110e-03 -1.25857482e-04 -9.99951224e-01 -4.01469157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5465599949999 meters 0.013562352116981891 Centerline is valid? [True, True] Translation: X:120.79, Y:-138.61, Z:-4.01 [[ 7.57291840e-01 6.53024031e-01 -8.28760528e-03 1.20794043e+02] [ 6.52987094e-01 -7.57337172e-01 -6.94715985e-03 -1.38608592e+02] [-1.08131739e-02 -1.50671822e-04 -9.99941525e-01 -4.01424476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6065599949999 meters 0.014236638870445772 Centerline is valid? [True, True] Translation: X:120.82, Y:-138.59, Z:-4.01 [[ 7.02742745e-01 7.11397963e-01 -8.09768038e-03 1.20818389e+02] [ 7.11353592e-01 -7.02789376e-01 -7.94738418e-03 -1.38592459e+02] [-1.13447167e-02 -1.75347450e-04 -9.99935631e-01 -4.01417905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.666559995 meters 0.014806651713868803 Centerline is valid? [True, True] Translation: X:120.84, Y:-138.57, Z:-4.02 [[ 6.43165006e-01 7.65699363e-01 -6.57728342e-03 1.20841278e+02] [ 7.65662118e-01 -6.43198611e-01 -7.55434134e-03 -1.38572772e+02] [-1.00148539e-02 -1.77288759e-04 -9.99949834e-01 -4.01575102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7265599949999 meters 0.014684660916076515 Centerline is valid? [True, True] Translation: X:120.87, Y:-138.55, Z:-4.02 [[ 5.79271097e-01 8.15117097e-01 -5.39575075e-03 1.20865505e+02] [ 8.15084628e-01 -5.79296198e-01 -7.27771283e-03 -1.38553775e+02] [-9.05792605e-03 -1.82224791e-04 -9.99958960e-01 -4.01713719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.786559995 meters 0.015145545080972869 Centerline is valid? [True, True] Translation: X:120.89, Y:-138.53, Z:-4.02 [[ 5.12896236e-01 8.58436482e-01 -4.92525291e-03 1.20887979e+02] [ 8.58400487e-01 -5.12919846e-01 -7.86350108e-03 -1.38532739e+02] [-9.27657617e-03 -1.94679390e-04 -9.99956953e-01 -4.01692845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8465599949999 meters 0.014812605857246905 Centerline is valid? [True, True] Translation: X:120.91, Y:-138.51, Z:-4.02 [[ 4.44226537e-01 8.95904777e-01 -4.17301968e-03 1.20908122e+02] [ 8.95869145e-01 -4.44246098e-01 -7.99254686e-03 -1.38510121e+02] [-9.01440862e-03 -1.87978152e-04 -9.99959352e-01 -4.01809199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.906559995 meters 0.014734122677681316 Centerline is valid? [True, True] Translation: X:120.93, Y:-138.49, Z:-4.02 [[ 3.74219039e-01 9.27334132e-01 -3.39404819e-03 1.20926632e+02] [ 9.27299939e-01 -3.74234393e-01 -7.96512910e-03 -1.38488036e+02] [-8.65650564e-03 -1.66597720e-04 -9.99962518e-01 -4.01796301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9665599949999 meters 0.01402052104696089 Centerline is valid? [True, True] Translation: X:120.94, Y:-138.46, Z:-4.02 [[ 3.02524004e-01 9.53135326e-01 -3.50396450e-03 1.20943549e+02] [ 9.53078395e-01 -3.02544238e-01 -1.04190692e-02 -1.38463379e+02] [-1.09908872e-02 -1.87534322e-04 -9.99939581e-01 -4.01699714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.026559995 meters 0.014021926608793398 Centerline is valid? [True, True] Translation: X:120.96, Y:-138.44, Z:-4.01 [[ 2.28231366e-01 9.73601248e-01 -3.32458401e-03 1.20958177e+02] [ 9.73511200e-01 -2.28255479e-01 -1.32431371e-02 -1.38438911e+02] [-1.36523893e-02 -2.14020503e-04 -9.99906779e-01 -4.01481390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0865599949999 meters 0.013695595058752463 Centerline is valid? [True, True] Translation: X:120.97, Y:-138.41, Z:-4.02 [[ 1.53651164e-01 9.88122440e-01 -2.31605177e-03 1.20968519e+02] [ 9.88027532e-01 -1.53668509e-01 -1.36961533e-02 -1.38411682e+02] [-1.38893806e-02 -1.83893012e-04 -9.99903521e-01 -4.01509496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.146559995 meters 0.013308627964574823 Centerline is valid? [True, True] Translation: X:120.98, Y:-138.38, Z:-4.02 [[ 7.70090339e-02 9.97029730e-01 -1.15176766e-03 1.20978660e+02] [ 9.96946399e-01 -7.70174894e-02 -1.28911959e-02 -1.38384193e+02] [-1.29416118e-02 -1.55512085e-04 -9.99916242e-01 -4.01720026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2065599949999 meters 0.013651190942632067 Centerline is valid? [True, True] Translation: X:120.99, Y:-138.36, Z:-4.02 [[-1.67438582e-03 9.99998589e-01 -1.34335357e-04 1.20986844e+02] [ 9.99919643e-01 1.67256554e-03 -1.25662396e-02 -1.38357640e+02] [-1.25659972e-02 -1.55365295e-04 -9.99921033e-01 -4.01699726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.266559995 meters 0.013427746222227246 Centerline is valid? [True, True] Translation: X:120.99, Y:-138.33, Z:-4.02 [[-8.05316817e-02 9.96751600e-01 9.46989670e-04 1.20993149e+02] [ 9.96653857e-01 8.05370474e-02 -1.39597138e-02 -1.38329029e+02] [-1.39906349e-02 -1.80378324e-04 -9.99902110e-01 -4.01670021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3265599949999 meters 0.013598253680750131 Centerline is valid? [True, True] Translation: X:121.00, Y:-138.30, Z:-4.02 [[-1.58870988e-01 9.87297150e-01 2.08503677e-03 1.20996725e+02] [ 9.87195565e-01 1.58884554e-01 -1.41638660e-02 -1.38299910e+02] [-1.43152246e-02 -1.91888327e-04 -9.99897514e-01 -4.01651426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.386559995 meters 0.0132664792125917 Centerline is valid? [True, True] Translation: X:121.00, Y:-138.27, Z:-4.02 [[-2.34630993e-01 9.72079660e-01 3.07122364e-03 1.20998923e+02] [ 9.71986688e-01 2.34651031e-01 -1.34451719e-02 -1.38270647e+02] [-1.37904439e-02 -1.69465541e-04 -9.99904893e-01 -4.01878373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4465599949999 meters 0.013112257687112515 Centerline is valid? [True, True] Translation: X:121.00, Y:-138.24, Z:-4.02 [[-3.07218678e-01 9.51630451e-01 4.02096157e-03 1.20997721e+02] [ 9.51543516e-01 3.07244965e-01 -1.28634304e-02 -1.38242883e+02] [-1.34766523e-02 -1.25766181e-04 -9.99909178e-01 -4.01890588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.506559995 meters 0.012720326465327027 Centerline is valid? [True, True] Translation: X:120.99, Y:-138.22, Z:-4.02 [[-3.77118890e-01 9.26150694e-01 5.12200679e-03 1.20991887e+02] [ 9.26062612e-01 3.77153665e-01 -1.27731158e-02 -1.38215199e+02] [-1.37616137e-02 -7.36842851e-05 -9.99905302e-01 -4.01916593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5665599949999 meters 0.012619534205529168 Centerline is valid? [True, True] Translation: X:120.98, Y:-138.19, Z:-4.02 [[-4.41441480e-01 8.97270173e-01 5.97133135e-03 1.20983110e+02] [ 8.97189139e-01 4.41481864e-01 -1.20587570e-02 -1.38189200e+02] [-1.34561974e-02 3.41781015e-05 -9.99909461e-01 -4.01995014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.626559995 meters 0.013109029912264546 Centerline is valid? [True, True] Translation: X:120.97, Y:-138.16, Z:-4.02 [[-5.05613241e-01 8.62736919e-01 6.34506723e-03 1.20974889e+02] [ 8.62671449e-01 5.05653042e-01 -1.06287924e-02 -1.38162533e+02] [-1.23782542e-02 9.96501523e-05 -9.99923382e-01 -4.02107972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6865599949999 meters 0.01377995848594984 Centerline is valid? [True, True] Translation: X:120.97, Y:-138.14, Z:-4.02 [[-5.68633291e-01 8.22558427e-01 7.33581493e-03 1.20965472e+02] [ 8.22493334e-01 5.68680588e-01 -1.03491431e-02 -1.38135849e+02] [-1.26845104e-02 1.48791586e-04 -9.99919537e-01 -4.02045136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.746559995 meters 0.014589376284797763 Centerline is valid? [True, True] Translation: X:120.95, Y:-138.11, Z:-4.02 [[-6.28820290e-01 7.77494338e-01 9.35935245e-03 1.20954007e+02] [ 7.77413354e-01 6.28889901e-01 -1.12236172e-02 -1.38110612e+02] [-1.46123011e-02 2.18447357e-04 -9.99893211e-01 -4.01915601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8065599949999 meters 0.01500948923540315 Centerline is valid? [True, True] Translation: X:120.94, Y:-138.09, Z:-4.02 [[-6.88211301e-01 7.25413419e-01 1.18565406e-02 1.20941445e+02] [ 7.25311828e-01 6.88313383e-01 -1.21424671e-02 -1.38086098e+02] [-1.69693241e-02 2.43106060e-04 -9.99855981e-01 -4.01717937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.866559995 meters 0.013939300611197135 Centerline is valid? [True, True] Translation: X:120.93, Y:-138.06, Z:-4.02 [[-7.45344774e-01 6.66538345e-01 1.37041096e-02 1.20931478e+02] [ 6.66430476e-01 7.45470722e-01 -1.19926598e-02 -1.38056069e+02] [-1.82095801e-02 1.94169938e-04 -9.99834173e-01 -4.01661890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9265599949999 meters 0.013465237864392996 Centerline is valid? [True, True] Translation: X:120.95, Y:-138.03, Z:-4.02 [[-7.92970101e-01 6.09092579e-01 1.43055967e-02 1.20950263e+02] [ 6.08996269e-01 7.93099121e-01 -1.08318427e-02 -1.38031870e+02] [-1.79433512e-02 1.22727566e-04 -9.99838998e-01 -4.01721427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.986559995 meters 0.013086221204466411 Centerline is valid? [True, True] Translation: X:120.97, Y:-138.01, Z:-4.02 [[-8.35558164e-01 5.49222116e-01 1.40577966e-02 1.20968365e+02] [ 5.49145794e-01 8.35676410e-01 -9.15615329e-03 -1.38008839e+02] [-1.67765309e-02 6.92812273e-05 -9.99859262e-01 -4.01861752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0465599949999 meters 0.012851001638290204 Centerline is valid? [True, True] Translation: X:120.98, Y:-137.98, Z:-4.02 [[-8.74928994e-01 4.84068271e-01 1.33103541e-02 1.20982886e+02] [ 4.84011951e-01 8.75030233e-01 -7.38395189e-03 -1.37980194e+02] [-1.52212991e-02 -1.80631507e-05 -9.99884149e-01 -4.01979845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1065599949999 meters 0.012841107983329565 Centerline is valid? [True, True] Translation: X:121.00, Y:-137.95, Z:-4.02 [[-9.09656019e-01 4.15180645e-01 1.22865731e-02 1.20995609e+02] [ 4.15141264e-01 9.09738985e-01 -5.71920182e-03 -1.37949043e+02] [-1.35520765e-02 -1.01842867e-04 -9.99908161e-01 -4.02169234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.166559995 meters 0.013495741452453755 Centerline is valid? [True, True] Translation: X:121.01, Y:-137.92, Z:-4.02 [[-9.38205568e-01 3.45905625e-01 1.09366740e-02 1.21008121e+02] [ 3.45880363e-01 9.38269300e-01 -4.18283611e-03 -1.37919360e+02] [-1.17084120e-02 -1.41579359e-04 -9.99931444e-01 -4.02272792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2265599949999 meters 0.013570557458270906 Centerline is valid? [True, True] Translation: X:121.02, Y:-137.89, Z:-4.02 [[-9.61297604e-01 2.75297179e-01 1.08802803e-02 1.21015854e+02] [ 2.75277473e-01 9.61359159e-01 -3.29862079e-03 -1.37891209e+02] [-1.13679581e-02 -1.75860189e-04 -9.99935367e-01 -4.02370115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.286559995 meters 0.01452841082630327 Centerline is valid? [True, True] Translation: X:121.20, Y:-137.27, Z:-5.02 [[-9.28105385e-01 -3.72125432e-01 1.19606544e-02 1.21204069e+02] [ 3.72098547e-01 -9.28182406e-01 -4.48245611e-03 -1.37266177e+02] [ 1.27697049e-02 2.90350450e-04 9.99918422e-01 -5.01713697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3465599949999 meters 0.015136112764292676 Centerline is valid? [True, True] Translation: X:120.97, Y:-137.87, Z:-4.02 [[-9.64120600e-01 2.65127884e-01 1.33668958e-02 1.20971500e+02] [ 2.65097912e-01 9.64213207e-01 -3.99865099e-03 -1.37872292e+02] [-1.39486914e-02 -3.11645611e-04 -9.99902664e-01 -4.02049491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.406559995 meters 0.015684955978287375 Centerline is valid? [True, True] Translation: X:121.16, Y:-137.25, Z:-5.02 [[-9.28416595e-01 -3.71292631e-01 1.35797159e-02 1.21157356e+02] [ 3.71258513e-01 -9.28515834e-01 -5.04596836e-03 -1.37254418e+02] [ 1.44825121e-02 3.56824382e-04 9.99895059e-01 -5.01942194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4665599949999 meters 0.013870192113005834 Centerline is valid? [True, True] Translation: X:120.92, Y:-137.87, Z:-4.02 [[-9.63171944e-01 2.68555905e-01 1.33240922e-02 1.20918859e+02] [ 2.68527202e-01 9.63264077e-01 -3.93188700e-03 -1.37867398e+02] [-1.38905508e-02 -2.09202049e-04 -9.99903500e-01 -4.02026332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.526559995 meters 0.013012173512236682 Centerline is valid? [True, True] Translation: X:120.94, Y:-137.85, Z:-4.02 [[-9.78631503e-01 2.05214604e-01 1.29362900e-02 1.20935631e+02] [ 2.05195014e-01 9.78716992e-01 -2.83816259e-03 -1.37850186e+02] [-1.32433992e-02 -1.23053114e-04 -9.99912295e-01 -4.02091249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5865599949999 meters 0.012429891386864038 Centerline is valid? [True, True] Translation: X:120.94, Y:-137.83, Z:-4.02 [[-9.89963877e-01 1.40743194e-01 1.27622396e-02 1.20941663e+02] [ 1.40730864e-01 9.90046136e-01 -1.86355743e-03 -1.37829668e+02] [-1.28974890e-02 -4.88135362e-05 -9.99916823e-01 -4.02180397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.646559995 meters 0.012510618880117876 Centerline is valid? [True, True] Translation: X:120.94, Y:-137.81, Z:-4.02 [[-9.97111956e-01 7.48642195e-02 1.27709204e-02 1.20943453e+02] [ 7.48582385e-02 9.97193737e-01 -9.46388972e-04 -1.37807156e+02] [-1.28059325e-02 1.23528440e-05 -9.99918001e-01 -4.02146323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7065599949999 meters 0.012628118549507187 Centerline is valid? [True, True] Translation: X:120.94, Y:-137.79, Z:-4.02 [[-9.99890051e-01 8.87612635e-03 1.18786038e-02 1.20943248e+02] [ 8.87634967e-03 9.99960604e-01 -3.39220198e-05 -1.37785667e+02] [-1.18784369e-02 7.15203508e-05 -9.99929446e-01 -4.02392418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.766559995 meters 0.013038874242972601 Centerline is valid? [True, True] Translation: X:120.95, Y:-137.08, Z:-5.02 [[-9.98041625e-01 -6.12785573e-02 1.25639831e-02 1.20953804e+02] [ 6.12733068e-02 -9.98120703e-01 -8.02770935e-04 -1.37075501e+02] [ 1.25895643e-02 -3.13620178e-05 9.99920748e-01 -5.01560526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8265599949999 meters 0.0133708638406433 Centerline is valid? [True, True] Translation: X:120.88, Y:-137.79, Z:-4.02 [[-9.99871908e-01 8.53038614e-03 1.35425460e-02 1.20876436e+02] [ 8.53148512e-03 9.99963606e-01 2.33792696e-05 -1.37791743e+02] [-1.35418537e-02 1.38914304e-04 -9.99908295e-01 -4.02198709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.886559995 meters 0.013664212247539888 Centerline is valid? [True, True] Translation: X:120.88, Y:-137.77, Z:-4.02 [[-9.97976424e-01 -6.21085029e-02 1.36231771e-02 1.20878614e+02] [-6.21007132e-02 9.98069393e-01 9.94489205e-04 -1.37766850e+02] [-1.36586424e-02 1.46467764e-04 -9.99906706e-01 -4.02156557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9465599949999 meters 0.0133916813013587 Centerline is valid? [True, True] Translation: X:120.87, Y:-137.74, Z:-4.02 [[-9.90803140e-01 -1.34710746e-01 1.27339341e-02 1.20870408e+02] [-1.34698124e-01 9.90884959e-01 1.84758518e-03 -1.37740979e+02] [-1.28667533e-02 1.15356164e-04 -9.99917213e-01 -4.02189871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.006559995 meters 0.012748884796813135 Centerline is valid? [True, True] Translation: X:120.86, Y:-137.71, Z:-4.02 [[-9.78143092e-01 -2.07574242e-01 1.22076447e-02 1.20857390e+02] [-2.07557062e-01 9.78219264e-01 2.67176544e-03 -1.37713947e+02] [-1.24963429e-02 7.95860540e-05 -9.99921915e-01 -4.02320933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0665599949999 meters 0.01241247424289593 Centerline is valid? [True, True] Translation: X:120.83, Y:-137.69, Z:-4.02 [[-9.59051060e-01 -2.83033375e-01 1.06382478e-02 1.20833245e+02] [-2.83015960e-01 9.59110061e-01 3.13969554e-03 -1.37688663e+02] [-1.10918891e-02 3.34419169e-07 -9.99938483e-01 -4.02387011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.126559995 meters 0.012643198160188012 Centerline is valid? [True, True] Translation: X:120.80, Y:-137.66, Z:-4.02 [[-9.33391165e-01 -3.58722262e-01 9.96348355e-03 1.20797719e+02] [-3.58702793e-01 9.33444338e-01 3.73830919e-03 -1.37664641e+02] [-1.06413720e-02 -8.46246060e-05 -9.99943375e-01 -4.02426333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1865599949999 meters 0.013511245745385606 Centerline is valid? [True, True] Translation: X:120.75, Y:-137.65, Z:-4.02 [[-9.02067427e-01 -4.31495750e-01 9.26147577e-03 1.20747036e+02] [-4.31474680e-01 9.02114957e-01 4.26666843e-03 -1.37649529e+02] [-1.01959651e-02 -1.47269678e-04 -9.99948009e-01 -4.02431725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.246559995 meters 0.014447606660371119 Centerline is valid? [True, True] Translation: X:120.68, Y:-137.65, Z:-4.02 [[-8.66698228e-01 -4.98753062e-01 8.91993040e-03 1.20682587e+02] [-4.98728677e-01 8.66744111e-01 4.93483733e-03 -1.37647378e+02] [-1.01925624e-02 -1.71610317e-04 -9.99948040e-01 -4.02410629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3065599949999 meters 0.014209659463201468 Centerline is valid? [True, True] Translation: X:120.61, Y:-137.66, Z:-4.02 [[-8.27024317e-01 -5.62099665e-01 8.64552779e-03 1.20614202e+02] [-5.62071239e-01 8.27069485e-01 5.65590354e-03 -1.37655502e+02] [-1.03296337e-02 -1.81832753e-04 -9.99946631e-01 -4.02467052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.366559995 meters 0.014251992160085217 Centerline is valid? [True, True] Translation: X:120.54, Y:-137.68, Z:-4.02 [[-7.82950749e-01 -6.22019756e-01 8.91899380e-03 1.20537087e+02] [-6.21982244e-01 7.83001523e-01 6.83395018e-03 -1.37675860e+02] [-1.12344377e-02 -1.96809365e-04 -9.99936872e-01 -4.02360086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4265599949999 meters 0.014272390956751398 Centerline is valid? [True, True] Translation: X:120.46, Y:-137.71, Z:-4.02 [[-7.35396776e-01 -6.77558730e-01 1.02834010e-02 1.20456867e+02] [-6.77496574e-01 7.35468640e-01 9.17995254e-03 -1.37706986e+02] [-1.37830759e-02 -2.16061448e-04 -9.99904986e-01 -4.02063830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.486559995 meters 0.013803401185090939 Centerline is valid? [True, True] Translation: X:120.38, Y:-137.75, Z:-4.02 [[-6.84022956e-01 -7.29382093e-01 1.06938477e-02 1.20379298e+02] [-7.29297598e-01 6.84106513e-01 1.11036790e-02 -1.37747610e+02] [-1.54145555e-02 -2.03826072e-04 -9.99881168e-01 -4.01951858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5465599949999 meters 0.013301374655443518 Centerline is valid? [True, True] Translation: X:120.30, Y:-137.80, Z:-4.02 [[-6.29005716e-01 -7.77337241e-01 9.93095204e-03 1.20299070e+02] [-7.77244538e-01 6.29084085e-01 1.20059065e-02 -1.37801017e+02] [-1.55800421e-02 -1.66994420e-04 -9.99878610e-01 -4.01969642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6065599949999 meters 0.012852996791060464 Centerline is valid? [True, True] Translation: X:120.22, Y:-137.87, Z:-4.02 [[-5.70405094e-01 -8.21324081e-01 8.04877008e-03 1.20219138e+02] [-8.21245122e-01 5.70461867e-01 1.13889328e-02 -1.37867617e+02] [-1.39455212e-02 -1.13707863e-04 -9.99902750e-01 -4.02221534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.666559995 meters 0.012746030452345392 Centerline is valid? [True, True] Translation: X:120.14, Y:-137.94, Z:-4.02 [[-5.07086525e-01 -8.61872762e-01 6.21280055e-03 1.20144399e+02] [-8.61810176e-01 5.07124575e-01 1.03868251e-02 -1.37937168e+02] [-1.21027855e-02 -8.72356761e-05 -9.99926755e-01 -4.02396928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7265599949999 meters 0.012785410399343911 Centerline is valid? [True, True] Translation: X:120.07, Y:-138.02, Z:-4.02 [[-4.38980457e-01 -8.98482121e-01 5.10266605e-03 1.20070932e+02] [-8.98423915e-01 4.39010102e-01 1.02273368e-02 -1.38015269e+02] [-1.14292012e-02 -9.47562449e-05 -9.99934680e-01 -4.02434098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.786559995 meters 0.013197618315498325 Centerline is valid? [True, True] Translation: X:120.00, Y:-138.10, Z:-4.02 [[-3.66573150e-01 -9.30379410e-01 4.27552877e-03 1.20001109e+02] [-9.30320036e-01 3.66598062e-01 1.05114763e-02 -1.38103147e+02] [-1.13470617e-02 -1.24385107e-04 -9.99935612e-01 -4.02472522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8465599949999 meters 0.014156255244776787 Centerline is valid? [True, True] Translation: X:119.94, Y:-138.20, Z:-4.02 [[-2.89800309e-01 -9.57080061e-01 3.67923062e-03 1.19935242e+02] [-9.57011051e-01 2.89823601e-01 1.14946885e-02 -1.38198071e+02] [-1.20676651e-02 -1.89900065e-04 -9.99927165e-01 -4.02345159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.906559995 meters 0.015379901674683663 Centerline is valid? [True, True] Translation: X:119.88, Y:-138.30, Z:-4.02 [[-2.09795196e-01 -9.77739829e-01 3.28675384e-03 1.19875148e+02] [-9.77641924e-01 2.09820712e-01 1.38397133e-02 -1.38298988e+02] [-1.42212680e-02 -3.09762973e-04 -9.99898825e-01 -4.02215979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9665599949999 meters 0.01644043896243416 Centerline is valid? [True, True] Translation: X:119.82, Y:-138.41, Z:-4.02 [[-1.31366537e-01 -9.91331368e-01 2.22520036e-03 1.19824184e+02] [-9.91231141e-01 1.31384907e-01 1.41007293e-02 -1.38407550e+02] [-1.42708530e-02 -3.53323909e-04 -9.99898104e-01 -4.02149578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.026559995 meters 0.016505741821106583 Centerline is valid? [True, True] Translation: X:119.79, Y:-138.51, Z:-4.02 [[-5.49648192e-02 -9.98487745e-01 1.04455409e-03 1.19785936e+02] [-9.98402262e-01 5.49737858e-02 1.30692508e-02 -1.38514956e+02] [-1.31069099e-02 -3.24536157e-04 -9.99914048e-01 -4.02294430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0865599949999 meters 0.015579181549556839 Centerline is valid? [True, True] Translation: X:119.76, Y:-138.63, Z:-4.03 [[ 1.97280918e-02 -9.99805382e-01 3.24352378e-05 1.19757902e+02] [-9.99744270e-01 -1.97265273e-02 1.10570460e-02 -1.38632358e+02] [-1.10542543e-02 -2.50561362e-04 -9.99938869e-01 -4.02547153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.146559995 meters 0.01500900151968141 Centerline is valid? [True, True] Translation: X:119.74, Y:-138.74, Z:-4.03 [[ 9.38910730e-02 -9.95582218e-01 -7.16245490e-04 1.19736433e+02] [-9.95535369e-01 -9.38936046e-02 9.66023236e-03 -1.38742204e+02] [-9.68480644e-03 -1.93961864e-04 -9.99953082e-01 -4.02640078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2065599949999 meters 0.015001955601923767 Centerline is valid? [True, True] Translation: X:119.72, Y:-138.86, Z:-4.03 [[ 1.68494864e-01 -9.85701465e-01 -1.45032901e-03 1.19722948e+02] [-9.85655356e-01 -1.68501013e-01 9.53560605e-03 -1.38861243e+02] [-9.64364276e-03 -1.77176089e-04 -9.99953483e-01 -4.02590322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.266559995 meters 0.015208715851456544 Centerline is valid? [True, True] Translation: X:119.72, Y:-138.98, Z:-4.02 [[ 2.43818381e-01 -9.69817685e-01 -2.50095041e-03 1.19717555e+02] [-9.69757757e-01 -2.43831122e-01 1.07831601e-02 -1.38981037e+02] [-1.10675089e-02 -2.03816572e-04 -9.99938733e-01 -4.02463259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3265599949999 meters 0.015593291207963976 Centerline is valid? [True, True] Translation: X:119.72, Y:-139.10, Z:-4.02 [[ 3.19316567e-01 -9.47641040e-01 -3.65912211e-03 1.19718844e+02] [-9.47569700e-01 -3.19337437e-01 1.16303237e-02 -1.39098479e+02] [-1.21898667e-02 -2.46481813e-04 -9.99925670e-01 -4.02391239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.386559995 meters 0.01585220346598599 Centerline is valid? [True, True] Translation: X:119.73, Y:-139.23, Z:-4.02 [[ 3.92413987e-01 -9.19777648e-01 -4.51011194e-03 1.19734517e+02] [-9.19708992e-01 -3.92439816e-01 1.12410623e-02 -1.39226384e+02] [-1.21092253e-02 -2.63159557e-04 -9.99926646e-01 -4.02431306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4465599949999 meters 0.01685119094975061 Centerline is valid? [True, True] Translation: X:119.75, Y:-139.33, Z:-4.02 [[ 4.63646215e-01 -8.86003259e-01 -5.51477122e-03 1.19748774e+02] [-8.85932783e-01 -4.63678916e-01 1.11788899e-02 -1.39331870e+02] [-1.24616160e-02 -2.97333373e-04 -9.99922307e-01 -4.02418362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.506559995 meters 0.017876876739646472 Centerline is valid? [True, True] Translation: X:119.78, Y:-139.44, Z:-4.02 [[ 5.31781935e-01 -8.46856647e-01 -6.46467932e-03 1.19776611e+02] [-8.46786418e-01 -5.31821127e-01 1.09110537e-02 -1.39444817e+02] [-1.26781514e-02 -3.28098592e-04 -9.99919575e-01 -4.02396939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5665599949999 meters 0.016718444371352708 Centerline is valid? [True, True] Translation: X:119.82, Y:-139.55, Z:-4.03 [[ 5.95523957e-01 -8.03303229e-01 -7.42554237e-03 1.19816285e+02] [-8.03233471e-01 -5.95570150e-01 1.05918436e-02 -1.39552681e+02] [-1.29308935e-02 -3.43252409e-04 -9.99916334e-01 -4.02527749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.626559995 meters 0.01719159513287663 Centerline is valid? [True, True] Translation: X:119.86, Y:-139.65, Z:-4.03 [[ 6.54532849e-01 -7.55987176e-01 -8.37492535e-03 1.19858710e+02] [-7.55918540e-01 -6.54586338e-01 1.01924411e-02 -1.39654334e+02] [-1.31874665e-02 -3.40526146e-04 -9.99912984e-01 -4.02507613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6865599949999 meters 0.01576277604072533 Centerline is valid? [True, True] Translation: X:119.91, Y:-139.75, Z:-4.03 [[ 7.08254301e-01 -7.05898825e-01 -9.09360725e-03 1.19908526e+02] [-7.05835082e-01 -7.08312612e-01 9.49110174e-03 -1.39747100e+02] [-1.31408743e-02 -3.03526614e-04 -9.99913609e-01 -4.02630972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.746559995 meters 0.014421865082974142 Centerline is valid? [True, True] Translation: X:119.98, Y:-139.84, Z:-4.03 [[ 7.55665172e-01 -6.54890727e-01 -9.39589375e-03 1.19976596e+02] [-6.54836633e-01 -7.55723555e-01 8.41979892e-03 -1.39844960e+02] [-1.26147465e-02 -2.09773374e-04 -9.99920409e-01 -4.02753287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8065599949999 meters 0.01289132787841743 Centerline is valid? [True, True] Translation: X:120.00, Y:-139.87, Z:-4.03 [[ 7.98568186e-01 -6.01830639e-01 -9.41991956e-03 1.20002394e+02] [-6.01787600e-01 -7.98623739e-01 7.19777723e-03 -1.39866967e+02] [-1.18548142e-02 -7.91251185e-05 -9.99929726e-01 -4.02790619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.866559995 meters 0.012728933575565012 Centerline is valid? [True, True] Translation: X:120.03, Y:-139.89, Z:-4.03 [[ 8.39471430e-01 -5.43312026e-01 -9.98799212e-03 1.20027321e+02] [-5.43273604e-01 -8.39530846e-01 6.46135037e-03 -1.39888468e+02] [-1.18957568e-02 2.09344159e-06 -9.99929243e-01 -4.02832075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9265599949999 meters 0.013483791105360396 Centerline is valid? [True, True] Translation: X:120.05, Y:-139.91, Z:-4.03 [[ 8.75096596e-01 -4.83833451e-01 -1.05422867e-02 1.20054428e+02] [-4.83799833e-01 -8.75160088e-01 5.70454409e-03 -1.39906818e+02] [-1.19862378e-02 1.08329417e-04 -9.99928157e-01 -4.02807403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.986559995 meters 0.014307479432889689 Centerline is valid? [True, True] Translation: X:120.08, Y:-139.93, Z:-4.03 [[ 9.08237679e-01 -4.18304114e-01 -1.12243890e-02 1.20081261e+02] [-4.18274478e-01 -9.08307018e-01 4.98210296e-03 -1.39925639e+02] [-1.22792255e-02 1.69941818e-04 -9.99924593e-01 -4.02827482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0465599949999 meters 0.014028524369365056 Centerline is valid? [True, True] Translation: X:120.11, Y:-139.95, Z:-4.03 [[ 9.38230775e-01 -3.45773196e-01 -1.28027492e-02 1.20107102e+02] [-3.45743682e-01 -9.38318103e-01 4.52139767e-03 -1.39949646e+02] [-1.35764295e-02 1.84355216e-04 -9.99907819e-01 -4.02721328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1065599949999 meters 0.013617072234837227 Centerline is valid? [True, True] Translation: X:120.13, Y:-139.97, Z:-4.03 [[ 9.62818466e-01 -2.69796491e-01 -1.38005091e-02 1.20134181e+02] [-2.69771324e-01 -9.62917351e-01 3.68901426e-03 -1.39972599e+02] [-1.42840328e-02 1.71130568e-04 -9.99897963e-01 -4.02656550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.166559995 meters 0.013330282990927535 Centerline is valid? [True, True] Translation: X:120.16, Y:-139.99, Z:-4.03 [[ 9.81513608e-01 -1.90904552e-01 -1.36561373e-02 1.20163618e+02] [-1.90887881e-01 -9.81608596e-01 2.52610562e-03 -1.39992451e+02] [-1.38872268e-02 1.27384065e-04 -9.99903560e-01 -4.02670985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2265599949999 meters 0.012922173355241002 Centerline is valid? [True, True] Translation: X:120.19, Y:-140.01, Z:-4.03 [[ 9.93796826e-01 -1.10609970e-01 -1.15457054e-02 1.20190864e+02] [-1.10603354e-01 -9.93863889e-01 1.21197616e-03 -1.40009956e+02] [-1.16089163e-02 7.25356788e-05 -9.99932612e-01 -4.02832339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.286559995 meters 0.012832762654943897 Centerline is valid? [True, True] Translation: X:120.22, Y:-140.02, Z:-4.03 [[ 9.99513013e-01 -2.96922289e-02 -9.59727494e-03 1.20219490e+02] [-2.96911759e-02 -9.99559088e-01 2.52214014e-04 -1.40022209e+02] [-9.60053218e-03 3.28631894e-05 -9.99953913e-01 -4.02850655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3465599949999 meters 0.012450020468238007 Centerline is valid? [True, True] Translation: X:120.25, Y:-140.04, Z:-4.03 [[ 9.98518629e-01 5.38080678e-02 -8.07707273e-03 1.20250533e+02] [ 5.38064232e-02 -9.98551296e-01 -4.20933752e-04 -1.40036967e+02] [-8.08802108e-03 -1.42882013e-05 -9.99967291e-01 -4.03036967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.406559995 meters 0.012601354146098602 Centerline is valid? [True, True] Translation: X:120.28, Y:-140.05, Z:-4.03 [[ 9.90875395e-01 1.34513884e-01 -8.48328374e-03 1.20282492e+02] [ 1.34509287e-01 -9.90911708e-01 -1.11268237e-03 -1.40046741e+02] [-8.55585640e-03 -3.85508689e-05 -9.99963397e-01 -4.02929782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4665599949999 meters 0.012766258340621 Centerline is valid? [True, True] Translation: X:120.31, Y:-140.05, Z:-4.03 [[ 9.76848197e-01 2.13777335e-01 -8.17624653e-03 1.20314775e+02] [ 2.13770320e-01 -9.76882413e-01 -1.73268331e-03 -1.40053169e+02] [-8.35763986e-03 -5.52702705e-05 -9.99965073e-01 -4.02891130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.526559995 meters 0.012968756800108002 Centerline is valid? [True, True] Translation: X:120.35, Y:-140.06, Z:-4.03 [[ 9.56514471e-01 2.91581426e-01 -7.76779054e-03 1.20348285e+02] [ 2.91572410e-01 -9.56546009e-01 -2.29407951e-03 -1.40057500e+02] [-8.09916001e-03 -7.05531575e-05 -9.99967199e-01 -4.02947998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5865599949999 meters 0.013300509659178993 Centerline is valid? [True, True] Translation: X:120.38, Y:-140.06, Z:-4.03 [[ 9.30544960e-01 3.66082723e-01 -8.33768089e-03 1.20380663e+02] [ 3.66068821e-01 -9.30582309e-01 -3.19145983e-03 -1.40056606e+02] [-8.92723664e-03 -8.23681481e-05 -9.99960148e-01 -4.02830645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.646559995 meters 0.013057522809792386 Centerline is valid? [True, True] Translation: X:120.41, Y:-140.05, Z:-4.03 [[ 8.99267626e-01 4.37321282e-01 -8.23612055e-03 1.20413355e+02] [ 4.37303743e-01 -8.99305338e-01 -3.91735848e-03 -1.40052420e+02] [-9.11993140e-03 -7.89326847e-05 -9.99958410e-01 -4.02874941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7065599949999 meters 0.01287213079836077 Centerline is valid? [True, True] Translation: X:120.45, Y:-140.04, Z:-4.03 [[ 8.62997407e-01 5.05149270e-01 -7.72591644e-03 1.20445135e+02] [ 5.05129695e-01 -8.63031987e-01 -4.44753707e-03 -1.40044523e+02] [-8.91438312e-03 -6.43768601e-05 -9.99960264e-01 -4.02929509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.766559995 meters 0.012618752866100447 Centerline is valid? [True, True] Translation: X:120.48, Y:-140.03, Z:-4.03 [[ 8.22446570e-01 5.68798017e-01 -7.10323316e-03 1.20477745e+02] [ 5.68777199e-01 -8.22477243e-01 -4.86652961e-03 -1.40034996e+02] [-8.61032002e-03 -3.76964728e-05 -9.99962930e-01 -4.02999691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8265599949999 meters 0.012674098556285653 Centerline is valid? [True, True] Translation: X:120.51, Y:-140.02, Z:-4.03 [[ 7.76857371e-01 6.29615955e-01 -8.73919841e-03 1.20507220e+02] [ 6.29576447e-01 -7.76906525e-01 -7.05328179e-03 -1.40022883e+02] [-1.12303990e-02 -2.25995414e-05 -9.99936937e-01 -4.02797175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.886559995 meters 0.012561438863445665 Centerline is valid? [True, True] Translation: X:120.54, Y:-140.01, Z:-4.03 [[ 7.26058937e-01 6.87573964e-01 -8.97021485e-03 1.20536680e+02] [ 6.87521643e-01 -7.26114346e-01 -8.48209136e-03 -1.40008059e+02] [-1.23454669e-02 -8.71862809e-06 -9.99923792e-01 -4.02742855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9465599949999 meters 0.01240249969281649 Centerline is valid? [True, True] Translation: X:120.57, Y:-139.99, Z:-4.03 [[ 6.69990817e-01 7.42330750e-01 -7.57388302e-03 1.20566205e+02] [ 7.42283462e-01 -6.70033624e-01 -8.37881597e-03 -1.39991539e+02] [-1.12946090e-02 -8.23835286e-06 -9.99936214e-01 -4.02921247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.006559995 meters 0.012429261537038369 Centerline is valid? [True, True] Translation: X:120.59, Y:-139.97, Z:-4.03 [[ 6.09000682e-01 7.93147114e-01 -5.98530343e-03 1.20593532e+02] [ 7.93109096e-01 -6.09030093e-01 -7.76577101e-03 -1.39973543e+02] [-9.80462877e-03 -1.76387485e-05 -9.99951933e-01 -4.03034991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0665599949999 meters 0.01232787433126981 Centerline is valid? [True, True] Translation: X:120.62, Y:-139.95, Z:-4.03 [[ 5.43930620e-01 8.39114241e-01 -5.17414829e-03 1.20619689e+02] [ 8.39076798e-01 -5.43955228e-01 -7.92699626e-03 -1.39952865e+02] [-9.46616047e-03 -2.97717881e-05 -9.99955195e-01 -4.03177183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.126559995 meters 0.012328697944132378 Centerline is valid? [True, True] Translation: X:120.64, Y:-139.93, Z:-4.03 [[ 4.74774462e-01 8.80095311e-01 -4.63187871e-03 1.20643131e+02] [ 8.80054447e-01 -4.74797053e-01 -8.48113904e-03 -1.39929987e+02] [-9.66341306e-03 -4.96772350e-05 -9.99953307e-01 -4.03192693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1865599949999 meters 0.012560096621418645 Centerline is valid? [True, True] Translation: X:120.67, Y:-139.91, Z:-4.03 [[ 4.01758800e-01 9.15735901e-01 -4.19840538e-03 1.20668011e+02] [ 9.15688031e-01 -4.01780728e-01 -9.36357315e-03 -1.39906913e+02] [-1.02613985e-02 -8.25316379e-05 -9.99947347e-01 -4.03154028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.246559995 meters 0.013035615177270508 Centerline is valid? [True, True] Translation: X:120.69, Y:-139.88, Z:-4.03 [[ 3.25619192e-01 9.45494577e-01 -3.48524270e-03 1.20689561e+02] [ 9.45444247e-01 -3.25637822e-01 -9.75624854e-03 -1.39882089e+02] [-1.03594069e-02 -1.18280895e-04 -9.99946333e-01 -4.03120924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3065599949999 meters 0.013077437709351653 Centerline is valid? [True, True] Translation: X:120.71, Y:-139.85, Z:-4.03 [[ 2.49677758e-01 9.68324973e-01 -2.78649362e-03 1.20707644e+02] [ 9.68270395e-01 -2.49693272e-01 -1.02816404e-02 -1.39853863e+02] [-1.06517379e-02 -1.30982359e-04 -9.99943260e-01 -4.03116369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.366559995 meters 0.013200133910091526 Centerline is valid? [True, True] Translation: X:120.72, Y:-139.82, Z:-4.03 [[ 1.72736536e-01 9.84965654e-01 -2.17938457e-03 1.20720271e+02] [ 9.84897735e-01 -1.72750221e-01 -1.15677770e-02 -1.39824401e+02] [-1.17703522e-02 -1.48293194e-04 -9.99930716e-01 -4.03076170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4265599949999 meters 0.01327874466937865 Centerline is valid? [True, True] Translation: X:120.73, Y:-139.79, Z:-4.03 [[ 9.46411082e-02 9.95510738e-01 -1.19629477e-03 1.20730331e+02] [ 9.95449428e-01 -9.46485574e-02 -1.10493366e-02 -1.39793713e+02] [-1.11129608e-02 -1.45129476e-04 -9.99938239e-01 -4.03134424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.486559995 meters 0.013035367500644808 Centerline is valid? [True, True] Translation: X:120.74, Y:-139.76, Z:-4.03 [[ 1.60455369e-02 9.99871210e-01 -3.22413745e-04 1.20739678e+02] [ 9.99811355e-01 -1.60481044e-02 -1.09413267e-02 -1.39763068e+02] [-1.09450917e-02 -1.46793463e-04 -9.99940090e-01 -4.03201005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5465599949999 meters 0.01359080717908009 Centerline is valid? [True, True] Translation: X:120.75, Y:-139.73, Z:-4.03 [[-6.41652078e-02 9.97939146e-01 5.35931878e-04 1.20746257e+02] [ 9.97879279e-01 6.41672294e-02 -1.09321410e-02 -1.39732464e+02] [-1.09440007e-02 -1.66667784e-04 -9.99940099e-01 -4.03137219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6065599949999 meters 0.014069643098099154 Centerline is valid? [True, True] Translation: X:120.75, Y:-139.70, Z:-4.03 [[-1.44290014e-01 9.89534258e-01 1.53110468e-03 1.20749059e+02] [ 9.89462082e-01 1.44297984e-01 -1.19532789e-02 -1.39701286e+02] [-1.20491143e-02 -2.09768750e-04 -9.99927385e-01 -4.03059309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.666559995 meters 0.01422214349332216 Centerline is valid? [True, True] Translation: X:120.75, Y:-139.67, Z:-4.03 [[-2.22277959e-01 9.74980250e-01 2.45397489e-03 1.20747864e+02] [ 9.74909431e-01 2.22291396e-01 -1.17531784e-02 -1.39670607e+02] [-1.20046143e-02 -2.20069254e-04 -9.99927918e-01 -4.03075299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7265599949999 meters 0.014017092619927906 Centerline is valid? [True, True] Translation: X:120.74, Y:-139.64, Z:-4.03 [[-2.97375415e-01 9.54755222e-01 3.21385402e-03 1.20744373e+02] [ 9.54691859e-01 2.97392712e-01 -1.10013114e-02 -1.39640007e+02] [-1.14593362e-02 -2.03279261e-04 -9.99934319e-01 -4.03151330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.786559995 meters 0.013610105520256483 Centerline is valid? [True, True] Translation: X:120.74, Y:-139.61, Z:-4.03 [[-3.70368939e-01 9.28877096e-01 3.76687257e-03 1.20738226e+02] [ 9.28824044e-01 3.70388051e-01 -9.92907458e-03 -1.39609740e+02] [-1.06180946e-02 -1.78659008e-04 -9.99943611e-01 -4.03261346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8465599949999 meters 0.013697540571267203 Centerline is valid? [True, True] Translation: X:120.73, Y:-139.58, Z:-4.03 [[-4.42074622e-01 8.96967369e-01 4.42342545e-03 1.20730615e+02] [ 8.96918428e-01 4.42096717e-01 -9.37154178e-03 -1.39580187e+02] [-1.03615490e-02 -1.75468991e-04 -9.99946302e-01 -4.03296736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.906559995 meters 0.013908382481812786 Centerline is valid? [True, True] Translation: X:120.72, Y:-139.55, Z:-4.03 [[-5.10491494e-01 8.59866104e-01 5.35892334e-03 1.20721104e+02] [ 8.59815050e-01 5.10519590e-01 -9.37163277e-03 -1.39552917e+02] [-1.07941847e-02 -1.76455869e-04 -9.99941726e-01 -4.03215911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9665599949999 meters 0.013177898789992069 Centerline is valid? [True, True] Translation: X:120.71, Y:-139.53, Z:-4.03 [[-5.74192413e-01 8.18697004e-01 6.18779010e-03 1.20705477e+02] [ 8.18646595e-01 5.74225733e-01 -9.08625765e-03 -1.39527418e+02] [-1.09920802e-02 -1.51646904e-04 -9.99939574e-01 -4.03252350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.026559995 meters 0.012519808072522677 Centerline is valid? [True, True] Translation: X:120.69, Y:-139.50, Z:-4.03 [[-6.33385507e-01 7.73813560e-01 5.94764993e-03 1.20688734e+02] [ 7.73778072e-01 6.33413424e-01 -7.41141359e-03 -1.39503406e+02] [-9.50237365e-03 -9.21208567e-05 -9.99954847e-01 -4.03372158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0865599949999 meters 0.012278246187915528 Centerline is valid? [True, True] Translation: X:120.67, Y:-139.48, Z:-4.03 [[-6.89683220e-01 7.24086175e-01 6.02229445e-03 1.20672460e+02] [ 7.24057850e-01 6.89709510e-01 -6.40474963e-03 -1.39478859e+02] [-8.79122442e-03 -5.67587685e-05 -9.99961355e-01 -4.03390402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.146559995 meters 0.012125547577811804 Centerline is valid? [True, True] Translation: X:120.65, Y:-139.46, Z:-4.03 [[-7.40620724e-01 6.71891157e-01 6.57392107e-03 1.20652441e+02] [ 6.71864584e-01 7.40649899e-01 -5.97558770e-03 -1.39460184e+02] [-8.88391851e-03 -8.85934597e-06 -9.99960537e-01 -4.03279425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2065599949999 meters 0.01225138617321086 Centerline is valid? [True, True] Translation: X:120.68, Y:-139.45, Z:-4.03 [[-7.83243269e-01 6.21673726e-01 7.19443763e-03 1.20677295e+02] [ 6.21647916e-01 7.83276310e-01 -5.66498365e-03 -1.39454035e+02] [-9.15700406e-03 3.53468431e-05 -9.99958073e-01 -4.03265940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.266559995 meters 0.012382111293750876 Centerline is valid? [True, True] Translation: X:120.69, Y:-139.44, Z:-4.03 [[-8.23777508e-01 5.66859140e-01 7.83151575e-03 1.20694944e+02] [ 5.66834228e-01 8.23814731e-01 -5.31475415e-03 -1.39438963e+02] [-9.46443501e-03 6.09962545e-05 -9.99955209e-01 -4.03238680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3265599949999 meters 0.012524636461672433 Centerline is valid? [True, True] Translation: X:121.11, Y:-138.84, Z:-5.01 [[-7.91909754e-01 -6.10589979e-01 7.66932820e-03 1.21108107e+02] [ 6.10560765e-01 -7.91946889e-01 -5.97302202e-03 -1.38836475e+02] [ 9.72076801e-03 -4.75035065e-05 9.99952751e-01 -5.00680865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.386559995 meters 0.012294353556066404 Centerline is valid? [True, True] Translation: X:121.10, Y:-138.86, Z:-5.01 [[-7.47439801e-01 -6.64291914e-01 7.07088304e-03 1.21096190e+02] [ 6.64261671e-01 -7.47473245e-01 -6.33886067e-03 -1.38864871e+02] [ 9.49614978e-03 -4.10001743e-05 9.99954910e-01 -5.00596000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4465599949999 meters 0.012195126975690635 Centerline is valid? [True, True] Translation: X:120.61, Y:-139.41, Z:-4.03 [[-7.89372419e-01 6.13872612e-01 7.18342546e-03 1.20606432e+02] [ 6.13847288e-01 7.89405103e-01 -5.57589503e-03 -1.39410208e+02] [-9.09352196e-03 8.06848557e-06 -9.99958653e-01 -4.03293429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.506559995 meters 0.012109844236963568 Centerline is valid? [True, True] Translation: X:120.62, Y:-139.39, Z:-4.03 [[-8.32805455e-01 5.53515283e-01 7.47699844e-03 1.20622700e+02] [ 5.53492717e-01 8.32839018e-01 -4.99818055e-03 -1.39385812e+02] [-8.99370536e-03 -2.40478493e-05 -9.99959556e-01 -4.03239035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5665599949999 meters 0.012238514685598145 Centerline is valid? [True, True] Translation: X:120.64, Y:-139.36, Z:-4.03 [[-8.70656241e-01 4.91836563e-01 7.38273006e-03 1.20638534e+02] [ 4.91818530e-01 8.70687541e-01 -4.21186596e-03 -1.39363320e+02] [-8.49960076e-03 -3.61239471e-05 -9.99963877e-01 -4.03295166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.626559995 meters 0.012307004750577343 Centerline is valid? [True, True] Translation: X:120.65, Y:-139.34, Z:-4.03 [[-9.03243967e-01 4.29062814e-01 7.44564310e-03 1.20649852e+02] [ 4.29047921e-01 9.03274654e-01 -3.57503843e-03 -1.39338459e+02] [-8.25937674e-03 -3.45942039e-05 -9.99965890e-01 -4.03340552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6865599949999 meters 0.01219568328212475 Centerline is valid? [True, True] Translation: X:120.67, Y:-139.32, Z:-4.03 [[-9.30936415e-01 3.65110775e-01 7.17732955e-03 1.20666164e+02] [ 3.65099730e-01 9.30964082e-01 -2.84005583e-03 -1.39315942e+02] [-7.71877100e-03 -2.34703079e-05 -9.99970210e-01 -4.03420927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.746559995 meters 0.012140578192463712 Centerline is valid? [True, True] Translation: X:120.94, Y:-138.65, Z:-5.00 [[-9.03677156e-01 -4.28168442e-01 6.27553303e-03 1.20941765e+02] [ 4.28157948e-01 -9.03698946e-01 -2.99787124e-03 -1.38646421e+02] [ 6.95478645e-03 -2.21884169e-05 9.99975815e-01 -5.00434755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8065599949999 meters 0.012799397720786688 Centerline is valid? [True, True] Translation: X:120.63, Y:-139.31, Z:-4.03 [[-9.28206365e-01 3.72021549e-01 5.73683749e-03 1.20629788e+02] [ 3.72014772e-01 9.28224092e-01 -2.24616043e-03 -1.39305880e+02] [-6.16069086e-03 4.92878807e-05 -9.99981022e-01 -4.03477899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.866559995 meters 0.013904549856011594 Centerline is valid? [True, True] Translation: X:120.64, Y:-139.28, Z:-4.03 [[-9.50282576e-01 3.11333144e-01 5.89068792e-03 1.20640215e+02] [ 3.11327736e-01 9.50300829e-01 -1.83704908e-03 -1.39284015e+02] [-6.16985988e-03 8.82188027e-05 -9.99980962e-01 -4.03432255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9265599949999 meters 0.01588363091525788 Centerline is valid? [True, True] Translation: X:120.65, Y:-139.26, Z:-4.03 [[-9.67640088e-01 2.52238827e-01 6.94511705e-03 1.20650161e+02] [ 2.52233578e-01 9.67664997e-01 -1.63607656e-03 -1.39261966e+02] [-7.13322870e-03 1.68658451e-04 -9.99974544e-01 -4.03355555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.986559995 meters 0.0189260979273931 Centerline is valid? [True, True] Translation: X:120.66, Y:-139.24, Z:-4.03 [[-9.82146640e-01 1.87908602e-01 8.85066583e-03 1.20664847e+02] [ 1.87903327e-01 9.82186485e-01 -1.43128054e-03 -1.39240022e+02] [-8.96195429e-03 2.57342181e-04 -9.99959808e-01 -4.03104278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0465599949999 meters 0.019887627533151972 Centerline is valid? [True, True] Translation: X:120.79, Y:-138.50, Z:-5.01 [[-9.80436068e-01 -1.96589847e-01 9.87670587e-03 1.20789151e+02] [ 1.96577626e-01 -9.80485790e-01 -2.20284292e-03 -1.38503055e+02] [ 1.01170263e-02 -2.18207258e-04 9.99948798e-01 -5.00952022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1065599949999 meters 0.017284931013424865 Centerline is valid? [True, True] Translation: X:120.62, Y:-139.23, Z:-4.03 [[-9.82857411e-01 1.84035781e-01 1.10517818e-02 1.20615308e+02] [ 1.84027812e-01 9.82919492e-01 -1.74247087e-03 -1.39225509e+02] [-1.11836887e-02 3.21234816e-04 -9.99937409e-01 -4.03020366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.166559995 meters 0.01649055861602226 Centerline is valid? [True, True] Translation: X:120.61, Y:-139.19, Z:-4.03 [[-9.93679443e-01 1.11813400e-01 9.94625853e-03 1.20614937e+02] [ 1.11810475e-01 9.93729185e-01 -8.51363024e-04 -1.39193231e+02] [-9.97908118e-03 2.66113959e-04 -9.99950172e-01 -4.03107608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2265599949999 meters 0.016207715078352825 Centerline is valid? [True, True] Translation: X:120.62, Y:-139.16, Z:-4.03 [[-9.99228119e-01 3.84720654e-02 7.94143665e-03 1.20615225e+02] [ 3.84723711e-02 9.99259658e-01 -1.14324599e-04 -1.39163197e+02] [-7.93995557e-03 1.91289544e-04 -9.99968460e-01 -4.03210756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.286559995 meters 0.014348930091432123 Centerline is valid? [True, True] Translation: X:120.62, Y:-138.45, Z:-5.01 [[-9.97927709e-01 -6.39981322e-02 6.67288986e-03 1.20622583e+02] [ 6.39950265e-02 -9.97949987e-01 -6.78123070e-04 -1.38451019e+02] [ 6.70260896e-03 -2.49686039e-04 9.99977506e-01 -5.00572530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3465599949999 meters 0.013553965016225723 Centerline is valid? [True, True] Translation: X:120.54, Y:-139.15, Z:-4.03 [[-9.99741539e-01 2.16847329e-02 6.82841007e-03 1.20539646e+02] [ 2.16847707e-02 9.99764855e-01 -6.85094124e-05 -1.39149295e+02] [-6.82829001e-03 7.95808015e-05 -9.99976684e-01 -4.03269575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.406559995 meters 0.012242393229399141 Centerline is valid? [True, True] Translation: X:120.54, Y:-139.11, Z:-4.03 [[-9.98151414e-01 -6.03702784e-02 7.01318979e-03 1.20535370e+02] [-6.03687545e-02 9.98176051e-01 4.28972130e-04 -1.39112298e+02] [-7.02629526e-03 4.80160576e-06 -9.99975315e-01 -4.03284567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4665599949999 meters 0.0131426571397523 Centerline is valid? [True, True] Translation: X:120.48, Y:-138.45, Z:-5.01 [[-9.99818784e-01 -1.75652536e-02 7.33900231e-03 1.20482964e+02] [ 1.75649212e-02 -9.99845719e-01 -1.09757544e-04 -1.38450868e+02] [ 7.33979796e-03 1.91713430e-05 9.99973063e-01 -5.00735320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.526559995 meters 0.01465785756653787 Centerline is valid? [True, True] Translation: X:120.46, Y:-139.10, Z:-4.03 [[-9.96419533e-01 -8.41866218e-02 7.79274837e-03 1.20456263e+02] [-8.41851804e-02 9.96449995e-01 5.13391425e-04 -1.39099771e+02] [-7.80830476e-03 -1.44480683e-04 -9.99969504e-01 -4.03115100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5865599949999 meters 0.016253806963382345 Centerline is valid? [True, True] Translation: X:120.44, Y:-139.07, Z:-4.03 [[-9.86777616e-01 -1.61876736e-01 8.11541059e-03 1.20442840e+02] [-1.61873010e-01 9.86810964e-01 1.11828698e-03 -1.39068552e+02] [-8.18940079e-03 -2.10165374e-04 -9.99966444e-01 -4.03004864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.646559995 meters 0.01751717375108766 Centerline is valid? [True, True] Translation: X:120.36, Y:-138.45, Z:-5.01 [[-9.99118083e-01 4.11426791e-02 8.38661276e-03 1.20355015e+02] [-4.11392931e-02 -9.99153255e-01 5.75924654e-04 -1.38449012e+02] [ 8.40320652e-03 2.30397417e-04 9.99964666e-01 -5.00946073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7065599949999 meters 0.01794588495375512 Centerline is valid? [True, True] Translation: X:120.37, Y:-139.08, Z:-4.03 [[-9.85278290e-01 -1.70809791e-01 7.12086320e-03 1.20367452e+02] [-1.70806902e-01 9.85303998e-01 1.01633834e-03 -1.39075833e+02] [-7.18981552e-03 -2.14916483e-04 -9.99974130e-01 -4.03064030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.766559995 meters 0.01785875943898805 Centerline is valid? [True, True] Translation: X:120.28, Y:-138.46, Z:-5.01 [[-9.98857784e-01 4.71234591e-02 7.90611329e-03 1.20278493e+02] [-4.71197301e-02 -9.98889032e-01 6.57374366e-04 -1.38458699e+02] [ 7.92830761e-03 2.84089577e-04 9.99968530e-01 -5.00992536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8265599949999 meters 0.01672502470145855 Centerline is valid? [True, True] Translation: X:120.29, Y:-139.09, Z:-4.03 [[-9.85284270e-01 -1.70732917e-01 8.07328506e-03 1.20290769e+02] [-1.70728843e-01 9.85317325e-01 1.19626850e-03 -1.39091571e+02] [-8.15899005e-03 -1.99678081e-04 -9.99966695e-01 -4.02855043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.886559995 meters 0.013758349606368096 Centerline is valid? [True, True] Translation: X:120.28, Y:-139.08, Z:-4.03 [[-9.72595312e-01 -2.32382645e-01 7.52767859e-03 1.20283642e+02] [-2.32376668e-01 9.72624435e-01 1.67128067e-03 -1.39075806e+02] [-7.70998076e-03 -1.23777125e-04 -9.99970270e-01 -4.02916417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9465599949999 meters 0.012263637588694355 Centerline is valid? [True, True] Translation: X:120.27, Y:-139.06, Z:-4.03 [[-9.56983873e-01 -2.90058291e-01 6.93219726e-03 1.20268385e+02] [-2.90050897e-01 9.57008980e-01 2.07129574e-03 -1.39063430e+02] [-7.23497153e-03 -2.84934149e-05 -9.99973827e-01 -4.02860987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.006559995 meters 0.012335414046734937 Centerline is valid? [True, True] Translation: X:120.24, Y:-139.05, Z:-4.03 [[-9.36695797e-01 -3.50091103e-01 6.09947607e-03 1.20236018e+02] [-3.50083442e-01 9.36715655e-01 2.31617108e-03 -1.39054932e+02] [-6.52434561e-03 3.42221355e-05 -9.99978716e-01 -4.02993455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0665599949999 meters 0.01490104393082554 Centerline is valid? [True, True] Translation: X:120.19, Y:-139.06, Z:-4.03 [[-9.14571605e-01 -4.04380572e-01 5.92728821e-03 1.20186528e+02] [-4.04371133e-01 9.14590802e-01 2.76607052e-03 -1.39060307e+02] [-6.53958845e-03 1.32945305e-04 -9.99978608e-01 -4.02985145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.126559995 meters 0.017845751226091645 Centerline is valid? [True, True] Translation: X:120.12, Y:-139.07, Z:-4.03 [[-8.86798779e-01 -4.62114566e-01 6.16869242e-03 1.20122448e+02] [-4.62101677e-01 8.86820208e-01 3.45815042e-03 -1.39071445e+02] [-7.06858278e-03 2.16120456e-04 -9.99974994e-01 -4.02910581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1865599949999 meters 0.02215447066939797 Centerline is valid? [True, True] Translation: X:120.05, Y:-139.09, Z:-4.03 [[-8.55942664e-01 -5.17027777e-01 6.66588589e-03 1.20051422e+02] [-5.17008967e-01 8.55968552e-01 4.42337932e-03 -1.39094065e+02] [-7.99279867e-03 3.39836305e-04 -9.99967999e-01 -4.02804037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.246559995 meters 0.022010059702689065 Centerline is valid? [True, True] Translation: X:119.97, Y:-139.12, Z:-4.03 [[-8.17293568e-01 -5.76185453e-01 6.44574032e-03 1.19969381e+02] [-5.76163775e-01 8.17318896e-01 5.01269421e-03 -1.39120144e+02] [-8.15646684e-03 3.83040665e-04 -9.99966662e-01 -4.02860166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3065599949999 meters 0.023104263886252776 Centerline is valid? [True, True] Translation: X:119.88, Y:-139.16, Z:-4.03 [[-7.72578428e-01 -6.34891225e-01 5.97545269e-03 1.19882794e+02] [-6.34868225e-01 7.72601436e-01 5.41832068e-03 -1.39158613e+02] [-8.05668758e-03 3.92452628e-04 -9.99967467e-01 -4.02835778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.366559995 meters 0.022555219314205763 Centerline is valid? [True, True] Translation: X:119.79, Y:-139.21, Z:-4.03 [[-7.19899275e-01 -6.94052605e-01 6.00123927e-03 1.19791431e+02] [-6.94023821e-01 7.19924181e-01 6.33323882e-03 -1.39205546e+02] [-8.71603817e-03 3.94291033e-04 -9.99961937e-01 -4.02756552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4265599949999 meters 0.018908402093245274 Centerline is valid? [True, True] Translation: X:119.70, Y:-139.26, Z:-4.03 [[-6.60545836e-01 -7.50764092e-01 5.69881337e-03 1.19695501e+02] [-7.50731449e-01 6.60570325e-01 7.00972982e-03 -1.39261536e+02] [-9.02712045e-03 3.51969423e-04 -9.99959193e-01 -4.02796300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.486559995 meters 0.016496847000453962 Centerline is valid? [True, True] Translation: X:119.60, Y:-139.33, Z:-4.03 [[-5.91725912e-01 -8.06123419e-01 5.04762298e-03 1.19601191e+02] [-8.06090637e-01 5.91747394e-01 7.27371530e-03 -1.39327729e+02] [-8.85042999e-03 2.35204189e-04 -9.99960807e-01 -4.02726851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5465599949999 meters 0.013208465546886046 Centerline is valid? [True, True] Translation: X:119.51, Y:-139.40, Z:-4.03 [[-5.16400173e-01 -8.56333953e-01 4.79810851e-03 1.19509621e+02] [-8.56294910e-01 5.16422451e-01 8.17802038e-03 -1.39399301e+02] [-9.48096748e-03 1.14535249e-04 -9.99955048e-01 -4.02634663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6065599949999 meters 0.011981946786872347 Centerline is valid? [True, True] Translation: X:119.42, Y:-139.48, Z:-4.03 [[-4.38356478e-01 -8.98793032e-01 3.83204171e-03 1.19423448e+02] [-8.98758810e-01 4.38373227e-01 7.84321394e-03 -1.39479954e+02] [-8.72929053e-03 -5.95760773e-06 -9.99961899e-01 -4.02660207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.666559995 meters 0.01293529316088606 Centerline is valid? [True, True] Translation: X:119.34, Y:-139.57, Z:-4.03 [[-3.57632678e-01 -9.33858928e-01 2.52405582e-03 1.19344273e+02] [-9.33837347e-01 3.57641574e-01 6.34927869e-03 -1.39567386e+02] [-6.83203789e-03 -8.63480468e-05 -9.99976658e-01 -4.02765314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7265599949999 meters 0.013149552557098862 Centerline is valid? [True, True] Translation: X:119.28, Y:-139.67, Z:-4.03 [[-2.83377563e-01 -9.59006467e-01 1.93758711e-03 1.19279785e+02] [-9.58986304e-01 2.83384171e-01 6.21930649e-03 -1.39665151e+02] [-6.51343666e-03 -9.57075889e-05 -9.99978783e-01 -4.02830863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.786559995 meters 0.014424807143941773 Centerline is valid? [True, True] Translation: X:119.22, Y:-139.77, Z:-4.03 [[-2.06257263e-01 -9.78496868e-01 1.34928371e-03 1.19221202e+02] [-9.78479209e-01 2.06261648e-01 5.87960978e-03 -1.39765612e+02] [-6.03148524e-03 -1.07533835e-04 -9.99981805e-01 -4.02842991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8465599949999 meters 0.015013241138510217 Centerline is valid? [True, True] Translation: X:119.17, Y:-139.87, Z:-4.03 [[-1.27367263e-01 -9.91854988e-01 1.12427903e-03 1.19172420e+02] [-9.91826712e-01 1.27372123e-01 7.49099596e-03 -1.39866499e+02] [-7.57318351e-03 -1.60982327e-04 -9.99971310e-01 -4.02690273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.906559995 meters 0.015398960161519811 Centerline is valid? [True, True] Translation: X:119.13, Y:-139.98, Z:-4.03 [[-4.89995261e-02 -9.98798582e-01 6.62906780e-04 1.19131784e+02] [-9.98756729e-01 4.90035431e-02 9.14601532e-03 -1.39982307e+02] [-9.16751191e-03 -2.13932191e-04 -9.99957955e-01 -4.02570011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9665599949999 meters 0.01705350635393838 Centerline is valid? [True, True] Translation: X:119.10, Y:-140.10, Z:-4.02 [[ 2.93789772e-02 -9.99568344e-01 -4.89967334e-05 1.19098998e+02] [-9.99502863e-01 -2.93776136e-02 1.14447760e-02 -1.40096377e+02] [-1.14412752e-02 -2.87263439e-04 -9.99934505e-01 -4.02301981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.026559995 meters 0.015680638723599462 Centerline is valid? [True, True] Translation: X:119.08, Y:-140.20, Z:-4.02 [[ 1.04244580e-01 -9.94551133e-01 -1.05408010e-03 1.19082607e+02] [-9.94466525e-01 -1.04249465e-01 1.29761489e-02 -1.40204667e+02] [-1.30153309e-02 -3.04445825e-04 -9.99915251e-01 -4.02355577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0865599949999 meters 0.01480267780524818 Centerline is valid? [True, True] Translation: X:119.07, Y:-140.32, Z:-4.02 [[ 1.76455654e-01 -9.84306804e-01 -1.87544264e-03 1.19074364e+02] [-9.84236347e-01 -1.76465467e-01 1.17793368e-02 -1.40316344e+02] [-1.19254323e-02 -2.32651780e-04 -9.99928863e-01 -4.02488186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.146559995 meters 0.013084094768664425 Centerline is valid? [True, True] Translation: X:119.08, Y:-140.42, Z:-4.03 [[ 2.42593861e-01 -9.70125317e-01 -2.25567438e-03 1.19078663e+02] [-9.70079364e-01 -2.42604326e-01 9.44292670e-03 -1.40424402e+02] [-9.70805862e-03 -1.02612887e-04 -9.99952870e-01 -4.02729672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2065599949999 meters 0.012296890649208771 Centerline is valid? [True, True] Translation: X:119.09, Y:-140.54, Z:-4.03 [[ 3.10105720e-01 -9.50698382e-01 -2.65113301e-03 1.19089909e+02] [-9.50662694e-01 -3.10117051e-01 8.23756294e-03 -1.40537839e+02] [-8.65359931e-03 -3.41821390e-05 -9.99962556e-01 -4.02851720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.266559995 meters 0.01271510081184578 Centerline is valid? [True, True] Translation: X:119.11, Y:-140.65, Z:-4.03 [[ 3.72928552e-01 -9.27856744e-01 -2.48164585e-03 1.19114153e+02] [-9.27836911e-01 -3.72936806e-01 6.06675528e-03 -1.40648298e+02] [-6.55457688e-03 4.00963596e-05 -9.99978518e-01 -4.03050838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3265599949999 meters 0.013784920470061074 Centerline is valid? [True, True] Translation: X:119.14, Y:-140.76, Z:-4.03 [[ 4.37780130e-01 -8.99078301e-01 -2.60130974e-03 1.19144325e+02] [-8.99063367e-01 -4.37787853e-01 5.18245939e-03 -1.40764187e+02] [-5.79825858e-03 6.99645441e-05 -9.99983188e-01 -4.03163651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.386559995 meters 0.01473753404268946 Centerline is valid? [True, True] Translation: X:119.18, Y:-140.87, Z:-4.03 [[ 5.00881820e-01 -8.65510068e-01 -3.11839139e-03 1.19175118e+02] [-8.65494584e-01 -5.00891517e-01 5.17818913e-03 -1.40865228e+02] [-6.04375062e-03 1.05290059e-04 -9.99981731e-01 -4.03197089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4465599949999 meters 0.014952958902301082 Centerline is valid? [True, True] Translation: X:119.22, Y:-140.97, Z:-4.03 [[ 5.65562955e-01 -8.24694464e-01 -4.19346055e-03 1.19216081e+02] [-8.24673451e-01 -5.65578487e-01 5.88853281e-03 -1.40974673e+02] [-7.22797148e-03 1.27899565e-04 -9.99973870e-01 -4.03058140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.506559995 meters 0.013777798971354071 Centerline is valid? [True, True] Translation: X:119.26, Y:-141.08, Z:-4.03 [[ 6.30180235e-01 -7.76433406e-01 -4.90277278e-03 1.19262104e+02] [-7.76411172e-01 -6.30199298e-01 5.87678749e-03 -1.41082808e+02] [-7.65265809e-03 1.03132243e-04 -9.99970713e-01 -4.03132850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5665599949999 meters 0.013158860197251978 Centerline is valid? [True, True] Translation: X:119.31, Y:-141.18, Z:-4.03 [[ 6.90466575e-01 -7.23345641e-01 -5.19532107e-03 1.19310721e+02] [-7.23325928e-01 -6.90486117e-01 5.34081754e-03 -1.41181372e+02] [-7.45055417e-03 7.02544393e-05 -9.99972242e-01 -4.03178740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.626559995 meters 0.012586093131860035 Centerline is valid? [True, True] Translation: X:119.37, Y:-141.28, Z:-4.03 [[ 7.47996553e-01 -6.63680317e-01 -5.44004341e-03 1.19366641e+02] [-6.63662958e-01 -7.48016334e-01 4.80025124e-03 -1.41277115e+02] [-7.25507360e-03 1.97839176e-05 -9.99973681e-01 -4.03191707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6865599949999 meters 0.01265231850013179 Centerline is valid? [True, True] Translation: X:119.38, Y:-141.31, Z:-4.03 [[ 8.01516127e-01 -5.97942107e-01 -6.09387037e-03 1.19383469e+02] [-5.97924548e-01 -8.01539292e-01 4.58240204e-03 -1.41307051e+02] [-7.62448767e-03 -2.91944470e-05 -9.99970933e-01 -4.03125090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.746559995 meters 0.013065993859574333 Centerline is valid? [True, True] Translation: X:119.40, Y:-141.33, Z:-4.03 [[ 8.48106447e-01 -5.29782513e-01 -6.77818235e-03 1.19404623e+02] [-5.29764973e-01 -8.48133530e-01 4.31151261e-03 -1.41333927e+02] [-8.03296771e-03 -6.57780484e-05 -9.99967733e-01 -4.03124939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8065599949999 meters 0.013947081696482223 Centerline is valid? [True, True] Translation: X:119.43, Y:-141.36, Z:-4.03 [[ 8.89708061e-01 -4.56476487e-01 -6.98445189e-03 1.19426718e+02] [-4.56461421e-01 -8.89735469e-01 3.71036658e-03 -1.41361018e+02] [-7.90800968e-03 -1.13010219e-04 -9.99968725e-01 -4.03160545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.866559995 meters 0.015277763256046585 Centerline is valid? [True, True] Translation: X:119.45, Y:-141.38, Z:-4.03 [[ 9.23928147e-01 -3.82506980e-01 -6.72237797e-03 1.19451326e+02] [-3.82495836e-01 -9.23952593e-01 2.92259239e-03 -1.41384091e+02] [-7.32907055e-03 -1.28983782e-04 -9.99973134e-01 -4.03103660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9265599949999 meters 0.016334645007753067 Centerline is valid? [True, True] Translation: X:119.48, Y:-141.40, Z:-4.03 [[ 9.51675945e-01 -3.07009014e-01 -7.63950577e-03 1.19480097e+02] [-3.06997770e-01 -9.51706593e-01 2.63238815e-03 -1.41399015e+02] [-8.07873490e-03 -1.59869249e-04 -9.99967354e-01 -4.02978215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.986559995 meters 0.015292782886466292 Centerline is valid? [True, True] Translation: X:119.51, Y:-141.41, Z:-4.03 [[ 9.72740654e-01 -2.31710868e-01 -9.25713172e-03 1.19510615e+02] [-2.31698528e-01 -9.72784682e-01 2.39872636e-03 -1.41411620e+02] [-9.56100691e-03 -1.88474854e-04 -9.99954275e-01 -4.02964195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0465599949999 meters 0.014760097700535484 Centerline is valid? [True, True] Translation: X:119.54, Y:-141.42, Z:-4.03 [[ 9.87815474e-01 -1.55302752e-01 -1.00819239e-02 1.19540840e+02] [-1.55292616e-01 -9.87866902e-01 1.78537212e-03 -1.41424955e+02] [-1.02368722e-02 -1.97969870e-04 -9.99947582e-01 -4.02971425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1065599949999 meters 0.014879582539191341 Centerline is valid? [True, True] Translation: X:119.57, Y:-141.44, Z:-4.03 [[ 9.96941065e-01 -7.74767836e-02 -1.02888618e-02 1.19568020e+02] [-7.74705860e-02 -9.96994136e-01 1.00015171e-03 -1.41437715e+02] [-1.03354234e-02 -2.00008153e-04 -9.99946568e-01 -4.02937661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.166559995 meters 0.017010546401711662 Centerline is valid? [True, True] Translation: X:119.60, Y:-141.45, Z:-4.03 [[ 9.99927599e-01 2.70399117e-04 -1.20301116e-02 1.19595556e+02] [ 2.73096364e-04 -9.99999938e-01 2.22565718e-04 -1.41449430e+02] [-1.20300507e-02 -2.25834984e-04 -9.99927611e-01 -4.02510743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2265599949999 meters 0.014626881648178798 Centerline is valid? [True, True] Translation: X:119.62, Y:-141.45, Z:-4.03 [[ 9.96929021e-01 7.71801388e-02 -1.32572179e-02 1.19624940e+02] [ 7.71763899e-02 -9.97017138e-01 -7.94907995e-04 -1.41450242e+02] [-1.32790246e-02 -2.30677369e-04 -9.99911803e-01 -4.02662744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.286559995 meters 0.014269693347658912 Centerline is valid? [True, True] Translation: X:119.65, Y:-141.45, Z:-4.03 [[ 9.88313310e-01 1.51921045e-01 -1.25218882e-02 1.19652250e+02] [ 1.51911153e-01 -9.88392616e-01 -1.74294671e-03 -1.41450133e+02] [-1.26413321e-02 -1.79637026e-04 -9.99920079e-01 -4.02697354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3465599949999 meters 0.013381846834724483 Centerline is valid? [True, True] Translation: X:119.68, Y:-141.45, Z:-4.03 [[ 9.74391456e-01 2.24650116e-01 -9.67553745e-03 1.19680145e+02] [ 2.24640045e-01 -9.74439488e-01 -2.12940374e-03 -1.41447310e+02] [-9.90659656e-03 -9.86403651e-05 -9.99950924e-01 -4.02941896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.406559995 meters 0.013030667178618172 Centerline is valid? [True, True] Translation: X:119.71, Y:-141.45, Z:-4.03 [[ 9.54739250e-01 2.97320391e-01 -8.57613017e-03 1.19708997e+02] [ 2.97308976e-01 -9.54777765e-01 -2.60609735e-03 -1.41445310e+02] [-8.96314428e-03 -6.16170463e-05 -9.99959828e-01 -4.03054439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4665599949999 meters 0.012969158449895147 Centerline is valid? [True, True] Translation: X:119.74, Y:-141.45, Z:-4.03 [[ 9.28791349e-01 3.70529534e-01 -7.38206344e-03 1.19738692e+02] [ 3.70518251e-01 -9.28820684e-01 -2.89203517e-03 -1.41445307e+02] [-7.92819766e-03 -4.90919827e-05 -9.99968570e-01 -4.03041570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.526559995 meters 0.01300446335995596 Centerline is valid? [True, True] Translation: X:119.77, Y:-141.44, Z:-4.03 [[ 8.97943891e-01 4.40004677e-01 -9.62560866e-03 1.19766412e+02] [ 4.39979887e-01 -8.97995480e-01 -4.67081906e-03 -1.41439936e+02] [-1.06989353e-02 -4.09407744e-05 -9.99942764e-01 -4.02773234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5865599949999 meters 0.012960898254137338 Centerline is valid? [True, True] Translation: X:119.79, Y:-141.43, Z:-4.03 [[ 8.61937142e-01 5.06925448e-01 -9.53694110e-03 1.19793911e+02] [ 5.06894631e-01 -8.61989901e-01 -5.58954280e-03 -1.41431291e+02] [-1.10542284e-02 -1.63896924e-05 -9.99938900e-01 -4.02752904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.646559995 meters 0.013055766752011241 Centerline is valid? [True, True] Translation: X:119.82, Y:-141.42, Z:-4.03 [[ 8.21665056e-01 5.69911779e-01 -8.19149780e-03 1.19820234e+02] [ 5.69883204e-01 -8.21705887e-01 -5.70692923e-03 -1.41421824e+02] [-9.98344816e-03 2.09873104e-05 -9.99950164e-01 -4.02799865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7065599949999 meters 0.013224439115648043 Centerline is valid? [True, True] Translation: X:119.85, Y:-141.41, Z:-4.03 [[ 7.75812630e-01 6.30924947e-01 -6.96237725e-03 1.19846300e+02] [ 6.30899111e-01 -7.75843869e-01 -5.70984509e-03 -1.41410585e+02] [-9.00420142e-03 3.72123163e-05 -9.99959461e-01 -4.02850822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.766559995 meters 0.013225752390463303 Centerline is valid? [True, True] Translation: X:119.87, Y:-141.40, Z:-4.03 [[ 7.24749401e-01 6.88980257e-01 -6.67174420e-03 1.19873233e+02] [ 6.88950458e-01 -7.24780107e-01 -6.40796836e-03 -1.41398950e+02] [-9.25051116e-03 4.76700031e-05 -9.99957212e-01 -4.02957782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8265599949999 meters 0.012985671581086992 Centerline is valid? [True, True] Translation: X:119.90, Y:-141.39, Z:-4.03 [[ 6.67254510e-01 7.44805256e-01 -6.04557481e-03 1.19901839e+02] [ 7.44774271e-01 -6.67281897e-01 -6.79383134e-03 -1.41387907e+02] [-9.09418391e-03 3.06260376e-05 -9.99958647e-01 -4.02982520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.886559995 meters 0.012908242946879183 Centerline is valid? [True, True] Translation: X:119.93, Y:-141.38, Z:-4.03 [[ 6.03612614e-01 7.97263657e-01 -4.74065117e-03 1.19930167e+02] [ 7.97239145e-01 -6.03631230e-01 -6.25175113e-03 -1.41375642e+02] [-7.84589906e-03 -5.79684208e-06 -9.99969221e-01 -4.03053543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9465599949999 meters 0.013028480571662896 Centerline is valid? [True, True] Translation: X:119.96, Y:-141.36, Z:-4.03 [[ 5.35324268e-01 8.44637892e-01 -3.84187139e-03 1.19958533e+02] [ 8.44616666e-01 -5.35338052e-01 -5.98809862e-03 -1.41361091e+02] [-7.11447494e-03 -3.93340960e-05 -9.99974691e-01 -4.03114859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.006559995 meters 0.013286545370933323 Centerline is valid? [True, True] Translation: X:119.98, Y:-141.34, Z:-4.03 [[ 4.64891726e-01 8.85360560e-01 -3.51600742e-03 1.19983141e+02] [ 8.85336259e-01 -4.64905017e-01 -6.56001544e-03 -1.41342892e+02] [-7.44258843e-03 -6.31519547e-05 -9.99972302e-01 -4.03038632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0665599949999 meters 0.013708353355358827 Centerline is valid? [True, True] Translation: X:120.01, Y:-141.32, Z:-4.03 [[ 3.90963827e-01 9.20400904e-01 -3.07598343e-03 1.20007667e+02] [ 9.20374226e-01 -3.90975917e-01 -7.00835757e-03 -1.41323096e+02] [-7.65313408e-03 -9.10415702e-05 -9.99970710e-01 -4.02963138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.126559995 meters 0.014001486536282496 Centerline is valid? [True, True] Translation: X:120.03, Y:-141.30, Z:-4.03 [[ 3.16820887e-01 9.48482080e-01 -2.50370938e-03 1.20026767e+02] [ 9.48454843e-01 -3.16830765e-01 -7.18865536e-03 -1.41300907e+02] [-7.61156295e-03 -9.71391153e-05 -9.99971027e-01 -4.02926991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1865599949999 meters 0.014076547888289036 Centerline is valid? [True, True] Translation: X:120.04, Y:-141.28, Z:-4.03 [[ 2.41316583e-01 9.70444543e-01 -1.92221504e-03 1.20041729e+02] [ 9.70416927e-01 -2.41324219e-01 -7.32181692e-03 -1.41275526e+02] [-7.56929432e-03 -9.84741688e-05 -9.99971348e-01 -4.02949873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.246559995 meters 0.014349196582859245 Centerline is valid? [True, True] Translation: X:120.05, Y:-141.25, Z:-4.03 [[ 1.63863949e-01 9.86481826e-01 -1.48769944e-03 1.20053312e+02] [ 9.86447314e-01 -1.63870662e-01 -8.25248840e-03 -1.41249206e+02] [-8.38472012e-03 -1.15251776e-04 -9.99964841e-01 -4.02881922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3065599949999 meters 0.014941755077216956 Centerline is valid? [True, True] Translation: X:120.07, Y:-141.22, Z:-4.03 [[ 8.30020286e-02 9.96548810e-01 -1.06425907e-03 1.20066255e+02] [ 9.96492275e-01 -8.30086576e-02 -1.06164198e-02 -1.41222087e+02] [-1.06681233e-02 -1.79341563e-04 -9.99943078e-01 -4.02657089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.366559995 meters 0.016051731664960107 Centerline is valid? [True, True] Translation: X:120.08, Y:-141.19, Z:-4.03 [[ 1.15692695e-03 9.99999298e-01 -2.57016556e-04 1.20075975e+02] [ 9.99928047e-01 -1.15991322e-03 -1.19396997e-02 -1.41194871e+02] [-1.19399895e-02 -2.43184703e-04 -9.99928686e-01 -4.02547556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4265599949999 meters 0.01619458842630685 Centerline is valid? [True, True] Translation: X:120.08, Y:-141.17, Z:-4.03 [[-7.83350831e-02 9.96926853e-01 6.82101217e-04 1.20079737e+02] [ 9.96855061e-01 7.83376296e-02 -1.19667711e-02 -1.41165870e+02] [-1.19834296e-02 -2.57461955e-04 -9.99928163e-01 -4.02653923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.486559995 meters 0.015236196006266547 Centerline is valid? [True, True] Translation: X:120.08, Y:-141.14, Z:-4.03 [[-1.55936342e-01 9.87765981e-01 1.49152013e-03 1.20083495e+02] [ 9.87705282e-01 1.55943299e-01 -1.09527641e-02 -1.41136603e+02] [-1.10513604e-02 -2.34751670e-04 -9.99938904e-01 -4.02797307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5465599949999 meters 0.015175898296095433 Centerline is valid? [True, True] Translation: X:120.09, Y:-141.11, Z:-4.03 [[-2.32192344e-01 9.72667523e-01 2.14592022e-03 1.20086455e+02] [ 9.72617319e-01 2.32202167e-01 -9.88460361e-03 -1.41106542e+02] [-1.01127202e-02 -2.07970114e-04 -9.99948844e-01 -4.02844454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6065599949999 meters 0.015056081675348054 Centerline is valid? [True, True] Translation: X:120.09, Y:-141.08, Z:-4.03 [[-3.06989795e-01 9.51708645e-01 2.81452538e-03 1.20087007e+02] [ 9.51662679e-01 3.07002635e-01 -9.35563324e-03 -1.41076472e+02] [-9.76790375e-03 -1.93605163e-04 -9.99952274e-01 -4.02860400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.666559995 meters 0.014946789073580147 Centerline is valid? [True, True] Translation: X:120.08, Y:-141.05, Z:-4.03 [[-3.79721024e-01 9.25094082e-01 3.58931693e-03 1.20082228e+02] [ 9.25047986e-01 3.79737942e-01 -9.23684105e-03 -1.41047793e+02] [-9.90794682e-03 -1.87132342e-04 -9.99950898e-01 -4.02865891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7265599949999 meters 0.015169046451637537 Centerline is valid? [True, True] Translation: X:120.08, Y:-141.02, Z:-4.03 [[-4.51776692e-01 8.92122363e-01 3.93812150e-03 1.20078133e+02] [ 8.92084951e-01 4.51793821e-01 -8.17215886e-03 -1.41018740e+02] [-9.06978464e-03 -1.78851975e-04 -9.99958853e-01 -4.02919803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.786559995 meters 0.016133658395428525 Centerline is valid? [True, True] Translation: X:120.07, Y:-140.99, Z:-4.03 [[-5.22143996e-01 8.52843513e-01 4.85694342e-03 1.20072981e+02] [ 8.52802783e-01 5.22166543e-01 -8.33762534e-03 -1.40990878e+02] [-9.64682303e-03 -2.11426156e-04 -9.99953446e-01 -4.02854948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8465599949999 meters 0.0164520377238022 Centerline is valid? [True, True] Translation: X:120.06, Y:-140.96, Z:-4.03 [[-5.89484653e-01 8.07751626e-01 6.71964707e-03 1.20064088e+02] [ 8.07693444e-01 5.89522880e-01 -9.69920952e-03 -1.40962380e+02] [-1.17959380e-02 -2.90120279e-04 -9.99930383e-01 -4.02713437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.906559995 meters 0.016660328486744418 Centerline is valid? [True, True] Translation: X:120.05, Y:-140.94, Z:-4.03 [[-6.51796283e-01 7.58354566e-01 7.74328279e-03 1.20051910e+02] [ 7.58295220e-01 6.51842200e-01 -9.49242561e-03 -1.40935343e+02] [-1.22460228e-02 -3.15433399e-04 -9.99924965e-01 -4.02642772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9665599949999 meters 0.016893723558404048 Centerline is valid? [True, True] Translation: X:120.04, Y:-140.91, Z:-4.03 [[-7.09254052e-01 7.04906033e-01 8.13471950e-03 1.20037561e+02] [ 7.04854682e-01 7.09300636e-01 -8.51386431e-03 -1.40909812e+02] [-1.17714360e-02 -3.04697641e-04 -9.99930668e-01 -4.02655871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.026559995 meters 0.016118686472442117 Centerline is valid? [True, True] Translation: X:120.02, Y:-140.88, Z:-4.03 [[-7.62120442e-01 6.47384527e-01 8.10596962e-03 1.20022158e+02] [ 6.47343982e-01 7.62163498e-01 -7.25064223e-03 -1.40884206e+02] [-1.08720277e-02 -2.78512007e-04 -9.99940859e-01 -4.02832691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0865599949999 meters 0.016328266328467553 Centerline is valid? [True, True] Translation: X:120.04, Y:-140.87, Z:-4.03 [[-8.05725251e-01 5.92241088e-01 7.57055818e-03 1.20041283e+02] [ 5.92212115e-01 8.05760781e-01 -5.86295210e-03 -1.40865213e+02] [-9.57234000e-03 -2.40552283e-04 -9.99954155e-01 -4.02923960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.146559995 meters 0.01599365439135543 Centerline is valid? [True, True] Translation: X:120.47, Y:-140.32, Z:-5.01 [[-7.30424175e-01 -6.82964272e-01 6.35038395e-03 1.20468329e+02] [ 6.82940281e-01 -7.30451764e-01 -5.72663521e-03 -1.40321392e+02] [ 8.54973641e-03 1.54060201e-04 9.99963439e-01 -5.00827001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2065599949999 meters 0.017046328039238234 Centerline is valid? [True, True] Translation: X:120.00, Y:-140.83, Z:-4.03 [[-8.08629355e-01 5.88284544e-01 6.31355833e-03 1.20003191e+02] [ 5.88264556e-01 8.08653974e-01 -4.85412101e-03 -1.40833534e+02] [-7.96108840e-03 -2.11142155e-04 -9.99968288e-01 -4.03023933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.266559995 meters 0.017467783006739387 Centerline is valid? [True, True] Translation: X:120.02, Y:-140.81, Z:-4.03 [[-8.48544817e-01 5.29080893e-01 6.71581978e-03 1.20024567e+02] [ 5.29062269e-01 8.48571365e-01 -4.44466676e-03 -1.40811548e+02] [-8.05044061e-03 -2.18412091e-04 -9.99967571e-01 -4.02924100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3265599949999 meters 0.016773480256971177 Centerline is valid? [True, True] Translation: X:120.04, Y:-140.79, Z:-4.03 [[-8.83014034e-01 4.69285693e-01 7.56007629e-03 1.20039608e+02] [ 4.69266348e-01 8.83046369e-01 -4.26665297e-03 -1.40789676e+02] [-8.67817712e-03 -2.19825057e-04 -9.99962320e-01 -4.02874938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.386559995 meters 0.014868822280432414 Centerline is valid? [True, True] Translation: X:120.06, Y:-140.77, Z:-4.03 [[-9.12226191e-01 4.09606747e-01 8.10490781e-03 1.20056120e+02] [ 4.09588741e-01 9.12262176e-01 -3.84522587e-03 -1.40771828e+02] [-8.96883129e-03 -1.88036762e-04 -9.99959762e-01 -4.02945641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4465599949999 meters 0.014221052067914401 Centerline is valid? [True, True] Translation: X:120.36, Y:-140.16, Z:-5.01 [[-8.64153222e-01 -5.03169765e-01 7.70690167e-03 1.20359102e+02] [ 5.03151562e-01 -8.64187570e-01 -4.28354654e-03 -1.40156218e+02] [ 8.81555974e-03 1.76099069e-04 9.99961127e-01 -5.01046961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.506559995 meters 0.013190582240086006 Centerline is valid? [True, True] Translation: X:120.02, Y:-140.76, Z:-4.03 [[-9.09427326e-01 4.15781962e-01 8.20365838e-03 1.20021910e+02] [ 4.15764097e-01 9.09464321e-01 -3.85546776e-03 -1.40761667e+02] [-9.06396855e-03 -9.54811191e-05 -9.99958917e-01 -4.02881033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5665599949999 meters 0.01278834955871835 Centerline is valid? [True, True] Translation: X:120.04, Y:-140.74, Z:-4.03 [[-9.34643406e-01 3.55468842e-01 9.14368090e-03 1.20036644e+02] [ 3.55451319e-01 9.34688130e-01 -3.52983537e-03 -1.40742224e+02] [-9.80123649e-03 -4.90039076e-05 -9.99951966e-01 -4.02839357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.626559995 meters 0.012684077415152303 Centerline is valid? [True, True] Translation: X:120.05, Y:-140.72, Z:-4.03 [[-9.56806525e-01 2.90558133e-01 9.86131386e-03 1.20047949e+02] [ 2.90542404e-01 9.56857341e-01 -3.02335473e-03 -1.40717526e+02] [-1.03143309e-02 -2.76356998e-05 -9.99946806e-01 -4.02811912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6865599949999 meters 0.012747732628439385 Centerline is valid? [True, True] Translation: X:120.26, Y:-140.05, Z:-5.01 [[-9.33093617e-01 -3.59488444e-01 1.02156783e-02 1.20256264e+02] [ 3.59467687e-01 -9.33149535e-01 -3.86363492e-03 -1.40050013e+02] [ 1.09216876e-02 6.70731798e-05 9.99940354e-01 -5.01170220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.746559995 meters 0.012888584620097301 Centerline is valid? [True, True] Translation: X:120.00, Y:-140.70, Z:-4.03 [[-9.58329775e-01 2.85449493e-01 1.10738191e-02 1.20002283e+02] [ 2.85429841e-01 9.58393753e-01 -3.34978516e-03 -1.40700564e+02] [-1.15692736e-02 -4.94004226e-05 -9.99933073e-01 -4.02607929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8065599949999 meters 0.012766111476690276 Centerline is valid? [True, True] Translation: X:120.01, Y:-140.67, Z:-4.03 [[-9.76242885e-01 2.16422722e-01 1.05373388e-02 1.20013424e+02] [ 2.16409510e-01 9.76299750e-01 -2.39205439e-03 -1.40674803e+02] [-1.08052962e-02 -5.48457519e-05 -9.99941620e-01 -4.02682992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.866559995 meters 0.01266857359253684 Centerline is valid? [True, True] Translation: X:120.02, Y:-140.65, Z:-4.03 [[-9.89213949e-01 1.46222468e-01 8.64594380e-03 1.20018650e+02] [ 1.46216454e-01 9.89251731e-01 -1.32709405e-03 -1.40646663e+02] [-8.74706584e-03 -4.86007018e-05 -9.99961743e-01 -4.02799679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9265599949999 meters 0.012662785589942362 Centerline is valid? [True, True] Translation: X:120.12, Y:-139.97, Z:-5.01 [[-9.74633436e-01 -2.23702647e-01 6.84042687e-03 1.20124727e+02] [ 2.23696632e-01 -9.74657438e-01 -1.64194624e-03 -1.39967592e+02] [ 7.03438065e-03 -7.01152559e-05 9.99975256e-01 -5.01041934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.986559995 meters 0.012712977609093894 Centerline is valid? [True, True] Translation: X:119.97, Y:-140.64, Z:-4.03 [[-9.89942306e-01 1.41308254e-01 6.79768811e-03 1.19965661e+02] [ 1.41304607e-01 9.89965644e-01 -1.01612836e-03 -1.40635601e+02] [-6.87306501e-03 -4.53638004e-05 -9.99976379e-01 -4.02813511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0465599949999 meters 0.012720863518179448 Centerline is valid? [True, True] Translation: X:119.97, Y:-140.61, Z:-4.03 [[-9.97524042e-01 6.98871110e-02 7.84711595e-03 1.19971931e+02] [ 6.98844873e-02 9.97554905e-01 -6.08391863e-04 -1.40607203e+02] [-7.87044775e-03 -5.84938360e-05 -9.99969026e-01 -4.02722829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1065599949999 meters 0.012713062835626296 Centerline is valid? [True, True] Translation: X:119.97, Y:-140.58, Z:-4.02 [[-9.99954737e-01 -8.42866043e-04 9.47704963e-03 1.19968684e+02] [-8.43468816e-04 9.99999643e-01 -5.96067531e-05 -1.40577231e+02] [-9.47699600e-03 -6.75976509e-05 -9.99955090e-01 -4.02484720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.166559995 meters 0.012631422299616536 Centerline is valid? [True, True] Translation: X:119.96, Y:-140.55, Z:-4.03 [[-9.97437162e-01 -7.08531587e-02 9.94675648e-03 1.19960117e+02] [-7.08502400e-02 9.97486755e-01 6.45943607e-04 -1.40550187e+02] [-9.96752498e-03 -6.04419251e-05 -9.99950321e-01 -4.02500460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2265599949999 meters 0.012447239813094804 Centerline is valid? [True, True] Translation: X:119.96, Y:-140.52, Z:-4.03 [[-9.90117253e-01 -1.39938302e-01 9.22478278e-03 1.19958466e+02] [-1.39932609e-01 9.90160224e-01 1.26293845e-03 -1.40522191e+02] [-9.31074645e-03 -4.03907682e-05 -9.99956653e-01 -4.02537124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.286559995 meters 0.012421709300375195 Centerline is valid? [True, True] Translation: X:119.95, Y:-140.49, Z:-4.03 [[-9.77675945e-01 -2.09933854e-01 8.80469099e-03 1.19947582e+02] [-2.09925682e-01 9.77715590e-01 1.85266545e-03 -1.40494510e+02] [-8.99742085e-03 -3.70243166e-05 -9.99959522e-01 -4.02581864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3465599949999 meters 0.012563743295895316 Centerline is valid? [True, True] Translation: X:119.93, Y:-140.47, Z:-4.02 [[-9.59606913e-01 -2.81174504e-01 9.77094225e-03 1.19927093e+02] [-2.81160589e-01 9.59656654e-01 2.79801243e-03 -1.40468392e+02] [-1.01634795e-02 -6.22118108e-05 -9.99948349e-01 -4.02496510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.406559995 meters 0.01319892594477612 Centerline is valid? [True, True] Translation: X:119.89, Y:-140.45, Z:-4.02 [[-9.35911404e-01 -3.52096118e-01 9.90793021e-03 1.19894745e+02] [-3.52077450e-01 9.35963843e-01 3.62689806e-03 -1.40446175e+02] [-1.05504812e-02 -9.39035507e-05 -9.99944338e-01 -4.02358261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4665599949999 meters 0.013551936450084104 Centerline is valid? [True, True] Translation: X:119.85, Y:-140.43, Z:-4.03 [[-9.06198626e-01 -4.22739495e-01 9.76573859e-03 1.19851186e+02] [-4.22716631e-01 9.06251234e-01 4.39900300e-03 -1.40431211e+02] [-1.07098450e-02 -1.41769644e-04 -9.99942638e-01 -4.02532323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.526559995 meters 0.013990550221284401 Centerline is valid? [True, True] Translation: X:119.79, Y:-140.43, Z:-4.02 [[-8.71503790e-01 -4.90297760e-01 9.44721407e-03 1.19789701e+02] [-4.90271055e-01 8.71554977e-01 5.12007170e-03 -1.40427949e+02] [-1.07441261e-02 -1.69533721e-04 -9.99942266e-01 -4.02497075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5865599949999 meters 0.015052450958822895 Centerline is valid? [True, True] Translation: X:119.72, Y:-140.43, Z:-4.02 [[-8.30851752e-01 -5.56399147e-01 1.02642651e-02 1.19720141e+02] [-5.56360247e-01 8.30915117e-01 6.58358853e-03 -1.40433031e+02] [-1.21918361e-02 -2.40643016e-04 -9.99925648e-01 -4.02466110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.646559995 meters 0.01481870042502692 Centerline is valid? [True, True] Translation: X:119.65, Y:-140.45, Z:-4.03 [[-7.86093237e-01 -6.18036361e-01 9.40633190e-03 1.19647850e+02] [-6.17995985e-01 7.86149471e-01 7.06905006e-03 -1.40448622e+02] [-1.17637128e-02 -2.56142908e-04 -9.99930772e-01 -4.02573194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7065599949999 meters 0.015200454703334925 Centerline is valid? [True, True] Translation: X:119.57, Y:-140.47, Z:-4.03 [[-7.38624864e-01 -6.74081164e-01 6.92066472e-03 1.19572729e+02] [-6.74053967e-01 7.38657261e-01 6.05813325e-03 -1.40474267e+02] [-9.19567276e-03 -1.90213662e-04 -9.99957701e-01 -4.02797277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.766559995 meters 0.014849569218066835 Centerline is valid? [True, True] Translation: X:119.50, Y:-140.51, Z:-4.03 [[-6.87447364e-01 -7.26216914e-01 5.01146537e-03 1.19495415e+02] [-7.26199040e-01 6.87465618e-01 5.09698111e-03 -1.40512243e+02] [-7.14672402e-03 -1.35415108e-04 -9.99974453e-01 -4.02951032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8265599949999 meters 0.014055763885388555 Centerline is valid? [True, True] Translation: X:119.42, Y:-140.56, Z:-4.03 [[-6.32846108e-01 -7.74263568e-01 4.66153155e-03 1.19417930e+02] [-7.74243928e-01 6.32863265e-01 5.51611638e-03 -1.40561243e+02] [-7.22104003e-03 -1.18309712e-04 -9.99973921e-01 -4.03004496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.886559995 meters 0.01366880430751043 Centerline is valid? [True, True] Translation: X:119.34, Y:-140.62, Z:-4.03 [[-5.74730994e-01 -8.18320776e-01 5.94917848e-03 1.19342357e+02] [-8.18279412e-01 5.74761767e-01 8.22891831e-03 -1.40616797e+02] [-1.01532551e-02 -1.38675872e-04 -9.99948445e-01 -4.02829452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9465599949999 meters 0.013630718985986424 Centerline is valid? [True, True] Translation: X:119.26, Y:-140.68, Z:-4.03 [[-5.12280379e-01 -8.58801124e-01 5.42608407e-03 1.19264894e+02] [-8.58755571e-01 5.12309099e-01 8.84630160e-03 -1.40684908e+02] [-1.03770460e-02 -1.27893180e-04 -9.99946149e-01 -4.02760720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.006559995 meters 0.012898238676246938 Centerline is valid? [True, True] Translation: X:119.20, Y:-140.76, Z:-4.03 [[-4.49434360e-01 -8.93301567e-01 4.58986835e-03 1.19195036e+02] [-8.93256782e-01 4.49457790e-01 8.94521969e-03 -1.40760750e+02] [-1.00537308e-02 -7.96419454e-05 -9.99949457e-01 -4.02901124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0665599949999 meters 0.012643131705571745 Centerline is valid? [True, True] Translation: X:119.13, Y:-140.84, Z:-4.03 [[-3.86051448e-01 -9.22470187e-01 3.61014470e-03 1.19130498e+02] [-9.22430185e-01 3.86068327e-01 8.59070599e-03 -1.40844609e+02] [-9.31843269e-03 -1.36519640e-05 -9.99956582e-01 -4.02985086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.126559995 meters 0.012547248593895511 Centerline is valid? [True, True] Translation: X:119.07, Y:-140.93, Z:-4.03 [[-3.18508755e-01 -9.47915429e-01 2.91771391e-03 1.19070186e+02] [-9.47874918e-01 3.18522117e-01 8.76357093e-03 -1.40934369e+02] [-9.23648051e-03 2.56462255e-05 -9.99957343e-01 -4.03077000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1865599949999 meters 0.013089000355637996 Centerline is valid? [True, True] Translation: X:119.01, Y:-141.04, Z:-4.03 [[-2.49619489e-01 -9.68341739e-01 2.09450217e-03 1.19013946e+02] [-9.68305471e-01 2.49628268e-01 8.38106401e-03 -1.41035563e+02] [-8.63858105e-03 6.39589992e-05 -9.99962685e-01 -4.03062750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.246559995 meters 0.013055893900819276 Centerline is valid? [True, True] Translation: X:118.96, Y:-141.13, Z:-4.03 [[-1.76041050e-01 -9.84381827e-01 1.40235729e-03 1.18964231e+02] [-9.84347247e-01 1.76046621e-01 8.25133539e-03 -1.41134509e+02] [-8.36934487e-03 7.21672055e-05 -9.99964974e-01 -4.03175035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3065599949999 meters 0.013064393122373053 Centerline is valid? [True, True] Translation: X:118.92, Y:-141.25, Z:-4.03 [[-9.92549614e-02 -9.95061724e-01 7.86469240e-04 1.18918492e+02] [-9.95025019e-01 9.92580554e-02 8.54694131e-03 -1.41245716e+02] [-8.58279756e-03 6.57697595e-05 -9.99963165e-01 -4.03106761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.366559995 meters 0.012774441320334591 Centerline is valid? [True, True] Translation: X:118.88, Y:-141.36, Z:-4.03 [[-1.82688255e-02 -9.99833099e-01 1.53828463e-04 1.18879487e+02] [-9.99781793e-01 1.82694464e-02 1.01288237e-02 -1.41359826e+02] [-1.01299436e-02 3.12468155e-05 -9.99948690e-01 -4.02937647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4265599949999 meters 0.012745452529184504 Centerline is valid? [True, True] Translation: X:118.85, Y:-141.48, Z:-4.03 [[ 6.28658683e-02 -9.98021758e-01 -6.73575416e-04 1.18850208e+02] [-9.97961593e-01 -6.28694744e-02 1.09585162e-02 -1.41477473e+02] [-1.09791850e-02 -1.67142433e-05 -9.99939727e-01 -4.02854683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.486559995 meters 0.013221233589301721 Centerline is valid? [True, True] Translation: X:118.83, Y:-141.60, Z:-4.03 [[ 1.47638414e-01 -9.89040389e-01 -1.41709662e-03 1.18826903e+02] [-9.88987668e-01 -1.47645176e-01 1.02124622e-02 -1.41600362e+02] [-1.03097650e-02 -1.06260631e-04 -9.99946847e-01 -4.02971307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5465599949999 meters 0.014175830904146777 Centerline is valid? [True, True] Translation: X:118.81, Y:-141.72, Z:-4.03 [[ 2.28272097e-01 -9.73595524e-01 -1.89887020e-03 1.18814578e+02] [-9.73556452e-01 -2.28279950e-01 8.72353118e-03 -1.41716710e+02] [-8.92666490e-03 -1.42681421e-04 -9.99960146e-01 -4.03034328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6065599949999 meters 0.01595758114458024 Centerline is valid? [True, True] Translation: X:118.81, Y:-141.84, Z:-4.03 [[ 3.08243633e-01 -9.51304985e-01 -2.16518771e-03 1.18810807e+02] [-9.51277474e-01 -3.08251190e-01 7.23679422e-03 -1.41837551e+02] [-7.55182010e-03 -1.71001449e-04 -9.99971470e-01 -4.03184761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.666559995 meters 0.016616261812416305 Centerline is valid? [True, True] Translation: X:118.82, Y:-141.95, Z:-4.03 [[ 3.83336441e-01 -9.23605381e-01 -2.50467229e-03 1.18817391e+02] [-9.23582409e-01 -3.83344579e-01 6.51670832e-03 -1.41952765e+02] [-6.97901941e-03 -1.84820500e-04 -9.99975629e-01 -4.03226778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7265599949999 meters 0.01749142118405289 Centerline is valid? [True, True] Translation: X:118.83, Y:-142.07, Z:-4.03 [[ 4.54449736e-01 -8.90766844e-01 -3.14111796e-03 1.18832974e+02] [-8.90742293e-01 -4.54460543e-01 6.61683469e-03 -1.42065049e+02] [-7.32157113e-03 -2.09092169e-04 -9.99973175e-01 -4.03166827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.786559995 meters 0.018663938854846414 Centerline is valid? [True, True] Translation: X:118.86, Y:-142.18, Z:-4.03 [[ 5.22600292e-01 -8.52564647e-01 -4.73903435e-03 1.18860688e+02] [-8.52524395e-01 -5.22621697e-01 8.28963370e-03 -1.42184159e+02] [-9.54417080e-03 -2.92022606e-04 -9.99954411e-01 -4.02947200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8465599949999 meters 0.019249342813731574 Centerline is valid? [True, True] Translation: X:118.89, Y:-142.28, Z:-4.03 [[ 5.86854880e-01 -8.09662763e-01 -6.89632753e-03 1.18887359e+02] [-8.09598871e-01 -5.86895269e-01 1.01789620e-02 -1.42278672e+02] [-1.22889485e-02 -3.90314564e-04 -9.99924412e-01 -4.02715964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.906559995 meters 0.018170437261085047 Centerline is valid? [True, True] Translation: X:118.93, Y:-142.38, Z:-4.03 [[ 6.46052598e-01 -7.63250905e-01 -8.00603657e-03 1.18930005e+02] [-7.63184507e-01 -6.46102079e-01 1.00752884e-02 -1.42377229e+02] [-1.28626898e-02 -3.99083138e-04 -9.99917193e-01 -4.02736393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9665599949999 meters 0.01706290794236273 Centerline is valid? [True, True] Translation: X:118.98, Y:-142.47, Z:-4.03 [[ 6.99385196e-01 -7.14693769e-01 -8.55360241e-03 1.18977974e+02] [-7.14634232e-01 -6.99437416e-01 9.23123693e-03 -1.42466859e+02] [-1.25802171e-02 -3.43493349e-04 -9.99920807e-01 -4.02778598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.026559995 meters 0.015296830718258833 Centerline is valid? [True, True] Translation: X:119.03, Y:-142.55, Z:-4.03 [[ 7.47847555e-01 -6.63811420e-01 -8.85627032e-03 1.19032890e+02] [-6.63760657e-01 -7.47899946e-01 8.21344839e-03 -1.42547780e+02] [-1.20757849e-02 -2.63963493e-04 -9.99927050e-01 -4.02857967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0865599949999 meters 0.01511390997891164 Centerline is valid? [True, True] Translation: X:119.06, Y:-142.57, Z:-4.03 [[ 7.95690866e-01 -6.05627099e-01 -9.58450091e-03 1.19059081e+02] [-6.05579633e-01 -7.95748555e-01 7.58586528e-03 -1.42572878e+02] [-1.22210583e-02 -2.31825180e-04 -9.99925293e-01 -4.02792857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.146559995 meters 0.01485901367747143 Centerline is valid? [True, True] Translation: X:119.09, Y:-142.59, Z:-4.03 [[ 8.39907863e-01 -5.42623350e-01 -1.07089412e-02 1.19089488e+02] [-5.42575766e-01 -8.39976099e-01 7.18964633e-03 -1.42592945e+02] [-1.28965247e-02 -2.28228489e-04 -9.99916810e-01 -4.02758217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2065599949999 meters 0.014678097986360734 Centerline is valid? [True, True] Translation: X:119.12, Y:-142.61, Z:-4.03 [[ 8.80267748e-01 -4.74330077e-01 -1.18181957e-02 1.19118328e+02] [-4.74283435e-01 -8.80347041e-01 6.65661729e-03 -1.42614674e+02] [-1.35615474e-02 -2.54431072e-04 -9.99908006e-01 -4.02864098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.266559995 meters 0.01551191832715844 Centerline is valid? [True, True] Translation: X:119.15, Y:-142.64, Z:-4.03 [[ 9.16244120e-01 -4.00438948e-01 -1.20565898e-02 1.19147159e+02] [-4.00399920e-01 -9.16323391e-01 5.59880251e-03 -1.42636116e+02] [-1.32897138e-02 -3.02412299e-04 -9.99911642e-01 -4.02948935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3265599949999 meters 0.016608651964112615 Centerline is valid? [True, True] Translation: X:119.18, Y:-142.66, Z:-4.03 [[ 9.46012763e-01 -3.23944347e-01 -1.09504411e-02 1.19177449e+02] [-3.23918824e-01 -9.46076087e-01 4.07823263e-03 -1.42655373e+02] [-1.16810709e-02 -3.11006100e-04 -9.99931726e-01 -4.03066076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.386559995 meters 0.020355051717980292 Centerline is valid? [True, True] Translation: X:119.21, Y:-142.67, Z:-4.03 [[ 9.69014603e-01 -2.46755996e-01 -1.10534056e-02 1.19207874e+02] [-2.46736013e-01 -9.69077586e-01 3.15787687e-03 -1.42674237e+02] [-1.14908327e-02 -3.32755569e-04 -9.99933923e-01 -4.02885494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4465599949999 meters 0.018820560829036836 Centerline is valid? [True, True] Translation: X:119.24, Y:-142.68, Z:-4.03 [[ 9.85633010e-01 -1.68494669e-01 -1.17096946e-02 1.19243014e+02] [-1.68478344e-01 -9.85702497e-01 2.37396229e-03 -1.42682888e+02] [-1.19422752e-02 -3.67025635e-04 -9.99928621e-01 -4.03006806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.506559995 meters 0.019114995418834674 Centerline is valid? [True, True] Translation: X:119.28, Y:-142.69, Z:-4.03 [[ 9.96069132e-01 -8.77772278e-02 -1.18929741e-02 1.19277495e+02] [-8.77661018e-02 -9.96140047e-01 1.45523000e-03 -1.42692741e+02] [-1.19748039e-02 -4.05709702e-04 -9.99928217e-01 -4.03026519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5665599949999 meters 0.021170863645768704 Centerline is valid? [True, True] Translation: X:119.31, Y:-142.70, Z:-4.03 [[ 9.99906372e-01 -6.95361512e-03 -1.17853157e-02 1.19307837e+02] [-6.94807253e-03 -9.99975731e-01 5.11175125e-04 -1.42700832e+02] [-1.17885842e-02 -4.29242037e-04 -9.99930420e-01 -4.03014260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.626559995 meters 0.02068793938566815 Centerline is valid? [True, True] Translation: X:119.34, Y:-142.70, Z:-4.03 [[ 9.97351179e-01 7.19158332e-02 -1.08967070e-02 1.19338953e+02] [ 7.19159488e-02 -9.97410623e-01 -3.81737722e-04 -1.42702745e+02] [-1.08959443e-02 -4.02920456e-04 -9.99940556e-01 -4.03151983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6865599949999 meters 0.018924240193193893 Centerline is valid? [True, True] Translation: X:119.37, Y:-142.70, Z:-4.03 [[ 9.88696195e-01 1.49681900e-01 -8.66968652e-03 1.19370264e+02] [ 1.49678992e-01 -9.88734153e-01 -9.86916599e-04 -1.42704779e+02] [-8.71973871e-03 -3.21909256e-04 -9.99961931e-01 -4.03345829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.746559995 meters 0.019303912092524626 Centerline is valid? [True, True] Translation: X:119.40, Y:-142.71, Z:-4.03 [[ 9.74133684e-01 2.25823362e-01 -8.20818029e-03 1.19402530e+02] [ 2.25817944e-01 -9.74168219e-01 -1.59309077e-03 -1.42707393e+02] [-8.35590549e-03 -3.01671019e-04 -9.99965043e-01 -4.03361099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8065599949999 meters 0.019431711448965928 Centerline is valid? [True, True] Translation: X:119.43, Y:-142.71, Z:-4.03 [[ 9.54150603e-01 2.99213819e-01 -8.22908755e-03 1.19433313e+02] [ 2.99205283e-01 -9.54186045e-01 -2.27835222e-03 -1.42705859e+02] [-8.53379497e-03 -2.88295330e-04 -9.99963545e-01 -4.03207921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.866559995 meters 0.019317484030011815 Centerline is valid? [True, True] Translation: X:119.46, Y:-142.70, Z:-4.03 [[ 9.28046967e-01 3.72369854e-01 -8.33781444e-03 1.19464474e+02] [ 3.72357648e-01 -9.28084374e-01 -3.02915206e-03 -1.42701004e+02] [-8.86616021e-03 -2.93453595e-04 -9.99960652e-01 -4.03183728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9265599949999 meters 0.018013750663814554 Centerline is valid? [True, True] Translation: X:119.50, Y:-142.69, Z:-4.03 [[ 8.96342313e-01 4.43278516e-01 -8.63796822e-03 1.19495187e+02] [ 4.43261214e-01 -8.96383881e-01 -3.92850006e-03 -1.42694318e+02] [-9.48435516e-03 -3.07595448e-04 -9.99954975e-01 -4.03195764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.986559995 meters 0.01909641824234428 Centerline is valid? [True, True] Translation: X:119.53, Y:-142.69, Z:-4.03 [[ 8.58006176e-01 5.13555618e-01 -9.27524894e-03 1.19526605e+02] [ 5.13530120e-01 -8.58056232e-01 -5.13023905e-03 -1.42688573e+02] [-1.05933482e-02 -3.61342907e-04 -9.99943824e-01 -4.02931839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0465599949999 meters 0.020298197561197998 Centerline is valid? [True, True] Translation: X:119.56, Y:-142.68, Z:-4.03 [[ 8.14763331e-01 5.79706296e-01 -1.00659973e-02 1.19555663e+02] [ 5.79668346e-01 -8.14825401e-01 -6.64639230e-03 -1.42678772e+02] [-1.20549858e-02 -4.19703281e-04 -9.99927248e-01 -4.02703950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1065599949999 meters 0.018680104994893407 Centerline is valid? [True, True] Translation: X:119.58, Y:-142.66, Z:-4.03 [[ 7.67839430e-01 6.40564275e-01 -1.00009260e-02 1.19581991e+02] [ 6.40517001e-01 -7.67904442e-01 -7.79353352e-03 -1.42662089e+02] [-1.26720147e-02 -4.21580798e-04 -9.99919618e-01 -4.02783913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.166559995 meters 0.017915792167975737 Centerline is valid? [True, True] Translation: X:119.61, Y:-142.65, Z:-4.03 [[ 7.16274109e-01 6.97768331e-01 -8.41173721e-03 1.19609285e+02] [ 6.97726087e-01 -7.16323407e-01 -7.68654832e-03 -1.42647096e+02] [-1.13889543e-02 -3.63412944e-04 -9.99935078e-01 -4.02989114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2265599949999 meters 0.01756008730628582 Centerline is valid? [True, True] Translation: X:119.63, Y:-142.63, Z:-4.03 [[ 6.60677076e-01 7.50643245e-01 -6.36550895e-03 1.19633913e+02] [ 7.50612455e-01 -6.60707681e-01 -6.80470797e-03 -1.42629435e+02] [-9.31364873e-03 -2.82315729e-04 -9.99956587e-01 -4.03179750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.286559995 meters 0.017319158328772184 Centerline is valid? [True, True] Translation: X:119.66, Y:-142.61, Z:-4.03 [[ 6.00708342e-01 7.99447793e-01 -5.71961894e-03 1.19658343e+02] [ 7.99415729e-01 -6.00735511e-01 -7.16502604e-03 -1.42611377e+02] [-9.16404247e-03 -2.68262435e-04 -9.99957973e-01 -4.03170822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3465599949999 meters 0.01693670093768757 Centerline is valid? [True, True] Translation: X:119.68, Y:-142.59, Z:-4.03 [[ 5.36683069e-01 8.43762123e-01 -6.06331280e-03 1.19682013e+02] [ 8.43714680e-01 -5.36717229e-01 -8.95294873e-03 -1.42591544e+02] [-1.08084435e-02 -3.10810012e-04 -9.99941539e-01 -4.03086894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.406559995 meters 0.017538779071440948 Centerline is valid? [True, True] Translation: X:119.70, Y:-142.57, Z:-4.03 [[ 4.68259116e-01 8.83567681e-01 -6.44624448e-03 1.19704435e+02] [ 8.83494982e-01 -4.68303326e-01 -1.13407158e-02 -1.42570417e+02] [-1.30390877e-02 -3.84831086e-04 -9.99914913e-01 -4.02926642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4665599949999 meters 0.018094007889779207 Centerline is valid? [True, True] Translation: X:119.73, Y:-142.55, Z:-4.03 [[ 3.97163538e-01 9.17730131e-01 -5.70356268e-03 1.19725205e+02] [ 9.17649630e-01 -3.97204285e-01 -1.21619750e-02 -1.42548126e+02] [-1.34268904e-02 -4.03579170e-04 -9.99909774e-01 -4.02886816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.526559995 meters 0.01872734836044666 Centerline is valid? [True, True] Translation: X:119.74, Y:-142.52, Z:-4.03 [[ 3.22720594e-01 9.46484121e-01 -4.38483457e-03 1.19743002e+02] [ 9.46412565e-01 -3.22750143e-01 -1.16448086e-02 -1.42524321e+02] [-1.24368324e-02 -3.91842983e-04 -9.99922583e-01 -4.03057880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5865599949999 meters 0.020040970750293863 Centerline is valid? [True, True] Translation: X:119.76, Y:-142.50, Z:-4.03 [[ 2.46950483e-01 9.69022984e-01 -3.14871423e-03 1.19757800e+02] [ 9.68961998e-01 -2.46970287e-01 -1.08776675e-02 -1.42499020e+02] [-1.13183487e-02 -3.64739181e-04 -9.99935879e-01 -4.03070831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.646559995 meters 0.020112696775889408 Centerline is valid? [True, True] Translation: X:119.77, Y:-142.47, Z:-4.03 [[ 1.70304876e-01 9.85388609e-01 -2.35353740e-03 1.19767909e+02] [ 9.85322571e-01 -1.70320724e-01 -1.14141043e-02 -1.42471281e+02] [-1.16481846e-02 -3.75115905e-04 -9.99932087e-01 -4.03061838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7065599949999 meters 0.02137175496230095 Centerline is valid? [True, True] Translation: X:119.78, Y:-142.44, Z:-4.03 [[ 9.25882717e-02 9.95703410e-01 -1.45993467e-03 1.19777609e+02] [ 9.95635633e-01 -9.25990123e-02 -1.16236653e-02 -1.42444039e+02] [-1.17089116e-02 -3.77347903e-04 -9.99931377e-01 -4.02950946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.766559995 meters 0.0179581201554686 Centerline is valid? [True, True] Translation: X:119.78, Y:-142.42, Z:-4.03 [[ 1.36131106e-02 9.99907170e-01 -5.79077907e-04 1.19784989e+02] [ 9.99829853e-01 -1.36192630e-02 -1.24411077e-02 -1.42415310e+02] [-1.24478394e-02 -4.09617203e-04 -9.99922439e-01 -4.03131014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8265599949999 meters 0.019126293426717674 Centerline is valid? [True, True] Translation: X:119.79, Y:-142.39, Z:-4.03 [[-6.49030902e-02 9.97891496e-01 3.89725394e-04 1.19794987e+02] [ 9.97816723e-01 6.49030005e-02 -1.22224115e-02 -1.42387376e+02] [-1.22219349e-02 -4.04397762e-04 -9.99925228e-01 -4.03057898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.886559995 meters 0.018816423305214935 Centerline is valid? [True, True] Translation: X:119.80, Y:-142.36, Z:-4.03 [[-1.42120252e-01 9.89848602e-01 1.25646292e-03 1.19799810e+02] [ 9.89783638e-01 1.42125327e-01 -1.13464052e-02 -1.42356984e+02] [-1.14097986e-02 -3.68927523e-04 -9.99934838e-01 -4.03112393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9465599949999 meters 0.017618467166993473 Centerline is valid? [True, True] Translation: X:119.80, Y:-142.33, Z:-4.03 [[-2.14601999e-01 9.76699565e-01 1.98543947e-03 1.19798990e+02] [ 9.76644259e-01 2.14610984e-01 -1.03979380e-02 -1.42328482e+02] [-1.05817586e-02 -2.92350218e-04 -9.99943969e-01 -4.03136214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.006559995 meters 0.015072151677336013 Centerline is valid? [True, True] Translation: X:119.80, Y:-142.30, Z:-4.03 [[-2.86027299e-01 9.58218680e-01 2.31209066e-03 1.19796566e+02] [ 9.58181442e-01 2.86036573e-01 -8.45002886e-03 -1.42298703e+02] [-8.75831799e-03 -2.01536568e-04 -9.99961625e-01 -4.03308558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0665599949999 meters 0.013397093218218307 Centerline is valid? [True, True] Translation: X:119.79, Y:-142.27, Z:-4.03 [[-3.54479709e-01 9.35059987e-01 2.63752888e-03 1.19793768e+02] [ 9.35031281e-01 3.54489497e-01 -7.32808202e-03 -1.42269302e+02] [-7.78717256e-03 -1.31484375e-04 -9.99969671e-01 -4.03490409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.126559995 meters 0.012986667598890759 Centerline is valid? [True, True] Translation: X:119.79, Y:-142.24, Z:-4.03 [[-4.23336941e-01 9.05965396e-01 3.54042561e-03 1.19791031e+02] [ 9.05931432e-01 4.23351730e-01 -7.84552494e-03 -1.42240691e+02] [-8.60661942e-03 -1.13917685e-04 -9.99962956e-01 -4.03411129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1865599949999 meters 0.012825796151381992 Centerline is valid? [True, True] Translation: X:119.78, Y:-142.21, Z:-4.03 [[-4.89152221e-01 8.72183658e-01 5.07661581e-03 1.19784958e+02] [ 8.72134700e-01 4.89178555e-01 -9.24151100e-03 -1.42212301e+02] [-1.05436665e-02 -9.30128281e-05 -9.99944410e-01 -4.03188183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.246559995 meters 0.012639606702307326 Centerline is valid? [True, True] Translation: X:119.77, Y:-142.19, Z:-4.03 [[-5.52714369e-01 8.33347017e-01 6.29088255e-03 1.19774719e+02] [ 8.33291887e-01 5.52750166e-01 -9.58567219e-03 -1.42186827e+02] [-1.14654777e-02 -5.59973588e-05 -9.99934268e-01 -4.03043831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3065599949999 meters 0.012457984083104287 Centerline is valid? [True, True] Translation: X:119.76, Y:-142.16, Z:-4.03 [[-6.13307523e-01 7.89817880e-01 6.44972162e-03 1.19763393e+02] [ 7.89774015e-01 6.13341436e-01 -8.32394359e-03 -1.42159700e+02] [-1.05302810e-02 -1.13146908e-05 -9.99944555e-01 -4.03230922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.366559995 meters 0.012282162392142568 Centerline is valid? [True, True] Translation: X:119.75, Y:-142.13, Z:-4.03 [[-6.72087659e-01 7.40441402e-01 6.68640801e-03 1.19751248e+02] [ 7.40404843e-01 6.72120919e-01 -7.35789530e-03 -1.42131967e+02] [-9.94216501e-03 5.49824842e-06 -9.99950576e-01 -4.03385569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4265599949999 meters 0.012292802884002791 Centerline is valid? [True, True] Translation: X:119.74, Y:-142.11, Z:-4.03 [[-7.27163287e-01 6.86427243e-01 7.15499618e-03 1.19738831e+02] [ 6.86394255e-01 7.27198488e-01 -6.72951906e-03 -1.42105083e+02] [-9.82242762e-03 1.76890715e-05 -9.99951759e-01 -4.03328239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.486559995 meters 0.012276797433800592 Centerline is valid? [True, True] Translation: X:119.76, Y:-142.08, Z:-4.03 [[-7.74413538e-01 6.32630300e-01 7.91045974e-03 1.19758949e+02] [ 6.32597431e-01 7.74453939e-01 -6.44882186e-03 -1.42082731e+02] [-1.02060068e-02 1.00815584e-05 -9.99947917e-01 -4.03295748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5465599949999 meters 0.012212167344148478 Centerline is valid? [True, True] Translation: X:119.78, Y:-142.06, Z:-4.03 [[-8.18788539e-01 5.74034652e-01 8.33942649e-03 1.19777125e+02] [ 5.74004658e-01 8.18831007e-01 -5.86807847e-03 -1.42055018e+02] [-1.01970614e-02 -1.78457507e-05 -9.99948009e-01 -4.03261239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6065599949999 meters 0.012133998078416587 Centerline is valid? [True, True] Translation: X:119.79, Y:-142.03, Z:-4.03 [[-8.58052508e-01 5.13496338e-01 8.21007430e-03 1.19794571e+02] [ 5.13472504e-01 8.58091784e-01 -4.94743967e-03 -1.42029408e+02] [-9.58548946e-03 -2.95155990e-05 -9.99954058e-01 -4.03274592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.666559995 meters 0.012049342122315345 Centerline is valid? [True, True] Translation: X:119.81, Y:-142.00, Z:-4.03 [[-8.92591041e-01 4.50808588e-01 7.26988697e-03 1.19807973e+02] [ 4.50793352e-01 8.92620645e-01 -3.70648611e-03 -1.42001317e+02] [-8.16016697e-03 -3.11595850e-05 -9.99966705e-01 -4.03333304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7265599949999 meters 0.012016034455945164 Centerline is valid? [True, True] Translation: X:119.81, Y:-141.97, Z:-4.03 [[-9.22212106e-01 3.86627649e-01 6.62519133e-03 1.19814923e+02] [ 3.86617467e-01 9.22235903e-01 -2.80602114e-03 -1.41971900e+02] [-7.19487467e-03 -2.63319709e-05 -9.99974116e-01 -4.03361168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.786559995 meters 0.01195405044877048 Centerline is valid? [True, True] Translation: X:119.83, Y:-141.94, Z:-4.03 [[-9.47279272e-01 3.20359925e-01 5.61240261e-03 1.19827445e+02] [ 3.20354166e-01 9.47295898e-01 -1.92089626e-03 -1.41944832e+02] [-5.93198416e-03 -2.16686521e-05 -9.99982405e-01 -4.03399238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8465599949999 meters 0.011846242063985709 Centerline is valid? [True, True] Translation: X:120.03, Y:-141.36, Z:-5.01 [[-9.21010725e-01 -3.89497996e-01 5.52767773e-03 1.20033909e+02] [ 3.89491147e-01 -9.21027313e-01 -2.30994343e-03 -1.41355201e+02] [ 5.99086050e-03 2.54988655e-05 9.99982054e-01 -5.00502164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.906559995 meters 0.011889173491937879 Centerline is valid? [True, True] Translation: X:119.79, Y:-141.93, Z:-4.03 [[-9.47958231e-01 3.18342096e-01 5.78816035e-03 1.19787456e+02] [ 3.18336079e-01 9.47975901e-01 -1.95738071e-03 -1.41926561e+02] [-6.11015320e-03 -1.29348836e-05 -9.99981333e-01 -4.03327780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9665599949999 meters 0.011827523772922536 Centerline is valid? [True, True] Translation: X:119.79, Y:-141.90, Z:-4.03 [[-9.67820694e-01 2.51520960e-01 7.76604284e-03 1.19793711e+02] [ 2.51512801e-01 9.67851852e-01 -2.02588051e-03 -1.41898008e+02] [-8.02593036e-03 -7.42989591e-06 -9.99967792e-01 -4.03149527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.026559995 meters 0.011988826759775318 Centerline is valid? [True, True] Translation: X:119.95, Y:-141.31, Z:-5.01 [[-9.48090250e-01 -3.17867944e-01 9.21131633e-03 1.19948996e+02] [ 3.17854095e-01 -9.48134989e-01 -2.96930823e-03 -1.41307810e+02] [ 9.67741921e-03 1.12682435e-04 9.99953166e-01 -5.00982912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0865599949999 meters 0.01204744607438596 Centerline is valid? [True, True] Translation: X:119.75, Y:-141.88, Z:-4.03 [[-9.68980564e-01 2.46949414e-01 9.62566954e-03 1.19748650e+02] [ 2.46937026e-01 9.69028372e-01 -2.47364344e-03 -1.41881684e+02] [-9.93841169e-03 -1.99782099e-05 -9.99950613e-01 -4.02941485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.146559995 meters 0.011964265796282427 Centerline is valid? [True, True] Translation: X:119.75, Y:-141.85, Z:-4.03 [[-9.84450650e-01 1.75475898e-01 8.07016166e-03 1.19748908e+02] [ 1.75469718e-01 9.84483727e-01 -1.47318963e-03 -1.41850713e+02] [-8.20345210e-03 -3.42135061e-05 -9.99966351e-01 -4.03114587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2065599949999 meters 0.012130898265166924 Centerline is valid? [True, True] Translation: X:119.86, Y:-141.27, Z:-5.01 [[-9.67650867e-01 -2.52240397e-01 5.15573093e-03 1.19855740e+02] [ 2.52235903e-01 -9.67664588e-01 -1.51470272e-03 -1.41268206e+02] [ 5.37108746e-03 -1.65242954e-04 9.99985562e-01 -5.00646991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.266559995 meters 0.012638491637304622 Centerline is valid? [True, True] Translation: X:119.70, Y:-141.83, Z:-4.03 [[-9.86244576e-01 1.65234757e-01 4.37174053e-03 1.19698244e+02] [ 1.65232921e-01 9.86254264e-01 -7.80429579e-04 -1.41834100e+02] [-4.44060183e-03 -4.73389802e-05 -9.99990139e-01 -4.03385947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3265599949999 meters 0.01408759564360485 Centerline is valid? [True, True] Translation: X:119.69, Y:-141.80, Z:-4.03 [[-9.96157200e-01 8.74988646e-02 3.84458491e-03 1.19694146e+02] [ 8.74979423e-02 9.96164617e-01 -4.07761890e-04 -1.41800175e+02] [-3.86551816e-03 -6.98016738e-05 -9.99992526e-01 -4.03452187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.386559995 meters 0.016910086201719028 Centerline is valid? [True, True] Translation: X:119.69, Y:-141.76, Z:-4.03 [[-9.99960703e-01 7.83782959e-03 4.14257085e-03 1.19689734e+02] [ 7.83729243e-03 9.99969277e-01 -1.45884352e-04 -1.41763732e+02] [-4.14358700e-03 -1.13412080e-04 -9.99991409e-01 -4.03339753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4465599949999 meters 0.019931873388494305 Centerline is valid? [True, True] Translation: X:119.70, Y:-141.22, Z:-5.01 [[-9.90487884e-01 -1.37500697e-01 5.22583017e-03 1.19700223e+02] [ 1.37499968e-01 -9.90501645e-01 -5.00178387e-04 -1.41220300e+02] [ 5.24496826e-03 2.23130849e-04 9.99986220e-01 -5.00738961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.506559995 meters 0.020786691757121167 Centerline is valid? [True, True] Translation: X:119.63, Y:-141.75, Z:-4.03 [[-9.99959310e-01 -6.56906880e-03 6.18272043e-03 1.19632126e+02] [-6.57039481e-03 9.99978396e-01 -1.94183660e-04 -1.41753253e+02] [-6.18131125e-03 -2.34798673e-04 -9.99980868e-01 -4.03130737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5665599949999 meters 0.022754638055984776 Centerline is valid? [True, True] Translation: X:119.65, Y:-141.22, Z:-5.01 [[-9.90456719e-01 -1.37662190e-01 6.67903832e-03 1.19648519e+02] [ 1.37661022e-01 -9.90479196e-01 -6.36449808e-04 -1.41223678e+02] [ 6.70306358e-03 2.89067252e-04 9.99977492e-01 -5.00894096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.626559995 meters 0.02126270265042845 Centerline is valid? [True, True] Translation: X:119.58, Y:-141.75, Z:-4.03 [[-9.99921960e-01 -1.04802990e-02 6.79984594e-03 1.19582820e+02] [-1.04818149e-02 9.99945047e-01 -1.87334631e-04 -1.41753989e+02] [-6.79750894e-03 -2.58594738e-04 -9.99976863e-01 -4.03118935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6865599949999 meters 0.02115692143242101 Centerline is valid? [True, True] Translation: X:119.60, Y:-141.22, Z:-5.01 [[-9.91403595e-01 -1.30697885e-01 6.08074087e-03 1.19598875e+02] [ 1.30696594e-01 -9.91422225e-01 -6.10912925e-04 -1.41216849e+02] [ 6.10842667e-03 1.89070849e-04 9.99981326e-01 -5.00764546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.746559995 meters 0.01922011898570094 Centerline is valid? [True, True] Translation: X:119.53, Y:-141.76, Z:-4.03 [[-9.99931667e-01 -1.00691172e-02 5.93925339e-03 1.19533433e+02] [-1.00701257e-02 9.99949285e-01 -1.39910213e-04 -1.41762637e+02] [-5.93754341e-03 -1.99709680e-04 -9.99982353e-01 -4.03245841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8065599949999 meters 0.0184428132074621 Centerline is valid? [True, True] Translation: X:119.53, Y:-141.74, Z:-4.03 [[-9.96840969e-01 -7.91886654e-02 6.10221948e-03 1.19525565e+02] [-7.91883696e-02 9.96859628e-01 2.90442539e-04 -1.41740840e+02] [-6.10605600e-03 -1.93699790e-04 -9.99981339e-01 -4.03251442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.866559995 meters 0.0183198348277005 Centerline is valid? [True, True] Translation: X:119.50, Y:-141.18, Z:-5.01 [[-9.98669814e-01 -5.11768121e-02 6.28786920e-03 1.19500693e+02] [ 5.11771271e-02 -9.98689586e-01 -1.10897476e-04 -1.41175090e+02] [ 6.28530487e-03 2.11045119e-04 9.99980225e-01 -5.00697030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9265599949999 meters 0.01810961292975512 Centerline is valid? [True, True] Translation: X:119.47, Y:-141.75, Z:-4.03 [[-9.96606074e-01 -8.20871851e-02 6.16669313e-03 1.19472192e+02] [-8.20867779e-02 9.96625135e-01 3.19532216e-04 -1.41752939e+02] [-6.17211087e-03 -1.87756223e-04 -9.99980935e-01 -4.03247329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.986559995 meters 0.018093710731788785 Centerline is valid? [True, True] Translation: X:119.44, Y:-141.17, Z:-5.01 [[-9.98947276e-01 -4.53886080e-02 6.64941815e-03 1.19437686e+02] [ 4.53891522e-02 -9.98969379e-01 -6.91239396e-05 -1.41169929e+02] [ 6.64570256e-03 2.32760281e-04 9.99977890e-01 -5.00724326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0465599949999 meters 0.01779423727675673 Centerline is valid? [True, True] Translation: X:119.41, Y:-141.76, Z:-4.03 [[-9.96408856e-01 -8.44141511e-02 6.60624258e-03 1.19410890e+02] [-8.44135434e-02 9.96430738e-01 3.71263515e-04 -1.41764413e+02] [-6.61400307e-03 -1.87726091e-04 -9.99978110e-01 -4.03173122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1065599949999 meters 0.015812616802410442 Centerline is valid? [True, True] Translation: X:119.41, Y:-141.75, Z:-4.03 [[-9.88368402e-01 -1.51988679e-01 5.22915402e-03 1.19406166e+02] [-1.51987265e-01 9.88382226e-01 6.68982521e-04 -1.41746805e+02] [-5.27008066e-03 -1.33563633e-04 -9.99986104e-01 -4.03385745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.166559995 meters 0.014848873352986427 Centerline is valid? [True, True] Translation: X:119.33, Y:-141.13, Z:-5.00 [[-9.99250471e-01 3.85646709e-02 3.35586257e-03 1.19331401e+02] [-3.85645674e-02 -9.99256106e-01 9.55657802e-05 -1.41131232e+02] [ 3.35705163e-03 -3.39232374e-05 9.99994365e-01 -5.00420467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2265599949999 meters 0.013767893925728011 Centerline is valid? [True, True] Translation: X:119.34, Y:-141.77, Z:-4.03 [[-9.88601856e-01 -1.50507260e-01 3.73308567e-03 1.19337485e+02] [-1.50506453e-01 9.88608901e-01 4.97808498e-04 -1.41766980e+02] [-3.76548552e-03 -6.97190771e-05 -9.99992908e-01 -4.03460716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.286559995 meters 0.013501602952625149 Centerline is valid? [True, True] Translation: X:119.26, Y:-141.13, Z:-5.01 [[-9.98787513e-01 4.89886280e-02 4.85990202e-03 1.19256170e+02] [-4.89872627e-02 -9.98799323e-01 3.99638677e-04 -1.41131321e+02] [ 4.87364460e-03 1.61080824e-04 9.99988111e-01 -5.00678643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3465599949999 meters 0.013367095379695043 Centerline is valid? [True, True] Translation: X:119.26, Y:-141.79, Z:-4.03 [[-9.88397663e-01 -1.51753126e-01 6.40698273e-03 1.19259189e+02] [-1.51750557e-01 9.88418423e-01 8.88136115e-04 -1.41786455e+02] [-6.46755720e-03 -9.44315353e-05 -9.99979081e-01 -4.03073761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.406559995 meters 0.013283463295141 Centerline is valid? [True, True] Translation: X:119.17, Y:-141.13, Z:-5.01 [[-9.98369117e-01 5.67262133e-02 6.42209144e-03 1.19174530e+02] [-5.67244464e-02 -9.98389768e-01 4.57073042e-04 -1.41132884e+02] [ 6.43767841e-03 9.20380275e-05 9.99979274e-01 -5.00920113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4665599949999 meters 0.013536729463577582 Centerline is valid? [True, True] Translation: X:119.18, Y:-141.81, Z:-4.03 [[-9.87803842e-01 -1.55597584e-01 5.74130282e-03 1.19179379e+02] [-1.55595399e-01 9.87820523e-01 8.27990914e-04 -1.41805073e+02] [-5.80021014e-03 -7.54276967e-05 -9.99983176e-01 -4.02990928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.526559995 meters 0.013803954834242304 Centerline is valid? [True, True] Translation: X:119.17, Y:-141.78, Z:-4.03 [[-9.74154145e-01 -2.25856279e-01 3.55573283e-03 1.19166674e+02] [-2.25854956e-01 9.74160633e-01 7.74567383e-04 -1.41784259e+02] [-3.63879586e-03 -4.85318548e-05 -9.99993378e-01 -4.03100776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5865599949999 meters 0.01387014248529667 Centerline is valid? [True, True] Translation: X:119.02, Y:-141.12, Z:-5.01 [[-9.91402170e-01 1.30836948e-01 1.85234029e-03 1.19019385e+02] [-1.30836906e-01 -9.91403895e-01 1.44651134e-04 -1.41118499e+02] [ 1.85534309e-03 -9.89470248e-05 9.99998274e-01 -5.00786951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.646559995 meters 0.014126713562386059 Centerline is valid? [True, True] Translation: X:119.07, Y:-141.81, Z:-4.03 [[-9.71729883e-01 -2.36089243e-01 1.70411861e-03 1.19065507e+02] [-2.36088934e-01 9.71731377e-01 3.83068111e-04 -1.41809396e+02] [-1.74638379e-03 -3.00848164e-05 -9.99998475e-01 -4.03114493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7065599949999 meters 0.015898028489572398 Centerline is valid? [True, True] Translation: X:119.05, Y:-141.78, Z:-4.03 [[-9.50671224e-01 -3.10187627e-01 2.80369732e-03 1.19049834e+02] [-3.10186485e-01 9.50675356e-01 8.44234434e-04 -1.41783547e+02] [-2.92727702e-03 -6.70796355e-05 -9.99995713e-01 -4.02834358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.766559995 meters 0.018200615274378336 Centerline is valid? [True, True] Translation: X:119.01, Y:-141.77, Z:-4.03 [[-9.24104801e-01 -3.82116446e-01 4.16397561e-03 1.19010660e+02] [-3.82113175e-01 9.24114174e-01 1.58610139e-03 -1.41765487e+02] [-4.45406430e-03 -1.25386034e-04 -9.99990073e-01 -4.02578739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8265599949999 meters 0.016665967575831955 Centerline is valid? [True, True] Translation: X:118.97, Y:-141.76, Z:-4.02 [[-8.94395420e-01 -4.47237687e-01 5.94005954e-03 1.18968181e+02] [-4.47229106e-01 8.94415128e-01 2.77588879e-03 -1.41759001e+02] [-6.55436120e-03 -1.73825299e-04 -9.99978505e-01 -4.02354039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.886559995 meters 0.01579891608505012 Centerline is valid? [True, True] Translation: X:118.91, Y:-141.76, Z:-4.02 [[-8.60645570e-01 -5.09175156e-01 5.46469857e-03 1.18914152e+02] [-5.09165964e-01 8.60662907e-01 3.06300765e-03 -1.41760583e+02] [-6.26287075e-03 -1.46274554e-04 -9.99980377e-01 -4.02356338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9465599949999 meters 0.015425229139528339 Centerline is valid? [True, True] Translation: X:118.85, Y:-141.77, Z:-4.02 [[-8.23934803e-01 -5.66663880e-01 4.84643465e-03 1.18851636e+02] [-5.66654795e-01 8.23949050e-01 3.21027471e-03 -1.41773344e+02] [-5.81236195e-03 -1.01198377e-04 -9.99983103e-01 -4.02282541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.006559995 meters 0.01346165462540025 Centerline is valid? [True, True] Translation: X:118.78, Y:-141.80, Z:-4.02 [[-7.82036870e-01 -6.23209407e-01 5.32630089e-03 1.18776165e+02] [-6.23195721e-01 7.82055003e-01 4.13114183e-03 -1.41802310e+02] [-6.74002671e-03 -8.86226968e-05 -9.99977282e-01 -4.02348411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0665599949999 meters 0.013376023109679617 Centerline is valid? [True, True] Translation: X:118.69, Y:-141.84, Z:-4.02 [[-7.34482987e-01 -6.78597222e-01 6.36800434e-03 1.18693380e+02] [-6.78572834e-01 7.34510586e-01 5.75401042e-03 -1.41836590e+02] [-8.58202209e-03 -9.49319884e-05 -9.99963169e-01 -4.02227593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.126559995 meters 0.0131279206214083 Centerline is valid? [True, True] Translation: X:118.62, Y:-141.87, Z:-4.02 [[-6.82637179e-01 -7.30730123e-01 6.32213024e-03 1.18618347e+02] [-7.30699914e-01 6.82666449e-01 6.64502195e-03 -1.41873830e+02] [-9.17162391e-03 -8.34409881e-05 -9.99957936e-01 -4.02229289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1865599949999 meters 0.012892150716756574 Centerline is valid? [True, True] Translation: X:118.54, Y:-141.93, Z:-4.02 [[-6.27279732e-01 -7.78774723e-01 5.48353305e-03 1.18536214e+02] [-7.78745769e-01 6.27303697e-01 6.71565592e-03 -1.41928972e+02] [-8.66982364e-03 -5.76833163e-05 -9.99962415e-01 -4.02306545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.246559995 meters 0.012672527151389959 Centerline is valid? [True, True] Translation: X:118.46, Y:-141.99, Z:-4.02 [[-5.67681375e-01 -8.23235288e-01 4.63871011e-03 1.18455989e+02] [-8.23208380e-01 5.67700326e-01 6.65603367e-03 -1.41990486e+02] [-8.11287904e-03 -4.01186889e-05 -9.99967089e-01 -4.02394087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3065599949999 meters 0.012673104149374089 Centerline is valid? [True, True] Translation: X:118.38, Y:-142.06, Z:-4.02 [[-5.04687668e-01 -8.63295607e-01 3.32462079e-03 1.18377196e+02] [-8.63277161e-01 5.04698618e-01 5.64341495e-03 -1.42061973e+02] [-6.54986685e-03 -2.19072689e-05 -9.99978549e-01 -4.02467460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.366559995 meters 0.012726634704135197 Centerline is valid? [True, True] Translation: X:118.30, Y:-142.15, Z:-4.02 [[-4.37366390e-01 -8.99277949e-01 3.13218089e-03 1.18299088e+02] [-8.99255273e-01 4.37377605e-01 6.38631445e-03 -1.42148000e+02] [-7.11301754e-03 -2.34708845e-05 -9.99974702e-01 -4.02428138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4265599949999 meters 0.012877819758410682 Centerline is valid? [True, True] Translation: X:118.23, Y:-142.23, Z:-4.02 [[-3.66052347e-01 -9.30588594e-01 3.24775232e-03 1.18231265e+02] [-9.30552938e-01 3.66066752e-01 8.14627082e-03 -1.42231158e+02] [-8.76972085e-03 -4.02439128e-05 -9.99961545e-01 -4.02330354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.486559995 meters 0.013046803434222683 Centerline is valid? [True, True] Translation: X:118.17, Y:-142.33, Z:-4.02 [[-2.92991288e-01 -9.56111478e-01 2.63557946e-03 1.18166408e+02] [-9.56074249e-01 2.93003138e-01 8.43746089e-03 -1.42329490e+02] [-8.83938625e-03 -4.77071157e-05 -9.99960931e-01 -4.02236548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5465599949999 meters 0.01311790282005299 Centerline is valid? [True, True] Translation: X:118.11, Y:-142.43, Z:-4.02 [[-2.17660638e-01 -9.76022390e-01 2.03478254e-03 1.18109864e+02] [-9.75982271e-01 2.17670141e-01 8.84965863e-03 -1.42430968e+02] [-9.08037637e-03 -5.96893359e-05 -9.99958771e-01 -4.02204173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6065599949999 meters 0.013075324416428138 Centerline is valid? [True, True] Translation: X:118.06, Y:-142.53, Z:-4.02 [[-1.41348116e-01 -9.89959352e-01 1.09191937e-03 1.18064318e+02] [-9.89932797e-01 1.41352322e-01 7.25106905e-03 -1.42530996e+02] [-7.33260895e-03 -5.60018439e-05 -9.99973115e-01 -4.02400550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.666559995 meters 0.013117661990283197 Centerline is valid? [True, True] Translation: X:118.03, Y:-142.64, Z:-4.03 [[-6.43154481e-02 -9.97929559e-01 3.44208536e-04 1.18025348e+02] [-9.97918357e-01 6.43163571e-02 4.72852074e-03 -1.42642432e+02] [-4.74086885e-03 -3.93750868e-05 -9.99988761e-01 -4.02599168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7265599949999 meters 0.013146939611951416 Centerline is valid? [True, True] Translation: X:117.99, Y:-142.76, Z:-4.03 [[ 1.29989363e-02 -9.99915510e-01 -1.55653175e-05 1.17994586e+02] [-9.99908928e-01 -1.29989072e-02 3.62833652e-03 -1.42762484e+02] [-3.62823230e-03 -3.16006156e-05 -9.99993418e-01 -4.02614678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.786559995 meters 0.01329078921689066 Centerline is valid? [True, True] Translation: X:117.97, Y:-142.88, Z:-4.03 [[ 9.04234022e-02 -9.95903354e-01 -3.44235816e-04 1.17972536e+02] [-9.95894393e-01 -9.04240489e-02 4.22490617e-03 -1.42875485e+02] [-4.23872542e-03 -3.92078707e-05 -9.99991016e-01 -4.02538154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8465599949999 meters 0.013727673095537745 Centerline is valid? [True, True] Translation: X:117.96, Y:-143.00, Z:-4.02 [[ 1.68685355e-01 -9.85669432e-01 -1.01080954e-03 1.17957731e+02] [-9.85649070e-01 -1.68688367e-01 6.33603925e-03 -1.42998107e+02] [-6.41575202e-03 -7.24935416e-05 -9.99979416e-01 -4.02245170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.906559995 meters 0.013988559674277064 Centerline is valid? [True, True] Translation: X:117.95, Y:-143.12, Z:-4.02 [[ 2.45150416e-01 -9.69482768e-01 -2.10645884e-03 1.17953761e+02] [-9.69442916e-01 -2.45159439e-01 8.79106647e-03 -1.43118283e+02] [-9.03920572e-03 -1.13041998e-04 -9.99959139e-01 -4.02069347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9665599949999 meters 0.014104535140629492 Centerline is valid? [True, True] Translation: X:117.96, Y:-143.24, Z:-4.02 [[ 3.19621344e-01 -9.47541279e-01 -2.77884204e-03 1.17959559e+02] [-9.47502164e-01 -3.19633401e-01 8.61031210e-03 -1.43238024e+02] [-9.04683687e-03 -1.19080673e-04 -9.99959070e-01 -4.02098328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.026559995 meters 0.013764533340543311 Centerline is valid? [True, True] Translation: X:117.98, Y:-143.36, Z:-4.02 [[ 3.91243862e-01 -9.20281954e-01 -3.06046171e-03 1.17978643e+02] [-9.20251691e-01 -3.91255818e-01 7.46397826e-03 -1.43364230e+02] [-8.06638794e-03 -1.03840618e-04 -9.99967461e-01 -4.02248448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0865599949999 meters 0.013798354177106804 Centerline is valid? [True, True] Translation: X:118.00, Y:-143.47, Z:-4.02 [[ 4.60009733e-01 -8.87908817e-01 -2.99633782e-03 1.17998453e+02] [-8.87888831e-01 -4.60019484e-01 5.95798498e-03 -1.43469866e+02] [-6.66852117e-03 -8.03161938e-05 -9.99977762e-01 -4.02371518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.146559995 meters 0.013943785947728264 Centerline is valid? [True, True] Translation: X:118.03, Y:-143.59, Z:-4.02 [[ 5.27195824e-01 -8.49737856e-01 -3.18417761e-03 1.18032537e+02] [-8.49721463e-01 -5.27205435e-01 5.27874735e-03 -1.43587557e+02] [-6.16426720e-03 -7.72695014e-05 -9.99980998e-01 -4.02407120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2065599949999 meters 0.014311560406310502 Centerline is valid? [True, True] Translation: X:118.07, Y:-143.70, Z:-4.02 [[ 5.91872162e-01 -8.06020336e-01 -4.30848402e-03 1.18070468e+02] [-8.05997692e-01 -5.91887834e-01 6.04252258e-03 -1.43697367e+02] [-7.42053535e-03 -1.03772720e-04 -9.99972462e-01 -4.02345221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.266559995 meters 0.015123580915516603 Centerline is valid? [True, True] Translation: X:118.11, Y:-143.80, Z:-4.02 [[ 6.53483080e-01 -7.56919566e-01 -5.71270011e-03 1.18108185e+02] [-7.56888685e-01 -6.53508033e-01 6.83874665e-03 -1.43797839e+02] [-8.90967656e-03 -1.45127149e-04 -9.99960298e-01 -4.02122848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3265599949999 meters 0.0154692428886208 Centerline is valid? [True, True] Translation: X:118.16, Y:-143.90, Z:-4.02 [[ 7.10262551e-01 -7.03908778e-01 -6.28815500e-03 1.18157439e+02] [-7.03879194e-01 -7.10290368e-01 6.45555033e-03 -1.43895938e+02] [-9.01053448e-03 -1.59034168e-04 -9.99959392e-01 -4.02125328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.386559995 meters 0.015005860032503175 Centerline is valid? [True, True] Translation: X:118.21, Y:-143.99, Z:-4.02 [[ 7.61857960e-01 -6.47717913e-01 -5.82695389e-03 1.18214725e+02] [-6.47697571e-01 -7.61880231e-01 5.13530042e-03 -1.43987929e+02] [-7.76566705e-03 -1.38265620e-04 -9.99969837e-01 -4.02248056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4465599949999 meters 0.01450384881390004 Centerline is valid? [True, True] Translation: X:118.24, Y:-144.01, Z:-4.02 [[ 8.08988105e-01 -5.87792920e-01 -6.14238883e-03 1.18236376e+02] [-5.87774833e-01 -8.09011415e-01 4.61275682e-03 -1.44013905e+02] [-7.68060848e-03 -1.21323836e-04 -9.99970496e-01 -4.02250612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.506559995 meters 0.013598368669559782 Centerline is valid? [True, True] Translation: X:118.26, Y:-144.04, Z:-4.02 [[ 8.49436226e-01 -5.27647663e-01 -6.78534576e-03 1.18261856e+02] [-5.27630070e-01 -8.49463323e-01 4.30960850e-03 -1.44035221e+02] [-8.03785721e-03 -8.05851274e-05 -9.99967693e-01 -4.02150675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5665599949999 meters 0.01334251871306928 Centerline is valid? [True, True] Translation: X:118.29, Y:-144.06, Z:-4.02 [[ 8.87313638e-01 -4.61110995e-01 -7.15254203e-03 1.18286714e+02] [-4.61095397e-01 -8.87342463e-01 3.79328632e-03 -1.44058043e+02] [-8.09588029e-03 -6.78304775e-05 -9.99967226e-01 -4.02145805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.626559995 meters 0.013170767677853851 Centerline is valid? [True, True] Translation: X:118.31, Y:-144.08, Z:-4.02 [[ 9.19828840e-01 -3.92245971e-01 -7.61605222e-03 1.18313995e+02] [-3.92232057e-01 -9.19860367e-01 3.30422378e-03 -1.44077949e+02] [-8.30177306e-03 -5.20604931e-05 -9.99965538e-01 -4.02127571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6865599949999 meters 0.013146081970798308 Centerline is valid? [True, True] Translation: X:118.34, Y:-144.10, Z:-4.02 [[ 9.47097774e-01 -3.20859736e-01 -7.40508733e-03 1.18341537e+02] [-3.20849642e-01 -9.47126722e-01 2.54538408e-03 -1.44096100e+02] [-7.83026736e-03 -3.48079743e-05 -9.99969342e-01 -4.02179842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.746559995 meters 0.013157551092943354 Centerline is valid? [True, True] Translation: X:118.37, Y:-144.11, Z:-4.02 [[ 9.69454234e-01 -2.45181152e-01 -6.68511760e-03 1.18370090e+02] [-2.45175071e-01 -9.69477283e-01 1.72720132e-03 -1.44112801e+02] [-6.90454685e-03 -3.54184502e-05 -9.99976163e-01 -4.02251264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8065599949999 meters 0.013467580853566544 Centerline is valid? [True, True] Translation: X:118.40, Y:-144.13, Z:-4.02 [[ 9.86124564e-01 -1.65828202e-01 -7.70405870e-03 1.18399349e+02] [-1.65822648e-01 -9.86154655e-01 1.35867704e-03 -1.44127601e+02] [-7.82270032e-03 -6.23173871e-05 -9.99969400e-01 -4.02177611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.866559995 meters 0.014063889702142993 Centerline is valid? [True, True] Translation: X:118.43, Y:-144.14, Z:-4.02 [[ 9.96331184e-01 -8.51606461e-02 -8.47567060e-03 1.18427026e+02] [-8.51567698e-02 -9.96367229e-01 8.17836250e-04 -1.44137926e+02] [-8.51452789e-03 -9.30750291e-05 -9.99963746e-01 -4.02079971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9265599949999 meters 0.014712149127555776 Centerline is valid? [True, True] Translation: X:118.46, Y:-144.15, Z:-4.02 [[ 9.99955531e-01 -1.86731596e-03 -9.24386906e-03 1.18455855e+02] [-1.86587376e-03 -9.99998246e-01 1.64637826e-04 -1.44149303e+02] [-9.24416028e-03 -1.47382612e-04 -9.99957261e-01 -4.02156621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.986559995 meters 0.016545801972103286 Centerline is valid? [True, True] Translation: X:118.48, Y:-144.16, Z:-4.02 [[ 9.96685274e-01 8.09060756e-02 -8.52479035e-03 1.18484442e+02] [ 8.09046129e-02 -9.96721715e-01 -5.16863725e-04 -1.44158712e+02] [-8.53866107e-03 -1.74544399e-04 -9.99963530e-01 -4.02147876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0465599949999 meters 0.016829756324695026 Centerline is valid? [True, True] Translation: X:118.51, Y:-144.16, Z:-4.02 [[ 9.86929572e-01 1.60910843e-01 -8.81597785e-03 1.18514055e+02] [ 1.60906246e-01 -9.86968926e-01 -1.23297313e-03 -1.44161203e+02] [-8.89949493e-03 -2.01688251e-04 -9.99960378e-01 -4.02144220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1065599949999 meters 0.016090292999983494 Centerline is valid? [True, True] Translation: X:118.54, Y:-144.16, Z:-4.02 [[ 9.71248667e-01 2.37857003e-01 -1.00036694e-02 1.18544728e+02] [ 2.37846857e-01 -9.71300155e-01 -2.20930220e-03 -1.44162422e+02] [-1.02420637e-02 -2.33559512e-04 -9.99947521e-01 -4.02126739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.166559995 meters 0.01550601368150859 Centerline is valid? [True, True] Translation: X:118.58, Y:-144.16, Z:-4.02 [[ 9.49858036e-01 3.12523843e-01 -9.92771384e-03 1.18576247e+02] [ 3.12509295e-01 -9.49909888e-01 -3.02424609e-03 -1.44163370e+02] [-1.03755825e-02 -2.29898397e-04 -9.99946146e-01 -4.02132717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2265599949999 meters 0.015621035509740115 Centerline is valid? [True, True] Translation: X:118.61, Y:-144.16, Z:-4.02 [[ 9.23256447e-01 3.84062562e-01 -9.66856230e-03 1.18606136e+02] [ 3.84043867e-01 -9.23307048e-01 -3.79519118e-03 -1.44161311e+02] [-1.03846426e-02 -2.09217327e-04 -9.99946056e-01 -4.02116051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.286559995 meters 0.014907127740518254 Centerline is valid? [True, True] Translation: X:118.64, Y:-144.15, Z:-4.02 [[ 8.91293263e-01 4.53336834e-01 -9.05730662e-03 1.18635743e+02] [ 4.53315499e-01 -8.91339263e-01 -4.40192492e-03 -1.44154185e+02] [-1.00686877e-02 -1.82411439e-04 -9.99949293e-01 -4.02245652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3465599949999 meters 0.014203504502390062 Centerline is valid? [True, True] Translation: X:118.66, Y:-144.14, Z:-4.02 [[ 8.55041080e-01 5.18486711e-01 -8.73396947e-03 1.18664295e+02] [ 5.18461391e-01 -8.55085674e-01 -5.12607273e-03 -1.44144997e+02] [-1.01260928e-02 -1.45223196e-04 -9.99948719e-01 -4.02218772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.406559995 meters 0.014152683998041714 Centerline is valid? [True, True] Translation: X:118.69, Y:-144.13, Z:-4.02 [[ 8.13071425e-01 5.82099600e-01 -8.65526164e-03 1.18690632e+02] [ 5.82068299e-01 -8.13117482e-01 -6.03790798e-03 -1.44133372e+02] [-1.05524084e-02 -1.28702974e-04 -9.99944314e-01 -4.02125049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4665599949999 meters 0.013738574611532746 Centerline is valid? [True, True] Translation: X:118.72, Y:-144.12, Z:-4.02 [[ 7.64872385e-01 6.44119721e-01 -8.94540333e-03 1.18718323e+02] [ 6.44077859e-01 -7.64924679e-01 -7.34489428e-03 -1.44121281e+02] [-1.15735510e-02 -1.43629428e-04 -9.99933014e-01 -4.02234433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.526559995 meters 0.013995701320352511 Centerline is valid? [True, True] Translation: X:118.75, Y:-144.11, Z:-4.02 [[ 7.11300358e-01 7.02831039e-01 -8.96282247e-03 1.18746319e+02] [ 7.02778208e-01 -7.11356804e-01 -8.61903401e-03 -1.44108467e+02] [-1.24334894e-02 -1.68154336e-04 -9.99922687e-01 -4.02173696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5865599949999 meters 0.014075888406092914 Centerline is valid? [True, True] Translation: X:118.77, Y:-144.09, Z:-4.02 [[ 6.54333003e-01 7.56159404e-01 -8.44255373e-03 1.18769841e+02] [ 7.56099762e-01 -6.54387444e-01 -9.49858007e-03 -1.44093109e+02] [-1.27071418e-02 -1.68178447e-04 -9.99919247e-01 -4.02245743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.646559995 meters 0.013717489459337125 Centerline is valid? [True, True] Translation: X:118.79, Y:-144.08, Z:-4.02 [[ 5.93699718e-01 8.04651948e-01 -7.47573369e-03 1.18794183e+02] [ 8.04591417e-01 -5.93746763e-01 -9.87083826e-03 -1.44075601e+02] [-1.23812819e-02 -1.54597263e-04 -9.99923337e-01 -4.02314247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7065599949999 meters 0.013193182752062976 Centerline is valid? [True, True] Translation: X:118.82, Y:-144.06, Z:-4.02 [[ 5.31445105e-01 8.47067109e-01 -6.58887784e-03 1.18817116e+02] [ 8.47004686e-01 -5.31485936e-01 -1.02840823e-02 -1.44056884e+02] [-1.22132037e-02 -1.15385225e-04 -9.99925409e-01 -4.02371143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.766559995 meters 0.012657890408625883 Centerline is valid? [True, True] Translation: X:118.84, Y:-144.03, Z:-4.02 [[ 4.69573561e-01 8.82875583e-01 -5.60144870e-03 1.18835399e+02] [ 8.82813539e-01 -4.69606968e-01 -1.04666281e-02 -1.44034737e+02] [-1.18712097e-02 -3.01829302e-05 -9.99929534e-01 -4.02469381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8265599949999 meters 0.01321133814904427 Centerline is valid? [True, True] Translation: X:118.85, Y:-144.01, Z:-4.03 [[ 4.06897180e-01 9.13460635e-01 -4.93491905e-03 1.18848610e+02] [ 9.13391205e-01 -4.06927097e-01 -1.12625224e-02 -1.44011939e+02] [-1.22960231e-02 7.51769316e-05 -9.99924398e-01 -4.02555594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.886559995 meters 0.013671895196626857 Centerline is valid? [True, True] Translation: X:118.86, Y:-143.99, Z:-4.03 [[ 3.38505965e-01 9.40954808e-01 -4.21432628e-03 1.18864954e+02] [ 9.40876720e-01 -3.38532170e-01 -1.21229938e-02 -1.43988833e+02] [-1.28338743e-02 1.38544212e-04 -9.99917633e-01 -4.02610683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9465599949999 meters 0.014201604482913681 Centerline is valid? [True, True] Translation: X:118.88, Y:-143.97, Z:-4.03 [[ 2.67088552e-01 9.63665503e-01 -3.53595377e-03 1.18881651e+02] [ 9.63570942e-01 -2.67111883e-01 -1.35011610e-02 -1.43965639e+02] [-1.39550984e-02 1.98863234e-04 -9.99902603e-01 -4.02631058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.006559995 meters 0.014327912664507591 Centerline is valid? [True, True] Translation: X:118.90, Y:-143.94, Z:-4.03 [[ 1.90118358e-01 9.81758098e-01 -2.45902179e-03 1.18897813e+02] [ 9.81662640e-01 -1.90134166e-01 -1.36915843e-02 -1.43942157e+02] [-1.39093679e-02 1.89091705e-04 -9.99903242e-01 -4.02576568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0665599949999 meters 0.013533865020517259 Centerline is valid? [True, True] Translation: X:118.92, Y:-143.92, Z:-4.03 [[ 1.10725780e-01 9.93850047e-01 -1.37322367e-03 1.18916245e+02] [ 9.93754507e-01 -1.10734177e-01 -1.37812309e-02 -1.43916954e+02] [-1.38485398e-02 1.61290326e-04 -9.99904091e-01 -4.02681795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.126559995 meters 0.013069395410192456 Centerline is valid? [True, True] Translation: X:118.93, Y:-143.89, Z:-4.03 [[ 2.82570719e-02 9.99600652e-01 -2.73919015e-04 1.18933092e+02] [ 9.99514546e-01 -2.82582332e-02 -1.31203738e-02 -1.43890756e+02] [-1.31228747e-02 9.69573073e-05 -9.99913887e-01 -4.02686937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1865599949999 meters 0.012540777827072783 Centerline is valid? [True, True] Translation: X:118.95, Y:-143.86, Z:-4.03 [[-5.62804267e-02 9.98414755e-01 7.00732973e-04 1.18948796e+02] [ 9.98340617e-01 5.62847869e-02 -1.21669632e-02 -1.43862460e+02] [-1.21871162e-02 1.48083094e-05 -9.99925734e-01 -4.02783061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.246559995 meters 0.012752012992545587 Centerline is valid? [True, True] Translation: X:118.96, Y:-143.83, Z:-4.03 [[-1.41626192e-01 9.89918755e-01 1.69710734e-03 1.18962395e+02] [ 9.89841014e-01 1.41636339e-01 -1.24062381e-02 -1.43831731e+02] [-1.25215398e-02 -7.71818165e-05 -9.99921600e-01 -4.02738069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3065599949999 meters 0.014102292754214667 Centerline is valid? [True, True] Translation: X:118.97, Y:-143.80, Z:-4.03 [[-2.26527110e-01 9.74001630e-01 2.50876618e-03 1.18972652e+02] [ 9.73933446e-01 2.26540940e-01 -1.15258211e-02 -1.43801244e+02] [-1.17945068e-02 -1.67539649e-04 -9.99930428e-01 -4.02774756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.366559995 meters 0.015208160831307774 Centerline is valid? [True, True] Translation: X:118.98, Y:-143.77, Z:-4.03 [[-3.06953512e-01 9.51719235e-01 3.16858639e-03 1.18975941e+02] [ 9.51661182e-01 3.06969793e-01 -1.05138280e-02 -1.43768657e+02] [-1.09788727e-02 -2.11835773e-04 -9.99939708e-01 -4.02869006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4265599949999 meters 0.016256882990673543 Centerline is valid? [True, True] Translation: X:118.98, Y:-143.74, Z:-4.03 [[-3.85419464e-01 9.22732399e-01 4.09334450e-03 1.18978305e+02] [ 9.22672482e-01 3.85441101e-01 -1.05190254e-02 -1.43735558e+02] [-1.12839887e-02 -2.77420796e-04 -9.99936295e-01 -4.02957015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.486559995 meters 0.017170537350999625 Centerline is valid? [True, True] Translation: X:118.97, Y:-143.70, Z:-4.03 [[-4.57544093e-01 8.89172045e-01 5.14552241e-03 1.18974214e+02] [ 8.89108135e-01 4.57572924e-01 -1.06650593e-02 -1.43704676e+02] [-1.18375243e-02 -3.04809048e-04 -9.99929888e-01 -4.02886620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5465599949999 meters 0.01757147342342239 Centerline is valid? [True, True] Translation: X:118.97, Y:-143.67, Z:-4.03 [[-5.26857160e-01 8.49931422e-01 6.17338662e-03 1.18966791e+02] [ 8.49865557e-01 5.26893222e-01 -1.05861704e-02 -1.43673385e+02] [-1.22502344e-02 -3.30850990e-04 -9.99924908e-01 -4.02842667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6065599949999 meters 0.016815158980429176 Centerline is valid? [True, True] Translation: X:118.96, Y:-143.64, Z:-4.03 [[-5.91881434e-01 8.05990264e-01 7.48749996e-03 1.18957220e+02] [ 8.05918014e-01 5.91928684e-01 -1.07975427e-02 -1.43641188e+02] [-1.31347803e-02 -3.56553978e-04 -9.99913672e-01 -4.02860396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.666559995 meters 0.016932524169202007 Centerline is valid? [True, True] Translation: X:118.94, Y:-143.61, Z:-4.03 [[-6.52652986e-01 7.57599919e-01 9.29743558e-03 1.18944388e+02] [ 7.57514444e-01 6.52719091e-01 -1.13866550e-02 -1.43611124e+02] [-1.46951426e-02 -3.88592656e-04 -9.99891945e-01 -4.02782220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7265599949999 meters 0.01584006956893148 Centerline is valid? [True, True] Translation: X:118.93, Y:-143.58, Z:-4.03 [[-7.07504326e-01 7.06627372e-01 1.07418116e-02 1.18928021e+02] [ 7.06538193e-01 7.07585776e-01 -1.12317381e-02 -1.43583653e+02] [-1.55374066e-02 -3.57003115e-04 -9.99879224e-01 -4.02858645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.786559995 meters 0.014743801525762375 Centerline is valid? [True, True] Translation: X:118.91, Y:-143.56, Z:-4.03 [[-7.56941477e-01 6.53401660e-01 1.02893953e-02 1.18908462e+02] [ 6.53336996e-01 7.57011370e-01 -9.19539997e-03 -1.43558264e+02] [-1.37974788e-02 -2.37937041e-04 -9.99904782e-01 -4.03059978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8465599949999 meters 0.013984200922498776 Centerline is valid? [True, True] Translation: X:118.93, Y:-143.54, Z:-4.03 [[-7.98683019e-01 6.01668931e-01 9.99662412e-03 1.18926413e+02] [ 6.01619235e-01 7.98745561e-01 -7.73463578e-03 -1.43542297e+02] [-1.26384492e-02 -1.63360905e-04 -9.99920118e-01 -4.03153188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.906559995 meters 0.013114959918861453 Centerline is valid? [True, True] Translation: X:118.94, Y:-143.52, Z:-4.03 [[-8.35528846e-01 5.49351151e-01 1.02401529e-02 1.18940425e+02] [ 5.49308793e-01 8.35591591e-01 -6.82223530e-03 -1.43524732e+02] [-1.23043885e-02 -7.51683526e-05 -9.99924295e-01 -4.03205688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9665599949999 meters 0.012978809738435508 Centerline is valid? [True, True] Translation: X:118.96, Y:-143.51, Z:-4.03 [[-8.69465904e-01 4.93866019e-01 1.11981357e-02 1.18959293e+02] [ 4.93825001e-01 8.69538013e-01 -6.36497980e-03 -1.43508815e+02] [-1.28806519e-02 -4.21355554e-06 -9.99917041e-01 -4.03229772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.026559995 meters 0.013200211430191618 Centerline is valid? [True, True] Translation: X:119.28, Y:-142.95, Z:-5.01 [[-8.35471922e-01 -5.49419393e-01 1.11802499e-02 1.19279144e+02] [ 5.49370718e-01 -8.35546725e-01 -7.31337033e-03 -1.42952061e+02] [ 1.33597287e-02 3.19863448e-05 9.99910754e-01 -5.00703786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0865599949999 meters 0.013474847272078698 Centerline is valid? [True, True] Translation: X:118.92, Y:-143.49, Z:-4.03 [[-8.69089079e-01 4.94496191e-01 1.25574544e-02 1.18922792e+02] [ 4.94445547e-01 8.69179794e-01 -7.07723290e-03 -1.43489625e+02] [-1.44143504e-02 5.82315867e-05 -9.99896106e-01 -4.03115578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.146559995 meters 0.013315817200554912 Centerline is valid? [True, True] Translation: X:118.93, Y:-143.46, Z:-4.03 [[-9.02305778e-01 4.30934677e-01 1.18146811e-02 1.18933526e+02] [ 4.30898347e-01 9.02383124e-01 -5.59571499e-03 -1.43461303e+02] [-1.30727564e-02 4.18805649e-05 -9.99914547e-01 -4.03118215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2065599949999 meters 0.013014407219837317 Centerline is valid? [True, True] Translation: X:119.21, Y:-142.89, Z:-5.01 [[-8.73341445e-01 -4.86992490e-01 1.06317882e-02 1.19205287e+02] [ 4.86955111e-01 -8.73406152e-01 -6.03434340e-03 -1.42891903e+02] [ 1.22245492e-02 -9.28385712e-05 9.99925273e-01 -5.00736300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.266559995 meters 0.012918809952937649 Centerline is valid? [True, True] Translation: X:118.89, Y:-143.43, Z:-4.03 [[-9.06257971e-01 4.22596257e-01 1.04352289e-02 1.18894697e+02] [ 4.22567895e-01 9.06318047e-01 -4.89598837e-03 -1.43433575e+02] [-1.15266626e-02 -2.74357857e-05 -9.99933566e-01 -4.03180202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3265599949999 meters 0.01302429042516078 Centerline is valid? [True, True] Translation: X:119.16, Y:-142.88, Z:-5.01 [[-8.71783975e-01 -4.89806389e-01 9.07759590e-03 1.19155439e+02] [ 4.89779294e-01 -8.71831234e-01 -5.15206235e-03 -1.42878925e+02] [ 1.04376447e-02 -4.54668885e-05 9.99945525e-01 -5.00623084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.386559995 meters 0.013907566159065573 Centerline is valid? [True, True] Translation: X:118.85, Y:-143.40, Z:-4.03 [[-9.11933077e-01 4.10273194e-01 7.34645137e-03 1.18852072e+02] [ 4.10259001e-01 9.11962662e-01 -3.41398446e-03 -1.43400277e+02] [-8.10035566e-03 -9.93775512e-05 -9.99967187e-01 -4.03309918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4465599949999 meters 0.015163503291500284 Centerline is valid? [True, True] Translation: X:119.10, Y:-142.87, Z:-5.01 [[-8.67288789e-01 -4.97756862e-01 6.94711400e-03 1.19099698e+02] [ 4.97741705e-01 -8.67316608e-01 -3.88538029e-03 -1.42870402e+02] [ 7.95932205e-03 8.81215977e-05 9.99968320e-01 -5.00676526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.506559995 meters 0.01570987435595674 Centerline is valid? [True, True] Translation: X:118.81, Y:-143.37, Z:-4.03 [[-9.16631447e-01 3.99661181e-01 7.59808184e-03 1.18814246e+02] [ 3.99645913e-01 9.16662921e-01 -3.49752508e-03 -1.43373112e+02] [-8.36270490e-03 -1.69399122e-04 -9.99965018e-01 -4.03109716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5665599949999 meters 0.015590598653903323 Centerline is valid? [True, True] Translation: X:118.82, Y:-143.34, Z:-4.03 [[-9.42935521e-01 3.32872595e-01 8.27271788e-03 1.18820831e+02] [ 3.32858041e-01 9.42971792e-01 -3.11840131e-03 -1.43344929e+02] [-8.83896994e-03 -1.86810698e-04 -9.99960918e-01 -4.03031438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.626559995 meters 0.015905333651767696 Centerline is valid? [True, True] Translation: X:118.83, Y:-143.32, Z:-4.03 [[-9.63839857e-01 2.66355996e-01 8.19837426e-03 1.18827470e+02] [ 2.66344851e-01 9.63874709e-01 -2.44252421e-03 -1.43317449e+02] [-8.55278657e-03 -1.70607418e-04 -9.99963410e-01 -4.02960194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6865599949999 meters 0.015069209033137243 Centerline is valid? [True, True] Translation: X:118.83, Y:-143.29, Z:-4.03 [[-9.80203259e-01 1.97856982e-01 7.36106600e-03 1.18827778e+02] [ 1.97850278e-01 9.80230888e-01 -1.63537795e-03 -1.43290933e+02] [-7.53911520e-03 -1.46613850e-04 -9.99971570e-01 -4.03029697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.746559995 meters 0.015953731492293573 Centerline is valid? [True, True] Translation: X:118.83, Y:-143.26, Z:-4.03 [[-9.91882840e-01 1.26908603e-01 7.91447031e-03 1.18826062e+02] [ 1.26903247e-01 9.91914401e-01 -1.17729925e-03 -1.43259638e+02] [-7.99988648e-03 -1.63370937e-04 -9.99967987e-01 -4.02855212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8065599949999 meters 0.016132569243229953 Centerline is valid? [True, True] Translation: X:118.82, Y:-143.23, Z:-4.03 [[-9.98412875e-01 5.54904374e-02 9.61993811e-03 1.18824806e+02] [ 5.54858901e-02 9.98459198e-01 -7.39154361e-04 -1.43231541e+02] [-9.64613169e-03 -2.04210402e-04 -9.99953454e-01 -4.02599431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.866559995 meters 0.01558371381318589 Centerline is valid? [True, True] Translation: X:118.82, Y:-143.21, Z:-4.03 [[-9.99824106e-01 -1.55189576e-02 1.05318359e-02 1.18818034e+02] [-1.55204414e-02 9.99879549e-01 -5.91571005e-05 -1.43207171e+02] [-1.05296492e-02 -2.22605436e-04 -9.99944537e-01 -4.02534183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9265599949999 meters 0.015350786719051405 Centerline is valid? [True, True] Translation: X:118.82, Y:-142.64, Z:-5.01 [[-9.95620586e-01 -9.29024351e-02 1.04300970e-02 1.18818700e+02] [ 9.28996111e-02 -9.95675193e-01 -7.55967043e-04 -1.42640487e+02] [ 1.04552200e-02 2.16295607e-04 9.99945319e-01 -5.01386103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.986559995 meters 0.014531195054076676 Centerline is valid? [True, True] Translation: X:118.77, Y:-143.21, Z:-4.03 [[-9.99845965e-01 -1.53209093e-02 8.56245050e-03 1.18767196e+02] [-1.53215795e-02 9.99882618e-01 -1.26723255e-05 -1.43213905e+02] [-8.56125127e-03 -1.43860639e-04 -9.99963342e-01 -4.02656905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0465599949999 meters 0.01394590800332497 Centerline is valid? [True, True] Translation: X:118.76, Y:-143.19, Z:-4.03 [[-9.96538451e-01 -8.29165942e-02 5.99623638e-03 1.18762209e+02] [-8.29155780e-02 9.96556487e-01 4.18297974e-04 -1.43191630e+02] [-6.01027210e-03 -8.03313904e-05 -9.99981935e-01 -4.02741980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1065599949999 meters 0.013392976398582692 Centerline is valid? [True, True] Translation: X:118.76, Y:-143.17, Z:-4.03 [[-9.88538790e-01 -1.50866797e-01 5.50192224e-03 1.18755240e+02] [-1.50864790e-01 9.88554099e-01 7.80280039e-04 -1.43170313e+02] [-5.55666613e-03 -5.87092594e-05 -9.99984560e-01 -4.02779431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.166559995 meters 0.013334925382924832 Centerline is valid? [True, True] Translation: X:118.74, Y:-143.15, Z:-4.03 [[-9.75430626e-01 -2.20230393e-01 5.80244800e-03 1.18742454e+02] [-2.20226855e-01 9.75447882e-01 1.24960394e-03 -1.43146844e+02] [-5.93518638e-03 -5.89529188e-05 -9.99982385e-01 -4.02718769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2265599949999 meters 0.01335599669531816 Centerline is valid? [True, True] Translation: X:118.72, Y:-143.13, Z:-4.03 [[-9.56971279e-01 -2.90127587e-01 5.65282418e-03 1.18720486e+02] [-2.90122921e-01 9.56987972e-01 1.64660354e-03 -1.43125587e+02] [-5.88740986e-03 -6.42615661e-05 -9.99982667e-01 -4.02660116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.286559995 meters 0.014103658001275018 Centerline is valid? [True, True] Translation: X:118.69, Y:-143.10, Z:-4.03 [[-9.32799977e-01 -3.60359360e-01 5.03333757e-03 1.18694133e+02] [-3.60354526e-01 9.32813554e-01 1.86779583e-03 -1.43104755e+02] [-5.36824322e-03 -7.15060632e-05 -9.99985588e-01 -4.02589565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3465599949999 meters 0.014067553450251907 Centerline is valid? [True, True] Translation: X:118.66, Y:-143.09, Z:-4.03 [[-9.04109685e-01 -4.27271604e-01 4.96524575e-03 1.18657509e+02] [-4.27265622e-01 9.04123316e-01 2.26216608e-03 -1.43091163e+02] [-5.45575378e-03 -7.62325514e-05 -9.99985114e-01 -4.02580939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.406559995 meters 0.014130851077377458 Centerline is valid? [True, True] Translation: X:118.60, Y:-143.09, Z:-4.02 [[-8.70374165e-01 -4.92361692e-01 5.36432855e-03 1.18601630e+02] [-4.92352958e-01 8.70390692e-01 2.93399403e-03 -1.43090732e+02] [-6.11364790e-03 -8.74704202e-05 -9.99981308e-01 -4.02463418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4665599949999 meters 0.013993517247990304 Centerline is valid? [True, True] Translation: X:118.54, Y:-143.10, Z:-4.02 [[-8.32687777e-01 -5.53721137e-01 4.89573782e-03 1.18538551e+02] [-5.53712084e-01 8.32702166e-01 3.16726680e-03 -1.43101214e+02] [-5.83047406e-03 -7.34848397e-05 -9.99983000e-01 -4.02481300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.526559995 meters 0.013085127976993275 Centerline is valid? [True, True] Translation: X:118.47, Y:-143.12, Z:-4.03 [[-7.90908631e-01 -6.11922266e-01 3.83104674e-03 1.18471567e+02] [-6.11915383e-01 7.90917908e-01 2.90291818e-03 -1.43122492e+02] [-4.80640375e-03 -4.83333869e-05 -9.99988448e-01 -4.02654964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5865599949999 meters 0.012977390815999187 Centerline is valid? [True, True] Translation: X:118.40, Y:-143.15, Z:-4.03 [[-7.43836650e-01 -6.68354923e-01 2.95542752e-03 1.18398715e+02] [-6.68349833e-01 7.43842521e-01 2.60860939e-03 -1.43149924e+02] [-3.94184959e-03 -3.48802171e-05 -9.99992230e-01 -4.02642475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.646559995 meters 0.012875915009545864 Centerline is valid? [True, True] Translation: X:118.32, Y:-143.19, Z:-4.03 [[-6.93040463e-01 -7.20893311e-01 2.78408663e-03 1.18321729e+02] [-7.20887655e-01 6.93046055e-01 2.85568384e-03 -1.43190610e+02] [-3.98814363e-03 -2.79092333e-05 -9.99992047e-01 -4.02584910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7065599949999 meters 0.012637258936108139 Centerline is valid? [True, True] Translation: X:118.24, Y:-143.24, Z:-4.02 [[-6.38884483e-01 -7.69295574e-01 3.30726921e-03 1.18242959e+02] [-7.69285449e-01 6.38893042e-01 3.94699949e-03 -1.43241860e+02] [-5.14940052e-03 -2.25573470e-05 -9.99986742e-01 -4.02439970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.766559995 meters 0.012429215819316157 Centerline is valid? [True, True] Translation: X:118.17, Y:-143.30, Z:-4.02 [[-5.80057044e-01 -8.14569861e-01 3.12511947e-03 1.18166791e+02] [-8.14558189e-01 5.80065463e-01 4.36067003e-03 -1.43299912e+02] [-5.36484425e-03 -1.61542900e-05 -9.99985609e-01 -4.02433954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8265599949999 meters 0.012444193558220623 Centerline is valid? [True, True] Translation: X:118.09, Y:-143.37, Z:-4.02 [[-5.16578422e-01 -8.56235585e-01 2.71234594e-03 1.18088766e+02] [-8.56223947e-01 5.16585543e-01 4.46426374e-03 -1.43371781e+02] [-5.22362017e-03 -1.62332250e-05 -9.99986357e-01 -4.02467188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.886559995 meters 0.012718693823587434 Centerline is valid? [True, True] Translation: X:118.01, Y:-143.45, Z:-4.02 [[-4.48050363e-01 -8.94004332e-01 2.66942541e-03 1.18012788e+02] [-8.93988889e-01 4.48058314e-01 5.25494744e-03 -1.43452201e+02] [-5.89400402e-03 -3.19555451e-05 -9.99982630e-01 -4.02364598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9465599949999 meters 0.012882819652916166 Centerline is valid? [True, True] Translation: X:117.95, Y:-143.54, Z:-4.02 [[-3.76445974e-01 -9.26434955e-01 2.58918728e-03 1.17945768e+02] [-9.26414007e-01 3.76454874e-01 6.23017917e-03 -1.43535269e+02] [-6.74656792e-03 -5.33335035e-05 -9.99977240e-01 -4.02348494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.006559995 meters 0.01371991849225988 Centerline is valid? [True, True] Translation: X:117.88, Y:-143.63, Z:-4.02 [[-3.00580927e-01 -9.53752016e-01 2.86327870e-03 1.17882194e+02] [-9.53712244e-01 3.00594543e-01 8.71070988e-03 -1.43626775e+02] [-9.16854307e-03 -1.12470710e-04 -9.99957962e-01 -4.02169201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0665599949999 meters 0.013781568887549257 Centerline is valid? [True, True] Translation: X:117.83, Y:-143.73, Z:-4.02 [[-2.23370567e-01 -9.74730827e-01 2.32480720e-03 1.17826754e+02] [-9.74684980e-01 2.23382612e-01 9.45502538e-03 -1.43731516e+02] [-9.73542621e-03 -1.53980277e-04 -9.99952598e-01 -4.02242538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.126559995 meters 0.013803315916644953 Centerline is valid? [True, True] Translation: X:117.78, Y:-143.84, Z:-4.02 [[-1.46792020e-01 -9.89166568e-01 1.26613989e-03 1.17782451e+02] [-9.89137145e-01 1.46797421e-01 7.63062897e-03 -1.43835564e+02] [-7.73382914e-03 -1.32270557e-04 -9.99970085e-01 -4.02408989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1865599949999 meters 0.01470821862221283 Centerline is valid? [True, True] Translation: X:117.74, Y:-143.95, Z:-4.02 [[-6.99524023e-02 -9.97550155e-01 5.92107520e-04 1.17743462e+02] [-9.97527424e-01 6.99548061e-02 6.73527720e-03 -1.43945075e+02] [-6.76019758e-03 -1.19494669e-04 -9.99977143e-01 -4.02420709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.246559995 meters 0.014610873469295352 Centerline is valid? [True, True] Translation: X:117.71, Y:-144.06, Z:-4.02 [[ 6.84901553e-03 -9.99976542e-01 7.49373286e-05 1.17714367e+02] [-9.99952904e-01 -6.84833829e-03 6.87673173e-03 -1.44056948e+02] [-6.87605722e-03 -1.22032642e-04 -9.99976352e-01 -4.02458724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3065599949999 meters 0.014302773036632674 Centerline is valid? [True, True] Translation: X:117.70, Y:-144.17, Z:-4.02 [[ 8.36311077e-02 -9.96496664e-01 -4.86844229e-04 1.17696586e+02] [-9.96469441e-01 -8.36324221e-02 7.36695487e-03 -1.44174237e+02] [-7.38186191e-03 -1.30981199e-04 -9.99972745e-01 -4.02395504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.366559995 meters 0.014520252991660277 Centerline is valid? [True, True] Translation: X:117.69, Y:-144.29, Z:-4.02 [[ 1.60956702e-01 -9.86960718e-01 -1.21710035e-03 1.17686765e+02] [-9.86924461e-01 -1.60961223e-01 8.46129277e-03 -1.44291987e+02] [-8.54686955e-03 -1.60715669e-04 -9.99963462e-01 -4.02394205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4265599949999 meters 0.015161509344477976 Centerline is valid? [True, True] Translation: X:117.68, Y:-144.41, Z:-4.02 [[ 2.37433831e-01 -9.71401644e-01 -2.00559340e-03 1.17681897e+02] [-9.71360167e-01 -2.37442231e-01 8.97843544e-03 -1.44411986e+02] [-9.19787952e-03 -1.83630783e-04 -9.99957682e-01 -4.02259784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.486559995 meters 0.015707610316787184 Centerline is valid? [True, True] Translation: X:117.69, Y:-144.53, Z:-4.02 [[ 3.13450951e-01 -9.49598721e-01 -3.28189207e-03 1.17688415e+02] [-9.49538085e-01 -3.13468034e-01 1.07338961e-02 -1.44534200e+02] [-1.12216622e-02 -2.48268420e-04 -9.99937004e-01 -4.02101562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5465599949999 meters 0.016369571728464732 Centerline is valid? [True, True] Translation: X:117.70, Y:-144.65, Z:-4.02 [[ 3.85735010e-01 -9.22599429e-01 -4.33543932e-03 1.17700158e+02] [-9.22533193e-01 -3.85759282e-01 1.10582144e-02 -1.44646730e+02] [-1.18747382e-02 -2.65953770e-04 -9.99929458e-01 -4.02071252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6065599949999 meters 0.01477379826206751 Centerline is valid? [True, True] Translation: X:117.73, Y:-144.77, Z:-4.02 [[ 4.52872231e-01 -8.91564081e-01 -4.49802931e-03 1.17725820e+02] [-8.91515593e-01 -4.52894523e-01 9.30048581e-03 -1.44766556e+02] [-1.03291119e-02 -2.01868491e-04 -9.99946633e-01 -4.02339596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.666559995 meters 0.014160486694026147 Centerline is valid? [True, True] Translation: X:117.75, Y:-144.87, Z:-4.02 [[ 5.17170377e-01 -8.55869958e-01 -4.62777019e-03 1.17750592e+02] [-8.55833070e-01 -5.17191060e-01 7.94756226e-03 -1.44872751e+02] [-9.19552114e-03 -1.49645003e-04 -9.99957709e-01 -4.02436982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7265599949999 meters 0.013803268674047443 Centerline is valid? [True, True] Translation: X:117.79, Y:-144.98, Z:-4.03 [[ 5.79656082e-01 -8.14847249e-01 -4.77360966e-03 1.17786001e+02] [-8.14817883e-01 -5.79675725e-01 6.91897946e-03 -1.44976107e+02] [-8.40505702e-03 -1.21006009e-04 -9.99964670e-01 -4.02579546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.786559995 meters 0.013492813542059074 Centerline is valid? [True, True] Translation: X:117.83, Y:-145.08, Z:-4.03 [[ 6.39316976e-01 -7.68922405e-01 -5.66919328e-03 1.17831597e+02] [-7.68890516e-01 -6.39342100e-01 7.00383916e-03 -1.45078839e+02] [-9.00996279e-03 -1.18684327e-04 -9.99959402e-01 -4.02514749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8465599949999 meters 0.013433421805512729 Centerline is valid? [True, True] Translation: X:117.88, Y:-145.18, Z:-4.02 [[ 6.95200675e-01 -7.18777407e-01 -7.42026973e-03 1.17884584e+02] [-7.18734475e-01 -6.95240262e-01 7.85700737e-03 -1.45180200e+02] [-1.08063097e-02 -1.28993160e-04 -9.99941602e-01 -4.02308065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.906559995 meters 0.013169793065406492 Centerline is valid? [True, True] Translation: X:117.94, Y:-145.27, Z:-4.02 [[ 7.47127541e-01 -6.64626804e-01 -8.46459651e-03 1.17935819e+02] [-6.64582278e-01 -7.47175479e-01 7.69412110e-03 -1.45266148e+02] [-1.14382581e-02 -1.23068949e-04 -9.99934573e-01 -4.02367331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9665599949999 meters 0.01309158373345401 Centerline is valid? [True, True] Translation: X:117.96, Y:-145.29, Z:-4.02 [[ 7.96600087e-01 -6.04447913e-01 -8.42745074e-03 1.17956799e+02] [-6.04412608e-01 -7.96644656e-01 6.53391944e-03 -1.45291899e+02] [-1.06630976e-02 -1.11263319e-04 -9.99943141e-01 -4.02486234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.026559995 meters 0.013356829665611298 Centerline is valid? [True, True] Translation: X:117.98, Y:-145.32, Z:-4.02 [[ 8.41952477e-01 -5.39464063e-01 -9.72371364e-03 1.17978729e+02] [-5.39426252e-01 -8.42008614e-01 6.38846487e-03 -1.45317669e+02] [-1.16337979e-02 -1.33557420e-04 -9.99932316e-01 -4.02349234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0865599949999 meters 0.013789968256705856 Centerline is valid? [True, True] Translation: X:118.00, Y:-145.34, Z:-4.02 [[ 8.82784978e-01 -4.69666203e-01 -1.02146713e-02 1.18002517e+02] [-4.69632602e-01 -8.82844058e-01 5.62038221e-03 -1.45340827e+02] [-1.16576654e-02 -1.64446324e-04 -9.99932034e-01 -4.02335898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.146559995 meters 0.014446822370748447 Centerline is valid? [True, True] Translation: X:118.03, Y:-145.36, Z:-4.02 [[ 9.17833524e-01 -3.96842462e-01 -9.88348896e-03 1.18028349e+02] [-3.96817329e-01 -9.17886718e-01 4.46992811e-03 -1.45362190e+02] [-1.08457805e-02 -1.80710181e-04 -9.99941167e-01 -4.02462350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2065599949999 meters 0.014263496761493478 Centerline is valid? [True, True] Translation: X:118.06, Y:-145.38, Z:-4.03 [[ 9.46565692e-01 -3.22386141e-01 -8.97585676e-03 1.18055675e+02] [-3.22369903e-01 -9.46608232e-01 3.24036943e-03 -1.45384010e+02] [-9.54127010e-03 -1.73676465e-04 -9.99954466e-01 -4.02610025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.266559995 meters 0.015330344010946316 Centerline is valid? [True, True] Translation: X:118.08, Y:-145.40, Z:-4.03 [[ 9.68998286e-01 -2.46913634e-01 -8.71664649e-03 1.18083369e+02] [-2.46902073e-01 -9.69037476e-01 2.39525297e-03 -1.45403193e+02] [-9.03817773e-03 -1.68837932e-04 -9.99959141e-01 -4.02541241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3265599949999 meters 0.016026080334538655 Centerline is valid? [True, True] Translation: X:118.12, Y:-145.41, Z:-4.03 [[ 9.85583818e-01 -1.68956080e-01 -8.85327734e-03 1.18115616e+02] [-1.68947607e-01 -9.85623564e-01 1.70181482e-03 -1.45414806e+02] [-9.01353073e-03 -1.81541130e-04 -9.99959361e-01 -4.02590354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.386559995 meters 0.015983390155280438 Centerline is valid? [True, True] Translation: X:118.15, Y:-145.42, Z:-4.03 [[ 9.95857980e-01 -9.03687279e-02 -1.00187738e-02 1.18147598e+02] [-9.03620021e-02 -9.95908353e-01 1.12289735e-03 -1.45424293e+02] [-1.00792554e-02 -2.12929826e-04 -9.99949180e-01 -4.02530203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4465599949999 meters 0.015285123163429426 Centerline is valid? [True, True] Translation: X:118.18, Y:-145.43, Z:-4.02 [[ 9.99863031e-01 -1.24178503e-02 -1.09414638e-02 1.18177139e+02] [-1.24146093e-02 -9.99922870e-01 3.64082812e-04 -1.45433059e+02] [-1.09451410e-02 -2.28198945e-04 -9.99940074e-01 -4.02416952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.506559995 meters 0.014308490431482144 Centerline is valid? [True, True] Translation: X:118.21, Y:-145.44, Z:-4.03 [[ 9.97953501e-01 6.29985746e-02 -1.09539812e-02 1.18207491e+02] [ 6.29969418e-02 -9.98013598e-01 -4.94381462e-04 -1.45438424e+02] [-1.09633675e-02 -1.96697603e-04 -9.99939881e-01 -4.02511297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5665599949999 meters 0.014198783412118826 Centerline is valid? [True, True] Translation: X:118.24, Y:-145.44, Z:-4.02 [[ 9.90387742e-01 1.37901758e-01 -1.07343056e-02 1.18236585e+02] [ 1.37895417e-01 -9.90445899e-01 -1.33217806e-03 -1.45442256e+02] [-1.08154586e-02 -1.60838727e-04 -9.99941498e-01 -4.02459159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.626559995 meters 0.01403129636550602 Centerline is valid? [True, True] Translation: X:118.27, Y:-145.44, Z:-4.02 [[ 9.76876335e-01 2.13504945e-01 -1.13254379e-02 1.18266033e+02] [ 2.13492427e-01 -9.76941971e-01 -2.31708510e-03 -1.45439178e+02] [-1.15590048e-02 -1.54389628e-04 -9.99933181e-01 -4.02368037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6865599949999 meters 0.014091874325229469 Centerline is valid? [True, True] Translation: X:118.29, Y:-145.43, Z:-4.02 [[ 9.57225276e-01 2.89098606e-01 -1.19065988e-02 1.18294912e+02] [ 2.89078353e-01 -9.57299310e-01 -3.42583475e-03 -1.45433530e+02] [-1.23885829e-02 -1.62644354e-04 -9.99923245e-01 -4.02251612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.746559995 meters 0.013926234240344672 Centerline is valid? [True, True] Translation: X:118.32, Y:-145.42, Z:-4.02 [[ 9.32196861e-01 3.61771414e-01 -1.14217672e-02 1.18321608e+02] [ 3.61746126e-01 -9.32266820e-01 -4.27980953e-03 -1.45422497e+02] [-1.21964473e-02 -1.42155029e-04 -9.99925611e-01 -4.02266846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8065599949999 meters 0.01280611976721755 Centerline is valid? [True, True] Translation: X:118.35, Y:-145.41, Z:-4.03 [[ 9.01971300e-01 4.31687099e-01 -9.69649043e-03 1.18350621e+02] [ 4.31663358e-01 -9.02023413e-01 -4.52845886e-03 -1.45414877e+02] [-1.07013387e-02 -1.01079700e-04 -9.99942734e-01 -4.02646237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.866559995 meters 0.012583279070870075 Centerline is valid? [True, True] Translation: X:118.38, Y:-145.41, Z:-4.03 [[ 8.66403332e-01 4.99273631e-01 -8.43257284e-03 1.18379491e+02] [ 4.99250795e-01 -8.66444364e-01 -4.77571006e-03 -1.45407274e+02] [-9.69074132e-03 -7.22775930e-05 -9.99953041e-01 -4.02660412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9265599949999 meters 0.012505861908109803 Centerline is valid? [True, True] Translation: X:118.41, Y:-145.40, Z:-4.03 [[ 8.25398888e-01 5.64494208e-01 -7.93498726e-03 1.18408012e+02] [ 5.64468805e-01 -8.25437027e-01 -5.35568725e-03 -1.45397596e+02] [-9.57308673e-03 -5.84744736e-05 -9.99954175e-01 -4.02649328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.986559995 meters 0.012402873924800637 Centerline is valid? [True, True] Translation: X:118.44, Y:-145.39, Z:-4.03 [[ 7.79722408e-01 6.26079478e-01 -7.57979847e-03 1.18436061e+02] [ 6.26050437e-01 -7.79759249e-01 -6.03034018e-03 -1.45385764e+02] [-9.68589019e-03 -4.33447714e-05 -9.99953090e-01 -4.02613674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0465599949999 meters 0.01246675366698604 Centerline is valid? [True, True] Translation: X:118.46, Y:-145.37, Z:-4.03 [[ 7.28858325e-01 6.84623309e-01 -7.51436804e-03 1.18461878e+02] [ 6.84587460e-01 -7.28897059e-01 -7.00617575e-03 -1.45371473e+02] [-1.02737920e-02 -3.77326084e-05 -9.99947223e-01 -4.02529584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1065599949999 meters 0.01249836886999979 Centerline is valid? [True, True] Translation: X:118.49, Y:-145.36, Z:-4.03 [[ 6.71965005e-01 7.40545583e-01 -7.43446697e-03 1.18489640e+02] [ 7.40501179e-01 -6.72006128e-01 -8.10967737e-03 -1.45359084e+02] [-1.10015931e-02 -5.58121555e-05 -9.99939479e-01 -4.02515960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.166559995 meters 0.012602933599072578 Centerline is valid? [True, True] Translation: X:118.52, Y:-145.34, Z:-4.02 [[ 6.10746185e-01 7.91797913e-01 -6.72036909e-03 1.18515962e+02] [ 7.91751261e-01 -6.10783153e-01 -8.59539517e-03 -1.45343519e+02] [-1.09105042e-02 -7.12558927e-05 -9.99940476e-01 -4.02463882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2265599949999 meters 0.012981576466154145 Centerline is valid? [True, True] Translation: X:118.54, Y:-145.33, Z:-4.02 [[ 5.45848635e-01 8.37863959e-01 -5.76669238e-03 1.18538744e+02] [ 8.37818759e-01 -5.45879090e-01 -8.70323624e-03 -1.45326450e+02] [-1.04400448e-02 -8.07934284e-05 -9.99945498e-01 -4.02399796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.286559995 meters 0.01271984383237376 Centerline is valid? [True, True] Translation: X:118.56, Y:-145.31, Z:-4.02 [[ 4.78515873e-01 8.78063647e-01 -5.17601805e-03 1.18560467e+02] [ 8.78014140e-01 -4.78543859e-01 -9.32447675e-03 -1.45306604e+02] [-1.06644357e-02 -8.27069073e-05 -9.99943130e-01 -4.02492254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3465599949999 meters 0.012711255932418153 Centerline is valid? [True, True] Translation: X:118.58, Y:-145.28, Z:-4.03 [[ 4.08057962e-01 9.12946117e-01 -4.25299985e-03 1.18578673e+02] [ 9.12898610e-01 -4.08080116e-01 -9.31380736e-03 -1.45284561e+02] [-1.02385689e-02 -8.19844100e-05 -9.99947581e-01 -4.02546594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.406559995 meters 0.012926621419417849 Centerline is valid? [True, True] Translation: X:118.59, Y:-145.26, Z:-4.03 [[ 3.34592792e-01 9.42357410e-01 -3.18986379e-03 1.18593763e+02] [ 9.42316889e-01 -3.34607987e-01 -8.73925566e-03 -1.45261661e+02] [-9.30285624e-03 -8.17705705e-05 -9.99956724e-01 -4.02629953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4665599949999 meters 0.013097647676966636 Centerline is valid? [True, True] Translation: X:118.61, Y:-145.24, Z:-4.03 [[ 2.57275334e-01 9.66335836e-01 -2.11074958e-03 1.18611677e+02] [ 9.66306101e-01 -2.57283977e-01 -7.58114548e-03 -1.45237135e+02] [-7.86899460e-03 -8.91884569e-05 -9.99969035e-01 -4.02748261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.526559995 meters 0.013530964293132677 Centerline is valid? [True, True] Translation: X:118.63, Y:-145.21, Z:-4.03 [[ 1.78069194e-01 9.84017078e-01 -1.32405868e-03 1.18627863e+02] [ 9.83993784e-01 -1.78074090e-01 -6.77137998e-03 -1.45211440e+02] [-6.89893409e-03 -9.70913361e-05 -9.99976197e-01 -4.02795908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5865599949999 meters 0.014007653723070702 Centerline is valid? [True, True] Translation: X:118.64, Y:-145.18, Z:-4.03 [[ 9.77672709e-02 9.95208887e-01 -9.12324559e-04 1.18641737e+02] [ 9.95177413e-01 -9.77714357e-02 -7.91600519e-03 -1.45184653e+02] [-7.96727800e-03 -1.33998570e-04 -9.99968252e-01 -4.02740685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.646559995 meters 0.014555182703674736 Centerline is valid? [True, True] Translation: X:118.65, Y:-145.16, Z:-4.03 [[ 1.78624354e-02 9.99840401e-01 -3.26287011e-04 1.18652679e+02] [ 9.99800209e-01 -1.78646435e-02 -8.96640609e-03 -1.45156949e+02] [-8.97080406e-03 -1.66059972e-04 -9.99959748e-01 -4.02666206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7065599949999 meters 0.015072224544068872 Centerline is valid? [True, True] Translation: X:118.66, Y:-145.13, Z:-4.03 [[-6.20056689e-02 9.98075729e-01 3.69556848e-04 1.18660930e+02] [ 9.98037053e-01 6.20065201e-02 -8.78814068e-03 -1.45128134e+02] [-8.79414484e-03 -1.76083113e-04 -9.99961315e-01 -4.02674106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.766559995 meters 0.015931375100140158 Centerline is valid? [True, True] Translation: X:118.67, Y:-145.10, Z:-4.03 [[-1.40119490e-01 9.90133924e-01 1.15810733e-03 1.18665454e+02] [ 9.90087709e-01 1.40124141e-01 -9.56837932e-03 -1.45099936e+02] [-9.63625576e-03 -1.94088592e-04 -9.99953551e-01 -4.02617412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8265599949999 meters 0.014424573489625777 Centerline is valid? [True, True] Translation: X:118.67, Y:-145.07, Z:-4.03 [[-2.16264342e-01 9.76333243e-01 1.76989709e-03 1.18666295e+02] [ 9.76293769e-01 2.16271517e-01 -8.78108710e-03 -1.45070955e+02] [-8.95604558e-03 -1.71096527e-04 -9.99959879e-01 -4.02885379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.886559995 meters 0.013858388468444938 Centerline is valid? [True, True] Translation: X:118.67, Y:-145.04, Z:-4.03 [[-2.89796048e-01 9.57085916e-01 2.19072778e-03 1.18665719e+02] [ 9.57054984e-01 2.89804298e-01 -7.69586030e-03 -1.45042022e+02] [-8.00048183e-03 -1.33582965e-04 -9.99967987e-01 -4.03035565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9465599949999 meters 0.013741683193367785 Centerline is valid? [True, True] Translation: X:118.66, Y:-145.01, Z:-4.03 [[-3.62494208e-01 9.31982462e-01 2.57690867e-03 1.18663273e+02] [ 9.31956669e-01 3.62503350e-01 -6.93459200e-03 -1.45012797e+02] [-7.39705614e-03 -1.12182217e-04 -9.99972635e-01 -4.03082463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.006559995 meters 0.013804031221821776 Centerline is valid? [True, True] Translation: X:118.66, Y:-144.99, Z:-4.03 [[-4.33659564e-01 9.01071954e-01 2.95232313e-03 1.18658411e+02] [ 9.01049469e-01 4.33669601e-01 -6.36636458e-03 -1.44985579e+02] [-7.01688537e-03 -1.00645701e-04 -9.99975376e-01 -4.03030906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0665599949999 meters 0.013943851106933086 Centerline is valid? [True, True] Translation: X:118.65, Y:-144.96, Z:-4.03 [[-5.04228988e-01 8.63558881e-01 4.38022148e-03 1.18652348e+02] [ 8.63523816e-01 5.04247993e-01 -7.78337594e-03 -1.44957589e+02] [-8.93012131e-03 -1.42178209e-04 -9.99960116e-01 -4.02930535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.126559995 meters 0.014774649735013079 Centerline is valid? [True, True] Translation: X:118.64, Y:-144.93, Z:-4.03 [[-5.72250116e-01 8.20052859e-01 6.56600992e-03 1.18644437e+02] [ 8.19994494e-01 5.72287744e-01 -9.78611694e-03 -1.44929166e+02] [-1.17827802e-02 -2.16014577e-04 -9.99930557e-01 -4.02616247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1865599949999 meters 0.014825712587418827 Centerline is valid? [True, True] Translation: X:118.63, Y:-144.90, Z:-4.03 [[-6.35391128e-01 7.72154013e-01 7.50303220e-03 1.18633335e+02] [ 7.72095815e-01 6.35435384e-01 -9.48292028e-03 -1.44901995e+02] [-1.20899671e-02 -2.32303646e-04 -9.99926887e-01 -4.02594909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.246559995 meters 0.015513322895627174 Centerline is valid? [True, True] Translation: X:118.62, Y:-144.88, Z:-4.03 [[-6.95425429e-01 7.18550793e-01 8.26018031e-03 1.18619961e+02] [ 7.18495644e-01 6.95474436e-01 -8.90607734e-03 -1.44876460e+02] [-1.21442132e-02 -2.58609079e-04 -9.99926223e-01 -4.02593857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3065599949999 meters 0.01587503240808956 Centerline is valid? [True, True] Translation: X:118.60, Y:-144.85, Z:-4.03 [[-7.50123935e-01 6.61249307e-01 7.96472036e-03 1.18603651e+02] [ 6.61208613e-01 7.50166179e-01 -7.33981302e-03 -1.44852766e+02] [-1.08283101e-02 -2.39427716e-04 -9.99941344e-01 -4.02677681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.366559995 meters 0.015539354286499458 Centerline is valid? [True, True] Translation: X:118.62, Y:-144.84, Z:-4.03 [[-7.94966289e-01 6.06591150e-01 8.70492447e-03 1.18623331e+02] [ 6.06551378e-01 7.95013909e-01 -6.95054709e-03 -1.44837173e+02] [-1.11366764e-02 -2.45466696e-04 -9.99937955e-01 -4.02693787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4265599949999 meters 0.014714977875372917 Centerline is valid? [True, True] Translation: X:119.07, Y:-144.29, Z:-5.01 [[-7.24076833e-01 -6.89667687e-01 8.43922203e-03 1.19069415e+02] [ 6.89625088e-01 -7.24125963e-01 -7.66993656e-03 -1.44292494e+02] [ 1.14007672e-02 2.66275860e-04 9.99934974e-01 -5.01220412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.486559995 meters 0.01380527058517359 Centerline is valid? [True, True] Translation: X:118.59, Y:-144.82, Z:-4.03 [[-7.92882594e-01 6.09320975e-01 8.07099538e-03 1.18590523e+02] [ 6.09287403e-01 7.92923657e-01 -6.39808810e-03 -1.44820677e+02] [-1.02981724e-02 -1.55376874e-04 -9.99946960e-01 -4.02778262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5465599949999 meters 0.013339119350505675 Centerline is valid? [True, True] Translation: X:118.61, Y:-144.80, Z:-4.03 [[-8.32813778e-01 5.53495644e-01 7.98641153e-03 1.18610186e+02] [ 5.53468748e-01 8.32852061e-01 -5.45792510e-03 -1.44803249e+02] [-9.67243707e-03 -1.25206030e-04 -9.99953213e-01 -4.02859701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6065599949999 meters 0.013104867937955147 Centerline is valid? [True, True] Translation: X:118.63, Y:-144.78, Z:-4.03 [[-8.68949876e-01 4.94828376e-01 8.42564395e-03 1.18627021e+02] [ 4.94803910e-01 8.68990718e-01 -4.92171877e-03 -1.44782965e+02] [-9.75721249e-03 -1.07685337e-04 -9.99952392e-01 -4.02848261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.666559995 meters 0.012877373815893637 Centerline is valid? [True, True] Translation: X:118.99, Y:-144.17, Z:-5.01 [[-8.22517812e-01 -5.68659960e-01 9.50256565e-03 1.18994902e+02] [ 5.68625090e-01 -8.22572672e-01 -6.30124243e-03 -1.44166309e+02] [ 1.13998151e-02 2.20513113e-04 9.99934996e-01 -5.01180475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7265599949999 meters 0.012751255443231113 Centerline is valid? [True, True] Translation: X:118.98, Y:-144.19, Z:-5.01 [[-7.83292793e-01 -6.21569453e-01 1.01890055e-02 1.18982821e+02] [ 6.21518445e-01 -7.83359053e-01 -7.96343871e-03 -1.44194168e+02] [ 1.29314799e-02 9.49507033e-05 9.99916380e-01 -5.01266040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.786559995 meters 0.012602997423291127 Centerline is valid? [True, True] Translation: X:118.54, Y:-144.76, Z:-4.03 [[-8.33006868e-01 5.53154234e-01 1.09522198e-02 1.18539806e+02] [ 5.53105098e-01 8.33078860e-01 -7.37323497e-03 -1.44761377e+02] [-1.32025989e-02 -8.42267539e-05 -9.99912838e-01 -4.02673162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8465599949999 meters 0.012632432576749699 Centerline is valid? [True, True] Translation: X:118.95, Y:-144.17, Z:-5.01 [[-7.86751316e-01 -6.17181514e-01 1.04568552e-02 1.18945091e+02] [ 6.17128448e-01 -7.86820800e-01 -8.09363618e-03 -1.44172376e+02] [ 1.32229138e-02 8.55439105e-05 9.99912570e-01 -5.01206059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.906559995 meters 0.012637668430630956 Centerline is valid? [True, True] Translation: X:118.51, Y:-144.74, Z:-4.03 [[-8.33952755e-01 5.51732660e-01 1.06712029e-02 1.18508228e+02] [ 5.51686607e-01 8.34021024e-01 -7.12874587e-03 -1.44738903e+02] [-1.28331695e-02 -5.78775298e-05 -9.99917650e-01 -4.02678103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9665599949999 meters 0.01242013207880066 Centerline is valid? [True, True] Translation: X:118.52, Y:-144.72, Z:-4.03 [[-8.70810437e-01 4.91513383e-01 1.01870994e-02 1.18524414e+02] [ 4.91479071e-01 8.70870020e-01 -5.80783112e-03 -1.44715790e+02] [-1.17262662e-02 -5.07737832e-05 -9.99931244e-01 -4.02874282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.026559995 meters 0.012443729863134379 Centerline is valid? [True, True] Translation: X:118.54, Y:-144.69, Z:-4.03 [[-9.03869197e-01 4.27711881e-01 9.11158999e-03 1.18538667e+02] [ 4.27689544e-01 9.03915120e-01 -4.37143152e-03 -1.44689807e+02] [-1.01058172e-02 -5.42705293e-05 -9.99948934e-01 -4.02984311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0865599949999 meters 0.012442436073242325 Centerline is valid? [True, True] Translation: X:118.55, Y:-144.66, Z:-4.03 [[-9.32235932e-01 3.61747296e-01 8.66377315e-03 1.18551700e+02] [ 3.61731084e-01 9.32276188e-01 -3.42535038e-03 -1.44663751e+02] [-9.31614064e-03 -5.92786543e-05 -9.99956602e-01 -4.03062710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.146559995 meters 0.012675012130537773 Centerline is valid? [True, True] Translation: X:118.81, Y:-144.01, Z:-5.01 [[-8.99428640e-01 -4.37007226e-01 7.26683115e-03 1.18807736e+02] [ 4.36992732e-01 -8.99457994e-01 -3.55926925e-03 -1.44014694e+02] [ 8.09163576e-03 -2.57563001e-05 9.99967262e-01 -5.00750494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2065599949999 meters 0.012793404430073391 Centerline is valid? [True, True] Translation: X:118.51, Y:-144.64, Z:-4.03 [[-9.34982525e-01 3.54610328e-01 7.69364494e-03 1.18510727e+02] [ 3.54597571e-01 9.35014175e-01 -3.00910312e-03 -1.44641639e+02] [-8.26072612e-03 -8.53110274e-05 -9.99965876e-01 -4.03132012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.266559995 meters 0.013726638096640383 Centerline is valid? [True, True] Translation: X:118.52, Y:-144.61, Z:-4.03 [[-9.58744781e-01 2.84132388e-01 8.78810700e-03 1.18518083e+02] [ 2.84119230e-01 9.58785049e-01 -2.73740040e-03 -1.44609824e+02] [-9.20368972e-03 -1.27598150e-04 -9.99957637e-01 -4.02926204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3265599949999 meters 0.014470459417032582 Centerline is valid? [True, True] Translation: X:118.72, Y:-143.97, Z:-5.01 [[-9.26187221e-01 -3.76937680e-01 9.75791009e-03 1.18722426e+02] [ 3.76919318e-01 -9.26238595e-01 -3.72745674e-03 -1.43968499e+02] [ 1.04431718e-02 2.25622014e-04 9.99945443e-01 -5.01133193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.386559995 meters 0.015324813974571864 Centerline is valid? [True, True] Translation: X:118.47, Y:-144.59, Z:-4.03 [[-9.61239550e-01 2.75485076e-01 1.12472684e-02 1.18474550e+02] [ 2.75463456e-01 9.61305322e-01 -3.45866723e-03 -1.44589920e+02] [-1.17648702e-02 -2.26396306e-04 -9.99930766e-01 -4.02673270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4465599949999 meters 0.014821523806632425 Centerline is valid? [True, True] Translation: X:118.48, Y:-144.56, Z:-4.03 [[-9.78514344e-01 2.05868741e-01 1.13021891e-02 1.18477585e+02] [ 2.05852259e-01 9.78579587e-01 -2.61533319e-03 -1.44562548e+02] [-1.15985069e-02 -2.32559878e-04 -9.99932708e-01 -4.02742747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.506559995 meters 0.014666271259865625 Centerline is valid? [True, True] Translation: X:118.63, Y:-143.92, Z:-5.01 [[-9.50571035e-01 -3.10292776e-01 1.15369119e-02 1.18633463e+02] [ 3.10273361e-01 -9.50641005e-01 -3.48161040e-03 -1.43919109e+02] [ 1.20477801e-02 2.70078436e-04 9.99927386e-01 -5.01198561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5665599949999 meters 0.014870799457264527 Centerline is valid? [True, True] Translation: X:118.43, Y:-144.55, Z:-4.03 [[-9.79159045e-01 2.02778580e-01 1.13319002e-02 1.18434323e+02] [ 2.02762318e-01 9.79224589e-01 -2.57804176e-03 -1.44553186e+02] [-1.16192470e-02 -2.26630551e-04 -9.99932469e-01 -4.02723791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.626559995 meters 0.014266378527377442 Centerline is valid? [True, True] Translation: X:118.59, Y:-143.91, Z:-5.01 [[-9.52609882e-01 -3.04014389e-01 1.04720424e-02 1.18586173e+02] [ 3.03997997e-01 -9.52667425e-01 -3.16158955e-03 -1.43906750e+02] [ 1.09375423e-02 1.71718457e-04 9.99940169e-01 -5.01092410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6865599949999 meters 0.01326253711997887 Centerline is valid? [True, True] Translation: X:118.39, Y:-144.55, Z:-4.03 [[-9.78743048e-01 2.04873124e-01 9.43662535e-03 1.18390003e+02] [ 2.04862312e-01 9.78788530e-01 -2.10880626e-03 -1.44549581e+02] [-9.66849838e-03 -1.30770572e-04 -9.99953250e-01 -4.02917156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.746559995 meters 0.012773432634460508 Centerline is valid? [True, True] Translation: X:118.40, Y:-144.53, Z:-4.03 [[-9.90274105e-01 1.38815368e-01 9.35361512e-03 1.18397167e+02] [ 1.38808309e-01 9.90318275e-01 -1.40290682e-03 -1.44526947e+02] [-9.45780101e-03 -9.09027973e-05 -9.99955270e-01 -4.02918767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8065599949999 meters 0.012367675089364876 Centerline is valid? [True, True] Translation: X:118.40, Y:-144.50, Z:-4.03 [[-9.97440251e-01 7.09662195e-02 8.76022826e-03 1.18397835e+02] [ 7.09629560e-02 9.97478718e-01 -6.83196933e-04 -1.44501598e+02] [-8.78662515e-03 -5.97964282e-05 -9.99961395e-01 -4.02913624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.866559995 meters 0.01219039044598879 Centerline is valid? [True, True] Translation: X:118.40, Y:-144.48, Z:-4.03 [[-9.99963864e-01 1.23621164e-03 8.41084803e-03 1.18398313e+02] [ 1.23577818e-03 9.99999235e-01 -5.67328805e-05 -1.44475587e+02] [-8.41091172e-03 -4.63368880e-05 -9.99964627e-01 -4.02953167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9265599949999 meters 0.012363700328686925 Centerline is valid? [True, True] Translation: X:118.41, Y:-143.79, Z:-5.01 [[-9.96871959e-01 -7.84243513e-02 9.79383493e-03 1.18409357e+02] [ 7.84219811e-02 -9.96920057e-01 -6.26407415e-04 -1.43790442e+02] [ 9.81279608e-03 1.43603951e-04 9.99951843e-01 -5.01130301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.986559995 meters 0.012278477679097902 Centerline is valid? [True, True] Translation: X:118.34, Y:-144.48, Z:-4.03 [[-9.99940238e-01 -1.37955350e-03 1.08451486e-02 1.18338302e+02] [-1.37990178e-03 9.99999048e-01 -2.46313254e-05 -1.44476811e+02] [-1.08451043e-02 -3.95950932e-05 -9.99941189e-01 -4.02663985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0465599949999 meters 0.012142408339214589 Centerline is valid? [True, True] Translation: X:118.34, Y:-143.79, Z:-5.01 [[-9.97347457e-01 -7.19991236e-02 1.06852876e-02 1.18338254e+02] [ 7.19953200e-02 -9.97404695e-01 -7.40690885e-04 -1.43787467e+02] [ 1.07108851e-02 3.05645279e-05 9.99942636e-01 -5.01119618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1065599949999 meters 0.012301775391769482 Centerline is valid? [True, True] Translation: X:118.27, Y:-144.48, Z:-4.03 [[-9.99934988e-01 -4.31926462e-03 1.05529289e-02 1.18270951e+02] [-4.31924580e-03 9.99990672e-01 2.45743583e-05 -1.44479003e+02] [-1.05529366e-02 -2.10079331e-05 -9.99944316e-01 -4.02641604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.166559995 meters 0.012055704523475414 Centerline is valid? [True, True] Translation: X:118.26, Y:-144.45, Z:-4.03 [[-9.97135833e-01 -7.50668754e-02 9.22471984e-03 1.18264283e+02] [-7.50638097e-02 9.97178502e-01 6.78611614e-04 -1.44453308e+02] [-9.24963356e-03 -1.57746577e-05 -9.99957221e-01 -4.02888064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2265599949999 meters 0.012023606175059726 Centerline is valid? [True, True] Translation: X:118.22, Y:-143.76, Z:-5.01 [[-9.99963705e-01 3.71233681e-03 7.66861408e-03 1.18216347e+02] [-3.71293244e-03 -9.99993105e-01 -6.34347214e-05 -1.43761426e+02] [ 7.66832571e-03 -9.19054650e-05 9.99970594e-01 -5.00932696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.286559995 meters 0.012017295578615935 Centerline is valid? [True, True] Translation: X:118.19, Y:-144.46, Z:-4.03 [[-9.96567965e-01 -8.25688282e-02 5.88890825e-03 1.18190669e+02] [-8.25675343e-02 9.96585364e-01 4.62924899e-04 -1.44458339e+02] [-5.90702294e-03 -2.48965093e-05 -9.99982553e-01 -4.03035719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3465599949999 meters 0.012227017842830252 Centerline is valid? [True, True] Translation: X:118.18, Y:-144.43, Z:-4.03 [[-9.87684733e-01 -1.56369383e-01 5.24252080e-03 1.18182821e+02] [-1.56367391e-01 9.87698646e-01 7.90272792e-04 -1.44431219e+02] [-5.30160516e-03 -3.92189262e-05 -9.99985946e-01 -4.03095595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.406559995 meters 0.012584932868480303 Centerline is valid? [True, True] Translation: X:118.17, Y:-144.40, Z:-4.03 [[-9.73358523e-01 -2.29225750e-01 5.36117414e-03 1.18171170e+02] [-2.29222596e-01 9.73373285e-01 1.20376958e-03 -1.44403641e+02] [-5.49435867e-03 -5.72028765e-05 -9.99984904e-01 -4.03023840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4665599949999 meters 0.013430357477768265 Centerline is valid? [True, True] Translation: X:118.02, Y:-143.74, Z:-5.01 [[-9.90507631e-01 1.37321518e-01 6.11829012e-03 1.18020469e+02] [-1.37318182e-01 -9.90526520e-01 9.64043547e-04 -1.43737111e+02] [ 6.19271255e-03 1.14740012e-04 9.99980818e-01 -5.01060553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.526559995 meters 0.01522063574766977 Centerline is valid? [True, True] Translation: X:118.06, Y:-144.42, Z:-4.03 [[-9.69917593e-01 -2.43292173e-01 8.29346944e-03 1.18063156e+02] [-2.43284674e-01 9.69953037e-01 1.91674618e-03 -1.44419967e+02] [-8.51060521e-03 -1.58588170e-04 -9.99963772e-01 -4.02505608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5865599949999 meters 0.014042054121093332 Centerline is valid? [True, True] Translation: X:118.05, Y:-144.40, Z:-4.02 [[-9.50525434e-01 -3.10518168e-01 8.93685119e-03 1.18046462e+02] [-3.10505996e-01 9.50567432e-01 2.75388069e-03 -1.44400865e+02] [-9.35020968e-03 -1.57312245e-04 -9.99956274e-01 -4.02467125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.646559995 meters 0.013265807032950584 Centerline is valid? [True, True] Translation: X:118.02, Y:-144.39, Z:-4.02 [[-9.27073375e-01 -3.74786374e-01 8.37446301e-03 1.18016031e+02] [-3.74772226e-01 9.27111191e-01 3.25860393e-03 -1.44387060e+02] [-8.98533873e-03 -1.17551203e-04 -9.99959624e-01 -4.02484783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7065599949999 meters 0.012133620068454597 Centerline is valid? [True, True] Translation: X:117.96, Y:-144.39, Z:-4.03 [[-9.00550999e-01 -4.34708830e-01 6.01091228e-03 1.17961935e+02] [-4.34699394e-01 9.00571059e-01 2.86446806e-03 -1.44389956e+02] [-6.65846319e-03 -3.33403517e-05 -9.99977832e-01 -4.02675350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.766559995 meters 0.012142026791761877 Centerline is valid? [True, True] Translation: X:117.90, Y:-144.40, Z:-4.03 [[-8.69855107e-01 -4.93281780e-01 5.01790114e-03 1.17902063e+02] [-4.93273461e-01 8.69869580e-01 2.86477889e-03 -1.44398744e+02] [-5.77806279e-03 1.67450873e-05 -9.99983307e-01 -4.02786125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8265599949999 meters 0.012435378460579051 Centerline is valid? [True, True] Translation: X:117.83, Y:-144.41, Z:-4.03 [[-8.32589525e-01 -5.53872158e-01 4.50734145e-03 1.17828488e+02] [-5.53863821e-01 8.32601725e-01 3.03902727e-03 -1.44413876e+02] [-5.43605286e-03 3.38089155e-05 -9.99985224e-01 -4.02745374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.886559995 meters 0.01240705035779028 Centerline is valid? [True, True] Translation: X:117.75, Y:-144.44, Z:-4.03 [[-7.89111438e-01 -6.14227860e-01 5.22245131e-03 1.17748514e+02] [-6.14214035e-01 7.89128718e-01 4.12132368e-03 -1.44437308e+02] [-6.65261813e-03 4.44807637e-05 -9.99977870e-01 -4.02658130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9465599949999 meters 0.012422505734555512 Centerline is valid? [True, True] Translation: X:117.66, Y:-144.47, Z:-4.03 [[-7.40855224e-01 -6.71644517e-01 5.21340544e-03 1.17664871e+02] [-6.71627423e-01 7.40873566e-01 4.79215845e-03 -1.44473356e+02] [-7.08110123e-03 4.88295674e-05 -9.99974928e-01 -4.02667252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.006559995 meters 0.01249013805173581 Centerline is valid? [True, True] Translation: X:117.58, Y:-144.52, Z:-4.03 [[-6.87971906e-01 -7.25724766e-01 4.26869043e-03 1.17580140e+02] [-7.25710411e-01 6.87985147e-01 4.56467414e-03 -1.44516457e+02] [-6.24949269e-03 4.25344811e-05 -9.99980471e-01 -4.02653443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0665599949999 meters 0.012422084391569476 Centerline is valid? [True, True] Translation: X:117.49, Y:-144.57, Z:-4.03 [[-6.30702165e-01 -7.76016792e-01 3.56615337e-03 1.17493551e+02] [-7.76004065e-01 6.30712246e-01 4.44460877e-03 -1.44571458e+02] [-5.69830764e-03 3.58748600e-05 -9.99983764e-01 -4.02649992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.126559995 meters 0.012246142346365113 Centerline is valid? [True, True] Translation: X:117.41, Y:-144.63, Z:-4.03 [[-5.67720984e-01 -8.23213071e-01 3.62273752e-03 1.17409017e+02] [-8.23196054e-01 5.67732542e-01 5.29315213e-03 -1.44633698e+02] [-6.41413800e-03 2.28103004e-05 -9.99979429e-01 -4.02575196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1865599949999 meters 0.012145239644745615 Centerline is valid? [True, True] Translation: X:117.32, Y:-144.71, Z:-4.03 [[-5.01196941e-01 -8.65327395e-01 3.18208095e-03 1.17324326e+02] [-8.65309885e-01 5.01207043e-01 5.50480720e-03 -1.44709604e+02] [-6.35834186e-03 5.50642588e-06 -9.99979786e-01 -4.02525824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.246559995 meters 0.012161676468454247 Centerline is valid? [True, True] Translation: X:117.25, Y:-144.79, Z:-4.02 [[-4.32727723e-01 -9.01519761e-01 2.97275229e-03 1.17250886e+02] [-9.01498524e-01 4.32737934e-01 6.18797846e-03 -1.44785576e+02] [-6.86500755e-03 -2.22196991e-06 -9.99976436e-01 -4.02421177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3065599949999 meters 0.012146922330827457 Centerline is valid? [True, True] Translation: X:117.18, Y:-144.87, Z:-4.02 [[-3.62060181e-01 -9.32152144e-01 2.19237673e-03 1.17180979e+02] [-9.32135151e-01 3.62066818e-01 5.62851772e-03 -1.44874732e+02] [-6.04042172e-03 -5.72926785e-06 -9.99981757e-01 -4.02420003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.366559995 meters 0.01211163687923862 Centerline is valid? [True, True] Translation: X:117.12, Y:-144.97, Z:-4.03 [[-2.91340286e-01 -9.56618279e-01 1.51882742e-03 1.17120159e+02] [-9.56605201e-01 2.91344245e-01 5.00196656e-03 -1.44970006e+02] [-5.22747427e-03 4.35615694e-06 -9.99986337e-01 -4.02516739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4265599949999 meters 0.01237570805220104 Centerline is valid? [True, True] Translation: X:117.07, Y:-145.07, Z:-4.03 [[-2.21362973e-01 -9.75191117e-01 8.47862148e-04 1.17067726e+02] [-9.75183608e-01 2.21364596e-01 3.82716077e-03 -1.45070251e+02] [-3.91989985e-03 2.03704190e-05 -9.99992317e-01 -4.02578423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.486559995 meters 0.013123437623129718 Centerline is valid? [True, True] Translation: X:117.02, Y:-145.18, Z:-4.02 [[-1.50887246e-01 -9.88550788e-01 6.15725927e-04 1.17023769e+02] [-9.88541296e-01 1.50888495e-01 4.33213847e-03 -1.45178032e+02] [-4.37544485e-03 4.49939343e-05 -9.99990427e-01 -4.02484036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5465599949999 meters 0.013944895612575036 Centerline is valid? [True, True] Translation: X:116.99, Y:-145.29, Z:-4.02 [[-7.95617710e-02 -9.96829856e-01 4.04605450e-04 1.16987427e+02] [-9.96810060e-01 7.95627412e-02 6.28280283e-03 -1.45290749e+02] [-6.29507695e-03 9.65561360e-05 -9.99980181e-01 -4.02342590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6065599949999 meters 0.015025886753713979 Centerline is valid? [True, True] Translation: X:116.96, Y:-145.41, Z:-4.02 [[-5.24854217e-03 -9.99986221e-01 -1.02797453e-04 1.16959561e+02] [-9.99953269e-01 5.24753456e-03 8.11930823e-03 -1.45408204e+02] [-8.11865693e-03 1.45407181e-04 -9.99967033e-01 -4.02209203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.666559995 meters 0.01515423228626656 Centerline is valid? [True, True] Translation: X:116.94, Y:-145.52, Z:-4.02 [[ 7.03905755e-02 -9.97519106e-01 -8.94425140e-04 1.16939064e+02] [-9.97469518e-01 -7.03959962e-02 9.94812593e-03 -1.45523124e+02] [-9.98640963e-03 1.91907504e-04 -9.99950116e-01 -4.02197245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7265599949999 meters 0.014693355573735054 Centerline is valid? [True, True] Translation: X:116.93, Y:-145.65, Z:-4.02 [[ 1.50008211e-01 -9.88683302e-01 -1.69239431e-03 1.16925224e+02] [-9.88632106e-01 -1.50017668e-01 1.00627169e-02 -1.45645057e+02] [-1.02027293e-02 1.63665193e-04 -9.99947937e-01 -4.02198557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.786559995 meters 0.013350460043330273 Centerline is valid? [True, True] Translation: X:116.92, Y:-145.77, Z:-4.02 [[ 2.31679778e-01 -9.72789559e-01 -2.22593431e-03 1.16919591e+02] [-9.72748299e-01 -2.31690454e-01 8.95989271e-03 -1.45771528e+02] [-9.23181781e-03 8.94478601e-05 -9.99957382e-01 -4.02321754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8465599949999 meters 0.012877713667924841 Centerline is valid? [True, True] Translation: X:116.92, Y:-145.89, Z:-4.02 [[ 3.11156298e-01 -9.50354693e-01 -2.77779199e-03 1.16923384e+02] [-9.50317805e-01 -3.11168695e-01 8.37337904e-03 -1.45894346e+02] [-8.82204197e-03 3.43555594e-05 -9.99961085e-01 -4.02365299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.906559995 meters 0.013197299394755554 Centerline is valid? [True, True] Translation: X:116.93, Y:-146.02, Z:-4.02 [[ 3.93136820e-01 -9.19474772e-01 -3.09602559e-03 1.16932416e+02] [-9.19445121e-01 -3.93149007e-01 7.38430081e-03 -1.46018596e+02] [-8.00687768e-03 -5.64149174e-05 -9.99967943e-01 -4.02374987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9665599949999 meters 0.013795272372055066 Centerline is valid? [True, True] Translation: X:116.95, Y:-146.14, Z:-4.02 [[ 4.65860524e-01 -8.84850356e-01 -3.71750587e-03 1.16954939e+02] [-8.84820633e-01 -4.65875348e-01 7.25316377e-03 -1.46139066e+02] [-8.14985889e-03 -8.96367810e-05 -9.99966785e-01 -4.02374258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.026559995 meters 0.017331045484368115 Centerline is valid? [True, True] Translation: X:116.98, Y:-146.26, Z:-4.02 [[ 5.41833851e-01 -8.40473258e-01 -4.55859938e-03 1.16980192e+02] [-8.40440409e-01 -5.41852992e-01 7.43330373e-03 -1.46257126e+02] [-8.71758372e-03 -1.96384460e-04 -9.99961982e-01 -4.02319082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.086559995 meters 0.020536007251582746 Centerline is valid? [True, True] Translation: X:117.02, Y:-146.37, Z:-4.02 [[ 6.09946622e-01 -7.92424906e-01 -5.28077228e-03 1.17015594e+02] [-7.92391362e-01 -6.09969423e-01 7.29601850e-03 -1.46368203e+02] [-9.00265639e-03 -2.65743499e-04 -9.99959440e-01 -4.02278677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.146559995 meters 0.019404577759605343 Centerline is valid? [True, True] Translation: X:117.06, Y:-146.47, Z:-4.02 [[ 6.69737860e-01 -7.42575560e-01 -5.72155609e-03 1.17061402e+02] [-7.42544896e-01 -6.69762243e-01 6.75396677e-03 -1.46467089e+02] [-8.84741289e-03 -2.74874982e-04 -9.99960823e-01 -4.02329412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2065599950001 meters 0.017801511677697793 Centerline is valid? [True, True] Translation: X:117.12, Y:-146.56, Z:-4.02 [[ 7.22940366e-01 -6.90877881e-01 -6.70677263e-03 1.17117253e+02] [-6.90844541e-01 -7.22971422e-01 6.79288101e-03 -1.46561304e+02] [-9.54185618e-03 -2.77510625e-04 -9.99954437e-01 -4.02305029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.266559995 meters 0.0160558401206711 Centerline is valid? [True, True] Translation: X:117.17, Y:-146.64, Z:-4.02 [[ 7.70057075e-01 -6.37933277e-01 -7.29630155e-03 1.17173411e+02] [-6.37901775e-01 -7.70091606e-01 6.34391211e-03 -1.46639505e+02] [-9.66581322e-03 -2.30850694e-04 -9.99953258e-01 -4.02380117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.326559995 meters 0.01472822661041793 Centerline is valid? [True, True] Translation: X:117.20, Y:-146.66, Z:-4.02 [[ 8.13924135e-01 -5.80912158e-01 -8.28051535e-03 1.17198695e+02] [-5.80879816e-01 -8.13966235e-01 6.13253049e-03 -1.46661940e+02] [-1.03025214e-02 -1.81430342e-04 -9.99946911e-01 -4.02328389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.386559995 meters 0.014153063827679054 Centerline is valid? [True, True] Translation: X:117.22, Y:-146.68, Z:-4.02 [[ 8.54667266e-01 -5.19103836e-01 -8.66437237e-03 1.17224043e+02] [-5.19075534e-01 -8.54711173e-01 5.42232480e-03 -1.46683035e+02] [-1.02202855e-02 -1.36819800e-04 -9.99947762e-01 -4.02249112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4465599950001 meters 0.013042022089649418 Centerline is valid? [True, True] Translation: X:117.25, Y:-146.70, Z:-4.02 [[ 8.89789979e-01 -4.56290705e-01 -8.51973048e-03 1.17252476e+02] [-4.56269049e-01 -8.89830764e-01 4.44600903e-03 -1.46699445e+02] [-9.60979087e-03 -6.87249616e-05 -9.99953823e-01 -4.02426760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.506559995 meters 0.01283584754888594 Centerline is valid? [True, True] Translation: X:117.28, Y:-146.72, Z:-4.03 [[ 9.21284981e-01 -3.88819043e-01 -7.33047383e-03 1.17279413e+02] [-3.88806506e-01 -9.21314144e-01 3.12244399e-03 -1.46717542e+02] [-7.96773490e-03 -2.65248387e-05 -9.99968257e-01 -4.02622291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.566559995 meters 0.012777520114783843 Centerline is valid? [True, True] Translation: X:117.31, Y:-146.74, Z:-4.03 [[ 9.48514856e-01 -3.16614324e-01 -8.65661324e-03 1.17307413e+02] [-3.16600939e-01 -9.48554358e-01 2.91134176e-03 -1.46735717e+02] [-9.13304072e-03 -2.07590247e-05 -9.99958293e-01 -4.02580589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.626559995 meters 0.012901410480289501 Centerline is valid? [True, True] Translation: X:117.34, Y:-146.75, Z:-4.03 [[ 9.70432571e-01 -2.41174341e-01 -9.77557590e-03 1.17336215e+02] [-2.41161832e-01 -9.70481806e-01 2.45650403e-03 -1.46751883e+02] [-1.00794643e-02 -2.63757295e-05 -9.99949201e-01 -4.02589302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6865599950002 meters 0.01297726930593326 Centerline is valid? [True, True] Translation: X:117.37, Y:-146.77, Z:-4.03 [[ 9.86601778e-01 -1.62906074e-01 -8.86239044e-03 1.17366188e+02] [-1.62899149e-01 -9.86641581e-01 1.50250433e-03 -1.46767458e+02] [-8.98877000e-03 -3.86975769e-05 -9.99959600e-01 -4.02639214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.746559995 meters 0.01296357800596099 Centerline is valid? [True, True] Translation: X:117.39, Y:-146.78, Z:-4.03 [[ 9.96510551e-01 -8.31152343e-02 -7.65368641e-03 1.17394285e+02] [-8.31124043e-02 -9.96539942e-01 6.87636498e-04 -1.46782057e+02] [-7.68435728e-03 -4.91207470e-05 -9.99970474e-01 -4.02717707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.806559995 meters 0.013075282943727423 Centerline is valid? [True, True] Translation: X:117.42, Y:-146.80, Z:-4.03 [[ 9.99979128e-01 -1.67312515e-03 -6.24058926e-03 1.17422914e+02] [-1.67271954e-03 -9.99998599e-01 7.02138198e-05 -1.46797642e+02] [-6.24069799e-03 -5.97735987e-05 -9.99980525e-01 -4.02871696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.866559995 meters 0.013326797257683157 Centerline is valid? [True, True] Translation: X:117.45, Y:-146.81, Z:-4.03 [[ 9.96885701e-01 7.87152159e-02 -4.77637509e-03 1.17452527e+02] [ 7.87145795e-02 -9.96897142e-01 -3.21354471e-04 -1.46808887e+02] [-4.78685016e-03 -5.56166801e-05 -9.99988541e-01 -4.03029899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9265599950002 meters 0.0132633598583973 Centerline is valid? [True, True] Translation: X:117.48, Y:-146.82, Z:-4.03 [[ 9.87622323e-01 1.56790435e-01 -4.34807202e-03 1.17484226e+02] [ 1.56789148e-01 -9.87631893e-01 -6.37424715e-04 -1.46817965e+02] [-4.39423670e-03 -5.21956293e-05 -9.99990344e-01 -4.02946560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.986559995 meters 0.012973736176953656 Centerline is valid? [True, True] Translation: X:117.52, Y:-146.82, Z:-4.03 [[ 9.72701321e-01 2.32008275e-01 -4.92948821e-03 1.17515174e+02] [ 2.32005564e-01 -9.72713811e-01 -1.12270776e-03 -1.46822310e+02] [-5.05545875e-03 -5.16093684e-05 -9.99987220e-01 -4.02777022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.046559995 meters 0.01250618054670154 Centerline is valid? [True, True] Translation: X:117.55, Y:-146.82, Z:-4.03 [[ 9.52602165e-01 3.04171641e-01 -5.35989759e-03 1.17546959e+02] [ 3.04167052e-01 -9.52617243e-01 -1.67133202e-03 -1.46821878e+02] [-5.61430266e-03 -3.81897483e-05 -9.99984239e-01 -4.02661072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.106559995 meters 0.012203647149120082 Centerline is valid? [True, True] Translation: X:117.58, Y:-146.82, Z:-4.03 [[ 9.27035714e-01 3.74928273e-01 -5.79440770e-03 1.17577496e+02] [ 3.74921104e-01 -9.27053822e-01 -2.31863042e-03 -1.46818817e+02] [-6.24104791e-03 -2.29925250e-05 -9.99980524e-01 -4.02596003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.166559995 meters 0.012119489647370618 Centerline is valid? [True, True] Translation: X:117.61, Y:-146.81, Z:-4.03 [[ 8.95644204e-01 4.44735412e-01 -5.64569246e-03 1.17609196e+02] [ 4.44726662e-01 -8.95661997e-01 -2.78979534e-03 -1.46814174e+02] [-6.29735296e-03 -1.21259326e-05 -9.99980171e-01 -4.02540229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2265599950001 meters 0.01200889937712471 Centerline is valid? [True, True] Translation: X:117.64, Y:-146.81, Z:-4.03 [[ 8.59065894e-01 5.11840195e-01 -5.04038912e-03 1.17639316e+02] [ 5.11831384e-01 -8.59080680e-01 -3.00318132e-03 -1.46805605e+02] [-5.86724982e-03 1.01307517e-07 -9.99982788e-01 -4.02540024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.286559995 meters 0.012056238306285381 Centerline is valid? [True, True] Translation: X:117.67, Y:-146.79, Z:-4.02 [[ 8.16328332e-01 5.77562858e-01 -5.40374357e-03 1.17667284e+02] [ 5.77550205e-01 -8.16346217e-01 -3.82299707e-03 -1.46794565e+02] [-6.61934673e-03 -1.12384084e-07 -9.99978092e-01 -4.02474709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.346559995 meters 0.012074490920761715 Centerline is valid? [True, True] Translation: X:117.70, Y:-146.78, Z:-4.02 [[ 7.67588954e-01 6.40913825e-01 -6.05521445e-03 1.17695067e+02] [ 6.40894016e-01 -7.67612838e-01 -5.03904441e-03 -1.46781024e+02] [-7.87765358e-03 -1.28358724e-05 -9.99968971e-01 -4.02316201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.406559995 meters 0.012291525345433558 Centerline is valid? [True, True] Translation: X:117.72, Y:-146.77, Z:-4.02 [[ 7.12537465e-01 7.01605958e-01 -6.28028960e-03 1.17721238e+02] [ 7.01579273e-01 -7.12565140e-01 -6.11922599e-03 -1.46765934e+02] [-8.76840084e-03 -4.59432415e-05 -9.99961556e-01 -4.02179256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4665599950001 meters 0.012427987548386752 Centerline is valid? [True, True] Translation: X:117.75, Y:-146.75, Z:-4.02 [[ 6.53874083e-01 7.56578492e-01 -6.13750348e-03 1.17748297e+02] [ 7.56546134e-01 -6.53902883e-01 -6.99763690e-03 -1.46749805e+02] [-9.30759279e-03 -6.77311207e-05 -9.99956681e-01 -4.02244209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.526559995 meters 0.013347690521516452 Centerline is valid? [True, True] Translation: X:117.77, Y:-146.73, Z:-4.02 [[ 5.90221932e-01 8.07222370e-01 -5.48787238e-03 1.17772413e+02] [ 8.07188954e-01 -5.90247437e-01 -7.34542033e-03 -1.46731502e+02] [-9.16859021e-03 -9.43217894e-05 -9.99957963e-01 -4.02178119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.586559995 meters 0.013676441398237663 Centerline is valid? [True, True] Translation: X:117.79, Y:-146.70, Z:-4.02 [[ 5.24267968e-01 8.51541996e-01 -4.39631975e-03 1.17786853e+02] [ 8.51513544e-01 -5.24286392e-01 -6.96155728e-03 -1.46704493e+02] [-8.23298900e-03 -9.38043252e-05 -9.99966104e-01 -4.02244927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.646559995 meters 0.013319524061700564 Centerline is valid? [True, True] Translation: X:117.81, Y:-146.68, Z:-4.03 [[ 4.54069900e-01 8.90960378e-01 -3.18306073e-03 1.17805137e+02] [ 8.90939896e-01 -4.54081047e-01 -6.04187223e-03 -1.46679709e+02] [-6.82843631e-03 -9.24834749e-05 -9.99976682e-01 -4.02530686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7065599950001 meters 0.013870217364106957 Centerline is valid? [True, True] Translation: X:117.82, Y:-146.66, Z:-4.03 [[ 3.80634081e-01 9.24722495e-01 -2.45031848e-03 1.17822897e+02] [ 9.24704980e-01 -3.80641955e-01 -5.69227337e-03 -1.46655043e+02] [-6.19646725e-03 -9.91484541e-05 -9.99980797e-01 -4.02587981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.766559995 meters 0.014636212839177164 Centerline is valid? [True, True] Translation: X:117.84, Y:-146.63, Z:-4.03 [[ 3.04985446e-01 9.52355059e-01 -1.92879321e-03 1.17838173e+02] [ 9.52338205e-01 -3.04991526e-01 -5.66675309e-03 -1.46628443e+02] [-5.98502655e-03 -1.08586250e-04 -9.99982084e-01 -4.02554770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.826559995 meters 0.015673428225653274 Centerline is valid? [True, True] Translation: X:117.85, Y:-146.60, Z:-4.02 [[ 2.27583433e-01 9.73756451e-01 -2.03863960e-03 1.17848921e+02] [ 9.73723636e-01 -2.27592504e-01 -7.99580720e-03 -1.46601824e+02] [-8.24994793e-03 -1.65358313e-04 -9.99965955e-01 -4.02324387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.886559995 meters 0.015006778310640116 Centerline is valid? [True, True] Translation: X:117.86, Y:-146.57, Z:-4.02 [[ 1.50456671e-01 9.88615401e-01 -1.54241512e-03 1.17859345e+02] [ 9.88575197e-01 -1.50464465e-01 -8.91763673e-03 -1.46573349e+02] [-9.04819168e-03 -1.83075400e-04 -9.99959048e-01 -4.02303237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9465599950001 meters 0.01547574732708832 Centerline is valid? [True, True] Translation: X:117.87, Y:-146.55, Z:-4.02 [[ 7.36288018e-02 9.97285290e-01 -9.21941705e-04 1.17865052e+02] [ 9.97236224e-01 -7.36343262e-02 -9.89445308e-03 -1.46545398e+02] [-9.93547906e-03 -1.90876940e-04 -9.99950624e-01 -4.02218618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.006559995 meters 0.01345895873377134 Centerline is valid? [True, True] Translation: X:117.87, Y:-146.52, Z:-4.02 [[-5.98555203e-04 9.99999813e-01 -1.29024547e-04 1.17866932e+02] [ 9.99960132e-01 5.97381924e-04 -8.90937097e-03 -1.46516826e+02] [-8.90929222e-03 -1.34352154e-04 -9.99960303e-01 -4.02479996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.066559995 meters 0.012415445352420009 Centerline is valid? [True, True] Translation: X:117.87, Y:-146.49, Z:-4.03 [[-7.19477804e-02 9.97408254e-01 5.39468621e-04 1.17865821e+02] [ 9.97372685e-01 7.19497707e-02 -8.42370089e-03 -1.46489737e+02] [-8.44068344e-03 -6.80153151e-05 -9.99964375e-01 -4.02575044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.126559995 meters 0.012097822030369803 Centerline is valid? [True, True] Translation: X:117.87, Y:-146.46, Z:-4.03 [[-1.45018971e-01 9.89428143e-01 1.20376852e-03 1.17867913e+02] [ 9.89392494e-01 1.45023964e-01 -8.39902181e-03 -1.46461520e+02] [-8.48480383e-03 -2.70179540e-05 -9.99964003e-01 -4.02613339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1865599950002 meters 0.012016444787036633 Centerline is valid? [True, True] Translation: X:117.87, Y:-146.43, Z:-4.03 [[-2.19152338e-01 9.75688897e-01 1.85163608e-03 1.17872996e+02] [ 9.75654003e-01 2.19160160e-01 -8.25177089e-03 -1.46432520e+02] [-8.45696610e-03 -1.83872824e-06 -9.99964239e-01 -4.02598113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.246559995 meters 0.01226311261512962 Centerline is valid? [True, True] Translation: X:117.87, Y:-146.41, Z:-4.02 [[-2.93131880e-01 9.56067770e-01 2.84964942e-03 1.17874856e+02] [ 9.56023109e-01 2.93145731e-01 -9.24102614e-03 -1.46405038e+02] [-9.67040981e-03 1.54913286e-05 -9.99953240e-01 -4.02462208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.306559995 meters 0.01220795984707348 Centerline is valid? [True, True] Translation: X:117.87, Y:-146.38, Z:-4.02 [[-3.65940538e-01 9.30630455e-01 3.80512821e-03 1.17873770e+02] [ 9.30580996e-01 3.65960320e-01 -9.59446065e-03 -1.46375820e+02] [-1.03214232e-02 2.99779113e-05 -9.99946732e-01 -4.02490588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.366559995 meters 0.01220543166841911 Centerline is valid? [True, True] Translation: X:117.87, Y:-146.35, Z:-4.02 [[-4.37922302e-01 8.99001819e-01 4.44821462e-03 1.17871649e+02] [ 8.98956077e-01 4.37944892e-01 -9.06874568e-03 -1.46348125e+02] [-1.01008917e-02 2.73435781e-05 -9.99948984e-01 -4.02381689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4265599950002 meters 0.012085601473157969 Centerline is valid? [True, True] Translation: X:117.87, Y:-146.32, Z:-4.02 [[-5.09441580e-01 8.60491076e-01 4.93810830e-03 1.17869011e+02] [ 8.60450636e-01 5.09465512e-01 -8.34231502e-03 -1.46317458e+02] [-9.69428350e-03 -9.23715192e-07 -9.99953009e-01 -4.02389343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.486559995 meters 0.012160655256170069 Centerline is valid? [True, True] Translation: X:117.87, Y:-146.29, Z:-4.02 [[-5.79655756e-01 8.14847386e-01 4.78974438e-03 1.17866515e+02] [ 8.14818918e-01 5.79675543e-01 -6.81147030e-03 -1.46285327e+02] [-8.32680644e-03 -4.55336395e-05 -9.99965331e-01 -4.02479068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.546559995 meters 0.012686232371588913 Centerline is valid? [True, True] Translation: X:117.86, Y:-146.26, Z:-4.03 [[-6.45003848e-01 7.64164356e-01 4.78252422e-03 1.17859354e+02] [ 7.64142502e-01 6.45021574e-01 -5.77972589e-03 -1.46256146e+02] [-7.50149181e-03 -7.34154188e-05 -9.99971861e-01 -4.02505438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.606559995 meters 0.014703326136151407 Centerline is valid? [True, True] Translation: X:117.85, Y:-146.22, Z:-4.02 [[-7.09491096e-01 7.04700442e-01 4.43526224e-03 1.17850953e+02] [ 7.04685589e-01 7.09504949e-01 -4.57685378e-03 -1.46224421e+02] [-6.37215139e-03 -1.21771624e-04 -9.99979690e-01 -4.02449357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.666559995 meters 0.015212221142485206 Centerline is valid? [True, True] Translation: X:117.83, Y:-146.20, Z:-4.02 [[-7.63787560e-01 6.45449812e-01 4.80655075e-03 1.17834832e+02] [ 6.45435909e-01 7.63802672e-01 -4.23860279e-03 -1.46198040e+02] [-6.40706168e-03 -1.35071635e-04 -9.99979466e-01 -4.02422109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7265599950001 meters 0.017114638334688268 Centerline is valid? [True, True] Translation: X:117.85, Y:-146.17, Z:-4.02 [[-8.09896633e-01 5.86548897e-01 5.27587427e-03 1.17850278e+02] [ 5.86535096e-01 8.09913800e-01 -4.02713264e-03 -1.46170061e+02] [-6.63511359e-03 -1.67075744e-04 -9.99977973e-01 -4.02272253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.786559995 meters 0.017399873301592764 Centerline is valid? [True, True] Translation: X:118.25, Y:-145.66, Z:-5.02 [[-7.34362427e-01 -6.78743774e-01 4.32606214e-03 1.18248500e+02] [ 6.78732756e-01 -7.34375163e-01 -3.86847020e-03 -1.45659609e+02] [ 5.80265265e-03 9.53809143e-05 9.99983160e-01 -5.01707891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.846559995 meters 0.016725968948990574 Centerline is valid? [True, True] Translation: X:117.82, Y:-146.15, Z:-4.02 [[-8.12488964e-01 5.82957201e-01 4.75234554e-03 1.17817614e+02] [ 5.82946102e-01 8.12502848e-01 -3.60072525e-03 -1.46146976e+02] [-5.96036300e-03 -1.55188227e-04 -9.99982225e-01 -4.02164224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.906559995 meters 0.015707863243107367 Centerline is valid? [True, True] Translation: X:117.83, Y:-146.13, Z:-4.02 [[-8.50562818e-01 5.25842968e-01 5.66258415e-03 1.17830336e+02] [ 5.25830041e-01 8.50581652e-01 -3.69071257e-03 -1.46128499e+02] [-6.75722544e-03 -1.61626027e-04 -9.99977157e-01 -4.02106598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9665599950001 meters 0.015913375242596964 Centerline is valid? [True, True] Translation: X:117.84, Y:-146.11, Z:-4.02 [[-8.83715538e-01 4.67968024e-01 7.26475414e-03 1.17843485e+02] [ 4.67950669e-01 8.83745383e-01 -4.03352446e-03 -1.46108436e+02] [-8.30775340e-03 -1.64941674e-04 -9.99965476e-01 -4.01804639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.026559995 meters 0.013641655204034837 Centerline is valid? [True, True] Translation: X:118.18, Y:-145.53, Z:-5.02 [[-8.31378846e-01 -5.55647991e-01 8.03272280e-03 1.18180347e+02] [ 5.55624984e-01 -8.31417612e-01 -5.06269342e-03 -1.45527936e+02] [ 9.49162264e-03 2.54165268e-04 9.99954921e-01 -5.02150322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.086559995 meters 0.01384136572787835 Centerline is valid? [True, True] Translation: X:118.17, Y:-145.56, Z:-5.02 [[-7.93796532e-01 -6.08140175e-01 7.25211669e-03 1.18169682e+02] [ 6.08116052e-01 -7.93829651e-01 -5.41774235e-03 -1.45555199e+02] [ 9.05169204e-03 1.09543486e-04 9.99959027e-01 -5.02233204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.146559995 meters 0.012978186927899748 Centerline is valid? [True, True] Translation: X:117.76, Y:-146.10, Z:-4.02 [[-8.46867460e-01 5.31760217e-01 6.82470743e-03 1.17761027e+02] [ 5.31742175e-01 8.46894955e-01 -4.38111639e-03 -1.46103667e+02] [-8.10951369e-03 -8.12401404e-05 -9.99967114e-01 -4.01835671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2065599950001 meters 0.012343979505855536 Centerline is valid? [True, True] Translation: X:118.14, Y:-145.53, Z:-5.02 [[-8.00406754e-01 -5.99417263e-01 6.92627341e-03 1.18141012e+02] [ 5.99396016e-01 -8.00436714e-01 -5.04814341e-03 -1.45532577e+02] [ 8.56998783e-03 1.11012606e-04 9.99963271e-01 -5.01966342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.266559995 meters 0.012216843669069421 Centerline is valid? [True, True] Translation: X:117.72, Y:-146.09, Z:-4.02 [[-8.43616772e-01 5.36907301e-01 6.42593827e-03 1.17724761e+02] [ 5.36891697e-01 8.43641245e-01 -4.09342422e-03 -1.46090592e+02] [-7.61897591e-03 -3.24842066e-06 -9.99970975e-01 -4.01957704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.326559995 meters 0.012329864419754958 Centerline is valid? [True, True] Translation: X:117.74, Y:-146.07, Z:-4.02 [[-8.77006067e-01 4.80448040e-01 5.48084081e-03 1.17744997e+02] [ 4.80438870e-01 8.77023192e-01 -2.96859009e-03 -1.46071746e+02] [-6.23307779e-03 2.97374509e-05 -9.99980574e-01 -4.02030740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.386559995 meters 0.01257694731883735 Centerline is valid? [True, True] Translation: X:117.76, Y:-146.05, Z:-4.02 [[-9.07713143e-01 4.19560930e-01 5.04742305e-03 1.17759719e+02] [ 4.19554696e-01 9.07727175e-01 -2.28750719e-03 -1.46047692e+02] [-5.54143171e-03 4.12697044e-05 -9.99984645e-01 -4.02032657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4465599950001 meters 0.01236279392296673 Centerline is valid? [True, True] Translation: X:118.05, Y:-145.41, Z:-5.02 [[-8.83829534e-01 -4.67790433e-01 4.17917205e-03 1.18048242e+02] [ 4.67784756e-01 -8.83839411e-01 -2.30622412e-03 -1.45414243e+02] [ 4.77254654e-03 -8.33560162e-05 9.99988608e-01 -5.01776624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.506559995 meters 0.012043254373602503 Centerline is valid? [True, True] Translation: X:117.72, Y:-146.02, Z:-4.02 [[-9.12749619e-01 4.08493154e-01 4.63431585e-03 1.17716008e+02] [ 4.08487861e-01 9.12761383e-01 -2.07954074e-03 -1.46021165e+02] [-5.07950270e-03 -5.03824724e-06 -9.99987099e-01 -4.01936926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.566559995 meters 0.012770885971554045 Centerline is valid? [True, True] Translation: X:117.72, Y:-145.99, Z:-4.02 [[-9.42304431e-01 3.34723133e-01 4.77317752e-03 1.17724349e+02] [ 3.34718576e-01 9.42316519e-01 -1.74737357e-03 -1.45985822e+02] [-5.08273038e-03 -4.88866717e-05 -9.99987082e-01 -4.01791498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.626559995 meters 0.013378475285349408 Centerline is valid? [True, True] Translation: X:117.73, Y:-145.96, Z:-4.02 [[-9.64732836e-01 2.63192395e-01 4.50754945e-03 1.17728934e+02] [ 2.63189210e-01 9.64743364e-01 -1.29639192e-03 -1.45956198e+02] [-4.68982892e-03 -6.43334715e-05 -9.99989001e-01 -4.01840278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6865599950002 meters 0.013936410153373392 Centerline is valid? [True, True] Translation: X:117.74, Y:-145.93, Z:-4.02 [[-9.81492787e-01 1.91485922e-01 2.24733620e-03 1.17735640e+02] [ 1.91485331e-01 9.81495359e-01 -4.77083842e-04 -1.45927350e+02] [-2.29710489e-03 -3.79224331e-05 -9.99997361e-01 -4.02045936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.746559995 meters 0.014482466058614862 Centerline is valid? [True, True] Translation: X:117.72, Y:-145.90, Z:-4.02 [[-9.92769296e-01 1.20037618e-01 3.07370441e-04 1.17721122e+02] [ 1.20037611e-01 9.92769344e-01 -4.28602157e-05 -1.45895550e+02] [-3.10292790e-04 -5.65429284e-06 -9.99999952e-01 -4.02105530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.806559995 meters 0.015290062734959475 Centerline is valid? [True, True] Translation: X:117.83, Y:-145.26, Z:-5.02 [[-9.74725298e-01 -2.23406456e-01 3.85668391e-04 1.17828786e+02] [ 2.23406444e-01 -9.74725374e-01 -7.55200460e-05 -1.45256270e+02] [ 3.92792433e-04 1.25495044e-05 9.99999923e-01 -5.01843354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.866559995 meters 0.015476417205544928 Centerline is valid? [True, True] Translation: X:117.69, Y:-145.89, Z:-4.02 [[-9.93535611e-01 1.13499215e-01 2.21787742e-03 1.17690606e+02] [ 1.13498828e-01 9.93538085e-01 -2.99828116e-04 -1.45888811e+02] [-2.23757594e-03 -4.61634228e-05 -9.99997496e-01 -4.01856756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9265599950002 meters 0.014717485495016818 Centerline is valid? [True, True] Translation: X:117.69, Y:-145.86, Z:-4.02 [[-9.99005948e-01 4.41956962e-02 5.81866257e-03 1.17689219e+02] [ 4.41942982e-02 9.99022887e-01 -3.68688667e-04 -1.45864080e+02] [-5.82927153e-03 -1.11170463e-04 -9.99983004e-01 -4.01539555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.986559995 meters 0.014373828386124382 Centerline is valid? [True, True] Translation: X:117.73, Y:-145.22, Z:-5.02 [[-9.89118206e-01 -1.46931263e-01 7.50862222e-03 1.17728316e+02] [ 1.46928950e-01 -9.89146673e-01 -8.61734946e-04 -1.45215340e+02] [ 7.55374449e-03 2.50876257e-04 9.99971439e-01 -5.02490652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.046559995 meters 0.013428968720840205 Centerline is valid? [True, True] Translation: X:117.64, Y:-145.87, Z:-4.01 [[-9.98840174e-01 4.74748737e-02 8.02765301e-03 1.17636908e+02] [ 4.74725780e-02 9.98872428e-01 -4.76387652e-04 -1.45868640e+02] [-8.04121769e-03 -9.47417413e-05 -9.99967664e-01 -4.01364183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.106559995 meters 0.01226223547181885 Centerline is valid? [True, True] Translation: X:117.69, Y:-145.20, Z:-5.03 [[-9.91759684e-01 -1.27870426e-01 7.86666589e-03 1.17689538e+02] [ 1.27867096e-01 -9.91790879e-01 -9.26796078e-04 -1.45199161e+02] [ 7.92059728e-03 8.67287395e-05 9.99968628e-01 -5.02500909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.166559995 meters 0.012878227967044418 Centerline is valid? [True, True] Translation: X:117.59, Y:-145.88, Z:-4.01 [[-9.98056182e-01 6.17945200e-02 8.08050334e-03 1.17590894e+02] [ 6.17929363e-02 9.98088891e-01 -4.45756452e-04 -1.45884090e+02] [-8.09260592e-03 5.44280453e-05 -9.99967253e-01 -4.01390317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2265599950001 meters 0.014814082310070776 Centerline is valid? [True, True] Translation: X:117.60, Y:-145.87, Z:-4.01 [[-9.99959643e-01 2.36471524e-03 8.66720625e-03 1.17596521e+02] [ 2.36600789e-03 9.99997191e-01 1.38891583e-04 -1.45865925e+02] [-8.66685347e-03 1.59392656e-04 -9.99962429e-01 -4.01419941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.286559995 meters 0.01663689396986857 Centerline is valid? [True, True] Translation: X:117.59, Y:-145.15, Z:-5.02 [[-9.99602889e-01 -2.68447548e-02 8.56880373e-03 1.17593032e+02] [ 2.68423694e-02 -9.99639601e-01 -3.93289119e-04 -1.45146898e+02] [ 8.57627329e-03 -1.63125944e-04 9.99963210e-01 -5.02470760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.346559995 meters 0.014711224637717457 Centerline is valid? [True, True] Translation: X:117.53, Y:-145.87, Z:-4.01 [[-9.99960966e-01 -4.00480449e-04 8.82648142e-03 1.17528848e+02] [-3.98892030e-04 9.99999904e-01 1.81720374e-04 -1.45865603e+02] [-8.82655334e-03 1.78192468e-04 -9.99961029e-01 -4.01432864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.406559995 meters 0.015434698691653922 Centerline is valid? [True, True] Translation: X:117.51, Y:-145.15, Z:-5.03 [[-9.99538111e-01 -2.89048502e-02 9.38476710e-03 1.17514488e+02] [ 2.89021552e-02 -9.99582156e-01 -4.22694664e-04 -1.45154297e+02] [ 9.39306366e-03 -1.51259431e-04 9.99955873e-01 -5.02586740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4665599950001 meters 0.013236183129452447 Centerline is valid? [True, True] Translation: X:117.45, Y:-145.86, Z:-4.01 [[-9.99812498e-01 -1.69570745e-02 9.35026837e-03 1.17451931e+02] [-1.69556157e-02 9.99856216e-01 2.35263531e-04 -1.45859013e+02] [-9.35291333e-03 7.66798605e-05 -9.99956258e-01 -4.01246370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.526559995 meters 0.012240287468542482 Centerline is valid? [True, True] Translation: X:117.43, Y:-145.17, Z:-5.03 [[-9.99033625e-01 -4.30176793e-02 9.01642852e-03 1.17432242e+02] [ 4.30150416e-02 -9.99074306e-01 -4.86356981e-04 -1.45174240e+02] [ 9.02900402e-03 -9.80449300e-05 9.99959233e-01 -5.02644384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.586559995 meters 0.012532313756847706 Centerline is valid? [True, True] Translation: X:117.38, Y:-145.84, Z:-4.01 [[-9.99241135e-01 -3.78430385e-02 9.22269230e-03 1.17377027e+02] [-3.78421247e-02 9.99283693e-01 2.73637380e-04 -1.45844522e+02] [-9.22644129e-03 -7.55765456e-05 -9.99957433e-01 -4.01445002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.646559995 meters 0.012886249637064863 Centerline is valid? [True, True] Translation: X:117.36, Y:-145.19, Z:-5.02 [[-9.98720572e-01 -4.97421472e-02 9.10700521e-03 1.17361877e+02] [ 4.97406903e-02 -9.98762091e-01 -3.86538640e-04 -1.45185770e+02] [ 9.11495883e-03 6.69446345e-05 9.99958456e-01 -5.02401675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7065599950001 meters 0.013683490372166086 Centerline is valid? [True, True] Translation: X:117.31, Y:-145.84, Z:-4.01 [[-9.98666813e-01 -5.08233321e-02 9.03248063e-03 1.17311626e+02] [-5.08226410e-02 9.98707648e-01 3.06174954e-04 -1.45838641e+02] [-9.03636831e-03 -1.53287755e-04 -9.99959160e-01 -4.01454292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.766559995 meters 0.014424814141540059 Centerline is valid? [True, True] Translation: X:117.29, Y:-145.20, Z:-5.02 [[-9.98551346e-01 -5.31531377e-02 8.36379411e-03 1.17289960e+02] [ 5.31520844e-02 -9.98586368e-01 -3.48328420e-04 -1.45197591e+02] [ 8.37048554e-03 9.67292777e-05 9.99964962e-01 -5.02473777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.826559995 meters 0.014521358638630247 Centerline is valid? [True, True] Translation: X:117.25, Y:-145.84, Z:-4.01 [[-9.98266579e-01 -5.83394597e-02 7.76824734e-03 1.17248784e+02] [-5.83389056e-02 9.98296791e-01 2.98103853e-04 -1.45835789e+02] [-7.77240761e-03 -1.55603934e-04 -9.99969782e-01 -4.01455293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.886559995 meters 0.014669831080342994 Centerline is valid? [True, True] Translation: X:117.24, Y:-145.81, Z:-4.01 [[-9.91613203e-01 -1.28954942e-01 8.59523539e-03 1.17243049e+02] [-1.28951592e-01 9.91650439e-01 9.45092962e-04 -1.45808664e+02] [-8.64534336e-03 -1.71202629e-04 -9.99962614e-01 -4.01308143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9465599950001 meters 0.015227005150394744 Centerline is valid? [True, True] Translation: X:117.17, Y:-145.18, Z:-5.03 [[-9.99731006e-01 1.97439697e-02 1.21692935e-02 1.17171053e+02] [-1.97366156e-02 -9.99804952e-01 7.24129807e-04 -1.45179696e+02] [ 1.21812171e-02 4.83754352e-04 9.99925689e-01 -5.02881400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.006559995 meters 0.016133422570153797 Centerline is valid? [True, True] Translation: X:117.17, Y:-145.82, Z:-4.01 [[-9.90139909e-01 -1.39193391e-01 1.57530837e-02 1.17166274e+02] [-1.39182200e-01 9.90265136e-01 1.80991372e-03 -1.45815787e+02] [-1.58516576e-02 -4.00481026e-04 -9.99874274e-01 -4.00692060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.066559995 meters 0.017226954373035123 Centerline is valid? [True, True] Translation: X:117.09, Y:-145.19, Z:-5.03 [[-9.99626628e-01 2.18034449e-02 1.64686137e-02 1.17092104e+02] [-2.17929356e-02 -9.99762172e-01 8.17357923e-04 -1.45188326e+02] [ 1.64825182e-02 4.58153307e-04 9.99864049e-01 -5.03347976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.126559995 meters 0.01482207718190303 Centerline is valid? [True, True] Translation: X:117.09, Y:-145.84, Z:-4.01 [[-9.90040960e-01 -1.39905212e-01 1.56661765e-02 1.17088808e+02] [-1.39892857e-01 9.90164848e-01 1.88718671e-03 -1.45835585e+02] [-1.57761246e-02 -3.23194055e-04 -9.99875497e-01 -4.00876829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1865599950002 meters 0.013444636619689386 Centerline is valid? [True, True] Translation: X:117.01, Y:-145.18, Z:-5.03 [[-9.99152557e-01 3.88276404e-02 1.36594844e-02 1.17014144e+02] [-3.88218939e-02 -9.99245911e-01 6.85701270e-04 -1.45178977e+02] [ 1.36758081e-02 1.54833123e-04 9.99906470e-01 -5.02797844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.246559995 meters 0.012155175122416218 Centerline is valid? [True, True] Translation: X:117.01, Y:-145.87, Z:-4.01 [[-9.91894237e-01 -1.26641653e-01 1.03785471e-02 1.17005799e+02] [-1.26634832e-01 9.91948533e-01 1.31437210e-03 -1.45866007e+02] [-1.04614388e-02 -1.05674624e-05 -9.99945278e-01 -4.01360858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.306559995 meters 0.012973268488102874 Centerline is valid? [True, True] Translation: X:117.00, Y:-145.85, Z:-4.02 [[-9.82483001e-01 -1.86140083e-01 8.88948657e-03 1.17000809e+02] [-1.86131616e-01 9.82523212e-01 1.77769861e-03 -1.45849258e+02] [-9.06502786e-03 9.19441591e-05 -9.99958908e-01 -4.01590345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.366559995 meters 0.014090544969801026 Centerline is valid? [True, True] Translation: X:116.98, Y:-145.83, Z:-4.02 [[-9.67840869e-01 -2.51365460e-01 9.97285933e-03 1.16980101e+02] [-2.51350448e-01 9.67892236e-01 2.75158293e-03 -1.45829616e+02] [-1.03443060e-02 1.56411754e-04 -9.99946484e-01 -4.01550186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4265599950002 meters 0.01441035622529697 Centerline is valid? [True, True] Translation: X:116.94, Y:-145.81, Z:-4.01 [[-9.47635907e-01 -3.19162084e-01 1.10341553e-02 1.16944422e+02] [-3.19138016e-01 9.47700124e-01 3.92451181e-03 -1.45812145e+02] [-1.17096257e-02 1.97589873e-04 -9.99931421e-01 -4.01489860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.486559995 meters 0.015173137860655229 Centerline is valid? [True, True] Translation: X:116.89, Y:-145.81, Z:-4.01 [[-9.22255214e-01 -3.86418844e-01 1.12159478e-02 1.16886156e+02] [-3.86387301e-01 9.22323385e-01 4.94240610e-03 -1.45805557e+02] [-1.22545698e-02 2.24459983e-04 -9.99924885e-01 -4.01386864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.546559995 meters 0.015104262345005746 Centerline is valid? [True, True] Translation: X:116.82, Y:-145.80, Z:-4.01 [[-8.91982377e-01 -4.51955658e-01 1.01746301e-02 1.16821710e+02] [-4.51923311e-01 8.92040375e-01 5.41202768e-03 -1.45802514e+02] [-1.15221774e-02 2.29280805e-04 -9.99933591e-01 -4.01412806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.606559995 meters 0.014794143340526433 Centerline is valid? [True, True] Translation: X:116.75, Y:-145.81, Z:-4.02 [[-8.55995420e-01 -5.16913482e-01 8.50248443e-03 1.16747274e+02] [-5.16885654e-01 8.56037623e-01 5.36736532e-03 -1.45810127e+02] [-1.00529101e-02 1.99627900e-04 -9.99949448e-01 -4.01585549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.666559995 meters 0.014469317784982576 Centerline is valid? [True, True] Translation: X:116.67, Y:-145.83, Z:-4.02 [[-8.14025822e-01 -5.80792622e-01 6.47239265e-03 1.16665534e+02] [-5.80772845e-01 8.14051540e-01 4.79510658e-03 -1.45827294e+02] [-8.05382373e-03 1.44350678e-04 -9.99967557e-01 -4.01718811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7265599950001 meters 0.014034415313425566 Centerline is valid? [True, True] Translation: X:116.58, Y:-145.86, Z:-4.02 [[-7.67275928e-01 -6.41292113e-01 5.66370313e-03 1.16577446e+02] [-6.41273460e-01 7.67296821e-01 4.89266027e-03 -1.45859617e+02] [-7.48336585e-03 1.22037948e-04 -9.99971992e-01 -4.01766324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.786559995 meters 0.013110829224372943 Centerline is valid? [True, True] Translation: X:116.49, Y:-145.89, Z:-4.02 [[-7.14137874e-01 -6.99988834e-01 4.76748411e-03 1.16493169e+02] [-6.99972452e-01 7.14153783e-01 4.78963568e-03 -1.45892245e+02] [-6.75740831e-03 8.33526972e-05 -9.99977165e-01 -4.01773335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.846559995 meters 0.012294055602054236 Centerline is valid? [True, True] Translation: X:116.40, Y:-145.94, Z:-4.02 [[-6.53283955e-01 -7.57099487e-01 4.52124457e-03 1.16400363e+02] [-7.57081049e-01 6.53299599e-01 5.28383811e-03 -1.45938006e+02] [-6.95411839e-03 2.88980814e-05 -9.99975819e-01 -4.01714642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.906559995 meters 0.012260755112309256 Centerline is valid? [True, True] Translation: X:116.31, Y:-145.99, Z:-4.02 [[-5.86946229e-01 -8.09613433e-01 4.49598296e-03 1.16309867e+02] [-8.09590173e-01 5.86963447e-01 6.13705449e-03 -1.45990677e+02] [-7.60761941e-03 -3.77826334e-05 -9.99971061e-01 -4.01690171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9665599950001 meters 0.012702846374404957 Centerline is valid? [True, True] Translation: X:116.23, Y:-146.06, Z:-4.02 [[-5.19540289e-01 -8.54435288e-01 4.26933713e-03 1.16225202e+02] [-8.54407743e-01 5.19557824e-01 6.86120706e-03 -1.46056494e+02] [-8.08062494e-03 -8.30812074e-05 -9.99967348e-01 -4.01638456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.026559995 meters 0.013486289302749935 Centerline is valid? [True, True] Translation: X:116.15, Y:-146.13, Z:-4.02 [[-4.48888129e-01 -8.93579426e-01 3.90606740e-03 1.16146526e+02] [-8.93548065e-01 4.48905105e-01 7.48746555e-03 -1.46128009e+02] [-8.44409876e-03 -1.29224564e-04 -9.99964340e-01 -4.01647050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.086559995 meters 0.014129354486188498 Centerline is valid? [True, True] Translation: X:116.07, Y:-146.21, Z:-4.02 [[-3.77378898e-01 -9.26053481e-01 3.18076321e-03 1.16074202e+02] [-9.26023752e-01 3.77392274e-01 7.42169065e-03 -1.46210221e+02] [-8.07327793e-03 -1.44672847e-04 -9.99967400e-01 -4.01671555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.146559995 meters 0.016194501537978672 Centerline is valid? [True, True] Translation: X:116.01, Y:-146.29, Z:-4.01 [[-3.03841799e-01 -9.52718138e-01 2.88278711e-03 1.16006952e+02] [-9.52680695e-01 3.03855421e-01 8.44848756e-03 -1.46294545e+02] [-8.92497783e-03 -1.79371968e-04 -9.99960156e-01 -4.01478278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2065599950001 meters 0.015883711498034976 Centerline is valid? [True, True] Translation: X:115.95, Y:-146.39, Z:-4.01 [[-2.27518149e-01 -9.73769490e-01 2.91070353e-03 1.15948769e+02] [-9.73704250e-01 2.27536608e-01 1.12750066e-02 -1.46391682e+02] [-1.16415490e-02 -2.68895768e-04 -9.99932199e-01 -4.01325786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.266559995 meters 0.01582084905670151 Centerline is valid? [True, True] Translation: X:115.90, Y:-146.49, Z:-4.01 [[-1.52065462e-01 -9.88367759e-01 2.29517796e-03 1.15898870e+02] [-9.88283885e-01 1.52082466e-01 1.28796459e-02 -1.46492508e+02] [-1.30788831e-02 -3.09738090e-04 -9.99914420e-01 -4.01243734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.326559995 meters 0.01482810878329954 Centerline is valid? [True, True] Translation: X:115.86, Y:-146.59, Z:-4.01 [[-7.96749195e-02 -9.96820090e-01 1.27075605e-03 1.15860182e+02] [-9.96739513e-01 7.96846396e-02 1.26768210e-02 -1.46593462e+02] [-1.27377696e-02 -2.56588075e-04 -9.99918838e-01 -4.01378891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.386559995 meters 0.013891303030008526 Centerline is valid? [True, True] Translation: X:115.83, Y:-146.70, Z:-4.01 [[-8.33511314e-03 -9.99965224e-01 2.76157376e-04 1.15829952e+02] [-9.99895644e-01 8.33779126e-03 1.17975800e-02 -1.46704381e+02] [-1.17994723e-02 -1.77794393e-04 -9.99930368e-01 -4.01469400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4465599950001 meters 0.012608759954993337 Centerline is valid? [True, True] Translation: X:115.81, Y:-146.81, Z:-4.01 [[ 5.73794600e-02 -9.98352234e-01 -6.43578899e-04 1.15813305e+02] [-9.98279313e-01 -5.73830475e-02 1.20664298e-02 -1.46809295e+02] [-1.20834776e-02 -4.98937226e-05 -9.99926991e-01 -4.01463856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.506559995 meters 0.01287933068093791 Centerline is valid? [True, True] Translation: X:115.19, Y:-146.94, Z:-5.03 [[-1.01900382e-02 9.99948080e-01 3.72421942e-05 1.15190027e+02] [-9.99866703e-01 -1.01896840e-02 1.27572203e-02 -1.46944624e+02] [ 1.27569374e-02 9.27593314e-05 9.99918623e-01 -5.02529702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.566559995 meters 0.014351940220451729 Centerline is valid? [True, True] Translation: X:115.84, Y:-147.07, Z:-4.01 [[ 4.76616258e-02 -9.98863161e-01 -8.69477472e-04 1.15841304e+02] [-9.98766782e-01 -4.76691065e-02 1.38770400e-02 -1.47070995e+02] [-1.39027112e-02 2.07002930e-04 -9.99903331e-01 -4.01455148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.626559995 meters 0.016270423191699853 Centerline is valid? [True, True] Translation: X:115.83, Y:-147.18, Z:-4.02 [[ 1.16150766e-01 -9.93229663e-01 -1.95837446e-03 1.15831995e+02] [-9.93131364e-01 -1.16166830e-01 1.39772116e-02 -1.47181154e+02] [-1.41100794e-02 3.21459263e-04 -9.99900396e-01 -4.01551409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6865599950002 meters 0.017469413241700968 Centerline is valid? [True, True] Translation: X:115.83, Y:-147.30, Z:-4.02 [[ 1.87861489e-01 -9.82191230e-01 -2.90657917e-03 1.15829401e+02] [-9.82101954e-01 -1.87883617e-01 1.32476149e-02 -1.47299347e+02] [-1.35577898e-02 3.65840409e-04 -9.99908022e-01 -4.01663890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.746559995 meters 0.01739424211745737 Centerline is valid? [True, True] Translation: X:115.83, Y:-147.42, Z:-4.02 [[ 2.62531613e-01 -9.64915811e-01 -3.82481712e-03 1.15832811e+02] [-9.64832451e-01 -2.62559228e-01 1.26883205e-02 -1.47419289e+02] [-1.32474021e-02 3.59222427e-04 -9.99912185e-01 -4.01738405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.806559995 meters 0.016362290482606318 Centerline is valid? [True, True] Translation: X:115.84, Y:-147.54, Z:-4.02 [[ 3.39347481e-01 -9.40649827e-01 -4.60331842e-03 1.15842709e+02] [-9.40574762e-01 -3.39378573e-01 1.18870060e-02 -1.47541390e+02] [-1.27437778e-02 2.95939579e-04 -9.99918751e-01 -4.01796520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.866559995 meters 0.01529025098003712 Centerline is valid? [True, True] Translation: X:115.86, Y:-147.66, Z:-4.02 [[ 4.14478086e-01 -9.10043798e-01 -5.31055317e-03 1.15860028e+02] [-9.09976074e-01 -4.14512042e-01 1.11045918e-02 -1.47659262e+02] [-1.23069531e-02 2.29866375e-04 -9.99924240e-01 -4.01829518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9265599950002 meters 0.013474454248206348 Centerline is valid? [True, True] Translation: X:115.88, Y:-147.78, Z:-4.02 [[ 4.90729836e-01 -8.71293290e-01 -5.67719138e-03 1.15883530e+02] [-8.71237505e-01 -4.90762663e-01 9.85991492e-03 -1.47778091e+02] [-1.13770313e-02 1.07627623e-04 -9.99935274e-01 -4.01940319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.986559995 meters 0.012726728796940907 Centerline is valid? [True, True] Translation: X:115.92, Y:-147.89, Z:-4.02 [[ 5.62919192e-01 -8.26483448e-01 -6.86252877e-03 1.15915026e+02] [-8.26422229e-01 -5.62961021e-01 1.00592490e-02 -1.47892105e+02] [-1.21771390e-02 8.80200094e-06 -9.99925856e-01 -4.01975903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.046559995 meters 0.012934153295663539 Centerline is valid? [True, True] Translation: X:115.95, Y:-148.00, Z:-4.02 [[ 6.29806904e-01 -7.76715504e-01 -7.50266253e-03 1.15952035e+02] [-7.76658888e-01 -6.29851586e-01 9.37822538e-03 -1.48000800e+02] [-1.20097769e-02 -7.94615506e-05 -9.99927877e-01 -4.01861726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.106559995 meters 0.013478997558912067 Centerline is valid? [True, True] Translation: X:116.00, Y:-148.10, Z:-4.02 [[ 6.90584272e-01 -7.23204789e-01 -8.25813854e-03 1.15999395e+02] [-7.23150621e-01 -6.90633632e-01 8.85247343e-03 -1.48103079e+02] [-1.21054994e-02 -1.41500911e-04 -9.99926716e-01 -4.01917423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.166559995 meters 0.014101266300436278 Centerline is valid? [True, True] Translation: X:116.05, Y:-148.19, Z:-4.02 [[ 7.45120659e-01 -6.66862089e-01 -9.49513509e-03 1.16049213e+02] [-6.66804757e-01 -7.45181132e-01 8.74622449e-03 -1.48193216e+02] [-1.29081211e-02 -1.85591310e-04 -9.99916670e-01 -4.01834501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2265599950001 meters 0.014504118324253771 Centerline is valid? [True, True] Translation: X:116.07, Y:-148.22, Z:-4.02 [[ 7.95976324e-01 -6.05231884e-01 -1.07730110e-02 1.16071700e+02] [-6.05172688e-01 -7.96049193e-01 8.46759699e-03 -1.48223555e+02] [-1.37007064e-02 -2.20474718e-04 -9.99906117e-01 -4.01758232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.286559995 meters 0.014537426412036036 Centerline is valid? [True, True] Translation: X:116.10, Y:-148.25, Z:-4.02 [[ 8.40946645e-01 -5.41001803e-01 -1.12155982e-02 1.16097682e+02] [-5.40950200e-01 -8.41021403e-01 7.47534330e-03 -1.48249881e+02] [-1.34767323e-02 -2.19284791e-04 -9.99909161e-01 -4.01792082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.346559995 meters 0.014906486200153677 Centerline is valid? [True, True] Translation: X:116.13, Y:-148.27, Z:-4.02 [[ 8.80905027e-01 -4.73131242e-01 -1.23758105e-02 1.16126434e+02] [-4.73080736e-01 -8.80991924e-01 6.91709461e-03 -1.48274256e+02] [-1.41756826e-02 -2.38545893e-04 -9.99899492e-01 -4.01682128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.406559995 meters 0.01461722279989937 Centerline is valid? [True, True] Translation: X:116.16, Y:-148.30, Z:-4.02 [[ 9.15906469e-01 -4.01156502e-01 -1.37404884e-02 1.16155766e+02] [-4.01106724e-01 -9.16009488e-01 6.32572808e-03 -1.48297207e+02] [-1.51240247e-02 -2.82372986e-04 -9.99885586e-01 -4.01760653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4665599950001 meters 0.016697773721911054 Centerline is valid? [True, True] Translation: X:116.18, Y:-148.32, Z:-4.01 [[ 9.45158827e-01 -3.26236215e-01 -1.56436503e-02 1.16184258e+02] [-3.26185429e-01 -9.45288216e-01 5.76672793e-03 -1.48319929e+02] [-1.66690738e-02 -3.47743017e-04 -9.99861001e-01 -4.01382704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.526559995 meters 0.015417641211737096 Centerline is valid? [True, True] Translation: X:116.22, Y:-148.33, Z:-4.02 [[ 9.68205639e-01 -2.49669384e-01 -1.55897456e-02 1.16217111e+02] [-2.49630918e-01 -9.68331072e-01 4.39776126e-03 -1.48334500e+02] [-1.61940214e-02 -3.66254751e-04 -9.99868801e-01 -4.01719241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.586559995 meters 0.015526287326016509 Centerline is valid? [True, True] Translation: X:116.25, Y:-148.35, Z:-4.02 [[ 9.84844624e-01 -1.72736822e-01 -1.55902591e-02 1.16249843e+02] [-1.72709282e-01 -9.84967947e-01 3.10615139e-03 -1.48351072e+02] [-1.58924522e-02 -3.66494053e-04 -9.99873640e-01 -4.01760087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.646559995 meters 0.01611435807434843 Centerline is valid? [True, True] Translation: X:116.28, Y:-148.36, Z:-4.02 [[ 9.95400652e-01 -9.47605270e-02 -1.40707054e-02 1.16281980e+02] [-9.47463451e-02 -9.95500041e-01 1.67261381e-03 -1.48362565e+02] [-1.41658855e-02 -3.31772974e-04 -9.99899604e-01 -4.01743140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7065599950001 meters 0.015795269983840645 Centerline is valid? [True, True] Translation: X:116.31, Y:-148.37, Z:-4.02 [[ 9.99730734e-01 -1.90494317e-02 -1.32506143e-02 1.16312756e+02] [-1.90440813e-02 -9.99818505e-01 5.29859824e-04 -1.48365179e+02] [-1.32583029e-02 -2.77371375e-04 -9.99912066e-01 -4.01701503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.766559995 meters 0.01479820615204945 Centerline is valid? [True, True] Translation: X:116.34, Y:-148.37, Z:-4.02 [[ 9.98287465e-01 5.68533310e-02 -1.37781327e-02 1.16344283e+02] [ 5.68514366e-02 -9.98382509e-01 -5.29444368e-04 -1.48365589e+02] [-1.37859474e-02 -2.54768964e-04 -9.99904937e-01 -4.01791103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.826559995 meters 0.014915735321437345 Centerline is valid? [True, True] Translation: X:116.38, Y:-148.37, Z:-4.02 [[ 9.90692938e-01 1.35175806e-01 -1.59688661e-02 1.16375903e+02] [ 1.35163147e-01 -9.90821584e-01 -1.87431927e-03 -1.48368775e+02] [-1.60756598e-02 -3.01527339e-04 -9.99870733e-01 -4.01649577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.886559995 meters 0.015350181555031414 Centerline is valid? [True, True] Translation: X:116.41, Y:-148.37, Z:-4.02 [[ 9.76693661e-01 2.13978592e-01 -1.68123506e-02 1.16407374e+02] [ 2.13953054e-01 -9.76838287e-01 -3.32434411e-03 -1.48369439e+02] [-1.71342862e-02 -3.50187933e-04 -9.99853136e-01 -4.01593253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9465599950001 meters 0.014830747651189179 Centerline is valid? [True, True] Translation: X:116.44, Y:-148.37, Z:-4.02 [[ 9.57313812e-01 2.88648639e-01 -1.52390587e-02 1.16437803e+02] [ 2.88617117e-01 -9.57435048e-01 -4.27658953e-03 -1.48366428e+02] [-1.58248406e-02 -3.04214956e-04 -9.99874733e-01 -4.01745146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.006559995 meters 0.013896817276800076 Centerline is valid? [True, True] Translation: X:116.47, Y:-148.36, Z:-4.02 [[ 9.33455599e-01 3.58421932e-01 -1.39414217e-02 1.16467700e+02] [ 3.58385425e-01 -9.33559678e-01 -5.12006790e-03 -1.48359709e+02] [-1.48502938e-02 -2.17046293e-04 -9.99889705e-01 -4.01789645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.066559995 meters 0.013432105975931547 Centerline is valid? [True, True] Translation: X:116.50, Y:-148.35, Z:-4.02 [[ 9.04288761e-01 4.26714442e-01 -1.32899212e-02 1.16495564e+02] [ 4.26670853e-01 -9.04386400e-01 -6.10098766e-03 -1.48351373e+02] [-1.46226035e-02 -1.53367428e-04 -9.99893072e-01 -4.01709595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.126559995 meters 0.012968219029398207 Centerline is valid? [True, True] Translation: X:116.52, Y:-148.34, Z:-4.02 [[ 8.70236840e-01 4.92480900e-01 -1.22639491e-02 1.16521762e+02] [ 4.92433407e-01 -8.70323248e-01 -6.83994085e-03 -1.48338357e+02] [-1.40421402e-02 -8.68097254e-05 -9.99901401e-01 -4.01833193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1865599950002 meters 0.012888812003800347 Centerline is valid? [True, True] Translation: X:116.55, Y:-148.33, Z:-4.02 [[ 8.29410765e-01 5.58542408e-01 -1.04000872e-02 1.16548177e+02] [ 5.58499550e-01 -8.29475963e-01 -6.91945461e-03 -1.48326501e+02] [-1.24914312e-02 -6.93738703e-05 -9.99921977e-01 -4.01898031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.246559995 meters 0.012882214428491743 Centerline is valid? [True, True] Translation: X:116.57, Y:-148.31, Z:-4.02 [[ 7.82252396e-01 6.22889458e-01 -9.48219801e-03 1.16574955e+02] [ 6.22845004e-01 -7.82309859e-01 -7.44217549e-03 -1.48314659e+02] [-1.20536696e-02 -8.42800445e-05 -9.99927348e-01 -4.01990901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.306559995 meters 0.013119357585845582 Centerline is valid? [True, True] Translation: X:116.60, Y:-148.30, Z:-4.02 [[ 7.29462282e-01 6.83971310e-01 -8.24783444e-03 1.16601511e+02] [ 6.83929219e-01 -7.29508901e-01 -7.58863491e-03 -1.48301394e+02] [-1.12072772e-02 -1.05312022e-04 -9.99937191e-01 -4.02015119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.366559995 meters 0.013119566859113778 Centerline is valid? [True, True] Translation: X:116.63, Y:-148.29, Z:-4.02 [[ 6.72380001e-01 7.40171287e-01 -7.18326897e-03 1.16628891e+02] [ 7.40130907e-01 -6.72418361e-01 -7.73232342e-03 -1.48287535e+02] [-1.05534057e-02 -1.17499744e-04 -9.99944304e-01 -4.02101271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4265599950002 meters 0.01399998169993592 Centerline is valid? [True, True] Translation: X:116.66, Y:-148.27, Z:-4.02 [[ 6.10661480e-01 7.91866254e-01 -6.35548350e-03 1.16655077e+02] [ 7.91825666e-01 -6.10694536e-01 -8.01858853e-03 -1.48273059e+02] [-1.02309087e-02 -1.35791815e-04 -9.99947654e-01 -4.01975968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.486559995 meters 0.013903508857667467 Centerline is valid? [True, True] Translation: X:116.68, Y:-148.26, Z:-4.02 [[ 5.44306110e-01 8.38863215e-01 -6.27423713e-03 1.16679778e+02] [ 8.38811294e-01 -5.44342240e-01 -9.33481105e-03 -1.48255002e+02] [-1.12459619e-02 -1.81906282e-04 -9.99936746e-01 -4.02021877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.546559995 meters 0.014226638958715258 Centerline is valid? [True, True] Translation: X:116.71, Y:-148.24, Z:-4.02 [[ 4.74795425e-01 8.80062656e-01 -7.68286652e-03 1.16705545e+02] [ 8.79957188e-01 -4.74857492e-01 -1.36275347e-02 -1.48236239e+02] [-1.56413511e-02 -2.90302493e-04 -9.99877625e-01 -4.01573324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.606559995 meters 0.014312125040430624 Centerline is valid? [True, True] Translation: X:116.73, Y:-148.21, Z:-4.02 [[ 4.04828144e-01 9.14365112e-01 -7.11445580e-03 1.16725197e+02] [ 9.14236957e-01 -4.04890539e-01 -1.53113748e-02 -1.48213327e+02] [-1.68807628e-02 -3.05822955e-04 -9.99857463e-01 -4.01600096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.666559995 meters 0.014312125040430624 Centerline is valid? [True, True] Translation: X:116.74, Y:-148.19, Z:-4.02 [[ 3.31976245e-01 9.43269337e-01 -5.89329328e-03 1.16744388e+02] [ 9.43136690e-01 -3.32028409e-01 -1.58215085e-02 -1.48190627e+02] [-1.68806846e-02 -3.05816142e-04 -9.99857464e-01 -4.01600241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7265599950001 meters 0.014321230874157176 Centerline is valid? [True, True] Translation: X:116.76, Y:-148.17, Z:-4.02 [[ 2.57582610e-01 9.66245590e-01 -4.54514483e-03 1.16761464e+02] [ 9.66114558e-01 -2.57622542e-01 -1.59149915e-02 -1.48165636e+02] [-1.65487221e-02 -2.91705544e-04 -9.99863018e-01 -4.01599792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.786559995 meters 0.014040897251176288 Centerline is valid? [True, True] Translation: X:116.77, Y:-148.14, Z:-4.02 [[ 1.83145417e-01 9.83080800e-01 -3.14582084e-03 1.16774405e+02] [ 9.82958084e-01 -1.83172266e-01 -1.55346997e-02 -1.48139605e+02] [-1.58480922e-02 -2.47100953e-04 -9.99874381e-01 -4.01650517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.846559995 meters 0.013500823598276371 Centerline is valid? [True, True] Translation: X:116.78, Y:-148.11, Z:-4.02 [[ 1.09609633e-01 9.93973016e-01 -1.83629330e-03 1.16782640e+02] [ 9.93859085e-01 -1.09624874e-01 -1.50501430e-02 -1.48112788e+02] [-1.51607394e-02 -1.75376121e-04 -9.99885054e-01 -4.01716149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.906559995 meters 0.012913502277983003 Centerline is valid? [True, True] Translation: X:116.78, Y:-148.09, Z:-4.02 [[ 3.84262443e-02 9.99261221e-01 -6.59963965e-04 1.16784876e+02] [ 9.99143309e-01 -3.84318484e-02 -1.53506039e-02 -1.48086211e+02] [-1.53646269e-02 -6.95325234e-05 -9.99881955e-01 -4.01663562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9665599950001 meters 0.012568164961929884 Centerline is valid? [True, True] Translation: X:116.79, Y:-148.06, Z:-4.02 [[-3.61975380e-02 9.99344532e-01 4.93908648e-04 1.16792189e+02] [ 9.99247375e-01 3.62009058e-02 -1.39347639e-02 -1.48058651e+02] [-1.39435100e-02 -1.08672237e-05 -9.99902785e-01 -4.01952310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.026559995 meters 0.012687863160998956 Centerline is valid? [True, True] Translation: X:116.80, Y:-148.03, Z:-4.02 [[-1.11903812e-01 9.93717802e-01 1.57060360e-03 1.16797452e+02] [ 9.93622896e-01 1.11914831e-01 -1.37335536e-02 -1.48031194e+02] [-1.38230505e-02 2.37507034e-05 -9.99904457e-01 -4.02055055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.086559995 meters 0.01291263401069797 Centerline is valid? [True, True] Translation: X:116.80, Y:-148.00, Z:-4.02 [[-1.85946274e-01 9.82556498e-01 2.59077094e-03 1.16801345e+02] [ 9.82466387e-01 1.85964308e-01 -1.33069709e-02 -1.48002834e+02] [-1.35566416e-02 7.09637128e-05 -9.99908102e-01 -4.02110847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.146559995 meters 0.012878270416129399 Centerline is valid? [True, True] Translation: X:116.81, Y:-147.97, Z:-4.02 [[-2.61873177e-01 9.65094917e-01 3.77355685e-03 1.16808223e+02] [ 9.64999092e-01 2.61900352e-01 -1.35999645e-02 -1.47972784e+02] [-1.41135524e-02 8.00130272e-05 -9.99900396e-01 -4.02053865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2065599950001 meters 0.013025293651293785 Centerline is valid? [True, True] Translation: X:116.81, Y:-147.94, Z:-4.02 [[-3.37612741e-01 9.41271203e-01 5.11473958e-03 1.16810789e+02] [ 9.41166311e-01 3.37651475e-01 -1.40519139e-02 -1.47943754e+02] [-1.49536613e-02 6.97154071e-05 -9.99888185e-01 -4.01915836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.266559995 meters 0.012760912585116475 Centerline is valid? [True, True] Translation: X:116.81, Y:-147.91, Z:-4.02 [[-4.10874915e-01 9.11669794e-01 6.32388048e-03 1.16810361e+02] [ 9.11564116e-01 4.10923574e-01 -1.38808823e-02 -1.47913761e+02] [-1.52534127e-02 6.13161821e-05 -9.99883658e-01 -4.02039961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.326559995 meters 0.012588943491716579 Centerline is valid? [True, True] Translation: X:116.81, Y:-147.88, Z:-4.02 [[-4.81851354e-01 8.76227760e-01 6.64725867e-03 1.16808464e+02] [ 8.76145583e-01 4.81897200e-01 -1.20002696e-02 -1.47883384e+02] [-1.37182647e-02 4.16201706e-05 -9.99905899e-01 -4.02124512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.386559995 meters 0.012498274496222884 Centerline is valid? [True, True] Translation: X:116.80, Y:-147.85, Z:-4.02 [[-5.49820178e-01 8.35254190e-01 6.94332817e-03 1.16802516e+02] [ 8.35188180e-01 5.49864017e-01 -1.05008098e-02 -1.47853529e+02] [-1.25887317e-02 2.54285236e-05 -9.99920759e-01 -4.02251877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4465599950001 meters 0.01221136406222002 Centerline is valid? [True, True] Translation: X:116.80, Y:-147.82, Z:-4.02 [[-6.15896651e-01 7.87796342e-01 6.94545863e-03 1.16796298e+02] [ 7.87746057e-01 6.15935811e-01 -8.90089845e-03 -1.47821882e+02] [-1.12900519e-02 -1.07758974e-05 -9.99936265e-01 -4.02407580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.506559995 meters 0.012223579190153357 Centerline is valid? [True, True] Translation: X:116.79, Y:-147.79, Z:-4.02 [[-6.78034178e-01 7.34998570e-01 6.83786863e-03 1.16786843e+02] [ 7.34960571e-01 6.78068655e-01 -7.47390218e-03 -1.47791801e+02] [-1.01298518e-02 -4.19972851e-05 -9.99948691e-01 -4.02425704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.566559995 meters 0.012449969174380064 Centerline is valid? [True, True] Translation: X:116.77, Y:-147.76, Z:-4.03 [[-7.36017911e-01 6.76927022e-01 6.88783673e-03 1.16774401e+02] [ 6.76896438e-01 7.36050135e-01 -6.43514098e-03 -1.47761757e+02] [-9.42591398e-03 -7.40268726e-05 -9.99955572e-01 -4.02508685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.626559995 meters 0.013098958477273197 Centerline is valid? [True, True] Translation: X:116.79, Y:-147.73, Z:-4.02 [[-7.85279890e-01 6.19096782e-01 7.39385106e-03 1.16791737e+02] [ 6.19067852e-01 7.85314688e-01 -5.98619658e-03 -1.47732862e+02] [-9.51253488e-03 -1.23544304e-04 -9.99954747e-01 -4.02444155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6865599950002 meters 0.013914218692378794 Centerline is valid? [True, True] Translation: X:116.81, Y:-147.70, Z:-4.02 [[-8.28798916e-01 5.59479876e-01 8.63856011e-03 1.16805694e+02] [ 5.59447357e-01 8.28843918e-01 -6.03440934e-03 -1.47704682e+02] [-1.05361486e-02 -1.68492292e-04 -9.99944479e-01 -4.02290475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.746559995 meters 0.01449231064269376 Centerline is valid? [True, True] Translation: X:116.83, Y:-147.68, Z:-4.02 [[-8.67444971e-01 4.97398894e-01 1.15568964e-02 1.16825779e+02] [ 4.97350951e-01 8.67521919e-01 -6.91027717e-03 -1.47680580e+02] [-1.34630252e-02 -2.46451765e-04 -9.99909339e-01 -4.02000257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.806559995 meters 0.014309076255679478 Centerline is valid? [True, True] Translation: X:116.84, Y:-147.66, Z:-4.02 [[-8.99191550e-01 4.37370034e-01 1.27283276e-02 1.16837205e+02] [ 4.37322762e-01 8.99281605e-01 -6.43399588e-03 -1.47656646e+02] [-1.42603879e-02 -2.19007324e-04 -9.99898292e-01 -4.01968276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.866559995 meters 0.012542158856030822 Centerline is valid? [True, True] Translation: X:116.85, Y:-147.64, Z:-4.02 [[-9.24385773e-01 3.81272755e-01 1.19175823e-02 1.16850720e+02] [ 3.81239992e-01 9.24462590e-01 -4.99878208e-03 -1.47641604e+02] [-1.29232584e-02 -7.73440437e-05 -9.99916488e-01 -4.02160316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9265599950002 meters 0.012748623672613821 Centerline is valid? [True, True] Translation: X:117.12, Y:-147.04, Z:-5.01 [[-8.96816128e-01 -4.42300313e-01 9.55328431e-03 1.17115974e+02] [ 4.42274660e-01 -8.96867009e-01 -4.76383556e-03 -1.47038996e+02] [ 1.06750715e-02 -4.71089994e-05 9.99943019e-01 -5.01495122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.986559995 meters 0.014312372958831704 Centerline is valid? [True, True] Translation: X:116.82, Y:-147.65, Z:-4.03 [[-9.16897422e-01 3.99020911e-01 9.02384869e-03 1.16818462e+02] [ 3.99003362e-01 9.16941811e-01 -3.74587087e-03 -1.47647109e+02] [-9.76902497e-03 1.65966631e-04 -9.99952268e-01 -4.02562278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.046559995 meters 0.015323051041884228 Centerline is valid? [True, True] Translation: X:117.09, Y:-147.02, Z:-5.01 [[-9.05806429e-01 -4.23602533e-01 8.69517826e-03 1.17086633e+02] [ 4.23581215e-01 -9.05848147e-01 -4.25318305e-03 -1.47017907e+02] [ 9.67817023e-03 -1.69446377e-04 9.99953151e-01 -5.01274955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.106559995 meters 0.01714763667123123 Centerline is valid? [True, True] Translation: X:116.78, Y:-147.64, Z:-4.03 [[-9.13643751e-01 4.06359580e-01 1.12689501e-02 1.16778209e+02] [ 4.06333353e-01 9.13713177e-01 -4.62989854e-03 -1.47638266e+02] [-1.21779919e-02 3.48872428e-04 -9.99925785e-01 -4.02649817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.166559995 meters 0.01804493517804284 Centerline is valid? [True, True] Translation: X:116.79, Y:-147.61, Z:-4.03 [[-9.39716838e-01 3.41726915e-01 1.24490489e-02 1.16789825e+02] [ 3.41702415e-01 9.39799214e-01 -4.11060593e-03 -1.47612342e+02] [-1.31043110e-02 3.91064458e-04 -9.99914058e-01 -4.02539605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2265599950001 meters 0.018060198641183134 Centerline is valid? [True, True] Translation: X:116.80, Y:-147.58, Z:-4.03 [[-9.61961053e-01 2.72889103e-01 1.27463470e-02 1.16798910e+02] [ 2.72870270e-01 9.62045424e-01 -3.22766686e-03 -1.47582044e+02] [-1.31433599e-02 3.73209337e-04 -9.99913553e-01 -4.02565810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.286559995 meters 0.015914020860414196 Centerline is valid? [True, True] Translation: X:116.80, Y:-147.55, Z:-4.03 [[-9.79900561e-01 1.99195331e-01 1.07754450e-02 1.16802531e+02] [ 1.99186162e-01 9.79959772e-01 -1.92838389e-03 -1.47547189e+02] [-1.09436277e-02 2.56695090e-04 -9.99940084e-01 -4.02877309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.346559995 meters 0.013027665851447373 Centerline is valid? [True, True] Translation: X:116.80, Y:-147.50, Z:-4.03 [[-9.93173437e-01 1.16156269e-01 1.06885605e-02 1.16796002e+02] [ 1.16150748e-01 9.93230944e-01 -1.13796456e-03 -1.47503172e+02] [-1.07483907e-02 1.11288118e-04 -9.99942228e-01 -4.02971836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.406559995 meters 0.01236330382172427 Centerline is valid? [True, True] Translation: X:116.86, Y:-146.88, Z:-5.01 [[-9.85311507e-01 -1.70398248e-01 1.12103345e-02 1.16858066e+02] [ 1.70386392e-01 -9.85375275e-01 -2.01133203e-03 -1.46876091e+02] [ 1.13891139e-02 -7.17001496e-05 9.99935139e-01 -5.01073758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4665599950001 meters 0.013478539793519649 Centerline is valid? [True, True] Translation: X:116.74, Y:-147.47, Z:-4.03 [[-9.95723202e-01 9.17199613e-02 1.10794413e-02 1.16735831e+02] [ 9.17129933e-02 9.95784834e-01 -1.13643028e-03 -1.47472822e+02] [-1.11369729e-02 -1.15441277e-04 -9.99937975e-01 -4.02785016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.526559995 meters 0.01445411404470221 Centerline is valid? [True, True] Translation: X:116.79, Y:-146.89, Z:-5.01 [[-9.82261434e-01 -1.87221915e-01 1.05085679e-02 1.16787369e+02] [ 1.87212049e-01 -9.82317641e-01 -1.92354239e-03 -1.46893566e+02] [ 1.06828809e-02 7.79090172e-05 9.99942933e-01 -5.00888412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.586559995 meters 0.01583399584552704 Centerline is valid? [True, True] Translation: X:116.68, Y:-147.45, Z:-4.03 [[-9.97059118e-01 7.57761334e-02 1.14495767e-02 1.16681271e+02] [ 7.57681682e-02 9.97124822e-01 -1.12847442e-03 -1.47451070e+02] [-1.15021686e-02 -2.57642250e-04 -9.99933815e-01 -4.02909308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.646559995 meters 0.015302584137388673 Centerline is valid? [True, True] Translation: X:116.73, Y:-146.90, Z:-5.01 [[-9.82797099e-01 -1.84361954e-01 1.09787566e-02 1.16734354e+02] [ 1.84353018e-01 -9.82858392e-01 -1.82924951e-03 -1.46898694e+02] [ 1.11278071e-02 2.26185796e-04 9.99938059e-01 -5.00991796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7065599950001 meters 0.014978398803344905 Centerline is valid? [True, True] Translation: X:116.63, Y:-147.44, Z:-4.03 [[-9.97010078e-01 7.63799736e-02 1.17048722e-02 1.16633927e+02] [ 7.63722246e-02 9.97078761e-01 -1.10824011e-03 -1.47444638e+02] [-1.17553268e-02 -2.10999431e-04 -9.99930882e-01 -4.02867213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.766559995 meters 0.014674140242128677 Centerline is valid? [True, True] Translation: X:116.69, Y:-146.90, Z:-5.01 [[-9.84123531e-01 -1.77027496e-01 1.27334623e-02 1.16685741e+02] [ 1.77016639e-01 -9.84205860e-01 -1.98366491e-03 -1.46895890e+02] [ 1.28835114e-02 3.01863386e-04 9.99916959e-01 -5.01181540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.826559995 meters 0.014037142251044438 Centerline is valid? [True, True] Translation: X:116.58, Y:-147.44, Z:-4.03 [[-9.97021378e-01 7.55438522e-02 1.55401993e-02 1.16584637e+02] [ 7.55310380e-02 9.97142453e-01 -1.41069627e-03 -1.47441455e+02] [-1.56023619e-02 -2.32726957e-04 -9.99878249e-01 -4.02617615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.886559995 meters 0.014859434819170752 Centerline is valid? [True, True] Translation: X:116.63, Y:-146.89, Z:-5.02 [[-9.85019592e-01 -1.71639496e-01 1.66218493e-02 1.16630382e+02] [ 1.71620679e-01 -9.85159772e-01 -2.56263375e-03 -1.46890992e+02] [ 1.68150264e-02 3.28408608e-04 9.99858564e-01 -5.01542586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9465599950001 meters 0.013675806100272506 Centerline is valid? [True, True] Translation: X:116.53, Y:-147.44, Z:-4.03 [[-9.97231273e-01 7.24463683e-02 1.67723526e-02 1.16533142e+02] [ 7.24320926e-02 9.97372281e-01 -1.45786044e-03 -1.47440390e+02] [-1.68338963e-02 -2.38967429e-04 -9.99858271e-01 -4.02685787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.006559995 meters 0.01327254902597525 Centerline is valid? [True, True] Translation: X:116.53, Y:-147.42, Z:-4.03 [[-9.99874654e-01 3.12257376e-03 1.55218199e-02 1.16532010e+02] [ 3.11919400e-03 9.99995106e-01 -2.41947260e-04 -1.47416117e+02] [-1.55224995e-02 -1.93501366e-04 -9.99879500e-01 -4.02853248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.066559995 meters 0.012382662073885534 Centerline is valid? [True, True] Translation: X:116.54, Y:-146.84, Z:-5.01 [[-9.96082710e-01 -8.73791859e-02 1.35688165e-02 1.16543657e+02] [ 8.73719080e-02 -9.96175122e-01 -1.12937424e-03 -1.46843862e+02] [ 1.36156012e-02 6.05832299e-05 9.99907302e-01 -5.00896646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.126559995 meters 0.012324005714964063 Centerline is valid? [True, True] Translation: X:116.48, Y:-147.43, Z:-4.03 [[-9.99839867e-01 1.16271847e-02 1.36032486e-02 1.16481176e+02] [ 1.16261352e-02 9.99932402e-01 -1.56230513e-04 -1.47429247e+02] [-1.36041456e-02 1.94771237e-06 -9.99907459e-01 -4.03004519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1865599950002 meters 0.012742758746473314 Centerline is valid? [True, True] Translation: X:116.48, Y:-147.41, Z:-4.03 [[-9.98522986e-01 -5.23918974e-02 1.43852249e-02 1.16480059e+02] [-5.23849542e-02 9.98626596e-01 8.59303467e-04 -1.47409518e+02] [-1.44104887e-02 1.04464915e-04 -9.99896158e-01 -4.03033034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.246559995 meters 0.014303351570732961 Centerline is valid? [True, True] Translation: X:116.47, Y:-147.39, Z:-4.03 [[-9.93157397e-01 -1.15803963e-01 1.50939718e-02 1.16472325e+02] [-1.15787129e-01 9.93272063e-01 1.98740271e-03 -1.47391659e+02] [-1.52225697e-02 2.26116045e-04 -9.99884104e-01 -4.03037635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.306559995 meters 0.016449918552020635 Centerline is valid? [True, True] Translation: X:116.46, Y:-147.37, Z:-4.03 [[-9.83499565e-01 -1.80279652e-01 1.50948199e-02 1.16464009e+02] [-1.80253340e-01 9.83615342e-01 3.09713789e-03 -1.47373225e+02] [-1.54058474e-02 3.25142069e-04 -9.99881270e-01 -4.02885152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.366559995 meters 0.01766840851830244 Centerline is valid? [True, True] Translation: X:116.44, Y:-147.36, Z:-4.03 [[-9.68756223e-01 -2.47573999e-01 1.47815659e-02 1.16442253e+02] [-2.47539375e-01 9.68868918e-01 4.15672470e-03 -1.47355784e+02] [-1.53504967e-02 3.67833342e-04 -9.99882107e-01 -4.02893750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4265599950002 meters 0.018010433788058104 Centerline is valid? [True, True] Translation: X:116.41, Y:-147.34, Z:-4.03 [[-9.48480090e-01 -3.16510583e-01 1.43725597e-02 1.16409231e+02] [-3.16468287e-01 9.48588906e-01 5.18753020e-03 -1.47341210e+02] [-1.52755589e-02 3.71809763e-04 -9.99883253e-01 -4.02880536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.486559995 meters 0.017040751986414457 Centerline is valid? [True, True] Translation: X:116.36, Y:-147.33, Z:-4.03 [[-9.21175930e-01 -3.88896443e-01 1.39449876e-02 1.16355450e+02] [-3.88846896e-01 9.21281426e-01 6.21497861e-03 -1.47334303e+02] [-1.52642411e-02 3.02623574e-04 -9.99883449e-01 -4.02800293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.546559995 meters 0.014632185939530192 Centerline is valid? [True, True] Translation: X:116.28, Y:-147.33, Z:-4.03 [[-8.86896769e-01 -4.61772497e-01 1.34269392e-02 1.16283718e+02] [-4.61716229e-01 8.86998378e-01 7.21118203e-03 -1.47334559e+02] [-1.52395988e-02 1.96138325e-04 -9.99883851e-01 -4.02814924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.606559995 meters 0.012273727114240279 Centerline is valid? [True, True] Translation: X:116.21, Y:-147.34, Z:-4.03 [[-8.42246812e-01 -5.38961175e-01 1.18810794e-02 1.16210016e+02] [-5.38908197e-01 8.42330607e-01 7.55672128e-03 -1.47335664e+02] [-1.40805762e-02 -3.81866981e-05 -9.99900863e-01 -4.03064888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.666559995 meters 0.014235376387831143 Centerline is valid? [True, True] Translation: X:116.13, Y:-147.35, Z:-4.03 [[-7.90799733e-01 -6.11975702e-01 1.10237133e-02 1.16129659e+02] [-6.11920640e-01 7.90876525e-01 8.21293998e-03 -1.47348872e+02] [-1.37445158e-02 -2.50846957e-04 -9.99905508e-01 -4.03109907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7265599950001 meters 0.018373813144623434 Centerline is valid? [True, True] Translation: X:116.05, Y:-147.37, Z:-4.03 [[-7.36880986e-01 -6.75967490e-01 8.62357626e-03 1.16047595e+02] [-6.75926182e-01 7.36931376e-01 7.47954957e-03 -1.47371724e+02] [-1.14109163e-02 -3.17363121e-04 -9.99934843e-01 -4.03173226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.786559995 meters 0.019495553398831193 Centerline is valid? [True, True] Translation: X:115.97, Y:-147.41, Z:-4.03 [[-6.82659810e-01 -7.30700450e-01 7.24131134e-03 1.15972705e+02] [-7.30664083e-01 6.82698145e-01 7.29664568e-03 -1.47405219e+02] [-1.02752921e-02 -3.09839359e-04 -9.99947160e-01 -4.03269012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.846559995 meters 0.02005999537810422 Centerline is valid? [True, True] Translation: X:115.90, Y:-147.45, Z:-4.03 [[-6.26523790e-01 -7.79374079e-01 6.63214091e-03 1.15895602e+02] [-7.79335403e-01 6.26558820e-01 7.77016190e-03 -1.47453806e+02] [-1.02112892e-02 -3.00470930e-04 -9.99947818e-01 -4.03206977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.906559995 meters 0.01935363379874384 Centerline is valid? [True, True] Translation: X:115.82, Y:-147.51, Z:-4.03 [[-5.67991969e-01 -8.23004233e-01 7.01110758e-03 1.15824391e+02] [-8.22948363e-01 5.68035148e-01 9.59491672e-03 -1.47509185e+02] [-1.18792126e-02 -3.19943866e-04 -9.99929389e-01 -4.03015510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9665599950001 meters 0.018013015509673738 Centerline is valid? [True, True] Translation: X:115.75, Y:-147.58, Z:-4.03 [[-5.07834740e-01 -8.61419879e-01 7.72450967e-03 1.15754448e+02] [-8.61329919e-01 5.07893378e-01 1.24534185e-02 -1.47579302e+02] [-1.46508496e-02 -3.29072741e-04 -9.99892616e-01 -4.02749943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.026559995 meters 0.01392991013506701 Centerline is valid? [True, True] Translation: X:115.69, Y:-147.66, Z:-4.03 [[-4.46355915e-01 -8.94826087e-01 7.25754395e-03 1.15694874e+02] [-8.94716985e-01 4.46414840e-01 1.39752173e-02 -1.47659880e+02] [-1.57452643e-02 -2.55526956e-04 -9.99876003e-01 -4.03005104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.086559995 meters 0.012832242884327471 Centerline is valid? [True, True] Translation: X:115.64, Y:-147.75, Z:-4.03 [[-3.83456384e-01 -9.23540024e-01 5.91833957e-03 1.15636449e+02] [-9.23435410e-01 3.83502030e-01 1.39009411e-02 -1.47747458e+02] [-1.51077707e-02 -1.34799726e-04 -9.99885862e-01 -4.03016500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.146559995 meters 0.012537316499736044 Centerline is valid? [True, True] Translation: X:115.58, Y:-147.84, Z:-4.03 [[-3.16429743e-01 -9.48603568e-01 4.84650772e-03 1.15579527e+02] [-9.48495151e-01 3.16466850e-01 1.43416094e-02 -1.47842364e+02] [-1.51382609e-02 -5.87772946e-05 -9.99885408e-01 -4.03017530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2065599950001 meters 0.012558288976940116 Centerline is valid? [True, True] Translation: X:115.53, Y:-147.95, Z:-4.03 [[-2.48156887e-01 -9.68713699e-01 3.45370416e-03 1.15531635e+02] [-9.68618541e-01 2.48180918e-01 1.35777296e-02 -1.47945274e+02] [-1.40100761e-02 2.40852200e-05 -9.99901854e-01 -4.03119867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.266559995 meters 0.012615310494081548 Centerline is valid? [True, True] Translation: X:115.49, Y:-148.05, Z:-4.03 [[-1.74287752e-01 -9.84691936e-01 2.36014252e-03 1.15486433e+02] [-9.84598417e-01 1.74303726e-01 1.35708802e-02 -1.48055000e+02] [-1.37745180e-02 4.14456107e-05 -9.99905126e-01 -4.03246217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.326559995 meters 0.012538225409737563 Centerline is valid? [True, True] Translation: X:115.44, Y:-148.17, Z:-4.03 [[-9.07468491e-02 -9.95873166e-01 1.28289879e-03 1.15439801e+02] [-9.95782600e-01 9.07558979e-02 1.34305615e-02 -1.48168051e+02] [-1.34915664e-02 -5.87071578e-05 -9.99908983e-01 -4.03249927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.386559995 meters 0.013447010356526085 Centerline is valid? [True, True] Translation: X:115.40, Y:-148.29, Z:-4.03 [[-5.80000308e-03 -9.99983151e-01 2.38945208e-04 1.15401302e+02] [-9.99898025e-01 5.80262732e-03 1.30486989e-02 -1.48287912e+02] [-1.30498655e-02 -1.63238348e-04 -9.99914834e-01 -4.03254070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4465599950001 meters 0.01437198936009519 Centerline is valid? [True, True] Translation: X:114.69, Y:-148.39, Z:-5.01 [[-1.05414945e-01 9.94427601e-01 1.19820629e-03 1.14685179e+02] [-9.94353250e-01 -1.05421715e-01 1.21604671e-02 -1.48387176e+02] [ 1.22190211e-02 9.04546518e-05 9.99925341e-01 -5.00549036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.506559995 meters 0.015306015563539157 Centerline is valid? [True, True] Translation: X:115.38, Y:-148.57, Z:-4.03 [[ 1.24935265e-02 -9.99921947e-01 1.11847919e-04 1.15383517e+02] [-9.99837698e-01 -1.24910217e-02 1.29827858e-02 -1.48573749e+02] [-1.29803754e-02 -2.74030545e-04 -9.99915714e-01 -4.03191478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.566559995 meters 0.014401780837343616 Centerline is valid? [True, True] Translation: X:115.35, Y:-148.68, Z:-4.03 [[ 8.01609872e-02 -9.96781638e-01 -7.63631418e-04 1.15353212e+02] [-9.96691520e-01 -8.01640110e-02 1.34068963e-02 -1.48683452e+02] [-1.34249638e-02 -3.13605087e-04 -9.99909832e-01 -4.03229463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.626559995 meters 0.014207660140090181 Centerline is valid? [True, True] Translation: X:115.34, Y:-148.79, Z:-4.03 [[ 1.52529169e-01 -9.88297594e-01 -1.64903877e-03 1.15336086e+02] [-9.88222796e-01 -1.52537916e-01 1.21610050e-02 -1.48787161e+02] [-1.22702329e-02 -2.25290276e-04 -9.99924693e-01 -4.03283394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6865599950002 meters 0.013038867079214856 Centerline is valid? [True, True] Translation: X:115.33, Y:-148.90, Z:-4.03 [[ 2.22476394e-01 -9.74935268e-01 -2.34061772e-03 1.15332893e+02] [-9.74874509e-01 -2.22488662e-01 1.08851745e-02 -1.48901380e+02] [-1.11331014e-02 -1.39885807e-04 -9.99938015e-01 -4.03358271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.746559995 meters 0.012447528022074623 Centerline is valid? [True, True] Translation: X:115.34, Y:-149.02, Z:-4.03 [[ 2.91313508e-01 -9.56622178e-01 -3.23252631e-03 1.15337390e+02] [-9.56560325e-01 -2.91331432e-01 1.08785032e-02 -1.49016935e+02] [-1.13483540e-02 -7.69485180e-05 -9.99935602e-01 -4.03219961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.806559995 meters 0.012424648130182544 Centerline is valid? [True, True] Translation: X:115.35, Y:-149.13, Z:-4.03 [[ 3.54288643e-01 -9.35125482e-01 -4.45989743e-03 1.15354895e+02] [-9.35053033e-01 -3.54316710e-01 1.16401895e-02 -1.49129161e+02] [-1.24652540e-02 4.62536790e-05 -9.99922305e-01 -4.03160979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.866559995 meters 0.012928006856477077 Centerline is valid? [True, True] Translation: X:115.38, Y:-149.24, Z:-4.03 [[ 4.20440795e-01 -9.07304500e-01 -5.29923578e-03 1.15377309e+02] [-9.07235683e-01 -4.20474175e-01 1.11751603e-02 -1.49242406e+02] [-1.23674650e-02 1.09162500e-04 -9.99923514e-01 -4.03211955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9265599950002 meters 0.013288745934515771 Centerline is valid? [True, True] Translation: X:115.41, Y:-149.36, Z:-4.03 [[ 4.86762959e-01 -8.73512003e-01 -6.21304443e-03 1.15406674e+02] [-8.73444487e-01 -4.86802589e-01 1.08613078e-02 -1.49357134e+02] [-1.25120089e-02 1.39867069e-04 -9.99921712e-01 -4.03166667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.986559995 meters 0.013345754362417259 Centerline is valid? [True, True] Translation: X:115.44, Y:-149.47, Z:-4.03 [[ 5.52994336e-01 -8.33148790e-01 -7.76899212e-03 1.15441092e+02] [-8.33070185e-01 -5.53048888e-01 1.14452915e-02 -1.49466999e+02] [-1.38322632e-02 1.42934344e-04 -9.99904320e-01 -4.03002282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.046559995 meters 0.01324528879059961 Centerline is valid? [True, True] Translation: X:115.48, Y:-149.58, Z:-4.03 [[ 6.17348556e-01 -7.86642996e-01 -8.57654801e-03 1.15482550e+02] [-7.86569377e-01 -6.17408120e-01 1.07623600e-02 -1.49575103e+02] [-1.37613655e-02 1.01922591e-04 -9.99905303e-01 -4.02874913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.106559995 meters 0.012442093968435743 Centerline is valid? [True, True] Translation: X:115.53, Y:-149.68, Z:-4.03 [[ 6.79148209e-01 -7.33945992e-01 -8.99949772e-03 1.15529403e+02] [-7.33882215e-01 -6.79207832e-01 9.67550164e-03 -1.49680678e+02] [-1.32138250e-02 3.34717211e-05 -9.99912693e-01 -4.03008230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.166559995 meters 0.012407893688158969 Centerline is valid? [True, True] Translation: X:115.58, Y:-149.77, Z:-4.03 [[ 7.35931585e-01 -6.76991256e-01 -9.35634737e-03 1.15579733e+02] [-6.76936160e-01 -7.35991059e-01 8.63695363e-03 -1.49774637e+02] [-1.27333301e-02 -2.25571151e-05 -9.99918928e-01 -4.03044173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2265599950001 meters 0.012630738253828688 Centerline is valid? [True, True] Translation: X:115.60, Y:-149.81, Z:-4.03 [[ 7.89788005e-01 -6.13313906e-01 -8.99781150e-03 1.15597095e+02] [-6.13272949e-01 -7.89839254e-01 7.08828606e-03 -1.49806025e+02] [-1.14541691e-02 -8.01289150e-05 -9.99934396e-01 -4.03183877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.286559995 meters 0.012779077367516888 Centerline is valid? [True, True] Translation: X:115.62, Y:-149.84, Z:-4.03 [[ 8.36742271e-01 -5.47543120e-01 -7.67489222e-03 1.15616689e+02] [-5.47519115e-01 -8.36777464e-01 5.12776037e-03 -1.49835009e+02] [-9.22984676e-03 -8.84636583e-05 -9.99957400e-01 -4.03320080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.346559995 meters 0.013419651913418493 Centerline is valid? [True, True] Translation: X:115.64, Y:-149.86, Z:-4.03 [[ 8.77262070e-01 -4.79951349e-01 -7.61335404e-03 1.15639584e+02] [-4.79932398e-01 -8.77295101e-01 4.26593748e-03 -1.49860692e+02] [-8.72660065e-03 -8.84498804e-05 -9.99961919e-01 -4.03153836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.406559995 meters 0.012811613749665206 Centerline is valid? [True, True] Translation: X:115.67, Y:-149.88, Z:-4.03 [[ 9.11921897e-01 -4.10311608e-01 -6.54508273e-03 1.15667057e+02] [-4.10300486e-01 -9.11945382e-01 3.02186251e-03 -1.49881630e+02] [-7.20866323e-03 -7.02519702e-05 -9.99974015e-01 -4.03392293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4665599950001 meters 0.012699656192170913 Centerline is valid? [True, True] Translation: X:115.70, Y:-149.90, Z:-4.03 [[ 9.40685448e-01 -3.39222221e-01 -6.25886294e-03 1.15696181e+02] [-3.39214324e-01 -9.40706268e-01 2.31524569e-03 -1.49900192e+02] [-6.67313438e-03 -5.48219653e-05 -9.99977733e-01 -4.03455564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.526559995 meters 0.012544569530724494 Centerline is valid? [True, True] Translation: X:115.73, Y:-149.92, Z:-4.03 [[ 9.63947439e-01 -2.65975965e-01 -7.88170708e-03 1.15726001e+02] [-2.65966600e-01 -9.63979659e-01 2.23265963e-03 -1.49916813e+02] [-8.19163910e-03 -5.58956952e-05 -9.99966446e-01 -4.03323446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.586559995 meters 0.012713742623280705 Centerline is valid? [True, True] Translation: X:115.76, Y:-149.93, Z:-4.03 [[ 9.81738969e-01 -1.89950820e-01 -1.03577127e-02 1.15757061e+02] [-1.89939489e-01 -9.81793604e-01 2.07595483e-03 -1.49932013e+02] [-1.05634654e-02 -7.07071035e-05 -9.99944203e-01 -4.03035164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.646559995 meters 0.01279012230238152 Centerline is valid? [True, True] Translation: X:115.79, Y:-149.94, Z:-4.03 [[ 9.93671827e-01 -1.11782385e-01 -1.09999824e-02 1.15785692e+02] [-1.11774618e-01 -9.93732706e-01 1.32027734e-03 -1.49944719e+02] [-1.10786260e-02 -8.24035611e-05 -9.99938627e-01 -4.02955948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7065599950001 meters 0.012813334213386183 Centerline is valid? [True, True] Translation: X:115.82, Y:-149.95, Z:-4.03 [[ 9.99387457e-01 -3.32771894e-02 -1.08323628e-02 1.15815109e+02] [-3.32743216e-02 -9.99446157e-01 4.44906863e-04 -1.49953472e+02] [-1.08411686e-02 -8.41948143e-05 -9.99941229e-01 -4.02976764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.766559995 meters 0.012899639894207319 Centerline is valid? [True, True] Translation: X:115.84, Y:-149.96, Z:-4.03 [[ 9.98926739e-01 4.52261011e-02 -9.99852734e-03 1.15843994e+02] [ 4.52246337e-02 -9.98976773e-01 -3.72923162e-04 -1.49957297e+02] [-1.00051624e-02 -7.96568183e-05 -9.99949944e-01 -4.03018401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.826559995 meters 0.012953789125681002 Centerline is valid? [True, True] Translation: X:115.87, Y:-149.96, Z:-4.03 [[ 9.92295459e-01 1.23517570e-01 -9.65044678e-03 1.15873942e+02] [ 1.23512509e-01 -9.92342382e-01 -1.12102725e-03 -1.49958409e+02] [-9.71501391e-03 -7.95606422e-05 -9.99952805e-01 -4.03060392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.886559995 meters 0.012872123291506799 Centerline is valid? [True, True] Translation: X:115.90, Y:-149.96, Z:-4.03 [[ 9.79532794e-01 2.01139357e-01 -7.64621178e-03 1.15903994e+02] [ 2.01133760e-01 -9.79562634e-01 -1.50203142e-03 -1.49959651e+02] [-7.79206098e-03 -6.66222892e-05 -9.99969639e-01 -4.03250650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9465599950001 meters 0.012975082844961017 Centerline is valid? [True, True] Translation: X:115.93, Y:-149.96, Z:-4.03 [[ 9.60640814e-01 2.77678894e-01 -7.97865154e-03 1.15933854e+02] [ 2.77669964e-01 -9.60673944e-01 -2.22820925e-03 -1.49959342e+02] [-8.28360932e-03 -7.49231399e-05 -9.99965688e-01 -4.03171132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.006559995 meters 0.013067685984883275 Centerline is valid? [True, True] Translation: X:115.96, Y:-149.96, Z:-4.03 [[ 9.35914329e-01 3.52125987e-01 -8.46514378e-03 1.15963054e+02] [ 3.52112374e-01 -9.35952607e-01 -3.09728901e-03 -1.49955952e+02] [-9.01360933e-03 -8.18847133e-05 -9.99959373e-01 -4.03106020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.066559995 meters 0.01302761892124507 Centerline is valid? [True, True] Translation: X:115.99, Y:-149.95, Z:-4.03 [[ 9.05209746e-01 4.24870883e-01 -8.94697556e-03 1.15993006e+02] [ 4.24851169e-01 -9.05253956e-01 -4.09388845e-03 -1.49953191e+02] [-9.83865902e-03 -9.53053031e-05 -9.99951595e-01 -4.03125248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.126559995 meters 0.013207894435422906 Centerline is valid? [True, True] Translation: X:116.02, Y:-149.95, Z:-4.03 [[ 8.68728621e-01 4.95213254e-01 -8.62649237e-03 1.16022683e+02] [ 4.95190029e-01 -8.68771444e-01 -4.79716206e-03 -1.49947279e+02] [-9.87006847e-03 -1.04321028e-04 -9.99951284e-01 -4.03120662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1865599950002 meters 0.013372612388374047 Centerline is valid? [True, True] Translation: X:116.05, Y:-149.94, Z:-4.03 [[ 8.26278637e-01 5.63218762e-01 -6.94554909e-03 1.16052661e+02] [ 5.63199916e-01 -8.26307821e-01 -4.60866575e-03 -1.49941252e+02] [-8.33484855e-03 -1.03690609e-04 -9.99965259e-01 -4.03255819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.246559995 meters 0.013714738370421536 Centerline is valid? [True, True] Translation: X:116.08, Y:-149.93, Z:-4.03 [[ 7.78422797e-01 6.27708531e-01 -6.32057771e-03 1.16082255e+02] [ 6.27689039e-01 -7.78448449e-01 -4.94800132e-03 -1.49932376e+02] [-8.02614655e-03 -1.15720317e-04 -9.99967783e-01 -4.03284983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.306559995 meters 0.014402601807231201 Centerline is valid? [True, True] Translation: X:116.11, Y:-149.92, Z:-4.03 [[ 7.24548924e-01 6.89189031e-01 -6.88014440e-03 1.16111294e+02] [ 6.89160118e-01 -7.24581570e-01 -6.31504977e-03 -1.49922342e+02] [-9.33748886e-03 -1.65958618e-04 -9.99956391e-01 -4.03125678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.366559995 meters 0.01520487132635131 Centerline is valid? [True, True] Translation: X:116.14, Y:-149.91, Z:-4.03 [[ 6.65992981e-01 7.45927097e-01 -6.79080158e-03 1.16139855e+02] [ 7.45891479e-01 -6.66027568e-01 -7.29240760e-03 -1.49909451e+02] [-9.96246550e-03 -2.08508764e-04 -9.99950352e-01 -4.03019898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4265599950002 meters 0.015442162187936941 Centerline is valid? [True, True] Translation: X:116.17, Y:-149.90, Z:-4.03 [[ 6.03351768e-01 7.97454702e-01 -5.71334579e-03 1.16168015e+02] [ 7.97422314e-01 -6.03378779e-01 -7.19037632e-03 -1.49895822e+02] [-9.18131102e-03 -2.17623156e-04 -9.99957827e-01 -4.03085901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.486559995 meters 0.015962049385259164 Centerline is valid? [True, True] Translation: X:116.19, Y:-149.88, Z:-4.03 [[ 5.38061562e-01 8.42893100e-01 -4.58008766e-03 1.16194173e+02] [ 8.42865732e-01 -5.38081016e-01 -6.79542029e-03 -1.49878707e+02] [-8.19227110e-03 -2.04044481e-04 -9.99966422e-01 -4.03157896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.546559995 meters 0.017945047984015108 Centerline is valid? [True, True] Translation: X:116.22, Y:-149.86, Z:-4.03 [[ 4.70935346e-01 8.82160426e-01 -3.58921134e-03 1.16217358e+02] [ 8.82137612e-01 -4.70948990e-01 -6.34686201e-03 -1.49860512e+02] [-7.28928595e-03 -1.77216660e-04 -9.99973417e-01 -4.03094285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.606559995 meters 0.015681880167352277 Centerline is valid? [True, True] Translation: X:116.23, Y:-149.84, Z:-4.03 [[ 4.01530940e-01 9.15840676e-01 -2.95984499e-03 1.16234439e+02] [ 9.15818687e-01 -4.01541817e-01 -6.34833697e-03 -1.49836623e+02] [-7.00256675e-03 -1.61627640e-04 -9.99975469e-01 -4.03241777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.666559995 meters 0.01620009754102955 Centerline is valid? [True, True] Translation: X:116.25, Y:-149.81, Z:-4.03 [[ 3.27702822e-01 9.44777456e-01 -2.53352413e-03 1.16254151e+02] [ 9.44753184e-01 -3.27712569e-01 -6.77440753e-03 -1.49813884e+02] [-7.23057522e-03 -1.73562531e-04 -9.99973844e-01 -4.03172341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7265599950001 meters 0.016841907588404263 Centerline is valid? [True, True] Translation: X:116.27, Y:-149.79, Z:-4.03 [[ 2.51526221e-01 9.67846961e-01 -2.61170319e-03 1.16272724e+02] [ 9.67804182e-01 -2.51539667e-01 -9.10286967e-03 -1.49789591e+02] [-9.46713169e-03 -2.38006859e-04 -9.99955157e-01 -4.02910986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.786559995 meters 0.017146468929143184 Centerline is valid? [True, True] Translation: X:116.29, Y:-149.76, Z:-4.03 [[ 1.74385214e-01 9.84675628e-01 -1.92487763e-03 1.16286344e+02] [ 9.84630344e-01 -1.74395661e-01 -9.44669888e-03 -1.49762777e+02] [-9.63762446e-03 -2.47928317e-04 -9.99953526e-01 -4.02905635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.846559995 meters 0.016749695015891564 Centerline is valid? [True, True] Translation: X:116.30, Y:-149.74, Z:-4.03 [[ 9.56491027e-02 9.95414383e-01 -1.20657716e-03 1.16299283e+02] [ 9.95366226e-01 -9.56563480e-02 -9.79482686e-03 -1.49735543e+02] [-9.86532830e-03 -2.64119756e-04 -9.99951302e-01 -4.02971477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.906559995 meters 0.018585044409440282 Centerline is valid? [True, True] Translation: X:116.31, Y:-149.71, Z:-4.03 [[ 1.66445589e-02 9.99861377e-01 -4.29780657e-04 1.16312753e+02] [ 9.99814102e-01 -1.66479528e-02 -9.72657889e-03 -1.49708355e+02] [-9.73238553e-03 -2.67806147e-04 -9.99952603e-01 -4.02898096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9665599950001 meters 0.01699228679222231 Centerline is valid? [True, True] Translation: X:116.32, Y:-149.68, Z:-4.03 [[-6.05590616e-02 9.98164576e-01 2.81902337e-04 1.16317751e+02] [ 9.98130721e-01 6.05593302e-02 -8.22386501e-03 -1.49679474e+02] [-8.22584255e-03 -2.16654165e-04 -9.99966144e-01 -4.03063906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.026559995 meters 0.016761833880560056 Centerline is valid? [True, True] Translation: X:116.32, Y:-149.65, Z:-4.03 [[-1.37027722e-01 9.90566861e-01 8.34806198e-04 1.16321717e+02] [ 9.90539385e-01 1.37030141e-01 -7.38025369e-03 -1.49650654e+02] [-7.42502835e-03 -1.84390936e-04 -9.99972417e-01 -4.03135946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.086559995 meters 0.016087901640929755 Centerline is valid? [True, True] Translation: X:116.32, Y:-149.62, Z:-4.03 [[-2.12425668e-01 9.77176018e-01 1.53826399e-03 1.16324993e+02] [ 9.77143656e-01 2.12431155e-01 -7.95482370e-03 -1.49621162e+02] [-8.10003814e-03 -1.86703831e-04 -9.99967177e-01 -4.03033078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.146559995 meters 0.0158778008950894 Centerline is valid? [True, True] Translation: X:116.33, Y:-149.59, Z:-4.03 [[-2.86926171e-01 9.57950105e-01 2.22901193e-03 1.16326049e+02] [ 9.57916126e-01 2.86934772e-01 -8.07048745e-03 -1.49591506e+02] [-8.37070533e-03 -1.80427588e-04 -9.99964949e-01 -4.02980537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2065599950001 meters 0.015417043788493704 Centerline is valid? [True, True] Translation: X:116.32, Y:-149.56, Z:-4.03 [[-3.59103324e-01 9.33294629e-01 2.43706977e-03 1.16324528e+02] [ 9.33270445e-01 3.59111566e-01 -6.72012063e-03 -1.49562330e+02] [-7.14703243e-03 -1.38772463e-04 -9.99974450e-01 -4.03117783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.266559995 meters 0.015584721950287563 Centerline is valid? [True, True] Translation: X:116.32, Y:-149.53, Z:-4.03 [[-4.30195862e-01 9.02730994e-01 2.87636920e-03 1.16321312e+02] [ 9.02708789e-01 4.30205459e-01 -6.33292759e-03 -1.49534480e+02] [-6.95435974e-03 -1.27875488e-04 -9.99975810e-01 -4.03089105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.326559995 meters 0.014404374870551646 Centerline is valid? [True, True] Translation: X:116.31, Y:-149.51, Z:-4.03 [[-4.94963703e-01 8.68905068e-01 3.86208371e-03 1.16311912e+02] [ 8.68876954e-01 4.94978760e-01 -6.99049117e-03 -1.49507152e+02] [-7.98572260e-03 -1.04363871e-04 -9.99968108e-01 -4.03028176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.386559995 meters 0.013905599431775316 Centerline is valid? [True, True] Translation: X:116.30, Y:-149.48, Z:-4.03 [[-5.59720345e-01 8.28669565e-01 4.45955097e-03 1.16303653e+02] [ 8.28641998e-01 5.59738104e-01 -6.75982759e-03 -1.49479342e+02] [-8.09784399e-03 -8.82418052e-05 -9.99967208e-01 -4.03091712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4465599950001 meters 0.013739089753501172 Centerline is valid? [True, True] Translation: X:116.29, Y:-149.45, Z:-4.03 [[-6.20472808e-01 7.84214744e-01 4.55305740e-03 1.16293291e+02] [ 7.84192942e-01 6.20489510e-01 -5.84778744e-03 -1.49453305e+02] [-7.41104549e-03 -5.79176103e-05 -9.99972536e-01 -4.03195279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.506559995 meters 0.013554695183506993 Centerline is valid? [True, True] Translation: X:116.28, Y:-149.43, Z:-4.03 [[-6.78553084e-01 7.34535902e-01 4.76667295e-03 1.16281123e+02] [ 7.34517348e-01 6.78569825e-01 -5.22095151e-03 -1.49426692e+02] [-7.06949675e-03 -4.14887801e-05 -9.99975010e-01 -4.03193783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.566559995 meters 0.013414766899149583 Centerline is valid? [True, True] Translation: X:116.27, Y:-149.40, Z:-4.03 [[-7.32806240e-01 6.80422339e-01 4.52272257e-03 1.16266484e+02] [ 6.80409166e-01 7.32820196e-01 -4.23403183e-03 -1.49400763e+02] [-6.19527228e-03 -2.54230499e-05 -9.99980809e-01 -4.03256193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.626559995 meters 0.013460539029609 Centerline is valid? [True, True] Translation: X:116.28, Y:-149.38, Z:-4.03 [[-7.78452355e-01 6.27677867e-01 5.69436501e-03 1.16284629e+02] [ 6.27660865e-01 7.78473182e-01 -4.61992182e-03 -1.49380546e+02] [-7.33273312e-03 -2.22589475e-05 -9.99973115e-01 -4.03152723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6865599950002 meters 0.013511405030124506 Centerline is valid? [True, True] Translation: X:116.30, Y:-149.36, Z:-4.03 [[-8.20691891e-01 5.71324366e-01 7.29994506e-03 1.16302328e+02] [ 5.71301507e-01 8.20724356e-01 -5.11071076e-03 -1.49358075e+02] [-8.91111629e-03 -2.38492559e-05 -9.99960295e-01 -4.02931406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.746559995 meters 0.013519380778806133 Centerline is valid? [True, True] Translation: X:116.32, Y:-149.34, Z:-4.03 [[-8.59103959e-01 5.11744768e-01 7.59474796e-03 1.16320586e+02] [ 5.11724522e-01 8.59137528e-01 -4.55215141e-03 -1.49337717e+02] [-8.85447266e-03 -2.43525237e-05 -9.99960798e-01 -4.02881742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.806559995 meters 0.013531367771616593 Centerline is valid? [True, True] Translation: X:116.33, Y:-149.31, Z:-4.03 [[-8.93096878e-01 4.49792195e-01 8.05902172e-03 1.16333904e+02] [ 4.49773649e-01 8.93133238e-01 -4.08461777e-03 -1.49313425e+02] [-9.03500935e-03 -2.32237752e-05 -9.99959183e-01 -4.02878512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.866559995 meters 0.01342018116202031 Centerline is valid? [True, True] Translation: X:116.35, Y:-149.29, Z:-4.03 [[-9.22156263e-01 3.86724910e-01 8.46578450e-03 1.16347747e+02] [ 3.86708508e-01 9.22195122e-01 -3.56177280e-03 -1.49289980e+02] [-9.18453144e-03 -1.07202043e-05 -9.99957821e-01 -4.02804362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9265599950002 meters 0.013388044994149457 Centerline is valid? [True, True] Translation: X:116.63, Y:-148.64, Z:-5.01 [[-8.94144640e-01 -4.47721030e-01 7.15834931e-03 1.16626538e+02] [ 4.47706162e-01 -8.94173292e-01 -3.64919876e-03 -1.48644877e+02] [ 8.03462779e-03 -5.80744180e-05 9.99967720e-01 -5.01042716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.986559995 meters 0.013378579368900237 Centerline is valid? [True, True] Translation: X:116.31, Y:-149.28, Z:-4.03 [[-9.21816390e-01 3.87564882e-01 6.92861090e-03 1.16308580e+02] [ 3.87554145e-01 9.21842428e-01 -2.88491730e-03 -1.49279463e+02] [-7.50518012e-03 2.58478191e-05 -9.99971835e-01 -4.02990749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.046559995 meters 0.013448835229830371 Centerline is valid? [True, True] Translation: X:116.31, Y:-149.25, Z:-4.03 [[-9.46792134e-01 3.21757276e-01 7.54383169e-03 1.16308510e+02] [ 3.21747326e-01 9.46822187e-01 -2.53065395e-03 -1.49250668e+02] [-7.95692354e-03 3.12044240e-05 -9.99968343e-01 -4.02896219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.106559995 meters 0.013266703452757135 Centerline is valid? [True, True] Translation: X:116.32, Y:-149.23, Z:-4.03 [[-9.67564873e-01 2.52519378e-01 7.22360109e-03 1.16323899e+02] [ 2.52512487e-01 9.67591837e-01 -1.86563894e-03 -1.49225590e+02] [-7.46060744e-03 1.89227711e-05 -9.99972169e-01 -4.02890836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.166559995 meters 0.013229659423170935 Centerline is valid? [True, True] Translation: X:116.33, Y:-149.20, Z:-4.03 [[-9.83370643e-01 1.81457437e-01 7.44153087e-03 1.16331467e+02] [ 1.81452282e-01 9.83398799e-01 -1.36776139e-03 -1.49197941e+02] [-7.56618300e-03 5.26635277e-06 -9.99971376e-01 -4.02885670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2265599950001 meters 0.01336303748760985 Centerline is valid? [True, True] Translation: X:116.33, Y:-149.17, Z:-4.03 [[-9.94151642e-01 1.07623819e-01 8.92337596e-03 1.16333367e+02] [ 1.07619245e-01 9.94191688e-01 -9.92513529e-04 -1.49167424e+02] [-8.97836430e-03 -2.63819685e-05 -9.99959693e-01 -4.02746750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.286559995 meters 0.013483272371511765 Centerline is valid? [True, True] Translation: X:116.33, Y:-149.14, Z:-4.03 [[-9.99404716e-01 3.33587192e-02 8.79825097e-03 1.16331214e+02] [ 3.33569317e-02 9.99443442e-01 -3.49872828e-04 -1.49137573e+02] [-8.80502554e-03 -5.61818970e-05 -9.99961233e-01 -4.02733058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.346559995 meters 0.013745420815396597 Centerline is valid? [True, True] Translation: X:116.32, Y:-149.11, Z:-4.03 [[-9.99133926e-01 -4.08806915e-02 7.75676239e-03 1.16323670e+02] [-4.08800353e-02 9.99164032e-01 2.43188854e-04 -1.49108508e+02] [-7.76021972e-03 -7.41184859e-05 -9.99969886e-01 -4.02847909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.406559995 meters 0.013950362406875815 Centerline is valid? [True, True] Translation: X:116.32, Y:-149.08, Z:-4.03 [[-9.93538114e-01 -1.13262185e-01 7.32757310e-03 1.16318308e+02] [-1.13259706e-01 9.93565132e-01 7.53764929e-04 -1.49080775e+02] [-7.36579419e-03 -8.10245898e-05 -9.99972869e-01 -4.02879522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4665599950001 meters 0.014669173880739194 Centerline is valid? [True, True] Translation: X:116.31, Y:-149.05, Z:-4.03 [[-9.82475237e-01 -1.86254389e-01 7.19104253e-03 1.16308452e+02] [-1.86250141e-01 9.82501548e-01 1.26189282e-03 -1.49053181e+02] [-7.30024350e-03 -9.95542365e-05 -9.99973348e-01 -4.02814396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.526559995 meters 0.014761714573601899 Centerline is valid? [True, True] Translation: X:116.29, Y:-149.03, Z:-4.03 [[-9.66251239e-01 -2.57469983e-01 8.23114318e-03 1.16292197e+02] [-2.57461784e-01 9.66286288e-01 2.05883883e-03 -1.49029117e+02] [-8.48372999e-03 -1.29849238e-04 -9.99964004e-01 -4.02689080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.586559995 meters 0.014896082245193683 Centerline is valid? [True, True] Translation: X:116.27, Y:-149.01, Z:-4.03 [[-9.45349693e-01 -3.25958929e-01 8.04579312e-03 1.16270611e+02] [-3.25948263e-01 9.45383922e-01 2.63999521e-03 -1.49008906e+02] [-8.46689347e-03 -1.26793632e-04 -9.99964147e-01 -4.02691837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.646559995 meters 0.014451529994691091 Centerline is valid? [True, True] Translation: X:116.24, Y:-149.00, Z:-4.03 [[-9.20123182e-01 -3.91581014e-01 6.13512910e-03 1.16235794e+02] [-3.91572942e-01 9.20143631e-01 2.51585483e-03 -1.48997897e+02] [-6.63036095e-03 -8.74542011e-05 -9.99978015e-01 -4.02838895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7065599950001 meters 0.013922325907623085 Centerline is valid? [True, True] Translation: X:116.18, Y:-149.00, Z:-4.03 [[-8.89779358e-01 -4.56363168e-01 5.03516480e-03 1.16179924e+02] [-4.56356259e-01 8.89793603e-01 2.51197832e-03 -1.48998417e+02] [-5.62663181e-03 -6.27225136e-05 -9.99984168e-01 -4.02903713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.766559995 meters 0.013996191962829642 Centerline is valid? [True, True] Translation: X:116.12, Y:-149.00, Z:-4.03 [[-8.54150169e-01 -5.20007042e-01 4.49060844e-03 1.16116665e+02] [-5.20000188e-01 8.54161971e-01 2.67040639e-03 -1.49004000e+02] [-5.22433708e-03 -5.41891663e-05 -9.99986352e-01 -4.02858529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.826559995 meters 0.013906946212950636 Centerline is valid? [True, True] Translation: X:116.05, Y:-149.02, Z:-4.03 [[-8.13153904e-01 -5.82024686e-01 5.29082482e-03 1.16046707e+02] [-5.82012896e-01 8.13171114e-01 3.70519698e-03 -1.49021823e+02] [-6.45886203e-03 -6.64328870e-05 -9.99979139e-01 -4.02785651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.886559995 meters 0.014203763588708514 Centerline is valid? [True, True] Translation: X:115.97, Y:-149.05, Z:-4.03 [[-7.66147958e-01 -6.42640174e-01 5.55989499e-03 1.15968623e+02] [-6.42624076e-01 7.66168127e-01 4.54949438e-03 -1.49048771e+02] [-7.18350219e-03 -8.73365561e-05 -9.99974195e-01 -4.02672347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9465599950001 meters 0.014503403564654235 Centerline is valid? [True, True] Translation: X:115.89, Y:-149.09, Z:-4.03 [[-7.13840663e-01 -7.00287405e-01 5.39063967e-03 1.15886455e+02] [-7.00268599e-01 7.13861008e-01 5.13329499e-03 -1.49085510e+02] [-7.44294929e-03 -1.10540996e-04 -9.99972295e-01 -4.02658215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.006559995 meters 0.015020857052040282 Centerline is valid? [True, True] Translation: X:115.80, Y:-149.13, Z:-4.03 [[-6.56601551e-01 -7.54214815e-01 5.86655314e-03 1.15800203e+02] [-7.54186837e-01 6.56627739e-01 6.49824078e-03 -1.49134667e+02] [-8.75321099e-03 -1.57722188e-04 -9.99961678e-01 -4.02614545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.066559995 meters 0.017561162417469404 Centerline is valid? [True, True] Translation: X:115.72, Y:-149.19, Z:-4.02 [[-5.94352088e-01 -8.04185184e-01 5.63794596e-03 1.15715736e+02] [-8.04152199e-01 5.94378793e-01 7.28636186e-03 -1.49186688e+02] [-9.21065977e-03 -2.03102258e-04 -9.99957560e-01 -4.02384200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.126559995 meters 0.017115935525779006 Centerline is valid? [True, True] Translation: X:115.64, Y:-149.25, Z:-4.02 [[-5.30557799e-01 -8.47635774e-01 4.69223723e-03 1.15635600e+02] [-8.47605877e-01 5.30578511e-01 7.12196218e-03 -1.49254300e+02] [-8.52643016e-03 -1.98555272e-04 -9.99963630e-01 -4.02486558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1865599950002 meters 0.0158122287615178 Centerline is valid? [True, True] Translation: X:115.56, Y:-149.33, Z:-4.03 [[-4.65852849e-01 -8.84855882e-01 3.34549380e-03 1.15563105e+02] [-8.84835327e-01 4.65864837e-01 6.03301007e-03 -1.49327247e+02] [-6.89689237e-03 -1.49716174e-04 -9.99976205e-01 -4.02643795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.246559995 meters 0.014680532455424016 Centerline is valid? [True, True] Translation: X:115.49, Y:-149.41, Z:-4.03 [[-4.01786260e-01 -9.15732150e-01 1.55920492e-03 1.15494511e+02] [-9.15725838e-01 4.01789281e-01 3.40062550e-03 -1.49410196e+02] [-3.74053392e-03 -6.14796261e-05 -9.99993002e-01 -4.02895238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.306559995 meters 0.013770041431730894 Centerline is valid? [True, True] Translation: X:115.43, Y:-149.50, Z:-4.03 [[-3.35184986e-01 -9.42151814e-01 9.91885519e-04 1.15432046e+02] [-9.42147976e-01 3.35186452e-01 2.68976044e-03 -1.49499746e+02] [-2.86662927e-03 -3.29356189e-05 -9.99995891e-01 -4.02984492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.366559995 meters 0.01352269429677557 Centerline is valid? [True, True] Translation: X:115.37, Y:-149.60, Z:-4.03 [[-2.63913587e-01 -9.64545572e-01 1.20744558e-03 1.15371981e+02] [-9.64536185e-01 2.63916345e-01 4.25567539e-03 -1.49597304e+02] [-4.42345748e-03 -4.14943936e-05 -9.99990216e-01 -4.02803186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4265599950002 meters 0.013636713762383464 Centerline is valid? [True, True] Translation: X:115.32, Y:-149.70, Z:-4.03 [[-1.90099963e-01 -9.81764081e-01 1.13752273e-03 1.15317597e+02] [-9.81747979e-01 1.90103361e-01 5.62295753e-03 -1.49699675e+02] [-5.73666463e-03 -4.78366237e-05 -9.99983544e-01 -4.02617837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.486559995 meters 0.013413050260518148 Centerline is valid? [True, True] Translation: X:115.27, Y:-149.81, Z:-4.03 [[-1.15001455e-01 -9.93365050e-01 7.37056260e-04 1.15271550e+02] [-9.93347069e-01 1.15003808e-01 5.97703470e-03 -1.49807962e+02] [-6.02214165e-03 -4.47849877e-05 -9.99981866e-01 -4.02566898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.546559995 meters 0.01328688739837053 Centerline is valid? [True, True] Translation: X:115.23, Y:-149.92, Z:-4.03 [[-3.99159880e-02 -9.99202998e-01 2.88913827e-04 1.15234637e+02] [-9.99183037e-01 3.99170169e-02 6.31589549e-03 -1.49922753e+02] [-6.32239429e-03 -3.65725862e-05 -9.99980013e-01 -4.02563188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.606559995 meters 0.013219009451468285 Centerline is valid? [True, True] Translation: X:115.21, Y:-150.04, Z:-4.02 [[ 3.46759279e-02 -9.99398587e-01 -2.12945119e-04 1.15206461e+02] [-9.99375354e-01 -3.46765738e-02 6.81448652e-03 -1.50040685e+02] [-6.81777241e-03 -2.34865395e-05 -9.99976759e-01 -4.02458768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.666559995 meters 0.013076877893491615 Centerline is valid? [True, True] Translation: X:115.19, Y:-150.16, Z:-4.02 [[ 1.08968674e-01 -9.94044937e-01 -7.00728711e-04 1.15188383e+02] [-9.94024038e-01 -1.08970927e-01 6.44588983e-03 -1.50160941e+02] [-6.48386321e-03 -5.85888538e-06 -9.99978980e-01 -4.02481572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7265599950001 meters 0.01312846444490832 Centerline is valid? [True, True] Translation: X:115.18, Y:-150.27, Z:-4.02 [[ 1.82775777e-01 -9.83153890e-01 -1.20152916e-03 1.15177359e+02] [-9.83133002e-01 -1.82779726e-01 6.40877913e-03 -1.50272874e+02] [-6.52043130e-03 9.89337748e-06 -9.99978742e-01 -4.02399559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.786559995 meters 0.013271973158702799 Centerline is valid? [True, True] Translation: X:115.18, Y:-150.39, Z:-4.02 [[ 2.54531705e-01 -9.67063422e-01 -1.39636091e-03 1.15177352e+02] [-9.67049438e-01 -2.54535534e-01 5.20061945e-03 -1.50389433e+02] [-5.38475231e-03 2.66274931e-05 -9.99985502e-01 -4.02491252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.846559995 meters 0.013459003429824607 Centerline is valid? [True, True] Translation: X:115.19, Y:-150.51, Z:-4.03 [[ 3.26214620e-01 -9.45294311e-01 -1.63914492e-03 1.15187734e+02] [-9.45282904e-01 -3.26218737e-01 4.64406466e-03 -1.50510007e+02] [-4.92472769e-03 3.44938828e-05 -9.99987873e-01 -4.02589462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.906559995 meters 0.013622489527894886 Centerline is valid? [True, True] Translation: X:115.21, Y:-150.63, Z:-4.03 [[ 3.96278996e-01 -9.18127832e-01 -2.05957667e-03 1.15206044e+02] [-9.18116011e-01 -3.96284346e-01 4.65909128e-03 -1.50629264e+02] [-5.09381937e-03 4.46303073e-05 -9.99987025e-01 -4.02589459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9665599950001 meters 0.013525744028136555 Centerline is valid? [True, True] Translation: X:115.23, Y:-150.75, Z:-4.02 [[ 4.66176349e-01 -8.84686220e-01 -3.14704097e-03 1.15230044e+02] [-8.84666835e-01 -4.66186968e-01 5.85670605e-03 -1.50747269e+02] [-6.64845662e-03 5.38249280e-05 -9.99977897e-01 -4.02461467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.026559995 meters 0.013368999868131068 Centerline is valid? [True, True] Translation: X:115.26, Y:-150.86, Z:-4.02 [[ 5.33971949e-01 -8.45494452e-01 -3.61778836e-03 1.15258949e+02] [-8.45475595e-01 -5.33984203e-01 5.64697475e-03 -1.50856721e+02] [-6.70632766e-03 4.34256554e-05 -9.99977511e-01 -4.02379749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.086559995 meters 0.013149159267373535 Centerline is valid? [True, True] Translation: X:115.30, Y:-150.97, Z:-4.02 [[ 5.98615300e-01 -8.01026250e-01 -4.08284504e-03 1.15298555e+02] [-8.01007966e-01 -5.98629222e-01 5.41234763e-03 -1.50966848e+02] [-6.77954288e-03 3.04773060e-05 -9.99977018e-01 -4.02409903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.146559995 meters 0.013005442981078278 Centerline is valid? [True, True] Translation: X:115.34, Y:-151.07, Z:-4.02 [[ 6.60852452e-01 -7.50500188e-01 -4.84819719e-03 1.15344865e+02] [-7.50480046e-01 -6.60870236e-01 5.49840385e-03 -1.51073499e+02] [-7.33058234e-03 4.84158470e-06 -9.99973131e-01 -4.02418095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2065599950001 meters 0.01302834424015208 Centerline is valid? [True, True] Translation: X:115.39, Y:-151.17, Z:-4.02 [[ 7.18215627e-01 -6.95798243e-01 -5.57841972e-03 1.15394962e+02] [-6.95777049e-01 -7.18237290e-01 5.43075432e-03 -1.51170382e+02] [-7.78533838e-03 -1.91162080e-05 -9.99969694e-01 -4.02338440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.266559995 meters 0.013343948906059817 Centerline is valid? [True, True] Translation: X:115.41, Y:-151.20, Z:-4.02 [[ 7.73956465e-01 -6.33207019e-01 -6.34517802e-03 1.15410776e+02] [-6.33185037e-01 -7.73982472e-01 5.27661222e-03 -1.51202413e+02] [-8.25224447e-03 -6.61963609e-05 -9.99965948e-01 -4.02308478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.326559995 meters 0.013844998364331458 Centerline is valid? [True, True] Translation: X:115.43, Y:-151.23, Z:-4.02 [[ 8.23034473e-01 -5.67948884e-01 -6.95141722e-03 1.15430984e+02] [-5.67927621e-01 -8.23063823e-01 4.91546256e-03 -1.51231226e+02] [-8.51319150e-03 -9.76932991e-05 -9.99963757e-01 -4.02301158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.386559995 meters 0.014681179973433362 Centerline is valid? [True, True] Translation: X:115.45, Y:-151.26, Z:-4.02 [[ 8.66648975e-01 -4.98851332e-01 -8.17940192e-03 1.15453488e+02] [-4.98827555e-01 -8.66687561e-01 4.87259567e-03 -1.51258320e+02] [-9.51968674e-03 -1.42718978e-04 -9.99954677e-01 -4.02206466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4465599950001 meters 0.0150927815212341 Centerline is valid? [True, True] Translation: X:115.48, Y:-151.28, Z:-4.02 [[ 9.03061844e-01 -4.29438434e-01 -7.87008415e-03 1.15481037e+02] [-4.29420840e-01 -9.03096127e-01 3.88948942e-03 -1.51278418e+02] [-8.77773875e-03 -1.32871345e-04 -9.99961466e-01 -4.02197876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.506559995 meters 0.013752500430885255 Centerline is valid? [True, True] Translation: X:115.51, Y:-151.30, Z:-4.02 [[ 9.32809884e-01 -3.60295080e-01 -7.29218717e-03 1.15511122e+02] [-3.60283265e-01 -9.32838382e-01 2.91931790e-03 -1.51296178e+02] [-7.85424795e-03 -9.59155873e-05 -9.99969150e-01 -4.02388268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.566559995 meters 0.01325962179333882 Centerline is valid? [True, True] Translation: X:115.54, Y:-151.31, Z:-4.02 [[ 9.56538232e-01 -2.91511607e-01 -7.45618295e-03 1.15541323e+02] [-2.91502319e-01 -9.56567290e-01 2.32761019e-03 -1.51311056e+02] [-7.81086610e-03 -5.29535141e-05 -9.99969493e-01 -4.02360122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.626559995 meters 0.01287260305826807 Centerline is valid? [True, True] Translation: X:115.57, Y:-151.32, Z:-4.02 [[ 9.75544442e-01 -2.19642005e-01 -8.39233249e-03 1.15573377e+02] [-2.19633658e-01 -9.75580539e-01 1.91508806e-03 -1.51324836e+02] [-8.60803004e-03 -2.50148261e-05 -9.99962950e-01 -4.02317966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6865599950002 meters 0.013002291825695704 Centerline is valid? [True, True] Translation: X:115.60, Y:-151.33, Z:-4.02 [[ 9.88801548e-01 -1.48827262e-01 -1.10428434e-02 1.15603061e+02] [-1.48818415e-01 -9.88863208e-01 1.62315935e-03 -1.51334307e+02] [-1.11614319e-02 3.83959851e-05 -9.99937709e-01 -4.02236717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.746559995 meters 0.013457132232599709 Centerline is valid? [True, True] Translation: X:115.63, Y:-151.34, Z:-4.02 [[ 9.97133216e-01 -7.46544875e-02 -1.23311252e-02 1.15631010e+02] [-7.46498787e-02 -9.97209456e-01 8.34245380e-04 -1.51341699e+02] [-1.23589948e-02 8.86632229e-05 -9.99923621e-01 -4.02160682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.806559995 meters 0.013800920314856099 Centerline is valid? [True, True] Translation: X:115.66, Y:-151.35, Z:-4.02 [[ 9.99928298e-01 -6.35278553e-04 -1.19580729e-02 1.15659852e+02] [-6.36870622e-04 -9.99999789e-01 -1.29330039e-04 -1.51347556e+02] [-1.19579882e-02 1.36936511e-04 -9.99928491e-01 -4.02292328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.866559995 meters 0.01401243832173785 Centerline is valid? [True, True] Translation: X:115.69, Y:-151.35, Z:-4.02 [[ 9.97018391e-01 7.63994327e-02 -1.08376900e-02 1.15689018e+02] [ 7.63934115e-02 -9.97077283e-01 -9.69074372e-04 -1.51352996e+02] [-1.08800512e-02 1.38256861e-04 -9.99940801e-01 -4.02403699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9265599950002 meters 0.013837384556246736 Centerline is valid? [True, True] Translation: X:115.72, Y:-151.36, Z:-4.02 [[ 9.87768580e-01 1.55614817e-01 -9.86208287e-03 1.15717545e+02] [ 1.55605922e-01 -9.87817805e-01 -1.66768943e-03 -1.51356773e+02] [-1.00014582e-02 1.12692730e-04 -9.99949978e-01 -4.02489673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.986559995 meters 0.012892766974638866 Centerline is valid? [True, True] Translation: X:115.75, Y:-151.36, Z:-4.03 [[ 9.71330748e-01 2.37557572e-01 -9.10923916e-03 1.15749335e+02] [ 2.37546581e-01 -9.71373459e-01 -2.28585543e-03 -1.51364011e+02] [-9.39149542e-03 5.64530531e-05 -9.99955897e-01 -4.02605850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.046559995 meters 0.01260816560590034 Centerline is valid? [True, True] Translation: X:115.78, Y:-151.37, Z:-4.03 [[ 9.48867493e-01 3.15551272e-01 -8.82471045e-03 1.15779655e+02] [ 3.15537332e-01 -9.48908528e-01 -2.96614103e-03 -1.51365115e+02] [-9.30981258e-03 2.99492120e-05 -9.99956662e-01 -4.02599068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.106559995 meters 0.012688009538037566 Centerline is valid? [True, True] Translation: X:115.81, Y:-151.37, Z:-4.03 [[ 9.17281018e-01 3.98152727e-01 -8.36304759e-03 1.15814724e+02] [ 3.98136803e-01 -9.17319139e-01 -3.56142854e-03 -1.51372162e+02] [-9.08957609e-03 -6.28062341e-05 -9.99958687e-01 -4.02685489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.166559995 meters 0.013506313840217225 Centerline is valid? [True, True] Translation: X:115.85, Y:-151.37, Z:-4.03 [[ 8.80085193e-01 4.74742029e-01 -8.37011746e-03 1.15848552e+02] [ 4.74721950e-01 -8.80124985e-01 -4.36821129e-03 -1.51373753e+02] [-9.44052300e-03 -1.29080406e-04 -9.99955429e-01 -4.02604794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2265599950001 meters 0.015346447328187613 Centerline is valid? [True, True] Translation: X:115.88, Y:-151.37, Z:-4.02 [[ 8.35887956e-01 5.48827308e-01 -8.93930983e-03 1.15881838e+02] [ 5.48798819e-01 -8.35935724e-01 -5.59666423e-03 -1.51372154e+02] [-1.05442906e-02 -2.27698452e-04 -9.99944382e-01 -4.02447841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.286559995 meters 0.015562878494519216 Centerline is valid? [True, True] Translation: X:115.91, Y:-151.36, Z:-4.02 [[ 7.89056731e-01 6.14256420e-01 -8.86148608e-03 1.15912923e+02] [ 6.14221373e-01 -7.89106445e-01 -6.56678717e-03 -1.51362646e+02] [-1.10263470e-02 -2.61346529e-04 -9.99939174e-01 -4.02475336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.346559995 meters 0.01496417616921088 Centerline is valid? [True, True] Translation: X:115.94, Y:-151.35, Z:-4.03 [[ 7.39360038e-01 6.73267251e-01 -7.61200006e-03 1.15943304e+02] [ 6.73234705e-01 -7.39399186e-01 -6.62385655e-03 -1.51349824e+02] [-1.00879323e-02 -2.27247785e-04 -9.99949090e-01 -4.02567117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.406559995 meters 0.014790290461499456 Centerline is valid? [True, True] Translation: X:115.97, Y:-151.33, Z:-4.03 [[ 6.86040788e-01 7.27534815e-01 -6.41332829e-03 1.15970232e+02] [ 7.27505529e-01 -6.86070739e-01 -6.53041205e-03 -1.51334366e+02] [-9.15109900e-03 -1.85602769e-04 -9.99958111e-01 -4.02619657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4665599950001 meters 0.014550983298561224 Centerline is valid? [True, True] Translation: X:116.00, Y:-151.32, Z:-4.02 [[ 6.27794155e-01 7.78351469e-01 -6.59465571e-03 1.15995802e+02] [ 7.78311787e-01 -6.27828760e-01 -7.86202538e-03 -1.51315998e+02] [-1.02597335e-02 -1.96964686e-04 -9.99947348e-01 -4.02481626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.526559995 meters 0.014129440656736958 Centerline is valid? [True, True] Translation: X:116.02, Y:-151.30, Z:-4.02 [[ 5.65325996e-01 8.24840980e-01 -6.62391135e-03 1.16020971e+02] [ 8.24788727e-01 -5.65364761e-01 -9.28673408e-03 -1.51296480e+02] [-1.14050049e-02 -2.13295213e-04 -9.99934938e-01 -4.02381950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.586559995 meters 0.01378618129267615 Centerline is valid? [True, True] Translation: X:116.04, Y:-151.28, Z:-4.02 [[ 5.00058714e-01 8.65970285e-01 -6.06191697e-03 1.16044739e+02] [ 8.65911573e-01 -5.00095413e-01 -1.00858574e-02 -1.51276185e+02] [-1.17655897e-02 -2.05563196e-04 -9.99930762e-01 -4.02365125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.646559995 meters 0.013265841042101222 Centerline is valid? [True, True] Translation: X:116.06, Y:-151.25, Z:-4.02 [[ 4.34721500e-01 9.00552102e-01 -4.80930259e-03 1.16062678e+02] [ 9.00500524e-01 -4.34748079e-01 -9.63919877e-03 -1.51251973e+02] [-1.07714358e-02 -1.40412556e-04 -9.99941977e-01 -4.02400449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7065599950001 meters 0.01270223249039113 Centerline is valid? [True, True] Translation: X:116.08, Y:-151.23, Z:-4.02 [[ 3.67069736e-01 9.30186125e-01 -3.68524802e-03 1.16078158e+02] [ 9.30141508e-01 -3.67088225e-01 -9.11097419e-03 -1.51226693e+02] [-9.82771293e-03 -8.34392634e-05 -9.99951703e-01 -4.02469403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.766559995 meters 0.012252690377233755 Centerline is valid? [True, True] Translation: X:116.09, Y:-151.20, Z:-4.02 [[ 3.00912343e-01 9.53648144e-01 -2.64180732e-03 1.16088224e+02] [ 9.53611472e-01 -3.00923940e-01 -8.36319812e-03 -1.51199858e+02] [-8.77053143e-03 -2.66821919e-06 -9.99961538e-01 -4.02475675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.826559995 meters 0.012802737343548377 Centerline is valid? [True, True] Translation: X:116.09, Y:-151.17, Z:-4.03 [[ 2.33189335e-01 9.72429930e-01 -1.66318075e-03 1.16093944e+02] [ 9.72403406e-01 -2.33195259e-01 -7.18246745e-03 -1.51172739e+02] [-7.37229218e-03 5.75921836e-05 -9.99972823e-01 -4.02611787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.886559995 meters 0.013417026571199904 Centerline is valid? [True, True] Translation: X:116.10, Y:-151.15, Z:-4.03 [[ 1.60655960e-01 9.87009963e-01 -9.97655941e-04 1.16102775e+02] [ 9.86987644e-01 -1.60659037e-01 -6.63817004e-03 -1.51147196e+02] [-6.71222241e-03 8.17874932e-05 -9.99977470e-01 -4.02700529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9465599950001 meters 0.014089942493428405 Centerline is valid? [True, True] Translation: X:116.11, Y:-151.12, Z:-4.03 [[ 8.63707092e-02 9.96262979e-01 -4.20487115e-04 1.16110711e+02] [ 9.96245341e-01 -8.63716824e-02 -5.92903552e-03 -1.51120954e+02] [-5.94319677e-03 9.31866735e-05 -9.99982335e-01 -4.02704352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.006559995 meters 0.013779159854375646 Centerline is valid? [True, True] Translation: X:116.12, Y:-151.09, Z:-4.03 [[ 7.77492598e-03 9.99969774e-01 4.39598466e-05 1.16121868e+02] [ 9.99952943e-01 -7.77454004e-03 -5.80237080e-03 -1.51094241e+02] [-5.80185365e-03 8.90707815e-05 -9.99983165e-01 -4.02679308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.066559995 meters 0.013209521739467036 Centerline is valid? [True, True] Translation: X:116.13, Y:-151.07, Z:-4.03 [[-7.34463105e-02 9.97299066e-01 4.60596848e-04 1.16131957e+02] [ 9.97284739e-01 7.34477244e-02 -5.34615459e-03 -1.51067624e+02] [-5.36554478e-03 6.66908774e-05 -9.99985603e-01 -4.02599619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.126559995 meters 0.01263210868828571 Centerline is valid? [True, True] Translation: X:116.14, Y:-151.04, Z:-4.03 [[-1.56097833e-01 9.87741347e-01 7.06252087e-04 1.16140473e+02] [ 9.87732163e-01 1.56099427e-01 -4.25954293e-03 -1.51040877e+02] [-4.31757221e-03 3.26824808e-05 -9.99990679e-01 -4.02601193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1865599950002 meters 0.012084467953917032 Centerline is valid? [True, True] Translation: X:116.14, Y:-151.01, Z:-4.03 [[-2.37649991e-01 9.71350591e-01 7.14973164e-04 1.16144574e+02] [ 9.71346297e-01 2.37651067e-01 -2.88831699e-03 -1.51013134e+02] [-2.97548255e-03 8.07802786e-06 -9.99995573e-01 -4.02661365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.246559995 meters 0.012201121815561837 Centerline is valid? [True, True] Translation: X:116.15, Y:-150.98, Z:-4.03 [[-3.20973107e-01 9.47087791e-01 9.90348051e-04 1.16151688e+02] [ 9.47083110e-01 3.20974634e-01 -2.97763716e-03 -1.50982885e+02] [-3.13796040e-03 -1.77995372e-05 -9.99995076e-01 -4.02544719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.306559995 meters 0.012791858930809643 Centerline is valid? [True, True] Translation: X:116.16, Y:-150.95, Z:-4.03 [[-3.99313532e-01 9.16813872e-01 1.01338771e-03 1.16155190e+02] [ 9.16810730e-01 3.99314817e-01 -2.40052796e-03 -1.50951484e+02] [-2.60549807e-03 -2.94785728e-05 -9.99996605e-01 -4.02504075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.366559995 meters 0.013855245551811224 Centerline is valid? [True, True] Translation: X:116.16, Y:-150.92, Z:-4.02 [[-4.75216976e-01 8.79868341e-01 7.26703555e-04 1.16156626e+02] [ 8.79867222e-01 4.75217530e-01 -1.40367499e-03 -1.50919637e+02] [-1.58039146e-03 -2.76475471e-05 -9.99998751e-01 -4.02454019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4265599950002 meters 0.014513331848043907 Centerline is valid? [True, True] Translation: X:116.15, Y:-150.89, Z:-4.02 [[-5.44337913e-01 8.38865855e-01 5.60787417e-04 1.16152791e+02] [ 8.38865370e-01 5.44338201e-01 -9.02556851e-04 -1.50890290e+02] [-1.06238214e-03 -2.08707684e-05 -9.99999436e-01 -4.02436993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.486559995 meters 0.014890736322834865 Centerline is valid? [True, True] Translation: X:116.14, Y:-150.86, Z:-4.02 [[-6.08513637e-01 7.93543356e-01 3.10853950e-04 1.16142787e+02] [ 7.93543243e-01 6.08513716e-01 -4.22946969e-04 -1.50864103e+02] [-5.24785649e-04 -1.06929467e-05 -9.99999862e-01 -4.02387977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.546559995 meters 0.015264029865483716 Centerline is valid? [True, True] Translation: X:116.13, Y:-150.84, Z:-4.02 [[-6.69086416e-01 7.43184507e-01 3.96257397e-04 1.16129425e+02] [ 7.43184365e-01 6.69086533e-01 -4.58787210e-04 -1.50838315e+02] [-6.06094035e-04 -1.24759882e-05 -9.99999816e-01 -4.02336598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.606559995 meters 0.015675544517399647 Centerline is valid? [True, True] Translation: X:116.11, Y:-150.81, Z:-4.02 [[-7.25668928e-01 6.88042161e-01 1.60985341e-03 1.16112792e+02] [ 6.88040325e-01 7.25670713e-01 -1.59020082e-03 -1.50813730e+02] [-2.26234868e-03 -4.63152616e-05 -9.99997440e-01 -4.02061126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.666559995 meters 0.015691977182819436 Centerline is valid? [True, True] Translation: X:116.14, Y:-150.80, Z:-4.02 [[-7.72398105e-01 6.35130570e-01 3.21352586e-03 1.16135969e+02] [ 6.35124610e-01 7.72404785e-01 -2.75270698e-03 -1.50799272e+02] [-4.23047110e-03 -8.51962981e-05 -9.99991048e-01 -4.01836228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7265599950001 meters 0.014343680587053128 Centerline is valid? [True, True] Translation: X:116.15, Y:-150.78, Z:-4.02 [[-8.14678482e-01 5.79902430e-01 3.48456113e-03 1.16146054e+02] [ 5.79896693e-01 8.14685930e-01 -2.58091475e-03 -1.50777994e+02] [-4.33550167e-03 -8.19302363e-05 -9.99990598e-01 -4.01845784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.786559995 meters 0.01350260778038273 Centerline is valid? [True, True] Translation: X:116.17, Y:-150.76, Z:-4.02 [[-8.51753323e-01 5.23930572e-01 3.61020046e-03 1.16165805e+02] [ 5.23925540e-01 8.51760971e-01 -2.29717422e-03 -1.50763608e+02] [-4.27858765e-03 -6.51495514e-05 -9.99990845e-01 -4.01902727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.846559995 meters 0.012470836490521555 Centerline is valid? [True, True] Translation: X:116.18, Y:-150.75, Z:-4.02 [[-8.84894984e-01 4.65775765e-01 3.71537259e-03 1.16180772e+02] [ 4.65771432e-01 8.84902783e-01 -2.00965729e-03 -1.50746503e+02] [-4.22379321e-03 -4.78212437e-05 -9.99991079e-01 -4.01947557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.906559995 meters 0.01177073175658375 Centerline is valid? [True, True] Translation: X:116.20, Y:-150.73, Z:-4.02 [[-9.12395075e-01 4.09299035e-01 3.08651996e-03 1.16196804e+02] [ 4.09296652e-01 9.12400296e-01 -1.39681784e-03 -1.50732352e+02] [-3.38785792e-03 -1.11474343e-05 -9.99994261e-01 -4.01993141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9665599950001 meters 0.011699491699953832 Centerline is valid? [True, True] Translation: X:116.50, Y:-150.08, Z:-5.02 [[-8.82591256e-01 -4.70129383e-01 3.32233165e-03 1.16499538e+02] [ 4.70126188e-01 -8.82597509e-01 -1.73342656e-03 -1.50082310e+02] [ 3.74721639e-03 3.20079867e-05 9.99992979e-01 -5.01986838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.026559995 meters 0.012241706496552256 Centerline is valid? [True, True] Translation: X:116.50, Y:-150.11, Z:-5.02 [[-8.51592201e-01 -5.24191981e-01 3.67307269e-03 1.16495768e+02] [ 5.24186929e-01 -8.51600121e-01 -2.30152028e-03 -1.50108724e+02] [ 4.33442762e-03 -3.45800227e-05 9.99990606e-01 -5.01977554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.086559995 meters 0.01270096086277355 Centerline is valid? [True, True] Translation: X:116.49, Y:-150.14, Z:-5.02 [[-8.16757784e-01 -5.76966551e-01 4.04004679e-03 1.16489779e+02] [ 5.76959126e-01 -8.16767774e-01 -2.92759563e-03 -1.50136520e+02] [ 4.98890478e-03 -6.01946546e-05 9.99987554e-01 -5.02017070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.146559995 meters 0.012799223556578336 Centerline is valid? [True, True] Translation: X:116.06, Y:-150.74, Z:-4.02 [[-8.43328108e-01 5.37371365e-01 5.45139989e-03 1.16056358e+02] [ 5.37360685e-01 8.43345724e-01 -3.38870087e-03 -1.50737783e+02] [-6.41840561e-03 7.15812821e-05 -9.99979399e-01 -4.01863778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2065599950001 meters 0.01252843889154262 Centerline is valid? [True, True] Translation: X:116.07, Y:-150.71, Z:-4.02 [[-8.79778460e-01 4.75348632e-01 5.79140491e-03 1.16070726e+02] [ 4.75338823e-01 8.79797519e-01 -3.05432062e-03 -1.50713283e+02] [-6.54713080e-03 6.57541054e-05 -9.99978565e-01 -4.01888788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.266559995 meters 0.012176850677987648 Centerline is valid? [True, True] Translation: X:116.42, Y:-150.07, Z:-5.02 [[-8.54590217e-01 -5.19280866e-01 4.78997077e-03 1.16418091e+02] [ 5.19271967e-01 -8.54603633e-01 -3.04222287e-03 -1.50066315e+02] [ 5.67329455e-03 -1.12556362e-04 9.99983900e-01 -5.02021960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.326559995 meters 0.011793775248188566 Centerline is valid? [True, True] Translation: X:116.03, Y:-150.68, Z:-4.02 [[-8.86116265e-01 4.63445744e-01 4.00083879e-03 1.16032258e+02] [ 4.63441024e-01 8.86125297e-01 -2.09157253e-03 -1.50684191e+02] [-4.51457485e-03 7.76391738e-07 -9.99989809e-01 -4.02026625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.386559995 meters 0.011867461357617426 Centerline is valid? [True, True] Translation: X:116.36, Y:-150.05, Z:-5.02 [[-8.50698314e-01 -5.25642994e-01 3.43833378e-03 1.16364019e+02] [ 5.25638557e-01 -8.50705262e-01 -2.15989883e-03 -1.50050989e+02] [ 4.06034433e-03 -3.01014818e-05 9.99991756e-01 -5.01924341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4465599950001 meters 0.01205626690714976 Centerline is valid? [True, True] Translation: X:115.99, Y:-150.66, Z:-4.02 [[-8.91355153e-01 4.53295294e-01 3.06081907e-03 1.15993725e+02] [ 4.53292520e-01 8.91360408e-01 -1.58600233e-03 -1.50655277e+02] [-3.44722033e-03 -2.62449634e-05 -9.99994058e-01 -4.02075105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.506559995 meters 0.012187388503712468 Centerline is valid? [True, True] Translation: X:116.01, Y:-150.63, Z:-4.02 [[-9.21353988e-01 3.88710354e-01 3.33010652e-03 1.16006316e+02] [ 3.88707702e-01 9.21360005e-01 -1.43634798e-03 -1.50628505e+02] [-3.62655029e-03 -2.89468851e-05 -9.99993424e-01 -4.02048499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.566559995 meters 0.012052723659322405 Centerline is valid? [True, True] Translation: X:116.28, Y:-149.99, Z:-5.02 [[-8.86618454e-01 -4.62491332e-01 3.07988213e-03 1.16284707e+02] [ 4.62488612e-01 -8.86623803e-01 -1.58620131e-03 -1.49990785e+02] [ 3.46430116e-03 1.80550637e-05 9.99993999e-01 -5.02002633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.626559995 meters 0.0118208368913463 Centerline is valid? [True, True] Translation: X:115.97, Y:-150.61, Z:-4.02 [[-9.20755613e-01 3.90130225e-01 2.74036770e-03 1.15967986e+02] [ 3.90128470e-01 9.20759691e-01 -1.17022589e-03 -1.50612434e+02] [-2.97976060e-03 -8.39659946e-06 -9.99995561e-01 -4.01960287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6865599950002 meters 0.011727565187961071 Centerline is valid? [True, True] Translation: X:115.98, Y:-150.59, Z:-4.02 [[-9.45303316e-01 3.26172987e-01 3.58094365e-03 1.15979804e+02] [ 3.26170640e-01 9.45310099e-01 -1.23745582e-03 -1.50588929e+02] [-3.78872686e-03 -1.77241203e-06 -9.99992823e-01 -4.01922028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.746559995 meters 0.011883757813548907 Centerline is valid? [True, True] Translation: X:116.21, Y:-149.93, Z:-5.02 [[-9.21962547e-01 -3.87253872e-01 4.41583035e-03 1.16211681e+02] [ 3.87249739e-01 -9.21973120e-01 -1.79014638e-03 -1.49931130e+02] [ 4.76451800e-03 5.95812308e-05 9.99988648e-01 -5.02226133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.806559995 meters 0.011998208385021468 Centerline is valid? [True, True] Translation: X:115.94, Y:-150.57, Z:-4.02 [[-9.45294688e-01 3.26152575e-01 6.51546380e-03 1.15937654e+02] [ 3.26144988e-01 9.45317141e-01 -2.22483513e-03 -1.50573805e+02] [-6.88481532e-03 2.18610309e-05 -9.99976299e-01 -4.01561532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.866559995 meters 0.012012171286225701 Centerline is valid? [True, True] Translation: X:116.17, Y:-149.92, Z:-5.03 [[-9.23591483e-01 -3.83300994e-01 7.68903601e-03 1.16166523e+02] [ 3.83288263e-01 -9.23623486e-01 -3.12461728e-03 -1.49918383e+02] [ 8.29944316e-03 6.12473500e-05 9.99965557e-01 -5.02553248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9265599950002 meters 0.012012050836505497 Centerline is valid? [True, True] Translation: X:115.90, Y:-150.56, Z:-4.01 [[-9.46806164e-01 3.21681960e-01 8.87719735e-03 1.15896114e+02] [ 3.21668017e-01 9.46847779e-01 -2.99510880e-03 -1.50559443e+02] [-9.36882706e-03 1.97229968e-05 -9.99956111e-01 -4.01374156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.986559995 meters 0.011983439167952723 Centerline is valid? [True, True] Translation: X:116.12, Y:-149.90, Z:-5.03 [[-9.23883445e-01 -3.82597484e-01 7.65148844e-03 1.16119746e+02] [ 3.82583604e-01 -9.23915125e-01 -3.26004073e-03 -1.49904533e+02] [ 8.31660928e-03 -8.45636391e-05 9.99965413e-01 -5.02510052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.046559995 meters 0.012115555647415201 Centerline is valid? [True, True] Translation: X:115.85, Y:-150.54, Z:-4.02 [[-9.50420422e-01 3.10903406e-01 6.33198189e-03 1.15849123e+02] [ 3.10896247e-01 9.50441513e-01 -2.11021174e-03 -1.50541106e+02] [-6.67425047e-03 -3.69989293e-05 -9.99977726e-01 -4.01661857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.106559995 meters 0.012897980205138873 Centerline is valid? [True, True] Translation: X:115.85, Y:-150.51, Z:-4.02 [[-9.71513091e-01 2.36893924e-01 6.60180863e-03 1.15849913e+02] [ 2.36887901e-01 9.71535518e-01 -1.69102159e-03 -1.50509637e+02] [-6.81448431e-03 -7.89610146e-05 -9.99976778e-01 -4.01639557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.166559995 meters 0.013590323454074904 Centerline is valid? [True, True] Translation: X:115.86, Y:-150.48, Z:-4.02 [[-9.86602053e-01 1.62974104e-01 7.47204346e-03 1.15857702e+02] [ 1.62968487e-01 9.86630339e-01 -1.35856726e-03 -1.50482716e+02] [-7.59355606e-03 -1.22657625e-04 -9.99971161e-01 -4.01599091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2265599950001 meters 0.014171293847304109 Centerline is valid? [True, True] Translation: X:115.98, Y:-149.82, Z:-5.02 [[-9.64872042e-01 -2.62605110e-01 7.77815858e-03 1.15976156e+02] [ 2.62597888e-01 -9.64903379e-01 -1.95392174e-03 -1.49816279e+02] [ 8.01828134e-03 1.57243552e-04 9.99967841e-01 -5.02444293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.286559995 meters 0.014961746096277902 Centerline is valid? [True, True] Translation: X:115.81, Y:-150.47, Z:-4.01 [[-9.87924495e-01 1.54641506e-01 9.54975407e-03 1.15807406e+02] [ 1.54632309e-01 9.87970629e-01 -1.69852309e-03 -1.50472094e+02] [-9.69753870e-03 -2.01312047e-04 -9.99952958e-01 -4.01358723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.346559995 meters 0.014715034800904183 Centerline is valid? [True, True] Translation: X:115.93, Y:-149.81, Z:-5.03 [[-9.65545707e-01 -2.60068751e-01 9.25918686e-03 1.15930893e+02] [ 2.60058657e-01 -9.65590084e-01 -2.29902010e-03 -1.49808655e+02] [ 9.53848231e-03 1.88122705e-04 9.99954490e-01 -5.02671624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.406559995 meters 0.014354537105451905 Centerline is valid? [True, True] Translation: X:115.75, Y:-150.47, Z:-4.01 [[-9.88051803e-01 1.53897650e-01 8.31551368e-03 1.15752524e+02] [ 1.53890921e-01 9.88086783e-01 -1.44684431e-03 -1.50466788e+02] [-8.43911510e-03 -1.49875070e-04 -9.99964379e-01 -4.01368482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4665599950001 meters 0.013594890366067182 Centerline is valid? [True, True] Translation: X:115.77, Y:-150.44, Z:-4.01 [[-9.96174748e-01 8.71340299e-02 6.59793649e-03 1.15765587e+02] [ 8.71315016e-02 9.96196593e-01 -6.70224997e-04 -1.50444390e+02] [-6.63124126e-03 -9.27731039e-05 -9.99978009e-01 -4.01457769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.526559995 meters 0.013206254715129461 Centerline is valid? [True, True] Translation: X:115.84, Y:-149.76, Z:-5.03 [[-9.83750465e-01 -1.79432860e-01 6.23476252e-03 1.15840124e+02] [ 1.79429704e-01 -9.83770219e-01 -1.06646943e-03 -1.49760748e+02] [ 6.32493335e-03 6.95617992e-05 9.99979995e-01 -5.02516874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.586559995 meters 0.013349871705303796 Centerline is valid? [True, True] Translation: X:115.72, Y:-150.44, Z:-4.01 [[-9.96321824e-01 8.54857357e-02 5.91714511e-03 1.15715503e+02] [ 8.54838155e-02 9.96339392e-01 -5.77140742e-04 -1.50440239e+02] [-5.94482207e-03 -6.91977754e-05 -9.99982327e-01 -4.01392920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.646559995 meters 0.013914732673839601 Centerline is valid? [True, True] Translation: X:115.72, Y:-150.41, Z:-4.01 [[-9.99886424e-01 1.31479526e-02 7.36690679e-03 1.15717655e+02] [ 1.31468725e-02 9.99913557e-01 -1.95031878e-04 -1.50410140e+02] [-7.36883425e-03 -9.81579428e-05 -9.99972845e-01 -4.01231079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7065599950001 meters 0.01525049451124155 Centerline is valid? [True, True] Translation: X:115.71, Y:-150.38, Z:-4.01 [[-9.98069714e-01 -6.12175103e-02 1.04528248e-02 1.15712363e+02] [-6.12159759e-02 9.98124434e-01 4.66972618e-04 -1.50377632e+02] [-1.04618068e-02 -1.73808646e-04 -9.99945259e-01 -4.00850657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.766559995 meters 0.013889112240585394 Centerline is valid? [True, True] Translation: X:115.70, Y:-150.35, Z:-4.01 [[-9.90962992e-01 -1.33695345e-01 1.08583535e-02 1.15703549e+02] [-1.33689530e-01 9.91022459e-01 1.26288550e-03 -1.50352994e+02] [-1.09297141e-02 -2.00175379e-04 -9.99940249e-01 -4.01109448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.826559995 meters 0.013866202977343083 Centerline is valid? [True, True] Translation: X:115.70, Y:-150.33, Z:-4.01 [[-9.79009965e-01 -2.03573946e-01 9.85581701e-03 1.15695599e+02] [-2.03565482e-01 9.79059557e-01 1.86510684e-03 -1.50326907e+02] [-1.00291190e-02 -1.80345960e-04 -9.99949691e-01 -4.01176262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.886559995 meters 0.013593972994452764 Centerline is valid? [True, True] Translation: X:115.68, Y:-150.30, Z:-4.01 [[-9.62603664e-01 -2.70810413e-01 7.47707262e-03 1.15679394e+02] [-2.70803230e-01 9.62632695e-01 1.97629628e-03 -1.50304260e+02] [-7.73287618e-03 -1.22425374e-04 -9.99970093e-01 -4.01371765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9465599950001 meters 0.012870447556069869 Centerline is valid? [True, True] Translation: X:115.66, Y:-150.29, Z:-4.02 [[-9.41197753e-01 -3.37786130e-01 6.87901217e-03 1.15656350e+02] [-3.37777911e-01 9.41222885e-01 2.35862997e-03 -1.50287000e+02] [-7.27139618e-03 -1.03641130e-04 -9.99973558e-01 -4.01519001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.006559995 meters 0.013065560327844242 Centerline is valid? [True, True] Translation: X:115.62, Y:-150.27, Z:-4.02 [[-9.13915119e-01 -4.05843541e-01 7.08350560e-03 1.15617283e+02] [-4.05832336e-01 9.13942562e-01 3.01801812e-03 -1.50274762e+02] [-7.69876042e-03 -1.16503230e-04 -9.99970357e-01 -4.01566895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.066559995 meters 0.013815663215256667 Centerline is valid? [True, True] Translation: X:115.56, Y:-150.27, Z:-4.02 [[-8.80788890e-01 -4.73455486e-01 7.12975162e-03 1.15558349e+02] [-4.73441232e-01 8.80817736e-01 3.67641959e-03 -1.50270700e+02] [-8.02063270e-03 -1.37368858e-04 -9.99967825e-01 -4.01535890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.126559995 meters 0.014234121479344618 Centerline is valid? [True, True] Translation: X:115.49, Y:-150.27, Z:-4.01 [[-8.41827817e-01 -5.39692249e-01 7.62909043e-03 1.15491444e+02] [-5.39672035e-01 8.41862366e-01 4.67451437e-03 -1.50273228e+02] [-8.94544330e-03 -1.82070532e-04 -9.99959972e-01 -4.01477570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1865599950002 meters 0.01640559688727079 Centerline is valid? [True, True] Translation: X:115.42, Y:-150.28, Z:-4.01 [[-7.98699125e-01 -6.01683857e-01 7.49956001e-03 1.15417545e+02] [-6.01659667e-01 7.98734309e-01 5.39900789e-03 -1.50282313e+02] [-9.23865177e-03 -1.99999903e-04 -9.99957303e-01 -4.01296701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.246559995 meters 0.014986388150441003 Centerline is valid? [True, True] Translation: X:115.34, Y:-150.31, Z:-4.01 [[-7.51399444e-01 -6.59810999e-01 6.95135529e-03 1.15340972e+02] [-6.59785203e-01 7.51431571e-01 5.83773603e-03 -1.50308393e+02] [-9.07527027e-03 -1.99929759e-04 -9.99958799e-01 -4.01468154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.306559995 meters 0.013943991298291134 Centerline is valid? [True, True] Translation: X:115.26, Y:-150.35, Z:-4.02 [[-7.00822747e-01 -7.13313354e-01 5.61575754e-03 1.15262654e+02] [-7.13292287e-01 7.00845227e-01 5.48461186e-03 -1.50345932e+02] [-7.84802375e-03 -1.61935791e-04 -9.99969191e-01 -4.01578906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.366559995 meters 0.014099935639312588 Centerline is valid? [True, True] Translation: X:115.18, Y:-150.39, Z:-4.02 [[-6.46208959e-01 -7.63149049e-01 4.18447551e-03 1.15182475e+02] [-7.63134258e-01 6.46222496e-01 4.75289211e-03 -1.50391195e+02] [-6.33126730e-03 -1.21955146e-04 -9.99979950e-01 -4.01607928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4265599950002 meters 0.013735947320152158 Centerline is valid? [True, True] Translation: X:115.11, Y:-150.45, Z:-4.02 [[-5.87901425e-01 -8.08922266e-01 4.08437270e-03 1.15105222e+02] [-8.08904145e-01 5.87915601e-01 5.41573986e-03 -1.50445045e+02] [-6.78217899e-03 -1.19944820e-04 -9.99976994e-01 -4.01574060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.486559995 meters 0.01291218621146608 Centerline is valid? [True, True] Translation: X:115.03, Y:-150.51, Z:-4.01 [[-5.27033223e-01 -8.49831633e-01 4.70927617e-03 1.15028428e+02] [-8.49799916e-01 5.27054245e-01 7.34336720e-03 -1.50512444e+02] [-8.72266974e-03 -1.31744018e-04 -9.99961948e-01 -4.01436140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.546559995 meters 0.012614797364411907 Centerline is valid? [True, True] Translation: X:114.95, Y:-150.59, Z:-4.01 [[-4.63694806e-01 -8.85979723e-01 5.20164938e-03 1.14953585e+02] [-8.85927104e-01 4.63723963e-01 9.65676377e-03 -1.50587281e+02] [-1.09678264e-02 -1.30490961e-04 -9.99939843e-01 -4.01131871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.606559995 meters 0.012542416030462702 Centerline is valid? [True, True] Translation: X:114.88, Y:-150.68, Z:-4.01 [[-3.96833321e-01 -9.17878658e-01 4.69933926e-03 1.14880853e+02] [-9.17817623e-01 3.96861129e-01 1.05855983e-02 -1.50677150e+02] [-1.15812798e-02 -1.12418259e-04 -9.99932928e-01 -4.01068616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.666559995 meters 0.01231704181292375 Centerline is valid? [True, True] Translation: X:114.82, Y:-150.76, Z:-4.01 [[-3.28191895e-01 -9.44602036e-01 4.13207226e-03 1.14820213e+02] [-9.44530397e-01 3.28217895e-01 1.16336788e-02 -1.50761112e+02] [-1.23454167e-02 -8.47887805e-05 -9.99923789e-01 -4.01060750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7265599950001 meters 0.012412555179576113 Centerline is valid? [True, True] Translation: X:114.77, Y:-150.86, Z:-4.01 [[-2.60181159e-01 -9.65553412e-01 3.51749967e-03 1.14765472e+02] [-9.65466151e-01 2.60204934e-01 1.29808775e-02 -1.50856997e+02] [-1.34490013e-02 -1.86471216e-05 -9.99909558e-01 -4.01047396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.786559995 meters 0.01245033845205416 Centerline is valid? [True, True] Translation: X:114.71, Y:-150.96, Z:-4.01 [[-1.88447307e-01 -9.82080252e-01 2.44777123e-03 1.14714148e+02] [-9.81995881e-01 1.88463202e-01 1.28728621e-02 -1.50963363e+02] [-1.31034985e-02 2.21549375e-05 -9.99914145e-01 -4.01152912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.846559995 meters 0.012925349112713301 Centerline is valid? [True, True] Translation: X:114.67, Y:-151.07, Z:-4.01 [[-1.16243922e-01 -9.93219905e-01 1.25348028e-03 1.14672522e+02] [-9.93156286e-01 1.16250663e-01 1.12416556e-02 -1.51066689e+02] [-1.13111541e-02 6.18723187e-05 -9.99936025e-01 -4.01254318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.906559995 meters 0.013512572997205033 Centerline is valid? [True, True] Translation: X:114.64, Y:-151.19, Z:-4.01 [[-4.28873317e-02 -9.99079859e-01 3.34488566e-04 1.14636864e+02] [-9.99032277e-01 4.28885538e-02 9.75101357e-03 -1.51194218e+02] [-9.75638700e-03 8.40300804e-05 -9.99952402e-01 -4.01231725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9665599950001 meters 0.013552573959443197 Centerline is valid? [True, True] Translation: X:114.61, Y:-151.34, Z:-4.01 [[ 3.36778743e-02 -9.99432670e-01 -3.72207419e-04 1.14610737e+02] [-9.99394348e-01 -3.36798425e-02 8.75245102e-03 -1.51339317e+02] [-8.76002138e-03 7.72180462e-05 -9.99961627e-01 -4.01303288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.026559995 meters 0.013264329484907389 Centerline is valid? [True, True] Translation: X:114.59, Y:-151.42, Z:-4.01 [[ 1.13969553e-01 -9.93483766e-01 -9.73512866e-04 1.14586268e+02] [-9.93450663e-01 -1.13973702e-01 8.11016130e-03 -1.51424707e+02] [-8.16826845e-03 4.28255468e-05 -9.99966638e-01 -4.01327868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.086559995 meters 0.013141103444937102 Centerline is valid? [True, True] Translation: X:114.57, Y:-151.53, Z:-4.01 [[ 1.93372945e-01 -9.81123915e-01 -1.66351934e-03 1.14571474e+02] [-9.81088252e-01 -1.93380100e-01 8.36532135e-03 -1.51532582e+02] [-8.52910837e-03 1.44324506e-05 -9.99963626e-01 -4.01207426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.146559995 meters 0.013185684516348396 Centerline is valid? [True, True] Translation: X:114.57, Y:-151.65, Z:-4.01 [[ 2.73058210e-01 -9.61995272e-01 -2.07627731e-03 1.14566077e+02] [-9.61966687e-01 -2.73066102e-01 7.41604132e-03 -1.51652953e+02] [-7.70115764e-03 -2.77013615e-05 -9.99970345e-01 -4.01098247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2065599950001 meters 0.013303936239483423 Centerline is valid? [True, True] Translation: X:114.57, Y:-151.77, Z:-4.01 [[ 3.48585305e-01 -9.37273753e-01 -2.48949555e-03 1.14574342e+02] [-9.37248882e-01 -3.48594192e-01 6.82806645e-03 -1.51774068e+02] [-7.26759115e-03 -4.68867123e-05 -9.99973590e-01 -4.01200902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.266559995 meters 0.01374942478378315 Centerline is valid? [True, True] Translation: X:114.59, Y:-151.89, Z:-4.01 [[ 4.23011691e-01 -9.06119764e-01 -2.84293422e-03 1.14588217e+02] [-9.06098130e-01 -4.23021238e-01 6.26193208e-03 -1.51890593e+02] [-6.87668197e-03 -7.28930991e-05 -9.99976353e-01 -4.01197394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.326559995 meters 0.0141544087761246 Centerline is valid? [True, True] Translation: X:114.61, Y:-152.01, Z:-4.01 [[ 4.92730516e-01 -8.70177578e-01 -2.76055217e-03 1.14613353e+02] [-8.70163093e-01 -4.92738244e-01 5.02144594e-03 -1.52007779e+02] [-5.72977929e-03 -7.20890396e-05 -9.99983582e-01 -4.01176892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.386559995 meters 0.01403219000190122 Centerline is valid? [True, True] Translation: X:114.64, Y:-152.11, Z:-4.01 [[ 5.57555449e-01 -8.30133657e-01 -3.16758332e-03 1.14644843e+02] [-8.30119525e-01 -5.57564442e-01 4.84432709e-03 -1.52111356e+02] [-5.78757078e-03 -7.15082023e-05 -9.99983249e-01 -4.01036571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4465599950001 meters 0.013840358177366896 Centerline is valid? [True, True] Translation: X:114.69, Y:-152.22, Z:-4.01 [[ 6.18021947e-01 -7.86153017e-01 -3.50823046e-03 1.14688180e+02] [-7.86139777e-01 -6.18031901e-01 4.56287858e-03 -1.52215702e+02] [-5.75531910e-03 -6.19995957e-05 -9.99983436e-01 -4.00933317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.506559995 meters 0.013405743599292577 Centerline is valid? [True, True] Translation: X:114.74, Y:-152.31, Z:-4.01 [[ 6.73368339e-01 -7.39296128e-01 -4.03917134e-03 1.14735664e+02] [-7.39282445e-01 -6.73380452e-01 4.49817530e-03 -1.52307864e+02] [-6.04538261e-03 -4.28403734e-05 -9.99981726e-01 -4.00884517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.566559995 meters 0.013113781813213963 Centerline is valid? [True, True] Translation: X:114.79, Y:-152.40, Z:-4.01 [[ 7.25096711e-01 -6.88630803e-01 -4.73040257e-03 1.14790278e+02] [-6.88615949e-01 -7.25112141e-01 4.52302664e-03 -1.52395939e+02] [-6.54476780e-03 -2.22010811e-05 -9.99978583e-01 -4.00771096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.626559995 meters 0.013159590803957769 Centerline is valid? [True, True] Translation: X:114.82, Y:-152.42, Z:-4.01 [[ 7.75077234e-01 -6.31842019e-01 -5.56284698e-03 1.14815190e+02] [-6.31825695e-01 -7.75097196e-01 4.54179635e-03 -1.52419869e+02] [-7.18144487e-03 -5.49328865e-06 -9.99974213e-01 -4.00756003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6865599950002 meters 0.013803865972346847 Centerline is valid? [True, True] Translation: X:114.84, Y:-152.44, Z:-4.01 [[ 8.21752413e-01 -5.69809217e-01 -6.35823302e-03 1.14839942e+02] [-5.69792147e-01 -8.21777011e-01 4.41063942e-03 -1.52443941e+02] [-7.73827272e-03 -1.58234969e-06 -9.99970059e-01 -4.00736185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.746559995 meters 0.014424113061528621 Centerline is valid? [True, True] Translation: X:114.86, Y:-152.47, Z:-4.01 [[ 8.63913922e-01 -5.03600918e-01 -6.23311629e-03 1.14864304e+02] [-5.03587780e-01 -8.63936407e-01 3.63752558e-03 -1.52465608e+02] [-7.21687731e-03 -3.58779086e-06 -9.99973958e-01 -4.00616411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.806559995 meters 0.015026128488884488 Centerline is valid? [True, True] Translation: X:114.89, Y:-152.49, Z:-4.01 [[ 9.01058689e-01 -4.33655159e-01 -6.03668034e-03 1.14891581e+02] [-4.33645353e-01 -9.01078911e-01 2.91635924e-03 -1.52487134e+02] [-6.70421958e-03 -1.00324549e-05 -9.99977526e-01 -4.00710526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.866559995 meters 0.015360183258863321 Centerline is valid? [True, True] Translation: X:114.92, Y:-152.51, Z:-4.01 [[ 9.32489682e-01 -3.61147216e-01 -5.97345453e-03 1.14919684e+02] [-3.61139704e-01 -9.32508814e-01 2.32928015e-03 -1.52507890e+02] [-6.41151204e-03 -1.47781011e-05 -9.99979446e-01 -4.00780400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9265599950002 meters 0.01615541777446313 Centerline is valid? [True, True] Translation: X:114.95, Y:-152.53, Z:-4.01 [[ 9.59123744e-01 -2.82927822e-01 -5.78721665e-03 1.14948041e+02] [-2.82922417e-01 -9.59141202e-01 1.74933281e-03 -1.52527447e+02] [-6.04569286e-03 -4.04933070e-05 -9.99981724e-01 -4.00869460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.986559995 meters 0.0165689865176841 Centerline is valid? [True, True] Translation: X:114.98, Y:-152.55, Z:-4.01 [[ 9.78976538e-01 -2.03871541e-01 -6.42908006e-03 1.14977785e+02] [-2.03866704e-01 -9.78997646e-01 1.40601167e-03 -1.52547336e+02] [-6.58070001e-03 -6.57770761e-05 -9.99978345e-01 -4.00884828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.046559995 meters 0.017087289109364107 Centerline is valid? [True, True] Translation: X:115.01, Y:-152.57, Z:-4.01 [[ 9.92456843e-01 -1.22443778e-01 -6.07758141e-03 1.15007135e+02] [-1.22440945e-01 -9.92475447e-01 8.37501681e-04 -1.52567107e+02] [-6.13439720e-03 -8.70394631e-05 -9.99981181e-01 -4.00883389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.106559995 meters 0.017970481191574933 Centerline is valid? [True, True] Translation: X:115.04, Y:-152.58, Z:-4.01 [[ 9.99063131e-01 -4.29452238e-02 -5.34500665e-03 1.15035467e+02] [-4.29441621e-02 -9.99077425e-01 3.13285403e-04 -1.52583150e+02] [-5.35352959e-03 -8.34550638e-05 -9.99985666e-01 -4.00848368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.166559995 meters 0.01728500734488884 Centerline is valid? [True, True] Translation: X:115.07, Y:-152.59, Z:-4.01 [[ 9.99385009e-01 3.46361028e-02 -5.47212210e-03 1.15065672e+02] [ 3.46360283e-02 -9.99399987e-01 -1.08416828e-04 -1.52590911e+02] [-5.47259389e-03 -8.11824231e-05 -9.99985022e-01 -4.00904249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2265599950001 meters 0.01684457221464903 Centerline is valid? [True, True] Translation: X:115.10, Y:-152.60, Z:-4.01 [[ 9.93887127e-01 1.10233481e-01 -6.07941237e-03 1.15096913e+02] [ 1.10231880e-01 -9.93905717e-01 -5.98835367e-04 -1.52595300e+02] [-6.10837442e-03 -7.49702938e-05 -9.99981341e-01 -4.00943678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.286559995 meters 0.016447302327975227 Centerline is valid? [True, True] Translation: X:115.13, Y:-152.60, Z:-4.01 [[ 9.82709853e-01 1.85032488e-01 -6.65761238e-03 1.15127893e+02] [ 1.85028687e-01 -9.82732402e-01 -1.18769622e-03 -1.52599123e+02] [-6.76241380e-03 -6.46885016e-05 -9.99977133e-01 -4.00922505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.346559995 meters 0.01623535316495364 Centerline is valid? [True, True] Translation: X:115.16, Y:-152.60, Z:-4.01 [[ 9.65570951e-01 2.60036511e-01 -7.33157837e-03 1.15159260e+02] [ 2.60029499e-01 -9.65598783e-01 -1.91056533e-03 -1.52601623e+02] [-7.57617990e-03 -6.16402704e-05 -9.99971299e-01 -4.00837550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.406559995 meters 0.016089949588204155 Centerline is valid? [True, True] Translation: X:115.19, Y:-152.60, Z:-4.01 [[ 9.42508930e-01 3.34064453e-01 -8.82367901e-03 1.15190819e+02] [ 3.34050489e-01 -9.42550230e-01 -3.05517623e-03 -1.52602166e+02] [-9.33738645e-03 -6.80234105e-05 -9.99956403e-01 -4.00693988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4665599950001 meters 0.015969812799357507 Centerline is valid? [True, True] Translation: X:115.22, Y:-152.60, Z:-4.01 [[ 9.13125193e-01 4.07572928e-01 -9.31077139e-03 1.15221494e+02] [ 4.07552660e-01 -9.13172657e-01 -4.06542002e-03 -1.52599687e+02] [-1.01592970e-02 -8.23922104e-05 -9.99948390e-01 -4.00618049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.526559995 meters 0.015886885202615653 Centerline is valid? [True, True] Translation: X:115.25, Y:-152.59, Z:-4.01 [[ 8.77553449e-01 4.79397755e-01 -8.81686467e-03 1.15253279e+02] [ 4.79374687e-01 -8.77597734e-01 -4.70389372e-03 -1.52593923e+02] [-9.99269654e-03 -9.86635833e-05 -9.99950067e-01 -4.00699199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.586559995 meters 0.01622552150542583 Centerline is valid? [True, True] Translation: X:115.29, Y:-152.59, Z:-4.01 [[ 8.34974222e-01 5.50226949e-01 -8.26756964e-03 1.15285764e+02] [ 5.50201615e-01 -8.35015141e-01 -5.28178400e-03 -1.52589317e+02] [-9.80972572e-03 -1.38676680e-04 -9.99951874e-01 -4.00700335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.646559995 meters 0.016803773176742913 Centerline is valid? [True, True] Translation: X:115.32, Y:-152.58, Z:-4.01 [[ 7.87576110e-01 6.16162411e-01 -8.23137464e-03 1.15315896e+02] [ 6.16131077e-01 -7.87619104e-01 -6.21638452e-03 -1.52579969e+02] [-1.03134904e-02 -1.75729784e-04 -9.99946799e-01 -4.00698307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7065599950001 meters 0.017291100633484838 Centerline is valid? [True, True] Translation: X:115.35, Y:-152.57, Z:-4.01 [[ 7.34336788e-01 6.78740632e-01 -7.78696612e-03 1.15346364e+02] [ 6.78705577e-01 -7.34378042e-01 -6.90154185e-03 -1.52568251e+02] [-1.04029338e-02 -2.17001266e-04 -9.99945865e-01 -4.00809748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.766559995 meters 0.017753647098132933 Centerline is valid? [True, True] Translation: X:115.38, Y:-152.55, Z:-4.01 [[ 6.77815904e-01 7.35193971e-01 -7.44480527e-03 1.15375133e+02] [ 7.35153472e-01 -6.77856746e-01 -7.72041772e-03 -1.52553132e+02] [-1.07225160e-02 -2.40052525e-04 -9.99942483e-01 -4.00805768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.826559995 meters 0.017305212570546305 Centerline is valid? [True, True] Translation: X:115.40, Y:-152.53, Z:-4.01 [[ 6.18273288e-01 7.85921497e-01 -8.09585260e-03 1.15401988e+02] [ 7.85860048e-01 -6.18326225e-01 -9.83183500e-03 -1.52534850e+02] [-1.27329285e-02 -2.83446163e-04 -9.99918893e-01 -4.00701330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.886559995 meters 0.017123727049067654 Centerline is valid? [True, True] Translation: X:115.42, Y:-152.51, Z:-4.01 [[ 5.57959000e-01 8.29836759e-01 -7.26006898e-03 1.15422916e+02] [ 8.29771915e-01 -5.58006182e-01 -1.03764115e-02 -1.52513770e+02] [-1.26618910e-02 -2.34589176e-04 -9.99919808e-01 -4.00648932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9465599950001 meters 0.01509809918996761 Centerline is valid? [True, True] Translation: X:115.44, Y:-152.49, Z:-4.01 [[ 4.96213754e-01 8.68180159e-01 -5.92634970e-03 1.15440721e+02] [ 8.68121812e-01 -4.96249119e-01 -1.00663362e-02 -1.52488523e+02] [-1.16803392e-02 -1.49738988e-04 -9.99931771e-01 -4.00923155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.006559995 meters 0.01461938654325445 Centerline is valid? [True, True] Translation: X:115.46, Y:-152.46, Z:-4.01 [[ 4.30768724e-01 9.02447427e-01 -5.19109784e-03 1.15458720e+02] [ 9.02384637e-01 -4.30799990e-01 -1.06459455e-02 -1.52464111e+02] [-1.18437310e-02 -9.84265938e-05 -9.99929856e-01 -4.00903162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.066559995 meters 0.014071132673699473 Centerline is valid? [True, True] Translation: X:115.47, Y:-152.44, Z:-4.01 [[ 3.64562685e-01 9.31168655e-01 -4.35720659e-03 1.15474635e+02] [ 9.31102963e-01 -3.64588722e-01 -1.10606092e-02 -1.52438402e+02] [-1.18878810e-02 -2.47225694e-05 -9.99929336e-01 -4.00933242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.126559995 meters 0.014208988913216014 Centerline is valid? [True, True] Translation: X:115.49, Y:-152.41, Z:-4.01 [[ 2.93339748e-01 9.56001408e-01 -3.61941580e-03 1.15490539e+02] [ 9.55928175e-01 -2.93362077e-01 -1.18328508e-02 -1.52413796e+02] [-1.23740214e-02 1.11439438e-05 -9.99923439e-01 -4.00722631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1865599950002 meters 0.014047487876486827 Centerline is valid? [True, True] Translation: X:115.51, Y:-152.39, Z:-4.01 [[ 2.17744347e-01 9.76001104e-01 -3.04061680e-03 1.15505999e+02] [ 9.75904992e-01 -2.17765575e-01 -1.36967774e-02 -1.52388452e+02] [-1.40302115e-02 1.50427404e-05 -9.99901572e-01 -4.00796762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.246559995 meters 0.014223522481100379 Centerline is valid? [True, True] Translation: X:115.52, Y:-152.36, Z:-4.01 [[ 1.39248656e-01 9.90254834e-01 -2.27502672e-03 1.15520926e+02] [ 9.90123317e-01 -1.39267239e-01 -1.61385696e-02 -1.52362703e+02] [-1.62981332e-02 -5.28287339e-06 -9.99867177e-01 -4.00523896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.306559995 meters 0.013945375052847795 Centerline is valid? [True, True] Translation: X:115.54, Y:-152.33, Z:-4.01 [[ 6.00220750e-02 9.98196569e-01 -9.79441968e-04 1.15536926e+02] [ 9.98070486e-01 -6.00300604e-02 -1.58649281e-02 -1.52334943e+02] [-1.58951127e-02 -2.53062187e-05 -9.99873664e-01 -4.00673638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.366559995 meters 0.013841332987902086 Centerline is valid? [True, True] Translation: X:115.55, Y:-152.31, Z:-4.01 [[-1.77223298e-02 9.99842917e-01 2.44313676e-04 1.15547281e+02] [ 9.99736536e-01 1.77240080e-02 -1.45848350e-02 -1.52305647e+02] [-1.45868742e-02 -1.42279470e-05 -9.99893606e-01 -4.00808708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4265599950002 meters 0.013789896288740623 Centerline is valid? [True, True] Translation: X:115.55, Y:-152.28, Z:-4.01 [[-9.51583763e-02 9.95461518e-01 1.11786589e-03 1.15553793e+02] [ 9.95392651e-01 9.51649421e-02 -1.17091619e-02 -1.52276802e+02] [-1.17624017e-02 -1.50934063e-06 -9.99930821e-01 -4.00973968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.486559995 meters 0.013490530935279467 Centerline is valid? [True, True] Translation: X:115.56, Y:-152.25, Z:-4.01 [[-1.73761479e-01 9.84786301e-01 1.69971835e-03 1.15558881e+02] [ 9.84738595e-01 1.73769791e-01 -9.69327180e-03 -1.52246171e+02] [-9.84116099e-03 -1.05389826e-05 -9.99951575e-01 -4.01083436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.546559995 meters 0.013499392104456522 Centerline is valid? [True, True] Translation: X:115.56, Y:-152.22, Z:-4.01 [[-2.52691812e-01 9.67543816e-01 2.41075006e-03 1.15561871e+02] [ 9.67498526e-01 2.52703309e-01 -9.36166740e-03 -1.52215305e+02] [-9.66702792e-03 -3.32195625e-05 -9.99953273e-01 -4.01029647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.606559995 meters 0.013510568139982295 Centerline is valid? [True, True] Translation: X:115.56, Y:-152.18, Z:-4.01 [[-3.30340643e-01 9.43856190e-01 3.24853436e-03 1.15563659e+02] [ 9.43808673e-01 3.30356609e-01 -9.47102581e-03 -1.52183813e+02] [-1.00124611e-02 -6.26698546e-05 -9.99949872e-01 -4.01015886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.666559995 meters 0.013841381611492431 Centerline is valid? [True, True] Translation: X:115.56, Y:-152.15, Z:-4.01 [[-4.06259959e-01 9.13748223e-01 4.12691660e-03 1.15562772e+02] [ 9.13698572e-01 4.06280908e-01 -9.52597334e-03 -1.52153295e+02] [-1.03810286e-02 -9.92637410e-05 -9.99946111e-01 -4.00902270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7265599950001 meters 0.014688521006383954 Centerline is valid? [True, True] Translation: X:115.56, Y:-152.12, Z:-4.01 [[-4.80227233e-01 8.77131048e-01 4.78840567e-03 1.15558823e+02] [ 8.77084494e-01 4.80251085e-01 -9.03798382e-03 -1.52123411e+02] [-1.02271332e-02 -1.40449601e-04 -9.99947692e-01 -4.00836437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.786559995 meters 0.015589823636684368 Centerline is valid? [True, True] Translation: X:115.55, Y:-152.10, Z:-4.01 [[-5.49964986e-01 8.35172687e-01 5.00974021e-03 1.15548700e+02] [ 8.35135411e-01 5.49987780e-01 -7.89222568e-03 -1.52095904e+02] [-9.34666722e-03 -1.56636338e-04 -9.99956307e-01 -4.00807199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.846559995 meters 0.01625151579471401 Centerline is valid? [True, True] Translation: X:115.53, Y:-152.07, Z:-4.01 [[-6.14770550e-01 7.88688223e-01 5.29703327e-03 1.15533113e+02] [ 7.88656683e-01 6.14793349e-01 -7.05515799e-03 -1.52071110e+02] [-8.82090084e-03 -1.59762664e-04 -9.99961082e-01 -4.00766264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.906559995 meters 0.015611426294003385 Centerline is valid? [True, True] Translation: X:115.52, Y:-152.05, Z:-4.01 [[-6.75446034e-01 7.37390016e-01 5.34971385e-03 1.15516934e+02] [ 7.37365049e-01 6.75467202e-01 -6.06990518e-03 -1.52045389e+02] [-8.08944371e-03 -1.55201368e-04 -9.99967268e-01 -4.00846872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9665599950001 meters 0.015649884715746108 Centerline is valid? [True, True] Translation: X:115.50, Y:-152.02, Z:-4.01 [[-7.31579217e-01 6.81728111e-01 6.21544870e-03 1.15499305e+02] [ 6.81701495e-01 7.31605599e-01 -6.02656089e-03 -1.52019117e+02] [-8.65573304e-03 -1.71826024e-04 -9.99962524e-01 -4.00737604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.026559995 meters 0.015513017194615692 Centerline is valid? [True, True] Translation: X:115.52, Y:-152.00, Z:-4.01 [[-7.77136919e-01 6.29290469e-01 7.19127939e-03 1.15517906e+02] [ 6.29261443e-01 7.77170172e-01 -6.04649367e-03 -1.52002205e+02] [-9.39384867e-03 -1.73758616e-04 -9.99955862e-01 -4.00639504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.086559995 meters 0.014846453334317937 Centerline is valid? [True, True] Translation: X:115.53, Y:-151.99, Z:-4.01 [[-8.17663214e-01 5.75641644e-01 7.97289578e-03 1.15534803e+02] [ 5.75612514e-01 8.17702071e-01 -5.79281845e-03 -1.51985987e+02] [-9.85404093e-03 -1.47275966e-04 -9.99951437e-01 -4.00540326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.146559995 meters 0.013312250079109189 Centerline is valid? [True, True] Translation: X:115.55, Y:-151.97, Z:-4.01 [[-8.53086608e-01 5.21698609e-01 8.59080811e-03 1.15545906e+02] [ 5.21671099e-01 8.53129858e-01 -5.35822970e-03 -1.51970663e+02] [-1.01244559e-02 -8.94576872e-05 -9.99948742e-01 -4.00642859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2065599950001 meters 0.013111789584007782 Centerline is valid? [True, True] Translation: X:115.57, Y:-151.96, Z:-4.01 [[-8.85940357e-01 4.63706370e-01 9.27825538e-03 1.15566259e+02] [ 4.63680363e-01 8.85988939e-01 -4.91129490e-03 -1.51955837e+02] [-1.04978304e-02 -4.89695299e-05 -9.99944895e-01 -4.00580127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.266559995 meters 0.012818014351313476 Centerline is valid? [True, True] Translation: X:115.58, Y:-151.93, Z:-4.01 [[-9.14972296e-01 4.03400496e-01 9.68186113e-03 1.15578427e+02] [ 4.03377819e-01 9.15023519e-01 -4.27724451e-03 -1.51933909e+02] [-1.05845732e-02 -8.11219651e-06 -9.99943982e-01 -4.00668710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.326559995 meters 0.012819408295832802 Centerline is valid? [True, True] Translation: X:115.59, Y:-151.91, Z:-4.01 [[-9.40693824e-01 3.39109619e-01 9.98981825e-03 1.15585887e+02] [ 3.39090599e-01 9.40746866e-01 -3.59157892e-03 -1.51907798e+02] [-1.06158292e-02 8.87734272e-06 -9.99943651e-01 -4.00647100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.386559995 meters 0.01269508596882133 Centerline is valid? [True, True] Translation: X:115.59, Y:-151.88, Z:-4.01 [[-9.62623251e-01 2.70675310e-01 9.55786694e-03 1.15593578e+02] [ 2.70661960e-01 9.62670700e-01 -2.68826028e-03 -1.51880220e+02] [-9.92872414e-03 -8.30852787e-07 -9.99950709e-01 -4.00821854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4465599950001 meters 0.012693163143493683 Centerline is valid? [True, True] Translation: X:115.78, Y:-151.24, Z:-5.03 [[-9.41761429e-01 -3.36181607e-01 8.20599744e-03 1.15779831e+02] [ 3.36168152e-01 -9.41797176e-01 -3.00870611e-03 -1.51237121e+02] [ 8.73985687e-03 -7.48883700e-05 9.99961804e-01 -5.03099908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.506559995 meters 0.012657978984627985 Centerline is valid? [True, True] Translation: X:115.55, Y:-151.86, Z:-4.01 [[-9.64455924e-01 2.64148178e-01 7.10708265e-03 1.15551195e+02] [ 2.64140833e-01 9.64482109e-01 -1.97008572e-03 -1.51863372e+02] [-7.37504862e-03 -2.27901190e-05 -9.99972804e-01 -4.00955651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.566559995 meters 0.012693655978881335 Centerline is valid? [True, True] Translation: X:115.56, Y:-151.84, Z:-4.01 [[-9.80805125e-01 1.94850694e-01 7.38336244e-03 1.15556139e+02] [ 1.94844980e-01 9.80832915e-01 -1.49248608e-03 -1.51835618e+02] [-7.53265685e-03 -2.52268851e-05 -9.99971629e-01 -4.00952996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.626559995 meters 0.012698902887543235 Centerline is valid? [True, True] Translation: X:115.56, Y:-151.81, Z:-4.01 [[-9.92008835e-01 1.25988882e-01 6.72857112e-03 1.15557450e+02] [ 1.25985885e-01 9.92031653e-01 -8.69070677e-04 -1.51808368e+02] [-6.78444878e-03 -1.44208012e-05 -9.99976985e-01 -4.00865871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6865599950002 meters 0.012695766625179801 Centerline is valid? [True, True] Translation: X:115.56, Y:-151.78, Z:-4.01 [[-9.98413413e-01 5.58482959e-02 7.18497611e-03 1.15557198e+02] [ 5.58467721e-02 9.98439266e-01 -4.12698839e-04 -1.51780924e+02] [-7.19681080e-03 -1.07863331e-05 -9.99974103e-01 -4.00768585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.746559995 meters 0.012673563484714259 Centerline is valid? [True, True] Translation: X:115.56, Y:-151.75, Z:-4.01 [[-9.99851709e-01 -1.54926120e-02 7.51924448e-03 1.15556606e+02] [-1.54922748e-02 9.99879982e-01 1.03092244e-04 -1.51752827e+02] [-7.51993921e-03 -1.34132459e-05 -9.99971725e-01 -4.00760065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.806559995 meters 0.012625271235847118 Centerline is valid? [True, True] Translation: X:115.55, Y:-151.73, Z:-4.01 [[-9.96199834e-01 -8.67801034e-02 7.42324065e-03 1.15549438e+02] [-8.67778056e-02 9.96227491e-01 6.31681769e-04 -1.51725221e+02] [-7.45005381e-03 -1.48912597e-05 -9.99972248e-01 -4.00752456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.866559995 meters 0.012587493726210326 Centerline is valid? [True, True] Translation: X:115.54, Y:-151.70, Z:-4.01 [[-9.87442052e-01 -1.57865707e-01 6.05085032e-03 1.15539316e+02] [-1.57862835e-01 9.87460591e-01 9.52219979e-04 -1.51697872e+02] [-6.12529911e-03 -1.49423387e-05 -9.99981240e-01 -4.00815454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9265599950002 meters 0.012564731453041461 Centerline is valid? [True, True] Translation: X:115.44, Y:-151.05, Z:-5.03 [[-9.96365969e-01 8.49950423e-02 5.54058825e-03 1.15438634e+02] [-8.49938665e-02 -9.96381374e-01 4.47760470e-04 -1.51054894e+02] [ 5.55859635e-03 -2.47827231e-05 9.99984551e-01 -5.03102375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.986559995 meters 0.013109098621258653 Centerline is valid? [True, True] Translation: X:115.45, Y:-151.71, Z:-4.01 [[-9.85808536e-01 -1.67780578e-01 5.58646673e-03 1.15452639e+02] [-1.67778107e-01 9.85824364e-01 9.11341190e-04 -1.51706157e+02] [-5.66018036e-03 -3.88788903e-05 -9.99983980e-01 -4.00763485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.046559995 meters 0.013986803371000688 Centerline is valid? [True, True] Translation: X:115.35, Y:-151.08, Z:-5.03 [[-9.96399397e-01 8.44929059e-02 7.01354072e-03 1.15346139e+02] [-8.44897895e-02 -9.96424070e-01 7.39981823e-04 -1.51076453e+02] [ 7.05098401e-03 1.44744863e-04 9.99975131e-01 -5.03428446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.106559995 meters 0.014765234398836322 Centerline is valid? [True, True] Translation: X:115.36, Y:-151.71, Z:-4.00 [[-9.83877020e-01 -1.78641076e-01 8.56599542e-03 1.15363304e+02] [-1.78635250e-01 9.83914303e-01 1.44661333e-03 -1.51714903e+02] [-8.68662997e-03 -1.06899120e-04 -9.99962265e-01 -4.00323365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.166559995 meters 0.014554134659516544 Centerline is valid? [True, True] Translation: X:115.26, Y:-151.09, Z:-5.04 [[-9.95965888e-01 8.91763602e-02 9.97631125e-03 1.15256514e+02] [-8.91697616e-02 -9.96015829e-01 1.10517803e-03 -1.51089497e+02] [ 1.00351197e-02 2.11134318e-04 9.99949625e-01 -5.03820547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2265599950001 meters 0.013241525891493631 Centerline is valid? [True, True] Translation: X:115.27, Y:-151.74, Z:-4.00 [[-9.83993104e-01 -1.78001415e-01 8.54792401e-03 1.15272542e+02] [-1.77995136e-01 9.84030230e-01 1.49590704e-03 -1.51740299e+02] [-8.67768920e-03 -4.95266822e-05 -9.99962347e-01 -4.00228307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.286559995 meters 0.012475462883128926 Centerline is valid? [True, True] Translation: X:115.26, Y:-151.72, Z:-4.01 [[-9.69558503e-01 -2.44755041e-01 7.16095750e-03 1.15260097e+02] [-2.44748513e-01 9.69584947e-01 1.78773868e-03 -1.51721123e+02] [-7.38071466e-03 -1.93164632e-05 -9.99972762e-01 -4.00629062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.346559995 meters 0.012501673598369123 Centerline is valid? [True, True] Translation: X:115.24, Y:-151.70, Z:-4.01 [[-9.49880156e-01 -3.12569943e-01 5.26502089e-03 1.15236213e+02] [-3.12565188e-01 9.49894747e-01 1.72401434e-03 -1.51702528e+02] [-5.54009075e-03 -8.05523082e-06 -9.99984654e-01 -4.00788603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.406559995 meters 0.012816861732524613 Centerline is valid? [True, True] Translation: X:115.00, Y:-151.08, Z:-5.03 [[-9.70620374e-01 2.40557258e-01 5.31927025e-03 1.15003845e+02] [-2.40553624e-01 -9.70634950e-01 1.32218279e-03 -1.51079152e+02] [ 5.48113028e-03 3.76781526e-06 9.99984979e-01 -5.03294262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4665599950001 meters 0.01338250278225542 Centerline is valid? [True, True] Translation: X:115.10, Y:-151.74, Z:-4.00 [[-9.44785885e-01 -3.27589799e-01 8.03456510e-03 1.15098355e+02] [-3.27578766e-01 9.44820044e-01 2.69008708e-03 -1.51737928e+02] [-8.47246324e-03 -9.03966202e-05 -9.99964104e-01 -4.00419336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.526559995 meters 0.014357380195378749 Centerline is valid? [True, True] Translation: X:115.06, Y:-151.72, Z:-4.00 [[-9.16110865e-01 -4.00802811e-01 9.89897139e-03 1.15058740e+02] [-4.00781596e-01 9.16164326e-01 4.12796561e-03 -1.51718837e+02] [-1.07235847e-02 -1.85651411e-04 -9.99942484e-01 -4.00179614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.586559995 meters 0.01591536622136893 Centerline is valid? [True, True] Translation: X:115.01, Y:-151.71, Z:-4.00 [[-8.83679433e-01 -4.67995193e-01 9.54776049e-03 1.15005157e+02] [-4.67970327e-01 8.83730988e-01 4.82850152e-03 -1.51709153e+02] [-1.06973673e-02 -2.01221114e-04 -9.99942761e-01 -3.99983116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.646559995 meters 0.01511178633626669 Centerline is valid? [True, True] Translation: X:114.94, Y:-151.72, Z:-4.00 [[-8.45899540e-01 -5.33263538e-01 9.16333455e-03 1.14936879e+02] [-5.33235052e-01 8.45949142e-01 5.51619148e-03 -1.51716776e+02] [-1.06932988e-02 -2.20067335e-04 -9.99942801e-01 -4.00094114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7065599950001 meters 0.014966475047606573 Centerline is valid? [True, True] Translation: X:114.87, Y:-151.73, Z:-4.00 [[-8.05248189e-01 -5.92885859e-01 7.85571562e-03 1.14868571e+02] [-5.92859810e-01 8.05286487e-01 5.56054070e-03 -1.51730840e+02] [-9.62286759e-03 -1.79722743e-04 -9.99953683e-01 -4.00127935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.766559995 meters 0.01388733128225389 Centerline is valid? [True, True] Translation: X:114.80, Y:-151.76, Z:-4.00 [[-7.61972523e-01 -6.47576170e-01 6.55580538e-03 1.14798487e+02] [-6.47553517e-01 7.62000715e-01 5.41773816e-03 -1.51756625e+02] [-8.50392652e-03 -1.17067220e-04 -9.99963834e-01 -4.00220940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.826559995 meters 0.013107634864094645 Centerline is valid? [True, True] Translation: X:114.72, Y:-151.79, Z:-4.00 [[-7.14767285e-01 -6.99332529e-01 6.46086626e-03 1.14723411e+02] [-6.99304948e-01 7.14796480e-01 6.21141530e-03 -1.51793615e+02] [-8.96204923e-03 -7.83992930e-05 -9.99959837e-01 -4.00145681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.886559995 meters 0.013024033240612246 Centerline is valid? [True, True] Translation: X:114.64, Y:-151.84, Z:-4.00 [[-6.60383198e-01 -7.50900258e-01 6.54482896e-03 1.14638944e+02] [-7.50864630e-01 6.60415623e-01 7.31517982e-03 -1.51840814e+02] [-9.81527771e-03 -8.34587348e-05 -9.99951826e-01 -4.00095951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9465599950001 meters 0.013213733658826575 Centerline is valid? [True, True] Translation: X:114.56, Y:-151.89, Z:-4.00 [[-6.00179199e-01 -7.99833385e-01 7.17527970e-03 1.14557885e+02] [-7.99778683e-01 6.00222076e-01 9.35511753e-03 -1.51891107e+02] [-1.17892966e-02 -1.23888800e-04 -9.99930496e-01 -3.99949431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.006559995 meters 0.013516226189076747 Centerline is valid? [True, True] Translation: X:114.48, Y:-151.96, Z:-4.00 [[-5.36458960e-01 -8.43896522e-01 7.10242905e-03 1.14475625e+02] [-8.43826474e-01 5.36505951e-01 1.08741221e-02 -1.51955734e+02] [-1.29871293e-02 -1.59697422e-04 -9.99915651e-01 -3.99801357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.066559995 meters 0.01357103432632864 Centerline is valid? [True, True] Translation: X:114.40, Y:-152.03, Z:-4.00 [[-4.70679000e-01 -8.82283356e-01 6.11219886e-03 1.14400691e+02] [-8.82213304e-01 4.70718658e-01 1.11189556e-02 -1.52025785e+02] [-1.26871955e-02 -1.58804230e-04 -9.99919502e-01 -3.99755014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.126559995 meters 0.012994496464490302 Centerline is valid? [True, True] Translation: X:114.33, Y:-152.11, Z:-4.00 [[-4.05073658e-01 -9.14272889e-01 4.51845649e-03 1.14331613e+02] [-9.14218820e-01 4.05098845e-01 9.94361175e-03 -1.52108557e+02] [-1.09215961e-02 -1.02962784e-04 -9.99940352e-01 -3.99824244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1865599950002 meters 0.012326359846852215 Centerline is valid? [True, True] Translation: X:114.27, Y:-152.20, Z:-4.00 [[-3.41187972e-01 -9.39990033e-01 3.08317907e-03 1.14274107e+02] [-9.39952137e-01 3.41201902e-01 8.44054529e-03 -1.52195923e+02] [-8.98601501e-03 -1.82282213e-05 -9.99959625e-01 -4.00032410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.246559995 meters 0.01237798362598931 Centerline is valid? [True, True] Translation: X:114.22, Y:-152.29, Z:-4.00 [[-2.74019797e-01 -9.61722130e-01 1.92236635e-03 1.14220041e+02] [-9.61697744e-01 2.74026538e-01 6.84869747e-03 -1.52290103e+02] [-7.11332331e-03 2.79433063e-05 -9.99974700e-01 -4.00112604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.306559995 meters 0.01246242570110402 Centerline is valid? [True, True] Translation: X:114.16, Y:-152.40, Z:-4.00 [[-2.00154626e-01 -9.79763066e-01 1.56858382e-03 1.14164629e+02] [-9.79731569e-01 2.00160769e-01 7.85614028e-03 -1.52395742e+02] [-8.01112503e-03 3.56517358e-05 -9.99967910e-01 -3.99937320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.366559995 meters 0.012472584033105824 Centerline is valid? [True, True] Translation: X:113.49, Y:-152.37, Z:-5.04 [[-2.57491313e-01 9.66277613e-01 2.40805862e-03 1.13493208e+02] [-9.66232982e-01 -2.57502565e-01 9.28723233e-03 -1.52366874e+02] [ 9.59412596e-03 6.46359841e-05 9.99953973e-01 -5.04147333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4265599950002 meters 0.012560274979089937 Centerline is valid? [True, True] Translation: X:114.11, Y:-152.66, Z:-4.00 [[-1.90170770e-01 -9.81748990e-01 1.99969777e-03 1.14107977e+02] [-9.81692512e-01 1.90181280e-01 1.05305439e-02 -1.52661836e+02] [-1.07186559e-02 3.95133102e-05 -9.99942553e-01 -3.99713379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.486559995 meters 0.012550081307265174 Centerline is valid? [True, True] Translation: X:114.06, Y:-152.77, Z:-4.00 [[-1.13824675e-01 -9.93500355e-01 9.93681748e-04 1.14061009e+02] [-9.93460381e-01 1.13829009e-01 8.91228114e-03 -1.52771291e+02] [-8.96746429e-03 2.72540600e-05 -9.99959791e-01 -3.99845882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.546559995 meters 0.012246656896420868 Centerline is valid? [True, True] Translation: X:114.02, Y:-152.88, Z:-4.00 [[-3.55403453e-02 -9.99368225e-01 1.87608055e-04 1.14022964e+02] [-9.99353390e-01 3.55408400e-02 5.44518265e-03 -1.52882660e+02] [-5.44841026e-03 6.03692639e-06 -9.99985157e-01 -4.00152349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.606559995 meters 0.012183033013220063 Centerline is valid? [True, True] Translation: X:114.00, Y:-153.00, Z:-4.00 [[ 4.33635770e-02 -9.99059343e-01 -1.72518341e-04 1.13995427e+02] [-9.99050963e-01 -4.33639199e-02 4.09202152e-03 -1.52999319e+02] [-4.09565340e-03 -5.09007597e-06 -9.99991613e-01 -4.00286418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.666559995 meters 0.012326340282987451 Centerline is valid? [True, True] Translation: X:113.98, Y:-153.12, Z:-4.00 [[ 1.21476740e-01 -9.92594138e-01 -5.27166860e-04 1.13976250e+02] [-9.92584327e-01 -1.21477883e-01 4.41340607e-03 -1.53117594e+02] [-4.44476011e-03 -1.28686190e-05 -9.99990122e-01 -4.00272344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7265599950001 meters 0.012368682020858668 Centerline is valid? [True, True] Translation: X:113.97, Y:-153.24, Z:-4.00 [[ 1.97917709e-01 -9.80218282e-01 -8.36487128e-04 1.13966264e+02] [-9.80209184e-01 -1.97919476e-01 4.22326708e-03 -1.53235713e+02] [-4.30528070e-03 -1.59269793e-05 -9.99990732e-01 -4.00261974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.786559995 meters 0.012286923698262522 Centerline is valid? [True, True] Translation: X:113.97, Y:-153.35, Z:-4.00 [[ 2.71813338e-01 -9.62348709e-01 -1.57225562e-03 1.13967781e+02] [-9.62332234e-01 -2.71817884e-01 5.63112848e-03 -1.53354064e+02] [-5.84647642e-03 -1.75835679e-05 -9.99982909e-01 -4.00206255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.846559995 meters 0.012366685913279796 Centerline is valid? [True, True] Translation: X:113.98, Y:-153.47, Z:-4.00 [[ 3.45793891e-01 -9.38307785e-01 -2.25513988e-03 1.13975351e+02] [-9.38287281e-01 -3.45801243e-01 6.20311476e-03 -1.53466236e+02] [-6.60026104e-03 -2.90301258e-05 -9.99978218e-01 -4.00282050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.906559995 meters 0.012543346191535784 Centerline is valid? [True, True] Translation: X:113.99, Y:-153.58, Z:-4.00 [[ 4.18548784e-01 -9.08190899e-01 -2.49116115e-03 1.13992062e+02] [-9.08174239e-01 -4.18556196e-01 5.50115835e-03 -1.53584564e+02] [-6.03879289e-03 -4.00947614e-05 -9.99981766e-01 -4.00322843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9665599950001 meters 0.012743158620816479 Centerline is valid? [True, True] Translation: X:114.02, Y:-153.70, Z:-4.00 [[ 4.88329816e-01 -8.72654353e-01 -2.89328009e-03 1.14015343e+02] [-8.72638415e-01 -4.88338385e-01 5.27443336e-03 -1.53697407e+02] [-6.01565696e-03 -5.08757224e-05 -9.99981905e-01 -4.00368881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.026559995 meters 0.012521330538079719 Centerline is valid? [True, True] Translation: X:114.05, Y:-153.80, Z:-4.00 [[ 5.52702501e-01 -8.33371430e-01 -3.46471304e-03 1.14049622e+02] [-8.33354517e-01 -5.52713359e-01 5.30958083e-03 -1.53803050e+02] [-6.33984615e-03 -4.72843432e-05 -9.99979902e-01 -4.00469169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.086559995 meters 0.01230689261945812 Centerline is valid? [True, True] Translation: X:114.09, Y:-153.91, Z:-4.00 [[ 6.11387802e-01 -7.91316171e-01 -4.86553166e-03 1.14093677e+02] [-7.91290766e-01 -6.11407161e-01 6.34093181e-03 -1.53905499e+02] [-7.99250278e-03 -2.67180913e-05 -9.99968059e-01 -4.00391801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.146559995 meters 0.0123212168449023 Centerline is valid? [True, True] Translation: X:114.14, Y:-154.00, Z:-4.00 [[ 6.66931515e-01 -7.45094163e-01 -6.08623004e-03 1.14139675e+02] [-7.45063213e-01 -6.66959285e-01 6.79119623e-03 -1.53999364e+02] [-9.11934831e-03 5.36332021e-06 -9.99958418e-01 -4.00353884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2065599950001 meters 0.012799011293144891 Centerline is valid? [True, True] Translation: X:114.19, Y:-154.09, Z:-4.00 [[ 7.17220994e-01 -6.96805692e-01 -7.47485521e-03 1.14191149e+02] [-6.96768886e-01 -7.17259940e-01 7.16225486e-03 -1.54085799e+02] [-1.03521142e-02 7.13269846e-05 -9.99946413e-01 -4.00287502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.266559995 meters 0.013633604514336923 Centerline is valid? [True, True] Translation: X:114.21, Y:-154.11, Z:-4.00 [[ 7.65658311e-01 -6.43192623e-01 -8.40239307e-03 1.14214768e+02] [-6.43155884e-01 -7.65704401e-01 6.87595531e-03 -1.54110758e+02] [-1.08563131e-02 1.39416215e-04 -9.99941059e-01 -4.00306486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.326559995 meters 0.013849878091528187 Centerline is valid? [True, True] Translation: X:114.24, Y:-154.14, Z:-4.00 [[ 8.11988014e-01 -5.83600231e-01 -9.28635597e-03 1.14236628e+02] [-5.83564537e-01 -8.12041095e-01 6.45689950e-03 -1.54138527e+02] [-1.13091507e-02 1.76263025e-04 -9.99936034e-01 -4.00383282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.386559995 meters 0.014127382639613597 Centerline is valid? [True, True] Translation: X:114.26, Y:-154.17, Z:-4.00 [[ 8.54592516e-01 -5.19214617e-01 -9.37085759e-03 1.14260386e+02] [-5.19185705e-01 -8.54643872e-01 5.48230128e-03 -1.54165167e+02] [-1.08552370e-02 1.80081653e-04 -9.99941064e-01 -4.00457418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4465599950001 meters 0.01350212436204771 Centerline is valid? [True, True] Translation: X:114.29, Y:-154.19, Z:-4.01 [[ 8.93873956e-01 -4.48236978e-01 -8.54183098e-03 1.14285166e+02] [-4.48217897e-01 -8.93914758e-01 4.13786731e-03 -1.54192429e+02] [-9.49041391e-03 1.29869692e-04 -9.99954957e-01 -4.00593354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.506559995 meters 0.013201336843241866 Centerline is valid? [True, True] Translation: X:114.31, Y:-154.21, Z:-4.01 [[ 9.26805278e-01 -3.75446504e-01 -8.47939736e-03 1.14312552e+02] [-3.75431867e-01 -9.26844060e-01 3.31696284e-03 -1.54215000e+02] [-9.10442117e-03 1.09257316e-04 -9.99958548e-01 -4.00645446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.566559995 meters 0.012416592230438917 Centerline is valid? [True, True] Translation: X:114.34, Y:-154.24, Z:-4.01 [[ 9.54816387e-01 -2.97064044e-01 -8.86687797e-03 1.14339620e+02] [-2.97051865e-01 -9.54857555e-01 2.69072268e-03 -1.54242871e+02] [-9.26592238e-03 6.47765312e-05 -9.99957068e-01 -4.00599473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.626559995 meters 0.012275098907621717 Centerline is valid? [True, True] Translation: X:114.37, Y:-154.26, Z:-4.00 [[ 9.75713236e-01 -2.18786120e-01 -1.07849562e-02 1.14369703e+02] [-2.18773282e-01 -9.75772838e-01 2.37053206e-03 -1.54263665e+02] [-1.10423068e-02 4.65007524e-05 -9.99939031e-01 -4.00402084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6865599950002 meters 0.012308012947028341 Centerline is valid? [True, True] Translation: X:114.40, Y:-154.28, Z:-4.00 [[ 9.89733588e-01 -1.42419325e-01 -1.20067205e-02 1.14402218e+02] [-1.42409579e-01 -9.89806412e-01 1.66721836e-03 -1.54279078e+02] [-1.21217730e-02 5.97699946e-05 -9.99926527e-01 -4.00348886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.746559995 meters 0.013107318112320333 Centerline is valid? [True, True] Translation: X:114.43, Y:-154.29, Z:-4.00 [[ 9.97493169e-01 -6.94793154e-02 -1.34165019e-02 1.14433104e+02] [-6.94748358e-02 -9.97583383e-01 8.00236648e-04 -1.54289225e+02] [-1.34396792e-02 1.33878675e-04 -9.99909675e-01 -4.00291599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.806559995 meters 0.014245455049816174 Centerline is valid? [True, True] Translation: X:114.47, Y:-154.29, Z:-4.00 [[ 9.99925588e-01 2.54449322e-03 -1.19308001e-02 1.14465072e+02] [ 2.54199967e-03 -9.99996744e-01 -2.24160578e-04 -1.54294996e+02] [-1.19313317e-02 1.93815807e-04 -9.99928800e-01 -4.00448185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.866559995 meters 0.014573377263236272 Centerline is valid? [True, True] Translation: X:114.50, Y:-154.30, Z:-4.01 [[ 9.96945276e-01 7.74836113e-02 -9.81869928e-03 1.14496831e+02] [ 7.74779436e-02 -9.96993607e-01 -9.56870271e-04 -1.54302362e+02] [-9.86332218e-03 1.93214667e-04 -9.99951338e-01 -4.00667891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9265599950002 meters 0.014726400040709069 Centerline is valid? [True, True] Translation: X:114.53, Y:-154.31, Z:-4.01 [[ 9.87763192e-01 1.55658892e-01 -9.70493360e-03 1.14529482e+02] [ 1.55649491e-01 -9.87810849e-01 -1.72123648e-03 -1.54308175e+02] [-9.85456446e-03 1.89606067e-04 -9.99951425e-01 -4.00665112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.986559995 meters 0.013452101195207459 Centerline is valid? [True, True] Translation: X:114.56, Y:-154.32, Z:-4.01 [[ 9.71385781e-01 2.37275166e-01 -1.04957106e-02 1.14564929e+02] [ 2.37259585e-01 -9.71442470e-01 -2.72350475e-03 -1.54318633e+02] [-1.08421991e-02 1.55365843e-04 -9.99941210e-01 -4.00625113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.046559995 meters 0.012758467975891991 Centerline is valid? [True, True] Translation: X:114.60, Y:-154.32, Z:-4.01 [[ 9.48035117e-01 3.17982251e-01 -1.08029801e-02 1.14600820e+02] [ 3.17960416e-01 -9.48096661e-01 -3.72768612e-03 -1.54322964e+02] [-1.14276074e-02 9.90572878e-05 -9.99934698e-01 -4.00563628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.106559995 meters 0.012215992260607024 Centerline is valid? [True, True] Translation: X:114.64, Y:-154.33, Z:-4.01 [[ 9.15978647e-01 4.01061189e-01 -1.15343287e-02 1.14638397e+02] [ 4.01029745e-01 -9.16051266e-01 -5.02212433e-03 -1.54327776e+02] [-1.25802156e-02 -2.54502330e-05 -9.99920866e-01 -4.00502241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.166559995 meters 0.013144252943770005 Centerline is valid? [True, True] Translation: X:114.68, Y:-154.33, Z:-4.00 [[ 8.77111257e-01 4.80152095e-01 -1.13933787e-02 1.14675802e+02] [ 4.80113844e-01 -8.77185239e-01 -6.06251609e-03 -1.54327084e+02] [-1.29050335e-02 -1.52617759e-04 -9.99916715e-01 -4.00398305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2265599950001 meters 0.014373743957955149 Centerline is valid? [True, True] Translation: X:114.71, Y:-154.32, Z:-4.00 [[ 8.33780935e-01 5.52000699e-01 -1.02264604e-02 1.14710716e+02] [ 5.51962268e-01 -8.33843621e-01 -6.51693406e-03 -1.54319900e+02] [-1.21246209e-02 -2.10924897e-04 -9.99926472e-01 -4.00404933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.286559995 meters 0.014561298113505254 Centerline is valid? [True, True] Translation: X:114.74, Y:-154.30, Z:-4.00 [[ 7.87834356e-01 6.15814236e-01 -9.47914720e-03 1.14741057e+02] [ 6.15772850e-01 -7.87891352e-01 -7.14244830e-03 -1.54303518e+02] [-1.18669594e-02 -2.09935321e-04 -9.99929563e-01 -4.00485574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.346559995 meters 0.013780168118370307 Centerline is valid? [True, True] Translation: X:114.77, Y:-154.28, Z:-4.01 [[ 7.38575495e-01 6.74125367e-01 -7.82476104e-03 1.14769213e+02] [ 6.74089878e-01 -7.38616925e-01 -6.91915069e-03 -1.54283533e+02] [-1.04438759e-02 -1.64277065e-04 -9.99945448e-01 -4.00684039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.406559995 meters 0.013415342652201458 Centerline is valid? [True, True] Translation: X:114.80, Y:-154.27, Z:-4.01 [[ 6.84247382e-01 7.29214971e-01 -7.14462824e-03 1.14798959e+02] [ 7.29177517e-01 -6.84284665e-01 -7.39225033e-03 -1.54265453e+02] [-1.02794992e-02 -1.51574346e-04 -9.99947153e-01 -4.00749860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4665599950001 meters 0.01372944660891815 Centerline is valid? [True, True] Translation: X:114.83, Y:-154.25, Z:-4.01 [[ 6.24897560e-01 7.80673003e-01 -7.25961782e-03 1.14825244e+02] [ 7.80623463e-01 -6.24939704e-01 -8.79632471e-03 -1.54245323e+02] [-1.14038766e-02 -1.70226149e-04 -9.99934959e-01 -4.00640368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.526559995 meters 0.013990370223966044 Centerline is valid? [True, True] Translation: X:114.85, Y:-154.22, Z:-4.00 [[ 5.63041602e-01 8.26395338e-01 -7.40949082e-03 1.14846573e+02] [ 8.26327801e-01 -5.63090326e-01 -1.05664135e-02 -1.54221348e+02] [-1.29042475e-02 -1.73337872e-04 -9.99916722e-01 -4.00403398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.586559995 meters 0.012882165403708526 Centerline is valid? [True, True] Translation: X:114.86, Y:-154.19, Z:-4.00 [[ 5.01175854e-01 8.65317052e-01 -7.01154983e-03 1.14861259e+02] [ 8.65235502e-01 -5.01224886e-01 -1.18802174e-02 -1.54192314e+02] [-1.37945180e-02 -1.12563711e-04 -9.99904845e-01 -4.00449951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.646559995 meters 0.012467753655383825 Centerline is valid? [True, True] Translation: X:114.88, Y:-154.17, Z:-4.01 [[ 4.36561491e-01 8.99656420e-01 -5.69131241e-03 1.14877041e+02] [ 8.99581113e-01 -4.36598586e-01 -1.16402938e-02 -1.54165722e+02] [-1.29570840e-02 -3.80931106e-05 -9.99916053e-01 -4.00546112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7065599950001 meters 0.012890268433544889 Centerline is valid? [True, True] Translation: X:114.89, Y:-154.14, Z:-4.01 [[ 3.74075079e-01 9.27387135e-01 -4.57578880e-03 1.14886485e+02] [ 9.27314853e-01 -3.74103053e-01 -1.15787776e-02 -1.54136987e+02] [-1.24498259e-02 8.81352230e-05 -9.99922494e-01 -4.00615184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.766559995 meters 0.014475171028521442 Centerline is valid? [True, True] Translation: X:114.89, Y:-154.11, Z:-4.01 [[ 3.09536403e-01 9.50880235e-01 -3.74098160e-03 1.14893556e+02] [ 9.50802233e-01 -3.09558935e-01 -1.21811470e-02 -1.54107953e+02] [-1.27408662e-02 2.13574767e-04 -9.99918809e-01 -4.00669586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.826559995 meters 0.014816887098898992 Centerline is valid? [True, True] Translation: X:114.91, Y:-154.08, Z:-4.01 [[ 2.36252595e-01 9.71687909e-01 -2.70543526e-03 1.14906986e+02] [ 9.71612296e-01 -2.36267968e-01 -1.21241127e-02 -1.54082079e+02] [-1.24200614e-02 2.35718914e-04 -9.99922840e-01 -4.00774756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.886559995 meters 0.014051134018868703 Centerline is valid? [True, True] Translation: X:114.93, Y:-154.06, Z:-4.01 [[ 1.56407698e-01 9.87690859e-01 -1.84380836e-03 1.14925217e+02] [ 9.87605578e-01 -1.56418425e-01 -1.29807155e-02 -1.54055826e+02] [-1.31093396e-02 2.09328401e-04 -9.99914047e-01 -4.00745323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9465599950001 meters 0.013719247921239752 Centerline is valid? [True, True] Translation: X:114.94, Y:-154.03, Z:-4.01 [[ 7.47375865e-02 9.97202823e-01 -9.07587902e-04 1.14939235e+02] [ 9.97098019e-01 -7.47428907e-02 -1.44582538e-02 -1.54028417e+02] [-1.44856473e-02 1.75620897e-04 -9.99895062e-01 -4.00613370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.006559995 meters 0.013213776513249238 Centerline is valid? [True, True] Translation: X:114.95, Y:-154.00, Z:-4.01 [[-6.82374671e-03 9.99976695e-01 2.16704027e-04 1.14950399e+02] [ 9.99881306e-01 6.82608902e-03 -1.38122514e-02 -1.53999841e+02] [-1.38134088e-02 1.22427001e-04 -9.99904583e-01 -4.00642839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.066559995 meters 0.012538919959892428 Centerline is valid? [True, True] Translation: X:114.96, Y:-153.97, Z:-4.01 [[-9.07729202e-02 9.95870993e-01 1.11483577e-03 1.14963161e+02] [ 9.95800900e-01 9.07797581e-02 -1.18153603e-02 -1.53970967e+02] [-1.18677791e-02 3.76397081e-05 -9.99929575e-01 -4.00668988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.126559995 meters 0.012417265290153186 Centerline is valid? [True, True] Translation: X:114.97, Y:-153.94, Z:-4.01 [[-1.72856913e-01 9.84945172e-01 1.86986973e-03 1.14969518e+02] [ 9.84886676e-01 1.72867025e-01 -1.07344200e-02 -1.53940515e+02] [-1.08960539e-02 -1.39089082e-05 -9.99940636e-01 -4.00784068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1865599950002 meters 0.012964314600490292 Centerline is valid? [True, True] Translation: X:114.97, Y:-153.91, Z:-4.01 [[-2.55955275e-01 9.66685291e-01 2.53876701e-03 1.14973995e+02] [ 9.66634532e-01 2.55967852e-01 -9.90655010e-03 -1.53910524e+02] [-1.02263590e-02 -8.15738915e-05 -9.99947706e-01 -4.00689136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.246559995 meters 0.013631232344632463 Centerline is valid? [True, True] Translation: X:114.98, Y:-153.88, Z:-4.01 [[-3.37131017e-01 9.41452414e-01 3.16697178e-03 1.14977627e+02] [ 9.41406810e-01 3.37145861e-01 -9.26749243e-03 -1.53878057e+02] [-9.79263454e-03 -1.42950342e-04 -9.99952041e-01 -4.00662630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.306559995 meters 0.015283880887442041 Centerline is valid? [True, True] Translation: X:114.98, Y:-153.85, Z:-4.00 [[-4.13081795e-01 9.10685616e-01 3.89086995e-03 1.14978362e+02] [ 9.10641071e-01 4.13100081e-01 -9.00904926e-03 -1.53846654e+02] [-9.81173026e-03 -1.78288264e-04 -9.99951848e-01 -4.00492793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.366559995 meters 0.016441866746923037 Centerline is valid? [True, True] Translation: X:114.97, Y:-153.82, Z:-4.01 [[-4.85766732e-01 8.74077167e-01 4.44837194e-03 1.14968250e+02] [ 8.74036638e-01 4.85787058e-01 -8.41961052e-03 -1.53817774e+02] [-9.52035083e-03 -2.01926642e-04 -9.99954660e-01 -4.00547473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4265599950002 meters 0.01583502746292086 Centerline is valid? [True, True] Translation: X:114.96, Y:-153.79, Z:-4.01 [[-5.56150364e-01 8.31069881e-01 4.43000551e-03 1.14959786e+02] [ 8.31040455e-01 5.56167968e-01 -6.99676011e-03 -1.53786606e+02] [-8.27862376e-03 -2.09736889e-04 -9.99965710e-01 -4.00772029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.486559995 meters 0.01991273967630791 Centerline is valid? [True, True] Translation: X:114.96, Y:-153.75, Z:-4.01 [[-6.21645389e-01 7.83284318e-01 4.76316714e-03 1.14955183e+02] [ 7.83258529e-01 6.21663597e-01 -6.35986956e-03 -1.53752708e+02] [-7.94267370e-03 -2.22792301e-04 -9.99968432e-01 -4.00540770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.546559995 meters 0.01814676412554028 Centerline is valid? [True, True] Translation: X:114.94, Y:-153.73, Z:-4.00 [[-6.83223816e-01 7.30181591e-01 6.32936811e-03 1.14939133e+02] [ 7.30146172e-01 6.83253069e-01 -7.19805253e-03 -1.53725326e+02] [-9.58044564e-03 -2.96517024e-04 -9.99954063e-01 -4.00428143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.606559995 meters 0.01842477281748004 Centerline is valid? [True, True] Translation: X:114.92, Y:-153.70, Z:-4.00 [[-7.38619908e-01 6.74081183e-01 7.42899515e-03 1.14922074e+02] [ 6.74042602e-01 7.38657196e-01 -7.21926502e-03 -1.53698879e+02] [-1.03538514e-02 -3.24833647e-04 -9.99946345e-01 -4.00319845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.666559995 meters 0.01820239560911715 Centerline is valid? [True, True] Translation: X:114.94, Y:-153.69, Z:-4.00 [[-7.82539446e-01 6.22542925e-01 8.50418852e-03 1.14942772e+02] [ 6.22501757e-01 7.82585591e-01 -7.16618958e-03 -1.53686216e+02] [-1.11165160e-02 -3.13953732e-04 -9.99938160e-01 -4.00190458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7265599950001 meters 0.015459947619079076 Centerline is valid? [True, True] Translation: X:114.96, Y:-153.67, Z:-4.00 [[-8.21327670e-01 5.70368652e-01 1.00230047e-02 1.14955046e+02] [ 5.70322013e-01 8.21388777e-01 -7.29919780e-03 -1.53672840e+02] [-1.23960172e-02 -2.78692905e-04 -9.99923128e-01 -4.00136217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.786559995 meters 0.014347851585690468 Centerline is valid? [True, True] Translation: X:114.97, Y:-153.66, Z:-4.00 [[-8.56391626e-01 5.16200743e-01 1.14094769e-02 1.14970891e+02] [ 5.16151536e-01 8.56467597e-01 -7.13071196e-03 -1.53657829e+02] [-1.34527261e-02 -2.17662971e-04 -9.99909484e-01 -4.00019869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.846559995 meters 0.014105295859764012 Centerline is valid? [True, True] Translation: X:114.98, Y:-153.63, Z:-4.00 [[-8.90181748e-01 4.55476790e-01 1.08327776e-02 1.14980948e+02] [ 4.55440575e-01 8.90247640e-01 -5.74642973e-03 -1.53631498e+02] [-1.22612201e-02 -1.81680402e-04 -9.99924812e-01 -4.00010643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.906559995 meters 0.013146082767531861 Centerline is valid? [True, True] Translation: X:115.00, Y:-153.61, Z:-4.00 [[-9.17949041e-01 3.96555396e-01 1.06478128e-02 1.15000538e+02] [ 3.96527378e-01 9.18010788e-01 -4.71508264e-03 -1.53614923e+02] [-1.16445985e-02 -1.06056310e-04 -9.99932194e-01 -4.00173401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9665599950001 meters 0.012660972817331313 Centerline is valid? [True, True] Translation: X:115.01, Y:-153.59, Z:-4.00 [[-9.42270614e-01 3.34722910e-01 9.30937752e-03 1.15010148e+02] [ 3.34706086e-01 9.42316598e-01 -3.35625300e-03 -1.53593714e+02] [-9.89579573e-03 -4.65932647e-05 -9.99951034e-01 -4.00412622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.026559995 meters 0.012535319459887277 Centerline is valid? [True, True] Translation: X:115.25, Y:-152.96, Z:-5.03 [[-9.15466685e-01 -4.02316145e-01 7.90371597e-03 1.15245779e+02] [ 4.02300855e-01 -9.15500802e-01 -3.50764531e-03 -1.52962311e+02] [ 8.64704065e-03 -3.14607261e-05 9.99962613e-01 -5.03497066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.086559995 meters 0.01255952650834302 Centerline is valid? [True, True] Translation: X:114.97, Y:-153.58, Z:-4.00 [[-9.41708505e-01 3.36323813e-01 8.44896862e-03 1.14972063e+02] [ 3.36310337e-01 9.41746406e-01 -3.01078678e-03 -1.53581023e+02] [-8.96938512e-03 6.19195932e-06 -9.99959774e-01 -4.00388804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.146559995 meters 0.012699134471631337 Centerline is valid? [True, True] Translation: X:115.20, Y:-152.95, Z:-5.04 [[-9.17343497e-01 -3.97982352e-01 9.53713586e-03 1.15200763e+02] [ 3.97961743e-01 -9.17393068e-01 -4.05087211e-03 -1.52950332e+02] [ 1.03614779e-02 7.93740281e-05 9.99946315e-01 -5.03684095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2065599950001 meters 0.012733511308734988 Centerline is valid? [True, True] Translation: X:114.93, Y:-153.56, Z:-4.00 [[-9.43610353e-01 3.30913128e-01 9.79813645e-03 1.14930748e+02] [ 3.30895129e-01 9.43661222e-01 -3.45137915e-03 -1.53564038e+02] [-1.03882281e-02 -1.46014737e-05 -9.99946041e-01 -4.00355630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.266559995 meters 0.01277549056783717 Centerline is valid? [True, True] Translation: X:114.93, Y:-153.53, Z:-4.00 [[-9.65389076e-01 2.60639387e-01 9.54158933e-03 1.14931973e+02] [ 2.60626242e-01 9.65436227e-01 -2.61793679e-03 -1.53532665e+02] [-9.89413345e-03 -4.05390021e-05 -9.99951051e-01 -4.00373118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.326559995 meters 0.012806729233470414 Centerline is valid? [True, True] Translation: X:115.11, Y:-152.90, Z:-5.04 [[-9.42944184e-01 -3.32796241e-01 1.01453920e-02 1.15114806e+02] [ 3.32778073e-01 -9.42998756e-01 -3.47862391e-03 -1.52898178e+02] [ 1.07247650e-02 9.60158304e-05 9.99942484e-01 -5.03653856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.386559995 meters 0.012677922221166864 Centerline is valid? [True, True] Translation: X:114.89, Y:-153.52, Z:-4.00 [[-9.65722032e-01 2.59424650e-01 8.93357535e-03 1.14888428e+02] [ 2.59413402e-01 9.65763351e-01 -2.41580413e-03 -1.53524246e+02] [-9.25443881e-03 -1.55060947e-05 -9.99957177e-01 -4.00401864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4465599950001 meters 0.012615093829959075 Centerline is valid? [True, True] Translation: X:115.07, Y:-152.88, Z:-5.03 [[-9.45814987e-01 -3.24624261e-01 7.28692205e-03 1.15072330e+02] [ 3.24613985e-01 -9.45843054e-01 -2.58423370e-03 -1.52884742e+02] [ 7.73118956e-03 -7.87701559e-05 9.99970111e-01 -5.03472014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.506559995 meters 0.012619026686299259 Centerline is valid? [True, True] Translation: X:114.85, Y:-153.52, Z:-4.01 [[-9.65626062e-01 2.59840008e-01 7.03416138e-03 1.14848102e+02] [ 2.59833250e-01 9.65651681e-01 -1.87406341e-03 -1.53515876e+02] [-7.27950642e-03 1.80645446e-05 -9.99973504e-01 -4.00562258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.566559995 meters 0.01279515075622299 Centerline is valid? [True, True] Translation: X:114.85, Y:-153.49, Z:-4.00 [[-9.81353206e-01 1.91994253e-01 9.17015818e-03 1.14854905e+02] [ 1.91986213e-01 9.81396049e-01 -1.75739308e-03 -1.53490725e+02] [-9.33696638e-03 3.59206065e-05 -9.99956409e-01 -4.00378862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.626559995 meters 0.012792328821380438 Centerline is valid? [True, True] Translation: X:114.85, Y:-153.46, Z:-4.00 [[-9.92611512e-01 1.20831675e-01 1.10495765e-02 1.14853746e+02] [ 1.20824533e-01 9.92673010e-01 -1.31412775e-03 -1.53460532e+02] [-1.11274046e-02 3.06415790e-05 -9.99938088e-01 -4.00144044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6865599950002 meters 0.012679695063192095 Centerline is valid? [True, True] Translation: X:114.85, Y:-153.43, Z:-4.00 [[-9.98821149e-01 4.67274404e-02 1.31475824e-02 1.14852837e+02] [ 4.67232984e-02 9.98907677e-01 -6.22194339e-04 -1.53428523e+02] [-1.31622945e-02 -7.16245163e-06 -9.99913373e-01 -3.99989350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.746559995 meters 0.012793642485694794 Centerline is valid? [True, True] Translation: X:114.88, Y:-152.78, Z:-5.04 [[-9.92815857e-01 -1.18664616e-01 1.53422129e-02 1.14881103e+02] [ 1.18652991e-01 -9.92934380e-01 -1.66900589e-03 -1.52776916e+02] [ 1.54318626e-02 1.63383925e-04 9.99880908e-01 -5.04099908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.806559995 meters 0.01293317094478067 Centerline is valid? [True, True] Translation: X:114.79, Y:-153.42, Z:-4.00 [[-9.99180498e-01 3.70064825e-02 1.63967100e-02 1.14790243e+02] [ 3.69998220e-02 9.99315020e-01 -7.09482370e-04 -1.53421493e+02] [-1.64117340e-02 -1.02225596e-04 -9.99865313e-01 -3.99807647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.866559995 meters 0.01302571600198111 Centerline is valid? [True, True] Translation: X:114.79, Y:-153.39, Z:-4.00 [[-9.99241176e-01 -3.55418167e-02 1.59326937e-02 1.14791488e+02] [-3.55392797e-02 9.99368182e-01 4.42434078e-04 -1.53394140e+02] [-1.59383521e-02 -1.24138110e-04 -9.99872969e-01 -3.99852084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9265599950002 meters 0.012937118527551326 Centerline is valid? [True, True] Translation: X:114.77, Y:-152.75, Z:-5.04 [[-9.98759180e-01 -4.73135269e-02 1.55412353e-02 1.14771044e+02] [ 4.73092963e-02 -9.98880083e-01 -6.39955629e-04 -1.52748429e+02] [ 1.55541090e-02 9.60833480e-05 9.99879023e-01 -5.03980597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.986559995 meters 0.01326021259524241 Centerline is valid? [True, True] Translation: X:114.72, Y:-153.40, Z:-4.00 [[-9.99062802e-01 -4.05942219e-02 1.50209097e-02 1.14721450e+02] [-4.05914868e-02 9.99175707e-01 4.87047892e-04 -1.53397357e+02] [-1.50282994e-02 -1.23129624e-04 -9.99887061e-01 -3.99959174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.046559995 meters 0.013151921665617244 Centerline is valid? [True, True] Translation: X:114.71, Y:-153.37, Z:-4.00 [[-9.93605833e-01 -1.12007187e-01 1.42069875e-02 1.14712928e+02] [-1.11997527e-01 9.93707389e-01 1.47628922e-03 -1.53372745e+02] [-1.42829434e-02 -1.24297876e-04 -9.99897986e-01 -4.00173974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.106559995 meters 0.013683325983686542 Centerline is valid? [True, True] Translation: X:114.70, Y:-153.35, Z:-4.00 [[-9.82996964e-01 -1.83104232e-01 1.37771225e-02 1.14704389e+02] [-1.83088120e-01 9.83093497e-01 2.43253817e-03 -1.53345932e+02] [-1.39896076e-02 -1.31249823e-04 -9.99902132e-01 -4.00026465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.166559995 meters 0.013164778252683215 Centerline is valid? [True, True] Translation: X:114.69, Y:-153.32, Z:-4.00 [[-9.67561965e-01 -2.52261209e-01 1.37159067e-02 1.14689463e+02] [-2.52237694e-01 9.67659169e-01 3.44658962e-03 -1.53323431e+02] [-1.41417638e-02 -1.24879657e-04 -9.99899993e-01 -4.00231408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2265599950001 meters 0.012793554975858967 Centerline is valid? [True, True] Translation: X:114.67, Y:-153.31, Z:-4.00 [[-9.48326817e-01 -3.16979144e-01 1.41587550e-02 1.14666604e+02] [-3.16944838e-01 9.48432506e-01 4.66383911e-03 -1.53306749e+02] [-1.49069632e-02 -6.47006144e-05 -9.99888883e-01 -4.00343002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.286559995 meters 0.013107388485553604 Centerline is valid? [True, True] Translation: X:114.62, Y:-153.30, Z:-4.00 [[-9.23756359e-01 -3.82725031e-01 1.39906949e-02 1.14624910e+02] [-3.82681647e-01 9.23862300e-01 5.76258938e-03 -1.53295137e+02] [-1.51309628e-02 -3.07535866e-05 -9.99885520e-01 -4.00122197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.346559995 meters 0.013653990923935728 Centerline is valid? [True, True] Translation: X:114.57, Y:-153.30, Z:-4.00 [[-8.96822007e-01 -4.42159830e-01 1.43168658e-02 1.14570926e+02] [-4.42101680e-01 8.96936271e-01 7.17150118e-03 -1.53298384e+02] [-1.60122660e-02 1.02049661e-04 -9.99871790e-01 -4.00229717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.406559995 meters 0.015089284976381638 Centerline is valid? [True, True] Translation: X:114.51, Y:-153.31, Z:-4.00 [[-8.65922096e-01 -4.99992297e-01 1.36611303e-02 1.14506533e+02] [-4.99925719e-01 8.66029818e-01 8.16267097e-03 -1.53310263e+02] [-1.59122188e-02 2.38686766e-04 -9.99873364e-01 -4.00296640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4665599950001 meters 0.016501101749043703 Centerline is valid? [True, True] Translation: X:114.43, Y:-153.33, Z:-4.01 [[-8.29916817e-01 -5.57747016e-01 1.25036943e-02 1.14433040e+02] [-5.57677696e-01 8.30010938e-01 8.79943661e-03 -1.53331089e+02] [-1.52860625e-02 3.29769011e-04 -9.99883107e-01 -4.00510045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.526559995 meters 0.018057141196676424 Centerline is valid? [True, True] Translation: X:114.36, Y:-153.36, Z:-4.01 [[-7.91347732e-01 -6.11290406e-01 9.63363335e-03 1.14355223e+02] [-6.11239157e-01 7.91406276e-01 7.92468103e-03 -1.53361097e+02] [-1.24683994e-02 3.82724433e-04 -9.99922193e-01 -4.00953873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.586559995 meters 0.019476188038851285 Centerline is valid? [True, True] Translation: X:114.27, Y:-153.40, Z:-4.01 [[-7.45832384e-01 -6.66088818e-01 7.72925572e-03 1.14271466e+02] [-6.66047793e-01 7.45872340e-01 7.40199241e-03 -1.53398750e+02] [-1.06954224e-02 3.72591929e-04 -9.99942733e-01 -4.01229054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.646559995 meters 0.01946851305049493 Centerline is valid? [True, True] Translation: X:114.18, Y:-153.44, Z:-4.01 [[-6.91278137e-01 -7.22547086e-01 7.76180593e-03 1.14179108e+02] [-7.22495418e-01 6.91321612e-01 8.64867401e-03 -1.53444903e+02] [-1.16149784e-02 3.70770027e-04 -9.99932475e-01 -4.01180758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7065599950001 meters 0.017777144546080547 Centerline is valid? [True, True] Translation: X:114.09, Y:-153.50, Z:-4.01 [[-6.30750197e-01 -7.75948684e-01 7.60445786e-03 1.14086300e+02] [-7.75885784e-01 6.30795947e-01 9.88550615e-03 -1.53500036e+02] [-1.24675067e-02 3.35094207e-04 -9.99922222e-01 -4.01230338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.766559995 meters 0.01552425609202244 Centerline is valid? [True, True] Translation: X:113.99, Y:-153.56, Z:-4.01 [[-5.63357476e-01 -8.26183170e-01 7.05149432e-03 1.13991662e+02] [-8.26113070e-01 5.63401555e-01 1.07649391e-02 -1.53560530e+02] [-1.28666344e-02 2.39177301e-04 -9.99917193e-01 -4.01295811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.826559995 meters 0.014464994780527431 Centerline is valid? [True, True] Translation: X:113.90, Y:-153.63, Z:-4.01 [[-4.94463727e-01 -8.69176131e-01 6.20290541e-03 1.13903816e+02] [-8.69103388e-01 4.94502603e-01 1.12462021e-02 -1.53630683e+02] [-1.28422833e-02 1.69872910e-04 -9.99917520e-01 -4.01348441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.886559995 meters 0.013961875676744607 Centerline is valid? [True, True] Translation: X:113.82, Y:-153.71, Z:-4.01 [[-4.25270282e-01 -9.05052539e-01 5.00888830e-03 1.13824207e+02] [-9.04985971e-01 4.25299757e-01 1.09776585e-02 -1.53707827e+02] [-1.20656367e-02 1.35498278e-04 -9.99927198e-01 -4.01481596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9465599950001 meters 0.01383125584772686 Centerline is valid? [True, True] Translation: X:113.75, Y:-153.79, Z:-4.01 [[-3.54644095e-01 -9.34992900e-01 3.98026044e-03 1.13751562e+02] [-9.34930148e-01 3.54666409e-01 1.08331211e-02 -1.53794756e+02] [-1.15405560e-02 1.20636937e-04 -9.99933398e-01 -4.01421759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.006559995 meters 0.013449013935502309 Centerline is valid? [True, True] Translation: X:113.68, Y:-153.88, Z:-4.01 [[-2.80837506e-01 -9.59751631e-01 2.66494860e-03 1.13684463e+02] [-9.59705530e-01 2.80850137e-01 9.40722592e-03 -1.53881661e+02] [-9.77705160e-03 8.43359515e-05 -9.99952200e-01 -4.01483498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.066559995 meters 0.013159303083611183 Centerline is valid? [True, True] Translation: X:113.63, Y:-153.98, Z:-4.02 [[-2.03929776e-01 -9.78983791e-01 1.83952818e-03 1.13625594e+02] [-9.78941746e-01 2.03938067e-01 9.07322260e-03 -1.53979696e+02] [-9.25768768e-03 4.95093234e-05 -9.99957146e-01 -4.01506200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.126559995 meters 0.012884805401326234 Centerline is valid? [True, True] Translation: X:113.57, Y:-154.08, Z:-4.02 [[-1.21176137e-01 -9.92630351e-01 1.15371757e-03 1.13568127e+02] [-9.92587240e-01 1.21181627e-01 9.25119045e-03 -1.54081988e+02] [-9.32282179e-03 -2.41418186e-05 -9.99956541e-01 -4.01517085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1865599950002 meters 0.01363165877987646 Centerline is valid? [True, True] Translation: X:113.52, Y:-154.19, Z:-4.01 [[-3.77340895e-02 -9.99287656e-01 5.64969985e-04 1.13517398e+02] [-9.99218964e-01 3.77381203e-02 1.17173316e-02 -1.54189500e+02] [-1.17303057e-02 -1.22385886e-04 -9.99931190e-01 -4.01273790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.246559995 meters 0.014273925969601527 Centerline is valid? [True, True] Translation: X:113.48, Y:-154.30, Z:-4.01 [[ 4.17960443e-02 -9.99126097e-01 -3.66114534e-04 1.13481234e+02] [-9.99038667e-01 -4.17972307e-02 1.32186642e-02 -1.54296072e+02] [-1.32224150e-02 -1.86725299e-04 -9.99912563e-01 -4.01076161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.306559995 meters 0.01489604719880208 Centerline is valid? [True, True] Translation: X:113.45, Y:-154.40, Z:-4.01 [[ 1.19289414e-01 -9.92858151e-01 -1.65190300e-03 1.13453674e+02] [-9.92730991e-01 -1.19300577e-01 1.58918912e-02 -1.54404739e+02] [-1.59754667e-02 -2.55839092e-04 -9.99872351e-01 -4.00816551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.366559995 meters 0.01443179099874098 Centerline is valid? [True, True] Translation: X:113.44, Y:-154.51, Z:-4.01 [[ 1.92022241e-01 -9.81385628e-01 -3.11586274e-03 1.13439579e+02] [-9.81235195e-01 -1.92047366e-01 1.71843290e-02 -1.54513078e+02] [-1.74628467e-02 -2.42379176e-04 -9.99847484e-01 -4.00749781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4265599950002 meters 0.013992203965934251 Centerline is valid? [True, True] Translation: X:113.44, Y:-154.62, Z:-4.01 [[ 2.63809537e-01 -9.64565741e-01 -4.17839697e-03 1.13436052e+02] [-9.64432725e-01 -2.63842552e-01 1.60195383e-02 -1.54619028e+02] [-1.65543368e-02 -1.96324221e-04 -9.99862948e-01 -4.00903589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.486559995 meters 0.013556045208204795 Centerline is valid? [True, True] Translation: X:113.44, Y:-154.72, Z:-4.01 [[ 3.33405098e-01 -9.42773075e-01 -4.46887571e-03 1.13440298e+02] [-9.42683338e-01 -3.33435023e-01 1.30080484e-02 -1.54722715e+02] [-1.37537174e-02 -1.24214960e-04 -9.99905406e-01 -4.01222107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.546559995 meters 0.0132750880612297 Centerline is valid? [True, True] Translation: X:113.45, Y:-154.83, Z:-4.01 [[ 4.02957913e-01 -9.15206100e-01 -4.76611406e-03 1.13453649e+02] [-9.15139182e-01 -4.02986086e-01 1.10675809e-02 -1.54832139e+02] [-1.20497952e-02 -9.81115729e-05 -9.99927394e-01 -4.01366183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.606559995 meters 0.013304610491845862 Centerline is valid? [True, True] Translation: X:113.47, Y:-154.93, Z:-4.01 [[ 4.70470574e-01 -8.82402384e-01 -4.84483153e-03 1.13471057e+02] [-8.82353856e-01 -4.70495513e-01 9.25447003e-03 -1.54931422e+02] [-1.04456379e-02 -7.91000435e-05 -9.99945440e-01 -4.01452291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.666559995 meters 0.01320237062513407 Centerline is valid? [True, True] Translation: X:113.50, Y:-155.03, Z:-4.01 [[ 5.35022479e-01 -8.44818057e-01 -5.77908531e-03 1.13499091e+02] [-8.44767295e-01 -5.35053684e-01 9.26129533e-03 -1.55033858e+02] [-1.09162304e-02 -7.30189154e-05 -9.99940414e-01 -4.01396833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7265599950001 meters 0.013276936031178015 Centerline is valid? [True, True] Translation: X:113.53, Y:-155.13, Z:-4.01 [[ 5.96766052e-01 -8.02379410e-01 -7.58689850e-03 1.13533787e+02] [-8.02312905e-01 -5.96814272e-01 1.03309082e-02 -1.55131312e+02] [-1.28172773e-02 -7.80687014e-05 -9.99917852e-01 -4.01282285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.786559995 meters 0.013271492827404453 Centerline is valid? [True, True] Translation: X:113.57, Y:-155.22, Z:-4.01 [[ 6.55578719e-01 -7.55081695e-01 -8.25694378e-03 1.13573952e+02] [-7.55020286e-01 -6.55630710e-01 9.63012092e-03 -1.55224310e+02] [-1.26850339e-02 -7.91422759e-05 -9.99919539e-01 -4.01291502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.846559995 meters 0.013282896470160788 Centerline is valid? [True, True] Translation: X:113.62, Y:-155.31, Z:-4.01 [[ 7.10805154e-01 -7.03333151e-01 -8.86069872e-03 1.13615144e+02] [-7.03276984e-01 -7.10860374e-01 8.88888229e-03 -1.55307479e+02] [-1.25505652e-02 -8.67378690e-05 -9.99921235e-01 -4.01287270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.906559995 meters 0.013457095857341995 Centerline is valid? [True, True] Translation: X:113.66, Y:-155.39, Z:-4.01 [[ 7.61826571e-01 -6.47712084e-01 -9.45152576e-03 1.13664199e+02] [-6.47660750e-01 -7.61885193e-01 8.15512639e-03 -1.55388571e+02] [-1.24831514e-02 -9.14097160e-05 -9.99922078e-01 -4.01166100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9665599950001 meters 0.013492986130773682 Centerline is valid? [True, True] Translation: X:113.69, Y:-155.42, Z:-4.01 [[ 8.10471471e-01 -5.85693315e-01 -9.96670231e-03 1.13693573e+02] [-5.85647541e-01 -8.10532745e-01 7.32303065e-03 -1.55417520e+02] [-1.23673887e-02 -9.81327309e-05 -9.99923516e-01 -4.01155075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.026559995 meters 0.013825675402966706 Centerline is valid? [True, True] Translation: X:113.72, Y:-155.45, Z:-4.01 [[ 8.55396607e-01 -5.17881099e-01 -9.78841934e-03 1.13723527e+02] [-5.17845484e-01 -8.55452600e-01 6.07478099e-03 -1.55446008e+02] [-1.15195430e-02 -1.27458287e-04 -9.99933640e-01 -4.01245265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.086559995 meters 0.015050552806082489 Centerline is valid? [True, True] Translation: X:113.76, Y:-155.47, Z:-4.01 [[ 8.95720093e-01 -4.44541160e-01 -8.28686116e-03 1.13755695e+02] [-4.44520534e-01 -8.95758412e-01 4.28505130e-03 -1.55472583e+02] [-9.32790727e-03 -1.54526593e-04 -9.99956482e-01 -4.01363169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.146559995 meters 0.01573500742927173 Centerline is valid? [True, True] Translation: X:113.79, Y:-155.50, Z:-4.01 [[ 9.28984474e-01 -3.70043477e-01 -7.46133212e-03 1.13790259e+02] [-3.70030140e-01 -9.29014423e-01 3.14590477e-03 -1.55495811e+02] [-8.09580670e-03 -1.61578924e-04 -9.99967215e-01 -4.01419806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2065599950001 meters 0.016959122251887174 Centerline is valid? [True, True] Translation: X:113.83, Y:-155.51, Z:-4.01 [[ 9.55698178e-01 -2.94236154e-01 -8.12886229e-03 1.13826443e+02] [-2.94223819e-01 -9.55732729e-01 2.70085202e-03 -1.55514612e+02] [-8.56370806e-03 -1.89494448e-04 -9.99963313e-01 -4.01314093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.266559995 meters 0.016358695970263674 Centerline is valid? [True, True] Translation: X:113.86, Y:-155.53, Z:-4.01 [[ 9.75998899e-01 -2.17588152e-01 -9.03021628e-03 1.13864934e+02] [-2.17576789e-01 -9.76040650e-01 2.23408056e-03 -1.55529853e+02] [-9.29996762e-03 -2.15694707e-04 -9.99956731e-01 -4.01245742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.326559995 meters 0.016863028578313972 Centerline is valid? [True, True] Translation: X:113.90, Y:-155.54, Z:-4.01 [[ 9.90149430e-01 -1.39717614e-01 -9.11559763e-03 1.13904122e+02] [-1.39709623e-01 -9.90191365e-01 1.51079743e-03 -1.55541708e+02] [-9.23727107e-03 -2.22378506e-04 -9.99957311e-01 -4.01181373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.386559995 meters 0.016840944397030037 Centerline is valid? [True, True] Translation: X:113.94, Y:-155.55, Z:-4.01 [[ 9.98072782e-01 -6.14525361e-02 -8.62017175e-03 1.13944633e+02] [-6.14484069e-02 -9.98109984e-01 7.43304111e-04 -1.55547657e+02] [-8.64955741e-03 -2.12175781e-04 -9.99962569e-01 -4.01256771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4465599950001 meters 0.0170257313681954 Centerline is valid? [True, True] Translation: X:113.98, Y:-155.55, Z:-4.01 [[ 9.99816320e-01 1.72060272e-02 -8.44266528e-03 1.13981096e+02] [ 1.72071843e-02 -9.99851943e-01 6.44393913e-05 -1.55551935e+02] [-8.44030654e-03 -2.09702053e-04 -9.99964358e-01 -4.01209894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.506559995 meters 0.01790929530272469 Centerline is valid? [True, True] Translation: X:114.02, Y:-155.55, Z:-4.01 [[ 9.95312414e-01 9.63646170e-02 -8.18902476e-03 1.14016679e+02] [ 9.63631048e-02 -9.95346078e-01 -5.79947055e-04 -1.55551277e+02] [-8.20680006e-03 -2.11891348e-04 -9.99966301e-01 -4.01116488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.566559995 meters 0.019341471731375643 Centerline is valid? [True, True] Translation: X:114.05, Y:-155.55, Z:-4.01 [[ 9.84256591e-01 1.76502855e-01 -9.25774496e-03 1.14051228e+02] [ 1.76497575e-01 -9.84300092e-01 -1.39074278e-03 -1.55546560e+02] [-9.35786929e-03 -2.65121794e-04 -9.99956179e-01 -4.00921411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.626559995 meters 0.020581066025973867 Centerline is valid? [True, True] Translation: X:114.09, Y:-155.54, Z:-4.01 [[ 9.66935766e-01 2.54841288e-01 -9.54684857e-03 1.14086568e+02] [ 2.54831873e-01 -9.66982849e-01 -2.21036944e-03 -1.55538420e+02] [-9.79493223e-03 -2.95556039e-04 -9.99951985e-01 -4.00830078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6865599950002 meters 0.02215401062956373 Centerline is valid? [True, True] Translation: X:114.12, Y:-155.52, Z:-4.01 [[ 9.43359224e-01 3.31584693e-01 -1.11788241e-02 1.14118503e+02] [ 3.31566111e-01 -9.43425381e-01 -3.53048645e-03 -1.55523798e+02] [-1.17170416e-02 -3.76002255e-04 -9.99931282e-01 -4.00666678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.746559995 meters 0.018918536148018906 Centerline is valid? [True, True] Translation: X:114.15, Y:-155.51, Z:-4.01 [[ 9.14327347e-01 4.04789464e-01 -1.22878989e-02 1.14150314e+02] [ 4.04759185e-01 -9.14409812e-01 -4.96966494e-03 -1.55507885e+02] [-1.32478433e-02 -4.29739366e-04 -9.99912151e-01 -4.00759208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.806559995 meters 0.018419704251828463 Centerline is valid? [True, True] Translation: X:114.18, Y:-155.49, Z:-4.01 [[ 8.80153909e-01 4.74561102e-01 -1.09935372e-02 1.14182067e+02] [ 4.74529576e-01 -8.80222477e-01 -5.48385712e-03 -1.55494721e+02] [-1.22791838e-02 -3.90120248e-04 -9.99924532e-01 -4.00850312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.866559995 meters 0.018700988734784946 Centerline is valid? [True, True] Translation: X:114.21, Y:-155.48, Z:-4.01 [[ 8.41062093e-01 5.40856096e-01 -9.44664808e-03 1.14211818e+02] [ 5.40826417e-01 -8.41115076e-01 -5.67583789e-03 -1.55480953e+02] [-1.10155296e-02 -3.35264745e-04 -9.99939271e-01 -4.00926391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9265599950002 meters 0.01719486870385835 Centerline is valid? [True, True] Translation: X:114.24, Y:-155.46, Z:-4.01 [[ 7.97452289e-01 6.03333496e-01 -7.65110736e-03 1.14238494e+02] [ 6.03308891e-01 -7.97488948e-01 -5.45523456e-03 -1.55460914e+02] [-9.39299930e-03 -2.65691807e-04 -9.99955850e-01 -4.01188104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.986559995 meters 0.018072625020907555 Centerline is valid? [True, True] Translation: X:114.27, Y:-155.44, Z:-4.01 [[ 7.47362443e-01 6.64380804e-01 -6.89392732e-03 1.14265555e+02] [ 6.64355711e-01 -7.47394193e-01 -5.78017193e-03 -1.55443137e+02] [-8.99271652e-03 -2.60136571e-04 -9.99959531e-01 -4.01169245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.046559995 meters 0.01935521902309775 Centerline is valid? [True, True] Translation: X:114.29, Y:-155.42, Z:-4.01 [[ 6.91212055e-01 7.22619167e-01 -6.88723548e-03 1.14291982e+02] [ 7.22587604e-01 -6.91246300e-01 -6.76074974e-03 -1.55424443e+02] [-9.64622339e-03 -3.03519259e-04 -9.99953428e-01 -4.01069312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.106559995 meters 0.02079152483094489 Centerline is valid? [True, True] Translation: X:114.32, Y:-155.40, Z:-4.01 [[ 6.28422080e-01 7.77838527e-01 -7.27422367e-03 1.14317039e+02] [ 7.77793744e-01 -6.28464048e-01 -8.35651606e-03 -1.55403382e+02] [-1.10716082e-02 -4.06426462e-04 -9.99938625e-01 -4.00901026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.166559995 meters 0.022320733933698024 Centerline is valid? [True, True] Translation: X:114.34, Y:-155.38, Z:-4.01 [[ 5.62761922e-01 8.26584455e-01 -7.56026645e-03 1.14338849e+02] [ 8.26521682e-01 -5.62812473e-01 -1.01994861e-02 -1.55379581e+02] [-1.26857489e-02 -5.08841747e-04 -9.99919403e-01 -4.00813921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2265599950001 meters 0.020921626430581805 Centerline is valid? [True, True] Translation: X:114.36, Y:-155.35, Z:-4.01 [[ 4.97542801e-01 8.67410990e-01 -7.02399138e-03 1.14357701e+02] [ 8.67338621e-01 -4.97592116e-01 -1.12161659e-02 -1.55354744e+02] [-1.32241083e-02 -5.11656410e-04 -9.99912427e-01 -4.00861056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.286559995 meters 0.01868767982448743 Centerline is valid? [True, True] Translation: X:114.37, Y:-155.33, Z:-4.01 [[ 4.34528488e-01 9.00636588e-01 -6.22332401e-03 1.14371931e+02] [ 9.00557789e-01 -4.34572844e-01 -1.19211269e-02 -1.55327440e+02] [-1.34410907e-02 -4.24393650e-04 -9.99909574e-01 -4.00880995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.346559995 meters 0.01679401884386407 Centerline is valid? [True, True] Translation: X:114.39, Y:-155.30, Z:-4.01 [[ 3.67877673e-01 9.29860843e-01 -4.98308248e-03 1.14385052e+02] [ 9.29787346e-01 -3.67911272e-01 -1.16956313e-02 -1.55300325e+02] [-1.27086418e-02 -3.30645392e-04 -9.99919187e-01 -4.00995508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.406559995 meters 0.01564752069833 Centerline is valid? [True, True] Translation: X:114.40, Y:-155.28, Z:-4.01 [[ 2.95593833e-01 9.55308666e-01 -3.10447069e-03 1.14401453e+02] [ 9.55264088e-01 -2.95610040e-01 -9.23185769e-03 -1.55275483e+02] [-9.73698636e-03 -2.36709159e-04 -9.99952566e-01 -4.01296154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4665599950001 meters 0.01711285631107553 Centerline is valid? [True, True] Translation: X:114.42, Y:-155.25, Z:-4.01 [[ 2.20180790e-01 9.75456691e-01 -2.15954609e-03 1.14421441e+02] [ 9.75418797e-01 -2.20191278e-01 -8.60064384e-03 -1.55252054e+02] [-8.86506880e-03 -2.12765288e-04 -9.99960682e-01 -4.01176903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.526559995 meters 0.01603244949758521 Centerline is valid? [True, True] Translation: X:114.43, Y:-155.23, Z:-4.01 [[ 1.43335773e-01 9.89672564e-01 -1.75258387e-03 1.14434606e+02] [ 9.89618379e-01 -1.43346270e-01 -1.03591342e-02 -1.55225053e+02] [-1.05033773e-02 -2.49554697e-04 -9.99944807e-01 -4.00964725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.586559995 meters 0.01640049290215882 Centerline is valid? [True, True] Translation: X:114.45, Y:-155.20, Z:-4.01 [[ 6.43655375e-02 9.97925654e-01 -1.21076930e-03 1.14445589e+02] [ 9.97833795e-01 -6.43760455e-02 -1.35440949e-02 -1.55197489e+02] [-1.35939443e-02 -3.36373581e-04 -9.99907542e-01 -4.00736368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.646559995 meters 0.016430095157946804 Centerline is valid? [True, True] Translation: X:114.46, Y:-155.17, Z:-4.01 [[-1.58218151e-02 9.99874816e-01 -1.48835216e-04 1.14457115e+02] [ 9.99778527e-01 1.58182253e-02 -1.38809441e-02 -1.55168321e+02] [-1.38768521e-02 -3.68423984e-04 -9.99903644e-01 -4.00730424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7065599950001 meters 0.017399091879512024 Centerline is valid? [True, True] Translation: X:114.47, Y:-155.14, Z:-4.01 [[-9.66953523e-02 9.95313632e-01 8.84628290e-04 1.14470070e+02] [ 9.95228126e-01 9.66986457e-02 -1.30518207e-02 -1.55138551e+02] [-1.30761974e-02 -3.81643447e-04 -9.99914430e-01 -4.00752803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.766559995 meters 0.01718023024237279 Centerline is valid? [True, True] Translation: X:114.48, Y:-155.11, Z:-4.01 [[-1.72427610e-01 9.85020715e-01 1.70580180e-03 1.14475206e+02] [ 9.84952523e-01 1.72435752e-01 -1.15947941e-02 -1.55108086e+02] [-1.17152536e-02 -3.19128859e-04 -9.99931323e-01 -4.00796768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.826559995 meters 0.015234463164331165 Centerline is valid? [True, True] Translation: X:114.47, Y:-155.08, Z:-4.01 [[-2.43074325e-01 9.70004418e-01 2.51035812e-03 1.14470349e+02] [ 9.69942132e-01 2.43087171e-01 -1.09948883e-02 -1.55078700e+02] [-1.12753261e-02 -2.37672939e-04 -9.99936403e-01 -4.00970944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.886559995 meters 0.01452210645124946 Centerline is valid? [True, True] Translation: X:114.47, Y:-155.05, Z:-4.01 [[-3.14916995e-01 9.49113345e-01 3.33833226e-03 1.14466431e+02] [ 9.49053236e-01 3.14934628e-01 -1.06834394e-02 -1.55049995e+02] [-1.11911514e-02 -1.96141614e-04 -9.99937358e-01 -4.00935417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9465599950001 meters 0.013979828089013059 Centerline is valid? [True, True] Translation: X:114.46, Y:-155.02, Z:-4.01 [[-3.84683322e-01 9.23038876e-01 4.23969284e-03 1.14461134e+02] [ 9.22978297e-01 3.84706653e-01 -1.05761735e-02 -1.55022902e+02] [-1.13932573e-02 -1.55333067e-04 -9.99935083e-01 -4.00879914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.006559995 meters 0.013666233354370103 Centerline is valid? [True, True] Translation: X:114.45, Y:-155.00, Z:-4.01 [[-4.53958822e-01 8.91007756e-01 5.15433907e-03 1.14452821e+02] [ 8.90946927e-01 4.53988063e-01 -1.04121369e-02 -1.54995088e+02] [-1.16173031e-02 -1.34438833e-04 -9.99932508e-01 -4.00852834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.066559995 meters 0.013336373200917713 Centerline is valid? [True, True] Translation: X:114.44, Y:-154.97, Z:-4.01 [[-5.21301994e-01 8.53347829e-01 6.45866732e-03 1.14443279e+02] [ 8.53279216e-01 5.21341986e-01 -1.08219383e-02 -1.54967628e+02] [-1.26020520e-02 -1.30451452e-04 -9.99920583e-01 -4.00901435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.126559995 meters 0.013182721716964293 Centerline is valid? [True, True] Translation: X:114.43, Y:-154.94, Z:-4.01 [[-5.85678853e-01 8.10510753e-01 7.25263677e-03 1.14434155e+02] [ 8.10446136e-01 5.85723746e-01 -1.02349421e-02 -1.54939236e+02] [-1.25435722e-02 -1.16517734e-04 -9.99921320e-01 -4.00893347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1865599950002 meters 0.012982649961997246 Centerline is valid? [True, True] Translation: X:114.42, Y:-154.91, Z:-4.01 [[-6.46010262e-01 7.63292569e-01 7.42936855e-03 1.14423878e+02] [ 7.63240542e-01 6.46052975e-01 -8.91231336e-03 -1.54911620e+02] [-1.16024682e-02 -8.70506121e-05 -9.99932685e-01 -4.00876506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.246559995 meters 0.012681523030131602 Centerline is valid? [True, True] Translation: X:114.41, Y:-154.88, Z:-4.01 [[-7.01933846e-01 7.12202932e-01 7.47396235e-03 1.14410802e+02] [ 7.12161777e-01 7.01973633e-01 -7.65648451e-03 -1.54884971e+02] [-1.06994952e-02 -5.16753095e-05 -9.99942757e-01 -4.00989215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.306559995 meters 0.012694302424097519 Centerline is valid? [True, True] Translation: X:114.39, Y:-154.86, Z:-4.01 [[-7.52450102e-01 6.58594022e-01 8.52984995e-03 1.14394656e+02] [ 6.58551697e-01 7.52498448e-01 -7.46650875e-03 -1.54861576e+02] [-1.13360969e-02 -8.28112624e-07 -9.99935744e-01 -4.00979217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.366559995 meters 0.012638349500376149 Centerline is valid? [True, True] Translation: X:114.41, Y:-154.84, Z:-4.01 [[-7.96027818e-01 6.05191471e-01 9.11027044e-03 1.14413205e+02] [ 6.05152136e-01 7.96079948e-01 -6.89993018e-03 -1.54840057e+02] [-1.14282825e-02 2.05632570e-05 -9.99934695e-01 -4.01014081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4265599950002 meters 0.012607710373818623 Centerline is valid? [True, True] Translation: X:114.42, Y:-154.81, Z:-4.01 [[-8.37135559e-01 5.46915949e-01 9.32743548e-03 1.14421607e+02] [ 5.46882182e-01 8.37187521e-01 -6.07736407e-03 -1.54808324e+02] [-1.11326199e-02 1.34307037e-05 -9.99938030e-01 -4.00967979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.486559995 meters 0.012499213422498047 Centerline is valid? [True, True] Translation: X:114.81, Y:-154.25, Z:-5.03 [[-7.99057794e-01 -6.01180610e-01 9.40833167e-03 1.14805648e+02] [ 6.01139299e-01 -7.99113180e-01 -7.04770146e-03 -1.54252345e+02] [ 1.17552633e-02 2.41971245e-05 9.99930904e-01 -5.03098907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.546559995 meters 0.01248923292237081 Centerline is valid? [True, True] Translation: X:114.40, Y:-154.79, Z:-4.01 [[-8.40518774e-01 5.41693506e-01 9.81509727e-03 1.14398565e+02] [ 5.41656335e-01 8.40576079e-01 -6.34590301e-03 -1.54786190e+02] [-1.16878704e-02 -1.74410112e-05 -9.99931694e-01 -4.00895921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.606559995 meters 0.012458161327109129 Centerline is valid? [True, True] Translation: X:114.41, Y:-154.76, Z:-4.01 [[-8.77313140e-01 4.79832328e-01 9.08802386e-03 1.14413055e+02] [ 4.79806265e-01 8.77360209e-01 -5.00120337e-03 -1.54760171e+02] [-1.03732096e-02 -2.71306445e-05 -9.99946197e-01 -4.01009002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.666559995 meters 0.012333345227832153 Centerline is valid? [True, True] Translation: X:114.43, Y:-154.74, Z:-4.01 [[-9.09382784e-01 4.15877487e-01 8.29868366e-03 1.14428672e+02] [ 4.15859857e-01 9.09420648e-01 -3.82947322e-03 -1.54735189e+02] [-9.13958597e-03 -3.13676174e-05 -9.99958233e-01 -4.01169349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7265599950001 meters 0.012421088740669797 Centerline is valid? [True, True] Translation: X:114.44, Y:-154.71, Z:-4.01 [[-9.36441185e-01 3.50730190e-01 8.13881464e-03 1.14436598e+02] [ 3.50716692e-01 9.36476552e-01 -3.07712390e-03 -1.54708082e+02] [-8.70104932e-03 -2.71274001e-05 -9.99962145e-01 -4.01155097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.786559995 meters 0.01233272072732214 Centerline is valid? [True, True] Translation: X:114.67, Y:-154.10, Z:-5.03 [[-9.09054077e-01 -4.16586992e-01 8.71565036e-03 1.14673699e+02] [ 4.16568693e-01 -9.09095854e-01 -3.90545758e-03 -1.54099324e+02] [ 9.55032443e-03 8.03949418e-05 9.99954391e-01 -5.02817788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.846559995 meters 0.012371184676086121 Centerline is valid? [True, True] Translation: X:114.40, Y:-154.69, Z:-4.01 [[-9.36535303e-01 3.50424136e-01 1.02250514e-02 1.14397123e+02] [ 3.50403287e-01 9.36591120e-01 -3.82248396e-03 -1.54692971e+02] [-1.09161830e-02 3.00045250e-06 -9.99940417e-01 -4.01064041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.906559995 meters 0.012439650081195984 Centerline is valid? [True, True] Translation: X:114.41, Y:-154.67, Z:-4.01 [[-9.59030134e-01 2.83086738e-01 1.10950953e-02 1.14405358e+02] [ 2.83067825e-01 9.59094312e-01 -3.27232186e-03 -1.54665622e+02] [-1.15675937e-02 2.40921525e-06 -9.99933093e-01 -4.01015887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9665599950001 meters 0.012533587752361354 Centerline is valid? [True, True] Translation: X:114.59, Y:-154.05, Z:-5.03 [[-9.37820215e-01 -3.46940875e-01 1.11925556e-02 1.14590320e+02] [ 3.46916424e-01 -9.37887002e-01 -4.11895432e-03 -1.54045625e+02] [ 1.19263860e-02 2.00427375e-05 9.99928878e-01 -5.03053320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.026559995 meters 0.012653714266361245 Centerline is valid? [True, True] Translation: X:114.36, Y:-154.65, Z:-4.01 [[-9.60593542e-01 2.77701427e-01 1.19148459e-02 1.14361629e+02] [ 2.77679803e-01 9.60667433e-01 -3.46559105e-03 -1.54648406e+02] [-1.24086040e-02 -2.05123158e-05 -9.99923010e-01 -4.00884447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.086559995 meters 0.012881182013968782 Centerline is valid? [True, True] Translation: X:114.53, Y:-154.04, Z:-5.03 [[-9.37534492e-01 -3.47676521e-01 1.22520559e-02 1.14534939e+02] [ 3.47647715e-01 -9.37614544e-01 -4.47590675e-03 -1.54036642e+02] [ 1.30438735e-02 6.30822681e-05 9.99914923e-01 -5.03121171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.146559995 meters 0.013775896985505258 Centerline is valid? [True, True] Translation: X:114.31, Y:-154.63, Z:-4.01 [[-9.63705150e-01 2.66652750e-01 1.29882806e-02 1.14313222e+02] [ 2.66626760e-01 9.63792662e-01 -3.72502600e-03 -1.54625720e+02] [-1.35112980e-02 -1.26803547e-04 -9.99908710e-01 -4.00765188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2065599950001 meters 0.014411838690249607 Centerline is valid? [True, True] Translation: X:114.32, Y:-154.60, Z:-4.01 [[-9.80680495e-01 1.95182969e-01 1.30144552e-02 1.14316138e+02] [ 1.95163643e-01 9.80766835e-01 -2.75114317e-03 -1.54596646e+02] [-1.33011223e-02 -1.58043961e-04 -9.99911524e-01 -4.00828844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.266559995 meters 0.013698891906301577 Centerline is valid? [True, True] Translation: X:114.44, Y:-153.99, Z:-5.03 [[-9.58480552e-01 -2.84908359e-01 1.19272060e-02 1.14441049e+02] [ 2.84887477e-01 -9.58554755e-01 -3.45059208e-03 -1.53989945e+02] [ 1.24159825e-02 9.05862253e-05 9.99922915e-01 -5.02682538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.326559995 meters 0.013998693481779456 Centerline is valid? [True, True] Translation: X:114.27, Y:-154.59, Z:-4.01 [[-9.81673775e-01 1.90249554e-01 1.10321172e-02 1.14268781e+02] [ 1.90235849e-01 9.81735751e-01 -2.28832441e-03 -1.54587861e+02] [-1.12659766e-02 -1.47683880e-04 -9.99936526e-01 -4.01418022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.386559995 meters 0.013444007111361022 Centerline is valid? [True, True] Translation: X:114.40, Y:-153.98, Z:-5.02 [[-9.60326418e-01 -2.78717107e-01 9.48393233e-03 1.14397283e+02] [ 2.78703970e-01 -9.60373246e-01 -2.70638190e-03 -1.53981810e+02] [ 9.86242982e-03 4.41995569e-05 9.99951364e-01 -5.02450952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4465599950001 meters 0.013112669981548341 Centerline is valid? [True, True] Translation: X:114.22, Y:-154.58, Z:-4.02 [[-9.81650265e-01 1.90440000e-01 9.76546777e-03 1.14222901e+02] [ 1.90429663e-01 9.81698833e-01 -1.98622564e-03 -1.54581134e+02] [-9.96500512e-03 -9.01441832e-05 -9.99950344e-01 -4.01567749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.506559995 meters 0.01306481858063563 Centerline is valid? [True, True] Translation: X:114.23, Y:-154.55, Z:-4.02 [[-9.92622660e-01 1.20795080e-01 1.04308635e-02 1.14226120e+02] [ 1.20787456e-01 9.92677461e-01 -1.36011916e-03 -1.54553729e+02] [-1.05187788e-02 -9.01676221e-05 -9.99944672e-01 -4.01508825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.566559995 meters 0.013113767151478562 Centerline is valid? [True, True] Translation: X:114.31, Y:-153.94, Z:-5.03 [[-9.78974888e-01 -2.03600124e-01 1.24562885e-02 1.14305676e+02] [ 2.03586821e-01 -9.79054099e-01 -2.34027563e-03 -1.53938253e+02] [ 1.26718607e-02 2.44865096e-04 9.99919679e-01 -5.02607417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.626559995 meters 0.012919882380871158 Centerline is valid? [True, True] Translation: X:114.17, Y:-154.55, Z:-4.01 [[-9.92953444e-01 1.17684571e-01 1.39212113e-02 1.14173541e+02] [ 1.17671455e-01 9.93051021e-01 -1.76039036e-03 -1.54547854e+02] [-1.40316439e-02 -1.09856478e-04 -9.99901546e-01 -4.01352702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6865599950002 meters 0.01286380778742492 Centerline is valid? [True, True] Translation: X:114.26, Y:-153.93, Z:-5.03 [[-9.80354987e-01 -1.96834426e-01 1.26612588e-02 1.14259170e+02] [ 1.96818436e-01 -9.80436743e-01 -2.50908123e-03 -1.53932521e+02] [ 1.29074369e-02 3.21788515e-05 9.99916695e-01 -5.02602315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.746559995 meters 0.012441265429266464 Centerline is valid? [True, True] Translation: X:114.13, Y:-154.55, Z:-4.02 [[-9.92713839e-01 1.19964286e-01 1.13050648e-02 1.14130891e+02] [ 1.19956287e-01 9.92778208e-01 -1.38543133e-03 -1.54546741e+02] [-1.13896243e-02 -1.92232454e-05 -9.99935136e-01 -4.01615947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.806559995 meters 0.012511717041262775 Centerline is valid? [True, True] Translation: X:114.21, Y:-153.92, Z:-5.02 [[-9.82780083e-01 -1.84546419e-01 9.26969728e-03 1.14211590e+02] [ 1.84537270e-01 -9.82823794e-01 -1.84017142e-03 -1.53921442e+02] [ 9.45007609e-03 -9.78791924e-05 9.99955342e-01 -5.02200919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.866559995 meters 0.01276426807814783 Centerline is valid? [True, True] Translation: X:114.09, Y:-154.55, Z:-4.02 [[-9.92295287e-01 1.23567184e-01 9.01186900e-03 1.14085366e+02] [ 1.23562574e-01 9.92336207e-01 -1.06862409e-03 -1.54546784e+02] [-9.07485077e-03 5.31390783e-05 -9.99958821e-01 -4.01881708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9265599950002 meters 0.012634292868460297 Centerline is valid? [True, True] Translation: X:114.16, Y:-153.92, Z:-5.02 [[-9.83504603e-01 -1.80651770e-01 9.14516812e-03 1.14159891e+02] [ 1.80643589e-01 -9.83547120e-01 -1.71964015e-03 -1.53918063e+02] [ 9.30535980e-03 -3.92580124e-05 9.99956703e-01 -5.02124665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.986559995 meters 0.012533248511137888 Centerline is valid? [True, True] Translation: X:114.03, Y:-154.53, Z:-4.02 [[-9.93513571e-01 1.13264918e-01 1.00917046e-02 1.14032275e+02] [ 1.13259016e-01 9.93564823e-01 -1.15629881e-03 -1.54533600e+02] [-1.01577308e-02 -5.82202346e-06 -9.99948409e-01 -4.01878119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.046559995 meters 0.012583117127535435 Centerline is valid? [True, True] Translation: X:114.10, Y:-153.92, Z:-5.02 [[-9.83029768e-01 -1.83154784e-01 1.03344428e-02 1.14101391e+02] [ 1.83144975e-01 -9.83084088e-01 -1.89575989e-03 -1.53918385e+02] [ 1.05068437e-02 2.91128550e-05 9.99944801e-01 -5.02166336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.106559995 meters 0.013156812905885253 Centerline is valid? [True, True] Translation: X:113.98, Y:-154.52, Z:-4.02 [[-9.94864940e-01 1.00531234e-01 1.17142246e-02 1.13977340e+02] [ 1.00522940e-01 9.94933897e-01 -1.29621146e-03 -1.54517718e+02] [-1.17851888e-02 -1.12007040e-04 -9.99930546e-01 -4.01722578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.166559995 meters 0.01428168812467921 Centerline is valid? [True, True] Translation: X:114.04, Y:-153.92, Z:-5.02 [[-9.81418336e-01 -1.91413276e-01 1.33793513e-02 1.14037987e+02] [ 1.91399010e-01 -9.81509497e-01 -2.35061817e-03 -1.53924773e+02] [ 1.35818999e-02 2.53854820e-04 9.99907730e-01 -5.02390830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2265599950001 meters 0.01524828589604393 Centerline is valid? [True, True] Translation: X:113.92, Y:-154.50, Z:-4.02 [[-9.96036150e-01 8.78050731e-02 1.42217466e-02 1.13919358e+02] [ 8.77923373e-02 9.96137641e-01 -1.51857718e-03 -1.54502460e+02] [-1.43001559e-02 -2.63997389e-04 -9.99897713e-01 -4.01669782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.286559995 meters 0.015105639022778979 Centerline is valid? [True, True] Translation: X:113.98, Y:-153.92, Z:-5.02 [[-9.81450733e-01 -1.91237450e-01 1.35165008e-02 1.13981932e+02] [ 1.91222351e-01 -9.81543779e-01 -2.41275863e-03 -1.53923817e+02] [ 1.37284471e-02 2.16653333e-04 9.99905737e-01 -5.02171313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.346559995 meters 0.014542845308107628 Centerline is valid? [True, True] Translation: X:113.87, Y:-154.50, Z:-4.02 [[-9.96293526e-01 8.49988249e-02 1.32064402e-02 1.13873491e+02] [ 8.49882871e-02 9.96381025e-01 -1.35813179e-03 -1.54500150e+02] [-1.32740860e-02 -2.30705177e-04 -9.99911869e-01 -4.02009688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.406559995 meters 0.013950415400316041 Centerline is valid? [True, True] Translation: X:113.93, Y:-153.91, Z:-5.02 [[-9.83141286e-01 -1.82333894e-01 1.36953671e-02 1.13933258e+02] [ 1.82320130e-01 -9.83236632e-01 -2.25743569e-03 -1.53914185e+02] [ 1.38773937e-02 2.77562887e-04 9.99903666e-01 -5.02031909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4665599950001 meters 0.013252595762238325 Centerline is valid? [True, True] Translation: X:113.83, Y:-154.50, Z:-4.02 [[-9.96068308e-01 8.74175303e-02 1.43562135e-02 1.13825108e+02] [ 8.74061546e-02 9.96171747e-01 -1.41912910e-03 -1.54502484e+02] [-1.44253111e-02 -1.58728104e-04 -9.99895937e-01 -4.02061948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.526559995 meters 0.0134113437239445 Centerline is valid? [True, True] Translation: X:113.82, Y:-154.48, Z:-4.02 [[-9.99770005e-01 1.59261264e-02 1.43630053e-02 1.13822668e+02] [ 1.59220989e-02 9.99873157e-01 -3.94724494e-04 -1.54476079e+02] [-1.43674699e-02 -1.65944519e-04 -9.99896769e-01 -4.02047664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.586559995 meters 0.01431870202067249 Centerline is valid? [True, True] Translation: X:113.84, Y:-153.88, Z:-5.02 [[-9.93782997e-01 -1.10053604e-01 1.68391971e-02 1.13837027e+02] [ 1.10044097e-01 -9.93925585e-01 -1.49299720e-03 -1.53877673e+02] [ 1.69012185e-02 3.69338995e-04 9.99857096e-01 -5.02212123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.646559995 meters 0.016245255937596976 Centerline is valid? [True, True] Translation: X:113.76, Y:-154.47, Z:-4.01 [[-9.99812182e-01 1.41706420e-03 1.93285365e-02 1.13759782e+02] [ 1.40856414e-03 9.99998905e-01 -4.53374026e-04 -1.54468664e+02] [-1.93291578e-02 -4.26063391e-04 -9.99813084e-01 -4.01476379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7065599950001 meters 0.016232730110531727 Centerline is valid? [True, True] Translation: X:113.75, Y:-154.44, Z:-4.02 [[-9.97166755e-01 -7.27021055e-02 1.93097749e-02 1.13752931e+02] [-7.26978864e-02 9.97353583e-01 9.21292878e-04 -1.54442545e+02] [-1.93256531e-02 -4.85097194e-04 -9.99813125e-01 -4.01577540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.766559995 meters 0.01598138409303732 Centerline is valid? [True, True] Translation: X:113.73, Y:-153.85, Z:-5.02 [[-9.98886170e-01 -4.36847014e-02 1.78344266e-02 1.13727062e+02] [ 4.36840192e-02 -9.99045306e-01 -4.28004797e-04 -1.53849310e+02] [ 1.78360975e-02 3.51551362e-04 9.99840862e-01 -5.02216092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.826559995 meters 0.014484051600366097 Centerline is valid? [True, True] Translation: X:113.69, Y:-154.46, Z:-4.02 [[-9.97479664e-01 -6.91919397e-02 1.57097329e-02 1.13694065e+02] [-6.91875665e-02 9.97603330e-01 8.22352176e-04 -1.54458940e+02] [-1.57289820e-02 -2.66638615e-04 -9.99876256e-01 -4.01967159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.886559995 meters 0.012827010888722581 Centerline is valid? [True, True] Translation: X:113.67, Y:-153.83, Z:-5.02 [[-9.99617594e-01 -2.37249634e-02 1.42053409e-02 1.13670690e+02] [ 2.37247415e-02 -9.99718512e-01 -1.84164647e-04 -1.53834161e+02] [ 1.42057116e-02 1.52923819e-04 9.99899082e-01 -5.01876388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9465599950001 meters 0.012512909313991183 Centerline is valid? [True, True] Translation: X:113.64, Y:-154.48, Z:-4.02 [[-9.98023098e-01 -6.13492694e-02 1.36441763e-02 1.13638862e+02] [-6.13443876e-02 9.98116358e-01 7.76416525e-04 -1.54478071e+02] [-1.36661081e-02 -6.21120129e-05 -9.99906613e-01 -4.02217857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.006559995 meters 0.012614443502359041 Centerline is valid? [True, True] Translation: X:113.63, Y:-154.46, Z:-4.02 [[-9.91790615e-01 -1.27193427e-01 1.31608640e-02 1.13629809e+02] [-1.27182146e-01 9.91877932e-01 1.69401366e-03 -1.54458478e+02] [-1.32694380e-02 6.27992007e-06 -9.99911957e-01 -4.02177744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.066559995 meters 0.012615996056465267 Centerline is valid? [True, True] Translation: X:113.62, Y:-154.44, Z:-4.02 [[-9.80558963e-01 -1.95723864e-01 1.40103157e-02 1.13624585e+02] [-1.95703397e-01 9.80659048e-01 2.83068859e-03 -1.54436438e+02] [-1.42933762e-02 3.37906920e-05 -9.99897844e-01 -4.02155967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.126559995 meters 0.01264773916070671 Centerline is valid? [True, True] Translation: X:113.60, Y:-154.42, Z:-4.02 [[-9.63933981e-01 -2.65789251e-01 1.36877656e-02 1.13604533e+02] [-2.65762069e-01 9.64031158e-01 3.80124924e-03 -1.54415510e+02] [-1.42057637e-02 2.64643973e-05 -9.99899093e-01 -4.02108237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1865599950002 meters 0.012564173528675131 Centerline is valid? [True, True] Translation: X:113.57, Y:-154.40, Z:-4.02 [[-9.41862652e-01 -3.35743563e-01 1.30769230e-02 1.13570169e+02] [-3.35711103e-01 9.41953428e-01 4.66852213e-03 -1.54398346e+02] [-1.38852787e-02 7.03838311e-06 -9.99903595e-01 -4.02119510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.246559995 meters 0.012691912715387142 Centerline is valid? [True, True] Translation: X:113.52, Y:-154.39, Z:-4.02 [[-9.13689362e-01 -4.06221886e-01 1.24711127e-02 1.13523081e+02] [-4.06184560e-01 9.13774468e-01 5.50679797e-03 -1.54388192e+02] [-1.36327663e-02 -3.40707178e-05 -9.99907069e-01 -4.02005153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.306559995 meters 0.01273469506320906 Centerline is valid? [True, True] Translation: X:113.45, Y:-154.39, Z:-4.02 [[-8.79365701e-01 -4.76007800e-01 1.15125340e-02 1.13454988e+02] [-4.75968394e-01 8.79441053e-01 6.12551723e-03 -1.54390608e+02] [-1.30403890e-02 -9.30325804e-05 -9.99914966e-01 -4.02111801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.366559995 meters 0.013349359478364006 Centerline is valid? [True, True] Translation: X:113.39, Y:-154.39, Z:-4.02 [[-8.38500274e-01 -5.44794421e-01 1.07856483e-02 1.13389918e+02] [-5.44751925e-01 8.38569622e-01 6.80655945e-03 -1.54394368e+02] [-1.27526926e-02 -1.68200717e-04 -9.99918667e-01 -4.02208206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4265599950002 meters 0.01497126601935161 Centerline is valid? [True, True] Translation: X:113.31, Y:-154.41, Z:-4.02 [[-7.91338930e-01 -6.11303254e-01 9.54098224e-03 1.13313644e+02] [-6.11262523e-01 7.91396406e-01 7.06090396e-03 -1.54408962e+02] [-1.18670526e-02 -2.44476693e-04 -9.99929554e-01 -4.02187599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.486559995 meters 0.016360820250489766 Centerline is valid? [True, True] Translation: X:113.24, Y:-154.43, Z:-4.02 [[-7.40732096e-01 -6.71745358e-01 8.61023728e-03 1.13235725e+02] [-6.71704356e-01 7.40782083e-01 7.42728180e-03 -1.54434281e+02] [-1.13675516e-02 -2.81907872e-04 -9.99935348e-01 -4.02207801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.546559995 meters 0.016840800996686767 Centerline is valid? [True, True] Translation: X:113.16, Y:-154.47, Z:-4.02 [[-6.85707363e-01 -7.27841520e-01 7.22045063e-03 1.13156586e+02] [-7.27805575e-01 6.85745315e-01 7.23933403e-03 -1.54471012e+02] [-1.02204781e-02 -2.91019575e-04 -9.99947727e-01 -4.02278962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.606559995 meters 0.01830619023455842 Centerline is valid? [True, True] Translation: X:113.07, Y:-154.52, Z:-4.02 [[-6.27342217e-01 -7.78716665e-01 6.48835114e-03 1.13074219e+02] [-7.78679962e-01 6.27375695e-01 7.56663664e-03 -1.54518546e+02] [-9.96289986e-03 -3.05478415e-04 -9.99950322e-01 -4.02187969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.666559995 meters 0.01818336073418291 Centerline is valid? [True, True] Translation: X:113.00, Y:-154.58, Z:-4.02 [[-5.65564333e-01 -8.24675000e-01 6.93759413e-03 1.12996716e+02] [-8.24620920e-01 5.65606758e-01 9.45163933e-03 -1.54576550e+02] [-1.17184808e-02 -3.75375159e-04 -9.99931266e-01 -4.02053974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7265599950001 meters 0.019263564785224993 Centerline is valid? [True, True] Translation: X:112.92, Y:-154.64, Z:-4.02 [[-5.01103272e-01 -8.65358159e-01 7.12517342e-03 1.12917575e+02] [-8.65282765e-01 5.01153735e-01 1.14311217e-02 -1.54644251e+02] [-1.34628217e-02 -4.37117297e-04 -9.99909277e-01 -4.01792464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.786559995 meters 0.018519468279168328 Centerline is valid? [True, True] Translation: X:112.85, Y:-154.72, Z:-4.02 [[-4.33403111e-01 -9.01169313e-01 7.45742417e-03 1.12846618e+02] [-9.01056312e-01 4.33466940e-01 1.42805575e-02 -1.54719366e+02] [-1.61017470e-02 -5.30321076e-04 -9.99870218e-01 -4.01623321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.846559995 meters 0.018372301403210042 Centerline is valid? [True, True] Translation: X:112.77, Y:-154.81, Z:-4.02 [[-3.64998180e-01 -9.30986279e-01 6.39351046e-03 1.12774850e+02] [-9.30866984e-01 3.65053818e-01 1.49120005e-02 -1.54813328e+02] [-1.62168432e-02 -5.08654759e-04 -9.99868369e-01 -4.01613432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.906559995 meters 0.01823972394005233 Centerline is valid? [True, True] Translation: X:112.72, Y:-154.89, Z:-4.02 [[-2.93522526e-01 -9.55938658e-01 5.08025811e-03 1.12717067e+02] [-9.55822554e-01 2.93566093e-01 1.49061576e-02 -1.54893729e+02] [-1.57407639e-02 -4.80532249e-04 -9.99875991e-01 -4.01673687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9665599950001 meters 0.01681107284886875 Centerline is valid? [True, True] Translation: X:112.67, Y:-154.99, Z:-4.02 [[-2.24240530e-01 -9.74528391e-01 3.25586075e-03 1.12665308e+02] [-9.74446333e-01 2.24263914e-01 1.26507142e-02 -1.54989655e+02] [-1.30586522e-02 -3.35858724e-04 -9.99914676e-01 -4.01914990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.026559995 meters 0.015260300929396462 Centerline is valid? [True, True] Translation: X:112.62, Y:-155.10, Z:-4.02 [[-1.52696098e-01 -9.88271128e-01 2.01951178e-03 1.12619226e+02] [-9.88205283e-01 1.52709242e-01 1.14107961e-02 -1.55096911e+02] [-1.15853584e-02 -2.53308171e-04 -9.99932855e-01 -4.02058793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.086559995 meters 0.015293112815919722 Centerline is valid? [True, True] Translation: X:112.58, Y:-155.20, Z:-4.02 [[-7.69520487e-02 -9.97034137e-01 1.14535119e-03 1.12578647e+02] [-9.96966597e-01 7.69601703e-02 1.16075845e-02 -1.55202012e+02] [-1.16613044e-02 -2.48649469e-04 -9.99931974e-01 -4.02072754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.146559995 meters 0.015387871705404994 Centerline is valid? [True, True] Translation: X:112.54, Y:-155.31, Z:-4.02 [[ 1.28097995e-03 -9.99999147e-01 2.53970675e-04 1.12544409e+02] [-9.99930819e-01 -1.27792275e-03 1.16929503e-02 -1.55309046e+02] [-1.16926158e-02 -2.68931540e-04 -9.99931603e-01 -4.02132993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2065599950001 meters 0.0184241574124674 Centerline is valid? [True, True] Translation: X:112.51, Y:-155.43, Z:-4.02 [[ 8.21347678e-02 -9.96621049e-01 -6.03802727e-04 1.12510860e+02] [-9.96560776e-01 -8.21364435e-02 1.09647186e-02 -1.55427264e+02] [-1.09772635e-02 -2.98858499e-04 -9.99939703e-01 -4.01992885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.266559995 meters 0.018775010559767467 Centerline is valid? [True, True] Translation: X:112.49, Y:-155.55, Z:-4.02 [[ 1.61155874e-01 -9.86927852e-01 -1.48272552e-03 1.12493017e+02] [-9.86864550e-01 -1.61162338e-01 1.11830865e-02 -1.55549259e+02] [-1.12758590e-02 -3.38970821e-04 -9.99936368e-01 -4.01993363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.326559995 meters 0.01846632605843866 Centerline is valid? [True, True] Translation: X:112.49, Y:-155.67, Z:-4.02 [[ 2.37743955e-01 -9.71324560e-01 -2.53196917e-03 1.12487579e+02] [-9.71251036e-01 -2.37757128e-01 1.19571673e-02 -1.55669079e+02] [-1.22162840e-02 -3.83566581e-04 -9.99925305e-01 -4.01992456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.386559995 meters 0.018208242859633336 Centerline is valid? [True, True] Translation: X:112.49, Y:-155.78, Z:-4.02 [[ 3.10634631e-01 -9.50524251e-01 -3.12651560e-03 1.12488159e+02] [-9.50464632e-01 -3.10650182e-01 1.06511612e-02 -1.55779229e+02] [-1.10954397e-02 -3.36977037e-04 -9.99938387e-01 -4.02098226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4465599950001 meters 0.018589267096873082 Centerline is valid? [True, True] Translation: X:112.50, Y:-155.90, Z:-4.02 [[ 3.80404132e-01 -9.24815720e-01 -2.92925667e-03 1.12499038e+02] [-9.24783448e-01 -3.80415340e-01 7.72945504e-03 -1.55897803e+02] [-8.26265570e-03 -2.31388557e-04 -9.99965837e-01 -4.02314217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.506559995 meters 0.016626146260383643 Centerline is valid? [True, True] Translation: X:112.52, Y:-156.01, Z:-4.03 [[ 4.48519899e-01 -8.93767021e-01 -3.22683759e-03 1.12521988e+02] [-8.93740623e-01 -4.48531463e-01 6.87209039e-03 -1.56009078e+02] [-7.58938594e-03 -1.98313450e-04 -9.99971181e-01 -4.02516732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.566559995 meters 0.01619326009197864 Centerline is valid? [True, True] Translation: X:112.55, Y:-156.12, Z:-4.03 [[ 5.13208857e-01 -8.58254553e-01 -3.97386744e-03 1.12553450e+02] [-8.58225942e-01 -5.13224208e-01 7.01033346e-03 -1.56123480e+02] [-8.05613558e-03 -1.87289093e-04 -9.99967531e-01 -4.02501662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.626559995 meters 0.015214381322607773 Centerline is valid? [True, True] Translation: X:112.59, Y:-156.23, Z:-4.02 [[ 5.75849806e-01 -8.17541383e-01 -4.80505232e-03 1.12587828e+02] [-8.17510226e-01 -5.75869824e-01 7.13976290e-03 -1.56227926e+02] [-8.60413626e-03 -1.83251674e-04 -9.99962967e-01 -4.02454330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6865599950002 meters 0.014895915969597521 Centerline is valid? [True, True] Translation: X:112.63, Y:-156.32, Z:-4.02 [[ 6.34774531e-01 -7.72674840e-01 -5.90648750e-03 1.12625748e+02] [-7.72638726e-01 -6.34801985e-01 7.47254223e-03 -1.56323797e+02] [-9.52329536e-03 -1.79798514e-04 -9.99954636e-01 -4.02391346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.746559995 meters 0.014019552139814782 Centerline is valid? [True, True] Translation: X:112.67, Y:-156.42, Z:-4.02 [[ 6.89719465e-01 -7.24044026e-01 -6.87806937e-03 1.12674051e+02] [-7.24005676e-01 -6.89753741e-01 7.45376717e-03 -1.56417362e+02] [-1.01410297e-02 -1.61247045e-04 -9.99948566e-01 -4.02403533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.806559995 meters 0.013168331097834714 Centerline is valid? [True, True] Translation: X:112.73, Y:-156.50, Z:-4.02 [[ 7.39281076e-01 -6.73354386e-01 -7.57372703e-03 1.12727907e+02] [-6.73317520e-01 -7.39319862e-01 7.04686227e-03 -1.56503742e+02] [-1.03444424e-02 -1.10088823e-04 -9.99946489e-01 -4.02382626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.866559995 meters 0.012507028517959916 Centerline is valid? [True, True] Translation: X:112.75, Y:-156.53, Z:-4.02 [[ 7.85761417e-01 -6.18483701e-01 -7.54374750e-03 1.12750118e+02] [-6.18454689e-01 -7.85797627e-01 5.99066522e-03 -1.56528773e+02] [-9.63298768e-03 -4.17675762e-05 -9.99953601e-01 -4.02345011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9265599950002 meters 0.0125981442919804 Centerline is valid? [True, True] Translation: X:112.77, Y:-156.55, Z:-4.02 [[ 8.27443523e-01 -5.61497660e-01 -7.58909352e-03 1.12774966e+02] [-5.61474378e-01 -8.27478324e-01 5.11329002e-03 -1.56549487e+02] [-9.15091076e-03 3.01228587e-05 -9.99958129e-01 -4.02414994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.986559995 meters 0.013240474698346716 Centerline is valid? [True, True] Translation: X:112.80, Y:-156.57, Z:-4.02 [[ 8.66131192e-01 -4.99746896e-01 -8.35454695e-03 1.12800986e+02] [-4.99724572e-01 -8.66171480e-01 4.72431660e-03 -1.56569457e+02] [-9.59743285e-03 8.30944255e-05 -9.99953940e-01 -4.02358230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.046559995 meters 0.014488468017259035 Centerline is valid? [True, True] Translation: X:112.83, Y:-156.59, Z:-4.02 [[ 8.99869629e-01 -4.36053553e-01 -9.58900629e-03 1.12827738e+02] [-4.36030652e-01 -8.99920704e-01 4.47178841e-03 -1.56588142e+02] [-1.05792845e-02 1.57074079e-04 -9.99944026e-01 -4.02231485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.106559995 meters 0.015223130246631241 Centerline is valid? [True, True] Translation: X:112.85, Y:-156.61, Z:-4.02 [[ 9.30402042e-01 -3.66417423e-01 -9.50330678e-03 1.12854387e+02] [-3.66400200e-01 -9.30450559e-01 3.55688471e-03 -1.56606568e+02] [-1.01456616e-02 1.72680710e-04 -9.99948517e-01 -4.02240655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.166559995 meters 0.015445188830965814 Centerline is valid? [True, True] Translation: X:112.88, Y:-156.62, Z:-4.02 [[ 9.56170502e-01 -2.92672015e-01 -9.00350241e-03 1.12883286e+02] [-2.92660613e-01 -9.56212877e-01 2.58834319e-03 -1.56623780e+02] [-9.36680056e-03 1.60073131e-04 -9.99956118e-01 -4.02288010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2265599950001 meters 0.01420506246368977 Centerline is valid? [True, True] Translation: X:112.91, Y:-156.65, Z:-4.02 [[ 9.76853643e-01 -2.13726936e-01 -8.81795306e-03 1.12910748e+02] [-2.13719365e-01 -9.76893434e-01 1.80307189e-03 -1.56646764e+02] [-8.99956548e-03 1.23229982e-04 -9.99959496e-01 -4.02384792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.286559995 meters 0.013228888316186436 Centerline is valid? [True, True] Translation: X:112.94, Y:-156.67, Z:-4.02 [[ 9.91536005e-01 -1.29553368e-01 -8.50155661e-03 1.12937176e+02] [-1.29549095e-01 -9.91572449e-01 1.05375071e-03 -1.56667255e+02] [-8.56642626e-03 5.65371930e-05 -9.99963306e-01 -4.02344799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.346559995 meters 0.012741459500003018 Centerline is valid? [True, True] Translation: X:112.97, Y:-156.69, Z:-4.02 [[ 9.98928587e-01 -4.55084858e-02 -8.40573691e-03 1.12965403e+02] [-4.55069180e-02 -9.98963952e-01 3.77773761e-04 -1.56685521e+02] [-8.41422008e-03 5.15017137e-06 -9.99964600e-01 -4.02403792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.406559995 meters 0.013002975537236984 Centerline is valid? [True, True] Translation: X:113.00, Y:-156.71, Z:-4.02 [[ 9.99073480e-01 4.23700081e-02 -7.54742749e-03 1.12995307e+02] [ 4.23693110e-02 -9.99101986e-01 -2.52301280e-04 -1.56705819e+02] [-7.55133980e-03 -6.77117846e-05 -9.99971486e-01 -4.02392404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4665599950001 meters 0.014714721516786282 Centerline is valid? [True, True] Translation: X:113.03, Y:-156.72, Z:-4.02 [[ 9.91592486e-01 1.29256036e-01 -6.10069424e-03 1.13028114e+02] [ 1.29254270e-01 -9.91611247e-01 -6.84442063e-04 -1.56721426e+02] [-6.13798529e-03 -1.09853175e-04 -9.99981156e-01 -4.02408687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.526559995 meters 0.016331926459298776 Centerline is valid? [True, True] Translation: X:113.06, Y:-156.73, Z:-4.02 [[ 9.77163153e-01 2.12415627e-01 -5.63682994e-03 1.13062101e+02] [ 2.12412904e-01 -9.77179401e-01 -1.08429438e-03 -1.56731352e+02] [-5.73851518e-03 -1.37802905e-04 -9.99983525e-01 -4.02398103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.586559995 meters 0.0166101943143174 Centerline is valid? [True, True] Translation: X:113.10, Y:-156.74, Z:-4.02 [[ 9.56901561e-01 2.90360736e-01 -5.48134400e-03 1.13095892e+02] [ 2.90356860e-01 -9.56917249e-01 -1.50758008e-03 -1.56735046e+02] [-5.68293468e-03 -1.48940103e-04 -9.99983841e-01 -4.02418306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.646559995 meters 0.016470275599799557 Centerline is valid? [True, True] Translation: X:113.13, Y:-156.74, Z:-4.02 [[ 9.31272003e-01 3.64279150e-01 -5.75817715e-03 1.13130843e+02] [ 3.64273240e-01 -9.31289791e-01 -2.08121918e-03 -1.56735670e+02] [-6.12067635e-03 -1.59368687e-04 -9.99981256e-01 -4.02380074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7065599950001 meters 0.01608544617297468 Centerline is valid? [True, True] Translation: X:113.16, Y:-156.73, Z:-4.02 [[ 9.00730697e-01 4.34329955e-01 -6.45771970e-03 1.13164426e+02] [ 4.34320142e-01 -9.00753829e-01 -2.92454913e-03 -1.56731811e+02] [-7.08703504e-03 -1.70486564e-04 -9.99974872e-01 -4.02219690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.766559995 meters 0.01532717578213175 Centerline is valid? [True, True] Translation: X:113.20, Y:-156.72, Z:-4.02 [[ 8.65183808e-01 5.01393633e-01 -7.83605174e-03 1.13196711e+02] [ 5.01375077e-01 -8.65219271e-01 -4.31794130e-03 -1.56723746e+02] [-8.94489126e-03 -1.92988150e-04 -9.99959975e-01 -4.02096179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.826559995 meters 0.01509144726967016 Centerline is valid? [True, True] Translation: X:113.23, Y:-156.71, Z:-4.02 [[ 8.23950708e-01 5.66606400e-01 -7.90053805e-03 1.13228907e+02] [ 5.66582580e-01 -8.23988562e-01 -5.19906857e-03 -1.56712813e+02] [-9.45577851e-03 -1.92531000e-04 -9.99955275e-01 -4.02068237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.886559995 meters 0.014428752942158956 Centerline is valid? [True, True] Translation: X:113.26, Y:-156.70, Z:-4.02 [[ 7.80020657e-01 6.25708513e-01 -7.52544805e-03 1.13257182e+02] [ 6.25681227e-01 -7.80056943e-01 -5.84524120e-03 -1.56697293e+02] [-9.52769518e-03 -1.49122696e-04 -9.99954599e-01 -4.02137066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9465599950001 meters 0.013434799843402736 Centerline is valid? [True, True] Translation: X:113.28, Y:-156.68, Z:-4.02 [[ 7.31755629e-01 6.81537259e-01 -6.37685552e-03 1.13282783e+02] [ 6.81512519e-01 -7.31783408e-01 -5.80783669e-03 -1.56678053e+02] [-8.62473416e-03 -9.59896774e-05 -9.99962802e-01 -4.02284826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.006559995 meters 0.012536772438683556 Centerline is valid? [True, True] Translation: X:113.30, Y:-156.65, Z:-4.02 [[ 6.82691107e-01 7.30685728e-01 -5.58743618e-03 1.13304237e+02] [ 7.30661476e-01 -6.82713972e-01 -5.95322071e-03 -1.56654728e+02] [-8.16455416e-03 -1.83135283e-05 -9.99966669e-01 -4.02332587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.066559995 meters 0.01306125833552823 Centerline is valid? [True, True] Translation: X:113.32, Y:-156.63, Z:-4.02 [[ 6.31159134e-01 7.75642147e-01 -4.17226414e-03 1.13323967e+02] [ 7.75624660e-01 -6.31172922e-01 -5.20857315e-03 -1.56631452e+02] [-6.67340902e-03 5.13275584e-05 -9.99977731e-01 -4.02444560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.126559995 meters 0.014276135059436234 Centerline is valid? [True, True] Translation: X:113.35, Y:-156.61, Z:-4.03 [[ 5.76390638e-01 8.17167927e-01 -3.22677663e-03 1.13345518e+02] [ 8.17154147e-01 -5.76399662e-01 -4.74664464e-03 -1.56609432e+02] [-5.73871872e-03 9.91476284e-05 -9.99983529e-01 -4.02549448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1865599950002 meters 0.01591892239813662 Centerline is valid? [True, True] Translation: X:113.36, Y:-156.59, Z:-4.03 [[ 5.14895990e-01 8.57247360e-01 -3.01399095e-03 1.13364389e+02] [ 8.57231104e-01 -5.14904793e-01 -5.28101878e-03 -1.56587133e+02] [-6.07905779e-03 1.35488608e-04 -9.99981513e-01 -4.02529609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.246559995 meters 0.01729857717115584 Centerline is valid? [True, True] Translation: X:113.38, Y:-156.56, Z:-4.03 [[ 4.49813647e-01 8.93119210e-01 -2.39997501e-03 1.13380391e+02] [ 8.93104691e-01 -4.49820025e-01 -5.09472978e-03 -1.56562808e+02] [-5.62975786e-03 1.48250040e-04 -9.99984142e-01 -4.02538628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.306559995 meters 0.01680186159724129 Centerline is valid? [True, True] Translation: X:113.40, Y:-156.54, Z:-4.03 [[ 3.79100273e-01 9.25353777e-01 -1.83582007e-03 1.13401153e+02] [ 9.25341079e-01 -3.79104692e-01 -4.84976758e-03 -1.56540277e+02] [-5.18371875e-03 1.39788490e-04 -9.99986555e-01 -4.02587775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.366559995 meters 0.01577530063047272 Centerline is valid? [True, True] Translation: X:113.42, Y:-156.52, Z:-4.02 [[ 3.00658200e-01 9.53730128e-01 -1.86820384e-03 1.13422434e+02] [ 9.53708574e-01 -3.00663968e-01 -6.41366254e-03 -1.56516854e+02] [-6.67860478e-03 1.46598213e-04 -9.99977687e-01 -4.02384875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4265599950002 meters 0.013675332649925955 Centerline is valid? [True, True] Translation: X:113.45, Y:-156.49, Z:-4.03 [[ 2.16306304e-01 9.76325074e-01 -9.65475856e-04 1.13445901e+02] [ 9.76314048e-01 -2.16308450e-01 -4.64043964e-03 -1.56492464e+02] [-4.73941817e-03 6.11487049e-05 -9.99988767e-01 -4.02531624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.486559995 meters 0.012579835071185371 Centerline is valid? [True, True] Translation: X:113.47, Y:-156.47, Z:-4.03 [[ 1.30221855e-01 9.91484774e-01 -4.60502662e-04 1.13468036e+02] [ 9.91478194e-01 -1.30222669e-01 -3.61222727e-03 -1.56465478e+02] [-3.64143622e-03 1.38125884e-05 -9.99993370e-01 -4.02657818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.546559995 meters 0.012466114978309063 Centerline is valid? [True, True] Translation: X:113.48, Y:-156.44, Z:-4.03 [[ 4.64096771e-02 9.98922481e-01 -1.37794220e-04 1.13484761e+02] [ 9.98918447e-01 -4.64098813e-02 -2.83903272e-03 -1.56436606e+02] [-2.84236862e-03 -5.88659669e-06 -9.99995961e-01 -4.02710103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.606559995 meters 0.013252630011571655 Centerline is valid? [True, True] Translation: X:113.50, Y:-156.41, Z:-4.03 [[-4.04322888e-02 9.99182281e-01 1.42910374e-05 1.13501507e+02] [ 9.99182144e-01 4.04322908e-02 -5.22710914e-04 -1.56407555e+02] [-5.22861303e-04 -6.85504929e-06 -9.99999863e-01 -4.02771395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.666559995 meters 0.013964252474908526 Centerline is valid? [True, True] Translation: X:113.51, Y:-156.38, Z:-4.03 [[-1.23892654e-01 9.92295626e-01 -7.91478657e-06 1.13512621e+02] [ 9.92295625e-01 1.23892654e-01 5.74779333e-05 -1.56375873e+02] [ 5.80156851e-05 -7.32714404e-07 -9.99999998e-01 -4.02671237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7265599950001 meters 0.01592027339304802 Centerline is valid? [True, True] Translation: X:113.52, Y:-156.34, Z:-4.02 [[-2.06493868e-01 9.78447878e-01 1.82128386e-04 1.13520257e+02] [ 9.78447397e-01 2.06493947e-01 -9.69803138e-04 -1.56344014e+02] [-9.86510231e-04 -2.20553559e-05 -9.99999513e-01 -4.02459664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.786559995 meters 0.017946917073005025 Centerline is valid? [True, True] Translation: X:113.52, Y:-156.31, Z:-4.02 [[-2.84345109e-01 9.58721914e-01 3.88455187e-04 1.13518676e+02] [ 9.58720843e-01 2.84345372e-01 -1.43365100e-03 -1.56313394e+02] [-1.48492807e-03 -3.52315654e-05 -9.99998897e-01 -4.02389450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.846559995 meters 0.016709314995841627 Centerline is valid? [True, True] Translation: X:113.51, Y:-156.28, Z:-4.02 [[-3.60690482e-01 9.32685392e-01 5.80077640e-04 1.13512653e+02] [ 9.32683980e-01 3.60690946e-01 -1.62334986e-03 -1.56282713e+02] [-1.72330346e-03 -4.44977229e-05 -9.99998514e-01 -4.02309631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.906559995 meters 0.018120864318987136 Centerline is valid? [True, True] Translation: X:113.51, Y:-156.25, Z:-4.02 [[-4.34812107e-01 9.00520269e-01 1.29467149e-03 1.13506212e+02] [ 9.00515657e-01 4.34814026e-01 -2.88351296e-03 -1.56252745e+02] [-3.15960319e-03 -8.79143971e-05 -9.99995005e-01 -4.02082283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9665599950001 meters 0.018197185964550024 Centerline is valid? [True, True] Translation: X:113.49, Y:-156.22, Z:-4.02 [[-5.04958940e-01 8.63140586e-01 2.19043750e-03 1.13494206e+02] [ 8.63131309e-01 5.04963674e-01 -4.00404022e-03 -1.56224088e+02] [-4.56214099e-03 -1.31240721e-04 -9.99989585e-01 -4.01885214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.026559995 meters 0.017951591299355207 Centerline is valid? [True, True] Translation: X:113.48, Y:-156.20, Z:-4.02 [[-5.69556402e-01 8.21946016e-01 3.20189322e-03 1.13477194e+02] [ 8.21931444e-01 5.69565380e-01 -4.89689270e-03 -1.56198974e+02] [-5.84866897e-03 -1.57319871e-04 -9.99982884e-01 -4.01743398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.086559995 meters 0.016120752380309578 Centerline is valid? [True, True] Translation: X:113.46, Y:-156.17, Z:-4.02 [[-6.30067504e-01 7.76531221e-01 3.76888197e-03 1.13458929e+02] [ 7.76515891e-01 6.30078758e-01 -4.88153241e-03 -1.56174452e+02] [-6.16535479e-03 -1.49098196e-04 -9.99980983e-01 -4.01767611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.146559995 meters 0.013683694223931243 Centerline is valid? [True, True] Translation: X:113.43, Y:-156.16, Z:-4.02 [[-6.81596581e-01 7.31721203e-01 3.19099682e-03 1.13431866e+02] [ 7.31712719e-01 6.81604047e-01 -3.52418354e-03 -1.56158281e+02] [-4.75371617e-03 -6.71784858e-05 -9.99988699e-01 -4.02028254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2065599950001 meters 0.012786755654666372 Centerline is valid? [True, True] Translation: X:113.41, Y:-156.14, Z:-4.02 [[-7.32358121e-01 6.80911739e-01 3.28420309e-03 1.13409667e+02] [ 6.80904682e-01 7.32365484e-01 -3.10026298e-03 -1.56140644e+02] [-4.51624244e-03 -3.42735102e-05 -9.99989801e-01 -4.01988222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.266559995 meters 0.012786755654666372 Centerline is valid? [True, True] Translation: X:113.43, Y:-156.12, Z:-4.02 [[-7.78685323e-01 6.27404934e-01 3.49532454e-03 1.13429081e+02] [ 6.27398416e-01 7.78693167e-01 -2.86004751e-03 -1.56121707e+02] [-4.51619326e-03 -3.41159397e-05 -9.99989801e-01 -4.01988278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.326559995 meters 0.012522444808315604 Centerline is valid? [True, True] Translation: X:113.44, Y:-156.11, Z:-4.02 [[-8.19392880e-01 5.73218998e-01 3.91023974e-03 1.13442744e+02] [ 5.73212340e-01 8.19402209e-01 -2.76270500e-03 -1.56106284e+02] [-4.78769407e-03 -2.23431296e-05 -9.99988539e-01 -4.02044718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.386559995 meters 0.012740338458500988 Centerline is valid? [True, True] Translation: X:113.46, Y:-156.09, Z:-4.02 [[-8.58971498e-01 5.12010310e-01 3.66169378e-03 1.13463908e+02] [ 5.12005513e-01 8.58979302e-01 -2.21636000e-03 -1.56085830e+02] [-4.28011834e-03 -2.89826648e-05 -9.99990840e-01 -4.02046252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4465599950001 meters 0.012847842422845918 Centerline is valid? [True, True] Translation: X:113.47, Y:-156.06, Z:-4.02 [[-8.93902927e-01 4.48235287e-01 4.76283061e-03 1.13473945e+02] [ 4.48228650e-01 8.93915614e-01 -2.43960814e-03 -1.56059249e+02] [-5.35108711e-03 -4.59357222e-05 -9.99985682e-01 -4.01963750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.506559995 meters 0.012945735677023147 Centerline is valid? [True, True] Translation: X:113.80, Y:-155.43, Z:-5.02 [[-8.53266359e-01 -5.21456747e-01 4.40246037e-03 1.13802565e+02] [ 5.21449996e-01 -8.53277716e-01 -2.65349893e-03 -1.55428492e+02] [ 5.14020625e-03 3.15215683e-05 9.99986789e-01 -5.02172663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.566559995 meters 0.012928069176122728 Centerline is valid? [True, True] Translation: X:113.44, Y:-156.04, Z:-4.02 [[-8.95129146e-01 4.45786106e-01 4.30804134e-03 1.13440635e+02] [ 4.45780742e-01 8.95139512e-01 -2.18715946e-03 -1.56041945e+02] [-4.83130333e-03 -3.73483146e-05 -9.99988329e-01 -4.01867346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.626559995 meters 0.012717556831317015 Centerline is valid? [True, True] Translation: X:113.77, Y:-155.41, Z:-5.02 [[-8.56732445e-01 -5.15754286e-01 2.65216548e-03 1.13765982e+02] [ 5.15751549e-01 -8.56736547e-01 -1.68198813e-03 -1.55411417e+02] [ 3.13969968e-03 -7.31553537e-05 9.99995069e-01 -5.02029399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6865599950002 meters 0.012616823414126555 Centerline is valid? [True, True] Translation: X:113.41, Y:-156.03, Z:-4.02 [[-8.94515065e-01 4.47032586e-01 2.16009959e-03 1.13405056e+02] [ 4.47031264e-01 8.94517673e-01 -1.08714411e-03 -1.56026412e+02] [-2.41823610e-03 -6.83473463e-06 -9.99997076e-01 -4.02069399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.746559995 meters 0.012565030645455607 Centerline is valid? [True, True] Translation: X:113.73, Y:-155.39, Z:-5.02 [[-8.60567908e-01 -5.09333269e-01 1.58011071e-03 1.13729338e+02] [ 5.09332350e-01 -8.60569359e-01 -9.67684967e-04 -1.55392880e+02] [ 1.85266900e-03 -2.79571287e-05 9.99998283e-01 -5.01913834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.806559995 meters 0.012566404611979994 Centerline is valid? [True, True] Translation: X:113.37, Y:-156.01, Z:-4.02 [[-8.93930215e-01 4.48205015e-01 1.01782478e-03 1.13367900e+02] [ 4.48204727e-01 8.93930794e-01 -5.08104179e-04 -1.56010112e+02] [-1.13759976e-03 1.98420197e-06 -9.99999353e-01 -4.02098682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.866559995 meters 0.012732461898419532 Centerline is valid? [True, True] Translation: X:113.38, Y:-155.99, Z:-4.02 [[-9.22331242e-01 3.86397795e-01 1.35049795e-03 1.13377071e+02] [ 3.86397391e-01 9.22332231e-01 -5.58325291e-04 -1.55985290e+02] [-1.46134345e-03 6.86802742e-06 -9.99998932e-01 -4.01953031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9265599950002 meters 0.012835246597673511 Centerline is valid? [True, True] Translation: X:113.65, Y:-155.33, Z:-5.02 [[-8.99317557e-01 -4.37294561e-01 1.18262876e-03 1.13652482e+02] [ 4.37294162e-01 -8.99318334e-01 -5.91160352e-04 -1.55325471e+02] [ 1.32207094e-03 -1.44842291e-05 9.99999126e-01 -5.02188904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.986559995 meters 0.012958764500787758 Centerline is valid? [True, True] Translation: X:113.34, Y:-155.97, Z:-4.02 [[-9.23524895e-01 3.83533212e-01 2.01106410e-03 1.13339010e+02] [ 3.83532330e-01 9.23527084e-01 -8.22320642e-04 -1.55969295e+02] [-2.17265944e-03 1.18745149e-05 -9.99997640e-01 -4.01738177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.046559995 meters 0.012674005549804268 Centerline is valid? [True, True] Translation: X:113.34, Y:-155.94, Z:-4.02 [[-9.49443675e-01 3.13927461e-01 2.50136510e-03 1.13344992e+02] [ 3.13926387e-01 9.49446970e-01 -8.21174748e-04 -1.55939024e+02] [-2.63270282e-03 5.58533996e-06 -9.99996534e-01 -4.01656091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.106559995 meters 0.01276484912323069 Centerline is valid? [True, True] Translation: X:113.35, Y:-155.91, Z:-4.02 [[-9.70211855e-01 2.42237319e-01 3.16827429e-03 1.13350846e+02] [ 2.42236011e-01 9.70217028e-01 -7.96299461e-04 -1.55909330e+02] [-3.26680711e-03 -5.10905387e-06 -9.99994664e-01 -4.01551919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.166559995 meters 0.013051863774299437 Centerline is valid? [True, True] Translation: X:113.35, Y:-155.88, Z:-4.01 [[-9.85938832e-01 1.67058835e-01 3.99572971e-03 1.13354915e+02] [ 1.67057339e-01 9.85946928e-01 -7.07472617e-04 -1.55877281e+02] [-4.05776699e-03 -3.00087512e-05 -9.99991767e-01 -4.01455698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2265599950001 meters 0.013544856977633676 Centerline is valid? [True, True] Translation: X:113.36, Y:-155.85, Z:-4.01 [[-9.95689187e-01 9.26583754e-02 4.17964248e-03 1.13359750e+02] [ 9.26573562e-02 9.95697958e-01 -4.37234851e-04 -1.55846311e+02] [-4.20217495e-03 -4.80753914e-05 -9.99991170e-01 -4.01396414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.286559995 meters 0.013777117889852095 Centerline is valid? [True, True] Translation: X:113.43, Y:-155.17, Z:-5.03 [[-9.83178133e-01 -1.82607241e-01 3.91847678e-03 1.13428058e+02] [ 1.82605917e-01 -9.83185941e-01 -6.96033354e-04 -1.55169311e+02] [ 3.97969201e-03 3.12122727e-05 9.99992081e-01 -5.02613144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.346559995 meters 0.0135520170503031 Centerline is valid? [True, True] Translation: X:113.31, Y:-155.84, Z:-4.01 [[-9.96112852e-01 8.80125297e-02 3.60291618e-03 1.13307824e+02] [ 8.80117944e-02 9.96119367e-01 -3.62414676e-04 -1.55843300e+02] [-3.62083161e-03 -4.39067985e-05 -9.99993444e-01 -4.01461107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.406559995 meters 0.013699391464126295 Centerline is valid? [True, True] Translation: X:113.38, Y:-155.16, Z:-5.03 [[-9.84206211e-01 -1.76984269e-01 3.83442357e-03 1.13380825e+02] [ 1.76983177e-01 -9.84213678e-01 -6.24989136e-04 -1.55162750e+02] [ 3.88450537e-03 6.35102737e-05 9.99992453e-01 -5.02639084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4665599950001 meters 0.013178568522991322 Centerline is valid? [True, True] Translation: X:113.26, Y:-155.84, Z:-4.01 [[-9.96117003e-01 8.79926358e-02 2.86559508e-03 1.13256084e+02] [ 8.79922029e-02 9.96121125e-01 -2.77022928e-04 -1.55843040e+02] [-2.87885577e-03 -2.37972251e-05 -9.99995856e-01 -4.01459646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.526559995 meters 0.013051304195509969 Centerline is valid? [True, True] Translation: X:113.33, Y:-155.15, Z:-5.03 [[-9.85560141e-01 -1.69311508e-01 2.19565804e-03 1.13331718e+02] [ 1.69311038e-01 -9.85562587e-01 -3.99447834e-04 -1.55152406e+02] [ 2.23158953e-03 -2.19307220e-05 9.99997510e-01 -5.02515619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.586559995 meters 0.013015173968424802 Centerline is valid? [True, True] Translation: X:113.21, Y:-155.84, Z:-4.02 [[-9.96236383e-01 8.66562667e-02 1.93927435e-03 1.13206165e+02] [ 8.66560807e-02 9.96238270e-01 -1.79874600e-04 -1.55844284e+02] [-1.94756659e-03 -1.11477059e-05 -9.99998103e-01 -4.01524579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.646559995 meters 0.013002701862222353 Centerline is valid? [True, True] Translation: X:113.21, Y:-155.82, Z:-4.01 [[-9.99885162e-01 1.47419210e-02 3.51278064e-03 1.13205041e+02] [ 1.47417488e-02 9.99891332e-01 -7.49217535e-05 -1.55816751e+02] [-3.51350340e-03 -2.31286199e-05 -9.99993827e-01 -4.01372140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7065599950001 meters 0.01358348789079325 Centerline is valid? [True, True] Translation: X:113.20, Y:-155.79, Z:-4.01 [[-9.98287597e-01 -5.83165815e-02 4.58804593e-03 1.13204585e+02] [-5.83161463e-02 9.98298139e-01 2.28693254e-04 -1.55785479e+02] [-4.59357433e-03 -3.92555193e-05 -9.99989449e-01 -4.01166629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.766559995 meters 0.013766667230778419 Centerline is valid? [True, True] Translation: X:113.20, Y:-155.75, Z:-4.01 [[-9.91100675e-01 -1.32973655e-01 6.12036987e-03 1.13195886e+02] [-1.32971596e-01 9.91119570e-01 7.43920779e-04 -1.55754553e+02] [-6.16494021e-03 -7.65349617e-05 -9.99980994e-01 -4.01117921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.826559995 meters 0.014386464174831724 Centerline is valid? [True, True] Translation: X:113.18, Y:-155.72, Z:-4.01 [[-9.78591893e-01 -2.05725865e-01 5.89704438e-03 1.13182225e+02] [-2.05722684e-01 9.78609657e-01 1.14755243e-03 -1.55724809e+02] [-6.00698579e-03 -9.01702901e-05 -9.99981954e-01 -4.01084625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.886559995 meters 0.014800652936893276 Centerline is valid? [True, True] Translation: X:113.05, Y:-155.06, Z:-5.03 [[-9.94304248e-01 1.06463743e-01 4.95326039e-03 1.13054939e+02] [-1.06462407e-01 -9.94316585e-01 5.33404848e-04 -1.55064343e+02] [ 4.98189723e-03 3.03068216e-06 9.99987590e-01 -5.02828739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9465599950001 meters 0.015255757165564493 Centerline is valid? [True, True] Translation: X:113.08, Y:-155.74, Z:-4.01 [[-9.76418114e-01 -2.15833487e-01 4.85511146e-03 1.13084490e+02] [-2.15831302e-01 9.76430180e-01 9.75890708e-04 -1.55739032e+02] [-4.95130726e-03 -9.50076618e-05 -9.99987738e-01 -4.01168112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.006559995 meters 0.015365547875021606 Centerline is valid? [True, True] Translation: X:113.07, Y:-155.71, Z:-4.01 [[-9.58641265e-01 -2.84560103e-01 5.69850458e-03 1.13070374e+02] [-2.84555762e-01 9.58658195e-01 1.57574238e-03 -1.55714178e+02] [-5.91131154e-03 -1.10970647e-04 -9.99982522e-01 -4.01038753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.066559995 meters 0.015466427877288446 Centerline is valid? [True, True] Translation: X:113.04, Y:-155.69, Z:-4.01 [[-9.35953566e-01 -3.52084942e-01 5.20737447e-03 1.13042764e+02] [-3.52080089e-01 9.35968046e-01 1.85123899e-03 -1.55694168e+02] [-5.52572948e-03 -1.00739133e-04 -9.99984728e-01 -4.01043817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.126559995 meters 0.015002458466991123 Centerline is valid? [True, True] Translation: X:113.00, Y:-155.68, Z:-4.01 [[-9.07910373e-01 -4.19142334e-01 4.29640419e-03 1.13004589e+02] [-4.19138088e-01 9.07920534e-01 1.88852858e-03 -1.55681279e+02] [-4.69235587e-03 -8.61719479e-05 -9.99988987e-01 -4.01158942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1865599950002 meters 0.01468531369574446 Centerline is valid? [True, True] Translation: X:112.95, Y:-155.68, Z:-4.01 [[-8.74738360e-01 -4.84574800e-01 4.47938522e-03 1.12949621e+02] [-4.84568998e-01 8.74749824e-01 2.37323320e-03 -1.55678854e+02] [-5.06835043e-03 -9.46130904e-05 -9.99987151e-01 -4.01124834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.246559995 meters 0.01492864051917892 Centerline is valid? [True, True] Translation: X:112.88, Y:-155.69, Z:-4.01 [[-8.36864448e-01 -5.47385619e-01 5.18464181e-03 1.12883805e+02] [-5.47375935e-01 8.36880500e-01 3.25791987e-03 -1.55686619e+02] [-6.12226412e-03 -1.11510851e-04 -9.99981253e-01 -4.00955733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.306559995 meters 0.015042957420803903 Centerline is valid? [True, True] Translation: X:112.81, Y:-155.70, Z:-4.01 [[-7.93971183e-01 -6.07929040e-01 5.66058265e-03 1.12811039e+02] [-6.07914726e-01 7.93991351e-01 4.17376672e-03 -1.55704376e+02] [-7.03180766e-03 -1.27301049e-04 -9.99975268e-01 -4.00863335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.366559995 meters 0.014778074589970127 Centerline is valid? [True, True] Translation: X:112.73, Y:-155.73, Z:-4.01 [[-7.46987198e-01 -6.64818209e-01 5.18423160e-03 1.12733678e+02] [-6.64803279e-01 7.47005178e-01 4.45692019e-03 -1.55732710e+02] [-6.83568955e-03 -1.17231842e-04 -9.99976630e-01 -4.00874015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4265599950002 meters 0.014639318880563178 Centerline is valid? [True, True] Translation: X:112.66, Y:-155.77, Z:-4.01 [[-6.95542203e-01 -7.18472090e-01 4.34730233e-03 1.12655764e+02] [-7.18458953e-01 6.95555782e-01 4.34597504e-03 -1.55767695e+02] [-6.14625304e-03 -1.00549225e-04 -9.99981107e-01 -4.00869910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.486559995 meters 0.014430593248414043 Centerline is valid? [True, True] Translation: X:112.57, Y:-155.82, Z:-4.01 [[-6.40777825e-01 -7.67715027e-01 4.17321094e-03 1.12573550e+02] [-7.67699695e-01 6.40791408e-01 4.85286772e-03 -1.55815709e+02] [-6.39977719e-03 -9.41627467e-05 -9.99979517e-01 -4.00821435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.546559995 meters 0.014110912836880107 Centerline is valid? [True, True] Translation: X:112.49, Y:-155.87, Z:-4.01 [[-5.81635572e-01 -8.13440802e-01 3.75797149e-03 1.12494404e+02] [-8.13424788e-01 5.81647706e-01 5.10499749e-03 -1.55871453e+02] [-6.33842875e-03 -8.75790212e-05 -9.99979908e-01 -4.00800967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.606559995 meters 0.01365397478262536 Centerline is valid? [True, True] Translation: X:112.42, Y:-155.94, Z:-4.01 [[-5.18407881e-01 -8.55127129e-01 3.29595635e-03 1.12416265e+02] [-8.55110876e-01 5.18418351e-01 5.27290647e-03 -1.55939970e+02] [-6.21768962e-03 -8.48918500e-05 -9.99980666e-01 -4.00847102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.666559995 meters 0.014133156225196421 Centerline is valid? [True, True] Translation: X:112.34, Y:-156.01, Z:-4.01 [[-4.52929607e-01 -8.91541322e-01 2.97354320e-03 1.12341161e+02] [-8.91523252e-01 4.52939361e-01 5.67689908e-03 -1.56013189e+02] [-6.40802487e-03 -7.97472362e-05 -9.99979465e-01 -4.00699668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7265599950001 meters 0.013531897667031206 Centerline is valid? [True, True] Translation: X:112.27, Y:-156.10, Z:-4.01 [[-3.85306761e-01 -9.22783299e-01 3.11184170e-03 1.12271734e+02] [-9.22754943e-01 3.85319318e-01 7.23457354e-03 -1.56100395e+02] [-7.87499636e-03 -8.39372102e-05 -9.99968988e-01 -4.00608374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.786559995 meters 0.013059049759129708 Centerline is valid? [True, True] Translation: X:112.21, Y:-156.19, Z:-4.00 [[-3.17344891e-01 -9.48304793e-01 3.19996437e-03 1.12211379e+02] [-9.48258676e-01 3.17361017e-01 9.35250126e-03 -1.56189871e+02] [-9.88456572e-03 -6.64254875e-05 -9.99951144e-01 -4.00485658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.846559995 meters 0.01278948244552903 Centerline is valid? [True, True] Translation: X:112.16, Y:-156.29, Z:-4.00 [[-2.47581433e-01 -9.68863763e-01 2.53834079e-03 1.12156846e+02] [-9.68814030e-01 2.47594444e-01 9.81661988e-03 -1.56288744e+02] [-1.01394464e-02 -2.87673504e-05 -9.99948594e-01 -4.00497021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.906559995 meters 0.012566273243461198 Centerline is valid? [True, True] Translation: X:112.11, Y:-156.39, Z:-4.01 [[-1.74480240e-01 -9.84659526e-01 1.50473532e-03 1.12107360e+02] [-9.84623298e-01 1.74486728e-01 8.44647734e-03 -1.56393028e+02] [-8.57946072e-03 -7.85406196e-06 -9.99963196e-01 -4.00684699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9665599950001 meters 0.012500422555050067 Centerline is valid? [True, True] Translation: X:112.07, Y:-156.50, Z:-4.01 [[-1.00140027e-01 -9.94973109e-01 6.98730743e-04 1.12065128e+02] [-9.94948529e-01 1.00142465e-01 6.99372090e-03 -1.56500841e+02] [-7.02853684e-03 5.15027800e-06 -9.99975300e-01 -4.00760456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.026559995 meters 0.01247039368080055 Centerline is valid? [True, True] Translation: X:112.03, Y:-156.61, Z:-4.01 [[-2.37012569e-02 -9.99719076e-01 1.36386974e-04 1.12030688e+02] [-9.99701130e-01 2.37016487e-02 5.99017080e-03 -1.56613918e+02] [-5.99172062e-03 5.62836505e-06 -9.99982050e-01 -4.00829571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.086559995 meters 0.012430518408605448 Centerline is valid? [True, True] Translation: X:112.00, Y:-156.73, Z:-4.01 [[ 5.47889666e-02 -9.98497914e-01 -2.92399944e-04 1.12003116e+02] [-9.98483302e-01 -5.47897467e-02 5.40174289e-03 -1.56733428e+02] [-5.40964952e-03 -3.99944871e-06 -9.99985368e-01 -4.00887136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.146559995 meters 0.012627404547182294 Centerline is valid? [True, True] Translation: X:111.98, Y:-156.85, Z:-4.01 [[ 1.34633375e-01 -9.90895148e-01 -8.12424594e-04 1.11981128e+02] [-9.90875927e-01 -1.34635824e-01 6.17190489e-03 -1.56851225e+02] [-6.22509206e-03 -2.59324152e-05 -9.99980624e-01 -4.00696395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2065599950001 meters 0.01273060051338253 Centerline is valid? [True, True] Translation: X:111.97, Y:-156.97, Z:-4.01 [[ 2.12096928e-01 -9.77247484e-01 -1.49963312e-03 1.11971659e+02] [-9.77221575e-01 -2.12102225e-01 7.11614647e-03 -1.56971224e+02] [-7.27231175e-03 -4.38389627e-05 -9.99973555e-01 -4.00606073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.266559995 meters 0.012741489144773292 Centerline is valid? [True, True] Translation: X:111.97, Y:-157.09, Z:-4.01 [[ 2.86866724e-01 -9.57967972e-01 -2.20169788e-03 1.11972179e+02] [-9.57938368e-01 -2.86875168e-01 7.53132100e-03 -1.57089713e+02] [-7.84637675e-03 -5.13945073e-05 -9.99969215e-01 -4.00527899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.326559995 meters 0.012588772563976612 Centerline is valid? [True, True] Translation: X:111.98, Y:-157.21, Z:-4.01 [[ 3.59634731e-01 -9.33089237e-01 -2.70854648e-03 1.11983837e+02] [-9.33061683e-01 -3.59644926e-01 7.17095392e-03 -1.57208658e+02] [-7.66525492e-03 -5.16831410e-05 -9.99970620e-01 -4.00594843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.386559995 meters 0.012608015395233738 Centerline is valid? [True, True] Translation: X:112.01, Y:-157.33, Z:-4.01 [[ 4.29750843e-01 -9.02942706e-01 -2.94683903e-03 1.12006148e+02] [-9.02920756e-01 -4.29760943e-01 6.29601236e-03 -1.57330131e+02] [-6.95137476e-03 -4.49544906e-05 -9.99975838e-01 -4.00557055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4465599950001 meters 0.012504698516213785 Centerline is valid? [True, True] Translation: X:112.03, Y:-157.43, Z:-4.00 [[ 4.96220748e-01 -8.68188663e-01 -3.66263791e-03 1.12030912e+02] [-8.68164471e-01 -4.96234264e-01 6.48123360e-03 -1.57433230e+02] [-7.44445996e-03 -3.63504851e-05 -9.99972289e-01 -4.00483112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.506559995 meters 0.012467743923615496 Centerline is valid? [True, True] Translation: X:112.07, Y:-157.54, Z:-4.00 [[ 5.60595427e-01 -8.28078564e-01 -4.31968776e-03 1.12066156e+02] [-8.28053525e-01 -5.60612068e-01 6.43961518e-03 -1.57538887e+02] [-7.75417638e-03 -3.30861473e-05 -9.99969935e-01 -4.00451149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.566559995 meters 0.012513550055033245 Centerline is valid? [True, True] Translation: X:112.11, Y:-157.64, Z:-4.01 [[ 6.23617841e-01 -7.81717014e-01 -4.39300773e-03 1.12108717e+02] [-7.81697126e-01 -6.23633312e-01 5.57628559e-03 -1.57643008e+02] [-7.09870328e-03 -4.34696622e-05 -9.99974803e-01 -4.00519771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.626559995 meters 0.013042182042576808 Centerline is valid? [True, True] Translation: X:112.16, Y:-157.74, Z:-4.00 [[ 6.84157163e-01 -7.29314469e-01 -5.42056123e-03 1.12155900e+02] [-7.29290642e-01 -6.84178631e-01 5.89577624e-03 -1.57743050e+02] [-8.00850708e-03 -8.04729676e-05 -9.99967928e-01 -4.00477669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6865599950002 meters 0.013590444711457782 Centerline is valid? [True, True] Translation: X:112.21, Y:-157.84, Z:-4.00 [[ 7.39390141e-01 -6.73231878e-01 -7.81393874e-03 1.12211149e+02] [-6.73192333e-01 -7.39431416e-01 7.29818951e-03 -1.57837056e+02] [-1.06912456e-02 -1.35925718e-04 -9.99942838e-01 -4.00302992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.746559995 meters 0.013781466987271736 Centerline is valid? [True, True] Translation: X:112.23, Y:-157.86, Z:-4.00 [[ 7.89693259e-01 -6.13426518e-01 -9.61581341e-03 1.12233337e+02] [-6.13378639e-01 -7.89751785e-01 7.66566635e-03 -1.57863656e+02] [-1.22964288e-02 -1.55390497e-04 -9.99924384e-01 -4.00195538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.806559995 meters 0.013316276409286704 Centerline is valid? [True, True] Translation: X:112.26, Y:-157.89, Z:-4.00 [[ 8.34335252e-01 -5.51171819e-01 -9.71147706e-03 1.12256876e+02] [-5.51132679e-01 -8.34391760e-01 6.56969288e-03 -1.57889451e+02] [-1.17242060e-02 -1.29013998e-04 -9.99931261e-01 -4.00345748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.866559995 meters 0.01284316792201661 Centerline is valid? [True, True] Translation: X:112.28, Y:-157.91, Z:-4.01 [[ 8.72397327e-01 -4.88715313e-01 -8.95806962e-03 1.12283034e+02] [-4.88688835e-01 -8.72443316e-01 5.08759995e-03 -1.57911251e+02] [-1.03017960e-02 -6.06999952e-05 -9.99946933e-01 -4.00575112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9265599950002 meters 0.01256560338839588 Centerline is valid? [True, True] Translation: X:112.31, Y:-157.93, Z:-4.01 [[ 9.05110460e-01 -4.25094712e-01 -8.33910754e-03 1.12311367e+02] [-4.25076747e-01 -9.05148875e-01 3.90804191e-03 -1.57930542e+02] [-9.20942176e-03 7.55109716e-06 -9.99957592e-01 -4.00842712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.986559995 meters 0.012959157306373219 Centerline is valid? [True, True] Translation: X:112.34, Y:-157.95, Z:-4.01 [[ 9.33931941e-01 -3.57324319e-01 -9.51103458e-03 1.12339301e+02] [-3.57306388e-01 -9.33980368e-01 3.58016425e-03 -1.57947380e+02] [-1.01623993e-02 5.47236566e-05 -9.99948360e-01 -4.00869213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.046559995 meters 0.013085403138412614 Centerline is valid? [True, True] Translation: X:112.37, Y:-157.97, Z:-4.01 [[ 9.58214095e-01 -2.85871572e-01 -1.01583783e-02 1.12368163e+02] [-2.85856458e-01 -9.58267936e-01 2.94086114e-03 -1.57967290e+02] [-1.05751568e-02 8.58634508e-05 -9.99944078e-01 -4.00921347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.106559995 meters 0.013143491829728909 Centerline is valid? [True, True] Translation: X:112.40, Y:-157.99, Z:-4.01 [[ 9.77445915e-01 -2.10938312e-01 -1.02231097e-02 1.12398076e+02] [-2.10927780e-01 -9.77499371e-01 2.10994565e-03 -1.57985443e+02] [-1.04381516e-02 9.39800685e-05 -9.99945517e-01 -4.00931835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.166559995 meters 0.013044091109637964 Centerline is valid? [True, True] Translation: X:112.43, Y:-158.00, Z:-4.01 [[ 9.90971262e-01 -1.33794719e-01 -8.65623962e-03 1.12425649e+02] [-1.33790305e-01 -9.91009065e-01 1.08959525e-03 -1.58003827e+02] [-8.72419402e-03 7.83633575e-05 -9.99961940e-01 -4.01002230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2265599950001 meters 0.012975185318606856 Centerline is valid? [True, True] Translation: X:112.45, Y:-158.02, Z:-4.01 [[ 9.98484671e-01 -5.44532504e-02 -7.95017356e-03 1.12454767e+02] [-5.44520100e-02 -9.98516319e-01 3.72549784e-04 -1.58017441e+02] [-7.95866458e-03 6.09176820e-05 -9.99968328e-01 -4.00987145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.286559995 meters 0.012489209518813835 Centerline is valid? [True, True] Translation: X:112.49, Y:-158.03, Z:-4.01 [[ 9.99510134e-01 3.01765998e-02 -8.29850565e-03 1.12485976e+02] [ 3.01754648e-02 -9.99544583e-01 -2.61975010e-04 -1.58033842e+02] [-8.30263188e-03 1.14354118e-05 -9.99965533e-01 -4.00939009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.346559995 meters 0.012899538415297394 Centerline is valid? [True, True] Translation: X:112.52, Y:-158.05, Z:-4.01 [[ 9.93246559e-01 1.15675295e-01 -8.97216014e-03 1.12517267e+02] [ 1.15671067e-01 -9.93287080e-01 -9.90503342e-04 -1.58046224e+02] [-9.02650751e-03 -5.40052994e-05 -9.99959259e-01 -4.00783361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.406559995 meters 0.014623970213495006 Centerline is valid? [True, True] Translation: X:112.55, Y:-158.06, Z:-4.01 [[ 9.78825654e-01 2.04517680e-01 -8.53569305e-03 1.12552432e+02] [ 2.04511269e-01 -9.78862858e-01 -1.62655738e-03 -1.58060575e+02] [-8.68793264e-03 -1.53529333e-04 -9.99962247e-01 -4.00768893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4665599950001 meters 0.016688934057200237 Centerline is valid? [True, True] Translation: X:112.59, Y:-158.07, Z:-4.01 [[ 9.58002053e-01 2.86682168e-01 -6.73805526e-03 1.12586593e+02] [ 2.86676310e-01 -9.58025734e-01 -1.84043618e-03 -1.58065527e+02] [-6.98285057e-03 -1.68499182e-04 -9.99975605e-01 -4.00935071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.526559995 meters 0.017288756689207044 Centerline is valid? [True, True] Translation: X:112.62, Y:-158.06, Z:-4.01 [[ 9.32384156e-01 3.61415926e-01 -6.18978095e-03 1.12620340e+02] [ 3.61409118e-01 -9.32404688e-01 -2.22432207e-03 -1.58061339e+02] [-6.57528619e-03 -1.63120621e-04 -9.99978369e-01 -4.00965120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.586559995 meters 0.017457281208089287 Centerline is valid? [True, True] Translation: X:112.65, Y:-158.05, Z:-4.01 [[ 9.01045825e-01 4.33692452e-01 -5.22288797e-03 1.12652594e+02] [ 4.33686091e-01 -9.01060950e-01 -2.35341539e-03 -1.58053313e+02] [-5.72679889e-03 -1.44558753e-04 -9.99983591e-01 -4.01100599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.646559995 meters 0.01777228347825548 Centerline is valid? [True, True] Translation: X:112.68, Y:-158.04, Z:-4.01 [[ 8.64419488e-01 5.02746070e-01 -5.03371256e-03 1.12683354e+02] [ 5.02738509e-01 -8.64434132e-01 -2.76107303e-03 -1.58042877e+02] [-5.73943157e-03 -1.43915814e-04 -9.99983519e-01 -4.01056159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7065599950001 meters 0.01631888591213695 Centerline is valid? [True, True] Translation: X:112.71, Y:-158.03, Z:-4.01 [[ 8.23258291e-01 5.67632671e-01 -6.23998176e-03 1.12714409e+02] [ 5.67617971e-01 -8.23281920e-01 -4.08893620e-03 -1.58029377e+02] [-7.45827794e-03 -1.75675153e-04 -9.99972171e-01 -4.01008406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.766559995 meters 0.015592537172917127 Centerline is valid? [True, True] Translation: X:112.74, Y:-158.01, Z:-4.01 [[ 7.77848455e-01 6.28407927e-01 -7.43361313e-03 1.12743737e+02] [ 6.28381641e-01 -7.77883949e-01 -5.75118349e-03 -1.58013176e+02] [-9.39657763e-03 -1.97596827e-04 -9.99955832e-01 -4.00875970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.826559995 meters 0.015052968624422113 Centerline is valid? [True, True] Translation: X:112.77, Y:-158.00, Z:-4.01 [[ 7.28193141e-01 6.85323686e-01 -8.13602259e-03 1.12771066e+02] [ 6.85283958e-01 -7.28238564e-01 -7.38184386e-03 -1.57995654e+02] [-1.09839179e-02 -2.00077693e-04 -9.99939655e-01 -4.00814477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.886559995 meters 0.014065495424790833 Centerline is valid? [True, True] Translation: X:112.79, Y:-157.97, Z:-4.01 [[ 6.76847844e-01 7.36070343e-01 -8.80033381e-03 1.12793534e+02] [ 7.36011084e-01 -6.76905035e-01 -9.34119589e-03 -1.57974078e+02] [-1.28327675e-02 -1.54574924e-04 -9.99917645e-01 -4.00631096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9465599950001 meters 0.013192796971464893 Centerline is valid? [True, True] Translation: X:112.81, Y:-157.95, Z:-4.01 [[ 6.24600152e-01 7.80894404e-01 -8.86456091e-03 1.12810214e+02] [ 7.80816570e-01 -6.24663052e-01 -1.10252049e-02 -1.57948138e+02] [-1.41468845e-02 -3.52513675e-05 -9.99899927e-01 -4.00543279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.006559995 meters 0.013670717124522952 Centerline is valid? [True, True] Translation: X:112.82, Y:-157.92, Z:-4.01 [[ 5.68090385e-01 8.22925218e-01 -8.20977792e-03 1.12824851e+02] [ 8.22837256e-01 -5.68149698e-01 -1.20320798e-02 -1.57921593e+02] [-1.45658848e-02 7.99977400e-05 -9.99893909e-01 -4.00552645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.066559995 meters 0.015335417803428864 Centerline is valid? [True, True] Translation: X:112.84, Y:-157.90, Z:-4.01 [[ 5.12054824e-01 8.58923679e-01 -7.06899617e-03 1.12837621e+02] [ 8.58835143e-01 -5.12103557e-01 -1.23346698e-02 -1.57895056e+02] [-1.42145981e-02 2.44924835e-04 -9.99898938e-01 -4.00734233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.126559995 meters 0.017486099630795792 Centerline is valid? [True, True] Translation: X:112.85, Y:-157.87, Z:-4.01 [[ 4.51508048e-01 8.92249954e-01 -5.52292133e-03 1.12850407e+02] [ 8.92173691e-01 -4.51541696e-01 -1.16705644e-02 -1.57869579e+02] [-1.29068898e-02 3.41948663e-04 -9.99916644e-01 -4.00919216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1865599950002 meters 0.017716159519429973 Centerline is valid? [True, True] Translation: X:112.87, Y:-157.85, Z:-4.01 [[ 3.82840188e-01 9.23804783e-01 -4.25605964e-03 1.12868688e+02] [ 9.23737153e-01 -3.82863685e-01 -1.11835339e-02 -1.57846791e+02] [-1.19608928e-02 3.50025809e-04 -9.99928405e-01 -4.01040960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.246559995 meters 0.01811400201319852 Centerline is valid? [True, True] Translation: X:112.88, Y:-157.82, Z:-4.01 [[ 3.08705989e-01 9.51152023e-01 -3.23141368e-03 1.12884230e+02] [ 9.51088264e-01 -3.08722727e-01 -1.10177877e-02 -1.57824010e+02] [-1.14772019e-02 3.27897398e-04 -9.99934081e-01 -4.01024688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.306559995 meters 0.016072242799468086 Centerline is valid? [True, True] Translation: X:112.91, Y:-157.80, Z:-4.01 [[ 2.27171910e-01 9.73851971e-01 -2.29374616e-03 1.12907335e+02] [ 9.73790679e-01 -2.27183353e-01 -1.09287279e-02 -1.57801241e+02] [-1.11640642e-02 2.49071370e-04 -9.99937649e-01 -4.01057795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.366559995 meters 0.015071709659070745 Centerline is valid? [True, True] Translation: X:112.92, Y:-157.78, Z:-4.01 [[ 1.43692813e-01 9.89621339e-01 -1.40760095e-03 1.12924729e+02] [ 9.89561333e-01 -1.43699603e-01 -1.08992216e-02 -1.57776156e+02] [-1.09883740e-02 1.73232345e-04 -9.99939611e-01 -4.00979365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4265599950002 meters 0.013321049531500158 Centerline is valid? [True, True] Translation: X:112.94, Y:-157.75, Z:-4.01 [[ 5.51161460e-02 9.98479810e-01 -5.29321658e-04 1.12941091e+02] [ 9.98423803e-01 -5.51186609e-02 -1.05755403e-02 -1.57750278e+02] [-1.05886390e-02 5.43956831e-05 -9.99943937e-01 -4.00945146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.486559995 meters 0.013032469594495177 Centerline is valid? [True, True] Translation: X:112.96, Y:-157.72, Z:-4.01 [[-3.25822804e-02 9.99469020e-01 2.71092517e-04 1.12957827e+02] [ 9.99423403e-01 3.25833833e-02 -9.54902772e-03 -1.57720462e+02] [-9.55279049e-03 -4.01928929e-05 -9.99954370e-01 -4.01111235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.546559995 meters 0.0134723795407205 Centerline is valid? [True, True] Translation: X:112.97, Y:-157.69, Z:-4.01 [[-1.16085471e-01 9.93238797e-01 9.24503135e-04 1.12968690e+02] [ 9.93201369e-01 1.16089123e-01 -8.62296135e-03 -1.57689334e+02] [-8.67198452e-03 -8.27827513e-05 -9.99962394e-01 -4.01108033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.606559995 meters 0.014552630956988458 Centerline is valid? [True, True] Translation: X:112.98, Y:-157.66, Z:-4.01 [[-1.99938001e-01 9.79807515e-01 1.42486168e-03 1.12977520e+02] [ 9.79778022e-01 1.99943039e-01 -7.60317003e-03 -1.57656878e+02] [-7.73453431e-03 -1.24114456e-04 -9.99970080e-01 -4.01134892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.666559995 meters 0.01644602348730134 Centerline is valid? [True, True] Translation: X:112.98, Y:-157.63, Z:-4.01 [[-2.79382297e-01 9.60178024e-01 1.92213101e-03 1.12981376e+02] [ 9.60151633e-01 2.79388872e-01 -7.12042265e-03 -1.57625325e+02] [-7.37389537e-03 -1.43782808e-04 -9.99972802e-01 -4.01032806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7265599950001 meters 0.017992134577186885 Centerline is valid? [True, True] Translation: X:112.98, Y:-157.60, Z:-4.01 [[-3.56565869e-01 9.34266580e-01 2.59579178e-03 1.12975192e+02] [ 9.34238153e-01 3.56575274e-01 -7.29023292e-03 -1.57595115e+02] [-7.73661615e-03 -1.74360514e-04 -9.99970057e-01 -4.00899978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.786559995 meters 0.01698277541873682 Centerline is valid? [True, True] Translation: X:112.97, Y:-157.57, Z:-4.01 [[-4.29537975e-01 9.03041249e-01 3.69196566e-03 1.12966437e+02] [ 9.03003531e-01 4.29553789e-01 -8.25628381e-03 -1.57565394e+02] [-9.04166268e-03 -2.12529402e-04 -9.99959101e-01 -4.00727070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.846559995 meters 0.01693622830713222 Centerline is valid? [True, True] Translation: X:112.96, Y:-157.54, Z:-4.01 [[-4.98600089e-01 8.66816860e-01 5.14617810e-03 1.12955361e+02] [ 8.66765441e-01 4.98626584e-01 -9.44460371e-03 -1.57536875e+02] [-1.07527629e-02 -2.48550914e-04 -9.99942157e-01 -4.00520785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.906559995 meters 0.015486430297688793 Centerline is valid? [True, True] Translation: X:112.94, Y:-157.51, Z:-4.00 [[-5.63122184e-01 8.26339103e-01 7.55599591e-03 1.12941067e+02] [ 8.26257709e-01 5.63172801e-01 -1.16015043e-02 -1.57509324e+02] [-1.38421080e-02 -2.89864583e-04 -9.99904151e-01 -4.00339500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9665599950001 meters 0.015195412113329494 Centerline is valid? [True, True] Translation: X:112.92, Y:-157.48, Z:-4.00 [[-6.22504422e-01 7.82556119e-01 9.70385110e-03 1.12924491e+02] [ 7.82454481e-01 6.22579997e-01 -1.26148114e-02 -1.57484806e+02] [-1.59132214e-02 -2.59954106e-04 -9.99873343e-01 -3.99995742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.026559995 meters 0.013841743055598337 Centerline is valid? [True, True] Translation: X:112.91, Y:-157.46, Z:-4.00 [[-6.79052944e-01 7.34005954e-01 1.10616102e-02 1.12905161e+02] [ 7.33903618e-01 6.79143003e-01 -1.22581410e-02 -1.57461474e+02] [-1.65099636e-02 -2.05770949e-04 -9.99863680e-01 -4.00207441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.086559995 meters 0.013216464906871048 Centerline is valid? [True, True] Translation: X:112.88, Y:-157.44, Z:-4.00 [[-7.29942368e-01 6.83420430e-01 1.09843401e-02 1.12883552e+02] [ 6.83341238e-01 7.30025006e-01 -1.04040129e-02 -1.57442379e+02] [-1.51291579e-02 -8.82772756e-05 -9.99885544e-01 -4.00271521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.146559995 meters 0.012846688194505339 Centerline is valid? [True, True] Translation: X:112.90, Y:-157.43, Z:-4.00 [[-7.74197413e-01 6.32852411e-01 1.07792055e-02 1.12900867e+02] [ 6.32790523e-01 7.74272449e-01 -8.85040475e-03 -1.57426481e+02] [-1.39470418e-02 -3.09813790e-05 -9.99902735e-01 -4.00477265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2065599950001 meters 0.012897570404653516 Centerline is valid? [True, True] Translation: X:112.92, Y:-157.40, Z:-4.00 [[-8.16218643e-01 5.77646500e-01 1.05664038e-02 1.12919684e+02] [ 5.77597936e-01 8.16287034e-01 -7.49023812e-03 -1.57403584e+02] [-1.29519282e-02 -1.05389759e-05 -9.99916120e-01 -4.00423130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.266559995 meters 0.012945058583308787 Centerline is valid? [True, True] Translation: X:112.93, Y:-157.38, Z:-4.01 [[-8.54189048e-01 5.19825405e-01 1.19422565e-02 1.12929696e+02] [ 5.19774796e-01 8.54272525e-01 -7.25355702e-03 -1.57378330e+02] [-1.39725248e-02 1.13749486e-05 -9.99902380e-01 -4.00596528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.326559995 meters 0.012963234819981705 Centerline is valid? [True, True] Translation: X:112.95, Y:-157.36, Z:-4.01 [[-8.88202298e-01 4.59279775e-01 1.26002187e-02 1.12948417e+02] [ 4.59234070e-01 8.88291668e-01 -6.47930733e-03 -1.57358082e+02] [-1.41684841e-02 3.15140452e-05 -9.99899622e-01 -4.00678669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.386559995 meters 0.013229710385852453 Centerline is valid? [True, True] Translation: X:112.96, Y:-157.33, Z:-4.01 [[-9.17392170e-01 3.97747569e-01 1.37287189e-02 1.12962627e+02] [ 3.97704254e-01 9.17494886e-01 -5.87037499e-03 -1.57333511e+02] [-1.49309568e-02 7.45338610e-05 -9.99888524e-01 -4.00529666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4465599950001 meters 0.01335093012343121 Centerline is valid? [True, True] Translation: X:112.97, Y:-157.31, Z:-4.01 [[-9.42862953e-01 3.32903271e-01 1.35964538e-02 1.12973440e+02] [ 3.32870033e-01 9.42960977e-01 -4.70496896e-03 -1.57308390e+02] [-1.43872250e-02 8.97111082e-05 -9.99896495e-01 -4.00523359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.506559995 meters 0.01364341086655128 Centerline is valid? [True, True] Translation: X:112.98, Y:-157.28, Z:-4.01 [[-9.63079908e-01 2.68903702e-01 1.29572512e-02 1.12983025e+02] [ 2.68881254e-01 9.63167058e-01 -3.47711848e-03 -1.57284314e+02] [-1.34150075e-02 1.35218991e-04 -9.99910006e-01 -4.00647928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.566559995 meters 0.01423899839120371 Centerline is valid? [True, True] Translation: X:112.99, Y:-157.26, Z:-4.01 [[-9.79114253e-01 2.02989767e-01 1.14207850e-02 1.12990201e+02] [ 2.02977785e-01 9.79180847e-01 -2.21082636e-03 -1.57259757e+02] [-1.16317890e-02 1.53514043e-04 -9.99932337e-01 -4.00876024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.626559995 meters 0.014481569158734844 Centerline is valid? [True, True] Translation: X:112.99, Y:-157.23, Z:-4.01 [[-9.91036837e-01 1.33163847e-01 1.06478972e-02 1.12993042e+02] [ 1.33157714e-01 9.91094027e-01 -1.28605488e-03 -1.57231402e+02] [-1.07243234e-02 1.43321897e-04 -9.99942483e-01 -4.00892917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6865599950002 meters 0.013916379309361883 Centerline is valid? [True, True] Translation: X:112.99, Y:-157.20, Z:-4.01 [[-9.98185174e-01 5.96303811e-02 8.40097086e-03 1.12990153e+02] [ 5.96290114e-02 9.98220522e-01 -4.13643804e-04 -1.57200741e+02] [-8.41068725e-03 8.80484750e-05 -9.99964626e-01 -4.01001961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.746559995 meters 0.013019883676723472 Centerline is valid? [True, True] Translation: X:113.02, Y:-156.54, Z:-5.03 [[-9.93674599e-01 -1.12015828e-01 7.95273480e-03 1.13019753e+02] [ 1.12011340e-01 -9.93706416e-01 -1.00892948e-03 -1.56535129e+02] [ 8.01569967e-03 -1.11751120e-04 9.99967868e-01 -5.03100447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.806559995 meters 0.01278224482568588 Centerline is valid? [True, True] Translation: X:112.93, Y:-157.19, Z:-4.01 [[-9.98977539e-01 4.43458933e-02 8.79305271e-03 1.12929011e+02] [ 4.43441158e-02 9.99016237e-01 -3.97109660e-04 -1.57187747e+02] [-8.80201261e-03 -6.78348284e-06 -9.99961262e-01 -4.00905713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.866559995 meters 0.01334159100680981 Centerline is valid? [True, True] Translation: X:112.92, Y:-157.15, Z:-4.01 [[-9.99400527e-01 -3.32959853e-02 9.48497081e-03 1.12919005e+02] [-3.32951473e-02 9.99445533e-01 2.46285727e-04 -1.57154301e+02] [-9.48791203e-03 -6.96654147e-05 -9.99954986e-01 -4.00760379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9265599950002 meters 0.013617742372700095 Centerline is valid? [True, True] Translation: X:112.90, Y:-156.52, Z:-5.03 [[-9.98623438e-01 -5.13765287e-02 1.05679346e-02 1.12902707e+02] [ 5.13752546e-02 -9.98679343e-01 -3.92180401e-04 -1.56517247e+02] [ 1.05741269e-02 1.51289792e-04 9.99944081e-01 -5.03311840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.986559995 meters 0.013469970621424156 Centerline is valid? [True, True] Translation: X:112.85, Y:-157.16, Z:-4.01 [[-9.99143004e-01 -3.96867758e-02 1.17565690e-02 1.12853487e+02] [-3.96853099e-02 9.99212164e-01 3.58042005e-04 -1.57156720e+02] [-1.17615163e-02 -1.08827919e-04 -9.99930825e-01 -4.00648762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.046559995 meters 0.013196778162904902 Centerline is valid? [True, True] Translation: X:112.85, Y:-157.13, Z:-4.01 [[-9.94239499e-01 -1.06540814e-01 1.16992646e-02 1.12851135e+02] [-1.06534149e-01 9.94308328e-01 1.19319451e-03 -1.57134803e+02] [-1.17598001e-02 -6.00500807e-05 -9.99930849e-01 -4.00590670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.106559995 meters 0.012917940282785345 Centerline is valid? [True, True] Translation: X:112.84, Y:-157.11, Z:-4.01 [[-9.84732361e-01 -1.73647654e-01 1.21929820e-02 1.12842476e+02] [-1.73634597e-01 9.84807845e-01 2.12948580e-03 -1.57113285e+02] [-1.23775246e-02 -2.01499469e-05 -9.99923395e-01 -4.00681657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.166559995 meters 0.013215623018949513 Centerline is valid? [True, True] Translation: X:112.83, Y:-157.09, Z:-4.00 [[-9.70586379e-01 -2.40352254e-01 1.38879465e-02 1.12828585e+02] [-2.40327293e-01 9.70685734e-01 3.46394903e-03 -1.57093860e+02] [-1.43133995e-02 2.44091551e-05 -9.99897558e-01 -4.00476537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2265599950001 meters 0.013411098215020505 Centerline is valid? [True, True] Translation: X:112.80, Y:-157.08, Z:-4.00 [[-9.51269578e-01 -3.08017853e-01 1.45324562e-02 1.12800738e+02] [-3.07981094e-01 9.51380576e-01 4.75879133e-03 -1.57076843e+02] [-1.52916892e-02 5.11716731e-05 -9.99883074e-01 -4.00471707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.286559995 meters 0.013241511910966937 Centerline is valid? [True, True] Translation: X:112.76, Y:-157.06, Z:-4.01 [[-9.26407375e-01 -3.76262501e-01 1.39966547e-02 1.12757656e+02] [-3.76218776e-01 9.26513102e-01 5.73626008e-03 -1.57063650e+02] [-1.51264235e-02 4.83093401e-05 -9.99885588e-01 -4.00571309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.346559995 meters 0.013301625134029289 Centerline is valid? [True, True] Translation: X:112.70, Y:-157.06, Z:-4.01 [[-8.95781977e-01 -4.44316007e-01 1.25672582e-02 1.12697955e+02] [-4.44271799e-01 8.95870127e-01 6.26765565e-03 -1.57061479e+02] [-1.40434510e-02 3.11745449e-05 -9.99901385e-01 -4.00629866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.406559995 meters 0.013079202975472553 Centerline is valid? [True, True] Translation: X:112.63, Y:-157.07, Z:-4.01 [[-8.60525176e-01 -5.09283618e-01 1.12524990e-02 1.12631222e+02] [-5.09239660e-01 8.60598743e-01 6.69124873e-03 -1.57066572e+02] [-1.30916298e-02 2.77692452e-05 -9.99914301e-01 -4.00774468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4665599950001 meters 0.013476687962243336 Centerline is valid? [True, True] Translation: X:112.56, Y:-157.08, Z:-4.01 [[-8.21636732e-01 -5.69909768e-01 1.07674479e-02 1.12557409e+02] [-5.69859917e-01 8.21707280e-01 7.53801884e-03 -1.57084259e+02] [-1.31436809e-02 5.75762045e-05 -9.99913617e-01 -4.00705851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.526559995 meters 0.013255343381425744 Centerline is valid? [True, True] Translation: X:112.48, Y:-157.11, Z:-4.01 [[-7.77707689e-01 -6.28540676e-01 1.03618922e-02 1.12479931e+02] [-6.28483520e-01 7.77776711e-01 8.47665599e-03 -1.57109760e+02] [-1.33871615e-02 8.00820461e-05 -9.99910385e-01 -4.00916742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.586559995 meters 0.013287071605666466 Centerline is valid? [True, True] Translation: X:112.40, Y:-157.15, Z:-4.01 [[-7.28993524e-01 -6.84463556e-01 8.83641278e-03 1.12397840e+02] [-6.84411863e-01 7.29047072e-01 8.41241290e-03 -1.57146489e+02] [-1.22001509e-02 8.48487931e-05 -9.99925572e-01 -4.01063939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.646559995 meters 0.01343746651193958 Centerline is valid? [True, True] Translation: X:112.32, Y:-157.18, Z:-4.01 [[-6.80812117e-01 -7.32415962e-01 7.85620807e-03 1.12315530e+02] [-7.32365206e-01 6.80857434e-01 8.62324493e-03 -1.57183832e+02] [-1.16647599e-02 1.17196200e-04 -9.99931958e-01 -4.01100456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7065599950001 meters 0.013148556111038687 Centerline is valid? [True, True] Translation: X:112.23, Y:-157.24, Z:-4.01 [[-6.22117912e-01 -7.82886379e-01 7.63033157e-03 1.12230908e+02] [-7.82826299e-01 6.22164700e-01 9.69902924e-03 -1.57237424e+02] [-1.23405608e-02 6.07155921e-05 -9.99923851e-01 -4.01127426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.766559995 meters 0.013074783712472067 Centerline is valid? [True, True] Translation: X:112.15, Y:-157.30, Z:-4.01 [[-5.57272619e-01 -8.30297201e-01 7.33394356e-03 1.12146821e+02] [-8.30225167e-01 5.57320876e-01 1.09368153e-02 -1.57300448e+02] [-1.31681670e-02 5.96318179e-06 -9.99913296e-01 -4.01000716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.826559995 meters 0.013238361793131023 Centerline is valid? [True, True] Translation: X:112.06, Y:-157.38, Z:-4.01 [[-4.86097750e-01 -8.73878899e-01 6.68185578e-03 1.12059570e+02] [-8.73799085e-01 4.86143663e-01 1.18109747e-02 -1.57376944e+02] [-1.35697034e-02 -9.73112370e-05 -9.99907923e-01 -4.00987770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.886559995 meters 0.014284000788120782 Centerline is valid? [True, True] Translation: X:111.98, Y:-157.45, Z:-4.01 [[-4.12580856e-01 -9.10904237e-01 5.52336733e-03 1.11983602e+02] [-9.10828193e-01 4.12617790e-01 1.17712933e-02 -1.57453168e+02] [-1.30015606e-02 -1.74228398e-04 -9.99915461e-01 -4.00946177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9465599950001 meters 0.015777288979055303 Centerline is valid? [True, True] Translation: X:111.91, Y:-157.54, Z:-4.01 [[-3.34138387e-01 -9.42511978e-01 4.76548715e-03 1.11910303e+02] [-9.42428351e-01 3.34172238e-01 1.25586092e-02 -1.57542629e+02] [-1.34291331e-02 -2.94816775e-04 -9.99909782e-01 -4.00981269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.006559995 meters 0.01808435278984082 Centerline is valid? [True, True] Translation: X:111.85, Y:-157.63, Z:-4.01 [[-2.57137218e-01 -9.66367110e-01 3.88062158e-03 1.11845121e+02] [-9.66277333e-01 2.57166245e-01 1.31772113e-02 -1.57633873e+02] [-1.37319885e-02 -3.61405217e-04 -9.99905647e-01 -4.00767386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.066559995 meters 0.017608620449732056 Centerline is valid? [True, True] Translation: X:111.79, Y:-157.73, Z:-4.01 [[-1.81912868e-01 -9.83311069e-01 2.65507214e-03 1.11793263e+02] [-9.83232269e-01 1.81931915e-01 1.24532690e-02 -1.57733730e+02] [-1.27284796e-02 -3.45142724e-04 -9.99918930e-01 -4.00933799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.126559995 meters 0.017199200838485453 Centerline is valid? [True, True] Translation: X:111.75, Y:-157.84, Z:-4.01 [[-1.07278466e-01 -9.94227757e-01 1.58036398e-03 1.11749694e+02] [-9.94158277e-01 1.07289659e-01 1.17579583e-02 -1.57837546e+02] [-1.18596452e-02 -3.09756208e-04 -9.99929624e-01 -4.00969643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1865599950002 meters 0.01571816475667272 Centerline is valid? [True, True] Translation: X:111.72, Y:-157.94, Z:-4.01 [[-3.28817260e-02 -9.99459023e-01 6.72975183e-04 1.11717809e+02] [-9.99389565e-01 3.28873771e-02 1.17863706e-02 -1.57944301e+02] [-1.18021269e-02 -2.85008166e-04 -9.99930312e-01 -4.01001937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.246559995 meters 0.016539357868319494 Centerline is valid? [True, True] Translation: X:111.69, Y:-158.05, Z:-4.01 [[ 4.27250483e-02 -9.99086839e-01 -2.43208895e-04 1.11688704e+02] [-9.99009440e-01 -4.27247665e-02 1.24392168e-02 -1.58054988e+02] [-1.24382488e-02 -2.88498155e-04 -9.99922600e-01 -4.00826551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.306559995 meters 0.016313113031013158 Centerline is valid? [True, True] Translation: X:111.67, Y:-158.17, Z:-4.01 [[ 1.18208472e-01 -9.92987931e-01 -1.31393435e-03 1.11669821e+02] [-9.92894761e-01 -1.18215384e-01 1.36057824e-02 -1.58168707e+02] [-1.36657050e-02 -3.03720210e-04 -9.99906574e-01 -4.00651719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.366559995 meters 0.015179678611315577 Centerline is valid? [True, True] Translation: X:111.66, Y:-158.29, Z:-4.01 [[ 1.92763766e-01 -9.81241771e-01 -2.59199436e-03 1.11662481e+02] [-9.81129727e-01 -1.92780933e-01 1.48314135e-02 -1.58286221e+02] [-1.50528895e-02 -3.15876394e-04 -9.99886649e-01 -4.00568861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4265599950002 meters 0.014809706198024625 Centerline is valid? [True, True] Translation: X:111.66, Y:-158.40, Z:-4.01 [[ 2.66476927e-01 -9.63833600e-01 -3.85206628e-03 1.11661962e+02] [-9.63715326e-01 -2.66504585e-01 1.51022329e-02 -1.58400044e+02] [-1.55826328e-02 -3.12101297e-04 -9.99878535e-01 -4.00563818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.486559995 meters 0.014345654202913864 Centerline is valid? [True, True] Translation: X:111.67, Y:-158.52, Z:-4.01 [[ 3.37499652e-01 -9.41312490e-01 -4.97814787e-03 1.11669326e+02] [-9.41197692e-01 -3.37536250e-01 1.47032287e-02 -1.58518529e+02] [-1.55206381e-02 -2.76913263e-04 -9.99879509e-01 -4.00523520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.546559995 meters 0.014151199304168482 Centerline is valid? [True, True] Translation: X:111.68, Y:-158.64, Z:-4.00 [[ 4.05392332e-01 -9.14123771e-01 -5.89807663e-03 1.11684198e+02] [-9.14019172e-01 -4.05435179e-01 1.38299867e-02 -1.58635159e+02] [-1.50336074e-02 -2.15615450e-04 -9.99886966e-01 -4.00425619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.606559995 meters 0.012889870701649063 Centerline is valid? [True, True] Translation: X:111.71, Y:-158.74, Z:-4.01 [[ 4.68163927e-01 -8.83616685e-01 -6.64020059e-03 1.11707960e+02] [-8.83524526e-01 -4.68211002e-01 1.27620102e-02 -1.58737065e+02] [-1.43857401e-02 -1.07932728e-04 -9.99896514e-01 -4.00638723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.666559995 meters 0.012772113676422716 Centerline is valid? [True, True] Translation: X:111.74, Y:-158.85, Z:-4.01 [[ 5.29308578e-01 -8.48397764e-01 -7.32549161e-03 1.11742546e+02] [-8.48315968e-01 -5.29359267e-01 1.17807149e-02 -1.58847050e+02] [-1.38725490e-02 -2.13019265e-05 -9.99903771e-01 -4.00639437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7265599950001 meters 0.013271687996407785 Centerline is valid? [True, True] Translation: X:111.78, Y:-158.94, Z:-4.01 [[ 5.85094424e-01 -8.10927429e-01 -7.82432036e-03 1.11778744e+02] [-8.10857253e-01 -5.85146729e-01 1.06687121e-02 -1.58942187e+02] [-1.32299268e-02 1.02202929e-04 -9.99912476e-01 -4.00620254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.786559995 meters 0.014269758133892533 Centerline is valid? [True, True] Translation: X:111.82, Y:-159.04, Z:-4.01 [[ 6.39704414e-01 -7.68575175e-01 -8.39426485e-03 1.11824669e+02] [-7.68512929e-01 -6.39759458e-01 9.78335710e-03 -1.59036985e+02] [-1.28895557e-02 1.92644352e-04 -9.99916908e-01 -4.00708061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.846559995 meters 0.015332202443432422 Centerline is valid? [True, True] Translation: X:111.88, Y:-159.13, Z:-4.01 [[ 6.94975205e-01 -7.18973651e-01 -9.29265367e-03 1.11877261e+02] [-7.18913595e-01 -6.95037294e-01 9.29533331e-03 -1.59130698e+02] [-1.31418406e-02 2.20588877e-04 -9.99913618e-01 -4.00661509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.906559995 meters 0.014314401824452332 Centerline is valid? [True, True] Translation: X:111.93, Y:-159.22, Z:-4.01 [[ 7.48444336e-01 -6.63132916e-01 -9.26341628e-03 1.11934691e+02] [-6.63085192e-01 -7.48501637e-01 7.95791546e-03 -1.59224802e+02] [-1.22108379e-02 1.86377404e-04 -9.99925428e-01 -4.00760183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9665599950001 meters 0.013524799848949243 Centerline is valid? [True, True] Translation: X:111.95, Y:-159.25, Z:-4.01 [[ 8.01195039e-01 -5.98339115e-01 -8.76429083e-03 1.11954711e+02] [-5.98304782e-01 -8.01242967e-01 6.41064720e-03 -1.59253336e+02] [-1.08580674e-02 1.07538382e-04 -9.99941044e-01 -4.00710473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.026559995 meters 0.012525473313478275 Centerline is valid? [True, True] Translation: X:111.98, Y:-159.28, Z:-4.01 [[ 8.49869988e-01 -5.26934162e-01 -7.83531052e-03 1.11976770e+02] [-5.26911938e-01 -8.49906106e-01 4.83961119e-03 -1.59282296e+02] [-9.20943472e-03 1.54783412e-05 -9.99957592e-01 -4.00912899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.086559995 meters 0.012849588085330318 Centerline is valid? [True, True] Translation: X:112.00, Y:-159.31, Z:-4.01 [[ 8.93175735e-01 -4.49663798e-01 -6.29079705e-03 1.11999089e+02] [-4.49652160e-01 -8.93197887e-01 3.23583511e-03 -1.59313100e+02] [-7.07396453e-03 -6.14989238e-05 -9.99974977e-01 -4.01113734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.146559995 meters 0.013661767810389391 Centerline is valid? [True, True] Translation: X:112.03, Y:-159.34, Z:-4.01 [[ 9.27957787e-01 -3.72639151e-01 -5.86595683e-03 1.12025367e+02] [-3.72631054e-01 -9.27976322e-01 2.45840027e-03 -1.59340360e+02] [-6.35956524e-03 -9.54539970e-05 -9.99979773e-01 -4.01190448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2065599950001 meters 0.015005898597768031 Centerline is valid? [True, True] Translation: X:112.05, Y:-159.36, Z:-4.01 [[ 9.55811931e-01 -2.93919608e-01 -5.90054166e-03 1.12054392e+02] [-2.93913191e-01 -9.55830136e-01 1.94629319e-03 -1.59363991e+02] [-6.21196926e-03 -1.26043230e-04 -9.99980698e-01 -4.01232722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.266559995 meters 0.01569322113048143 Centerline is valid? [True, True] Translation: X:112.09, Y:-159.38, Z:-4.01 [[ 9.76272477e-01 -2.16419041e-01 -7.40605919e-03 1.12086922e+02] [-2.16411493e-01 -9.76300553e-01 1.81551813e-03 -1.59381777e+02] [-7.62345238e-03 -1.69684058e-04 -9.99970927e-01 -4.01107196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.326559995 meters 0.015889794397836617 Centerline is valid? [True, True] Translation: X:112.12, Y:-159.39, Z:-4.01 [[ 9.90183187e-01 -1.39545665e-01 -8.01648264e-03 1.12120546e+02] [-1.39539620e-01 -9.90215621e-01 1.31125115e-03 -1.59394515e+02] [-8.12102574e-03 -1.79761900e-04 -9.99967008e-01 -4.00993200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.386559995 meters 0.015577027001040666 Centerline is valid? [True, True] Translation: X:112.15, Y:-159.40, Z:-4.01 [[ 9.97937288e-01 -6.34121902e-02 -1.00031839e-02 1.12153321e+02] [-6.34069591e-02 -9.97987401e-01 8.39542988e-04 -1.59399902e+02] [-1.00362888e-02 -2.03539778e-04 -9.99949615e-01 -4.00868592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4465599950001 meters 0.01480921119362799 Centerline is valid? [True, True] Translation: X:112.19, Y:-159.40, Z:-4.01 [[ 9.99861567e-01 1.11375752e-02 -1.23612666e-02 1.12185358e+02] [ 1.11392479e-02 -9.99937954e-01 6.64749930e-05 -1.59399199e+02] [-1.23597593e-02 -2.04161004e-04 -9.99923594e-01 -4.00641849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.506559995 meters 0.01345438910080143 Centerline is valid? [True, True] Translation: X:112.22, Y:-159.40, Z:-4.01 [[ 9.96333780e-01 8.44253497e-02 -1.38332502e-02 1.12216736e+02] [ 8.44194454e-02 -9.96429794e-01 -1.01124089e-03 -1.59395223e+02] [-1.38692370e-02 -1.60261848e-04 -9.99903805e-01 -4.00687848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.566559995 meters 0.01264684126912692 Centerline is valid? [True, True] Translation: X:112.25, Y:-159.39, Z:-4.01 [[ 9.87854158e-01 1.54858720e-01 -1.27647657e-02 1.12245806e+02] [ 1.54846496e-01 -9.87936624e-01 -1.94647791e-03 -1.59386722e+02] [-1.29122086e-02 -5.37429531e-05 -9.99916633e-01 -4.00736530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.626559995 meters 0.012724507127167738 Centerline is valid? [True, True] Translation: X:112.28, Y:-159.38, Z:-4.01 [[ 9.73489604e-01 2.28485525e-01 -1.05998231e-02 1.12275513e+02] [ 2.28472083e-01 -9.73547310e-01 -2.47844700e-03 -1.59383402e+02] [-1.08857186e-02 -9.02128154e-06 -9.99940749e-01 -4.00880167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6865599950002 meters 0.01294873585330096 Centerline is valid? [True, True] Translation: X:112.30, Y:-159.38, Z:-4.01 [[ 9.53674993e-01 3.00647145e-01 -1.07378418e-02 1.12303146e+02] [ 3.00627726e-01 -9.53735442e-01 -3.41713664e-03 -1.59375207e+02] [-1.12684126e-02 3.07448094e-05 -9.99936509e-01 -4.00833051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.746559995 meters 0.013435401656092152 Centerline is valid? [True, True] Translation: X:112.33, Y:-159.37, Z:-4.01 [[ 9.29451357e-01 3.68756687e-01 -1.17762640e-02 1.12332052e+02] [ 3.68725563e-01 -9.29525951e-01 -4.79231202e-03 -1.59368067e+02] [-1.27135401e-02 1.12011357e-04 -9.99919173e-01 -4.00972370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.806559995 meters 0.01435824736615083 Centerline is valid? [True, True] Translation: X:112.36, Y:-159.36, Z:-4.01 [[ 9.00324536e-01 4.35028145e-01 -1.28935032e-02 1.12361979e+02] [ 4.34980148e-01 -9.00416830e-01 -6.46553801e-03 -1.59363352e+02] [-1.44222183e-02 2.12664600e-04 -9.99895972e-01 -4.00892613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.866559995 meters 0.015125795278418364 Centerline is valid? [True, True] Translation: X:112.39, Y:-159.36, Z:-4.01 [[ 8.65210036e-01 5.01247144e-01 -1.27629733e-02 1.12391431e+02] [ 5.01187979e-01 -8.65304124e-01 -7.70598891e-03 -1.59356630e+02] [-1.49064584e-02 2.70650144e-04 -9.99888856e-01 -4.00888502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9265599950002 meters 0.015780022557365846 Centerline is valid? [True, True] Translation: X:112.42, Y:-159.35, Z:-4.01 [[ 8.25247349e-01 5.64628830e-01 -1.26924352e-02 1.12421396e+02] [ 5.64555740e-01 -8.25344880e-01 -9.09090619e-03 -1.59347903e+02] [-1.56086242e-02 3.36659059e-04 -9.99878121e-01 -4.01006025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.986559995 meters 0.015508973125560018 Centerline is valid? [True, True] Translation: X:112.45, Y:-159.34, Z:-4.01 [[ 7.79045917e-01 6.26854656e-01 -1.18616750e-02 1.12453299e+02] [ 6.26775153e-01 -7.79136137e-01 -9.98937637e-03 -1.59340643e+02] [-1.55037467e-02 3.47579738e-04 -9.99879749e-01 -4.01153574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.046559995 meters 0.01562339611498756 Centerline is valid? [True, True] Translation: X:112.48, Y:-159.33, Z:-4.01 [[ 7.25649655e-01 6.87985580e-01 -1.04124984e-02 1.12483545e+02] [ 6.87909054e-01 -7.25724300e-01 -1.02651922e-02 -1.59330784e+02] [-1.46189073e-02 2.86081297e-04 -9.99893097e-01 -4.01102790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.106559995 meters 0.014299352539503159 Centerline is valid? [True, True] Translation: X:112.51, Y:-159.32, Z:-4.01 [[ 6.66909987e-01 7.45087702e-01 -8.68250877e-03 1.12513827e+02] [ 7.45020385e-01 -6.66966469e-01 -1.00177426e-02 -1.59318520e+02] [-1.32550390e-02 2.12286547e-04 -9.99912126e-01 -4.01332518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.166559995 meters 0.013117560843563969 Centerline is valid? [True, True] Translation: X:112.54, Y:-159.30, Z:-4.02 [[ 6.00959411e-01 7.99244435e-01 -7.49126386e-03 1.12543727e+02] [ 7.99179975e-01 -6.01006090e-01 -1.01512495e-02 -1.59303736e+02] [-1.26156248e-02 1.13620831e-04 -9.99920413e-01 -4.01500819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2265599950001 meters 0.01253354395278579 Centerline is valid? [True, True] Translation: X:112.57, Y:-159.29, Z:-4.01 [[ 5.30054784e-01 8.47937789e-01 -6.59031482e-03 1.12574787e+02] [ 8.47871867e-01 -5.30095751e-01 -1.05731365e-02 -1.59287466e+02] [-1.24588599e-02 1.65990649e-05 -9.99922385e-01 -4.01447170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.286559995 meters 0.012467800888839486 Centerline is valid? [True, True] Translation: X:112.60, Y:-159.26, Z:-4.01 [[ 4.60108060e-01 8.87845320e-01 -5.59118585e-03 1.12598397e+02] [ 8.87780031e-01 -4.60142030e-01 -1.07669891e-02 -1.59264918e+02] [-1.21321604e-02 -9.76471165e-06 -9.99926403e-01 -4.01419691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.346559995 meters 0.012395236037466395 Centerline is valid? [True, True] Translation: X:112.62, Y:-159.24, Z:-4.02 [[ 3.86111512e-01 9.22442028e-01 -4.31330613e-03 1.12622451e+02] [ 9.22385796e-01 -3.86135601e-01 -1.01852974e-02 -1.59242238e+02] [-1.10608674e-02 -4.58717339e-05 -9.99938826e-01 -4.01599778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.406559995 meters 0.012413886232296074 Centerline is valid? [True, True] Translation: X:112.64, Y:-159.22, Z:-4.02 [[ 3.13409724e-01 9.49611692e-01 -3.46101368e-03 1.12641418e+02] [ 9.49555085e-01 -3.13428831e-01 -1.03685894e-02 -1.59215592e+02] [-1.09309152e-02 -3.68063806e-05 -9.99940255e-01 -4.01593198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4665599950001 meters 0.012373944625055979 Centerline is valid? [True, True] Translation: X:112.66, Y:-159.19, Z:-4.02 [[ 2.42274064e-01 9.70204025e-01 -2.72557891e-03 1.12655932e+02] [ 9.70142130e-01 -2.42289394e-01 -1.09589147e-02 -1.59187102e+02] [-1.12927620e-02 1.08618604e-05 -9.99936235e-01 -4.01607591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.526559995 meters 0.012818106563367009 Centerline is valid? [True, True] Translation: X:112.67, Y:-159.16, Z:-4.02 [[ 1.70270690e-01 9.85395223e-01 -2.03657481e-03 1.12666053e+02] [ 9.85319677e-01 -1.70282854e-01 -1.22018067e-02 -1.59158152e+02] [-1.23703958e-02 7.09328058e-05 -9.99923481e-01 -4.01504684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.586559995 meters 0.014204557491528895 Centerline is valid? [True, True] Translation: X:112.67, Y:-159.13, Z:-4.01 [[ 9.97495325e-02 9.95011698e-01 -1.32328155e-03 1.12671115e+02] [ 9.94895992e-01 -9.97581146e-02 -1.51751007e-02 -1.59128303e+02] [-1.52314108e-02 1.97181690e-04 -9.99883976e-01 -4.01241384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.646559995 meters 0.015330686890596518 Centerline is valid? [True, True] Translation: X:112.68, Y:-159.10, Z:-4.01 [[ 2.67574850e-02 9.99641945e-01 -1.37785034e-04 1.12676255e+02] [ 9.99512760e-01 -2.67562425e-02 -1.60731462e-02 -1.59099353e+02] [-1.60710777e-02 2.92359068e-04 -9.99870809e-01 -4.01209594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7065599950001 meters 0.015758843473513758 Centerline is valid? [True, True] Translation: X:112.68, Y:-159.07, Z:-4.01 [[-4.90597073e-02 9.98795175e-01 1.15890934e-03 1.12680491e+02] [ 9.98657740e-01 4.90721855e-02 -1.65722236e-02 -1.59069531e+02] [-1.66091272e-02 3.44325340e-04 -9.99862000e-01 -4.01316703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.766559995 meters 0.015058138200344254 Centerline is valid? [True, True] Translation: X:112.69, Y:-159.04, Z:-4.01 [[-1.29087206e-01 9.91630465e-01 2.34813859e-03 1.12686435e+02] [ 9.91505796e-01 1.29108216e-01 -1.57265577e-02 -1.59039055e+02] [-1.58980977e-02 2.98095637e-04 -9.99873573e-01 -4.01414481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.826559995 meters 0.01500956833931045 Centerline is valid? [True, True] Translation: X:112.69, Y:-159.01, Z:-4.01 [[-2.09703228e-01 9.77759634e-01 3.26402379e-03 1.12688906e+02] [ 9.77657202e-01 2.09728510e-01 -1.41544480e-02 -1.59010031e+02] [-1.45242067e-02 2.22862935e-04 -9.99894493e-01 -4.01382476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.886559995 meters 0.013336128313969752 Centerline is valid? [True, True] Translation: X:112.69, Y:-158.98, Z:-4.02 [[-2.92798217e-01 9.56166720e-01 3.79565969e-03 1.12689658e+02] [ 9.56090736e-01 2.92822802e-01 -1.20545435e-02 -1.58979340e+02] [-1.26376090e-02 9.94462333e-05 -9.99920137e-01 -4.01513963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9465599950001 meters 0.01230907497760586 Centerline is valid? [True, True] Translation: X:112.69, Y:-158.95, Z:-4.02 [[-3.75350594e-01 9.26872847e-01 4.31934350e-03 1.12693380e+02] [ 9.26811013e-01 3.75375445e-01 -1.07061653e-02 -1.58946231e+02] [-1.15446294e-02 -1.53503830e-05 -9.99933358e-01 -4.01714810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.006559995 meters 0.01303212314081605 Centerline is valid? [True, True] Translation: X:112.69, Y:-158.91, Z:-4.02 [[-4.53851106e-01 8.91062228e-01 5.22308829e-03 1.12691446e+02] [ 8.91000461e-01 4.53881146e-01 -1.04920323e-02 -1.58914792e+02] [-1.17197150e-02 -1.08046373e-04 -9.99931316e-01 -4.01692554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.066559995 meters 0.013700558143953923 Centerline is valid? [True, True] Translation: X:112.68, Y:-158.88, Z:-4.02 [[-5.26502435e-01 8.50150776e-01 6.23244575e-03 1.12684793e+02] [ 8.50087307e-01 5.26539294e-01 -1.03894913e-02 -1.58884072e+02] [-1.21142617e-02 -1.71969454e-04 -9.99926605e-01 -4.01725931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.126559995 meters 0.013964618691972889 Centerline is valid? [True, True] Translation: X:112.67, Y:-158.85, Z:-4.02 [[-5.92518950e-01 8.05530185e-01 6.51267956e-03 1.12673184e+02] [ 8.05478265e-01 5.92554715e-01 -9.14733769e-03 -1.58854817e+02] [-1.12275756e-02 -1.74149088e-04 -9.99936954e-01 -4.01799614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1865599950002 meters 0.013526423273466665 Centerline is valid? [True, True] Translation: X:112.66, Y:-158.83, Z:-4.02 [[-6.53481804e-01 7.56903688e-01 7.63803571e-03 1.12659955e+02] [ 7.56848748e-01 6.53526415e-01 -9.12126011e-03 -1.58826494e+02] [-1.18955735e-02 -1.79739742e-04 -9.99929229e-01 -4.01761199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.246559995 meters 0.013427663734138708 Centerline is valid? [True, True] Translation: X:112.64, Y:-158.80, Z:-4.02 [[-7.08930954e-01 7.05207638e-01 9.95438405e-03 1.12642293e+02] [ 7.05134577e-01 7.09000815e-01 -1.01524689e-02 -1.58803640e+02] [-1.42172650e-02 -1.78219052e-04 -9.99898914e-01 -4.01562767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.306559995 meters 0.013212631276646177 Centerline is valid? [True, True] Translation: X:112.62, Y:-158.78, Z:-4.02 [[-7.61574245e-01 6.47984200e-01 1.10066537e-02 1.12624020e+02] [ 6.47913233e-01 7.61653758e-01 -9.59147460e-03 -1.58779748e+02] [-1.45983831e-02 -1.73263456e-04 -9.99893423e-01 -4.01607341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.366559995 meters 0.013434986640743026 Centerline is valid? [True, True] Translation: X:113.06, Y:-158.28, Z:-5.02 [[-6.99697566e-01 -7.14366536e-01 1.01866326e-02 1.13061582e+02] [ 7.14294129e-01 -6.99771696e-01 -1.01720299e-02 -1.58283553e+02] [ 1.43948749e-02 1.58907288e-04 9.99896376e-01 -5.02450891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4265599950002 meters 0.013696993562256786 Centerline is valid? [True, True] Translation: X:112.59, Y:-158.76, Z:-4.02 [[-7.64791820e-01 6.44183005e-01 1.10330429e-02 1.12588250e+02] [ 6.44112290e-01 7.64871373e-01 -9.54674028e-03 -1.58759310e+02] [-1.45887065e-02 -1.94750330e-04 -9.99893560e-01 -4.01557710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.486559995 meters 0.013907873363549539 Centerline is valid? [True, True] Translation: X:113.03, Y:-158.25, Z:-5.02 [[-6.99997244e-01 -7.14070065e-01 1.03827207e-02 1.13032746e+02] [ 7.13995689e-01 -7.00074213e-01 -1.03078839e-02 -1.58249188e+02] [ 1.46292263e-02 1.97727512e-04 9.99892968e-01 -5.02444318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.546559995 meters 0.014867358372654824 Centerline is valid? [True, True] Translation: X:112.55, Y:-158.73, Z:-4.01 [[-7.69379344e-01 6.38682910e-01 1.18137880e-02 1.12549769e+02] [ 6.38602264e-01 7.69469993e-01 -1.01527972e-02 -1.58734499e+02] [-1.55747734e-02 -2.67040704e-04 -9.99878670e-01 -4.01497667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.606559995 meters 0.0159625783050543 Centerline is valid? [True, True] Translation: X:112.57, Y:-158.71, Z:-4.02 [[-8.14927544e-01 5.79439308e-01 1.19660229e-02 1.12568031e+02] [ 5.79371154e-01 8.15015331e-01 -8.89251064e-03 -1.58711701e+02] [-1.49051623e-02 -3.13983357e-04 -9.99888863e-01 -4.01630222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.666559995 meters 0.016775260841540903 Centerline is valid? [True, True] Translation: X:112.59, Y:-158.68, Z:-4.02 [[-8.55593112e-01 5.17511501e-01 1.19278477e-02 1.12588572e+02] [ 5.17455559e-01 8.55676182e-01 -7.61689377e-03 -1.58683813e+02] [-1.41482053e-02 -3.44830757e-04 -9.99899850e-01 -4.01696901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7265599950001 meters 0.01729046282547264 Centerline is valid? [True, True] Translation: X:112.60, Y:-158.65, Z:-4.02 [[-8.90205583e-01 4.55386456e-01 1.25377611e-02 1.12599251e+02] [ 4.55335696e-01 8.90293801e-01 -6.80821594e-03 -1.58652523e+02] [-1.42626603e-02 -3.51821688e-04 -9.99898221e-01 -4.01611712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.786559995 meters 0.01604079994698367 Centerline is valid? [True, True] Translation: X:112.92, Y:-158.08, Z:-5.02 [[-8.31242581e-01 -5.55789122e-01 1.15854494e-02 1.12922357e+02] [ 5.55740250e-01 -8.31323257e-01 -7.37680477e-03 -1.58081845e+02] [ 1.37312014e-02 3.06586326e-04 9.99905676e-01 -5.02230021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.846559995 meters 0.015668576217107003 Centerline is valid? [True, True] Translation: X:112.56, Y:-158.64, Z:-4.02 [[-8.91265886e-01 4.53349018e-01 1.09447754e-02 1.12564776e+02] [ 4.53310817e-01 8.91333037e-01 -5.89231752e-03 -1.58638837e+02] [-1.24267162e-02 -2.90236528e-04 -9.99922743e-01 -4.01845116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.906559995 meters 0.01481498198794917 Centerline is valid? [True, True] Translation: X:112.88, Y:-158.06, Z:-5.02 [[-8.35793420e-01 -5.48920710e-01 1.16367531e-02 1.12883113e+02] [ 5.48873945e-01 -8.35874334e-01 -7.17561702e-03 -1.58058392e+02] [ 1.36657080e-02 3.89777094e-04 9.99906544e-01 -5.02463002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9665599950001 meters 0.014185819705108358 Centerline is valid? [True, True] Translation: X:112.88, Y:-158.08, Z:-5.03 [[-7.99222842e-01 -6.00904435e-01 1.25183107e-02 1.12876312e+02] [ 6.00835567e-01 -7.99320836e-01 -9.10068945e-03 -1.58084769e+02] [ 1.54747912e-02 2.47967426e-04 9.99880228e-01 -5.02619857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.026559995 meters 0.013409536472496939 Centerline is valid? [True, True] Translation: X:112.48, Y:-158.64, Z:-4.01 [[-8.53800738e-01 5.20417235e-01 1.37913273e-02 1.12477341e+02] [ 5.20346147e-01 8.53912099e-01 -8.60318266e-03 -1.58635202e+02] [-1.62538257e-02 -1.69139710e-04 -9.99867884e-01 -4.01391263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.086559995 meters 0.012817242089727615 Centerline is valid? [True, True] Translation: X:112.49, Y:-158.61, Z:-4.02 [[-8.88033549e-01 4.59601660e-01 1.27565807e-02 1.12491700e+02] [ 4.59552056e-01 8.88125158e-01 -6.75362380e-03 -1.58614172e+02] [-1.44334169e-02 -1.35131630e-04 -9.99895824e-01 -4.01740952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.146559995 meters 0.012539385700220914 Centerline is valid? [True, True] Translation: X:112.51, Y:-158.59, Z:-4.02 [[-9.17857173e-01 3.96717665e-01 1.23816294e-02 1.12505407e+02] [ 3.96679968e-01 9.17940675e-01 -5.46995781e-03 -1.58592531e+02] [-1.35356301e-02 -1.09095664e-04 -9.99908383e-01 -4.01868805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2065599950001 meters 0.01232027787758051 Centerline is valid? [True, True] Translation: X:112.79, Y:-157.96, Z:-5.02 [[-8.83066275e-01 -4.69143286e-01 9.92627177e-03 1.12788952e+02] [ 4.69113130e-01 -8.83122062e-01 -5.31933428e-03 -1.57961355e+02] [ 1.12616396e-02 -4.07802889e-05 9.99936585e-01 -5.01969700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.266559995 meters 0.012319742643665057 Centerline is valid? [True, True] Translation: X:112.46, Y:-158.58, Z:-4.02 [[-9.17410393e-01 3.97829753e-01 9.46884580e-03 1.12461208e+02] [ 3.97808191e-01 9.17459256e-01 -4.14202751e-03 -1.58575825e+02] [-1.03351020e-02 -3.31546701e-05 -9.99946591e-01 -4.02119134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.326559995 meters 0.012250977671742127 Centerline is valid? [True, True] Translation: X:112.75, Y:-157.95, Z:-5.02 [[-8.85725243e-01 -4.64110784e-01 9.59026801e-03 1.12749739e+02] [ 4.64084346e-01 -8.85777159e-01 -4.95423034e-03 -1.57948735e+02] [ 1.07941521e-02 6.26063800e-05 9.99941740e-01 -5.01956146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.386559995 meters 0.012280366265138022 Centerline is valid? [True, True] Translation: X:112.43, Y:-158.56, Z:-4.02 [[-9.18892891e-01 3.94361396e-01 1.07212253e-02 1.12428001e+02] [ 3.94334056e-01 9.18955433e-01 -4.64378337e-03 -1.58556347e+02] [-1.16836571e-02 -3.93952801e-05 -9.99931743e-01 -4.02030312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4465599950001 meters 0.012473555648626875 Centerline is valid? [True, True] Translation: X:112.44, Y:-158.53, Z:-4.02 [[-9.44355126e-01 3.28726825e-01 1.14922090e-02 1.12439676e+02] [ 3.28702028e-01 9.44425049e-01 -4.03775546e-03 -1.58530743e+02] [-1.21808485e-02 -3.55626736e-05 -9.99925810e-01 -4.01820675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.506559995 meters 0.012362530359478586 Centerline is valid? [True, True] Translation: X:112.67, Y:-157.89, Z:-5.02 [[-9.17855630e-01 -3.96741798e-01 1.17041959e-02 1.12670119e+02] [ 3.96710522e-01 -9.17930248e-01 -4.98206862e-03 -1.57890904e+02] [ 1.27202303e-02 7.03579391e-05 9.99919092e-01 -5.02142059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.566559995 meters 0.012366483379630436 Centerline is valid? [True, True] Translation: X:112.40, Y:-158.52, Z:-4.02 [[-9.45746935e-01 3.24706785e-01 1.13243016e-02 1.12397429e+02] [ 3.24682979e-01 9.45814729e-01 -3.93201398e-03 -1.58517121e+02] [-1.19874428e-02 -4.18821942e-05 -9.99928147e-01 -4.01898535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.626559995 meters 0.012443946657369235 Centerline is valid? [True, True] Translation: X:112.40, Y:-158.49, Z:-4.02 [[-9.66996286e-01 2.54598784e-01 9.88137627e-03 1.12404138e+02] [ 2.54584863e-01 9.67046770e-01 -2.66303305e-03 -1.58489728e+02] [-1.02337580e-02 -5.94942498e-05 -9.99947632e-01 -4.01997100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6865599950002 meters 0.012655129026917844 Centerline is valid? [True, True] Translation: X:112.41, Y:-158.46, Z:-4.02 [[-9.83147922e-01 1.82612966e-01 8.52462277e-03 1.12406114e+02] [ 1.82605440e-01 9.83184875e-01 -1.65960121e-03 -1.58461966e+02] [-8.68434487e-03 -7.49909904e-05 -9.99962288e-01 -4.02045960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.746559995 meters 0.013999607156853002 Centerline is valid? [True, True] Translation: X:112.53, Y:-157.80, Z:-5.02 [[-9.62745381e-01 -2.70288857e-01 8.07869697e-03 1.12533420e+02] [ 2.70279788e-01 -9.62779274e-01 -2.21467487e-03 -1.57800179e+02] [ 8.37660394e-03 5.13405019e-05 9.99964914e-01 -5.02020981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.806559995 meters 0.014345005353975301 Centerline is valid? [True, True] Translation: X:112.35, Y:-158.45, Z:-4.02 [[-9.85590782e-01 1.68930942e-01 8.55259700e-03 1.12348741e+02] [ 1.68923143e-01 9.85627876e-01 -1.63136623e-03 -1.58446106e+02] [-8.70526625e-03 -1.63127948e-04 -9.99962095e-01 -4.02017518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.866559995 meters 0.0164165300946571 Centerline is valid? [True, True] Translation: X:112.36, Y:-158.41, Z:-4.02 [[-9.95515331e-01 9.39874897e-02 1.07507389e-02 1.12355189e+02] [ 9.39792557e-02 9.95573346e-01 -1.26966201e-03 -1.58413938e+02] [-1.08224815e-02 -2.53621550e-04 -9.99941403e-01 -4.01575244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9265599950002 meters 0.015431059710954945 Centerline is valid? [True, True] Translation: X:112.43, Y:-157.76, Z:-5.02 [[-9.78357285e-01 -2.06592989e-01 1.16773043e-02 1.12433040e+02] [ 2.06582457e-01 -9.78426910e-01 -2.11418662e-03 -1.57758694e+02] [ 1.18621649e-02 3.43896335e-04 9.99929583e-01 -5.02491309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.986559995 meters 0.014504494079540861 Centerline is valid? [True, True] Translation: X:112.31, Y:-158.42, Z:-4.02 [[-9.95381903e-01 9.53313647e-02 1.12604576e-02 1.12308133e+02] [ 9.53229167e-02 9.95445573e-01 -1.28579388e-03 -1.58420285e+02] [-1.13317492e-02 -2.06476288e-04 -9.99935772e-01 -4.01592983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.046559995 meters 0.012996601170332104 Centerline is valid? [True, True] Translation: X:112.39, Y:-157.74, Z:-5.02 [[-9.81656003e-01 -1.90422133e-01 9.53429779e-03 1.12394776e+02] [ 1.90413988e-01 -9.81702299e-01 -1.76323246e-03 -1.57741456e+02] [ 9.69560055e-03 8.45759368e-05 9.99952993e-01 -5.02346918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.106559995 meters 0.012467905270059499 Centerline is valid? [True, True] Translation: X:112.26, Y:-158.43, Z:-4.02 [[-9.94622900e-01 1.03179247e-01 8.90668968e-03 1.12264726e+02] [ 1.03174599e-01 9.94662777e-01 -9.81061280e-04 -1.58426979e+02] [-8.96037785e-03 -5.68418812e-05 -9.99959853e-01 -4.01778279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.166559995 meters 0.012301745603205239 Centerline is valid? [True, True] Translation: X:112.26, Y:-158.40, Z:-4.02 [[-9.99338555e-01 3.51464554e-02 9.33701493e-03 1.12264796e+02] [ 3.51446166e-02 9.99382172e-01 -3.60994592e-04 -1.58401411e+02] [-9.34393394e-03 -3.26100041e-05 -9.99956344e-01 -4.01860486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2265599950001 meters 0.012389829733358115 Centerline is valid? [True, True] Translation: X:112.30, Y:-157.70, Z:-5.02 [[-9.94094058e-01 -1.07963510e-01 1.09947091e-02 1.12296889e+02] [ 1.07958533e-01 -9.94154847e-01 -1.04691695e-03 -1.57701113e+02] [ 1.10434722e-02 1.46238746e-04 9.99939008e-01 -5.02289783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.286559995 meters 0.012457265012396874 Centerline is valid? [True, True] Translation: X:112.20, Y:-158.40, Z:-4.02 [[-9.99338539e-01 3.41306535e-02 1.25532291e-02 1.12204898e+02] [ 3.41279242e-02 9.99417380e-01 -4.31629168e-04 -1.58398402e+02] [-1.25606471e-02 -2.92800998e-06 -9.99921112e-01 -4.01578340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.346559995 meters 0.012777957784073991 Centerline is valid? [True, True] Translation: X:112.20, Y:-158.37, Z:-4.02 [[-9.99308947e-01 -3.49747222e-02 1.25855632e-02 1.12203966e+02] [-3.49716723e-02 9.99388197e-01 4.62400614e-04 -1.58369490e+02] [-1.25940357e-02 2.19428791e-05 -9.99920692e-01 -4.01662873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.406559995 meters 0.012481527913170082 Centerline is valid? [True, True] Translation: X:112.20, Y:-158.34, Z:-4.02 [[-9.94285332e-01 -1.06033519e-01 1.23923951e-02 1.12196380e+02] [-1.06025028e-01 9.94362556e-01 1.34204742e-03 -1.58341208e+02] [-1.24648357e-02 2.04740344e-05 -9.99922311e-01 -4.01760818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4665599950001 meters 0.012485467152471029 Centerline is valid? [True, True] Translation: X:112.19, Y:-158.31, Z:-4.02 [[-9.83873486e-01 -1.78412922e-01 1.27197627e-02 1.12187416e+02] [-1.78398054e-01 9.83955705e-01 2.30328395e-03 -1.58311913e+02] [-1.29266187e-02 -3.04090950e-06 -9.99916448e-01 -4.01752870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.526559995 meters 0.012616801721882353 Centerline is valid? [True, True] Translation: X:112.17, Y:-158.29, Z:-4.02 [[-9.68000640e-01 -2.50589734e-01 1.33994635e-02 1.12169674e+02] [-2.50566270e-01 9.68093376e-01 3.42939700e-03 -1.58285139e+02] [-1.38313035e-02 -3.77950898e-05 -9.99904342e-01 -4.01620775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.586559995 meters 0.012525306810021414 Centerline is valid? [True, True] Translation: X:112.14, Y:-158.26, Z:-4.02 [[-9.47123256e-01 -3.20679740e-01 1.10472668e-02 1.12143485e+02] [-3.20658492e-01 9.47187681e-01 3.69179108e-03 -1.58263992e+02] [-1.16477176e-02 -4.58187123e-05 -9.99932162e-01 -4.01905130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.646559995 meters 0.012410857265278585 Centerline is valid? [True, True] Translation: X:112.11, Y:-158.25, Z:-4.02 [[-9.21322078e-01 -3.88728230e-01 7.48281656e-03 1.12106293e+02] [-3.88715742e-01 9.21352463e-01 3.11604647e-03 -1.58249097e+02] [-8.10560670e-03 -3.78061907e-05 -9.99967148e-01 -4.02252877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7065599950001 meters 0.012522274390766978 Centerline is valid? [True, True] Translation: X:112.05, Y:-158.25, Z:-4.02 [[-8.89695235e-01 -4.56517464e-01 5.84755139e-03 1.12048087e+02] [-4.56507892e-01 8.89714450e-01 2.95664664e-03 -1.58245761e+02] [-6.55241180e-03 -3.89389321e-05 -9.99978532e-01 -4.02404717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.766559995 meters 0.012846768761423003 Centerline is valid? [True, True] Translation: X:111.98, Y:-158.25, Z:-4.02 [[-8.52252981e-01 -5.23102739e-01 5.32735385e-03 1.11981268e+02] [-5.23092915e-01 8.52269630e-01 3.20646337e-03 -1.58248901e+02] [-6.21765167e-03 -5.39830896e-05 -9.99980669e-01 -4.02309800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.826559995 meters 0.013356473075616139 Centerline is valid? [True, True] Translation: X:111.91, Y:-158.26, Z:-4.02 [[-8.08740313e-01 -5.88128430e-01 6.63753162e-03 1.11907032e+02] [-5.88109668e-01 8.08767543e-01 4.69887554e-03 -1.58262468e+02] [-8.13176244e-03 -1.03426442e-04 -9.99966931e-01 -4.02119615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.886559995 meters 0.014079702340095195 Centerline is valid? [True, True] Translation: X:111.83, Y:-158.29, Z:-4.02 [[-7.60589333e-01 -6.49193973e-01 7.14509777e-03 1.11827802e+02] [-6.49167134e-01 7.60622879e-01 5.90492159e-03 -1.58285767e+02] [-9.26816434e-03 -1.47142271e-04 -9.99957039e-01 -4.01996863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9465599950001 meters 0.015097586944501638 Centerline is valid? [True, True] Translation: X:111.74, Y:-158.32, Z:-4.02 [[-7.07077692e-01 -7.07087932e-01 8.23371966e-03 1.11744844e+02] [-7.07043697e-01 7.07125594e-01 7.91238101e-03 -1.58319323e+02] [-1.14170230e-02 -2.26931479e-04 -9.99934798e-01 -4.01821458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.006559995 meters 0.014667790948946451 Centerline is valid? [True, True] Translation: X:111.67, Y:-158.36, Z:-4.02 [[-6.52995215e-01 -7.57315884e-01 8.36068055e-03 1.11667601e+02] [-7.57258272e-01 6.53048696e-01 9.34400909e-03 -1.58363766e+02] [-1.25362980e-02 -2.29601277e-04 -9.99921391e-01 -4.01723608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.066559995 meters 0.014144795627349773 Centerline is valid? [True, True] Translation: X:111.59, Y:-158.42, Z:-4.02 [[-5.95494796e-01 -8.03322892e-01 7.63409422e-03 1.11588972e+02] [-8.03261244e-01 5.95543693e-01 9.95412311e-03 -1.58420111e+02] [-1.25428116e-02 -2.04543495e-04 -9.99921315e-01 -4.01756177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.126559995 meters 0.012874228010846896 Centerline is valid? [True, True] Translation: X:111.52, Y:-158.49, Z:-4.02 [[-5.40972825e-01 -8.41022004e-01 5.51288803e-03 1.11517929e+02] [-8.40979587e-01 5.41000910e-01 8.44692373e-03 -1.58487494e+02] [-1.00865262e-02 -6.66701063e-05 -9.99949128e-01 -4.01918019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1865599950002 meters 0.012473688253319614 Centerline is valid? [True, True] Translation: X:111.45, Y:-158.57, Z:-4.02 [[-4.82021756e-01 -8.76149925e-01 4.04185317e-03 1.11447848e+02] [-8.76118979e-01 4.82038701e-01 7.36376192e-03 -1.58565120e+02] [-8.40008910e-03 8.34917205e-06 -9.99964719e-01 -4.02255119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.246559995 meters 0.0135269799601171 Centerline is valid? [True, True] Translation: X:111.39, Y:-158.65, Z:-4.02 [[-4.23242317e-01 -9.06010244e-01 3.37332253e-03 1.11385023e+02] [-9.05979658e-01 4.23255749e-01 7.44515484e-03 -1.58647658e+02] [-8.17316471e-03 9.49429872e-05 -9.99966595e-01 -4.02347649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.306559995 meters 0.014533768072172056 Centerline is valid? [True, True] Translation: X:111.32, Y:-158.74, Z:-4.02 [[-3.58086197e-01 -9.33682995e-01 3.21574632e-03 1.11321850e+02] [-9.33641108e-01 3.58100598e-01 8.84552522e-03 -1.58739815e+02] [-9.41047715e-03 1.65107532e-04 -9.99955707e-01 -4.02352209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.366559995 meters 0.015183968417027145 Centerline is valid? [True, True] Translation: X:111.26, Y:-158.84, Z:-4.02 [[-2.86341295e-01 -9.58123140e-01 2.95164525e-03 1.11260456e+02] [-9.58064663e-01 2.86356435e-01 1.05874116e-02 -1.58839316e+02] [-1.09892667e-02 2.03746150e-04 -9.99939595e-01 -4.02179351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4265599950002 meters 0.014850630587138904 Centerline is valid? [True, True] Translation: X:111.20, Y:-158.95, Z:-4.02 [[-2.10631699e-01 -9.77562971e-01 2.21932746e-03 1.11203219e+02] [-9.77498471e-01 2.10643299e-01 1.12312221e-02 -1.58949252e+02] [-1.14467133e-02 1.96262182e-04 -9.99934465e-01 -4.02117129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.486559995 meters 0.014941741134114766 Centerline is valid? [True, True] Translation: X:111.16, Y:-159.06, Z:-4.02 [[-1.32462639e-01 -9.91187161e-01 1.28902390e-03 1.11156824e+02] [-9.91127799e-01 1.32468815e-01 1.08489297e-02 -1.59057137e+02] [-1.09240753e-02 1.59490444e-04 -9.99940318e-01 -4.02089087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.546559995 meters 0.013840697637586531 Centerline is valid? [True, True] Translation: X:111.12, Y:-159.17, Z:-4.02 [[-5.30802208e-02 -9.98590161e-01 4.24306986e-04 1.11115980e+02] [-9.98537764e-01 5.30817825e-02 1.02303054e-02 -1.59172503e+02] [-1.02384053e-02 1.19340321e-04 -9.99947579e-01 -4.02223564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.606559995 meters 0.013160401308624265 Centerline is valid? [True, True] Translation: X:111.08, Y:-159.29, Z:-4.02 [[ 3.04147741e-02 -9.99537297e-01 -3.66048639e-04 1.11080557e+02] [-9.99483639e-01 -3.04169343e-02 1.03568818e-02 -1.59293073e+02] [-1.03632237e-02 5.08574041e-05 -9.99946299e-01 -4.02224966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.666559995 meters 0.012957068459804068 Centerline is valid? [True, True] Translation: X:111.05, Y:-159.41, Z:-4.02 [[ 1.15283194e-01 -9.93331904e-01 -1.23058367e-03 1.11051709e+02] [-9.93271393e-01 -1.15289754e-01 1.09641669e-02 -1.59414495e+02] [-1.10329305e-02 -4.16806187e-05 -9.99939135e-01 -4.02187584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7265599950001 meters 0.013281297402819778 Centerline is valid? [True, True] Translation: X:111.03, Y:-159.52, Z:-4.02 [[ 1.94593295e-01 -9.80881832e-01 -2.06931002e-03 1.11034214e+02] [-9.80820965e-01 -1.94604273e-01 1.09275480e-02 -1.59521836e+02] [-1.11213299e-02 -9.68049335e-05 -9.99938151e-01 -4.02173138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.786559995 meters 0.01372309102857458 Centerline is valid? [True, True] Translation: X:111.03, Y:-159.64, Z:-4.02 [[ 2.73262232e-01 -9.61935514e-01 -2.79630311e-03 1.11028764e+02] [-9.61879815e-01 -2.73276504e-01 1.03525112e-02 -1.59644220e+02] [-1.07226121e-02 -1.39242811e-04 -9.99942502e-01 -4.02226418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.846559995 meters 0.013738811692634415 Centerline is valid? [True, True] Translation: X:111.04, Y:-159.77, Z:-4.02 [[ 3.46520622e-01 -9.38035533e-01 -3.57727582e-03 1.11035752e+02] [-9.37981174e-01 -3.46539056e-01 1.00994897e-02 -1.59765215e+02] [-1.07133460e-02 -1.44264080e-04 -9.99942600e-01 -4.02211749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.906559995 meters 0.013587556615934101 Centerline is valid? [True, True] Translation: X:111.05, Y:-159.88, Z:-4.02 [[ 4.15972199e-01 -9.09367958e-01 -4.12883742e-03 1.11050497e+02] [-9.09320192e-01 -4.15992672e-01 9.32128417e-03 -1.59876146e+02] [-1.01940433e-02 -1.22959844e-04 -9.99948032e-01 -4.02235880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9665599950001 meters 0.013366448397706211 Centerline is valid? [True, True] Translation: X:111.07, Y:-159.98, Z:-4.02 [[ 4.83515505e-01 -8.75319603e-01 -5.32441164e-03 1.11073061e+02] [-8.75263637e-01 -4.83544804e-01 9.89892960e-03 -1.59983744e+02] [-1.12393187e-02 -1.26022050e-04 -9.99936829e-01 -4.02162350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.026559995 meters 0.013864420578876338 Centerline is valid? [True, True] Translation: X:111.11, Y:-160.09, Z:-4.02 [[ 5.49423420e-01 -8.35515398e-01 -6.92275215e-03 1.11105095e+02] [-8.35445547e-01 -5.49467011e-01 1.08047369e-02 -1.60093887e+02] [-1.28313480e-02 -1.52793034e-04 -9.99917663e-01 -4.01872847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.086559995 meters 0.013857051900757861 Centerline is valid? [True, True] Translation: X:111.15, Y:-160.20, Z:-4.02 [[ 6.11577073e-01 -7.91130083e-01 -9.31001471e-03 1.11147753e+02] [-7.91033754e-01 -6.11647903e-01 1.23467336e-02 -1.60199762e+02] [-1.54623234e-02 -1.86443318e-04 -9.99880434e-01 -4.01636327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.146559995 meters 0.013300559823968796 Centerline is valid? [True, True] Translation: X:111.19, Y:-160.29, Z:-4.02 [[ 6.68557446e-01 -7.43583457e-01 -1.07044160e-02 1.11193096e+02] [-7.43484234e-01 -6.68643116e-01 1.21481477e-02 -1.60290021e+02] [-1.61905957e-02 -1.63170061e-04 -9.99868910e-01 -4.01687705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2065599950001 meters 0.012799154541631212 Centerline is valid? [True, True] Translation: X:111.25, Y:-160.38, Z:-4.02 [[ 7.19043075e-01 -6.94891014e-01 -1.01752596e-02 1.11249004e+02] [-6.94820274e-01 -7.19115064e-01 9.91519203e-03 -1.60377269e+02] [-1.42071603e-02 -5.94734692e-05 -9.99899072e-01 -4.01807500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.266559995 meters 0.012935583583857454 Centerline is valid? [True, True] Translation: X:111.28, Y:-160.40, Z:-4.02 [[ 7.65950914e-01 -6.42821615e-01 -9.97839997e-03 1.11276051e+02] [-6.42767950e-01 -7.66015907e-01 8.30622035e-03 -1.60398046e+02] [-1.29830311e-02 5.16386178e-05 -9.99915716e-01 -4.01957430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.326559995 meters 0.01375749792065034 Centerline is valid? [True, True] Translation: X:111.30, Y:-160.42, Z:-4.02 [[ 8.11018578e-01 -5.84937914e-01 -9.82359152e-03 1.11301675e+02] [-5.84896592e-01 -8.11078064e-01 6.95352233e-03 -1.60417639e+02] [-1.20350784e-02 1.06349411e-04 -9.99927570e-01 -4.01913760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.386559995 meters 0.013833795925361063 Centerline is valid? [True, True] Translation: X:111.33, Y:-160.44, Z:-4.02 [[ 8.52137387e-01 -5.23226103e-01 -9.81423428e-03 1.11327741e+02] [-5.23193394e-01 -8.52193888e-01 5.85224919e-03 -1.60438936e+02] [-1.14256800e-02 1.47822210e-04 -9.99934714e-01 -4.02162013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4465599950001 meters 0.013587352339988949 Centerline is valid? [True, True] Translation: X:111.35, Y:-160.46, Z:-4.02 [[ 8.91128837e-01 -4.53632482e-01 -1.03424923e-02 1.11353999e+02] [-4.53603641e-01 -8.91188843e-01 5.11694849e-03 -1.60459771e+02] [-1.15383278e-02 1.31531831e-04 -9.99933423e-01 -4.02235928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.506559995 meters 0.013268547044481466 Centerline is valid? [True, True] Translation: X:111.38, Y:-160.48, Z:-4.02 [[ 9.25364494e-01 -3.78921554e-01 -1.09091438e-02 1.11380991e+02] [-3.78896334e-01 -9.25428792e-01 4.37260682e-03 -1.60479630e+02] [-1.17525107e-02 8.71794862e-05 -9.99930933e-01 -4.02209354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.566559995 meters 0.012799191501310488 Centerline is valid? [True, True] Translation: X:111.41, Y:-160.50, Z:-4.02 [[ 9.54708602e-01 -2.97263377e-01 -1.28829422e-02 1.11407588e+02] [-2.97236091e-01 -9.54795520e-01 4.02757284e-03 -1.60502141e+02] [-1.34978254e-02 -1.58830557e-05 -9.99908900e-01 -4.02102011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.626559995 meters 0.013563582637558887 Centerline is valid? [True, True] Translation: X:111.44, Y:-160.52, Z:-4.02 [[ 9.76945721e-01 -2.13074025e-01 -1.32860121e-02 1.11436596e+02] [-2.13052413e-01 -9.77036049e-01 3.03785145e-03 -1.60519599e+02] [-1.36282000e-02 -1.37199044e-04 -9.99907122e-01 -4.02057976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6865599950002 meters 0.014669085635346768 Centerline is valid? [True, True] Translation: X:111.47, Y:-160.53, Z:-4.02 [[ 9.91384113e-01 -1.30358739e-01 -1.28117066e-02 1.11467595e+02] [-1.30345185e-01 -9.91466872e-01 1.89089667e-03 -1.60532464e+02] [-1.29488776e-02 -2.04660654e-04 -9.99916139e-01 -4.02238247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.746559995 meters 0.014546454598035045 Centerline is valid? [True, True] Translation: X:111.50, Y:-160.54, Z:-4.02 [[ 9.98611667e-01 -5.14611338e-02 -1.12468059e-02 1.11496684e+02] [-5.14557438e-02 -9.98674980e-01 7.68281780e-04 -1.60542610e+02] [-1.12714403e-02 -1.88502386e-04 -9.99936458e-01 -4.02412367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.806559995 meters 0.014163358281242119 Centerline is valid? [True, True] Translation: X:111.52, Y:-160.55, Z:-4.02 [[ 9.99679523e-01 2.30709756e-02 -1.04202085e-02 1.11524887e+02] [ 2.30711230e-02 -9.99733821e-01 -1.06079424e-04 -1.60549570e+02] [-1.04198822e-02 -1.34360483e-04 -9.99945703e-01 -4.02385409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.866559995 meters 0.013372505127373265 Centerline is valid? [True, True] Translation: X:111.56, Y:-160.56, Z:-4.02 [[ 9.95221352e-01 9.71803158e-02 -9.51040365e-03 1.11555083e+02] [ 9.71766837e-02 -9.95266788e-01 -8.44368294e-04 -1.60555349e+02] [-9.54744487e-03 -8.38561331e-05 -9.99954419e-01 -4.02450274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9265599950002 meters 0.013247048378287662 Centerline is valid? [True, True] Translation: X:111.59, Y:-160.56, Z:-4.03 [[ 9.84752558e-01 1.73744820e-01 -8.66815320e-03 1.11585712e+02] [ 1.73738694e-01 -9.84790705e-01 -1.46054224e-03 -1.60559021e+02] [-8.79007835e-03 -6.77209103e-05 -9.99961364e-01 -4.02511816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.986559995 meters 0.01307955812706847 Centerline is valid? [True, True] Translation: X:111.62, Y:-160.56, Z:-4.03 [[ 9.68114807e-01 2.50362485e-01 -8.50573246e-03 1.11616264e+02] [ 2.50353442e-01 -9.68152169e-01 -2.12905427e-03 -1.60562044e+02] [-8.76787864e-03 -6.82704364e-05 -9.99961559e-01 -4.02526719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.046559995 meters 0.013081710587442027 Centerline is valid? [True, True] Translation: X:111.65, Y:-160.56, Z:-4.02 [[ 9.45914729e-01 3.24275914e-01 -9.51092122e-03 1.11646655e+02] [ 3.24260230e-01 -9.45962540e-01 -3.19006083e-03 -1.60562223e+02] [-1.00314351e-02 -6.64879706e-05 -9.99949682e-01 -4.02307300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.106559995 meters 0.013159930155442822 Centerline is valid? [True, True] Translation: X:111.67, Y:-160.56, Z:-4.02 [[ 9.19023101e-01 3.93975290e-01 -1.34168253e-02 1.11674263e+02] [ 3.93933992e-01 -9.19121031e-01 -5.70450026e-03 -1.60555798e+02] [-1.45791184e-02 -4.27760210e-05 -9.99893718e-01 -4.01838741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.166559995 meters 0.013151792681146128 Centerline is valid? [True, True] Translation: X:111.70, Y:-160.55, Z:-4.02 [[ 8.85919258e-01 4.63652937e-01 -1.31538254e-02 1.11704064e+02] [ 4.63602258e-01 -8.86016904e-01 -6.85516591e-03 -1.60549374e+02] [-1.48329294e-02 -2.50196400e-05 -9.99889986e-01 -4.01868858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2265599950001 meters 0.012941080272155297 Centerline is valid? [True, True] Translation: X:111.73, Y:-160.54, Z:-4.02 [[ 8.47126524e-01 5.31258664e-01 -1.18694648e-02 1.11734120e+02] [ 5.31206830e-01 -8.47209674e-01 -7.42109877e-03 -1.60543977e+02] [-1.39984484e-02 -1.85311356e-05 -9.99902017e-01 -4.02087682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.286559995 meters 0.012870916475452661 Centerline is valid? [True, True] Translation: X:111.76, Y:-160.53, Z:-4.02 [[ 8.04054988e-01 5.94486908e-01 -8.99401717e-03 1.11762603e+02] [ 5.94449650e-01 -8.04105289e-01 -6.65569306e-03 -1.60533779e+02] [-1.11888592e-02 5.05284427e-06 -9.99937403e-01 -4.02304805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.346559995 meters 0.012848191551055625 Centerline is valid? [True, True] Translation: X:111.79, Y:-160.52, Z:-4.02 [[ 7.56079260e-01 6.54442056e-01 -7.05324204e-03 1.11790094e+02] [ 6.54413347e-01 -7.56112158e-01 -6.12993240e-03 -1.60521726e+02] [-9.34472762e-03 1.89790168e-05 -9.99956337e-01 -4.02422069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.406559995 meters 0.012839540047000258 Centerline is valid? [True, True] Translation: X:111.82, Y:-160.51, Z:-4.02 [[ 7.03405283e-01 7.10761797e-01 -6.21894357e-03 1.11817233e+02] [ 7.10733653e-01 -7.03432774e-01 -6.32517215e-03 -1.60508374e+02] [-8.87029945e-03 2.91470328e-05 -9.99960658e-01 -4.02432838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4665599950001 meters 0.012936629966421311 Centerline is valid? [True, True] Translation: X:111.85, Y:-160.50, Z:-4.02 [[ 6.45490947e-01 7.63748341e-01 -5.46893697e-03 1.11845448e+02] [ 7.63720579e-01 -6.45514114e-01 -6.51198713e-03 -1.60495601e+02] [-8.50379537e-03 2.66890374e-05 -9.99963842e-01 -4.02426291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.526559995 meters 0.012967382193980052 Centerline is valid? [True, True] Translation: X:111.87, Y:-160.48, Z:-4.02 [[ 5.83746865e-01 8.11921272e-01 -4.84201052e-03 1.11869694e+02] [ 8.11892970e-01 -5.83766946e-01 -6.77928270e-03 -1.60479411e+02] [-8.33084953e-03 2.61907277e-05 -9.99965298e-01 -4.02323493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.586559995 meters 0.013006980376635443 Centerline is valid? [True, True] Translation: X:111.89, Y:-160.46, Z:-4.02 [[ 5.18005164e-01 8.55364847e-01 -4.65070147e-03 1.11892529e+02] [ 8.55329950e-01 -5.18026040e-01 -7.72650730e-03 -1.60460258e+02] [-9.01816720e-03 2.44864318e-05 -9.99959335e-01 -4.02365730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.646559995 meters 0.012957069661609234 Centerline is valid? [True, True] Translation: X:111.91, Y:-160.44, Z:-4.02 [[ 4.49543615e-01 8.93250018e-01 -3.86570581e-03 1.11913783e+02] [ 8.93216530e-01 -4.49560235e-01 -7.73468112e-03 -1.60439691e+02] [-8.64687166e-03 2.41641838e-05 -9.99962615e-01 -4.02351786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7065599950001 meters 0.013050691037514746 Centerline is valid? [True, True] Translation: X:111.93, Y:-160.42, Z:-4.02 [[ 3.78853888e-01 9.25449892e-01 -3.49689286e-03 1.11931764e+02] [ 9.25409682e-01 -3.78870025e-01 -8.62701341e-03 -1.60416145e+02] [-9.30873652e-03 3.23190618e-05 -9.99956672e-01 -4.02314552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.766559995 meters 0.013117624612046916 Centerline is valid? [True, True] Translation: X:111.95, Y:-160.39, Z:-4.02 [[ 3.05811493e-01 9.52088084e-01 -2.75881083e-03 1.11946739e+02] [ 9.52048241e-01 -3.05823934e-01 -8.71027937e-03 -1.60391406e+02] [-9.13666358e-03 3.71825412e-05 -9.99958259e-01 -4.02308702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.826559995 meters 0.013008767895535902 Centerline is valid? [True, True] Translation: X:111.96, Y:-160.37, Z:-4.02 [[ 2.29680473e-01 9.73264069e-01 -1.98308774e-03 1.11962140e+02] [ 9.73226659e-01 -2.29689032e-01 -8.53340228e-03 -1.60366261e+02] [-8.76074732e-03 2.99620190e-05 -9.99961624e-01 -4.02306113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.886559995 meters 0.013052092505944283 Centerline is valid? [True, True] Translation: X:111.98, Y:-160.34, Z:-4.02 [[ 1.50082117e-01 9.88672556e-01 -1.39096824e-03 1.11976731e+02] [ 9.88629676e-01 -1.50088563e-01 -9.20805021e-03 -1.60340108e+02] [-9.31251496e-03 6.81118763e-06 -9.99956638e-01 -4.02219597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9465599950001 meters 0.013196943848621004 Centerline is valid? [True, True] Translation: X:111.99, Y:-160.31, Z:-4.02 [[ 7.29038196e-02 9.97338741e-01 -6.84261892e-04 1.11985351e+02] [ 9.97292979e-01 -7.29070294e-02 -9.55396914e-03 -1.60313254e+02] [-9.57843105e-03 1.41112610e-05 -9.99954126e-01 -4.02216567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.006559995 meters 0.013263533470824219 Centerline is valid? [True, True] Translation: X:111.99, Y:-160.29, Z:-4.02 [[-2.94545619e-03 9.99995660e-01 6.07889945e-05 1.11991361e+02] [ 9.99957258e-01 2.94587582e-03 -8.76381266e-03 -1.60285363e+02] [-8.76395371e-03 3.49729700e-05 -9.99961595e-01 -4.02332569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.066559995 meters 0.013419258499392097 Centerline is valid? [True, True] Translation: X:112.00, Y:-160.26, Z:-4.02 [[-7.90724700e-02 9.96868544e-01 8.06893131e-04 1.11996550e+02] [ 9.96823950e-01 7.90765650e-02 -9.42913947e-03 -1.60258035e+02] [-9.46341887e-03 5.87450512e-05 -9.99955219e-01 -4.02292301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.126559995 meters 0.013495555370393824 Centerline is valid? [True, True] Translation: X:112.00, Y:-160.23, Z:-4.02 [[-1.57806630e-01 9.87468738e-01 1.59997658e-03 1.12003123e+02] [ 9.87421266e-01 1.57814732e-01 -9.68261762e-03 -1.60230106e+02] [-9.81378207e-03 5.18696491e-05 -9.99951842e-01 -4.02216261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1865599950002 meters 0.013376829257597235 Centerline is valid? [True, True] Translation: X:112.01, Y:-160.20, Z:-4.02 [[-2.37952252e-01 9.71273326e-01 2.61779112e-03 1.12006868e+02] [ 9.71215536e-01 2.37966650e-01 -1.05950577e-02 -1.60202450e+02] [-1.09136439e-02 2.13215605e-05 -9.99940444e-01 -4.02130731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.246559995 meters 0.013303501143783147 Centerline is valid? [True, True] Translation: X:112.01, Y:-160.17, Z:-4.02 [[-3.14608730e-01 9.49215333e-01 3.40578577e-03 1.12006468e+02] [ 9.49159940e-01 3.14627164e-01 -1.02545928e-02 -1.60174240e+02] [-1.08053694e-02 6.45099073e-06 -9.99941620e-01 -4.02258481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.306559995 meters 0.013384164685419517 Centerline is valid? [True, True] Translation: X:112.00, Y:-160.15, Z:-4.02 [[-3.89069386e-01 9.21199065e-01 4.15871842e-03 1.12003970e+02] [ 9.21146278e-01 3.89091611e-01 -9.86165878e-03 -1.60146735e+02] [-1.07026733e-02 -6.08153015e-06 -9.99942725e-01 -4.02130072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.366559995 meters 0.013291233872873152 Centerline is valid? [True, True] Translation: X:112.00, Y:-160.12, Z:-4.02 [[-4.61273485e-01 8.87244438e-01 4.90698431e-03 1.11997845e+02] [ 8.87193755e-01 4.61299584e-01 -9.48338144e-03 -1.60119506e+02] [-1.06776673e-02 -2.09865753e-05 -9.99942992e-01 -4.02133468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4265599950002 meters 0.013685217616072899 Centerline is valid? [True, True] Translation: X:111.99, Y:-160.09, Z:-4.02 [[-5.34125524e-01 8.45382934e-01 6.13341239e-03 1.11993389e+02] [ 8.45325286e-01 5.34160731e-01 -9.87291006e-03 -1.60089671e+02] [-1.16226177e-02 -8.86446789e-05 -9.99932451e-01 -4.02188919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.486559995 meters 0.013887863658563081 Centerline is valid? [True, True] Translation: X:111.99, Y:-160.06, Z:-4.02 [[-6.01399592e-01 7.98916921e-01 7.09114729e-03 1.11986386e+02] [ 7.98858796e-01 6.01441382e-01 -9.63783353e-03 -1.60059546e+02] [-1.19647377e-02 -1.31363763e-04 -9.99928411e-01 -4.02191772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.546559995 meters 0.01457626308955155 Centerline is valid? [True, True] Translation: X:111.98, Y:-160.03, Z:-4.02 [[-6.64821675e-01 7.46958621e-01 8.05966157e-03 1.11976796e+02] [ 7.46900432e-01 6.64870503e-01 -9.32521280e-03 -1.60029953e+02] [-1.23241793e-02 -1.79838891e-04 -9.99924038e-01 -4.02110041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.606559995 meters 0.014674421668165112 Centerline is valid? [True, True] Translation: X:111.96, Y:-160.00, Z:-4.02 [[-7.21969867e-01 6.91867523e-01 8.87930088e-03 1.11961893e+02] [ 6.91811862e-01 7.22024440e-01 -8.77809606e-03 -1.60003692e+02] [-1.24843518e-02 -1.94715162e-04 -9.99922049e-01 -4.02157147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.666559995 meters 0.014923816221673583 Centerline is valid? [True, True] Translation: X:111.98, Y:-159.98, Z:-4.02 [[-7.68929664e-01 6.39257950e-01 9.82070571e-03 1.11981196e+02] [ 6.39202495e-01 7.68992350e-01 -8.42233990e-03 -1.59984398e+02] [-1.29360953e-02 -1.98767394e-04 -9.99916306e-01 -4.02116570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7265599950001 meters 0.01499252533514011 Centerline is valid? [True, True] Translation: X:112.00, Y:-159.96, Z:-4.02 [[-8.11751452e-01 5.83905197e-01 1.06911378e-02 1.11998964e+02] [ 5.83851394e-01 8.11821829e-01 -7.92889300e-03 -1.59964374e+02] [-1.33090209e-02 -1.94254704e-04 -9.99911412e-01 -4.01960839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.786559995 meters 0.014345329327307095 Centerline is valid? [True, True] Translation: X:112.01, Y:-159.94, Z:-4.02 [[-8.50101730e-01 5.26475688e-01 1.22637169e-02 1.12010005e+02] [ 5.26417726e-01 8.50190164e-01 -7.81424447e-03 -1.59943944e+02] [-1.45405012e-02 -1.87064797e-04 -9.99894264e-01 -4.01994153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.846559995 meters 0.014109199904189629 Centerline is valid? [True, True] Translation: X:112.03, Y:-159.93, Z:-4.02 [[-8.84939618e-01 4.65534950e-01 1.26128455e-02 1.12027793e+02] [ 4.65484844e-01 8.85029480e-01 -6.83228647e-03 -1.59925088e+02] [-1.43434082e-02 -1.75072572e-04 -9.99897113e-01 -4.02048472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.906559995 meters 0.013754182807791874 Centerline is valid? [True, True] Translation: X:112.04, Y:-159.90, Z:-4.02 [[-9.14373004e-01 4.04678584e-01 1.25400706e-02 1.12038328e+02] [ 4.04638669e-01 9.14458981e-01 -5.68502078e-03 -1.59904899e+02] [-1.37679863e-02 -1.24032044e-04 -9.99905209e-01 -4.02105464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9665599950001 meters 0.01346860872958987 Centerline is valid? [True, True] Translation: X:112.05, Y:-159.88, Z:-4.02 [[-9.39791135e-01 3.41521088e-01 1.24887431e-02 1.12052516e+02] [ 3.41489762e-01 9.39874109e-01 -4.62626265e-03 -1.59884469e+02] [-1.33178125e-02 -8.29427122e-05 -9.99911311e-01 -4.02117220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.026559995 meters 0.013227218482743093 Centerline is valid? [True, True] Translation: X:112.30, Y:-159.22, Z:-5.02 [[-9.11715739e-01 -4.10624588e-01 1.27223461e-02 1.12304580e+02] [ 4.10586438e-01 -9.11804493e-01 -5.59857969e-03 -1.59218607e+02] [ 1.38992069e-02 1.19309560e-04 9.99903394e-01 -5.01852108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.086559995 meters 0.013277990469609254 Centerline is valid? [True, True] Translation: X:112.01, Y:-159.88, Z:-4.02 [[-9.37401160e-01 3.47979229e-01 1.37666684e-02 1.12013020e+02] [ 3.47942702e-01 9.37502241e-01 -5.04223018e-03 -1.59876630e+02] [-1.46608738e-02 6.34193646e-05 -9.99892522e-01 -4.02175519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.146559995 meters 0.013852192665307126 Centerline is valid? [True, True] Translation: X:112.27, Y:-159.20, Z:-5.02 [[-9.17988595e-01 -3.96407828e-01 1.25607950e-02 1.12271359e+02] [ 3.96369070e-01 -9.18074519e-01 -5.54427771e-03 -1.59203703e+02] [ 1.37295409e-02 -1.10873077e-04 9.99905739e-01 -5.01740219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2065599950001 meters 0.014568420339290114 Centerline is valid? [True, True] Translation: X:111.98, Y:-159.87, Z:-4.02 [[-9.34276606e-01 3.56320319e-01 1.27692225e-02 1.11978393e+02] [ 3.56290395e-01 9.34363836e-01 -4.62352561e-03 -1.59868475e+02] [-1.35785559e-02 2.29899528e-04 -9.99907781e-01 -4.02433156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.266559995 meters 0.015245719548289887 Centerline is valid? [True, True] Translation: X:112.23, Y:-159.19, Z:-5.02 [[-9.23039241e-01 -3.84480045e-01 1.31778231e-02 1.12229325e+02] [ 3.84437807e-01 -9.23133282e-01 -5.70237874e-03 -1.59188862e+02] [ 1.43573380e-02 -1.97465921e-04 9.99896909e-01 -5.01709464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.326559995 meters 0.016128386774702408 Centerline is valid? [True, True] Translation: X:111.94, Y:-159.85, Z:-4.02 [[-9.33786105e-01 3.57536663e-01 1.45273874e-02 1.11936736e+02] [ 3.57499004e-01 9.33899042e-01 -5.20014042e-03 -1.59852200e+02] [-1.54263540e-02 3.37707664e-04 -9.99880950e-01 -4.02310223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.386559995 meters 0.016045948290622027 Centerline is valid? [True, True] Translation: X:111.95, Y:-159.82, Z:-4.02 [[-9.57251985e-01 2.88889568e-01 1.45414999e-02 1.11947482e+02] [ 2.88861086e-01 9.57362378e-01 -4.06809490e-03 -1.59821171e+02] [-1.50967151e-02 3.06281530e-04 -9.99885991e-01 -4.02348227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4465599950001 meters 0.014451431543211756 Centerline is valid? [True, True] Translation: X:112.13, Y:-159.15, Z:-5.02 [[-9.47414672e-01 -3.19738652e-01 1.31390034e-02 1.12133655e+02] [ 3.19702631e-01 -9.47505707e-01 -4.81267882e-03 -1.59145082e+02] [ 1.39880801e-02 -3.59028579e-04 9.99902098e-01 -5.01608939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.506559995 meters 0.013194432592215756 Centerline is valid? [True, True] Translation: X:111.90, Y:-159.79, Z:-4.03 [[-9.62552882e-01 2.70790177e-01 1.28308146e-02 1.11898838e+02] [ 2.70767076e-01 9.62638393e-01 -3.53769242e-03 -1.59788177e+02] [-1.33094071e-02 6.89461160e-05 -9.99911424e-01 -4.02527408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.566559995 meters 0.012796968315513876 Centerline is valid? [True, True] Translation: X:111.90, Y:-159.75, Z:-4.03 [[-9.80894676e-01 1.94105452e-01 1.29888013e-02 1.11901062e+02] [ 1.94087939e-01 9.80980669e-01 -2.60764666e-03 -1.59751616e+02] [-1.32479215e-02 -3.68570429e-05 -9.99912242e-01 -4.02550253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.626559995 meters 0.014363285375137836 Centerline is valid? [True, True] Translation: X:111.90, Y:-159.71, Z:-4.03 [[-9.93512280e-01 1.13074313e-01 1.21470237e-02 1.11895294e+02] [ 1.13063782e-01 9.93586519e-01 -1.55239061e-03 -1.59709799e+02] [-1.22446545e-02 -1.68930684e-04 -9.99925017e-01 -4.02568796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6865599950002 meters 0.016331127245621656 Centerline is valid? [True, True] Translation: X:111.97, Y:-159.10, Z:-5.01 [[-9.76843421e-01 -2.13655593e-01 1.13233366e-02 1.11970149e+02] [ 2.13642563e-01 -9.76909041e-01 -2.36218800e-03 -1.59097022e+02] [ 1.15665646e-02 1.11658855e-04 9.99933099e-01 -5.01378849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.746559995 meters 0.01739143743691845 Centerline is valid? [True, True] Translation: X:111.84, Y:-159.69, Z:-4.03 [[-9.94948190e-01 9.97925784e-02 1.09334348e-02 1.11840702e+02] [ 9.97837175e-02 9.95008229e-01 -1.35433864e-03 -1.59688302e+02] [-1.10140105e-02 -2.56518014e-04 -9.99939311e-01 -4.02731936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.806559995 meters 0.016504108062139727 Centerline is valid? [True, True] Translation: X:111.92, Y:-159.10, Z:-5.01 [[-9.76702993e-01 -2.14318214e-01 1.09071744e-02 1.11915439e+02] [ 2.14307873e-01 -9.76763857e-01 -2.12197737e-03 -1.59098207e+02] [ 1.11085122e-02 2.64951702e-04 9.99938264e-01 -5.01207035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.866559995 meters 0.017078252734086963 Centerline is valid? [True, True] Translation: X:111.79, Y:-159.67, Z:-4.03 [[-9.95664028e-01 9.21092898e-02 1.30008831e-02 1.11792906e+02] [ 9.20967686e-02 9.95748840e-01 -1.55981813e-03 -1.59674950e+02] [-1.30892880e-02 -3.55715473e-04 -9.99914268e-01 -4.02590070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9265599950002 meters 0.017917544054478284 Centerline is valid? [True, True] Translation: X:111.79, Y:-159.64, Z:-4.03 [[-9.99701936e-01 2.06740669e-02 1.29854603e-02 1.11790228e+02] [ 2.06676527e-02 9.99786204e-01 -6.27972706e-04 -1.59644060e+02] [-1.29956668e-02 -3.59406548e-04 -9.99915488e-01 -4.02563510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.986559995 meters 0.0169804030997599 Centerline is valid? [True, True] Translation: X:111.82, Y:-159.07, Z:-5.01 [[-9.90046986e-01 -1.40252247e-01 1.16735843e-02 1.11818691e+02] [ 1.40245450e-01 -9.90115774e-01 -1.40290467e-03 -1.59070994e+02] [ 1.17549605e-02 2.48225558e-04 9.99930877e-01 -5.01280789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.046559995 meters 0.014726009282776968 Centerline is valid? [True, True] Translation: X:111.75, Y:-159.65, Z:-4.03 [[-9.99601550e-01 2.66941412e-02 9.17408086e-03 1.11746867e+02] [ 2.66915346e-02 9.99643635e-01 -4.06468208e-04 -1.59647808e+02] [-9.18166186e-03 -1.61435954e-04 -9.99957835e-01 -4.02993174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.106559995 meters 0.013282020235831233 Centerline is valid? [True, True] Translation: X:111.78, Y:-159.06, Z:-5.01 [[-9.92529100e-01 -1.21725244e-01 8.30366158e-03 1.11777208e+02] [ 1.21721820e-01 -9.92563829e-01 -9.18344832e-04 -1.59060801e+02] [ 8.35369988e-03 9.92528344e-05 9.99965102e-01 -5.00979970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.166559995 meters 0.012699276816372907 Centerline is valid? [True, True] Translation: X:111.70, Y:-159.66, Z:-4.03 [[-9.99109249e-01 4.14341289e-02 7.99505326e-03 1.11702764e+02] [ 4.14328891e-02 9.99141238e-01 -3.20712168e-04 -1.59659472e+02] [-8.00147584e-03 1.08316621e-05 -9.99967988e-01 -4.03068433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2265599950001 meters 0.013066968060907432 Centerline is valid? [True, True] Translation: X:111.70, Y:-159.64, Z:-4.03 [[-9.99706751e-01 -2.26693226e-02 8.51550791e-03 1.11698906e+02] [-2.26678922e-02 9.99743015e-01 2.64457562e-04 -1.59635356e+02] [-8.51931463e-03 7.13513941e-05 -9.99963708e-01 -4.03195697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.286559995 meters 0.014276946343137331 Centerline is valid? [True, True] Translation: X:111.70, Y:-159.61, Z:-4.03 [[-9.96231485e-01 -8.62690219e-02 8.97126280e-03 1.11695029e+02] [-8.62642323e-02 9.96271868e-01 9.20196596e-04 -1.59612110e+02] [-9.01720121e-03 1.42829723e-04 -9.99959334e-01 -4.03208313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.346559995 meters 0.015077207003549935 Centerline is valid? [True, True] Translation: X:111.64, Y:-158.99, Z:-5.01 [[-9.98506826e-01 5.37197255e-02 9.91516859e-03 1.11635047e+02] [-5.37180697e-02 -9.98556048e-01 4.33435791e-04 -1.58992939e+02] [ 9.92413562e-03 -9.98351213e-05 9.99950750e-01 -5.00899484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.406559995 meters 0.014353467069876825 Centerline is valid? [True, True] Translation: X:111.62, Y:-159.62, Z:-4.03 [[-9.95926144e-01 -8.95342211e-02 1.07116021e-02 1.11623048e+02] [-8.95270077e-02 9.95983729e-01 1.15199885e-03 -1.59615270e+02] [-1.07717247e-02 1.88328084e-04 -9.99941966e-01 -4.03109262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4665599950001 meters 0.013762751574114027 Centerline is valid? [True, True] Translation: X:111.55, Y:-159.01, Z:-5.01 [[-9.98598751e-01 5.19982967e-02 9.83424614e-03 1.11552426e+02] [-5.19981269e-02 -9.98647145e-01 2.73128001e-04 -1.59010270e+02] [ 9.83514402e-03 -2.38617098e-04 9.99951605e-01 -5.00966075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.526559995 meters 0.012989546319889595 Centerline is valid? [True, True] Translation: X:111.55, Y:-159.61, Z:-4.03 [[-9.94550597e-01 -1.03895047e-01 8.65621326e-03 1.11547546e+02] [-1.03890528e-01 9.94588264e-01 9.71305029e-04 -1.59614896e+02] [-8.71028190e-03 6.67134294e-05 -9.99962063e-01 -4.03192786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.586559995 meters 0.012529668227967597 Centerline is valid? [True, True] Translation: X:111.53, Y:-159.58, Z:-4.03 [[-9.83093603e-01 -1.82926746e-01 8.04815890e-03 1.11531138e+02] [-1.82920693e-01 9.83126546e-01 1.48817166e-03 -1.59581780e+02] [-8.18458506e-03 -9.16276740e-06 -9.99966506e-01 -4.03299601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.646559995 meters 0.013150086561013258 Centerline is valid? [True, True] Translation: X:111.50, Y:-159.55, Z:-4.03 [[-9.65349454e-01 -2.60891950e-01 5.98510411e-03 1.11504475e+02] [-2.60887328e-01 9.65368006e-01 1.55419688e-03 -1.59551090e+02] [-6.18330547e-03 -6.10947110e-05 -9.99980881e-01 -4.03344810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7065599950001 meters 0.01385920333470976 Centerline is valid? [True, True] Translation: X:111.36, Y:-159.01, Z:-5.01 [[-9.85304581e-01 1.70741319e-01 4.72059617e-03 1.11361140e+02] [-1.70739619e-01 -9.85315888e-01 7.63669759e-04 -1.59012138e+02] [ 4.78166839e-03 -5.35454801e-05 9.99988566e-01 -5.00668761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.766559995 meters 0.014548964573500552 Centerline is valid? [True, True] Translation: X:111.42, Y:-159.56, Z:-4.03 [[-9.61905947e-01 -2.73344558e-01 4.43862462e-03 1.11418267e+02] [-2.73342026e-01 9.61916185e-01 1.17905509e-03 -1.59564658e+02] [-4.59187316e-03 -7.91225414e-05 -9.99989454e-01 -4.03359211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.826559995 meters 0.016005762940147564 Centerline is valid? [True, True] Translation: X:111.40, Y:-159.54, Z:-4.03 [[-9.38542543e-01 -3.45119868e-01 5.49285288e-03 1.11396168e+02] [-3.45114738e-01 9.38558608e-01 1.88589452e-03 -1.59538233e+02] [-5.80622402e-03 -1.25672240e-04 -9.99983136e-01 -4.03141650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.886559995 meters 0.01659516194538253 Centerline is valid? [True, True] Translation: X:111.36, Y:-159.52, Z:-4.03 [[-9.10787017e-01 -4.12828913e-01 6.26884749e-03 1.11364218e+02] [-4.12820308e-01 9.10808577e-01 2.67001108e-03 -1.59520500e+02] [-6.81197783e-03 -1.56096131e-04 -9.99976786e-01 -4.03043306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9465599950001 meters 0.016295818498896966 Centerline is valid? [True, True] Translation: X:111.32, Y:-159.51, Z:-4.03 [[-8.78609149e-01 -4.77502299e-01 6.12517381e-03 1.11324101e+02] [-4.77491948e-01 8.78630485e-01 3.14809326e-03 -1.59510408e+02] [-6.88498620e-03 -1.58777636e-04 -9.99976286e-01 -4.03004318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.006559995 meters 0.016054310665909996 Centerline is valid? [True, True] Translation: X:111.27, Y:-159.51, Z:-4.03 [[-8.42239239e-01 -5.39070769e-01 5.98086704e-03 1.11268412e+02] [-5.39058444e-01 8.42260461e-01 3.64833185e-03 -1.59513247e+02] [-7.00415688e-03 -1.51268639e-04 -9.99975459e-01 -4.02905018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.066559995 meters 0.015176568338151557 Centerline is valid? [True, True] Translation: X:111.21, Y:-159.53, Z:-4.03 [[-8.02588105e-01 -5.96494678e-01 6.81420778e-03 1.11206393e+02] [-5.96474737e-01 8.02617018e-01 4.87964768e-03 -1.59529579e+02] [-8.37988300e-03 -1.48155601e-04 -9.99964877e-01 -4.02777447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.126559995 meters 0.014178084112884376 Centerline is valid? [True, True] Translation: X:111.14, Y:-159.55, Z:-4.03 [[-7.58568352e-01 -6.51556893e-01 6.90440607e-03 1.11141302e+02] [-6.51531397e-01 7.58599762e-01 5.76534481e-03 -1.59553164e+02] [-8.99413096e-03 -1.25029223e-04 -9.99959544e-01 -4.02775861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1865599950002 meters 0.013188660266165487 Centerline is valid? [True, True] Translation: X:111.07, Y:-159.59, Z:-4.03 [[-7.12467767e-01 -7.01677134e-01 6.23550788e-03 1.11071778e+02] [-7.01651037e-01 7.12495050e-01 6.05196120e-03 -1.59591501e+02] [-8.68929129e-03 -6.33232901e-05 -9.99962245e-01 -4.02921914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.246559995 meters 0.012928753278189306 Centerline is valid? [True, True] Translation: X:111.00, Y:-159.64, Z:-4.03 [[-6.60809666e-01 -7.50537475e-01 4.90754969e-03 1.10997376e+02] [-7.50517060e-01 6.60827889e-01 5.53567132e-03 -1.59636571e+02] [-7.39777448e-03 -2.51746502e-05 -9.99972636e-01 -4.03029717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.306559995 meters 0.012906827271003465 Centerline is valid? [True, True] Translation: X:110.92, Y:-159.69, Z:-4.03 [[-6.06335176e-01 -7.95198586e-01 4.10653940e-03 1.10924159e+02] [-7.95180231e-01 6.06349082e-01 5.40283939e-03 -1.59692360e+02] [-6.78632664e-03 1.04926254e-05 -9.99976973e-01 -4.03058303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.366559995 meters 0.01324388502993609 Centerline is valid? [True, True] Translation: X:110.85, Y:-159.76, Z:-4.03 [[-5.48324099e-01 -8.36255365e-01 4.20087360e-03 1.10850714e+02] [-8.36230162e-01 5.48340189e-01 6.49259158e-03 -1.59760316e+02] [-7.73297237e-03 4.71472167e-05 -9.99970099e-01 -4.02945406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4265599950002 meters 0.013461431750582743 Centerline is valid? [True, True] Translation: X:110.78, Y:-159.84, Z:-4.03 [[-4.85172381e-01 -8.74409880e-01 3.88891830e-03 1.10777220e+02] [-8.74380685e-01 4.85187962e-01 7.14558705e-03 -1.59836396e+02] [-8.13502826e-03 6.64464290e-05 -9.99966908e-01 -4.02952937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.486559995 meters 0.0136973940255001 Centerline is valid? [True, True] Translation: X:110.71, Y:-159.91, Z:-4.03 [[-4.17604408e-01 -9.08620725e-01 3.86484220e-03 1.10711153e+02] [-9.08580025e-01 4.17622284e-01 8.60030685e-03 -1.59914781e+02] [-9.42846127e-03 8.00076298e-05 -9.99955548e-01 -4.02908382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.546559995 meters 0.013586281954077128 Centerline is valid? [True, True] Translation: X:110.65, Y:-160.01, Z:-4.03 [[-3.45833369e-01 -9.38290413e-01 3.22218059e-03 1.10646829e+02] [-9.38247888e-01 3.45848373e-01 8.93329803e-03 -1.60008589e+02] [-9.49641381e-03 6.62284237e-05 -9.99954906e-01 -4.02956804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.606559995 meters 0.013396873011108581 Centerline is valid? [True, True] Translation: X:110.59, Y:-160.10, Z:-4.03 [[-2.72145220e-01 -9.62252716e-01 2.58637328e-03 1.10589019e+02] [-9.62207263e-01 2.72157503e-01 9.35291575e-03 -1.60103890e+02] [-9.70376948e-03 5.67241608e-05 -9.99952916e-01 -4.02915283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.666559995 meters 0.01334702434949591 Centerline is valid? [True, True] Translation: X:110.54, Y:-160.21, Z:-4.03 [[-1.95438079e-01 -9.80714277e-01 1.86114477e-03 1.10538605e+02] [-9.80668214e-01 1.95446937e-01 9.50524198e-03 -1.60208443e+02] [-9.68568157e-03 3.25207156e-05 -9.99953092e-01 -4.02895127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7265599950001 meters 0.013186830868944144 Centerline is valid? [True, True] Translation: X:110.50, Y:-160.32, Z:-4.03 [[-1.16429697e-01 -9.93198297e-01 1.12647219e-03 1.10496868e+02] [-9.93151926e-01 1.16435146e-01 9.59735755e-03 -1.60315950e+02] [-9.66324013e-03 -1.34059783e-06 -9.99953310e-01 -4.02947253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.786559995 meters 0.013248215407656468 Centerline is valid? [True, True] Translation: X:110.46, Y:-160.42, Z:-4.03 [[-3.74979022e-02 -9.99296640e-01 3.64935917e-04 1.10461395e+02] [-9.99256240e-01 3.74996677e-02 8.98569648e-03 -1.60421247e+02] [-8.99306127e-03 -2.77197247e-05 -9.99959561e-01 -4.03030923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.846559995 meters 0.013843057538965614 Centerline is valid? [True, True] Translation: X:110.43, Y:-160.54, Z:-4.03 [[ 4.45432447e-02 -9.99007417e-01 -2.83140217e-04 1.10432589e+02] [-9.98976500e-01 -4.45440938e-02 7.85981744e-03 -1.60540431e+02] [-7.86462814e-03 -6.72513483e-05 -9.99969071e-01 -4.03111567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.906559995 meters 0.014008376893582105 Centerline is valid? [True, True] Translation: X:110.42, Y:-160.66, Z:-4.03 [[ 1.24578764e-01 -9.92209263e-01 -9.53811243e-04 1.10415465e+02] [-9.92173437e-01 -1.24582372e-01 8.43223557e-03 -1.60660796e+02] [-8.48537031e-03 -1.04131308e-04 -9.99963993e-01 -4.03168338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9665599950001 meters 0.014512712179003564 Centerline is valid? [True, True] Translation: X:110.41, Y:-160.78, Z:-4.03 [[ 2.03974894e-01 -9.78974485e-01 -1.78914288e-03 1.10407668e+02] [-9.78929973e-01 -2.03982683e-01 9.33669405e-03 -1.60779079e+02] [-9.50533941e-03 -1.53005591e-04 -9.99954812e-01 -4.03091227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.026559995 meters 0.01483404807800698 Centerline is valid? [True, True] Translation: X:110.41, Y:-160.90, Z:-4.03 [[ 2.79608850e-01 -9.60109412e-01 -2.96795004e-03 1.10411097e+02] [-9.60047653e-01 -2.79624533e-01 1.08915202e-02 -1.60898936e+02] [-1.12869627e-02 -1.95991958e-04 -9.99936281e-01 -4.02953134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.086559995 meters 0.015121809220513956 Centerline is valid? [True, True] Translation: X:110.42, Y:-161.01, Z:-4.03 [[ 3.52524617e-01 -9.35794988e-01 -3.75978803e-03 1.10421436e+02] [-9.35735708e-01 -3.52544612e-01 1.05347785e-02 -1.61011689e+02] [-1.11838859e-02 -1.95600834e-04 -9.99937439e-01 -4.02931241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.146559995 meters 0.015049392335703978 Centerline is valid? [True, True] Translation: X:110.44, Y:-161.13, Z:-4.03 [[ 4.22702483e-01 -9.06253882e-01 -5.14901410e-03 1.10443571e+02] [-9.06180374e-01 -4.22733788e-01 1.15444155e-02 -1.61125846e+02] [-1.26388336e-02 -2.13917560e-04 -9.99920104e-01 -4.02852456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2065599950001 meters 0.01519135361291062 Centerline is valid? [True, True] Translation: X:110.47, Y:-161.24, Z:-4.03 [[ 4.90702077e-01 -8.71304391e-01 -6.33476441e-03 1.10471136e+02] [-8.71225833e-01 -4.90742914e-01 1.17021604e-02 -1.61237208e+02] [-1.33048845e-02 -2.23264035e-04 -9.99911461e-01 -4.02685444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.266559995 meters 0.01460154517429166 Centerline is valid? [True, True] Translation: X:110.51, Y:-161.34, Z:-4.03 [[ 5.54185148e-01 -8.32365176e-01 -6.85822490e-03 1.10509346e+02] [-8.32297257e-01 -5.54227551e-01 1.06347077e-02 -1.61340143e+02] [-1.26529776e-02 -1.85515296e-04 -9.99919931e-01 -4.02717177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.326559995 meters 0.013914931577841507 Centerline is valid? [True, True] Translation: X:110.56, Y:-161.44, Z:-4.03 [[ 6.12547966e-01 -7.90406150e-01 -6.56559982e-03 1.10559486e+02] [-7.90358852e-01 -6.12583142e-01 8.64746297e-03 -1.61442472e+02] [-1.08569837e-02 -1.07805914e-04 -9.99941055e-01 -4.02817820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.386559995 meters 0.013496783608467695 Centerline is valid? [True, True] Translation: X:110.61, Y:-161.54, Z:-4.03 [[ 6.68808186e-01 -7.43404743e-01 -6.70810841e-03 1.10609070e+02] [-7.43366324e-01 -6.68841823e-01 7.55808791e-03 -1.61535474e+02] [-1.01053819e-02 -6.83291713e-05 -9.99948937e-01 -4.02919703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4465599950001 meters 0.013304989512725685 Centerline is valid? [True, True] Translation: X:110.67, Y:-161.62, Z:-4.03 [[ 7.21180479e-01 -6.92713249e-01 -6.86089115e-03 1.10665362e+02] [-6.92681488e-01 -7.21213112e-01 6.63350076e-03 -1.61623729e+02] [-9.54327852e-03 -3.15389662e-05 -9.99954461e-01 -4.02928170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.506559995 meters 0.013113911842891223 Centerline is valid? [True, True] Translation: X:110.68, Y:-161.65, Z:-4.03 [[ 7.73515245e-01 -6.33746718e-01 -6.26610787e-03 1.10684547e+02] [-6.33725593e-01 -7.73540624e-01 5.17459564e-03 -1.61650968e+02] [-8.12647199e-03 -3.16356862e-05 -9.99966979e-01 -4.03041570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.566559995 meters 0.013152152558545073 Centerline is valid? [True, True] Translation: X:110.71, Y:-161.68, Z:-4.03 [[ 8.20698505e-01 -5.71314330e-01 -7.34172530e-03 1.10706385e+02] [-5.71291088e-01 -8.20731342e-01 5.15342835e-03 -1.61675076e+02] [-8.96981152e-03 -3.51487025e-05 -9.99959770e-01 -4.02988373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.626559995 meters 0.01318619246064933 Centerline is valid? [True, True] Translation: X:110.73, Y:-161.70, Z:-4.03 [[ 8.62542354e-01 -5.05903243e-01 -9.08829057e-03 1.10730872e+02] [-5.05874726e-01 -8.62590231e-01 5.37159562e-03 -1.61696943e+02] [-1.05569783e-02 -3.56922250e-05 -9.99944273e-01 -4.02862780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6865599950002 meters 0.013098522220395582 Centerline is valid? [True, True] Translation: X:110.75, Y:-161.72, Z:-4.03 [[ 8.99354142e-01 -4.37119175e-01 -9.43157251e-03 1.10754460e+02] [-4.37094754e-01 -8.99403595e-01 4.62059170e-03 -1.61720330e+02] [-1.05025395e-02 -3.30574100e-05 -9.99944846e-01 -4.02932962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.746559995 meters 0.01300903692544605 Centerline is valid? [True, True] Translation: X:110.78, Y:-161.75, Z:-4.03 [[ 9.30665863e-01 -3.65760622e-01 -8.95648750e-03 1.10778123e+02] [-3.65743406e-01 -9.30708959e-01 3.54885779e-03 -1.61745527e+02] [-9.63391560e-03 -2.70245612e-05 -9.99953592e-01 -4.02906125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.806559995 meters 0.012997828254477255 Centerline is valid? [True, True] Translation: X:110.80, Y:-161.77, Z:-4.03 [[ 9.56412241e-01 -2.91867480e-01 -9.43399031e-03 1.10804411e+02] [-2.91852991e-01 -9.56458767e-01 2.90834846e-03 -1.61766381e+02] [-9.87207508e-03 -2.82417817e-05 -9.99951270e-01 -4.02860236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.866559995 meters 0.012967795347056386 Centerline is valid? [True, True] Translation: X:110.83, Y:-161.79, Z:-4.03 [[ 9.76460794e-01 -2.15465668e-01 -9.94298065e-03 1.10832960e+02] [-2.15454111e-01 -9.76511416e-01 2.23189218e-03 -1.61785546e+02] [-1.01903303e-02 -3.70991490e-05 -9.99948077e-01 -4.02829433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9265599950002 meters 0.013165645093405823 Centerline is valid? [True, True] Translation: X:110.86, Y:-161.80, Z:-4.03 [[ 9.90831545e-01 -1.34708204e-01 -1.03222329e-02 1.10861915e+02] [-1.34700096e-01 -9.90885308e-01 1.47989709e-03 -1.61801449e+02] [-1.04275032e-02 -7.59229692e-05 -9.99945629e-01 -4.02786937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.986559995 meters 0.014016249241445256 Centerline is valid? [True, True] Translation: X:110.89, Y:-161.82, Z:-4.03 [[ 9.98705339e-01 -4.99563021e-02 -9.59238315e-03 1.10889817e+02] [-4.99527006e-02 -9.98751395e-01 6.14823355e-04 -1.61817172e+02] [-9.61112035e-03 -1.34861924e-04 -9.99953803e-01 -4.02802368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.046559995 meters 0.015419870431115304 Centerline is valid? [True, True] Translation: X:110.92, Y:-161.83, Z:-4.03 [[ 9.99406994e-01 3.30639395e-02 -9.61436580e-03 1.10917856e+02] [ 3.30641418e-02 -9.99453222e-01 -1.37947590e-04 -1.61828708e+02] [-9.61366997e-03 -1.80024968e-04 -9.99953771e-01 -4.02750623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.106559995 meters 0.01664470657420943 Centerline is valid? [True, True] Translation: X:110.95, Y:-161.83, Z:-4.03 [[ 9.93136343e-01 1.16673342e-01 -8.21794624e-03 1.10948375e+02] [ 1.16671011e-01 -9.93170323e-01 -7.64150055e-04 -1.61834884e+02] [-8.25097627e-03 -1.99890907e-04 -9.99965940e-01 -4.02942812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.166559995 meters 0.017134190959604542 Centerline is valid? [True, True] Translation: X:110.98, Y:-161.84, Z:-4.03 [[ 9.80521779e-01 1.96300926e-01 -6.55650742e-03 1.10979292e+02] [ 1.96297734e-01 -9.80543684e-01 -1.13318123e-03 -1.61837980e+02] [-6.65138647e-03 -1.75918673e-04 -9.99977864e-01 -4.03105494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2265599950001 meters 0.018288866557791585 Centerline is valid? [True, True] Translation: X:111.01, Y:-161.84, Z:-4.03 [[ 9.62099374e-01 2.72652737e-01 -5.02790403e-03 1.11009566e+02] [ 2.72649762e-01 -9.62112502e-01 -1.28115034e-03 -1.61838104e+02] [-5.18671847e-03 -1.38262896e-04 -9.99986539e-01 -4.03180626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.286559995 meters 0.01575261701802058 Centerline is valid? [True, True] Translation: X:111.04, Y:-161.83, Z:-4.03 [[ 9.38763164e-01 3.44530159e-01 -4.76351918e-03 1.11039678e+02] [ 3.44526370e-01 -9.38775242e-01 -1.62026431e-03 -1.61832626e+02] [-5.03010379e-03 -1.20113521e-04 -9.99987342e-01 -4.03168196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.346559995 meters 0.014794377712629881 Centerline is valid? [True, True] Translation: X:111.07, Y:-161.82, Z:-4.03 [[ 9.11943492e-01 4.10277100e-01 -5.63642253e-03 1.11066663e+02] [ 4.10269951e-01 -9.11960904e-01 -2.42420340e-03 -1.61824272e+02] [-6.13479213e-03 -1.01718286e-04 -9.99981177e-01 -4.03012224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.406559995 meters 0.013328639416859954 Centerline is valid? [True, True] Translation: X:111.09, Y:-161.81, Z:-4.03 [[ 8.80768991e-01 4.73509103e-01 -5.92565436e-03 1.11090004e+02] [ 4.73498834e-01 -8.80788922e-01 -3.11898321e-03 -1.61808597e+02] [-6.69611766e-03 -5.86867369e-05 -9.99977579e-01 -4.02951164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4665599950001 meters 0.01252180188285258 Centerline is valid? [True, True] Translation: X:111.12, Y:-161.80, Z:-4.03 [[ 8.44167961e-01 5.36048724e-01 -5.67609455e-03 1.11117473e+02] [ 5.36036762e-01 -8.44187044e-01 -3.58120701e-03 -1.61799131e+02] [-6.71138693e-03 -1.94551195e-05 -9.99977478e-01 -4.02944561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.526559995 meters 0.012564254981614389 Centerline is valid? [True, True] Translation: X:111.14, Y:-161.79, Z:-4.03 [[ 8.03302774e-01 5.95546180e-01 -5.42230704e-03 1.11144493e+02] [ 5.95532425e-01 -8.03321074e-01 -4.04760775e-03 -1.61788207e+02] [-6.76639085e-03 2.22948719e-05 -9.99977108e-01 -4.02900860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.586559995 meters 0.014149051358093294 Centerline is valid? [True, True] Translation: X:111.17, Y:-161.77, Z:-4.03 [[ 7.62611271e-01 6.46844219e-01 -4.07495718e-03 1.11167128e+02] [ 6.46834366e-01 -7.62622153e-01 -3.57137224e-03 -1.61771407e+02] [-5.41777411e-03 8.77463758e-05 -9.99985320e-01 -4.03051992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.646559995 meters 0.017403205529305507 Centerline is valid? [True, True] Translation: X:111.19, Y:-161.76, Z:-4.03 [[ 7.19512178e-01 6.94473664e-01 -2.92498640e-03 1.11189410e+02] [ 6.94467197e-01 -7.19518113e-01 -2.99971606e-03 -1.61755827e+02] [-4.18780449e-03 1.27025136e-04 -9.99991223e-01 -4.03137219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7065599950001 meters 0.019755360442872297 Centerline is valid? [True, True] Translation: X:111.21, Y:-161.74, Z:-4.03 [[ 6.69779419e-01 7.42555831e-01 -2.52347070e-03 1.11213626e+02] [ 7.42549664e-01 -6.69784154e-01 -3.03030542e-03 -1.61741960e+02] [-3.94035165e-03 1.55833883e-04 -9.99992225e-01 -4.03130781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.766559995 meters 0.02195083147760099 Centerline is valid? [True, True] Translation: X:111.24, Y:-161.73, Z:-4.03 [[ 6.16149210e-01 7.87626730e-01 -2.07018133e-03 1.11236874e+02] [ 7.87621319e-01 -6.16152663e-01 -2.92463335e-03 -1.61727193e+02] [-3.57906714e-03 1.71491576e-04 -9.99993580e-01 -4.03169204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.826559995 meters 0.023884173434813707 Centerline is valid? [True, True] Translation: X:111.26, Y:-161.71, Z:-4.03 [[ 5.57561490e-01 8.30133444e-01 -1.91037401e-03 1.11262637e+02] [ 8.30127284e-01 -5.57564726e-01 -3.20448806e-03 -1.61712628e+02] [-3.72530988e-03 2.00845551e-04 -9.99993041e-01 -4.03142220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.886559995 meters 0.02228038904888035 Centerline is valid? [True, True] Translation: X:111.30, Y:-161.70, Z:-4.03 [[ 4.86009990e-01 8.73951729e-01 -1.63262654e-03 1.11295635e+02] [ 8.73945510e-01 -4.86012700e-01 -3.30182716e-03 -1.61699680e+02] [-3.67911478e-03 1.77894351e-04 -9.99993216e-01 -4.02973503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9465599950001 meters 0.019934887973770975 Centerline is valid? [True, True] Translation: X:111.33, Y:-161.68, Z:-4.03 [[ 4.03249295e-01 9.15089442e-01 -1.14860805e-03 1.11327277e+02] [ 9.15084949e-01 -4.03250917e-01 -2.86951166e-03 -1.61684410e+02] [-3.08903707e-03 1.06054619e-04 -9.99995223e-01 -4.02858054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.006559995 meters 0.015501140569549161 Centerline is valid? [True, True] Translation: X:111.36, Y:-161.67, Z:-4.03 [[ 3.19783315e-01 9.47490112e-01 -1.05819987e-03 1.11359430e+02] [ 9.47484041e-01 -3.19785055e-01 -3.39267316e-03 -1.61665144e+02] [-3.55292077e-03 8.22927833e-05 -9.99993685e-01 -4.02823874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.066559995 meters 0.012706187343199345 Centerline is valid? [True, True] Translation: X:111.40, Y:-161.64, Z:-4.03 [[ 2.28875206e-01 9.73455498e-01 -7.30932127e-04 1.11396297e+02] [ 9.73450209e-01 -2.28876372e-01 -3.20890350e-03 -1.61643390e+02] [-3.29101785e-03 2.29124182e-05 -9.99994584e-01 -4.02704644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.126559995 meters 0.012644974622851735 Centerline is valid? [True, True] Translation: X:111.43, Y:-161.62, Z:-4.03 [[ 1.38077767e-01 9.90421308e-01 -4.04706060e-04 1.11428160e+02] [ 9.90417459e-01 -1.38078358e-01 -2.76109865e-03 -1.61617852e+02] [-2.79053208e-03 -1.95816126e-05 -9.99996106e-01 -4.02628933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1865599950002 meters 0.014345671363382115 Centerline is valid? [True, True] Translation: X:111.45, Y:-161.59, Z:-4.03 [[ 5.23836870e-02 9.98627018e-01 -1.65741255e-04 1.11449634e+02] [ 9.98623975e-01 -5.23839366e-02 -2.46562425e-03 -1.61588332e+02] [-2.47092118e-03 -3.63547020e-05 -9.99996947e-01 -4.02581172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.246559995 meters 0.015914815736845018 Centerline is valid? [True, True] Translation: X:111.47, Y:-161.56, Z:-4.02 [[-3.45154533e-02 9.99404164e-01 3.51160967e-05 1.11468097e+02] [ 9.99399272e-01 3.45153942e-02 -3.12770743e-03 -1.61556014e+02] [-3.12705587e-03 -7.28592382e-05 -9.99995108e-01 -4.02393986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.306559995 meters 0.018243498449373615 Centerline is valid? [True, True] Translation: X:111.48, Y:-161.52, Z:-4.02 [[-1.18170807e-01 9.92993222e-01 3.47302117e-04 1.11480521e+02] [ 9.92985701e-01 1.18171264e-01 -3.86650608e-03 -1.61523018e+02] [-3.88045546e-03 -1.12042106e-04 -9.99992465e-01 -4.02215697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.366559995 meters 0.01829646561270044 Centerline is valid? [True, True] Translation: X:111.48, Y:-161.49, Z:-4.02 [[-1.97473220e-01 9.80307875e-01 8.92659477e-04 1.11483683e+02] [ 9.80293745e-01 1.97475169e-01 -5.26603486e-03 -1.61488357e+02] [-5.33861353e-03 -1.64832358e-04 -9.99985736e-01 -4.02117484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4265599950002 meters 0.01897472246737579 Centerline is valid? [True, True] Translation: X:111.48, Y:-161.45, Z:-4.02 [[-2.73673582e-01 9.61820379e-01 2.08094526e-03 1.11483006e+02] [ 9.61784801e-01 2.73681366e-01 -8.27684784e-03 -1.61454856e+02] [-8.53035686e-03 -2.63733073e-04 -9.99963581e-01 -4.01763265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.486559995 meters 0.018059927509764227 Centerline is valid? [True, True] Translation: X:111.47, Y:-161.42, Z:-4.02 [[-3.45508535e-01 9.38409755e-01 3.31417389e-03 1.11474070e+02] [ 9.38358153e-01 3.45524306e-01 -9.84531811e-03 -1.61422410e+02] [-1.03840702e-02 -2.91759344e-04 -9.99946042e-01 -4.01527987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.546559995 meters 0.017498392849664247 Centerline is valid? [True, True] Translation: X:111.46, Y:-161.39, Z:-4.02 [[-4.16623434e-01 9.09069894e-01 4.10401542e-03 1.11464537e+02] [ 9.09018998e-01 4.16643554e-01 -9.62347327e-03 -1.61390280e+02] [-1.04583214e-02 -2.78736498e-04 -9.99945271e-01 -4.01521522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.606559995 meters 0.016054142029060435 Centerline is valid? [True, True] Translation: X:111.45, Y:-161.36, Z:-4.02 [[-4.81624542e-01 8.76361132e-01 5.38218950e-03 1.11445352e+02] [ 8.76300630e-01 4.81654552e-01 -1.03003818e-02 -1.61363721e+02] [-1.16192103e-02 -2.44500626e-04 -9.99932465e-01 -4.01500038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.666559995 meters 0.013276397959750339 Centerline is valid? [True, True] Translation: X:111.42, Y:-161.34, Z:-4.02 [[-5.40993053e-01 8.41010527e-01 5.27349886e-03 1.11422299e+02] [ 8.40968463e-01 5.41018742e-01 -8.41218844e-03 -1.61340495e+02] [-9.92780076e-03 -1.16089273e-04 -9.99950712e-01 -4.01832173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7265599950001 meters 0.012418095212093926 Centerline is valid? [True, True] Translation: X:111.40, Y:-161.32, Z:-4.02 [[-5.98503482e-01 8.01106774e-01 4.63889827e-03 1.11401509e+02] [ 8.01082380e-01 5.98521459e-01 -6.25175779e-03 -1.61318324e+02] [-7.78480567e-03 -2.55591443e-05 -9.99969698e-01 -4.01995214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.786559995 meters 0.012755489140753124 Centerline is valid? [True, True] Translation: X:111.38, Y:-161.30, Z:-4.02 [[-6.49432127e-01 7.60411929e-01 3.40747203e-03 1.11378169e+02] [ 7.60401876e-01 6.49441064e-01 -3.91031145e-03 -1.61298289e+02] [-5.18639973e-03 5.15662459e-05 -9.99986549e-01 -4.02400229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.846559995 meters 0.014128079805829388 Centerline is valid? [True, True] Translation: X:111.36, Y:-161.28, Z:-4.03 [[-7.01607179e-01 7.12559102e-01 2.62521355e-03 1.11358661e+02] [ 7.12554456e-01 7.01612088e-01 -2.57416850e-03 -1.61277607e+02] [-3.67612876e-03 6.45525132e-05 -9.99993241e-01 -4.02512889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.906559995 meters 0.01594526190180026 Centerline is valid? [True, True] Translation: X:111.38, Y:-161.27, Z:-4.02 [[-7.45870203e-01 6.66083732e-01 3.17841021e-03 1.11375125e+02] [ 6.66078254e-01 7.45876969e-01 -2.70321788e-03 -1.61269137e+02] [-4.17127243e-03 1.00820254e-04 -9.99991295e-01 -4.02462422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9665599950001 meters 0.016052678215551883 Centerline is valid? [True, True] Translation: X:111.39, Y:-161.25, Z:-4.02 [[-7.90784403e-01 6.12077439e-01 4.60836211e-03 1.11390915e+02] [ 6.12068077e-01 7.90797818e-01 -3.38833888e-03 -1.61252481e+02] [-5.71820848e-03 1.41185796e-04 -9.99983641e-01 -4.02307318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.026559995 meters 0.015105075222839706 Centerline is valid? [True, True] Translation: X:111.40, Y:-161.23, Z:-4.02 [[-8.34816141e-01 5.50492168e-01 6.35482223e-03 1.11400530e+02] [ 5.50477564e-01 8.34840315e-01 -4.01251485e-03 -1.61227132e+02] [-7.51411979e-03 1.48474899e-04 -9.99971758e-01 -4.02193389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.086559995 meters 0.014317053527168042 Centerline is valid? [True, True] Translation: X:111.79, Y:-160.62, Z:-5.02 [[-8.16158049e-01 -5.77797401e-01 6.01678587e-03 1.11790507e+02] [ 5.77780336e-01 -8.16180213e-01 -4.44335207e-03 -1.60623056e+02] [ 7.47813885e-03 -1.50097001e-04 9.99972027e-01 -5.01884686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.146559995 meters 0.012589287210057984 Centerline is valid? [True, True] Translation: X:111.36, Y:-161.20, Z:-4.02 [[-8.44662587e-01 5.35277007e-01 4.86215939e-03 1.11361467e+02] [ 5.35268341e-01 8.44676580e-01 -3.04592087e-03 -1.61196399e+02] [-5.73736358e-03 2.97845919e-05 -9.99983541e-01 -4.02311133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2065599950001 meters 0.012341094369646095 Centerline is valid? [True, True] Translation: X:111.38, Y:-161.17, Z:-4.02 [[-8.83906021e-01 4.67645368e-01 4.23742159e-03 1.11375781e+02] [ 4.67639936e-01 8.83916178e-01 -2.25389883e-03 -1.61169123e+02] [-4.79955084e-03 -1.06471857e-05 -9.99988482e-01 -4.02366504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.266559995 meters 0.013876923581437724 Centerline is valid? [True, True] Translation: X:111.38, Y:-161.13, Z:-4.02 [[-9.19674456e-01 3.92664752e-01 3.64519679e-03 1.11380644e+02] [ 3.92661418e-01 9.19681678e-01 -1.61911943e-03 -1.61134729e+02] [-3.98819183e-03 -5.77346406e-05 -9.99992046e-01 -4.02446908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.326559995 meters 0.015852897486261033 Centerline is valid? [True, True] Translation: X:111.65, Y:-160.50, Z:-5.02 [[-8.72706505e-01 -4.88228681e-01 4.01382108e-03 1.11648242e+02] [ 4.88224065e-01 -8.72715729e-01 -2.12561580e-03 -1.60503089e+02] [ 4.54071139e-03 1.04605302e-04 9.99989686e-01 -5.01619204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.386559995 meters 0.01638645058082856 Centerline is valid? [True, True] Translation: X:111.34, Y:-161.11, Z:-4.02 [[-9.24998487e-01 3.79919708e-01 6.23020183e-03 1.11337845e+02] [ 3.79909857e-01 9.25019453e-01 -2.74093848e-03 -1.61105632e+02] [-6.80439443e-03 -1.68448860e-04 -9.99976836e-01 -4.02059472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4465599950001 meters 0.016224370229553656 Centerline is valid? [True, True] Translation: X:111.35, Y:-161.08, Z:-4.02 [[-9.48604267e-01 3.16353640e-01 8.38568175e-03 1.11345398e+02] [ 3.16339476e-01 9.48641311e-01 -2.99978689e-03 -1.61076215e+02] [-8.90399763e-03 -1.92888465e-04 -9.99960340e-01 -4.01750073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.506559995 meters 0.01617743302564653 Centerline is valid? [True, True] Translation: X:111.58, Y:-160.45, Z:-5.02 [[-9.07445614e-01 -4.20080945e-01 8.62885359e-03 1.11575332e+02] [ 4.20064399e-01 -9.07486609e-01 -3.73579641e-03 -1.60453205e+02] [ 9.39990596e-03 2.34642131e-04 9.99955792e-01 -5.02143146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.566559995 meters 0.016712446553246673 Centerline is valid? [True, True] Translation: X:111.31, Y:-161.06, Z:-4.02 [[-9.50282717e-01 3.11230171e-01 9.92667692e-03 1.11310714e+02] [ 3.11210471e-01 9.50334530e-01 -3.51043094e-03 -1.61064862e+02] [-1.05262159e-02 -2.46616050e-04 -9.99944568e-01 -4.01750075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.626559995 meters 0.016807358221928255 Centerline is valid? [True, True] Translation: X:111.32, Y:-161.04, Z:-4.01 [[-9.69442043e-01 2.45055786e-01 1.13924003e-02 1.11318940e+02] [ 2.45035794e-01 9.69508947e-01 -3.14028619e-03 -1.61039560e+02] [-1.18145793e-02 -2.52779598e-04 -9.99930174e-01 -4.01421985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6865599950002 meters 0.015385500410340999 Centerline is valid? [True, True] Translation: X:111.50, Y:-160.40, Z:-5.03 [[-9.37813215e-01 -3.46953078e-01 1.13989622e-02 1.11501631e+02] [ 3.46930961e-01 -9.37882449e-01 -3.92690336e-03 -1.60397233e+02] [ 1.20533378e-02 2.71951052e-04 9.99927319e-01 -5.02553911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.746559995 meters 0.013818318506681982 Centerline is valid? [True, True] Translation: X:111.28, Y:-161.04, Z:-4.02 [[-9.68548879e-01 2.48554423e-01 1.15658309e-02 1.11276405e+02] [ 2.48534618e-01 9.68617918e-01 -3.14214522e-03 -1.61041889e+02] [-1.19838651e-02 -1.68811870e-04 -9.99928177e-01 -4.01793818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.806559995 meters 0.013849475373109368 Centerline is valid? [True, True] Translation: X:111.28, Y:-161.01, Z:-4.02 [[-9.83608184e-01 1.79910347e-01 1.21329368e-02 1.11283495e+02] [ 1.79894575e-01 9.83682998e-01 -2.38794745e-03 -1.61014688e+02] [-1.23645801e-02 -1.66155144e-04 -9.99923542e-01 -4.01720932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.866559995 meters 0.014108088919955318 Centerline is valid? [True, True] Translation: X:111.28, Y:-160.99, Z:-4.02 [[-9.93947949e-01 1.09000815e-01 1.36490379e-02 1.11281910e+02] [ 1.08987856e-01 9.94041641e-01 -1.69197425e-03 -1.60985816e+02] [-1.37521386e-02 -1.94154962e-04 -9.99905416e-01 -4.01588081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9265599950002 meters 0.01380317253305609 Centerline is valid? [True, True] Translation: X:111.28, Y:-160.96, Z:-4.02 [[-9.99130420e-01 3.88902225e-02 1.50317836e-02 1.11284055e+02] [ 3.88827831e-02 9.99243469e-01 -7.86957651e-04 -1.60959875e+02] [-1.50510166e-02 -2.01795745e-04 -9.99886707e-01 -4.01640535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.986559995 meters 0.013207521314287684 Centerline is valid? [True, True] Translation: X:111.32, Y:-160.27, Z:-5.02 [[-9.91626510e-01 -1.28362972e-01 1.41354582e-02 1.11319993e+02] [ 1.28351970e-01 -9.91727244e-01 -1.68655159e-03 -1.60274488e+02] [ 1.42350098e-02 1.41884644e-04 9.99898667e-01 -5.02317264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.046559995 meters 0.012725766058923102 Centerline is valid? [True, True] Translation: X:111.23, Y:-160.96, Z:-4.02 [[-9.98947570e-01 4.40063038e-02 1.29305252e-02 1.11229009e+02] [ 4.40019608e-02 9.99031252e-01 -6.20313695e-04 -1.60962189e+02] [-1.29452965e-02 -5.06923926e-05 -9.99916205e-01 -4.01796976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.106559995 meters 0.012577306114754758 Centerline is valid? [True, True] Translation: X:111.23, Y:-160.94, Z:-4.02 [[-9.99772890e-01 -1.89244358e-02 9.79974203e-03 1.11234854e+02] [-1.89231155e-02 9.99820916e-01 2.27447937e-04 -1.60940991e+02] [-9.80229138e-03 4.19546316e-05 -9.99951956e-01 -4.02285094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.166559995 meters 0.013180897269170835 Centerline is valid? [True, True] Translation: X:111.23, Y:-160.92, Z:-4.02 [[-9.96284858e-01 -8.55816403e-02 9.60547068e-03 1.11231338e+02] [-8.55768470e-02 9.96331158e-01 9.09683308e-04 -1.60917290e+02] [-9.64808191e-03 8.42978112e-05 -9.99953453e-01 -4.02328306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2265599950001 meters 0.013801066563954845 Centerline is valid? [True, True] Translation: X:111.22, Y:-160.89, Z:-4.02 [[-9.88027666e-01 -1.53954139e-01 9.97265782e-03 1.11224364e+02] [-1.53945146e-01 9.88077988e-01 1.66776529e-03 -1.60892801e+02] [-1.01105230e-02 1.12555986e-04 -9.99948881e-01 -4.02276212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.286559995 meters 0.013108304688580947 Centerline is valid? [True, True] Translation: X:111.10, Y:-160.19, Z:-5.02 [[-9.94314508e-01 1.05932152e-01 1.08184257e-02 1.11099955e+02] [-1.05926624e-01 -9.94373358e-01 1.08436336e-03 -1.60192118e+02] [ 1.08724232e-02 -6.77610858e-05 9.99940891e-01 -5.01735699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.346559995 meters 0.012641573289138274 Centerline is valid? [True, True] Translation: X:111.12, Y:-160.90, Z:-4.02 [[-9.85636618e-01 -1.68427406e-01 1.23557894e-02 1.11117165e+02] [-1.68413754e-01 9.85714060e-01 2.14463832e-03 -1.60898589e+02] [-1.25404912e-02 3.29491806e-05 -9.99921364e-01 -4.02186937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.406559995 meters 0.012439765814954552 Centerline is valid? [True, True] Translation: X:111.10, Y:-160.87, Z:-4.02 [[-9.70029596e-01 -2.42688982e-01 1.20266518e-02 1.11100147e+02] [-2.42670631e-01 9.70104148e-01 2.98454381e-03 -1.60870610e+02] [-1.23914207e-02 -2.34193486e-05 -9.99923223e-01 -4.02154840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4665599950001 meters 0.012830366109712015 Centerline is valid? [True, True] Translation: X:111.07, Y:-160.85, Z:-4.02 [[-9.48246625e-01 -3.17375368e-01 1.00604909e-02 1.11070043e+02] [-3.17358479e-01 9.48299989e-01 3.27526824e-03 -1.60845340e+02] [-1.05798529e-02 -8.70200505e-05 -9.99944028e-01 -4.02277509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.526559995 meters 0.013108325750619043 Centerline is valid? [True, True] Translation: X:111.03, Y:-160.83, Z:-4.02 [[-9.21954267e-01 -3.87186063e-01 9.34247701e-03 1.11034936e+02] [-3.87167340e-01 9.22001595e-01 3.80912479e-03 -1.60826959e+02] [-1.00886187e-02 -1.05263120e-04 -9.99949103e-01 -4.02330637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.586559995 meters 0.01378204276421726 Centerline is valid? [True, True] Translation: X:110.98, Y:-160.82, Z:-4.02 [[-8.88846680e-01 -4.58120005e-01 8.81134429e-03 1.10980283e+02] [-4.58099218e-01 8.88890340e-01 4.36685343e-03 -1.60817401e+02] [-9.83286174e-03 -1.55006755e-04 -9.99951644e-01 -4.02345012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.646559995 meters 0.014125713723077995 Centerline is valid? [True, True] Translation: X:110.92, Y:-160.82, Z:-4.02 [[-8.51598223e-01 -5.24114471e-01 9.19172896e-03 1.10915507e+02] [-5.24086350e-01 8.51647806e-01 5.43257855e-03 -1.60821095e+02] [-1.06754088e-02 -1.90885437e-04 -9.99942998e-01 -4.02278039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7065599950001 meters 0.01425991515045814 Centerline is valid? [True, True] Translation: X:110.84, Y:-160.84, Z:-4.02 [[-8.10599232e-01 -5.85527397e-01 9.30339861e-03 1.10842731e+02] [-5.85491648e-01 8.10652594e-01 6.47326050e-03 -1.60835843e+02] [-1.13320956e-02 -1.99842196e-04 -9.99935770e-01 -4.02206189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.766559995 meters 0.013762549520271894 Centerline is valid? [True, True] Translation: X:110.77, Y:-160.86, Z:-4.02 [[-7.66583645e-01 -6.42067913e-01 9.91520666e-03 1.10768425e+02] [-6.42017331e-01 7.66647742e-01 8.06139535e-03 -1.60859943e+02] [-1.27774341e-02 -1.86000686e-04 -9.99918348e-01 -4.02015928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.826559995 meters 0.012767997458453575 Centerline is valid? [True, True] Translation: X:110.69, Y:-160.90, Z:-4.02 [[-7.20271892e-01 -6.93614052e-01 1.03898362e-02 1.10692273e+02] [-6.93544371e-01 7.20346813e-01 9.83226653e-03 -1.60898764e+02] [-1.43040836e-02 -1.23907168e-04 -9.99897684e-01 -4.02007210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.886559995 meters 0.012491954305786385 Centerline is valid? [True, True] Translation: X:110.61, Y:-160.95, Z:-4.02 [[-6.70046970e-01 -7.42255067e-01 9.71973704e-03 1.10611969e+02] [-7.42177960e-01 6.70117463e-01 1.06986730e-02 -1.60949570e+02] [-1.44545097e-02 -4.51612043e-05 -9.99895527e-01 -4.02000809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9465599950001 meters 0.012720757834566648 Centerline is valid? [True, True] Translation: X:110.54, Y:-161.01, Z:-4.02 [[-6.18834662e-01 -7.85478148e-01 8.23042268e-03 1.10540505e+02] [-7.85407016e-01 6.18889387e-01 1.05710000e-02 -1.61006026e+02] [-1.33970108e-02 7.74695224e-05 -9.99910253e-01 -4.02064856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.006559995 meters 0.013154487175125533 Centerline is valid? [True, True] Translation: X:110.46, Y:-161.07, Z:-4.02 [[-5.60701836e-01 -8.27986326e-01 7.21761142e-03 1.10462760e+02] [-8.27914739e-01 5.60748274e-01 1.08884279e-02 -1.61074832e+02] [-1.30627326e-02 1.29594660e-04 -9.99914671e-01 -4.02091644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.066559995 meters 0.013561045157506536 Centerline is valid? [True, True] Translation: X:110.39, Y:-161.15, Z:-4.02 [[-4.97177121e-01 -8.67625471e-01 6.39934598e-03 1.10386225e+02] [-8.67549712e-01 4.97218281e-01 1.14663902e-02 -1.61150122e+02] [-1.31304040e-02 1.49076088e-04 -9.99913781e-01 -4.01980755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.126559995 meters 0.01334908698660332 Centerline is valid? [True, True] Translation: X:110.31, Y:-161.24, Z:-4.02 [[-4.27352903e-01 -9.04064916e-01 6.01028142e-03 1.10310592e+02] [-9.03971233e-01 4.27395146e-01 1.30153235e-02 -1.61235938e+02] [-1.43354625e-02 1.29014775e-04 -9.99897234e-01 -4.01904501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1865599950002 meters 0.012894529835207212 Centerline is valid? [True, True] Translation: X:110.24, Y:-161.33, Z:-4.02 [[-3.54189528e-01 -9.35159492e-01 5.14818036e-03 1.10240905e+02] [-9.35057039e-01 3.54226929e-01 1.38425646e-02 -1.61326088e+02] [-1.47686298e-02 8.90491275e-05 -9.99890934e-01 -4.01939925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.246559995 meters 0.012506976677034374 Centerline is valid? [True, True] Translation: X:110.17, Y:-161.43, Z:-4.02 [[-2.76431716e-01 -9.61025375e-01 3.96677064e-03 1.10173608e+02] [-9.60925940e-01 2.76460176e-01 1.38242086e-02 -1.61425119e+02] [-1.43820693e-02 9.67689546e-06 -9.99896573e-01 -4.01868617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.306559995 meters 0.012621667986690557 Centerline is valid? [True, True] Translation: X:110.11, Y:-161.53, Z:-4.02 [[-1.98177385e-01 -9.80162552e-01 2.66368332e-03 1.10114251e+02] [-9.80076958e-01 1.98195281e-01 1.29532740e-02 -1.61530663e+02] [-1.32242436e-02 -4.35686672e-05 -9.99912555e-01 -4.01893158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.366559995 meters 0.012548311007565932 Centerline is valid? [True, True] Translation: X:110.07, Y:-161.64, Z:-4.02 [[-1.21524846e-01 -9.92587065e-01 1.62180111e-03 1.10067314e+02] [-9.92504632e-01 1.21535655e-01 1.27922098e-02 -1.61638598e+02] [-1.28944887e-02 -5.50737861e-05 -9.99916861e-01 -4.01996551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4265599950002 meters 0.012714229428846532 Centerline is valid? [True, True] Translation: X:110.03, Y:-161.75, Z:-4.02 [[-4.45879533e-02 -9.99005308e-01 5.56793617e-04 1.10028450e+02] [-9.98941682e-01 4.45913976e-02 1.12749337e-02 -1.61749279e+02] [-1.12885468e-02 -5.34781353e-05 -9.99936281e-01 -4.01920303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.486559995 meters 0.012483232033315472 Centerline is valid? [True, True] Translation: X:110.00, Y:-161.86, Z:-4.02 [[ 3.29640484e-02 -9.99456504e-01 -2.59412100e-04 1.09998384e+02] [-9.99411815e-01 -3.29650276e-02 9.45149226e-03 -1.61862700e+02] [-9.45490694e-03 -5.22999305e-05 -9.99955300e-01 -4.02170031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.546559995 meters 0.012533262249197373 Centerline is valid? [True, True] Translation: X:109.98, Y:-161.98, Z:-4.02 [[ 1.10465639e-01 -9.93879623e-01 -7.99086975e-04 1.09977182e+02] [-9.93850268e-01 -1.10468518e-01 7.63880903e-03 -1.61982138e+02] [-7.68033059e-03 -4.96531173e-05 -9.99970505e-01 -4.02240239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.606559995 meters 0.012518031096598853 Centerline is valid? [True, True] Translation: X:109.96, Y:-162.10, Z:-4.02 [[ 1.87500615e-01 -9.82263659e-01 -1.27449953e-03 1.09964354e+02] [-9.82238986e-01 -1.87504939e-01 6.96214080e-03 -1.62099759e+02] [-7.07763285e-03 -5.35425519e-05 -9.99974952e-01 -4.02311417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.666559995 meters 0.012714605882983745 Centerline is valid? [True, True] Translation: X:109.96, Y:-162.22, Z:-4.02 [[ 2.62809073e-01 -9.64845346e-01 -2.20221005e-03 1.09961530e+02] [-9.64809207e-01 -2.62818291e-01 8.35102622e-03 -1.62217835e+02] [-8.63622986e-03 -7.00129274e-05 -9.99962705e-01 -4.02094135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7265599950001 meters 0.012889617714217916 Centerline is valid? [True, True] Translation: X:109.97, Y:-162.34, Z:-4.02 [[ 3.36203377e-01 -9.41783681e-01 -3.28452577e-03 1.09969387e+02] [-9.41736295e-01 -3.36219411e-01 9.44767600e-03 -1.62337182e+02] [-1.00019884e-02 -8.31834453e-05 -9.99949975e-01 -4.01909733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.786559995 meters 0.012670451916214076 Centerline is valid? [True, True] Translation: X:109.99, Y:-162.45, Z:-4.02 [[ 4.06229780e-01 -9.13757226e-01 -5.00971976e-03 1.09987860e+02] [-9.13685043e-01 -4.06260660e-01 1.14855772e-02 -1.62451368e+02] [-1.25302812e-02 -8.84774809e-05 -9.99921489e-01 -4.01777214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.846559995 meters 0.012641074395711866 Centerline is valid? [True, True] Translation: X:110.01, Y:-162.57, Z:-4.02 [[ 4.73757153e-01 -8.80634877e-01 -6.03102496e-03 1.10014785e+02] [-8.80561553e-01 -4.73795534e-01 1.13641598e-02 -1.62565204e+02] [-1.28651481e-02 -7.31632785e-05 -9.99917238e-01 -4.01689935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.906559995 meters 0.01229697291729921 Centerline is valid? [True, True] Translation: X:110.05, Y:-162.67, Z:-4.02 [[ 5.37462308e-01 -8.43267893e-01 -5.79037761e-03 1.10048825e+02] [-8.43218312e-01 -5.37493498e-01 9.14433954e-03 -1.62670078e+02] [-1.08234183e-02 -3.21854034e-05 -9.99941425e-01 -4.01958874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9665599950001 meters 0.012360742675439606 Centerline is valid? [True, True] Translation: X:110.09, Y:-162.77, Z:-4.02 [[ 5.97944831e-01 -8.01515150e-01 -5.95336761e-03 1.10088887e+02] [-8.01475422e-01 -5.97974467e-01 7.98020183e-03 -1.62770454e+02] [-9.95621449e-03 -2.42616225e-07 -9.99950436e-01 -4.02080054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.026559995 meters 0.012831612129524645 Centerline is valid? [True, True] Translation: X:110.14, Y:-162.86, Z:-4.02 [[ 6.52294185e-01 -7.57939082e-01 -6.37522202e-03 1.10137577e+02] [-7.57903859e-01 -6.52325335e-01 7.30731685e-03 -1.62864454e+02] [-9.69721987e-03 6.52850802e-05 -9.99952979e-01 -4.02030002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.086559995 meters 0.013743483091532784 Centerline is valid? [True, True] Translation: X:110.19, Y:-162.96, Z:-4.02 [[ 7.04097199e-01 -7.10074187e-01 -6.46395348e-03 1.10193968e+02] [-7.10045729e-01 -7.04126861e-01 6.35822139e-03 -1.62955681e+02] [-9.06625216e-03 1.12896682e-04 -9.99958894e-01 -4.02095165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.146559995 meters 0.014100059910562348 Centerline is valid? [True, True] Translation: X:110.21, Y:-162.98, Z:-4.02 [[ 7.56129353e-01 -6.54384743e-01 -7.00070447e-03 1.10214575e+02] [-6.54358305e-01 -7.56161749e-01 5.88376105e-03 -1.62981881e+02] [-9.14390840e-03 1.32084676e-04 -9.99958185e-01 -4.02148040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2065599950001 meters 0.013715675582244244 Centerline is valid? [True, True] Translation: X:110.23, Y:-163.01, Z:-4.02 [[ 8.05604653e-01 -5.92397767e-01 -8.12585657e-03 1.10234082e+02] [-5.92369291e-01 -8.05645622e-01 5.80986083e-03 -1.63010027e+02] [-9.98830936e-03 1.33056980e-04 -9.99950107e-01 -4.02061979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.266559995 meters 0.013430482349953756 Centerline is valid? [True, True] Translation: X:110.26, Y:-163.03, Z:-4.02 [[ 8.51169761e-01 -5.24808183e-01 -9.29566742e-03 1.10255800e+02] [-5.24778278e-01 -8.51220512e-01 5.60349547e-03 -1.63033744e+02] [-1.08534230e-02 1.08638447e-04 -9.99941094e-01 -4.01989051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.326559995 meters 0.01282415573805695 Centerline is valid? [True, True] Translation: X:110.28, Y:-163.06, Z:-4.02 [[ 8.91187784e-01 -4.53537327e-01 -9.39293425e-03 1.10277968e+02] [-4.53512946e-01 -8.91237280e-01 4.70310954e-03 -1.63060298e+02] [-1.05043689e-02 6.84635215e-05 -9.99944825e-01 -4.02038494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.386559995 meters 0.012755839294693712 Centerline is valid? [True, True] Translation: X:110.30, Y:-163.08, Z:-4.02 [[ 9.24244586e-01 -3.81688621e-01 -9.25970448e-03 1.10303713e+02] [-3.81670079e-01 -9.24290968e-01 3.76270926e-03 -1.63082441e+02] [-9.99484453e-03 5.64884747e-05 -9.99950049e-01 -4.02022476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4465599950001 meters 0.012549877862851142 Centerline is valid? [True, True] Translation: X:110.33, Y:-163.10, Z:-4.02 [[ 9.51788926e-01 -3.06639095e-01 -8.38487479e-03 1.10331106e+02] [-3.06627516e-01 -9.51825858e-01 2.66493187e-03 -1.63103832e+02] [-8.79811293e-03 3.45806879e-05 -9.99961295e-01 -4.02137145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.506559995 meters 0.012460882092679 Centerline is valid? [True, True] Translation: X:110.36, Y:-163.12, Z:-4.02 [[ 9.73200748e-01 -2.29849137e-01 -7.04825643e-03 1.10360243e+02] [-2.29843241e-01 -9.73226271e-01 1.64634729e-03 -1.63121292e+02] [-7.23795982e-03 1.77676917e-05 -9.99973806e-01 -4.02258238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.566559995 meters 0.012575256340781594 Centerline is valid? [True, True] Translation: X:110.39, Y:-163.14, Z:-4.02 [[ 9.88524796e-01 -1.50854197e-01 -7.85748606e-03 1.10388957e+02] [-1.50849446e-01 -9.88556023e-01 1.19719221e-03 -1.63137136e+02] [-7.94816665e-03 1.84323544e-06 -9.99968413e-01 -4.02040877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.626559995 meters 0.012416421723106833 Centerline is valid? [True, True] Translation: X:110.42, Y:-163.15, Z:-4.02 [[ 9.97490897e-01 -7.03355259e-02 -8.05140767e-03 1.10417097e+02] [-7.03330754e-02 -9.97523390e-01 5.87456104e-04 -1.63151501e+02] [-8.07278651e-03 -1.97018537e-05 -9.99967414e-01 -4.02030355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6865599950002 meters 0.012365062901552832 Centerline is valid? [True, True] Translation: X:110.45, Y:-163.16, Z:-4.02 [[ 9.99922494e-01 9.40954900e-03 -8.15266012e-03 1.10446887e+02] [ 9.40949220e-03 -9.99955729e-01 -4.53240999e-05 -1.63162542e+02] [-8.15272567e-03 -3.13918048e-05 -9.99966766e-01 -4.02024812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.746559995 meters 0.012512122778848387 Centerline is valid? [True, True] Translation: X:110.48, Y:-163.17, Z:-4.02 [[ 9.96092714e-01 8.77381203e-02 -1.00661605e-02 1.10476072e+02] [ 8.77340463e-02 -9.96143574e-01 -8.46444316e-04 -1.63169548e+02] [-1.01016065e-02 -4.00079716e-05 -9.99948977e-01 -4.01779867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.806559995 meters 0.012359042212343819 Centerline is valid? [True, True] Translation: X:110.51, Y:-163.17, Z:-4.02 [[ 9.86209061e-01 1.65107367e-01 -1.14562593e-02 1.10506838e+02] [ 1.65096720e-01 -9.86275598e-01 -1.87543754e-03 -1.63174349e+02] [-1.16086775e-02 -4.18173395e-05 -9.99932616e-01 -4.01767269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.866559995 meters 0.012412502845806986 Centerline is valid? [True, True] Translation: X:110.54, Y:-163.18, Z:-4.02 [[ 9.70051161e-01 2.42655232e-01 -1.09171001e-02 1.10538253e+02] [ 2.42640444e-01 -9.70112589e-01 -2.67939384e-03 -1.63178193e+02] [-1.12409852e-02 -4.97809130e-05 -9.99936817e-01 -4.01855936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9265599950002 meters 0.012449942172767656 Centerline is valid? [True, True] Translation: X:110.57, Y:-163.18, Z:-4.02 [[ 9.47624860e-01 3.19217124e-01 -1.03707448e-02 1.10569797e+02] [ 3.19198747e-01 -9.47681605e-01 -3.42575920e-03 -1.63179843e+02] [-1.09217251e-02 -6.39941614e-05 -9.99940354e-01 -4.01882724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.986559995 meters 0.012539363495669713 Centerline is valid? [True, True] Translation: X:110.60, Y:-163.18, Z:-4.02 [[ 9.19500804e-01 3.92946227e-01 -1.05609424e-02 1.10601522e+02] [ 3.92921231e-01 -9.19561448e-01 -4.43274384e-03 -1.63177313e+02] [-1.14532654e-02 -7.37069453e-05 -9.99934407e-01 -4.01843325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.046559995 meters 0.012521161353357882 Centerline is valid? [True, True] Translation: X:110.63, Y:-163.17, Z:-4.02 [[ 8.85775220e-01 4.63983886e-01 -1.10096748e-02 1.10632394e+02] [ 4.63949216e-01 -8.85843635e-01 -5.67257998e-03 -1.63171225e+02] [-1.23848360e-02 -8.32991960e-05 -9.99923302e-01 -4.01897294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.106559995 meters 0.012517890266918796 Centerline is valid? [True, True] Translation: X:110.66, Y:-163.16, Z:-4.02 [[ 8.46675162e-01 5.32039373e-01 -8.67610019e-03 1.10662974e+02] [ 5.32012283e-01 -8.46719611e-01 -5.36935656e-03 -1.63164209e+02] [-1.02029333e-02 -6.96910393e-05 -9.99947946e-01 -4.02106906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.166559995 meters 0.012493730227047459 Centerline is valid? [True, True] Translation: X:110.69, Y:-163.16, Z:-4.02 [[ 8.02271075e-01 5.96917090e-01 -7.14904911e-03 1.10693588e+02] [ 5.96894089e-01 -8.02302925e-01 -5.24055932e-03 -1.63155475e+02] [-8.86388243e-03 -6.28759922e-05 -9.99960713e-01 -4.02221625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2265599950001 meters 0.0125771887946514 Centerline is valid? [True, True] Translation: X:110.72, Y:-163.14, Z:-4.02 [[ 7.52910408e-01 6.58098041e-01 -5.73465377e-03 1.10722168e+02] [ 6.58079511e-01 -7.52932245e-01 -4.93876926e-03 -1.63142382e+02] [-7.56800011e-03 -5.54073709e-05 -9.99971361e-01 -4.02337719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.286559995 meters 0.012721437023349769 Centerline is valid? [True, True] Translation: X:110.75, Y:-163.13, Z:-4.02 [[ 6.98786666e-01 7.15305655e-01 -5.91733350e-03 1.10748935e+02] [ 7.15280794e-01 -6.98811717e-01 -5.96409667e-03 -1.63126182e+02] [-8.40125406e-03 -6.49237782e-05 -9.99964707e-01 -4.02320382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.346559995 meters 0.012771090525162596 Centerline is valid? [True, True] Translation: X:110.78, Y:-163.11, Z:-4.02 [[ 6.40568139e-01 7.67876425e-01 -6.18515542e-03 1.10775603e+02] [ 7.67841748e-01 -6.40597995e-01 -7.29790032e-03 -1.63110053e+02] [-9.56608377e-03 -7.44181270e-05 -9.99954241e-01 -4.02206624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.406559995 meters 0.01267827033021519 Centerline is valid? [True, True] Translation: X:110.80, Y:-163.09, Z:-4.02 [[ 5.78727527e-01 8.15497274e-01 -6.21656815e-03 1.10800683e+02] [ 8.15451700e-01 -5.78760909e-01 -8.62176008e-03 -1.63091762e+02] [-1.06289285e-02 -7.96611757e-05 -9.99943508e-01 -4.02169332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4665599950001 meters 0.012658714165583333 Centerline is valid? [True, True] Translation: X:110.82, Y:-163.07, Z:-4.02 [[ 5.13384724e-01 8.58138750e-01 -5.83195661e-03 1.10823840e+02] [ 8.58085151e-01 -5.13417841e-01 -9.59137585e-03 -1.63071831e+02] [-1.12249619e-02 -8.02495295e-05 -9.99936995e-01 -4.02169425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.526559995 meters 0.012612732378417608 Centerline is valid? [True, True] Translation: X:110.85, Y:-163.05, Z:-4.02 [[ 4.45600556e-01 8.95216333e-01 -5.27840642e-03 1.10845004e+02] [ 8.95155389e-01 -4.45631812e-01 -1.04458902e-02 -1.63049735e+02] [-1.17035574e-02 -7.02994533e-05 -9.99931509e-01 -4.02208289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.586559995 meters 0.012579278021462748 Centerline is valid? [True, True] Translation: X:110.86, Y:-163.03, Z:-4.02 [[ 3.75316121e-01 9.26887482e-01 -4.17186131e-03 1.10864220e+02] [ 9.26831745e-01 -3.75339304e-01 -1.01647988e-02 -1.63025913e+02] [-1.09874883e-02 -5.16006311e-05 -9.99939634e-01 -4.02254916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.646559995 meters 0.012635151070379784 Centerline is valid? [True, True] Translation: X:110.88, Y:-163.00, Z:-4.02 [[ 3.01927073e-01 9.53325733e-01 -3.17629161e-03 1.10879368e+02] [ 9.53274530e-01 -3.01943777e-01 -9.88060246e-03 -1.63001968e+02] [-1.03784941e-02 -4.46565162e-05 -9.99946141e-01 -4.02263631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7065599950001 meters 0.012577722467327794 Centerline is valid? [True, True] Translation: X:110.89, Y:-162.98, Z:-4.03 [[ 2.25129453e-01 9.74326662e-01 -2.07004342e-03 1.10893518e+02] [ 9.74287484e-01 -2.25138964e-01 -8.73756480e-03 -1.62976206e+02] [-8.97928978e-03 -4.97342175e-05 -9.99959684e-01 -4.02539324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.766559995 meters 0.012695397510351399 Centerline is valid? [True, True] Translation: X:110.91, Y:-162.95, Z:-4.03 [[ 1.45665394e-01 9.89332937e-01 -1.39019466e-03 1.10910221e+02] [ 9.89292519e-01 -1.45672009e-01 -8.94298384e-03 -1.62949229e+02] [-9.05010092e-03 -7.26259184e-05 -9.99959044e-01 -4.02612904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.826559995 meters 0.012975661279851121 Centerline is valid? [True, True] Translation: X:110.92, Y:-162.92, Z:-4.02 [[ 6.64909596e-02 9.97786715e-01 -7.90027858e-04 1.10923338e+02] [ 9.97732500e-01 -6.64955827e-02 -1.04017326e-02 -1.62921860e+02] [-1.04312440e-02 -9.66152847e-05 -9.99945588e-01 -4.02399650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.886559995 meters 0.012785748477853109 Centerline is valid? [True, True] Translation: X:110.93, Y:-162.89, Z:-4.02 [[-1.02888696e-02 9.99947068e-01 3.07977745e-05 1.10931256e+02] [ 9.99877772e-01 1.02885191e-02 -1.17723552e-02 -1.62892482e+02] [-1.17720490e-02 -9.03302173e-05 -9.99930703e-01 -4.02301369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9465599950001 meters 0.012635013592823846 Centerline is valid? [True, True] Translation: X:110.94, Y:-162.86, Z:-4.02 [[-8.52838472e-02 9.96356294e-01 8.95326351e-04 1.10935200e+02] [ 9.96295319e-01 8.52885332e-02 -1.10228845e-02 -1.62864610e+02] [-1.10590814e-02 -4.80645462e-05 -9.99938845e-01 -4.02272598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.006559995 meters 0.012512539476228789 Centerline is valid? [True, True] Translation: X:110.93, Y:-162.84, Z:-4.02 [[-1.56932046e-01 9.87608269e-01 1.49646923e-03 1.10931135e+02] [ 9.87564418e-01 1.56939179e-01 -9.30665614e-03 -1.62836681e+02] [-9.42618522e-03 1.73471739e-05 -9.99955572e-01 -4.02383184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.066559995 meters 0.012800848049792014 Centerline is valid? [True, True] Translation: X:110.93, Y:-162.81, Z:-4.02 [[-2.30275544e-01 9.73122823e-01 2.26836417e-03 1.10930235e+02] [ 9.73077845e-01 2.30286710e-01 -9.35618470e-03 -1.62808077e+02] [-9.62709099e-03 5.27943953e-05 -9.99953657e-01 -4.02330545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.126559995 meters 0.013283525559924085 Centerline is valid? [True, True] Translation: X:110.93, Y:-162.78, Z:-4.02 [[-3.03782826e-01 9.52734238e-01 3.66973641e-03 1.10925714e+02] [ 9.52668239e-01 3.03804977e-01 -1.12143618e-02 -1.62782099e+02] [-1.17991907e-02 8.93107945e-05 -9.99930383e-01 -4.02186823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1865599950002 meters 0.01330489591854862 Centerline is valid? [True, True] Translation: X:110.92, Y:-162.76, Z:-4.02 [[-3.78210504e-01 9.25706899e-01 4.85297848e-03 1.10921172e+02] [ 9.25633567e-01 3.78241628e-01 -1.16520282e-02 -1.62755319e+02] [-1.26219613e-02 8.51603383e-05 -9.99920336e-01 -4.02105376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.246559995 meters 0.012998924249234513 Centerline is valid? [True, True] Translation: X:110.92, Y:-162.73, Z:-4.02 [[-4.50547017e-01 8.92735834e-01 5.48790897e-03 1.10917231e+02] [ 8.92671441e-01 4.50580433e-01 -1.07224625e-02 -1.62727142e+02] [-1.20450709e-02 6.79261120e-05 -9.99927453e-01 -4.02189065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.306559995 meters 0.012909580921327643 Centerline is valid? [True, True] Translation: X:110.91, Y:-162.70, Z:-4.02 [[-5.19662571e-01 8.54351843e-01 5.80864829e-03 1.10910665e+02] [ 8.54299655e-01 5.19695031e-01 -9.44325638e-03 -1.62699788e+02] [-1.10865891e-02 5.50193424e-05 -9.99938540e-01 -4.02221160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.366559995 meters 0.012780935176945517 Centerline is valid? [True, True] Translation: X:110.90, Y:-162.67, Z:-4.02 [[-5.86417157e-01 8.09984050e-01 6.38416237e-03 1.10902734e+02] [ 8.09936697e-01 5.86451906e-01 -8.75836126e-03 -1.62671375e+02] [-1.08381371e-02 3.47140748e-05 -9.99941265e-01 -4.02212283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4265599950002 meters 0.012863708371702288 Centerline is valid? [True, True] Translation: X:110.89, Y:-162.65, Z:-4.02 [[-6.48859687e-01 7.60875349e-01 7.05758126e-03 1.10892213e+02] [ 7.60830734e-01 6.48898068e-01 -8.23960211e-03 -1.62646036e+02] [-1.08489610e-02 2.32790907e-05 -9.99941148e-01 -4.02114343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.486559995 meters 0.012864776080490595 Centerline is valid? [True, True] Translation: X:110.88, Y:-162.62, Z:-4.02 [[-7.06629903e-01 7.07539263e-01 7.89761010e-03 1.10879622e+02] [ 7.07495411e-01 7.06674035e-01 -7.87731662e-03 -1.62620090e+02] [-1.11545468e-02 2.11754271e-05 -9.99937786e-01 -4.02082736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.546559995 meters 0.012893174507280683 Centerline is valid? [True, True] Translation: X:110.90, Y:-162.60, Z:-4.02 [[-7.55384244e-01 6.55229229e-01 8.32470512e-03 1.10897410e+02] [ 6.55189633e-01 7.55430114e-01 -7.20331966e-03 -1.62599148e+02] [-1.10085585e-02 1.29863087e-05 -9.99939404e-01 -4.02075707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.606559995 meters 0.012903142393505512 Centerline is valid? [True, True] Translation: X:110.92, Y:-162.58, Z:-4.02 [[-8.00727758e-01 5.98976426e-01 7.89291464e-03 1.10919663e+02] [ 5.98947297e-01 8.00766658e-01 -5.90719389e-03 -1.62580280e+02] [-9.85865276e-03 -2.61423555e-06 -9.99951402e-01 -4.02064238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.666559995 meters 0.012978485971036404 Centerline is valid? [True, True] Translation: X:110.94, Y:-162.56, Z:-4.02 [[-8.41690945e-01 5.39902094e-01 7.87913320e-03 1.10935632e+02] [ 5.39878299e-01 8.41727823e-01 -5.06896757e-03 -1.62556938e+02] [-9.36883185e-03 -1.27310779e-05 -9.99956112e-01 -4.02118701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7265599950001 meters 0.013026921118396255 Centerline is valid? [True, True] Translation: X:110.95, Y:-162.53, Z:-4.02 [[-8.78450493e-01 4.77772191e-01 7.64621203e-03 1.10947465e+02] [ 4.77753857e-01 8.78483770e-01 -4.18555584e-03 -1.62530545e+02] [-8.71681535e-03 -2.37963056e-05 -9.99962008e-01 -4.02056753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.786559995 meters 0.013459007544053105 Centerline is valid? [True, True] Translation: X:110.96, Y:-162.51, Z:-4.02 [[-9.11395378e-01 4.11469232e-01 7.17883636e-03 1.10964193e+02] [ 4.11456052e-01 9.11423650e-01 -3.29363688e-03 -1.62505123e+02] [-7.89819147e-03 -4.80297640e-05 -9.99968808e-01 -4.02052525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.846559995 meters 0.014102813605523302 Centerline is valid? [True, True] Translation: X:111.25, Y:-161.88, Z:-5.02 [[-8.73560580e-01 -4.86678174e-01 6.02229243e-03 1.11254792e+02] [ 4.86666430e-01 -8.73581338e-01 -3.38117337e-03 -1.61878483e+02] [ 6.90650556e-03 -2.28122146e-05 9.99976150e-01 -5.01986136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.906559995 meters 0.014355807058084976 Centerline is valid? [True, True] Translation: X:110.91, Y:-162.48, Z:-4.02 [[-9.15564538e-01 4.02119042e-01 6.46938971e-03 1.10913226e+02] [ 4.02108310e-01 9.15587390e-01 -2.93928534e-03 -1.62477353e+02] [-7.10523424e-03 -8.97100654e-05 -9.99974754e-01 -4.02071192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9665599950001 meters 0.014994461121345344 Centerline is valid? [True, True] Translation: X:110.93, Y:-162.45, Z:-4.02 [[-9.42410398e-01 3.34371017e-01 7.65928692e-03 1.10930759e+02] [ 3.34358936e-01 9.42441515e-01 -2.84493521e-03 -1.62454124e+02] [-8.16969385e-03 -1.20145499e-04 -9.99966620e-01 -4.01957304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.026559995 meters 0.014521436096854141 Centerline is valid? [True, True] Translation: X:110.94, Y:-162.43, Z:-4.02 [[-9.63514708e-01 2.67535902e-01 7.99673186e-03 1.10943055e+02] [ 2.67525686e-01 9.63547885e-01 -2.34087069e-03 -1.62431014e+02] [-8.33150103e-03 -1.16132160e-04 -9.99965286e-01 -4.01957907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.086559995 meters 0.014407045112151627 Centerline is valid? [True, True] Translation: X:110.95, Y:-162.41, Z:-4.02 [[-9.79653001e-01 2.00561199e-01 7.42994919e-03 1.10950598e+02] [ 2.00554732e-01 9.79681171e-01 -1.61307644e-03 -1.62406314e+02] [-7.60250186e-03 -9.01437025e-05 -9.99971097e-01 -4.01974742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.146559995 meters 0.013826311631443126 Centerline is valid? [True, True] Translation: X:110.95, Y:-162.38, Z:-4.02 [[-9.90903138e-01 1.34377333e-01 7.32829206e-03 1.10952637e+02] [ 1.34373216e-01 9.90930234e-01 -1.05354763e-03 -1.62382731e+02] [-7.40339908e-03 -5.92374742e-05 -9.99972593e-01 -4.01992950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2065599950001 meters 0.013617562172207135 Centerline is valid? [True, True] Translation: X:110.96, Y:-162.36, Z:-4.02 [[-9.97706534e-01 6.72820709e-02 7.40236172e-03 1.10960669e+02] [ 6.72799649e-02 9.97733994e-01 -5.33443457e-04 -1.62359737e+02] [-7.42147910e-03 -3.41893864e-05 -9.99972460e-01 -4.02035089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.266559995 meters 0.013582387751799756 Centerline is valid? [True, True] Translation: X:110.96, Y:-162.33, Z:-4.02 [[-9.99972399e-01 -1.87620000e-03 7.18892384e-03 1.10958384e+02] [-1.87629446e-03 9.99998240e-01 -6.39571099e-06 -1.62333255e+02] [-7.18889918e-03 -1.98840725e-05 -9.99974159e-01 -4.01971465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.326559995 meters 0.013565936683241334 Centerline is valid? [True, True] Translation: X:110.96, Y:-162.31, Z:-4.02 [[-9.97531901e-01 -6.97760766e-02 7.83614520e-03 1.10959212e+02] [-6.97738963e-02 9.97562679e-01 5.51609071e-04 -1.62308586e+02] [-7.85553512e-03 3.48926322e-06 -9.99969145e-01 -4.02015364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.386559995 meters 0.013737633477651534 Centerline is valid? [True, True] Translation: X:110.91, Y:-161.60, Z:-5.02 [[-9.99936566e-01 7.79578274e-03 8.12958859e-03 1.10914304e+02] [-7.79541752e-03 -9.99969612e-01 7.66122440e-05 -1.61600037e+02] [ 8.12993880e-03 1.32338469e-05 9.99966951e-01 -5.02110751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4465599950001 meters 0.014042932842165928 Centerline is valid? [True, True] Translation: X:110.88, Y:-162.32, Z:-4.02 [[-9.97718266e-01 -6.70897461e-02 7.56488156e-03 1.10879439e+02] [-6.70873221e-02 9.97746943e-01 5.74013946e-04 -1.62320036e+02] [-7.58634790e-03 6.51965535e-05 -9.99971221e-01 -4.01959482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.506559995 meters 0.015136866808684648 Centerline is valid? [True, True] Translation: X:110.88, Y:-162.30, Z:-4.02 [[-9.91211541e-01 -1.32110407e-01 6.82067646e-03 1.10875193e+02] [-1.32106585e-01 9.91235003e-01 1.00984788e-03 -1.62297982e+02] [-6.89430466e-03 9.99165994e-05 -9.99976229e-01 -4.02034186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.566559995 meters 0.01586372798080176 Centerline is valid? [True, True] Translation: X:110.87, Y:-162.27, Z:-4.02 [[-9.80401358e-01 -1.96964442e-01 4.26438462e-03 1.10867091e+02] [-1.96962186e-01 9.80410629e-01 9.46981346e-04 -1.62273572e+02] [-4.36736965e-03 8.84992824e-05 -9.99990459e-01 -4.02218106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.626559995 meters 0.01691699381372239 Centerline is valid? [True, True] Translation: X:110.84, Y:-162.25, Z:-4.02 [[-9.64377127e-01 -2.64518088e-01 2.63407857e-03 1.10843092e+02] [-2.64516923e-01 9.64380722e-01 7.87685384e-04 -1.62252691e+02] [-2.74861162e-03 6.28674104e-05 -9.99996221e-01 -4.02325949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6865599950002 meters 0.016415956355757103 Centerline is valid? [True, True] Translation: X:110.80, Y:-162.23, Z:-4.02 [[-9.42342771e-01 -3.34635170e-01 3.06688942e-03 1.10801488e+02] [-3.34633149e-01 9.42347759e-01 1.16503337e-03 -1.62234333e+02] [-3.27993751e-03 7.15779107e-05 -9.99994618e-01 -4.02273977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.746559995 meters 0.015367644074245014 Centerline is valid? [True, True] Translation: X:110.74, Y:-162.22, Z:-4.02 [[-9.13305669e-01 -4.07247275e-01 4.73416072e-03 1.10737635e+02] [-4.07241300e-01 9.13317934e-01 2.20778434e-03 -1.62223219e+02] [-5.22290804e-03 8.84361850e-05 -9.99986357e-01 -4.02152784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.806559995 meters 0.014567399937909231 Centerline is valid? [True, True] Translation: X:110.66, Y:-162.22, Z:-4.02 [[-8.78485058e-01 -4.77739328e-01 5.39793030e-03 1.10661260e+02] [-4.77729790e-01 8.78501639e-01 3.01971410e-03 -1.62224774e+02] [-6.18472680e-03 7.40216067e-05 -9.99980872e-01 -4.02026994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.866559995 meters 0.013849548086065751 Centerline is valid? [True, True] Translation: X:110.59, Y:-162.23, Z:-4.02 [[-8.36099017e-01 -5.48542177e-01 6.31771495e-03 1.10588317e+02] [-5.48526267e-01 8.36122885e-01 4.17800920e-03 -1.62227110e+02] [-7.57420032e-03 2.77967904e-05 -9.99971315e-01 -4.01993234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9265599950002 meters 0.013714955678508814 Centerline is valid? [True, True] Translation: X:110.50, Y:-162.25, Z:-4.02 [[-7.90503480e-01 -6.12423283e-01 6.47838115e-03 1.10504928e+02] [-6.12402749e-01 7.90530026e-01 5.01508948e-03 -1.62246251e+02] [-8.19271239e-03 -2.93273766e-06 -9.99966439e-01 -4.01936682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.986559995 meters 0.013707637746448918 Centerline is valid? [True, True] Translation: X:110.42, Y:-162.27, Z:-4.02 [[-7.40706232e-01 -6.71802972e-01 5.91984358e-03 1.10420358e+02] [-6.71781779e-01 7.40729888e-01 5.33619479e-03 -1.62273916e+02] [-7.96987659e-03 -2.42903121e-05 -9.99968240e-01 -4.02004128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.046559995 meters 0.013581255646562809 Centerline is valid? [True, True] Translation: X:110.34, Y:-162.31, Z:-4.02 [[-6.88968832e-01 -7.24777105e-01 4.48286154e-03 1.10340169e+02] [-7.24761881e-01 6.88983416e-01 4.69761766e-03 -1.62310489e+02] [-6.49334299e-03 -1.24950109e-05 -9.99978918e-01 -4.02182458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.106559995 meters 0.013508518434395244 Centerline is valid? [True, True] Translation: X:110.26, Y:-162.36, Z:-4.02 [[-6.34009496e-01 -7.73319585e-01 2.96288436e-03 1.10258682e+02] [-7.73311134e-01 6.34016419e-01 3.61533280e-03 -1.62357274e+02] [-4.67432499e-03 9.23861910e-07 -9.99989075e-01 -4.02331048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.166559995 meters 0.013553537329606888 Centerline is valid? [True, True] Translation: X:110.18, Y:-162.42, Z:-4.02 [[-5.74266159e-01 -8.18663874e-01 2.79990001e-03 1.10178028e+02] [-8.18654109e-01 5.74272985e-01 3.99851000e-03 -1.62417172e+02] [-4.88134262e-03 4.05932879e-06 -9.99988086e-01 -4.02251596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2265599950001 meters 0.013620649392687522 Centerline is valid? [True, True] Translation: X:110.10, Y:-162.49, Z:-4.02 [[-5.10476701e-01 -8.59886648e-01 2.91371361e-03 1.10097165e+02] [-8.59872597e-01 5.10485016e-01 4.91582209e-03 -1.62487264e+02] [-5.71445692e-03 3.99015430e-06 -9.99983672e-01 -4.02137821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.286559995 meters 0.013660420056128593 Centerline is valid? [True, True] Translation: X:110.02, Y:-162.56, Z:-4.02 [[-4.41981896e-01 -8.97016451e-01 3.67274448e-03 1.10019371e+02] [-8.96985674e-01 4.41997156e-01 7.43063104e-03 -1.62560875e+02] [-8.28874090e-03 -1.01947851e-05 -9.99965648e-01 -4.01825732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.346559995 meters 0.01373558716309928 Centerline is valid? [True, True] Translation: X:109.95, Y:-162.65, Z:-4.02 [[-3.69903492e-01 -9.29060511e-01 4.23946609e-03 1.09945602e+02] [-9.29000934e-01 3.69927783e-01 1.05214025e-02 -1.62645744e+02] [-1.13433159e-02 -4.65644404e-05 -9.99935662e-01 -4.01772580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.406559995 meters 0.013994813424399994 Centerline is valid? [True, True] Translation: X:109.88, Y:-162.74, Z:-4.02 [[-2.96644956e-01 -9.54978479e-01 4.22794881e-03 1.09880910e+02] [-9.54885268e-01 2.96675073e-01 1.33426291e-02 -1.62737331e+02] [-1.39962507e-02 -7.91824073e-05 -9.99902045e-01 -4.01504283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4665599950001 meters 0.014176125043215975 Centerline is valid? [True, True] Translation: X:109.82, Y:-162.83, Z:-4.01 [[-2.22527770e-01 -9.74920256e-01 3.44771335e-03 1.09824411e+02] [-9.74809725e-01 2.22554457e-01 1.46803689e-02 -1.62833542e+02] [-1.50794929e-02 -9.40747656e-05 -9.99886294e-01 -4.01388087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.526559995 meters 0.01383392057735824 Centerline is valid? [True, True] Translation: X:109.78, Y:-162.94, Z:-4.02 [[-1.48328758e-01 -9.88936209e-01 1.93744614e-03 1.09776206e+02] [-9.88857824e-01 1.48341395e-01 1.24512674e-02 -1.62939336e+02] [-1.26009127e-02 -6.89777435e-05 -9.99920603e-01 -4.01586217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.586559995 meters 0.013689433158967462 Centerline is valid? [True, True] Translation: X:109.74, Y:-163.05, Z:-4.02 [[-7.32085025e-02 -9.97316293e-01 8.52841445e-04 1.09737384e+02] [-9.97256488e-01 7.32134522e-02 1.09219283e-02 -1.63045213e+02] [-1.09550565e-02 -5.09236475e-05 -9.99939990e-01 -4.01740791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.646559995 meters 0.013388679021598541 Centerline is valid? [True, True] Translation: X:109.71, Y:-163.16, Z:-4.02 [[ 1.89380389e-03 -9.99998207e-01 1.32749805e-05 1.09709105e+02] [-9.99952889e-01 -1.89359168e-03 9.52020768e-03 -1.63155606e+02] [-9.52016547e-03 -3.13037614e-05 -9.99954682e-01 -4.01961754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7065599950001 meters 0.013571928873122537 Centerline is valid? [True, True] Translation: X:109.69, Y:-163.27, Z:-4.02 [[ 7.89088418e-02 -9.96881525e-01 -7.86762584e-04 1.09687510e+02] [-9.96826739e-01 -7.89127536e-02 1.04513350e-02 -1.63269583e+02] [-1.04808284e-02 -4.04367577e-05 -9.99945074e-01 -4.01908397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.766559995 meters 0.013522816009346126 Centerline is valid? [True, True] Translation: X:109.67, Y:-163.38, Z:-4.02 [[ 1.57053819e-01 -9.87588354e-01 -1.82792798e-03 1.09673265e+02] [-9.87516001e-01 -1.57064440e-01 1.19544717e-02 -1.63384527e+02] [-1.20931996e-02 -7.23873175e-05 -9.99926872e-01 -4.01890024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.826559995 meters 0.013935265357367584 Centerline is valid? [True, True] Translation: X:109.08, Y:-163.59, Z:-5.02 [[ 7.55612507e-02 9.97140563e-01 -1.09293457e-03 1.09077445e+02] [-9.97059007e-01 7.55690494e-02 1.27536671e-02 -1.63588132e+02] [ 1.27997908e-02 1.26037217e-04 9.99918071e-01 -5.02262126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.886559995 meters 0.014138359112696536 Centerline is valid? [True, True] Translation: X:109.71, Y:-163.66, Z:-4.02 [[ 1.72137433e-01 -9.85070331e-01 -2.26895847e-03 1.09712463e+02] [-9.84971045e-01 -1.72152299e-01 1.39866594e-02 -1.63655442e+02] [-1.41684496e-02 -1.72769251e-04 -9.99899608e-01 -4.01824567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9465599950001 meters 0.014794264630951012 Centerline is valid? [True, True] Translation: X:109.71, Y:-163.77, Z:-4.02 [[ 2.48966038e-01 -9.68505898e-01 -3.49806450e-03 1.09708699e+02] [-9.68397984e-01 -2.48990521e-01 1.44590721e-02 -1.63773652e+02] [-1.48746815e-02 -2.12299287e-04 -9.99889343e-01 -4.01654338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.006559995 meters 0.014986413255102238 Centerline is valid? [True, True] Translation: X:109.72, Y:-163.89, Z:-4.02 [[ 3.23861326e-01 -9.46094272e-01 -4.41244993e-03 1.09717220e+02] [-9.45996679e-01 -3.23891303e-01 1.35907140e-02 -1.63891901e+02] [-1.42872508e-02 -2.27343681e-04 -9.99897906e-01 -4.01780526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.066559995 meters 0.014831269192272149 Centerline is valid? [True, True] Translation: X:109.73, Y:-164.00, Z:-4.02 [[ 3.95718042e-01 -9.18359687e-01 -4.76622393e-03 1.09732790e+02] [-9.18286701e-01 -3.95746691e-01 1.15797517e-02 -1.64002136e+02] [-1.25205945e-02 -2.05556610e-04 -9.99921593e-01 -4.02016328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.126559995 meters 0.015163742337590378 Centerline is valid? [True, True] Translation: X:109.76, Y:-164.11, Z:-4.02 [[ 4.64733796e-01 -8.85436051e-01 -5.04961181e-03 1.09755218e+02] [-8.85379412e-01 -4.64761192e-01 1.00165126e-02 -1.64112014e+02] [-1.12158450e-02 -1.84189592e-04 -9.99937084e-01 -4.02066910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1865599950002 meters 0.015396692032616675 Centerline is valid? [True, True] Translation: X:109.79, Y:-164.22, Z:-4.02 [[ 5.30862275e-01 -8.47437727e-01 -5.87745899e-03 1.09785510e+02] [-8.47381880e-01 -5.30894777e-01 9.73064424e-03 -1.64221417e+02] [-1.13664273e-02 -1.85179684e-04 -9.99935383e-01 -4.02015460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.246559995 meters 0.014986602243216183 Centerline is valid? [True, True] Translation: X:109.83, Y:-164.32, Z:-4.02 [[ 5.92947937e-01 -8.05211788e-01 -6.83524240e-03 1.09825576e+02] [-8.05154817e-01 -5.92987306e-01 9.57994683e-03 -1.64324975e+02] [-1.17670981e-02 -1.76981361e-04 -9.99930750e-01 -4.02014285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.306559995 meters 0.014250809160878302 Centerline is valid? [True, True] Translation: X:109.87, Y:-164.42, Z:-4.02 [[ 6.52103825e-01 -7.58087972e-01 -7.95166980e-03 1.09871868e+02] [-7.58028260e-01 -6.52152279e-01 9.51635768e-03 -1.64422439e+02] [-1.23999359e-02 -1.78062816e-04 -9.99923102e-01 -4.02129853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.366559995 meters 0.01450358582291373 Centerline is valid? [True, True] Translation: X:109.92, Y:-164.52, Z:-4.02 [[ 7.07964408e-01 -7.06172163e-01 -1.03572204e-02 1.09923235e+02] [-7.06092087e-01 -7.08040132e-01 1.06365865e-02 -1.64517160e+02] [-1.48445890e-02 -2.17173323e-04 -9.99889790e-01 -4.01864036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4265599950002 meters 0.014773223338850422 Centerline is valid? [True, True] Translation: X:109.98, Y:-164.61, Z:-4.02 [[ 7.59824471e-01 -6.50014594e-01 -1.21573616e-02 1.09979746e+02] [-6.49926214e-01 -7.59921685e-01 1.07214170e-02 -1.64606567e+02] [-1.62077202e-02 -2.45007040e-04 -9.99868616e-01 -4.01748291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.486559995 meters 0.015000874223076438 Centerline is valid? [True, True] Translation: X:110.01, Y:-164.63, Z:-4.02 [[ 8.08039155e-01 -5.88985703e-01 -1.29832686e-02 1.10005663e+02] [-5.88904922e-01 -8.08143419e-01 9.75745398e-03 -1.64627448e+02] [-1.62393440e-02 -2.38494077e-04 -9.99868105e-01 -4.01733476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.546559995 meters 0.014759194490540528 Centerline is valid? [True, True] Translation: X:110.03, Y:-164.64, Z:-4.02 [[ 8.50898611e-01 -5.25191842e-01 -1.20450331e-02 1.10034898e+02] [-5.25136065e-01 -8.50983838e-01 7.65636709e-03 -1.64643566e+02] [-1.42711900e-02 -1.89510844e-04 -9.99898143e-01 -4.01881989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.606559995 meters 0.014026083523953415 Centerline is valid? [True, True] Translation: X:110.07, Y:-164.65, Z:-4.02 [[ 8.87865316e-01 -4.59967511e-01 -1.11834818e-02 1.10067857e+02] [-4.59929223e-01 -8.87935737e-01 5.93604633e-03 -1.64654613e+02] [-1.26606016e-02 -1.26799538e-04 -9.99919843e-01 -4.01990397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.666559995 meters 0.013096007193482665 Centerline is valid? [True, True] Translation: X:110.10, Y:-164.67, Z:-4.02 [[ 9.19989636e-01 -3.91765001e-01 -1.18006100e-02 1.10098045e+02] [-3.91731484e-01 -9.20065310e-01 5.12533652e-03 -1.64670379e+02] [-1.28652594e-02 -9.25860194e-05 -9.99917235e-01 -4.02214135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7265599950001 meters 0.012886326280621295 Centerline is valid? [True, True] Translation: X:110.13, Y:-164.69, Z:-4.02 [[ 9.46600617e-01 -3.22155764e-01 -1.27646028e-02 1.10128483e+02] [-3.22125803e-01 -9.46686676e-01 4.39383529e-03 -1.64685181e+02] [-1.34995788e-02 -4.73992651e-05 -9.99908875e-01 -4.02279636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.786559995 meters 0.012759502452631839 Centerline is valid? [True, True] Translation: X:110.16, Y:-164.70, Z:-4.02 [[ 9.68535136e-01 -2.48500037e-01 -1.36902181e-02 1.10158613e+02] [-2.48474777e-01 -9.68631886e-01 3.54321268e-03 -1.64700096e+02] [-1.41412703e-02 -3.00520715e-05 -9.99900007e-01 -4.02256991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.846559995 meters 0.012883792433639109 Centerline is valid? [True, True] Translation: X:110.19, Y:-164.71, Z:-4.02 [[ 9.84800620e-01 -1.73076593e-01 -1.45681915e-02 1.10188893e+02] [-1.73057436e-01 -9.84908368e-01 2.57510545e-03 -1.64711054e+02] [-1.47940242e-02 -1.48315638e-05 -9.99890562e-01 -4.02240693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.906559995 meters 0.01289585702427992 Centerline is valid? [True, True] Translation: X:110.22, Y:-164.72, Z:-4.02 [[ 9.95440202e-01 -9.43480001e-02 -1.40448975e-02 1.10216133e+02] [-9.43381958e-02 -9.95539278e-01 1.36043858e-03 -1.64719768e+02] [-1.41106018e-02 -2.92649643e-05 -9.99900440e-01 -4.02319117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9665599950001 meters 0.012938754448202205 Centerline is valid? [True, True] Translation: X:110.24, Y:-164.73, Z:-4.02 [[ 9.99823134e-01 -1.30682386e-02 -1.35248972e-02 1.10244435e+02] [-1.30661123e-02 -9.99914605e-01 2.45569330e-04 -1.64729196e+02] [-1.35269514e-02 -6.88080711e-05 -9.99908504e-01 -4.02378038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.026559995 meters 0.013148863102249669 Centerline is valid? [True, True] Translation: X:110.27, Y:-164.74, Z:-4.02 [[ 9.97590425e-01 6.80418337e-02 -1.35518890e-02 1.10273317e+02] [ 6.80370172e-02 -9.97682463e-01 -8.16670132e-04 -1.64736604e+02] [-1.35760497e-02 -1.07327801e-04 -9.99907836e-01 -4.02317543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.086559995 meters 0.013102843222808028 Centerline is valid? [True, True] Translation: X:110.30, Y:-164.74, Z:-4.02 [[ 9.89005695e-01 1.47241774e-01 -1.36965542e-02 1.10303269e+02] [ 1.47229449e-01 -9.89100523e-01 -1.90935500e-03 -1.64743614e+02] [-1.38284057e-02 -1.28173160e-04 -9.99904375e-01 -4.02389392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.146559995 meters 0.013871809391254559 Centerline is valid? [True, True] Translation: X:110.33, Y:-164.75, Z:-4.02 [[ 9.73818094e-01 2.26934359e-01 -1.33834414e-02 1.10332430e+02] [ 2.26915268e-01 -9.73910042e-01 -2.94821693e-03 -1.64748317e+02] [-1.37033197e-02 -1.65880199e-04 -9.99906091e-01 -4.02246379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2065599950001 meters 0.01340378237218852 Centerline is valid? [True, True] Translation: X:110.36, Y:-164.75, Z:-4.02 [[ 9.53102741e-01 3.02385916e-01 -1.25667608e-02 1.10361888e+02] [ 3.02361815e-01 -9.53185571e-01 -3.82100425e-03 -1.64747660e+02] [-1.31338730e-02 -1.57898992e-04 -9.99913735e-01 -4.02472180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.266559995 meters 0.013118097881872352 Centerline is valid? [True, True] Translation: X:110.39, Y:-164.75, Z:-4.03 [[ 9.27390026e-01 3.73939127e-01 -1.08291141e-02 1.10391674e+02] [ 3.73915052e-01 -9.27453242e-01 -4.24471468e-03 -1.64745405e+02] [-1.16307619e-02 -1.12662701e-04 -9.99932354e-01 -4.02542559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.326559995 meters 0.012822528071975297 Centerline is valid? [True, True] Translation: X:110.42, Y:-164.74, Z:-4.03 [[ 8.96852902e-01 4.42228531e-01 -9.42327473e-03 1.10420092e+02] [ 4.42204875e-01 -8.96902404e-01 -4.57447643e-03 -1.64739369e+02] [-1.04747217e-02 -6.43855646e-05 -9.99945137e-01 -4.02558884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.386559995 meters 0.012690196810444 Centerline is valid? [True, True] Translation: X:110.45, Y:-164.73, Z:-4.03 [[ 8.60809924e-01 5.08852264e-01 -8.69762071e-03 1.10446596e+02] [ 5.08826706e-01 -8.60853862e-01 -5.10005637e-03 -1.64730697e+02] [-1.00825556e-02 -3.54025603e-05 -9.99949169e-01 -4.02570267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4465599950001 meters 0.01255869947931777 Centerline is valid? [True, True] Translation: X:110.47, Y:-164.72, Z:-4.03 [[ 8.19474683e-01 5.73071428e-01 -7.09813135e-03 1.10473674e+02] [ 5.73050069e-01 -8.19505423e-01 -4.94769644e-03 -1.64721677e+02] [-8.65234060e-03 -1.30726866e-05 -9.99962568e-01 -4.02645219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.506559995 meters 0.012686542530095466 Centerline is valid? [True, True] Translation: X:110.50, Y:-164.71, Z:-4.03 [[ 7.72436221e-01 6.35051400e-01 -7.21140641e-03 1.10498917e+02] [ 6.35023835e-01 -7.72469883e-01 -5.91692389e-03 -1.64710550e+02] [-9.32814506e-03 -8.96862646e-06 -9.99956492e-01 -4.02554378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.566559995 meters 0.012746426230426244 Centerline is valid? [True, True] Translation: X:110.52, Y:-164.69, Z:-4.02 [[ 7.19774368e-01 6.94175047e-01 -6.77222670e-03 1.10521962e+02] [ 6.94144541e-01 -7.19806227e-01 -6.50786926e-03 -1.64694753e+02] [-9.39229140e-03 -1.67067060e-05 -9.99955891e-01 -4.02459986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.626559995 meters 0.012757443827461532 Centerline is valid? [True, True] Translation: X:110.55, Y:-164.68, Z:-4.02 [[ 6.61184384e-01 7.50190198e-01 -7.06237899e-03 1.10546972e+02] [ 7.50148177e-01 -6.61222100e-01 -7.94026761e-03 -1.64680356e+02] [-1.06265120e-02 -4.78497747e-05 -9.99943536e-01 -4.02350021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6865599950002 meters 0.01302895345967828 Centerline is valid? [True, True] Translation: X:110.57, Y:-164.66, Z:-4.02 [[ 5.98720877e-01 8.00935963e-01 -5.90714232e-03 1.10569081e+02] [ 8.00898048e-01 -5.98750014e-01 -7.79342268e-03 -1.64661985e+02] [-9.77893404e-03 -6.49338911e-05 -9.99952183e-01 -4.02383685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.746559995 meters 0.013196155108404689 Centerline is valid? [True, True] Translation: X:110.59, Y:-164.64, Z:-4.02 [[ 5.33211222e-01 8.45967432e-01 -4.98966950e-03 1.10587229e+02] [ 8.45931650e-01 -5.33234563e-01 -7.78105991e-03 -1.64640822e+02] [-9.24318750e-03 -7.19708904e-05 -9.99957278e-01 -4.02468089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.806559995 meters 0.012987376508441154 Centerline is valid? [True, True] Translation: X:110.61, Y:-164.62, Z:-4.03 [[ 4.63932051e-01 8.85863308e-01 -3.64033204e-03 1.10610304e+02] [ 8.85837246e-01 -4.63946328e-01 -6.79547155e-03 -1.64621079e+02] [-7.70877759e-03 -7.21046537e-05 -9.99970284e-01 -4.02757208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.866559995 meters 0.013054571389681316 Centerline is valid? [True, True] Translation: X:110.63, Y:-164.60, Z:-4.03 [[ 3.91886486e-01 9.20008297e-01 -3.11715998e-03 1.10632752e+02] [ 9.19980857e-01 -3.91898874e-01 -7.10603852e-03 -1.64600283e+02] [-7.75922588e-03 -8.29670475e-05 -9.99969893e-01 -4.02759297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9265599950002 meters 0.013336945935850782 Centerline is valid? [True, True] Translation: X:110.65, Y:-164.58, Z:-4.03 [[ 3.17729590e-01 9.48177483e-01 -2.71434389e-03 1.10652853e+02] [ 9.48145426e-01 -3.17741169e-01 -7.79752602e-03 -1.64577535e+02] [-8.25589740e-03 -9.60879934e-05 -9.99965915e-01 -4.02716241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.986559995 meters 0.013424405080957673 Centerline is valid? [True, True] Translation: X:110.67, Y:-164.55, Z:-4.03 [[ 2.41301862e-01 9.70447846e-01 -2.09533335e-03 1.10671336e+02] [ 9.70414978e-01 -2.41310936e-01 -7.98771091e-03 -1.64553434e+02] [-8.25728369e-03 -1.05893347e-04 -9.99965903e-01 -4.02745849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.046559995 meters 0.013373789572949253 Centerline is valid? [True, True] Translation: X:110.69, Y:-164.53, Z:-4.03 [[ 1.64416267e-01 9.86389774e-01 -1.58258715e-03 1.10686724e+02] [ 9.86350627e-01 -1.64423843e-01 -8.78866924e-03 -1.64528145e+02] [-8.92926852e-03 -1.15985638e-04 -9.99960127e-01 -4.02654186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.106559995 meters 0.015331574776948655 Centerline is valid? [True, True] Translation: X:110.70, Y:-164.50, Z:-4.02 [[ 8.65742862e-02 9.96244880e-01 -1.01576677e-03 1.10701719e+02] [ 9.96193205e-01 -8.65801422e-02 -1.01477495e-02 -1.64502871e+02] [-1.01975887e-02 -1.33365788e-04 -9.99947994e-01 -4.02191006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.166559995 meters 0.013497818730355543 Centerline is valid? [True, True] Translation: X:110.70, Y:-164.48, Z:-4.02 [[ 8.61958474e-03 9.99962824e-01 -2.29083357e-04 1.10704338e+02] [ 9.99905316e-01 -8.62154606e-03 -1.07251163e-02 -1.64475111e+02] [-1.07266927e-02 -1.36615617e-04 -9.99942458e-01 -4.02434499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2265599950001 meters 0.013039253466115635 Centerline is valid? [True, True] Translation: X:110.71, Y:-164.45, Z:-4.03 [[-6.75695159e-02 9.97714429e-01 5.27696435e-04 1.10707953e+02] [ 9.97671613e-01 6.75715052e-02 -9.24360809e-03 -1.64447208e+02] [-9.25813841e-03 -9.81183706e-05 -9.99957138e-01 -4.02598153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.286559995 meters 0.012599340285290158 Centerline is valid? [True, True] Translation: X:110.71, Y:-164.42, Z:-4.03 [[-1.43981209e-01 9.89579973e-01 9.42482140e-04 1.10712636e+02] [ 9.89555812e-01 1.43984279e-01 -6.91529904e-03 -1.64418724e+02] [-6.97894406e-03 -6.30344341e-05 -9.99975645e-01 -4.02812205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.346559995 meters 0.012801023250999978 Centerline is valid? [True, True] Translation: X:110.72, Y:-164.39, Z:-4.03 [[-2.22119183e-01 9.75018454e-01 1.44310192e-03 1.10716987e+02] [ 9.74995819e-01 2.22123861e-01 -6.64399628e-03 -1.64391396e+02] [-6.79856636e-03 -6.87406875e-05 -9.99976887e-01 -4.02771109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.406559995 meters 0.013000142439286606 Centerline is valid? [True, True] Translation: X:110.72, Y:-164.36, Z:-4.03 [[-3.00067852e-01 9.53915045e-01 2.31766095e-03 1.10720458e+02] [ 9.53883959e-01 3.00076785e-01 -7.70170451e-03 -1.64361712e+02] [-8.04224805e-03 -1.00254326e-04 -9.99967656e-01 -4.02669511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4665599950001 meters 0.013305291943159877 Centerline is valid? [True, True] Translation: X:110.72, Y:-164.33, Z:-4.03 [[-3.75342429e-01 9.26881194e-01 3.05190899e-03 1.10720455e+02] [ 9.26847944e-01 3.75354818e-01 -7.85174278e-03 -1.64332079e+02] [-8.42318147e-03 -1.18436632e-04 -9.99964517e-01 -4.02650191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.526559995 meters 0.013876068236654231 Centerline is valid? [True, True] Translation: X:110.72, Y:-164.30, Z:-4.03 [[-4.48411992e-01 8.93819043e-01 3.76869851e-03 1.10718090e+02] [ 8.93784854e-01 4.48427808e-01 -7.81889275e-03 -1.64303117e+02] [-8.67866445e-03 -1.37679628e-04 -9.99962330e-01 -4.02592429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.586559995 meters 0.013723298153646497 Centerline is valid? [True, True] Translation: X:110.71, Y:-164.27, Z:-4.03 [[-5.16768573e-01 8.56112712e-01 4.61147946e-03 1.10711588e+02] [ 8.56076138e-01 5.16789129e-01 -7.91471594e-03 -1.64274770e+02] [-9.15905138e-03 -1.42298938e-04 -9.99958045e-01 -4.02549542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.646559995 meters 0.013597853740517458 Centerline is valid? [True, True] Translation: X:110.70, Y:-164.25, Z:-4.03 [[-5.80488001e-01 8.14254003e-01 4.90902226e-03 1.10700716e+02] [ 8.14223193e-01 5.80508746e-01 -7.08434271e-03 -1.64249817e+02] [-8.61818477e-03 -1.15336166e-04 -9.99962856e-01 -4.02562413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7065599950001 meters 0.013215547645881405 Centerline is valid? [True, True] Translation: X:110.69, Y:-164.23, Z:-4.03 [[-6.40765903e-01 7.67720124e-01 4.98682770e-03 1.10687574e+02] [ 7.67695803e-01 6.40785302e-01 -6.11149824e-03 -1.64225336e+02] [-7.88740609e-03 -8.76729989e-05 -9.99968890e-01 -4.02550102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.766559995 meters 0.012649610213802101 Centerline is valid? [True, True] Translation: X:110.67, Y:-164.20, Z:-4.03 [[-6.95493643e-01 7.18521694e-01 3.89447368e-03 1.10672681e+02] [ 7.18510144e-01 6.95504546e-01 -4.07426568e-03 -1.64201420e+02] [-5.63607243e-03 -3.54070329e-05 -9.99984117e-01 -4.02684760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.826559995 meters 0.01242426723407217 Centerline is valid? [True, True] Translation: X:110.66, Y:-164.18, Z:-4.03 [[-7.46673826e-01 6.65179747e-01 3.75520136e-03 1.10656042e+02] [ 6.65171273e-01 7.46683269e-01 -3.35757693e-03 -1.64180137e+02] [-5.03733820e-03 -9.16274387e-06 -9.99987313e-01 -4.02757140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.886559995 meters 0.012514095464727317 Centerline is valid? [True, True] Translation: X:111.15, Y:-163.64, Z:-5.01 [[-6.98527828e-01 -7.15568828e-01 4.48626521e-03 1.11150648e+02] [ 7.15554852e-01 -6.98542229e-01 -4.47309896e-03 -1.63641287e+02] [ 6.33465588e-03 8.55847335e-05 9.99979932e-01 -5.01456158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9465599950001 meters 0.012515247746010018 Centerline is valid? [True, True] Translation: X:111.11, Y:-163.60, Z:-5.02 [[-6.98754343e-01 -7.15342816e-01 5.19843257e-03 1.11110052e+02] [ 7.15323064e-01 -6.98773680e-01 -5.31592932e-03 -1.63600681e+02] [ 7.43523971e-03 4.03001365e-06 9.99972358e-01 -5.01606268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.006559995 meters 0.012511552290533596 Centerline is valid? [True, True] Translation: X:111.07, Y:-163.56, Z:-5.02 [[-6.98785812e-01 -7.15310422e-01 5.42126662e-03 1.11069076e+02] [ 7.15288963e-01 -6.98806841e-01 -5.54062938e-03 -1.63559418e+02] [ 7.75168814e-03 6.05898043e-06 9.99969955e-01 -5.01630840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.066559995 meters 0.012589331490727546 Centerline is valid? [True, True] Translation: X:111.03, Y:-163.52, Z:-5.02 [[-6.97909844e-01 -7.16160884e-01 5.95296602e-03 1.11028143e+02] [ 7.16135074e-01 -6.97935232e-01 -6.08018392e-03 -1.63519045e+02] [ 8.50917461e-03 1.97075401e-05 9.99963796e-01 -5.01652125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.126559995 meters 0.01267416821861847 Centerline is valid? [True, True] Translation: X:110.99, Y:-163.48, Z:-5.02 [[-6.96557229e-01 -7.17477589e-01 5.82547606e-03 1.10986599e+02] [ 7.17452946e-01 -6.96581588e-01 -5.94655258e-03 -1.63478841e+02] [ 8.32443757e-03 3.73907699e-05 9.99965351e-01 -5.01560910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1865599950002 meters 0.01318337094065562 Centerline is valid? [True, True] Translation: X:110.94, Y:-163.44, Z:-5.02 [[-6.94046132e-01 -7.19905223e-01 6.03621371e-03 1.10943801e+02] [ 7.19878889e-01 -6.94072377e-01 -6.15796545e-03 -1.63441434e+02] [ 8.62272069e-03 7.14307143e-05 9.99962821e-01 -5.01703571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.246559995 meters 0.01326792653713933 Centerline is valid? [True, True] Translation: X:110.90, Y:-163.40, Z:-5.02 [[-6.92476354e-01 -7.21413224e-01 6.28169104e-03 1.10902872e+02] [ 7.21384800e-01 -6.92504838e-01 -6.40469056e-03 -1.63400690e+02] [ 8.97052990e-03 9.64196685e-05 9.99959759e-01 -5.01670916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.306559995 meters 0.013976821334204727 Centerline is valid? [True, True] Translation: X:110.86, Y:-163.36, Z:-5.02 [[-6.90408117e-01 -7.23396950e-01 5.78652637e-03 1.10861174e+02] [ 7.23372920e-01 -6.90432357e-01 -5.89741278e-03 -1.63362297e+02] [ 8.26137546e-03 1.14194817e-04 9.99965868e-01 -5.01686825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.366559995 meters 0.01431145947467437 Centerline is valid? [True, True] Translation: X:110.82, Y:-163.32, Z:-5.02 [[-6.88330912e-01 -7.25380245e-01 4.90479078e-03 1.10819480e+02] [ 7.25363051e-01 -6.88348376e-01 -4.99573348e-03 -1.63322490e+02] [ 7.00001114e-03 1.19036220e-04 9.99975493e-01 -5.01561785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4265599950002 meters 0.015312827910094473 Centerline is valid? [True, True] Translation: X:110.78, Y:-163.28, Z:-5.02 [[-6.86490995e-01 -7.27123434e-01 4.65045735e-03 1.10777195e+02] [ 7.27108036e-01 -6.86506733e-01 -4.73383642e-03 -1.63284125e+02] [ 6.63465367e-03 1.31648835e-04 9.99977982e-01 -5.01576004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.486559995 meters 0.014851996038652655 Centerline is valid? [True, True] Translation: X:110.74, Y:-163.24, Z:-5.02 [[-6.85826140e-01 -7.27748592e-01 4.94906995e-03 1.10736883e+02] [ 7.27731188e-01 -6.85843980e-01 -5.03516582e-03 -1.63242519e+02] [ 7.05862467e-03 1.48344211e-04 9.99975077e-01 -5.01556649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.546559995 meters 0.017046109477197206 Centerline is valid? [True, True] Translation: X:110.69, Y:-163.21, Z:-5.02 [[-6.84164140e-01 -7.29303512e-01 5.98467614e-03 1.10692825e+02] [ 7.29278154e-01 -6.84190285e-01 -6.08508405e-03 -1.63205930e+02] [ 8.53253045e-03 2.01297270e-04 9.99963577e-01 -5.01820837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.606559995 meters 0.016239168380788725 Centerline is valid? [True, True] Translation: X:110.65, Y:-163.16, Z:-5.02 [[-6.83251521e-01 -7.30150238e-01 6.92734614e-03 1.10652726e+02] [ 7.30116345e-01 -6.83286593e-01 -7.03954838e-03 -1.63164192e+02] [ 9.87329067e-03 2.47986503e-04 9.99951227e-01 -5.01874016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.666559995 meters 0.016560996068102782 Centerline is valid? [True, True] Translation: X:110.61, Y:-163.12, Z:-5.02 [[-6.83827126e-01 -7.29599272e-01 8.08481266e-03 1.10613936e+02] [ 7.29553130e-01 -6.83874858e-01 -8.21028021e-03 -1.63124046e+02] [ 1.15192146e-02 2.83888065e-04 9.99933611e-01 -5.02035639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7265599950001 meters 0.016520186602789682 Centerline is valid? [True, True] Translation: X:110.58, Y:-163.08, Z:-5.02 [[-6.84884037e-01 -7.28603281e-01 8.43296746e-03 1.10575075e+02] [ 7.28553068e-01 -6.84935894e-01 -8.55851595e-03 -1.63082068e+02] [ 1.20118049e-02 2.82273360e-04 9.99927816e-01 -5.02104206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.786559995 meters 0.01588391044999092 Centerline is valid? [True, True] Translation: X:110.54, Y:-163.04, Z:-5.02 [[-6.86164530e-01 -7.27408475e-01 7.42626381e-03 1.10535790e+02] [ 7.27369509e-01 -6.86204676e-01 -7.53262821e-03 -1.63039378e+02] [ 1.05752345e-02 2.33015567e-04 9.99944054e-01 -5.02004876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.846559995 meters 0.014811761960173048 Centerline is valid? [True, True] Translation: X:110.50, Y:-163.00, Z:-5.02 [[-6.88415617e-01 -7.25292124e-01 5.93914375e-03 1.10497143e+02] [ 7.25267152e-01 -6.88441217e-01 -6.02076047e-03 -1.62995631e+02] [ 8.45556150e-03 1.62680334e-04 9.99964238e-01 -5.01797754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.906559995 meters 0.014587761384189518 Centerline is valid? [True, True] Translation: X:110.46, Y:-162.95, Z:-5.02 [[-6.91246802e-01 -7.22597599e-01 5.52890590e-03 1.10457586e+02] [ 7.22575895e-01 -6.91268902e-01 -5.60188875e-03 -1.62954649e+02] [ 7.86987208e-03 1.22766446e-04 9.99969025e-01 -5.01871111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9665599950001 meters 0.01385350235200205 Centerline is valid? [True, True] Translation: X:110.42, Y:-162.91, Z:-5.02 [[-6.94249957e-01 -7.19706321e-01 6.30952621e-03 1.10419604e+02] [ 7.19677965e-01 -6.94278619e-01 -6.38943999e-03 -1.62911497e+02] [ 8.97908950e-03 1.04958549e-04 9.99959682e-01 -5.01948047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.026559995 meters 0.01327322903472601 Centerline is valid? [True, True] Translation: X:110.38, Y:-162.87, Z:-5.02 [[-6.95664746e-01 -7.18330693e-01 7.18168887e-03 1.10381425e+02] [ 7.18293931e-01 -6.95701808e-01 -7.26802088e-03 -1.62868986e+02] [ 1.02171564e-02 1.02457630e-04 9.99947798e-01 -5.01861120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.086559995 meters 0.013091317875049746 Centerline is valid? [True, True] Translation: X:110.34, Y:-162.83, Z:-5.02 [[-6.96452802e-01 -7.17560789e-01 7.74658422e-03 1.10340317e+02] [ 7.17518017e-01 -6.96495875e-01 -7.83523129e-03 -1.62828466e+02] [ 1.10177187e-02 1.01444966e-04 9.99939298e-01 -5.01961189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.146559995 meters 0.01306820884958256 Centerline is valid? [True, True] Translation: X:110.30, Y:-162.79, Z:-5.02 [[-6.98108074e-01 -7.15942595e-01 8.44496973e-03 1.10298823e+02] [ 7.15891703e-01 -6.98159146e-01 -8.53675089e-03 -1.62788257e+02] [ 1.20077564e-02 8.61090397e-05 9.99927901e-01 -5.02026475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2065599950001 meters 0.014020369959623608 Centerline is valid? [True, True] Translation: X:110.26, Y:-162.75, Z:-5.02 [[-7.00591499e-01 -7.13523083e-01 7.50742179e-03 1.10258068e+02] [ 7.13482768e-01 -7.00631721e-01 -7.58497284e-03 -1.62746157e+02] [ 1.06719911e-02 4.24485891e-05 9.99943052e-01 -5.01932361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.266559995 meters 0.012779493239277502 Centerline is valid? [True, True] Translation: X:110.22, Y:-162.70, Z:-5.02 [[-7.01390045e-01 -7.12749900e-01 6.29165554e-03 1.10217771e+02] [ 7.12721587e-01 -7.01418263e-01 -6.35297988e-03 -1.62704780e+02] [ 8.94116788e-03 2.82818719e-05 9.99960027e-01 -5.01547848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.326559995 meters 0.01280910655239275 Centerline is valid? [True, True] Translation: X:110.18, Y:-162.67, Z:-5.02 [[-7.01223093e-01 -7.12914631e-01 6.23720960e-03 1.10175639e+02] [ 7.12886844e-01 -7.01250831e-01 -6.29440458e-03 -1.62665254e+02] [ 8.86122154e-03 3.26428161e-05 9.99960738e-01 -5.01600982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.386559995 meters 0.013238895753506121 Centerline is valid? [True, True] Translation: X:110.13, Y:-162.63, Z:-5.02 [[-6.98089704e-01 -7.15977990e-01 6.80314531e-03 1.10131656e+02] [ 7.15945117e-01 -6.98122848e-01 -6.86139151e-03 -1.62627808e+02] [ 9.66203648e-03 8.08118919e-05 9.99953318e-01 -5.01701347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4465599950001 meters 0.014245676151689151 Centerline is valid? [True, True] Translation: X:110.09, Y:-162.59, Z:-5.02 [[-6.93223453e-01 -7.20681341e-01 7.72326582e-03 1.10086487e+02] [ 7.20639312e-01 -6.93266454e-01 -7.78496677e-03 -1.62590922e+02] [ 1.09647614e-02 1.68967417e-04 9.99939871e-01 -5.01812115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.506559995 meters 0.015884546943248267 Centerline is valid? [True, True] Translation: X:110.04, Y:-162.56, Z:-5.02 [[-6.89537190e-01 -7.24215024e-01 7.14576164e-03 1.10041232e+02] [ 7.24179278e-01 -6.89574183e-01 -7.19856618e-03 -1.62555007e+02] [ 1.01408425e-02 2.11133405e-04 9.99948558e-01 -5.01840369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.566559995 meters 0.016548112255171873 Centerline is valid? [True, True] Translation: X:110.00, Y:-162.52, Z:-5.02 [[-6.87351576e-01 -7.26297299e-01 6.32807558e-03 1.09998249e+02] [ 7.26269386e-01 -6.87380671e-01 -6.37127294e-03 -1.62515397e+02] [ 8.97723516e-03 2.16583066e-04 9.99959680e-01 -5.01718341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.626559995 meters 0.016692406522220503 Centerline is valid? [True, True] Translation: X:109.96, Y:-162.47, Z:-5.02 [[-6.86708573e-01 -7.26904896e-01 6.37244007e-03 1.09956908e+02] [ 7.26876648e-01 -6.86738102e-01 -6.41231875e-03 -1.62474615e+02] [ 9.03734329e-03 2.28583622e-04 9.99959136e-01 -5.01686675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6865599950002 meters 0.01623350509285921 Centerline is valid? [True, True] Translation: X:109.92, Y:-162.43, Z:-5.02 [[-6.87570435e-01 -7.26088525e-01 6.50775145e-03 1.09915982e+02] [ 7.26059063e-01 -6.87601195e-01 -6.54474588e-03 -1.62433796e+02] [ 9.22680255e-03 2.25038151e-04 9.99957407e-01 -5.01741976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.746559995 meters 0.015727739058749517 Centerline is valid? [True, True] Translation: X:109.88, Y:-162.39, Z:-5.02 [[-6.89484031e-01 -7.24269949e-01 6.69425655e-03 1.09875296e+02] [ 7.24238724e-01 -6.89516496e-01 -6.72851446e-03 -1.62392164e+02] [ 9.48906114e-03 2.09036550e-04 9.99954956e-01 -5.01832224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.806559995 meters 0.014921537991742473 Centerline is valid? [True, True] Translation: X:109.84, Y:-162.35, Z:-5.02 [[-6.92430102e-01 -7.21442636e-01 7.81517958e-03 1.09836019e+02] [ 7.21399943e-01 -6.92474174e-01 -7.85108709e-03 -1.62348494e+02] [ 1.10759190e-02 2.01541074e-04 9.99938640e-01 -5.01927096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.866559995 meters 0.01414423515519365 Centerline is valid? [True, True] Translation: X:109.80, Y:-162.30, Z:-5.02 [[-6.95136691e-01 -7.18829772e-01 8.29090368e-03 1.09797030e+02] [ 7.18781588e-01 -6.95186111e-01 -8.32467494e-03 -1.62304781e+02] [ 1.17477453e-02 1.72561921e-04 9.99930978e-01 -5.01946203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9265599950002 meters 0.01328232079290824 Centerline is valid? [True, True] Translation: X:109.76, Y:-162.26, Z:-5.02 [[-6.98963953e-01 -7.15108822e-01 8.29247446e-03 1.09758657e+02] [ 7.15060411e-01 -6.99013133e-01 -8.32162654e-03 -1.62260628e+02] [ 1.17474171e-02 1.13103209e-04 9.99930990e-01 -5.01968605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.986559995 meters 0.012624966280617694 Centerline is valid? [True, True] Translation: X:109.72, Y:-162.21, Z:-5.02 [[-7.05987251e-01 -7.08174167e-01 8.44692900e-03 1.09723034e+02] [ 7.08123470e-01 -7.06037782e-01 -8.47359212e-03 -1.62213473e+02] [ 1.19646301e-02 -7.79331266e-07 9.99928421e-01 -5.01884711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.046559995 meters 0.013118310448768582 Centerline is valid? [True, True] Translation: X:109.69, Y:-162.17, Z:-5.02 [[-7.11000836e-01 -7.03137266e-01 8.70609334e-03 1.09685905e+02] [ 7.03083091e-01 -7.11054131e-01 -8.72864205e-03 -1.62168090e+02] [ 1.23279371e-02 -8.49647726e-05 9.99924005e-01 -5.01920919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.106559995 meters 0.0142255772274194 Centerline is valid? [True, True] Translation: X:109.65, Y:-162.12, Z:-5.02 [[-7.16503598e-01 -6.97526676e-01 8.89552944e-03 1.09649488e+02] [ 6.97469746e-01 -7.16558792e-01 -8.91350369e-03 -1.62122019e+02] [ 1.25915764e-02 -1.82194802e-04 9.99920706e-01 -5.01816184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.166559995 meters 0.014265639024620604 Centerline is valid? [True, True] Translation: X:109.61, Y:-162.08, Z:-5.02 [[-7.17749168e-01 -6.96250189e-01 8.47378517e-03 1.09608500e+02] [ 6.96198499e-01 -7.17799162e-01 -8.48604905e-03 -1.62080790e+02] [ 1.19908892e-02 -1.91418138e-04 9.99928088e-01 -5.01770840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2265599950001 meters 0.013988769088527355 Centerline is valid? [True, True] Translation: X:109.57, Y:-162.04, Z:-5.02 [[-7.16073247e-01 -6.97971599e-01 8.64590063e-03 1.09566705e+02] [ 6.97917972e-01 -7.16125422e-01 -8.65353901e-03 -1.62040975e+02] [ 1.22314737e-02 -1.62438334e-04 9.99925180e-01 -5.01823627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.286559995 meters 0.013426389522813813 Centerline is valid? [True, True] Translation: X:109.52, Y:-162.00, Z:-5.02 [[-7.12665083e-01 -7.01441915e-01 9.36586546e-03 1.09522563e+02] [ 7.01379351e-01 -7.12726616e-01 -9.36893931e-03 -1.62003208e+02] [ 1.32470683e-02 -1.07891276e-04 9.99912248e-01 -5.01972587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.346559995 meters 0.01313236752091813 Centerline is valid? [True, True] Translation: X:109.48, Y:-161.97, Z:-5.02 [[-7.10430104e-01 -7.03702921e-01 9.55339452e-03 1.09479153e+02] [ 7.03638110e-01 -7.10494332e-01 -9.55064417e-03 -1.61965744e+02] [ 1.35084488e-02 -6.29326656e-05 9.99908755e-01 -5.02067421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.406559995 meters 0.012618251117135718 Centerline is valid? [True, True] Translation: X:108.97, Y:-162.47, Z:-4.02 [[-7.55615976e-01 6.54948125e-01 9.35151990e-03 1.08972487e+02] [ 6.54897905e-01 7.55673841e-01 -8.11054171e-03 -1.62469861e+02] [-1.23786830e-02 -4.16409630e-06 -9.99923381e-01 -4.02130569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4665599950001 meters 0.01265876181732753 Centerline is valid? [True, True] Translation: X:108.99, Y:-162.45, Z:-4.02 [[-8.01948143e-01 5.97338186e-01 8.14046381e-03 1.08992220e+02] [ 5.97306947e-01 8.01989458e-01 -6.10905579e-03 -1.62446855e+02] [-1.01777385e-02 -3.67903621e-05 -9.99948205e-01 -4.02296807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.526559995 meters 0.012569246579488767 Centerline is valid? [True, True] Translation: X:109.01, Y:-162.42, Z:-4.02 [[-8.41969673e-01 5.39468506e-01 7.79750975e-03 1.09010838e+02] [ 5.39445047e-01 8.42005778e-01 -5.03099828e-03 -1.62424877e+02] [-9.27961339e-03 -2.96199615e-05 -9.99956943e-01 -4.02294577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.586559995 meters 0.012523180696188843 Centerline is valid? [True, True] Translation: X:109.03, Y:-162.40, Z:-4.02 [[-8.76715266e-01 4.80952028e-01 7.44912316e-03 1.09026337e+02] [ 4.80934637e-01 8.76746912e-01 -4.08997360e-03 -1.62403752e+02] [-8.49807683e-03 -3.20094869e-06 -9.99963891e-01 -4.02263346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.646559995 meters 0.012554179654005645 Centerline is valid? [True, True] Translation: X:109.04, Y:-162.38, Z:-4.02 [[-9.07266961e-01 4.20478904e-01 8.00959251e-03 1.09039813e+02] [ 4.20462751e-01 9.07302315e-01 -3.68568730e-03 -1.62380757e+02] [-8.81687558e-03 2.38329822e-05 -9.99961130e-01 -4.02243024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7065599950001 meters 0.012668901309938828 Centerline is valid? [True, True] Translation: X:109.34, Y:-161.75, Z:-5.02 [[-8.80611164e-01 -4.73756331e-01 8.88353099e-03 1.09338131e+02] [ 4.73732750e-01 -8.80655970e-01 -4.72706026e-03 -1.61746009e+02] [ 1.00628093e-02 4.57175230e-05 9.99949368e-01 -5.01924203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.766559995 meters 0.012748111689952043 Centerline is valid? [True, True] Translation: X:109.00, Y:-162.36, Z:-4.02 [[-9.07795382e-01 4.19299611e-01 9.76631585e-03 1.08999224e+02] [ 4.19275985e-01 9.07847913e-01 -4.45142805e-03 -1.62363126e+02] [-1.07328115e-02 5.37958685e-05 -9.99942400e-01 -4.02031072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.826559995 meters 0.012809387471345173 Centerline is valid? [True, True] Translation: X:109.01, Y:-162.34, Z:-4.02 [[-9.35398777e-01 3.53431552e-01 1.07362290e-02 1.09007770e+02] [ 3.53408896e-01 9.35460387e-01 -4.00212486e-03 -1.62336173e+02] [-1.14577941e-02 5.06961267e-05 -9.99934356e-01 -4.01907551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.886559995 meters 0.012738695132236945 Centerline is valid? [True, True] Translation: X:109.02, Y:-162.31, Z:-4.02 [[-9.58057906e-01 2.86344059e-01 1.14946822e-02 1.09019373e+02] [ 2.86324134e-01 9.58126858e-01 -3.37839104e-03 -1.62311545e+02] [-1.19807460e-02 5.45106777e-05 -9.99928227e-01 -4.01980943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9465599950001 meters 0.012571683074785766 Centerline is valid? [True, True] Translation: X:109.22, Y:-161.64, Z:-5.02 [[-9.39192367e-01 -3.43242644e-01 1.01086735e-02 1.09216466e+02] [ 3.43221341e-01 -9.39246758e-01 -3.82607979e-03 -1.61641000e+02] [ 1.08078126e-02 -1.23912456e-04 9.99941586e-01 -5.01990226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.006559995 meters 0.012581306462476011 Centerline is valid? [True, True] Translation: X:108.97, Y:-162.30, Z:-4.02 [[-9.60307210e-01 2.78768512e-01 9.90854478e-03 1.08973961e+02] [ 2.78753726e-01 9.60358327e-01 -2.87124157e-03 -1.62297062e+02] [-1.03161652e-02 4.76978701e-06 -9.99946787e-01 -4.02042261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.066559995 meters 0.012546550295468892 Centerline is valid? [True, True] Translation: X:108.98, Y:-162.27, Z:-4.02 [[-9.78512046e-01 2.05991757e-01 9.03175727e-03 1.08979106e+02] [ 2.05982666e-01 9.78553726e-01 -1.93559752e-03 -1.62266675e+02] [-9.23677687e-03 -3.36200513e-05 -9.99957340e-01 -4.02119101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.126559995 meters 0.012527669589713028 Centerline is valid? [True, True] Translation: X:108.98, Y:-162.24, Z:-4.02 [[-9.90928206e-01 1.34168988e-01 7.74423716e-03 1.08981059e+02] [ 1.34164552e-01 9.90958466e-01 -1.09184312e-03 -1.62238392e+02] [-7.82070886e-03 -4.29360361e-05 -9.99969417e-01 -4.02210107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1865599950002 meters 0.012410941031780375 Centerline is valid? [True, True] Translation: X:109.08, Y:-161.56, Z:-5.02 [[-9.77512910e-01 -2.10748449e-01 7.32136449e-03 1.09076646e+02] [ 2.10742691e-01 -9.77540327e-01 -1.55792691e-03 -1.61557267e+02] [ 7.48525972e-03 2.00303911e-05 9.99971985e-01 -5.01827380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.246559995 meters 0.012481153981260255 Centerline is valid? [True, True] Translation: X:108.93, Y:-162.23, Z:-4.02 [[-9.91398772e-01 1.30668478e-01 7.36372846e-03 1.08932665e+02] [ 1.30664592e-01 9.91426118e-01 -1.00844589e-03 -1.62234633e+02] [-7.43236481e-03 -3.75934411e-05 -9.99972379e-01 -4.02113252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.306559995 meters 0.012540408766151081 Centerline is valid? [True, True] Translation: X:108.93, Y:-162.21, Z:-4.02 [[-9.98224259e-01 5.91456030e-02 7.07998132e-03 1.08932801e+02] [ 5.91438180e-02 9.98249366e-01 -4.61420088e-04 -1.62207162e+02] [-7.09487783e-03 -4.18635991e-05 -9.99974830e-01 -4.02152455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.366559995 meters 0.012807629776277354 Centerline is valid? [True, True] Translation: X:108.93, Y:-162.18, Z:-4.02 [[-9.99875687e-01 -1.43358864e-02 6.56456437e-03 1.08929161e+02] [-1.43359384e-02 9.99897234e-01 3.91441527e-05 -1.62179421e+02] [-6.56445093e-03 -5.49699038e-05 -9.99978452e-01 -4.02206112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.426559995 meters 0.013223585843715753 Centerline is valid? [True, True] Translation: X:108.92, Y:-162.15, Z:-4.02 [[-9.96091930e-01 -8.79777550e-02 7.79619837e-03 1.08923530e+02] [-8.79757379e-02 9.96122436e-01 6.01963624e-04 -1.62152801e+02] [-7.81892752e-03 -8.62651971e-05 -9.99969428e-01 -4.02114799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.486559995 meters 0.013250937380634459 Centerline is valid? [True, True] Translation: X:108.87, Y:-161.46, Z:-5.02 [[-9.99966932e-01 -2.73369107e-03 7.65905890e-03 1.08867720e+02] [ 2.73417603e-03 -9.99996261e-01 5.28477882e-05 -1.61464882e+02] [ 7.65888579e-03 7.37872559e-05 9.99970668e-01 -5.01890633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.546559995 meters 0.0132492825902491 Centerline is valid? [True, True] Translation: X:108.85, Y:-162.16, Z:-4.02 [[-9.95556257e-01 -9.39623231e-02 6.23060995e-03 1.08845210e+02] [-9.39609475e-02 9.95575751e-01 5.13777192e-04 -1.62162611e+02] [-6.25131988e-03 -7.39399155e-05 -9.99980458e-01 -4.02279379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.606559995 meters 0.012970657347547612 Centerline is valid? [True, True] Translation: X:108.84, Y:-162.14, Z:-4.02 [[-9.86713476e-01 -1.62394240e-01 4.96249927e-03 1.08837712e+02] [-1.62392433e-01 9.86725954e-01 7.67778561e-04 -1.62139619e+02] [-5.02130965e-03 -4.82948756e-05 -9.99987392e-01 -4.02421750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.666559995 meters 0.012416409431305274 Centerline is valid? [True, True] Translation: X:108.83, Y:-162.12, Z:-4.02 [[-9.73765829e-01 -2.27505677e-01 4.61282431e-03 1.08827874e+02] [-2.27503231e-01 9.73776754e-01 1.05516853e-03 -1.62120694e+02] [-4.73191791e-03 -2.19453793e-05 -9.99988804e-01 -4.02433475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7265599950001 meters 0.012404014459536575 Centerline is valid? [True, True] Translation: X:108.81, Y:-162.10, Z:-4.02 [[-9.56505659e-01 -2.91671590e-01 4.96071042e-03 1.08811071e+02] [-2.91667643e-01 9.56518522e-01 1.51738174e-03 -1.62104148e+02] [-5.18758855e-03 4.50551162e-06 -9.99986544e-01 -4.02320482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.786559995 meters 0.012358235826138033 Centerline is valid? [True, True] Translation: X:108.77, Y:-162.09, Z:-4.02 [[-9.33338841e-01 -3.58959391e-01 5.17329367e-03 1.08773604e+02] [-3.58953808e-01 9.33353178e-01 2.00214915e-03 -1.62090307e+02] [-5.54720033e-03 1.17101043e-05 -9.99984614e-01 -4.02282896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.846559995 meters 0.012458726900417386 Centerline is valid? [True, True] Translation: X:108.72, Y:-162.09, Z:-4.02 [[-9.04603887e-01 -4.26227140e-01 4.71521411e-03 1.08715577e+02] [-4.26221273e-01 9.04616176e-01 2.23641321e-03 -1.62087021e+02] [-5.21867896e-03 1.33435269e-05 -9.99986383e-01 -4.02286641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.906559995 meters 0.012410594755680206 Centerline is valid? [True, True] Translation: X:108.65, Y:-162.09, Z:-4.02 [[-8.69029507e-01 -4.94734157e-01 5.08227506e-03 1.08645811e+02] [-4.94725730e-01 8.69044368e-01 2.88757322e-03 -1.62090383e+02] [-5.84530363e-03 -4.94590911e-06 -9.99982916e-01 -4.02306498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9665599950001 meters 0.01251983398399143 Centerline is valid? [True, True] Translation: X:108.57, Y:-162.10, Z:-4.02 [[-8.28252670e-01 -5.60324799e-01 5.79958167e-03 1.08572328e+02] [-5.60311278e-01 8.28272974e-01 3.89262952e-03 -1.62101893e+02] [-6.98477361e-03 -2.54902214e-05 -9.99975606e-01 -4.02257628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.026559995 meters 0.01326553883805531 Centerline is valid? [True, True] Translation: X:108.49, Y:-162.12, Z:-4.02 [[-7.81954894e-01 -6.23300338e-01 6.57508471e-03 1.08491545e+02] [-6.23278938e-01 7.81982535e-01 5.16532109e-03 -1.62121682e+02] [-8.36114779e-03 -5.90637059e-05 -9.99965043e-01 -4.01950540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.086559995 meters 0.013197622311431763 Centerline is valid? [True, True] Translation: X:108.41, Y:-162.16, Z:-4.02 [[-7.31605631e-01 -6.81694872e-01 6.73072573e-03 1.08407928e+02] [-6.81667063e-01 7.31636587e-01 6.15796374e-03 -1.62155451e+02] [-9.12229750e-03 -8.29130879e-05 -9.99958388e-01 -4.02062820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.146559995 meters 0.013450603587694537 Centerline is valid? [True, True] Translation: X:108.32, Y:-162.20, Z:-4.02 [[-6.77355012e-01 -7.35629337e-01 6.29807767e-03 1.08322190e+02] [-7.35598819e-01 6.77384285e-01 6.70138749e-03 -1.62201040e+02] [-9.19595607e-03 -9.36400884e-05 -9.99957712e-01 -4.02183787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2065599950001 meters 0.013741957400393924 Centerline is valid? [True, True] Translation: X:108.24, Y:-162.26, Z:-4.02 [[-6.19172141e-01 -7.85236080e-01 5.49167439e-03 1.08237428e+02] [-7.85206554e-01 6.19196487e-01 6.81008955e-03 -1.62255007e+02] [-8.74795351e-03 -9.54809989e-05 -9.99961731e-01 -4.02232942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.266559995 meters 0.013730369821939894 Centerline is valid? [True, True] Translation: X:108.16, Y:-162.31, Z:-4.02 [[-5.57099668e-01 -8.30433431e-01 4.50299431e-03 1.08157210e+02] [-8.30407649e-01 5.57117859e-01 6.54424178e-03 -1.62314560e+02] [-7.94325570e-03 -9.35259944e-05 -9.99968448e-01 -4.02364744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.326559995 meters 0.013878364575084463 Centerline is valid? [True, True] Translation: X:108.08, Y:-162.39, Z:-4.02 [[-4.92414087e-01 -8.70353224e-01 3.69228291e-03 1.08077101e+02] [-8.70330048e-01 4.92427922e-01 6.35208079e-03 -1.62388945e+02] [-7.34673720e-03 -8.56506978e-05 -9.99973009e-01 -4.02357739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.386559995 meters 0.013483837861440726 Centerline is valid? [True, True] Translation: X:108.01, Y:-162.47, Z:-4.02 [[-4.25659099e-01 -9.04876946e-01 3.47059466e-03 1.08005856e+02] [-9.04848444e-01 4.25673239e-01 7.18239917e-03 -1.62467792e+02] [-7.97652670e-03 -8.31086183e-05 -9.99968184e-01 -4.02407159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4465599950001 meters 0.01347365004753842 Centerline is valid? [True, True] Translation: X:107.94, Y:-162.56, Z:-4.02 [[-3.56073902e-01 -9.34451607e-01 3.40139893e-03 1.07937184e+02] [-9.34411338e-01 3.56090137e-01 8.67556885e-03 -1.62558149e+02] [-9.31810387e-03 -8.91620716e-05 -9.99956582e-01 -4.02283460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.506559995 meters 0.013478618977165424 Centerline is valid? [True, True] Translation: X:107.87, Y:-162.66, Z:-4.02 [[-2.83419620e-01 -9.58990302e-01 3.30463233e-03 1.07874406e+02] [-9.58929493e-01 2.83438864e-01 1.07999042e-02 -1.62656608e+02] [-1.12936646e-02 -1.08004664e-04 -9.99936219e-01 -4.02151799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.566559995 meters 0.013338853568199645 Centerline is valid? [True, True] Translation: X:107.82, Y:-162.76, Z:-4.02 [[-2.09669290e-01 -9.77767708e-01 3.01642444e-03 1.07821564e+02] [-9.77674760e-01 2.09690951e-01 1.34821664e-02 -1.62755409e+02] [-1.38149439e-02 -1.22285776e-04 -9.99904562e-01 -4.02070107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.626559995 meters 0.013431899587517079 Centerline is valid? [True, True] Translation: X:107.78, Y:-162.86, Z:-4.02 [[-1.35347426e-01 -9.90796265e-01 1.95843933e-03 1.07776181e+02] [-9.90703265e-01 1.35361555e-01 1.35753498e-02 -1.62862212e+02] [-1.37155032e-02 -1.02843597e-04 -9.99905933e-01 -4.02099463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6865599950002 meters 0.013176208538795345 Centerline is valid? [True, True] Translation: X:107.74, Y:-162.97, Z:-4.02 [[-6.16438482e-02 -9.98097882e-01 8.08949930e-04 1.07740917e+02] [-9.98023516e-01 6.16491302e-02 1.21838697e-02 -1.62974904e+02] [-1.22105656e-02 -5.62904406e-05 -9.99925447e-01 -4.02373662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.746559995 meters 0.013069533465831795 Centerline is valid? [True, True] Translation: X:107.71, Y:-163.09, Z:-4.02 [[ 1.41437966e-02 -9.99899965e-01 -1.16072225e-04 1.07711660e+02] [-9.99841044e-01 -1.41442232e-02 1.08548076e-02 -1.63090977e+02] [-1.08553635e-02 -3.74744163e-05 -9.99941078e-01 -4.02496716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.806559995 meters 0.01329962024747667 Centerline is valid? [True, True] Translation: X:107.69, Y:-163.21, Z:-4.02 [[ 9.31497784e-02 -9.95651713e-01 -8.85716133e-04 1.07688306e+02] [-9.95600819e-01 -9.31539724e-02 1.00671443e-02 -1.63207721e+02] [-1.01058774e-02 -5.59325506e-05 -9.99948933e-01 -4.02466351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.866559995 meters 0.013355669584254463 Centerline is valid? [True, True] Translation: X:107.68, Y:-163.34, Z:-4.02 [[ 1.70858283e-01 -9.85294122e-01 -1.71492784e-03 1.07675803e+02] [-9.85240106e-01 -1.70866874e-01 1.03172505e-02 -1.63335351e+02] [-1.04585506e-02 -7.31720197e-05 -9.99945305e-01 -4.02458577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.926559995 meters 0.01400561284088785 Centerline is valid? [True, True] Translation: X:107.67, Y:-163.47, Z:-4.02 [[ 2.49682451e-01 -9.68323783e-01 -2.77927366e-03 1.07671451e+02] [-9.68258111e-01 -2.49697887e-01 1.12781025e-02 -1.63469725e+02] [-1.16148336e-02 -1.24890001e-04 -9.99932538e-01 -4.02241479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.986559995 meters 0.014698182211672288 Centerline is valid? [True, True] Translation: X:107.67, Y:-163.58, Z:-4.02 [[ 3.26408444e-01 -9.45220676e-01 -3.92452662e-03 1.07671986e+02] [-9.45145792e-01 -3.26431989e-01 1.18991272e-02 -1.63579522e+02] [-1.25283921e-02 -1.74725765e-04 -9.99921501e-01 -4.02082031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.046559995 meters 0.015147988660596223 Centerline is valid? [True, True] Translation: X:107.69, Y:-163.69, Z:-4.02 [[ 3.97767588e-01 -9.17474996e-01 -4.53631697e-03 1.07685111e+02] [-9.17410676e-01 -3.97793422e-01 1.08648738e-02 -1.63687830e+02] [-1.17727671e-02 -1.60029040e-04 -9.99930686e-01 -4.02138917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.106559995 meters 0.01400635990232208 Centerline is valid? [True, True] Translation: X:107.71, Y:-163.80, Z:-4.02 [[ 4.65747217e-01 -8.84905683e-01 -4.63266449e-03 1.07709381e+02] [-8.84859231e-01 -4.65770240e-01 9.06779228e-03 -1.63801220e+02] [-1.01818982e-02 -1.24043079e-04 -9.99948156e-01 -4.02404420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.166559995 meters 0.013654841319405022 Centerline is valid? [True, True] Translation: X:107.74, Y:-163.91, Z:-4.02 [[ 5.28748990e-01 -8.48763716e-01 -4.96596028e-03 1.07743253e+02] [-8.48724919e-01 -5.28772304e-01 8.11559257e-03 -1.63912211e+02] [-9.51408277e-03 -7.63771399e-05 -9.99954737e-01 -4.02466919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2265599950001 meters 0.01330644396955414 Centerline is valid? [True, True] Translation: X:107.78, Y:-164.01, Z:-4.03 [[ 5.87998891e-01 -8.08842967e-01 -5.50986163e-03 1.07783059e+02] [-8.08807042e-01 -5.88024705e-01 7.62332675e-03 -1.64012789e+02] [-9.40600899e-03 -2.60927836e-05 -9.99955762e-01 -4.02541811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.286559995 meters 0.013351770828824756 Centerline is valid? [True, True] Translation: X:107.83, Y:-164.11, Z:-4.03 [[ 6.45732958e-01 -7.63538295e-01 -6.18224219e-03 1.07831007e+02] [-7.63503357e-01 -6.45762551e-01 7.30423663e-03 -1.64113251e+02] [-9.56932487e-03 3.57634442e-06 -9.99954213e-01 -4.02527382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.346559995 meters 0.013464953809646404 Centerline is valid? [True, True] Translation: X:107.88, Y:-164.21, Z:-4.03 [[ 7.00191725e-01 -7.13918400e-01 -7.21573998e-03 1.07882959e+02] [-7.13880962e-01 -7.00228904e-01 7.31128828e-03 -1.64207148e+02] [-1.02723329e-02 3.18758422e-05 -9.99947238e-01 -4.02544980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.406559995 meters 0.013614077861146706 Centerline is valid? [True, True] Translation: X:107.94, Y:-164.30, Z:-4.02 [[ 7.52289174e-01 -6.58773979e-01 -8.82289821e-03 1.07940769e+02] [-6.58729284e-01 -7.52340909e-01 7.67388279e-03 -1.64300188e+02] [-1.16931816e-02 3.89224760e-05 -9.99931632e-01 -4.02383436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4665599950001 meters 0.013530541525315019 Centerline is valid? [True, True] Translation: X:107.96, Y:-164.33, Z:-4.02 [[ 8.02089782e-01 -5.97120019e-01 -9.98323996e-03 1.07959647e+02] [-5.97074218e-01 -8.02151907e-01 7.39569766e-03 -1.64327989e+02] [-1.24241941e-02 2.87216714e-05 -9.99922816e-01 -4.02426544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.526559995 meters 0.013418650955177332 Centerline is valid? [True, True] Translation: X:107.98, Y:-164.35, Z:-4.02 [[ 8.47637866e-01 -5.30462200e-01 -1.09500121e-02 1.07980507e+02] [-5.30417900e-01 -8.47708591e-01 6.85540154e-03 -1.64354227e+02] [-1.29189507e-02 -2.81551365e-06 -9.99916547e-01 -4.02458001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.586559995 meters 0.013364250856571457 Centerline is valid? [True, True] Translation: X:108.00, Y:-164.38, Z:-4.02 [[ 8.88170208e-01 -4.59373127e-01 -1.14023038e-02 1.08002711e+02] [-4.59334569e-01 -8.88243395e-01 5.95194090e-03 -1.64381363e+02] [-1.28621827e-02 -4.88642792e-05 -9.99917278e-01 -4.02487701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.646559995 meters 0.01392365582548461 Centerline is valid? [True, True] Translation: X:108.03, Y:-164.41, Z:-4.02 [[ 9.23369707e-01 -3.83734801e-01 -1.16613765e-02 1.08025522e+02] [-3.83702642e-01 -9.23443333e-01 4.96915605e-03 -1.64405922e+02] [-1.26754585e-02 -1.13867198e-04 -9.99919657e-01 -4.02389922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7065599950001 meters 0.014600783433426467 Centerline is valid? [True, True] Translation: X:108.05, Y:-164.43, Z:-4.02 [[ 9.52364724e-01 -3.04706483e-01 -1.24656116e-02 1.08052240e+02] [-3.04677687e-01 -9.52446282e-01 4.19361329e-03 -1.64428678e+02] [-1.31506466e-02 -1.95855650e-04 -9.99913507e-01 -4.02442156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.766559995 meters 0.014864229191559023 Centerline is valid? [True, True] Translation: X:108.08, Y:-164.45, Z:-4.02 [[ 9.73696097e-01 -2.27487162e-01 -1.28647407e-02 1.08081467e+02] [-2.27464292e-01 -9.73781055e-01 3.23323525e-03 -1.64446498e+02] [-1.32629603e-02 -2.21919403e-04 -9.99912019e-01 -4.02438878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.826559995 meters 0.015633773479890055 Centerline is valid? [True, True] Translation: X:108.11, Y:-164.46, Z:-4.02 [[ 9.89068157e-01 -1.46868821e-01 -1.31806612e-02 1.08112356e+02] [-1.46852077e-01 -9.89155940e-01 2.23457578e-03 -1.64463227e+02] [-1.33659188e-02 -2.74540271e-04 -9.99910634e-01 -4.02428449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.886559995 meters 0.017235051915465864 Centerline is valid? [True, True] Translation: X:108.14, Y:-164.48, Z:-4.03 [[ 9.97880659e-01 -6.39098879e-02 -1.22358428e-02 1.08140441e+02] [-6.39012194e-02 -9.97955624e-01 1.09850265e-03 -1.64477213e+02] [-1.22810333e-02 -3.14289268e-04 -9.99924536e-01 -4.02513342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9465599950001 meters 0.01899035509756608 Centerline is valid? [True, True] Translation: X:108.17, Y:-164.49, Z:-4.03 [[ 9.99789404e-01 1.72983104e-02 -1.10415996e-02 1.08169767e+02] [ 1.73007277e-02 -9.99850324e-01 1.23444286e-04 -1.64487015e+02] [-1.10378116e-02 -3.14445997e-04 -9.99939032e-01 -4.02549169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.006559995 meters 0.017601516488943186 Centerline is valid? [True, True] Translation: X:108.20, Y:-164.49, Z:-4.03 [[ 9.95289457e-01 9.63993101e-02 -1.02989817e-02 1.08200297e+02] [ 9.63972927e-02 -9.95342695e-01 -6.93268881e-04 -1.64492948e+02] [-1.03178469e-02 -3.02790749e-04 -9.99946724e-01 -4.02681848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.066559995 meters 0.01894066042773307 Centerline is valid? [True, True] Translation: X:108.23, Y:-164.50, Z:-4.02 [[ 9.84605467e-01 1.74446009e-01 -1.09847346e-02 1.08231046e+02] [ 1.74438886e-01 -9.84666685e-01 -1.61071329e-03 -1.64499415e+02] [-1.10972847e-02 -3.30247754e-04 -9.99938369e-01 -4.02467563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.126559995 meters 0.017783984644632725 Centerline is valid? [True, True] Translation: X:108.26, Y:-164.50, Z:-4.02 [[ 9.68327404e-01 2.49388329e-01 -1.21449243e-02 1.08262089e+02] [ 2.49373230e-01 -9.68403500e-01 -2.76640973e-03 -1.64497930e+02] [-1.24510975e-02 -3.49828651e-04 -9.99922421e-01 -4.02315197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.1865599950002 meters 0.01664762847373011 Centerline is valid? [True, True] Translation: X:108.29, Y:-164.49, Z:-4.02 [[ 9.47088144e-01 3.20725237e-01 -1.26241713e-02 1.08292056e+02] [ 3.20701226e-01 -9.47172223e-01 -3.93741556e-03 -1.64491968e+02] [-1.32200929e-02 -3.19507610e-04 -9.99912560e-01 -4.02257675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.246559995 meters 0.014820000505344915 Centerline is valid? [True, True] Translation: X:108.32, Y:-164.48, Z:-4.03 [[ 9.21200989e-01 3.88937468e-01 -1.07880897e-02 1.08321302e+02] [ 3.88913566e-01 -9.21264131e-01 -4.31741070e-03 -1.64483588e+02] [-1.16178829e-02 -2.18431441e-04 -9.99932486e-01 -4.02563609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.306559995 meters 0.014062183649412547 Centerline is valid? [True, True] Translation: X:108.35, Y:-164.48, Z:-4.03 [[ 8.89923145e-01 4.56026993e-01 -8.72802158e-03 1.08350209e+02] [ 4.56006608e-01 -8.89965933e-01 -4.31407465e-03 -1.64476510e+02] [-9.73497636e-03 -1.40840638e-04 -9.99952604e-01 -4.02677851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.366559995 meters 0.013139255429025536 Centerline is valid? [True, True] Translation: X:108.38, Y:-164.46, Z:-4.03 [[ 8.55551298e-01 5.17659294e-01 -7.79942885e-03 1.08376376e+02] [ 5.17638430e-01 -8.55586846e-01 -4.64806491e-03 -1.64464235e+02] [-9.07920274e-03 -6.06261341e-05 -9.99958781e-01 -4.02723321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.426559995 meters 0.012807382877101254 Centerline is valid? [True, True] Translation: X:108.40, Y:-164.45, Z:-4.03 [[ 8.16109291e-01 5.77855492e-01 -6.97543343e-03 1.08402814e+02] [ 5.77834414e-01 -8.16139100e-01 -4.93552924e-03 -1.64452158e+02] [-8.54494664e-03 -2.71421692e-06 -9.99963491e-01 -4.02872721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.486559995 meters 0.013046750775353803 Centerline is valid? [True, True] Translation: X:108.43, Y:-164.44, Z:-4.03 [[ 7.70888699e-01 6.36935548e-01 -6.61219369e-03 1.08428317e+02] [ 6.36911773e-01 -7.70917056e-01 -5.50334414e-03 -1.64441216e+02] [-8.60272841e-03 3.10818038e-05 -9.99962995e-01 -4.02850824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.546559995 meters 0.013286469825192361 Centerline is valid? [True, True] Translation: X:108.45, Y:-164.43, Z:-4.03 [[ 7.20997705e-01 6.92913682e-01 -5.73923923e-03 1.08454583e+02] [ 6.92891112e-01 -7.21020545e-01 -5.59287207e-03 -1.64428489e+02] [-8.01348698e-03 5.57800728e-05 -9.99967890e-01 -4.02931750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.606559995 meters 0.014012823808196163 Centerline is valid? [True, True] Translation: X:108.48, Y:-164.41, Z:-4.03 [[ 6.68266404e-01 7.43903571e-01 -5.24318555e-03 1.08477784e+02] [ 7.43879551e-01 -6.68286966e-01 -5.97868589e-03 -1.64413887e+02] [-7.95151835e-03 9.50564048e-05 -9.99968382e-01 -4.02845219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.666559995 meters 0.01461473604836185 Centerline is valid? [True, True] Translation: X:108.50, Y:-164.40, Z:-4.03 [[ 6.11777210e-01 7.91016872e-01 -4.57759070e-03 1.08503078e+02] [ 7.90993141e-01 -6.11794322e-01 -6.12849878e-03 -1.64399228e+02] [-7.64828993e-03 1.28433044e-04 -9.99970743e-01 -4.02807361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.7265599950001 meters 0.015523230941402517 Centerline is valid? [True, True] Translation: X:108.53, Y:-164.38, Z:-4.03 [[ 5.51225730e-01 8.34345982e-01 -4.12039442e-03 1.08527179e+02] [ 8.34320470e-01 -5.51241107e-01 -6.52654878e-03 -1.64382082e+02] [-7.71673053e-03 1.59872206e-04 -9.99970213e-01 -4.02823791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.786559995 meters 0.016755176484972586 Centerline is valid? [True, True] Translation: X:108.55, Y:-164.36, Z:-4.03 [[ 4.85705133e-01 8.74116808e-01 -3.21413363e-03 1.08546134e+02] [ 8.74095513e-01 -4.85715742e-01 -6.10337857e-03 -1.64362961e+02] [-6.89622109e-03 1.54982510e-04 -9.99976209e-01 -4.02855967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.846559995 meters 0.015779693909628058 Centerline is valid? [True, True] Translation: X:108.57, Y:-164.34, Z:-4.03 [[ 4.14634054e-01 9.09985431e-01 -2.26208570e-03 1.08570955e+02] [ 9.09970252e-01 -4.14640206e-01 -5.25743955e-03 -1.64344111e+02] [-5.72214508e-03 1.21482783e-04 -9.99983621e-01 -4.03001569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.906559995 meters 0.016041567005151223 Centerline is valid? [True, True] Translation: X:108.59, Y:-164.32, Z:-4.03 [[ 3.38727352e-01 9.40883110e-01 -1.65984901e-03 1.08590520e+02] [ 9.40870464e-01 -3.38731406e-01 -4.87898047e-03 -1.64322560e+02] [-5.15279331e-03 9.09412239e-05 -9.99986720e-01 -4.02904034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.9665599950001 meters 0.013059782486534855 Centerline is valid? [True, True] Translation: X:108.62, Y:-164.30, Z:-4.03 [[ 2.55835365e-01 9.66719425e-01 -1.34866493e-03 1.08621670e+02] [ 9.66704940e-01 -2.55838914e-01 -5.29225604e-03 -1.64302044e+02] [-5.46116769e-03 5.01852026e-05 -9.99985087e-01 -4.02929961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.026559995 meters 0.012512921096244913 Centerline is valid? [True, True] Translation: X:108.65, Y:-164.28, Z:-4.03 [[ 1.67352142e-01 9.85896640e-01 -1.03689968e-03 1.08650294e+02] [ 9.85878382e-01 -1.67355353e-01 -6.00021243e-03 -1.64278078e+02] [-6.08911999e-03 -1.81085771e-05 -9.99981461e-01 -4.02856404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.086559995 meters 0.01323202776105894 Centerline is valid? [True, True] Translation: X:108.67, Y:-164.25, Z:-4.03 [[ 8.12881758e-02 9.96690453e-01 -6.10332462e-04 1.08671750e+02] [ 9.96668844e-01 -8.12904326e-02 -6.56365600e-03 -1.64251418e+02] [-6.59154747e-03 -7.47517265e-05 -9.99978273e-01 -4.02771607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.146559995 meters 0.014995336810217044 Centerline is valid? [True, True] Translation: X:108.69, Y:-164.22, Z:-4.03 [[-6.29224358e-03 9.99980199e-01 -9.23225778e-05 1.08692506e+02] [ 9.99959484e-01 6.29151885e-03 -6.43795035e-03 -1.64221543e+02] [-6.43724203e-03 -1.32827989e-04 -9.99979272e-01 -4.02763952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.2065599950001 meters 0.016679248166072313 Centerline is valid? [True, True] Translation: X:108.71, Y:-164.19, Z:-4.03 [[-8.86288793e-02 9.96064608e-01 4.67754664e-04 1.08705776e+02] [ 9.96037921e-01 8.86299298e-02 -7.29355950e-03 -1.64190274e+02] [-7.30631355e-03 -1.80518621e-04 -9.99973292e-01 -4.02661757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.266559995 meters 0.0166027314631903 Centerline is valid? [True, True] Translation: X:108.71, Y:-164.16, Z:-4.03 [[-1.67000739e-01 9.85956074e-01 1.17223054e-03 1.08711238e+02] [ 9.85922240e-01 1.67004723e-01 -8.17058552e-03 -1.64157027e+02] [-8.25160646e-03 -2.08765662e-04 -9.99965933e-01 -4.02530793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.326559995 meters 0.01609403542687138 Centerline is valid? [True, True] Translation: X:108.71, Y:-164.12, Z:-4.02 [[-2.42628188e-01 9.70116715e-01 2.26314542e-03 1.08711635e+02] [ 9.70064411e-01 2.42638614e-01 -1.00768242e-02 -1.64124043e+02] [-1.03248220e-02 -2.49524757e-04 -9.99946667e-01 -4.02377441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.386559995 meters 0.01630978849920527 Centerline is valid? [True, True] Translation: X:108.71, Y:-164.09, Z:-4.02 [[-3.16782476e-01 9.48491182e-01 3.65253354e-03 1.08709284e+02] [ 9.48417362e-01 3.16803404e-01 -1.18368761e-02 -1.64092971e+02] [-1.23843076e-02 -2.85588687e-04 -9.99923271e-01 -4.02183685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.4465599950001 meters 0.014933685586732191 Centerline is valid? [True, True] Translation: X:108.70, Y:-164.06, Z:-4.02 [[-3.85244938e-01 9.22801268e-01 4.91500364e-03 1.08697875e+02] [ 9.22718160e-01 3.85276217e-01 -1.23868231e-02 -1.64063826e+02] [-1.33242101e-02 -2.36797783e-04 -9.99911201e-01 -4.02109456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.506559995 meters 0.014083725337925996 Centerline is valid? [True, True] Translation: X:108.68, Y:-164.04, Z:-4.02 [[-4.53179739e-01 8.91401353e-01 5.63483813e-03 1.08684372e+02] [ 8.91327393e-01 4.53214733e-01 -1.14840737e-02 -1.64035365e+02] [-1.27907105e-02 -1.81863953e-04 -9.99918179e-01 -4.02151066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.566559995 meters 0.013179533708138848 Centerline is valid? [True, True] Translation: X:108.67, Y:-164.01, Z:-4.02 [[-5.18305119e-01 8.55172199e-01 6.34931155e-03 1.08668770e+02] [ 8.55104973e-01 5.18343992e-01 -1.07234456e-02 -1.64008975e+02] [-1.24615200e-02 -1.28688854e-04 -9.99922344e-01 -4.02233321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.626559995 meters 0.012542528512652513 Centerline is valid? [True, True] Translation: X:108.65, Y:-163.98, Z:-4.02 [[-5.80531852e-01 8.14209170e-01 6.79678918e-03 1.08651109e+02] [ 8.14151846e-01 5.80571634e-01 -9.66176208e-03 -1.63984040e+02] [-1.18127183e-02 -7.53421762e-05 -9.99930225e-01 -4.02214293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.6865599950002 meters 0.012470380084562319 Centerline is valid? [True, True] Translation: X:108.63, Y:-163.96, Z:-4.02 [[-6.40026799e-01 7.68316422e-01 7.45469396e-03 1.08631588e+02] [ 7.68263654e-01 6.40070210e-01 -9.00463975e-03 -1.63960609e+02] [-1.16899401e-02 -3.60403293e-05 -9.99931670e-01 -4.02217662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.746559995 meters 0.012345113635740783 Centerline is valid? [True, True] Translation: X:108.61, Y:-163.94, Z:-4.02 [[-6.95739759e-01 7.18246858e-01 8.22427623e-03 1.08611446e+02] [ 7.18196759e-01 6.95788366e-01 -8.48323789e-03 -1.63938462e+02] [-1.18154147e-02 4.52264975e-06 -9.99930196e-01 -4.02306342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.806559995 meters 0.012580560683263764 Centerline is valid? [True, True] Translation: X:108.59, Y:-163.92, Z:-4.02 [[-7.48885246e-01 6.62646931e-01 8.36260701e-03 1.08590845e+02] [ 6.62605928e-01 7.48931936e-01 -7.37157482e-03 -1.63918581e+02] [-1.11477749e-02 2.06493499e-05 -9.99937861e-01 -4.02197279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.866559995 meters 0.01232807163829644 Centerline is valid? [True, True] Translation: X:108.61, Y:-163.90, Z:-4.02 [[-7.94907808e-01 6.06669528e-01 8.58258628e-03 1.08608763e+02] [ 6.06634200e-01 7.94954140e-01 -6.54700339e-03 -1.63898884e+02] [-1.07946299e-02 2.22624964e-06 -9.99941736e-01 -4.02443765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.926559995 meters 0.012324931635626403 Centerline is valid? [True, True] Translation: X:108.62, Y:-163.87, Z:-4.02 [[-8.37237946e-01 5.46770074e-01 8.66650987e-03 1.08619668e+02] [ 5.46740486e-01 8.37282799e-01 -5.68811924e-03 -1.63873343e+02] [-1.03664130e-02 -2.39774529e-05 -9.99946267e-01 -4.02386586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1111.986559995 meters 0.012464363967807503 Centerline is valid? [True, True] Translation: X:108.98, Y:-163.32, Z:-5.02 [[-7.94388038e-01 -6.07346528e-01 8.82270354e-03 1.08984150e+02] [ 6.07310024e-01 -7.94437028e-01 -6.65908043e-03 -1.63324430e+02] [ 1.10534518e-02 6.82224606e-05 9.99938906e-01 -5.01748595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.046559995 meters 0.012591598425545273 Centerline is valid? [True, True] Translation: X:108.58, Y:-163.85, Z:-4.02 [[-8.41737223e-01 5.39804040e-01 9.48923272e-03 1.08583499e+02] [ 5.39768670e-01 8.41790706e-01 -6.17985954e-03 -1.63851414e+02] [-1.13238611e-02 -7.98272944e-05 -9.99935880e-01 -4.02231529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.106559995 meters 0.012552816426489342 Centerline is valid? [True, True] Translation: X:108.60, Y:-163.83, Z:-4.02 [[-8.78106690e-01 4.78386366e-01 8.66755342e-03 1.08597088e+02] [ 4.78362217e-01 8.78149463e-01 -4.80737276e-03 -1.63831530e+02] [-9.91118897e-03 -7.51561160e-05 -9.99950880e-01 -4.02441794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.166559995 meters 0.012345332210719975 Centerline is valid? [True, True] Translation: X:108.61, Y:-163.81, Z:-4.03 [[-9.08709821e-01 4.17365288e-01 7.25798998e-03 1.08606874e+02] [ 4.17351626e-01 9.08738805e-01 -3.37714160e-03 -1.63812491e+02] [-8.00511881e-03 -3.97078163e-05 -9.99967958e-01 -4.02704446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.2265599950001 meters 0.012109513761515336 Centerline is valid? [True, True] Translation: X:108.62, Y:-163.79, Z:-4.03 [[-9.34638904e-01 3.55548853e-01 5.92724111e-03 1.08617634e+02] [ 3.55541656e-01 9.34657698e-01 -2.26231353e-03 -1.63792727e+02] [-6.34430451e-03 -7.06511769e-06 -9.99979875e-01 -4.02825754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.286559995 meters 0.012524756160441465 Centerline is valid? [True, True] Translation: X:108.63, Y:-163.78, Z:-4.03 [[-9.55207364e-01 2.95904687e-01 4.39420640e-03 1.08628975e+02] [ 2.95901703e-01 9.55217470e-01 -1.32917286e-03 -1.63778066e+02] [-4.59073120e-03 3.06174554e-05 -9.99989462e-01 -4.02945869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.346559995 meters 0.013805669098288962 Centerline is valid? [True, True] Translation: X:108.84, Y:-163.10, Z:-5.01 [[-9.40349184e-01 -3.40197376e-01 3.02604263e-03 1.08843246e+02] [ 3.40195287e-01 -9.40354049e-01 -1.19584924e-03 -1.63098059e+02] [ 3.25237621e-03 -9.50704215e-05 9.99994707e-01 -5.01050194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.406559995 meters 0.014200229164053947 Centerline is valid? [True, True] Translation: X:108.59, Y:-163.78, Z:-4.03 [[-9.53067767e-01 3.02729982e-01 4.04837027e-03 1.08587129e+02] [ 3.02727582e-01 9.53076362e-01 -1.20779477e-03 -1.63776406e+02] [-4.22404170e-03 7.44430736e-05 -9.99991076e-01 -4.02975169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.4665599950001 meters 0.01570325484923917 Centerline is valid? [True, True] Translation: X:108.60, Y:-163.75, Z:-4.03 [[-9.71069803e-01 2.38712589e-01 6.30386550e-03 1.08597246e+02] [ 2.38708509e-01 9.71090253e-01 -1.40289677e-03 -1.63754542e+02] [-6.45651146e-03 1.42475646e-04 -9.99979146e-01 -4.02811191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.526559995 meters 0.016450127074482568 Centerline is valid? [True, True] Translation: X:108.76, Y:-163.04, Z:-5.01 [[-9.66097846e-01 -2.58076658e-01 7.16875107e-03 1.08764221e+02] [ 2.58068745e-01 -9.66124437e-01 -2.02379503e-03 -1.63041605e+02] [ 7.44819984e-03 -1.05153429e-04 9.99972256e-01 -5.01310373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.586559995 meters 0.017672851921281284 Centerline is valid? [True, True] Translation: X:108.55, Y:-163.75, Z:-4.03 [[-9.70882384e-01 2.39438299e-01 7.52981077e-03 1.08554432e+02] [ 2.39432733e-01 9.70911561e-01 -1.64556576e-03 -1.63745731e+02] [-7.70479179e-03 2.05232365e-04 -9.99970297e-01 -4.02665507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.646559995 meters 0.017087020025944654 Centerline is valid? [True, True] Translation: X:108.56, Y:-163.72, Z:-4.03 [[-9.85553508e-01 1.69193901e-01 7.59655793e-03 1.08556529e+02] [ 1.69190424e-01 9.85582764e-01 -1.10269054e-03 -1.63716569e+02] [-7.67360508e-03 1.98504332e-04 -9.99970538e-01 -4.02730160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.7065599950001 meters 0.01688741745290401 Centerline is valid? [True, True] Translation: X:108.56, Y:-163.69, Z:-4.03 [[-9.95268814e-01 9.68659194e-02 7.54860528e-03 1.08558128e+02] [ 9.68645113e-02 9.95297423e-01 -5.52772918e-04 -1.63687237e+02] [-7.56665224e-03 1.81034315e-04 -9.99971356e-01 -4.02883523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.766559995 meters 0.0146835942362483 Centerline is valid? [True, True] Translation: X:108.56, Y:-163.65, Z:-4.03 [[-9.99725178e-01 2.19848831e-02 8.13838449e-03 1.08555483e+02] [ 2.19854752e-02 9.99758290e-01 -1.67040424e-05 -1.63651123e+02] [-8.13678460e-03 1.62226799e-04 -9.99966883e-01 -4.02932884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.826559995 meters 0.014471975975224476 Centerline is valid? [True, True] Translation: X:108.55, Y:-163.62, Z:-4.03 [[-9.98377114e-01 -5.63092526e-02 8.50924157e-03 1.08548231e+02] [-5.63062814e-02 9.98413370e-01 5.88522759e-04 -1.63618794e+02] [-8.52887982e-03 1.08443903e-04 -9.99963623e-01 -4.02744663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.886559995 meters 0.0132461733021161 Centerline is valid? [True, True] Translation: X:108.50, Y:-162.93, Z:-5.01 [[-9.99923475e-01 8.82572236e-03 8.66896446e-03 1.08498573e+02] [-8.82626008e-03 -9.99961048e-01 -2.37713562e-05 -1.62929372e+02] [ 8.66841698e-03 -1.00284072e-04 9.99962424e-01 -5.01336032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1112.9465599950001 meters 0.012407410833916931 Centerline is valid? [True, True] Translation: X:108.47, Y:-163.61, Z:-4.03 [[-9.96929768e-01 -7.80078573e-02 6.76843419e-03 1.08467271e+02] [-7.80062658e-02 9.96952744e-01 4.99218407e-04 -1.63607100e+02] [-6.78675199e-03 -3.02945853e-05 -9.99976969e-01 -4.02999208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.006559995 meters 0.01283793696851454 Centerline is valid? [True, True] Translation: X:108.42, Y:-162.95, Z:-5.01 [[-9.99974537e-01 -3.35398517e-03 6.29894725e-03 1.08418731e+02] [ 3.35387853e-03 -9.99994375e-01 -2.74937054e-05 -1.62950301e+02] [ 6.29900403e-03 -6.36710139e-06 9.99980161e-01 -5.00986498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.066559995 meters 0.01370889214455058 Centerline is valid? [True, True] Translation: X:108.39, Y:-163.60, Z:-4.03 [[-9.95519577e-01 -9.43092318e-02 6.82205999e-03 1.08391020e+02] [-9.43077812e-02 9.95542946e-01 5.34734685e-04 -1.63603525e+02] [-6.84208412e-03 -1.11034494e-04 -9.99976587e-01 -4.03046822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.126559995 meters 0.014892149861279989 Centerline is valid? [True, True] Translation: X:108.38, Y:-163.57, Z:-4.03 [[-9.85584523e-01 -1.68969441e-01 8.51326494e-03 1.08379063e+02] [-1.68964672e-01 9.85621275e-01 1.28155432e-03 -1.63573282e+02] [-8.60739856e-03 -1.75360917e-04 -9.99962940e-01 -4.02814192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.1865599950002 meters 0.01588609876604288 Centerline is valid? [True, True] Translation: X:108.28, Y:-162.95, Z:-5.01 [[-9.98289054e-01 5.72560320e-02 1.18621629e-02 1.08283498e+02] [-5.72463163e-02 -9.98359414e-01 1.15726196e-03 -1.62948224e+02] [ 1.19089622e-02 4.76216820e-04 9.99928972e-01 -5.01469603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.246559995 meters 0.015503184871950534 Centerline is valid? [True, True] Translation: X:108.30, Y:-163.58, Z:-4.02 [[-9.84072357e-01 -1.77240688e-01 1.36870250e-02 1.08295181e+02] [-1.77228102e-01 9.84167483e-01 2.13672647e-03 -1.63584742e+02] [-1.38490398e-02 -3.23032008e-04 -9.99904045e-01 -4.02461748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.306559995 meters 0.014339320876025512 Centerline is valid? [True, True] Translation: X:108.29, Y:-163.56, Z:-4.03 [[-9.70065674e-01 -2.42489860e-01 1.30864599e-02 1.08287172e+02] [-2.42471292e-01 9.70153908e-01 3.01129422e-03 -1.63564884e+02] [-1.34260885e-02 -2.51937684e-04 -9.99909834e-01 -4.02549509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.366559995 meters 0.012521930956106958 Centerline is valid? [True, True] Translation: X:108.27, Y:-163.56, Z:-4.03 [[-9.53779303e-01 -3.00327228e-01 1.04209780e-02 1.08270480e+02] [-3.00310165e-01 9.53836228e-01 3.20222476e-03 -1.63555078e+02] [-1.09016216e-02 -7.53099078e-05 -9.99940573e-01 -4.02783113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.426559995 meters 0.012955798231182446 Centerline is valid? [True, True] Translation: X:108.23, Y:-163.56, Z:-4.03 [[-9.34982174e-01 -3.54607488e-01 7.86532601e-03 1.08233790e+02] [-3.54594292e-01 9.35015253e-01 3.06010419e-03 -1.63556022e+02] [-8.43933565e-03 7.21431707e-05 -9.99964386e-01 -4.03010806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.486559995 meters 0.01570152277176722 Centerline is valid? [True, True] Translation: X:108.18, Y:-163.56, Z:-4.03 [[-9.11858758e-01 -4.10437046e-01 7.41865438e-03 1.08182657e+02] [-4.10421848e-01 9.11888918e-01 3.53671474e-03 -1.63563845e+02] [-8.21658746e-03 1.80206476e-04 -9.99966227e-01 -4.03068657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.546559995 meters 0.01676381981292811 Centerline is valid? [True, True] Translation: X:108.12, Y:-163.57, Z:-4.03 [[-8.80217066e-01 -4.74511113e-01 7.55783893e-03 1.08116188e+02] [-4.74491518e-01 8.80249486e-01 4.31755782e-03 -1.63572005e+02] [-8.70151300e-03 2.14257608e-04 -9.99962118e-01 -4.03044055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.606559995 meters 0.017561325359608405 Centerline is valid? [True, True] Translation: X:108.04, Y:-163.59, Z:-4.03 [[-8.43311251e-01 -5.37361506e-01 8.29129749e-03 1.08040364e+02] [-5.37332433e-01 8.43351968e-01 5.59593713e-03 -1.63592458e+02] [-9.99952326e-03 2.63933689e-04 -9.99949969e-01 -4.02954631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.666559995 meters 0.016425018648564684 Centerline is valid? [True, True] Translation: X:107.95, Y:-163.62, Z:-4.03 [[-7.98501713e-01 -6.01933333e-01 8.44253689e-03 1.07954248e+02] [-6.01896422e-01 7.98546306e-01 6.67048262e-03 -1.63619077e+02] [-1.07569425e-02 2.44859053e-04 -9.99942113e-01 -4.02941252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.7265599950001 meters 0.013998528696522851 Centerline is valid? [True, True] Translation: X:107.86, Y:-163.66, Z:-4.03 [[-7.45050868e-01 -6.66966387e-01 7.41904750e-03 1.07856816e+02] [-6.66931475e-01 7.45087793e-01 6.82557443e-03 -1.63657288e+02] [-1.00802704e-02 1.37403862e-04 -9.99949183e-01 -4.03005547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.786559995 meters 0.012522774108112901 Centerline is valid? [True, True] Translation: X:107.77, Y:-163.70, Z:-4.03 [[-6.84666137e-01 -7.28830228e-01 6.22735400e-03 1.07765986e+02] [-7.28799767e-01 6.84694456e-01 6.66347870e-03 -1.63699132e+02] [-9.12037946e-03 2.37640751e-05 -9.99958408e-01 -4.03098354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.846559995 meters 0.012584324863185274 Centerline is valid? [True, True] Translation: X:107.68, Y:-163.75, Z:-4.03 [[-6.20223254e-01 -7.84402897e-01 5.93389416e-03 1.07680118e+02] [-7.84367991e-01 6.20251636e-01 7.40026927e-03 -1.63748699e+02] [-9.48530021e-03 -6.45375532e-05 -9.99955012e-01 -4.03125768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.906559995 meters 0.013720317296095524 Centerline is valid? [True, True] Translation: X:107.59, Y:-163.81, Z:-4.03 [[-5.52190055e-01 -8.33700748e-01 5.40428732e-03 1.07593495e+02] [-8.33663345e-01 5.52216481e-01 7.89846450e-03 -1.63811398e+02] [-9.56929229e-03 -1.43902704e-04 -9.99954203e-01 -4.03015813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1113.9665599950001 meters 0.01432880092401844 Centerline is valid? [True, True] Translation: X:107.51, Y:-163.88, Z:-4.03 [[-4.83320199e-01 -8.75430066e-01 4.87705663e-03 1.07513699e+02] [-8.75389396e-01 4.83344767e-01 8.44042762e-03 -1.63884146e+02] [-9.74630391e-03 -1.89894503e-04 -9.99952486e-01 -4.03029085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.026559995 meters 0.015285098597660748 Centerline is valid? [True, True] Translation: X:107.43, Y:-163.98, Z:-4.03 [[-4.12125518e-01 -9.11118844e-01 3.87436012e-03 1.07433750e+02] [-9.11083161e-01 4.12143677e-01 8.06612687e-03 -1.63975865e+02] [-8.94599321e-03 -2.05607553e-04 -9.99959963e-01 -4.03056720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.086559995 meters 0.015483099968200513 Centerline is valid? [True, True] Translation: X:107.37, Y:-164.06, Z:-4.03 [[-3.41090581e-01 -9.40026194e-01 2.82305705e-03 1.07371077e+02] [-9.39998247e-01 3.41102216e-01 7.25076763e-03 -1.64055042e+02] [-7.77886252e-03 -1.80500131e-04 -9.99969728e-01 -4.03116942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.146559995 meters 0.015308739590608017 Centerline is valid? [True, True] Translation: X:107.31, Y:-164.16, Z:-4.03 [[-2.69780394e-01 -9.62919091e-01 2.31579901e-03 1.07308408e+02] [-9.62888892e-01 2.69790279e-01 7.62798967e-03 -1.64159577e+02] [-7.96991694e-03 -1.71975078e-04 -9.99968225e-01 -4.03091527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.2065599950001 meters 0.015090129831729134 Centerline is valid? [True, True] Translation: X:107.26, Y:-164.24, Z:-4.03 [[-1.96881310e-01 -9.80425278e-01 2.00605300e-03 1.07259106e+02] [-9.80383438e-01 1.96891445e-01 9.05949904e-03 -1.64243428e+02] [-9.27713654e-03 -1.83055098e-04 -9.99956950e-01 -4.02865428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.266559995 meters 0.014131916953729487 Centerline is valid? [True, True] Translation: X:107.22, Y:-164.36, Z:-4.03 [[-1.24225872e-01 -9.92252458e-01 1.72965514e-03 1.07215226e+02] [-9.92177720e-01 1.24237747e-01 1.21800375e-02 -1.64357292e+02] [-1.23005606e-02 -2.03049516e-04 -9.99924325e-01 -4.02664132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.326559995 meters 0.014526043442608164 Centerline is valid? [True, True] Translation: X:107.18, Y:-164.46, Z:-4.02 [[-4.74014427e-02 -9.98875537e-01 8.75135995e-04 1.07176837e+02] [-9.98782483e-01 4.74089737e-02 1.36360430e-02 -1.64463454e+02] [-1.36621990e-02 -2.27702391e-04 -9.99906642e-01 -4.02490245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.386559995 meters 0.01412824641501296 Centerline is valid? [True, True] Translation: X:107.15, Y:-164.59, Z:-4.02 [[ 2.97997830e-02 -9.99555872e-01 -1.78610439e-04 1.07148083e+02] [-9.99458439e-01 -2.97993724e-02 1.39580107e-02 -1.64585401e+02] [-1.39571340e-02 -2.37431979e-04 -9.99902566e-01 -4.02488112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.4465599950001 meters 0.013922126475951247 Centerline is valid? [True, True] Translation: X:107.13, Y:-164.69, Z:-4.03 [[ 1.05715959e-01 -9.94395690e-01 -1.16065917e-03 1.07129043e+02] [-9.94312260e-01 -1.05722126e-01 1.28826033e-02 -1.64694007e+02] [-1.29331125e-02 -2.07839104e-04 -9.99916342e-01 -4.02653196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.506559995 meters 0.013867867233288384 Centerline is valid? [True, True] Translation: X:107.12, Y:-164.81, Z:-4.03 [[ 1.81000662e-01 -9.83481151e-01 -1.89361758e-03 1.07117199e+02] [-9.83416888e-01 -1.81010485e-01 1.12440994e-02 -1.64810973e+02] [-1.14011244e-02 -1.72973926e-04 -9.99934990e-01 -4.02800531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.566559995 meters 0.013640704106820927 Centerline is valid? [True, True] Translation: X:107.11, Y:-164.93, Z:-4.03 [[ 2.54927716e-01 -9.66957499e-01 -2.24838739e-03 1.07114495e+02] [-9.66915266e-01 -2.54937598e-01 9.03828002e-03 -1.64934520e+02] [-9.31283112e-03 -1.30107992e-04 -9.99956626e-01 -4.02912972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.626559995 meters 0.013474064224329165 Centerline is valid? [True, True] Translation: X:107.12, Y:-165.05, Z:-4.03 [[ 3.27570435e-01 -9.44822265e-01 -2.91501031e-03 1.07119450e+02] [-9.44781526e-01 -3.27583382e-01 8.77473471e-03 -1.65049818e+02] [-9.24547366e-03 -1.20295777e-04 -9.99957253e-01 -4.02894873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.6865599950002 meters 0.013714123337029555 Centerline is valid? [True, True] Translation: X:107.13, Y:-165.17, Z:-4.03 [[ 3.98684953e-01 -9.17079583e-01 -3.91758696e-03 1.07134116e+02] [-9.17032147e-01 -3.98704180e-01 9.32832756e-03 -1.65166729e+02] [-1.01167770e-02 -1.26510645e-04 -9.99948816e-01 -4.02791942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.746559995 meters 0.01348593863032709 Centerline is valid? [True, True] Translation: X:107.16, Y:-165.28, Z:-4.03 [[ 4.67238988e-01 -8.84114800e-01 -5.36172903e-03 1.07158947e+02] [-8.84053158e-01 -4.67269730e-01 1.04409496e-02 -1.65282832e+02] [-1.17363718e-02 -1.38365251e-04 -9.99931117e-01 -4.02709778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.806559995 meters 0.013459293216455816 Centerline is valid? [True, True] Translation: X:107.19, Y:-165.39, Z:-4.03 [[ 5.31984851e-01 -8.46730442e-01 -6.29898681e-03 1.07187671e+02] [-8.46668438e-01 -5.32022129e-01 1.02474457e-02 -1.65391093e+02] [-1.20280246e-02 -1.18332539e-04 -9.99927654e-01 -4.02599806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.866559995 meters 0.012897364834090418 Centerline is valid? [True, True] Translation: X:107.23, Y:-165.49, Z:-4.03 [[ 5.92525839e-01 -8.05526303e-01 -6.36438389e-03 1.07227336e+02] [-8.05478566e-01 -5.92560014e-01 8.76984908e-03 -1.65494642e+02] [-1.08356235e-02 -6.99873745e-05 -9.99941291e-01 -4.02779537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.926559995 meters 0.012678650102702176 Centerline is valid? [True, True] Translation: X:107.28, Y:-165.60, Z:-4.03 [[ 6.50434854e-01 -7.59537437e-01 -6.11406749e-03 1.07275305e+02] [-7.59503352e-01 -6.50463589e-01 7.19574500e-03 -1.65595331e+02] [-9.44241600e-03 -3.67086027e-05 -9.99955419e-01 -4.02881477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1114.986559995 meters 0.01256780405558875 Centerline is valid? [True, True] Translation: X:107.33, Y:-165.69, Z:-4.03 [[ 7.04436166e-01 -7.09747228e-01 -5.34414440e-03 1.07326384e+02] [-7.09726720e-01 -7.04456437e-01 5.39544664e-03 -1.65688448e+02] [-7.59412022e-03 -7.86566922e-06 -9.99971164e-01 -4.02865125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.046559995 meters 0.012526816687956783 Centerline is valid? [True, True] Translation: X:107.38, Y:-165.78, Z:-4.03 [[ 7.56369308e-01 -6.54123263e-01 -5.31294587e-03 1.07384245e+02] [-6.54107059e-01 -7.56387967e-01 4.60419452e-03 -1.65780758e+02] [-7.03035907e-03 -7.23602859e-06 -9.99975287e-01 -4.02828697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.106559995 meters 0.01258088544293415 Centerline is valid? [True, True] Translation: X:107.40, Y:-165.81, Z:-4.03 [[ 8.06365448e-01 -5.91383864e-01 -6.31589863e-03 1.07403801e+02] [-5.91365494e-01 -8.06390182e-01 4.66133125e-03 -1.65808986e+02] [-7.84971473e-03 -2.37319444e-05 -9.99969190e-01 -4.02728414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.166559995 meters 0.012746432915974583 Centerline is valid? [True, True] Translation: X:107.43, Y:-165.84, Z:-4.03 [[ 8.51954099e-01 -5.23565968e-01 -7.27259671e-03 1.07425231e+02] [-5.23546336e-01 -8.51985137e-01 4.53441568e-03 -1.65836134e+02] [-8.57021004e-03 -5.55726662e-05 -9.99963274e-01 -4.02584754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.2265599950001 meters 0.013063339462853252 Centerline is valid? [True, True] Translation: X:107.45, Y:-165.86, Z:-4.02 [[ 8.91679575e-01 -4.52598396e-01 -7.88846634e-03 1.07448695e+02] [-4.52579840e-01 -8.91714464e-01 4.09922843e-03 -1.65860754e+02] [-8.88956375e-03 -8.50374355e-05 -9.99960484e-01 -4.02472947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.286559995 meters 0.013053067779874947 Centerline is valid? [True, True] Translation: X:107.47, Y:-165.88, Z:-4.03 [[ 9.24755749e-01 -3.80500478e-01 -6.79643593e-03 1.07474963e+02] [-3.80489576e-01 -9.24780720e-01 2.88139728e-03 -1.65883031e+02] [-7.38158595e-03 -7.86156704e-05 -9.99972753e-01 -4.02550313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.346559995 meters 0.013285766139808601 Centerline is valid? [True, True] Translation: X:107.50, Y:-165.90, Z:-4.03 [[ 9.52131159e-01 -3.05642109e-01 -5.39981128e-03 1.07502526e+02] [-3.05636782e-01 -9.52146468e-01 1.80586480e-03 -1.65903744e+02] [-5.69335957e-03 -6.90392000e-05 -9.99983790e-01 -4.02591024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.406559995 meters 0.013359343270148363 Centerline is valid? [True, True] Translation: X:107.53, Y:-165.92, Z:-4.03 [[ 9.73352518e-01 -2.29242910e-01 -5.70639204e-03 1.07531761e+02] [-2.29238503e-01 -9.73369242e-01 1.42364895e-03 -1.65921527e+02] [-5.88078793e-03 -7.75875184e-05 -9.99982705e-01 -4.02593338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.4665599950001 meters 0.013871150407432342 Centerline is valid? [True, True] Translation: X:107.56, Y:-165.94, Z:-4.02 [[ 9.88625120e-01 -1.50269445e-01 -6.28221546e-03 1.07562007e+02] [-1.50265779e-01 -9.88645075e-01 1.05427400e-03 -1.65937946e+02] [-6.36930655e-03 -9.82797569e-05 -9.99979711e-01 -4.02447264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.526559995 meters 0.014478690228354045 Centerline is valid? [True, True] Translation: X:107.59, Y:-165.95, Z:-4.02 [[ 9.97543573e-01 -6.96360084e-02 -7.59247611e-03 1.07590043e+02] [-6.96329311e-02 -9.97572457e-01 6.69238070e-04 -1.65951091e+02] [-7.62064811e-03 -1.38907770e-04 -9.99970953e-01 -4.02230488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.586559995 meters 0.014485625127625962 Centerline is valid? [True, True] Translation: X:107.62, Y:-165.96, Z:-4.02 [[ 9.99928864e-01 8.84485058e-03 -8.00226796e-03 1.07619778e+02] [ 8.84574593e-03 -9.99960873e-01 7.65002829e-05 -1.65959125e+02] [-8.00127822e-03 -1.47280870e-04 -9.99967978e-01 -4.02102250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.646559995 meters 0.013869802101365599 Centerline is valid? [True, True] Translation: X:107.65, Y:-165.96, Z:-4.02 [[ 9.96385956e-01 8.46916858e-02 -6.50731040e-03 1.07649114e+02] [ 8.46905635e-02 -9.96407200e-01 -4.48325872e-04 -1.65964520e+02] [-6.52190041e-03 -1.04402183e-04 -9.99978727e-01 -4.02151596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.7065599950001 meters 0.013294747236305197 Centerline is valid? [True, True] Translation: X:107.68, Y:-165.97, Z:-4.02 [[ 9.87043891e-01 1.60385111e-01 -4.57973767e-03 1.07678696e+02] [ 1.60383688e-01 -9.87054513e-01 -6.78764933e-04 -1.65968302e+02] [-4.62931453e-03 -6.45444357e-05 -9.99989283e-01 -4.02280329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.766559995 meters 0.012752083539761407 Centerline is valid? [True, True] Translation: X:107.71, Y:-165.97, Z:-4.02 [[ 9.72428210e-01 2.33180097e-01 -3.22783188e-03 1.07708728e+02] [ 2.33178925e-01 -9.72433567e-01 -7.40151144e-04 -1.65968493e+02] [-3.31144058e-03 -3.29185155e-05 -9.99994517e-01 -4.02342956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.826559995 meters 0.012579334981713113 Centerline is valid? [True, True] Translation: X:107.74, Y:-165.97, Z:-4.02 [[ 9.51905619e-01 3.06375409e-01 -3.13066916e-03 1.07738326e+02] [ 3.06373839e-01 -9.51910767e-01 -9.81346294e-04 -1.65966264e+02] [-3.28077806e-03 -2.50060776e-05 -9.99994618e-01 -4.02312988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.886559995 meters 0.012247460518049055 Centerline is valid? [True, True] Translation: X:107.77, Y:-165.96, Z:-4.02 [[ 9.25952426e-01 3.77623992e-01 -3.49657765e-03 1.07767265e+02] [ 3.77621377e-01 -9.25959027e-01 -1.40542219e-03 -1.65962455e+02] [-3.76840878e-03 -1.90283840e-05 -9.99992899e-01 -4.02266525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1115.9465599950001 meters 0.012318914872265116 Centerline is valid? [True, True] Translation: X:107.80, Y:-165.96, Z:-4.02 [[ 8.93954172e-01 4.48126823e-01 -5.31863711e-03 1.07797134e+02] [ 4.48119052e-01 -8.93969994e-01 -2.63924601e-03 -1.65958210e+02] [-5.93741891e-03 -2.40176365e-05 -9.99982373e-01 -4.02027876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.006559995 meters 0.01237534585838698 Centerline is valid? [True, True] Translation: X:107.83, Y:-165.95, Z:-4.02 [[ 8.54875144e-01 5.18789182e-01 -6.80246240e-03 1.07827929e+02] [ 5.18773232e-01 -8.54902206e-01 -4.06833478e-03 -1.65954746e+02] [-7.92604818e-03 -5.10171309e-05 -9.99968587e-01 -4.01870831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.066559995 meters 0.01298227466700405 Centerline is valid? [True, True] Translation: X:107.86, Y:-165.95, Z:-4.02 [[ 8.09996112e-01 5.86405623e-01 -5.89442209e-03 1.07858434e+02] [ 5.86390697e-01 -8.10017556e-01 -4.18440363e-03 -1.65949405e+02] [-7.22834319e-03 -6.70836115e-05 -9.99973873e-01 -4.01859900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.126559995 meters 0.012758376592818137 Centerline is valid? [True, True] Translation: X:107.89, Y:-165.94, Z:-4.02 [[ 7.61237814e-01 6.48453240e-01 -5.03859318e-03 1.07886414e+02] [ 6.48439594e-01 -7.61254486e-01 -4.20730300e-03 -1.65937485e+02] [-6.56389092e-03 -6.44651786e-05 -9.99978455e-01 -4.02013791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.1865599950002 meters 0.012610220772385862 Centerline is valid? [True, True] Translation: X:107.91, Y:-165.92, Z:-4.02 [[ 7.09356579e-01 7.04838317e-01 -4.02372742e-03 1.07911032e+02] [ 7.04827339e-01 -7.09367990e-01 -3.93408937e-03 -1.65921128e+02] [-5.62720036e-03 -4.53609187e-05 -9.99984166e-01 -4.02104214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.246559995 meters 0.012244118178255691 Centerline is valid? [True, True] Translation: X:107.93, Y:-165.90, Z:-4.02 [[ 6.54111804e-01 7.56390793e-01 -3.27344305e-03 1.07934949e+02] [ 7.56381523e-01 -6.54119995e-01 -3.74500388e-03 -1.65904387e+02] [-4.97391100e-03 -2.63205887e-05 -9.99987630e-01 -4.02237533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.306559995 meters 0.012177525796060221 Centerline is valid? [True, True] Translation: X:107.96, Y:-165.89, Z:-4.02 [[ 5.94053040e-01 8.04419734e-01 -3.14273941e-03 1.07961621e+02] [ 8.04408655e-01 -5.94061353e-01 -4.22190674e-03 -1.65888504e+02] [-5.26316513e-03 -2.00102473e-05 -9.99986149e-01 -4.02249321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.366559995 meters 0.012237991434769554 Centerline is valid? [True, True] Translation: X:107.99, Y:-165.87, Z:-4.02 [[ 5.29421760e-01 8.48352859e-01 -3.16657558e-03 1.07985644e+02] [ 8.48337923e-01 -5.29431229e-01 -5.03405006e-03 -1.65870762e+02] [-5.94713476e-03 -2.11905113e-05 -9.99982315e-01 -4.02144155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.426559995 meters 0.012249306628537323 Centerline is valid? [True, True] Translation: X:108.01, Y:-165.85, Z:-4.02 [[ 4.62668158e-01 8.86525004e-01 -3.40494115e-03 1.08007118e+02] [ 8.86501238e-01 -4.62680687e-01 -6.49125972e-03 -1.65849509e+02] [-7.33006455e-03 -1.51853706e-05 -9.99973135e-01 -4.02068344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.486559995 meters 0.01234317662363406 Centerline is valid? [True, True] Translation: X:108.03, Y:-165.83, Z:-4.02 [[ 3.93568267e-01 9.19288902e-01 -3.45441922e-03 1.08027298e+02] [ 9.19253520e-01 -3.93583427e-01 -8.06546112e-03 -1.65826773e+02] [-8.77409106e-03 -1.17747044e-06 -9.99961507e-01 -4.01985753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.546559995 meters 0.012348057069217986 Centerline is valid? [True, True] Translation: X:108.05, Y:-165.80, Z:-4.02 [[ 3.21234939e-01 9.46994593e-01 -3.05856091e-03 1.08046477e+02] [ 9.46951439e-01 -3.21249499e-01 -9.04051416e-03 -1.65803783e+02] [-9.54387919e-03 7.82036087e-06 -9.99954456e-01 -4.01986508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.606559995 meters 0.012243691662348732 Centerline is valid? [True, True] Translation: X:108.07, Y:-165.78, Z:-4.02 [[ 2.47579113e-01 9.68865402e-01 -2.10135250e-03 1.08065490e+02] [ 9.68829808e-01 -2.47588030e-01 -8.30482938e-03 -1.65779751e+02] [-8.56653158e-03 2.02493597e-05 -9.99963306e-01 -4.02083583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.666559995 meters 0.01225225536854023 Centerline is valid? [True, True] Translation: X:108.08, Y:-165.75, Z:-4.02 [[ 1.71157910e-01 9.85242605e-01 -1.40723614e-03 1.08080914e+02] [ 9.85208255e-01 -1.71163693e-01 -8.22708603e-03 -1.65754863e+02] [-8.34654340e-03 2.17101863e-05 -9.99965167e-01 -4.02066980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.7265599950001 meters 0.012238692404524142 Centerline is valid? [True, True] Translation: X:108.09, Y:-165.73, Z:-4.02 [[ 9.38559209e-02 9.95585491e-01 -7.71674451e-04 1.08094580e+02] [ 9.95549594e-01 -9.38590897e-02 -8.45445295e-03 -1.65727408e+02] [-8.48955935e-03 2.52602809e-05 -9.99963963e-01 -4.02133411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.786559995 meters 0.012086576851127134 Centerline is valid? [True, True] Translation: X:108.11, Y:-165.70, Z:-4.02 [[ 1.56659675e-02 9.99877277e-01 -9.37845558e-05 1.08109148e+02] [ 9.99849678e-01 -1.56662319e-02 -7.42901167e-03 -1.65699001e+02] [-7.42956921e-03 2.26121971e-05 -9.99972400e-01 -4.02245499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.846559995 meters 0.012091603940169001 Centerline is valid? [True, True] Translation: X:108.12, Y:-165.67, Z:-4.02 [[-6.33996669e-02 9.97988114e-01 4.54730536e-04 1.08119962e+02] [ 9.97964247e-01 6.34012956e-02 -6.90206475e-03 -1.65669998e+02] [-6.91700908e-03 1.62162109e-05 -9.99976077e-01 -4.02347902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.906559995 meters 0.011975571518686294 Centerline is valid? [True, True] Translation: X:108.13, Y:-165.64, Z:-4.02 [[-1.42492532e-01 9.89795330e-01 1.04070365e-03 1.08130266e+02] [ 9.89769377e-01 1.42496332e-01 -7.16769224e-03 -1.65639273e+02] [-7.24284476e-03 8.71398886e-06 -9.99973770e-01 -4.02380234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1116.9665599950001 meters 0.011901545868131939 Centerline is valid? [True, True] Translation: X:108.14, Y:-165.61, Z:-4.02 [[-2.20937588e-01 9.75286570e-01 1.63947668e-03 1.08138468e+02] [ 9.75259681e-01 2.20943671e-01 -7.24221130e-03 -1.65607255e+02] [-7.42546342e-03 -1.16119146e-06 -9.99972431e-01 -4.02366353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.026559995 meters 0.011876604935682695 Centerline is valid? [True, True] Translation: X:108.15, Y:-165.57, Z:-4.02 [[-2.99319261e-01 9.54150200e-01 2.31868984e-03 1.08146027e+02] [ 9.54120972e-01 2.99328241e-01 -7.46823151e-03 -1.65574304e+02] [-7.81986394e-03 -2.30749326e-05 -9.99969424e-01 -4.02329798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.086559995 meters 0.01199555216981595 Centerline is valid? [True, True] Translation: X:108.15, Y:-165.54, Z:-4.02 [[-3.75878937e-01 9.26663206e-01 3.21373845e-03 1.08149736e+02] [ 9.26628172e-01 3.75892671e-01 -8.05792238e-03 -1.65541188e+02] [-8.67500092e-03 -5.08627056e-05 -9.99962370e-01 -4.02301230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.146559995 meters 0.012423095198921331 Centerline is valid? [True, True] Translation: X:108.15, Y:-165.51, Z:-4.02 [[-4.50017619e-01 8.93010915e-01 3.95587797e-03 1.08148539e+02] [ 8.92974845e-01 4.50034999e-01 -8.02661720e-03 -1.65507367e+02] [-8.94814030e-03 -7.96196469e-05 -9.99959961e-01 -4.02258481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.2065599950001 meters 0.012557810704171227 Centerline is valid? [True, True] Translation: X:108.14, Y:-165.47, Z:-4.02 [[-5.19941420e-01 8.54190156e-01 4.48303628e-03 1.08143629e+02] [ 8.54156870e-01 5.19960738e-01 -7.54135321e-03 -1.65474067e+02] [-8.77275253e-03 -9.18456567e-05 -9.99961515e-01 -4.02261712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.266559995 meters 0.01269551385962711 Centerline is valid? [True, True] Translation: X:108.14, Y:-165.44, Z:-4.02 [[-5.86370810e-01 8.10033606e-01 3.85086377e-03 1.08136973e+02] [ 8.10015243e-01 5.86383450e-01 -5.45497949e-03 -1.65440593e+02] [-6.67679949e-03 -7.93823923e-05 -9.99977707e-01 -4.02429564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.326559995 meters 0.013034350834045838 Centerline is valid? [True, True] Translation: X:108.13, Y:-165.41, Z:-4.02 [[-6.48760143e-01 7.60983051e-01 3.88244245e-03 1.08125018e+02] [ 7.60968701e-01 6.48771755e-01 -4.67404862e-03 -1.65409586e+02] [-6.07569078e-03 -7.79192693e-05 -9.99981540e-01 -4.02446265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.386559995 meters 0.012977708864601143 Centerline is valid? [True, True] Translation: X:108.11, Y:-165.38, Z:-4.02 [[-7.06707116e-01 7.07489608e-01 4.84850442e-03 1.08110472e+02] [ 7.07472053e-01 7.06723741e-01 -4.98472000e-03 -1.65378933e+02] [-6.95319078e-03 -9.25557144e-05 -9.99975822e-01 -4.02413191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.4465599950001 meters 0.013162350997783397 Centerline is valid? [True, True] Translation: X:108.09, Y:-165.35, Z:-4.02 [[-7.60302801e-01 6.49542337e-01 5.86542533e-03 1.08092895e+02] [ 6.49521904e-01 7.60325418e-01 -5.15318728e-03 -1.65348900e+02] [-7.80684528e-03 -1.08260494e-04 -9.99969520e-01 -4.02350826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.506559995 meters 0.013705071673324106 Centerline is valid? [True, True] Translation: X:108.11, Y:-165.33, Z:-4.02 [[-8.05296691e-01 5.92831446e-01 6.93654559e-03 1.08110154e+02] [ 5.92808009e-01 8.05326554e-01 -5.27312011e-03 -1.65325945e+02] [-8.71225578e-03 -1.34386397e-04 -9.99962039e-01 -4.02304170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.566559995 meters 0.014757995998929836 Centerline is valid? [True, True] Translation: X:108.46, Y:-164.87, Z:-5.02 [[-7.41463876e-01 -6.70949587e-01 7.61395108e-03 1.08460089e+02] [ 6.70917492e-01 -7.41502930e-01 -6.56690330e-03 -1.64869260e+02] [ 1.00518281e-02 2.39211389e-04 9.99949451e-01 -5.01914165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.626559995 meters 0.014897058498355828 Centerline is valid? [True, True] Translation: X:108.08, Y:-165.30, Z:-4.02 [[-8.10146041e-01 5.86173698e-01 7.98678935e-03 1.08077235e+02] [ 5.86142743e-01 8.10185383e-01 -6.02738589e-03 -1.65299837e+02] [-1.00038751e-02 -2.01664197e-04 -9.99949940e-01 -4.02205186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.6865599950002 meters 0.015070606527555392 Centerline is valid? [True, True] Translation: X:108.09, Y:-165.28, Z:-4.02 [[-8.49300923e-01 5.27855072e-01 7.54757565e-03 1.08087351e+02] [ 5.27832377e-01 8.49334441e-01 -4.89793693e-03 -1.65277428e+02] [-8.99581679e-03 -1.75967562e-04 -9.99959521e-01 -4.02316322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.746559995 meters 0.014489974965066663 Centerline is valid? [True, True] Translation: X:108.10, Y:-165.26, Z:-4.02 [[-8.83265724e-01 4.68826932e-01 6.55506850e-03 1.08101311e+02] [ 4.68812959e-01 8.83290038e-01 -3.62180627e-03 -1.65259062e+02] [-7.48802703e-03 -1.25916272e-04 -9.99971956e-01 -4.02488617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.806559995 meters 0.013156875527398686 Centerline is valid? [True, True] Translation: X:108.11, Y:-165.24, Z:-4.03 [[-9.12104415e-01 4.09916456e-01 5.83401497e-03 1.08111340e+02] [ 4.09907549e-01 9.12123069e-01 -2.70332415e-03 -1.65241937e+02] [-6.42947670e-03 -7.43071165e-05 -9.99979328e-01 -4.02633906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.866559995 meters 0.012369117856310823 Centerline is valid? [True, True] Translation: X:108.12, Y:-165.22, Z:-4.03 [[-9.37451022e-01 3.48045087e-01 7.08519088e-03 1.08118585e+02] [ 3.48034687e-01 9.37477794e-01 -2.69111399e-03 -1.65221784e+02] [-7.57883812e-03 -5.68953678e-05 -9.99971279e-01 -4.02615854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.926559995 meters 0.012133537292428604 Centerline is valid? [True, True] Translation: X:108.13, Y:-165.20, Z:-4.02 [[-9.58378965e-01 2.85343500e-01 9.42588059e-03 1.08127087e+02] [ 2.85329429e-01 9.58425316e-01 -2.83381394e-03 -1.65202535e+02] [-9.84261298e-03 -2.63865435e-05 -9.99951560e-01 -4.02351670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1117.986559995 meters 0.012035480323589698 Centerline is valid? [True, True] Translation: X:108.13, Y:-165.18, Z:-4.03 [[-9.75260677e-01 2.20910077e-01 8.08396179e-03 1.08127933e+02] [ 2.20902604e-01 9.75294180e-01 -1.81711003e-03 -1.65181455e+02] [-8.28565880e-03 1.36122554e-05 -9.99965673e-01 -4.02547927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.046559995 meters 0.01195052613715283 Centerline is valid? [True, True] Translation: X:108.28, Y:-164.56, Z:-5.01 [[-9.59382520e-01 -2.82021165e-01 7.01733848e-03 1.08275308e+02] [ 2.82013078e-01 -9.59408181e-01 -2.13690601e-03 -1.64556994e+02] [ 7.33514467e-03 -7.11290532e-05 9.99973095e-01 -5.01421969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.106559995 meters 0.012034194282231344 Centerline is valid? [True, True] Translation: X:108.08, Y:-165.18, Z:-4.03 [[-9.76184065e-01 2.16797072e-01 7.98130155e-03 1.08082167e+02] [ 2.16789914e-01 9.76216692e-01 -1.76177227e-03 -1.65177983e+02] [-8.17342687e-03 1.04516593e-05 -9.99966597e-01 -4.02532974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.166559995 meters 0.012002694870509265 Centerline is valid? [True, True] Translation: X:108.22, Y:-164.54, Z:-5.02 [[-9.58824571e-01 -2.83857735e-01 8.95698559e-03 1.08215287e+02] [ 2.83845984e-01 -9.58866405e-01 -2.58364911e-03 -1.64541916e+02] [ 9.32194135e-03 6.51381419e-05 9.99956548e-01 -5.01652045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.2265599950001 meters 0.012443406283568059 Centerline is valid? [True, True] Translation: X:108.03, Y:-165.17, Z:-4.02 [[-9.78952571e-01 2.03873509e-01 9.35178509e-03 1.08030579e+02] [ 2.03863445e-01 9.78997235e-01 -2.02719728e-03 -1.65165832e+02] [-9.56866357e-03 -7.80428566e-05 -9.99954216e-01 -4.02333670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.286559995 meters 0.013629187466520531 Centerline is valid? [True, True] Translation: X:108.16, Y:-164.53, Z:-5.02 [[-9.56530878e-01 -2.91494508e-01 8.92367273e-03 1.08161390e+02] [ 2.91482389e-01 -9.56572501e-01 -2.65859610e-03 -1.64533347e+02] [ 9.31110609e-03 5.80641894e-05 9.99956649e-01 -5.01724067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.346559995 meters 0.014940511945195757 Centerline is valid? [True, True] Translation: X:107.97, Y:-165.15, Z:-4.02 [[-9.81803926e-01 1.89793025e-01 6.29757970e-03 1.07974521e+02] [ 1.89788331e-01 9.81824115e-01 -1.34014768e-03 -1.65154992e+02] [-6.43746630e-03 -1.20555106e-04 -9.99979272e-01 -4.02486254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.406559995 meters 0.014437440744917074 Centerline is valid? [True, True] Translation: X:108.12, Y:-164.52, Z:-5.02 [[-9.56515564e-01 -2.91628465e-01 5.55106290e-03 1.08118122e+02] [ 2.91623960e-01 -9.56531669e-01 -1.62241505e-03 -1.64519611e+02] [ 5.78290987e-03 6.69576976e-05 9.99983277e-01 -5.01515572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.4665599950001 meters 0.014602400260141129 Centerline is valid? [True, True] Translation: X:107.93, Y:-165.15, Z:-4.02 [[-9.82674081e-01 1.85256751e-01 5.62029845e-03 1.07927231e+02] [ 1.85253065e-01 9.82690146e-01 -1.17388532e-03 -1.65152267e+02] [-5.74048209e-03 -1.12369163e-04 -9.99983517e-01 -4.02395589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.526559995 meters 0.015073798111860943 Centerline is valid? [True, True] Translation: X:108.06, Y:-164.50, Z:-5.02 [[-9.57090943e-01 -2.89731900e-01 5.68801275e-03 1.08061755e+02] [ 2.89727564e-01 -9.57107836e-01 -1.59014271e-03 -1.64504487e+02] [ 5.90475665e-03 1.26062894e-04 9.99982559e-01 -5.01760394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.586559995 meters 0.014996867717475732 Centerline is valid? [True, True] Translation: X:107.88, Y:-165.15, Z:-4.02 [[-9.84083136e-01 1.77552875e-01 7.44031823e-03 1.07882456e+02] [ 1.77546423e-01 9.84111246e-01 -1.52416635e-03 -1.65147325e+02] [-7.59272096e-03 -1.78904514e-04 -9.99971159e-01 -4.02227831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.646559995 meters 0.016225020639389184 Centerline is valid? [True, True] Translation: X:108.02, Y:-164.49, Z:-5.02 [[-9.56399866e-01 -2.91891364e-01 9.93616995e-03 1.08017167e+02] [ 2.91880125e-01 -9.56451388e-01 -2.59534000e-03 -1.64493807e+02] [ 1.02610209e-02 4.17987693e-04 9.99947267e-01 -5.02106963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.7065599950001 meters 0.017712242662971767 Centerline is valid? [True, True] Translation: X:107.83, Y:-165.14, Z:-4.02 [[-9.85594781e-01 1.68749462e-01 1.12493165e-02 1.07830428e+02] [ 1.68734642e-01 9.85658922e-01 -2.26061503e-03 -1.65137497e+02] [-1.14694667e-02 -3.29900985e-04 -9.99934169e-01 -4.01780824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.766559995 meters 0.01617978802428737 Centerline is valid? [True, True] Translation: X:107.96, Y:-164.47, Z:-5.02 [[-9.57709233e-01 -2.87532034e-01 1.08791168e-02 1.07961739e+02] [ 2.87517167e-01 -9.57770971e-01 -2.94052008e-03 -1.64474590e+02] [ 1.12651960e-02 3.11769610e-04 9.99936497e-01 -5.02126483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.826559995 meters 0.01494025910193237 Centerline is valid? [True, True] Translation: X:107.79, Y:-165.14, Z:-4.02 [[-9.85140909e-01 1.71495601e-01 9.30848569e-03 1.07788302e+02] [ 1.71485931e-01 9.85184863e-01 -1.83319540e-03 -1.65144015e+02] [-9.48496415e-03 -2.09681440e-04 -9.99954995e-01 -4.02092574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.886559995 meters 0.013438018428344418 Centerline is valid? [True, True] Translation: X:107.79, Y:-165.13, Z:-4.02 [[-9.93887183e-01 1.10075604e-01 8.46343607e-03 1.07793671e+02] [ 1.10070652e-01 9.93923211e-01 -1.05017705e-03 -1.65126869e+02] [-8.52760443e-03 -1.12181584e-04 -9.99963633e-01 -4.02192216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1118.9465599950001 meters 0.013364305056857175 Centerline is valid? [True, True] Translation: X:107.89, Y:-164.42, Z:-5.02 [[-9.79611692e-01 -2.00691945e-01 9.14749078e-03 1.07887559e+02] [ 2.00684816e-01 -9.79654385e-01 -1.70009765e-03 -1.64421669e+02] [ 9.30257536e-03 1.70326970e-04 9.99956716e-01 -5.01966051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.006559995 meters 0.01350764492189055 Centerline is valid? [True, True] Translation: X:107.75, Y:-165.12, Z:-4.02 [[-9.94174493e-01 1.07265587e-01 1.05437945e-02 1.07747480e+02] [ 1.07258193e-01 9.94230395e-01 -1.26588430e-03 -1.65118368e+02] [-1.06187468e-02 -1.27601529e-04 -9.99943611e-01 -4.01977319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.066559995 meters 0.01380512589530972 Centerline is valid? [True, True] Translation: X:107.84, Y:-164.42, Z:-5.02 [[-9.79922123e-01 -1.99105426e-01 1.04719579e-02 1.07835777e+02] [ 1.99095482e-01 -9.79978067e-01 -1.99421697e-03 -1.64419641e+02] [ 1.06593485e-02 1.30742184e-04 9.99943179e-01 -5.02085624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.126559995 meters 0.014412936625176167 Centerline is valid? [True, True] Translation: X:107.69, Y:-165.11, Z:-4.02 [[-9.95008715e-01 9.92497513e-02 1.03510082e-02 1.07694172e+02] [ 9.92426259e-02 9.95062540e-01 -1.20103945e-03 -1.65108892e+02] [-1.04191034e-02 -1.67783484e-04 -9.99945706e-01 -4.01922339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.1865599950002 meters 0.014474853126762338 Centerline is valid? [True, True] Translation: X:107.78, Y:-164.42, Z:-5.02 [[-9.79583651e-01 -2.00790916e-01 9.94378095e-03 1.07778419e+02] [ 2.00782052e-01 -9.79634109e-01 -1.89211604e-03 -1.64417340e+02] [ 1.01211867e-02 1.43046810e-04 9.99948769e-01 -5.02058010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.246559995 meters 0.01476153763871861 Centerline is valid? [True, True] Translation: X:107.64, Y:-165.10, Z:-4.02 [[-9.95768632e-01 9.13619913e-02 9.89030676e-03 1.07642855e+02] [ 9.13554860e-02 9.95817728e-01 -1.10847615e-03 -1.65100856e+02] [-9.95021539e-03 -2.00251995e-04 -9.99950475e-01 -4.02000842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.306559995 meters 0.01517126658378544 Centerline is valid? [True, True] Translation: X:107.64, Y:-165.07, Z:-4.02 [[-9.99772087e-01 1.91620581e-02 9.41223381e-03 1.07643517e+02] [ 1.91593104e-02 9.99816371e-01 -3.82021470e-04 -1.65072772e+02] [-9.41782576e-03 -2.01602493e-04 -9.99955631e-01 -4.02077187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.366559995 meters 0.015626877235331564 Centerline is valid? [True, True] Translation: X:107.68, Y:-164.39, Z:-5.02 [[-9.91471500e-01 -1.30043068e-01 8.54787351e-03 1.07675036e+02] [ 1.30039371e-01 -9.91508338e-01 -9.89194643e-04 -1.64385221e+02] [ 8.60392576e-03 1.30801800e-04 9.99962977e-01 -5.01936211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.426559995 meters 0.015683718537333673 Centerline is valid? [True, True] Translation: X:107.59, Y:-165.07, Z:-4.02 [[-9.99884320e-01 1.30264586e-02 7.85227873e-03 1.07587772e+02] [ 1.30246072e-02 9.99915135e-01 -2.86873055e-04 -1.65067073e+02] [-7.85534929e-03 -1.84567023e-04 -9.99969129e-01 -4.02133133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.486559995 meters 0.015876035938411952 Centerline is valid? [True, True] Translation: X:107.61, Y:-164.39, Z:-5.02 [[-9.91897985e-01 -1.26760416e-01 8.37765536e-03 1.07613842e+02] [ 1.26757881e-01 -9.91933336e-01 -8.34965047e-04 -1.64386287e+02] [ 8.41591614e-03 2.33733695e-04 9.99964558e-01 -5.02028955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.546559995 meters 0.016143602874942535 Centerline is valid? [True, True] Translation: X:107.52, Y:-165.06, Z:-4.02 [[-9.99914238e-01 9.42594826e-03 9.09223945e-03 1.07516023e+02] [ 9.42364615e-03 9.99955553e-01 -2.96004838e-04 -1.65064654e+02] [-9.09462545e-03 -2.10297404e-04 -9.99958621e-01 -4.02000333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.606559995 meters 0.016069021750837246 Centerline is valid? [True, True] Translation: X:107.56, Y:-164.39, Z:-5.02 [[-9.92337503e-01 -1.23267519e-01 8.44979102e-03 1.07562536e+02] [ 1.23264396e-01 -9.92373465e-01 -8.91362761e-04 -1.64385481e+02] [ 8.49522447e-03 1.57025689e-04 9.99963903e-01 -5.02000603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.666559995 meters 0.016222227333520495 Centerline is valid? [True, True] Translation: X:107.48, Y:-165.06, Z:-4.02 [[-9.99956343e-01 4.33555829e-03 8.27735882e-03 1.07482360e+02] [ 4.33375771e-03 9.99990582e-01 -2.35455344e-04 -1.65061480e+02] [-8.27830169e-03 -1.99572997e-04 -9.99965714e-01 -4.02018521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.7265599950001 meters 0.015902078769124924 Centerline is valid? [True, True] Translation: X:107.48, Y:-165.04, Z:-4.02 [[-9.97769783e-01 -6.61604071e-02 8.84651406e-03 1.07479411e+02] [-6.61596574e-02 9.97808978e-01 3.77687518e-04 -1.65035314e+02] [-8.85211912e-03 -2.08437147e-04 -9.99960798e-01 -4.01950034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.786559995 meters 0.015331350052846394 Centerline is valid? [True, True] Translation: X:107.47, Y:-165.01, Z:-4.02 [[-9.90686392e-01 -1.35871240e-01 8.91509119e-03 1.07473166e+02] [-1.35867565e-01 9.90726484e-01 1.01931745e-03 -1.65011826e+02] [-8.97091288e-03 -2.01447813e-04 -9.99959740e-01 -4.02009840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.846559995 meters 0.015129750631809992 Centerline is valid? [True, True] Translation: X:107.47, Y:-164.99, Z:-4.02 [[-9.78884249e-01 -2.04213840e-01 9.07382073e-03 1.07470411e+02] [-2.04206881e-01 9.78926285e-01 1.69676449e-03 -1.64986238e+02] [-9.22910441e-03 -1.92000594e-04 -9.99957393e-01 -4.01946466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.906559995 meters 0.01498006266445009 Centerline is valid? [True, True] Translation: X:107.45, Y:-164.96, Z:-4.02 [[-9.62051338e-01 -2.72704886e-01 9.44824567e-03 1.07454942e+02] [-2.72693718e-01 9.62097712e-01 2.47563637e-03 -1.64962548e+02] [-9.76525367e-03 -1.94787960e-04 -9.99952300e-01 -4.01894080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1119.9665599950001 meters 0.014754729907757377 Centerline is valid? [True, True] Translation: X:107.43, Y:-164.94, Z:-4.02 [[-9.40635322e-01 -3.39288226e-01 9.41754192e-03 1.07432983e+02] [-3.39273115e-01 9.40682448e-01 3.20715482e-03 -1.64941837e+02] [-9.94706626e-03 -1.78355672e-04 -9.99950511e-01 -4.01868749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.026559995 meters 0.01367409807072863 Centerline is valid? [True, True] Translation: X:107.39, Y:-164.93, Z:-4.02 [[-9.15392433e-01 -4.02459239e-01 9.12445628e-03 1.07392319e+02] [-4.02440677e-01 9.15437897e-01 3.86755031e-03 -1.64932865e+02] [-9.90940442e-03 -1.31726066e-04 -9.99950892e-01 -4.01958326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.086559995 meters 0.013113341560297241 Centerline is valid? [True, True] Translation: X:107.33, Y:-164.93, Z:-4.02 [[-8.85233296e-01 -4.65077502e-01 8.05779773e-03 1.07334269e+02] [-4.65059086e-01 8.85269965e-01 4.13957454e-03 -1.64933834e+02] [-9.05854930e-03 -8.28628399e-05 -9.99958967e-01 -4.02059031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.146559995 meters 0.01253250303563753 Centerline is valid? [True, True] Translation: X:107.27, Y:-164.94, Z:-4.02 [[-8.52361461e-01 -5.22908923e-01 6.79687223e-03 1.07270750e+02] [-5.22892407e-01 8.52388560e-01 4.15602271e-03 -1.64944319e+02] [-7.96679750e-03 -1.15992981e-05 -9.99968265e-01 -4.02148162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.2065599950001 meters 0.012822748152257833 Centerline is valid? [True, True] Translation: X:107.20, Y:-164.96, Z:-4.02 [[-8.14848350e-01 -5.79635454e-01 6.70124942e-03 1.07197556e+02] [-5.79615419e-01 8.14875904e-01 4.81950277e-03 -1.64964895e+02] [-8.25424136e-03 4.30163876e-05 -9.99965932e-01 -4.02108920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.266559995 meters 0.013303572994690347 Centerline is valid? [True, True] Translation: X:107.12, Y:-164.99, Z:-4.02 [[-7.71123191e-01 -6.36651833e-01 6.59302324e-03 1.07116741e+02] [-6.36627754e-01 7.71151372e-01 5.53764812e-03 -1.64994609e+02] [-8.60977274e-03 7.29073161e-05 -9.99962933e-01 -4.02009113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.326559995 meters 0.013678738052174828 Centerline is valid? [True, True] Translation: X:107.03, Y:-165.03, Z:-4.02 [[-7.22211698e-01 -6.91643672e-01 6.26843368e-03 1.07032765e+02] [-6.91616539e-01 7.22238896e-01 6.12706419e-03 -1.65034287e+02] [-8.76505180e-03 8.96850315e-05 -9.99961582e-01 -4.02014339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.386559995 meters 0.01360004350119731 Centerline is valid? [True, True] Translation: X:106.95, Y:-165.08, Z:-4.02 [[-6.67487318e-01 -7.44596600e-01 6.04850480e-03 1.06947891e+02] [-7.44564824e-01 6.67514716e-01 6.87950675e-03 -1.65081422e+02] [-9.15992330e-03 8.84795926e-05 -9.99958043e-01 -4.01959488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.4465599950001 meters 0.013132660189081914 Centerline is valid? [True, True] Translation: X:106.86, Y:-165.14, Z:-4.02 [[-6.07338039e-01 -7.94423028e-01 5.70601785e-03 1.06860508e+02] [-7.94386880e-01 6.07364839e-01 7.57871474e-03 -1.65139428e+02] [-9.48634013e-03 7.00560301e-05 -9.99955001e-01 -4.01897953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.506559995 meters 0.012915615748481738 Centerline is valid? [True, True] Translation: X:106.77, Y:-165.21, Z:-4.02 [[-5.41452117e-01 -8.40715083e-01 5.26827741e-03 1.06773775e+02] [-8.40674794e-01 5.41477746e-01 8.23049358e-03 -1.65205880e+02] [-9.77215506e-03 2.75101395e-05 -9.99952251e-01 -4.01711040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.566559995 meters 0.012602901298676965 Centerline is valid? [True, True] Translation: X:106.69, Y:-165.28, Z:-4.02 [[-4.72888916e-01 -8.81112663e-01 4.06792846e-03 1.06690941e+02] [-8.81080163e-01 4.72906412e-01 7.56776930e-03 -1.65284687e+02] [-8.59180682e-03 -5.45684860e-06 -9.99963090e-01 -4.01939397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.626559995 meters 0.01275997487717317 Centerline is valid? [True, True] Translation: X:106.61, Y:-165.37, Z:-4.02 [[-3.99882685e-01 -9.16562329e-01 2.70834885e-03 1.06613850e+02] [-9.16541935e-01 3.99891854e-01 6.11437324e-03 -1.65366167e+02] [-6.68725082e-03 -3.72833084e-05 -9.99977639e-01 -4.02007530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.6865599950002 meters 0.013312445749187456 Centerline is valid? [True, True] Translation: X:106.54, Y:-165.46, Z:-4.02 [[-3.25765719e-01 -9.45448186e-01 2.10354402e-03 1.06542871e+02] [-9.45429557e-01 3.25772505e-01 5.93527660e-03 -1.65458832e+02] [-6.29677330e-03 -5.52430446e-05 -9.99980174e-01 -4.01912747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.746559995 meters 0.014395921982069761 Centerline is valid? [True, True] Translation: X:106.48, Y:-165.55, Z:-4.02 [[-2.48258725e-01 -9.68692201e-01 1.73949008e-03 1.06479642e+02] [-9.68670856e-01 2.48264804e-01 6.43125547e-03 -1.65550591e+02] [-6.66176118e-03 -8.83780627e-05 -9.99977806e-01 -4.01826860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.806559995 meters 0.015495910885812618 Centerline is valid? [True, True] Translation: X:106.42, Y:-165.65, Z:-4.02 [[-1.70779019e-01 -9.85308191e-01 1.51505900e-03 1.06422833e+02] [-9.85275894e-01 1.70785690e-01 7.97879555e-03 -1.65654240e+02] [-8.12032301e-03 -1.30140228e-04 -9.99967021e-01 -4.01654522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.866559995 meters 0.014236299174770763 Centerline is valid? [True, True] Translation: X:106.38, Y:-165.76, Z:-4.02 [[-9.40557971e-02 -9.95566426e-01 9.98909895e-04 1.06380569e+02] [-9.95526148e-01 9.40609785e-02 8.95666124e-03 -1.65762970e+02] [-9.01090967e-03 -1.52015007e-04 -9.99959389e-01 -4.01697746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.926559995 meters 0.01444155929141997 Centerline is valid? [True, True] Translation: X:106.34, Y:-165.87, Z:-4.02 [[-1.73737953e-02 -9.99849006e-01 3.42753621e-04 1.06343419e+02] [-9.99799609e-01 1.73763445e-02 9.94006484e-03 -1.65872478e+02] [-9.94451975e-03 -1.69988284e-04 -9.99950538e-01 -4.01620443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1120.986559995 meters 0.014142125357837865 Centerline is valid? [True, True] Translation: X:106.32, Y:-165.99, Z:-4.02 [[ 5.92911027e-02 -9.98240621e-01 -4.76284069e-04 1.06317504e+02] [-9.98177027e-01 -5.92927024e-02 1.12693093e-02 -1.65986540e+02] [-1.12777225e-02 -1.92753961e-04 -9.99936386e-01 -4.01577845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.046559995 meters 0.014614836977900269 Centerline is valid? [True, True] Translation: X:106.30, Y:-166.10, Z:-4.02 [[ 1.35307249e-01 -9.90802659e-01 -1.42792919e-03 1.06299832e+02] [-9.90730501e-01 -1.35314630e-01 1.19593576e-02 -1.66101141e+02] [-1.20425830e-02 -2.03494765e-04 -9.99927465e-01 -4.01547884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.106559995 meters 0.014260511982030688 Centerline is valid? [True, True] Translation: X:106.29, Y:-166.21, Z:-4.02 [[ 2.10168622e-01 -9.77662745e-01 -2.16958660e-03 1.06291680e+02] [-9.77601163e-01 -2.10179738e-01 1.09746546e-02 -1.66212098e+02] [-1.11855141e-02 -1.85537648e-04 -9.99937423e-01 -4.01684825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.166559995 meters 0.014230784594842096 Centerline is valid? [True, True] Translation: X:106.29, Y:-166.33, Z:-4.02 [[ 2.83741360e-01 -9.58897159e-01 -2.66054784e-03 1.06292680e+02] [-9.58849682e-01 -2.83753790e-01 9.54326653e-03 -1.66328024e+02] [-9.90595170e-03 -1.56753969e-04 -9.99950923e-01 -4.01825261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.2265599950001 meters 0.013722254779291362 Centerline is valid? [True, True] Translation: X:106.30, Y:-166.44, Z:-4.02 [[ 3.55398698e-01 -9.34709882e-01 -3.03336253e-03 1.06303629e+02] [-9.34672624e-01 -3.55411619e-01 8.34672737e-03 -1.66443404e+02] [-8.87986084e-03 -1.31215126e-04 -9.99960565e-01 -4.01939306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.286559995 meters 0.013778586455663369 Centerline is valid? [True, True] Translation: X:106.32, Y:-166.56, Z:-4.02 [[ 4.24380107e-01 -9.05477160e-01 -3.55491777e-03 1.06322189e+02] [-9.05443146e-01 -4.24394982e-01 7.84914099e-03 -1.66555637e+02] [-8.61590715e-03 -1.12243366e-04 -9.99962876e-01 -4.01916992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.346559995 meters 0.012861269224910864 Centerline is valid? [True, True] Translation: X:106.35, Y:-166.67, Z:-4.02 [[ 4.89428793e-01 -8.72030631e-01 -4.69425936e-03 1.06352672e+02] [-8.71988673e-01 -4.89451296e-01 8.55477196e-03 -1.66665530e+02] [-9.75763451e-03 -9.36107273e-05 -9.99952389e-01 -4.01935427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.406559995 meters 0.012694137728620164 Centerline is valid? [True, True] Translation: X:106.39, Y:-166.77, Z:-4.02 [[ 5.52303834e-01 -8.33622204e-01 -5.87344515e-03 1.06386271e+02] [-8.33573660e-01 -5.52335058e-01 8.99651499e-03 -1.66769710e+02] [-1.07438043e-02 -7.28605477e-05 -9.99942281e-01 -4.01860242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.4665599950001 meters 0.012660974520824734 Centerline is valid? [True, True] Translation: X:106.43, Y:-166.87, Z:-4.02 [[ 6.13453749e-01 -7.89706010e-01 -6.23823248e-03 1.06428365e+02] [-7.89664214e-01 -6.13485464e-01 8.12498425e-03 -1.66873619e+02] [-1.02434138e-02 -5.81930965e-05 -9.99947533e-01 -4.01933173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.526559995 meters 0.012712167212680068 Centerline is valid? [True, True] Translation: X:106.48, Y:-166.97, Z:-4.02 [[ 6.71015490e-01 -7.41406252e-01 -7.41493351e-03 1.06475930e+02] [-7.41360148e-01 -6.71056456e-01 8.26830206e-03 -1.66971048e+02] [-1.11060098e-02 -5.10225581e-05 -9.99938325e-01 -4.01919697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.586559995 meters 0.012513365859018874 Centerline is valid? [True, True] Translation: X:106.53, Y:-167.06, Z:-4.02 [[ 7.24105283e-01 -6.89639795e-01 -8.27602820e-03 1.06529194e+02] [-6.89594285e-01 -7.24152575e-01 7.92276674e-03 -1.67060979e+02] [-1.14569624e-02 -2.98155100e-05 -9.99934366e-01 -4.01930305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.646559995 meters 0.012584867235053024 Centerline is valid? [True, True] Translation: X:106.55, Y:-167.09, Z:-4.02 [[ 7.74364170e-01 -6.32677925e-01 -8.87558102e-03 1.06551049e+02] [-6.32636306e-01 -7.74415033e-01 7.25685149e-03 -1.67087134e+02] [-1.14646331e-02 -4.43099360e-06 -9.99934279e-01 -4.02126097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.7065599950001 meters 0.012470639928859993 Centerline is valid? [True, True] Translation: X:106.57, Y:-167.11, Z:-4.02 [[ 8.21174128e-01 -5.70597327e-01 -9.57819479e-03 1.06573147e+02] [-5.70558531e-01 -8.21229986e-01 6.65375078e-03 -1.67113176e+02] [-1.16625132e-02 1.03275470e-06 -9.99931991e-01 -4.02201935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.766559995 meters 0.012503936674975838 Centerline is valid? [True, True] Translation: X:106.60, Y:-167.14, Z:-4.02 [[ 8.63831472e-01 -5.03680665e-01 -1.00486569e-02 1.06597775e+02] [-5.03646430e-01 -8.63889916e-01 5.87251491e-03 -1.67137569e+02] [-1.16388056e-02 -1.18930142e-05 -9.99932267e-01 -4.02210546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.826559995 meters 0.012513408867041978 Centerline is valid? [True, True] Translation: X:106.62, Y:-167.16, Z:-4.02 [[ 9.02131911e-01 -4.31344351e-01 -1.00033115e-02 1.06622081e+02] [-4.31317200e-01 -9.02187369e-01 4.83994977e-03 -1.67162424e+02] [-1.11125463e-02 -5.16728326e-05 -9.99938252e-01 -4.02360260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.886559995 meters 0.012789890784689223 Centerline is valid? [True, True] Translation: X:106.65, Y:-167.18, Z:-4.02 [[ 9.34179352e-01 -3.56644599e-01 -1.06568805e-02 1.06648221e+02] [-3.56620319e-01 -9.34240131e-01 4.16240552e-03 -1.67184194e+02] [-1.14405849e-02 -8.79731695e-05 -9.99934551e-01 -4.02312130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1121.9465599950001 meters 0.01352409426959573 Centerline is valid? [True, True] Translation: X:106.68, Y:-167.20, Z:-4.02 [[ 9.60023797e-01 -2.79703174e-01 -1.09746504e-02 1.06676960e+02] [-2.79683441e-01 -9.60086517e-01 3.32463115e-03 -1.67201680e+02] [-1.14665237e-02 -1.22297039e-04 -9.99934250e-01 -4.02266978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.006559995 meters 0.01373902144823096 Centerline is valid? [True, True] Translation: X:106.71, Y:-167.22, Z:-4.03 [[ 9.79690852e-01 -2.00236124e-01 -1.05512234e-02 1.06707047e+02] [-2.00222812e-01 -9.79747657e-01 2.31403374e-03 -1.67218095e+02] [-1.08008895e-02 -1.54442069e-04 -9.99941657e-01 -4.02556402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.066559995 meters 0.014095363277875018 Centerline is valid? [True, True] Translation: X:106.74, Y:-167.23, Z:-4.03 [[ 9.92590134e-01 -1.20957563e-01 -1.15798878e-02 1.06738085e+02] [-1.20947098e-01 -9.92657661e-01 1.60237548e-03 -1.67233143e+02] [-1.16886838e-02 -1.89948270e-04 -9.99931667e-01 -4.02510541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.126559995 meters 0.01470766231378465 Centerline is valid? [True, True] Translation: X:106.77, Y:-167.25, Z:-4.02 [[ 9.99141294e-01 -3.94845236e-02 -1.25557452e-02 1.06767819e+02] [-3.94782938e-02 -9.99220152e-01 7.43732433e-04 -1.67246320e+02] [-1.25753196e-02 -2.47414387e-04 -9.99920897e-01 -4.02490436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.1865599950002 meters 0.015213784308787984 Centerline is valid? [True, True] Translation: X:106.80, Y:-167.26, Z:-4.03 [[ 9.99081686e-01 4.08513724e-02 -1.29209196e-02 1.06798366e+02] [ 4.08515785e-02 -9.99165195e-01 -2.48089445e-04 -1.67256413e+02] [-1.29202680e-02 -2.79978342e-04 -9.99916491e-01 -4.02546639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.246559995 meters 0.01683800338206268 Centerline is valid? [True, True] Translation: X:106.83, Y:-167.27, Z:-4.03 [[ 9.92576128e-01 1.20995769e-01 -1.23552910e-02 1.06827988e+02] [ 1.20990079e-01 -9.92652979e-01 -1.20977922e-03 -1.67265396e+02] [-1.24108946e-02 -2.94069650e-04 -9.99922939e-01 -4.02559893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.306559995 meters 0.017427140668949733 Centerline is valid? [True, True] Translation: X:106.86, Y:-167.26, Z:-4.03 [[ 9.80000323e-01 1.98634235e-01 -1.19919753e-02 1.06858454e+02] [ 1.98623007e-01 -9.80073648e-01 -2.13213132e-03 -1.67264567e+02] [-1.21765332e-02 -2.92392803e-04 -9.99925821e-01 -4.02558236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.366559995 meters 0.017268310278001107 Centerline is valid? [True, True] Translation: X:106.89, Y:-167.26, Z:-4.03 [[ 9.61785777e-01 2.73524591e-01 -1.23457167e-02 1.06888353e+02] [ 2.73505913e-01 -9.61864967e-01 -3.20960506e-03 -1.67257532e+02] [-1.27528182e-02 -2.89674009e-04 -9.99918638e-01 -4.02533752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.426559995 meters 0.014921181641092459 Centerline is valid? [True, True] Translation: X:106.92, Y:-167.25, Z:-4.03 [[ 9.38413168e-01 3.45302902e-01 -1.21092075e-02 1.06918059e+02] [ 3.45277638e-01 -9.38491258e-01 -4.18465852e-03 -1.67250146e+02] [-1.28093601e-02 -2.54099920e-04 -9.99917925e-01 -4.02757339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.486559995 meters 0.013481682830490636 Centerline is valid? [True, True] Translation: X:106.95, Y:-167.24, Z:-4.03 [[ 9.11520037e-01 4.11090857e-01 -1.16416946e-02 1.06947575e+02] [ 4.11059569e-01 -9.11594363e-01 -5.07433023e-03 -1.67242114e+02] [-1.26985139e-02 -1.60076266e-04 -9.99919358e-01 -4.02898391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.546559995 meters 0.012668825204012461 Centerline is valid? [True, True] Translation: X:106.98, Y:-167.23, Z:-4.03 [[ 8.79692100e-01 4.75420186e-01 -1.08377290e-02 1.06976227e+02] [ 4.75385143e-01 -8.79758854e-01 -5.77274572e-03 -1.67233301e+02] [-1.22790679e-02 -7.38565621e-05 -9.99924607e-01 -4.02918159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.606559995 meters 0.012598219588744252 Centerline is valid? [True, True] Translation: X:107.00, Y:-167.22, Z:-4.03 [[ 8.43720195e-01 5.36689495e-01 -1.00308571e-02 1.07003910e+02] [ 5.36651360e-01 -8.43779821e-01 -6.39787325e-03 -1.67221483e+02] [-1.18975062e-02 1.49417631e-05 -9.99929222e-01 -4.02962450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.666559995 meters 0.013718023303355803 Centerline is valid? [True, True] Translation: X:107.03, Y:-167.21, Z:-4.03 [[ 8.05114092e-01 5.93045824e-01 -9.37814270e-03 1.07028016e+02] [ 5.93003664e-01 -8.05168698e-01 -7.07257184e-03 -1.67205519e+02] [-1.17453462e-02 1.32954266e-04 -9.99931012e-01 -4.02974881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.7265599950001 meters 0.014870923748973424 Centerline is valid? [True, True] Translation: X:107.05, Y:-167.19, Z:-4.03 [[ 7.59447034e-01 6.50505911e-01 -9.06992365e-03 1.07052962e+02] [ 6.50456393e-01 -7.59501166e-01 -8.02867720e-03 -1.67190878e+02] [-1.21113196e-02 1.97765267e-04 -9.99926636e-01 -4.02943147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.786559995 meters 0.015366058453918533 Centerline is valid? [True, True] Translation: X:107.08, Y:-167.18, Z:-4.03 [[ 7.09121418e-01 7.05038065e-01 -8.25483890e-03 1.07080595e+02] [ 7.04986265e-01 -7.09169421e-01 -8.54973608e-03 -1.67178906e+02] [-1.18819687e-02 2.43252926e-04 -9.99929377e-01 -4.02983027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.846559995 meters 0.0158116289978127 Centerline is valid? [True, True] Translation: X:107.11, Y:-167.16, Z:-4.03 [[ 6.51973251e-01 7.58205903e-01 -7.39516522e-03 1.07106161e+02] [ 7.58152880e-01 -6.52015146e-01 -8.96996675e-03 -1.67164624e+02] [-1.16228415e-02 2.41512572e-04 -9.99932423e-01 -4.02939822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.906559995 meters 0.01528683769658757 Centerline is valid? [True, True] Translation: X:107.13, Y:-167.15, Z:-4.03 [[ 5.89095409e-01 8.08037005e-01 -6.54199562e-03 1.07131780e+02] [ 8.07983073e-01 -5.89131694e-01 -9.33812719e-03 -1.67148237e+02] [-1.13996493e-02 2.15226136e-04 -9.99934999e-01 -4.02951814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1122.9665599950001 meters 0.014538983736508157 Centerline is valid? [True, True] Translation: X:107.16, Y:-167.13, Z:-4.03 [[ 5.21157801e-01 8.53438036e-01 -6.16971407e-03 1.07157642e+02] [ 8.53373884e-01 -5.21194285e-01 -1.04656842e-02 -1.67131360e+02] [-1.21474327e-02 1.89200125e-04 -9.99926199e-01 -4.02914016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.026559995 meters 0.013920316839121923 Centerline is valid? [True, True] Translation: X:107.18, Y:-167.11, Z:-4.03 [[ 4.48840280e-01 8.93595553e-01 -5.42135570e-03 1.07180046e+02] [ 8.93526598e-01 -4.48872998e-01 -1.11017959e-02 -1.67112631e+02] [-1.23540156e-02 1.38807637e-04 -9.99923677e-01 -4.02849233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.086559995 meters 0.01328480196853944 Centerline is valid? [True, True] Translation: X:107.20, Y:-167.09, Z:-4.03 [[ 3.73370950e-01 9.27672877e-01 -4.14342421e-03 1.07201277e+02] [ 9.27613468e-01 -3.73393932e-01 -1.04988369e-02 -1.67090684e+02] [-1.12866157e-02 7.64646173e-05 -9.99936301e-01 -4.02923866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.146559995 meters 0.01274831864814047 Centerline is valid? [True, True] Translation: X:107.22, Y:-167.07, Z:-4.03 [[ 2.94588504e-01 9.55620072e-01 -2.80931348e-03 1.07218656e+02] [ 9.55576143e-01 -2.94601899e-01 -9.16281055e-03 -1.67067363e+02] [-9.58379476e-03 1.47457116e-05 -9.99954074e-01 -4.03080840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.2065599950001 meters 0.012787999841151265 Centerline is valid? [True, True] Translation: X:107.24, Y:-167.04, Z:-4.03 [[ 2.13696491e-01 9.76898593e-01 -1.71737295e-03 1.07236140e+02] [ 9.76868156e-01 -2.13703390e-01 -7.71146783e-03 -1.67041360e+02] [-7.90033049e-03 -2.97333266e-05 -9.99968792e-01 -4.03212000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.266559995 meters 0.013164182827176352 Centerline is valid? [True, True] Translation: X:107.26, Y:-167.01, Z:-4.03 [[ 1.31439687e-01 9.91323626e-01 -1.03772889e-03 1.07255493e+02] [ 9.91296575e-01 -1.31443766e-01 -7.32373097e-03 -1.67014698e+02] [-7.39659054e-03 -6.60681919e-05 -9.99972643e-01 -4.03228467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.326559995 meters 0.014528695368441515 Centerline is valid? [True, True] Translation: X:107.27, Y:-166.99, Z:-4.03 [[ 4.68128068e-02 9.98903556e-01 -4.97947295e-04 1.07274491e+02] [ 9.98871733e-01 -4.68152906e-02 -7.97433793e-03 -1.66987227e+02] [-7.98890606e-03 -1.24084337e-04 -9.99968081e-01 -4.03010499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.386559995 meters 0.01460006467223633 Centerline is valid? [True, True] Translation: X:107.29, Y:-166.96, Z:-4.03 [[-3.50049557e-02 9.99387129e-01 1.37812981e-04 1.07287182e+02] [ 9.99350069e-01 3.50048447e-02 -8.60811629e-03 -1.66956998e+02] [-8.60766475e-03 -1.63603317e-04 -9.99962940e-01 -4.03076669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.4465599950001 meters 0.015548620690688091 Centerline is valid? [True, True] Translation: X:107.30, Y:-166.93, Z:-4.03 [[-1.16230570e-01 9.93221879e-01 8.68421345e-04 1.07298460e+02] [ 9.93179589e-01 1.16233637e-01 -9.16761839e-03 -1.66926793e+02] [-9.20641893e-03 -2.03059156e-04 -9.99957599e-01 -4.03064273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.506559995 meters 0.016466856854601378 Centerline is valid? [True, True] Translation: X:107.30, Y:-166.90, Z:-4.03 [[-1.95087344e-01 9.80784417e-01 1.68984341e-03 1.07304464e+02] [ 9.80736703e-01 1.95094526e-01 -9.67703252e-03 -1.66895731e+02] [-9.82076189e-03 -2.30575113e-04 -9.99951749e-01 -4.02965087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.566559995 meters 0.016077611941870497 Centerline is valid? [True, True] Translation: X:107.31, Y:-166.86, Z:-4.03 [[-2.71110212e-01 9.62544523e-01 2.70080158e-03 1.07305128e+02] [ 9.62487054e-01 2.71123547e-01 -1.05211005e-02 -1.66863627e+02] [-1.08592786e-02 -2.52891226e-04 -9.99941004e-01 -4.02865895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.626559995 meters 0.015280069737886266 Centerline is valid? [True, True] Translation: X:107.30, Y:-166.83, Z:-4.03 [[-3.42527959e-01 9.39498974e-01 4.03430016e-03 1.07300454e+02] [ 9.39425035e-01 3.42551626e-01 -1.17892996e-02 -1.66833007e+02] [-1.24579909e-02 -2.48242153e-04 -9.99922365e-01 -4.02715017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.6865599950002 meters 0.013773646770505304 Centerline is valid? [True, True] Translation: X:107.29, Y:-166.80, Z:-4.03 [[-4.09456080e-01 9.12320457e-01 4.13550777e-03 1.07290836e+02] [ 9.12270342e-01 4.09476939e-01 -9.56343089e-03 -1.66803649e+02] [-1.04183087e-02 -1.43103841e-04 -9.99945718e-01 -4.02998961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.746559995 meters 0.01363464406292137 Centerline is valid? [True, True] Translation: X:107.28, Y:-166.77, Z:-4.03 [[-4.77766840e-01 8.78475138e-01 4.50323135e-03 1.07282689e+02] [ 8.78433901e-01 4.77788050e-01 -8.51242341e-03 -1.66773600e+02] [-9.62954245e-03 -1.11162552e-04 -9.99953629e-01 -4.03039094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.806559995 meters 0.012901703433933945 Centerline is valid? [True, True] Translation: X:107.27, Y:-166.74, Z:-4.03 [[-5.41449541e-01 8.40719580e-01 4.79400527e-03 1.07272732e+02] [ 8.40685572e-01 5.41470760e-01 -7.56213570e-03 -1.66744735e+02] [-8.95344922e-03 -6.42638425e-05 -9.99959915e-01 -4.03219528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.866559995 meters 0.012787993548889917 Centerline is valid? [True, True] Translation: X:107.26, Y:-166.72, Z:-4.03 [[-6.04257331e-01 7.96770713e-01 5.43224931e-03 1.07262728e+02] [ 7.96737782e-01 6.04281746e-01 -7.24415961e-03 -1.66715318e+02] [-9.05454331e-03 -4.92582845e-05 -9.99959006e-01 -4.03207746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.926559995 meters 0.012846019897064275 Centerline is valid? [True, True] Translation: X:107.25, Y:-166.69, Z:-4.03 [[-6.64107506e-01 7.47603833e-01 7.05194576e-03 1.07250019e+02] [ 7.47560912e-01 6.64144944e-01 -8.01104482e-03 -1.66686839e+02] [-1.06726019e-02 -4.84359922e-05 -9.99943045e-01 -4.03111388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1123.986559995 meters 0.012776383890483505 Centerline is valid? [True, True] Translation: X:107.24, Y:-166.66, Z:-4.03 [[-7.20309948e-01 6.93605820e-01 8.03396230e-03 1.07235413e+02] [ 6.93561966e-01 7.20354749e-01 -7.79966799e-03 -1.66659878e+02] [-1.11971980e-02 -4.61277607e-05 -9.99937308e-01 -4.03050859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.046559995 meters 0.012829048421353746 Centerline is valid? [True, True] Translation: X:107.25, Y:-166.64, Z:-4.03 [[-7.67226051e-01 6.41313383e-01 9.01846269e-03 1.07251005e+02] [ 6.41268429e-01 7.67279052e-01 -7.59330741e-03 -1.66639111e+02] [-1.17893672e-02 -4.25278538e-05 -9.99930502e-01 -4.03042475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.106559995 meters 0.012870434231393883 Centerline is valid? [True, True] Translation: X:107.26, Y:-166.62, Z:-4.03 [[-8.10550764e-01 5.85590014e-01 9.58091933e-03 1.07262718e+02] [ 5.85548525e-01 8.10607386e-01 -6.97072316e-03 -1.66615443e+02] [-1.18483498e-02 -4.00318083e-05 -9.99929805e-01 -4.03082036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.166559995 meters 0.012926724980724726 Centerline is valid? [True, True] Translation: X:107.29, Y:-166.60, Z:-4.03 [[-8.50228149e-01 5.26327563e-01 9.55988668e-03 1.07285926e+02] [ 5.26293716e-01 8.50281891e-01 -5.96903974e-03 -1.66598436e+02] [-1.12702687e-02 -4.37373140e-05 -9.99936488e-01 -4.03100974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.2265599950001 meters 0.013018984108673417 Centerline is valid? [True, True] Translation: X:107.30, Y:-166.57, Z:-4.03 [[-8.86037397e-01 4.63534176e-01 8.59060564e-03 1.07299844e+02] [ 4.63511825e-01 8.86079040e-01 -4.55221972e-03 -1.66573289e+02] [-9.72206502e-03 -5.15896184e-05 -9.99952738e-01 -4.03175858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.286559995 meters 0.013090855768730912 Centerline is valid? [True, True] Translation: X:107.61, Y:-165.99, Z:-5.01 [[-8.47103514e-01 -5.31379998e-01 7.13678137e-03 1.07606892e+02] [ 5.31360814e-01 -8.47133577e-01 -4.51537180e-03 -1.65992685e+02] [ 8.44518539e-03 -3.27813557e-05 9.99964338e-01 -5.00951900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.346559995 meters 0.013193084915677784 Centerline is valid? [True, True] Translation: X:107.26, Y:-166.55, Z:-4.03 [[-8.87978676e-01 4.59823790e-01 7.48016067e-03 1.07260611e+02] [ 4.59807009e-01 8.88010180e-01 -3.92879506e-03 -1.66551909e+02] [-8.44901226e-03 -4.92559345e-05 -9.99964305e-01 -4.03111359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.406559995 meters 0.013026705150844234 Centerline is valid? [True, True] Translation: X:107.27, Y:-166.53, Z:-4.03 [[-9.17901948e-01 3.96743872e-01 7.09330441e-03 1.07271393e+02] [ 3.96731713e-01 9.17929354e-01 -3.10630841e-03 -1.66528714e+02] [-7.74356116e-03 -3.71477304e-05 -9.99970018e-01 -4.03226517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.4665599950001 meters 0.012936583690886324 Centerline is valid? [True, True] Translation: X:107.28, Y:-166.50, Z:-4.03 [[-9.43428834e-01 3.31491063e-01 7.46396492e-03 1.07282308e+02] [ 3.31480426e-01 9.43458358e-01 -2.65580836e-03 -1.66504129e+02] [-7.92231682e-03 -3.14079121e-05 -9.99968618e-01 -4.03225675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.526559995 meters 0.012900815287207252 Centerline is valid? [True, True] Translation: X:107.28, Y:-166.48, Z:-4.03 [[-9.63851085e-01 2.66309179e-01 8.39689533e-03 1.07282304e+02] [ 2.66298968e-01 9.63887660e-01 -2.33205807e-03 -1.66476905e+02] [-8.71471226e-03 -1.16721414e-05 -9.99962026e-01 -4.03151499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.586559995 meters 0.01289346304166097 Centerline is valid? [True, True] Translation: X:107.30, Y:-166.46, Z:-4.03 [[-9.79458077e-01 2.01467291e-01 8.53260738e-03 1.07295884e+02] [ 2.01459872e-01 9.79495242e-01 -1.72912424e-03 -1.66455186e+02] [-8.70601032e-03 2.53732937e-05 -9.99962102e-01 -4.03163219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.646559995 meters 0.013152854500845152 Centerline is valid? [True, True] Translation: X:107.30, Y:-166.43, Z:-4.03 [[-9.90853310e-01 1.34613219e-01 9.43396235e-03 1.07300283e+02] [ 1.34607672e-01 9.90898218e-01 -1.22333992e-03 -1.66431151e+02] [-9.51277420e-03 5.77333026e-05 -9.99954751e-01 -4.03059551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.7065599950001 meters 0.013525414360637382 Centerline is valid? [True, True] Translation: X:107.29, Y:-166.41, Z:-4.03 [[-9.97700578e-01 6.69258960e-02 1.06995721e-02 1.07291501e+02] [ 6.69230924e-02 9.97757944e-01 -6.20249547e-04 -1.66405972e+02] [-1.07170938e-02 9.72251183e-05 -9.99942566e-01 -4.02996544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.766559995 meters 0.014345819554688105 Centerline is valid? [True, True] Translation: X:107.34, Y:-165.73, Z:-5.01 [[-9.93363680e-01 -1.14453731e-01 1.13552845e-02 1.07341745e+02] [ 1.14445584e-01 -9.93428578e-01 -1.36685090e-03 -1.65726824e+02] [ 1.14371053e-02 -5.82178746e-05 9.99934593e-01 -5.01195722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.826559995 meters 0.013459623609380474 Centerline is valid? [True, True] Translation: X:107.24, Y:-166.41, Z:-4.03 [[-9.97922674e-01 6.33888449e-02 1.14974840e-02 1.07242998e+02] [ 6.33859289e-02 9.97988899e-01 -6.18215492e-04 -1.66406787e+02] [-1.15135493e-02 1.11847444e-04 -9.99933711e-01 -4.03089471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.886559995 meters 0.013365085919224157 Centerline is valid? [True, True] Translation: X:107.28, Y:-165.73, Z:-5.01 [[-9.93517499e-01 -1.13069686e-01 1.17569090e-02 1.07281557e+02] [ 1.13060660e-01 -9.93587056e-01 -1.43165314e-03 -1.65726094e+02] [ 1.18433891e-02 -9.31285518e-05 9.99929860e-01 -5.01054966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1124.9465599950001 meters 0.01307882765504535 Centerline is valid? [True, True] Translation: X:107.18, Y:-166.40, Z:-4.03 [[-9.98414392e-01 5.50324236e-02 1.18378250e-02 1.07184474e+02] [ 5.50293268e-02 9.98484566e-01 -5.87415207e-04 -1.66402279e+02] [-1.18522125e-02 6.49437452e-05 -9.99929758e-01 -4.02969946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.006559995 meters 0.012965259730539904 Centerline is valid? [True, True] Translation: X:107.18, Y:-166.37, Z:-4.03 [[-9.99780084e-01 -1.71333459e-02 1.20926776e-02 1.07179684e+02] [-1.71314504e-02 9.99853212e-01 2.60324157e-04 -1.66374862e+02] [-1.20953627e-02 5.31018010e-05 -9.99926847e-01 -4.02930984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.066559995 meters 0.012730273994296474 Centerline is valid? [True, True] Translation: X:107.16, Y:-165.70, Z:-5.01 [[-9.98935683e-01 -4.47924175e-02 1.10063941e-02 1.07164798e+02] [ 4.47883545e-02 -9.98996309e-01 -6.15483823e-04 -1.65697398e+02] [ 1.10229161e-02 -1.21870473e-04 9.99939238e-01 -5.01075852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.126559995 meters 0.0126588368408287 Centerline is valid? [True, True] Translation: X:107.11, Y:-166.37, Z:-4.03 [[-9.99587881e-01 -2.70864554e-02 9.50748121e-03 1.07109070e+02] [-2.70853146e-02 9.99633095e-01 2.48758602e-04 -1.66374407e+02] [-9.51073085e-03 -8.85703495e-06 -9.99954772e-01 -4.03069638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.1865599950002 meters 0.01265672938191826 Centerline is valid? [True, True] Translation: X:107.11, Y:-166.35, Z:-4.03 [[-9.95040502e-01 -9.91982129e-02 7.35626142e-03 1.07108903e+02] [-9.91956342e-02 9.95067693e-01 7.15482633e-04 -1.66346349e+02] [-7.39095268e-03 -1.77748191e-05 -9.99972686e-01 -4.03135713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.246559995 meters 0.012663142328099947 Centerline is valid? [True, True] Translation: X:107.05, Y:-165.68, Z:-5.01 [[-9.99602775e-01 2.74326508e-02 6.46087679e-03 1.07046350e+02] [-2.74323718e-02 -9.99623653e-01 1.31808407e-04 -1.65675234e+02] [ 6.46206111e-03 -4.54811252e-05 9.99979120e-01 -5.00924297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.306559995 meters 0.012709297072035664 Centerline is valid? [True, True] Translation: X:107.03, Y:-166.36, Z:-4.03 [[-9.94691104e-01 -1.02710070e-01 6.34427576e-03 1.07029979e+02] [-1.02708012e-01 9.94711336e-01 6.50290700e-04 -1.66356842e+02] [-6.37751442e-03 -4.76957491e-06 -9.99979664e-01 -4.02994464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.366559995 meters 0.012821919794893152 Centerline is valid? [True, True] Translation: X:106.96, Y:-165.68, Z:-5.01 [[-9.99364574e-01 3.49722316e-02 6.88410658e-03 1.06962793e+02] [-3.49711368e-02 -9.99388284e-01 2.79391184e-04 -1.65680745e+02] [ 6.88966639e-03 3.84686184e-05 9.99976265e-01 -5.01073430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.426559995 meters 0.012986155030822358 Centerline is valid? [True, True] Translation: X:106.95, Y:-166.37, Z:-4.03 [[-9.94353081e-01 -1.05906652e-01 6.76255039e-03 1.06948621e+02] [-1.05904134e-01 9.94376076e-01 7.30464482e-04 -1.66367561e+02] [-6.80187937e-03 1.01575668e-05 -9.99976867e-01 -4.02934299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.486559995 meters 0.0131000650141441 Centerline is valid? [True, True] Translation: X:106.88, Y:-165.69, Z:-5.01 [[-9.99107372e-01 4.15696943e-02 7.51137049e-03 1.06876144e+02] [-4.15682465e-02 -9.99135606e-01 3.48820251e-04 -1.65686032e+02] [ 7.51937806e-03 3.62743836e-05 9.99971728e-01 -5.01315566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.546559995 meters 0.013107709577389525 Centerline is valid? [True, True] Translation: X:106.86, Y:-166.38, Z:-4.03 [[-9.93679927e-01 -1.11940242e-01 8.34172072e-03 1.06862493e+02] [-1.11936226e-01 9.93714940e-01 9.48294043e-04 -1.66379638e+02] [-8.39544477e-03 8.56002293e-06 -9.99964758e-01 -4.02837234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.606559995 meters 0.013164443166981529 Centerline is valid? [True, True] Translation: X:106.85, Y:-166.35, Z:-4.03 [[-9.83074684e-01 -1.82984637e-01 8.98827874e-03 1.06847628e+02] [-1.82976953e-01 9.83115773e-01 1.67690728e-03 -1.66354615e+02] [-9.14336687e-03 3.87724028e-06 -9.99958199e-01 -4.02658858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.666559995 meters 0.013093626574595682 Centerline is valid? [True, True] Translation: X:106.84, Y:-166.33, Z:-4.03 [[-9.67198912e-01 -2.53852047e-01 9.24139117e-03 1.06835560e+02] [-2.53840523e-01 9.67243061e-01 2.41880272e-03 -1.66331816e+02] [-9.55268950e-03 -6.37621223e-06 -9.99954372e-01 -4.02788460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.7265599950001 meters 0.01302712419982665 Centerline is valid? [True, True] Translation: X:106.81, Y:-166.31, Z:-4.03 [[-9.46071182e-01 -3.23844424e-01 8.60857998e-03 1.06805667e+02] [-3.23831182e-01 9.46110347e-01 2.92866445e-03 -1.66313759e+02] [-9.09309825e-03 -1.70015880e-05 -9.99958657e-01 -4.02899398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.786559995 meters 0.01300798766566891 Centerline is valid? [True, True] Translation: X:106.76, Y:-166.30, Z:-4.03 [[-9.19740332e-01 -3.92441593e-01 8.20480026e-03 1.06761635e+02] [-3.92426219e-01 9.19776927e-01 3.47371806e-03 -1.66301528e+02] [-8.90981742e-03 -2.48601454e-05 -9.99960307e-01 -4.02934788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.846559995 meters 0.01319379553021719 Centerline is valid? [True, True] Translation: X:106.70, Y:-166.30, Z:-4.03 [[-8.86372473e-01 -4.62910669e-01 7.58624728e-03 1.06698349e+02] [-4.62894315e-01 8.86404935e-01 3.89153540e-03 -1.66299121e+02] [-8.52592028e-03 -6.22808881e-05 -9.99963652e-01 -4.02917201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.906559995 meters 0.01336777511464408 Centerline is valid? [True, True] Translation: X:106.63, Y:-166.30, Z:-4.03 [[-8.48270258e-01 -5.29509308e-01 7.58040222e-03 1.06633225e+02] [-5.29489107e-01 8.48304123e-01 4.62607274e-03 -1.66303709e+02] [-8.88003504e-03 -8.95804856e-05 -9.99960568e-01 -4.02893129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1125.9665599950001 meters 0.01362627807080542 Centerline is valid? [True, True] Translation: X:106.56, Y:-166.32, Z:-4.03 [[-8.05609008e-01 -5.92405023e-01 7.10034860e-03 1.06558028e+02] [-5.92383134e-01 8.05640291e-01 5.09352187e-03 -1.66321830e+02] [-8.73775485e-03 -1.02739648e-04 -9.99961820e-01 -4.02923396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.026559995 meters 0.0136363557939429 Centerline is valid? [True, True] Translation: X:106.48, Y:-166.35, Z:-4.03 [[-7.58957627e-01 -6.51110995e-01 6.14757880e-03 1.06481726e+02] [-6.51090657e-01 7.58982518e-01 5.14716562e-03 -1.66349085e+02] [-8.01728097e-03 -9.61505112e-05 -9.99967857e-01 -4.02924756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.086559995 meters 0.013615321489877678 Centerline is valid? [True, True] Translation: X:106.40, Y:-166.39, Z:-4.03 [[-7.07712410e-01 -7.06476769e-01 5.80689264e-03 1.06402233e+02] [-7.06454132e-01 7.07736226e-01 5.65627065e-03 -1.66386807e+02] [-8.10577209e-03 -9.92903648e-05 -9.99967143e-01 -4.02844907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.146559995 meters 0.014027088719952143 Centerline is valid? [True, True] Translation: X:106.32, Y:-166.43, Z:-4.03 [[-6.51640991e-01 -7.58505186e-01 5.82255456e-03 1.06319887e+02] [-7.58476491e-01 6.51666993e-01 6.59880524e-03 -1.66434752e+02] [-8.79959462e-03 -1.16218760e-04 -9.99961276e-01 -4.02704909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.2065599950001 meters 0.014192171670539244 Centerline is valid? [True, True] Translation: X:106.24, Y:-166.49, Z:-4.03 [[-5.91442309e-01 -8.06326914e-01 5.73617447e-03 1.06236418e+02] [-8.06291212e-01 5.91470109e-01 7.58891914e-03 -1.66494017e+02] [-9.51192549e-03 -1.36619204e-04 -9.99954751e-01 -4.02567616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.266559995 meters 0.014434723782645003 Centerline is valid? [True, True] Translation: X:106.16, Y:-166.56, Z:-4.02 [[-5.27520316e-01 -8.49524934e-01 5.44999124e-03 1.06156442e+02] [-8.49482638e-01 5.27548445e-01 8.47856444e-03 -1.66560382e+02] [-1.00778863e-02 -1.57057940e-04 -9.99949205e-01 -4.02453910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.326559995 meters 0.014283480707962929 Centerline is valid? [True, True] Translation: X:106.08, Y:-166.64, Z:-4.02 [[-4.61096816e-01 -8.87336176e-01 4.92322161e-03 1.06082308e+02] [-8.87289339e-01 4.61123069e-01 9.11833212e-03 -1.66636554e+02] [-1.03612370e-02 -1.63888139e-04 -9.99946308e-01 -4.02411991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.386559995 meters 0.014080123673961203 Centerline is valid? [True, True] Translation: X:106.01, Y:-166.72, Z:-4.03 [[-3.92688129e-01 -9.19663905e-01 3.78621770e-03 1.06012426e+02] [-9.19624553e-01 3.92706357e-01 8.50881380e-03 -1.66720366e+02] [-9.31212068e-03 -1.40588584e-04 -9.99956631e-01 -4.02545440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.4465599950001 meters 0.0139305997273338 Centerline is valid? [True, True] Translation: X:105.95, Y:-166.81, Z:-4.03 [[-3.23138456e-01 -9.46348852e-01 2.32146057e-03 1.05948608e+02] [-9.46326400e-01 3.23146783e-01 6.51934203e-03 -1.66809763e+02] [-6.91974435e-03 -9.02093027e-05 -9.99976054e-01 -4.02664313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.506559995 meters 0.013320528706370247 Centerline is valid? [True, True] Translation: X:105.89, Y:-166.91, Z:-4.03 [[-2.52224490e-01 -9.67667572e-01 1.50884792e-03 1.05891854e+02] [-9.67651651e-01 2.52228996e-01 5.55126600e-03 -1.66907116e+02] [-5.75235529e-03 -5.98739455e-05 -9.99983453e-01 -4.02712141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.566559995 meters 0.012888520855338436 Centerline is valid? [True, True] Translation: X:105.84, Y:-167.01, Z:-4.03 [[-1.80328257e-01 -9.83606015e-01 9.63132355e-04 1.05841929e+02] [-9.83593090e-01 1.80330825e-01 5.04243688e-03 -1.67011390e+02] [-5.13345370e-03 -3.80364733e-05 -9.99986823e-01 -4.02761540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.626559995 meters 0.012582266393753969 Centerline is valid? [True, True] Translation: X:105.80, Y:-167.12, Z:-4.03 [[-1.07665384e-01 -9.94187116e-01 3.78624318e-04 1.05798358e+02] [-9.94181397e-01 1.07666049e-01 3.37228093e-03 -1.67118653e+02] [-3.39344323e-03 -1.33433332e-05 -9.99994242e-01 -4.02828300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.6865599950002 meters 0.01253751071552214 Centerline is valid? [True, True] Translation: X:105.76, Y:-167.23, Z:-4.03 [[-3.33992957e-02 -9.99442081e-01 1.17825276e-04 1.05764210e+02] [-9.99436364e-01 3.33995032e-02 3.38035505e-03 -1.67229950e+02] [-3.38240440e-03 -4.85738788e-06 -9.99994280e-01 -4.02839743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.746559995 meters 0.012507159787575257 Centerline is valid? [True, True] Translation: X:105.74, Y:-167.35, Z:-4.03 [[ 4.05919872e-02 -9.99175790e-01 -1.79248283e-04 1.05738867e+02] [-9.99166726e-01 -4.05923825e-02 4.25589355e-03 -1.67345310e+02] [-4.25966191e-03 6.34374383e-06 -9.99990928e-01 -4.02752772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.806559995 meters 0.012648292697987468 Centerline is valid? [True, True] Translation: X:105.72, Y:-167.46, Z:-4.03 [[ 1.14762641e-01 -9.93392797e-01 -5.35455634e-04 1.05722190e+02] [-9.93382725e-01 -1.14763888e-01 4.47340425e-03 -1.67463927e+02] [-4.50529854e-03 1.85326909e-05 -9.99989851e-01 -4.02729790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.866559995 meters 0.012747494558424817 Centerline is valid? [True, True] Translation: X:105.71, Y:-167.59, Z:-4.03 [[ 1.89062450e-01 -9.81964705e-01 -8.41807268e-04 1.05713963e+02] [-9.81955563e-01 -1.89064323e-01 4.23719454e-03 -1.67585261e+02] [-4.31993120e-03 2.55229481e-05 -9.99990669e-01 -4.02679575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.926559995 meters 0.012759758527206403 Centerline is valid? [True, True] Translation: X:105.71, Y:-167.71, Z:-4.03 [[ 2.63213736e-01 -9.64736850e-01 -1.15752517e-03 1.05713518e+02] [-9.64727995e-01 -2.63216280e-01 4.13339062e-03 -1.67705097e+02] [-4.29231371e-03 2.87317475e-05 -9.99990788e-01 -4.02694675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1126.986559995 meters 0.012903004374369028 Centerline is valid? [True, True] Translation: X:105.72, Y:-167.83, Z:-4.03 [[ 3.36240964e-01 -9.41774827e-01 -1.47978024e-03 1.05723463e+02] [-9.41766101e-01 -3.36244219e-01 4.05419364e-03 -1.67825457e+02] [-4.31570507e-03 3.04208834e-05 -9.99990687e-01 -4.02680909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.046559995 meters 0.0128344617229663 Centerline is valid? [True, True] Translation: X:105.74, Y:-167.94, Z:-4.03 [[ 4.08054381e-01 -9.12956311e-01 -1.54832270e-03 1.05740580e+02] [-9.12949963e-01 -4.08057317e-01 3.40450882e-03 -1.67943218e+02] [-3.73997222e-03 2.43164137e-05 -9.99993006e-01 -4.02690234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.106559995 meters 0.01274534925903939 Centerline is valid? [True, True] Translation: X:105.77, Y:-168.06, Z:-4.03 [[ 4.78051752e-01 -8.78330163e-01 -1.62670487e-03 1.05765260e+02] [-8.78325201e-01 -4.78054520e-01 2.95253966e-03 -1.68057201e+02] [-3.37095826e-03 1.73091246e-05 -9.99994318e-01 -4.02751669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.166559995 meters 0.012563847418392279 Centerline is valid? [True, True] Translation: X:105.80, Y:-168.17, Z:-4.03 [[ 5.46735680e-01 -8.37303929e-01 -1.49230292e-03 1.05797968e+02] [-8.37300834e-01 -5.46737717e-01 2.27657403e-03 -1.68173853e+02] [-2.72208267e-03 4.82222574e-06 -9.99996295e-01 -4.02751805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.2265599950001 meters 0.012587893627426324 Centerline is valid? [True, True] Translation: X:105.84, Y:-168.28, Z:-4.03 [[ 6.10913314e-01 -7.91696211e-01 -1.42542921e-03 1.05836407e+02] [-7.91694052e-01 -6.10914977e-01 1.84899348e-03 -1.68280551e+02] [-2.33465718e-03 -1.07091022e-06 -9.99997275e-01 -4.02697053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.286559995 meters 0.01256482206223802 Centerline is valid? [True, True] Translation: X:105.88, Y:-168.38, Z:-4.03 [[ 6.70958993e-01 -7.41492208e-01 -1.82631336e-03 1.05881671e+02] [-7.41489434e-01 -6.70961478e-01 2.02825141e-03 -1.68382000e+02] [-2.72931853e-03 -6.68146531e-06 -9.99996275e-01 -4.02666686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.346559995 meters 0.012620911760005656 Centerline is valid? [True, True] Translation: X:105.93, Y:-168.48, Z:-4.03 [[ 7.26953261e-01 -6.86682673e-01 -2.42130251e-03 1.05931996e+02] [-6.86678791e-01 -7.26957294e-01 2.30887608e-03 -1.68478918e+02] [-3.34564871e-03 -1.57879176e-05 -9.99994403e-01 -4.02585720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.406559995 meters 0.012792387818139218 Centerline is valid? [True, True] Translation: X:105.95, Y:-168.51, Z:-4.03 [[ 7.79520682e-01 -6.26372210e-01 -2.31532927e-03 1.05950007e+02] [-6.26369372e-01 -7.79524121e-01 1.88542276e-03 -1.68509387e+02] [-2.98583143e-03 -1.94746926e-05 -9.99995542e-01 -4.02563721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.4665599950001 meters 0.012958395853917193 Centerline is valid? [True, True] Translation: X:105.97, Y:-168.54, Z:-4.03 [[ 8.27416293e-01 -5.61580882e-01 -3.03159850e-03 1.05969262e+02] [-5.61576967e-01 -8.27421846e-01 2.09705516e-03 -1.68541018e+02] [-3.68607692e-03 -3.26617186e-05 -9.99993206e-01 -4.02569406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.526559995 meters 0.013070416151097988 Centerline is valid? [True, True] Translation: X:105.99, Y:-168.57, Z:-4.02 [[ 8.68868791e-01 -4.95013940e-01 -5.31256349e-03 1.05991502e+02] [-4.95004295e-01 -8.68885031e-01 3.09061045e-03 -1.68567941e+02] [-6.14590215e-03 -5.55932255e-05 -9.99981112e-01 -4.02369111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.586559995 meters 0.013162055764219544 Centerline is valid? [True, True] Translation: X:106.02, Y:-168.59, Z:-4.02 [[ 9.04630795e-01 -4.26136390e-01 -7.13453120e-03 1.06018196e+02] [-4.26122556e-01 -9.04658926e-01 3.43432580e-03 -1.68591550e+02] [-7.91780853e-03 -6.66122055e-05 -9.99968652e-01 -4.02231636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.646559995 meters 0.013099733130843134 Centerline is valid? [True, True] Translation: X:106.05, Y:-168.61, Z:-4.02 [[ 9.34640003e-01 -3.55510019e-01 -7.79041903e-03 1.06046919e+02] [-3.55497151e-01 -9.34672468e-01 3.02533006e-03 -1.68611530e+02] [-8.35702533e-03 -5.81227270e-05 -9.99965078e-01 -4.02238046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.7065599950001 meters 0.012843945630905336 Centerline is valid? [True, True] Translation: X:106.08, Y:-168.63, Z:-4.02 [[ 9.57951089e-01 -2.86857243e-01 -6.52944673e-03 1.06078351e+02] [-2.86850520e-01 -9.57973341e-01 1.96389459e-03 -1.68626491e+02] [-6.81839328e-03 -8.33976981e-06 -9.99976755e-01 -4.02435663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.766559995 meters 0.012967389942289829 Centerline is valid? [True, True] Translation: X:106.11, Y:-168.64, Z:-4.03 [[ 9.76323116e-01 -2.16265358e-01 -4.74016136e-03 1.06110762e+02] [-2.16262907e-01 -9.76334622e-01 1.02964460e-03 -1.68638181e+02] [-4.85066011e-03 1.98552551e-05 -9.99988235e-01 -4.02609855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.826559995 meters 0.013713203689692722 Centerline is valid? [True, True] Translation: X:106.14, Y:-168.65, Z:-4.03 [[ 9.89222004e-01 -1.46387102e-01 -3.26247561e-03 1.06139415e+02] [-1.46386431e-01 -9.89227383e-01 4.44904586e-04 -1.68645803e+02] [-3.29245851e-03 3.74727540e-05 -9.99994579e-01 -4.02784371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.886559995 meters 0.014417119318677547 Centerline is valid? [True, True] Translation: X:106.17, Y:-168.65, Z:-4.03 [[ 9.97388232e-01 -7.21433431e-02 -3.47174226e-03 1.06168188e+02] [-7.21430880e-02 -9.97394273e-01 1.98811050e-04 -1.68654577e+02] [-3.47703874e-03 5.21704052e-05 -9.99993954e-01 -4.02749368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1127.9465599950001 meters 0.014975594029126285 Centerline is valid? [True, True] Translation: X:106.20, Y:-168.66, Z:-4.03 [[ 9.99984096e-01 3.56640835e-03 -4.36915472e-03 1.06197391e+02] [ 3.56603822e-03 -9.99993637e-01 -9.25020977e-05 -1.68661728e+02] [-4.36945682e-03 7.69200538e-05 -9.99990451e-01 -4.02648077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.006559995 meters 0.014938030119528179 Centerline is valid? [True, True] Translation: X:106.23, Y:-168.67, Z:-4.03 [[ 9.96716126e-01 8.07634377e-02 -5.85074002e-03 1.06227550e+02] [ 8.07614003e-02 -9.96733292e-01 -5.84053941e-04 -1.68670754e+02] [-5.87879756e-03 1.09622025e-04 -9.99982714e-01 -4.02536522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.066559995 meters 0.015293974742376436 Centerline is valid? [True, True] Translation: X:106.26, Y:-168.68, Z:-4.02 [[ 9.87217062e-01 1.59266119e-01 -6.06424434e-03 1.06256381e+02] [ 1.59262427e-01 -9.87235682e-01 -1.09010426e-03 -1.68675323e+02] [-6.16045507e-03 1.10363257e-04 -9.99981018e-01 -4.02440890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.126559995 meters 0.014670779784434103 Centerline is valid? [True, True] Translation: X:106.29, Y:-168.68, Z:-4.02 [[ 9.71320272e-01 2.37651470e-01 -7.66217028e-03 1.06287406e+02] [ 2.37643026e-01 -9.71350484e-01 -2.00748220e-03 -1.68680844e+02] [-7.91973390e-03 1.29046821e-04 -9.99968630e-01 -4.02356247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.1865599950002 meters 0.014553174349281517 Centerline is valid? [True, True] Translation: X:106.32, Y:-168.68, Z:-4.02 [[ 9.49181165e-01 3.14633477e-01 -7.80331611e-03 1.06317301e+02] [ 3.14621800e-01 -9.49213232e-01 -2.71340272e-03 -1.68680694e+02] [-8.26073824e-03 1.20417395e-04 -9.99965872e-01 -4.02297422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.246559995 meters 0.013781747775704786 Centerline is valid? [True, True] Translation: X:106.35, Y:-168.68, Z:-4.02 [[ 9.20356009e-01 3.91019528e-01 -6.96745126e-03 1.06348923e+02] [ 3.91007618e-01 -9.20382378e-01 -3.05311459e-03 -1.68681121e+02] [-7.60654679e-03 8.56258362e-05 -9.99971066e-01 -4.02373119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.306559995 meters 0.013793273322993245 Centerline is valid? [True, True] Translation: X:106.38, Y:-168.68, Z:-4.02 [[ 8.85833168e-01 4.63963609e-01 -6.11284764e-03 1.06379272e+02] [ 4.63952080e-01 -8.85854257e-01 -3.27136263e-03 -1.68676068e+02] [-6.93288532e-03 6.18131408e-05 -9.99975965e-01 -4.02371618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.366559995 meters 0.01318578507427902 Centerline is valid? [True, True] Translation: X:106.41, Y:-168.67, Z:-4.02 [[ 8.45019645e-01 5.34704591e-01 -5.72721437e-03 1.06410561e+02] [ 5.34692003e-01 -8.45039052e-01 -3.66912158e-03 -1.68669761e+02] [-6.80161595e-03 3.81840876e-05 -9.99976868e-01 -4.02466664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.426559995 meters 0.012891397958586008 Centerline is valid? [True, True] Translation: X:106.44, Y:-168.66, Z:-4.03 [[ 7.97973983e-01 6.02670407e-01 -5.08947902e-03 1.06443171e+02] [ 6.02658083e-01 -7.97990213e-01 -3.85425938e-03 -1.68663569e+02] [-6.38420252e-03 8.38304218e-06 -9.99979621e-01 -4.02577558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.486559995 meters 0.012922167101684605 Centerline is valid? [True, True] Translation: X:106.47, Y:-168.65, Z:-4.03 [[ 7.46330803e-01 6.65560218e-01 -4.46414464e-03 1.06473114e+02] [ 6.65548394e-01 -7.46344154e-01 -3.96717338e-03 -1.68653832e+02] [-5.97218103e-03 -1.02806034e-05 -9.99982166e-01 -4.02555784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.546559995 meters 0.013025238904419471 Centerline is valid? [True, True] Translation: X:106.50, Y:-168.64, Z:-4.03 [[ 6.89289024e-01 7.24477275e-01 -3.64960191e-03 1.06502843e+02] [ 7.24467337e-01 -6.89298686e-01 -3.79461132e-03 -1.68641514e+02] [-5.26477546e-03 -2.84334427e-05 -9.99986141e-01 -4.02635882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.606559995 meters 0.013147778458799053 Centerline is valid? [True, True] Translation: X:106.53, Y:-168.63, Z:-4.03 [[ 6.29453784e-01 7.77031205e-01 -3.23108612e-03 1.06529819e+02] [ 7.77021244e-01 -6.29462076e-01 -3.93461585e-03 -1.68625469e+02] [-5.09116547e-03 -3.39637243e-05 -9.99987039e-01 -4.02636159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.666559995 meters 0.013276665918584883 Centerline is valid? [True, True] Translation: X:106.56, Y:-168.61, Z:-4.03 [[ 5.65551042e-01 8.24706407e-01 -3.37054501e-03 1.06557229e+02] [ 8.24692257e-01 -5.65561084e-01 -4.83135122e-03 -1.68607978e+02] [-5.89069539e-03 -4.72866553e-05 -9.99982649e-01 -4.02546718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.7265599950001 meters 0.013437654796352458 Centerline is valid? [True, True] Translation: X:106.58, Y:-168.59, Z:-4.02 [[ 4.97977501e-01 8.67183055e-01 -3.45782465e-03 1.06582062e+02] [ 8.67163042e-01 -4.97989502e-01 -5.89183940e-03 -1.68588700e+02] [-6.83126367e-03 -6.44942756e-05 -9.99976665e-01 -4.02447806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.786559995 meters 0.013778235755633217 Centerline is valid? [True, True] Translation: X:106.60, Y:-168.57, Z:-4.02 [[ 4.27714420e-01 9.03908069e-01 -3.25232235e-03 1.06603413e+02] [ 9.03883292e-01 -4.27726779e-01 -6.69304677e-03 -1.68567851e+02] [-7.44100434e-03 -7.70072169e-05 -9.99972312e-01 -4.02349213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.846559995 meters 0.014459978511315363 Centerline is valid? [True, True] Translation: X:106.62, Y:-168.54, Z:-4.02 [[ 3.52282015e-01 9.35886481e-01 -3.72528639e-03 1.06624849e+02] [ 9.35838327e-01 -3.52301683e-01 -9.49473398e-03 -1.68544639e+02] [-1.01984178e-02 -1.41441764e-04 -9.99947985e-01 -4.02062998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.906559995 meters 0.015070513485897578 Centerline is valid? [True, True] Translation: X:106.64, Y:-168.52, Z:-4.02 [[ 2.75590926e-01 9.61268421e-01 -3.55862188e-03 1.06641998e+02] [ 9.61197369e-01 -2.75613829e-01 -1.16891390e-02 -1.68518543e+02] [-1.22172056e-02 -1.99117343e-04 -9.99925347e-01 -4.01889604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1128.9665599950001 meters 0.014924848706102403 Centerline is valid? [True, True] Translation: X:106.66, Y:-168.49, Z:-4.02 [[ 1.99575770e-01 9.79879564e-01 -2.35626703e-03 1.06655454e+02] [ 9.79821345e-01 -1.99589601e-01 -1.06828401e-02 -1.68491418e+02] [-1.09381831e-02 -1.76684687e-04 -9.99940161e-01 -4.01989689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.026559995 meters 0.01472701693323158 Centerline is valid? [True, True] Translation: X:106.67, Y:-168.46, Z:-4.02 [[ 1.23780705e-01 9.92308784e-01 -1.27018240e-03 1.06665246e+02] [ 9.92267072e-01 -1.23787150e-01 -9.09943587e-03 -1.68463018e+02] [-9.18668241e-03 -1.34025576e-04 -9.99957793e-01 -4.02141898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.086559995 meters 0.013684564541383226 Centerline is valid? [True, True] Translation: X:106.67, Y:-168.43, Z:-4.02 [[ 5.06166082e-02 9.98718055e-01 -4.54047437e-04 1.06670241e+02] [ 9.98689709e-01 -5.06185926e-02 -7.52489014e-03 -1.68433912e+02] [-7.53822688e-03 -7.25680867e-05 -9.99971585e-01 -4.02368943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.146559995 meters 0.013235789563637216 Centerline is valid? [True, True] Translation: X:106.67, Y:-168.40, Z:-4.02 [[-2.37536486e-02 9.99717835e-01 1.18645826e-04 1.06672900e+02] [ 9.99696543e-01 2.37539170e-02 -6.52482156e-03 -1.68404649e+02] [-6.52579879e-03 -3.63784960e-05 -9.99978706e-01 -4.02402069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.2065599950001 meters 0.012987039614349436 Centerline is valid? [True, True] Translation: X:106.67, Y:-168.38, Z:-4.02 [[-9.80203841e-02 9.95184207e-01 6.31798510e-04 1.06672097e+02] [ 9.95162836e-01 9.80224197e-02 -6.52188716e-03 -1.68376204e+02] [-6.55240951e-03 -1.05354873e-05 -9.99978533e-01 -4.02406020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.266559995 meters 0.01320751519435007 Centerline is valid? [True, True] Translation: X:106.67, Y:-168.35, Z:-4.02 [[-1.71274585e-01 9.85222183e-01 1.50529335e-03 1.06666473e+02] [ 9.85185391e-01 1.71281198e-01 -8.51449430e-03 -1.68348638e+02] [-8.64649711e-03 2.46765389e-05 -9.99962618e-01 -4.02251390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.326559995 meters 0.013267606763768465 Centerline is valid? [True, True] Translation: X:106.66, Y:-168.32, Z:-4.02 [[-2.47117355e-01 9.68983101e-01 2.18255598e-03 1.06660928e+02] [ 9.68946444e-01 2.47126991e-01 -8.42842977e-03 -1.68321508e+02] [-8.70637451e-03 3.19685806e-05 -9.99962098e-01 -4.02193221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.386559995 meters 0.012972832371037912 Centerline is valid? [True, True] Translation: X:106.66, Y:-168.29, Z:-4.02 [[-3.23488317e-01 9.46227438e-01 2.99062561e-03 1.06661586e+02] [ 9.46187624e-01 3.23502140e-01 -8.68018354e-03 -1.68292433e+02] [-9.18090162e-03 2.17549747e-05 -9.99957854e-01 -4.02255194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.4465599950001 meters 0.013021482190257694 Centerline is valid? [True, True] Translation: X:106.66, Y:-168.26, Z:-4.02 [[-3.99339337e-01 9.16792642e-01 4.39830642e-03 1.06658881e+02] [ 9.16736860e-01 3.99363557e-01 -1.01132740e-02 -1.68263197e+02] [-1.10282985e-02 -6.53852552e-06 -9.99939187e-01 -4.02107470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.506559995 meters 0.013122719631859191 Centerline is valid? [True, True] Translation: X:106.65, Y:-168.23, Z:-4.02 [[-4.71978668e-01 8.81590464e-01 5.86430783e-03 1.06653521e+02] [ 8.81521458e-01 4.72015097e-01 -1.10303086e-02 -1.68234984e+02] [-1.24922567e-02 -3.65572041e-05 -9.99921968e-01 -4.01945596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.566559995 meters 0.013110873483961876 Centerline is valid? [True, True] Translation: X:106.65, Y:-168.21, Z:-4.02 [[-5.42542400e-01 8.40007420e-01 5.93959911e-03 1.06648243e+02] [ 8.39955639e-01 5.42574907e-01 -9.32716031e-03 -1.68205804e+02] [-1.10575613e-02 -7.13801741e-05 -9.99938861e-01 -4.02076647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.626559995 meters 0.013371751020757291 Centerline is valid? [True, True] Translation: X:106.64, Y:-168.18, Z:-4.02 [[-6.08520904e-01 7.93516077e-01 5.87757666e-03 1.06641183e+02] [ 7.93477690e-01 6.08549282e-01 -7.80553719e-03 -1.68175522e+02] [-9.77061430e-03 -8.61065925e-05 -9.99952263e-01 -4.02171056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.6865599950002 meters 0.01520287350298774 Centerline is valid? [True, True] Translation: X:106.64, Y:-168.14, Z:-4.02 [[-6.71307412e-01 7.41158103e-01 5.56996632e-03 1.06635042e+02] [ 7.41131317e-01 6.71330512e-01 -6.30197114e-03 -1.68144071e+02] [-8.41004531e-03 -1.02483463e-04 -9.99964630e-01 -4.02008344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.746559995 meters 0.01382928974677044 Centerline is valid? [True, True] Translation: X:106.62, Y:-168.12, Z:-4.02 [[-7.28048218e-01 6.85500603e-01 5.89191689e-03 1.06618916e+02] [ 6.85476938e-01 7.28072051e-01 -5.69701063e-03 -1.68118754e+02] [-8.19504424e-03 -1.08925286e-04 -9.99966414e-01 -4.02345698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.806559995 meters 0.013733305648768283 Centerline is valid? [True, True] Translation: X:107.09, Y:-167.64, Z:-5.02 [[-6.60380201e-01 -7.50911679e-01 5.44432739e-03 1.07091789e+02] [ 7.50887450e-01 -6.60402634e-01 -6.03310021e-03 -1.67636037e+02] [ 8.12577356e-03 1.03937181e-04 9.99966980e-01 -5.01740529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.866559995 meters 0.013737580881033983 Centerline is valid? [True, True] Translation: X:107.05, Y:-167.59, Z:-5.02 [[-6.61579635e-01 -7.49846708e-01 6.50397161e-03 1.07053636e+02] [ 7.49812232e-01 -6.61611594e-01 -7.19137870e-03 -1.67594950e+02] [ 9.69553467e-03 1.19087779e-04 9.99952990e-01 -5.01916614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.926559995 meters 0.013299335800200263 Centerline is valid? [True, True] Translation: X:107.02, Y:-167.55, Z:-5.02 [[-6.63022971e-01 -7.48563593e-01 7.28612045e-03 1.07015909e+02] [ 7.48520305e-01 -6.63062994e-01 -8.05107683e-03 -1.67551847e+02] [ 1.08578998e-02 1.15760225e-04 9.99941045e-01 -5.01946236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1129.986559995 meters 0.012966803364009528 Centerline is valid? [True, True] Translation: X:106.98, Y:-167.51, Z:-5.02 [[-6.65305215e-01 -7.46537424e-01 7.13063058e-03 1.06978580e+02] [ 7.46495900e-01 -6.65343421e-01 -7.87429878e-03 -1.67507999e+02] [ 1.06227769e-02 8.41744508e-05 9.99943573e-01 -5.01906556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.046559995 meters 0.012616404078066948 Centerline is valid? [True, True] Translation: X:106.94, Y:-167.46, Z:-5.02 [[-6.66673114e-01 -7.45315489e-01 7.19583783e-03 1.06940950e+02] [ 7.45273180e-01 -6.66711944e-01 -7.94173557e-03 -1.67463530e+02] [ 1.07166496e-02 6.83233501e-05 9.99942573e-01 -5.01731528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.106559995 meters 0.01258321212787977 Centerline is valid? [True, True] Translation: X:106.90, Y:-167.42, Z:-5.02 [[-6.67910510e-01 -7.44208106e-01 7.06017406e-03 1.06902890e+02] [ 7.44167364e-01 -6.67947821e-01 -7.78730888e-03 -1.67420081e+02] [ 1.05112063e-02 5.27256828e-05 9.99944754e-01 -5.01753423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.166559995 meters 0.012613023935620943 Centerline is valid? [True, True] Translation: X:106.87, Y:-167.38, Z:-5.02 [[-6.68669865e-01 -7.43520524e-01 7.60536952e-03 1.06865946e+02] [ 7.43473265e-01 -6.68713113e-01 -8.38309373e-03 -1.67378013e+02] [ 1.13188126e-02 4.88667510e-05 9.99935939e-01 -5.01883584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.2265599950001 meters 0.012601191210246648 Centerline is valid? [True, True] Translation: X:106.83, Y:-167.34, Z:-5.02 [[-6.68254148e-01 -7.43891903e-01 7.82498009e-03 1.06827702e+02] [ 7.43841962e-01 -6.68299958e-01 -8.61983435e-03 -1.67335585e+02] [ 1.16416588e-02 6.03084871e-05 9.99932232e-01 -5.01859010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.286559995 meters 0.012496400832926476 Centerline is valid? [True, True] Translation: X:106.79, Y:-167.29, Z:-5.02 [[-6.67329469e-01 -7.44719477e-01 8.01749338e-03 1.06788337e+02] [ 7.44667169e-01 -6.67377625e-01 -8.82683182e-03 -1.67292974e+02] [ 1.19242093e-02 7.99591051e-05 9.99928901e-01 -5.01763869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.346559995 meters 0.012765879289829129 Centerline is valid? [True, True] Translation: X:106.75, Y:-167.25, Z:-5.02 [[-6.65766248e-01 -7.46118386e-01 7.91567185e-03 1.06747880e+02] [ 7.46067555e-01 -6.65813294e-01 -8.70976885e-03 -1.67250867e+02] [ 1.17688782e-02 1.06955814e-04 9.99930739e-01 -5.01739424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.406559995 meters 0.013308712207275445 Centerline is valid? [True, True] Translation: X:106.71, Y:-167.21, Z:-5.02 [[-6.63317306e-01 -7.48300054e-01 7.56182646e-03 1.06706711e+02] [ 7.48253860e-01 -6.63360391e-01 -8.31575102e-03 -1.67209670e+02] [ 1.12388931e-02 1.42184276e-04 9.99936832e-01 -5.01708804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.4665599950001 meters 0.01443814197586423 Centerline is valid? [True, True] Translation: X:106.66, Y:-167.17, Z:-5.02 [[-6.59646692e-01 -7.51534777e-01 7.85622351e-03 1.06664017e+02] [ 7.51485201e-01 -6.59693441e-01 -8.63463833e-03 -1.67169596e+02] [ 1.16719301e-02 2.08025089e-04 9.99931859e-01 -5.01702592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.526559995 meters 0.01486593212896086 Centerline is valid? [True, True] Translation: X:106.62, Y:-167.13, Z:-5.02 [[-6.58009641e-01 -7.52966608e-01 8.03736614e-03 1.06623681e+02] [ 7.52914886e-01 -6.58058682e-01 -8.82869668e-03 -1.67127553e+02] [ 1.19367724e-02 2.42085075e-04 9.99928725e-01 -5.01664041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.586559995 meters 0.015250905104901766 Centerline is valid? [True, True] Translation: X:106.59, Y:-167.09, Z:-5.02 [[-6.58046531e-01 -7.52932102e-01 8.24697553e-03 1.06585263e+02] [ 7.52877719e-01 -6.58098158e-01 -9.05290225e-03 -1.67086862e+02] [ 1.22435401e-02 2.51733208e-04 9.99925013e-01 -5.01707619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.646559995 meters 0.015734900336899307 Centerline is valid? [True, True] Translation: X:106.55, Y:-167.05, Z:-5.02 [[-6.58357314e-01 -7.52659096e-01 8.36255384e-03 1.06546975e+02] [ 7.52603211e-01 -6.58410374e-01 -9.17533809e-03 -1.67046001e+02] [ 1.24118939e-02 2.53033925e-04 9.99922938e-01 -5.01760954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.7065599950001 meters 0.01566200549849404 Centerline is valid? [True, True] Translation: X:106.51, Y:-167.00, Z:-5.02 [[-6.59118100e-01 -7.51988190e-01 8.78026530e-03 1.06509065e+02] [ 7.51926598e-01 -6.59176529e-01 -9.62778499e-03 -1.67002718e+02] [ 1.30277254e-02 2.56267670e-04 9.99915103e-01 -5.01717786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.766559995 meters 0.01567741475056482 Centerline is valid? [True, True] Translation: X:106.47, Y:-166.96, Z:-5.02 [[-6.59189100e-01 -7.51920851e-01 9.20672511e-03 1.06469859e+02] [ 7.51853209e-01 -6.59253335e-01 -1.00892347e-02 -1.66960336e+02] [ 1.36558702e-02 2.71392255e-04 9.99906718e-01 -5.01734200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.826559995 meters 0.014551017982898217 Centerline is valid? [True, True] Translation: X:106.43, Y:-166.92, Z:-5.02 [[-6.60408082e-01 -7.50833448e-01 1.05023327e-02 1.06433460e+02] [ 7.50745404e-01 -6.60491521e-01 -1.15016446e-02 -1.66915631e+02] [ 1.55725212e-02 2.88798987e-04 9.99878699e-01 -5.01609702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.886559995 meters 0.014506771717840835 Centerline is valid? [True, True] Translation: X:106.40, Y:-166.87, Z:-5.02 [[-6.61819349e-01 -7.49590599e-01 1.04442946e-02 1.06395414e+02] [ 7.49503483e-01 -6.61901703e-01 -1.14308480e-02 -1.66873011e+02] [ 1.54815526e-02 2.62878769e-04 9.99880119e-01 -5.01591342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1130.9465599950001 meters 0.013848428514486151 Centerline is valid? [True, True] Translation: X:106.36, Y:-166.83, Z:-5.01 [[-6.63401698e-01 -7.48197861e-01 9.90691597e-03 1.06357335e+02] [ 7.48119415e-01 -6.63475629e-01 -1.08365335e-02 -1.66828670e+02] [ 1.46808685e-02 2.22581457e-04 9.99892206e-01 -5.01442429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.006559995 meters 0.013411575202664179 Centerline is valid? [True, True] Translation: X:106.32, Y:-166.78, Z:-5.01 [[-6.65702609e-01 -7.46155160e-01 9.61835985e-03 1.06319485e+02] [ 7.46081089e-01 -6.65772067e-01 -1.05149194e-02 -1.66784379e+02] [ 1.42493967e-02 1.76267075e-04 9.99898457e-01 -5.01343514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.066559995 meters 0.013172488944433843 Centerline is valid? [True, True] Translation: X:106.28, Y:-166.74, Z:-5.01 [[-6.66219781e-01 -7.45691455e-01 9.77024679e-03 1.06281035e+02] [ 7.45615065e-01 -6.66291396e-01 -1.06747767e-02 -1.66740821e+02] [ 1.44699212e-02 1.73095778e-04 9.99895290e-01 -5.01279257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.126559995 meters 0.013810060639509614 Centerline is valid? [True, True] Translation: X:106.24, Y:-166.70, Z:-5.01 [[-6.65466517e-01 -7.46361060e-01 9.97413107e-03 1.06240208e+02] [ 7.46281621e-01 -6.65541231e-01 -1.08909352e-02 -1.66700477e+02] [ 1.47667654e-02 1.95957969e-04 9.99890946e-01 -5.01395856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.1865599950002 meters 0.013786322157900207 Centerline is valid? [True, True] Translation: X:106.20, Y:-166.66, Z:-5.01 [[-6.64486627e-01 -7.47229120e-01 1.03036365e-02 1.06200285e+02] [ 7.47144548e-01 -6.64566468e-01 -1.12442838e-02 -1.66658251e+02] [ 1.52495076e-02 2.26629587e-04 9.99883694e-01 -5.01333397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.246559995 meters 0.014240769175545594 Centerline is valid? [True, True] Translation: X:106.16, Y:-166.62, Z:-5.01 [[-6.63674298e-01 -7.47956657e-01 9.86234641e-03 1.06160275e+02] [ 7.47879332e-01 -6.63747530e-01 -1.07573890e-02 -1.66618245e+02] [ 1.45921688e-02 2.36442459e-04 9.99893501e-01 -5.01375328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.306559995 meters 0.014915328957264743 Centerline is valid? [True, True] Translation: X:106.12, Y:-166.58, Z:-5.01 [[-6.63109596e-01 -7.48461836e-01 9.51542289e-03 1.06120694e+02] [ 7.48390003e-01 -6.63177820e-01 -1.03721907e-02 -1.66578674e+02] [ 1.40736063e-02 2.43348145e-04 9.99900932e-01 -5.01347894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.366559995 meters 0.01475817749566421 Centerline is valid? [True, True] Translation: X:106.08, Y:-166.54, Z:-5.01 [[-6.62597132e-01 -7.48919749e-01 9.17881210e-03 1.06081107e+02] [ 7.48853039e-01 -6.62660658e-01 -9.99894292e-03 -1.66537190e+02] [ 1.35708435e-02 2.48310435e-04 9.99907881e-01 -5.01236986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.426559995 meters 0.014503908852642267 Centerline is valid? [True, True] Translation: X:106.04, Y:-166.50, Z:-5.01 [[-6.62822623e-01 -7.48716558e-01 9.47024946e-03 1.06041244e+02] [ 7.48645606e-01 -6.62890225e-01 -1.03105349e-02 -1.66495116e+02] [ 1.39974040e-02 2.55804842e-04 9.99901999e-01 -5.01237163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.486559995 meters 0.014797878896132089 Centerline is valid? [True, True] Translation: X:106.00, Y:-166.45, Z:-5.01 [[-6.64406756e-01 -7.47317571e-01 8.95041391e-03 1.06000574e+02] [ 7.47254139e-01 -6.64467005e-01 -9.73913941e-03 -1.66454439e+02] [ 1.32254847e-02 2.17483822e-04 9.99912516e-01 -5.01329886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.546559995 meters 0.013811091259190512 Centerline is valid? [True, True] Translation: X:105.96, Y:-166.41, Z:-5.01 [[-6.66407735e-01 -7.45541155e-01 8.31365801e-03 1.05962650e+02] [ 7.45486352e-01 -6.66459569e-01 -9.04116551e-03 -1.66410753e+02] [ 1.22812779e-02 1.72615942e-04 9.99924567e-01 -5.01181260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.606559995 meters 0.013114998567873126 Centerline is valid? [True, True] Translation: X:105.92, Y:-166.37, Z:-5.01 [[-6.69553738e-01 -7.42726619e-01 7.41358512e-03 1.05924597e+02] [ 7.42682917e-01 -6.69594771e-01 -8.05780503e-03 -1.66366646e+02] [ 1.09488441e-02 1.10809549e-04 9.99940054e-01 -5.01151708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.666559995 meters 0.012657388051305273 Centerline is valid? [True, True] Translation: X:105.89, Y:-166.32, Z:-5.01 [[-6.75026858e-01 -7.37768117e-01 6.07838553e-03 1.05887550e+02] [ 7.37738570e-01 -6.75054223e-01 -6.60287168e-03 -1.66321869e+02] [ 8.97462802e-03 2.71437262e-05 9.99959727e-01 -5.01083852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.7265599950001 meters 0.012806775346284596 Centerline is valid? [True, True] Translation: X:105.85, Y:-166.28, Z:-5.01 [[-6.81060984e-01 -7.32203774e-01 5.79400050e-03 1.05850031e+02] [ 7.32176754e-01 -6.81085628e-01 -6.29036522e-03 -1.66277331e+02] [ 8.55203962e-03 -4.18898503e-05 9.99963430e-01 -5.01135938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.786559995 meters 0.013707018345832668 Centerline is valid? [True, True] Translation: X:105.81, Y:-166.23, Z:-5.01 [[-6.85456596e-01 -7.28093540e-01 5.38997880e-03 1.05812907e+02] [ 7.28070057e-01 -6.85477782e-01 -5.84825464e-03 -1.66233857e+02] [ 7.95278714e-03 -8.44425439e-05 9.99968373e-01 -5.01235818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.846559995 meters 0.014409274535709381 Centerline is valid? [True, True] Translation: X:105.77, Y:-166.19, Z:-5.01 [[-6.89837436e-01 -7.23948039e-01 4.85263349e-03 1.05774051e+02] [ 7.23928923e-01 -6.89854494e-01 -5.26221731e-03 -1.66190524e+02] [ 7.15718293e-03 -1.17112762e-04 9.99974380e-01 -5.01168053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.906559995 meters 0.01566076560367296 Centerline is valid? [True, True] Translation: X:105.74, Y:-166.15, Z:-5.01 [[-6.93418237e-01 -7.20519589e-01 4.76135497e-03 1.05735874e+02] [ 7.20501126e-01 -6.93434568e-01 -5.16015213e-03 -1.66147558e+02] [ 7.01967882e-03 -1.47581979e-04 9.99975351e-01 -5.01160536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1131.9665599950001 meters 0.016473457334092965 Centerline is valid? [True, True] Translation: X:105.70, Y:-166.11, Z:-5.01 [[-6.96306783e-01 -7.17725872e-01 5.14168269e-03 1.05696244e+02] [ 7.17704289e-01 -6.96325741e-01 -5.56918647e-03 -1.66105323e+02] [ 7.57743523e-03 -1.87654594e-04 9.99971273e-01 -5.01179258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.026559995 meters 0.017781347408411835 Centerline is valid? [True, True] Translation: X:105.66, Y:-166.07, Z:-5.01 [[-6.98435787e-01 -7.15654945e-01 5.04502323e-03 1.05656059e+02] [ 7.15634130e-01 -6.98453977e-01 -5.46195701e-03 -1.66065455e+02] [ 7.43259308e-03 -2.04435424e-04 9.99972357e-01 -5.01201439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.086559995 meters 0.016371246637460136 Centerline is valid? [True, True] Translation: X:105.61, Y:-166.03, Z:-5.01 [[-6.97351647e-01 -7.16715593e-01 4.40894762e-03 1.05609761e+02] [ 7.16699734e-01 -6.97365565e-01 -4.77076527e-03 -1.66028383e+02] [ 6.49393010e-03 -1.67009432e-04 9.99978900e-01 -5.01109676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.146559995 meters 0.016181018738434385 Centerline is valid? [True, True] Translation: X:105.57, Y:-165.99, Z:-5.01 [[-6.96538437e-01 -7.17506291e-01 4.35066047e-03 1.05568190e+02] [ 7.17490882e-01 -6.96552006e-01 -4.70502974e-03 -1.65987421e+02] [ 6.40634972e-03 -1.55674848e-04 9.99979467e-01 -5.01070925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.2065599950001 meters 0.014753365378155425 Centerline is valid? [True, True] Translation: X:105.52, Y:-165.95, Z:-5.01 [[-6.91943007e-01 -7.21938390e-01 4.45384481e-03 1.05520510e+02] [ 7.21922349e-01 -6.91957331e-01 -4.81396731e-03 -1.65952267e+02] [ 6.55725838e-03 -1.15660911e-04 9.99978494e-01 -5.01140028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.266559995 meters 0.013350507471281 Centerline is valid? [True, True] Translation: X:105.47, Y:-165.92, Z:-5.01 [[-6.85297627e-01 -7.28247906e-01 4.70630541e-03 1.05470513e+02] [ 7.28230162e-01 -6.85313785e-01 -5.08397261e-03 -1.65919276e+02] [ 6.92768838e-03 -5.67608142e-05 9.99976002e-01 -5.01326879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.326559995 meters 0.012784326280970204 Centerline is valid? [True, True] Translation: X:105.43, Y:-165.88, Z:-5.01 [[-6.80655504e-01 -7.32587043e-01 4.93042834e-03 1.05425071e+02] [ 7.32567706e-01 -6.80673361e-01 -5.32270442e-03 -1.65883700e+02] [ 7.25535552e-03 -1.10554835e-05 9.99973680e-01 -5.01365910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.386559995 meters 0.012964925039066995 Centerline is valid? [True, True] Translation: X:105.38, Y:-165.85, Z:-5.01 [[-6.75915387e-01 -7.36961603e-01 5.09761794e-03 1.05379534e+02] [ 7.36941082e-01 -6.75934608e-01 -5.49971586e-03 -1.65847934e+02] [ 7.49873580e-03 3.93015046e-05 9.99971883e-01 -5.01408655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.4465599950001 meters 0.01389050522861779 Centerline is valid? [True, True] Translation: X:105.33, Y:-165.81, Z:-5.01 [[-6.69800634e-01 -7.42525440e-01 4.80437737e-03 1.05331377e+02] [ 7.42507376e-01 -6.69817857e-01 -5.18020286e-03 -1.65813944e+02] [ 7.06449016e-03 9.75824779e-05 9.99975041e-01 -5.01436984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.506559995 meters 0.01491835409188158 Centerline is valid? [True, True] Translation: X:105.29, Y:-165.78, Z:-5.01 [[-6.67028692e-01 -7.45019614e-01 4.30102249e-03 1.05286849e+02] [ 7.45005206e-01 -6.67042549e-01 -4.63486406e-03 -1.65775546e+02] [ 6.32202964e-03 1.12696838e-04 9.99980009e-01 -5.01427257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.566559995 meters 0.015209501377834604 Centerline is valid? [True, True] Translation: X:105.25, Y:-165.73, Z:-5.01 [[-6.66309050e-01 -7.45662766e-01 4.39183608e-03 1.05245587e+02] [ 7.45647774e-01 -6.66323513e-01 -4.73007436e-03 -1.65734531e+02] [ 6.45342398e-03 1.23071444e-04 9.99979169e-01 -5.01422101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.626559995 meters 0.015801760468677897 Centerline is valid? [True, True] Translation: X:105.20, Y:-165.69, Z:-5.01 [[-6.64898959e-01 -7.46919084e-01 4.61044000e-03 1.05203019e+02] [ 7.46902611e-01 -6.64914928e-01 -4.96272856e-03 -1.65694498e+02] [ 6.77230705e-03 1.43836612e-04 9.99977057e-01 -5.01442354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.6865599950002 meters 0.01643681744687124 Centerline is valid? [True, True] Translation: X:105.16, Y:-165.65, Z:-5.02 [[-6.64056660e-01 -7.47666362e-01 4.87479293e-03 1.05161083e+02] [ 7.47647986e-01 -6.64074533e-01 -5.24436720e-03 -1.65654312e+02] [ 7.15826279e-03 1.62072150e-04 9.99974366e-01 -5.01527609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.746559995 meters 0.017144783885315994 Centerline is valid? [True, True] Translation: X:105.12, Y:-165.61, Z:-5.02 [[-6.62799575e-01 -7.48777294e-01 5.41181712e-03 1.05119270e+02] [ 7.48754709e-01 -6.62821640e-01 -5.81888064e-03 -1.65613923e+02] [ 7.94411520e-03 1.95371937e-04 9.99968426e-01 -5.01594487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.806559995 meters 0.01795856923026603 Centerline is valid? [True, True] Translation: X:105.08, Y:-165.57, Z:-5.02 [[-6.60289190e-01 -7.50984103e-01 6.40800947e-03 1.05078667e+02] [ 7.50952581e-01 -6.60320230e-01 -6.88585986e-03 -1.65572941e+02] [ 9.40250958e-03 2.65452420e-04 9.99955760e-01 -5.01639463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.866559995 meters 0.017451910436883062 Centerline is valid? [True, True] Translation: X:105.04, Y:-165.53, Z:-5.02 [[-6.59447071e-01 -7.51720360e-01 6.78683393e-03 1.05040132e+02] [ 7.51685079e-01 -6.59481928e-01 -7.28895592e-03 -1.65528980e+02] [ 9.95505089e-03 2.94881168e-04 9.99950404e-01 -5.01622514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.926559995 meters 0.018712997564552046 Centerline is valid? [True, True] Translation: X:105.00, Y:-165.49, Z:-5.02 [[-6.59392856e-01 -7.51771359e-01 6.39409451e-03 1.05000855e+02] [ 7.51740085e-01 -6.59423797e-01 -6.86298511e-03 -1.65487771e+02] [ 9.37581372e-03 2.81293796e-04 9.99956007e-01 -5.01624595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1132.986559995 meters 0.017546877357621133 Centerline is valid? [True, True] Translation: X:104.97, Y:-165.44, Z:-5.01 [[-6.60566624e-01 -7.50749971e-01 5.12019851e-03 1.04965357e+02] [ 7.50729910e-01 -6.60586433e-01 -5.49251403e-03 -1.65441027e+02] [ 7.50583841e-03 2.15714714e-04 9.99971808e-01 -5.01381664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.046559995 meters 0.017871524318117237 Centerline is valid? [True, True] Translation: X:104.93, Y:-165.40, Z:-5.01 [[-6.61740245e-01 -7.49720088e-01 4.43147556e-03 1.04927919e+02] [ 7.49705055e-01 -6.61755059e-01 -4.75103877e-03 -1.65398197e+02] [ 6.49450057e-03 1.78346075e-04 9.99978895e-01 -5.01369530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.106559995 meters 0.017253732087085197 Centerline is valid? [True, True] Translation: X:104.89, Y:-165.35, Z:-5.01 [[-6.62363491e-01 -7.49171139e-01 4.14859903e-03 1.04890867e+02] [ 7.49157968e-01 -6.62376463e-01 -4.44523294e-03 -1.65353061e+02] [ 6.07817457e-03 1.63596014e-04 9.99981514e-01 -5.01369550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.166559995 meters 0.018048482339987116 Centerline is valid? [True, True] Translation: X:104.85, Y:-165.31, Z:-5.01 [[-6.62120325e-01 -7.49382960e-01 4.67483497e-03 1.04854361e+02] [ 7.49366258e-01 -6.62136801e-01 -5.00681374e-03 -1.65309816e+02] [ 6.84740118e-03 1.88050446e-04 9.99976539e-01 -5.01459676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.2265599950001 meters 0.018632754753679037 Centerline is valid? [True, True] Translation: X:104.82, Y:-165.27, Z:-5.02 [[-6.60568901e-01 -7.50746788e-01 5.29029165e-03 1.04815740e+02] [ 7.50725466e-01 -6.60590045e-01 -5.66279583e-03 -1.65266039e+02] [ 7.74603978e-03 2.30889840e-04 9.99969972e-01 -5.01514746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.286559995 meters 0.01882786426637443 Centerline is valid? [True, True] Translation: X:104.78, Y:-165.22, Z:-5.02 [[-6.57267318e-01 -7.53635582e-01 5.75169064e-03 1.04778232e+02] [ 7.53610520e-01 -6.57292420e-01 -6.15301765e-03 -1.65221654e+02] [ 8.41767570e-03 2.90357160e-04 9.99964529e-01 -5.01593311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.346559995 meters 0.02249412299293913 Centerline is valid? [True, True] Translation: X:104.74, Y:-165.18, Z:-5.02 [[-6.54875382e-01 -7.55712507e-01 6.06969919e-03 1.04736962e+02] [ 7.55684720e-01 -6.54903423e-01 -6.48920308e-03 -1.65182351e+02] [ 8.87903871e-03 3.37159585e-04 9.99960524e-01 -5.01773387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.406559995 meters 0.02367031887575574 Centerline is valid? [True, True] Translation: X:104.70, Y:-165.14, Z:-5.02 [[-6.53115347e-01 -7.57230708e-01 6.48066005e-03 1.04698169e+02] [ 7.57199142e-01 -6.53147386e-01 -6.92471993e-03 -1.65139271e+02] [ 9.47643675e-03 3.84509370e-04 9.99955024e-01 -5.01829208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.4665599950001 meters 0.022693428646046215 Centerline is valid? [True, True] Translation: X:104.66, Y:-165.09, Z:-5.02 [[-6.51805573e-01 -7.58356909e-01 6.65534912e-03 1.04662780e+02] [ 7.58323716e-01 -6.51839418e-01 -7.10732781e-03 -1.65092925e+02] [ 9.72811004e-03 4.14313203e-04 9.99952595e-01 -5.01827647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.526559995 meters 0.027362399098886454 Centerline is valid? [True, True] Translation: X:104.62, Y:-165.05, Z:-5.02 [[-6.51931068e-01 -7.58249819e-01 6.56465954e-03 1.04621987e+02] [ 7.58217564e-01 -6.51963990e-01 -7.00581211e-03 -1.65053942e+02] [ 9.59207739e-03 4.10133589e-04 9.99953911e-01 -5.01962038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.586559995 meters 0.023637825075559823 Centerline is valid? [True, True] Translation: X:104.59, Y:-165.01, Z:-5.02 [[-6.52430833e-01 -7.57825279e-01 5.90382463e-03 1.04590063e+02] [ 7.57799208e-01 -6.52457441e-01 -6.29658724e-03 -1.65005997e+02] [ 8.62370730e-03 3.65825979e-04 9.99962748e-01 -5.01743330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.646559995 meters 0.024330576870598666 Centerline is valid? [True, True] Translation: X:104.55, Y:-164.96, Z:-5.02 [[-6.53398496e-01 -7.56992486e-01 5.72548235e-03 1.04554606e+02] [ 7.56967963e-01 -6.53423489e-01 -6.10304225e-03 -1.64961214e+02] [ 8.36112178e-03 3.46288086e-04 9.99964985e-01 -5.01665768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.7065599950001 meters 0.02216471183280024 Centerline is valid? [True, True] Translation: X:104.52, Y:-164.91, Z:-5.02 [[-6.55939303e-01 -7.54796162e-01 5.13658605e-03 1.04520776e+02] [ 7.54776380e-01 -6.55959352e-01 -5.47216936e-03 -1.64913346e+02] [ 7.49976409e-03 2.87562862e-04 9.99971835e-01 -5.01636931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.766559995 meters 0.020077963476298342 Centerline is valid? [True, True] Translation: X:104.49, Y:-164.87, Z:-5.02 [[-6.59034149e-01 -7.52097808e-01 4.78319646e-03 1.04486610e+02] [ 7.52080604e-01 -6.59051462e-01 -5.09267977e-03 -1.64865977e+02] [ 6.98256591e-03 2.41099400e-04 9.99975593e-01 -5.01591636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.826559995 meters 0.01845591292442546 Centerline is valid? [True, True] Translation: X:104.45, Y:-164.82, Z:-5.02 [[-6.63060727e-01 -7.48548683e-01 5.03412217e-03 1.04452326e+02] [ 7.48529548e-01 -6.63079801e-01 -5.35664199e-03 -1.64819025e+02] [ 7.34773203e-03 2.16410263e-04 9.99972982e-01 -5.01623324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.886559995 meters 0.01652418207476298 Centerline is valid? [True, True] Translation: X:104.42, Y:-164.77, Z:-5.02 [[-6.69106559e-01 -7.43139134e-01 6.37498405e-03 1.04421163e+02] [ 7.43108239e-01 -6.69136897e-01 -6.77919188e-03 -1.64770050e+02] [ 9.30361983e-03 2.01301420e-04 9.99956700e-01 -5.01791808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1133.9465599950001 meters 0.015211219091971966 Centerline is valid? [True, True] Translation: X:104.39, Y:-164.72, Z:-5.02 [[-6.72692611e-01 -7.39891918e-01 6.67833802e-03 1.04386122e+02] [ 7.39857889e-01 -6.72725740e-01 -7.09809258e-03 -1.64722685e+02] [ 9.74451123e-03 1.66186630e-04 9.99952507e-01 -5.01883258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.006559995 meters 0.014504631926797875 Centerline is valid? [True, True] Translation: X:104.35, Y:-164.68, Z:-5.02 [[-6.75189256e-01 -7.37614933e-01 6.60897275e-03 1.04350627e+02] [ 7.37581534e-01 -6.75221588e-01 -7.02056272e-03 -1.64675897e+02] [ 9.64099297e-03 1.34447739e-04 9.99953516e-01 -5.01875340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.066559995 meters 0.014077778621515253 Centerline is valid? [True, True] Translation: X:104.32, Y:-164.63, Z:-5.02 [[-6.77525003e-01 -7.35465850e-01 7.06080771e-03 1.04317735e+02] [ 7.35427659e-01 -6.77561784e-01 -7.49578731e-03 -1.64629906e+02] [ 1.02970290e-02 1.14129973e-04 9.99946978e-01 -5.01920587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.126559995 meters 0.013521450924014121 Centerline is valid? [True, True] Translation: X:104.28, Y:-164.58, Z:-5.02 [[-6.79280307e-01 -7.33843229e-01 7.23734209e-03 1.04282177e+02] [ 7.33803062e-01 -6.79318854e-01 -7.67856453e-03 -1.64584832e+02] [ 1.05513255e-02 9.48861139e-05 9.99944329e-01 -5.01893080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.1865599950002 meters 0.013316951912080401 Centerline is valid? [True, True] Translation: X:104.25, Y:-164.54, Z:-5.02 [[-6.81220749e-01 -7.32043493e-01 7.11442586e-03 1.04246487e+02] [ 7.32004627e-01 -6.81257895e-01 -7.54366579e-03 -1.64540348e+02] [ 1.03690502e-02 6.88909839e-05 9.99946238e-01 -5.01925451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.246559995 meters 0.013240413126753304 Centerline is valid? [True, True] Translation: X:104.21, Y:-164.50, Z:-5.02 [[-6.81958600e-01 -7.31363530e-01 6.31310754e-03 1.04209038e+02] [ 7.31332935e-01 -6.81987819e-01 -6.68985639e-03 -1.64497977e+02] [ 9.19817942e-03 5.47783675e-05 9.99957694e-01 -5.01805346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.306559995 meters 0.013533391432909998 Centerline is valid? [True, True] Translation: X:104.17, Y:-164.46, Z:-5.02 [[-6.81243439e-01 -7.32025968e-01 6.73500913e-03 1.04170616e+02] [ 7.31991226e-01 -6.81276726e-01 -7.13211808e-03 -1.64458716e+02] [ 9.80930061e-03 7.12589419e-05 9.99951885e-01 -5.01848564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.366559995 meters 0.0131324180817188 Centerline is valid? [True, True] Translation: X:104.13, Y:-164.42, Z:-5.02 [[-6.79313316e-01 -7.33814910e-01 7.00692641e-03 1.04130386e+02] [ 7.33777443e-01 -6.79349444e-01 -7.41597261e-03 -1.64416639e+02] [ 1.02021028e-02 1.03755610e-04 9.99947952e-01 -5.01651475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.426559995 meters 0.013263914692539298 Centerline is valid? [True, True] Translation: X:104.09, Y:-164.38, Z:-5.02 [[-6.78678214e-01 -7.34405818e-01 6.63148026e-03 1.04090258e+02] [ 7.34372328e-01 -6.78710603e-01 -7.01430281e-03 -1.64375307e+02] [ 9.65220076e-03 1.09521097e-04 9.99953411e-01 -5.01628251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.486559995 meters 0.013294856611522202 Centerline is valid? [True, True] Translation: X:104.05, Y:-164.33, Z:-5.02 [[-6.78892967e-01 -7.34208342e-01 6.51539521e-03 1.04050092e+02] [ 7.34176043e-01 -6.78924222e-01 -6.88759301e-03 -1.64333552e+02] [ 9.48038786e-03 1.07508622e-04 9.99955054e-01 -5.01660066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.546559995 meters 0.013308571624430143 Centerline is valid? [True, True] Translation: X:104.01, Y:-164.29, Z:-5.02 [[-6.79304907e-01 -7.33831052e-01 6.06881201e-03 1.04009944e+02] [ 7.33803050e-01 -6.79332008e-01 -6.41144812e-03 -1.64292101e+02] [ 8.82765797e-03 9.79845953e-05 9.99961031e-01 -5.01618749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.606559995 meters 0.013377885165898176 Centerline is valid? [True, True] Translation: X:103.97, Y:-164.25, Z:-5.02 [[-6.79434315e-01 -7.33709349e-01 6.29312155e-03 1.03970092e+02] [ 7.33679271e-01 -6.79463451e-01 -6.64428430e-03 -1.64251649e+02] [ 9.15091959e-03 1.02778075e-04 9.99958124e-01 -5.01661695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.666559995 meters 0.013269485644910824 Centerline is valid? [True, True] Translation: X:103.93, Y:-164.21, Z:-5.02 [[-6.78900087e-01 -7.34204830e-01 6.15951146e-03 1.03928996e+02] [ 7.34176069e-01 -6.78928020e-01 -6.49949969e-03 -1.64210983e+02] [ 8.95382898e-03 1.09655005e-04 9.99959908e-01 -5.01639850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.7265599950001 meters 0.01416516337630115 Centerline is valid? [True, True] Translation: X:103.89, Y:-164.17, Z:-5.02 [[-6.78371726e-01 -7.34692304e-01 6.24652784e-03 1.03887642e+02] [ 7.34662786e-01 -6.78400474e-01 -6.58690703e-03 -1.64173041e+02] [ 9.07699735e-03 1.20720056e-04 9.99958796e-01 -5.01751394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.786559995 meters 0.013748201421884645 Centerline is valid? [True, True] Translation: X:103.85, Y:-164.13, Z:-5.02 [[-6.77594134e-01 -7.35407669e-01 6.46151201e-03 1.03846744e+02] [ 7.35376152e-01 -6.77624927e-01 -6.80974551e-03 -1.64132179e+02] [ 9.38642068e-03 1.37398230e-04 9.99955937e-01 -5.01673058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.846559995 meters 0.013573236787679395 Centerline is valid? [True, True] Translation: X:103.81, Y:-164.09, Z:-5.02 [[-6.77607355e-01 -7.35389684e-01 7.09113931e-03 1.03805927e+02] [ 7.35351770e-01 -6.77644441e-01 -7.46900035e-03 -1.64090584e+02] [ 1.02978969e-02 1.53432269e-04 9.99946964e-01 -5.01692110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.906559995 meters 0.013871873325610505 Centerline is valid? [True, True] Translation: X:103.77, Y:-164.05, Z:-5.02 [[-6.78086107e-01 -7.34942460e-01 7.66882041e-03 1.03766289e+02] [ 7.34898149e-01 -6.78129452e-01 -8.07203119e-03 -1.64050835e+02] [ 1.11329314e-02 1.62269718e-04 9.99938014e-01 -5.01779927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1134.9665599950001 meters 0.013522806744296394 Centerline is valid? [True, True] Translation: X:103.73, Y:-164.01, Z:-5.02 [[-6.78813045e-01 -7.34268492e-01 7.91406743e-03 1.03726554e+02] [ 7.34221309e-01 -6.78859158e-01 -8.32541335e-03 -1.64007803e+02] [ 1.14856259e-02 1.59277769e-04 9.99934025e-01 -5.01714838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.026559995 meters 0.013800972472585486 Centerline is valid? [True, True] Translation: X:103.69, Y:-163.97, Z:-5.02 [[-6.79138587e-01 -7.33969378e-01 7.72868137e-03 1.03687044e+02] [ 7.33924421e-01 -6.79182544e-01 -8.12496319e-03 -1.63967303e+02] [ 1.12126597e-02 1.54291985e-04 9.99937124e-01 -5.01732417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.086559995 meters 0.01378133943974886 Centerline is valid? [True, True] Translation: X:103.65, Y:-163.93, Z:-5.02 [[-6.79113985e-01 -7.33997491e-01 7.20268503e-03 1.03647887e+02] [ 7.33958497e-01 -6.79152164e-01 -7.56722793e-03 -1.63925598e+02] [ 1.04460454e-02 1.47461575e-04 9.99945428e-01 -5.01642781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.146559995 meters 0.013786045538903087 Centerline is valid? [True, True] Translation: X:103.61, Y:-163.88, Z:-5.02 [[-6.79190069e-01 -7.33929534e-01 6.94901021e-03 1.03608120e+02] [ 7.33893282e-01 -6.79225602e-01 -7.29608785e-03 -1.63883869e+02] [ 1.00747600e-02 1.44401492e-04 9.99949238e-01 -5.01684359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.2065599950001 meters 0.014146466108576599 Centerline is valid? [True, True] Translation: X:103.57, Y:-163.84, Z:-5.02 [[-6.78654869e-01 -7.34413868e-01 7.98995806e-03 1.03568570e+02] [ 7.34366032e-01 -6.78701877e-01 -8.38404022e-03 -1.63841980e+02] [ 1.15801549e-02 1.77684088e-04 9.99932932e-01 -5.01750405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.266559995 meters 0.014233537419415304 Centerline is valid? [True, True] Translation: X:103.53, Y:-163.80, Z:-5.02 [[-6.78790609e-01 -7.34286214e-01 8.18933090e-03 1.03529284e+02] [ 7.34236016e-01 -6.78839982e-01 -8.58787937e-03 -1.63800794e+02] [ 1.18652067e-02 1.83529827e-04 9.99929589e-01 -5.01768050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.326559995 meters 0.01477719561492646 Centerline is valid? [True, True] Translation: X:103.49, Y:-163.76, Z:-5.02 [[-6.78701078e-01 -7.34377013e-01 7.43301059e-03 1.03489227e+02] [ 7.34335719e-01 -6.78741757e-01 -7.78968903e-03 -1.63760933e+02] [ 1.07656632e-02 1.71454833e-04 9.99942034e-01 -5.01765067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.386559995 meters 0.01427426601355991 Centerline is valid? [True, True] Translation: X:103.45, Y:-163.72, Z:-5.02 [[-6.78451429e-01 -7.34614928e-01 6.67571699e-03 1.03451701e+02] [ 7.34581675e-01 -6.78484253e-01 -6.99158383e-03 -1.63717984e+02] [ 9.66549071e-03 1.60409320e-04 9.99953275e-01 -5.01516108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.4465599950001 meters 0.014512048817414441 Centerline is valid? [True, True] Translation: X:103.41, Y:-163.68, Z:-5.01 [[-6.78418970e-01 -7.34641040e-01 7.08829676e-03 1.03413368e+02] [ 7.34603598e-01 -6.78455977e-01 -7.41899166e-03 -1.63676004e+02] [ 1.02593930e-02 1.73903623e-04 9.99947356e-01 -5.01497230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.506559995 meters 0.014686566650735968 Centerline is valid? [True, True] Translation: X:103.37, Y:-163.63, Z:-5.02 [[-6.78271030e-01 -7.34772734e-01 7.57887009e-03 1.03374672e+02] [ 7.34729994e-01 -6.78313344e-01 -7.92741000e-03 -1.63633504e+02] [ 1.09656934e-02 1.91490628e-04 9.99939857e-01 -5.01591690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.566559995 meters 0.014535264063275367 Centerline is valid? [True, True] Translation: X:103.34, Y:-163.59, Z:-5.02 [[-6.78248805e-01 -7.34793993e-01 7.50644681e-03 1.03335775e+02] [ 7.34752119e-01 -6.78290314e-01 -7.84684831e-03 -1.63591016e+02] [ 1.08573672e-02 1.93262214e-04 9.99941038e-01 -5.01529799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.626559995 meters 0.01474008671108749 Centerline is valid? [True, True] Translation: X:103.30, Y:-163.55, Z:-5.02 [[-6.78573813e-01 -7.34498919e-01 6.99412535e-03 1.03296992e+02] [ 7.34462587e-01 -6.78609833e-01 -7.30767209e-03 -1.63550589e+02] [ 1.01137595e-02 1.78128490e-04 9.99948839e-01 -5.01505544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.6865599950002 meters 0.014579543584869287 Centerline is valid? [True, True] Translation: X:103.26, Y:-163.51, Z:-5.01 [[-6.78791380e-01 -7.34299794e-01 6.78789429e-03 1.03257854e+02] [ 7.34265607e-01 -6.78825297e-01 -7.08766261e-03 -1.63508599e+02] [ 9.81226354e-03 1.73073035e-04 9.99951844e-01 -5.01473504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.746559995 meters 0.015133474904557766 Centerline is valid? [True, True] Translation: X:103.22, Y:-163.47, Z:-5.02 [[-6.79923117e-01 -7.33250476e-01 6.94946252e-03 1.03217898e+02] [ 7.33214634e-01 -6.79958611e-01 -7.25180464e-03 -1.63468317e+02] [ 1.00427361e-02 1.64778006e-04 9.99949557e-01 -5.01671408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.806559995 meters 0.014294641016887802 Centerline is valid? [True, True] Translation: X:103.18, Y:-163.42, Z:-5.02 [[-6.81324432e-01 -7.31949544e-01 6.84713378e-03 1.03180285e+02] [ 7.31914728e-01 -6.81358821e-01 -7.14055421e-03 -1.63424973e+02] [ 9.89188040e-03 1.46484020e-04 9.99951063e-01 -5.01563266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.866559995 meters 0.013678993376202143 Centerline is valid? [True, True] Translation: X:103.14, Y:-163.38, Z:-5.02 [[-6.83488706e-01 -7.29932104e-01 6.50478022e-03 1.03141358e+02] [ 7.29900627e-01 -6.83519649e-01 -6.77970080e-03 -1.63381585e+02] [ 9.39486636e-03 1.13994235e-04 9.99955861e-01 -5.01556369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.926559995 meters 0.01359956254480879 Centerline is valid? [True, True] Translation: X:103.10, Y:-163.34, Z:-5.02 [[-6.84731401e-01 -7.28768758e-01 6.24547292e-03 1.03103123e+02] [ 7.28739731e-01 -6.84759876e-01 -6.50513358e-03 -1.63340159e+02] [ 9.01738738e-03 9.70550339e-05 9.99959338e-01 -5.01502758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1135.986559995 meters 0.013553826764452563 Centerline is valid? [True, True] Translation: X:103.06, Y:-163.30, Z:-5.01 [[-6.85273074e-01 -7.28260401e-01 6.13203328e-03 1.03064014e+02] [ 7.28232434e-01 -6.85300503e-01 -6.38299391e-03 -1.63298498e+02] [ 8.85076720e-03 9.14516674e-05 9.99960827e-01 -5.01443434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.046559995 meters 0.01355772868221078 Centerline is valid? [True, True] Translation: X:103.02, Y:-163.26, Z:-5.01 [[-6.85639082e-01 -7.27917040e-01 5.98601224e-03 1.03023293e+02] [ 7.27890406e-01 -6.85665207e-01 -6.22743765e-03 -1.63256487e+02] [ 8.63745830e-03 8.73862404e-05 9.99962693e-01 -5.01374937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.106559995 meters 0.01339496628028951 Centerline is valid? [True, True] Translation: X:102.98, Y:-163.22, Z:-5.01 [[-6.85910972e-01 -7.27656180e-01 6.52847792e-03 1.02982390e+02] [ 7.27624526e-01 -6.85942034e-01 -6.78786755e-03 -1.63215121e+02] [ 9.41739119e-03 9.44078193e-05 9.99955651e-01 -5.01456241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.166559995 meters 0.01335550993494534 Centerline is valid? [True, True] Translation: X:102.94, Y:-163.17, Z:-5.01 [[-6.86612197e-01 -7.26992798e-01 6.72030113e-03 1.02941973e+02] [ 7.26959260e-01 -6.86645078e-01 -6.98357417e-03 -1.63172707e+02] [ 9.69146982e-03 9.03779340e-05 9.99953033e-01 -5.01471121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.2265599950001 meters 0.013042325644918371 Centerline is valid? [True, True] Translation: X:102.90, Y:-163.13, Z:-5.01 [[-6.89002089e-01 -7.24732450e-01 6.24475697e-03 1.02903162e+02] [ 7.24703431e-01 -6.89030386e-01 -6.48568922e-03 -1.63129925e+02] [ 9.00321674e-03 5.69433783e-05 9.99959469e-01 -5.01461148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.286559995 meters 0.012764001974708901 Centerline is valid? [True, True] Translation: X:102.87, Y:-163.09, Z:-5.01 [[-6.92740004e-01 -7.21168528e-01 5.21932229e-03 1.02865533e+02] [ 7.21148183e-01 -6.92759665e-01 -5.41707077e-03 -1.63088203e+02] [ 7.52235692e-03 1.12831573e-05 9.99971707e-01 -5.01460753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.346559995 meters 0.012805878244363836 Centerline is valid? [True, True] Translation: X:102.83, Y:-163.05, Z:-5.01 [[-6.95855945e-01 -7.18162966e-01 5.14365300e-03 1.02826478e+02] [ 7.18143147e-01 -6.95874955e-01 -5.33549377e-03 -1.63045399e+02] [ 7.41109334e-03 -1.88559105e-05 9.99972537e-01 -5.01484015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.406559995 meters 0.012888292236640553 Centerline is valid? [True, True] Translation: X:102.79, Y:-163.00, Z:-5.02 [[-6.97557478e-01 -7.16510097e-01 5.18124346e-03 1.02787084e+02] [ 7.16489967e-01 -6.97576719e-01 -5.37108607e-03 -1.63003459e+02] [ 7.46275222e-03 -3.43322955e-05 9.99972153e-01 -5.01516685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.4665599950001 meters 0.013255049552311549 Centerline is valid? [True, True] Translation: X:102.75, Y:-162.96, Z:-5.02 [[-7.00911957e-01 -7.13229699e-01 5.08177981e-03 1.02748278e+02] [ 7.13210271e-01 -7.00930376e-01 -5.26479204e-03 -1.62960848e+02] [ 7.31697988e-03 -6.57781394e-05 9.99973228e-01 -5.01513825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.526559995 meters 0.01383300565436837 Centerline is valid? [True, True] Translation: X:102.71, Y:-162.92, Z:-5.01 [[-7.04869549e-01 -7.09323469e-01 4.37437606e-03 1.02708343e+02] [ 7.09309014e-01 -7.04883117e-01 -4.52933978e-03 -1.62918679e+02] [ 6.29619084e-03 -8.98093156e-05 9.99980175e-01 -5.01495173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.586559995 meters 0.013748947616612441 Centerline is valid? [True, True] Translation: X:102.67, Y:-162.88, Z:-5.01 [[-7.05928218e-01 -7.08271452e-01 4.11112898e-03 1.02666616e+02] [ 7.08258680e-01 -7.05940183e-01 -4.25430751e-03 -1.62878038e+02] [ 5.91541571e-03 -9.14929344e-05 9.99982500e-01 -5.01467312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.646559995 meters 0.01370065642681121 Centerline is valid? [True, True] Translation: X:102.62, Y:-162.84, Z:-5.01 [[-7.05464102e-01 -7.08733424e-01 4.16340975e-03 1.02623995e+02] [ 7.08720349e-01 -7.05476382e-01 -4.30594808e-03 -1.62838015e+02] [ 5.98895657e-03 -8.69985885e-05 9.99982062e-01 -5.01474923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.7065599950001 meters 0.013449869160528875 Centerline is valid? [True, True] Translation: X:102.58, Y:-162.80, Z:-5.02 [[-7.03833035e-01 -7.10352325e-01 4.31654456e-03 1.02581028e+02] [ 7.10338316e-01 -7.03846268e-01 -4.46179503e-03 -1.62798870e+02] [ 6.20763025e-03 -7.41517475e-05 9.99980730e-01 -5.01516928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.766559995 meters 0.012861700327542162 Centerline is valid? [True, True] Translation: X:102.54, Y:-162.76, Z:-5.02 [[-7.00416988e-01 -7.13717675e-01 4.80875446e-03 1.02535719e+02] [ 7.13700387e-01 -7.00433493e-01 -4.96779076e-03 -1.62762024e+02] [ 6.91381276e-03 -4.75151211e-05 9.99976098e-01 -5.01602788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.826559995 meters 0.01259837222205007 Centerline is valid? [True, True] Translation: X:102.49, Y:-162.72, Z:-5.02 [[-6.98535817e-01 -7.15555929e-01 5.23686368e-03 1.02492217e+02] [ 7.15535503e-01 -6.98555446e-01 -5.40667984e-03 -1.62724054e+02] [ 7.52702146e-03 -2.95976280e-05 9.99971671e-01 -5.01650886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.886559995 meters 0.012438833073174912 Centerline is valid? [True, True] Translation: X:102.45, Y:-162.68, Z:-5.02 [[-6.97038398e-01 -7.17014384e-01 5.27690629e-03 1.02449559e+02] [ 7.16993710e-01 -6.97058371e-01 -5.44492754e-03 -1.62684766e+02] [ 7.58240308e-03 -1.18149517e-05 9.99971253e-01 -5.01578656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1136.9465599950001 meters 0.01238876445281521 Centerline is valid? [True, True] Translation: X:102.41, Y:-162.65, Z:-5.01 [[-6.95301515e-01 -7.18702904e-01 4.68387438e-03 1.02407158e+02] [ 7.18686675e-01 -6.95317291e-01 -4.82995685e-03 -1.62646048e+02] [ 6.72808286e-03 7.96178316e-06 9.99977366e-01 -5.01402574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.006559995 meters 0.012486819749033179 Centerline is valid? [True, True] Translation: X:102.36, Y:-162.61, Z:-5.01 [[-6.93914283e-01 -7.20043846e-01 4.45287845e-03 1.02363935e+02] [ 7.20029222e-01 -6.93928570e-01 -4.58915170e-03 -1.62606460e+02] [ 6.39437001e-03 2.17246951e-05 9.99979556e-01 -5.01406276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.066559995 meters 0.012825861978704825 Centerline is valid? [True, True] Translation: X:102.32, Y:-162.57, Z:-5.01 [[-6.90952704e-01 -7.22887094e-01 4.31402569e-03 1.02320233e+02] [ 7.22873439e-01 -6.90966170e-01 -4.44340988e-03 -1.62569523e+02] [ 6.19292947e-03 4.83085147e-05 9.99980823e-01 -5.01470285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.126559995 meters 0.013071566622615273 Centerline is valid? [True, True] Translation: X:102.28, Y:-162.53, Z:-5.01 [[-6.89056673e-01 -7.24692731e-01 4.62030390e-03 1.02277454e+02] [ 7.24677127e-01 -6.89072159e-01 -4.75615148e-03 -1.62529584e+02] [ 6.63047119e-03 7.09706389e-05 9.99978016e-01 -5.01490439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.1865599950002 meters 0.0138117782052667 Centerline is valid? [True, True] Translation: X:102.23, Y:-162.49, Z:-5.02 [[-6.86304985e-01 -7.27292779e-01 5.53905888e-03 1.02233426e+02] [ 7.27270462e-01 -6.86327327e-01 -5.69868983e-03 -1.62490822e+02] [ 7.94622344e-03 1.17354668e-04 9.99968421e-01 -5.01601623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.246559995 meters 0.014326467411443477 Centerline is valid? [True, True] Translation: X:102.19, Y:-162.45, Z:-5.02 [[-6.84774050e-01 -7.28729683e-01 6.12771071e-03 1.02191751e+02] [ 7.28702460e-01 -6.84801450e-01 -6.30072821e-03 -1.62450842e+02] [ 8.78779285e-03 1.50702684e-04 9.99961375e-01 -5.01664749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.306559995 meters 0.015649013609150976 Centerline is valid? [True, True] Translation: X:102.15, Y:-162.41, Z:-5.02 [[-6.82916090e-01 -7.30461026e-01 7.23211178e-03 1.02149847e+02] [ 7.30423248e-01 -6.82954351e-01 -7.43189410e-03 -1.62412153e+02] [ 1.03679112e-02 2.07142522e-04 9.99946230e-01 -5.01806332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.366559995 meters 0.015269595090317835 Centerline is valid? [True, True] Translation: X:102.11, Y:-162.37, Z:-5.02 [[-6.81049402e-01 -7.32189969e-01 8.34031238e-03 1.02109359e+02] [ 7.32139897e-01 -6.81100415e-01 -8.56709586e-03 -1.62371125e+02] [ 1.19533319e-02 2.71659934e-04 9.99928520e-01 -5.01857643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.426559995 meters 0.01566340357703218 Centerline is valid? [True, True] Translation: X:102.07, Y:-162.33, Z:-5.02 [[-6.81244584e-01 -7.32006152e-01 8.53295364e-03 1.02069662e+02] [ 7.31953779e-01 -6.81297965e-01 -8.76062998e-03 -1.62331305e+02] [ 1.22263190e-02 2.77595933e-04 9.99925217e-01 -5.01936357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.486559995 meters 0.015165470912696074 Centerline is valid? [True, True] Translation: X:102.03, Y:-162.29, Z:-5.02 [[-6.83007464e-01 -7.30367302e-01 8.02548707e-03 1.02031704e+02] [ 7.30320914e-01 -6.83054572e-01 -8.23498739e-03 -1.62287738e+02] [ 1.14964112e-02 2.36623198e-04 9.99933886e-01 -5.01883870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.546559995 meters 0.013472281837994864 Centerline is valid? [True, True] Translation: X:102.00, Y:-162.24, Z:-5.02 [[-6.87756534e-01 -7.25912141e-01 6.52017009e-03 1.01997349e+02] [ 7.25881360e-01 -6.87787427e-01 -6.68626455e-03 -1.62241278e+02] [ 9.33813163e-03 1.34347797e-04 9.99956390e-01 -5.01622964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.606559995 meters 0.012687113938184546 Centerline is valid? [True, True] Translation: X:101.96, Y:-162.20, Z:-5.02 [[-6.91669430e-01 -7.22192812e-01 5.56261535e-03 1.01959937e+02] [ 7.22170313e-01 -6.91691793e-01 -5.70109323e-03 -1.62196415e+02] [ 7.96490393e-03 7.38837654e-05 9.99968277e-01 -5.01548034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.666559995 meters 0.012173817995540457 Centerline is valid? [True, True] Translation: X:101.92, Y:-162.15, Z:-5.02 [[-6.95259418e-01 -7.18740247e-01 5.17687451e-03 1.01922315e+02] [ 7.18720686e-01 -6.95278690e-01 -5.30271494e-03 -1.62151721e+02] [ 7.41064517e-03 3.39642947e-05 9.99972540e-01 -5.01527292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.7265599950001 meters 0.01214649376709464 Centerline is valid? [True, True] Translation: X:101.89, Y:-162.11, Z:-5.02 [[-6.99419387e-01 -7.14684484e-01 6.21362070e-03 1.01886533e+02] [ 7.14656181e-01 -6.99446988e-01 -6.36040463e-03 -1.62107327e+02] [ 8.89178079e-03 -7.98786961e-06 9.99960467e-01 -5.01721137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.786559995 meters 0.012484511336122276 Centerline is valid? [True, True] Translation: X:101.85, Y:-162.06, Z:-5.02 [[-7.01886256e-01 -7.12248587e-01 7.59173403e-03 1.01849380e+02] [ 7.12206243e-01 -7.01927310e-01 -7.76651452e-03 -1.62064144e+02] [ 1.08605344e-02 -4.43294221e-05 9.99941022e-01 -5.01924348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.846559995 meters 0.012657948030943611 Centerline is valid? [True, True] Translation: X:101.81, Y:-162.02, Z:-5.02 [[-7.02623880e-01 -7.11514274e-01 8.19271529e-03 1.01810502e+02] [ 7.11464971e-01 -7.02671641e-01 -8.37621015e-03 -1.62022082e+02] [ 1.17165818e-02 -5.64953358e-05 9.99931357e-01 -5.01978363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.906559995 meters 0.012619557650146194 Centerline is valid? [True, True] Translation: X:101.77, Y:-161.98, Z:-5.02 [[-7.02567369e-01 -7.11573009e-01 7.93371656e-03 1.01771441e+02] [ 7.11526833e-01 -7.02612162e-01 -8.10650858e-03 -1.61980799e+02] [ 1.13426985e-02 -5.03161821e-05 9.99935668e-01 -5.01943651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1137.9665599950001 meters 0.01221368176907108 Centerline is valid? [True, True] Translation: X:101.73, Y:-161.94, Z:-5.02 [[-7.00503075e-01 -7.13617413e-01 6.75502920e-03 1.01730131e+02] [ 7.13584071e-01 -7.00535644e-01 -6.89826739e-03 -1.61940406e+02] [ 9.65486246e-03 -1.19762824e-05 9.99953391e-01 -5.01816952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.026559995 meters 0.012162422790556971 Centerline is valid? [True, True] Translation: X:101.69, Y:-161.90, Z:-5.02 [[-6.98090345e-01 -7.15983250e-01 6.15270228e-03 1.01688863e+02] [ 7.15955714e-01 -6.98117458e-01 -6.27927907e-03 -1.61901715e+02] [ 8.79116751e-03 2.15582551e-05 9.99961357e-01 -5.01765440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.086559995 meters 0.013033933651145472 Centerline is valid? [True, True] Translation: X:101.65, Y:-161.86, Z:-5.02 [[-6.93445668e-01 -7.20485994e-01 5.74790599e-03 1.01645731e+02] [ 7.20462146e-01 -6.93469485e-01 -5.86257590e-03 -1.61864646e+02] [ 8.20990123e-03 7.57708198e-05 9.99966295e-01 -5.01745431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.146559995 meters 0.014599659444226736 Centerline is valid? [True, True] Translation: X:101.60, Y:-161.83, Z:-5.02 [[-6.90178230e-01 -7.23617850e-01 5.58737654e-03 1.01603296e+02] [ 7.23595445e-01 -6.90200837e-01 -5.69541642e-03 -1.61826785e+02] [ 7.97771694e-03 1.12147790e-04 9.99968171e-01 -5.01771765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.2065599950001 meters 0.01533152878739502 Centerline is valid? [True, True] Translation: X:101.56, Y:-161.79, Z:-5.02 [[-6.85340249e-01 -7.28205404e-01 5.06285962e-03 1.01562560e+02] [ 7.28187154e-01 -6.85358933e-01 -5.15770495e-03 -1.61786403e+02] [ 7.22574468e-03 1.51926545e-04 9.99973882e-01 -5.01560246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.266559995 meters 0.015221175964489455 Centerline is valid? [True, True] Translation: X:101.52, Y:-161.74, Z:-5.01 [[-6.84215056e-01 -7.29264677e-01 4.77376234e-03 1.01521913e+02] [ 7.29248496e-01 -6.84231691e-01 -4.86041887e-03 -1.61744573e+02] [ 6.81089128e-03 1.55687245e-04 9.99976794e-01 -5.01487651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.326559995 meters 0.01619469496937499 Centerline is valid? [True, True] Translation: X:101.48, Y:-161.70, Z:-5.01 [[-6.82118221e-01 -7.31228575e-01 4.41627639e-03 1.01480036e+02] [ 7.31214784e-01 -6.82132498e-01 -4.49389084e-03 -1.61704059e+02] [ 6.29854704e-03 1.63881764e-04 9.99980151e-01 -5.01449242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.386559995 meters 0.019513811766808976 Centerline is valid? [True, True] Translation: X:101.44, Y:-161.67, Z:-5.02 [[-6.80367175e-01 -7.32857940e-01 4.44376387e-03 1.01436810e+02] [ 7.32844029e-01 -6.80381662e-01 -4.51917749e-03 -1.61666768e+02] [ 6.33537055e-03 1.81885802e-04 9.99979915e-01 -5.01606728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.4465599950001 meters 0.01852933247532495 Centerline is valid? [True, True] Translation: X:101.40, Y:-161.62, Z:-5.02 [[-6.80307086e-01 -7.32911815e-01 4.74773399e-03 1.01398344e+02] [ 7.32895957e-01 -6.80323624e-01 -4.82534297e-03 -1.61624098e+02] [ 6.76654646e-03 1.96880032e-04 9.99977087e-01 -5.01664469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.506559995 meters 0.01715807971485111 Centerline is valid? [True, True] Translation: X:101.36, Y:-161.58, Z:-5.02 [[-6.79842614e-01 -7.33337422e-01 5.49960104e-03 1.01360586e+02] [ 7.33316182e-01 -6.79864818e-01 -5.58628708e-03 -1.61579919e+02] [ 7.83561863e-03 2.35150425e-04 9.99969273e-01 -5.01719908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.566559995 meters 0.019136523948652864 Centerline is valid? [True, True] Translation: X:101.32, Y:-161.54, Z:-5.02 [[-6.79623685e-01 -7.33531781e-01 6.54004372e-03 1.01318811e+02] [ 7.33501791e-01 -6.79655092e-01 -6.63913117e-03 -1.61541403e+02] [ 9.31498773e-03 2.85022987e-04 9.99956574e-01 -5.01973480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.626559995 meters 0.017583193668965335 Centerline is valid? [True, True] Translation: X:101.28, Y:-161.50, Z:-5.02 [[-6.80268042e-01 -7.32929699e-01 7.03187690e-03 1.01280648e+02] [ 7.32895042e-01 -6.80304319e-01 -7.13385713e-03 -1.61498761e+02] [ 1.00124320e-02 3.00692684e-04 9.99949829e-01 -5.02004995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.6865599950002 meters 0.017739673219605116 Centerline is valid? [True, True] Translation: X:101.24, Y:-161.46, Z:-5.02 [[-6.81806872e-01 -7.31489122e-01 7.94067626e-03 1.01241754e+02] [ 7.31444880e-01 -6.81853036e-01 -8.05134021e-03 -1.61457493e+02] [ 1.13038420e-02 3.18707910e-04 9.99936059e-01 -5.02105725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.746559995 meters 0.017228444070408404 Centerline is valid? [True, True] Translation: X:101.20, Y:-161.41, Z:-5.02 [[-6.82900085e-01 -7.30472032e-01 7.62133516e-03 1.01202174e+02] [ 7.30431260e-01 -6.82942549e-01 -7.72326110e-03 -1.61414652e+02] [ 1.08465603e-02 2.92645783e-04 9.99941132e-01 -5.02060560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.806559995 meters 0.01584849809257316 Centerline is valid? [True, True] Translation: X:101.16, Y:-161.37, Z:-5.02 [[-6.84740233e-01 -7.28754124e-01 6.94550706e-03 1.01163901e+02] [ 7.28720214e-01 -6.84775414e-01 -7.03440054e-03 -1.61370912e+02] [ 9.88246088e-03 2.44594325e-04 9.99951137e-01 -5.01901614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.866559995 meters 0.014670012364761889 Centerline is valid? [True, True] Translation: X:101.13, Y:-161.33, Z:-5.02 [[-6.87954916e-01 -7.25729573e-01 5.88387434e-03 1.01125930e+02] [ 7.25705154e-01 -6.87980055e-01 -5.95589839e-03 -1.61326284e+02] [ 8.37035979e-03 1.72568361e-04 9.99964953e-01 -5.01708405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.926559995 meters 0.014210343674135404 Centerline is valid? [True, True] Translation: X:101.09, Y:-161.28, Z:-5.02 [[-6.90066187e-01 -7.23721525e-01 5.98434343e-03 1.01086283e+02] [ 7.23696218e-01 -6.90092118e-01 -6.05417917e-03 -1.61283900e+02] [ 8.51128801e-03 1.53062371e-04 9.99963767e-01 -5.01679967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1138.986559995 meters 0.013897474191167025 Centerline is valid? [True, True] Translation: X:101.05, Y:-161.24, Z:-5.02 [[-6.92093206e-01 -7.21780350e-01 6.33414617e-03 1.01046444e+02] [ 7.21751948e-01 -6.92122177e-01 -6.40451417e-03 -1.61242347e+02] [ 9.00665552e-03 1.39161594e-04 9.99959430e-01 -5.01767665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.046559995 meters 0.013113083096633896 Centerline is valid? [True, True] Translation: X:101.01, Y:-161.20, Z:-5.02 [[-6.94160257e-01 -7.19789071e-01 6.72545124e-03 1.01007335e+02] [ 7.19756995e-01 -6.94192825e-01 -6.79631177e-03 -1.61199370e+02] [ 9.56067093e-03 1.22961053e-04 9.99954288e-01 -5.01741240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.106559995 meters 0.013036206126965263 Centerline is valid? [True, True] Translation: X:100.97, Y:-161.16, Z:-5.02 [[-6.94974639e-01 -7.19011664e-01 5.69893893e-03 1.00966613e+02] [ 7.18988633e-01 -6.94997998e-01 -5.75569821e-03 -1.61157991e+02] [ 8.09916530e-03 9.74080231e-05 9.99967197e-01 -5.01584858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.166559995 meters 0.013025914959512568 Centerline is valid? [True, True] Translation: X:100.92, Y:-161.12, Z:-5.02 [[-6.94804466e-01 -7.19178534e-01 5.38432614e-03 1.00924407e+02] [ 7.19158005e-01 -6.94825321e-01 -5.43483896e-03 -1.61117584e+02] [ 7.64978566e-03 9.60308614e-05 9.99970735e-01 -5.01501420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.2265599950001 meters 0.01395569933221095 Centerline is valid? [True, True] Translation: X:100.88, Y:-161.08, Z:-5.02 [[-6.94355836e-01 -7.19605331e-01 6.17577480e-03 1.00881434e+02] [ 7.19578362e-01 -6.94383290e-01 -6.23113206e-03 -1.61079862e+02] [ 8.77231068e-03 1.17331002e-04 9.99961516e-01 -5.01752544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.286559995 meters 0.013425170010734143 Centerline is valid? [True, True] Translation: X:100.84, Y:-161.04, Z:-5.02 [[-6.94291384e-01 -7.19660144e-01 6.98216130e-03 1.00841970e+02] [ 7.19625720e-01 -6.94326478e-01 -7.04027715e-03 -1.61038969e+02] [ 9.91450634e-03 1.36539085e-04 9.99950841e-01 -5.01709537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.346559995 meters 0.01365652682427578 Centerline is valid? [True, True] Translation: X:100.80, Y:-161.00, Z:-5.02 [[-6.94490480e-01 -7.19460321e-01 7.73434426e-03 1.00801036e+02] [ 7.19418117e-01 -6.94533530e-01 -7.79417952e-03 -1.61001043e+02] [ 1.09793643e-02 1.51243907e-04 9.99939714e-01 -5.01831555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.406559995 meters 0.013128284545327029 Centerline is valid? [True, True] Translation: X:100.76, Y:-160.96, Z:-5.02 [[-6.95112602e-01 -7.18861196e-01 7.55325976e-03 1.00760459e+02] [ 7.18820956e-01 -6.95153624e-01 -7.60732644e-03 -1.60960056e+02] [ 1.07192877e-02 1.41492927e-04 9.99942537e-01 -5.01706481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.4665599950001 meters 0.013039308819078029 Centerline is valid? [True, True] Translation: X:100.72, Y:-160.92, Z:-5.02 [[-6.96753401e-01 -7.17283452e-01 6.25690413e-03 1.00718731e+02] [ 7.17255807e-01 -6.96781487e-01 -6.29814775e-03 -1.60920658e+02] [ 8.87725212e-03 9.95449539e-05 9.99960592e-01 -5.01649879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.526559995 meters 0.01252361246843724 Centerline is valid? [True, True] Translation: X:100.68, Y:-160.88, Z:-5.02 [[-6.99204725e-01 -7.14899754e-01 5.57625785e-03 1.00678377e+02] [ 7.14877746e-01 -6.99226957e-01 -5.60982358e-03 -1.60879072e+02] [ 7.90953130e-03 6.39274904e-05 9.99968717e-01 -5.01550213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.586559995 meters 0.012462764580027777 Centerline is valid? [True, True] Translation: X:100.64, Y:-160.84, Z:-5.02 [[-7.02457985e-01 -7.11708169e-01 4.92559538e-03 1.00638817e+02] [ 7.11690942e-01 -7.02475253e-01 -4.95195441e-03 -1.60838664e+02] [ 6.98445527e-03 2.69616972e-05 9.99975608e-01 -5.01611332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.646559995 meters 0.0122956411027318 Centerline is valid? [True, True] Translation: X:100.60, Y:-160.80, Z:-5.01 [[-7.07417162e-01 -7.06783811e-01 4.19571505e-03 1.00599804e+02] [ 7.06771238e-01 -7.07429604e-01 -4.21566556e-03 -1.60795996e+02] [ 5.94773721e-03 -1.68234445e-05 9.99982312e-01 -5.01409555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.7065599950001 meters 0.012562480230374923 Centerline is valid? [True, True] Translation: X:100.56, Y:-160.76, Z:-5.01 [[-7.10140962e-01 -7.04048742e-01 3.89645797e-03 1.00559608e+02] [ 7.04037872e-01 -7.10151651e-01 -3.91251632e-03 -1.60755398e+02] [ 5.52167825e-03 -3.51841275e-05 9.99984755e-01 -5.01366433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.766559995 meters 0.012729189045927772 Centerline is valid? [True, True] Translation: X:100.52, Y:-160.72, Z:-5.01 [[-7.11931319e-01 -7.02236772e-01 4.16093402e-03 1.00518717e+02] [ 7.02224361e-01 -7.11943476e-01 -4.17545064e-03 -1.60715307e+02] [ 5.89450481e-03 -5.07248442e-05 9.99982626e-01 -5.01448328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.826559995 meters 0.012886351266906574 Centerline is valid? [True, True] Translation: X:100.48, Y:-160.68, Z:-5.02 [[-7.12721334e-01 -7.01428093e-01 5.18941088e-03 1.00476088e+02] [ 7.01408787e-01 -7.12740223e-01 -5.20456415e-03 -1.60675639e+02] [ 7.34932937e-03 -6.95055153e-05 9.99972991e-01 -5.01565950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.886559995 meters 0.012860330146451852 Centerline is valid? [True, True] Translation: X:100.43, Y:-160.64, Z:-5.02 [[-7.12476312e-01 -7.01676290e-01 5.28109304e-03 1.00433639e+02] [ 7.01656328e-01 -7.12495881e-01 -5.29319039e-03 -1.60636467e+02] [ 7.47686323e-03 -6.57604129e-05 9.99972046e-01 -5.01654114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1139.9465599950001 meters 0.012756786914930462 Centerline is valid? [True, True] Translation: X:100.39, Y:-160.60, Z:-5.02 [[-7.12121362e-01 -7.02034924e-01 5.48923612e-03 1.00389996e+02] [ 7.02013392e-01 -7.12142515e-01 -5.49869898e-03 -1.60597521e+02] [ 7.76939714e-03 -6.22237358e-05 9.99969816e-01 -5.01694534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.006559995 meters 0.012712030871946127 Centerline is valid? [True, True] Translation: X:100.35, Y:-160.56, Z:-5.02 [[-7.11744433e-01 -7.02415177e-01 5.72545370e-03 1.00347302e+02] [ 7.02391794e-01 -7.11767459e-01 -5.73169387e-03 -1.60559541e+02] [ 8.10122040e-03 -5.79895011e-05 9.99967183e-01 -5.01821638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.066559995 meters 0.012599951590945752 Centerline is valid? [True, True] Translation: X:100.31, Y:-160.52, Z:-5.02 [[-7.11017760e-01 -7.03144691e-01 6.42564359e-03 1.00306676e+02] [ 7.03115307e-01 -7.11046792e-01 -6.42842415e-03 -1.60520925e+02] [ 9.08904557e-03 -5.27553716e-05 9.99958692e-01 -5.01904164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.126559995 meters 0.012428792968578775 Centerline is valid? [True, True] Translation: X:100.26, Y:-160.48, Z:-5.02 [[-7.09785095e-01 -7.04386408e-01 6.70122740e-03 1.00263168e+02] [ 7.04354541e-01 -7.09816728e-01 -6.70026105e-03 -1.60481811e+02] [ 9.47621612e-03 -3.57054756e-05 9.99955099e-01 -5.01887073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.1865599950002 meters 0.012255490375944124 Centerline is valid? [True, True] Translation: X:99.79, Y:-160.95, Z:-4.02 [[-7.55920118e-01 6.54636277e-01 6.01009176e-03 9.97948945e+01] [ 6.54615526e-01 7.55944009e-01 -5.21233498e-03 -1.60950380e+02] [-7.95547643e-03 -5.80949556e-06 -9.99968355e-01 -4.02223715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.246559995 meters 0.012244686960293525 Centerline is valid? [True, True] Translation: X:99.81, Y:-160.93, Z:-4.02 [[-8.01289857e-01 5.98243854e-01 6.23344340e-03 9.98116680e+01] [ 5.98225580e-01 8.01314103e-01 -4.67598827e-03 -1.60926966e+02] [-7.79232735e-03 -1.78166786e-05 -9.99969639e-01 -4.02247809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.306559995 meters 0.012463914587279806 Centerline is valid? [True, True] Translation: X:99.82, Y:-160.90, Z:-4.02 [[-8.43317770e-01 5.37379074e-01 6.23454472e-03 9.98246858e+01] [ 5.37364033e-01 8.43340814e-01 -4.02083449e-03 -1.60899511e+02] [-7.41855834e-03 -4.06210797e-05 -9.99972481e-01 -4.02251177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.366559995 meters 0.012951781267267967 Centerline is valid? [True, True] Translation: X:99.84, Y:-160.87, Z:-4.02 [[-8.81389596e-01 4.72340995e-01 6.80921402e-03 9.98394625e+01] [ 4.72326214e-01 8.81415894e-01 -3.73754273e-03 -1.60871168e+02] [-7.76714411e-03 -7.80609984e-05 -9.99969832e-01 -4.02191357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.426559995 meters 0.013288984527472864 Centerline is valid? [True, True] Translation: X:99.85, Y:-160.84, Z:-4.02 [[-9.13687213e-01 4.06351037e-01 7.38317821e-03 9.98496045e+01] [ 4.06336861e-01 9.13717037e-01 -3.39574741e-03 -1.60843121e+02] [-8.12600120e-03 -1.02593525e-04 -9.99966978e-01 -4.02138536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.486559995 meters 0.013283660621309262 Centerline is valid? [True, True] Translation: X:99.86, Y:-160.82, Z:-4.02 [[-9.40665223e-01 3.39238623e-01 8.12982780e-03 9.98580642e+01] [ 3.39224826e-01 9.40700346e-01 -3.06203406e-03 -1.60816789e+02] [-8.68649205e-03 -1.22509534e-04 -9.99962264e-01 -4.02116414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.546559995 meters 0.013416886371481244 Centerline is valid? [True, True] Translation: X:100.08, Y:-160.23, Z:-5.02 [[-9.03709481e-01 -4.28048003e-01 9.16963679e-03 1.00079479e+02] [ 4.28028491e-01 -9.03755972e-01 -4.09319994e-03 -1.60227439e+02] [ 1.00392001e-02 2.25802208e-04 9.99949581e-01 -5.02007711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.606559995 meters 0.01353344922966217 Centerline is valid? [True, True] Translation: X:99.82, Y:-160.80, Z:-4.02 [[-9.42281362e-01 3.34672861e-01 9.99552787e-03 9.98167289e+01] [ 3.34652190e-01 9.42334362e-01 -3.72327457e-03 -1.60801740e+02] [-1.06652083e-02 -1.63346945e-04 -9.99943112e-01 -4.02008944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.666559995 meters 0.013744551099567777 Centerline is valid? [True, True] Translation: X:99.82, Y:-160.77, Z:-4.02 [[-9.63552907e-01 2.67304173e-01 1.06899311e-02 9.98202101e+01] [ 2.67285785e-01 9.63612189e-01 -3.13973496e-03 -1.60774842e+02] [-1.11402121e-02 -1.68034120e-04 -9.99937932e-01 -4.01961923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.7265599950001 meters 0.013203138957509209 Centerline is valid? [True, True] Translation: X:99.82, Y:-160.75, Z:-4.02 [[-9.79657177e-01 2.00373814e-01 1.10521418e-02 9.98201826e+01] [ 2.00359368e-01 9.79719507e-01 -2.41051896e-03 -1.60751674e+02] [-1.13110038e-02 -1.47082043e-04 -9.99936018e-01 -4.01991363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.786559995 meters 0.013058549944058103 Centerline is valid? [True, True] Translation: X:99.83, Y:-160.73, Z:-4.02 [[-9.91229958e-01 1.31738469e-01 1.03993008e-02 9.98289917e+01] [ 1.31729925e-01 9.91284501e-01 -1.50525007e-03 -1.60728724e+02] [-1.05069651e-02 -1.22149838e-04 -9.99944793e-01 -4.02079029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.846559995 meters 0.012850579024918896 Centerline is valid? [True, True] Translation: X:99.83, Y:-160.70, Z:-4.02 [[-9.98022303e-01 6.20473155e-02 1.00803188e-02 9.98289185e+01] [ 6.20430590e-02 9.98073203e-01 -7.34733047e-04 -1.60703704e+02] [-1.01064843e-02 -1.07866155e-04 -9.99948922e-01 -4.02134776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.906559995 meters 0.012807047573425424 Centerline is valid? [True, True] Translation: X:99.83, Y:-160.68, Z:-4.02 [[-9.99909844e-01 -8.98565740e-03 9.97806277e-03 9.98274806e+01] [-8.98626991e-03 9.99959623e-01 -1.65525619e-05 -1.60678081e+02] [-9.97751114e-03 -1.06216635e-04 -9.99950218e-01 -4.02124845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1140.9665599950001 meters 0.012716667977345525 Centerline is valid? [True, True] Translation: X:99.83, Y:-160.02, Z:-5.02 [[-9.96716594e-01 -8.03134971e-02 1.02846148e-02 9.98281779e+01] [ 8.03105809e-02 -9.96769645e-01 -6.96891187e-04 -1.60024274e+02] [ 1.03073616e-02 1.31360377e-04 9.99946869e-01 -5.01875269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.026559995 meters 0.01291551875687615 Centerline is valid? [True, True] Translation: X:99.76, Y:-160.68, Z:-4.02 [[-9.99826434e-01 -1.47412530e-02 1.13928553e-02 9.97635541e+01] [-1.47418683e-02 9.99891332e-01 2.99709950e-05 -1.60683417e+02] [-1.13920591e-02 -1.37986180e-04 -9.99935099e-01 -4.02132909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.086559995 meters 0.012953138756722453 Centerline is valid? [True, True] Translation: X:99.76, Y:-160.02, Z:-5.02 [[-9.96863514e-01 -7.82270354e-02 1.19860769e-02 9.97637658e+01] [ 7.82236279e-02 -9.96935553e-01 -7.53561003e-04 -1.60021442e+02] [ 1.20082950e-02 1.86396948e-04 9.99927881e-01 -5.01889491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.146559995 meters 0.013639665053711959 Centerline is valid? [True, True] Translation: X:99.70, Y:-160.69, Z:-4.02 [[-9.99676867e-01 -2.29727331e-02 1.08818796e-02 9.97018606e+01] [-2.29732698e-02 9.99736077e-01 7.56924391e-05 -1.60686826e+02] [-1.08807465e-02 -1.74324375e-04 -9.99940788e-01 -4.02230930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.2065599950001 meters 0.014093513599875512 Centerline is valid? [True, True] Translation: X:99.70, Y:-160.02, Z:-5.02 [[-9.96863098e-01 -7.85005855e-02 1.00808180e-02 9.97008648e+01] [ 7.84976837e-02 -9.96914062e-01 -6.83814258e-04 -1.60019816e+02] [ 1.01033890e-02 1.09651661e-04 9.99948954e-01 -5.01710299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.266559995 meters 0.01446042991050661 Centerline is valid? [True, True] Translation: X:99.64, Y:-160.69, Z:-4.02 [[-9.99483452e-01 -3.06159211e-02 9.77212342e-03 9.96389565e+01] [-3.06163093e-02 9.99531205e-01 1.09898558e-04 -1.60689953e+02] [-9.77090694e-03 -1.89344564e-04 -9.99952246e-01 -4.02412601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.326559995 meters 0.015080543920920494 Centerline is valid? [True, True] Translation: X:99.64, Y:-160.67, Z:-4.02 [[-9.94586128e-01 -1.03479068e-01 9.51406056e-03 9.96353329e+01] [-1.03476292e-01 9.94631611e-01 7.84961540e-04 -1.60665184e+02] [-9.54421246e-03 -2.03767846e-04 -9.99954432e-01 -4.02460794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.386559995 meters 0.015404214341182516 Centerline is valid? [True, True] Translation: X:99.58, Y:-159.99, Z:-5.02 [[-9.99916286e-01 -8.59061374e-03 9.67591878e-03 9.95823558e+01] [ 8.59229567e-03 -9.99963077e-01 1.32269305e-04 -1.59991529e+02] [ 9.67442524e-03 2.15396587e-04 9.99953179e-01 -5.01536829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.4465599950001 meters 0.01641875861199722 Centerline is valid? [True, True] Translation: X:99.56, Y:-160.67, Z:-4.03 [[-9.93621463e-01 -1.12293940e-01 1.03179554e-02 9.95648713e+01] [-1.12290632e-01 9.93674998e-01 9.01274823e-04 -1.60672212e+02] [-1.03539020e-02 -2.63083721e-04 -9.99946362e-01 -4.02501253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.506559995 meters 0.01730364009496717 Centerline is valid? [True, True] Translation: X:99.56, Y:-160.65, Z:-4.03 [[-9.82901174e-01 -1.83861810e-01 1.00058199e-02 9.95580564e+01] [-1.83855063e-01 9.82952065e-01 1.59788246e-03 -1.60646296e+02] [-1.01290309e-02 -2.69060099e-04 -9.99948664e-01 -4.02518250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.566559995 meters 0.015943576371248814 Centerline is valid? [True, True] Translation: X:99.53, Y:-160.63, Z:-4.03 [[-9.67331705e-01 -2.53359707e-01 8.84486689e-03 9.95342924e+01] [-2.53351390e-01 9.67372111e-01 2.06709215e-03 -1.60628694e+02] [-9.07999542e-03 -2.41295546e-04 -9.99958747e-01 -4.02676565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.626559995 meters 0.015451205699510391 Centerline is valid? [True, True] Translation: X:99.52, Y:-160.61, Z:-4.03 [[-9.46992529e-01 -3.21159739e-01 7.84679309e-03 9.95206918e+01] [-3.21150548e-01 9.47025014e-01 2.43878428e-03 -1.60607787e+02] [-8.21434866e-03 -2.10491408e-04 -9.99966240e-01 -4.02806865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.6865599950002 meters 0.015187838482745405 Centerline is valid? [True, True] Translation: X:99.49, Y:-160.59, Z:-4.03 [[-9.22226167e-01 -3.86598636e-01 6.35548400e-03 9.94936718e+01] [-3.86590646e-01 9.22248052e-01 2.49061318e-03 -1.60590771e+02] [-6.82420039e-03 -1.60062021e-04 -9.99976702e-01 -4.02879882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.746559995 meters 0.014279846348421636 Centerline is valid? [True, True] Translation: X:99.21, Y:-159.95, Z:-5.01 [[-9.59285338e-01 2.82372248e-01 6.12818357e-03 9.92108033e+01] [-2.82365648e-01 -9.59304903e-01 1.93467238e-03 -1.59951190e+02] [ 6.42509434e-03 1.25514322e-04 9.99979351e-01 -5.01076320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.806559995 meters 0.014347211874993951 Centerline is valid? [True, True] Translation: X:99.35, Y:-160.65, Z:-4.03 [[-9.21427711e-01 -3.88496247e-01 6.45285624e-03 9.93461329e+01] [-3.88487680e-01 9.21450297e-01 2.58312123e-03 -1.60650578e+02] [-6.94951921e-03 -1.26695668e-04 -9.99975844e-01 -4.02925314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.866559995 meters 0.013773834696513684 Centerline is valid? [True, True] Translation: X:99.29, Y:-160.65, Z:-4.03 [[-8.90642711e-01 -4.54653599e-01 6.75759488e-03 9.92916709e+01] [-4.54641643e-01 8.90668337e-01 3.29991185e-03 -1.60645069e+02] [-7.51909260e-03 -1.33241601e-04 -9.99971722e-01 -4.02895142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.926559995 meters 0.013642493269220879 Centerline is valid? [True, True] Translation: X:99.23, Y:-160.65, Z:-4.03 [[-8.55134104e-01 -5.18350544e-01 7.64053866e-03 9.92279028e+01] [-5.18331398e-01 8.55168224e-01 4.45759005e-03 -1.60647499e+02] [-8.84454011e-03 -1.48493813e-04 -9.99960875e-01 -4.02770363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1141.986559995 meters 0.013154304918957346 Centerline is valid? [True, True] Translation: X:99.16, Y:-160.66, Z:-4.03 [[-8.15612888e-01 -5.78533858e-01 8.61348873e-03 9.91554768e+01] [-5.78503546e-01 8.15658355e-01 5.92411481e-03 -1.60661513e+02] [-1.04529651e-02 -1.51149380e-04 -9.99945355e-01 -4.02659557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.046559995 meters 0.012554594318000437 Centerline is valid? [True, True] Translation: X:99.07, Y:-160.69, Z:-4.03 [[-7.71966196e-01 -6.35603869e-01 8.71290135e-03 9.90729103e+01] [-6.35565279e-01 7.72015353e-01 7.00504146e-03 -1.60691097e+02] [-1.11789251e-02 -1.29962370e-04 -9.99937505e-01 -4.02712864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.106559995 meters 0.012511932952241477 Centerline is valid? [True, True] Translation: X:99.00, Y:-160.72, Z:-4.03 [[-7.23156051e-01 -6.90637752e-01 8.05115938e-03 9.89982341e+01] [-6.90596625e-01 7.23200860e-01 7.53776332e-03 -1.60721228e+02] [-1.10284693e-02 -1.09124343e-04 -9.99939179e-01 -4.02687916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.166559995 meters 0.012079549782221753 Centerline is valid? [True, True] Translation: X:98.91, Y:-160.77, Z:-4.03 [[-6.72773653e-01 -7.39812614e-01 7.27376430e-03 9.89140479e+01] [-7.39770215e-01 6.72812971e-01 7.92052810e-03 -1.60771477e+02] [-1.07535896e-02 -5.21915559e-05 -9.99942177e-01 -4.02720523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.2265599950001 meters 0.012006589972577565 Centerline is valid? [True, True] Translation: X:98.84, Y:-160.82, Z:-4.03 [[-6.16491607e-01 -7.87333332e-01 6.65756467e-03 9.88356346e+01] [-7.87287919e-01 6.16527553e-01 8.45627276e-03 -1.60823286e+02] [-1.07624775e-02 -2.81990583e-05 -9.99942083e-01 -4.02749045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.286559995 meters 0.011934243173240678 Centerline is valid? [True, True] Translation: X:98.76, Y:-160.89, Z:-4.03 [[-5.55935528e-01 -8.31205921e-01 5.69267576e-03 9.87550832e+01] [-8.31162606e-01 5.55964673e-01 8.48560398e-03 -1.60888161e+02] [-1.02182109e-02 -1.40904943e-05 -9.99947793e-01 -4.02791819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.346559995 meters 0.011857488898928967 Centerline is valid? [True, True] Translation: X:98.68, Y:-160.96, Z:-4.03 [[-4.90838056e-01 -8.71239519e-01 4.43884653e-03 9.86766903e+01] [-8.71204152e-01 4.90858126e-01 7.85021796e-03 -1.60961559e+02] [-9.01826402e-03 -1.39558072e-05 -9.99959335e-01 -4.02913170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.406559995 meters 0.011909308075524075 Centerline is valid? [True, True] Translation: X:98.60, Y:-161.04, Z:-4.03 [[-4.21675839e-01 -9.06739067e-01 3.70830991e-03 9.86022335e+01] [-9.06704532e-01 4.21692144e-01 7.91375743e-03 -1.61042860e+02] [-8.73947818e-03 -2.53010954e-05 -9.99961810e-01 -4.02909910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.4665599950001 meters 0.01219779615232172 Centerline is valid? [True, True] Translation: X:98.53, Y:-161.13, Z:-4.03 [[-3.48172047e-01 -9.37424782e-01 3.31733752e-03 9.85309856e+01] [-9.37383773e-01 3.48187845e-01 8.76845071e-03 -1.61132420e+02] [-9.37481959e-03 -5.66889317e-05 -9.99956054e-01 -4.02817349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.526559995 meters 0.012297221654371781 Centerline is valid? [True, True] Translation: X:98.47, Y:-161.23, Z:-4.03 [[-2.73849123e-01 -9.61768556e-01 2.81135527e-03 9.84674843e+01] [-9.61720743e-01 2.73863542e-01 9.59024642e-03 -1.61231653e+02] [-9.99352516e-03 -7.74581120e-05 -9.99950061e-01 -4.02844317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.586559995 meters 0.012460224449826978 Centerline is valid? [True, True] Translation: X:98.41, Y:-161.33, Z:-4.03 [[-1.97970827e-01 -9.80205731e-01 2.06803948e-03 9.84135396e+01] [-9.80156973e-01 1.97981607e-01 9.77709903e-03 -1.61332243e+02] [-9.99300228e-03 -9.14229372e-05 -9.99950065e-01 -4.02881703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.646559995 meters 0.012818094612095515 Centerline is valid? [True, True] Translation: X:98.37, Y:-161.44, Z:-4.03 [[-1.20934804e-01 -9.92659600e-01 1.30079991e-03 9.83655048e+01] [-9.92611071e-01 1.20941755e-01 9.81597405e-03 -1.61444628e+02] [-9.90124190e-03 -1.04095492e-04 -9.99950976e-01 -4.02810652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.7065599950001 meters 0.0134751389181361 Centerline is valid? [True, True] Translation: X:98.33, Y:-161.55, Z:-4.03 [[-4.10952736e-02 -9.99155085e-01 5.42308646e-04 9.83256140e+01] [-9.99106374e-01 4.10986256e-02 9.86694421e-03 -1.61553031e+02] [-9.88089563e-03 -1.36339253e-04 -9.99951174e-01 -4.02748847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.766559995 meters 0.013776115250153471 Centerline is valid? [True, True] Translation: X:98.30, Y:-161.67, Z:-4.03 [[ 3.85771257e-02 -9.99255597e-01 -2.39381346e-04 9.82952327e+01] [-9.99196116e-01 -3.85774416e-02 1.09042580e-02 -1.61670416e+02] [-1.09053756e-02 -1.81466021e-04 -9.99940518e-01 -4.02684044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.826559995 meters 0.014706583939893726 Centerline is valid? [True, True] Translation: X:98.27, Y:-161.79, Z:-4.03 [[ 1.18122826e-01 -9.92998313e-01 -1.16149000e-03 9.82728169e+01] [-9.92929186e-01 -1.18128311e-01 1.17189902e-02 -1.61787081e+02] [-1.17741424e-02 -2.31002933e-04 -9.99930656e-01 -4.02597817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.886559995 meters 0.015531395869717494 Centerline is valid? [True, True] Translation: X:98.26, Y:-161.92, Z:-4.03 [[ 1.96467844e-01 -9.80508149e-01 -2.03880551e-03 9.82629135e+01] [-9.80440826e-01 -1.96478252e-01 1.14927678e-02 -1.61918660e+02] [-1.16693334e-02 -2.59031155e-04 -9.99931878e-01 -4.02721686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1142.9465599950001 meters 0.015785729999723944 Centerline is valid? [True, True] Translation: X:98.26, Y:-162.03, Z:-4.03 [[ 2.71368862e-01 -9.62471326e-01 -2.80864128e-03 9.82591493e+01] [-9.62409793e-01 -2.71383280e-01 1.08860241e-02 -1.62029361e+02] [-1.12397043e-02 -2.51064090e-04 -9.99936801e-01 -4.02741387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.006559995 meters 0.014602645297493565 Centerline is valid? [True, True] Translation: X:98.27, Y:-162.14, Z:-4.03 [[ 3.42561537e-01 -9.39489389e-01 -3.35866757e-03 9.82684230e+01] [-9.39438022e-01 -3.42577937e-01 9.82651674e-03 -1.62142985e+02] [-1.03825136e-02 -2.10926659e-04 -9.99946078e-01 -4.02833873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.066559995 meters 0.01359611196143322 Centerline is valid? [True, True] Translation: X:98.29, Y:-162.25, Z:-4.03 [[ 4.09054680e-01 -9.12502087e-01 -3.76948170e-03 9.82867555e+01] [-9.12460008e-01 -4.09072022e-01 8.76443656e-03 -1.62251531e+02] [-9.53955616e-03 -1.45632491e-04 -9.99954487e-01 -4.02953031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.126559995 meters 0.012926645410263043 Centerline is valid? [True, True] Translation: X:98.31, Y:-162.37, Z:-4.03 [[ 4.74887862e-01 -8.80037043e-01 -4.04007242e-03 9.83149247e+01] [-8.80003323e-01 -4.74905036e-01 7.70448884e-03 -1.62365358e+02] [-8.69888631e-03 -1.03491077e-04 -9.99962159e-01 -4.03008307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.1865599950002 meters 0.012643824583209362 Centerline is valid? [True, True] Translation: X:98.35, Y:-162.47, Z:-4.03 [[ 5.38662319e-01 -8.42511673e-01 -4.12140628e-03 9.83467368e+01] [-8.42485995e-01 -5.38678081e-01 6.57826804e-03 -1.62470074e+02] [-7.76237884e-03 -7.12380541e-05 -9.99969870e-01 -4.03029942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.246559995 meters 0.012699365250611522 Centerline is valid? [True, True] Translation: X:98.39, Y:-162.58, Z:-4.03 [[ 6.00122689e-01 -7.99891771e-01 -5.09045070e-03 9.83889292e+01] [-7.99862100e-01 -6.00144275e-01 6.88985304e-03 -1.62577147e+02] [-8.56614160e-03 -6.30985395e-05 -9.99963308e-01 -4.02896274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.306559995 meters 0.012764569062534068 Centerline is valid? [True, True] Translation: X:98.44, Y:-162.68, Z:-4.03 [[ 6.59365247e-01 -7.51793032e-01 -6.68641121e-03 9.84358426e+01] [-7.51753232e-01 -6.59399145e-01 7.73600963e-03 -1.62678866e+02] [-1.02248920e-02 -7.43246624e-05 -9.99947722e-01 -4.02718921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.366559995 meters 0.012771745140454645 Centerline is valid? [True, True] Translation: X:98.49, Y:-162.77, Z:-4.03 [[ 7.14245812e-01 -6.99847426e-01 -8.15478505e-03 9.84854526e+01] [-6.99800602e-01 -7.14292359e-01 8.09589276e-03 -1.62770803e+02] [-1.14907904e-02 -7.57340154e-05 -9.99933976e-01 -4.02578434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.426559995 meters 0.012701730183860836 Centerline is valid? [True, True] Translation: X:98.51, Y:-162.80, Z:-4.03 [[ 7.65579724e-01 -6.43283524e-01 -8.60200716e-03 9.85060941e+01] [-6.43242132e-01 -7.65628046e-01 7.29752943e-03 -1.62795257e+02] [-1.12803184e-02 -5.36671419e-05 -9.99936374e-01 -4.02528009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.486559995 meters 0.012556512757355634 Centerline is valid? [True, True] Translation: X:98.53, Y:-162.82, Z:-4.03 [[ 8.11617465e-01 -5.84132286e-01 -8.15867646e-03 9.85307993e+01] [-5.84102591e-01 -8.11658471e-01 5.88982204e-03 -1.62816770e+02] [-1.00624941e-02 -1.47783647e-05 -9.99949372e-01 -4.02695631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.546559995 meters 0.012562769201176497 Centerline is valid? [True, True] Translation: X:98.56, Y:-162.84, Z:-4.03 [[ 8.52048015e-01 -5.23435496e-01 -5.42776349e-03 9.85552337e+01] [-5.23425059e-01 -8.52065303e-01 3.30560316e-03 -1.62837751e+02] [-6.35507897e-03 2.44948096e-05 -9.99979806e-01 -4.03027983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.606559995 meters 0.012719509651353279 Centerline is valid? [True, True] Translation: X:98.58, Y:-162.86, Z:-4.03 [[ 8.89511149e-01 -4.56893612e-01 -4.25942773e-03 9.85796585e+01] [-4.56888520e-01 -8.89521347e-01 2.15716784e-03 -1.62859196e+02] [-4.77444810e-03 2.72587888e-05 -9.99988602e-01 -4.03156570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.666559995 meters 0.01281331558763994 Centerline is valid? [True, True] Translation: X:98.61, Y:-162.88, Z:-4.03 [[ 9.22630558e-01 -3.85663304e-01 -4.08288328e-03 9.86051950e+01] [-3.85659642e-01 -9.22639591e-01 1.68090228e-03 -1.62880162e+02] [-4.41529209e-03 2.37514993e-05 -9.99990252e-01 -4.03147524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.7265599950001 meters 0.012773446849547208 Centerline is valid? [True, True] Translation: X:98.63, Y:-162.90, Z:-4.03 [[ 9.50421212e-01 -3.10910549e-01 -5.84388068e-03 9.86321944e+01] [-3.10904827e-01 -9.50439177e-01 1.88648425e-03 -1.62901663e+02] [-6.14078100e-03 2.39360582e-05 -9.99981145e-01 -4.02916628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.786559995 meters 0.012798216623516928 Centerline is valid? [True, True] Translation: X:98.66, Y:-162.92, Z:-4.03 [[ 9.72187608e-01 -2.34089534e-01 -7.30372813e-03 9.86606545e+01] [-2.34083062e-01 -9.72215043e-01 1.74080222e-03 -1.62919654e+02] [-7.50829794e-03 1.72927015e-05 -9.99971812e-01 -4.02766430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.846559995 meters 0.012782526181274349 Centerline is valid? [True, True] Translation: X:98.69, Y:-162.94, Z:-4.03 [[ 9.87770319e-01 -1.55738362e-01 -7.44044161e-03 9.86892353e+01] [-1.55733990e-01 -9.87798341e-01 1.16701880e-03 -1.62936726e+02] [-7.53140547e-03 5.98312633e-06 -9.99971639e-01 -4.02687137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.906559995 meters 0.012787918746992435 Centerline is valid? [True, True] Translation: X:98.72, Y:-162.95, Z:-4.03 [[ 9.97105743e-01 -7.56980747e-02 -7.06677548e-03 9.87165199e+01] [-7.56961027e-02 -9.97130785e-01 5.46478644e-04 -1.62950773e+02] [-7.08786676e-03 -9.96963133e-06 -9.99974881e-01 -4.02702302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1143.9665599950001 meters 0.012705509583960736 Centerline is valid? [True, True] Translation: X:98.75, Y:-162.96, Z:-4.03 [[ 9.99973751e-01 2.89040586e-03 -6.64407161e-03 9.87457565e+01] [ 2.89041642e-03 -9.99995823e-01 -8.01291276e-06 -1.62961805e+02] [-6.64406702e-03 -1.11914313e-05 -9.99977928e-01 -4.02776188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.026559995 meters 0.012720398996365394 Centerline is valid? [True, True] Translation: X:98.77, Y:-162.97, Z:-4.03 [[ 9.96676124e-01 8.12016625e-02 -6.55704337e-03 9.87745897e+01] [ 8.11999805e-02 -9.96697692e-01 -5.22765645e-04 -1.62968307e+02] [-6.57783943e-03 -1.14037577e-05 -9.99978366e-01 -4.02779847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.086559995 meters 0.012700651959099373 Centerline is valid? [True, True] Translation: X:98.81, Y:-162.97, Z:-4.03 [[ 9.87391875e-01 1.58195786e-01 -5.60172669e-03 9.88052059e+01] [ 1.58193271e-01 -9.87407764e-01 -8.91979001e-04 -1.62974224e+02] [-5.67229575e-03 -5.42265304e-06 -9.99983912e-01 -4.02782468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.146559995 meters 0.012535161095289698 Centerline is valid? [True, True] Translation: X:98.84, Y:-162.98, Z:-4.03 [[ 9.72155488e-01 2.34286064e-01 -4.87309104e-03 9.88365117e+01] [ 2.34283126e-01 -9.72167702e-01 -1.17322651e-03 -1.62977656e+02] [-5.01233234e-03 -1.12441479e-06 -9.99987438e-01 -4.02714534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.2065599950001 meters 0.012550931339410907 Centerline is valid? [True, True] Translation: X:98.87, Y:-162.98, Z:-4.03 [[ 9.50707018e-01 3.10044601e-01 -5.33963133e-03 9.88679120e+01] [ 3.10039731e-01 -9.50722013e-01 -1.73779755e-03 -1.62978055e+02] [-5.61529980e-03 -3.36153252e-06 -9.99984234e-01 -4.02685027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.266559995 meters 0.01244607891225771 Centerline is valid? [True, True] Translation: X:98.90, Y:-162.98, Z:-4.03 [[ 9.23017490e-01 3.84713592e-01 -5.84511171e-03 9.88988343e+01] [ 3.84705961e-01 -9.23035997e-01 -2.42314468e-03 -1.62976920e+02] [-6.32746521e-03 -1.20444003e-05 -9.99979981e-01 -4.02612497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.326559995 meters 0.01261877394097703 Centerline is valid? [True, True] Translation: X:98.93, Y:-162.97, Z:-4.02 [[ 8.88404227e-01 4.59019761e-01 -6.22810690e-03 9.89297358e+01] [ 4.59008786e-01 -8.88426056e-01 -3.17436698e-03 -1.62973856e+02] [-6.99030963e-03 -3.86347508e-05 -9.99975567e-01 -4.02474326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.386559995 meters 0.012937701106347876 Centerline is valid? [True, True] Translation: X:98.96, Y:-162.97, Z:-4.02 [[ 8.47946322e-01 5.30043560e-01 -6.39212553e-03 9.89607961e+01] [ 5.30029093e-01 -8.47970412e-01 -3.91668825e-03 -1.62967241e+02] [-7.49634871e-03 -6.68710989e-05 -9.99971900e-01 -4.02387414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.4465599950001 meters 0.013538845479687617 Centerline is valid? [True, True] Translation: X:98.99, Y:-162.96, Z:-4.02 [[ 8.01907758e-01 5.97422041e-01 -5.55454651e-03 9.89902982e+01] [ 5.97408429e-01 -8.01926991e-01 -4.03375933e-03 -1.62956286e+02] [-6.86419749e-03 -8.36300001e-05 -9.99976438e-01 -4.02371831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.506559995 meters 0.014241308676385836 Centerline is valid? [True, True] Translation: X:99.02, Y:-162.94, Z:-4.02 [[ 7.50512293e-01 6.60840457e-01 -4.60309543e-03 9.90189565e+01] [ 6.60828787e-01 -7.50526403e-01 -3.92836666e-03 -1.62942788e+02] [-6.05076828e-03 -9.35705006e-05 -9.99981690e-01 -4.02421049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.566559995 meters 0.014838554181160302 Centerline is valid? [True, True] Translation: X:99.04, Y:-162.93, Z:-4.02 [[ 6.95481660e-01 7.18531844e-01 -4.15330336e-03 9.90440106e+01] [ 7.18519875e-01 -6.95494054e-01 -4.14847125e-03 -1.62925099e+02] [-5.86940649e-03 -9.90453386e-05 -9.99982770e-01 -4.02453773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.626559995 meters 0.014632651182439093 Centerline is valid? [True, True] Translation: X:99.07, Y:-162.91, Z:-4.03 [[ 6.36019167e-01 7.71662523e-01 -4.07071273e-03 9.90689756e+01] [ 7.71647855e-01 -6.36032183e-01 -4.75915070e-03 -1.62906332e+02] [-6.26156254e-03 -1.14245691e-04 -9.99980390e-01 -4.02508372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.6865599950002 meters 0.014840428147597466 Centerline is valid? [True, True] Translation: X:99.09, Y:-162.89, Z:-4.02 [[ 5.72782611e-01 8.19695834e-01 -4.33828529e-03 9.90935410e+01] [ 8.19674180e-01 -5.72799022e-01 -5.95970204e-03 -1.62887202e+02] [-7.37010851e-03 -1.42366743e-04 -9.99972830e-01 -4.02306715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.746559995 meters 0.014833344743028111 Centerline is valid? [True, True] Translation: X:99.12, Y:-162.87, Z:-4.02 [[ 5.06851237e-01 8.62020607e-01 -4.72202335e-03 9.91161943e+01] [ 8.61986343e-01 -5.06873202e-01 -7.68767804e-03 -1.62866288e+02] [-9.02040399e-03 -1.73810514e-04 -9.99959300e-01 -4.02165102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.806559995 meters 0.014202051032934709 Centerline is valid? [True, True] Translation: X:99.14, Y:-162.84, Z:-4.02 [[ 4.38735951e-01 8.98606893e-01 -4.05192523e-03 9.91371800e+01] [ 8.98571928e-01 -4.38754631e-01 -7.92869637e-03 -1.62843977e+02] [-8.90258217e-03 -1.62342119e-04 -9.99960358e-01 -4.02219022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.866559995 meters 0.013815556159776603 Centerline is valid? [True, True] Translation: X:99.15, Y:-162.82, Z:-4.02 [[ 3.69862690e-01 9.29082423e-01 -2.72789513e-03 9.91531191e+01] [ 9.29059267e-01 -3.69872734e-01 -6.56046224e-03 -1.62820042e+02] [-7.10418419e-03 -1.07906041e-04 -9.99974759e-01 -4.02397529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.926559995 meters 0.013344814472138644 Centerline is valid? [True, True] Translation: X:99.17, Y:-162.79, Z:-4.03 [[ 2.98288750e-01 9.54473922e-01 -1.83120332e-03 9.91681445e+01] [ 9.54457453e-01 -2.98294361e-01 -5.60754295e-03 -1.62794067e+02] [-5.89849113e-03 -7.51386764e-05 -9.99982601e-01 -4.02555318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1144.986559995 meters 0.013162647336917183 Centerline is valid? [True, True] Translation: X:99.18, Y:-162.77, Z:-4.03 [[ 2.24291311e-01 9.74521198e-01 -1.35726105e-03 9.91810613e+01] [ 9.74505037e-01 -2.24295408e-01 -5.61276043e-03 -1.62768233e+02] [-5.77418144e-03 -6.37643325e-05 -9.99983327e-01 -4.02519330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.046559995 meters 0.01306337355081906 Centerline is valid? [True, True] Translation: X:99.19, Y:-162.74, Z:-4.02 [[ 1.48363417e-01 9.88932381e-01 -1.02059372e-03 9.91906539e+01] [ 9.88911876e-01 -1.48366913e-01 -6.36873232e-03 -1.62742139e+02] [-6.44966796e-03 -6.43903579e-05 -9.99979199e-01 -4.02343327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.106559995 meters 0.013179926131892778 Centerline is valid? [True, True] Translation: X:99.20, Y:-162.71, Z:-4.02 [[ 7.02535185e-02 9.97528986e-01 -6.04983367e-04 9.91989072e+01] [ 9.97500793e-01 -7.02560816e-02 -7.50002759e-03 -1.62714389e+02] [-7.52399868e-03 -7.65680618e-05 -9.99971691e-01 -4.02240056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.166559995 meters 0.01307981136483167 Centerline is valid? [True, True] Translation: X:99.21, Y:-162.69, Z:-4.02 [[-8.39408510e-03 9.99964769e-01 -1.73571862e-05 9.92062473e+01] [ 9.99928940e-01 8.39363739e-03 -8.46537143e-03 -1.62686001e+02] [-8.46492750e-03 -8.84150010e-05 -9.99964168e-01 -4.02221316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.2265599950001 meters 0.01349050281564132 Centerline is valid? [True, True] Translation: X:99.21, Y:-162.66, Z:-4.02 [[-8.78366190e-02 9.96134643e-01 7.08367250e-04 9.92111250e+01] [ 9.96091642e-01 8.78394096e-02 -9.25624706e-03 -1.62658138e+02] [-9.28269092e-03 -1.07438749e-04 -9.99956909e-01 -4.02091481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.286559995 meters 0.013199231769506312 Centerline is valid? [True, True] Translation: X:99.21, Y:-162.63, Z:-4.02 [[-1.65910572e-01 9.86139663e-01 1.49924893e-03 9.92135964e+01] [ 9.86092861e-01 1.65917305e-01 -9.60820481e-03 -1.62629114e+02] [-9.72378320e-03 -1.15704090e-04 -9.99952716e-01 -4.02116896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.346559995 meters 0.01332822321871561 Centerline is valid? [True, True] Translation: X:99.21, Y:-162.60, Z:-4.02 [[-2.42616291e-01 9.70119894e-01 2.17402997e-03 9.92139334e+01] [ 9.70076726e-01 2.42626006e-01 -9.15247437e-03 -1.62599950e+02] [-9.40647368e-03 -1.11563513e-04 -9.99955752e-01 -4.02099085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.406559995 meters 0.013000844947468684 Centerline is valid? [True, True] Translation: X:99.21, Y:-162.57, Z:-4.02 [[-3.17756464e-01 9.48168825e-01 2.59023773e-03 9.92146901e+01] [ 9.48134730e-01 3.17767006e-01 -8.04138012e-03 -1.62570259e+02] [-8.44767803e-03 -9.93061663e-05 -9.99964313e-01 -4.02224252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.4665599950001 meters 0.012973901536453964 Centerline is valid? [True, True] Translation: X:99.21, Y:-162.54, Z:-4.02 [[-3.90792260e-01 9.20473519e-01 3.14800552e-03 9.92137109e+01] [ 9.20441676e-01 3.90804928e-01 -7.65701976e-03 -1.62540855e+02] [-8.27834000e-03 -9.47485851e-05 -9.99965730e-01 -4.02201196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.526559995 meters 0.012912007476714978 Centerline is valid? [True, True] Translation: X:99.21, Y:-162.51, Z:-4.02 [[-4.60099349e-01 8.87857371e-01 4.22828751e-03 9.92084150e+01] [ 8.87818055e-01 4.60118768e-01 -8.35590138e-03 -1.62512622e+02] [-9.36436307e-03 -9.05947914e-05 -9.99956149e-01 -4.02069367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.586559995 meters 0.012690672679975108 Centerline is valid? [True, True] Translation: X:99.20, Y:-162.48, Z:-4.02 [[-5.26398325e-01 8.50223149e-01 5.03986840e-03 9.92002532e+01] [ 8.50182852e-01 5.26422446e-01 -8.27806812e-03 -1.62484495e+02] [-9.69130499e-03 -7.27515110e-05 -9.99953036e-01 -4.02049363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.646559995 meters 0.012589786008811065 Centerline is valid? [True, True] Translation: X:99.19, Y:-162.46, Z:-4.02 [[-5.90766797e-01 8.06823129e-01 5.57048335e-03 9.91902910e+01] [ 8.06786232e-01 5.90793055e-01 -7.71627711e-03 -1.62457337e+02] [-9.51667372e-03 -6.43310361e-05 -9.99954713e-01 -4.02047461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.7065599950001 meters 0.012423712297110751 Centerline is valid? [True, True] Translation: X:99.18, Y:-162.43, Z:-4.02 [[-6.51476552e-01 7.58647766e-01 5.64533890e-03 9.91801389e+01] [ 7.58618601e-01 6.51501009e-01 -6.65231012e-03 -1.62428394e+02] [-8.72470420e-03 -5.11649616e-05 -9.99961938e-01 -4.02169812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.766559995 meters 0.012394735651567788 Centerline is valid? [True, True] Translation: X:99.17, Y:-162.40, Z:-4.02 [[-7.08485445e-01 7.05702117e-01 5.73555946e-03 9.91684728e+01] [ 7.05678502e-01 7.08508659e-01 -5.77334317e-03 -1.62402020e+02] [-8.13795404e-03 -4.28685890e-05 -9.99966885e-01 -4.02154862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.826559995 meters 0.01244623114324639 Centerline is valid? [True, True] Translation: X:99.15, Y:-162.38, Z:-4.02 [[-7.61321824e-01 6.48340486e-01 6.61020590e-03 9.91527526e+01] [ 6.48315563e-01 7.61350519e-01 -5.68492684e-03 -1.62377943e+02] [-8.71845192e-03 -4.25595128e-05 -9.99961993e-01 -4.02072658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.886559995 meters 0.012321221817180488 Centerline is valid? [True, True] Translation: X:99.17, Y:-162.36, Z:-4.02 [[-8.05496638e-01 5.92558987e-01 7.00093300e-03 9.91686909e+01] [ 5.92536114e-01 8.05527060e-01 -5.20660930e-03 -1.62356666e+02] [-8.72466411e-03 -4.56006484e-05 -9.99961938e-01 -4.02158380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1145.9465599950001 meters 0.012392112124722531 Centerline is valid? [True, True] Translation: X:99.19, Y:-162.34, Z:-4.02 [[-8.45604914e-01 5.33751443e-01 7.85667497e-03 9.91881457e+01] [ 5.33727832e-01 8.45641410e-01 -5.02062092e-03 -1.62336630e+02] [-9.32369336e-03 -5.21356230e-05 -9.99956532e-01 -4.02177016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.006559995 meters 0.012456314986427929 Centerline is valid? [True, True] Translation: X:99.20, Y:-162.31, Z:-4.02 [[-8.81474061e-01 4.72163789e-01 8.05217449e-03 9.92030755e+01] [ 4.72143510e-01 8.81510836e-01 -4.37628917e-03 -1.62312431e+02] [-9.16440435e-03 -5.58034552e-05 -9.99958004e-01 -4.02170943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.066559995 meters 0.012587424273923327 Centerline is valid? [True, True] Translation: X:99.22, Y:-162.29, Z:-4.02 [[-9.12959176e-01 4.07970319e-01 8.10938891e-03 9.92161575e+01] [ 4.07953640e-01 9.12995189e-01 -3.68954030e-03 -1.62286488e+02] [-8.90905600e-03 -6.01449496e-05 -9.99960312e-01 -4.02169222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.126559995 meters 0.012634005458525896 Centerline is valid? [True, True] Translation: X:99.22, Y:-162.26, Z:-4.02 [[-9.39504012e-01 3.42420854e-01 8.95376695e-03 9.92244719e+01] [ 3.42404667e-01 9.39546675e-01 -3.33008453e-03 -1.62260466e+02] [-9.55277235e-03 -6.28161863e-05 -9.99954369e-01 -4.02215255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.1865599950002 meters 0.01252918792066248 Centerline is valid? [True, True] Translation: X:99.47, Y:-161.62, Z:-5.02 [[-9.09419580e-01 -4.15776202e-01 9.28314256e-03 9.94709980e+01] [ 4.15755701e-01 -9.09466953e-01 -4.13014584e-03 -1.61620522e+02] [ 1.01599277e-02 1.03483950e-04 9.99948381e-01 -5.01885205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.246559995 meters 0.012326481359723447 Centerline is valid? [True, True] Translation: X:99.19, Y:-162.25, Z:-4.02 [[-9.39070644e-01 3.43599337e-01 9.26396038e-03 9.91850593e+01] [ 3.43582439e-01 9.39116338e-01 -3.40760639e-03 -1.62247966e+02] [-9.87078784e-03 -1.70490202e-05 -9.99951283e-01 -4.02252482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.306559995 meters 0.012341950100261989 Centerline is valid? [True, True] Translation: X:99.20, Y:-162.22, Z:-4.03 [[-9.60309320e-01 2.78837019e-01 7.47844067e-03 9.91956601e+01] [ 2.78828629e-01 9.60338439e-01 -2.16306828e-03 -1.62224446e+02] [-7.78497755e-03 7.98872665e-06 -9.99969697e-01 -4.02507603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.366559995 meters 0.012465357283540281 Centerline is valid? [True, True] Translation: X:99.19, Y:-162.20, Z:-4.03 [[-9.77279105e-01 2.11859036e-01 6.42653077e-03 9.91947167e+01] [ 2.11854580e-01 9.77300235e-01 -1.37406454e-03 -1.62196987e+02] [-6.57175802e-03 1.86454204e-05 -9.99978406e-01 -4.02552972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.426559995 meters 0.012439311560774262 Centerline is valid? [True, True] Translation: X:99.21, Y:-162.17, Z:-4.03 [[-9.89719925e-01 1.42851585e-01 6.92061003e-03 9.92090291e+01] [ 1.42848276e-01 9.89744121e-01 -9.72629116e-04 -1.62170054e+02] [-6.98857470e-03 2.59667968e-05 -9.99975579e-01 -4.02562207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.486559995 meters 0.01261567600573299 Centerline is valid? [True, True] Translation: X:99.30, Y:-161.49, Z:-5.02 [[-9.79249131e-01 -2.02517746e-01 7.59624424e-03 9.93034181e+01] [ 2.02511813e-01 -9.79278593e-01 -1.55029466e-03 -1.61489461e+02] [ 7.75280155e-03 2.02044947e-05 9.99969946e-01 -5.01585645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.546559995 meters 0.01253653459933966 Centerline is valid? [True, True] Translation: X:99.16, Y:-162.16, Z:-4.03 [[-9.90507178e-01 1.37195693e-01 8.53648480e-03 9.91583653e+01] [ 1.37190743e-01 9.90543963e-01 -1.16554891e-03 -1.62160317e+02] [-8.61567177e-03 1.66421275e-05 -9.99962884e-01 -4.02531348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.606559995 meters 0.012557589110199345 Centerline is valid? [True, True] Translation: X:99.16, Y:-162.13, Z:-4.03 [[-9.97903405e-01 6.40999281e-02 8.94388548e-03 9.91575810e+01] [ 6.40973096e-02 9.97943485e-01 -5.79403723e-04 -1.62129564e+02] [-8.96263198e-03 -4.90995207e-06 -9.99959835e-01 -4.02553267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.666559995 meters 0.012544569488551118 Centerline is valid? [True, True] Translation: X:99.15, Y:-162.10, Z:-4.03 [[-9.99926724e-01 -8.27124376e-03 8.83933369e-03 9.91537840e+01] [-8.27106730e-03 9.99965793e-01 5.65193673e-05 -1.62100061e+02] [-8.83949880e-03 -1.65954980e-05 -9.99960931e-01 -4.02537928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.7265599950001 meters 0.012651577756062973 Centerline is valid? [True, True] Translation: X:99.15, Y:-161.43, Z:-5.01 [[-9.97889167e-01 -6.43158240e-02 8.98245965e-03 9.91511212e+01] [ 6.43134668e-02 -9.97929594e-01 -5.51322657e-04 -1.61431084e+02] [ 8.99932108e-03 2.75342131e-05 9.99959505e-01 -5.01444815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.786559995 meters 0.012743806000165414 Centerline is valid? [True, True] Translation: X:99.09, Y:-162.10, Z:-4.03 [[-9.99828223e-01 -1.64846950e-02 8.47227217e-03 9.90855605e+01] [-1.64845232e-02 9.99864117e-01 9.01116993e-05 -1.62096490e+02] [-8.47260639e-03 -4.95651471e-05 -9.99964106e-01 -4.02703496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.846559995 meters 0.013021950914011869 Centerline is valid? [True, True] Translation: X:99.08, Y:-162.07, Z:-4.03 [[-9.95966293e-01 -8.93913034e-02 7.76777050e-03 9.90848530e+01] [-8.93890551e-02 9.95996582e-01 6.36826790e-04 -1.62066575e+02] [-7.79359965e-03 -6.00956483e-05 -9.99969628e-01 -4.02753097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.906559995 meters 0.013277862951135281 Centerline is valid? [True, True] Translation: X:99.07, Y:-162.04, Z:-4.03 [[-9.86545619e-01 -1.63301875e-01 7.76145584e-03 9.90703073e+01] [-1.63297511e-01 9.86576145e-01 1.19698459e-03 -1.62037056e+02] [-7.85273701e-03 -8.65465186e-05 -9.99969163e-01 -4.02821915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1146.9665599950001 meters 0.01365808851223614 Centerline is valid? [True, True] Translation: X:99.06, Y:-162.01, Z:-4.03 [[-9.71899165e-01 -2.35250366e-01 8.32341465e-03 9.90566106e+01] [-2.35242729e-01 9.71934799e-01 1.89885653e-03 -1.62010356e+02] [-8.53652303e-03 -1.12525699e-04 -9.99963557e-01 -4.02850250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.026559995 meters 0.01368421876749221 Centerline is valid? [True, True] Translation: X:99.04, Y:-161.99, Z:-4.03 [[-9.52241319e-01 -3.05238737e-01 8.11069357e-03 9.90373265e+01] [-3.05228756e-01 9.52275852e-01 2.47146339e-03 -1.61985875e+02] [-8.47800399e-03 -1.22187353e-04 -9.99964054e-01 -4.02900608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.086559995 meters 0.013742009538225797 Centerline is valid? [True, True] Translation: X:99.01, Y:-161.97, Z:-4.03 [[-9.28012483e-01 -3.72474788e-01 7.44064355e-03 9.90054398e+01] [-3.72463769e-01 9.28042305e-01 2.86709543e-03 -1.61966401e+02] [-7.97315276e-03 -1.10669794e-04 -9.99968208e-01 -4.02856500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.146559995 meters 0.013437281785641814 Centerline is valid? [True, True] Translation: X:98.96, Y:-161.96, Z:-4.03 [[-8.99374619e-01 -4.37121053e-01 7.10492549e-03 9.89590125e+01] [-4.37108231e-01 8.99402678e-01 3.34940415e-03 -1.61956245e+02] [-7.85428408e-03 -9.32523327e-05 -9.99969150e-01 -4.02791005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.2065599950001 meters 0.012880550444859354 Centerline is valid? [True, True] Translation: X:98.90, Y:-161.96, Z:-4.03 [[-8.67034770e-01 -4.98208489e-01 6.24567974e-03 9.89016104e+01] [-4.98196000e-01 8.67057264e-01 3.52799246e-03 -1.61957375e+02] [-7.17303778e-03 -5.26805340e-05 -9.99974272e-01 -4.02833402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.266559995 meters 0.012719209437517202 Centerline is valid? [True, True] Translation: X:98.83, Y:-161.97, Z:-4.03 [[-8.29146110e-01 -5.58991513e-01 6.72435583e-03 9.88330716e+01] [-5.58973530e-01 8.29173376e-01 4.48402879e-03 -1.61968512e+02] [-8.08219086e-03 -4.08218800e-05 -9.99967338e-01 -4.02799516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.326559995 meters 0.012767750023953615 Centerline is valid? [True, True] Translation: X:98.76, Y:-161.99, Z:-4.03 [[-7.86047457e-01 -6.18126238e-01 7.02491317e-03 9.87578110e+01] [-6.18101942e-01 7.86078846e-01 5.48058912e-03 -1.61988831e+02] [-8.90983158e-03 -3.41093413e-05 -9.99960306e-01 -4.02688951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.386559995 meters 0.012861652977148065 Centerline is valid? [True, True] Translation: X:98.68, Y:-162.02, Z:-4.03 [[-7.37478501e-01 -6.75333319e-01 7.09708746e-03 9.86787146e+01] [-6.75302569e-01 7.37512649e-01 6.44466277e-03 -1.62016581e+02] [-9.58648727e-03 -3.98811489e-05 -9.99954048e-01 -4.02623230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.4465599950001 meters 0.012860623702958002 Centerline is valid? [True, True] Translation: X:98.60, Y:-162.06, Z:-4.03 [[-6.83793937e-01 -7.29645189e-01 6.61437634e-03 9.85966493e+01] [-7.29611798e-01 6.83825924e-01 6.98061921e-03 -1.62056118e+02] [-9.61645724e-03 -5.26219240e-05 -9.99953759e-01 -4.02614452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.506559995 meters 0.012912455300378435 Centerline is valid? [True, True] Translation: X:98.51, Y:-162.11, Z:-4.03 [[-6.25769119e-01 -7.79985039e-01 6.02897296e-03 9.85114406e+01] [-7.79949879e-01 6.25798158e-01 7.40618222e-03 -1.62108671e+02] [-9.54963151e-03 -6.77366051e-05 -9.99954399e-01 -4.02630106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.566559995 meters 0.013254121989387647 Centerline is valid? [True, True] Translation: X:98.43, Y:-162.16, Z:-4.03 [[-5.63834203e-01 -8.25873270e-01 4.93294261e-03 9.84330437e+01] [-8.25842827e-01 5.63855776e-01 7.09147609e-03 -1.62162550e+02] [-8.63812874e-03 -7.54185061e-05 -9.99962688e-01 -4.02679129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.626559995 meters 0.012996282550393647 Centerline is valid? [True, True] Translation: X:98.36, Y:-162.23, Z:-4.03 [[-4.99863084e-01 -8.66095957e-01 3.83269388e-03 9.83566610e+01] [-8.66071487e-01 4.99877774e-01 6.51083660e-03 -1.62231200e+02] [-7.55488774e-03 -6.48600198e-05 -9.99971459e-01 -4.02822954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.6865599950002 meters 0.013091364446625658 Centerline is valid? [True, True] Translation: X:98.29, Y:-162.31, Z:-4.03 [[-4.34393942e-01 -9.00719548e-01 2.48989899e-03 9.82853592e+01] [-9.00705255e-01 4.34401076e-01 5.07429041e-03 -1.62305078e+02] [-5.65212737e-03 -3.84240938e-05 -9.99984026e-01 -4.02946270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.746559995 meters 0.012949383737034038 Centerline is valid? [True, True] Translation: X:98.22, Y:-162.39, Z:-4.03 [[-3.65569485e-01 -9.30782394e-01 1.75667470e-03 9.82182563e+01] [-9.30772013e-01 3.65573705e-01 4.39610821e-03 -1.62388227e+02] [-4.73401421e-03 -2.79806375e-05 -9.99988794e-01 -4.03074125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.806559995 meters 0.012872127288250792 Centerline is valid? [True, True] Translation: X:98.16, Y:-162.48, Z:-4.03 [[-2.93933962e-01 -9.55824651e-01 1.43635028e-03 9.81558904e+01] [-9.55813680e-01 2.93937470e-01 4.57951822e-03 -1.62480632e+02] [-4.79941357e-03 -2.68073190e-05 -9.99988482e-01 -4.03078733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.866559995 meters 0.012980764083846026 Centerline is valid? [True, True] Translation: X:98.10, Y:-162.58, Z:-4.03 [[-2.21221514e-01 -9.75222614e-01 1.37670091e-03 9.80985219e+01] [-9.75204502e-01 2.21225796e-01 5.94370252e-03 -1.62578527e+02] [-6.10099486e-03 -2.76900553e-05 -9.99981388e-01 -4.02881853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.926559995 meters 0.012944512407904167 Centerline is valid? [True, True] Translation: X:98.05, Y:-162.68, Z:-4.03 [[-1.47570906e-01 -9.89050929e-01 1.04262772e-03 9.80517702e+01] [-9.89027260e-01 1.47574587e-01 6.84247517e-03 -1.62679482e+02] [-6.92142178e-03 -2.14369768e-05 -9.99976047e-01 -4.02876419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1147.986559995 meters 0.012899800779186451 Centerline is valid? [True, True] Translation: X:98.01, Y:-162.79, Z:-4.03 [[-7.32942209e-02 -9.97310188e-01 5.87645935e-04 9.80126636e+01] [-9.97279347e-01 7.32965758e-02 7.84327060e-03 -1.62786802e+02] [-7.86524611e-03 -1.11807463e-05 -9.99969068e-01 -4.02899859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.046559995 meters 0.01285582398260978 Centerline is valid? [True, True] Translation: X:97.98, Y:-162.90, Z:-4.03 [[ 1.08879321e-03 -9.99999407e-01 -1.40853281e-05 9.79813277e+01] [-9.99963396e-01 -1.08887354e-03 8.48648138e-03 -1.62904133e+02] [-8.48649169e-03 4.84478924e-06 -9.99963989e-01 -4.02884797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.106559995 meters 0.012904597080905399 Centerline is valid? [True, True] Translation: X:97.96, Y:-163.01, Z:-4.03 [[ 7.88915433e-02 -9.96882971e-01 -6.82433757e-04 9.79564170e+01] [-9.96844937e-01 -7.88944946e-02 8.70810164e-03 -1.63014375e+02] [-8.73479850e-03 -6.71494148e-06 -9.99961851e-01 -4.02819522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.166559995 meters 0.012983346214276542 Centerline is valid? [True, True] Translation: X:97.94, Y:-163.13, Z:-4.03 [[ 1.57869147e-01 -9.87459070e-01 -1.38505389e-03 9.79400466e+01] [-9.87419124e-01 -1.57875219e-01 8.88188893e-03 -1.63129506e+02] [-8.98916746e-03 -3.45475350e-05 -9.99959596e-01 -4.02797277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.2265599950001 meters 0.01335280670516455 Centerline is valid? [True, True] Translation: X:97.93, Y:-163.25, Z:-4.03 [[ 2.36878241e-01 -9.71536692e-01 -2.27045582e-03 9.79317080e+01] [-9.71488789e-01 -2.36889108e-01 9.64796864e-03 -1.63248580e+02] [-9.91120179e-03 -7.96714580e-05 -9.99950880e-01 -4.02704436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.286559995 meters 0.014643336487695516 Centerline is valid? [True, True] Translation: X:97.93, Y:-163.37, Z:-4.03 [[ 3.16697215e-01 -9.48522082e-01 -2.95527582e-03 9.79307615e+01] [-9.48476430e-01 -3.16710970e-01 9.30713808e-03 -1.63368935e+02] [-9.76399426e-03 -1.44535250e-04 -9.99952321e-01 -4.02670147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.346559995 meters 0.014836276727027706 Centerline is valid? [True, True] Translation: X:97.94, Y:-163.48, Z:-4.03 [[ 3.91442394e-01 -9.20196999e-01 -3.21476768e-03 9.79427647e+01] [-9.20162568e-01 -3.91455562e-01 7.96182478e-03 -1.63484556e+02] [-8.58488596e-03 -1.58486869e-04 -9.99963137e-01 -4.02855480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.406559995 meters 0.015366043863220318 Centerline is valid? [True, True] Translation: X:97.96, Y:-163.60, Z:-4.03 [[ 4.62276921e-01 -8.86731009e-01 -2.85764688e-03 9.79622294e+01] [-8.86712258e-01 -4.62285734e-01 5.76816806e-03 -1.63597851e+02] [-6.43586287e-03 -1.32580449e-04 -9.99979281e-01 -4.02967152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.4665599950001 meters 0.016009014418165005 Centerline is valid? [True, True] Translation: X:97.99, Y:-163.70, Z:-4.03 [[ 5.29133706e-01 -8.48534876e-01 -2.46687618e-03 9.79865749e+01] [-8.48524725e-01 -5.29139447e-01 4.15184290e-03 -1.63701877e+02] [-4.82830499e-03 -1.03674592e-04 -9.99988338e-01 -4.02997016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.526559995 meters 0.01575522434287494 Centerline is valid? [True, True] Translation: X:98.02, Y:-163.81, Z:-4.03 [[ 5.91768397e-01 -8.06103941e-01 -2.56939908e-03 9.80224948e+01] [-8.06095639e-01 -5.91773967e-01 3.65952783e-03 -1.63805442e+02] [-4.47046329e-03 -9.44115236e-05 -9.99990003e-01 -4.02945035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.586559995 meters 0.01530883874617174 Centerline is valid? [True, True] Translation: X:98.07, Y:-163.90, Z:-4.03 [[ 6.50407513e-01 -7.59575944e-01 -3.80159401e-03 9.80676987e+01] [-7.59561882e-01 -6.50418612e-01 4.62349985e-03 -1.63904242e+02] [-5.98452676e-03 -1.19613136e-04 -9.99982085e-01 -4.02829159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.646559995 meters 0.015383650125325768 Centerline is valid? [True, True] Translation: X:98.11, Y:-163.99, Z:-4.03 [[ 7.05838842e-01 -7.08358790e-01 -4.39930229e-03 9.81132704e+01] [-7.08343922e-01 -7.05852541e-01 4.59116688e-03 -1.63994460e+02] [-6.35745212e-03 -1.24404874e-04 -9.99979784e-01 -4.02706798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.7065599950001 meters 0.01577340160299137 Centerline is valid? [True, True] Translation: X:98.17, Y:-164.08, Z:-4.02 [[ 7.57161193e-01 -6.53203181e-01 -5.70372196e-03 9.81664618e+01] [-6.53183170e-01 -7.57182661e-01 5.11510086e-03 -1.64080777e+02] [-7.65995952e-03 -1.47380680e-04 -9.99970651e-01 -4.02486458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.766559995 meters 0.015470251224005962 Centerline is valid? [True, True] Translation: X:98.19, Y:-164.11, Z:-4.02 [[ 8.06082293e-01 -5.91763372e-01 -6.88826651e-03 9.81926775e+01] [-5.91739959e-01 -8.06111706e-01 5.26669650e-03 -1.64108189e+02] [-8.66935035e-03 -1.69328254e-04 -9.99962406e-01 -4.02388156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.826559995 meters 0.015528380791401081 Centerline is valid? [True, True] Translation: X:98.22, Y:-164.13, Z:-4.02 [[ 8.50199527e-01 -5.26402212e-01 -7.84065549e-03 9.82203946e+01] [-5.26377778e-01 -8.50235659e-01 5.07531856e-03 -1.64133390e+02] [-9.33806381e-03 -1.87886626e-04 -9.99956382e-01 -4.02316325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.886559995 meters 0.015769358774003078 Centerline is valid? [True, True] Translation: X:98.25, Y:-164.15, Z:-4.02 [[ 8.89297956e-01 -4.57245902e-01 -8.67931852e-03 9.82501882e+01] [-4.57221806e-01 -8.89340284e-01 4.69882595e-03 -1.64154701e+02] [-9.86738651e-03 -2.10282630e-04 -9.99951294e-01 -4.02272497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1148.9465599950001 meters 0.01581767769317451 Centerline is valid? [True, True] Translation: X:98.28, Y:-164.17, Z:-4.02 [[ 9.22524601e-01 -3.85841500e-01 -8.64281021e-03 9.82815207e+01] [-3.85822461e-01 -9.22565062e-01 3.83849954e-03 -1.64174507e+02] [-9.45460716e-03 -2.06519948e-04 -9.99955283e-01 -4.02367571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.006559995 meters 0.017032230802157097 Centerline is valid? [True, True] Translation: X:98.31, Y:-164.19, Z:-4.02 [[ 9.50271060e-01 -3.11335450e-01 -7.42636198e-03 9.83134179e+01] [-3.11324439e-01 -9.50300060e-01 2.62470901e-03 -1.64190173e+02] [-7.87443719e-03 -1.82177038e-04 -9.99968980e-01 -4.02495290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.066559995 meters 0.01638003101077676 Centerline is valid? [True, True] Translation: X:98.35, Y:-164.20, Z:-4.03 [[ 9.72025530e-01 -2.34782975e-01 -6.58208865e-03 9.83470156e+01] [-2.34776428e-01 -9.72047801e-01 1.76129811e-03 -1.64204149e+02] [-6.81162760e-03 -1.66707465e-04 -9.99976787e-01 -4.02705763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.126559995 meters 0.017763398965620326 Centerline is valid? [True, True] Translation: X:98.38, Y:-164.22, Z:-4.03 [[ 9.87773763e-01 -1.55794087e-01 -5.58531407e-03 9.83788742e+01] [-1.55790724e-01 -9.87789542e-01 1.03499961e-03 -1.64217897e+02] [-5.67836165e-03 -1.52205342e-04 -9.99983866e-01 -4.02751430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.1865599950002 meters 0.018075242438017537 Centerline is valid? [True, True] Translation: X:98.41, Y:-164.23, Z:-4.03 [[ 9.97256662e-01 -7.37771201e-02 -6.00716010e-03 9.84121046e+01] [-7.37746507e-02 -9.97274737e-01 6.31934968e-04 -1.64228058e+02] [-6.03741135e-03 -1.87025218e-04 -9.99981757e-01 -4.02721898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.246559995 meters 0.0192136154692237 Centerline is valid? [True, True] Translation: X:98.44, Y:-164.24, Z:-4.03 [[ 9.99928367e-01 8.90898064e-03 -7.99322040e-03 9.84431130e+01] [ 8.91095185e-03 -9.99960274e-01 2.11029028e-04 -1.64237836e+02] [-7.99102281e-03 -2.82241113e-04 -9.99968032e-01 -4.02603647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.306559995 meters 0.021789668748608472 Centerline is valid? [True, True] Translation: X:98.47, Y:-164.25, Z:-4.02 [[ 9.95893484e-01 9.00543620e-02 -9.29407924e-03 9.84739525e+01] [ 9.00537631e-02 -9.95936788e-01 -4.83758896e-04 -1.64247643e+02] [-9.29988002e-03 -3.55194478e-04 -9.99956692e-01 -4.02410342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.366559995 meters 0.0227966673555789 Centerline is valid? [True, True] Translation: X:98.51, Y:-164.25, Z:-4.02 [[ 9.85477200e-01 1.69546886e-01 -9.40967584e-03 9.85054303e+01] [ 1.69542820e-01 -9.85522049e-01 -1.23393178e-03 -1.64249137e+02] [-9.48265231e-03 -3.79331344e-04 -9.99954967e-01 -4.02314937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.426559995 meters 0.022492770992962752 Centerline is valid? [True, True] Translation: X:98.54, Y:-164.24, Z:-4.02 [[ 9.69699077e-01 2.44111550e-01 -9.65664918e-03 9.85362015e+01] [ 2.44103262e-01 -9.69747087e-01 -2.04595872e-03 -1.64242989e+02] [-9.86394956e-03 -3.73255280e-04 -9.99951280e-01 -4.02315901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.486559995 meters 0.020527290665847648 Centerline is valid? [True, True] Translation: X:98.57, Y:-164.24, Z:-4.02 [[ 9.48787540e-01 3.15772116e-01 -9.49608873e-03 9.85663666e+01] [ 3.15759842e-01 -9.48835000e-01 -2.80445570e-03 -1.64235030e+02] [-9.89579026e-03 -3.37650857e-04 -9.99950979e-01 -4.02361766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.546559995 meters 0.0182231686569817 Centerline is valid? [True, True] Translation: X:98.60, Y:-164.22, Z:-4.02 [[ 9.23374134e-01 3.83772477e-01 -9.94458464e-03 9.85950702e+01] [ 3.83753719e-01 -9.23427634e-01 -3.80629986e-03 -1.64224158e+02] [-1.06438574e-02 -3.01632501e-04 -9.99943307e-01 -4.02325482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.606559995 meters 0.017692982050144006 Centerline is valid? [True, True] Translation: X:98.62, Y:-164.21, Z:-4.02 [[ 8.91625387e-01 4.52663818e-01 -9.98184862e-03 9.86235310e+01] [ 4.52639015e-01 -8.91681214e-01 -4.74717613e-03 -1.64214330e+02] [-1.10495018e-02 -2.85471369e-04 -9.99938912e-01 -4.02302047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.666559995 meters 0.016574619183754222 Centerline is valid? [True, True] Translation: X:98.65, Y:-164.20, Z:-4.02 [[ 8.55048233e-01 5.18461749e-01 -9.48335209e-03 9.86508825e+01] [ 5.18433076e-01 -8.55100785e-01 -5.45828415e-03 -1.64202317e+02] [-1.09391334e-02 -2.49387175e-04 -9.99940135e-01 -4.02298891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.7265599950001 meters 0.01619183445010203 Centerline is valid? [True, True] Translation: X:98.68, Y:-164.19, Z:-4.02 [[ 8.12567640e-01 5.82791922e-01 -9.34915768e-03 9.86786151e+01] [ 5.82756772e-01 -8.12621386e-01 -6.40529617e-03 -1.64191250e+02] [-1.13302803e-02 -2.43548560e-04 -9.99935781e-01 -4.02257815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.786559995 meters 0.015892030074308363 Centerline is valid? [True, True] Translation: X:98.70, Y:-164.18, Z:-4.02 [[ 7.65491128e-01 6.43384830e-01 -8.90466238e-03 9.87046214e+01] [ 6.43344728e-01 -7.65542885e-01 -7.18693989e-03 -1.64177384e+02] [-1.14408690e-02 -2.27228866e-04 -9.99934525e-01 -4.02210308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.846559995 meters 0.015486189172878377 Centerline is valid? [True, True] Translation: X:98.73, Y:-164.16, Z:-4.02 [[ 7.12694726e-01 7.01429893e-01 -7.89505176e-03 9.87323425e+01] [ 7.01390203e-01 -7.12738422e-01 -7.46491604e-03 -1.64164152e+02] [-1.08632220e-02 -2.17305660e-04 -9.99940970e-01 -4.02294038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.906559995 meters 0.016742103779856448 Centerline is valid? [True, True] Translation: X:98.76, Y:-164.15, Z:-4.02 [[ 6.54669919e-01 7.55881070e-01 -7.14882688e-03 9.87597070e+01] [ 7.55839732e-01 -6.54708911e-01 -7.90836682e-03 -1.64150991e+02] [-1.06581854e-02 -2.25997525e-04 -9.99943174e-01 -4.02160052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1149.9665599950001 meters 0.016142393774533886 Centerline is valid? [True, True] Translation: X:98.79, Y:-164.13, Z:-4.02 [[ 5.92240051e-01 8.05737252e-01 -6.26112908e-03 9.87850916e+01] [ 8.05696335e-01 -5.92273100e-01 -8.12342446e-03 -1.64133511e+02] [-1.02536440e-02 -2.33551433e-04 -9.99947403e-01 -4.02183586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.026559995 meters 0.01585474183014916 Centerline is valid? [True, True] Translation: X:98.81, Y:-164.12, Z:-4.02 [[ 5.26426823e-01 8.50203503e-01 -5.36685763e-03 9.88100182e+01] [ 8.50163765e-01 -5.26454128e-01 -8.22340821e-03 -1.64115685e+02] [-9.81697482e-03 -2.33685229e-04 -9.99951785e-01 -4.02264782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.086559995 meters 0.016620592894648043 Centerline is valid? [True, True] Translation: X:98.83, Y:-164.10, Z:-4.02 [[ 4.57303111e-01 8.89298878e-01 -4.62274634e-03 9.88343407e+01] [ 8.89258617e-01 -4.57326413e-01 -8.46550098e-03 -1.64097581e+02] [-9.64246453e-03 -2.39517076e-04 -9.99953482e-01 -4.02184451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.146559995 meters 0.01814663431279889 Centerline is valid? [True, True] Translation: X:98.86, Y:-164.08, Z:-4.02 [[ 3.84246235e-01 9.23221808e-01 -4.04036092e-03 9.88581727e+01] [ 9.23177846e-01 -3.84267385e-01 -9.01338954e-03 -1.64077977e+02] [-9.87393671e-03 -2.66610698e-04 -9.99951216e-01 -4.02052268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.2065599950001 meters 0.01833479345726882 Centerline is valid? [True, True] Translation: X:98.88, Y:-164.05, Z:-4.02 [[ 3.09194352e-01 9.50993841e-01 -3.09303576e-03 9.88765658e+01] [ 9.50954440e-01 -3.09209710e-01 -8.66078117e-03 -1.64053253e+02] [-9.19274624e-03 -2.63471465e-04 -9.99957711e-01 -4.02062616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.266559995 meters 0.01877405980757783 Centerline is valid? [True, True] Translation: X:98.89, Y:-164.03, Z:-4.02 [[ 2.30958071e-01 9.72960797e-01 -2.37841502e-03 9.88946467e+01] [ 9.72921245e-01 -2.30970139e-01 -8.77761477e-03 -1.64028077e+02] [-9.08961791e-03 -2.86749527e-04 -9.99958648e-01 -4.02153003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.326559995 meters 0.01969555297591948 Centerline is valid? [True, True] Translation: X:98.91, Y:-164.00, Z:-4.02 [[ 1.52602396e-01 9.88286313e-01 -1.63458768e-03 9.89102500e+01] [ 9.88248261e-01 -1.52610872e-01 -8.67740798e-03 -1.64000706e+02] [-8.82521939e-03 -2.91185182e-04 -9.99961015e-01 -4.02095789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.386559995 meters 0.021001349197105595 Centerline is valid? [True, True] Translation: X:98.92, Y:-163.97, Z:-4.02 [[ 7.39433297e-02 9.97261975e-01 -9.67645581e-04 9.89223174e+01] [ 9.97221927e-01 -7.39490371e-02 -8.94252805e-03 -1.63973507e+02] [-8.98959964e-03 -3.03717091e-04 -9.99959547e-01 -4.02004840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.4465599950001 meters 0.021496605841667717 Centerline is valid? [True, True] Translation: X:98.93, Y:-163.95, Z:-4.02 [[-3.70353979e-03 9.99993102e-01 -2.82620930e-04 9.89276197e+01] [ 9.99946934e-01 3.70065160e-03 -9.61424625e-03 -1.63945317e+02] [-9.61313404e-03 -3.18212676e-04 -9.99953742e-01 -4.01947484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.506559995 meters 0.018934283763921665 Centerline is valid? [True, True] Translation: X:98.93, Y:-163.92, Z:-4.02 [[-7.88312073e-02 9.96887831e-01 5.41171473e-04 9.89298200e+01] [ 9.96826951e-01 7.88323765e-02 -1.10220777e-02 -1.63915325e+02] [-1.10304370e-02 -3.29429386e-04 -9.99939109e-01 -4.01950372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.566559995 meters 0.017717136321113942 Centerline is valid? [True, True] Translation: X:98.93, Y:-163.88, Z:-4.02 [[-1.52773408e-01 9.88260117e-01 1.49231982e-03 9.89329647e+01] [ 9.88191608e-01 1.52780395e-01 -1.16403240e-02 -1.63884791e+02] [-1.17316652e-02 -3.03634049e-04 -9.99931136e-01 -4.01960441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.626559995 meters 0.015883181997419414 Centerline is valid? [True, True] Translation: X:98.93, Y:-163.85, Z:-4.02 [[-2.21633169e-01 9.75127128e-01 2.41291415e-03 9.89323932e+01] [ 9.75058737e-01 2.21646207e-01 -1.15507124e-02 -1.63854985e+02] [-1.17982263e-02 -2.07287985e-04 -9.99930377e-01 -4.02067028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.6865599950002 meters 0.015182101507618409 Centerline is valid? [True, True] Translation: X:98.93, Y:-163.83, Z:-4.02 [[-2.91280755e-01 9.56632622e-01 3.08995315e-03 9.89311157e+01] [ 9.56574215e-01 2.91297118e-01 -1.05716343e-02 -1.63826563e+02] [-1.10132647e-02 -1.23544113e-04 -9.99939345e-01 -4.02116915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.746559995 meters 0.01444942359689899 Centerline is valid? [True, True] Translation: X:98.92, Y:-163.80, Z:-4.02 [[-3.57132557e-01 9.34047795e-01 3.32484909e-03 9.89239579e+01] [ 9.34006726e-01 3.57148032e-01 -8.75889256e-03 -1.63799312e+02] [-9.36868759e-03 -2.26542770e-05 -9.99956113e-01 -4.02282648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.806559995 meters 0.01437312817350791 Centerline is valid? [True, True] Translation: X:98.92, Y:-163.77, Z:-4.02 [[-4.25419934e-01 9.04988508e-01 3.69864060e-03 9.89171261e+01] [ 9.04954619e-01 4.25436011e-01 -7.83181758e-03 -1.63771940e+02] [-8.66123981e-03 1.52905807e-05 -9.99962491e-01 -4.02330519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.866559995 meters 0.01442457833768838 Centerline is valid? [True, True] Translation: X:98.91, Y:-163.75, Z:-4.02 [[-4.92904675e-01 8.70072529e-01 4.33301114e-03 9.89083796e+01] [ 8.70039560e-01 4.92923719e-01 -7.57440823e-03 -1.63745243e+02] [-8.72612849e-03 3.64298778e-05 -9.99961926e-01 -4.02275849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.926559995 meters 0.014345793776126234 Centerline is valid? [True, True] Translation: X:98.90, Y:-163.72, Z:-4.02 [[-5.59662514e-01 8.28702594e-01 5.46630838e-03 9.89011230e+01] [ 8.28663754e-01 5.59689207e-01 -8.02341073e-03 -1.63716913e+02] [-9.70845509e-03 3.93293984e-05 -9.99952871e-01 -4.02178862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1150.986559995 meters 0.014217992028672258 Centerline is valid? [True, True] Translation: X:98.89, Y:-163.69, Z:-4.02 [[-6.24133167e-01 7.81292983e-01 6.25018955e-03 9.88917009e+01] [ 7.81254193e-01 6.24164461e-01 -7.78533199e-03 -1.63688798e+02] [-9.98377145e-03 2.39028846e-05 -9.99950161e-01 -4.02118214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.046559995 meters 0.013886776102718712 Centerline is valid? [True, True] Translation: X:98.88, Y:-163.66, Z:-4.02 [[-6.86871470e-01 7.26753745e-01 6.04790661e-03 9.88819333e+01] [ 7.26725305e-01 6.86898095e-01 -6.42946599e-03 -1.63658431e+02] [-8.82693402e-03 -2.10499843e-05 -9.99961042e-01 -4.02223965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.106559995 meters 0.014059257582752123 Centerline is valid? [True, True] Translation: X:98.87, Y:-163.63, Z:-4.02 [[-7.44886122e-01 6.67170020e-01 5.36926306e-03 9.88695105e+01] [ 6.67152184e-01 7.44905471e-01 -4.87880515e-03 -1.63630528e+02] [-7.25458597e-03 -5.20386742e-05 -9.99973684e-01 -4.02323284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.166559995 meters 0.014553943718864436 Centerline is valid? [True, True] Translation: X:98.89, Y:-163.60, Z:-4.03 [[-7.93783677e-01 6.08190244e-01 3.47866141e-03 9.88883274e+01] [ 6.08184082e-01 7.93791298e-01 -2.73819084e-03 -1.63602879e+02] [-4.42667211e-03 -5.78647002e-05 -9.99990201e-01 -4.02582461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.2265599950001 meters 0.015245296322571123 Centerline is valid? [True, True] Translation: X:98.90, Y:-163.57, Z:-4.03 [[-8.36823929e-01 5.47463769e-01 3.02220582e-03 9.88987104e+01] [ 5.47459933e-01 8.36829384e-01 -2.05026754e-03 -1.63571468e+02] [-3.65151783e-03 -6.11763437e-05 -9.99993331e-01 -4.02648622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.286559995 meters 0.016038000853122923 Centerline is valid? [True, True] Translation: X:98.92, Y:-163.55, Z:-4.03 [[-8.75238634e-01 4.83681781e-01 3.04434958e-03 9.89205606e+01] [ 4.83678568e-01 8.75243926e-01 -1.76439595e-03 -1.63547325e+02] [-3.51795465e-03 -7.17808512e-05 -9.99993809e-01 -4.02640639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.346559995 meters 0.01612980204397842 Centerline is valid? [True, True] Translation: X:98.93, Y:-163.52, Z:-4.03 [[-9.07746938e-01 4.19502408e-01 3.63672765e-03 9.89336481e+01] [ 4.19498656e-01 9.07754219e-01 -1.77642232e-03 -1.63520920e+02] [-4.04646831e-03 -8.69395533e-05 -9.99991809e-01 -4.02622763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.406559995 meters 0.0154793682381989 Centerline is valid? [True, True] Translation: X:98.94, Y:-163.49, Z:-4.03 [[-9.34759903e-01 3.55244626e-01 5.01786689e-03 9.89431477e+01] [ 3.55238875e-01 9.34773365e-01 -2.02435236e-03 -1.63493850e+02] [-5.40970862e-03 -1.09742024e-04 -9.99985361e-01 -4.02527991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.4665599950001 meters 0.014728475701039167 Centerline is valid? [True, True] Translation: X:98.95, Y:-163.47, Z:-4.03 [[-9.56699950e-01 2.91017293e-01 5.84304167e-03 9.89498748e+01] [ 2.91011186e-01 9.56717787e-01 -1.88823417e-03 -1.63468429e+02] [-6.13965069e-03 -1.06083049e-04 -9.99981147e-01 -4.02556256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.526559995 meters 0.013734891007356153 Centerline is valid? [True, True] Translation: X:99.15, Y:-162.87, Z:-5.01 [[-9.25084973e-01 -3.79731261e-01 4.68649276e-03 9.91526144e+01] [ 3.79726542e-01 -9.25096843e-01 -1.89331422e-03 -1.62869233e+02] [ 5.05441025e-03 2.81091556e-05 9.99987226e-01 -5.01368196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.586559995 meters 0.01327108651428375 Centerline is valid? [True, True] Translation: X:98.92, Y:-163.46, Z:-4.03 [[-9.53539860e-01 3.01227481e-01 4.87237264e-03 9.89162372e+01] [ 3.01223469e-01 9.53552308e-01 -1.55475973e-03 -1.63463359e+02] [-5.11439853e-03 -1.48523930e-05 -9.99986921e-01 -4.02792211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.646559995 meters 0.013246275208510032 Centerline is valid? [True, True] Translation: X:99.11, Y:-162.85, Z:-5.01 [[-9.30267795e-01 -3.66847638e-01 4.96380422e-03 9.91144214e+01] [ 3.66842575e-01 -9.30281038e-01 -1.92753806e-03 -1.62853996e+02] [ 5.32484573e-03 2.78081419e-05 9.99985823e-01 -5.01298273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.7065599950001 meters 0.014069699850939333 Centerline is valid? [True, True] Translation: X:98.88, Y:-163.46, Z:-4.03 [[-9.50740981e-01 3.09912117e-01 6.78726603e-03 9.88768537e+01] [ 3.09904749e-01 9.50765205e-01 -2.13818833e-03 -1.63456353e+02] [-7.11574685e-03 7.05427010e-05 -9.99974680e-01 -4.02682215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.766559995 meters 0.014814420228106846 Centerline is valid? [True, True] Translation: X:98.89, Y:-163.43, Z:-4.03 [[-9.69260284e-01 2.45921426e-01 7.55999566e-03 9.88865867e+01] [ 2.45914834e-01 9.69289761e-01 -1.80399286e-03 -1.63431393e+02] [-7.77146688e-03 1.10576446e-04 -9.99969796e-01 -4.02660720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.826559995 meters 0.015219359660955601 Centerline is valid? [True, True] Translation: X:99.04, Y:-162.80, Z:-5.01 [[-9.59749819e-01 -2.80753118e-01 7.61388720e-03 9.90370126e+01] [ 2.80743441e-01 -9.59780015e-01 -2.33326357e-03 -1.62802855e+02] [ 7.96272779e-03 -1.01800396e-04 9.99968292e-01 -5.01300267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.886559995 meters 0.014744940298201592 Centerline is valid? [True, True] Translation: X:98.84, Y:-163.41, Z:-4.03 [[-9.69572159e-01 2.44681729e-01 7.78971071e-03 9.88422862e+01] [ 2.44674938e-01 9.69603441e-01 -1.82785221e-03 -1.63414699e+02] [-8.00017235e-03 1.33712376e-04 -9.99967989e-01 -4.02879094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1151.9465599950001 meters 0.014270335675670816 Centerline is valid? [True, True] Translation: X:98.84, Y:-163.38, Z:-4.03 [[-9.85055570e-01 1.72046364e-01 8.09766554e-03 9.88426367e+01] [ 1.72041469e-01 9.85088847e-01 -1.30249123e-03 -1.63380107e+02] [-8.20100889e-03 1.10108027e-04 -9.99966365e-01 -4.02908067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.006559995 meters 0.013329286537729537 Centerline is valid? [True, True] Translation: X:98.94, Y:-162.78, Z:-5.01 [[-9.75548966e-01 -2.19583240e-01 9.34963696e-03 9.89360729e+01] [ 2.19572866e-01 -9.75593768e-01 -2.13461500e-03 -1.62775072e+02] [ 9.59017323e-03 -2.94948699e-05 9.99954013e-01 -5.01232078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.066559995 meters 0.013025283170397112 Centerline is valid? [True, True] Translation: X:98.79, Y:-163.35, Z:-4.03 [[-9.88165516e-01 1.53067508e-01 9.96251294e-03 9.87881206e+01] [ 1.53059525e-01 9.88215734e-01 -1.56340201e-03 -1.63353617e+02] [-1.00844181e-02 -2.00424533e-05 -9.99949151e-01 -4.02764736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.126559995 meters 0.0135001903479197 Centerline is valid? [True, True] Translation: X:98.78, Y:-163.32, Z:-4.03 [[-9.97177827e-01 7.43318096e-02 1.05434441e-02 9.87775591e+01] [ 7.43265062e-02 9.97233559e-01 -8.94498063e-04 -1.63317125e+02] [-1.05807659e-02 -1.08316271e-04 -9.99944016e-01 -4.02786856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.1865599950002 meters 0.015754901799051813 Centerline is valid? [True, True] Translation: X:98.77, Y:-163.28, Z:-4.03 [[-9.99905200e-01 -7.00479856e-03 1.18542750e-02 9.87671663e+01] [-7.00719357e-03 9.99975436e-01 -1.60515060e-04 -1.63279521e+02] [-1.18528595e-02 -2.43565043e-04 -9.99929723e-01 -4.02665961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.246559995 meters 0.017096570680275747 Centerline is valid? [True, True] Translation: X:98.77, Y:-162.73, Z:-5.01 [[-9.94373610e-01 -1.05275231e-01 1.17579979e-02 9.87714205e+01] [ 1.05270707e-01 -9.94443095e-01 -1.00472534e-03 -1.62733980e+02] [ 1.17984325e-02 2.38700385e-04 9.99930368e-01 -5.01400933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.306559995 meters 0.01807206450475525 Centerline is valid? [True, True] Translation: X:98.71, Y:-163.27, Z:-4.03 [[-9.99798502e-01 -1.71892613e-02 1.03674721e-02 9.87139851e+01] [-1.71912134e-02 9.99852215e-01 -9.92029390e-05 -1.63271526e+02] [-1.03642347e-02 -2.77412375e-04 -9.99946251e-01 -4.02844608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.366559995 meters 0.018278882745672693 Centerline is valid? [True, True] Translation: X:98.70, Y:-163.24, Z:-4.03 [[-9.96080390e-01 -8.80544924e-02 8.38225456e-03 9.87033219e+01] [-8.80532603e-02 9.96115634e-01 5.16639789e-04 -1.63244179e+02] [-8.39518727e-03 -2.23470079e-04 -9.99964735e-01 -4.02960213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.426559995 meters 0.01753267201514556 Centerline is valid? [True, True] Translation: X:98.69, Y:-163.22, Z:-4.03 [[-9.87390896e-01 -1.58092938e-01 8.11426493e-03 9.86908550e+01] [-1.58089370e-01 9.87424214e-01 1.08333572e-03 -1.63220065e+02] [-8.18348940e-03 -2.13103206e-04 -9.99966492e-01 -4.02973673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.486559995 meters 0.01760100532815908 Centerline is valid? [True, True] Translation: X:98.62, Y:-162.69, Z:-5.01 [[-9.99167350e-01 3.97861448e-02 9.03711612e-03 9.86175758e+01] [-3.97818628e-02 -9.99208175e-01 6.53156548e-04 -1.62689248e+02] [ 9.05594688e-03 2.93099383e-04 9.99958951e-01 -5.01240550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.546559995 meters 0.016601049043279473 Centerline is valid? [True, True] Translation: X:98.63, Y:-163.23, Z:-4.03 [[-9.86796574e-01 -1.61592164e-01 1.09769850e-02 9.86276371e+01] [-1.61585290e-01 9.86857586e-01 1.51614507e-03 -1.63232588e+02] [-1.10777181e-02 -2.77592538e-04 -9.99938602e-01 -4.02689452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.606559995 meters 0.016377387677102364 Centerline is valid? [True, True] Translation: X:98.55, Y:-162.69, Z:-5.01 [[-9.98867729e-01 4.60967271e-02 1.17622718e-02 9.85512749e+01] [-4.60895002e-02 -9.98936922e-01 8.84890384e-04 -1.62693495e+02] [ 1.17905581e-02 3.41771222e-04 9.99930431e-01 -5.01466666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.666559995 meters 0.015618303895630228 Centerline is valid? [True, True] Translation: X:98.56, Y:-163.25, Z:-4.03 [[-9.86707076e-01 -1.62108382e-01 1.14026200e-02 9.85627826e+01] [-1.62100388e-01 9.86772929e-01 1.62793936e-03 -1.63248596e+02] [-1.15156994e-02 -2.42069848e-04 -9.99933663e-01 -4.02603006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.7265599950001 meters 0.014677062502902299 Centerline is valid? [True, True] Translation: X:98.48, Y:-162.69, Z:-5.01 [[-9.98338046e-01 5.66007929e-02 1.08395387e-02 9.84804940e+01] [-5.65954164e-02 -9.98396873e-01 8.02356598e-04 -1.62693498e+02] [ 1.08675756e-02 1.87554910e-04 9.99940929e-01 -5.01358303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.786559995 meters 0.013624147896189908 Centerline is valid? [True, True] Translation: X:98.50, Y:-163.27, Z:-4.03 [[-9.87246873e-01 -1.58915073e-01 9.46630249e-03 9.84959844e+01] [-1.58908937e-01 9.87292249e-01 1.40175690e-03 -1.63270737e+02] [-9.56876737e-03 -1.20399945e-04 -9.99954211e-01 -4.02870310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.846559995 meters 0.013086058424751294 Centerline is valid? [True, True] Translation: X:98.48, Y:-163.25, Z:-4.03 [[-9.74060070e-01 -2.26137353e-01 8.29930668e-03 9.84794725e+01] [-2.26129877e-01 9.74095422e-01 1.84067836e-03 -1.63251165e+02] [-8.50056278e-03 -8.37899069e-05 -9.99963866e-01 -4.02997386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.906559995 meters 0.013026025379776651 Centerline is valid? [True, True] Translation: X:98.35, Y:-162.67, Z:-5.01 [[-9.89870836e-01 1.41795300e-01 7.05838787e-03 9.83487311e+01] [-1.41791838e-01 -9.89896001e-01 9.91053756e-04 -1.62672333e+02] [ 7.12759669e-03 -1.98065802e-05 9.99974598e-01 -5.00983546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1152.9665599950001 meters 0.013164905059622707 Centerline is valid? [True, True] Translation: X:98.39, Y:-163.28, Z:-4.03 [[-9.72458146e-01 -2.32977710e-01 6.82216664e-03 9.83900700e+01] [-2.32972525e-01 9.72482072e-01 1.55620617e-03 -1.63275093e+02] [-6.99699610e-03 -7.60320147e-05 -9.99975518e-01 -4.03104755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.026559995 meters 0.0144743008218175 Centerline is valid? [True, True] Translation: X:98.36, Y:-163.25, Z:-4.03 [[-9.51620622e-01 -3.07166773e-01 8.17094949e-03 9.83649879e+01] [-3.07156723e-01 9.51655691e-01 2.48885721e-03 -1.63251787e+02] [-8.54042481e-03 -1.41314219e-04 -9.99963520e-01 -4.02891152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.086559995 meters 0.016717837261098257 Centerline is valid? [True, True] Translation: X:98.34, Y:-163.23, Z:-4.03 [[-9.24410737e-01 -3.81253512e-01 1.05141953e-02 9.83353913e+01] [-3.81232115e-01 9.24470491e-01 4.04794108e-03 -1.63230301e+02] [-1.12633551e-02 -2.66388726e-04 -9.99936531e-01 -4.02640073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.146559995 meters 0.0181604505700031 Centerline is valid? [True, True] Translation: X:98.30, Y:-163.22, Z:-4.03 [[-8.92993250e-01 -4.49941559e-01 1.07540239e-02 9.82962034e+01] [-4.49913258e-01 8.93057943e-01 5.05682849e-03 -1.63216384e+02] [-1.18792438e-02 -3.22664239e-04 -9.99929387e-01 -4.02543383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.2065599950001 meters 0.0192973974853966 Centerline is valid? [True, True] Translation: X:98.24, Y:-163.21, Z:-4.03 [[-8.56944625e-01 -5.15313994e-01 9.86899776e-03 9.82417145e+01] [-5.15284168e-01 8.57001389e-01 5.55380201e-03 -1.63214211e+02] [-1.13196967e-02 -3.26037523e-04 -9.99935877e-01 -4.02558684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.266559995 meters 0.0194975728313535 Centerline is valid? [True, True] Translation: X:98.18, Y:-163.23, Z:-4.03 [[-8.16952796e-01 -5.76649581e-01 7.96179983e-03 9.81767611e+01] [-5.76625401e-01 8.16991547e-01 5.28761924e-03 -1.63225194e+02] [-9.55382658e-03 -2.71240701e-04 -9.99954324e-01 -4.02678718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.326559995 meters 0.018063678310529588 Centerline is valid? [True, True] Translation: X:98.11, Y:-163.25, Z:-4.03 [[-7.74775957e-01 -6.32201363e-01 6.60707725e-03 9.81134765e+01] [-6.32180555e-01 7.74804102e-01 5.13324651e-03 -1.63246490e+02] [-8.36443599e-03 -1.99749785e-04 -9.99964998e-01 -4.02822266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.386559995 meters 0.016756808708101097 Centerline is valid? [True, True] Translation: X:98.04, Y:-163.28, Z:-4.03 [[-7.28593394e-01 -6.84926608e-01 5.21616931e-03 9.80429502e+01] [-6.84910386e-01 7.28612053e-01 4.71585929e-03 -1.63277836e+02] [-7.03058133e-03 -1.36664613e-04 -9.99975276e-01 -4.02859316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.4465599950001 meters 0.014493361056199673 Centerline is valid? [True, True] Translation: X:97.97, Y:-163.32, Z:-4.03 [[-6.80100396e-01 -7.33101337e-01 5.08737284e-03 9.79733537e+01] [-7.33081846e-01 6.80119417e-01 5.34653659e-03 -1.63322279e+02] [-7.37957417e-03 -9.32790203e-05 -9.99972766e-01 -4.02821458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.506559995 meters 0.01413764833758471 Centerline is valid? [True, True] Translation: X:97.89, Y:-163.38, Z:-4.03 [[-6.24303438e-01 -7.81165579e-01 5.05530203e-03 9.78906136e+01] [-7.81141103e-01 6.24323899e-01 6.18440317e-03 -1.63379603e+02] [-7.98718876e-03 -8.79600469e-05 -9.99968098e-01 -4.02741226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.566559995 meters 0.013439593151626563 Centerline is valid? [True, True] Translation: X:97.82, Y:-163.44, Z:-4.02 [[-5.66946503e-01 -8.23731802e-01 6.13030227e-03 9.78222690e+01] [-8.23684983e-01 5.66979641e-01 8.78272073e-03 -1.63438106e+02] [-1.07103630e-02 -7.01051135e-05 -9.99942640e-01 -4.02431832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.626559995 meters 0.013444082481563042 Centerline is valid? [True, True] Translation: X:97.75, Y:-163.51, Z:-4.02 [[-5.05320005e-01 -8.62909338e-01 6.25839731e-03 9.77488702e+01] [-8.62844230e-01 5.05358757e-01 1.06000463e-02 -1.63512271e+02] [-1.23096149e-02 -4.36065378e-05 -9.99924233e-01 -4.02220890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.6865599950002 meters 0.013497860024181964 Centerline is valid? [True, True] Translation: X:97.68, Y:-163.60, Z:-4.02 [[-4.42830547e-01 -8.96587772e-01 5.61006924e-03 9.76839106e+01] [-8.96515185e-01 4.42866081e-01 1.14086221e-02 -1.63598368e+02] [-1.27133404e-02 2.25740915e-05 -9.99919182e-01 -4.02167539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.746559995 meters 0.014002279963038352 Centerline is valid? [True, True] Translation: X:97.62, Y:-163.69, Z:-4.02 [[-3.76038240e-01 -9.26593434e-01 4.45548026e-03 9.76229846e+01] [-9.26526471e-01 3.76064629e-01 1.11397227e-02 -1.63687825e+02] [-1.19975424e-02 6.08413063e-05 -9.99928025e-01 -4.02210776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.806559995 meters 0.014431916486897354 Centerline is valid? [True, True] Translation: X:97.57, Y:-163.78, Z:-4.02 [[-3.05964109e-01 -9.52038030e-01 3.09070728e-03 9.75686608e+01] [-9.51986959e-01 3.05979710e-01 9.86134149e-03 -1.63781845e+02] [-1.03340658e-02 7.49035342e-05 -9.99946599e-01 -4.02355736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.866559995 meters 0.013782444966492271 Centerline is valid? [True, True] Translation: X:97.51, Y:-163.89, Z:-4.02 [[-2.30023521e-01 -9.73182990e-01 2.01181652e-03 9.75130068e+01] [-9.73144009e-01 2.30032314e-01 8.71047158e-03 -1.63887785e+02] [-8.93966558e-03 4.58261515e-05 -9.99960039e-01 -4.02485899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.926559995 meters 0.01328686812930518 Centerline is valid? [True, True] Translation: X:97.46, Y:-164.00, Z:-4.03 [[-1.50646467e-01 -9.88586948e-01 1.21967869e-03 9.74630619e+01] [-9.88554078e-01 1.50651404e-01 8.06156787e-03 -1.63998979e+02] [-8.15330708e-03 8.72837626e-06 -9.99966761e-01 -4.02502570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1153.986559995 meters 0.014299562532753133 Centerline is valid? [True, True] Translation: X:97.42, Y:-164.11, Z:-4.02 [[-6.51288326e-02 -9.97876669e-01 6.23821062e-04 9.74172638e+01] [-9.97840471e-01 6.51317836e-02 8.49971150e-03 -1.64112990e+02] [-8.52229437e-03 -6.88976154e-05 -9.99963682e-01 -4.02366945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.046559995 meters 0.017131161676453982 Centerline is valid? [True, True] Translation: X:97.38, Y:-164.24, Z:-4.02 [[ 1.81314377e-02 -9.99835612e-01 -3.04761479e-05 9.73806073e+01] [-9.99793931e-01 -1.81309601e-02 9.13034009e-03 -1.64237196e+02] [-9.12939173e-03 -1.35076324e-04 -9.99958317e-01 -4.02227819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.106559995 meters 0.02301436433497279 Centerline is valid? [True, True] Translation: X:97.35, Y:-164.36, Z:-4.02 [[ 1.03911196e-01 -9.94586310e-01 -7.31981142e-04 9.73505821e+01] [-9.94544611e-01 -1.03913544e-01 9.10996480e-03 -1.64360402e+02] [-9.13670903e-03 -2.18639433e-04 -9.99958236e-01 -4.02180885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.166559995 meters 0.016914541629043562 Centerline is valid? [True, True] Translation: X:97.35, Y:-164.46, Z:-4.02 [[ 1.80483370e-01 -9.83576922e-01 -1.48029655e-03 9.73457948e+01] [-9.83532517e-01 -1.80489292e-01 9.34901096e-03 -1.64463274e+02] [-9.46264910e-03 -2.31421212e-04 -9.99955201e-01 -4.02465970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.2265599950001 meters 0.016216145349134688 Centerline is valid? [True, True] Translation: X:97.34, Y:-164.58, Z:-4.03 [[ 2.53308801e-01 -9.67383236e-01 -2.08004326e-03 9.73433049e+01] [-9.67343899e-01 -2.53317263e-01 8.72612562e-03 -1.64580408e+02] [-8.96841851e-03 -1.98287262e-04 -9.99959763e-01 -4.02517398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.286559995 meters 0.015209775901410646 Centerline is valid? [True, True] Translation: X:97.35, Y:-164.70, Z:-4.03 [[ 3.23664515e-01 -9.46169367e-01 -2.19350855e-03 9.73501499e+01] [-9.46144757e-01 -3.23671920e-01 6.82544848e-03 -1.64697045e+02] [-7.16800739e-03 -1.33778856e-04 -9.99974301e-01 -4.02746307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.346559995 meters 0.01548942063709907 Centerline is valid? [True, True] Translation: X:97.36, Y:-164.81, Z:-4.03 [[ 3.95195738e-01 -9.18593575e-01 -2.48436648e-03 9.73627745e+01] [-9.18573457e-01 -3.95203528e-01 6.08068485e-03 -1.64813944e+02] [-6.56750843e-03 -1.20987625e-04 -9.99978426e-01 -4.02799570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.406559995 meters 0.01576171020491945 Centerline is valid? [True, True] Translation: X:97.38, Y:-164.93, Z:-4.03 [[ 4.66899068e-01 -8.84303463e-01 -3.55607527e-03 9.73837899e+01] [-8.84275032e-01 -4.66912580e-01 7.09294090e-03 -1.64931158e+02] [-7.93268848e-03 -1.67138924e-04 -9.99968522e-01 -4.02666195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.4665599950001 meters 0.01689841640297724 Centerline is valid? [True, True] Translation: X:97.41, Y:-165.05, Z:-4.02 [[ 5.35388356e-01 -8.44592695e-01 -4.74214724e-03 9.74122768e+01] [-8.44555917e-01 -5.35409313e-01 7.88481873e-03 -1.65045503e+02] [-9.19845009e-03 -2.16431621e-04 -9.99957670e-01 -4.02495368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.526559995 meters 0.016919775258047907 Centerline is valid? [True, True] Translation: X:97.45, Y:-165.15, Z:-4.02 [[ 6.00120799e-01 -7.99886007e-01 -6.11576774e-03 9.74503534e+01] [-7.99839807e-01 -6.00151900e-01 8.60119137e-03 -1.65154456e+02] [-1.05503622e-02 -2.70119348e-04 -9.99944307e-01 -4.02495841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.586559995 meters 0.017493701851657426 Centerline is valid? [True, True] Translation: X:97.50, Y:-165.26, Z:-4.02 [[ 6.60251737e-01 -7.51012267e-01 -6.94395857e-03 9.74982434e+01] [-7.50966059e-01 -6.60288188e-01 8.33588668e-03 -1.65263214e+02] [-1.08453670e-02 -2.89106461e-04 -9.99941146e-01 -4.02465867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.646559995 meters 0.017063043766310335 Centerline is valid? [True, True] Translation: X:97.54, Y:-165.35, Z:-4.03 [[ 7.14120177e-01 -6.99989388e-01 -6.87237298e-03 9.75436518e+01] [-6.99953679e-01 -7.14153204e-01 7.07452836e-03 -1.65351078e+02] [-9.86002196e-03 -2.41720697e-04 -9.99951360e-01 -4.02558113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.7065599950001 meters 0.015964137661994962 Centerline is valid? [True, True] Translation: X:97.60, Y:-165.44, Z:-4.03 [[ 7.63456030e-01 -6.45823722e-01 -6.82711542e-03 9.76009312e+01] [-6.45795577e-01 -7.63486530e-01 6.03257817e-03 -1.65437626e+02] [-9.10839275e-03 -1.96687244e-04 -9.99958498e-01 -4.02626824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.766559995 meters 0.0151874224711483 Centerline is valid? [True, True] Translation: X:97.62, Y:-165.46, Z:-4.03 [[ 8.09601154e-01 -5.86935599e-01 -7.25083519e-03 9.76240634e+01] [-5.86910219e-01 -8.09633606e-01 5.46069987e-03 -1.65461874e+02] [-9.07559899e-03 -1.65399650e-04 -9.99958802e-01 -4.02648728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.826559995 meters 0.014317613775498417 Centerline is valid? [True, True] Translation: X:97.65, Y:-165.48, Z:-4.03 [[ 8.50668516e-01 -5.25656033e-01 -6.98650510e-03 9.76485573e+01] [-5.25637204e-01 -8.50697198e-01 4.45064785e-03 -1.65483258e+02] [-8.28291020e-03 -1.13658994e-04 -9.99965690e-01 -4.02753365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.886559995 meters 0.014050085681035593 Centerline is valid? [True, True] Translation: X:97.67, Y:-165.51, Z:-4.03 [[ 8.88594263e-01 -4.58637015e-01 -7.23354561e-03 9.76731135e+01] [-4.58620878e-01 -8.88623699e-01 3.84867392e-03 -1.65506169e+02] [-8.19304437e-03 -1.02454525e-04 -9.99966431e-01 -4.02791669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1154.9465599950001 meters 0.01396984711690281 Centerline is valid? [True, True] Translation: X:97.70, Y:-165.53, Z:-4.03 [[ 9.21778955e-01 -3.87635535e-01 -7.88987150e-03 9.76977022e+01] [-3.87620326e-01 -9.21812714e-01 3.43553463e-03 -1.65530647e+02] [-8.60471917e-03 -1.08528954e-04 -9.99962973e-01 -4.02760580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.006559995 meters 0.01401175701242917 Centerline is valid? [True, True] Translation: X:97.72, Y:-165.55, Z:-4.03 [[ 9.49384775e-01 -3.14000777e-01 -8.48889607e-03 9.77245673e+01] [-3.13987125e-01 -9.49422718e-01 2.93043059e-03 -1.65551674e+02] [-8.97970827e-03 -1.16702116e-04 -9.99959675e-01 -4.02737965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.066559995 meters 0.01422130375744534 Centerline is valid? [True, True] Translation: X:97.75, Y:-165.57, Z:-4.03 [[ 9.71173153e-01 -2.38194403e-01 -9.28085392e-03 9.77525139e+01] [-2.38182239e-01 -9.71217488e-01 2.41071982e-03 -1.65569126e+02] [-9.58794760e-03 -1.30691795e-04 -9.99954026e-01 -4.02693086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.126559995 meters 0.013990311539829915 Centerline is valid? [True, True] Translation: X:97.78, Y:-165.58, Z:-4.03 [[ 9.86823859e-01 -1.61516559e-01 -9.54318128e-03 9.77826890e+01] [-1.61507711e-01 -9.86869993e-01 1.69575339e-03 -1.65584997e+02] [-9.69177150e-03 -1.32112545e-04 -9.99953025e-01 -4.02733882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.1865599950002 meters 0.013992512118419087 Centerline is valid? [True, True] Translation: X:97.81, Y:-165.60, Z:-4.03 [[ 9.96387293e-01 -8.43546169e-02 -9.83164264e-03 9.78103759e+01] [-8.43492391e-02 -9.96435789e-01 9.61102803e-04 -1.65597810e+02] [-9.87767405e-03 -1.28339044e-04 -9.99951206e-01 -4.02693880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.246559995 meters 0.014494071301010832 Centerline is valid? [True, True] Translation: X:97.84, Y:-165.61, Z:-4.03 [[ 9.99937108e-01 -6.62858976e-03 -9.04660003e-03 9.78388361e+01] [-6.62729802e-03 -9.99978024e-01 1.72757933e-04 -1.65607117e+02] [-9.04754636e-03 -1.12792553e-04 -9.99959064e-01 -4.02704413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.306559995 meters 0.014101004687379225 Centerline is valid? [True, True] Translation: X:97.87, Y:-165.61, Z:-4.03 [[ 9.97394675e-01 7.16881913e-02 -8.04150876e-03 9.78687472e+01] [ 7.16866766e-02 -9.97427087e-01 -4.76812164e-04 -1.65612516e+02] [-8.05500046e-03 -1.00899125e-04 -9.99967553e-01 -4.02908829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.366559995 meters 0.014247437515062857 Centerline is valid? [True, True] Translation: X:97.90, Y:-165.62, Z:-4.03 [[ 9.88555150e-01 1.50673246e-01 -7.50250712e-03 9.78984816e+01] [ 1.50669700e-01 -9.88583614e-01 -1.03886167e-03 -1.65617719e+02] [-7.57338426e-03 -1.03428449e-04 -9.99971316e-01 -4.02922170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.426559995 meters 0.014194940962836815 Centerline is valid? [True, True] Translation: X:97.93, Y:-165.62, Z:-4.03 [[ 9.73593823e-01 2.28159250e-01 -7.64359032e-03 9.79294485e+01] [ 2.28153115e-01 -9.73623821e-01 -1.67680834e-03 -1.65621326e+02] [-7.82456094e-03 -1.11378699e-04 -9.99969382e-01 -4.02912563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.486559995 meters 0.014483817457793527 Centerline is valid? [True, True] Translation: X:97.96, Y:-165.62, Z:-4.03 [[ 9.52373561e-01 3.04824844e-01 -8.14946934e-03 9.79604748e+01] [ 3.04814861e-01 -9.52408419e-01 -2.47054806e-03 -1.65623194e+02] [-8.51470764e-03 -1.31194705e-04 -9.99963741e-01 -4.02825287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.546559995 meters 0.014432993317351562 Centerline is valid? [True, True] Translation: X:97.99, Y:-165.62, Z:-4.03 [[ 9.25411107e-01 3.78880529e-01 -7.98919202e-03 9.79912248e+01] [ 3.78867675e-01 -9.25445582e-01 -3.12393208e-03 -1.65621801e+02] [-8.57715951e-03 -1.35925158e-04 -9.99963206e-01 -4.02876586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.606559995 meters 0.014625104857316393 Centerline is valid? [True, True] Translation: X:98.02, Y:-165.62, Z:-4.03 [[ 8.92738174e-01 4.50527529e-01 -6.59528819e-03 9.80228294e+01] [ 4.50516218e-01 -8.92762528e-01 -3.19473887e-03 -1.65618488e+02] [-7.32734397e-03 -1.19218941e-04 -9.99973148e-01 -4.02974960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.666559995 meters 0.014443332998549609 Centerline is valid? [True, True] Translation: X:98.05, Y:-165.61, Z:-4.03 [[ 8.54960406e-01 5.18663570e-01 -5.55030877e-03 9.80532722e+01] [ 5.18653410e-01 -8.54978416e-01 -3.24786623e-03 -1.65612359e+02] [-6.42994409e-03 -1.01889536e-04 -9.99979323e-01 -4.02983919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.7265599950001 meters 0.01412818231374998 Centerline is valid? [True, True] Translation: X:98.08, Y:-165.60, Z:-4.03 [[ 8.12521219e-01 5.82906914e-01 -5.36633050e-03 9.80827093e+01] [ 5.82894970e-01 -8.12538935e-01 -3.73281060e-03 -1.65602976e+02] [-6.53623358e-03 -9.50192353e-05 -9.99978634e-01 -4.02957158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.786559995 meters 0.01370896374336902 Centerline is valid? [True, True] Translation: X:98.11, Y:-165.59, Z:-4.03 [[ 7.66325227e-01 6.42425073e-01 -5.97265287e-03 9.81105480e+01] [ 6.42406458e-01 -7.66348496e-01 -4.89127743e-03 -1.65589812e+02] [-7.71941281e-03 -8.85614893e-05 -9.99970201e-01 -4.02779216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.846559995 meters 0.013479367320874517 Centerline is valid? [True, True] Translation: X:98.14, Y:-165.57, Z:-4.03 [[ 7.15333952e-01 6.98756748e-01 -6.02863001e-03 9.81364200e+01] [ 6.98732824e-01 -7.15359352e-01 -5.78268222e-03 -1.65574985e+02] [-8.35332508e-03 -7.58527390e-05 -9.99965108e-01 -4.02683779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.906559995 meters 0.01309171621493638 Centerline is valid? [True, True] Translation: X:98.16, Y:-165.56, Z:-4.03 [[ 6.60613699e-01 7.50700564e-01 -6.18092058e-03 9.81627818e+01] [ 7.50668519e-01 -6.60642612e-01 -6.93643563e-03 -1.65559096e+02] [-9.29056565e-03 -5.75180951e-05 -9.99956840e-01 -4.02649996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1155.9665599950001 meters 0.012956278545995244 Centerline is valid? [True, True] Translation: X:98.19, Y:-165.54, Z:-4.03 [[ 6.01704352e-01 7.98699260e-01 -5.60040075e-03 9.81873682e+01] [ 7.98665210e-01 -6.01730414e-01 -7.37501652e-03 -1.65541376e+02] [-9.26035170e-03 -3.52657035e-05 -9.99957121e-01 -4.02648317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.026559995 meters 0.012888662906235956 Centerline is valid? [True, True] Translation: X:98.21, Y:-165.52, Z:-4.03 [[ 5.40389780e-01 8.41404434e-01 -4.17913589e-03 9.82078794e+01] [ 8.41379288e-01 -5.40405939e-01 -6.50492345e-03 -1.65521252e+02] [-7.73170129e-03 -1.04422806e-06 -9.99970110e-01 -4.02725305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.086559995 meters 0.01299290653146459 Centerline is valid? [True, True] Translation: X:98.23, Y:-165.50, Z:-4.03 [[ 4.73995090e-01 8.80519641e-01 -3.71716746e-03 9.82279939e+01] [ 8.80492418e-01 -4.74009665e-01 -6.92387291e-03 -1.65500545e+02] [-7.85857939e-03 8.94399838e-06 -9.99969121e-01 -4.02750951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.146559995 meters 0.01293536545969128 Centerline is valid? [True, True] Translation: X:98.25, Y:-165.48, Z:-4.03 [[ 4.04083753e-01 9.14717733e-01 -2.79096968e-03 9.82478145e+01] [ 9.14695713e-01 -4.04093391e-01 -6.34699725e-03 -1.65478390e+02] [-6.93352334e-03 1.18304732e-05 -9.99975963e-01 -4.02728444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.2065599950001 meters 0.012866459909058055 Centerline is valid? [True, True] Translation: X:98.27, Y:-165.46, Z:-4.03 [[ 3.29609635e-01 9.44115143e-01 -2.02109385e-03 9.82674395e+01] [ 9.44097391e-01 -3.29615831e-01 -5.78964553e-03 -1.65455404e+02] [-6.13227655e-03 2.13514066e-07 -9.99981197e-01 -4.02759875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.266559995 meters 0.012853382275328874 Centerline is valid? [True, True] Translation: X:98.28, Y:-165.43, Z:-4.03 [[ 2.51911914e-01 9.67748982e-01 -1.51502794e-03 9.82837791e+01] [ 9.67731879e-01 -2.51916469e-01 -5.75345523e-03 -1.65432172e+02] [-5.94956093e-03 -1.67769127e-05 -9.99982301e-01 -4.02732871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.326559995 meters 0.01333124919799367 Centerline is valid? [True, True] Translation: X:98.30, Y:-165.41, Z:-4.03 [[ 1.69275939e-01 9.85568002e-01 -1.17009598e-03 9.83021923e+01] [ 9.85546798e-01 -1.69279973e-01 -6.46531820e-03 -1.65407644e+02] [-6.57008456e-03 -5.87615368e-05 -9.99978415e-01 -4.02664389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.386559995 meters 0.013889737019177052 Centerline is valid? [True, True] Translation: X:98.32, Y:-165.38, Z:-4.03 [[ 8.73723391e-02 9.96175539e-01 -6.08743945e-04 9.83169017e+01] [ 9.96157290e-01 -8.73744235e-02 -6.03022395e-03 -1.65381298e+02] [-6.06035024e-03 -7.95299474e-05 -9.99981633e-01 -4.02599160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.4465599950001 meters 0.01448295225168359 Centerline is valid? [True, True] Translation: X:98.33, Y:-165.35, Z:-4.03 [[ 4.84123689e-03 9.99988276e-01 -1.00564900e-04 9.83309095e+01] [ 9.99978090e-01 -4.84164156e-03 -4.51418862e-03 -1.65352841e+02] [-4.51462259e-03 -7.87084406e-05 -9.99989806e-01 -4.02640261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.506559995 meters 0.014637985354484118 Centerline is valid? [True, True] Translation: X:98.34, Y:-165.32, Z:-4.03 [[-7.45136249e-02 9.97219981e-01 1.70799283e-04 9.83388600e+01] [ 9.97215342e-01 7.45137993e-02 -3.04235984e-03 -1.65323702e+02] [-3.04662893e-03 -5.63735950e-05 -9.99995358e-01 -4.02769457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.566559995 meters 0.014950208618611415 Centerline is valid? [True, True] Translation: X:98.34, Y:-165.29, Z:-4.03 [[-1.52168640e-01 9.88354542e-01 -6.25613998e-05 9.83434767e+01] [ 9.88354436e-01 1.52168652e-01 4.57496533e-04 -1.65294581e+02] [ 4.61688660e-04 7.78378804e-06 -9.99999893e-01 -4.02942071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.626559995 meters 0.015034983351381452 Centerline is valid? [True, True] Translation: X:98.34, Y:-165.27, Z:-4.03 [[-2.28025647e-01 9.73655098e-01 -2.31348118e-04 9.83437929e+01] [ 9.73654515e-01 2.28025764e-01 1.06644786e-03 -1.65266538e+02] [ 1.09110573e-03 1.79243244e-05 -9.99999405e-01 -4.02945161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.6865599950002 meters 0.014067458306959256 Centerline is valid? [True, True] Translation: X:98.34, Y:-165.24, Z:-4.03 [[-3.01593134e-01 9.53436688e-01 -2.51452907e-04 9.83423414e+01] [ 9.53436322e-01 3.01593239e-01 8.36057874e-04 -1.65238067e+02] [ 8.72964746e-04 1.24049802e-05 -9.99999619e-01 -4.02859394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.746559995 meters 0.013199867290549505 Centerline is valid? [True, True] Translation: X:98.34, Y:-165.21, Z:-4.03 [[-3.71157679e-01 9.28569773e-01 3.93415696e-04 9.83391015e+01] [ 9.28569217e-01 3.71157887e-01 -1.01600312e-03 -1.65209931e+02] [-1.08944912e-03 -1.17836550e-05 -9.99999407e-01 -4.02702645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.806559995 meters 0.012803537128966955 Centerline is valid? [True, True] Translation: X:98.33, Y:-165.18, Z:-4.03 [[-4.38906352e-01 8.98532452e-01 8.04628354e-04 9.83330241e+01] [ 8.98530893e-01 4.38907089e-01 -1.67396072e-03 -1.65182421e+02] [-1.85726512e-03 -1.17285594e-05 -9.99998275e-01 -4.02687507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.866559995 meters 0.012551383270331581 Centerline is valid? [True, True] Translation: X:98.32, Y:-165.16, Z:-4.03 [[-5.00333804e-01 8.65831539e-01 1.35265624e-03 9.83203797e+01] [ 8.65828413e-01 5.00335633e-01 -2.32687654e-03 -1.65158252e+02] [-2.69146521e-03 6.95321749e-06 -9.99996378e-01 -4.02640288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.926559995 meters 0.013146473427046243 Centerline is valid? [True, True] Translation: X:98.31, Y:-165.13, Z:-4.03 [[-5.61266192e-01 8.27633577e-01 1.70960767e-03 9.83081662e+01] [ 8.27629886e-01 5.61268795e-01 -2.47223077e-03 -1.65134900e+02] [-3.00565063e-03 2.73428486e-05 -9.99995483e-01 -4.02613302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1156.986559995 meters 0.013799957095022079 Centerline is valid? [True, True] Translation: X:98.30, Y:-165.11, Z:-4.03 [[-6.21496164e-01 7.83415719e-01 1.52603626e-03 9.82965778e+01] [ 7.83413478e-01 6.21498037e-01 -1.87399908e-03 -1.65110838e+02] [-2.41654888e-03 3.08341376e-05 -9.99997080e-01 -4.02607551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.046559995 meters 0.014176098929204744 Centerline is valid? [True, True] Translation: X:98.28, Y:-165.08, Z:-4.03 [[-6.78517856e-01 7.34581621e-01 1.83334318e-03 9.82849775e+01] [ 7.34579108e-01 6.78520332e-01 -1.92173106e-03 -1.65084835e+02] [-2.65562894e-03 4.28067573e-05 -9.99996473e-01 -4.02569775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.106559995 meters 0.014346606480413224 Centerline is valid? [True, True] Translation: X:98.27, Y:-165.06, Z:-4.03 [[-7.33592209e-01 6.79587317e-01 1.88400752e-03 9.82730748e+01] [ 6.79585222e-01 7.33594627e-01 -1.68798150e-03 -1.65059032e+02] [-2.52922861e-03 4.20535900e-05 -9.99996801e-01 -4.02525982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.166559995 meters 0.0144566605509018 Centerline is valid? [True, True] Translation: X:98.30, Y:-165.04, Z:-4.02 [[-7.80053479e-01 6.25706334e-01 2.85541709e-03 9.82973689e+01] [ 6.25702417e-01 7.80058703e-01 -2.21494466e-03 -1.65041920e+02] [-3.61329786e-03 5.88660865e-05 -9.99993470e-01 -4.02390533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.2265599950001 meters 0.014199859132656931 Centerline is valid? [True, True] Translation: X:98.32, Y:-165.02, Z:-4.02 [[-8.23802328e-01 5.66860906e-01 4.29395903e-03 9.83174529e+01] [ 5.66853654e-01 8.23813515e-01 -2.86822479e-03 -1.65016511e+02] [-5.16330599e-03 7.11961116e-05 -9.99986668e-01 -4.02180252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.286559995 meters 0.013853201213895806 Centerline is valid? [True, True] Translation: X:98.33, Y:-164.99, Z:-4.02 [[-8.63234298e-01 5.04776660e-01 5.20295077e-03 9.83331324e+01] [ 5.04767951e-01 8.63249975e-01 -2.96583347e-03 -1.64989380e+02] [-5.98853063e-03 6.60736303e-05 -9.99982066e-01 -4.02080795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.346559995 meters 0.013438516097865559 Centerline is valid? [True, True] Translation: X:98.35, Y:-164.96, Z:-4.02 [[-8.98264505e-01 4.39414338e-01 5.99325718e-03 9.83483514e+01] [ 4.39404928e-01 8.98284497e-01 -2.87622115e-03 -1.64960770e+02] [-6.64750283e-03 4.98593668e-05 -9.99977904e-01 -4.01992992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.406559995 meters 0.012978985233171645 Centerline is valid? [True, True] Translation: X:98.36, Y:-164.93, Z:-4.02 [[-9.28727579e-01 3.70693948e-01 7.14710973e-03 9.83585401e+01] [ 3.70683179e-01 9.28755079e-01 -2.82572495e-03 -1.64929499e+02] [-7.68539360e-03 2.49846616e-05 -9.99970467e-01 -4.01895878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.4665599950001 meters 0.012935826335162874 Centerline is valid? [True, True] Translation: X:98.61, Y:-164.29, Z:-5.02 [[-9.02646842e-01 -4.30302543e-01 8.27038715e-03 9.86143489e+01] [ 4.30285142e-01 -9.02684727e-01 -3.87032663e-03 -1.64289918e+02] [ 9.13096356e-03 6.50865918e-05 9.99958310e-01 -5.02294590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.526559995 meters 0.013276687916796138 Centerline is valid? [True, True] Translation: X:98.32, Y:-164.90, Z:-4.02 [[-9.34042346e-01 3.57029659e-01 9.73236079e-03 9.83169143e+01] [ 3.57009364e-01 9.34093044e-01 -3.80769749e-03 -1.64897443e+02] [-1.04503915e-02 -8.20067578e-05 -9.99945390e-01 -4.01577901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.586559995 meters 0.01381089417438922 Centerline is valid? [True, True] Translation: X:98.56, Y:-164.28, Z:-5.03 [[-8.99352206e-01 -4.37116259e-01 9.74608689e-03 9.85599830e+01] [ 4.37091876e-01 -8.99405006e-01 -4.61814937e-03 -1.64284792e+02] [ 1.07843475e-02 1.06592578e-04 9.99941842e-01 -5.02622980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.646559995 meters 0.014728218713228748 Centerline is valid? [True, True] Translation: X:98.54, Y:-164.32, Z:-5.03 [[-8.65434072e-01 -5.00933885e-01 9.43979338e-03 9.85431388e+01] [ 5.00906396e-01 -8.65485534e-01 -5.25104548e-03 -1.64315807e+02] [ 1.08004312e-02 1.84019206e-04 9.99941657e-01 -5.02665385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.7065599950001 meters 0.016319546259049335 Centerline is valid? [True, True] Translation: X:98.52, Y:-164.35, Z:-5.03 [[-8.25971246e-01 -5.63642830e-01 8.84653170e-03 9.85215910e+01] [ 5.63613729e-01 -8.26018582e-01 -5.73299457e-03 -1.64346488e+02] [ 1.05387608e-02 2.50738051e-04 9.99944434e-01 -5.02640083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.766559995 meters 0.018064050529653323 Centerline is valid? [True, True] Translation: X:98.18, Y:-164.86, Z:-4.01 [[-8.88884543e-01 4.58035606e-01 9.36225569e-03 9.81785986e+01] [ 4.58006588e-01 8.88933795e-01 -5.16466059e-03 -1.64864641e+02] [-1.06880239e-02 -3.02812190e-04 -9.99942836e-01 -4.01311867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.826559995 meters 0.018818572670051863 Centerline is valid? [True, True] Translation: X:98.19, Y:-164.84, Z:-4.01 [[-9.20548000e-01 3.90480220e-01 1.07971543e-02 9.81896223e+01] [ 3.90448458e-01 9.20611238e-01 -4.99499757e-03 -1.64835771e+02] [-1.18904293e-02 -3.82402789e-04 -9.99929233e-01 -4.01258777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.886559995 meters 0.019923839699377006 Centerline is valid? [True, True] Translation: X:98.44, Y:-164.29, Z:-5.03 [[-8.60044400e-01 -5.10106488e-01 1.07238107e-02 9.84398422e+01] [ 5.10072784e-01 -8.60111155e-01 -5.87841789e-03 -1.64290345e+02] [ 1.22222883e-02 4.14223593e-04 9.99925219e-01 -5.02835463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1157.9465599950001 meters 0.02015421375229504 Centerline is valid? [True, True] Translation: X:98.15, Y:-164.81, Z:-4.01 [[-9.22796605e-01 3.85120616e-01 1.13373916e-02 9.81487677e+01] [ 3.85085822e-01 9.22866149e-01 -5.19438964e-03 -1.64811985e+02] [-1.24633614e-02 -4.27496370e-04 -9.99922238e-01 -4.01250679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.006559995 meters 0.018819127820601213 Centerline is valid? [True, True] Translation: X:98.40, Y:-164.27, Z:-5.03 [[-8.62835989e-01 -5.05365369e-01 1.09499000e-02 9.83999850e+01] [ 5.05330873e-01 -8.62905362e-01 -5.91999152e-03 -1.64271790e+02] [ 1.24404861e-02 4.25340783e-04 9.99922524e-01 -5.02710283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.066559995 meters 0.018529887690756194 Centerline is valid? [True, True] Translation: X:98.11, Y:-164.80, Z:-4.01 [[-9.22005933e-01 3.87006109e-01 1.14599469e-02 9.81118516e+01] [ 3.86971332e-01 9.22077080e-01 -5.20063610e-03 -1.64801771e+02] [-1.25796323e-02 -3.60346433e-04 -9.99920808e-01 -4.01386325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.126559995 meters 0.017441235337113222 Centerline is valid? [True, True] Translation: X:98.12, Y:-164.78, Z:-4.01 [[-9.45789540e-01 3.24579818e-01 1.14056362e-02 9.81220508e+01] [ 3.24552381e-01 9.45858262e-01 -4.23085203e-03 -1.64780504e+02] [-1.21613644e-02 -2.99769217e-04 -9.99926003e-01 -4.01390528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.1865599950002 meters 0.015157570560343463 Centerline is valid? [True, True] Translation: X:98.34, Y:-164.21, Z:-5.03 [[-9.03436370e-01 -4.28588067e-01 1.07235005e-02 9.83431207e+01] [ 4.28561346e-01 -9.03499971e-01 -4.79319683e-03 -1.64205131e+02] [ 1.17429893e-02 2.65329457e-04 9.99931014e-01 -5.02529781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.246559995 meters 0.014351937046171008 Centerline is valid? [True, True] Translation: X:98.08, Y:-164.78, Z:-4.02 [[-9.44318784e-01 3.28893363e-01 9.54939166e-03 9.80831530e+01] [ 3.28874748e-01 9.44367052e-01 -3.50318826e-03 -1.64780569e+02] [-1.01703062e-02 -1.67572701e-04 -9.99948267e-01 -4.01744643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.306559995 meters 0.01394045923569427 Centerline is valid? [True, True] Translation: X:98.30, Y:-164.18, Z:-5.02 [[-9.07609323e-01 -4.19744152e-01 7.75654828e-03 9.83020446e+01] [ 4.19729229e-01 -9.07642465e-01 -3.53975864e-03 -1.64179903e+02] [ 8.52596559e-03 4.29320875e-05 9.99963652e-01 -5.02142941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.366559995 meters 0.014244397805449161 Centerline is valid? [True, True] Translation: X:98.04, Y:-164.77, Z:-4.02 [[-9.45472075e-01 3.25596521e-01 8.33434405e-03 9.80388323e+01] [ 3.25582523e-01 9.45508797e-01 -3.02253936e-03 -1.64769404e+02] [-8.86432392e-03 -1.44209795e-04 -9.99960701e-01 -4.01868284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.426559995 meters 0.015085181147905996 Centerline is valid? [True, True] Translation: X:98.04, Y:-164.74, Z:-4.02 [[-9.66970169e-01 2.54724967e-01 9.15874102e-03 9.80441157e+01] [ 2.54711721e-01 9.67013525e-01 -2.60433579e-03 -1.64740739e+02] [-9.52001578e-03 -1.85476330e-04 -9.99954666e-01 -4.01731901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.486559995 meters 0.01597090353544088 Centerline is valid? [True, True] Translation: X:98.05, Y:-164.71, Z:-4.02 [[-9.83278738e-01 1.81847630e-01 9.71408746e-03 9.80494138e+01] [ 1.81836432e-01 9.83326694e-01 -2.03119586e-03 -1.64713424e+02] [-9.92148966e-03 -2.30856701e-04 -9.99950754e-01 -4.01704440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.546559995 meters 0.0170698350552024 Centerline is valid? [True, True] Translation: X:98.18, Y:-164.09, Z:-5.02 [[-9.55957205e-01 -2.93367018e-01 9.03408308e-03 9.81785350e+01] [ 2.93355741e-01 -9.55999874e-01 -2.57895278e-03 -1.64091140e+02] [ 9.39316197e-03 1.84831642e-04 9.99955866e-01 -5.02402892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.606559995 meters 0.016313831522930065 Centerline is valid? [True, True] Translation: X:98.00, Y:-164.71, Z:-4.02 [[-9.84124803e-01 1.77288139e-01 8.20287964e-03 9.80015858e+01] [ 1.77280265e-01 9.84158968e-01 -1.68300527e-03 -1.64705767e+02] [-8.37131443e-03 -2.02078550e-04 -9.99964940e-01 -4.01810281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.666559995 meters 0.01586011061207943 Centerline is valid? [True, True] Translation: X:98.00, Y:-164.68, Z:-4.02 [[-9.94138348e-01 1.07938213e-01 6.18769882e-03 9.80033340e+01] [ 1.07935214e-01 9.94157594e-01 -8.17542978e-04 -1.64682458e+02] [-6.23979190e-03 -1.44880230e-04 -9.99980522e-01 -4.01950053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.7265599950001 meters 0.016002640194165335 Centerline is valid? [True, True] Translation: X:98.00, Y:-164.66, Z:-4.02 [[-9.99254284e-01 3.81357021e-02 6.04514629e-03 9.79990331e+01] [ 3.81341891e-02 9.99272561e-01 -3.65382411e-04 -1.64656537e+02] [-6.05468292e-03 -1.34583187e-04 -9.99981661e-01 -4.01901570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.786559995 meters 0.015300747252303896 Centerline is valid? [True, True] Translation: X:98.00, Y:-164.63, Z:-4.02 [[-9.99486884e-01 -3.13975969e-02 6.33720254e-03 9.80006485e+01] [-3.13977981e-02 9.99506965e-01 6.77554318e-05 -1.64632431e+02] [-6.33620544e-03 -1.31253541e-04 -9.99979918e-01 -4.01781321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.846559995 meters 0.01469850162646459 Centerline is valid? [True, True] Translation: X:98.00, Y:-164.61, Z:-4.02 [[-9.94991868e-01 -9.97242519e-02 6.80122112e-03 9.79962843e+01] [-9.97227690e-02 9.95015105e-01 5.57662000e-04 -1.64610065e+02] [-6.82293017e-03 -1.23367448e-04 -9.99976716e-01 -4.01679203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.906559995 meters 0.014137765675284226 Centerline is valid? [True, True] Translation: X:97.99, Y:-164.59, Z:-4.02 [[-9.85709449e-01 -1.68318556e-01 6.76365321e-03 9.79895394e+01] [-1.68315359e-01 9.85732647e-01 1.04318797e-03 -1.64587466e+02] [-6.84274168e-03 -1.10146479e-04 -9.99976582e-01 -4.01687400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1158.9665599950001 meters 0.013939588102229953 Centerline is valid? [True, True] Translation: X:97.98, Y:-164.57, Z:-4.02 [[-9.71608307e-01 -2.36503916e-01 6.57241809e-03 9.79788850e+01] [-2.36499181e-01 9.71630531e-01 1.49960839e-03 -1.64565346e+02] [-6.74062534e-03 -9.73395250e-05 -9.99977277e-01 -4.01741855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.026559995 meters 0.014194759532906871 Centerline is valid? [True, True] Translation: X:97.96, Y:-164.54, Z:-4.02 [[-9.52332740e-01 -3.04993757e-01 6.41561136e-03 9.79617912e+01] [-3.04987498e-01 9.52354346e-01 1.95613832e-03 -1.64542651e+02] [-6.70654534e-03 -9.37866890e-05 -9.99977507e-01 -4.01657306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.086559995 meters 0.014049274104436309 Centerline is valid? [True, True] Translation: X:97.93, Y:-164.53, Z:-4.02 [[-9.27808472e-01 -3.72976482e-01 7.74494616e-03 9.79312043e+01] [-3.72964549e-01 9.27840789e-01 2.98584071e-03 -1.64526571e+02] [-8.29972532e-03 -1.18302040e-04 -9.99965550e-01 -4.01510701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.146559995 meters 0.014504280704780924 Centerline is valid? [True, True] Translation: X:97.88, Y:-164.52, Z:-4.01 [[-8.98343613e-01 -4.39217597e-01 8.16426702e-03 9.78827450e+01] [-4.39200757e-01 8.98380702e-01 3.84821761e-03 -1.64517295e+02] [-9.02482483e-03 -1.28730549e-04 -9.99959267e-01 -4.01377509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.2065599950001 meters 0.013969439451231894 Centerline is valid? [True, True] Translation: X:97.83, Y:-164.52, Z:-4.01 [[-8.63893163e-01 -5.03615676e-01 7.73646970e-03 9.78259556e+01] [-5.03596725e-01 8.63927796e-01 4.37057910e-03 -1.64519449e+02] [-8.88484336e-03 -1.20347402e-04 -9.99960522e-01 -4.01476408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.266559995 meters 0.013806139527610202 Centerline is valid? [True, True] Translation: X:97.76, Y:-164.53, Z:-4.02 [[-8.24987004e-01 -5.65102527e-01 7.45502150e-03 9.77569563e+01] [-5.65080641e-01 8.25020680e-01 4.97464795e-03 -1.64532244e+02] [-8.96173303e-03 -1.08668421e-04 -9.99959837e-01 -4.01521829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.326559995 meters 0.013211545567780807 Centerline is valid? [True, True] Translation: X:97.68, Y:-164.56, Z:-4.02 [[-7.82014333e-01 -6.23220211e-01 7.08180424e-03 9.76808028e+01] [-6.23195675e-01 7.82046393e-01 5.53084560e-03 -1.64556757e+02] [-8.98523422e-03 -8.81492370e-05 -9.99959628e-01 -4.01622066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.386559995 meters 0.0129443129642031 Centerline is valid? [True, True] Translation: X:97.60, Y:-164.59, Z:-4.02 [[-7.35271191e-01 -6.77743693e-01 6.30584748e-03 9.76017370e+01] [-6.77719413e-01 7.35298228e-01 5.73693720e-03 -1.64590519e+02] [-8.52485148e-03 -5.53906117e-05 -9.99963661e-01 -4.01625118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.4465599950001 meters 0.012688291393258357 Centerline is valid? [True, True] Translation: X:97.53, Y:-164.63, Z:-4.02 [[-6.87998041e-01 -7.25685758e-01 6.23497851e-03 9.75263479e+01] [-7.25655743e-01 6.88026293e-01 6.60016939e-03 -1.64633718e+02] [-9.07947808e-03 1.64556422e-05 -9.99958781e-01 -4.01573947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.506559995 meters 0.013349688559760847 Centerline is valid? [True, True] Translation: X:97.45, Y:-164.69, Z:-4.02 [[-6.36620059e-01 -7.71155516e-01 5.83711943e-03 9.74469124e+01] [-7.71121893e-01 6.36646813e-01 7.20159439e-03 -1.64691254e+02] [-9.26973271e-03 8.35488641e-05 -9.99957032e-01 -4.01652055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.566559995 meters 0.014970858379779708 Centerline is valid? [True, True] Translation: X:97.37, Y:-164.76, Z:-4.02 [[-5.81975036e-01 -8.13187318e-01 5.60743455e-03 9.73688439e+01] [-8.13146896e-01 5.82002028e-01 8.10952848e-03 -1.64758115e+02] [-9.85810400e-03 1.59875130e-04 -9.99951395e-01 -4.01593443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.626559995 meters 0.01599681793705854 Centerline is valid? [True, True] Translation: X:97.29, Y:-164.83, Z:-4.02 [[-5.24259735e-01 -8.51542044e-01 5.27993847e-03 9.72909663e+01] [-8.51494107e-01 5.24286266e-01 9.03867817e-03 -1.64831857e+02] [-1.04650137e-02 2.42778526e-04 -9.99945211e-01 -4.01707834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.6865599950002 meters 0.016631825028683468 Centerline is valid? [True, True] Translation: X:97.22, Y:-164.91, Z:-4.02 [[-4.59611563e-01 -8.88108834e-01 4.46202626e-03 9.72178348e+01] [-8.88061354e-01 4.59633148e-01 9.18695903e-03 -1.64911127e+02] [-1.02099146e-02 2.59879518e-04 -9.99947844e-01 -4.01756769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.746559995 meters 0.016888963407109474 Centerline is valid? [True, True] Translation: X:97.15, Y:-165.00, Z:-4.02 [[-3.90032671e-01 -9.20793209e-01 3.79243069e-03 9.71464365e+01] [-9.20742995e-01 3.90051021e-01 9.61965758e-03 -1.65002765e+02] [-1.03369568e-02 2.60126745e-04 -9.99946538e-01 -4.01802958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.806559995 meters 0.01582948479390677 Centerline is valid? [True, True] Translation: X:97.08, Y:-165.10, Z:-4.02 [[-3.14661798e-01 -9.49199128e-01 2.99478471e-03 9.70753026e+01] [-9.49149397e-01 3.14675976e-01 9.71869380e-03 -1.65104181e+02] [-1.01673625e-02 2.15603564e-04 -9.99948288e-01 -4.01767025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.866559995 meters 0.015103218465032922 Centerline is valid? [True, True] Translation: X:97.01, Y:-165.20, Z:-4.02 [[-2.35789652e-01 -9.71801392e-01 2.30092343e-03 9.70146717e+01] [-9.71748013e-01 2.35800820e-01 1.01869053e-02 -1.65204943e+02] [-1.04422084e-02 1.66049077e-04 -9.99945465e-01 -4.01695575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.926559995 meters 0.013123395263992544 Centerline is valid? [True, True] Translation: X:96.96, Y:-165.31, Z:-4.02 [[-1.54373040e-01 -9.88011472e-01 1.51513030e-03 9.69583850e+01] [-9.87957313e-01 1.54380443e-01 1.03454097e-02 -1.65314778e+02] [-1.04552900e-02 1.00168292e-04 -9.99945337e-01 -4.01784545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1159.986559995 meters 0.012282098356736257 Centerline is valid? [True, True] Translation: X:96.91, Y:-165.43, Z:-4.02 [[-6.74130282e-02 -9.97724874e-01 7.47602649e-04 9.69081114e+01] [-9.97665887e-01 6.74171719e-02 1.08490769e-02 -1.65432538e+02] [-1.08747951e-02 -1.44885348e-05 -9.99940868e-01 -4.01811212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.046559995 meters 0.01263876727305672 Centerline is valid? [True, True] Translation: X:96.87, Y:-165.55, Z:-4.02 [[ 1.65139986e-02 -9.99863631e-01 -8.88428155e-05 9.68702493e+01] [-9.99800416e-01 -1.65139536e-02 1.12435618e-02 -1.65549079e+02] [-1.12434957e-02 -9.68510810e-05 -9.99936785e-01 -4.01865715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.106559995 meters 0.013712326573471765 Centerline is valid? [True, True] Translation: X:96.84, Y:-165.67, Z:-4.02 [[ 9.92626933e-02 -9.95060829e-01 -9.29604533e-04 9.68412224e+01] [-9.95000384e-01 -9.92669109e-02 1.09688838e-02 -1.65667899e+02] [-1.10069856e-02 -1.63844085e-04 -9.99939408e-01 -4.01863924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.166559995 meters 0.01625293869321012 Centerline is valid? [True, True] Translation: X:96.82, Y:-165.79, Z:-4.02 [[ 1.80836318e-01 -9.83511856e-01 -1.62948113e-03 9.68197787e+01] [-9.83460763e-01 -1.80843536e-01 1.00271644e-02 -1.65790275e+02] [-1.01565162e-02 -2.10744721e-04 -9.99948399e-01 -4.01846817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.2265599950001 meters 0.015722360489886275 Centerline is valid? [True, True] Translation: X:96.82, Y:-165.90, Z:-4.02 [[ 2.56903794e-01 -9.66434482e-01 -2.19823444e-03 9.68153956e+01] [-9.66391914e-01 -2.56913116e-01 9.07302864e-03 -1.65903116e+02] [-9.33324299e-03 -2.06539493e-04 -9.99956423e-01 -4.02005026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.286559995 meters 0.015354723911611154 Centerline is valid? [True, True] Translation: X:96.82, Y:-166.02, Z:-4.02 [[ 3.29978969e-01 -9.43984107e-01 -2.80810660e-03 9.68201551e+01] [-9.43944599e-01 -3.29990856e-01 8.63874729e-03 -1.66019276e+02] [-9.08148965e-03 -1.99907864e-04 -9.99958743e-01 -4.02076312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.346559995 meters 0.015446366220981856 Centerline is valid? [True, True] Translation: X:96.83, Y:-166.14, Z:-4.02 [[ 4.01267113e-01 -9.15954284e-01 -3.52910871e-03 9.68331735e+01] [-9.15914251e-01 -4.01282579e-01 8.56605104e-03 -1.66135615e+02] [-9.26228099e-03 -2.04913607e-04 -9.99957083e-01 -4.02067271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.406559995 meters 0.016109374183328758 Centerline is valid? [True, True] Translation: X:96.85, Y:-166.24, Z:-4.02 [[ 4.70314823e-01 -8.82483258e-01 -5.22179431e-03 9.68513252e+01] [-8.82422608e-01 -4.70343738e-01 1.03493412e-02 -1.66244573e+02] [-1.15891586e-02 -2.59619196e-04 -9.99932810e-01 -4.01855626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.4665599950001 meters 0.016180366830006482 Centerline is valid? [True, True] Translation: X:96.88, Y:-166.35, Z:-4.02 [[ 5.36215649e-01 -8.44053623e-01 -6.80139651e-03 9.68808708e+01] [-8.43978644e-01 -5.36258701e-01 1.12540493e-02 -1.66352955e+02] [-1.31463291e-02 -2.94363919e-04 -9.99913540e-01 -4.01733974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.526559995 meters 0.01474387193878906 Centerline is valid? [True, True] Translation: X:96.92, Y:-166.46, Z:-4.02 [[ 5.96302999e-01 -8.02718908e-01 -8.06773968e-03 9.69221665e+01] [-8.02639361e-01 -5.96357514e-01 1.13035919e-02 -1.66455123e+02] [-1.38848641e-02 -2.64880305e-04 -9.99903566e-01 -4.01846549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.586559995 meters 0.013183334196322853 Centerline is valid? [True, True] Translation: X:96.97, Y:-166.55, Z:-4.02 [[ 6.49439563e-01 -7.60375950e-01 -7.52779204e-03 9.69696748e+01] [-7.60322604e-01 -6.49483178e-01 9.00779367e-03 -1.66546339e+02] [-1.17384840e-02 -1.26467145e-04 -9.99931094e-01 -4.02152592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.646559995 meters 0.012618010836176967 Centerline is valid? [True, True] Translation: X:97.02, Y:-166.64, Z:-4.02 [[ 7.02898214e-01 -7.11246306e-01 -7.92418619e-03 9.70193284e+01] [-7.11199776e-01 -7.02942875e-01 8.13598604e-03 -1.66635595e+02] [-1.13569402e-02 -8.30906206e-05 -9.99935504e-01 -4.02317154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.7065599950001 meters 0.012529726547538289 Centerline is valid? [True, True] Translation: X:97.08, Y:-166.72, Z:-4.02 [[ 7.49628434e-01 -6.61808290e-01 -8.18524356e-03 9.70783229e+01] [-6.61768937e-01 -7.49673120e-01 7.21710230e-03 -1.66718953e+02] [-1.09125952e-02 6.59484455e-06 -9.99940456e-01 -4.02468510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.766559995 meters 0.014114823279724896 Centerline is valid? [True, True] Translation: X:97.11, Y:-166.74, Z:-4.03 [[ 7.91638996e-01 -6.10908259e-01 -9.93979420e-03 9.71060442e+01] [-6.10862635e-01 -7.91701379e-01 7.46776946e-03 -1.66738478e+02] [-1.24314708e-02 1.60071350e-04 -9.99922714e-01 -4.02614023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.826559995 meters 0.01584468368750629 Centerline is valid? [True, True] Translation: X:97.13, Y:-166.76, Z:-4.03 [[ 8.32922327e-01 -5.53255234e-01 -1.22083075e-02 9.71323894e+01] [-5.53200913e-01 -8.33011741e-01 7.75816483e-03 -1.66759332e+02] [-1.44619088e-02 2.91698144e-04 -9.99895379e-01 -4.02626873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.886559995 meters 0.018809241255286425 Centerline is valid? [True, True] Translation: X:97.16, Y:-166.78, Z:-4.03 [[ 8.69816412e-01 -4.93109792e-01 -1.61908041e-02 9.71600047e+01] [-4.93035194e-01 -8.69966938e-01 8.59207242e-03 -1.66777765e+02] [-1.83222993e-02 5.09110647e-04 -9.99832003e-01 -4.02559820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1160.9465599950001 meters 0.019112981385107652 Centerline is valid? [True, True] Translation: X:97.19, Y:-166.80, Z:-4.03 [[ 9.04715793e-01 -4.25663891e-01 -1.73085291e-02 9.71871396e+01] [-4.25597921e-01 -9.04881169e-01 7.51530638e-03 -1.66796817e+02] [-1.88611566e-02 5.67257615e-04 -9.99821952e-01 -4.02668146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.006559995 meters 0.01796590164695991 Centerline is valid? [True, True] Translation: X:97.21, Y:-166.82, Z:-4.03 [[ 9.35644572e-01 -3.52508338e-01 -1.75244304e-02 9.72129259e+01] [-3.52457160e-01 -9.35808520e-01 6.03032154e-03 -1.66820980e+02] [-1.85252499e-02 5.34373331e-04 -9.99828250e-01 -4.02970718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.066559995 meters 0.01873636302719111 Centerline is valid? [True, True] Translation: X:97.24, Y:-166.84, Z:-4.03 [[ 9.61141945e-01 -2.75540562e-01 -1.68392297e-02 9.72410555e+01] [-2.75506494e-01 -9.61289340e-01 4.35628707e-03 -1.66838689e+02] [-1.73877058e-02 4.52306920e-04 -9.99848720e-01 -4.02962572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.126559995 meters 0.01629615270693871 Centerline is valid? [True, True] Translation: X:97.27, Y:-166.86, Z:-4.03 [[ 9.80175673e-01 -1.97360910e-01 -1.74447882e-02 9.72659968e+01] [-1.97337313e-01 -9.80330808e-01 3.08094618e-03 -1.66861169e+02] [-1.77097216e-02 4.22639134e-04 -9.99843081e-01 -4.03254340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.1865599950002 meters 0.01601798002553521 Centerline is valid? [True, True] Translation: X:97.29, Y:-166.88, Z:-4.03 [[ 9.93379101e-01 -1.13732814e-01 -1.62113635e-02 9.72925435e+01] [-1.13722366e-01 -9.93511331e-01 1.56788647e-03 -1.66879632e+02] [-1.62844935e-02 2.86088969e-04 -9.99867358e-01 -4.03267868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.246559995 meters 0.014635763234138064 Centerline is valid? [True, True] Translation: X:97.32, Y:-166.90, Z:-4.03 [[ 9.99328495e-01 -3.29131177e-02 -1.61023482e-02 9.73216378e+01] [-3.29127017e-02 -9.99458188e-01 2.90912508e-04 -1.66895824e+02] [-1.61031986e-02 2.39254624e-04 -9.99870307e-01 -4.03439332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.306559995 meters 0.013531325688765104 Centerline is valid? [True, True] Translation: X:97.35, Y:-166.91, Z:-4.03 [[ 9.98408398e-01 5.41001750e-02 -1.59324289e-02 9.73525890e+01] [ 5.40917070e-02 -9.98535508e-01 -9.62265999e-04 -1.66914779e+02] [-1.59611548e-02 9.89221774e-05 -9.99872608e-01 -4.03442369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.366559995 meters 0.013288887494102992 Centerline is valid? [True, True] Translation: X:97.38, Y:-166.93, Z:-4.03 [[ 9.90349319e-01 1.37690833e-01 -1.57943198e-02 9.73839597e+01] [ 1.37673182e-01 -9.90475257e-01 -2.20464716e-03 -1.66927282e+02] [-1.59474427e-02 8.91654504e-06 -9.99872831e-01 -4.03266848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.426559995 meters 0.013289229422303076 Centerline is valid? [True, True] Translation: X:97.42, Y:-166.94, Z:-4.03 [[ 9.75452712e-01 2.19643530e-01 -1.57710757e-02 9.74175079e+01] [ 2.19616003e-01 -9.75580194e-01 -3.47801770e-03 -1.66936344e+02] [-1.61498732e-02 -7.09388233e-05 -9.99869580e-01 -4.03181957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.486559995 meters 0.013706894972827247 Centerline is valid? [True, True] Translation: X:97.45, Y:-166.94, Z:-4.03 [[ 9.53585067e-01 3.00759951e-01 -1.47977152e-02 9.74522176e+01] [ 3.00726269e-01 -9.53699863e-01 -4.50373352e-03 -1.66943272e+02] [-1.54671216e-02 -1.55368658e-04 -9.99880365e-01 -4.03030228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.546559995 meters 0.014340493829488425 Centerline is valid? [True, True] Translation: X:97.49, Y:-166.94, Z:-4.03 [[ 9.25960388e-01 3.77361317e-01 -1.39927229e-02 9.74861413e+01] [ 3.77321443e-01 -9.26066087e-01 -5.48916116e-03 -1.66942529e+02] [-1.50295833e-02 -1.97008615e-04 -9.99887030e-01 -4.02979565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.606559995 meters 0.014434989024091899 Centerline is valid? [True, True] Translation: X:97.52, Y:-166.94, Z:-4.03 [[ 8.92253486e-01 4.51365475e-01 -1.23663094e-02 9.75218078e+01] [ 4.51325546e-01 -8.92339150e-01 -6.00766709e-03 -1.66941625e+02] [-1.37465956e-02 -2.20869462e-04 -9.99905487e-01 -4.03033391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.666559995 meters 0.015539362012762849 Centerline is valid? [True, True] Translation: X:97.56, Y:-166.94, Z:-4.03 [[ 8.53544110e-01 5.20902870e-01 -1.10748757e-02 9.75556203e+01] [ 5.20862388e-01 -8.53615927e-01 -6.49783189e-03 -1.66936187e+02] [-1.28384296e-02 -2.22300088e-04 -9.99917559e-01 -4.02863952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.7265599950001 meters 0.01527708729927718 Centerline is valid? [True, True] Translation: X:97.59, Y:-166.93, Z:-4.03 [[ 8.09087521e-01 5.87598423e-01 -1.02701615e-02 9.75882338e+01] [ 5.87554816e-01 -8.09152666e-01 -7.16258059e-03 -1.66925630e+02] [-1.25188496e-02 -2.39128254e-04 -9.99921608e-01 -4.02866080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.786559995 meters 0.01587616939451306 Centerline is valid? [True, True] Translation: X:97.62, Y:-166.91, Z:-4.03 [[ 7.59845542e-01 6.50033814e-01 -9.52852423e-03 9.76191959e+01] [ 6.49986798e-01 -7.59905243e-01 -7.82207166e-03 -1.66912507e+02] [-1.23253866e-02 -2.49848676e-04 -9.99924008e-01 -4.02705976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.846559995 meters 0.015555651944013149 Centerline is valid? [True, True] Translation: X:97.65, Y:-166.90, Z:-4.03 [[ 7.06624510e-01 7.07538074e-01 -8.46615968e-03 9.76489832e+01] [ 7.07491301e-01 -7.06675185e-01 -8.13889157e-03 -1.66895076e+02] [-1.17414006e-02 -2.38594059e-04 -9.99931039e-01 -4.02713487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.906559995 meters 0.014629673405076366 Centerline is valid? [True, True] Translation: X:97.67, Y:-166.87, Z:-4.03 [[ 6.52084713e-01 7.58113262e-01 -7.05751060e-03 9.76739193e+01] [ 7.58071716e-01 -6.52122881e-01 -7.93857567e-03 -1.66873498e+02] [-1.06207036e-02 -1.73475333e-04 -9.99943584e-01 -4.02736223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1161.9665599950001 meters 0.013589990230613481 Centerline is valid? [True, True] Translation: X:97.70, Y:-166.85, Z:-4.03 [[ 5.95339605e-01 8.03454288e-01 -5.65341753e-03 9.76969051e+01] [ 8.03419641e-01 -5.95366439e-01 -7.46213159e-03 -1.66850191e+02] [-9.36133669e-03 -9.95642085e-05 -9.99956177e-01 -4.02789690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.026559995 meters 0.012958854110431723 Centerline is valid? [True, True] Translation: X:97.72, Y:-166.83, Z:-4.03 [[ 5.36610415e-01 8.43820187e-01 -4.09323272e-03 9.77174415e+01] [ 8.43796019e-01 -5.36626025e-01 -6.38645195e-03 -1.66825184e+02] [-7.58555229e-03 -2.68168446e-05 -9.99971229e-01 -4.02863887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.086559995 meters 0.013423809060638477 Centerline is valid? [True, True] Translation: X:97.73, Y:-166.80, Z:-4.03 [[ 4.79521514e-01 8.77526746e-01 -2.43476704e-03 9.77321229e+01] [ 8.77514967e-01 -4.79527693e-01 -4.54686302e-03 -1.66797120e+02] [-5.15753213e-03 4.37741217e-05 -9.99986699e-01 -4.02940263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.146559995 meters 0.016956403003926233 Centerline is valid? [True, True] Translation: X:97.74, Y:-166.77, Z:-4.03 [[ 4.15953603e-01 9.09383738e-01 -1.95401737e-03 9.77415487e+01] [ 9.09372821e-01 -4.15958185e-01 -4.45649161e-03 -1.66768745e+02] [-4.86545052e-03 7.67634518e-05 -9.99988161e-01 -4.02715948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.2065599950001 meters 0.0162745053384142 Centerline is valid? [True, True] Translation: X:97.76, Y:-166.74, Z:-4.03 [[ 3.49022243e-01 9.37112595e-01 -1.85959596e-03 9.77575604e+01] [ 9.37097359e-01 -3.49027175e-01 -5.34514742e-03 -1.66743506e+02] [-5.65805449e-03 1.22952874e-04 -9.99983986e-01 -4.02712631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.266559995 meters 0.01718468658883266 Centerline is valid? [True, True] Translation: X:97.77, Y:-166.72, Z:-4.03 [[ 2.79462589e-01 9.60155239e-01 -1.60547409e-03 9.77703017e+01] [ 9.60135727e-01 -2.79467149e-01 -6.12367231e-03 -1.66716715e+02] [-6.32835332e-03 1.69864287e-04 -9.99979961e-01 -4.02637934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.326559995 meters 0.01732442058697138 Centerline is valid? [True, True] Translation: X:97.78, Y:-166.69, Z:-4.03 [[ 2.03929777e-01 9.78984922e-01 -1.08141995e-03 9.77842332e+01] [ 9.78966488e-01 -2.03932576e-01 -6.00993450e-03 -1.66690297e+02] [-6.10417201e-03 1.66930712e-04 -9.99981356e-01 -4.02590405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.386559995 meters 0.01663886514648674 Centerline is valid? [True, True] Translation: X:97.80, Y:-166.66, Z:-4.03 [[ 1.24912712e-01 9.92167574e-01 -5.65270955e-04 9.77987262e+01] [ 9.92151475e-01 -1.24913906e-01 -5.65398946e-03 -1.66662965e+02] [-5.68031521e-03 1.45420745e-04 -9.99983856e-01 -4.02603739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.4465599950001 meters 0.015900305932516224 Centerline is valid? [True, True] Translation: X:97.81, Y:-166.64, Z:-4.03 [[ 4.17390916e-02 9.99128540e-01 -9.21115943e-05 9.78103697e+01] [ 9.99119099e-01 -4.17390977e-02 -4.34443793e-03 -1.66635311e+02] [-4.34449659e-03 8.93024395e-05 -9.99990559e-01 -4.02526993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.506559995 meters 0.014959985284378564 Centerline is valid? [True, True] Translation: X:97.82, Y:-166.61, Z:-4.03 [[-4.11789451e-02 9.99151763e-01 2.22414700e-04 9.78180697e+01] [ 9.99144215e-01 4.11794987e-02 -3.88403456e-03 -1.66606049e+02] [-3.88989890e-03 6.22839151e-05 -9.99992432e-01 -4.02503000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.566559995 meters 0.013374758335171516 Centerline is valid? [True, True] Translation: X:97.83, Y:-166.57, Z:-4.02 [[-1.25258552e-01 9.92124006e-01 5.02627942e-04 9.78314240e+01] [ 9.92117169e-01 1.25259555e-01 -3.68344761e-03 -1.66574941e+02] [-3.71739575e-03 3.72824974e-05 -9.99993090e-01 -4.02474755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.626559995 meters 0.012628532010894688 Centerline is valid? [True, True] Translation: X:97.84, Y:-166.54, Z:-4.02 [[-2.12793596e-01 9.77096936e-01 6.81341533e-04 9.78409423e+01] [ 9.77091907e-01 2.12794686e-01 -3.13483342e-03 -1.66542246e+02] [-3.20802199e-03 -1.33917826e-06 -9.99994854e-01 -4.02483260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.6865599950002 meters 0.013077226224378681 Centerline is valid? [True, True] Translation: X:97.85, Y:-166.51, Z:-4.03 [[-2.96005348e-01 9.55186051e-01 6.64162272e-04 9.78456899e+01] [ 9.55183504e-01 2.96006093e-01 -2.20613821e-03 -1.66509065e+02] [-2.30386852e-03 -1.86318627e-05 -9.99997346e-01 -4.02544456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.746559995 meters 0.014666309534424533 Centerline is valid? [True, True] Translation: X:97.85, Y:-166.48, Z:-4.02 [[-3.76701140e-01 9.26334476e-01 8.30228495e-04 9.78469929e+01] [ 9.26332016e-01 3.76702053e-01 -2.13522869e-03 -1.66477380e+02] [-2.29068473e-03 -3.52758454e-05 -9.99997376e-01 -4.02455873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.806559995 meters 0.016107875210167225 Centerline is valid? [True, True] Translation: X:97.84, Y:-166.45, Z:-4.02 [[-4.54516700e-01 8.90737481e-01 1.14439082e-03 9.78428492e+01] [ 8.90734320e-01 4.54518137e-01 -2.37357181e-03 -1.66445273e+02] [-2.63437576e-03 -5.94798501e-05 -9.99996528e-01 -4.02341002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.866559995 meters 0.01725702232026355 Centerline is valid? [True, True] Translation: X:97.83, Y:-166.42, Z:-4.02 [[-5.24477337e-01 8.51423557e-01 1.20352440e-03 9.78330908e+01] [ 8.51421055e-01 5.24478715e-01 -2.06513907e-03 -1.66416092e+02] [-2.38953099e-03 -5.84126241e-05 -9.99997143e-01 -4.02350096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.926559995 meters 0.016283076724345875 Centerline is valid? [True, True] Translation: X:97.82, Y:-166.39, Z:-4.02 [[-5.89461729e-01 8.07794811e-01 1.55354954e-03 9.78193982e+01] [ 8.07791704e-01 5.89463773e-01 -2.24130357e-03 -1.66388270e+02] [-2.72627457e-03 -6.62182487e-05 -9.99996282e-01 -4.02371192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1162.986559995 meters 0.01638136739060219 Centerline is valid? [True, True] Translation: X:97.80, Y:-166.36, Z:-4.02 [[-6.49595736e-01 7.60276100e-01 2.37303463e-03 9.78025665e+01] [ 7.60270545e-01 6.49600065e-01 -2.90760360e-03 -1.66363971e+02] [-3.75210498e-03 -8.46185626e-05 -9.99992957e-01 -4.02237047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.046559995 meters 0.016299674803764156 Centerline is valid? [True, True] Translation: X:97.78, Y:-166.34, Z:-4.02 [[-7.06820990e-01 7.07385356e-01 3.16958700e-03 9.77848626e+01] [ 7.07377593e-01 7.06828090e-01 -3.31544733e-03 -1.66339075e+02] [-4.58565201e-03 -1.01332941e-04 -9.99989481e-01 -4.02158671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.106559995 meters 0.01629589324346571 Centerline is valid? [True, True] Translation: X:97.76, Y:-166.32, Z:-4.02 [[-7.59923710e-01 6.49991036e-01 5.25434170e-03 9.77618567e+01] [ 6.49974081e-01 7.59941859e-01 -4.69722840e-03 -1.66319747e+02] [-7.04615056e-03 -1.54349314e-04 -9.99975164e-01 -4.01934662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.166559995 meters 0.01656981174164579 Centerline is valid? [True, True] Translation: X:97.77, Y:-166.30, Z:-4.02 [[-8.03879416e-01 5.94756251e-01 6.54877240e-03 9.77742301e+01] [ 5.94734680e-01 8.03906070e-01 -5.06863804e-03 -1.66299662e+02] [-8.27920204e-03 -1.79791729e-04 -9.99965711e-01 -4.01777950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.2265599950001 meters 0.015752401356763205 Centerline is valid? [True, True] Translation: X:97.78, Y:-166.28, Z:-4.02 [[-8.43804496e-01 5.36595297e-01 7.71107802e-03 9.77844364e+01] [ 5.36570726e-01 8.43839705e-01 -5.13883237e-03 -1.66282228e+02] [-9.26438708e-03 -1.98631128e-04 -9.99957065e-01 -4.01848076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.286559995 meters 0.016710734161263324 Centerline is valid? [True, True] Translation: X:97.80, Y:-166.27, Z:-4.02 [[-8.79259298e-01 4.76290515e-01 7.10156753e-03 9.78024695e+01] [ 4.76273421e-01 8.79287960e-01 -4.03877224e-03 -1.66267104e+02] [-8.16795174e-03 -1.68840180e-04 -9.99966628e-01 -4.01936330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.346559995 meters 0.015793821439038055 Centerline is valid? [True, True] Translation: X:98.15, Y:-165.67, Z:-5.02 [[-8.22681388e-01 -5.68470925e-01 6.01183389e-03 9.81454455e+01] [ 5.68456583e-01 -8.22703348e-01 -4.03903070e-03 -1.65669343e+02] [ 7.24202738e-03 9.46311687e-05 9.99973772e-01 -5.01965119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.406559995 meters 0.01581732292128397 Centerline is valid? [True, True] Translation: X:97.77, Y:-166.25, Z:-4.02 [[-8.80148336e-01 4.74658582e-01 6.17556787e-03 9.77671889e+01] [ 4.74645822e-01 8.80169991e-01 -3.48290235e-03 -1.66248890e+02] [-7.08873901e-03 -1.34263222e-04 -9.99974866e-01 -4.02092786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.4665599950001 meters 0.014939925612371483 Centerline is valid? [True, True] Translation: X:97.78, Y:-166.22, Z:-4.02 [[-9.10310367e-01 4.13850556e-01 7.92171120e-03 9.77824025e+01] [ 4.13833540e-01 9.10344824e-01 -3.75538840e-03 -1.66224348e+02] [-8.76565836e-03 -1.40299197e-04 -9.99961571e-01 -4.01921361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.526559995 meters 0.014710964386826645 Centerline is valid? [True, True] Translation: X:98.08, Y:-165.61, Z:-5.02 [[-8.65425613e-01 -5.00981278e-01 7.50109685e-03 9.80781192e+01] [ 5.00963731e-01 -8.65458111e-01 -4.19497505e-03 -1.65605538e+02] [ 8.59348908e-03 1.27338606e-04 9.99963067e-01 -5.02059797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.586559995 meters 0.014551072898489212 Centerline is valid? [True, True] Translation: X:97.74, Y:-166.21, Z:-4.02 [[-9.10931511e-01 4.12497383e-01 7.04922256e-03 9.77383988e+01] [ 4.12484112e-01 9.10958779e-01 -3.31060211e-03 -1.66209326e+02] [-7.78716588e-03 -1.08039467e-04 -9.99969674e-01 -4.02167269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.646559995 meters 0.013982850524206702 Centerline is valid? [True, True] Translation: X:98.04, Y:-165.59, Z:-5.02 [[-8.67790829e-01 -4.96870129e-01 7.69103401e-03 9.80434187e+01] [ 4.96852447e-01 -8.67824891e-01 -4.19570389e-03 -1.65585131e+02] [ 8.75919069e-03 1.80315709e-04 9.99961621e-01 -5.01939410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.7065599950001 meters 0.014042481550487526 Centerline is valid? [True, True] Translation: X:97.71, Y:-166.20, Z:-4.02 [[-9.11786043e-01 4.10582101e-01 8.27947540e-03 9.77055728e+01] [ 4.10564026e-01 9.11823626e-01 -3.85421770e-03 -1.66196730e+02] [-9.13189409e-03 -1.14967153e-04 -9.99958297e-01 -4.01978804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.766559995 meters 0.01337561803040688 Centerline is valid? [True, True] Translation: X:98.01, Y:-165.57, Z:-5.02 [[-8.71287405e-01 -4.90706892e-01 8.06253784e-03 9.80078567e+01] [ 4.90687141e-01 -8.71324700e-01 -4.40425556e-03 -1.65567150e+02] [ 9.18628692e-03 1.18811242e-04 9.99957798e-01 -5.02025800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.826559995 meters 0.013326724151227001 Centerline is valid? [True, True] Translation: X:98.00, Y:-165.59, Z:-5.02 [[-8.37053425e-01 -5.47078695e-01 6.81655994e-03 9.79981909e+01] [ 5.47061223e-01 -8.37081177e-01 -4.37284611e-03 -1.65594070e+02] [ 8.09830496e-03 6.87698015e-05 9.99967206e-01 -5.01945995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.886559995 meters 0.013048849548404618 Centerline is valid? [True, True] Translation: X:97.62, Y:-166.19, Z:-4.02 [[-8.81829400e-01 4.71530874e-01 5.96194956e-03 9.76171950e+01] [ 4.71519659e-01 8.81849552e-01 -3.25268042e-03 -1.66191149e+02] [-6.79128179e-03 -5.71328042e-05 -9.99976937e-01 -4.02345226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1163.9465599950001 meters 0.013173290242623547 Centerline is valid? [True, True] Translation: X:97.63, Y:-166.16, Z:-4.02 [[-9.13582783e-01 4.06608831e-01 5.97977287e-03 9.76316384e+01] [ 4.06599649e-01 9.13602350e-01 -2.73334823e-03 -1.66164951e+02] [-6.57453808e-03 -6.57663289e-05 -9.99978385e-01 -4.02174488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.006559995 meters 0.013613381500235697 Centerline is valid? [True, True] Translation: X:97.92, Y:-165.53, Z:-5.02 [[-8.74106190e-01 -4.85677680e-01 7.45379826e-03 9.79241725e+01] [ 4.85661941e-01 -8.74137948e-01 -3.91495473e-03 -1.65528359e+02] [ 8.41705405e-03 1.97939975e-04 9.99964556e-01 -5.02090812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.066559995 meters 0.01376643719967589 Centerline is valid? [True, True] Translation: X:97.59, Y:-166.14, Z:-4.02 [[-9.15659619e-01 4.01859628e-01 8.73509154e-03 9.75885851e+01] [ 4.01840181e-01 9.15701276e-01 -3.95497311e-03 -1.66144087e+02] [-9.58807849e-03 -1.11298407e-04 -9.99954027e-01 -4.01909715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.126559995 meters 0.013813241439977055 Centerline is valid? [True, True] Translation: X:97.60, Y:-166.12, Z:-4.02 [[-9.42030237e-01 3.35435622e-01 7.87242836e-03 9.76026259e+01] [ 3.35422997e-01 9.42063126e-01 -2.91210488e-03 -1.66119065e+02] [-8.39314818e-03 -1.02697339e-04 -9.99964772e-01 -4.02058262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.1865599950002 meters 0.01396702700590727 Centerline is valid? [True, True] Translation: X:97.84, Y:-165.47, Z:-5.02 [[-9.07152390e-01 -4.20748990e-01 6.69545195e-03 9.78429785e+01] [ 4.20737749e-01 -9.07177098e-01 -3.07571832e-03 -1.65468782e+02] [ 7.36806604e-03 2.68841592e-05 9.99972855e-01 -5.01916991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.246559995 meters 0.014177252948312685 Centerline is valid? [True, True] Translation: X:97.56, Y:-166.10, Z:-4.02 [[-9.43570584e-01 3.31099100e-01 6.92385655e-03 9.75590024e+01] [ 3.31089430e-01 9.43595982e-01 -2.53229397e-03 -1.66101112e+02] [-7.37176347e-03 -9.69823824e-05 -9.99972824e-01 -4.02137532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.306559995 meters 0.013501917276843451 Centerline is valid? [True, True] Translation: X:97.57, Y:-166.08, Z:-4.02 [[-9.64574696e-01 2.63675481e-01 8.41998240e-03 9.75678759e+01] [ 2.63664413e-01 9.64611439e-01 -2.41861804e-03 -1.66077924e+02] [-8.75974162e-03 -1.12888051e-04 -9.99961626e-01 -4.02101486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.366559995 meters 0.014600394512354925 Centerline is valid? [True, True] Translation: X:97.76, Y:-165.41, Z:-5.02 [[-9.35915475e-01 -3.52106498e-01 9.12348129e-03 9.77584099e+01] [ 3.52091655e-01 -9.35959925e-01 -3.23813210e-03 -1.65413972e+02] [ 9.67938021e-03 1.81683683e-04 9.99953137e-01 -5.02324594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.426559995 meters 0.01346373494011789 Centerline is valid? [True, True] Translation: X:97.53, Y:-166.07, Z:-4.02 [[-9.65587521e-01 2.59896613e-01 9.72056439e-03 9.75258731e+01] [ 2.59882068e-01 9.65636440e-01 -2.75271454e-03 -1.66066008e+02] [-1.01019524e-02 -1.31786434e-04 -9.99948965e-01 -4.01941109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.486559995 meters 0.013476115960725683 Centerline is valid? [True, True] Translation: X:97.53, Y:-166.04, Z:-4.02 [[-9.81617439e-01 1.90601943e-01 9.90467539e-03 9.75322285e+01] [ 1.90590863e-01 9.81667399e-01 -2.05950377e-03 -1.66039943e+02] [-1.01156423e-02 -1.33904183e-04 -9.99948827e-01 -4.01907367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.546559995 meters 0.013337544729327447 Centerline is valid? [True, True] Translation: X:97.68, Y:-165.36, Z:-5.02 [[-9.59730783e-01 -2.80750153e-01 9.80692459e-03 9.76751724e+01] [ 2.80736969e-01 -9.59780877e-01 -2.72433824e-03 -1.65361365e+02] [ 1.01773571e-02 1.38535010e-04 9.99948200e-01 -5.02166563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.606559995 meters 0.01296510578323781 Centerline is valid? [True, True] Translation: X:97.49, Y:-166.03, Z:-4.02 [[-9.81809045e-01 1.89614985e-01 9.85676718e-03 9.74868910e+01] [ 1.89604354e-01 9.81858516e-01 -2.01067003e-03 -1.66034293e+02] [-1.00592040e-02 -1.05208058e-04 -9.99949399e-01 -4.01953575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.666559995 meters 0.012653716706248062 Centerline is valid? [True, True] Translation: X:97.63, Y:-165.35, Z:-5.02 [[-9.62435314e-01 -2.71339518e-01 9.65053358e-03 9.76332462e+01] [ 2.71326929e-01 -9.62483691e-01 -2.61572275e-03 -1.65348604e+02] [ 9.99823013e-03 1.00985684e-04 9.99950011e-01 -5.02201495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.7265599950001 meters 0.012387202846822877 Centerline is valid? [True, True] Translation: X:97.44, Y:-166.03, Z:-4.02 [[-9.81455185e-01 1.91473845e-01 9.13711641e-03 9.74419281e+01] [ 1.91465127e-01 9.81497715e-01 -1.82766671e-03 -1.66029709e+02] [-9.31800925e-03 -4.43338122e-05 -9.99956586e-01 -4.01992015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.786559995 meters 0.01237625276735544 Centerline is valid? [True, True] Translation: X:97.44, Y:-166.00, Z:-4.02 [[-9.92381184e-01 1.22887003e-01 8.85266436e-03 9.74449210e+01] [ 1.22881854e-01 9.92420669e-01 -1.12531597e-03 -1.66003540e+02] [-8.92385379e-03 -2.89105894e-05 -9.99960181e-01 -4.02040938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.846559995 meters 0.01235931974028481 Centerline is valid? [True, True] Translation: X:97.45, Y:-165.98, Z:-4.02 [[-9.98411633e-01 5.56584221e-02 8.73793653e-03 9.74482510e+01] [ 5.56563117e-02 9.98449869e-01 -4.84685453e-04 -1.65979216e+02] [-8.75136841e-03 2.40572491e-06 -9.99961706e-01 -4.02091927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.906559995 meters 0.012295344589280732 Centerline is valid? [True, True] Translation: X:97.49, Y:-165.27, Z:-5.02 [[-9.92457673e-01 -1.22290008e-01 8.53942743e-03 9.74898325e+01] [ 1.22285380e-01 -9.92494410e-01 -1.06405688e-03 -1.65271756e+02] [ 8.60545751e-03 -1.17842869e-05 9.99962972e-01 -5.02062378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1164.9665599950001 meters 0.012289436851911757 Centerline is valid? [True, True] Translation: X:97.39, Y:-165.97, Z:-4.02 [[-9.98677011e-01 5.06177856e-02 9.05913738e-03 9.73909853e+01] [ 5.06156595e-02 9.98718098e-01 -4.63956122e-04 -1.65971768e+02] [-9.07100888e-03 -4.80810068e-06 -9.99958858e-01 -4.01921596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.026559995 meters 0.012415728754574161 Centerline is valid? [True, True] Translation: X:97.39, Y:-165.94, Z:-4.02 [[-9.99707481e-01 -2.19285398e-02 1.02025573e-02 9.73881864e+01] [-2.19276025e-02 9.99759541e-01 2.03735972e-04 -1.65942082e+02] [-1.02045717e-02 -2.00412471e-05 -9.99947932e-01 -4.01789540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.086559995 meters 0.012541384558536189 Centerline is valid? [True, True] Translation: X:97.37, Y:-165.25, Z:-5.02 [[-9.98563571e-01 -5.23097007e-02 1.15969688e-02 9.73724779e+01] [ 5.23075489e-02 -9.98630903e-01 -4.88990482e-04 -1.65247832e+02] [ 1.16066704e-02 1.18320933e-04 9.99932633e-01 -5.02422396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.146559995 meters 0.012721983746987351 Centerline is valid? [True, True] Translation: X:97.32, Y:-165.94, Z:-4.02 [[-9.99425893e-01 -3.20850558e-02 1.08826856e-02 9.73169241e+01] [-3.20840501e-02 9.99485139e-01 2.67028724e-04 -1.65936591e+02] [-1.08856501e-02 -8.22852074e-05 -9.99940746e-01 -4.01569622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.2065599950001 meters 0.012884883533181925 Centerline is valid? [True, True] Translation: X:97.30, Y:-165.26, Z:-5.02 [[-9.98559951e-01 -5.27512480e-02 9.76367360e-03 9.72976277e+01] [ 5.27487178e-02 -9.98607684e-01 -5.16664339e-04 -1.65257416e+02] [ 9.77733416e-03 -8.99054635e-07 9.99952201e-01 -5.02421646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.266559995 meters 0.013099777260014614 Centerline is valid? [True, True] Translation: X:97.25, Y:-165.93, Z:-4.02 [[-9.99134505e-01 -4.08829912e-02 7.66952927e-03 9.72497305e+01] [-4.08824783e-02 9.99163937e-01 2.23703605e-04 -1.65931388e+02] [-7.67226273e-03 -9.00393729e-05 -9.99970564e-01 -4.01786368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.326559995 meters 0.013058641681128363 Centerline is valid? [True, True] Translation: X:97.23, Y:-165.26, Z:-5.02 [[-9.98796413e-01 -4.85124850e-02 7.22945713e-03 9.72314522e+01] [ 4.85116272e-02 -9.98822575e-01 -2.94070539e-04 -1.65262871e+02] [ 7.23521108e-03 5.69961298e-05 9.99973824e-01 -5.02255285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.386559995 meters 0.012453670258157605 Centerline is valid? [True, True] Translation: X:97.18, Y:-165.93, Z:-4.02 [[-9.99106500e-01 -4.17982175e-02 6.25378385e-03 9.71825541e+01] [-4.17977143e-02 9.99126071e-01 2.11194366e-04 -1.65934010e+02] [-6.25714604e-03 -5.03882069e-05 -9.99980423e-01 -4.01913043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.4465599950001 meters 0.012269282526307377 Centerline is valid? [True, True] Translation: X:97.17, Y:-165.91, Z:-4.02 [[-9.93923579e-01 -1.09909970e-01 5.97635304e-03 9.71729022e+01] [-1.09908174e-01 9.93941546e-01 6.29140968e-04 -1.65906502e+02] [-6.00929445e-03 -3.15320079e-05 -9.99981944e-01 -4.01785965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.506559995 meters 0.012117524184433116 Centerline is valid? [True, True] Translation: X:97.11, Y:-165.24, Z:-5.02 [[-9.99387587e-01 3.44355619e-02 6.21633742e-03 9.71138279e+01] [-3.44346076e-02 -9.99406919e-01 2.60514412e-04 -1.65240822e+02] [ 6.22162159e-03 4.62977299e-05 9.99980645e-01 -5.02318880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.566559995 meters 0.012223926171165278 Centerline is valid? [True, True] Translation: X:97.10, Y:-165.92, Z:-4.02 [[-9.93772568e-01 -1.11156630e-01 7.76451398e-03 9.71003791e+01] [-1.11153305e-01 9.93802900e-01 8.59757356e-04 -1.65916765e+02] [-7.81196424e-03 -8.64811624e-06 -9.99969486e-01 -4.01659818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.626559995 meters 0.012429646471919433 Centerline is valid? [True, True] Translation: X:97.09, Y:-165.89, Z:-4.02 [[-9.83686215e-01 -1.79648379e-01 9.37504465e-03 9.70889072e+01] [-1.79640132e-01 9.83730888e-01 1.72131653e-03 -1.65892886e+02] [-9.53175272e-03 9.10108081e-06 -9.99954572e-01 -4.01504354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.6865599950002 meters 0.012426081684102168 Centerline is valid? [True, True] Translation: X:97.08, Y:-165.87, Z:-4.01 [[-9.68589796e-01 -2.48488742e-01 9.33556903e-03 9.70771197e+01] [-2.48477014e-01 9.68634784e-01 2.41428260e-03 -1.65869397e+02] [-9.64267893e-03 1.87751727e-05 -9.99953508e-01 -4.01488071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.746559995 meters 0.012334286582271866 Centerline is valid? [True, True] Translation: X:96.89, Y:-165.21, Z:-5.02 [[-9.82130950e-01 1.87971903e-01 9.23908817e-03 9.68920392e+01] [-1.87963913e-01 -9.82174405e-01 1.73348851e-03 -1.65213584e+02] [ 9.40024307e-03 -3.41024460e-05 9.99955816e-01 -5.02422496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.806559995 meters 0.012489366532400308 Centerline is valid? [True, True] Translation: X:96.95, Y:-165.91, Z:-4.02 [[-9.68219418e-01 -2.49966835e-01 8.23044604e-03 9.69526491e+01] [-2.49957288e-01 9.68254397e-01 2.18552714e-03 -1.65906717e+02] [-8.51547487e-03 5.88098403e-05 -9.99963741e-01 -4.01798410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.866559995 meters 0.012921442820185087 Centerline is valid? [True, True] Translation: X:96.76, Y:-165.24, Z:-5.02 [[-9.79717614e-01 2.00245974e-01 7.41255776e-03 9.67560302e+01] [-2.00241125e-01 -9.79745649e-01 1.39821008e-03 -1.65240095e+02] [ 7.54240715e-03 -1.14447859e-04 9.99971549e-01 -5.02258429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.926559995 meters 0.012948734956486688 Centerline is valid? [True, True] Translation: X:96.83, Y:-165.94, Z:-4.02 [[-9.67710389e-01 -2.51980620e-01 6.50930790e-03 9.68282520e+01] [-2.51974370e-01 9.67732278e-01 1.77643288e-03 -1.65944603e+02] [-6.74689402e-03 7.88937961e-05 -9.99977236e-01 -4.01891934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1165.986559995 meters 0.013396814983394055 Centerline is valid? [True, True] Translation: X:96.80, Y:-165.93, Z:-4.02 [[-9.47394489e-01 -3.19998696e-01 6.67202755e-03 9.67987316e+01] [-3.19990087e-01 9.47417979e-01 2.34896073e-03 -1.65929196e+02] [-7.07286323e-03 9.04097737e-05 -9.99974983e-01 -4.01915612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.046559995 meters 0.013324639861588768 Centerline is valid? [True, True] Translation: X:96.74, Y:-165.92, Z:-4.02 [[-9.21107874e-01 -3.89242670e-01 7.10136998e-03 9.67446451e+01] [-3.89230351e-01 9.21135243e-01 3.09802312e-03 -1.65920674e+02] [-7.74720495e-03 8.95447573e-05 -9.99969986e-01 -4.01833970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.106559995 meters 0.012412494500837675 Centerline is valid? [True, True] Translation: X:96.68, Y:-165.92, Z:-4.02 [[-8.87765646e-01 -4.60228789e-01 7.84977005e-03 9.66813545e+01] [-4.60210201e-01 8.87800348e-01 4.13679860e-03 -1.65916591e+02] [-8.87290240e-03 5.99634341e-05 -9.99960633e-01 -4.01762774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.166559995 meters 0.012112327951201629 Centerline is valid? [True, True] Translation: X:96.61, Y:-165.93, Z:-4.02 [[-8.49235854e-01 -5.27957404e-01 7.71001827e-03 9.66077499e+01] [-5.27935389e-01 8.49270851e-01 4.82143323e-03 -1.65925112e+02] [-9.09340515e-03 2.41424703e-05 -9.99958654e-01 -4.01746491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.2265599950001 meters 0.011993392490282981 Centerline is valid? [True, True] Translation: X:96.53, Y:-165.94, Z:-4.02 [[-8.05310971e-01 -5.92801825e-01 7.76118448e-03 9.65303679e+01] [-5.92774434e-01 8.05348369e-01 5.69862163e-03 -1.65942119e+02] [-9.62861057e-03 -1.14692243e-05 -9.99953644e-01 -4.01720392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.286559995 meters 0.01208237699464362 Centerline is valid? [True, True] Translation: X:96.45, Y:-165.97, Z:-4.02 [[-7.56638818e-01 -6.53788931e-01 7.59816768e-03 9.64494135e+01] [-6.53756552e-01 7.56676966e-01 6.50691857e-03 -1.65969491e+02] [-1.00035098e-02 -4.39647291e-05 -9.99949963e-01 -4.01781502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.346559995 meters 0.01230712151807638 Centerline is valid? [True, True] Translation: X:96.37, Y:-166.01, Z:-4.02 [[-7.03575464e-01 -7.10593110e-01 6.24491198e-03 9.63661466e+01] [-7.10565892e-01 7.03603176e-01 6.21969299e-03 -1.66006651e+02] [-8.81361088e-03 -6.13980752e-05 -9.99961158e-01 -4.01882060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.406559995 meters 0.01226087317495525 Centerline is valid? [True, True] Translation: X:96.28, Y:-166.05, Z:-4.02 [[-6.47767450e-01 -7.61820106e-01 5.23991468e-03 9.62843128e+01] [-7.61795901e-01 6.47788641e-01 6.07305611e-03 -1.66053365e+02] [-8.02093346e-03 -5.78174524e-05 -9.99967830e-01 -4.01895291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.4665599950001 meters 0.012227079310872134 Centerline is valid? [True, True] Translation: X:96.20, Y:-166.11, Z:-4.02 [[-5.89125002e-01 -8.08028014e-01 4.73921836e-03 9.62036840e+01] [-8.08002537e-01 5.89144062e-01 6.41673390e-03 -1.66111481e+02] [-7.97698311e-03 -4.90420914e-05 -9.99968182e-01 -4.01872198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.526559995 meters 0.012073089155755641 Centerline is valid? [True, True] Translation: X:96.13, Y:-166.18, Z:-4.02 [[-5.29441539e-01 -8.48333228e-01 4.73186293e-03 9.61270922e+01] [-8.48299658e-01 5.29462684e-01 7.54696448e-03 -1.66180329e+02] [-8.90768558e-03 -1.83612081e-05 -9.99960326e-01 -4.01895135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.586559995 meters 0.012041286278880549 Centerline is valid? [True, True] Translation: X:96.05, Y:-166.26, Z:-4.02 [[-4.65658515e-01 -8.84954722e-01 4.15777186e-03 9.60527991e+01] [-8.84919334e-01 4.65677077e-01 7.91407410e-03 -1.66257471e+02] [-8.93977629e-03 5.96328808e-06 -9.99960039e-01 -4.01907354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.646559995 meters 0.012208276336988665 Centerline is valid? [True, True] Translation: X:95.98, Y:-166.34, Z:-4.02 [[-3.98837627e-01 -9.17013536e-01 3.83685647e-03 9.59819473e+01] [-9.16970421e-01 3.98856081e-01 8.89229338e-03 -1.66343204e+02] [-9.68470693e-03 2.82973012e-05 -9.99953102e-01 -4.01821161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.7065599950001 meters 0.012478809393646807 Centerline is valid? [True, True] Translation: X:95.92, Y:-166.44, Z:-4.02 [[-3.28739893e-01 -9.44412611e-01 3.86038914e-03 9.59173167e+01] [-9.44345679e-01 3.28762554e-01 1.12437547e-02 -1.66435303e+02] [-1.18878951e-02 5.07289010e-05 -9.99929335e-01 -4.01645412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.766559995 meters 0.012478827645875608 Centerline is valid? [True, True] Translation: X:95.86, Y:-166.54, Z:-4.02 [[-2.55263672e-01 -9.66866125e-01 3.21768085e-03 9.58575313e+01] [-9.66786745e-01 2.55283946e-01 1.23893781e-02 -1.66536937e+02] [-1.28002923e-02 5.17469679e-05 -9.99918072e-01 -4.01584222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.826559995 meters 0.012358645022119655 Centerline is valid? [True, True] Translation: X:95.80, Y:-166.64, Z:-4.02 [[-1.78776207e-01 -9.83886981e-01 2.34013444e-03 9.58048400e+01] [-9.83800385e-01 1.78791520e-01 1.30535272e-02 -1.66642504e+02] [-1.32615916e-02 3.14349174e-05 -9.99912061e-01 -4.01552842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.886559995 meters 0.012383864051232226 Centerline is valid? [True, True] Translation: X:95.76, Y:-166.75, Z:-4.02 [[-1.00610875e-01 -9.94924740e-01 1.48774819e-03 9.57603585e+01] [-9.94815577e-01 1.00621874e-01 1.47379398e-02 -1.66750890e+02] [-1.48128409e-02 2.76193989e-06 -9.99890284e-01 -4.01500444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1166.9465599950001 meters 0.012404058506607914 Centerline is valid? [True, True] Translation: X:95.72, Y:-166.87, Z:-4.01 [[-2.24836224e-02 -9.99747150e-01 3.51654400e-04 9.57245457e+01] [-9.99637889e-01 2.24863641e-02 1.47802240e-02 -1.66867769e+02] [-1.47843942e-02 -1.92140878e-05 -9.99890705e-01 -4.01473604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.006559995 meters 0.012583663924326915 Centerline is valid? [True, True] Translation: X:95.69, Y:-166.99, Z:-4.02 [[ 5.97616384e-02 -9.98212380e-01 -7.69160246e-04 9.56949867e+01] [-9.98106928e-01 -5.97665053e-02 1.45094575e-02 -1.66986735e+02] [-1.45294901e-02 -9.94047836e-05 -9.99894437e-01 -4.01520539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.066559995 meters 0.01291294318775647 Centerline is valid? [True, True] Translation: X:95.68, Y:-167.11, Z:-4.02 [[ 1.39197555e-01 -9.90263203e-01 -1.68202677e-03 9.56771546e+01] [-9.90179183e-01 -1.39207657e-01 1.29001500e-02 -1.67106349e+02] [-1.30086949e-02 -1.30161451e-04 -9.99915375e-01 -4.01679965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.126559995 meters 0.012958353924436672 Centerline is valid? [True, True] Translation: X:95.67, Y:-167.23, Z:-4.02 [[ 2.17143658e-01 -9.76136840e-01 -2.34539357e-03 9.56697038e+01] [-9.76072582e-01 -2.17156277e-01 1.12012055e-02 -1.67227370e+02] [-1.14432263e-02 -1.42996389e-04 -9.99934514e-01 -4.01913818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.1865599950002 meters 0.013581902570130804 Centerline is valid? [True, True] Translation: X:95.67, Y:-167.34, Z:-4.02 [[ 2.93983751e-01 -9.55806481e-01 -2.74321690e-03 9.56697330e+01] [-9.55759994e-01 -2.93996512e-01 9.42791894e-03 -1.67344122e+02] [-9.81776223e-03 -1.49798007e-04 -9.99951793e-01 -4.01975927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.246559995 meters 0.013758766648578192 Centerline is valid? [True, True] Translation: X:95.68, Y:-167.46, Z:-4.02 [[ 3.67486825e-01 -9.30022367e-01 -3.43947419e-03 9.56813432e+01] [-9.29977470e-01 -3.67502886e-01 9.13973313e-03 -1.67463043e+02] [-9.76417293e-03 -1.60098005e-04 -9.99952317e-01 -4.02047381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.306559995 meters 0.01442591065195498 Centerline is valid? [True, True] Translation: X:95.70, Y:-167.58, Z:-4.02 [[ 4.38560319e-01 -8.98691980e-01 -4.19185165e-03 9.56981202e+01] [-8.98647107e-01 -4.38580318e-01 8.98233551e-03 -1.67575591e+02] [-9.91081652e-03 -1.72300564e-04 -9.99950872e-01 -4.01972370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.366559995 meters 0.013981977826640147 Centerline is valid? [True, True] Translation: X:95.73, Y:-167.69, Z:-4.02 [[ 5.06640186e-01 -8.62139944e-01 -5.51715472e-03 9.57268999e+01] [-8.62084400e-01 -5.06670185e-01 9.78833929e-03 -1.67687550e+02] [-1.12342961e-02 -2.02913024e-04 -9.99936873e-01 -4.01905468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.426559995 meters 0.01457176760030375 Centerline is valid? [True, True] Translation: X:95.76, Y:-167.80, Z:-4.02 [[ 5.71235954e-01 -8.20755534e-01 -7.05961802e-03 9.57612152e+01] [-8.20687747e-01 -5.71279528e-01 1.05510072e-02 -1.67795787e+02] [-1.26928128e-02 -2.33372653e-04 -9.99919416e-01 -4.01713153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.486559995 meters 0.014042800419354186 Centerline is valid? [True, True] Translation: X:95.80, Y:-167.90, Z:-4.02 [[ 6.30832202e-01 -7.75871828e-01 -8.58140023e-03 9.58049797e+01] [-7.75795025e-01 -6.30890524e-01 1.09190243e-02 -1.67895664e+02] [-1.38856874e-02 -2.30664504e-04 -9.99903563e-01 -4.01714319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.546559995 meters 0.013467407148841468 Centerline is valid? [True, True] Translation: X:95.86, Y:-167.99, Z:-4.02 [[ 6.85611951e-01 -7.27915188e-01 -8.70239948e-03 9.58550766e+01] [-7.27853412e-01 -6.85667157e-01 9.48472090e-03 -1.67991306e+02] [-1.28710219e-02 -1.68766844e-04 -9.99917151e-01 -4.01778736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.606559995 meters 0.013028754853889137 Centerline is valid? [True, True] Translation: X:95.91, Y:-168.08, Z:-4.02 [[ 7.35667141e-01 -6.77278950e-01 -9.33174743e-03 9.59089638e+01] [-6.77222665e-01 -7.35726316e-01 8.73212002e-03 -1.68077810e+02] [-1.27796932e-02 -1.04262905e-04 -9.99918331e-01 -4.01727711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.666559995 meters 0.012608078777018973 Centerline is valid? [True, True] Translation: X:95.94, Y:-168.09, Z:-4.02 [[ 7.80203274e-01 -6.25453937e-01 -9.49861748e-03 9.59395240e+01] [-6.25407919e-01 -7.80261092e-01 7.58706039e-03 -1.68094155e+02] [-1.21567584e-02 2.10612343e-05 -9.99926104e-01 -4.01873432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.7265599950001 meters 0.013297638373908637 Centerline is valid? [True, True] Translation: X:95.97, Y:-168.11, Z:-4.02 [[ 8.23055367e-01 -5.67878718e-01 -9.67595848e-03 9.59681501e+01] [-5.67840849e-01 -8.23112235e-01 6.55881353e-03 -1.68110720e+02] [-1.16890104e-02 9.61378028e-05 -9.99931677e-01 -4.01919536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.786559995 meters 0.013434419565538706 Centerline is valid? [True, True] Translation: X:95.99, Y:-168.13, Z:-4.02 [[ 8.62695285e-01 -5.05641274e-01 -9.15131869e-03 9.59911777e+01] [-5.05614461e-01 -8.62743811e-01 5.20892202e-03 -1.68134980e+02] [-1.05290895e-02 1.33326598e-04 -9.99944559e-01 -4.02129846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.846559995 meters 0.015813103070959737 Centerline is valid? [True, True] Translation: X:96.02, Y:-168.15, Z:-4.02 [[ 8.98055686e-01 -4.39770836e-01 -9.87916364e-03 9.60171731e+01] [-4.39746376e-01 -8.98110005e-01 4.64147834e-03 -1.68153011e+02] [-1.09137625e-02 1.76020396e-04 -9.99940428e-01 -4.01901649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.906559995 meters 0.016656743084340578 Centerline is valid? [True, True] Translation: X:96.05, Y:-168.16, Z:-4.02 [[ 9.29124847e-01 -3.69600108e-01 -1.10806027e-02 9.60473462e+01] [-3.69576496e-01 -9.29190894e-01 4.18288536e-03 -1.68162453e+02] [-1.18419900e-02 2.08707598e-04 -9.99929859e-01 -4.01789280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1167.9665599950001 meters 0.014921172457061756 Centerline is valid? [True, True] Translation: X:96.07, Y:-168.18, Z:-4.02 [[ 9.55196614e-01 -2.95744911e-01 -1.15920355e-02 9.60738056e+01] [-2.95725821e-01 -9.55266927e-01 3.36695124e-03 -1.68183892e+02] [-1.20692468e-02 2.11963777e-04 -9.99927142e-01 -4.01908462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.026559995 meters 0.016763938161481994 Centerline is valid? [True, True] Translation: X:96.10, Y:-168.20, Z:-4.02 [[ 9.75742121e-01 -2.18597615e-01 -1.19329827e-02 9.61023485e+01] [-2.18583700e-01 -9.75815067e-01 2.47406685e-03 -1.68197559e+02] [-1.21852094e-02 1.94304286e-04 -9.99925739e-01 -4.01584175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.086559995 meters 0.013562225715212891 Centerline is valid? [True, True] Translation: X:96.13, Y:-168.22, Z:-4.02 [[ 9.90219333e-01 -1.39057289e-01 -1.13465062e-02 9.61279830e+01] [-1.39049941e-01 -9.90284326e-01 1.43780631e-03 -1.68219927e+02] [-1.14362047e-02 1.53987408e-04 -9.99934593e-01 -4.01988813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.146559995 meters 0.01280487144875277 Centerline is valid? [True, True] Translation: X:96.15, Y:-168.24, Z:-4.02 [[ 9.98416717e-01 -5.53783013e-02 -9.86422060e-03 9.61549442e+01] [-5.53763514e-02 -9.98465442e-01 4.70900120e-04 -1.68236908e+02] [-9.87516102e-03 7.60899945e-05 -9.99951237e-01 -4.02043891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.2065599950001 meters 0.012148064560314895 Centerline is valid? [True, True] Translation: X:96.19, Y:-168.25, Z:-4.02 [[ 9.99540203e-01 2.86138193e-02 -1.00315022e-02 9.61853296e+01] [ 2.86121703e-02 -9.99590541e-01 -3.07893299e-04 -1.68254870e+02] [-1.00362047e-02 2.07286819e-05 -9.99949636e-01 -4.02114671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.266559995 meters 0.012226504383382977 Centerline is valid? [True, True] Translation: X:96.22, Y:-168.27, Z:-4.02 [[ 9.93531147e-01 1.13076946e-01 -1.04625672e-02 9.62160920e+01] [ 1.13071148e-01 -9.93586233e-01 -1.14595324e-03 -1.68269620e+02] [-1.05250436e-02 -4.44742359e-05 -9.99944609e-01 -4.01945029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.326559995 meters 0.012997201765238924 Centerline is valid? [True, True] Translation: X:96.25, Y:-168.28, Z:-4.02 [[ 9.80128123e-01 1.98105498e-01 -1.01525855e-02 9.62495983e+01] [ 1.98096172e-01 -9.80180696e-01 -1.92623009e-03 -1.68281766e+02] [-1.03329651e-02 -1.23236039e-04 -9.99946606e-01 -4.01898722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.386559995 meters 0.013642908808338563 Centerline is valid? [True, True] Translation: X:96.28, Y:-168.29, Z:-4.02 [[ 9.60715759e-01 2.77399137e-01 -8.65736135e-03 9.62831147e+01] [ 2.77389153e-01 -9.60754755e-01 -2.35747552e-03 -1.68285793e+02] [-8.97156276e-03 -1.36594247e-04 -9.99959745e-01 -4.02024660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.4465599950001 meters 0.013857982117145893 Centerline is valid? [True, True] Translation: X:96.32, Y:-168.29, Z:-4.02 [[ 9.35530989e-01 3.53165077e-01 -7.49643990e-03 9.63168835e+01] [ 3.53154876e-01 -9.35561014e-01 -2.68750365e-03 -1.68286514e+02] [-7.96250935e-03 -1.33161358e-04 -9.99968290e-01 -4.02128282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.506559995 meters 0.013861719733250786 Centerline is valid? [True, True] Translation: X:96.35, Y:-168.28, Z:-4.02 [[ 9.04804253e-01 4.25777760e-01 -6.52406743e-03 9.63506667e+01] [ 4.25767671e-01 -9.04827765e-01 -2.93370457e-03 -1.68284612e+02] [-7.15226351e-03 -1.23308618e-04 -9.99974415e-01 -4.02101077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.566559995 meters 0.014331876216838456 Centerline is valid? [True, True] Translation: X:96.38, Y:-168.28, Z:-4.02 [[ 8.68490114e-01 4.95667609e-01 -6.20833530e-03 9.63830587e+01] [ 4.95655968e-01 -8.68512295e-01 -3.39938774e-03 -1.68279080e+02] [-7.07698193e-03 -1.24863800e-04 -9.99974950e-01 -4.02060459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.626559995 meters 0.014319715768352932 Centerline is valid? [True, True] Translation: X:96.42, Y:-168.27, Z:-4.02 [[ 8.26872168e-01 5.62350527e-01 -6.65599260e-03 9.64152630e+01] [ 5.62333687e-01 -8.26898945e-01 -4.35434658e-03 -1.68268694e+02] [-7.95250235e-03 -1.42400857e-04 -9.99968368e-01 -4.02065216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.6865599950002 meters 0.014101489886748494 Centerline is valid? [True, True] Translation: X:96.45, Y:-168.26, Z:-4.02 [[ 7.80537941e-01 6.25055436e-01 -8.13786745e-03 9.64474299e+01] [ 6.25023850e-01 -7.80580341e-01 -6.28631131e-03 -1.68257464e+02] [-1.02815524e-02 -1.79656761e-04 -9.99947127e-01 -4.01831740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.746559995 meters 0.014521296884433718 Centerline is valid? [True, True] Translation: X:96.48, Y:-168.24, Z:-4.02 [[ 7.29690396e-01 6.83727663e-01 -8.27095671e-03 9.64766138e+01] [ 6.83686622e-01 -7.29737246e-01 -7.49365915e-03 -1.68242434e+02] [-1.11592472e-02 -1.86691335e-04 -9.99937716e-01 -4.01651365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.806559995 meters 0.014548193177593677 Centerline is valid? [True, True] Translation: X:96.50, Y:-168.22, Z:-4.02 [[ 6.74630015e-01 7.38113361e-01 -7.93785909e-03 9.65006790e+01] [ 7.38065419e-01 -6.74676688e-01 -8.41448103e-03 -1.68222899e+02] [-1.15663294e-02 -1.81997841e-04 -9.99933091e-01 -4.01571970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.866559995 meters 0.013277837600689898 Centerline is valid? [True, True] Translation: X:96.52, Y:-168.20, Z:-4.02 [[ 6.17388669e-01 7.86621732e-01 -7.58170606e-03 9.65240394e+01] [ 7.86565386e-01 -6.17435202e-01 -9.41622310e-03 -1.68200782e+02] [-1.20882179e-02 -1.50038110e-04 -9.99926924e-01 -4.01669329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.926559995 meters 0.012553892081056879 Centerline is valid? [True, True] Translation: X:96.55, Y:-168.18, Z:-4.02 [[ 5.58586608e-01 8.29419422e-01 -6.66511666e-03 9.65456075e+01] [ 8.29362087e-01 -5.58626366e-01 -9.75255405e-03 -1.68177477e+02] [-1.18122676e-02 -8.01489767e-05 -9.99930230e-01 -4.01755784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1168.986559995 meters 0.01250530102415289 Centerline is valid? [True, True] Translation: X:96.56, Y:-168.15, Z:-4.02 [[ 5.02221488e-01 8.64723159e-01 -5.23779784e-03 9.65610895e+01] [ 8.64675023e-01 -5.02248798e-01 -9.12412666e-03 -1.68150382e+02] [-1.05205213e-02 5.33395034e-05 -9.99944656e-01 -4.01871903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.046559995 meters 0.013802444560761221 Centerline is valid? [True, True] Translation: X:96.57, Y:-168.12, Z:-4.02 [[ 4.40947733e-01 8.97524517e-01 -3.85196042e-03 9.65735526e+01] [ 8.97487761e-01 -4.40964540e-01 -8.12367667e-03 -1.68123899e+02] [-8.98977693e-03 1.25029478e-04 -9.99959583e-01 -4.02001170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.106559995 meters 0.01507743151959901 Centerline is valid? [True, True] Translation: X:96.59, Y:-168.10, Z:-4.02 [[ 3.76649338e-01 9.26351880e-01 -2.73333713e-03 9.65879001e+01] [ 9.26324177e-01 -3.76659218e-01 -7.16602574e-03 -1.68097946e+02] [-7.66779805e-03 1.67122576e-04 -9.99970588e-01 -4.02096216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.166559995 meters 0.017175291782340837 Centerline is valid? [True, True] Translation: X:96.60, Y:-168.07, Z:-4.02 [[ 3.10862197e-01 9.50452478e-01 -2.18691332e-03 9.65991441e+01] [ 9.50423416e-01 -3.10869802e-01 -7.43616483e-03 -1.68071591e+02] [-7.74756660e-03 2.33128911e-04 -9.99969960e-01 -4.02092972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.2265599950001 meters 0.018087171286189144 Centerline is valid? [True, True] Translation: X:96.61, Y:-168.05, Z:-4.02 [[ 2.37292633e-01 9.71436505e-01 -1.82313409e-03 9.66120188e+01] [ 9.71398000e-01 -2.37299468e-01 -8.65382528e-03 -1.68046526e+02] [-8.83927053e-03 2.82500172e-04 -9.99960893e-01 -4.01981001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.286559995 meters 0.017665427750608816 Centerline is valid? [True, True] Translation: X:96.63, Y:-168.02, Z:-4.02 [[ 1.57398470e-01 9.87534173e-01 -1.40689919e-03 9.66251725e+01] [ 9.87474862e-01 -1.57404442e-01 -1.08276852e-02 -1.68020289e+02] [-1.09141613e-02 3.14983490e-04 -9.99940389e-01 -4.01755012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.346559995 meters 0.01630026977553823 Centerline is valid? [True, True] Translation: X:96.64, Y:-167.99, Z:-4.02 [[ 7.44480817e-02 9.97224716e-01 -5.90700192e-04 9.66387382e+01] [ 9.97157049e-01 -7.44499132e-02 -1.16202318e-02 -1.67994008e+02] [-1.16319599e-02 2.76083104e-04 -9.99932308e-01 -4.01628920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.406559995 meters 0.014561325855242321 Centerline is valid? [True, True] Translation: X:96.65, Y:-167.97, Z:-4.02 [[-9.91829126e-03 9.99950755e-01 3.39308923e-04 9.66521564e+01] [ 9.99875406e-01 9.92170990e-03 -1.22773373e-02 -1.67965917e+02] [-1.22800993e-02 2.17496439e-04 -9.99924573e-01 -4.01595455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.4665599950001 meters 0.012989494448500725 Centerline is valid? [True, True] Translation: X:96.66, Y:-167.94, Z:-4.02 [[-9.69585177e-02 9.95287643e-01 1.24658769e-03 9.66638181e+01] [ 9.95218743e-01 9.69664741e-02 -1.17113945e-02 -1.67936954e+02] [-1.17770835e-02 1.05107983e-04 -9.99930642e-01 -4.01637261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.526559995 meters 0.012310451289246677 Centerline is valid? [True, True] Translation: X:96.67, Y:-167.91, Z:-4.02 [[-1.82566944e-01 9.83191764e-01 1.80732698e-03 9.66728743e+01] [ 9.83144037e-01 1.82575890e-01 -9.68747668e-03 -1.67906394e+02] [-9.85462162e-03 8.24973035e-06 -9.99951442e-01 -4.01881411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.586559995 meters 0.012205832421003352 Centerline is valid? [True, True] Translation: X:96.68, Y:-167.88, Z:-4.02 [[-2.61310591e-01 9.65252034e-01 2.29907325e-03 9.66760474e+01] [ 9.65214217e-01 2.61320704e-01 -8.54430892e-03 -1.67877659e+02] [-8.84820701e-03 -1.36202262e-05 -9.99960854e-01 -4.01914959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.646559995 meters 0.012344703191446812 Centerline is valid? [True, True] Translation: X:96.68, Y:-167.85, Z:-4.02 [[-3.41582334e-01 9.39848525e-01 2.50168832e-03 9.66796736e+01] [ 9.39822128e-01 3.41591491e-01 -7.04425811e-03 -1.67846213e+02] [-7.47509104e-03 -5.50520857e-05 -9.99972060e-01 -4.01985534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.7065599950001 meters 0.012734365501540562 Centerline is valid? [True, True] Translation: X:96.68, Y:-167.82, Z:-4.02 [[-4.16739290e-01 9.09020992e-01 3.03325376e-03 9.66779558e+01] [ 9.08995576e-01 4.16750322e-01 -6.79796244e-03 -1.67815112e+02] [-7.44360004e-03 -7.57637938e-05 -9.99972293e-01 -4.01896640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.766559995 meters 0.013624157900340637 Centerline is valid? [True, True] Translation: X:96.67, Y:-167.79, Z:-4.02 [[-4.90036444e-01 8.71693304e-01 3.88176246e-03 9.66734033e+01] [ 8.71664094e-01 4.90051805e-01 -7.13696008e-03 -1.67785979e+02] [-8.12350501e-03 -1.13777585e-04 -9.99966997e-01 -4.01733603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.826559995 meters 0.013589702479436168 Centerline is valid? [True, True] Translation: X:96.67, Y:-167.76, Z:-4.02 [[-5.58109380e-01 8.29750561e-01 5.28455190e-03 9.66654787e+01] [ 8.29710779e-01 5.58134378e-01 -8.12644890e-03 -1.67755593e+02] [-9.69241562e-03 -1.50797691e-04 -9.99953016e-01 -4.01639372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.886559995 meters 0.01399535411645483 Centerline is valid? [True, True] Translation: X:96.65, Y:-167.73, Z:-4.01 [[-6.21630460e-01 7.83277047e-01 7.25524862e-03 9.66539719e+01] [ 7.83220119e-01 6.21672769e-01 -9.44526455e-03 -1.67727585e+02] [-1.19086494e-02 -1.89007462e-04 -9.99929072e-01 -4.01384684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1169.9465599950001 meters 0.01382664896882786 Centerline is valid? [True, True] Translation: X:96.64, Y:-167.70, Z:-4.01 [[-6.80721541e-01 7.32491419e-01 8.63163564e-03 9.66381863e+01] [ 7.32428808e-01 6.80776235e-01 -9.57909748e-03 -1.67701772e+02] [-1.28928191e-02 -1.98639397e-04 -9.99916864e-01 -4.01334776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.006559995 meters 0.013464139039032156 Centerline is valid? [True, True] Translation: X:96.62, Y:-167.68, Z:-4.01 [[-7.35350225e-01 6.77616164e-01 9.81737837e-03 9.66214454e+01] [ 6.77552202e-01 7.35415730e-01 -9.31227347e-03 -1.67676737e+02] [-1.35300015e-02 -1.95996064e-04 -9.99908446e-01 -4.01329858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.066559995 meters 0.013133225469232278 Centerline is valid? [True, True] Translation: X:96.63, Y:-167.66, Z:-4.01 [[-7.79075074e-01 6.26850149e-01 1.00459246e-02 9.66342281e+01] [ 6.26795720e-01 7.79139828e-01 -8.26161754e-03 -1.67659680e+02] [-1.30059762e-02 -1.39677744e-04 -9.99915409e-01 -4.01339123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.126559995 meters 0.012457668250901607 Centerline is valid? [True, True] Translation: X:96.65, Y:-167.65, Z:-4.02 [[-8.19562851e-01 5.72915223e-01 9.21301486e-03 9.66547535e+01] [ 5.72877880e-01 8.19614629e-01 -6.54181470e-03 -1.67648153e+02] [-1.12990270e-02 -8.34958952e-05 -9.99936161e-01 -4.01564025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.1865599950002 meters 0.012195494523450498 Centerline is valid? [True, True] Translation: X:97.06, Y:-167.09, Z:-5.02 [[-7.72310620e-01 -6.35204869e-01 7.14705062e-03 9.70626826e+01] [ 6.35177156e-01 -7.72343688e-01 -5.93360166e-03 -1.67085410e+02] [ 9.28903210e-03 -4.29402898e-05 9.99956855e-01 -5.02311384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.246559995 meters 0.01214849004995454 Centerline is valid? [True, True] Translation: X:96.61, Y:-167.63, Z:-4.02 [[-8.16263663e-01 5.77650137e-01 5.82692023e-03 9.66137899e+01] [ 5.77635543e-01 8.16284460e-01 -4.10610713e-03 -1.67633146e+02] [-7.12831777e-03 1.41701856e-05 -9.99974593e-01 -4.01906196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.306559995 meters 0.012471935444454166 Centerline is valid? [True, True] Translation: X:96.64, Y:-167.62, Z:-4.02 [[-8.53142287e-01 5.21650357e-01 5.39850807e-03 9.66364125e+01] [ 5.21640184e-01 8.53159366e-01 -3.25805268e-03 -1.67619752e+02] [-6.30535207e-03 3.64962263e-05 -9.99980120e-01 -4.01895912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.366559995 meters 0.013081988482448256 Centerline is valid? [True, True] Translation: X:96.65, Y:-167.60, Z:-4.02 [[-8.85976844e-01 4.63693366e-01 5.78740792e-03 9.66510730e+01] [ 4.63683951e-01 8.85995744e-01 -2.95557613e-03 -1.67601265e+02] [-6.49809982e-03 6.49561602e-05 -9.99978885e-01 -4.01887913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.426559995 meters 0.01441640810806959 Centerline is valid? [True, True] Translation: X:96.67, Y:-167.58, Z:-4.02 [[-9.13650227e-01 4.06455956e-01 6.06783307e-03 9.66685692e+01] [ 4.06447815e-01 9.13670369e-01 -2.57508519e-03 -1.67582993e+02] [-6.59065799e-03 1.13530324e-04 -9.99978275e-01 -4.01866658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.486559995 meters 0.015831235368511574 Centerline is valid? [True, True] Translation: X:96.68, Y:-167.56, Z:-4.02 [[-9.38532250e-01 3.45132864e-01 6.36569209e-03 9.66803537e+01] [ 3.45125988e-01 9.38553826e-01 -2.18344877e-03 -1.67560631e+02] [-6.72812459e-03 1.47728688e-04 -9.99977355e-01 -4.01823918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.546559995 meters 0.0159221265654317 Centerline is valid? [True, True] Translation: X:96.69, Y:-167.53, Z:-4.02 [[-9.59573554e-01 2.81385410e-01 6.39101297e-03 9.66900019e+01] [ 2.81380343e-01 9.59594822e-01 -1.69708269e-03 -1.67534539e+02] [-6.61031727e-03 1.69829751e-04 -9.99978137e-01 -4.01895422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.606559995 meters 0.01626261319912278 Centerline is valid? [True, True] Translation: X:96.89, Y:-166.83, Z:-5.02 [[-9.55626078e-01 -2.94516215e-01 6.24489248e-03 9.68878910e+01] [ 2.94508755e-01 -9.55646467e-01 -2.10312619e-03 -1.66826860e+02] [ 6.58731421e-03 -1.70626721e-04 9.99978289e-01 -5.02072002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.666559995 meters 0.017242107483162628 Centerline is valid? [True, True] Translation: X:96.65, Y:-167.52, Z:-4.02 [[-9.60053894e-01 2.79751483e-01 5.96901161e-03 9.66474673e+01] [ 2.79747181e-01 9.60072434e-01 -1.56077876e-03 -1.67522506e+02] [-6.16731368e-03 1.71382451e-04 -9.99980967e-01 -4.01986473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.7265599950001 meters 0.015412162186988182 Centerline is valid? [True, True] Translation: X:96.65, Y:-167.49, Z:-4.02 [[-9.78349996e-01 2.06861323e-01 6.29910939e-03 9.66501256e+01] [ 2.06858027e-01 9.78370262e-01 -1.17744813e-03 -1.67485351e+02] [-6.40642979e-03 1.51064966e-04 -9.99979467e-01 -4.02086703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.786559995 meters 0.01420341950684266 Centerline is valid? [True, True] Translation: X:96.79, Y:-166.79, Z:-5.02 [[-9.72873294e-01 -2.31269000e-01 5.67478346e-03 9.67861224e+01] [ 2.31264015e-01 -9.72889829e-01 -1.52853620e-03 -1.66791120e+02] [ 5.87444215e-03 -1.74698840e-04 9.99982730e-01 -5.01933446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.846559995 meters 0.013652495772432336 Centerline is valid? [True, True] Translation: X:96.60, Y:-167.46, Z:-4.02 [[-9.81264891e-01 1.92595327e-01 5.12390798e-03 9.65979881e+01] [ 1.92593059e-01 9.81278266e-01 -9.37064096e-04 -1.67462575e+02] [-5.20845370e-03 6.73210140e-05 -9.99986434e-01 -4.02180747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.906559995 meters 0.012145245409610098 Centerline is valid? [True, True] Translation: X:96.60, Y:-167.42, Z:-4.02 [[-9.93415997e-01 1.14418146e-01 5.75714909e-03 9.66005939e+01] [ 1.14416387e-01 9.93432679e-01 -6.35123330e-04 -1.67422176e+02] [-5.79200967e-03 2.77705221e-05 -9.99983226e-01 -4.02194419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1170.9665599950001 meters 0.012063942091819227 Centerline is valid? [True, True] Translation: X:96.67, Y:-166.77, Z:-5.02 [[-9.84499646e-01 -1.75274709e-01 6.26282571e-03 9.66707661e+01] [ 1.75271214e-01 -9.84519566e-01 -1.10703921e-03 -1.66771297e+02] [ 6.35991042e-03 7.81335073e-06 9.99979776e-01 -5.01976640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.026559995 meters 0.011893719947659365 Centerline is valid? [True, True] Translation: X:96.55, Y:-167.40, Z:-4.02 [[-9.94476779e-01 1.04719446e-01 7.05497785e-03 9.65465758e+01] [ 1.04716757e-01 9.94501804e-01 -7.50615835e-04 -1.67404193e+02] [-7.09479227e-03 -7.69561986e-06 -9.99974832e-01 -4.02162692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.086559995 meters 0.011917102676526676 Centerline is valid? [True, True] Translation: X:96.62, Y:-166.78, Z:-5.02 [[-9.84689195e-01 -1.74170957e-01 7.18799854e-03 9.66155478e+01] [ 1.74166471e-01 -9.84715430e-01 -1.25014909e-03 -1.66777852e+02] [ 7.29587274e-03 2.09000455e-05 9.99973385e-01 -5.01883156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.146559995 meters 0.0120494564564683 Centerline is valid? [True, True] Translation: X:96.50, Y:-167.39, Z:-4.02 [[-9.94918039e-01 1.00400926e-01 7.59932246e-03 9.64987730e+01] [ 1.00397912e-01 9.94947061e-01 -7.78126159e-04 -1.67390296e+02] [-7.63904814e-03 -1.12156470e-05 -9.99970822e-01 -4.02193517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.2065599950001 meters 0.011939793796940762 Centerline is valid? [True, True] Translation: X:96.49, Y:-167.36, Z:-4.02 [[-9.99516406e-01 2.95709350e-02 9.61845721e-03 9.64949116e+01] [ 2.95694379e-02 9.99562684e-01 -2.97847746e-04 -1.67358931e+02] [-9.62305855e-03 -1.32913347e-05 -9.99953697e-01 -4.02148584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.266559995 meters 0.011998414345599449 Centerline is valid? [True, True] Translation: X:96.49, Y:-167.33, Z:-4.02 [[-9.99071501e-01 -4.18162600e-02 1.03699321e-02 9.64886340e+01] [-4.18141917e-02 9.99125318e-01 4.16273101e-04 -1.67329133e+02] [-1.03782687e-02 -1.77237385e-05 -9.99946144e-01 -4.02113808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.326559995 meters 0.012128399821885558 Centerline is valid? [True, True] Translation: X:96.48, Y:-167.30, Z:-4.02 [[-9.93404540e-01 -1.14095193e-01 1.13889084e-02 9.64770034e+01] [-1.14088101e-01 9.93469821e-01 1.27264453e-03 -1.67299370e+02] [-1.14597394e-02 -3.50880751e-05 -9.99934334e-01 -4.02001092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.386559995 meters 0.012315273201240463 Centerline is valid? [True, True] Translation: X:96.46, Y:-167.27, Z:-4.02 [[-9.82406610e-01 -1.86312238e-01 1.28453707e-02 9.64616077e+01] [-1.86297166e-01 9.82490583e-01 2.37069709e-03 -1.67270158e+02] [-1.30621456e-02 -6.40676616e-05 -9.99914685e-01 -4.01904642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.4465599950001 meters 0.012400011526774935 Centerline is valid? [True, True] Translation: X:96.44, Y:-167.25, Z:-4.02 [[-9.66308688e-01 -2.57000413e-01 1.40821549e-02 9.64442757e+01] [-2.56974443e-01 9.66411289e-01 3.65449240e-03 -1.67245035e+02] [-1.45483596e-02 -8.73861691e-05 -9.99894163e-01 -4.01883350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.506559995 meters 0.012464507708784385 Centerline is valid? [True, True] Translation: X:96.29, Y:-166.68, Z:-5.02 [[-9.83729673e-01 1.79014326e-01 1.51592038e-02 9.62903522e+01] [-1.78990687e-01 -9.83846455e-01 2.91308198e-03 -1.66679431e+02] [ 1.54358123e-02 1.52328876e-04 9.99880849e-01 -5.02243353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.566559995 meters 0.012507979081831818 Centerline is valid? [True, True] Translation: X:96.34, Y:-167.27, Z:-4.02 [[-9.64485688e-01 -2.63736343e-01 1.45085548e-02 9.63408625e+01] [-2.63708125e-01 9.64594801e-01 3.85932719e-03 -1.67271012e+02] [-1.50127214e-02 -1.03757936e-04 -9.99887297e-01 -4.01957646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.626559995 meters 0.01250177432081294 Centerline is valid? [True, True] Translation: X:96.32, Y:-167.25, Z:-4.02 [[-9.43192727e-01 -3.31980094e-01 1.32927465e-02 9.63154785e+01] [-3.31948534e-01 9.43286387e-01 4.57847924e-03 -1.67251325e+02] [-1.40588308e-02 -9.41193841e-05 -9.99901165e-01 -4.02074579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.6865599950002 meters 0.01250787471915773 Centerline is valid? [True, True] Translation: X:96.10, Y:-166.70, Z:-5.02 [[-9.66699005e-01 2.55619593e-01 1.23148893e-02 9.60967873e+01] [-2.55598875e-01 -9.66777443e-01 3.25444923e-03 -1.66702465e+02] [ 1.27376581e-02 -1.59900886e-06 9.99918873e-01 -5.01952158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.746559995 meters 0.012290096552898101 Centerline is valid? [True, True] Translation: X:96.19, Y:-167.30, Z:-4.02 [[-9.41711224e-01 -3.36228009e-01 1.14323129e-02 9.61884879e+01] [-3.36203981e-01 9.41780613e-01 4.01995482e-03 -1.67299489e+02] [-1.21183521e-02 -5.79525535e-05 -9.99926568e-01 -4.02341505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.806559995 meters 0.012231215413880822 Centerline is valid? [True, True] Translation: X:96.15, Y:-167.29, Z:-4.02 [[-9.15355136e-01 -4.02491079e-01 1.12207659e-02 9.61503451e+01] [-4.02461465e-01 9.15423907e-01 4.88268303e-03 -1.67287881e+02] [-1.22369937e-02 -4.65368936e-05 -9.99925124e-01 -4.02324163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.866559995 meters 0.012327010664181338 Centerline is valid? [True, True] Translation: X:96.09, Y:-167.29, Z:-4.02 [[-8.83508914e-01 -4.68279889e-01 1.12225124e-02 9.60940607e+01] [-4.68242792e-01 8.83580185e-01 5.89441665e-03 -1.67286954e+02] [-1.26762264e-02 -4.70908882e-05 -9.99919652e-01 -4.02283609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.926559995 meters 0.012374898272359497 Centerline is valid? [True, True] Translation: X:96.03, Y:-167.29, Z:-4.02 [[-8.46305237e-01 -5.32581787e-01 1.11394208e-02 9.60301091e+01] [-5.32536550e-01 8.46378543e-01 6.94160586e-03 -1.67292874e+02] [-1.31251396e-02 -5.74313069e-05 -9.99913860e-01 -4.02235168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1171.986559995 meters 0.012405379501076636 Centerline is valid? [True, True] Translation: X:95.96, Y:-167.31, Z:-4.02 [[-8.03824582e-01 -5.94762147e-01 1.11368794e-02 9.59583662e+01] [-5.94706408e-01 8.03901724e-01 8.14287226e-03 -1.67309055e+02] [-1.37960288e-02 -7.77326667e-05 -9.99904827e-01 -4.02192225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.046559995 meters 0.012703940836389335 Centerline is valid? [True, True] Translation: X:95.88, Y:-167.34, Z:-4.02 [[-7.56486840e-01 -6.53912231e-01 1.12452086e-02 9.58801774e+01] [-6.53842023e-01 7.56570409e-01 9.58259655e-03 -1.67336135e+02] [-1.47739692e-02 -1.03481771e-04 -9.99890854e-01 -4.02049266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.106559995 meters 0.01290831132507467 Centerline is valid? [True, True] Translation: X:95.80, Y:-167.37, Z:-4.02 [[-7.04512157e-01 -7.09613315e-01 1.05623486e-02 9.58025342e+01] [-7.09536208e-01 7.04591320e-01 1.04614470e-02 -1.67372162e+02] [-1.48657212e-02 -1.24152171e-04 -9.99889491e-01 -4.02013073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.166559995 meters 0.012904380313516154 Centerline is valid? [True, True] Translation: X:95.72, Y:-167.42, Z:-4.02 [[-6.47632130e-01 -7.61894842e-01 9.42731257e-03 9.57244100e+01] [-7.61817485e-01 6.47700724e-01 1.08577852e-02 -1.67420623e+02] [-1.43785677e-02 -1.50041026e-04 -9.99896612e-01 -4.02185223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.2265599950001 meters 0.013216914210232527 Centerline is valid? [True, True] Translation: X:95.65, Y:-167.48, Z:-4.02 [[-5.86799642e-01 -8.09693698e-01 7.89281980e-03 9.56460758e+01] [-8.09624215e-01 5.86852698e-01 1.06085501e-02 -1.67476656e+02] [-1.32215987e-02 -1.65124667e-04 -9.99912577e-01 -4.02263858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.286559995 meters 0.013472950706985261 Centerline is valid? [True, True] Translation: X:95.57, Y:-167.54, Z:-4.02 [[-5.21615859e-01 -8.53156260e-01 6.42583607e-03 9.55696280e+01] [-8.53095787e-01 5.21655406e-01 1.01594784e-02 -1.67541829e+02] [-1.20196947e-02 -1.82508625e-04 -9.99927744e-01 -4.02355959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.346559995 meters 0.014439339202824582 Centerline is valid? [True, True] Translation: X:95.50, Y:-167.62, Z:-4.02 [[-4.51615306e-01 -8.92197036e-01 5.29761793e-03 9.54967779e+01] [-8.92141281e-01 4.51646323e-01 9.97668333e-03 -1.67616239e+02] [-1.12938169e-02 -2.20600750e-04 -9.99936199e-01 -4.02363815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.406559995 meters 0.015260469906781137 Centerline is valid? [True, True] Translation: X:95.43, Y:-167.70, Z:-4.02 [[-3.80641632e-01 -9.24711880e-01 4.45944916e-03 9.54264904e+01] [-9.24655658e-01 3.80667677e-01 1.01996577e-02 -1.67701026e+02] [-1.11293128e-02 -2.41040541e-04 -9.99938038e-01 -4.02320078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.4665599950001 meters 0.015844524204134954 Centerline is valid? [True, True] Translation: X:95.36, Y:-167.79, Z:-4.02 [[-3.05848182e-01 -9.52072987e-01 3.73060641e-03 9.53642518e+01] [-9.52013083e-01 3.05870801e-01 1.06837635e-02 -1.67792070e+02] [-1.13128062e-02 -2.83976470e-04 -9.99935968e-01 -4.02314700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.526559995 meters 0.017075400952397058 Centerline is valid? [True, True] Translation: X:95.31, Y:-167.89, Z:-4.02 [[-2.30699590e-01 -9.73020432e-01 2.98957247e-03 9.53061573e+01] [-9.72955384e-01 2.30718749e-01 1.12552309e-02 -1.67888255e+02] [-1.16413201e-02 -3.12143474e-04 -9.99932189e-01 -4.02152492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.586559995 meters 0.01670510592657633 Centerline is valid? [True, True] Translation: X:95.26, Y:-167.99, Z:-4.02 [[-1.55561063e-01 -9.87823725e-01 2.24585500e-03 9.52585608e+01] [-9.87749386e-01 1.55576919e-01 1.21232555e-02 -1.67987485e+02] [-1.23250426e-02 -3.32435383e-04 -9.99923989e-01 -4.02130126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.646559995 meters 0.016362991642438544 Centerline is valid? [True, True] Translation: X:95.22, Y:-168.10, Z:-4.02 [[-8.08663075e-02 -9.96724081e-01 1.32145035e-03 9.52198635e+01] [-9.96647751e-01 8.08764739e-02 1.23392041e-02 -1.68102051e+02] [-1.24056561e-02 -3.19194646e-04 -9.99922996e-01 -4.02088084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.7065599950001 meters 0.01582058976162065 Centerline is valid? [True, True] Translation: X:95.19, Y:-168.20, Z:-4.02 [[-5.77537314e-03 -9.99983262e-01 3.47304278e-04 9.51901608e+01] [-9.99916214e-01 5.77900883e-03 1.15830675e-02 -1.68204603e+02] [-1.15848807e-02 -2.80378642e-04 -9.99932854e-01 -4.02143014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.766559995 meters 0.015148037089010875 Centerline is valid? [True, True] Translation: X:95.17, Y:-168.32, Z:-4.02 [[ 6.79107522e-02 -9.97691289e-01 -4.71575904e-04 9.51702991e+01] [-9.97640465e-01 -6.79120537e-02 1.00725225e-02 -1.68321051e+02] [-1.00812936e-02 -2.13569375e-04 -9.99949160e-01 -4.02177488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.826559995 meters 0.014771457326687684 Centerline is valid? [True, True] Translation: X:95.16, Y:-168.43, Z:-4.02 [[ 1.42841550e-01 -9.89744792e-01 -1.23998702e-03 9.51569911e+01] [-9.89694555e-01 -1.42846796e-01 9.97404205e-03 -1.68431662e+02] [-1.00488844e-02 -1.97499225e-04 -9.99949489e-01 -4.02153798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.886559995 meters 0.014458275377856425 Centerline is valid? [True, True] Translation: X:95.15, Y:-168.55, Z:-4.02 [[ 2.16015144e-01 -9.76387537e-01 -2.19880256e-03 9.51536214e+01] [-9.76327661e-01 -2.16026252e-01 1.08146275e-02 -1.68551286e+02] [-1.10342666e-02 -1.89371565e-04 -9.99939103e-01 -4.02004670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1172.9465599950001 meters 0.014522370322748675 Centerline is valid? [True, True] Translation: X:95.15, Y:-168.67, Z:-4.02 [[ 2.91092472e-01 -9.56690105e-01 -3.03573873e-03 9.51517864e+01] [-9.56630707e-01 -2.91108232e-01 1.06624720e-02 -1.68668974e+02] [-1.10844100e-02 -1.99684451e-04 -9.99938546e-01 -4.01929573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.006559995 meters 0.014841558404078027 Centerline is valid? [True, True] Translation: X:95.16, Y:-168.79, Z:-4.02 [[ 3.63849471e-01 -9.31448968e-01 -4.04743592e-03 9.51573981e+01] [-9.31384667e-01 -3.63871920e-01 1.09466380e-02 -1.68786813e+02] [-1.16689830e-02 -2.13208699e-04 -9.99931892e-01 -4.01748929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.066559995 meters 0.014656284505784435 Centerline is valid? [True, True] Translation: X:95.17, Y:-168.90, Z:-4.02 [[ 4.33742913e-01 -9.01023350e-01 -4.89986121e-03 9.51727621e+01] [-9.00960310e-01 -4.33770538e-01 1.06601891e-02 -1.68900643e+02] [-1.17304947e-02 -2.09200984e-04 -9.99931174e-01 -4.01700880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.126559995 meters 0.015185248998938397 Centerline is valid? [True, True] Translation: X:95.20, Y:-169.02, Z:-4.02 [[ 5.00913149e-01 -8.65481507e-01 -5.27043049e-03 9.52033733e+01] [-8.65429609e-01 -5.00940840e-01 9.47977144e-03 -1.69018349e+02] [-1.08447408e-02 -1.87355565e-04 -9.99941177e-01 -4.01732889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.1865599950002 meters 0.014933174447777756 Centerline is valid? [True, True] Translation: X:95.24, Y:-169.12, Z:-4.02 [[ 5.65347132e-01 -8.24837925e-01 -5.00182823e-03 9.52370359e+01] [-8.24803210e-01 -5.65369237e-01 7.56908448e-03 -1.69122041e+02] [-9.07114775e-03 -1.53636229e-04 -9.99958845e-01 -4.01798856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.246559995 meters 0.014271446350194707 Centerline is valid? [True, True] Translation: X:95.28, Y:-169.22, Z:-4.02 [[ 6.26000035e-01 -7.79804532e-01 -5.37099915e-03 9.52779926e+01] [-7.79773881e-01 -6.26023060e-01 6.91539031e-03 -1.69222504e+02] [-8.75502203e-03 -1.40869726e-04 -9.99961664e-01 -4.01767124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.306559995 meters 0.014726926705223698 Centerline is valid? [True, True] Translation: X:95.32, Y:-169.32, Z:-4.02 [[ 6.82546516e-01 -7.30816866e-01 -6.07962033e-03 9.53246688e+01] [-7.30786130e-01 -6.82573579e-01 6.70382054e-03 -1.69320106e+02] [-9.04905333e-03 -1.32767142e-04 -9.99959048e-01 -4.01595695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.366559995 meters 0.013273876158998232 Centerline is valid? [True, True] Translation: X:95.38, Y:-169.41, Z:-4.02 [[ 7.34579363e-01 -6.78494986e-01 -6.14115253e-03 9.53811468e+01] [-6.78470086e-01 -7.34605025e-01 5.81374775e-03 -1.69407183e+02] [-8.45592021e-03 -1.04070832e-04 -9.99964243e-01 -4.01813721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.426559995 meters 0.013214672088223441 Centerline is valid? [True, True] Translation: X:95.40, Y:-169.44, Z:-4.02 [[ 7.84975997e-01 -6.19501594e-01 -5.51892937e-03 9.54011588e+01] [-6.19485538e-01 -7.84995393e-01 4.46107415e-03 -1.69435194e+02] [-7.09597668e-03 -8.29391960e-05 -9.99974820e-01 -4.01903228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.486559995 meters 0.013507215037518594 Centerline is valid? [True, True] Translation: X:95.42, Y:-169.46, Z:-4.02 [[ 8.31663717e-01 -5.55258197e-01 -4.87816941e-03 9.54216675e+01] [-5.55248108e-01 -8.31678020e-01 3.34811569e-03 -1.69463406e+02] [-5.91613496e-03 -7.59120020e-05 -9.99982497e-01 -4.01922525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.546559995 meters 0.014017016856284807 Centerline is valid? [True, True] Translation: X:95.44, Y:-169.49, Z:-4.02 [[ 8.73824188e-01 -4.86214851e-01 -5.13875250e-03 9.54446222e+01] [-4.86205823e-01 -8.73839293e-01 2.96445442e-03 -1.69490865e+02] [-5.93180561e-03 -9.19205919e-05 -9.99982403e-01 -4.01774552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.606559995 meters 0.014239022139340961 Centerline is valid? [True, True] Translation: X:95.47, Y:-169.51, Z:-4.02 [[ 9.09102119e-01 -4.16529304e-01 -6.05604172e-03 9.54707070e+01] [-4.16519304e-01 -9.09122285e-01 2.88808975e-03 -1.69512403e+02] [-6.70865650e-03 -1.03110232e-04 -9.99977491e-01 -4.01675114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.666559995 meters 0.013673671435254815 Centerline is valid? [True, True] Translation: X:95.50, Y:-169.53, Z:-4.02 [[ 9.38540491e-01 -3.45119572e-01 -5.85041984e-03 9.54987152e+01] [-3.45112269e-01 -9.38558721e-01 2.24701141e-03 -1.69532693e+02] [-6.26645018e-03 -8.98595255e-05 -9.99980362e-01 -4.01703180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.7265599950001 meters 0.013587597069228331 Centerline is valid? [True, True] Translation: X:95.53, Y:-169.55, Z:-4.02 [[ 9.62358426e-01 -2.71738045e-01 -4.96949524e-03 9.55289866e+01] [-2.71734052e-01 -9.62371254e-01 1.47466797e-03 -1.69550368e+02] [-5.18322276e-03 -6.87780684e-05 -9.99986565e-01 -4.01750847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.786559995 meters 0.013388238490032808 Centerline is valid? [True, True] Translation: X:95.56, Y:-169.57, Z:-4.02 [[ 9.80431814e-01 -1.96808182e-01 -4.47181886e-03 9.55603222e+01] [-1.96805878e-01 -9.80442011e-01 9.54016144e-04 -1.69565719e+02] [-4.57211726e-03 -5.52675425e-05 -9.99989546e-01 -4.01673465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.846559995 meters 0.013035331088409916 Centerline is valid? [True, True] Translation: X:95.59, Y:-169.58, Z:-4.02 [[ 9.92693187e-01 -1.20537579e-01 -5.56131673e-03 9.55897732e+01] [-1.20535343e-01 -9.92708763e-01 7.36781729e-04 -1.69579934e+02] [-5.60957774e-03 -6.10629848e-05 -9.99984264e-01 -4.01571860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.906559995 meters 0.01305657537122654 Centerline is valid? [True, True] Translation: X:95.62, Y:-169.59, Z:-4.01 [[ 9.99036447e-01 -4.34061789e-02 -6.48707601e-03 9.56185523e+01] [-4.34048442e-02 -9.99057506e-01 3.46463046e-04 -1.69591373e+02] [-6.49600061e-03 -6.45586872e-05 -9.99978899e-01 -4.01351746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1173.9665599950001 meters 0.013238678749314493 Centerline is valid? [True, True] Translation: X:95.65, Y:-169.60, Z:-4.01 [[ 9.99358422e-01 3.52551723e-02 -6.31012008e-03 9.56485969e+01] [ 3.52548784e-02 -9.99378341e-01 -1.57831825e-04 -1.69599841e+02] [-6.31176173e-03 -6.47319528e-05 -9.99980079e-01 -4.01322698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.026559995 meters 0.013273577122492249 Centerline is valid? [True, True] Translation: X:95.68, Y:-169.61, Z:-4.01 [[ 9.93456472e-01 1.14048594e-01 -6.09570497e-03 9.56790460e+01] [ 1.14046861e-01 -9.93475170e-01 -6.32293498e-04 -1.69606756e+02] [-6.12804371e-03 -6.70399462e-05 -9.99981221e-01 -4.01350885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.086559995 meters 0.013119367845871662 Centerline is valid? [True, True] Translation: X:95.71, Y:-169.61, Z:-4.01 [[ 9.81599849e-01 1.90846662e-01 -6.26797247e-03 9.57106507e+01] [ 1.90843196e-01 -9.81619859e-01 -1.15203050e-03 -1.69610268e+02] [-6.37262743e-03 -6.53669307e-05 -9.99979693e-01 -4.01346469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.146559995 meters 0.012840727931431708 Centerline is valid? [True, True] Translation: X:95.74, Y:-169.61, Z:-4.01 [[ 9.64443496e-01 2.64218431e-01 -6.11257007e-03 9.57411580e+01] [ 2.64213425e-01 -9.64462865e-01 -1.62703876e-03 -1.69608292e+02] [-6.32524048e-03 -4.58361322e-05 -9.99979994e-01 -4.01397802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.2065599950001 meters 0.012633104842976693 Centerline is valid? [True, True] Translation: X:95.77, Y:-169.61, Z:-4.01 [[ 9.41643321e-01 3.36545159e-01 -6.72401268e-03 9.57712158e+01] [ 3.36536835e-01 -9.41667327e-01 -2.36724171e-03 -1.69605537e+02] [-7.12846679e-03 -3.37806055e-05 -9.99974592e-01 -4.01367948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.266559995 meters 0.012472592278793937 Centerline is valid? [True, True] Translation: X:95.80, Y:-169.60, Z:-4.01 [[ 9.13510675e-01 4.06752829e-01 -7.09811990e-03 9.58021257e+01] [ 4.06740684e-01 -9.13538251e-01 -3.14334502e-03 -1.69600854e+02] [-7.76296852e-03 -1.56149059e-05 -9.99969868e-01 -4.01337826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.326559995 meters 0.0125285496442261 Centerline is valid? [True, True] Translation: X:95.83, Y:-169.60, Z:-4.01 [[ 8.79203906e-01 4.76388211e-01 -7.40025902e-03 9.58335080e+01] [ 4.76371440e-01 -8.79235050e-01 -3.99732406e-03 -1.69596891e+02] [-8.41084516e-03 -1.08091193e-05 -9.99964628e-01 -4.01334046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.386559995 meters 0.012528684879337112 Centerline is valid? [True, True] Translation: X:95.86, Y:-169.59, Z:-4.01 [[ 8.39122543e-01 5.43885089e-01 -7.89730473e-03 9.58636397e+01] [ 5.43861156e-01 -8.39159705e-01 -5.10228450e-03 -1.69590200e+02] [-9.40215636e-03 -1.35953358e-05 -9.99955799e-01 -4.01304766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.4465599950001 meters 0.012670104796281027 Centerline is valid? [True, True] Translation: X:95.89, Y:-169.58, Z:-4.01 [[ 7.93175126e-01 6.08930391e-01 -8.77482779e-03 9.58944453e+01] [ 6.08893556e-01 -7.93223662e-01 -6.69775527e-03 -1.69582269e+02] [-1.10388678e-02 -3.04432167e-05 -9.99939069e-01 -4.01293984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.506559995 meters 0.012659893205586055 Centerline is valid? [True, True] Translation: X:95.92, Y:-169.57, Z:-4.01 [[ 7.42473224e-01 6.69825201e-01 -8.22876151e-03 9.59244719e+01] [ 6.69784670e-01 -7.42518820e-01 -7.36863609e-03 -1.69571396e+02] [-1.10457084e-02 -4.04833239e-05 -9.99938994e-01 -4.01264300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.566559995 meters 0.012971881930989628 Centerline is valid? [True, True] Translation: X:95.95, Y:-169.56, Z:-4.01 [[ 6.85153567e-01 7.28349874e-01 -8.42917334e-03 9.59533906e+01] [ 7.28296346e-01 -6.85205409e-01 -8.83061442e-03 -1.69559683e+02] [-1.22074921e-02 -8.86091736e-05 -9.99925482e-01 -4.01167695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.626559995 meters 0.013233820221396271 Centerline is valid? [True, True] Translation: X:95.98, Y:-169.54, Z:-4.01 [[ 6.23631777e-01 7.81676114e-01 -8.11537239e-03 9.59819922e+01] [ 7.81612693e-01 -6.23684564e-01 -9.95806313e-03 -1.69544452e+02] [-1.28454126e-02 -1.32913463e-04 -9.99917486e-01 -4.01086765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.6865599950002 meters 0.013708149883723248 Centerline is valid? [True, True] Translation: X:96.01, Y:-169.53, Z:-4.01 [[ 5.58262488e-01 8.29631444e-01 -7.39334980e-03 9.60079102e+01] [ 8.29562690e-01 -5.58311416e-01 -1.06820567e-02 -1.69526752e+02] [-1.29899617e-02 -1.69855603e-04 -9.99915613e-01 -4.01000580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.746559995 meters 0.01421019315272314 Centerline is valid? [True, True] Translation: X:96.03, Y:-169.50, Z:-4.01 [[ 4.89298608e-01 8.72095601e-01 -6.01128336e-03 9.60309237e+01] [ 8.72034452e-01 -4.89335496e-01 -1.03289554e-02 -1.69505000e+02] [-1.19493709e-02 -1.88102681e-04 -9.99928586e-01 -4.01117919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.806559995 meters 0.014542073645338903 Centerline is valid? [True, True] Translation: X:96.05, Y:-169.48, Z:-4.01 [[ 4.17582744e-01 9.08625790e-01 -4.88104914e-03 9.60520447e+01] [ 9.08569250e-01 -4.17611222e-01 -1.01383284e-02 -1.69482020e+02] [-1.12503276e-02 -2.01180157e-04 -9.99936693e-01 -4.01228154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.866559995 meters 0.015394829112400442 Centerline is valid? [True, True] Translation: X:96.07, Y:-169.46, Z:-4.01 [[ 3.41396986e-01 9.39910433e-01 -4.05910868e-03 9.60737876e+01] [ 9.39852300e-01 -3.41421028e-01 -1.04563933e-02 -1.69458565e+02] [-1.12139382e-02 -2.45181482e-04 -9.99937092e-01 -4.01203086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.926559995 meters 0.016183337522435403 Centerline is valid? [True, True] Translation: X:96.09, Y:-169.43, Z:-4.01 [[ 2.64760123e-01 9.64308471e-01 -3.35405689e-03 9.60921018e+01] [ 9.64243888e-01 -2.64781221e-01 -1.11637812e-02 -1.69432793e+02] [-1.16534200e-02 -2.78404783e-04 -9.99932058e-01 -4.01092946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1174.986559995 meters 0.016635126852274806 Centerline is valid? [True, True] Translation: X:96.11, Y:-169.41, Z:-4.01 [[ 1.86038029e-01 9.82539496e-01 -2.44750042e-03 9.61069449e+01] [ 9.82474662e-01 -1.86053879e-01 -1.12912451e-02 -1.69405154e+02] [-1.15494612e-02 -3.04006162e-04 -9.99933257e-01 -4.01114019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.046559995 meters 0.01700060724001127 Centerline is valid? [True, True] Translation: X:96.12, Y:-169.38, Z:-4.01 [[ 1.07824240e-01 9.94168808e-01 -1.52108877e-03 9.61183916e+01] [ 9.94105831e-01 -1.07834537e-01 -1.11942096e-02 -1.69376997e+02] [-1.12929599e-02 -3.05116074e-04 -9.99936186e-01 -4.01176741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.106559995 meters 0.017161064972538182 Centerline is valid? [True, True] Translation: X:96.13, Y:-169.35, Z:-4.01 [[ 2.98206090e-02 9.99555088e-01 -5.98377175e-04 9.61261170e+01] [ 9.99499361e-01 -2.98252672e-02 -1.05584904e-02 -1.69347404e+02] [-1.05716395e-02 -2.83216991e-04 -9.99944079e-01 -4.01249244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.166559995 meters 0.017702374580396613 Centerline is valid? [True, True] Translation: X:96.13, Y:-169.32, Z:-4.01 [[-4.69040487e-02 9.98899376e-01 2.17473484e-04 9.61302386e+01] [ 9.98849658e-01 4.69038846e-02 -9.96926705e-03 -1.69318556e+02] [-9.96849499e-03 -2.50375672e-04 -9.99950282e-01 -4.01237429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.2265599950001 meters 0.015541502701844356 Centerline is valid? [True, True] Translation: X:96.13, Y:-169.29, Z:-4.01 [[-1.23816354e-01 9.92304612e-01 1.03369065e-03 9.61335074e+01] [ 9.92251397e-01 1.23820422e-01 -1.02795145e-02 -1.69289028e+02] [-1.03284017e-02 -2.47091020e-04 -9.99946630e-01 -4.01314064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.286559995 meters 0.01502337749750321 Centerline is valid? [True, True] Translation: X:96.14, Y:-169.26, Z:-4.01 [[-1.98957833e-01 9.80005911e-01 2.04808075e-03 9.61370689e+01] [ 9.79940279e-01 1.98968217e-01 -1.13445220e-02 -1.69258583e+02] [-1.15252016e-02 -2.50084686e-04 -9.99933551e-01 -4.01237609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.346559995 meters 0.015055127501809932 Centerline is valid? [True, True] Translation: X:96.14, Y:-169.23, Z:-4.01 [[-2.73250197e-01 9.61938709e-01 2.87228039e-03 9.61389562e+01] [ 9.61876644e-01 2.73265201e-01 -1.09294170e-02 -1.69229543e+02] [-1.12983236e-02 -2.23685930e-04 -9.99936147e-01 -4.01169693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.406559995 meters 0.01439726900034496 Centerline is valid? [True, True] Translation: X:96.13, Y:-169.20, Z:-4.01 [[-3.45473888e-01 9.38422524e-01 3.31056343e-03 9.61348992e+01] [ 9.38374492e-01 3.45489706e-01 -9.49610146e-03 -1.69200431e+02] [-1.00551211e-02 -1.74106810e-04 -9.99949431e-01 -4.01339722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.4665599950001 meters 0.014668758807346794 Centerline is valid? [True, True] Translation: X:96.13, Y:-169.17, Z:-4.01 [[-4.17708388e-01 9.08573734e-01 3.67041310e-03 9.61307178e+01] [ 9.08535318e-01 4.17724485e-01 -8.35650834e-03 -1.69172844e+02] [-9.12572541e-03 -1.55883697e-04 -9.99958348e-01 -4.01437852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.526559995 meters 0.014792864814870466 Centerline is valid? [True, True] Translation: X:96.12, Y:-169.15, Z:-4.01 [[-4.87754503e-01 8.72970534e-01 4.24153317e-03 9.61233555e+01] [ 8.72934721e-01 4.87772921e-01 -7.90888517e-03 -1.69145351e+02] [-8.97312874e-03 -1.55012781e-04 -9.99959729e-01 -4.01485902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.586559995 meters 0.01435839593151971 Centerline is valid? [True, True] Translation: X:96.12, Y:-169.12, Z:-4.01 [[-5.55056087e-01 8.31797540e-01 5.05898379e-03 9.61169002e+01] [ 8.31760219e-01 5.55079116e-01 -7.88120590e-03 -1.69115747e+02] [-9.36370393e-03 -1.66649840e-04 -9.99956146e-01 -4.01427511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.646559995 meters 0.014444952228417221 Centerline is valid? [True, True] Translation: X:96.11, Y:-169.09, Z:-4.01 [[-6.18628581e-01 7.85664061e-01 5.53743109e-03 9.61079922e+01] [ 7.85630180e-01 6.18653341e-01 -7.29819209e-03 -1.69086692e+02] [-9.15967748e-03 -1.64497229e-04 -9.99958036e-01 -4.01442025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.7065599950001 meters 0.014371042487562343 Centerline is valid? [True, True] Translation: X:96.10, Y:-169.06, Z:-4.02 [[-6.78118093e-01 7.34936966e-01 4.84859064e-03 9.60959314e+01] [ 7.34916803e-01 6.78135414e-01 -5.44546191e-03 -1.69059350e+02] [-7.29007228e-03 -1.29355515e-04 -9.99973419e-01 -4.01752418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.766559995 meters 0.014069762708209033 Centerline is valid? [True, True] Translation: X:96.08, Y:-169.03, Z:-4.02 [[-7.32815322e-01 6.80418073e-01 3.59865528e-03 9.60831602e+01] [ 6.80409311e-01 7.32824153e-01 -3.45403037e-03 -1.69031461e+02] [-4.98736619e-03 -8.26078172e-05 -9.99987560e-01 -4.01934660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.826559995 meters 0.014130219340399784 Centerline is valid? [True, True] Translation: X:96.10, Y:-169.01, Z:-4.02 [[-7.77562580e-01 6.28799827e-01 2.68544335e-03 9.61030795e+01] [ 6.28795858e-01 7.77567216e-01 -2.23494305e-03 -1.69012280e+02] [-3.49344451e-03 -4.92124343e-05 -9.99993897e-01 -4.02014581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.886559995 meters 0.013645625793374964 Centerline is valid? [True, True] Translation: X:96.12, Y:-168.99, Z:-4.02 [[-8.18689518e-01 5.74229936e-01 2.73021931e-03 9.61194261e+01] [ 5.74226583e-01 8.18694070e-01 -1.96267448e-03 -1.68991733e+02] [-3.36224081e-03 -3.90565204e-05 -9.99994347e-01 -4.01973905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1175.9465599950001 meters 0.012994941783978515 Centerline is valid? [True, True] Translation: X:96.53, Y:-168.44, Z:-5.02 [[-7.66190748e-01 -6.42603942e-01 3.45133636e-03 9.65277322e+01] [ 6.42598057e-01 -7.66198514e-01 -2.75222299e-03 -1.68439299e+02] [ 4.41299813e-03 1.09094252e-04 9.99990257e-01 -5.02197840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.006559995 meters 0.012802746042866357 Centerline is valid? [True, True] Translation: X:96.09, Y:-168.98, Z:-4.02 [[-8.16843302e-01 5.76843437e-01 4.32085822e-03 9.60895674e+01] [ 5.76835198e-01 8.16854729e-01 -3.08314609e-03 -1.68975252e+02] [-5.30800606e-03 -2.60241204e-05 -9.99985912e-01 -4.01787559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.066559995 meters 0.012740524670075177 Centerline is valid? [True, True] Translation: X:96.11, Y:-168.95, Z:-4.02 [[-8.54840749e-01 5.18854722e-01 6.08865626e-03 9.61062387e+01] [ 5.18841358e-01 8.54862432e-01 -3.72391839e-03 -1.68953955e+02] [-7.13713614e-03 -2.43105008e-05 -9.99974530e-01 -4.01643109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.126559995 meters 0.012838308037199682 Centerline is valid? [True, True] Translation: X:96.47, Y:-168.37, Z:-5.03 [[-8.15008054e-01 -5.79397041e-01 7.80647991e-03 9.64702621e+01] [ 5.79372422e-01 -8.15045422e-01 -5.34384754e-03 -1.68367602e+02] [ 9.45884517e-03 1.67580382e-04 9.99955250e-01 -5.02638271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.1865599950002 meters 0.012826753637864792 Centerline is valid? [True, True] Translation: X:96.45, Y:-168.39, Z:-5.03 [[-7.75013981e-01 -6.31896565e-01 7.74989287e-03 9.64549466e+01] [ 6.31865020e-01 -7.75052728e-01 -6.31390832e-03 -1.68392723e+02] [ 9.99631259e-03 3.51899768e-06 9.99950036e-01 -5.02640943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.246559995 meters 0.013011247150424824 Centerline is valid? [True, True] Translation: X:96.02, Y:-168.93, Z:-4.02 [[-8.17358906e-01 5.76074470e-01 7.91355635e-03 9.60221179e+01] [ 5.76047601e-01 8.17397214e-01 -5.56384285e-03 -1.68933221e+02] [-9.67370673e-03 1.09286431e-05 -9.99953209e-01 -4.01520557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.306559995 meters 0.012876306665313073 Centerline is valid? [True, True] Translation: X:96.03, Y:-168.91, Z:-4.02 [[-8.55467887e-01 5.17804924e-01 7.26329103e-03 9.60322080e+01] [ 5.17786455e-01 8.55498720e-01 -4.37348077e-03 -1.68908264e+02] [-8.47834606e-03 1.94613577e-05 -9.99964058e-01 -4.01653787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.366559995 meters 0.012816585084371923 Centerline is valid? [True, True] Translation: X:96.40, Y:-168.32, Z:-5.02 [[-8.22010801e-01 -5.69437154e-01 6.29061122e-03 9.63998476e+01] [ 5.69419884e-01 -8.22034868e-01 -4.43523606e-03 -1.68322939e+02] [ 7.69668996e-03 -6.38128332e-05 9.99970378e-01 -5.02316159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.426559995 meters 0.013081087347885349 Centerline is valid? [True, True] Translation: X:96.00, Y:-168.89, Z:-4.02 [[-8.55129072e-01 5.18386214e-01 5.47743494e-03 9.59985548e+01] [ 5.18375892e-01 8.55146614e-01 -3.27158478e-03 -1.68892172e+02] [-6.37995439e-03 4.17429635e-05 -9.99979647e-01 -4.01901617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.486559995 meters 0.013201854715511042 Centerline is valid? [True, True] Translation: X:96.02, Y:-168.87, Z:-4.02 [[-8.88747631e-01 4.58349384e-01 6.59469803e-03 9.60170828e+01] [ 4.58337295e-01 8.88772096e-01 -3.32955537e-03 -1.68871569e+02] [-7.38728324e-03 6.34616135e-05 -9.99972712e-01 -4.01888901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.546559995 meters 0.013447014629979553 Centerline is valid? [True, True] Translation: X:96.03, Y:-168.85, Z:-4.02 [[-9.18528309e-01 3.95269168e-01 8.24801314e-03 9.60309136e+01] [ 3.95254077e-01 9.18565337e-01 -3.45506499e-03 -1.68846836e+02] [-8.94201963e-03 8.64858106e-05 -9.99960016e-01 -4.01771684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.606559995 meters 0.0138247460915849 Centerline is valid? [True, True] Translation: X:96.30, Y:-168.21, Z:-5.02 [[-8.99208025e-01 -4.37439245e-01 8.47558020e-03 9.63040788e+01] [ 4.37419176e-01 -8.99247965e-01 -4.19057535e-03 -1.68209640e+02] [ 9.45477037e-03 -6.08176778e-05 9.99955301e-01 -5.02387506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.666559995 meters 0.013761828644077902 Centerline is valid? [True, True] Translation: X:95.99, Y:-168.83, Z:-4.02 [[-9.18831764e-01 3.94576939e-01 7.56503816e-03 9.59923689e+01] [ 3.94564483e-01 9.18862900e-01 -3.13686576e-03 -1.68828238e+02] [-8.18896779e-03 1.02643476e-04 -9.99966465e-01 -4.01807199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.7265599950001 meters 0.014539268556479865 Centerline is valid? [True, True] Translation: X:96.00, Y:-168.80, Z:-4.02 [[-9.44194851e-01 3.29305051e-01 7.36658350e-03 9.60028253e+01] [ 3.29295886e-01 9.44223582e-01 -2.45909377e-03 -1.68803458e+02] [-7.76549386e-03 1.03921959e-04 -9.99969843e-01 -4.01773775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.786559995 meters 0.013727879259431265 Centerline is valid? [True, True] Translation: X:96.01, Y:-168.77, Z:-4.02 [[-9.65473876e-01 2.60396214e-01 7.34890244e-03 9.60085298e+01] [ 2.60389401e-01 9.65501840e-01 -1.88597838e-03 -1.68771152e+02] [-7.58648046e-03 9.27134476e-05 -9.99971218e-01 -4.01881515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.846559995 meters 0.013537592531450383 Centerline is valid? [True, True] Translation: X:96.18, Y:-168.12, Z:-5.02 [[-9.52674882e-01 -3.03884575e-01 8.04573292e-03 9.61798603e+01] [ 3.03873326e-01 -9.52708855e-01 -2.61513250e-03 -1.68119341e+02] [ 8.45993943e-03 -4.64874257e-05 9.99964213e-01 -5.02261644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.906559995 meters 0.013050683050078641 Centerline is valid? [True, True] Translation: X:95.96, Y:-168.75, Z:-4.02 [[-9.68055957e-01 2.50599803e-01 8.20992596e-03 9.59630535e+01] [ 2.50591226e-01 9.68090769e-01 -2.07401237e-03 -1.68750192e+02] [-8.46770063e-03 4.95753775e-05 -9.99964147e-01 -4.01814339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1176.9665599950001 meters 0.012768135076758634 Centerline is valid? [True, True] Translation: X:95.97, Y:-168.72, Z:-4.02 [[-9.84221587e-01 1.76716054e-01 8.90524453e-03 9.59708511e+01] [ 1.76708893e-01 9.84261874e-01 -1.59081565e-03 -1.68716137e+02] [-9.04621534e-03 7.92079898e-06 -9.99959082e-01 -4.01697763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.026559995 meters 0.012788331463005658 Centerline is valid? [True, True] Translation: X:95.97, Y:-168.68, Z:-4.02 [[-9.94565980e-01 1.03683965e-01 9.38862710e-03 9.59662980e+01] [ 1.03679173e-01 9.94610293e-01 -9.96936166e-04 -1.68683284e+02] [-9.44139144e-03 -1.81136982e-05 -9.99955429e-01 -4.01671107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.086559995 meters 0.012938859888855165 Centerline is valid? [True, True] Translation: X:95.96, Y:-168.65, Z:-4.02 [[-9.99538007e-01 2.91269198e-02 8.68307150e-03 9.59631651e+01] [ 2.91253979e-02 9.99575720e-01 -3.01703147e-04 -1.68650131e+02] [-8.68817513e-03 -4.86658505e-05 -9.99962256e-01 -4.01734208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.146559995 meters 0.013072397307951525 Centerline is valid? [True, True] Translation: X:95.96, Y:-168.62, Z:-4.02 [[-9.98989832e-01 -4.42239045e-02 7.97261840e-03 9.59578118e+01] [-4.42229982e-02 9.99021643e-01 2.90017933e-04 -1.68619713e+02] [-7.97764406e-03 -6.28481232e-05 -9.99968176e-01 -4.01727801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.2065599950001 meters 0.013553505589770217 Centerline is valid? [True, True] Translation: X:95.95, Y:-168.59, Z:-4.02 [[-9.93075037e-01 -1.17237652e-01 7.56998542e-03 9.59476846e+01] [-1.17234832e-01 9.93103885e-01 8.16743836e-04 -1.68590103e+02] [-7.61353506e-03 -7.63780530e-05 -9.99971014e-01 -4.01661286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.266559995 meters 0.01364606723097659 Centerline is valid? [True, True] Translation: X:95.93, Y:-168.56, Z:-4.02 [[-9.81740230e-01 -1.90122521e-01 6.28877585e-03 9.59310308e+01] [-1.90119146e-01 9.81760368e-01 1.13568181e-03 -1.68563652e+02] [-6.38998958e-03 -8.06721750e-05 -9.99979581e-01 -4.01781072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.326559995 meters 0.013895984381920823 Centerline is valid? [True, True] Translation: X:95.92, Y:-168.54, Z:-4.02 [[-9.65377034e-01 -2.60768391e-01 6.85773178e-03 9.59167440e+01] [-2.60762531e-01 9.65401386e-01 1.75092688e-03 -1.68536731e+02] [-7.07705016e-03 -9.79348952e-05 -9.99974953e-01 -4.01646724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.386559995 meters 0.014355378708136036 Centerline is valid? [True, True] Translation: X:95.89, Y:-168.51, Z:-4.01 [[-9.43770863e-01 -3.30510611e-01 7.70032401e-03 9.58947506e+01] [-3.30500680e-01 9.43802268e-01 2.56505431e-03 -1.68513865e+02] [-8.11536093e-03 -1.24138804e-04 -9.99967062e-01 -4.01449567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.4465599950001 meters 0.01411544904195855 Centerline is valid? [True, True] Translation: X:95.86, Y:-168.50, Z:-4.01 [[-9.17740798e-01 -3.97092999e-01 8.30532535e-03 9.58625390e+01] [-3.97078043e-01 9.17778368e-01 3.44901050e-03 -1.68498496e+02] [-8.99202587e-03 -1.32564685e-04 -9.99959562e-01 -4.01401209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.506559995 meters 0.013586109482828524 Centerline is valid? [True, True] Translation: X:95.81, Y:-168.49, Z:-4.01 [[-8.87380513e-01 -4.60957183e-01 8.61977794e-03 9.58124526e+01] [-4.60936754e-01 8.87422369e-01 4.34140207e-03 -1.68494524e+02] [-9.65058423e-03 -1.20696865e-04 -9.99953425e-01 -4.01354143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.566559995 meters 0.012955100938920876 Centerline is valid? [True, True] Translation: X:95.75, Y:-168.50, Z:-4.01 [[-8.54190680e-01 -5.19880557e-01 9.08232025e-03 9.57531244e+01] [-5.19852021e-01 8.54238961e-01 5.44744883e-03 -1.68501837e+02] [-1.05904945e-02 -6.83025202e-05 -9.99943917e-01 -4.01233262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.626559995 meters 0.012856326307574937 Centerline is valid? [True, True] Translation: X:95.69, Y:-168.52, Z:-4.01 [[-8.16316710e-01 -5.77542548e-01 8.46374084e-03 9.56876051e+01] [-5.77511691e-01 8.16360585e-01 5.97006065e-03 -1.68517272e+02] [-1.03574285e-02 -1.44490204e-05 -9.99946360e-01 -4.01271874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.6865599950002 meters 0.013153699048252313 Centerline is valid? [True, True] Translation: X:95.62, Y:-168.55, Z:-4.01 [[-7.76165313e-01 -6.30491447e-01 6.92408367e-03 9.56156751e+01] [-6.30465659e-01 7.76196194e-01 5.70271570e-03 -1.68545990e+02] [-8.96996086e-03 6.08531428e-05 -9.99959767e-01 -4.01365759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.746559995 meters 0.013989374571310772 Centerline is valid? [True, True] Translation: X:95.54, Y:-168.59, Z:-4.01 [[-7.30334943e-01 -6.83063179e-01 5.96360857e-03 9.55371039e+01] [-6.83039291e-01 7.30359284e-01 5.71343074e-03 -1.68586105e+02] [-8.25821105e-03 9.93391396e-05 -9.99965896e-01 -4.01371148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.806559995 meters 0.014882665915090838 Centerline is valid? [True, True] Translation: X:95.46, Y:-168.63, Z:-4.01 [[-6.81418209e-01 -7.31877550e-01 4.94731972e-03 9.54623533e+01] [-7.31856798e-01 6.81436155e-01 5.51313048e-03 -1.68632639e+02] [-7.40621895e-03 1.36017931e-04 -9.99972564e-01 -4.01487443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.866559995 meters 0.01534165124421914 Centerline is valid? [True, True] Translation: X:95.38, Y:-168.69, Z:-4.02 [[-6.25714883e-01 -7.80039716e-01 4.35043198e-03 9.53815176e+01] [-7.80019231e-01 6.25729990e-01 5.65501562e-03 -1.68690467e+02] [-7.13333254e-03 1.45006827e-04 -9.99974547e-01 -4.01516590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.926559995 meters 0.015174976675174427 Centerline is valid? [True, True] Translation: X:95.30, Y:-168.76, Z:-4.01 [[-5.63973601e-01 -8.25783028e-01 4.02087044e-03 9.53013544e+01] [-8.25760219e-01 5.63987916e-01 6.13925821e-03 -1.68756770e+02] [-7.33741757e-03 1.42104703e-04 -9.99973071e-01 -4.01479606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1177.986559995 meters 0.01487832384060122 Centerline is valid? [True, True] Translation: X:95.22, Y:-168.83, Z:-4.01 [[-4.97330601e-01 -8.67553215e-01 3.70031285e-03 9.52219551e+01] [-8.67527255e-01 4.97344350e-01 6.71264195e-03 -1.68833643e+02] [-7.66390379e-03 1.28280003e-04 -9.99970624e-01 -4.01462845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.046559995 meters 0.01404197070938284 Centerline is valid? [True, True] Translation: X:95.15, Y:-168.92, Z:-4.01 [[-4.26558776e-01 -9.04453265e-01 3.44998777e-03 9.51462930e+01] [-9.04421589e-01 4.26572714e-01 7.57024169e-03 -1.68918090e+02] [-8.31860046e-03 1.08909611e-04 -9.99965394e-01 -4.01416723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.106559995 meters 0.01320713823269351 Centerline is valid? [True, True] Translation: X:95.08, Y:-169.01, Z:-4.01 [[-3.51300134e-01 -9.36258835e-01 2.75843361e-03 9.50757798e+01] [-9.36228586e-01 3.51310958e-01 7.52629848e-03 -1.69009014e+02] [-8.01563140e-03 6.14652669e-05 -9.99967872e-01 -4.01452052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.166559995 meters 0.01311701127315546 Centerline is valid? [True, True] Translation: X:95.01, Y:-169.11, Z:-4.01 [[-2.76095115e-01 -9.61128060e-01 2.08300525e-03 9.50130196e+01] [-9.61099695e-01 2.76102970e-01 7.38419990e-03 -1.69109669e+02] [-7.67228567e-03 3.67658134e-05 -9.99970567e-01 -4.01419519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.2265599950001 meters 0.012850627271982237 Centerline is valid? [True, True] Translation: X:94.96, Y:-169.21, Z:-4.01 [[-1.99412848e-01 -9.79914646e-01 1.34291596e-03 9.49590847e+01] [-9.79891901e-01 1.99417369e-01 6.67644415e-03 -1.69209092e+02] [-6.81014617e-03 1.54562685e-05 -9.99976811e-01 -4.01479886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.286559995 meters 0.012741133784020656 Centerline is valid? [True, True] Translation: X:94.91, Y:-169.32, Z:-4.02 [[-1.21787967e-01 -9.92555800e-01 8.21348964e-04 9.49129015e+01] [-9.92533170e-01 1.21790736e-01 6.70247690e-03 -1.69316325e+02] [-6.75261502e-03 1.06494181e-06 -9.99977201e-01 -4.01532276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.346559995 meters 0.012716684282221998 Centerline is valid? [True, True] Translation: X:94.87, Y:-169.43, Z:-4.02 [[-4.35023769e-02 -9.99053283e-01 2.84355092e-04 9.48746061e+01] [-9.99033718e-01 4.35033046e-02 6.25244418e-03 -1.69428544e+02] [-6.25889527e-03 -1.20841411e-05 -9.99980413e-01 -4.01534823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.406559995 meters 0.01299133107925622 Centerline is valid? [True, True] Translation: X:94.84, Y:-169.54, Z:-4.02 [[ 3.69277724e-02 -9.99317918e-01 -1.95068909e-04 9.48446357e+01] [-9.99298319e-01 -3.69282698e-02 6.25879243e-03 -1.69544136e+02] [-6.26172697e-03 -3.61912291e-05 -9.99980395e-01 -4.01542619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.4665599950001 meters 0.013165927937039848 Centerline is valid? [True, True] Translation: X:94.82, Y:-169.66, Z:-4.01 [[ 1.15449703e-01 -9.93313040e-01 -7.55462922e-04 9.48248017e+01] [-9.93288514e-01 -1.15452161e-01 6.98038581e-03 -1.69662278e+02] [-7.02092808e-03 -5.54908246e-05 -9.99975352e-01 -4.01464474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.526559995 meters 0.013766295711780377 Centerline is valid? [True, True] Translation: X:94.81, Y:-169.77, Z:-4.01 [[ 1.93159183e-01 -9.81166255e-01 -1.51993371e-03 9.48129433e+01] [-9.81132319e-01 -1.93165144e-01 8.16082258e-03 -1.69774599e+02] [-8.30072194e-03 -8.50817355e-05 -9.99965545e-01 -4.01220521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.586559995 meters 0.01414956390909045 Centerline is valid? [True, True] Translation: X:94.81, Y:-169.89, Z:-4.01 [[ 2.72110912e-01 -9.62262391e-01 -2.59683363e-03 9.48124967e+01] [-9.62213204e-01 -2.72123262e-01 9.73038763e-03 -1.69893925e+02] [-1.00698449e-02 -1.49037043e-04 -9.99949287e-01 -4.01141234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.646559995 meters 0.014837294148614809 Centerline is valid? [True, True] Translation: X:94.82, Y:-170.02, Z:-4.01 [[ 3.47739064e-01 -9.37583557e-01 -3.82317395e-03 9.48215975e+01] [-9.37520200e-01 -3.47760019e-01 1.09015347e-02 -1.70016425e+02] [-1.15506467e-02 -2.06586659e-04 -9.99933268e-01 -4.01038564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.7065599950001 meters 0.01616036704580117 Centerline is valid? [True, True] Translation: X:94.84, Y:-170.13, Z:-4.01 [[ 4.21512314e-01 -9.06810802e-01 -4.64088135e-03 9.48358204e+01] [-9.06749279e-01 -4.21537790e-01 1.05657881e-02 -1.70128386e+02] [-1.15374777e-02 -2.45493988e-04 -9.99933411e-01 -4.01002654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.766559995 meters 0.015328166819979899 Centerline is valid? [True, True] Translation: X:94.86, Y:-170.24, Z:-4.01 [[ 4.89891910e-01 -8.71769096e-01 -4.95579565e-03 9.48640499e+01] [-8.71719713e-01 -4.89916923e-01 9.28173451e-03 -1.70236244e+02] [-1.05194575e-02 -2.26981880e-04 -9.99944643e-01 -4.01201539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.826559995 meters 0.015980542095845846 Centerline is valid? [True, True] Translation: X:94.90, Y:-170.35, Z:-4.01 [[ 5.54214316e-01 -8.32356212e-01 -5.44308219e-03 9.48998548e+01] [-8.32312312e-01 -5.54241005e-01 8.55121876e-03 -1.70346805e+02] [-1.01344394e-02 -2.08863540e-04 -9.99948624e-01 -4.01134162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.886559995 meters 0.01484758047697323 Centerline is valid? [True, True] Translation: X:94.94, Y:-170.44, Z:-4.01 [[ 6.15284416e-01 -7.88282854e-01 -5.93541595e-03 9.49403111e+01] [-7.88243108e-01 -6.15313014e-01 7.91816316e-03 -1.70443018e+02] [-9.89389093e-03 -1.93371684e-04 -9.99951036e-01 -4.01244587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1178.9465599950001 meters 0.015207096999293441 Centerline is valid? [True, True] Translation: X:94.99, Y:-170.55, Z:-4.01 [[ 6.74107760e-01 -7.38598552e-01 -7.13487251e-03 9.49919751e+01] [-7.38553696e-01 -6.74145482e-01 8.14299132e-03 -1.70545987e+02] [-1.08243437e-02 -2.19767180e-04 -9.99941391e-01 -4.01077927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.006559995 meters 0.015389161575671917 Centerline is valid? [True, True] Translation: X:95.04, Y:-170.63, Z:-4.01 [[ 7.29163700e-01 -6.84292497e-01 -8.00489318e-03 9.50411389e+01] [-6.84247589e-01 -7.29207598e-01 7.84319841e-03 -1.70633971e+02] [-1.12042707e-02 -2.41646703e-04 -9.99937201e-01 -4.01023641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.066559995 meters 0.017017181549457062 Centerline is valid? [True, True] Translation: X:95.06, Y:-170.66, Z:-4.01 [[ 7.81918943e-01 -6.23307576e-01 -9.50962084e-03 9.50616401e+01] [-6.23256820e-01 -7.81976712e-01 7.95983433e-03 -1.70661266e+02] [-1.23977271e-02 -2.97009195e-04 -9.99923101e-01 -4.00858664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.126559995 meters 0.01722105147132961 Centerline is valid? [True, True] Translation: X:95.09, Y:-170.68, Z:-4.01 [[ 8.27861819e-01 -5.60836448e-01 -1.03579622e-02 9.50866969e+01] [-5.60788048e-01 -8.27926561e-01 7.37391223e-03 -1.70683951e+02] [-1.27111908e-02 -2.95958962e-04 -9.99919166e-01 -4.00759521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.1865599950002 meters 0.015062598306546602 Centerline is valid? [True, True] Translation: X:95.11, Y:-170.71, Z:-4.01 [[ 8.67241350e-01 -4.97769759e-01 -1.08493362e-02 9.51133230e+01] [-4.97727250e-01 -8.67309176e-01 6.50979496e-03 -1.70705489e+02] [-1.26501079e-02 -2.45553111e-04 -9.99919954e-01 -4.00849711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.246559995 meters 0.015060822559463664 Centerline is valid? [True, True] Translation: X:95.14, Y:-170.73, Z:-4.01 [[ 9.02571365e-01 -4.30418656e-01 -1.02328697e-02 9.51389951e+01] [-4.30388513e-01 -9.02629349e-01 5.09765789e-03 -1.70727303e+02] [-1.14306156e-02 -1.96890459e-04 -9.99934649e-01 -4.00848605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.306559995 meters 0.014462887850022086 Centerline is valid? [True, True] Translation: X:95.17, Y:-170.75, Z:-4.01 [[ 9.33297644e-01 -3.58945960e-01 -1.06445396e-02 9.51673865e+01] [-3.58920253e-01 -9.33358324e-01 4.30011828e-03 -1.70748710e+02] [-1.14786797e-02 -1.92749427e-04 -9.99934099e-01 -4.01034537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.366559995 meters 0.015304652661252053 Centerline is valid? [True, True] Translation: X:95.20, Y:-170.77, Z:-4.01 [[ 9.59487806e-01 -2.81554300e-01 -1.05036197e-02 9.51952582e+01] [-2.81534876e-01 -9.59545271e-01 3.31464378e-03 -1.70772345e+02] [-1.10119508e-02 -2.23225013e-04 -9.99939342e-01 -4.01003156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.426559995 meters 0.017633048571643734 Centerline is valid? [True, True] Translation: X:95.22, Y:-170.79, Z:-4.01 [[ 9.79589060e-01 -2.00708090e-01 -1.10243139e-02 9.52240909e+01] [-2.00692073e-01 -9.79651050e-01 2.55180806e-03 -1.70793848e+02] [-1.13121492e-02 -2.87230852e-04 -9.99935974e-01 -4.00937377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.486559995 meters 0.017310380651061698 Centerline is valid? [True, True] Translation: X:95.26, Y:-170.81, Z:-4.01 [[ 9.92525507e-01 -1.21508406e-01 -1.13501331e-02 9.52575958e+01] [-1.21496833e-01 -9.92590353e-01 1.70619954e-03 -1.70807801e+02] [-1.14733502e-02 -3.14441340e-04 -9.99934130e-01 -4.01007589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.546559995 meters 0.017645618800073374 Centerline is valid? [True, True] Translation: X:95.29, Y:-170.82, Z:-4.01 [[ 9.99038069e-01 -4.24886365e-02 -1.08467304e-02 9.52877521e+01] [-4.24827798e-02 -9.99096903e-01 7.69897712e-04 -1.70819810e+02] [-1.08696466e-02 -3.08357867e-04 -9.99940876e-01 -4.01099857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.606559995 meters 0.018255945046489495 Centerline is valid? [True, True] Translation: X:95.32, Y:-170.83, Z:-4.01 [[ 9.99280327e-01 3.66627835e-02 -9.72972301e-03 9.53187786e+01] [ 3.66638129e-02 -9.99327654e-01 -7.26098660e-05 -1.70829382e+02] [-9.72584335e-03 -2.84171134e-04 -9.99952663e-01 -4.01160976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.666559995 meters 0.018645082652332952 Centerline is valid? [True, True] Translation: X:95.35, Y:-170.83, Z:-4.01 [[ 9.93349286e-01 1.14831219e-01 -8.42534802e-03 9.53502767e+01] [ 1.14829198e-01 -9.93384986e-01 -7.24811909e-04 -1.70834264e+02] [-8.45284526e-03 -2.47484566e-04 -9.99964244e-01 -4.01245656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.7265599950001 meters 0.018301936452728745 Centerline is valid? [True, True] Translation: X:95.38, Y:-170.84, Z:-4.01 [[ 9.81204752e-01 1.92778169e-01 -8.59137464e-03 9.53825894e+01] [ 1.92773089e-01 -9.81242330e-01 -1.42339361e-03 -1.70836831e+02] [-8.70461968e-03 -2.59545258e-04 -9.99962080e-01 -4.01287755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.786559995 meters 0.01860088185313362 Centerline is valid? [True, True] Translation: X:95.42, Y:-170.84, Z:-4.01 [[ 9.63197226e-01 2.68608657e-01 -1.00246851e-02 9.54153358e+01] [ 2.68597370e-01 -9.63249344e-01 -2.48097912e-03 -1.70836816e+02] [-1.03226838e-02 -3.02931841e-04 -9.99946674e-01 -4.01138860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.846559995 meters 0.017470282070173537 Centerline is valid? [True, True] Translation: X:95.45, Y:-170.83, Z:-4.01 [[ 9.39899850e-01 3.41277481e-01 -1.08606015e-02 9.54476411e+01] [ 3.41258516e-01 -9.39962544e-01 -3.61130721e-03 -1.70833072e+02] [-1.14410164e-02 -3.12005640e-04 -9.99934501e-01 -4.01074955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.906559995 meters 0.016270678166004922 Centerline is valid? [True, True] Translation: X:95.48, Y:-170.82, Z:-4.01 [[ 9.12670405e-01 4.08564591e-01 -1.03782025e-02 9.54779896e+01] [ 4.08541179e-01 -9.12729377e-01 -4.38056092e-03 -1.70823749e+02] [-1.12622324e-02 -2.41914766e-04 -9.99936550e-01 -4.01029770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1179.9665599950001 meters 0.014766088071676944 Centerline is valid? [True, True] Translation: X:95.51, Y:-170.81, Z:-4.01 [[ 8.80563143e-01 4.73831761e-01 -9.59234409e-03 9.55061298e+01] [ 4.73805757e-01 -8.80615372e-01 -4.96701870e-03 -1.70812112e+02] [-1.08006969e-02 -1.71134260e-04 -9.99941656e-01 -4.01120813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.026559995 meters 0.013612929081307823 Centerline is valid? [True, True] Translation: X:95.53, Y:-170.80, Z:-4.01 [[ 8.45763290e-01 5.33488829e-01 -8.60969585e-03 9.55300589e+01] [ 5.33461988e-01 -8.45807108e-01 -5.35188568e-03 -1.70795511e+02] [-1.01373132e-02 -6.65170242e-05 -9.99948614e-01 -4.01134294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.086559995 meters 0.013413209801077106 Centerline is valid? [True, True] Translation: X:95.55, Y:-170.78, Z:-4.01 [[ 8.04274706e-01 5.94210170e-01 -7.51477165e-03 9.55533577e+01] [ 5.94184428e-01 -8.04309812e-01 -5.53102447e-03 -1.70779061e+02] [-9.33079557e-03 -1.66972143e-05 -9.99956467e-01 -4.01153926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.146559995 meters 0.013471175016627158 Centerline is valid? [True, True] Translation: X:95.58, Y:-170.77, Z:-4.01 [[ 7.56585305e-01 6.53856145e-01 -7.12863274e-03 9.55809305e+01] [ 6.53827098e-01 -7.56618888e-01 -6.16318306e-03 -1.70766108e+02] [-9.42349330e-03 2.08048376e-06 -9.99955598e-01 -4.01270344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.2065599950001 meters 0.013351293892567942 Centerline is valid? [True, True] Translation: X:95.61, Y:-170.75, Z:-4.01 [[ 7.01513487e-01 7.12617027e-01 -7.47001843e-03 9.56101784e+01] [ 7.12576946e-01 -7.01553257e-01 -7.55801143e-03 -1.70753363e+02] [-1.06265834e-02 -2.09159687e-05 -9.99943536e-01 -4.01148227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.266559995 meters 0.013510743441666034 Centerline is valid? [True, True] Translation: X:95.64, Y:-170.74, Z:-4.01 [[ 6.41222880e-01 7.67316057e-01 -7.69983357e-03 9.56372648e+01] [ 7.67261850e-01 -6.41269106e-01 -9.12073883e-03 -1.70737821e+02] [-1.19361547e-02 -5.93621230e-05 -9.99928760e-01 -4.00982319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.326559995 meters 0.013925639978587541 Centerline is valid? [True, True] Translation: X:95.67, Y:-170.72, Z:-4.01 [[ 5.75099104e-01 8.18052367e-01 -7.16562316e-03 9.56654745e+01] [ 8.17991501e-01 -5.75143730e-01 -9.97967095e-03 -1.70722187e+02] [-1.22851567e-02 -1.22119032e-04 -9.99924527e-01 -4.01005310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.386559995 meters 0.014259309747567494 Centerline is valid? [True, True] Translation: X:95.69, Y:-170.70, Z:-4.01 [[ 5.07920023e-01 8.61384252e-01 -5.86692410e-03 9.56910398e+01] [ 8.61329734e-01 -5.07953889e-01 -9.69209299e-03 -1.70703237e+02] [-1.13287432e-02 -1.30548077e-04 -9.99935819e-01 -4.00968256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.4465599950001 meters 0.014120781577441281 Centerline is valid? [True, True] Translation: X:95.71, Y:-170.68, Z:-4.01 [[ 4.38424374e-01 8.98759721e-01 -3.87723713e-03 9.57148320e+01] [ 8.98726667e-01 -4.38441505e-01 -7.70871056e-03 -1.70682611e+02] [-8.62822023e-03 -1.04889802e-04 -9.99962771e-01 -4.01190829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.506559995 meters 0.014127651209231405 Centerline is valid? [True, True] Translation: X:95.73, Y:-170.66, Z:-4.01 [[ 3.67393369e-01 9.30062273e-01 -2.50608540e-03 9.57335802e+01] [ 9.30042025e-01 -3.67401909e-01 -6.13750974e-03 -1.70659543e+02] [-6.62900682e-03 -7.58843606e-05 -9.99978025e-01 -4.01358090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.566559995 meters 0.013701475079001737 Centerline is valid? [True, True] Translation: X:95.75, Y:-170.63, Z:-4.01 [[ 2.94884947e-01 9.55531224e-01 -1.71706211e-03 9.57513817e+01] [ 9.55516117e-01 -2.94889941e-01 -5.37331502e-03 -1.70633964e+02] [-5.64071462e-03 -5.61707989e-05 -9.99984090e-01 -4.01471333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.626559995 meters 0.013725167980610704 Centerline is valid? [True, True] Translation: X:95.77, Y:-170.61, Z:-4.01 [[ 2.19578435e-01 9.75593711e-01 -1.49043553e-03 9.57680337e+01] [ 9.75573106e-01 -2.19583484e-01 -6.34097829e-03 -1.70607323e+02] [-6.51349357e-03 -6.16867352e-05 -9.99978785e-01 -4.01358298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.6865599950002 meters 0.013616808109848175 Centerline is valid? [True, True] Translation: X:95.78, Y:-170.58, Z:-4.01 [[ 1.42920550e-01 9.89733410e-01 -1.22244635e-03 9.57840568e+01] [ 9.89701406e-01 -1.42925760e-01 -7.95950261e-03 -1.70579635e+02] [-8.05250473e-03 -7.22803853e-05 -9.99967576e-01 -4.01163371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.746559995 meters 0.013474410874652893 Centerline is valid? [True, True] Translation: X:95.80, Y:-170.55, Z:-4.01 [[ 6.55632351e-02 9.97848189e-01 -6.74200871e-04 9.57959520e+01] [ 9.97806737e-01 -6.55666570e-02 -9.09557615e-03 -1.70550767e+02] [-9.12020928e-03 -7.63867730e-05 -9.99958407e-01 -4.01126340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.806559995 meters 0.013383113836195944 Centerline is valid? [True, True] Translation: X:95.80, Y:-170.52, Z:-4.01 [[-1.14427021e-02 9.99934529e-01 4.21697429e-05 9.58037738e+01] [ 9.99888272e-01 1.14425784e-02 -9.61825003e-03 -1.70520862e+02] [-9.61810285e-03 -6.78937385e-05 -9.99953743e-01 -4.01018210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.866559995 meters 0.013278444689213811 Centerline is valid? [True, True] Translation: X:95.81, Y:-170.49, Z:-4.01 [[-8.72363573e-02 9.96187245e-01 8.88842112e-04 9.58088152e+01] [ 9.96129632e-01 8.72408715e-02 -1.07138801e-02 -1.70490957e+02] [-1.07505741e-02 -4.92379088e-05 -9.99942210e-01 -4.00853668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.926559995 meters 0.013191294785567471 Centerline is valid? [True, True] Translation: X:95.81, Y:-170.46, Z:-4.01 [[-1.63553570e-01 9.86532666e-01 1.87835338e-03 9.58093658e+01] [ 9.86465076e-01 1.63564352e-01 -1.15480087e-02 -1.70462520e+02] [-1.16997195e-02 -3.57880424e-05 -9.99931555e-01 -4.00755230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1180.986559995 meters 0.013020819602920638 Centerline is valid? [True, True] Translation: X:95.81, Y:-170.43, Z:-4.01 [[-2.38187929e-01 9.71215405e-01 2.67347345e-03 9.58078350e+01] [ 9.71153776e-01 2.38202932e-01 -1.09410029e-02 -1.70432977e+02] [-1.12628997e-02 -9.66098463e-06 -9.99936572e-01 -4.00995654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.046559995 meters 0.012916036372398975 Centerline is valid? [True, True] Translation: X:95.81, Y:-170.40, Z:-4.01 [[-3.13969301e-01 9.49428422e-01 2.99146695e-03 9.58069308e+01] [ 9.49384933e-01 3.13983552e-01 -9.08721315e-03 -1.70402293e+02] [-9.56692986e-03 -1.30523147e-05 -9.99954236e-01 -4.01200765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.106559995 meters 0.01324467408945025 Centerline is valid? [True, True] Translation: X:95.81, Y:-170.37, Z:-4.01 [[-3.92328784e-01 9.19816542e-01 3.95653125e-03 9.58060440e+01] [ 9.19767981e-01 3.92348728e-01 -9.45183809e-03 -1.70372172e+02] [-1.02462970e-02 -6.91373887e-05 -9.99947503e-01 -4.01065612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.166559995 meters 0.01324467408945025 Centerline is valid? [True, True] Translation: X:95.80, Y:-170.34, Z:-4.01 [[-4.63168518e-01 8.86257851e-01 4.68471827e-03 9.57967177e+01] [ 8.86211001e-01 4.63192204e-01 -9.11284456e-03 -1.70344661e+02] [-1.02462550e-02 -6.91338446e-05 -9.99947503e-01 -4.01065688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.2265599950001 meters 0.013365101115446382 Centerline is valid? [True, True] Translation: X:95.79, Y:-170.31, Z:-4.01 [[-5.33174310e-01 8.45987676e-01 5.47790203e-03 9.57882706e+01] [ 8.45941178e-01 5.33202441e-01 -8.87026003e-03 -1.70314739e+02] [-1.04249614e-02 -9.54118725e-05 -9.99945654e-01 -4.01157515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.286559995 meters 0.01377778526620931 Centerline is valid? [True, True] Translation: X:95.78, Y:-170.29, Z:-4.01 [[-5.99864624e-01 8.00078184e-01 6.11002304e-03 9.57775476e+01] [ 8.00034609e-01 5.99895728e-01 -8.35103482e-03 -1.70285949e+02] [-1.03468575e-02 -1.21260464e-04 -9.99946463e-01 -4.01135676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.346559995 meters 0.014192381292023291 Centerline is valid? [True, True] Translation: X:95.76, Y:-170.26, Z:-4.01 [[-6.62878385e-01 7.48705024e-01 5.74753503e-03 9.57636124e+01] [ 7.48675181e-01 6.62903289e-01 -6.68609776e-03 -1.70258013e+02] [-8.81597486e-03 -1.29032858e-04 -9.99961130e-01 -4.01260101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.406559995 meters 0.014077359383266852 Centerline is valid? [True, True] Translation: X:95.75, Y:-170.23, Z:-4.01 [[-7.19774833e-01 6.94181054e-01 6.07075449e-03 9.57483026e+01] [ 6.94154843e-01 7.19800422e-01 -6.03375951e-03 -1.70231446e+02] [-8.55825318e-03 -1.28904614e-04 -9.99963369e-01 -4.01258657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.4665599950001 meters 0.013845480131769386 Centerline is valid? [True, True] Translation: X:95.76, Y:-170.21, Z:-4.01 [[-7.66079850e-01 6.42713867e-01 6.36776417e-03 9.57582881e+01] [ 6.42690430e-01 7.66106306e-01 -5.48996418e-03 -1.70210286e+02] [-8.40686039e-03 -1.13249847e-04 -9.99964655e-01 -4.01237819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.526559995 meters 0.01373480407239902 Centerline is valid? [True, True] Translation: X:95.78, Y:-170.20, Z:-4.01 [[-8.08220944e-01 5.88847541e-01 6.12198454e-03 9.57806227e+01] [ 5.88829850e-01 8.08244125e-01 -4.56523860e-03 -1.70197645e+02] [-7.63628757e-03 -8.49142141e-05 -9.99970840e-01 -4.01199368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.586559995 meters 0.012978766776781381 Centerline is valid? [True, True] Translation: X:95.79, Y:-170.18, Z:-4.01 [[-8.46026090e-01 5.33107276e-01 6.04051925e-03 9.57920026e+01] [ 5.33093225e-01 8.46047652e-01 -3.87099552e-03 -1.70180742e+02] [-7.17422301e-03 -5.48033113e-05 -9.99974264e-01 -4.01327241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.646559995 meters 0.012797009117740813 Centerline is valid? [True, True] Translation: X:95.80, Y:-170.16, Z:-4.01 [[-8.81100087e-01 4.72895263e-01 5.71904493e-03 9.58030333e+01] [ 4.72884990e-01 8.81118646e-01 -3.11734500e-03 -1.70159154e+02] [-6.51333481e-03 -4.22424391e-05 -9.99978787e-01 -4.01390238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.7065599950001 meters 0.012790400257372 Centerline is valid? [True, True] Translation: X:95.82, Y:-170.14, Z:-4.01 [[-9.12403370e-01 4.09252358e-01 5.70939848e-03 9.58196276e+01] [ 4.09244063e-01 9.12421233e-01 -2.60592786e-03 -1.70137912e+02] [-6.27585852e-03 -4.11199302e-05 -9.99980306e-01 -4.01383149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.766559995 meters 0.012891567821139175 Centerline is valid? [True, True] Translation: X:95.82, Y:-170.11, Z:-4.01 [[-9.39643409e-01 3.42061545e-01 8.01023653e-03 9.58249964e+01] [ 3.42048486e-01 9.39677548e-01 -2.98979451e-03 -1.70108459e+02] [-8.54973315e-03 -6.94514247e-05 -9.99963448e-01 -4.01123518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.826559995 meters 0.013046583423764534 Centerline is valid? [True, True] Translation: X:95.84, Y:-170.08, Z:-4.01 [[-9.61938090e-01 2.73089677e-01 9.85595447e-03 9.58394965e+01] [ 2.73074287e-01 9.61988575e-01 -2.90088176e-03 -1.70082695e+02] [-1.02735165e-02 -9.90609133e-05 -9.99947221e-01 -4.00923106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.886559995 meters 0.0133795838208003 Centerline is valid? [True, True] Translation: X:96.03, Y:-169.43, Z:-5.03 [[-9.34312888e-01 -3.56314577e-01 9.96741128e-03 9.60329991e+01] [ 3.56295719e-01 -9.34366045e-01 -3.66797183e-03 -1.69430362e+02] [ 1.06201625e-02 1.24312613e-04 9.99943597e-01 -5.03222619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1181.9465599950001 meters 0.01366584811744994 Centerline is valid? [True, True] Translation: X:95.79, Y:-170.07, Z:-4.01 [[-9.63214101e-01 2.68565076e-01 9.56006241e-03 9.57923814e+01] [ 2.68550755e-01 9.63261537e-01 -2.77544773e-03 -1.70066862e+02] [-9.95422875e-03 -1.05988412e-04 -9.99950450e-01 -4.00803043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.006559995 meters 0.013384402881221112 Centerline is valid? [True, True] Translation: X:95.80, Y:-170.04, Z:-4.01 [[-9.79593718e-01 2.00783952e-01 9.05273477e-03 9.57985171e+01] [ 2.00774552e-01 9.79635543e-01 -1.94483536e-03 -1.70041250e+02] [-9.25887247e-03 -8.75897402e-05 -9.99957132e-01 -4.00900994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.066559995 meters 0.01275818271365063 Centerline is valid? [True, True] Translation: X:95.81, Y:-170.02, Z:-4.01 [[-9.91027245e-01 1.33420629e-01 7.99595773e-03 9.58065568e+01] [ 1.33415834e-01 9.91059500e-01 -1.13250214e-03 -1.70018200e+02] [-8.07556902e-03 -5.55531051e-05 -9.99967391e-01 -4.01144383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.126559995 meters 0.0127534155614098 Centerline is valid? [True, True] Translation: X:95.90, Y:-169.34, Z:-5.03 [[-9.77216863e-01 -2.12092851e-01 7.98911228e-03 9.59046900e+01] [ 2.12086278e-01 -9.77249517e-01 -1.67092989e-03 -1.69341974e+02] [ 8.16174840e-03 6.15202245e-05 9.99966691e-01 -5.02977300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.1865599950002 meters 0.012672715694634488 Centerline is valid? [True, True] Translation: X:95.76, Y:-170.01, Z:-4.01 [[-9.91040508e-01 1.33271877e-01 8.79307598e-03 9.57561937e+01] [ 1.33266385e-01 9.91079516e-01 -1.21022403e-03 -1.70013729e+02] [-8.87592631e-03 -2.75595882e-05 -9.99960608e-01 -4.01166246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.246559995 meters 0.012592251111007311 Centerline is valid? [True, True] Translation: X:95.76, Y:-169.99, Z:-4.01 [[-9.97903262e-01 6.40554379e-02 9.27252825e-03 9.57556808e+01] [ 6.40525296e-02 9.97946342e-01 -6.10585810e-04 -1.69986782e+02] [-9.29259698e-03 -1.53766816e-05 -9.99956823e-01 -4.01143290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.306559995 meters 0.012548289151353819 Centerline is valid? [True, True] Translation: X:95.79, Y:-169.30, Z:-5.03 [[-9.90984821e-01 -1.33717195e-01 8.29433997e-03 9.57916345e+01] [ 1.33712138e-01 -9.91019531e-01 -1.16378313e-03 -1.69299045e+02] [ 8.37547072e-03 -4.42374950e-05 9.99964924e-01 -5.02854554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.366559995 meters 0.01263874782876872 Centerline is valid? [True, True] Translation: X:95.70, Y:-169.98, Z:-4.01 [[-9.98207570e-01 5.91885354e-02 8.85241258e-03 9.56984692e+01] [ 5.91860415e-02 9.98246822e-01 -5.43657048e-04 -1.69983337e+02] [-8.86907098e-03 -1.87433224e-05 -9.99960669e-01 -4.01204941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.426559995 meters 0.012638470655484624 Centerline is valid? [True, True] Translation: X:95.74, Y:-169.30, Z:-5.03 [[-9.91203218e-01 -1.31982698e-01 9.83604181e-03 9.57423456e+01] [ 1.31977097e-01 -9.91252016e-01 -1.21921462e-03 -1.69299034e+02] [ 9.91091151e-03 8.96427858e-05 9.99950882e-01 -5.02981448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.486559995 meters 0.012885799596608204 Centerline is valid? [True, True] Translation: X:95.64, Y:-169.98, Z:-4.01 [[-9.98632820e-01 5.10731029e-02 1.11368334e-02 9.56435402e+01] [ 5.10691643e-02 9.98694915e-01 -6.37937015e-04 -1.69977529e+02] [-1.11548804e-02 -6.83160634e-05 -9.99937780e-01 -4.01001871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.546559995 meters 0.01298063283060731 Centerline is valid? [True, True] Translation: X:95.68, Y:-169.30, Z:-5.03 [[-9.91245901e-01 -1.31515653e-01 1.16274248e-02 9.56785456e+01] [ 1.31507888e-01 -9.91314088e-01 -1.43324478e-03 -1.69299230e+02] [ 1.17149242e-02 1.08400067e-04 9.99931372e-01 -5.03176310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.606559995 meters 0.013035012633181544 Centerline is valid? [True, True] Translation: X:95.58, Y:-169.97, Z:-4.01 [[-9.98909117e-01 4.51354279e-02 1.19736853e-02 9.55844126e+01] [ 4.51310587e-02 9.98980873e-01 -6.34989143e-04 -1.69971805e+02] [-1.19901431e-02 -9.39113523e-05 -9.99928111e-01 -4.00871996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.666559995 meters 0.012635613484907514 Centerline is valid? [True, True] Translation: X:95.58, Y:-169.95, Z:-4.01 [[-9.99656570e-01 -2.36961625e-02 1.11907682e-02 9.55846363e+01] [-2.36953812e-02 9.99719205e-01 2.02423622e-04 -1.69946404e+02] [-1.11924226e-02 -6.28154154e-05 -9.99937361e-01 -4.01056888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.7265599950001 meters 0.012511596154419368 Centerline is valid? [True, True] Translation: X:95.58, Y:-169.92, Z:-4.01 [[-9.95741960e-01 -9.15290758e-02 1.09716388e-02 9.55775062e+01] [-9.15238195e-02 9.95802404e-01 9.81284031e-04 -1.69921986e+02] [-1.10154003e-02 -2.70606022e-05 -9.99939328e-01 -4.01098861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.786559995 meters 0.012769761967354156 Centerline is valid? [True, True] Translation: X:95.52, Y:-169.24, Z:-5.03 [[-9.99624041e-01 2.50703130e-02 1.11020447e-02 9.55234076e+01] [-2.50684026e-02 -9.99685690e-01 3.11226823e-04 -1.69237613e+02] [ 1.11063578e-02 3.27992887e-05 9.99938322e-01 -5.02965037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.846559995 meters 0.013046791746968656 Centerline is valid? [True, True] Translation: X:95.50, Y:-169.93, Z:-4.01 [[-9.96032115e-01 -8.83731578e-02 1.04981754e-02 9.54995506e+01] [-8.83675559e-02 9.96087436e-01 9.97184565e-04 -1.69934525e+02] [-1.05452250e-02 6.55297476e-05 -9.99944395e-01 -4.01185928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.906559995 meters 0.013185435275938727 Centerline is valid? [True, True] Translation: X:95.44, Y:-169.24, Z:-5.03 [[-9.99287826e-01 3.63437857e-02 1.01473813e-02 9.54366701e+01] [-3.63428073e-02 -9.99339343e-01 2.80860483e-04 -1.69242436e+02] [ 1.01508849e-02 -8.81238610e-05 9.99948475e-01 -5.02878956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1182.9665599950001 meters 0.012889930307938162 Centerline is valid? [True, True] Translation: X:95.42, Y:-169.94, Z:-4.01 [[-9.95629867e-01 -9.28683581e-02 9.83035243e-03 9.54150096e+01] [-9.28631308e-02 9.95678393e-01 9.87861465e-04 -1.69942337e+02] [-9.87961059e-03 7.06670756e-05 -9.99951193e-01 -4.01369733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.026559995 meters 0.012698809023459344 Centerline is valid? [True, True] Translation: X:95.34, Y:-169.26, Z:-5.03 [[-9.99275073e-01 3.66375799e-02 1.03448650e-02 9.53393501e+01] [-3.66360459e-02 -9.99328618e-01 3.37810218e-04 -1.69255486e+02] [ 1.03502962e-02 -4.14296184e-05 9.99946433e-01 -5.02839932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.086559995 meters 0.012526301020788343 Centerline is valid? [True, True] Translation: X:95.33, Y:-169.94, Z:-4.01 [[-9.94036039e-01 -1.08616413e-01 9.73798543e-03 9.53266788e+01] [-1.08611513e-01 9.94083736e-01 1.03228020e-03 -1.69941910e+02] [-9.79249550e-03 -3.15336057e-05 -9.99952052e-01 -4.01340316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.146559995 meters 0.012714890073578343 Centerline is valid? [True, True] Translation: X:95.31, Y:-169.91, Z:-4.01 [[-9.83054931e-01 -1.83071770e-01 9.36644877e-03 9.53116228e+01] [-1.83064133e-01 9.83099549e-01 1.67365093e-03 -1.69913038e+02] [-9.51454980e-03 -6.93700188e-05 -9.99954733e-01 -4.01309294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.2065599950001 meters 0.013140299200658161 Centerline is valid? [True, True] Translation: X:95.20, Y:-169.26, Z:-5.03 [[-9.94990117e-01 9.95457812e-02 9.23602255e-03 9.51962454e+01] [-9.95410079e-02 -9.95032982e-01 9.76217953e-04 -1.69256657e+02] [ 9.28732544e-03 5.19642223e-05 9.99956871e-01 -5.02853890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.266559995 meters 0.013170498125390784 Centerline is valid? [True, True] Translation: X:95.22, Y:-169.93, Z:-4.01 [[-9.81112936e-01 -1.93252270e-01 8.42424550e-03 9.52168133e+01] [-1.93246023e-01 9.81149097e-01 1.55705702e-03 -1.69926501e+02] [-8.56634567e-03 -1.00303156e-04 -9.99963303e-01 -4.01364726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.326559995 meters 0.01313125202157885 Centerline is valid? [True, True] Translation: X:95.20, Y:-169.90, Z:-4.01 [[-9.64651863e-01 -2.63402076e-01 8.13202442e-03 9.52037415e+01] [-2.63393624e-01 9.64686133e-01 2.11262027e-03 -1.69902426e+02] [-8.40131976e-03 -1.03980300e-04 -9.99964703e-01 -4.01474023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.386559995 meters 0.013261168479133867 Centerline is valid? [True, True] Translation: X:95.18, Y:-169.88, Z:-4.01 [[-9.43122723e-01 -3.32336141e-01 8.49813472e-03 9.51787191e+01] [-3.32323745e-01 9.43161002e-01 2.87268571e-03 -1.69880884e+02] [-8.96980655e-03 -1.14836792e-04 -9.99959764e-01 -4.01444127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.4465599950001 meters 0.013465934933484002 Centerline is valid? [True, True] Translation: X:95.14, Y:-169.87, Z:-4.01 [[-9.16439112e-01 -4.00053851e-01 9.81178274e-03 9.51403356e+01] [-4.00032579e-01 9.16491624e-01 4.12791163e-03 -1.69865438e+02] [-1.06438036e-02 -1.42053084e-04 -9.99943343e-01 -4.01280724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.506559995 meters 0.013308693585915512 Centerline is valid? [True, True] Translation: X:95.08, Y:-169.86, Z:-4.01 [[-8.84991051e-01 -4.65502380e-01 9.91835784e-03 9.50813660e+01] [-4.65474906e-01 8.85046617e-01 5.05931827e-03 -1.69864758e+02] [-1.11333338e-02 -1.39295287e-04 -9.99938013e-01 -4.01249460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.566559995 meters 0.012878867588507419 Centerline is valid? [True, True] Translation: X:95.02, Y:-169.87, Z:-4.01 [[-8.49538215e-01 -5.27431441e-01 1.00447168e-02 9.50172759e+01] [-5.27396206e-01 8.49597588e-01 6.09753027e-03 -1.69874051e+02] [-1.17499963e-02 -1.17460543e-04 -9.99930960e-01 -4.01293382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.626559995 meters 0.012633037176517242 Centerline is valid? [True, True] Translation: X:94.95, Y:-169.89, Z:-4.01 [[-8.09047316e-01 -5.87668306e-01 9.40223715e-03 9.49456919e+01] [-5.87629978e-01 8.09101942e-01 6.71238322e-03 -1.69891726e+02] [-1.15520232e-02 -9.44007848e-05 -9.99933269e-01 -4.01353020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.6865599950002 meters 0.012560375185582395 Centerline is valid? [True, True] Translation: X:94.87, Y:-169.92, Z:-4.01 [[-7.63759080e-01 -6.45446102e-01 8.44972701e-03 9.48677887e+01] [-6.45407688e-01 7.63805816e-01 7.04219287e-03 -1.69920241e+02] [-1.09993066e-02 -7.49800251e-05 -9.99939503e-01 -4.01386165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.746559995 meters 0.012321282711325198 Centerline is valid? [True, True] Translation: X:94.79, Y:-169.96, Z:-4.01 [[-7.14862972e-01 -6.99224290e-01 7.50494849e-03 9.47906358e+01] [-6.99186411e-01 7.14902364e-01 7.27821924e-03 -1.69957926e+02] [-1.04544131e-02 -4.44285641e-05 -9.99945350e-01 -4.01383530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.806559995 meters 0.012430972068419682 Centerline is valid? [True, True] Translation: X:94.71, Y:-170.01, Z:-4.01 [[-6.61149619e-01 -7.50220073e-01 7.14312282e-03 9.47095541e+01] [-7.50176786e-01 6.61188204e-01 8.05904955e-03 -1.70007720e+02] [-1.07690093e-02 -3.03673805e-05 -9.99942012e-01 -4.01182777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.866559995 meters 0.012410634441523518 Centerline is valid? [True, True] Translation: X:94.63, Y:-170.07, Z:-4.01 [[-6.02215587e-01 -7.98301844e-01 7.11004776e-03 9.46265560e+01] [-7.98246933e-01 6.02257557e-01 9.36314232e-03 -1.70068325e+02] [-1.17566938e-02 -3.69435708e-05 -9.99930887e-01 -4.01132649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.926559995 meters 0.012626576716308813 Centerline is valid? [True, True] Translation: X:94.54, Y:-170.14, Z:-4.01 [[-5.38910389e-01 -8.42338457e-01 6.44335184e-03 9.45423367e+01] [-8.42279389e-01 5.38948904e-01 9.97544793e-03 -1.70141039e+02] [-1.18753408e-02 -5.12299230e-05 -9.99929484e-01 -4.01053943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1183.986559995 meters 0.012676928376432082 Centerline is valid? [True, True] Translation: X:94.47, Y:-170.21, Z:-4.01 [[-4.69943424e-01 -8.82680016e-01 5.40074192e-03 9.44689948e+01] [-8.82623934e-01 4.69974448e-01 9.95035208e-03 -1.70208376e+02] [-1.13211876e-02 -9.07215553e-05 -9.99935909e-01 -4.01178948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.046559995 meters 0.013232983823517916 Centerline is valid? [True, True] Translation: X:94.40, Y:-170.29, Z:-4.01 [[-3.99841822e-01 -9.16573497e-01 4.42065397e-03 9.43952721e+01] [-9.16520321e-01 3.99866245e-01 9.87355422e-03 -1.70292204e+02] [-1.08175084e-02 -1.03759294e-04 -9.99941484e-01 -4.01087615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.106559995 meters 0.013679466495140525 Centerline is valid? [True, True] Translation: X:94.33, Y:-170.38, Z:-4.01 [[-3.24794017e-01 -9.45777805e-01 3.63188890e-03 9.43279758e+01] [-9.45723656e-01 3.24814289e-01 1.01215004e-02 -1.70382369e+02] [-1.07523798e-02 -1.47360492e-04 -9.99942181e-01 -4.01090893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.166559995 meters 0.013804365756432381 Centerline is valid? [True, True] Translation: X:94.27, Y:-170.48, Z:-4.01 [[-2.49412243e-01 -9.68392591e-01 3.05340318e-03 9.42682145e+01] [-9.68328756e-01 2.49430865e-01 1.11204273e-02 -1.70481913e+02] [-1.15305524e-02 -1.83127380e-04 -9.99933504e-01 -4.01094271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.2265599950001 meters 0.014285244791052172 Centerline is valid? [True, True] Translation: X:94.22, Y:-170.59, Z:-4.01 [[-1.72769015e-01 -9.84959866e-01 2.22040467e-03 9.42155609e+01] [-9.84893151e-01 1.72783160e-01 1.14655971e-02 -1.70585661e+02] [-1.16768015e-02 -2.05961438e-04 -9.99931803e-01 -4.01086224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.286559995 meters 0.01465914642116685 Centerline is valid? [True, True] Translation: X:94.17, Y:-170.70, Z:-4.01 [[-9.45422922e-02 -9.95520246e-01 1.09308373e-03 9.41677677e+01] [-9.95475027e-01 9.45484183e-02 9.49040250e-03 -1.70704658e+02] [-9.55123717e-03 -1.90893147e-04 -9.99954368e-01 -4.01198267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.346559995 meters 0.014901420998442634 Centerline is valid? [True, True] Translation: X:94.13, Y:-170.81, Z:-4.01 [[-1.77700816e-02 -9.99842052e-01 3.07378372e-04 9.41328082e+01] [-9.99809079e-01 1.77719924e-02 8.12173784e-03 -1.70806320e+02] [-8.12591776e-03 -1.62995743e-04 -9.99966971e-01 -4.01392209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.406559995 meters 0.013724121236653807 Centerline is valid? [True, True] Translation: X:94.11, Y:-170.92, Z:-4.01 [[ 5.68099270e-02 -9.98384955e-01 -3.37221084e-04 9.41093864e+01] [-9.98347647e-01 -5.68107199e-02 8.63235385e-03 -1.70918346e+02] [-8.63756998e-03 -1.53739516e-04 -9.99962684e-01 -4.01348461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.4665599950001 meters 0.014070335931065627 Centerline is valid? [True, True] Translation: X:94.09, Y:-171.04, Z:-4.01 [[ 1.30647042e-01 -9.91428388e-01 -1.05021888e-03 9.40912355e+01] [-9.91387367e-01 -1.30651191e-01 9.01965892e-03 -1.71036219e+02] [-9.07955825e-03 -1.37218021e-04 -9.99958771e-01 -4.01138836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.526559995 meters 0.012921599448233343 Centerline is valid? [True, True] Translation: X:94.09, Y:-171.15, Z:-4.01 [[ 2.03431065e-01 -9.79087819e-01 -1.68666575e-03 9.40851678e+01] [-9.79049712e-01 -2.03438029e-01 8.63883649e-03 -1.71150500e+02] [-8.80131153e-03 -1.06078088e-04 -9.99961262e-01 -4.01270211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.586559995 meters 0.012358371636925488 Centerline is valid? [True, True] Translation: X:94.09, Y:-171.27, Z:-4.01 [[ 2.73738180e-01 -9.61801302e-01 -2.37985533e-03 9.40880057e+01] [-9.61762774e-01 -2.73748517e-01 8.60902066e-03 -1.71269213e+02] [-8.93164915e-03 -6.77613853e-05 -9.99960110e-01 -4.01304653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.646559995 meters 0.01229941987261929 Centerline is valid? [True, True] Translation: X:94.10, Y:-171.38, Z:-4.01 [[ 3.44147068e-01 -9.38910124e-01 -3.25177920e-03 9.40986368e+01] [-9.38866940e-01 -3.44162428e-01 9.00512426e-03 -1.71383861e+02] [-9.57414256e-03 -4.60991244e-05 -9.99954166e-01 -4.01324749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.7065599950001 meters 0.012149682411261537 Centerline is valid? [True, True] Translation: X:94.12, Y:-171.50, Z:-4.01 [[ 4.11930679e-01 -9.11203320e-01 -4.65039678e-03 9.41182694e+01] [-9.11144889e-01 -4.11956928e-01 1.03189310e-02 -1.71502756e+02] [-1.13184073e-02 -1.34989806e-05 -9.99935945e-01 -4.01066007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.766559995 meters 0.012302400583698017 Centerline is valid? [True, True] Translation: X:94.14, Y:-171.61, Z:-4.01 [[ 4.77843734e-01 -8.78430170e-01 -5.07963123e-03 9.41435064e+01] [-8.78380996e-01 -4.77870732e-01 9.29459865e-03 -1.71612917e+02] [-1.05920630e-02 2.04858069e-05 -9.99943902e-01 -4.01006242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.826559995 meters 0.01240495679638844 Centerline is valid? [True, True] Translation: X:94.18, Y:-171.72, Z:-4.01 [[ 5.41151123e-01 -8.40912297e-01 -4.68742858e-03 9.41752171e+01] [-8.40881435e-01 -5.41171422e-01 7.20454378e-03 -1.71717717e+02] [-8.59509185e-03 4.28247079e-05 -9.99963061e-01 -4.01163941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.886559995 meters 0.012929327933259795 Centerline is valid? [True, True] Translation: X:94.22, Y:-171.82, Z:-4.01 [[ 6.00364771e-01 -7.99714532e-01 -4.33692428e-03 9.42178586e+01] [-7.99694462e-01 -6.00380432e-01 5.66606066e-03 -1.71821752e+02] [-7.13503552e-03 6.65111193e-05 -9.99974543e-01 -4.01331265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1184.9465599950001 meters 0.014673195073846613 Centerline is valid? [True, True] Translation: X:94.26, Y:-171.91, Z:-4.01 [[ 6.54556476e-01 -7.56005608e-01 -3.36763946e-03 9.42638190e+01] [-7.55996232e-01 -6.54565134e-01 3.76595606e-03 -1.71914104e+02] [-5.05142327e-03 8.08918201e-05 -9.99987238e-01 -4.01467996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.006559995 meters 0.015870341035874903 Centerline is valid? [True, True] Translation: X:94.32, Y:-172.01, Z:-4.02 [[ 7.07936246e-01 -7.06270620e-01 -2.84305976e-03 9.43175372e+01] [-7.06265349e-01 -7.07941951e-01 2.72967460e-03 -1.72008358e+02] [-3.94061024e-03 7.55190053e-05 -9.99992233e-01 -4.01552452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.066559995 meters 0.01489879618112776 Centerline is valid? [True, True] Translation: X:94.33, Y:-172.04, Z:-4.02 [[ 7.60268878e-01 -6.49600822e-01 -3.16305027e-03 9.43332513e+01] [-6.49595650e-01 -7.60275454e-01 2.59358514e-03 -1.72039177e+02] [-4.08958452e-03 8.28816260e-05 -9.99991634e-01 -4.01627125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.126559995 meters 0.014126541382315646 Centerline is valid? [True, True] Translation: X:94.35, Y:-172.07, Z:-4.02 [[ 8.10476554e-01 -5.85759184e-01 -3.73271466e-03 9.43498190e+01] [-5.85753416e-01 -8.10485146e-01 2.60080823e-03 -1.72072812e+02] [-4.54875710e-03 7.85562701e-05 -9.99989651e-01 -4.01567999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.1865599950002 meters 0.013206733020047438 Centerline is valid? [True, True] Translation: X:94.37, Y:-172.11, Z:-4.02 [[ 8.57089890e-01 -5.15156595e-01 -3.25632680e-03 9.43693802e+01] [-5.15153057e-01 -8.57096075e-01 1.90953460e-03 -1.72105099e+02] [-3.77469426e-03 4.08639022e-05 -9.99992875e-01 -4.01674846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.246559995 meters 0.01244336670764307 Centerline is valid? [True, True] Translation: X:94.39, Y:-172.14, Z:-4.02 [[ 8.99022170e-01 -4.37893706e-01 -2.87052101e-03 9.43896250e+01] [-4.37891487e-01 -8.99026753e-01 1.39424941e-03 -1.72141187e+02] [-3.19120822e-03 3.51558404e-06 -9.99994908e-01 -4.01797499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.306559995 meters 0.013132100872958363 Centerline is valid? [True, True] Translation: X:94.41, Y:-172.18, Z:-4.02 [[ 9.34652848e-01 -3.55541276e-01 -3.80211269e-03 9.44123110e+01] [-3.55538149e-01 -9.34660580e-01 1.49156742e-03 -1.72175976e+02] [-4.08399863e-03 -4.23016255e-05 -9.99991660e-01 -4.01670283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.366559995 meters 0.014259673715335356 Centerline is valid? [True, True] Translation: X:94.44, Y:-172.20, Z:-4.02 [[ 9.61427719e-01 -2.75026047e-01 -4.17306830e-03 9.44410202e+01] [-2.75023122e-01 -9.61436773e-01 1.27053225e-03 -1.72203715e+02] [-4.36157078e-03 -7.38346514e-05 -9.99990486e-01 -4.01597326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.426559995 meters 0.0162731445024902 Centerline is valid? [True, True] Translation: X:94.47, Y:-172.23, Z:-4.01 [[ 9.81050673e-01 -1.93684465e-01 -5.08974683e-03 9.44714006e+01] [-1.93681241e-01 -9.81063869e-01 1.12350731e-03 -1.72229289e+02] [-5.21097263e-03 -1.16429117e-04 -9.99986416e-01 -4.01490695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.486559995 meters 0.01606607901768004 Centerline is valid? [True, True] Translation: X:94.51, Y:-172.24, Z:-4.02 [[ 9.93245307e-01 -1.15912377e-01 -5.29921654e-03 9.45076192e+01] [-1.15910070e-01 -9.93259435e-01 7.41367599e-04 -1.72243420e+02] [-5.34943051e-03 -1.22127326e-04 -9.99985684e-01 -4.01515199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.546559995 meters 0.014452343351394998 Centerline is valid? [True, True] Translation: X:94.54, Y:-172.26, Z:-4.02 [[ 9.99137862e-01 -4.11923678e-02 -5.16925870e-03 9.45407444e+01] [-4.11912951e-02 -9.99151229e-01 3.13857902e-04 -1.72257141e+02] [-5.17779974e-03 -1.00658852e-04 -9.99986590e-01 -4.01602454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.606559995 meters 0.014011350456481119 Centerline is valid? [True, True] Translation: X:94.57, Y:-172.27, Z:-4.02 [[ 9.99385915e-01 3.46298327e-02 -5.34478843e-03 9.45748791e+01] [ 3.46298209e-02 -9.99400203e-01 -9.47876114e-05 -1.72267040e+02] [-5.34486513e-03 -9.03596623e-05 -9.99985712e-01 -4.01513418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.666559995 meters 0.013828744948997981 Centerline is valid? [True, True] Translation: X:94.61, Y:-172.27, Z:-4.01 [[ 9.93712867e-01 1.11826956e-01 -5.42862725e-03 9.46102181e+01] [ 1.11825764e-01 -9.93727691e-01 -5.23544460e-04 -1.72273791e+02] [-5.45312360e-03 -8.68075242e-05 -9.99985128e-01 -4.01408860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.7265599950001 meters 0.013238767929685891 Centerline is valid? [True, True] Translation: X:94.65, Y:-172.28, Z:-4.01 [[ 9.82426493e-01 1.86472859e-01 -8.12766460e-03 9.46460753e+01] [ 1.86467378e-01 -9.82460107e-01 -1.43369623e-03 -1.72278577e+02] [-8.25245167e-03 -1.07043148e-04 -9.99965942e-01 -4.01164010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.786559995 meters 0.013026430503897218 Centerline is valid? [True, True] Translation: X:94.68, Y:-172.28, Z:-4.01 [[ 9.65739778e-01 2.59303409e-01 -1.04126824e-02 9.46812331e+01] [ 2.59289452e-01 -9.65795906e-01 -2.69223172e-03 -1.72277348e+02] [-1.07546309e-02 -9.99034457e-05 -9.99942162e-01 -4.00973351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.846559995 meters 0.012853412137924018 Centerline is valid? [True, True] Translation: X:94.72, Y:-172.27, Z:-4.01 [[ 9.43704641e-01 3.30596768e-01 -1.12839604e-02 9.47160129e+01] [ 3.30573977e-01 -9.43772098e-01 -3.88236176e-03 -1.72273194e+02] [-1.19329833e-02 -6.63808702e-05 -9.99928797e-01 -4.00902612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.906559995 meters 0.012853412137924018 Centerline is valid? [True, True] Translation: X:94.75, Y:-172.27, Z:-4.01 [[ 9.14923314e-01 4.03479282e-01 -1.09452816e-02 9.47507501e+01] [ 4.03451280e-01 -9.14988778e-01 -4.75396190e-03 -1.72268824e+02] [-1.19329350e-02 -6.63773031e-05 -9.99928798e-01 -4.00902703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1185.9665599950001 meters 0.012961344848902443 Centerline is valid? [True, True] Translation: X:94.78, Y:-172.26, Z:-4.01 [[ 8.81334336e-01 4.72362499e-01 -1.11111398e-02 9.47829003e+01] [ 4.72325651e-01 -8.81404372e-01 -5.90023557e-03 -1.72259601e+02] [-1.25804573e-02 -4.79961635e-05 -9.99920862e-01 -4.00841856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.026559995 meters 0.012839308942491141 Centerline is valid? [True, True] Translation: X:94.82, Y:-172.25, Z:-4.01 [[ 8.41726811e-01 5.39818051e-01 -9.61497890e-03 9.48165180e+01] [ 5.39783407e-01 -8.41781724e-01 -6.11585560e-03 -1.72249549e+02] [-1.13951628e-02 -4.21264328e-05 -9.99935072e-01 -4.01013153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.086559995 meters 0.012930601946858753 Centerline is valid? [True, True] Translation: X:94.85, Y:-172.24, Z:-4.01 [[ 7.96395903e-01 6.04710207e-01 -8.89563984e-03 9.48476534e+01] [ 6.04673190e-01 -7.96445581e-01 -6.69098180e-03 -1.72236080e+02] [-1.11309980e-02 -5.02844359e-05 -9.99938047e-01 -4.01048300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.146559995 meters 0.013068885443882074 Centerline is valid? [True, True] Translation: X:94.88, Y:-172.22, Z:-4.01 [[ 7.45316949e-01 6.66659861e-01 -8.20217993e-03 9.48813689e+01] [ 6.66620540e-01 -7.45362077e-01 -7.24094236e-03 -1.72222353e+02] [-1.09408395e-02 -7.09445448e-05 -9.99940145e-01 -4.01144443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.2065599950001 meters 0.013585035901497861 Centerline is valid? [True, True] Translation: X:94.91, Y:-172.21, Z:-4.01 [[ 6.88690029e-01 7.25017544e-01 -7.45692271e-03 9.49130083e+01] [ 7.24976633e-01 -6.88730391e-01 -7.70266266e-03 -1.72207141e+02] [-1.07203749e-02 -1.01347753e-04 -9.99942530e-01 -4.01051550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.266559995 meters 0.013668501217124209 Centerline is valid? [True, True] Translation: X:94.94, Y:-172.19, Z:-4.01 [[ 6.27461123e-01 7.78621270e-01 -6.43877061e-03 9.49435029e+01] [ 7.78582324e-01 -6.27494145e-01 -7.78863835e-03 -1.72188494e+02] [-1.01046903e-02 -1.26045220e-04 -9.99948938e-01 -4.01218651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.326559995 meters 0.014360944151059148 Centerline is valid? [True, True] Translation: X:94.97, Y:-172.17, Z:-4.01 [[ 5.63316929e-01 8.26222813e-01 -5.46806902e-03 9.49709102e+01] [ 8.26186162e-01 -5.63343452e-01 -7.78331487e-03 -1.72167911e+02] [-9.51115319e-03 -1.33169930e-04 -9.99954759e-01 -4.01180388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.386559995 meters 0.014340335093463127 Centerline is valid? [True, True] Translation: X:94.99, Y:-172.14, Z:-4.01 [[ 4.96141583e-01 8.68229734e-01 -4.54525584e-03 9.49943359e+01] [ 8.68195721e-01 -4.96162385e-01 -7.68624325e-03 -1.72142758e+02] [-8.92860990e-03 -1.32706778e-04 -9.99960130e-01 -4.01238489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.4465599950001 meters 0.01473537501233195 Centerline is valid? [True, True] Translation: X:95.01, Y:-172.12, Z:-4.01 [[ 4.26462901e-01 9.04493711e-01 -4.52995804e-03 9.50139858e+01] [ 9.04446487e-01 -4.26486931e-01 -9.24389122e-03 -1.72116320e+02] [-1.02930094e-02 -1.54927973e-04 -9.99947014e-01 -4.01038110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.506559995 meters 0.014325820779051375 Centerline is valid? [True, True] Translation: X:95.03, Y:-172.09, Z:-4.01 [[ 3.54833820e-01 9.34919497e-01 -4.30044034e-03 9.50302474e+01] [ 9.34856514e-01 -3.54859838e-01 -1.08533085e-02 -1.72087277e+02] [-1.16730233e-02 -1.69173752e-04 -9.99931854e-01 -4.01026031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.566559995 meters 0.014371056414737033 Centerline is valid? [True, True] Translation: X:95.04, Y:-172.06, Z:-4.01 [[ 2.81232446e-01 9.59633960e-01 -3.31279783e-03 9.50442740e+01] [ 9.59573730e-01 -2.81251914e-01 -1.07525807e-02 -1.72057091e+02] [-1.12502724e-02 -1.54899188e-04 -9.99936702e-01 -4.01070370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.626559995 meters 0.014396094845928725 Centerline is valid? [True, True] Translation: X:95.05, Y:-172.03, Z:-4.01 [[ 2.05230793e-01 9.78711672e-01 -1.94549833e-03 9.50545521e+01] [ 9.78673183e-01 -2.05239978e-01 -8.68052649e-03 -1.72026148e+02] [-8.89502663e-03 -1.22495708e-04 -9.99960431e-01 -4.01294787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.6865599950002 meters 0.014649024456568665 Centerline is valid? [True, True] Translation: X:95.06, Y:-171.99, Z:-4.01 [[ 1.27406172e-01 9.91850045e-01 -1.07480521e-03 9.50630272e+01] [ 9.91821589e-01 -1.27410659e-01 -7.51398894e-03 -1.71994651e+02] [-7.58969191e-03 -1.08686442e-04 -9.99971192e-01 -4.01322086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.746559995 meters 0.014090381905445575 Centerline is valid? [True, True] Translation: X:95.07, Y:-171.96, Z:-4.01 [[ 4.95232778e-02 9.98772885e-01 -4.10606885e-04 9.50712695e+01] [ 9.98752164e-01 -4.95248955e-02 -6.43424995e-03 -1.71962525e+02] [-6.44668965e-03 -9.14493675e-05 -9.99979216e-01 -4.01454277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.806559995 meters 0.0141073301377184 Centerline is valid? [True, True] Translation: X:95.08, Y:-171.93, Z:-4.01 [[-2.84134256e-02 9.99596253e-01 8.77145048e-05 9.50763515e+01] [ 9.99578464e-01 2.84134433e-02 -5.96415461e-03 -1.71931837e+02] [-5.96423887e-03 -8.17845331e-05 -9.99982211e-01 -4.01495866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.866559995 meters 0.014109969974050476 Centerline is valid? [True, True] Translation: X:95.08, Y:-171.90, Z:-4.01 [[-1.06318411e-01 9.94331989e-01 5.39357314e-04 9.50778961e+01] [ 9.94315201e-01 1.06319751e-01 -5.77849784e-03 -1.71899924e+02] [-5.80308959e-03 -7.80695338e-05 -9.99983159e-01 -4.01451182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.926559995 meters 0.01420413020412106 Centerline is valid? [True, True] Translation: X:95.08, Y:-171.87, Z:-4.01 [[-1.84228300e-01 9.82882977e-01 9.93476632e-04 9.50781574e+01] [ 9.82866237e-01 1.84230961e-01 -5.73691969e-03 -1.71868399e+02] [-5.82174986e-03 -8.04483234e-05 -9.99983050e-01 -4.01428498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1186.986559995 meters 0.014143583575890876 Centerline is valid? [True, True] Translation: X:95.08, Y:-171.84, Z:-4.01 [[-2.60998502e-01 9.65337906e-01 1.58420014e-03 9.50766386e+01] [ 9.65317962e-01 2.61003294e-01 -6.20591102e-03 -1.71836418e+02] [-6.40428261e-03 -9.04766350e-05 -9.99979488e-01 -4.01341830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.046559995 meters 0.014455039334639092 Centerline is valid? [True, True] Translation: X:95.07, Y:-171.81, Z:-4.01 [[-3.36084055e-01 9.41828844e-01 2.43664958e-03 9.50720352e+01] [ 9.41801698e-01 3.36092871e-01 -7.15149083e-03 -1.71806295e+02] [-7.55442089e-03 -1.08661325e-04 -9.99971459e-01 -4.01049921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.106559995 meters 0.014511345355041292 Centerline is valid? [True, True] Translation: X:95.06, Y:-171.78, Z:-4.01 [[-4.08918814e-01 9.12564084e-01 3.49231888e-03 9.50631341e+01] [ 9.12528101e-01 4.08933707e-01 -8.10483211e-03 -1.71777155e+02] [-8.82430560e-03 -1.27379218e-04 -9.99961057e-01 -4.00900039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.166559995 meters 0.01407506005712602 Centerline is valid? [True, True] Translation: X:95.05, Y:-171.75, Z:-4.01 [[-4.78814479e-01 8.77907570e-01 3.87209112e-03 9.50518419e+01] [ 8.77876868e-01 4.78830121e-01 -7.34302958e-03 -1.71748996e+02] [-8.30057512e-03 -1.16729656e-04 -9.99965543e-01 -4.00985453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.2265599950001 meters 0.013906887126218227 Centerline is valid? [True, True] Translation: X:95.04, Y:-171.72, Z:-4.01 [[-5.46121988e-01 8.37696317e-01 3.95668878e-03 9.50417993e+01] [ 8.37672933e-01 5.46136311e-01 -6.25994458e-03 -1.71719786e+02] [-7.40482393e-03 -1.04282285e-04 -9.99972579e-01 -4.01147693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.286559995 meters 0.014128381748535632 Centerline is valid? [True, True] Translation: X:95.03, Y:-171.69, Z:-4.01 [[-6.11103202e-01 7.91538700e-01 4.40038411e-03 9.50307648e+01] [ 7.91516834e-01 6.11119034e-01 -5.88446712e-03 -1.71690768e+02] [-7.34694194e-03 -1.13038595e-04 -9.99973005e-01 -4.01119780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.346559995 meters 0.014695861962904923 Centerline is valid? [True, True] Translation: X:95.02, Y:-171.66, Z:-4.01 [[-6.72723240e-01 7.39870143e-01 5.96768168e-03 9.50179987e+01] [ 7.39838942e-01 6.72749691e-01 -6.79661839e-03 -1.71663701e+02] [-9.04337103e-03 -1.57119853e-04 -9.99959096e-01 -4.00845483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.406559995 meters 0.015597796785689188 Centerline is valid? [True, True] Translation: X:95.00, Y:-171.64, Z:-4.01 [[-7.30920697e-01 6.82413548e-01 8.16605289e-03 9.50008121e+01] [ 6.82367319e-01 7.30966274e-01 -7.94659670e-03 -1.71638280e+02] [-1.13919745e-02 -2.36084384e-04 -9.99935082e-01 -4.00657692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.4665599950001 meters 0.015741201832919334 Centerline is valid? [True, True] Translation: X:95.02, Y:-171.62, Z:-4.01 [[-7.78168431e-01 6.27993634e-01 8.82544929e-03 9.50181208e+01] [ 6.27949511e-01 7.78218434e-01 -7.44851730e-03 -1.71620820e+02] [-1.15457488e-02 -2.54264453e-04 -9.99933313e-01 -4.00631147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.526559995 meters 0.0156120335539866 Centerline is valid? [True, True] Translation: X:95.03, Y:-171.60, Z:-4.01 [[-8.20580851e-01 5.71461155e-01 8.90033689e-03 9.50302096e+01] [ 5.71424328e-01 8.20629082e-01 -6.49205164e-03 -1.71602392e+02] [-1.10138306e-02 -2.41384227e-04 -9.99939317e-01 -4.00716281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.586559995 meters 0.015504492274479848 Centerline is valid? [True, True] Translation: X:95.04, Y:-171.58, Z:-4.01 [[-8.58137234e-01 5.13361524e-01 7.77382243e-03 9.50412717e+01] [ 5.13338483e-01 8.58172425e-01 -4.86735530e-03 -1.71584487e+02] [-9.16999298e-03 -1.86256602e-04 -9.99957937e-01 -4.00873942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.646559995 meters 0.015008587303676534 Centerline is valid? [True, True] Translation: X:95.41, Y:-171.01, Z:-5.03 [[-7.98885308e-01 -6.01442859e-01 6.98224592e-03 9.54110206e+01] [ 6.01421455e-01 -7.98915807e-01 -5.07619330e-03 -1.71009807e+02] [ 8.63126685e-03 1.43976249e-04 9.99962740e-01 -5.03217962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.7065599950001 meters 0.014587544916327494 Centerline is valid? [True, True] Translation: X:95.00, Y:-171.56, Z:-4.01 [[-8.56363488e-01 5.16319488e-01 7.46751227e-03 9.50000211e+01] [ 5.16298337e-01 8.56396032e-01 -4.67575463e-03 -1.71564950e+02] [-8.80933112e-03 -1.48681374e-04 -9.99961186e-01 -4.00873800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.766559995 meters 0.014408288651061965 Centerline is valid? [True, True] Translation: X:95.03, Y:-171.55, Z:-4.01 [[-8.90166898e-01 4.55560985e-01 8.19037513e-03 9.50294513e+01] [ 4.55540211e-01 8.90204565e-01 -4.35295946e-03 -1.71550630e+02] [-9.27414783e-03 -1.43815210e-04 -9.99956984e-01 -4.00777328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.826559995 meters 0.014894301959322944 Centerline is valid? [True, True] Translation: X:95.04, Y:-171.52, Z:-4.01 [[-9.20019571e-01 3.91769885e-01 8.96363586e-03 9.50424591e+01] [ 3.91749720e-01 9.20063223e-01 -3.97763388e-03 -1.71524126e+02] [-9.80542887e-03 -1.47999176e-04 -9.99951915e-01 -4.00619537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.886559995 meters 0.014516739993088225 Centerline is valid? [True, True] Translation: X:95.06, Y:-171.50, Z:-4.01 [[-9.45626806e-01 3.25063559e-01 1.11187256e-02 9.50552309e+01] [ 3.25038784e-01 9.45692153e-01 -4.01753535e-03 -1.71496571e+02] [-1.18208458e-02 -1.85072094e-04 -9.99930114e-01 -4.00501938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1187.9465599950001 meters 0.015038248506228364 Centerline is valid? [True, True] Translation: X:95.29, Y:-170.86, Z:-5.04 [[-9.08197822e-01 -4.18371476e-01 1.19173674e-02 9.52860211e+01] [ 4.18339456e-01 -9.08275966e-01 -5.18351134e-03 -1.70859774e+02] [ 1.29928917e-02 2.77851289e-04 9.99915550e-01 -5.03669866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.006559995 meters 0.01586417968656103 Centerline is valid? [True, True] Translation: X:95.01, Y:-171.47, Z:-4.01 [[-9.48318392e-01 3.17076183e-01 1.24467794e-02 9.50098262e+01] [ 3.17045113e-01 9.48400032e-01 -4.44699217e-03 -1.71474525e+02] [-1.32145612e-02 -2.70973891e-04 -9.99912647e-01 -4.00510017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.066559995 meters 0.016014766945379087 Centerline is valid? [True, True] Translation: X:95.02, Y:-171.45, Z:-4.01 [[-9.68258102e-01 2.49683076e-01 1.16020962e-02 9.50175854e+01] [ 2.49662187e-01 9.68327581e-01 -3.23854692e-03 -1.71446878e+02] [-1.20432401e-02 -2.39144587e-04 -9.99927449e-01 -4.00527331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.126559995 meters 0.015089496131184467 Centerline is valid? [True, True] Translation: X:95.21, Y:-170.81, Z:-5.04 [[-9.37350776e-01 -3.48217233e-01 1.08757557e-02 9.52050039e+01] [ 3.48196247e-01 -9.37413846e-01 -3.82808883e-03 -1.70807261e+02] [ 1.15280905e-02 1.98635281e-04 9.99933530e-01 -5.03578407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.1865599950002 meters 0.013341292843734535 Centerline is valid? [True, True] Translation: X:94.98, Y:-171.45, Z:-4.01 [[-9.66455576e-01 2.56628648e-01 1.02643786e-02 9.49753169e+01] [ 2.56613126e-01 9.66510077e-01 -2.82407972e-03 -1.71446928e+02] [-1.06453651e-02 -9.53733217e-05 -9.99943332e-01 -4.00733877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.246559995 meters 0.012830715537596205 Centerline is valid? [True, True] Translation: X:94.98, Y:-171.43, Z:-4.01 [[-9.81140311e-01 1.93030820e-01 1.01387029e-02 9.49807107e+01] [ 1.93020159e-01 9.81192693e-01 -2.02897111e-03 -1.71426854e+02] [-1.03396752e-02 -3.37312978e-05 -9.99946544e-01 -4.00884436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.306559995 meters 0.01273534523732437 Centerline is valid? [True, True] Translation: X:95.13, Y:-170.74, Z:-5.03 [[-9.64846392e-01 -2.62599138e-01 1.06363443e-02 9.51275994e+01] [ 2.62584053e-01 -9.64905014e-01 -2.81570707e-03 -1.70743865e+02] [ 1.10024642e-02 7.62095847e-05 9.99939468e-01 -5.03207681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.366559995 meters 0.012784640780349497 Centerline is valid? [True, True] Translation: X:94.94, Y:-171.42, Z:-4.01 [[-9.81407547e-01 1.91584506e-01 1.16018463e-02 9.49393152e+01] [ 1.91570989e-01 9.81476121e-01 -2.27582765e-03 -1.71421281e+02] [-1.18229484e-02 -1.09372759e-05 -9.99930107e-01 -4.00812597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.426559995 meters 0.012738319944189187 Centerline is valid? [True, True] Translation: X:94.94, Y:-171.39, Z:-4.01 [[-9.92615985e-01 1.20652497e-01 1.25092210e-02 9.49412588e+01] [ 1.20642634e-01 9.92694804e-01 -1.54286967e-03 -1.71393155e+02] [-1.26039897e-02 -2.23317278e-05 -9.99920566e-01 -4.00867599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.486559995 meters 0.012729534666963603 Centerline is valid? [True, True] Translation: X:95.03, Y:-170.70, Z:-5.03 [[-9.81485133e-01 -1.91212759e-01 1.11630698e-02 9.50301650e+01] [ 1.91199717e-01 -9.81548612e-01 -2.23405468e-03 -1.70701937e+02] [ 1.13842754e-02 -5.83156841e-05 9.99935195e-01 -5.03144399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.546559995 meters 0.012699673604700782 Centerline is valid? [True, True] Translation: X:94.89, Y:-171.39, Z:-4.01 [[-9.93247608e-01 1.15467665e-01 1.12430826e-02 9.48926478e+01] [ 1.15459874e-01 9.93311239e-01 -1.34175928e-03 -1.71385117e+02] [-1.13228101e-02 -3.45742885e-05 -9.99935894e-01 -4.00946067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.606559995 meters 0.01282201894989681 Centerline is valid? [True, True] Translation: X:94.97, Y:-170.70, Z:-5.03 [[-9.81652824e-01 -1.90323967e-01 1.15983137e-02 9.49717937e+01] [ 1.90311497e-01 -9.81721337e-01 -2.17970171e-03 -1.70699793e+02] [ 1.18011615e-02 6.75821015e-05 9.99930362e-01 -5.03283840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.666559995 meters 0.01300166921558108 Centerline is valid? [True, True] Translation: X:94.84, Y:-171.37, Z:-4.01 [[-9.94155087e-01 1.07261514e-01 1.22731686e-02 9.48355691e+01] [ 1.07252219e-01 9.94230838e-01 -1.41490824e-03 -1.71373117e+02] [-1.23541279e-02 -9.03136566e-05 -9.99923681e-01 -4.00727284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.7265599950001 meters 0.013229980608574908 Centerline is valid? [True, True] Translation: X:94.84, Y:-171.34, Z:-4.01 [[-9.99322895e-01 3.43001065e-02 1.33137032e-02 9.48366216e+01] [ 3.42953912e-02 9.99411570e-01 -5.82388915e-04 -1.71343585e+02] [-1.33258450e-02 -1.25395918e-04 -9.99911199e-01 -4.00682230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.786559995 meters 0.013166903122244491 Centerline is valid? [True, True] Translation: X:94.83, Y:-171.31, Z:-4.01 [[-9.99164321e-01 -3.85170687e-02 1.36782455e-02 9.48333525e+01] [-3.85155488e-02 9.99257931e-01 3.74624118e-04 -1.71314011e+02] [-1.36825247e-02 -1.52514079e-04 -9.99906378e-01 -4.00665848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.846559995 meters 0.013085110421249393 Centerline is valid? [True, True] Translation: X:94.82, Y:-170.64, Z:-5.04 [[-9.98655436e-01 -5.00538259e-02 1.34883032e-02 9.48180915e+01] [ 5.00511347e-02 -9.98746512e-01 -5.37223641e-04 -1.70642984e+02] [ 1.34982859e-02 1.38603573e-04 9.99908884e-01 -5.03501591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.906559995 meters 0.012756669288071834 Centerline is valid? [True, True] Translation: X:94.76, Y:-171.32, Z:-4.01 [[-9.99110495e-01 -4.02151849e-02 1.26869190e-02 9.47621738e+01] [-4.02132750e-02 9.99191037e-01 4.05712760e-04 -1.71318612e+02] [-1.26929715e-02 -1.04830685e-04 -9.99919436e-01 -4.00800857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1188.9665599950001 meters 0.01233032667643217 Centerline is valid? [True, True] Translation: X:94.75, Y:-170.64, Z:-5.03 [[-9.99089268e-01 -4.10663876e-02 1.15838857e-02 9.47515532e+01] [ 4.10639326e-02 -9.99156420e-01 -4.49805441e-04 -1.70641398e+02] [ 1.15925856e-02 2.62841111e-05 9.99932803e-01 -5.03168031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.026559995 meters 0.01225212281584226 Centerline is valid? [True, True] Translation: X:94.71, Y:-171.32, Z:-4.01 [[-9.99090386e-01 -4.09750261e-02 1.18088063e-02 9.47066286e+01] [-4.09727861e-02 9.99160170e-01 4.31661721e-04 -1.71322717e+02] [-1.18165762e-02 -5.25706171e-05 -9.99930181e-01 -4.00951742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.086559995 meters 0.01233474532120948 Centerline is valid? [True, True] Translation: X:94.70, Y:-171.30, Z:-4.01 [[-9.93674536e-01 -1.11613447e-01 1.23836537e-02 9.47000844e+01] [-1.11605429e-01 9.93751697e-01 1.33882085e-03 -1.71296201e+02] [-1.24557073e-02 -5.17307935e-05 -9.99922423e-01 -4.00895998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.146559995 meters 0.012408025602221975 Centerline is valid? [True, True] Translation: X:94.69, Y:-171.27, Z:-4.01 [[-9.83032397e-01 -1.82845189e-01 1.46609642e-02 9.46866002e+01] [-1.82825971e-01 9.83141715e-01 2.65193256e-03 -1.71270612e+02] [-1.48986986e-02 -7.34693997e-05 -9.99889006e-01 -4.00791909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.2065599950001 meters 0.012618469978512379 Centerline is valid? [True, True] Translation: X:94.67, Y:-171.25, Z:-4.01 [[-9.67278672e-01 -2.53251207e-01 1.53557079e-02 9.46663680e+01] [-2.53220784e-01 9.67400547e-01 3.92633607e-03 -1.71246563e+02] [-1.58494696e-02 -9.05232686e-05 -9.99874385e-01 -4.00635158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.266559995 meters 0.012677818515719495 Centerline is valid? [True, True] Translation: X:94.64, Y:-171.22, Z:-4.01 [[-9.46445132e-01 -3.22529674e-01 1.47044998e-02 9.46437004e+01] [-3.22492299e-01 9.46559349e-01 4.91081504e-03 -1.71224772e+02] [-1.55025654e-02 -9.42709718e-05 -9.99879824e-01 -4.00614690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.326559995 meters 0.01259738336731122 Centerline is valid? [True, True] Translation: X:94.60, Y:-171.21, Z:-4.01 [[-9.20648606e-01 -3.90203309e-01 1.21458973e-02 9.46042687e+01] [-3.90170524e-01 9.20728718e-01 5.05872386e-03 -1.71212377e+02] [-1.31570073e-02 -8.16640660e-05 -9.99913440e-01 -4.00863328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.386559995 meters 0.012550321896927017 Centerline is valid? [True, True] Translation: X:94.54, Y:-171.21, Z:-4.01 [[-8.90160793e-01 -4.55512124e-01 1.10664792e-02 9.45420154e+01] [-4.55477737e-01 8.90229578e-01 5.59728401e-03 -1.71213340e+02] [-1.24013379e-02 -5.80521460e-05 -9.99923099e-01 -4.00936572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.4465599950001 meters 0.01236078215977904 Centerline is valid? [True, True] Translation: X:94.48, Y:-171.22, Z:-4.01 [[-8.55407677e-01 -5.17851345e-01 1.03774082e-02 9.44800626e+01] [-5.17813578e-01 8.55470621e-01 6.25416467e-03 -1.71220612e+02] [-1.21162954e-02 -2.37023872e-05 -9.99926595e-01 -4.01069391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.506559995 meters 0.012451068966003398 Centerline is valid? [True, True] Translation: X:94.41, Y:-171.24, Z:-4.01 [[-8.14964110e-01 -5.79428565e-01 9.79988543e-03 9.44062978e+01] [-5.79386893e-01 8.15023029e-01 6.94913751e-03 -1.71238618e+02] [-1.20136611e-02 -1.46275099e-05 -9.99927833e-01 -4.01093987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.566559995 meters 0.012585365065592826 Centerline is valid? [True, True] Translation: X:94.33, Y:-171.27, Z:-4.01 [[-7.69320627e-01 -6.38792894e-01 9.45575131e-03 9.43265340e+01] [-6.38744893e-01 7.69378735e-01 7.83097283e-03 -1.71265797e+02] [-1.22774238e-02 -1.52839291e-05 -9.99924630e-01 -4.01123361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.626559995 meters 0.012752512468359746 Centerline is valid? [True, True] Translation: X:94.24, Y:-171.30, Z:-4.01 [[-7.18835978e-01 -6.95118082e-01 9.25680687e-03 9.42436286e+01] [-6.95060855e-01 7.18895578e-01 8.91940919e-03 -1.71303018e+02] [-1.28547201e-02 -2.24518701e-05 -9.99917374e-01 -4.01040694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.6865599950002 meters 0.012919303962893836 Centerline is valid? [True, True] Translation: X:94.16, Y:-171.35, Z:-4.01 [[-6.63263961e-01 -7.48334908e-01 8.70535974e-03 9.41600179e+01] [-7.48271282e-01 6.63321087e-01 9.75832446e-03 -1.71349222e+02] [-1.30769435e-02 -4.16257578e-05 -9.99914492e-01 -4.01069847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.746559995 meters 0.013177304792237008 Centerline is valid? [True, True] Translation: X:94.08, Y:-171.41, Z:-4.01 [[-6.04491486e-01 -7.96571559e-01 7.98710414e-03 9.40774942e+01] [-7.96503028e-01 6.04544249e-01 1.04488175e-02 -1.71405348e+02] [-1.31517887e-02 -4.55314248e-05 -9.99913511e-01 -4.00967953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.806559995 meters 0.012926450605656092 Centerline is valid? [True, True] Translation: X:94.00, Y:-171.47, Z:-4.01 [[-5.41386095e-01 -8.40746343e-01 6.83257106e-03 9.39964756e+01] [-8.40680708e-01 5.41429205e-01 1.05053951e-02 -1.71470717e+02] [-1.25317260e-02 -5.65358544e-05 -9.99921473e-01 -4.01237534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.866559995 meters 0.012870351247957688 Centerline is valid? [True, True] Translation: X:93.92, Y:-171.55, Z:-4.01 [[-4.75687626e-01 -8.79596811e-01 5.54361727e-03 9.39192850e+01] [-8.79538417e-01 4.75719925e-01 1.01354097e-02 -1.71546057e+02] [-1.15522832e-02 -5.45353770e-05 -9.99933269e-01 -4.01265550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.926559995 meters 0.01285244144750298 Centerline is valid? [True, True] Translation: X:93.85, Y:-171.63, Z:-4.01 [[-4.07091982e-01 -9.13376628e-01 4.38801512e-03 9.38468885e+01] [-9.13324941e-01 4.07115627e-01 9.71694188e-03 -1.71630973e+02] [-1.06616571e-02 -5.19945275e-05 -9.99943162e-01 -4.01367736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1189.986559995 meters 0.012772658656752483 Centerline is valid? [True, True] Translation: X:93.78, Y:-171.72, Z:-4.01 [[-3.35361901e-01 -9.42084249e-01 3.10870054e-03 9.37786753e+01] [-9.42045207e-01 3.35376305e-01 8.57687461e-03 -1.71724062e+02] [-9.12272297e-03 -5.21794704e-05 -9.99958386e-01 -4.01336504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.046559995 meters 0.01290989460799959 Centerline is valid? [True, True] Translation: X:93.72, Y:-171.82, Z:-4.01 [[-2.60277686e-01 -9.65531003e-01 2.32546682e-03 9.37183890e+01] [-9.65494759e-01 2.60288065e-01 8.36620749e-03 -1.71817961e+02] [-8.68312397e-03 -6.76889050e-05 -9.99962299e-01 -4.01278155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.106559995 meters 0.013442262477923128 Centerline is valid? [True, True] Translation: X:93.66, Y:-171.92, Z:-4.01 [[-1.83539920e-01 -9.83010804e-01 1.69000935e-03 9.36621638e+01] [-9.82973373e-01 1.83547680e-01 8.57887692e-03 -1.71921857e+02] [-8.74332599e-03 -8.66678061e-05 -9.99961773e-01 -4.01105868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.166559995 meters 0.013908923769425178 Centerline is valid? [True, True] Translation: X:93.62, Y:-172.03, Z:-4.01 [[-1.03537751e-01 -9.94625236e-01 7.58290033e-04 9.36152003e+01] [-9.94604642e-01 1.03540488e-01 6.40102560e-03 -1.72030395e+02] [-6.44513531e-03 -9.14509906e-05 -9.99979226e-01 -4.01271929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.2265599950001 meters 0.014299321575772947 Centerline is valid? [True, True] Translation: X:93.58, Y:-172.14, Z:-4.01 [[-2.38917770e-02 -9.99714529e-01 2.08921163e-04 9.35765440e+01] [-9.99701716e-01 2.38925287e-02 5.06227501e-03 -1.72144503e+02] [-5.06582153e-03 -8.79120994e-05 -9.99987165e-01 -4.01376970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.286559995 meters 0.01548678813146287 Centerline is valid? [True, True] Translation: X:93.54, Y:-172.26, Z:-4.01 [[ 5.68272363e-02 -9.98384014e-01 -1.63784906e-04 9.35444168e+01] [-9.98373330e-01 -5.68273860e-02 4.61968427e-03 -1.72261366e+02] [-4.62152640e-03 -9.90054073e-05 -9.99989316e-01 -4.01329123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.346559995 meters 0.01661502504657293 Centerline is valid? [True, True] Translation: X:93.52, Y:-172.38, Z:-4.01 [[ 1.34985496e-01 -9.90847393e-01 -6.00331759e-04 9.35223651e+01] [-9.90833074e-01 -1.34986773e-01 5.32834546e-03 -1.72377662e+02] [-5.36061405e-03 -1.24420790e-04 -9.99985624e-01 -4.01147241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.406559995 meters 0.015620449701283227 Centerline is valid? [True, True] Translation: X:93.51, Y:-172.49, Z:-4.01 [[ 2.11348490e-01 -9.77410101e-01 -1.14487520e-03 9.35136344e+01] [-9.77391775e-01 -2.11351540e-01 5.98704446e-03 -1.72493722e+02] [-6.09376886e-03 -1.46361198e-04 -9.99981422e-01 -4.01072986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.4665599950001 meters 0.015872527524934232 Centerline is valid? [True, True] Translation: X:93.51, Y:-172.61, Z:-4.01 [[ 2.84813010e-01 -9.58581243e-01 -1.88399397e-03 9.35120105e+01] [-9.58556246e-01 -2.84819193e-01 6.92468910e-03 -1.72610435e+02] [-7.17447473e-03 -1.66327363e-04 -9.99974249e-01 -4.00978015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.526559995 meters 0.014919223093770168 Centerline is valid? [True, True] Translation: X:93.52, Y:-172.72, Z:-4.01 [[ 3.55596268e-01 -9.34636442e-01 -2.45280765e-03 9.35209181e+01] [-9.34611113e-01 -3.55604694e-01 6.88251128e-03 -1.72723228e+02] [-7.30487577e-03 -1.54974039e-04 -9.99973307e-01 -4.00975156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.586559995 meters 0.014324214034261649 Centerline is valid? [True, True] Translation: X:93.54, Y:-172.84, Z:-4.01 [[ 4.22988887e-01 -9.06130649e-01 -2.76567992e-03 9.35381011e+01] [-9.06109377e-01 -4.22997911e-01 6.20995136e-03 -1.72835192e+02] [-6.79690409e-03 -1.20731911e-04 -9.99976894e-01 -4.00966643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.646559995 meters 0.01392026431038981 Centerline is valid? [True, True] Translation: X:93.57, Y:-172.95, Z:-4.01 [[ 4.88544850e-01 -8.72533067e-01 -3.15867055e-03 9.35650888e+01] [-8.72513508e-01 -4.88555051e-01 5.84306263e-03 -1.72946245e+02] [-6.64144981e-03 -9.86154285e-05 -9.99977941e-01 -4.01009242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.7065599950001 meters 0.013235942111320327 Centerline is valid? [True, True] Translation: X:93.60, Y:-173.05, Z:-4.01 [[ 5.51190063e-01 -8.34372037e-01 -3.58015070e-03 9.36001017e+01] [-8.34353515e-01 -5.51201685e-01 5.56007820e-03 -1.73054707e+02] [-6.61255888e-03 -7.75485313e-05 -9.99978134e-01 -4.01012165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.766559995 meters 0.012903988966113146 Centerline is valid? [True, True] Translation: X:93.64, Y:-173.16, Z:-4.01 [[ 6.10795353e-01 -7.91777736e-01 -4.12952052e-03 9.36388039e+01] [-7.91758987e-01 -6.10809310e-01 5.44915210e-03 -1.73155554e+02] [-6.83686689e-03 -5.87318024e-05 -9.99976627e-01 -4.00971852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.826559995 meters 0.01280060631777746 Centerline is valid? [True, True] Translation: X:93.69, Y:-173.26, Z:-4.01 [[ 6.68698362e-01 -7.43514111e-01 -5.40994515e-03 9.36855556e+01] [-7.43489011e-01 -6.68720242e-01 6.10973890e-03 -1.73255685e+02] [-8.16041692e-03 -6.33376256e-05 -9.99966701e-01 -4.00946143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.886559995 meters 0.013091193709681174 Centerline is valid? [True, True] Translation: X:93.74, Y:-173.35, Z:-4.01 [[ 7.23195701e-01 -6.90607389e-01 -7.02935898e-03 9.37356350e+01] [-6.90573757e-01 -7.23229859e-01 6.81601752e-03 -1.73350248e+02] [-9.79103437e-03 -7.50237235e-05 -9.99952064e-01 -4.00661520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1190.9465599950001 meters 0.013314032887648798 Centerline is valid? [True, True] Translation: X:93.76, Y:-173.38, Z:-4.01 [[ 7.75420470e-01 -6.31387710e-01 -8.52377453e-03 9.37593782e+01] [-6.31348246e-01 -7.75467311e-01 7.05985809e-03 -1.73376805e+02] [-1.10674161e-02 -9.28883807e-05 -9.99938750e-01 -4.00503543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.006559995 meters 0.013021287170864973 Centerline is valid? [True, True] Translation: X:93.78, Y:-173.40, Z:-4.01 [[ 8.21996072e-01 -5.69417333e-01 -9.29291773e-03 9.37836350e+01] [-5.69379744e-01 -8.22048595e-01 6.54327100e-03 -1.73402713e+02] [-1.13650819e-02 -8.73439426e-05 -9.99935412e-01 -4.00652807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.066559995 meters 0.012846537864025398 Centerline is valid? [True, True] Translation: X:93.81, Y:-173.43, Z:-4.01 [[ 8.63089172e-01 -5.04963466e-01 -9.43281841e-03 9.38096615e+01] [-5.04932491e-01 -8.63140715e-01 5.59337740e-03 -1.73426819e+02] [-1.09663009e-02 -6.46469712e-05 -9.99939866e-01 -4.00737971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.126559995 meters 0.012607201928544151 Centerline is valid? [True, True] Translation: X:93.84, Y:-173.45, Z:-4.01 [[ 8.98924687e-01 -4.38011023e-01 -8.98614764e-03 9.38376616e+01] [-4.37988740e-01 -8.98969601e-01 4.41827799e-03 -1.73447784e+02] [-1.00135280e-02 -3.58676815e-05 -9.99949863e-01 -4.00838163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.1865599950002 meters 0.012523637625606314 Centerline is valid? [True, True] Translation: X:93.87, Y:-173.47, Z:-4.01 [[ 9.29399803e-01 -3.68983405e-01 -8.20084035e-03 9.38655908e+01] [-3.68968974e-01 -9.29435983e-01 3.26336328e-03 -1.73469188e+02] [-8.82628301e-03 -7.11354185e-06 -9.99961048e-01 -4.00965562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.246559995 meters 0.012553512695102118 Centerline is valid? [True, True] Translation: X:93.90, Y:-173.49, Z:-4.01 [[ 9.54193281e-01 -2.99116162e-01 -6.68608653e-03 9.38966404e+01] [-2.99108988e-01 -9.54216706e-01 2.07179462e-03 -1.73486797e+02] [-6.99968272e-03 2.29760663e-05 -9.99975502e-01 -4.01067366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.306559995 meters 0.012566677573353828 Centerline is valid? [True, True] Translation: X:93.93, Y:-173.50, Z:-4.01 [[ 9.74265999e-01 -2.25314177e-01 -6.26774407e-03 9.39276698e+01] [-2.25309728e-01 -9.74286160e-01 1.41631413e-03 -1.73504202e+02] [-6.42569195e-03 3.23170086e-05 -9.99979355e-01 -4.01109915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.366559995 meters 0.012610294701303072 Centerline is valid? [True, True] Translation: X:93.96, Y:-173.52, Z:-4.01 [[ 9.88986567e-01 -1.47820212e-01 -7.39973565e-03 9.39600717e+01] [-1.47816325e-01 -9.89014249e-01 1.07248671e-03 -1.73519830e+02] [-7.47697921e-03 3.31267786e-05 -9.99972047e-01 -4.01000901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.426559995 meters 0.01250077877555937 Centerline is valid? [True, True] Translation: X:93.99, Y:-173.54, Z:-4.01 [[ 9.97662877e-01 -6.78113743e-02 -8.39058904e-03 9.39903153e+01] [-6.78091416e-02 -9.97698159e-01 5.50620140e-04 -1.73535247e+02] [-8.40861355e-03 1.96253675e-05 -9.99964647e-01 -4.00922855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.486559995 meters 0.012506574379685633 Centerline is valid? [True, True] Translation: X:94.02, Y:-173.55, Z:-4.01 [[ 9.99858429e-01 1.37609667e-02 -9.68285263e-03 9.40211364e+01] [ 1.37604047e-02 -9.99905313e-01 -1.24661021e-04 -1.73547817e+02] [-9.68365125e-03 -8.59659836e-06 -9.99953112e-01 -4.00783810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.546559995 meters 0.012928537189461606 Centerline is valid? [True, True] Translation: X:94.05, Y:-173.56, Z:-4.01 [[ 9.95218740e-01 9.70324708e-02 -1.11516110e-02 9.40520997e+01] [ 9.70271302e-02 -9.95281214e-01 -1.02021318e-03 -1.73558116e+02] [-1.11979828e-02 -6.66735438e-05 -9.99937298e-01 -4.00574513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.606559995 meters 0.012843193610868745 Centerline is valid? [True, True] Translation: X:94.09, Y:-173.56, Z:-4.01 [[ 9.84295713e-01 1.76151437e-01 -1.15161392e-02 9.40851621e+01] [ 1.76140416e-01 -9.84363075e-01 -1.97237847e-03 -1.73563547e+02] [-1.16834995e-02 -8.70538748e-05 -9.99931742e-01 -4.00687654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.666559995 meters 0.013052173631593597 Centerline is valid? [True, True] Translation: X:94.12, Y:-173.57, Z:-4.01 [[ 9.67223413e-01 2.53672433e-01 -1.13651219e-02 9.41169167e+01] [ 2.53656126e-01 -9.67290177e-01 -2.87801443e-03 -1.73566118e+02] [-1.17234437e-02 -9.91498621e-05 -9.99931273e-01 -4.00689942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.7265599950001 meters 0.012820796006046449 Centerline is valid? [True, True] Translation: X:94.15, Y:-173.56, Z:-4.01 [[ 9.44876470e-01 3.27249494e-01 -1.07807491e-02 9.41500432e+01] [ 3.27229156e-01 -9.44937967e-01 -3.64927507e-03 -1.73563563e+02] [-1.13813625e-02 -7.96612707e-05 -9.99935227e-01 -4.00809458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.786559995 meters 0.012615037473247551 Centerline is valid? [True, True] Translation: X:94.18, Y:-173.56, Z:-4.01 [[ 9.17376433e-01 3.97910837e-01 -9.35126042e-03 9.41818489e+01] [ 3.97890673e-01 -9.17424092e-01 -4.00601774e-03 -1.73557989e+02] [-1.01731095e-02 -4.57530422e-05 -9.99948252e-01 -4.00924133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.846559995 meters 0.012627754549187603 Centerline is valid? [True, True] Translation: X:94.21, Y:-173.55, Z:-4.01 [[ 8.84767184e-01 4.65964956e-01 -7.98059041e-03 9.42117681e+01] [ 4.65946152e-01 -8.84803176e-01 -4.18622427e-03 -1.73548452e+02] [-9.01188555e-03 -1.46915247e-05 -9.99959392e-01 -4.00955435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.906559995 meters 0.012577606233152473 Centerline is valid? [True, True] Translation: X:94.24, Y:-173.54, Z:-4.01 [[ 8.46207804e-01 5.32799523e-01 -7.55126591e-03 9.42423767e+01] [ 5.32778355e-01 -8.46241496e-01 -4.74925279e-03 -1.73537577e+02] [-8.92059417e-03 -4.29625690e-06 -9.99960211e-01 -4.01034454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1191.9665599950001 meters 0.012765692228207056 Centerline is valid? [True, True] Translation: X:94.27, Y:-173.53, Z:-4.01 [[ 8.02271600e-01 5.96886840e-01 -9.29406711e-03 9.42723606e+01] [ 5.96846761e-01 -8.02325433e-01 -6.91695126e-03 -1.73525881e+02] [-1.15855036e-02 2.13970484e-06 -9.99932886e-01 -4.00902977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.026559995 meters 0.012930217263715262 Centerline is valid? [True, True] Translation: X:94.30, Y:-173.51, Z:-4.01 [[ 7.53058218e-01 6.57876101e-01 -1.01171412e-02 9.43015697e+01] [ 6.57816691e-01 -7.53126175e-01 -8.84110441e-03 -1.73512025e+02] [-1.34358351e-02 2.64199465e-06 -9.99909735e-01 -4.00712364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.086559995 meters 0.01291416430919478 Centerline is valid? [True, True] Translation: X:94.33, Y:-173.50, Z:-4.01 [[ 6.99197878e-01 7.14855100e-01 -1.02231630e-02 9.43300558e+01] [ 7.14778657e-01 -6.99272612e-01 -1.04539520e-02 -1.73495879e+02] [-1.46218388e-02 2.08230202e-06 -9.99893095e-01 -4.00701952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.146559995 meters 0.01308947772537942 Centerline is valid? [True, True] Translation: X:94.35, Y:-173.48, Z:-4.01 [[ 6.40794389e-01 7.67657160e-01 -9.22149229e-03 9.43529907e+01] [ 7.67577751e-01 -6.40860738e-01 -1.10413217e-02 -1.73476851e+02] [-1.43856420e-02 -2.99534600e-06 -9.99896521e-01 -4.00652986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.2065599950001 meters 0.01293317877356437 Centerline is valid? [True, True] Translation: X:94.38, Y:-173.46, Z:-4.01 [[ 5.78166977e-01 8.15878541e-01 -8.07174184e-03 9.43764257e+01] [ 8.15799334e-01 -5.78223319e-01 -1.13684125e-02 -1.73456524e+02] [-1.39425131e-02 -1.20809545e-05 -9.99902798e-01 -4.00805867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.266559995 meters 0.013004951618445105 Centerline is valid? [True, True] Translation: X:94.40, Y:-173.43, Z:-4.01 [[ 5.11482533e-01 8.59263425e-01 -7.21003680e-03 9.43968844e+01] [ 8.59178858e-01 -5.11533348e-01 -1.20550345e-02 -1.73434809e+02] [-1.40466245e-02 -2.87716031e-05 -9.99901341e-01 -4.00709739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.326559995 meters 0.013020615090953461 Centerline is valid? [True, True] Translation: X:94.42, Y:-173.41, Z:-4.01 [[ 4.39780337e-01 8.98084924e-01 -6.06013149e-03 9.44168451e+01] [ 8.98001873e-01 -4.39822083e-01 -1.22135822e-02 -1.73411186e+02] [-1.36342137e-02 -7.07161309e-05 -9.99907047e-01 -4.00814386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.386559995 meters 0.013168195454742869 Centerline is valid? [True, True] Translation: X:94.43, Y:-173.39, Z:-4.01 [[ 3.65995769e-01 9.30603975e-01 -4.83106045e-03 9.44344831e+01] [ 9.30526367e-01 -3.66027640e-01 -1.20186502e-02 -1.73387513e+02] [-1.29529053e-02 -9.66539956e-05 -9.99916103e-01 -4.00880413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.4465599950001 meters 0.013576859402653298 Centerline is valid? [True, True] Translation: X:94.45, Y:-173.36, Z:-4.01 [[ 2.88090196e-01 9.57596978e-01 -3.47367125e-03 9.44518739e+01] [ 9.57532895e-01 -2.88111106e-01 -1.10790565e-02 -1.73362794e+02] [-1.16100743e-02 -1.34386930e-04 -9.99932592e-01 -4.01002516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.506559995 meters 0.014303803545036103 Centerline is valid? [True, True] Translation: X:94.47, Y:-173.34, Z:-4.01 [[ 2.09227239e-01 9.77864075e-01 -2.41092320e-03 9.44670309e+01] [ 9.77807570e-01 -2.09241070e-01 -1.05134035e-02 -1.73337706e+02] [-1.07851438e-02 -1.57728556e-04 -9.99941826e-01 -4.01063410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.566559995 meters 0.015038008705472547 Centerline is valid? [True, True] Translation: X:94.48, Y:-173.31, Z:-4.01 [[ 1.29413804e-01 9.91589526e-01 -1.50977568e-03 9.44785198e+01] [ 9.91537123e-01 -1.29422489e-01 -1.01957859e-02 -1.73310497e+02] [-1.03054334e-02 -1.77523198e-04 -9.99946882e-01 -4.01119460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.626559995 meters 0.0152906608014754 Centerline is valid? [True, True] Translation: X:94.49, Y:-173.28, Z:-4.01 [[ 4.99369605e-02 9.98752037e-01 -8.18054538e-04 9.44871696e+01] [ 9.98681059e-01 -4.99431660e-02 -1.19089413e-02 -1.73282149e+02] [-1.19349356e-02 -2.22279241e-04 -9.99928751e-01 -4.00960481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.6865599950002 meters 0.014989589628699375 Centerline is valid? [True, True] Translation: X:94.50, Y:-173.25, Z:-4.01 [[-2.88179482e-02 9.99584669e-01 1.25974430e-04 9.44956311e+01] [ 9.99502044e-01 2.88171861e-02 -1.28543024e-02 -1.73252801e+02] [-1.28525938e-02 -2.44522919e-04 -9.99917372e-01 -4.00941935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.746559995 meters 0.0149314155875516 Centerline is valid? [True, True] Translation: X:94.50, Y:-173.22, Z:-4.01 [[-1.07141623e-01 9.94243120e-01 1.13622726e-03 9.45030109e+01] [ 9.94160134e-01 1.07147363e-01 -1.28480011e-02 -1.73222972e+02] [-1.28957804e-02 -2.46963845e-04 -9.99916816e-01 -4.00965148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.806559995 meters 0.015475094458637092 Centerline is valid? [True, True] Translation: X:94.51, Y:-173.19, Z:-4.01 [[-1.84779617e-01 9.82777759e-01 2.09045013e-03 9.45095607e+01] [ 9.82699194e-01 1.84791283e-01 -1.24288100e-02 -1.73193494e+02] [-1.26010550e-02 -2.42307094e-04 -9.99920574e-01 -4.00925026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.866559995 meters 0.014440385173222926 Centerline is valid? [True, True] Translation: X:94.51, Y:-173.16, Z:-4.01 [[-2.60222812e-01 9.65543989e-01 2.98222471e-03 9.45115911e+01] [ 9.65470364e-01 2.60239803e-01 -1.19256780e-02 -1.73162372e+02] [-1.22908603e-02 -2.24083888e-04 -9.99924439e-01 -4.01052556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.926559995 meters 0.014236834290853793 Centerline is valid? [True, True] Translation: X:94.51, Y:-173.13, Z:-4.01 [[-3.32859373e-01 9.42968669e-01 3.83754498e-03 9.45110585e+01] [ 9.42899187e-01 3.32881438e-01 -1.14486777e-02 -1.73131607e+02] [-1.20731918e-02 -1.92381626e-04 -9.99927098e-01 -4.01030944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1192.986559995 meters 0.013297964718902556 Centerline is valid? [True, True] Translation: X:94.51, Y:-173.10, Z:-4.01 [[-3.99564029e-01 9.16694485e-01 4.45057745e-03 9.45052868e+01] [ 9.16634662e-01 3.99588801e-01 -1.04731078e-02 -1.73102881e+02] [-1.13790410e-02 -1.05123573e-04 -9.99935251e-01 -4.01108331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.046559995 meters 0.012951743746385356 Centerline is valid? [True, True] Translation: X:94.50, Y:-173.08, Z:-4.01 [[-4.64223076e-01 8.85703796e-01 5.07162581e-03 9.44974946e+01] [ 8.85650284e-01 4.64250778e-01 -9.73605019e-03 -1.73075107e+02] [-1.09777628e-02 -2.80123309e-05 -9.99939742e-01 -4.01121172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.106559995 meters 0.01359842349246153 Centerline is valid? [True, True] Translation: X:94.48, Y:-173.05, Z:-4.01 [[-5.22902178e-01 8.52375134e-01 5.47202447e-03 9.44845142e+01] [ 8.52330175e-01 5.22930801e-01 -8.75499056e-03 -1.73049223e+02] [-1.03240264e-02 8.59679383e-05 -9.99946702e-01 -4.01368161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.166559995 meters 0.01480350212018006 Centerline is valid? [True, True] Translation: X:94.47, Y:-173.02, Z:-4.01 [[-5.83199245e-01 8.12305581e-01 6.18734055e-03 9.44716415e+01] [ 8.12262557e-01 5.83232047e-01 -8.36167342e-03 -1.73024312e+02] [-1.04008893e-02 1.49223427e-04 -9.99945898e-01 -4.01421176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.2265599950001 meters 0.015047244100362853 Centerline is valid? [True, True] Translation: X:94.46, Y:-173.00, Z:-4.02 [[-6.42112540e-01 7.66576770e-01 7.17923467e-03 9.44611214e+01] [ 7.66532285e-01 6.42152642e-01 -8.26078768e-03 -1.72995979e+02] [-1.09426925e-02 1.98759795e-04 -9.99940107e-01 -4.01501101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.286559995 meters 0.015888562898348967 Centerline is valid? [True, True] Translation: X:94.45, Y:-172.97, Z:-4.01 [[-6.98978396e-01 7.15081870e-01 9.33386931e-03 9.44485047e+01] [ 7.15023017e-01 6.99040665e-01 -9.17789379e-03 -1.72969201e+02] [-1.30876997e-02 2.58781919e-04 -9.99914319e-01 -4.01348728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.346559995 meters 0.01570690130315013 Centerline is valid? [True, True] Translation: X:94.94, Y:-172.48, Z:-5.03 [[-6.77920340e-01 -7.35080385e-01 8.99109965e-03 9.49367490e+01] [ 7.35010976e-01 -6.77979918e-01 -1.01042859e-02 -1.72477244e+02] [ 1.35232473e-02 -2.41343984e-04 9.99908528e-01 -5.02811987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.406559995 meters 0.014845054162208068 Centerline is valid? [True, True] Translation: X:94.89, Y:-172.44, Z:-5.03 [[-6.74420472e-01 -7.38279853e-01 9.99427306e-03 9.48947813e+01] [ 7.38194339e-01 -6.74494491e-01 -1.12382864e-02 -1.72436878e+02] [ 1.50380825e-02 -2.01614598e-04 9.99886901e-01 -5.02759530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.4665599950001 meters 0.0140883402623485 Centerline is valid? [True, True] Translation: X:94.85, Y:-172.40, Z:-5.03 [[-6.70542834e-01 -7.41797239e-01 1.04481441e-02 9.48526600e+01] [ 7.41704310e-01 -6.70624217e-01 -1.17420240e-02 -1.72396176e+02] [ 1.57169795e-02 -1.24096534e-04 9.99876473e-01 -5.02713268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.526559995 meters 0.013659650488203359 Centerline is valid? [True, True] Translation: X:94.81, Y:-172.36, Z:-5.03 [[-6.68418263e-01 -7.43711939e-01 1.04679343e-02 9.48122049e+01] [ 7.43619010e-01 -6.68500221e-01 -1.17567983e-02 -1.72355052e+02] [ 1.57414876e-02 -7.43037084e-05 9.99876092e-01 -5.02660848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.586559995 meters 0.013552512173355473 Centerline is valid? [True, True] Translation: X:94.77, Y:-172.32, Z:-5.03 [[-6.63937807e-01 -7.47722560e-01 9.87732155e-03 9.47687604e+01] [ 7.47640368e-01 -6.64011274e-01 -1.10864109e-02 -1.72316694e+02] [ 1.48482124e-02 2.39969557e-05 9.99889759e-01 -5.02649917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.646559995 meters 0.014021154286816696 Centerline is valid? [True, True] Translation: X:94.72, Y:-172.28, Z:-5.02 [[-6.57409179e-01 -7.53483866e-01 8.67383604e-03 9.47237846e+01] [ 7.53421052e-01 -6.57466383e-01 -9.73003524e-03 -1.72278413e+02] [ 1.30341802e-02 1.38436193e-04 9.99915042e-01 -5.02462942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.7065599950001 meters 0.014694493713722969 Centerline is valid? [True, True] Translation: X:94.68, Y:-172.24, Z:-5.02 [[-6.54440407e-01 -7.56074360e-01 7.70170067e-03 9.46824073e+01] [ 7.56025076e-01 -6.54485701e-01 -8.63431147e-03 -1.72238199e+02] [ 1.15688345e-02 1.72036513e-04 9.99933064e-01 -5.02375577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.766559995 meters 0.015988196227679805 Centerline is valid? [True, True] Translation: X:94.64, Y:-172.20, Z:-5.02 [[-6.52480582e-01 -7.57767355e-01 7.59773500e-03 9.46403602e+01] [ 7.57719565e-01 -6.52524785e-01 -8.51269564e-03 -1.72198661e+02] [ 1.14083533e-02 2.02583855e-04 9.99934902e-01 -5.02432238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.826559995 meters 0.016313745385367177 Centerline is valid? [True, True] Translation: X:94.60, Y:-172.16, Z:-5.02 [[-6.49939539e-01 -7.59936899e-01 8.63164709e-03 9.45991491e+01] [ 7.59875478e-01 -6.49996795e-01 -9.66565811e-03 -1.72157605e+02] [ 1.29558332e-02 2.76883583e-04 9.99916031e-01 -5.02388488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.886559995 meters 0.01676049479759453 Centerline is valid? [True, True] Translation: X:94.56, Y:-172.12, Z:-5.03 [[-6.49059665e-01 -7.60671113e-01 1.00503545e-02 9.45584953e+01] [ 7.60588024e-01 -6.49137382e-01 -1.12479897e-02 -1.72115730e+02] [ 1.50800817e-02 3.43562836e-04 9.99886230e-01 -5.02517165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1193.9465599950001 meters 0.01668092703718265 Centerline is valid? [True, True] Translation: X:94.52, Y:-172.07, Z:-5.03 [[-6.49719407e-01 -7.60090159e-01 1.12978780e-02 9.45197834e+01] [ 7.59985209e-01 -6.49817519e-01 -1.26362197e-02 -1.72073913e+02] [ 1.69462253e-02 3.76222979e-04 9.99856332e-01 -5.02668754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.006559995 meters 0.01632672939013989 Centerline is valid? [True, True] Translation: X:94.48, Y:-172.03, Z:-5.03 [[-6.52396002e-01 -7.57770816e-01 1.27611837e-02 9.44833902e+01] [ 7.57636649e-01 -6.52520697e-01 -1.42635539e-02 -1.72031235e+02] [ 1.91354413e-02 3.62854975e-04 9.99816835e-01 -5.02880505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.066559995 meters 0.01585647180037139 Centerline is valid? [True, True] Translation: X:94.45, Y:-171.99, Z:-5.03 [[-6.54857436e-01 -7.55631572e-01 1.35154003e-02 9.44466660e+01] [ 7.55480783e-01 -6.54996812e-01 -1.50984550e-02 -1.71985648e+02] [ 2.02614134e-02 3.23289690e-04 9.99794664e-01 -5.02937814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.126559995 meters 0.014052951138819799 Centerline is valid? [True, True] Translation: X:94.41, Y:-171.94, Z:-5.03 [[-6.58967122e-01 -7.52048554e-01 1.36126943e-02 9.44132657e+01] [ 7.51894983e-01 -6.59107673e-01 -1.51990284e-02 -1.71937079e+02] [ 2.04026385e-02 2.19656559e-04 9.99791820e-01 -5.02631673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.1865599950002 meters 0.014197546334737719 Centerline is valid? [True, True] Translation: X:94.38, Y:-171.89, Z:-5.03 [[-6.61803994e-01 -7.49549902e-01 1.37991729e-02 9.43782707e+01] [ 7.49391761e-01 -6.61947824e-01 -1.53969914e-02 -1.71892417e+02] [ 2.06751459e-02 1.51196060e-04 9.99786235e-01 -5.02751127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.246559995 meters 0.013569905445640065 Centerline is valid? [True, True] Translation: X:94.34, Y:-171.85, Z:-5.02 [[-6.63928927e-01 -7.47677936e-01 1.32696444e-02 9.43426785e+01] [ 7.47531489e-01 -6.64061514e-01 -1.47979114e-02 -1.71846270e+02] [ 1.98759320e-02 9.47155766e-05 9.99802450e-01 -5.02468805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.306559995 meters 0.013069176076399411 Centerline is valid? [True, True] Translation: X:94.31, Y:-171.80, Z:-5.02 [[-6.65765432e-01 -7.46058615e-01 1.23665639e-02 9.43060702e+01] [ 7.45931281e-01 -6.65880275e-01 -1.37834636e-02 -1.71800390e+02] [ 1.85179228e-02 4.80532519e-05 9.99828527e-01 -5.02245812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.366559995 meters 0.013068084689367218 Centerline is valid? [True, True] Translation: X:94.27, Y:-171.76, Z:-5.02 [[-6.66168089e-01 -7.45707101e-01 1.18742532e-02 9.42687547e+01] [ 7.45589796e-01 -6.66273906e-01 -1.32263938e-02 -1.71756924e+02] [ 1.77745208e-02 4.23205041e-05 9.99842020e-01 -5.02249394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.426559995 meters 0.012979746860359031 Centerline is valid? [True, True] Translation: X:94.23, Y:-171.71, Z:-5.02 [[-6.66122097e-01 -7.45740459e-01 1.23498640e-02 9.42315336e+01] [ 7.45613719e-01 -6.66236569e-01 -1.37483361e-02 -1.71712879e+02] [ 1.84806215e-02 5.01575107e-05 9.99829218e-01 -5.02198380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.486559995 meters 0.013016475713179957 Centerline is valid? [True, True] Translation: X:94.19, Y:-171.67, Z:-5.02 [[-6.65665182e-01 -7.46142260e-01 1.27119489e-02 9.41942782e+01] [ 7.46008222e-01 -6.65786545e-01 -1.41424627e-02 -1.71669926e+02] [ 1.90157336e-02 6.90734113e-05 9.99819182e-01 -5.02226387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.546559995 meters 0.012920436143428003 Centerline is valid? [True, True] Translation: X:94.16, Y:-171.63, Z:-5.02 [[-6.63715130e-01 -7.47885954e-01 1.21994241e-02 9.41556084e+01] [ 7.47762943e-01 -6.63827226e-01 -1.35645057e-02 -1.71626235e+02] [ 1.82430131e-02 1.19309535e-04 9.99833575e-01 -5.02107409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.606559995 meters 0.01349534700766146 Centerline is valid? [True, True] Translation: X:94.12, Y:-171.59, Z:-5.02 [[-6.62341049e-01 -7.49114337e-01 1.14910775e-02 9.41170715e+01] [ 7.49005490e-01 -6.62440705e-01 -1.27706065e-02 -1.71585118e+02] [ 1.71788019e-02 1.48383174e-04 9.99852423e-01 -5.02207228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.666559995 meters 0.013046213421624974 Centerline is valid? [True, True] Translation: X:94.08, Y:-171.54, Z:-5.02 [[-6.61180102e-01 -7.50156494e-01 1.03008773e-02 9.40793656e+01] [ 7.50069255e-01 -6.61260318e-01 -1.14413464e-02 -1.71540662e+02] [ 1.53943617e-02 1.61580749e-04 9.99881487e-01 -5.02009213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.7265599950001 meters 0.013122422656068193 Centerline is valid? [True, True] Translation: X:94.04, Y:-171.50, Z:-5.02 [[-6.61402030e-01 -7.49968290e-01 9.74266409e-03 9.40425829e+01] [ 7.49890335e-01 -6.61473764e-01 -1.08141143e-02 -1.71497633e+02] [ 1.45547595e-02 1.53452486e-04 9.99894062e-01 -5.02014075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.786559995 meters 0.012823827682288713 Centerline is valid? [True, True] Translation: X:94.01, Y:-171.45, Z:-5.02 [[-6.61945734e-01 -7.49496815e-01 9.07583552e-03 9.40052352e+01] [ 7.49429200e-01 -6.62007935e-01 -1.00681966e-02 -1.71452605e+02] [ 1.35543564e-02 1.37096373e-04 9.99908126e-01 -5.01866376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.846559995 meters 0.01246536401189333 Centerline is valid? [True, True] Translation: X:93.97, Y:-171.41, Z:-5.02 [[-6.62568446e-01 -7.48960915e-01 7.78478717e-03 9.39667591e+01] [ 7.48911189e-01 -6.62614168e-01 -8.63106976e-03 -1.71408797e+02] [ 1.16226442e-02 1.11439735e-04 9.99932449e-01 -5.01756705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.906559995 meters 0.0124099169681498 Centerline is valid? [True, True] Translation: X:93.93, Y:-171.37, Z:-5.02 [[-6.63240696e-01 -7.48371714e-01 7.18028006e-03 9.39286796e+01] [ 7.48329431e-01 -6.63279555e-01 -7.95578069e-03 -1.71366672e+02] [ 1.07164142e-02 9.66173700e-05 9.99942573e-01 -5.01835939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1194.9665599950001 meters 0.012235251232688728 Centerline is valid? [True, True] Translation: X:93.89, Y:-171.32, Z:-5.02 [[-6.64037385e-01 -7.47665975e-01 7.06682449e-03 9.38912868e+01] [ 7.47625031e-01 -6.64074982e-01 -7.82507484e-03 -1.71323604e+02] [ 1.05434436e-02 8.71926393e-05 9.99944413e-01 -5.01916857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.026559995 meters 0.011871132594788588 Centerline is valid? [True, True] Translation: X:93.85, Y:-171.28, Z:-5.02 [[-6.66088977e-01 -7.45844753e-01 6.40929097e-03 9.38543022e+01] [ 7.45811028e-01 -6.66119810e-01 -7.09292299e-03 -1.71279256e+02] [ 9.55957508e-03 5.56020684e-05 9.99954305e-01 -5.01956438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.086559995 meters 0.011930145078421299 Centerline is valid? [True, True] Translation: X:93.82, Y:-171.24, Z:-5.02 [[-6.67810317e-01 -7.44303746e-01 6.42770291e-03 9.38158129e+01] [ 7.44269794e-01 -6.67841248e-01 -7.10919946e-03 -1.71235241e+02] [ 9.58408893e-03 3.63483805e-05 9.99954071e-01 -5.01968219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.146559995 meters 0.011901852162452275 Centerline is valid? [True, True] Translation: X:93.78, Y:-171.19, Z:-5.02 [[-6.69315779e-01 -7.42953725e-01 6.01253538e-03 9.37789144e+01] [ 7.42924003e-01 -6.69342784e-01 -6.64553309e-03 -1.71193201e+02] [ 8.96177073e-03 1.88966946e-05 9.99959842e-01 -5.02009199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.2065599950001 meters 0.011745800831315096 Centerline is valid? [True, True] Translation: X:93.74, Y:-171.15, Z:-5.02 [[-6.70780675e-01 -7.41636685e-01 5.32100257e-03 9.37409597e+01] [ 7.41613393e-01 -6.70801780e-01 -5.87779411e-03 -1.71149095e+02] [ 7.92852573e-03 3.41606239e-06 9.99968569e-01 -5.01944000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.266559995 meters 0.011668105140739828 Centerline is valid? [True, True] Translation: X:93.70, Y:-171.11, Z:-5.02 [[-6.71250909e-01 -7.41211595e-01 5.25246326e-03 9.37029238e+01] [ 7.41188914e-01 -6.71271459e-01 -5.79856986e-03 -1.71106981e+02] [ 7.82379589e-03 7.72247242e-07 9.99969394e-01 -5.02042498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.326559995 meters 0.01166223181690728 Centerline is valid? [True, True] Translation: X:93.66, Y:-171.07, Z:-5.02 [[-6.70029547e-01 -7.42310286e-01 5.98709021e-03 9.36623167e+01] [ 7.42280897e-01 -6.70056296e-01 -6.60536259e-03 -1.71065870e+02] [ 8.91491608e-03 1.83145799e-05 9.99960261e-01 -5.02279006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.386559995 meters 0.011822727526082915 Centerline is valid? [True, True] Translation: X:93.62, Y:-171.03, Z:-5.02 [[-6.68153946e-01 -7.43996705e-01 6.26160038e-03 9.36222964e+01] [ 7.43964664e-01 -6.68183284e-01 -6.90484161e-03 -1.71026225e+02] [ 9.32107611e-03 4.49122566e-05 9.99956557e-01 -5.02437606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.4465599950001 meters 0.011960852395365639 Centerline is valid? [True, True] Translation: X:93.58, Y:-170.99, Z:-5.02 [[-6.66776398e-01 -7.45232501e-01 6.14450299e-03 9.35830201e+01] [ 7.45201739e-01 -6.66804706e-01 -6.77145870e-03 -1.70985098e+02] [ 9.14349461e-03 6.38454750e-05 9.99958195e-01 -5.02392698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.506559995 meters 0.012568164906271868 Centerline is valid? [True, True] Translation: X:93.54, Y:-170.94, Z:-5.02 [[-6.62806783e-01 -7.48768277e-01 5.76500082e-03 9.35407510e+01] [ 7.48741362e-01 -6.62831846e-01 -6.34962766e-03 -1.70944948e+02] [ 8.57562589e-03 1.07918275e-04 9.99963223e-01 -5.02385324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.566559995 meters 0.013185712078335892 Centerline is valid? [True, True] Translation: X:93.50, Y:-170.90, Z:-5.02 [[-6.60447661e-01 -7.50851104e-01 5.61313396e-03 9.35000274e+01] [ 7.50825692e-01 -6.60471500e-01 -6.17882068e-03 -1.70903688e+02] [ 8.34668933e-03 1.33697523e-04 9.99965157e-01 -5.02376606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.626559995 meters 0.014180363727688734 Centerline is valid? [True, True] Translation: X:93.46, Y:-170.86, Z:-5.02 [[-6.57964432e-01 -7.53030662e-01 5.25626684e-03 9.34593069e+01] [ 7.53008475e-01 -6.57985410e-01 -5.78248264e-03 -1.70862982e+02] [ 7.81293362e-03 1.53345570e-04 9.99969467e-01 -5.02372337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.6865599950002 meters 0.015578924460948284 Centerline is valid? [True, True] Translation: X:93.42, Y:-170.82, Z:-5.02 [[-6.54492581e-01 -7.56049522e-01 5.34614690e-03 9.34171525e+01] [ 7.56026697e-01 -6.54514387e-01 -5.87800357e-03 -1.70823128e+02] [ 7.94319186e-03 1.94720053e-04 9.99968433e-01 -5.02449516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.746559995 meters 0.016522759319777786 Centerline is valid? [True, True] Translation: X:93.38, Y:-170.78, Z:-5.03 [[-6.53058924e-01 -7.57286604e-01 5.57155906e-03 9.33757495e+01] [ 7.57261887e-01 -6.53082653e-01 -6.12239308e-03 -1.70782395e+02] [ 8.27509483e-03 2.20845892e-04 9.99965737e-01 -5.02600121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.806559995 meters 0.015646413964727268 Centerline is valid? [True, True] Translation: X:93.34, Y:-170.74, Z:-5.03 [[-6.53317982e-01 -7.57059698e-01 6.01892363e-03 9.33379976e+01] [ 7.57030877e-01 -6.53345664e-01 -6.61014811e-03 -1.70738531e+02] [ 8.93671439e-03 2.37982412e-04 9.99960039e-01 -5.02659274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.866559995 meters 0.01592175265237211 Centerline is valid? [True, True] Translation: X:93.30, Y:-170.70, Z:-5.03 [[-6.54689337e-01 -7.55876343e-01 5.72942725e-03 9.33002245e+01] [ 7.55850213e-01 -6.54714372e-01 -6.28864675e-03 -1.70695855e+02] [ 8.50457767e-03 2.13478833e-04 9.99963813e-01 -5.02681974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.926559995 meters 0.014900748097273372 Centerline is valid? [True, True] Translation: X:93.26, Y:-170.65, Z:-5.03 [[-6.57619720e-01 -7.53336156e-01 4.57611684e-03 9.32647722e+01] [ 7.53319445e-01 -6.57635625e-01 -5.01986713e-03 -1.70650048e+02] [ 6.79106486e-03 1.46114182e-04 9.99976930e-01 -5.02511915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1195.986559995 meters 0.014038862231312763 Centerline is valid? [True, True] Translation: X:93.23, Y:-170.61, Z:-5.03 [[-6.59855077e-01 -7.51375698e-01 5.08308520e-03 9.32276055e+01] [ 7.51355045e-01 -6.59874639e-01 -5.57282412e-03 -1.70605222e+02] [ 7.54148363e-03 1.41945427e-04 9.99971553e-01 -5.02586385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.046559995 meters 0.013600362107972061 Centerline is valid? [True, True] Translation: X:93.19, Y:-170.56, Z:-5.03 [[-6.62158369e-01 -7.49342825e-01 5.62362730e-03 9.31911557e+01] [ 7.49317500e-01 -6.62182236e-01 -6.16201317e-03 -1.70561704e+02] [ 8.34132645e-03 1.33653764e-04 9.99965202e-01 -5.02728169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.106559995 meters 0.012753445641693778 Centerline is valid? [True, True] Translation: X:93.16, Y:-170.52, Z:-5.03 [[-6.64759592e-01 -7.47032731e-01 6.06501027e-03 9.31556318e+01] [ 7.47003212e-01 -6.64787249e-01 -6.64187319e-03 -1.70515930e+02] [ 8.99363815e-03 1.15333243e-04 9.99959550e-01 -5.02733558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.166559995 meters 0.012133113559456557 Centerline is valid? [True, True] Translation: X:93.12, Y:-170.47, Z:-5.03 [[-6.68045574e-01 -7.44096535e-01 5.95458199e-03 9.31190739e+01] [ 7.44067995e-01 -6.68072107e-01 -6.51750798e-03 -1.70470119e+02] [ 8.82774524e-03 7.66215235e-05 9.99961032e-01 -5.02717716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.2265599950001 meters 0.012034481581300428 Centerline is valid? [True, True] Translation: X:93.08, Y:-170.43, Z:-5.03 [[-6.68283659e-01 -7.43883761e-01 5.82247689e-03 9.30791047e+01] [ 7.43856497e-01 -6.68309019e-01 -6.36928855e-03 -1.70427608e+02] [ 8.62922414e-03 7.45958014e-05 9.99962765e-01 -5.02644444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.286559995 meters 0.0120767210203293 Centerline is valid? [True, True] Translation: X:93.04, Y:-170.39, Z:-5.03 [[-6.68262637e-01 -7.43904531e-01 5.57648095e-03 9.30398255e+01] [ 7.43879555e-01 -6.68285899e-01 -6.09628892e-03 -1.70385360e+02] [ 8.26174054e-03 7.43080560e-05 9.99965869e-01 -5.02592760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.346559995 meters 0.012430524456729368 Centerline is valid? [True, True] Translation: X:93.00, Y:-170.34, Z:-5.03 [[-6.67871550e-01 -7.44251009e-01 6.16667442e-03 9.30008517e+01] [ 7.44220512e-01 -6.67900013e-01 -6.73819806e-03 -1.70344215e+02] [ 9.13363263e-03 8.91148044e-05 9.99958284e-01 -5.02620678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.406559995 meters 0.01247388018371927 Centerline is valid? [True, True] Translation: X:92.96, Y:-170.30, Z:-5.03 [[-6.68078359e-01 -7.44064194e-01 6.30730545e-03 9.29608654e+01] [ 7.44032320e-01 -6.68108125e-01 -6.88760289e-03 -1.70303323e+02] [ 9.33878071e-03 9.13806742e-05 9.99956389e-01 -5.02763209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.4665599950001 meters 0.012666223827261815 Centerline is valid? [True, True] Translation: X:92.92, Y:-170.26, Z:-5.03 [[-6.67211952e-01 -7.44839682e-01 6.48531265e-03 9.29206275e+01] [ 7.44806063e-01 -6.67243461e-01 -7.07751439e-03 -1.70262619e+02] [ 9.59889603e-03 1.08097990e-04 9.99953924e-01 -5.02765527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.526559995 meters 0.012842337247058829 Centerline is valid? [True, True] Translation: X:92.88, Y:-170.22, Z:-5.03 [[-6.66111048e-01 -7.45826265e-01 6.26527699e-03 9.28799179e+01] [ 7.45794969e-01 -6.66140501e-01 -6.83348544e-03 -1.70220707e+02] [ 9.27014768e-03 1.20751914e-04 9.99957024e-01 -5.02664924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.586559995 meters 0.013923646393935027 Centerline is valid? [True, True] Translation: X:92.84, Y:-170.18, Z:-5.03 [[-6.65235234e-01 -7.46612610e-01 5.62970143e-03 9.28386133e+01] [ 7.46587404e-01 -6.65259044e-01 -6.13616944e-03 -1.70182034e+02] [ 8.32655128e-03 1.21068060e-04 9.99965326e-01 -5.02669062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.646559995 meters 0.01332710382564881 Centerline is valid? [True, True] Translation: X:92.80, Y:-170.14, Z:-5.02 [[-6.65023879e-01 -7.46803191e-01 5.31370097e-03 9.28001915e+01] [ 7.46780770e-01 -6.65045097e-01 -5.78805133e-03 -1.70139908e+02] [ 7.85638598e-03 1.18977358e-04 9.99969131e-01 -5.02489462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.7065599950001 meters 0.012956270132342039 Centerline is valid? [True, True] Translation: X:92.76, Y:-170.10, Z:-5.02 [[-6.66622411e-01 -7.45382610e-01 4.39602884e-03 9.27597407e+01] [ 7.45367252e-01 -6.66636900e-01 -4.78574363e-03 -1.70097893e+02] [ 6.49776512e-03 8.63719783e-05 9.99978886e-01 -5.02495335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.766559995 meters 0.012577527121623489 Centerline is valid? [True, True] Translation: X:92.72, Y:-170.06, Z:-5.03 [[-6.69476187e-01 -7.42823451e-01 3.86720952e-03 9.27206165e+01] [ 7.42811536e-01 -6.69487354e-01 -4.20769770e-03 -1.70055702e+02] [ 5.71462440e-03 5.56544341e-05 9.99983670e-01 -5.02590584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.826559995 meters 0.011659471953752951 Centerline is valid? [True, True] Translation: X:92.69, Y:-170.01, Z:-5.02 [[-6.76020444e-01 -7.36878480e-01 2.54263286e-03 9.26856651e+01] [ 7.36873292e-01 -6.76025226e-01 -2.76491056e-03 -1.70009342e+02] [ 3.75628705e-03 4.46218411e-06 9.99992945e-01 -5.02396971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.886559995 meters 0.011905258714214013 Centerline is valid? [True, True] Translation: X:92.65, Y:-169.96, Z:-5.02 [[-6.81649519e-01 -7.31675615e-01 2.17441461e-03 9.26492326e+01] [ 7.31671799e-01 -6.81652986e-01 -2.36316312e-03 -1.69964267e+02] [ 3.21126504e-03 -1.98911534e-05 9.99994844e-01 -5.02383119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1196.9465599950001 meters 0.013659644970569637 Centerline is valid? [True, True] Translation: X:92.61, Y:-169.92, Z:-5.03 [[-6.90071167e-01 -7.23736854e-01 2.59823062e-03 9.26138420e+01] [ 7.23731355e-01 -6.90076055e-01 -2.82212776e-03 -1.69918262e+02] [ 3.83545460e-03 -6.70480338e-05 9.99992642e-01 -5.02514867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.006559995 meters 0.01576644721309962 Centerline is valid? [True, True] Translation: X:92.58, Y:-169.87, Z:-5.03 [[-6.95710364e-01 -7.18313065e-01 3.66472692e-03 9.25775556e+01] [ 7.18302062e-01 -6.95720003e-01 -3.97809119e-03 -1.69873420e+02] [ 5.40713870e-03 -1.35218372e-04 9.99985372e-01 -5.02734342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.066559995 meters 0.017381841189189954 Centerline is valid? [True, True] Translation: X:92.54, Y:-169.83, Z:-5.03 [[-7.00489167e-01 -7.13645824e-01 4.95623043e-03 9.25401242e+01] [ 7.13625605e-01 -7.00506663e-01 -5.37694967e-03 -1.69828912e+02] [ 7.30911012e-03 -2.29602058e-04 9.99973262e-01 -5.02910642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.126559995 meters 0.01910742457630389 Centerline is valid? [True, True] Translation: X:92.50, Y:-169.78, Z:-5.03 [[-7.03844111e-01 -7.10333983e-01 5.39457398e-03 9.25025982e+01] [ 7.10309957e-01 -7.03864726e-01 -5.84916539e-03 -1.69784598e+02] [ 7.95191128e-03 -2.85080998e-04 9.99968342e-01 -5.03031384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.1865599950002 meters 0.018474275739183404 Centerline is valid? [True, True] Translation: X:92.46, Y:-169.74, Z:-5.03 [[-7.04105756e-01 -7.10069663e-01 6.01320008e-03 9.24616990e+01] [ 7.10039835e-01 -7.04131360e-01 -6.51621274e-03 -1.69742995e+02] [ 8.86104774e-03 -3.18491311e-04 9.99960690e-01 -5.02945831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.246559995 meters 0.017677723739340463 Centerline is valid? [True, True] Translation: X:92.42, Y:-169.70, Z:-5.03 [[-7.01717233e-01 -7.12426054e-01 6.48399857e-03 9.24196287e+01] [ 7.12391511e-01 -7.01747121e-01 -7.02229425e-03 -1.69702804e+02] [ 9.55299271e-03 -3.08519354e-04 9.99954322e-01 -5.02951558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.306559995 meters 0.016116289547610834 Centerline is valid? [True, True] Translation: X:92.38, Y:-169.66, Z:-5.03 [[-6.98416978e-01 -7.15660164e-01 6.65240769e-03 9.23763818e+01] [ 7.15623989e-01 -6.98448607e-01 -7.20068075e-03 -1.69663300e+02] [ 9.79960526e-03 -2.68455160e-04 9.99951947e-01 -5.02920094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.366559995 meters 0.015354957906806502 Centerline is valid? [True, True] Translation: X:92.34, Y:-169.62, Z:-5.03 [[-6.94929142e-01 -7.19048708e-01 6.51486513e-03 9.23352077e+01] [ 7.19014196e-01 -6.94959647e-01 -7.04807861e-03 -1.69624812e+02] [ 9.59548018e-03 -2.13634712e-04 9.99953940e-01 -5.02942681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.426559995 meters 0.01438095269774657 Centerline is valid? [True, True] Translation: X:92.29, Y:-169.59, Z:-5.03 [[-6.91917294e-01 -7.21950017e-01 6.21532830e-03 9.22924808e+01] [ 7.21918758e-01 -6.91945190e-01 -6.72023557e-03 -1.69585812e+02] [ 9.15234071e-03 -1.62885127e-04 9.99958103e-01 -5.02881701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.486559995 meters 0.01309312751079463 Centerline is valid? [True, True] Translation: X:92.25, Y:-169.55, Z:-5.03 [[-6.89473847e-01 -7.24294515e-01 4.82383315e-03 9.22491110e+01] [ 7.24275764e-01 -6.89490715e-01 -5.21270637e-03 -1.69547333e+02] [ 7.10152279e-03 -1.00239275e-04 9.99974779e-01 -5.02682590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.546559995 meters 0.012747738615293292 Centerline is valid? [True, True] Translation: X:92.21, Y:-169.51, Z:-5.03 [[-6.86834343e-01 -7.26801738e-01 4.22137954e-03 9.22055920e+01] [ 7.26787441e-01 -6.86847312e-01 -4.55909978e-03 -1.69508102e+02] [ 6.21300483e-03 -6.33006617e-05 9.99980697e-01 -5.02587778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.606559995 meters 0.012265896922260502 Centerline is valid? [True, True] Translation: X:92.16, Y:-169.47, Z:-5.03 [[-6.85510557e-01 -7.28053249e-01 3.70709545e-03 9.21636372e+01] [ 7.28042254e-01 -6.85520579e-01 -4.00137710e-03 -1.69467717e+02] [ 5.45450582e-03 -4.40641150e-05 9.99985123e-01 -5.02523642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.666559995 meters 0.011965076617614548 Centerline is valid? [True, True] Translation: X:92.12, Y:-169.43, Z:-5.02 [[-6.83534106e-01 -7.29912339e-01 3.01708246e-03 9.21204188e+01] [ 7.29905083e-01 -6.83540764e-01 -3.25474041e-03 -1.69428086e+02] [ 4.43797404e-03 -2.25422488e-05 9.99990152e-01 -5.02476048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.7265599950001 meters 0.011897250317156384 Centerline is valid? [True, True] Translation: X:92.08, Y:-169.39, Z:-5.03 [[-6.82535050e-01 -7.30846940e-01 2.94213401e-03 9.20800641e+01] [ 7.30840057e-01 -6.82541391e-01 -3.17178399e-03 -1.69388941e+02] [ 4.32621686e-03 -1.46243520e-05 9.99990642e-01 -5.02521966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.786559995 meters 0.011948700782531378 Centerline is valid? [True, True] Translation: X:92.04, Y:-169.35, Z:-5.03 [[-6.81960394e-01 -7.31379953e-01 3.65864405e-03 9.20395295e+01] [ 7.31369331e-01 -6.81970208e-01 -3.94176617e-03 -1.69348566e+02] [ 5.37801500e-03 -1.23083629e-05 9.99985538e-01 -5.02692013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.846559995 meters 0.011883344379297365 Centerline is valid? [True, True] Translation: X:92.00, Y:-169.31, Z:-5.03 [[-6.81116886e-01 -7.32158766e-01 4.83008998e-03 9.19992404e+01] [ 7.32140296e-01 -6.81134011e-01 -5.20059958e-03 -1.69307615e+02] [ 7.09760313e-03 -5.91268098e-06 9.99974812e-01 -5.02866392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.906559995 meters 0.012015286178430357 Centerline is valid? [True, True] Translation: X:91.96, Y:-169.27, Z:-5.03 [[-6.80858957e-01 -7.32394696e-01 5.39351602e-03 9.19599273e+01] [ 7.32371701e-01 -6.80880320e-01 -5.80363703e-03 -1.69266581e+02] [ 7.92289189e-03 -1.39975233e-06 9.99968613e-01 -5.02940322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1197.9665599950001 meters 0.012058333368076367 Centerline is valid? [True, True] Translation: X:91.92, Y:-169.22, Z:-5.03 [[-6.80525417e-01 -7.32701184e-01 5.84225667e-03 9.19204146e+01] [ 7.32674245e-01 -6.80550494e-01 -6.28292260e-03 -1.69224402e+02] [ 8.57945549e-03 4.78247443e-06 9.99963196e-01 -5.02945375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.026559995 meters 0.012177176336248128 Centerline is valid? [True, True] Translation: X:91.88, Y:-169.18, Z:-5.03 [[-6.81162954e-01 -7.32101528e-01 6.66207444e-03 9.18823291e+01] [ 7.32066509e-01 -6.81195532e-01 -7.16053203e-03 -1.69180984e+02] [ 9.78041178e-03 -4.07565736e-07 9.99952171e-01 -5.03103292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.086559995 meters 0.012333672412918488 Centerline is valid? [True, True] Translation: X:91.84, Y:-169.14, Z:-5.03 [[-6.82343738e-01 -7.30996259e-01 7.17584436e-03 9.18444377e+01] [ 7.30955620e-01 -6.82381469e-01 -7.70789228e-03 -1.69138132e+02] [ 1.05311036e-02 -1.42082642e-05 9.99944546e-01 -5.03180183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.146559995 meters 0.012521602818984534 Centerline is valid? [True, True] Translation: X:91.81, Y:-169.09, Z:-5.03 [[-6.84187948e-01 -7.29267869e-01 7.43148576e-03 9.18072511e+01] [ 7.29224236e-01 -6.84228305e-01 -7.97750748e-03 -1.69094768e+02] [ 1.09025728e-02 -3.88949471e-05 9.99940565e-01 -5.03255101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.2065599950001 meters 0.012728442020709444 Centerline is valid? [True, True] Translation: X:91.77, Y:-169.05, Z:-5.03 [[-6.86205692e-01 -7.27372720e-01 7.11867396e-03 9.17709769e+01] [ 7.27332625e-01 -6.86242612e-01 -7.63735459e-03 -1.69049578e+02] [ 1.04403408e-02 -6.31523691e-05 9.99945496e-01 -5.03116697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.266559995 meters 0.012913843906048 Centerline is valid? [True, True] Translation: X:91.73, Y:-169.01, Z:-5.03 [[-6.86377575e-01 -7.27213445e-01 6.81402467e-03 9.17348357e+01] [ 7.27176750e-01 -6.86411394e-01 -7.30563972e-03 -1.69006918e+02] [ 9.98998361e-03 -5.94269604e-05 9.99950097e-01 -5.03157968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.326559995 meters 0.012560687655576446 Centerline is valid? [True, True] Translation: X:91.69, Y:-168.96, Z:-5.03 [[-6.83601070e-01 -7.29823838e-01 6.83689726e-03 9.16947207e+01] [ 7.29787068e-01 -6.83635257e-01 -7.32601188e-03 -1.68964673e+02] [ 1.00206421e-02 -1.85903515e-05 9.99949792e-01 -5.03110286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.386559995 meters 0.012669318092490015 Centerline is valid? [True, True] Translation: X:91.65, Y:-168.92, Z:-5.03 [[-6.78293054e-01 -7.34753807e-01 7.44149240e-03 9.16546021e+01] [ 7.34710590e-01 -6.78333870e-01 -7.96935667e-03 -1.68922668e+02] [ 1.09033315e-02 6.17839939e-05 9.99940555e-01 -5.03078514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.4465599950001 meters 0.013050419726190948 Centerline is valid? [True, True] Translation: X:91.62, Y:-168.88, Z:-5.03 [[-6.76749759e-01 -7.36175400e-01 7.45280670e-03 9.16151424e+01] [ 7.36132192e-01 -6.76790789e-01 -7.97644481e-03 -1.68881253e+02] [ 1.09160534e-02 8.81938340e-05 9.99940414e-01 -5.03110267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.506559995 meters 0.013962677643802655 Centerline is valid? [True, True] Translation: X:91.58, Y:-168.84, Z:-5.03 [[-6.72201714e-01 -7.40325816e-01 7.90834442e-03 9.15760834e+01] [ 7.40277508e-01 -6.72248211e-01 -8.45891982e-03 -1.68839077e+02] [ 1.15787271e-02 1.68269101e-04 9.99932950e-01 -5.03195931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.566559995 meters 0.014259204666988662 Centerline is valid? [True, True] Translation: X:91.54, Y:-168.80, Z:-5.03 [[-6.70330313e-01 -7.42024249e-01 7.56879141e-03 9.15377344e+01] [ 7.41980160e-01 -6.70373014e-01 -8.09105580e-03 -1.68795343e+02] [ 1.10776731e-02 1.92213093e-04 9.99938622e-01 -5.03257998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.626559995 meters 0.014671753696635606 Centerline is valid? [True, True] Translation: X:91.50, Y:-168.75, Z:-5.03 [[-6.69303807e-01 -7.42957929e-01 6.77707152e-03 9.15000778e+01] [ 7.42922671e-01 -6.69338091e-01 -7.24053144e-03 -1.68751419e+02] [ 9.91556236e-03 1.88724812e-04 9.99950822e-01 -5.03229848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.6865599950002 meters 0.015337163542298807 Centerline is valid? [True, True] Translation: X:91.46, Y:-168.71, Z:-5.03 [[-6.68118902e-01 -7.44034081e-01 5.51527533e-03 9.14627604e+01] [ 7.44010794e-01 -6.68141645e-01 -5.88909795e-03 -1.68707398e+02] [ 8.06667471e-03 1.68806718e-04 9.99967450e-01 -5.03127163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.746559995 meters 0.015923683271981588 Centerline is valid? [True, True] Translation: X:91.42, Y:-168.67, Z:-5.03 [[-6.67844297e-01 -7.44281741e-01 5.35594231e-03 9.14247782e+01] [ 7.44259817e-01 -6.67865752e-01 -5.71516214e-03 -1.68665916e+02] [ 7.83074126e-03 1.69374205e-04 9.99969325e-01 -5.03219294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.806559995 meters 0.015332317428508284 Centerline is valid? [True, True] Translation: X:91.39, Y:-168.62, Z:-5.03 [[-6.67672659e-01 -7.44437348e-01 5.12410189e-03 9.13882203e+01] [ 7.44417309e-01 -6.67692301e-01 -5.46462259e-03 -1.68620969e+02] [ 7.48939253e-03 1.65891047e-04 9.99971940e-01 -5.03267442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.866559995 meters 0.015549140013620951 Centerline is valid? [True, True] Translation: X:91.35, Y:-168.58, Z:-5.03 [[-6.67628564e-01 -7.44472259e-01 5.75816202e-03 9.13491915e+01] [ 7.44446985e-01 -6.67653368e-01 -6.13731066e-03 -1.68578075e+02] [ 8.41351380e-03 1.89202451e-04 9.99964588e-01 -5.03371083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.926559995 meters 0.01634756630169652 Centerline is valid? [True, True] Translation: X:91.31, Y:-168.54, Z:-5.04 [[-6.66939974e-01 -7.45083250e-01 6.48237446e-03 9.13085409e+01] [ 7.45051275e-01 -6.66971439e-01 -6.90635303e-03 -1.68538023e+02] [ 9.46936659e-03 2.23578446e-04 9.99955140e-01 -5.03511962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1198.986559995 meters 0.016530163792774343 Centerline is valid? [True, True] Translation: X:91.27, Y:-168.50, Z:-5.04 [[-6.65553514e-01 -7.46311891e-01 7.55523423e-03 9.12653830e+01] [ 7.46268572e-01 -6.65596335e-01 -8.04601348e-03 -1.68499453e+02] [ 1.10335717e-02 2.83181312e-04 9.99939088e-01 -5.03706880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.046559995 meters 0.0169640368361147 Centerline is valid? [True, True] Translation: X:91.23, Y:-168.46, Z:-5.04 [[-6.65813795e-01 -7.46081924e-01 7.33165634e-03 9.12254944e+01] [ 7.46041172e-01 -6.65854104e-01 -7.80267785e-03 -1.68460198e+02] [ 1.07032504e-02 2.74586941e-04 9.99942681e-01 -5.03748785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.106559995 meters 0.01565938533572498 Centerline is valid? [True, True] Translation: X:91.19, Y:-168.42, Z:-5.04 [[-6.68243239e-01 -7.43918794e-01 5.98346797e-03 9.11880562e+01] [ 7.43891595e-01 -6.68269997e-01 -6.36442869e-03 -1.68415031e+02] [ 8.73319024e-03 1.98065087e-04 9.99961845e-01 -5.03567058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.166559995 meters 0.014398598790757194 Centerline is valid? [True, True] Translation: X:91.15, Y:-168.37, Z:-5.04 [[-6.70515209e-01 -7.41875327e-01 5.50941241e-03 9.11504663e+01] [ 7.41852224e-01 -6.70537825e-01 -5.85693139e-03 -1.68369986e+02] [ 8.03938230e-03 1.60008272e-04 9.99967671e-01 -5.03534026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.2265599950001 meters 0.01474239340103856 Centerline is valid? [True, True] Translation: X:91.11, Y:-168.33, Z:-5.04 [[-6.72673587e-01 -7.39925304e-01 4.55957296e-03 9.11118093e+01] [ 7.39909449e-01 -6.72689030e-01 -4.84513267e-03 -1.68328340e+02] [ 6.65221097e-03 1.14478343e-04 9.99977867e-01 -5.03598566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.286559995 meters 0.014029957077486246 Centerline is valid? [True, True] Translation: X:91.07, Y:-168.29, Z:-5.04 [[-6.73807471e-01 -7.38895061e-01 4.19294547e-03 9.10743516e+01] [ 7.38881651e-01 -6.73820510e-01 -4.45271361e-03 -1.68285475e+02] [ 6.11538075e-03 9.78187710e-05 9.99981296e-01 -5.03558135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.346559995 meters 0.014260870306744946 Centerline is valid? [True, True] Translation: X:91.04, Y:-168.25, Z:-5.04 [[-6.74948863e-01 -7.37853645e-01 4.00386043e-03 9.10355099e+01] [ 7.37841415e-01 -6.74960733e-01 -4.24910712e-03 -1.68245355e+02] [ 5.83766775e-03 8.62840290e-05 9.99982957e-01 -5.03622494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.406559995 meters 0.014471596442538771 Centerline is valid? [True, True] Translation: X:90.99, Y:-168.20, Z:-5.04 [[-6.74220572e-01 -7.38517902e-01 4.23420617e-03 9.09942642e+01] [ 7.38504253e-01 -6.74233860e-01 -4.49112905e-03 -1.68203906e+02] [ 6.17162438e-03 9.89676626e-05 9.99980951e-01 -5.03699660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.4665599950001 meters 0.014603563213060824 Centerline is valid? [True, True] Translation: X:90.95, Y:-168.16, Z:-5.04 [[-6.72606867e-01 -7.39985735e-01 4.59508854e-03 9.09541401e+01] [ 7.39969712e-01 -6.72622552e-01 -4.87117655e-03 -1.68162368e+02] [ 6.69536134e-03 1.23839548e-04 9.99977578e-01 -5.03714106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.526559995 meters 0.015889239501468092 Centerline is valid? [True, True] Translation: X:90.91, Y:-168.12, Z:-5.04 [[-6.70092313e-01 -7.42264499e-01 4.43908754e-03 9.09115057e+01] [ 7.42249612e-01 -6.70107001e-01 -4.70319883e-03 -1.68123095e+02] [ 6.46568116e-03 1.43333629e-04 9.99979087e-01 -5.03807047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.586559995 meters 0.015616083213070116 Centerline is valid? [True, True] Translation: X:90.87, Y:-168.08, Z:-5.04 [[-6.69715323e-01 -7.42605176e-01 4.35186682e-03 9.08714627e+01] [ 7.42590895e-01 -6.69729446e-01 -4.60785311e-03 -1.68082089e+02] [ 6.33638892e-03 1.45706840e-04 9.99979914e-01 -5.03829977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.646559995 meters 0.015418272010381252 Centerline is valid? [True, True] Translation: X:90.83, Y:-168.04, Z:-5.04 [[-6.70613453e-01 -7.41799512e-01 3.32887770e-03 9.08319382e+01] [ 7.41791156e-01 -6.70621706e-01 -3.52244544e-03 -1.68040382e+02] [ 4.84536595e-03 1.07132732e-04 9.99988255e-01 -5.03757912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.7065599950001 meters 0.014573992914140318 Centerline is valid? [True, True] Translation: X:90.79, Y:-168.00, Z:-5.03 [[-6.73960269e-01 -7.38766807e-01 1.07698719e-03 9.07945485e+01] [ 7.38765930e-01 -6.73961129e-01 -1.13895891e-03 -1.67996408e+02] [ 1.56727254e-03 2.80283944e-05 9.99998772e-01 -5.03492800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.766559995 meters 0.013688552854897187 Centerline is valid? [True, True] Translation: X:90.76, Y:-167.95, Z:-5.03 [[-6.76358150e-01 -7.36572847e-01 3.06887065e-04 9.07566414e+01] [ 7.36572776e-01 -6.76358219e-01 -3.24370443e-04 -1.67951579e+02] [ 4.46488050e-04 6.65406516e-06 9.99999900e-01 -5.03384116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.826559995 meters 0.01321082889926317 Centerline is valid? [True, True] Translation: X:90.72, Y:-167.91, Z:-5.03 [[-6.78016107e-01 -7.35047028e-01 1.60618662e-04 9.07182551e+01] [ 7.35047008e-01 -6.78016126e-01 -1.69670084e-04 -1.67908148e+02] [ 2.33617534e-04 3.02321718e-06 9.99999973e-01 -5.03371390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.886559995 meters 0.01355668594913711 Centerline is valid? [True, True] Translation: X:90.68, Y:-167.87, Z:-5.03 [[-6.78294658e-01 -7.34789736e-01 6.32937379e-04 9.06787731e+01] [ 7.34789433e-01 -6.78294953e-01 -6.68173158e-04 -1.67868440e+02] [ 9.20285009e-04 1.18574139e-05 9.99999577e-01 -5.03426119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1199.9465599950001 meters 0.013286353231680228 Centerline is valid? [True, True] Translation: X:90.64, Y:-167.83, Z:-5.03 [[-6.78211941e-01 -7.34865058e-01 1.38203048e-03 9.06389021e+01] [ 7.34863612e-01 -6.78213349e-01 -1.45804166e-03 -1.67826711e+02] [ 2.00877539e-03 2.67426512e-05 9.99997982e-01 -5.03497527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.006559995 meters 0.01328802073088279 Centerline is valid? [True, True] Translation: X:90.60, Y:-167.79, Z:-5.04 [[-6.78175984e-01 -7.34897248e-01 1.83557078e-03 9.05979373e+01] [ 7.34894701e-01 -6.78178467e-01 -1.93542950e-03 -1.67785609e+02] [ 2.66718639e-03 3.63894367e-05 9.99996442e-01 -5.03529897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.066559995 meters 0.013495785298305743 Centerline is valid? [True, True] Translation: X:90.56, Y:-167.75, Z:-5.03 [[-6.78268754e-01 -7.34811605e-01 1.84460434e-03 9.05585881e+01] [ 7.34809035e-01 -6.78271262e-01 -1.94366327e-03 -1.67745956e+02] [ 2.67936844e-03 3.71058630e-05 9.99996410e-01 -5.03444585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.126559995 meters 0.013130435967176737 Centerline is valid? [True, True] Translation: X:90.52, Y:-167.70, Z:-5.03 [[-6.78928964e-01 -7.34202351e-01 1.53912668e-03 9.05196777e+01] [ 7.34200563e-01 -6.78930708e-01 -1.62074679e-03 -1.67704327e+02] [ 2.23491647e-03 2.96557365e-05 9.99997502e-01 -5.03387621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.1865599950002 meters 0.013130592147610682 Centerline is valid? [True, True] Translation: X:90.48, Y:-167.66, Z:-5.03 [[-6.79394701e-01 -7.33771398e-01 1.54124363e-03 9.04799699e+01] [ 7.33769606e-01 -6.79396449e-01 -1.62194887e-03 -1.67663231e+02] [ 2.23725514e-03 2.89742639e-05 9.99997497e-01 -5.03394765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.246559995 meters 0.012818157846281646 Centerline is valid? [True, True] Translation: X:90.44, Y:-167.62, Z:-5.03 [[-6.80414183e-01 -7.32826430e-01 1.40132193e-03 9.04404942e+01] [ 7.32824948e-01 -6.80415625e-01 -1.47385816e-03 -1.67620953e+02] [ 2.03356355e-03 2.40896768e-05 9.99997932e-01 -5.03433041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.306559995 meters 0.012631328190176497 Centerline is valid? [True, True] Translation: X:90.40, Y:-167.58, Z:-5.03 [[-6.81120637e-01 -7.32169405e-01 1.62489867e-03 9.04007932e+01] [ 7.32167413e-01 -6.81122574e-01 -1.70802610e-03 -1.67578941e+02] [ 2.35731962e-03 2.63260332e-05 9.99997221e-01 -5.03489520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.366559995 meters 0.012615236058295166 Centerline is valid? [True, True] Translation: X:90.36, Y:-167.54, Z:-5.04 [[-6.81645632e-01 -7.31678439e-01 2.42801444e-03 9.03607303e+01] [ 7.31673993e-01 -6.81649955e-01 -2.55077200e-03 -1.67537182e+02] [ 3.52140081e-03 3.77924287e-05 9.99993799e-01 -5.03560301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.426559995 meters 0.012297534432961376 Centerline is valid? [True, True] Translation: X:90.32, Y:-167.49, Z:-5.04 [[-6.83441925e-01 -7.29995516e-01 3.69897709e-03 9.03214031e+01] [ 7.29985186e-01 -6.83451933e-01 -3.88374988e-03 -1.67494072e+02] [ 5.36319304e-03 4.58809900e-05 9.99985617e-01 -5.03664590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.486559995 meters 0.012004035233360747 Centerline is valid? [True, True] Translation: X:90.28, Y:-167.45, Z:-5.04 [[-6.85788204e-01 -7.27786527e-01 4.61636645e-03 9.02836254e+01] [ 7.27770407e-01 -6.85803740e-01 -4.84407188e-03 -1.67451454e+02] [ 6.69137162e-03 3.76475342e-05 9.99977612e-01 -5.03703681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.546559995 meters 0.011813625174459308 Centerline is valid? [True, True] Translation: X:90.25, Y:-167.41, Z:-5.04 [[-6.91360101e-01 -7.22497511e-01 4.30793227e-03 9.02480115e+01] [ 7.22483386e-01 -6.91373522e-01 -4.51773937e-03 -1.67405612e+02] [ 6.24244575e-03 -1.09752461e-05 9.99980516e-01 -5.03637357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.606559995 meters 0.012219606622474495 Centerline is valid? [True, True] Translation: X:90.21, Y:-167.36, Z:-5.04 [[-6.95643721e-01 -7.18375780e-01 4.00647205e-03 9.02109031e+01] [ 7.18363509e-01 -6.95655257e-01 -4.19907581e-03 -1.67361449e+02] [ 5.80363771e-03 -4.29573970e-05 9.99983158e-01 -5.03597669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.666559995 meters 0.012977420126315286 Centerline is valid? [True, True] Translation: X:90.17, Y:-167.32, Z:-5.04 [[-6.99036357e-01 -7.15077286e-01 3.55635711e-03 9.01726972e+01] [ 7.15067586e-01 -6.99045400e-01 -3.72507693e-03 -1.67318245e+02] [ 5.14977298e-03 -6.09285062e-05 9.99986738e-01 -5.03560594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.7265599950001 meters 0.01354042903028293 Centerline is valid? [True, True] Translation: X:90.13, Y:-167.28, Z:-5.04 [[-7.01485089e-01 -7.12673858e-01 3.82658632e-03 9.01334316e+01] [ 7.12662604e-01 -7.01495521e-01 -4.00589127e-03 -1.67275194e+02] [ 5.53922715e-03 -8.30080251e-05 9.99984655e-01 -5.03610256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.786559995 meters 0.013802599140649375 Centerline is valid? [True, True] Translation: X:90.09, Y:-167.23, Z:-5.04 [[-7.01698443e-01 -7.12459480e-01 4.55900551e-03 9.00939338e+01] [ 7.12443516e-01 -7.01713246e-01 -4.77033815e-03 -1.67234670e+02] [ 6.59778719e-03 -9.93049389e-05 9.99978230e-01 -5.03693809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.846559995 meters 0.01395191504639432 Centerline is valid? [True, True] Translation: X:90.05, Y:-167.19, Z:-5.04 [[-7.01494043e-01 -7.12659613e-01 4.73101436e-03 9.00526647e+01] [ 7.12642448e-01 -7.01509990e-01 -4.94731330e-03 -1.67194840e+02] [ 6.84460422e-03 -9.89891600e-05 9.99976571e-01 -5.03798033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.906559995 meters 0.012973393170038958 Centerline is valid? [True, True] Translation: X:90.01, Y:-167.16, Z:-5.04 [[-7.00281036e-01 -7.13848277e-01 5.20643126e-03 9.00088902e+01] [ 7.13827545e-01 -7.00300384e-01 -5.44137933e-03 -1.67156116e+02] [ 7.53038508e-03 -9.40007139e-05 9.99971642e-01 -5.03808788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1200.9665599950001 meters 0.012969660219222775 Centerline is valid? [True, True] Translation: X:89.97, Y:-167.12, Z:-5.04 [[-6.98233016e-01 -7.15837493e-01 6.88036106e-03 8.99662245e+01] [ 7.15801416e-01 -6.98266908e-01 -7.18733034e-03 -1.67118723e+02] [ 9.94928898e-03 -9.34591484e-05 9.99950500e-01 -5.04078301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.026559995 meters 0.012679791946225193 Centerline is valid? [True, True] Translation: X:89.92, Y:-167.08, Z:-5.04 [[-6.97023806e-01 -7.17004515e-01 7.89561864e-03 8.99243698e+01] [ 7.16957139e-01 -6.97068518e-01 -8.24267080e-03 -1.67079786e+02] [ 1.14138194e-02 -8.45176132e-05 9.99934857e-01 -5.04088035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.086559995 meters 0.012623257270836536 Centerline is valid? [True, True] Translation: X:89.88, Y:-167.04, Z:-5.04 [[-6.96070093e-01 -7.17929435e-01 7.98448838e-03 8.98831857e+01] [ 7.17881104e-01 -6.96115883e-01 -8.33053137e-03 -1.67039282e+02] [ 1.15388629e-02 -6.67204125e-05 9.99933423e-01 -5.04016934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.146559995 meters 0.0124924288795355 Centerline is valid? [True, True] Translation: X:89.84, Y:-167.00, Z:-5.04 [[-6.95826059e-01 -7.18166525e-01 7.93328289e-03 8.98427020e+01] [ 7.18118888e-01 -6.95871280e-01 -8.27188403e-03 -1.66998853e+02] [ 1.14611339e-02 -5.87521798e-05 9.99934317e-01 -5.03899269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.2065599950001 meters 0.012130481272564312 Centerline is valid? [True, True] Translation: X:89.80, Y:-166.96, Z:-5.04 [[-6.94002608e-01 -7.19944568e-01 6.34024579e-03 8.97993820e+01] [ 7.19914237e-01 -6.94031569e-01 -6.60852057e-03 -1.66959203e+02] [ 9.15809922e-03 -2.18972982e-05 9.99958064e-01 -5.03631653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.266559995 meters 0.011947966672758962 Centerline is valid? [True, True] Translation: X:89.76, Y:-166.92, Z:-5.04 [[-6.92624640e-01 -7.21279081e-01 5.25317186e-03 8.97569663e+01] [ 7.21258321e-01 -6.92644561e-01 -5.47233479e-03 -1.66919903e+02] [ 7.58566152e-03 -1.37998802e-06 9.99971229e-01 -5.03532969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.326559995 meters 0.011964854891801074 Centerline is valid? [True, True] Translation: X:89.72, Y:-166.88, Z:-5.03 [[-6.91477100e-01 -7.22379552e-01 5.21560951e-03 8.97150533e+01] [ 7.22359144e-01 -6.91496769e-01 -5.43007263e-03 -1.66879535e+02] [ 7.52915057e-03 1.27723453e-05 9.99971656e-01 -5.03483005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.386559995 meters 0.012163766841301946 Centerline is valid? [True, True] Translation: X:89.67, Y:-166.84, Z:-5.04 [[-6.89754935e-01 -7.24023969e-01 5.23660601e-03 8.96726082e+01] [ 7.24003467e-01 -6.89774812e-01 -5.44864791e-03 -1.66841762e+02] [ 7.55703061e-03 3.30891221e-05 9.99971445e-01 -5.03599221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.4465599950001 meters 0.012233216581179499 Centerline is valid? [True, True] Translation: X:89.63, Y:-166.80, Z:-5.04 [[-6.88546090e-01 -7.25169864e-01 5.74019296e-03 8.96311383e+01] [ 7.25145301e-01 -6.88570015e-01 -5.96885046e-03 -1.66801822e+02] [ 8.28095523e-03 5.26453039e-05 9.99965711e-01 -5.03559267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.506559995 meters 0.012417459055898748 Centerline is valid? [True, True] Translation: X:89.59, Y:-166.76, Z:-5.04 [[-6.88155646e-01 -7.25536087e-01 6.26053050e-03 8.95906136e+01] [ 7.25506920e-01 -6.88184120e-01 -6.50582008e-03 -1.66761477e+02] [ 9.02860492e-03 6.50413854e-05 9.99959239e-01 -5.03564704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.566559995 meters 0.012529973339868378 Centerline is valid? [True, True] Translation: X:89.55, Y:-166.72, Z:-5.04 [[-6.88165940e-01 -7.25518289e-01 7.13110050e-03 8.95505579e+01] [ 7.25480493e-01 -6.88202882e-01 -7.40589062e-03 -1.66720715e+02] [ 1.02807530e-02 7.69926341e-05 9.99947149e-01 -5.03674225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.626559995 meters 0.01255018714378598 Centerline is valid? [True, True] Translation: X:89.51, Y:-166.68, Z:-5.04 [[-6.89639657e-01 -7.24116703e-01 7.22104465e-03 8.95121417e+01] [ 7.24077922e-01 -6.89677458e-01 -7.49445601e-03 -1.66679571e+02] [ 1.04070525e-02 6.01249308e-05 9.99945843e-01 -5.03808416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.6865599950002 meters 0.012384769694710931 Centerline is valid? [True, True] Translation: X:89.47, Y:-166.64, Z:-5.04 [[-6.91344137e-01 -7.22494541e-01 6.70241723e-03 8.94736487e+01] [ 7.22461092e-01 -6.91376624e-01 -6.95226438e-03 -1.66636447e+02] [ 9.65686766e-03 3.58284520e-05 9.99953371e-01 -5.03770234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.746559995 meters 0.012217604929333112 Centerline is valid? [True, True] Translation: X:89.44, Y:-166.59, Z:-5.04 [[-6.93926693e-01 -7.20015768e-01 6.56047268e-03 8.94364941e+01] [ 7.19983646e-01 -6.93957704e-01 -6.80115827e-03 -1.66591268e+02] [ 9.44963175e-03 3.92777342e-06 9.99955351e-01 -5.03656184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.806559995 meters 0.012243406029372628 Centerline is valid? [True, True] Translation: X:89.40, Y:-166.55, Z:-5.04 [[-6.94655766e-01 -7.19313966e-01 6.38634715e-03 8.93983168e+01] [ 7.19283535e-01 -6.94685122e-01 -6.61643733e-03 -1.66548295e+02] [ 9.19579613e-03 -2.55198801e-06 9.99957718e-01 -5.03635127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.866559995 meters 0.012240819763331542 Centerline is valid? [True, True] Translation: X:89.36, Y:-166.51, Z:-5.04 [[-6.94102628e-01 -7.19849488e-01 6.18508415e-03 8.93583273e+01] [ 7.19820999e-01 -6.94130185e-01 -6.40428204e-03 -1.66505679e+02] [ 8.90337275e-03 6.92445728e-06 9.99960364e-01 -5.03639830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.926559995 meters 0.012282700651605662 Centerline is valid? [True, True] Translation: X:89.32, Y:-166.46, Z:-5.04 [[-6.91301946e-01 -7.22538689e-01 6.28182650e-03 8.93170074e+01] [ 7.22509446e-01 -6.91330486e-01 -6.50076174e-03 -1.66464376e+02] [ 9.03987003e-03 4.46897431e-05 9.99959139e-01 -5.03738271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1201.986559995 meters 0.01257140929270135 Centerline is valid? [True, True] Translation: X:89.28, Y:-166.42, Z:-5.04 [[-6.88734865e-01 -7.24984168e-01 6.49936687e-03 8.92756647e+01] [ 7.24953008e-01 -6.88765526e-01 -6.72205350e-03 -1.66423060e+02] [ 9.34992221e-03 8.20229517e-05 9.99956285e-01 -5.03786354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.046559995 meters 0.013398056952055622 Centerline is valid? [True, True] Translation: X:89.23, Y:-166.38, Z:-5.04 [[-6.86102328e-01 -7.27477233e-01 6.36176032e-03 8.92349132e+01] [ 7.27447521e-01 -6.86131811e-01 -6.57581343e-03 -1.66383260e+02] [ 9.14876069e-03 1.16165878e-04 9.99958143e-01 -5.03895701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.106559995 meters 0.014363699133102347 Centerline is valid? [True, True] Translation: X:89.20, Y:-166.34, Z:-5.04 [[-6.82655975e-01 -7.30717409e-01 5.73482246e-03 8.91953432e+01] [ 7.30693408e-01 -6.82680048e-01 -5.92426464e-03 -1.66341239e+02] [ 8.24401218e-03 1.46162311e-04 9.99966007e-01 -5.03791755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.166559995 meters 0.014746948868037417 Centerline is valid? [True, True] Translation: X:89.16, Y:-166.30, Z:-5.04 [[-6.81196215e-01 -7.32083573e-01 5.03580104e-03 8.91555268e+01] [ 7.32065125e-01 -6.81214813e-01 -5.19921773e-03 -1.66298355e+02] [ 7.23672416e-03 1.44846880e-04 9.99973804e-01 -5.03705872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.2265599950001 meters 0.015303335128256048 Centerline is valid? [True, True] Translation: X:89.12, Y:-166.25, Z:-5.04 [[-6.79208919e-01 -7.33931949e-01 4.37473105e-03 8.91164731e+01] [ 7.33918081e-01 -6.79222992e-01 -4.51411267e-03 -1.66254876e+02] [ 6.28446943e-03 1.44668626e-04 9.99980242e-01 -5.03673643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.286559995 meters 0.016317739392952658 Centerline is valid? [True, True] Translation: X:89.08, Y:-166.21, Z:-5.04 [[-6.77873942e-01 -7.35168883e-01 3.69206674e-03 8.90756862e+01] [ 7.35159035e-01 -6.77883984e-01 -3.80755275e-03 -1.66213430e+02] [ 5.30198721e-03 1.33215426e-04 9.99985936e-01 -5.03722611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.346559995 meters 0.016798782408653505 Centerline is valid? [True, True] Translation: X:89.04, Y:-166.17, Z:-5.04 [[-6.78198307e-01 -7.34870871e-01 3.44366220e-03 8.90379971e+01] [ 7.34862312e-01 -6.78207039e-01 -3.54903987e-03 -1.66172049e+02] [ 4.94360197e-03 1.23664737e-04 9.99987773e-01 -5.03729145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.406559995 meters 0.015351529058600849 Centerline is valid? [True, True] Translation: X:89.00, Y:-166.13, Z:-5.04 [[-6.79991432e-01 -7.33213277e-01 3.15332213e-03 8.89995069e+01] [ 7.33206090e-01 -6.79998735e-01 -3.24796954e-03 -1.66127937e+02] [ 4.52570945e-03 1.03443534e-04 9.99989754e-01 -5.03743630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.4665599950001 meters 0.015298862289264286 Centerline is valid? [True, True] Translation: X:88.96, Y:-166.09, Z:-5.04 [[-6.80955831e-01 -7.32316080e-01 3.50937565e-03 8.89597774e+01] [ 7.32307178e-01 -6.80964865e-01 -3.61254643e-03 -1.66086005e+02] [ 5.03528735e-03 1.09956425e-04 9.99987317e-01 -5.03798149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.526559995 meters 0.015308417109636074 Centerline is valid? [True, True] Translation: X:88.92, Y:-166.05, Z:-5.04 [[-6.80240906e-01 -7.32978147e-01 3.91743828e-03 8.89184138e+01] [ 7.32967078e-01 -6.80252173e-01 -4.03029808e-03 -1.66045429e+02] [ 5.61896632e-03 1.29779673e-04 9.99984205e-01 -5.03861795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.586559995 meters 0.01554638242564488 Centerline is valid? [True, True] Translation: X:88.88, Y:-166.00, Z:-5.04 [[-6.78936215e-01 -7.34184562e-01 4.31799088e-03 8.88766550e+01] [ 7.34171153e-01 -6.78949928e-01 -4.43997537e-03 -1.66004974e+02] [ 6.19146097e-03 1.55684271e-04 9.99980821e-01 -5.03965649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.646559995 meters 0.017808935198527744 Centerline is valid? [True, True] Translation: X:88.83, Y:-165.97, Z:-5.04 [[-6.77845363e-01 -7.35184947e-01 5.36255409e-03 8.88330841e+01] [ 7.35164323e-01 -6.77866543e-01 -5.51070337e-03 -1.65968203e+02] [ 7.68648217e-03 2.06953718e-04 9.99970437e-01 -5.04266487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.7065599950001 meters 0.017515490050947935 Centerline is valid? [True, True] Translation: X:88.79, Y:-165.93, Z:-5.04 [[-6.78822586e-01 -7.34275782e-01 6.24281842e-03 8.87932899e+01] [ 7.34247828e-01 -6.78851252e-01 -6.41136859e-03 -1.65926566e+02] [ 8.94565778e-03 2.31594061e-04 9.99959960e-01 -5.04360256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.766559995 meters 0.01555471144403894 Centerline is valid? [True, True] Translation: X:88.76, Y:-165.88, Z:-5.04 [[-6.80913543e-01 -7.32335306e-01 6.46117985e-03 8.87553199e+01] [ 7.32305296e-01 -6.80944163e-01 -6.63329156e-03 -1.65881765e+02] [ 9.25749632e-03 2.14858166e-04 9.99957125e-01 -5.04286150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.826559995 meters 0.01433592377602387 Centerline is valid? [True, True] Translation: X:88.72, Y:-165.84, Z:-5.04 [[-6.84765375e-01 -7.28745805e-01 5.09239999e-03 8.87176375e+01] [ 7.28727086e-01 -6.84784297e-01 -5.22497275e-03 -1.65838121e+02] [ 7.29487253e-03 1.33089384e-04 9.99973383e-01 -5.04143658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.886559995 meters 0.013684886966987954 Centerline is valid? [True, True] Translation: X:88.68, Y:-165.79, Z:-5.04 [[-6.87244893e-01 -7.26415390e-01 3.89075363e-03 8.86789532e+01] [ 7.26404438e-01 -6.87255901e-01 -3.98980792e-03 -1.65794985e+02] [ 5.57220127e-03 8.42855852e-05 9.99984472e-01 -5.04033018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1202.9465599950001 meters 0.013000263525382402 Centerline is valid? [True, True] Translation: X:88.64, Y:-165.75, Z:-5.04 [[-6.89817041e-01 -7.23975876e-01 3.37370122e-03 8.86411530e+01] [ 7.23967621e-01 -6.89825288e-01 -3.45762053e-03 -1.65751042e+02] [ 4.83049827e-03 5.73248894e-05 9.99988332e-01 -5.03950922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.006559995 meters 0.012686758286391665 Centerline is valid? [True, True] Translation: X:88.60, Y:-165.71, Z:-5.04 [[-6.92377823e-01 -7.21526081e-01 3.61449774e-03 8.86027930e+01] [ 7.21516585e-01 -6.92387257e-01 -3.70206694e-03 -1.65708339e+02] [ 5.17377002e-03 4.46910088e-05 9.99986615e-01 -5.04058657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.066559995 meters 0.012616725407856572 Centerline is valid? [True, True] Translation: X:88.56, Y:-165.67, Z:-5.04 [[-6.92927293e-01 -7.20996015e-01 4.06368729e-03 8.85627271e+01] [ 7.20984017e-01 -6.92939207e-01 -4.15978019e-03 -1.65666683e+02] [ 5.81507318e-03 4.74283616e-05 9.99983091e-01 -5.04083343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.126559995 meters 0.012803029515103044 Centerline is valid? [True, True] Translation: X:88.52, Y:-165.63, Z:-5.04 [[-6.92549811e-01 -7.21355871e-01 4.52396830e-03 8.85214052e+01] [ 7.21341025e-01 -6.92564585e-01 -4.62831998e-03 -1.65626298e+02] [ 6.47180602e-03 5.79818040e-05 9.99979056e-01 -5.04152347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.1865599950002 meters 0.01297285438504698 Centerline is valid? [True, True] Translation: X:88.48, Y:-165.59, Z:-5.04 [[-6.91904541e-01 -7.21973089e-01 4.79215296e-03 8.84807757e+01] [ 7.21956468e-01 -6.91921132e-01 -4.89943577e-03 -1.65587552e+02] [ 6.85305268e-03 6.97839671e-05 9.99976515e-01 -5.04167180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.246559995 meters 0.013182652587031825 Centerline is valid? [True, True] Translation: X:88.44, Y:-165.55, Z:-5.04 [[-6.91722698e-01 -7.22144018e-01 5.26559735e-03 8.84405615e+01] [ 7.22123975e-01 -6.91742735e-01 -5.38090330e-03 -1.65548845e+02] [ 7.52822584e-03 8.03211380e-05 9.99971659e-01 -5.04217767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.306559995 meters 0.012712278707747916 Centerline is valid? [True, True] Translation: X:88.40, Y:-165.51, Z:-5.04 [[-6.93329529e-01 -7.20594605e-01 6.13017011e-03 8.84007184e+01] [ 7.20567410e-01 -6.93356625e-01 -6.26085558e-03 -1.65507212e+02] [ 8.76193281e-03 7.63647467e-05 9.99961611e-01 -5.04233488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.366559995 meters 0.012562534172627277 Centerline is valid? [True, True] Translation: X:88.36, Y:-165.47, Z:-5.04 [[-6.95963349e-01 -7.18050927e-01 6.15496566e-03 8.83618936e+01] [ 7.18023448e-01 -6.95990563e-01 -6.28201305e-03 -1.65466583e+02] [ 8.79460331e-03 4.73588202e-05 9.99961326e-01 -5.04278083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.426559995 meters 0.012213872202360245 Centerline is valid? [True, True] Translation: X:88.32, Y:-165.42, Z:-5.04 [[-6.99184571e-01 -7.14917223e-01 5.85669962e-03 8.83232309e+01] [ 7.14892263e-01 -6.99209099e-01 -5.97390441e-03 -1.65424672e+02] [ 8.36590482e-03 1.00474550e-05 9.99965005e-01 -5.04260176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.486559995 meters 0.012371079109703786 Centerline is valid? [True, True] Translation: X:88.28, Y:-165.38, Z:-5.04 [[-7.03492658e-01 -7.10680023e-01 5.65542663e-03 8.82839010e+01] [ 7.10656639e-01 -7.03515389e-01 -5.76528103e-03 -1.65382109e+02] [ 8.07594973e-03 -3.67664023e-05 9.99967388e-01 -5.04116311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.546559995 meters 0.012396577999278924 Centerline is valid? [True, True] Translation: X:88.24, Y:-165.34, Z:-5.04 [[-7.05631321e-01 -7.08558323e-01 5.43523228e-03 8.82434198e+01] [ 7.08536687e-01 -7.05652252e-01 -5.53738036e-03 -1.65341129e+02] [ 7.75894083e-03 -5.62875468e-05 9.99969897e-01 -5.04068241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.606559995 meters 0.012685965103414507 Centerline is valid? [True, True] Translation: X:88.20, Y:-165.30, Z:-5.04 [[-7.06333893e-01 -7.07839549e-01 7.45682167e-03 8.82027169e+01] [ 7.07798835e-01 -7.06373248e-01 -7.59234108e-03 -1.65300820e+02] [ 1.06414586e-02 -8.47981361e-05 9.99943375e-01 -5.04303655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.666559995 meters 0.012663313047361369 Centerline is valid? [True, True] Translation: X:88.16, Y:-165.26, Z:-5.04 [[-7.06025713e-01 -7.08135104e-01 8.50691950e-03 8.81611355e+01] [ 7.08082203e-01 -7.06076956e-01 -8.65603791e-03 -1.65260814e+02] [ 1.21361841e-02 -8.77870407e-05 9.99926350e-01 -5.04433076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.7265599950001 meters 0.012716864914636137 Centerline is valid? [True, True] Translation: X:88.12, Y:-165.22, Z:-5.05 [[-7.05464729e-01 -7.08685500e-01 9.18573973e-03 8.81201074e+01] [ 7.08623947e-01 -7.05524525e-01 -9.34060300e-03 -1.65222340e+02] [ 1.31003146e-02 -8.02308210e-05 9.99914184e-01 -5.04618927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.786559995 meters 0.012525047111300421 Centerline is valid? [True, True] Translation: X:88.08, Y:-165.18, Z:-5.05 [[-7.04755535e-01 -7.09394553e-01 8.88845300e-03 8.80774777e+01] [ 7.09337046e-01 -7.04811581e-01 -9.03272705e-03 -1.65183745e+02] [ 1.26724520e-02 -6.09553847e-05 9.99919699e-01 -5.04691856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.846559995 meters 0.012259561620550028 Centerline is valid? [True, True] Translation: X:88.04, Y:-165.14, Z:-5.05 [[-7.04253181e-01 -7.09894850e-01 8.76124195e-03 8.80362328e+01] [ 7.09839079e-01 -7.04307674e-01 -8.89841733e-03 -1.65143499e+02] [ 1.24875506e-02 -4.76667960e-05 9.99922026e-01 -5.04537064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.906559995 meters 0.012052238738439674 Centerline is valid? [True, True] Translation: X:88.00, Y:-165.10, Z:-5.04 [[-7.03368270e-01 -7.10784203e-01 7.67425113e-03 8.79952005e+01] [ 7.10741514e-01 -7.03410134e-01 -7.79000631e-03 -1.65102704e+02] [ 1.09351594e-02 -2.48343906e-05 9.99940209e-01 -5.04381067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1203.9665599950001 meters 0.01218359034242864 Centerline is valid? [True, True] Translation: X:87.95, Y:-165.07, Z:-5.04 [[-7.00195524e-01 -7.13916889e-01 6.99318883e-03 8.79529667e+01] [ 7.13881630e-01 -7.00230445e-01 -7.09521376e-03 -1.65065202e+02] [ 9.96223665e-03 2.42721279e-05 9.99950375e-01 -5.04380768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.026559995 meters 0.01238158904292672 Centerline is valid? [True, True] Translation: X:87.91, Y:-165.03, Z:-5.04 [[-6.97069432e-01 -7.16972012e-01 6.73357924e-03 8.79098053e+01] [ 7.16939507e-01 -6.97101950e-01 -6.82751291e-03 -1.65027077e+02] [ 9.58912689e-03 6.83184362e-05 9.99954021e-01 -5.04312851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.086559995 meters 0.013221943862025104 Centerline is valid? [True, True] Translation: X:87.87, Y:-164.99, Z:-5.04 [[-6.93620557e-01 -7.20308919e-01 6.75153664e-03 8.78670142e+01] [ 7.20276425e-01 -6.93653406e-01 -6.84279277e-03 -1.64989918e+02] [ 9.61215105e-03 1.16670943e-04 9.99953795e-01 -5.04391142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.146559995 meters 0.014069173812558523 Centerline is valid? [True, True] Translation: X:87.82, Y:-164.95, Z:-5.05 [[-6.89386825e-01 -7.24348064e-01 8.10478414e-03 8.78239844e+01] [ 7.24301573e-01 -6.89434433e-01 -8.20933803e-03 -1.64951438e+02] [ 1.15341354e-02 2.10898420e-04 9.99933457e-01 -5.04503996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.2065599950001 meters 0.014996982054659692 Centerline is valid? [True, True] Translation: X:87.78, Y:-164.91, Z:-5.05 [[-6.86986474e-01 -7.26617343e-01 8.76482592e-03 8.77817198e+01] [ 7.26563218e-01 -6.87042330e-01 -8.87285536e-03 -1.64911665e+02] [ 1.24689770e-02 2.72668514e-04 9.99922222e-01 -5.04576844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.266559995 meters 0.015437726343651875 Centerline is valid? [True, True] Translation: X:87.74, Y:-164.87, Z:-5.05 [[-6.87388734e-01 -7.26241724e-01 8.34787988e-03 8.77420471e+01] [ 7.26192665e-01 -6.87439374e-01 -8.44515626e-03 -1.64871562e+02] [ 1.18718862e-02 2.57063864e-04 9.99929494e-01 -5.04523336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.326559995 meters 0.01495572805758375 Centerline is valid? [True, True] Translation: X:87.70, Y:-164.83, Z:-5.04 [[-6.89292123e-01 -7.24444896e-01 7.48075911e-03 8.77026589e+01] [ 7.24405435e-01 -6.89332685e-01 -7.56404878e-03 -1.64828005e+02] [ 1.06364683e-02 2.05263318e-04 9.99943410e-01 -5.04411710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.386559995 meters 0.012695225313721656 Centerline is valid? [True, True] Translation: X:87.67, Y:-164.78, Z:-5.04 [[-6.94518492e-01 -7.19450246e-01 5.95043346e-03 8.76678100e+01] [ 7.19425123e-01 -6.94543974e-01 -6.01331382e-03 -1.64780617e+02] [ 8.45911781e-03 1.04533680e-04 9.99964216e-01 -5.04152615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.4465599950001 meters 0.01215724029168395 Centerline is valid? [True, True] Translation: X:87.63, Y:-164.74, Z:-5.04 [[-6.98388356e-01 -7.15695765e-01 5.76859834e-03 8.76306686e+01] [ 7.15672052e-01 -6.98412177e-01 -5.82624526e-03 -1.64735794e+02] [ 8.19867838e-03 5.94427594e-05 9.99966389e-01 -5.04103975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.506559995 meters 0.012002561380963391 Centerline is valid? [True, True] Translation: X:87.59, Y:-164.69, Z:-5.04 [[-7.01546072e-01 -7.12602600e-01 5.53569253e-03 8.75934175e+01] [ 7.12580694e-01 -7.01567912e-01 -5.58746389e-03 -1.64692112e+02] [ 7.86530554e-03 2.47642819e-05 9.99969068e-01 -5.04083845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.566559995 meters 0.011856129865702749 Centerline is valid? [True, True] Translation: X:87.55, Y:-164.65, Z:-5.04 [[-7.02840211e-01 -7.11326224e-01 5.53549262e-03 8.75549916e+01] [ 7.11304308e-01 -7.02862009e-01 -5.58373143e-03 -1.64649276e+02] [ 7.86254205e-03 1.29487756e-05 9.99969090e-01 -5.04068870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.626559995 meters 0.011951257759662375 Centerline is valid? [True, True] Translation: X:87.51, Y:-164.61, Z:-5.04 [[-7.01991830e-01 -7.12163061e-01 5.58975207e-03 8.75137676e+01] [ 7.12140768e-01 -7.02014084e-01 -5.63495168e-03 -1.64609508e+02] [ 7.93708911e-03 2.50002911e-05 9.99968501e-01 -5.04088715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.6865599950002 meters 0.012014854354217713 Centerline is valid? [True, True] Translation: X:87.47, Y:-164.57, Z:-5.04 [[-7.00906382e-01 -7.13228694e-01 5.92226948e-03 8.74721710e+01] [ 7.13203737e-01 -7.00931400e-01 -5.96674728e-03 -1.64569358e+02] [ 8.40676001e-03 4.16534684e-05 9.99964662e-01 -5.04082343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.746559995 meters 0.012171753006305255 Centerline is valid? [True, True] Translation: X:87.43, Y:-164.53, Z:-5.04 [[-6.99766155e-01 -7.14340512e-01 6.70527560e-03 8.74309544e+01] [ 7.14308607e-01 -6.99798277e-01 -6.75175036e-03 -1.64528881e+02] [ 9.51538912e-03 6.49896822e-05 9.99954726e-01 -5.04138445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.806559995 meters 0.01248966602129967 Centerline is valid? [True, True] Translation: X:87.39, Y:-164.49, Z:-5.04 [[-6.99950425e-01 -7.14158715e-01 6.83616525e-03 8.73908560e+01] [ 7.14125570e-01 -6.99983804e-01 -6.88068477e-03 -1.64488788e+02] [ 9.69910595e-03 6.57421791e-05 9.99952960e-01 -5.04236464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.866559995 meters 0.012466129291596 Centerline is valid? [True, True] Translation: X:87.35, Y:-164.45, Z:-5.04 [[-7.00895079e-01 -7.13235586e-01 6.40990724e-03 8.73515521e+01] [ 7.13206444e-01 -7.00924387e-01 -6.44762811e-03 -1.64447879e+02] [ 9.09153811e-03 5.24763340e-05 9.99958670e-01 -5.04144812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.926559995 meters 0.012365307976414136 Centerline is valid? [True, True] Translation: X:87.31, Y:-164.41, Z:-5.04 [[-7.02057360e-01 -7.12094147e-01 6.11462770e-03 8.73121487e+01] [ 7.12067616e-01 -7.02083987e-01 -6.14705361e-03 -1.64406824e+02] [ 8.67026309e-03 3.84441327e-05 9.99962412e-01 -5.04047275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1204.986559995 meters 0.012091895974512294 Centerline is valid? [True, True] Translation: X:87.27, Y:-164.36, Z:-5.04 [[-7.03804987e-01 -7.10370514e-01 5.68096971e-03 8.72729149e+01] [ 7.10347583e-01 -7.03827914e-01 -5.70782758e-03 -1.64363994e+02] [ 8.05309747e-03 1.82655882e-05 9.99967573e-01 -5.03797114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.046559995 meters 0.011986515428905666 Centerline is valid? [True, True] Translation: X:87.23, Y:-164.32, Z:-5.04 [[-7.06241765e-01 -7.07952955e-01 5.01834958e-03 8.72337064e+01] [ 7.07935023e-01 -7.06259594e-01 -5.03886785e-03 -1.64322309e+02] [ 7.11153892e-03 -5.99349489e-06 9.99974713e-01 -5.03731244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.106559995 meters 0.01221783887562079 Centerline is valid? [True, True] Translation: X:87.20, Y:-164.28, Z:-5.04 [[-7.08270837e-01 -7.05924943e-01 4.73256978e-03 8.71956845e+01] [ 7.05908970e-01 -7.08286647e-01 -4.74878314e-03 -1.64281388e+02] [ 6.70430045e-03 -2.26611496e-05 9.99977526e-01 -5.03783595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.166559995 meters 0.01228481565740974 Centerline is valid? [True, True] Translation: X:87.15, Y:-164.24, Z:-5.04 [[-7.09650877e-01 -7.04541152e-01 4.17106760e-03 8.71549613e+01] [ 7.04528737e-01 -7.09663134e-01 -4.18271003e-03 -1.64240825e+02] [ 5.90694426e-03 -2.96268521e-05 9.99982553e-01 -5.03540730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.2265599950001 meters 0.01215394450325955 Centerline is valid? [True, True] Translation: X:87.11, Y:-164.20, Z:-5.04 [[-7.09351785e-01 -7.04841225e-01 4.34659575e-03 8.71128818e+01] [ 7.04827763e-01 -7.09365102e-01 -4.35625676e-03 -1.64201415e+02] [ 6.15379268e-03 -2.65171495e-05 9.99981065e-01 -5.03512809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.286559995 meters 0.012158670523301092 Centerline is valid? [True, True] Translation: X:87.07, Y:-164.16, Z:-5.04 [[-7.08546421e-01 -7.05644225e-01 5.31002854e-03 8.70695472e+01] [ 7.05624180e-01 -7.08566318e-01 -5.31878698e-03 -1.64162092e+02] [ 7.51567868e-03 -2.17229435e-05 9.99971757e-01 -5.03569070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.346559995 meters 0.012188156285020086 Centerline is valid? [True, True] Translation: X:87.03, Y:-164.12, Z:-5.04 [[-7.06777596e-01 -7.07404158e-01 6.69231431e-03 8.70253675e+01] [ 7.07372433e-01 -7.06809279e-01 -6.69955817e-03 -1.64124614e+02] [ 9.46948516e-03 -1.13895706e-06 9.99955163e-01 -5.03732881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.406559995 meters 0.012102770678457142 Centerline is valid? [True, True] Translation: X:86.98, Y:-164.09, Z:-5.04 [[-7.05325817e-01 -7.08851420e-01 6.71989157e-03 8.69813630e+01] [ 7.08819534e-01 -7.05357827e-01 -6.72335086e-03 -1.64086235e+02] [ 9.50578492e-03 2.10374690e-05 9.99954819e-01 -5.03755651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.4665599950001 meters 0.01229912633405536 Centerline is valid? [True, True] Translation: X:86.94, Y:-164.05, Z:-5.04 [[-7.03783259e-01 -7.10380653e-01 6.96081075e-03 8.69377307e+01] [ 7.10346558e-01 -7.03817680e-01 -6.95999412e-03 -1.64048882e+02] [ 9.84338683e-03 4.62606187e-05 9.99951552e-01 -5.03822427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.526559995 meters 0.01261478979258944 Centerline is valid? [True, True] Translation: X:86.47, Y:-164.50, Z:-4.00 [[-7.60398150e-01 6.49400796e-01 8.55919522e-03 8.64707815e+01] [ 6.49358355e-01 7.60446315e-01 -7.42484219e-03 -1.64499131e+02] [-1.13305069e-02 -8.78513322e-05 -9.99935804e-01 -4.00259415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.586559995 meters 0.012983464783937826 Centerline is valid? [True, True] Translation: X:86.90, Y:-164.02, Z:-5.04 [[-7.03219087e-01 -7.10925285e-01 8.25566076e-03 8.68965775e+01] [ 7.10878098e-01 -7.03267537e-01 -8.19161461e-03 -1.64021751e+02] [ 1.16295642e-02 1.08268670e-04 9.99932369e-01 -5.04002557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.646559995 meters 0.012865039038574043 Centerline is valid? [True, True] Translation: X:86.45, Y:-164.48, Z:-4.00 [[-7.64363832e-01 6.44729827e-01 8.44882744e-03 8.64463764e+01] [ 6.44688758e-01 7.64410516e-01 -7.27803399e-03 -1.64475997e+02] [-1.11507381e-02 -1.16201885e-04 -9.99937822e-01 -4.00322832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.7065599950001 meters 0.013061352159341445 Centerline is valid? [True, True] Translation: X:86.46, Y:-164.45, Z:-4.00 [[-8.08957787e-01 5.87817194e-01 7.63184538e-03 8.64630403e+01] [ 5.87789707e-01 8.08993778e-01 -5.68570997e-03 -1.64450720e+02] [-9.51627352e-03 -1.13579201e-04 -9.99954713e-01 -4.00386435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.766559995 meters 0.0132429088390385 Centerline is valid? [True, True] Translation: X:86.47, Y:-164.42, Z:-4.00 [[-8.48702935e-01 5.28828123e-01 6.64419090e-03 8.64720905e+01] [ 5.28811021e-01 8.48728936e-01 -4.25401863e-03 -1.64423079e+02] [-7.88876176e-03 -9.68767220e-05 -9.99968879e-01 -4.00493855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.826559995 meters 0.013063211832319161 Centerline is valid? [True, True] Translation: X:86.49, Y:-164.40, Z:-4.01 [[-8.84010270e-01 4.67419059e-01 6.72802834e-03 8.64875095e+01] [ 4.67404712e-01 8.84035867e-01 -3.66353045e-03 -1.64401803e+02] [-7.66022233e-03 -9.38863956e-05 -9.99970656e-01 -4.00622761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.886559995 meters 0.013246784726046701 Centerline is valid? [True, True] Translation: X:86.50, Y:-164.38, Z:-4.01 [[-9.14681164e-01 4.04100449e-01 7.82268489e-03 8.65018198e+01] [ 4.04084726e-01 9.14714609e-01 -3.56622830e-03 -1.64378405e+02] [-8.59663861e-03 -1.00934380e-04 -9.99963043e-01 -4.00500301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1205.9465599950001 meters 0.013156958069122579 Centerline is valid? [True, True] Translation: X:86.51, Y:-164.35, Z:-4.00 [[-9.40903403e-01 3.38570622e-01 8.40954128e-03 8.65063813e+01] [ 3.38556123e-01 9.40940978e-01 -3.13501091e-03 -1.64350673e+02] [-8.97430459e-03 -1.02640743e-04 -9.99959725e-01 -4.00446440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.006559995 meters 0.012913524859294109 Centerline is valid? [True, True] Translation: X:86.52, Y:-164.33, Z:-4.00 [[-9.62020783e-01 2.72824763e-01 9.09186699e-03 8.65169986e+01] [ 2.72811685e-01 9.62063740e-01 -2.67288871e-03 -1.64327523e+02] [-9.47618580e-03 -9.10069358e-05 -9.99955096e-01 -4.00399992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.066559995 meters 0.012755523668535641 Centerline is valid? [True, True] Translation: X:86.70, Y:-163.72, Z:-5.04 [[-9.35568806e-01 -3.53024981e-01 9.18543564e-03 8.67008603e+01] [ 3.53009140e-01 -9.35613889e-01 -3.34619532e-03 -1.63721140e+02] [ 9.77531171e-03 1.11946772e-04 9.99952214e-01 -5.03765412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.126559995 meters 0.012420298699923539 Centerline is valid? [True, True] Translation: X:86.47, Y:-164.32, Z:-4.00 [[-9.61647303e-01 2.74129860e-01 9.34263705e-03 8.64737893e+01] [ 2.74116471e-01 9.61692684e-01 -2.70963185e-03 -1.64321228e+02] [-9.72753670e-03 -4.47394565e-05 -9.99952685e-01 -4.00453152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.1865599950002 meters 0.01238130095587269 Centerline is valid? [True, True] Translation: X:86.48, Y:-164.30, Z:-4.00 [[-9.77478717e-01 2.10828364e-01 9.31442356e-03 8.64825985e+01] [ 2.10818890e-01 9.77523095e-01 -1.99863548e-03 -1.64300339e+02] [-9.52643319e-03 1.00327952e-05 -9.99954623e-01 -4.00407486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.246559995 meters 0.01263328621654666 Centerline is valid? [True, True] Translation: X:86.49, Y:-164.28, Z:-4.00 [[-9.89469654e-01 1.44420286e-01 9.62205814e-03 8.64860454e+01] [ 1.44413892e-01 9.89516437e-01 -1.35970550e-03 -1.64277335e+02] [-9.71755375e-03 4.41715355e-05 -9.99952783e-01 -4.00490024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.306559995 meters 0.01284946481617564 Centerline is valid? [True, True] Translation: X:86.58, Y:-163.62, Z:-5.04 [[-9.80087336e-01 -1.98342821e-01 9.43081394e-03 8.65827496e+01] [ 1.98333158e-01 -9.80132707e-01 -1.95838930e-03 -1.63623047e+02] [ 9.63188166e-03 -4.89494424e-05 9.99953611e-01 -5.03567692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.366559995 meters 0.012900745911311498 Centerline is valid? [True, True] Translation: X:86.44, Y:-164.27, Z:-4.01 [[-9.89450980e-01 1.44513548e-01 1.01288104e-02 8.64378374e+01] [ 1.44506875e-01 9.89502818e-01 -1.39146528e-03 -1.64273918e+02] [-1.02235721e-02 8.68960575e-05 -9.99947734e-01 -4.00632748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.426559995 meters 0.012691741794161153 Centerline is valid? [True, True] Translation: X:86.52, Y:-163.62, Z:-5.04 [[-9.80481621e-01 -1.96331755e-01 1.04705720e-02 8.65236745e+01] [ 1.96319906e-01 -9.80537525e-01 -2.15782928e-03 -1.63616166e+02] [ 1.06904392e-02 -6.01302423e-05 9.99942854e-01 -5.03556390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.486559995 meters 0.012554962112058546 Centerline is valid? [True, True] Translation: X:86.38, Y:-164.26, Z:-4.00 [[-9.90773159e-01 1.35065895e-01 1.12139071e-02 8.63800833e+01] [ 1.35057611e-01 9.90836618e-01 -1.49619214e-03 -1.64263853e+02] [-1.13132344e-02 3.21364996e-05 -9.99936003e-01 -4.00498379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.546559995 meters 0.012476119833866015 Centerline is valid? [True, True] Translation: X:86.38, Y:-164.23, Z:-4.00 [[-9.98163184e-01 5.95554324e-02 1.11089401e-02 8.63775814e+01] [ 5.95514947e-02 9.98225000e-01 -6.85202488e-04 -1.64233182e+02] [-1.11300292e-02 -2.23899124e-05 -9.99938059e-01 -4.00484507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.606559995 meters 0.01299675362871781 Centerline is valid? [True, True] Translation: X:86.42, Y:-163.59, Z:-5.03 [[-9.90234364e-01 -1.39148545e-01 8.57824981e-03 8.64160604e+01] [ 1.39141917e-01 -9.90271507e-01 -1.36759163e-03 -1.63587648e+02] [ 8.68509474e-03 -1.60642103e-04 9.99962271e-01 -5.03482424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.666559995 meters 0.01384446787051149 Centerline is valid? [True, True] Translation: X:86.32, Y:-164.22, Z:-4.01 [[-9.99092115e-01 4.18760221e-02 7.83229222e-03 8.63201211e+01] [ 4.18737743e-02 9.99122807e-01 -4.50835938e-04 -1.64220850e+02] [-7.84430100e-03 -1.22458994e-04 -9.99969226e-01 -4.00657898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.7265599950001 meters 0.01507321716635666 Centerline is valid? [True, True] Translation: X:86.36, Y:-163.59, Z:-5.04 [[-9.89610415e-01 -1.43541569e-01 8.18804396e-03 8.63578159e+01] [ 1.43537961e-01 -9.89644276e-01 -1.02959383e-03 -1.63590634e+02] [ 8.25104035e-03 1.56398358e-04 9.99965947e-01 -5.03597611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.786559995 meters 0.015153133142842126 Centerline is valid? [True, True] Translation: X:86.26, Y:-164.22, Z:-4.00 [[-9.99450607e-01 3.18563287e-02 9.14651779e-03 8.62587961e+01] [ 3.18531746e-02 9.99492439e-01 -4.90347688e-04 -1.64215658e+02] [-9.15749605e-03 -1.98732667e-04 -9.99958050e-01 -4.00495501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.846559995 meters 0.01613407694324976 Centerline is valid? [True, True] Translation: X:86.30, Y:-163.59, Z:-5.04 [[-9.89718937e-01 -1.42703051e-01 9.60548737e-03 8.63010163e+01] [ 1.42698711e-01 -9.89765518e-01 -1.13918229e-03 -1.63589990e+02] [ 9.66974497e-03 2.43220383e-04 9.99953217e-01 -5.03835264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.906559995 meters 0.01633696627881084 Centerline is valid? [True, True] Translation: X:86.21, Y:-164.21, Z:-4.00 [[-9.99600434e-01 2.62349938e-02 1.05212702e-02 8.62065540e+01] [ 2.62309473e-02 9.99655773e-01 -5.22433747e-04 -1.64211761e+02] [-1.05313546e-02 -2.46242115e-04 -9.99944514e-01 -4.00218810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1206.9665599950001 meters 0.016185217025770218 Centerline is valid? [True, True] Translation: X:86.25, Y:-163.59, Z:-5.04 [[-9.90293577e-01 -1.38623681e-01 1.01047783e-02 8.62451903e+01] [ 1.38618679e-01 -9.90345106e-01 -1.19714724e-03 -1.63585653e+02] [ 1.01731707e-02 2.15183799e-04 9.99948229e-01 -5.03941291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.026559995 meters 0.014863782838084313 Centerline is valid? [True, True] Translation: X:86.16, Y:-164.22, Z:-4.00 [[-9.99626194e-01 2.58880606e-02 8.79094649e-03 8.61621373e+01] [ 2.58855359e-02 9.99664833e-01 -4.00866760e-04 -1.64217599e+02] [-8.79837772e-03 -1.73158553e-04 -9.99961279e-01 -4.00429443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.086559995 meters 0.013567543484443109 Centerline is valid? [True, True] Translation: X:86.16, Y:-164.20, Z:-4.00 [[-9.99179193e-01 -3.96735558e-02 8.18224934e-03 8.61635611e+01] [-3.96731736e-02 9.99212688e-01 2.09080426e-04 -1.64197584e+02] [-8.18410232e-03 -1.15706987e-04 -9.99966503e-01 -4.00499266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.146559995 meters 0.012958063811420086 Centerline is valid? [True, True] Translation: X:86.16, Y:-164.18, Z:-4.00 [[-9.94222074e-01 -1.07020228e-01 8.31495400e-03 8.61560975e+01] [-1.07017226e-01 9.94256840e-01 8.06465320e-04 -1.64175459e+02] [-8.35350799e-03 -8.80376880e-05 -9.99965105e-01 -4.00494597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.2065599950001 meters 0.012722621003765738 Centerline is valid? [True, True] Translation: X:86.15, Y:-164.15, Z:-4.00 [[-9.84614845e-01 -1.74510637e-01 8.92435597e-03 8.61508834e+01] [-1.74504089e-01 9.84655286e-01 1.51322967e-03 -1.64152571e+02] [-9.05148896e-03 -6.73882081e-05 -9.99959032e-01 -4.00417467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.266559995 meters 0.012639224004448389 Centerline is valid? [True, True] Translation: X:86.14, Y:-164.13, Z:-4.00 [[-9.70216242e-01 -2.41982376e-01 1.11791261e-02 8.61391595e+01] [-2.41966998e-01 9.70280643e-01 2.72865593e-03 -1.64132184e+02] [-1.15071763e-02 -5.75932903e-05 -9.99933789e-01 -4.00298258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.326559995 meters 0.01268035254415851 Centerline is valid? [True, True] Translation: X:86.11, Y:-164.11, Z:-4.00 [[-9.50534426e-01 -3.10371369e-01 1.24064062e-02 8.61126886e+01] [-3.10345705e-01 9.50615385e-01 3.99164962e-03 -1.64113141e+02] [-1.30326144e-02 -5.60744976e-05 -9.99915070e-01 -4.00092619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.386559995 meters 0.012669716153648761 Centerline is valid? [True, True] Translation: X:86.07, Y:-164.10, Z:-4.00 [[-9.25661322e-01 -3.78113275e-01 1.34710412e-02 8.60728355e+01] [-3.78074138e-01 9.25759336e-01 5.44038667e-03 -1.64100390e+02] [-1.45280246e-02 -5.70967782e-05 -9.99894461e-01 -4.00098066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.4465599950001 meters 0.012656258943172473 Centerline is valid? [True, True] Translation: X:86.01, Y:-164.10, Z:-4.00 [[-8.95181387e-01 -4.45520866e-01 1.27060088e-02 8.60132333e+01] [-4.45476972e-01 8.95271553e-01 6.25407742e-03 -1.64098318e+02] [-1.41616503e-02 -6.17006367e-05 -9.99899717e-01 -4.00196525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.506559995 meters 0.012546223877425404 Centerline is valid? [True, True] Translation: X:85.95, Y:-164.10, Z:-4.00 [[-8.59622225e-01 -5.10820027e-01 1.06080565e-02 8.59466818e+01] [-5.10782019e-01 8.59687674e-01 6.23152156e-03 -1.64103043e+02] [-1.23028014e-02 -6.16500748e-05 -9.99924316e-01 -4.00362988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.566559995 meters 0.012545668089834424 Centerline is valid? [True, True] Translation: X:85.87, Y:-164.12, Z:-4.01 [[-8.18352323e-01 -5.74655876e-01 8.37252744e-03 8.58740344e+01] [-5.74626663e-01 8.18395149e-01 5.79469538e-03 -1.64115397e+02] [-1.01819916e-02 -6.89750798e-05 -9.99948160e-01 -4.00556088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.626559995 meters 0.012651542985522235 Centerline is valid? [True, True] Translation: X:85.80, Y:-164.14, Z:-4.00 [[-7.72225598e-01 -6.35298931e-01 7.93057803e-03 8.57951870e+01] [-6.35266556e-01 7.72266315e-01 6.41409974e-03 -1.64139024e+02] [-1.01993890e-02 -8.48989833e-05 -9.99947981e-01 -4.00486561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.6865599950002 meters 0.013822519612432213 Centerline is valid? [True, True] Translation: X:85.71, Y:-164.17, Z:-4.00 [[-7.19871071e-01 -6.94056340e-01 8.45211529e-03 8.57107778e+01] [-6.94010783e-01 7.19920674e-01 7.95342363e-03 -1.64171236e+02] [-1.16049766e-02 -1.40419561e-04 -9.99932650e-01 -4.00193015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.746559995 meters 0.013963911221164315 Centerline is valid? [True, True] Translation: X:85.62, Y:-164.22, Z:-4.00 [[-6.63158085e-01 -7.48429748e-01 8.61785848e-03 8.56248361e+01] [-7.48370385e-01 6.63214048e-01 9.42832166e-03 -1.64217720e+02] [-1.27719212e-02 -1.96882340e-04 -9.99918416e-01 -4.00244551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.806559995 meters 0.014309722346460586 Centerline is valid? [True, True] Translation: X:85.54, Y:-164.27, Z:-4.00 [[-6.02233905e-01 -7.98278404e-01 8.11866729e-03 8.55435402e+01] [-7.98211265e-01 6.02288577e-01 1.03559742e-02 -1.64268295e+02] [-1.31567311e-02 -2.43692895e-04 -9.99913417e-01 -4.00235992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.866559995 meters 0.015577009282218779 Centerline is valid? [True, True] Translation: X:85.46, Y:-164.33, Z:-4.00 [[-5.38902751e-01 -8.42335628e-01 7.38340353e-03 8.54609083e+01] [-8.42263220e-01 5.38953263e-01 1.10475573e-02 -1.64329390e+02] [-1.32850606e-02 -2.65210187e-04 -9.99911715e-01 -4.00109807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.926559995 meters 0.01460017415791515 Centerline is valid? [True, True] Translation: X:85.39, Y:-164.40, Z:-4.00 [[-4.74434554e-01 -8.80270518e-01 5.97229595e-03 8.53861792e+01] [-8.80206754e-01 4.74472088e-01 1.05975654e-02 -1.64404088e+02] [-1.21624121e-02 -2.29004032e-04 -9.99926009e-01 -4.00280905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1207.986559995 meters 0.014075767512677782 Centerline is valid? [True, True] Translation: X:85.32, Y:-164.48, Z:-4.00 [[-4.08137547e-01 -9.12907459e-01 4.86966539e-03 8.53179082e+01] [-9.12847932e-01 4.08166553e-01 1.04268197e-02 -1.64482527e+02] [-1.15063560e-02 -1.89687372e-04 -9.99933782e-01 -4.00368790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.046559995 meters 0.013365743883376618 Centerline is valid? [True, True] Translation: X:85.26, Y:-164.57, Z:-4.00 [[-3.40738734e-01 -9.40150854e-01 3.67237569e-03 8.52553092e+01] [-9.40100415e-01 3.40758497e-01 9.73944986e-03 -1.64568825e+02] [-1.04079453e-02 -1.33794093e-04 -9.99945827e-01 -4.00347148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.106559995 meters 0.012935302611606218 Centerline is valid? [True, True] Translation: X:85.19, Y:-164.67, Z:-4.00 [[-2.70245584e-01 -9.62786898e-01 2.95181339e-03 8.51947673e+01] [-9.62733838e-01 2.70261682e-01 1.01084219e-02 -1.64669996e+02] [-1.05300183e-02 -1.10054242e-04 -9.99944552e-01 -4.00297428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.166559995 meters 0.01281095188960615 Centerline is valid? [True, True] Translation: X:85.14, Y:-164.77, Z:-4.00 [[-1.97470913e-01 -9.80306318e-01 2.18191098e-03 8.51438145e+01] [-9.80251509e-01 1.97482946e-01 1.03665785e-02 -1.64767427e+02] [-1.05933126e-02 -9.17238100e-05 -9.99943885e-01 -4.00240990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.2265599950001 meters 0.012697633451474087 Centerline is valid? [True, True] Translation: X:85.10, Y:-164.87, Z:-4.00 [[-1.24551079e-01 -9.92212078e-01 1.49002867e-03 8.51003382e+01] [-9.92147414e-01 1.24559973e-01 1.13279120e-02 -1.64874389e+02] [-1.14252891e-02 -6.74244306e-05 -9.99934727e-01 -4.00115371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.286559995 meters 0.012571584265048502 Centerline is valid? [True, True] Translation: X:85.06, Y:-164.98, Z:-4.00 [[-5.00899345e-02 -9.98744480e-01 6.80498456e-04 8.50648441e+01] [-9.98665026e-01 5.00945332e-02 1.25977657e-02 -1.64984922e+02] [-1.26160382e-02 -4.85687517e-05 -9.99920414e-01 -4.00065223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.346559995 meters 0.012532227311670554 Centerline is valid? [True, True] Translation: X:85.04, Y:-165.10, Z:-4.00 [[ 2.24670140e-02 -9.99747537e-01 -3.10883467e-04 8.50390966e+01] [-9.99655852e-01 -2.24691638e-02 1.35393434e-02 -1.65096477e+02] [-1.35429105e-02 6.58785998e-06 -9.99908291e-01 -4.00053279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.406559995 meters 0.012700259481614112 Centerline is valid? [True, True] Translation: X:85.02, Y:-165.21, Z:-4.00 [[ 9.51881607e-02 -9.95458441e-01 -1.30623722e-03 8.50211816e+01] [-9.95372489e-01 -9.51971069e-02 1.30812404e-02 -1.65208262e+02] [-1.31461812e-02 5.50133751e-05 -9.99913584e-01 -4.00127360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.4665599950001 meters 0.01308409661282055 Centerline is valid? [True, True] Translation: X:85.01, Y:-165.32, Z:-4.00 [[ 1.67378941e-01 -9.85890354e-01 -2.12131613e-03 8.50127333e+01] [-9.85818589e-01 -1.67392353e-01 1.18958265e-02 -1.65324460e+02] [-1.20830727e-02 1.00122032e-04 -9.99926992e-01 -4.00299186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.526559995 meters 0.013288148564017695 Centerline is valid? [True, True] Translation: X:85.01, Y:-165.45, Z:-4.00 [[ 2.41756379e-01 -9.70332944e-01 -2.79855501e-03 8.50117458e+01] [-9.70272756e-01 -2.41772554e-01 1.08079522e-02 -1.65449500e+02] [-1.11639259e-02 1.02470286e-04 -9.99937676e-01 -4.00387412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.586559995 meters 0.013146901966255342 Centerline is valid? [True, True] Translation: X:85.02, Y:-165.57, Z:-4.00 [[ 3.16263838e-01 -9.48664937e-01 -3.46718829e-03 8.50153769e+01] [-9.48611012e-01 -3.16282830e-01 1.01153393e-02 -1.65566367e+02] [-1.06926798e-02 8.98969711e-05 -9.99942828e-01 -4.00420514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.646559995 meters 0.012768342425704205 Centerline is valid? [True, True] Translation: X:85.03, Y:-165.68, Z:-4.00 [[ 3.90506278e-01 -9.20591360e-01 -4.04901635e-03 8.50272619e+01] [-9.20543432e-01 -3.90527264e-01 9.39392114e-03 -1.65684276e+02] [-1.02292139e-02 5.89102252e-05 -9.99947679e-01 -4.00457196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.7065599950001 meters 0.012724280834427566 Centerline is valid? [True, True] Translation: X:85.05, Y:-165.80, Z:-4.00 [[ 4.62598960e-01 -8.86552357e-01 -5.20781173e-03 8.50482207e+01] [-8.86496906e-01 -4.62628272e-01 9.91552711e-03 -1.65799646e+02] [-1.11999149e-02 2.97964554e-05 -9.99937279e-01 -4.00309639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.766559995 meters 0.01256575262696613 Centerline is valid? [True, True] Translation: X:85.08, Y:-165.91, Z:-4.00 [[ 5.30559875e-01 -8.47624436e-01 -6.24780042e-03 8.50787544e+01] [-8.47565883e-01 -5.30596660e-01 9.96283674e-03 -1.65912495e+02] [-1.17598059e-02 9.54106147e-06 -9.99930851e-01 -4.00374101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.826559995 meters 0.012617324452269669 Centerline is valid? [True, True] Translation: X:85.11, Y:-166.02, Z:-4.01 [[ 5.98971128e-01 -8.00741852e-01 -6.78782615e-03 8.51132134e+01] [-8.00689178e-01 -5.99009584e-01 9.18469413e-03 -1.66024400e+02] [-1.14205419e-02 -6.64276613e-05 -9.99934781e-01 -4.00508638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.886559995 meters 0.013153425940193043 Centerline is valid? [True, True] Translation: X:85.16, Y:-166.13, Z:-4.01 [[ 6.61432232e-01 -7.49970508e-01 -7.18611202e-03 8.51571934e+01] [-7.49924401e-01 -6.61471258e-01 8.31678001e-03 -1.66131162e+02] [-1.09907463e-02 -1.11945615e-04 -9.99939594e-01 -4.00506551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1208.9465599950001 meters 0.014760018118165769 Centerline is valid? [True, True] Translation: X:85.21, Y:-166.23, Z:-4.00 [[ 7.19794633e-01 -6.94140092e-01 -8.07586525e-03 8.52058695e+01] [-6.94093726e-01 -7.19839915e-01 8.02466319e-03 -1.66233797e+02] [-1.13835706e-02 -1.70702094e-04 -9.99935191e-01 -4.00420335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.006559995 meters 0.014352515701470113 Centerline is valid? [True, True] Translation: X:85.23, Y:-166.26, Z:-4.01 [[ 7.73229286e-01 -6.34075029e-01 -8.08261475e-03 8.52266730e+01] [-6.34037910e-01 -7.73271508e-01 6.86327767e-03 -1.66264460e+02] [-1.06018887e-02 -1.82203136e-04 -9.99943782e-01 -4.00709105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.066559995 meters 0.014673885027302993 Centerline is valid? [True, True] Translation: X:85.25, Y:-166.30, Z:-4.01 [[ 8.21500621e-01 -5.70161140e-01 -7.28035364e-03 8.52476044e+01] [-5.70136893e-01 -8.21532863e-01 5.26099675e-03 -1.66295188e+02] [-8.98066568e-03 -1.71113893e-04 -9.99959658e-01 -4.00902676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.126559995 meters 0.015598902789490466 Centerline is valid? [True, True] Translation: X:85.27, Y:-166.32, Z:-4.01 [[ 8.64186585e-01 -5.03103987e-01 -8.24163466e-03 8.52703371e+01] [-5.03078933e-01 -8.64225861e-01 5.02474553e-03 -1.66324113e+02] [-9.65060333e-03 -1.96124906e-04 -9.99953413e-01 -4.00920840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.1865599950002 meters 0.015846965106573192 Centerline is valid? [True, True] Translation: X:85.30, Y:-166.35, Z:-4.01 [[ 9.00996209e-01 -4.33734811e-01 -8.94124185e-03 8.52990174e+01] [-4.33711169e-01 -9.01040549e-01 4.53325439e-03 -1.66347611e+02] [-1.00226517e-02 -2.06528563e-04 -9.99949751e-01 -4.00926041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.246559995 meters 0.016024279876733 Centerline is valid? [True, True] Translation: X:85.33, Y:-166.37, Z:-4.01 [[ 9.32207130e-01 -3.61775332e-01 -1.04151857e-02 8.53294218e+01] [-3.61749930e-01 -9.32265281e-01 4.29355231e-03 -1.66368787e+02] [-1.12630173e-02 -2.34787395e-04 -9.99936543e-01 -4.00800019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.306559995 meters 0.015812592942372663 Centerline is valid? [True, True] Translation: X:85.36, Y:-166.39, Z:-4.01 [[ 9.57432881e-01 -2.88359217e-01 -1.30858430e-02 8.53614661e+01] [-2.88328301e-01 -9.57522263e-01 4.23163718e-03 -1.66386961e+02] [-1.37502176e-02 -2.78489707e-04 -9.99905423e-01 -4.00690179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.366559995 meters 0.015429233341162788 Centerline is valid? [True, True] Translation: X:85.40, Y:-166.40, Z:-4.01 [[ 9.76715077e-01 -2.14038041e-01 -1.46757072e-02 8.53961780e+01] [-2.14009503e-01 -9.76825284e-01 3.50665825e-03 -1.66400746e+02] [-1.50861601e-02 -2.84265187e-04 -9.99886157e-01 -4.00698181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.426559995 meters 0.015318154923125857 Centerline is valid? [True, True] Translation: X:85.43, Y:-166.41, Z:-4.01 [[ 9.89970656e-01 -1.40247418e-01 -1.69930029e-02 8.54312024e+01] [-1.40222113e-01 -9.90116453e-01 2.67746711e-03 -1.66409356e+02] [-1.72005596e-02 -2.67819095e-04 -9.99852024e-01 -4.00595549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.486559995 meters 0.014682057871231306 Centerline is valid? [True, True] Translation: X:85.46, Y:-166.41, Z:-4.01 [[ 9.97718242e-01 -6.52660232e-02 -1.72816741e-02 8.54634470e+01] [-6.52524509e-02 -9.97867876e-01 1.34867805e-03 -1.66411833e+02] [-1.73328502e-02 -2.17929101e-04 -9.99849751e-01 -4.00654441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.546559995 meters 0.013736893859520446 Centerline is valid? [True, True] Translation: X:85.49, Y:-166.41, Z:-4.01 [[ 9.99854657e-01 7.55905324e-03 -1.52815394e-02 8.54947854e+01] [ 7.55981836e-03 -9.99971424e-01 -7.69849079e-06 -1.66407298e+02] [-1.52811610e-02 -1.07828291e-04 -9.99883231e-01 -4.00930715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.606559995 meters 0.01293426806181972 Centerline is valid? [True, True] Translation: X:85.53, Y:-166.41, Z:-4.01 [[ 9.96473248e-01 8.27251632e-02 -1.40575165e-02 8.55273320e+01] [ 8.27177171e-02 -9.96572398e-01 -1.11129451e-03 -1.66409916e+02] [-1.41012650e-02 -5.54304233e-05 -9.99900571e-01 -4.01327150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.666559995 meters 0.0129523892997165 Centerline is valid? [True, True] Translation: X:85.56, Y:-166.41, Z:-4.01 [[ 9.87279777e-01 1.58449814e-01 -1.31262767e-02 8.55594348e+01] [ 1.58436149e-01 -9.87367032e-01 -2.08104595e-03 -1.66411865e+02] [-1.32901942e-02 -2.51021584e-05 -9.99911681e-01 -4.01457738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.7265599950001 meters 0.012914265196088173 Centerline is valid? [True, True] Translation: X:85.59, Y:-166.42, Z:-4.02 [[ 9.71745865e-01 2.35732998e-01 -1.18290962e-02 8.55930133e+01] [ 2.35715893e-01 -9.71817860e-01 -2.83986534e-03 -1.66416429e+02] [-1.21651769e-02 -2.86785846e-05 -9.99926001e-01 -4.01580012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.786559995 meters 0.012959417674372028 Centerline is valid? [True, True] Translation: X:85.63, Y:-166.42, Z:-4.02 [[ 9.49551320e-01 3.13384859e-01 -1.19256708e-02 8.56276441e+01] [ 3.13360939e-01 -9.49626204e-01 -3.87237119e-03 -1.66418962e+02] [-1.25384719e-02 -6.00242172e-05 -9.99921389e-01 -4.01630251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.846559995 meters 0.01324426618853822 Centerline is valid? [True, True] Translation: X:85.66, Y:-166.42, Z:-4.02 [[ 9.20945463e-01 3.89503278e-01 -1.21099211e-02 8.56623205e+01] [ 3.89471048e-01 -9.21025073e-01 -5.01168927e-03 -1.66419232e+02] [-1.31056104e-02 -1.00971163e-04 -9.99914113e-01 -4.01553062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.906559995 meters 0.013959143591809454 Centerline is valid? [True, True] Translation: X:85.70, Y:-166.42, Z:-4.01 [[ 8.85362372e-01 4.64702741e-01 -1.35952973e-02 8.56987165e+01] [ 4.64651279e-01 -8.85466727e-01 -6.91836113e-03 -1.66419419e+02] [-1.52531648e-02 -1.91815637e-04 -9.99883645e-01 -4.01400168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1209.9665599950001 meters 0.01474467959389918 Centerline is valid? [True, True] Translation: X:85.73, Y:-166.41, Z:-4.01 [[ 8.45072626e-01 5.34470460e-01 -1.39134665e-02 8.57323836e+01] [ 5.34402714e-01 -8.45187121e-01 -8.51297829e-03 -1.66413413e+02] [-1.63094181e-02 -2.41309319e-04 -9.99866964e-01 -4.01203021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.026559995 meters 0.014890891422672638 Centerline is valid? [True, True] Translation: X:85.77, Y:-166.40, Z:-4.01 [[ 7.99932033e-01 5.99957100e-01 -1.26578398e-02 8.57657646e+01] [ 5.99886916e-01 -8.00032134e-01 -9.17996420e-03 -1.66402310e+02] [-1.56342633e-02 -2.49925049e-04 -9.99877746e-01 -4.01314110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.086559995 meters 0.014755632794986815 Centerline is valid? [True, True] Translation: X:85.80, Y:-166.39, Z:-4.01 [[ 7.50585856e-01 6.60684230e-01 -1.08268353e-02 8.57969175e+01] [ 6.60619825e-01 -7.50663904e-01 -9.22770787e-03 -1.66386264e+02] [-1.42239155e-02 -2.26234992e-04 -9.99898809e-01 -4.01444596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.146559995 meters 0.014467181316005473 Centerline is valid? [True, True] Translation: X:85.83, Y:-166.37, Z:-4.02 [[ 6.97464668e-01 7.16568840e-01 -8.49322997e-03 8.58261531e+01] [ 7.16518762e-01 -6.97516356e-01 -8.47333846e-03 -1.66367946e+02] [-1.19958971e-02 -1.75704430e-04 -9.99928031e-01 -4.01677100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.2065599950001 meters 0.013867642183589312 Centerline is valid? [True, True] Translation: X:85.85, Y:-166.35, Z:-4.02 [[ 6.40596005e-01 7.67842514e-01 -7.39135577e-03 8.58549985e+01] [ 7.67794015e-01 -6.40638629e-01 -8.63122404e-03 -1.66348087e+02] [-1.13626088e-02 -1.45911087e-04 -9.99935433e-01 -4.01738615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.266559995 meters 0.013591182086731282 Centerline is valid? [True, True] Translation: X:85.88, Y:-166.32, Z:-4.02 [[ 5.80470361e-01 8.14251782e-01 -6.94228243e-03 8.58806201e+01] [ 8.14196082e-01 -5.80511860e-01 -9.52472654e-03 -1.66324652e+02] [-1.17856028e-02 -1.23557702e-04 -9.99930540e-01 -4.01689717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.326559995 meters 0.013410774367666375 Centerline is valid? [True, True] Translation: X:85.90, Y:-166.30, Z:-4.02 [[ 5.17453804e-01 8.55685728e-01 -6.59521854e-03 8.59012295e+01] [ 8.55618547e-01 -5.17495823e-01 -1.07226196e-02 -1.66299389e+02] [-1.25881906e-02 -9.45310084e-05 -9.99920761e-01 -4.01588020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.386559995 meters 0.013178382544392134 Centerline is valid? [True, True] Translation: X:85.93, Y:-166.27, Z:-4.02 [[ 4.48717022e-01 8.93652628e-01 -6.16564855e-03 8.59255007e+01] [ 8.93571419e-01 -4.48759368e-01 -1.20477845e-02 -1.66274084e+02] [-1.35334269e-02 -1.03401327e-04 -9.99908414e-01 -4.01610139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.4465599950001 meters 0.013535356085097998 Centerline is valid? [True, True] Translation: X:85.95, Y:-166.25, Z:-4.01 [[ 3.75445723e-01 9.26824425e-01 -6.08239290e-03 8.59497270e+01] [ 9.26709367e-01 -3.75494957e-01 -1.46043457e-02 -1.66248165e+02] [-1.58195722e-02 -1.53471346e-04 -9.99874851e-01 -4.01385909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.506559995 meters 0.014089354768892212 Centerline is valid? [True, True] Translation: X:85.97, Y:-166.22, Z:-4.01 [[ 2.99986344e-01 9.53930490e-01 -4.98141916e-03 8.59687210e+01] [ 9.53809005e-01 -3.00027644e-01 -1.52247898e-02 -1.66220799e+02] [-1.60179547e-02 -1.84093415e-04 -9.99871687e-01 -4.01266046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.566559995 meters 0.01399801324513579 Centerline is valid? [True, True] Translation: X:85.98, Y:-166.19, Z:-4.01 [[ 2.23259254e-01 9.74752112e-01 -3.69144776e-03 8.59840378e+01] [ 9.74633195e-01 -2.23289682e-01 -1.52267589e-02 -1.66190419e+02] [-1.56665776e-02 -1.98292681e-04 -9.99877252e-01 -4.01371155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.626559995 meters 0.014198968266638695 Centerline is valid? [True, True] Translation: X:85.99, Y:-166.16, Z:-4.01 [[ 1.45832429e-01 9.89306608e-01 -2.31021406e-03 8.59940808e+01] [ 9.89202288e-01 -1.45850603e-01 -1.43678604e-02 -1.66160394e+02] [-1.45511653e-02 -1.89969055e-04 -9.99894108e-01 -4.01332667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.6865599950002 meters 0.014290947166446426 Centerline is valid? [True, True] Translation: X:86.00, Y:-166.13, Z:-4.01 [[ 6.78772353e-02 9.97693040e-01 -1.13051545e-03 8.60017599e+01] [ 9.97596005e-01 -6.78864019e-02 -1.39157114e-02 -1.66129014e+02] [-1.39603551e-02 -1.83237675e-04 -9.99902533e-01 -4.01352199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.746559995 meters 0.014228389446541517 Centerline is valid? [True, True] Translation: X:86.00, Y:-166.10, Z:-4.02 [[-1.02915120e-02 9.99947040e-01 -3.33504223e-05 8.60029830e+01] [ 9.99869436e-01 1.02902978e-02 -1.24587349e-02 -1.66097401e+02] [-1.24577319e-02 -1.61565287e-04 -9.99922386e-01 -4.01550410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.806559995 meters 0.014384312443111178 Centerline is valid? [True, True] Translation: X:86.00, Y:-166.07, Z:-4.02 [[-8.92076155e-02 9.96012675e-01 8.67032347e-04 8.60040221e+01] [ 9.95947094e-01 8.92116921e-02 -1.14306906e-02 -1.66065349e+02] [-1.14624622e-02 -1.56186307e-04 -9.99934292e-01 -4.01642122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.866559995 meters 0.014918076196540975 Centerline is valid? [True, True] Translation: X:86.00, Y:-166.03, Z:-4.02 [[-1.68955254e-01 9.85622295e-01 1.67721447e-03 8.60032090e+01] [ 9.85563192e-01 1.68963492e-01 -1.07950104e-02 -1.66034745e+02] [-1.09231909e-02 -1.70872869e-04 -9.99940326e-01 -4.01682393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.926559995 meters 0.016406848947014635 Centerline is valid? [True, True] Translation: X:86.00, Y:-166.00, Z:-4.02 [[-2.48929868e-01 9.68517902e-01 2.64465028e-03 8.59992956e+01] [ 9.68453548e-01 2.48943820e-01 -1.11669350e-02 -1.66004816e+02] [-1.14737458e-02 -2.18562702e-04 -9.99934151e-01 -4.01532045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1210.986559995 meters 0.015930014287048152 Centerline is valid? [True, True] Translation: X:85.99, Y:-165.97, Z:-4.01 [[-3.25937740e-01 9.45382398e-01 4.08804869e-03 8.59927379e+01] [ 9.45296873e-01 3.25963255e-01 -1.27192442e-02 -1.65974062e+02] [-1.33571032e-02 -2.81262067e-04 -9.99910750e-01 -4.01460919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.046559995 meters 0.015491643787239542 Centerline is valid? [True, True] Translation: X:85.98, Y:-165.94, Z:-4.01 [[-3.97595600e-01 9.17546007e-01 5.20234129e-03 8.59835505e+01] [ 9.17458453e-01 3.97629543e-01 -1.26780661e-02 -1.65944031e+02] [-1.37013135e-02 -2.67811310e-04 -9.99906097e-01 -4.01476777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.106559995 meters 0.01501677162665628 Centerline is valid? [True, True] Translation: X:85.97, Y:-165.92, Z:-4.01 [[-4.64990025e-01 8.85294743e-01 6.12331657e-03 8.59704156e+01] [ 8.85211807e-01 4.65030292e-01 -1.21196107e-02 -1.65917537e+02] [-1.35769553e-02 -2.15065938e-04 -9.99907806e-01 -4.01472016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.166559995 meters 0.013259004521353089 Centerline is valid? [True, True] Translation: X:85.95, Y:-165.89, Z:-4.02 [[-5.25150144e-01 8.50983533e-01 6.65980751e-03 8.59511568e+01] [ 8.50913031e-01 5.25192364e-01 -1.09541921e-02 -1.65893805e+02] [-1.28195172e-02 -8.56785653e-05 -9.99917823e-01 -4.01700003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.2265599950001 meters 0.013196180288663002 Centerline is valid? [True, True] Translation: X:85.93, Y:-165.87, Z:-4.02 [[-5.84263047e-01 8.11535113e-01 6.88855545e-03 8.59339280e+01] [ 8.11478874e-01 5.84303655e-01 -9.55384320e-03 -1.65869919e+02] [-1.17782873e-02 7.95968136e-06 -9.99930634e-01 -4.01765191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.286559995 meters 0.014043269135539093 Centerline is valid? [True, True] Translation: X:85.91, Y:-165.85, Z:-4.02 [[-6.38598465e-01 7.69509575e-01 6.85675417e-03 8.59126338e+01] [ 7.69467059e-01 6.38635265e-01 -8.08973685e-03 -1.65849717e+02] [-1.06040950e-02 1.09952932e-04 -9.99943769e-01 -4.01850630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.346559995 meters 0.014948845584365164 Centerline is valid? [True, True] Translation: X:85.89, Y:-165.83, Z:-4.02 [[-6.93687386e-01 7.20237979e-01 7.42054583e-03 8.58945441e+01] [ 7.20199173e-01 6.93727057e-01 -7.47804888e-03 -1.65828452e+02] [-1.05338082e-02 1.56842786e-04 -9.99944506e-01 -4.01843263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.406559995 meters 0.01430195599829172 Centerline is valid? [True, True] Translation: X:85.88, Y:-165.80, Z:-4.02 [[-7.49811982e-01 6.61615317e-01 6.86759850e-03 8.58811625e+01] [ 6.61588904e-01 7.49843424e-01 -5.91294950e-03 -1.65802560e+02] [-9.06172153e-03 1.09926584e-04 -9.99958936e-01 -4.01882078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.4665599950001 meters 0.013749952877709732 Centerline is valid? [True, True] Translation: X:85.90, Y:-165.78, Z:-4.02 [[-7.98008432e-01 6.02585006e-01 8.59372251e-03 8.58971146e+01] [ 6.02551030e-01 7.98054701e-01 -6.39926294e-03 -1.65776841e+02] [-1.07143605e-02 7.14905682e-05 -9.99942597e-01 -4.01816090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.526559995 meters 0.013237383893533416 Centerline is valid? [True, True] Translation: X:85.91, Y:-165.75, Z:-4.02 [[-8.41843979e-01 5.39620005e-01 1.04386271e-02 8.59144270e+01] [ 5.39578664e-01 8.41908695e-01 -6.67951582e-03 -1.65751177e+02] [-1.23927713e-02 9.35026744e-06 -9.99923207e-01 -4.01833744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.586559995 meters 0.013594969868167012 Centerline is valid? [True, True] Translation: X:85.93, Y:-165.72, Z:-4.02 [[-8.81551784e-01 4.71941339e-01 1.17398783e-02 8.59285465e+01] [ 4.71898090e-01 8.81629947e-01 -6.38974156e-03 -1.65720566e+02] [-1.33658115e-02 -9.28619140e-05 -9.99910669e-01 -4.01664669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.646559995 meters 0.013904740242521708 Centerline is valid? [True, True] Translation: X:85.94, Y:-165.69, Z:-4.02 [[-9.13928651e-01 4.05722874e-01 1.11071969e-02 8.59436498e+01] [ 4.05691282e-01 9.13996135e-01 -5.06455123e-03 -1.65693610e+02] [-1.22067393e-02 -1.22545546e-04 -9.99925488e-01 -4.01670416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.7065599950001 meters 0.013806288256552567 Centerline is valid? [True, True] Translation: X:85.95, Y:-165.67, Z:-4.02 [[-9.40876476e-01 3.38585434e-01 1.05527709e-02 8.59538249e+01] [ 3.38562592e-01 9.40935645e-01 -3.93500881e-03 -1.65668312e+02] [-1.12618150e-02 -1.29583742e-04 -9.99936575e-01 -4.01873377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.766559995 meters 0.013931951812629602 Centerline is valid? [True, True] Translation: X:85.95, Y:-165.64, Z:-4.02 [[-9.62449527e-01 2.71270710e-01 1.01543473e-02 8.59527397e+01] [ 2.71254300e-01 9.62503084e-01 -2.98613781e-03 -1.65639986e+02] [-1.05836423e-02 -1.19596561e-04 -9.99943985e-01 -4.01912616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.826559995 meters 0.013815635823563271 Centerline is valid? [True, True] Translation: X:85.97, Y:-165.62, Z:-4.02 [[-9.79177071e-01 2.02768990e-01 9.84883980e-03 8.59681886e+01] [ 2.02757606e-01 9.79226595e-01 -2.15139301e-03 -1.65617053e+02] [-1.00804817e-02 -1.09667524e-04 -9.99949185e-01 -4.02006552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.886559995 meters 0.013670423803647162 Centerline is valid? [True, True] Translation: X:86.11, Y:-164.96, Z:-5.02 [[-9.57567242e-01 -2.88084953e-01 8.48743826e-03 8.61130201e+01] [ 2.88073832e-01 -9.57604856e-01 -2.53142608e-03 -1.64955995e+02] [ 8.85687785e-03 2.09981736e-05 9.99960777e-01 -5.02021379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1211.9465599950001 meters 0.013603329443954986 Centerline is valid? [True, True] Translation: X:85.92, Y:-165.61, Z:-4.02 [[-9.79791145e-01 1.99843926e-01 8.46861578e-03 8.59156397e+01] [ 1.99835694e-01 9.79827739e-01 -1.81597973e-03 -1.65607230e+02] [-8.66069717e-03 -8.69491473e-05 -9.99962492e-01 -4.02209440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.006559995 meters 0.013702315466155955 Centerline is valid? [True, True] Translation: X:86.07, Y:-164.95, Z:-5.02 [[-9.58261664e-01 -2.85746581e-01 9.13642578e-03 8.60675514e+01] [ 2.85735067e-01 -9.58305207e-01 -2.56941971e-03 -1.64948473e+02] [ 9.48968729e-03 1.48420827e-04 9.99954961e-01 -5.02123313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.066559995 meters 0.014426819046076842 Centerline is valid? [True, True] Translation: X:85.87, Y:-165.60, Z:-4.02 [[-9.80987788e-01 1.93792928e-01 1.03566924e-02 8.58706585e+01] [ 1.93780704e-01 9.81042448e-01 -2.18056702e-03 -1.65595340e+02] [-1.05829333e-02 -1.32182480e-04 -9.99943991e-01 -4.01781269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.126559995 meters 0.015034344890586318 Centerline is valid? [True, True] Translation: X:86.01, Y:-164.94, Z:-5.03 [[-9.58356265e-01 -2.85345018e-01 1.14669062e-02 8.60133872e+01] [ 2.85327504e-01 -9.58424836e-01 -3.17014353e-03 -1.64939137e+02] [ 1.18947524e-02 2.33696812e-04 9.99929228e-01 -5.02546744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.1865599950002 meters 0.01470004676667366 Centerline is valid? [True, True] Translation: X:85.82, Y:-165.59, Z:-4.02 [[-9.82244712e-01 1.87214979e-01 1.20780021e-02 8.58238341e+01] [ 1.87198441e-01 9.82318948e-01 -2.49566135e-03 -1.65588438e+02] [-1.23316755e-02 -1.90367011e-04 -9.99923944e-01 -4.01725139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.246559995 meters 0.014234673336124576 Centerline is valid? [True, True] Translation: X:85.96, Y:-164.93, Z:-5.02 [[-9.58854131e-01 -2.83640232e-01 1.21233423e-02 8.59639637e+01] [ 2.83620326e-01 -9.58930746e-01 -3.36685595e-03 -1.64925612e+02] [ 1.25804214e-02 2.10102553e-04 9.99920841e-01 -5.02394489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.306559995 meters 0.014685092013473759 Centerline is valid? [True, True] Translation: X:85.77, Y:-165.58, Z:-4.02 [[-9.83077311e-01 1.82806917e-01 1.18588006e-02 8.57749172e+01] [ 1.82791213e-01 9.83148815e-01 -2.40415756e-03 -1.65581191e+02] [-1.20984624e-02 -1.95788216e-04 -9.99926792e-01 -4.01697356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.366559995 meters 0.014215728306111236 Centerline is valid? [True, True] Translation: X:85.92, Y:-164.91, Z:-5.02 [[-9.60451011e-01 -2.78232161e-01 1.09872418e-02 8.59160485e+01] [ 2.78215639e-01 -9.60513844e-01 -3.03538326e-03 -1.64912821e+02] [ 1.13979391e-02 1.41485579e-04 9.99935031e-01 -5.02318523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.426559995 meters 0.014040641120262319 Centerline is valid? [True, True] Translation: X:85.73, Y:-165.58, Z:-4.02 [[-9.83247832e-01 1.81947763e-01 1.08955379e-02 8.57305382e+01] [ 1.81934940e-01 9.83308187e-01 -2.16508232e-03 -1.65577413e+02] [-1.11076035e-02 -1.46533472e-04 -9.99938298e-01 -4.01861886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.486559995 meters 0.013938845563726992 Centerline is valid? [True, True] Translation: X:85.86, Y:-164.90, Z:-5.02 [[-9.62097134e-01 -2.72522547e-01 1.00282727e-02 8.58577772e+01] [ 2.72508752e-01 -9.62149392e-01 -2.74364176e-03 -1.64900174e+02] [ 1.03964007e-02 9.31422020e-05 9.99945952e-01 -5.02241998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.546559995 meters 0.014062884103712045 Centerline is valid? [True, True] Translation: X:85.68, Y:-165.57, Z:-4.02 [[-9.83719141e-01 1.79473294e-01 9.27300766e-03 8.56825746e+01] [ 1.79464249e-01 9.83762840e-01 -1.80524388e-03 -1.65568772e+02] [-9.44643341e-03 -1.11679601e-04 -9.99955375e-01 -4.01950317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.606559995 meters 0.013933875862670236 Centerline is valid? [True, True] Translation: X:85.69, Y:-165.54, Z:-4.02 [[-9.93971426e-01 1.09233256e-01 9.42867497e-03 8.56904373e+01] [ 1.09227271e-01 9.94016138e-01 -1.14899262e-03 -1.65543175e+02] [-9.49776329e-03 -1.12197404e-04 -9.99954889e-01 -4.01967192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.666559995 meters 0.013894755115188995 Centerline is valid? [True, True] Translation: X:85.78, Y:-164.86, Z:-5.02 [[-9.79989534e-01 -1.98789692e-01 1.01573910e-02 8.57757907e+01] [ 1.98780859e-01 -9.80042156e-01 -1.88213503e-03 -1.64859032e+02] [ 1.03288205e-02 1.74622289e-04 9.99946641e-01 -5.02192105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.7265599950001 meters 0.013861744198670941 Centerline is valid? [True, True] Translation: X:85.64, Y:-165.54, Z:-4.02 [[-9.94232520e-01 1.06759523e-01 1.02029392e-02 8.56365907e+01] [ 1.06752796e-01 9.94284865e-01 -1.20320920e-03 -1.65537599e+02] [-1.02730821e-02 -1.07077430e-04 -9.99947225e-01 -4.02007958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.786559995 meters 0.013872428350801302 Centerline is valid? [True, True] Translation: X:85.73, Y:-164.85, Z:-5.02 [[-9.81292731e-01 -1.92281170e-01 9.61911966e-03 8.57277471e+01] [ 1.92272650e-01 -9.81339873e-01 -1.81155349e-03 -1.64852894e+02] [ 9.78795329e-03 7.18293548e-05 9.99952094e-01 -5.02101164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.846559995 meters 0.013325885417348863 Centerline is valid? [True, True] Translation: X:85.59, Y:-165.54, Z:-4.02 [[-9.94066350e-01 1.08446286e-01 8.45544668e-03 8.55940877e+01] [ 1.08442011e-01 9.94102309e-01 -9.63716712e-04 -1.65538046e+02] [-8.51009057e-03 -4.10727097e-05 -9.99963788e-01 -4.02250648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.906559995 meters 0.013165073415656724 Centerline is valid? [True, True] Translation: X:85.68, Y:-164.84, Z:-5.02 [[-9.83729059e-01 -1.79533393e-01 6.70076256e-03 8.56750504e+01] [ 1.79528772e-01 -9.83751877e-01 -1.28978158e-03 -1.64842236e+02] [ 6.82344662e-03 -6.58159371e-05 9.99976718e-01 -5.01859670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1212.9665599950001 meters 0.013364006125997396 Centerline is valid? [True, True] Translation: X:85.55, Y:-165.54, Z:-4.02 [[-9.93450322e-01 1.14128494e-01 5.58072421e-03 8.55466760e+01] [ 1.14126854e-01 9.93465996e-01 -6.12466821e-04 -1.65536883e+02] [-5.61415966e-03 2.84551373e-05 -9.99984240e-01 -4.02382762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.026559995 meters 0.013480835417437477 Centerline is valid? [True, True] Translation: X:85.54, Y:-165.51, Z:-4.02 [[-9.98978984e-01 4.47782138e-02 5.99182967e-03 8.55413948e+01] [ 4.47776430e-02 9.98996952e-01 -2.29451075e-04 -1.65509217e+02] [-5.99609399e-03 3.90832078e-05 -9.99982023e-01 -4.02381141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.086559995 meters 0.013924443406540919 Centerline is valid? [True, True] Translation: X:85.58, Y:-164.81, Z:-5.02 [[-9.95270253e-01 -9.68866226e-02 7.07858930e-03 8.55796379e+01] [ 9.68843404e-02 -9.95295424e-01 -6.65413169e-04 -1.64806058e+02] [ 7.10975718e-03 2.35385226e-05 9.99974725e-01 -5.01908650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.146559995 meters 0.014013869228038671 Centerline is valid? [True, True] Translation: X:85.49, Y:-165.51, Z:-4.02 [[-9.99048524e-01 4.30329881e-02 7.08586182e-03 8.54882349e+01] [ 4.30323574e-02 9.99073650e-01 -2.41512449e-04 -1.65505899e+02] [-7.08969083e-03 6.36386827e-05 -9.99974866e-01 -4.02281460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.2065599950001 meters 0.013494331720161496 Centerline is valid? [True, True] Translation: X:85.51, Y:-164.81, Z:-5.02 [[-9.95484744e-01 -9.46931044e-02 6.58338477e-03 8.55123696e+01] [ 9.46904304e-02 -9.95506508e-01 -7.17381221e-04 -1.64811955e+02] [ 6.62173344e-03 -9.07585234e-05 9.99978072e-01 -5.01900116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.266559995 meters 0.013231211669401473 Centerline is valid? [True, True] Translation: X:85.43, Y:-165.49, Z:-4.02 [[-9.99428778e-01 3.30334528e-02 7.13499065e-03 8.54266613e+01] [ 3.30327747e-02 9.99454246e-01 -2.12893291e-04 -1.65493938e+02] [-7.13812930e-03 2.29168566e-05 -9.99974523e-01 -4.02283258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.326559995 meters 0.013131780116508635 Centerline is valid? [True, True] Translation: X:85.42, Y:-165.46, Z:-4.02 [[-9.98976435e-01 -4.44567046e-02 8.34769252e-03 8.54222566e+01] [-4.44553754e-02 9.99011312e-01 3.44805469e-04 -1.65460288e+02] [-8.35476817e-03 -2.66472659e-05 -9.99965098e-01 -4.02214247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.386559995 meters 0.013341902332312838 Centerline is valid? [True, True] Translation: X:85.38, Y:-164.80, Z:-5.02 [[-9.99382690e-01 -3.39240087e-02 9.13234620e-03 8.53843883e+01] [ 3.39233551e-02 -9.99424412e-01 -2.26507223e-04 -1.64798924e+02] [ 9.13477376e-03 8.34324254e-05 9.99958274e-01 -5.02018717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.4465599950001 meters 0.01383162501982718 Centerline is valid? [True, True] Translation: X:85.34, Y:-165.45, Z:-4.02 [[-9.98296644e-01 -5.76312544e-02 9.08020693e-03 8.53447043e+01] [-5.76298449e-02 9.98337932e-01 4.17014429e-04 -1.65452303e+02] [-9.08914808e-03 -1.06986813e-04 -9.99958687e-01 -4.02095275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.506559995 meters 0.014234304395482488 Centerline is valid? [True, True] Translation: X:85.32, Y:-164.81, Z:-5.02 [[-9.99277791e-01 -3.69626092e-02 8.81263252e-03 8.53150261e+01] [ 3.69619208e-02 -9.99316646e-01 -2.41027512e-04 -1.64812354e+02] [ 8.81551937e-03 8.48783862e-05 9.99961139e-01 -5.01995533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.566559995 meters 0.014538719974060258 Centerline is valid? [True, True] Translation: X:85.28, Y:-165.45, Z:-4.02 [[-9.97786859e-01 -6.59402399e-02 8.55973509e-03 8.52791493e+01] [-6.59389564e-02 9.97823565e-01 4.32377402e-04 -1.65448942e+02] [-8.56961646e-03 -1.32999509e-04 -9.99963271e-01 -4.02131678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.626559995 meters 0.014347962718842606 Centerline is valid? [True, True] Translation: X:85.25, Y:-164.82, Z:-5.02 [[-9.99456966e-01 -3.18289325e-02 8.52593461e-03 8.52480131e+01] [ 3.18288794e-02 -9.99493323e-01 -1.41941409e-04 -1.64819110e+02] [ 8.52613256e-03 1.29506615e-04 9.99963644e-01 -5.02035891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.6865599950002 meters 0.014707036690602445 Centerline is valid? [True, True] Translation: X:85.21, Y:-165.45, Z:-4.02 [[-9.97539455e-01 -6.97211401e-02 7.34835414e-03 8.52145150e+01] [-6.97200524e-02 9.97566515e-01 4.04387276e-04 -1.65448038e+02] [-7.35866637e-03 -1.08935373e-04 -9.99972919e-01 -4.02178693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.746559995 meters 0.014079998827753052 Centerline is valid? [True, True] Translation: X:85.21, Y:-165.42, Z:-4.02 [[-9.90035810e-01 -1.40633780e-01 7.15789624e-03 8.52050161e+01] [-1.40630895e-01 9.90061679e-01 9.07405919e-04 -1.65422494e+02] [-7.21437070e-03 -1.08256998e-04 -9.99973970e-01 -4.02280973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.806559995 meters 0.014575993642139035 Centerline is valid? [True, True] Translation: X:85.19, Y:-165.40, Z:-4.02 [[-9.77232404e-01 -2.12021333e-01 7.98642048e-03 8.51922014e+01] [-2.12015361e-01 9.77265029e-01 1.59688963e-03 -1.65395227e+02] [-8.14342411e-03 -1.32711532e-04 -9.99966833e-01 -4.02143240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.866559995 meters 0.014738767370867028 Centerline is valid? [True, True] Translation: X:85.17, Y:-165.37, Z:-4.02 [[-9.59377875e-01 -2.82000974e-01 8.33923209e-03 8.51707885e+01] [-2.81991664e-01 9.59414107e-01 2.29629290e-03 -1.65372141e+02] [-8.64833374e-03 -1.48581327e-04 -9.99962592e-01 -4.02072792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.926559995 meters 0.01551438537884399 Centerline is valid? [True, True] Translation: X:85.00, Y:-164.78, Z:-5.02 [[-9.83391018e-01 1.81281340e-01 8.89842778e-03 8.50012808e+01] [-1.81272206e-01 -9.83431259e-01 1.82919548e-03 -1.64778536e+02] [ 9.08259105e-03 1.85776769e-04 9.99958735e-01 -5.02231181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1213.986559995 meters 0.015206130747760914 Centerline is valid? [True, True] Translation: X:85.07, Y:-165.40, Z:-4.02 [[-9.57094479e-01 -2.89669930e-01 7.84159606e-03 8.50707270e+01] [-2.89661536e-01 9.57126589e-01 2.21064176e-03 -1.65400062e+02] [-8.14575653e-03 -1.55615739e-04 -9.99966811e-01 -4.02060592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.046559995 meters 0.015591568155458996 Centerline is valid? [True, True] Translation: X:85.05, Y:-165.38, Z:-4.02 [[-9.34029599e-01 -3.57149989e-01 5.70911354e-03 8.50454023e+01] [-3.57144061e-01 9.34047040e-01 2.06094474e-03 -1.65380579e+02] [-6.06864699e-03 -1.13992609e-04 -9.99981579e-01 -4.02154101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.106559995 meters 0.015089881181274708 Centerline is valid? [True, True] Translation: X:85.01, Y:-165.37, Z:-4.02 [[-9.06055830e-01 -4.23125807e-01 5.23301888e-03 8.50110401e+01] [-4.23119410e-01 9.06070936e-01 2.32888458e-03 -1.65368152e+02] [-5.72689748e-03 -1.04092413e-04 -9.99983596e-01 -4.02235824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.166559995 meters 0.014822623491853988 Centerline is valid? [True, True] Translation: X:84.95, Y:-165.37, Z:-4.02 [[-8.73232957e-01 -4.87283687e-01 4.33720962e-03 8.49547181e+01] [-4.87278151e-01 8.73243724e-01 2.32428326e-03 -1.65369081e+02] [-4.92002640e-03 -8.37867365e-05 -9.99987893e-01 -4.02255916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.2265599950001 meters 0.015197085144495595 Centerline is valid? [True, True] Translation: X:84.89, Y:-165.38, Z:-4.02 [[-8.35180486e-01 -5.49962790e-01 3.80585931e-03 8.48903287e+01] [-5.49957489e-01 8.35189154e-01 2.41598064e-03 -1.65375993e+02] [-4.50731187e-03 -7.52809428e-05 -9.99989839e-01 -4.02247907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.286559995 meters 0.014944218265762022 Centerline is valid? [True, True] Translation: X:84.82, Y:-165.39, Z:-4.02 [[-7.91860649e-01 -6.10688994e-01 3.95790591e-03 8.48205756e+01] [-6.10681894e-01 7.91870536e-01 2.94601844e-03 -1.65393935e+02] [-4.93325011e-03 -8.41853996e-05 -9.99987828e-01 -4.02213226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.346559995 meters 0.015390835687104308 Centerline is valid? [True, True] Translation: X:84.74, Y:-165.42, Z:-4.02 [[-7.43167699e-01 -6.69092489e-01 4.12448080e-03 8.47416071e+01] [-6.69082936e-01 7.43179138e-01 3.57690627e-03 -1.65423392e+02] [-5.45850921e-03 -1.01378518e-04 -9.99985097e-01 -4.02147738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.406559995 meters 0.015735399100052522 Centerline is valid? [True, True] Translation: X:84.67, Y:-165.46, Z:-4.02 [[-6.90715368e-01 -7.23116874e-01 3.77715264e-03 8.46683501e+01] [-7.23106857e-01 6.90725688e-01 3.80750879e-03 -1.65456430e+02] [-5.36225022e-03 -1.01380140e-04 -9.99985618e-01 -4.02137126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.4665599950001 meters 0.014922767823083447 Centerline is valid? [True, True] Translation: X:84.59, Y:-165.51, Z:-4.02 [[-6.35464083e-01 -7.72122769e-01 3.43948814e-03 8.45936221e+01] [-7.72112239e-01 6.35473384e-01 4.03351436e-03 -1.65505768e+02] [-5.30007144e-03 -9.25173869e-05 -9.99985950e-01 -4.02256507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.526559995 meters 0.014678375097555723 Centerline is valid? [True, True] Translation: X:84.51, Y:-165.57, Z:-4.02 [[-5.76379899e-01 -8.17177302e-01 2.73297983e-03 8.45132114e+01] [-8.17168729e-01 5.76386374e-01 3.74391223e-03 -1.65566817e+02] [-4.63469243e-03 -7.53898999e-05 -9.99989257e-01 -4.02264807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.586559995 meters 0.014603214892532525 Centerline is valid? [True, True] Translation: X:84.44, Y:-165.63, Z:-4.02 [[-5.15543292e-01 -8.56861120e-01 2.03360977e-03 8.44412001e+01] [-8.56854832e-01 5.15547300e-01 3.28309421e-03 -1.65629899e+02] [-3.86157781e-03 -4.99311640e-05 -9.99992543e-01 -4.02285481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.646559995 meters 0.013370963785453235 Centerline is valid? [True, True] Translation: X:84.37, Y:-165.71, Z:-4.02 [[-4.54486125e-01 -8.90752429e-01 1.57266178e-03 8.43740380e+01] [-8.90747265e-01 4.54488845e-01 3.03295940e-03 -1.65710023e+02] [-3.41637319e-03 -2.24062192e-05 -9.99994164e-01 -4.02337822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.7065599950001 meters 0.013001242307022026 Centerline is valid? [True, True] Translation: X:84.31, Y:-165.80, Z:-4.02 [[-3.88777390e-01 -9.21330533e-01 1.48008429e-03 8.43060547e+01] [-9.21323957e-01 3.88780207e-01 3.48102558e-03 -1.65801520e+02] [-3.78260263e-03 -1.02930749e-05 -9.99992846e-01 -4.02361142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.766559995 meters 0.012862205449420438 Centerline is valid? [True, True] Translation: X:84.25, Y:-165.89, Z:-4.02 [[-3.20323304e-01 -9.47307572e-01 1.15982960e-03 8.42477010e+01] [-9.47301337e-01 3.20325404e-01 3.43699907e-03 -1.65888399e+02] [-3.62741813e-03 2.24276451e-06 -9.99993421e-01 -4.02308764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.826559995 meters 0.012842417994174644 Centerline is valid? [True, True] Translation: X:84.19, Y:-165.99, Z:-4.02 [[-2.49984896e-01 -9.68249257e-01 9.63554268e-04 8.41940153e+01] [-9.68241824e-01 2.49986753e-01 3.79399793e-03 -1.65987204e+02] [-3.91441148e-03 1.54886382e-05 -9.99992339e-01 -4.02242655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.886559995 meters 0.012871724505795155 Centerline is valid? [True, True] Translation: X:84.15, Y:-166.09, Z:-4.02 [[-1.75898633e-01 -9.84408006e-01 7.41417773e-04 8.41451865e+01] [-9.84398749e-01 1.75900194e-01 4.26900361e-03 -1.66094890e+02] [-4.33285686e-03 2.10611697e-05 -9.99990613e-01 -4.02172542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1214.9465599950001 meters 0.012849769002436884 Centerline is valid? [True, True] Translation: X:84.10, Y:-166.21, Z:-4.02 [[-9.78637469e-02 -9.95199708e-01 4.78249583e-04 8.41036283e+01] [-9.95187082e-01 9.78649144e-02 5.01304728e-03 -1.66212428e+02] [-5.03578704e-03 1.46477829e-05 -9.99987320e-01 -4.01966914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.006559995 meters 0.01282032551648267 Centerline is valid? [True, True] Translation: X:84.07, Y:-166.33, Z:-4.02 [[-1.72398621e-02 -9.99851377e-01 1.07203615e-04 8.40681695e+01] [-9.99834016e-01 1.72401945e-02 5.89204732e-03 -1.66325761e+02] [-5.89301983e-03 -5.60773824e-06 -9.99982636e-01 -4.01878396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.066559995 meters 0.013028993305048983 Centerline is valid? [True, True] Translation: X:84.04, Y:-166.45, Z:-4.02 [[ 6.46226571e-02 -9.97909703e-01 -3.70836488e-04 8.40411704e+01] [-9.97889703e-01 -6.46237098e-02 6.31792990e-03 -1.66446398e+02] [-6.32868838e-03 -3.82275051e-05 -9.99979973e-01 -4.01789786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.126559995 meters 0.01453237003619608 Centerline is valid? [True, True] Translation: X:84.02, Y:-166.57, Z:-4.02 [[ 1.48995486e-01 -9.88837388e-01 -9.82882036e-04 8.40201013e+01] [-9.88811083e-01 -1.48998693e-01 7.21329842e-03 -1.66567218e+02] [-7.27922731e-03 -1.02864255e-04 -9.99973501e-01 -4.01623503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.1865599950002 meters 0.01486607262083077 Centerline is valid? [True, True] Translation: X:84.01, Y:-166.69, Z:-4.02 [[ 2.27558046e-01 -9.73763203e-01 -1.60005559e-03 8.40125689e+01] [-9.73734912e-01 -2.27563633e-01 7.42384739e-03 -1.66689166e+02] [-7.59318388e-03 -1.31326215e-04 -9.99971163e-01 -4.01681214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.246559995 meters 0.014213255459753465 Centerline is valid? [True, True] Translation: X:84.01, Y:-166.81, Z:-4.02 [[ 2.98988270e-01 -9.54254472e-01 -2.10181002e-03 8.40141288e+01] [-9.54228328e-01 -2.98995639e-01 7.06444394e-03 -1.66806965e+02] [-7.36970925e-03 -1.06579209e-04 -9.99972838e-01 -4.01622592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.306559995 meters 0.013705872585113629 Centerline is valid? [True, True] Translation: X:84.03, Y:-166.93, Z:-4.02 [[ 3.68648687e-01 -9.29567044e-01 -1.80429996e-03 8.40266614e+01] [-9.29555124e-01 -3.68653098e-01 4.70806731e-03 -1.66925886e+02] [-5.04162499e-03 -5.84265618e-05 -9.99987289e-01 -4.01744664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.366559995 meters 0.013359964905758422 Centerline is valid? [True, True] Translation: X:84.05, Y:-167.03, Z:-4.02 [[ 4.36409293e-01 -8.99747642e-01 -1.05305407e-03 8.40461226e+01] [-8.99744903e-01 -4.36410563e-01 2.22054621e-03 -1.67031507e+02] [-2.45749513e-03 -2.15869676e-05 -9.99996980e-01 -4.01994544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.426559995 meters 0.013344232254466864 Centerline is valid? [True, True] Translation: X:84.07, Y:-167.14, Z:-4.02 [[ 5.03175345e-01 -8.64182717e-01 -1.67474817e-03 8.40746684e+01] [-8.64177756e-01 -5.03178131e-01 2.92825121e-03 -1.67142420e+02] [-3.37324074e-03 -2.61437008e-05 -9.99994310e-01 -4.01837157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.486559995 meters 0.013259590987562474 Centerline is valid? [True, True] Translation: X:84.11, Y:-167.25, Z:-4.02 [[ 5.66349292e-01 -8.24162483e-01 -2.16355691e-03 8.41110878e+01] [-8.24156314e-01 -5.66353424e-01 3.18901439e-03 -1.67251890e+02] [-3.85360388e-03 -2.29869567e-05 -9.99992575e-01 -4.01588241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.546559995 meters 0.012940995133046859 Centerline is valid? [True, True] Translation: X:84.16, Y:-167.35, Z:-4.02 [[ 6.24862910e-01 -7.80730652e-01 -2.44793814e-03 8.41550939e+01] [-7.80724604e-01 -6.24867705e-01 3.07307630e-03 -1.67353793e+02] [-3.92888235e-03 -9.08586379e-06 -9.99992282e-01 -4.01506866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.606559995 meters 0.012883089272877913 Centerline is valid? [True, True] Translation: X:84.20, Y:-167.45, Z:-4.02 [[ 6.80450625e-01 -7.32786834e-01 -3.22544156e-03 8.42043901e+01] [-7.32778623e-01 -6.80458270e-01 3.46878482e-03 -1.67448263e+02] [-4.73665823e-03 3.19782759e-06 -9.99988782e-01 -4.01502204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.666559995 meters 0.013360212043605036 Centerline is valid? [True, True] Translation: X:84.26, Y:-167.54, Z:-4.01 [[ 7.31735608e-01 -6.81571518e-01 -4.82346360e-03 8.42594861e+01] [-6.81556971e-01 -7.31751505e-01 4.45310051e-03 -1.67539677e+02] [-6.56468322e-03 2.89730295e-05 -9.99978452e-01 -4.01211865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.7265599950001 meters 0.013317633328059297 Centerline is valid? [True, True] Translation: X:84.28, Y:-167.57, Z:-4.01 [[ 7.81571065e-01 -6.23796122e-01 -5.00682715e-03 8.42768644e+01] [-6.23783655e-01 -7.81587101e-01 3.94412664e-03 -1.67570197e+02] [-6.37360242e-03 4.05616785e-05 -9.99979688e-01 -4.01269342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.786559995 meters 0.013878212858088853 Centerline is valid? [True, True] Translation: X:84.30, Y:-167.60, Z:-4.01 [[ 8.25056467e-01 -5.65031806e-01 -4.56997390e-03 8.42980060e+01] [-5.65023563e-01 -8.25069121e-01 3.05282649e-03 -1.67597483e+02] [-5.49548841e-03 6.33886941e-05 -9.99984898e-01 -4.01365346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.846559995 meters 0.014480898283038359 Centerline is valid? [True, True] Translation: X:84.32, Y:-167.62, Z:-4.01 [[ 8.65342061e-01 -5.01166693e-01 -3.88126294e-03 8.43208083e+01] [-5.01161979e-01 -8.65350763e-01 2.17453576e-03 -1.67621527e+02] [-4.44845874e-03 6.34241549e-05 -9.99990104e-01 -4.01399110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.906559995 meters 0.01495293649906161 Centerline is valid? [True, True] Translation: X:84.35, Y:-167.64, Z:-4.01 [[ 9.01178211e-01 -4.33434027e-01 -3.57448471e-03 8.43462957e+01] [-4.33430891e-01 -9.01185298e-01 1.64978348e-03 -1.67644364e+02] [-3.93634536e-03 6.25431708e-05 -9.99992251e-01 -4.01451752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1215.9665599950001 meters 0.01425090010236496 Centerline is valid? [True, True] Translation: X:84.37, Y:-167.67, Z:-4.02 [[ 9.33032145e-01 -3.59785495e-01 -2.32691383e-03 8.43704248e+01] [-3.59784468e-01 -9.33035046e-01 8.60364596e-04 -1.67672655e+02] [-2.48063885e-03 3.44396301e-05 -9.99996923e-01 -4.01567264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.026559995 meters 0.013780687303728181 Centerline is valid? [True, True] Translation: X:84.40, Y:-167.70, Z:-4.02 [[ 9.59380044e-01 -2.82108763e-01 -2.13937572e-03 8.43981918e+01] [-2.82108113e-01 -9.59382429e-01 6.05751679e-04 -1.67695089e+02] [-2.22336733e-03 2.23891739e-05 -9.99997528e-01 -4.01588799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.086559995 meters 0.01307013672668694 Centerline is valid? [True, True] Translation: X:84.43, Y:-167.72, Z:-4.02 [[ 9.80240042e-01 -1.97799285e-01 -2.21407761e-03 8.44273154e+01] [-1.97798788e-01 -9.80242543e-01 4.43435819e-04 -1.67719950e+02] [-2.25804435e-03 3.26832064e-06 -9.99997451e-01 -4.01506603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.146559995 meters 0.01322148760223159 Centerline is valid? [True, True] Translation: X:84.46, Y:-167.74, Z:-4.01 [[ 9.93408849e-01 -1.14613387e-01 -1.62201275e-03 8.44575084e+01] [-1.14613223e-01 -9.93410173e-01 1.94453493e-04 -1.67738629e+02] [-1.63361094e-03 -7.26771160e-06 -9.99998666e-01 -4.01487982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.2065599950001 meters 0.013530131274879344 Centerline is valid? [True, True] Translation: X:84.49, Y:-167.75, Z:-4.02 [[ 9.99497814e-01 -3.16783642e-02 -7.75968687e-04 8.44882268e+01] [-3.16783491e-02 -9.99498115e-01 3.17168274e-05 -1.67754259e+02] [-7.76583978e-04 -7.11949267e-06 -9.99999699e-01 -4.01544827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.266559995 meters 0.014479402647551173 Centerline is valid? [True, True] Translation: X:84.52, Y:-167.77, Z:-4.02 [[ 9.98674679e-01 5.14672972e-02 5.47097580e-05 8.45201145e+01] [ 5.14672972e-02 -9.98674680e-01 1.94180288e-06 -1.67765414e+02] [ 5.47371888e-05 8.76533997e-07 -9.99999999e-01 -4.01611884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.326559995 meters 0.014758531535387743 Centerline is valid? [True, True] Translation: X:84.55, Y:-167.77, Z:-4.02 [[ 9.91345857e-01 1.31275494e-01 3.69887711e-04 8.45527998e+01] [ 1.31275487e-01 -9.91345926e-01 4.29067444e-05 -1.67774065e+02] [ 3.72319279e-04 6.02176616e-06 -9.99999931e-01 -4.01568951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.386559995 meters 0.015062484290200356 Centerline is valid? [True, True] Translation: X:84.59, Y:-167.78, Z:-4.02 [[ 9.77812305e-01 2.09482644e-01 3.42452973e-04 8.45858591e+01] [ 2.09482634e-01 -9.77812365e-01 6.72237278e-05 -1.67778081e+02] [ 3.48936955e-04 6.00576235e-06 -9.99999939e-01 -4.01544816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.4465599950001 meters 0.01591735309650031 Centerline is valid? [True, True] Translation: X:84.62, Y:-167.78, Z:-4.01 [[ 9.57434813e-01 2.88649326e-01 -3.82281967e-04 8.46202160e+01] [ 2.88649306e-01 -9.57434889e-01 -1.06956708e-04 -1.67782935e+02] [-3.96883075e-04 -7.94134948e-06 -9.99999921e-01 -4.01347900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.506559995 meters 0.01692625951619326 Centerline is valid? [True, True] Translation: X:84.65, Y:-167.78, Z:-4.01 [[ 9.31166102e-01 3.64589038e-01 -2.12678071e-03 8.46535321e+01] [ 3.64588210e-01 -9.31168530e-01 -7.78672054e-04 -1.67782412e+02] [-2.26428657e-03 -5.03261521e-05 -9.99997435e-01 -4.01108413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.566559995 meters 0.016589585190282006 Centerline is valid? [True, True] Translation: X:84.69, Y:-167.78, Z:-4.01 [[ 8.99808466e-01 4.36272697e-01 -3.29529978e-03 8.46866263e+01] [ 4.36270096e-01 -8.99814496e-01 -1.50867479e-03 -1.67775706e+02] [-3.62335213e-03 -8.01224019e-05 -9.99993433e-01 -4.00932583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.626559995 meters 0.016344931620602146 Centerline is valid? [True, True] Translation: X:84.72, Y:-167.76, Z:-4.01 [[ 8.63758358e-01 5.03884031e-01 -4.73093954e-03 8.47164839e+01] [ 5.03877169e-01 -8.63771307e-01 -2.63209868e-03 -1.67764643e+02] [-5.41272232e-03 -1.10315186e-04 -9.99985345e-01 -4.00743494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.6865599950002 meters 0.015148364919314723 Centerline is valid? [True, True] Translation: X:84.74, Y:-167.75, Z:-4.01 [[ 8.23957499e-01 5.66620742e-01 -5.91392494e-03 8.47444622e+01] [ 5.66607152e-01 -8.23978714e-01 -3.92609974e-03 -1.67748114e+02] [-7.09755782e-03 -1.15932840e-04 -9.99974805e-01 -4.00633250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.746559995 meters 0.014613472973061663 Centerline is valid? [True, True] Translation: X:84.77, Y:-167.73, Z:-4.01 [[ 7.79087734e-01 6.26892212e-01 -5.33443247e-03 8.47710895e+01] [ 6.26878297e-01 -7.79105992e-01 -4.17786854e-03 -1.67731591e+02] [-6.77516155e-03 -8.91138039e-05 -9.99977044e-01 -4.00601428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.806559995 meters 0.013504775763988118 Centerline is valid? [True, True] Translation: X:84.80, Y:-167.71, Z:-4.01 [[ 7.30936981e-01 6.82427940e-01 -4.82045429e-03 8.47961956e+01] [ 6.82413586e-01 -7.30952874e-01 -4.42643411e-03 -1.67711504e+02] [-6.54424723e-03 -5.40991138e-05 -9.99978585e-01 -4.00725889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.866559995 meters 0.013209278186129422 Centerline is valid? [True, True] Translation: X:84.82, Y:-167.69, Z:-4.01 [[ 6.77625566e-01 7.35393454e-01 -4.47888425e-03 8.48191335e+01] [ 7.35377714e-01 -6.77640367e-01 -4.81152961e-03 -1.67691642e+02] [-6.57344015e-03 -3.32561874e-05 -9.99978394e-01 -4.00724613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.926559995 meters 0.013045510458670258 Centerline is valid? [True, True] Translation: X:84.84, Y:-167.67, Z:-4.01 [[ 6.20399230e-01 7.84273357e-01 -4.48298785e-03 8.48354601e+01] [ 7.84253046e-01 -6.20415426e-01 -5.64441896e-03 -1.67666795e+02] [-7.20808222e-03 -1.40036985e-05 -9.99974021e-01 -4.00653833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1216.986559995 meters 0.012938145186685962 Centerline is valid? [True, True] Translation: X:84.86, Y:-167.65, Z:-4.01 [[ 5.57431204e-01 8.30212918e-01 -4.11874631e-03 8.48585785e+01] [ 8.30190404e-01 -5.57446420e-01 -6.11411949e-03 -1.67645747e+02] [-7.37200136e-03 -1.11426750e-05 -9.99972826e-01 -4.00757223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.046559995 meters 0.01304741877969497 Centerline is valid? [True, True] Translation: X:84.88, Y:-167.62, Z:-4.01 [[ 4.89608221e-01 8.71934589e-01 -3.72321489e-03 8.48796465e+01] [ 8.71909701e-01 -4.89622377e-01 -6.58789893e-03 -1.67624051e+02] [-7.56718627e-03 -2.08177066e-05 -9.99971368e-01 -4.00714965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.106559995 meters 0.013064146244902378 Centerline is valid? [True, True] Translation: X:84.90, Y:-167.60, Z:-4.01 [[ 4.17801932e-01 9.08532883e-01 -3.08967871e-03 8.49011851e+01] [ 9.08508684e-01 -4.17813355e-01 -6.63112333e-03 -1.67600964e+02] [-7.31550263e-03 -3.65038002e-05 -9.99973241e-01 -4.00804552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.166559995 meters 0.013354172216865592 Centerline is valid? [True, True] Translation: X:84.92, Y:-167.58, Z:-4.01 [[ 3.41579024e-01 9.39848807e-01 -2.82663418e-03 8.49206464e+01] [ 9.39818368e-01 -3.41590712e-01 -7.56442008e-03 -1.67576471e+02] [-8.07496317e-03 -7.26754905e-05 -9.99967394e-01 -4.00827136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.2265599950001 meters 0.014030748701723935 Centerline is valid? [True, True] Translation: X:84.94, Y:-167.55, Z:-4.01 [[ 2.63647994e-01 9.64616425e-01 -2.21100363e-03 8.49373103e+01] [ 9.64585595e-01 -2.63657246e-01 -7.71279092e-03 -1.67551639e+02] [-8.02283194e-03 -9.92404013e-05 -9.99967812e-01 -4.00747864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.286559995 meters 0.014113752231307784 Centerline is valid? [True, True] Translation: X:84.95, Y:-167.52, Z:-4.01 [[ 1.85845585e-01 9.82577697e-01 -1.57719786e-03 8.49499429e+01] [ 9.82547148e-01 -1.85852245e-01 -7.74881476e-03 -1.67523425e+02] [-7.90693833e-03 -1.09588244e-04 -9.99968734e-01 -4.00792763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.346559995 meters 0.01403082985614024 Centerline is valid? [True, True] Translation: X:84.96, Y:-167.50, Z:-4.01 [[ 1.07619207e-01 9.94191751e-01 -9.32431341e-04 8.49618588e+01] [ 9.94162849e-01 -1.07623189e-01 -7.58155387e-03 -1.67495285e+02] [-7.63786955e-03 -1.11067785e-04 -9.99970825e-01 -4.00856046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.406559995 meters 0.014303395594975605 Centerline is valid? [True, True] Translation: X:84.97, Y:-167.47, Z:-4.01 [[ 2.98543268e-02 9.99554204e-01 -3.36201494e-04 8.49705684e+01] [ 9.99524991e-01 -2.98560249e-02 -7.64270916e-03 -1.67467153e+02] [-7.64933971e-03 -1.07873859e-04 -9.99970738e-01 -4.00872531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.4665599950001 meters 0.013931389174645785 Centerline is valid? [True, True] Translation: X:84.98, Y:-167.44, Z:-4.01 [[-4.81040809e-02 9.98842302e-01 2.29539423e-04 8.49772662e+01] [ 9.98820095e-01 4.81045421e-02 -6.66122243e-03 -1.67437210e+02] [-6.66455264e-03 -9.11633943e-05 -9.99977788e-01 -4.00937149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.526559995 meters 0.014511388706979848 Centerline is valid? [True, True] Translation: X:84.98, Y:-167.41, Z:-4.01 [[-1.26039461e-01 9.92024810e-01 9.11193846e-04 8.49825375e+01] [ 9.91992226e-01 1.26042707e-01 -8.04113661e-03 -1.67408141e+02] [-8.09185636e-03 -1.09603309e-04 -9.99967254e-01 -4.00751448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.586559995 meters 0.014077645728335302 Centerline is valid? [True, True] Translation: X:84.98, Y:-167.38, Z:-4.01 [[-2.02978089e-01 9.79181726e-01 1.74449743e-03 8.49806612e+01] [ 9.79140272e-01 2.02985549e-01 -9.01078858e-03 -1.67378859e+02] [-9.17730728e-03 -1.20884948e-04 -9.99957880e-01 -4.00750254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.646559995 meters 0.013620270308280712 Centerline is valid? [True, True] Translation: X:84.98, Y:-167.35, Z:-4.01 [[-2.78413791e-01 9.60457599e-01 2.63835953e-03 8.49810352e+01] [ 9.60410168e-01 2.78426264e-01 -9.54591761e-03 -1.67348522e+02] [-9.90303769e-03 -1.23807793e-04 -9.99950956e-01 -4.00797431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.7065599950001 meters 0.013568462690002375 Centerline is valid? [True, True] Translation: X:84.98, Y:-167.32, Z:-4.01 [[-3.51450742e-01 9.36199570e-01 3.56941885e-03 8.49786509e+01] [ 9.36147900e-01 3.51468848e-01 -9.83659309e-03 -1.67319962e+02] [-1.04635538e-02 -1.15573978e-04 -9.99945249e-01 -4.00759517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.766559995 meters 0.013342546957729826 Centerline is valid? [True, True] Translation: X:84.97, Y:-167.29, Z:-4.01 [[-4.21776899e-01 9.06687297e-01 4.73212092e-03 8.49722997e+01] [ 9.06627504e-01 4.21803432e-01 -1.04131639e-02 -1.67291577e+02] [-1.14375083e-02 -1.01761002e-04 -9.99934584e-01 -4.00728392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.826559995 meters 0.013184894590129953 Centerline is valid? [True, True] Translation: X:84.96, Y:-167.26, Z:-4.01 [[-4.89973182e-01 8.71714499e-01 6.33350253e-03 8.49636684e+01] [ 8.71639190e-01 4.90014105e-01 -1.14585773e-02 -1.67263268e+02] [-1.30921135e-02 -9.38665566e-05 -9.99914290e-01 -4.00657708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.886559995 meters 0.013127628156265246 Centerline is valid? [True, True] Translation: X:84.95, Y:-167.24, Z:-4.01 [[-5.55552016e-01 8.31444702e-01 7.85268596e-03 8.49530730e+01] [ 8.31359565e-01 5.55607506e-01 -1.18984337e-02 -1.67235810e+02] [-1.42559009e-02 -8.17932278e-05 -9.99898376e-01 -4.00605026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1217.9465599950001 meters 0.012941684683646728 Centerline is valid? [True, True] Translation: X:84.94, Y:-167.21, Z:-4.01 [[-6.17992150e-01 7.86129527e-01 9.27735251e-03 8.49418443e+01] [ 7.86039305e-01 6.18061778e-01 -1.19100310e-02 -1.67208519e+02] [-1.50968041e-02 -6.79419690e-05 -9.99886035e-01 -4.00650365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.006559995 meters 0.012894006522552019 Centerline is valid? [True, True] Translation: X:84.93, Y:-167.18, Z:-4.01 [[-6.77521499e-01 7.35443644e-01 9.34164313e-03 8.49283860e+01] [ 7.35372533e-01 6.77585894e-01 -1.02271003e-02 -1.67182722e+02] [-1.38512215e-02 -5.94925739e-05 -9.99904066e-01 -4.00782294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.066559995 meters 0.012696284691753287 Centerline is valid? [True, True] Translation: X:84.91, Y:-167.16, Z:-4.01 [[-7.32731056e-01 6.80465095e-01 8.51197949e-03 8.49120704e+01] [ 6.80418471e-01 7.32780494e-01 -7.96567989e-03 -1.67158364e+02] [-1.16577797e-02 -4.49929684e-05 -9.99932045e-01 -4.01046009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.126559995 meters 0.012627021815479025 Centerline is valid? [True, True] Translation: X:84.93, Y:-167.14, Z:-4.01 [[-7.79131838e-01 6.26795087e-01 9.02762627e-03 8.49314334e+01] [ 6.26752327e-01 7.79184136e-01 -7.32146298e-03 -1.67138263e+02] [-1.16232402e-02 -4.62991390e-05 -9.99932447e-01 -4.01165636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.1865599950002 meters 0.012653605573633306 Centerline is valid? [True, True] Translation: X:84.95, Y:-167.12, Z:-4.01 [[-8.21788373e-01 5.69709435e-01 9.74832598e-03 8.49498187e+01] [ 5.69668597e-01 8.21846188e-01 -6.82150723e-03 -1.67115430e+02] [-1.18979016e-02 -5.25201413e-05 -9.99929216e-01 -4.01030638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.246559995 meters 0.012795467297338074 Centerline is valid? [True, True] Translation: X:84.96, Y:-167.09, Z:-4.01 [[-8.60382303e-01 5.09534984e-01 1.07885529e-02 8.49612207e+01] [ 5.09493992e-01 8.60449938e-01 -6.46347056e-03 -1.67086758e+02] [-1.25763741e-02 -6.43527815e-05 -9.99920912e-01 -4.00868601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.306559995 meters 0.012796113771189907 Centerline is valid? [True, True] Translation: X:85.32, Y:-166.52, Z:-5.03 [[-8.18287339e-01 -5.74714433e-01 1.04475555e-02 8.53164041e+01] [ 5.74668740e-01 -8.18354028e-01 -7.24740317e-03 -1.66516916e+02] [ 1.27149864e-02 7.34253263e-05 9.99919159e-01 -5.03285062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.366559995 meters 0.012728385358983399 Centerline is valid? [True, True] Translation: X:84.93, Y:-167.07, Z:-4.01 [[-8.62040284e-01 5.06713634e-01 1.13067224e-02 8.49284791e+01] [ 5.06669084e-01 8.62114430e-01 -6.71936905e-03 -1.67067429e+02] [-1.31524844e-02 -6.36001452e-05 -9.99913500e-01 -4.00909084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.426559995 meters 0.01281823441142276 Centerline is valid? [True, True] Translation: X:84.95, Y:-167.05, Z:-4.01 [[-8.94530227e-01 4.46845694e-01 1.20249511e-02 8.49453836e+01] [ 4.46804907e-01 8.94611047e-01 -6.03734369e-03 -1.67045779e+02] [-1.34554151e-02 -2.77792561e-05 -9.99909471e-01 -4.00823307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.486559995 meters 0.01286415472890124 Centerline is valid? [True, True] Translation: X:84.95, Y:-167.02, Z:-4.01 [[-9.22475867e-01 3.85858137e-01 1.23196040e-02 8.49528850e+01] [ 3.85824063e-01 9.22558127e-01 -5.12781726e-03 -1.67021952e+02] [-1.33441608e-02 2.29120019e-05 -9.99910963e-01 -4.00829912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.546559995 meters 0.013506281107946154 Centerline is valid? [True, True] Translation: X:84.97, Y:-167.01, Z:-4.01 [[-9.44905585e-01 3.27137860e-01 1.15868633e-02 8.49719899e+01] [ 3.27114815e-01 9.44976617e-01 -3.88478459e-03 -1.67005674e+02] [-1.22201750e-02 1.19479994e-04 -9.99925324e-01 -4.00951939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.606559995 meters 0.014564083118719791 Centerline is valid? [True, True] Translation: X:85.20, Y:-166.35, Z:-5.03 [[-9.29958751e-01 -3.67539060e-01 9.57918183e-03 8.51972305e+01] [ 3.67517264e-01 -9.30008063e-01 -4.00802597e-03 -1.66354675e+02] [ 1.03818224e-02 -2.06784131e-04 9.99946086e-01 -5.03138988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.666559995 meters 0.014809589971752897 Centerline is valid? [True, True] Translation: X:84.93, Y:-167.00, Z:-4.01 [[-9.43260465e-01 3.31970620e-01 7.42986015e-03 8.49323157e+01] [ 3.31961535e-01 9.43289715e-01 -2.46022722e-03 -1.66997337e+02] [-7.82523382e-03 1.45792711e-04 -9.99969372e-01 -4.01257508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.7265599950001 meters 0.014591155174704867 Centerline is valid? [True, True] Translation: X:84.94, Y:-166.97, Z:-4.01 [[-9.64570861e-01 2.63728443e-01 7.09669077e-03 8.49395635e+01] [ 2.63722312e-01 9.64596958e-01 -1.80321857e-03 -1.66968457e+02] [-7.32100635e-03 1.32223603e-04 -9.99973192e-01 -4.01254171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.786559995 meters 0.01414825508087606 Centerline is valid? [True, True] Translation: X:85.11, Y:-166.31, Z:-5.03 [[-9.54879403e-01 -2.96875612e-01 8.37841491e-03 8.51086539e+01] [ 2.96863615e-01 -9.54916157e-01 -2.66966140e-03 -1.66305587e+02] [ 8.79324113e-03 -6.19581434e-05 9.99961337e-01 -5.03073247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.846559995 meters 0.01336395540338427 Centerline is valid? [True, True] Translation: X:84.89, Y:-166.94, Z:-4.01 [[-9.68372349e-01 2.49227132e-01 1.18672249e-02 8.48881395e+01] [ 2.49209465e-01 9.68445058e-01 -2.96862727e-03 -1.66943820e+02] [-1.22326177e-02 8.26881948e-05 -9.99925175e-01 -4.00778587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.906559995 meters 0.013149438864177729 Centerline is valid? [True, True] Translation: X:85.05, Y:-166.31, Z:-5.04 [[-9.51891522e-01 -3.06185672e-01 1.23638810e-02 8.50471409e+01] [ 3.06159360e-01 -9.51971813e-01 -4.01416589e-03 -1.66305740e+02] [ 1.29991463e-02 -3.57325934e-05 9.99915507e-01 -5.03568532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1218.9665599950001 meters 0.012918955657753896 Centerline is valid? [True, True] Translation: X:84.84, Y:-166.92, Z:-4.01 [[-9.71787542e-01 2.35513734e-01 1.27379475e-02 8.48394499e+01] [ 2.35492855e-01 9.71871020e-01 -3.13626615e-03 -1.66920989e+02] [-1.31182757e-02 -4.80887541e-05 -9.99913951e-01 -4.00641048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.026559995 meters 0.01341209749605766 Centerline is valid? [True, True] Translation: X:84.99, Y:-166.30, Z:-5.03 [[-9.49739010e-01 -3.12823989e-01 1.17031927e-02 8.49873816e+01] [ 3.12800125e-01 -9.49811114e-01 -3.86391258e-03 -1.66300470e+02] [ 1.23245471e-02 -8.94836022e-06 9.99924050e-01 -5.03419261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.086559995 meters 0.01386823668771958 Centerline is valid? [True, True] Translation: X:84.79, Y:-166.90, Z:-4.01 [[-9.74575384e-01 2.23858581e-01 9.49509218e-03 8.47875224e+01] [ 2.23846804e-01 9.74621631e-01 -2.29910749e-03 -1.66902483e+02] [-9.76879716e-03 -1.15207531e-04 -9.99952278e-01 -4.00902802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.146559995 meters 0.014046586069230657 Centerline is valid? [True, True] Translation: X:84.79, Y:-166.87, Z:-4.01 [[-9.88526482e-01 1.50907555e-01 6.50411733e-03 8.47914636e+01] [ 1.50903627e-01 9.88547874e-01 -1.09332866e-03 -1.66873735e+02] [-6.59462292e-03 -9.92894366e-05 -9.99978250e-01 -4.01214834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.2065599950001 meters 0.014221042902552996 Centerline is valid? [True, True] Translation: X:84.90, Y:-166.26, Z:-5.03 [[-9.68758288e-01 -2.47956007e-01 5.01973781e-03 8.48974530e+01] [ 2.47952608e-01 -9.68771293e-01 -1.29849222e-03 -1.66257969e+02] [ 5.18494684e-03 -1.32680200e-05 9.99986558e-01 -5.02836788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.266559995 meters 0.014975996345643951 Centerline is valid? [True, True] Translation: X:84.74, Y:-166.86, Z:-4.01 [[-9.89634953e-01 1.43537232e-01 4.44112895e-03 8.47443080e+01] [ 1.43535408e-01 9.89644914e-01 -7.28385664e-04 -1.66862394e+02] [-4.49969115e-03 -8.33766547e-05 -9.99989873e-01 -4.01319976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.326559995 meters 0.015935746126539967 Centerline is valid? [True, True] Translation: X:84.84, Y:-166.26, Z:-5.03 [[-9.68654453e-01 -2.48347980e-01 5.64202950e-03 8.48408344e+01] [ 2.48344908e-01 -9.68670865e-01 -1.24973561e-03 -1.66257388e+02] [ 5.77563891e-03 1.90607337e-04 9.99983303e-01 -5.03063233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.386559995 meters 0.015674184946386446 Centerline is valid? [True, True] Translation: X:84.69, Y:-166.85, Z:-4.01 [[-9.90656735e-01 1.36165317e-01 7.63147759e-03 8.46930580e+01] [ 1.36159932e-01 9.90686114e-01 -1.22313329e-03 -1.66848118e+02] [-7.72694721e-03 -1.72603762e-04 -9.99970132e-01 -4.00880934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.4465599950001 meters 0.016646050609333416 Centerline is valid? [True, True] Translation: X:84.69, Y:-166.82, Z:-4.01 [[-9.97780418e-01 6.56915814e-02 1.09019617e-02 8.46904686e+01] [ 6.56849966e-02 9.97839946e-01 -9.61350856e-04 -1.66817709e+02] [-1.09415655e-02 -2.43121742e-04 -9.99940110e-01 -4.00536510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.506559995 meters 0.015413099380989127 Centerline is valid? [True, True] Translation: X:84.69, Y:-166.79, Z:-4.01 [[-9.99937418e-01 -2.24125365e-03 1.09607229e-02 8.46894365e+01] [-2.24342113e-03 9.99997466e-01 -1.85458867e-04 -1.66793072e+02] [-1.09602795e-02 -2.10036778e-04 -9.99939912e-01 -4.00592822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.566559995 meters 0.014377844092543356 Centerline is valid? [True, True] Translation: X:84.71, Y:-166.19, Z:-5.04 [[-9.95086229e-01 -9.84948123e-02 1.01078208e-02 8.47076001e+01] [ 9.84912120e-02 -9.95137554e-01 -8.54560809e-04 -1.66187942e+02] [ 1.01428419e-02 1.45169828e-04 9.99948550e-01 -5.03519295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.626559995 meters 0.012812884399588402 Centerline is valid? [True, True] Translation: X:84.64, Y:-166.80, Z:-4.01 [[-9.99924793e-01 8.36279069e-03 8.97060417e-03 8.46420976e+01] [ 8.36210381e-03 9.99965031e-01 -1.14075196e-04 -1.66804766e+02] [-8.97124446e-03 -3.90534934e-05 -9.99959757e-01 -4.00889553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.6865599950002 meters 0.012844260185736188 Centerline is valid? [True, True] Translation: X:84.66, Y:-166.17, Z:-5.03 [[-9.96957979e-01 -7.75035368e-02 8.24563211e-03 8.46564882e+01] [ 7.75008469e-02 -9.96992077e-01 -6.45729039e-04 -1.66174840e+02] [ 8.27087617e-03 -4.72124509e-06 9.99965796e-01 -5.03284362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.746559995 meters 0.013612393501720256 Centerline is valid? [True, True] Translation: X:84.59, Y:-166.81, Z:-4.01 [[-9.99805411e-01 1.76238325e-02 8.86233133e-03 8.45875588e+01] [ 1.76238748e-02 9.99844685e-01 -7.33276176e-05 -1.66813895e+02] [-8.86224719e-03 8.28752693e-05 -9.99960726e-01 -4.00797930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.806559995 meters 0.01595360112164505 Centerline is valid? [True, True] Translation: X:84.59, Y:-166.79, Z:-4.01 [[-9.98927237e-01 -4.51026038e-02 1.04943159e-02 8.45866115e+01] [-4.50981517e-02 9.98982342e-01 6.60625628e-04 -1.66792414e+02] [-1.05134322e-02 1.86642682e-04 -9.99944715e-01 -4.00681203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.866559995 meters 0.015898968107417245 Centerline is valid? [True, True] Translation: X:84.58, Y:-166.76, Z:-4.01 [[-9.93671472e-01 -1.11784264e-01 1.10129224e-02 8.45827748e+01] [-1.11774653e-01 9.93732468e-01 1.48628768e-03 -1.66764822e+02] [-1.11100421e-02 2.45916089e-04 -9.99938251e-01 -4.00792170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.926559995 meters 0.016928332332051044 Centerline is valid? [True, True] Translation: X:84.57, Y:-166.74, Z:-4.01 [[-9.83786992e-01 -1.78994822e-01 1.11358805e-02 8.45700817e+01] [-1.78980002e-01 9.83849973e-01 2.32159188e-03 -1.66740803e+02] [-1.13715886e-02 2.90851989e-04 -9.99935299e-01 -4.00793016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1219.986559995 meters 0.01871287304045251 Centerline is valid? [True, True] Translation: X:84.43, Y:-166.10, Z:-5.03 [[-9.86143869e-01 1.65481489e-01 1.16681501e-02 8.44287337e+01] [-1.65473199e-01 -9.86212858e-01 1.67905879e-03 -1.66097387e+02] [ 1.17851328e-02 -2.74972590e-04 9.99930515e-01 -5.03479621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.046559995 meters 0.018362832752545164 Centerline is valid? [True, True] Translation: X:84.46, Y:-166.76, Z:-4.01 [[-9.83167828e-01 -1.82331358e-01 1.16746603e-02 8.44633750e+01] [-1.82314397e-01 9.83237083e-01 2.50994576e-03 -1.66760943e+02] [-1.19366008e-02 3.39239263e-04 -9.99928699e-01 -4.00705873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.106559995 meters 0.017542569583706098 Centerline is valid? [True, True] Translation: X:84.44, Y:-166.74, Z:-4.01 [[-9.67082849e-01 -2.54201864e-01 1.14967604e-02 8.44380669e+01] [-2.54179998e-01 9.67151132e-01 3.34908662e-03 -1.66735601e+02] [-1.19704489e-02 3.16597676e-04 -9.99928302e-01 -4.00688058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.166559995 meters 0.01607836764667188 Centerline is valid? [True, True] Translation: X:84.40, Y:-166.71, Z:-4.01 [[-9.44655826e-01 -3.27899202e-01 1.03674117e-02 8.44026252e+01] [-3.27876705e-01 9.44712685e-01 3.84819985e-03 -1.66712043e+02] [-1.10560470e-02 2.35991605e-04 -9.99938852e-01 -4.00786677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.2265599950001 meters 0.015487824048569781 Centerline is valid? [True, True] Translation: X:84.35, Y:-166.70, Z:-4.01 [[-9.17551606e-01 -3.97496321e-01 9.78396226e-03 8.43497338e+01] [-3.97471314e-01 9.17603745e-01 4.46346107e-03 -1.66701546e+02] [-1.07520098e-02 2.06611538e-04 -9.99942174e-01 -4.00817838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.286559995 meters 0.014145203153163342 Centerline is valid? [True, True] Translation: X:84.28, Y:-166.70, Z:-4.01 [[-8.83388420e-01 -4.68541718e-01 9.67253349e-03 8.42830776e+01] [-4.68511717e-01 8.83441359e-01 5.30435188e-03 -1.66697947e+02] [-1.10304263e-02 1.54107752e-04 -9.99939151e-01 -4.00875440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.346559995 meters 0.01311770118646747 Centerline is valid? [True, True] Translation: X:84.21, Y:-166.70, Z:-4.01 [[-8.43246010e-01 -5.37449194e-01 9.19410121e-03 8.42099363e+01] [-5.37416128e-01 8.43296126e-01 5.96230589e-03 -1.66701067e+02] [-1.09577864e-02 8.66323812e-05 -9.99939958e-01 -4.00861995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.406559995 meters 0.012553737445644234 Centerline is valid? [True, True] Translation: X:84.13, Y:-166.71, Z:-4.01 [[-7.97336925e-01 -6.03480212e-01 8.09088126e-03 8.41312483e+01] [-6.03448960e-01 7.97377974e-01 6.14156229e-03 -1.66713442e+02] [-1.01578018e-02 1.44605051e-05 -9.99948408e-01 -4.00914557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.4665599950001 meters 0.0126798952077195 Centerline is valid? [True, True] Translation: X:84.05, Y:-166.73, Z:-4.01 [[-7.45021239e-01 -6.67015390e-01 5.81577490e-03 8.40503752e+01] [-6.66995617e-01 7.45043936e-01 5.13609859e-03 -1.66729663e+02] [-7.75886463e-03 -5.25938350e-05 -9.99969898e-01 -4.01090333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.526559995 meters 0.01313366988115793 Centerline is valid? [True, True] Translation: X:83.97, Y:-166.76, Z:-4.01 [[-6.90838533e-01 -7.22988900e-01 5.40102975e-03 8.39693267e+01] [-7.22967693e-01 6.90859641e-01 5.53807000e-03 -1.66762452e+02] [-7.73531661e-03 -7.88578594e-05 -9.99970079e-01 -4.01081274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.586559995 meters 0.013722166630456186 Centerline is valid? [True, True] Translation: X:83.89, Y:-166.81, Z:-4.01 [[-6.32838269e-01 -7.74266892e-01 5.14829798e-03 8.38886683e+01] [-7.74242586e-01 6.32859201e-01 6.13588027e-03 -1.66805019e+02] [-8.00895670e-03 -1.03011690e-04 -9.99967923e-01 -4.01019825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.646559995 meters 0.01439444809203882 Centerline is valid? [True, True] Translation: X:83.81, Y:-166.85, Z:-4.01 [[-5.70572385e-01 -8.21228222e-01 5.60013985e-03 8.38085409e+01] [-8.21191257e-01 5.70599846e-01 7.79329022e-03 -1.66854146e+02] [-9.59550881e-03 -1.52149697e-04 -9.99953951e-01 -4.00817138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.7065599950001 meters 0.015065345278710259 Centerline is valid? [True, True] Translation: X:83.73, Y:-166.91, Z:-4.01 [[-5.05965885e-01 -8.62535063e-01 5.63818252e-03 8.37320570e+01] [-8.62485602e-01 5.05997263e-01 9.23885579e-03 -1.66914817e+02] [-1.08217420e-02 -1.88305401e-04 -9.99941426e-01 -4.00672562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.766559995 meters 0.01574344928893361 Centerline is valid? [True, True] Translation: X:83.66, Y:-166.98, Z:-4.01 [[-4.38318012e-01 -8.98804857e-01 5.21048982e-03 8.36607737e+01] [-8.98747075e-01 4.38348928e-01 1.01937417e-02 -1.66982797e+02] [-1.14461972e-02 -2.14811898e-04 -9.99934467e-01 -4.00534723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.826559995 meters 0.015602707763084329 Centerline is valid? [True, True] Translation: X:83.59, Y:-167.06, Z:-4.00 [[-3.68889625e-01 -9.29458648e-01 5.20255442e-03 8.35942344e+01] [-9.29375848e-01 3.68926219e-01 1.24087732e-02 -1.67062715e+02] [-1.34528003e-02 -2.57660750e-04 -9.99909474e-01 -4.00425818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.886559995 meters 0.015314464794211953 Centerline is valid? [True, True] Translation: X:83.54, Y:-167.15, Z:-4.00 [[-2.97789545e-01 -9.54621205e-01 4.44317080e-03 8.35351760e+01] [-9.54527868e-01 2.97822572e-01 1.33516243e-02 -1.67150189e+02] [-1.40690203e-02 -2.65156225e-04 -9.99900991e-01 -4.00454797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1220.9465599950001 meters 0.014925040978602751 Centerline is valid? [True, True] Translation: X:83.48, Y:-167.24, Z:-4.01 [[-2.25380399e-01 -9.74265451e-01 3.24126557e-03 8.34835301e+01] [-9.74179470e-01 2.25403577e-01 1.29455527e-02 -1.67241416e+02] [-1.33429976e-02 -2.39900550e-04 -9.99910950e-01 -4.00588229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.006559995 meters 0.014263876236703988 Centerline is valid? [True, True] Translation: X:83.44, Y:-167.34, Z:-4.01 [[-1.52520537e-01 -9.88298164e-01 2.05537982e-03 8.34409366e+01] [-9.88225077e-01 1.52534258e-01 1.20207395e-02 -1.67339573e+02] [-1.21935906e-02 -1.97768233e-04 -9.99925636e-01 -4.00823685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.066559995 meters 0.014420746587644239 Centerline is valid? [True, True] Translation: X:83.40, Y:-167.44, Z:-4.01 [[-7.77571603e-02 -9.96971730e-01 1.09286672e-03 8.34026381e+01] [-9.96903182e-01 7.77646309e-02 1.16921808e-02 -1.67441100e+02] [-1.17417601e-02 -1.80331536e-04 -9.99931047e-01 -4.00828993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.126559995 meters 0.014092635120861964 Centerline is valid? [True, True] Translation: X:82.84, Y:-167.49, Z:-5.03 [[-1.74790508e-01 9.84603893e-01 1.85824363e-03 8.28404964e+01] [-9.84537735e-01 -1.74800307e-01 1.14149207e-02 -1.67488335e+02] [ 1.15639969e-02 1.65708817e-04 9.99933121e-01 -5.03277959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.1865599950002 meters 0.014145963874632671 Centerline is valid? [True, True] Translation: X:83.38, Y:-167.69, Z:-4.01 [[-7.02314829e-02 -9.97530198e-01 1.02124569e-03 8.33832642e+01] [-9.97456894e-01 7.02387036e-02 1.20941418e-02 -1.67694476e+02] [-1.21360026e-02 -1.69259044e-04 -9.99926342e-01 -4.00757322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.246559995 meters 0.014072011153620017 Centerline is valid? [True, True] Translation: X:83.36, Y:-167.80, Z:-4.01 [[ 4.43611594e-03 -9.99990156e-01 9.78728733e-05 8.33558895e+01] [-9.99919158e-01 -4.43463463e-03 1.19168942e-02 -1.67798559e+02] [-1.19163429e-02 -1.50729686e-04 -9.99928987e-01 -4.00740469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.306559995 meters 0.013476691152118518 Centerline is valid? [True, True] Translation: X:83.34, Y:-167.91, Z:-4.01 [[ 7.78518857e-02 -9.96964668e-01 -7.31364108e-04 8.33411965e+01] [-9.96907197e-01 -7.78552511e-02 1.07051338e-02 -1.67908758e+02] [-1.07295807e-02 -1.04312709e-04 -9.99942431e-01 -4.00944298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.366559995 meters 0.013168156648167197 Centerline is valid? [True, True] Translation: X:83.33, Y:-168.02, Z:-4.01 [[ 1.52651412e-01 -9.88278918e-01 -1.52523362e-03 8.33307126e+01] [-9.88223498e-01 -1.52659005e-01 1.04664224e-02 -1.68022479e+02] [-1.05765853e-02 -9.04424571e-05 -9.99944062e-01 -4.00969693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.426559995 meters 0.013143639552499631 Centerline is valid? [True, True] Translation: X:83.33, Y:-168.14, Z:-4.01 [[ 2.27248102e-01 -9.73833937e-01 -2.40050040e-03 8.33284803e+01] [-9.73775443e-01 -2.27260764e-01 1.06738509e-02 -1.68136895e+02] [-1.09400978e-02 -8.80640174e-05 -9.99940152e-01 -4.00868636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.486559995 meters 0.013186936568769788 Centerline is valid? [True, True] Translation: X:83.34, Y:-168.25, Z:-4.01 [[ 3.00461756e-01 -9.53787922e-01 -3.36646943e-03 8.33360219e+01] [-9.53724821e-01 -3.00480602e-01 1.09715169e-02 -1.68253119e+02] [-1.14760591e-02 -8.58357865e-05 -9.99934144e-01 -4.00725766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.546559995 meters 0.012807687461076902 Centerline is valid? [True, True] Translation: X:83.36, Y:-168.36, Z:-4.01 [[ 3.70524615e-01 -9.28812140e-01 -4.41790334e-03 8.33560904e+01] [-9.28744044e-01 -3.70550946e-01 1.12471234e-02 -1.68364604e+02] [-1.20835230e-02 -6.42346562e-05 -9.99926990e-01 -4.00832308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.606559995 meters 0.012806103515981153 Centerline is valid? [True, True] Translation: X:83.38, Y:-168.48, Z:-4.01 [[ 4.39551522e-01 -8.98201092e-01 -5.40913402e-03 8.33813986e+01] [-8.98131591e-01 -4.39584800e-01 1.11736212e-02 -1.68475059e+02] [-1.24139319e-02 -5.32680690e-05 -9.99922943e-01 -4.00778738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.666559995 meters 0.01278071825522562 Centerline is valid? [True, True] Translation: X:83.41, Y:-168.58, Z:-4.01 [[ 5.07270246e-01 -8.61767381e-01 -5.82057987e-03 8.34114942e+01] [-8.61709422e-01 -5.07303636e-01 9.99467782e-03 -1.68583764e+02] [-1.15658887e-02 -5.43541618e-05 -9.99933111e-01 -4.00887986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.7265599950001 meters 0.012730279490319919 Centerline is valid? [True, True] Translation: X:83.45, Y:-168.69, Z:-4.01 [[ 5.72491673e-01 -8.19887971e-01 -6.08268577e-03 8.34500973e+01] [-8.19840531e-01 -5.72523983e-01 8.82008363e-03 -1.68690717e+02] [-1.07139640e-02 -6.25920994e-05 -9.99942602e-01 -4.01017407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.786559995 meters 0.012812093109957966 Centerline is valid? [True, True] Translation: X:83.50, Y:-168.80, Z:-4.01 [[ 6.33808986e-01 -7.73463037e-01 -6.41100217e-03 8.34980379e+01] [-7.73422421e-01 -6.33841405e-01 7.92668950e-03 -1.68795651e+02] [-1.01945600e-02 -6.55942122e-05 -9.99948032e-01 -4.01121557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.846559995 meters 0.012831898443699008 Centerline is valid? [True, True] Translation: X:83.54, Y:-168.89, Z:-4.01 [[ 6.90990759e-01 -7.22830748e-01 -6.89062740e-03 8.35446818e+01] [-7.22793844e-01 -6.91025112e-01 7.30434247e-03 -1.68887117e+02] [-1.00413999e-02 -6.67300793e-05 -9.99949582e-01 -4.01193050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.906559995 meters 0.012920920710326904 Centerline is valid? [True, True] Translation: X:83.60, Y:-168.98, Z:-4.01 [[ 7.44249704e-01 -6.67865921e-01 -6.89127063e-03 8.36004321e+01] [-6.67836460e-01 -7.44281605e-01 6.27341616e-03 -1.68977114e+02] [-9.31884683e-03 -6.67463402e-05 -9.99956576e-01 -4.01209017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1221.9665599950001 meters 0.012868981610142617 Centerline is valid? [True, True] Translation: X:83.62, Y:-169.01, Z:-4.01 [[ 7.94736984e-01 -6.06906862e-01 -7.56216289e-03 8.36206198e+01] [-6.06878462e-01 -7.94772958e-01 5.87183844e-03 -1.69006330e+02] [-9.57386161e-03 -7.72533898e-05 -9.99954167e-01 -4.01253737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.026559995 meters 0.013233569712692425 Centerline is valid? [True, True] Translation: X:83.64, Y:-169.03, Z:-4.01 [[ 8.40601925e-01 -5.41587225e-01 -8.46652107e-03 8.36414693e+01] [-5.41558578e-01 -8.40644555e-01 5.57121176e-03 -1.69033462e+02] [-1.01346320e-02 -9.80542125e-05 -9.99948639e-01 -4.01132692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.086559995 meters 0.01342993149192174 Centerline is valid? [True, True] Translation: X:83.67, Y:-169.06, Z:-4.01 [[ 8.81580843e-01 -4.71947002e-01 -9.01362261e-03 8.36658372e+01] [-4.71920867e-01 -8.81626912e-01 4.96821241e-03 -1.69060296e+02] [-1.02913852e-02 -1.26164286e-04 -9.99947034e-01 -4.01197867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.146559995 meters 0.013828578533020306 Centerline is valid? [True, True] Translation: X:83.69, Y:-169.08, Z:-4.01 [[ 9.16577916e-01 -3.99738708e-01 -9.68960198e-03 8.36923383e+01] [-3.99714619e-01 -9.16629119e-01 4.39105059e-03 -1.69084171e+02] [-1.06370442e-02 -1.51664441e-04 -9.99943414e-01 -4.01222426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.2065599950001 meters 0.014029262874759179 Centerline is valid? [True, True] Translation: X:83.72, Y:-169.11, Z:-4.01 [[ 9.45374615e-01 -3.25838082e-01 -9.81742890e-03 8.37207612e+01] [-3.25818751e-01 -9.45425576e-01 3.55279407e-03 -1.69105893e+02] [-1.04392840e-02 -1.60018904e-04 -9.99945496e-01 -4.01185261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.266559995 meters 0.014241891738223473 Centerline is valid? [True, True] Translation: X:83.75, Y:-169.13, Z:-4.01 [[ 9.68291792e-01 -2.49616585e-01 -1.01275079e-02 8.37507546e+01] [-2.49601036e-01 -9.68344737e-01 2.79163584e-03 -1.69126028e+02] [-1.05037576e-02 -1.75281593e-04 -9.99944819e-01 -4.01202595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.326559995 meters 0.01499610102211623 Centerline is valid? [True, True] Translation: X:83.78, Y:-169.14, Z:-4.01 [[ 9.84990574e-01 -1.72257349e-01 -1.09988376e-02 8.37823367e+01] [-1.72244373e-01 -9.85051962e-01 2.12349141e-03 -1.69142112e+02] [-1.12002135e-02 -1.97131146e-04 -9.99937256e-01 -4.01102284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.386559995 meters 0.014436041906452127 Centerline is valid? [True, True] Translation: X:83.81, Y:-169.16, Z:-4.01 [[ 9.95539181e-01 -9.37020726e-02 -1.10300186e-02 8.38136197e+01] [-9.36940391e-02 -9.95600261e-01 1.24396582e-03 -1.69155256e+02] [-1.10980516e-02 -2.04969717e-04 -9.99938394e-01 -4.01201023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.4465599950001 meters 0.015041641014544114 Centerline is valid? [True, True] Translation: X:83.84, Y:-169.17, Z:-4.01 [[ 9.99837180e-01 -1.48457227e-02 -1.02576173e-02 8.38436096e+01] [-1.48429324e-02 -9.99889777e-01 3.48101803e-04 -1.69167603e+02] [-1.02616545e-02 -1.95792006e-04 -9.99947329e-01 -4.01180933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.506559995 meters 0.014748880169716296 Centerline is valid? [True, True] Translation: X:83.87, Y:-169.18, Z:-4.01 [[ 9.97934275e-01 6.34224802e-02 -1.02358245e-02 8.38747580e+01] [ 6.34211463e-02 -9.97986749e-01 -4.55182175e-04 -1.69175223e+02] [-1.02440860e-02 -1.94925833e-04 -9.99947509e-01 -4.01188202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.566559995 meters 0.01460659583847374 Centerline is valid? [True, True] Translation: X:83.91, Y:-169.18, Z:-4.01 [[ 9.90013389e-01 1.40549605e-01 -1.09224175e-02 8.39072298e+01] [ 1.40543278e-01 -9.90073618e-01 -1.34856224e-03 -1.69179015e+02] [-1.10035373e-02 -1.99977685e-04 -9.99939439e-01 -4.01111490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.626559995 meters 0.014748366727913695 Centerline is valid? [True, True] Translation: X:83.94, Y:-169.18, Z:-4.01 [[ 9.76220150e-01 2.16463434e-01 -1.17388202e-02 8.39381903e+01] [ 2.16450286e-01 -9.76290705e-01 -2.39446927e-03 -1.69179171e+02] [-1.19788161e-02 -2.03341847e-04 -9.99928231e-01 -4.00964147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.6865599950002 meters 0.013963229100269148 Centerline is valid? [True, True] Translation: X:83.97, Y:-169.18, Z:-4.01 [[ 9.56515529e-01 2.91439025e-01 -1.18885692e-02 8.39707642e+01] [ 2.91419103e-01 -9.56589387e-01 -3.41343387e-03 -1.69178288e+02] [-1.23672870e-02 -1.99553665e-04 -9.99923502e-01 -4.01057274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.746559995 meters 0.013831812499358173 Centerline is valid? [True, True] Translation: X:84.00, Y:-169.18, Z:-4.01 [[ 9.31129914e-01 3.64501106e-01 -1.16630706e-02 8.40028344e+01] [ 3.64475047e-01 -9.31202936e-01 -4.36257594e-03 -1.69176366e+02] [-1.24508494e-02 -1.88773250e-04 -9.99922467e-01 -4.01016169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.806559995 meters 0.01377885574017473 Centerline is valid? [True, True] Translation: X:84.03, Y:-169.17, Z:-4.01 [[ 9.00424291e-01 4.34890229e-01 -1.03240047e-02 8.40347344e+01] [ 4.34863611e-01 -9.00483462e-01 -4.81402963e-03 -1.69170434e+02] [-1.13901700e-02 -1.54864770e-04 -9.99935118e-01 -4.01012829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.866559995 meters 0.013548689868296588 Centerline is valid? [True, True] Translation: X:84.07, Y:-169.16, Z:-4.01 [[ 8.64051474e-01 5.03307849e-01 -9.81121210e-03 8.40658591e+01] [ 5.03277287e-01 -8.64107163e-01 -5.54830575e-03 -1.69162283e+02] [-1.12704445e-02 -1.43738441e-04 -9.99936476e-01 -4.01061075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.926559995 meters 0.013930220634566228 Centerline is valid? [True, True] Translation: X:84.10, Y:-169.15, Z:-4.01 [[ 8.22236991e-01 5.69070596e-01 -9.21885624e-03 8.40950671e+01] [ 5.69036698e-01 -8.22288658e-01 -6.21278507e-03 -1.69152119e+02] [-1.11160742e-02 -1.37485810e-04 -9.99938205e-01 -4.00910229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1222.986559995 meters 0.013495710856792227 Centerline is valid? [True, True] Translation: X:84.12, Y:-169.14, Z:-4.01 [[ 7.75613415e-01 6.31150611e-01 -8.52860978e-03 8.41232035e+01] [ 6.31114254e-01 -7.75660293e-01 -6.77560280e-03 -1.69137380e+02] [-1.08917298e-02 -1.27278778e-04 -9.99940675e-01 -4.00997280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.046559995 meters 0.013234774216289305 Centerline is valid? [True, True] Translation: X:84.15, Y:-169.12, Z:-4.01 [[ 7.24335745e-01 6.89398129e-01 -8.24309400e-03 8.41506259e+01] [ 6.89355414e-01 -7.24382637e-01 -7.67518781e-03 -1.69122355e+02] [-1.12624143e-02 -1.23008592e-04 -9.99936570e-01 -4.01047854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.106559995 meters 0.013232955650597867 Centerline is valid? [True, True] Translation: X:84.18, Y:-169.11, Z:-4.01 [[ 6.68536082e-01 7.43636836e-01 -7.98514447e-03 8.41770562e+01] [ 7.43585976e-01 -6.68583757e-01 -8.69800281e-03 -1.69106111e+02] [-1.18068932e-02 -1.22712721e-04 -9.99930289e-01 -4.01032141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.166559995 meters 0.013396826438449541 Centerline is valid? [True, True] Translation: X:84.20, Y:-169.09, Z:-4.01 [[ 6.08090160e-01 7.93832327e-01 -7.52286922e-03 8.42014631e+01] [ 7.93774198e-01 -6.08136679e-01 -9.60744752e-03 -1.69087573e+02] [-1.22016351e-02 -1.29265182e-04 -9.99925549e-01 -4.00976298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.2265599950001 meters 0.013814565907173407 Centerline is valid? [True, True] Translation: X:84.22, Y:-169.07, Z:-4.01 [[ 5.44484945e-01 8.38739897e-01 -7.17845073e-03 8.42233448e+01] [ 8.38670150e-01 -5.44532247e-01 -1.08171716e-02 -1.69067922e+02] [-1.29816913e-02 -1.30565249e-04 -9.99915726e-01 -4.00777730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.286559995 meters 0.013065884691211373 Centerline is valid? [True, True] Translation: X:84.24, Y:-169.05, Z:-4.01 [[ 4.78437926e-01 8.78099035e-01 -6.26379173e-03 8.42441792e+01] [ 8.78026786e-01 -4.78478915e-01 -1.12645851e-02 -1.69045178e+02] [-1.28885135e-02 -1.10372212e-04 -9.99916934e-01 -4.01004764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.346559995 meters 0.013193871858793652 Centerline is valid? [True, True] Translation: X:84.26, Y:-169.02, Z:-4.01 [[ 4.09239757e-01 9.12414237e-01 -4.80423327e-03 8.42648770e+01] [ 9.12353815e-01 -4.09267946e-01 -1.05007144e-02 -1.69023171e+02] [-1.15472200e-02 -8.58507417e-05 -9.99933325e-01 -4.00965742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.406559995 meters 0.012908485429190127 Centerline is valid? [True, True] Translation: X:84.28, Y:-169.00, Z:-4.01 [[ 3.37728130e-01 9.41236720e-01 -3.62587791e-03 8.42832421e+01] [ 9.41184531e-01 -3.37747587e-01 -9.91191745e-03 -1.68998530e+02] [-1.05540922e-02 -6.50868572e-05 -9.99944302e-01 -4.01130447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.4665599950001 meters 0.012752482567795187 Centerline is valid? [True, True] Translation: X:84.30, Y:-168.97, Z:-4.01 [[ 2.65658005e-01 9.64064399e-01 -2.37874459e-03 8.43002502e+01] [ 9.64026754e-01 -2.65668653e-01 -8.51967706e-03 -1.68972698e+02] [-8.84547522e-03 -2.98530177e-05 -9.99960878e-01 -4.01297975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.526559995 meters 0.012799339363057907 Centerline is valid? [True, True] Translation: X:84.31, Y:-168.95, Z:-4.01 [[ 1.92091002e-01 9.81375817e-01 -1.59759669e-03 8.43141211e+01] [ 9.81342078e-01 -1.92097645e-01 -8.13763773e-03 -1.68947065e+02] [-8.29297544e-03 -4.62187160e-06 -9.99965613e-01 -4.01316413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.586559995 meters 0.012845799557286146 Centerline is valid? [True, True] Translation: X:84.33, Y:-168.92, Z:-4.01 [[ 1.17969662e-01 9.93016732e-01 -9.64177893e-04 8.43254387e+01] [ 9.92981910e-01 -1.17973600e-01 -8.31602627e-03 -1.68919578e+02] [-8.37170076e-03 2.36276019e-05 -9.99964957e-01 -4.01257810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.646559995 meters 0.01319085074719638 Centerline is valid? [True, True] Translation: X:84.33, Y:-168.89, Z:-4.01 [[ 4.32874186e-02 9.99062605e-01 -3.32319879e-04 8.43334277e+01] [ 9.99022274e-01 -4.32886571e-02 -8.97711747e-03 -1.68891310e+02] [-8.98308804e-03 5.66012802e-05 -9.99959650e-01 -4.01250444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.7065599950001 meters 0.01397188656501983 Centerline is valid? [True, True] Translation: X:84.34, Y:-168.86, Z:-4.01 [[-2.96527143e-02 9.99560195e-01 3.65647165e-04 8.43373311e+01] [ 9.99521196e-01 2.96547875e-02 -8.83020080e-03 -1.68862824e+02] [-8.83716042e-03 1.03632671e-04 -9.99960946e-01 -4.01300195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.766559995 meters 0.014288978129279182 Centerline is valid? [True, True] Translation: X:84.34, Y:-168.83, Z:-4.01 [[-1.04901032e-01 9.94482142e-01 1.02125224e-03 8.43435790e+01] [ 9.94445977e-01 1.04905928e-01 -8.48205293e-03 -1.68833832e+02] [-8.54238557e-03 1.25804072e-04 -9.99963505e-01 -4.01369642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.826559995 meters 0.014680321603730282 Centerline is valid? [True, True] Translation: X:84.35, Y:-168.80, Z:-4.01 [[-1.80456010e-01 9.83581688e-01 1.64084036e-03 8.43481586e+01] [ 9.83547768e-01 1.80463415e-01 -8.16966814e-03 -1.68804132e+02] [-8.33164763e-03 1.39579161e-04 -9.99965282e-01 -4.01331464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.886559995 meters 0.015255617064643021 Centerline is valid? [True, True] Translation: X:84.35, Y:-168.78, Z:-4.01 [[-2.55481029e-01 9.66811496e-01 2.23058234e-03 8.43489517e+01] [ 9.66779587e-01 2.55490723e-01 -7.85628846e-03 -1.68775847e+02] [-8.16544309e-03 1.49348810e-04 -9.99966651e-01 -4.01347090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1223.9465599950001 meters 0.015101858700736541 Centerline is valid? [True, True] Translation: X:84.35, Y:-168.75, Z:-4.01 [[-3.31187158e-01 9.43560819e-01 2.83670611e-03 8.43484142e+01] [ 9.43529816e-01 3.31199276e-01 -7.65021143e-03 -1.68746174e+02] [-8.15795478e-03 1.42865014e-04 -9.99966713e-01 -4.01375695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.006559995 meters 0.014445548375053293 Centerline is valid? [True, True] Translation: X:84.35, Y:-168.72, Z:-4.01 [[-4.05099971e-01 9.14266220e-01 3.36037895e-03 8.43481702e+01] [ 9.14237399e-01 4.05113887e-01 -7.26058883e-03 -1.68715127e+02] [-7.99944729e-03 1.30919780e-04 -9.99967995e-01 -4.01402634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.066559995 meters 0.013262975361307513 Centerline is valid? [True, True] Translation: X:84.35, Y:-168.68, Z:-4.01 [[-4.81326645e-01 8.76530771e-01 4.29747286e-03 8.43505993e+01] [ 8.76497399e-01 4.81345822e-01 -7.64916061e-03 -1.68681608e+02] [-8.77329525e-03 8.49789702e-05 -9.99961510e-01 -4.01338047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.126559995 meters 0.012826475251656868 Centerline is valid? [True, True] Translation: X:84.35, Y:-168.65, Z:-4.01 [[-5.54006682e-01 8.32497732e-01 4.91148240e-03 8.43478513e+01] [ 8.32465447e-01 5.54028452e-01 -7.33165285e-03 -1.68650012e+02] [-8.82468536e-03 2.68547254e-05 -9.99961061e-01 -4.01220149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.1865599950002 meters 0.012868158482770696 Centerline is valid? [True, True] Translation: X:84.34, Y:-168.62, Z:-4.01 [[-6.22979946e-01 7.82216466e-01 5.77820810e-03 8.43384837e+01] [ 7.82182278e-01 6.23006741e-01 -7.31334450e-03 -1.68619574e+02] [-9.32048108e-03 -3.64549840e-05 -9.99956563e-01 -4.01197087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.246559995 meters 0.013756008326740737 Centerline is valid? [True, True] Translation: X:84.33, Y:-168.59, Z:-4.01 [[-6.88189754e-01 7.25505923e-01 6.00162350e-03 8.43289349e+01] [ 7.25476991e-01 6.88215915e-01 -6.48002427e-03 -1.68587595e+02] [-8.83170879e-03 -1.05446545e-04 -9.99960994e-01 -4.01298623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.306559995 meters 0.014424053462984959 Centerline is valid? [True, True] Translation: X:84.31, Y:-168.56, Z:-4.01 [[-7.44866077e-01 6.67188120e-01 5.87708880e-03 8.43123655e+01] [ 6.67166087e-01 7.44889253e-01 -5.42343737e-03 -1.68559999e+02] [-7.99623326e-03 -1.18740177e-04 -9.99968023e-01 -4.01378021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.366559995 meters 0.014783825252705706 Centerline is valid? [True, True] Translation: X:84.33, Y:-168.54, Z:-4.01 [[-7.91102360e-01 6.11655316e-01 5.90174074e-03 8.43288128e+01] [ 6.11637126e-01 7.91124364e-01 -4.71874044e-03 -1.68536548e+02] [-7.55525357e-03 -1.23282956e-04 -9.99971451e-01 -4.01474780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.426559995 meters 0.014679073519342339 Centerline is valid? [True, True] Translation: X:84.35, Y:-168.52, Z:-4.01 [[-8.32483646e-01 5.54005171e-01 7.01782637e-03 8.43458701e+01] [ 5.53984052e-01 8.32513214e-01 -4.83937767e-03 -1.68515814e+02] [-8.52347344e-03 -1.40938879e-04 -9.99963665e-01 -4.01450033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.486559995 meters 0.014506378013419148 Centerline is valid? [True, True] Translation: X:84.70, Y:-168.01, Z:-5.03 [[-7.73238714e-01 -6.34064102e-01 8.03780794e-03 8.46977422e+01] [ 6.34033385e-01 -7.73280443e-01 -6.24682636e-03 -1.68006372e+02] [ 1.01763680e-02 2.65950596e-04 9.99948184e-01 -5.02838982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.546559995 meters 0.013748073398957611 Centerline is valid? [True, True] Translation: X:84.31, Y:-168.50, Z:-4.01 [[-8.33182653e-01 5.52912533e-01 9.71585409e-03 8.43072578e+01] [ 5.52872576e-01 8.33239283e-01 -6.64922852e-03 -1.68495084e+02] [-1.17720731e-02 -1.68392570e-04 -9.99930693e-01 -4.01352635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.606559995 meters 0.013725133635980416 Centerline is valid? [True, True] Translation: X:84.32, Y:-168.48, Z:-4.01 [[-8.69179686e-01 4.94360735e-01 1.15817545e-02 8.43229576e+01] [ 4.94314308e-01 8.69256830e-01 -6.77707872e-03 -1.68476497e+02] [-1.34178409e-02 -1.65472168e-04 -9.99909963e-01 -4.01243825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.666559995 meters 0.013322922746246985 Centerline is valid? [True, True] Translation: X:84.33, Y:-168.45, Z:-4.01 [[-9.01239055e-01 4.33141490e-01 1.25145919e-02 8.43300117e+01] [ 4.33097457e-01 9.01325928e-01 -6.17783116e-03 -1.68454159e+02] [-1.39556011e-02 -1.47664814e-04 -9.99902605e-01 -4.01309896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.7265599950001 meters 0.013050999438143251 Centerline is valid? [True, True] Translation: X:84.63, Y:-167.88, Z:-5.03 [[-8.60438329e-01 -5.09433731e-01 1.10975361e-02 8.46253577e+01] [ 5.09392426e-01 -8.60509889e-01 -6.48746329e-03 -1.67881365e+02] [ 1.28544722e-02 7.09387526e-05 9.99917375e-01 -5.02718438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.786559995 meters 0.013125423896223775 Centerline is valid? [True, True] Translation: X:84.29, Y:-168.45, Z:-4.01 [[-9.01606278e-01 4.32419990e-01 1.09120001e-02 8.42944455e+01] [ 4.32387060e-01 9.01672304e-01 -5.33737087e-03 -1.68446307e+02] [-1.21470342e-02 -9.39994314e-05 -9.99926218e-01 -4.01463750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.846559995 meters 0.01297601239379617 Centerline is valid? [True, True] Translation: X:84.30, Y:-168.42, Z:-4.02 [[-9.29691217e-01 3.68164989e-01 1.13481900e-02 8.42986565e+01] [ 3.68136439e-01 9.29760471e-01 -4.58569814e-03 -1.68422209e+02] [-1.22393920e-02 -8.56010423e-05 -9.99925092e-01 -4.01528856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.906559995 meters 0.01296705974030596 Centerline is valid? [True, True] Translation: X:84.55, Y:-167.81, Z:-5.03 [[-8.96923181e-01 -4.42040509e-01 1.13576366e-02 8.45526684e+01] [ 4.42006631e-01 -8.96995081e-01 -5.47379650e-03 -1.67808210e+02] [ 1.26073839e-02 1.10575701e-04 9.99920518e-01 -5.02644544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1224.9665599950001 meters 0.01304503571632671 Centerline is valid? [True, True] Translation: X:84.26, Y:-168.42, Z:-4.02 [[-9.30756734e-01 3.65422989e-01 1.25674436e-02 8.42575724e+01] [ 3.65388449e-01 9.30841572e-01 -5.02489713e-03 -1.68416043e+02] [-1.35345119e-02 -8.49581039e-05 -9.99908401e-01 -4.01543257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.026559995 meters 0.012962220375834183 Centerline is valid? [True, True] Translation: X:84.27, Y:-168.39, Z:-4.02 [[-9.54516066e-01 2.97881134e-01 1.28805850e-02 8.42679305e+01] [ 2.97852675e-01 9.54602965e-01 -4.11859563e-03 -1.68393188e+02] [-1.35226966e-02 -9.47489980e-05 -9.99908560e-01 -4.01626601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.086559995 meters 0.013042792930156241 Centerline is valid? [True, True] Translation: X:84.27, Y:-168.37, Z:-4.02 [[-9.73682765e-01 2.27551831e-01 1.27293652e-02 8.42703997e+01] [ 2.27530811e-01 9.73765963e-01 -3.09503247e-03 -1.68367822e+02] [-1.30997029e-02 -1.17256974e-04 -9.99914188e-01 -4.01697426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.146559995 meters 0.013302984750671407 Centerline is valid? [True, True] Translation: X:84.27, Y:-168.34, Z:-4.02 [[-9.87637672e-01 1.56315125e-01 1.17222721e-02 8.42728772e+01] [ 1.56302596e-01 9.87707227e-01 -1.98309448e-03 -1.68341131e+02] [-1.18881605e-02 -1.26357258e-04 -9.99929325e-01 -4.01719462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.2065599950001 meters 0.013464399154115377 Centerline is valid? [True, True] Translation: X:84.27, Y:-168.31, Z:-4.02 [[-9.96390409e-01 8.41201878e-02 1.13994319e-02 8.42699064e+01] [ 8.41130555e-02 9.96455606e-01 -1.10451985e-03 -1.68313919e+02] [-1.14519402e-02 -1.41691934e-04 -9.99934414e-01 -4.01766747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.266559995 meters 0.014014741483408703 Centerline is valid? [True, True] Translation: X:84.27, Y:-168.29, Z:-4.02 [[-9.99873342e-01 1.08655507e-02 1.16292717e-02 8.42705417e+01] [ 1.08628287e-02 9.99940954e-01 -2.97207495e-04 -1.68285979e+02] [-1.16318143e-02 -1.70843066e-04 -9.99932334e-01 -4.01685379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.326559995 meters 0.014211537939798723 Centerline is valid? [True, True] Translation: X:84.27, Y:-168.26, Z:-4.02 [[-9.98035062e-01 -6.14510699e-02 1.22385109e-02 8.42685972e+01] [-6.14488532e-02 9.98110078e-01 5.57430780e-04 -1.68258700e+02] [-1.22496358e-02 -1.95706999e-04 -9.99924951e-01 -4.01624138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.386559995 meters 0.014636137388723026 Centerline is valid? [True, True] Translation: X:84.24, Y:-167.58, Z:-5.03 [[-9.99162569e-01 -3.88755571e-02 1.27613695e-02 8.42383508e+01] [ 3.88754264e-02 -9.99244032e-01 -2.58394362e-04 -1.67576986e+02] [ 1.27617675e-02 2.37925704e-04 9.99918537e-01 -5.02664870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.4465599950001 meters 0.014600341498504015 Centerline is valid? [True, True] Translation: X:84.20, Y:-168.26, Z:-4.02 [[-9.97598358e-01 -6.80802734e-02 1.27511911e-02 8.41988904e+01] [-6.80776504e-02 9.97679820e-01 6.40146697e-04 -1.68257591e+02] [-1.27651874e-02 -2.29461835e-04 -9.99918495e-01 -4.01518624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.506559995 meters 0.014912665643254037 Centerline is valid? [True, True] Translation: X:84.17, Y:-167.58, Z:-5.03 [[-9.99326425e-01 -3.46715541e-02 1.20241514e-02 8.41719160e+01] [ 3.46710666e-02 -9.99398747e-01 -2.49062125e-04 -1.67584351e+02] [ 1.20255572e-02 1.67995790e-04 9.99927676e-01 -5.02652493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.566559995 meters 0.013756644421481029 Centerline is valid? [True, True] Translation: X:84.13, Y:-168.26, Z:-4.02 [[-9.97568421e-01 -6.88953181e-02 1.05204926e-02 8.41332423e+01] [-6.88930682e-02 9.97623883e-01 5.76542529e-04 -1.68262447e+02] [-1.05352158e-02 -1.49648396e-04 -9.99944492e-01 -4.01676570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.626559995 meters 0.013176917095134579 Centerline is valid? [True, True] Translation: X:84.11, Y:-167.58, Z:-5.02 [[-9.99677233e-01 -2.35861075e-02 9.44067853e-03 8.41055465e+01] [ 2.35856769e-02 -9.99721807e-01 -1.56966765e-04 -1.67582710e+02] [ 9.44175444e-03 6.57486921e-05 9.99955424e-01 -5.02426304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.6865599950002 meters 0.012729754495400022 Centerline is valid? [True, True] Translation: X:84.07, Y:-168.27, Z:-4.02 [[-9.97731918e-01 -6.67470062e-02 8.70964397e-03 8.40707762e+01] [-6.67450200e-02 9.97769930e-01 5.18830948e-04 -1.68270810e+02] [-8.72485127e-03 -6.36711646e-05 -9.99961936e-01 -4.01752167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.746559995 meters 0.012723708611524389 Centerline is valid? [True, True] Translation: X:84.07, Y:-168.24, Z:-4.02 [[-9.90912263e-01 -1.34190061e-01 9.26903637e-03 8.40703879e+01] [-1.34184533e-01 9.90955613e-01 1.21852452e-03 -1.68244589e+02] [-9.34871750e-03 -3.63104297e-05 -9.99956299e-01 -4.01507221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.806559995 meters 0.012466268778824537 Centerline is valid? [True, True] Translation: X:83.98, Y:-167.56, Z:-5.03 [[-9.98118347e-01 6.03648924e-02 1.07631122e-02 8.39794760e+01] [-6.03599109e-02 -9.98176368e-01 7.87364913e-04 -1.67561141e+02] [ 1.07910135e-02 1.36222871e-04 9.99941766e-01 -5.02673148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.866559995 meters 0.012570602368639461 Centerline is valid? [True, True] Translation: X:83.98, Y:-168.26, Z:-4.01 [[-9.90197273e-01 -1.39180802e-01 1.17501100e-02 8.39758310e+01] [-1.39171423e-01 9.90266986e-01 1.61619055e-03 -1.68256470e+02] [-1.18606887e-02 -3.49320443e-05 -9.99929659e-01 -4.01382227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.926559995 meters 0.012580981887882056 Centerline is valid? [True, True] Translation: X:83.88, Y:-167.57, Z:-5.03 [[-9.97746806e-01 6.60299327e-02 1.18894727e-02 8.38822251e+01] [-6.60247802e-02 -9.97817642e-01 8.25791621e-04 -1.67574890e+02] [ 1.19180526e-02 3.89311322e-05 9.99928977e-01 -5.02796134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1225.986559995 meters 0.012538499313931235 Centerline is valid? [True, True] Translation: X:83.88, Y:-168.26, Z:-4.01 [[-9.88979481e-01 -1.47581253e-01 1.18050698e-02 8.38823110e+01] [-1.47571544e-01 9.89049933e-01 1.69410262e-03 -1.68264340e+02] [-1.19258212e-02 -6.66596470e-05 -9.99928883e-01 -4.01275208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.046559995 meters 0.012673740488272824 Centerline is valid? [True, True] Translation: X:83.87, Y:-168.24, Z:-4.01 [[-9.75547058e-01 -2.19465586e-01 1.19496902e-02 8.38683833e+01] [-2.19450265e-01 9.75620238e-01 2.59480632e-03 -1.68238536e+02] [-1.22278303e-02 -9.10070129e-05 -9.99925233e-01 -4.01300826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.106559995 meters 0.013188345497690978 Centerline is valid? [True, True] Translation: X:83.85, Y:-168.21, Z:-4.01 [[-9.56936288e-01 -2.90062664e-01 1.16872907e-02 8.38476749e+01] [-2.90042419e-01 9.57007649e-01 3.42865523e-03 -1.68214678e+02] [-1.21793515e-02 -1.08805458e-04 -9.99925823e-01 -4.01225875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.166559995 meters 0.013109545288748912 Centerline is valid? [True, True] Translation: X:83.82, Y:-168.20, Z:-4.02 [[-9.32625286e-01 -3.60703972e-01 1.01351282e-02 8.38198916e+01] [-3.60684137e-01 9.32680347e-01 3.78473141e-03 -1.68195399e+02] [-1.08180025e-02 -1.25843745e-04 -9.99941476e-01 -4.01527697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.2265599950001 meters 0.013474813528520077 Centerline is valid? [True, True] Translation: X:83.77, Y:-168.18, Z:-4.02 [[-9.03020539e-01 -4.29498457e-01 9.21852683e-03 8.37717593e+01] [-4.29477652e-01 9.03067581e-01 4.22964197e-03 -1.68183703e+02] [-1.01415774e-02 -1.39697692e-04 -9.99948563e-01 -4.01520685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.286559995 meters 0.01453699626136224 Centerline is valid? [True, True] Translation: X:83.71, Y:-168.18, Z:-4.01 [[-8.67772990e-01 -4.96903449e-01 7.54985916e-03 8.37069814e+01] [-4.96886048e-01 8.67805821e-01 4.16091917e-03 -1.68183382e+02] [-8.61938681e-03 -1.40686415e-04 -9.99962843e-01 -4.01473383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.346559995 meters 0.014367308854666767 Centerline is valid? [True, True] Translation: X:83.64, Y:-168.19, Z:-4.02 [[-8.28586813e-01 -5.59814077e-01 7.21755984e-03 8.36388774e+01] [-5.59794335e-01 8.28618235e-01 4.70356383e-03 -1.68194685e+02] [-8.61372294e-03 -1.43038158e-04 -9.99962891e-01 -4.01514609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.406559995 meters 0.013907522250640028 Centerline is valid? [True, True] Translation: X:83.56, Y:-168.22, Z:-4.01 [[-7.85279235e-01 -6.19096975e-01 7.44707245e-03 8.35617562e+01] [-6.19070905e-01 7.85314532e-01 5.68339318e-03 -1.68218908e+02] [-9.36686574e-03 -1.47215225e-04 -9.99956119e-01 -4.01436596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.4665599950001 meters 0.01380939686091348 Centerline is valid? [True, True] Translation: X:83.49, Y:-168.25, Z:-4.01 [[-7.37164142e-01 -6.75677047e-01 7.03960315e-03 8.34873462e+01] [-6.75648059e-01 7.37197740e-01 6.26032023e-03 -1.68245767e+02] [-9.41953422e-03 -1.41410612e-04 -9.99955625e-01 -4.01382490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.526559995 meters 0.013641717891931386 Centerline is valid? [True, True] Translation: X:83.41, Y:-168.29, Z:-4.01 [[-6.84677436e-01 -7.28821839e-01 5.96123882e-03 8.34077687e+01] [-7.28795785e-01 6.84703375e-01 6.16377686e-03 -1.68287368e+02] [-8.57397553e-03 -1.24326785e-04 -9.99963235e-01 -4.01457983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.586559995 meters 0.013383460385743244 Centerline is valid? [True, True] Translation: X:83.32, Y:-168.34, Z:-4.02 [[-6.28690522e-01 -7.77641984e-01 4.60140651e-03 8.33230874e+01] [-7.77622266e-01 6.28707353e-01 5.53854248e-03 -1.68344378e+02] [-7.19994126e-03 -9.61269923e-05 -9.99974076e-01 -4.01502973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.646559995 meters 0.013797428798919913 Centerline is valid? [True, True] Translation: X:83.25, Y:-168.40, Z:-4.01 [[-5.68491690e-01 -8.22680606e-01 3.71747463e-03 8.32483639e+01] [-8.22663943e-01 5.68503839e-01 5.23670799e-03 -1.68396650e+02] [-6.42153670e-03 -8.12073587e-05 -9.99979379e-01 -4.01418806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.7065599950001 meters 0.013517313274196715 Centerline is valid? [True, True] Translation: X:83.17, Y:-168.47, Z:-4.02 [[-5.03256670e-01 -8.64132805e-01 2.68697109e-03 8.31670321e+01] [-8.64121254e-01 5.03263838e-01 4.46862850e-03 -1.68468496e+02] [-5.21374386e-03 -7.30017300e-05 -9.99986406e-01 -4.01511565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.766559995 meters 0.013756502189602194 Centerline is valid? [True, True] Translation: X:83.09, Y:-168.54, Z:-4.01 [[-4.35249328e-01 -9.00305348e-01 2.88151834e-03 8.30937850e+01] [-9.00287046e-01 4.35258856e-01 5.74129204e-03 -1.68543498e+02] [-6.42312230e-03 -9.53001373e-05 -9.99979367e-01 -4.01425044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.826559995 meters 0.013834337771888468 Centerline is valid? [True, True] Translation: X:83.02, Y:-168.63, Z:-4.01 [[-3.64693872e-01 -9.31123563e-01 2.70014244e-03 8.30238608e+01] [-9.31100248e-01 3.64703851e-01 6.59002396e-03 -1.68630541e+02] [-7.12087893e-03 -1.10761941e-04 -9.99974640e-01 -4.01319131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.886559995 meters 0.014240661031785881 Centerline is valid? [True, True] Translation: X:82.96, Y:-168.72, Z:-4.01 [[-2.92496630e-01 -9.56264343e-01 2.05601128e-03 8.29618771e+01] [-9.56243156e-01 2.92503838e-01 6.36643154e-03 -1.68721921e+02] [-6.68938267e-03 -1.03886948e-04 -9.99977621e-01 -4.01317609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1226.9465599950001 meters 0.014196352171260819 Centerline is valid? [True, True] Translation: X:82.90, Y:-168.82, Z:-4.01 [[-2.17377961e-01 -9.76086304e-01 1.53302724e-03 8.29030723e+01] [-9.76065465e-01 2.17383339e-01 6.37902644e-03 -1.68823540e+02] [-6.55973491e-03 -1.09675184e-04 -9.99978479e-01 -4.01303187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.006559995 meters 0.014082274295313887 Centerline is valid? [True, True] Translation: X:82.86, Y:-168.92, Z:-4.01 [[-1.41800131e-01 -9.89894604e-01 1.18172661e-03 8.28556391e+01] [-9.89867295e-01 1.41804998e-01 7.35392532e-03 -1.68923646e+02] [-7.44718573e-03 -1.26964951e-04 -9.99972261e-01 -4.01265383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.066559995 meters 0.013778297769837449 Centerline is valid? [True, True] Translation: X:82.82, Y:-169.03, Z:-4.01 [[-6.68353378e-02 -9.97763879e-01 5.28908472e-04 8.28156600e+01] [-9.97743432e-01 6.68373547e-02 6.38838279e-03 -1.69031792e+02] [-6.40944843e-03 -1.00745232e-04 -9.99979454e-01 -4.01334547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.126559995 meters 0.013883400650706876 Centerline is valid? [True, True] Translation: X:82.78, Y:-169.16, Z:-4.01 [[ 9.19852729e-03 -9.99957692e-01 3.24404068e-05 8.27820010e+01] [-9.99942627e-01 -9.19821062e-03 5.48954959e-03 -1.69155135e+02] [-5.48901895e-03 -8.29343174e-05 -9.99984932e-01 -4.01434319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.1865599950002 meters 0.013883400650706876 Centerline is valid? [True, True] Translation: X:82.76, Y:-169.27, Z:-4.01 [[ 8.59202034e-02 -9.96301946e-01 -3.88995417e-04 8.27589733e+01] [-9.96286901e-01 -8.59210440e-02 5.47583395e-03 -1.69270455e+02] [-5.48900691e-03 -8.29337278e-05 -9.99984932e-01 -4.01434377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.246559995 meters 0.01414186923133828 Centerline is valid? [True, True] Translation: X:82.74, Y:-169.37, Z:-4.01 [[ 1.62068414e-01 -9.86779223e-01 -7.71457297e-04 8.27421954e+01] [-9.86765587e-01 -1.62070230e-01 5.18809900e-03 -1.69374723e+02] [-5.24453856e-03 -7.95794630e-05 -9.99986244e-01 -4.01417201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.306559995 meters 0.014079179600762784 Centerline is valid? [True, True] Translation: X:82.74, Y:-169.49, Z:-4.01 [[ 2.37719308e-01 -9.71333058e-01 -1.27319235e-03 8.27366949e+01] [-9.71317041e-01 -2.37722701e-01 5.57879237e-03 -1.69493485e+02] [-5.72153217e-03 -8.95132375e-05 -9.99983628e-01 -4.01383639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.366559995 meters 0.013948502908055901 Centerline is valid? [True, True] Translation: X:82.74, Y:-169.61, Z:-4.01 [[ 3.11206357e-01 -9.50340208e-01 -2.02317013e-03 8.27406410e+01] [-9.50317893e-01 -3.11212916e-01 6.51336061e-03 -1.69611199e+02] [-6.81954515e-03 -1.04344454e-04 -9.99976741e-01 -4.01305071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.426559995 meters 0.013704408278869297 Centerline is valid? [True, True] Translation: X:82.75, Y:-169.73, Z:-4.01 [[ 3.81886063e-01 -9.24205745e-01 -2.60305414e-03 8.27533168e+01] [-9.24182497e-01 -3.81894922e-01 6.55601601e-03 -1.69725364e+02] [-7.05320082e-03 -9.79540635e-05 -9.99975121e-01 -4.01233913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.486559995 meters 0.013263829601031306 Centerline is valid? [True, True] Translation: X:82.78, Y:-169.84, Z:-4.01 [[ 4.49849530e-01 -8.93099100e-01 -3.06559984e-03 8.27776869e+01] [-8.93077086e-01 -4.49859968e-01 6.27124438e-03 -1.69840115e+02] [-6.97993336e-03 -8.32993722e-05 -9.99975637e-01 -4.01248527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.546559995 meters 0.013553512258420016 Centerline is valid? [True, True] Translation: X:82.81, Y:-169.95, Z:-4.01 [[ 5.15246002e-01 -8.57034513e-01 -3.66071904e-03 8.28076332e+01] [-8.57011877e-01 -5.15259001e-01 6.22939108e-03 -1.69949315e+02] [-7.22502159e-03 -7.23891515e-05 -9.99973897e-01 -4.01112852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.606559995 meters 0.013201915022560537 Centerline is valid? [True, True] Translation: X:82.85, Y:-170.06, Z:-4.01 [[ 5.78678509e-01 -8.15545132e-01 -4.16182971e-03 8.28475117e+01] [-8.15523189e-01 -5.78693470e-01 5.98293864e-03 -1.70057575e+02] [-7.28778017e-03 -6.81293725e-05 -9.99973442e-01 -4.01150675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.666559995 meters 0.013175030707874567 Centerline is valid? [True, True] Translation: X:82.89, Y:-170.16, Z:-4.01 [[ 6.39520980e-01 -7.68761235e-01 -4.36799882e-03 8.28879338e+01] [-7.68742587e-01 -6.39535893e-01 5.35502297e-03 -1.70156490e+02] [-6.91022610e-03 -6.67828294e-05 -9.99976122e-01 -4.01181732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.7265599950001 meters 0.013402098922424869 Centerline is valid? [True, True] Translation: X:82.94, Y:-170.26, Z:-4.01 [[ 6.96920806e-01 -7.17131881e-01 -4.82233574e-03 8.29394701e+01] [-7.17113970e-01 -6.96937486e-01 5.06898265e-03 -1.70257244e+02] [-6.99599561e-03 -7.45151414e-05 -9.99975525e-01 -4.01181846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.786559995 meters 0.013392168477325586 Centerline is valid? [True, True] Translation: X:82.99, Y:-170.35, Z:-4.01 [[ 7.49569578e-01 -6.61906483e-01 -5.02544139e-03 8.29917228e+01] [-6.61890947e-01 -7.49586421e-01 4.53562806e-03 -1.70346007e+02] [-6.76916424e-03 -7.34746549e-05 -9.99977086e-01 -4.01225241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.846559995 meters 0.013372040882091872 Centerline is valid? [True, True] Translation: X:83.01, Y:-170.37, Z:-4.01 [[ 7.98697453e-01 -6.01705291e-01 -5.75511362e-03 8.30131225e+01] [-6.01688995e-01 -7.98718184e-01 4.42907853e-03 -1.70373678e+02] [-7.26171388e-03 -7.47052136e-05 -9.99973631e-01 -4.01227228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.906559995 meters 0.013143560244679687 Centerline is valid? [True, True] Translation: X:83.04, Y:-170.40, Z:-4.01 [[ 8.42725363e-01 -5.38299927e-01 -6.86676366e-03 8.30352960e+01] [-5.38281325e-01 -8.42753335e-01 4.47565941e-03 -1.70400286e+02] [-8.19623511e-03 -7.55010559e-05 -9.99966408e-01 -4.01262396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1227.9665599950001 meters 0.013096361538867481 Centerline is valid? [True, True] Translation: X:83.06, Y:-170.42, Z:-4.01 [[ 8.81184430e-01 -4.72683937e-01 -9.15946449e-03 8.30600052e+01] [-4.72657539e-01 -8.81232030e-01 4.99605249e-03 -1.70423402e+02] [-1.04331672e-02 -7.31537320e-05 -9.99945570e-01 -4.01077650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.026559995 meters 0.012978483977482146 Centerline is valid? [True, True] Translation: X:83.09, Y:-170.44, Z:-4.01 [[ 9.14580515e-01 -4.04261311e-01 -1.07366080e-02 8.30885043e+01] [-4.04232709e-01 -9.14643531e-01 4.80908399e-03 -1.70442608e+02] [-1.17642956e-02 -5.82063782e-05 -9.99930797e-01 -4.00964894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.086559995 meters 0.01292819173816249 Centerline is valid? [True, True] Translation: X:83.12, Y:-170.46, Z:-4.01 [[ 9.42621215e-01 -3.33661012e-01 -1.16436638e-02 8.31184326e+01] [-3.33635129e-01 -9.42693125e-01 4.15604310e-03 -1.70459846e+02] [-1.23631114e-02 -3.28391124e-05 -9.99923573e-01 -4.00948179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.146559995 meters 0.012973135065550891 Centerline is valid? [True, True] Translation: X:83.15, Y:-170.47, Z:-4.01 [[ 9.65107139e-01 -2.61614095e-01 -1.12372327e-02 8.31494560e+01] [-2.61596377e-01 -9.65172557e-01 3.04474858e-03 -1.70473541e+02] [-1.16424177e-02 1.11076422e-06 -9.99932225e-01 -4.00993327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.2065599950001 meters 0.012853974029654729 Centerline is valid? [True, True] Translation: X:83.18, Y:-170.49, Z:-4.01 [[ 9.82542296e-01 -1.85718422e-01 -1.09226452e-02 8.31806382e+01] [-1.85707005e-01 -9.82603006e-01 2.05926849e-03 -1.70489590e+02] [-1.11150681e-02 5.09334450e-06 -9.99938226e-01 -4.01137315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.266559995 meters 0.012794371995836606 Centerline is valid? [True, True] Translation: X:83.21, Y:-170.50, Z:-4.01 [[ 9.94375358e-01 -1.05412829e-01 -1.02851148e-02 8.32088999e+01] [-1.05406938e-01 -9.94428547e-01 1.11471702e-03 -1.70503036e+02] [-1.03453172e-02 -2.43246835e-05 -9.99946486e-01 -4.01185450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.326559995 meters 0.01292480002482952 Centerline is valid? [True, True] Translation: X:83.24, Y:-170.52, Z:-4.01 [[ 9.99662986e-01 -2.40407461e-02 -9.79577006e-03 8.32381094e+01] [-2.40390616e-02 -9.99710978e-01 2.89681776e-04 -1.70515642e+02] [-9.79990304e-03 -5.41030287e-05 -9.99951978e-01 -4.01233748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.386559995 meters 0.013207776326378219 Centerline is valid? [True, True] Translation: X:83.27, Y:-170.53, Z:-4.01 [[ 9.98205496e-01 5.91376528e-02 -9.40886494e-03 8.32690743e+01] [ 5.91359491e-02 -9.98249833e-01 -4.59420310e-04 -1.70530230e+02] [-9.41956689e-03 -9.78062797e-05 -9.99955630e-01 -4.01135085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.4465599950001 meters 0.013675960824294411 Centerline is valid? [True, True] Translation: X:83.30, Y:-170.54, Z:-4.01 [[ 9.90017474e-01 1.40603709e-01 -9.79788478e-03 8.33008854e+01] [ 1.40598192e-01 -9.90065946e-01 -1.25306467e-03 -1.70540470e+02] [-9.87673761e-03 -1.37008964e-04 -9.99951215e-01 -4.01000865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.506559995 meters 0.014704907432288144 Centerline is valid? [True, True] Translation: X:83.33, Y:-170.55, Z:-4.01 [[ 9.75020366e-01 2.21873777e-01 -1.03592152e-02 8.33337054e+01] [ 2.21863345e-01 -9.75075377e-01 -2.16005651e-03 -1.70546447e+02] [-1.05802756e-02 -1.92231052e-04 -9.99944009e-01 -4.00951000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.566559995 meters 0.014433727481145277 Centerline is valid? [True, True] Translation: X:83.37, Y:-170.55, Z:-4.01 [[ 9.54485272e-01 2.98087989e-01 -1.00705498e-02 8.33661476e+01] [ 2.98073567e-01 -9.54538377e-01 -2.93883120e-03 -1.70548105e+02] [-1.04887565e-02 -1.96693587e-04 -9.99944972e-01 -4.00983278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.626559995 meters 0.01400734844549997 Centerline is valid? [True, True] Translation: X:83.40, Y:-170.55, Z:-4.01 [[ 9.28834906e-01 3.70347833e-01 -1.04018898e-02 8.33987870e+01] [ 3.70326889e-01 -9.28893130e-01 -3.94318696e-03 -1.70546849e+02] [-1.11225947e-02 -1.89529801e-04 -9.99938124e-01 -4.00877593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.6865599950002 meters 0.014446296334559232 Centerline is valid? [True, True] Translation: X:83.43, Y:-170.54, Z:-4.01 [[ 8.97701759e-01 4.40509459e-01 -9.10871927e-03 8.34294470e+01] [ 4.40488538e-01 -8.97747956e-01 -4.29598175e-03 -1.70542015e+02] [-1.00697547e-02 -1.55776068e-04 -9.99949287e-01 -4.00828856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.746559995 meters 0.013238236948828459 Centerline is valid? [True, True] Translation: X:83.46, Y:-170.53, Z:-4.01 [[ 8.62522304e-01 5.05969172e-01 -7.10436418e-03 8.34573903e+01] [ 5.05952900e-01 -8.62551557e-01 -4.05894214e-03 -1.70528167e+02] [-8.18157998e-03 -9.35455370e-05 -9.99966526e-01 -4.01082306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.806559995 meters 0.013106927767193615 Centerline is valid? [True, True] Translation: X:83.48, Y:-170.52, Z:-4.01 [[ 8.21961764e-01 5.69512036e-01 -5.90757558e-03 8.34838876e+01] [ 5.69497855e-01 -8.21982991e-01 -4.01937989e-03 -1.70515408e+02] [-7.14501187e-03 -6.05750322e-05 -9.99974472e-01 -4.00999492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.866559995 meters 0.012503483290880983 Centerline is valid? [True, True] Translation: X:83.51, Y:-170.50, Z:-4.01 [[ 7.76235529e-01 6.30425361e-01 -4.71881781e-03 8.35107068e+01] [ 6.30414008e-01 -7.76249871e-01 -3.78357042e-03 -1.70501278e+02] [-6.04824047e-03 -3.78670634e-05 -9.99981709e-01 -4.01139616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.926559995 meters 0.012383209533992478 Centerline is valid? [True, True] Translation: X:83.54, Y:-170.49, Z:-4.01 [[ 7.25288760e-01 6.88436065e-01 -3.46408700e-03 8.35354303e+01] [ 6.88428371e-01 -7.25297032e-01 -3.25470790e-03 -1.70485273e+02] [-4.75315032e-03 -2.41727179e-05 -9.99988704e-01 -4.01218358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1228.986559995 meters 0.012511782147320868 Centerline is valid? [True, True] Translation: X:83.56, Y:-170.47, Z:-4.01 [[ 6.68396328e-01 7.43799241e-01 -3.00637725e-03 8.35595003e+01] [ 7.43791901e-01 -6.68403088e-01 -3.30450616e-03 -1.70467594e+02] [-4.46736101e-03 -2.73992620e-05 -9.99990021e-01 -4.01214381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.046559995 meters 0.013189217178779853 Centerline is valid? [True, True] Translation: X:83.58, Y:-170.45, Z:-4.01 [[ 6.05231135e-01 7.96046593e-01 -2.25708675e-03 8.35845018e+01] [ 7.96041278e-01 -6.05235343e-01 -2.90939510e-03 -1.70451820e+02] [-3.68208273e-03 -3.58777163e-05 -9.99993221e-01 -4.01157130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.106559995 meters 0.013143005792436427 Centerline is valid? [True, True] Translation: X:83.61, Y:-170.43, Z:-4.01 [[ 5.38678001e-01 8.42509392e-01 -1.98394548e-03 8.36100126e+01] [ 8.42503984e-01 -5.38681653e-01 -3.01888042e-03 -1.70433343e+02] [-3.61215014e-03 -4.52775058e-05 -9.99993475e-01 -4.01246388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.166559995 meters 0.013819776374248954 Centerline is valid? [True, True] Translation: X:83.63, Y:-170.41, Z:-4.01 [[ 4.68949161e-01 8.83222492e-01 -2.17107344e-03 8.36341327e+01] [ 8.83213680e-01 -4.68954182e-01 -3.94596634e-03 -1.70413823e+02] [-4.50330019e-03 -6.70641644e-05 -9.99989858e-01 -4.01158584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.2265599950001 meters 0.014031699151946186 Centerline is valid? [True, True] Translation: X:83.65, Y:-170.39, Z:-4.01 [[ 3.97930566e-01 9.17412828e-01 -2.22884625e-03 8.36524427e+01] [ 9.17399582e-01 -3.97936800e-01 -4.93047030e-03 -1.70389449e+02] [-5.41021665e-03 -8.27577785e-05 -9.99985361e-01 -4.01078538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.286559995 meters 0.01489298440865207 Centerline is valid? [True, True] Translation: X:83.67, Y:-170.36, Z:-4.01 [[ 3.24748418e-01 9.45797707e-01 -2.27222346e-03 8.36663478e+01] [ 9.45776733e-01 -3.24756351e-01 -6.29958129e-03 -1.70364355e+02] [-6.69604854e-03 -1.03237022e-04 -9.99977576e-01 -4.00982487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.346559995 meters 0.015005235046247711 Centerline is valid? [True, True] Translation: X:83.68, Y:-170.34, Z:-4.01 [[ 2.49948488e-01 9.68257626e-01 -1.70945663e-03 8.36806687e+01] [ 9.68237581e-01 -2.49954315e-01 -6.23112892e-03 -1.70337623e+02] [-6.46062416e-03 -9.76988943e-05 -9.99979125e-01 -4.01077375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.406559995 meters 0.015167254444714763 Centerline is valid? [True, True] Translation: X:83.69, Y:-170.31, Z:-4.01 [[ 1.74529518e-01 9.84651505e-01 -9.27729097e-04 8.36922938e+01] [ 9.84639606e-01 -1.74531970e-01 -4.84119760e-03 -1.70310206e+02] [-4.92881089e-03 -6.85469292e-05 -9.99987851e-01 -4.01246174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.4665599950001 meters 0.014867739092842426 Centerline is valid? [True, True] Translation: X:83.70, Y:-170.28, Z:-4.01 [[ 9.71106767e-02 9.95273516e-01 -3.79624219e-04 8.37036674e+01] [ 9.95267686e-01 -9.71114074e-02 -3.40708480e-03 -1.70282517e+02] [-3.42784711e-03 -4.69634073e-05 -9.99994124e-01 -4.01353585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.526559995 meters 0.0157518160582018 Centerline is valid? [True, True] Translation: X:83.72, Y:-170.25, Z:-4.01 [[ 1.69637296e-02 9.99856099e-01 -1.13681334e-04 8.37170112e+01] [ 9.99850017e-01 -1.69640230e-02 -3.48800910e-03 -1.70254947e+02] [-3.48943566e-03 -5.44946405e-05 -9.99993910e-01 -4.01326036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.586559995 meters 0.015693187626833232 Centerline is valid? [True, True] Translation: X:83.73, Y:-170.23, Z:-4.01 [[-6.42025191e-02 9.97936869e-01 2.06667019e-04 8.37265545e+01] [ 9.97926703e-01 6.42027981e-02 -4.50502980e-03 -1.70225250e+02] [-4.50900393e-03 -8.29957249e-05 -9.99989831e-01 -4.01264456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.646559995 meters 0.016334339234305117 Centerline is valid? [True, True] Translation: X:83.73, Y:-170.19, Z:-4.01 [[-1.44732485e-01 9.89470530e-01 7.60922364e-04 8.37349391e+01] [ 9.89451788e-01 1.44734428e-01 -6.09131609e-03 -1.70194787e+02] [-6.13730942e-03 -1.28715324e-04 -9.99981158e-01 -4.01136733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.7065599950001 meters 0.016073452116892227 Centerline is valid? [True, True] Translation: X:83.74, Y:-170.16, Z:-4.01 [[-2.22828123e-01 9.74856042e-01 1.82372547e-03 8.37405868e+01] [ 9.74815672e-01 2.22835496e-01 -8.87401375e-03 -1.70163318e+02] [-9.05727668e-03 -1.99583650e-04 -9.99958962e-01 -4.00994655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.766559995 meters 0.016773340797614264 Centerline is valid? [True, True] Translation: X:83.74, Y:-170.13, Z:-4.01 [[-2.97809634e-01 9.54621577e-01 2.65836833e-03 8.37421541e+01] [ 9.54577210e-01 2.97821429e-01 -9.20583254e-03 -1.70132694e+02] [-9.57980543e-03 -2.03967797e-04 -9.99954092e-01 -4.00906018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.826559995 meters 0.015604986443431614 Centerline is valid? [True, True] Translation: X:83.73, Y:-170.11, Z:-4.01 [[-3.66938531e-01 9.30238540e-01 3.51772462e-03 8.37330958e+01] [ 9.30191489e-01 3.66955356e-01 -9.35738923e-03 -1.70105101e+02] [-9.99545198e-03 -1.61429156e-04 -9.99950031e-01 -4.00915278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.886559995 meters 0.014499744621975777 Centerline is valid? [True, True] Translation: X:83.72, Y:-170.08, Z:-4.01 [[-4.34040525e-01 9.00883994e-01 4.10509325e-03 8.37188658e+01] [ 9.00841365e-01 4.34059924e-01 -8.76451674e-03 -1.70080757e+02] [-9.67766931e-03 -1.06117641e-04 -9.99953165e-01 -4.00949421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1229.9465599950001 meters 0.01321133013318895 Centerline is valid? [True, True] Translation: X:83.70, Y:-170.06, Z:-4.01 [[-4.95358625e-01 8.68677463e-01 4.39295669e-03 8.37006523e+01] [ 8.68643011e-01 4.95378104e-01 -7.73654606e-03 -1.70057346e+02] [-8.89673776e-03 -1.64536946e-05 -9.99960423e-01 -4.01180929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.006559995 meters 0.013219910657500146 Centerline is valid? [True, True] Translation: X:83.69, Y:-170.03, Z:-4.01 [[-5.57672657e-01 8.30046661e-01 4.87329115e-03 8.36890901e+01] [ 8.30015407e-01 5.57693948e-01 -7.20310241e-03 -1.70030268e+02] [-8.69671609e-03 2.79334800e-05 -9.99962183e-01 -4.01314158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.066559995 meters 0.013496488737939379 Centerline is valid? [True, True] Translation: X:83.68, Y:-170.00, Z:-4.01 [[-6.17937492e-01 7.86206838e-01 5.66245563e-03 8.36765689e+01] [ 7.86174785e-01 6.17963432e-01 -7.09960516e-03 -1.70004010e+02] [-9.08094864e-03 6.45676294e-05 -9.99958765e-01 -4.01258073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.126559995 meters 0.01363849803845491 Centerline is valid? [True, True] Translation: X:83.66, Y:-169.98, Z:-4.01 [[-6.75914430e-01 7.36944069e-01 7.28848314e-03 8.36644117e+01] [ 7.36902826e-01 6.75953718e-01 -7.79720368e-03 -1.69977003e+02] [-1.06727803e-02 1.00661344e-04 -9.99943039e-01 -4.01067250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.1865599950002 meters 0.013627775298477942 Centerline is valid? [True, True] Translation: X:83.65, Y:-169.95, Z:-4.01 [[-7.31847811e-01 6.81407441e-01 9.09293524e-03 8.36517627e+01] [ 6.81356719e-01 7.31904288e-01 -8.31471842e-03 -1.69948780e+02] [-1.23208693e-02 1.10424050e-04 -9.99924089e-01 -4.00934060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.246559995 meters 0.013430087599309746 Centerline is valid? [True, True] Translation: X:83.67, Y:-169.92, Z:-4.01 [[-7.79839631e-01 6.25885906e-01 1.08158607e-02 8.36685693e+01] [ 6.25827267e-01 7.79914626e-01 -8.56779857e-03 -1.69923163e+02] [-1.37979123e-02 8.73516457e-05 -9.99904801e-01 -4.00810292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.306559995 meters 0.013269237073502499 Centerline is valid? [True, True] Translation: X:83.68, Y:-169.90, Z:-4.01 [[-8.23537061e-01 5.67140938e-01 1.17416308e-02 8.36827350e+01] [ 5.67084260e-01 8.23620758e-01 -8.01803652e-03 -1.69897223e+02] [-1.42180076e-02 5.53437842e-05 -9.99898918e-01 -4.00766056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.366559995 meters 0.012744043606811584 Centerline is valid? [True, True] Translation: X:83.70, Y:-169.87, Z:-4.01 [[-8.63193712e-01 5.04756094e-01 1.08582419e-02 8.37018882e+01] [ 5.04716306e-01 8.63262003e-01 -6.33760106e-03 -1.69873802e+02] [-1.25724504e-02 9.75435648e-06 -9.99920964e-01 -4.00992197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.426559995 meters 0.012775377619395643 Centerline is valid? [True, True] Translation: X:83.71, Y:-169.85, Z:-4.01 [[-8.97687691e-01 4.40533091e-01 9.34907412e-03 8.37149618e+01] [ 4.40509051e-01 8.97736373e-01 -4.60225574e-03 -1.69848326e+02] [-1.04204498e-02 -1.30365628e-05 -9.99945706e-01 -4.01099371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.486559995 meters 0.012673623322625747 Centerline is valid? [True, True] Translation: X:83.72, Y:-169.82, Z:-4.01 [[-9.28577010e-01 3.71077685e-01 6.78883887e-03 8.37232105e+01] [ 3.71067399e-01 9.28601825e-01 -2.76336565e-03 -1.69818316e+02] [-7.32955149e-03 -4.68810298e-05 -9.99973137e-01 -4.01414225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.546559995 meters 0.013208368471093376 Centerline is valid? [True, True] Translation: X:83.97, Y:-169.21, Z:-5.03 [[-8.94047646e-01 -4.47932465e-01 5.94247254e-03 8.39656218e+01] [ 4.47922556e-01 -8.94067395e-01 -2.97944492e-03 -1.69213501e+02] [ 6.64756105e-03 -1.99823277e-06 9.99977905e-01 -5.02750454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.606559995 meters 0.014929712066679498 Centerline is valid? [True, True] Translation: X:83.69, Y:-169.79, Z:-4.01 [[-9.33869810e-01 3.57543860e-01 7.04032265e-03 8.36854163e+01] [ 3.57532607e-01 9.33896338e-01 -2.83993324e-03 -1.69790792e+02] [-7.59033223e-03 -1.34983005e-04 -9.99971184e-01 -4.01273632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.666559995 meters 0.015873492878434693 Centerline is valid? [True, True] Translation: X:83.92, Y:-169.21, Z:-5.03 [[-8.90541352e-01 -4.54829188e-01 8.15535131e-03 8.39177604e+01] [ 4.54812710e-01 -8.90578657e-01 -3.87995493e-03 -1.69207358e+02] [ 9.02769858e-03 2.53897118e-04 9.99959217e-01 -5.03052790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.7265599950001 meters 0.01632506117084014 Centerline is valid? [True, True] Translation: X:83.64, Y:-169.77, Z:-4.01 [[-9.37133345e-01 3.48811281e-01 1.05727540e-02 8.36436008e+01] [ 3.48785846e-01 9.37192946e-01 -4.22081822e-03 -1.69768756e+02] [-1.13809795e-02 -2.67842543e-04 -9.99935199e-01 -4.00934662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.786559995 meters 0.016492002542709727 Centerline is valid? [True, True] Translation: X:83.65, Y:-169.74, Z:-4.01 [[-9.59471827e-01 2.81555475e-01 1.18460075e-02 8.36477779e+01] [ 2.81530244e-01 9.59544907e-01 -3.78054345e-03 -1.69741330e+02] [-1.24312089e-02 -2.92315547e-04 -9.99922687e-01 -4.00801969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.846559995 meters 0.01473122330125006 Centerline is valid? [True, True] Translation: X:83.65, Y:-169.72, Z:-4.01 [[-9.76076955e-01 2.17163892e-01 1.06593397e-02 8.36548510e+01] [ 2.17148604e-01 9.76135135e-01 -2.58513447e-03 -1.69721343e+02] [-1.09663538e-02 -2.08629441e-04 -9.99939846e-01 -4.00951147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.906559995 meters 0.01413389713898134 Centerline is valid? [True, True] Translation: X:83.66, Y:-169.70, Z:-4.01 [[-9.88218157e-01 1.52793435e-01 8.89047637e-03 8.36592761e+01] [ 1.52786137e-01 9.88258140e-01 -1.49832411e-03 -1.69699573e+02] [-9.01501972e-03 -1.22329542e-04 -9.99959356e-01 -4.00988685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1230.9665599950001 meters 0.012754610726502531 Centerline is valid? [True, True] Translation: X:83.67, Y:-169.68, Z:-4.01 [[-9.96077317e-01 8.82119300e-02 6.97375980e-03 8.36652119e+01] [ 8.82093932e-02 9.96101728e-01 -6.71122685e-04 -1.69681645e+02] [-7.00577522e-03 -5.33389638e-05 -9.99975458e-01 -4.01179455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.026559995 meters 0.012362952016801654 Centerline is valid? [True, True] Translation: X:83.67, Y:-169.66, Z:-4.01 [[-9.99661852e-01 2.54778536e-02 5.20199093e-03 8.36660041e+01] [ 2.54775256e-02 9.99675387e-01 -1.29311377e-04 -1.69664679e+02] [-5.20359688e-03 3.26620688e-06 -9.99986461e-01 -4.01270546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.086559995 meters 0.01269660405457544 Centerline is valid? [True, True] Translation: X:83.69, Y:-168.98, Z:-5.03 [[-9.96166089e-01 -8.72868858e-02 5.84146267e-03 8.36898911e+01] [ 8.72855983e-02 -9.96183215e-01 -4.75479641e-04 -1.68984195e+02] [ 5.86067020e-03 3.62188691e-05 9.99982826e-01 -5.03042469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.146559995 meters 0.01262857043503545 Centerline is valid? [True, True] Translation: X:83.61, Y:-169.67, Z:-4.01 [[-9.99650154e-01 2.54592377e-02 7.16920774e-03 8.36070221e+01] [ 2.54588333e-02 9.99675861e-01 -1.47677740e-04 -1.69668403e+02] [-7.17064368e-03 3.48935890e-05 -9.99974290e-01 -4.01012118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.2065599950001 meters 0.01251837472226563 Centerline is valid? [True, True] Translation: X:83.62, Y:-168.99, Z:-5.03 [[-9.96245921e-01 -8.60579792e-02 9.38559104e-03 8.36220043e+01] [ 8.60551651e-02 -9.96290125e-01 -7.04018800e-04 -1.68986408e+02] [ 9.41135810e-03 1.06302728e-04 9.99955707e-01 -5.03357588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.266559995 meters 0.012491377616595922 Centerline is valid? [True, True] Translation: X:83.55, Y:-169.66, Z:-4.01 [[-9.99812591e-01 1.65505818e-02 1.00429782e-02 8.35451030e+01] [ 1.65497752e-02 9.99863030e-01 -1.63417379e-04 -1.69661673e+02] [-1.00443073e-02 2.82227800e-06 -9.99949555e-01 -4.00732068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.326559995 meters 0.012447901133090088 Centerline is valid? [True, True] Translation: X:83.55, Y:-168.99, Z:-5.03 [[-9.96412103e-01 -8.40780802e-02 9.68495547e-03 8.35545211e+01] [ 8.40738753e-02 -9.96459169e-01 -8.41201096e-04 -1.68989483e+02] [ 9.72138925e-03 -2.39312146e-05 9.99952746e-01 -5.03447971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.386559995 meters 0.012391508136206932 Centerline is valid? [True, True] Translation: X:83.48, Y:-169.66, Z:-4.01 [[-9.99901728e-01 1.12701622e-02 8.33776866e-03 8.34832087e+01] [ 1.12697285e-02 9.99936490e-01 -9.90008502e-05 -1.69657423e+02] [-8.33835488e-03 -5.02673204e-06 -9.99965235e-01 -4.00738357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.4465599950001 meters 0.012245956508300553 Centerline is valid? [True, True] Translation: X:83.49, Y:-168.99, Z:-5.03 [[-9.96840764e-01 -7.90960081e-02 7.23282579e-03 8.34916797e+01] [ 7.90934541e-02 -9.96867001e-01 -6.38925754e-04 -1.68991333e+02] [ 7.26070183e-03 -6.48380622e-05 9.99973639e-01 -5.03257881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.506559995 meters 0.012102406238827194 Centerline is valid? [True, True] Translation: X:83.42, Y:-169.66, Z:-4.01 [[-9.99960274e-01 6.93199778e-03 5.60332335e-03 8.34212329e+01] [ 6.93186973e-03 9.99975973e-01 -4.22738974e-05 -1.69656428e+02] [-5.60348176e-03 -3.43071056e-06 -9.99984300e-01 -4.01108788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.566559995 meters 0.011999242354750361 Centerline is valid? [True, True] Translation: X:83.42, Y:-169.63, Z:-4.01 [[-9.97888306e-01 -6.47669228e-02 4.91667133e-03 8.34178116e+01] [-6.47661681e-02 9.97900419e-01 3.12742586e-04 -1.69628702e+02] [-4.92660376e-03 -6.35179281e-06 -9.99987864e-01 -4.01239385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.626559995 meters 0.012037819208878326 Centerline is valid? [True, True] Translation: X:83.37, Y:-168.97, Z:-5.03 [[-9.99972888e-01 -5.30521420e-03 5.10671486e-03 8.33722109e+01] [ 5.30523908e-03 -9.99985927e-01 -8.67503302e-06 -1.68967031e+02] [ 5.10668902e-03 1.84175454e-05 9.99986961e-01 -5.02996508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.6865599950002 meters 0.012070791498248447 Centerline is valid? [True, True] Translation: X:83.35, Y:-169.63, Z:-4.01 [[-9.97387586e-01 -7.19091002e-02 6.86189278e-03 8.33457624e+01] [-7.19075743e-02 9.97411189e-01 4.69160517e-04 -1.69630145e+02] [-6.87786555e-03 -2.54871893e-05 -9.99976347e-01 -4.01170074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.746559995 meters 0.012149685546913105 Centerline is valid? [True, True] Translation: X:83.30, Y:-168.98, Z:-5.03 [[-9.99960581e-01 -4.56259875e-03 7.61702664e-03 8.33033426e+01] [ 4.56306143e-03 -9.99989588e-01 4.33646026e-05 -1.68976614e+02] [ 7.61674947e-03 7.81198536e-05 9.99970989e-01 -5.03025920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.806559995 meters 0.012258452266310409 Centerline is valid? [True, True] Translation: X:83.28, Y:-169.63, Z:-4.01 [[-9.96842881e-01 -7.89681562e-02 8.26441779e-03 8.32775945e+01] [-7.89658745e-02 9.96877138e-01 6.02540890e-04 -1.69630917e+02] [-8.28619070e-03 -5.19683815e-05 -9.99965668e-01 -4.01128861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.866559995 meters 0.012179764424467264 Centerline is valid? [True, True] Translation: X:83.23, Y:-168.98, Z:-5.03 [[-9.99966802e-01 3.49591571e-05 8.14819979e-03 8.32333748e+01] [-3.46146261e-05 -9.99999999e-01 4.24241155e-05 -1.68983914e+02] [ 8.14820126e-03 4.21406602e-05 9.99966802e-01 -5.03045180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.926559995 meters 0.012087439086563066 Centerline is valid? [True, True] Translation: X:83.21, Y:-169.64, Z:-4.01 [[-9.96646924e-01 -8.13402371e-02 8.86988320e-03 8.32099284e+01] [-8.13373274e-02 9.96686392e-01 6.88879054e-04 -1.69636727e+02] [-8.89652547e-03 -3.48834036e-05 -9.99960425e-01 -4.01079194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1231.986559995 meters 0.012105121908032609 Centerline is valid? [True, True] Translation: X:83.20, Y:-169.61, Z:-4.01 [[-9.88831169e-01 -1.48747813e-01 9.32774041e-03 8.32036283e+01] [-1.48741244e-01 9.88875163e-01 1.39790011e-03 -1.69611954e+02] [-9.43190541e-03 -5.13251576e-06 -9.99955519e-01 -4.00961121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.046559995 meters 0.01247188959510055 Centerline is valid? [True, True] Translation: X:83.19, Y:-169.59, Z:-4.01 [[-9.76409361e-01 -2.15703663e-01 9.83311601e-03 8.31924954e+01] [-2.15692441e-01 9.76458872e-01 2.20037515e-03 -1.69588982e+02] [-1.00762623e-02 2.75380917e-05 -9.99949233e-01 -4.00791394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.106559995 meters 0.012383529003938356 Centerline is valid? [True, True] Translation: X:83.05, Y:-168.95, Z:-5.03 [[-9.87574221e-01 1.56811753e-01 1.03553435e-02 8.30454751e+01] [-1.56803157e-01 -9.87628510e-01 1.64194287e-03 -1.68946674e+02] [ 1.04847084e-02 -2.21010017e-06 9.99945034e-01 -5.03266248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.166559995 meters 0.012685493738553351 Centerline is valid? [True, True] Translation: X:83.09, Y:-169.61, Z:-4.01 [[-9.75959167e-01 -2.17719727e-01 1.00908257e-02 8.30885673e+01] [-2.17707336e-01 9.76011329e-01 2.32398112e-03 -1.69613793e+02] [-1.03547367e-02 7.12639048e-05 -9.99946386e-01 -4.00851032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.2265599950001 meters 0.013078927871212224 Centerline is valid? [True, True] Translation: X:83.07, Y:-169.59, Z:-4.01 [[-9.58176246e-01 -2.85993574e-01 1.02935447e-02 8.30654749e+01] [-2.85976076e-01 9.58231531e-01 3.16491203e-03 -1.69592753e+02] [-1.07687436e-02 8.88360001e-05 -9.99942012e-01 -4.00810740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.286559995 meters 0.013410518053741386 Centerline is valid? [True, True] Translation: X:83.03, Y:-169.58, Z:-4.01 [[-9.35585478e-01 -3.52952346e-01 1.02203267e-02 8.30291565e+01] [-3.52930022e-01 9.35641293e-01 3.97109399e-03 -1.69577614e+02] [-1.09641666e-02 1.08237737e-04 -9.99939886e-01 -4.00784208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.346559995 meters 0.012992777236568342 Centerline is valid? [True, True] Translation: X:82.97, Y:-169.57, Z:-4.01 [[-9.07601249e-01 -4.19734024e-01 9.12806782e-03 8.29711210e+01] [-4.19711592e-01 9.07647144e-01 4.34076797e-03 -1.69570756e+02] [-1.01070327e-02 1.08530558e-04 -9.99948917e-01 -4.01018568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.406559995 meters 0.012570104919225914 Centerline is valid? [True, True] Translation: X:82.91, Y:-169.57, Z:-4.01 [[-8.74130583e-01 -4.85615562e-01 8.55858916e-03 8.29050299e+01] [-4.85591131e-01 8.74172475e-01 4.87216845e-03 -1.69572554e+02] [-9.84768389e-03 1.02936451e-04 -9.99951505e-01 -4.01141334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.4665599950001 meters 0.0123652540326028 Centerline is valid? [True, True] Translation: X:82.83, Y:-169.58, Z:-4.01 [[-8.34763194e-01 -5.50543367e-01 8.50947384e-03 8.28311597e+01] [-5.50513677e-01 8.34806561e-01 5.71824714e-03 -1.69581590e+02] [-1.02519076e-02 8.88005234e-05 -9.99947444e-01 -4.01101884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.526559995 meters 0.012045870632123225 Centerline is valid? [True, True] Translation: X:82.75, Y:-169.60, Z:-4.01 [[-7.90342556e-01 -6.12616240e-01 7.74516413e-03 8.27503112e+01] [-6.12585998e-01 7.90380502e-01 6.08739449e-03 -1.69602988e+02] [-9.85086344e-03 6.65478116e-05 -9.99951477e-01 -4.01103344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.586559995 meters 0.011598640859941133 Centerline is valid? [True, True] Translation: X:82.67, Y:-169.63, Z:-4.01 [[-7.39718856e-01 -6.72886270e-01 6.33102072e-03 8.26678001e+01] [-6.72861349e-01 7.39745947e-01 5.79128194e-03 -1.69630469e+02] [-8.58022103e-03 2.40213063e-05 -9.99963189e-01 -4.01174927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.646559995 meters 0.011478181782590031 Centerline is valid? [True, True] Translation: X:82.58, Y:-169.67, Z:-4.01 [[-6.84478891e-01 -7.29006085e-01 6.22698401e-03 8.25838993e+01] [-7.28976033e-01 6.84507216e-01 6.61934341e-03 -1.69669297e+02] [-9.08795711e-03 -8.52125816e-06 -9.99958704e-01 -4.01135942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.7065599950001 meters 0.011923916188241172 Centerline is valid? [True, True] Translation: X:82.49, Y:-169.72, Z:-4.01 [[-6.21914432e-01 -7.83053101e-01 7.09090064e-03 8.24949199e+01] [-7.83003945e-01 6.21954847e-01 8.77444574e-03 -1.69718970e+02] [-1.12810770e-02 -9.52487317e-05 -9.99936362e-01 -4.00903463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.766559995 meters 0.013048057004163675 Centerline is valid? [True, True] Translation: X:82.41, Y:-169.78, Z:-4.01 [[-5.56679648e-01 -8.30696450e-01 7.15390348e-03 8.24121104e+01] [-8.30631836e-01 5.56725586e-01 1.03621347e-02 -1.69775446e+02] [-1.25905496e-02 -1.73870495e-04 -9.99920721e-01 -4.00672020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.826559995 meters 0.014474606137330011 Centerline is valid? [True, True] Translation: X:82.33, Y:-169.84, Z:-4.01 [[-4.88384571e-01 -8.72604512e-01 6.47123221e-03 8.23331734e+01] [-8.72534241e-01 4.88427385e-01 1.10764445e-02 -1.69842212e+02] [-1.28260825e-02 -2.36807085e-04 -9.99917714e-01 -4.00633894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.886559995 meters 0.014611931306645011 Centerline is valid? [True, True] Translation: X:82.26, Y:-169.92, Z:-4.01 [[-4.21072883e-01 -9.07008573e-01 5.75121608e-03 8.22619177e+01] [-9.06931601e-01 4.21112090e-01 1.18185527e-02 -1.69920427e+02] [-1.31414353e-02 -2.39487546e-04 -9.99913619e-01 -4.00663738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1232.9465599950001 meters 0.014162427835248704 Centerline is valid? [True, True] Translation: X:82.20, Y:-170.00, Z:-4.01 [[-3.52675965e-01 -9.35732518e-01 4.93144070e-03 8.21999746e+01] [-9.35649573e-01 3.52710373e-01 1.24607583e-02 -1.70000450e+02] [-1.33993071e-02 -2.19490419e-04 -9.99910201e-01 -4.00638858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.006559995 meters 0.013436629116815278 Centerline is valid? [True, True] Translation: X:82.14, Y:-170.10, Z:-4.01 [[-2.84067354e-01 -9.58795373e-01 4.14379266e-03 8.21435327e+01] [-9.58702228e-01 2.84097521e-01 1.33654737e-02 -1.70095865e+02] [-1.39919956e-02 -1.75968515e-04 -9.99902092e-01 -4.00620342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.066559995 meters 0.012669273490282155 Centerline is valid? [True, True] Translation: X:82.10, Y:-170.19, Z:-4.01 [[-2.12758367e-01 -9.77099319e-01 3.28618656e-03 8.20951769e+01] [-9.76993100e-01 2.12783694e-01 1.44077432e-02 -1.70189996e+02] [-1.47770430e-02 -1.45213683e-04 -9.99890803e-01 -4.00613804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.126559995 meters 0.011761029124801103 Centerline is valid? [True, True] Translation: X:82.05, Y:-170.30, Z:-4.01 [[-1.39727408e-01 -9.90187429e-01 2.25977496e-03 8.20532526e+01] [-9.90071085e-01 1.39745632e-01 1.51790872e-02 -1.70296252e+02] [-1.53459350e-02 -1.16403341e-04 -9.99882238e-01 -4.00794975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.1865599950002 meters 0.011884743906289085 Centerline is valid? [True, True] Translation: X:82.02, Y:-170.40, Z:-4.01 [[-6.29790302e-02 -9.98014236e-01 1.10764624e-03 8.20164706e+01] [-9.97893826e-01 6.29886379e-02 1.55030441e-02 -1.70402238e+02] [-1.55420278e-02 -1.28946658e-04 -9.99879207e-01 -4.00786075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.246559995 meters 0.012420740429161421 Centerline is valid? [True, True] Translation: X:81.98, Y:-170.52, Z:-4.01 [[ 1.66820992e-02 -9.99860841e-01 -7.87585771e-05 8.19843622e+01] [-9.99747563e-01 -1.66813949e-02 1.50512955e-02 -1.70516456e+02] [-1.50505148e-02 -1.72348510e-04 -9.99886720e-01 -4.00814017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.306559995 meters 0.013079640428375191 Centerline is valid? [True, True] Translation: X:81.96, Y:-170.64, Z:-4.01 [[ 9.72580020e-02 -9.95258499e-01 -1.18350621e-03 8.19617748e+01] [-9.95153764e-01 -9.72649386e-02 1.44401247e-02 -1.70637892e+02] [-1.44867705e-02 -2.26647021e-04 -9.99895036e-01 -4.00934132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.366559995 meters 0.012905500382301918 Centerline is valid? [True, True] Translation: X:81.95, Y:-170.75, Z:-4.01 [[ 1.74116691e-01 -9.84722197e-01 -2.36053736e-03 8.19507011e+01] [-9.84611405e-01 -1.74132515e-01 1.47732385e-02 -1.70753053e+02] [-1.49585822e-02 -2.48055402e-04 -9.99888083e-01 -4.00957580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.426559995 meters 0.013626993445056152 Centerline is valid? [True, True] Translation: X:81.95, Y:-170.87, Z:-4.01 [[ 2.47639192e-01 -9.68845831e-01 -3.54770440e-03 8.19465987e+01] [-9.68732672e-01 -2.47664496e-01 1.48090464e-02 -1.70867173e+02] [-1.52263232e-02 -2.30523118e-04 -9.99884046e-01 -4.00707464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.486559995 meters 0.011533830227255744 Centerline is valid? [True, True] Translation: X:81.96, Y:-170.98, Z:-4.01 [[ 3.15150562e-01 -9.49031250e-01 -4.45094208e-03 8.19577677e+01] [-9.48930865e-01 -3.15181966e-01 1.38036973e-02 -1.70976132e+02] [-1.45029968e-02 -1.26606642e-04 -9.99894818e-01 -4.00984552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.546559995 meters 0.011422086911948903 Centerline is valid? [True, True] Translation: X:81.97, Y:-171.09, Z:-4.01 [[ 3.84095883e-01 -9.23278807e-01 -5.15725615e-03 8.19735604e+01] [-9.23192865e-01 -3.84130497e-01 1.25974244e-02 -1.71090475e+02] [-1.36119944e-02 -7.74767894e-05 -9.99907350e-01 -4.00985971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.606559995 meters 0.011306246760974276 Centerline is valid? [True, True] Translation: X:82.00, Y:-171.20, Z:-4.01 [[ 4.45056112e-01 -8.95491177e-01 -4.53969004e-03 8.20030400e+01] [-8.95445510e-01 -4.45079263e-01 9.04372410e-03 -1.71197939e+02] [-1.01190970e-02 4.00803708e-05 -9.99948800e-01 -4.01329740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.666559995 meters 0.012015374128946942 Centerline is valid? [True, True] Translation: X:82.04, Y:-171.30, Z:-4.01 [[ 5.07623459e-01 -8.61569058e-01 -4.14507247e-03 8.20357411e+01] [-8.61541537e-01 -5.07640377e-01 6.88683204e-03 -1.71303064e+02] [-8.03768755e-03 7.52346047e-05 -9.99967695e-01 -4.01498665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.7265599950001 meters 0.012412135709752803 Centerline is valid? [True, True] Translation: X:82.07, Y:-171.41, Z:-4.02 [[ 5.69224910e-01 -8.22171404e-01 -4.14542730e-03 8.20743725e+01] [-8.22150759e-01 -5.69239997e-01 5.82711742e-03 -1.71407473e+02] [-7.15063234e-03 9.12258129e-05 -9.99974430e-01 -4.01583507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.786559995 meters 0.012476196269261145 Centerline is valid? [True, True] Translation: X:82.12, Y:-171.52, Z:-4.01 [[ 6.31345716e-01 -7.75486610e-01 -4.80673037e-03 8.21226792e+01] [-7.75465160e-01 -6.31364008e-01 5.76844081e-03 -1.71515092e+02] [-7.50814516e-03 8.55715431e-05 -9.99971810e-01 -4.01474101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.846559995 meters 0.012051877018385053 Centerline is valid? [True, True] Translation: X:82.17, Y:-171.61, Z:-4.01 [[ 6.91261016e-01 -7.22584914e-01 -5.40830004e-03 8.21683334e+01] [-7.22563468e-01 -6.91282170e-01 5.56741586e-03 -1.71610902e+02] [-7.76159210e-03 5.93024932e-05 -9.99969877e-01 -4.01373512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.906559995 meters 0.011307554142463651 Centerline is valid? [True, True] Translation: X:82.23, Y:-171.71, Z:-4.01 [[ 7.48764592e-01 -6.62810804e-01 -5.78134547e-03 8.22256539e+01] [-6.62791096e-01 -7.48786912e-01 5.11115742e-03 -1.71711851e+02] [-7.71672618e-03 4.77060422e-06 -9.99970226e-01 -4.01488678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1233.9665599950001 meters 0.011381613165691012 Centerline is valid? [True, True] Translation: X:82.24, Y:-171.74, Z:-4.02 [[ 8.00801453e-01 -5.98908979e-01 -5.00682051e-03 8.22433474e+01] [-5.98897097e-01 -8.00817104e-01 3.77265878e-03 -1.71742171e+02] [-6.26902672e-03 -2.25803665e-05 -9.99980349e-01 -4.01521511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.026559995 meters 0.011622483371498337 Centerline is valid? [True, True] Translation: X:82.27, Y:-171.77, Z:-4.02 [[ 8.46660077e-01 -5.32116389e-01 -4.34313725e-03 8.22654177e+01] [-5.32109187e-01 -8.46671216e-01 2.76862148e-03 -1.71770601e+02] [-5.15043817e-03 -3.30580439e-05 -9.99986736e-01 -4.01580397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.086559995 meters 0.011685575703994297 Centerline is valid? [True, True] Translation: X:82.29, Y:-171.80, Z:-4.02 [[ 8.85990420e-01 -4.63695042e-01 -2.80786361e-03 8.22901545e+01] [-4.63692630e-01 -8.85994869e-01 1.49560138e-03 -1.71796505e+02] [-3.18125570e-03 -2.31028335e-05 -9.99994940e-01 -4.01504159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.146559995 meters 0.011567827291993661 Centerline is valid? [True, True] Translation: X:82.32, Y:-171.82, Z:-4.02 [[ 9.19199050e-01 -3.93789521e-01 -1.70864034e-03 8.23174242e+01] [-3.93788816e-01 -9.19200638e-01 7.45475615e-04 -1.71820721e+02] [-1.86414378e-03 -1.23970209e-05 -9.99998262e-01 -4.01571720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.2065599950001 meters 0.011657689448696077 Centerline is valid? [True, True] Translation: X:82.35, Y:-171.84, Z:-4.02 [[ 9.46998041e-01 -3.21237771e-01 -1.00201583e-03 8.23460309e+01] [-3.21237584e-01 -9.46998572e-01 3.47248495e-04 -1.71841128e+02] [-1.06045689e-03 -6.95850146e-06 -9.99999438e-01 -4.01640262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.266559995 meters 0.011791878630719687 Centerline is valid? [True, True] Translation: X:82.38, Y:-171.86, Z:-4.01 [[ 9.69538636e-01 -2.44922470e-01 -2.79606070e-03 8.23764333e+01] [-2.44921389e-01 -9.69542667e-01 7.28050070e-04 -1.71861550e+02] [-2.88921597e-03 -2.10576028e-05 -9.99995826e-01 -4.01377590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.326559995 meters 0.012073357160680857 Centerline is valid? [True, True] Translation: X:82.41, Y:-171.88, Z:-4.01 [[ 9.86053423e-01 -1.66355161e-01 -4.96063214e-03 8.24081788e+01] [-1.66352820e-01 -9.86065900e-01 8.83753191e-04 -1.71879476e+02] [-5.03852710e-03 -4.62127115e-05 -9.99987306e-01 -4.01082107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.386559995 meters 0.012899832045436297 Centerline is valid? [True, True] Translation: X:82.44, Y:-171.89, Z:-4.01 [[ 9.96276781e-01 -8.59516084e-02 -6.70055832e-03 8.24390182e+01] [-8.59491258e-02 -9.96299310e-01 6.58117635e-04 -1.71894104e+02] [-6.73232790e-03 -7.97601888e-05 -9.99977335e-01 -4.00729985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.4465599950001 meters 0.01316504157421847 Centerline is valid? [True, True] Translation: X:82.47, Y:-171.90, Z:-4.01 [[ 9.99949769e-01 -7.36953768e-03 -6.79333842e-03 8.24696696e+01] [-7.36880520e-03 -9.99972841e-01 1.32846532e-04 -1.71899505e+02] [-6.79413294e-03 -8.27810718e-05 -9.99976916e-01 -4.00676145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.506559995 meters 0.012693001560223804 Centerline is valid? [True, True] Translation: X:82.50, Y:-171.91, Z:-4.01 [[ 9.97450523e-01 7.10712645e-02 -6.42882643e-03 8.25014086e+01] [ 7.10703015e-02 -9.97471237e-01 -3.78410985e-04 -1.71905564e+02] [-6.43946360e-03 -7.94523976e-05 -9.99979263e-01 -4.00795203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.566559995 meters 0.012803166395462223 Centerline is valid? [True, True] Translation: X:82.53, Y:-171.91, Z:-4.01 [[ 9.88999017e-01 1.47852475e-01 -4.53773633e-03 8.25323101e+01] [ 1.47851159e-01 -9.89009425e-01 -6.25966595e-04 -1.71907811e+02] [-4.58041471e-03 -5.18292282e-05 -9.99989509e-01 -4.00952083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.626559995 meters 0.013083197699132186 Centerline is valid? [True, True] Translation: X:82.56, Y:-171.91, Z:-4.01 [[ 9.74497548e-01 2.24370041e-01 -3.55144950e-03 8.25635793e+01] [ 2.24368700e-01 -9.74504019e-01 -7.76899502e-04 -1.71907599e+02] [-3.63521479e-03 -3.97474469e-05 -9.99993392e-01 -4.00993178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.6865599950002 meters 0.012820184219815269 Centerline is valid? [True, True] Translation: X:82.60, Y:-171.91, Z:-4.01 [[ 9.54020549e-01 2.99714730e-01 -3.98415949e-03 8.25952712e+01] [ 2.99712310e-01 -9.54028867e-01 -1.20523733e-03 -1.71905332e+02] [-4.16223054e-03 -4.42804654e-05 -9.99991337e-01 -4.00934424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.746559995 meters 0.012859763688820764 Centerline is valid? [True, True] Translation: X:82.63, Y:-171.90, Z:-4.01 [[ 9.27676146e-01 3.73355825e-01 -4.73239296e-03 8.26273126e+01] [ 3.73351259e-01 -9.27688215e-01 -1.84736530e-03 -1.71900946e+02] [-5.07990978e-03 -5.30881498e-05 -9.99987096e-01 -4.00833084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.806559995 meters 0.012871119113020989 Centerline is valid? [True, True] Translation: X:82.66, Y:-171.89, Z:-4.01 [[ 8.95985777e-01 4.44059503e-01 -4.54369317e-03 8.26587431e+01] [ 4.44054066e-01 -8.95997297e-01 -2.19788948e-03 -1.71893464e+02] [-5.04713051e-03 -4.83677144e-05 -9.99987262e-01 -4.00767514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.866559995 meters 0.012766513702093004 Centerline is valid? [True, True] Translation: X:82.69, Y:-171.88, Z:-4.01 [[ 8.59830689e-01 5.10569734e-01 -3.11980561e-03 8.26884025e+01] [ 5.10566480e-01 -8.59836349e-01 -1.82292117e-03 -1.71882454e+02] [-3.61325064e-03 -2.54646067e-05 -9.99993472e-01 -4.00740179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.926559995 meters 0.012736011353868688 Centerline is valid? [True, True] Translation: X:82.72, Y:-171.87, Z:-4.01 [[ 8.18489067e-01 5.74514365e-01 -2.98181044e-03 8.27151320e+01] [ 5.74510630e-01 -8.18494499e-01 -2.07174713e-03 -1.71868668e+02] [-3.63084393e-03 -1.73794232e-05 -9.99993408e-01 -4.00753952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1234.986559995 meters 0.012649285043505936 Centerline is valid? [True, True] Translation: X:82.74, Y:-171.85, Z:-4.01 [[ 7.72708189e-01 6.34757708e-01 -2.16946841e-03 8.27418264e+01] [ 6.34755229e-01 -7.72711234e-01 -1.77428606e-03 -1.71853382e+02] [-2.80261436e-03 -6.07604869e-06 -9.99996073e-01 -4.00819305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.046559995 meters 0.012716812750116935 Centerline is valid? [True, True] Translation: X:82.77, Y:-171.84, Z:-4.01 [[ 7.22994420e-01 6.90852113e-01 -1.55760918e-03 8.27686730e+01] [ 6.90850503e-01 -7.22996098e-01 -1.49162605e-03 -1.71837923e+02] [-2.15663837e-03 2.36222694e-06 -9.99997675e-01 -4.00829222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.106559995 meters 0.012994096464564297 Centerline is valid? [True, True] Translation: X:82.79, Y:-171.82, Z:-4.01 [[ 6.68417240e-01 7.43784887e-01 -1.56091226e-03 8.27934007e+01] [ 7.43782830e-01 -6.68419062e-01 -1.74901469e-03 -1.71821203e+02] [-2.34423421e-03 8.09183252e-06 -9.99997252e-01 -4.00844354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.166559995 meters 0.013166701473113744 Centerline is valid? [True, True] Translation: X:82.82, Y:-171.80, Z:-4.01 [[ 6.09650580e-01 7.92669028e-01 -1.40815285e-03 8.28176835e+01] [ 7.92666866e-01 -6.09652206e-01 -1.85130421e-03 -1.71803085e+02] [-2.32595500e-03 1.24525776e-05 -9.99997295e-01 -4.00838715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.2265599950001 meters 0.013442326288290726 Centerline is valid? [True, True] Translation: X:82.84, Y:-171.78, Z:-4.01 [[ 5.46915825e-01 8.37184922e-01 -2.11805591e-03 8.28391258e+01] [ 8.37178451e-01 -5.46919926e-01 -3.29190747e-03 -1.71782381e+02] [-3.91434228e-03 2.72055229e-05 -9.99992339e-01 -4.00805910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.286559995 meters 0.013497559709231452 Centerline is valid? [True, True] Translation: X:82.86, Y:-171.76, Z:-4.01 [[ 4.79313829e-01 8.77641632e-01 -1.84919892e-03 8.28602883e+01] [ 8.77634893e-01 -4.79317395e-01 -3.43936050e-03 -1.71761255e+02] [-3.90487917e-03 2.56115595e-05 -9.99992376e-01 -4.00869863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.346559995 meters 0.013185506861517517 Centerline is valid? [True, True] Translation: X:82.88, Y:-171.74, Z:-4.01 [[ 4.06580273e-01 9.13614754e-01 -7.51121188e-04 8.28790382e+01] [ 9.13613165e-01 -4.06580966e-01 -1.70392744e-03 -1.71739453e+02] [-1.86212482e-03 6.54907582e-06 -9.99998266e-01 -4.01036046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.406559995 meters 0.012918309261368225 Centerline is valid? [True, True] Translation: X:82.90, Y:-171.72, Z:-4.01 [[ 3.30087428e-01 9.43950229e-01 -5.05532483e-04 8.29004630e+01] [ 9.43949125e-01 -3.30087815e-01 -1.44325284e-03 -1.71716877e+02] [-1.52922896e-03 -7.97327419e-07 -9.99998831e-01 -4.01056099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.4665599950001 meters 0.012940916475398183 Centerline is valid? [True, True] Translation: X:82.92, Y:-171.69, Z:-4.01 [[ 2.52857789e-01 9.67503389e-01 -3.61326349e-04 8.29176347e+01] [ 9.67502425e-01 -2.52858047e-01 -1.36618013e-03 -1.71691079e+02] [-1.41314818e-03 -4.13483267e-06 -9.99999002e-01 -4.01044071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.526559995 meters 0.013388900358337334 Centerline is valid? [True, True] Translation: X:82.94, Y:-171.67, Z:-4.01 [[ 1.70490571e-01 9.85359266e-01 -2.85724032e-04 8.29363631e+01] [ 9.85358016e-01 -1.70490810e-01 -1.56974067e-03 -1.71665082e+02] [-1.59547184e-03 -1.39144830e-05 -9.99998727e-01 -4.01010508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.586559995 meters 0.014881486842193944 Centerline is valid? [True, True] Translation: X:82.95, Y:-171.64, Z:-4.01 [[ 8.39689164e-02 9.96468345e-01 -2.44037164e-04 8.29543195e+01] [ 9.96465460e-01 -8.39692606e-02 -2.39812820e-03 -1.71638112e+02] [-2.41015045e-03 -4.18063784e-05 -9.99997095e-01 -4.00903240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.646559995 meters 0.01644964920263857 Centerline is valid? [True, True] Translation: X:82.97, Y:-171.61, Z:-4.01 [[ 6.02266681e-05 9.99999996e-01 -7.38385088e-05 8.29668152e+01] [ 9.99994802e-01 -6.04643883e-05 -3.22369662e-03 -1.71608218e+02] [-3.22370107e-03 -7.36439725e-05 -9.99994801e-01 -4.00783072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.7065599950001 meters 0.017157838441686696 Centerline is valid? [True, True] Translation: X:82.98, Y:-171.58, Z:-4.01 [[-8.26573968e-02 9.96577994e-01 2.36676917e-04 8.29768190e+01] [ 9.96568928e-01 8.26576548e-02 -4.25254144e-03 -1.71577837e+02] [-4.25755237e-03 -1.15639143e-04 -9.99990930e-01 -4.00730843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.766559995 meters 0.017758696696219826 Centerline is valid? [True, True] Translation: X:82.99, Y:-171.55, Z:-4.01 [[-1.62669873e-01 9.86680310e-01 6.92205327e-04 8.29855661e+01] [ 9.86666969e-01 1.62671275e-01 -5.13304552e-03 -1.71546147e+02] [-5.17727687e-03 -1.52015730e-04 -9.99986586e-01 -4.00552309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.826559995 meters 0.018033502891669544 Centerline is valid? [True, True] Translation: X:82.99, Y:-171.52, Z:-4.00 [[-2.38152162e-01 9.71227403e-01 9.38329549e-04 8.29878745e+01] [ 9.71217668e-01 2.38153978e-01 -4.35026793e-03 -1.71515874e+02] [-4.44856634e-03 -1.24703476e-04 -9.99990097e-01 -4.00472651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.886559995 meters 0.017502179463775996 Centerline is valid? [True, True] Translation: X:82.98, Y:-171.49, Z:-4.01 [[-3.10923757e-01 9.50434611e-01 6.83629102e-04 8.29831753e+01] [ 9.50431866e-01 3.10924503e-01 -2.28497931e-03 -1.71485740e+02] [-2.38428046e-03 -6.07114676e-05 -9.99997156e-01 -4.00612434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1235.9465599950001 meters 0.0152272052092812 Centerline is valid? [True, True] Translation: X:82.98, Y:-171.46, Z:-4.01 [[-3.80988052e-01 9.24579953e-01 1.20162813e-04 8.29763782e+01] [ 9.24579900e-01 3.80988071e-01 -3.12935266e-04 -1.71455868e+02] [-3.35114273e-04 -8.12447611e-06 -9.99999944e-01 -4.00765463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.006559995 meters 0.014456685888898684 Centerline is valid? [True, True] Translation: X:82.97, Y:-171.43, Z:-4.01 [[-4.48786242e-01 8.93639050e-01 -3.96268959e-04 8.29702884e+01] [ 8.93638672e-01 4.48786417e-01 8.22372401e-04 -1.71425252e+02] [ 9.12744217e-04 1.49481533e-05 -9.99999583e-01 -4.00852115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.066559995 meters 0.014338051195978942 Centerline is valid? [True, True] Translation: X:82.96, Y:-171.40, Z:-4.01 [[-5.13418101e-01 8.58138598e-01 1.86823644e-05 8.29633703e+01] [ 8.58138597e-01 5.13418102e-01 -3.40839123e-05 -1.71396763e+02] [-3.88405855e-05 -1.46723956e-06 -9.99999999e-01 -4.00671232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.126559995 meters 0.01368255396660468 Centerline is valid? [True, True] Translation: X:82.95, Y:-171.37, Z:-4.00 [[-5.77240082e-01 8.16573364e-01 1.35253926e-03 8.29519844e+01] [ 8.16571016e-01 5.77241666e-01 -1.95843702e-03 -1.71368573e+02] [-2.37994952e-03 -2.60439839e-05 -9.99997168e-01 -4.00361221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.1865599950002 meters 0.013661415533922385 Centerline is valid? [True, True] Translation: X:82.94, Y:-171.34, Z:-4.00 [[-6.38383084e-01 7.69711224e-01 3.41624089e-03 8.29393467e+01] [ 7.69699777e-01 6.38392223e-01 -4.19810567e-03 -1.71342169e+02] [-5.41223066e-03 -5.05197973e-05 -9.99985353e-01 -4.00057329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.246559995 meters 0.01311986297346717 Centerline is valid? [True, True] Translation: X:82.93, Y:-171.31, Z:-4.00 [[-6.95172015e-01 7.18815689e-01 6.31464112e-03 8.29262453e+01] [ 7.18785176e-01 6.95200691e-01 -6.62347005e-03 -1.71313212e+02] [-9.15099706e-03 -6.55805924e-05 -9.99958127e-01 -3.99831100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.306559995 meters 0.013056241094648036 Centerline is valid? [True, True] Translation: X:82.91, Y:-171.28, Z:-4.00 [[-7.48556054e-01 6.63038762e-01 6.59041480e-03 8.29117106e+01] [ 6.63012440e-01 7.48585063e-01 -5.90822215e-03 -1.71284562e+02] [-8.85086638e-03 -5.31084572e-05 -9.99960829e-01 -3.99887727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.366559995 meters 0.013075706890291122 Centerline is valid? [True, True] Translation: X:82.92, Y:-171.26, Z:-4.00 [[-7.93182270e-01 6.08957716e-01 5.69093279e-03 8.29243316e+01] [ 6.08941694e-01 7.93202685e-01 -4.41752191e-03 -1.71259248e+02] [-7.20414722e-03 -3.84537998e-05 -9.99974049e-01 -4.00012623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.426559995 meters 0.013069876441368885 Centerline is valid? [True, True] Translation: X:82.95, Y:-171.24, Z:-4.00 [[-8.33834881e-01 5.51992551e-01 4.85954915e-03 8.29495872e+01] [ 5.51982993e-01 8.33849041e-01 -3.24846106e-03 -1.71243311e+02] [-5.84525671e-03 -2.62916620e-05 -9.99982916e-01 -4.00119226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.486559995 meters 0.013202912646484785 Centerline is valid? [True, True] Translation: X:82.97, Y:-171.22, Z:-4.00 [[-8.70768855e-01 4.91681193e-01 3.34750969e-03 8.29654977e+01] [ 4.91677484e-01 8.70775289e-01 -1.91002857e-03 -1.71218638e+02] [-3.85405384e-03 -1.72982497e-05 -9.99992573e-01 -4.00172484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.546559995 meters 0.01323414170375506 Centerline is valid? [True, True] Translation: X:82.98, Y:-171.19, Z:-4.00 [[-9.03946089e-01 4.27633426e-01 3.33475212e-03 8.29769451e+01] [ 4.27630429e-01 9.03952240e-01 -1.60121570e-03 -1.71191609e+02] [-3.69919000e-03 -2.13711887e-05 -9.99993158e-01 -4.00172227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.606559995 meters 0.013558502194267729 Centerline is valid? [True, True] Translation: X:82.99, Y:-171.16, Z:-4.00 [[-9.32993664e-01 3.59873713e-01 3.70602302e-03 8.29868118e+01] [ 3.59870727e-01 9.33001023e-01 -1.46642089e-03 -1.71161961e+02] [-3.98544961e-03 -3.44721998e-05 -9.99992058e-01 -4.00096146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.666559995 meters 0.01402002880399242 Centerline is valid? [True, True] Translation: X:82.99, Y:-171.13, Z:-4.00 [[-9.57356535e-01 2.88880941e-01 4.03317982e-03 8.29901651e+01] [ 2.88878139e-01 9.57365029e-01 -1.27362621e-03 -1.71130903e+02] [-4.22915166e-03 -5.42168944e-05 -9.99991056e-01 -4.00110774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.7265599950001 meters 0.015683365548313264 Centerline is valid? [True, True] Translation: X:83.18, Y:-170.53, Z:-5.04 [[-9.24284086e-01 -3.81672626e-01 4.99339345e-03 8.31800709e+01] [ 3.81667894e-01 -9.24297563e-01 -1.90614817e-03 -1.70533422e+02] [ 5.34290598e-03 1.43995541e-04 9.99985716e-01 -5.04179991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.786559995 meters 0.015787062859013858 Centerline is valid? [True, True] Translation: X:82.95, Y:-171.11, Z:-4.00 [[-9.60497906e-01 2.78247612e-01 4.69464747e-03 8.29471923e+01] [ 2.78243779e-01 9.60509374e-01 -1.46386932e-03 -1.71109663e+02] [-4.91657104e-03 -9.97869654e-05 -9.99987909e-01 -3.99996593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.846559995 meters 0.01587228328612317 Centerline is valid? [True, True] Translation: X:82.95, Y:-171.08, Z:-4.00 [[-9.77626839e-01 2.10303634e-01 4.25981877e-03 8.29529619e+01] [ 2.10301257e-01 9.77636116e-01 -1.00344102e-03 -1.71081668e+02] [-4.37557996e-03 -8.51456292e-05 -9.99990424e-01 -3.99946656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.906559995 meters 0.01401599431372479 Centerline is valid? [True, True] Translation: X:82.96, Y:-171.06, Z:-4.00 [[-9.89200557e-01 1.46541876e-01 2.78168635e-03 8.29560047e+01] [ 1.46541189e-01 9.89204467e-01 -4.50325466e-04 -1.71060864e+02] [-2.81764811e-03 -3.78305767e-05 -9.99996030e-01 -4.00053009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1236.9665599950001 meters 0.013233399448193479 Centerline is valid? [True, True] Translation: X:83.06, Y:-170.44, Z:-5.04 [[-9.72613145e-01 -2.32424537e-01 1.58270247e-03 8.30639422e+01] [ 2.32424153e-01 -9.72614432e-01 -4.24919098e-04 -1.70440131e+02] [ 1.63812089e-03 -4.54236186e-05 9.99998657e-01 -5.04100773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.026559995 meters 0.012860016398973991 Centerline is valid? [True, True] Translation: X:82.91, Y:-171.06, Z:-4.00 [[-9.87996569e-01 1.54472053e-01 1.07941836e-03 8.29136018e+01] [ 1.54471959e-01 9.87997158e-01 -1.70838440e-04 -1.71064311e+02] [-1.09285204e-03 -2.04792340e-06 -9.99999403e-01 -4.00043740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.086559995 meters 0.013046418757063806 Centerline is valid? [True, True] Translation: X:83.02, Y:-170.43, Z:-5.04 [[-9.76145749e-01 -2.17089942e-01 3.38152459e-03 8.30208718e+01] [ 2.17089133e-01 -9.76151596e-01 -6.08830726e-04 -1.70426501e+02] [ 3.43305165e-03 1.39784717e-04 9.99994097e-01 -5.04470736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.146559995 meters 0.013398829546028319 Centerline is valid? [True, True] Translation: X:82.87, Y:-171.06, Z:-4.00 [[-9.87308863e-01 1.58715270e-01 5.53832464e-03 8.28703481e+01] [ 1.58712987e-01 9.87324395e-01 -8.52177210e-04 -1.71063693e+02] [-5.60337656e-03 3.76419322e-05 -9.99984300e-01 -3.99501266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.2065599950001 meters 0.013981323736618267 Centerline is valid? [True, True] Translation: X:82.97, Y:-170.42, Z:-5.05 [[-9.77924356e-01 -2.08765772e-01 8.98920064e-03 8.29725795e+01] [ 2.08758408e-01 -9.77965658e-01 -1.76034820e-03 -1.70416213e+02] [ 9.15862997e-03 1.55083830e-04 9.99958047e-01 -5.05029640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.266559995 meters 0.013904253068529705 Centerline is valid? [True, True] Translation: X:82.82, Y:-171.06, Z:-3.99 [[-9.87332506e-01 1.58311215e-01 1.05869171e-02 8.28203796e+01] [ 1.58303304e-01 9.87389258e-01 -1.58641654e-03 -1.71057953e+02] [-1.07045558e-02 1.09623339e-04 -9.99942699e-01 -3.99082485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.326559995 meters 0.013996532465958023 Centerline is valid? [True, True] Translation: X:82.82, Y:-171.03, Z:-3.99 [[-9.96041809e-01 8.81889980e-02 1.11092102e-02 8.28206554e+01] [ 8.81848330e-02 9.96103753e-01 -8.65161217e-04 -1.71030781e+02] [-1.11422237e-02 1.17927106e-04 -9.99937917e-01 -3.99056777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.386559995 meters 0.014130127389798576 Centerline is valid? [True, True] Translation: X:82.87, Y:-170.38, Z:-5.05 [[-9.91017174e-01 -1.33371090e-01 9.85457075e-03 8.28747411e+01] [ 1.33362684e-01 -9.91066153e-01 -1.50827041e-03 -1.70375450e+02] [ 9.96769119e-03 -1.80489875e-04 9.99950305e-01 -5.05057914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.4465599950001 meters 0.013915837330898656 Centerline is valid? [True, True] Translation: X:82.77, Y:-171.03, Z:-3.99 [[-9.96473059e-01 8.35169463e-02 8.14633991e-03 8.27675010e+01] [ 8.35148211e-02 9.96506354e-01 -6.01299664e-04 -1.71028253e+02] [-8.16809820e-03 8.11612050e-05 -9.99966637e-01 -3.99287101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.506559995 meters 0.013563972327707428 Centerline is valid? [True, True] Translation: X:82.76, Y:-171.00, Z:-3.99 [[-9.99936193e-01 9.77987489e-03 5.65362501e-03 8.27619271e+01] [ 9.77994443e-03 9.99952175e-01 -1.53461306e-05 -1.70998574e+02] [-5.65350471e-03 3.99469870e-05 -9.99984018e-01 -3.99400158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.566559995 meters 0.013300337947294773 Centerline is valid? [True, True] Translation: X:82.76, Y:-170.35, Z:-5.05 [[-9.97853828e-01 -6.52914142e-02 4.97691450e-03 8.27598061e+01] [ 6.52902028e-02 -9.97866236e-01 -4.05671722e-04 -1.70347130e+02] [ 4.99278182e-03 -7.98573236e-05 9.99987533e-01 -5.04758062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.626559995 meters 0.013058725857103515 Centerline is valid? [True, True] Translation: X:82.70, Y:-170.99, Z:-3.99 [[-9.99985123e-01 -3.08198099e-03 4.50055279e-03 8.26993639e+01] [-3.08198006e-03 9.99995251e-01 7.14070078e-06 -1.70990090e+02] [-4.50055342e-03 -6.73001944e-06 -9.99989873e-01 -3.99424395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.6865599950002 meters 0.013257406883465212 Centerline is valid? [True, True] Translation: X:82.69, Y:-170.96, Z:-3.99 [[-9.96944240e-01 -7.79901075e-02 4.44136679e-03 8.26904804e+01] [-7.79894399e-02 9.96954133e-01 3.23574338e-04 -1.70958854e+02] [-4.45307457e-03 -2.37941356e-05 -9.99990085e-01 -3.99422231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.746559995 meters 0.01373772907022347 Centerline is valid? [True, True] Translation: X:82.67, Y:-170.93, Z:-3.99 [[-9.88222615e-01 -1.52952319e-01 4.65303745e-03 8.26741344e+01] [-1.52950839e-01 9.88233569e-01 6.74401471e-04 -1.70929273e+02] [-4.70143907e-03 -4.52271961e-05 -9.99988947e-01 -3.99392489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.806559995 meters 0.01464987701874417 Centerline is valid? [True, True] Translation: X:82.66, Y:-170.90, Z:-3.99 [[-9.73714247e-01 -2.27725022e-01 4.67760468e-03 8.26597261e+01] [-2.27722738e-01 9.73725480e-01 1.02224401e-03 -1.70898459e+02] [-4.78749340e-03 -6.98233904e-05 -9.99988538e-01 -3.99283160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.866559995 meters 0.01506045309913409 Centerline is valid? [True, True] Translation: X:82.64, Y:-170.87, Z:-3.99 [[-9.54420500e-01 -2.98434163e-01 4.30800526e-03 8.26400125e+01] [-2.98431474e-01 9.54430220e-01 1.26898130e-03 -1.70873307e+02] [-4.49039778e-03 -7.45025867e-05 -9.99989915e-01 -3.99254428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.926559995 meters 0.014887709218456262 Centerline is valid? [True, True] Translation: X:82.61, Y:-170.85, Z:-3.99 [[-9.30317891e-01 -3.66728395e-01 4.34805064e-03 8.26124931e+01] [-3.66724790e-01 9.30328049e-01 1.62794488e-03 -1.70854155e+02] [-4.64212709e-03 -8.00317081e-05 -9.99989222e-01 -3.99279150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1237.986559995 meters 0.014829410476832774 Centerline is valid? [True, True] Translation: X:82.57, Y:-170.84, Z:-3.99 [[-9.01599253e-01 -4.32533950e-01 5.75923370e-03 8.25733237e+01] [-4.32525868e-01 9.01617641e-01 2.64616461e-03 -1.70842572e+02] [-6.33718274e-03 -1.05237516e-04 -9.99979914e-01 -3.99189822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.046559995 meters 0.014549576367523288 Centerline is valid? [True, True] Translation: X:82.52, Y:-170.84, Z:-3.99 [[-8.68079220e-01 -4.96381522e-01 6.62210824e-03 8.25154168e+01] [-4.96368084e-01 8.68104470e-01 3.65436658e-03 -1.70844317e+02] [-7.56264181e-03 -1.14723492e-04 -9.99971396e-01 -3.99142243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.106559995 meters 0.014153192085133598 Centerline is valid? [True, True] Translation: X:82.45, Y:-170.86, Z:-3.99 [[-8.30360756e-01 -5.57175366e-01 7.52509994e-03 8.24503406e+01] [-5.57153748e-01 8.30394845e-01 4.90948712e-03 -1.70855718e+02] [-8.98424948e-03 -1.15992204e-04 -9.99959634e-01 -3.99134472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.166559995 meters 0.013535707768566878 Centerline is valid? [True, True] Translation: X:82.38, Y:-170.88, Z:-3.99 [[-7.90072022e-01 -6.12976228e-01 6.80756843e-03 8.23815772e+01] [-6.12954162e-01 7.90101348e-01 5.20146575e-03 -1.70877965e+02] [-8.56704385e-03 -6.31948420e-05 -9.99963300e-01 -3.99171295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.2265599950001 meters 0.0132976564296646 Centerline is valid? [True, True] Translation: X:82.31, Y:-170.91, Z:-3.99 [[-7.45176650e-01 -6.66841306e-01 5.86790072e-03 8.23074360e+01] [-6.66820857e-01 7.45199753e-01 5.22230005e-03 -1.70909327e+02] [-7.85520355e-03 -2.13025250e-05 -9.99969147e-01 -3.99156937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.286559995 meters 0.013220017598634188 Centerline is valid? [True, True] Translation: X:82.23, Y:-170.95, Z:-3.99 [[-6.96856698e-01 -7.17192882e-01 5.01130485e-03 8.22314613e+01] [-7.17174141e-01 6.96874716e-01 5.18471893e-03 -1.70952425e+02] [-7.21069515e-03 1.90278588e-05 -9.99974003e-01 -3.99262927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.346559995 meters 0.014127659102853012 Centerline is valid? [True, True] Translation: X:82.16, Y:-171.01, Z:-3.99 [[-6.46351170e-01 -7.63024897e-01 4.81363958e-03 8.21562050e+01] [-7.63002859e-01 6.46369090e-01 5.79975691e-03 -1.71006591e+02] [-7.53674676e-03 7.58589065e-05 -9.99971596e-01 -3.99267273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.406559995 meters 0.013888004460645548 Centerline is valid? [True, True] Translation: X:82.07, Y:-171.07, Z:-3.99 [[-5.87016421e-01 -8.09563087e-01 4.39657381e-03 8.20732611e+01] [-8.09539368e-01 5.87032880e-01 6.19756308e-03 -1.71065767e+02] [-7.59825169e-03 7.88717161e-05 -9.99971130e-01 -3.99318026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.4665599950001 meters 0.014085777551313712 Centerline is valid? [True, True] Translation: X:81.99, Y:-171.14, Z:-3.99 [[-5.22662561e-01 -8.52526981e-01 4.64688754e-03 8.19937731e+01] [-8.52491909e-01 5.22683211e-01 7.73338063e-03 -1.71135200e+02] [-9.02176575e-03 8.05144918e-05 -9.99959300e-01 -3.99206721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.526559995 meters 0.013622169570879025 Centerline is valid? [True, True] Translation: X:81.92, Y:-171.22, Z:-3.99 [[-4.54484999e-01 -8.90742376e-01 4.62656560e-03 8.19150918e+01] [-8.90694636e-01 4.54508542e-01 9.22233362e-03 -1.71215572e+02] [-1.03175369e-02 7.05551254e-05 -9.99946770e-01 -3.99242471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.586559995 meters 0.01342120428139251 Centerline is valid? [True, True] Translation: X:81.84, Y:-171.30, Z:-3.99 [[-3.81455793e-01 -9.24377954e-01 4.10796594e-03 8.18419631e+01] [-9.24323557e-01 3.81477911e-01 1.00282539e-02 -1.71299373e+02] [-1.08369951e-02 2.82458361e-05 -9.99941278e-01 -3.99186804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.646559995 meters 0.01332586941079486 Centerline is valid? [True, True] Translation: X:81.77, Y:-171.39, Z:-3.99 [[-3.06936218e-01 -9.51725316e-01 3.01360673e-03 8.17734667e+01] [-9.51679642e-01 3.06951012e-01 9.32390678e-03 -1.71390894e+02] [-9.79882775e-03 -6.14348790e-06 -9.99951990e-01 -3.99179088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.7065599950001 meters 0.01340224076958158 Centerline is valid? [True, True] Translation: X:81.71, Y:-171.49, Z:-3.99 [[-2.30996627e-01 -9.72952886e-01 1.79988418e-03 8.17143577e+01] [-9.72924189e-01 2.31003637e-01 7.47270560e-03 -1.71489310e+02] [-7.68637027e-03 -2.49810743e-05 -9.99970459e-01 -3.99321743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.766559995 meters 0.013600830244489569 Centerline is valid? [True, True] Translation: X:81.66, Y:-171.59, Z:-4.00 [[-1.53167204e-01 -9.88200010e-01 7.39846548e-04 8.16641921e+01] [-9.88189399e-01 1.53168988e-01 4.57967224e-03 -1.71592836e+02] [-4.63895370e-03 -2.96529249e-05 -9.99989240e-01 -3.99693290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.826559995 meters 0.013772249930685314 Centerline is valid? [True, True] Translation: X:81.62, Y:-171.70, Z:-4.00 [[-7.59280027e-02 -9.97113275e-01 2.37123056e-04 8.16216435e+01] [-9.97109304e-01 7.59283695e-02 2.81390840e-03 -1.71700811e+02] [-2.82378979e-03 -2.27831610e-05 -9.99996013e-01 -3.99853670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.886559995 meters 0.013665650590377363 Centerline is valid? [True, True] Translation: X:81.58, Y:-171.81, Z:-4.00 [[ 5.80507019e-04 -9.99999832e-01 8.93918924e-06 8.15845545e+01] [-9.99999340e-01 -5.80497874e-04 9.91172225e-04 -1.71811299e+02] [-9.91166870e-04 -9.51456580e-06 -9.99999509e-01 -3.99959169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1238.9465599950001 meters 0.013553841549429317 Centerline is valid? [True, True] Translation: X:81.56, Y:-171.92, Z:-4.00 [[ 7.49307366e-02 -9.97188739e-01 -6.31011712e-05 8.15597785e+01] [-9.97188300e-01 -7.49307629e-02 9.35734690e-04 -1.71923953e+02] [-9.37832315e-04 -7.19153998e-06 -9.99999560e-01 -3.99970035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.006559995 meters 0.013330795022598775 Centerline is valid? [True, True] Translation: X:80.97, Y:-172.07, Z:-5.04 [[ 3.19921124e-05 9.99999992e-01 -1.22604431e-04 8.09657693e+01] [-9.99996624e-01 3.23105532e-05 2.59818189e-03 -1.72067893e+02] [ 2.59818583e-03 1.22520896e-04 9.99996617e-01 -5.04297282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.066559995 meters 0.013485151679840771 Centerline is valid? [True, True] Translation: X:81.58, Y:-172.18, Z:-4.00 [[ 7.32921242e-02 -9.97310441e-01 -3.85355256e-04 8.15771524e+01] [-9.97298278e-01 -7.32931335e-02 4.92562073e-03 -1.72183504e+02] [-4.94061688e-03 2.33049261e-05 -9.99987795e-01 -3.99765673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.126559995 meters 0.013899819165199447 Centerline is valid? [True, True] Translation: X:81.56, Y:-172.30, Z:-4.00 [[ 1.45662855e-01 -9.89333903e-01 -8.72935144e-04 8.15619202e+01] [-9.89318061e-01 -1.45665463e-01 5.59876835e-03 -1.72297104e+02] [-5.66620785e-03 4.80779204e-05 -9.99983946e-01 -3.99677922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.1865599950002 meters 0.014412810811526724 Centerline is valid? [True, True] Translation: X:81.56, Y:-172.41, Z:-4.00 [[ 2.18240788e-01 -9.75893840e-01 -1.47335487e-03 8.15569698e+01] [-9.75873763e-01 -2.18245750e-01 6.26030329e-03 -1.72413499e+02] [-6.43094485e-03 7.15548376e-05 -9.99979319e-01 -3.99597247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.246559995 meters 0.014540791488479112 Centerline is valid? [True, True] Translation: X:81.56, Y:-172.53, Z:-4.00 [[ 2.91622349e-01 -9.56530717e-01 -2.32233997e-03 8.15586641e+01] [-9.56502791e-01 -2.91631582e-01 7.30966242e-03 -1.72529280e+02] [-7.66918431e-03 8.96637363e-05 -9.99970587e-01 -3.99538318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.306559995 meters 0.0142946730768957 Centerline is valid? [True, True] Translation: X:81.57, Y:-172.64, Z:-4.00 [[ 3.64634890e-01 -9.31145935e-01 -2.94011125e-03 8.15690285e+01] [-9.31117512e-01 -3.64646733e-01 7.27592263e-03 -1.72643270e+02] [-7.84704775e-03 8.45338319e-05 -9.99969208e-01 -3.99504597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.366559995 meters 0.013695911023847195 Centerline is valid? [True, True] Translation: X:81.59, Y:-172.76, Z:-4.00 [[ 4.37955099e-01 -8.98988762e-01 -3.81287741e-03 8.15858868e+01] [-8.98955861e-01 -4.37971692e-01 7.69135093e-03 -1.72759783e+02] [-8.58437042e-03 5.91421398e-05 -9.99963152e-01 -3.99514847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.426559995 meters 0.013401916759623005 Centerline is valid? [True, True] Translation: X:81.61, Y:-172.88, Z:-3.99 [[ 5.13992705e-01 -8.57777930e-01 -5.34054833e-03 8.16099526e+01] [-8.57730879e-01 -5.14020448e-01 8.98435680e-03 -1.72879313e+02] [-1.04517340e-02 -3.71406408e-05 -9.99945379e-01 -3.99387879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.486559995 meters 0.014120589544500123 Centerline is valid? [True, True] Translation: X:81.64, Y:-172.99, Z:-3.99 [[ 5.83591646e-01 -8.12020213e-01 -6.63060258e-03 8.16405572e+01] [-8.11965323e-01 -5.83629298e-01 9.44232340e-03 -1.72987805e+02] [-1.15371714e-02 -1.26641688e-04 -9.99933437e-01 -3.99313033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.546559995 meters 0.01495199344515046 Centerline is valid? [True, True] Translation: X:81.68, Y:-173.09, Z:-3.99 [[ 6.47820231e-01 -7.61755811e-01 -7.55196128e-03 8.16772704e+01] [-7.61700422e-01 -6.47864217e-01 9.18820136e-03 -1.73087052e+02] [-1.18918113e-02 -1.99970637e-04 -9.99929270e-01 -3.99343168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.606559995 meters 0.015899455234095396 Centerline is valid? [True, True] Translation: X:81.72, Y:-173.18, Z:-3.99 [[ 7.06294133e-01 -7.07876171e-01 -7.74109768e-03 8.17241363e+01] [-7.07830010e-01 -7.06336515e-01 8.08727341e-03 -1.73183902e+02] [-1.11926081e-02 -2.32612508e-04 -9.99937334e-01 -3.99360858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.666559995 meters 0.01604434590259411 Centerline is valid? [True, True] Translation: X:81.77, Y:-173.27, Z:-3.99 [[ 7.57645134e-01 -6.52619194e-01 -7.87643659e-03 8.17742784e+01] [-6.52580885e-01 -7.57686042e-01 7.07457490e-03 -1.73267685e+02] [-1.05848694e-02 -2.20005283e-04 -9.99943955e-01 -3.99375902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.7265599950001 meters 0.01567527557366714 Centerline is valid? [True, True] Translation: X:81.80, Y:-173.29, Z:-3.99 [[ 8.05835085e-01 -5.92080943e-01 -8.36495142e-03 8.18026246e+01] [-5.92046322e-01 -8.05878473e-01 6.40624114e-03 -1.73294483e+02] [-1.05341476e-02 -2.09935147e-04 -9.99944492e-01 -3.99395902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.786559995 meters 0.015834082666665614 Centerline is valid? [True, True] Translation: X:81.83, Y:-173.32, Z:-3.99 [[ 8.49152706e-01 -5.28064395e-01 -9.36357021e-03 8.18335837e+01] [-5.28029521e-01 -8.49204304e-01 6.07249639e-03 -1.73316443e+02] [-1.11582533e-02 -2.12235253e-04 -9.99937722e-01 -3.99307384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.846559995 meters 0.015695582729762302 Centerline is valid? [True, True] Translation: X:81.87, Y:-173.34, Z:-3.99 [[ 8.87692494e-01 -4.60348948e-01 -8.99339650e-03 8.18667860e+01] [-4.60323130e-01 -8.87738030e-01 4.87927264e-03 -1.73335438e+02] [-1.02299481e-02 -1.91425273e-04 -9.99947654e-01 -3.99387641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.906559995 meters 0.015210685405681119 Centerline is valid? [True, True] Translation: X:81.90, Y:-173.35, Z:-3.99 [[ 9.20522038e-01 -3.90606631e-01 -8.10175192e-03 8.19025295e+01] [-3.90590002e-01 -9.20557676e-01 3.60763711e-03 -1.73348648e+02] [-8.86729690e-03 -1.56446169e-04 -9.99960673e-01 -3.99486245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1239.9665599950001 meters 0.014188429587200298 Centerline is valid? [True, True] Translation: X:81.94, Y:-173.36, Z:-4.00 [[ 9.47542275e-01 -3.19527056e-01 -8.13005428e-03 8.19375671e+01] [-3.19514082e-01 -9.47577144e-01 2.88248477e-03 -1.73362530e+02] [-8.62488548e-03 -1.33609351e-04 -9.99962796e-01 -3.99542980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.026559995 meters 0.01396423828055605 Centerline is valid? [True, True] Translation: X:81.97, Y:-173.37, Z:-3.99 [[ 9.68748944e-01 -2.47901948e-01 -8.37300770e-03 8.19718282e+01] [-2.47891765e-01 -9.68785122e-01 2.24930131e-03 -1.73373488e+02] [-8.66925147e-03 -1.03408606e-04 -9.99962416e-01 -3.99444218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.086559995 meters 0.012705593866723878 Centerline is valid? [True, True] Translation: X:82.01, Y:-173.38, Z:-3.99 [[ 9.83728350e-01 -1.79446677e-01 -8.79907692e-03 8.20083590e+01] [-1.79439194e-01 -9.83767701e-01 1.63911921e-03 -1.73375602e+02] [-8.95038216e-03 -3.35487677e-05 -9.99959944e-01 -3.99469446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.146559995 meters 0.012840459585900032 Centerline is valid? [True, True] Translation: X:82.04, Y:-173.38, Z:-3.99 [[ 9.94083446e-01 -1.08202729e-01 -9.50110638e-03 8.20397598e+01] [-1.08198028e-01 -9.94128849e-01 1.00899111e-03 -1.73380208e+02] [-9.55449955e-03 2.49796159e-05 -9.99954354e-01 -3.99447894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.2065599950001 meters 0.013294147138526042 Centerline is valid? [True, True] Translation: X:82.07, Y:-173.39, Z:-3.99 [[ 9.99342400e-01 -3.50084524e-02 -9.44326347e-03 8.20708611e+01] [-3.50075654e-02 -9.99387014e-01 2.59262414e-04 -1.73388193e+02] [-9.44655125e-03 7.14937410e-05 -9.99955378e-01 -3.99491025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.266559995 meters 0.013471102848900126 Centerline is valid? [True, True] Translation: X:82.10, Y:-173.40, Z:-3.99 [[ 9.99002889e-01 4.31754169e-02 -1.13627493e-02 8.21011256e+01] [ 4.31716171e-02 -9.99067503e-01 -5.79585524e-04 -1.73395982e+02] [-1.13771774e-02 8.84593505e-05 -9.99935274e-01 -3.99286678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.326559995 meters 0.013468478544392258 Centerline is valid? [True, True] Translation: X:82.13, Y:-173.40, Z:-3.99 [[ 9.92445905e-01 1.21988034e-01 -1.30401422e-02 8.21331925e+01] [ 1.21976276e-01 -9.92531567e-01 -1.69622846e-03 -1.73401749e+02] [-1.31496723e-02 9.28269999e-05 -9.99913535e-01 -3.99221474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.386559995 meters 0.013200386000282671 Centerline is valid? [True, True] Translation: X:82.17, Y:-173.41, Z:-3.99 [[ 9.79445878e-01 2.01300259e-01 -1.28053989e-02 8.21660062e+01] [ 2.01282174e-01 -9.79529582e-01 -2.69906947e-03 -1.73405329e+02] [-1.30865904e-02 6.60939383e-05 -9.99914365e-01 -3.99269438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.4465599950001 meters 0.013141532469376162 Centerline is valid? [True, True] Translation: X:82.20, Y:-173.41, Z:-3.99 [[ 9.60236845e-01 2.78884423e-01 -1.29876846e-02 8.21991152e+01] [ 2.78858250e-01 -9.60324672e-01 -3.82101828e-03 -1.73408778e+02] [-1.35380164e-02 4.73595427e-05 -9.99908356e-01 -3.99276938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.506559995 meters 0.012867685958020295 Centerline is valid? [True, True] Translation: X:82.23, Y:-173.41, Z:-3.99 [[ 9.34861316e-01 3.54822227e-01 -1.16407382e-02 8.22332702e+01] [ 3.54794433e-01 -9.34933788e-01 -4.44111479e-03 -1.73409969e+02] [-1.24591257e-02 2.17573015e-05 -9.99922382e-01 -3.99407290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.566559995 meters 0.01279709559808514 Centerline is valid? [True, True] Translation: X:82.27, Y:-173.41, Z:-4.00 [[ 9.01752055e-01 4.32154621e-01 -9.25288071e-03 8.22683315e+01] [ 4.32132353e-01 -9.01799524e-01 -4.38716118e-03 -1.73410424e+02] [-1.02401754e-02 -4.23375010e-05 -9.99947567e-01 -3.99678799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.626559995 meters 0.013345919348839325 Centerline is valid? [True, True] Translation: X:82.30, Y:-173.41, Z:-4.00 [[ 8.62125443e-01 5.06638653e-01 -7.54961455e-03 8.23021160e+01] [ 5.06620130e-01 -8.62158493e-01 -4.33323174e-03 -1.73407897e+02] [-8.70434699e-03 -8.89973669e-05 -9.99962113e-01 -3.99783327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.6865599950002 meters 0.014442050369934534 Centerline is valid? [True, True] Translation: X:82.34, Y:-173.40, Z:-4.00 [[ 8.16589810e-01 5.77181447e-01 -6.53138446e-03 8.23355604e+01] [ 5.77164208e-01 -8.16615920e-01 -4.46265807e-03 -1.73400198e+02] [-7.90939597e-03 -1.25520234e-04 -9.99968712e-01 -3.99774033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.746559995 meters 0.01594435439880394 Centerline is valid? [True, True] Translation: X:82.37, Y:-173.39, Z:-4.00 [[ 7.65397828e-01 6.43525421e-01 -6.41852134e-03 8.23677824e+01] [ 6.43504701e-01 -7.65424720e-01 -5.16707816e-03 -1.73387545e+02] [-8.23804105e-03 -1.75478256e-04 -9.99966051e-01 -3.99663276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.806559995 meters 0.01590940145049993 Centerline is valid? [True, True] Translation: X:82.40, Y:-173.37, Z:-4.00 [[ 7.12122905e-01 7.02029528e-01 -5.95896940e-03 8.23960180e+01] [ 7.02007052e-01 -7.12147814e-01 -5.62051384e-03 -1.73369696e+02] [-8.18943371e-03 -1.80741898e-04 -9.99966450e-01 -3.99694417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.866559995 meters 0.015740033363251405 Centerline is valid? [True, True] Translation: X:82.42, Y:-173.35, Z:-4.00 [[ 6.55492928e-01 7.55183184e-01 -5.23264282e-03 8.24227599e+01] [ 7.55161132e-01 -6.55513792e-01 -5.77361746e-03 -1.73349047e+02] [-7.79020835e-03 -1.66923065e-04 -9.99969642e-01 -3.99674353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.926559995 meters 0.015656035565026722 Centerline is valid? [True, True] Translation: X:82.45, Y:-173.33, Z:-4.00 [[ 5.94876954e-01 8.03801086e-01 -5.02228399e-03 8.24469684e+01] [ 8.03774831e-01 -5.94898130e-01 -6.49893212e-03 -1.73326248e+02] [-8.21159605e-03 -1.70720521e-04 -9.99966270e-01 -3.99600831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1240.986559995 meters 0.01575361908629953 Centerline is valid? [True, True] Translation: X:82.47, Y:-173.30, Z:-3.99 [[ 5.30051509e-01 8.47952598e-01 -4.66789619e-03 8.24697623e+01] [ 8.47922625e-01 -5.30072033e-01 -7.13172262e-03 -1.73302234e+02] [-8.52168395e-03 -1.77834450e-04 -9.99963674e-01 -3.99494552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.046559995 meters 0.016138906186514018 Centerline is valid? [True, True] Translation: X:82.49, Y:-173.28, Z:-3.99 [[ 4.61565778e-01 8.87094086e-01 -4.59513369e-03 8.24899388e+01] [ 8.87054442e-01 -4.61588606e-01 -8.38906393e-03 -1.73276285e+02] [-9.56295035e-03 -2.04028930e-04 -9.99954253e-01 -3.99238963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.106559995 meters 0.015455184280833655 Centerline is valid? [True, True] Translation: X:82.51, Y:-173.25, Z:-3.99 [[ 3.91157502e-01 9.20311843e-01 -4.68197776e-03 8.25082304e+01] [ 9.20253013e-01 -3.91185449e-01 -1.04085211e-02 -1.73248973e+02] [-1.14106068e-02 -2.37233037e-04 -9.99934869e-01 -3.99080778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.166559995 meters 0.015472667940718028 Centerline is valid? [True, True] Translation: X:82.52, Y:-173.22, Z:-3.99 [[ 3.18215298e-01 9.48009584e-01 -4.10535418e-03 8.25248173e+01] [ 9.47940468e-01 -3.18241682e-01 -1.14499278e-02 -1.73221434e+02] [-1.21611361e-02 -2.48089178e-04 -9.99926020e-01 -3.98973128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.2265599950001 meters 0.015282288403690449 Centerline is valid? [True, True] Translation: X:82.54, Y:-173.19, Z:-3.99 [[ 2.45214226e-01 9.69460361e-01 -4.07343396e-03 8.25375841e+01] [ 9.69344963e-01 -2.45247897e-01 -1.49603293e-02 -1.73191802e+02] [-1.55024473e-02 -2.80077124e-04 -9.99879791e-01 -3.98645544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.286559995 meters 0.015072256772810757 Centerline is valid? [True, True] Translation: X:82.55, Y:-173.16, Z:-3.99 [[ 1.70429709e-01 9.85365107e-01 -3.05278247e-03 8.25482154e+01] [ 9.85233652e-01 -1.70456843e-01 -1.60970705e-02 -1.73162104e+02] [-1.63818593e-02 -2.64284977e-04 -9.99865773e-01 -3.98537957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.346559995 meters 0.013667796630318658 Centerline is valid? [True, True] Translation: X:82.56, Y:-173.13, Z:-3.99 [[ 9.78764121e-02 9.95196819e-01 -1.87077856e-03 8.25550088e+01] [ 9.95049987e-01 -9.78941082e-02 -1.70958282e-02 -1.73131682e+02] [-1.71968520e-02 -1.88239851e-04 -9.99852106e-01 -3.98663052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.406559995 meters 0.013467998599325232 Centerline is valid? [True, True] Translation: X:82.56, Y:-173.10, Z:-3.99 [[ 2.54980214e-02 9.99674731e-01 -5.32532626e-04 8.25573529e+01] [ 9.99523461e-01 -2.55034270e-02 -1.73903934e-02 -1.73102118e+02] [-1.73983183e-02 -8.88582300e-05 -9.99848634e-01 -3.98521226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.4665599950001 meters 0.01323594806768932 Centerline is valid? [True, True] Translation: X:82.55, Y:-173.07, Z:-3.99 [[-4.58219555e-02 9.98949268e-01 8.41310732e-04 8.25547514e+01] [ 9.98794680e-01 4.58296649e-02 -1.75735579e-02 -1.73071561e+02] [-1.75936498e-02 3.50418957e-05 -9.99845219e-01 -3.98726096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.526559995 meters 0.013750724832754545 Centerline is valid? [True, True] Translation: X:82.56, Y:-173.04, Z:-3.99 [[-1.14662146e-01 9.93402407e-01 2.06148227e-03 8.25570969e+01] [ 9.93269680e-01 1.14680525e-01 -1.62394638e-02 -1.73040530e+02] [-1.63687343e-02 1.85556066e-04 -9.99866006e-01 -3.99052154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.586559995 meters 0.01678396712572637 Centerline is valid? [True, True] Translation: X:82.56, Y:-173.01, Z:-3.99 [[-1.87637940e-01 9.82233124e-01 3.17695989e-03 8.25597756e+01] [ 9.82113947e-01 1.87664668e-01 -1.53025588e-02 -1.73009182e+02] [-1.56268832e-02 2.48796019e-04 -9.99877862e-01 -3.99010742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.646559995 meters 0.014498313864541578 Centerline is valid? [True, True] Translation: X:82.56, Y:-172.98, Z:-3.99 [[-2.63410631e-01 9.64676853e-01 3.66170593e-03 8.25616826e+01] [ 9.64594742e-01 2.63435992e-01 -1.25881824e-02 -1.72977959e+02] [-1.31081533e-02 2.16201204e-04 -9.99914061e-01 -3.99341149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.7065599950001 meters 0.013851707954300614 Centerline is valid? [True, True] Translation: X:82.56, Y:-172.95, Z:-3.99 [[-3.42331064e-01 9.39569656e-01 4.27845528e-03 8.25623394e+01] [ 9.39501517e-01 3.42357768e-01 -1.13162785e-02 -1.72947206e+02] [-1.20971943e-02 1.45701571e-04 -9.99926816e-01 -3.99465126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.766559995 meters 0.012874938812756299 Centerline is valid? [True, True] Translation: X:82.56, Y:-172.91, Z:-3.99 [[-4.19847068e-01 9.07580652e-01 5.07930318e-03 8.25632351e+01] [ 9.07516487e-01 4.19877784e-01 -1.07922139e-02 -1.72913392e+02] [-1.19274911e-02 7.84720277e-05 -9.99928862e-01 -3.99458081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.826559995 meters 0.012540020179237747 Centerline is valid? [True, True] Translation: X:82.56, Y:-172.88, Z:-3.99 [[-4.94930906e-01 8.68912001e-01 5.94407028e-03 8.25592874e+01] [ 8.68849487e-01 4.94966599e-01 -1.04228219e-02 -1.72881000e+02] [-1.19986313e-02 5.92573399e-06 -9.99928014e-01 -3.99437040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.886559995 meters 0.012833957528015754 Centerline is valid? [True, True] Translation: X:82.55, Y:-172.85, Z:-3.99 [[-5.67158483e-01 8.23587123e-01 5.95877137e-03 8.25530512e+01] [ 8.23540406e-01 5.67189780e-01 -8.77232452e-03 -1.72849464e+02] [-1.06045277e-02 -6.80092758e-05 -9.99943768e-01 -3.99381705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1241.9465599950001 meters 0.012889505216030626 Centerline is valid? [True, True] Translation: X:82.54, Y:-172.82, Z:-4.00 [[-6.31739641e-01 7.75156089e-01 6.16956712e-03 8.25398487e+01] [ 7.75117776e-01 6.31769760e-01 -7.70740109e-03 -1.72819791e+02] [-9.87218482e-03 -8.69296488e-05 -9.99951265e-01 -3.99558192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.006559995 meters 0.013168941083971987 Centerline is valid? [True, True] Translation: X:82.53, Y:-172.79, Z:-4.00 [[-6.91773082e-01 7.22091128e-01 5.86574897e-03 8.25251581e+01] [ 7.22064051e-01 6.91797944e-01 -6.25390498e-03 -1.72791015e+02] [-8.57380238e-03 -9.08366585e-05 -9.99963240e-01 -3.99527140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.066559995 meters 0.013088453280802938 Centerline is valid? [True, True] Translation: X:82.51, Y:-172.76, Z:-3.99 [[-7.46331476e-01 6.65543596e-01 6.40709311e-03 8.25069635e+01] [ 6.65517996e-01 7.46358971e-01 -5.83813433e-03 -1.72763173e+02] [-8.66752434e-03 -9.31476453e-05 -9.99962432e-01 -3.99437272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.126559995 meters 0.01350187008732373 Centerline is valid? [True, True] Translation: X:82.52, Y:-172.74, Z:-3.99 [[-7.91763623e-01 6.10787815e-01 6.97212830e-03 8.25238934e+01] [ 6.10763039e-01 7.91794314e-01 -5.50223784e-03 -1.72741437e+02] [-8.88119137e-03 -9.81535006e-05 -9.99960557e-01 -3.99303634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.1865599950002 meters 0.01326700245203632 Centerline is valid? [True, True] Translation: X:82.54, Y:-172.72, Z:-3.99 [[-8.32673478e-01 5.53711081e-01 7.67584980e-03 8.25377638e+01] [ 5.53686477e-01 8.32708850e-01 -5.22072643e-03 -1.72719716e+02] [-9.28252214e-03 -9.71461988e-05 -9.99956912e-01 -3.99237190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.246559995 meters 0.013029568026949927 Centerline is valid? [True, True] Translation: X:82.55, Y:-172.70, Z:-3.99 [[-8.69187237e-01 4.94405277e-01 8.77319108e-03 8.25476076e+01] [ 4.94378998e-01 8.69231507e-01 -5.09834021e-03 -1.72696508e+02] [-1.01465804e-02 -9.41308180e-05 -9.99948518e-01 -3.99178267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.306559995 meters 0.012707653009223102 Centerline is valid? [True, True] Translation: X:82.86, Y:-172.17, Z:-5.05 [[-8.25521038e-01 -5.64290091e-01 9.57650765e-03 8.28614928e+01] [ 5.64254679e-01 -8.25576562e-01 -6.32435744e-03 -1.72167202e+02] [ 1.14749125e-02 1.82699140e-04 9.99934144e-01 -5.05146120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.366559995 meters 0.012739934035562173 Centerline is valid? [True, True] Translation: X:82.51, Y:-172.69, Z:-3.99 [[-8.65870007e-01 5.00119593e-01 1.22280361e-02 8.25108264e+01] [ 5.00069949e-01 8.65956346e-01 -7.04652161e-03 -1.72689688e+02] [-1.41130490e-02 1.35016748e-05 -9.99900406e-01 -3.98861794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.426559995 meters 0.01327209595751946 Centerline is valid? [True, True] Translation: X:82.52, Y:-172.67, Z:-3.99 [[-8.96189100e-01 4.43484991e-01 1.28903126e-02 8.25230006e+01] [ 4.43440855e-01 8.96281792e-01 -6.25758479e-03 -1.72672686e+02] [-1.43284974e-02 1.08111968e-04 -9.99897336e-01 -3.98874043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.486559995 meters 0.014313547223300173 Centerline is valid? [True, True] Translation: X:82.53, Y:-172.65, Z:-3.99 [[-9.22626060e-01 3.85509575e-01 1.19800392e-02 8.25345867e+01] [ 3.85479734e-01 9.22703816e-01 -4.80026774e-03 -1.72654760e+02] [-1.29045771e-02 1.89210231e-04 -9.99916715e-01 -3.99030019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.546559995 meters 0.015437777404169154 Centerline is valid? [True, True] Translation: X:82.79, Y:-172.04, Z:-5.05 [[-9.10472580e-01 -4.13472878e-01 8.93644060e-03 8.27909148e+01] [ 4.13449634e-01 -9.10516384e-01 -4.39482514e-03 -1.72042192e+02] [ 9.95391658e-03 -3.06599687e-04 9.99950412e-01 -5.04906903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.606559995 meters 0.0156553945994644 Centerline is valid? [True, True] Translation: X:82.50, Y:-172.65, Z:-3.99 [[-9.20726558e-01 3.90100331e-01 9.18358442e-03 8.24957072e+01] [ 3.90083407e-01 9.20772328e-01 -3.64091155e-03 -1.72646500e+02] [-9.87631120e-03 2.30079944e-04 -9.99951202e-01 -3.99402746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.666559995 meters 0.015627447321828945 Centerline is valid? [True, True] Translation: X:82.51, Y:-172.62, Z:-3.99 [[-9.46323221e-01 3.23056917e-01 1.03242746e-02 8.25101350e+01] [ 3.23040416e-01 9.46379508e-01 -3.27368553e-03 -1.72621096e+02] [-1.08282687e-02 2.37193342e-04 -9.99941345e-01 -3.99335224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.7265599950001 meters 0.014317732380326352 Centerline is valid? [True, True] Translation: X:82.51, Y:-172.59, Z:-3.99 [[-9.68482615e-01 2.48805304e-01 1.17194712e-02 8.25113372e+01] [ 2.48789394e-01 9.68553502e-01 -2.81968376e-03 -1.72585595e+02] [-1.20524872e-02 1.84865453e-04 -9.99927349e-01 -3.99160835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.786559995 meters 0.013257824406846428 Centerline is valid? [True, True] Translation: X:82.51, Y:-172.55, Z:-3.99 [[-9.84934474e-01 1.72532765e-01 1.16844877e-02 8.25069053e+01] [ 1.72521803e-01 9.85003774e-01 -1.94735531e-03 -1.72548542e+02] [-1.18452471e-02 9.78115023e-05 -9.99929838e-01 -3.99151693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.846559995 meters 0.012526403337290621 Centerline is valid? [True, True] Translation: X:82.61, Y:-171.93, Z:-5.05 [[-9.73191171e-01 -2.29752895e-01 1.06090949e-02 8.26126735e+01] [ 2.29737506e-01 -9.73248983e-01 -2.66366159e-03 -1.71928264e+02] [ 1.09372748e-02 -1.54944942e-04 9.99940174e-01 -5.05053817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.906559995 meters 0.013100028993308756 Centerline is valid? [True, True] Translation: X:82.46, Y:-172.52, Z:-3.99 [[-9.88587582e-01 1.50334878e-01 9.69622847e-03 8.24579175e+01] [ 1.50326631e-01 9.88635127e-01 -1.57795059e-03 -1.72521339e+02] [-9.82325307e-03 -1.02341000e-04 -9.99951746e-01 -3.99303846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1242.9665599950001 meters 0.01413820704124385 Centerline is valid? [True, True] Translation: X:82.45, Y:-172.49, Z:-3.99 [[-9.97128635e-01 7.52462032e-02 8.51439012e-03 8.24526222e+01] [ 7.52423589e-02 9.97164978e-01 -7.71381061e-04 -1.72487614e+02] [-8.54829513e-03 -1.28523347e-04 -9.99963454e-01 -3.99331659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.026559995 meters 0.014983274386820289 Centerline is valid? [True, True] Translation: X:82.45, Y:-172.46, Z:-3.99 [[-9.99973896e-01 1.69234497e-03 7.02445596e-03 8.24477489e+01] [ 1.69143094e-03 9.99998560e-01 -1.36060193e-04 -1.72456686e+02] [-7.02467611e-03 -1.24175260e-04 -9.99975319e-01 -3.99391022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.086559995 meters 0.015433903934194604 Centerline is valid? [True, True] Translation: X:82.44, Y:-172.43, Z:-3.99 [[-9.97472609e-01 -7.07729758e-02 6.29123990e-03 8.24389696e+01] [-7.07723286e-02 9.97492442e-01 3.25721166e-04 -1.72427761e+02] [-6.29851650e-03 -1.20347756e-04 -9.99980157e-01 -3.99400357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.146559995 meters 0.014486976936158727 Centerline is valid? [True, True] Translation: X:82.41, Y:-171.85, Z:-5.05 [[-9.99383173e-01 -3.46674581e-02 5.60718020e-03 8.24092165e+01] [ 3.46672602e-02 -9.99398901e-01 -1.32517108e-04 -1.71851994e+02] [ 5.60840376e-03 6.19502071e-05 9.99984271e-01 -5.04782999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.2065599950001 meters 0.014615384537222463 Centerline is valid? [True, True] Translation: X:82.38, Y:-172.43, Z:-3.99 [[-9.97168326e-01 -7.50481776e-02 4.80633929e-03 8.23820766e+01] [-7.50477522e-02 9.97179905e-01 2.69052442e-04 -1.72432169e+02] [-4.81297685e-03 -9.24143868e-05 -9.99988413e-01 -3.99489875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.266559995 meters 0.014603599465446458 Centerline is valid? [True, True] Translation: X:82.34, Y:-171.85, Z:-5.05 [[-9.99564489e-01 -2.91103315e-02 4.83949724e-03 8.23446277e+01] [ 2.91104482e-02 -9.99576200e-01 -4.63381068e-05 -1.71854558e+02] [ 4.83879518e-03 9.45620079e-05 9.99988289e-01 -5.04747450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.326559995 meters 0.013970917980573256 Centerline is valid? [True, True] Translation: X:82.32, Y:-172.44, Z:-4.00 [[-9.97040640e-01 -7.67740096e-02 3.96397566e-03 8.23196225e+01] [-7.67736653e-02 9.97048518e-01 2.39184116e-04 -1.72440386e+02] [-3.97063918e-03 -6.58526558e-05 -9.99992115e-01 -3.99514310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.386559995 meters 0.01361175761963431 Centerline is valid? [True, True] Translation: X:82.29, Y:-171.85, Z:-5.05 [[-9.99778036e-01 -2.07926885e-02 3.39742088e-03 8.22875758e+01] [ 2.07926373e-02 -9.99783809e-01 -5.03808809e-05 -1.71851961e+02] [ 3.39773394e-03 2.02716421e-05 9.99994228e-01 -5.04696675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.4465599950001 meters 0.012883904110831365 Centerline is valid? [True, True] Translation: X:82.26, Y:-172.45, Z:-4.00 [[-9.97151318e-01 -7.53673695e-02 3.00134265e-03 8.22618266e+01] [-7.53671253e-02 9.97155835e-01 1.94529611e-04 -1.72454393e+02] [-3.00746752e-03 -3.22271092e-05 -9.99995477e-01 -3.99501597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.506559995 meters 0.012658939162826177 Centerline is valid? [True, True] Translation: X:82.25, Y:-172.43, Z:-3.99 [[-9.89564365e-01 -1.44039922e-01 3.85607736e-03 8.22476500e+01] [-1.44038959e-01 9.89571877e-01 5.27782333e-04 -1.72432804e+02] [-3.89188743e-03 -3.31507809e-05 -9.99992426e-01 -3.99455640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.566559995 meters 0.012580346247882249 Centerline is valid? [True, True] Translation: X:82.24, Y:-172.41, Z:-3.99 [[-9.77099007e-01 -2.12719994e-01 5.26644462e-03 8.22402836e+01] [-2.12717109e-01 9.77113199e-01 1.10841758e-03 -1.72410183e+02] [-5.38169513e-03 -3.72291631e-05 -9.99985518e-01 -3.99304643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.626559995 meters 0.012620132428527326 Centerline is valid? [True, True] Translation: X:82.22, Y:-172.39, Z:-3.99 [[-9.59588657e-01 -2.81301274e-01 7.69434892e-03 8.22216001e+01] [-2.81292645e-01 9.59619503e-01 2.20397715e-03 -1.72392829e+02] [-8.00362887e-03 -4.94522830e-05 -9.99967969e-01 -3.99159193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.6865599950002 meters 0.01274217816808907 Centerline is valid? [True, True] Translation: X:82.19, Y:-172.38, Z:-3.99 [[-9.36765123e-01 -3.49848187e-01 8.79491997e-03 8.21922513e+01] [-3.49833370e-01 9.36806406e-01 3.22032951e-03 -1.72376807e+02] [-9.36576381e-03 -6.00641232e-05 -9.99956139e-01 -3.99147515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.746559995 meters 0.012819966444979613 Centerline is valid? [True, True] Translation: X:82.15, Y:-172.37, Z:-3.99 [[-9.08832556e-01 -4.17065490e-01 8.93100079e-03 8.21478385e+01] [-4.17046074e-01 9.08876434e-01 4.02485486e-03 -1.72367282e+02] [-9.79580422e-03 -6.67196922e-05 -9.99952018e-01 -3.99185183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.806559995 meters 0.012799993273559128 Centerline is valid? [True, True] Translation: X:82.09, Y:-172.37, Z:-3.99 [[-8.75632188e-01 -4.82933568e-01 6.59089656e-03 8.20908247e+01] [-4.82920334e-01 8.75656991e-01 3.57558593e-03 -1.72367582e+02] [-7.49813512e-03 -5.19798410e-05 -9.99971887e-01 -3.99422867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.866559995 meters 0.012882101688925758 Centerline is valid? [True, True] Translation: X:82.02, Y:-172.38, Z:-4.00 [[-8.37468108e-01 -5.46465146e-01 4.79725722e-03 8.20238252e+01] [-5.46456466e-01 8.37481846e-01 3.08028916e-03 -1.72377933e+02] [-5.70088650e-03 -4.18482922e-05 -9.99983749e-01 -3.99618514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.926559995 meters 0.01306007262220936 Centerline is valid? [True, True] Translation: X:81.95, Y:-172.40, Z:-4.00 [[-7.94066488e-01 -6.07817333e-01 4.06232965e-03 8.19528300e+01] [-6.07809646e-01 7.94076878e-01 3.05713956e-03 -1.72396234e+02] [-5.08398446e-03 -4.15510672e-05 -9.99987076e-01 -3.99687842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1243.986559995 meters 0.013403044493923563 Centerline is valid? [True, True] Translation: X:81.87, Y:-172.43, Z:-4.00 [[-7.44863623e-01 -6.67201970e-01 4.44008815e-03 8.18732371e+01] [-6.67190618e-01 7.44876854e-01 3.89256095e-03 -1.72427782e+02] [-5.90444323e-03 -6.29581015e-05 -9.99982567e-01 -3.99629408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.046559995 meters 0.013941175274986646 Centerline is valid? [True, True] Translation: X:81.79, Y:-172.47, Z:-4.00 [[-6.90870384e-01 -7.22965172e-01 4.41276008e-03 8.17929153e+01] [-7.22951193e-01 6.90884471e-01 4.49674372e-03 -1.72465260e+02] [-6.29969652e-03 -8.35431025e-05 -9.99980153e-01 -3.99618547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.106559995 meters 0.014258023601768385 Centerline is valid? [True, True] Translation: X:81.71, Y:-172.51, Z:-4.00 [[-6.32844427e-01 -7.74264925e-01 4.66447332e-03 8.17089423e+01] [-7.74245184e-01 6.32861607e-01 5.53013624e-03 -1.72514544e+02] [-7.23375661e-03 -1.11730105e-04 -9.99973830e-01 -3.99538382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.166559995 meters 0.014248362216488493 Centerline is valid? [True, True] Translation: X:81.63, Y:-172.57, Z:-3.99 [[-5.72165122e-01 -8.20120858e-01 5.37129018e-03 8.16255866e+01] [-8.20087096e-01 5.72190315e-01 7.44307237e-03 -1.72571698e+02] [-9.17761912e-03 -1.46259345e-04 -9.99957874e-01 -3.99354520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.2265599950001 meters 0.014346456157352094 Centerline is valid? [True, True] Translation: X:81.55, Y:-172.63, Z:-3.99 [[-5.09723673e-01 -8.60324273e-01 4.89114680e-03 8.15492685e+01] [-8.60287174e-01 5.09747121e-01 7.99065482e-03 -1.72633024e+02] [-9.36780230e-03 -1.34764933e-04 -9.99956112e-01 -3.99201692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.286559995 meters 0.01357546029820911 Centerline is valid? [True, True] Translation: X:81.48, Y:-172.71, Z:-3.99 [[-4.44843493e-01 -8.95600078e-01 3.84291404e-03 8.14791694e+01] [-8.95568643e-01 4.44860080e-01 7.50438288e-03 -1.72707383e+02] [-8.43048493e-03 -1.03317416e-04 -9.99964458e-01 -3.99384158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.346559995 meters 0.013212943358854867 Centerline is valid? [True, True] Translation: X:81.41, Y:-172.79, Z:-4.00 [[-3.79221717e-01 -9.25303450e-01 2.10130463e-03 8.14125319e+01] [-9.25289889e-01 3.79227536e-01 5.00977319e-03 -1.72793664e+02] [-5.43243299e-03 -4.45011340e-05 -9.99985243e-01 -3.99634861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.406559995 meters 0.012725855465491194 Centerline is valid? [True, True] Translation: X:81.35, Y:-172.88, Z:-4.00 [[-3.10462558e-01 -9.50584758e-01 1.27182558e-03 8.13523164e+01] [-9.50577057e-01 3.10465162e-01 3.82657037e-03 -1.72883296e+02] [-4.03233701e-03 -2.09613881e-05 -9.99991870e-01 -3.99713921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.4665599950001 meters 0.012641480104610837 Centerline is valid? [True, True] Translation: X:81.30, Y:-172.98, Z:-4.00 [[-2.39267711e-01 -9.70953211e-01 9.08183255e-04 8.12952533e+01] [-9.70946385e-01 2.39269434e-01 3.64068176e-03 -1.72983251e+02] [-3.75223214e-03 -1.06996575e-05 -9.99992960e-01 -3.99612113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.526559995 meters 0.012685033457379723 Centerline is valid? [True, True] Translation: X:81.25, Y:-173.08, Z:-3.99 [[-1.64624145e-01 -9.86356043e-01 8.04708722e-04 8.12461271e+01] [-9.86344607e-01 1.64626111e-01 4.74965477e-03 -1.73083383e+02] [-4.81732676e-03 -1.18122539e-05 -9.99988397e-01 -3.99461243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.586559995 meters 0.012812105665367628 Centerline is valid? [True, True] Translation: X:81.20, Y:-173.19, Z:-3.99 [[-8.68814076e-02 -9.96218436e-01 6.69256456e-04 8.12022746e+01] [-9.96191522e-01 8.68839799e-02 7.32300637e-03 -1.73192317e+02] [-7.35346162e-03 -3.04745057e-05 -9.99972963e-01 -3.99224203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.646559995 meters 0.013281666395445877 Centerline is valid? [True, True] Translation: X:81.17, Y:-173.31, Z:-3.99 [[-7.57823564e-03 -9.99971274e-01 1.45153047e-04 8.11650271e+01] [-9.99921279e-01 7.57930825e-03 9.99945360e-03 -1.73311112e+02] [-1.00002665e-02 -6.93634046e-05 -9.99949994e-01 -3.98876607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.7065599950001 meters 0.013376085940430257 Centerline is valid? [True, True] Translation: X:81.14, Y:-173.42, Z:-3.99 [[ 7.16142640e-02 -9.97432132e-01 -7.35054441e-04 8.11372693e+01] [-9.97362117e-01 -7.16179467e-02 1.18185234e-02 -1.73423310e+02] [-1.18408181e-02 -1.13259405e-04 -9.99929889e-01 -3.98752239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.766559995 meters 0.013627753573773193 Centerline is valid? [True, True] Translation: X:80.52, Y:-173.57, Z:-5.05 [[-1.61248529e-02 9.99869985e-01 4.96350752e-05 8.05172594e+01] [-9.99794423e-01 -1.61242446e-02 1.22930766e-02 -1.73567327e+02] [ 1.22922786e-02 1.48599180e-04 9.99924436e-01 -5.05472265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.826559995 meters 0.013387341161014686 Centerline is valid? [True, True] Translation: X:81.15, Y:-173.69, Z:-3.99 [[ 7.95554050e-02 -9.96830105e-01 -8.23924173e-04 8.11512413e+01] [-9.96763326e-01 -7.95596127e-02 1.15385964e-02 -1.73691348e+02] [-1.15675714e-02 -9.67003141e-05 -9.99933089e-01 -3.98850908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.886559995 meters 0.01299047912630139 Centerline is valid? [True, True] Translation: X:81.14, Y:-173.80, Z:-3.99 [[ 1.51231705e-01 -9.88497228e-01 -1.48401969e-03 8.11401673e+01] [-9.88447092e-01 -1.51238981e-01 9.95579316e-03 -1.73804078e+02] [-1.00657156e-02 -3.87566313e-05 -9.99949339e-01 -3.98991078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1244.9465599950001 meters 0.012822330518606024 Centerline is valid? [True, True] Translation: X:81.14, Y:-173.92, Z:-3.99 [[ 2.20809587e-01 -9.75315690e-01 -1.55946118e-03 8.11389877e+01] [-9.75291800e-01 -2.20815093e-01 6.82639817e-03 -1.73917755e+02] [-7.00224580e-03 1.35955428e-05 -9.99975484e-01 -3.99170505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.006559995 meters 0.012860104725899088 Centerline is valid? [True, True] Translation: X:81.14, Y:-174.04, Z:-3.99 [[ 2.93393769e-01 -9.55989615e-01 -1.98816288e-03 8.11440756e+01] [-9.55968195e-01 -2.93400504e-01 6.39951877e-03 -1.74035542e+02] [-6.70120148e-03 2.30415483e-05 -9.99977547e-01 -3.99247075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.066559995 meters 0.013015485105360955 Centerline is valid? [True, True] Translation: X:81.16, Y:-174.15, Z:-3.99 [[ 3.64311548e-01 -9.31274404e-01 -2.25415129e-03 8.11580932e+01] [-9.31257092e-01 -3.64318521e-01 5.67839058e-03 -1.74148371e+02] [-6.10936887e-03 3.04911106e-05 -9.99981337e-01 -3.99251908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.126559995 meters 0.012881003980728884 Centerline is valid? [True, True] Translation: X:81.18, Y:-174.27, Z:-3.99 [[ 4.36315755e-01 -8.99789527e-01 -2.71460731e-03 8.11780629e+01] [-8.99772367e-01 -4.36324199e-01 5.55714751e-03 -1.74265099e+02] [-6.18471199e-03 1.78576317e-05 -9.99980874e-01 -3.99270184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.1865599950002 meters 0.012856405133312074 Centerline is valid? [True, True] Translation: X:81.20, Y:-174.38, Z:-3.99 [[ 5.07512436e-01 -8.61636342e-01 -3.73370172e-03 8.12041516e+01] [-8.61612871e-01 -5.07526170e-01 6.35978170e-03 -1.74379691e+02] [-7.37477038e-03 -1.06628455e-05 -9.99972806e-01 -3.99090202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.246559995 meters 0.013264812501558991 Centerline is valid? [True, True] Translation: X:81.24, Y:-174.49, Z:-3.99 [[ 5.77163017e-01 -8.16610732e-01 -5.45569207e-03 8.12367167e+01] [-8.16572976e-01 -5.77188796e-01 7.85292290e-03 -1.74490145e+02] [-9.56174546e-03 -7.74459596e-05 -9.99954283e-01 -3.98851535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.306559995 meters 0.01346274908046616 Centerline is valid? [True, True] Translation: X:81.28, Y:-174.59, Z:-3.99 [[ 6.38701402e-01 -7.69428120e-01 -6.39429409e-03 8.12774300e+01] [-7.69388037e-01 -6.38733402e-01 7.85436887e-03 -1.74593154e+02] [-1.01276215e-02 -9.69030356e-05 -9.99948710e-01 -3.98734393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.366559995 meters 0.013466428277875841 Centerline is valid? [True, True] Translation: X:81.33, Y:-174.69, Z:-3.99 [[ 6.94885016e-01 -7.19091709e-01 -6.47529231e-03 8.13266137e+01] [-7.19059354e-01 -6.94915180e-01 6.82187259e-03 -1.74690533e+02] [-9.40533094e-03 -8.42975371e-05 -9.99955765e-01 -3.98753823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.426559995 meters 0.013137925929927269 Centerline is valid? [True, True] Translation: X:81.38, Y:-174.77, Z:-3.99 [[ 7.45915365e-01 -6.66020263e-01 -5.22281141e-03 8.13759662e+01] [-6.66003487e-01 -7.45933648e-01 4.72742689e-03 -1.74774672e+02] [-7.04443287e-03 -4.78497368e-05 -9.99975187e-01 -3.99007280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.486559995 meters 0.013207249889306666 Centerline is valid? [True, True] Translation: X:81.40, Y:-174.80, Z:-3.99 [[ 7.95010061e-01 -6.06582463e-01 -4.08875021e-03 8.13985365e+01] [-6.06574249e-01 -7.95020575e-01 3.15689355e-03 -1.74801652e+02] [-5.16555681e-03 -2.96315486e-05 -9.99986658e-01 -3.99084363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.546559995 meters 0.013153191332476269 Centerline is valid? [True, True] Translation: X:81.42, Y:-174.83, Z:-3.99 [[ 8.39894803e-01 -5.42737433e-01 -3.57771213e-03 8.14240944e+01] [-5.42732387e-01 -8.39902422e-01 2.34039595e-03 -1.74827772e+02] [-4.27514957e-03 -2.39461466e-05 -9.99990861e-01 -3.99121128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.606559995 meters 0.013473425613914779 Centerline is valid? [True, True] Translation: X:81.45, Y:-174.85, Z:-3.99 [[ 8.80641497e-01 -4.73757085e-01 -4.97775815e-03 8.14502977e+01] [-4.73749247e-01 -8.80655564e-01 2.72548865e-03 -1.74852409e+02] [-5.67490997e-03 -4.19692333e-05 -9.99983897e-01 -3.98891056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.666559995 meters 0.013704640655377014 Centerline is valid? [True, True] Translation: X:81.48, Y:-174.87, Z:-3.99 [[ 9.15558803e-01 -4.02128337e-01 -6.69919330e-03 8.14807697e+01] [-4.02117054e-01 -9.15583309e-01 3.01305138e-03 -1.74873371e+02] [-7.34530291e-03 -6.47658351e-05 -9.99973021e-01 -3.98682871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.7265599950001 meters 0.014022011730034634 Centerline is valid? [True, True] Translation: X:81.51, Y:-174.89, Z:-3.98 [[ 9.44508133e-01 -3.28376040e-01 -8.57695220e-03 8.15122040e+01] [-3.28361641e-01 -9.44547071e-01 3.07642327e-03 -1.74889948e+02] [-9.11155877e-03 -8.93647012e-05 -9.99958485e-01 -3.98435327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.786559995 meters 0.014104848191390634 Centerline is valid? [True, True] Translation: X:81.55, Y:-174.90, Z:-3.98 [[ 9.67208585e-01 -2.53768772e-01 -1.04385637e-02 8.15476362e+01] [-2.53752839e-01 -9.67264907e-01 2.84549760e-03 -1.74900867e+02] [-1.08189547e-02 -1.03374533e-04 -9.99941468e-01 -3.98268089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.846559995 meters 0.013265793270747481 Centerline is valid? [True, True] Translation: X:81.58, Y:-174.91, Z:-3.98 [[ 9.83333817e-01 -1.81466449e-01 -1.11593957e-02 8.15832323e+01] [-1.81454061e-01 -9.83397135e-01 2.12115091e-03 -1.74908080e+02] [-1.13590355e-02 -6.08817463e-05 -9.99935482e-01 -3.98309335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.906559995 meters 0.012893159844762062 Centerline is valid? [True, True] Translation: X:81.61, Y:-174.92, Z:-3.99 [[ 9.93929370e-01 -1.09542026e-01 -1.02446459e-02 8.16142249e+01] [-1.09536235e-01 -9.93982165e-01 1.12635757e-03 -1.74917378e+02] [-1.03063788e-02 2.64006937e-06 -9.99946888e-01 -3.98509002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1245.9665599950001 meters 0.013581495072019934 Centerline is valid? [True, True] Translation: X:81.64, Y:-174.92, Z:-3.99 [[ 9.99125902e-01 -4.08485609e-02 -8.87847161e-03 8.16449357e+01] [-4.08477143e-02 -9.99165346e-01 2.76742219e-04 -1.74920509e+02] [-8.88236568e-03 8.61649530e-05 -9.99960547e-01 -3.98524972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.026559995 meters 0.013908195301458794 Centerline is valid? [True, True] Translation: X:81.68, Y:-174.93, Z:-3.99 [[ 9.99363691e-01 3.51597806e-02 -6.00032629e-03 8.16752776e+01] [ 3.51587154e-02 -9.99381701e-01 -2.82934683e-04 -1.74927293e+02] [-6.00656421e-03 7.17908845e-05 -9.99981958e-01 -3.98701664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.086559995 meters 0.01402451672519441 Centerline is valid? [True, True] Translation: X:81.71, Y:-174.93, Z:-3.99 [[ 9.93662564e-01 1.12274553e-01 -5.39762032e-03 8.17065064e+01] [ 1.12272511e-01 -9.93677221e-01 -6.80844324e-04 -1.74930314e+02] [-5.43993386e-03 7.05251292e-05 -9.99985201e-01 -3.98774224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.146559995 meters 0.014538623658297205 Centerline is valid? [True, True] Translation: X:81.74, Y:-174.93, Z:-3.98 [[ 9.81824680e-01 1.89616535e-01 -8.11592619e-03 8.17374197e+01] [ 1.89609139e-01 -9.81858217e-01 -1.67830331e-03 -1.74930336e+02] [-8.28692287e-03 1.08945835e-04 -9.99965657e-01 -3.98444506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.2065599950001 meters 0.013802579650198257 Centerline is valid? [True, True] Translation: X:81.77, Y:-174.94, Z:-3.98 [[ 9.63306710e-01 2.68204391e-01 -1.03240604e-02 8.17718339e+01] [ 2.68187697e-01 -9.63362025e-01 -2.99468320e-03 -1.74935884e+02] [-1.07489949e-02 1.16012434e-04 -9.99942221e-01 -3.98331648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.266559995 meters 0.01367962627724074 Centerline is valid? [True, True] Translation: X:81.80, Y:-174.94, Z:-3.98 [[ 9.38354406e-01 3.45418661e-01 -1.33025649e-02 8.18049165e+01] [ 3.45382228e-01 -9.38448686e-01 -5.01808599e-03 -1.74937970e+02] [-1.42171151e-02 1.14273600e-04 -9.99898925e-01 -3.97919164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.326559995 meters 0.013363804084881404 Centerline is valid? [True, True] Translation: X:81.84, Y:-174.94, Z:-3.98 [[ 9.07342037e-01 4.20153520e-01 -1.41932429e-02 8.18407297e+01] [ 4.20100633e-01 -9.07453036e-01 -6.66676024e-03 -1.74939836e+02] [-1.56807641e-02 8.64414915e-05 -9.99877046e-01 -3.97852252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.386559995 meters 0.013290929737569674 Centerline is valid? [True, True] Translation: X:81.87, Y:-174.93, Z:-3.98 [[ 8.71893486e-01 4.89541106e-01 -1.22985800e-02 8.18746583e+01] [ 4.89491054e-01 -8.71980217e-01 -7.00070126e-03 -1.74933543e+02] [-1.41512495e-02 8.38209561e-05 -9.99899863e-01 -3.98061448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.4465599950001 meters 0.013293131688866519 Centerline is valid? [True, True] Translation: X:81.91, Y:-174.92, Z:-3.98 [[ 8.31527486e-01 5.55397456e-01 -9.78297331e-03 8.19073347e+01] [ 5.55357851e-01 -8.31585029e-01 -6.63304562e-03 -1.74923138e+02] [-1.18193508e-02 8.25087119e-05 -9.99930146e-01 -3.98336647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.506559995 meters 0.0130496603894435 Centerline is valid? [True, True] Translation: X:81.94, Y:-174.91, Z:-3.99 [[ 7.85200418e-01 6.19207419e-01 -6.51741932e-03 8.19387229e+01] [ 6.19185525e-01 -7.85227464e-01 -5.20736061e-03 -1.74909370e+02] [-8.34209296e-03 5.33300256e-05 -9.99965203e-01 -3.98638477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.566559995 meters 0.012842546486973068 Centerline is valid? [True, True] Translation: X:81.97, Y:-174.90, Z:-3.99 [[ 7.32509321e-01 6.80736369e-01 -5.30008220e-03 8.19707985e+01] [ 6.80718284e-01 -7.32528495e-01 -4.96206982e-03 -1.74895379e+02] [-7.26032262e-03 2.68995345e-05 -9.99973643e-01 -3.98735905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.626559995 meters 0.012652110867578673 Centerline is valid? [True, True] Translation: X:82.00, Y:-174.88, Z:-3.99 [[ 6.73889769e-01 7.38817810e-01 -4.56321083e-03 8.20020324e+01] [ 7.38800907e-01 -6.73905219e-01 -4.99755185e-03 -1.74878906e+02] [-6.76745190e-03 -3.50523994e-06 -9.99977101e-01 -3.98689781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.6865599950002 meters 0.013220746734065196 Centerline is valid? [True, True] Translation: X:82.03, Y:-174.86, Z:-3.99 [[ 6.08312307e-01 7.93683554e-01 -4.74900891e-03 8.20320513e+01] [ 7.93660124e-01 -6.08330841e-01 -6.09878931e-03 -1.74860981e+02] [-7.72947736e-03 -5.91304024e-05 -9.99970125e-01 -3.98524655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.746559995 meters 0.013687123789257 Centerline is valid? [True, True] Translation: X:82.06, Y:-174.84, Z:-3.98 [[ 5.41068982e-01 8.40962891e-01 -5.07663583e-03 8.20585230e+01] [ 8.40927702e-01 -5.41092787e-01 -7.69391728e-03 -1.74838598e+02] [-9.21722995e-03 -1.06143704e-04 -9.99957515e-01 -3.98433733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.806559995 meters 0.013773693151177208 Centerline is valid? [True, True] Translation: X:82.08, Y:-174.81, Z:-3.98 [[ 4.71764480e-01 8.81710655e-01 -4.95947300e-03 8.20846866e+01] [ 8.81664997e-01 -4.71790528e-01 -8.97393068e-03 -1.74814397e+02] [-1.02522427e-02 -1.39012004e-04 -9.99947435e-01 -3.98459216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.866559995 meters 0.013984701258396003 Centerline is valid? [True, True] Translation: X:82.11, Y:-174.79, Z:-3.98 [[ 4.00978487e-01 9.16076557e-01 -4.47154889e-03 8.21065127e+01] [ 9.16023713e-01 -4.01003391e-01 -9.84058726e-03 -1.74788703e+02] [-1.08078376e-02 -1.50181019e-04 -9.99941582e-01 -3.98415265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.926559995 meters 0.013626230232360174 Centerline is valid? [True, True] Translation: X:82.12, Y:-174.76, Z:-3.98 [[ 3.29651670e-01 9.44095378e-01 -3.70045209e-03 8.21242892e+01] [ 9.44040327e-01 -3.29672413e-01 -1.01961177e-02 -1.74759618e+02] [-1.08460446e-02 -1.32208773e-04 -9.99941171e-01 -3.98377767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1246.986559995 meters 0.013011730514651083 Centerline is valid? [True, True] Translation: X:82.14, Y:-174.73, Z:-3.98 [[ 2.57890998e-01 9.66169849e-01 -2.83853006e-03 8.21385987e+01] [ 9.66115315e-01 -2.57906601e-01 -1.02656668e-02 -1.74728881e+02] [-1.06504533e-02 -9.49243247e-05 -9.99943278e-01 -3.98421423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.046559995 meters 0.01244486882686952 Centerline is valid? [True, True] Translation: X:82.15, Y:-174.70, Z:-3.98 [[ 1.89069312e-01 9.81961615e-01 -2.04492846e-03 8.21472718e+01] [ 9.81904881e-01 -1.89080370e-01 -1.05555147e-02 -1.74697579e+02] [-1.07517661e-02 -1.22013261e-05 -9.99942198e-01 -3.98476820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.106559995 meters 0.01257808383239798 Centerline is valid? [True, True] Translation: X:82.16, Y:-174.67, Z:-3.99 [[ 1.17130568e-01 9.93115785e-01 -1.21120476e-03 8.21565215e+01] [ 9.93058362e-01 -1.17136820e-01 -1.06796451e-02 -1.74665737e+02] [-1.07480008e-02 4.81158827e-05 -9.99942237e-01 -3.98526272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.166559995 meters 0.013162759858656064 Centerline is valid? [True, True] Translation: X:82.16, Y:-174.64, Z:-3.99 [[ 4.38203441e-02 9.99039350e-01 -3.92473803e-04 8.21616632e+01] [ 9.98974772e-01 -4.38219742e-02 -1.13595738e-02 -1.74635272e+02] [-1.13658602e-02 1.05709005e-04 -9.99935401e-01 -3.98511882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.2265599950001 meters 0.013827302366650076 Centerline is valid? [True, True] Translation: X:82.17, Y:-174.60, Z:-3.98 [[-3.08582620e-02 9.99523592e-01 5.97860731e-04 8.21664320e+01] [ 9.99430999e-01 3.08635417e-02 -1.36059004e-02 -1.74604300e+02] [-1.36178706e-02 1.77666107e-04 -9.99907257e-01 -3.98419382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.286559995 meters 0.014478025444510207 Centerline is valid? [True, True] Translation: X:82.17, Y:-174.57, Z:-3.98 [[-1.08310117e-01 9.94115609e-01 1.75335784e-03 8.21697100e+01] [ 9.94013314e-01 1.08324127e-01 -1.42623982e-02 -1.74574017e+02] [-1.43684037e-02 1.98099020e-04 -9.99896750e-01 -3.98228404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.346559995 meters 0.014152599517609098 Centerline is valid? [True, True] Translation: X:82.17, Y:-174.54, Z:-3.98 [[-1.85899638e-01 9.82564064e-01 3.03077792e-03 8.21721008e+01] [ 9.82451200e-01 1.85924225e-01 -1.48937329e-02 -1.74542096e+02] [-1.51975418e-02 2.08851845e-04 -9.99884489e-01 -3.98242355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.406559995 meters 0.014301786856197412 Centerline is valid? [True, True] Translation: X:82.17, Y:-174.51, Z:-3.98 [[-2.62744975e-01 9.64857131e-01 3.97431889e-03 8.21705144e+01] [ 9.64757557e-01 2.62774961e-01 -1.38627642e-02 -1.74510620e+02] [-1.44199384e-02 1.91882541e-04 -9.99896009e-01 -3.98321342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.4665599950001 meters 0.013651797115889345 Centerline is valid? [True, True] Translation: X:82.17, Y:-174.48, Z:-3.99 [[-3.38448670e-01 9.40973243e-01 4.67485091e-03 8.21701607e+01] [ 9.40890081e-01 3.38480914e-01 -1.25110549e-02 -1.74477761e+02] [-1.33549157e-02 1.64170955e-04 -9.99910806e-01 -3.98550386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.526559995 meters 0.013355788538396023 Centerline is valid? [True, True] Translation: X:82.17, Y:-174.45, Z:-3.99 [[-4.12843150e-01 9.10788192e-01 5.04003124e-03 8.21668165e+01] [ 9.10723949e-01 4.12873895e-01 -1.08183067e-02 -1.74445718e+02] [-1.19340834e-02 1.23813328e-04 -9.99928779e-01 -3.98665047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.586559995 meters 0.012883689152009867 Centerline is valid? [True, True] Translation: X:82.16, Y:-174.41, Z:-3.99 [[-4.86568391e-01 8.73624664e-01 5.58096113e-03 8.21626895e+01] [ 8.73568838e-01 4.86600392e-01 -9.87637597e-03 -1.74413281e+02] [-1.13439435e-02 6.98213614e-05 -9.99935653e-01 -3.98762618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.646559995 meters 0.012792412046691948 Centerline is valid? [True, True] Translation: X:82.15, Y:-174.38, Z:-3.99 [[-5.55772509e-01 8.31312634e-01 6.01861029e-03 8.21546393e+01] [ 8.31264603e-01 5.55805095e-01 -8.93618352e-03 -1.74382410e+02] [-1.07739365e-02 3.65725608e-05 -9.99941959e-01 -3.98785034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.7065599950001 meters 0.012632111682451255 Centerline is valid? [True, True] Translation: X:82.14, Y:-174.35, Z:-3.99 [[-6.21391005e-01 7.83476922e-01 6.09355904e-03 8.21426116e+01] [ 7.83439339e-01 6.21420882e-01 -7.67394614e-03 -1.74352024e+02] [-9.79902454e-03 5.41276026e-06 -9.99951988e-01 -3.98884762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.766559995 meters 0.012731091491537831 Centerline is valid? [True, True] Translation: X:82.13, Y:-174.32, Z:-3.99 [[-6.83704246e-01 7.29735595e-01 5.87073361e-03 8.21294022e+01] [ 7.29708333e-01 6.83729450e-01 -6.30778736e-03 -1.74323449e+02] [-8.61701042e-03 -2.87377709e-05 -9.99962873e-01 -3.98940179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.826559995 meters 0.012811583238484667 Centerline is valid? [True, True] Translation: X:82.11, Y:-174.29, Z:-3.99 [[-7.40274301e-01 6.72272355e-01 6.62119658e-03 8.21129379e+01] [ 6.72244855e-01 7.40303909e-01 -6.08089764e-03 -1.74293660e+02] [-8.98971709e-03 -5.04669138e-05 -9.99959590e-01 -3.98956776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.886559995 meters 0.013021779691610814 Centerline is valid? [True, True] Translation: X:82.52, Y:-173.85, Z:-5.05 [[-6.84024956e-01 -7.29426784e-01 6.81372412e-03 8.25176383e+01] [ 7.29392155e-01 -6.84058883e-01 -7.10839191e-03 -1.73852903e+02] [ 9.84603996e-03 1.07559460e-04 9.99951521e-01 -5.05385408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1247.9465599950001 meters 0.013171115350796589 Centerline is valid? [True, True] Translation: X:82.48, Y:-173.81, Z:-5.05 [[-6.83178037e-01 -7.30219015e-01 6.92537530e-03 8.24777517e+01] [ 7.30182813e-01 -6.83213131e-01 -7.27168633e-03 -1.73811308e+02] [ 1.00414310e-02 8.89336245e-05 9.99949580e-01 -5.05329618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.006559995 meters 0.01342799922205742 Centerline is valid? [True, True] Translation: X:82.44, Y:-173.77, Z:-5.05 [[-6.82590013e-01 -7.30777227e-01 5.95971135e-03 8.24375656e+01] [ 7.30750471e-01 -6.82616024e-01 -6.25396583e-03 -1.73770373e+02] [ 8.63845027e-03 8.61672603e-05 9.99962684e-01 -5.05268250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.066559995 meters 0.01367295951311287 Centerline is valid? [True, True] Translation: X:82.40, Y:-173.73, Z:-5.05 [[-6.81894554e-01 -7.31434252e-01 4.87366753e-03 8.23981342e+01] [ 7.31416398e-01 -6.81911966e-01 -5.11106346e-03 -1.73729085e+02] [ 7.06181908e-03 7.94740108e-05 9.99975062e-01 -5.05157769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.126559995 meters 0.013805615302821825 Centerline is valid? [True, True] Translation: X:82.36, Y:-173.69, Z:-5.05 [[-6.81254838e-01 -7.32033440e-01 4.34602362e-03 8.23584022e+01] [ 7.32019274e-01 -6.81268696e-01 -4.55483165e-03 -1.73687754e+02] [ 6.29509893e-03 7.83719562e-05 9.99980183e-01 -5.05093538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.1865599950002 meters 0.014260711739594074 Centerline is valid? [True, True] Translation: X:82.32, Y:-173.65, Z:-5.05 [[-6.80238925e-01 -7.32976149e-01 4.57926898e-03 8.23180043e+01] [ 7.32960462e-01 -6.80254332e-01 -4.79645953e-03 -1.73646871e+02] [ 6.63075800e-03 9.36846356e-05 9.99978012e-01 -5.05195457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.246559995 meters 0.014764101618155067 Centerline is valid? [True, True] Translation: X:82.28, Y:-173.61, Z:-5.05 [[-6.79232439e-01 -7.33908709e-01 4.61525088e-03 8.22773522e+01] [ 7.33892813e-01 -6.79248111e-01 -4.83149570e-03 -1.73605697e+02] [ 6.68077722e-03 1.05390844e-04 9.99977678e-01 -5.05260796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.306559995 meters 0.01435936464025935 Centerline is valid? [True, True] Translation: X:82.24, Y:-173.56, Z:-5.05 [[-6.77952806e-01 -7.35090003e-01 4.76236062e-03 8.22379006e+01] [ 7.35073125e-01 -6.77969521e-01 -4.98287004e-03 -1.73563224e+02] [ 6.89159330e-03 1.22532574e-04 9.99976245e-01 -5.05241928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.366559995 meters 0.014997574363583267 Centerline is valid? [True, True] Translation: X:82.20, Y:-173.52, Z:-5.05 [[-6.76800345e-01 -7.36148171e-01 5.21183110e-03 8.21969525e+01] [ 7.36128011e-01 -6.76820396e-01 -5.45002665e-03 -1.73522465e+02] [ 7.53950074e-03 1.47994948e-04 9.99971567e-01 -5.05420587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.426559995 meters 0.015206232957250295 Centerline is valid? [True, True] Translation: X:82.16, Y:-173.48, Z:-5.06 [[-6.76729067e-01 -7.36210255e-01 5.67709026e-03 8.21573236e+01] [ 7.36186369e-01 -6.76752860e-01 -5.93276490e-03 -1.73481045e+02] [ 8.20974943e-03 1.64522006e-04 9.99966286e-01 -5.05525843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.486559995 meters 0.014935671562256045 Centerline is valid? [True, True] Translation: X:82.12, Y:-173.44, Z:-5.06 [[-6.77909185e-01 -7.35122738e-01 5.80493195e-03 8.21191611e+01] [ 7.35097756e-01 -6.77934020e-01 -6.06249721e-03 -1.73438421e+02] [ 8.39204040e-03 1.57369907e-04 9.99964774e-01 -5.05521784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.546559995 meters 0.013720913377354326 Centerline is valid? [True, True] Translation: X:82.08, Y:-173.39, Z:-5.05 [[-6.82296360e-01 -7.31060150e-01 4.76802654e-03 8.20831555e+01] [ 7.31043216e-01 -6.82313014e-01 -4.97668884e-03 -1.73393052e+02] [ 6.89154545e-03 9.00567681e-05 9.99976249e-01 -5.05392429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.606559995 meters 0.012983243187780847 Centerline is valid? [True, True] Translation: X:82.05, Y:-173.35, Z:-5.05 [[-6.86314766e-01 -7.27292801e-01 4.15026397e-03 8.20459743e+01] [ 7.27279915e-01 -6.86327313e-01 -4.32957620e-03 -1.73347573e+02] [ 5.99730912e-03 4.69515492e-05 9.99982015e-01 -5.05291172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.666559995 meters 0.01265044107748102 Centerline is valid? [True, True] Translation: X:82.01, Y:-173.30, Z:-5.05 [[-6.90019790e-01 -7.23778030e-01 4.24884274e-03 8.20088389e+01] [ 7.23764473e-01 -6.90032871e-01 -4.42991349e-03 -1.73303272e+02] [ 6.13811521e-03 1.84334535e-05 9.99981162e-01 -5.05244529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.7265599950001 meters 0.01267293311381884 Centerline is valid? [True, True] Translation: X:81.97, Y:-173.26, Z:-5.05 [[-6.92758641e-01 -7.21152792e-01 4.91079990e-03 8.19707310e+01] [ 7.21134639e-01 -6.92776046e-01 -5.11688259e-03 -1.73260106e+02] [ 7.09213871e-03 -3.41671382e-06 9.99974851e-01 -5.05358004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.786559995 meters 0.012639000272282498 Centerline is valid? [True, True] Translation: X:81.93, Y:-173.22, Z:-5.05 [[-6.93143066e-01 -7.20780630e-01 5.28899809e-03 8.19310727e+01] [ 7.20759588e-01 -6.93163245e-01 -5.50753696e-03 -1.73218952e+02] [ 7.63586503e-03 -5.41497416e-06 9.99970846e-01 -5.05424638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.846559995 meters 0.012890412809691797 Centerline is valid? [True, True] Translation: X:81.89, Y:-173.18, Z:-5.06 [[-6.92774571e-01 -7.21122664e-01 6.74517879e-03 8.18909342e+01] [ 7.21088498e-01 -6.92807408e-01 -7.01956026e-03 -1.73178249e+02] [ 9.73507382e-03 8.97987757e-07 9.99952613e-01 -5.05602086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.906559995 meters 0.012789892267903526 Centerline is valid? [True, True] Translation: X:81.85, Y:-173.14, Z:-5.06 [[-6.91346404e-01 -7.22477032e-01 8.19072560e-03 8.18496090e+01] [ 7.22426805e-01 -6.91394921e-01 -8.51910176e-03 -1.73137516e+02] [ 1.18178814e-02 2.75493583e-05 9.99930166e-01 -5.05655819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1248.9665599950001 meters 0.012840289267754537 Centerline is valid? [True, True] Translation: X:81.81, Y:-173.10, Z:-5.06 [[-6.88802789e-01 -7.24899123e-01 8.48404797e-03 8.18064190e+01] [ 7.24845477e-01 -6.88855032e-01 -8.81920249e-03 -1.73098144e+02] [ 1.22373113e-02 7.49325301e-05 9.99925119e-01 -5.05608726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.026559995 meters 0.013159087239538033 Centerline is valid? [True, True] Translation: X:81.77, Y:-173.06, Z:-5.06 [[-6.87533900e-01 -7.26112869e-01 7.56561438e-03 8.17652793e+01] [ 7.26070339e-01 -6.87575519e-01 -7.85929264e-03 -1.73059274e+02] [ 1.09086648e-02 8.96380781e-05 9.99940495e-01 -5.05571897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.086559995 meters 0.013118873498372376 Centerline is valid? [True, True] Translation: X:81.73, Y:-173.02, Z:-5.05 [[-6.86760459e-01 -7.26850045e-01 7.00602835e-03 8.17253399e+01] [ 7.26813659e-01 -6.86796187e-01 -7.27336880e-03 -1.73018451e+02] [ 1.00983620e-02 9.70150060e-05 9.99949006e-01 -5.05412330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.146559995 meters 0.013221145849544303 Centerline is valid? [True, True] Translation: X:81.68, Y:-172.98, Z:-5.05 [[-6.86298124e-01 -7.27294463e-01 6.13589003e-03 8.16849553e+01] [ 7.27266607e-01 -6.86325546e-01 -6.36601658e-03 -1.72977272e+02] [ 8.84118669e-03 9.34426915e-05 9.99960912e-01 -5.05322083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.2065599950001 meters 0.013046898574832903 Centerline is valid? [True, True] Translation: X:81.64, Y:-172.94, Z:-5.05 [[-6.86550011e-01 -7.27060397e-01 5.67995729e-03 8.16442594e+01] [ 7.27036547e-01 -6.86573501e-01 -5.88964348e-03 -1.72935306e+02] [ 8.18183468e-03 8.60017365e-05 9.99966525e-01 -5.05209486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.266559995 meters 0.013384705774438984 Centerline is valid? [True, True] Translation: X:81.60, Y:-172.90, Z:-5.05 [[-6.86497813e-01 -7.27114095e-01 5.08385743e-03 8.16037832e+01] [ 7.27095015e-01 -6.86516633e-01 -5.26804523e-03 -1.72896496e+02] [ 7.32062262e-03 7.99458681e-05 9.99973201e-01 -5.05215972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.326559995 meters 0.0134236859129513 Centerline is valid? [True, True] Translation: X:81.56, Y:-172.86, Z:-5.05 [[-6.85290834e-01 -7.28242026e-01 6.32646445e-03 8.15624700e+01] [ 7.28212561e-01 -6.85320026e-01 -6.55198051e-03 -1.72855382e+02] [ 9.10708035e-03 1.16998695e-04 9.99958523e-01 -5.05313164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.386559995 meters 0.013823143958307929 Centerline is valid? [True, True] Translation: X:81.52, Y:-172.81, Z:-5.06 [[-6.84192737e-01 -7.29261844e-01 7.58034938e-03 8.15209773e+01] [ 7.29219652e-01 -6.84234709e-01 -7.84616077e-03 -1.72814796e+02] [ 1.09086438e-02 1.59453532e-04 9.99940486e-01 -5.05524522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.4465599950001 meters 0.014118725542723481 Centerline is valid? [True, True] Translation: X:81.48, Y:-172.77, Z:-5.06 [[-6.83711218e-01 -7.29705386e-01 8.30784251e-03 8.14805320e+01] [ 7.29654800e-01 -6.83761666e-01 -8.59404048e-03 -1.72773810e+02] [ 1.19517019e-02 1.86015275e-04 9.99928559e-01 -5.05668409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.506559995 meters 0.01349893888889972 Centerline is valid? [True, True] Translation: X:81.44, Y:-172.73, Z:-5.06 [[-6.85335240e-01 -7.28181010e-01 8.24770923e-03 8.14420901e+01] [ 7.28131108e-01 -6.85384848e-01 -8.52641322e-03 -1.72731692e+02] [ 1.18616271e-02 1.61962203e-04 9.99929635e-01 -5.05629226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.566559995 meters 0.013365115956311934 Centerline is valid? [True, True] Translation: X:81.40, Y:-172.69, Z:-5.06 [[-6.87511339e-01 -7.26134330e-01 7.55598347e-03 8.14036325e+01] [ 7.26092370e-01 -6.87552849e-01 -7.80701346e-03 -1.72689767e+02] [ 1.08640785e-02 1.18931671e-04 9.99940977e-01 -5.05680408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.626559995 meters 0.012901645482533182 Centerline is valid? [True, True] Translation: X:81.37, Y:-172.65, Z:-5.06 [[-6.89209230e-01 -7.24528321e-01 7.02486187e-03 8.13659426e+01] [ 7.24492014e-01 -6.89245024e-01 -7.25378559e-03 -1.72646699e+02] [ 1.00974242e-02 9.00803393e-05 9.99949016e-01 -5.05591898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.6865599950002 meters 0.012833901718712576 Centerline is valid? [True, True] Translation: X:81.33, Y:-172.60, Z:-5.06 [[-6.90208601e-01 -7.23579234e-01 6.72153629e-03 8.13275722e+01] [ 7.23545991e-01 -6.90241325e-01 -6.93635688e-03 -1.72604056e+02] [ 9.65848592e-03 7.58074514e-05 9.99953353e-01 -5.05648051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.746559995 meters 0.012708360932829378 Centerline is valid? [True, True] Translation: X:81.29, Y:-172.56, Z:-5.06 [[-6.89486213e-01 -7.24263870e-01 7.11401553e-03 8.12882199e+01] [ 7.24226710e-01 -6.89522906e-01 -7.33719689e-03 -1.72561830e+02] [ 1.02193433e-02 9.32639622e-05 9.99947777e-01 -5.05631136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.806559995 meters 0.013277803659356019 Centerline is valid? [True, True] Translation: X:81.25, Y:-172.52, Z:-5.06 [[-6.88351708e-01 -7.25330854e-01 8.19015338e-03 8.12477892e+01] [ 7.25281717e-01 -6.88400418e-01 -8.44363203e-03 -1.72522165e+02] [ 1.17625318e-02 1.27979977e-04 9.99930811e-01 -5.05810642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.866559995 meters 0.013819890503412358 Centerline is valid? [True, True] Translation: X:81.21, Y:-172.48, Z:-5.06 [[-6.86641202e-01 -7.26929159e-01 9.89230648e-03 8.12074053e+01] [ 7.26857725e-01 -6.86712430e-01 -1.01924636e-02 -1.72481042e+02] [ 1.42023688e-02 1.91733903e-04 9.99899123e-01 -5.05902671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.926559995 meters 0.013830865613142104 Centerline is valid? [True, True] Translation: X:81.17, Y:-172.44, Z:-5.06 [[-6.86756834e-01 -7.26810734e-01 1.05455221e-02 8.11676920e+01] [ 7.26729643e-01 -6.86837764e-01 -1.08587017e-02 -1.72439651e+02] [ 1.51352838e-02 2.06455896e-04 9.99885434e-01 -5.05958411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1249.986559995 meters 0.013554590075027842 Centerline is valid? [True, True] Translation: X:81.13, Y:-172.40, Z:-5.06 [[-6.88195954e-01 -7.25442090e-01 1.09591480e-02 8.11291100e+01] [ 7.25354450e-01 -6.88283182e-01 -1.12775350e-02 -1.72396684e+02] [ 1.57241959e-02 1.88112817e-04 9.99876350e-01 -5.05931058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.046559995 meters 0.013220181919943993 Centerline is valid? [True, True] Translation: X:81.09, Y:-172.35, Z:-5.06 [[-6.91683792e-01 -7.22129360e-01 1.01350257e-02 8.10917670e+01] [ 7.22054132e-01 -6.91758033e-01 -1.04237618e-02 -1.72352715e+02] [ 1.45382899e-02 1.08090092e-04 9.99894308e-01 -5.05959010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.106559995 meters 0.012683896708868532 Centerline is valid? [True, True] Translation: X:81.05, Y:-172.31, Z:-5.06 [[-6.94183394e-01 -7.19731828e-01 9.77295215e-03 8.10548524e+01] [ 7.19661728e-01 -6.94252182e-01 -1.00451483e-02 -1.72308592e+02] [ 1.40147063e-02 6.00444825e-05 9.99901787e-01 -5.05766698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.166559995 meters 0.012626827451443714 Centerline is valid? [True, True] Translation: X:81.02, Y:-172.27, Z:-5.06 [[-6.96192583e-01 -7.17789760e-01 9.68233132e-03 8.10168088e+01] [ 7.17720852e-01 -6.96259908e-01 -9.94575922e-03 -1.72265167e+02] [ 1.38803832e-02 2.50472850e-05 9.99903663e-01 -5.05648870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.2265599950001 meters 0.012571957206111728 Centerline is valid? [True, True] Translation: X:80.98, Y:-172.22, Z:-5.06 [[-6.96388673e-01 -7.17605664e-01 9.21565281e-03 8.09764023e+01] [ 7.17543293e-01 -6.96449647e-01 -9.46103969e-03 -1.72223941e+02] [ 1.32075338e-02 2.40689963e-05 9.99912777e-01 -5.05525401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.286559995 meters 0.01275044251750424 Centerline is valid? [True, True] Translation: X:80.93, Y:-172.19, Z:-5.06 [[-6.94109322e-01 -7.19812250e-01 9.08704510e-03 8.09338103e+01] [ 7.19751877e-01 -6.94168798e-01 -9.32284601e-03 -1.72187198e+02] [ 1.30186419e-02 6.93434427e-05 9.99915252e-01 -5.05601842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.346559995 meters 0.013057896256535641 Centerline is valid? [True, True] Translation: X:80.89, Y:-172.15, Z:-5.06 [[-6.91468428e-01 -7.22340245e-01 9.79717309e-03 8.08892146e+01] [ 7.22270398e-01 -6.91537818e-01 -1.00457733e-02 -1.72149256e+02] [ 1.40315820e-02 1.29873046e-04 9.99901544e-01 -5.05588684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.406559995 meters 0.013956544377331322 Centerline is valid? [True, True] Translation: X:80.85, Y:-172.11, Z:-5.06 [[-6.88959196e-01 -7.24716868e-01 1.09858447e-02 8.08458839e+01] [ 7.24629416e-01 -6.89046748e-01 -1.12600581e-02 -1.72112236e+02] [ 1.57301146e-02 2.02945652e-04 9.99876254e-01 -5.05711487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.4665599950001 meters 0.014191740039504954 Centerline is valid? [True, True] Translation: X:80.81, Y:-172.07, Z:-5.06 [[-6.89042678e-01 -7.24630496e-01 1.14381846e-02 8.08051298e+01] [ 7.24535806e-01 -6.89137575e-01 -1.17161509e-02 -1.72073203e+02] [ 1.63723630e-02 2.14446333e-04 9.99865941e-01 -5.05729923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.526559995 meters 0.013137599060411866 Centerline is valid? [True, True] Translation: X:80.77, Y:-172.03, Z:-5.05 [[-6.91456927e-01 -7.22352680e-01 9.69145150e-03 8.07655430e+01] [ 7.22284557e-01 -6.91524827e-01 -9.92134357e-03 -1.72031180e+02] [ 1.38685884e-02 1.39804016e-04 9.99903817e-01 -5.05347973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.586559995 meters 0.013169507158235519 Centerline is valid? [True, True] Translation: X:80.73, Y:-171.99, Z:-5.05 [[-6.93436747e-01 -7.20463787e-01 8.79822670e-03 8.07252553e+01] [ 7.20407554e-01 -6.93492554e-01 -9.00192260e-03 -1.71990580e+02] [ 1.25870639e-02 9.60450503e-05 9.99920775e-01 -5.05384739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.646559995 meters 0.01246544291026385 Centerline is valid? [True, True] Translation: X:80.69, Y:-171.95, Z:-5.05 [[-6.95110651e-01 -7.18855020e-01 8.28514774e-03 8.06862785e+01] [ 7.18805096e-01 -6.95160022e-01 -8.47216720e-03 -1.71946846e+02] [ 1.18497634e-02 6.63127542e-05 9.99929787e-01 -5.05078494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.7065599950001 meters 0.012484018061731673 Centerline is valid? [True, True] Translation: X:80.65, Y:-171.91, Z:-5.05 [[-6.95983100e-01 -7.18012225e-01 8.12207771e-03 8.06466658e+01] [ 7.17964251e-01 -6.96030489e-01 -8.30016020e-03 -1.71905401e+02] [ 1.16128302e-02 5.45902149e-05 9.99932567e-01 -5.05034609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.766559995 meters 0.012350409477402296 Centerline is valid? [True, True] Translation: X:80.61, Y:-171.86, Z:-5.05 [[-6.96651185e-01 -7.17361242e-01 8.36509395e-03 8.06063066e+01] [ 7.17310365e-01 -6.96701404e-01 -8.54362198e-03 -1.71864314e+02] [ 1.19568360e-02 4.84442199e-05 9.99928513e-01 -5.05063833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.826559995 meters 0.012733726110940478 Centerline is valid? [True, True] Translation: X:80.57, Y:-171.82, Z:-5.05 [[-6.95915284e-01 -7.18059468e-01 9.61865482e-03 8.05651452e+01] [ 7.17992347e-01 -6.95981749e-01 -9.81806357e-03 -1.71824787e+02] [ 1.37443617e-02 7.35800506e-05 9.99905539e-01 -5.05288057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.886559995 meters 0.013001142846087017 Centerline is valid? [True, True] Translation: X:80.52, Y:-171.79, Z:-5.05 [[-6.94717917e-01 -7.19203588e-01 1.06402382e-02 8.05228490e+01] [ 7.19121675e-01 -6.94799386e-01 -1.08549326e-02 -1.71785082e+02] [ 1.51997374e-02 1.10509772e-04 9.99884471e-01 -5.05492579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1250.9465599950001 meters 0.013973407364735962 Centerline is valid? [True, True] Translation: X:80.48, Y:-171.75, Z:-5.06 [[-6.92545343e-01 -7.21278691e-01 1.17471984e-02 8.04808054e+01] [ 7.21179259e-01 -6.92644944e-01 -1.19774189e-02 -1.71746595e+02] [ 1.67756946e-02 1.76930096e-04 9.99859263e-01 -5.05628742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.006559995 meters 0.014748403563670572 Centerline is valid? [True, True] Translation: X:80.44, Y:-171.71, Z:-5.06 [[-6.91086562e-01 -7.22668282e-01 1.22441174e-02 8.04390427e+01] [ 7.22560604e-01 -6.91194983e-01 -1.24767742e-02 -1.71707863e+02] [ 1.74796415e-02 2.24585908e-04 9.99847194e-01 -5.05641427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.066559995 meters 0.014033722238090627 Centerline is valid? [True, True] Translation: X:80.40, Y:-171.67, Z:-5.05 [[-6.90571131e-01 -7.23160853e-01 1.22431287e-02 8.03991628e+01] [ 7.23053414e-01 -6.90679609e-01 -1.24674895e-02 -1.71667456e+02] [ 1.74720796e-02 2.42747718e-04 9.99847322e-01 -5.05271469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.126559995 meters 0.013588302667002318 Centerline is valid? [True, True] Translation: X:80.36, Y:-171.63, Z:-5.05 [[-6.92085133e-01 -7.21717876e-01 1.18943356e-02 8.03593761e+01] [ 7.21616375e-01 -6.92187305e-01 -1.21054720e-02 -1.71625426e+02] [ 1.69698436e-02 2.05130171e-04 9.99855981e-01 -5.05127931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.1865599950002 meters 0.012809496045706234 Centerline is valid? [True, True] Translation: X:80.32, Y:-171.58, Z:-5.05 [[-6.96596050e-01 -7.17392703e-01 1.00822512e-02 8.03225463e+01] [ 7.17319403e-01 -6.96669004e-01 -1.02553851e-02 -1.71580863e+02] [ 1.43811303e-02 8.83336176e-05 9.99896582e-01 -5.04803043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.246559995 meters 0.012551821789756428 Centerline is valid? [True, True] Translation: X:80.28, Y:-171.54, Z:-5.05 [[-6.99638365e-01 -7.14438745e-01 9.13444521e-03 8.02845849e+01] [ 7.14378398e-01 -6.99697991e-01 -9.28573856e-03 -1.71537296e+02] [ 1.30254444e-02 2.87913944e-05 9.99915165e-01 -5.04636596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.306559995 meters 0.012682077878027607 Centerline is valid? [True, True] Translation: X:80.25, Y:-171.49, Z:-5.05 [[-7.02328132e-01 -7.11793440e-01 9.23549077e-03 8.02458323e+01] [ 7.11731599e-01 -7.02388851e-01 -9.38259344e-03 -1.71494491e+02] [ 1.31653742e-02 -1.64687065e-05 9.99913333e-01 -5.04619147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.366559995 meters 0.012913757630866851 Centerline is valid? [True, True] Translation: X:80.21, Y:-171.45, Z:-5.05 [[-7.04575363e-01 -7.09563772e-01 9.63386474e-03 8.02073107e+01] [ 7.09496358e-01 -7.04641221e-01 -9.78096914e-03 -1.71453459e+02] [ 1.37286396e-02 -5.62379286e-05 9.99905756e-01 -5.04694670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.426559995 meters 0.01303499539739465 Centerline is valid? [True, True] Translation: X:80.17, Y:-171.41, Z:-5.05 [[-7.04532205e-01 -7.09592929e-01 1.05946858e-02 8.01659455e+01] [ 7.09511488e-01 -7.04611860e-01 -1.07506459e-02 -1.71412176e+02] [ 1.50937236e-02 -5.71249447e-05 9.99886082e-01 -5.04828057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.486559995 meters 0.013092979918827007 Centerline is valid? [True, True] Translation: X:80.13, Y:-171.37, Z:-5.05 [[-7.03662501e-01 -7.10446069e-01 1.12012374e-02 8.01256185e+01] [ 7.10355259e-01 -7.03751647e-01 -1.13589367e-02 -1.71372910e+02] [ 1.59528012e-02 -3.59999118e-05 9.99872745e-01 -5.04906119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.546559995 meters 0.012842900579242164 Centerline is valid? [True, True] Translation: X:80.08, Y:-171.33, Z:-5.05 [[-7.02194537e-01 -7.11910001e-01 1.03432598e-02 8.00838171e+01] [ 7.11832819e-01 -7.02270711e-01 -1.04826802e-02 -1.71334355e+02] [ 1.47264933e-02 1.79101720e-06 9.99891559e-01 -5.04773016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.606559995 meters 0.012593150457652033 Centerline is valid? [True, True] Translation: X:80.04, Y:-171.30, Z:-5.04 [[-6.98853962e-01 -7.15209319e-01 8.87519183e-03 8.00390866e+01] [ 7.15152830e-01 -6.98910313e-01 -8.98912254e-03 -1.71297925e+02] [ 1.26320673e-02 6.50346494e-05 9.99920210e-01 -5.04390008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.666559995 meters 0.012992901185559283 Centerline is valid? [True, True] Translation: X:80.00, Y:-171.26, Z:-5.04 [[-6.96226551e-01 -7.17772007e-01 8.48144681e-03 7.99961818e+01] [ 7.17720655e-01 -6.96278202e-01 -8.58644622e-03 -1.71260775e+02] [ 1.20685573e-02 1.09197721e-04 9.99927166e-01 -5.04348566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.7265599950001 meters 0.013778015717767527 Centerline is valid? [True, True] Translation: X:79.95, Y:-171.22, Z:-5.04 [[-6.92030858e-01 -7.21811945e-01 8.98929659e-03 7.99518344e+01] [ 7.21754665e-01 -6.92089213e-01 -9.09539336e-03 -1.71222515e+02] [ 1.27865588e-02 1.93773881e-04 9.99918230e-01 -5.04274515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.786559995 meters 0.014636859065665553 Centerline is valid? [True, True] Translation: X:79.91, Y:-171.18, Z:-5.04 [[-6.89677205e-01 -7.24057862e-01 9.25016500e-03 7.99081315e+01] [ 7.23997479e-01 -6.89739191e-01 -9.35405776e-03 -1.71184247e+02] [ 1.31530804e-02 2.45815728e-04 9.99913464e-01 -5.04293658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.846559995 meters 0.015802412801589387 Centerline is valid? [True, True] Translation: X:79.87, Y:-171.15, Z:-5.04 [[-6.88205104e-01 -7.25458726e-01 9.13080360e-03 7.98651306e+01] [ 7.25400085e-01 -6.88265619e-01 -9.22788859e-03 -1.71146508e+02] [ 1.29788705e-02 2.72805681e-04 9.99915734e-01 -5.04359272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.906559995 meters 0.016042390284308372 Centerline is valid? [True, True] Translation: X:79.82, Y:-171.11, Z:-5.04 [[-6.86859563e-01 -7.26726902e-01 9.58913030e-03 7.98227718e+01] [ 7.26662423e-01 -6.86926423e-01 -9.68565878e-03 -1.71106851e+02] [ 1.36258558e-02 3.15373307e-04 9.99907114e-01 -5.04339439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1251.9665599950001 meters 0.016744374576264185 Centerline is valid? [True, True] Translation: X:79.78, Y:-171.07, Z:-5.04 [[-6.86258392e-01 -7.27284933e-01 1.02978592e-02 7.97810812e+01] [ 7.27210695e-01 -6.86335560e-01 -1.03973125e-02 -1.71068266e+02] [ 1.46295956e-02 3.53470398e-04 9.99892919e-01 -5.04385888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.026559995 meters 0.016710390993271672 Centerline is valid? [True, True] Translation: X:79.74, Y:-171.03, Z:-5.04 [[-6.86380527e-01 -7.27168577e-01 1.03746318e-02 7.97397782e+01] [ 7.27093310e-01 -6.86458836e-01 -1.04682973e-02 -1.71028579e+02] [ 1.47339745e-02 3.58089923e-04 9.99891385e-01 -5.04406103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.086559995 meters 0.015946514418060675 Centerline is valid? [True, True] Translation: X:79.70, Y:-170.99, Z:-5.04 [[-6.87674297e-01 -7.25941631e-01 1.06212163e-02 7.96986821e+01] [ 7.25862699e-01 -6.87756229e-01 -1.07103558e-02 -1.70988563e+02] [ 1.50799008e-02 3.44308376e-04 9.99886233e-01 -5.04448905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.146559995 meters 0.015324125885195168 Centerline is valid? [True, True] Translation: X:79.66, Y:-170.95, Z:-5.04 [[-6.89604298e-01 -7.24115020e-01 1.01661663e-02 7.96587449e+01] [ 7.24042586e-01 -6.89679166e-01 -1.02460928e-02 -1.70945573e+02] [ 1.44307428e-02 2.94987718e-04 9.99895828e-01 -5.04352726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.2065599950001 meters 0.014843677413164906 Centerline is valid? [True, True] Translation: X:79.62, Y:-170.90, Z:-5.04 [[-6.91464673e-01 -7.22341366e-01 9.97786402e-03 7.96186120e+01] [ 7.22271485e-01 -6.91536612e-01 -1.00507229e-02 -1.70903826e+02] [ 1.41601112e-02 2.57006859e-04 9.99899708e-01 -5.04349229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.266559995 meters 0.014294732587832423 Centerline is valid? [True, True] Translation: X:79.58, Y:-170.86, Z:-5.04 [[-6.94004393e-01 -7.19881696e-01 1.13245787e-02 7.95798383e+01] [ 7.19791462e-01 -6.94096742e-01 -1.14002163e-02 -1.70862233e+02] [ 1.60671602e-02 2.39534825e-04 9.99870886e-01 -5.04494376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.326559995 meters 0.01401608887110863 Centerline is valid? [True, True] Translation: X:79.54, Y:-170.82, Z:-5.05 [[-6.95347138e-01 -7.18581178e-01 1.15519790e-02 7.95398434e+01] [ 7.18487221e-01 -6.95443055e-01 -1.16220014e-02 -1.70820680e+02] [ 1.63850950e-02 2.18623877e-04 9.99865732e-01 -5.04585057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.386559995 meters 0.013712778437444282 Centerline is valid? [True, True] Translation: X:79.50, Y:-170.78, Z:-5.05 [[-6.97208507e-01 -7.16767646e-01 1.20182779e-02 7.95001456e+01] [ 7.16665805e-01 -6.97312058e-01 -1.20838029e-02 -1.70778818e+02] [ 1.70417690e-02 1.88158590e-04 9.99854761e-01 -5.04650310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.4465599950001 meters 0.013717845985758408 Centerline is valid? [True, True] Translation: X:79.46, Y:-170.74, Z:-5.05 [[-6.97970444e-01 -7.16020813e-01 1.23066898e-02 7.94601227e+01] [ 7.15914039e-01 -6.98078909e-01 -1.23663514e-02 -1.70737392e+02] [ 1.74456056e-02 1.79184245e-04 9.99847798e-01 -5.04735191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.506559995 meters 0.013973323609903396 Centerline is valid? [True, True] Translation: X:79.42, Y:-170.70, Z:-5.05 [[-6.98250938e-01 -7.15735716e-01 1.29619622e-02 7.94203892e+01] [ 7.15617360e-01 -6.98371212e-01 -1.30170780e-02 -1.70696083e+02] [ 1.83690489e-02 1.86618221e-04 9.99831257e-01 -5.04828773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.566559995 meters 0.013555940511058446 Centerline is valid? [True, True] Translation: X:79.38, Y:-170.65, Z:-5.05 [[-6.98556660e-01 -7.15435563e-01 1.30594237e-02 7.93812702e+01] [ 7.15315518e-01 -6.98678697e-01 -1.31068277e-02 -1.70653778e+02] [ 1.85014318e-02 1.85746673e-04 9.99828817e-01 -5.04694942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.626559995 meters 0.014184602557844773 Centerline is valid? [True, True] Translation: X:79.34, Y:-170.61, Z:-5.05 [[-6.98792057e-01 -7.15215868e-01 1.24869429e-02 7.93418067e+01] [ 7.15106225e-01 -6.98903592e-01 -1.25242011e-02 -1.70613873e+02] [ 1.76846766e-02 1.77678366e-04 9.99843598e-01 -5.04924598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.6865599950002 meters 0.013113530359438593 Centerline is valid? [True, True] Translation: X:79.30, Y:-170.57, Z:-5.04 [[-6.99337927e-01 -7.14710198e-01 1.07608721e-02 7.93039876e+01] [ 7.14628799e-01 -6.99420697e-01 -1.07873994e-02 -1.70568999e+02] [ 1.52362410e-02 1.45991546e-04 9.99883911e-01 -5.04423281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.746559995 meters 0.013775049579253759 Centerline is valid? [True, True] Translation: X:79.27, Y:-170.53, Z:-5.05 [[-7.00158340e-01 -7.13918684e-01 9.92024954e-03 7.92657087e+01] [ 7.13849517e-01 -7.00228604e-01 -9.93828787e-03 -1.70527161e+02] [ 1.40415719e-02 1.23190199e-04 9.99901405e-01 -5.04558945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.806559995 meters 0.012806891029285002 Centerline is valid? [True, True] Translation: X:79.23, Y:-170.48, Z:-5.04 [[-7.00437146e-01 -7.13656167e-01 9.09287088e-03 7.92290192e+01] [ 7.13598108e-01 -7.00496155e-01 -9.10365884e-03 -1.70483341e+02] [ 1.28664034e-02 1.12114648e-04 9.99917218e-01 -5.04061977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.866559995 meters 0.012909076273804507 Centerline is valid? [True, True] Translation: X:79.19, Y:-170.44, Z:-5.04 [[-7.00519967e-01 -7.13581296e-01 8.57385826e-03 7.91905218e+01] [ 7.13529739e-01 -7.00572425e-01 -8.57840518e-03 -1.70442445e+02] [ 1.21279982e-02 1.08358731e-04 9.99926447e-01 -5.04016925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.926559995 meters 0.012801737976561015 Centerline is valid? [True, True] Translation: X:79.15, Y:-170.40, Z:-5.04 [[-6.99640640e-01 -7.14447406e-01 8.23885232e-03 7.91499987e+01] [ 7.14399914e-01 -6.99689138e-01 -8.23855345e-03 -1.70400171e+02] [ 1.16506486e-02 1.21808572e-04 9.99932122e-01 -5.03897844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1252.986559995 meters 0.013054674376429416 Centerline is valid? [True, True] Translation: X:78.71, Y:-170.83, Z:-4.00 [[-7.62760351e-01 6.46623839e-01 8.61728526e-03 7.87107780e+01] [ 6.46580623e-01 7.62809015e-01 -7.47694125e-03 -1.70832499e+02] [-1.14081113e-02 -1.31344667e-04 -9.99934917e-01 -4.00303603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.046559995 meters 0.013338854908765222 Centerline is valid? [True, True] Translation: X:78.73, Y:-170.81, Z:-4.00 [[-8.06672797e-01 5.90932411e-01 8.82517081e-03 7.87258671e+01] [ 5.90895305e-01 8.06721060e-01 -6.62343591e-03 -1.70812888e+02] [-1.10334541e-02 -1.28193583e-04 -9.99939121e-01 -4.00365179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.106559995 meters 0.013063992465138516 Centerline is valid? [True, True] Translation: X:79.10, Y:-170.32, Z:-5.04 [[-7.49716179e-01 -6.61709778e-01 8.11301781e-03 7.91003191e+01] [ 6.61672563e-01 -7.49760068e-01 -7.01859388e-03 -1.70319551e+02] [ 1.07270890e-02 1.06207897e-04 9.99942458e-01 -5.03719594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.166559995 meters 0.013395256237865768 Centerline is valid? [True, True] Translation: X:78.69, Y:-170.79, Z:-4.01 [[-8.10251829e-01 5.86012612e-01 9.01069124e-03 7.86867665e+01] [ 5.85974184e-01 8.10301915e-01 -6.71287899e-03 -1.70786452e+02] [-1.12352121e-02 -1.59090037e-04 -9.99936870e-01 -4.00588495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.2265599950001 meters 0.014806699571976637 Centerline is valid? [True, True] Translation: X:78.70, Y:-170.76, Z:-4.01 [[-8.51815368e-01 5.23757032e-01 9.44193154e-03 7.87003958e+01] [ 5.23722197e-01 8.51867672e-01 -6.04406486e-03 -1.70761279e+02] [-1.12088977e-02 -2.03478208e-04 -9.99937158e-01 -4.00596278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.286559995 meters 0.015427033803199423 Centerline is valid? [True, True] Translation: X:78.71, Y:-170.74, Z:-4.01 [[-8.87797047e-01 4.60125880e-01 1.00288621e-02 7.87140565e+01] [ 4.60093549e-01 8.87853659e-01 -5.45949830e-03 -1.70738848e+02] [-1.14162184e-02 -2.32711712e-04 -9.99934806e-01 -4.00626642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.346559995 meters 0.01554001287312604 Centerline is valid? [True, True] Translation: X:79.01, Y:-170.19, Z:-5.04 [[-8.31917894e-01 -5.54815672e-01 9.60142765e-03 7.90101149e+01] [ 5.54781898e-01 -8.31973267e-01 -6.12609802e-03 -1.70194387e+02] [ 1.13869863e-02 2.30287689e-04 9.99935140e-01 -5.03599636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.406559995 meters 0.01671871006533791 Centerline is valid? [True, True] Translation: X:78.67, Y:-170.72, Z:-4.01 [[-8.92190344e-01 4.51496833e-01 1.21243717e-02 7.86740228e+01] [ 4.51449575e-01 8.92272648e-01 -6.54243842e-03 -1.70719110e+02] [-1.37721355e-02 -3.63557922e-04 -9.99905094e-01 -4.00577175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.4665599950001 meters 0.018152268371234147 Centerline is valid? [True, True] Translation: X:78.68, Y:-170.69, Z:-4.01 [[-9.22797042e-01 3.85067910e-01 1.29739385e-02 7.86836151e+01] [ 3.85023597e-01 9.22888150e-01 -5.85596705e-03 -1.70693271e+02] [-1.42284391e-02 -4.08596593e-04 -9.99898687e-01 -4.00567269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.526559995 meters 0.018721711211350803 Centerline is valid? [True, True] Translation: X:78.69, Y:-170.67, Z:-4.01 [[-9.48013198e-01 3.17936618e-01 1.36851398e-02 7.86858656e+01] [ 3.17896885e-01 9.48111871e-01 -5.04483177e-03 -1.70668521e+02] [-1.45789802e-02 -4.32103809e-04 -9.99893628e-01 -4.00714875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.586559995 meters 0.018187782894401927 Centerline is valid? [True, True] Translation: X:78.70, Y:-170.65, Z:-4.01 [[-9.67934259e-01 2.50854358e-01 1.32423671e-02 7.86972518e+01] [ 2.50825263e-01 9.68024759e-01 -3.84104207e-03 -1.70647228e+02] [-1.37824814e-02 -3.96356000e-04 -9.99904939e-01 -4.00880664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.646559995 meters 0.017139624290451967 Centerline is valid? [True, True] Translation: X:78.88, Y:-170.04, Z:-5.03 [[-9.29861746e-01 -3.67684228e-01 1.28624025e-02 7.88764080e+01] [ 3.67654781e-01 -9.29950622e-01 -4.66936880e-03 -1.70038390e+02] [ 1.36782525e-02 3.87056359e-04 9.99906373e-01 -5.03268099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.7065599950001 meters 0.01639309994566219 Centerline is valid? [True, True] Translation: X:78.65, Y:-170.64, Z:-4.01 [[-9.67712440e-01 2.51660247e-01 1.41334550e-02 7.86522786e+01] [ 2.51628023e-01 9.67815578e-01 -4.04280861e-03 -1.70641382e+02] [-1.46959921e-02 -3.55902850e-04 -9.99891945e-01 -4.00851108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.766559995 meters 0.016293620882963208 Centerline is valid? [True, True] Translation: X:78.83, Y:-170.02, Z:-5.04 [[-9.32631429e-01 -3.60488796e-01 1.56985719e-02 7.88327649e+01] [ 3.60447078e-01 -9.32763398e-01 -5.50887040e-03 -1.70023223e+02] [ 1.66289394e-02 5.20758705e-04 9.99861594e-01 -5.03576790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.826559995 meters 0.015699646711634607 Centerline is valid? [True, True] Translation: X:78.61, Y:-170.63, Z:-4.01 [[-9.68260455e-01 2.49295006e-01 1.79914502e-02 7.86071626e+01] [ 2.49243736e-01 9.68427497e-01 -5.07381367e-03 -1.70630736e+02] [-1.86882915e-02 -4.28516866e-04 -9.99825267e-01 -4.00625563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.886559995 meters 0.0165620453338524 Centerline is valid? [True, True] Translation: X:78.78, Y:-170.02, Z:-5.04 [[-9.32840710e-01 -3.59731199e-01 2.00418074e-02 7.87828998e+01] [ 3.59663145e-01 -9.33055753e-01 -7.02737073e-03 -1.70015029e+02] [ 2.12280882e-02 6.52881985e-04 9.99774446e-01 -5.03880374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1253.9465599950001 meters 0.01829116578874823 Centerline is valid? [True, True] Translation: X:78.56, Y:-170.61, Z:-4.00 [[-9.70750665e-01 2.39114068e-01 2.16242770e-02 7.85613108e+01] [ 2.39039409e-01 9.70991255e-01 -6.01196852e-03 -1.70607376e+02] [-2.24345301e-02 -6.67068050e-04 -9.99748092e-01 -4.00325466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.006559995 meters 0.01819809306255059 Centerline is valid? [True, True] Translation: X:78.73, Y:-170.00, Z:-5.04 [[-9.32667881e-01 -3.60098094e-01 2.14472962e-02 7.87274122e+01] [ 3.60019915e-01 -9.32914188e-01 -7.53519330e-03 -1.70004729e+02] [ 2.27218957e-02 6.93620989e-04 9.99741584e-01 -5.03841367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.066559995 meters 0.01774802699577176 Centerline is valid? [True, True] Translation: X:78.52, Y:-170.60, Z:-4.01 [[-9.71181555e-01 2.37505912e-01 1.99331021e-02 7.85177466e+01] [ 2.37443775e-01 9.71385925e-01 -5.46252001e-03 -1.70599055e+02] [-2.06601156e-02 -5.72107671e-04 -9.99786393e-01 -4.00607162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.126559995 meters 0.01791534181808122 Centerline is valid? [True, True] Translation: X:78.53, Y:-170.57, Z:-4.01 [[-9.85156270e-01 1.70682925e-01 1.82883310e-02 7.85250652e+01] [ 1.70644720e-01 9.85325896e-01 -3.64114140e-03 -1.70573608e+02] [-1.86414468e-02 -4.66286148e-04 -9.99826124e-01 -4.00642297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.1865599950002 meters 0.014980053964471447 Centerline is valid? [True, True] Translation: X:78.66, Y:-169.95, Z:-5.03 [[-9.59454326e-01 -2.81388621e-01 1.63658423e-02 7.86569448e+01] [ 2.81353432e-01 -9.59593841e-01 -4.46171745e-03 -1.69952256e+02] [ 1.69600380e-02 3.23771779e-04 9.99856116e-01 -5.03255535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.246559995 meters 0.01369106208739655 Centerline is valid? [True, True] Translation: X:78.48, Y:-170.58, Z:-4.01 [[-9.84413085e-01 1.75111035e-01 1.63402250e-02 7.84812063e+01] [ 1.75082214e-01 9.84548652e-01 -3.18914126e-03 -1.70575765e+02] [-1.66462003e-02 -2.78549615e-04 -9.99861404e-01 -4.01100718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.306559995 meters 0.013395361827673442 Centerline is valid? [True, True] Translation: X:78.60, Y:-169.94, Z:-5.03 [[-9.62513285e-01 -2.70762152e-01 1.60010211e-02 7.85984947e+01] [ 2.70729410e-01 -9.62646240e-01 -4.21930666e-03 -1.69935050e+02] [ 1.65457514e-02 2.70808302e-04 9.99863073e-01 -5.03224647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.366559995 meters 0.013001131242700966 Centerline is valid? [True, True] Translation: X:78.44, Y:-170.57, Z:-4.01 [[-9.84261874e-01 1.75973715e-01 1.61807151e-02 7.84379228e+01] [ 1.75946645e-01 9.84394846e-01 -3.09278733e-03 -1.70572039e+02] [-1.64724618e-02 -1.97170128e-04 -9.99864300e-01 -4.00989555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.426559995 meters 0.012865945636386393 Centerline is valid? [True, True] Translation: X:78.56, Y:-169.93, Z:-5.03 [[-9.64582946e-01 -2.63268241e-01 1.64187211e-02 7.85580223e+01] [ 2.63234206e-01 -9.64722644e-01 -4.23950999e-03 -1.69925083e+02] [ 1.69556404e-02 2.32609985e-04 9.99856216e-01 -5.03363800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.486559995 meters 0.012926632248875372 Centerline is valid? [True, True] Translation: X:78.39, Y:-170.56, Z:-4.01 [[-9.84579915e-01 1.74148301e-01 1.65759022e-02 7.83910866e+01] [ 1.74120737e-01 9.84719422e-01 -3.10295294e-03 -1.70564304e+02] [-1.68629868e-02 -1.68896840e-04 -9.99857796e-01 -4.00695696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.546559995 meters 0.013080228962660506 Centerline is valid? [True, True] Translation: X:78.39, Y:-170.54, Z:-4.01 [[-9.94469458e-01 1.03793839e-01 1.60416972e-02 7.83883701e+01] [ 1.03777696e-01 9.94598820e-01 -1.83770832e-03 -1.70536410e+02] [-1.61457959e-02 -1.62774414e-04 -9.99869635e-01 -4.00687811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.606559995 meters 0.012300396712127284 Centerline is valid? [True, True] Translation: X:78.39, Y:-170.51, Z:-4.01 [[-9.99368524e-01 3.31772322e-02 1.27210160e-02 7.83916112e+01] [ 3.31729376e-02 9.99449476e-01 -5.48512804e-04 -1.70510960e+02] [-1.27322109e-02 -1.26172960e-04 -9.99918934e-01 -4.01056253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.666559995 meters 0.0120089134138947 Centerline is valid? [True, True] Translation: X:78.39, Y:-170.48, Z:-4.01 [[-9.99234606e-01 -3.75582919e-02 1.09350995e-02 7.83905693e+01] [-3.75571999e-02 9.99294433e-01 3.05264687e-04 -1.70484385e+02] [-1.09388493e-02 -1.05660678e-04 -9.99940164e-01 -4.01189054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.7265599950001 meters 0.011941177127512971 Centerline is valid? [True, True] Translation: X:78.37, Y:-169.82, Z:-5.03 [[-9.98759734e-01 -4.89303394e-02 9.20959608e-03 7.83714597e+01] [ 4.89280485e-02 -9.98802193e-01 -4.74039240e-04 -1.69824841e+02] [ 9.22175967e-03 -2.28437412e-05 9.99957478e-01 -5.02987621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.786559995 meters 0.011994251159718257 Centerline is valid? [True, True] Translation: X:78.32, Y:-170.48, Z:-4.01 [[-9.99058029e-01 -4.27258524e-02 7.58657275e-03 7.83246004e+01] [-4.27252159e-02 9.99086831e-01 2.46025421e-04 -1.70483407e+02] [-7.59015657e-03 -7.83442867e-05 -9.99971191e-01 -4.01182052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.846559995 meters 0.0120707248613888 Centerline is valid? [True, True] Translation: X:78.30, Y:-169.83, Z:-5.03 [[-9.98890677e-01 -4.63590092e-02 8.26180329e-03 7.83002957e+01] [ 4.63585006e-02 -9.98924835e-01 -2.53150790e-04 -1.69831262e+02] [ 8.26465631e-03 1.30134849e-04 9.99965839e-01 -5.03189110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.906559995 meters 0.01205379806619992 Centerline is valid? [True, True] Translation: X:78.26, Y:-170.48, Z:-4.01 [[-9.98662811e-01 -5.08274714e-02 9.44239537e-03 7.82558443e+01] [-5.08264362e-02 9.98707440e-01 3.49726128e-04 -1.70483321e+02] [-9.44796620e-03 -1.30664828e-04 -9.99955359e-01 -4.01030743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1254.9665599950001 meters 0.01310974449113803 Centerline is valid? [True, True] Translation: X:78.23, Y:-169.84, Z:-5.03 [[-9.98895564e-01 -4.58453690e-02 1.02885871e-02 7.82278521e+01] [ 4.58449861e-02 -9.98948529e-01 -2.73180246e-04 -1.69837377e+02] [ 1.02902930e-02 1.98801597e-04 9.99947034e-01 -5.03405798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.026559995 meters 0.01362788029998203 Centerline is valid? [True, True] Translation: X:78.19, Y:-170.48, Z:-4.01 [[-9.98153102e-01 -5.98367361e-02 1.04857291e-02 7.81861082e+01] [-5.98354566e-02 9.98208159e-01 4.35971133e-04 -1.70482198e+02] [-1.04930274e-02 -1.92252450e-04 -9.99944928e-01 -4.00860781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.086559995 meters 0.01359709691697877 Centerline is valid? [True, True] Translation: X:78.16, Y:-169.84, Z:-5.03 [[-9.98957801e-01 -4.44012405e-02 1.05755318e-02 7.81578220e+01] [ 4.44008638e-02 -9.99013759e-01 -2.70522178e-04 -1.69840936e+02] [ 1.05771133e-02 1.99322506e-04 9.99944041e-01 -5.03335365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.146559995 meters 0.014103823723930627 Centerline is valid? [True, True] Translation: X:78.12, Y:-170.48, Z:-4.01 [[-9.97836146e-01 -6.48818759e-02 1.06474693e-02 7.81168531e+01] [-6.48803316e-02 9.97892931e-01 4.90754264e-04 -1.70484220e+02] [-1.06568754e-02 -2.01118999e-04 -9.99943194e-01 -4.00870717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.2065599950001 meters 0.013904618148229792 Centerline is valid? [True, True] Translation: X:78.09, Y:-169.85, Z:-5.03 [[-9.99167482e-01 -3.93262271e-02 1.08531438e-02 7.80933293e+01] [ 3.93262712e-02 -9.99226401e-01 -2.09439568e-04 -1.69845709e+02] [ 1.08529843e-02 2.17548470e-04 9.99941081e-01 -5.03494639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.266559995 meters 0.013987178152921052 Centerline is valid? [True, True] Translation: X:78.06, Y:-170.49, Z:-4.01 [[-9.97554032e-01 -6.91516530e-02 1.01981716e-02 7.80580125e+01] [-6.91499758e-02 9.97606141e-01 5.17400646e-04 -1.70486741e+02] [-1.02095377e-02 -1.89068220e-04 -9.99947864e-01 -4.00767474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.326559995 meters 0.01410357871689815 Centerline is valid? [True, True] Translation: X:78.02, Y:-169.85, Z:-5.04 [[-9.99343831e-01 -3.48531903e-02 9.85711987e-03 7.80240486e+01] [ 3.48530696e-02 -9.99392430e-01 -1.84078521e-04 -1.69850370e+02] [ 9.85754670e-03 1.59593150e-04 9.99951401e-01 -5.03570304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.386559995 meters 0.014386843412598297 Centerline is valid? [True, True] Translation: X:77.99, Y:-170.49, Z:-4.01 [[-9.97239941e-01 -7.36225109e-02 9.60341764e-03 7.79884289e+01] [-7.36208118e-02 9.97286165e-01 5.30801418e-04 -1.70489044e+02] [-9.61643448e-03 -1.77675028e-04 -9.99953745e-01 -4.00604131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.4465599950001 meters 0.014604993269156891 Centerline is valid? [True, True] Translation: X:77.98, Y:-170.46, Z:-4.01 [[-9.89516728e-01 -1.44146515e-01 8.85596874e-03 7.79844426e+01] [-1.44142219e-01 9.89556343e-01 1.12478169e-03 -1.70461721e+02] [-8.92561340e-03 -1.63528686e-04 -9.99960153e-01 -4.00595873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.506559995 meters 0.013465467584365103 Centerline is valid? [True, True] Translation: X:77.97, Y:-170.44, Z:-4.01 [[-9.76819841e-01 -2.13876908e-01 8.92561412e-03 7.79721759e+01] [-2.13869505e-01 9.76860605e-01 1.78694328e-03 -1.70438748e+02] [-9.10126672e-03 -1.63395026e-04 -9.99958569e-01 -4.00662908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.566559995 meters 0.013919559190150881 Centerline is valid? [True, True] Translation: X:77.95, Y:-170.41, Z:-4.00 [[-9.59106584e-01 -2.82903528e-01 8.95294890e-03 7.79538071e+01] [-2.82892814e-01 9.59148355e-01 2.46771031e-03 -1.70414735e+02] [-9.28533016e-03 -1.65927701e-04 -9.99956877e-01 -4.00486684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.626559995 meters 0.013487632309659365 Centerline is valid? [True, True] Translation: X:77.78, Y:-169.80, Z:-5.04 [[-9.82962043e-01 1.83588864e-01 8.98617352e-03 7.77761483e+01] [-1.83579737e-01 -9.83003105e-01 1.83730781e-03 -1.69802369e+02] [ 9.17074573e-03 1.56324471e-04 9.99957936e-01 -5.03742039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.6865599950002 meters 0.012986829420492677 Centerline is valid? [True, True] Translation: X:77.84, Y:-170.45, Z:-4.00 [[-9.58225683e-01 -2.85868516e-01 9.09570972e-03 7.78446034e+01] [-2.85857017e-01 9.58268841e-01 2.56772966e-03 -1.70446587e+02] [-9.45016828e-03 -1.39607942e-04 -9.99955337e-01 -4.00483609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.746559995 meters 0.012459818774114461 Centerline is valid? [True, True] Translation: X:77.82, Y:-170.43, Z:-4.01 [[-9.35690515e-01 -3.52714873e-01 8.68777725e-03 7.78192528e+01] [-3.52700891e-01 9.35730839e-01 3.14306347e-03 -1.70427155e+02] [-9.23802633e-03 -1.23252095e-04 -9.99957321e-01 -4.00515380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.806559995 meters 0.011985416156747997 Centerline is valid? [True, True] Translation: X:77.78, Y:-170.42, Z:-4.01 [[-9.07850110e-01 -4.19220298e-01 7.90693092e-03 7.77780311e+01] [-4.19205472e-01 9.07884535e-01 3.52745309e-03 -1.70415465e+02] [-8.65736024e-03 -1.12230030e-04 -9.99962518e-01 -4.00584063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.866559995 meters 0.011902333152633936 Centerline is valid? [True, True] Translation: X:77.72, Y:-170.41, Z:-4.01 [[-8.74616871e-01 -4.84775659e-01 6.15542809e-03 7.77185845e+01] [-4.84764390e-01 8.74638526e-01 3.30675631e-03 -1.70414813e+02] [-6.98680952e-03 -9.17874856e-05 -9.99975588e-01 -4.00713377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.926559995 meters 0.011657821086976949 Centerline is valid? [True, True] Translation: X:77.65, Y:-170.42, Z:-4.01 [[-8.37094692e-01 -5.47049249e-01 3.09765712e-03 7.76529934e+01] [-5.47045705e-01 8.37100422e-01 1.96956846e-03 -1.70422018e+02] [-3.67050103e-03 -4.58447215e-05 -9.99993263e-01 -4.00950626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1255.986559995 meters 0.011506818032621864 Centerline is valid? [True, True] Translation: X:77.58, Y:-170.44, Z:-4.01 [[-7.94769420e-01 -6.06907899e-01 2.09067200e-03 7.75823423e+01] [-6.06905901e-01 7.94772169e-01 1.55767770e-03 -1.70438950e+02] [-2.60697482e-03 -3.08465696e-05 -9.99996601e-01 -4.01038580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.046559995 meters 0.011207650784425977 Centerline is valid? [True, True] Translation: X:77.50, Y:-170.47, Z:-4.01 [[-7.48711262e-01 -6.62891976e-01 2.38206767e-03 7.75025383e+01] [-6.62888749e-01 7.48715051e-01 2.06862946e-03 -1.70470699e+02] [-3.15476778e-03 -3.02396846e-05 -9.99995023e-01 -4.00936437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.106559995 meters 0.01086012763715012 Centerline is valid? [True, True] Translation: X:77.43, Y:-170.50, Z:-4.01 [[-6.98446030e-01 -7.15656520e-01 2.98145207e-03 7.74281571e+01] [-7.15650183e-01 6.98452393e-01 3.01186801e-03 -1.70504590e+02] [-4.23786531e-03 -3.00494675e-05 -9.99991020e-01 -4.00751370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.166559995 meters 0.01063784102321505 Centerline is valid? [True, True] Translation: X:77.35, Y:-170.56, Z:-4.01 [[-6.46225866e-01 -7.63135904e-01 3.96519080e-03 7.73490509e+01] [-7.63121655e-01 6.46238030e-01 4.66342596e-03 -1.70555017e+02] [-6.12128488e-03 -1.22964938e-05 -9.99981265e-01 -4.00603221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.2265599950001 meters 0.010635014370577274 Centerline is valid? [True, True] Translation: X:77.27, Y:-170.61, Z:-4.01 [[-5.89470416e-01 -8.07782144e-01 3.55482299e-03 7.72716296e+01] [-8.07767366e-01 5.89481134e-01 4.88615870e-03 -1.70612486e+02] [-6.04245284e-03 8.77600054e-06 -9.99981744e-01 -4.00534728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.286559995 meters 0.010853761582601007 Centerline is valid? [True, True] Translation: X:77.19, Y:-170.68, Z:-4.01 [[-5.29256217e-01 -8.48456447e-01 3.08444850e-03 7.71943037e+01] [-8.48441733e-01 5.29265205e-01 4.99690673e-03 -1.70682745e+02] [-5.87214900e-03 2.76691290e-05 -9.99982758e-01 -4.00563091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.346559995 meters 0.01130794260872434 Centerline is valid? [True, True] Translation: X:77.12, Y:-170.76, Z:-4.01 [[-4.65961890e-01 -8.84800272e-01 2.82776427e-03 7.71189676e+01] [-8.84783342e-01 4.65970468e-01 5.47363127e-03 -1.70761817e+02] [-6.16072508e-03 4.85448519e-05 -9.99981021e-01 -4.00547268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.406559995 meters 0.01138598676940481 Centerline is valid? [True, True] Translation: X:77.05, Y:-170.85, Z:-4.01 [[-3.97626999e-01 -9.17543964e-01 2.41724123e-03 7.70488740e+01] [-9.17526208e-01 3.97634343e-01 5.70851026e-03 -1.70845424e+02] [-6.19898727e-03 5.19756257e-05 -9.99980785e-01 -4.00513251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.4665599950001 meters 0.011139078072205785 Centerline is valid? [True, True] Translation: X:76.98, Y:-170.93, Z:-4.00 [[-3.26025211e-01 -9.45359144e-01 1.91053377e-03 7.69817960e+01] [-9.45342051e-01 3.26030805e-01 5.68513000e-03 -1.70933727e+02] [-5.99738250e-03 4.73877889e-05 -9.99982015e-01 -4.00461888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.526559995 meters 0.01089196636623436 Centerline is valid? [True, True] Translation: X:76.92, Y:-171.03, Z:-4.00 [[-2.52010738e-01 -9.67723782e-01 1.12715968e-03 7.69205845e+01] [-9.67713540e-01 2.52013257e-01 4.45236138e-03 -1.71032219e+02] [-4.59271518e-03 3.12751935e-05 -9.99989453e-01 -4.00473656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.586559995 meters 0.010628067788580591 Centerline is valid? [True, True] Translation: X:76.87, Y:-171.13, Z:-4.01 [[-1.75336121e-01 -9.84508418e-01 6.48193237e-04 7.68673875e+01] [-9.84501307e-01 1.75337318e-01 3.74189560e-03 -1.71134517e+02] [-3.79758018e-03 1.79423687e-05 -9.99992789e-01 -4.00535564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.646559995 meters 0.010488864321053773 Centerline is valid? [True, True] Translation: X:76.82, Y:-171.24, Z:-4.00 [[-9.52250409e-02 -9.95455667e-01 4.54328053e-04 7.68206180e+01] [-9.95444246e-01 9.52261247e-02 4.76858212e-03 -1.71244703e+02] [-4.79017599e-03 1.83018087e-06 -9.99988527e-01 -4.00481652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.7065599950001 meters 0.010668007726014913 Centerline is valid? [True, True] Translation: X:76.78, Y:-171.36, Z:-4.00 [[-1.53080217e-02 -9.99882820e-01 1.08051011e-04 7.67839414e+01] [-9.99865542e-01 1.53083924e-02 5.87802962e-03 -1.71357094e+02] [-5.87899492e-03 -1.80554777e-05 -9.99982718e-01 -4.00381877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.766559995 meters 0.011071884068405525 Centerline is valid? [True, True] Translation: X:76.75, Y:-171.48, Z:-4.00 [[ 6.70885052e-02 -9.97746937e-01 -4.26734155e-04 7.67546549e+01] [-9.97720113e-01 -6.70898308e-02 7.31643117e-03 -1.71476612e+02] [-7.32857632e-03 -6.50871818e-05 -9.99973144e-01 -4.00253155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.826559995 meters 0.012212725021878767 Centerline is valid? [True, True] Translation: X:76.74, Y:-171.59, Z:-4.00 [[ 1.47209254e-01 -9.89104962e-01 -9.00002170e-04 7.67355332e+01] [-9.89082644e-01 -1.47211979e-01 6.64511597e-03 -1.71589345e+02] [-6.70520828e-03 -8.80460416e-05 -9.99977516e-01 -4.00280156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.886559995 meters 0.012374017993696943 Centerline is valid? [True, True] Translation: X:76.73, Y:-171.71, Z:-4.00 [[ 2.23611657e-01 -9.74677303e-01 -1.40779527e-03 7.67288844e+01] [-9.74655185e-01 -2.23616068e-01 6.56695789e-03 -1.71706412e+02] [-6.71547045e-03 -9.63333744e-05 -9.99977446e-01 -4.00343017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1256.9465599950001 meters 0.012224657982877416 Centerline is valid? [True, True] Translation: X:76.73, Y:-171.82, Z:-4.00 [[ 2.97803223e-01 -9.54625679e-01 -1.74710116e-03 7.67320532e+01] [-9.54607418e-01 -2.97808334e-01 5.90545781e-03 -1.71820824e+02] [-6.15780296e-03 -9.08686468e-05 -9.99981037e-01 -4.00425575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.006559995 meters 0.012992390242950052 Centerline is valid? [True, True] Translation: X:76.74, Y:-171.93, Z:-4.00 [[ 3.70870080e-01 -9.28682133e-01 -2.20915224e-03 7.67429447e+01] [-9.28664051e-01 -3.70876646e-01 5.79592279e-03 -1.71934934e+02] [-6.20189291e-03 -9.79740832e-05 -9.99980763e-01 -4.00306797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.066559995 meters 0.01314370814445448 Centerline is valid? [True, True] Translation: X:76.76, Y:-172.05, Z:-4.00 [[ 4.41438780e-01 -8.97287649e-01 -2.58419578e-03 7.67629445e+01] [-8.97270919e-01 -4.41446333e-01 5.48020970e-03 -1.72048237e+02] [-6.05810823e-03 -1.00453359e-04 -9.99981645e-01 -4.00230219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.126559995 meters 0.013165190808549549 Centerline is valid? [True, True] Translation: X:76.79, Y:-172.16, Z:-4.00 [[ 5.08932902e-01 -8.60801028e-01 -2.98167553e-03 7.67909571e+01] [-8.60785066e-01 -5.08941626e-01 5.24313491e-03 -1.72157988e+02] [-6.03079472e-03 -1.01822092e-04 -9.99981809e-01 -4.00125214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.1865599950002 meters 0.013552941264761784 Centerline is valid? [True, True] Translation: X:76.83, Y:-172.26, Z:-4.00 [[ 5.73052835e-01 -8.19506601e-01 -4.40220708e-03 7.68284870e+01] [-8.19480638e-01 -5.73069729e-01 6.52451426e-03 -1.72262693e+02] [-7.86965413e-03 -1.31367928e-04 -9.99969025e-01 -3.99819895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.246559995 meters 0.012925597271956586 Centerline is valid? [True, True] Translation: X:76.87, Y:-172.36, Z:-4.00 [[ 6.34035768e-01 -7.73278027e-01 -6.30385159e-03 7.68736236e+01] [-7.73237088e-01 -6.34067081e-01 7.95883104e-03 -1.72361144e+02] [-1.01514539e-02 -1.71811705e-04 -9.99948458e-01 -3.99723119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.306559995 meters 0.01359836738641464 Centerline is valid? [True, True] Translation: X:76.92, Y:-172.46, Z:-4.00 [[ 6.92212330e-01 -7.21656561e-01 -7.34155549e-03 7.69213378e+01] [-7.21612849e-01 -6.92251232e-01 7.94531765e-03 -1.72460987e+02] [-1.08159914e-02 -2.02086070e-04 -9.99941485e-01 -3.99564147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.366559995 meters 0.013743223796065792 Centerline is valid? [True, True] Translation: X:76.97, Y:-172.55, Z:-3.99 [[ 7.44925736e-01 -6.67095132e-01 -8.35062830e-03 7.69737692e+01] [-6.67049989e-01 -7.44972510e-01 7.76351592e-03 -1.72553745e+02] [-1.13999922e-02 -2.12956297e-04 -9.99934995e-01 -3.99471148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.426559995 meters 0.012964796277204498 Centerline is valid? [True, True] Translation: X:77.00, Y:-172.58, Z:-4.00 [[ 7.92857674e-01 -6.09364762e-01 -7.16208299e-03 7.69972314e+01] [-6.09338276e-01 -7.92890009e-01 5.68324295e-03 -1.72580888e+02] [-9.14191204e-03 -1.41871486e-04 -9.99958202e-01 -3.99594904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.486559995 meters 0.011733333765721209 Centerline is valid? [True, True] Translation: X:77.02, Y:-172.61, Z:-4.00 [[ 8.35174778e-01 -5.49958866e-01 -5.32319349e-03 7.70232168e+01] [-5.49947188e-01 -8.35191739e-01 3.58454288e-03 -1.72606040e+02] [-6.41723836e-03 -6.62445108e-05 -9.99979407e-01 -3.99883811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.546559995 meters 0.011203355425848934 Centerline is valid? [True, True] Translation: X:77.05, Y:-172.63, Z:-4.00 [[ 8.71010037e-01 -4.91253106e-01 -3.44997723e-03 7.70519027e+01] [-4.91249233e-01 -8.71016869e-01 1.95064357e-03 -1.72626632e+02] [-3.96324808e-03 -4.23145846e-06 -9.99992146e-01 -4.00025079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.606559995 meters 0.01192915994004939 Centerline is valid? [True, True] Translation: X:77.08, Y:-172.65, Z:-4.00 [[ 9.02386208e-01 -4.30917277e-01 -3.07101201e-03 7.70801600e+01] [-4.30914897e-01 -9.02391433e-01 1.43252954e-03 -1.72648674e+02] [-3.38855666e-03 3.06499275e-05 -9.99994258e-01 -3.99840534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.666559995 meters 0.01288085622186626 Centerline is valid? [True, True] Translation: X:77.11, Y:-172.67, Z:-4.00 [[ 9.31190062e-01 -3.64515071e-01 -3.71920247e-03 7.71095576e+01] [-3.64512418e-01 -9.31197487e-01 1.39195327e-03 -1.72669278e+02] [-3.97069994e-03 5.95224325e-05 -9.99992115e-01 -3.99728074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.7265599950001 meters 0.01400118585999444 Centerline is valid? [True, True] Translation: X:77.14, Y:-172.69, Z:-4.00 [[ 9.55612364e-01 -2.94592383e-01 -4.50977112e-03 7.71396406e+01] [-2.94589548e-01 -9.55623001e-01 1.29553504e-03 -1.72687006e+02] [-4.69129577e-03 9.05021366e-05 -9.99988992e-01 -3.99637385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.786559995 meters 0.014730528169342538 Centerline is valid? [True, True] Translation: X:77.17, Y:-172.70, Z:-4.00 [[ 9.75376788e-01 -2.20478952e-01 -5.39937822e-03 7.71706739e+01] [-2.20476225e-01 -9.75391726e-01 1.10253747e-03 -1.72703299e+02] [-5.50959515e-03 1.15045075e-04 -9.99984816e-01 -3.99578450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.846559995 meters 0.014641517771780464 Centerline is valid? [True, True] Translation: X:77.20, Y:-172.72, Z:-4.00 [[ 9.89801795e-01 -1.42363162e-01 -5.01363891e-03 7.71998754e+01] [-1.42361846e-01 -9.89814488e-01 6.20162297e-04 -1.72718761e+02] [-5.05086070e-03 9.99131346e-05 -9.99987239e-01 -3.99591627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.906559995 meters 0.014087222209968126 Centerline is valid? [True, True] Translation: X:77.23, Y:-172.73, Z:-4.00 [[ 9.98021582e-01 -6.27761257e-02 -3.47566238e-03 7.72301533e+01] [-6.27759625e-02 -9.98027632e-01 1.56149842e-04 -1.72734076e+02] [-3.47860958e-03 6.23471390e-05 -9.99993948e-01 -3.99819666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1257.9665599950001 meters 0.013977853364242001 Centerline is valid? [True, True] Translation: X:77.26, Y:-172.75, Z:-4.00 [[ 9.99862106e-01 1.64189835e-02 -2.48736743e-03 7.72611539e+01] [ 1.64188286e-02 -9.99865199e-01 -8.26613422e-05 -1.72745052e+02] [-2.48838934e-03 4.18102841e-05 -9.99996903e-01 -4.00055872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.026559995 meters 0.013977593830003665 Centerline is valid? [True, True] Translation: X:77.29, Y:-172.75, Z:-4.00 [[ 9.95283056e-01 9.70110698e-02 -6.99977613e-04 7.72924674e+01] [ 9.70110397e-02 -9.95283303e-01 -7.67988019e-05 -1.72752671e+02] [-7.04126365e-04 8.53099028e-06 -9.99999752e-01 -4.00294406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.086559995 meters 0.013099952437576952 Centerline is valid? [True, True] Translation: X:77.32, Y:-172.76, Z:-4.01 [[ 9.83453582e-01 1.81157664e-01 9.76408879e-04 7.73246926e+01] [ 1.81157564e-01 -9.83454066e-01 1.90925382e-04 -1.72760774e+02] [ 9.94840878e-04 -1.08823972e-05 -9.99999505e-01 -4.00504118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.146559995 meters 0.01241343570159762 Centerline is valid? [True, True] Translation: X:77.36, Y:-172.76, Z:-4.00 [[ 9.64906270e-01 2.62594490e-01 -1.57155032e-04 7.73592298e+01] [ 2.62594486e-01 -9.64906283e-01 -4.10297114e-05 -1.72763868e+02] [-1.62414055e-04 -1.67821924e-06 -9.99999987e-01 -4.00414287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.2065599950001 meters 0.012354407932462737 Centerline is valid? [True, True] Translation: X:77.40, Y:-172.77, Z:-4.00 [[ 9.39111555e-01 3.43601999e-01 -2.67466185e-03 7.73967490e+01] [ 3.43600640e-01 -9.39115364e-01 -9.66521609e-04 -1.72770802e+02] [-2.84391480e-03 -1.13439126e-05 -9.99995956e-01 -4.00152211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.266559995 meters 0.012865637389723648 Centerline is valid? [True, True] Translation: X:77.43, Y:-172.77, Z:-4.00 [[ 9.07337459e-01 4.20385545e-01 -3.83781657e-03 7.74334743e+01] [ 4.20381950e-01 -9.07345575e-01 -1.73888291e-03 -1.72773186e+02] [-4.21322712e-03 -3.55952142e-05 -9.99991124e-01 -4.00032749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.326559995 meters 0.012930351724444646 Centerline is valid? [True, True] Translation: X:77.47, Y:-172.77, Z:-4.00 [[ 8.71009673e-01 4.91254595e-01 -3.32761504e-03 7.74684890e+01] [ 4.91251172e-01 -8.71016029e-01 -1.83406732e-03 -1.72765270e+02] [-3.79940004e-03 -3.72044085e-05 -9.99992782e-01 -4.00084701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.386559995 meters 0.013406566456343067 Centerline is valid? [True, True] Translation: X:77.50, Y:-172.76, Z:-4.00 [[ 8.28605947e-01 5.59830131e-01 -1.55221923e-03 7.75034595e+01] [ 5.59829202e-01 -8.28607400e-01 -1.02025734e-03 -1.72755340e+02] [-1.85735114e-03 -2.35863564e-05 -9.99998275e-01 -4.00300273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.4465599950001 meters 0.013350435713673807 Centerline is valid? [True, True] Translation: X:77.54, Y:-172.75, Z:-4.00 [[ 7.81136591e-01 6.24360155e-01 -1.49438270e-04 7.75403160e+01] [ 6.24360145e-01 -7.81136606e-01 -1.13434194e-04 -1.72745842e+02] [-1.87555495e-04 -4.69570010e-06 -9.99999982e-01 -4.00450375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.506559995 meters 0.013821040464081861 Centerline is valid? [True, True] Translation: X:77.57, Y:-172.73, Z:-4.00 [[ 7.29624818e-01 6.83847662e-01 -1.39439601e-05 7.75743999e+01] [ 6.83847662e-01 -7.29624818e-01 -9.74026028e-06 -1.72733018e+02] [-1.68347143e-05 -2.42880893e-06 -1.00000000e+00 -4.00452514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.566559995 meters 0.013565261302256508 Centerline is valid? [True, True] Translation: X:77.61, Y:-172.71, Z:-4.00 [[ 6.74278378e-01 7.38476803e-01 -8.25071062e-04 7.76071962e+01] [ 7.38476283e-01 -6.74278882e-01 -8.77094469e-04 -1.72714926e+02] [-1.20404191e-03 -1.78895749e-05 -9.99999275e-01 -4.00355312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.626559995 meters 0.01359968414963235 Centerline is valid? [True, True] Translation: X:77.64, Y:-172.69, Z:-4.00 [[ 6.14263799e-01 7.89099430e-01 -1.44018881e-03 7.76376301e+01] [ 7.89097385e-01 -6.14265487e-01 -1.79704822e-03 -1.72694292e+02] [-2.30270801e-03 -3.25875510e-05 -9.99997348e-01 -4.00293589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.6865599950002 meters 0.013798604284882693 Centerline is valid? [True, True] Translation: X:77.67, Y:-172.67, Z:-4.00 [[ 5.49743789e-01 8.35325452e-01 -3.62715913e-03 7.76671614e+01] [ 8.35308382e-01 -5.49755747e-01 -5.34092321e-03 -1.72671272e+02] [-6.45546067e-03 -9.36570610e-05 -9.99979159e-01 -3.99966953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.746559995 meters 0.01388060523226281 Centerline is valid? [True, True] Translation: X:77.69, Y:-172.64, Z:-4.00 [[ 4.83474291e-01 8.75349743e-01 -3.92899891e-03 7.76918025e+01] [ 8.75322622e-01 -4.83490244e-01 -6.89146195e-03 -1.72644223e+02] [-7.93207209e-03 -1.07296948e-04 -9.99968535e-01 -3.99835934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.806559995 meters 0.013088630769886459 Centerline is valid? [True, True] Translation: X:77.71, Y:-172.62, Z:-4.00 [[ 4.17356761e-01 9.08732807e-01 -4.24496530e-03 7.77128161e+01] [ 9.08688012e-01 -4.17378338e-01 -9.02324132e-03 -1.72615524e+02] [-9.97147197e-03 -9.14383082e-05 -9.99950280e-01 -3.99784252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.866559995 meters 0.012838642378728915 Centerline is valid? [True, True] Translation: X:77.73, Y:-172.58, Z:-4.00 [[ 3.49802972e-01 9.36815762e-01 -3.75610097e-03 7.77298691e+01] [ 9.36763048e-01 -3.49823135e-01 -9.93811278e-03 -1.72584933e+02] [-1.06241517e-02 -4.21952057e-05 -9.99943561e-01 -3.99778514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.926559995 meters 0.01302651546600509 Centerline is valid? [True, True] Translation: X:77.74, Y:-172.55, Z:-4.00 [[ 2.85348482e-01 9.58419190e-01 -2.98323053e-03 7.77412222e+01] [ 9.58364272e-01 -2.85364068e-01 -1.02601764e-02 -1.72552284e+02] [-1.06848567e-02 6.87041916e-05 -9.99942913e-01 -3.99960384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1258.986559995 meters 0.013917116944598264 Centerline is valid? [True, True] Translation: X:77.75, Y:-172.52, Z:-4.00 [[ 2.16267231e-01 9.76332231e-01 -1.96479926e-03 7.77518148e+01] [ 9.76286317e-01 -2.16276117e-01 -9.46933308e-03 -1.72520149e+02] [-9.67015424e-03 1.29699807e-04 -9.99953235e-01 -4.00118344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.046559995 meters 0.01496171251922495 Centerline is valid? [True, True] Translation: X:77.76, Y:-172.49, Z:-4.00 [[ 1.44958727e-01 9.89436970e-01 -1.20416968e-03 7.77627240e+01] [ 9.89391437e-01 -1.44963610e-01 -9.49401202e-03 -1.72487658e+02] [-9.56828727e-03 1.84844723e-04 -9.99954206e-01 -4.00276725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.106559995 meters 0.016375238411917334 Centerline is valid? [True, True] Translation: X:77.77, Y:-172.46, Z:-4.00 [[ 7.18835468e-02 9.97412943e-01 -4.19652678e-04 7.77699464e+01] [ 9.97374279e-01 -7.18844564e-02 -8.78473878e-03 -1.72455630e+02] [-8.79217867e-03 2.12927393e-04 -9.99961325e-01 -4.00357767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.166559995 meters 0.016343437330399422 Centerline is valid? [True, True] Translation: X:77.78, Y:-172.42, Z:-4.00 [[-6.51106135e-03 9.99978766e-01 2.70144032e-04 7.77792582e+01] [ 9.99940037e-01 6.51318743e-03 -8.80350870e-03 -1.72423451e+02] [-8.80508127e-03 2.12807648e-04 -9.99961212e-01 -4.00418511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.2265599950001 meters 0.01563525126255865 Centerline is valid? [True, True] Translation: X:77.79, Y:-172.39, Z:-4.00 [[-8.84951100e-02 9.96075989e-01 1.11299330e-03 7.77890521e+01] [ 9.96024191e-01 8.85018610e-02 -1.01603315e-02 -1.72390269e+02] [-1.02189643e-02 2.09428598e-04 -9.99947763e-01 -4.00329382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.286559995 meters 0.014771102793901016 Centerline is valid? [True, True] Translation: X:77.80, Y:-172.36, Z:-4.00 [[-1.70804335e-01 9.85302800e-01 2.06686501e-03 7.77951848e+01] [ 9.85242615e-01 1.70816749e-01 -1.08916066e-02 -1.72356304e+02] [-1.10845857e-02 1.76029858e-04 -9.99938549e-01 -4.00306945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.346559995 meters 0.013320487230547236 Centerline is valid? [True, True] Translation: X:77.80, Y:-172.32, Z:-4.00 [[-2.54910387e-01 9.66961313e-01 2.55231943e-03 7.78018343e+01] [ 9.66915911e-01 2.54923152e-01 -9.37055382e-03 -1.72320439e+02] [-9.71160834e-03 7.92267680e-05 -9.99952838e-01 -4.00431316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.406559995 meters 0.012857840548638177 Centerline is valid? [True, True] Translation: X:77.80, Y:-172.28, Z:-4.00 [[-3.34462457e-01 9.42403764e-01 3.16389849e-03 7.78025152e+01] [ 9.42362465e-01 3.34477420e-01 -8.82272631e-03 -1.72284533e+02] [-9.37282309e-03 3.06684576e-05 -9.99956074e-01 -4.00458248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.4665599950001 meters 0.012615122654635545 Centerline is valid? [True, True] Translation: X:77.80, Y:-172.25, Z:-4.00 [[-4.10804747e-01 9.11715258e-01 3.84047549e-03 7.77980922e+01] [ 9.11675287e-01 4.10822698e-01 -8.53712714e-03 -1.72250084e+02] [-9.36118357e-03 -5.82575925e-06 -9.99956183e-01 -4.00446852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.526559995 meters 0.012586813578182142 Centerline is valid? [True, True] Translation: X:77.79, Y:-172.22, Z:-4.01 [[-4.83763147e-01 8.75190564e-01 3.83323135e-03 7.77889866e+01] [ 8.75162588e-01 4.83778333e-01 -6.99779176e-03 -1.72216463e+02] [-7.97883559e-03 -3.05731016e-05 -9.99968168e-01 -4.00650289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.586559995 meters 0.012765553513626323 Centerline is valid? [True, True] Translation: X:77.78, Y:-172.18, Z:-4.01 [[-5.53734593e-01 8.32683406e-01 4.04290839e-03 7.77796280e+01] [ 8.32660493e-01 5.53749349e-01 -6.17752253e-03 -1.72181446e+02] [-7.38267839e-03 -5.43378340e-05 -9.99972746e-01 -4.00644547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.646559995 meters 0.01314255744411065 Centerline is valid? [True, True] Translation: X:77.77, Y:-172.15, Z:-4.01 [[-6.20355560e-01 7.84307684e-01 4.52065509e-03 7.77673930e+01] [ 7.84285874e-01 6.20372026e-01 -5.84953911e-03 -1.72146879e+02] [-7.39232643e-03 -8.33081775e-05 -9.99972673e-01 -4.00664843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.7065599950001 meters 0.013797121881402386 Centerline is valid? [True, True] Translation: X:77.75, Y:-172.11, Z:-4.01 [[-6.82853281e-01 7.30538597e-01 4.97540549e-03 7.77522738e+01] [ 7.30517984e-01 6.82871397e-01 -5.48917416e-03 -1.72113951e+02] [-7.40761569e-03 -1.13677394e-04 -9.99972557e-01 -4.00711423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.766559995 meters 0.015586494799969276 Centerline is valid? [True, True] Translation: X:77.74, Y:-172.08, Z:-4.01 [[-7.42048097e-01 6.70322697e-01 5.66602228e-03 7.77350684e+01] [ 6.70301429e-01 7.42069710e-01 -5.34232311e-03 -1.72083217e+02] [-7.78566394e-03 -1.66317865e-04 -9.99969678e-01 -4.00633255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.826559995 meters 0.016863401557037062 Centerline is valid? [True, True] Translation: X:77.75, Y:-172.06, Z:-4.00 [[-7.87726257e-01 6.15990184e-01 6.59074931e-03 7.77545665e+01] [ 6.15966142e-01 7.87753794e-01 -5.44712383e-03 -1.72060229e+02] [-8.54726259e-03 -2.31164038e-04 -9.99963445e-01 -4.00474315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.886559995 meters 0.018584091999459127 Centerline is valid? [True, True] Translation: X:77.77, Y:-172.04, Z:-4.00 [[-8.31271226e-01 5.55820042e-01 7.22699103e-03 7.77656740e+01] [ 5.55796375e-01 8.31302603e-01 -5.13532184e-03 -1.72036907e+02] [-8.86213125e-03 -2.52109863e-04 -9.99960699e-01 -4.00364123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1259.9465599950001 meters 0.01788009607585595 Centerline is valid? [True, True] Translation: X:77.77, Y:-172.02, Z:-4.00 [[-8.68802512e-01 4.95096577e-01 7.84696755e-03 7.77744455e+01] [ 4.95073595e-01 8.68837907e-01 -4.77771128e-03 -1.72017253e+02] [-9.18317136e-03 -2.66061122e-04 -9.99957798e-01 -4.00379399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.006559995 meters 0.017375653915213268 Centerline is valid? [True, True] Translation: X:77.78, Y:-172.00, Z:-4.00 [[-9.01391776e-01 4.32912658e-01 8.91610218e-03 7.77805297e+01] [ 4.32888343e-01 9.01435827e-01 -4.59694648e-03 -1.71995791e+02] [-1.00273703e-02 -2.83973054e-04 -9.99949684e-01 -4.00320256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.066559995 meters 0.017034959779401573 Centerline is valid? [True, True] Translation: X:77.78, Y:-171.97, Z:-4.00 [[-9.29205523e-01 3.69437819e-01 9.63297813e-03 7.77799450e+01] [ 3.69414829e-01 9.29255411e-01 -4.13092640e-03 -1.71973708e+02] [-1.04776175e-02 -2.79914654e-04 -9.99945069e-01 -4.00261293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.126559995 meters 0.01604978614711345 Centerline is valid? [True, True] Translation: X:78.00, Y:-171.45, Z:-5.04 [[-8.79037634e-01 -4.76654649e-01 9.65317528e-03 7.80014294e+01] [ 4.76629740e-01 -8.79090581e-01 -4.88278300e-03 -1.71454986e+02] [ 1.08134167e-02 3.08840410e-04 9.99941486e-01 -5.04059683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.1865599950002 meters 0.014954428489556424 Centerline is valid? [True, True] Translation: X:77.74, Y:-171.98, Z:-4.00 [[-9.28355737e-01 3.71549572e-01 1.03219244e-02 7.77402706e+01] [ 3.71523798e-01 9.28413088e-01 -4.38245107e-03 -1.71975440e+02] [-1.12113075e-02 -2.33633030e-04 -9.99937124e-01 -4.00226352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.246559995 meters 0.01451690939535367 Centerline is valid? [True, True] Translation: X:77.97, Y:-171.43, Z:-5.04 [[-8.83338456e-01 -4.68633642e-01 9.78167537e-03 7.79735030e+01] [ 4.68607573e-01 -8.83392588e-01 -4.94760801e-03 -1.71429607e+02] [ 1.09596751e-02 2.13354729e-04 9.99939918e-01 -5.04068330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.306559995 meters 0.01380801001119272 Centerline is valid? [True, True] Translation: X:77.70, Y:-171.97, Z:-4.00 [[-9.27894548e-01 3.72704430e-01 1.01546135e-02 7.76972174e+01] [ 3.72680038e-01 9.27950094e-01 -4.26755059e-03 -1.71969833e+02] [-1.10135095e-02 -1.75415188e-04 -9.99939334e-01 -4.00216912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.366559995 meters 0.013310638940137938 Centerline is valid? [True, True] Translation: X:77.95, Y:-171.40, Z:-5.04 [[-8.88739300e-01 -4.58299969e-01 1.01781918e-02 7.79452657e+01] [ 4.58272479e-01 -8.88797558e-01 -5.02354864e-03 -1.71401223e+02] [ 1.13486442e-02 1.99760088e-04 9.99935582e-01 -5.04236340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.426559995 meters 0.0128409082365531 Centerline is valid? [True, True] Translation: X:77.66, Y:-171.97, Z:-4.00 [[-9.26648686e-01 3.75755674e-01 1.13967682e-02 7.76550092e+01] [ 3.75725781e-01 9.26718760e-01 -4.74096726e-03 -1.71972923e+02] [-1.23430443e-02 -1.11151452e-04 -9.99923816e-01 -4.00049935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.486559995 meters 0.01307176221764646 Centerline is valid? [True, True] Translation: X:77.66, Y:-171.95, Z:-4.00 [[-9.51451921e-01 3.07569108e-01 1.18527220e-02 7.76612224e+01] [ 3.07543492e-01 9.51525736e-01 -3.97170475e-03 -1.71947729e+02] [-1.24997437e-02 -1.33658610e-04 -9.99921866e-01 -4.00054218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.546559995 meters 0.013923201701463113 Centerline is valid? [True, True] Translation: X:77.87, Y:-171.34, Z:-5.04 [[-9.18919219e-01 -3.94290118e-01 1.10802688e-02 7.78700315e+01] [ 3.94262721e-01 -9.18986014e-01 -4.64894771e-03 -1.71336076e+02] [ 1.20156462e-02 9.65295302e-05 9.99927805e-01 -5.04232340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.606559995 meters 0.014879082607348415 Centerline is valid? [True, True] Translation: X:77.61, Y:-171.93, Z:-4.00 [[-9.54548250e-01 2.97890354e-01 9.94862818e-03 7.76126339e+01] [ 2.97872204e-01 9.54600076e-01 -3.29322931e-03 -1.71925023e+02] [-1.04779825e-02 -1.80126472e-04 -9.99945088e-01 -4.00124027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.666559995 meters 0.01427737739903758 Centerline is valid? [True, True] Translation: X:77.82, Y:-171.32, Z:-5.04 [[-9.19974221e-01 -3.91896342e-01 8.04302129e-03 7.78179352e+01] [ 3.91881779e-01 -9.20009378e-01 -3.37868334e-03 -1.71320546e+02] [ 8.72374865e-03 4.36119159e-05 9.99961947e-01 -5.03962282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.7265599950001 meters 0.013317198862909977 Centerline is valid? [True, True] Translation: X:77.58, Y:-171.92, Z:-4.01 [[-9.54542654e-01 2.98022880e-01 5.53937860e-03 7.75767596e+01] [ 2.98017385e-01 9.54558724e-01 -1.81147020e-03 -1.71920465e+02] [-5.82752173e-03 -7.82944482e-05 -9.99983017e-01 -4.00612284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.786559995 meters 0.01337779169859556 Centerline is valid? [True, True] Translation: X:77.58, Y:-171.89, Z:-4.01 [[-9.73169985e-01 2.30036910e-01 4.81660310e-03 7.75847025e+01] [ 2.30033764e-01 9.73181903e-01 -1.20488989e-03 -1.71894901e+02] [-4.96460012e-03 -6.45813357e-05 -9.99987674e-01 -4.00607756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.846559995 meters 0.013241434013789508 Centerline is valid? [True, True] Translation: X:77.74, Y:-171.27, Z:-5.04 [[-9.47510747e-01 -3.19700594e-01 3.86196662e-03 7.77440980e+01] [ 3.19697927e-01 -9.47518617e-01 -1.30584811e-03 -1.71267302e+02] [ 4.07676569e-03 -2.64239707e-06 9.99991690e-01 -5.03704779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.906559995 meters 0.013792722926275855 Centerline is valid? [True, True] Translation: X:77.54, Y:-171.88, Z:-4.00 [[-9.74356244e-01 2.24981506e-01 3.63754720e-03 7.75357843e+01] [ 2.24979730e-01 9.74363032e-01 -8.95690533e-04 -1.71880891e+02] [-3.74580533e-03 -5.43472760e-05 -9.99992983e-01 -4.00478272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1260.9665599950001 meters 0.014054182834421126 Centerline is valid? [True, True] Translation: X:77.69, Y:-171.26, Z:-5.04 [[-9.48192507e-01 -3.17675530e-01 3.63689147e-03 7.76923960e+01] [ 3.17673434e-01 -9.48199480e-01 -1.15546054e-03 -1.71258323e+02] [ 3.81556014e-03 5.97447757e-05 9.99992719e-01 -5.03900957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.026559995 meters 0.014596143535400499 Centerline is valid? [True, True] Translation: X:77.49, Y:-171.87, Z:-4.00 [[-9.75622206e-01 2.19409642e-01 4.55200404e-03 7.74944878e+01] [ 2.19406887e-01 9.75632822e-01 -1.10226553e-03 -1.71868490e+02] [-4.68293223e-03 -7.66536954e-05 -9.99989032e-01 -4.00250425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.086559995 meters 0.015015586760374056 Centerline is valid? [True, True] Translation: X:77.50, Y:-171.84, Z:-4.00 [[-9.88820339e-01 1.49029592e-01 4.95156403e-03 7.74967792e+01] [ 1.49027290e-01 9.88832733e-01 -8.32711379e-04 -1.71840709e+02] [-5.02036722e-03 -8.54837800e-05 -9.99987394e-01 -4.00130519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.146559995 meters 0.01495262135510087 Centerline is valid? [True, True] Translation: X:77.60, Y:-171.21, Z:-5.04 [[-9.68946829e-01 -2.47200314e-01 5.83496939e-03 7.76029484e+01] [ 2.47196833e-01 -9.68964385e-01 -1.32178921e-03 -1.71214558e+02] [ 5.98062423e-03 1.61642490e-04 9.99982103e-01 -5.04353848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.2065599950001 meters 0.013935468122336267 Centerline is valid? [True, True] Translation: X:77.45, Y:-171.84, Z:-4.00 [[-9.89036023e-01 1.47533308e-01 6.45513740e-03 7.74502766e+01] [ 1.47529530e-01 9.89057083e-01 -1.06023823e-03 -1.71835930e+02] [-6.54091983e-03 -9.62904198e-05 -9.99978603e-01 -3.99949245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.266559995 meters 0.014040184608901022 Centerline is valid? [True, True] Translation: X:77.56, Y:-171.21, Z:-5.04 [[-9.70833481e-01 -2.39679058e-01 6.02502023e-03 7.75564359e+01] [ 2.39674888e-01 -9.70852174e-01 -1.41562414e-03 -1.71206175e+02] [ 6.18869945e-03 6.97107351e-05 9.99980847e-01 -5.04483540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.326559995 meters 0.012707563342965406 Centerline is valid? [True, True] Translation: X:77.40, Y:-171.83, Z:-4.00 [[-9.88723388e-01 1.49670037e-01 4.99411844e-03 7.74042797e+01] [ 1.49667899e-01 9.88736000e-01 -8.01186671e-04 -1.71833207e+02] [-5.05777833e-03 -4.46927857e-05 -9.99987208e-01 -4.00006310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.386559995 meters 0.01253010382455665 Centerline is valid? [True, True] Translation: X:77.40, Y:-171.81, Z:-4.00 [[-9.96739837e-01 8.04652865e-02 5.91907262e-03 7.74010956e+01] [ 8.04636033e-02 9.96757411e-01 -5.22334340e-04 -1.71806802e+02] [-5.94190928e-03 -4.43615336e-05 -9.99982346e-01 -3.99928796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.4465599950001 meters 0.012601620636260991 Centerline is valid? [True, True] Translation: X:77.40, Y:-171.78, Z:-4.00 [[-9.99893911e-01 1.15124399e-02 8.92361745e-03 7.74032309e+01] [ 1.15115517e-02 9.99933729e-01 -1.50891726e-04 -1.71780107e+02] [-8.92476320e-03 -4.81510345e-05 -9.99960172e-01 -3.99586696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.506559995 meters 0.012551286334263346 Centerline is valid? [True, True] Translation: X:77.40, Y:-171.75, Z:-3.99 [[-9.98255241e-01 -5.80097352e-02 1.10156455e-02 7.73994139e+01] [-5.80066683e-02 9.98316017e-01 5.97973594e-04 -1.71753982e+02] [-1.10317836e-02 -4.20506210e-05 -9.99939147e-01 -3.99431624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.566559995 meters 0.012525720383014369 Centerline is valid? [True, True] Translation: X:77.37, Y:-171.10, Z:-5.05 [[-9.99839894e-01 -1.36880197e-02 1.15249958e-02 7.73699179e+01] [ 1.36879729e-02 -9.99906312e-01 -8.29435023e-05 -1.71102876e+02] [ 1.15250514e-02 7.48236076e-05 9.99933582e-01 -5.04914713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.626559995 meters 0.01259680763228489 Centerline is valid? [True, True] Translation: X:77.33, Y:-171.76, Z:-3.99 [[-9.98237366e-01 -5.83715058e-02 1.07204830e-02 7.73316493e+01] [-5.83680916e-02 9.98294930e-01 6.31340101e-04 -1.71758019e+02] [-1.07390561e-02 4.49314560e-06 -9.99942335e-01 -3.99397829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.6865599950002 meters 0.012336187571551227 Centerline is valid? [True, True] Translation: X:77.33, Y:-171.73, Z:-4.00 [[-9.91402162e-01 -1.30496628e-01 9.61158653e-03 7.73255895e+01] [-1.30490573e-01 9.91448753e-01 1.25709763e-03 -1.71729038e+02] [-9.69344249e-03 -7.93212449e-06 -9.99953018e-01 -3.99697541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.746559995 meters 0.012571871210993074 Centerline is valid? [True, True] Translation: X:77.31, Y:-171.70, Z:-4.00 [[-9.79214845e-01 -2.02633012e-01 8.84028681e-03 7.73123267e+01] [-2.02624983e-01 9.79254748e-01 1.80405979e-03 -1.71701218e+02] [-9.02245490e-03 -2.47008394e-05 -9.99959297e-01 -3.99672565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.806559995 meters 0.012508948040338943 Centerline is valid? [True, True] Translation: X:77.29, Y:-171.67, Z:-4.00 [[-9.61560985e-01 -2.74495809e-01 7.24730065e-03 7.72929347e+01] [-2.74488335e-01 9.61588295e-01 2.02598813e-03 -1.71674188e+02] [-7.52504472e-03 -4.11883535e-05 -9.99971686e-01 -3.99766420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.866559995 meters 0.012776268169963738 Centerline is valid? [True, True] Translation: X:77.26, Y:-171.65, Z:-4.00 [[-9.38527925e-01 -3.45146070e-01 6.28680664e-03 7.72647414e+01] [-3.45138705e-01 9.38548980e-01 2.25541881e-03 -1.71651841e+02] [-6.67892489e-03 -5.30467663e-05 -9.99977694e-01 -3.99809238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.926559995 meters 0.01295271314633223 Centerline is valid? [True, True] Translation: X:77.23, Y:-171.64, Z:-4.00 [[-9.09882996e-01 -4.14829022e-01 5.46035875e-03 7.72259537e+01] [-4.14821995e-01 9.09899378e-01 2.41548602e-03 -1.71635552e+02] [-5.97039073e-03 -6.72672515e-05 -9.99982175e-01 -3.99902132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1261.986559995 meters 0.01482448785550691 Centerline is valid? [True, True] Translation: X:77.17, Y:-171.62, Z:-4.00 [[-8.74015949e-01 -4.85848269e-01 6.89790129e-03 7.71690811e+01] [-4.85834392e-01 8.74043157e-01 3.67478672e-03 -1.71624835e+02] [-7.81445218e-03 -1.39415479e-04 -9.99969457e-01 -3.99637732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.046559995 meters 0.016347630843116478 Centerline is valid? [True, True] Translation: X:77.10, Y:-171.63, Z:-3.99 [[-8.34173046e-01 -5.51445360e-01 7.95885598e-03 7.70980897e+01] [-5.51422501e-01 8.34210990e-01 5.02495671e-03 -1.71628908e+02] [-9.41035419e-03 -1.97008820e-04 -9.99955702e-01 -3.99401011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.106559995 meters 0.016863422802895826 Centerline is valid? [True, True] Translation: X:77.03, Y:-171.64, Z:-3.99 [[-7.90491963e-01 -6.12418602e-01 8.11862434e-03 7.70264732e+01] [-6.12389170e-01 7.90533621e-01 6.00823443e-03 -1.71643047e+02] [-1.00976000e-02 -2.22296584e-04 -9.99948993e-01 -3.99312989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.166559995 meters 0.015143275003972115 Centerline is valid? [True, True] Translation: X:76.96, Y:-171.67, Z:-3.99 [[-7.42902264e-01 -6.69355704e-01 7.69201951e-03 7.69556474e+01] [-6.69322886e-01 7.42942052e-01 6.63190473e-03 -1.71667668e+02] [-1.01538280e-02 -2.21587659e-04 -9.99948424e-01 -3.99425655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.2265599950001 meters 0.01637222513233479 Centerline is valid? [True, True] Translation: X:76.88, Y:-171.70, Z:-3.99 [[-6.92574260e-01 -7.21312052e-01 7.05820009e-03 7.68781074e+01] [-7.21277419e-01 6.92610198e-01 7.07103311e-03 -1.71699881e+02] [-9.98900276e-03 -1.93704822e-04 -9.99950090e-01 -3.99258370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.286559995 meters 0.013956387964553093 Centerline is valid? [True, True] Translation: X:76.80, Y:-171.75, Z:-3.99 [[-6.39154110e-01 -7.69049194e-01 6.73499904e-03 7.68047031e+01] [-7.69009180e-01 6.39189573e-01 7.84668910e-03 -1.71748759e+02] [-1.03394311e-02 -1.64032505e-04 -9.99946533e-01 -3.99390089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.346559995 meters 0.012928357810793023 Centerline is valid? [True, True] Translation: X:76.73, Y:-171.81, Z:-3.99 [[-5.83868083e-01 -8.11816770e-01 7.18287380e-03 7.67323241e+01] [-8.11757924e-01 5.83912251e-01 9.77531679e-03 -1.71807737e+02] [-1.21299341e-02 -1.23259249e-04 -9.99926422e-01 -3.99279635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.406559995 meters 0.012709431613329505 Centerline is valid? [True, True] Translation: X:76.66, Y:-171.88, Z:-3.99 [[-5.23632090e-01 -8.51913370e-01 7.28318292e-03 7.66586598e+01] [-8.51833435e-01 5.23682730e-01 1.16703702e-02 -1.71876035e+02] [-1.37562215e-02 -9.30783757e-05 -9.99905374e-01 -3.99146646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.4665599950001 meters 0.012628387191782987 Centerline is valid? [True, True] Translation: X:76.59, Y:-171.95, Z:-3.99 [[-4.59931450e-01 -8.87930638e-01 6.49946738e-03 7.65900200e+01] [-8.87843680e-01 4.59977368e-01 1.24265841e-02 -1.71953068e+02] [-1.40235526e-02 -5.51341985e-05 -9.99901664e-01 -3.99122955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.526559995 meters 0.012427009255486786 Centerline is valid? [True, True] Translation: X:76.52, Y:-172.04, Z:-3.99 [[-3.91082529e-01 -9.20340021e-01 5.35738092e-03 7.65206883e+01] [-9.20255513e-01 3.91119218e-01 1.24718780e-02 -1.72039245e+02] [-1.35737431e-02 -5.26257271e-05 -9.99907871e-01 -3.99199244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.586559995 meters 0.012435468510237321 Centerline is valid? [True, True] Translation: X:76.46, Y:-172.13, Z:-3.99 [[-3.19002324e-01 -9.47744323e-01 4.26807584e-03 7.64582634e+01] [-9.47662089e-01 3.19030869e-01 1.24847952e-02 -1.72127959e+02] [-1.31940418e-02 -6.20149712e-05 -9.99912953e-01 -3.99206860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.646559995 meters 0.01262595541606897 Centerline is valid? [True, True] Translation: X:76.40, Y:-172.23, Z:-3.99 [[-2.42926433e-01 -9.70039967e-01 3.03501336e-03 7.64007151e+01] [-9.69968950e-01 2.42945373e-01 1.17380160e-02 -1.72226707e+02] [-1.21236871e-02 -9.23943733e-05 -9.99926501e-01 -3.99371447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.7065599950001 meters 0.013271593930826657 Centerline is valid? [True, True] Translation: X:76.35, Y:-172.33, Z:-4.00 [[-1.63290516e-01 -9.86576208e-01 1.89549811e-03 7.63467570e+01] [-9.86519051e-01 1.63301461e-01 1.06204635e-02 -1.72331055e+02] [-1.07874342e-02 -1.35724036e-04 -9.99941805e-01 -3.99582126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.766559995 meters 0.013636206893312708 Centerline is valid? [True, True] Translation: X:76.30, Y:-172.45, Z:-4.00 [[-8.58964788e-02 -9.96303512e-01 1.05221095e-03 7.63021681e+01] [-9.96248432e-01 8.59027952e-02 1.04771778e-02 -1.72445083e+02] [-1.05288369e-02 -1.48310827e-04 -9.99944559e-01 -3.99631184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.826559995 meters 0.013567613535005064 Centerline is valid? [True, True] Translation: X:76.27, Y:-172.55, Z:-4.00 [[-8.82165308e-03 -9.99961057e-01 2.52762827e-04 7.62678868e+01] [-9.99904601e-01 8.82384119e-03 1.06267742e-02 -1.72548439e+02] [-1.06285907e-02 -1.58992999e-04 -9.99943502e-01 -3.99722536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.886559995 meters 0.01290729332679184 Centerline is valid? [True, True] Translation: X:76.24, Y:-172.66, Z:-4.00 [[ 6.25136197e-02 -9.98043996e-01 -4.80072867e-04 7.62441762e+01] [-9.98002721e-01 -6.25154006e-02 9.07705952e-03 -1.72657505e+02] [-9.08931669e-03 -8.83258190e-05 -9.99958687e-01 -3.99650018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1262.9465599950001 meters 0.012375235275572707 Centerline is valid? [True, True] Translation: X:76.23, Y:-172.77, Z:-4.00 [[ 1.34600878e-01 -9.90899257e-01 -1.12500396e-03 7.62311875e+01] [-9.90861607e-01 -1.34605571e-01 8.63810358e-03 -1.72770495e+02] [-8.71092222e-03 -4.79730925e-05 -9.99962058e-01 -3.99659938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.006559995 meters 0.012097623750883633 Centerline is valid? [True, True] Translation: X:76.23, Y:-172.89, Z:-4.00 [[ 2.07027736e-01 -9.78333587e-01 -1.70575201e-03 7.62268616e+01] [-9.78299622e-01 -2.07034762e-01 8.15210508e-03 -1.72886005e+02] [-8.32862816e-03 -1.89753061e-05 -9.99965316e-01 -3.99812582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.066559995 meters 0.012051121302060618 Centerline is valid? [True, True] Translation: X:76.23, Y:-173.01, Z:-4.00 [[ 2.79178841e-01 -9.60236971e-01 -2.03352302e-03 7.62307201e+01] [-9.60211491e-01 -2.79186247e-01 6.99509602e-03 -1.73007491e+02] [-7.28468147e-03 -2.70629896e-07 -9.99973466e-01 -3.99935924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.126559995 meters 0.012061168201544854 Centerline is valid? [True, True] Translation: X:76.24, Y:-173.12, Z:-4.00 [[ 3.51499291e-01 -9.36185665e-01 -2.15637963e-03 7.62375667e+01] [-9.36168085e-01 -3.51505905e-01 5.73713591e-03 -1.73116805e+02] [-6.12900457e-03 2.13458277e-06 -9.99981218e-01 -3.99971477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.1865599950002 meters 0.012023686315852192 Centerline is valid? [True, True] Translation: X:76.26, Y:-173.24, Z:-4.00 [[ 4.24050070e-01 -9.05636729e-01 -1.91153927e-03 7.62562783e+01] [-9.05627435e-01 -4.24054379e-01 4.10291764e-03 -1.73235879e+02] [-4.52634951e-03 -8.70011300e-06 -9.99989756e-01 -4.00117299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.246559995 meters 0.012285411190316675 Centerline is valid? [True, True] Translation: X:76.28, Y:-173.35, Z:-4.00 [[ 4.94607726e-01 -8.69114244e-01 -1.90504015e-03 7.62803780e+01] [-8.69107647e-01 -4.94611394e-01 3.38639547e-03 -1.73348181e+02] [-3.88541910e-03 -1.92523981e-05 -9.99992452e-01 -4.00125608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.306559995 meters 0.012681545488623302 Centerline is valid? [True, True] Translation: X:76.31, Y:-173.46, Z:-4.00 [[ 5.63321784e-01 -8.26232467e-01 -2.91174035e-03 7.63122927e+01] [-8.26220969e-01 -5.63329307e-01 4.35919533e-03 -1.73463246e+02] [-5.24197738e-03 -4.98887547e-05 -9.99986260e-01 -3.99952821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.366559995 meters 0.013005645547469455 Centerline is valid? [True, True] Translation: X:76.35, Y:-173.56, Z:-4.00 [[ 6.25716377e-01 -7.80041524e-01 -3.77324780e-03 7.63492586e+01] [-7.80026692e-01 -6.25727750e-01 4.81064260e-03 -1.73564868e+02] [-6.11352684e-03 -6.68638555e-05 -9.99981310e-01 -3.99838260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.426559995 meters 0.012970209332525812 Centerline is valid? [True, True] Translation: X:76.40, Y:-173.66, Z:-4.00 [[ 6.82709406e-01 -7.30674943e-01 -4.68985357e-03 7.63965083e+01] [-7.30656981e-01 -6.82725510e-01 5.12380833e-03 -1.73662242e+02] [-6.94572103e-03 -7.13978902e-05 -9.99975876e-01 -3.99799749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.486559995 meters 0.012303932385347405 Centerline is valid? [True, True] Translation: X:76.45, Y:-173.75, Z:-4.00 [[ 7.32913057e-01 -6.80302638e-01 -5.17411052e-03 7.64484122e+01] [-6.80285309e-01 -7.32931320e-01 4.85578932e-03 -1.73748100e+02] [-7.09567394e-03 -3.90000234e-05 -9.99974825e-01 -3.99891891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.546559995 meters 0.012156256609985983 Centerline is valid? [True, True] Translation: X:76.47, Y:-173.77, Z:-4.00 [[ 7.80452525e-01 -6.25200375e-01 -4.28334406e-03 7.64728482e+01] [-6.25190957e-01 -7.80464279e-01 3.43176403e-03 -1.73774210e+02] [-5.48853719e-03 -4.20934220e-07 -9.99984938e-01 -4.00047948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.606559995 meters 0.012531256643906006 Centerline is valid? [True, True] Translation: X:76.50, Y:-173.80, Z:-4.00 [[ 8.23834969e-01 -5.66817413e-01 -3.73696026e-03 7.64998061e+01] [-5.66811715e-01 -8.23843444e-01 2.54153093e-03 -1.73797039e+02] [-4.51925420e-03 2.43507976e-05 -9.99989788e-01 -4.00235002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.666559995 meters 0.013447141541365799 Centerline is valid? [True, True] Translation: X:76.53, Y:-173.82, Z:-4.00 [[ 8.62525993e-01 -5.05963586e-01 -7.05417975e-03 7.65277206e+01] [-5.05947562e-01 -8.62554833e-01 4.02794378e-03 -1.73819471e+02] [-8.12260972e-03 9.48388425e-05 -9.99967007e-01 -4.00015007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.7265599950001 meters 0.013512393123328251 Centerline is valid? [True, True] Translation: X:76.55, Y:-173.85, Z:-4.00 [[ 8.98958184e-01 -4.37943901e-01 -8.90636202e-03 7.65533661e+01] [-4.37923788e-01 -8.99002293e-01 4.19903712e-03 -1.73845563e+02] [-9.84578258e-03 1.25549014e-04 -9.99951521e-01 -3.99928478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.786559995 meters 0.013550437671219806 Centerline is valid? [True, True] Translation: X:76.58, Y:-173.87, Z:-4.00 [[ 9.30715811e-01 -3.65612746e-01 -9.76729169e-03 7.65810852e+01] [-3.65594021e-01 -9.30767052e-01 3.70233801e-03 -1.73870888e+02] [-1.04446953e-02 1.25038921e-04 -9.99945445e-01 -3.99836649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.846559995 meters 0.013193543026069173 Centerline is valid? [True, True] Translation: X:76.61, Y:-173.89, Z:-4.00 [[ 9.57444058e-01 -2.88498546e-01 -8.33459708e-03 7.66098279e+01] [-2.88488288e-01 -9.57480331e-01 2.43391218e-03 -1.73894019e+02] [-8.68239289e-03 7.40988955e-05 -9.99962305e-01 -3.99963999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.906559995 meters 0.012512663627749757 Centerline is valid? [True, True] Translation: X:76.64, Y:-173.92, Z:-4.00 [[ 9.78071183e-01 -2.08158382e-01 -6.84466204e-03 7.66415720e+01] [-2.08153471e-01 -9.78095132e-01 1.43000571e-03 -1.73917178e+02] [-6.99239830e-03 2.60927889e-05 -9.99975553e-01 -4.00191842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1263.9665599950001 meters 0.012375355087596485 Centerline is valid? [True, True] Translation: X:76.68, Y:-173.94, Z:-4.00 [[ 9.91781868e-01 -1.27790825e-01 -6.18310404e-03 7.66753998e+01] [-1.27788359e-01 -9.91801142e-01 7.93955915e-04 -1.73935521e+02] [-6.23386992e-03 2.69763683e-06 -9.99980569e-01 -4.00261714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.026559995 meters 0.01242719516500535 Centerline is valid? [True, True] Translation: X:76.71, Y:-173.95, Z:-4.00 [[ 9.98839239e-01 -4.78132575e-02 -5.83678237e-03 7.67072050e+01] [-4.78123891e-02 -9.98856292e-01 2.88299730e-04 -1.73948265e+02] [-5.84389135e-03 -8.89457316e-06 -9.99982924e-01 -4.00273558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.086559995 meters 0.012958906901760325 Centerline is valid? [True, True] Translation: X:76.74, Y:-173.96, Z:-4.00 [[ 9.99309964e-01 3.65305996e-02 -6.71652866e-03 7.67400094e+01] [ 3.65301130e-02 -9.99332534e-01 -1.95156654e-04 -1.73963785e+02] [-6.71917480e-03 -5.03335622e-05 -9.99977425e-01 -4.00114857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.146559995 meters 0.013407968482190872 Centerline is valid? [True, True] Translation: X:76.78, Y:-173.97, Z:-4.00 [[ 9.93014935e-01 1.17764393e-01 -7.27229221e-03 7.67750533e+01] [ 1.17761806e-01 -9.93041561e-01 -7.84481064e-04 -1.73970033e+02] [-7.31407234e-03 -7.73968507e-05 -9.99973249e-01 -4.00065655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.2065599950001 meters 0.013841616644169387 Centerline is valid? [True, True] Translation: X:76.81, Y:-173.97, Z:-4.00 [[ 9.80439578e-01 1.96695195e-01 -7.01675313e-03 7.68103721e+01] [ 1.96690793e-01 -9.80464682e-01 -1.31893346e-03 -1.73970544e+02] [-7.13910651e-03 -8.69961701e-05 -9.99974513e-01 -4.00038334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.266559995 meters 0.013551707787648734 Centerline is valid? [True, True] Translation: X:76.85, Y:-173.97, Z:-4.00 [[ 9.61993542e-01 2.72942010e-01 -8.43110817e-03 7.68464100e+01] [ 2.72932498e-01 -9.62030482e-01 -2.28115317e-03 -1.73970745e+02] [-8.73360559e-03 -1.06668804e-04 -9.99961856e-01 -3.99931576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.326559995 meters 0.013211052664302897 Centerline is valid? [True, True] Translation: X:76.88, Y:-173.97, Z:-4.00 [[ 9.37962191e-01 3.46617323e-01 -9.13010795e-03 7.68830956e+01] [ 3.46602041e-01 -9.38006620e-01 -3.25668951e-03 -1.73969358e+02] [-9.69292670e-03 -1.09862416e-04 -9.99953017e-01 -3.99867911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.386559995 meters 0.013259443076245053 Centerline is valid? [True, True] Translation: X:76.92, Y:-173.96, Z:-4.00 [[ 9.08979369e-01 4.16749693e-01 -8.72922220e-03 7.69181624e+01] [ 4.16731374e-01 -9.09021279e-01 -3.90847309e-03 -1.73964619e+02] [-9.56390369e-03 -8.50193514e-05 -9.99954261e-01 -3.99818821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.4465599950001 meters 0.012793383712475074 Centerline is valid? [True, True] Translation: X:76.95, Y:-173.96, Z:-4.00 [[ 8.74756550e-01 4.84505868e-01 -7.41909883e-03 7.69525657e+01] [ 4.84488972e-01 -8.74788009e-01 -4.04661258e-03 -1.73955184e+02] [-8.45074624e-03 -5.46707071e-05 -9.99964290e-01 -4.00038303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.506559995 meters 0.012690345815178389 Centerline is valid? [True, True] Translation: X:76.99, Y:-173.94, Z:-4.00 [[ 8.35733718e-01 5.49105009e-01 -5.73077981e-03 7.69856456e+01] [ 5.49092303e-01 -8.35753366e-01 -3.73556142e-03 -1.73943666e+02] [-6.84073401e-03 -2.47924494e-05 -9.99976602e-01 -4.00039073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.566559995 meters 0.012605012042539806 Centerline is valid? [True, True] Translation: X:77.02, Y:-173.93, Z:-4.00 [[ 7.90690714e-01 6.12194065e-01 -5.15968441e-03 7.70174443e+01] [ 6.12181180e-01 -7.90707548e-01 -3.97188082e-03 -1.73928987e+02] [-6.51136327e-03 -1.81324173e-05 -9.99978801e-01 -4.00106313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.626559995 meters 0.01265478897545006 Centerline is valid? [True, True] Translation: X:77.05, Y:-173.91, Z:-4.00 [[ 7.40017859e-01 6.72564866e-01 -5.48353946e-03 7.70514780e+01] [ 6.72546641e-01 -7.40038175e-01 -4.95133477e-03 -1.73914971e+02] [-7.38812235e-03 -2.38598864e-05 -9.99972707e-01 -4.00069937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.6865599950002 meters 0.012886811848118069 Centerline is valid? [True, True] Translation: X:77.08, Y:-173.90, Z:-4.00 [[ 6.82760331e-01 7.30615711e-01 -6.24607823e-03 7.70844280e+01] [ 7.30585913e-01 -6.82788898e-01 -6.59882688e-03 -1.73900210e+02] [-9.08595946e-03 -5.78795342e-05 -9.99958720e-01 -3.99807079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.746559995 meters 0.013294720166861517 Centerline is valid? [True, True] Translation: X:77.11, Y:-173.88, Z:-4.00 [[ 6.21202833e-01 7.83623989e-01 -6.36275923e-03 7.71146432e+01] [ 7.83584415e-01 -6.21235411e-01 -7.87590238e-03 -1.73879845e+02] [-1.01245174e-02 -9.32261051e-05 -9.99948741e-01 -3.99674863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.806559995 meters 0.013942061092616339 Centerline is valid? [True, True] Translation: X:77.14, Y:-173.86, Z:-4.00 [[ 5.54592077e-01 8.32097745e-01 -6.40077579e-03 7.71435230e+01] [ 8.32045416e-01 -5.54628993e-01 -9.33310075e-03 -1.73856690e+02] [-1.13161079e-02 -1.49672421e-04 -9.99935960e-01 -3.99538789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.866559995 meters 0.014044309916216389 Centerline is valid? [True, True] Translation: X:77.17, Y:-173.83, Z:-4.00 [[ 4.86299055e-01 8.73771389e-01 -6.06532135e-03 7.71694778e+01] [ 8.73707995e-01 -4.86336845e-01 -1.05267451e-02 -1.73830741e+02] [-1.21477579e-02 -1.80173567e-04 -9.99926197e-01 -3.99540317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.926559995 meters 0.014443786624066729 Centerline is valid? [True, True] Translation: X:77.19, Y:-173.80, Z:-4.00 [[ 4.15638960e-01 9.09514933e-01 -5.18090867e-03 7.71907783e+01] [ 9.09449857e-01 -4.15671206e-01 -1.08814705e-02 -1.73802312e+02] [-1.20504145e-02 -1.89013559e-04 -9.99927373e-01 -3.99579142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1264.986559995 meters 0.014261337814325929 Centerline is valid? [True, True] Translation: X:77.21, Y:-173.77, Z:-4.00 [[ 3.43902650e-01 9.38998430e-01 -3.59389584e-03 7.72089404e+01] [ 9.38951625e-01 -3.43921395e-01 -9.37652066e-03 -1.73771297e+02] [-1.00405558e-02 -1.49884044e-04 -9.99949581e-01 -3.99719728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.046559995 meters 0.013830902710298963 Centerline is valid? [True, True] Translation: X:77.22, Y:-173.74, Z:-4.00 [[ 2.71243927e-01 9.62508171e-01 -2.18006322e-03 7.72229724e+01] [ 9.62479978e-01 -2.71252669e-01 -7.36756825e-03 -1.73739128e+02] [-7.68269261e-03 -9.98590600e-05 -9.99970483e-01 -3.99953884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.106559995 meters 0.013474315591294654 Centerline is valid? [True, True] Translation: X:77.23, Y:-173.71, Z:-4.00 [[ 1.97894496e-01 9.80222643e-01 -1.15658955e-03 7.72310944e+01] [ 9.80207529e-01 -1.97897868e-01 -5.44372425e-03 -1.73706760e+02] [-5.56494838e-03 -5.64147175e-05 -9.99984514e-01 -4.00102260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.166559995 meters 0.01298279026522207 Centerline is valid? [True, True] Translation: X:77.24, Y:-173.67, Z:-4.00 [[ 1.22017919e-01 9.92527656e-01 -6.92764210e-04 7.72404558e+01] [ 9.92513719e-01 -1.22019877e-01 -5.26000584e-03 -1.73673292e+02] [-5.30523227e-03 -4.57630134e-05 -9.99985926e-01 -4.00140339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.2265599950001 meters 0.013162688404530639 Centerline is valid? [True, True] Translation: X:77.25, Y:-173.64, Z:-4.00 [[ 4.36509811e-02 9.99046788e-01 -3.29014970e-04 7.72509877e+01] [ 9.99027171e-01 -4.36521858e-02 -6.26091465e-03 -1.73640650e+02] [-6.26930889e-03 -5.53998276e-05 -9.99980346e-01 -4.00029978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.286559995 meters 0.013260120828733341 Centerline is valid? [True, True] Translation: X:77.26, Y:-173.61, Z:-4.00 [[-3.75428294e-02 9.99294995e-01 2.19518237e-04 7.72598667e+01] [ 9.99259335e-01 3.75433443e-02 -8.44264117e-03 -1.73607264e+02] [-8.44493052e-03 -9.76049894e-05 -9.99964336e-01 -3.99948782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.346559995 meters 0.01360808192675446 Centerline is valid? [True, True] Translation: X:77.27, Y:-173.57, Z:-4.00 [[-1.17382214e-01 9.93086391e-01 9.14417963e-04 7.72652619e+01] [ 9.93048065e-01 1.17385718e-01 -8.72548255e-03 -1.73573723e+02] [-8.77249758e-03 -1.16155470e-04 -9.99961514e-01 -3.99855120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.406559995 meters 0.013596543725473226 Centerline is valid? [True, True] Translation: X:77.27, Y:-173.54, Z:-4.00 [[-1.95071574e-01 9.80787568e-01 1.68161327e-03 7.72666141e+01] [ 9.80745410e-01 1.95078782e-01 -9.09444415e-03 -1.73539667e+02] [-9.24776483e-03 -1.24833042e-04 -9.99957231e-01 -3.99810458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.4665599950001 meters 0.01378306092121578 Centerline is valid? [True, True] Translation: X:77.27, Y:-173.51, Z:-4.00 [[-2.70746541e-01 9.62647470e-01 2.48156668e-03 7.72656882e+01] [ 9.62602729e-01 2.70757885e-01 -9.28190420e-03 -1.73506595e+02] [-9.60710535e-03 -1.24280599e-04 -9.99953843e-01 -3.99694540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.526559995 meters 0.013299156911226443 Centerline is valid? [True, True] Translation: X:77.26, Y:-173.48, Z:-4.00 [[-3.42882234e-01 9.39372443e-01 3.34467649e-03 7.72566654e+01] [ 9.39324760e-01 3.42898531e-01 -9.46534787e-03 -1.73475575e+02] [-1.00383716e-02 -1.03762184e-04 -9.99949609e-01 -3.99714958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.586559995 meters 0.012838754991780854 Centerline is valid? [True, True] Translation: X:77.24, Y:-173.45, Z:-4.00 [[-4.11813917e-01 9.11261242e-01 3.49946406e-03 7.72437843e+01] [ 9.11227195e-01 4.11828781e-01 -7.87744511e-03 -1.73446291e+02] [-8.61959044e-03 -5.52347066e-05 -9.99962849e-01 -3.99896343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.646559995 meters 0.012882759698637098 Centerline is valid? [True, True] Translation: X:77.23, Y:-173.42, Z:-4.00 [[-4.80041907e-01 8.77237440e-01 3.77383365e-03 7.72317458e+01] [ 8.77209780e-01 4.80056740e-01 -6.96624909e-03 -1.73417097e+02] [-7.92270879e-03 -3.36477132e-05 -9.99968614e-01 -4.00051323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.7065599950001 meters 0.012718521584221234 Centerline is valid? [True, True] Translation: X:77.22, Y:-173.39, Z:-4.00 [[-5.45684346e-01 8.37981337e-01 3.98408343e-03 7.72182363e+01] [ 8.37958770e-01 5.45698890e-01 -6.14993028e-03 -1.73390279e+02] [-7.32763670e-03 -1.74230326e-05 -9.99973152e-01 -4.00077560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.766559995 meters 0.012754641259175992 Centerline is valid? [True, True] Translation: X:77.20, Y:-173.37, Z:-4.00 [[-6.07634027e-01 7.94202708e-01 4.79044604e-03 7.72002963e+01] [ 7.94178048e-01 6.07652910e-01 -6.25859128e-03 -1.73366977e+02] [-7.88151862e-03 1.53405701e-06 -9.99968940e-01 -4.00004635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.826559995 meters 0.01268297261374467 Centerline is valid? [True, True] Translation: X:77.19, Y:-173.34, Z:-4.00 [[-6.66698630e-01 7.45298252e-01 6.59193038e-03 7.71850714e+01] [ 7.45262105e-01 6.66731217e-01 -7.34022648e-03 -1.73340061e+02] [-9.86570373e-03 1.89969779e-05 -9.99951333e-01 -3.99960423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.886559995 meters 0.012793895524126494 Centerline is valid? [True, True] Translation: X:77.17, Y:-173.31, Z:-4.00 [[-7.22060088e-01 6.91775504e-01 8.71101590e-03 7.71670464e+01] [ 6.91725835e-01 7.22112631e-01 -8.28965798e-03 -1.73314278e+02] [-1.20249169e-02 4.00035783e-05 -9.99927697e-01 -3.99835327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1265.9465599950001 meters 0.012953639896514477 Centerline is valid? [True, True] Translation: X:77.18, Y:-173.29, Z:-4.00 [[-7.68913851e-01 6.39272102e-01 1.01325925e-02 7.71841282e+01] [ 6.39217451e-01 7.68980609e-01 -8.35904465e-03 -1.73294836e+02] [-1.31354712e-02 4.95447462e-05 -9.99913725e-01 -3.99775232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.006559995 meters 0.013188111318493142 Centerline is valid? [True, True] Translation: X:77.19, Y:-173.27, Z:-4.00 [[-8.11574992e-01 5.84104796e-01 1.29468068e-02 7.71945547e+01] [ 5.84032008e-01 8.11678250e-01 -9.22129876e-03 -1.73272925e+02] [-1.58948463e-02 7.75741228e-05 -9.99873666e-01 -3.99538787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.066559995 meters 0.014063453913063417 Centerline is valid? [True, True] Translation: X:77.21, Y:-173.26, Z:-3.99 [[-8.50425421e-01 5.25883938e-01 1.49227104e-02 7.72124263e+01] [ 5.25805048e-01 8.50556332e-01 -9.10917241e-03 -1.73256795e+02] [-1.74829733e-02 9.97646621e-05 -9.99847156e-01 -3.99230202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.126559995 meters 0.013095251461289373 Centerline is valid? [True, True] Translation: X:77.22, Y:-173.23, Z:-4.00 [[-8.86095436e-01 4.63285548e-01 1.41908275e-02 7.72229941e+01] [ 4.63227439e-01 8.86209059e-01 -7.33782542e-03 -1.73234518e+02] [-1.59755483e-02 7.15670574e-05 -9.99872380e-01 -3.99659141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.1865599950002 meters 0.012612069679022878 Centerline is valid? [True, True] Translation: X:77.23, Y:-173.20, Z:-4.00 [[-9.18570049e-01 3.95067833e-01 1.22667121e-02 7.72329638e+01] [ 3.95032579e-01 9.18651951e-01 -5.27771614e-03 -1.73204902e+02] [-1.33538948e-02 -2.20107957e-06 -9.99910833e-01 -3.99862066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.246559995 meters 0.01323133958439744 Centerline is valid? [True, True] Translation: X:77.24, Y:-173.17, Z:-4.00 [[-9.47578435e-01 3.19303649e-01 1.18444227e-02 7.72378827e+01] [ 3.19276983e-01 9.47652448e-01 -4.12860319e-03 -1.73169771e+02] [-1.25426742e-02 -1.30523813e-04 -9.99921329e-01 -3.99891666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.306559995 meters 0.014778045811773813 Centerline is valid? [True, True] Translation: X:77.23, Y:-173.14, Z:-4.00 [[-9.69448702e-01 2.45007746e-01 1.18498214e-02 7.72349938e+01] [ 2.44986814e-01 9.69521099e-01 -3.20938914e-03 -1.73135741e+02] [-1.22749771e-02 -2.08288148e-04 -9.99924638e-01 -3.99859803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.366559995 meters 0.015901601119715843 Centerline is valid? [True, True] Translation: X:77.24, Y:-173.11, Z:-4.00 [[-9.85403163e-01 1.69712441e-01 1.33526721e-02 7.72426614e+01] [ 1.69692562e-01 9.85493577e-01 -2.61619966e-03 -1.73107586e+02] [-1.36029742e-02 -3.12162290e-04 -9.99907427e-01 -3.99834915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.426559995 meters 0.01665811256391248 Centerline is valid? [True, True] Translation: X:77.36, Y:-172.49, Z:-5.05 [[-9.59360724e-01 -2.81878120e-01 1.31044741e-02 7.73629493e+01] [ 2.81856212e-01 -9.59450171e-01 -3.52790804e-03 -1.72490147e+02] [ 1.35675300e-02 3.09041009e-04 9.99907909e-01 -5.04636825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.486559995 meters 0.017343902674395565 Centerline is valid? [True, True] Translation: X:77.19, Y:-173.09, Z:-4.00 [[-9.86614470e-01 1.62522347e-01 1.33556964e-02 7.71924788e+01] [ 1.62502515e-01 9.86704798e-01 -2.56418546e-03 -1.73092137e+02] [-1.35948672e-02 -3.59528222e-04 -9.99907521e-01 -3.99576071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.546559995 meters 0.017073234512996784 Centerline is valid? [True, True] Translation: X:77.19, Y:-173.07, Z:-3.99 [[-9.95562842e-01 9.30648451e-02 1.39126867e-02 7.71920846e+01] [ 9.30507418e-02 9.95659986e-01 -1.65901452e-03 -1.73066271e+02] [-1.40067013e-02 -3.57067390e-04 -9.99901838e-01 -3.99461351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.606559995 meters 0.01641103509541042 Centerline is valid? [True, True] Translation: X:77.19, Y:-173.04, Z:-3.99 [[-9.99584969e-01 2.50530956e-02 1.42208533e-02 7.71916170e+01] [ 2.50459806e-02 9.99686070e-01 -6.78222362e-04 -1.73043623e+02] [-1.42333806e-02 -3.21765661e-04 -9.99898649e-01 -3.99384940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.666559995 meters 0.014424637272463988 Centerline is valid? [True, True] Translation: X:77.22, Y:-172.41, Z:-5.05 [[-9.91288953e-01 -1.31048264e-01 1.31363360e-02 7.72249206e+01] [ 1.31039957e-01 -9.91375961e-01 -1.49489060e-03 -1.72407259e+02] [ 1.32189506e-02 2.39516367e-04 9.99912597e-01 -5.04872630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.7265599950001 meters 0.013559508807967198 Centerline is valid? [True, True] Translation: X:77.14, Y:-173.05, Z:-4.00 [[-9.99435302e-01 3.11300490e-02 1.26490316e-02 7.71387866e+01] [ 3.11255583e-02 9.99515330e-01 -5.51774548e-04 -1.73052563e+02] [-1.26600778e-02 -1.57754791e-04 -9.99919846e-01 -3.99500686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.786559995 meters 0.012967493371324376 Centerline is valid? [True, True] Translation: X:77.15, Y:-173.03, Z:-4.00 [[-9.99387211e-01 -3.30469185e-02 1.15370841e-02 7.71458568e+01] [-3.30454532e-02 9.99453799e-01 3.17665939e-04 -1.73031665e+02] [-1.15412804e-02 -6.37768952e-05 -9.99933395e-01 -3.99581522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.846559995 meters 0.012624281573583803 Centerline is valid? [True, True] Translation: X:77.14, Y:-173.01, Z:-4.00 [[-9.94902177e-01 -1.00159555e-01 1.17354949e-02 7.71411765e+01] [-1.00152812e-01 9.94971388e-01 1.16240214e-03 -1.73007843e+02] [-1.17929074e-02 -1.88663945e-05 -9.99930461e-01 -3.99644458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.906559995 meters 0.01261518290842267 Centerline is valid? [True, True] Translation: X:77.08, Y:-172.34, Z:-5.05 [[-9.99435961e-01 3.10989324e-02 1.26734751e-02 7.70800114e+01] [-3.10954418e-02 -9.99516308e-01 4.72427914e-04 -1.72342260e+02] [ 1.26820370e-02 7.80741384e-05 9.99919577e-01 -5.04767064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1266.9665599950001 meters 0.012756551349928421 Centerline is valid? [True, True] Translation: X:77.06, Y:-173.01, Z:-3.99 [[-9.94536819e-01 -1.03198719e-01 1.57015806e-02 7.70609606e+01] [-1.03185678e-01 9.94660758e-01 1.64059567e-03 -1.73013293e+02] [-1.57870534e-02 1.14545592e-05 -9.99875377e-01 -3.99315272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.026559995 meters 0.013042575567479031 Centerline is valid? [True, True] Translation: X:76.99, Y:-172.35, Z:-5.05 [[-9.99043762e-01 4.01190005e-02 1.73789442e-02 7.69940022e+01] [-4.01113635e-02 -9.99194905e-01 7.87930710e-04 -1.72352491e+02] [ 1.73965635e-02 9.00841128e-05 9.99848664e-01 -5.05177988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.086559995 meters 0.013112541379661068 Centerline is valid? [True, True] Translation: X:76.98, Y:-173.02, Z:-3.99 [[-9.94329403e-01 -1.05010508e-01 1.67878217e-02 7.69780456e+01] [-1.04994301e-01 9.94471110e-01 1.84629188e-03 -1.73020473e+02] [-1.68888837e-02 7.31967000e-05 -9.99857370e-01 -3.99309091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.146559995 meters 0.013051077478496233 Centerline is valid? [True, True] Translation: X:76.97, Y:-172.99, Z:-3.99 [[-9.84491835e-01 -1.74732116e-01 1.56369566e-02 7.69681474e+01] [-1.74708737e-01 9.84616007e-01 2.85943970e-03 -1.72992273e+02] [-1.58960337e-02 8.31821007e-05 -9.99873647e-01 -3.99473159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.2065599950001 meters 0.012972919884196112 Centerline is valid? [True, True] Translation: X:76.95, Y:-172.96, Z:-4.00 [[-9.69232488e-01 -2.45796709e-01 1.31286485e-02 7.69497896e+01] [-2.45773418e-01 9.69321399e-01 3.38407732e-03 -1.72964772e+02] [-1.35576750e-02 5.32848647e-05 -9.99908089e-01 -3.99628026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.266559995 meters 0.012856009610708508 Centerline is valid? [True, True] Translation: X:76.92, Y:-172.94, Z:-4.00 [[-9.48432604e-01 -3.16725096e-01 1.26810390e-02 7.69216045e+01] [-3.16696437e-01 9.48517376e-01 4.26077612e-03 -1.72941644e+02] [-1.33776806e-02 2.50191336e-05 -9.99910515e-01 -3.99661101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.326559995 meters 0.01277328998714863 Centerline is valid? [True, True] Translation: X:76.88, Y:-172.92, Z:-4.00 [[-9.21528469e-01 -3.88117373e-01 1.22550423e-02 7.68816296e+01] [-3.88083508e-01 9.21609952e-01 5.12703548e-03 -1.72923925e+02] [-1.32842604e-02 -3.12706401e-05 -9.99911760e-01 -3.99657183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.386559995 meters 0.013286239270049158 Centerline is valid? [True, True] Translation: X:76.83, Y:-172.91, Z:-4.00 [[-8.87451169e-01 -4.60792131e-01 1.00515794e-02 7.68258165e+01] [-4.60764033e-01 8.87508084e-01 5.08986556e-03 -1.72911729e+02] [-1.12662280e-02 -1.14399127e-04 -9.99936528e-01 -3.99796344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.4465599950001 meters 0.014382955449308336 Centerline is valid? [True, True] Translation: X:76.76, Y:-172.91, Z:-4.00 [[-8.48253287e-01 -5.29529722e-01 8.03958937e-03 7.67600223e+01] [-5.29507581e-01 8.48291372e-01 4.84453052e-03 -1.72912084e+02] [-9.38523720e-03 -1.47634584e-04 -9.99955947e-01 -3.99907753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.506559995 meters 0.014951170869228226 Centerline is valid? [True, True] Translation: X:76.69, Y:-172.92, Z:-4.00 [[-8.04705970e-01 -5.93624767e-01 7.61168838e-03 7.66915133e+01] [-5.93600312e-01 8.04741948e-01 5.39125171e-03 -1.72922252e+02] [-9.32582548e-03 -1.79928165e-04 -9.99956497e-01 -3.99932794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.566559995 meters 0.01606718225902144 Centerline is valid? [True, True] Translation: X:76.61, Y:-172.94, Z:-4.00 [[-7.56519854e-01 -6.53923385e-01 7.86879004e-03 7.66133765e+01] [-6.53891121e-01 7.56560741e-01 6.49971065e-03 -1.72944585e+02] [-1.02035304e-02 -2.28171795e-04 -9.99947917e-01 -3.99775936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.626559995 meters 0.015485634380690541 Centerline is valid? [True, True] Translation: X:76.54, Y:-172.98, Z:-4.00 [[-7.05890149e-01 -7.08273878e-01 8.19827431e-03 7.65409036e+01] [-7.08230157e-01 7.05937711e-01 7.87354538e-03 -1.72975119e+02] [-1.13640975e-02 -2.48406978e-04 -9.99935396e-01 -3.99705633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.6865599950002 meters 0.014422267559346693 Centerline is valid? [True, True] Translation: X:76.46, Y:-173.02, Z:-4.00 [[-6.54651443e-01 -7.55888972e-01 7.95926260e-03 7.64641713e+01] [-7.55836778e-01 6.54699795e-01 8.88501570e-03 -1.73023697e+02] [-1.19270130e-02 -1.99315047e-04 -9.99928851e-01 -3.99662534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.746559995 meters 0.013674811691312202 Centerline is valid? [True, True] Translation: X:76.39, Y:-173.08, Z:-4.00 [[-5.99640897e-01 -8.00235848e-01 7.30635001e-03 7.63912088e+01] [-8.00179327e-01 5.99685391e-01 9.51191089e-03 -1.73077860e+02] [-1.19932834e-02 -1.42659453e-04 -9.99928068e-01 -3.99733651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.806559995 meters 0.013352695002173792 Centerline is valid? [True, True] Translation: X:76.32, Y:-173.14, Z:-4.00 [[-5.39527632e-01 -8.41942297e-01 6.56523250e-03 7.63156149e+01] [-8.41882500e-01 5.39567564e-01 1.00349815e-02 -1.73142783e+02] [-1.19912619e-02 -1.13004539e-04 -9.99928096e-01 -3.99750587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.866559995 meters 0.012899830430682017 Centerline is valid? [True, True] Translation: X:76.25, Y:-173.22, Z:-4.00 [[-4.80364538e-01 -8.77048788e-01 5.94427460e-03 7.62482858e+01] [-8.76982320e-01 4.80401314e-01 1.07975786e-02 -1.73216094e+02] [-1.23256405e-02 -2.62498934e-05 -9.99924036e-01 -3.99805220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.926559995 meters 0.013153594326632788 Centerline is valid? [True, True] Translation: X:76.18, Y:-173.30, Z:-4.00 [[-4.15603141e-01 -9.09529074e-01 5.55807874e-03 7.61820520e+01] [-9.09447014e-01 4.15640305e-01 1.22174177e-02 -1.73297350e+02] [-1.34222581e-02 2.28190439e-05 -9.99909917e-01 -3.99664214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1267.986559995 meters 0.013524399461707576 Centerline is valid? [True, True] Translation: X:76.12, Y:-173.39, Z:-4.00 [[-3.49176143e-01 -9.37043057e-01 5.13135746e-03 7.61193128e+01] [-9.36937968e-01 3.49213833e-01 1.40336085e-02 -1.73394013e+02] [-1.49420364e-02 9.24376628e-05 -9.99888357e-01 -3.99655550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.046559995 meters 0.01382082945296771 Centerline is valid? [True, True] Translation: X:76.06, Y:-173.49, Z:-4.00 [[-2.78013136e-01 -9.60567304e-01 4.37622979e-03 7.60610083e+01] [-9.60441108e-01 2.78047548e-01 1.55704349e-02 -1.73493881e+02] [-1.61732507e-02 1.25674451e-04 -9.99869197e-01 -3.99610145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.106559995 meters 0.013856223283147645 Centerline is valid? [True, True] Translation: X:76.01, Y:-173.59, Z:-4.00 [[-2.02850314e-01 -9.79204379e-01 3.24556558e-03 7.60089314e+01] [-9.79069767e-01 2.02876244e-01 1.62364138e-02 -1.73594488e+02] [-1.65572156e-02 1.15926508e-04 -9.99862913e-01 -3.99597560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.166559995 meters 0.01316308944281625 Centerline is valid? [True, True] Translation: X:75.96, Y:-173.70, Z:-4.00 [[-1.22895415e-01 -9.92417861e-01 1.87222836e-03 7.59612967e+01] [-9.92297744e-01 1.22909669e-01 1.54401982e-02 -1.73703017e+02] [-1.55532435e-02 3.97215974e-05 -9.99879040e-01 -3.99994721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.2265599950001 meters 0.01321661840506403 Centerline is valid? [True, True] Translation: X:75.92, Y:-173.82, Z:-4.00 [[-4.25912397e-02 -9.99092370e-01 6.49892145e-04 7.59211057e+01] [-9.98983491e-01 4.25961925e-02 1.47495409e-02 -1.73821748e+02] [-1.47638367e-02 -2.10302908e-05 -9.99891008e-01 -3.99959698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.286559995 meters 0.013052768815887489 Centerline is valid? [True, True] Translation: X:75.89, Y:-173.94, Z:-4.00 [[ 4.02395558e-02 -9.99189989e-01 -3.79934126e-04 7.58871808e+01] [-9.99121824e-01 -4.02412486e-02 1.16714659e-02 -1.73937529e+02] [-1.16773009e-02 -9.00541262e-05 -9.99931814e-01 -4.00342598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.346559995 meters 0.01333238765118701 Centerline is valid? [True, True] Translation: X:75.86, Y:-174.05, Z:-4.01 [[ 1.19982308e-01 -9.92775445e-01 -1.07787310e-03 7.58649618e+01] [-9.92726682e-01 -1.19987099e-01 9.84025594e-03 -1.74052456e+02] [-9.89849533e-03 -1.10623238e-04 -9.99951003e-01 -4.00506365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.406559995 meters 0.014182865087840007 Centerline is valid? [True, True] Translation: X:75.85, Y:-174.17, Z:-4.01 [[ 1.98817070e-01 -9.80035568e-01 -1.43469204e-03 7.58503844e+01] [-9.80005796e-01 -1.98822214e-01 7.63989166e-03 -1.74170295e+02] [-7.77261421e-03 -1.12934360e-04 -9.99969786e-01 -4.00600432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.4665599950001 meters 0.013978760051613328 Centerline is valid? [True, True] Translation: X:75.85, Y:-174.29, Z:-4.01 [[ 2.74292762e-01 -9.61644324e-01 -1.91715182e-03 7.58474050e+01] [-9.61617808e-01 -2.74299438e-01 7.14208170e-03 -1.74285007e+02] [-7.39401599e-03 -1.15453988e-04 -9.99972657e-01 -4.00670424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.526559995 meters 0.01419476193040065 Centerline is valid? [True, True] Translation: X:75.85, Y:-174.40, Z:-4.01 [[ 3.47996804e-01 -9.37492020e-01 -2.63395047e-03 7.58527401e+01] [-9.37462236e-01 -3.48006747e-01 7.47402024e-03 -1.74404221e+02] [-7.92346687e-03 -1.31706066e-04 -9.99968600e-01 -4.00603393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.586559995 meters 0.014419543260217603 Centerline is valid? [True, True] Translation: X:75.86, Y:-174.52, Z:-4.00 [[ 4.19153737e-01 -9.07905640e-01 -4.18260405e-03 7.58641597e+01] [-9.07856117e-01 -4.19174567e-01 9.48438930e-03 -1.74518906e+02] [-1.03641718e-02 -1.78214550e-04 -9.99946275e-01 -4.00328080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.646559995 meters 0.014392885930420303 Centerline is valid? [True, True] Translation: X:75.88, Y:-174.63, Z:-4.00 [[ 4.85949335e-01 -8.73970317e-01 -5.39703703e-03 7.58841790e+01] [-8.73912263e-01 -4.85979271e-01 1.00749453e-02 -1.74625506e+02] [-1.14280513e-02 -1.79376127e-04 -9.99934682e-01 -4.00164333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.7065599950001 meters 0.013598365570575316 Centerline is valid? [True, True] Translation: X:75.92, Y:-174.73, Z:-4.00 [[ 5.46820346e-01 -8.37221779e-01 -6.87032992e-03 7.59153772e+01] [-8.37152607e-01 -5.46863488e-01 1.07628071e-02 -1.74730276e+02] [-1.27679891e-02 -1.33807314e-04 -9.99918477e-01 -4.00011034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.766559995 meters 0.012780852957144881 Centerline is valid? [True, True] Translation: X:75.96, Y:-174.83, Z:-4.00 [[ 6.03341760e-01 -7.97437097e-01 -8.53209693e-03 7.59589025e+01] [-7.97356227e-01 -6.03402083e-01 1.13566697e-02 -1.74830269e+02] [-1.42045148e-02 -4.88324691e-05 -9.99899110e-01 -3.99989395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.826559995 meters 0.012833969159267775 Centerline is valid? [True, True] Translation: X:76.00, Y:-174.92, Z:-4.00 [[ 6.59552622e-01 -7.51593803e-01 -9.85362276e-03 7.60024727e+01] [-7.51509969e-01 -6.59626224e-01 1.12254682e-02 -1.74921773e+02] [-1.49367003e-02 1.30876757e-06 -9.99888441e-01 -3.99929323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.886559995 meters 0.013053938721164966 Centerline is valid? [True, True] Translation: X:76.06, Y:-175.01, Z:-4.00 [[ 7.13400685e-01 -7.00682177e-01 -1.01955896e-02 7.60561691e+01] [-7.00611150e-01 -7.13473536e-01 9.97646675e-03 -1.75013254e+02] [-1.42646158e-02 2.59255462e-05 -9.99898255e-01 -3.99913454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1268.9465599950001 meters 0.012733824876822357 Centerline is valid? [True, True] Translation: X:76.08, Y:-175.04, Z:-4.00 [[ 7.66900222e-01 -6.41666257e-01 -1.13342208e-02 7.60783603e+01] [-6.41596298e-01 -7.66983973e-01 9.47498888e-03 -1.75042310e+02] [-1.47729463e-02 5.62300920e-06 -9.99890874e-01 -4.00055445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.006559995 meters 0.012603667297967174 Centerline is valid? [True, True] Translation: X:76.10, Y:-175.07, Z:-4.00 [[ 8.16426879e-01 -5.77319189e-01 -1.22353921e-02 7.61007283e+01] [-5.77253652e-01 -8.16518556e-01 8.69879809e-03 -1.75071644e+02] [-1.50124077e-02 -3.90078075e-05 -9.99887307e-01 -3.99995404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.066559995 meters 0.012804435358305439 Centerline is valid? [True, True] Translation: X:76.13, Y:-175.10, Z:-4.00 [[ 8.61016720e-01 -5.08428837e-01 -1.22607483e-02 7.61263562e+01] [-5.08375773e-01 -8.61104006e-01 7.34601543e-03 -1.75096088e+02] [-1.42927055e-02 -9.19747270e-05 -9.99897850e-01 -4.00064909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.126559995 meters 0.013033348385054771 Centerline is valid? [True, True] Translation: X:76.15, Y:-175.12, Z:-4.00 [[ 8.99551563e-01 -4.36658822e-01 -1.16644736e-02 7.61545255e+01] [-4.36620299e-01 -8.99627177e-01 5.80143569e-03 -1.75119970e+02] [-1.30269256e-02 -1.25744578e-04 -9.99915138e-01 -4.00175699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.1865599950002 meters 0.013704940268655298 Centerline is valid? [True, True] Translation: X:76.18, Y:-175.14, Z:-4.00 [[ 9.32632836e-01 -3.60624099e-01 -1.20935157e-02 7.61843565e+01] [-3.60591181e-01 -9.32711222e-01 4.87602147e-03 -1.75141991e+02] [-1.30381687e-02 -1.86722615e-04 -9.99914982e-01 -4.00184155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.246559995 meters 0.014280901027632525 Centerline is valid? [True, True] Translation: X:76.22, Y:-175.16, Z:-4.00 [[ 9.58451123e-01 -2.84975129e-01 -1.26736489e-02 7.62154175e+01] [-2.84947273e-01 -9.58534888e-01 3.99015317e-03 -1.75159013e+02] [-1.32852291e-02 -2.13045084e-04 -9.99911725e-01 -4.00135533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.306559995 meters 0.013932230997337808 Centerline is valid? [True, True] Translation: X:76.25, Y:-175.17, Z:-4.00 [[ 9.77783236e-01 -2.09255187e-01 -1.23373369e-02 7.62487827e+01] [-2.09235915e-01 -9.77861046e-01 2.84712748e-03 -1.75173072e+02] [-1.26599773e-02 -2.02459546e-04 -9.99919839e-01 -4.00239008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.366559995 meters 0.013417719364230135 Centerline is valid? [True, True] Translation: X:76.28, Y:-175.18, Z:-4.00 [[ 9.90926939e-01 -1.33847233e-01 -1.21951050e-02 7.62832496e+01] [-1.33834905e-01 -9.91001961e-01 1.82517911e-03 -1.75184066e+02] [-1.23296681e-02 -1.76488440e-04 -9.99923971e-01 -4.00353088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.426559995 meters 0.012761054500787539 Centerline is valid? [True, True] Translation: X:76.31, Y:-175.19, Z:-4.01 [[ 9.98126279e-01 -6.02927339e-02 -1.04267266e-02 7.63134102e+01] [-6.02883600e-02 -9.98180733e-01 7.33588113e-04 -1.75188461e+02] [-1.04519877e-02 -1.03603325e-04 -9.99945371e-01 -4.00521445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.486559995 meters 0.012447217229836901 Centerline is valid? [True, True] Translation: X:76.34, Y:-175.19, Z:-4.01 [[ 9.99834836e-01 1.52004863e-02 -9.96225239e-03 7.63441029e+01] [ 1.52004341e-02 -9.99884464e-01 -8.09639601e-05 -1.75191016e+02] [-9.96233208e-03 -7.04799731e-05 -9.99950372e-01 -4.00576529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.546559995 meters 0.012300360011304133 Centerline is valid? [True, True] Translation: X:76.37, Y:-175.19, Z:-4.00 [[ 9.95821705e-01 9.07145349e-02 -1.04883474e-02 7.63749698e+01] [ 9.07099865e-02 -9.95876936e-01 -9.09550672e-04 -1.75191595e+02] [-1.05276127e-02 -4.56475496e-05 -9.99944582e-01 -4.00425314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.606559995 meters 0.012433611091066983 Centerline is valid? [True, True] Translation: X:76.41, Y:-175.20, Z:-4.00 [[ 9.85511149e-01 1.69104424e-01 -1.30946212e-02 7.64067367e+01] [ 1.69090392e-01 -9.85598138e-01 -2.17948104e-03 -1.75195256e+02] [-1.32745942e-02 -6.62717654e-05 -9.99911887e-01 -4.00210732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.666559995 meters 0.012764915724804439 Centerline is valid? [True, True] Translation: X:76.44, Y:-175.20, Z:-4.00 [[ 9.68681183e-01 2.47941523e-01 -1.34821131e-02 7.64389170e+01] [ 2.47918959e-01 -9.68774995e-01 -3.34642518e-03 -1.75197785e+02] [-1.38908518e-02 -1.00852358e-04 -9.99903512e-01 -4.00068874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.7265599950001 meters 0.013150270820522942 Centerline is valid? [True, True] Translation: X:76.47, Y:-175.20, Z:-4.00 [[ 9.45194042e-01 3.26235408e-01 -1.33671579e-02 7.64715846e+01] [ 3.26205028e-01 -9.45288547e-01 -4.45461656e-03 -1.75199051e+02] [-1.40890749e-02 -1.49957071e-04 -9.99900733e-01 -4.00185384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.786559995 meters 0.013605002940641181 Centerline is valid? [True, True] Translation: X:76.50, Y:-175.20, Z:-4.00 [[ 9.16292439e-01 4.00323618e-01 -1.22133799e-02 7.65029754e+01] [ 4.00290333e-01 -9.16373819e-01 -5.16456152e-03 -1.75195919e+02] [-1.32595176e-02 -1.56649260e-04 -9.99912077e-01 -4.00236687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.846559995 meters 0.013330676269490508 Centerline is valid? [True, True] Translation: X:76.54, Y:-175.19, Z:-4.00 [[ 8.81857816e-01 4.71391998e-01 -1.07878054e-02 7.65351395e+01] [ 4.71358823e-01 -8.81923784e-01 -5.59456210e-03 -1.75189751e+02] [-1.21512540e-02 -1.51318938e-04 -9.99926159e-01 -4.00444764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.906559995 meters 0.013500436169641198 Centerline is valid? [True, True] Translation: X:76.57, Y:-175.18, Z:-4.01 [[ 8.41579502e-01 5.40050986e-01 -9.42730390e-03 7.65672182e+01] [ 5.40019123e-01 -8.41632289e-01 -5.86837411e-03 -1.75183028e+02] [-1.11035446e-02 -1.52221025e-04 -9.99938342e-01 -4.00635325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1269.9665599950001 meters 0.013756596275115244 Centerline is valid? [True, True] Translation: X:76.60, Y:-175.17, Z:-4.01 [[ 7.96325649e-01 6.04807833e-01 -8.54085667e-03 7.65987560e+01] [ 6.04775093e-01 -7.96371435e-01 -6.29482014e-03 -1.75173120e+02] [-1.06088508e-02 -1.52570657e-04 -9.99943713e-01 -4.00625223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.026559995 meters 0.013988064785740922 Centerline is valid? [True, True] Translation: X:76.63, Y:-175.16, Z:-4.01 [[ 7.46247262e-01 6.65620722e-01 -8.00496776e-03 7.66291031e+01] [ 6.65584669e-01 -7.46290179e-01 -6.92945562e-03 -1.75159791e+02] [-1.05864181e-02 -1.56896538e-04 -9.99943950e-01 -4.00516113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.086559995 meters 0.0137944550408108 Centerline is valid? [True, True] Translation: X:76.66, Y:-175.14, Z:-4.00 [[ 6.92659597e-01 7.21212962e-01 -8.63403873e-03 7.66562330e+01] [ 7.21159934e-01 -6.92713387e-01 -8.74719186e-03 -1.75142742e+02] [-1.22895024e-02 -1.67696408e-04 -9.99924467e-01 -4.00310319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.146559995 meters 0.013708326293631388 Centerline is valid? [True, True] Translation: X:76.68, Y:-175.12, Z:-4.00 [[ 6.35431778e-01 7.72110018e-01 -8.51916220e-03 7.66791432e+01] [ 7.72043918e-01 -6.35488864e-01 -1.01041002e-02 -1.75122599e+02] [-1.32153097e-02 -1.56700996e-04 -9.99912662e-01 -4.00185921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.2065599950001 meters 0.013251558215738922 Centerline is valid? [True, True] Translation: X:76.70, Y:-175.10, Z:-4.00 [[ 5.74909449e-01 8.18174301e-01 -8.36294634e-03 7.67026089e+01] [ 8.18091182e-01 -5.74970256e-01 -1.16628786e-02 -1.75100796e+02] [-1.43507129e-02 -1.36553542e-04 -9.99897014e-01 -4.00130388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.266559995 meters 0.01300975380648878 Centerline is valid? [True, True] Translation: X:76.73, Y:-175.08, Z:-4.00 [[ 5.09721133e-01 8.60304420e-01 -7.78916931e-03 7.67263712e+01] [ 8.60207933e-01 -5.09780627e-01 -1.28850772e-02 -1.75079280e+02] [-1.50558564e-02 -1.32509096e-04 -9.99886645e-01 -4.00096656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.326559995 meters 0.01296238417039885 Centerline is valid? [True, True] Translation: X:76.75, Y:-175.06, Z:-4.00 [[ 4.41018565e-01 8.97472722e-01 -6.73342573e-03 7.67475114e+01] [ 8.97372526e-01 -4.41069946e-01 -1.34108674e-02 -1.75055842e+02] [-1.50057994e-02 -1.27949741e-04 -9.99887399e-01 -4.00029810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.386559995 meters 0.012807887310713903 Centerline is valid? [True, True] Translation: X:76.77, Y:-175.03, Z:-4.00 [[ 3.69739409e-01 9.29123155e-01 -4.78878073e-03 7.67668737e+01] [ 9.29048829e-01 -3.69770405e-01 -1.17525359e-02 -1.75030949e+02] [-1.26903026e-02 -1.03635450e-04 -9.99919470e-01 -4.00209879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.4465599950001 meters 0.012634407129389623 Centerline is valid? [True, True] Translation: X:76.79, Y:-175.01, Z:-4.00 [[ 2.95896482e-01 9.55214643e-01 -3.20278255e-03 7.67853173e+01] [ 9.55161785e-01 -2.95913802e-01 -1.00492340e-02 -1.75005619e+02] [-1.05469231e-02 -8.56424988e-05 -9.99944376e-01 -4.00398108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.506559995 meters 0.012773996023156322 Centerline is valid? [True, True] Translation: X:76.80, Y:-174.98, Z:-4.00 [[ 2.19651745e-01 9.75575939e-01 -2.16770101e-03 7.68013100e+01] [ 9.75532077e-01 -2.19662425e-01 -9.25125713e-03 -1.74979538e+02] [-9.50146632e-03 -8.26071011e-05 -9.99954857e-01 -4.00387366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.566559995 meters 0.013151686041604696 Centerline is valid? [True, True] Translation: X:76.81, Y:-174.95, Z:-4.00 [[ 1.41305680e-01 9.89964271e-01 -1.85655089e-03 7.68144171e+01] [ 9.89889773e-01 -1.41317824e-01 -1.21453759e-02 -1.74950843e+02] [-1.22858519e-02 -1.21570132e-04 -9.99924519e-01 -4.00014434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.626559995 meters 0.013058554932132148 Centerline is valid? [True, True] Translation: X:76.82, Y:-174.92, Z:-4.00 [[ 6.27940168e-02 9.98026059e-01 -9.47115052e-04 7.68242940e+01] [ 9.97942663e-01 -6.28010140e-02 -1.29024633e-02 -1.74921709e+02] [-1.29364744e-02 -1.34969022e-04 -9.99916311e-01 -3.99966795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.6865599950002 meters 0.013993251602787032 Centerline is valid? [True, True] Translation: X:76.83, Y:-174.89, Z:-4.00 [[-1.83649394e-02 9.99831347e-01 8.02755109e-05 7.68335639e+01] [ 9.99710643e-01 1.83639697e-02 -1.55368692e-02 -1.74892768e+02] [-1.55357230e-02 -2.05081378e-04 -9.99879292e-01 -3.99650956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.746559995 meters 0.014266999001911633 Centerline is valid? [True, True] Translation: X:76.84, Y:-174.86, Z:-4.00 [[-9.92992591e-02 9.95056675e-01 1.36772137e-03 7.68407971e+01] [ 9.94922727e-01 9.93083360e-02 -1.63285729e-02 -1.74861877e+02] [-1.63836816e-02 -2.60638115e-04 -9.99865745e-01 -3.99657359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.806559995 meters 0.014256097563829914 Centerline is valid? [True, True] Translation: X:76.84, Y:-174.83, Z:-4.00 [[-1.76840606e-01 9.84236640e-01 2.37427995e-03 7.68427669e+01] [ 9.84129395e-01 1.76856390e-01 -1.45310354e-02 -1.74831079e+02] [-1.47218841e-02 -2.33078412e-04 -9.99891600e-01 -3.99843918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.866559995 meters 0.01338703918708288 Centerline is valid? [True, True] Translation: X:76.84, Y:-174.80, Z:-4.00 [[-2.50750552e-01 9.68047781e-01 2.76648722e-03 7.68423352e+01] [ 9.67981948e-01 2.50765766e-01 -1.12906496e-02 -1.74800270e+02] [-1.16236286e-02 -1.53226929e-04 -9.99932432e-01 -4.00207705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.926559995 meters 0.013047397551034836 Centerline is valid? [True, True] Translation: X:76.84, Y:-174.77, Z:-4.00 [[-3.23329604e-01 9.46282096e-01 2.85702809e-03 7.68397495e+01] [ 9.46242465e-01 3.23342212e-01 -8.66096647e-03 -1.74768917e+02] [-9.11951528e-03 -9.69055514e-05 -9.99958412e-01 -4.00303111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1270.986559995 meters 0.012697776702963978 Centerline is valid? [True, True] Translation: X:76.83, Y:-174.74, Z:-4.00 [[-3.93354485e-01 9.19383156e-01 2.61954745e-03 7.68333637e+01] [ 9.19361925e-01 3.93363205e-01 -6.24825531e-03 -1.74739787e+02] [-6.77497427e-03 -4.94670682e-05 -9.99977048e-01 -4.00497629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.046559995 meters 0.012647295636601727 Centerline is valid? [True, True] Translation: X:76.83, Y:-174.71, Z:-4.00 [[-4.63728288e-01 8.85970583e-01 3.49303263e-03 7.68265029e+01] [ 8.85944609e-01 4.63741440e-01 -6.78420473e-03 -1.74709992e+02] [-7.63046981e-03 -5.13942144e-05 -9.99970886e-01 -4.00389235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.106559995 meters 0.012913364552432766 Centerline is valid? [True, True] Translation: X:76.82, Y:-174.68, Z:-4.00 [[-5.32658236e-01 8.46313768e-01 5.31133747e-03 7.68188072e+01] [ 8.46270213e-01 5.32684710e-01 -8.58644500e-03 -1.74679920e+02] [-1.00960949e-02 -7.88139583e-05 -9.99949030e-01 -4.00256313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.166559995 meters 0.013280767674164614 Centerline is valid? [True, True] Translation: X:76.81, Y:-174.65, Z:-4.00 [[-5.98968154e-01 8.00737919e-01 7.47907844e-03 7.68098461e+01] [ 8.00672883e-01 5.99014833e-01 -1.02061436e-02 -1.74649737e+02] [-1.26525251e-02 -1.24859712e-04 -9.99919946e-01 -4.00052159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.2265599950001 meters 0.013628915485280712 Centerline is valid? [True, True] Translation: X:76.80, Y:-174.62, Z:-4.00 [[-6.60352573e-01 7.50909873e-01 8.29711829e-03 7.67974449e+01] [ 7.50848043e-01 6.60404682e-01 -9.63701883e-03 -1.74622670e+02] [-1.27159884e-02 -1.33955143e-04 -9.99919140e-01 -3.99977702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.286559995 meters 0.013476304369235668 Centerline is valid? [True, True] Translation: X:76.78, Y:-174.60, Z:-4.00 [[-7.16435953e-01 6.97608570e-01 7.86175092e-03 7.67788699e+01] [ 6.97564942e-01 7.16479079e-01 -7.80261532e-03 -1.74598136e+02] [-1.10759514e-02 -1.05992326e-04 -9.99938654e-01 -4.00079528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.346559995 meters 0.013021048139260038 Centerline is valid? [True, True] Translation: X:76.80, Y:-174.58, Z:-4.00 [[-7.63571036e-01 6.45674836e-01 7.95487295e-03 7.67973112e+01] [ 6.45638517e-01 7.63612466e-01 -6.84889957e-03 -1.74581427e+02] [-1.04966022e-02 -9.36489633e-05 -9.99944905e-01 -4.00212903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.406559995 meters 0.013107466499593413 Centerline is valid? [True, True] Translation: X:77.22, Y:-174.10, Z:-5.04 [[-7.06199989e-01 -7.07976225e-01 7.15824418e-03 7.72198161e+01] [ 7.07940784e-01 -7.06236264e-01 -7.08412276e-03 -1.74095218e+02] [ 1.00708021e-02 6.48055799e-05 9.99949286e-01 -5.04152427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.4665599950001 meters 0.01325697834418267 Centerline is valid? [True, True] Translation: X:77.20, Y:-174.12, Z:-5.04 [[-6.55723806e-01 -7.54973101e-01 6.47356685e-03 7.72033092e+01] [ 7.54937797e-01 -6.55755753e-01 -7.30176750e-03 -1.74121741e+02] [ 9.75771675e-03 9.91975161e-05 9.99952388e-01 -5.04177984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.526559995 meters 0.013981882956111339 Centerline is valid? [True, True] Translation: X:77.16, Y:-174.08, Z:-5.04 [[-6.52958473e-01 -7.57358528e-01 7.30027211e-03 7.71619482e+01] [ 7.57313859e-01 -6.52999262e-01 -8.22694145e-03 -1.74080386e+02] [ 1.09978166e-02 1.56746118e-04 9.99939510e-01 -5.04331610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.586559995 meters 0.014796214147856994 Centerline is valid? [True, True] Translation: X:77.12, Y:-174.04, Z:-5.04 [[-6.51005205e-01 -7.59026249e-01 8.44841766e-03 7.71212711e+01] [ 7.58966632e-01 -6.51059986e-01 -9.51555053e-03 -1.74038513e+02] [ 1.27229793e-02 2.17394179e-04 9.99919036e-01 -5.04443187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.646559995 meters 0.01506598392349759 Centerline is valid? [True, True] Translation: X:77.08, Y:-174.00, Z:-5.04 [[-6.49276157e-01 -7.60498581e-01 9.07638175e-03 7.70814590e+01] [ 7.60429994e-01 -6.49339539e-01 -1.02170333e-02 -1.73996161e+02] [ 1.36636929e-02 2.68276796e-04 9.99906611e-01 -5.04490238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.7065599950001 meters 0.015844065571306024 Centerline is valid? [True, True] Translation: X:77.04, Y:-173.95, Z:-5.05 [[-6.48117048e-01 -7.61485728e-01 9.15301768e-03 7.70416601e+01] [ 7.61416156e-01 -6.48181609e-01 -1.02975242e-02 -1.73954197e+02] [ 1.37742354e-02 2.95254562e-04 9.99905087e-01 -5.04513024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.766559995 meters 0.0159647967056822 Centerline is valid? [True, True] Translation: X:77.00, Y:-173.91, Z:-5.04 [[-6.48561194e-01 -7.61115272e-01 8.48059232e-03 7.70036925e+01] [ 7.61055591e-01 -6.48616582e-01 -9.53504590e-03 -1.73910865e+02] [ 1.27579219e-02 2.70141452e-04 9.99918578e-01 -5.04448327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.826559995 meters 0.014575311553905816 Centerline is valid? [True, True] Translation: X:76.97, Y:-173.86, Z:-5.04 [[-6.50967240e-01 -7.59066297e-01 7.74657349e-03 7.69684446e+01] [ 7.59016413e-01 -6.51013296e-01 -8.70475627e-03 -1.73864733e+02] [ 1.16506094e-02 2.13265252e-04 9.99932107e-01 -5.04249824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.886559995 meters 0.01432835693710298 Centerline is valid? [True, True] Translation: X:76.93, Y:-173.82, Z:-5.04 [[-6.51793056e-01 -7.58359347e-01 7.54405089e-03 7.69306822e+01] [ 7.58312046e-01 -6.51836683e-01 -8.47228294e-03 -1.73820811e+02] [ 1.13425241e-02 1.98569475e-04 9.99935652e-01 -5.04217638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1271.9465599950001 meters 0.014329193955294537 Centerline is valid? [True, True] Translation: X:76.89, Y:-173.78, Z:-5.04 [[-6.53301151e-01 -7.57056464e-01 7.94464697e-03 7.68945950e+01] [ 7.57003977e-01 -6.53349428e-01 -8.91645441e-03 -1.73776935e+02] [ 1.19408900e-02 1.88999428e-04 9.99928687e-01 -5.04294293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.006559995 meters 0.014762084210788623 Centerline is valid? [True, True] Translation: X:76.86, Y:-173.73, Z:-5.05 [[-6.54214087e-01 -7.56249959e-01 9.48304905e-03 7.68579178e+01] [ 7.56175192e-01 -6.54282778e-01 -1.06360177e-02 -1.73734377e+02] [ 1.42480836e-02 2.12613840e-04 9.99898468e-01 -5.04608676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.066559995 meters 0.014206239920140104 Centerline is valid? [True, True] Translation: X:76.82, Y:-173.69, Z:-5.05 [[-6.54656506e-01 -7.55848544e-01 1.08552654e-02 7.68203243e+01] [ 7.55750630e-01 -6.54746456e-01 -1.21681258e-02 -1.73690154e+02] [ 1.63047067e-02 2.37930915e-04 9.99867041e-01 -5.04591462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.126559995 meters 0.014762085774710408 Centerline is valid? [True, True] Translation: X:76.78, Y:-173.65, Z:-5.05 [[-6.52861710e-01 -7.57395134e-01 1.11444056e-02 7.67790560e+01] [ 7.57292286e-01 -6.52956757e-01 -1.24846602e-02 -1.73649863e+02] [ 1.67326358e-02 2.88815819e-04 9.99859958e-01 -5.04668313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.1865599950002 meters 0.015213386367016812 Centerline is valid? [True, True] Translation: X:76.74, Y:-173.61, Z:-5.05 [[-6.52325254e-01 -7.57859700e-01 1.09744209e-02 7.67401314e+01] [ 7.57760159e-01 -6.52417493e-01 -1.22864489e-02 -1.73608151e+02] [ 1.64713086e-02 3.01218057e-04 9.99864294e-01 -5.04604166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.246559995 meters 0.015136374764673863 Centerline is valid? [True, True] Translation: X:76.70, Y:-173.56, Z:-5.04 [[-6.53419259e-01 -7.56930091e-01 1.00054593e-02 7.67013849e+01] [ 7.56847337e-01 -6.53495808e-01 -1.11954159e-02 -1.73564600e+02] [ 1.50126729e-02 2.57304910e-04 9.99887270e-01 -5.04429798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.306559995 meters 0.014357129742269593 Centerline is valid? [True, True] Translation: X:76.66, Y:-173.52, Z:-5.04 [[-6.55533225e-01 -7.55108319e-01 9.36047366e-03 7.66639669e+01] [ 7.55035787e-01 -6.55600019e-01 -1.04678137e-02 -1.73520453e+02] [ 1.40410599e-02 2.05492922e-04 9.99901398e-01 -5.04340848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.366559995 meters 0.013666545923208975 Centerline is valid? [True, True] Translation: X:76.63, Y:-173.47, Z:-5.04 [[-6.60185409e-01 -7.51059155e-01 8.08529609e-03 7.66295959e+01] [ 7.51004790e-01 -6.60234909e-01 -9.03717594e-03 -1.73474881e+02] [ 1.21256485e-02 1.05884398e-04 9.99926476e-01 -5.04225091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.426559995 meters 0.012968089859129096 Centerline is valid? [True, True] Translation: X:76.59, Y:-173.43, Z:-5.04 [[-6.63888650e-01 -7.47790559e-01 7.81923883e-03 7.65942421e+01] [ 7.47739544e-01 -6.63934694e-01 -8.73478962e-03 -1.73428178e+02] [ 1.17232571e-02 4.78263837e-05 9.99931279e-01 -5.04050058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.486559995 meters 0.01307361329304441 Centerline is valid? [True, True] Translation: X:76.56, Y:-173.38, Z:-5.04 [[-6.66772299e-01 -7.45224872e-01 7.38851963e-03 7.65584865e+01] [ 7.45179223e-01 -6.66813234e-01 -8.24840268e-03 -1.73383217e+02] [ 1.10736775e-02 5.96489259e-06 9.99938685e-01 -5.04047251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.546559995 meters 0.013022816128621635 Centerline is valid? [True, True] Translation: X:76.52, Y:-173.34, Z:-5.04 [[-6.68924220e-01 -7.43301107e-01 6.62211224e-03 7.65213677e+01] [ 7.43264389e-01 -6.68956997e-01 -7.38813047e-03 -1.73339332e+02] [ 9.92151387e-03 -2.01192050e-05 9.99950780e-01 -5.03943883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.606559995 meters 0.013070158212302632 Centerline is valid? [True, True] Translation: X:76.48, Y:-173.30, Z:-5.04 [[-6.70297977e-01 -7.42071506e-01 5.52291339e-03 7.64829564e+01] [ 7.42045958e-01 -6.70320728e-01 -6.15773710e-03 -1.73298116e+02] [ 8.27160458e-03 -2.92631636e-05 9.99965789e-01 -5.03893753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.666559995 meters 0.013137550929953976 Centerline is valid? [True, True] Translation: X:76.44, Y:-173.25, Z:-5.04 [[-6.72244518e-01 -7.40315954e-01 4.42677454e-03 7.64446436e+01] [ 7.40299521e-01 -6.72259092e-01 -4.93279055e-03 -1.73254339e+02] [ 6.62776297e-03 -3.89023322e-05 9.99978035e-01 -5.03719089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.7265599950001 meters 0.013153806112903711 Centerline is valid? [True, True] Translation: X:76.41, Y:-173.21, Z:-5.04 [[-6.72955210e-01 -7.39672454e-01 3.99328901e-03 7.64057617e+01] [ 7.39659085e-01 -6.72967057e-01 -4.44722957e-03 -1.73210548e+02] [ 5.97684516e-03 -3.91138109e-05 9.99982138e-01 -5.03667934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.786559995 meters 0.013255094199444015 Centerline is valid? [True, True] Translation: X:76.37, Y:-173.17, Z:-5.04 [[-6.72551850e-01 -7.40041542e-01 3.53909039e-03 7.63660013e+01] [ 7.40031059e-01 -6.72561161e-01 -3.93910249e-03 -1.73168052e+02] [ 5.29535422e-03 -3.02138586e-05 9.99985979e-01 -5.03617598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.846559995 meters 0.013387392916515401 Centerline is valid? [True, True] Translation: X:76.32, Y:-173.13, Z:-5.04 [[-6.69777893e-01 -7.42550517e-01 4.03782171e-03 7.63240143e+01] [ 7.42536933e-01 -6.69790064e-01 -4.49149490e-03 -1.73129220e+02] [ 6.03965472e-03 -1.00722504e-05 9.99981761e-01 -5.03859914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.906559995 meters 0.013556524342392873 Centerline is valid? [True, True] Translation: X:76.28, Y:-173.09, Z:-5.04 [[-6.67231583e-01 -7.44837741e-01 4.33060890e-03 7.62838758e+01] [ 7.44822179e-01 -6.67245636e-01 -4.81482224e-03 -1.73090275e+02] [ 6.47584121e-03 1.29320985e-05 9.99979032e-01 -5.03991359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1272.9665599950001 meters 0.013824492353896229 Centerline is valid? [True, True] Translation: X:76.24, Y:-173.05, Z:-5.04 [[-6.65187358e-01 -7.46660863e-01 4.83054631e-03 7.62436604e+01] [ 7.46641573e-01 -6.65204896e-01 -5.36730372e-03 -1.73049891e+02] [ 7.22085869e-03 3.64241191e-05 9.99973929e-01 -5.04062211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.026559995 meters 0.014245749318289837 Centerline is valid? [True, True] Translation: X:76.20, Y:-173.01, Z:-5.04 [[-6.64248799e-01 -7.47491055e-01 5.53670719e-03 7.62047303e+01] [ 7.47465767e-01 -6.64271872e-01 -6.14877918e-03 -1.73009918e+02] [ 8.27403628e-03 5.41799028e-05 9.99965768e-01 -5.04157501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.086559995 meters 0.013956450974104287 Centerline is valid? [True, True] Translation: X:76.17, Y:-172.97, Z:-5.04 [[-6.65160459e-01 -7.46680601e-01 5.44462112e-03 7.61657863e+01] [ 7.46656149e-01 -6.65182740e-01 -6.04301065e-03 -1.72966264e+02] [ 8.13386682e-03 4.56881051e-05 9.99966919e-01 -5.04123547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.146559995 meters 0.013863605877183853 Centerline is valid? [True, True] Translation: X:76.13, Y:-172.92, Z:-5.04 [[-6.66878867e-01 -7.45145102e-01 5.59942700e-03 7.61282978e+01] [ 7.45119215e-01 -6.66902374e-01 -6.21128927e-03 -1.72921334e+02] [ 8.36258294e-03 3.00630989e-05 9.99965033e-01 -5.04039089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.2065599950001 meters 0.013979250320916771 Centerline is valid? [True, True] Translation: X:76.09, Y:-172.88, Z:-5.04 [[-6.67333509e-01 -7.44731591e-01 6.39104906e-03 7.60899129e+01] [ 7.44697886e-01 -6.67364111e-01 -7.08532957e-03 -1.72877965e+02] [ 9.54182553e-03 3.11228752e-05 9.99954475e-01 -5.04077314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.266559995 meters 0.013873096921802492 Centerline is valid? [True, True] Translation: X:76.05, Y:-172.84, Z:-5.04 [[-6.67638143e-01 -7.44454902e-01 6.79780813e-03 7.60514761e+01] [ 7.44416802e-01 -6.67672748e-01 -7.53173441e-03 -1.72835698e+02] [ 1.01457478e-02 3.19294101e-05 9.99948530e-01 -5.04133340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.326559995 meters 0.0136929056259012 Centerline is valid? [True, True] Translation: X:76.01, Y:-172.79, Z:-5.04 [[-6.68142677e-01 -7.44004721e-01 6.50672145e-03 7.60123782e+01] [ 7.43969834e-01 -6.68174359e-01 -7.20505707e-03 -1.72792703e+02] [ 9.70822091e-03 2.67983485e-05 9.99952874e-01 -5.04084485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.386559995 meters 0.013750371224731453 Centerline is valid? [True, True] Translation: X:75.97, Y:-172.75, Z:-5.04 [[-6.68285364e-01 -7.43868895e-01 7.33070591e-03 7.59747211e+01] [ 7.43824657e-01 -6.68325569e-01 -8.11257317e-03 -1.72750388e+02] [ 1.09339890e-02 3.12458905e-05 9.99940222e-01 -5.04186020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.4465599950001 meters 0.013570771266395918 Centerline is valid? [True, True] Translation: X:75.94, Y:-172.71, Z:-5.04 [[-6.69096378e-01 -7.43134492e-01 7.82068608e-03 7.59372782e+01] [ 7.43084150e-01 -6.69142082e-01 -8.64984138e-03 -1.72705640e+02] [ 1.16611456e-02 2.38503376e-05 9.99932006e-01 -5.04137850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.506559995 meters 0.013489498978908587 Centerline is valid? [True, True] Translation: X:75.90, Y:-172.66, Z:-5.04 [[-6.70023633e-01 -7.42297506e-01 7.92110733e-03 7.58995671e+01] [ 7.42245870e-01 -6.70070453e-01 -8.75532941e-03 -1.72662478e+02] [ 1.18067592e-02 1.31315863e-05 9.99930298e-01 -5.04169344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.566559995 meters 0.01354782908007324 Centerline is valid? [True, True] Translation: X:75.86, Y:-172.62, Z:-5.04 [[-6.70746711e-01 -7.41644151e-01 7.92482755e-03 7.58618712e+01] [ 7.41592486e-01 -6.70793525e-01 -8.75394388e-03 -1.72619746e+02] [ 1.18082343e-02 5.31350136e-06 9.99930280e-01 -5.04225718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.626559995 meters 0.013568773372419272 Centerline is valid? [True, True] Translation: X:75.83, Y:-172.57, Z:-5.04 [[-6.72589920e-01 -7.39969610e-01 8.23261907e-03 7.58260077e+01] [ 7.39913797e-01 -6.72640302e-01 -9.08829198e-03 -1.72574913e+02] [ 1.22626513e-02 -2.12651427e-05 9.99924811e-01 -5.04233297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.6865599950002 meters 0.013537401900365963 Centerline is valid? [True, True] Translation: X:75.79, Y:-172.53, Z:-5.04 [[-6.73266793e-01 -7.39348216e-01 8.72018306e-03 7.57884744e+01] [ 7.39285623e-01 -6.73323262e-01 -9.62040995e-03 -1.72531127e+02] [ 1.29843350e-02 -3.03965817e-05 9.99915700e-01 -5.04217590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.746559995 meters 0.013474949603191129 Centerline is valid? [True, True] Translation: X:75.75, Y:-172.49, Z:-5.04 [[-6.72728154e-01 -7.39844730e-01 8.16123862e-03 7.57506355e+01] [ 7.39790014e-01 -6.72777656e-01 -8.99781497e-03 -1.72489939e+02] [ 1.21476850e-02 -1.54806272e-05 9.99926214e-01 -5.04273515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.806559995 meters 0.013199206592711121 Centerline is valid? [True, True] Translation: X:75.71, Y:-172.45, Z:-5.04 [[-6.70873940e-01 -7.41533446e-01 7.50370048e-03 7.57106430e+01] [ 7.41487349e-01 -6.70915902e-01 -8.26818487e-03 -1.72447341e+02] [ 1.11654876e-02 1.69892190e-05 9.99937664e-01 -5.04137362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.866559995 meters 0.013250383869074112 Centerline is valid? [True, True] Translation: X:75.67, Y:-172.40, Z:-5.04 [[-6.70331887e-01 -7.42027641e-01 7.08101532e-03 7.56710970e+01] [ 7.41986666e-01 -6.70369285e-01 -7.79800974e-03 -1.72404604e+02] [ 1.05332340e-02 2.67643651e-05 9.99944524e-01 -5.04117846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.926559995 meters 0.013348943110742037 Centerline is valid? [True, True] Translation: X:75.63, Y:-172.36, Z:-5.04 [[-6.67247392e-01 -7.44805668e-01 6.74057044e-03 7.56302517e+01] [ 7.44768721e-01 -6.67281434e-01 -7.41885693e-03 -1.72363553e+02] [ 1.00234642e-02 6.99530900e-05 9.99949761e-01 -5.04100934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1273.986559995 meters 0.014097369770909167 Centerline is valid? [True, True] Translation: X:75.59, Y:-172.32, Z:-5.04 [[-6.64830150e-01 -7.46964814e-01 6.66614022e-03 7.55893742e+01] [ 7.46928818e-01 -6.64863562e-01 -7.33390916e-03 -1.72323799e+02] [ 9.91024582e-03 1.03328298e-04 9.99950887e-01 -5.04261778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.046559995 meters 0.014293164745956382 Centerline is valid? [True, True] Translation: X:75.55, Y:-172.28, Z:-5.04 [[-6.62542753e-01 -7.48997504e-01 6.31187476e-03 7.55492073e+01] [ 7.48965360e-01 -6.62572806e-01 -6.94022169e-03 -1.72281712e+02] [ 9.38028529e-03 1.29181962e-04 9.99955996e-01 -5.04123559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.106559995 meters 0.014859022425237487 Centerline is valid? [True, True] Translation: X:75.51, Y:-172.24, Z:-5.04 [[-6.60656141e-01 -7.50646689e-01 7.93794292e-03 7.55083951e+01] [ 7.50596027e-01 -6.60703799e-01 -8.72322755e-03 -1.72240448e+02] [ 1.17926909e-02 1.95134558e-04 9.99930445e-01 -5.04367430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.166559995 meters 0.014976251568168612 Centerline is valid? [True, True] Translation: X:75.47, Y:-172.20, Z:-5.04 [[-6.60619767e-01 -7.50676435e-01 8.14946913e-03 7.54698907e+01] [ 7.50623108e-01 -6.60670000e-01 -8.94997452e-03 -1.72197892e+02] [ 1.21026447e-02 2.04649760e-04 9.99926739e-01 -5.04392608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.2265599950001 meters 0.014587009217052522 Centerline is valid? [True, True] Translation: X:75.43, Y:-172.15, Z:-5.04 [[-6.61895962e-01 -7.49557371e-01 7.58170941e-03 7.54326782e+01] [ 7.49511202e-01 -6.61939360e-01 -8.32109933e-03 -1.72154859e+02] [ 1.12557732e-02 1.74874090e-04 9.99936637e-01 -5.04263417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.286559995 meters 0.01395793074362947 Centerline is valid? [True, True] Translation: X:75.40, Y:-172.11, Z:-5.04 [[-6.64698481e-01 -7.47084368e-01 6.39342472e-03 7.53951434e+01] [ 7.47051458e-01 -6.64729218e-01 -7.01322153e-03 -1.72109924e+02] [ 9.48936439e-03 1.14539563e-04 9.99954968e-01 -5.04130852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.346559995 meters 0.013332234624172662 Centerline is valid? [True, True] Translation: X:75.36, Y:-172.06, Z:-5.04 [[-6.68318671e-01 -7.43858008e-01 5.04163776e-03 7.53585538e+01] [ 7.43837474e-01 -6.68337685e-01 -5.52729102e-03 -1.72064210e+02] [ 7.48103619e-03 5.61673083e-05 9.99972015e-01 -5.03987171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.406559995 meters 0.01310180288336683 Centerline is valid? [True, True] Translation: X:75.32, Y:-172.02, Z:-5.04 [[-6.69902211e-01 -7.42437092e-01 4.26527967e-03 7.53219205e+01] [ 7.42422386e-01 -6.69915788e-01 -4.67308567e-03 -1.72021689e+02] [ 6.32685033e-03 3.61286869e-05 9.99979985e-01 -5.03858681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.4665599950001 meters 0.013226743966203922 Centerline is valid? [True, True] Translation: X:75.28, Y:-171.98, Z:-5.04 [[-6.69606099e-01 -7.42706668e-01 3.80485788e-03 7.52824864e+01] [ 7.42694985e-01 -6.69616908e-01 -4.16608282e-03 -1.71980304e+02] [ 5.64197466e-03 3.62144036e-05 9.99984083e-01 -5.03854951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.526559995 meters 0.013619462325637908 Centerline is valid? [True, True] Translation: X:75.24, Y:-171.94, Z:-5.04 [[-6.66529557e-01 -7.45461368e-01 5.06940758e-03 7.52402827e+01] [ 7.45440731e-01 -6.66548830e-01 -5.54735441e-03 -1.71940877e+02] [ 7.51434610e-03 8.14672179e-05 9.99971764e-01 -5.04034452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.586559995 meters 0.014221648179912772 Centerline is valid? [True, True] Translation: X:75.20, Y:-171.90, Z:-5.04 [[-6.64339775e-01 -7.47406021e-01 6.07477844e-03 7.51986166e+01] [ 7.47376503e-01 -6.64367536e-01 -6.64374794e-03 -1.71899777e+02] [ 9.00146280e-03 1.26440654e-04 9.99959478e-01 -5.04236319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.646559995 meters 0.015233358896262133 Centerline is valid? [True, True] Translation: X:75.16, Y:-171.86, Z:-5.04 [[-6.61901484e-01 -7.49554572e-01 7.37347679e-03 7.51569248e+01] [ 7.49511252e-01 -6.61942525e-01 -8.06078892e-03 -1.71860173e+02] [ 1.09228190e-02 1.91055666e-04 9.99940326e-01 -5.04464243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.7065599950001 meters 0.014816583631235223 Centerline is valid? [True, True] Translation: X:75.12, Y:-171.82, Z:-5.04 [[-6.61683683e-01 -7.49745828e-01 7.47646437e-03 7.51175272e+01] [ 7.49701353e-01 -6.61725891e-01 -8.16869119e-03 -1.71816934e+02] [ 1.10718122e-02 2.00025779e-04 9.99938686e-01 -5.04388585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.766559995 meters 0.015020210724880112 Centerline is valid? [True, True] Translation: X:75.08, Y:-171.78, Z:-5.04 [[-6.62353076e-01 -7.49163761e-01 6.48547970e-03 7.50786988e+01] [ 7.49130313e-01 -6.62384806e-01 -7.08121195e-03 -1.71775710e+02] [ 9.60087059e-03 1.68206917e-04 9.99953897e-01 -5.04269161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.826559995 meters 0.014406229883532408 Centerline is valid? [True, True] Translation: X:75.04, Y:-171.73, Z:-5.04 [[-6.63992170e-01 -7.47729602e-01 3.85251326e-03 7.50405802e+01] [ 7.47717789e-01 -6.64003340e-01 -4.20400247e-03 -1.71732021e+02] [ 5.70153877e-03 8.91679729e-05 9.99983742e-01 -5.03866638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.886559995 meters 0.014373808180582755 Centerline is valid? [True, True] Translation: X:75.00, Y:-171.69, Z:-5.04 [[-6.65224829e-01 -7.46638430e-01 2.64209791e-03 7.50024461e+01] [ 7.46632873e-01 -6.65230074e-01 -2.88123546e-03 -1.71691134e+02] [ 3.90884411e-03 5.60077875e-05 9.99992359e-01 -5.03766245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1274.9465599950001 meters 0.013911847508885553 Centerline is valid? [True, True] Translation: X:74.96, Y:-171.65, Z:-5.04 [[-6.66100707e-01 -7.45857328e-01 2.58760577e-03 7.49626109e+01] [ 7.45851998e-01 -6.66105731e-01 -2.82001935e-03 -1.71649775e+02] [ 3.82695113e-03 5.15540510e-05 9.99992676e-01 -5.03872633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.006559995 meters 0.013689565324453052 Centerline is valid? [True, True] Translation: X:74.92, Y:-171.61, Z:-5.04 [[-6.66675322e-01 -7.45336431e-01 4.19761834e-03 7.49232565e+01] [ 7.45322412e-01 -6.66688532e-01 -4.57203917e-03 -1.71606971e+02] [ 6.20621137e-03 8.05133419e-05 9.99980738e-01 -5.04122120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.066559995 meters 0.013710633525962015 Centerline is valid? [True, True] Translation: X:74.89, Y:-171.57, Z:-5.04 [[-6.67705075e-01 -7.44407538e-01 5.22973648e-03 7.48852374e+01] [ 7.44385779e-01 -6.67725549e-01 -5.69242352e-03 -1.71566110e+02] [ 7.72951164e-03 9.20813896e-05 9.99970123e-01 -5.04293791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.126559995 meters 0.013480076744530903 Centerline is valid? [True, True] Translation: X:74.85, Y:-171.52, Z:-5.04 [[-6.68330715e-01 -7.43841265e-01 5.85050011e-03 7.48468398e+01] [ 7.43814046e-01 -6.68356315e-01 -6.36407684e-03 -1.71523311e+02] [ 8.64408166e-03 9.83761352e-05 9.99962634e-01 -5.04346678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.1865599950002 meters 0.013253979407924828 Centerline is valid? [True, True] Translation: X:74.81, Y:-171.48, Z:-5.05 [[-6.69674585e-01 -7.42618614e-01 7.31746561e-03 7.48079353e+01] [ 7.42576010e-01 -6.69714554e-01 -7.95528765e-03 -1.71479836e+02] [ 1.08083579e-02 1.06320468e-04 9.99941582e-01 -5.04507054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.246559995 meters 0.01302725774933397 Centerline is valid? [True, True] Translation: X:74.77, Y:-171.44, Z:-5.05 [[-6.73354073e-01 -7.39277562e-01 7.93592055e-03 7.47714608e+01] [ 7.39227286e-01 -6.73400833e-01 -8.62190810e-03 -1.71436743e+02] [ 1.17180387e-02 6.08520799e-05 9.99931340e-01 -5.04787965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.306559995 meters 0.012763594922011208 Centerline is valid? [True, True] Translation: X:74.74, Y:-171.39, Z:-5.05 [[-6.77290961e-01 -7.35672438e-01 7.93838210e-03 7.47353901e+01] [ 7.35621945e-01 -6.77337481e-01 -8.61915694e-03 -1.71391833e+02] [ 1.17178399e-02 1.97099598e-06 9.99931344e-01 -5.04738215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.366559995 meters 0.012960727168783626 Centerline is valid? [True, True] Translation: X:74.70, Y:-171.35, Z:-5.04 [[-6.82055385e-01 -7.31271096e-01 6.56018631e-03 7.46995920e+01] [ 7.31236448e-01 -6.82086931e-01 -7.11867190e-03 -1.71345863e+02] [ 9.68029635e-03 -5.82811674e-05 9.99953143e-01 -5.04496746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.426559995 meters 0.013738306118016436 Centerline is valid? [True, True] Translation: X:74.66, Y:-171.30, Z:-5.04 [[-6.86393590e-01 -7.27213682e-01 4.90923392e-03 7.46641561e+01] [ 7.27194198e-01 -6.86411141e-01 -5.32396720e-03 -1.71301059e+02] [ 7.24141464e-03 -8.43705325e-05 9.99973777e-01 -5.04335157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.486559995 meters 0.01422882984182945 Centerline is valid? [True, True] Translation: X:74.63, Y:-171.26, Z:-5.04 [[-6.89280274e-01 -7.24483174e-01 4.10286923e-03 7.46261663e+01] [ 7.24469532e-01 -6.89292479e-01 -4.44697536e-03 -1.71257283e+02] [ 6.04983573e-03 -9.28086503e-05 9.99981695e-01 -5.04284501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.546559995 meters 0.01458085298402562 Centerline is valid? [True, True] Translation: X:74.59, Y:-171.21, Z:-5.04 [[-6.90205125e-01 -7.23600226e-01 4.42710435e-03 7.45873984e+01] [ 7.23584341e-01 -6.90219315e-01 -4.79572549e-03 -1.71214641e+02] [ 6.52586097e-03 -1.06650927e-04 9.99978701e-01 -5.04322240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.606559995 meters 0.014239094061966748 Centerline is valid? [True, True] Translation: X:74.55, Y:-171.18, Z:-5.05 [[-6.88466904e-01 -7.25241254e-01 6.20047310e-03 7.45459828e+01] [ 7.25210200e-01 -6.88494814e-01 -6.71250734e-03 -1.71175104e+02] [ 9.13718081e-03 -1.24692806e-04 9.99958247e-01 -5.04563906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.666559995 meters 0.013568076252468416 Centerline is valid? [True, True] Translation: X:74.50, Y:-171.14, Z:-5.05 [[-6.85322461e-01 -7.28197362e-01 7.85663982e-03 7.45031762e+01] [ 7.28147758e-01 -6.85367486e-01 -8.50005629e-03 -1.71136666e+02] [ 1.15744041e-02 -1.04484821e-04 9.99933009e-01 -5.04678770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.7265599950001 meters 0.01337484938817058 Centerline is valid? [True, True] Translation: X:74.46, Y:-171.10, Z:-5.05 [[-6.83827793e-01 -7.29595770e-01 8.34036699e-03 7.44624245e+01] [ 7.29540044e-01 -6.83878649e-01 -9.01769633e-03 -1.71096306e+02] [ 1.22830720e-02 -8.19196912e-05 9.99924557e-01 -5.04636882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.786559995 meters 0.013109491536367304 Centerline is valid? [True, True] Translation: X:74.42, Y:-171.05, Z:-5.05 [[-6.82780978e-01 -7.30579336e-01 7.99815707e-03 7.44211323e+01] [ 7.30528214e-01 -6.82827819e-01 -8.64277777e-03 -1.71054850e+02] [ 1.17755990e-02 -5.82448557e-05 9.99930664e-01 -5.04518683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.846559995 meters 0.012996016138325983 Centerline is valid? [True, True] Translation: X:74.38, Y:-171.02, Z:-5.04 [[-6.81224093e-01 -7.32041048e-01 7.04550780e-03 7.43809839e+01] [ 7.32001510e-01 -6.81260525e-01 -7.60827791e-03 -1.71015896e+02] [ 1.03693981e-02 -2.56198665e-05 9.99946236e-01 -5.04434355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.906559995 meters 0.012877550316789216 Centerline is valid? [True, True] Translation: X:74.34, Y:-170.98, Z:-5.04 [[-6.79679064e-01 -7.33476617e-01 6.95859560e-03 7.43393092e+01] [ 7.33438170e-01 -6.79714684e-01 -7.50989083e-03 -1.70975962e+02] [ 1.02381889e-02 -6.15942192e-07 9.99947588e-01 -5.04390403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1275.9665599950001 meters 0.012854442319458924 Centerline is valid? [True, True] Translation: X:74.30, Y:-170.94, Z:-5.04 [[-6.77505718e-01 -7.35481904e-01 7.23679652e-03 7.42973025e+01] [ 7.35440485e-01 -6.77544366e-01 -7.80547920e-03 -1.70937381e+02] [ 1.06440394e-02 3.39763558e-05 9.99943350e-01 -5.04379850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.026559995 meters 0.012743924669940369 Centerline is valid? [True, True] Translation: X:74.26, Y:-170.90, Z:-5.04 [[-6.76569411e-01 -7.36345052e-01 7.05662640e-03 7.42568151e+01] [ 7.36305767e-01 -6.76606209e-01 -7.60633711e-03 -1.70897329e+02] [ 1.03754459e-02 4.96196917e-05 9.99946172e-01 -5.04226740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.086559995 meters 0.013026327420194142 Centerline is valid? [True, True] Translation: X:74.21, Y:-170.86, Z:-5.04 [[-6.75454164e-01 -7.37361216e-01 7.75302593e-03 7.42149629e+01] [ 7.37313914e-01 -6.75498654e-01 -8.35224203e-03 -1.70856444e+02] [ 1.13957779e-02 7.48572348e-05 9.99935063e-01 -5.04211490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.146559995 meters 0.013254159292104764 Centerline is valid? [True, True] Translation: X:74.17, Y:-170.82, Z:-5.04 [[-6.75050194e-01 -7.37727298e-01 8.10368434e-03 7.41740744e+01] [ 7.37675698e-01 -6.75098827e-01 -8.72572936e-03 -1.70817021e+02] [ 1.19079965e-02 8.75857057e-05 9.99929094e-01 -5.04324568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.2065599950001 meters 0.012970694883190146 Centerline is valid? [True, True] Translation: X:74.13, Y:-170.78, Z:-5.04 [[-6.75263850e-01 -7.37520175e-01 9.09531616e-03 7.41337806e+01] [ 7.37455229e-01 -6.75325094e-01 -9.78791586e-03 -1.70775621e+02] [ 1.33610807e-02 9.79627171e-05 9.99910732e-01 -5.04205089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.266559995 meters 0.012974929215400284 Centerline is valid? [True, True] Translation: X:74.09, Y:-170.74, Z:-5.04 [[-6.75961823e-01 -7.36876487e-01 9.41577636e-03 7.40948586e+01] [ 7.36806914e-01 -6.76027391e-01 -1.01260529e-02 -1.70735460e+02] [ 1.38269730e-02 9.27839614e-05 9.99904399e-01 -5.04295190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.326559995 meters 0.012908072132089193 Centerline is valid? [True, True] Translation: X:74.05, Y:-170.69, Z:-5.04 [[-6.77071921e-01 -7.35843521e-01 1.03888268e-02 7.40543622e+01] [ 7.35758808e-01 -6.77151613e-01 -1.11655612e-02 -1.70694977e+02] [ 1.52509167e-02 8.37828929e-05 9.99883695e-01 -5.04387087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.386559995 meters 0.012829650867829088 Centerline is valid? [True, True] Translation: X:74.01, Y:-170.65, Z:-5.04 [[-6.77412917e-01 -7.35529022e-01 1.04306150e-02 7.40138333e+01] [ 7.35443687e-01 -6.77493211e-01 -1.12040829e-02 -1.70652839e+02] [ 1.53075990e-02 8.13394597e-05 9.99882829e-01 -5.04225580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.4465599950001 meters 0.01288731744235242 Centerline is valid? [True, True] Translation: X:73.97, Y:-170.61, Z:-5.04 [[-6.77454727e-01 -7.35485346e-01 1.07888550e-02 7.39727479e+01] [ 7.35394165e-01 -6.77540625e-01 -1.15811575e-02 -1.70613606e+02] [ 1.58276592e-02 8.83511761e-05 9.99874731e-01 -5.04181508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.506559995 meters 0.012890076416932642 Centerline is valid? [True, True] Translation: X:73.93, Y:-170.57, Z:-5.04 [[-6.77316268e-01 -7.35601421e-01 1.15421734e-02 7.39295717e+01] [ 7.35497197e-01 -6.77414599e-01 -1.23828423e-02 -1.70574360e+02] [ 1.69276732e-02 1.02135611e-04 9.99856712e-01 -5.04258779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.566559995 meters 0.012816622770955032 Centerline is valid? [True, True] Translation: X:73.89, Y:-170.53, Z:-5.04 [[-6.78000306e-01 -7.34966316e-01 1.18363717e-02 7.38878893e+01] [ 7.34856739e-01 -6.78103610e-01 -1.26912640e-02 -1.70533533e+02] [ 1.73539379e-02 9.33566203e-05 9.99849405e-01 -5.04292066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.626559995 meters 0.012643614674003713 Centerline is valid? [True, True] Translation: X:73.85, Y:-170.49, Z:-5.04 [[-6.78841436e-01 -7.34193535e-01 1.15826892e-02 7.38473239e+01] [ 7.34088611e-01 -6.78940239e-01 -1.24121983e-02 -1.70492222e+02] [ 1.69769095e-02 7.68057506e-05 9.99855879e-01 -5.04194874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.6865599950002 meters 0.012417469145448853 Centerline is valid? [True, True] Translation: X:73.81, Y:-170.45, Z:-5.04 [[-6.80739863e-01 -7.32444785e-01 1.08570395e-02 7.38058859e+01] [ 7.32352482e-01 -6.80826435e-01 -1.16278819e-02 -1.70451394e+02] [ 1.59085410e-02 3.56170933e-05 9.99873451e-01 -5.03961351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.746559995 meters 0.01256935049075958 Centerline is valid? [True, True] Translation: X:73.77, Y:-170.41, Z:-5.04 [[-6.82200288e-01 -7.31082868e-01 1.09821403e-02 7.37662842e+01] [ 7.30988361e-01 -6.82288678e-01 -1.17547792e-02 -1.70410953e+02] [ 1.60867077e-02 8.70293121e-06 9.99870601e-01 -5.04010061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.806559995 meters 0.01254416231205439 Centerline is valid? [True, True] Translation: X:73.73, Y:-170.37, Z:-5.04 [[-6.83353413e-01 -7.29997291e-01 1.14920882e-02 7.37255036e+01] [ 7.29893781e-01 -6.83450039e-01 -1.22928073e-02 -1.70371059e+02] [ 1.68279841e-02 -1.23280706e-05 9.99858399e-01 -5.03977510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.866559995 meters 0.012881612427480465 Centerline is valid? [True, True] Translation: X:73.68, Y:-170.33, Z:-5.04 [[-6.83511983e-01 -7.29848565e-01 1.15083313e-02 7.36846260e+01] [ 7.29744878e-01 -6.83608859e-01 -1.23020761e-02 -1.70332211e+02] [ 1.68458498e-02 -1.04706200e-05 9.99858099e-01 -5.04160956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.926559995 meters 0.012444332012247197 Centerline is valid? [True, True] Translation: X:73.64, Y:-170.29, Z:-5.04 [[-6.82972287e-01 -7.30349074e-01 1.17934230e-02 7.36430483e+01] [ 7.30240397e-01 -6.83074103e-01 -1.25989539e-02 -1.70293297e+02] [ 1.72574162e-02 7.29757143e-06 9.99851080e-01 -5.03974569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1276.986559995 meters 0.01225592240828122 Centerline is valid? [True, True] Translation: X:73.60, Y:-170.25, Z:-5.04 [[-6.81816824e-01 -7.31429555e-01 1.16886459e-02 7.35998131e+01] [ 7.31323080e-01 -6.81917007e-01 -1.24798885e-02 -1.70254026e+02] [ 1.70988457e-02 3.91785872e-05 9.99853803e-01 -5.03819279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.046559995 meters 0.012348010252145976 Centerline is valid? [True, True] Translation: X:73.56, Y:-170.21, Z:-5.04 [[-6.81478214e-01 -7.31754462e-01 1.10838425e-02 7.35594852e+01] [ 7.31658859e-01 -6.81568342e-01 -1.18283228e-02 -1.70214545e+02] [ 1.62098241e-02 4.88473203e-05 9.99868611e-01 -5.03815719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.106559995 meters 0.014709785442906428 Centerline is valid? [True, True] Translation: X:73.52, Y:-170.17, Z:-5.04 [[-6.81609230e-01 -7.31622773e-01 1.17036231e-02 7.35174753e+01] [ 7.31516282e-01 -6.81709700e-01 -1.24825591e-02 -1.70174094e+02] [ 1.71109979e-02 5.31633721e-05 9.99853595e-01 -5.03693622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.166559995 meters 0.012303170659142075 Centerline is valid? [True, True] Translation: X:73.47, Y:-170.14, Z:-5.04 [[-6.79684229e-01 -7.33440985e-01 9.67837624e-03 7.34740031e+01] [ 7.33368429e-01 -6.79753128e-01 -1.03166170e-02 -1.70135868e+02] [ 1.41455362e-02 8.57737299e-05 9.99899943e-01 -5.03505849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.2265599950001 meters 0.012536407091436618 Centerline is valid? [True, True] Translation: X:73.43, Y:-170.10, Z:-5.03 [[-6.77849220e-01 -7.35149492e-01 8.69826525e-03 7.34310504e+01] [ 7.35091103e-01 -6.77905017e-01 -9.26599166e-03 -1.70097301e+02] [ 1.27084867e-02 1.13072184e-04 9.99919238e-01 -5.03464815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.286559995 meters 0.013260859147070226 Centerline is valid? [True, True] Translation: X:73.39, Y:-170.06, Z:-5.04 [[-6.75540054e-01 -7.37264700e-01 9.29503327e-03 7.33866719e+01] [ 7.37198298e-01 -6.75603978e-01 -9.89617068e-03 -1.70059432e+02] [ 1.35758588e-02 1.67023026e-04 9.99907830e-01 -5.03559035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.346559995 meters 0.013356091506785864 Centerline is valid? [True, True] Translation: X:73.35, Y:-170.02, Z:-5.04 [[-6.75094287e-01 -7.37665077e-01 9.89636056e-03 7.33461456e+01] [ 7.37589911e-01 -6.75166793e-01 -1.05320615e-02 -1.70018507e+02] [ 1.44508280e-02 1.89321183e-04 9.99895563e-01 -5.03624252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.406559995 meters 0.014335502693519735 Centerline is valid? [True, True] Translation: X:73.30, Y:-169.98, Z:-5.04 [[-6.73342060e-01 -7.39255471e-01 1.05744520e-02 7.33039469e+01] [ 7.39169948e-01 -6.73425044e-01 -1.12471201e-02 -1.69979638e+02] [ 1.54355958e-02 2.43158093e-04 9.99880835e-01 -5.03757186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.4665599950001 meters 0.01388090064985228 Centerline is valid? [True, True] Translation: X:73.26, Y:-169.94, Z:-5.04 [[-6.72101907e-01 -7.40389967e-01 1.00858108e-02 7.32632156e+01] [ 7.40312380e-01 -6.72177528e-01 -1.07215144e-02 -1.69938393e+02] [ 1.47175570e-02 2.60700363e-04 9.99891657e-01 -5.03581753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.526559995 meters 0.014345025433564824 Centerline is valid? [True, True] Translation: X:73.22, Y:-169.90, Z:-5.04 [[-6.71231447e-01 -7.41191441e-01 9.14287302e-03 7.32217317e+01] [ 7.41127832e-01 -6.71293663e-01 -9.71359721e-03 -1.69898355e+02] [ 1.33371878e-02 2.55965747e-04 9.99911023e-01 -5.03526807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.586559995 meters 0.01467948527098799 Centerline is valid? [True, True] Translation: X:73.18, Y:-169.86, Z:-5.03 [[-6.70925106e-01 -7.41489218e-01 7.29667205e-03 7.31815046e+01] [ 7.41448775e-01 -6.70964749e-01 -7.74722572e-03 -1.69857764e+02] [ 1.06402941e-02 2.12300322e-04 9.99943368e-01 -5.03400370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.646559995 meters 0.015159025087142546 Centerline is valid? [True, True] Translation: X:73.14, Y:-169.82, Z:-5.03 [[-6.70686087e-01 -7.41714088e-01 6.35487324e-03 7.31421213e+01] [ 7.41683461e-01 -6.70716166e-01 -6.74303095e-03 -1.69815877e+02] [ 9.26371727e-03 1.90847341e-04 9.99957073e-01 -5.03392323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.7065599950001 meters 0.015812802285212577 Centerline is valid? [True, True] Translation: X:73.10, Y:-169.77, Z:-5.03 [[-6.70171834e-01 -7.42179433e-01 6.27714138e-03 7.31016286e+01] [ 7.42149605e-01 -6.70201201e-01 -6.65688750e-03 -1.69774768e+02] [ 9.14755269e-03 1.97319492e-04 9.99958141e-01 -5.03479210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.766559995 meters 0.015871064313383705 Centerline is valid? [True, True] Translation: X:73.06, Y:-169.73, Z:-5.03 [[-6.69067226e-01 -7.43180954e-01 5.57829119e-03 7.30616662e+01] [ 7.43157459e-01 -6.69090453e-01 -5.91242761e-03 -1.69732529e+02] [ 8.12638497e-03 1.89737169e-04 9.99966962e-01 -5.03427964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.826559995 meters 0.016766769123333684 Centerline is valid? [True, True] Translation: X:73.02, Y:-169.69, Z:-5.03 [[-6.67411932e-01 -7.44671330e-01 5.09155197e-03 7.30205903e+01] [ 7.44651822e-01 -6.67431325e-01 -5.39350466e-03 -1.69691455e+02] [ 7.41464957e-03 1.91744091e-04 9.99972493e-01 -5.03455682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.886559995 meters 0.016876774186464785 Centerline is valid? [True, True] Translation: X:72.98, Y:-169.65, Z:-5.04 [[-6.67608597e-01 -7.44490407e-01 5.72678337e-03 7.29819469e+01] [ 7.44465753e-01 -6.67633123e-01 -6.06259012e-03 -1.69649022e+02] [ 8.33693045e-03 2.15956813e-04 9.99965224e-01 -5.03533967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1277.9465599950001 meters 0.01674141873071109 Centerline is valid? [True, True] Translation: X:72.94, Y:-169.61, Z:-5.04 [[-6.69252666e-01 -7.43010528e-01 6.01862164e-03 7.29445446e+01] [ 7.42983269e-01 -6.69279696e-01 -6.36803781e-03 -1.69605172e+02] [ 8.75966040e-03 2.09908891e-04 9.99961611e-01 -5.03628050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.006559995 meters 0.01632459455489396 Centerline is valid? [True, True] Translation: X:72.91, Y:-169.56, Z:-5.04 [[-6.70323830e-01 -7.42042220e-01 6.26946582e-03 7.29065813e+01] [ 7.42012636e-01 -6.70353116e-01 -6.62935449e-03 -1.69562248e+02] [ 9.12201687e-03 2.08208564e-04 9.99958372e-01 -5.03698942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.066559995 meters 0.016260029179932543 Centerline is valid? [True, True] Translation: X:72.87, Y:-169.52, Z:-5.04 [[-6.72046527e-01 -7.40482415e-01 6.26572606e-03 7.28683630e+01] [ 7.40452830e-01 -6.72075709e-01 -6.62187661e-03 -1.69519972e+02] [ 9.11442546e-03 1.89265419e-04 9.99958445e-01 -5.03813267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.126559995 meters 0.015031420638395965 Centerline is valid? [True, True] Translation: X:72.83, Y:-169.48, Z:-5.04 [[-6.73216673e-01 -7.39422186e-01 5.84312498e-03 7.28323031e+01] [ 7.39396450e-01 -6.73242010e-01 -6.17140887e-03 -1.69475883e+02] [ 8.49711384e-03 1.65690517e-04 9.99963885e-01 -5.03715506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.1865599950002 meters 0.014662224936062226 Centerline is valid? [True, True] Translation: X:72.80, Y:-169.43, Z:-5.04 [[-6.74199851e-01 -7.38526570e-01 5.75033486e-03 7.27954588e+01] [ 7.38501644e-01 -6.74224355e-01 -6.06961472e-03 -1.69432290e+02] [ 8.35958756e-03 1.54498410e-04 9.99965046e-01 -5.03689360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.246559995 meters 0.014891457777303461 Centerline is valid? [True, True] Translation: X:72.76, Y:-169.39, Z:-5.04 [[-6.74437492e-01 -7.38310074e-01 5.68366678e-03 7.27576137e+01] [ 7.38285747e-01 -6.74461424e-01 -5.99535592e-03 -1.69389995e+02] [ 8.25984566e-03 1.52677363e-04 9.99965875e-01 -5.03681332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.306559995 meters 0.014740741877000894 Centerline is valid? [True, True] Translation: X:72.72, Y:-169.35, Z:-5.04 [[-6.73851019e-01 -7.38847518e-01 5.39896828e-03 7.27188749e+01] [ 7.38825613e-01 -6.73872630e-01 -5.69146378e-03 -1.69347491e+02] [ 7.84334084e-03 1.53697377e-04 9.99969229e-01 -5.03641565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.366559995 meters 0.014785490459589988 Centerline is valid? [True, True] Translation: X:72.68, Y:-169.30, Z:-5.04 [[-6.73852704e-01 -7.38842057e-01 5.91178796e-03 7.26807171e+01] [ 7.38815826e-01 -6.73878614e-01 -6.22812372e-03 -1.69304460e+02] [ 8.58542722e-03 1.70884495e-04 9.99963130e-01 -5.03676607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.426559995 meters 0.014213669579045714 Centerline is valid? [True, True] Translation: X:72.65, Y:-169.26, Z:-5.04 [[-6.76278679e-01 -7.36614340e-01 6.81640227e-03 7.26451544e+01] [ 7.36579393e-01 -6.76313009e-01 -7.17715727e-03 -1.69258707e+02] [ 9.89681850e-03 1.67063006e-04 9.99951011e-01 -5.03789208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.486559995 meters 0.013523885882498353 Centerline is valid? [True, True] Translation: X:72.61, Y:-169.21, Z:-5.04 [[-6.78940879e-01 -7.34167614e-01 6.09899890e-03 7.26082508e+01] [ 7.34139568e-01 -6.78968261e-01 -6.41826724e-03 -1.69213354e+02] [ 8.85311063e-03 1.19892421e-04 9.99960803e-01 -5.03765315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.546559995 meters 0.012782827117210915 Centerline is valid? [True, True] Translation: X:72.57, Y:-169.17, Z:-5.04 [[-6.81903292e-01 -7.31417012e-01 6.08734357e-03 7.25721192e+01] [ 7.31388994e-01 -6.81930457e-01 -6.40246441e-03 -1.69167155e+02] [ 8.83401637e-03 8.63545333e-05 9.99960976e-01 -5.03715311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.606559995 meters 0.012129822846984023 Centerline is valid? [True, True] Translation: X:72.54, Y:-169.12, Z:-5.04 [[-6.86092116e-01 -7.27486917e-01 6.35555209e-03 7.25378340e+01] [ 7.27456242e-01 -6.86121552e-01 -6.68075202e-03 -1.69119443e+02] [ 9.22084095e-03 3.97747495e-05 9.99957486e-01 -5.03669540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.666559995 meters 0.01204089264172596 Centerline is valid? [True, True] Translation: X:72.50, Y:-169.07, Z:-5.04 [[-6.88441761e-01 -7.25269017e-01 5.72665439e-03 7.25009525e+01] [ 7.25244064e-01 -6.88465578e-01 -6.01627412e-03 -1.69074332e+02] [ 8.30602165e-03 1.13677466e-05 9.99965504e-01 -5.03641840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.7265599950001 meters 0.01200279293320702 Centerline is valid? [True, True] Translation: X:72.46, Y:-169.03, Z:-5.04 [[-6.90802384e-01 -7.23024238e-01 5.29312283e-03 7.24643349e+01] [ 7.23002880e-01 -6.90822663e-01 -5.55733070e-03 -1.69030521e+02] [ 7.67469400e-03 -1.20742414e-05 9.99970549e-01 -5.03640698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.786559995 meters 0.01233293972880977 Centerline is valid? [True, True] Translation: X:72.43, Y:-168.98, Z:-5.04 [[-6.94352957e-01 -7.19617861e-01 4.90967254e-03 7.24290032e+01] [ 7.19599421e-01 -6.94370313e-01 -5.15183090e-03 -1.68983963e+02] [ 7.11648039e-03 -4.41915054e-05 9.99974677e-01 -5.03568656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.846559995 meters 0.013196619093883135 Centerline is valid? [True, True] Translation: X:72.39, Y:-168.94, Z:-5.04 [[-6.97179390e-01 -7.16884814e-01 4.13054968e-03 7.23935573e+01] [ 7.16871730e-01 -6.97191623e-01 -4.33172266e-03 -1.68938435e+02] [ 5.98513083e-03 -5.89134704e-05 9.99982087e-01 -5.03519140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.906559995 meters 0.01326700714638967 Centerline is valid? [True, True] Translation: X:72.36, Y:-168.89, Z:-5.03 [[-6.99865326e-01 -7.14262332e-01 4.22460603e-03 7.23562377e+01] [ 7.14248612e-01 -6.99878072e-01 -4.42784693e-03 -1.68893622e+02] [ 6.11935339e-03 -8.14775424e-05 9.99981273e-01 -5.03418515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1278.9665599950001 meters 0.013324632708064636 Centerline is valid? [True, True] Translation: X:72.32, Y:-168.85, Z:-5.04 [[-7.00534218e-01 -7.13603092e-01 4.73675099e-03 7.23167230e+01] [ 7.13585848e-01 -7.00550225e-01 -4.96177747e-03 -1.68851112e+02] [ 6.85907172e-03 -9.58164251e-05 9.99976472e-01 -5.03524193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.026559995 meters 0.013259530688864995 Centerline is valid? [True, True] Translation: X:72.28, Y:-168.81, Z:-5.04 [[-6.99408487e-01 -7.14697702e-01 5.91302207e-03 7.22780176e+01] [ 7.14670901e-01 -6.99433474e-01 -6.19024915e-03 -1.68808577e+02] [ 8.55992241e-03 -1.03647979e-04 9.99963358e-01 -5.03719641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.086559995 meters 0.012922198313258486 Centerline is valid? [True, True] Translation: X:72.24, Y:-168.77, Z:-5.04 [[-6.97549629e-01 -7.16513150e-01 5.78104473e-03 7.22366959e+01] [ 7.16487623e-01 -6.97573580e-01 -6.04870722e-03 -1.68767197e+02] [ 8.36668233e-03 -7.72264794e-05 9.99964996e-01 -5.03710668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.146559995 meters 0.012349889499844606 Centerline is valid? [True, True] Translation: X:72.20, Y:-168.73, Z:-5.04 [[-6.94911492e-01 -7.19078270e-01 4.94568587e-03 7.21954223e+01] [ 7.19059674e-01 -6.94929090e-01 -5.17159168e-03 -1.68726785e+02] [ 7.15568018e-03 -3.75552246e-05 9.99974397e-01 -5.03583313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.2065599950001 meters 0.012097297065682884 Centerline is valid? [True, True] Translation: X:72.15, Y:-168.69, Z:-5.03 [[-6.89178352e-01 -7.24581265e-01 3.89731790e-03 7.21518353e+01] [ 7.24569818e-01 -6.89189371e-01 -4.07302782e-03 -1.68688322e+02] [ 5.63722973e-03 1.68363252e-05 9.99984111e-01 -5.03425095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.266559995 meters 0.012301875175754068 Centerline is valid? [True, True] Translation: X:72.11, Y:-168.65, Z:-5.03 [[-6.87042311e-01 -7.26608189e-01 3.66103695e-03 7.21107190e+01] [ 7.26598129e-01 -6.87052064e-01 -3.82368780e-03 -1.68648768e+02] [ 5.29364586e-03 3.30672928e-05 9.99985988e-01 -5.03441323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.326559995 meters 0.013365669961663449 Centerline is valid? [True, True] Translation: X:72.07, Y:-168.61, Z:-5.04 [[-6.82067747e-01 -7.31277409e-01 4.11573474e-03 7.20672523e+01] [ 7.31264793e-01 -6.82080160e-01 -4.29619150e-03 -1.68610170e+02] [ 5.94896879e-03 7.93982546e-05 9.99982302e-01 -5.03547263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.386559995 meters 0.016080709097406 Centerline is valid? [True, True] Translation: X:72.02, Y:-168.57, Z:-5.04 [[-6.75552829e-01 -7.37288784e-01 5.79862692e-03 7.20237825e+01] [ 7.37263991e-01 -6.75577689e-01 -6.04925592e-03 -1.68572753e+02] [ 8.37747152e-03 1.88526874e-04 9.99964891e-01 -5.03863266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.4465599950001 meters 0.016914693826645403 Centerline is valid? [True, True] Translation: X:71.98, Y:-168.53, Z:-5.04 [[-6.72950566e-01 -7.39661098e-01 6.24470074e-03 7.19845375e+01] [ 7.39632481e-01 -6.72979497e-01 -6.51072576e-03 -1.68530845e+02] [ 9.01828613e-03 2.37386920e-04 9.99959306e-01 -5.03892001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.506559995 meters 0.017305924056639697 Centerline is valid? [True, True] Translation: X:71.95, Y:-168.49, Z:-5.04 [[-6.70734874e-01 -7.41666979e-01 6.69487708e-03 7.19468624e+01] [ 7.41634228e-01 -6.70768224e-01 -6.97582381e-03 -1.68486987e+02] [ 9.66444898e-03 2.86221695e-04 9.99953257e-01 -5.03845450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.566559995 meters 0.01816060555162709 Centerline is valid? [True, True] Translation: X:71.91, Y:-168.44, Z:-5.04 [[-6.69870393e-01 -7.42445315e-01 6.97207193e-03 7.19077342e+01] [ 7.42409879e-01 -6.69906602e-01 -7.26053980e-03 -1.68443834e+02] [ 1.00611908e-02 3.12514430e-04 9.99949336e-01 -5.03892864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.626559995 meters 0.018496591571021844 Centerline is valid? [True, True] Translation: X:71.87, Y:-168.40, Z:-5.04 [[-6.69629924e-01 -7.42660055e-01 7.19777272e-03 7.18700079e+01] [ 7.42622344e-01 -6.69668526e-01 -7.49134757e-03 -1.68399776e+02] [ 1.03836464e-02 3.28796338e-04 9.99946035e-01 -5.03895208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.6865599950002 meters 0.018420820693363975 Centerline is valid? [True, True] Translation: X:71.83, Y:-168.36, Z:-5.04 [[-6.70649208e-01 -7.41736758e-01 7.49810333e-03 7.18326659e+01] [ 7.41695829e-01 -6.70691041e-01 -7.79901288e-03 -1.68355770e+02] [ 1.08137253e-02 3.30910157e-04 9.99941475e-01 -5.04023630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.746559995 meters 0.01725955245143858 Centerline is valid? [True, True] Translation: X:71.80, Y:-168.31, Z:-5.04 [[-6.75007161e-01 -7.37765571e-01 8.20330209e-03 7.18010421e+01] [ 7.37716349e-01 -6.75056941e-01 -8.52723255e-03 -1.68307632e+02] [ 1.18287946e-02 2.95767037e-04 9.99929994e-01 -5.04118300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.806559995 meters 0.01459053505646054 Centerline is valid? [True, True] Translation: X:71.77, Y:-168.26, Z:-5.04 [[-6.79330158e-01 -7.33791839e-01 7.75067915e-03 7.17694165e+01] [ 7.33747689e-01 -6.79374337e-01 -8.05226670e-03 -1.68257271e+02] [ 1.11743001e-02 2.16895306e-04 9.99937542e-01 -5.03884069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.866559995 meters 0.013522273167764696 Centerline is valid? [True, True] Translation: X:71.74, Y:-168.21, Z:-5.04 [[-6.85287740e-01 -7.28236696e-01 7.21299113e-03 7.17389274e+01] [ 7.28198186e-01 -6.85325689e-01 -7.49013036e-03 -1.68207965e+02] [ 1.03978359e-02 1.19592546e-04 9.99945934e-01 -5.03878717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.926559995 meters 0.012564830299965694 Centerline is valid? [True, True] Translation: X:71.70, Y:-168.16, Z:-5.04 [[-6.87729887e-01 -7.25926653e-01 7.62219524e-03 7.17034407e+01] [ 7.25883556e-01 -6.87772118e-01 -7.91054288e-03 -1.68161048e+02] [ 1.09848073e-02 9.25094290e-05 9.99939661e-01 -5.03734955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1279.986559995 meters 0.012739517345019696 Centerline is valid? [True, True] Translation: X:71.66, Y:-168.12, Z:-5.04 [[-6.87048791e-01 -7.26573638e-01 7.39636420e-03 7.16622711e+01] [ 7.26533142e-01 -6.87088595e-01 -7.67176399e-03 -1.68119461e+02] [ 1.06560590e-02 1.02827547e-04 9.99943217e-01 -5.03706634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.046559995 meters 0.013082503200076806 Centerline is valid? [True, True] Translation: X:71.62, Y:-168.08, Z:-5.04 [[-6.85409574e-01 -7.28111249e-01 8.22944648e-03 7.16199551e+01] [ 7.28061289e-01 -6.85458961e-01 -8.53065692e-03 -1.68080247e+02] [ 1.18522151e-02 1.44547484e-04 9.99929750e-01 -5.03741671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.106559995 meters 0.013043537603167952 Centerline is valid? [True, True] Translation: X:71.58, Y:-168.04, Z:-5.04 [[-6.86301677e-01 -7.27272780e-01 8.01944204e-03 7.15792607e+01] [ 7.27225334e-01 -6.86348517e-01 -8.30824999e-03 -1.68038684e+02] [ 1.15464962e-02 1.29975516e-04 9.99933329e-01 -5.03720012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.166559995 meters 0.012585715190333906 Centerline is valid? [True, True] Translation: X:71.54, Y:-168.00, Z:-5.04 [[-6.88672227e-01 -7.25038505e-01 7.05196898e-03 7.15400716e+01] [ 7.25001742e-01 -6.88708327e-01 -7.30172825e-03 -1.67995721e+02] [ 1.01507839e-02 8.41923382e-05 9.99948476e-01 -5.03557171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.2265599950001 meters 0.012168514021894589 Centerline is valid? [True, True] Translation: X:71.50, Y:-167.95, Z:-5.03 [[-6.95005333e-01 -7.18984047e-01 5.43401355e-03 7.15031500e+01] [ 7.18962056e-01 -6.95026576e-01 -5.62325897e-03 -1.67951157e+02] [ 7.81981732e-03 -1.34541462e-06 9.99969425e-01 -5.03311966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.286559995 meters 0.012848860732257796 Centerline is valid? [True, True] Translation: X:71.47, Y:-167.91, Z:-5.03 [[-7.01577998e-01 -7.12575671e-01 4.92197744e-03 7.14656310e+01] [ 7.12557491e-01 -7.01595260e-01 -5.09049924e-03 -1.67906142e+02] [ 7.08060196e-03 -6.41903700e-05 9.99974930e-01 -5.03212373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.346559995 meters 0.013619720214306016 Centerline is valid? [True, True] Translation: X:71.43, Y:-167.86, Z:-5.03 [[-7.04595813e-01 -7.09590935e-01 5.04444781e-03 7.14270025e+01] [ 7.09571784e-01 -7.04613863e-01 -5.21406884e-03 -1.67864398e+02] [ 7.25424384e-03 -9.44132390e-05 9.99973683e-01 -5.03203853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.406559995 meters 0.013508022560428566 Centerline is valid? [True, True] Translation: X:71.38, Y:-167.83, Z:-5.03 [[-7.05520704e-01 -7.08671680e-01 4.99860089e-03 7.13835835e+01] [ 7.08652874e-01 -7.05538404e-01 -5.16372137e-03 -1.67825280e+02] [ 7.18608799e-03 -1.00839449e-04 9.99974175e-01 -5.03121433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.4665599950001 meters 0.013214310172526922 Centerline is valid? [True, True] Translation: X:71.34, Y:-167.79, Z:-5.03 [[-7.04001262e-01 -7.10182421e-01 4.81166905e-03 7.13405544e+01] [ 7.10165050e-01 -7.04017701e-01 -4.96780585e-03 -1.67785814e+02] [ 6.91554857e-03 -8.02623922e-05 9.99976084e-01 -5.03160201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.526559995 meters 0.01297843530295848 Centerline is valid? [True, True] Translation: X:71.30, Y:-167.75, Z:-5.03 [[-7.01077457e-01 -7.13065736e-01 5.25882016e-03 7.12984186e+01] [ 7.13045087e-01 -7.01097178e-01 -5.42682369e-03 -1.67748258e+02] [ 7.55662600e-03 -5.48478760e-05 9.99971447e-01 -5.03308650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.586559995 meters 0.012368630669097758 Centerline is valid? [True, True] Translation: X:71.25, Y:-167.71, Z:-5.03 [[-6.98840679e-01 -7.15255762e-01 5.55889999e-03 7.12543974e+01] [ 7.15232786e-01 -6.98862787e-01 -5.73305696e-03 -1.67710479e+02] [ 7.98551036e-03 -3.05858876e-05 9.99968115e-01 -5.03235303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.646559995 meters 0.01215288855461751 Centerline is valid? [True, True] Translation: X:71.21, Y:-167.67, Z:-5.03 [[-6.96216984e-01 -7.17810767e-01 5.44192412e-03 7.12102083e+01] [ 7.17788851e-01 -6.96238252e-01 -5.60919908e-03 -1.67672680e+02] [ 7.81521923e-03 9.32798742e-07 9.99969461e-01 -5.03242551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.7065599950001 meters 0.012408479456187093 Centerline is valid? [True, True] Translation: X:71.17, Y:-167.63, Z:-5.03 [[-6.92962038e-01 -7.20956045e-01 5.09864732e-03 7.11665529e+01] [ 7.20936913e-01 -6.92980794e-01 -5.25238063e-03 -1.67634585e+02] [ 7.32000023e-03 3.61026709e-05 9.99973208e-01 -5.03246293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.766559995 meters 0.0133251943498765 Centerline is valid? [True, True] Translation: X:71.12, Y:-167.60, Z:-5.03 [[-6.87452115e-01 -7.26216677e-01 4.35059626e-03 7.11209838e+01] [ 7.26202868e-01 -6.87465876e-01 -4.47924901e-03 -1.67597547e+02] [ 6.24379180e-03 8.01462814e-05 9.99980504e-01 -5.03160819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.826559995 meters 0.013913166556920898 Centerline is valid? [True, True] Translation: X:71.08, Y:-167.56, Z:-5.03 [[-6.85007653e-01 -7.28527827e-01 3.42372318e-03 7.10781505e+01] [ 7.28519313e-01 -6.85016204e-01 -3.52296295e-03 -1.67558440e+02] [ 4.91188240e-03 8.09918790e-05 9.99987933e-01 -5.03047559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.886559995 meters 0.015425692413269212 Centerline is valid? [True, True] Translation: X:71.03, Y:-167.52, Z:-5.03 [[-6.83139741e-01 -7.30279295e-01 3.49920853e-03 7.10347794e+01] [ 7.30270436e-01 -6.83148696e-01 -3.59849728e-03 -1.67521089e+02] [ 5.01838780e-03 9.70920386e-05 9.99987403e-01 -5.03129706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1280.9465599950001 meters 0.015488450685256502 Centerline is valid? [True, True] Translation: X:70.99, Y:-167.48, Z:-5.03 [[-6.81823273e-01 -7.31505127e-01 4.15620455e-03 7.09932403e+01] [ 7.31492665e-01 -6.81835928e-01 -4.27175126e-03 -1.67480694e+02] [ 5.95865754e-03 1.27653717e-04 9.99982239e-01 -5.03241593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.006559995 meters 0.015360174398769494 Centerline is valid? [True, True] Translation: X:70.95, Y:-167.44, Z:-5.03 [[-6.81295351e-01 -7.31980177e-01 6.45478326e-03 7.09531419e+01] [ 7.31950176e-01 -6.81325896e-01 -6.63046420e-03 -1.67439212e+02] [ 9.25117935e-03 2.07275301e-04 9.99957186e-01 -5.03407599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.066559995 meters 0.015872222187501173 Centerline is valid? [True, True] Translation: X:70.91, Y:-167.40, Z:-5.04 [[-6.81965924e-01 -7.31339706e-01 8.04447629e-03 7.09133934e+01] [ 7.31293125e-01 -6.82013322e-01 -8.25793924e-03 -1.67399962e+02] [ 1.15257989e-02 2.51237045e-04 9.99933544e-01 -5.03710884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.126559995 meters 0.014742219541780734 Centerline is valid? [True, True] Translation: X:70.88, Y:-167.35, Z:-5.04 [[-6.84085360e-01 -7.29344680e-01 9.14105832e-03 7.08760749e+01] [ 7.29284424e-01 -6.84146385e-01 -9.37831694e-03 -1.67354835e+02] [ 1.30938476e-02 2.50862140e-04 9.99914241e-01 -5.03779519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.1865599950002 meters 0.014200588457260193 Centerline is valid? [True, True] Translation: X:70.84, Y:-167.31, Z:-5.04 [[-6.85701867e-01 -7.27828671e-01 8.85300185e-03 7.08374395e+01] [ 7.27772096e-01 -6.85758979e-01 -9.07733432e-03 -1.67311870e+02] [ 1.26777697e-02 2.18622628e-04 9.99919610e-01 -5.03688013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.246559995 meters 0.014104147330234785 Centerline is valid? [True, True] Translation: X:70.80, Y:-167.27, Z:-5.04 [[-6.89221290e-01 -7.24507398e-01 7.93997204e-03 7.08007325e+01] [ 7.24461719e-01 -6.89267008e-01 -8.13688629e-03 -1.67268602e+02] [ 1.13679951e-02 1.44090530e-04 9.99935372e-01 -5.03695927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.306559995 meters 0.01245112413623317 Centerline is valid? [True, True] Translation: X:70.77, Y:-167.22, Z:-5.03 [[-6.95142988e-01 -7.18832246e-01 7.51188233e-03 7.07678288e+01] [ 7.18791072e-01 -6.95183573e-01 -7.69384124e-03 -1.67220163e+02] [ 1.07527184e-02 5.11541628e-05 9.99942187e-01 -5.03395326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.366559995 meters 0.012350440871383565 Centerline is valid? [True, True] Translation: X:70.73, Y:-167.18, Z:-5.03 [[-6.99045334e-01 -7.15042461e-01 7.06397895e-03 7.07313601e+01] [ 7.15005903e-01 -6.99081025e-01 -7.23050962e-03 -1.67175586e+02] [ 1.01084150e-02 -3.66737085e-06 9.99948909e-01 -5.03329010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.426559995 meters 0.012529961275147288 Centerline is valid? [True, True] Translation: X:70.69, Y:-167.13, Z:-5.03 [[-7.02432523e-01 -7.11719996e-01 6.57245533e-03 7.06938696e+01] [ 7.11688238e-01 -7.02463269e-01 -6.72359274e-03 -1.67130973e+02] [ 9.40222386e-03 -4.53310581e-05 9.99955797e-01 -5.03210538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.486559995 meters 0.013147237645922622 Centerline is valid? [True, True] Translation: X:70.66, Y:-167.09, Z:-5.03 [[-7.06588052e-01 -7.07587965e-01 7.25235499e-03 7.06571944e+01] [ 7.07549121e-01 -7.06625262e-01 -7.41493380e-03 -1.67085942e+02] [ 1.03714152e-02 -1.07906233e-04 9.99946210e-01 -5.03240029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.546559995 meters 0.013529069074104198 Centerline is valid? [True, True] Translation: X:70.62, Y:-167.04, Z:-5.03 [[-7.07909272e-01 -7.06255417e-01 8.23093457e-03 7.06185194e+01] [ 7.06205348e-01 -7.07957108e-01 -8.41071534e-03 -1.67042853e+02] [ 1.17672619e-02 -1.41293363e-04 9.99930753e-01 -5.03325012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.606559995 meters 0.013515963497714546 Centerline is valid? [True, True] Translation: X:70.58, Y:-167.00, Z:-5.03 [[-7.07675863e-01 -7.06482764e-01 8.77362507e-03 7.05788937e+01] [ 7.06425964e-01 -7.07730234e-01 -8.95958772e-03 -1.67001991e+02] [ 1.25391540e-02 -1.42567431e-04 9.99921372e-01 -5.03358428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.666559995 meters 0.012810209224791478 Centerline is valid? [True, True] Translation: X:70.54, Y:-166.96, Z:-5.03 [[-7.05040819e-01 -7.09113900e-01 8.65567693e-03 7.05365223e+01] [ 7.09058874e-01 -7.05093943e-01 -8.83424628e-03 -1.66962090e+02] [ 1.23675522e-02 -9.11196910e-05 9.99923515e-01 -5.03274406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.7265599950001 meters 0.012681167910799465 Centerline is valid? [True, True] Translation: X:70.50, Y:-166.92, Z:-5.03 [[-7.02826358e-01 -7.11311676e-01 8.41487190e-03 7.04956079e+01] [ 7.11259887e-01 -7.02876730e-01 -8.58345843e-03 -1.66922609e+02] [ 1.20201318e-02 -4.75199903e-05 9.99927755e-01 -5.03263915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.786559995 meters 0.012460173406906503 Centerline is valid? [True, True] Translation: X:70.45, Y:-166.89, Z:-5.03 [[-6.97842976e-01 -7.16219481e-01 6.69596145e-03 7.04527985e+01] [ 7.16186957e-01 -6.97875099e-01 -6.82558313e-03 -1.66886324e+02] [ 9.56156036e-03 3.23750150e-05 9.99954287e-01 -5.03189697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.846559995 meters 0.012992452372291524 Centerline is valid? [True, True] Translation: X:70.41, Y:-166.85, Z:-5.03 [[-6.93224716e-01 -7.20698548e-01 5.75287901e-03 7.04097349e+01] [ 7.20674721e-01 -6.93248581e-01 -5.86092847e-03 -1.66847715e+02] [ 8.21213785e-03 8.30140091e-05 9.99966276e-01 -5.03003857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.906559995 meters 0.015096574729191988 Centerline is valid? [True, True] Translation: X:70.36, Y:-166.81, Z:-5.03 [[-6.86390670e-01 -7.27212421e-01 5.47194285e-03 7.03636061e+01] [ 7.27191094e-01 -6.86412464e-01 -5.57154277e-03 -1.66811775e+02] [ 7.80770488e-03 1.54893139e-04 9.99969507e-01 -5.03034784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1281.9665599950001 meters 0.01595536570596946 Centerline is valid? [True, True] Translation: X:70.32, Y:-166.77, Z:-5.03 [[-6.83548685e-01 -7.29882839e-01 5.67769060e-03 7.03213998e+01] [ 7.29859996e-01 -6.83572237e-01 -5.77775912e-03 -1.66771750e+02] [ 8.09819890e-03 1.94539590e-04 9.99967190e-01 -5.03066236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.026559995 meters 0.01698579069840725 Centerline is valid? [True, True] Translation: X:70.28, Y:-166.73, Z:-5.03 [[-6.82492234e-01 -7.30870933e-01 5.65950524e-03 7.02805430e+01] [ 7.30848289e-01 -6.82515668e-01 -5.75684067e-03 -1.66732547e+02] [ 8.07020851e-03 2.07240676e-04 9.99967414e-01 -5.03167614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.086559995 meters 0.01612534263334819 Centerline is valid? [True, True] Translation: X:70.24, Y:-166.69, Z:-5.03 [[-6.83607375e-01 -7.29830133e-01 5.37909422e-03 7.02419235e+01] [ 7.29809669e-01 -6.83628512e-01 -5.46851119e-03 -1.66689020e+02] [ 7.66838643e-03 1.87400397e-04 9.99970580e-01 -5.03161850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.146559995 meters 0.015421877500411537 Centerline is valid? [True, True] Translation: X:70.20, Y:-166.65, Z:-5.03 [[-6.85924587e-01 -7.27655919e-01 4.93193982e-03 7.02031029e+01] [ 7.27638678e-01 -6.85942301e-01 -5.01127394e-03 -1.66645216e+02] [ 7.02950930e-03 1.51314166e-04 9.99975281e-01 -5.03122876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.2065599950001 meters 0.014286152360275873 Centerline is valid? [True, True] Translation: X:70.17, Y:-166.60, Z:-5.03 [[-6.88747095e-01 -7.24983741e-01 5.10046656e-03 7.01658764e+01] [ 7.24965250e-01 -6.88765968e-01 -5.17957582e-03 -1.66600129e+02] [ 7.26813604e-03 1.30243213e-04 9.99973578e-01 -5.03073898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.266559995 meters 0.013356226790577118 Centerline is valid? [True, True] Translation: X:70.13, Y:-166.55, Z:-5.03 [[-6.92927563e-01 -7.20989352e-01 5.07409148e-03 7.01307595e+01] [ 7.20970965e-01 -6.92946135e-01 -5.14987010e-03 -1.66553735e+02] [ 7.22907359e-03 8.97856890e-05 9.99973866e-01 -5.03045375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.326559995 meters 0.012901042018158788 Centerline is valid? [True, True] Translation: X:70.09, Y:-166.51, Z:-5.03 [[-6.95017980e-01 -7.18969935e-01 5.67801362e-03 7.00935771e+01] [ 7.18946873e-01 -6.95041168e-01 -5.75914098e-03 -1.66509599e+02] [ 8.08710244e-03 7.94836062e-05 9.99967296e-01 -5.03015481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.386559995 meters 0.012971736415814224 Centerline is valid? [True, True] Translation: X:70.06, Y:-166.47, Z:-5.03 [[-6.96045587e-01 -7.17964398e-01 6.90391418e-03 7.00559826e+01] [ 7.17930298e-01 -6.96079820e-01 -6.99793279e-03 -1.66467172e+02] [ 9.82994194e-03 8.56489268e-05 9.99951681e-01 -5.03135093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.4465599950001 meters 0.013002364906245211 Centerline is valid? [True, True] Translation: X:70.02, Y:-166.43, Z:-5.03 [[-6.95545329e-01 -7.18436230e-01 8.12882073e-03 7.00150490e+01] [ 7.18389043e-01 -6.95592819e-01 -8.23482761e-03 -1.66425396e+02] [ 1.15705478e-02 1.11959861e-04 9.99933053e-01 -5.03172858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.506559995 meters 0.013460403355239382 Centerline is valid? [True, True] Translation: X:69.97, Y:-166.39, Z:-5.03 [[-6.93677430e-01 -7.20232528e-01 8.75953906e-03 6.99716165e+01] [ 7.20177939e-01 -6.93732716e-01 -8.86874121e-03 -1.66386815e+02] [ 1.24643347e-02 1.56381184e-04 9.99922305e-01 -5.03205669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.566559995 meters 0.0143780865354114 Centerline is valid? [True, True] Translation: X:69.93, Y:-166.35, Z:-5.03 [[-6.92796596e-01 -7.21083376e-01 8.46413091e-03 6.99292952e+01] [ 7.21032539e-01 -6.92848278e-01 -8.56395608e-03 -1.66349411e+02] [ 1.20396849e-02 1.69834173e-04 9.99927506e-01 -5.03254584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.626559995 meters 0.01485843297782225 Centerline is valid? [True, True] Translation: X:69.89, Y:-166.31, Z:-5.03 [[-6.92373783e-01 -7.21495609e-01 7.91395747e-03 6.98881568e+01] [ 7.21451236e-01 -6.92418990e-01 -8.00357494e-03 -1.66310713e+02] [ 1.12543186e-02 1.68068942e-04 9.99936654e-01 -5.03163111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.6865599950002 meters 0.013891911881123934 Centerline is valid? [True, True] Translation: X:69.85, Y:-166.27, Z:-5.03 [[-6.92249362e-01 -7.21620127e-01 7.43059621e-03 6.98490830e+01] [ 7.21581061e-01 -6.92289221e-01 -7.51041885e-03 -1.66267351e+02] [ 1.05637911e-02 1.62694843e-04 9.99944188e-01 -5.02770489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.746559995 meters 0.01413361874656804 Centerline is valid? [True, True] Translation: X:69.81, Y:-166.23, Z:-5.03 [[-6.92612786e-01 -7.21277236e-01 6.83213422e-03 6.98083759e+01] [ 7.21244238e-01 -6.92646466e-01 -6.90089036e-03 -1.66227883e+02] [ 9.70970875e-03 1.47992542e-04 9.99952849e-01 -5.02847058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.806559995 meters 0.013817532459836959 Centerline is valid? [True, True] Translation: X:69.77, Y:-166.19, Z:-5.03 [[-6.93176413e-01 -7.20732201e-01 7.18014515e-03 6.97682214e+01] [ 7.20695769e-01 -6.93213583e-01 -7.24823819e-03 -1.66185264e+02] [ 1.02014128e-02 1.50392481e-04 9.99947953e-01 -5.02722288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.866559995 meters 0.013905037537017965 Centerline is valid? [True, True] Translation: X:69.73, Y:-166.15, Z:-5.03 [[-6.93647547e-01 -7.20277242e-01 7.33320645e-03 6.97283313e+01] [ 7.20239252e-01 -6.93686293e-01 -7.39908887e-03 -1.66145445e+02] [ 1.04163401e-02 1.49303286e-04 9.99945737e-01 -5.02711072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.926559995 meters 0.01406771273880238 Centerline is valid? [True, True] Translation: X:69.69, Y:-166.11, Z:-5.03 [[-6.93298577e-01 -7.20616166e-01 7.03028296e-03 6.96880018e+01] [ 7.20581313e-01 -6.93334204e-01 -7.08893050e-03 -1.66105323e+02] [ 9.98273356e-03 1.51145099e-04 9.99950160e-01 -5.02675089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1282.986559995 meters 0.014261582059343155 Centerline is valid? [True, True] Translation: X:69.65, Y:-166.07, Z:-5.03 [[-6.92548185e-01 -7.21338640e-01 6.89769581e-03 6.96473109e+01] [ 7.21305158e-01 -6.92582516e-01 -6.95181127e-03 -1.66065792e+02] [ 9.79183361e-03 1.60879292e-04 9.99952046e-01 -5.02670507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.046559995 meters 0.014616319314363526 Centerline is valid? [True, True] Translation: X:69.61, Y:-166.03, Z:-5.03 [[-6.92308590e-01 -7.21571947e-01 6.53771267e-03 6.96068393e+01] [ 7.21541909e-01 -6.92339440e-01 -6.58580295e-03 -1.66026791e+02] [ 9.27844699e-03 1.57825728e-04 9.99956942e-01 -5.02725554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.106559995 meters 0.01450839452863851 Centerline is valid? [True, True] Translation: X:69.57, Y:-165.99, Z:-5.03 [[-6.92436083e-01 -7.21452784e-01 6.17662487e-03 6.95669296e+01] [ 7.21426003e-01 -6.92463615e-01 -6.21815651e-03 -1.65986204e+02] [ 8.76319431e-03 1.50301848e-04 9.99961591e-01 -5.02737130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.166559995 meters 0.01412138456205974 Centerline is valid? [True, True] Translation: X:69.53, Y:-165.95, Z:-5.03 [[-6.93363459e-01 -7.20559402e-01 6.42348858e-03 6.95270967e+01] [ 7.20530436e-01 -6.93393197e-01 -6.46258206e-03 -1.65945478e+02] [ 9.11067755e-03 1.47400778e-04 9.99958486e-01 -5.02805412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.2265599950001 meters 0.013962467238814811 Centerline is valid? [True, True] Translation: X:69.49, Y:-165.90, Z:-5.03 [[-6.94762632e-01 -7.19206812e-01 6.81525374e-03 6.94865315e+01] [ 7.19174181e-01 -6.94796044e-01 -6.85241222e-03 -1.65904621e+02] [ 9.66351288e-03 1.40554573e-04 9.99953297e-01 -5.02910843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.286559995 meters 0.01345203405843029 Centerline is valid? [True, True] Translation: X:69.45, Y:-165.86, Z:-5.03 [[-6.96781640e-01 -7.17245214e-01 7.39248833e-03 6.94474192e+01] [ 7.17206760e-01 -6.96820843e-01 -7.42807282e-03 -1.65863309e+02] [ 1.04789896e-02 1.26197841e-04 9.99945086e-01 -5.02957825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.346559995 meters 0.012897851301617832 Centerline is valid? [True, True] Translation: X:69.41, Y:-165.82, Z:-5.03 [[-6.98951763e-01 -7.15132675e-01 7.18958854e-03 6.94080839e+01] [ 7.15096233e-01 -6.98988733e-01 -7.22003899e-03 -1.65820936e+02] [ 1.01887272e-02 9.47887030e-05 9.99948089e-01 -5.02820577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.406559995 meters 0.012475642937565323 Centerline is valid? [True, True] Translation: X:69.37, Y:-165.78, Z:-5.03 [[-7.03588388e-01 -7.10577112e-01 6.59914001e-03 6.93696981e+01] [ 7.10546243e-01 -7.03619334e-01 -6.62338238e-03 -1.65778271e+02] [ 9.34970642e-03 2.88592100e-05 9.99956290e-01 -5.02815340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.4665599950001 meters 0.012613231652571744 Centerline is valid? [True, True] Translation: X:69.33, Y:-165.74, Z:-5.03 [[-7.07274910e-01 -7.06910239e-01 6.33360472e-03 6.93313267e+01] [ 7.06881693e-01 -7.07303268e-01 -6.35284967e-03 -1.65735564e+02] [ 8.97067380e-03 -1.61019531e-05 9.99959763e-01 -5.02799196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.526559995 meters 0.012731956390630706 Centerline is valid? [True, True] Translation: X:69.29, Y:-165.69, Z:-5.03 [[-7.09826407e-01 -7.04353159e-01 5.75321061e-03 6.92909655e+01] [ 7.04329547e-01 -7.09849721e-01 -5.76742086e-03 -1.65693972e+02] [ 8.14621604e-03 -4.17114023e-05 9.99966818e-01 -5.02760079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.586559995 meters 0.013152865447595918 Centerline is valid? [True, True] Translation: X:69.25, Y:-165.65, Z:-5.03 [[-7.12246996e-01 -7.01897289e-01 6.66420556e-03 6.92493857e+01] [ 7.01865536e-01 -7.12278168e-01 -6.67687251e-03 -1.65652774e+02] [ 9.43324685e-03 -7.82061893e-05 9.99955503e-01 -5.02879317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.646559995 meters 0.013411106546683824 Centerline is valid? [True, True] Translation: X:69.21, Y:-165.61, Z:-5.03 [[-7.12860788e-01 -7.01263492e-01 7.68195371e-03 6.92085499e+01] [ 7.01221311e-01 -7.12902172e-01 -7.69199131e-03 -1.65613412e+02] [ 1.08705942e-02 -9.65693379e-05 9.99940909e-01 -5.03053175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.7065599950001 meters 0.013630376738146993 Centerline is valid? [True, True] Translation: X:69.17, Y:-165.57, Z:-5.03 [[-7.13145925e-01 -7.00958043e-01 8.98400311e-03 6.91662537e+01] [ 7.00900391e-01 -7.13202502e-01 -8.99074782e-03 -1.65573529e+02] [ 1.27095505e-02 -1.14823880e-04 9.99919224e-01 -5.03198622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.766559995 meters 0.013438357417112577 Centerline is valid? [True, True] Translation: X:69.12, Y:-165.54, Z:-5.03 [[-7.12281400e-01 -7.01826830e-01 9.71118635e-03 6.91219635e+01] [ 7.01759631e-01 -7.12347591e-01 -9.71238286e-03 -1.65536337e+02] [ 1.37341511e-02 -1.03031114e-04 9.99905677e-01 -5.03272919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.826559995 meters 0.013431101341832957 Centerline is valid? [True, True] Translation: X:69.08, Y:-165.50, Z:-5.03 [[-7.12757120e-01 -7.01358982e-01 8.53618833e-03 6.90789896e+01] [ 7.01307092e-01 -7.12808227e-01 -8.53192112e-03 -1.65498153e+02] [ 1.20686048e-02 -9.46981075e-05 9.99927167e-01 -5.03115546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.886559995 meters 0.013243653348703444 Centerline is valid? [True, True] Translation: X:68.60, Y:-165.98, Z:-4.02 [[-7.49752032e-01 6.61676721e-01 7.47042934e-03 6.85988498e+01] [ 6.61644997e-01 7.49789244e-01 -6.47980142e-03 -1.65978107e+02] [-9.88878132e-03 8.45279117e-05 -9.99951101e-01 -4.01553540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1283.9465599950001 meters 0.013100449192897852 Centerline is valid? [True, True] Translation: X:68.62, Y:-165.96, Z:-4.02 [[-7.95037060e-01 6.06536705e-01 5.41285502e-03 6.86162272e+01] [ 6.06523104e-01 7.95055484e-01 -4.06225091e-03 -1.65955638e+02] [-6.76742435e-03 5.33816076e-05 -9.99977099e-01 -4.01758160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.006559995 meters 0.012636515464816669 Centerline is valid? [True, True] Translation: X:68.64, Y:-165.93, Z:-4.02 [[-8.38711108e-01 5.44567072e-01 3.22210103e-03 6.86369385e+01] [ 5.44563100e-01 8.38717297e-01 -2.07981042e-03 -1.65928557e+02] [-3.83502814e-03 1.02772246e-05 -9.99992646e-01 -4.01882686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.066559995 meters 0.012683433378209336 Centerline is valid? [True, True] Translation: X:68.64, Y:-165.89, Z:-4.02 [[-8.78026587e-01 4.78603313e-01 2.86026640e-03 6.86439151e+01] [ 4.78600732e-01 8.78031246e-01 -1.57177413e-03 -1.65892990e+02] [-3.26365958e-03 -1.11338777e-05 -9.99994674e-01 -4.01878164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.126559995 meters 0.01342180370846668 Centerline is valid? [True, True] Translation: X:68.66, Y:-165.86, Z:-4.02 [[-9.13640233e-01 4.06511670e-01 3.12848253e-03 6.86607438e+01] [ 4.06509119e-01 9.13645588e-01 -1.44070101e-03 -1.65858524e+02] [-3.44398604e-03 -4.45257315e-05 -9.99994069e-01 -4.01713694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.1865599950002 meters 0.015576350861279516 Centerline is valid? [True, True] Translation: X:68.67, Y:-165.82, Z:-4.01 [[-9.41850875e-01 3.36010309e-01 3.74184067e-03 6.86675534e+01] [ 3.36007354e-01 9.41858305e-01 -1.41101624e-03 -1.65822694e+02] [-3.99839972e-03 -7.16808947e-05 -9.99992004e-01 -4.01491260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.246559995 meters 0.015363230656568787 Centerline is valid? [True, True] Translation: X:68.67, Y:-165.79, Z:-4.01 [[-9.64059846e-01 2.65641714e-01 4.80559834e-03 6.86724294e+01] [ 2.65637875e-01 9.64071817e-01 -1.43199994e-03 -1.65793564e+02] [-5.01334084e-03 -1.03984710e-04 -9.99987428e-01 -4.01394145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.306559995 meters 0.01528386114068069 Centerline is valid? [True, True] Translation: X:68.85, Y:-165.22, Z:-5.03 [[-9.30061872e-01 -3.67359457e-01 5.65178811e-03 6.88465113e+01] [ 3.67353877e-01 -9.30079026e-01 -2.03326153e-03 -1.65219903e+02] [ 6.00354743e-03 1.85147253e-04 9.99981961e-01 -5.03207002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.366559995 meters 0.014156647112174424 Centerline is valid? [True, True] Translation: X:68.63, Y:-165.78, Z:-4.01 [[-9.63932292e-01 2.66079484e-01 6.02037193e-03 6.86291965e+01] [ 2.66073618e-01 9.63951087e-01 -1.76983219e-03 -1.65784806e+02] [-6.27426010e-03 -1.04136260e-04 -9.99980311e-01 -4.01234742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.426559995 meters 0.013238725685804352 Centerline is valid? [True, True] Translation: X:68.64, Y:-165.76, Z:-4.01 [[-9.79461748e-01 2.01543612e-01 5.90399329e-03 6.86356117e+01] [ 2.01539504e-01 9.79479539e-01 -1.28893182e-03 -1.65763263e+02] [-6.04261660e-03 -7.25715387e-05 -9.99981741e-01 -4.01225017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.486559995 meters 0.012972935983133555 Centerline is valid? [True, True] Translation: X:68.64, Y:-165.74, Z:-4.01 [[-9.90971627e-01 1.33917061e-01 6.43850914e-03 6.86394260e+01] [ 1.33913825e-01 9.90992541e-01 -9.33042319e-04 -1.65739225e+02] [-6.50546482e-03 -6.24130787e-05 -9.99978837e-01 -4.01122386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.546559995 meters 0.012726396842869853 Centerline is valid? [True, True] Translation: X:68.73, Y:-165.12, Z:-5.03 [[-9.76345514e-01 -2.16111273e-01 6.73464406e-03 6.87273914e+01] [ 2.16106757e-01 -9.76368737e-01 -1.39988259e-03 -1.65121518e+02] [ 6.87802632e-03 8.86329955e-05 9.99976342e-01 -5.03381862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.606559995 meters 0.01247856490481061 Centerline is valid? [True, True] Translation: X:68.59, Y:-165.74, Z:-4.01 [[-9.90743890e-01 1.35537964e-01 7.48369543e-03 6.85894409e+01] [ 1.35533862e-01 9.90772153e-01 -1.05494809e-03 -1.65743424e+02] [-7.55762255e-03 -3.08892290e-05 -9.99971440e-01 -4.01039270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.666559995 meters 0.015195195849359326 Centerline is valid? [True, True] Translation: X:68.59, Y:-165.72, Z:-4.01 [[-9.97650703e-01 6.80224040e-02 8.12567198e-03 6.85918734e+01] [ 6.80200901e-02 9.97683794e-01 -5.61105573e-04 -1.65722143e+02] [-8.14501900e-03 -7.07842999e-06 -9.99966829e-01 -4.00804271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.7265599950001 meters 0.012481650306246704 Centerline is valid? [True, True] Translation: X:68.59, Y:-165.70, Z:-4.01 [[-9.99968034e-01 -1.76402678e-03 7.79872434e-03 6.85911019e+01] [-1.76394952e-03 9.99998444e-01 1.67840157e-05 -1.65698992e+02] [-7.79874182e-03 3.02692306e-06 -9.99969589e-01 -4.01076219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.786559995 meters 0.01266086631040907 Centerline is valid? [True, True] Translation: X:68.59, Y:-165.03, Z:-5.03 [[-9.98042463e-01 -6.20264550e-02 7.99762430e-03 6.85919009e+01] [ 6.20245460e-02 -9.98074506e-01 -4.86734191e-04 -1.65033322e+02] [ 8.01241532e-03 1.02676263e-05 9.99967900e-01 -5.03416192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.846559995 meters 0.012735603154286455 Centerline is valid? [True, True] Translation: X:68.53, Y:-165.71, Z:-4.01 [[-9.99967241e-01 -2.24410418e-03 7.77695259e-03 6.85268141e+01] [-2.24376338e-03 9.99997481e-01 5.25458426e-05 -1.65712001e+02] [-7.77705092e-03 3.50944798e-05 -9.99969758e-01 -4.01173138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.906559995 meters 0.012720563692385115 Centerline is valid? [True, True] Translation: X:68.52, Y:-165.68, Z:-4.01 [[-9.97096229e-01 -7.59216832e-02 5.91682375e-03 6.85195585e+01] [-7.59202827e-02 9.97113784e-01 4.61266698e-04 -1.65682517e+02] [-5.93476667e-03 1.07203531e-05 -9.99982389e-01 -4.01157401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1284.9665599950001 meters 0.012664390840288094 Centerline is valid? [True, True] Translation: X:68.46, Y:-165.01, Z:-5.03 [[-9.99958124e-01 8.30500081e-03 3.84418306e-03 6.84638560e+01] [-8.30552762e-03 -9.99965501e-01 -1.21096331e-04 -1.65010502e+02] [ 3.84304474e-03 -1.53019229e-04 9.99992604e-01 -5.03165513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.026559995 meters 0.012645760021267872 Centerline is valid? [True, True] Translation: X:68.44, Y:-165.68, Z:-4.01 [[-9.96248639e-01 -8.64618377e-02 3.60567522e-03 6.84439771e+01] [-8.64613234e-02 9.96255163e-01 2.98576989e-04 -1.65682280e+02] [-3.61798807e-03 -1.42945331e-05 -9.99993455e-01 -4.01326359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.086559995 meters 0.012719785403525597 Centerline is valid? [True, True] Translation: X:68.38, Y:-165.02, Z:-5.03 [[-9.99918901e-01 1.23537163e-02 3.09463369e-03 6.83825654e+01] [-1.23537245e-02 -9.99923690e-01 1.64690745e-05 -1.65016475e+02] [ 3.09460100e-03 -2.17625132e-05 9.99995212e-01 -5.03049582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.146559995 meters 0.012789967998603588 Centerline is valid? [True, True] Translation: X:68.37, Y:-165.69, Z:-4.01 [[-9.95818708e-01 -9.13093567e-02 2.77544118e-03 6.83663085e+01] [-9.13090310e-02 9.95822575e-01 2.44112051e-04 -1.65687889e+02] [-2.78613670e-03 -1.03314976e-05 -9.99996119e-01 -4.01375364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.2065599950001 meters 0.012770089722308265 Centerline is valid? [True, True] Translation: X:68.36, Y:-165.66, Z:-4.01 [[-9.86671616e-01 -1.62697361e-01 2.94788777e-03 6.83560369e+01] [-1.62696675e-01 9.86676020e-01 4.72591587e-04 -1.65658332e+02] [-2.98549957e-03 -1.33188338e-05 -9.99995543e-01 -4.01303292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.266559995 meters 0.012934327193634321 Centerline is valid? [True, True] Translation: X:68.34, Y:-165.63, Z:-4.01 [[-9.72390617e-01 -2.33337686e-01 3.16406100e-03 6.83417776e+01] [-2.33336508e-01 9.72395765e-01 7.41872329e-04 -1.65629528e+02] [-3.24982629e-03 -1.69012512e-05 -9.99994719e-01 -4.01214041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.326559995 meters 0.012851025295282158 Centerline is valid? [True, True] Translation: X:68.32, Y:-165.61, Z:-4.01 [[-9.53458957e-01 -3.01500442e-01 3.67426998e-03 6.83197974e+01] [-3.01498270e-01 9.53466037e-01 1.14452048e-03 -1.65607282e+02] [-3.84836507e-03 -1.65327370e-05 -9.99992595e-01 -4.01151488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.386559995 meters 0.012751050943187469 Centerline is valid? [True, True] Translation: X:68.29, Y:-165.59, Z:-4.01 [[-9.29824360e-01 -3.67984828e-01 3.71827097e-03 6.82902289e+01] [-3.67981933e-01 9.29831795e-01 1.45948671e-03 -1.65589597e+02] [-3.99443553e-03 -1.11902468e-05 -9.99992022e-01 -4.01103894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.4465599950001 meters 0.012679342948710783 Centerline is valid? [True, True] Translation: X:68.24, Y:-165.58, Z:-4.01 [[-9.01124334e-01 -4.33548503e-01 3.26040548e-03 6.82391990e+01] [-4.33545685e-01 9.01130232e-01 1.56315427e-03 -1.65581059e+02] [-3.61575314e-03 -4.93838416e-06 -9.99993463e-01 -4.01068114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.506559995 meters 0.01272353729821431 Centerline is valid? [True, True] Translation: X:68.17, Y:-165.58, Z:-4.01 [[-8.66388285e-01 -4.99360578e-01 3.21749609e-03 6.81732947e+01] [-4.99357169e-01 8.66394259e-01 1.84523310e-03 -1.65582356e+02] [-3.70905681e-03 -7.99139633e-06 -9.99993121e-01 -4.00982763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.566559995 meters 0.012695222379291894 Centerline is valid? [True, True] Translation: X:68.10, Y:-165.60, Z:-4.01 [[-8.25844701e-01 -5.63893449e-01 2.17001048e-03 6.80985291e+01] [-5.63891542e-01 8.25847552e-01 1.46654266e-03 -1.65595072e+02] [-2.61907164e-03 -1.25140663e-05 -9.99996570e-01 -4.01158343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.626559995 meters 0.012732887900657514 Centerline is valid? [True, True] Translation: X:68.03, Y:-165.61, Z:-4.01 [[-7.80161476e-01 -6.25577252e-01 1.08311816e-03 6.80282645e+01] [-6.25576668e-01 7.80162228e-01 8.55056149e-04 -1.65611221e+02] [-1.37991155e-03 -1.04915843e-05 -9.99999048e-01 -4.01260140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.6865599950002 meters 0.01332138264117316 Centerline is valid? [True, True] Translation: X:67.95, Y:-165.64, Z:-4.01 [[-7.28703627e-01 -6.84829187e-01 9.23813511e-05 6.79465021e+01] [-6.84829182e-01 7.28703633e-01 8.28447413e-05 -1.65640100e+02] [-1.24053124e-04 -2.89618175e-06 -9.99999992e-01 -4.01262005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.746559995 meters 0.013689592918655562 Centerline is valid? [True, True] Translation: X:67.87, Y:-165.68, Z:-4.01 [[-6.73683453e-01 -7.39019722e-01 6.75003472e-04 6.78662439e+01] [-7.39019372e-01 6.73683791e-01 7.19430793e-04 -1.65678518e+02] [-9.86412443e-04 -1.41720216e-05 -9.99999513e-01 -4.01060721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.806559995 meters 0.013959174302843021 Centerline is valid? [True, True] Translation: X:67.79, Y:-165.73, Z:-4.01 [[-6.15306357e-01 -7.88285178e-01 2.13670171e-03 6.77857116e+01] [-7.88280698e-01 6.15310065e-01 2.65807755e-03 -1.65729723e+02] [-3.41005720e-03 -4.87887044e-05 -9.99994185e-01 -4.00704012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.866559995 meters 0.01393041515253204 Centerline is valid? [True, True] Translation: X:67.71, Y:-165.79, Z:-4.01 [[-5.55099304e-01 -8.31780927e-01 2.29183229e-03 6.77059558e+01] [-8.31774226e-01 5.55104033e-01 3.33908994e-03 -1.65794435e+02] [-4.04959667e-03 -5.27605270e-05 -9.99991799e-01 -4.00564240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.926559995 meters 0.013195257518734264 Centerline is valid? [True, True] Translation: X:67.64, Y:-165.86, Z:-4.01 [[-4.93707752e-01 -8.69624813e-01 2.31081358e-03 6.76405143e+01] [-8.69615684e-01 4.93713158e-01 3.98502068e-03 -1.65859600e+02] [-4.60635193e-03 -4.20841274e-05 -9.99989390e-01 -4.00607665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1285.986559995 meters 0.01292952090327777 Centerline is valid? [True, True] Translation: X:67.57, Y:-165.94, Z:-4.01 [[-4.28654766e-01 -9.03466614e-01 1.78019727e-03 6.75711445e+01] [-9.03459075e-01 4.28658462e-01 3.69091731e-03 -1.65940998e+02] [-4.09771719e-03 -2.62060780e-05 -9.99991604e-01 -4.00652645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.046559995 meters 0.01287212678142371 Centerline is valid? [True, True] Translation: X:66.94, Y:-165.75, Z:-5.04 [[-4.97889028e-01 8.67238655e-01 1.90563994e-03 6.69408231e+01] [-8.67232243e-01 -4.97892675e-01 3.33479819e-03 -1.65746608e+02] [ 3.84087007e-03 7.72703088e-06 9.99992624e-01 -5.03819847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.106559995 meters 0.012996987059834425 Centerline is valid? [True, True] Translation: X:67.45, Y:-166.18, Z:-4.00 [[-4.20624244e-01 -9.07232248e-01 2.21219024e-03 6.74540733e+01] [-9.07220081e-01 4.20630060e-01 4.69856758e-03 -1.66183370e+02] [-5.19320574e-03 -3.06119757e-05 -9.99986515e-01 -4.00467695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.166559995 meters 0.013306178771909614 Centerline is valid? [True, True] Translation: X:67.39, Y:-166.27, Z:-4.00 [[-3.47284045e-01 -9.37757106e-01 2.32408703e-03 6.73872619e+01] [-9.37737224e-01 3.47291817e-01 6.10675046e-03 -1.66267208e+02] [-6.53378504e-03 -5.86059209e-05 -9.99978653e-01 -4.00388781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.2265599950001 meters 0.013947224755851641 Centerline is valid? [True, True] Translation: X:67.32, Y:-166.36, Z:-4.00 [[-2.69810119e-01 -9.62911047e-01 2.19426499e-03 6.73228987e+01] [-9.62882408e-01 2.69819019e-01 7.42738887e-03 -1.66363151e+02] [-7.74396922e-03 -1.08834481e-04 -9.99970009e-01 -4.00272046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.286559995 meters 0.014322603661574578 Centerline is valid? [True, True] Translation: X:67.27, Y:-166.47, Z:-4.00 [[-1.93059910e-01 -9.81185595e-01 1.64298852e-03 6.72674222e+01] [-9.81155569e-01 1.93066857e-01 7.67716251e-03 -1.66468059e+02] [-7.84992789e-03 -1.29875031e-04 -9.99969180e-01 -4.00278200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.346559995 meters 0.014968049136711048 Centerline is valid? [True, True] Translation: X:67.22, Y:-166.57, Z:-4.00 [[-1.15685177e-01 -9.93285338e-01 1.08497847e-03 6.72200437e+01] [-9.93252884e-01 1.15690169e-01 8.03080487e-03 -1.66569843e+02] [-8.10240207e-03 -1.48612914e-04 -9.99967164e-01 -4.00186590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.406559995 meters 0.015088236914624726 Centerline is valid? [True, True] Translation: X:67.18, Y:-166.68, Z:-4.00 [[-3.87935387e-02 -9.99247127e-01 4.90143823e-04 6.71820165e+01] [-9.99211062e-01 3.87963035e-02 8.49114561e-03 -1.66680120e+02] [-8.50376863e-03 -1.60355545e-04 -9.99963830e-01 -4.00154001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.4665599950001 meters 0.014827000037524851 Centerline is valid? [True, True] Translation: X:67.15, Y:-166.80, Z:-4.00 [[ 3.59980901e-02 -9.99351842e-01 -1.82972642e-04 6.71546996e+01] [-9.99305364e-01 -3.59981808e-02 9.63952873e-03 -1.66798903e+02] [-9.63986747e-03 -1.64159081e-04 -9.99953522e-01 -4.00033330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.526559995 meters 0.014203042186618562 Centerline is valid? [True, True] Translation: X:67.14, Y:-166.91, Z:-4.00 [[ 1.10746464e-01 -9.93848304e-01 -8.77724214e-04 6.71356691e+01] [-9.93806263e-01 -1.10749853e-01 9.14235223e-03 -1.66905018e+02] [-9.18331909e-03 -1.40195359e-04 -9.99957823e-01 -4.00072028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.586559995 meters 0.013804398922220115 Centerline is valid? [True, True] Translation: X:67.12, Y:-167.02, Z:-4.00 [[ 1.84254815e-01 -9.82877485e-01 -1.41903146e-03 6.71231175e+01] [-9.82843704e-01 -1.84260248e-01 8.14951594e-03 -1.67019986e+02] [-8.27144682e-03 -1.06901416e-04 -9.99965785e-01 -4.00098991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.646559995 meters 0.013645825746466122 Centerline is valid? [True, True] Translation: X:67.12, Y:-167.14, Z:-4.00 [[ 2.57329052e-01 -9.66321776e-01 -1.99582798e-03 6.71192410e+01] [-9.66289924e-01 -2.57336776e-01 7.84645150e-03 -1.67137305e+02] [-8.09579689e-03 -9.05714659e-05 -9.99967224e-01 -4.00009892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.7065599950001 meters 0.013374966533793643 Centerline is valid? [True, True] Translation: X:67.13, Y:-167.25, Z:-4.00 [[ 3.28650876e-01 -9.44447564e-01 -2.72033767e-03 6.71262149e+01] [-9.44413223e-01 -3.28662125e-01 8.05434391e-03 -1.67251315e+02] [-8.50097745e-03 -7.79443151e-05 -9.99963863e-01 -3.99970190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.766559995 meters 0.01308385423164595 Centerline is valid? [True, True] Translation: X:67.15, Y:-167.37, Z:-4.00 [[ 3.96721129e-01 -9.17934867e-01 -2.81516439e-03 6.71451515e+01] [-9.17911033e-01 -3.96731115e-01 6.61503531e-03 -1.67366275e+02] [-7.18903487e-03 -4.02538246e-05 -9.99974158e-01 -4.00002710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.826559995 meters 0.013059970101307697 Centerline is valid? [True, True] Translation: X:67.17, Y:-167.48, Z:-4.00 [[ 4.64249685e-01 -8.85700195e-01 -2.71930729e-03 6.71684093e+01] [-8.85684709e-01 -4.64257649e-01 5.23750801e-03 -1.67475990e+02] [-5.90132107e-03 -2.30625558e-05 -9.99982587e-01 -4.00040051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.886559995 meters 0.012886466558263962 Centerline is valid? [True, True] Translation: X:67.20, Y:-167.59, Z:-4.00 [[ 5.30158974e-01 -8.47893403e-01 -2.87057370e-03 6.72003867e+01] [-8.47880779e-01 -5.30166745e-01 4.62674043e-03 -1.67587606e+02] [-5.44486540e-03 -1.90036968e-05 -9.99985177e-01 -4.00064041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1286.9465599950001 meters 0.012791136882559931 Centerline is valid? [True, True] Translation: X:67.24, Y:-167.69, Z:-4.00 [[ 5.93459276e-01 -8.04858766e-01 -2.90771383e-03 6.72363677e+01] [-8.04848951e-01 -5.93466399e-01 3.97478674e-03 -1.67691713e+02] [-4.92477241e-03 -1.86036407e-05 -9.99987873e-01 -4.00025166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.006559995 meters 0.012848028694831436 Centerline is valid? [True, True] Translation: X:67.28, Y:-167.79, Z:-4.00 [[ 6.54001943e-01 -7.56484674e-01 -3.52086164e-03 6.72812997e+01] [-7.56473487e-01 -6.54011420e-01 4.11407479e-03 -1.67791839e+02] [-5.41491825e-03 -2.71744267e-05 -9.99985339e-01 -3.99996307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.066559995 meters 0.013176506879239944 Centerline is valid? [True, True] Translation: X:67.33, Y:-167.89, Z:-4.00 [[ 7.12469890e-01 -7.01684596e-01 -5.03809747e-03 6.73307475e+01] [-7.01666408e-01 -7.12487700e-01 5.05264229e-03 -1.67891036e+02] [-7.13494375e-03 -6.47917468e-05 -9.99974544e-01 -3.99765732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.126559995 meters 0.013684198882008216 Centerline is valid? [True, True] Translation: X:67.39, Y:-167.98, Z:-4.00 [[ 7.64773566e-01 -6.44267735e-01 -6.36229112e-03 6.73871507e+01] [-6.44244439e-01 -7.64800025e-01 5.47955204e-03 -1.67984580e+02] [-8.39617898e-03 -9.17458869e-05 -9.99964747e-01 -3.99584353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.1865599950002 meters 0.013264636382263266 Centerline is valid? [True, True] Translation: X:67.41, Y:-168.01, Z:-4.00 [[ 8.12147172e-01 -5.83423057e-01 -5.87430680e-03 6.74106188e+01] [-5.83407156e-01 -8.12168413e-01 4.30801818e-03 -1.68012439e+02] [-7.28432357e-03 -7.16321571e-05 -9.99973466e-01 -3.99727297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.246559995 meters 0.013037316554434221 Centerline is valid? [True, True] Translation: X:67.44, Y:-168.04, Z:-4.00 [[ 8.53700302e-01 -5.20742454e-01 -4.80524215e-03 6.74361517e+01] [-5.20733949e-01 -8.53713825e-01 2.97649946e-03 -1.68036841e+02] [-5.65229129e-03 -3.87857682e-05 -9.99984025e-01 -3.99860054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.306559995 meters 0.012667599202532211 Centerline is valid? [True, True] Translation: X:67.47, Y:-168.06, Z:-4.00 [[ 8.89764579e-01 -4.56411738e-01 -2.70557735e-03 6.74656485e+01] [-4.56409601e-01 -8.89768692e-01 1.39671798e-03 -1.68056636e+02] [-3.04481650e-03 -7.89871058e-06 -9.99995365e-01 -4.00170596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.366559995 meters 0.012649492168415611 Centerline is valid? [True, True] Translation: X:67.49, Y:-168.08, Z:-4.00 [[ 9.21829351e-01 -3.87593256e-01 -1.45449846e-03 6.74941775e+01] [-3.87592771e-01 -9.21830499e-01 6.12859068e-04 -1.68079440e+02] [-1.57834108e-03 -1.19838861e-06 -9.99998755e-01 -4.00332752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.426559995 meters 0.012584300073379063 Centerline is valid? [True, True] Translation: X:67.52, Y:-168.10, Z:-4.00 [[ 9.49234474e-01 -3.14568305e-01 -8.33453036e-04 6.75235416e+01] [-3.14568182e-01 -9.49234840e-01 2.77424193e-04 -1.68098889e+02] [-8.78411518e-04 -1.16280142e-06 -9.99999614e-01 -4.00394530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.486559995 meters 0.012616229268384882 Centerline is valid? [True, True] Translation: X:67.55, Y:-168.12, Z:-4.00 [[ 9.71522349e-01 -2.36947881e-01 -1.67718345e-04 6.75543219e+01] [-2.36947877e-01 -9.71522363e-01 4.28396532e-05 -1.68118820e+02] [-1.73092888e-04 -1.87917478e-06 -9.99999985e-01 -4.00493617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.546559995 meters 0.012751627021395552 Centerline is valid? [True, True] Translation: X:67.59, Y:-168.14, Z:-4.01 [[ 9.87610416e-01 -1.56925671e-01 6.71680718e-06 6.75862251e+01] [-1.56925671e-01 -9.87610416e-01 4.22180694e-07 -1.68137515e+02] [ 6.56733702e-06 -1.47098954e-06 -1.00000000e+00 -4.00515333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.606559995 meters 0.013157553525047574 Centerline is valid? [True, True] Translation: X:67.62, Y:-168.16, Z:-4.00 [[ 9.97233210e-01 -7.43190315e-02 -1.61429106e-03 6.76163160e+01] [-7.43189044e-02 -9.97234517e-01 1.38647775e-04 -1.68155506e+02] [-1.62013093e-03 -1.82918228e-05 -9.99998688e-01 -4.00372435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.666559995 meters 0.013309302894808165 Centerline is valid? [True, True] Translation: X:67.65, Y:-168.17, Z:-4.00 [[ 9.99973862e-01 5.90773940e-03 -4.16830865e-03 6.76480048e+01] [ 5.90790763e-03 -9.99982548e-01 2.80476950e-05 -1.68168438e+02] [-4.16807020e-03 -5.26729443e-05 -9.99991312e-01 -4.00214692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.7265599950001 meters 0.013400849148299887 Centerline is valid? [True, True] Translation: X:67.68, Y:-168.18, Z:-4.00 [[ 9.96438515e-01 8.41568052e-02 -5.28383906e-03 6.76806311e+01] [ 8.41559759e-02 -9.96452522e-01 -3.79496919e-04 -1.68176056e+02] [-5.29703200e-03 -6.65212859e-05 -9.99985969e-01 -4.00074020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.786559995 meters 0.012879869558391164 Centerline is valid? [True, True] Translation: X:67.71, Y:-168.18, Z:-4.00 [[ 9.87523405e-01 1.57382311e-01 -5.32283401e-03 6.77126132e+01] [ 1.57380259e-01 -9.87537749e-01 -8.04819146e-04 -1.68177442e+02] [-5.38316381e-03 -4.29312511e-05 -9.99985510e-01 -4.00063002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.846559995 meters 0.012327692886440327 Centerline is valid? [True, True] Translation: X:67.75, Y:-168.18, Z:-4.00 [[ 9.73255571e-01 2.29669337e-01 -5.05860229e-03 6.77451283e+01] [ 2.29666327e-01 -9.73268717e-01 -1.17594060e-03 -1.68175340e+02] [-5.19345686e-03 -1.72998626e-05 -9.99986514e-01 -4.00161348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.906559995 meters 0.012417318873474595 Centerline is valid? [True, True] Translation: X:67.78, Y:-168.17, Z:-4.00 [[ 9.53630805e-01 3.00942832e-01 -4.65831274e-03 6.77768637e+01] [ 3.00939215e-01 -9.53642182e-01 -1.47541247e-03 -1.68170389e+02] [-4.88637834e-03 5.12980444e-06 -9.99988062e-01 -4.00187448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1287.9665599950001 meters 0.012834233350642564 Centerline is valid? [True, True] Translation: X:67.81, Y:-168.16, Z:-4.00 [[ 9.28853670e-01 3.70416737e-01 -4.72244535e-03 6.78079333e+01] [ 3.70411792e-01 -9.28865674e-01 -1.91408653e-03 -1.68163742e+02] [-5.09552707e-03 2.86568548e-05 -9.99987017e-01 -4.00186302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.026559995 meters 0.012988287155476215 Centerline is valid? [True, True] Translation: X:67.84, Y:-168.16, Z:-4.00 [[ 8.97719330e-01 4.40536247e-01 -5.27441069e-03 6.78400040e+01] [ 4.40528360e-01 -8.97734824e-01 -2.63630353e-03 -1.68157449e+02] [-5.89640941e-03 4.31331441e-05 -9.99982615e-01 -4.00142086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.086559995 meters 0.013038193291890182 Centerline is valid? [True, True] Translation: X:67.87, Y:-168.15, Z:-4.00 [[ 8.60777470e-01 5.08941544e-01 -6.37586084e-03 6.78729454e+01] [ 5.08927069e-01 -8.60801081e-01 -3.83893519e-03 -1.68152135e+02] [-7.44214151e-03 5.96207503e-05 -9.99972305e-01 -4.00070412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.146559995 meters 0.01303846311337384 Centerline is valid? [True, True] Translation: X:67.90, Y:-168.14, Z:-4.00 [[ 8.17837947e-01 5.75403073e-01 -7.23847306e-03 6.79030608e+01] [ 5.75379836e-01 -8.17869977e-01 -5.17158600e-03 -1.68143115e+02] [-8.89587627e-03 6.46478337e-05 -9.99960429e-01 -3.99983202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.2065599950001 meters 0.012904320982184027 Centerline is valid? [True, True] Translation: X:67.93, Y:-168.13, Z:-4.00 [[ 7.69342110e-01 6.38793939e-01 -7.41767160e-03 6.79327216e+01] [ 6.38763545e-01 -7.69377866e-01 -6.23158976e-03 -1.68130664e+02] [-9.68769412e-03 5.60862031e-05 -9.99953072e-01 -3.99993217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.266559995 meters 0.01265783730855144 Centerline is valid? [True, True] Translation: X:67.96, Y:-168.12, Z:-4.00 [[ 7.15477174e-01 6.98594937e-01 -7.58467161e-03 6.79624031e+01] [ 6.98555108e-01 -7.15517374e-01 -7.45984017e-03 -1.68116782e+02] [-1.06383709e-02 3.90342723e-05 -9.99943410e-01 -3.99966088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.326559995 meters 0.012548453272860544 Centerline is valid? [True, True] Translation: X:67.99, Y:-168.10, Z:-4.00 [[ 6.58412055e-01 7.52630321e-01 -6.41601880e-03 6.79895877e+01] [ 7.52594093e-01 -6.58443314e-01 -7.38463526e-03 -1.68100172e+02] [-9.78248509e-03 3.34750298e-05 -9.99952150e-01 -4.00020901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.386559995 meters 0.012530877882790076 Centerline is valid? [True, True] Translation: X:68.01, Y:-168.08, Z:-4.00 [[ 5.97940178e-01 8.01529967e-01 -4.15389435e-03 6.80125474e+01] [ 8.01510307e-01 -5.97954606e-01 -5.61396082e-03 -1.68080475e+02] [-6.98359809e-03 2.74235960e-05 -9.99975614e-01 -4.00290509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.4465599950001 meters 0.01240934648735529 Centerline is valid? [True, True] Translation: X:68.04, Y:-168.06, Z:-4.00 [[ 5.33080703e-01 8.46059840e-01 -2.77679983e-03 6.80375904e+01] [ 8.46048182e-01 -5.33087935e-01 -4.44161547e-03 -1.68059879e+02] [-5.23815096e-03 1.84330521e-05 -9.99986281e-01 -4.00473144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.506559995 meters 0.012286495597049833 Centerline is valid? [True, True] Translation: X:68.06, Y:-168.04, Z:-4.01 [[ 4.62726443e-01 8.86498629e-01 -2.10252578e-03 6.80614363e+01] [ 8.86489445e-01 -4.62731219e-01 -4.03509537e-03 -1.68038426e+02] [-4.55001083e-03 3.27841427e-06 -9.99989649e-01 -4.00516799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.566559995 meters 0.01223305648535755 Centerline is valid? [True, True] Translation: X:68.08, Y:-168.02, Z:-4.00 [[ 3.89076133e-01 9.21203164e-01 -2.11995474e-03 6.80833537e+01] [ 9.21189661e-01 -3.89081908e-01 -4.98770476e-03 -1.68015020e+02] [-5.41952544e-03 -1.22835089e-05 -9.99985314e-01 -4.00433267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.626559995 meters 0.01242050091673879 Centerline is valid? [True, True] Translation: X:68.10, Y:-167.99, Z:-4.00 [[ 3.12468023e-01 9.49926089e-01 -2.03950153e-03 6.81025980e+01] [ 9.49906605e-01 -3.12474677e-01 -6.08425359e-03 -1.67989941e+02] [-6.41688380e-03 -3.62012799e-05 -9.99979411e-01 -4.00382387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.6865599950002 meters 0.013077486184014487 Centerline is valid? [True, True] Translation: X:68.12, Y:-167.96, Z:-4.00 [[ 2.33073549e-01 9.72456967e-01 -2.04178997e-03 6.81194834e+01] [ 9.72422668e-01 -2.33082478e-01 -8.16777753e-03 -1.67962913e+02] [-8.41871763e-03 -8.17899510e-05 -9.99964559e-01 -4.00183521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.746559995 meters 0.013015663730256073 Centerline is valid? [True, True] Translation: X:68.14, Y:-167.94, Z:-4.00 [[ 1.54322090e-01 9.88019442e-01 -1.50801715e-03 6.81357417e+01] [ 9.87978731e-01 -1.54329422e-01 -8.96979874e-03 -1.67935092e+02] [-9.09506696e-03 -1.05650782e-04 -9.99958634e-01 -4.00176484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.806559995 meters 0.013276745991033368 Centerline is valid? [True, True] Translation: X:68.15, Y:-167.91, Z:-4.00 [[ 7.57196389e-02 9.97128847e-01 -7.73234676e-04 6.81485335e+01] [ 9.97090484e-01 -7.57235090e-02 -8.74738222e-03 -1.67906702e+02] [-8.78081920e-03 -1.08636314e-04 -9.99961442e-01 -4.00129873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.866559995 meters 0.013318912628789955 Centerline is valid? [True, True] Translation: X:68.16, Y:-167.88, Z:-4.00 [[-2.79953082e-03 9.99996078e-01 -8.59887277e-05 6.81577546e+01] [ 9.99957056e-01 2.79866188e-03 -8.83483632e-03 -1.67875934e+02] [-8.83456101e-03 -1.10718432e-04 -9.99960968e-01 -4.00107282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.926559995 meters 0.013074086053273034 Centerline is valid? [True, True] Translation: X:68.16, Y:-167.85, Z:-4.00 [[-8.06714802e-02 9.96740541e-01 6.37279160e-04 6.81636947e+01] [ 9.96697520e-01 8.06739197e-02 -9.26129349e-03 -1.67845106e+02] [-9.28251849e-03 -1.11947696e-04 -9.99956910e-01 -4.00063362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1288.986559995 meters 0.012648073998925195 Centerline is valid? [True, True] Translation: X:68.16, Y:-167.81, Z:-4.00 [[-1.55728503e-01 9.87798991e-01 1.33668882e-03 6.81646308e+01] [ 9.87757798e-01 1.55734217e-01 -9.02147223e-03 -1.67814826e+02] [-9.11956935e-03 -8.45755578e-05 -9.99958412e-01 -4.00131338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.046559995 meters 0.012485241030152886 Centerline is valid? [True, True] Translation: X:68.16, Y:-167.78, Z:-4.00 [[-2.30321904e-01 9.73112709e-01 1.86424719e-03 6.81633297e+01] [ 9.73078780e-01 2.30329441e-01 -8.12630888e-03 -1.67784956e+02] [-8.33720546e-03 -5.76075526e-05 -9.99965243e-01 -4.00215190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.106559995 meters 0.012263141946860635 Centerline is valid? [True, True] Translation: X:68.16, Y:-167.76, Z:-4.00 [[-3.03061872e-01 9.52968506e-01 2.12809498e-03 6.81575068e+01] [ 9.52944352e-01 3.03069343e-01 -6.78490169e-03 -1.67755996e+02] [-7.11075797e-03 -2.82889129e-05 -9.99974718e-01 -4.00343887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.166559995 meters 0.012250946798661837 Centerline is valid? [True, True] Translation: X:68.15, Y:-167.73, Z:-4.00 [[-3.75952814e-01 9.26634922e-01 2.68384510e-03 6.81511402e+01] [ 9.26610886e-01 3.75962393e-01 -6.67417836e-03 -1.67727167e+02] [-7.19355157e-03 -2.22960475e-05 -9.99974126e-01 -4.00284952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.2265599950001 meters 0.01233830246519013 Centerline is valid? [True, True] Translation: X:68.14, Y:-167.70, Z:-4.00 [[-4.47369433e-01 8.94342657e-01 3.43540199e-03 6.81446368e+01] [ 8.94315878e-01 4.47382622e-01 -6.92100016e-03 -1.67698120e+02] [-7.72668483e-03 -2.39093716e-05 -9.99970149e-01 -4.00211793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.286559995 meters 0.012661792644408226 Centerline is valid? [True, True] Translation: X:68.14, Y:-167.67, Z:-4.00 [[-5.19045582e-01 8.54733589e-01 4.70905511e-03 6.81398657e+01] [ 8.54697351e-01 5.19066940e-01 -7.87083063e-03 -1.67668006e+02] [-9.17177814e-03 -6.05029393e-05 -9.99957937e-01 -3.99983986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.346559995 meters 0.01303165889019361 Centerline is valid? [True, True] Translation: X:68.13, Y:-167.64, Z:-4.00 [[-5.86282094e-01 8.10088056e-01 5.53602850e-03 6.81290524e+01] [ 8.10050562e-01 5.86308225e-01 -7.79434454e-03 -1.67639547e+02] [-9.55992446e-03 -8.52216472e-05 -9.99954299e-01 -3.99914235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.406559995 meters 0.012933524009684666 Centerline is valid? [True, True] Translation: X:68.12, Y:-167.61, Z:-4.00 [[-6.49034083e-01 7.60735632e-01 6.00485420e-03 6.81173474e+01] [ 7.60701679e-01 6.49061853e-01 -7.18795629e-03 -1.67609915e+02] [-9.36565626e-03 -9.73259429e-05 -9.99956137e-01 -4.00049964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.4665599950001 meters 0.01272152125543616 Centerline is valid? [True, True] Translation: X:68.10, Y:-167.58, Z:-4.00 [[-7.06095694e-01 7.08095309e-01 5.46853820e-03 6.81031298e+01] [ 7.08073241e-01 7.06116865e-01 -5.59088277e-03 -1.67580763e+02] [-7.82030491e-03 -7.55726829e-05 -9.99969418e-01 -4.00313658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.526559995 meters 0.012577574605995201 Centerline is valid? [True, True] Translation: X:68.09, Y:-167.55, Z:-4.00 [[-7.58041723e-01 6.52191760e-01 4.31918977e-03 6.80865358e+01] [ 6.52180841e-01 7.58054026e-01 -3.77415558e-03 -1.67554888e+02] [-5.73565236e-03 -4.40745775e-05 -9.99983550e-01 -4.00399566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.586559995 meters 0.012093227671063751 Centerline is valid? [True, True] Translation: X:68.10, Y:-167.54, Z:-4.00 [[-7.99443335e-01 6.00730445e-01 3.64505664e-03 6.81044862e+01] [ 6.00724124e-01 7.99451645e-01 -2.75583970e-03 -1.67536517e+02] [-4.56956334e-03 -1.34642234e-05 -9.99989559e-01 -4.00423243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.646559995 meters 0.012168077904226386 Centerline is valid? [True, True] Translation: X:68.49, Y:-167.04, Z:-5.04 [[-7.56121366e-01 -6.54424217e-01 3.06993971e-03 6.84944735e+01] [ 6.54418739e-01 -7.56127598e-01 -2.67771776e-03 -1.67036060e+02] [ 4.07362949e-03 -1.56535402e-05 9.99991703e-01 -5.04104240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.7065599950001 meters 0.01239546373740691 Centerline is valid? [True, True] Translation: X:68.07, Y:-167.52, Z:-4.00 [[-7.96967281e-01 6.04015931e-01 2.81223992e-03 6.80713924e+01] [ 6.04012242e-01 7.96972243e-01 -2.11088690e-03 -1.67518565e+02] [-3.51628648e-03 1.63195463e-05 -9.99993818e-01 -4.00374427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.766559995 meters 0.01299716109265801 Centerline is valid? [True, True] Translation: X:68.09, Y:-167.50, Z:-4.00 [[-8.35400579e-01 5.49630797e-01 3.44395774e-03 6.80895543e+01] [ 5.49626307e-01 8.35407677e-01 -2.22189837e-03 -1.67500133e+02] [-4.09833250e-03 3.67145844e-05 -9.99991601e-01 -4.00306829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.826559995 meters 0.01311739152620808 Centerline is valid? [True, True] Translation: X:68.10, Y:-167.47, Z:-4.00 [[-8.71773315e-01 4.89889944e-01 4.37384024e-03 6.80992676e+01] [ 4.89884062e-01 8.71784286e-01 -2.40109613e-03 -1.67473755e+02] [-4.98931804e-03 4.94630953e-05 -9.99987552e-01 -4.00185691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.886559995 meters 0.012799002703808867 Centerline is valid? [True, True] Translation: X:68.12, Y:-167.45, Z:-4.00 [[-9.04771110e-01 4.25854181e-01 6.12003404e-03 6.81219703e+01] [ 4.25844855e-01 9.04791807e-01 -2.81884472e-03 -1.67450686e+02] [-6.73777346e-03 5.57757440e-05 -9.99977299e-01 -4.00083863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1289.9465599950001 meters 0.012725301994034552 Centerline is valid? [True, True] Translation: X:68.13, Y:-167.42, Z:-4.00 [[-9.33291479e-01 3.59051286e-01 7.01355515e-03 6.81280072e+01] [ 3.59041545e-01 9.33317830e-01 -2.64518201e-03 -1.67421054e+02] [-7.49563207e-03 4.94318507e-05 -9.99971906e-01 -3.99984586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.006559995 meters 0.012570634349664093 Centerline is valid? [True, True] Translation: X:68.14, Y:-167.39, Z:-4.00 [[-9.56749470e-01 2.90843914e-01 6.34577119e-03 6.81350763e+01] [ 2.90837762e-01 9.56770514e-01 -1.89210698e-03 -1.67393275e+02] [-6.62175456e-03 3.53175351e-05 -9.99978075e-01 -4.00041992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.066559995 meters 0.012727377423950028 Centerline is valid? [True, True] Translation: X:68.32, Y:-166.79, Z:-5.04 [[-9.39110718e-01 -3.43583466e-01 4.63262607e-03 6.83165875e+01] [ 3.43578613e-01 -9.39122136e-01 -1.83051663e-03 -1.66791268e+02] [ 4.97953694e-03 -1.27386551e-04 9.99987594e-01 -5.04370803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.126559995 meters 0.012805596269850464 Centerline is valid? [True, True] Translation: X:68.09, Y:-167.38, Z:-4.00 [[-9.57245516e-01 2.89238962e-01 4.67391286e-03 6.80921135e+01] [ 2.89235698e-01 9.57256926e-01 -1.37461138e-03 -1.67380961e+02] [-4.87172662e-03 3.60218697e-05 -9.99988133e-01 -4.00105310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.1865599950002 meters 0.012874899132710737 Centerline is valid? [True, True] Translation: X:68.09, Y:-167.35, Z:-4.00 [[-9.75151313e-01 2.21469815e-01 5.57119226e-03 6.80948997e+01] [ 2.21466478e-01 9.75167226e-01 -1.21676515e-03 -1.67353064e+02] [-5.70232085e-03 4.73021978e-05 -9.99983741e-01 -4.00028407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.246559995 meters 0.012973884784743204 Centerline is valid? [True, True] Translation: X:68.10, Y:-167.33, Z:-4.00 [[-9.88378709e-01 1.51907931e-01 5.61318800e-03 6.80977882e+01] [ 1.51905757e-01 9.88394647e-01 -8.14129082e-04 -1.67325409e+02] [-5.67171764e-03 4.80077202e-05 -9.99983915e-01 -3.99974948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.306559995 meters 0.013186629630839858 Centerline is valid? [True, True] Translation: X:68.09, Y:-167.30, Z:-4.00 [[-9.96652372e-01 8.16172831e-02 4.76112311e-03 6.80944725e+01] [ 8.16165509e-02 9.96663743e-01 -3.48203733e-04 -1.67297268e+02] [-4.77365823e-03 4.15483707e-05 -9.99988605e-01 -4.00052041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.366559995 meters 0.013017056112521285 Centerline is valid? [True, True] Translation: X:68.14, Y:-166.68, Z:-5.04 [[-9.91347515e-01 -1.31184669e-01 4.54830140e-03 6.81407205e+01] [ 1.31183050e-01 -9.91357947e-01 -6.53816174e-04 -1.66675065e+02] [ 4.59476540e-03 -5.14989894e-05 9.99989443e-01 -5.04424998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.426559995 meters 0.012938147200627987 Centerline is valid? [True, True] Translation: X:68.04, Y:-167.29, Z:-4.00 [[-9.97023230e-01 7.69316543e-02 5.11845722e-03 6.80413157e+01] [ 7.69308518e-02 9.97036368e-01 -3.53762618e-04 -1.67290531e+02] [-5.13050354e-03 4.10577262e-05 -9.99986838e-01 -3.99955883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.486559995 meters 0.012751440863580262 Centerline is valid? [True, True] Translation: X:68.09, Y:-166.68, Z:-5.05 [[-9.91649571e-01 -1.28852728e-01 5.30119557e-03 6.80882899e+01] [ 1.28850733e-01 -9.91663740e-01 -7.17544414e-04 -1.66675329e+02] [ 5.34946098e-03 -2.84896739e-05 9.99985691e-01 -5.04586017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.546559995 meters 0.012451874244544645 Centerline is valid? [True, True] Translation: X:67.99, Y:-167.28, Z:-4.00 [[-9.97544429e-01 6.98012356e-02 5.73581747e-03 6.79900841e+01] [ 6.98002410e-02 9.97560919e-01 -3.73635484e-04 -1.67282673e+02] [-5.74790757e-03 2.76434467e-05 -9.99983480e-01 -3.99843826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.606559995 meters 0.012362898141602015 Centerline is valid? [True, True] Translation: X:67.98, Y:-167.25, Z:-4.00 [[-9.99976123e-01 -3.51033402e-03 5.95245032e-03 6.79825110e+01] [-3.51018429e-03 9.99993839e-01 3.56012916e-05 -1.67252678e+02] [-5.95253862e-03 1.47062439e-05 -9.99982283e-01 -3.99684686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.666559995 meters 0.012274205835201606 Centerline is valid? [True, True] Translation: X:67.97, Y:-167.22, Z:-4.00 [[-9.97002063e-01 -7.71261722e-02 6.20003485e-03 6.79652643e+01] [-7.71246844e-02 9.97021341e-01 4.79060450e-04 -1.67223107e+02] [-6.21851515e-03 -5.51473533e-07 -9.99980665e-01 -3.99704909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.7265599950001 meters 0.012313342315622701 Centerline is valid? [True, True] Translation: X:67.93, Y:-166.63, Z:-5.05 [[-9.99954603e-01 7.31591850e-03 6.10486961e-03 6.79279735e+01] [-7.31582623e-03 -9.99973238e-01 3.74445790e-05 -1.66630456e+02] [ 6.10498018e-03 -7.21928614e-06 9.99981364e-01 -5.04830093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.786559995 meters 0.012353957085852506 Centerline is valid? [True, True] Translation: X:67.91, Y:-167.22, Z:-4.00 [[-9.96309228e-01 -8.55754237e-02 6.69094525e-03 6.79056179e+01] [-8.55736746e-02 9.96331695e-01 5.47791165e-04 -1.67223518e+02] [-6.71327828e-03 -2.67993785e-05 -9.99977465e-01 -3.99538758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.846559995 meters 0.01228486264957792 Centerline is valid? [True, True] Translation: X:67.86, Y:-166.64, Z:-5.05 [[-9.99910313e-01 1.13063648e-02 7.17857624e-03 6.78586708e+01] [-1.13056503e-02 -9.99936079e-01 1.40102045e-04 -1.66636832e+02] [ 7.17970143e-03 5.89310070e-05 9.99974224e-01 -5.05023961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.906559995 meters 0.012238368367433427 Centerline is valid? [True, True] Translation: X:67.84, Y:-167.23, Z:-3.99 [[-9.96181849e-01 -8.69854436e-02 7.43340388e-03 6.78416723e+01] [-8.69830712e-02 9.96209583e-01 6.42468327e-04 -1.67231906e+02] [-7.46111357e-03 -6.56501273e-06 -9.99972166e-01 -3.99405731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1290.9665599950001 meters 0.012407998979599204 Centerline is valid? [True, True] Translation: X:67.83, Y:-167.21, Z:-3.99 [[-9.87679568e-01 -1.56227532e-01 9.05698489e-03 6.78309096e+01] [-1.56220911e-01 9.87721093e-01 1.43823941e-03 -1.67207949e+02] [-9.17046761e-03 5.62924688e-06 -9.99957950e-01 -3.99178747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.026559995 meters 0.012263735838054658 Centerline is valid? [True, True] Translation: X:67.74, Y:-166.62, Z:-5.05 [[-9.95881933e-01 9.00872468e-02 1.01716948e-02 6.77366598e+01] [-9.00818906e-02 -9.95933875e-01 9.84443562e-04 -1.66617952e+02] [ 1.02190212e-02 6.41040630e-05 9.99947782e-01 -5.05290121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.086559995 meters 0.012524296409986447 Centerline is valid? [True, True] Translation: X:67.75, Y:-167.22, Z:-3.99 [[-9.86545877e-01 -1.63117792e-01 1.09461784e-02 6.77503715e+01] [-1.63107881e-01 9.86606601e-01 1.79812382e-03 -1.67221206e+02] [-1.10928778e-02 -1.14763246e-05 -9.99938472e-01 -3.98857031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.146559995 meters 0.012520315989869734 Centerline is valid? [True, True] Translation: X:67.73, Y:-167.20, Z:-3.99 [[-9.71991161e-01 -2.34667301e-01 1.28234301e-02 6.77324562e+01] [-2.34647371e-01 9.72075746e-01 3.05852285e-03 -1.67198673e+02] [-1.31830807e-02 -3.61269803e-05 -9.99913099e-01 -3.98859052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.2065599950001 meters 0.012508783836103654 Centerline is valid? [True, True] Translation: X:67.71, Y:-167.18, Z:-3.99 [[-9.52266712e-01 -3.04957105e-01 1.37576413e-02 6.77094785e+01] [-3.04926203e-01 9.52366085e-01 4.34170160e-03 -1.67178979e+02] [-1.44263437e-02 -6.06074013e-05 -9.99895933e-01 -3.98854818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.266559995 meters 0.012828931706524735 Centerline is valid? [True, True] Translation: X:67.68, Y:-167.16, Z:-3.99 [[-9.27352950e-01 -3.73915486e-01 1.42729354e-02 6.76781200e+01] [-3.73872611e-01 9.27462777e-01 5.66286969e-03 -1.67163720e+02] [-1.53550510e-02 -8.47807222e-05 -9.99882101e-01 -3.98702295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.326559995 meters 0.012867122522481561 Centerline is valid? [True, True] Translation: X:67.63, Y:-167.16, Z:-3.99 [[-8.96898539e-01 -4.41995202e-01 1.46031891e-02 6.76275981e+01] [-4.41938769e-01 8.97017407e-01 7.06377957e-03 -1.67161333e+02] [-1.62214715e-02 -1.18221845e-04 -9.99868416e-01 -3.98673775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.386559995 meters 0.013946031919999043 Centerline is valid? [True, True] Translation: X:67.56, Y:-167.16, Z:-3.99 [[-8.59747176e-01 -5.10549753e-01 1.31811343e-02 6.75607217e+01] [-5.10492950e-01 8.59848194e-01 7.61776715e-03 -1.67164511e+02] [-1.52230237e-02 -1.79522341e-04 -9.99884107e-01 -3.98670164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.4465599950001 meters 0.014829751120364268 Centerline is valid? [True, True] Translation: X:67.49, Y:-167.18, Z:-3.99 [[-8.17842236e-01 -5.75300872e-01 1.27664922e-02 6.74928798e+01] [-5.75235189e-01 8.17941840e-01 8.69622938e-03 -1.67175110e+02] [-1.54451965e-02 -2.31591886e-04 -9.99880689e-01 -3.98711743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.506559995 meters 0.014717697419267152 Centerline is valid? [True, True] Translation: X:67.42, Y:-167.20, Z:-3.99 [[-7.70851485e-01 -6.36906593e-01 1.17465002e-02 6.74181706e+01] [-6.36838021e-01 7.70940930e-01 9.34973860e-03 -1.67197324e+02] [-1.50107679e-02 -2.73358036e-04 -9.99887295e-01 -3.98932275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.566559995 meters 0.015410140960830298 Centerline is valid? [True, True] Translation: X:67.34, Y:-167.23, Z:-3.99 [[-7.17791916e-01 -6.96172701e-01 1.08782294e-02 6.73372285e+01] [-6.96099957e-01 7.17874259e-01 1.00697143e-02 -1.67228198e+02] [-1.48194611e-02 -3.44375502e-04 -9.99890127e-01 -3.99037198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.626559995 meters 0.017167216893544758 Centerline is valid? [True, True] Translation: X:67.25, Y:-167.27, Z:-3.99 [[-6.61458321e-01 -7.49911029e-01 1.03121015e-02 6.72539515e+01] [-7.49829134e-01 6.61538579e-01 1.10895812e-02 -1.67267235e+02] [-1.51380522e-02 -3.97018363e-04 -9.99885334e-01 -3.98902893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.6865599950002 meters 0.01751895305719573 Centerline is valid? [True, True] Translation: X:67.18, Y:-167.31, Z:-3.99 [[-6.01804879e-01 -7.98588670e-01 9.32865542e-03 6.71789380e+01] [-7.98503327e-01 6.01877031e-01 1.16823092e-02 -1.67312797e+02] [-1.49440632e-02 -4.18491695e-04 -9.99888244e-01 -3.98962306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.746559995 meters 0.01691661490633461 Centerline is valid? [True, True] Translation: X:67.10, Y:-167.37, Z:-3.99 [[-5.40734054e-01 -8.41159301e-01 7.59690057e-03 6.71038553e+01] [-8.41085563e-01 5.40787294e-01 1.11435256e-02 -1.67371962e+02] [-1.34817875e-02 -3.63959596e-04 -9.99909050e-01 -3.99114414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.806559995 meters 0.01604929273991574 Centerline is valid? [True, True] Translation: X:67.03, Y:-167.44, Z:-3.99 [[-4.78505663e-01 -8.78066716e-01 5.58325867e-03 6.70313815e+01] [-8.78013280e-01 4.78538162e-01 9.69058034e-03 -1.67442705e+02] [-1.11807784e-02 -2.65177685e-04 -9.99937458e-01 -3.99324529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.866559995 meters 0.015574583187464736 Centerline is valid? [True, True] Translation: X:66.96, Y:-167.52, Z:-3.99 [[-4.13145654e-01 -9.10655068e-01 4.24449407e-03 6.69641530e+01] [-9.10611979e-01 4.13167407e-01 8.86100546e-03 -1.67518251e+02] [-9.82300613e-03 -2.04201246e-04 -9.99951732e-01 -3.99408942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.926559995 meters 0.014570326993303469 Centerline is valid? [True, True] Translation: X:66.90, Y:-167.61, Z:-3.99 [[-3.45506471e-01 -9.38409250e-01 3.65494179e-03 6.69013609e+01] [-9.38362095e-01 3.45525756e-01 9.40911649e-03 -1.67605806e+02] [-1.00924785e-02 -1.78748197e-04 -9.99949054e-01 -3.99452620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1291.986559995 meters 0.013451142385218783 Centerline is valid? [True, True] Translation: X:66.85, Y:-167.70, Z:-3.99 [[-2.77467757e-01 -9.60728530e-01 3.51236111e-03 6.68467634e+01] [-9.60658560e-01 2.77489942e-01 1.15958345e-02 -1.67700298e+02] [-1.21150939e-02 -1.56709590e-04 -9.99926597e-01 -3.99315734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.046559995 meters 0.013610491967910462 Centerline is valid? [True, True] Translation: X:66.79, Y:-167.80, Z:-3.99 [[-2.06053792e-01 -9.78537108e-01 2.63880568e-03 6.67947186e+01] [-9.78464347e-01 2.06070651e-01 1.19335402e-02 -1.67797015e+02] [-1.22211923e-02 -1.23026061e-04 -9.99925311e-01 -3.99125629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.106559995 meters 0.013276752764915873 Centerline is valid? [True, True] Translation: X:66.75, Y:-167.90, Z:-3.99 [[-1.31126131e-01 -9.91364150e-01 1.74903433e-03 6.67492201e+01] [-9.91287666e-01 1.31137741e-01 1.23148669e-02 -1.67902602e+02] [-1.24378820e-02 -1.18995305e-04 -9.99922640e-01 -3.99231564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.166559995 meters 0.012958853909481457 Centerline is valid? [True, True] Translation: X:66.71, Y:-168.01, Z:-3.99 [[-5.42708106e-02 -9.98525971e-01 7.51487477e-04 6.67098132e+01] [-9.98458172e-01 5.42758832e-02 1.16364263e-02 -1.68013301e+02] [-1.16600615e-02 -1.18810525e-04 -9.99932012e-01 -3.99489698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.2265599950001 meters 0.013250761247210892 Centerline is valid? [True, True] Translation: X:66.68, Y:-168.12, Z:-4.00 [[ 2.37099401e-02 -9.99718873e-01 -1.20390068e-04 6.66764511e+01] [-9.99669302e-01 -2.37099634e-02 9.95613983e-03 -1.68124510e+02] [-9.95619533e-03 -1.15709224e-04 -9.99950429e-01 -3.99647967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.286559995 meters 0.013231183391271299 Centerline is valid? [True, True] Translation: X:66.66, Y:-168.25, Z:-4.00 [[ 1.00136313e-01 -9.94973406e-01 -8.00159369e-04 6.66550023e+01] [-9.94932713e-01 -1.00139455e-01 8.99918887e-03 -1.68250927e+02] [-9.03408112e-03 -1.05040865e-04 -9.99959186e-01 -3.99744013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.346559995 meters 0.013016969193364874 Centerline is valid? [True, True] Translation: X:66.64, Y:-168.36, Z:-4.00 [[ 1.74761378e-01 -9.84609864e-01 -1.36994003e-03 6.66415426e+01] [-9.84575640e-01 -1.74766726e-01 8.20981324e-03 -1.68357305e+02] [-8.32288304e-03 -8.59486889e-05 -9.99965361e-01 -3.99846912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.406559995 meters 0.012545785470335037 Centerline is valid? [True, True] Translation: X:66.64, Y:-168.47, Z:-4.00 [[ 2.45054101e-01 -9.69508600e-01 -1.25002512e-03 6.66397194e+01] [-9.69495372e-01 -2.45057287e-01 5.06448341e-03 -1.68468977e+02] [-5.21638798e-03 -2.91788542e-05 -9.99986394e-01 -4.00136552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.4665599950001 meters 0.012513748228201867 Centerline is valid? [True, True] Translation: X:66.65, Y:-168.59, Z:-4.00 [[ 3.14055534e-01 -9.49403096e-01 -1.69790466e-03 6.66502400e+01] [-9.49389137e-01 -3.14060124e-01 5.14827881e-03 -1.68593114e+02] [-5.42103599e-03 -4.87321221e-06 -9.99985306e-01 -4.00106741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.526559995 meters 0.013078417190945995 Centerline is valid? [True, True] Translation: X:66.67, Y:-168.70, Z:-4.00 [[ 3.78818264e-01 -9.25466888e-01 -2.78615765e-03 6.66658767e+01] [-9.25442800e-01 -3.78828506e-01 6.67729780e-03 -1.68695802e+02] [-7.23509396e-03 4.89471781e-05 -9.99973825e-01 -3.99901789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.586559995 meters 0.013174454306347685 Centerline is valid? [True, True] Translation: X:66.69, Y:-168.81, Z:-4.00 [[ 4.46719684e-01 -8.94667152e-01 -3.49437307e-03 6.66898530e+01] [-8.94640954e-01 -4.46733346e-01 6.84701476e-03 -1.68810878e+02] [-7.68685217e-03 6.75129858e-05 -9.99970454e-01 -3.99887594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.646559995 meters 0.01378185124880479 Centerline is valid? [True, True] Translation: X:66.72, Y:-168.91, Z:-4.00 [[ 5.11072422e-01 -8.59526719e-01 -4.33581830e-03 6.67168516e+01] [-8.59497415e-01 -5.11090804e-01 7.09817019e-03 -1.68911466e+02] [-8.31706379e-03 9.89455842e-05 -9.99965408e-01 -3.99780212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.7065599950001 meters 0.013968512125831695 Centerline is valid? [True, True] Translation: X:66.75, Y:-169.02, Z:-4.00 [[ 5.73694597e-01 -8.19055789e-01 -4.70355470e-03 6.67534289e+01] [-8.19029817e-01 -5.73713868e-01 6.52355178e-03 -1.69016268e+02] [-8.04164741e-03 1.09825139e-04 -9.99967659e-01 -3.99862893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.766559995 meters 0.013857536069421326 Centerline is valid? [True, True] Translation: X:66.80, Y:-169.12, Z:-4.00 [[ 6.34036563e-01 -7.73287731e-01 -4.87051266e-03 6.67978030e+01] [-7.73266191e-01 -6.34055260e-01 5.77279482e-03 -1.69119950e+02] [-7.55220558e-03 1.06039785e-04 -9.99971476e-01 -3.99957118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.826559995 meters 0.01408355296060444 Centerline is valid? [True, True] Translation: X:66.85, Y:-169.22, Z:-4.00 [[ 6.92304483e-01 -7.21585180e-01 -5.41585563e-03 6.68474452e+01] [-7.21564156e-01 -6.92325660e-01 5.50902258e-03 -1.69215542e+02] [-7.72476487e-03 9.39662686e-05 -9.99970159e-01 -3.99916568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.886559995 meters 0.012993305222027239 Centerline is valid? [True, True] Translation: X:66.90, Y:-169.31, Z:-4.00 [[ 7.49618275e-01 -6.61838979e-01 -6.45033510e-03 6.68971925e+01] [-6.61814979e-01 -7.49646026e-01 5.63651432e-03 -1.69311635e+02] [-8.56593296e-03 4.36942408e-05 -9.99963311e-01 -3.99858595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1292.9465599950001 meters 0.012662707184818963 Centerline is valid? [True, True] Translation: X:66.91, Y:-169.35, Z:-4.00 [[ 8.03203338e-01 -5.95651666e-01 -7.96807389e-03 6.69134132e+01] [-5.95622136e-01 -8.03242860e-01 5.93116460e-03 -1.69348748e+02] [-9.93320653e-03 -1.79700157e-05 -9.99950664e-01 -3.99707653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.006559995 meters 0.013950065768268204 Centerline is valid? [True, True] Translation: X:66.93, Y:-169.38, Z:-4.00 [[ 8.52613165e-01 -5.22465725e-01 -8.96422643e-03 6.69323499e+01] [-5.22435287e-01 -8.52660279e-01 5.64094213e-03 -1.69384376e+02] [-1.05906387e-02 -1.26313315e-04 -9.99943910e-01 -3.99571682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.066559995 meters 0.01449418507119875 Centerline is valid? [True, True] Translation: X:66.96, Y:-169.41, Z:-4.00 [[ 8.93202496e-01 -4.49577757e-01 -8.31520298e-03 6.69592319e+01] [-4.49556595e-01 -8.93241185e-01 4.36501354e-03 -1.69412951e+02] [-9.38989476e-03 -1.60686655e-04 -9.99955901e-01 -3.99747888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.126559995 meters 0.01579039712724512 Centerline is valid? [True, True] Translation: X:66.99, Y:-169.44, Z:-4.00 [[ 9.27363204e-01 -3.74094328e-01 -7.13599160e-03 6.69885699e+01] [-3.74081843e-01 -9.27390643e-01 3.06094077e-03 -1.69439389e+02] [-7.76293242e-03 -1.69158953e-04 -9.99969854e-01 -3.99880120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.1865599950002 meters 0.015377856938896631 Centerline is valid? [True, True] Translation: X:67.02, Y:-169.46, Z:-4.00 [[ 9.53903471e-01 -3.00015225e-01 -7.68325413e-03 6.70199475e+01] [-3.00003962e-01 -9.53934396e-01 2.60582675e-03 -1.69461437e+02] [-8.11110809e-03 -1.80700499e-04 -9.99967088e-01 -3.99836019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.246559995 meters 0.01588165581637181 Centerline is valid? [True, True] Translation: X:67.05, Y:-169.48, Z:-4.00 [[ 9.74069559e-01 -2.26156464e-01 -6.46132361e-03 6.70529531e+01] [-2.26150552e-01 -9.74090979e-01 1.64105349e-03 -1.69479472e+02] [-6.66505189e-03 -1.37268345e-04 -9.99977779e-01 -3.99885560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.306559995 meters 0.015382526660001512 Centerline is valid? [True, True] Translation: X:67.09, Y:-169.49, Z:-4.00 [[ 9.88602412e-01 -1.50456684e-01 -5.29692371e-03 6.70891162e+01] [-1.50453956e-01 -9.88616597e-01 9.12178895e-04 -1.69492220e+02] [-5.37387010e-03 -1.04839131e-04 -9.99985555e-01 -3.99928743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.366559995 meters 0.0152068131411508 Centerline is valid? [True, True] Translation: X:67.13, Y:-169.50, Z:-4.00 [[ 9.97286311e-01 -7.34364249e-02 -5.20628093e-03 6.71252398e+01] [-7.34349117e-02 -9.97299896e-01 4.81470071e-04 -1.69503295e+02] [-5.22758087e-03 -9.78407310e-05 -9.99986331e-01 -3.99889652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.426559995 meters 0.014605434369321378 Centerline is valid? [True, True] Translation: X:67.16, Y:-169.51, Z:-4.00 [[ 9.99972765e-01 1.93138064e-03 -7.12313603e-03 6.71589406e+01] [ 1.93213134e-03 -9.99998129e-01 9.85101995e-05 -1.69508530e+02] [-7.12293244e-03 -1.12270351e-04 -9.99974625e-01 -3.99744318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.486559995 meters 0.014397027321980558 Centerline is valid? [True, True] Translation: X:67.19, Y:-169.51, Z:-4.00 [[ 9.96996768e-01 7.70419948e-02 -7.87252619e-03 6.71912063e+01] [ 7.70403779e-02 -9.97027844e-01 -5.08883645e-04 -1.69509757e+02] [-7.88833322e-03 -9.91470432e-05 -9.99968882e-01 -3.99621508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.546559995 meters 0.01342117921845247 Centerline is valid? [True, True] Translation: X:67.22, Y:-169.51, Z:-4.00 [[ 9.88424014e-01 1.51473273e-01 -8.59160838e-03 6.72248904e+01] [ 1.51468244e-01 -9.88461351e-01 -1.23678904e-03 -1.69510348e+02] [-8.67981331e-03 -7.88838536e-05 -9.99962327e-01 -3.99665680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.606559995 meters 0.013136294484754013 Centerline is valid? [True, True] Translation: X:67.26, Y:-169.51, Z:-4.00 [[ 9.74888584e-01 2.22478297e-01 -9.78036580e-03 6.72573523e+01] [ 2.22467408e-01 -9.74937642e-01 -2.20129190e-03 -1.69506684e+02] [-1.00249864e-02 -2.97982833e-05 -9.99949748e-01 -3.99515223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.666559995 meters 0.013167315053943893 Centerline is valid? [True, True] Translation: X:67.29, Y:-169.50, Z:-3.99 [[ 9.55674141e-01 2.94248254e-01 -1.02421399e-02 6.72891293e+01] [ 2.94231227e-01 -9.55729023e-01 -3.16547973e-03 -1.69500830e+02] [-1.07201472e-02 1.16097336e-05 -9.99942538e-01 -3.99488469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.7265599950001 meters 0.01330598089670537 Centerline is valid? [True, True] Translation: X:67.32, Y:-169.49, Z:-4.00 [[ 9.31122308e-01 3.64555372e-01 -1.05179878e-02 6.73206137e+01] [ 3.64531436e-01 -9.31181711e-01 -4.17780345e-03 -1.69493526e+02] [-1.13171986e-02 5.59087807e-05 -9.99935957e-01 -3.99578525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.786559995 meters 0.013314553014626604 Centerline is valid? [True, True] Translation: X:67.35, Y:-169.49, Z:-4.00 [[ 8.99731938e-01 4.36329303e-01 -9.95890759e-03 6.73509458e+01] [ 4.36301903e-01 -8.99787051e-01 -4.89011510e-03 -1.69486190e+02] [-1.10945966e-02 5.47024044e-05 -9.99938452e-01 -3.99675381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.846559995 meters 0.013239061360855457 Centerline is valid? [True, True] Translation: X:67.38, Y:-169.48, Z:-4.00 [[ 8.61944728e-01 5.06919813e-01 -9.14264728e-03 6.73827283e+01] [ 5.06890884e-01 -8.61993214e-01 -5.41567550e-03 -1.69478356e+02] [-1.06262131e-02 3.36883817e-05 -9.99943540e-01 -3.99730456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.906559995 meters 0.01318592173580335 Centerline is valid? [True, True] Translation: X:67.42, Y:-169.47, Z:-4.00 [[ 8.16149061e-01 5.77785506e-01 -8.03860997e-03 6.74152675e+01] [ 5.77757822e-01 -8.16188647e-01 -5.65612214e-03 -1.69469493e+02] [-9.82904759e-03 -2.81310093e-05 -9.99951693e-01 -3.99809179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1293.9665599950001 meters 0.01363034415627487 Centerline is valid? [True, True] Translation: X:67.45, Y:-169.46, Z:-4.00 [[ 7.64523697e-01 6.44552105e-01 -7.49011305e-03 6.74479750e+01] [ 6.44522284e-01 -7.64560381e-01 -6.20066710e-03 -1.69458980e+02] [-9.72329672e-03 -8.69878373e-05 -9.99952724e-01 -3.99872312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.026559995 meters 0.015345213161530766 Centerline is valid? [True, True] Translation: X:67.48, Y:-169.45, Z:-4.00 [[ 7.05041471e-01 7.09131273e-01 -7.02580786e-03 6.74804635e+01] [ 7.09098585e-01 -7.05076453e-01 -6.81116208e-03 -1.69447648e+02] [-9.78373973e-03 -1.79838685e-04 -9.99952122e-01 -3.99807936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.086559995 meters 0.016276372477958823 Centerline is valid? [True, True] Translation: X:67.51, Y:-169.43, Z:-4.00 [[ 6.43733486e-01 7.65223187e-01 -6.37748876e-03 6.75106617e+01] [ 7.65189026e-01 -6.43765038e-01 -7.23401357e-03 -1.69431885e+02] [-9.64123922e-03 -2.23207636e-04 -9.99953497e-01 -3.99803075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.146559995 meters 0.01749018124253089 Centerline is valid? [True, True] Translation: X:67.54, Y:-169.41, Z:-4.00 [[ 5.78343340e-01 8.15779368e-01 -4.79614260e-03 6.75380415e+01] [ 8.15754408e-01 -5.78363185e-01 -6.38531611e-03 -1.69412372e+02] [-7.98292145e-03 -2.19569422e-04 -9.99968112e-01 -3.99923396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.2065599950001 meters 0.017439774658143177 Centerline is valid? [True, True] Translation: X:67.56, Y:-169.39, Z:-4.00 [[ 5.13393127e-01 8.58145713e-01 -3.66511783e-03 6.75607525e+01] [ 8.58126327e-01 -5.13406177e-01 -5.77093897e-03 -1.69388869e+02] [-6.83400067e-03 -1.82373700e-04 -9.99976631e-01 -4.00037731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.266559995 meters 0.016242449969057944 Centerline is valid? [True, True] Translation: X:67.58, Y:-169.36, Z:-4.00 [[ 4.47516081e-01 8.94271351e-01 -2.84743598e-03 6.75814360e+01] [ 8.94255230e-01 -4.47525117e-01 -5.37149099e-03 -1.69364443e+02] [-6.07786962e-03 -1.42505924e-04 -9.99981520e-01 -4.00042462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.326559995 meters 0.014752036322867028 Centerline is valid? [True, True] Translation: X:67.60, Y:-169.34, Z:-4.00 [[ 3.82228650e-01 9.24063134e-01 -2.92979311e-03 6.75978898e+01] [ 9.24038420e-01 -3.82239858e-01 -6.75942230e-03 -1.69337895e+02] [-7.36601666e-03 -1.23596535e-04 -9.99972863e-01 -3.99768428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.386559995 meters 0.013742674626506472 Centerline is valid? [True, True] Translation: X:67.61, Y:-169.31, Z:-4.00 [[ 3.12644254e-01 9.49866339e-01 -2.74004307e-03 6.76131021e+01] [ 9.49832793e-01 -3.12656243e-01 -7.98364004e-03 -1.69310304e+02] [-8.44008251e-03 -1.06543578e-04 -9.99964376e-01 -3.99685906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.4465599950001 meters 0.013248519708299756 Centerline is valid? [True, True] Translation: X:67.62, Y:-169.28, Z:-4.00 [[ 2.41654205e-01 9.70359715e-01 -2.29528916e-03 6.76244348e+01] [ 9.70318827e-01 -2.41665094e-01 -8.90824328e-03 -1.69282437e+02] [-9.19889168e-03 -7.44478366e-05 -9.99957687e-01 -3.99593988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.506559995 meters 0.013142060348771944 Centerline is valid? [True, True] Translation: X:67.64, Y:-169.25, Z:-4.00 [[ 1.66189063e-01 9.86092670e-01 -1.56267797e-03 6.76374234e+01] [ 9.86052501e-01 -1.66196398e-01 -8.90068248e-03 -1.69253999e+02] [-9.03660920e-03 -6.16864417e-05 -9.99959167e-01 -3.99588871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.566559995 meters 0.012928098849111414 Centerline is valid? [True, True] Translation: X:67.65, Y:-169.23, Z:-4.00 [[ 9.01963299e-02 9.95923683e-01 -8.00447468e-04 6.76501143e+01] [ 9.95888549e-01 -9.01998715e-02 -8.36550325e-03 -1.69225481e+02] [-8.40360306e-03 -4.26187773e-05 -9.99964688e-01 -3.99616895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.626559995 meters 0.012976383158621986 Centerline is valid? [True, True] Translation: X:67.66, Y:-169.20, Z:-4.00 [[ 1.34412943e-02 9.99909653e-01 -1.30548353e-04 6.76620256e+01] [ 9.99880308e-01 -1.34419000e-02 -7.66061022e-03 -1.69196707e+02] [-7.66167293e-03 -2.75642103e-05 -9.99970649e-01 -3.99585255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.6865599950002 meters 0.013124723163892406 Centerline is valid? [True, True] Translation: X:67.67, Y:-169.17, Z:-3.99 [[-6.51680186e-02 9.97874156e-01 5.45913510e-04 6.76688051e+01] [ 9.97834683e-01 6.51702964e-02 -8.87573808e-03 -1.69167322e+02] [-8.89244699e-03 -3.36828303e-05 -9.99960461e-01 -3.99401789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.746559995 meters 0.013165342016080394 Centerline is valid? [True, True] Translation: X:67.68, Y:-169.14, Z:-3.99 [[-1.43711436e-01 9.89618383e-01 1.57444719e-03 6.76751940e+01] [ 9.89555176e-01 1.43720052e-01 -1.11848584e-02 -1.69136027e+02] [-1.12950211e-02 -4.93896970e-05 -9.99936208e-01 -3.99288953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.806559995 meters 0.013379583130278512 Centerline is valid? [True, True] Translation: X:67.68, Y:-169.11, Z:-3.99 [[-2.20695816e-01 9.75339229e-01 2.59730332e-03 6.76774189e+01] [ 9.75268931e-01 2.20711093e-01 -1.17100856e-02 -1.69105561e+02] [-1.19945595e-02 -5.12976647e-05 -9.99928061e-01 -3.99176687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.866559995 meters 0.01314760539845849 Centerline is valid? [True, True] Translation: X:67.68, Y:-169.07, Z:-3.99 [[-2.95631283e-01 9.55296053e-01 3.40518300e-03 6.76778871e+01] [ 9.55231097e-01 2.95650890e-01 -1.11401682e-02 -1.69073953e+02] [-1.16489041e-02 -4.06455140e-05 -9.99932148e-01 -3.99298426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.926559995 meters 0.013119098018332859 Centerline is valid? [True, True] Translation: X:67.68, Y:-169.04, Z:-3.99 [[-3.69291580e-01 9.29304044e-01 4.20981066e-03 6.76767472e+01] [ 9.29242525e-01 3.69315573e-01 -1.06928600e-02 -1.69042253e+02] [-1.14916666e-02 -3.68480568e-05 -9.99933968e-01 -3.99417974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1294.986559995 meters 0.01312975409950999 Centerline is valid? [True, True] Translation: X:67.67, Y:-169.01, Z:-4.00 [[-4.40471390e-01 8.97755131e-01 4.54740447e-03 6.76718963e+01] [ 8.97706645e-01 4.40494862e-01 -9.33039431e-03 -1.69010742e+02] [-1.03795177e-02 -2.75365352e-05 -9.99946131e-01 -3.99631749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.046559995 meters 0.013001304999183597 Centerline is valid? [True, True] Translation: X:67.66, Y:-168.98, Z:-4.00 [[-5.08352556e-01 8.61136769e-01 4.59822056e-03 6.76628764e+01] [ 8.61101316e-01 5.08373351e-01 -7.81409130e-03 -1.68980213e+02] [-9.06661413e-03 -1.27795089e-05 -9.99958897e-01 -3.99815772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.106559995 meters 0.013039535515159342 Centerline is valid? [True, True] Translation: X:67.65, Y:-168.95, Z:-4.00 [[-5.72664355e-01 8.19776115e-01 4.76014283e-03 6.76524220e+01] [ 8.19747861e-01 5.72684138e-01 -6.80609275e-03 -1.68950140e+02] [-8.30553056e-03 4.51019075e-06 -9.99965509e-01 -3.99813126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.166559995 meters 0.013009146571907144 Centerline is valid? [True, True] Translation: X:67.64, Y:-168.92, Z:-4.00 [[-6.34725067e-01 7.72719159e-01 5.40292603e-03 6.76402959e+01] [ 7.72691283e-01 6.34748062e-01 -6.56343072e-03 -1.68919960e+02] [-8.50118549e-03 8.81984248e-06 -9.99963864e-01 -3.99755641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.2265599950001 meters 0.013177267130691105 Centerline is valid? [True, True] Translation: X:67.63, Y:-168.89, Z:-4.00 [[-6.93804539e-01 7.20124859e-01 7.44644108e-03 6.76253398e+01] [ 7.20083438e-01 6.93844499e-01 -7.72358371e-03 -1.68893043e+02] [-1.07286168e-02 3.40145642e-06 -9.99942447e-01 -3.99587799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.286559995 meters 0.013265871382672748 Centerline is valid? [True, True] Translation: X:67.61, Y:-168.87, Z:-3.99 [[-7.49507838e-01 6.61928553e-01 9.41228544e-03 6.76070166e+01] [ 6.61875971e-01 7.49566935e-01 -8.34318935e-03 -1.68868022e+02] [-1.25777332e-02 -2.35202475e-05 -9.99920897e-01 -3.99493225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.346559995 meters 0.013351827185527628 Centerline is valid? [True, True] Translation: X:67.63, Y:-168.84, Z:-3.99 [[-7.96031701e-01 6.05164017e-01 1.04901466e-02 6.76251602e+01] [ 6.05110489e-01 7.96100816e-01 -8.04911396e-03 -1.68843704e+02] [-1.32222484e-02 -5.96521129e-05 -9.99912581e-01 -3.99465900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.406559995 meters 0.013591398857195193 Centerline is valid? [True, True] Translation: X:67.64, Y:-168.81, Z:-3.99 [[-8.39312699e-01 5.43518504e-01 1.19091740e-02 6.76402537e+01] [ 5.43461621e-01 8.39397176e-01 -7.86433615e-03 -1.68814673e+02] [-1.42709392e-02 -1.28458200e-04 -9.99898157e-01 -3.99413840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.4665599950001 meters 0.013710117355442522 Centerline is valid? [True, True] Translation: X:67.65, Y:-168.79, Z:-3.99 [[-8.76507550e-01 4.81218167e-01 1.27902644e-02 6.76526415e+01] [ 4.81164318e-01 8.76600851e-01 -7.20051568e-03 -1.68789228e+02] [-1.46769756e-02 -1.57087508e-04 -9.99892275e-01 -3.99394265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.526559995 meters 0.013478406553748856 Centerline is valid? [True, True] Translation: X:67.66, Y:-168.77, Z:-3.99 [[-9.07725738e-01 4.19368326e-01 1.28137285e-02 6.76630092e+01] [ 4.19324536e-01 9.07816166e-01 -6.06158586e-03 -1.68765167e+02] [-1.41745470e-02 -1.29146720e-04 -9.99899528e-01 -3.99357619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.586559995 meters 0.013330806454015102 Centerline is valid? [True, True] Translation: X:67.67, Y:-168.74, Z:-3.99 [[-9.34587640e-01 3.55493336e-01 1.30549129e-02 6.76702732e+01] [ 3.55457078e-01 9.34678810e-01 -5.07828275e-03 -1.68740715e+02] [-1.40074461e-02 -1.05639108e-04 -9.99901885e-01 -3.99364050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.646559995 meters 0.013256125006404051 Centerline is valid? [True, True] Translation: X:67.68, Y:-168.72, Z:-3.99 [[-9.56809383e-01 2.90371758e-01 1.41438271e-02 6.76787160e+01] [ 2.90338799e-01 9.56913913e-01 -4.37560187e-03 -1.68717349e+02] [-1.48049761e-02 -8.01151624e-05 -9.99890397e-01 -3.99213245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.7065599950001 meters 0.01310400682194968 Centerline is valid? [True, True] Translation: X:67.86, Y:-168.13, Z:-5.05 [[-9.31774168e-01 -3.62744464e-01 1.46066464e-02 6.78561027e+01] [ 3.62702153e-01 -9.31888639e-01 -5.54182728e-03 -1.68128571e+02] [ 1.56220350e-02 1.34130609e-04 9.99877960e-01 -5.05310359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.766559995 meters 0.013346490111094251 Centerline is valid? [True, True] Translation: X:67.63, Y:-168.71, Z:-3.99 [[-9.56748076e-01 2.90490352e-01 1.57630677e-02 6.76341673e+01] [ 2.90450490e-01 9.56877921e-01 -4.81227884e-03 -1.68709133e+02] [-1.64812520e-02 -2.57478023e-05 -9.99864175e-01 -3.98933203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.826559995 meters 0.013003570449966941 Centerline is valid? [True, True] Translation: X:67.64, Y:-168.68, Z:-3.99 [[-9.74662009e-01 2.23142413e-01 1.55380876e-02 6.76391907e+01] [ 2.23113975e-01 9.74785855e-01 -3.56237793e-03 -1.68684359e+02] [-1.59412256e-02 -5.34994337e-06 -9.99872931e-01 -3.99198067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.886559995 meters 0.012874743287904212 Centerline is valid? [True, True] Translation: X:67.64, Y:-168.66, Z:-3.99 [[-9.87934425e-01 1.54174408e-01 1.46909746e-02 6.76379522e+01] [ 1.54157454e-01 9.88043649e-01 -2.28632297e-03 -1.68657941e+02] [-1.48678167e-02 5.98608794e-06 -9.99889468e-01 -3.99360242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1295.9465599950001 meters 0.012920875606533037 Centerline is valid? [True, True] Translation: X:67.73, Y:-168.04, Z:-5.05 [[-9.75432879e-01 -2.19909727e-01 1.30541100e-02 6.77348926e+01] [ 2.19888677e-01 -9.75520221e-01 -3.04429424e-03 -1.68037523e+02] [ 1.34040182e-02 -9.90537247e-05 9.99910157e-01 -5.05043958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.006559995 meters 0.012888157416155368 Centerline is valid? [True, True] Translation: X:67.59, Y:-168.65, Z:-3.99 [[-9.88810533e-01 1.48627430e-01 1.27912871e-02 6.75912741e+01] [ 1.48614777e-01 9.88893264e-01 -1.93940200e-03 -1.68651314e+02] [-1.29374660e-02 -1.67268440e-05 -9.99916307e-01 -3.99456822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.066559995 meters 0.0127954390227077 Centerline is valid? [True, True] Translation: X:67.69, Y:-168.03, Z:-5.05 [[-9.75394718e-01 -2.20173508e-01 1.13477193e-02 6.76854141e+01] [ 2.20157767e-01 -9.75460723e-01 -2.63362739e-03 -1.68031678e+02] [ 1.16491095e-02 -7.05376998e-05 9.99932144e-01 -5.04868937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.126559995 meters 0.012934535113296867 Centerline is valid? [True, True] Translation: X:67.54, Y:-168.64, Z:-4.00 [[-9.90124729e-01 1.39716222e-01 1.15064822e-02 6.75379329e+01] [ 1.39705913e-01 9.90191583e-01 -1.69891340e-03 -1.68641583e+02] [-1.16309876e-02 -7.46125661e-05 -9.99932355e-01 -3.99611831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.1865599950002 meters 0.013303165638423153 Centerline is valid? [True, True] Translation: X:67.63, Y:-168.03, Z:-5.05 [[-9.75379272e-01 -2.20209794e-01 1.19550109e-02 6.76306857e+01] [ 2.20194730e-01 -9.75452527e-01 -2.57837724e-03 -1.68026331e+02] [ 1.22293295e-02 1.17534671e-04 9.99925212e-01 -5.04974314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.246559995 meters 0.013663966687308416 Centerline is valid? [True, True] Translation: X:67.49, Y:-168.63, Z:-3.99 [[-9.91035166e-01 1.32826498e-01 1.43673689e-02 6.74863796e+01] [ 1.32810528e-01 9.91139295e-01 -2.06425254e-03 -1.68633648e+02] [-1.45142513e-02 -1.37609005e-04 -9.99894653e-01 -3.99373474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.306559995 meters 0.013963260444848288 Centerline is valid? [True, True] Translation: X:67.49, Y:-168.61, Z:-3.99 [[-9.97982662e-01 6.15583525e-02 1.55298476e-02 6.74877411e+01] [ 6.15484472e-02 9.98103474e-01 -1.11541874e-03 -1.68606881e+02] [-1.55690582e-02 -1.57330556e-04 -9.99878783e-01 -3.99251771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.366559995 meters 0.013646165844195302 Centerline is valid? [True, True] Translation: X:67.48, Y:-168.58, Z:-3.99 [[-9.99792427e-01 -1.08071889e-02 1.72715796e-02 6.74838109e+01] [-1.08089881e-02 9.99941581e-01 -1.08228865e-05 -1.68581928e+02] [-1.72704536e-02 -1.97508938e-04 -9.99850835e-01 -3.99444038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.426559995 meters 0.014050418011420018 Centerline is valid? [True, True] Translation: X:67.47, Y:-168.55, Z:-3.99 [[-9.96480123e-01 -8.20081907e-02 1.73787742e-02 6.74735343e+01] [-8.19992602e-02 9.96631635e-01 1.22703379e-03 -1.68554687e+02] [-1.74208630e-02 -2.02331841e-04 -9.99848225e-01 -3.99370499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.486559995 meters 0.013556672128909495 Centerline is valid? [True, True] Translation: X:67.46, Y:-168.53, Z:-4.00 [[-9.88072650e-01 -1.53154535e-01 1.60039735e-02 6.74586597e+01] [-1.53137658e-01 9.88202231e-01 2.28204169e-03 -1.68530085e+02] [-1.61646674e-02 -1.95988039e-04 -9.99869324e-01 -3.99567531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.546559995 meters 0.01348193951229426 Centerline is valid? [True, True] Translation: X:67.38, Y:-167.91, Z:-5.05 [[-9.97980687e-01 6.19406362e-02 1.40679361e-02 6.73784344e+01] [-6.19340210e-02 -9.98079835e-01 9.05830609e-04 -1.67908103e+02] [ 1.40970310e-02 3.27176050e-05 9.99900631e-01 -5.04766028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.606559995 meters 0.013591212559648432 Centerline is valid? [True, True] Translation: X:67.39, Y:-168.54, Z:-4.00 [[-9.87422428e-01 -1.57543270e-01 1.33066490e-02 6.73851761e+01] [-1.57531018e-01 9.87512074e-01 1.97047163e-03 -1.68543353e+02] [-1.34509111e-02 -1.50522091e-04 -9.99909521e-01 -3.99674046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.666559995 meters 0.01328650457298879 Centerline is valid? [True, True] Translation: X:67.30, Y:-167.92, Z:-5.05 [[-9.97442590e-01 7.02302005e-02 1.32664820e-02 6.72963627e+01] [-7.02221255e-02 -9.97530801e-01 1.07410104e-03 -1.67916002e+02] [ 1.33091588e-02 1.39753558e-04 9.99911420e-01 -5.04853670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.7265599950001 meters 0.012907721965664098 Centerline is valid? [True, True] Translation: X:67.30, Y:-168.56, Z:-4.00 [[-9.87314120e-01 -1.58181570e-01 1.37629734e-02 6.73024348e+01] [-1.58167370e-01 9.87410039e-01 2.12104439e-03 -1.68560384e+02] [-1.39252082e-02 -8.27162338e-05 -9.99903036e-01 -3.99619093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.786559995 meters 0.0126761518946256 Centerline is valid? [True, True] Translation: X:67.29, Y:-168.54, Z:-4.00 [[-9.74695566e-01 -2.23149330e-01 1.31503309e-02 6.72906851e+01] [-2.23129158e-01 9.74784272e-01 3.00040122e-03 -1.68538918e+02] [-1.34882732e-02 -9.74448382e-06 -9.99909029e-01 -3.99705302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.846559995 meters 0.012694171902749131 Centerline is valid? [True, True] Translation: X:67.27, Y:-168.52, Z:-4.00 [[-9.56718336e-01 -2.90734650e-01 1.27823452e-02 6.72679476e+01] [-2.90708522e-01 9.56803723e-01 3.89771877e-03 -1.68516081e+02] [-1.33633974e-02 1.30823372e-05 -9.99910706e-01 -3.99734559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.906559995 meters 0.0127944052307154 Centerline is valid? [True, True] Translation: X:67.24, Y:-168.50, Z:-4.00 [[-9.33823061e-01 -3.57507574e-01 1.27602759e-02 6.72363330e+01] [-3.57473709e-01 9.33910239e-01 4.92076051e-03 -1.68496381e+02] [-1.36761614e-02 3.36565076e-05 -9.99906476e-01 -3.99646319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1296.9665599950001 meters 0.01296231573528266 Centerline is valid? [True, True] Translation: X:67.18, Y:-168.49, Z:-4.00 [[-9.05884950e-01 -4.23332114e-01 1.27427825e-02 6.71815512e+01] [-4.23289364e-01 9.05974568e-01 6.01633767e-03 -1.68490326e+02] [-1.40915458e-02 5.62254287e-05 -9.99900708e-01 -3.99627910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.026559995 meters 0.013019126550349225 Centerline is valid? [True, True] Translation: X:67.12, Y:-168.49, Z:-4.00 [[-8.72895305e-01 -4.87763974e-01 1.18360852e-02 6.71170292e+01] [-4.87718022e-01 8.72975544e-01 6.69559433e-03 -1.68491790e+02] [-1.35984826e-02 7.18807805e-05 -9.99907534e-01 -3.99633414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.086559995 meters 0.012825756830237383 Centerline is valid? [True, True] Translation: X:67.05, Y:-168.50, Z:-4.00 [[-8.34309032e-01 -5.51222859e-01 9.04430320e-03 6.70458723e+01] [-5.51189776e-01 8.34358051e-01 6.03933404e-03 -1.68496838e+02] [-1.08752062e-02 5.35434794e-05 -9.99940862e-01 -3.99771712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.146559995 meters 0.012693540598519409 Centerline is valid? [True, True] Translation: X:66.97, Y:-168.51, Z:-4.00 [[-7.89547429e-01 -6.13635875e-01 8.11604531e-03 6.69690850e+01] [-6.13603134e-01 7.89589141e-01 6.33896081e-03 -1.68513569e+02] [-1.02981550e-02 2.48793753e-05 -9.99946972e-01 -3.99836463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.2065599950001 meters 0.012715593511111515 Centerline is valid? [True, True] Translation: X:66.88, Y:-168.54, Z:-4.00 [[-7.36760102e-01 -6.76116985e-01 7.09753634e-03 6.68842251e+01] [-6.76086237e-01 7.36794286e-01 6.44823508e-03 -1.68539173e+02] [-9.58918548e-03 -4.77443013e-05 -9.99954022e-01 -3.99923856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.266559995 meters 0.013483625956018843 Centerline is valid? [True, True] Translation: X:66.80, Y:-168.57, Z:-4.00 [[-6.80240835e-01 -7.32962710e-01 6.17026002e-03 6.67990658e+01] [-7.32933798e-01 6.80268812e-01 6.51075909e-03 -1.68572766e+02] [-8.96957908e-03 -9.35079102e-05 -9.99959768e-01 -3.99916285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.326559995 meters 0.014396120674858341 Centerline is valid? [True, True] Translation: X:66.71, Y:-168.61, Z:-4.00 [[-6.18380923e-01 -7.85862109e-01 5.07733028e-03 6.67121981e+01] [-7.85837410e-01 6.18401752e-01 6.23209113e-03 -1.68613759e+02] [-8.03739422e-03 -1.36149805e-04 -9.99967690e-01 -4.00008888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.386559995 meters 0.015265940868226932 Centerline is valid? [True, True] Translation: X:66.63, Y:-168.67, Z:-4.00 [[-5.53774679e-01 -8.32654968e-01 4.39427280e-03 6.66300399e+01] [-8.32631104e-01 5.53792088e-01 6.30608875e-03 -1.68665791e+02] [-7.68430964e-03 -1.66655942e-04 -9.99970461e-01 -4.00119593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.4465599950001 meters 0.016242140970401386 Centerline is valid? [True, True] Translation: X:66.55, Y:-168.73, Z:-4.00 [[-4.88823719e-01 -8.72374129e-01 3.84079901e-03 6.65545740e+01] [-8.72349895e-01 4.88838778e-01 6.50457491e-03 -1.68727598e+02] [-7.55195436e-03 -1.70930118e-04 -9.99971469e-01 -4.00071482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.506559995 meters 0.01534354179298412 Centerline is valid? [True, True] Translation: X:66.48, Y:-168.80, Z:-4.00 [[-4.23045088e-01 -9.06102651e-01 3.29228979e-03 6.64843215e+01] [-9.06078038e-01 4.23057870e-01 6.68045915e-03 -1.68797398e+02] [-7.44601085e-03 -1.56936045e-04 -9.99972266e-01 -4.00143868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.566559995 meters 0.013844414690844572 Centerline is valid? [True, True] Translation: X:66.42, Y:-168.87, Z:-4.00 [[-3.60415628e-01 -9.32788072e-01 2.64356548e-03 6.64211408e+01] [-9.32764881e-01 3.60425311e-01 6.57809779e-03 -1.68874702e+02] [-7.08877906e-03 -9.49757888e-05 -9.99974870e-01 -4.00112783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.626559995 meters 0.012919526775437255 Centerline is valid? [True, True] Translation: X:66.36, Y:-168.96, Z:-4.00 [[-2.94784657e-01 -9.55561800e-01 1.91107005e-03 6.63647859e+01] [-9.55542683e-01 2.94790848e-01 6.04458459e-03 -1.68959565e+02] [-6.33934009e-03 -4.42582070e-05 -9.99979905e-01 -4.00125550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.6865599950002 meters 0.01263904999249874 Centerline is valid? [True, True] Translation: X:66.31, Y:-169.05, Z:-4.00 [[-2.27022119e-01 -9.73888687e-01 1.33548478e-03 6.63135946e+01] [-9.73872022e-01 2.27026047e-01 5.69728397e-03 -1.69049402e+02] [-5.85171023e-03 -7.18178255e-06 -9.99982879e-01 -4.00154513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.746559995 meters 0.01298288334768951 Centerline is valid? [True, True] Translation: X:66.27, Y:-169.15, Z:-4.00 [[-1.58817175e-01 -9.87307207e-01 1.25824825e-03 6.62681664e+01] [-9.87273974e-01 1.58822153e-01 8.10081685e-03 -1.69147410e+02] [-8.19783256e-03 4.43130999e-05 -9.99966396e-01 -3.99936645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.806559995 meters 0.013669108952869683 Centerline is valid? [True, True] Translation: X:66.23, Y:-169.25, Z:-4.00 [[-8.65515987e-02 -9.96247029e-01 8.23548165e-04 6.62288169e+01] [-9.96191247e-01 8.65554678e-02 1.05427918e-02 -1.69251026e+02] [-1.05745076e-02 9.20840111e-05 -9.99944084e-01 -3.99675063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.866559995 meters 0.014364791924943915 Centerline is valid? [True, True] Translation: X:66.20, Y:-169.36, Z:-4.00 [[-1.56968245e-02 -9.99876797e-01 2.32055614e-05 6.61969687e+01] [-9.99788142e-01 1.56957418e-02 1.33159977e-02 -1.69357381e+02] [-1.33147213e-02 1.85818234e-04 -9.99911338e-01 -3.99530379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.926559995 meters 0.015223425616240226 Centerline is valid? [True, True] Translation: X:66.18, Y:-169.47, Z:-3.99 [[ 5.72895218e-02 -9.98357042e-01 -1.06191409e-03 6.61757022e+01] [-9.98255721e-01 -5.72988385e-02 1.42252560e-02 -1.69469795e+02] [-1.42627309e-02 2.45103703e-04 -9.99898252e-01 -3.99474740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1297.986559995 meters 0.01610292251392141 Centerline is valid? [True, True] Translation: X:66.16, Y:-169.58, Z:-4.00 [[ 1.30686661e-01 -9.91421619e-01 -2.04198387e-03 6.61641051e+01] [-9.91330626e-01 -1.30702338e-01 1.34346364e-02 -1.69580897e+02] [-1.35862810e-02 2.68553370e-04 -9.99907666e-01 -3.99577532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.046559995 meters 0.016060231583065406 Centerline is valid? [True, True] Translation: X:66.16, Y:-169.70, Z:-4.00 [[ 2.06737139e-01 -9.78392643e-01 -2.75514704e-03 6.61583356e+01] [-9.78320000e-01 -2.06755369e-01 1.19245571e-02 -1.69696357e+02] [-1.22365403e-02 2.30166638e-04 -9.99925104e-01 -3.99665991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.106559995 meters 0.014852567399467137 Centerline is valid? [True, True] Translation: X:66.16, Y:-169.81, Z:-4.00 [[ 2.82413459e-01 -9.59287224e-01 -3.26513082e-03 6.61589748e+01] [-9.59230501e-01 -2.82432272e-01 1.04335040e-02 -1.69813499e+02] [-1.09309054e-02 1.85451116e-04 -9.99940239e-01 -3.99857534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.166559995 meters 0.014704976750872234 Centerline is valid? [True, True] Translation: X:66.17, Y:-169.93, Z:-4.00 [[ 3.57693022e-01 -9.33833795e-01 -3.18520485e-03 6.61696484e+01] [-9.33799646e-01 -3.57707184e-01 7.98694127e-03 -1.69926876e+02] [-8.59784633e-03 1.17470006e-04 -9.99963031e-01 -3.99947662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.2265599950001 meters 0.013068597862655152 Centerline is valid? [True, True] Translation: X:66.19, Y:-170.05, Z:-4.00 [[ 4.31694237e-01 -9.02016347e-01 -2.56798560e-03 6.61858059e+01] [-9.02001113e-01 -4.31701872e-01 5.24275145e-03 -1.70045089e+02] [-5.83765170e-03 5.30602814e-05 -9.99982959e-01 -4.00286371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.286559995 meters 0.013043929131893114 Centerline is valid? [True, True] Translation: X:66.21, Y:-170.15, Z:-4.00 [[ 4.99769185e-01 -8.66154444e-01 -2.69100779e-03 6.62095850e+01] [-8.66142346e-01 -4.99776428e-01 4.57812325e-03 -1.70149134e+02] [-5.31026405e-03 4.27908745e-05 -9.99985900e-01 -4.00319535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.346559995 meters 0.01293986249505218 Centerline is valid? [True, True] Translation: X:66.24, Y:-170.25, Z:-4.00 [[ 5.65260330e-01 -8.24907503e-01 -2.89321617e-03 6.62406987e+01] [-8.24896993e-01 -5.65267733e-01 4.16416134e-03 -1.70252579e+02] [-5.07048968e-03 3.27701094e-05 -9.99987145e-01 -4.00283559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.406559995 meters 0.012866014178603726 Centerline is valid? [True, True] Translation: X:66.28, Y:-170.35, Z:-4.00 [[ 6.27292845e-01 -7.78772655e-01 -4.10345815e-03 6.62796109e+01] [-7.78756320e-01 -6.27306265e-01 5.04424811e-03 -1.70352886e+02] [-6.50244750e-03 3.13732203e-05 -9.99978858e-01 -4.00076440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.4665599950001 meters 0.012929829234886546 Centerline is valid? [True, True] Translation: X:66.32, Y:-170.45, Z:-4.00 [[ 6.85194512e-01 -7.28337166e-01 -5.78396296e-03 6.63249071e+01] [-7.28311582e-01 -6.85218923e-01 6.10465424e-03 -1.70446992e+02] [-8.40952744e-03 2.96516347e-05 -9.99964639e-01 -3.99872118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.526559995 meters 0.012948048098918233 Centerline is valid? [True, True] Translation: X:66.37, Y:-170.54, Z:-4.00 [[ 7.40393111e-01 -6.72139592e-01 -6.81252452e-03 6.63749904e+01] [-6.72111147e-01 -7.40424452e-01 6.18355703e-03 -1.70538253e+02] [-9.20037323e-03 5.10644562e-07 -9.99957676e-01 -3.99778649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.586559995 meters 0.013040228877401932 Centerline is valid? [True, True] Translation: X:66.40, Y:-170.57, Z:-4.00 [[ 7.92209907e-01 -6.10210436e-01 -6.83283235e-03 6.63986697e+01] [-6.10187505e-01 -7.92239372e-01 5.29010935e-03 -1.70572120e+02] [-8.64131874e-03 -2.15681050e-05 -9.99962663e-01 -3.99822224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.646559995 meters 0.01307595646460392 Centerline is valid? [True, True] Translation: X:66.43, Y:-170.60, Z:-4.00 [[ 8.39410888e-01 -5.43445664e-01 -7.49483126e-03 6.64252156e+01] [-5.43423430e-01 -8.39444345e-01 4.91611023e-03 -1.70601604e+02] [-8.96313250e-03 -5.37695371e-05 -9.99959829e-01 -3.99790120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.7065599950001 meters 0.013196994801445741 Centerline is valid? [True, True] Translation: X:66.46, Y:-170.63, Z:-4.00 [[ 8.79902550e-01 -4.75076829e-01 -8.57376107e-03 6.64558898e+01] [-4.75053488e-01 -8.79944317e-01 4.70980420e-03 -1.70627710e+02] [-9.78195117e-03 -7.11736231e-05 -9.99952153e-01 -3.99673189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.766559995 meters 0.01336536096247852 Centerline is valid? [True, True] Translation: X:66.49, Y:-170.65, Z:-4.00 [[ 9.14444601e-01 -4.04611233e-01 -8.99007794e-03 6.64898063e+01] [-4.04590881e-01 -9.14488789e-01 4.05888742e-03 -1.70647636e+02] [-9.86359693e-03 -7.43241349e-05 -9.99951351e-01 -3.99640273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.826559995 meters 0.013358447842555299 Centerline is valid? [True, True] Translation: X:66.53, Y:-170.66, Z:-4.00 [[ 9.43229648e-01 -3.32015879e-01 -9.12618685e-03 6.65257432e+01] [-3.31999605e-01 -9.43273794e-01 3.28811212e-03 -1.70664314e+02] [-9.70019834e-03 -7.15544054e-05 -9.99952949e-01 -3.99690146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.886559995 meters 0.013187809637411799 Centerline is valid? [True, True] Translation: X:66.56, Y:-170.68, Z:-4.00 [[ 9.66078280e-01 -2.58085827e-01 -9.19039300e-03 6.65619447e+01] [-2.58073540e-01 -9.66121991e-01 2.51916932e-03 -1.70679293e+02] [-9.52920269e-03 -6.19175060e-05 -9.99954594e-01 -3.99880267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1298.9465599950001 meters 0.013144056696044383 Centerline is valid? [True, True] Translation: X:66.60, Y:-170.69, Z:-4.00 [[ 9.82905437e-01 -1.83831033e-01 -1.01515481e-02 6.65988486e+01] [-1.83820755e-01 -9.82957857e-01 1.94446281e-03 -1.70688858e+02] [-1.03359966e-02 -4.51578289e-05 -9.99946581e-01 -3.99807209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.006559995 meters 0.013114969656163456 Centerline is valid? [True, True] Translation: X:66.64, Y:-170.70, Z:-4.00 [[ 9.94131990e-01 -1.07541156e-01 -1.16826996e-02 6.66361226e+01] [-1.07533285e-01 -9.94200633e-01 1.30169236e-03 -1.70695917e+02] [-1.17549328e-02 -3.77749555e-05 -9.99930908e-01 -3.99873724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.066559995 meters 0.013040383074901943 Centerline is valid? [True, True] Translation: X:66.67, Y:-170.70, Z:-4.00 [[ 9.99482732e-01 -2.96508386e-02 -1.24538007e-02 6.66705773e+01] [-2.96480861e-02 -9.99560317e-01 4.05619224e-04 -1.70700080e+02] [-1.24603520e-02 -3.61780529e-05 -9.99922366e-01 -3.99835337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.126559995 meters 0.013143078459380972 Centerline is valid? [True, True] Translation: X:66.70, Y:-170.70, Z:-4.00 [[ 9.98770797e-01 4.80242826e-02 -1.22704208e-02 6.67044460e+01] [ 4.80209949e-02 -9.98846168e-01 -5.62592586e-04 -1.70701724e+02] [-1.22832809e-02 -2.73367706e-05 -9.99924557e-01 -3.99893895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.1865599950002 meters 0.01289840221471885 Centerline is valid? [True, True] Translation: X:66.74, Y:-170.70, Z:-4.00 [[ 9.92140304e-01 1.24542445e-01 -1.21160103e-02 6.67374869e+01] [ 1.24533263e-01 -9.92214281e-01 -1.51230613e-03 -1.70700335e+02] [-1.22100247e-02 -8.42642471e-06 -9.99925455e-01 -4.00051094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.246559995 meters 0.012844733023925735 Centerline is valid? [True, True] Translation: X:66.77, Y:-170.70, Z:-4.00 [[ 9.79313200e-01 2.01986121e-01 -1.21351780e-02 6.67710009e+01] [ 2.01970743e-01 -9.79388384e-01 -2.49238739e-03 -1.70699975e+02] [-1.23884800e-02 -1.01230415e-05 -9.99923260e-01 -4.00091393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.306559995 meters 0.012918231190854687 Centerline is valid? [True, True] Translation: X:66.80, Y:-170.70, Z:-4.00 [[ 9.59734533e-01 2.80635754e-01 -1.23774171e-02 6.68030779e+01] [ 2.80613028e-01 -9.59814342e-01 -3.57170069e-03 -1.70696035e+02] [-1.28823694e-02 -4.53800070e-05 -9.99917018e-01 -3.99963378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.366559995 meters 0.013238118509366707 Centerline is valid? [True, True] Translation: X:66.83, Y:-170.69, Z:-4.00 [[ 9.33712778e-01 3.57823979e-01 -1.19351256e-02 6.68339285e+01] [ 3.57795908e-01 -9.33789052e-01 -4.48280119e-03 -1.70690093e+02] [-1.27489434e-02 -8.46903603e-05 -9.99918725e-01 -3.99934295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.426559995 meters 0.013139800115190841 Centerline is valid? [True, True] Translation: X:66.87, Y:-170.68, Z:-4.00 [[ 9.01972360e-01 4.31648454e-01 -1.12014911e-02 6.68664588e+01] [ 4.31616638e-01 -9.02041906e-01 -5.24185917e-03 -1.70683208e+02] [-1.23668548e-02 -1.06737827e-04 -9.99923522e-01 -3.99994148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.486559995 meters 0.013264374291453922 Centerline is valid? [True, True] Translation: X:66.90, Y:-170.67, Z:-4.00 [[ 8.65045397e-01 5.01578618e-01 -1.07401532e-02 6.68954748e+01] [ 5.01541619e-01 -8.65112060e-01 -6.09323860e-03 -1.70670424e+02] [-1.23476743e-02 -1.15705850e-04 -9.99923758e-01 -3.99979176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.546559995 meters 0.014304777330469028 Centerline is valid? [True, True] Translation: X:66.93, Y:-170.66, Z:-4.00 [[ 8.20051438e-01 5.72190845e-01 -1.06431717e-02 6.69275131e+01] [ 5.72145646e-01 -8.20120480e-01 -7.19434332e-03 -1.70661528e+02] [-1.28452205e-02 -1.89712768e-04 -9.99917479e-01 -3.99949278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.606559995 meters 0.015199454751411535 Centerline is valid? [True, True] Translation: X:66.96, Y:-170.65, Z:-4.00 [[ 7.69785310e-01 6.38217766e-01 -1.04239936e-02 6.69585036e+01] [ 6.38163776e-01 -7.69855841e-01 -8.30535757e-03 -1.70650069e+02] [-1.33255991e-02 -2.58872849e-04 -9.99911177e-01 -3.99977668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.666559995 meters 0.016256640776675862 Centerline is valid? [True, True] Translation: X:66.99, Y:-170.64, Z:-4.00 [[ 7.14956004e-01 6.99099740e-01 -9.87253193e-03 6.69890001e+01] [ 6.99039032e-01 -7.15024096e-01 -9.21812615e-03 -1.70636773e+02] [-1.35034878e-02 -3.10730530e-04 -9.99908776e-01 -3.99933617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.7265599950001 meters 0.015847699306737007 Centerline is valid? [True, True] Translation: X:67.02, Y:-170.62, Z:-4.00 [[ 6.58096842e-01 7.52888611e-01 -8.20284851e-03 6.70169454e+01] [ 7.52835342e-01 -6.58147903e-01 -8.96020995e-03 -1.70619456e+02] [-1.21447276e-02 -2.78708398e-04 -9.99926211e-01 -4.00007887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.786559995 meters 0.015649383385359854 Centerline is valid? [True, True] Translation: X:67.04, Y:-170.60, Z:-4.00 [[ 5.98109001e-01 8.01387346e-01 -6.62908267e-03 6.70432297e+01] [ 8.01342409e-01 -5.98145690e-01 -8.48981065e-03 -1.70600360e+02] [-1.07687841e-02 -2.34332920e-04 -9.99941988e-01 -4.00088441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.846559995 meters 0.014823140304586811 Centerline is valid? [True, True] Translation: X:67.07, Y:-170.58, Z:-4.00 [[ 5.35458176e-01 8.44546516e-01 -5.07182641e-03 6.70663882e+01] [ 8.44511751e-01 -5.35482166e-01 -7.66505302e-03 -1.70578000e+02] [-9.18936642e-03 -1.78901693e-04 -9.99957761e-01 -4.00236198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.906559995 meters 0.014862919642630987 Centerline is valid? [True, True] Translation: X:67.09, Y:-170.55, Z:-4.00 [[ 4.69828977e-01 8.82741700e-01 -5.27474049e-03 6.70873088e+01] [ 8.82690439e-01 -4.69858549e-01 -9.51486906e-03 -1.70554625e+02] [-1.08775536e-02 -1.85601795e-04 -9.99940821e-01 -4.00063490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1299.9665599950001 meters 0.01415012513551115 Centerline is valid? [True, True] Translation: X:67.11, Y:-170.53, Z:-4.00 [[ 4.00591772e-01 9.16241470e-01 -5.27266706e-03 6.71060831e+01] [ 9.16168529e-01 -4.00626421e-01 -1.15627959e-02 -1.70529195e+02] [-1.27066828e-02 -1.98690733e-04 -9.99919247e-01 -4.00009799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.026559995 meters 0.013879810366254464 Centerline is valid? [True, True] Translation: X:67.12, Y:-170.50, Z:-4.00 [[ 3.29411849e-01 9.44173806e-01 -4.86388539e-03 6.71236167e+01] [ 9.44079484e-01 -3.29447698e-01 -1.33469766e-02 -1.70502991e+02] [-1.42042616e-02 -1.95242166e-04 -9.99899095e-01 -3.99878904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.086559995 meters 0.013302988512405653 Centerline is valid? [True, True] Translation: X:67.13, Y:-170.47, Z:-4.00 [[ 2.58183427e-01 9.66088927e-01 -3.67465703e-03 6.71348814e+01] [ 9.65998432e-01 -2.58209540e-01 -1.32235908e-02 -1.70474227e+02] [-1.37239961e-02 -1.35600950e-04 -9.99905812e-01 -3.99950606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.146559995 meters 0.013233715962528984 Centerline is valid? [True, True] Translation: X:67.15, Y:-170.45, Z:-4.00 [[ 1.83377687e-01 9.83038927e-01 -2.66324676e-03 6.71450900e+01] [ 9.82944114e-01 -1.83396990e-01 -1.36533042e-02 -1.70446570e+02] [-1.39101609e-02 -1.14111381e-04 -9.99903243e-01 -4.00010244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.2065599950001 meters 0.013096334160582687 Centerline is valid? [True, True] Translation: X:67.16, Y:-170.42, Z:-4.00 [[ 1.04625140e-01 9.94510630e-01 -1.47881694e-03 6.71588353e+01] [ 9.94427065e-01 -1.04635520e-01 -1.28926260e-02 -1.70418563e+02] [-1.29765903e-02 -1.21682792e-04 -9.99915793e-01 -4.00296357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.266559995 meters 0.01327445348691051 Centerline is valid? [True, True] Translation: X:67.17, Y:-170.39, Z:-4.00 [[ 2.48557747e-02 9.99690948e-01 -4.46763644e-04 6.71713949e+01] [ 9.99613250e-01 -2.48594132e-02 -1.24643513e-02 -1.70389291e+02] [-1.24716055e-02 -1.36779749e-04 -9.99922217e-01 -4.00352200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.326559995 meters 0.013682091678406762 Centerline is valid? [True, True] Translation: X:67.18, Y:-170.36, Z:-4.00 [[-5.63112302e-02 9.98413162e-01 4.51383647e-04 6.71827101e+01] [ 9.98356975e-01 5.63128503e-02 -1.05931147e-02 -1.70358853e+02] [-1.06017238e-02 -1.45869306e-04 -9.99943790e-01 -4.00462981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.386559995 meters 0.015047229939004494 Centerline is valid? [True, True] Translation: X:67.19, Y:-170.33, Z:-4.00 [[-1.36294998e-01 9.90667785e-01 1.00661829e-03 6.71917404e+01] [ 9.90633231e-01 1.36298653e-01 -8.27525529e-03 -1.70329126e+02] [-8.33522955e-03 -1.30686378e-04 -9.99965253e-01 -4.00450703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.4465599950001 meters 0.013914568169650723 Centerline is valid? [True, True] Translation: X:67.19, Y:-170.30, Z:-4.01 [[-2.13407242e-01 9.76962028e-01 1.59505522e-03 6.71930407e+01] [ 9.76930181e-01 2.13413166e-01 -7.88933230e-03 -1.70297610e+02] [-8.04798387e-03 -1.25383065e-04 -9.99967607e-01 -4.00590535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.506559995 meters 0.013642783381959542 Centerline is valid? [True, True] Translation: X:67.19, Y:-170.27, Z:-4.00 [[-2.87551904e-01 9.57760876e-01 2.82979185e-03 6.71928506e+01] [ 9.57709531e-01 2.87565793e-01 -9.91815078e-03 -1.70266570e+02] [-1.03129681e-02 -1.41864516e-04 -9.99946810e-01 -4.00371684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.566559995 meters 0.013467418414380407 Centerline is valid? [True, True] Translation: X:67.19, Y:-170.24, Z:-4.00 [[-3.59122030e-01 9.33280150e-01 4.41914136e-03 6.71881043e+01] [ 9.33204643e-01 3.59149191e-01 -1.18723583e-02 -1.70237500e+02] [-1.26673674e-02 -1.39662183e-04 -9.99919756e-01 -4.00078248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.626559995 meters 0.012714010511818707 Centerline is valid? [True, True] Translation: X:67.18, Y:-170.21, Z:-4.00 [[-4.25754718e-01 9.04817456e-01 6.18791773e-03 6.71786836e+01] [ 9.04719345e-01 4.25799677e-01 -1.33244590e-02 -1.70208672e+02] [-1.46910165e-02 -7.46224205e-05 -9.99892078e-01 -3.99986347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.6865599950002 meters 0.012759397354950177 Centerline is valid? [True, True] Translation: X:67.17, Y:-170.18, Z:-4.00 [[-4.91218306e-01 8.71009443e-01 6.86482905e-03 6.71677038e+01] [ 8.70924263e-01 4.91266272e-01 -1.21810274e-02 -1.70181728e+02] [-1.39822489e-02 -4.79745887e-06 -9.99902244e-01 -3.99894404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.746559995 meters 0.01271369052992677 Centerline is valid? [True, True] Translation: X:67.16, Y:-170.16, Z:-4.00 [[-5.52718490e-01 8.33348022e-01 5.77455961e-03 6.71552961e+01] [ 8.33303704e-01 5.52748651e-01 -8.59452719e-03 -1.70155356e+02] [-1.03541123e-02 6.16078270e-05 -9.99946393e-01 -4.00274579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.806559995 meters 0.012825933473911344 Centerline is valid? [True, True] Translation: X:67.15, Y:-170.13, Z:-4.00 [[-6.14293942e-01 7.89059487e-01 5.29902194e-03 6.71450109e+01] [ 7.89031145e-01 6.14316792e-01 -6.68813971e-03 -1.70126467e+02] [-8.53261825e-03 7.26096459e-05 -9.99963594e-01 -4.00396763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.866559995 meters 0.012820397305307395 Centerline is valid? [True, True] Translation: X:67.13, Y:-170.10, Z:-4.00 [[-6.74196342e-01 7.38532388e-01 5.40403963e-03 6.71320201e+01] [ 7.38509469e-01 6.74217996e-01 -5.81877861e-03 -1.70098634e+02] [-7.94085724e-03 6.79351827e-05 -9.99968469e-01 -4.00467980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.926559995 meters 0.012548954096756723 Centerline is valid? [True, True] Translation: X:67.12, Y:-170.07, Z:-4.00 [[-7.32655495e-01 6.80569649e-01 6.39364728e-03 6.71193852e+01] [ 6.80544211e-01 7.32683391e-01 -5.88428765e-03 -1.70070791e+02] [-8.68918675e-03 4.00039665e-05 -9.99962248e-01 -4.00308380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1300.986559995 meters 0.012349154296535342 Centerline is valid? [True, True] Translation: X:67.14, Y:-170.05, Z:-4.00 [[-7.81182166e-01 6.24258851e-01 7.43710790e-03 6.71395125e+01] [ 6.24230677e-01 7.81217567e-01 -5.93087449e-03 -1.70046293e+02] [-9.51240024e-03 9.37752089e-06 -9.99954756e-01 -4.00235338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.046559995 meters 0.012502452186852137 Centerline is valid? [True, True] Translation: X:67.16, Y:-170.02, Z:-4.00 [[-8.26123166e-01 5.63410825e-01 9.42110841e-03 6.71563726e+01] [ 5.63373576e-01 8.26176882e-01 -6.47864128e-03 -1.70018941e+02] [-1.14336386e-02 -4.45521062e-05 -9.99934633e-01 -4.00034989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.106559995 meters 0.01275816546233076 Centerline is valid? [True, True] Translation: X:67.17, Y:-169.99, Z:-4.00 [[-8.64508151e-01 5.02497586e-01 1.10378495e-02 6.71670784e+01] [ 5.02455670e-01 8.64578610e-01 -6.49053945e-03 -1.69993626e+02] [-1.28045690e-02 -6.50941893e-05 -9.99918016e-01 -4.00027497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.166559995 meters 0.012811899428631212 Centerline is valid? [True, True] Translation: X:67.18, Y:-169.97, Z:-4.00 [[-8.97336560e-01 4.41182649e-01 1.20403095e-02 6.71770322e+01] [ 4.41142167e-01 8.97417332e-01 -5.97671380e-03 -1.69968838e+02] [-1.34420049e-02 -5.16355637e-05 -9.99909651e-01 -3.99919799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.2265599950001 meters 0.012687286802595397 Centerline is valid? [True, True] Translation: X:67.19, Y:-169.95, Z:-4.00 [[-9.24290420e-01 3.81549337e-01 1.03597138e-02 6.71852941e+01] [ 3.81525594e-01 9.24348475e-01 -4.25653270e-03 -1.69947705e+02] [-1.12000629e-02 1.82235728e-05 -9.99937277e-01 -4.00108408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.286559995 meters 0.012674361246097889 Centerline is valid? [True, True] Translation: X:67.46, Y:-169.34, Z:-5.04 [[-9.00451314e-01 -4.34919227e-01 5.71807751e-03 6.74559049e+01] [ 4.34908499e-01 -9.00469428e-01 -3.06710579e-03 -1.69340492e+02] [ 6.48289726e-03 -2.74938933e-04 9.99978948e-01 -5.03794930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.346559995 meters 0.012846703759321607 Centerline is valid? [True, True] Translation: X:67.16, Y:-169.94, Z:-4.01 [[-9.22941241e-01 3.84916166e-01 4.36004331e-03 6.71559051e+01] [ 3.84912092e-01 9.22951539e-01 -1.77150601e-03 -1.69944033e+02] [-4.70598998e-03 4.32374390e-05 -9.99988926e-01 -4.00749222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.406559995 meters 0.012498552064744248 Centerline is valid? [True, True] Translation: X:67.41, Y:-169.32, Z:-5.04 [[-9.01465613e-01 -4.32836547e-01 3.50322136e-03 6.74101345e+01] [ 4.32832904e-01 -9.01472416e-01 -1.77776783e-03 -1.69323124e+02] [ 3.92754031e-03 -8.62870915e-05 9.99992284e-01 -5.03766061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.4665599950001 meters 0.01226898304079462 Centerline is valid? [True, True] Translation: X:67.11, Y:-169.92, Z:-4.01 [[-9.27643206e-01 3.73443111e-01 4.28091557e-03 6.71124580e+01] [ 3.73439146e-01 9.27653083e-01 -1.72087553e-03 -1.69919211e+02] [-4.61385364e-03 2.30295710e-06 -9.99989356e-01 -4.00569922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.526559995 meters 0.012643354292684853 Centerline is valid? [True, True] Translation: X:67.35, Y:-169.31, Z:-5.04 [[-8.97552384e-01 -4.40872810e-01 5.55727944e-03 6.73535838e+01] [ 4.40865056e-01 -8.97569582e-01 -2.61677469e-03 -1.69311812e+02] [ 6.14170980e-03 1.01317949e-04 9.99981134e-01 -5.04074383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.586559995 meters 0.013650902137985648 Centerline is valid? [True, True] Translation: X:67.07, Y:-169.89, Z:-4.00 [[-9.33988943e-01 3.57264832e-01 5.14738072e-03 6.70719663e+01] [ 3.57258956e-01 9.34003123e-01 -2.05037334e-03 -1.69891825e+02] [-5.54019595e-03 -7.60781641e-05 -9.99984650e-01 -4.00399236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.646559995 meters 0.014016667521810706 Centerline is valid? [True, True] Translation: X:67.08, Y:-169.86, Z:-4.00 [[-9.57454444e-01 2.88534818e-01 5.35227368e-03 6.70784083e+01] [ 2.88529801e-01 9.57469400e-01 -1.70380539e-03 -1.69864194e+02] [-5.61624545e-03 -8.70255795e-05 -9.99984225e-01 -4.00359457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.7065599950001 meters 0.013960549863391514 Centerline is valid? [True, True] Translation: X:67.08, Y:-169.84, Z:-4.00 [[-9.75513093e-01 2.19877013e-01 5.32020892e-03 6.70842578e+01] [ 2.19873266e-01 9.75527597e-01 -1.28642934e-03 -1.69838636e+02] [-5.47286686e-03 -8.51569531e-05 -9.99985020e-01 -4.00325540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.766559995 meters 0.013505411569256673 Centerline is valid? [True, True] Translation: X:67.09, Y:-169.81, Z:-4.00 [[-9.88444761e-01 1.51531666e-01 3.88689986e-03 6.70871822e+01] [ 1.51530273e-01 9.88452402e-01 -6.52100965e-04 -1.69814150e+02] [-3.94082945e-03 -5.55827864e-05 -9.99992233e-01 -4.00462885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.826559995 meters 0.013452044239182386 Centerline is valid? [True, True] Translation: X:67.20, Y:-169.18, Z:-5.04 [[-9.69607030e-01 -2.44658490e-01 2.10513756e-03 6.71952207e+01] [ 2.44657737e-01 -9.69609312e-01 -6.11776368e-04 -1.69181854e+02] [ 2.19083727e-03 -7.81444745e-05 9.99997597e-01 -5.03937310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.886559995 meters 0.014061349172571711 Centerline is valid? [True, True] Translation: X:67.04, Y:-169.81, Z:-4.01 [[-9.88870230e-01 1.48775705e-01 1.20719519e-03 6.70413311e+01] [ 1.48775577e-01 9.88870967e-01 -1.96241181e-04 -1.69806417e+02] [-1.22295619e-03 -1.44559017e-05 -9.99999252e-01 -4.00514195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1301.9465599950001 meters 0.013972706921254532 Centerline is valid? [True, True] Translation: X:67.14, Y:-169.18, Z:-5.04 [[-9.69966286e-01 -2.43235741e-01 1.33365826e-03 6.71428774e+01] [ 2.43235548e-01 -9.69967202e-01 -3.07722026e-04 -1.69175859e+02] [ 1.36845377e-03 2.59131073e-05 9.99999063e-01 -5.04033669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.006559995 meters 0.014656572789468336 Centerline is valid? [True, True] Translation: X:66.99, Y:-169.80, Z:-4.00 [[-9.90236995e-01 1.39376272e-01 2.22448848e-03 6.69902922e+01] [ 1.39375827e-01 9.90239493e-01 -3.54574927e-04 -1.69796471e+02] [-2.25219568e-03 -4.10732881e-05 -9.99997463e-01 -4.00276299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.066559995 meters 0.01485655128128026 Centerline is valid? [True, True] Translation: X:67.09, Y:-169.17, Z:-5.04 [[-9.69890712e-01 -2.43520335e-01 3.13912488e-03 6.70901435e+01] [ 2.43519459e-01 -9.69895784e-01 -6.64193709e-04 -1.69170285e+02] [ 3.20636866e-03 1.20242682e-04 9.99994852e-01 -5.04353197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.126559995 meters 0.014744435179967036 Centerline is valid? [True, True] Translation: X:66.94, Y:-169.79, Z:-4.00 [[-9.90761539e-01 1.35568821e-01 3.55924522e-03 6.69381078e+01] [ 1.35567703e-01 9.90767930e-01 -5.54784520e-04 -1.69789939e+02] [-3.60159751e-03 -6.71404654e-05 -9.99993512e-01 -4.00086448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.1865599950002 meters 0.013852112139310554 Centerline is valid? [True, True] Translation: X:67.05, Y:-169.16, Z:-5.04 [[-9.72165554e-01 -2.34269639e-01 3.44571658e-03 6.70467335e+01] [ 2.34268391e-01 -9.72171658e-01 -7.67023582e-04 -1.69156237e+02] [ 3.52951834e-03 6.15485743e-05 9.99993769e-01 -5.04457338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.246559995 meters 0.012809707745311712 Centerline is valid? [True, True] Translation: X:66.90, Y:-169.80, Z:-4.00 [[-9.89773940e-01 1.42617863e-01 2.77379131e-03 6.68990927e+01] [ 1.42617242e-01 9.89777826e-01 -4.21180674e-04 -1.69800094e+02] [-2.80550502e-03 -2.12831870e-05 -9.99996064e-01 -4.00055489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.306559995 meters 0.012796413836639632 Centerline is valid? [True, True] Translation: X:67.00, Y:-169.14, Z:-5.04 [[-9.74476442e-01 -2.24482715e-01 1.78180787e-03 6.70027873e+01] [ 2.24482251e-01 -9.74478070e-01 -4.59121637e-04 -1.69143340e+02] [ 1.83939757e-03 -4.74189786e-05 9.99998307e-01 -5.04403504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.366559995 meters 0.012880058761286804 Centerline is valid? [True, True] Translation: X:66.85, Y:-169.79, Z:-4.00 [[-9.90470676e-01 1.37710126e-01 1.93922203e-03 6.68506859e+01] [ 1.37709830e-01 9.90472575e-01 -2.86040369e-04 -1.69790591e+02] [-1.96013689e-03 -1.62646609e-05 -9.99998079e-01 -4.00013180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.426559995 meters 0.01285055373711594 Centerline is valid? [True, True] Translation: X:66.95, Y:-169.14, Z:-5.04 [[-9.75003468e-01 -2.22183055e-01 1.71080345e-03 6.69505539e+01] [ 2.22182715e-01 -9.75004969e-01 -3.88511076e-04 -1.69138296e+02] [ 1.75436245e-03 1.31131021e-06 9.99998461e-01 -5.04454402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.486559995 meters 0.012913140164871516 Centerline is valid? [True, True] Translation: X:66.80, Y:-169.78, Z:-4.00 [[-9.90967900e-01 1.34094190e-01 1.16991836e-03 6.68011828e+01] [ 1.34094087e-01 9.90968591e-01 -1.67142984e-04 -1.69783859e+02] [-1.18176526e-03 -8.75419752e-06 -9.99999302e-01 -4.00048358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.546559995 meters 0.012822822184863894 Centerline is valid? [True, True] Translation: X:66.90, Y:-169.13, Z:-5.04 [[-9.75915124e-01 -2.18149527e-01 6.74587404e-04 6.68980162e+01] [ 2.18149456e-01 -9.75915357e-01 -1.77772759e-04 -1.69133496e+02] [ 6.97121251e-04 -2.63302489e-05 9.99999757e-01 -5.04459785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.606559995 meters 0.012874039311306748 Centerline is valid? [True, True] Translation: X:66.75, Y:-169.77, Z:-4.00 [[-9.91486327e-01 1.30199165e-01 1.74390479e-03 6.67546410e+01] [ 1.30198939e-01 9.91487860e-01 -2.42971628e-04 -1.69774081e+02] [-1.76069513e-03 -1.38484936e-05 -9.99998450e-01 -3.99936459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.666559995 meters 0.012597639115119406 Centerline is valid? [True, True] Translation: X:66.75, Y:-169.75, Z:-4.00 [[-9.98169032e-01 6.02881314e-02 4.89124983e-03 6.67518343e+01] [ 6.02872179e-02 9.98181016e-01 -3.34138774e-04 -1.69746669e+02] [-4.90249732e-03 -3.86471324e-05 -9.99987982e-01 -3.99674124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.7265599950001 meters 0.012561101215125103 Centerline is valid? [True, True] Translation: X:66.80, Y:-169.10, Z:-5.05 [[-9.89858603e-01 -1.41897499e-01 6.71167395e-03 6.68036619e+01] [ 1.41895398e-01 -9.89881342e-01 -7.90495825e-04 -1.69095383e+02] [ 6.75593020e-03 1.69876557e-04 9.99977164e-01 -5.04999492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.786559995 meters 0.01235712782492033 Centerline is valid? [True, True] Translation: X:66.70, Y:-169.75, Z:-3.99 [[-9.98107907e-01 6.10886147e-02 6.98484741e-03 6.67047049e+01] [ 6.10869591e-02 9.98132346e-01 -4.50332334e-04 -1.69747471e+02] [-6.99931231e-03 -2.27971758e-05 -9.99975504e-01 -3.99342559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.846559995 meters 0.01212885089227987 Centerline is valid? [True, True] Translation: X:66.75, Y:-169.09, Z:-5.05 [[-9.91292600e-01 -1.31590972e-01 4.77468672e-03 6.67508215e+01] [ 1.31588878e-01 -9.91304092e-01 -7.51449179e-04 -1.69087856e+02] [ 4.83205041e-03 -1.16610342e-04 9.99988319e-01 -5.04835129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.906559995 meters 0.012118184781119583 Centerline is valid? [True, True] Translation: X:66.65, Y:-169.75, Z:-4.00 [[-9.98122772e-01 6.11817048e-02 2.78052910e-03 6.66533068e+01] [ 6.11814780e-02 9.98126645e-01 -1.66614434e-04 -1.69747852e+02] [-2.78551394e-03 3.81521885e-06 -9.99996121e-01 -3.99775946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1302.9665599950001 meters 0.011989491343591547 Centerline is valid? [True, True] Translation: X:66.65, Y:-169.72, Z:-4.00 [[-9.99927984e-01 -1.19027067e-02 1.53366735e-03 6.66483817e+01] [-1.19026930e-02 9.99929160e-01 1.80732981e-05 -1.69718022e+02] [-1.53377382e-03 -1.82775091e-07 -9.99998824e-01 -3.99801353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.026559995 meters 0.012172603079252156 Centerline is valid? [True, True] Translation: X:66.64, Y:-169.06, Z:-5.05 [[-9.98140995e-01 -6.09404814e-02 9.01559722e-04 6.66417903e+01] [ 6.09404174e-02 -9.98141401e-01 -9.82487506e-05 -1.69061042e+02] [ 9.05871411e-04 -4.31246798e-05 9.99999589e-01 -5.04668848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.086559995 meters 0.01253248269428171 Centerline is valid? [True, True] Translation: X:66.59, Y:-169.71, Z:-4.00 [[-9.99761610e-01 -2.18231852e-02 6.86880715e-04 6.65856817e+01] [-2.18231819e-02 9.99761846e-01 1.24073273e-05 -1.69714609e+02] [-6.86987900e-04 -2.58555324e-06 -9.99999764e-01 -3.99779378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.146559995 meters 0.01306198296670095 Centerline is valid? [True, True] Translation: X:66.57, Y:-169.07, Z:-5.05 [[-9.97963047e-01 -6.37333658e-02 2.79546520e-03 6.65729321e+01] [ 6.37335713e-02 -9.97966949e-01 -1.56058442e-05 -1.69068332e+02] [ 2.79077649e-03 1.62590925e-04 9.99996093e-01 -5.04955607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.2065599950001 meters 0.014071608391676363 Centerline is valid? [True, True] Translation: X:66.52, Y:-169.71, Z:-3.99 [[-9.99455884e-01 -3.25408370e-02 5.38794517e-03 6.65195561e+01] [-3.25407461e-02 9.99470404e-01 1.04568096e-04 -1.69709850e+02] [-5.38849447e-03 -7.08165563e-05 -9.99985480e-01 -3.99273979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.266559995 meters 0.014353456884074781 Centerline is valid? [True, True] Translation: X:66.51, Y:-169.68, Z:-3.99 [[-9.94626489e-01 -1.03345531e-01 6.15210656e-03 6.65148371e+01] [-1.03344054e-01 9.94645512e-01 5.58309616e-04 -1.69682753e+02] [-6.17686398e-03 -8.04741006e-05 -9.99980920e-01 -3.99192722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.326559995 meters 0.01351410356337086 Centerline is valid? [True, True] Translation: X:66.51, Y:-169.66, Z:-3.99 [[-9.85347426e-01 -1.70476274e-01 5.31889720e-03 6.65069509e+01] [-1.70474071e-01 9.85361780e-01 8.68113180e-04 -1.69657796e+02] [-5.38903071e-03 -5.13409711e-05 -9.99985478e-01 -3.99155482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.386559995 meters 0.012722730463683597 Centerline is valid? [True, True] Translation: X:66.50, Y:-169.64, Z:-3.99 [[-9.72063017e-01 -2.34665999e-01 5.03577617e-03 6.64955247e+01] [-2.34662954e-01 9.72076061e-01 1.19565294e-03 -1.69639027e+02] [-5.17573655e-03 -1.94601051e-05 -9.99986606e-01 -3.99221971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.4465599950001 meters 0.012420495145695012 Centerline is valid? [True, True] Translation: X:66.48, Y:-169.62, Z:-4.00 [[-9.54696670e-01 -2.97553680e-01 4.00940485e-03 6.64755156e+01] [-2.97551000e-01 9.54705089e-01 1.26289893e-03 -1.69624973e+02] [-4.20357944e-03 1.26829790e-05 -9.99991165e-01 -3.99501641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.506559995 meters 0.013201534362378165 Centerline is valid? [True, True] Translation: X:66.44, Y:-169.61, Z:-4.00 [[-9.33264364e-01 -3.59188551e-01 1.10065208e-03 6.64408660e+01] [-3.59188285e-01 9.33265013e-01 4.37926096e-04 -1.69614146e+02] [-1.18449812e-03 1.33594861e-05 -9.99999298e-01 -3.99865938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.566559995 meters 0.013227202293939928 Centerline is valid? [True, True] Translation: X:66.38, Y:-169.61, Z:-4.00 [[-9.05055132e-01 -4.25291998e-01 1.38756264e-03 6.63822318e+01] [-4.25291466e-01 9.05056195e-01 6.72777285e-04 -1.69608936e+02] [-1.54194896e-03 1.87819837e-05 -9.99998811e-01 -3.99832161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.626559995 meters 0.012885763236576949 Centerline is valid? [True, True] Translation: X:66.32, Y:-169.61, Z:-4.00 [[-8.69678353e-01 -4.93596582e-01 4.68802273e-03 6.63175982e+01] [-4.93589132e-01 8.69690987e-01 2.71221285e-03 -1.69610259e+02] [-5.41587010e-03 4.47957335e-05 -9.99985333e-01 -3.99618014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.6865599950002 meters 0.012637673350446237 Centerline is valid? [True, True] Translation: X:66.24, Y:-169.62, Z:-3.99 [[-8.28839287e-01 -5.59448249e-01 6.56452381e-03 6.62411723e+01] [-5.59430339e-01 8.28865282e-01 4.47665335e-03 -1.69621279e+02] [-7.94556175e-03 3.80323962e-05 -9.99968433e-01 -3.99345319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.746559995 meters 0.012684352631629347 Centerline is valid? [True, True] Translation: X:66.16, Y:-169.64, Z:-3.99 [[-7.82117053e-01 -6.23077184e-01 8.23036048e-03 6.61588665e+01] [-6.23042644e-01 7.82160356e-01 6.56052442e-03 -1.69639581e+02] [-1.05251748e-02 3.23246365e-06 -9.99944609e-01 -3.98964321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.806559995 meters 0.012585301189109173 Centerline is valid? [True, True] Translation: X:66.08, Y:-169.67, Z:-3.99 [[-7.32030376e-01 -6.81230891e-01 7.48341486e-03 6.60766870e+01] [-6.81195531e-01 7.32068626e-01 6.94093186e-03 -1.69671870e+02] [-1.02067504e-02 -1.66957961e-05 -9.99947910e-01 -3.99057899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.866559995 meters 0.012474926023438119 Centerline is valid? [True, True] Translation: X:66.00, Y:-169.71, Z:-3.99 [[-6.77404736e-01 -7.35588952e-01 5.63189901e-03 6.59954163e+01] [-7.35563889e-01 6.77428146e-01 6.07219143e-03 -1.69713828e+02] [-8.28184384e-03 -2.92903091e-05 -9.99965705e-01 -3.99390142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.926559995 meters 0.012546015684091087 Centerline is valid? [True, True] Translation: X:65.91, Y:-169.77, Z:-4.00 [[-6.18964739e-01 -7.85408659e-01 3.98633276e-03 6.59125561e+01] [-7.85392697e-01 6.18977574e-01 5.00741861e-03 -1.69766542e+02] [-6.40032051e-03 -3.14210838e-05 -9.99979517e-01 -3.99526384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1303.986559995 meters 0.012712937710333539 Centerline is valid? [True, True] Translation: X:65.83, Y:-169.83, Z:-4.00 [[-5.55741013e-01 -8.31353257e-01 1.92041430e-03 6.58304324e+01] [-8.31348448e-01 5.55744331e-01 2.82787827e-03 -1.69827471e+02] [-3.41822517e-03 -2.49655140e-05 -9.99994158e-01 -3.99629279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.046559995 meters 0.012830925110464957 Centerline is valid? [True, True] Translation: X:65.76, Y:-169.89, Z:-4.00 [[-4.90121666e-01 -8.71652959e-01 1.36804930e-03 6.57562693e+01] [-8.71649694e-01 4.90123574e-01 2.38599039e-03 -1.69893645e+02] [-2.75026880e-03 -2.30341653e-05 -9.99996218e-01 -3.99659675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.106559995 meters 0.013299613750074683 Centerline is valid? [True, True] Translation: X:65.68, Y:-169.97, Z:-4.00 [[-4.20400871e-01 -9.07337718e-01 1.17219909e-03 6.56829378e+01] [-9.07334383e-01 4.20402504e-01 2.46001557e-03 -1.69972864e+02] [-2.72486035e-03 -2.93838465e-05 -9.99996287e-01 -3.99681035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.166559995 meters 0.014114536609844177 Centerline is valid? [True, True] Translation: X:65.61, Y:-170.07, Z:-4.00 [[-3.47262386e-01 -9.37766731e-01 1.54706377e-03 6.56099966e+01] [-9.37758192e-01 3.47265826e-01 4.00241439e-03 -1.70065151e+02] [-4.29057344e-03 -6.08837532e-05 -9.99990794e-01 -3.99519581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.2265599950001 meters 0.014942073621412214 Centerline is valid? [True, True] Translation: X:65.55, Y:-170.16, Z:-3.99 [[-2.70179744e-01 -9.62807542e-01 2.13172308e-03 6.55459111e+01] [-9.62781574e-01 2.70188116e-01 7.07261702e-03 -1.70155715e+02] [-7.38553524e-03 -1.41505846e-04 -9.99972717e-01 -3.99241628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.286559995 meters 0.0166160882773084 Centerline is valid? [True, True] Translation: X:65.49, Y:-170.25, Z:-3.99 [[-1.94056686e-01 -9.80988666e-01 1.80022971e-03 6.54881481e+01] [-9.80954524e-01 1.94064955e-01 8.18626982e-03 -1.70252199e+02] [-8.37999940e-03 -1.77343088e-04 -9.99964872e-01 -3.99016217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.346559995 meters 0.0168138938861053 Centerline is valid? [True, True] Translation: X:65.44, Y:-170.35, Z:-3.99 [[-1.18703652e-01 -9.92929118e-01 1.09959486e-03 6.54422210e+01] [-9.92898520e-01 1.18708629e-01 7.79677203e-03 -1.70353684e+02] [-7.87217338e-03 -1.66280800e-04 -9.99969000e-01 -3.99022637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.406559995 meters 0.013934040930207196 Centerline is valid? [True, True] Translation: X:65.41, Y:-170.46, Z:-3.99 [[-4.72352351e-02 -9.98883735e-01 3.41970119e-04 6.54115966e+01] [-9.98869236e-01 4.72363922e-02 5.38268228e-03 -1.70458130e+02] [-5.39282721e-03 -8.73311689e-05 -9.99985455e-01 -3.99264446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.4665599950001 meters 0.013236071306222471 Centerline is valid? [True, True] Translation: X:65.39, Y:-170.57, Z:-3.99 [[ 2.46345679e-02 -9.99696521e-01 -5.67194839e-05 6.53859329e+01] [-9.99687372e-01 -2.46345851e-02 4.27723345e-03 -1.70569639e+02] [-4.27733266e-03 -4.86660458e-05 -9.99990851e-01 -3.99315309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.526559995 meters 0.012497847817557023 Centerline is valid? [True, True] Translation: X:65.37, Y:-170.68, Z:-3.99 [[ 9.53479496e-02 -9.95443938e-01 -3.66505284e-04 6.53717255e+01] [-9.95435658e-01 -9.53486514e-02 4.06014890e-03 -1.70682387e+02] [-4.07659640e-03 -2.22944439e-05 -9.99991690e-01 -3.99281064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.586559995 meters 0.0124018180958957 Centerline is valid? [True, True] Translation: X:65.36, Y:-170.80, Z:-3.99 [[ 1.70462735e-01 -9.85363645e-01 -9.70957768e-04 6.53602378e+01] [-9.85346732e-01 -1.70465498e-01 5.77342905e-03 -1.70797872e+02] [-5.85444189e-03 -2.74244410e-05 -9.99982862e-01 -3.99157316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.646559995 meters 0.013045543258986865 Centerline is valid? [True, True] Translation: X:65.35, Y:-170.92, Z:-3.99 [[ 2.49894040e-01 -9.68270423e-01 -2.31461835e-03 6.53504468e+01] [-9.68225441e-01 -2.49904742e-01 9.33351243e-03 -1.70919091e+02] [-9.61579812e-03 -9.13167532e-05 -9.99953763e-01 -3.98712788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.7065599950001 meters 0.013754488421253656 Centerline is valid? [True, True] Translation: X:65.35, Y:-171.04, Z:-3.98 [[ 3.25252958e-01 -9.45618946e-01 -3.91432625e-03 6.53528553e+01] [-9.45545024e-01 -3.25276478e-01 1.18245655e-02 -1.71036726e+02] [-1.24547714e-02 -1.44803198e-04 -9.99922426e-01 -3.98470078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.766559995 meters 0.013657005360310689 Centerline is valid? [True, True] Translation: X:65.37, Y:-171.15, Z:-3.98 [[ 3.95780338e-01 -9.18331875e-01 -4.94884809e-03 6.53663988e+01] [-9.18255704e-01 -3.95811253e-01 1.18285323e-02 -1.71151059e+02] [-1.28213280e-02 -1.37192524e-04 -9.99917794e-01 -3.98464858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.826559995 meters 0.0129528873465307 Centerline is valid? [True, True] Translation: X:65.39, Y:-171.26, Z:-3.99 [[ 4.61376258e-01 -8.87192162e-01 -4.69214716e-03 6.53878079e+01] [-8.87144714e-01 -4.61400111e-01 9.17575709e-03 -1.71259757e+02] [-1.03056170e-02 -7.08629186e-05 -9.99946893e-01 -3.98637118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.886559995 meters 0.012368360316574125 Centerline is valid? [True, True] Translation: X:65.42, Y:-171.36, Z:-3.99 [[ 5.20812570e-01 -8.53665334e-01 -3.12480974e-03 6.54188714e+01] [-8.53650064e-01 -5.20821944e-01 5.10592117e-03 -1.71362786e+02] [-5.98621739e-03 8.26610847e-06 -9.99982082e-01 -3.99059935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1304.9465599950001 meters 0.01240166784944994 Centerline is valid? [True, True] Translation: X:65.46, Y:-171.46, Z:-3.99 [[ 5.81134300e-01 -8.13801741e-01 -3.10663056e-03 6.54553041e+01] [-8.13790375e-01 -5.81142603e-01 4.30117326e-03 -1.71464292e+02] [-5.30569766e-03 2.85867407e-05 -9.99985924e-01 -3.99240235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.006559995 meters 0.012661354133251352 Centerline is valid? [True, True] Translation: X:65.50, Y:-171.57, Z:-3.99 [[ 6.40224557e-01 -7.68171864e-01 -4.95020386e-03 6.55003867e+01] [-7.68149529e-01 -6.40243692e-01 5.85798186e-03 -1.71565814e+02] [-7.66927364e-03 5.20729196e-05 -9.99970589e-01 -3.99162084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.066559995 meters 0.012682490798521661 Centerline is valid? [True, True] Translation: X:65.55, Y:-171.66, Z:-3.99 [[ 6.97917393e-01 -7.16145763e-01 -6.82340664e-03 6.55479756e+01] [-7.16112216e-01 -6.97950746e-01 6.93178140e-03 -1.71662706e+02] [-9.72656764e-03 4.85140483e-05 -9.99952695e-01 -3.98927791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.126559995 meters 0.012577750132930363 Centerline is valid? [True, True] Translation: X:65.60, Y:-171.75, Z:-3.99 [[ 7.51522806e-01 -6.59651396e-01 -8.57373088e-03 6.56031361e+01] [-6.59608951e-01 -7.51571710e-01 7.48302979e-03 -1.71754877e+02] [-1.13799646e-02 3.16420908e-05 -9.99935246e-01 -3.98953574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.1865599950002 meters 0.012408118533515053 Centerline is valid? [True, True] Translation: X:65.62, Y:-171.79, Z:-3.99 [[ 8.02013479e-01 -5.97227237e-01 -9.69569020e-03 6.56245058e+01] [-5.97183732e-01 -8.02072083e-01 7.20856846e-03 -1.71785774e+02] [-1.20817959e-02 8.73938991e-06 -9.99927012e-01 -3.98999130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.246559995 meters 0.012474315875192838 Centerline is valid? [True, True] Translation: X:65.65, Y:-171.81, Z:-3.99 [[ 8.46835017e-01 -5.31753958e-01 -1.04010890e-02 6.56497756e+01] [-5.31713779e-01 -8.46898889e-01 6.53680912e-03 -1.71811925e+02] [-1.22846448e-02 -5.19653780e-06 -9.99924541e-01 -3.98977926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.306559995 meters 0.012302783615990824 Centerline is valid? [True, True] Translation: X:65.68, Y:-171.84, Z:-3.99 [[ 8.86660454e-01 -4.62333676e-01 -8.98949289e-03 6.56763444e+01] [-4.62309665e-01 -8.86706023e-01 4.71192198e-03 -1.71837206e+02] [-1.01495177e-02 -2.19454386e-05 -9.99948492e-01 -3.99306460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.366559995 meters 0.012315116207718689 Centerline is valid? [True, True] Translation: X:65.70, Y:-171.86, Z:-3.99 [[ 9.20849098e-01 -3.89845320e-01 -7.58712968e-03 6.57049534e+01] [-3.89831791e-01 -9.20880354e-01 3.24794891e-03 -1.71861968e+02] [-8.25303635e-03 -3.31664765e-05 -9.99965943e-01 -3.99478870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.426559995 meters 0.01248719503316187 Centerline is valid? [True, True] Translation: X:65.73, Y:-171.89, Z:-4.00 [[ 9.49633737e-01 -3.13257783e-01 -8.08248965e-03 6.57347871e+01] [-3.13245855e-01 -9.49668130e-01 2.73444698e-03 -1.71885212e+02] [-8.53226963e-03 -6.49167251e-05 -9.99963598e-01 -3.99585255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.486559995 meters 0.013015525411272226 Centerline is valid? [True, True] Translation: X:65.77, Y:-171.91, Z:-3.99 [[ 9.71953997e-01 -2.34929543e-01 -1.06554090e-02 6.57665295e+01] [-2.34914075e-01 -9.72012395e-01 2.69849885e-03 -1.71905809e+02] [-1.09911467e-02 -1.19711197e-04 -9.99939588e-01 -3.99397898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.546559995 meters 0.01354502828346313 Centerline is valid? [True, True] Translation: X:65.80, Y:-171.92, Z:-3.99 [[ 9.87840737e-01 -1.54812727e-01 -1.42722559e-02 6.58005746e+01] [-1.54793519e-01 -9.87943812e-01 2.44754975e-03 -1.71924769e+02] [-1.44790987e-02 -2.08536640e-04 -9.99895151e-01 -3.99162930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.606559995 meters 0.014914071506860593 Centerline is valid? [True, True] Translation: X:65.83, Y:-171.94, Z:-3.99 [[ 9.97136089e-01 -7.37201650e-02 -1.68806939e-02 6.58328903e+01] [-7.37045003e-02 -9.97278921e-01 1.54907760e-03 -1.71940644e+02] [-1.69489584e-02 -3.00458076e-04 -9.99856311e-01 -3.98841554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.666559995 meters 0.014452885514839137 Centerline is valid? [True, True] Translation: X:65.87, Y:-171.95, Z:-3.99 [[ 9.99839515e-01 4.29615138e-03 -1.73921727e-02 6.58666506e+01] [ 4.30077566e-03 -9.99990726e-01 2.28488464e-04 -1.71947698e+02] [-1.73910298e-02 -3.03251628e-04 -9.99848719e-01 -3.98927410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.7265599950001 meters 0.01378051532212865 Centerline is valid? [True, True] Translation: X:65.90, Y:-171.95, Z:-3.99 [[ 9.96703917e-01 7.88934721e-02 -1.88976642e-02 6.59004904e+01] [ 7.88842395e-02 -9.96883018e-01 -1.23465643e-03 -1.71948018e+02] [-1.89361668e-02 -2.60140964e-04 -9.99820661e-01 -3.98849874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.786559995 meters 0.013010176603080282 Centerline is valid? [True, True] Translation: X:65.93, Y:-171.94, Z:-3.99 [[ 9.88072952e-01 1.52912627e-01 -1.81540736e-02 6.59334490e+01] [ 1.52890206e-01 -9.88239695e-01 -2.62478977e-03 -1.71944941e+02] [-1.83419396e-02 -1.82096273e-04 -9.99831756e-01 -3.98964628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.846559995 meters 0.012088437503750308 Centerline is valid? [True, True] Translation: X:65.97, Y:-171.94, Z:-3.99 [[ 9.74415683e-01 2.24172079e-01 -1.61541603e-02 6.59654127e+01] [ 2.24142448e-01 -9.74549575e-01 -3.64537329e-03 -1.71938677e+02] [-1.65602210e-02 -6.87241338e-05 -9.99862868e-01 -3.99190243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.906559995 meters 0.012047972423661714 Centerline is valid? [True, True] Translation: X:66.00, Y:-171.94, Z:-3.99 [[ 9.54390903e-01 2.98145316e-01 -1.57281745e-02 6.59985202e+01] [ 2.98105539e-01 -9.54520492e-01 -4.87023616e-03 -1.71937233e+02] [-1.64649030e-02 -4.05468598e-05 -9.99864444e-01 -3.99333248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1305.9665599950001 meters 0.012101232445426192 Centerline is valid? [True, True] Translation: X:66.03, Y:-171.93, Z:-3.99 [[ 9.29285271e-01 3.69082347e-01 -1.43911950e-02 6.60291689e+01] [ 3.69037929e-01 -9.29396697e-01 -5.72588304e-03 -1.71929755e+02] [-1.54884515e-02 1.00819525e-05 -9.99880047e-01 -3.99314274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.026559995 meters 0.012185060411240456 Centerline is valid? [True, True] Translation: X:66.06, Y:-171.92, Z:-3.99 [[ 8.97445338e-01 4.40885577e-01 -1.45524174e-02 6.60601226e+01] [ 4.40827491e-01 -8.97563317e-01 -7.15643809e-03 -1.71920432e+02] [-1.62168864e-02 7.40634365e-06 -9.99868498e-01 -3.99300446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.086559995 meters 0.012123073856142731 Centerline is valid? [True, True] Translation: X:66.09, Y:-171.91, Z:-3.99 [[ 8.59392957e-01 5.11106566e-01 -1.46227010e-02 6.60928632e+01] [ 5.11032960e-01 -8.59517352e-01 -8.67385461e-03 -1.71913171e+02] [-1.70017293e-02 -1.84326269e-05 -9.99855460e-01 -3.99267180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.146559995 meters 0.012515513101291589 Centerline is valid? [True, True] Translation: X:66.12, Y:-171.90, Z:-3.99 [[ 8.14967256e-01 5.79326590e-01 -1.44593690e-02 6.61235454e+01] [ 5.79237011e-01 -8.15095514e-01 -1.01876581e-02 -1.71903937e+02] [-1.76877481e-02 -7.27939099e-05 -9.99843557e-01 -3.99124655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.2065599950001 meters 0.01272613079840282 Centerline is valid? [True, True] Translation: X:66.15, Y:-171.89, Z:-3.99 [[ 7.66895379e-01 6.41639393e-01 -1.30524667e-02 6.61519489e+01] [ 6.41548173e-01 -7.67006443e-01 -1.08193615e-02 -1.71889065e+02] [-1.69534546e-02 -7.64677989e-05 -9.99856277e-01 -3.99156311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.266559995 meters 0.012541909738238896 Centerline is valid? [True, True] Translation: X:66.18, Y:-171.87, Z:-3.99 [[ 7.16057952e-01 6.97946361e-01 -1.14842189e-02 6.61800312e+01] [ 6.97857326e-01 -7.16150038e-01 -1.11479138e-02 -1.71872299e+02] [-1.60050697e-02 -3.17939388e-05 -9.99871910e-01 -3.99358440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.326559995 meters 0.012929691494353635 Centerline is valid? [True, True] Translation: X:66.21, Y:-171.85, Z:-3.99 [[ 6.60874469e-01 7.50426245e-01 -1.02658004e-02 6.62050456e+01] [ 7.50335637e-01 -6.60954197e-01 -1.16610697e-02 -1.71853410e+02] [-1.55359966e-02 3.70736601e-06 -9.99879309e-01 -3.99242582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.386559995 meters 0.01321552611058212 Centerline is valid? [True, True] Translation: X:66.23, Y:-171.83, Z:-4.00 [[ 6.03240878e-01 7.97505984e-01 -9.20050300e-03 6.62287140e+01] [ 7.97411626e-01 -6.03311032e-01 -1.22677223e-02 -1.71832919e+02] [-1.53343469e-02 6.38035007e-05 -9.99882420e-01 -3.99521438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.4465599950001 meters 0.014173994205819664 Centerline is valid? [True, True] Translation: X:66.25, Y:-171.81, Z:-3.99 [[ 5.41113928e-01 8.40910057e-01 -8.12368631e-03 6.62500482e+01] [ 8.40812458e-01 -5.41174894e-01 -1.28118592e-02 -1.71812030e+02] [-1.51699563e-02 1.02178781e-04 -9.99884924e-01 -3.99351833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.506559995 meters 0.013933049935811435 Centerline is valid? [True, True] Translation: X:66.27, Y:-171.79, Z:-4.00 [[ 4.75024241e-01 8.79948523e-01 -6.52436025e-03 6.62711692e+01] [ 8.79862133e-01 -4.75069030e-01 -1.23305859e-02 -1.71788926e+02] [-1.39498024e-02 1.16789707e-04 -9.99902690e-01 -3.99649372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.566559995 meters 0.013978156434343832 Centerline is valid? [True, True] Translation: X:66.29, Y:-171.77, Z:-4.00 [[ 4.05115611e-01 9.14252301e-01 -4.90621660e-03 6.62923095e+01] [ 9.14181963e-01 -4.05145304e-01 -1.13411001e-02 -1.71765435e+02] [-1.23563575e-02 1.09281979e-04 -9.99923651e-01 -3.99814739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.626559995 meters 0.013604651968185673 Centerline is valid? [True, True] Translation: X:66.32, Y:-171.74, Z:-4.00 [[ 3.31621630e-01 9.43405754e-01 -3.56048383e-03 6.63158415e+01] [ 9.43348441e-01 -3.31640731e-01 -1.03992716e-02 -1.71741721e+02] [-1.09915341e-02 8.98465328e-05 -9.99939587e-01 -3.99937773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.6865599950002 meters 0.01357839130811145 Centerline is valid? [True, True] Translation: X:66.34, Y:-171.72, Z:-4.00 [[ 2.55267985e-01 9.66867753e-01 -2.23704531e-03 6.63367594e+01] [ 9.66828536e-01 -2.55277780e-01 -8.70847655e-03 -1.71716650e+02] [-8.99101311e-03 6.01560232e-05 -9.99959578e-01 -3.99860441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.746559995 meters 0.013276731722229476 Centerline is valid? [True, True] Translation: X:66.35, Y:-171.69, Z:-4.00 [[ 1.76963361e-01 9.84216593e-01 -1.29126791e-03 6.63535117e+01] [ 9.84188860e-01 -1.76968069e-01 -7.38849810e-03 -1.71688464e+02] [-7.50039561e-03 3.66419698e-05 -9.99971871e-01 -3.99928042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.806559995 meters 0.013197647694076517 Centerline is valid? [True, True] Translation: X:66.37, Y:-171.66, Z:-4.00 [[ 9.53017791e-02 9.95448266e-01 -5.65669543e-04 6.63702337e+01] [ 9.95430397e-01 -9.53034578e-02 -5.96452305e-03 -1.71658514e+02] [-5.99128439e-03 5.34500028e-06 -9.99982052e-01 -4.00054992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.866559995 meters 0.013444016274988464 Centerline is valid? [True, True] Translation: X:66.39, Y:-171.63, Z:-4.00 [[ 1.01595657e-02 9.99948388e-01 -6.20632217e-05 6.63876626e+01] [ 9.99940881e-01 -1.01597300e-02 -3.87483495e-03 -1.71628781e+02] [-3.87526551e-03 -2.26929122e-05 -9.99992491e-01 -4.00067012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.926559995 meters 0.013847022630236508 Centerline is valid? [True, True] Translation: X:66.40, Y:-171.60, Z:-4.00 [[-7.13730949e-02 9.97449667e-01 2.08621718e-04 6.63981522e+01] [ 9.97444089e-01 7.13733935e-02 -3.33603554e-03 -1.71595852e+02] [-3.34241758e-03 -3.00146819e-05 -9.99994414e-01 -3.99969426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1306.986559995 meters 0.013827534102194198 Centerline is valid? [True, True] Translation: X:66.40, Y:-171.56, Z:-4.00 [[-1.49282154e-01 9.88794524e-01 4.77853681e-04 6.64031374e+01] [ 9.88788779e-01 1.49282916e-01 -3.37061926e-03 -1.71562083e+02] [-3.40418526e-03 -3.06769472e-05 -9.99994205e-01 -3.99854997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.046559995 meters 0.013547771052315069 Centerline is valid? [True, True] Translation: X:66.40, Y:-171.53, Z:-4.00 [[-2.24162990e-01 9.74551471e-01 6.20600739e-04 6.64025947e+01] [ 9.74547494e-01 2.24163848e-01 -2.78417434e-03 -1.71529198e+02] [-2.85243744e-03 -1.93039480e-05 -9.99995932e-01 -3.99829026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.106559995 meters 0.013207164442854665 Centerline is valid? [True, True] Translation: X:66.40, Y:-171.50, Z:-4.00 [[-2.97461247e-01 9.54733769e-01 4.87657526e-04 6.63990834e+01] [ 9.54732449e-01 2.97461647e-01 -1.58724897e-03 -1.71496513e+02] [-1.66045960e-03 -6.56259425e-06 -9.99998622e-01 -3.99834739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.166559995 meters 0.013073904395498721 Centerline is valid? [True, True] Translation: X:66.40, Y:-171.46, Z:-4.00 [[-3.69039584e-01 9.29413647e-01 2.41809484e-04 6.63966754e+01] [ 9.29413447e-01 3.69039663e-01 -6.09268080e-04 -1.71462788e+02] [-6.55499359e-04 -1.03053113e-07 -9.99999785e-01 -3.99804092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.2265599950001 meters 0.012829267283738484 Centerline is valid? [True, True] Translation: X:66.39, Y:-171.43, Z:-4.00 [[-4.39150776e-01 8.98413202e-01 5.60918110e-04 6.63894793e+01] [ 8.98412471e-01 4.39151134e-01 -1.14599425e-03 -1.71430257e+02] [-1.27590418e-03 6.71562789e-07 -9.99999186e-01 -3.99731109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.286559995 meters 0.0129302042646545 Centerline is valid? [True, True] Translation: X:66.38, Y:-171.40, Z:-4.00 [[-5.05262816e-01 8.62964346e-01 1.42308201e-03 6.63802174e+01] [ 8.62960974e-01 5.05264820e-01 -2.41245744e-03 -1.71398355e+02] [-2.80089803e-03 9.13919392e-06 -9.99996078e-01 -3.99596671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.346559995 meters 0.013060411137193468 Centerline is valid? [True, True] Translation: X:66.37, Y:-171.37, Z:-4.00 [[-5.69338205e-01 8.22100663e-01 2.12342738e-03 6.63698841e+01] [ 8.22095079e-01 5.69342164e-01 -3.03011936e-03 -1.71366167e+02] [-3.70001987e-03 2.04964817e-05 -9.99993155e-01 -3.99529520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.406559995 meters 0.013396961258831885 Centerline is valid? [True, True] Translation: X:66.36, Y:-171.34, Z:-4.00 [[-6.30315928e-01 7.76335030e-01 2.39834711e-03 6.63553684e+01] [ 7.76329584e-01 6.30320490e-01 -2.90796949e-03 -1.71337416e+02] [-3.76928591e-03 2.89683312e-05 -9.99992896e-01 -3.99532383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.4665599950001 meters 0.013510478640971806 Centerline is valid? [True, True] Translation: X:66.34, Y:-171.31, Z:-4.00 [[-6.87555083e-01 7.26128209e-01 2.41476516e-03 6.63402885e+01] [ 7.26123908e-01 6.87559323e-01 -2.49971064e-03 -1.71307100e+02] [-3.47540471e-03 3.47299568e-05 -9.99993960e-01 -3.99583482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.526559995 meters 0.013569082194193624 Centerline is valid? [True, True] Translation: X:66.32, Y:-171.28, Z:-4.00 [[-7.41125824e-01 6.71360008e-01 2.87280631e-03 6.63238092e+01] [ 6.71355198e-01 7.41131391e-01 -2.54176714e-03 -1.71276416e+02] [-3.83556774e-03 4.49041777e-05 -9.99992643e-01 -3.99644526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.586559995 meters 0.014023584031724408 Centerline is valid? [True, True] Translation: X:66.34, Y:-171.25, Z:-4.00 [[-7.85254563e-01 6.19166069e-01 2.94131324e-03 6.63398320e+01] [ 6.19161974e-01 7.85260070e-01 -2.25237287e-03 -1.71253873e+02] [-3.70428870e-03 5.24632370e-05 -9.99993138e-01 -3.99672916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.646559995 meters 0.014141854230858196 Centerline is valid? [True, True] Translation: X:66.36, Y:-171.23, Z:-4.00 [[-8.26743129e-01 5.62566720e-01 3.80586132e-03 6.63557927e+01] [ 5.62561128e-01 8.26751886e-01 -2.50932283e-03 -1.71230225e+02] [-4.55816454e-03 6.64642293e-05 -9.99989609e-01 -3.99622837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.7065599950001 meters 0.014162068066805814 Centerline is valid? [True, True] Translation: X:66.37, Y:-171.20, Z:-3.99 [[-8.65607936e-01 5.00691663e-01 5.54619488e-03 6.63659331e+01] [ 5.00681965e-01 8.65625700e-01 -3.11736786e-03 -1.71199798e+02] [-6.36176893e-03 7.84613890e-05 -9.99979761e-01 -3.99444984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.766559995 meters 0.013991591841231324 Centerline is valid? [True, True] Translation: X:66.37, Y:-171.17, Z:-3.99 [[-8.99503079e-01 4.36848011e-01 7.61745687e-03 6.63744602e+01] [ 4.36833206e-01 8.99535328e-01 -3.59768397e-03 -1.71170969e+02] [-8.42381266e-03 9.14302986e-05 -9.99964515e-01 -3.99333054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.826559995 meters 0.013589327925447729 Centerline is valid? [True, True] Translation: X:66.61, Y:-170.66, Z:-5.05 [[-8.78189668e-01 -4.78243076e-01 8.15280062e-03 6.66134627e+01] [ 4.78221982e-01 -8.78227509e-01 -4.49191463e-03 -1.70664501e+02] [ 9.30824085e-03 -4.59045432e-05 9.99956676e-01 -5.05052416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.886559995 meters 0.01355761570666903 Centerline is valid? [True, True] Translation: X:66.59, Y:-170.69, Z:-5.05 [[-8.43563237e-01 -5.36964171e-01 8.39907537e-03 6.65946059e+01] [ 5.36936469e-01 -8.43605044e-01 -5.45510933e-03 -1.70689224e+02] [ 1.00147006e-02 -9.19598157e-05 9.99949847e-01 -5.04973418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1307.9465599950001 meters 0.01321577929040483 Centerline is valid? [True, True] Translation: X:66.29, Y:-171.15, Z:-4.00 [[-8.70877758e-01 4.91433410e-01 8.07060212e-03 6.62869118e+01] [ 4.91413165e-01 8.70915149e-01 -4.46137420e-03 -1.71153164e+02] [-9.22127799e-03 8.06885708e-05 -9.99957480e-01 -3.99672062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.006559995 meters 0.013615275170483965 Centerline is valid? [True, True] Translation: X:66.29, Y:-171.12, Z:-4.00 [[-9.03896594e-01 4.27699637e-01 6.63091244e-03 6.62937321e+01] [ 4.27688597e-01 9.03920913e-01 -3.07357300e-03 -1.71124941e+02] [-7.30838648e-03 5.77734718e-05 -9.99973292e-01 -3.99629959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.066559995 meters 0.012880078897753612 Centerline is valid? [True, True] Translation: X:66.52, Y:-170.63, Z:-5.05 [[-8.79955908e-01 -4.75024558e-01 5.41016971e-03 6.65246160e+01] [ 4.75014750e-01 -8.79972531e-01 -3.05483778e-03 -1.70628952e+02] [ 6.21192370e-03 -1.18212138e-04 9.99980699e-01 -5.04536836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.126559995 meters 0.012606522743628223 Centerline is valid? [True, True] Translation: X:66.25, Y:-171.10, Z:-4.00 [[-9.07329882e-01 4.20384159e-01 5.44459376e-03 6.62526521e+01] [ 4.20376729e-01 9.07346218e-01 -2.49948025e-03 -1.71101949e+02] [-5.99087345e-03 2.09273902e-05 -9.99982054e-01 -4.00025202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.1865599950002 meters 0.012404547353540478 Centerline is valid? [True, True] Translation: X:66.25, Y:-171.07, Z:-4.00 [[-9.36904828e-01 3.49524509e-01 6.47767357e-03 6.62524532e+01] [ 3.49516032e-01 9.36927221e-01 -2.43442213e-03 -1.71069026e+02] [-6.91999890e-03 -1.67710911e-05 -9.99976056e-01 -4.00013643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.246559995 meters 0.01288890938774407 Centerline is valid? [True, True] Translation: X:66.26, Y:-171.04, Z:-4.00 [[-9.60676880e-01 2.77561458e-01 7.71810976e-03 6.62566345e+01] [ 2.77552006e-01 9.60707881e-01 -2.29140816e-03 -1.71037128e+02] [-8.05085547e-03 -5.91259995e-05 -9.99967590e-01 -3.99857059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.306559995 meters 0.013390563591711431 Centerline is valid? [True, True] Translation: X:66.40, Y:-170.53, Z:-5.05 [[-9.32642758e-01 -3.60685159e-01 9.14892523e-03 6.63981680e+01] [ 3.60669758e-01 -9.32687612e-01 -3.33832189e-03 -1.70532670e+02] [ 9.73717239e-03 1.86278915e-04 9.99952575e-01 -5.04602161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.366559995 meters 0.014866184329807594 Centerline is valid? [True, True] Translation: X:66.21, Y:-171.02, Z:-4.00 [[-9.64911876e-01 2.62295086e-01 1.20978776e-02 6.62065073e+01] [ 2.62271255e-01 9.64987682e-01 -3.54431692e-03 -1.71017829e+02] [-1.26039598e-02 -2.47027955e-04 -9.99920537e-01 -3.99618348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.426559995 meters 0.015707565584884148 Centerline is valid? [True, True] Translation: X:66.35, Y:-170.52, Z:-5.05 [[-9.30278614e-01 -3.66649061e-01 1.22542656e-02 6.63458787e+01] [ 3.66621287e-01 -9.30359277e-01 -4.52195966e-03 -1.70521916e+02] [ 1.30588420e-02 2.85992267e-04 9.99914689e-01 -5.04934768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.486559995 meters 0.017178299004288657 Centerline is valid? [True, True] Translation: X:66.16, Y:-171.00, Z:-3.99 [[-9.67395530e-01 2.52964020e-01 1.24536670e-02 6.61556791e+01] [ 2.52938644e-01 9.67475630e-01 -3.59826936e-03 -1.71003341e+02] [-1.29588520e-02 -3.30936057e-04 -9.99915976e-01 -3.99469661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.546559995 meters 0.01659116704948786 Centerline is valid? [True, True] Translation: X:66.16, Y:-170.98, Z:-4.00 [[-9.82943783e-01 1.83473214e-01 1.26134938e-02 6.61559934e+01] [ 1.83453754e-01 9.83024653e-01 -2.69276326e-03 -1.70980527e+02] [-1.28934253e-02 -3.32842103e-04 -9.99916821e-01 -3.99577212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.606559995 meters 0.016632019154379295 Centerline is valid? [True, True] Translation: X:66.16, Y:-170.96, Z:-4.00 [[-9.93375272e-01 1.14194818e-01 1.28496292e-02 6.61553013e+01] [ 1.14181056e-01 9.93458323e-01 -1.80197044e-03 -1.70957745e+02] [-1.29713467e-02 -3.22848649e-04 -9.99915817e-01 -3.99566135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.666559995 meters 0.015831992669608958 Centerline is valid? [True, True] Translation: X:66.15, Y:-170.94, Z:-3.99 [[-9.98819820e-01 4.63310169e-02 1.45740711e-02 6.61531288e+01] [ 4.63214017e-02 9.98926090e-01 -9.96805823e-04 -1.70940437e+02] [-1.46046029e-02 -3.20538012e-04 -9.99893296e-01 -3.99477001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.7265599950001 meters 0.015120084511593393 Centerline is valid? [True, True] Translation: X:66.19, Y:-170.38, Z:-5.05 [[-9.87909203e-01 -1.54179378e-01 1.62519674e-02 6.61917636e+01] [ 1.54166303e-01 -9.88042762e-01 -2.06188732e-03 -1.70381985e+02] [ 1.63755393e-02 4.68548266e-04 9.99865802e-01 -5.05127274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.786559995 meters 0.01408065197344499 Centerline is valid? [True, True] Translation: X:66.11, Y:-170.95, Z:-3.99 [[-9.98695286e-01 4.83866601e-02 1.63235383e-02 6.61062889e+01] [ 4.83759178e-02 9.98828645e-01 -1.05253499e-03 -1.70954868e+02] [-1.63553463e-02 -2.61495580e-04 -9.99866208e-01 -3.99390762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.846559995 meters 0.013636561345643042 Centerline is valid? [True, True] Translation: X:66.15, Y:-170.36, Z:-5.05 [[-9.89524849e-01 -1.43252070e-01 1.78722752e-02 6.61475543e+01] [ 1.43235771e-01 -9.89686160e-01 -2.19534104e-03 -1.70358868e+02] [ 1.80024306e-02 3.87604607e-04 9.99837868e-01 -5.05252598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.906559995 meters 0.01367064647777934 Centerline is valid? [True, True] Translation: X:66.05, Y:-170.97, Z:-3.99 [[-9.98545937e-01 5.03522148e-02 1.92526827e-02 6.60478294e+01] [ 5.03390958e-02 9.98731504e-01 -1.16574290e-03 -1.70970431e+02] [-1.92869585e-02 -1.94885194e-04 -9.99813970e-01 -3.99114434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1308.9665599950001 meters 0.013772319079183486 Centerline is valid? [True, True] Translation: X:66.05, Y:-170.94, Z:-3.99 [[-9.99592425e-01 -2.31677729e-02 1.66804977e-02 6.60453212e+01] [-2.31680250e-02 9.99731569e-01 1.78154052e-04 -1.70942569e+02] [-1.66801476e-02 -2.08372747e-04 -9.99860855e-01 -3.99296226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.026559995 meters 0.014452998605785645 Centerline is valid? [True, True] Translation: X:66.03, Y:-170.91, Z:-3.99 [[-9.95197765e-01 -9.65777866e-02 1.59417836e-02 6.60327819e+01] [-9.65692443e-02 9.95325411e-01 1.30657167e-03 -1.70914686e+02] [-1.59934481e-02 -2.39188793e-04 -9.99872068e-01 -3.99354378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.086559995 meters 0.01421526601148622 Centerline is valid? [True, True] Translation: X:66.03, Y:-170.89, Z:-4.00 [[-9.85810749e-01 -1.67242063e-01 1.43965383e-02 6.60307493e+01] [-1.67227472e-01 9.85915840e-01 2.21994693e-03 -1.70888389e+02] [-1.45650437e-02 -2.19049172e-04 -9.99893900e-01 -3.99513693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.146559995 meters 0.013661522442214656 Centerline is valid? [True, True] Translation: X:66.02, Y:-170.87, Z:-4.00 [[-9.72145420e-01 -2.33996385e-01 1.33781120e-02 6.60187883e+01] [-2.33976534e-01 9.72237453e-01 3.05224021e-03 -1.70865841e+02] [-1.37209147e-02 -1.62942941e-04 -9.99905851e-01 -3.99553116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.2065599950001 meters 0.013388107283814066 Centerline is valid? [True, True] Translation: X:66.00, Y:-170.84, Z:-3.99 [[-9.53539809e-01 -3.00968233e-01 1.34147476e-02 6.59971523e+01] [-3.00940490e-01 9.53634156e-01 4.08875180e-03 -1.70844876e+02] [-1.40233459e-02 -1.38253108e-04 -9.99901659e-01 -3.99420446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.266559995 meters 0.013509028382916942 Centerline is valid? [True, True] Translation: X:65.96, Y:-170.83, Z:-3.99 [[-9.29536273e-01 -3.68511922e-01 1.26996619e-02 6.59638224e+01] [-3.68479436e-01 9.29623013e-01 4.89473739e-03 -1.70827462e+02] [-1.36096670e-02 -1.29728301e-04 -9.99907376e-01 -3.99403441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.326559995 meters 0.014182665442273394 Centerline is valid? [True, True] Translation: X:65.92, Y:-170.81, Z:-3.99 [[-8.99414495e-01 -4.36909325e-01 1.27987225e-02 6.59150096e+01] [-4.36867647e-01 8.99505539e-01 6.03684706e-03 -1.70814243e+02] [-1.41500765e-02 -1.61720010e-04 -9.99899870e-01 -3.99265283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.386559995 meters 0.013834560932688903 Centerline is valid? [True, True] Translation: X:65.85, Y:-170.82, Z:-3.99 [[-8.64612710e-01 -5.02285285e-01 1.24239820e-02 6.58489839e+01] [-5.02236324e-01 8.64701950e-01 7.01513513e-03 -1.70817917e+02] [-1.42666406e-02 -1.74400065e-04 -9.99898211e-01 -3.99405280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.4465599950001 meters 0.013843863526811903 Centerline is valid? [True, True] Translation: X:65.78, Y:-170.83, Z:-3.99 [[-8.25371875e-01 -5.64473992e-01 1.14184690e-02 6.57829210e+01] [-5.64422688e-01 8.25450838e-01 7.61199554e-03 -1.70826321e+02] [-1.37221584e-02 -1.62115959e-04 -9.99905834e-01 -3.99385954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.506559995 meters 0.013799183728164872 Centerline is valid? [True, True] Translation: X:65.71, Y:-170.84, Z:-3.99 [[-7.81776400e-01 -6.23485261e-01 9.58069934e-03 6.57118442e+01] [-6.23440506e-01 7.81835093e-01 7.47152117e-03 -1.70844858e+02] [-1.21489103e-02 -1.31937117e-04 -9.99926191e-01 -3.99465294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.566559995 meters 0.01336773432544314 Centerline is valid? [True, True] Translation: X:65.64, Y:-170.87, Z:-4.00 [[-7.33092203e-01 -6.80082503e-01 7.97562064e-03 6.56352815e+01] [-6.80043992e-01 7.33135577e-01 7.23835466e-03 -1.70874208e+02] [-1.07698896e-02 -1.17391536e-04 -9.99941996e-01 -3.99595046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.626559995 meters 0.014020056651919978 Centerline is valid? [True, True] Translation: X:65.55, Y:-170.91, Z:-4.00 [[-6.79865372e-01 -7.33305614e-01 6.77882173e-03 6.55549505e+01] [-7.33270782e-01 6.79899158e-01 7.14813986e-03 -1.70912515e+02] [-9.85068627e-03 -1.10939145e-04 -9.99951475e-01 -3.99528285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.6865599950002 meters 0.013633630949757532 Centerline is valid? [True, True] Translation: X:65.48, Y:-170.96, Z:-4.00 [[-6.21330250e-01 -7.83528442e-01 5.64817958e-03 6.54763552e+01] [-7.83497778e-01 6.21355910e-01 6.93283688e-03 -1.70961718e+02] [-8.94160464e-03 -1.17754888e-04 -9.99960016e-01 -3.99668819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.746559995 meters 0.013926164581788261 Centerline is valid? [True, True] Translation: X:65.40, Y:-171.02, Z:-4.00 [[-5.60119042e-01 -8.28396724e-01 5.05238345e-03 6.53971744e+01] [-8.28364951e-01 5.60141815e-01 7.25635831e-03 -1.71021713e+02] [-8.84119469e-03 -1.20792904e-04 -9.99960909e-01 -3.99614886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.806559995 meters 0.013864982015018243 Centerline is valid? [True, True] Translation: X:65.32, Y:-171.09, Z:-4.00 [[-4.95871660e-01 -8.68382660e-01 4.78055333e-03 6.53235153e+01] [-8.68344763e-01 4.95894687e-01 8.11376907e-03 -1.71089709e+02] [-9.41650736e-03 -1.27780317e-04 -9.99955656e-01 -3.99571211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.866559995 meters 0.013755495235865074 Centerline is valid? [True, True] Translation: X:65.25, Y:-171.17, Z:-3.99 [[-4.29682292e-01 -9.02970050e-01 4.26813314e-03 6.52529827e+01] [-9.02928236e-01 4.29703473e-01 8.69053705e-03 -1.71167425e+02] [-9.68132630e-03 -1.19648050e-04 -9.99953128e-01 -3.99468157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.926559995 meters 0.013901232506461914 Centerline is valid? [True, True] Translation: X:65.19, Y:-171.25, Z:-3.99 [[-3.60189839e-01 -9.32871980e-01 3.62614608e-03 6.51866313e+01] [-9.32827900e-01 3.60208072e-01 9.06933979e-03 -1.71252148e+02] [-9.76670006e-03 -1.15886200e-04 -9.99952298e-01 -3.99405105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1309.986559995 meters 0.014044712864462508 Centerline is valid? [True, True] Translation: X:65.12, Y:-171.35, Z:-3.99 [[-2.87179424e-01 -9.57872050e-01 3.01913072e-03 6.51223003e+01] [-9.57823782e-01 2.87195264e-01 9.61680105e-03 -1.71345601e+02] [-1.00787450e-02 -1.30047825e-04 -9.99949200e-01 -3.99342045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.046559995 meters 0.014168191268990547 Centerline is valid? [True, True] Translation: X:65.07, Y:-171.44, Z:-3.99 [[-2.12111211e-01 -9.77242504e-01 2.43376741e-03 6.50652846e+01] [-9.77186179e-01 2.12125118e-01 1.04931301e-02 -1.71442159e+02] [-1.07705959e-02 -1.52533344e-04 -9.99941984e-01 -3.99284102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.106559995 meters 0.0145168885119663 Centerline is valid? [True, True] Translation: X:65.02, Y:-171.54, Z:-3.99 [[-1.36391190e-01 -9.90653848e-01 1.54849145e-03 6.50158857e+01] [-9.90601947e-01 1.36399897e-01 1.01414948e-02 -1.71544004e+02] [-1.02579249e-02 -1.50728107e-04 -9.99947375e-01 -3.99245182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.166559995 meters 0.014606886953327415 Centerline is valid? [True, True] Translation: X:64.98, Y:-171.65, Z:-3.99 [[-6.19272781e-02 -9.98080430e-01 6.83419468e-04 6.49754809e+01] [-9.98039141e-01 6.19309331e-02 9.07919580e-03 -1.71651963e+02] [-9.10409246e-03 -1.19829496e-04 -9.99958550e-01 -3.99183209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.2265599950001 meters 0.013408327950477417 Centerline is valid? [True, True] Translation: X:64.95, Y:-171.76, Z:-3.99 [[ 1.21132332e-02 -9.99926632e-01 -1.25665025e-05 6.49479425e+01] [-9.99884145e-01 -1.21128344e-02 9.21819382e-03 -1.71763202e+02] [-9.21766972e-03 -9.90970852e-05 -9.99957512e-01 -3.99295726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.286559995 meters 0.01320357431138751 Centerline is valid? [True, True] Translation: X:64.93, Y:-171.87, Z:-3.99 [[ 8.62315128e-02 -9.96274844e-01 -7.49275432e-04 6.49274798e+01] [-9.96228673e-01 -8.62347303e-02 9.59183658e-03 -1.71873883e+02] [-9.62071906e-03 -8.06689105e-05 -9.99953717e-01 -3.99165415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.346559995 meters 0.013038827593642454 Centerline is valid? [True, True] Translation: X:64.92, Y:-171.99, Z:-3.99 [[ 1.59490645e-01 -9.87197721e-01 -1.84228553e-03 6.49161916e+01] [-9.87126921e-01 -1.59501271e-01 1.18231534e-02 -1.71987699e+02] [-1.19656370e-02 -6.71127308e-05 -9.99928407e-01 -3.98859843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.406559995 meters 0.01287186142035398 Centerline is valid? [True, True] Translation: X:64.91, Y:-172.10, Z:-3.99 [[ 2.33495608e-01 -9.72353409e-01 -2.94096321e-03 6.49133283e+01] [-9.72273142e-01 -2.33514121e-01 1.24936852e-02 -1.72103560e+02] [-1.28350339e-02 -5.78010874e-05 -9.99917626e-01 -3.98834649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.4665599950001 meters 0.012718320452365256 Centerline is valid? [True, True] Translation: X:64.92, Y:-172.22, Z:-3.99 [[ 3.07116838e-01 -9.51665131e-01 -3.56752591e-03 6.49176225e+01] [-9.51598962e-01 -3.07137553e-01 1.12222588e-02 -1.72218574e+02] [-1.17755535e-02 -5.16906661e-05 -9.99930665e-01 -3.98969398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.526559995 meters 0.012842474823217735 Centerline is valid? [True, True] Translation: X:64.93, Y:-172.33, Z:-3.99 [[ 3.79077766e-01 -9.25356460e-01 -3.93315718e-03 6.49302223e+01] [-9.25305358e-01 -3.79098167e-01 9.72495076e-03 -1.72334389e+02] [-1.04900987e-02 -4.71411938e-05 -9.99944976e-01 -3.99039584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.586559995 meters 0.012611430027985468 Centerline is valid? [True, True] Translation: X:64.95, Y:-172.45, Z:-3.99 [[ 4.48110055e-01 -8.93969513e-01 -3.98603113e-03 6.49521795e+01] [-8.93933456e-01 -4.48127781e-01 8.02919342e-03 -1.72446179e+02] [-8.96410542e-03 -3.47157191e-05 -9.99959821e-01 -3.99328197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.646559995 meters 0.012575911547222065 Centerline is valid? [True, True] Translation: X:64.98, Y:-172.56, Z:-3.99 [[ 5.14066498e-01 -8.57742949e-01 -3.55929608e-03 6.49799223e+01] [-8.57722131e-01 -5.14078819e-01 5.97616804e-03 -1.72555378e+02] [-6.95577472e-03 -1.92607584e-05 -9.99975808e-01 -3.99329629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.7065599950001 meters 0.012554956934796838 Centerline is valid? [True, True] Translation: X:65.02, Y:-172.66, Z:-3.99 [[ 5.76939807e-01 -8.16774673e-01 -4.42639676e-03 6.50156489e+01] [-8.16750481e-01 -5.76956787e-01 6.28638251e-03 -1.72660247e+02] [-7.68839767e-03 -1.16026242e-05 -9.99970444e-01 -3.99357244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.766559995 meters 0.012668237988473904 Centerline is valid? [True, True] Translation: X:65.06, Y:-172.76, Z:-3.99 [[ 6.36138515e-01 -7.71556279e-01 -5.35696444e-03 6.50589734e+01] [-7.71528940e-01 -6.36161071e-01 6.49513870e-03 -1.72761554e+02] [-8.41925728e-03 1.24520790e-06 -9.99964558e-01 -3.99153554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.826559995 meters 0.012656061014833414 Centerline is valid? [True, True] Translation: X:65.11, Y:-172.85, Z:-3.99 [[ 6.90586884e-01 -7.23212993e-01 -7.26106570e-03 6.51051689e+01] [-7.23173541e-01 -6.90625055e-01 7.55400226e-03 -1.72854327e+02] [-1.04778265e-02 3.43157101e-05 -9.99945106e-01 -3.99239569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.886559995 meters 0.012872056227117325 Centerline is valid? [True, True] Translation: X:65.16, Y:-172.94, Z:-3.99 [[ 7.42045081e-01 -6.70286983e-01 -9.19018164e-03 6.51583826e+01] [-6.70236643e-01 -7.42101986e-01 8.21492661e-03 -1.72944661e+02] [-1.23264104e-02 6.37506158e-05 -9.99924025e-01 -3.99129002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1310.9465599950001 meters 0.013380882064591867 Centerline is valid? [True, True] Translation: X:65.18, Y:-172.97, Z:-3.99 [[ 7.90539409e-01 -6.12319844e-01 -1.05759788e-02 6.51801984e+01] [-6.12266813e-01 -7.90610143e-01 8.05930252e-03 -1.72972494e+02] [-1.32963470e-02 1.04124592e-04 -9.99911594e-01 -3.98972779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.006559995 meters 0.013727907220636 Centerline is valid? [True, True] Translation: X:65.21, Y:-173.00, Z:-3.99 [[ 8.35201816e-01 -5.49837248e-01 -1.08133410e-02 6.52064492e+01] [-5.49793011e-01 -8.35271804e-01 6.97554063e-03 -1.72996111e+02] [-1.28674909e-02 1.19115097e-04 -9.99917203e-01 -3.99029872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.066559995 meters 0.01341049346950067 Centerline is valid? [True, True] Translation: X:65.23, Y:-173.02, Z:-3.99 [[ 8.75836859e-01 -4.82508258e-01 -9.77635899e-03 6.52336003e+01] [-4.82479454e-01 -8.75891415e-01 5.27301246e-03 -1.73020565e+02] [-1.11073010e-02 9.85936765e-05 -9.99938307e-01 -3.99223839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.126559995 meters 0.013009247047009322 Centerline is valid? [True, True] Translation: X:65.26, Y:-173.05, Z:-3.99 [[ 9.11926371e-01 -4.10268411e-01 -8.37401015e-03 6.52610577e+01] [-4.10251700e-01 -9.11964817e-01 3.70344669e-03 -1.73045567e+02] [-9.15620983e-03 5.81811927e-05 -9.99958079e-01 -3.99395716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.1865599950002 meters 0.012448424150020641 Centerline is valid? [True, True] Translation: X:65.29, Y:-173.07, Z:-4.00 [[ 9.43891926e-01 -3.30193739e-01 -6.33458037e-03 6.52896214e+01] [-3.30186225e-01 -9.43913182e-01 2.22768869e-03 -1.73070269e+02] [-6.71486277e-03 -1.11061933e-05 -9.99977455e-01 -3.99519295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.246559995 meters 0.012675910452792507 Centerline is valid? [True, True] Translation: X:65.32, Y:-173.09, Z:-4.00 [[ 9.68341416e-01 -2.49568578e-01 -5.51602969e-03 6.53213451e+01] [-2.49564271e-01 -9.68357126e-01 1.46685857e-03 -1.73092356e+02] [-5.70756846e-03 -4.38159694e-05 -9.99983711e-01 -3.99686622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.306559995 meters 0.013723400652086567 Centerline is valid? [True, True] Translation: X:65.35, Y:-173.11, Z:-4.00 [[ 9.85735400e-01 -1.68215984e-01 -5.39487825e-03 6.53540427e+01] [-1.68213079e-01 -9.85750160e-01 9.90968496e-04 -1.73110546e+02] [-5.48469884e-03 -6.93436423e-05 -9.99984957e-01 -3.99652073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.366559995 meters 0.013923718994750289 Centerline is valid? [True, True] Translation: X:65.39, Y:-173.13, Z:-4.00 [[ 9.96250054e-01 -8.62732260e-02 -6.53918730e-03 6.53884727e+01] [-8.62706352e-02 -9.96271508e-01 6.77777506e-04 -1.73125525e+02] [-6.57328005e-03 -1.11096035e-04 -9.99978390e-01 -3.99591291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.426559995 meters 0.014913923391223783 Centerline is valid? [True, True] Translation: X:65.42, Y:-173.14, Z:-3.99 [[ 9.99947920e-01 -7.30200253e-03 -7.13002412e-03 6.54199696e+01] [-7.30092078e-03 -9.99973332e-01 1.77733973e-04 -1.73138069e+02] [-7.13113179e-03 -1.25668976e-04 -9.99974565e-01 -3.99461103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.486559995 meters 0.015015426667625792 Centerline is valid? [True, True] Translation: X:65.45, Y:-173.14, Z:-3.99 [[ 9.97458847e-01 7.07684458e-02 -8.22655421e-03 6.54531880e+01] [ 7.07672220e-02 -9.97492760e-01 -4.40129684e-04 -1.73138671e+02] [-8.23707556e-03 -1.43159141e-04 -9.99966065e-01 -3.99348573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.546559995 meters 0.014231878648246403 Centerline is valid? [True, True] Translation: X:65.49, Y:-173.13, Z:-3.99 [[ 9.89193681e-01 1.46290200e-01 -9.74879941e-03 6.54862279e+01] [ 1.46284563e-01 -9.89241707e-01 -1.29272735e-03 -1.73133935e+02] [-9.83303232e-03 -1.47341130e-04 -9.99951644e-01 -3.99364574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.606559995 meters 0.013559485671404988 Centerline is valid? [True, True] Translation: X:65.52, Y:-173.13, Z:-3.99 [[ 9.75139872e-01 2.21393988e-01 -9.32374071e-03 6.55188653e+01] [ 2.21385086e-01 -9.75184437e-01 -1.98923708e-03 -1.73130701e+02] [-9.53277197e-03 -1.24352749e-04 -9.99954554e-01 -3.99444331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.666559995 meters 0.01341283183002645 Centerline is valid? [True, True] Translation: X:65.55, Y:-173.13, Z:-3.99 [[ 9.55003845e-01 2.96456867e-01 -8.99897437e-03 6.55517751e+01] [ 2.96444852e-01 -9.55046236e-01 -2.67154480e-03 -1.73127421e+02] [-9.38643440e-03 -1.16364071e-04 -9.99955940e-01 -3.99491958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.7265599950001 meters 0.013358973386837824 Centerline is valid? [True, True] Translation: X:65.58, Y:-173.12, Z:-4.00 [[ 9.29316615e-01 3.69211700e-01 -7.30404840e-03 6.55821340e+01] [ 3.69201038e-01 -9.29345314e-01 -2.80727268e-03 -1.73118885e+02] [-7.82446107e-03 -8.78171068e-05 -9.99969385e-01 -3.99655237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.786559995 meters 0.013206157922741307 Centerline is valid? [True, True] Translation: X:65.61, Y:-173.11, Z:-4.00 [[ 8.97556082e-01 4.40859748e-01 -5.98010551e-03 6.56130801e+01] [ 4.40850515e-01 -8.97576001e-01 -2.85423549e-03 -1.73109707e+02] [-6.62591673e-03 -7.44961651e-05 -9.99978046e-01 -3.99876027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.846559995 meters 0.013324325607158549 Centerline is valid? [True, True] Translation: X:65.64, Y:-173.10, Z:-4.00 [[ 8.59809933e-01 5.10584626e-01 -5.49708560e-03 6.56446937e+01] [ 5.10574766e-01 -8.59827502e-01 -3.17416307e-03 -1.73100432e+02] [-6.34722425e-03 -7.74962590e-05 -9.99979853e-01 -3.99928689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.906559995 meters 0.013762233364911423 Centerline is valid? [True, True] Translation: X:65.68, Y:-173.09, Z:-4.00 [[ 8.15982820e-01 5.78039711e-01 -6.49080088e-03 6.56765170e+01] [ 5.78022514e-01 -8.16008628e-01 -4.46021229e-03 -1.73091327e+02] [-7.87472934e-03 -1.12372442e-04 -9.99968988e-01 -3.99718000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1311.9665599950001 meters 0.01464540684165 Centerline is valid? [True, True] Translation: X:65.71, Y:-173.08, Z:-4.00 [[ 7.66219224e-01 6.42533282e-01 -7.68651837e-03 6.57077543e+01] [ 6.42503189e-01 -7.66257758e-01 -6.22091365e-03 -1.73078797e+02] [-9.88699840e-03 -1.72028931e-04 -9.99951108e-01 -3.99540432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.026559995 meters 0.014740972254176223 Centerline is valid? [True, True] Translation: X:65.74, Y:-173.07, Z:-3.99 [[ 7.12116396e-01 7.02001032e-01 -9.20814807e-03 6.57386684e+01] [ 7.01946790e-01 -7.12175884e-01 -8.73002846e-03 -1.73065337e+02] [-1.26863100e-02 -2.46833581e-04 -9.99919495e-01 -3.99442460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.086559995 meters 0.015145964950558234 Centerline is valid? [True, True] Translation: X:65.77, Y:-173.05, Z:-3.99 [[ 6.55454905e-01 7.55182078e-01 -8.88238852e-03 6.57667320e+01] [ 7.55117855e-01 -6.55515039e-01 -9.85184950e-03 -1.73048440e+02] [-1.32624794e-02 -2.49807093e-04 -9.99912018e-01 -3.99350633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.146559995 meters 0.014232244786655848 Centerline is valid? [True, True] Translation: X:65.79, Y:-173.03, Z:-3.99 [[ 5.96600129e-01 8.02502801e-01 -7.58552897e-03 6.57898039e+01] [ 8.02442138e-01 -5.96648318e-01 -9.86914367e-03 -1.73026468e+02] [-1.24459085e-02 -1.99015699e-04 -9.99922527e-01 -3.99442917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.2065599950001 meters 0.013052462865994829 Centerline is valid? [True, True] Translation: X:65.81, Y:-173.00, Z:-4.00 [[ 5.37027680e-01 8.43548057e-01 -5.28648519e-03 6.58082992e+01] [ 8.43508948e-01 -5.37053690e-01 -8.12328384e-03 -1.73000486e+02] [-9.69150668e-03 -9.67692873e-05 -9.99953032e-01 -3.99649410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.266559995 meters 0.012381603831642257 Centerline is valid? [True, True] Translation: X:65.83, Y:-172.98, Z:-4.00 [[ 4.72659688e-01 8.81234407e-01 -4.32891085e-03 6.58275781e+01] [ 8.81198529e-01 -4.72679508e-01 -7.95211855e-03 -1.72975211e+02] [-9.05386792e-03 -5.59839945e-05 -9.99959011e-01 -3.99763032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.326559995 meters 0.012215652026032446 Centerline is valid? [True, True] Translation: X:65.85, Y:-172.95, Z:-4.00 [[ 4.04788214e-01 9.14402888e-01 -3.72291454e-03 6.58453828e+01] [ 9.14364911e-01 -4.04805332e-01 -8.33384350e-03 -1.72949967e+02] [-9.12754622e-03 -3.06607948e-05 -9.99958343e-01 -3.99712522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.386559995 meters 0.01226338232994945 Centerline is valid? [True, True] Translation: X:65.86, Y:-172.92, Z:-4.00 [[ 3.31499690e-01 9.43449516e-01 -3.31153683e-03 6.58616510e+01] [ 9.43403585e-01 -3.31516228e-01 -9.30950198e-03 -1.72924880e+02] [-9.88087334e-03 -3.80186994e-05 -9.99951182e-01 -3.99633737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.4465599950001 meters 0.012677312080422495 Centerline is valid? [True, True] Translation: X:65.88, Y:-172.90, Z:-4.00 [[ 2.53775442e-01 9.67258917e-01 -2.86584925e-03 6.58756191e+01] [ 9.67200516e-01 -2.53791613e-01 -1.06291765e-02 -1.72898389e+02] [-1.10084943e-02 -7.44268918e-05 -9.99939402e-01 -3.99544983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.506559995 meters 0.01352203409991248 Centerline is valid? [True, True] Translation: X:65.89, Y:-172.87, Z:-3.99 [[ 1.73445650e-01 9.84840680e-01 -2.33280018e-03 6.58869266e+01] [ 9.84761711e-01 -1.73461285e-01 -1.24721769e-02 -1.72869244e+02] [-1.26877577e-02 -1.34007467e-04 -9.99919498e-01 -3.99388052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.566559995 meters 0.014389631610341406 Centerline is valid? [True, True] Translation: X:65.89, Y:-172.84, Z:-3.99 [[ 9.33375293e-02 9.95633219e-01 -1.61205883e-03 6.58946107e+01] [ 9.95518962e-01 -9.33512418e-02 -1.50844977e-02 -1.72840387e+02] [-1.51691147e-02 -1.96885389e-04 -9.99884923e-01 -3.99061136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.626559995 meters 0.014325733469425181 Centerline is valid? [True, True] Translation: X:65.89, Y:-172.81, Z:-3.99 [[ 1.61370008e-02 9.99869691e-01 -4.46118661e-04 6.58938363e+01] [ 9.99743149e-01 -1.61420564e-02 -1.59081709e-02 -1.72810047e+02] [-1.59132992e-02 -1.89293910e-04 -9.99873358e-01 -3.98967015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.6865599950002 meters 0.013674727409468105 Centerline is valid? [True, True] Translation: X:65.89, Y:-172.78, Z:-3.99 [[-5.93726283e-02 9.98235596e-01 7.66120888e-04 6.58869085e+01] [ 9.98119967e-01 5.93774119e-02 -1.51938974e-02 -1.72780873e+02] [-1.52125795e-02 -1.37421067e-04 -9.99884273e-01 -3.99015234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.746559995 meters 0.012108483580519764 Centerline is valid? [True, True] Translation: X:65.89, Y:-172.75, Z:-4.00 [[-1.31605058e-01 9.91301249e-01 1.39390348e-03 6.58853216e+01] [ 9.91242836e-01 1.31612436e-01 -1.07613581e-02 -1.72750092e+02] [-1.08512028e-02 -3.45523234e-05 -9.99941123e-01 -3.99760550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.806559995 meters 0.011902697470407612 Centerline is valid? [True, True] Translation: X:65.89, Y:-172.72, Z:-4.00 [[-2.05885940e-01 9.78574343e-01 1.79875837e-03 6.58859858e+01] [ 9.78536928e-01 2.05893798e-01 -8.55719963e-03 -1.72718826e+02] [-8.74420919e-03 -1.65560691e-06 -9.99961769e-01 -3.99927175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.866559995 meters 0.011835763562660459 Centerline is valid? [True, True] Translation: X:65.89, Y:-172.69, Z:-4.00 [[-2.80907323e-01 9.59732639e-01 2.08277715e-03 6.58870174e+01] [ 9.59706429e-01 2.80915044e-01 -7.09280295e-03 -1.72687400e+02] [-7.39227793e-03 6.43433423e-06 -9.99972677e-01 -4.00065348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.926559995 meters 0.011856467940898388 Centerline is valid? [True, True] Translation: X:65.89, Y:-172.66, Z:-4.00 [[-3.58317588e-01 9.33595573e-01 2.79500149e-03 6.58877371e+01] [ 9.33566753e-01 3.58328488e-01 -7.33573707e-03 -1.72655478e+02] [-7.85014032e-03 -1.92031493e-05 -9.99969187e-01 -3.99933632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1312.986559995 meters 0.012186400373750225 Centerline is valid? [True, True] Translation: X:65.89, Y:-172.62, Z:-4.00 [[-4.34323257e-01 9.00748055e-01 4.03111491e-03 6.58859851e+01] [ 9.00707875e-01 4.34341959e-01 -8.50797235e-03 -1.72623315e+02] [-9.41442189e-03 -6.43533148e-05 -9.99955681e-01 -3.99729015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.046559995 meters 0.012891925507774312 Centerline is valid? [True, True] Translation: X:65.88, Y:-172.59, Z:-4.00 [[-5.07139807e-01 8.61844915e-01 5.70602690e-03 6.58806590e+01] [ 8.61787552e-01 5.07171891e-01 -9.94423953e-03 -1.72591783e+02] [-1.14643287e-02 -1.25736766e-04 -9.99934275e-01 -3.99500208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.106559995 meters 0.01401920415920562 Centerline is valid? [True, True] Translation: X:65.87, Y:-172.56, Z:-3.99 [[-5.76720883e-01 8.16907351e-01 7.44331126e-03 6.58714711e+01] [ 8.16834710e-01 5.76768878e-01 -1.08958323e-02 -1.72562581e+02] [-1.31939558e-02 -2.03899028e-04 -9.99912935e-01 -3.99339130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.166559995 meters 0.01424560757509756 Centerline is valid? [True, True] Translation: X:65.86, Y:-172.53, Z:-3.99 [[-6.40133652e-01 7.68225032e-01 7.69463229e-03 6.58579059e+01] [ 7.68165588e-01 6.40179863e-01 -9.55891408e-03 -1.72534297e+02] [-1.22693457e-02 -2.08230843e-04 -9.99924707e-01 -3.99490992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.2265599950001 meters 0.014180333211271502 Centerline is valid? [True, True] Translation: X:65.84, Y:-172.51, Z:-4.00 [[-6.98274012e-01 7.15792588e-01 7.37400373e-03 6.58412040e+01] [ 7.15749916e-01 6.98312923e-01 -7.81788622e-03 -1.72507690e+02] [-1.07453471e-02 -1.81084223e-04 -9.99942251e-01 -3.99611751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.286559995 meters 0.013028487692254257 Centerline is valid? [True, True] Translation: X:65.82, Y:-172.48, Z:-4.00 [[-7.50215685e-01 6.61167360e-01 5.84364268e-03 6.58217304e+01] [ 6.61146165e-01 7.50238435e-01 -5.29519969e-03 -1.72483271e+02] [-7.88513854e-03 -1.09039914e-04 -9.99968906e-01 -3.99873061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.346559995 meters 0.01271650223733716 Centerline is valid? [True, True] Translation: X:65.84, Y:-172.46, Z:-4.00 [[-7.93374152e-01 6.08710395e-01 5.39532813e-03 6.58371241e+01] [ 6.08695678e-01 7.93392494e-01 -4.23340419e-03 -1.72463961e+02] [-6.85752998e-03 -7.45605510e-05 -9.99976484e-01 -3.99882973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.406559995 meters 0.012348109440972376 Centerline is valid? [True, True] Translation: X:65.85, Y:-172.45, Z:-4.00 [[-8.33150568e-01 5.53019817e-01 5.40485490e-03 6.58534482e+01] [ 5.53007746e-01 8.33168098e-01 -3.65425601e-03 -1.72445672e+02] [-6.52402867e-03 -5.56188493e-05 -9.99978717e-01 -3.99906912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.4665599950001 meters 0.012340605983297944 Centerline is valid? [True, True] Translation: X:65.86, Y:-172.42, Z:-4.00 [[-8.70338344e-01 4.92413995e-01 6.29478977e-03 6.58592260e+01] [ 4.92400582e-01 8.70361105e-01 -3.63499309e-03 -1.72417639e+02] [-7.26866165e-03 -6.41157188e-05 -9.99973581e-01 -3.99827282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.526559995 meters 0.012361734511540497 Centerline is valid? [True, True] Translation: X:65.88, Y:-172.40, Z:-4.00 [[-9.03586548e-01 4.28343655e-01 7.28447736e-03 6.58769010e+01] [ 4.28329005e-01 9.03615906e-01 -3.54359424e-03 -1.72395249e+02] [-8.10024572e-03 -8.17911396e-05 -9.99967189e-01 -3.99744368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.586559995 meters 0.013048825910745205 Centerline is valid? [True, True] Translation: X:65.88, Y:-172.36, Z:-4.00 [[-9.32960316e-01 3.59859228e-01 9.29440121e-03 6.58827037e+01] [ 3.59839900e-01 9.33006601e-01 -3.73212761e-03 -1.72363958e+02] [-1.00147782e-02 -1.37430548e-04 -9.99949841e-01 -3.99549530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.646559995 meters 0.013987204591808048 Centerline is valid? [True, True] Translation: X:65.89, Y:-172.34, Z:-3.99 [[-9.56748223e-01 2.90686803e-01 1.15767205e-02 6.58936158e+01] [ 2.90663056e-01 9.56818240e-01 -3.72070452e-03 -1.72335282e+02] [-1.21583771e-02 -1.94852472e-04 -9.99926065e-01 -3.99245648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.7065599950001 meters 0.013026913710333658 Centerline is valid? [True, True] Translation: X:66.09, Y:-171.74, Z:-5.05 [[-9.24103546e-01 -3.81981960e-01 1.10643444e-02 6.60871702e+01] [ 3.81956847e-01 -9.24169764e-01 -4.38354788e-03 -1.71742989e+02] [ 1.18997687e-02 1.75249955e-04 9.99929180e-01 -5.05082079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.766559995 meters 0.012398068675355126 Centerline is valid? [True, True] Translation: X:65.85, Y:-172.33, Z:-4.00 [[-9.55877773e-01 2.93622873e-01 9.12643195e-03 6.58473795e+01] [ 2.93608604e-01 9.55921336e-01 -2.89600858e-03 -1.72328504e+02] [-9.57448539e-03 -8.86312804e-05 -9.99954160e-01 -3.99516193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.826559995 meters 0.011814777487098612 Centerline is valid? [True, True] Translation: X:65.86, Y:-172.31, Z:-4.00 [[-9.72481203e-01 2.32897320e-01 6.25685065e-03 6.58587113e+01] [ 2.32892445e-01 9.72501331e-01 -1.50694484e-03 -1.72310992e+02] [-6.43575900e-03 -8.30228385e-06 -9.99979290e-01 -3.99725911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.886559995 meters 0.011917641847627749 Centerline is valid? [True, True] Translation: X:65.87, Y:-172.29, Z:-4.00 [[-9.85842136e-01 1.67595854e-01 5.18778755e-03 6.58663180e+01] [ 1.67593618e-01 9.85855785e-01 -8.65775280e-04 -1.72288467e+02] [-5.25951071e-03 1.59223350e-05 -9.99986169e-01 -3.99779603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1313.9465599950001 meters 0.012034192309839084 Centerline is valid? [True, True] Translation: X:65.98, Y:-171.64, Z:-5.05 [[-9.74267127e-01 -2.25343225e-01 4.89867450e-03 6.59790464e+01] [ 2.25340227e-01 -9.74279442e-01 -1.16276908e-03 -1.71641585e+02] [ 5.03469999e-03 -2.89792669e-05 9.99987325e-01 -5.04664704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.006559995 meters 0.011921388749407846 Centerline is valid? [True, True] Translation: X:65.82, Y:-172.28, Z:-4.00 [[-9.86425836e-01 1.64116920e-01 5.45044734e-03 6.58159503e+01] [ 1.64114518e-01 9.86440893e-01 -8.88040353e-04 -1.72279962e+02] [-5.52228659e-03 1.85115934e-05 -9.99984752e-01 -3.99692071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.066559995 meters 0.011961626032298205 Centerline is valid? [True, True] Translation: X:65.81, Y:-172.25, Z:-3.99 [[-9.96006895e-01 8.89188915e-02 7.98100049e-03 6.58145235e+01] [ 8.89159416e-02 9.96038870e-01 -7.24383175e-04 -1.72246581e+02] [-8.01379805e-03 -1.18524637e-05 -9.99967889e-01 -3.99458482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.126559995 meters 0.012460766281854616 Centerline is valid? [True, True] Translation: X:65.87, Y:-171.61, Z:-5.05 [[-9.86362105e-01 -1.64250292e-01 1.05659375e-02 6.58678963e+01] [ 1.64243052e-01 -9.86418674e-01 -1.55525418e-03 -1.71613857e+02] [ 1.06778890e-02 2.01338025e-04 9.99942970e-01 -5.05286171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.1865599950002 meters 0.013061874682167707 Centerline is valid? [True, True] Translation: X:65.76, Y:-172.23, Z:-3.99 [[-9.97320016e-01 7.21207516e-02 1.23038003e-02 6.57574583e+01] [ 7.21130475e-02 9.97395892e-01 -1.06924382e-03 -1.72229452e+02] [-1.23488746e-02 -1.79113723e-04 -9.99923734e-01 -3.99235348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.246559995 meters 0.01365778935259088 Centerline is valid? [True, True] Translation: X:65.81, Y:-171.62, Z:-5.05 [[-9.85378185e-01 -1.70051166e-01 1.06034519e-02 6.58127353e+01] [ 1.70041864e-01 -9.85435233e-01 -1.77937037e-03 -1.71618072e+02] [ 1.07515991e-02 4.96779844e-05 9.99942199e-01 -5.05098110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.306559995 meters 0.01355149451970881 Centerline is valid? [True, True] Translation: X:65.71, Y:-172.22, Z:-4.00 [[-9.97795751e-01 6.58644189e-02 8.09433822e-03 6.57077206e+01] [ 6.58611385e-02 9.97828572e-01 -6.71448478e-04 -1.72222134e+02] [-8.12098652e-03 -1.36866107e-04 -9.99967015e-01 -3.99588504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.366559995 meters 0.013491994306619966 Centerline is valid? [True, True] Translation: X:65.70, Y:-172.20, Z:-4.00 [[-9.99985595e-01 -2.61129302e-03 4.68956735e-03 6.57005183e+01] [-2.61158059e-03 9.99996588e-01 -5.51993116e-05 -1.72195146e+02] [-4.68940721e-03 -6.74456995e-05 -9.99989002e-01 -3.99769130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.426559995 meters 0.012534252590149666 Centerline is valid? [True, True] Translation: X:65.72, Y:-171.58, Z:-5.05 [[-9.95993450e-01 -8.93650158e-02 3.30782384e-03 6.57162140e+01] [ 8.93644047e-02 -9.95998942e-01 -3.32391613e-04 -1.71580166e+02] [ 3.32429323e-03 -3.54581611e-05 9.99994474e-01 -5.04541352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.486559995 meters 0.01227236239996114 Centerline is valid? [True, True] Translation: X:65.65, Y:-172.20, Z:-4.00 [[-9.99993937e-01 -1.37662095e-03 3.19844174e-03 6.56519587e+01] [-1.37670578e-03 9.99999052e-01 -2.43200183e-05 -1.72203757e+02] [-3.19840523e-03 -2.87231841e-05 -9.99994885e-01 -3.99823331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.546559995 meters 0.012514447694688163 Centerline is valid? [True, True] Translation: X:65.65, Y:-172.18, Z:-4.00 [[-9.97353121e-01 -7.26374373e-02 3.24887840e-03 6.56493190e+01] [-7.26371495e-02 9.97358412e-01 2.06646259e-04 -1.72177369e+02] [-3.25530645e-03 -2.98899746e-05 -9.99994701e-01 -3.99714028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.606559995 meters 0.012961196357090142 Centerline is valid? [True, True] Translation: X:65.64, Y:-172.15, Z:-4.00 [[-9.89421229e-01 -1.45019331e-01 3.87614212e-03 6.56408147e+01] [-1.45018386e-01 9.89428821e-01 5.25240219e-04 -1.72151514e+02] [-3.91133672e-03 -4.24280511e-05 -9.99992350e-01 -3.99603235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.666559995 meters 0.013560602515141108 Centerline is valid? [True, True] Translation: X:65.63, Y:-172.13, Z:-3.99 [[-9.76166725e-01 -2.16955719e-01 5.36115710e-03 6.56259455e+01] [-2.16952840e-01 9.76181444e-01 1.11991925e-03 -1.72125674e+02] [-5.47643496e-03 -6.98903458e-05 -9.99985002e-01 -3.99409320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.7265599950001 meters 0.013481931974469239 Centerline is valid? [True, True] Translation: X:65.61, Y:-172.10, Z:-3.99 [[-9.57749631e-01 -2.87514160e-01 7.15899185e-03 6.56052060e+01] [-2.87506956e-01 9.57776381e-01 2.03814218e-03 -1.72103036e+02] [-7.44270805e-03 -1.06230035e-04 -9.99972297e-01 -3.99182929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.786559995 meters 0.013544974976266446 Centerline is valid? [True, True] Translation: X:65.58, Y:-172.08, Z:-3.99 [[-9.34923159e-01 -3.54752407e-01 8.33164920e-03 6.55784679e+01] [-3.54739438e-01 9.34960275e-01 3.03564031e-03 -1.72083560e+02] [-8.86666173e-03 -1.17474126e-04 -9.99960684e-01 -3.98989849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.846559995 meters 0.013258352923932544 Centerline is valid? [True, True] Translation: X:65.54, Y:-172.07, Z:-3.99 [[-9.07897944e-01 -4.19128360e-01 7.26233276e-03 6.55378062e+01] [-4.19115689e-01 9.07926986e-01 3.26006920e-03 -1.72072144e+02] [-7.96005535e-03 -8.39474801e-05 -9.99968315e-01 -3.99004997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.906559995 meters 0.012416823231131637 Centerline is valid? [True, True] Translation: X:65.48, Y:-172.07, Z:-3.99 [[-8.76320624e-01 -4.81696956e-01 5.49603752e-03 6.54781231e+01] [-4.81687812e-01 8.76337858e-01 2.96833805e-03 -1.72074676e+02] [-6.24622515e-03 -4.61584391e-05 -9.99980491e-01 -3.99215369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1314.9665599950001 meters 0.012066930859930375 Centerline is valid? [True, True] Translation: X:65.41, Y:-172.08, Z:-3.99 [[-8.39889532e-01 -5.42739318e-01 4.42796321e-03 6.54144407e+01] [-5.42731928e-01 8.39901204e-01 2.83237443e-03 -1.72082043e+02] [-5.25629259e-03 -2.43153706e-05 -9.99986185e-01 -3.99269806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.026559995 meters 0.01211527164290074 Centerline is valid? [True, True] Translation: X:65.34, Y:-172.10, Z:-3.99 [[-7.97125217e-01 -6.03793803e-01 4.94289246e-03 6.53400844e+01] [-6.03782432e-01 7.97140541e-01 3.70569102e-03 -1.72099887e+02] [-6.17765324e-03 -3.05318686e-05 -9.99980918e-01 -3.99200171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.086559995 meters 0.012407948359012105 Centerline is valid? [True, True] Translation: X:65.26, Y:-172.12, Z:-3.99 [[-7.48930124e-01 -6.62623981e-01 5.75581687e-03 6.52628608e+01] [-6.62604905e-01 7.48952240e-01 5.02812585e-03 -1.72124543e+02] [-7.64258871e-03 -4.81175729e-05 -9.99970794e-01 -3.99015564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.146559995 meters 0.012776997421514382 Centerline is valid? [True, True] Translation: X:65.18, Y:-172.16, Z:-3.99 [[-6.94616233e-01 -7.19340132e-01 7.61997531e-03 6.51774180e+01] [-7.19298557e-01 6.94658019e-01 7.73452139e-03 -1.72162524e+02] [-1.08570286e-02 -1.08513136e-04 -9.99941055e-01 -3.98780112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.2065599950001 meters 0.0133010726024146 Centerline is valid? [True, True] Translation: X:65.09, Y:-172.21, Z:-3.99 [[-6.36405351e-01 -7.71316394e-01 7.69742145e-03 6.50936808e+01] [-7.71262883e-01 6.36451881e-01 9.08668157e-03 -1.72209672e+02] [-1.19077448e-02 -1.53922687e-04 -9.99929089e-01 -3.98678914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.266559995 meters 0.013838663384366226 Centerline is valid? [True, True] Translation: X:65.01, Y:-172.26, Z:-3.99 [[-5.74347468e-01 -8.18583007e-01 6.84444514e-03 6.50136016e+01] [-8.18528592e-01 5.74388221e-01 9.44011264e-03 -1.72264284e+02] [-1.16588845e-02 -1.80469251e-04 -9.99932017e-01 -3.98651817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.326559995 meters 0.014645313104657755 Centerline is valid? [True, True] Translation: X:64.94, Y:-172.33, Z:-3.99 [[-5.08835765e-01 -8.60845488e-01 5.58664455e-03 6.49370612e+01] [-8.60797637e-01 5.08866397e-01 9.07841314e-03 -1.72328892e+02] [-1.06579667e-02 -1.89549139e-04 -9.99943184e-01 -3.98696032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.386559995 meters 0.015285455629303547 Centerline is valid? [True, True] Translation: X:64.86, Y:-172.40, Z:-3.99 [[-4.41072202e-01 -8.97460221e-01 4.52374349e-03 6.48645361e+01] [-8.97417323e-01 4.41095360e-01 8.77681579e-03 -1.72403970e+02] [-9.87224530e-03 -1.88476301e-04 -9.99951251e-01 -3.98744252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.4465599950001 meters 0.014935727906946096 Centerline is valid? [True, True] Translation: X:64.80, Y:-172.49, Z:-3.99 [[-3.70953924e-01 -9.28645399e-01 3.30286604e-03 6.47987093e+01] [-9.28612532e-01 3.70968589e-01 7.81474467e-03 -1.72486026e+02] [-8.48238624e-03 -1.68172601e-04 -9.99964010e-01 -3.98901218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.506559995 meters 0.015283382835399728 Centerline is valid? [True, True] Translation: X:64.74, Y:-172.58, Z:-3.99 [[-2.98893678e-01 -9.54283425e-01 2.39026172e-03 6.47355605e+01] [-9.54256837e-01 2.98903197e-01 7.12511179e-03 -1.72577246e+02] [-7.51383296e-03 -1.51272719e-04 -9.99971759e-01 -3.98890524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.566559995 meters 0.014706084551883507 Centerline is valid? [True, True] Translation: X:64.68, Y:-172.67, Z:-3.99 [[-2.25431992e-01 -9.74257205e-01 1.82113541e-03 6.46827476e+01] [-9.74230525e-01 2.25439298e-01 7.21154829e-03 -1.72671965e+02] [-7.43645837e-03 -1.48492012e-04 -9.99972338e-01 -3.98918100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.626559995 meters 0.01526669976645491 Centerline is valid? [True, True] Translation: X:64.63, Y:-172.78, Z:-3.99 [[-1.50433688e-01 -9.88618967e-01 1.49805973e-03 6.46346287e+01] [-9.88580906e-01 1.50441045e-01 8.67670510e-03 -1.72778275e+02] [-8.80332490e-03 -1.75684498e-04 -9.99961235e-01 -3.98688770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.6865599950002 meters 0.0156082576805768 Centerline is valid? [True, True] Translation: X:64.59, Y:-172.89, Z:-3.99 [[-7.24922373e-02 -9.97368533e-01 9.41165130e-04 6.45915908e+01] [-9.97319094e-01 7.24980171e-02 9.93287571e-03 -1.72885204e+02] [-9.97497028e-03 -2.18585572e-04 -9.99950225e-01 -3.98573925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.746559995 meters 0.016605569903614763 Centerline is valid? [True, True] Translation: X:64.56, Y:-172.99, Z:-3.98 [[ 5.60341733e-03 -9.99984279e-01 2.08397363e-04 6.45556119e+01] [-9.99918561e-01 -5.60065922e-03 1.14675643e-02 -1.72988905e+02] [-1.14662168e-02 -2.72637939e-04 -9.99934224e-01 -3.98376441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.806559995 meters 0.01666779788262396 Centerline is valid? [True, True] Translation: X:64.53, Y:-173.10, Z:-3.98 [[ 8.19320628e-02 -9.96637617e-01 -7.73033284e-04 6.45255032e+01] [-9.96549806e-01 -8.19351083e-02 1.32333916e-02 -1.73101041e+02] [-1.32522345e-02 -3.13872906e-04 -9.99912136e-01 -3.98151644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.866559995 meters 0.01526839102556879 Centerline is valid? [True, True] Translation: X:64.51, Y:-173.22, Z:-3.98 [[ 1.55395714e-01 -9.87850658e-01 -1.80272290e-03 6.45100602e+01] [-9.87761377e-01 -1.55405912e-01 1.32840057e-02 -1.73216152e+02] [-1.34027676e-02 -2.83617503e-04 -9.99910139e-01 -3.98205561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.926559995 meters 0.014511648954085457 Centerline is valid? [True, True] Translation: X:64.50, Y:-173.32, Z:-3.98 [[ 2.25499081e-01 -9.74239213e-01 -2.84965721e-03 6.45033497e+01] [-9.74148798e-01 -2.25516982e-01 1.32744411e-02 -1.73324805e+02] [-1.35751271e-02 -2.17384128e-04 -9.99907830e-01 -3.98136008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1315.986559995 meters 0.013107052289893801 Centerline is valid? [True, True] Translation: X:64.51, Y:-173.44, Z:-3.98 [[ 2.88879400e-01 -9.57357633e-01 -3.88015246e-03 6.45123461e+01] [-9.57268093e-01 -2.88905449e-01 1.30934979e-02 -1.73436251e+02] [-1.36561573e-02 -6.80956506e-05 -9.99906748e-01 -3.97999387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.046559995 meters 0.012877320374618422 Centerline is valid? [True, True] Translation: X:64.53, Y:-173.54, Z:-3.98 [[ 3.54503436e-01 -9.35042737e-01 -4.73221955e-03 6.45271467e+01] [-9.34960600e-01 -3.54535018e-01 1.23934648e-02 -1.73544884e+02] [-1.32661567e-02 3.09129936e-05 -9.99912000e-01 -3.98080172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.106559995 meters 0.012960510498605879 Centerline is valid? [True, True] Translation: X:64.55, Y:-173.66, Z:-3.98 [[ 4.21503253e-01 -9.06811025e-01 -5.36408170e-03 6.45478866e+01] [-9.06739930e-01 -4.21537376e-01 1.13551574e-02 -1.73655004e+02] [-1.25581428e-02 7.75912967e-05 -9.99921140e-01 -3.98264844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.166559995 meters 0.012799873807661186 Centerline is valid? [True, True] Translation: X:64.57, Y:-173.77, Z:-3.98 [[ 4.91483705e-01 -8.70868400e-01 -5.65658579e-03 6.45737459e+01] [-8.70811769e-01 -4.91516254e-01 9.93156722e-03 -1.73768766e+02] [-1.14293919e-02 4.46180169e-05 -9.99934681e-01 -3.98292066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.2265599950001 meters 0.012599698852833309 Centerline is valid? [True, True] Translation: X:64.61, Y:-173.88, Z:-3.98 [[ 5.59425607e-01 -8.28855480e-01 -6.44857645e-03 6.46072168e+01] [-8.28800491e-01 -5.59462773e-01 9.54738180e-03 -1.73877670e+02] [-1.15211382e-02 3.53346980e-06 -9.99933630e-01 -3.98302823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.286559995 meters 0.01248269379210299 Centerline is valid? [True, True] Translation: X:64.65, Y:-173.98, Z:-3.98 [[ 6.24311433e-01 -7.81149343e-01 -6.39831028e-03 6.46484215e+01] [-7.81107625e-01 -6.24344218e-01 8.07315021e-03 -1.73983156e+02] [-1.03010840e-02 -4.23910311e-05 -9.99946942e-01 -3.98484449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.346559995 meters 0.012417193691262485 Centerline is valid? [True, True] Translation: X:64.70, Y:-174.08, Z:-3.99 [[ 6.81832702e-01 -7.31489888e-01 -5.16833090e-03 6.46989184e+01] [-7.31468526e-01 -6.81852289e-01 5.59040937e-03 -1.74084326e+02] [-7.61336617e-03 -3.12525451e-05 -9.99971018e-01 -3.98717419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.406559995 meters 0.012294029804412642 Centerline is valid? [True, True] Translation: X:64.75, Y:-174.17, Z:-3.99 [[ 7.33558607e-01 -6.79622326e-01 -2.29438424e-03 6.47468676e+01] [-6.79618981e-01 -7.33562195e-01 2.13216219e-03 -1.74169206e+02] [-3.13213857e-03 -4.75884415e-06 -9.99995095e-01 -3.99040462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.4665599950001 meters 0.012309517828427792 Centerline is valid? [True, True] Translation: X:64.77, Y:-174.19, Z:-3.99 [[ 7.83159914e-01 -6.21818956e-01 -1.31766718e-03 6.47721878e+01] [-6.21818078e-01 -7.83161022e-01 1.04502727e-03 -1.74194426e+02] [-1.68176335e-03 9.25806242e-07 -9.99998586e-01 -3.99295859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.526559995 meters 0.012496515097312066 Centerline is valid? [True, True] Translation: X:64.80, Y:-174.22, Z:-3.99 [[ 8.28131085e-01 -5.60533840e-01 -8.48437273e-04 6.47956872e+01] [-5.60533549e-01 -8.28131520e-01 5.70891328e-04 -1.74221684e+02] [-1.02262156e-03 2.80470025e-06 -9.99999477e-01 -3.99370362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.586559995 meters 0.012545526493929827 Centerline is valid? [True, True] Translation: X:64.82, Y:-174.25, Z:-3.99 [[ 8.68864395e-01 -4.95044488e-01 -2.37052242e-03 6.48208711e+01] [-4.95042678e-01 -8.68867628e-01 1.33848137e-03 -1.74248484e+02] [-2.72227802e-03 1.05509603e-05 -9.99996295e-01 -3.99145148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.646559995 meters 0.01256509554251655 Centerline is valid? [True, True] Translation: X:64.85, Y:-174.27, Z:-3.99 [[ 9.04798790e-01 -4.25820296e-01 -4.02797632e-03 6.48474044e+01] [-4.25816167e-01 -9.04807756e-01 1.87540231e-03 -1.74274368e+02] [-4.44312858e-03 1.83156924e-05 -9.99990129e-01 -3.99064352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.7065599950001 meters 0.01258070345127964 Centerline is valid? [True, True] Translation: X:64.88, Y:-174.30, Z:-3.99 [[ 9.35404325e-01 -3.53537713e-01 -5.46206556e-03 6.48765493e+01] [-3.53531827e-01 -9.35420272e-01 2.04010476e-03 -1.74296071e+02] [-5.83058082e-03 2.26912018e-05 -9.99983002e-01 -3.99029719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.766559995 meters 0.012476873274263665 Centerline is valid? [True, True] Translation: X:64.91, Y:-174.32, Z:-3.99 [[ 9.60384039e-01 -2.78617156e-01 -5.91417851e-03 6.49071644e+01] [-2.78611998e-01 -9.60402249e-01 1.69546490e-03 -1.74317926e+02] [-6.15237595e-03 1.94636707e-05 -9.99981074e-01 -3.99139728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.826559995 meters 0.012475447293580104 Centerline is valid? [True, True] Translation: X:64.94, Y:-174.34, Z:-3.99 [[ 9.79492463e-01 -2.01424789e-01 -4.75071475e-03 6.49393840e+01] [-2.01422464e-01 -9.79503984e-01 9.67843312e-04 -1.74336054e+02] [-4.84829166e-03 8.90544242e-06 -9.99988247e-01 -3.99175296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.886559995 meters 0.012328561081838647 Centerline is valid? [True, True] Translation: X:64.97, Y:-174.36, Z:-3.99 [[ 9.92562506e-01 -1.21662252e-01 -4.23890933e-03 6.49719265e+01] [-1.21661131e-01 -9.92571557e-01 5.22439902e-04 -1.74357235e+02] [-4.27098205e-03 -2.84375691e-06 -9.99990879e-01 -3.99308252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1316.9465599950001 meters 0.012426043311917372 Centerline is valid? [True, True] Translation: X:65.00, Y:-174.37, Z:-3.99 [[ 9.99128078e-01 -4.15084219e-02 -4.48707366e-03 6.50034466e+01] [-4.15079477e-02 -9.99138154e-01 1.98800441e-04 -1.74371609e+02] [-4.49145839e-03 -1.23778841e-05 -9.99989913e-01 -3.99298006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.006559995 meters 0.01241178374199765 Centerline is valid? [True, True] Translation: X:65.04, Y:-174.38, Z:-3.99 [[ 9.99246475e-01 3.85715147e-02 -4.32670238e-03 6.50366165e+01] [ 3.85712379e-02 -9.99255842e-01 -1.47425592e-04 -1.74381706e+02] [-4.32916906e-03 -1.95717642e-05 -9.99990629e-01 -3.99411809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.066559995 meters 0.01262714322465453 Centerline is valid? [True, True] Translation: X:65.07, Y:-174.40, Z:-3.99 [[ 9.92878689e-01 1.19031613e-01 -4.83562064e-03 6.50713414e+01] [ 1.19030365e-01 -9.92890464e-01 -5.46171163e-04 -1.74395523e+02] [-4.86625326e-03 -3.33039810e-05 -9.99988159e-01 -3.99350206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.126559995 meters 0.012903106317234708 Centerline is valid? [True, True] Translation: X:65.11, Y:-174.40, Z:-3.99 [[ 9.80205513e-01 1.97793308e-01 -8.65792155e-03 6.51064638e+01] [ 1.97786249e-01 -9.80243746e-01 -1.67267667e-03 -1.74403605e+02] [-8.81771771e-03 -7.28509317e-05 -9.99961121e-01 -3.99017068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.1865599950002 meters 0.012912373236010284 Centerline is valid? [True, True] Translation: X:65.14, Y:-174.40, Z:-3.99 [[ 9.61838388e-01 2.73410562e-01 -1.06573959e-02 6.51414932e+01] [ 2.73394760e-01 -9.61897426e-01 -2.94077874e-03 -1.74402294e+02] [-1.10553616e-02 -8.51222976e-05 -9.99938884e-01 -3.98910128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.246559995 meters 0.01266883831623066 Centerline is valid? [True, True] Translation: X:65.18, Y:-174.40, Z:-3.99 [[ 9.38211373e-01 3.45881012e-01 -1.12136261e-02 6.51770377e+01] [ 3.45857157e-01 -9.38278382e-01 -4.06276310e-03 -1.74397875e+02] [-1.19267356e-02 -6.65822908e-05 -9.99928872e-01 -3.98877783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.306559995 meters 0.012452108467170908 Centerline is valid? [True, True] Translation: X:65.21, Y:-174.39, Z:-3.99 [[ 9.10412984e-01 4.13588584e-01 -9.62713660e-03 6.52113201e+01] [ 4.13565516e-01 -9.10463884e-01 -4.36813104e-03 -1.74389529e+02] [-1.05717693e-02 -4.64849883e-06 -9.99944117e-01 -3.98939314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.366559995 meters 0.012502228323057848 Centerline is valid? [True, True] Translation: X:65.24, Y:-174.38, Z:-3.99 [[ 8.76079838e-01 4.82085004e-01 -8.84120675e-03 6.52440477e+01] [ 4.82060306e-01 -8.76124448e-01 -4.87982327e-03 -1.74376107e+02] [-1.00984870e-02 1.31199517e-05 -9.99949009e-01 -3.98999580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.426559995 meters 0.012662850300259727 Centerline is valid? [True, True] Translation: X:65.27, Y:-174.36, Z:-3.99 [[ 8.36769670e-01 5.47497815e-01 -7.91595649e-03 6.52745210e+01] [ 5.47472959e-01 -8.36807111e-01 -5.21709543e-03 -1.74358795e+02] [-9.48047704e-03 3.17350990e-05 -9.99955059e-01 -3.99100875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.486559995 meters 0.012515739999126927 Centerline is valid? [True, True] Translation: X:65.30, Y:-174.34, Z:-3.99 [[ 7.91180314e-01 6.11544701e-01 -6.84024100e-03 6.53032091e+01] [ 6.11521555e-01 -7.91209882e-01 -5.32071619e-03 -1.74340158e+02] [-8.66592207e-03 2.66910995e-05 -9.99962450e-01 -3.99218830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.546559995 meters 0.012512410921541775 Centerline is valid? [True, True] Translation: X:65.33, Y:-174.32, Z:-3.99 [[ 7.39112786e-01 6.73552768e-01 -6.24168279e-03 6.53329760e+01] [ 6.73528708e-01 -7.39139141e-01 -5.69299045e-03 -1.74321156e+02] [-8.44800153e-03 3.80948274e-06 -9.99964315e-01 -3.99130126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.606559995 meters 0.012612640792801054 Centerline is valid? [True, True] Translation: X:65.36, Y:-174.30, Z:-3.99 [[ 6.80708652e-01 7.32525699e-01 -6.46765010e-03 6.53598864e+01] [ 7.32493188e-01 -6.80739376e-01 -6.90150398e-03 -1.74299140e+02] [-9.45831312e-03 -3.95961753e-05 -9.99955268e-01 -3.98992378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.666559995 meters 0.01366539257544884 Centerline is valid? [True, True] Translation: X:65.38, Y:-174.27, Z:-3.99 [[ 6.17275770e-01 7.86716213e-01 -6.94442365e-03 6.53837847e+01] [ 7.86668299e-01 -6.17314823e-01 -8.68317815e-03 -1.74272702e+02] [-1.11180927e-02 -1.03042463e-04 -9.99938187e-01 -3.98790520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.7265599950001 meters 0.013554847987350342 Centerline is valid? [True, True] Translation: X:65.41, Y:-174.25, Z:-3.99 [[ 5.50231295e-01 8.34977338e-01 -7.63984252e-03 6.54115458e+01] [ 8.34901464e-01 -5.50284300e-01 -1.12576745e-02 -1.74249206e+02] [-1.36039885e-02 -1.84190890e-04 -9.99907445e-01 -3.98868652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.786559995 meters 0.015490145645936444 Centerline is valid? [True, True] Translation: X:65.44, Y:-174.22, Z:-3.99 [[ 4.83273337e-01 8.75442888e-01 -6.82875473e-03 6.54381781e+01] [ 8.75360846e-01 -4.83321545e-01 -1.19864118e-02 -1.74224577e+02] [-1.37939033e-02 -1.84911268e-04 -9.99904843e-01 -3.98507796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.846559995 meters 0.014299835523885779 Centerline is valid? [True, True] Translation: X:65.44, Y:-174.19, Z:-3.99 [[ 4.16530519e-01 9.09108993e-01 -4.81303710e-03 6.54419394e+01] [ 9.09051347e-01 -4.16558311e-01 -1.02382800e-02 -1.74187914e+02] [-1.13126230e-02 -1.10741792e-04 -9.99936004e-01 -3.98914997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.906559995 meters 0.012542353372809853 Centerline is valid? [True, True] Translation: X:65.46, Y:-174.16, Z:-4.00 [[ 3.47106164e-01 9.37820977e-01 -3.02088036e-03 6.54571333e+01] [ 9.37786856e-01 -3.47119305e-01 -8.00009772e-03 -1.74156082e+02] [-8.55126535e-03 -5.60586570e-05 -9.99963436e-01 -3.99534051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1317.9665599950001 meters 0.012323205366435894 Centerline is valid? [True, True] Translation: X:65.47, Y:-174.12, Z:-4.00 [[ 2.75255397e-01 9.61369274e-01 -1.89377670e-03 6.54726416e+01] [ 9.61347164e-01 -2.75261910e-01 -6.52001369e-03 -1.74124387e+02] [-6.78942541e-03 -2.59079075e-05 -9.99976951e-01 -3.99634956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.026559995 meters 0.01241063153202527 Centerline is valid? [True, True] Translation: X:65.49, Y:-174.09, Z:-4.00 [[ 2.00667956e-01 9.79658381e-01 -1.35177728e-03 6.54853173e+01] [ 9.79636654e-01 -2.00672508e-01 -6.52456157e-03 -1.74093157e+02] [-6.66310597e-03 -1.49801426e-05 -9.99977801e-01 -3.99534373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.086559995 meters 0.012456511198392329 Centerline is valid? [True, True] Translation: X:65.50, Y:-174.06, Z:-3.99 [[ 1.21639578e-01 9.92573806e-01 -1.02567257e-03 6.55005263e+01] [ 9.92540718e-01 -1.21643898e-01 -8.10470917e-03 -1.74060656e+02] [-8.16928884e-03 -3.21683879e-05 -9.99966630e-01 -3.99443267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.146559995 meters 0.012791885248161543 Centerline is valid? [True, True] Translation: X:65.51, Y:-174.03, Z:-3.99 [[ 4.12245702e-02 9.99149779e-01 -5.04050188e-04 6.55123901e+01] [ 9.99093501e-01 -4.12275981e-02 -1.06047494e-02 -1.74028022e+02] [-1.06165138e-02 -6.64170302e-05 -9.99943641e-01 -3.99158548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.2065599950001 meters 0.01361525510750811 Centerline is valid? [True, True] Translation: X:65.52, Y:-173.99, Z:-3.99 [[-4.01491174e-02 9.99193624e-01 3.88727272e-04 6.55164229e+01] [ 9.99114572e-01 4.01508309e-02 -1.25691362e-02 -1.73994685e+02] [-1.25746085e-02 -1.16256643e-04 -9.99920930e-01 -3.98860534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.266559995 meters 0.014692733231550013 Centerline is valid? [True, True] Translation: X:65.51, Y:-173.96, Z:-3.99 [[-1.21421898e-01 9.92599757e-01 1.56348627e-03 6.55139761e+01] [ 9.92497529e-01 1.21431833e-01 -1.42465583e-02 -1.73961570e+02] [-1.43309873e-02 -1.78087880e-04 -9.99897290e-01 -3.98702635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.326559995 meters 0.0136217158405481 Centerline is valid? [True, True] Translation: X:65.51, Y:-173.93, Z:-3.99 [[-1.99146633e-01 9.79966433e-01 2.53159456e-03 6.55133374e+01] [ 9.79875796e-01 1.99162647e-01 -1.33290776e-02 -1.73926563e+02] [-1.35662477e-02 -1.73792680e-04 -9.99907959e-01 -3.99097193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.386559995 meters 0.013615425467676434 Centerline is valid? [True, True] Translation: X:65.51, Y:-173.89, Z:-3.99 [[-2.73929466e-01 9.61745063e-01 3.01372164e-03 6.55102373e+01] [ 9.61681516e-01 2.73946013e-01 -1.10564317e-02 -1.73893093e+02] [-1.14590656e-02 -1.30442024e-04 -9.99934334e-01 -3.99187821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.4465599950001 meters 0.012956014018822296 Centerline is valid? [True, True] Translation: X:65.50, Y:-173.86, Z:-4.00 [[-3.45938965e-01 9.38253879e-01 2.42714281e-03 6.55023750e+01] [ 9.38229504e-01 3.45947474e-01 -6.76336982e-03 -1.73860028e+02] [-7.18542189e-03 -6.24961621e-05 -9.99974183e-01 -3.99593214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.506559995 meters 0.012810385174266813 Centerline is valid? [True, True] Translation: X:65.49, Y:-173.83, Z:-4.00 [[-4.17384455e-01 9.08727644e-01 2.07016398e-03 6.54934896e+01] [ 9.08716006e-01 4.17389587e-01 -4.59919089e-03 -1.73828373e+02] [-5.04347679e-03 -3.84396358e-05 -9.99987281e-01 -3.99704596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.566559995 meters 0.012909150820821788 Centerline is valid? [True, True] Translation: X:65.48, Y:-173.80, Z:-4.00 [[-4.87661092e-01 8.73031265e-01 1.75204091e-03 6.54815845e+01] [ 8.73025414e-01 4.87664239e-01 -3.19644194e-03 -1.73798542e+02] [-3.64500145e-03 -2.92041279e-05 -9.99993357e-01 -3.99751256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.626559995 meters 0.013881705079183836 Centerline is valid? [True, True] Translation: X:65.47, Y:-173.77, Z:-4.00 [[-5.58276546e-01 8.29653063e-01 1.75869050e-03 6.54690658e+01] [ 8.29648718e-01 5.58279315e-01 -2.68537301e-03 -1.73767825e+02] [-3.20976847e-03 -4.00854525e-05 -9.99994848e-01 -3.99672350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.6865599950002 meters 0.014503099719527427 Centerline is valid? [True, True] Translation: X:65.46, Y:-173.74, Z:-4.00 [[-6.24742818e-01 7.80826775e-01 2.44106293e-03 6.54562334e+01] [ 7.80820395e-01 6.24747584e-01 -3.15705174e-03 -1.73736575e+02] [-3.99015870e-03 -6.63136811e-05 -9.99992037e-01 -3.99547742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.746559995 meters 0.015091703465791332 Centerline is valid? [True, True] Translation: X:65.44, Y:-173.71, Z:-3.99 [[-6.86603684e-01 7.27021090e-01 3.96426266e-03 6.54411876e+01] [ 7.27007956e-01 6.86615118e-01 -4.37168861e-03 -1.73705268e+02] [-5.90023250e-03 -1.19567013e-04 -9.99982586e-01 -3.99396035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.806559995 meters 0.015747272673665092 Centerline is valid? [True, True] Translation: X:65.42, Y:-173.68, Z:-3.99 [[-7.41592317e-01 6.70811461e-01 7.26769071e-03 6.54213096e+01] [ 6.70776517e-01 7.41627900e-01 -6.85001504e-03 -1.73678799e+02] [-9.98499079e-03 -2.04922258e-04 -9.99950128e-01 -3.99000776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.866559995 meters 0.014375570270515618 Centerline is valid? [True, True] Translation: X:65.44, Y:-173.67, Z:-3.99 [[-7.84389696e-01 6.20212774e-01 8.30183447e-03 6.54391039e+01] [ 6.20175708e-01 7.84433609e-01 -6.78269918e-03 -1.73668001e+02] [-1.07189546e-02 -1.71683279e-04 -9.99942536e-01 -3.98905522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.926559995 meters 0.012971565311762455 Centerline is valid? [True, True] Translation: X:65.45, Y:-173.65, Z:-3.99 [[-8.22189861e-01 5.69156427e-01 8.04950220e-03 6.54505159e+01] [ 5.69128130e-01 8.22229259e-01 -5.67600675e-03 -1.73654608e+02] [-9.84907195e-03 -8.55570570e-05 -9.99951493e-01 -3.98998919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1318.986559995 meters 0.012745193209614045 Centerline is valid? [True, True] Translation: X:65.46, Y:-173.65, Z:-3.99 [[-8.54214155e-01 5.19885435e-01 6.10830038e-03 6.54630725e+01] [ 5.19872347e-01 8.54235994e-01 -3.68910943e-03 -1.73648874e+02] [-7.13584431e-03 2.42469607e-05 -9.99974539e-01 -3.99093618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.046559995 meters 0.013088208027507068 Centerline is valid? [True, True] Translation: X:65.47, Y:-173.63, Z:-3.99 [[-8.86522821e-01 4.62655921e-01 5.17548105e-03 6.54739574e+01] [ 4.62648364e-01 8.86537927e-01 -2.64481984e-03 -1.73632777e+02] [-5.81190180e-03 4.97346976e-05 -9.99983110e-01 -3.99303972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.106559995 meters 0.012949059341976633 Centerline is valid? [True, True] Translation: X:65.48, Y:-173.61, Z:-3.99 [[-9.17727254e-01 3.97196839e-01 3.37028130e-03 6.54808301e+01] [ 3.97194261e-01 9.17733442e-01 -1.43130346e-03 -1.73606316e+02] [-3.66152907e-03 2.51102023e-05 -9.99993296e-01 -3.99401719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.166559995 meters 0.012693465615672788 Centerline is valid? [True, True] Translation: X:65.49, Y:-173.57, Z:-3.99 [[-9.47016532e-01 3.21145176e-01 5.04625481e-03 6.54881424e+01] [ 3.21140503e-01 9.47029976e-01 -1.73246923e-03 -1.73571719e+02] [-5.33532871e-03 -2.01201935e-05 -9.99985767e-01 -3.99215995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.2265599950001 meters 0.013564302212948767 Centerline is valid? [True, True] Translation: X:65.49, Y:-173.54, Z:-3.99 [[-9.69229852e-01 2.46043547e-01 7.48786550e-03 6.54891569e+01] [ 2.46035514e-01 9.69258771e-01 -1.99000295e-03 -1.73539017e+02] [-7.74730670e-03 -8.64894255e-05 -9.99969986e-01 -3.99051840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.286559995 meters 0.014092445167876295 Centerline is valid? [True, True] Translation: X:65.65, Y:-172.93, Z:-5.06 [[-9.42373211e-01 -3.34458169e-01 8.39436391e-03 6.56466812e+01] [ 3.34446505e-01 -9.42410582e-01 -2.79835783e-03 -1.72933586e+02] [ 8.84687101e-03 1.70368222e-04 9.99960851e-01 -5.05548993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.346559995 meters 0.01522905817507379 Centerline is valid? [True, True] Translation: X:65.44, Y:-173.52, Z:-3.99 [[-9.71809551e-01 2.35487504e-01 1.14817754e-02 6.54413015e+01] [ 2.35468421e-01 9.71877352e-01 -3.00579188e-03 -1.73520767e+02] [-1.18667039e-02 -2.17461740e-04 -9.99929565e-01 -3.98560971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.406559995 meters 0.014769849668455478 Centerline is valid? [True, True] Translation: X:65.44, Y:-173.49, Z:-3.99 [[-9.85938903e-01 1.66659075e-01 1.22160923e-02 6.54415395e+01] [ 1.66643527e-01 9.86014556e-01 -2.28697402e-03 -1.73494415e+02] [-1.24263898e-02 -2.19083943e-04 -9.99922766e-01 -3.98588222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.4665599950001 meters 0.014916884571343512 Centerline is valid? [True, True] Translation: X:65.45, Y:-173.47, Z:-3.99 [[-9.95018052e-01 9.90696110e-02 1.11484957e-02 6.54465063e+01] [ 9.90615192e-02 9.95080492e-01 -1.27706320e-03 -1.73467878e+02] [-1.12201688e-02 -1.66314016e-04 -9.99937038e-01 -3.98525818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.526559995 meters 0.0138475771989825 Centerline is valid? [True, True] Translation: X:65.52, Y:-172.85, Z:-5.06 [[-9.81768580e-01 -1.89851676e-01 9.31646082e-03 6.55204342e+01] [ 1.89843499e-01 -9.81812783e-01 -1.76235896e-03 -1.72851878e+02] [ 9.48160712e-03 3.84408661e-05 9.99955048e-01 -5.05819072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.586559995 meters 0.012933181523891548 Centerline is valid? [True, True] Translation: X:65.40, Y:-173.47, Z:-3.99 [[-9.94575179e-01 1.03736903e-01 7.67260623e-03 6.53990446e+01] [ 1.03733447e-01 9.94604772e-01 -8.48112653e-04 -1.73470714e+02] [-7.71919135e-03 -4.76059024e-05 -9.99970206e-01 -3.98834691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.646559995 meters 0.012653493034919005 Centerline is valid? [True, True] Translation: X:65.40, Y:-173.45, Z:-3.99 [[-9.99306743e-01 3.66154129e-02 6.73381244e-03 6.53961986e+01] [ 3.66144692e-02 9.99329431e-01 -2.63409927e-04 -1.73447382e+02] [-6.73894181e-03 -1.66723484e-05 -9.99977293e-01 -3.98931174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.7065599950001 meters 0.012583708760087034 Centerline is valid? [True, True] Translation: X:65.42, Y:-172.81, Z:-5.05 [[-9.94442894e-01 -1.05179661e-01 4.53544716e-03 6.54247654e+01] [ 1.05178012e-01 -9.94453229e-01 -6.01269408e-04 -1.72807038e+02] [ 4.57353138e-03 -1.20898777e-04 9.99989534e-01 -5.05420720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.766559995 meters 0.012629621440787962 Centerline is valid? [True, True] Translation: X:65.35, Y:-173.45, Z:-3.99 [[-9.99364523e-01 3.52188805e-02 5.49376017e-03 6.53465762e+01] [ 3.52183603e-02 9.99379623e-01 -1.91431808e-04 -1.73445530e+02] [-5.49709398e-03 2.17106752e-06 -9.99984891e-01 -3.98978318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.826559995 meters 0.012690857712815525 Centerline is valid? [True, True] Translation: X:65.34, Y:-173.42, Z:-3.99 [[-9.99270887e-01 -3.75293950e-02 7.01701487e-03 6.53407619e+01] [-3.75285336e-02 9.99295524e-01 2.54422022e-04 -1.73415615e+02] [-7.02161985e-03 -9.10175899e-06 -9.99975348e-01 -3.98752947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.886559995 meters 0.012951331770473128 Centerline is valid? [True, True] Translation: X:65.31, Y:-172.79, Z:-5.06 [[-9.99295616e-01 -3.59134728e-02 1.08855410e-02 6.53118586e+01] [ 3.59143815e-02 -9.99354864e-01 -1.12052413e-04 -1.72786603e+02] [ 1.08825425e-02 2.78973987e-04 9.99940745e-01 -5.06084995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1319.9465599950001 meters 0.013172773476144619 Centerline is valid? [True, True] Translation: X:65.27, Y:-173.41, Z:-3.98 [[-9.98821557e-01 -4.70454684e-02 1.19256658e-02 6.52699791e+01] [-4.70430149e-02 9.98892746e-01 4.86326808e-04 -1.73412125e+02] [-1.19353405e-02 -7.52655729e-05 -9.99928769e-01 -3.98216269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.006559995 meters 0.013097360423824313 Centerline is valid? [True, True] Translation: X:65.24, Y:-172.79, Z:-5.06 [[-9.99378548e-01 -3.29745507e-02 1.24577943e-02 6.52437201e+01] [ 3.29733980e-02 -9.99456185e-01 -2.97971639e-04 -1.72793877e+02] [ 1.24608450e-02 1.12989344e-04 9.99922354e-01 -5.06252600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.066559995 meters 0.013092616114041576 Centerline is valid? [True, True] Translation: X:65.20, Y:-173.41, Z:-3.98 [[-9.98689001e-01 -4.99389586e-02 1.12418580e-02 6.52048793e+01] [-4.99363864e-02 9.98752270e-01 5.09562267e-04 -1.73411672e+02] [-1.12532783e-02 -5.24835357e-05 -9.99936679e-01 -3.98238499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.126559995 meters 0.01286373149841782 Centerline is valid? [True, True] Translation: X:65.19, Y:-173.39, Z:-3.98 [[-9.92728224e-01 -1.19859008e-01 1.11576110e-02 6.51940078e+01] [-1.19851908e-01 9.92790923e-01 1.30524745e-03 -1.73385766e+02] [-1.12336206e-02 -4.15049775e-05 -9.99936900e-01 -3.98412486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.1865599950002 meters 0.012831066972007595 Centerline is valid? [True, True] Translation: X:65.13, Y:-172.78, Z:-5.06 [[-9.98879441e-01 4.58919258e-02 1.15669081e-02 6.51254409e+01] [-4.58880872e-02 -9.98946408e-01 5.97177518e-04 -1.72775043e+02] [ 1.15821269e-02 6.57250565e-05 9.99932923e-01 -5.05948278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.246559995 meters 0.012931061281210807 Centerline is valid? [True, True] Translation: X:65.12, Y:-173.39, Z:-3.99 [[-9.91843886e-01 -1.26910050e-01 1.18129568e-02 6.51233025e+01] [-1.26901885e-01 9.91914227e-01 1.44128724e-03 -1.73393206e+02] [-1.19003537e-02 -6.95545466e-05 -9.99929186e-01 -3.98521768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.306559995 meters 0.013340183182408302 Centerline is valid? [True, True] Translation: X:65.11, Y:-173.36, Z:-3.98 [[-9.79495735e-01 -2.01043402e-01 1.30251992e-02 6.51076138e+01] [-2.01027387e-01 9.79582326e-01 2.54086413e-03 -1.73363692e+02] [-1.32700789e-02 -1.29656175e-04 -9.99911940e-01 -3.98333368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.366559995 meters 0.014505267503240975 Centerline is valid? [True, True] Translation: X:65.09, Y:-173.34, Z:-3.98 [[-9.60894029e-01 -2.76467031e-01 1.57684873e-02 6.50854326e+01] [-2.76434300e-01 9.61023367e-01 4.26219318e-03 -1.73336560e+02] [-1.63322407e-02 -2.63434777e-04 -9.99866585e-01 -3.98102061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.426559995 meters 0.015238307273745038 Centerline is valid? [True, True] Translation: X:65.06, Y:-173.32, Z:-3.98 [[-9.37661843e-01 -3.47151518e-01 1.66159807e-02 6.50565267e+01] [-3.47103301e-01 9.37808996e-01 5.79536440e-03 -1.73316367e+02] [-1.75944857e-02 -3.33369682e-04 -9.99845150e-01 -3.98081932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.486559995 meters 0.015587594744379348 Centerline is valid? [True, True] Translation: X:65.02, Y:-173.30, Z:-3.98 [[-9.08899143e-01 -4.16700643e-01 1.62148775e-02 6.50214639e+01] [-4.16642000e-01 9.09043684e-01 7.00166995e-03 -1.73299883e+02] [-1.76576324e-02 -3.91987193e-04 -9.99844015e-01 -3.98218101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.546559995 meters 0.0162128091668754 Centerline is valid? [True, True] Translation: X:64.97, Y:-173.29, Z:-3.98 [[-8.75607746e-01 -4.82804169e-01 1.45330714e-02 6.49699066e+01] [-4.82744887e-01 8.75728261e-01 7.57540431e-03 -1.73292815e+02] [-1.63844581e-02 -3.82683189e-04 -9.99865693e-01 -3.98273805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.606559995 meters 0.01638755753725412 Centerline is valid? [True, True] Translation: X:64.90, Y:-173.30, Z:-3.98 [[-8.37561952e-01 -5.46176294e-01 1.34697246e-02 6.49034249e+01] [-5.46112819e-01 8.37670171e-01 8.33507627e-03 -1.73299053e+02] [-1.58356075e-02 -3.74846500e-04 -9.99874539e-01 -3.98320246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.666559995 meters 0.01582673639977385 Centerline is valid? [True, True] Translation: X:64.83, Y:-173.31, Z:-3.98 [[-7.95879041e-01 -6.05322700e-01 1.26878100e-02 6.48343900e+01] [-6.05252683e-01 7.95980093e-01 9.21306798e-03 -1.73314506e+02] [-1.56761233e-02 -3.46843316e-04 -9.99877062e-01 -3.98288270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.7265599950001 meters 0.015567902173584159 Centerline is valid? [True, True] Translation: X:64.76, Y:-173.34, Z:-3.98 [[-7.50013253e-01 -6.61315432e-01 1.19171813e-02 6.47632561e+01] [-6.61238555e-01 7.50107859e-01 1.00882379e-02 -1.73338952e+02] [-1.56106788e-02 -3.13787618e-04 -9.99878097e-01 -3.98266692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.786559995 meters 0.014613784934558782 Centerline is valid? [True, True] Translation: X:64.69, Y:-173.38, Z:-3.98 [[-7.00390286e-01 -7.13669844e-01 1.13490851e-02 6.46900172e+01] [-7.13582524e-01 7.00482175e-01 1.11670775e-02 -1.73375141e+02] [-1.59194383e-02 -2.77196183e-04 -9.99873239e-01 -3.98344945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.846559995 meters 0.014021174311865597 Centerline is valid? [True, True] Translation: X:64.61, Y:-173.42, Z:-3.98 [[-6.46388783e-01 -7.62928312e-01 1.10423035e-02 6.46123586e+01] [-7.62823758e-01 6.46483043e-01 1.26329155e-02 -1.73420883e+02] [-1.67766709e-02 -2.57556556e-04 -9.99859229e-01 -3.98290695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.906559995 meters 0.013638088166831982 Centerline is valid? [True, True] Translation: X:64.54, Y:-173.48, Z:-3.98 [[-5.88829879e-01 -8.08191979e-01 1.02517261e-02 6.45364653e+01] [-8.08076089e-01 5.88919073e-01 1.36879625e-02 -1.73475987e+02] [-1.70999386e-02 -2.24293410e-04 -9.99853760e-01 -3.98345562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1320.9665599950001 meters 0.013338613261170617 Centerline is valid? [True, True] Translation: X:64.46, Y:-173.54, Z:-3.99 [[-5.28322353e-01 -8.49005910e-01 8.02844371e-03 6.44618389e+01] [-8.48912353e-01 5.28383327e-01 1.26046705e-02 -1.73540451e+02] [-1.49435356e-02 -1.56115843e-04 -9.99888327e-01 -3.98525378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.026559995 meters 0.013123621474083904 Centerline is valid? [True, True] Translation: X:64.39, Y:-173.61, Z:-3.99 [[-4.63339210e-01 -8.86160247e-01 6.06579280e-03 6.43881730e+01] [-8.86087738e-01 4.63378897e-01 1.13366023e-02 -1.73614688e+02] [-1.28568067e-02 -1.22132260e-04 -9.99917340e-01 -3.98733998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.086559995 meters 0.01308337471006364 Centerline is valid? [True, True] Translation: X:64.32, Y:-173.69, Z:-3.99 [[-3.95226219e-01 -9.18571705e-01 4.71785256e-03 6.43169570e+01] [-9.18509412e-01 3.95254363e-01 1.06980674e-02 -1.73694418e+02] [-1.16916938e-02 -1.05235261e-04 -9.99931644e-01 -3.98772752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.146559995 meters 0.013123788819564672 Centerline is valid? [True, True] Translation: X:64.25, Y:-173.78, Z:-3.99 [[-3.23982176e-01 -9.46055346e-01 3.85118229e-03 6.42526113e+01] [-9.45992377e-01 3.24005047e-01 1.09157325e-02 -1.73781835e+02] [-1.15746896e-02 -1.06686329e-04 -9.99933005e-01 -3.98755623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.2065599950001 meters 0.01308836109507612 Centerline is valid? [True, True] Translation: X:64.20, Y:-173.88, Z:-3.99 [[-2.50719730e-01 -9.68055037e-01 3.01051273e-03 6.41952279e+01] [-9.67990417e-01 2.50737780e-01 1.11856339e-02 -1.73875556e+02] [-1.15831585e-02 -1.09688368e-04 -9.99932907e-01 -3.98782772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.266559995 meters 0.013227699039718217 Centerline is valid? [True, True] Translation: X:64.14, Y:-173.98, Z:-3.99 [[-1.76289034e-01 -9.84335934e-01 2.22382856e-03 6.41441043e+01] [-9.84265498e-01 1.76303024e-01 1.17759293e-02 -1.73976580e+02] [-1.19835381e-02 -1.12870520e-04 -9.99928189e-01 -3.98700428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.326559995 meters 0.012902798312575571 Centerline is valid? [True, True] Translation: X:64.10, Y:-174.08, Z:-3.99 [[-1.01894426e-01 -9.94794348e-01 1.31558472e-03 6.41029254e+01] [-9.94723328e-01 1.01902872e-01 1.18871798e-02 -1.74083162e+02] [-1.19593611e-02 -9.74054547e-05 -9.99928480e-01 -3.98890286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.386559995 meters 0.012623172531912722 Centerline is valid? [True, True] Translation: X:64.07, Y:-174.19, Z:-3.99 [[-2.68350530e-02 -9.99639810e-01 3.62175986e-04 6.40698409e+01] [-9.99582032e-01 2.68373959e-02 1.07478220e-02 -1.74191644e+02] [-1.07536706e-02 -7.36062363e-05 -9.99942175e-01 -3.99141420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.4465599950001 meters 0.012596374778431969 Centerline is valid? [True, True] Translation: X:64.04, Y:-174.31, Z:-3.99 [[ 4.88949515e-02 -9.98803873e-01 -3.26278897e-04 6.40429758e+01] [-9.98774877e-01 -4.88960182e-02 7.61079134e-03 -1.74307506e+02] [-7.61764160e-03 -4.62501078e-05 -9.99970984e-01 -3.99454610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.506559995 meters 0.012483301848421275 Centerline is valid? [True, True] Translation: X:64.02, Y:-174.42, Z:-4.00 [[ 1.24870354e-01 -9.92172889e-01 -5.93728713e-04 6.40243946e+01] [-9.92160529e-01 -1.24871763e-01 4.95250020e-03 -1.74421489e+02] [-4.98787638e-03 -2.93462615e-05 -9.99987560e-01 -3.99762914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.566559995 meters 0.012607614160206001 Centerline is valid? [True, True] Translation: X:64.01, Y:-174.54, Z:-4.00 [[ 2.00895873e-01 -9.79612550e-01 -3.17873545e-04 6.40125563e+01] [-9.79611234e-01 -2.00896124e-01 1.60557689e-03 -1.74538081e+02] [-1.63670284e-03 -1.11612760e-05 -9.99998661e-01 -4.00043540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.626559995 meters 0.012856657773450244 Centerline is valid? [True, True] Translation: X:64.01, Y:-174.65, Z:-4.00 [[ 2.76565906e-01 -9.60994919e-01 -2.54101520e-04 6.40085822e+01] [-9.60994486e-01 -2.76566022e-01 9.12513872e-04 -1.74650713e+02] [-9.47197043e-04 -8.18006632e-06 -9.99999551e-01 -4.00055856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.6865599950002 meters 0.013456246108272153 Centerline is valid? [True, True] Translation: X:64.01, Y:-174.77, Z:-4.00 [[ 3.51944576e-01 -9.36020632e-01 -6.25442801e-04 6.40126533e+01] [-9.36019048e-01 -3.51945132e-01 1.72201819e-03 -1.74768606e+02] [-1.83196610e-03 -2.06285869e-05 -9.99998322e-01 -4.00026635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.746559995 meters 0.013590008750352729 Centerline is valid? [True, True] Translation: X:64.03, Y:-174.89, Z:-4.00 [[ 4.24108301e-01 -9.05610410e-01 -1.39069309e-03 6.40265851e+01] [-9.05605197e-01 -4.24110579e-01 3.07323336e-03 -1.74885379e+02] [-3.37295978e-03 -4.39648943e-05 -9.99994311e-01 -3.99903291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.806559995 meters 0.013592040570859075 Centerline is valid? [True, True] Translation: X:64.05, Y:-175.00, Z:-4.00 [[ 4.93192767e-01 -8.69917445e-01 -2.12907767e-03 6.40479304e+01] [-8.69908767e-01 -4.93197358e-01 3.88630878e-03 -1.74998991e+02] [-4.43082329e-03 -6.45960467e-05 -9.99990182e-01 -3.99807695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.866559995 meters 0.014019020989465789 Centerline is valid? [True, True] Translation: X:64.08, Y:-175.11, Z:-4.00 [[ 5.57889489e-01 -8.29911495e-01 -2.49572531e-03 6.40779622e+01] [-8.29902651e-01 -5.57895067e-01 3.83188179e-03 -1.75105768e+02] [-4.57247558e-03 -6.65575253e-05 -9.99989544e-01 -3.99796686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.926559995 meters 0.013655584126180224 Centerline is valid? [True, True] Translation: X:64.11, Y:-175.20, Z:-4.00 [[ 6.18384293e-01 -7.85874554e-01 -1.43262516e-03 6.41127381e+01] [-7.85872324e-01 -6.18385951e-01 1.87243180e-03 -1.75202285e+02] [-2.35741178e-03 -3.20219532e-05 -9.99997221e-01 -4.00058318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1321.986559995 meters 0.013706282699891277 Centerline is valid? [True, True] Translation: X:64.16, Y:-175.30, Z:-4.00 [[ 6.75554430e-01 -7.37309566e-01 -9.02849556e-04 6.41559032e+01] [-7.37308873e-01 -6.75555033e-01 1.01158700e-03 -1.75299719e+02] [-1.35577733e-03 -1.77030912e-05 -9.99999081e-01 -4.00131235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.046559995 meters 0.013631916068133215 Centerline is valid? [True, True] Translation: X:64.20, Y:-175.39, Z:-4.00 [[ 7.29081491e-01 -6.84425466e-01 -1.40051034e-03 6.42041017e+01] [-6.84424139e-01 -7.29082835e-01 1.34804189e-03 -1.75390388e+02] [-1.94372225e-03 -2.42893068e-05 -9.99998111e-01 -4.00065596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.106559995 meters 0.013566538750367096 Centerline is valid? [True, True] Translation: X:64.23, Y:-175.42, Z:-4.00 [[ 7.80425269e-01 -6.25240109e-01 -3.34743895e-03 6.42275498e+01] [-6.25234061e-01 -7.80432446e-01 2.75062900e-03 -1.75422872e+02] [-4.33225355e-03 -5.37275330e-05 -9.99990614e-01 -3.99899127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.166559995 meters 0.013313607685658788 Centerline is valid? [True, True] Translation: X:64.25, Y:-175.46, Z:-4.00 [[ 8.26704060e-01 -5.62614456e-01 -5.03690456e-03 6.42515808e+01] [-5.62603468e-01 -8.26719401e-01 3.51704571e-03 -1.75455781e+02] [-6.14284748e-03 -7.37759914e-05 -9.99981130e-01 -3.99729579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.2265599950001 meters 0.013079888661070876 Centerline is valid? [True, True] Translation: X:64.28, Y:-175.49, Z:-4.00 [[ 8.67616144e-01 -4.97197504e-01 -6.07195626e-03 6.42784641e+01] [-4.97184706e-01 -8.67637388e-01 3.56810151e-03 -1.75485565e+02] [-7.04230744e-03 -7.68586865e-05 -9.99975200e-01 -3.99683927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.286559995 meters 0.01295274395022429 Centerline is valid? [True, True] Translation: X:64.31, Y:-175.51, Z:-4.00 [[ 9.02907410e-01 -4.29788144e-01 -6.35298380e-03 6.43098680e+01] [-4.29777020e-01 -9.02929758e-01 3.09280492e-03 -1.75510578e+02] [-7.06554902e-03 -6.21500342e-05 -9.99975037e-01 -3.99691519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.346559995 meters 0.012478922009155888 Centerline is valid? [True, True] Translation: X:64.34, Y:-175.54, Z:-4.00 [[ 9.32031953e-01 -3.62312645e-01 -6.78133415e-03 6.43415189e+01] [-3.62302825e-01 -9.32056622e-01 2.66777771e-03 -1.75535628e+02] [-7.28715700e-03 -2.95575456e-05 -9.99973448e-01 -3.99683677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.406559995 meters 0.012441435079271269 Centerline is valid? [True, True] Translation: X:64.38, Y:-175.56, Z:-4.00 [[ 9.56399060e-01 -2.91983490e-01 -6.81760456e-03 6.43750181e+01] [-2.91976059e-01 -9.56423359e-01 2.08314157e-03 -1.75555829e+02] [-7.12875920e-03 -1.73732077e-06 -9.99974590e-01 -3.99675467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.4665599950001 meters 0.012433136993324946 Centerline is valid? [True, True] Translation: X:64.41, Y:-175.57, Z:-4.00 [[ 9.75601952e-01 -2.19484557e-01 -5.23076213e-03 6.44109074e+01] [-2.19481490e-01 -9.75615974e-01 1.16043824e-03 -1.75572521e+02] [-5.35791336e-03 1.59296554e-05 -9.99985646e-01 -3.99857998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.526559995 meters 0.012614763987899914 Centerline is valid? [True, True] Translation: X:64.45, Y:-175.59, Z:-4.00 [[ 9.89440758e-01 -1.44832662e-01 -5.52146864e-03 6.44464465e+01] [-1.44830573e-01 -9.89456163e-01 7.78567130e-04 -1.75587427e+02] [-5.57601313e-03 2.93314140e-05 -9.99984454e-01 -3.99856135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.586559995 meters 0.012620394950776563 Centerline is valid? [True, True] Translation: X:64.48, Y:-175.60, Z:-4.00 [[ 9.97770597e-01 -6.63510517e-02 -7.16759729e-03 6.44806777e+01] [-6.63495832e-02 -9.97796340e-01 4.42730743e-04 -1.75601898e+02] [-7.18117800e-03 3.38233757e-05 -9.99974215e-01 -3.99626268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.646559995 meters 0.012857294133764843 Centerline is valid? [True, True] Translation: X:64.51, Y:-175.61, Z:-3.99 [[ 9.99861615e-01 1.31248666e-02 -1.02219889e-02 6.45148358e+01] [ 1.31238081e-02 -9.99913865e-01 -1.70617632e-04 -1.75610628e+02] [-1.02233478e-02 3.64425996e-05 -9.99947740e-01 -3.99296032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.7065599950001 meters 0.012964158717459687 Centerline is valid? [True, True] Translation: X:64.55, Y:-175.62, Z:-3.99 [[ 9.95755105e-01 9.13980424e-02 -1.08705907e-02 6.45510412e+01] [ 9.13921712e-02 -9.95814439e-01 -1.03667620e-03 -1.75617852e+02] [-1.09198413e-02 3.87887366e-05 -9.99940376e-01 -3.99253085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.766559995 meters 0.012863715407455146 Centerline is valid? [True, True] Translation: X:64.59, Y:-175.63, Z:-3.99 [[ 9.85692903e-01 1.68303565e-01 -9.13291177e-03 6.45890374e+01] [ 1.68295964e-01 -9.85735212e-01 -1.60012366e-03 -1.75625534e+02] [-9.27193924e-03 4.01983509e-05 -9.99957014e-01 -3.99464870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.826559995 meters 0.012775940499386282 Centerline is valid? [True, True] Translation: X:64.63, Y:-175.63, Z:-4.00 [[ 9.69686816e-01 2.44256355e-01 -6.80532599e-03 6.46257454e+01] [ 2.44250083e-01 -9.69710695e-01 -1.75076235e-03 -1.75626952e+02] [-7.02683222e-03 3.54897301e-05 -9.99975311e-01 -3.99629380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.886559995 meters 0.012828031619594801 Centerline is valid? [True, True] Translation: X:64.66, Y:-175.63, Z:-4.00 [[ 9.47988725e-01 3.18282466e-01 -3.69458902e-03 6.46638249e+01] [ 3.18279949e-01 -9.47995924e-01 -1.26593798e-03 -1.75625291e+02] [-3.90538120e-03 2.41813212e-05 -9.99992374e-01 -3.99892917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1322.9465599950001 meters 0.012730827421032626 Centerline is valid? [True, True] Translation: X:64.70, Y:-175.62, Z:-4.00 [[ 9.19619224e-01 3.92794895e-01 -3.55721680e-03 6.47016771e+01] [ 3.92791877e-01 -9.19626104e-01 -1.53981639e-03 -1.75622822e+02] [-3.87614144e-03 1.87988937e-05 -9.99992488e-01 -3.99843376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.006559995 meters 0.012667926156621007 Centerline is valid? [True, True] Translation: X:64.74, Y:-175.62, Z:-4.00 [[ 8.82536220e-01 4.70217755e-01 -5.00843606e-03 6.47411142e+01] [ 4.70210278e-01 -8.82550431e-01 -2.65164722e-03 -1.75621131e+02] [-5.66704901e-03 -1.48434001e-05 -9.99983942e-01 -3.99574882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.066559995 meters 0.01287694046832213 Centerline is valid? [True, True] Translation: X:64.78, Y:-175.61, Z:-4.00 [[ 8.41066025e-01 5.40907214e-01 -5.22756550e-03 6.47792479e+01] [ 5.40897050e-01 -8.41082270e-01 -3.31603116e-03 -1.75612140e+02] [-6.19047783e-03 -3.85736122e-05 -9.99980838e-01 -3.99519122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.126559995 meters 0.014666977833600603 Centerline is valid? [True, True] Translation: X:64.82, Y:-175.60, Z:-3.99 [[ 7.89534613e-01 6.13669172e-01 -6.72621035e-03 6.48194102e+01] [ 6.13648435e-01 -7.89563251e-01 -5.04685805e-03 -1.75603460e+02] [-8.40786971e-03 -1.42859339e-04 -9.99964643e-01 -3.99347643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.1865599950002 meters 0.017119811887946416 Centerline is valid? [True, True] Translation: X:64.85, Y:-175.59, Z:-3.99 [[ 7.34916791e-01 6.78119642e-01 -7.14566079e-03 6.48548522e+01] [ 6.78090468e-01 -7.34951497e-01 -6.29401210e-03 -1.75587576e+02] [-9.51980733e-03 -2.19829291e-04 -9.99954662e-01 -3.99141866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.246559995 meters 0.017663236240184507 Centerline is valid? [True, True] Translation: X:64.89, Y:-175.56, Z:-3.99 [[ 6.77121177e-01 7.35849440e-01 -5.70208330e-03 6.48867184e+01] [ 7.35826007e-01 -6.77145150e-01 -5.87653322e-03 -1.75564822e+02] [-8.18538173e-03 -2.16616094e-04 -9.99966476e-01 -3.99253151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.306559995 meters 0.01759041068604547 Centerline is valid? [True, True] Translation: X:64.91, Y:-175.54, Z:-3.99 [[ 6.18098229e-01 7.86094542e-01 -3.15446535e-03 6.49123638e+01] [ 7.86085336e-01 -6.18106265e-01 -3.80648211e-03 -1.75536595e+02] [-4.94204961e-03 -1.26899099e-04 -9.99987780e-01 -3.99497546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.366559995 meters 0.016059434680545874 Centerline is valid? [True, True] Translation: X:64.94, Y:-175.51, Z:-4.00 [[ 5.56027220e-01 8.31159930e-01 -2.62705934e-03 6.49367319e+01] [ 8.31151568e-01 -5.56033416e-01 -3.72988202e-03 -1.75508261e+02] [-4.56086126e-03 -1.09568558e-04 -9.99989593e-01 -3.99548524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.426559995 meters 0.016906962885793502 Centerline is valid? [True, True] Translation: X:64.96, Y:-175.48, Z:-3.99 [[ 4.89271228e-01 8.72127691e-01 -2.63737263e-03 6.49578211e+01] [ 8.72116359e-01 -4.89278320e-01 -4.44771000e-03 -1.75479134e+02] [-5.16938030e-03 -1.23959287e-04 -9.99986631e-01 -3.99423149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.486559995 meters 0.016693482048240626 Centerline is valid? [True, True] Translation: X:64.98, Y:-175.45, Z:-3.99 [[ 4.18224184e-01 9.08340535e-01 -2.45019138e-03 6.49775629e+01] [ 9.08326867e-01 -4.18231338e-01 -4.98514627e-03 -1.75448829e+02] [-5.55295725e-03 -1.40665929e-04 -9.99984572e-01 -3.99443554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.546559995 meters 0.0199288077359965 Centerline is valid? [True, True] Translation: X:65.00, Y:-175.42, Z:-3.99 [[ 3.41588173e-01 9.39846823e-01 -2.33862491e-03 6.49980450e+01] [ 9.39828434e-01 -3.41596127e-01 -5.88230684e-03 -1.75419226e+02] [-6.32733261e-03 -1.88579740e-04 -9.99979965e-01 -3.99232000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.606559995 meters 0.021229212976887995 Centerline is valid? [True, True] Translation: X:65.01, Y:-175.39, Z:-3.99 [[ 2.64838946e-01 9.64290671e-01 -1.95808530e-03 6.50083901e+01] [ 9.64269921e-01 -2.64846100e-01 -6.32946100e-03 -1.75385458e+02] [-6.62203145e-03 -2.11834982e-04 -9.99978052e-01 -3.99139449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.666559995 meters 0.019129127085540657 Centerline is valid? [True, True] Translation: X:65.02, Y:-175.35, Z:-3.99 [[ 1.88614025e-01 9.82050397e-01 -1.32919974e-03 6.50151275e+01] [ 9.82032700e-01 -1.88618610e-01 -5.89875780e-03 -1.75350785e+02] [-6.04358925e-03 -1.92729161e-04 -9.99981719e-01 -3.99245526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.7265599950001 meters 0.017984230941270052 Centerline is valid? [True, True] Translation: X:65.02, Y:-175.32, Z:-3.99 [[ 1.14044064e-01 9.93475270e-01 -9.16222072e-04 6.50168798e+01] [ 9.93454976e-01 -1.14047593e-01 -6.35270270e-03 -1.75315928e+02] [-6.41574596e-03 -1.85737342e-04 -9.99979402e-01 -3.99213638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.786559995 meters 0.017061262433336163 Centerline is valid? [True, True] Translation: X:65.01, Y:-175.28, Z:-3.99 [[ 4.06822749e-02 9.99172016e-01 -4.85817629e-04 6.50143139e+01] [ 9.99144005e-01 -4.06847732e-02 -7.48371728e-03 -1.75283088e+02] [-7.49728626e-03 -1.80947128e-04 -9.99971879e-01 -3.99044576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.846559995 meters 0.015687923729686415 Centerline is valid? [True, True] Translation: X:65.01, Y:-175.25, Z:-3.99 [[-3.48471816e-02 9.99392647e-01 1.04918307e-04 6.50118014e+01] [ 9.99362883e-01 3.48469537e-02 -7.71473752e-03 -1.75250450e+02] [-7.71370804e-03 -1.63985398e-04 -9.99970236e-01 -3.99054020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.906559995 meters 0.01423089337695368 Centerline is valid? [True, True] Translation: X:65.01, Y:-175.22, Z:-3.99 [[-1.09890832e-01 9.93943432e-01 6.77395663e-04 6.50120370e+01] [ 9.93916306e-01 1.09892838e-01 -7.34440037e-03 -1.75218785e+02] [-7.37435945e-03 -1.33807672e-04 -9.99972800e-01 -3.99127164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1323.9665599950001 meters 0.013587134219323551 Centerline is valid? [True, True] Translation: X:65.01, Y:-175.19, Z:-3.99 [[-1.81539471e-01 9.83383010e-01 1.12963313e-03 6.50078362e+01] [ 9.83361090e-01 1.81542967e-01 -6.56644297e-03 -1.75188586e+02] [-6.66240540e-03 -8.12313139e-05 -9.99977803e-01 -3.99081588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.026559995 meters 0.01295862014599077 Centerline is valid? [True, True] Translation: X:65.01, Y:-175.16, Z:-3.99 [[-2.54490280e-01 9.67073950e-01 1.63457382e-03 6.50053921e+01] [ 9.67052546e-01 2.54495523e-01 -6.43444400e-03 -1.75157635e+02] [-6.63857490e-03 -5.67846768e-05 -9.99977963e-01 -3.99098641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.086559995 meters 0.013161949660090393 Centerline is valid? [True, True] Translation: X:65.01, Y:-175.13, Z:-3.99 [[-3.30344265e-01 9.43858014e-01 2.17182145e-03 6.50081140e+01] [ 9.43836324e-01 3.30351398e-01 -6.39901264e-03 -1.75125674e+02] [-6.75722361e-03 -6.40331518e-05 -9.99977168e-01 -3.99006701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.146559995 meters 0.01326183195103874 Centerline is valid? [True, True] Translation: X:65.01, Y:-175.09, Z:-3.99 [[-4.03352450e-01 9.15038880e-01 3.26333582e-03 6.50056851e+01] [ 9.15007325e-01 4.03365643e-01 -7.59951633e-03 -1.75093421e+02] [-8.27017046e-03 -7.93073488e-05 -9.99965799e-01 -3.98936576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.2065599950001 meters 0.012991441152741057 Centerline is valid? [True, True] Translation: X:65.00, Y:-175.06, Z:-3.99 [[-4.71427235e-01 8.81894960e-01 4.20011992e-03 6.49974581e+01] [ 8.81858770e-01 4.71445941e-01 -7.98962798e-03 -1.75063421e+02] [-9.02614213e-03 -6.26156455e-05 -9.99959262e-01 -3.98907476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.266559995 meters 0.012649239399052964 Centerline is valid? [True, True] Translation: X:64.99, Y:-175.03, Z:-3.99 [[-5.36160487e-01 8.44104504e-01 4.41805365e-03 6.49886656e+01] [ 8.44075396e-01 5.36178689e-01 -7.01002595e-03 -1.75033518e+02] [-8.28606068e-03 -2.93285467e-05 -9.99965670e-01 -3.98962037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.326559995 meters 0.012613225738424556 Centerline is valid? [True, True] Translation: X:64.98, Y:-175.00, Z:-3.99 [[-5.97702496e-01 8.01704346e-01 4.67630729e-03 6.49776300e+01] [ 8.01679822e-01 5.97720789e-01 -6.27070599e-03 -1.75003578e+02] [-7.82237833e-03 8.84578489e-07 -9.99969405e-01 -3.98974195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.386559995 meters 0.012950876076692992 Centerline is valid? [True, True] Translation: X:64.96, Y:-174.98, Z:-3.99 [[-6.54864243e-01 7.55734877e-01 4.19750342e-03 6.49639060e+01] [ 7.55719674e-01 6.54877694e-01 -4.79377112e-03 -1.74975513e+02] [-6.37167139e-03 3.28666223e-05 -9.99979700e-01 -3.99123037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.4465599950001 meters 0.014735592122901478 Centerline is valid? [True, True] Translation: X:64.95, Y:-174.95, Z:-3.99 [[-7.09341057e-01 7.04859925e-01 2.78417288e-03 6.49485924e+01] [ 7.04854686e-01 7.09346520e-01 -2.71772762e-03 -1.74947680e+02] [-3.89056063e-03 3.46415259e-05 -9.99992431e-01 -3.99218492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.506559995 meters 0.013240865688615797 Centerline is valid? [True, True] Translation: X:64.97, Y:-174.93, Z:-3.99 [[-7.57357937e-01 6.52995800e-01 2.33268292e-03 6.49658033e+01] [ 6.52992813e-01 7.57361528e-01 -1.97518115e-03 -1.74926250e+02] [-3.05646930e-03 2.73060604e-05 -9.99995329e-01 -3.99410766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.566559995 meters 0.012862332401658785 Centerline is valid? [True, True] Translation: X:64.99, Y:-174.90, Z:-3.99 [[-8.02737974e-01 5.96323216e-01 3.21991585e-03 6.49890355e+01] [ 5.96318554e-01 8.02744431e-01 -2.35814364e-03 -1.74904734e+02] [-3.99098532e-03 2.71241175e-05 -9.99992036e-01 -3.99225278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.626559995 meters 0.01299170519265521 Centerline is valid? [True, True] Translation: X:65.00, Y:-174.88, Z:-3.99 [[-8.43793332e-01 5.36643177e-01 5.18782690e-03 6.50008496e+01] [ 5.36633269e-01 8.43809279e-01 -3.26111975e-03 -1.74878382e+02] [-6.12759414e-03 3.22494111e-05 -9.99981226e-01 -3.98913743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.6865599950002 meters 0.013010226855634925 Centerline is valid? [True, True] Translation: X:65.34, Y:-174.34, Z:-5.06 [[-8.11009391e-01 -5.84997000e-01 6.50216567e-03 6.53373226e+01] [ 5.84978907e-01 -8.11035452e-01 -4.60154157e-03 -1.74341206e+02] [ 7.96537489e-03 7.17363398e-05 9.99968273e-01 -5.05744956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.746559995 meters 0.012868757202969297 Centerline is valid? [True, True] Translation: X:64.96, Y:-174.85, Z:-3.99 [[-8.48669671e-01 5.28872615e-01 7.31759078e-03 6.49639380e+01] [ 5.28852925e-01 8.48701218e-01 -4.56361713e-03 -1.74849096e+02] [-8.62402033e-03 -3.07416088e-06 -9.99962813e-01 -3.98552045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.806559995 meters 0.012735001320130451 Centerline is valid? [True, True] Translation: X:64.98, Y:-174.82, Z:-3.99 [[-8.85609572e-01 4.64377921e-01 6.98799022e-03 6.49760932e+01] [ 4.64363195e-01 8.85637141e-01 -3.69826860e-03 -1.74822212e+02] [-7.90621796e-03 -3.02566099e-05 -9.99968745e-01 -3.98740321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.866559995 meters 0.012944600087318252 Centerline is valid? [True, True] Translation: X:64.99, Y:-174.80, Z:-3.99 [[-9.17658284e-01 3.97299358e-01 7.51617234e-03 6.49902260e+01] [ 3.97285459e-01 9.17689063e-01 -3.32393074e-03 -1.74795244e+02] [-8.21810470e-03 -6.41666047e-05 -9.99966229e-01 -3.98669178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.926559995 meters 0.013311530864505363 Centerline is valid? [True, True] Translation: X:65.00, Y:-174.77, Z:-3.98 [[-9.44072290e-01 3.29622685e-01 8.74054698e-03 6.49962043e+01] [ 3.29607683e-01 9.44112746e-01 -3.14607372e-03 -1.74767630e+02] [-9.28907908e-03 -8.91695852e-05 -9.99956852e-01 -3.98476802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1324.986559995 meters 0.013458741010841782 Centerline is valid? [True, True] Translation: X:65.00, Y:-174.74, Z:-3.98 [[-9.65447364e-01 2.60394606e-01 1.02973712e-02 6.49984434e+01] [ 2.60378477e-01 9.65502271e-01 -2.90061162e-03 -1.74740285e+02] [-1.06974389e-02 -1.19174016e-04 -9.99942774e-01 -3.98300451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.046559995 meters 0.013966671210210472 Centerline is valid? [True, True] Translation: X:65.00, Y:-174.71, Z:-3.98 [[-9.81886183e-01 1.89053138e-01 1.25870600e-02 6.50008304e+01] [ 1.89035360e-01 9.81966844e-01 -2.59825383e-03 -1.74713538e+02] [-1.28512836e-02 -1.71790119e-04 -9.99917404e-01 -3.98070879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.106559995 meters 0.014801574336541152 Centerline is valid? [True, True] Translation: X:65.00, Y:-174.69, Z:-3.98 [[-9.93163765e-01 1.15834167e-01 1.44285252e-02 6.50015272e+01] [ 1.15818429e-01 9.93268538e-01 -1.92442196e-03 -1.74685333e+02] [-1.45543139e-02 -2.40177040e-04 -9.99894052e-01 -3.97887589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.166559995 meters 0.015034839508136407 Centerline is valid? [True, True] Translation: X:65.00, Y:-174.66, Z:-3.98 [[-9.99039892e-01 4.11415221e-02 1.50555486e-02 6.49976589e+01] [ 4.11321905e-02 9.99153281e-01 -9.29069152e-04 -1.74658772e+02] [-1.50810241e-02 -3.08909452e-04 -9.99886227e-01 -3.97954169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.2265599950001 meters 0.015584533167232925 Centerline is valid? [True, True] Translation: X:65.04, Y:-174.05, Z:-5.06 [[-9.88637900e-01 -1.49641826e-01 1.42276954e-02 6.50367944e+01] [ 1.49629915e-01 -9.88740241e-01 -1.90405324e-03 -1.74047807e+02] [ 1.43524209e-02 2.46469648e-04 9.99896968e-01 -5.06428402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.286559995 meters 0.014617241150773695 Centerline is valid? [True, True] Translation: X:64.95, Y:-174.66, Z:-3.98 [[-9.99150251e-01 3.89206376e-02 1.35631915e-02 6.49455633e+01] [ 3.89135975e-02 9.99242273e-01 -7.82677825e-04 -1.74660523e+02] [-1.35833766e-02 -2.54220172e-04 -9.99907709e-01 -3.98190465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.346559995 meters 0.013997395438666795 Centerline is valid? [True, True] Translation: X:64.95, Y:-174.64, Z:-3.98 [[-9.99543134e-01 -2.76246296e-02 1.22638600e-02 6.49461830e+01] [-2.76246835e-02 9.99618352e-01 1.65036720e-04 -1.74636169e+02] [-1.22637386e-02 -1.73823931e-04 -9.99924783e-01 -3.98266966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.406559995 meters 0.012552679228196268 Centerline is valid? [True, True] Translation: X:64.94, Y:-174.01, Z:-5.06 [[-9.98211212e-01 -5.90509691e-02 9.34660404e-03 6.49419670e+01] [ 5.90480946e-02 -9.98254969e-01 -5.83449888e-04 -1.74005553e+02] [ 9.36474721e-03 -3.05070603e-05 9.99956149e-01 -5.05878603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.4665599950001 meters 0.012351195757782658 Centerline is valid? [True, True] Translation: X:64.89, Y:-174.65, Z:-3.99 [[-9.99828406e-01 -1.70249313e-02 7.30133803e-03 6.48876531e+01] [-1.70244271e-02 9.99855065e-01 1.31208506e-04 -1.74648090e+02] [-7.30251363e-03 6.88489435e-06 -9.99973336e-01 -3.98731501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.526559995 meters 0.012780476716806474 Centerline is valid? [True, True] Translation: X:64.89, Y:-174.62, Z:-3.99 [[-9.96639608e-01 -8.16185097e-02 6.92169886e-03 6.48861936e+01] [-8.16161818e-02 9.96663643e-01 6.18591108e-04 -1.74623650e+02] [-6.94909409e-03 5.15897667e-05 -9.99975854e-01 -3.98770055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.586559995 meters 0.012982237482767387 Centerline is valid? [True, True] Translation: X:64.83, Y:-173.98, Z:-5.06 [[-9.99529203e-01 2.94406108e-02 8.63840855e-03 6.48291001e+01] [-2.94391022e-02 -9.99566530e-01 3.01768776e-04 -1.73977904e+02] [ 8.64354832e-03 4.73197123e-05 9.99962643e-01 -5.05879089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.646559995 meters 0.01279713724740484 Centerline is valid? [True, True] Translation: X:64.81, Y:-174.62, Z:-3.98 [[-9.95780823e-01 -9.09144911e-02 1.24542141e-02 6.48110922e+01] [-9.09069126e-02 9.95858702e-01 1.17444739e-03 -1.74620310e+02] [-1.25094118e-02 3.73180278e-05 -9.99921754e-01 -3.98322870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.7065599950001 meters 0.01289658335561458 Centerline is valid? [True, True] Translation: X:64.75, Y:-174.00, Z:-5.06 [[-9.99554233e-01 2.63067476e-02 1.41169969e-02 6.47512729e+01] [-2.63031373e-02 -9.99653915e-01 4.41387048e-04 -1.73997112e+02] [ 1.41237227e-02 6.98689851e-05 9.99900253e-01 -5.06230540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.766559995 meters 0.013115617238803048 Centerline is valid? [True, True] Translation: X:64.74, Y:-174.62, Z:-3.98 [[-9.94680097e-01 -1.01858316e-01 1.53749064e-02 6.47375839e+01] [-1.01846966e-01 9.94798915e-01 1.52145225e-03 -1.74615832e+02] [-1.54499127e-02 -5.25293059e-05 -9.99880642e-01 -3.98130069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.826559995 meters 0.012988464265882476 Centerline is valid? [True, True] Translation: X:64.67, Y:-174.01, Z:-5.06 [[-9.99500387e-01 2.81335391e-02 1.44041831e-02 6.46726017e+01] [-2.81308969e-02 -9.99604174e-01 3.86053235e-04 -1.74011535e+02] [ 1.44093425e-02 -1.93422298e-05 9.99896180e-01 -5.06090591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.886559995 meters 0.012711063823503404 Centerline is valid? [True, True] Translation: X:64.67, Y:-174.63, Z:-3.99 [[-9.94432753e-01 -1.04736235e-01 1.15680546e-02 6.46654507e+01] [-1.04729334e-01 9.94500036e-01 1.20247129e-03 -1.74625035e+02] [-1.16303730e-02 -1.57378148e-05 -9.99932365e-01 -3.98916461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1325.9465599950001 meters 0.012555570442016798 Centerline is valid? [True, True] Translation: X:64.65, Y:-174.60, Z:-3.99 [[-9.84616408e-01 -1.74543060e-01 8.07774265e-03 6.46543622e+01] [-1.74537228e-01 9.84649542e-01 1.42683254e-03 -1.74599824e+02] [-8.20278931e-03 -4.98407696e-06 -9.99966357e-01 -3.99256274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.006559995 meters 0.012544360915546001 Centerline is valid? [True, True] Translation: X:64.55, Y:-174.00, Z:-5.05 [[-9.94434349e-01 1.05271164e-01 4.27872649e-03 6.45473806e+01] [-1.05271331e-01 -9.94443519e-01 1.86765739e-04 -1.73997329e+02] [ 4.27461288e-03 -2.64700968e-04 9.99990829e-01 -5.04763709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.066559995 meters 0.012782885123913625 Centerline is valid? [True, True] Translation: X:64.57, Y:-174.61, Z:-4.00 [[-9.82929135e-01 -1.83947545e-01 3.68996725e-03 6.45709131e+01] [-1.83946316e-01 9.82936061e-01 6.72756282e-04 -1.74610883e+02] [-3.75075374e-03 -1.74841300e-05 -9.99992966e-01 -3.99715672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.126559995 meters 0.013526454271413276 Centerline is valid? [True, True] Translation: X:64.55, Y:-174.58, Z:-4.00 [[-9.65852944e-01 -2.59065412e-01 3.63363287e-03 6.45519931e+01] [-2.59063731e-01 9.65859778e-01 9.34081749e-04 -1.74582488e+02] [-3.75156811e-03 -3.91568811e-05 -9.99992962e-01 -3.99717901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.1865599950002 meters 0.013506795327214539 Centerline is valid? [True, True] Translation: X:64.53, Y:-174.56, Z:-4.00 [[-9.44118580e-01 -3.29565795e-01 5.14722902e-03 6.45259001e+01] [-3.29561298e-01 9.44132608e-01 1.72294281e-03 -1.74562543e+02] [-5.42748977e-03 -6.96651554e-05 -9.99985269e-01 -3.99658803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.246559995 meters 0.013397538094244297 Centerline is valid? [True, True] Translation: X:64.50, Y:-174.55, Z:-3.99 [[-9.18871826e-01 -3.94496167e-01 6.88057991e-03 6.44951368e+01] [-3.94485735e-01 9.18897583e-01 2.86995736e-03 -1.74546715e+02] [-7.45473542e-03 -7.71676639e-05 -9.99972210e-01 -3.99483412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.306559995 meters 0.012789120119762895 Centerline is valid? [True, True] Translation: X:64.44, Y:-174.54, Z:-3.99 [[-8.89474713e-01 -4.56918067e-01 7.78562544e-03 6.44426846e+01] [-4.56901113e-01 8.89508784e-01 3.93646457e-03 -1.74544477e+02] [-8.72402401e-03 -5.58752380e-05 -9.99961944e-01 -3.99386771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.366559995 meters 0.012481641077445243 Centerline is valid? [True, True] Translation: X:64.39, Y:-174.55, Z:-3.99 [[-8.57380387e-01 -5.14613956e-01 8.44675335e-03 6.43851437e+01] [-5.14588823e-01 8.57421994e-01 5.08595271e-03 -1.74553392e+02] [-9.85973434e-03 1.39912444e-05 -9.99951392e-01 -3.99370446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.426559995 meters 0.012764788416015669 Centerline is valid? [True, True] Translation: X:64.32, Y:-174.57, Z:-3.99 [[-8.19551849e-01 -5.72952045e-01 7.79240736e-03 6.43152921e+01] [-5.72925482e-01 8.19588891e-01 5.51734488e-03 -1.74571432e+02] [-9.54774454e-03 5.72814542e-05 -9.99954418e-01 -3.99457432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.486559995 meters 0.0130835168659487 Centerline is valid? [True, True] Translation: X:64.24, Y:-174.60, Z:-3.99 [[-7.75958132e-01 -6.30748584e-01 6.72314123e-03 6.42394945e+01] [-6.30724111e-01 7.75987254e-01 5.55673044e-03 -1.74597432e+02] [-8.72197176e-03 7.13428934e-05 -9.99961960e-01 -3.99449862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.546559995 meters 0.012723724804157151 Centerline is valid? [True, True] Translation: X:64.16, Y:-174.63, Z:-4.00 [[-7.25411503e-01 -6.88286959e-01 6.26209620e-03 6.41596962e+01] [-6.88260651e-01 7.25438529e-01 6.01799095e-03 -1.74629836e+02] [-8.68487054e-03 5.55654536e-05 -9.99962284e-01 -3.99539681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.606559995 meters 0.012367324637217883 Centerline is valid? [True, True] Translation: X:64.07, Y:-174.67, Z:-3.99 [[-6.66747076e-01 -7.45255242e-01 6.55452195e-03 6.40740211e+01] [-7.45219281e-01 6.66779292e-01 7.32112268e-03 -1.74672795e+02] [-9.82652456e-03 -3.21900216e-06 -9.99951719e-01 -3.99457715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.666559995 meters 0.01270747690183857 Centerline is valid? [True, True] Translation: X:63.99, Y:-174.73, Z:-3.99 [[-6.03563528e-01 -7.97288068e-01 6.54258072e-03 6.39874515e+01] [-7.97242564e-01 6.03598982e-01 8.51839614e-03 -1.74725896e+02] [-1.07407107e-02 -7.46306016e-05 -9.99942314e-01 -3.99324544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.7265599950001 meters 0.013835413861325287 Centerline is valid? [True, True] Translation: X:63.90, Y:-174.79, Z:-3.99 [[-5.36229993e-01 -8.44045919e-01 6.62422572e-03 6.39034502e+01] [-8.43985258e-01 5.36270882e-01 1.01205683e-02 -1.74787135e+02] [-1.20946037e-02 -1.63796606e-04 -9.99926844e-01 -3.99179183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.786559995 meters 0.014990768160104178 Centerline is valid? [True, True] Translation: X:63.82, Y:-174.86, Z:-3.99 [[-4.65949845e-01 -8.84786499e-01 6.60246271e-03 6.38248371e+01] [-8.84705510e-01 4.65996547e-01 1.19740992e-02 -1.74857397e+02] [-1.36712462e-02 -2.61905454e-04 -9.99906510e-01 -3.99056534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.846559995 meters 0.014928309288672928 Centerline is valid? [True, True] Translation: X:63.76, Y:-174.94, Z:-3.99 [[-3.98501410e-01 -9.17150510e-01 5.61864894e-03 6.37576566e+01] [-9.17067858e-01 3.98540943e-01 1.23150756e-02 -1.74935659e+02] [-1.35340395e-02 -2.45107368e-04 -9.99908381e-01 -3.99071903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.906559995 meters 0.014461563076078517 Centerline is valid? [True, True] Translation: X:63.70, Y:-175.02, Z:-3.99 [[-3.29069091e-01 -9.44295651e-01 4.38820514e-03 6.36957401e+01] [-9.44220090e-01 3.29098280e-01 1.19475348e-02 -1.75021223e+02] [-1.27261559e-02 -2.11867037e-04 -9.99918997e-01 -3.99185118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1326.9665599950001 meters 0.01352388876032284 Centerline is valid? [True, True] Translation: X:63.64, Y:-175.11, Z:-3.99 [[-2.60022395e-01 -9.65598762e-01 2.71743735e-03 6.36425460e+01] [-9.65550999e-01 2.60036563e-01 9.60486790e-03 -1.75114258e+02] [-9.98108162e-03 -1.26343601e-04 -9.99950180e-01 -3.99437833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.026559995 meters 0.012761978341882287 Centerline is valid? [True, True] Translation: X:63.60, Y:-175.21, Z:-3.99 [[-1.92215311e-01 -9.81351785e-01 1.39564791e-03 6.35965035e+01] [-9.81327468e-01 1.92220373e-01 6.90866692e-03 -1.75212189e+02] [-7.04810458e-03 -4.16360717e-05 -9.99975161e-01 -3.99496725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.086559995 meters 0.012283961987277518 Centerline is valid? [True, True] Translation: X:63.56, Y:-175.32, Z:-4.00 [[-1.18955643e-01 -9.92899222e-01 8.31053443e-04 6.35560315e+01] [-9.92876420e-01 1.18958544e-01 6.72907790e-03 -1.75318449e+02] [-6.78015712e-03 -2.46715775e-05 -9.99977014e-01 -3.99600864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.146559995 meters 0.012440665391818626 Centerline is valid? [True, True] Translation: X:63.52, Y:-175.43, Z:-3.99 [[-4.18048268e-02 -9.99125732e-01 3.57160473e-04 6.35203470e+01] [-9.99096104e-01 4.18063377e-02 7.69449706e-03 -1.75428701e+02] [-7.70270158e-03 -3.51705204e-05 -9.99970333e-01 -3.99458655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.2065599950001 meters 0.013036954633817889 Centerline is valid? [True, True] Translation: X:63.49, Y:-175.55, Z:-3.99 [[ 3.75470323e-02 -9.99294823e-01 -2.79421027e-04 6.34896642e+01] [-9.99251875e-01 -3.75480092e-02 9.26488890e-03 -1.75547770e+02] [-9.26884721e-03 -6.86570977e-05 -9.99957041e-01 -3.99179289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.266559995 meters 0.013785727626499272 Centerline is valid? [True, True] Translation: X:63.47, Y:-175.66, Z:-3.99 [[ 1.18762851e-01 -9.92921772e-01 -1.31903139e-03 6.34660161e+01] [-9.92845465e-01 -1.18770078e-01 1.23105863e-02 -1.75662860e+02] [-1.23801106e-02 -1.52445984e-04 -9.99923352e-01 -3.98889353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.326559995 meters 0.014017295663379158 Centerline is valid? [True, True] Translation: X:63.45, Y:-175.78, Z:-3.99 [[ 1.96371070e-01 -9.80526827e-01 -2.35473743e-03 6.34536129e+01] [-9.80444539e-01 -1.96385100e-01 1.27042987e-02 -1.75780069e+02] [-1.29193410e-02 -1.86067277e-04 -9.99916525e-01 -3.98866984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.386559995 meters 0.013989079325147563 Centerline is valid? [True, True] Translation: X:63.45, Y:-175.90, Z:-3.99 [[ 2.70668557e-01 -9.62667147e-01 -3.23968526e-03 6.34510133e+01] [-9.62589976e-01 -2.70687884e-01 1.21905055e-02 -1.75898326e+02] [-1.26123427e-02 -1.81097971e-04 -9.99920445e-01 -3.98876135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.4465599950001 meters 0.013016403644200087 Centerline is valid? [True, True] Translation: X:63.46, Y:-176.00, Z:-3.99 [[ 3.39400802e-01 -9.40634485e-01 -3.72318414e-03 6.34582009e+01] [-9.40574174e-01 -3.39421204e-01 1.06522047e-02 -1.76004679e+02] [-1.12835587e-02 -1.13435976e-04 -9.99936332e-01 -3.99001973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.506559995 meters 0.012499667666964772 Centerline is valid? [True, True] Translation: X:63.48, Y:-176.12, Z:-3.99 [[ 4.05866589e-01 -9.13923774e-01 -3.95575282e-03 6.34768517e+01] [-9.13879134e-01 -4.05885863e-01 9.03299378e-03 -1.76115904e+02] [-9.86105191e-03 -5.11104104e-05 -9.99951377e-01 -3.99122156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.566559995 meters 0.012497790943561352 Centerline is valid? [True, True] Translation: X:63.50, Y:-176.22, Z:-3.99 [[ 4.69110596e-01 -8.83131012e-01 -3.85557936e-03 6.35025671e+01] [-8.83101315e-01 -4.69126440e-01 7.24231384e-03 -1.76221984e+02] [-8.20466616e-03 7.42103977e-06 -9.99966341e-01 -3.99195328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.626559995 meters 0.012417535491117116 Centerline is valid? [True, True] Translation: X:63.53, Y:-176.33, Z:-3.99 [[ 5.33803909e-01 -8.45596733e-01 -4.42183512e-03 6.35331593e+01] [-8.45568030e-01 -5.33822222e-01 6.96718241e-03 -1.76328424e+02] [-8.25190053e-03 1.98532088e-05 -9.99965952e-01 -3.99193774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.6865599950002 meters 0.012518161282565271 Centerline is valid? [True, True] Translation: X:63.57, Y:-176.44, Z:-3.99 [[ 5.97083965e-01 -8.02159498e-01 -5.55685022e-03 6.35710882e+01] [-8.02125021e-01 -5.97109822e-01 7.43714346e-03 -1.76435113e+02] [-9.28382511e-03 1.66894953e-05 -9.99956904e-01 -3.99113114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.746559995 meters 0.012477579734609582 Centerline is valid? [True, True] Translation: X:63.62, Y:-176.53, Z:-3.99 [[ 6.57482457e-01 -7.53437181e-01 -7.01661799e-03 6.36156871e+01] [-7.53394313e-01 -6.57519897e-01 8.03707854e-03 -1.76534641e+02] [-1.06689997e-02 2.04194450e-06 -9.99943085e-01 -3.99122890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.806559995 meters 0.012540485048732748 Centerline is valid? [True, True] Translation: X:63.66, Y:-176.63, Z:-3.99 [[ 7.13986063e-01 -7.00117919e-01 -7.66818139e-03 6.36649695e+01] [-7.00077277e-01 -7.14027239e-01 7.54374330e-03 -1.76629743e+02] [-1.07568003e-02 -1.78080383e-05 -9.99942144e-01 -3.99063101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.866559995 meters 0.01252623311924785 Centerline is valid? [True, True] Translation: X:63.68, Y:-176.66, Z:-3.99 [[ 7.67687502e-01 -6.40779699e-01 -7.56817095e-03 6.36846794e+01] [-6.40748127e-01 -7.67724805e-01 6.36091863e-03 -1.76661079e+02] [-9.88622009e-03 -3.39063702e-05 -9.99951130e-01 -3.98963961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.926559995 meters 0.01268284460646217 Centerline is valid? [True, True] Translation: X:63.71, Y:-176.69, Z:-3.99 [[ 8.16449228e-01 -5.77365869e-01 -7.70139272e-03 6.37098049e+01] [-5.77339618e-01 -8.16485549e-01 5.50586478e-03 -1.76686835e+02] [-9.46697427e-03 -4.89399192e-05 -9.99955186e-01 -3.98979256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1327.986559995 meters 0.012901751447228911 Centerline is valid? [True, True] Translation: X:63.74, Y:-176.71, Z:-3.99 [[ 8.59702363e-01 -5.10733708e-01 -7.93260315e-03 6.37385015e+01] [-5.10711330e-01 -8.59738958e-01 4.78136606e-03 -1.76710770e+02] [-9.26197279e-03 -5.92813964e-05 -9.99957105e-01 -3.99056683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.046559995 meters 0.012827900114295495 Centerline is valid? [True, True] Translation: X:63.77, Y:-176.74, Z:-3.99 [[ 8.97621506e-01 -4.40694618e-01 -7.99281822e-03 6.37672257e+01] [-4.40676457e-01 -8.97657089e-01 4.00142913e-03 -1.76735320e+02] [-8.93821821e-03 -6.95220336e-05 -9.99960051e-01 -3.99226633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.106559995 meters 0.013165262182604423 Centerline is valid? [True, True] Translation: X:63.80, Y:-176.76, Z:-3.99 [[ 9.30183347e-01 -3.66981376e-01 -9.14383162e-03 6.37962865e+01] [-3.66962582e-01 -9.30228283e-01 3.71542938e-03 -1.76759927e+02] [-9.86934418e-03 -1.00586480e-04 -9.99951292e-01 -3.99145616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.166559995 meters 0.013867077042467436 Centerline is valid? [True, True] Translation: X:63.83, Y:-176.78, Z:-3.99 [[ 9.57401482e-01 -2.88548725e-01 -1.10469760e-02 6.38272317e+01] [-2.88527422e-01 -9.57465197e-01 3.51051992e-03 -1.76782045e+02] [-1.15900511e-02 -1.73621465e-04 -9.99932818e-01 -3.99138266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.2265599950001 meters 0.014810637941191234 Centerline is valid? [True, True] Translation: X:63.86, Y:-176.80, Z:-3.99 [[ 9.77660495e-01 -2.09812569e-01 -1.25953478e-02 6.38591149e+01] [-2.09792073e-01 -9.77741597e-01 2.94190035e-03 -1.76801140e+02] [-1.29322432e-02 -2.33775619e-04 -9.99916348e-01 -3.98980466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.286559995 meters 0.015649211352603744 Centerline is valid? [True, True] Translation: X:63.89, Y:-176.82, Z:-3.99 [[ 9.91385570e-01 -1.30331000e-01 -1.29800980e-02 6.38942770e+01] [-1.30316271e-01 -9.91470503e-01 1.97779069e-03 -1.76817203e+02] [-1.31271518e-02 -2.69235175e-04 -9.99913799e-01 -3.98916074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.346559995 meters 0.01571983610703138 Centerline is valid? [True, True] Translation: X:63.93, Y:-176.83, Z:-3.99 [[ 9.98662667e-01 -5.01714764e-02 -1.24780151e-02 6.39270532e+01] [-5.01640196e-02 -9.98740578e-01 9.10058428e-04 -1.76833150e+02] [-1.25079590e-02 -2.82893983e-04 -9.99921732e-01 -3.98963954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.406559995 meters 0.015153292551357835 Centerline is valid? [True, True] Translation: X:63.96, Y:-176.84, Z:-3.99 [[ 9.99626237e-01 2.45100142e-02 -1.21097710e-02 6.39604782e+01] [ 2.45109966e-02 -9.99699558e-01 -6.73051033e-05 -1.76838987e+02] [-1.21077823e-02 -2.29542608e-04 -9.99926672e-01 -3.98940274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.4665599950001 meters 0.014171450237999686 Centerline is valid? [True, True] Translation: X:63.99, Y:-176.84, Z:-3.99 [[ 9.95167620e-01 9.75359566e-02 -1.13201126e-02 6.39933096e+01] [ 9.75314354e-02 -9.95231989e-01 -9.52076677e-04 -1.76836361e+02] [-1.13589999e-02 -1.56590950e-04 -9.99935472e-01 -3.98952636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.526559995 meters 0.013302452283115825 Centerline is valid? [True, True] Translation: X:64.03, Y:-176.83, Z:-3.99 [[ 9.85311339e-01 1.70409127e-01 -1.10586743e-02 6.40264997e+01] [ 1.70399540e-01 -9.85373391e-01 -1.81043324e-03 -1.76830823e+02] [-1.12054377e-02 -1.00552603e-04 -9.99937212e-01 -3.98945765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.586559995 meters 0.01294621932851319 Centerline is valid? [True, True] Translation: X:64.06, Y:-176.83, Z:-3.99 [[ 9.69745242e-01 2.43896830e-01 -1.04164399e-02 6.40603409e+01] [ 2.43883439e-01 -9.69801182e-01 -2.55646626e-03 -1.76831881e+02] [-1.07253897e-02 -6.12761859e-05 -9.99942480e-01 -3.98960725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.646559995 meters 0.012833945080506986 Centerline is valid? [True, True] Translation: X:64.09, Y:-176.83, Z:-3.99 [[ 9.49003433e-01 3.14973062e-01 -1.35814190e-02 6.40946965e+01] [ 3.14941108e-01 -9.49100611e-01 -4.48650714e-03 -1.76832760e+02] [-1.43032620e-02 -1.96364774e-05 -9.99897703e-01 -3.98711864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.7065599950001 meters 0.013060630149882594 Centerline is valid? [True, True] Translation: X:64.13, Y:-176.83, Z:-3.99 [[ 9.22829015e-01 3.84935563e-01 -1.45334915e-02 6.41281973e+01] [ 3.84887221e-01 -9.22943450e-01 -6.10049281e-03 -1.76826588e+02] [-1.57618874e-02 3.59566010e-05 -9.99875773e-01 -3.98708986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.766559995 meters 0.01385294456062528 Centerline is valid? [True, True] Translation: X:64.16, Y:-176.82, Z:-3.98 [[ 8.90652070e-01 4.54474790e-01 -1.38403362e-02 6.41595625e+01] [ 4.54418843e-01 -8.90759598e-01 -7.13118245e-03 -1.76817845e+02] [-1.55693550e-02 6.20928179e-05 -9.99878788e-01 -3.98470455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.826559995 meters 0.013454273806857557 Centerline is valid? [True, True] Translation: X:64.19, Y:-176.81, Z:-3.99 [[ 8.54687156e-01 5.19025208e-01 -1.10769666e-02 6.41924494e+01] [ 5.18979954e-01 -8.54758926e-01 -6.85460348e-03 -1.76810292e+02] [-1.30258481e-02 1.09817922e-04 -9.99915154e-01 -3.99014419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.886559995 meters 0.01376019612185496 Centerline is valid? [True, True] Translation: X:64.22, Y:-176.80, Z:-3.99 [[ 8.12609300e-01 5.82734656e-01 -9.29765749e-03 6.42244061e+01] [ 5.82694818e-01 -8.12662480e-01 -6.81486031e-03 -1.76799220e+02] [-1.15271127e-02 1.20122030e-04 -9.99933554e-01 -3.99116486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1328.9465599950001 meters 0.013748163926192165 Centerline is valid? [True, True] Translation: X:64.26, Y:-176.79, Z:-3.99 [[ 7.64208989e-01 6.44922662e-01 -7.70598115e-03 6.42553486e+01] [ 6.44888533e-01 -7.64247833e-01 -6.63548849e-03 -1.76787198e+02] [-1.01686563e-02 1.01401066e-04 -9.99948293e-01 -3.99098608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.006559995 meters 0.013431104077189277 Centerline is valid? [True, True] Translation: X:64.28, Y:-176.77, Z:-3.99 [[ 7.09579372e-01 7.04592557e-01 -6.81497691e-03 6.42845111e+01] [ 7.04559087e-01 -7.09612094e-01 -6.86796387e-03 -1.76770553e+02] [-9.67510625e-03 7.18115823e-05 -9.99953193e-01 -3.99160857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.066559995 meters 0.01285872183304291 Centerline is valid? [True, True] Translation: X:64.32, Y:-176.75, Z:-3.99 [[ 6.48062374e-01 7.61557564e-01 -6.72569702e-03 6.43158556e+01] [ 7.61516234e-01 -6.48097273e-01 -7.93411830e-03 -1.76753773e+02] [-1.04011937e-02 2.00760844e-05 -9.99945906e-01 -3.98972449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.126559995 meters 0.01277965931496069 Centerline is valid? [True, True] Translation: X:64.35, Y:-176.73, Z:-3.99 [[ 5.83087229e-01 8.12385490e-01 -6.25303320e-03 6.43453055e+01] [ 8.12339222e-01 -5.83120756e-01 -8.67016790e-03 -1.76733734e+02] [-1.06897920e-02 -2.41199562e-05 -9.99942862e-01 -3.99023340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.1865599950002 meters 0.012988895553358077 Centerline is valid? [True, True] Translation: X:64.37, Y:-176.71, Z:-3.99 [[ 5.14882508e-01 8.57245007e-01 -5.19633649e-03 6.43720615e+01] [ 8.57202437e-01 -5.14908725e-01 -8.54319464e-03 -1.76711681e+02] [-9.99924995e-03 -5.55708223e-05 -9.99950005e-01 -3.99029965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.246559995 meters 0.013203512970540517 Centerline is valid? [True, True] Translation: X:64.39, Y:-176.69, Z:-3.99 [[ 4.44154661e-01 8.95943412e-01 -3.46971455e-03 6.43949004e+01] [ 8.95917128e-01 -4.44168210e-01 -6.86304705e-03 -1.76686602e+02] [-7.69003869e-03 -6.03223579e-05 -9.99970429e-01 -3.99212397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.306559995 meters 0.012841111291559812 Centerline is valid? [True, True] Translation: X:64.41, Y:-176.66, Z:-3.99 [[ 3.74133763e-01 9.27372553e-01 -2.01858462e-03 6.44104797e+01] [ 9.27359527e-01 -3.74139207e-01 -4.91541046e-03 -1.76656936e+02] [-5.31364840e-03 -3.29326651e-05 -9.99985882e-01 -3.99422660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.366559995 meters 0.01267658582344703 Centerline is valid? [True, True] Translation: X:64.42, Y:-176.63, Z:-3.99 [[ 3.02878328e-01 9.53028433e-01 -1.23450280e-03 6.44215277e+01] [ 9.53020707e-01 -3.02880844e-01 -3.83747951e-03 -1.76625799e+02] [-4.03113434e-03 -1.42173538e-05 -9.99991875e-01 -3.99422171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.426559995 meters 0.012406382828227067 Centerline is valid? [True, True] Translation: X:64.44, Y:-176.60, Z:-3.99 [[ 2.30592642e-01 9.73049853e-01 -1.00885638e-03 6.44351683e+01] [ 9.73040555e-01 -2.30594849e-01 -4.25370025e-03 -1.76595732e+02] [-4.37169949e-03 -7.86191113e-07 -9.99990444e-01 -3.99358833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.486559995 meters 0.01267366051027621 Centerline is valid? [True, True] Translation: X:64.44, Y:-176.57, Z:-3.99 [[ 1.58085037e-01 9.87425188e-01 -7.87384443e-04 6.44437462e+01] [ 9.87412243e-01 -1.58086996e-01 -5.05606851e-03 -1.76565325e+02] [-5.11696464e-03 2.18157365e-05 -9.99986908e-01 -3.99125126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.546559995 meters 0.012960975746925507 Centerline is valid? [True, True] Translation: X:64.45, Y:-176.53, Z:-3.99 [[ 8.16929832e-02 9.96657426e-01 -4.81978792e-04 6.44479786e+01] [ 9.96637401e-01 -8.16943971e-02 -6.31793848e-03 -1.76534847e+02] [-6.33619527e-03 3.57731519e-05 -9.99979926e-01 -3.98975837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.606559995 meters 0.013002599666831535 Centerline is valid? [True, True] Translation: X:64.45, Y:-176.50, Z:-3.99 [[ 3.03069794e-03 9.99995407e-01 1.58843905e-05 6.44545112e+01] [ 9.99970439e-01 -3.03051002e-03 -7.06662346e-03 -1.76502820e+02] [-7.06654287e-03 3.73007221e-05 -9.99975031e-01 -3.98852797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.666559995 meters 0.012923995667216689 Centerline is valid? [True, True] Translation: X:64.46, Y:-176.47, Z:-3.99 [[-7.65631897e-02 9.97064517e-01 6.52761511e-04 6.44600324e+01] [ 9.97031819e-01 7.65659653e-02 -8.07501143e-03 -1.76470243e+02] [-8.10128669e-03 3.25753643e-05 -9.99967184e-01 -3.98609893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.7265599950001 meters 0.012652719078207681 Centerline is valid? [True, True] Translation: X:64.46, Y:-176.44, Z:-3.98 [[-1.56586744e-01 9.87663100e-01 1.48049275e-03 6.44621385e+01] [ 9.87619987e-01 1.56593742e-01 -9.22828455e-03 -1.76438000e+02] [-9.34627203e-03 1.71371993e-05 -9.99956323e-01 -3.98418308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.786559995 meters 0.01264068979162688 Centerline is valid? [True, True] Translation: X:64.46, Y:-176.41, Z:-3.98 [[-2.34295780e-01 9.72162984e-01 2.14961185e-03 6.44620839e+01] [ 9.72122422e-01 2.34305641e-01 -8.88053316e-03 -1.76405516e+02] [-9.13699179e-03 9.01443731e-06 -9.99958257e-01 -3.98385554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.846559995 meters 0.012945168553089668 Centerline is valid? [True, True] Translation: X:64.46, Y:-176.37, Z:-3.98 [[-3.12189460e-01 9.50016075e-01 2.68288497e-03 6.44600362e+01] [ 9.49980616e-01 3.12200988e-01 -8.20808377e-03 -1.76374552e+02] [-8.63541087e-03 -1.37885249e-05 -9.99962714e-01 -3.98279659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.906559995 meters 0.012673553062240285 Centerline is valid? [True, True] Translation: X:64.46, Y:-176.34, Z:-3.98 [[-3.88117807e-01 9.21603986e-01 3.26510166e-03 6.44577866e+01] [ 9.21570586e-01 3.88131539e-01 -7.84624197e-03 -1.76341631e+02] [-8.49841681e-03 -3.62445707e-05 -9.99963887e-01 -3.98386905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1329.9665599950001 meters 0.01308963624649111 Centerline is valid? [True, True] Translation: X:64.45, Y:-176.31, Z:-3.98 [[-4.62041885e-01 8.86850908e-01 3.57256366e-03 6.44528076e+01] [ 8.86823396e-01 4.62055692e-01 -6.98579267e-03 -1.76309902e+02] [-7.84607995e-03 -5.94957747e-05 -9.99969217e-01 -3.98333795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.026559995 meters 0.013420262093290423 Centerline is valid? [True, True] Translation: X:64.44, Y:-176.28, Z:-3.98 [[-5.31213236e-01 8.47226565e-01 4.43219790e-03 6.44415263e+01] [ 8.47195879e-01 5.31231721e-01 -7.21122936e-03 -1.76279537e+02] [-8.46406921e-03 -7.57606910e-05 -9.99964176e-01 -3.98192563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.086559995 meters 0.013615824504938161 Centerline is valid? [True, True] Translation: X:64.43, Y:-176.25, Z:-3.98 [[-5.97316649e-01 8.01990656e-01 4.87940291e-03 6.44285637e+01] [ 8.01962684e-01 5.97336571e-01 -6.69879708e-03 -1.76249870e+02] [-8.28701847e-03 -8.82039704e-05 -9.99965658e-01 -3.98270884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.146559995 meters 0.013882339517764157 Centerline is valid? [True, True] Translation: X:64.41, Y:-176.22, Z:-3.98 [[-6.59017893e-01 7.52109962e-01 5.10120037e-03 6.44140363e+01] [ 7.52086351e-01 6.59037629e-01 -5.96021832e-03 -1.76222499e+02] [-7.84462257e-03 -9.13473513e-05 -9.99969226e-01 -3.98320975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.2065599950001 meters 0.014272853938416754 Centerline is valid? [True, True] Translation: X:64.40, Y:-176.20, Z:-3.98 [[-7.16440718e-01 6.97632760e-01 4.60752213e-03 6.43958562e+01] [ 6.97617605e-01 7.16455529e-01 -4.59917840e-03 -1.76196467e+02] [-6.50962223e-03 -8.07501271e-05 -9.99978809e-01 -3.98383751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.266559995 meters 0.013879883997302073 Centerline is valid? [True, True] Translation: X:64.41, Y:-176.18, Z:-3.99 [[-7.63914706e-01 6.45306473e-01 3.72527385e-03 6.44125655e+01] [ 6.45298414e-01 7.63923787e-01 -3.22555492e-03 -1.76178419e+02] [-4.92729677e-03 -6.01355340e-05 -9.99987859e-01 -3.98545968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.326559995 meters 0.013689492918895025 Centerline is valid? [True, True] Translation: X:64.43, Y:-176.16, Z:-3.99 [[-8.06743787e-01 5.90890923e-01 3.51839580e-03 6.44269823e+01] [ 5.90885049e-01 8.06751458e-01 -2.63499350e-03 -1.76158782e+02] [-4.39546468e-03 -4.67971605e-05 -9.99990339e-01 -3.98631838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.386559995 meters 0.013167041212045105 Centerline is valid? [True, True] Translation: X:64.44, Y:-176.14, Z:-3.99 [[-8.45367662e-01 5.34169861e-01 4.00946001e-03 6.44415830e+01] [ 5.34163626e-01 8.45377169e-01 -2.58111762e-03 -1.76138273e+02] [-4.76826120e-03 -4.02856709e-05 -9.99988631e-01 -3.98663223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.4465599950001 meters 0.012970709115588267 Centerline is valid? [True, True] Translation: X:64.77, Y:-175.62, Z:-5.06 [[-7.99177274e-01 -6.01085362e-01 3.47450782e-03 6.47703828e+01] [ 6.01079747e-01 -7.99184827e-01 -2.59811973e-03 -1.75622634e+02] [ 4.33846567e-03 1.20980413e-05 9.99990589e-01 -5.05806068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.506559995 meters 0.012679511515360953 Centerline is valid? [True, True] Translation: X:64.40, Y:-176.12, Z:-3.99 [[-8.43232268e-01 5.37540648e-01 3.06486132e-03 6.44048163e+01] [ 5.37537085e-01 8.43237838e-01 -1.95723940e-03 -1.76117901e+02] [-3.63650278e-03 -2.93080085e-06 -9.99993388e-01 -3.98781260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.566559995 meters 0.012672733795425153 Centerline is valid? [True, True] Translation: X:64.41, Y:-176.09, Z:-3.99 [[-8.77705684e-01 4.79190567e-01 3.02210894e-03 6.44137955e+01] [ 4.79187757e-01 8.77710887e-01 -1.64105687e-03 -1.76092999e+02] [-3.43891689e-03 7.79266057e-06 -9.99994087e-01 -3.98813450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.626559995 meters 0.012945231742029651 Centerline is valid? [True, True] Translation: X:64.43, Y:-176.07, Z:-3.99 [[-9.07822178e-01 4.19348246e-01 2.43758347e-03 6.44336517e+01] [ 4.19346783e-01 9.07825450e-01 -1.10776056e-03 -1.76072623e+02] [-2.67743776e-03 1.65431803e-05 -9.99996416e-01 -3.98810216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.6865599950002 meters 0.012930588129633361 Centerline is valid? [True, True] Translation: X:64.69, Y:-175.51, Z:-5.06 [[-8.83947394e-01 -4.67577656e-01 2.85296826e-03 6.46911725e+01] [ 4.67575268e-01 -8.83951998e-01 -1.49469952e-03 -1.75514295e+02] [ 3.22077509e-03 1.27416477e-05 9.99994813e-01 -5.05748957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.746559995 meters 0.01313984566235025 Centerline is valid? [True, True] Translation: X:64.68, Y:-175.54, Z:-5.06 [[-8.50592660e-01 -5.25816169e-01 3.07960677e-03 6.46762425e+01] [ 5.25812604e-01 -8.50598234e-01 -1.93645643e-03 -1.75541475e+02] [ 3.63772818e-03 -2.78395684e-05 9.99993383e-01 -5.05910508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.806559995 meters 0.012927051678247745 Centerline is valid? [True, True] Translation: X:64.35, Y:-176.06, Z:-3.99 [[-8.78419918e-01 4.77880795e-01 2.89724650e-03 6.43478652e+01] [ 4.77878293e-01 8.78424695e-01 -1.54685816e-03 -1.76056595e+02] [-3.28422669e-03 2.57401949e-05 -9.99994607e-01 -3.98566588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.866559995 meters 0.012974410371607436 Centerline is valid? [True, True] Translation: X:64.36, Y:-176.03, Z:-3.99 [[-9.09615303e-01 4.15447310e-01 1.87978514e-03 6.43574967e+01] [ 4.15446464e-01 9.09617245e-01 -8.38361328e-04 -1.76034246e+02] [-2.05817994e-03 1.83637975e-05 -9.99997882e-01 -3.98768957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.926559995 meters 0.013113723231187847 Centerline is valid? [True, True] Translation: X:64.36, Y:-176.01, Z:-3.99 [[-9.36358280e-01 3.51043861e-01 1.17470379e-03 6.43627623e+01] [ 3.51043601e-01 9.36359016e-01 -4.26937977e-04 -1.76006905e+02] [-1.24981844e-03 1.26053381e-05 -9.99999219e-01 -3.98849462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1330.986559995 meters 0.013232801533528984 Centerline is valid? [True, True] Translation: X:64.37, Y:-175.98, Z:-3.99 [[-9.58579944e-01 2.84821609e-01 -1.06891022e-03 6.43724193e+01] [ 2.84821446e-01 9.58580540e-01 3.04888161e-04 -1.75979588e+02] [ 1.11147527e-03 -1.21888780e-05 -9.99999382e-01 -3.99057843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.046559995 meters 0.013252777359245954 Centerline is valid? [True, True] Translation: X:64.38, Y:-175.95, Z:-3.99 [[-9.76178915e-01 2.16951085e-01 -2.63664190e-03 6.43764822e+01] [ 2.16950382e-01 9.76182476e-01 5.53205258e-04 -1.75950287e+02] [ 2.69386209e-03 -3.19931589e-05 -9.99996371e-01 -3.99083712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.106559995 meters 0.013413085485769327 Centerline is valid? [True, True] Translation: X:64.50, Y:-175.36, Z:-5.05 [[-9.66183773e-01 -2.57826130e-01 -3.82157473e-03 6.44996453e+01] [ 2.57824237e-01 -9.66191330e-01 9.88522818e-04 -1.75359260e+02] [-3.94723938e-03 -3.01998812e-05 9.99992209e-01 -5.05231954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.166559995 meters 0.013701655019819613 Centerline is valid? [True, True] Translation: X:64.33, Y:-175.94, Z:-3.99 [[-9.76452555e-01 2.15683771e-01 -4.57380371e-03 6.43320631e+01] [ 2.15681724e-01 9.76463264e-01 9.42056785e-04 -1.75940947e+02] [ 4.66933766e-03 -6.66121166e-05 -9.99989096e-01 -3.99331150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.2265599950001 meters 0.013648603530581945 Centerline is valid? [True, True] Translation: X:64.33, Y:-175.91, Z:-3.99 [[-9.89406069e-01 1.45158142e-01 -2.17822214e-03 6.43255206e+01] [ 1.45157856e-01 9.89408466e-01 2.89709476e-04 -1.75908057e+02] [ 2.19720511e-03 -2.95457406e-05 -9.99997586e-01 -3.99098292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.286559995 meters 0.01318344063074081 Centerline is valid? [True, True] Translation: X:64.40, Y:-175.32, Z:-5.06 [[-9.82308960e-01 -1.87267116e-01 3.66046239e-04 6.44036865e+01] [ 1.87267162e-01 -9.82309015e-01 9.67698619e-05 -1.75322370e+02] [ 3.41448708e-04 1.63606343e-04 9.99999928e-01 -5.05573764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.346559995 meters 0.0126552655639024 Centerline is valid? [True, True] Translation: X:64.27, Y:-175.89, Z:-3.98 [[-9.91061113e-01 1.33342968e-01 4.18610988e-03 6.42745462e+01] [ 1.33341879e-01 9.91069953e-01 -5.39561927e-04 -1.75893458e+02] [-4.22067451e-03 2.34449132e-05 -9.99991093e-01 -3.98496880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.406559995 meters 0.012367177637968917 Centerline is valid? [True, True] Translation: X:64.34, Y:-175.33, Z:-5.06 [[-9.81399078e-01 -1.91918195e-01 4.82246932e-03 6.43449106e+01] [ 1.91915972e-01 -9.81410926e-01 -9.23814989e-04 -1.75325418e+02] [ 4.91012098e-03 1.88777096e-05 9.99987945e-01 -5.06083180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.4665599950001 meters 0.012197215524535263 Centerline is valid? [True, True] Translation: X:64.22, Y:-175.88, Z:-3.98 [[-9.92295858e-01 1.23815276e-01 4.32524606e-03 6.42229594e+01] [ 1.23814096e-01 9.92305284e-01 -5.40579334e-04 -1.75880467e+02] [-4.35889651e-03 -8.88201590e-07 -9.99990500e-01 -3.98455774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.526559995 meters 0.012296554125842282 Centerline is valid? [True, True] Translation: X:64.29, Y:-175.32, Z:-5.06 [[-9.81303587e-01 -1.92446511e-01 2.75862181e-03 6.42925605e+01] [ 1.92445464e-01 -9.81307460e-01 -6.42634961e-04 -1.75321664e+02] [ 2.83072902e-03 -9.97357390e-05 9.99995989e-01 -5.05810794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.586559995 meters 0.012328764333453623 Centerline is valid? [True, True] Translation: X:64.17, Y:-175.87, Z:-3.99 [[-9.93025657e-01 1.17868882e-01 2.64052722e-03 6.41739948e+01] [ 1.17868449e-01 9.93029167e-01 -3.19419583e-04 -1.75874553e+02] [-2.65977017e-03 -5.95699364e-06 -9.99996463e-01 -3.98644801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.646559995 meters 0.01226759804487548 Centerline is valid? [True, True] Translation: X:64.24, Y:-175.32, Z:-5.06 [[-9.82297621e-01 -1.87308613e-01 2.62059664e-03 6.42423798e+01] [ 1.87307964e-01 -9.82301117e-01 -4.93191878e-04 -1.75316164e+02] [ 2.66659410e-03 6.39741184e-06 9.99996445e-01 -5.05915502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.7065599950001 meters 0.012302376200847667 Centerline is valid? [True, True] Translation: X:64.13, Y:-175.87, Z:-3.99 [[-9.93043321e-01 1.17725495e-01 2.38130007e-03 6.41277066e+01] [ 1.17725165e-01 9.93046176e-01 -2.78922573e-04 -1.75873591e+02] [-2.39757723e-03 3.35674501e-06 -9.99997126e-01 -3.98610271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.766559995 meters 0.012391552123912963 Centerline is valid? [True, True] Translation: X:64.12, Y:-175.85, Z:-3.99 [[-9.98764019e-01 4.96347094e-02 2.61326097e-03 6.41233144e+01] [ 4.96345677e-02 9.98767438e-01 -1.19075158e-04 -1.75847765e+02] [-2.61595023e-03 1.07800956e-05 -9.99996578e-01 -3.98533726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.826559995 meters 0.012479263593123152 Centerline is valid? [True, True] Translation: X:64.12, Y:-175.82, Z:-3.98 [[-9.99791458e-01 -2.00665332e-02 3.79141194e-03 6.41189504e+01] [-2.00663102e-02 9.99798647e-01 9.68550679e-05 -1.75822848e+02] [-3.79259208e-03 2.07552215e-05 -9.99992808e-01 -3.98420308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.886559995 meters 0.012596054982665418 Centerline is valid? [True, True] Translation: X:64.10, Y:-175.24, Z:-5.06 [[-9.99342008e-01 -3.59475302e-02 4.82981305e-03 6.41026859e+01] [ 3.59473080e-02 -9.99353678e-01 -1.32844066e-04 -1.75242965e+02] [ 4.83146685e-03 4.08621214e-05 9.99988328e-01 -5.06190868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1331.9465599950001 meters 0.012691202268766686 Centerline is valid? [True, True] Translation: X:64.05, Y:-175.83, Z:-3.98 [[-9.99701660e-01 -2.31673694e-02 7.73714838e-03 6.40541628e+01] [-2.31662793e-02 9.99731599e-01 2.30501333e-04 -1.75832250e+02] [-7.74041183e-03 5.11916252e-05 -9.99970041e-01 -3.98119328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.006559995 meters 0.012979042911826626 Centerline is valid? [True, True] Translation: X:64.04, Y:-175.81, Z:-3.98 [[-9.95494715e-01 -9.45004079e-02 7.74241031e-03 6.40437264e+01] [-9.44971685e-02 9.95524822e-01 7.83970827e-04 -1.75810343e+02] [-7.78184720e-03 4.88029637e-05 -9.99969720e-01 -3.97894017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.066559995 meters 0.012599138440055137 Centerline is valid? [True, True] Translation: X:64.03, Y:-175.79, Z:-3.98 [[-9.86093239e-01 -1.66065556e-01 6.50815380e-03 6.40349179e+01] [-1.66061702e-01 9.86114714e-01 1.13188459e-03 -1.75786897e+02] [-6.60575327e-03 3.53886468e-05 -9.99978181e-01 -3.98079852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.126559995 meters 0.012476631078043032 Centerline is valid? [True, True] Translation: X:64.02, Y:-175.77, Z:-3.98 [[-9.71360910e-01 -2.37542790e-01 5.60409895e-03 6.40209825e+01] [-2.37538711e-01 9.71377075e-01 1.39233771e-03 -1.75765779e+02] [-5.77443303e-03 2.12719887e-05 -9.99983328e-01 -3.98081336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.1865599950002 meters 0.01250763455170804 Centerline is valid? [True, True] Translation: X:64.00, Y:-175.75, Z:-3.98 [[-9.51251022e-01 -3.08364934e-01 5.70627679e-03 6.39981019e+01] [-3.08359320e-01 9.51268137e-01 1.86062007e-03 -1.75746030e+02] [-6.00194927e-03 1.03331086e-05 -9.99981988e-01 -3.98093321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.246559995 meters 0.012615701146559362 Centerline is valid? [True, True] Translation: X:63.96, Y:-175.73, Z:-3.98 [[-9.24855611e-01 -3.80288337e-01 4.78313994e-03 6.39626656e+01] [-3.80283335e-01 9.24867980e-01 1.95054815e-03 -1.75731082e+02] [-5.16554369e-03 -1.49730114e-05 -9.99986658e-01 -3.98089011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.306559995 meters 0.012836955496935653 Centerline is valid? [True, True] Translation: X:63.91, Y:-175.72, Z:-3.98 [[-8.93574749e-01 -4.48898564e-01 3.77468095e-03 6.39134536e+01] [-4.48894673e-01 8.93582721e-01 1.86922460e-03 -1.75724337e+02] [-4.21208191e-03 -2.41422647e-05 -9.99991129e-01 -3.98185274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.366559995 meters 0.013414252221924612 Centerline is valid? [True, True] Translation: X:63.85, Y:-175.73, Z:-3.98 [[-8.56738111e-01 -5.15740557e-01 3.38935131e-03 6.38479986e+01] [-5.15736673e-01 8.56744815e-01 2.00179434e-03 -1.75728096e+02] [-3.93621569e-03 -3.29992694e-05 -9.99992253e-01 -3.98133108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.426559995 meters 0.014388749971541012 Centerline is valid? [True, True] Translation: X:63.78, Y:-175.74, Z:-3.98 [[-8.13893045e-01 -5.81007024e-01 2.99156214e-03 6.37763776e+01] [-5.81003309e-01 8.13898541e-01 2.07833977e-03 -1.75740530e+02] [-3.64235807e-03 -4.65612139e-05 -9.99993366e-01 -3.98136708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.486559995 meters 0.014179782057511121 Centerline is valid? [True, True] Translation: X:63.71, Y:-175.76, Z:-3.98 [[-7.68039157e-01 -6.40397053e-01 2.73275547e-03 6.37062065e+01] [-6.40393217e-01 7.68044017e-01 2.21703358e-03 -1.75760900e+02] [-3.51865826e-03 -4.72694631e-05 -9.99993808e-01 -3.98176078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.546559995 meters 0.014058291978469778 Centerline is valid? [True, True] Translation: X:63.63, Y:-175.79, Z:-3.98 [[-7.19005581e-01 -6.95000095e-01 2.41708742e-03 6.36298042e+01] [-6.94996356e-01 7.19009643e-01 2.28027854e-03 -1.75792474e+02] [-3.32270296e-03 -4.03339485e-05 -9.99994479e-01 -3.98179341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.606559995 meters 0.013806553239465488 Centerline is valid? [True, True] Translation: X:63.55, Y:-175.83, Z:-3.98 [[-6.66026060e-01 -7.45924916e-01 2.30381348e-03 6.35519838e+01] [-7.45920640e-01 6.66030044e-01 2.52591891e-03 -1.75834159e+02] [-3.41855484e-03 -3.61342043e-05 -9.99994156e-01 -3.98159283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.666559995 meters 0.013231519934019541 Centerline is valid? [True, True] Translation: X:63.47, Y:-175.89, Z:-3.98 [[-6.12148920e-01 -7.90740706e-01 1.68420678e-03 6.34748371e+01] [-7.90737778e-01 6.12151236e-01 2.15194735e-03 -1.75888155e+02] [-2.73262163e-03 -1.44536849e-05 -9.99996266e-01 -3.98234492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.7265599950001 meters 0.013118734765959152 Centerline is valid? [True, True] Translation: X:63.40, Y:-175.95, Z:-3.98 [[-5.53671048e-01 -8.32734608e-01 1.20105443e-03 6.34012571e+01] [-8.32732664e-01 5.53672351e-01 1.79966143e-03 -1.75946426e+02] [-2.16363099e-03 -3.73682570e-06 -9.99997659e-01 -3.98211806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.786559995 meters 0.013041544024213907 Centerline is valid? [True, True] Translation: X:63.33, Y:-176.02, Z:-3.98 [[-4.91604168e-01 -8.70817835e-01 1.28049481e-03 6.33272052e+01] [-8.70814863e-01 4.91605836e-01 2.27523556e-03 -1.76018102e+02] [-2.61081443e-03 3.44136959e-06 -9.99996592e-01 -3.98112191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.846559995 meters 0.013053795936532244 Centerline is valid? [True, True] Translation: X:63.26, Y:-176.10, Z:-3.98 [[-4.24838499e-01 -9.05267968e-01 1.46805174e-03 6.32559397e+01] [-9.05262499e-01 4.24841036e-01 3.14693401e-03 -1.76099031e+02] [-3.47250718e-03 7.96653062e-06 -9.99993971e-01 -3.98065948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.906559995 meters 0.01303327362537218 Centerline is valid? [True, True] Translation: X:63.19, Y:-176.19, Z:-3.98 [[-3.52831804e-01 -9.35685230e-01 1.69372079e-03 6.31874154e+01] [-9.35674431e-01 3.52835869e-01 4.49532231e-03 -1.76186776e+02] [-4.80381213e-03 1.32144086e-06 -9.99988462e-01 -3.97961904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1332.9665599950001 meters 0.013042700614507127 Centerline is valid? [True, True] Translation: X:63.12, Y:-176.28, Z:-3.98 [[-2.77189216e-01 -9.60814144e-01 1.52275428e-03 6.31230793e+01] [-9.60799989e-01 2.77193398e-01 5.21555727e-03 -1.76281500e+02] [-5.43327863e-03 -1.73660652e-05 -9.99985240e-01 -3.97930715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.026559995 meters 0.013344632698648568 Centerline is valid? [True, True] Translation: X:63.06, Y:-176.38, Z:-3.98 [[-1.99461597e-01 -9.79904928e-01 1.18432250e-03 6.30646556e+01] [-9.79888821e-01 1.99465109e-01 5.61857650e-03 -1.76381871e+02] [-5.74190182e-03 -3.98141367e-05 -9.99983514e-01 -3.97793855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.086559995 meters 0.013553414755169128 Centerline is valid? [True, True] Translation: X:63.02, Y:-176.49, Z:-3.98 [[-1.21489442e-01 -9.92592375e-01 8.31800603e-04 6.30167086e+01] [-9.92572403e-01 1.21492274e-01 6.29694131e-03 -1.76488614e+02] [-6.35135328e-03 -6.06104395e-05 -9.99979828e-01 -3.97773851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.146559995 meters 0.013386879910094214 Centerline is valid? [True, True] Translation: X:62.98, Y:-176.60, Z:-3.98 [[-4.62305441e-02 -9.98930739e-01 3.40766893e-04 6.29806700e+01] [-9.98911483e-01 4.62317688e-02 6.20262930e-03 -1.76597378e+02] [-6.21175133e-03 -5.36450348e-05 -9.99980706e-01 -3.97765286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.2065599950001 meters 0.012959127379556996 Centerline is valid? [True, True] Translation: X:62.96, Y:-176.71, Z:-3.98 [[ 2.61813939e-02 -9.99657200e-01 -1.32779789e-04 6.29556082e+01] [-9.99638462e-01 -2.61817161e-02 6.12076961e-03 -1.76709225e+02] [-6.12214781e-03 -2.75184957e-05 -9.99981259e-01 -3.97713985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.266559995 meters 0.012850148688076332 Centerline is valid? [True, True] Translation: X:62.94, Y:-176.82, Z:-3.98 [[ 1.01466326e-01 -9.94838815e-01 -5.63165091e-04 6.29379758e+01] [-9.94822425e-01 -1.01467887e-01 5.71062421e-03 -1.76821904e+02] [-5.73829379e-03 -1.91867980e-05 -9.99983536e-01 -3.97815692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.326559995 meters 0.012772824182748787 Centerline is valid? [True, True] Translation: X:62.93, Y:-176.94, Z:-3.98 [[ 1.77870648e-01 -9.84053608e-01 -7.27061570e-04 6.29260295e+01] [-9.84045002e-01 -1.77872134e-01 4.11567650e-03 -1.76937278e+02] [-4.17937030e-03 -1.65967429e-05 -9.99991266e-01 -3.97830470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.386559995 meters 0.013015376177230411 Centerline is valid? [True, True] Translation: X:62.92, Y:-177.06, Z:-3.98 [[ 2.54116739e-01 -9.67172804e-01 -1.20418312e-03 6.29234498e+01] [-9.67161442e-01 -2.54119591e-01 4.68818138e-03 -1.77060387e+02] [-4.84028806e-03 -2.67058812e-05 -9.99988285e-01 -3.97702052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.4465599950001 meters 0.01321087664215931 Centerline is valid? [True, True] Translation: X:62.93, Y:-177.17, Z:-3.98 [[ 3.30227580e-01 -9.43898558e-01 -2.29309502e-03 6.29267240e+01] [-9.43874498e-01 -3.30235535e-01 6.73970682e-03 -1.77174109e+02] [-7.11886101e-03 -6.12431546e-05 -9.99974659e-01 -3.97555178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.506559995 meters 0.013660915210379515 Centerline is valid? [True, True] Translation: X:62.94, Y:-177.29, Z:-3.97 [[ 4.03663008e-01 -9.14902409e-01 -3.12387326e-03 6.29384769e+01] [-9.14873294e-01 -4.03675086e-01 7.29939042e-03 -1.77289821e+02] [-7.93925968e-03 -8.85456686e-05 -9.99968480e-01 -3.97431057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.566559995 meters 0.014351544751016883 Centerline is valid? [True, True] Translation: X:62.96, Y:-177.41, Z:-3.97 [[ 4.74344679e-01 -8.80330831e-01 -3.84100169e-03 6.29585403e+01] [-8.80300030e-01 -4.74360217e-01 7.36494511e-03 -1.77407779e+02] [-8.30560665e-03 -1.12288626e-04 -9.99965502e-01 -3.97303249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.626559995 meters 0.014353530102000528 Centerline is valid? [True, True] Translation: X:62.98, Y:-177.51, Z:-3.97 [[ 5.41407364e-01 -8.40749253e-01 -4.33120225e-03 6.29835878e+01] [-8.40720488e-01 -5.41424674e-01 6.95582122e-03 -1.77514641e+02] [-8.19312127e-03 -1.24602368e-04 -9.99966428e-01 -3.97329292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.6865599950002 meters 0.014056052587066313 Centerline is valid? [True, True] Translation: X:63.02, Y:-177.62, Z:-3.97 [[ 6.02628148e-01 -7.98011328e-01 -4.15161275e-03 6.30211741e+01] [-7.97991276e-01 -6.02642440e-01 5.65789586e-03 -1.77616629e+02] [-7.01700303e-03 -9.66565478e-05 -9.99975376e-01 -3.97417728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.746559995 meters 0.013207048458220476 Centerline is valid? [True, True] Translation: X:63.07, Y:-177.71, Z:-3.98 [[ 6.57753745e-01 -7.53222928e-01 -3.90287951e-03 6.30660977e+01] [-7.53209190e-01 -6.57765322e-01 4.54948332e-03 -1.77708725e+02] [-5.99395394e-03 -5.27549718e-05 -9.99982035e-01 -3.97500681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.806559995 meters 0.012783674918561914 Centerline is valid? [True, True] Translation: X:63.12, Y:-177.80, Z:-3.97 [[ 7.10896962e-01 -7.03283647e-01 -4.19778599e-03 6.31154715e+01] [-7.03271094e-01 -7.10909355e-01 4.20204429e-03 -1.77797346e+02] [-5.93947436e-03 -3.50389778e-05 -9.99982361e-01 -3.97484282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.866559995 meters 0.012792533931111922 Centerline is valid? [True, True] Translation: X:63.17, Y:-177.88, Z:-3.97 [[ 7.62230645e-01 -6.47286691e-01 -4.93798363e-03 6.31674680e+01] [-6.47272763e-01 -7.62246639e-01 4.24639762e-03 -1.77882716e+02] [-6.51259809e-03 -4.05120896e-05 -9.99978792e-01 -3.97448216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.926559995 meters 0.01353363215713513 Centerline is valid? [True, True] Translation: X:63.19, Y:-177.91, Z:-3.97 [[ 8.13061636e-01 -5.82116853e-01 -8.41108508e-03 6.31894961e+01] [-5.82084291e-01 -8.13105133e-01 6.15802811e-03 -1.77913267e+02] [-1.04237884e-02 -1.10895913e-04 -9.99945665e-01 -3.97127737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1333.986559995 meters 0.014075294268744303 Centerline is valid? [True, True] Translation: X:63.22, Y:-177.94, Z:-3.97 [[ 8.57049128e-01 -5.15130253e-01 -1.03737614e-02 6.32163365e+01] [-5.15090349e-01 -8.57111894e-01 6.41349093e-03 -1.77939630e+02] [-1.21952575e-02 -1.53252427e-04 -9.99925623e-01 -3.96992604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.046559995 meters 0.014093633406505289 Centerline is valid? [True, True] Translation: X:63.25, Y:-177.97, Z:-3.97 [[ 8.94959622e-01 -4.46002444e-01 -1.13620170e-02 6.32451155e+01] [-4.45964103e-01 -8.95031727e-01 5.85042567e-03 -1.77965317e+02] [-1.27786698e-02 -1.68843042e-04 -9.99918335e-01 -3.96868098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.106559995 meters 0.013622367539945683 Centerline is valid? [True, True] Translation: X:63.28, Y:-177.99, Z:-3.97 [[ 9.26410796e-01 -3.76354784e-01 -1.09596729e-02 6.32769756e+01] [-3.76326722e-01 -9.26475611e-01 4.59787407e-03 -1.77985889e+02] [-1.18843015e-02 -1.35102418e-04 -9.99929370e-01 -3.96998880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.166559995 meters 0.013049222964085639 Centerline is valid? [True, True] Translation: X:63.31, Y:-178.00, Z:-3.97 [[ 9.52010309e-01 -3.05883812e-01 -1.05577629e-02 6.33103228e+01] [-3.05863953e-01 -9.52068845e-01 3.48665470e-03 -1.78002733e+02] [-1.11182284e-02 -9.00921230e-05 -9.99938187e-01 -3.97054207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.2265599950001 meters 0.01250279687905154 Centerline is valid? [True, True] Translation: X:63.35, Y:-178.02, Z:-3.97 [[ 9.71787122e-01 -2.35658561e-01 -9.73813384e-03 6.33450081e+01] [-2.35646437e-01 -9.71835913e-01 2.39064157e-03 -1.78016794e+02] [-1.00272433e-02 -2.84381502e-05 -9.99949726e-01 -3.97027171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.286559995 meters 0.012423486635993429 Centerline is valid? [True, True] Translation: X:63.38, Y:-178.03, Z:-3.97 [[ 9.86937119e-01 -1.60795606e-01 -9.99477549e-03 6.33799328e+01] [-1.60787259e-01 -9.86987727e-01 1.63837072e-03 -1.78028654e+02] [-1.01281636e-02 -9.93632505e-06 -9.99948709e-01 -3.97129068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.346559995 meters 0.012428667672998581 Centerline is valid? [True, True] Translation: X:63.41, Y:-178.04, Z:-3.97 [[ 9.96481197e-01 -8.31102319e-02 -1.08587532e-02 6.34118950e+01] [-8.31051880e-02 -9.96540360e-01 9.15684955e-04 -1.78041315e+02] [-1.08972886e-02 -1.00441144e-05 -9.99940623e-01 -3.97005395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.406559995 meters 0.012530072599485118 Centerline is valid? [True, True] Translation: X:63.44, Y:-178.05, Z:-3.97 [[ 9.99924544e-01 -3.91965308e-03 -1.16422794e-02 6.34440853e+01] [-3.91914093e-03 -9.99992318e-01 6.68045351e-05 -1.78051230e+02] [-1.16424518e-02 -2.11717605e-05 -9.99932224e-01 -3.96850561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.4665599950001 meters 0.012490650864787201 Centerline is valid? [True, True] Translation: X:63.48, Y:-178.06, Z:-3.97 [[ 9.97058032e-01 7.55890051e-02 -1.27115224e-02 6.34773411e+01] [ 7.55833589e-02 -9.97139058e-01 -9.24691598e-04 -1.78058802e+02] [-1.27450519e-02 -3.88083711e-05 -9.99918778e-01 -3.96763858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.526559995 meters 0.012520892557937697 Centerline is valid? [True, True] Translation: X:63.51, Y:-178.06, Z:-3.97 [[ 9.88005115e-01 1.53878300e-01 -1.29368504e-02 6.35112944e+01] [ 1.53865714e-01 -9.88089807e-01 -1.96857234e-03 -1.78061462e+02] [-1.30856906e-02 -4.55781889e-05 -9.99914378e-01 -3.96744937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.586559995 meters 0.012592642128932552 Centerline is valid? [True, True] Translation: X:63.54, Y:-178.06, Z:-3.97 [[ 9.73465214e-01 2.28428935e-01 -1.36271170e-02 6.35439431e+01] [ 2.28406777e-01 -9.73560590e-01 -3.18159562e-03 -1.78058405e+02] [-1.39935925e-02 -1.53532103e-05 -9.99902085e-01 -3.96720537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.646559995 meters 0.012449712718887583 Centerline is valid? [True, True] Translation: X:63.58, Y:-178.06, Z:-3.97 [[ 9.53739762e-01 3.00360432e-01 -1.28092973e-02 6.35777391e+01] [ 3.00332837e-01 -9.53825775e-01 -4.07151519e-03 -1.78055917e+02] [-1.34407600e-02 3.61133218e-05 -9.99909668e-01 -3.96893044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.7065599950001 meters 0.012892232981527398 Centerline is valid? [True, True] Translation: X:63.61, Y:-178.05, Z:-3.97 [[ 9.29133434e-01 3.69589164e-01 -1.07197330e-02 6.36090130e+01] [ 3.69563484e-01 -9.29195266e-01 -4.35765799e-03 -1.78049573e+02] [-1.15712683e-02 8.72238632e-05 -9.99933047e-01 -3.96997133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.766559995 meters 0.013694438255659002 Centerline is valid? [True, True] Translation: X:63.64, Y:-178.04, Z:-3.97 [[ 9.00449633e-01 4.34883743e-01 -8.16015007e-03 6.36404359e+01] [ 4.34864548e-01 -9.00486598e-01 -4.08809972e-03 -1.78039044e+02] [-9.12595388e-03 1.32567921e-04 -9.99958349e-01 -3.97259182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.826559995 meters 0.014028034830133223 Centerline is valid? [True, True] Translation: X:63.67, Y:-178.03, Z:-3.97 [[ 8.64886561e-01 5.01917077e-01 -7.10522750e-03 6.36723885e+01] [ 5.01898798e-01 -8.64915735e-01 -4.28583376e-03 -1.78029858e+02] [-8.29655622e-03 1.40654881e-04 -9.99965573e-01 -3.97337230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.886559995 meters 0.014022738261065244 Centerline is valid? [True, True] Translation: X:63.70, Y:-178.02, Z:-3.97 [[ 8.22729151e-01 5.68381976e-01 -7.65990613e-03 6.37044939e+01] [ 5.68355565e-01 -8.22764793e-01 -5.48149788e-03 -1.78020253e+02] [-9.41788568e-03 1.56237817e-04 -9.99955639e-01 -3.97258905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1334.9465599950001 meters 0.01380758431348441 Centerline is valid? [True, True] Translation: X:63.74, Y:-178.01, Z:-3.97 [[ 7.74492281e-01 6.32534137e-01 -7.89134153e-03 6.37359486e+01] [ 6.32499305e-01 -7.74532467e-01 -6.63978615e-03 -1.78008242e+02] [-1.03119916e-02 1.51195088e-04 -9.99946819e-01 -3.97228157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.006559995 meters 0.013599700493634306 Centerline is valid? [True, True] Translation: X:63.77, Y:-177.99, Z:-3.97 [[ 7.20273747e-01 6.93635137e-01 -8.71934187e-03 6.37655163e+01] [ 6.93581979e-01 -7.20326508e-01 -8.58840265e-03 -1.77993911e+02] [-1.22379909e-02 1.38422567e-04 -9.99925103e-01 -3.96990339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.066559995 meters 0.012686412889751364 Centerline is valid? [True, True] Translation: X:63.79, Y:-177.98, Z:-3.97 [[ 6.58015432e-01 7.52948869e-01 -9.14832239e-03 6.37933966e+01] [ 7.52875015e-01 -6.58079021e-01 -1.05457610e-02 -1.77977348e+02] [-1.39607378e-02 5.17300960e-05 -9.99902543e-01 -3.96820015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.126559995 meters 0.012416309609891873 Centerline is valid? [True, True] Translation: X:63.82, Y:-177.96, Z:-3.97 [[ 5.92918690e-01 8.05220303e-01 -8.22747279e-03 6.38235201e+01] [ 8.05143247e-01 -5.92975770e-01 -1.11394522e-02 -1.77958820e+02] [-1.38484051e-02 -1.95047670e-05 -9.99904106e-01 -3.96932475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.1865599950002 meters 0.012601728954864926 Centerline is valid? [True, True] Translation: X:63.85, Y:-177.94, Z:-3.97 [[ 5.24442049e-01 8.51416408e-01 -7.11608787e-03 6.38502602e+01] [ 8.51339997e-01 -5.24490319e-01 -1.14067691e-02 -1.77938363e+02] [-1.34442296e-02 -7.60208666e-05 -9.99909619e-01 -3.96857704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.246559995 meters 0.01304202381210491 Centerline is valid? [True, True] Translation: X:63.87, Y:-177.91, Z:-3.97 [[ 4.52696560e-01 8.91649174e-01 -5.25118124e-03 6.38726810e+01] [ 8.91591960e-01 -4.52727002e-01 -1.01013787e-02 -1.77913409e+02] [-1.13842375e-02 -1.09051609e-04 -9.99935192e-01 -3.97042886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.306559995 meters 0.013083663336661985 Centerline is valid? [True, True] Translation: X:63.89, Y:-177.88, Z:-3.97 [[ 3.81214478e-01 9.24478374e-01 -3.90624679e-03 6.38900214e+01] [ 9.24432469e-01 -3.81234478e-01 -9.21320279e-03 -1.77884633e+02] [-1.00066027e-02 -9.88550705e-05 -9.99949928e-01 -3.97143413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.366559995 meters 0.012917316316860787 Centerline is valid? [True, True] Translation: X:63.90, Y:-177.85, Z:-3.97 [[ 3.09220866e-01 9.50985581e-01 -2.98010982e-03 6.39005291e+01] [ 9.50943800e-01 -3.09235217e-01 -8.91464582e-03 -1.77854909e+02] [-9.39925454e-03 -7.73224506e-05 -9.99955823e-01 -3.97175718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.426559995 meters 0.012420353664621473 Centerline is valid? [True, True] Translation: X:63.90, Y:-177.82, Z:-3.97 [[ 2.38401723e-01 9.71163508e-01 -2.46151654e-03 6.39043990e+01] [ 9.71113265e-01 -2.38414428e-01 -9.87865191e-03 -1.77822092e+02] [-1.01806473e-02 -3.53237326e-05 -9.99948175e-01 -3.97123052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.486559995 meters 0.01230738098814486 Centerline is valid? [True, True] Translation: X:63.92, Y:-177.79, Z:-3.97 [[ 1.62977693e-01 9.86628037e-01 -1.84078782e-03 6.39151603e+01] [ 9.86566694e-01 -1.62988086e-01 -1.10019306e-02 -1.77791469e+02] [-1.11548397e-02 -2.29906892e-05 -9.99937783e-01 -3.97271130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.546559995 meters 0.012324523373584848 Centerline is valid? [True, True] Translation: X:63.93, Y:-177.76, Z:-3.97 [[ 8.53798238e-02 9.96347842e-01 -1.12442643e-03 6.39287260e+01] [ 9.96265189e-01 -8.53872241e-02 -1.28333766e-02 -1.77760426e+02] [-1.28825187e-02 -2.45154761e-05 -9.99917017e-01 -3.97210075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.606559995 meters 0.012543264903155934 Centerline is valid? [True, True] Translation: X:63.94, Y:-177.73, Z:-3.97 [[ 8.44432846e-03 9.99964337e-01 -1.37960138e-04 6.39377920e+01] [ 9.99846724e-01 -8.44545114e-03 -1.53363248e-02 -1.77728649e+02] [-1.53369429e-02 -8.43402870e-06 -9.99882382e-01 -3.97017947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.666559995 meters 0.012750858517212731 Centerline is valid? [True, True] Translation: X:63.94, Y:-177.70, Z:-3.97 [[-6.72680748e-02 9.97734379e-01 1.05614291e-03 6.39398985e+01] [ 9.97618758e-01 6.72763578e-02 -1.51889997e-02 -1.77698076e+02] [-1.52256406e-02 3.18932130e-05 -9.99884083e-01 -3.97066270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.7265599950001 meters 0.012900766566369206 Centerline is valid? [True, True] Translation: X:63.94, Y:-177.67, Z:-3.97 [[-1.42800660e-01 9.89749353e-01 2.04673113e-03 6.39407544e+01] [ 9.89653906e-01 1.42815313e-01 -1.37452605e-02 -1.77666148e+02] [-1.38966673e-02 6.27231776e-05 -9.99903435e-01 -3.97242542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.786559995 meters 0.013269074687994023 Centerline is valid? [True, True] Translation: X:63.94, Y:-177.64, Z:-3.97 [[-2.18057287e-01 9.75932861e-01 2.46399160e-03 6.39386571e+01] [ 9.75874160e-01 2.18071197e-01 -1.07041002e-02 -1.77635884e+02] [-1.09838087e-02 7.04386931e-05 -9.99939674e-01 -3.97456100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.846559995 meters 0.013009691538344467 Centerline is valid? [True, True] Translation: X:63.94, Y:-177.60, Z:-3.98 [[-2.94123786e-01 9.55763710e-01 2.63222318e-03 6.39365386e+01] [ 9.55727052e-01 2.94135559e-01 -8.37110913e-03 -1.77604694e+02] [-8.77503276e-03 5.35445838e-05 -9.99961497e-01 -3.97767880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.906559995 meters 0.012838593031547045 Centerline is valid? [True, True] Translation: X:63.93, Y:-177.57, Z:-3.98 [[-3.69247554e-01 9.29327478e-01 2.58511717e-03 6.39321742e+01] [ 9.29305337e-01 3.69256602e-01 -6.41501376e-03 -1.77573379e+02] [-6.91622014e-03 3.36350415e-05 -9.99976082e-01 -3.98013619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1335.9665599950001 meters 0.012680125258408528 Centerline is valid? [True, True] Translation: X:63.93, Y:-177.54, Z:-3.98 [[-4.44274833e-01 8.95885716e-01 2.94222283e-03 6.39303611e+01] [ 8.95866180e-01 4.44284576e-01 -5.91642302e-03 -1.77540566e+02] [-6.60762309e-03 7.32007926e-06 -9.99978169e-01 -3.98117356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.026559995 meters 0.012803004742420836 Centerline is valid? [True, True] Translation: X:63.93, Y:-177.51, Z:-3.98 [[-5.15963634e-01 8.56602355e-01 3.73281907e-03 6.39255996e+01] [ 8.56579710e-01 5.15977136e-01 -6.22863382e-03 -1.77507956e+02] [-7.26151169e-03 -1.62914603e-05 -9.99973635e-01 -3.97984599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.086559995 meters 0.01282598077986367 Centerline is valid? [True, True] Translation: X:63.92, Y:-177.47, Z:-3.98 [[-5.83418053e-01 8.12154924e-01 5.26827510e-03 6.39178600e+01] [ 8.12121157e-01 5.83441837e-01 -7.40597286e-03 -1.77474775e+02] [-9.08852943e-03 -4.23005966e-05 -9.99958698e-01 -3.97934775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.146559995 meters 0.01293163278854553 Centerline is valid? [True, True] Translation: X:63.91, Y:-177.45, Z:-3.98 [[-6.44970043e-01 7.64172875e-01 7.31167536e-03 6.39061455e+01] [ 7.64122911e-01 6.45011484e-01 -8.73854875e-03 -1.77445568e+02] [-1.13938765e-02 -4.90835012e-05 -9.99935087e-01 -3.97796893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.2065599950001 meters 0.012740004432925122 Centerline is valid? [True, True] Translation: X:63.89, Y:-177.42, Z:-3.98 [[-7.01097288e-01 7.13021036e-01 7.97466370e-03 6.38891858e+01] [ 7.12974573e-01 7.01142640e-01 -8.13983272e-03 -1.77418515e+02] [-1.13952487e-02 -2.10821935e-05 -9.99935072e-01 -3.97857138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.266559995 meters 0.01261510527810846 Centerline is valid? [True, True] Translation: X:63.87, Y:-177.39, Z:-3.98 [[-7.51744126e-01 6.59416367e-01 7.12913010e-03 6.38694115e+01] [ 6.59387048e-01 7.51777929e-01 -6.21829051e-03 -1.77392636e+02] [-9.45996520e-03 2.62926850e-05 -9.99955253e-01 -3.98070766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.326559995 meters 0.012624359755125682 Centerline is valid? [True, True] Translation: X:63.89, Y:-177.37, Z:-3.98 [[-7.94853655e-01 6.06778160e-01 5.28497918e-03 6.38877963e+01] [ 6.06765057e-01 7.94871224e-01 -3.98781858e-03 -1.77372680e+02] [-6.62059909e-03 3.70085164e-05 -9.99978083e-01 -3.98353580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.386559995 meters 0.012850996972899348 Centerline is valid? [True, True] Translation: X:63.90, Y:-177.35, Z:-3.98 [[-8.35306804e-01 5.49764967e-01 4.58523569e-03 6.39030410e+01] [ 5.49756918e-01 8.35319388e-01 -2.97509726e-03 -1.77349612e+02] [-5.46574052e-03 3.56460585e-05 -9.99985062e-01 -3.98416219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.4465599950001 meters 0.01274719775560417 Centerline is valid? [True, True] Translation: X:63.92, Y:-177.32, Z:-3.99 [[-8.71886757e-01 4.89689075e-01 4.25351309e-03 6.39162852e+01] [ 4.89683438e-01 8.71897132e-01 -2.34990221e-03 -1.77323913e+02] [-4.85934731e-03 3.40262977e-05 -9.99988193e-01 -3.98513308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.506559995 meters 0.012465164409532192 Centerline is valid? [True, True] Translation: X:63.92, Y:-177.29, Z:-3.98 [[-9.06040061e-01 4.23139853e-01 6.63876640e-03 6.39234206e+01] [ 4.23128675e-01 9.06064382e-01 -3.07578210e-03 -1.77291618e+02] [-7.31663576e-03 2.22706258e-05 -9.99973233e-01 -3.98350961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.566559995 meters 0.012501026691585959 Centerline is valid? [True, True] Translation: X:63.93, Y:-177.26, Z:-3.98 [[-9.35401628e-01 3.53496142e-01 8.01693181e-03 6.39294298e+01] [ 3.53483029e-01 9.35435983e-01 -3.04481398e-03 -1.77257577e+02] [-8.57565648e-03 -1.42746138e-05 -9.99963228e-01 -3.98234246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.626559995 meters 0.012900384633022989 Centerline is valid? [True, True] Translation: X:63.94, Y:-177.22, Z:-3.98 [[-9.59962891e-01 2.79960904e-01 9.65096276e-03 6.39356229e+01] [ 2.79945880e-01 9.60011399e-01 -2.90146337e-03 -1.77220561e+02] [-1.00773306e-02 -8.35498971e-05 -9.99949219e-01 -3.98151568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.6865599950002 meters 0.013299896589387069 Centerline is valid? [True, True] Translation: X:64.09, Y:-176.68, Z:-5.06 [[-9.32683920e-01 -3.60557966e-01 9.93272868e-03 6.40949338e+01] [ 3.60538904e-01 -9.32736800e-01 -3.70950503e-03 -1.76682606e+02] [ 1.06021132e-02 1.21339425e-04 9.99943789e-01 -5.06398634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.746559995 meters 0.013113693717628888 Centerline is valid? [True, True] Translation: X:63.89, Y:-177.20, Z:-3.98 [[-9.60838652e-01 2.76972539e-01 8.67740453e-03 6.38907434e+01] [ 2.76960586e-01 9.60877832e-01 -2.57417277e-03 -1.77201837e+02] [-9.05090082e-03 -7.00656489e-05 -9.99959037e-01 -3.98178140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.806559995 meters 0.01301729040593737 Centerline is valid? [True, True] Translation: X:63.90, Y:-177.18, Z:-3.98 [[-9.76911693e-01 2.13538416e-01 6.69999447e-03 6.38955138e+01] [ 2.13533288e-01 9.76934668e-01 -1.48001106e-03 -1.77175166e+02] [-6.86149609e-03 -1.51682590e-05 -9.99976460e-01 -3.98376058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.866559995 meters 0.012847193744970205 Centerline is valid? [True, True] Translation: X:63.90, Y:-177.15, Z:-3.98 [[-9.89006100e-01 1.47765958e-01 5.67059151e-03 6.38981091e+01] [ 1.47763592e-01 9.89022356e-01 -8.36344880e-04 -1.77148425e+02] [-5.73192508e-03 1.07567832e-05 -9.99983572e-01 -3.98399051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.926559995 meters 0.013065048720467373 Centerline is valid? [True, True] Translation: X:63.90, Y:-177.12, Z:-3.98 [[-9.96730680e-01 8.06466947e-02 4.90533681e-03 6.38993240e+01] [ 8.06458475e-02 9.96742750e-01 -3.70592646e-04 -1.77120377e+02] [-4.91924597e-03 2.62139842e-05 -9.99987900e-01 -3.98423037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1336.986559995 meters 0.013349397045016404 Centerline is valid? [True, True] Translation: X:63.89, Y:-177.09, Z:-3.98 [[-9.99906868e-01 1.25681927e-02 5.31938735e-03 6.38930764e+01] [ 1.25682478e-02 9.99921016e-01 -2.30694939e-05 -1.77089638e+02] [-5.31925715e-03 4.37880331e-05 -9.99985852e-01 -3.98343055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.046559995 meters 0.013429230865102084 Centerline is valid? [True, True] Translation: X:63.89, Y:-176.55, Z:-5.06 [[-9.97926245e-01 -6.38921825e-02 7.81016495e-03 6.38927300e+01] [ 6.38910060e-02 -9.97956802e-01 -4.00306101e-04 -1.76547755e+02] [ 7.81978367e-03 9.95233309e-05 9.99969420e-01 -5.06343313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.106559995 meters 0.013472958994648008 Centerline is valid? [True, True] Translation: X:63.84, Y:-177.08, Z:-3.98 [[-9.99934427e-01 5.82258238e-03 9.86104706e-03 6.38358782e+01] [ 5.82283112e-03 9.99983047e-01 -3.48566117e-06 -1.77081444e+02] [-9.86090018e-03 5.39337791e-05 -9.99951379e-01 -3.97884930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.166559995 meters 0.013593107390221348 Centerline is valid? [True, True] Translation: X:63.82, Y:-177.05, Z:-3.98 [[-9.97622441e-01 -6.77860033e-02 1.24307118e-02 6.38242365e+01] [-6.77802764e-02 9.97699883e-01 8.81912866e-04 -1.77047024e+02] [-1.24619011e-02 3.72589852e-05 -9.99922347e-01 -3.97747430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.2265599950001 meters 0.013645196995329097 Centerline is valid? [True, True] Translation: X:63.78, Y:-176.54, Z:-5.07 [[-9.99899239e-01 5.61677528e-03 1.30370145e-02 6.37838165e+01] [-5.61630684e-03 -9.99984226e-01 7.25425815e-05 -1.76538926e+02] [ 1.30372163e-02 -6.84601813e-07 9.99915012e-01 -5.06837071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.286559995 meters 0.013414643130167382 Centerline is valid? [True, True] Translation: X:63.77, Y:-177.04, Z:-3.98 [[-9.97222297e-01 -7.36559149e-02 1.10678508e-02 6.37653132e+01] [-7.36512393e-02 9.97283714e-01 8.30007129e-04 -1.77043336e+02] [-1.10989223e-02 1.25406854e-05 -9.99938405e-01 -3.97928180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.346559995 meters 0.013244265812098055 Centerline is valid? [True, True] Translation: X:63.72, Y:-176.55, Z:-5.06 [[-9.99931176e-01 7.48384949e-03 9.03519475e-03 6.37230554e+01] [-7.48488172e-03 -9.99971985e-01 -8.04360500e-05 -1.76551946e+02] [ 9.03433965e-03 -1.48057878e-04 9.99959179e-01 -5.06407276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.406559995 meters 0.013350499369114808 Centerline is valid? [True, True] Translation: X:63.71, Y:-177.04, Z:-3.98 [[-9.96672335e-01 -8.11072952e-02 8.11562859e-03 6.37059590e+01] [-8.11047566e-02 9.96705376e-01 6.41971010e-04 -1.77041732e+02] [-8.14095917e-03 -1.83813351e-05 -9.99966862e-01 -3.98018015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.4665599950001 meters 0.013492613124678638 Centerline is valid? [True, True] Translation: X:63.66, Y:-176.56, Z:-5.06 [[-9.99957615e-01 4.06747198e-03 8.25980704e-03 6.36608005e+01] [-4.06710962e-03 -9.99991727e-01 6.06670030e-05 -1.76564380e+02] [ 8.25998547e-03 2.70708910e-05 9.99965885e-01 -5.06399384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.526559995 meters 0.014087971560332266 Centerline is valid? [True, True] Translation: X:63.65, Y:-177.04, Z:-3.98 [[-9.95446889e-01 -9.49122470e-02 8.78392759e-03 6.36465719e+01] [-9.49094942e-02 9.95485637e-01 7.30648897e-04 -1.77039272e+02] [-8.81362128e-03 -1.06355954e-04 -9.99961154e-01 -3.98041732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.586559995 meters 0.015394074581152255 Centerline is valid? [True, True] Translation: X:63.60, Y:-176.58, Z:-5.07 [[-9.99946530e-01 -2.46486098e-03 1.00429610e-02 6.35962081e+01] [ 2.46683482e-03 -9.99996940e-01 1.84156860e-04 -1.76578628e+02] [ 1.00424764e-02 2.08921339e-04 9.99949551e-01 -5.06551381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.646559995 meters 0.018490927758630794 Centerline is valid? [True, True] Translation: X:63.58, Y:-177.03, Z:-3.98 [[-9.93392633e-01 -1.14208134e-01 1.12950576e-02 6.35802142e+01] [-1.14204320e-01 9.93456796e-01 9.84185743e-04 -1.77033291e+02] [-1.13335537e-02 -3.12261506e-04 -9.99935725e-01 -3.97879190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.7065599950001 meters 0.019452824255727533 Centerline is valid? [True, True] Translation: X:63.56, Y:-177.01, Z:-3.98 [[-9.82186084e-01 -1.87583821e-01 1.10818133e-02 6.35636673e+01] [-1.87575813e-01 9.82248539e-01 1.76686874e-03 -1.77006258e+02] [-1.12165309e-02 -3.43286258e-04 -9.99937034e-01 -3.97862387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.766559995 meters 0.01953464322218533 Centerline is valid? [True, True] Translation: X:63.49, Y:-176.57, Z:-5.07 [[-9.98146644e-01 5.97614221e-02 1.14825933e-02 6.34861509e+01] [-5.97531624e-02 -9.98212619e-01 1.06135891e-03 -1.76570578e+02] [ 1.15254978e-02 3.73270572e-04 9.99933510e-01 -5.06658453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.826559995 meters 0.01889290038955087 Centerline is valid? [True, True] Translation: X:63.51, Y:-177.03, Z:-3.98 [[-9.82053631e-01 -1.88284114e-01 1.09434112e-02 6.35071009e+01] [-1.88275821e-01 9.82114557e-01 1.79243261e-03 -1.77026087e+02] [-1.10851700e-02 -3.00114782e-04 -9.99938513e-01 -3.97811758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.886559995 meters 0.017289650904198074 Centerline is valid? [True, True] Translation: X:63.49, Y:-177.01, Z:-3.98 [[-9.67639577e-01 -2.52194284e-01 8.46715329e-03 6.34941283e+01] [-2.52186301e-01 9.67676603e-01 2.01516618e-03 -1.77012624e+02] [-8.70167953e-03 -1.85345518e-04 -9.99962123e-01 -3.97972171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1337.9465599950001 meters 0.015655592453688062 Centerline is valid? [True, True] Translation: X:63.48, Y:-177.00, Z:-3.98 [[-9.47688326e-01 -3.19087981e-01 8.34850440e-03 6.34793825e+01] [-3.19077198e-01 9.47725082e-01 2.62887466e-03 -1.76998769e+02] [-8.75092932e-03 -1.72463564e-04 -9.99961695e-01 -3.98072114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.006559995 meters 0.01607888109530733 Centerline is valid? [True, True] Translation: X:63.45, Y:-176.98, Z:-3.98 [[-9.21967747e-01 -3.87152123e-01 9.41847246e-03 6.34523131e+01] [-3.87134248e-01 9.22015829e-01 3.72625791e-03 -1.76984965e+02] [-1.01266094e-02 -2.10723640e-04 -9.99948702e-01 -3.97877716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.066559995 meters 0.017077035841956165 Centerline is valid? [True, True] Translation: X:63.42, Y:-176.98, Z:-3.98 [[-8.89501853e-01 -4.56782530e-01 1.16693288e-02 6.34157308e+01] [-4.56748097e-01 8.89578333e-01 5.61835852e-03 -1.76978661e+02] [-1.29471501e-02 -3.32403426e-04 -9.99916127e-01 -3.97609201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.126559995 meters 0.017991883767032604 Centerline is valid? [True, True] Translation: X:63.36, Y:-176.98, Z:-3.97 [[-8.52301140e-01 -5.22909472e-01 1.21840420e-02 6.33649543e+01] [-5.22862796e-01 8.52388127e-01 6.99834279e-03 -1.76978451e+02] [-1.40450325e-02 -4.05886753e-04 -9.99901281e-01 -3.97423567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.1865599950002 meters 0.02038951521140113 Centerline is valid? [True, True] Translation: X:63.30, Y:-176.99, Z:-3.97 [[-8.10135174e-01 -5.86115993e-01 1.22083113e-02 6.32992634e+01] [-5.86057961e-01 8.10227023e-01 8.26061271e-03 -1.76990328e+02] [-1.47331809e-02 -4.62565115e-04 -9.99891354e-01 -3.97235716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.246559995 meters 0.019231857738050587 Centerline is valid? [True, True] Translation: X:63.24, Y:-177.01, Z:-3.97 [[-7.64378107e-01 -6.44682313e-01 1.05273695e-02 6.32371685e+01] [-6.44628766e-01 7.64450478e-01 8.31989455e-03 -1.77013638e+02] [-1.34113415e-02 -4.26699970e-04 -9.99909973e-01 -3.97433933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.306559995 meters 0.019218520977931967 Centerline is valid? [True, True] Translation: X:63.17, Y:-177.05, Z:-3.98 [[-7.15397252e-01 -6.98664290e-01 8.65920704e-03 6.31687546e+01] [-6.98619081e-01 7.15449566e-01 7.95598703e-03 -1.77045621e+02] [-1.17537899e-02 -3.57796011e-04 -9.99930858e-01 -3.97589895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.366559995 meters 0.019037525568799573 Centerline is valid? [True, True] Translation: X:63.09, Y:-177.09, Z:-3.98 [[-6.62694358e-01 -7.48858268e-01 6.89078236e-03 6.30927509e+01] [-7.48822239e-01 6.62730120e-01 7.35136890e-03 -1.77086120e+02] [-1.00718624e-02 -2.88260379e-04 -9.99949236e-01 -3.97720334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.426559995 meters 0.0173513160036067 Centerline is valid? [True, True] Translation: X:63.02, Y:-177.13, Z:-3.98 [[-6.06942573e-01 -7.94719259e-01 6.48178850e-03 6.30191545e+01] [-7.94678547e-01 6.06977124e-01 8.04849834e-03 -1.77132698e+02] [-1.03305940e-02 -2.65961975e-04 -9.99946603e-01 -3.97665002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.486559995 meters 0.015494600733092277 Centerline is valid? [True, True] Translation: X:62.95, Y:-177.19, Z:-3.97 [[-5.48921013e-01 -8.35845471e-01 6.93331803e-03 6.29457238e+01] [-8.35784750e-01 5.48964735e-01 1.00782479e-02 -1.77185304e+02] [-1.22300050e-02 -2.62599434e-04 -9.99925176e-01 -3.97455046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.546559995 meters 0.016094799442054705 Centerline is valid? [True, True] Translation: X:62.87, Y:-177.25, Z:-3.97 [[-4.85680062e-01 -8.74114091e-01 6.27959162e-03 6.28696019e+01] [-8.74047553e-01 4.85720593e-01 1.07880240e-02 -1.77250338e+02] [-1.24800908e-02 -2.49133493e-04 -9.99922090e-01 -3.97363018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.606559995 meters 0.015338125908995052 Centerline is valid? [True, True] Translation: X:62.80, Y:-177.32, Z:-3.98 [[-4.18539588e-01 -9.08186647e-01 4.65050503e-03 6.28013668e+01] [-9.08136025e-01 4.18565371e-01 9.59114382e-03 -1.77321728e+02] [-1.06570891e-02 -2.09017767e-04 -9.99943190e-01 -3.97613578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.666559995 meters 0.015123842871677394 Centerline is valid? [True, True] Translation: X:62.74, Y:-177.41, Z:-3.98 [[-3.50094476e-01 -9.36707150e-01 3.68416288e-03 6.27357790e+01] [-9.36660617e-01 3.50113813e-01 9.33839353e-03 -1.77405239e+02] [-1.00372163e-02 -1.81490292e-04 -9.99949609e-01 -3.97657587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.7265599950001 meters 0.014485813685380865 Centerline is valid? [True, True] Translation: X:62.68, Y:-177.49, Z:-3.98 [[-2.80431912e-01 -9.59868470e-01 3.23480099e-03 6.26795554e+01] [-9.59811406e-01 2.80450517e-01 1.04677105e-02 -1.77494851e+02] [-1.09548268e-02 -1.69318828e-04 -9.99939980e-01 -3.97603456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.786559995 meters 0.014317959098759053 Centerline is valid? [True, True] Translation: X:62.63, Y:-177.59, Z:-3.97 [[-2.09496367e-01 -9.77805147e-01 2.89255234e-03 6.26302132e+01] [-9.77722310e-01 2.09516272e-01 1.27285250e-02 -1.77591352e+02] [-1.30520541e-02 -1.61533207e-04 -9.99914805e-01 -3.97481708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.846559995 meters 0.013633843535598746 Centerline is valid? [True, True] Translation: X:62.59, Y:-177.69, Z:-3.98 [[-1.37968337e-01 -9.90435198e-01 1.69043447e-03 6.25862820e+01] [-9.90369527e-01 1.37978656e-01 1.14056957e-02 -1.77690616e+02] [-1.15298464e-02 -1.00529913e-04 -9.99933524e-01 -3.97651584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.906559995 meters 0.013050601800408767 Centerline is valid? [True, True] Translation: X:62.55, Y:-177.79, Z:-3.98 [[-6.62504658e-02 -9.97802803e-01 6.64911637e-04 6.25503078e+01] [-9.97758752e-01 6.62537888e-02 9.37592429e-03 -1.77794649e+02] [-9.39937646e-03 -4.22620536e-05 -9.99955824e-01 -3.97888651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1338.9665599950001 meters 0.012853783357547588 Centerline is valid? [True, True] Translation: X:62.52, Y:-177.91, Z:-3.98 [[ 7.86974419e-03 -9.99969032e-01 -5.02532201e-05 6.25226249e+01] [-9.99928575e-01 -7.86987784e-03 8.99497958e-03 -1.77905387e+02] [-8.99509651e-03 -2.05385575e-05 -9.99959543e-01 -3.97952082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.026559995 meters 0.012926477088865204 Centerline is valid? [True, True] Translation: X:62.50, Y:-178.02, Z:-3.98 [[ 8.32171311e-02 -9.96531150e-01 -7.58814151e-04 6.25025050e+01] [-9.96488436e-01 -8.32205899e-02 9.22661470e-03 -1.78016217e+02] [-9.25775792e-03 -1.16628796e-05 -9.99957146e-01 -3.97969857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.086559995 meters 0.013006810427393956 Centerline is valid? [True, True] Translation: X:62.49, Y:-178.13, Z:-3.98 [[ 1.59587742e-01 -9.87182551e-01 -1.53728692e-03 6.24889528e+01] [-9.87135701e-01 -1.59595145e-01 9.61758500e-03 -1.78133866e+02] [-9.73965563e-03 -1.73378719e-05 -9.99952568e-01 -3.97849350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.146559995 meters 0.013080456076129742 Centerline is valid? [True, True] Translation: X:62.48, Y:-178.25, Z:-3.98 [[ 2.36904377e-01 -9.71530595e-01 -2.14916450e-03 6.24815512e+01] [-9.71489066e-01 -2.36914122e-01 8.98300920e-03 -1.78251914e+02] [-9.23643569e-03 -4.02243842e-05 -9.99957343e-01 -3.97892524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.2065599950001 meters 0.013304269226513996 Centerline is valid? [True, True] Translation: X:62.48, Y:-178.37, Z:-3.98 [[ 3.13684635e-01 -9.49524450e-01 -2.29553301e-03 6.24810857e+01] [-9.49497626e-01 -3.13693029e-01 7.13733685e-03 -1.78367426e+02] [-7.49716854e-03 -5.92697551e-05 -9.99971894e-01 -3.98006959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.266559995 meters 0.01374120412262529 Centerline is valid? [True, True] Translation: X:62.49, Y:-178.48, Z:-3.98 [[ 3.89214941e-01 -9.21144194e-01 -2.25902209e-03 6.24909306e+01] [-9.21127562e-01 -3.89221490e-01 5.53591151e-03 -1.78482059e+02] [-5.97863269e-03 -7.38119640e-05 -9.99982125e-01 -3.98140555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.326559995 meters 0.01432519338711499 Centerline is valid? [True, True] Translation: X:62.51, Y:-178.60, Z:-3.98 [[ 4.59534806e-01 -8.88155703e-01 -2.68525643e-03 6.25117097e+01] [-8.88139471e-01 -4.59542644e-01 5.37015634e-03 -1.78595065e+02] [-6.00352481e-03 -8.28915272e-05 -9.99981975e-01 -3.98044517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.386559995 meters 0.014774932657877205 Centerline is valid? [True, True] Translation: X:62.54, Y:-178.70, Z:-3.98 [[ 5.27277370e-01 -8.49684027e-01 -3.95350315e-03 6.25386159e+01] [-8.49658419e-01 -5.27292178e-01 6.59775353e-03 -1.78700663e+02] [-7.69065707e-03 -1.19718891e-04 -9.99970419e-01 -3.97841628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.4465599950001 meters 0.015407453091533225 Centerline is valid? [True, True] Translation: X:62.57, Y:-178.81, Z:-3.97 [[ 5.91540869e-01 -8.06256029e-01 -5.53320333e-03 6.25738078e+01] [-8.06218135e-01 -5.91566725e-01 7.81855425e-03 -1.78806945e+02] [-9.57701547e-03 -1.64025517e-04 -9.99954126e-01 -3.97432128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.506559995 meters 0.015014282267398862 Centerline is valid? [True, True] Translation: X:62.62, Y:-178.90, Z:-3.97 [[ 6.50799520e-01 -7.59222466e-01 -6.42121559e-03 6.26167105e+01] [-7.59182910e-01 -6.50831175e-01 7.75180249e-03 -1.78904786e+02] [-1.00644699e-02 -1.69992203e-04 -9.99949338e-01 -3.97379515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.566559995 meters 0.014513256257887294 Centerline is valid? [True, True] Translation: X:62.67, Y:-179.00, Z:-3.97 [[ 7.05314593e-01 -7.08852989e-01 -7.66582696e-03 6.26650669e+01] [-7.08808500e-01 -7.05356230e-01 7.94344892e-03 -1.78998229e+02] [-1.10378763e-02 -1.69027133e-04 -9.99939067e-01 -3.97262766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.626559995 meters 0.014216575592750897 Centerline is valid? [True, True] Translation: X:62.71, Y:-179.08, Z:-3.97 [[ 7.56042417e-01 -6.54467079e-01 -8.52680393e-03 6.27134677e+01] [-6.54423041e-01 -7.56090482e-01 7.59383232e-03 -1.79080838e+02] [-1.14169486e-02 -1.61122380e-04 -9.99934812e-01 -3.97254869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.6865599950002 meters 0.014334772357147144 Centerline is valid? [True, True] Translation: X:62.74, Y:-179.11, Z:-3.97 [[ 8.04786503e-01 -5.93495239e-01 -9.06012852e-03 6.27380883e+01] [-5.93455404e-01 -8.04837484e-01 6.87807253e-03 -1.79109316e+02] [-1.13740344e-02 -1.58597706e-04 -9.99935301e-01 -3.97187226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.746559995 meters 0.014331545122558 Centerline is valid? [True, True] Translation: X:62.76, Y:-179.14, Z:-3.97 [[ 8.48881259e-01 -5.28477948e-01 -1.05672722e-02 6.27640294e+01] [-5.28434370e-01 -8.48947010e-01 6.78899584e-03 -1.79138849e+02] [-1.25588887e-02 -1.78941497e-04 -9.99921118e-01 -3.97144993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.806559995 meters 0.014137304287048987 Centerline is valid? [True, True] Translation: X:62.79, Y:-179.17, Z:-3.97 [[ 8.87346524e-01 -4.60945945e-01 -1.20408697e-02 6.27922890e+01] [-4.60900635e-01 -8.87428195e-01 6.46559529e-03 -1.79165315e+02] [-1.36656972e-02 -1.87579014e-04 -9.99906602e-01 -3.97000382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.866559995 meters 0.014093562489889558 Centerline is valid? [True, True] Translation: X:62.82, Y:-179.19, Z:-3.97 [[ 9.20258333e-01 -3.91075341e-01 -1.35896409e-02 6.28237152e+01] [-3.91029658e-01 -9.20358649e-01 5.98036504e-03 -1.79188578e+02] [-1.48461168e-02 -1.89528135e-04 -9.99889772e-01 -3.96887949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.926559995 meters 0.014240208975469433 Centerline is valid? [True, True] Translation: X:62.86, Y:-179.21, Z:-3.97 [[ 9.47811877e-01 -3.18353983e-01 -1.74180112e-02 6.28571722e+01] [-3.18295822e-01 -9.47971882e-01 6.08934113e-03 -1.79208902e+02] [-1.84503509e-02 -2.27469658e-04 -9.99829752e-01 -3.96616600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1339.986559995 meters 0.014689018106216863 Centerline is valid? [True, True] Translation: X:62.89, Y:-179.23, Z:-3.96 [[ 9.70286112e-01 -2.41087843e-01 -2.05308014e-02 6.28910324e+01] [-2.41027106e-01 -9.70503249e-01 5.42022307e-03 -1.79231077e+02] [-2.12319594e-02 -3.10687509e-04 -9.99774528e-01 -3.96443952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.046559995 meters 0.015348404130180161 Centerline is valid? [True, True] Translation: X:62.93, Y:-179.25, Z:-3.96 [[ 9.86620185e-01 -1.61750481e-01 -2.04301676e-02 6.29269674e+01] [-1.61708216e-01 -9.86831623e-01 3.71505663e-03 -1.79248497e+02] [-2.07620476e-02 -3.61623911e-04 -9.99784380e-01 -3.96477394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.106559995 meters 0.016134773644819515 Centerline is valid? [True, True] Translation: X:62.96, Y:-179.26, Z:-3.97 [[ 9.96466087e-01 -8.16880826e-02 -1.95549325e-02 6.29630671e+01] [-8.16646963e-02 -9.96657868e-01 1.99284677e-03 -1.79260150e+02] [-1.96523692e-02 -3.88856595e-04 -9.99806798e-01 -3.96611068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.166559995 meters 0.016380765586287194 Centerline is valid? [True, True] Translation: X:63.00, Y:-179.27, Z:-3.97 [[ 9.99870110e-01 -1.28164276e-03 -1.60661537e-02 6.29979537e+01] [-1.27582343e-03 -9.99999117e-01 3.72454620e-04 -1.79266709e+02] [-1.60666168e-02 -3.51908667e-04 -9.99870862e-01 -3.97023247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.2265599950001 meters 0.016047057664334622 Centerline is valid? [True, True] Translation: X:63.03, Y:-179.27, Z:-3.97 [[ 9.96917965e-01 7.68396769e-02 -1.58188258e-02 6.30335240e+01] [ 7.68354769e-02 -9.97043402e-01 -8.74001371e-04 -1.79271480e+02] [-1.58392139e-02 -3.44139358e-04 -9.99874493e-01 -3.97093583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.286559995 meters 0.016121353693547974 Centerline is valid? [True, True] Translation: X:63.07, Y:-179.27, Z:-3.97 [[ 9.87868382e-01 1.54550713e-01 -1.51702626e-02 6.30689439e+01] [ 1.54537616e-01 -9.87984802e-01 -2.03887216e-03 -1.79272608e+02] [-1.53030981e-02 -3.30238883e-04 -9.99882846e-01 -3.97030475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.346559995 meters 0.015955889759221065 Centerline is valid? [True, True] Translation: X:63.10, Y:-179.27, Z:-3.97 [[ 9.72723598e-01 2.31525625e-01 -1.43069090e-02 6.31036986e+01] [ 2.31505373e-01 -9.72828754e-01 -3.07863960e-03 -1.79269720e+02] [-1.46309564e-02 -3.17460932e-04 -9.99892912e-01 -3.97125056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.406559995 meters 0.016079939633197936 Centerline is valid? [True, True] Translation: X:63.14, Y:-179.26, Z:-3.97 [[ 9.51218839e-01 3.08203331e-01 -1.39077749e-02 6.31377155e+01] [ 3.08175499e-01 -9.51320448e-01 -4.15530004e-03 -1.79263893e+02] [-1.45114280e-02 -3.33435783e-04 -9.99894648e-01 -3.97256281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.4665599950001 meters 0.016363037971822765 Centerline is valid? [True, True] Translation: X:63.17, Y:-179.26, Z:-3.97 [[ 9.23640735e-01 3.83027217e-01 -1.33395847e-02 6.31722981e+01] [ 3.82992693e-01 -9.23736992e-01 -5.15436815e-03 -1.79259087e+02] [-1.42965311e-02 -3.48179067e-04 -9.99897739e-01 -3.97416623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.526559995 meters 0.01697941045895421 Centerline is valid? [True, True] Translation: X:63.21, Y:-179.26, Z:-3.97 [[ 8.89616437e-01 4.56539332e-01 -1.24271366e-02 6.32080422e+01] [ 4.56500597e-01 -8.89703153e-01 -5.95859551e-03 -1.79256226e+02] [-1.37767959e-02 -3.72130789e-04 -9.99905026e-01 -3.97348163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.586559995 meters 0.017657322111620993 Centerline is valid? [True, True] Translation: X:63.24, Y:-179.25, Z:-3.97 [[ 8.50596666e-01 5.25686059e-01 -1.18101171e-02 6.32423708e+01] [ 5.25641595e-01 -8.50678565e-01 -6.84786452e-03 -1.79246262e+02] [-1.36464404e-02 -3.83118087e-04 -9.99906810e-01 -3.97409428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.646559995 meters 0.017265311785642282 Centerline is valid? [True, True] Translation: X:63.27, Y:-179.23, Z:-3.98 [[ 8.08070915e-01 5.89003360e-01 -9.82036650e-03 6.32724650e+01] [ 5.88964486e-01 -8.08130526e-01 -6.77403454e-03 -1.79228770e+02] [-1.19260670e-02 -3.09946827e-04 -9.99928834e-01 -3.97721557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.7065599950001 meters 0.015729931326897127 Centerline is valid? [True, True] Translation: X:63.30, Y:-179.21, Z:-3.98 [[ 7.63967580e-01 6.45205587e-01 -7.95533802e-03 6.32964162e+01] [ 6.45173260e-01 -7.64008974e-01 -6.46164959e-03 -1.79205691e+02] [-1.02470421e-02 -1.96080561e-04 -9.99947479e-01 -3.97993473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.766559995 meters 0.013936157924734236 Centerline is valid? [True, True] Translation: X:63.32, Y:-179.19, Z:-3.98 [[ 7.14224212e-01 6.99877521e-01 -7.43181771e-03 6.33228533e+01] [ 6.99841812e-01 -7.14262860e-01 -7.07137121e-03 -1.79185410e+02] [-1.02573651e-02 -1.50552248e-04 -9.99947381e-01 -3.97998052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.826559995 meters 0.01400290924916239 Centerline is valid? [True, True] Translation: X:63.35, Y:-179.17, Z:-3.98 [[ 6.57711162e-01 7.53233104e-01 -7.47785099e-03 6.33524294e+01] [ 7.53187121e-01 -6.57753652e-01 -8.32427797e-03 -1.79167582e+02] [-1.11887055e-02 -1.57250524e-04 -9.99937392e-01 -3.97901429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.886559995 meters 0.013731019904742889 Centerline is valid? [True, True] Translation: X:63.38, Y:-179.15, Z:-3.98 [[ 5.97518662e-01 8.01811334e-01 -8.36858926e-03 6.33776486e+01] [ 8.01736870e-01 -5.97577236e-01 -1.09287778e-02 -1.79146066e+02] [-1.37636964e-02 -1.79257849e-04 -9.99905260e-01 -3.97856663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1340.9465599950001 meters 0.013503077103947258 Centerline is valid? [True, True] Translation: X:63.40, Y:-179.12, Z:-3.98 [[ 5.34870441e-01 8.44892324e-01 -8.40076856e-03 6.33997044e+01] [ 8.44792923e-01 -5.34936384e-01 -1.29607827e-02 -1.79122612e+02] [-1.54443426e-02 -1.64570268e-04 -9.99880716e-01 -3.97744723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.006559995 meters 0.012899066575773874 Centerline is valid? [True, True] Translation: X:63.42, Y:-179.10, Z:-3.98 [[ 4.71397048e-01 8.81892624e-01 -7.08681398e-03 6.34183640e+01] [ 8.81795694e-01 -4.71450308e-01 -1.30752516e-02 -1.79096336e+02] [-1.48720486e-02 -8.54870543e-05 -9.99889401e-01 -3.97917165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.066559995 meters 0.012570718544012533 Centerline is valid? [True, True] Translation: X:63.44, Y:-179.07, Z:-3.98 [[ 4.03861696e-01 9.14801901e-01 -5.76311772e-03 6.34399533e+01] [ 9.14710025e-01 -4.03902812e-01 -1.29648977e-02 -1.79070786e+02] [-1.41880525e-02 -3.55559973e-05 -9.99899344e-01 -3.98077535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.126559995 meters 0.012757342630643124 Centerline is valid? [True, True] Translation: X:63.46, Y:-179.04, Z:-3.98 [[ 3.35625044e-01 9.41984033e-01 -4.68095567e-03 6.34572374e+01] [ 9.41891021e-01 -3.35657683e-01 -1.32372147e-02 -1.79042728e+02] [-1.40404436e-02 3.37906283e-05 -9.99901428e-01 -3.98233736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.1865599950002 meters 0.013150180685631232 Centerline is valid? [True, True] Translation: X:63.47, Y:-179.01, Z:-3.98 [[ 2.64533545e-01 9.64369063e-01 -3.78325012e-03 6.34731548e+01] [ 9.64265470e-01 -2.64560582e-01 -1.41351140e-02 -1.79013904e+02] [-1.46323655e-02 9.11543716e-05 -9.99892937e-01 -3.98201220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.246559995 meters 0.013962110577152935 Centerline is valid? [True, True] Translation: X:63.49, Y:-178.99, Z:-3.98 [[ 1.91872619e-01 9.81415899e-01 -2.78041982e-03 6.34852254e+01] [ 9.81301055e-01 -1.91892703e-01 -1.50143060e-02 -1.78985342e+02] [-1.52688209e-02 1.52405316e-04 -9.99883413e-01 -3.98048635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.306559995 meters 0.014859800746376606 Centerline is valid? [True, True] Translation: X:63.49, Y:-178.96, Z:-3.98 [[ 1.17485964e-01 9.93073056e-01 -1.71872648e-03 6.34938472e+01] [ 9.92938346e-01 -1.17498338e-01 -1.63579118e-02 -1.78956172e+02] [-1.64465490e-02 2.15235606e-04 -9.99864723e-01 -3.97913132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.366559995 meters 0.014220262756369775 Centerline is valid? [True, True] Translation: X:63.51, Y:-178.93, Z:-3.98 [[ 3.87984653e-02 9.99246971e-01 -4.11658310e-04 6.35050902e+01] [ 9.99124344e-01 -3.88001536e-02 -1.56554339e-02 -1.78925097e+02] [-1.56596173e-02 1.96108971e-04 -9.99877362e-01 -3.98171324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.426559995 meters 0.014204045644820602 Centerline is valid? [True, True] Translation: X:63.51, Y:-178.89, Z:-3.98 [[-4.24678866e-02 9.99097524e-01 7.85547047e-04 6.35129284e+01] [ 9.98984043e-01 4.24749030e-02 -1.50587366e-02 -1.78894261e+02] [-1.50785124e-02 1.45236248e-04 -9.99886302e-01 -3.98223479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.486559995 meters 0.012900830284664811 Centerline is valid? [True, True] Translation: X:63.53, Y:-178.86, Z:-3.98 [[-1.29132371e-01 9.91625868e-01 1.72282359e-03 6.35255786e+01] [ 9.91538982e-01 1.29143862e-01 -1.31267177e-02 -1.78861037e+02] [-1.32392849e-02 1.31625777e-05 -9.99912357e-01 -3.98311635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.546559995 meters 0.01312008913958174 Centerline is valid? [True, True] Translation: X:63.53, Y:-178.83, Z:-3.98 [[-2.13085096e-01 9.77030263e-01 2.57045144e-03 6.35305062e+01] [ 9.76955033e-01 2.13100587e-01 -1.21245050e-02 -1.78827171e+02] [-1.23937730e-02 -7.23358377e-05 -9.99923192e-01 -3.98326771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.606559995 meters 0.013812740474193072 Centerline is valid? [True, True] Translation: X:63.53, Y:-178.79, Z:-3.98 [[-2.93421340e-01 9.55976908e-01 3.47413965e-03 6.35291837e+01] [ 9.55904618e-01 2.93441878e-01 -1.17569052e-02 -1.78794916e+02] [-1.22587879e-02 -1.28780740e-04 -9.99924850e-01 -3.98319668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.666559995 meters 0.013553086288649539 Centerline is valid? [True, True] Translation: X:63.53, Y:-178.76, Z:-3.98 [[-3.69184357e-01 9.29345762e-01 4.40053713e-03 6.35279912e+01] [ 9.29274729e-01 3.69210551e-01 -1.14912106e-02 -1.78759533e+02] [-1.23040326e-02 -1.53067247e-04 -9.99924291e-01 -3.98494032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.7265599950001 meters 0.01362475258038653 Centerline is valid? [True, True] Translation: X:63.52, Y:-178.72, Z:-3.98 [[-4.40190550e-01 8.97886056e-01 5.73673839e-03 6.35228112e+01] [ 8.97805145e-01 4.40227902e-01 -1.20547158e-02 -1.78724854e+02] [-1.33492336e-02 -1.55898745e-04 -9.99910883e-01 -3.98308073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.786559995 meters 0.013338973208263428 Centerline is valid? [True, True] Translation: X:63.51, Y:-178.69, Z:-3.98 [[-5.07462652e-01 8.61637497e-01 7.90450859e-03 6.35124487e+01] [ 8.61528238e-01 5.07524187e-01 -1.37220293e-02 -1.78692182e+02] [-1.58351443e-02 -1.53460002e-04 -9.99874605e-01 -3.98181347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.846559995 meters 0.013445296196042275 Centerline is valid? [True, True] Translation: X:63.50, Y:-178.66, Z:-3.98 [[-5.71975703e-01 8.20213243e-01 9.69694610e-03 6.34988026e+01] [ 8.20091322e-01 5.72057879e-01 -1.41423771e-02 -1.78660660e+02] [-1.71469794e-02 -1.36714732e-04 -9.99852970e-01 -3.98101304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.906559995 meters 0.013320212778765677 Centerline is valid? [True, True] Translation: X:63.48, Y:-178.63, Z:-3.98 [[-6.32925016e-01 7.74123885e-01 1.17530315e-02 6.34834646e+01] [ 7.73987141e-01 6.33034120e-01 -1.45502081e-02 -1.78629691e+02] [-1.87037336e-02 -1.12495459e-04 -9.99825064e-01 -3.97984235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1341.9665599950001 meters 0.013287266129986758 Centerline is valid? [True, True] Translation: X:63.46, Y:-178.60, Z:-3.98 [[-6.88908574e-01 7.24723402e-01 1.34524046e-02 6.34638852e+01] [ 7.24583963e-01 6.89039903e-01 -1.42158998e-02 -1.78603000e+02] [-1.95718388e-02 -4.60586052e-05 -9.99808452e-01 -3.97859089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.026559995 meters 0.013149816976438152 Centerline is valid? [True, True] Translation: X:63.44, Y:-178.58, Z:-3.98 [[-7.41328572e-01 6.70990976e-01 1.42498562e-02 6.34430139e+01] [ 6.70867515e-01 7.41465515e-01 -1.28712271e-02 -1.78576946e+02] [-1.92022542e-02 1.79572498e-05 -9.99815620e-01 -3.98036140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.086559995 meters 0.013853810662935978 Centerline is valid? [True, True] Translation: X:63.46, Y:-178.56, Z:-3.98 [[-7.84115655e-01 6.20435784e-01 1.49022690e-02 6.34551476e+01] [ 6.20326300e-01 7.84257245e-01 -1.16556580e-02 -1.78559299e+02] [-1.89187997e-02 1.04885527e-04 -9.99821018e-01 -3.97959909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.146559995 meters 0.014058206727423915 Centerline is valid? [True, True] Translation: X:63.47, Y:-178.54, Z:-3.98 [[-8.23415987e-01 5.67230734e-01 1.53429580e-02 6.34683930e+01] [ 5.67136563e-01 8.23558898e-01 -1.03373341e-02 -1.78541418e+02] [-1.84994832e-02 1.89626324e-04 -9.99828852e-01 -3.98147695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.2065599950001 meters 0.014522053012250336 Centerline is valid? [True, True] Translation: X:63.48, Y:-178.52, Z:-3.98 [[-8.59766826e-01 5.10449316e-01 1.55724500e-02 6.34806716e+01] [ 5.10370768e-01 8.59907806e-01 -8.95788072e-03 -1.78523596e+02] [-1.79634154e-02 2.46034596e-04 -9.99838615e-01 -3.98285106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.266559995 meters 0.014604221012211182 Centerline is valid? [True, True] Translation: X:63.49, Y:-178.50, Z:-3.98 [[-8.94088652e-01 4.47596013e-01 1.62262280e-02 6.34901523e+01] [ 4.47527050e-01 8.94235849e-01 -7.86037050e-03 -1.78499670e+02] [-1.80283452e-02 2.33807862e-04 -9.99837449e-01 -3.98289474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.326559995 meters 0.014616439943295971 Centerline is valid? [True, True] Translation: X:63.49, Y:-178.47, Z:-3.98 [[-9.24599183e-01 3.80542044e-01 1.74385641e-02 6.34949050e+01] [ 3.80478266e-01 9.24763600e-01 -6.96938797e-03 -1.78471877e+02] [-1.87786945e-02 1.91104212e-04 -9.99823647e-01 -3.98118185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.386559995 meters 0.013408926745597724 Centerline is valid? [True, True] Translation: X:63.72, Y:-177.91, Z:-5.06 [[-9.02968535e-01 -4.29332881e-01 1.79193090e-02 6.37221612e+01] [ 4.29245595e-01 -9.03146312e-01 -8.65780668e-03 -1.77905649e+02] [ 1.99008390e-02 -1.25942551e-04 9.99801951e-01 -5.06204642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.4465599950001 meters 0.013106245716230359 Centerline is valid? [True, True] Translation: X:63.45, Y:-178.45, Z:-3.98 [[-9.29910051e-01 3.67404627e-01 1.67671709e-02 6.34497057e+01] [ 3.67344799e-01 9.30061202e-01 -6.63013153e-03 -1.78450077e+02] [-1.80304361e-02 -6.09291179e-06 -9.99837439e-01 -3.98407058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.506559995 meters 0.01300293711405762 Centerline is valid? [True, True] Translation: X:63.45, Y:-178.42, Z:-3.99 [[-9.54537559e-01 2.97712522e-01 1.50100532e-02 6.34544800e+01] [ 2.97674861e-01 9.54655567e-01 -4.73560281e-03 -1.78422369e+02] [-1.57392791e-02 -5.21952487e-05 -9.99876129e-01 -3.98573144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.566559995 meters 0.012942963747873024 Centerline is valid? [True, True] Translation: X:63.46, Y:-178.40, Z:-3.99 [[-9.73735028e-01 2.27350892e-01 1.23153024e-02 6.34583383e+01] [ 2.27331841e-01 9.73812902e-01 -2.94393759e-03 -1.78396641e+02] [-1.26621072e-02 -6.69547890e-05 -9.99919830e-01 -3.98886016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.626559995 meters 0.012852055553896556 Centerline is valid? [True, True] Translation: X:63.60, Y:-177.81, Z:-5.05 [[-9.52773416e-01 -3.03492683e-01 1.07242305e-02 6.35980082e+01] [ 3.03473109e-01 -9.52833769e-01 -3.44696893e-03 -1.77806063e+02] [ 1.12645388e-02 -2.96647957e-05 9.99936553e-01 -5.05452587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.6865599950002 meters 0.013056394245845562 Centerline is valid? [True, True] Translation: X:63.40, Y:-178.39, Z:-3.99 [[-9.75180909e-01 2.21150334e-01 1.07109143e-02 6.34045995e+01] [ 2.21136020e-01 9.75239726e-01 -2.51764112e-03 -1.78385198e+02] [-1.10024863e-02 -8.65865866e-05 -9.99939467e-01 -3.98918944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.746559995 meters 0.013488612335421061 Centerline is valid? [True, True] Translation: X:63.55, Y:-177.80, Z:-5.06 [[-9.52302751e-01 -3.04918987e-01 1.19950391e-02 6.35472550e+01] [ 3.04897447e-01 -9.52378271e-01 -3.62984179e-03 -1.77795258e+02] [ 1.25306222e-02 2.00548468e-04 9.99921469e-01 -5.05614558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.806559995 meters 0.013994362795385478 Centerline is valid? [True, True] Translation: X:63.35, Y:-178.37, Z:-3.99 [[-9.77356374e-01 2.11179754e-01 1.33277417e-02 6.33539609e+01] [ 2.11157374e-01 9.77447222e-01 -3.08074444e-03 -1.78372766e+02] [-1.36777549e-02 -1.96734295e-04 -9.99906436e-01 -3.98796967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.866559995 meters 0.014570563859147505 Centerline is valid? [True, True] Translation: X:63.36, Y:-178.34, Z:-3.99 [[-9.90163605e-01 1.39124817e-01 1.48432288e-02 6.33603013e+01] [ 1.39105402e-01 9.90274822e-01 -2.33756056e-03 -1.78344379e+02] [-1.50240885e-02 -2.49794079e-04 -9.99887101e-01 -3.98609471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.926559995 meters 0.015452530619815495 Centerline is valid? [True, True] Translation: X:63.45, Y:-177.75, Z:-5.06 [[-9.70772744e-01 -2.39548871e-01 1.47179395e-02 6.34520150e+01] [ 2.39525329e-01 -9.70884274e-01 -3.36805871e-03 -1.77751928e+02] [ 1.50962306e-02 2.55699702e-04 9.99886013e-01 -5.06054371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1342.986559995 meters 0.015555577983752854 Centerline is valid? [True, True] Translation: X:63.31, Y:-178.34, Z:-3.98 [[-9.90958047e-01 1.33385804e-01 1.45043390e-02 6.33087692e+01] [ 1.33367483e-01 9.91064152e-01 -2.22745955e-03 -1.78338085e+02] [-1.46718419e-02 -2.72911782e-04 -9.99892326e-01 -3.98468832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.046559995 meters 0.01480893578940622 Centerline is valid? [True, True] Translation: X:63.31, Y:-178.31, Z:-3.99 [[-9.97887689e-01 6.32600527e-02 1.47758421e-02 6.33099505e+01] [ 6.32491513e-02 9.97997041e-01 -1.20440016e-03 -1.78314192e+02] [-1.48224372e-02 -2.67296616e-04 -9.99890106e-01 -3.98599537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.106559995 meters 0.01505112968285627 Centerline is valid? [True, True] Translation: X:63.36, Y:-177.71, Z:-5.06 [[-9.86144354e-01 -1.65203673e-01 1.50684986e-02 6.33604638e+01] [ 1.65189036e-01 -9.86259426e-01 -2.21953083e-03 -1.77707644e+02] [ 1.52281234e-02 3.00372960e-04 9.99884000e-01 -5.06037220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.166559995 meters 0.014676511384987514 Centerline is valid? [True, True] Translation: X:63.26, Y:-178.31, Z:-3.98 [[-9.98034872e-01 6.07366257e-02 1.54096338e-02 6.32603930e+01] [ 6.07254260e-02 9.98153794e-01 -1.19409742e-03 -1.78313445e+02] [-1.54537099e-02 -2.55994282e-04 -9.99880552e-01 -3.98494974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.2265599950001 meters 0.015051982655204191 Centerline is valid? [True, True] Translation: X:63.25, Y:-178.29, Z:-3.98 [[-9.99841882e-01 -9.25694843e-03 1.51828747e-02 6.32499416e+01] [-9.25945945e-03 9.99957126e-01 -9.50951516e-05 -1.78287466e+02] [-1.51813435e-02 -2.35665328e-04 -9.99884729e-01 -3.98458518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.286559995 meters 0.014372858348663862 Centerline is valid? [True, True] Translation: X:63.26, Y:-177.67, Z:-5.06 [[-9.96210352e-01 -8.58140121e-02 1.41735792e-02 6.32612840e+01] [ 8.58076199e-02 -9.96311161e-01 -1.05963469e-03 -1.77670514e+02] [ 1.42122267e-02 1.60582047e-04 9.99898988e-01 -5.05995433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.346559995 meters 0.013654326657233559 Centerline is valid? [True, True] Translation: X:63.20, Y:-178.29, Z:-3.99 [[-9.99883924e-01 -7.42301362e-03 1.33055174e-02 6.32014030e+01] [-7.42402182e-03 9.99972441e-01 -2.63817476e-05 -1.78290312e+02] [-1.33049549e-02 -1.25159137e-04 -9.99911477e-01 -3.98605755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.406559995 meters 0.013016438783515164 Centerline is valid? [True, True] Translation: X:63.20, Y:-177.67, Z:-5.06 [[-9.97077069e-01 -7.52002500e-02 1.34996474e-02 6.32041521e+01] [ 7.51952713e-02 -9.97168442e-01 -8.76719397e-04 -1.77668713e+02] [ 1.35273519e-02 1.40952845e-04 9.99908491e-01 -5.05772853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.4665599950001 meters 0.013063609613732388 Centerline is valid? [True, True] Translation: X:63.14, Y:-178.30, Z:-3.99 [[-9.99879728e-01 -4.32535052e-04 1.55029923e-02 6.31443127e+01] [-4.31967898e-04 9.99999906e-01 3.99321013e-05 -1.78297779e+02] [-1.55030081e-02 3.32305036e-05 -9.99879821e-01 -3.98701868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.526559995 meters 0.013618145450863645 Centerline is valid? [True, True] Translation: X:63.14, Y:-178.27, Z:-3.99 [[-9.97674214e-01 -6.62600912e-02 1.59925942e-02 6.31370815e+01] [-6.62496754e-02 9.97802378e-01 1.18077656e-03 -1.78272041e+02] [-1.60356869e-02 1.18526155e-04 -9.99871413e-01 -3.98605381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.586559995 meters 0.014723753919985247 Centerline is valid? [True, True] Translation: X:63.10, Y:-177.64, Z:-5.06 [[-9.99696849e-01 1.83441167e-02 1.64226566e-02 6.30975863e+01] [-1.83432434e-02 -9.99831728e-01 2.03820945e-04 -1.77635143e+02] [ 1.64236320e-02 -9.74856309e-05 9.99865118e-01 -5.05968789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.646559995 meters 0.014862183507194319 Centerline is valid? [True, True] Translation: X:63.07, Y:-178.28, Z:-3.99 [[-9.97783701e-01 -6.45743642e-02 1.60573255e-02 6.30694849e+01] [-6.45623698e-02 9.97912872e-01 1.26477709e-03 -1.78277323e+02] [-1.61054840e-02 2.25274978e-04 -9.99870273e-01 -3.98670600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.7065599950001 meters 0.013421975116240818 Centerline is valid? [True, True] Translation: X:63.06, Y:-178.25, Z:-3.99 [[-9.90076109e-01 -1.39784803e-01 1.44744008e-02 6.30552140e+01] [-1.39767807e-01 9.90181897e-01 2.18418997e-03 -1.78245914e+02] [-1.46376062e-02 1.39459052e-04 -9.99892855e-01 -3.99082169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.766559995 meters 0.013011251324695753 Centerline is valid? [True, True] Translation: X:62.96, Y:-177.63, Z:-5.05 [[-9.96193749e-01 8.63913161e-02 1.15997832e-02 6.29613740e+01] [-8.63892875e-02 -9.96261227e-01 6.76777298e-04 -1.77633406e+02] [ 1.16148819e-02 -3.27895693e-04 9.99932491e-01 -5.05341475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.826559995 meters 0.01270089055892121 Centerline is valid? [True, True] Translation: X:62.97, Y:-178.25, Z:-3.99 [[-9.87654689e-01 -1.56346265e-01 9.69851549e-03 6.29735200e+01] [-1.56338933e-01 9.87702306e-01 1.51433678e-03 -1.78245228e+02] [-9.81600701e-03 -2.06137419e-05 -9.99951822e-01 -3.99182001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.886559995 meters 0.013239802947135802 Centerline is valid? [True, True] Translation: X:62.95, Y:-178.22, Z:-3.99 [[-9.72165548e-01 -2.34144426e-01 8.39849461e-03 6.29519779e+01] [-2.34136467e-01 9.72201821e-01 1.93252522e-03 -1.78215556e+02] [-8.61752176e-03 -8.76594134e-05 -9.99962865e-01 -3.99373369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1343.9465599950001 meters 0.01389622901346175 Centerline is valid? [True, True] Translation: X:62.93, Y:-178.19, Z:-3.99 [[-9.51777058e-01 -3.06690325e-01 7.84075647e-03 6.29313854e+01] [-3.06680919e-01 9.51809346e-01 2.40477136e-03 -1.78189221e+02] [-8.20042540e-03 -1.15804191e-04 -9.99966369e-01 -3.99354771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.006559995 meters 0.014168919097842117 Centerline is valid? [True, True] Translation: X:62.90, Y:-178.17, Z:-3.99 [[-9.26785627e-01 -3.75502391e-01 8.14591104e-03 6.29008258e+01] [-3.75489170e-01 9.26821415e-01 3.15388373e-03 -1.78169425e+02] [-8.73409568e-03 -1.35727263e-04 -9.99961848e-01 -3.99288214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.066559995 meters 0.015097591612665192 Centerline is valid? [True, True] Translation: X:62.86, Y:-178.15, Z:-3.99 [[-8.96676775e-01 -4.42594953e-01 8.97047082e-03 6.28604343e+01] [-4.42574676e-01 8.96721629e-01 4.23990007e-03 -1.78153659e+02] [-9.92057358e-03 -1.68283296e-04 -9.99950776e-01 -3.99069161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.126559995 meters 0.014756899559968912 Centerline is valid? [True, True] Translation: X:62.80, Y:-178.15, Z:-3.99 [[-8.62151487e-01 -5.06553162e-01 9.93513871e-03 6.28025738e+01] [-5.06522042e-01 8.62208709e-01 5.61805568e-03 -1.78154330e+02] [-1.14120070e-02 -1.88751695e-04 -9.99934863e-01 -3.99078163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.1865599950002 meters 0.013918633361219793 Centerline is valid? [True, True] Translation: X:62.74, Y:-178.17, Z:-3.99 [[-8.24243228e-01 -5.66165232e-01 8.94599172e-03 6.27388208e+01] [-5.66133797e-01 8.24291762e-01 5.96783299e-03 -1.78165164e+02] [-1.07528868e-02 -1.45682336e-04 -9.99942176e-01 -3.99133922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.246559995 meters 0.012929566303685422 Centerline is valid? [True, True] Translation: X:62.67, Y:-178.19, Z:-3.99 [[-7.83189550e-01 -6.21728525e-01 8.23233951e-03 6.26724799e+01] [-6.21695356e-01 7.83232810e-01 6.42266027e-03 -1.78185865e+02] [-1.04409895e-02 -8.78468379e-05 -9.99945488e-01 -3.99201988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.306559995 meters 0.012343048198185378 Centerline is valid? [True, True] Translation: X:62.60, Y:-178.22, Z:-3.99 [[-7.40798933e-01 -6.71692569e-01 6.78488571e-03 6.26038059e+01] [-6.71664304e-01 7.40830003e-01 6.16200305e-03 -1.78220007e+02] [-9.16541856e-03 7.63975091e-06 -9.99957997e-01 -3.99288117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.366559995 meters 0.012739998275475464 Centerline is valid? [True, True] Translation: X:62.53, Y:-178.26, Z:-3.99 [[-6.92722181e-01 -7.21177595e-01 6.23349665e-03 6.25281470e+01] [-7.21147587e-01 6.92750224e-01 6.57916965e-03 -1.78264312e+02] [-9.06300595e-03 6.22656814e-05 -9.99958928e-01 -3.99324846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.426559995 meters 0.013445405022433507 Centerline is valid? [True, True] Translation: X:62.45, Y:-178.32, Z:-3.99 [[-6.39901620e-01 -7.68435764e-01 5.69149389e-03 6.24502083e+01] [-7.68403938e-01 6.39926922e-01 6.99441452e-03 -1.78317099e+02] [-9.01689844e-03 1.02370856e-04 -9.99959342e-01 -3.99224414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.486559995 meters 0.014042982037202187 Centerline is valid? [True, True] Translation: X:62.37, Y:-178.38, Z:-3.99 [[-5.81142202e-01 -8.13774622e-01 6.67879074e-03 6.23741849e+01] [-8.13717887e-01 5.81180560e-01 9.61030290e-03 -1.78378573e+02] [-1.17022039e-02 1.50301108e-04 -9.99931516e-01 -3.98990841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.546559995 meters 0.013809553015214457 Centerline is valid? [True, True] Translation: X:62.29, Y:-178.45, Z:-3.99 [[-5.15810648e-01 -8.56678687e-01 6.40331349e-03 6.22943640e+01] [-8.56609472e-01 5.15850375e-01 1.08904780e-02 -1.78450708e+02] [-1.26327921e-02 1.32285528e-04 -9.99920194e-01 -3.98867648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.606559995 meters 0.013168662543522041 Centerline is valid? [True, True] Translation: X:62.22, Y:-178.53, Z:-3.99 [[-4.46248034e-01 -8.94889155e-01 6.00781001e-03 6.22187381e+01] [-8.94805152e-01 4.46288463e-01 1.22616390e-02 -1.78528809e+02] [-1.36540241e-02 9.59129407e-05 -9.99906775e-01 -3.98880693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.666559995 meters 0.013093142193945292 Centerline is valid? [True, True] Translation: X:62.15, Y:-178.62, Z:-3.99 [[-3.72346579e-01 -9.28079858e-01 5.07966017e-03 6.21459175e+01] [-9.27992470e-01 3.72381225e-01 1.27357567e-02 -1.78616461e+02] [-1.37113694e-02 2.82290545e-05 -9.99905994e-01 -3.98738008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.7265599950001 meters 0.01286681010170635 Centerline is valid? [True, True] Translation: X:62.08, Y:-178.71, Z:-3.99 [[-2.96860790e-01 -9.54912692e-01 3.92715583e-03 6.20815117e+01] [-9.54830270e-01 2.96886764e-01 1.25461178e-02 -1.78709198e+02] [-1.31463677e-02 -2.53168104e-05 -9.99913583e-01 -3.98918540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.786559995 meters 0.012964614009711726 Centerline is valid? [True, True] Translation: X:62.03, Y:-178.81, Z:-3.99 [[-2.19640573e-01 -9.75576904e-01 2.77916748e-03 6.20255606e+01] [-9.75502811e-01 2.19658144e-01 1.20235454e-02 -1.78805763e+02] [-1.23403600e-02 -7.02272869e-05 -9.99923852e-01 -3.99035158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.846559995 meters 0.01339774124538327 Centerline is valid? [True, True] Translation: X:61.97, Y:-178.91, Z:-3.99 [[-1.40456291e-01 -9.90085577e-01 1.60615729e-03 6.19748234e+01] [-9.90029189e-01 1.40465435e-01 1.05672482e-02 -1.78913866e+02] [-1.06880896e-02 -1.05906114e-04 -9.99942875e-01 -3.99195908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.906559995 meters 0.013881221719673868 Centerline is valid? [True, True] Translation: X:61.93, Y:-179.02, Z:-3.99 [[-6.19824358e-02 -9.98076951e-01 7.60406722e-04 6.19339646e+01] [-9.98024891e-01 6.19869699e-02 1.01947619e-02 -1.79022242e+02] [-1.02222922e-02 -1.27008661e-04 -9.99947743e-01 -3.99300376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1344.9665599950001 meters 0.014355822766332536 Centerline is valid? [True, True] Translation: X:61.90, Y:-179.13, Z:-3.99 [[ 1.62647066e-02 -9.99867721e-01 -1.83864971e-05 6.19025454e+01] [-9.99824372e-01 -1.62641727e-02 9.31140549e-03 -1.79132827e+02] [-9.31047283e-03 -1.33064011e-04 -9.99956648e-01 -3.99437979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.026559995 meters 0.014374337973990644 Centerline is valid? [True, True] Translation: X:61.88, Y:-179.24, Z:-4.00 [[ 9.34926963e-02 -9.95619784e-01 -6.01434420e-04 6.18812106e+01] [-9.95590390e-01 -9.34945581e-02 7.65140548e-03 -1.79244600e+02] [-7.67412152e-03 -1.16568201e-04 -9.99970547e-01 -3.99657339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.086559995 meters 0.01396776982143171 Centerline is valid? [True, True] Translation: X:61.87, Y:-179.36, Z:-4.00 [[ 1.69217893e-01 -9.85578138e-01 -1.01947901e-03 6.18697320e+01] [-9.85556536e-01 -1.69220935e-01 6.52602358e-03 -1.79362040e+02] [-6.60442336e-03 -9.95657589e-05 -9.99978186e-01 -3.99709907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.146559995 meters 0.014081298409820888 Centerline is valid? [True, True] Translation: X:61.87, Y:-179.48, Z:-4.00 [[ 2.43699236e-01 -9.69849573e-01 -1.57730597e-03 6.18652376e+01] [-9.69826493e-01 -2.43704319e-01 6.69168671e-03 -1.79475080e+02] [-6.87432577e-03 -1.01045825e-04 -9.99976367e-01 -3.99696640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.2065599950001 meters 0.013609621929150101 Centerline is valid? [True, True] Translation: X:61.87, Y:-179.59, Z:-4.00 [[ 3.13519856e-01 -9.49578905e-01 -2.28080782e-03 6.18736523e+01] [-9.49551847e-01 -3.13528142e-01 7.16895191e-03 -1.79588501e+02] [-7.52258294e-03 -8.18634909e-05 -9.99971702e-01 -3.99643605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.266559995 meters 0.012932727611103452 Centerline is valid? [True, True] Translation: X:61.89, Y:-179.70, Z:-4.00 [[ 3.80132491e-01 -9.24928009e-01 -2.73268466e-03 6.18913532e+01] [-9.24903367e-01 -3.80142311e-01 6.75174567e-03 -1.79698053e+02] [-7.28368774e-03 -3.90886585e-05 -9.99973473e-01 -3.99680099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.326559995 meters 0.012630876361692505 Centerline is valid? [True, True] Translation: X:61.92, Y:-179.81, Z:-4.00 [[ 4.46047464e-01 -8.95005206e-01 -2.70946999e-03 6.19170141e+01] [-8.94988595e-01 -4.46055694e-01 5.45281797e-03 -1.79806175e+02] [-6.08887499e-03 -7.27089320e-06 -9.99981463e-01 -3.99948137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.386559995 meters 0.012791090849416034 Centerline is valid? [True, True] Translation: X:61.95, Y:-179.91, Z:-4.00 [[ 5.10288768e-01 -8.59998993e-01 -2.66555907e-03 6.19494686e+01] [-8.59987373e-01 -5.10295730e-01 4.47064084e-03 -1.79913236e+02] [-5.20497003e-03 1.10293380e-05 -9.99986454e-01 -3.99984809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.4465599950001 meters 0.012917222586705008 Centerline is valid? [True, True] Translation: X:61.99, Y:-180.02, Z:-4.00 [[ 5.73058291e-01 -8.19508586e-01 -3.14216909e-03 6.19900699e+01] [-8.19496466e-01 -5.73066905e-01 4.45692985e-03 -1.80016775e+02] [-5.45316540e-03 2.09158577e-05 -9.99985131e-01 -4.00079412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.506559995 meters 0.012819449068382012 Centerline is valid? [True, True] Translation: X:62.04, Y:-180.12, Z:-4.00 [[ 6.35119207e-01 -7.72405143e-01 -3.72666513e-03 6.20372864e+01] [-7.72391962e-01 -6.35130140e-01 4.51235315e-03 -1.80123550e+02] [-5.85228213e-03 1.25640353e-05 -9.99982875e-01 -4.00006257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.566559995 meters 0.012816621352556921 Centerline is valid? [True, True] Translation: X:62.08, Y:-180.22, Z:-4.00 [[ 6.94545228e-01 -7.19435091e-01 -4.48069445e-03 6.20818373e+01] [-7.19420035e-01 -6.94559681e-01 4.65434637e-03 -1.80217647e+02] [-6.46060981e-03 -9.15270502e-06 -9.99979130e-01 -3.99925780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.626559995 meters 0.013263132253839044 Centerline is valid? [True, True] Translation: X:62.13, Y:-180.31, Z:-4.00 [[ 7.51349296e-01 -6.59889393e-01 -4.49710615e-03 6.21336616e+01] [-6.59877193e-01 -7.51362753e-01 4.01300077e-03 -1.80313424e+02] [-6.02709470e-03 -4.76275192e-05 -9.99981836e-01 -3.99915873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.6865599950002 meters 0.013836700701923645 Centerline is valid? [True, True] Translation: X:62.16, Y:-180.34, Z:-4.00 [[ 8.02888690e-01 -5.96106768e-01 -5.14524448e-03 6.21556838e+01] [-5.96093923e-01 -8.02905173e-01 3.91402757e-03 -1.80341985e+02] [-6.46432173e-03 -7.54795066e-05 -9.99979103e-01 -3.99896695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.746559995 meters 0.014355527767935855 Centerline is valid? [True, True] Translation: X:62.18, Y:-180.37, Z:-4.00 [[ 8.48234944e-01 -5.29599703e-01 -4.65129420e-03 6.21814069e+01] [-5.29591241e-01 -8.48247693e-01 2.99493795e-03 -1.80366882e+02] [-5.53156782e-03 -7.71263553e-05 -9.99984698e-01 -4.00031247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.806559995 meters 0.014278379271792612 Centerline is valid? [True, True] Translation: X:62.21, Y:-180.39, Z:-4.00 [[ 8.86887216e-01 -4.61971910e-01 -3.60849810e-03 6.22098185e+01] [-4.61967830e-01 -8.86894555e-01 1.94236831e-03 -1.80388290e+02] [-4.09767692e-03 -5.56515845e-05 -9.99991603e-01 -4.00197857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.866559995 meters 0.013194469536230151 Centerline is valid? [True, True] Translation: X:62.24, Y:-180.41, Z:-4.00 [[ 9.18565273e-01 -3.95262068e-01 -2.39516606e-03 6.22399244e+01] [-3.95260656e-01 -9.18568396e-01 1.05674162e-03 -1.80408339e+02] [-2.61781373e-03 -2.39712459e-05 -9.99996573e-01 -4.00289422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.926559995 meters 0.012895131890925294 Centerline is valid? [True, True] Translation: X:62.27, Y:-180.43, Z:-4.00 [[ 9.46003966e-01 -3.24148833e-01 -2.00761386e-03 6.22694210e+01] [-3.24148069e-01 -9.46006096e-01 7.03914112e-04 -1.80429534e+02] [-2.12738789e-03 -1.51413852e-05 -9.99997737e-01 -4.00260937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1345.986559995 meters 0.012398268808410955 Centerline is valid? [True, True] Translation: X:62.30, Y:-180.45, Z:-4.00 [[ 9.66584585e-01 -2.56347528e-01 -4.29520479e-04 6.23010860e+01] [-2.56347503e-01 -9.66584681e-01 1.13333212e-04 -1.80446297e+02] [-4.44220605e-04 5.60367099e-07 -9.99999901e-01 -4.00280975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.046559995 meters 0.012497056602327278 Centerline is valid? [True, True] Translation: X:62.33, Y:-180.46, Z:-4.00 [[ 9.82910802e-01 -1.84081465e-01 6.07282204e-04 6.23339938e+01] [-1.84081431e-01 -9.82910990e-01 -1.11754045e-04 -1.80462197e+02] [ 6.17476200e-04 -1.94511907e-06 -9.99999809e-01 -4.00357124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.106559995 meters 0.012661008061074402 Centerline is valid? [True, True] Translation: X:62.36, Y:-180.48, Z:-4.00 [[ 9.94057792e-01 -1.08845296e-01 1.34456939e-03 6.23642131e+01] [-1.08845208e-01 -9.94058701e-01 -1.39118295e-04 -1.80477320e+02] [ 1.35172328e-03 -8.05831007e-06 -9.99999086e-01 -4.00383783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.166559995 meters 0.012563232653495956 Centerline is valid? [True, True] Translation: X:62.40, Y:-180.49, Z:-4.00 [[ 9.99556025e-01 -2.97772282e-02 1.03407828e-03 6.23954178e+01] [-2.97772174e-02 -9.99556560e-01 -2.57632677e-05 -1.80490659e+02] [ 1.03438689e-03 -5.04014442e-06 -9.99999465e-01 -4.00419166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.2265599950001 meters 0.012420441019705998 Centerline is valid? [True, True] Translation: X:62.43, Y:-180.51, Z:-4.00 [[ 9.98496439e-01 5.48165314e-02 9.74639200e-05 6.24283097e+01] [ 5.48165312e-02 -9.98496444e-01 4.69639222e-06 -1.80508123e+02] [ 9.75748167e-05 6.53303093e-07 -9.99999995e-01 -4.00293707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.286559995 meters 0.012716926488577742 Centerline is valid? [True, True] Translation: X:62.46, Y:-180.52, Z:-4.00 [[ 9.90446580e-01 1.37891666e-01 -1.20875089e-03 6.24622397e+01] [ 1.37891571e-01 -9.90447317e-01 -1.61630527e-04 -1.80520018e+02] [-1.21949158e-03 -6.59015699e-06 -9.99999256e-01 -4.00191013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.346559995 meters 0.013276303319290523 Centerline is valid? [True, True] Translation: X:62.50, Y:-180.53, Z:-4.00 [[ 9.75654223e-01 2.19309930e-01 -1.41115133e-03 6.24975388e+01] [ 2.19309722e-01 -9.75655244e-01 -3.02536683e-04 -1.80527302e+02] [-1.44314650e-03 -1.43080137e-05 -9.99998959e-01 -4.00170291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.406559995 meters 0.013339846785059981 Centerline is valid? [True, True] Translation: X:62.53, Y:-180.53, Z:-4.00 [[ 9.55206365e-01 2.95939221e-01 -8.82213990e-04 6.25331690e+01] [ 2.95939105e-01 -9.55206772e-01 -2.63099062e-04 -1.80528233e+02] [-9.20558110e-04 -9.76772015e-06 -9.99999576e-01 -4.00253399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.4665599950001 meters 0.013271390730298895 Centerline is valid? [True, True] Translation: X:62.57, Y:-180.53, Z:-4.00 [[ 9.29058064e-01 3.69931272e-01 -1.40249433e-03 6.25682062e+01] [ 3.69930878e-01 -9.29059123e-01 -5.40671515e-04 -1.80526987e+02] [-1.50301146e-03 -1.65107286e-05 -9.99998870e-01 -4.00188732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.526559995 meters 0.013276152985490983 Centerline is valid? [True, True] Translation: X:62.60, Y:-180.52, Z:-4.00 [[ 8.97466784e-01 4.41074103e-01 -2.64699867e-03 6.26019995e+01] [ 4.41072288e-01 -8.97470687e-01 -1.26588007e-03 -1.80522461e+02] [-2.93395063e-03 -3.14324405e-05 -9.99995696e-01 -4.00017734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.586559995 meters 0.012835872108748824 Centerline is valid? [True, True] Translation: X:62.63, Y:-180.51, Z:-4.00 [[ 8.61622383e-01 5.07536838e-01 -3.63683843e-03 6.26334999e+01] [ 5.07532480e-01 -8.61630058e-01 -2.10356629e-03 -1.80511215e+02] [-4.20124669e-03 -3.33338305e-05 -9.99991174e-01 -3.99842848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.646559995 meters 0.012456208422979164 Centerline is valid? [True, True] Translation: X:62.66, Y:-180.50, Z:-4.00 [[ 8.21525831e-01 5.70158986e-01 -3.74690434e-03 6.26646504e+01] [ 5.70153155e-01 -8.21534375e-01 -2.57871956e-03 -1.80497519e+02] [-4.54849085e-03 -1.78246034e-05 -9.99989655e-01 -3.99878378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.7065599950001 meters 0.01233788815306819 Centerline is valid? [True, True] Translation: X:62.69, Y:-180.48, Z:-4.00 [[ 7.78042020e-01 6.28202950e-01 -3.41594305e-03 6.26931638e+01] [ 6.28196849e-01 -7.78049519e-01 -2.76872009e-03 -1.80479813e+02] [-4.39709098e-03 8.29591062e-06 -9.99990333e-01 -3.99847216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.766559995 meters 0.013334373066427088 Centerline is valid? [True, True] Translation: X:62.72, Y:-180.46, Z:-4.00 [[ 7.33462456e-01 6.79723158e-01 -3.04194017e-03 6.27201555e+01] [ 6.79717023e-01 -7.33468763e-01 -2.88838238e-03 -1.80459614e+02] [-4.19446849e-03 5.08615184e-05 -9.99991202e-01 -3.99820255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.826559995 meters 0.014664101079214694 Centerline is valid? [True, True] Translation: X:62.74, Y:-180.44, Z:-4.00 [[ 6.81863618e-01 7.31470996e-01 -3.49107823e-03 6.27443551e+01] [ 7.31460724e-01 -6.81872549e-01 -3.87764948e-03 -1.80439222e+02] [-5.21685854e-03 9.04414912e-05 -9.99986388e-01 -3.99670343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.886559995 meters 0.015602120523874176 Centerline is valid? [True, True] Translation: X:62.77, Y:-180.42, Z:-4.00 [[ 6.24574076e-01 7.80957033e-01 -3.65194687e-03 6.27666627e+01] [ 7.80942546e-01 -6.24584741e-01 -4.75831599e-03 -1.80416176e+02] [-5.99699063e-03 1.19960123e-04 -9.99982011e-01 -3.99576235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1346.9465599950001 meters 0.014905331400974942 Centerline is valid? [True, True] Translation: X:62.80, Y:-180.40, Z:-4.00 [[ 5.60721133e-01 8.27997509e-01 -3.45489685e-03 6.27950728e+01] [ 8.27980445e-01 -5.60731763e-01 -5.31722099e-03 -1.80396964e+02] [-6.33991613e-03 1.20891145e-04 -9.99979895e-01 -3.99545623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.006559995 meters 0.014845135184695813 Centerline is valid? [True, True] Translation: X:62.82, Y:-180.37, Z:-4.00 [[ 4.92568848e-01 8.70268518e-01 -2.93899719e-03 6.28203785e+01] [ 8.70251722e-01 -4.92577604e-01 -5.40784511e-03 -1.80374899e+02] [-6.15396154e-03 1.06068673e-04 -9.99981059e-01 -3.99510694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.066559995 meters 0.014490100415221762 Centerline is valid? [True, True] Translation: X:62.84, Y:-180.35, Z:-4.00 [[ 4.21877180e-01 9.06650536e-01 -2.10962660e-03 6.28448507e+01] [ 9.06638194e-01 -4.21882446e-01 -4.73151391e-03 -1.80351716e+02] [-5.17984406e-03 8.34496933e-05 -9.99986581e-01 -3.99555234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.126559995 meters 0.014476598568679637 Centerline is valid? [True, True] Translation: X:62.87, Y:-180.33, Z:-4.00 [[ 3.48117995e-01 9.37450036e-01 -1.13608302e-03 6.28652839e+01] [ 9.37444571e-01 -3.48119845e-01 -3.20154749e-03 -1.80326141e+02] [-3.39678386e-03 4.95014317e-05 -9.99994230e-01 -3.99600021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.1865599950002 meters 0.01409174049331523 Centerline is valid? [True, True] Translation: X:62.89, Y:-180.30, Z:-4.00 [[ 2.71131229e-01 9.62542125e-01 -7.16459299e-04 6.28859700e+01] [ 9.62538435e-01 -2.71132174e-01 -2.66573197e-03 -1.80299327e+02] [-2.76013448e-03 3.31435738e-05 -9.99996190e-01 -3.99611185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.246559995 meters 0.013620460319091823 Centerline is valid? [True, True] Translation: X:62.90, Y:-180.27, Z:-4.00 [[ 1.90696562e-01 9.81649007e-01 -2.21240889e-04 6.29039082e+01] [ 9.81648286e-01 -1.90696690e-01 -1.18968197e-03 -1.80271692e+02] [-1.21004003e-03 9.68752156e-06 -9.99999268e-01 -3.99676570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.306559995 meters 0.013097661096365036 Centerline is valid? [True, True] Translation: X:62.92, Y:-180.24, Z:-4.00 [[ 1.05375154e-01 9.94432534e-01 1.07730419e-04 6.29218146e+01] [ 9.94432023e-01 -1.05375209e-01 1.00808632e-03 -1.80241452e+02] [ 1.01382595e-03 9.03326697e-07 -9.99999486e-01 -3.99839976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.366559995 meters 0.013351772854852445 Centerline is valid? [True, True] Translation: X:62.93, Y:-180.21, Z:-4.00 [[ 2.25798700e-02 9.99745041e-01 4.49047203e-05 6.29341492e+01] [ 9.99743742e-01 -2.25799130e-02 1.61161268e-03 -1.80210043e+02] [ 1.61221573e-03 8.50320832e-06 -9.99998700e-01 -3.99904289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.426559995 meters 0.013900655757615961 Centerline is valid? [True, True] Translation: X:62.94, Y:-180.18, Z:-4.00 [[-5.93718869e-02 9.98235930e-01 -8.05898674e-05 6.29426475e+01] [ 9.98234660e-01 5.93719399e-02 1.59278017e-03 -1.80178303e+02] [ 1.59475518e-03 1.41187654e-05 -9.99998728e-01 -3.99917200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.486559995 meters 0.01417273172574753 Centerline is valid? [True, True] Translation: X:62.94, Y:-180.15, Z:-4.00 [[-1.39049638e-01 9.90285409e-01 -8.65960604e-05 6.29440661e+01] [ 9.90285182e-01 1.39049665e-01 6.70042647e-04 -1.80146354e+02] [ 6.75574609e-04 7.41439212e-06 -9.99999772e-01 -3.99810400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.546559995 meters 0.01350831126796829 Centerline is valid? [True, True] Translation: X:62.94, Y:-180.11, Z:-4.00 [[-2.14956396e-01 9.76623645e-01 5.38458377e-05 6.29440998e+01] [ 9.76623613e-01 2.14956403e-01 -2.52861449e-04 -1.80113013e+02] [-2.58524979e-04 -1.76706936e-06 -9.99999967e-01 -3.99706638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.606559995 meters 0.013244008412733689 Centerline is valid? [True, True] Translation: X:62.94, Y:-180.08, Z:-4.00 [[-2.88819300e-01 9.57383584e-01 2.90654411e-04 6.29400711e+01] [ 9.57383077e-01 2.88819446e-01 -9.85991267e-04 -1.80080638e+02] [-1.02791850e-03 -6.50569313e-06 -9.99999472e-01 -3.99667721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.666559995 meters 0.012960884385316408 Centerline is valid? [True, True] Translation: X:62.93, Y:-180.05, Z:-4.00 [[-3.59854037e-01 9.33008337e-01 7.17179534e-04 6.29315305e+01] [ 9.33006448e-01 3.59854752e-01 -1.87786252e-03 -1.80049166e+02] [-2.01014185e-03 -6.62328065e-06 -9.99997980e-01 -3.99527745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.7265599950001 meters 0.01276123622338865 Centerline is valid? [True, True] Translation: X:62.92, Y:-180.02, Z:-3.99 [[-4.30814217e-01 9.02440036e-01 1.04483990e-03 6.29242420e+01] [ 9.02437352e-01 4.30815484e-01 -2.20100500e-03 -1.80017402e+02] [-2.43640823e-03 -5.32169516e-06 -9.99997032e-01 -3.99459341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.786559995 meters 0.012695212580680135 Centerline is valid? [True, True] Translation: X:62.91, Y:-179.99, Z:-4.00 [[-4.99786069e-01 8.66148428e-01 8.86146750e-04 6.29134282e+01] [ 8.66147056e-01 4.99786855e-01 -1.54149938e-03 -1.79986855e+02] [-1.77805176e-03 -2.88651809e-06 -9.99998419e-01 -3.99543037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.846559995 meters 0.01262677920192203 Centerline is valid? [True, True] Translation: X:62.90, Y:-179.96, Z:-4.00 [[-5.65689921e-01 8.24618009e-01 2.31002503e-04 6.28997294e+01] [ 8.24617940e-01 5.65689968e-01 -3.36828400e-04 -1.79957726e+02] [-4.08430564e-04 -5.16233020e-08 -9.99999917e-01 -3.99590989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.906559995 meters 0.012667492822042294 Centerline is valid? [True, True] Translation: X:62.88, Y:-179.93, Z:-4.00 [[-6.28073271e-01 7.78154189e-01 -1.57153753e-04 6.28829268e+01] [ 7.78154164e-01 6.28073291e-01 1.95895032e-04 -1.79931159e+02] [ 2.51140614e-04 7.46585975e-07 -9.99999969e-01 -3.99548946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1347.9665599950001 meters 0.012772414985186215 Centerline is valid? [True, True] Translation: X:62.86, Y:-179.91, Z:-3.99 [[-6.87088578e-01 7.26573593e-01 -3.14730794e-04 6.28636292e+01] [ 7.26573516e-01 6.87088650e-01 3.34169740e-04 -1.79907645e+02] [ 4.59046865e-04 9.29151536e-07 -9.99999895e-01 -3.99448994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.026559995 meters 0.012872825560257397 Centerline is valid? [True, True] Translation: X:62.84, Y:-179.89, Z:-3.99 [[-7.42956366e-01 6.69339451e-01 7.33347957e-04 6.28416574e+01] [ 6.69339122e-01 7.42956728e-01 -6.63278700e-04 -1.79887062e+02] [-9.88804401e-04 -1.92865465e-06 -9.99999511e-01 -3.99092036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.086559995 meters 0.01325669446495968 Centerline is valid? [True, True] Translation: X:62.86, Y:-179.86, Z:-3.99 [[-7.90344520e-01 6.12660790e-01 1.51498170e-03 6.28564254e+01] [ 6.12659640e-01 7.90345972e-01 -1.18734184e-03 -1.79862673e+02] [-1.92479747e-03 -1.02409713e-05 -9.99998148e-01 -3.98873236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.146559995 meters 0.014105328991044835 Centerline is valid? [True, True] Translation: X:62.87, Y:-179.83, Z:-3.99 [[-8.33865702e-01 5.51963332e-01 2.11465792e-03 6.28702317e+01] [ 5.51961485e-01 8.33868383e-01 -1.42801300e-03 -1.79833868e+02] [-2.55155720e-03 -2.35613373e-05 -9.99996745e-01 -3.98690521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.2065599950001 meters 0.015504592699282836 Centerline is valid? [True, True] Translation: X:62.88, Y:-179.80, Z:-3.99 [[-8.73946522e-01 4.86015872e-01 2.45958799e-03 6.28823516e+01] [ 4.86013804e-01 8.73949982e-01 -1.41840529e-03 -1.79799366e+02] [-2.83892437e-03 -4.42166535e-05 -9.99995969e-01 -3.98587303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.266559995 meters 0.01635513971066742 Centerline is valid? [True, True] Translation: X:63.18, Y:-179.29, Z:-5.06 [[-8.20493828e-01 -5.71650798e-01 2.28982112e-03 6.31781581e+01] [ 5.71648701e-01 -8.20497023e-01 -1.54862946e-03 -1.79292877e+02] [ 2.76406668e-03 3.83323560e-05 9.99996179e-01 -5.06005303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.326559995 meters 0.016561879006454103 Centerline is valid? [True, True] Translation: X:62.85, Y:-179.77, Z:-3.99 [[-8.76632771e-01 4.81157601e-01 1.53218956e-03 6.28490939e+01] [ 4.81156804e-01 8.76634110e-01 -8.76077072e-04 -1.79774342e+02] [-1.76470078e-03 -3.07744385e-05 -9.99998443e-01 -3.98500688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.386559995 meters 0.014271452522505931 Centerline is valid? [True, True] Translation: X:62.86, Y:-179.76, Z:-3.99 [[-9.06265039e-01 4.22709158e-01 -8.04452100e-04 6.28561639e+01] [ 4.22708980e-01 9.06265396e-01 3.88055219e-04 -1.79756489e+02] [ 8.93081595e-04 1.16317515e-05 -9.99999601e-01 -3.98656309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.4465599950001 meters 0.013757582040736958 Centerline is valid? [True, True] Translation: X:62.87, Y:-179.74, Z:-3.99 [[-9.32553439e-01 3.61028405e-01 -1.60469867e-03 6.28676177e+01] [ 3.61027842e-01 9.32554819e-01 6.37783150e-04 -1.79735821e+02] [ 1.72672731e-03 1.54259701e-05 -9.99998509e-01 -3.98624989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.506559995 meters 0.0133665624991382 Centerline is valid? [True, True] Translation: X:62.88, Y:-179.71, Z:-3.99 [[-9.55022745e-01 2.96525310e-01 -2.07309305e-03 6.28752457e+01] [ 2.96524580e-01 9.55024995e-01 6.57925656e-04 -1.79712556e+02] [ 2.17494729e-03 1.36109181e-05 -9.99997635e-01 -3.98560279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.566559995 meters 0.013221682936072518 Centerline is valid? [True, True] Translation: X:63.06, Y:-179.13, Z:-5.06 [[-9.28737651e-01 -3.70728069e-01 -2.65962801e-03 6.30617540e+01] [ 3.70726729e-01 -9.28741458e-01 9.98663562e-04 -1.79133100e+02] [-2.84033941e-03 -5.84987406e-05 9.99995965e-01 -5.05878331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.626559995 meters 0.013214384505694204 Centerline is valid? [True, True] Translation: X:62.83, Y:-179.70, Z:-3.99 [[-9.55933505e-01 2.93574579e-01 -2.25840588e-03 6.28307901e+01] [ 2.93573726e-01 9.55936173e-01 7.07745698e-04 -1.79700800e+02] [ 2.36666802e-03 1.35491964e-05 -9.99997199e-01 -3.98542560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.6865599950002 meters 0.013185019114850009 Centerline is valid? [True, True] Translation: X:62.84, Y:-179.67, Z:-3.98 [[-9.74066062e-01 2.26261911e-01 -9.24037214e-04 6.28359332e+01] [ 2.26261804e-01 9.74066501e-01 2.19511740e-04 -1.79672733e+02] [ 9.49740841e-04 4.74460865e-06 -9.99999549e-01 -3.98387668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.746559995 meters 0.013012651940383172 Centerline is valid? [True, True] Translation: X:62.98, Y:-179.08, Z:-5.06 [[-9.54528360e-01 -2.98119765e-01 -4.64608216e-04 6.29788595e+01] [ 2.98119717e-01 -9.54528473e-01 1.71476596e-04 -1.79084032e+02] [-4.94602333e-04 2.51704039e-05 9.99999877e-01 -5.06227906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.806559995 meters 0.01296559082716941 Centerline is valid? [True, True] Translation: X:62.79, Y:-179.66, Z:-3.98 [[-9.74221470e-01 2.25590085e-01 -1.28117655e-03 6.27943534e+01] [ 2.25589887e-01 9.74222312e-01 2.98881860e-04 -1.79663681e+02] [ 1.31557556e-03 2.15665221e-06 -9.99999135e-01 -3.98277673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.866559995 meters 0.012958660716368925 Centerline is valid? [True, True] Translation: X:62.93, Y:-179.07, Z:-5.06 [[-9.56456948e-01 -2.91862995e-01 -2.46940179e-03 6.29317342e+01] [ 2.91862238e-01 -9.56460133e-01 6.69711012e-04 -1.79073913e+02] [-2.55734823e-03 -8.01753835e-05 9.99996727e-01 -5.06162237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.926559995 meters 0.012984607617983196 Centerline is valid? [True, True] Translation: X:62.75, Y:-179.65, Z:-3.98 [[-9.74755901e-01 2.23255559e-01 -2.80859626e-03 6.27452631e+01] [ 2.23254630e-01 9.74759948e-01 6.43862989e-04 -1.79650061e+02] [ 2.88145313e-03 5.77129080e-07 -9.99995849e-01 -3.98246351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1348.986559995 meters 0.012996263195121448 Centerline is valid? [True, True] Translation: X:62.88, Y:-179.07, Z:-5.06 [[-9.57430671e-01 -2.88641612e-01 -3.53973900e-03 6.28832793e+01] [ 2.88639837e-01 -9.57437213e-01 1.01356816e-03 -1.79069900e+02] [-3.68163579e-03 -5.12884439e-05 9.99993222e-01 -5.06267560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.046559995 meters 0.012955935338788157 Centerline is valid? [True, True] Translation: X:62.71, Y:-179.64, Z:-3.98 [[-9.75644943e-01 2.19346812e-01 -1.98017236e-03 6.27053951e+01] [ 2.19346357e-01 9.75646953e-01 4.46605673e-04 -1.79636682e+02] [ 2.02991066e-03 1.38497333e-06 -9.99997940e-01 -3.98064698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.106559995 meters 0.01298507481917611 Centerline is valid? [True, True] Translation: X:62.70, Y:-179.61, Z:-3.98 [[-9.88528014e-01 1.51036281e-01 -6.38696222e-04 6.27031542e+01] [ 1.51036249e-01 9.88528220e-01 9.79281697e-05 -1.79607395e+02] [ 6.46159946e-04 3.38457104e-07 -9.99999791e-01 -3.97904065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.166559995 meters 0.013029849585543651 Centerline is valid? [True, True] Translation: X:62.79, Y:-179.03, Z:-5.07 [[-9.77103083e-01 -2.12765611e-01 6.00189055e-04 6.27927785e+01] [ 2.12765618e-01 -9.77103264e-01 -5.41102113e-05 -1.79029022e+02] [ 5.97959478e-04 7.48283408e-05 9.99999819e-01 -5.06757098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.2265599950001 meters 0.013078921385179668 Centerline is valid? [True, True] Translation: X:62.66, Y:-179.60, Z:-3.98 [[-9.88509191e-01 1.51160598e-01 -2.30138431e-04 6.26566947e+01] [ 1.51160594e-01 9.88509218e-01 3.48078517e-05 -1.79598269e+02] [ 2.32755535e-04 -3.79980534e-07 -9.99999973e-01 -3.97775969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.286559995 meters 0.013400029790388821 Centerline is valid? [True, True] Translation: X:62.75, Y:-179.02, Z:-5.07 [[-9.79025650e-01 -2.03734407e-01 -1.03304433e-03 6.27454562e+01] [ 2.03734341e-01 -9.79026195e-01 1.69629583e-04 -1.79021760e+02] [-1.04593684e-03 -4.43948928e-05 9.99999452e-01 -5.06610806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.346559995 meters 0.013711351923501047 Centerline is valid? [True, True] Translation: X:62.62, Y:-179.60, Z:-3.98 [[-9.88082378e-01 1.53906426e-01 -2.45468099e-03 6.26153265e+01] [ 1.53906023e-01 9.88085427e-01 3.53654410e-04 -1.79595282e+02] [ 2.47986420e-03 -2.83504973e-05 -9.99996925e-01 -3.97938235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.406559995 meters 0.013635227643850655 Centerline is valid? [True, True] Translation: X:62.70, Y:-179.02, Z:-5.07 [[-9.80243897e-01 -1.97773519e-01 -2.74534545e-03 6.26992025e+01] [ 1.97772711e-01 -9.80247742e-01 5.65446931e-04 -1.79017554e+02] [-2.80294911e-03 1.13214900e-05 9.99996072e-01 -5.06556760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.4665599950001 meters 0.013204259738707196 Centerline is valid? [True, True] Translation: X:62.57, Y:-179.58, Z:-3.98 [[-9.89478939e-01 1.44673990e-01 -9.30567508e-04 6.25661605e+01] [ 1.44673931e-01 9.89479377e-01 1.31289784e-04 -1.79581929e+02] [ 9.39771574e-04 -4.72038349e-06 -9.99999558e-01 -3.97737912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.526559995 meters 0.012943763116250917 Centerline is valid? [True, True] Translation: X:62.56, Y:-179.55, Z:-3.98 [[-9.97400324e-01 7.20586160e-02 3.85989581e-04 6.25585291e+01] [ 7.20586117e-02 9.97400399e-01 -2.50307188e-05 -1.79550214e+02] [-3.86789842e-04 2.84822624e-06 -9.99999925e-01 -3.97501937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.586559995 meters 0.013974768713353606 Centerline is valid? [True, True] Translation: X:62.60, Y:-178.99, Z:-5.07 [[-9.91617025e-01 -1.29194285e-01 2.12408015e-03 6.25973355e+01] [ 1.29194203e-01 -9.91619295e-01 -1.76383226e-04 -1.78986656e+02] [ 2.12906657e-03 9.95142326e-05 9.99997729e-01 -5.07160150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.646559995 meters 0.013667219981378636 Centerline is valid? [True, True] Translation: X:62.51, Y:-179.55, Z:-3.97 [[-9.97179822e-01 7.50276973e-02 1.80231648e-03 6.25115850e+01] [ 7.50276125e-02 9.97181450e-01 -1.14702660e-04 -1.79551001e+02] [-1.80584243e-03 2.08443238e-05 -9.99998369e-01 -3.97245339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.7065599950001 meters 0.013899010236262072 Centerline is valid? [True, True] Translation: X:62.55, Y:-178.98, Z:-5.07 [[-9.93098172e-01 -1.17266660e-01 2.13323923e-03 6.25500058e+01] [ 1.17266382e-01 -9.93100463e-01 -2.55376844e-04 -1.78980123e+02] [ 2.14846806e-03 -3.45703049e-06 9.99997692e-01 -5.07155052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.766559995 meters 0.01437605784137807 Centerline is valid? [True, True] Translation: X:62.46, Y:-179.55, Z:-3.97 [[-9.97211872e-01 7.46117210e-02 1.25410654e-03 6.24645653e+01] [ 7.46116860e-02 9.97212661e-01 -7.47662644e-05 -1.79551288e+02] [-1.25618936e-03 1.90131971e-05 -9.99999211e-01 -3.97344317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.826559995 meters 0.014365350609299018 Centerline is valid? [True, True] Translation: X:62.50, Y:-178.98, Z:-5.07 [[-9.93775058e-01 -1.11397186e-01 1.34224827e-03 6.24993472e+01] [ 1.11397065e-01 -9.93775964e-01 -1.64874219e-04 -1.78978973e+02] [ 1.35226059e-03 -1.43253688e-05 9.99999086e-01 -5.07211813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.886559995 meters 0.013952326280427927 Centerline is valid? [True, True] Translation: X:62.41, Y:-179.54, Z:-3.97 [[-9.97600757e-01 6.91980503e-02 2.08812878e-03 6.24113026e+01] [ 6.91979579e-02 9.97602942e-01 -1.16568621e-04 -1.79544577e+02] [-2.09118974e-03 2.82053034e-05 -9.99997813e-01 -3.97186686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1349.9465599950001 meters 0.01317749000608641 Centerline is valid? [True, True] Translation: X:62.44, Y:-178.98, Z:-5.07 [[-9.93281748e-01 -1.15689346e-01 2.71020069e-03 6.24371933e+01] [ 1.15688938e-01 -9.93285445e-01 -3.07619325e-04 -1.78982746e+02] [ 2.72759118e-03 7.98757793e-06 9.99996280e-01 -5.07326693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.006559995 meters 0.012846481504074567 Centerline is valid? [True, True] Translation: X:62.35, Y:-179.53, Z:-3.97 [[-9.98715984e-01 5.05207939e-02 3.74605125e-03 6.23506947e+01] [ 5.05204175e-02 9.98723009e-01 -1.95120543e-04 -1.79527771e+02] [-3.75112522e-03 -5.61793265e-06 -9.99992965e-01 -3.96945884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.066559995 meters 0.012995425125084996 Centerline is valid? [True, True] Translation: X:62.37, Y:-178.99, Z:-5.08 [[-9.92202033e-01 -1.24541794e-01 4.94646114e-03 6.23745071e+01] [ 1.24540702e-01 -9.92214359e-01 -5.29256110e-04 -1.78990400e+02] [ 4.97386427e-03 9.09067551e-05 9.99987626e-01 -5.07602888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.126559995 meters 0.013050792316544844 Centerline is valid? [True, True] Translation: X:62.30, Y:-179.53, Z:-3.97 [[-9.99080238e-01 4.25068308e-02 5.64343715e-03 6.22962543e+01] [ 4.25059714e-02 9.99096176e-01 -2.72206171e-04 -1.79526603e+02] [-5.64990710e-03 -3.20760280e-05 -9.99984039e-01 -3.96913634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.1865599950002 meters 0.012859354009068636 Centerline is valid? [True, True] Translation: X:62.29, Y:-179.50, Z:-3.97 [[-9.99703751e-01 -2.35475947e-02 6.15800407e-03 6.22898164e+01] [-2.35471712e-02 9.99722717e-01 1.41278526e-04 -1.79504102e+02] [-6.15962333e-03 -3.76690364e-06 -9.99981029e-01 -3.96871311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.246559995 meters 0.013033119747015192 Centerline is valid? [True, True] Translation: X:62.28, Y:-178.95, Z:-5.08 [[-9.99210717e-01 -3.93136713e-02 5.69011970e-03 6.22827032e+01] [ 3.93128959e-02 -9.99226919e-01 -2.48115036e-04 -1.78948606e+02] [ 5.69547509e-03 -2.42241197e-05 9.99983780e-01 -5.07602781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.306559995 meters 0.013560144905557025 Centerline is valid? [True, True] Translation: X:62.24, Y:-179.52, Z:-3.97 [[-9.99845542e-01 -1.72146507e-02 3.54225386e-03 6.22404619e+01] [-1.72144173e-02 9.99851816e-01 9.63759320e-05 -1.79517291e+02] [-3.54338804e-03 3.53832097e-05 -9.99993722e-01 -3.97084894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.366559995 meters 0.01402887448438887 Centerline is valid? [True, True] Translation: X:62.23, Y:-178.94, Z:-5.07 [[-9.99636591e-01 -2.69422364e-02 8.95936248e-04 6.22269269e+01] [ 2.69420701e-02 -9.99636977e-01 -1.97100562e-04 -1.78938813e+02] [ 9.00921334e-04 -1.72890556e-04 9.99999579e-01 -5.07063343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.426559995 meters 0.014008318002898819 Centerline is valid? [True, True] Translation: X:62.18, Y:-179.53, Z:-3.98 [[-9.99814815e-01 -1.92314311e-02 -6.98495410e-04 6.21830734e+01] [-1.92314210e-02 9.99815059e-01 -2.11526731e-05 -1.79525566e+02] [ 6.98773025e-04 -7.71569670e-06 -9.99999756e-01 -3.97570481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.486559995 meters 0.01312323710796281 Centerline is valid? [True, True] Translation: X:62.16, Y:-178.95, Z:-5.07 [[-9.99570351e-01 -2.92440284e-02 -1.97494833e-03 6.21609999e+01] [ 2.92441029e-02 -9.99572300e-01 -8.88173912e-06 -1.78945031e+02] [-1.97384391e-03 -6.66335153e-05 9.99998050e-01 -5.06807359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.546559995 meters 0.01281909122634379 Centerline is valid? [True, True] Translation: X:62.12, Y:-179.52, Z:-3.97 [[-9.99449382e-01 -3.31758684e-02 -5.43499743e-04 6.21207403e+01] [-3.31758634e-02 9.99449529e-01 -1.81574943e-05 -1.79520805e+02] [ 5.43802952e-04 -1.16423262e-07 -9.99999852e-01 -3.97448742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.606559995 meters 0.012768760471510833 Centerline is valid? [True, True] Translation: X:62.11, Y:-179.50, Z:-3.97 [[-9.94373565e-01 -1.05929362e-01 4.27590069e-04 6.21092055e+01] [-1.05929352e-01 9.94373657e-01 4.70144331e-05 -1.79495512e+02] [-4.30164510e-04 1.45557054e-06 -9.99999908e-01 -3.97294211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.666559995 meters 0.012821608169983503 Centerline is valid? [True, True] Translation: X:62.04, Y:-178.92, Z:-5.07 [[-9.99110203e-01 4.21757060e-02 1.11802342e-04 6.20436505e+01] [-4.21757081e-02 -9.99110209e-01 -1.68567261e-05 -1.78919363e+02] [ 1.10991917e-04 -2.15570700e-05 9.99999994e-01 -5.07117757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.7265599950001 meters 0.013041178105984558 Centerline is valid? [True, True] Translation: X:62.04, Y:-179.51, Z:-3.97 [[-9.94345333e-01 -1.06194660e-01 -2.30356189e-04 6.20430313e+01] [-1.06194657e-01 9.94345360e-01 -2.44667064e-05 -1.79513248e+02] [ 2.31651841e-04 1.34241110e-07 -9.99999973e-01 -3.97400883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.786559995 meters 0.013081505171083389 Centerline is valid? [True, True] Translation: X:62.03, Y:-179.49, Z:-3.97 [[-9.84391633e-01 -1.75990335e-01 7.17923366e-04 6.20337525e+01] [-1.75990284e-01 9.84391895e-01 1.33943210e-04 -1.79490589e+02] [-7.30290653e-04 5.50503837e-06 -9.99999733e-01 -3.97353603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.846559995 meters 0.013100509764070315 Centerline is valid? [True, True] Translation: X:62.02, Y:-179.47, Z:-3.97 [[-9.69239498e-01 -2.46118859e-01 5.50857017e-04 6.20177600e+01] [-2.46118817e-01 9.69239654e-01 1.44366567e-04 -1.79468334e+02] [-5.69443800e-04 4.34950136e-06 -9.99999838e-01 -3.97417974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.906559995 meters 0.013043365920749606 Centerline is valid? [True, True] Translation: X:61.86, Y:-178.88, Z:-5.07 [[-9.81743816e-01 1.90207513e-01 -4.27148917e-04 6.18623436e+01] [-1.90207465e-01 -9.81743906e-01 -1.51335573e-04 -1.78883362e+02] [-4.48136009e-04 -6.73258499e-05 9.99999897e-01 -5.06960378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1350.9665599950001 meters 0.013253248148806837 Centerline is valid? [True, True] Translation: X:61.92, Y:-179.49, Z:-3.98 [[-9.68021153e-01 -2.50864940e-01 -1.35216741e-03 6.19156204e+01] [-2.50864684e-01 9.68022098e-01 -3.58304597e-04 -1.79494805e+02] [ 1.39881399e-03 -7.63537962e-06 -9.99999022e-01 -3.97512495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.026559995 meters 0.01385531819416117 Centerline is valid? [True, True] Translation: X:61.89, Y:-179.48, Z:-3.98 [[-9.48726726e-01 -3.16093288e-01 -1.62232080e-03 6.18910727e+01] [-3.16092796e-01 9.48728113e-01 -5.57723470e-04 -1.79477271e+02] [ 1.71543400e-03 -1.63232438e-05 -9.99998529e-01 -3.97543282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.086559995 meters 0.014050727125753821 Centerline is valid? [True, True] Translation: X:61.85, Y:-179.46, Z:-3.97 [[-9.24000351e-01 -3.82390411e-01 -9.61634521e-04 6.18540697e+01] [-3.82390192e-01 9.24000851e-01 -4.09588545e-04 -1.79463507e+02] [ 1.04517385e-03 -1.07403495e-05 -9.99999454e-01 -3.97485457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.146559995 meters 0.01399996380855309 Centerline is valid? [True, True] Translation: X:61.80, Y:-179.46, Z:-3.97 [[-8.92582003e-01 -4.50877876e-01 2.55123427e-03 6.17962194e+01] [-4.50875940e-01 8.92585649e-01 1.32176858e-03 -1.79456938e+02] [-2.87315130e-03 2.94966979e-05 -9.99995872e-01 -3.97034607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.2065599950001 meters 0.01363275996249415 Centerline is valid? [True, True] Translation: X:61.72, Y:-179.46, Z:-3.97 [[-8.55199461e-01 -5.18279729e-01 4.47262259e-03 6.17238211e+01] [-5.18272429e-01 8.55211156e-01 2.75098836e-03 -1.79462028e+02] [-5.25081823e-03 3.46067860e-05 -9.99986214e-01 -3.96750154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.266559995 meters 0.013303194771152842 Centerline is valid? [True, True] Translation: X:61.65, Y:-179.47, Z:-3.97 [[-8.12569428e-01 -5.82852034e-01 3.79889592e-03 6.16514933e+01] [-5.82845579e-01 8.12578308e-01 2.74312105e-03 -1.79470668e+02] [-4.68573410e-03 1.48066066e-05 -9.99989022e-01 -3.96759922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.326559995 meters 0.013314761230291336 Centerline is valid? [True, True] Translation: X:61.58, Y:-179.49, Z:-3.97 [[-7.67206663e-01 -6.41395851e-01 2.30198942e-03 6.15775509e+01] [-6.41392922e-01 7.67210116e-01 1.93857440e-03 -1.79493298e+02] [-3.00950314e-03 1.08074751e-05 -9.99995471e-01 -3.96939884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.386559995 meters 0.013628974313696522 Centerline is valid? [True, True] Translation: X:61.50, Y:-179.53, Z:-3.97 [[-7.18884767e-01 -6.95128922e-01 6.88579377e-04 6.15023113e+01] [-6.95128594e-01 7.18885097e-01 6.75304727e-04 -1.79528976e+02] [-9.64433299e-04 6.81506779e-06 -9.99999535e-01 -3.97127801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.4465599950001 meters 0.013594970096759251 Centerline is valid? [True, True] Translation: X:61.43, Y:-179.57, Z:-3.97 [[-6.66212529e-01 -7.45760799e-01 -1.30279912e-03 6.14255667e+01] [-7.45759335e-01 6.66213803e-01 -1.47750477e-03 -1.79572789e+02] [ 1.96980789e-03 -1.27575829e-05 -9.99998060e-01 -3.97336293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.506559995 meters 0.013725082097784547 Centerline is valid? [True, True] Translation: X:61.35, Y:-179.63, Z:-3.97 [[-6.09528564e-01 -7.92760218e-01 -2.48322856e-03 6.13487227e+01] [-7.92753401e-01 6.09533621e-01 -3.28794830e-03 -1.79627647e+02] [ 4.12016591e-03 -3.55105153e-05 -9.99991512e-01 -3.97439352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.566559995 meters 0.013760397116589579 Centerline is valid? [True, True] Translation: X:61.27, Y:-179.69, Z:-3.97 [[-5.48107307e-01 -8.36405330e-01 -2.12229671e-03 6.12714127e+01] [-8.36398817e-01 5.48111415e-01 -3.30103616e-03 -1.79693798e+02] [ 3.92425929e-03 -3.42355892e-05 -9.99992300e-01 -3.97375856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.626559995 meters 0.01374309925897287 Centerline is valid? [True, True] Translation: X:61.20, Y:-179.77, Z:-3.97 [[-4.83032636e-01 -8.75600772e-01 -1.66155809e-03 6.11983701e+01] [-8.75595380e-01 4.83035493e-01 -3.07296443e-03 -1.79765195e+02] [ 3.49328155e-03 -2.94895160e-05 -9.99993898e-01 -3.97383111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.686559995 meters 0.013692961593947606 Centerline is valid? [True, True] Translation: X:61.12, Y:-179.85, Z:-3.97 [[-4.14390510e-01 -9.10098314e-01 -1.25049565e-03 6.11247302e+01] [-9.10094005e-01 4.14392397e-01 -2.80082306e-03 -1.79851955e+02] [ 3.06722023e-03 -2.25659008e-05 -9.99995296e-01 -3.97323672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.746559995 meters 0.013518404224924438 Centerline is valid? [True, True] Translation: X:61.06, Y:-179.94, Z:-3.97 [[-3.42701418e-01 -9.39444146e-01 -6.58545454e-04 6.10585856e+01] [-9.39442350e-01 3.42702051e-01 -1.83719381e-03 -1.79935406e+02] [ 1.95162585e-03 -1.09434363e-05 -9.99998096e-01 -3.97184415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.806559995 meters 0.01329404740323178 Centerline is valid? [True, True] Translation: X:61.00, Y:-180.03, Z:-3.97 [[-2.67823145e-01 -9.63468091e-01 -1.53113179e-05 6.09954016e+01] [-9.63468090e-01 2.67823146e-01 -4.96360033e-05 -1.80029458e+02] [ 5.19234299e-05 1.45829562e-06 -9.99999999e-01 -3.96963488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.866559995 meters 0.013285299150761322 Centerline is valid? [True, True] Translation: X:60.94, Y:-180.13, Z:-3.97 [[-1.93507913e-01 -9.81098697e-01 1.85870278e-04 6.09437148e+01] [-9.81098218e-01 1.93508003e-01 9.69452686e-04 -1.80125951e+02] [-9.87096153e-04 5.23976787e-06 -9.99999513e-01 -3.96869261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.926559995 meters 0.013328412144496229 Centerline is valid? [True, True] Translation: X:60.90, Y:-180.23, Z:-3.97 [[-1.18597530e-01 -9.92942403e-01 1.03911128e-04 6.08989725e+01] [-9.92941981e-01 1.18597576e-01 9.15160474e-04 -1.80231866e+02] [-9.21025249e-04 5.35805045e-06 -9.99999576e-01 -3.96840315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1351.986559995 meters 0.0134491903465919 Centerline is valid? [True, True] Translation: X:60.86, Y:-180.34, Z:-3.97 [[-4.41153481e-02 -9.99026444e-01 1.58834437e-05 6.08648377e+01] [-9.99026340e-01 4.41153507e-02 4.55198849e-04 -1.80339566e+02] [-4.55456392e-04 4.21327697e-06 -9.99999896e-01 -3.96847775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.046559995 meters 0.013580273842287136 Centerline is valid? [True, True] Translation: X:60.84, Y:-180.45, Z:-3.97 [[ 3.08774987e-02 -9.99523176e-01 -4.55013462e-06 6.08389136e+01] [-9.99523173e-01 -3.08774989e-02 7.64781858e-05 -1.80450925e+02] [-7.65822167e-05 2.18650990e-06 -9.99999997e-01 -3.96819384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.106559995 meters 0.013605514952231331 Centerline is valid? [True, True] Translation: X:60.82, Y:-180.57, Z:-3.97 [[ 1.06582750e-01 -9.94303832e-01 -8.87804949e-05 6.08228163e+01] [-9.94303542e-01 -1.06582787e-01 7.58609381e-04 -1.80565946e+02] [-7.63750687e-04 7.42008671e-06 -9.99999708e-01 -3.96769287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.166559995 meters 0.013494028367336122 Centerline is valid? [True, True] Translation: X:60.81, Y:-180.68, Z:-3.97 [[ 1.83562530e-01 -9.83007944e-01 -4.24037822e-04 6.08125580e+01] [-9.83005511e-01 -1.83563019e-01 2.18698344e-03 -1.80683161e+02] [-2.22765976e-03 1.53833021e-05 -9.99997519e-01 -3.96611903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.2265599950001 meters 0.013200734716727917 Centerline is valid? [True, True] Translation: X:60.81, Y:-180.80, Z:-3.97 [[ 2.59996396e-01 -9.65609476e-01 -4.63394852e-04 6.08084641e+01] [-9.65608003e-01 -2.59996809e-01 1.68652082e-03 -1.80800810e+02] [-1.74900167e-03 8.96844134e-06 -9.99998471e-01 -3.96595982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.286559995 meters 0.013194174424819254 Centerline is valid? [True, True] Translation: X:60.81, Y:-180.92, Z:-3.97 [[ 3.33267618e-01 -9.42832231e-01 -2.79813647e-04 6.08125283e+01] [-9.42831911e-01 -3.33267736e-01 7.77377562e-04 -1.80916274e+02] [-8.26189482e-04 4.74246681e-06 -9.99999659e-01 -3.96688169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.346559995 meters 0.013170257680948051 Centerline is valid? [True, True] Translation: X:60.83, Y:-181.03, Z:-3.97 [[ 4.03437113e-01 -9.15007199e-01 5.67888790e-04 6.08271533e+01] [-9.15006309e-01 -4.03437512e-01 -1.27633164e-03 -1.81031760e+02] [ 1.39696028e-03 -4.70227560e-06 -9.99999024e-01 -3.96881131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.406559995 meters 0.013640359727209787 Centerline is valid? [True, True] Translation: X:60.85, Y:-181.14, Z:-3.97 [[ 4.69890860e-01 -8.82722632e-01 1.82627938e-03 6.08514787e+01] [-8.82716166e-01 -4.69894409e-01 -3.37859512e-03 -1.81136867e+02] [ 3.84052085e-03 -2.45153682e-05 -9.99992625e-01 -3.97129508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.4665599950001 meters 0.01379423845834021 Centerline is valid? [True, True] Translation: X:60.89, Y:-181.24, Z:-3.97 [[ 5.35178346e-01 -8.44736643e-01 2.03528436e-03 6.08850269e+01] [-8.44730719e-01 -5.35182216e-01 -3.16353064e-03 -1.81244236e+02] [ 3.76159824e-03 -2.62141262e-05 -9.99992925e-01 -3.97012336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.526559995 meters 0.013247242415998516 Centerline is valid? [True, True] Translation: X:60.92, Y:-181.35, Z:-3.97 [[ 5.99278094e-01 -8.00539590e-01 1.46005408e-03 6.09189011e+01] [-8.00537261e-01 -5.99279873e-01 -1.93081544e-03 -1.81347916e+02] [ 2.42067522e-03 -1.17322992e-05 -9.99997070e-01 -3.96635398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.586559995 meters 0.013001690304961743 Centerline is valid? [True, True] Translation: X:60.97, Y:-181.45, Z:-3.96 [[ 6.59429318e-01 -7.51765861e-01 1.03147262e-03 6.09652119e+01] [-7.51764952e-01 -6.59430125e-01 -1.16927032e-03 -1.81450422e+02] [ 1.55920163e-03 -4.37383273e-06 -9.99998785e-01 -3.96467242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.646559995 meters 0.01307847367051324 Centerline is valid? [True, True] Translation: X:61.01, Y:-181.54, Z:-3.96 [[ 7.14974829e-01 -6.99149089e-01 1.24302261e-03 6.10135419e+01] [-6.99148042e-01 -7.14975909e-01 -1.21042144e-03 -1.81538179e+02] [ 1.73499627e-03 -3.63596741e-06 -9.99998495e-01 -3.96499287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.7065599950001 meters 0.012969450691665668 Centerline is valid? [True, True] Translation: X:61.04, Y:-181.57, Z:-3.97 [[ 7.67962700e-01 -6.40491824e-01 1.87452137e-03 6.10368297e+01] [-6.40489928e-01 -7.67964988e-01 -1.55868233e-03 -1.81569586e+02] [ 2.43789007e-03 -3.60216776e-06 -9.99997028e-01 -3.96630271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.766559995 meters 0.012969133817017312 Centerline is valid? [True, True] Translation: X:61.06, Y:-181.60, Z:-3.97 [[ 8.15928688e-01 -5.78145200e-01 2.91624189e-03 6.10608780e+01] [-5.78141527e-01 -8.15933899e-01 -2.06091601e-03 -1.81600855e+02] [ 3.57096932e-03 -4.44004219e-06 -9.99993624e-01 -3.96662851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.826559995 meters 0.012922017109502658 Centerline is valid? [True, True] Translation: X:61.09, Y:-181.63, Z:-3.97 [[ 8.58641437e-01 -5.12566600e-01 3.21925590e-03 6.10871231e+01] [-5.12563018e-01 -8.58647472e-01 -1.91636782e-03 -1.81630886e+02] [ 3.74647208e-03 -4.59870317e-06 -9.99992982e-01 -3.96582366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.886559995 meters 0.01285642180875712 Centerline is valid? [True, True] Translation: X:61.12, Y:-181.66, Z:-3.97 [[ 8.95488088e-01 -4.45073266e-01 3.29736380e-03 6.11161319e+01] [-4.45070288e-01 -8.95494158e-01 -1.62839280e-03 -1.81656921e+02] [ 3.67752412e-03 -9.35229707e-06 -9.99993238e-01 -3.96525634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1352.9465599950001 meters 0.012946622003940061 Centerline is valid? [True, True] Translation: X:61.15, Y:-181.68, Z:-3.97 [[ 9.26884996e-01 -3.75325015e-01 3.91623724e-03 6.11484353e+01] [-3.75321748e-01 -9.26893269e-01 -1.56625373e-03 -1.81679137e+02] [ 4.21778815e-03 -1.81119247e-05 -9.99991105e-01 -3.96547173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.006559995 meters 0.012934609224709421 Centerline is valid? [True, True] Translation: X:61.18, Y:-181.70, Z:-3.96 [[ 9.53240800e-01 -3.02185551e-01 3.98373389e-03 6.11813429e+01] [-3.02183000e-01 -9.53249124e-01 -1.24190845e-03 -1.81699644e+02] [ 4.17277763e-03 -1.99788488e-05 -9.99991294e-01 -3.96442769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.066559995 meters 0.012840105550662074 Centerline is valid? [True, True] Translation: X:61.22, Y:-181.72, Z:-3.96 [[ 9.74447028e-01 -2.24605250e-01 2.33913111e-03 6.12154530e+01] [-2.24604617e-01 -9.74449835e-01 -5.33559946e-04 -1.81720145e+02] [ 2.39920629e-03 -5.45374354e-06 -9.99997122e-01 -3.96156107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.126559995 meters 0.012803359430457798 Centerline is valid? [True, True] Translation: X:61.25, Y:-181.74, Z:-3.96 [[ 9.89787239e-01 -1.42541923e-01 -1.73817778e-03 6.12498839e+01] [-1.42541699e-01 -9.89788765e-01 2.52771061e-04 -1.81737819e+02] [-1.75645931e-03 -2.42675717e-06 -9.99998458e-01 -3.95767796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.186559995 meters 0.01299422649587299 Centerline is valid? [True, True] Translation: X:61.29, Y:-181.75, Z:-3.96 [[ 9.98070354e-01 -6.20334585e-02 -2.72371879e-03 6.12859757e+01] [-6.20331951e-02 -9.98074070e-01 1.81158062e-04 -1.81749714e+02] [-2.72971096e-03 -1.18475119e-05 -9.99996274e-01 -3.95611890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.246559995 meters 0.013175429924397257 Centerline is valid? [True, True] Translation: X:61.32, Y:-181.76, Z:-3.96 [[ 9.99832061e-01 1.80365661e-02 -3.24547330e-03 6.13206876e+01] [ 1.80365365e-02 -9.99837328e-01 -3.84048041e-05 -1.81758908e+02] [-3.24563804e-03 -2.01387431e-05 -9.99994733e-01 -3.95544918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.306559995 meters 0.013036502726500166 Centerline is valid? [True, True] Translation: X:61.36, Y:-181.76, Z:-3.96 [[ 9.95410418e-01 9.56491969e-02 -3.05455402e-03 6.13552228e+01] [ 9.56487992e-02 -9.95415105e-01 -2.76370855e-04 -1.81761063e+02] [-3.06698386e-03 -1.70619960e-05 -9.99995297e-01 -3.95619979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.366559995 meters 0.012799324334244855 Centerline is valid? [True, True] Translation: X:61.39, Y:-181.76, Z:-3.96 [[ 9.85282345e-01 1.70927507e-01 -1.57711452e-03 6.13893636e+01] [ 1.70927295e-01 -9.85283608e-01 -2.69155805e-04 -1.81759322e+02] [-1.59991122e-03 -4.37745642e-06 -9.99998720e-01 -3.95660995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.426559995 meters 0.01258233779550044 Centerline is valid? [True, True] Translation: X:61.42, Y:-181.76, Z:-3.96 [[ 9.69580974e-01 2.44767592e-01 -1.24912687e-03 6.14249679e+01] [ 2.44767388e-01 -9.69581779e-01 -3.15845757e-04 -1.81756839e+02] [-1.28843946e-03 4.92515694e-07 -9.99999170e-01 -3.95695729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.486559995 meters 0.012718057050665877 Centerline is valid? [True, True] Translation: X:61.46, Y:-181.75, Z:-3.96 [[ 9.49028089e-01 3.15185512e-01 -1.94382610e-03 6.14598008e+01] [ 3.15184830e-01 -9.49030080e-01 -6.56117504e-04 -1.81750574e+02] [-2.05154817e-03 1.00094419e-05 -9.99997896e-01 -3.95594060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.546559995 meters 0.012755047707228835 Centerline is valid? [True, True] Translation: X:61.49, Y:-181.74, Z:-3.96 [[ 9.21895359e-01 3.87431772e-01 -2.36000781e-03 6.14935216e+01] [ 3.87430461e-01 -9.21898379e-01 -1.00808262e-03 -1.81743269e+02] [-2.56625061e-03 1.50077768e-05 -9.99996707e-01 -3.95547949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.606559995 meters 0.013059362208969465 Centerline is valid? [True, True] Translation: X:61.53, Y:-181.73, Z:-3.95 [[ 8.89563254e-01 4.56795950e-01 -3.83110648e-03 6.15278864e+01] [ 4.56791558e-01 -8.89571503e-01 -2.00329943e-03 -1.81734465e+02] [-4.32314221e-03 3.20444614e-05 -9.99990655e-01 -3.95347858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.666559995 meters 0.013551375148753167 Centerline is valid? [True, True] Translation: X:61.56, Y:-181.72, Z:-3.95 [[ 8.52306689e-01 5.23013086e-01 -5.53355196e-03 6.15611819e+01] [ 5.23001583e-01 -8.52324649e-01 -3.46941000e-03 -1.81721309e+02] [-6.53092957e-03 6.29449156e-05 -9.99978671e-01 -3.95082534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.7265599950001 meters 0.014493339101913482 Centerline is valid? [True, True] Translation: X:61.59, Y:-181.71, Z:-3.95 [[ 8.12562161e-01 5.82835889e-01 -6.71279186e-03 6.15936801e+01] [ 5.82814623e-01 -8.12589877e-01 -4.98062194e-03 -1.81707774e+02] [-8.35763193e-03 1.34751672e-04 -9.99965065e-01 -3.94862487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.786559995 meters 0.016558385710415197 Centerline is valid? [True, True] Translation: X:61.62, Y:-181.69, Z:-3.95 [[ 7.66731984e-01 6.41920825e-01 -7.72774014e-03 6.16217862e+01] [ 6.41885553e-01 -7.66770900e-01 -6.73226119e-03 -1.81688927e+02] [-1.02469849e-02 2.01515226e-04 -9.99947478e-01 -3.94628116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.846559995 meters 0.015799362689272473 Centerline is valid? [True, True] Translation: X:61.65, Y:-181.67, Z:-3.95 [[ 7.13121770e-01 7.00995061e-01 -7.95401839e-03 6.16522111e+01] [ 7.00948193e-01 -7.13166097e-01 -8.10859655e-03 -1.81671410e+02] [-1.13566224e-02 2.07061904e-04 -9.99935490e-01 -3.94553204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.906559995 meters 0.015086329776919656 Centerline is valid? [True, True] Translation: X:61.68, Y:-181.65, Z:-3.94 [[ 6.53019978e-01 7.57300385e-01 -7.81250962e-03 6.16817446e+01] [ 7.57242994e-01 -6.53066687e-01 -9.32476206e-03 -1.81651050e+02] [-1.21637357e-02 1.73287741e-04 -9.99926004e-01 -3.94388760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1353.9665599950001 meters 0.013766659192339796 Centerline is valid? [True, True] Translation: X:61.71, Y:-181.63, Z:-3.94 [[ 5.88205831e-01 8.08681579e-01 -6.92857706e-03 6.17132946e+01] [ 8.08623099e-01 -5.88246624e-01 -9.72589159e-03 -1.81630590e+02] [-1.19408614e-02 1.18218689e-04 -9.99928698e-01 -3.94259612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.026559995 meters 0.013277980352346154 Centerline is valid? [True, True] Translation: X:61.74, Y:-181.60, Z:-3.94 [[ 5.21614187e-01 8.53164505e-01 -5.38215185e-03 6.17377725e+01] [ 8.53117385e-01 -5.21641946e-01 -8.96701918e-03 -1.81604926e+02] [-1.04578986e-02 8.57171037e-05 -9.99945311e-01 -3.94456176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.086559995 meters 0.013012493839187659 Centerline is valid? [True, True] Translation: X:61.76, Y:-181.58, Z:-3.95 [[ 4.50190192e-01 8.92921945e-01 -4.38077055e-03 6.17573947e+01] [ 8.92878649e-01 -4.50211504e-01 -8.79314816e-03 -1.81577037e+02] [-9.82386825e-03 4.70925652e-05 -9.99951744e-01 -3.94588687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.146559995 meters 0.012793209909896934 Centerline is valid? [True, True] Translation: X:61.78, Y:-181.55, Z:-3.95 [[ 3.75550256e-01 9.26794957e-01 -3.62105156e-03 6.17767251e+01] [ 9.26751583e-01 -3.75567713e-01 -8.96636508e-03 -1.81548936e+02] [-9.66993200e-03 1.15054411e-05 -9.99953245e-01 -3.94558583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.2065599950001 meters 0.012731863328959899 Centerline is valid? [True, True] Translation: X:61.80, Y:-181.52, Z:-3.95 [[ 2.97368396e-01 9.54759057e-01 -2.67947340e-03 6.17962865e+01] [ 9.54721238e-01 -2.97380466e-01 -8.49800575e-03 -1.81518701e+02] [-8.91037101e-03 -3.11118156e-05 -9.99960301e-01 -3.94587838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.266559995 meters 0.012816984907029738 Centerline is valid? [True, True] Translation: X:61.81, Y:-181.49, Z:-3.95 [[ 2.21354473e-01 9.75191754e-01 -1.79993605e-03 6.18077929e+01] [ 9.75160628e-01 -2.21361789e-01 -7.79158198e-03 -1.81486463e+02] [-7.99672357e-03 -3.05252422e-05 -9.99968025e-01 -3.94650541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.326559995 meters 0.012773717059043028 Centerline is valid? [True, True] Translation: X:61.82, Y:-181.45, Z:-3.95 [[ 1.46389257e-01 9.89226253e-01 -1.26726223e-03 6.18157565e+01] [ 9.89190054e-01 -1.46394741e-01 -8.46267843e-03 -1.81453371e+02] [-8.55702421e-03 -1.47179892e-05 -9.99963388e-01 -3.94563393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.386559995 meters 0.012848665103099031 Centerline is valid? [True, True] Translation: X:61.83, Y:-181.42, Z:-3.94 [[ 6.77336439e-02 9.97703205e-01 -6.84017846e-04 6.18290889e+01] [ 9.97655846e-01 -6.77370934e-02 -9.72112357e-03 -1.81419784e+02] [-9.74512952e-03 -2.39672806e-05 -9.99952515e-01 -3.94420283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.4465599950001 meters 0.012971545001027237 Centerline is valid? [True, True] Translation: X:61.84, Y:-181.39, Z:-3.94 [[-1.27380519e-02 9.99918864e-01 8.16920169e-05 6.18441612e+01] [ 9.99867997e-01 1.27382279e-02 -1.00859627e-02 -1.81385695e+02] [-1.00861849e-02 -4.67942821e-05 -9.99949132e-01 -3.94342833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.506559995 meters 0.012954224210881512 Centerline is valid? [True, True] Translation: X:61.85, Y:-181.35, Z:-3.94 [[-9.00489261e-02 9.95936921e-01 9.16588987e-04 6.18521170e+01] [ 9.95880849e-01 9.00535825e-02 -1.05682467e-02 -1.81349861e+02] [-1.06078492e-02 -3.88458483e-05 -9.99943735e-01 -3.94406409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.566559995 meters 0.013069506649307467 Centerline is valid? [True, True] Translation: X:61.85, Y:-181.32, Z:-3.94 [[-1.62363384e-01 9.86729016e-01 1.99526445e-03 6.18493275e+01] [ 9.86656197e-01 1.62375642e-01 -1.19874697e-02 -1.81316760e+02] [-1.21523665e-02 2.23138802e-05 -9.99926157e-01 -3.94272428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.626559995 meters 0.013379898649892315 Centerline is valid? [True, True] Translation: X:61.84, Y:-181.28, Z:-3.94 [[-2.35852462e-01 9.71783460e-01 3.24410743e-03 6.18443766e+01] [ 9.71695581e-01 2.35874761e-01 -1.30688252e-02 -1.81283254e+02] [-1.34652712e-02 6.99702628e-05 -9.99909337e-01 -3.94223998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.686559995 meters 0.013513949604046378 Centerline is valid? [True, True] Translation: X:61.84, Y:-181.25, Z:-3.94 [[-3.10097326e-01 9.50693279e-01 4.68382425e-03 6.18415929e+01] [ 9.50589416e-01 3.10132682e-01 -1.40528103e-02 -1.81248995e+02] [-1.48125192e-02 9.46548765e-05 -9.99890284e-01 -3.94190966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.746559995 meters 0.013396089555860155 Centerline is valid? [True, True] Translation: X:61.84, Y:-181.21, Z:-3.94 [[-3.86418210e-01 9.22304858e-01 5.89203157e-03 6.18421282e+01] [ 9.22199637e-01 3.86463124e-01 -1.39313488e-02 -1.81211805e+02] [-1.51260036e-02 5.03025139e-05 -9.99885594e-01 -3.94121568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.806559995 meters 0.013179696053573697 Centerline is valid? [True, True] Translation: X:61.84, Y:-181.18, Z:-3.94 [[-4.60610523e-01 8.87577331e-01 6.66539519e-03 6.18363382e+01] [ 8.87484317e-01 4.60658747e-01 -1.28493176e-02 -1.81176455e+02] [-1.44752356e-02 -3.09718995e-06 -9.99895228e-01 -3.94319472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.866559995 meters 0.012942479076858695 Centerline is valid? [True, True] Translation: X:61.82, Y:-181.14, Z:-3.95 [[-5.28305192e-01 8.49026852e-01 6.85771029e-03 6.18239132e+01] [ 8.48955421e-01 5.28349699e-01 -1.10131591e-02 -1.81143431e+02] [-1.29737369e-02 3.58120724e-06 -9.99915838e-01 -3.94691799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.926559995 meters 0.013020427263563162 Centerline is valid? [True, True] Translation: X:61.81, Y:-181.11, Z:-3.95 [[-5.90131046e-01 8.07269448e-01 7.83500050e-03 6.18095128e+01] [ 8.07199515e-01 5.90183053e-01 -1.06258250e-02 -1.81110642e+02] [-1.32019884e-02 5.37793505e-05 -9.99912849e-01 -3.94790835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1354.986559995 meters 0.013804872184295025 Centerline is valid? [True, True] Translation: X:61.79, Y:-181.08, Z:-3.95 [[-6.49313905e-01 7.60457433e-01 9.79516882e-03 6.17910175e+01] [ 7.60373339e-01 6.49387775e-01 -1.13094293e-02 -1.81082327e+02] [-1.49612025e-02 1.04615510e-04 -9.99888070e-01 -3.94531989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.046559995 meters 0.013392192222606578 Centerline is valid? [True, True] Translation: X:61.77, Y:-181.05, Z:-3.95 [[-7.08061261e-01 7.06073394e-01 1.04695749e-02 6.17724127e+01] [ 7.05997846e-01 7.08138656e-01 -1.03288994e-02 -1.81053005e+02] [-1.47068718e-02 7.80037676e-05 -9.99891845e-01 -3.94683079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.106559995 meters 0.012949690005283405 Centerline is valid? [True, True] Translation: X:61.79, Y:-181.03, Z:-3.95 [[-7.61023899e-01 6.48659101e-01 9.16492253e-03 6.17866835e+01] [ 6.48611690e-01 7.61079083e-01 -7.84249699e-03 -1.81025906e+02] [-1.20623379e-02 -2.38517445e-05 -9.99927247e-01 -3.95044280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.166559995 meters 0.01341635520481572 Centerline is valid? [True, True] Translation: X:61.80, Y:-180.99, Z:-3.95 [[-8.09756164e-01 5.86713762e-01 7.86870935e-03 6.17986348e+01] [ 5.86684885e-01 8.09794389e-01 -5.82186574e-03 -1.80993031e+02] [-9.78780543e-03 -9.78388280e-05 -9.99952094e-01 -3.95308874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.2265599950001 meters 0.013922147371387769 Centerline is valid? [True, True] Translation: X:61.81, Y:-180.97, Z:-3.96 [[-8.50703200e-01 5.25601588e-01 6.85836262e-03 6.18105151e+01] [ 5.25583525e-01 8.50730839e-01 -4.35861514e-03 -1.80968153e+02] [-8.12551562e-03 -1.03245446e-04 -9.99966982e-01 -3.95503939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.286559995 meters 0.013290080918652967 Centerline is valid? [True, True] Translation: X:61.82, Y:-180.95, Z:-3.96 [[-8.84816882e-01 4.65912408e-01 4.97128539e-03 6.18173759e+01] [ 4.65904676e-01 8.84830845e-01 -2.68479308e-03 -1.80945788e+02] [-5.64962506e-03 -5.94051365e-05 -9.99984039e-01 -3.95888875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.346559995 meters 0.012735644886668587 Centerline is valid? [True, True] Translation: X:61.83, Y:-180.92, Z:-3.96 [[-9.13497059e-01 4.06823439e-01 4.22052584e-03 6.18296828e+01] [ 4.06818974e-01 9.13506808e-01 -1.90612888e-03 -1.80924460e+02] [-4.63093700e-03 -2.42531286e-05 -9.99989277e-01 -3.96012662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.406559995 meters 0.01249451143398996 Centerline is valid? [True, True] Translation: X:62.06, Y:-180.43, Z:-5.08 [[-8.81976339e-01 -4.71284740e-01 2.90364176e-03 6.20570484e+01] [ 4.71281979e-01 -8.81981117e-01 -1.61413282e-03 -1.80431691e+02] [ 3.32167337e-03 -5.51929245e-05 9.99994482e-01 -5.08253264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.4665599950001 meters 0.0125803903153884 Centerline is valid? [True, True] Translation: X:61.79, Y:-180.91, Z:-3.96 [[-9.11046261e-01 4.12296118e-01 2.57310056e-03 6.17905025e+01] [ 4.12294514e-01 9.11049895e-01 -1.15035504e-03 -1.80911131e+02] [-2.81850991e-03 1.28485828e-05 -9.99996028e-01 -3.96239086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.526559995 meters 0.012863460519611274 Centerline is valid? [True, True] Translation: X:62.02, Y:-180.41, Z:-5.08 [[-8.86889467e-01 -4.61980328e-01 1.11821863e-03 6.20200161e+01] [ 4.61979825e-01 -8.86890167e-01 -6.88424395e-04 -1.80414954e+02] [ 1.30977564e-03 -9.39618971e-05 9.99999138e-01 -5.07952259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.586559995 meters 0.012775824368569045 Centerline is valid? [True, True] Translation: X:61.76, Y:-180.89, Z:-3.97 [[-9.11593578e-01 4.11092079e-01 6.71223313e-04 6.17554994e+01] [ 4.11091973e-01 9.11593825e-01 -2.95498981e-04 -1.80892172e+02] [-7.33360318e-04 6.55954278e-06 -9.99999731e-01 -3.96512733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.646559995 meters 0.012547126027334123 Centerline is valid? [True, True] Translation: X:61.76, Y:-180.86, Z:-3.96 [[-9.39572674e-01 3.42343478e-01 2.03286904e-03 6.17552789e+01] [ 3.42342696e-01 9.39574874e-01 -7.31869693e-04 -1.80856682e+02] [-2.16058349e-03 8.29310359e-06 -9.99997666e-01 -3.96269014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.7065599950001 meters 0.012497607082517723 Centerline is valid? [True, True] Translation: X:61.93, Y:-180.37, Z:-5.08 [[-9.15353964e-01 -4.02634433e-01 3.55455725e-03 6.19345606e+01] [ 4.02631808e-01 -9.15360860e-01 -1.45706142e-03 -1.80365584e+02] [ 3.84036568e-03 9.74508716e-05 9.99992621e-01 -5.08327908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.766559995 meters 0.01260274398516556 Centerline is valid? [True, True] Translation: X:61.72, Y:-180.84, Z:-3.96 [[-9.42103581e-01 3.35260175e-01 6.43871161e-03 6.17156857e+01] [ 3.35252310e-01 9.42125584e-01 -2.29640706e-03 -1.80837245e+02] [-6.83596877e-03 -4.86037221e-06 -9.99976635e-01 -3.95882977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.826559995 meters 0.012661161727230861 Centerline is valid? [True, True] Translation: X:61.72, Y:-180.81, Z:-3.96 [[-9.62827703e-01 2.69999489e-01 7.94290851e-03 6.17194514e+01] [ 2.69990424e-01 9.62860466e-01 -2.21242910e-03 -1.80812526e+02] [-8.24526731e-03 1.43212063e-05 -9.99966007e-01 -3.95866418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.886559995 meters 0.01295299885541472 Centerline is valid? [True, True] Translation: X:61.72, Y:-180.79, Z:-3.96 [[-9.78505755e-01 2.06085521e-01 7.43280064e-03 6.17217120e+01] [ 2.06079979e-01 9.78533983e-01 -1.51221094e-03 -1.80788308e+02] [-7.58489279e-03 5.20442981e-05 -9.99971233e-01 -3.95905468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1355.9465599950001 meters 0.013096115924831815 Centerline is valid? [True, True] Translation: X:61.72, Y:-180.76, Z:-3.96 [[-9.90440545e-01 1.37738441e-01 7.45982709e-03 6.17195529e+01] [ 1.37735018e-01 9.90468636e-01 -9.73118556e-04 -1.80760534e+02] [-7.52276060e-03 6.36633467e-05 -9.99971702e-01 -3.95855495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.006559995 meters 0.013023612019071873 Centerline is valid? [True, True] Translation: X:61.72, Y:-180.73, Z:-3.96 [[-9.97746005e-01 6.68040527e-02 6.33466587e-03 6.17156839e+01] [ 6.68030372e-02 9.97766113e-01 -3.72002094e-04 -1.80732821e+02] [-6.34536619e-03 5.20113169e-05 -9.99979867e-01 -3.95899772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.066559995 meters 0.012680029359999186 Centerline is valid? [True, True] Translation: X:61.74, Y:-180.21, Z:-5.09 [[-9.92804008e-01 -1.19577879e-01 6.42904501e-03 6.17422570e+01] [ 1.19575084e-01 -9.92824823e-01 -8.18791411e-04 -1.80207441e+02] [ 6.48082482e-03 -4.41457994e-05 9.99978998e-01 -5.08545141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.126559995 meters 0.01253356681942089 Centerline is valid? [True, True] Translation: X:61.66, Y:-180.72, Z:-3.96 [[-9.98334440e-01 5.71421167e-02 7.94509638e-03 6.16603891e+01] [ 5.71404551e-02 9.98366054e-01 -4.36153114e-04 -1.80724791e+02] [-7.95703724e-03 1.85597481e-05 -9.99968342e-01 -3.95709278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.186559995 meters 0.012452520682475108 Centerline is valid? [True, True] Translation: X:61.68, Y:-180.21, Z:-5.09 [[-9.92318816e-01 -1.23422421e-01 8.38296829e-03 6.16825053e+01] [ 1.23418133e-01 -9.92354224e-01 -1.02890497e-03 -1.80212377e+02] [ 8.44586393e-03 1.36085316e-05 9.99964333e-01 -5.08790913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.246559995 meters 0.012470567386068119 Centerline is valid? [True, True] Translation: X:61.60, Y:-180.72, Z:-3.96 [[-9.98824596e-01 4.78039018e-02 8.01338945e-03 6.16048352e+01] [ 4.78021601e-02 9.98856740e-01 -4.08843624e-04 -1.80717324e+02] [-8.02377238e-03 -2.53057423e-05 -9.99967809e-01 -3.95717934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.306559995 meters 0.012464330820356077 Centerline is valid? [True, True] Translation: X:61.63, Y:-180.21, Z:-5.09 [[-9.92966484e-01 -1.18129861e-01 7.93076827e-03 6.16311618e+01] [ 1.18126276e-01 -9.92998155e-01 -9.20570301e-04 -1.80208518e+02] [ 7.98398510e-03 2.27366685e-05 9.99968127e-01 -5.08690845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.366559995 meters 0.012978063051221005 Centerline is valid? [True, True] Translation: X:61.56, Y:-180.72, Z:-3.96 [[-9.98464714e-01 5.48058109e-02 8.03356531e-03 6.15614230e+01] [ 5.48045431e-02 9.98497030e-01 -3.78043131e-04 -1.80724779e+02] [-8.04221006e-03 6.28131494e-05 -9.99967659e-01 -3.95779202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.426559995 meters 0.014120847840762674 Centerline is valid? [True, True] Translation: X:61.59, Y:-180.20, Z:-5.09 [[-9.94795491e-01 -1.01653424e-01 6.96510513e-03 6.15871465e+01] [ 1.01650113e-01 -9.94819867e-01 -8.28680655e-04 -1.80196279e+02] [ 7.01326319e-03 -1.16364058e-04 9.99975400e-01 -5.08630189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.486559995 meters 0.015806036969566825 Centerline is valid? [True, True] Translation: X:61.51, Y:-180.74, Z:-3.96 [[-9.98207742e-01 5.95907531e-02 5.49967021e-03 6.15125029e+01] [ 5.95903550e-02 9.98222888e-01 -2.36354920e-04 -1.80736798e+02] [-5.50398124e-03 9.17959891e-05 -9.99984849e-01 -3.95897756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.546559995 meters 0.014038201032255197 Centerline is valid? [True, True] Translation: X:61.54, Y:-180.19, Z:-5.08 [[-9.95514554e-01 -9.44842301e-02 4.84797557e-03 6.15351345e+01] [ 9.44825116e-02 -9.95526351e-01 -5.82793660e-04 -1.80189880e+02] [ 4.88135224e-03 -1.22130663e-04 9.99988079e-01 -5.08415061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.606559995 meters 0.013638138403083653 Centerline is valid? [True, True] Translation: X:61.46, Y:-180.73, Z:-3.96 [[-9.98639400e-01 5.20438836e-02 3.28378053e-03 6.14585517e+01] [ 5.20437458e-02 9.98644798e-01 -1.27457915e-04 -1.80730795e+02] [-3.28596375e-03 4.36157438e-05 -9.99994600e-01 -3.96145968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.666559995 meters 0.013161036928887886 Centerline is valid? [True, True] Translation: X:61.45, Y:-180.70, Z:-3.96 [[-9.99759118e-01 -2.16523788e-02 3.58900584e-03 6.14459769e+01] [-2.16521028e-02 9.99765559e-01 1.15741498e-04 -1.80701282e+02] [-3.59067051e-03 3.80040945e-05 -9.99993553e-01 -3.96113954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.7265599950001 meters 0.012629413582527628 Centerline is valid? [True, True] Translation: X:61.44, Y:-180.67, Z:-3.96 [[-9.95361682e-01 -9.60880733e-02 4.71214225e-03 6.14381723e+01] [-9.60868457e-02 9.95372835e-01 4.86728301e-04 -1.80672341e+02] [-4.73710718e-03 3.16958144e-05 -9.99988779e-01 -3.96039871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.786559995 meters 0.012535895925853958 Centerline is valid? [True, True] Translation: X:61.38, Y:-180.15, Z:-5.09 [[-9.99223046e-01 3.90420935e-02 5.38701570e-03 6.13800225e+01] [-3.90414785e-02 -9.99237567e-01 2.19326090e-04 -1.80145185e+02] [ 5.39147142e-03 8.83862576e-06 9.99985466e-01 -5.08513821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.846559995 meters 0.0123069449410577 Centerline is valid? [True, True] Translation: X:61.37, Y:-180.67, Z:-3.96 [[-9.94329469e-01 -1.06158734e-01 6.26348059e-03 6.13725576e+01] [-1.06156598e-01 9.94349196e-01 6.73435302e-04 -1.80671420e+02] [-6.29957793e-03 4.70677583e-06 -9.99980158e-01 -3.95834451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.906559995 meters 0.012325072033675076 Centerline is valid? [True, True] Translation: X:61.36, Y:-180.64, Z:-3.96 [[-9.83944661e-01 -1.78352597e-01 6.57689481e-03 6.13554414e+01] [-1.78348658e-01 9.83966641e-01 1.18532699e-03 -1.80642709e+02] [-6.68285124e-03 -6.68419644e-06 -9.99977670e-01 -3.95758256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1356.9665599950001 meters 0.012324282920621585 Centerline is valid? [True, True] Translation: X:61.26, Y:-180.14, Z:-5.09 [[-9.94125882e-01 1.07959427e-01 7.64810718e-03 6.12613612e+01] [-1.07955637e-01 -9.94155298e-01 9.07938349e-04 -1.80143596e+02] [ 7.70142677e-03 7.69487307e-05 9.99970341e-01 -5.08813265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.026559995 meters 0.012471871612320277 Centerline is valid? [True, True] Translation: X:61.29, Y:-180.66, Z:-3.95 [[-9.82943307e-01 -1.83644962e-01 9.84799659e-03 6.12884230e+01] [-1.83635939e-01 9.82992639e-01 1.82049979e-03 -1.80655154e+02] [-1.00148338e-02 -1.89980155e-05 -9.99949850e-01 -3.95385124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.086559995 meters 0.012503921134899372 Centerline is valid? [True, True] Translation: X:61.27, Y:-180.63, Z:-3.95 [[-9.67701188e-01 -2.51855477e-01 1.11008903e-02 6.12716628e+01] [-2.51838973e-01 9.67764857e-01 2.88323504e-03 -1.80633741e+02] [-1.14692100e-02 -5.52682861e-06 -9.99934227e-01 -3.95212342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.146559995 meters 0.012739251735479426 Centerline is valid? [True, True] Translation: X:61.24, Y:-180.62, Z:-3.95 [[-9.48526862e-01 -3.16462137e-01 1.21863866e-02 6.12436508e+01] [-3.16435386e-01 9.48605141e-01 4.11499214e-03 -1.80618678e+02] [-1.28623081e-02 4.69766497e-05 -9.99917276e-01 -3.95104711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.2065599950001 meters 0.012990985740979876 Centerline is valid? [True, True] Translation: X:61.21, Y:-180.61, Z:-3.95 [[-9.24140439e-01 -3.81857596e-01 1.22158110e-02 6.12130905e+01] [-3.81823130e-01 9.24221170e-01 5.13095529e-03 -1.80605591e+02] [-1.32494054e-02 7.74440836e-05 -9.99912220e-01 -3.95063191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.266559995 meters 0.012936343185350536 Centerline is valid? [True, True] Translation: X:61.17, Y:-180.60, Z:-3.95 [[-8.93777603e-01 -4.48332473e-01 1.26329320e-02 6.11657296e+01] [-4.48286461e-01 8.93866874e-01 6.42350454e-03 -1.80600911e+02] [-1.41720251e-02 7.80121242e-05 -9.99899569e-01 -3.95128505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.326559995 meters 0.012561489850154439 Centerline is valid? [True, True] Translation: X:61.11, Y:-180.60, Z:-3.95 [[-8.56582516e-01 -5.15888322e-01 1.12085804e-02 6.11088685e+01] [-5.15843905e-01 8.56655846e-01 6.76951378e-03 -1.80598851e+02] [-1.30942090e-02 1.67692584e-05 -9.99914267e-01 -3.95216465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.386559995 meters 0.01256145973515831 Centerline is valid? [True, True] Translation: X:61.04, Y:-180.61, Z:-3.95 [[-8.15367876e-01 -5.78851654e-01 1.02951671e-02 6.10384428e+01] [-5.78805585e-01 8.15432869e-01 7.30287630e-03 -1.80610175e+02] [-1.26222997e-02 -4.36947670e-06 -9.99920336e-01 -3.95206465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.4465599950001 meters 0.012526166748373781 Centerline is valid? [True, True] Translation: X:60.97, Y:-180.63, Z:-3.95 [[-7.68758391e-01 -6.39472812e-01 9.22271429e-03 6.09659025e+01] [-6.39427344e-01 7.68813710e-01 7.62563510e-03 -1.80628177e+02] [-1.19669355e-02 -3.49847328e-05 -9.99928393e-01 -3.95218219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.506559995 meters 0.012575588863496133 Centerline is valid? [True, True] Translation: X:60.89, Y:-180.66, Z:-3.95 [[-7.18122435e-01 -6.95864390e-01 8.53926474e-03 6.08913605e+01] [-6.95816063e-01 7.18173202e-01 8.20111842e-03 -1.80657408e+02] [-1.18395374e-02 -5.23504352e-05 -9.99929909e-01 -3.95281796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.566559995 meters 0.012535310093260737 Centerline is valid? [True, True] Translation: X:60.81, Y:-180.70, Z:-3.95 [[-6.63551225e-01 -7.48100647e-01 6.72266809e-03 6.08140442e+01] [-7.48063097e-01 6.63585277e-01 7.49556229e-03 -1.80698072e+02] [-1.00684986e-02 -5.52903776e-05 -9.99949310e-01 -3.95369757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.626559995 meters 0.012376875203361394 Centerline is valid? [True, True] Translation: X:60.74, Y:-180.75, Z:-3.95 [[-6.06892396e-01 -7.94760738e-01 6.08184295e-03 6.07411667e+01] [-7.94721490e-01 6.06922868e-01 7.89846362e-03 -1.80748870e+02] [-9.96859835e-03 -3.98537775e-05 -9.99950312e-01 -3.95446383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.686559995 meters 0.012288419961759008 Centerline is valid? [True, True] Translation: X:60.67, Y:-180.81, Z:-3.95 [[-5.48130925e-01 -8.36370072e-01 6.13115804e-03 6.06693287e+01] [-8.36317951e-01 5.48165214e-01 9.33712972e-03 -1.80808761e+02] [-1.11701834e-02 -9.62798112e-06 -9.99937612e-01 -3.95250628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.746559995 meters 0.012605494656840594 Centerline is valid? [True, True] Translation: X:60.60, Y:-180.88, Z:-3.95 [[-4.84047662e-01 -8.75017801e-01 6.45824520e-03 6.05975872e+01] [-8.74940037e-01 4.84090743e-01 1.16654787e-02 -1.80876428e+02] [-1.33338782e-02 -3.92962357e-06 -9.99911100e-01 -3.94932784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.806559995 meters 0.012473588959307622 Centerline is valid? [True, True] Translation: X:60.53, Y:-180.95, Z:-3.95 [[-4.17639823e-01 -9.08590985e-01 6.27700553e-03 6.05307453e+01] [-9.08487892e-01 4.17686991e-01 1.36867419e-02 -1.80951126e+02] [-1.50574739e-02 1.35449485e-05 -9.99886630e-01 -3.94961289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.866559995 meters 0.012570086553214477 Centerline is valid? [True, True] Translation: X:60.47, Y:-181.04, Z:-3.95 [[-3.49343891e-01 -9.36978541e-01 5.48263330e-03 6.04699632e+01] [-9.36861256e-01 3.49386908e-01 1.48248317e-02 -1.81037688e+02] [-1.58061094e-02 4.24976510e-05 -9.99875075e-01 -3.95001401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.926559995 meters 0.012323947447802675 Centerline is valid? [True, True] Translation: X:60.41, Y:-181.13, Z:-3.95 [[-2.76798590e-01 -9.60919129e-01 4.11935450e-03 6.04106483e+01] [-9.60811014e-01 2.76829239e-01 1.44141556e-02 -1.81129146e+02] [-1.49911956e-02 3.18967617e-05 -9.99887625e-01 -3.95183521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1357.986559995 meters 0.012562876693132252 Centerline is valid? [True, True] Translation: X:60.35, Y:-181.23, Z:-3.95 [[-2.01267553e-01 -9.79531786e-01 2.97533141e-03 6.03540483e+01] [-9.79424550e-01 2.01289544e-01 1.44938297e-02 -1.81228720e+02] [-1.47960700e-02 3.02501760e-06 -9.99890532e-01 -3.94960855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.046559995 meters 0.012351832363121082 Centerline is valid? [True, True] Translation: X:60.30, Y:-181.33, Z:-3.95 [[-1.23219236e-01 -9.92377813e-01 1.81583478e-03 6.03039991e+01] [-9.92275137e-01 1.23232607e-01 1.42750325e-02 -1.81326198e+02] [-1.43899956e-02 -4.28491130e-05 -9.99896458e-01 -3.95002724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.106559995 meters 0.012390330191762658 Centerline is valid? [True, True] Translation: X:60.27, Y:-181.43, Z:-3.95 [[-4.70290963e-02 -9.98893259e-01 7.21809540e-04 6.02679004e+01] [-9.98791356e-01 4.70346087e-02 1.42679072e-02 -1.81431391e+02] [-1.42860663e-02 -4.99303485e-05 -9.99897948e-01 -3.95005549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.166559995 meters 0.012238765941342704 Centerline is valid? [True, True] Translation: X:60.24, Y:-181.54, Z:-3.95 [[ 2.47026365e-02 -9.99694787e-01 -3.36715460e-04 6.02423170e+01] [-9.99608313e-01 -2.47049284e-02 1.31486501e-02 -1.81536680e+02] [-1.31529555e-02 1.17772489e-05 -9.99913496e-01 -3.95168124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.2265599950001 meters 0.012667303921758038 Centerline is valid? [True, True] Translation: X:60.22, Y:-181.64, Z:-3.95 [[ 9.64287146e-02 -9.95339020e-01 -1.31870135e-03 6.02224154e+01] [-9.95255211e-01 -9.64377078e-02 1.29164218e-02 -1.81644768e+02] [-1.29833911e-02 6.69304403e-05 -9.99915710e-01 -3.95073935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.286559995 meters 0.013721986258580903 Centerline is valid? [True, True] Translation: X:60.21, Y:-181.75, Z:-3.95 [[ 1.64315096e-01 -9.86405530e-01 -2.16317559e-03 6.02145313e+01] [-9.86332208e-01 -1.64329259e-01 1.20279188e-02 -1.81753595e+02] [-1.22198786e-02 1.57241122e-04 -9.99925322e-01 -3.95212828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.346559995 meters 0.01467380887470775 Centerline is valid? [True, True] Translation: X:60.21, Y:-181.86, Z:-3.95 [[ 2.34357769e-01 -9.72145866e-01 -2.97517017e-03 6.02129413e+01] [-9.72078414e-01 -2.34376561e-01 1.14535789e-02 -1.81863311e+02] [-1.18318596e-02 2.07863498e-04 -9.99929980e-01 -3.95267847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.406559995 meters 0.016028649665130075 Centerline is valid? [True, True] Translation: X:60.22, Y:-181.97, Z:-3.95 [[ 3.03995133e-01 -9.52665658e-01 -3.88628588e-03 6.02212732e+01] [-9.52598271e-01 -3.04019865e-01 1.13338283e-02 -1.81973257e+02] [-1.19788571e-02 2.56640561e-04 -9.99928218e-01 -3.95232340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.4665599950001 meters 0.015934814472616455 Centerline is valid? [True, True] Translation: X:60.23, Y:-182.09, Z:-3.95 [[ 3.77089351e-01 -9.26163260e-01 -5.02373511e-03 6.02338441e+01] [-9.26089701e-01 -3.77122731e-01 1.16752586e-02 -1.82086604e+02] [-1.27077603e-02 2.49813648e-04 -9.99919222e-01 -3.95080987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.526559995 meters 0.013628737914512443 Centerline is valid? [True, True] Translation: X:60.25, Y:-182.20, Z:-3.95 [[ 4.54389081e-01 -8.90775779e-01 -7.00530791e-03 6.02492733e+01] [-8.90675229e-01 -4.54443051e-01 1.33846781e-02 -1.82204379e+02] [-1.51062606e-02 1.57602633e-04 -9.99885882e-01 -3.94904376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.586559995 meters 0.01287260788629761 Centerline is valid? [True, True] Translation: X:60.27, Y:-182.31, Z:-3.95 [[ 5.25924461e-01 -8.50498885e-01 -7.42352307e-03 6.02734743e+01] [-8.50415689e-01 -5.25976848e-01 1.18958573e-02 -1.82311539e+02] [-1.40220146e-02 5.67581356e-05 -9.99901685e-01 -3.94936823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.646559995 meters 0.01256789411430759 Centerline is valid? [True, True] Translation: X:60.31, Y:-182.41, Z:-3.95 [[ 5.91532131e-01 -8.06252993e-01 -6.77117172e-03 6.03077059e+01] [-8.06200294e-01 -5.91570884e-01 9.21820068e-03 -1.82414098e+02] [-1.14378299e-02 6.05873561e-06 -9.99934586e-01 -3.95156960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.7065599950001 meters 0.012326699417772867 Centerline is valid? [True, True] Translation: X:60.35, Y:-182.51, Z:-3.96 [[ 6.50586185e-01 -7.59416689e-01 -4.88964188e-03 6.03534721e+01] [-7.59395310e-01 -6.50604559e-01 5.69832872e-03 -1.82510234e+02] [-7.50862923e-03 5.91716447e-06 -9.99971810e-01 -3.95606530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.766559995 meters 0.012311085497787517 Centerline is valid? [True, True] Translation: X:60.40, Y:-182.59, Z:-3.96 [[ 7.04946645e-01 -7.09247013e-01 -4.34769532e-03 6.03987334e+01] [-7.09233650e-01 -7.04960052e-01 4.35365872e-03 -1.82593336e+02] [-6.15277096e-03 1.44347137e-05 -9.99981072e-01 -3.95814394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.826559995 meters 0.012232305373357476 Centerline is valid? [True, True] Translation: X:60.45, Y:-182.68, Z:-3.96 [[ 7.56232268e-01 -6.54291625e-01 -3.90211419e-03 6.04485776e+01] [-6.54283001e-01 -7.56242335e-01 3.35944436e-03 -1.82675532e+02] [-5.14900026e-03 1.25667525e-05 -9.99986744e-01 -3.95901676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.886559995 meters 0.012274831882613212 Centerline is valid? [True, True] Translation: X:60.48, Y:-182.71, Z:-3.96 [[ 8.05118803e-01 -5.93099745e-01 -4.05043173e-03 6.04758709e+01] [-5.93092314e-01 -8.05128991e-01 2.96904554e-03 -1.82705771e+02] [-5.02206017e-03 1.18455373e-05 -9.99987389e-01 -3.95843920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1358.9465599950001 meters 0.012286683323159827 Centerline is valid? [True, True] Translation: X:60.51, Y:-182.73, Z:-3.96 [[ 8.48618793e-01 -5.28975756e-01 -5.54933382e-03 6.05064968e+01] [-5.28964599e-01 -8.48636936e-01 3.43565450e-03 -1.82731330e+02] [-6.52674759e-03 1.98401599e-05 -9.99978700e-01 -3.95804184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.006559995 meters 0.012268009796752067 Centerline is valid? [True, True] Translation: X:60.54, Y:-182.75, Z:-3.96 [[ 8.87132727e-01 -4.61471458e-01 -6.29429401e-03 6.05388130e+01] [-4.61460045e-01 -8.87155056e-01 3.24563112e-03 -1.82754075e+02] [-7.08178088e-03 2.52596102e-05 -9.99974924e-01 -3.95876725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.066559995 meters 0.012264219643884173 Centerline is valid? [True, True] Translation: X:60.57, Y:-182.77, Z:-3.96 [[ 9.20254727e-01 -3.91274240e-01 -5.97557034e-03 6.05726750e+01] [-3.91266185e-01 -9.20274127e-01 2.51083802e-03 -1.82773690e+02] [-6.48158901e-03 2.74280484e-05 -9.99978994e-01 -3.95960035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.126559995 meters 0.012442519910509726 Centerline is valid? [True, True] Translation: X:60.61, Y:-182.79, Z:-3.96 [[ 9.47346760e-01 -3.20171436e-01 -4.93649703e-03 6.06071368e+01] [-3.20167273e-01 -9.47359621e-01 1.63293982e-03 -1.82794435e+02] [-5.19945864e-03 3.35445457e-05 -9.99986482e-01 -3.96012034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.186559995 meters 0.012520154797939873 Centerline is valid? [True, True] Translation: X:60.64, Y:-182.81, Z:-3.96 [[ 9.69388410e-01 -2.45485682e-01 -4.78441920e-03 6.06427080e+01] [-2.45482864e-01 -9.69400216e-01 1.17673612e-03 -1.82809033e+02] [-4.92688888e-03 3.37785709e-05 -9.99987862e-01 -3.95929793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.246559995 meters 0.01257639858167467 Centerline is valid? [True, True] Translation: X:60.68, Y:-182.82, Z:-3.96 [[ 9.85762517e-01 -1.68032920e-01 -6.09902266e-03 6.06805700e+01] [-1.68029932e-01 -9.85781384e-01 1.00283201e-03 -1.82819474e+02] [-6.18081179e-03 3.62641514e-05 -9.99980898e-01 -3.95850366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.306559995 meters 0.012214656416390354 Centerline is valid? [True, True] Translation: X:60.72, Y:-182.83, Z:-3.96 [[ 9.96032522e-01 -8.87293139e-02 -6.80617509e-03 6.07160779e+01] [-8.87274418e-02 -9.96055776e-01 5.77106705e-04 -1.82833761e+02] [-6.83053629e-03 2.90774568e-05 -9.99976671e-01 -3.95829155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.366559995 meters 0.012111664217879002 Centerline is valid? [True, True] Translation: X:60.75, Y:-182.84, Z:-3.96 [[ 9.99936589e-01 -8.85001238e-03 -6.96388311e-03 6.07510353e+01] [-8.84992447e-03 -9.99960838e-01 4.34394221e-05 -1.82844749e+02] [-6.96399483e-03 1.81931720e-05 -9.99975751e-01 -3.95792690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.426559995 meters 0.012151070453943372 Centerline is valid? [True, True] Translation: X:60.79, Y:-182.85, Z:-3.96 [[ 9.97450183e-01 7.10216111e-02 -7.00458695e-03 6.07856235e+01] [ 7.10198070e-02 -9.97474777e-01 -5.06287905e-04 -1.82850784e+02] [-7.02285619e-03 7.53255055e-06 -9.99975340e-01 -3.95695541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.486559995 meters 0.01205974158185681 Centerline is valid? [True, True] Translation: X:60.82, Y:-182.85, Z:-3.96 [[ 9.88536857e-01 1.50853510e-01 -6.17258934e-03 6.08220996e+01] [ 1.50850605e-01 -9.88556128e-01 -9.36335516e-04 -1.82852830e+02] [-6.24320051e-03 -5.53666524e-06 -9.99980511e-01 -3.95808223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.546559995 meters 0.012073675449106916 Centerline is valid? [True, True] Translation: X:60.86, Y:-182.85, Z:-3.96 [[ 9.73444858e-01 2.28858638e-01 -5.36952802e-03 6.08593455e+01] [ 2.28855219e-01 -9.73459667e-01 -1.25114223e-03 -1.82854985e+02] [-5.51335367e-03 -1.09265412e-05 -9.99984801e-01 -3.95837953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.606559995 meters 0.01223277650396338 Centerline is valid? [True, True] Translation: X:60.90, Y:-182.85, Z:-3.96 [[ 9.51808677e-01 3.06657065e-01 -4.65696109e-03 6.08953561e+01] [ 3.06653504e-01 -9.51820069e-01 -1.47794837e-03 -1.82854227e+02] [-4.88581233e-03 -2.13493555e-05 -9.99988064e-01 -3.95780034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.666559995 meters 0.012247743359120862 Centerline is valid? [True, True] Translation: X:60.93, Y:-182.85, Z:-3.96 [[ 9.24840588e-01 3.80334042e-01 -3.98794358e-03 6.09301930e+01] [ 3.80330595e-01 -9.24849186e-01 -1.61928599e-03 -1.82845503e+02] [-4.30411596e-03 -1.91555470e-05 -9.99990737e-01 -3.95933164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.7265599950001 meters 0.012227530891056148 Centerline is valid? [True, True] Translation: X:60.96, Y:-182.83, Z:-3.96 [[ 8.94469569e-01 4.47115508e-01 -3.45135588e-03 6.09632939e+01] [ 4.47112170e-01 -8.94476228e-01 -1.72763814e-03 -1.82831812e+02] [-3.85960959e-03 2.17652066e-06 -9.99992552e-01 -3.96098818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.786559995 meters 0.01252689069239835 Centerline is valid? [True, True] Translation: X:60.99, Y:-182.82, Z:-3.96 [[ 8.59281419e-01 5.11489690e-01 -3.70683572e-03 6.09946757e+01] [ 5.11484810e-01 -8.59289414e-01 -2.23440732e-03 -1.82816181e+02] [-4.32812100e-03 2.39945255e-05 -9.99990633e-01 -3.96213798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.846559995 meters 0.013203522640743627 Centerline is valid? [True, True] Translation: X:61.03, Y:-182.80, Z:-3.96 [[ 8.19667159e-01 5.72829233e-01 -3.52391806e-03 6.10262284e+01] [ 5.72823691e-01 -8.19674733e-01 -2.52016534e-03 -1.82800425e+02] [-4.33209097e-03 4.71130191e-05 -9.99990615e-01 -3.96261509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.906559995 meters 0.013549623940687544 Centerline is valid? [True, True] Translation: X:61.06, Y:-182.79, Z:-3.96 [[ 7.73671573e-01 6.33580804e-01 -2.76808525e-03 6.10581891e+01] [ 6.33576529e-01 -7.73676523e-01 -2.32811903e-03 -1.82785256e+02] [-3.61665409e-03 4.74056667e-05 -9.99993459e-01 -3.96275689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1359.9665599950001 meters 0.013549002278064673 Centerline is valid? [True, True] Translation: X:61.09, Y:-182.77, Z:-3.96 [[ 7.21616719e-01 6.92289621e-01 -2.09567804e-03 6.10888750e+01] [ 6.92286546e-01 -7.21619761e-01 -2.06382023e-03 -1.82768612e+02] [-2.94104401e-03 3.84774661e-05 -9.99995674e-01 -3.96354182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.026559995 meters 0.013186989982823838 Centerline is valid? [True, True] Translation: X:61.12, Y:-182.75, Z:-3.97 [[ 6.63563737e-01 7.48118244e-01 -1.50339807e-03 6.11177328e+01] [ 7.48116237e-01 -6.63565439e-01 -1.73306626e-03 -1.82748455e+02] [-2.29414149e-03 2.52834190e-05 -9.99997368e-01 -3.96557455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.086559995 meters 0.013175170489619484 Centerline is valid? [True, True] Translation: X:61.14, Y:-182.73, Z:-3.97 [[ 6.02108874e-01 7.98413206e-01 -1.12131320e-03 6.11437417e+01] [ 7.98411762e-01 -6.02109917e-01 -1.51833896e-03 -1.82726699e+02] [-1.88741567e-03 1.89357152e-05 -9.99998219e-01 -3.96645628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.146559995 meters 0.013220009170869053 Centerline is valid? [True, True] Translation: X:61.17, Y:-182.70, Z:-3.97 [[ 5.37929182e-01 8.42989839e-01 -5.71469014e-04 6.11653866e+01] [ 8.42989340e-01 -5.37929485e-01 -9.17081454e-04 -1.82701192e+02] [-1.08050038e-03 1.15825889e-05 -9.99999416e-01 -3.96799926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.2065599950001 meters 0.013378432521019548 Centerline is valid? [True, True] Translation: X:61.18, Y:-182.67, Z:-3.97 [[ 4.70900223e-01 8.82186414e-01 -3.32301168e-04 6.11838770e+01] [ 8.82186181e-01 -4.70900340e-01 -6.40945887e-04 -1.82673114e+02] [-7.21914488e-04 8.67006248e-06 -9.99999739e-01 -3.96824417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.266559995 meters 0.013975275819633926 Centerline is valid? [True, True] Translation: X:61.20, Y:-182.64, Z:-3.97 [[ 4.02041650e-01 9.15621040e-01 -7.89691653e-04 6.11986510e+01] [ 9.15619145e-01 -4.02042425e-01 -1.86283352e-03 -1.82644635e+02] [-2.02313911e-03 2.58798654e-05 -9.99997953e-01 -3.96691586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.326559995 meters 0.013731590662361636 Centerline is valid? [True, True] Translation: X:61.22, Y:-182.62, Z:-3.97 [[ 3.30868694e-01 9.43676716e-01 -4.04907451e-04 6.12186449e+01] [ 9.43675937e-01 -3.30868941e-01 -1.21268788e-03 -1.82616223e+02] [-1.27835662e-03 1.91390373e-05 -9.99999183e-01 -3.96798566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.386559995 meters 0.013819624873423563 Centerline is valid? [True, True] Translation: X:61.24, Y:-182.59, Z:-3.97 [[ 2.56717887e-01 9.66486382e-01 -8.90770684e-06 6.12363348e+01] [ 9.66486381e-01 -2.56717887e-01 -4.05164397e-05 -1.82586999e+02] [-4.14453557e-05 1.79211741e-06 -9.99999999e-01 -3.96875954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.4465599950001 meters 0.013332535226842086 Centerline is valid? [True, True] Translation: X:61.25, Y:-182.56, Z:-3.97 [[ 1.77427938e-01 9.84133775e-01 -2.01770137e-04 6.12543223e+01] [ 9.84133033e-01 -1.77428052e-01 -1.20811740e-03 -1.82556345e+02] [-1.22474882e-03 1.57851221e-05 -9.99999250e-01 -3.96854690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.506559995 meters 0.012598097058090386 Centerline is valid? [True, True] Translation: X:61.27, Y:-182.52, Z:-3.97 [[ 9.53349068e-02 9.95445209e-01 -3.03564623e-04 6.12717936e+01] [ 9.95439220e-01 -9.53353863e-02 -3.45312517e-03 -1.82524338e+02] [-3.46633736e-03 2.70232350e-05 -9.99993992e-01 -3.96648021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.566559995 meters 0.012334481080815998 Centerline is valid? [True, True] Translation: X:61.29, Y:-182.49, Z:-3.96 [[ 1.19057090e-02 9.99929123e-01 -5.88007451e-05 6.12868614e+01] [ 9.99909594e-01 -1.19058440e-02 -6.24942760e-03 -1.82492275e+02] [-6.24968473e-03 1.56084373e-05 -9.99980471e-01 -3.96186507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.626559995 meters 0.012330872031718605 Centerline is valid? [True, True] Translation: X:61.29, Y:-182.46, Z:-3.96 [[-6.65870586e-02 9.97780461e-01 5.61120970e-04 6.12916223e+01] [ 9.97747358e-01 6.65894202e-02 -8.12766316e-03 -1.82457483e+02] [-8.14698822e-03 1.86597823e-05 -9.99966813e-01 -3.95970926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.686559995 meters 0.012852538975595339 Centerline is valid? [True, True] Translation: X:61.29, Y:-182.42, Z:-3.96 [[-1.40989496e-01 9.90010067e-01 1.42468082e-03 6.12873132e+01] [ 9.89963526e-01 1.40996682e-01 -9.59960670e-03 -1.82424923e+02] [-9.70458254e-03 5.69383419e-05 -9.99952908e-01 -3.95803174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.746559995 meters 0.012795615192968107 Centerline is valid? [True, True] Translation: X:61.29, Y:-182.39, Z:-3.96 [[-2.15571391e-01 9.76485513e-01 2.24011597e-03 6.12861815e+01] [ 9.76436786e-01 2.15583013e-01 -9.75535450e-03 -1.82390198e+02] [-1.00088933e-02 8.43563031e-05 -9.99949906e-01 -3.95941615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.806559995 meters 0.01292018401550366 Centerline is valid? [True, True] Translation: X:61.28, Y:-182.36, Z:-3.96 [[-2.90514350e-01 9.56866048e-01 2.96297161e-03 6.12840229e+01] [ 9.56819482e-01 2.90529445e-01 -9.44031831e-03 -1.82355485e+02] [-9.89395057e-03 9.24810169e-05 -9.99951049e-01 -3.95944722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.866559995 meters 0.012563171478931224 Centerline is valid? [True, True] Translation: X:61.28, Y:-182.32, Z:-3.96 [[-3.66168301e-01 9.30543734e-01 3.02235040e-03 6.12805526e+01] [ 9.30513420e-01 3.66180769e-01 -7.51138191e-03 -1.82320485e+02] [-8.09639596e-03 6.19076514e-05 -9.99967222e-01 -3.96007449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.926559995 meters 0.012492618615181592 Centerline is valid? [True, True] Translation: X:61.27, Y:-182.29, Z:-3.96 [[-4.39858744e-01 8.98061606e-01 3.10455452e-03 6.12729730e+01] [ 8.98039853e-01 4.39869698e-01 -6.25067227e-03 -1.82287246e+02] [-6.97908823e-03 3.86008310e-05 -9.99975645e-01 -3.96005918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1360.986559995 meters 0.012231388041416989 Centerline is valid? [True, True] Translation: X:61.26, Y:-182.25, Z:-3.96 [[-5.11291134e-01 8.59400902e-01 3.38621851e-03 6.12626453e+01] [ 8.59382287e-01 5.11302347e-01 -5.65647027e-03 -1.82254530e+02] [-6.59255712e-03 1.79531067e-05 -9.99978269e-01 -3.96000812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.046559995 meters 0.012194790227023944 Centerline is valid? [True, True] Translation: X:61.25, Y:-182.22, Z:-3.96 [[-5.78070966e-01 8.15977828e-01 3.76060514e-03 6.12476751e+01] [ 8.15960667e-01 5.78083198e-01 -5.29208311e-03 -1.82224130e+02] [-6.49216514e-03 9.30628493e-06 -9.99978926e-01 -3.95988493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.106559995 meters 0.012544435308088521 Centerline is valid? [True, True] Translation: X:61.24, Y:-182.19, Z:-3.96 [[-6.45686597e-01 7.63592754e-01 3.86318862e-03 6.12358688e+01] [ 7.63578768e-01 6.45698153e-01 -4.62170559e-03 -1.82192639e+02] [-6.02355465e-03 -3.43245473e-05 -9.99981858e-01 -3.96005979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.166559995 meters 0.012564401562640127 Centerline is valid? [True, True] Translation: X:61.22, Y:-182.16, Z:-3.96 [[-7.04479330e-01 7.09708396e-01 4.78188725e-03 6.12207171e+01] [ 7.09691575e-01 7.04495558e-01 -4.88642578e-03 -1.82160514e+02] [-6.83675572e-03 -4.87208696e-05 -9.99976628e-01 -3.95974736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.2265599950001 meters 0.012705770186055279 Centerline is valid? [True, True] Translation: X:61.20, Y:-182.13, Z:-3.96 [[-7.56820999e-01 6.53581899e-01 7.25788746e-03 6.12048287e+01] [ 6.53551167e-01 7.56855798e-01 -6.33826990e-03 -1.82130467e+02] [-9.63575268e-03 -5.35349342e-05 -9.99953574e-01 -3.95623537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.286559995 meters 0.012540257024165651 Centerline is valid? [True, True] Translation: X:61.22, Y:-182.11, Z:-3.96 [[-7.97793516e-01 6.02886565e-01 7.30040535e-03 6.12188940e+01] [ 6.02861336e-01 7.97826917e-01 -5.51543685e-03 -1.82112959e+02] [-9.14964267e-03 9.52363302e-07 -9.99958141e-01 -3.95715366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.346559995 meters 0.01269235311490817 Centerline is valid? [True, True] Translation: X:61.23, Y:-182.09, Z:-3.96 [[-8.36589635e-01 5.47791235e-01 6.52275005e-03 6.12321846e+01] [ 5.47774845e-01 8.36615062e-01 -4.23754037e-03 -1.82091304e+02] [-7.77831841e-03 2.79160424e-05 -9.99969748e-01 -3.95785934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.406559995 meters 0.01266445015489352 Centerline is valid? [True, True] Translation: X:61.24, Y:-182.07, Z:-3.96 [[-8.72231976e-01 4.89056316e-01 5.94129235e-03 6.12442915e+01] [ 4.89045277e-01 8.72252210e-01 -3.28615546e-03 -1.82066486e+02] [-6.78942047e-03 3.92710996e-05 -9.99976951e-01 -3.95823096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.4665599950001 meters 0.016041888906638158 Centerline is valid? [True, True] Translation: X:61.25, Y:-182.04, Z:-3.96 [[-9.04562218e-01 4.26278419e-01 7.34187773e-03 6.12524370e+01] [ 4.26264817e-01 9.04592011e-01 -3.40567122e-03 -1.82039654e+02] [-8.09316809e-03 4.89426505e-05 -9.99967249e-01 -3.95524839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.526559995 meters 0.012698913578950245 Centerline is valid? [True, True] Translation: X:61.26, Y:-182.01, Z:-3.96 [[-9.33044813e-01 3.59692508e-01 6.97694132e-03 6.12584181e+01] [ 3.59682721e-01 9.33070897e-01 -2.65351705e-03 -1.82012557e+02] [-7.46443110e-03 3.36349196e-05 -9.99972140e-01 -3.95744544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.586559995 meters 0.012835593464488666 Centerline is valid? [True, True] Translation: X:61.46, Y:-181.47, Z:-5.09 [[-9.10589700e-01 -4.13235593e-01 7.92102952e-03 6.14635016e+01] [ 4.13220302e-01 -9.10624150e-01 -3.55509687e-03 -1.81474755e+02] [ 8.68217334e-03 3.58956183e-05 9.99962309e-01 -5.08726250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.646559995 meters 0.012968444491871171 Centerline is valid? [True, True] Translation: X:61.22, Y:-182.00, Z:-3.96 [[-9.33541552e-01 3.58389782e-01 7.54554367e-03 6.12190270e+01] [ 3.58378546e-01 9.33572044e-01 -2.83845818e-03 -1.82000357e+02] [-8.06158304e-03 5.43423135e-05 -9.99967504e-01 -3.95689450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.7065599950001 meters 0.012651217345798261 Centerline is valid? [True, True] Translation: X:61.42, Y:-181.46, Z:-5.09 [[-9.12255120e-01 -4.09566720e-01 6.75999103e-03 6.14199487e+01] [ 4.09554751e-01 -9.12280162e-01 -3.13243936e-03 -1.81459672e+02] [ 7.44994863e-03 -8.89974035e-05 9.99972245e-01 -5.08757018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.766559995 meters 0.013774324167588557 Centerline is valid? [True, True] Translation: X:61.17, Y:-181.98, Z:-3.96 [[-9.35894561e-01 3.52228424e-01 6.04226854e-03 6.11711468e+01] [ 3.52221255e-01 9.35914065e-01 -2.24730615e-03 -1.81981309e+02] [-6.44660921e-03 2.49738087e-05 -9.99979220e-01 -3.95739389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.826559995 meters 0.013718431374218245 Centerline is valid? [True, True] Translation: X:61.18, Y:-181.96, Z:-3.96 [[-9.58430171e-01 2.85281947e-01 5.08119468e-03 6.11770511e+01] [ 2.85278061e-01 9.58443640e-01 -1.48923314e-03 -1.81955802e+02] [-5.29489006e-03 2.22273914e-05 -9.99985982e-01 -3.95803783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.886559995 meters 0.016559494037567922 Centerline is valid? [True, True] Translation: X:61.34, Y:-181.40, Z:-5.09 [[-9.39948684e-01 -3.41247763e-01 6.81440293e-03 6.13434450e+01] [ 3.41239486e-01 -9.39973381e-01 -2.37834277e-03 -1.81401053e+02] [ 7.21696151e-03 8.98232005e-05 9.99973953e-01 -5.08881268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1361.9465599950001 meters 0.012492847870386656 Centerline is valid? [True, True] Translation: X:61.13, Y:-181.94, Z:-3.96 [[-9.60075809e-01 2.79661968e-01 6.60490925e-03 6.11305526e+01] [ 2.79655442e-01 9.60098528e-01 -1.91060764e-03 -1.81944606e+02] [-6.87568794e-03 1.27706359e-05 -9.99976362e-01 -3.95826090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.006559995 meters 0.01382236385992605 Centerline is valid? [True, True] Translation: X:61.13, Y:-181.91, Z:-3.96 [[-9.78518036e-01 2.06029029e-01 7.38189163e-03 6.11344565e+01] [ 2.06022988e-01 9.78545880e-01 -1.57787753e-03 -1.81911750e+02] [-7.54860822e-03 -2.31422499e-05 -9.99971509e-01 -3.95610144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.066559995 meters 0.012588411461864844 Centerline is valid? [True, True] Translation: X:61.25, Y:-181.36, Z:-5.09 [[-9.60327403e-01 -2.78782290e-01 7.19128179e-03 6.12487450e+01] [ 2.78774620e-01 -9.60354328e-01 -2.06810581e-03 -1.81357076e+02] [ 7.48272986e-03 1.86881625e-05 9.99972004e-01 -5.08699505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.126559995 meters 0.012415765925612565 Centerline is valid? [True, True] Translation: X:61.09, Y:-181.90, Z:-3.96 [[-9.78680777e-01 2.05307382e-01 5.72853258e-03 6.10871955e+01] [ 2.05303864e-01 9.78697542e-01 -1.20189430e-03 -1.81903469e+02] [-5.85325852e-03 -1.80976187e-07 -9.99982870e-01 -3.95860266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.186559995 meters 0.012593380070286408 Centerline is valid? [True, True] Translation: X:61.21, Y:-181.34, Z:-5.09 [[-9.63249778e-01 -2.68547447e-01 5.66867869e-03 6.12066512e+01] [ 2.68542810e-01 -9.63266458e-01 -1.57821228e-03 -1.81343520e+02] [ 5.88427292e-03 2.07028070e-06 9.99982688e-01 -5.08535049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.246559995 meters 0.014377681780074474 Centerline is valid? [True, True] Translation: X:61.04, Y:-181.90, Z:-3.96 [[-9.78905264e-01 2.04199066e-01 6.87213689e-03 6.10401326e+01] [ 2.04194165e-01 9.78929385e-01 -1.41494480e-03 -1.81897581e+02] [-7.01626715e-03 1.81533374e-05 -9.99975386e-01 -3.95681170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.306559995 meters 0.012430760920207923 Centerline is valid? [True, True] Translation: X:61.04, Y:-181.86, Z:-3.96 [[-9.91384024e-01 1.30758355e-01 7.74400323e-03 6.10404814e+01] [ 1.30754308e-01 9.91414269e-01 -1.02871717e-03 -1.81864838e+02] [-7.81202866e-03 -7.29198502e-06 -9.99969486e-01 -3.95636337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.366559995 meters 0.015296667338533595 Centerline is valid? [True, True] Translation: X:61.11, Y:-181.30, Z:-5.09 [[-9.79764593e-01 -1.99872357e-01 1.06011303e-02 6.11093032e+01] [ 1.99862881e-01 -9.79821923e-01 -1.95661550e-03 -1.81304736e+02] [ 1.07782932e-02 2.01749856e-04 9.99941892e-01 -5.09219033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.426559995 meters 0.012616138399700133 Centerline is valid? [True, True] Translation: X:60.99, Y:-181.86, Z:-3.95 [[-9.92109064e-01 1.24831785e-01 1.16889133e-02 6.09886621e+01] [ 1.24822677e-01 9.92177920e-01 -1.50836488e-03 -1.81856883e+02] [-1.17857735e-02 -3.74210256e-05 -9.99930545e-01 -3.95446629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.486559995 meters 0.012738114735028677 Centerline is valid? [True, True] Translation: X:61.06, Y:-181.30, Z:-5.09 [[-9.80067574e-01 -1.98289449e-01 1.22002077e-02 6.10560355e+01] [ 1.98275117e-01 -9.80143504e-01 -2.38536206e-03 -1.81301190e+02] [ 1.24309464e-02 8.11815993e-05 9.99922730e-01 -5.09092820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.546559995 meters 0.015652674962879785 Centerline is valid? [True, True] Translation: X:60.94, Y:-181.84, Z:-3.95 [[-9.92685122e-01 1.19972247e-01 1.35243390e-02 6.09393338e+01] [ 1.19960326e-01 9.92777244e-01 -1.69220205e-03 -1.81844131e+02] [-1.36296733e-02 -5.74396877e-05 -9.99907110e-01 -3.95083834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.606559995 meters 0.017311021894667756 Centerline is valid? [True, True] Translation: X:61.01, Y:-181.30, Z:-5.09 [[-9.81015591e-01 -1.93433784e-01 1.38485028e-02 6.10061506e+01] [ 1.93415790e-01 -9.81113329e-01 -2.63987445e-03 -1.81299233e+02] [ 1.40975915e-02 8.87611067e-05 9.99900620e-01 -5.09368815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.666559995 meters 0.01704724565847621 Centerline is valid? [True, True] Translation: X:60.89, Y:-181.84, Z:-3.95 [[-9.92844937e-01 1.18495663e-01 1.47549335e-02 6.08901500e+01] [ 1.18482177e-01 9.92954570e-01 -1.78795929e-03 -1.81842008e+02] [-1.48628440e-02 -2.69696949e-05 -9.99889542e-01 -3.95053810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.7265599950001 meters 0.015804410223560203 Centerline is valid? [True, True] Translation: X:60.89, Y:-181.82, Z:-3.95 [[-9.98730180e-01 4.74975895e-02 1.67930536e-02 6.08858613e+01] [ 4.74903133e-02 9.98871352e-01 -8.32027026e-04 -1.81815781e+02] [-1.68136194e-02 -3.34631261e-05 -9.99858641e-01 -3.94913845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.786559995 meters 0.015729180514577105 Centerline is valid? [True, True] Translation: X:60.91, Y:-181.26, Z:-5.10 [[-9.92889546e-01 -1.17621542e-01 1.83172947e-02 6.09123942e+01] [ 1.17604128e-01 -9.93058484e-01 -2.02876744e-03 -1.81258247e+02] [ 1.84287717e-02 1.39847486e-04 9.99830166e-01 -5.09585582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.846559995 meters 0.014527351292631956 Centerline is valid? [True, True] Translation: X:60.83, Y:-181.82, Z:-3.95 [[-9.98791706e-01 4.59088043e-02 1.75359307e-02 6.08329164e+01] [ 4.59018421e-02 9.98945635e-01 -7.99527062e-04 -1.81816069e+02] [-1.75541467e-02 6.37052202e-06 -9.99845914e-01 -3.95004749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.906559995 meters 0.016185372990156027 Centerline is valid? [True, True] Translation: X:60.83, Y:-181.79, Z:-3.95 [[-9.99591961e-01 -2.29225625e-02 1.70431209e-02 6.08332945e+01] [-2.29185167e-02 9.99737243e-01 4.32688999e-04 -1.81789450e+02] [-1.70485610e-02 4.19093937e-05 -9.99854662e-01 -3.95125145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1362.9665599950001 meters 0.012735050813443394 Centerline is valid? [True, True] Translation: X:60.81, Y:-181.23, Z:-5.09 [[-9.99100432e-01 -3.97781448e-02 1.46978282e-02 6.08144645e+01] [ 3.97710572e-02 -9.99208519e-01 -7.74315623e-04 -1.81228173e+02] [ 1.47169959e-02 -1.89070909e-04 9.99891681e-01 -5.08920975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.026559995 meters 0.017374395930760827 Centerline is valid? [True, True] Translation: X:60.77, Y:-181.79, Z:-3.95 [[-9.99475692e-01 -2.74157457e-02 1.72255241e-02 6.07694574e+01] [-2.74109883e-02 9.99624117e-01 5.12270583e-04 -1.81790034e+02] [-1.72330936e-02 3.98333561e-05 -9.99851499e-01 -3.94885425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.086559995 meters 0.01608191839061466 Centerline is valid? [True, True] Translation: X:60.76, Y:-181.76, Z:-3.95 [[-9.94979227e-01 -9.85837334e-02 1.72506786e-02 6.07579201e+01] [-9.85682786e-02 9.95128759e-01 1.74593815e-03 -1.81763152e+02] [-1.73387675e-02 3.68024936e-05 -9.99849672e-01 -3.95000334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.146559995 meters 0.012895083437911637 Centerline is valid? [True, True] Translation: X:60.70, Y:-181.21, Z:-5.09 [[-9.99284031e-01 3.44548672e-02 1.56297124e-02 6.07007091e+01] [-3.44529660e-02 -9.99406244e-01 3.90965390e-04 -1.81205238e+02] [ 1.56339028e-02 -1.47804479e-04 9.99877772e-01 -5.09047759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.2065599950001 meters 0.015551437744767903 Centerline is valid? [True, True] Translation: X:60.69, Y:-181.77, Z:-3.95 [[-9.94142827e-01 -1.07131299e-01 1.42451774e-02 6.06878914e+01] [-1.07120685e-01 9.94244881e-01 1.50824250e-03 -1.81770705e+02] [-1.43247746e-02 -2.65446938e-05 -9.99897395e-01 -3.95253726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.266559995 meters 0.014536183149695322 Centerline is valid? [True, True] Translation: X:60.68, Y:-181.74, Z:-3.95 [[-9.83371339e-01 -1.81162227e-01 1.26908702e-02 6.06761576e+01] [-1.81148060e-01 9.83453224e-01 2.26664819e-03 -1.81742891e+02] [-1.28915082e-02 -6.99696515e-05 -9.99916899e-01 -3.95449913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.326559995 meters 0.014708858888518448 Centerline is valid? [True, True] Translation: X:60.57, Y:-181.20, Z:-5.09 [[-9.94732850e-01 1.01885642e-01 1.12192932e-02 6.05721128e+01] [-1.01879721e-01 -9.94796117e-01 1.09944105e-03 -1.81200211e+02] [ 1.12729266e-02 -4.93683373e-05 9.99936457e-01 -5.09021552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.386559995 meters 0.015919485486327656 Centerline is valid? [True, True] Translation: X:60.60, Y:-181.76, Z:-3.95 [[-9.82449332e-01 -1.86213976e-01 1.08473492e-02 6.05974408e+01] [-1.86203287e-01 9.82509212e-01 1.99597389e-03 -1.81757502e+02] [-1.10292987e-02 -5.88688600e-05 -9.99939174e-01 -3.95305748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.4465599950001 meters 0.012235529165001006 Centerline is valid? [True, True] Translation: X:60.58, Y:-181.74, Z:-3.96 [[-9.67305038e-01 -2.53483767e-01 8.18188159e-03 6.05813318e+01] [-2.53474919e-01 9.67339640e-01 2.11795311e-03 -1.81737134e+02] [-8.45152513e-03 -2.51950624e-05 -9.99964285e-01 -3.95638753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.506559995 meters 0.013115818148858618 Centerline is valid? [True, True] Translation: X:60.56, Y:-181.72, Z:-3.96 [[-9.46615234e-01 -3.22261405e-01 8.19669139e-03 6.05585117e+01] [-3.22249577e-01 9.46650720e-01 2.76111982e-03 -1.81715228e+02] [-8.64920616e-03 -2.76622525e-05 -9.99962595e-01 -3.95532334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.566559995 meters 0.016582286144636055 Centerline is valid? [True, True] Translation: X:60.36, Y:-181.19, Z:-5.09 [[-9.68729515e-01 2.47884043e-01 1.07994252e-02 6.03593164e+01] [-2.47866158e-01 -9.68789686e-01 2.98547447e-03 -1.81192423e+02] [ 1.12024232e-02 2.15305216e-04 9.99937228e-01 -5.09294136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.626559995 meters 0.01614407188207982 Centerline is valid? [True, True] Translation: X:60.44, Y:-181.75, Z:-3.95 [[-9.42365350e-01 -3.34380897e-01 1.17031304e-02 6.04409165e+01] [-3.34356747e-01 9.42438009e-01 4.02063431e-03 -1.81746509e+02] [-1.23738982e-02 -1.24114165e-04 -9.99923433e-01 -3.94984215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.686559995 meters 0.015442518419530654 Centerline is valid? [True, True] Translation: X:60.40, Y:-181.73, Z:-3.95 [[-9.15536587e-01 -4.02026889e-01 1.29281608e-02 6.04041660e+01] [-4.01989147e-01 9.15627849e-01 5.51077348e-03 -1.81729289e+02] [-1.40528632e-02 -1.51665601e-04 -9.99901242e-01 -3.94767697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.746559995 meters 0.012477944288373429 Centerline is valid? [True, True] Translation: X:60.35, Y:-181.73, Z:-3.95 [[-8.86445595e-01 -4.62645225e-01 1.31758386e-02 6.03537351e+01] [-4.62595398e-01 8.86543507e-01 6.79021503e-03 -1.81728547e+02] [-1.48224147e-02 -7.59260946e-05 -9.99890139e-01 -3.94930241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.806559995 meters 0.013858884875858925 Centerline is valid? [True, True] Translation: X:60.29, Y:-181.74, Z:-3.95 [[-8.52174775e-01 -5.23096740e-01 1.29596508e-02 6.02930700e+01] [-5.23036523e-01 8.52273313e-01 7.93698413e-03 -1.81736784e+02] [-1.51969751e-02 -1.46730243e-05 -9.99884519e-01 -3.94829401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.866559995 meters 0.016875791227152454 Centerline is valid? [True, True] Translation: X:60.22, Y:-181.75, Z:-3.95 [[-8.10695488e-01 -5.85320636e-01 1.31369271e-02 6.02231886e+01] [-5.85244413e-01 8.10801919e-01 9.44592560e-03 -1.81747766e+02] [-1.61803409e-02 -3.05439214e-05 -9.99869089e-01 -3.94638137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.926559995 meters 0.017283384646410428 Centerline is valid? [True, True] Translation: X:60.14, Y:-181.77, Z:-3.95 [[-7.62108430e-01 -6.47329934e-01 1.24377869e-02 6.01435454e+01] [-6.47246083e-01 7.62209909e-01 1.04193326e-02 -1.81765757e+02] [-1.62249503e-02 -1.09647671e-04 -9.99868361e-01 -3.94559939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1363.986559995 meters 0.013210285446940773 Centerline is valid? [True, True] Translation: X:60.07, Y:-181.79, Z:-3.95 [[-7.08331581e-01 -7.05800233e-01 1.06020477e-02 6.00656832e+01] [-7.05724884e-01 7.08410898e-01 1.03144401e-02 -1.81792399e+02] [-1.47905404e-02 -1.76085252e-04 -9.99890599e-01 -3.94935968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.046559995 meters 0.015465957687893736 Centerline is valid? [True, True] Translation: X:59.99, Y:-181.84, Z:-3.95 [[-6.52668216e-01 -7.57579578e-01 9.86822136e-03 5.99861303e+01] [-7.57497578e-01 6.52742784e-01 1.11479172e-02 -1.81835461e+02] [-1.48868447e-02 -1.99262548e-04 -9.99889165e-01 -3.94794063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.106559995 meters 0.015136596872975885 Centerline is valid? [True, True] Translation: X:59.92, Y:-181.88, Z:-3.95 [[-5.96411920e-01 -8.02627157e-01 9.08119913e-03 5.99165346e+01] [-8.02538086e-01 5.96481032e-01 1.19582211e-02 -1.81884582e+02] [-1.50147560e-02 -1.55982560e-04 -9.99887260e-01 -3.94838390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.166559995 meters 0.012565548975402567 Centerline is valid? [True, True] Translation: X:59.85, Y:-181.95, Z:-3.95 [[-5.39996093e-01 -8.41626390e-01 8.32096859e-03 5.98483617e+01] [-8.41528037e-01 5.40060197e-01 1.28665071e-02 -1.81947782e+02] [-1.53226159e-02 -5.44647753e-05 -9.99882600e-01 -3.94902569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.2265599950001 meters 0.015605396247352039 Centerline is valid? [True, True] Translation: X:59.78, Y:-182.02, Z:-3.95 [[-4.77689543e-01 -8.78497599e-01 7.39386119e-03 5.97785980e+01] [-8.78392582e-01 4.77746762e-01 1.35831874e-02 -1.82017483e+02] [-1.54651908e-02 -6.16622616e-06 -9.99880407e-01 -3.94817911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.286559995 meters 0.012039819647939133 Centerline is valid? [True, True] Translation: X:59.71, Y:-182.09, Z:-3.95 [[-4.08895573e-01 -9.12566199e-01 5.22904080e-03 5.97089000e+01] [-9.12492197e-01 4.08929006e-01 1.16214395e-02 -1.82094916e+02] [-1.27436394e-02 -1.95037465e-05 -9.99918796e-01 -3.95373713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.346559995 meters 0.013819742820427175 Centerline is valid? [True, True] Translation: X:59.64, Y:-182.18, Z:-3.95 [[-3.36320076e-01 -9.41738273e-01 4.22280988e-03 5.96414757e+01] [-9.41665903e-01 3.36346581e-01 1.16749685e-02 -1.82179021e+02] [-1.24150924e-02 -4.99497767e-05 -9.99922929e-01 -3.95227561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.406559995 meters 0.012250776360165727 Centerline is valid? [True, True] Translation: X:59.58, Y:-182.27, Z:-3.95 [[-2.62334334e-01 -9.64972924e-01 2.82006407e-03 5.95812315e+01] [-9.64919632e-01 2.62349484e-01 1.01415742e-02 -1.82269814e+02] [-1.05261869e-02 -6.06520704e-05 -9.99944596e-01 -3.95408435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.4665599950001 meters 0.01232223505514033 Centerline is valid? [True, True] Translation: X:59.53, Y:-182.37, Z:-3.96 [[-1.87569028e-01 -9.82250120e-01 1.60058928e-03 5.95316066e+01] [-9.82216783e-01 1.87575849e-01 8.09274298e-03 -1.82370228e+02] [-8.24932965e-03 -5.41777240e-05 -9.99965972e-01 -3.95601511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.526559995 meters 0.012375136092925877 Centerline is valid? [True, True] Translation: X:59.49, Y:-182.47, Z:-3.96 [[-1.13101524e-01 -9.93583066e-01 8.58584974e-04 5.94911909e+01] [-9.93557154e-01 1.13104775e-01 7.17573252e-03 -1.82471646e+02] [-7.22679637e-03 -4.14669593e-05 -9.99973886e-01 -3.95641398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.586559995 meters 0.012573733641027587 Centerline is valid? [True, True] Translation: X:59.45, Y:-182.58, Z:-3.96 [[-3.48867231e-02 -9.99391233e-01 2.82125061e-04 5.94510998e+01] [-9.99369747e-01 3.48878231e-02 6.55348737e-03 -1.82577231e+02] [-6.55934056e-03 -5.33175517e-05 -9.99978486e-01 -3.95529234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.646559995 meters 0.012870896544084137 Centerline is valid? [True, True] Translation: X:59.42, Y:-182.69, Z:-3.95 [[ 4.27928777e-02 -9.99083931e-01 -2.60500192e-04 5.94199977e+01] [-9.99052920e-01 -4.27936020e-02 7.87215306e-03 -1.82686978e+02] [-7.87608937e-03 -7.66186051e-05 -9.99968980e-01 -3.95347509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.7065599950001 meters 0.014940728901384688 Centerline is valid? [True, True] Translation: X:59.40, Y:-182.80, Z:-3.95 [[ 1.17966829e-01 -9.93017030e-01 -1.00273557e-03 5.93985204e+01] [-9.92974954e-01 -1.17971062e-01 9.14168282e-03 -1.82800827e+02] [-9.19614050e-03 -8.27240362e-05 -9.99957711e-01 -3.94963223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.766559995 meters 0.012290883256251075 Centerline is valid? [True, True] Translation: X:59.39, Y:-182.91, Z:-3.95 [[ 1.88314767e-01 -9.82107308e-01 -1.66847448e-03 5.93877865e+01] [-9.82067017e-01 -1.88322154e-01 8.89606778e-03 -1.82905526e+02] [-9.05110389e-03 -3.67071775e-05 -9.99959037e-01 -3.94923820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.826559995 meters 0.012229530186237764 Centerline is valid? [True, True] Translation: X:59.39, Y:-183.02, Z:-3.95 [[ 2.58066438e-01 -9.66124565e-01 -2.24457447e-03 5.93878177e+01] [-9.66088194e-01 -2.58076199e-01 8.38317241e-03 -1.83015252e+02] [-8.67846005e-03 5.04144690e-06 -9.99962342e-01 -3.94773072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.886559995 meters 0.012316160671139042 Centerline is valid? [True, True] Translation: X:59.39, Y:-183.13, Z:-3.95 [[ 3.29017594e-01 -9.44320750e-01 -2.39679956e-03 5.93895559e+01] [-9.44296074e-01 -3.29026323e-01 6.82665562e-03 -1.83126629e+02] [-7.23516270e-03 1.71986106e-05 -9.99973826e-01 -3.94616043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1364.9465599950001 meters 0.01245314501045755 Centerline is valid? [True, True] Translation: X:59.40, Y:-183.24, Z:-3.94 [[ 3.99852622e-01 -9.16574435e-01 -3.03069001e-03 5.93990340e+01] [-9.16548431e-01 -3.99864107e-01 6.90434368e-03 -1.83238078e+02] [-7.54020907e-03 1.70542532e-05 -9.99971572e-01 -3.94315407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.006559995 meters 0.01253947306662514 Centerline is valid? [True, True] Translation: X:59.42, Y:-183.35, Z:-3.94 [[ 4.68366158e-01 -8.83527354e-01 -3.54347118e-03 5.94202057e+01] [-8.83502319e-01 -4.68379562e-01 6.65123625e-03 -1.83346889e+02] [-7.53623865e-03 1.54510396e-05 -9.99971602e-01 -3.94148388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.066559995 meters 0.012962694080138925 Centerline is valid? [True, True] Translation: X:59.45, Y:-183.45, Z:-3.94 [[ 5.34134418e-01 -8.45386866e-01 -4.63360288e-03 5.94499560e+01] [-8.45355312e-01 -5.34154516e-01 7.30404400e-03 -1.83450766e+02] [-8.64980277e-03 1.56995141e-05 -9.99962590e-01 -3.93915462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.126559995 meters 0.012613091351805375 Centerline is valid? [True, True] Translation: X:59.49, Y:-183.55, Z:-3.94 [[ 5.96914209e-01 -8.02288454e-01 -5.16367764e-03 5.94856874e+01] [-8.02258604e-01 -5.96936543e-01 6.92065416e-03 -1.83548717e+02] [-8.63474881e-03 1.15680130e-05 -9.99962720e-01 -3.93647572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.186559995 meters 0.012764788289441732 Centerline is valid? [True, True] Translation: X:59.53, Y:-183.64, Z:-3.93 [[ 6.56527272e-01 -7.54273222e-01 -6.62174535e-03 5.95280624e+01] [-7.54234913e-01 -6.56560665e-01 7.60195971e-03 -1.83644531e+02] [-1.00815322e-02 3.45766054e-06 -9.99949180e-01 -3.93391561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.246559995 meters 0.012997807603500696 Centerline is valid? [True, True] Translation: X:59.58, Y:-183.74, Z:-3.93 [[ 7.13439411e-01 -7.00678933e-01 -7.29649378e-03 5.95770007e+01] [-7.00641934e-01 -7.13476721e-01 7.20064248e-03 -1.83737766e+02] [-1.02512170e-02 -2.49926195e-05 -9.99947455e-01 -3.93067665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.306559995 meters 0.01331680527030931 Centerline is valid? [True, True] Translation: X:59.60, Y:-183.77, Z:-3.93 [[ 7.68333565e-01 -6.40022348e-01 -5.90992199e-03 5.96009650e+01] [-6.40002952e-01 -7.68356293e-01 4.98282105e-03 -1.83770552e+02] [-7.73004258e-03 -4.61011447e-05 -9.99970122e-01 -3.93132573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.366559995 meters 0.014516583854017988 Centerline is valid? [True, True] Translation: X:59.63, Y:-183.80, Z:-3.93 [[ 8.17392230e-01 -5.76068637e-01 -3.85578852e-03 5.96274666e+01] [-5.76062000e-01 -8.17401323e-01 2.76570941e-03 -1.83801982e+02] [-4.74496509e-03 -3.94961406e-05 -9.99988742e-01 -3.93155318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.426559995 meters 0.01414029761682438 Centerline is valid? [True, True] Translation: X:59.66, Y:-183.83, Z:-3.93 [[ 8.61393386e-01 -5.07938414e-01 -4.27074372e-05 5.96563991e+01] [-5.07938413e-01 -8.61393388e-01 2.60652952e-05 -1.83831792e+02] [-5.00274694e-05 -7.59725036e-07 -9.99999999e-01 -3.93314315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.486559995 meters 0.01423177510033841 Centerline is valid? [True, True] Translation: X:59.69, Y:-183.86, Z:-3.93 [[ 8.98660898e-01 -4.38643637e-01 5.92093206e-04 5.96900398e+01] [-4.38643537e-01 -8.98661093e-01 -2.97316521e-04 -1.83855787e+02] [ 6.62507127e-04 7.46887344e-06 -9.99999781e-01 -3.93214909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.546559995 meters 0.013702501184771359 Centerline is valid? [True, True] Translation: X:59.73, Y:-183.87, Z:-3.93 [[ 9.28801992e-01 -3.70575372e-01 8.68060591e-04 5.97275943e+01] [-3.70575203e-01 -9.28802398e-01 -3.54005947e-04 -1.83870229e+02] [ 9.37442643e-04 7.11969978e-06 -9.99999561e-01 -3.93043095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.606559995 meters 0.013294968088247715 Centerline is valid? [True, True] Translation: X:59.77, Y:-183.88, Z:-3.93 [[ 9.53293082e-01 -3.02046848e-01 -3.91589292e-05 5.97660734e+01] [-3.02046848e-01 -9.53293083e-01 1.27180363e-05 -1.83881009e+02] [-4.11713799e-05 -2.96184895e-07 -9.99999999e-01 -3.93019638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.666559995 meters 0.01320326522430645 Centerline is valid? [True, True] Translation: X:59.80, Y:-183.89, Z:-3.93 [[ 9.73410480e-01 -2.29067358e-01 -4.27918804e-04 5.98033619e+01] [-2.29067335e-01 -9.73410574e-01 1.00810099e-04 -1.83893264e+02] [-4.39632993e-04 -1.07387019e-07 -9.99999903e-01 -3.93030522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.7265599950001 meters 0.013324830120304007 Centerline is valid? [True, True] Translation: X:59.84, Y:-183.90, Z:-3.93 [[ 9.88247454e-01 -1.52860706e-01 7.57457450e-04 5.98391737e+01] [-1.52860662e-01 -9.88247745e-01 -1.16327360e-04 -1.83904619e+02] [ 7.66337498e-04 -8.25230239e-07 -9.99999706e-01 -3.93153573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.786559995 meters 0.013270959826614739 Centerline is valid? [True, True] Translation: X:59.87, Y:-183.92, Z:-3.93 [[ 9.97207939e-01 -7.46220098e-02 2.80741872e-03 5.98749197e+01] [-7.46217180e-02 -9.97211891e-01 -2.08707034e-04 -1.83921379e+02] [ 2.81516547e-03 -1.37009671e-06 -9.99996038e-01 -3.93158588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.846559995 meters 0.013393899980947574 Centerline is valid? [True, True] Translation: X:59.91, Y:-183.93, Z:-3.93 [[ 9.99987592e-01 3.18435360e-03 3.83102007e-03 5.99098545e+01] [ 3.18431615e-03 -9.99994930e-01 1.58755610e-05 -1.83930537e+02] [ 3.83105120e-03 -3.67618489e-06 -9.99992662e-01 -3.93324894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.906559995 meters 0.015068107226123692 Centerline is valid? [True, True] Translation: X:59.94, Y:-183.94, Z:-3.93 [[ 9.96862700e-01 7.90941385e-02 2.97911786e-03 5.99449411e+01] [ 7.90937556e-02 -9.96867151e-01 2.46319836e-04 -1.83935582e+02] [ 2.98926719e-03 -9.91743735e-06 -9.99995532e-01 -3.93284903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1365.9665599950001 meters 0.013689525247498975 Centerline is valid? [True, True] Translation: X:59.98, Y:-183.94, Z:-3.93 [[ 9.87829420e-01 1.55486198e-01 4.13270679e-03 5.99794067e+01] [ 1.55484753e-01 -9.87838065e-01 6.70556587e-04 -1.83937348e+02] [ 4.18670737e-03 -1.98226280e-05 -9.99991236e-01 -3.93441843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.026559995 meters 0.013858928366775132 Centerline is valid? [True, True] Translation: X:60.02, Y:-183.94, Z:-3.93 [[ 9.73159564e-01 2.30127573e-01 1.32805363e-03 6.00151122e+01] [ 2.30127346e-01 -9.73160470e-01 3.24051626e-04 -1.83937177e+02] [ 1.36698251e-03 -9.73248281e-06 -9.99999066e-01 -3.93217082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.086559995 meters 0.014256246273006142 Centerline is valid? [True, True] Translation: X:60.05, Y:-183.93, Z:-3.93 [[ 9.53125137e-01 3.02542513e-01 -4.52783491e-03 6.00502117e+01] [ 3.02538858e-01 -9.53135890e-01 -1.48799821e-03 -1.83933178e+02] [-4.76582468e-03 4.84024944e-05 -9.99988642e-01 -3.92886242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.146559995 meters 0.014726833309792317 Centerline is valid? [True, True] Translation: X:60.09, Y:-183.93, Z:-3.93 [[ 9.27325557e-01 3.74196010e-01 -6.68262823e-03 6.00852580e+01] [ 3.74185596e-01 -9.27349631e-01 -2.79302446e-03 -1.83926505e+02] [-7.24227143e-03 8.94997330e-05 -9.99973770e-01 -3.92701087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.2065599950001 meters 0.014835066070161933 Centerline is valid? [True, True] Translation: X:60.12, Y:-183.92, Z:-3.93 [[ 8.95491074e-01 4.44953398e-01 -1.05929848e-02 6.01215763e+01] [ 4.44920196e-01 -8.95553711e-01 -5.43777977e-03 -1.83921089e+02] [-1.19061454e-02 1.56450360e-04 -9.99929107e-01 -3.92547902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.266559995 meters 0.014706939677680012 Centerline is valid? [True, True] Translation: X:60.16, Y:-183.91, Z:-3.93 [[ 8.56277238e-01 5.16410776e-01 -1.04500258e-02 6.01577943e+01] [ 5.16370579e-01 -8.56340993e-01 -6.44436801e-03 -1.83914814e+02] [-1.22767265e-02 1.22079771e-04 -9.99924631e-01 -3.92542734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.326559995 meters 0.014266292910182839 Centerline is valid? [True, True] Translation: X:60.19, Y:-183.91, Z:-3.93 [[ 8.12075292e-01 5.83473943e-01 -9.58529029e-03 6.01937485e+01] [ 5.83431929e-01 -8.12131855e-01 -7.00251239e-03 -1.83905229e+02] [-1.18703031e-02 9.42028964e-05 -9.99929541e-01 -3.92666206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.386559995 meters 0.014430092555999627 Centerline is valid? [True, True] Translation: X:60.22, Y:-183.89, Z:-3.93 [[ 7.63225045e-01 6.46061203e-01 -9.61518811e-03 6.02242040e+01] [ 6.46008494e-01 -7.63285605e-01 -8.25300199e-03 -1.83888237e+02] [-1.26710791e-02 8.74046326e-05 -9.99919715e-01 -3.92736539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.4465599950001 meters 0.014850124195091467 Centerline is valid? [True, True] Translation: X:60.25, Y:-183.86, Z:-3.93 [[ 7.10479535e-01 7.03635092e-01 -1.07929453e-02 6.02498673e+01] [ 7.03551559e-01 -7.10561500e-01 -1.08424215e-02 -1.83863953e+02] [-1.52981597e-02 1.09925117e-04 -9.99882970e-01 -3.92620449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.506559995 meters 0.014691505759623866 Centerline is valid? [True, True] Translation: X:60.28, Y:-183.84, Z:-3.93 [[ 6.52875494e-01 7.57384084e-01 -1.10877888e-02 6.02795711e+01] [ 7.57271866e-01 -6.52969629e-01 -1.30378213e-02 -1.83843046e+02] [-1.71146277e-02 1.15603541e-04 -9.99853527e-01 -3.92661377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.566559995 meters 0.01493026728767017 Centerline is valid? [True, True] Translation: X:60.31, Y:-183.82, Z:-3.93 [[ 5.88739303e-01 8.08262460e-01 -9.89087282e-03 6.03081287e+01] [ 8.08146857e-01 -5.88822378e-01 -1.36698405e-02 -1.83822798e+02] [-1.68727861e-02 5.46945566e-05 -9.99857643e-01 -3.92644141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.626559995 meters 0.014606368730030022 Centerline is valid? [True, True] Translation: X:60.34, Y:-183.80, Z:-3.93 [[ 5.20622556e-01 8.53747007e-01 -8.25845367e-03 6.03375959e+01] [ 8.53639777e-01 -5.20688052e-01 -1.35308472e-02 -1.83800580e+02] [-1.58519984e-02 -5.28032168e-06 -9.99874349e-01 -3.93037103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.686559995 meters 0.014777447322628035 Centerline is valid? [True, True] Translation: X:60.36, Y:-183.77, Z:-3.93 [[ 4.51535192e-01 8.92224848e-01 -7.12678273e-03 6.03596098e+01] [ 8.92114331e-01 -4.51591431e-01 -1.40428327e-02 -1.83774518e+02] [-1.57477583e-02 -1.70718344e-05 -9.99875996e-01 -3.93176778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.746559995 meters 0.01478999600876882 Centerline is valid? [True, True] Translation: X:60.38, Y:-183.74, Z:-3.93 [[ 3.80414361e-01 9.24794119e-01 -6.38366790e-03 6.03785416e+01] [ 9.24664620e-01 -3.80467918e-01 -1.54759287e-02 -1.83744427e+02] [-1.67408287e-02 -1.54863061e-05 -9.99859862e-01 -3.93421864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.806559995 meters 0.014904622171655672 Centerline is valid? [True, True] Translation: X:60.40, Y:-183.71, Z:-3.93 [[ 3.06463974e-01 9.51864988e-01 -5.73378337e-03 6.03965478e+01] [ 9.51699942e-01 -3.06517607e-01 -1.77250399e-02 -1.83714556e+02] [-1.86293505e-02 -2.47551165e-05 -9.99826458e-01 -3.93376632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.866559995 meters 0.014860900994226834 Centerline is valid? [True, True] Translation: X:60.42, Y:-183.68, Z:-3.93 [[ 2.30684493e-01 9.73017934e-01 -4.55679766e-03 6.04155493e+01] [ 9.72830900e-01 -2.30729492e-01 -1.90772742e-02 -1.83684091e+02] [-1.96139176e-02 -3.21622312e-05 -9.99807628e-01 -3.93251342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.926559995 meters 0.014783143123989725 Centerline is valid? [True, True] Translation: X:60.43, Y:-183.65, Z:-3.93 [[ 1.53459288e-01 9.88150084e-01 -3.10793934e-03 6.04273284e+01] [ 9.87952762e-01 -1.53490751e-01 -1.97466373e-02 -1.83651570e+02] [-1.99896813e-02 -4.01923560e-05 -9.99800186e-01 -3.93442320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1366.986559995 meters 0.014829987342055801 Centerline is valid? [True, True] Translation: X:60.43, Y:-183.62, Z:-3.94 [[ 7.64081172e-02 9.97075450e-01 -1.53186861e-03 6.04349641e+01] [ 9.96881122e-01 -7.64234680e-02 -1.96845558e-02 -1.83618685e+02] [-1.97440580e-02 -2.30310548e-05 -9.99805067e-01 -3.93586568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.046559995 meters 0.01501209174087864 Centerline is valid? [True, True] Translation: X:60.44, Y:-183.59, Z:-3.94 [[ 2.28598559e-03 9.99997387e-01 1.42745971e-05 6.04352477e+01] [ 9.99788785e-01 -2.28521717e-03 -2.04245705e-02 -1.83586584e+02] [-2.04244845e-02 6.09618559e-05 -9.99791397e-01 -3.93642818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.106559995 meters 0.015182991325367979 Centerline is valid? [True, True] Translation: X:60.44, Y:-183.55, Z:-3.94 [[-7.04734923e-02 9.97512390e-01 1.58710401e-03 6.04396709e+01] [ 9.97311681e-01 7.04911498e-02 -2.00102400e-02 -1.83553808e+02] [-2.00723391e-02 1.72645876e-04 -9.99798515e-01 -3.93798170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.166559995 meters 0.0167035932242537 Centerline is valid? [True, True] Translation: X:60.44, Y:-183.52, Z:-3.94 [[-1.39575798e-01 9.90206660e-01 3.06060587e-03 6.04366347e+01] [ 9.90019385e-01 1.39608932e-01 -1.92603973e-02 -1.83521928e+02] [-1.94990616e-02 3.41773826e-04 -9.99809817e-01 -3.93995056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.2265599950001 meters 0.017175735649545165 Centerline is valid? [True, True] Translation: X:60.44, Y:-183.49, Z:-3.94 [[-2.12607100e-01 9.77129558e-01 4.00604707e-03 6.04393458e+01] [ 9.76987623e-01 2.12644513e-01 -1.66582002e-02 -1.83488549e+02] [-1.71290837e-02 3.72206765e-04 -9.99853217e-01 -3.94330696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.286559995 meters 0.0180266970986527 Centerline is valid? [True, True] Translation: X:60.44, Y:-183.46, Z:-3.94 [[-2.88801923e-01 9.57376980e-01 4.77161162e-03 6.04396800e+01] [ 9.57264577e-01 2.88841151e-01 -1.46737829e-02 -1.83455639e+02] [-1.54265798e-02 3.29878050e-04 -9.99880949e-01 -3.94344465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.346559995 meters 0.01707746442941942 Centerline is valid? [True, True] Translation: X:60.44, Y:-183.42, Z:-3.95 [[-3.64318413e-01 9.31258677e-01 5.41949262e-03 6.04401657e+01] [ 9.31166846e-01 3.64358612e-01 -1.30807805e-02 -1.83420558e+02] [-1.41562291e-02 2.80882668e-04 -9.99899756e-01 -3.94599154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.406559995 meters 0.017202026906129177 Centerline is valid? [True, True] Translation: X:60.44, Y:-183.39, Z:-3.95 [[-4.36957349e-01 8.99458865e-01 6.48270970e-03 6.04351464e+01] [ 8.99368909e-01 4.37005352e-01 -1.27235379e-02 -1.83387422e+02] [-1.42772778e-02 2.70704146e-04 -9.99898038e-01 -3.94663250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.4665599950001 meters 0.01683695961016329 Centerline is valid? [True, True] Translation: X:60.43, Y:-183.35, Z:-3.95 [[-5.06023756e-01 8.62482254e-01 8.01991795e-03 6.04313029e+01] [ 8.62382920e-01 5.06087222e-01 -1.30929028e-02 -1.83350816e+02] [-1.53511743e-02 2.90920422e-04 -9.99882122e-01 -3.94666641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.526559995 meters 0.017252684493488265 Centerline is valid? [True, True] Translation: X:60.42, Y:-183.32, Z:-3.95 [[-5.71815532e-01 8.20327659e-01 9.46204946e-03 6.04227098e+01] [ 8.20224202e-01 5.71893729e-01 -1.30315331e-02 -1.83315977e+02] [-1.61014138e-02 3.09368924e-04 -9.99870316e-01 -3.94788416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.586559995 meters 0.018441688911067483 Centerline is valid? [True, True] Translation: X:60.41, Y:-183.29, Z:-3.95 [[-6.33736636e-01 7.73488697e-01 9.64943779e-03 6.04086702e+01] [ 7.73406098e-01 6.33810025e-01 -1.13075360e-02 -1.83285587e+02] [-1.48621617e-02 2.96934234e-04 -9.99889508e-01 -3.94901268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.646559995 meters 0.017348591256258608 Centerline is valid? [True, True] Translation: X:60.40, Y:-183.25, Z:-3.95 [[-6.91892949e-01 7.21933547e-01 9.80312314e-03 6.04011882e+01] [ 7.21866897e-01 6.91962334e-01 -9.81382907e-03 -1.83245201e+02] [-1.38683244e-02 2.86430948e-04 -9.99903789e-01 -3.95274307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.7065599950001 meters 0.017779553460845973 Centerline is valid? [True, True] Translation: X:60.39, Y:-183.21, Z:-3.95 [[-7.46368296e-01 6.65462601e-01 9.68987680e-03 6.03877642e+01] [ 6.65411052e-01 7.46431148e-01 -8.28694993e-03 -1.83208500e+02] [-1.27474811e-02 2.62634424e-04 -9.99918713e-01 -3.95435897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.766559995 meters 0.017780335322016807 Centerline is valid? [True, True] Translation: X:60.41, Y:-183.17, Z:-3.95 [[-7.92222590e-01 6.10133099e-01 1.09986079e-02 6.04060290e+01] [ 6.10078964e-01 7.92298889e-01 -8.13188512e-03 -1.83171484e+02] [-1.36757171e-02 2.67756239e-04 -9.99906447e-01 -3.95489309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.826559995 meters 0.018099474698503246 Centerline is valid? [True, True] Translation: X:60.42, Y:-183.14, Z:-3.96 [[-8.33551865e-01 5.52330596e-01 1.10544758e-02 6.04190072e+01] [ 5.52286049e-01 8.33625125e-01 -7.01939958e-03 -1.83138555e+02] [-1.30923179e-02 2.54199168e-04 -9.99914260e-01 -3.95668500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.886559995 meters 0.018997004918508194 Centerline is valid? [True, True] Translation: X:60.43, Y:-183.10, Z:-3.96 [[-8.69764205e-01 4.93372750e-01 9.67248332e-03 6.04329393e+01] [ 4.93345200e-01 8.69817955e-01 -5.21903689e-03 -1.83099622e+02] [-1.09882302e-02 2.32541745e-04 -9.99939601e-01 -3.95972995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1367.9465599950001 meters 0.019220655233259897 Centerline is valid? [True, True] Translation: X:60.44, Y:-183.06, Z:-3.96 [[-9.01432970e-01 4.32830283e-01 8.74905022e-03 6.04437714e+01] [ 4.32812337e-01 9.01475399e-01 -3.94802496e-03 -1.83058400e+02] [-9.59587830e-03 2.27817002e-04 -9.99953933e-01 -3.96318326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.006559995 meters 0.020222721174972154 Centerline is valid? [True, True] Translation: X:60.45, Y:-183.02, Z:-3.97 [[-9.28189808e-01 3.72012011e-01 8.41091186e-03 6.04545990e+01] [ 3.71999196e-01 9.28227881e-01 -3.09815812e-03 -1.83018288e+02] [-8.95979492e-03 2.53173654e-04 -9.99959828e-01 -3.96542283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.066559995 meters 0.020731036217297563 Centerline is valid? [True, True] Translation: X:60.58, Y:-182.67, Z:-5.08 [[-9.25304612e-01 -3.79142220e-01 7.90892896e-03 6.05791981e+01] [ 3.79125928e-01 -9.25338375e-01 -3.52465312e-03 -1.82665208e+02] [ 8.65478028e-03 -2.62897753e-04 9.99962512e-01 -5.07796987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.126559995 meters 0.02209309224091716 Centerline is valid? [True, True] Translation: X:60.42, Y:-182.98, Z:-3.97 [[-9.27680092e-01 3.73312690e-01 6.87628764e-03 6.04222288e+01] [ 3.73304366e-01 9.27705544e-01 -2.50471886e-03 -1.82977301e+02] [-7.31421350e-03 2.43370380e-04 -9.99973221e-01 -3.96831125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.186559995 meters 0.021997103842418726 Centerline is valid? [True, True] Translation: X:60.42, Y:-182.93, Z:-3.97 [[-9.52156372e-01 3.05549618e-01 6.13803287e-03 6.04209708e+01] [ 3.05544656e-01 9.52176133e-01 -1.75342679e-03 -1.82933687e+02] [-6.38024729e-03 2.05906649e-04 -9.99979625e-01 -3.96946545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.246559995 meters 0.02132388349087618 Centerline is valid? [True, True] Translation: X:60.41, Y:-182.88, Z:-3.97 [[-9.72309311e-01 2.33646047e-01 4.91205395e-03 6.04137035e+01] [ 2.33643808e-01 9.72321708e-01 -1.03295476e-03 -1.82879287e+02] [-5.01744248e-03 1.43319456e-04 -9.99987402e-01 -3.97070100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.306559995 meters 0.02103480106226558 Centerline is valid? [True, True] Translation: X:60.40, Y:-182.83, Z:-3.97 [[-9.86948137e-01 1.60960012e-01 5.02486779e-03 6.03998584e+01] [ 1.60958590e-01 9.86960920e-01 -6.88743854e-04 -1.82826405e+02] [-5.07020835e-03 1.29041172e-04 -9.99987138e-01 -3.96964853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.366559995 meters 0.021956886477801286 Centerline is valid? [True, True] Translation: X:60.41, Y:-182.64, Z:-5.08 [[-9.84439603e-01 -1.75595346e-01 6.70391432e-03 6.04138116e+01] [ 1.75590838e-01 -9.84462427e-01 -1.25983835e-03 -1.82635071e+02] [ 6.82097352e-03 -6.30888320e-05 9.99976735e-01 -5.07618289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.426559995 meters 0.024326509634769677 Centerline is valid? [True, True] Translation: X:60.36, Y:-182.79, Z:-3.96 [[-9.86603919e-01 1.62803349e-01 1.03815084e-02 6.03569681e+01] [ 1.62797795e-01 9.86658484e-01 -1.38355229e-03 -1.82790188e+02] [-1.04682503e-02 3.25068557e-04 -9.99945154e-01 -3.96371188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.486559995 meters 0.024306314575935375 Centerline is valid? [True, True] Translation: X:60.35, Y:-182.74, Z:-3.96 [[-9.94822436e-01 1.00427327e-01 1.55779349e-02 6.03469033e+01] [ 1.00424655e-01 9.94944207e-01 -9.55675558e-04 -1.82741414e+02] [-1.55951520e-02 6.13681248e-04 -9.99878200e-01 -3.96263548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.546559995 meters 0.025047476410280486 Centerline is valid? [True, True] Translation: X:60.33, Y:-182.69, Z:-3.96 [[-9.99275177e-01 3.26421296e-02 1.95860411e-02 6.03268692e+01] [ 3.26521737e-02 9.99466757e-01 1.93156406e-04 -1.82690392e+02] [-1.95692919e-02 8.32543217e-04 -9.99808157e-01 -3.96070914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.606559995 meters 0.023194146719672504 Centerline is valid? [True, True] Translation: X:60.29, Y:-182.63, Z:-3.96 [[-9.98785368e-01 -4.47694100e-02 2.05788629e-02 6.02928026e+01] [-4.47444802e-02 9.98997068e-01 1.67051020e-03 -1.82632251e+02] [-2.06330114e-02 7.47690620e-04 -9.99786837e-01 -3.95990156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.666559995 meters 0.021481962902029954 Centerline is valid? [True, True] Translation: X:60.24, Y:-182.59, Z:-3.96 [[-9.92344226e-01 -1.21712602e-01 2.09518549e-02 6.02407090e+01] [-1.21671911e-01 9.92565180e-01 3.21084348e-03 -1.82589677e+02] [-2.11868818e-02 6.37009767e-04 -9.99775330e-01 -3.96022333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.7265599950001 meters 0.020429068107121962 Centerline is valid? [True, True] Translation: X:60.23, Y:-182.66, Z:-5.08 [[-9.93957111e-01 1.07523973e-01 2.20874674e-02 6.02309827e+01] [-1.07510741e-01 -9.94202313e-01 1.78913977e-03 -1.82658999e+02] [ 2.21517866e-02 -5.96311798e-04 9.99754441e-01 -5.08435819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.786559995 meters 0.01998510303041518 Centerline is valid? [True, True] Translation: X:60.19, Y:-182.56, Z:-3.96 [[-9.90796383e-01 -1.33600592e-01 2.17579626e-02 6.01886835e+01] [-1.33557758e-01 9.91035142e-01 3.41661876e-03 -1.82562346e+02] [-2.20193678e-02 4.79228819e-04 -9.99757430e-01 -3.96054373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.846559995 meters 0.019680559126278287 Centerline is valid? [True, True] Translation: X:60.15, Y:-182.53, Z:-3.96 [[-9.78523788e-01 -2.05091013e-01 2.07092603e-02 6.01490833e+01] [-2.05035745e-01 9.78742811e-01 4.78050318e-03 -1.82526675e+02] [-2.12494779e-02 4.31697449e-04 -9.99774111e-01 -3.96162642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.906559995 meters 0.02041082115866693 Centerline is valid? [True, True] Translation: X:60.09, Y:-182.50, Z:-3.96 [[-9.62113054e-01 -2.72144434e-01 1.66095708e-02 6.00925145e+01] [-2.72096912e-01 9.62256336e-01 5.10035789e-03 -1.82496448e+02] [-1.73706988e-02 3.87707976e-04 -9.99849043e-01 -3.96477343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1368.9665599950001 meters 0.02058525991189502 Centerline is valid? [True, True] Translation: X:60.06, Y:-182.46, Z:-3.97 [[-9.41939608e-01 -3.35552100e-01 1.24323667e-02 6.00586651e+01] [-3.35517839e-01 9.42021582e-01 4.80823434e-03 -1.82460367e+02] [-1.33249709e-02 3.57785541e-04 -9.99911155e-01 -3.96882363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.026559995 meters 0.02151765104091093 Centerline is valid? [True, True] Translation: X:60.02, Y:-182.43, Z:-3.97 [[-9.16603097e-01 -3.99671220e-01 1.00836063e-02 6.00184262e+01] [-3.99643153e-01 9.16658504e-01 4.74747241e-03 -1.82433671e+02] [-1.11406515e-02 3.21703703e-04 -9.99937889e-01 -3.96896575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.086559995 meters 0.021663467205550693 Centerline is valid? [True, True] Translation: X:59.92, Y:-182.44, Z:-3.97 [[-8.85292205e-01 -4.64930107e-01 9.88473275e-03 5.99229370e+01] [-4.64897190e-01 8.85347333e-01 5.54110011e-03 -1.82439512e+02] [-1.13276460e-02 3.10108255e-04 -9.99935792e-01 -3.96868433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.146559995 meters 0.02007065999004365 Centerline is valid? [True, True] Translation: X:59.87, Y:-182.41, Z:-3.97 [[-8.47475527e-01 -5.30746438e-01 9.66695292e-03 5.98712745e+01] [-5.30708383e-01 8.47530619e-01 6.36097759e-03 -1.82413666e+02] [-1.15691048e-02 2.60439882e-04 -9.99933042e-01 -3.96829896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.2065599950001 meters 0.019094782984089308 Centerline is valid? [True, True] Translation: X:59.82, Y:-182.40, Z:-3.97 [[-8.06108786e-01 -5.91720493e-01 7.44873329e-03 5.98159716e+01] [-5.91693092e-01 8.06143178e-01 5.69743771e-03 -1.82401131e+02] [-9.37603618e-03 1.85390565e-04 -9.99956027e-01 -3.96900686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.266559995 meters 0.01957320804159834 Centerline is valid? [True, True] Translation: X:60.01, Y:-182.69, Z:-5.07 [[-8.21631074e-01 5.69994026e-01 5.40268209e-03 6.00053743e+01] [-5.69984141e-01 -8.21648778e-01 3.37115525e-03 -1.82694495e+02] [ 6.36064549e-03 -3.09597205e-04 9.99979723e-01 -5.07394299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.326559995 meters 0.01958977832928453 Centerline is valid? [True, True] Translation: X:59.77, Y:-182.41, Z:-3.97 [[-8.04490235e-01 -5.93952011e-01 4.05845588e-03 5.97693078e+01] [-5.93943783e-01 8.04500464e-01 3.12818429e-03 -1.82405883e+02] [-5.12302099e-03 1.06099077e-04 -9.99986872e-01 -3.97115248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.386559995 meters 0.018930969097518832 Centerline is valid? [True, True] Translation: X:59.71, Y:-182.39, Z:-3.97 [[-7.58723095e-01 -6.51412496e-01 1.01257374e-03 5.97138293e+01] [-6.51411872e-01 7.58723770e-01 9.01964276e-04 -1.82393221e+02] [-1.35581457e-03 2.47385685e-05 -9.99999081e-01 -3.97254508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.4465599950001 meters 0.01875108938004967 Centerline is valid? [True, True] Translation: X:59.66, Y:-182.39, Z:-3.97 [[-7.10341090e-01 -7.03857463e-01 4.56004127e-04 5.96562546e+01] [-7.03857307e-01 7.10341236e-01 4.68512076e-04 -1.82387668e+02] [-6.53684258e-04 1.18415419e-05 -9.99999786e-01 -3.97179572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.506559995 meters 0.019229598481899916 Centerline is valid? [True, True] Translation: X:59.60, Y:-182.39, Z:-3.97 [[-6.59798756e-01 -7.51442306e-01 -2.51986757e-04 5.96007188e+01] [-7.51442247e-01 6.59798804e-01 -2.97352492e-04 -1.82392758e+02] [ 3.89703802e-04 -6.83930971e-06 -9.99999924e-01 -3.97217211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.566559995 meters 0.021747750318754446 Centerline is valid? [True, True] Translation: X:59.95, Y:-182.74, Z:-5.07 [[-6.77595328e-01 7.35433675e-01 -1.37158823e-03 5.99507245e+01] [-7.35432009e-01 -6.77596714e-01 -1.56626579e-03 -1.82738492e+02] [-2.08126828e-03 -5.25844927e-05 9.99997833e-01 -5.07111237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.626559995 meters 0.02476654432939331 Centerline is valid? [True, True] Translation: X:59.55, Y:-182.41, Z:-3.97 [[-6.65701677e-01 -7.46211488e-01 -3.11309543e-03 5.95497714e+01] [-7.46202294e-01 6.65708941e-01 -3.70705433e-03 -1.82414031e+02] [ 4.83866199e-03 -1.44793331e-04 -9.99988283e-01 -3.97415475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.686559995 meters 0.027327641785148717 Centerline is valid? [True, True] Translation: X:59.49, Y:-182.43, Z:-3.98 [[-6.14546006e-01 -7.88871761e-01 -3.81469750e-03 5.94937498e+01] [-7.88854271e-01 6.14557805e-01 -5.25772295e-03 -1.82428284e+02] [ 6.49202128e-03 -2.21872223e-04 -9.99978902e-01 -3.97522495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.746559995 meters 0.030670566620020417 Centerline is valid? [True, True] Translation: X:59.44, Y:-182.44, Z:-3.98 [[-5.61318730e-01 -8.27590818e-01 -3.83689130e-03 5.94355422e+01] [-8.27567950e-01 5.61331773e-01 -6.15867119e-03 -1.82436869e+02] [ 7.25062872e-03 -2.81689230e-04 -9.99973674e-01 -3.97611310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.806559995 meters 0.026633120609110175 Centerline is valid? [True, True] Translation: X:59.37, Y:-182.47, Z:-3.97 [[-4.95109279e-01 -8.68829549e-01 -1.42044731e-03 5.93747046e+01] [-8.68825405e-01 4.95111307e-01 -2.68494937e-03 -1.82465089e+02] [ 3.03604287e-03 -9.52226395e-05 -9.99995387e-01 -3.96788356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.866559995 meters 0.023726384583758895 Centerline is valid? [True, True] Translation: X:59.90, Y:-182.77, Z:-5.08 [[-5.03093023e-01 8.64232228e-01 2.58921345e-04 5.99022196e+01] [-8.64231804e-01 -5.03093041e-01 8.83545791e-04 -1.82771416e+02] [ 8.93850275e-04 2.20737662e-04 9.99999576e-01 -5.08153709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.926559995 meters 0.02526824229147162 Centerline is valid? [True, True] Translation: X:59.36, Y:-182.50, Z:-3.96 [[-4.89631045e-01 -8.71928285e-01 1.58285119e-03 5.93572270e+01] [-8.71923065e-01 4.89633594e-01 3.01886320e-03 -1.82495723e+02] [-3.40724933e-03 9.80046789e-05 -9.99994191e-01 -3.95988421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1369.986559995 meters 0.03224470637432154 Centerline is valid? [True, True] Translation: X:59.33, Y:-182.53, Z:-3.96 [[-4.35554146e-01 -9.00160370e-01 1.97324889e-03 5.93294220e+01] [-9.00149071e-01 4.35558575e-01 4.51426021e-03 -1.82528305e+02] [-4.92302362e-03 1.89986598e-04 -9.99987864e-01 -3.95581501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.046559995 meters 0.034088995555020686 Centerline is valid? [True, True] Translation: X:59.29, Y:-182.57, Z:-3.95 [[-3.72754916e-01 -9.27927351e-01 2.14584893e-03 5.92902767e+01] [-9.27907786e-01 3.72761004e-01 6.03111113e-03 -1.82566569e+02] [-6.39632177e-03 2.56976397e-04 -9.99979510e-01 -3.95242010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.106559995 meters 0.03275104872479922 Centerline is valid? [True, True] Translation: X:59.82, Y:-182.79, Z:-5.09 [[-3.63064954e-01 9.31759891e-01 2.71013806e-03 5.98218859e+01] [-9.31738815e-01 -3.63074984e-01 6.27189854e-03 -1.82785651e+02] [ 6.82788684e-03 -2.48034273e-04 9.99976659e-01 -5.09115371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.166559995 meters 0.032382266464654315 Centerline is valid? [True, True] Translation: X:59.28, Y:-182.59, Z:-3.96 [[-3.65797151e-01 -9.30693541e-01 1.40590988e-03 5.92758825e+01] [-9.30684976e-01 3.65799820e-01 3.99576831e-03 -1.82591893e+02] [-4.23311734e-03 1.53181455e-04 -9.99991029e-01 -3.95642509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.2265599950001 meters 0.031191915134897177 Centerline is valid? [True, True] Translation: X:59.81, Y:-182.82, Z:-5.08 [[-3.64013672e-01 9.31393550e-01 -3.17616419e-04 5.98144640e+01] [-9.31392160e-01 -3.64013687e-01 -1.63719820e-03 -1.82818096e+02] [-1.64049256e-03 -3.00137085e-04 9.99998609e-01 -5.08095842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.286559995 meters 0.02072235637836166 Centerline is valid? [True, True] Translation: X:59.84, Y:-182.87, Z:-5.08 [[-4.29322267e-01 9.03149304e-01 -1.93032915e-03 5.98428212e+01] [-9.03135511e-01 -4.29326414e-01 -5.00781783e-03 -1.82865367e+02] [-5.35154847e-03 -4.06618899e-04 9.99985598e-01 -5.07824230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.346559995 meters 0.02122174796672975 Centerline is valid? [True, True] Translation: X:59.28, Y:-182.63, Z:-3.97 [[-4.17749998e-01 -9.08558450e-01 -2.54605126e-03 5.92772547e+01] [-9.08538822e-01 4.17757717e-01 -5.97483627e-03 -1.82625078e+02] [ 6.49212054e-03 -1.82801425e-04 -9.99978909e-01 -3.96533462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.406559995 meters 0.0229154434382131 Centerline is valid? [True, True] Translation: X:59.82, Y:-182.90, Z:-5.08 [[-4.24677078e-01 9.05338645e-01 -3.36409678e-03 5.98226917e+01] [-9.05313036e-01 -4.24690374e-01 -6.81117308e-03 -1.82899421e+02] [-7.59511773e-03 1.53011590e-04 9.99971145e-01 -5.07743788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.4665599950001 meters 0.023934000276170077 Centerline is valid? [True, True] Translation: X:59.27, Y:-182.67, Z:-3.97 [[-4.19282257e-01 -9.07849509e-01 -3.41434830e-03 5.92665693e+01] [-9.07813484e-01 4.19296056e-01 -8.09298498e-03 -1.82668855e+02] [ 8.77883521e-03 -2.93653586e-04 -9.99961422e-01 -3.96863765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.526559995 meters 0.02440936023278413 Centerline is valid? [True, True] Translation: X:59.23, Y:-182.70, Z:-3.97 [[-3.56049563e-01 -9.34464476e-01 -2.20271139e-03 5.92276409e+01] [-9.34442205e-01 3.56056295e-01 -6.45600605e-03 -1.82698532e+02] [ 6.81719757e-03 -2.40351648e-04 -9.99976734e-01 -3.96688645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.586559995 meters 0.023802621813568087 Centerline is valid? [True, True] Translation: X:59.19, Y:-182.74, Z:-3.96 [[-2.90816655e-01 -9.56777675e-01 -1.46769730e-03 5.91895972e+01] [-9.56761549e-01 2.90820281e-01 -5.55904800e-03 -1.82738353e+02] [ 5.74560916e-03 -2.12427404e-04 -9.99983471e-01 -3.96463995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.646559995 meters 0.02460389868613196 Centerline is valid? [True, True] Translation: X:59.16, Y:-182.77, Z:-3.97 [[-2.22214167e-01 -9.74997326e-01 -1.03856406e-03 5.91554857e+01] [-9.74981958e-01 2.22216500e-01 -5.47802680e-03 -1.82773382e+02] [ 5.57184755e-03 -2.04713943e-04 -9.99984456e-01 -3.96519437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.7065599950001 meters 0.025360754810327537 Centerline is valid? [True, True] Translation: X:59.12, Y:-182.81, Z:-3.97 [[-1.52952228e-01 -9.88233307e-01 -7.39594822e-04 5.91236063e+01] [-9.88213119e-01 1.52953834e-01 -6.32112001e-03 -1.82814056e+02] [ 6.35986519e-03 -2.35952084e-04 -9.99979748e-01 -3.96579330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.766559995 meters 0.025036406338247347 Centerline is valid? [True, True] Translation: X:59.71, Y:-182.92, Z:-5.08 [[-1.42330081e-01 9.89818493e-01 -1.22450867e-03 5.97057911e+01] [-9.89794172e-01 -1.42335172e-01 -6.94229091e-03 -1.82919284e+02] [-7.04589858e-03 2.23914716e-04 9.99975152e-01 -5.07738424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.826559995 meters 0.026878101358056378 Centerline is valid? [True, True] Translation: X:59.12, Y:-182.86, Z:-3.97 [[-1.55591855e-01 -9.87821008e-01 -9.11146089e-04 5.91242500e+01] [-9.87788415e-01 1.55594130e-01 -8.03211547e-03 -1.82857567e+02] [ 8.07606138e-03 -3.49712193e-04 -9.99967327e-01 -3.96858117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.886559995 meters 0.027277428002442993 Centerline is valid? [True, True] Translation: X:59.09, Y:-182.91, Z:-3.97 [[-8.73385757e-02 -9.96178641e-01 -2.97076763e-04 5.90941389e+01] [-9.96153889e-01 8.73385019e-02 -7.02960790e-03 -1.82906637e+02] [ 7.02869148e-03 -3.18021769e-04 -9.99975248e-01 -3.96837810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1370.9465599950001 meters 0.027855671339087854 Centerline is valid? [True, True] Translation: X:59.67, Y:-182.96, Z:-5.08 [[-6.45090326e-02 9.97916995e-01 -5.05744191e-04 5.96731474e+01] [-9.97906460e-01 -6.45106779e-02 -4.59026513e-03 -1.82961466e+02] [-4.61332948e-03 2.08571832e-04 9.99989337e-01 -5.07741133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.006559995 meters 0.02867641913354018 Centerline is valid? [True, True] Translation: X:59.10, Y:-182.94, Z:-3.97 [[-8.33438941e-02 -9.96520836e-01 -1.35270952e-04 5.90957375e+01] [-9.96514943e-01 8.33438669e-02 -3.43051124e-03 -1.82940924e+02] [ 3.42984993e-03 -1.51112641e-04 -9.99994107e-01 -3.96582085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.066559995 meters 0.03282021272377337 Centerline is valid? [True, True] Translation: X:59.66, Y:-183.01, Z:-5.08 [[-5.17639088e-02 9.98659346e-01 9.21269682e-05 5.96634569e+01] [-9.98658934e-01 -5.17639713e-02 9.08351018e-04 -1.83006793e+02] [ 9.11902092e-04 -4.49836206e-05 9.99999583e-01 -5.08189529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.126559995 meters 0.03934061333439981 Centerline is valid? [True, True] Translation: X:59.11, Y:-183.01, Z:-3.96 [[-9.55923061e-02 -9.95420556e-01 1.67916549e-04 5.91126835e+01] [-9.95408067e-01 9.55919496e-02 4.99594680e-03 -1.83008723e+02] [-4.98911962e-03 3.10428589e-04 -9.99987506e-01 -3.95715049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.186559995 meters 0.04814889182358911 Centerline is valid? [True, True] Translation: X:59.64, Y:-183.06, Z:-5.09 [[-2.87521824e-02 9.99586156e-01 9.10010334e-04 5.96369665e+01] [-9.99546377e-01 -2.87591785e-02 8.94150532e-03 -1.83061512e+02] [ 8.96397608e-03 -6.52509739e-04 9.99959610e-01 -5.09137289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.246559995 meters 0.051086845692189214 Centerline is valid? [True, True] Translation: X:59.66, Y:-183.10, Z:-5.09 [[-9.02779783e-02 9.95915199e-01 1.67444460e-03 5.96570396e+01] [-9.95856793e-01 -9.02908553e-02 1.08078741e-02 -1.83103564e+02] [ 1.09149131e-02 -6.91794008e-04 9.99940191e-01 -5.09256731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.306559995 meters 0.05415793947900205 Centerline is valid? [True, True] Translation: X:59.15, Y:-183.06, Z:-3.94 [[-1.74282011e-01 -9.84694581e-01 1.53717648e-03 5.91544181e+01] [-9.84571612e-01 1.74284612e-01 1.56081752e-02 -1.83058898e+02] [-1.56371917e-02 1.20676383e-03 -9.99877004e-01 -3.94454848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.366559995 meters 0.051390356954737454 Centerline is valid? [True, True] Translation: X:59.12, Y:-183.10, Z:-3.94 [[-1.00017840e-01 -9.94985540e-01 4.54518929e-04 5.91239917e+01] [-9.94847390e-01 1.00011547e-01 1.66241071e-02 -1.83097189e+02] [-1.65862034e-02 1.21053031e-03 -9.99861707e-01 -3.94311501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.426559995 meters 0.04505287460507296 Centerline is valid? [True, True] Translation: X:59.09, Y:-183.12, Z:-3.94 [[-1.69412555e-02 -9.99856204e-01 -7.52345581e-04 5.90882773e+01] [-9.99706761e-01 1.69256924e-02 1.73179868e-02 -1.83116255e+02] [-1.73027626e-02 1.04551340e-03 -9.99849749e-01 -3.94415693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.486559995 meters 0.039731593651297185 Centerline is valid? [True, True] Translation: X:59.06, Y:-183.15, Z:-3.95 [[ 6.44074399e-02 -9.97922134e-01 -1.75934722e-03 5.90556835e+01] [-9.97804580e-01 -6.44268905e-02 1.53361209e-02 -1.83153830e+02] [-1.54176038e-02 7.67724428e-04 -9.99880847e-01 -3.94795119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.546559995 meters 0.038415897011578035 Centerline is valid? [True, True] Translation: X:59.03, Y:-183.20, Z:-3.95 [[ 1.38292585e-01 -9.90388009e-01 -2.59858386e-03 5.90337297e+01] [-9.90290936e-01 -1.38315453e-01 1.38815570e-02 -1.83198336e+02] [-1.41075519e-02 6.53637635e-04 -9.99900270e-01 -3.94904090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.606559995 meters 0.034580692367824545 Centerline is valid? [True, True] Translation: X:59.59, Y:-183.13, Z:-5.10 [[ 1.54477355e-01 9.87994895e-01 -1.68375348e-03 5.95860905e+01] [-9.87892360e-01 1.54485598e-01 1.42437551e-02 -1.83125672e+02] [ 1.43328729e-02 -5.36970409e-04 9.99897135e-01 -5.09791687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.666559995 meters 0.03158277172418349 Centerline is valid? [True, True] Translation: X:59.03, Y:-183.23, Z:-3.94 [[ 1.55892483e-01 -9.87769972e-01 -2.83113969e-03 5.90291498e+01] [-9.87658666e-01 -1.55917440e-01 1.48361482e-02 -1.83228718e+02] [-1.50961258e-02 4.83355656e-04 -9.99885930e-01 -3.94404936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.7265599950001 meters 0.02968595494757265 Centerline is valid? [True, True] Translation: X:59.01, Y:-183.27, Z:-3.94 [[ 2.29841372e-01 -9.73220725e-01 -3.79008632e-03 5.90078404e+01] [-9.73116024e-01 -2.29872261e-01 1.42810292e-02 -1.83272929e+02] [-1.47698293e-02 4.05822374e-04 -9.99890838e-01 -3.94357274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.786559995 meters 0.02764935246155177 Centerline is valid? [True, True] Translation: X:58.99, Y:-183.33, Z:-3.94 [[ 3.00681702e-01 -9.53714209e-01 -4.44090942e-03 5.89905354e+01] [-9.53626256e-01 -3.00714304e-01 1.29565187e-02 -1.83326563e+02] [-1.36922610e-02 3.39179736e-04 -9.99906199e-01 -3.94455096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.846559995 meters 0.024189970820993775 Centerline is valid? [True, True] Translation: X:58.97, Y:-183.38, Z:-3.95 [[ 3.65255254e-01 -9.30897390e-01 -4.31847448e-03 5.89735567e+01] [-9.30841738e-01 -3.65280659e-01 1.01832976e-02 -1.83376948e+02] [-1.10570603e-02 3.00313337e-04 -9.99938824e-01 -3.95057236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.906559995 meters 0.029488533122267006 Centerline is valid? [True, True] Translation: X:58.97, Y:-183.43, Z:-3.95 [[ 4.30255334e-01 -9.02695767e-01 -4.54972763e-03 5.89725226e+01] [-9.02651802e-01 -4.30279303e-01 8.91318589e-03 -1.83426352e+02] [-1.00035488e-02 2.71874064e-04 -9.99949926e-01 -3.94542451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1371.9665599950001 meters 0.02933527416361808 Centerline is valid? [True, True] Translation: X:58.97, Y:-183.48, Z:-3.95 [[ 4.93399255e-01 -8.69794970e-01 -3.72623743e-03 5.89696521e+01] [-8.69773070e-01 -4.93413287e-01 6.17538599e-03 -1.83480481e+02] [-7.20989473e-03 1.94050121e-04 -9.99973990e-01 -3.94732871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.026559995 meters 0.02357680325652437 Centerline is valid? [True, True] Translation: X:58.96, Y:-183.54, Z:-3.95 [[ 5.52339111e-01 -8.33617846e-01 -1.67158385e-03 5.89588462e+01] [-8.33614485e-01 -5.52341634e-01 2.36871538e-03 -1.83536838e+02] [-2.89788877e-03 8.51223606e-05 -9.99995798e-01 -3.95320574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.086559995 meters 0.023689789708539157 Centerline is valid? [True, True] Translation: X:58.97, Y:-183.59, Z:-3.96 [[ 6.09062822e-01 -7.93120481e-01 1.54353085e-03 5.89668047e+01] [-7.93118211e-01 -6.09064774e-01 -1.89879395e-03 -1.83591918e+02] [ 2.44608263e-03 -6.77176255e-05 -9.99997006e-01 -3.95617149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.146559995 meters 0.023639052050262906 Centerline is valid? [True, True] Translation: X:59.48, Y:-183.23, Z:-5.09 [[ 6.01790778e-01 7.98649501e-01 2.61420153e-03 5.94811950e+01] [-7.98640977e-01 6.01796441e-01 -3.69237178e-03 -1.83228200e+02] [-4.52212806e-03 1.34226826e-04 9.99989766e-01 -5.08699414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.2065599950001 meters 0.022019994512412763 Centerline is valid? [True, True] Translation: X:58.99, Y:-183.62, Z:-3.95 [[ 6.15963832e-01 -7.87762924e-01 4.25830722e-03 5.89917267e+01] [-7.87745840e-01 -6.15978531e-01 -5.19050819e-03 -1.83622382e+02] [ 6.71191574e-03 -1.57298481e-04 -9.99977463e-01 -3.95364314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.266559995 meters 0.020822321575255886 Centerline is valid? [True, True] Translation: X:59.00, Y:-183.67, Z:-3.95 [[ 6.73053791e-01 -7.39586045e-01 3.32804372e-03 5.89988559e+01] [-7.39577686e-01 -6.73062013e-01 -3.51766201e-03 -1.83673761e+02] [ 4.84159354e-03 -9.37711209e-05 -9.99988275e-01 -3.95017746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.326559995 meters 0.01947472236453252 Centerline is valid? [True, True] Translation: X:59.01, Y:-183.72, Z:-3.95 [[ 7.26553359e-01 -6.87104219e-01 2.83003514e-03 5.90102579e+01] [-6.87099314e-01 -7.26558869e-01 -2.59675497e-03 -1.83724710e+02] [ 3.84042843e-03 -5.78341550e-05 -9.99992624e-01 -3.94690152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.386559995 meters 0.019523667190961224 Centerline is valid? [True, True] Translation: X:59.07, Y:-183.78, Z:-3.95 [[ 7.78054426e-01 -6.28187941e-01 3.34979461e-03 5.90734086e+01] [-6.28182472e-01 -7.78061635e-01 -2.62188602e-03 -1.83775016e+02] [ 4.25338385e-03 -6.43122423e-05 -9.99990952e-01 -3.94569583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.4465599950001 meters 0.019849804315053135 Centerline is valid? [True, True] Translation: X:59.14, Y:-183.82, Z:-3.94 [[ 8.24693270e-01 -5.65571826e-01 3.08542702e-03 5.91413014e+01] [-5.65568123e-01 -8.24699040e-01 -2.04740687e-03 -1.83818353e+02] [ 3.70250434e-03 -5.65364983e-05 -9.99993144e-01 -3.94356000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.506559995 meters 0.018813280569786435 Centerline is valid? [True, True] Translation: X:59.21, Y:-183.86, Z:-3.94 [[ 8.66535702e-01 -4.99106828e-01 2.87237264e-03 5.92080254e+01] [-4.99104274e-01 -8.66540462e-01 -1.59767103e-03 -1.83864881e+02] [ 3.28643563e-03 -4.91744704e-05 -9.99994599e-01 -3.94152675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.566559995 meters 0.017801253360171618 Centerline is valid? [True, True] Translation: X:59.55, Y:-183.36, Z:-5.10 [[ 8.80257429e-01 4.74489203e-01 2.61831667e-03 5.95531923e+01] [-4.74486984e-01 8.80261322e-01 -1.45165299e-03 -1.83362460e+02] [-2.99359657e-03 3.54711494e-05 9.99995519e-01 -5.10414033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.626559995 meters 0.0174189765739669 Centerline is valid? [True, True] Translation: X:59.61, Y:-183.39, Z:-5.10 [[ 8.79780185e-01 4.75374293e-01 2.47146355e-03 5.96050012e+01] [-4.75372321e-01 8.79783656e-01 -1.36947284e-03 -1.83390232e+02] [-2.82536542e-03 2.99697063e-05 9.99996008e-01 -5.10434280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.686559995 meters 0.018038469343296663 Centerline is valid? [True, True] Translation: X:59.65, Y:-183.42, Z:-5.10 [[ 8.80556623e-01 4.73929871e-01 3.24204635e-03 5.96548618e+01] [-4.73926469e-01 8.80562590e-01 -1.79612955e-03 -1.83420145e+02] [-3.70606418e-03 4.51021911e-05 9.99993132e-01 -5.10351266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.746559995 meters 0.019354268295601856 Centerline is valid? [True, True] Translation: X:59.70, Y:-183.45, Z:-5.10 [[ 8.82478567e-01 4.70330639e-01 4.54632273e-03 5.97039634e+01] [-4.70323905e-01 8.82490273e-01 -2.51824101e-03 -1.83451311e+02] [-5.19649149e-03 8.40494501e-05 9.99986495e-01 -5.10209274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.806559995 meters 0.019110006764931343 Centerline is valid? [True, True] Translation: X:59.76, Y:-183.48, Z:-5.10 [[ 8.82606664e-01 4.70060224e-01 6.99013759e-03 5.97559824e+01] [-4.70044313e-01 8.82634335e-01 -3.86978580e-03 -1.83478376e+02] [-7.98876782e-03 1.29824318e-04 9.99968081e-01 -5.10097507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.866559995 meters 0.018557979549674957 Centerline is valid? [True, True] Translation: X:59.81, Y:-183.50, Z:-5.10 [[ 8.81512790e-01 4.72080114e-01 8.69297324e-03 5.98087915e+01] [-4.72055629e-01 8.81555641e-01 -4.80987924e-03 -1.83503377e+02] [-9.93398794e-03 1.36403114e-04 9.99950648e-01 -5.10015592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.926559995 meters 0.017244184908428866 Centerline is valid? [True, True] Translation: X:59.86, Y:-183.53, Z:-5.10 [[ 8.79172774e-01 4.76419401e-01 8.93241451e-03 5.98635759e+01] [-4.76393801e-01 8.79218145e-01 -4.93958207e-03 -1.83526303e+02] [-1.02068536e-02 8.73991640e-05 9.99947905e-01 -5.09988850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1372.986559995 meters 0.017543990030968484 Centerline is valid? [True, True] Translation: X:59.91, Y:-183.55, Z:-5.10 [[ 8.78736896e-01 4.77225562e-01 8.78816191e-03 5.99138428e+01] [-4.77200837e-01 8.78780836e-01 -4.85837089e-03 -1.83553939e+02] [-1.00414070e-02 7.55115348e-05 9.99949581e-01 -5.09860617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.046559995 meters 0.017162142289892997 Centerline is valid? [True, True] Translation: X:59.97, Y:-183.58, Z:-5.10 [[ 8.77685740e-01 4.79151011e-01 9.05816701e-03 5.99655948e+01] [-4.79124875e-01 8.77732480e-01 -5.00487114e-03 -1.83581687e+02] [-1.03487365e-02 5.27108964e-05 9.99946449e-01 -5.09912550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.106559995 meters 0.016910451877404174 Centerline is valid? [True, True] Translation: X:60.02, Y:-183.61, Z:-5.10 [[ 8.75834344e-01 4.82519591e-01 9.43644873e-03 6.00168029e+01] [-4.82491457e-01 8.75885178e-01 -5.21057821e-03 -1.83608211e+02] [-1.07794516e-02 1.05974552e-05 9.99941900e-01 -5.09973313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.166559995 meters 0.017483900227747293 Centerline is valid? [True, True] Translation: X:60.07, Y:-183.63, Z:-5.10 [[ 8.71085847e-01 4.91032944e-01 9.80282348e-03 6.00723409e+01] [-4.91003130e-01 8.71140998e-01 -5.41184112e-03 -1.83627419e+02] [-1.11970337e-02 -9.90388064e-05 9.99937306e-01 -5.09700286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.2265599950001 meters 0.018151872971130974 Centerline is valid? [True, True] Translation: X:60.12, Y:-183.65, Z:-5.10 [[ 8.68843508e-01 4.94990499e-01 9.76547499e-03 6.01249165e+01] [-4.94961195e-01 8.68898373e-01 -5.38825189e-03 -1.83653619e+02] [-1.11523388e-02 -1.51983494e-04 9.99937799e-01 -5.09669016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.286559995 meters 0.019312036002162507 Centerline is valid? [True, True] Translation: X:60.18, Y:-183.68, Z:-5.09 [[ 8.66885569e-01 4.98416966e-01 9.48354095e-03 6.01768443e+01] [-4.98389545e-01 8.66937421e-01 -5.23168538e-03 -1.83680230e+02] [-1.08291973e-02 -1.91225094e-04 9.99941344e-01 -5.09469360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.346559995 meters 0.019497694692998058 Centerline is valid? [True, True] Translation: X:60.23, Y:-183.71, Z:-5.09 [[ 8.66852318e-01 4.98467085e-01 9.88049114e-03 6.02276819e+01] [-4.98437357e-01 8.66908602e-01 -5.44770112e-03 -1.83709751e+02] [-1.12809825e-02 -2.02453539e-04 9.99936347e-01 -5.09258289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.406559995 meters 0.01876027305569214 Centerline is valid? [True, True] Translation: X:60.28, Y:-183.74, Z:-5.09 [[ 8.69397749e-01 4.94004952e-01 1.03276683e-02 6.02751506e+01] [-4.93972169e-01 8.69459076e-01 -5.69318012e-03 -1.83742951e+02] [-1.17919441e-02 -1.51942704e-04 9.99930461e-01 -5.08917825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.4665599950001 meters 0.01776961991796638 Centerline is valid? [True, True] Translation: X:60.32, Y:-183.78, Z:-5.09 [[ 8.71658115e-01 4.90016541e-01 9.79393422e-03 6.03232191e+01] [-4.89986840e-01 8.71713130e-01 -5.39591822e-03 -1.83778011e+02] [-1.11815902e-02 -9.55029816e-05 9.99937480e-01 -5.09060038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.526559995 meters 0.017796706924995565 Centerline is valid? [True, True] Translation: X:60.37, Y:-183.81, Z:-5.09 [[ 8.74429613e-01 4.85068736e-01 9.00957583e-03 6.03704686e+01] [-4.85043349e-01 8.74476026e-01 -4.96280776e-03 -1.83812773e+02] [-1.02859610e-02 -3.04087658e-05 9.99947098e-01 -5.08973391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.586559995 meters 0.017850599914014754 Centerline is valid? [True, True] Translation: X:60.42, Y:-183.85, Z:-5.09 [[ 8.76129937e-01 4.82011840e-01 7.80512885e-03 6.04203116e+01] [-4.81992677e-01 8.76164703e-01 -4.29807358e-03 -1.83845210e+02] [-8.91030075e-03 3.65598975e-06 9.99960303e-01 -5.08924824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.646559995 meters 0.018875160267468837 Centerline is valid? [True, True] Translation: X:60.47, Y:-183.88, Z:-5.09 [[ 8.79221027e-01 4.76366989e-01 6.69910502e-03 6.04665284e+01] [-4.76352713e-01 8.79246546e-01 -3.68831245e-03 -1.83880164e+02] [-7.64715525e-03 5.17050040e-05 9.99970759e-01 -5.08825327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.7065599950001 meters 0.019494356124826268 Centerline is valid? [True, True] Translation: X:60.52, Y:-183.91, Z:-5.09 [[ 8.81332429e-01 4.72478455e-01 4.15442952e-03 6.05165063e+01] [-4.72472927e-01 8.81342219e-01 -2.28602608e-03 -1.83911666e+02] [-4.74157220e-03 5.18934468e-05 9.99988757e-01 -5.08931307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.766559995 meters 0.020295545338500535 Centerline is valid? [True, True] Translation: X:60.57, Y:-183.94, Z:-5.09 [[ 8.83696438e-01 4.68059168e-01 1.10508772e-03 6.05660479e+01] [-4.68058774e-01 8.83697128e-01 -6.07722610e-04 -1.83943127e+02] [-1.26101298e-03 1.97963031e-05 9.99999205e-01 -5.09050424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.826559995 meters 0.020190044987569225 Centerline is valid? [True, True] Translation: X:60.62, Y:-183.97, Z:-5.09 [[ 8.83310109e-01 4.68781399e-01 -2.69289696e-03 6.06202363e+01] [-4.68779064e-01 8.83314213e-01 1.48009641e-03 -1.83967423e+02] [ 3.07251582e-03 -4.50104015e-05 9.99995279e-01 -5.09062106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.886559995 meters 0.019618297937617935 Centerline is valid? [True, True] Translation: X:60.68, Y:-183.98, Z:-5.09 [[ 8.79950360e-01 4.75002676e-01 -7.73446030e-03 6.06787580e+01] [-4.74983679e-01 8.79984349e-01 4.24862308e-03 -1.83982010e+02] [ 8.82431134e-03 -6.48350029e-05 9.99961063e-01 -5.09110837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1373.9465599950001 meters 0.0196357901623748 Centerline is valid? [True, True] Translation: X:60.73, Y:-184.00, Z:-5.09 [[ 8.78038993e-01 4.78471885e-01 -1.05915529e-02 6.07338173e+01] [-4.78436553e-01 8.78102872e-01 5.81477245e-03 -1.84003076e+02] [ 1.20826782e-02 -3.82108840e-05 9.99927001e-01 -5.09071628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.006559995 meters 0.019852524250793136 Centerline is valid? [True, True] Translation: X:60.79, Y:-184.03, Z:-5.09 [[ 8.78030850e-01 4.78485987e-01 -1.06295239e-02 6.07865045e+01] [-4.78450447e-01 8.78095188e-01 5.83191762e-03 -1.84027177e+02] [ 1.21242246e-02 -3.49031487e-05 9.99926498e-01 -5.08859732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.066559995 meters 0.01975770500169568 Centerline is valid? [True, True] Translation: X:60.84, Y:-184.05, Z:-5.09 [[ 8.77760093e-01 4.78978813e-01 -1.07942594e-02 6.08388157e+01] [-4.78942246e-01 8.77826461e-01 5.91851610e-03 -1.84052170e+02] [ 1.23103304e-02 -2.52104014e-05 9.99924225e-01 -5.08602373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.126559995 meters 0.02024681470620224 Centerline is valid? [True, True] Translation: X:60.89, Y:-184.08, Z:-5.09 [[ 8.77762031e-01 4.78983610e-01 -1.04171766e-02 6.08903048e+01] [-4.78949567e-01 8.77823844e-01 5.71062837e-03 -1.84078717e+02] [ 1.18797434e-02 -2.32705387e-05 9.99929433e-01 -5.08591449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.186559995 meters 0.01987840484353609 Centerline is valid? [True, True] Translation: X:60.94, Y:-184.10, Z:-5.08 [[ 8.78265664e-01 4.78070061e-01 -9.92166062e-03 6.09431041e+01] [-4.78039159e-01 8.78321704e-01 5.43570977e-03 -1.84103713e+02] [ 1.13130600e-02 -3.10549523e-05 9.99936005e-01 -5.08215498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.246559995 meters 0.020015440834908724 Centerline is valid? [True, True] Translation: X:60.99, Y:-184.13, Z:-5.08 [[ 8.79530984e-01 4.75763588e-01 -8.61724633e-03 6.09944433e+01] [-4.75740196e-01 8.79573195e-01 4.71807971e-03 -1.84130951e+02] [ 9.82418942e-03 -5.01268412e-05 9.99951740e-01 -5.07870199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.306559995 meters 0.019896386063392692 Centerline is valid? [True, True] Translation: X:61.05, Y:-184.16, Z:-5.08 [[ 8.79311124e-01 4.76132795e-01 -1.04646523e-02 6.10468960e+01] [-4.76098361e-01 8.79373390e-01 5.72641847e-03 -1.84158248e+02] [ 1.19288724e-02 -5.30996528e-05 9.99928847e-01 -5.07920404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.366559995 meters 0.019644903552324622 Centerline is valid? [True, True] Translation: X:61.10, Y:-184.18, Z:-5.08 [[ 8.77620126e-01 4.79220917e-01 -1.14117501e-02 6.10989431e+01] [-4.79180281e-01 8.77694316e-01 6.24057987e-03 -1.84183375e+02] [ 1.30066446e-02 -8.57285536e-06 9.99915410e-01 -5.07720518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.426559995 meters 0.019904670849248348 Centerline is valid? [True, True] Translation: X:61.15, Y:-184.20, Z:-5.08 [[ 8.75532199e-01 4.83041917e-01 -1.06711898e-02 6.11518591e+01] [-4.83006689e-01 8.75597227e-01 5.83394250e-03 -1.84204788e+02] [ 1.21617030e-02 4.64515607e-05 9.99926043e-01 -5.07574695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.486559995 meters 0.020077721884337298 Centerline is valid? [True, True] Translation: X:61.21, Y:-184.23, Z:-5.07 [[ 8.70820797e-01 4.91558121e-01 -6.46165120e-03 6.12067410e+01] [-4.91545453e-01 8.70844764e-01 3.53056892e-03 -1.84227320e+02] [ 7.36257494e-03 1.01702423e-04 9.99972891e-01 -5.06824590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.546559995 meters 0.020513269358886074 Centerline is valid? [True, True] Translation: X:61.26, Y:-184.25, Z:-5.07 [[ 8.69702458e-01 4.93547647e-01 -5.32485778e-03 6.12584684e+01] [-4.93539085e-01 8.69718754e-01 2.90884290e-03 -1.84254306e+02] [ 6.06678124e-03 9.81976116e-05 9.99981592e-01 -5.06775310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.606559995 meters 0.021427801431879518 Centerline is valid? [True, True] Translation: X:61.31, Y:-184.28, Z:-5.06 [[ 8.67267214e-01 4.97838976e-01 -1.98327962e-03 6.13108601e+01] [-4.97837800e-01 8.67269480e-01 1.08309948e-03 -1.84278656e+02] [ 2.25924702e-03 4.80148957e-05 9.99997447e-01 -5.06443549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.666559995 meters 0.020927697409925138 Centerline is valid? [True, True] Translation: X:61.36, Y:-184.31, Z:-5.06 [[ 8.67233332e-01 4.97900176e-01 -1.32781111e-03 6.13616579e+01] [-4.97899650e-01 8.67234348e-01 7.24676159e-04 -1.84306507e+02] [ 1.51233979e-03 3.26533690e-05 9.99998856e-01 -5.06330612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.7265599950001 meters 0.0212753865434008 Centerline is valid? [True, True] Translation: X:61.41, Y:-184.34, Z:-5.07 [[ 8.68688107e-01 4.95353405e-01 -2.44482152e-03 6.14120119e+01] [-4.95351613e-01 8.68691546e-01 1.33353688e-03 -1.84337086e+02] [ 2.78436782e-03 5.26186535e-05 9.99996122e-01 -5.06553156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.786559995 meters 0.02093935182951655 Centerline is valid? [True, True] Translation: X:61.46, Y:-184.37, Z:-5.07 [[ 8.67465561e-01 4.97485057e-01 -3.48114608e-03 6.14631994e+01] [-4.97481445e-01 8.67472542e-01 1.89770054e-03 -1.84366370e+02] [ 3.96387630e-03 8.56157226e-05 9.99992140e-01 -5.06827686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.846559995 meters 0.020022068756890592 Centerline is valid? [True, True] Translation: X:61.51, Y:-184.39, Z:-5.07 [[ 8.68465671e-01 4.95736011e-01 -3.63124652e-03 6.15145593e+01] [-4.95732070e-01 8.68473259e-01 1.97838583e-03 -1.84394172e+02] [ 4.13439760e-03 8.19651757e-05 9.99991450e-01 -5.06757288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.906559995 meters 0.019981984864299387 Centerline is valid? [True, True] Translation: X:61.57, Y:-184.42, Z:-5.07 [[ 8.68245423e-01 4.96117058e-01 -4.21314463e-03 6.15670601e+01] [-4.96111763e-01 8.68255640e-01 2.29409654e-03 -1.84421504e+02] [ 4.79622701e-03 9.83517914e-05 9.99988493e-01 -5.06799211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1374.9665599950001 meters 0.021981567892632562 Centerline is valid? [True, True] Translation: X:61.62, Y:-184.45, Z:-5.07 [[ 8.65594425e-01 5.00737290e-01 -2.90809080e-03 6.16205538e+01] [-5.00734796e-01 8.65599306e-01 1.58280437e-03 -1.84447729e+02] [ 3.30981055e-03 8.61156103e-05 9.99994519e-01 -5.06894711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.026559995 meters 0.022678741330220204 Centerline is valid? [True, True] Translation: X:61.67, Y:-184.47, Z:-5.07 [[ 8.64729691e-01 5.02235774e-01 -1.33738860e-03 6.16726111e+01] [-5.02235249e-01 8.64730724e-01 7.27505424e-04 -1.84474465e+02] [ 1.52186026e-03 4.25881552e-05 9.99998841e-01 -5.06799775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.086559995 meters 0.02408971529136309 Centerline is valid? [True, True] Translation: X:61.73, Y:-184.50, Z:-5.07 [[ 8.62516692e-01 5.06023000e-01 2.38307447e-03 6.17261041e+01] [-5.06021349e-01 8.62519980e-01 -1.29574539e-03 -1.84500916e+02] [-2.71112631e-03 -8.82845260e-05 9.99996321e-01 -5.06546524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.146559995 meters 0.02444565130150786 Centerline is valid? [True, True] Translation: X:61.78, Y:-184.53, Z:-5.06 [[ 8.61498213e-01 5.07751218e-01 3.08704327e-03 6.17788910e+01] [-5.07748460e-01 8.61503735e-01 -1.67801660e-03 -1.84526052e+02] [-3.51151428e-03 -1.21833160e-04 9.99993827e-01 -5.06460043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.2065599950001 meters 0.023599974919533768 Centerline is valid? [True, True] Translation: X:61.83, Y:-184.56, Z:-5.07 [[ 8.62006062e-01 5.06870874e-01 5.24078961e-03 6.18298042e+01] [-5.06862918e-01 8.62021970e-01 -2.84709536e-03 -1.84556274e+02] [-5.96078550e-03 -2.02148452e-04 9.99982214e-01 -5.06500991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.266559995 meters 0.02160703980946192 Centerline is valid? [True, True] Translation: X:61.88, Y:-184.58, Z:-5.06 [[ 8.64259440e-01 5.02996484e-01 7.08223115e-03 6.18813033e+01] [-5.02981829e-01 8.64288425e-01 -3.84696420e-03 -1.84584253e+02] [-8.05609986e-03 -2.37458454e-04 9.99967521e-01 -5.06153375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.326559995 meters 0.022066166839313523 Centerline is valid? [True, True] Translation: X:61.93, Y:-184.61, Z:-5.06 [[ 8.65465080e-01 5.00875448e-01 9.69437111e-03 6.19332563e+01] [-5.00847872e-01 8.65519322e-01 -5.26425794e-03 -1.84612911e+02] [-1.10274031e-02 -2.99373724e-04 9.99939152e-01 -5.06105369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.386559995 meters 0.020945508295131247 Centerline is valid? [True, True] Translation: X:61.98, Y:-184.64, Z:-5.06 [[ 8.66978175e-01 4.98238289e-01 1.03658964e-02 6.19847421e+01] [-4.98206609e-01 8.67040095e-01 -5.62575897e-03 -1.84640735e+02] [-1.17906163e-02 -2.86947837e-04 9.99930447e-01 -5.05960388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.4465599950001 meters 0.0195223691694409 Centerline is valid? [True, True] Translation: X:62.04, Y:-184.67, Z:-5.06 [[ 8.68297918e-01 4.95901831e-01 1.18363541e-02 6.20350070e+01] [-4.95860355e-01 8.68378539e-01 -6.42036216e-03 -1.84672414e+02] [-1.34623053e-02 -2.94391664e-04 9.99909336e-01 -5.06012825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.506559995 meters 0.02135907038891337 Centerline is valid? [True, True] Translation: X:62.09, Y:-184.70, Z:-5.06 [[ 8.67273701e-01 4.97681499e-01 1.22250931e-02 6.20864868e+01] [-4.97637483e-01 8.67359794e-01 -6.62742760e-03 -1.84701183e+02] [-1.39019023e-02 -3.35870895e-04 9.99903308e-01 -5.06291875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.566559995 meters 0.022146071562321307 Centerline is valid? [True, True] Translation: X:62.14, Y:-184.73, Z:-5.06 [[ 8.65235696e-01 5.01167159e-01 1.40950408e-02 6.21388745e+01] [-5.01109131e-01 8.65350376e-01 -7.63970380e-03 -1.84726383e+02] [-1.60259175e-02 -4.53009213e-04 9.99871474e-01 -5.06044666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.626559995 meters 0.02279925283443047 Centerline is valid? [True, True] Translation: X:62.19, Y:-184.75, Z:-5.06 [[ 8.63077241e-01 5.04841579e-01 1.52530815e-02 6.21918798e+01] [-5.04774213e-01 8.63211829e-01 -8.26638711e-03 -1.84753331e+02] [-1.73398563e-02 -5.64831650e-04 9.99849494e-01 -5.05952305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.686559995 meters 0.024564561178544043 Centerline is valid? [True, True] Translation: X:62.24, Y:-184.78, Z:-5.06 [[ 8.62430277e-01 5.05951179e-01 1.50804961e-02 6.22429654e+01] [-5.05885526e-01 8.62561920e-01 -8.17122843e-03 -1.84779758e+02] [-1.71421043e-02 -5.81889892e-04 9.99852894e-01 -5.05998892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.746559995 meters 0.023009150617926633 Centerline is valid? [True, True] Translation: X:62.29, Y:-184.81, Z:-5.06 [[ 8.62325363e-01 5.06166820e-01 1.37883389e-02 6.22919974e+01] [-5.06112036e-01 8.62435423e-01 -7.46650624e-03 -1.84811811e+02] [-1.56708496e-02 -5.39886574e-04 9.99877059e-01 -5.06348899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.806559995 meters 0.023825332193353317 Centerline is valid? [True, True] Translation: X:62.34, Y:-184.84, Z:-5.07 [[ 8.62370052e-01 5.06148517e-01 1.14704794e-02 6.23427233e+01] [-5.06110648e-01 8.62446215e-01 -6.20785528e-03 -1.84842088e+02] [-1.30347683e-02 -4.51863284e-04 9.99914942e-01 -5.06632692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.866559995 meters 0.025103731800242144 Centerline is valid? [True, True] Translation: X:62.39, Y:-184.87, Z:-5.07 [[ 8.61187826e-01 5.08176482e-01 1.05920554e-02 6.23939112e+01] [-5.08144358e-01 8.61252846e-01 -5.73132008e-03 -1.84869240e+02] [-1.20349600e-02 -4.46550120e-04 9.99927478e-01 -5.06690427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.926559995 meters 0.024920235163007197 Centerline is valid? [True, True] Translation: X:62.44, Y:-184.90, Z:-5.07 [[ 8.61424775e-01 5.07759854e-01 1.12822268e-02 6.24428010e+01] [-5.07723421e-01 8.61498524e-01 -6.10083660e-03 -1.84899744e+02] [-1.28173816e-02 -4.72838981e-04 9.99917742e-01 -5.06704655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1375.986559995 meters 0.024471135426842615 Centerline is valid? [True, True] Translation: X:62.49, Y:-184.93, Z:-5.07 [[ 8.63121407e-01 5.04856855e-01 1.18740610e-02 6.24934613e+01] [-5.04816269e-01 8.63202960e-01 -6.41755991e-03 -1.84930924e+02] [-1.34896737e-02 -4.55085847e-04 9.99908907e-01 -5.06533954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.046559995 meters 0.02429044242647632 Centerline is valid? [True, True] Translation: X:62.54, Y:-184.96, Z:-5.06 [[ 8.64717374e-01 5.02106741e-01 1.23565075e-02 6.25436503e+01] [-5.02062525e-01 8.64805548e-01 -6.67727236e-03 -1.84960831e+02] [-1.40386797e-02 -4.29785914e-04 9.99901361e-01 -5.06400574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.106559995 meters 0.022284002625477053 Centerline is valid? [True, True] Translation: X:62.59, Y:-185.00, Z:-5.06 [[ 8.68160683e-01 4.96121989e-01 1.26491485e-02 6.25919852e+01] [-4.96075034e-01 8.68252760e-01 -6.83413939e-03 -1.84996250e+02] [-1.43732250e-02 -3.41795675e-04 9.99896642e-01 -5.06431158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.166559995 meters 0.021081557746376895 Centerline is valid? [True, True] Translation: X:62.64, Y:-185.03, Z:-5.06 [[ 8.71491305e-01 4.90251363e-01 1.25102537e-02 6.26408097e+01] [-4.90204838e-01 8.71581059e-01 -6.75824845e-03 -1.85030070e+02] [-1.42169407e-02 -2.42832114e-04 9.99898905e-01 -5.06469645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.2265599950001 meters 0.019346705112888957 Centerline is valid? [True, True] Translation: X:62.69, Y:-185.07, Z:-5.07 [[ 8.77476504e-01 4.79496642e-01 1.08607849e-02 6.26881453e+01] [-4.79460783e-01 8.77543712e-01 -5.86438855e-03 -1.85067741e+02] [-1.23427682e-02 -6.14572900e-05 9.99923823e-01 -5.06633974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.286559995 meters 0.019590754886038734 Centerline is valid? [True, True] Translation: X:62.74, Y:-185.10, Z:-5.07 [[ 8.80441046e-01 4.74045811e-01 1.02046508e-02 6.27369531e+01] [-4.74013822e-01 8.80500181e-01 -5.50706046e-03 -1.85101841e+02] [-1.15957959e-02 1.14965238e-05 9.99932767e-01 -5.06902149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.346559995 meters 0.02081455544675112 Centerline is valid? [True, True] Translation: X:62.79, Y:-185.13, Z:-5.07 [[ 8.83371718e-01 4.68596486e-01 8.46998319e-03 6.27859458e+01] [-4.68574225e-01 8.83412321e-01 -4.56800216e-03 -1.85133247e+02] [-9.62303727e-03 6.64281095e-05 9.99953695e-01 -5.07064558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.406559995 meters 0.020573420826434263 Centerline is valid? [True, True] Translation: X:62.84, Y:-185.16, Z:-5.07 [[ 8.84521277e-01 4.66464217e-01 5.76582576e-03 6.28368586e+01] [-4.66453869e-01 8.84540067e-01 -3.10765638e-03 -1.85161870e+02] [-6.54971441e-03 5.92964570e-05 9.99978549e-01 -5.07324719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.4665599950001 meters 0.02079765450088571 Centerline is valid? [True, True] Translation: X:62.89, Y:-185.19, Z:-5.07 [[ 8.84550800e-01 4.66416732e-01 5.03129886e-03 6.28864613e+01] [-4.66408855e-01 8.84565107e-01 -2.71121420e-03 -1.85191113e+02] [-5.71506708e-03 5.15643502e-05 9.99983668e-01 -5.07370425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.526559995 meters 0.02098257325825417 Centerline is valid? [True, True] Translation: X:62.94, Y:-185.22, Z:-5.07 [[ 8.83535844e-01 4.68330474e-01 5.56598015e-03 6.29390589e+01] [-4.68320882e-01 8.83553374e-01 -2.99764017e-03 -1.85217870e+02] [-6.32172679e-03 4.18578016e-05 9.99980017e-01 -5.07184481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.586559995 meters 0.020025775487869626 Centerline is valid? [True, True] Translation: X:63.00, Y:-185.24, Z:-5.07 [[ 8.80871274e-01 4.73347577e-01 2.80543171e-03 6.29954721e+01] [-4.73345168e-01 8.80875741e-01 -1.51004971e-03 -1.85237875e+02] [-3.18601511e-03 2.22186954e-06 9.99994925e-01 -5.07195202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.646559995 meters 0.020263502703717913 Centerline is valid? [True, True] Translation: X:63.05, Y:-185.26, Z:-5.08 [[ 8.74502548e-01 4.85018766e-01 -1.44583434e-03 6.30503404e+01] [-4.85018143e-01 8.74503743e-01 7.77806230e-04 -1.85259905e+02] [ 1.64163816e-03 2.10623593e-05 9.99998652e-01 -5.07752022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.7065599950001 meters 0.02379476747228824 Centerline is valid? [True, True] Translation: X:63.10, Y:-185.28, Z:-5.08 [[ 8.70727468e-01 4.91753978e-01 -3.42070499e-03 6.31045387e+01] [-4.91750542e-01 8.70734184e-01 1.83996064e-03 -1.85282826e+02] [ 3.88333273e-03 8.00292680e-05 9.99992457e-01 -5.08046790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.766559995 meters 0.023431592972314376 Centerline is valid? [True, True] Translation: X:63.16, Y:-185.31, Z:-5.07 [[ 8.68458870e-01 4.95751167e-01 -3.15795914e-03 6.31600783e+01] [-4.95748267e-01 8.68464607e-01 1.69791902e-03 -1.85305209e+02] [ 3.58432108e-03 9.09799420e-05 9.99993572e-01 -5.07442548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.826559995 meters 0.023664407084298556 Centerline is valid? [True, True] Translation: X:63.21, Y:-185.33, Z:-5.07 [[ 8.66494792e-01 4.99172028e-01 -3.74984540e-03 6.32142745e+01] [-4.99167973e-01 8.66502897e-01 2.01592720e-03 -1.85330658e+02] [ 4.25554638e-03 1.25012306e-04 9.99990937e-01 -5.07344124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.886559995 meters 0.024988014746074465 Centerline is valid? [True, True] Translation: X:63.27, Y:-185.36, Z:-5.07 [[ 8.63529549e-01 5.04286388e-01 -3.45778241e-03 6.32676432e+01] [-5.04282982e-01 8.63536461e-01 1.85862381e-03 -1.85357544e+02] [ 3.92319987e-03 1.38724245e-04 9.99992295e-01 -5.07463183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1376.9465599950001 meters 0.025029300939022992 Centerline is valid? [True, True] Translation: X:63.32, Y:-185.38, Z:-5.07 [[ 8.64357997e-01 5.02868118e-01 -2.98493165e-03 6.33219897e+01] [-5.02865573e-01 8.64363143e-01 1.60398342e-03 -1.85381578e+02] [ 3.38665703e-03 1.14603470e-04 9.99994259e-01 -5.07091253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.006559995 meters 0.02421665244617979 Centerline is valid? [True, True] Translation: X:63.37, Y:-185.41, Z:-5.07 [[ 8.65747560e-01 5.00467756e-01 -3.63156759e-03 6.33748197e+01] [-5.00463970e-01 8.65755167e-01 1.95091957e-03 -1.85408386e+02] [ 4.12042075e-03 1.28464877e-04 9.99991503e-01 -5.06907210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.066559995 meters 0.023957017984035822 Centerline is valid? [True, True] Translation: X:63.43, Y:-185.44, Z:-5.07 [[ 8.66965103e-01 4.98362558e-01 -2.50415897e-03 6.34266388e+01] [-4.98360749e-01 8.66968716e-01 1.34504152e-03 -1.85436346e+02] [ 2.84134582e-03 8.18704801e-05 9.99995960e-01 -5.06779340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.126559995 meters 0.023921485739990384 Centerline is valid? [True, True] Translation: X:63.48, Y:-185.46, Z:-5.07 [[ 8.67550727e-01 4.97347043e-01 -1.28660361e-03 6.34788864e+01] [-4.97346565e-01 8.67551680e-01 6.90680725e-04 -1.85462497e+02] [ 1.45970314e-03 4.06873205e-05 9.99998934e-01 -5.06609035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.186559995 meters 0.023522334076089044 Centerline is valid? [True, True] Translation: X:63.53, Y:-185.49, Z:-5.06 [[ 8.69060415e-01 4.94705006e-01 9.75695782e-04 6.35319162e+01] [-4.94704729e-01 8.69060963e-01 -5.23656613e-04 -1.85485881e+02] [-1.10699466e-03 -2.75920838e-05 9.99999387e-01 -5.06245633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.246559995 meters 0.022826523129224008 Centerline is valid? [True, True] Translation: X:63.58, Y:-185.52, Z:-5.06 [[ 8.70215782e-01 4.92664628e-01 2.46138080e-03 6.35825068e+01] [-4.92662863e-01 8.70219260e-01 -1.32026284e-03 -1.85516537e+02] [-2.79238777e-03 -6.37173534e-05 9.99996099e-01 -5.06224066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.306559995 meters 0.021135207787492467 Centerline is valid? [True, True] Translation: X:63.63, Y:-185.54, Z:-5.06 [[ 8.72703087e-01 4.88239543e-01 3.38689365e-03 6.36343706e+01] [-4.88236169e-01 8.72709656e-01 -1.81641773e-03 -1.85544655e+02] [-3.84262176e-03 -6.84106206e-05 9.99992615e-01 -5.05875990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.366559995 meters 0.02109031854760749 Centerline is valid? [True, True] Translation: X:63.69, Y:-185.57, Z:-5.06 [[ 8.74851930e-01 4.84372262e-01 4.19671678e-03 6.36853217e+01] [-4.84367043e-01 8.74861993e-01 -2.24945045e-03 -1.85572876e+02] [-4.76111941e-03 -6.48152317e-05 9.99988664e-01 -5.05715579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.426559995 meters 0.020198178037036715 Centerline is valid? [True, True] Translation: X:63.73, Y:-185.61, Z:-5.06 [[ 8.76975002e-01 4.80525104e-01 3.23584392e-03 6.37343121e+01] [-4.80521978e-01 8.76980971e-01 -1.73343907e-03 -1.85605031e+02] [-3.67073453e-03 -3.47113851e-05 9.99993262e-01 -5.06011239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.486559995 meters 0.02048096909700377 Centerline is valid? [True, True] Translation: X:63.78, Y:-185.64, Z:-5.07 [[ 8.75973379e-01 4.82358149e-01 1.12013822e-03 6.37846724e+01] [-4.82357777e-01 8.75974095e-01 -5.99697133e-04 -1.85635580e+02] [-1.27048087e-03 -1.49886597e-05 9.99999193e-01 -5.06503906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.546559995 meters 0.020523227795004408 Centerline is valid? [True, True] Translation: X:63.84, Y:-185.66, Z:-5.06 [[ 8.74339801e-01 4.85313352e-01 9.29072090e-04 6.38372333e+01] [-4.85313097e-01 8.74340294e-01 -4.97309474e-04 -1.85659841e+02] [-1.05367609e-03 -1.60733869e-05 9.99999445e-01 -5.06423187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.606559995 meters 0.02216719628989002 Centerline is valid? [True, True] Translation: X:63.89, Y:-185.68, Z:-5.06 [[ 8.70427295e-01 4.92289621e-01 2.69321339e-03 6.38923939e+01] [-4.92287517e-01 8.70431458e-01 -1.44128028e-03 -1.85683528e+02] [-3.05378498e-03 -7.13056331e-05 9.99995335e-01 -5.06317896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.666559995 meters 0.022397567651428613 Centerline is valid? [True, True] Translation: X:63.95, Y:-185.71, Z:-5.06 [[ 8.68230491e-01 4.96155124e-01 2.43048558e-03 6.39457075e+01] [-4.96153425e-01 8.68233890e-01 -1.30052616e-03 -1.85710651e+02] [-2.75549266e-03 -7.67372750e-05 9.99996201e-01 -5.06331811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.7265599950001 meters 0.023156449862189222 Centerline is valid? [True, True] Translation: X:64.00, Y:-185.74, Z:-5.06 [[ 8.66651390e-01 4.98907132e-01 2.65370584e-03 6.39992892e+01] [-4.98905122e-01 8.66655447e-01 -1.41928768e-03 -1.85736619e+02] [-3.00794136e-03 -9.39197962e-05 9.99995472e-01 -5.06275710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.786559995 meters 0.024478540384783747 Centerline is valid? [True, True] Translation: X:64.05, Y:-185.76, Z:-5.06 [[ 8.65921483e-01 5.00174911e-01 2.24598806e-03 6.40504411e+01] [-5.00173477e-01 8.65924391e-01 -1.20079895e-03 -1.85762654e+02] [-2.54546535e-03 -8.35860513e-05 9.99996757e-01 -5.06476652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.846559995 meters 0.023070914778796088 Centerline is valid? [True, True] Translation: X:64.10, Y:-185.80, Z:-5.07 [[ 8.67046921e-01 4.98226488e-01 5.45524932e-05 6.40998910e+01] [-4.98226488e-01 8.67046923e-01 -2.91353543e-05 -1.85795250e+02] [-6.18155758e-05 -1.91777784e-06 9.99999998e-01 -5.06869940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.906559995 meters 0.022367094053682698 Centerline is valid? [True, True] Translation: X:64.15, Y:-185.83, Z:-5.07 [[ 8.67740146e-01 4.97017828e-01 -5.62753603e-04 6.41497551e+01] [-4.97017738e-01 8.67740329e-01 3.00541241e-04 -1.85825854e+02] [ 6.37698352e-04 1.89068223e-05 9.99999797e-01 -5.07023425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1377.9665599950001 meters 0.024487208952159625 Centerline is valid? [True, True] Translation: X:64.20, Y:-185.85, Z:-5.07 [[ 8.66395478e-01 4.99358463e-01 -4.11220540e-05 6.42046255e+01] [-4.99358462e-01 8.66395479e-01 2.19607126e-05 -1.85847627e+02] [ 4.65942301e-05 1.50798353e-06 9.99999999e-01 -5.06939125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.026559995 meters 0.02392253625344795 Centerline is valid? [True, True] Translation: X:64.26, Y:-185.88, Z:-5.07 [[ 8.66238815e-01 4.99630120e-01 -2.43136771e-04 6.42558863e+01] [-4.99630103e-01 8.66238849e-01 1.29766242e-04 -1.85875994e+02] [ 2.75449640e-04 9.06989375e-06 9.99999962e-01 -5.06949150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.086559995 meters 0.024663468901895653 Centerline is valid? [True, True] Translation: X:64.31, Y:-185.90, Z:-5.07 [[ 8.66377038e-01 4.99387036e-01 -1.84831696e-03 6.43060828e+01] [-4.99386068e-01 8.66379007e-01 9.85948992e-04 -1.85902523e+02] [ 2.09371316e-03 6.88201721e-05 9.99997806e-01 -5.07228850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.146559995 meters 0.02278860842637773 Centerline is valid? [True, True] Translation: X:64.36, Y:-185.93, Z:-5.07 [[ 8.68185821e-01 4.96236416e-01 -1.67308930e-03 6.43570319e+01] [-4.96235617e-01 8.68187432e-01 8.92011912e-04 -1.85932915e+02] [ 1.89520390e-03 5.58144096e-05 9.99998203e-01 -5.07202246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.2065599950001 meters 0.021967481549985315 Centerline is valid? [True, True] Translation: X:64.41, Y:-185.96, Z:-5.07 [[ 8.69778305e-01 4.93441927e-01 -8.74141931e-04 6.44078434e+01] [-4.93441708e-01 8.69778744e-01 4.65956472e-04 -1.85960433e+02] [ 9.90232531e-04 2.60592563e-05 9.99999509e-01 -5.07112995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.266559995 meters 0.021933505959676608 Centerline is valid? [True, True] Translation: X:64.46, Y:-185.99, Z:-5.07 [[ 8.71164425e-01 4.90982417e-01 2.96815788e-03 6.44598554e+01] [-4.90979878e-01 8.71169478e-01 -1.58124792e-03 -1.85987361e+02] [-3.36213348e-03 -7.97788531e-05 9.99994345e-01 -5.06759654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.326559995 meters 0.020956283606011414 Centerline is valid? [True, True] Translation: X:64.51, Y:-186.02, Z:-5.07 [[ 8.72261131e-01 4.89023994e-01 4.00665927e-03 6.45111064e+01] [-4.89019351e-01 8.72270327e-01 -2.13326586e-03 -1.86016051e+02] [-4.53810819e-03 -9.85690278e-05 9.99989698e-01 -5.06618359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.386559995 meters 0.01863840260657863 Centerline is valid? [True, True] Translation: X:64.56, Y:-186.05, Z:-5.06 [[ 8.77942125e-01 4.78713285e-01 7.15650620e-03 6.45624283e+01] [-4.78698143e-01 8.77971289e-01 -3.80841951e-03 -1.86046137e+02] [-8.10634798e-03 -8.22343007e-05 9.99967140e-01 -5.06286330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.4465599950001 meters 0.018856402630887975 Centerline is valid? [True, True] Translation: X:64.61, Y:-186.08, Z:-5.07 [[ 8.80110535e-01 4.74756693e-01 3.39532513e-03 6.46101778e+01] [-4.74753256e-01 8.80117084e-01 -1.80649710e-03 -1.86079478e+02] [-3.84593025e-03 -2.20245295e-05 9.99992604e-01 -5.06980518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.506559995 meters 0.01925307124085604 Centerline is valid? [True, True] Translation: X:64.66, Y:-186.11, Z:-5.08 [[ 8.79901862e-01 4.75152781e-01 1.59665411e-03 6.46586510e+01] [-4.75152022e-01 8.79903310e-01 -8.48936264e-04 -1.86110921e+02] [-1.80827566e-03 -1.16728305e-05 9.99998365e-01 -5.07501730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.566559995 meters 0.01846772624329215 Centerline is valid? [True, True] Translation: X:64.71, Y:-186.14, Z:-5.07 [[ 8.78402437e-01 4.77917555e-01 1.99227160e-03 6.47112103e+01] [-4.77916382e-01 8.78404696e-01 -1.05908336e-03 -1.86136183e+02] [-2.25617526e-03 -2.18378286e-05 9.99997455e-01 -5.07357575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.626559995 meters 0.01960630137698209 Centerline is valid? [True, True] Translation: X:64.76, Y:-186.16, Z:-5.07 [[ 8.76985149e-01 4.80510868e-01 2.52067368e-03 6.47643427e+01] [-4.80509003e-01 8.76988771e-01 -1.33919032e-03 -1.86161639e+02] [-2.85409801e-03 -3.67563739e-05 9.99995926e-01 -5.07143281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.686559995 meters 0.01940419990894746 Centerline is valid? [True, True] Translation: X:64.82, Y:-186.19, Z:-5.07 [[ 8.76313337e-01 4.81735756e-01 2.36564695e-03 6.48154981e+01] [-4.81734120e-01 8.76316529e-01 -1.25608223e-03 -1.86191069e+02] [-2.67815525e-03 -3.88912475e-05 9.99996413e-01 -5.07247024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.746559995 meters 0.020553070836963602 Centerline is valid? [True, True] Translation: X:64.87, Y:-186.22, Z:-5.07 [[ 8.76138915e-01 4.82052794e-01 2.38857538e-03 6.48672251e+01] [-4.82051128e-01 8.76142170e-01 -1.26800274e-03 -1.86217824e+02] [-2.70397588e-03 -4.04689148e-05 9.99996344e-01 -5.07307689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.806559995 meters 0.019692961008370532 Centerline is valid? [True, True] Translation: X:64.92, Y:-186.25, Z:-5.07 [[ 8.76191611e-01 4.81935315e-01 5.15884978e-03 6.49179425e+01] [-4.81927551e-01 8.76206793e-01 -2.73705724e-03 -1.86246671e+02] [-5.83930376e-03 -8.80052479e-05 9.99982947e-01 -5.06970162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.866559995 meters 0.01935153284390299 Centerline is valid? [True, True] Translation: X:64.97, Y:-186.27, Z:-5.06 [[ 8.76846648e-01 4.80693653e-01 8.57724732e-03 6.49695538e+01] [-4.80672138e-01 8.76888587e-01 -4.54980668e-03 -1.86273446e+02] [-9.70835348e-03 -1.33361079e-04 9.99952864e-01 -5.06454054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.926559995 meters 0.01951061439477997 Centerline is valid? [True, True] Translation: X:65.02, Y:-186.30, Z:-5.06 [[ 8.77695036e-01 4.79067621e-01 1.20680840e-02 6.50207540e+01] [-4.79024927e-01 8.77777983e-01 -6.39783440e-03 -1.86302372e+02] [-1.36580937e-02 -1.65565569e-04 9.99906710e-01 -5.06143070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1378.986559995 meters 0.01957804717449087 Centerline is valid? [True, True] Translation: X:65.07, Y:-186.33, Z:-5.06 [[ 8.79739661e-01 4.75276479e-01 1.30536363e-02 6.50706824e+01] [-4.75226168e-01 8.79836493e-01 -6.91627190e-03 -1.86334445e+02] [-1.47722070e-02 -1.18910883e-04 9.99890878e-01 -5.06242055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.046559995 meters 0.01960658163335209 Centerline is valid? [True, True] Translation: X:65.12, Y:-186.37, Z:-5.06 [[ 8.82075439e-01 4.70929728e-01 1.29658041e-02 6.51204109e+01] [-4.70879679e-01 8.82170725e-01 -6.86577656e-03 -1.86365020e+02] [-1.46713511e-02 -4.92007908e-05 9.99892369e-01 -5.06250156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.106559995 meters 0.020423188680035523 Centerline is valid? [True, True] Translation: X:65.17, Y:-186.40, Z:-5.06 [[ 8.85583380e-01 4.64308756e-01 1.26276125e-02 6.51695023e+01] [-4.64260670e-01 8.85673403e-01 -6.68233178e-03 -1.86396739e+02] [-1.42866057e-02 5.52581345e-05 9.99897940e-01 -5.06310589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.166559995 meters 0.020681267753993062 Centerline is valid? [True, True] Translation: X:65.22, Y:-186.43, Z:-5.06 [[ 8.87044405e-01 4.61541247e-01 1.14848502e-02 6.52181134e+01] [-4.61501261e-01 8.87118746e-01 -6.07590069e-03 -1.86426834e+02] [-1.29927047e-02 8.93208364e-05 9.99915587e-01 -5.06389081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.2265599950001 meters 0.021182329513029768 Centerline is valid? [True, True] Translation: X:65.27, Y:-186.46, Z:-5.07 [[ 8.86424641e-01 4.62764346e-01 1.00257886e-02 6.52691554e+01] [-4.62733987e-01 8.86481335e-01 -5.30097983e-03 -1.86455591e+02] [-1.13407790e-02 5.96459903e-05 9.99935690e-01 -5.06729463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.286559995 meters 0.020839673759950782 Centerline is valid? [True, True] Translation: X:65.32, Y:-186.48, Z:-5.07 [[ 8.83668898e-01 4.68021158e-01 9.24518034e-03 6.53223918e+01] [-4.67995640e-01 8.83717260e-01 -4.88727626e-03 -1.86478837e+02] [-1.04574741e-02 -7.97006687e-06 9.99945319e-01 -5.06739287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.346559995 meters 0.02407026765776089 Centerline is valid? [True, True] Translation: X:65.39, Y:-186.48, Z:-5.07 [[ 8.72801351e-01 4.88023464e-01 7.13446574e-03 6.53876788e+01] [-4.88008931e-01 8.72830489e-01 -3.77100959e-03 -1.86479644e+02] [-8.06752038e-03 -1.90340735e-04 9.99967439e-01 -5.06927741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.406559995 meters 0.02555829099067751 Centerline is valid? [True, True] Translation: X:65.44, Y:-186.50, Z:-5.07 [[ 8.67792609e-01 4.96821172e-01 1.02327981e-02 6.54424464e+01] [-4.96791893e-01 8.67852851e-01 -5.40784657e-03 -1.86503822e+02] [-1.15672956e-02 -3.90681826e-04 9.99933020e-01 -5.07101973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.4665599950001 meters 0.02729706094705214 Centerline is valid? [True, True] Translation: X:65.50, Y:-186.53, Z:-5.07 [[ 8.65693355e-01 5.00428760e-01 1.20859812e-02 6.54957903e+01] [-5.00388278e-01 8.65777562e-01 -6.38622858e-03 -1.86528315e+02] [-1.36596237e-02 -5.19167656e-04 9.99906568e-01 -5.07025629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.526559995 meters 0.02676147486908653 Centerline is valid? [True, True] Translation: X:65.55, Y:-186.56, Z:-5.07 [[ 8.66576746e-01 4.98877622e-01 1.28787513e-02 6.55484688e+01] [-4.98831538e-01 8.66672278e-01 -6.80143131e-03 -1.86555518e+02] [-1.45547386e-02 -5.30365115e-04 9.99893934e-01 -5.07174419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.586559995 meters 0.025282819883005816 Centerline is valid? [True, True] Translation: X:65.60, Y:-186.58, Z:-5.07 [[ 8.67594459e-01 4.97135579e-01 1.16649336e-02 6.56002955e+01] [-4.97097629e-01 8.67672755e-01 -6.15937009e-03 -1.86583753e+02] [-1.31833871e-02 -4.54775475e-04 9.99912992e-01 -5.07234341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.646559995 meters 0.02752376328008529 Centerline is valid? [True, True] Translation: X:65.65, Y:-186.61, Z:-5.07 [[ 8.68102737e-01 4.96248327e-01 1.16291157e-02 6.56537949e+01] [-4.96210547e-01 8.68180513e-01 -6.13918486e-03 -1.86606584e+02] [-1.31427319e-02 -4.41046701e-04 9.99913533e-01 -5.07121009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.7065599950001 meters 0.02665907410349594 Centerline is valid? [True, True] Translation: X:65.71, Y:-186.63, Z:-5.07 [[ 8.64882442e-01 5.01827673e-01 1.21386956e-02 6.57061809e+01] [-5.01787101e-01 8.64967446e-01 -6.40490649e-03 -1.86633896e+02] [-1.37137358e-02 -5.51549690e-04 9.99905810e-01 -5.07376300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.766559995 meters 0.027877159150027215 Centerline is valid? [True, True] Translation: X:65.76, Y:-186.66, Z:-5.07 [[ 8.64439834e-01 5.02546115e-01 1.38266354e-02 6.57584130e+01] [-5.02493632e-01 8.64550164e-01 -7.29130224e-03 -1.86660343e+02] [-1.56180355e-02 -6.44904147e-04 9.99877823e-01 -5.07279726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.826559995 meters 0.027845438509056783 Centerline is valid? [True, True] Translation: X:65.81, Y:-186.69, Z:-5.07 [[ 8.65598474e-01 5.00524520e-01 1.46453938e-02 6.58113483e+01] [-5.00465416e-01 8.65722118e-01 -7.71896651e-03 -1.86686698e+02] [-1.65423733e-02 -6.47987472e-04 9.99862956e-01 -5.07099487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.886559995 meters 0.02735526330641907 Centerline is valid? [True, True] Translation: X:65.86, Y:-186.71, Z:-5.07 [[ 8.66350552e-01 4.99212088e-01 1.49670579e-02 6.58637760e+01] [-4.99150240e-01 8.66479591e-01 -7.88397714e-03 -1.86713848e+02] [-1.69044269e-02 -6.40522587e-04 9.99856905e-01 -5.07042365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1379.9465599950001 meters 0.02816692611967484 Centerline is valid? [True, True] Translation: X:65.91, Y:-186.74, Z:-5.07 [[ 8.66936713e-01 4.98183582e-01 1.52922749e-02 6.59143853e+01] [-4.98118898e-01 8.67071343e-01 -8.05288710e-03 -1.86741295e+02] [-1.72713095e-02 -6.36027667e-04 9.99850638e-01 -5.07113673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.006559995 meters 0.025789709305831427 Centerline is valid? [True, True] Translation: X:65.96, Y:-186.77, Z:-5.08 [[ 8.67710245e-01 4.96888929e-01 1.34284630e-02 6.59634241e+01] [-4.96838915e-01 8.67813980e-01 -7.07022027e-03 -1.86774165e+02] [-1.51665221e-02 -5.36880452e-04 9.99884838e-01 -5.07555129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.066559995 meters 0.02499939266637161 Centerline is valid? [True, True] Translation: X:66.01, Y:-186.81, Z:-5.08 [[ 8.67757515e-01 4.96894952e-01 9.60734098e-03 6.60122639e+01] [-4.96869386e-01 8.67810611e-01 -5.05533742e-03 -1.86806624e+02] [-1.08493241e-02 -3.86786577e-04 9.99941070e-01 -5.08194158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.126559995 meters 0.026238776133424322 Centerline is valid? [True, True] Translation: X:66.06, Y:-186.84, Z:-5.09 [[ 8.67500879e-01 4.97392289e-01 6.56787571e-03 6.60629810e+01] [-4.97380360e-01 8.67525699e-01 -3.45526696e-03 -1.86835278e+02] [-7.41642410e-03 -2.69285263e-04 9.99972462e-01 -5.08534800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.186559995 meters 0.027520717934633055 Centerline is valid? [True, True] Translation: X:66.12, Y:-186.86, Z:-5.09 [[ 8.65661990e-01 5.00587772e-01 6.41889469e-03 6.61155994e+01] [-5.00576471e-01 8.65685739e-01 -3.37616680e-03 -1.86863022e+02] [-7.24681340e-03 -2.90528373e-04 9.99973699e-01 -5.08608345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.246559995 meters 0.028732761485156636 Centerline is valid? [True, True] Translation: X:66.17, Y:-186.89, Z:-5.09 [[ 8.63259157e-01 5.04731807e-01 5.42498447e-03 6.61698214e+01] [-5.04723818e-01 8.63276159e-01 -2.85307699e-03 -1.86887467e+02] [-6.12329846e-03 -2.75174040e-04 9.99981215e-01 -5.08710486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.306559995 meters 0.03156908805467395 Centerline is valid? [True, True] Translation: X:66.22, Y:-186.91, Z:-5.09 [[ 8.55867272e-01 5.17182099e-01 3.72694142e-03 6.62248514e+01] [-5.17178446e-01 8.55875350e-01 -1.95971264e-03 -1.86911153e+02] [-4.20332559e-03 -2.50239861e-04 9.99991135e-01 -5.08847172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.366559995 meters 0.03826605905052586 Centerline is valid? [True, True] Translation: X:66.28, Y:-186.93, Z:-5.09 [[ 8.51165301e-01 5.24877532e-01 4.60513755e-03 6.62813317e+01] [-5.24872069e-01 8.51177684e-01 -2.42103770e-03 -1.86929568e+02] [-5.19053860e-03 -3.56404790e-04 9.99986466e-01 -5.08726701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.426559995 meters 0.04364481650248407 Centerline is valid? [True, True] Translation: X:66.34, Y:-186.95, Z:-5.08 [[ 8.43931960e-01 5.36407417e-01 6.77717591e-03 6.63382893e+01] [-5.36395956e-01 8.43958937e-01 -3.56232898e-03 -1.86948680e+02] [-7.63051786e-03 -6.28886475e-04 9.99970690e-01 -5.08440421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.486559995 meters 0.04103972700251736 Centerline is valid? [True, True] Translation: X:66.39, Y:-186.98, Z:-5.08 [[ 8.42158107e-01 5.39171598e-01 7.98188078e-03 6.63887799e+01] [-5.39155844e-01 8.42195578e-01 -4.19342953e-03 -1.86979977e+02] [-8.98328279e-03 -7.71946991e-04 9.99959352e-01 -5.08432343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.546559995 meters 0.041958314545112355 Centerline is valid? [True, True] Translation: X:66.44, Y:-187.01, Z:-5.09 [[ 8.41575331e-01 5.40101674e-01 6.41437312e-03 6.64398775e+01] [-5.40091529e-01 8.41599541e-01 -3.36950621e-03 -1.87009827e+02] [-7.21820942e-03 -6.28655282e-04 9.99973751e-01 -5.08768711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.606559995 meters 0.04203151294280081 Centerline is valid? [True, True] Translation: X:66.49, Y:-187.04, Z:-5.09 [[ 8.43338337e-01 5.37365913e-01 4.28074067e-03 6.64922283e+01] [-5.37361362e-01 8.43349104e-01 -2.24830546e-03 -1.87038371e+02] [-4.81832153e-03 -4.04222447e-04 9.99988310e-01 -5.08921320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.666559995 meters 0.038579199085271326 Centerline is valid? [True, True] Translation: X:66.54, Y:-187.07, Z:-5.09 [[ 8.45164042e-01 5.34502662e-01 2.15563314e-03 6.65417434e+01] [-5.34501500e-01 8.45166768e-01 -1.13157129e-03 -1.87070799e+02] [-2.42669736e-03 -1.95825781e-04 9.99997036e-01 -5.09246823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.7265599950001 meters 0.03879688348031464 Centerline is valid? [True, True] Translation: X:66.59, Y:-187.10, Z:-5.09 [[ 8.46807052e-01 5.31899456e-01 8.86167816e-04 6.65943998e+01] [-5.31899259e-01 8.46807512e-01 -4.64937673e-04 -1.87098659e+02] [-9.97713658e-04 -7.76395042e-05 9.99999499e-01 -5.09313710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.786559995 meters 0.037490506776716004 Centerline is valid? [True, True] Translation: X:66.65, Y:-187.13, Z:-5.09 [[ 8.47290304e-01 5.31130059e-01 -2.98214587e-05 6.66454658e+01] [-5.31130059e-01 8.47290305e-01 1.56515524e-05 -1.87127435e+02] [ 3.35804436e-05 2.57766452e-06 1.00000000e+00 -5.09341583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.846559995 meters 0.03728449313614435 Centerline is valid? [True, True] Translation: X:66.70, Y:-187.15, Z:-5.09 [[ 8.48797790e-01 5.28717341e-01 -5.34054007e-04 6.66990517e+01] [-5.28717269e-01 8.48797957e-01 2.79911728e-04 -1.87153365e+02] [ 6.01298135e-04 4.47751196e-05 9.99999818e-01 -5.09264212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.906559995 meters 0.035529279203093504 Centerline is valid? [True, True] Translation: X:66.75, Y:-187.18, Z:-5.09 [[ 8.52571287e-01 5.22610773e-01 4.25202366e-04 6.67505030e+01] [-5.22610727e-01 8.52571392e-01 -2.22806863e-04 -1.87183570e+02] [-4.78956639e-04 -3.22565839e-05 9.99999885e-01 -5.09193242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1380.9665599950001 meters 0.03257606586865788 Centerline is valid? [True, True] Translation: X:66.80, Y:-187.21, Z:-5.09 [[ 8.59292667e-01 5.11483958e-01 -5.22246692e-04 6.68005105e+01] [-5.11483886e-01 8.59292825e-01 2.73627143e-04 -1.87214808e+02] [ 5.88718730e-04 3.19949703e-05 9.99999826e-01 -5.09269525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.026559995 meters 0.027964453424419892 Centerline is valid? [True, True] Translation: X:66.85, Y:-187.25, Z:-5.09 [[ 8.62385170e-01 5.06251665e-01 -1.03433466e-03 6.68502180e+01] [-5.06251379e-01 8.62385788e-01 5.41702569e-04 -1.87247905e+02] [ 1.16623334e-03 5.64770837e-05 9.99999318e-01 -5.09279098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.086559995 meters 0.026764520697286662 Centerline is valid? [True, True] Translation: X:66.90, Y:-187.28, Z:-5.09 [[ 8.65096623e-01 5.01604957e-01 -5.47291026e-04 6.69017350e+01] [-5.01604876e-01 8.65096796e-01 2.86488290e-04 -1.87278486e+02] [ 6.17163660e-04 2.66837953e-05 9.99999809e-01 -5.09261429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.146559995 meters 0.02675251696489555 Centerline is valid? [True, True] Translation: X:66.95, Y:-187.30, Z:-5.09 [[ 8.66987597e-01 4.98328960e-01 -8.68930276e-04 6.69538382e+01] [-4.98328754e-01 8.66988031e-01 4.54764912e-04 -1.87304550e+02] [ 9.79974676e-04 3.87374033e-05 9.99999519e-01 -5.09180298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.2065599950001 meters 0.025110370354027568 Centerline is valid? [True, True] Translation: X:67.00, Y:-187.33, Z:-5.09 [[ 8.68700984e-01 4.95330601e-01 -2.48923815e-03 6.70049258e+01] [-4.95328898e-01 8.68704545e-01 1.30257788e-03 -1.87334707e+02] [ 2.80761918e-03 1.01440903e-04 9.99996054e-01 -5.09265183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.266559995 meters 0.02463286567026231 Centerline is valid? [True, True] Translation: X:67.06, Y:-187.36, Z:-5.09 [[ 8.69712418e-01 4.93545853e-01 -3.57793068e-03 6.70558124e+01] [-4.93542326e-01 8.69719766e-01 1.87120405e-03 -1.87364425e+02] [ 4.03532203e-03 1.38450833e-04 9.99991849e-01 -5.09413775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.326559995 meters 0.024158027610420296 Centerline is valid? [True, True] Translation: X:67.11, Y:-187.39, Z:-5.10 [[ 8.70078757e-01 4.92869283e-01 -6.54418249e-03 6.71054199e+01] [-4.92857479e-01 8.70103332e-01 3.42021902e-03 -1.87394215e+02] [ 7.37983588e-03 2.49489371e-04 9.99972738e-01 -5.09690281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.386559995 meters 0.025203931317543646 Centerline is valid? [True, True] Translation: X:67.16, Y:-187.42, Z:-5.10 [[ 8.69430116e-01 4.94001468e-01 -7.33646299e-03 6.71578021e+01] [-4.93986691e-01 8.69461019e-01 3.83207650e-03 -1.87421461e+02] [ 8.27182001e-03 2.92392362e-04 9.99965745e-01 -5.09763015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.4465599950001 meters 0.025163396797301566 Centerline is valid? [True, True] Translation: X:67.21, Y:-187.45, Z:-5.10 [[ 8.68491438e-01 4.95645518e-01 -7.62511356e-03 6.72097966e+01] [-4.95629639e-01 8.68524851e-01 3.98050462e-03 -1.87449215e+02] [ 8.59551989e-03 3.22198104e-04 9.99963006e-01 -5.09806100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.506559995 meters 0.02646178247607032 Centerline is valid? [True, True] Translation: X:67.26, Y:-187.48, Z:-5.10 [[ 8.68796761e-01 4.95081076e-01 -9.32291105e-03 6.72606017e+01] [-4.95057320e-01 8.68846694e-01 4.86537947e-03 -1.87475055e+02] [ 1.05089377e-02 3.88349442e-04 9.99944704e-01 -5.10148413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.566559995 meters 0.02563806353829039 Centerline is valid? [True, True] Translation: X:67.31, Y:-187.51, Z:-5.10 [[ 8.67853945e-01 4.96674973e-01 -1.19792079e-02 6.73107694e+01] [-4.96635914e-01 8.67936459e-01 6.25083480e-03 -1.87506884e+02] [ 1.35018245e-02 5.24493233e-04 9.99908709e-01 -5.10285972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.626559995 meters 0.026506504489955354 Centerline is valid? [True, True] Translation: X:67.36, Y:-187.53, Z:-5.10 [[ 8.65609729e-01 5.00549002e-01 -1.30573460e-02 6.73642054e+01] [-5.00503044e-01 8.65707970e-01 6.81271772e-03 -1.87533240e+02] [ 1.47139476e-02 6.38086675e-04 9.99891541e-01 -5.10306414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.686559995 meters 0.031585423703143274 Centerline is valid? [True, True] Translation: X:67.42, Y:-187.56, Z:-5.10 [[ 8.59193154e-01 5.11436602e-01 -1.48232007e-02 6.74196793e+01] [-5.11378991e-01 8.59320503e-01 7.73314364e-03 -1.87555307e+02] [ 1.66928930e-02 9.36009323e-04 9.99860226e-01 -5.10451448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.746559995 meters 0.038545937190629424 Centerline is valid? [True, True] Translation: X:67.48, Y:-187.57, Z:-5.10 [[ 8.55494194e-01 5.17639644e-01 -1.33746792e-02 6.74757964e+01] [-5.17593516e-01 8.55598204e-01 6.97603169e-03 -1.87573027e+02] [ 1.50544220e-02 9.54692596e-04 9.99886220e-01 -5.10287810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.806559995 meters 0.03651546723451532 Centerline is valid? [True, True] Translation: X:67.53, Y:-187.60, Z:-5.09 [[ 8.51401964e-01 5.24443862e-01 -8.56336356e-03 6.75289852e+01] [-5.24425301e-01 8.51444749e-01 4.46573619e-03 -1.87599431e+02] [ 9.63325888e-03 6.88707941e-04 9.99953362e-01 -5.09356266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.866559995 meters 0.03765363126582933 Centerline is valid? [True, True] Translation: X:67.58, Y:-187.62, Z:-5.09 [[ 8.50853171e-01 5.25376796e-01 -5.30132963e-03 6.75828949e+01] [-5.25369710e-01 8.50869575e-01 2.76304852e-03 -1.87622876e+02] [ 5.96238166e-03 4.34209415e-04 9.99982131e-01 -5.08843447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.926559995 meters 0.03590052437250462 Centerline is valid? [True, True] Translation: X:67.63, Y:-187.65, Z:-5.09 [[ 8.52040886e-01 5.23459046e-01 -4.11784166e-03 6.76347982e+01] [-5.23454753e-01 8.52050773e-01 2.14509966e-03 -1.87651902e+02] [ 4.63148199e-03 3.27791174e-04 9.99989221e-01 -5.08683956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1381.986559995 meters 0.03321371273643876 Centerline is valid? [True, True] Translation: X:67.69, Y:-187.68, Z:-5.09 [[ 8.56429451e-01 5.16252117e-01 -3.51402398e-03 6.76870390e+01] [-5.16248934e-01 8.56436624e-01 1.82960474e-03 -1.87680647e+02] [ 3.95407615e-03 2.47183748e-04 9.99992152e-01 -5.08580604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.046559995 meters 0.03202834029878382 Centerline is valid? [True, True] Translation: X:67.74, Y:-187.71, Z:-5.09 [[ 8.59932104e-01 5.10392529e-01 -4.03020466e-03 6.77391778e+01] [-5.10388279e-01 8.59941511e-01 2.09799853e-03 -1.87708946e+02] [ 4.53654307e-03 2.52832930e-04 9.99989678e-01 -5.08589646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.106559995 meters 0.032169894749050625 Centerline is valid? [True, True] Translation: X:67.79, Y:-187.73, Z:-5.09 [[ 8.62117112e-01 5.06690252e-01 -4.36736699e-03 6.77918766e+01] [-5.06685216e-01 8.62128137e-01 2.27319573e-03 -1.87733821e+02] [ 4.91703609e-03 2.53119348e-04 9.99987879e-01 -5.08511109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.166559995 meters 0.028944038341639385 Centerline is valid? [True, True] Translation: X:67.84, Y:-187.76, Z:-5.08 [[ 8.61514143e-01 5.07713052e-01 -4.56496091e-03 6.78422978e+01] [-5.07707571e-01 8.61526194e-01 2.37466002e-03 -1.87764863e+02] [ 5.13847929e-03 2.71862025e-04 9.99986761e-01 -5.08475508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.2265599950001 meters 0.029344001083974208 Centerline is valid? [True, True] Translation: X:67.90, Y:-187.79, Z:-5.08 [[ 8.58238766e-01 5.13233768e-01 -4.16176191e-03 6.78960907e+01] [-5.13229279e-01 8.58248811e-01 2.16463412e-03 -1.87789519e+02] [ 4.68279054e-03 2.78165148e-04 9.99988997e-01 -5.08271059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.286559995 meters 0.0363882162292421 Centerline is valid? [True, True] Translation: X:67.95, Y:-187.81, Z:-5.08 [[ 8.55707679e-01 5.17437077e-01 -4.82071165e-03 6.79528963e+01] [-5.17431122e-01 8.55721187e-01 2.50690225e-03 -1.87807205e+02] [ 5.42234927e-03 3.49210729e-04 9.99985238e-01 -5.08341915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.346559995 meters 0.03221633688944223 Centerline is valid? [True, True] Translation: X:68.00, Y:-187.84, Z:-5.09 [[ 8.53742392e-01 5.20636862e-01 -7.82213223e-03 6.80007212e+01] [-5.20621322e-01 8.53778014e-01 4.06704395e-03 -1.87843446e+02] [ 8.79581752e-03 6.00160996e-04 9.99961136e-01 -5.08703313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.406559995 meters 0.0410282188412105 Centerline is valid? [True, True] Translation: X:68.06, Y:-187.86, Z:-5.09 [[ 8.51550106e-01 5.24187825e-01 -9.46265362e-03 6.80577234e+01] [-5.24165311e-01 8.51602331e-01 4.91908386e-03 -1.87860112e+02] [ 1.06369417e-02 7.71148392e-04 9.99943129e-01 -5.09019831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.4665599950001 meters 0.03554598503067664 Centerline is valid? [True, True] Translation: X:68.11, Y:-187.89, Z:-5.09 [[ 8.48062245e-01 5.29789740e-01 -1.06423700e-02 6.81076705e+01] [-5.29761733e-01 8.48128488e-01 5.52943160e-03 -1.87893089e+02] [ 1.19555333e-02 9.48618178e-04 9.99928080e-01 -5.08882754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.526559995 meters 0.03722352335032314 Centerline is valid? [True, True] Translation: X:68.16, Y:-187.92, Z:-5.09 [[ 8.47516141e-01 5.30672971e-01 -1.01285649e-02 6.81619921e+01] [-5.30647696e-01 8.47576166e-01 5.25983992e-03 -1.87917869e+02] [ 1.13759851e-02 9.16900415e-04 9.99934871e-01 -5.08817760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.586559995 meters 0.03611685526365985 Centerline is valid? [True, True] Translation: X:68.21, Y:-187.95, Z:-5.09 [[ 8.48021496e-01 5.29838905e-01 -1.14139168e-02 6.82134722e+01] [-5.29806774e-01 8.48097688e-01 5.92408790e-03 -1.87947202e+02] [ 1.28189287e-02 1.02341653e-03 9.99917311e-01 -5.08919097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.646559995 meters 0.04506699091954576 Centerline is valid? [True, True] Translation: X:68.27, Y:-187.96, Z:-5.09 [[ 8.48110862e-01 5.29694029e-01 -1.14978823e-02 6.82707082e+01] [-5.29661427e-01 8.48188172e-01 5.96642093e-03 -1.87962965e+02] [ 1.29127453e-02 1.02979832e-03 9.99916097e-01 -5.09066324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.7065599950001 meters 0.042841991627511726 Centerline is valid? [True, True] Translation: X:68.32, Y:-187.99, Z:-5.09 [[ 8.48059524e-01 5.29832769e-01 -8.50174477e-03 6.83220848e+01] [-5.29814978e-01 8.48101793e-01 4.40889076e-03 -1.87989316e+02] [ 9.54631978e-03 7.65349920e-04 9.99954140e-01 -5.08555803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1382.766559995 meters 0.03584198737734798 Centerline is valid? [True, True] Translation: X:68.37, Y:-188.02, Z:-5.08 [[ 8.47382515e-01 5.30947872e-01 -6.10171716e-03 6.83712197e+01] [-5.30938740e-01 8.47404299e-01 3.16366485e-03 -1.88023204e+02] [ 6.85036247e-03 5.58803751e-04 9.99976380e-01 -5.08152323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 10386.04 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/46094 [00:00